PTOMoveFast 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

The following 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.
StartInput	FAST_PTO_TRIGGER	Physical input to start the function block.
DelayStart	DWORD	Delays the function block execution after the movement is triggered (0...1999 ms).
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
Direction	PTO_DIRECTION	Direction of the move.
Velocity	DWORD	Target velocity in Hz. Range: 1...Maximum frequency of the output
MaxDistance	DWORD	Maximum distance to move. If Maximum distance is reached, the movement stops.
StopInput	FAST_PTO_TRIGGER	Physical input to stop the function block.
Compensation	DWORD	Number of additional pulses after a stop request.
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

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.

The following 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.
InMode	BOOL	TRUE = indicates the function is active and can be controlled with external inputs.
Status	Byte	Provides the status of the movement (see the diagram below): 0 No move 1 Move in delay 2 Move in acceleration 3 Move at required frequency 4 Move in compensation 5 Move in deceleration 6 Move in deceleration because maximum distance reached
Active	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.

This diagram illustrates a PTOFastMove profile and their associated status: