Motion Library - Sampler

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• For a description of the this pipe block and its parameters, see sPipe Blocks Description

Name	Description	Return type
MLSmpConECAT	Connects a sampler block to the specified CoE object in a PDOPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices.	BOOL
MLSmpConnect	Connects a sampler block to a pipe network axis or pipe block	BOOL
MLSmpConPLCAxis	Connects a sampler block to a PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML axis variable	BOOL
MLSmpConPNAxis	Connects a sampler block to a Pipe Network axis variable	BOOL
MLSmpInit	Initializes a sampler object	BOOL

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• There is a delay when using an external encoder. The delay is five cycles (2 cycles to read the encoder from the AKD via EtherCAT***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs, 1 cycle for computing, 2 cycles for sending the new position set point to the AKD). This lag error is speed proportional (5 cycles * speed). A Phaser block can be used to compensate for this lag.