mlpi4MATLAB: Examples

Preparation

Almost each MLPI function includes an example file that shows how the function can be used in a context. The filenames of these files are m4M*_Sample.m. Many sample files need a particular project configuration in the motion-controller. In the installation folder of the mlpi4MATLAB toolbox you will find in the folder .\mlpi\mlpi4MATLAB\samples\SampleProject an IndraWorks project that has to be used to configure the motion-controller prior to executing sample files. In order to set-up the motion-controller with this project you have to execute the following steps using MLPI functions or IndraWorks in the listed order:

stop the PLC (refer to m4MLogicStopApplication)
switch the sercos communication to phase 0 (refer to m4MSystemSetTargetMode)
cleanup the MLPI device (refer to m4MSystemCleanup)

Now the MLPI device is reset to factory settings and can be configured with the sample project. For the following steps you need IndraWorks. Execute the steps in the following order:

open the sample project (_File/Open/Project)
enter the correct IP address in the opened project (mouse right click on the control node to open the context menue and select Properties.... Select the tab-sheet Configuration and enter your MLPI device IP address in the corresponding edit field.)
switch the project online to configure the motion settings (Project/Switch devices online)
login to the PLC (Debug/Login)

With these operations you reset the motion-controller to factory settings and upload the project configuration. However, with these settings the permission and user management sets the access rights to default which means that most of the MLPI functions can not be accessed. Trying to call an MLPI function like m4MSystemReboot will return an error message. When trying to call example files make sure you use the correct user name and corresponding password as explained below. When using the mlpi4MATLAB toolbox the first time, it is recommended to use an account.xml file that grants full access to all functions. Refer to the section Permission and User Management for details.

These operations will configure the motion-kernel and PLC runtime to be able to execute the sample files properly. The reason why this project configuration is necessary is because the sample files will do things like reading an actual position from an axis which implies that a configured axis is available in the motion controller.

The sample files are kept as simple as possible to show the use of a the corresponding MLPI function but this also means that they are not very fault tolerant.

The structure of each sample is a header cell that contains the function help followed by a section that contains a check if the sample is executed in silent mode. The sample itself is contained in the cell starting with %% sample code. In any case, the cautions must not be ignored.

Note: The sample projects required contains two virtual axis (axis no. 1 and 2) and needs one real axis with the axis number 3 and interpolation in the motion-controller. The motion-contoller is an IndraControl CML45. If your physical configuration is different, the sample files will not work properly. You need to modify your project configuration to fit to this configuration or you have to adapt the sample files according to your personal configuration but the sample files can still be used as templates.

Instructions

A link to the example of the function is included in each function help. Enter the following command in the Command Window to display the function help of the function m4MSystemGetName.

help m4MSystemGetName

The help includes a section Example Files with a hyperlink to open the sample code in the MATLAB editor and a second hyperlink to execute the sample code.

Example Files:
- edit m4MSystemGetName_Sample
- run  m4MSystemGetName_Sample(myIP)

In order to execute the sample a MLPI device has to be accessible from MATLAB. Therefore create the variable myIP and assign the IP address of your MLPI device as char array to this variable. Enter the following text in the Command Window while the number between the quotes must be replaced by your IP address.

myIP = '192.168.1.2'

Before executing the example check that the MLPI device is accessible by entering

!ping '192.168.1.2'

A positive ping response indicates that the MLPI device is reachable in in the network. If you have defined a user and a password on the MLPI device - which is the case if you have reset the device to factory settings as mentioned above - you have to indicate it in the char array as well. For example:

myIP = '192.168.1.2 -user=batman -password=gothamcity'

For more details about the connection parameters refer to the help of m4MApiConnect.

Now you can click on the hyperlink following - run in the help text of the function to start the sample. The screen will be cleared and the following text will be prompted by default.

********************************************************
*******************                  *******************
***************     !!!  CAUTION !!!     ***************
*******************                  *******************
********************************************************
Continuing will call a script of MATLAB functions for a
motion-controller. The motion-controller might execute
operations that result in dangerous situations.

Dangerous situations might be:
- movement of axes,
- disabeling safety precautions,
- electrical power on or off,
- hazardous environments,
- other dangerous situations not listed here.

Make sure that safety precautions are installed to prevent
any injuries of human beings or animals as well as damage
of material.

Do NOT continue if insufficient safety mechanisms are
installed.

Use the function 'more on' to execute the sample in
paged mode.

Enter 'Y' to continue or any other input to abort the script:

If you are sure that the execution of the example will not cause a dangerous situation confirm it by entering Y. After confirmation there is a break of 3 seconds during which you can enter CTRL-c to cancel the confirmation again. Then the example script will continue and can hardly be interrupted.

In most examples MATLAB will try to connect to the MLPI device. The example script will prompt all function calls showing which functions are used and the return values of these functions.

Instead of starting the example from within a help function you can simply call the corresponding m-file by entering

m4MSystemGetName_Sample('192.168.1.2')

or

m4MSystemGetName_Sample('192.168.1.2 -timeout_connect=2000 -timeout_send=2000 -timeout_receive=2000')

that avoid to long timeouts.

Important Note

If the MLPI device is accessible in the network but the string provided in myIP is not valid the example will try to connect to this invalid IP address or with invalid connection options. This may result in a locked MATLAB window if the timeout setting is too long. This process cannot be interrupted with CTRL-c so you have to wait until the function returns. It is recommended not to set the timeout value to infinity.

Copyright

mlpi4MATLAB: Examples

Contents

Preparation

Instructions

Important Note