MLAxisInit

Pipe Network motion icon

Function - Initializes an axis object.

Inputs

Input	Data Type	Range	Unit	Default	Description
Acceleration	LREAL	Acceleration > 0 (zero)	User unit/sec²	No default	Sets the Axis Acceleration value. See Set the Axis Block Position Units.
AxisID	DINT	No range	N/A	No default	ID of the Axis block.
Deceleration	LREAL	Deceleration > 0 (zero)	User unit/sec²	No default	Sets the Axis Deceleration value. See Set the Axis Block Position Units.
FeedbackUnitsPerRev	DINT	No range	User units	No default	Number of units associated to the Drive for one revolution of the physical motor. This is only available when using an imported ENI file. This parameter is only configurable through MLAxisInit.
InitialPosition	LREAL	No range	User units	No default	Initial position value expressed in user logical units. Used only at the pipe activation to initialize the position starting point. This parameter is only configurable through MLAxisInit. See Set the Axis Block Position Units.
Modulo	BOOL	FALSE, TRUE	N/A	No default	The available modes are Modulo (TRUE) and No Modulo (FALSE). Click for details on Modulo or No Modulo axis Depending on the type of the moving object the axis acts on, you can define the MODULO_POSITION parameter or not. Modulo Moving objects, performing a never ending cyclical motion are called periodic (e.g., printing cylinder, cutting wheel). Example: If a user unit = 0.1mm has been chosen, a Modulo Position = 2000 Units could be selected for this transportation system. Figure 1: Mode - Modulo No Modulo Objects always moving within a certain position range (forward/backwards) can be called linear or range axes (e.g., lift axis, moving tables). Example: If a user unit = 0.1mm has been chosen, a position range = 0 to 10,000 Units could be selected for this moving table. Figure 2: Mode - No Modulo
ModuloPosition	LREAL	No range	User units	No default	The value of the period of a cyclic system expressed in User units. The parameter is defined to correctly manage the periodicity (modulo) of the input values.
Speed / Travel Speed	LREAL	No range	User units	No default	The speed value is used to set the constant speed part of the trapezoidal motion profile. See Set the Axis Block Position Units.
UserUnitsPerRev / User Units per Revolution	LREAL	No range	User units	No default	To divide the current axis into graduations adapted to your project, you must define the unit that is equivalent to one revolution of the physical motor (e.g., 3600 means that you define the user unit to be tenth of a degree). You can rely on expressions to define values. Example with Expressions Gear factor 1:3 and 1000.0 User Units per one gear shaft revolution. // user units per revolution calculation example #define DEF_BandGear 3.0 // gearbox ratio #define DEF_BandUnit 1000.0 // user units for 1 mechanical turn #define DEF_BandUUperRev DEF_BandUnit/DEF_BandGear Figure 3: Define Value with Expressions See Use the Defines List.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	Returns TRUE when the function successfully executes. See Pipe Network - General Rules.

Remarks

Returns TRUE if the function succeeded.
The axis object can be mapped to servo or stepper drives.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

MLAxisInit( PipeNetwork.Axis1, 360.0, 360.0, SHL(1,20), 500.0, 100000.0, 100000.0, 0.0, true ) ;