MLPmpRel

Pipe Network motion icon

 Function - Used to perform two subsequent relative moves.

Inputs

Input

Data Type

Range

Unit

Default

Description

BlockID

DINT

-2147483648 to 2147483647

N/A

No default

ID name of a PMP function block in the Pipe Network.

DeltaFirst

LREAL

No range

User units

No default

Length of the first move.

The value is entered in the FIRST_TRAVEL_SPEED field in the Parameter tab.

DeltaSecond

LREAL

No range

User units

No default

Length of the second (return) move.

The value is entered in the LAST_TRAVEL_SPEED field in the Parameter tab.

Outputs

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

FALSE, TRUE

N/A

Returns TRUE if the function or function block successfully completed.

See Function - General Rules.

Remarks

  • Using the MLPmpRel function block, the PMP Generator produces forward-backward motions with a non-stop, jerk-free transition through zero speed.
  • This function is used to do a single relative move, ending in zero speed, by setting the DeltaSecond argument to zero (0.0).
    • If it is done, for the controlling speed to be the first move, the Last_Travel_Speed parameter must be set equal to or greater than the First_Travel_Speed parameter.
  • The slower of the two speeds is utilized to optimize the S-curve behavior for the move whether it is a 2 or 1 delta move.
  • If the DeltaSecond argument is non-zero, it must have the opposite sign than the sign of the DeltaFirst argument.

Figure 1: PMP Generator Forward and Backward Motion Profile

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Execute a Relative move on a PMP Block name “PmpMaster” with a First Travel Speed of 750.0, Second Travel Speed of -500,
MLPmpRel( PipeNetwork.PmpMaster, 750 , -500);

See Also