MLSmpInit

Pipe Network motion icon

Function - Initializes a sampler object.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	1 to 1024	N/A	No default	ID Name of the SMP function in the Pipe Network.
SamplingPeriod	LREAL	0.25 to 31,557,600,000.0	Millisecond	No default	Period that the device is sampled, expressed in milliseconds. Figure 1: Example: Sampler Period
Mode	DINT	See Description.	N/A	No default	Sampled output can be either Position or Speed. 1 = Position Mode. 2 = Speed Mode. Figure 2: Sampler Mode Position Figure 3: Sampler Mode Speed
InputModuloPosition	LREAL	0 to 1.0x10³⁰⁰	User units	No default	Period of the input signal. When used to track the feedback value of an EtherCAT device, the value of InputModuloPosition depends on the EtherCAT device used as an Input Source for this Pipe Block. AKD: This should be set equal to 2³² (4294967296.0). AKD2G: This should be set based on the feed constant value assigned in the EtherCAT object 0x60E4 subindex 1-5. 0 (zero) indicates the input signal does not use the modulo operation. See Modulo Affects on the Signal Scaling.
OutputModuloPosition	LREAL	0 to 1.0x10³⁰⁰	User units	No default	Period of the output signal. 0 (zero) indicates the output signal does not use the modulo operation. See Modulo Affects on the Signal Scaling.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	SMP Block successfully initiated. See Pipe Network - General Rules.

Modulo Affects on the Signal Scaling

This table lists how the values of InputModuloPosition and OutputModuloPosition affects the scaling of the signal.

InputModuloPosition Value	OutputModuloPosition Value	Scaling Effect	Rollover Effect
Non-zero	Non-zero	Output signal = (Input signal) x (OutputModuloPosition / InputModuloPosition)	Output signal rolls over at OutputModuloPosition.
0 (zero)	0 (zero)	Output signal = Input signal	Output signal does not roll over.
Non-zero	0 (zero)	Output signal = Input signal	Output signal rolls over at OutputModuloPosition.
0 (zero)	Non-zero	Output signal = Input signal	Output signal rolls over at InputModuloPosition.

Remarks

This sampler block is used to periodically sample and place into a pipe some output of a source object.
- The sampled output can be the POSITION or SPEED of a source object measured by a resolver, an encoder, or some other types of sensor.
The sampler implements the logical connection between:
- An encoder on a physical master axis (the source object).
- One or more pipes.
- It performs the function of periodically sampling the source and placing the sampled values into the pipe.
This function block is automatically called by the Function PipeNetwork(MLPN_CREATE_OBJECTS) if an SMP Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen.
The SMP Pipe Block is assigned a Name, SAMPLING_PERIOD, MODE, INPUT_VALUE_PERIOD, and OUTPUT_VALUE_PERIOD.
This function can be programmed from within the Pipe Network block.
Right-click the block and click Properties.
To offset the Sampler Block Output Position in the Pipe Network either:
- Place a Phaser Block (and write MLPhaWritePhase in the application code).
- Place a Gear Block (and write MLGearWriteOff ) after the Sampler Block.

Use AKD Secondary Feedback	Use AKD2G Additional Feedback
The Sampler can be connected to the secondary feedback on the AKD using MLSmpConPNAxis. The scaling for the AKD Secondary Feedback is setup using AKD Parameters: DRV.HANDWHEEL and FB2.ENCRES. The feedback signal comes through EtherCAT in object 0x2050. The scaling for this position signal is 0 to 4294967296 = 0 to FB2.ENCRES. Object 0x2050 rolls over to 0 when reaching 4294967296.	The Sampler can be connected to the additional feedback (1-5) on the AKD2G using MLSmpConPNAxis. See the AKD2GFeedback Settings section for setting up the additional feedback type and resolution. The default feed constant value in the KAS-IDE is scaled to 65536. This feed constant value can be changed using EtherCAT object 0x60E9 subindex 1-5. The feedback signal comes through EtherCAT in object 0x60E4 subindex 1-5.

Use AKD Secondary Feedback

Use AKD2G Additional Feedback

The Sampler can be connected to the secondary feedback on the AKD using MLSmpConPNAxis.
The scaling for the AKD Secondary Feedback is setup using AKD Parameters: DRV.HANDWHEEL and FB2.ENCRES.
The feedback signal comes through EtherCAT in object 0x2050.
The scaling for this position signal is 0 to 4294967296 = 0 to FB2.ENCRES.
- Object 0x2050 rolls over to 0 when reaching 4294967296.

The Sampler can be connected to the additional feedback (1-5) on the AKD2G using MLSmpConPNAxis.
- See the AKD2GFeedback Settings section for setting up the additional feedback type and resolution.
The default feed constant value in the KAS-IDE is scaled to 65536.
- This feed constant value can be changed using EtherCAT object 0x60E9 subindex 1-5.
The feedback signal comes through EtherCAT in object 0x60E4 subindex 1-5.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a Sampler Pipe Block named “EncoderMaster1” to a Sample Period of 1 millisec, Mode of Operation to 2(Velocity), Input Modulo of 4294967296, and Output Modulo of 720
MLSmpInit( PipeNetwork.EncoderMaster1, 1.0,2,4294967296,720);