PTO Configuration

Hardware Configuration

There are up to six inputs for a PTO channel:

Three physical inputs are associated to the PTO function through configuration and are taken into account immediately on a rising edge on the input:
- REF input
- INDEX input
- PROBE input
Three inputs are associated with the MC_Power_PTO function block. They have no fixed assignment (they are freely assigned; that is, they are not configured in the configuration screen), and are read as any other input:
- Drive ready input
- Limit positive input
- Limit negative input

NOTE: These inputs are managed as any other input, but are used by the PTO controller when used by the MC_Power_PTO function block.

NOTE: The positive and negative limit inputs are required to help prevent over-travel.

WARNING
	UNINTENDED EQUIPMENT OPERATION Ensure that controller hardware limit switches are integrated in the design and logic of your application. Mount the controller hardware limit switches in a position that allows for an adequate braking distance. Failure to follow these instructions can result in death, serious injury, or equipment damage.

There are up to three outputs for a PTO channel:

Either one physical output to manage pulse only, or two physical outputs to manage both pulse and direction; they must be enabled by configuration:
- A / CW / Pulse
- B / CCW / Direction
The other output, DriveEnable, is used through the MC_Power_PTO function block.

Configuration Window Description

The figure provides an example of a configuration window on channel PTO_0:

The table describes each parameter available when the channel is configured in PTO mode:

Parameter		Value	Default	Description
General	Instance name	-	PTO_0...PTO_3	Name of the axis controlled by this PTO channel. It is used as input of the PTO function blocks.
	Output Mode	A ClockWise / B CounterClockWise A Pulse / B Direction A Pulse Quadrature	A ClockWise / B CounterClockWise	Select the pulse output mode.
	A output location	Disabled Q0...Q3 (fast outputs) Q4...Q7 (regular outputs)⁽¹⁾	Disabled	Select the controller output used for the signal A.
	B output location	Disabled Q0...Q3 (fast outputs) Q4...Q7 (regular outputs)⁽¹⁾	Disabled	Select the controller output used for the signal B.
Mechanics	Backlash Compensation	0...255	0	In quadrature mode, amount of motion needed to compensate the mechanical clearance when movement is reversed.
Position Limits / Software Limits	Enable Software Limits	Enabled Disabled	Enabled	Select whether to use the software limits.
	SW Low Limit	-2,147,483,648... 2,147,483,647	-2,147,483,648	Set the software limit position to be detected in the negative direction.
	SW High Limit	-2,147,483,648... 2,147,483,647	2,147,483,647	Set the software limit position to be detected in the positive direction.
Motion / General	Maximum Velocity	0...100000 (fast outputs) 0...1000 (regular outputs)	100000 (fast outputs) 1000 (regular outputs)	Set the pulse output maximum velocity (in Hz).
	Start Velocity	Start Velocity...100000 (fast outputs) Start Velocity...1000 (regular outputs)	0	Set the pulse output start velocity (in Hz). 0 if not used.
	Stop Velocity	0...100000 (fast outputs) 0...1,000 (regular outputs)	0	Set the pulse output stop velocity (in Hz). 0 if not used.
	Acc./Dec. Unit	Hz/ms ms	Hz/ms	Set acceleration/deceleration as rates (Hz/ms) or as time constants from 0 to Maximum Velocity (ms).
	Maximum Acceleration	1...100000	100000	Set the acceleration maximum value (in Acc./Dec. Unit).
	Maximum Deceleration	1...100000	100000	Set the deceleration maximum value (in Acc./Dec. Unit).
Motion / Fast Stop	Fast Stop Deceleration	1...100000	5000	Set the deceleration value in case an error is detected (in Acc./Dec. Unit)
Homing / REF input	Location	Disabled I0...I7 (fast inputs) I8...I15 (regular inputs)	Disabled	Select the controller input used for the REF signal.
	Bounce filter	0.000 0.001 0.002 0.005 0.010 0.05 0.1 0.5 1 5	0.005	Set the filtering value to reduce the bounce effect on the REF input (in ms).
	Type	Normally opened Normally closed	Normally opened	Select whether the switch contact default state is open or closed.
Homing / INDEX input	Location	Disabled I0...I7 (fast inputs) I8...I15 (regular inputs)	Disabled	Select the controller input used for the INDEX signal.
	Bounce filter	0.000 0.001 0.002 0.005 0.010 0.05 0.1 0.5 1 5	0.005	Set the filtering value to reduce the bounce effect on the INDEX input (in ms).
	Type	Normally opened Normally closed	Normally opened	Select whether the switch contact default state is open or closed.
Registration / PROBE input	Location	Disabled I0...I7 (fast inputs) I8...I15 (regular inputs)	Disabled	Select the controller input used for the PROBE signal.
Registration / PROBE input	Bounce filter	0.000 0.001 0.002 0.005 0.010 0.05 0.1 0.5 1 5	0.005	Set the filtering value to reduce the bounce effect on the PROBE input (in ms).
⁽¹⁾ Not available for M241 Logic Controller references with relay outputs.