Sampler

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• See Pipe Block Descriptions.

Name	Description
MLSmpConECAT	Connects a sampler block to the specified CoE object in a PDO.
MLSmpConnect	Connects a sampler block to a pipe network axis or pipe block.
MLSmpConPLCAxis	Connects a sampler block to a specific PLCopen axis variable.
MLSmpConPNAxis	Connects a sampler block to a specific Pipe Network axis variable.
MLSmpInit	Initializes a sampler object.

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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,
       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.