PTOMoveVelocity Function Block

Function Description

This function block commands a continuous move at a specified velocity.

This velocity is reached according to specified acceleration and deceleration values.

Graphical Representation

IL and ST Representation

To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation.

I/O Variables Description

This table describes the input variables:

Inputs	Type	Comment
PTO_REF_IN	PTO_REF	Reference to the PTO channel. To be connected to the PTO_REF of the PTOSimple or the PTO_REF_OUT of the Administrative or Motion output pins function blocks.
Execute	BOOL	On rising edge, starts the function block execution. When FALSE, resets the outputs of the function block when its execution terminates.
Velocity	DWORD	Target velocity in Hz. Range: 0...Maximum frequency of the output NOTE: When velocity is set to 0: oWhen PTO is idle, the move command is ignored and no PTO error is indicated. oWhen PTO is running, PTO will stop with the deceleration parameter on Function Block, but no PTO error will be indicated.
Acceleration	DWORD	Acceleration in Hz/ms or in ms (according to configuration). Range Hz/ms: 1...Acc. max. Range ms: Acc. max....Maximum Software Limit
Deceleration	DWORD	Deceleration in Hz/ms or in ms (according to configuration). Range Hz/ms: 1...Dec. max. Range ms: Dec. max....Maximum Software Limit
MODE	PTO_CMD_MODE	Determines one of two possibilities: othe on-going execution of a move command is aborted when the new move command is initiated othe new move command is executed after the current on-going command is completed.
Direction	PTO_DIRECTION	Direction of the move.

NOTE: The acceleration and deceleration ramps cannot exceed 2,147,483,647 pulses. At the maximum frequency of 100 kHz, it would limit the duration of acc/dec ramps to 80 seconds.

NOTE: For a new PTOMoveVelocity motion command when the axis is in motion, the specified velocity from the previous motion command must be reached ( InVelocity =TRUE). Executing PTOMoveVelocity during acceleration or deceleration phase (while Busy =TRUE) will abort the command and stop the axis at the configured Dec. Fast Stop rate.

This table describes the output variables:

Outputs	Type	Comment
PTO_REF_OUT	PTO_REF	Reference to the PTO channel. To be connected with the PTO_REF_IN input pin of the Administrative and Motion function blocks.
InVelocity	BOOL	TRUE = indicates that target velocity is reached. The move is ongoing and function block execution is finished.
Busy	BOOL	TRUE = indicates that the command is in progress.
CommandAborted	BOOL	TRUE = indicates that the command was aborted due to another move command. Function block execution is finished.
Error	BOOL	TRUE = indicates that an error was detected. Function block execution is finished.
ErrID	PTOPWM_ERR_TYPE	When Error is TRUE: type of the detected error.

NOTE: For more information about Done, Busy, CommandAborted and Execution pins, refer to General Information on Function Block Management.