PTO Configuration

Overview

1 PTO can be configured on the controller.

Hardware Configuration

A configured PTO uses 2 fast / pulse outputs for pulse and direction and 1 digital input (an optionally configured auxiliary).

Open Configuration Window

Step	Action
1	In the Devices tree, double-click HMISCUxx5 > Embedded Functions > PTO_PWM. Result: The PTO_PWM window is displayed.
2	Select PTO in the PTO0• > Mode drop down menu.
3	An instance of the PTO is created, it can be renamed in the Variable field. Default name is: PTO00.

Step

Action

In the Devices tree, double-click HMISCUxx5 > Embedded Functions > PTO_PWM.

Result: The PTO_PWM window is displayed.

Select PTO in the PTO0• > Mode drop down menu.

An instance of the PTO is created, it can be renamed in the Variable field.

Default name is: PTO00.

Configuration Window Description

This table describes each parameter available when the embedded PTO_PWM is configured in PTO mode:

Parameter		Value	Default Value	Unit	Description
Mode		Not Used PTO PWM	Not Used	–	The mode selected is PTO.
Output Mode		Pulse/Direction Direction/Pulse	Pulse/Direction	–	Mode of generation of outputs
Acceleration/Deceleration	Acc./Dec. Unit	ms Hz/ms	ms	–	Acceleration/Deceleration Unit NOTE: When this setting is changed between ms and Hz/ms, the values for Acc. max., Dec. max., and Dec. Fast Stop will be automatically converted in the user interface.
	Acc. max.	1...49999	20	ms	Acceleration time minimum value when Acc./Dec. Unit is set to ms.
	Acc. max.	1...50000	2500	Hz/ms	Acceleration rate maximum value when Acc./Dec. Unit is set to Hz/ms.
	Dec. max.	1...49999	20	ms	Deceleration time minimum value when Acc./Dec. Unit is set to ms.
	Dec. max.	1...50000	2500	Hz/ms	Deceleration rate maximum value when Acc./Dec. Unit is set to Hz/ms.
	Dec. Fast Stop	1...49999	100	ms	When the Acc./Dec. Unit is set to ms, the deceleration rate used in a Dec. Fast Stop (triggered by a Drive Ready input low, limits exceeded, detected errors) is calculated from this time value: Dec. Fast Stop rate = Maximum Frequency (Hz) / Dec. Fast Stop time (ms). oTherefore, the actual Fast Stop Deceleration time = current frequency / calculated Deceleration Fast Stop rate. o If the newly calculated deceleration rate is less than 1 Hz/ms, the rate used will be just 1 Hz/ms. NOTE: If the Stop Frequency is configured to be 0 Hz, the frequency of the last pulse period = SQRT ((deceleration rate in Hz/s) / 2) rounded to the nearest whole number. Refer to Appendix for more information.
	Dec. Fast Stop	1...50000	500	Hz/ms
Frequency	Start	0...50000	0	Hz	On execution of PTOMoveRelative, the first pulse period during acceleration starts at this frequency. NOTE: If the Start Frequency is set to 0 Hz, the actual start frequency = SQRT ((acceleration rate in Hz/s) / 2) rounded to the nearest integer. Refer to Appendix for more information
	Stop	0...50000	0	Hz	On execution of PTOMoveRelative, PTOStop, Dec. Fast Stop, the last pulse period during deceleration ends at this frequency. NOTE: If the Stop Frequency is set to 0 Hz, the actual stop frequency = SQRT ((deceleration rate in Hz/s) / 2) rounded to the nearest integer. Refer to Appendix for more information
	Maximum	1...50000	50000	Hz	Maximum frequency allowed by PTOMoveRelative function block during operation. Frequencies higher than this value if set in a motion function block will return an error.
Auxiliary Inputs	AUX	Not used Drive Ready	Not used	–	Specific input dedicated to the Drive Ready information. NOTE: reference point detection (origin) is not supported on HMI SCU.
Auxiliary Inputs	AUX Filter	3 12	3	ms	Filtering value reduces the effect of bounce on the auxiliary input

This example shows an actual fast stop deceleration time using the following settings:

Parameter	Value	Units
Dec. Fast Stop	10,000	ms
Maximum Frequency	50,000	Hz

When the current frequency of a running motion command is at 10,000 Hz, and an error triggers a Fast Stop (for example, triggering another PTOMoveRelative while a motion is already in progress):

oDec. Fast Stop rate = Maximum Frequency / Dec. Fast Stop time = 50,000 Hz / 10,000 ms = 5 Hz/ ms

oSince the current frequency is 10,000 Hz, actual Dec. Fast Stop time = current frequency / Dec. Fast Stop rate = 10,000 Hz / 5 Hz/m = 2000 ms

Configure a PTO Channel

Step	Action
1	Enable the PTO channel by selecting PTO in the PTO0• > Mode drop down menu.
2	Select the mode of generation of outputs in the PTO0• > Output Mode drop down menu.
3	Configure the Acc./Dec. Unit, Acc.max, Dec. max, and Dec. Fast stop parameters.
4	Configure the Frequency parameters: Start, Stop, and Maximum.
5	Optionally enable the AUX input.
6	Configure the PTO0• > AUX input filtering value (if enabled at step 5).

The configuration defined can be viewed as a configuration profile: