MLPmpInit

Pipe Network motion icon

 Function - Initializes a PMP block for use in a PLC program.

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.

ModuloPosition

LREAL

No range

User units

No default

Modulo Position for cyclic motion systems expressed in user logical units.

Position Rollover Value.

Period

LREAL

No range

User units

No default

Sampling period of the generator expressed according to the update cycle.

Example: 2.0 means the sampling is done once every 2 cycles.

FirstTravelSpeed

LREAL

No range

User unit/sec

No default

First travel speed of the motion.

LastTravelSpeed

LREAL

No range

User unit/sec

No default

Last travel speed of the motion.

Acceleration

LREAL

No range

User unit/sec2

No default

Acceleration of the PMP block motion.

Jerk

LREAL

No range

User unit/sec3

No default

Jerk.

 

InitialPosition

LREAL

No range

User units

No default

Initial position of the PMP block when the Pipe Network is started.

Modulo

BOOL

FALSE, TRUE

N/A

No default

The available modes are:

  • TRUE = Modulo.
  • FALSE = No modulo.

Outputs

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

FALSE, TRUE

N/A

Returns TRUE if the function or function block is successfully executing.

See Function - General Rules.

Remarks

  • Initializes a PMP object (Parabolic Motion Profile generator) with user-defined settings.
  • This function block is automatically called by the function Pipe Network(MLPN_CREATE_OBJECTS) if a PMP block is added to the Pipe Network.
    • User-defined settings are entered in the Pipe Blocks Properties screen.
  • The PMP pipe block is assigned a Name, SAMPLING_PERIOD, MODULO_POSITION, FIRST_TRAVEL_SPEED, LAST_TRAVEL_SPEED, ACCELERATION, JERK, and INITIAL Position.
  • Some of these parameters can be changes in an application program using other MLPmp function blocks.
  • An MLPmpRel function block is used to make a bi-directional motion.
    • First movement in one direction, then a return motion back to the initial position.
  • An MLPmpAbs function block is used to move one direction to an absolute position.

  • PMP objects are normally created in the Pipe Network using the graphical engine.
    You do not have to add MLPmpInit function blocks to their programs.
    Parameters are entered directly in pop-up windows and the code is automatically added to the current project.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a PMP Pipe Block named “PMP” to a modulo roll over of 360, motion generator sample period of 1,First Travel Speed of 800.0, Second Travel Speed of 20000.0, Accel of 20000.0,Jerk of 520.0, Initial position of 0.0
MLPmpInit( PipeNetwork.Pmp , 360.0, 1.0, 800.0, 20000.0, 20000.0, 520.0, 0, true ) ;

See Also