MLPmpInit
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:
|
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
