Programming the PTOMoveRelative or the PTOMoveAbsolute Function Block
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Step |
Action |
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1 |
Select the Libraries tab in the Software Catalog and click Libraries. Select Controller > M218 > M218 PTOPWM > PTO > Motion > PTORelative or PTOAbsolute in the list, drag-and-drop the item onto the POU window. |
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2 |
Declare the function block instance. |
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3 |
Associate the PTO_REF_IN input of the function block to the PTO_REF output of the PTOSimple function block. NOTE: A unique PTOSimple instance is needed per PTO Channel in the application. |
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4 |
The inputs/outputs are detailed in the function block description PTOMoveRelative or PTOMoveAbsolute. The interactions between the inputs/outputs are detailed in the General Information. The interactions between the motion commands are detailed in the Command Sequence. |
An aborted motion command cannot be completed after having been stopped. Restart the motion command.
When the movement is launched, it cannot be changed (only aborted) while its profile execution is not complete.
The PTOMoveRelative or the PTOMoveAbsolute movement is aborted when:
oA PTOStop function block is called.
oThe Drive Ready Input (if defined at configuration time) becomes inactive.
oThe sequence of commands is not supported.
oThe application is stopped.
oAn error is detected.
oOther commands with an abort mode.
