MLSmpInit

Pipe Network motion icon

Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - Initializes a sampler object.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID Name of the SMP function block in the Pipe Network.
SamplingPeriod	LREAL	0.25 to ?	Millisecond	1.0	Period that the device is sampled.
Mode	DINT	1, 2 Position or Speed	N/A	Position	Sampled output can be either Position or Velocity.
InputModuloPosition	LREAL	No range	User units	360.0	Period of the input signal. The value set depends upon the device used. AKD: This should be set equal to 2³² (4294967296.0). AKD2G: The value should be set based on the feed constant value assigned in the 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 object 0x60E4 subindex 1-5. The default feed constant value is 2¹⁶ (65536)
OutputModuloPosition	LREAL	No range	User units	360.0	Period of the output signal.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL		N/A	SMP Block successfully initiated. See Pipe Network - General Rules for more information.

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

N/A

SMP Block successfully initiated.

See Pipe Network - General Rules for more information.

Remarks

This sampler block is used to periodically sample and place into a pipe some output of a source object.
- The sampled output can be the POSITION or SPEED of a source object measured by a resolver, an encoder, or some other types of sensor A sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer.
The sampler implements the logical connection between:
- An encoder on a physical master axis (the source object).
- One or more pipes.
- It performs the function of periodically sampling the source and placing the sampled values into the pipe.
This function block is automatically called by the Function PipeNetwork(MLPN_CREATE_OBJECTS) if a Smp Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen.
The Smp Pipe Block is assigned a Name, SAMPLING_PERIOD, MODE, INPUT_VALUE_PERIOD, and OUTPUT_VALUE_PERIOD.
This function can be programmed from within the Pipe Network block.
Right-click the block and click Properties.
To offset the Sampler Block Output Position in the Pipe Network either:
- Place a Phaser Block (and write MLPhaWritePhase in the application code).
- Place a Gear Block (and write MLGearWriteOff ) after the Sampler Block.

Using AKD Secondary Feedback	Using AKD2G Additional Feedback
The Sampler can be connected to the secondary feedback on the AKD using MLSmpConPNAxis. The scaling for the AKD Secondary Feedback is setup using AKD Parameters: DRV.HANDWHEEL and FB2.ENCRES. The feedback signal comes through EtherCAT in object 0x2050. The scaling for this position signal is 0 to 4294967296 = 0 to FB2.ENCRES. Object 0x2050 rolls over to 0 when reaching 4294967296.	The Sampler can be connected to the additional feedback (1-5) on the AKD2G using MLSmpConPNAxis. See the AKD2GFeedback Settings section for setting up the additional feedback type and resolution. The default feed constant value in the KAS-IDE "Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger is scaled to 65536. This feed constant value can be changed using EtherCAT object 0x60E9 subindex 1-5. The feedback signal comes through EtherCAT in object 0x60E4 subindex 1-5.

Using AKD Secondary Feedback

Using AKD2G Additional Feedback

The Sampler can be connected to the secondary feedback on the AKD using MLSmpConPNAxis.
The scaling for the AKD Secondary Feedback is setup using AKD Parameters: DRV.HANDWHEEL and FB2.ENCRES.
The feedback signal comes through EtherCAT in object 0x2050.
The scaling for this position signal is 0 to 4294967296 = 0 to FB2.ENCRES.
- Object 0x2050 rolls over to 0 when reaching 4294967296.

The Sampler can be connected to the additional feedback (1-5) on the AKD2G using MLSmpConPNAxis.
- See the AKD2GFeedback Settings section for setting up the additional feedback type and resolution.
The default feed constant value in the KAS-IDE "Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger is scaled to 65536.
- This feed constant value can be changed using EtherCAT object 0x60E9 subindex 1-5.
The feedback signal comes through EtherCAT in object 0x60E4 subindex 1-5.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a Sampler Pipe Block named “EncoderMaster1” to a Sample Period of 1 millisec, Mode of Operation to 2(Velocity), Input Modulo of 4294967296, and Output Modulo of 720
MLSmpInit( PipeNetwork.EncoderMaster1, 1.0,2,4294967296,720);