MLMstInit

Pipe Network motion icon

Function - Initializes a Master TMP generator block.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	1 to 1024	N/A	No default	ID name of the Master Block.
ModuloPosition	LREAL	No range	User units	No default	Modulo Position for cyclic motion systems expressed in user logical units (Position Rollover Value).
SamplingPeriod	LREAL	No range	Cycles	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.
TravelSpeed	LREAL	No range	User units	No default	Travel speed value expressed in user position units per second. The travel speed value is used to set the constant speed part of the trapezoidal motion profile (TMP). See Set the Axis Block Position Units.
Acceleration	LREAL	No range	User unit/sec²	No default	Acceleration value expressed in user position units per second squared. The acceleration value is always used to generate the first part of the trapezoidal motion profile (TMP). See Set the Axis Block Position Units.
Deceleration	LREAL	No range	User unit/sec²	No default	Deceleration value expressed in user position units per second squared. The deceleration value is always used to generate the last part of the trapezoidal motion profile (TMP). See Set the Axis Block Position Units.
InitialPosition	LREAL	No range	User units	No default	Initial position value expressed in user position units. Used only at the pipe activation to initialize the position starting point.
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 when the function successfully executes. See Pipe Network - General Rules.

Remarks

This function is automatically created when the MLMaster Block is included in the Pipe Network Editor.
Based on the parameters defined in the Master pipe block, the Inputs for this function are initialized by default.
- See example in the Figure 1.

Figure 1: TMP Initialization

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a Master Pipe Block named “MASTER” to a Modulo of 360, motion generator sample period of 1,Speed of 1000.0, Accel and Decel of 10000.0, Initial position of 0.0,
MLMstInit( PipeNetwork.MASTER, 360.0, 1.0, 1000.0, 10000.0, 10000.0, 0.0, true );