MLMstInit
Description
Initializes a Master TMP
"Trapezoidal Motion Profile"
This pipe block is a source block that frequently serves as a virtual master for a system composed of several pipes. Generally, a trapezoidal motion profile generator is used to generate a flow of values with a first derivative which produces a trapezoidal trajectory (trapezoidal motion profile) generator block. This function is automatically created when the MLMaster Block is included in the Pipe Network Editor. Based on the parameters defined in the Master pipe block (see figure below), the Inputs for this function are initialized by default.
Figure 7-103: TMP Initialization
Arguments
Input
|
Block ID |
Description |
ID name of the Master Block |
|
Data type |
DINT |
|
|
Range |
[-2147483648, 2147483648] |
|
|
Unit |
N/A |
|
|
Default |
— |
|
|
ModuloPosition |
Description |
Modulo Position for cyclic motion systems expressed in user logical units (Position Rollover Value) |
|
Data type |
LREAL |
|
|
Range |
— |
|
|
Unit |
User unit |
|
|
Default |
— |
|
|
Period |
Description |
Sampling period of the generator expressed according to the update cycle (e.g. 2.0 means the sampling is done once every 2 cycles) |
|
Data type |
LREAL |
|
|
Range |
— |
|
|
Unit |
Cycles |
|
|
Default |
— |
|
|
Speed |
Description |
Travel speed value expressed in user logical units per second. The travel speed value is used to set the constant speed part of the trapezoidal motion profile |
|
Data type |
LREAL |
|
|
Range |
— |
|
|
Unit |
User unit / sec |
|
|
Default |
— |
|
|
Acceleration |
Description |
Acceleration value expressed in user logical units per second squared. The acceleration value is always used to generate the first part of the trapezoidal motion profile |
|
Data type |
LREAL |
|
|
Range |
— |
|
|
Unit |
User unit/sec2 |
|
|
Default |
— |
|
|
Deceleration |
Description |
Deceleration value expressed in user logical units per second squared. The deceleration value is always used to generate the last part of the trapezoidal motion profile |
|
Data type |
LREAL |
|
|
Range |
— |
|
|
Unit |
User unit/sec2 |
|
|
Default |
— |
|
|
Initial Position |
Description |
Initial position value expressed in user logical units. Used only at the pipe activation to initialize the position starting point |
|
Data type |
LREAL |
|
|
Range |
— |
|
|
Unit |
User unit |
|
|
Default |
— |
|
|
Modulo |
Description |
The available modes are Modulo (True) or No modulo (False) |
|
Data type |
BOOL |
|
|
Range |
0, 1 |
|
|
Unit |
N/A |
|
|
Default |
— |
Output
|
Default (.Q) |
Description |
Returns true when function successfully executes See more details here. |
|
Data type |
BOOL |
|
|
Unit |
N/A |
Example
Structured Text
//Initialize a Master Pipe Block named “MASTER” to a Modulo of 360, motion generator sample period of 1,Speed of 1000.0, Accel and Decel of 10000.0, Initial position of 0.0,
MLMstInit( PipeNetwork.MASTER, 360.0, 1.0, 1000.0, 10000.0, 10000.0, 0.0, true );
Ladder Diagram
Function Block Diagram
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