OBIO_PTOSingleLineMotionKernel (FB)

FUNCTION_BLOCK OBIO_PTOSingleLineMotionKernel EXTENDS CMC_BASIC_KERNEL IMPLEMENTS iPTOKernel

This function block extends the basic motion kernel functionality, so that it can be used for the eco PTO outputs and connect a stepper drive.

  • 4 axes are possible in total (use this function block 4 times, one for each axis)

  • Different parameters related to the PTO can be adjusted in OBIO_PTO_Motion_Parameter

  • It is possible to use either the stepper pulses as actual position, or connect a seperate value to Drive_ActualPosition

Note

Adjust PTO related parameter in OBIO_PTO_Motion_Parameter

The function block behaves as follows:

  • If the input Drive_InOperation is not connected, the required state is created internally.

  • If a drive delivers a corresponding signal, the Drive_Release/Drive_InOperation sequence can be used as with CMC_Basic_Kernel.

  • If the input Drive_ActualPosition is not connected, the stepper pulses can be used instead.

  • The input Drive_ActualPosition can be connected to an external encoder position value. (configure in OBIO_PTO_Motion_Parameter)

Note

The function block connects internally to the PTO outputs. The PTO configuration for the output is required, but no seperate function block to use PTO outputs.

Note

PTO parameters and input Enable_Virtual is not recommended to change on the fly or running system. This can lead to unexpected behavior of the system.

InOut:

Scope

Name

Type

Initial

Comment

Output

PTO_ErrorID

AC500_OnboardIO.Error_ID

0

Error code. For error details refer to AC500_OnboardIO library Enum Error_ID

Direction

BOOL

Direction output. Connect it with a binary output to the stepper drive. TRUE=Forward direction (with Invert=False)

Inout

PTO_Motion_Parameter

OBIO_PTO_Motion_Parameter

Specific parameter set for PTO axis

Methods:

getBaseCounter

Structure: