Libraries

List of related libraries:

[detail level 12]

▼MATLAB
ApiLib	API Functions Description The API function group contains elementary functions used to establish a connection between your client application and a target system. This has to be done before any other MLPI function can be called. The MLPI is session oriented. This means, that you need to connect to a target before you can use any other MLPI function calls. There are a just few functions like m4MApiGetClientCoreVersion that do not need an online communication to the target. After successfully connecting to the target using m4MApiConnect you will get a handle object which identifies your connection and which can be used for any further MLPI function call. Please have a look at the documentation and examples of the function m4MApiConnect for more information. You will find some additional functions to test if the session is still established with m4MApiIsConnected, to test the connection performance with m4MApiTestConnection or to get version information with m4MApiGetClientCoreVersion and m4MApiGetServerCoreVersion. Note: Make sure that mlpi4MATLAB functions are called with a valid connection handle. Invalid handles can cause unexpected behaviour. More Information For further information, refer to the mlpiCore documentation: ApiLib Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
SystemLib	System Functions Description The system function group contains functions used to provide access to common device settings of the target device. The diagnosis logbook of the target device can also be accessed using functions of this group. More Information For further information, refer to the mlpiCore documentation: SystemLib Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
MotionLib	Motion Functions Description The motion function group provides functionality for defining axes, commanding motion, setting and getting axes information. The conceptual difference between a drive or device and an axis is that a drive or device is the physical device that is connected to the sercos bus and can be configured via S- and P-parameters. An axis is assigned to a drive or device and is accessible through A-parameters. Multiple axes can be assigned to a drive or device (for example, one axis is a real axis that is moving the drive, a second axis is connected to the same drive, but implements an encoder axis). Note You find a more detailed description of the concept of axes in the IndraWorks help system of the XLC/MLC product. The m4MMotion* functions all deal with the motion of axes. The motion commands can be structured in single axis commands, where a single axis is moved, synchronous commands, where slave axes are moved in relation to a master and utility functions like power or homing of an axis. Each motion command usually uses a set of input arguments to define the particular movement. The command will be executed in the motion-controller and returns a handle. This handle can be used in following requests to get status information. The handle and the axis reference a particular motion command. One axis can have multiple active commands (e.g. power is switched on and a move is commanded). In contrast, an active motion command will be interrupted as soon as a new motion command is called. More Information For further information, refer to the mlpiCore documentation: MotionLib Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
LogicLib	Logic Functions Description The logic functions group contains functions to control and manage the PLC runtime system on the target device. Furthermore this function group provides the symbolic read and write access to logic variables and the possibility to read and write memory areas such as the input area. More Information For more information, refer to mlpiCore documentation: LogicLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
ParameterLib	Parameter Functions Description This function 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. Parameter structure Element Description Requirement No. ------------------------------------------------------------- 1 IDN global unique identifier, mandatory 2 Name name of parameter, optional 3 Attribute properties of parameter (attribute), changeable, mandatory 4 Unit unit of parameter, changeable, optional 5 Minimum input value minimum value of operation data, changeable, optional 6 Maximum input value maximum value of operation data, changeable, optional 7 Operation data operation data, changeable, mandatory In a parameter, elements 1, 3 and 7 are mandatory and shall always be present. Elements 2, 4, 5, and 6 are optional and may be supported depending on configuration. Elements 5 and 6 are mandatory for cycle time parameters only. All parameters are assigned to IDNs. Parameter element IDN Bit No. Short description Description ------------------------------------------------------------- 40-63 Reserved – 32-39 EIDN types Extend standard or product specific IDN (e.g. C-x-xxxx, A-x-xxxx,...) 31-24 Structure instance (SI) Number of structure instance (SI) 23-16 Structure element (SE) 0-127: Standard SE 128-255: Product-specific SE 15 Standard or Product 0: Standard IDN (S-x-xxxx) specific IDN (S or P) 1: Product-specific IDN (P-x-xxxx) 14-12 Parameter sets sercos specifies IDNs with parameter set 0 only. 0-11 Data block or Data block number (if SI = SE = 0) Function group Function group (if SI or SE is not 0) Parameter Attribute Bit Short description Description No. ------------------------------------------------------------- 31 – Reserved 30 Write protected in CP4 0: Operation data is writable 1: Operation data is write protected 29 Write protected in CP3 0: Operation data is writable 1: Operation data is write protected 28 Write protected in CP2 0: Operation data is writable 1: Operation data is write protected 24-27 Decimal point 0000..1111: No place to 15 places after decimal point (maximum) 23 – Reserved 20-22 Data type and 000: Data type: Binary number; display format Display format: Binary 001: Data type: Unsigned integer; Display format: Unsigned decimal 010: Data type: Integer; Display format: Signed decimal 011: Data type: Unsigned integer; Display format: Hexadecimal 100: Data type: Extended character set; Display format: UTF8 101: Data type: Unsigned integer; Display format: IDN 110: Data type: Floating-point number; Display format: Signed decimal with exponent 111: Data type: sercos time; Display format: 4 octets seconds and 4 octets nano seconds, starts with 1.1.1970 computed in UTC 19 Command 0: Parameter is not a procedure command 1: Parameter is a procedure command 16-18 Data length 000: Reserved 001: Operation data is two octets long 010: Operation data is four octets long 011: Operation data is eight octets long 100: Variable length with one-octet data strings 101: Variable length with two-octet data strings 110: Variable length with four-octet data strings 111: Variable length with eight-octet data strings 0-15 Conversion factor The conversion factor is an unsigned integer used to convert numeric data to display format. The conversion factor shall be set to a value of 1 when it is not needed for data display. CP2, CP3, CP4 mean sercos communication phase. CP2 is the communication mode in which most of the parameter setting can be done as the sercos bus is in non-cyclic mode. CP4 is the cyclic communication mode in which most of the parameter modification is no longer possible. Sercos communication phases can be changed by use of the function m4MSystemSetTargetMode. More Information For further information, refer to the mlpiCore documentation: ParameterLib Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
WatchdogLib	Watchdog Functions Description Using the watchdog function group you can establish a mechanism between your application and the firmware in order to react to exceptions or problems within your client program execution. The following steps are necessary: Setup the watchdog and specify the timeout in milliseconds as well as the action to be taken when the timeout is reached. Start the watchdog. Reset the watchdog on a cyclic time basis that is lower than the specified timeout. As soon as you do not reset the watchdog in time, it will execute the action as specified during the setup. E.g. stop the PLC or restart the device. More Information For more information, refer to mlpiCore documentation: WatchdogLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
TaskLib	Task Functions Description This function group provides functionality to control and change the tasking and scheduling of the MLC/MLP/XLC system and the user application. Using the task functions it is possible to hook your task into the real-time task scheduler of the target system. Of course, this makes only sense if your program runs on the same target as the device you are connected to. Using the task functions when connecting via MLPI over ethernet is possible but the timing of the methods is non deterministic. But when running with your application on the target you can make sure, that your task is one of the first tasks to get scheduled, when for example new data has arrived on the sercos bus. To do this you have to increase the task priority of your task using m4MTaskSetCurrentPriority and then you may want to wait for a given system event using m4MTaskWaitForEvent. More Information For more information, refer to mlpiCore documentation: TaskLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
TraceLib	Trace Functions Description This function group provides access to the common internal tracing module of the device. The tracing system provides a mechanism for collecting and viewing device debug output. Logs from various components and the firmware system are collected in a circular buffer, which then can be read and viewed. There are 3 types of logs in the trace system: Message, Warning and Error. For better filtering and to minimize performance impact on the running system, the logs can be grouped to modules and each module can be activated or deactivated. A log to a activated module is written to one of the given circular buffers of the trace system. Logs to deactivated modules are discarded. It is possible to read the current content of the buffers. More Information For more information, refer to mlpiCore documentation: TraceLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
IoLib	I/O Functions Description This function group contains functions to control and manage, read and write fieldbus I/Os. More Information For more information, refer to mlpiCore documentation: IoLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
