PTOSimple Function Block

Overview

The PTOSimple function block manages the PTO function.

Call the function block in each cycle of the MAST task.

The function block instance name is the name defined by configuration.

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
ResetError	BOOL	On rising edge, resets the detected PTO error. NOTE: Set the Execute pin on any PTOMoveVelocity tied to the PTO00 axis toFALSE for resetting detected errors.
DIS_AuxInput	BOOL	TRUE = disables the auxiliary input when configured as Drive Ready input. This pin has no effect when auxiliary input is not used or configured as Origin input.
EN_SW_Limits	BOOL	Enable software limits.

Inputs

Type

Comment

ResetError

BOOL

On rising edge, resets the detected PTO error.

NOTE: Set the Execute pin on any PTOMoveVelocity tied to the PTO00 axis toFALSE for resetting detected errors.

DIS_AuxInput

BOOL

TRUE = disables the auxiliary input when configured as Drive Ready input.

This pin has no effect when auxiliary input is not used or configured as Origin input.

EN_SW_Limits

BOOL

Enable software limits.

This table describes the output variables:

Outputs	Type	Comment
PTO_REF	PTO_REF	Reference to the PTO channel. To be used with the PTO_REF_IN input pin of the Administrative and Motion function blocks.
PTOError	BOOL	TRUE = indicates that an error was detected. Use PTOGetDiag function block to get more information about this detected error.
ProxLimitFault	BOOL	TRUE = indicates that the PROX input is TRUE during a homing command.
Referenced	BOOL	TRUE = indicates that the PTO is executing a PTOMoveAbsolute. FALSE = indicates that the PTO is executing a PTOMoveRelative.
Idle	BOOL	see table below.
FreeCmdBuf	BOOL	see table below.
Moving	BOOL	TRUE = indicates that the motion state is moving.
Stopping	BOOL	TRUE = indicates that the motion state is stopping.
Frequency	DWORD	Current velocity (in Hz) of the move.
Position	DINT	Using PTOMoveRelative: Relative distance of the motion in pulses (relative to the actual position). Reset before starting a new move, latched at falling edge of Moving bit. Using PTOMoveAbsolute: Absolute position of the motion.

Idle	FreeCmdBuf	Description
0	0	A move command is currently active while another move command is pending in the buffer. In both cases, no command to the buffer should be sent. Otherwise, an error will be detected and the current move will be aborted.
0	1	A command is being executed, but the command buffer is free. A new command to the buffer can be send.
1	0	Not relevant
1	1	There are 2 cases: oThe buffer is free and no command is being executed. A new command to the buffer can be sent. oA PTO error had been detected and the PTO is in a stop state. The error state must be reset before sending a new command.