Library manual XBTGC PTO/PTWM | 3 MB - BERGER - POSITEC

Pulse Train Output (PTO)
The following table describes the output parameters:
Parameter Type Comment
PTO_REF_OUT PTO_REF
(see page 72)
Reference to the PTO axis.
To be connected with the PTO_REF_IN input pin
of the Administrative and Motion function blocks.
Done BOOL TRUE = indicates that the command is finished.
Function block execution is finished.
Busy BOOL TRUE = indicates that the command is in
progress.
Active BOOL This output is set at the moment the function
block takes control of the motion of the according
axis.
CommandAborted BOOL TRUE = indicates that the comand was aborted
de 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
(see page 73)
Invalid Parameters
When Accel_Decel_Time is different than 0, before the execution of the function
block, the controller checks if the total number of pulses defined at the distance input
pin (Pd ) is lower than the cumulative number of pulses in the acceleration and
deceleration (Paa ).
If Pd>Paa, then the function block will go to error state.
The number of pulses Paa is calculated with the following equation:
Where:
n is the step number
Velocityn is the velocity at step n.
NOTE: Velocityn = n x (Velocity - Initial Velocity) / 10
Accel_Decel_Time is both the acceleration or deceleration time in seconds.
34 04/2012