ContainerLib	Container Functions Description Use the container function group when you need to access a larger set of data repetitively and with maximum update speed. For example input data you want to read every machine cycle. Using the function m4MContainerCreate you first have to create a container by defining all the elements you want to read with the container. This also defines the memory layout of the container. Following that you can read or write your data using the functions m4MContainerGetUdt or m4MContainerSetUdt. When the container is no longer needed, delete it using m4MContainerDestroy. Important Note The addresses of the variables of the container content might changes on every download or online change of the PLC application, so you have to stop and destroy your container before you load the PLC application! Please ensure you do not destroy a container during accessing it (e.g. update, read information)! A container is a list of items which are described as so called tags. Each tag identifies a data element which can be read or written. For example a symbolic variable from the PLC or data from the input area of the I/O mapping. The first argument of a tag always defines the type of data to read or write. The following data sources are available: LOGICLIB_MEMORY_AREA: Accessing Input, Output and Marker area of PLC (%I, %O, %M). LOGICLIB_SYMBOL: Accessing variables and arrays of PLC by symbolic name using symbolic variables. Access requires a symbol configuration of desired variables. IOLIB_FIELBUS_IO: Accessing fieldbus IO data directly from fieldbus driver. ALIGNMENT_DUMMY: Dummy elements to align the subsequent tag. The arguments for the different data sources are as follows. LOGICLIB_MEMORY_AREA argument 1: application name. (e.g. "Application") argument 2: area. (Either "INPUT", "OUTPUT" or "MARKER") argument 3: bit offset. (e.g. "0" to read from start offset) argument 4: bit length. (Note: single bit access or byte access supported. E.g. "1", "8", "16", "24", ... ) LOGICLIB_SYMBOL argument 1: symbol name. (e.g. "Application.PlcProg.boDummy") IOLIB_FIELBUS_IO argument 1: master name. (e.g. "Onboard_I_O") argument 2: slave address. (e.g. "1") argument 3: area. (Either "INPUT" or "OUTPUT") argument 4: bit offset. (e.g. "0" to read from start offset) argument 5: bit length. (Note: single bit access or byte access supported. e.g. "1", "8", "16", "24", ... ) ALIGNMENT_DUMMY argument 1: byte length (Note: only "1", "2", "4" or "8" byte supported) More Information For more information, refer to mlpiCore documentation: ContainerLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
Utility	Utility Functions Description This function group includes utility functions that can simplify development. More Information For more information, refer to mlpiCore documentation: Utility. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
Type	Type Definitions Description This function group provides functions to create MLPI type variables. More Information For more information, refer to mlpiCore documentation: Typedefs. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
Constants	Constants Description This function group provides functions to get values of constants. More Information For more information, refer to mlpiCore documentation: Libraries. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
▼Simulink
ApiBlocks	API Blocks Description The API block group contains elementary blocks used to establish a connection between your client application and a target system. This has to be done before any other mlpi4Simulink block can be called. mlpi4Simulink is session oriented. This means, that you need to connect to a target before you can use any other mlpi4Simulink blocks. There are just a few blocks like m4SApiGetClientCoreVersion that do not need an online communication to the target. After successfully connecting to the target using m4SApiConnect you will get a connection identifier which identifies your connection and which can be used for any further mlpi4Simulink blocks. Please have a look at the documentation and examples of the block m4SApiConnect for more information. More Information For further information, refer to the mlpiCore documentation: ApiLib Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
SystemBlocks	System Blocks Description The system block group contains functions used to provide access to common device settings of the target device. The diagnosis logbook of the target device can also be accessed using blocks of this group. More Information For further information, refer to the mlpiCore documentation: SystemLib Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
