Collaboration diagram for ParameterBlocks:

Parameter Blocks

Description

This block group contains functions to read and write parameters.

sercos automation bus specifies S- and P-parameters that basically include all information to operate a sercos device. S-parameters are parameters that are sercos specific parameters while P-parameters are those which are product specific, which means vendos specific, but their structure is sercos conform.

While S- and P-parameters are very drive centric, IndraMotion XLC/MLC provides A-, C-, K-, M-, N- and O-parameters which are related to axis, control, kinematics, touch-probe, CAM switches and oscilloscop functions and properties. More information about parameters can be found in the IndraWorks help. Several S- and P-parameters are mapped to these parameters.

A parameter is basically a quantity that serves to relate functions and variables. Every parameter consists of up to seven elements.

Some basic information about the parameter structure can be found here.

More Information

For further information, refer to the mlpiCore documentation: ParameterLib

Copyright

m4SParameterReadAttribute

Parameter Block: Read the attribute of a parameter.

Description

This block reads the attribute of a parameter (Parameter structure, sercos element 3).

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

attribute contains the parameter attribute. The output is a scalar uint32 value. The default value is 0.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be provided in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterReadAttribute_Sample.mdl

m4SParameterReadDataArray

Parameter Block: Read values of a list parameter.

Description

This block reads the actual values of the defined parameter. The block can read the value of a scalar parameter or a list parameter.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

data contains the actual data of the parameter. The type of the output is according to dialog box parameter Data type. The output is a 1xN vector. String parameter are not supported by this block. The default value of the elements is 0.

numElementsRet contains the number of elements read from the parameter. If the number N of elements specified in dialog box parameter Number of elements does not match the parameter definition, the block execution will fail. If you do not have the definition right at hand, enter a reasonably high number for N. If the number N is larger than 1 and higher than the parameter definition, the block will fail but this output indicates the correct number of list elements in the parameter definition. If N is smaller than the parameter definition the block execution will fail and this output is 0. The default value of the elements is 0.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be entered in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Data type specifies the data type of the output data. The data type must match the data type of the parameter.

Number of elements specifies the number N of elements that shall be read from the parameter. For scalar parameter values use 1. For list parameter N must be equal to the list elements of a list parameter.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterReadDataArray_Sample.mdl

m4SParameterReadData

Parameter Block: Read scalar value of a parameter.

Description

This block reads the actual value of the defined parameter. The block reads the value of a scalar parameter only. To read list parameter refer to block m4SParameterReadDataArray.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

data contains the actual data of the parameter. The type of the output is according to dialog box parameter Data type. The output is scalar. List parameter or string parameter are not supported by this block. The default value is 0.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be entered in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Data type specifies the data type of the output data. The data type must match the data type of the parameter.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterReadData_Sample.mdl

m4SParameterReadDefault

Parameter Block: Read scalar default value of a parameter.

Description

This block reads the default (factory setting) parameter data value or values of the indicated parameter. The return value has the data type of the parameter data.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

default contains the default data of the parameter. The type of the output is according to dialog box parameter Data type. The output is scalar. List parameter or string parameter are not supported by this block. The default value of this port is 0.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be entered in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterReadDefault_Sample.mdl

m4SParameterReadMaximum

Parameter Block: Read maximum value of a parameter.

Description

This block reads the maximum value of a parameter. The maximum is part of a parameter (see parameter structure, sercos element 5).

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

maximum contains the maximum data of the parameter. The type of the output is according to dialog box parameter Data type. The output is scalar. List parameter or string parameter are not supported by this block. The default value is 0.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be entered in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterReadMaximum_Sample.mdl

m4SParameterReadMinimum

Parameter Block: Read minimum value of a parameter.

Description

This block reads the minimum value of a parameter. The minimum is part of a parameter (see parameter structure, sercos element 5).

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

minimum contains the minimum data of the parameter. The type of the output is according to dialog box parameter Data type. The output is scalar. List parameter or string parameter are not supported by this block. The default value is 0.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be entered in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterReadMinimum_Sample.mdl

m4SParameterWriteDataArray

Parameter Block: Write values to a list parameter.

Description

This block writes values to the defined parameter. The block can write scalar data or array data to a parameter.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

data defines the actual data of the parameter. The input must be scalar, a 1xN or Nx1 vector. The size and the data type of this input must match the parameter definition. String parameter are not supported by this block.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be entered in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterWriteDataArray_Sample.mdl

m4SParameterWriteData

Parameter Block: Read scalar value of a parameter.

Description

This block writes data to the defined parameter. The block can write scalar data only. To write array data to a parameter refer to block m4SParameterWriteDataArray.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

data defines the data for the parameter. The type of the input must match the type of the parameter. The input must be scalar. List parameter or string parameter are not supported by this block.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

Parameters and Dialog Box

Address mode specifies the mode the parameter is addressed. For details refer to the enumeration MlpiAddressMode32.

Master address specifies the address of the sercos master. The parameter must be a scalar semi-positive integer. Internally the numeric value will be casted to uint64.

Slave address specifies the address of the sercos slave. The parameter must be a scalar positive integer. Internally the numeric value will be casted to uint64.

Parameter IDN specifies the sercos parameter IDN. The parameter must be a 1xL char array. To simplify text input the parameter string can be entered in the following formats:

'C-0-0209.0.0': Full IDN string.
'C-0-0206': Reduced IDN notation without structure element and structure instance.
'M-206': Short IDN notation with parameter class and parameter number.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SParameterWriteData_Sample.mdl

Parameter Blocks

Description

More Information

m4SParameterReadAttribute

m4SParameterReadAttribute

Description

Block Inputs

Block Outputs

Parameters and Dialog Box

Characteristics

Example Model

See also