Convertor

Name

Description

MLCNVConECAT

Connects the output of a pipe convertor block to an EtherCAT Output (Rx) PDO object.

MLCNVConnect

Connects a converter Pipe Block to the specified axis.

MLCNVConnectEx

Connects the output of a pipe to an axis data other than the control position.

Connects an extra converter Pipe Block to the specified axis.

MLCNVDisconnect

Disconnect a converter Pipe Block from its associated axis.

MLCNVInit

Initializes a converter Pipe Block.

Purpose

The convertor block is necessary to define the connection between a pipe and a destination object.

  • Depending on convertor mode, the incoming numerical values are converted to Position or Speed setpoints with no periodicity.
    • This conversion has no effect on the axis units and their periodicity.
  • This block must be present at the end of a pipe, typically right before an axis block. (Figure 1)

Convertor - Position Mode 'No Modulo'

Figure 1: Example: Convertor - Position Mode - No Modulo

The Output position values are identical to input values when inputs in position mode (by range). (Figure 2 and Figure 3)

Convertor - Position Mode (Modulo)

Figure 2: Example: Convertor - Position Mode - Modulo

Convertor - Speed Mode

Figure 3: Example: Convertor - Speed Mode

Parameters

Parameter

Description

Mode

Determines the type of input to the Converter Object.

The available modes are:

Position

  • 1 is for Position mode.
  • The values drive the position of the motor.
    • At pipe activation, the current (axis) position is set to the first value given by the pipe by moving the motor.
    • Speed and acceleration are derivatives of position.
    • The torque is set according to the regulator needs.
    • Units are the axis physical units.

Speed

  • 2 is for Speed mode.
  • The values drive the speed of the motor.
    • At pipe activation, the current position is not affected.
    • Position is the integral of speed and acceleration is the derivative of speed.
    • The torque is set according to the regulator needs.
    • Units are the axis physical units per second.

Associated Data

  • OutputValue: Output value of the data flows.
  • IslinkedToAxis: Boolean set to TRUE when the Convertor pipe block is linked to an axis block.