MotionBlocks	Motion Blocks Description The motion block group provides functionality for defining axes, commanding motion, setting and getting axes information. The conceptual difference between a drive or device and an axis is that a drive or device is the physical device that is connected to the sercos bus and can be configured via S- and P-parameters. An axis is assigned to a drive or device and is accessible through A-parameters. Multiple axes can be assigned to a drive or device (for example, one axis is a real axis that is moving the drive, a second axis is connected to the same drive, but implements an encoder axis). Note You find a more detailed description of the concept of axes in the IndraWorks help system of the XLC/MLC product. The m4SMotion* blocks all deal with the motion of axes. The motion commands can be structured in single axis commands, where a single axis is moved, synchronous commands, where slave axes are moved in relation to a master and utility functions like power or homing of an axis. Each motion command usually uses a set of input arguments to define the particular movement. The command will be executed in the motion-controller and returns a handle. This handle can be used in following requests to get status information. The handle and the axis reference a particular motion command. One axis can have multiple active commands (e.g. power is switched on and a move is commanded). In contrast, an active motion command will be interrupted as soon as a new motion command is called. More Information For further information, refer to the mlpiCore documentation: MotionLib Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
LogicBlocks	Logic Blocks Description The logic block group contains functions to control and manage the PLC runtime system on the target device. Furthermore this function group provides the symbolic read and write access to logic variables and the possibility to read and write memory areas such as the input area. More Information For more information, refer to mlpiCore documentation: LogicLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
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 Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
WatchdogBlocks	Watchdog Blocks Description Using the watchdog block group you can establish a mechanism between your application and the firmware in order to react to exceptions or problems within your client program execution. The following steps are necessary: Setup the watchdog and specify the timeout in milliseconds as well as the action to be taken when the timeout is reached. Start the watchdog. Reset the watchdog on a cyclic time basis that is lower than the specified timeout. As soon as you do not reset the watchdog in time, it will execute the action as specified during the setup. E.g. stop the PLC or restart the device. More Information For more information, refer to mlpiCore documentation: WatchdogLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
IoBlocks	I/O Blocks Description This block group contains functions to control and manage, read and write fieldbus I/Os. In general, it is recommended to use the LogicLib blocks instead of the IoLib blocks to exchange data with I/O devices. The LogicLib allows you to share devices and data with the PLC. All data is mapped cyclically to the input and output area, regardless of the underlying bus driver. More Information For more information, refer to mlpiCore documentation: IoLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
ContainerBlocks	Container Blocks Description Use the container block group when you need to access a larger set of data repetitively and with maximum update speed. For example input data you want to read each machine cycle. Important Note The addresses of the variables of the container content might changes on each download or online change of the PLC application, so you have to stop and destroy your container before you load the PLC application! Please ensure you do not destroy a container during accessing it (e.g. update, read information)! A container is a list of items which are described as so called tags. Each tag identifies a data element which can be read or written. For example a symbolic variable from the PLC or data from the input area of the I/O mapping. The first argument of a tag always defines the type of data to read or write. The following data sources are available: LOGICLIB_MEMORY_AREA: Accessing Input, Output and Marker area of PLC (%I, %O, %M). LOGICLIB_SYMBOL: Accessing variables and arrays of PLC by symbolic name using symbolic variables. Access requires a symbol configuration of desired variables. IOLIB_FIELBUS_IO: Accessing fieldbus IO data directly from fieldbus driver. ALIGNMENT_DUMMY: Dummy elements to align the subsequent tag. The arguments for the different data sources are as follows. LOGICLIB_MEMORY_AREA argument 1: application name. (e.g. "Application") argument 2: area. (Either "INPUT", "OUTPUT" or "MARKER") argument 3: bit offset. (e.g. "0" to read from start offset) argument 4: bit length. (Note: single bit access or byte access supported. E.g. "1", "8", "16", "24", ... ) LOGICLIB_SYMBOL argument 1: symbol name. (e.g. "Application.PlcProg.boDummy") IOLIB_FIELBUS_IO argument 1: master name. (e.g. "Onboard_I_O") argument 2: slave address. (e.g. "1") argument 3: area. (Either "INPUT" or "OUTPUT") argument 4: bit offset. (e.g. "0" to read from start offset) argument 5: bit length. (Note: single bit access or byte access supported. e.g. "1", "8", "16", "24", ... ) ALIGNMENT_DUMMY argument 1: byte length (Note: only "1", "2", "4" or "8" byte supported) More Information For more information, refer to mlpiCore documentation: ContainerLib. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0
UtilityBlocks	Utility Blocks Description This block group provides functionality that can simplify development of models. More Information For more information, refer to mlpiCore documentation: Utility. Copyright Legal notice and version: © 2017 Bosch Rexroth Corporation http://www.boschrexroth.com DC-AE/EAS1 (MGo) Library version: 1.26.2.0.0 Published with MATLAB® 8.0