Modicon M241 Logic Controller

EIO0000001450 04/2014

Modicon M241 Logic

Controller
PTOPWM
Library Guide
04/2014
EIO0000001450.02

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform the
appropriate and complete risk analysis, evaluation and testing of the products with respect to the
relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or
subsidiaries shall be responsible or liable for misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this publication,
please notify us.
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and
using this product. For reasons of safety and to help ensure compliance with documented system
data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2014 Schneider Electric. All rights reserved.

2 EIO0000001450 04/2014
 Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Part I Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Expert I/O Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Embedded Expert I/O Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Chapter 2 Generalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Dedicated Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
General Information on Function Block Management . . . . . . . . . . . . . 26
Part II Pulse Train Output (PTO). . . . . . . . . . . . . . . . . . . . 27
Chapter 3 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Pulse Train Output (PTO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Chapter 4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
PTO Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Pulse Output Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Start/Stop Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Probe Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Backlash Compensation (Only Available in Quadrature Mode) . . . . . 45
Positioning Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.2 Home Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Home Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Position Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Long Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Long Reference & Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Short Reference Reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Short Reference No Reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Short Reference & Index Outside . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Short Reference & Index Inside. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

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 Chapter 5 Data Unit Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
AXIS_REF_PTO Data Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
MC_BUFFER_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
MC_DIRECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
PTO_HOMING_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
PTO_PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
PTO_ERROR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Chapter 6 Motion Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . 79
6.1 Operation Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Motion State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Buffer Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Timing Diagram Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
6.2 MC_Power_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
MC_Power_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.3 MC_MoveVelocity_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . 99
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
MC_MoveVelocity_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . 101
6.4 MC_MoveRelative_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . 105
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
MC_MoveRelative_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . 107
6.5 MC_MoveAbsolute_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . 111
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
MC_MoveAbsolute_PTO Function Block. . . . . . . . . . . . . . . . . . . . . . . 113
6.6 MC_Home_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
MC_Home_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
6.7 MC_SetPosition_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . 122
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
MC_SetPosition_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . 124
6.8 MC_Stop_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
MC_Stop_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
6.9 MC_Halt_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
MC_Halt_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
6.10 Adding a Motion Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Adding a Motion Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

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 Chapter 7 Administrative Function Blocks . . . . . . . . . . . . . . . . . . 137
7.1 Status Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
MC_ReadActualVelocity_PTO Function Block . . . . . . . . . . . . . . . . . . 139
MC_ReadActualPosition_PTO Function Block . . . . . . . . . . . . . . . . . . 141
MC_ReadStatus_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . 142
MC_ReadMotionState_PTO Function Block . . . . . . . . . . . . . . . . . . . . 144
7.2 Parameters Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
MC_ReadParameter_PTO Function Block . . . . . . . . . . . . . . . . . . . . . 147
MC_WriteParameter_PTO Function Block . . . . . . . . . . . . . . . . . . . . . 149
MC_ReadBoolParameter_PTO Function Block . . . . . . . . . . . . . . . . . 151
MC_WriteBoolParameter_PTO Function Block. . . . . . . . . . . . . . . . . . 153
7.3 Probe Function Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
MC_TouchProbe_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . 156
MC_AbortTrigger_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . 158
7.4 Error Handling Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
MC_ReadAxisError_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . 160
MC_Reset_PTO Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.5 Adding an Administrative Function Block . . . . . . . . . . . . . . . . . . . . . . 163
Adding an Administrative Function Block . . . . . . . . . . . . . . . . . . . . . . 163
Part III Pulse Width Modulation (PWM). . . . . . . . . . . . . . . 165
Chapter 8 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
FG/PWM Naming Convention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Synchronization and Enable Functions . . . . . . . . . . . . . . . . . . . . . . . . 171
Chapter 9 Configuration and Programming . . . . . . . . . . . . . . . . . 173
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Programming the PWM Function Block. . . . . . . . . . . . . . . . . . . . . . . . 179
Chapter 10 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
FREQGEN_PWM_ERR_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Part IV Frequency Generator (FG) . . . . . . . . . . . . . . . . . . . 183
Chapter 11 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
FG Naming Convention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Synchronization and Enable Functions . . . . . . . . . . . . . . . . . . . . . . . . 188

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 Chapter 12 Configuration and Programming . . . . . . . . . . . . . . . . . 189
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Appendix A Function and Function Block Representation . . . . . . 199
Differences Between a Function and a Function Block . . . . . . . . . . . . 200
How to Use a Function or a Function Block in IL Language . . . . . . . . 201
How to Use a Function or a Function Block in ST Language. . . . . . . . 205
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

6 EIO0000001450 04/2014
 Safety Information

Important Information

NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device
before trying to install, operate, or maintain it. The following special messages may appear
throughout this documentation or on the equipment to warn of potential hazards or to call attention
to information that clarifies or simplifies a procedure.

EIO0000001450 04/2014 7
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified
personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of
the use of this material.
A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and avoid
the hazards involved.

BEFORE YOU BEGIN

Do not use this product on machinery lacking effective point-of-operation guarding. Lack of
effective point-of-operation guarding on a machine can result in serious injury to the operator of
that machine.

WARNING
UNGUARDED EQUIPMENT
 Do not use this software and related automation equipment on equipment which does not have
point-of-operation protection.
 Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

This automation equipment and related software is used to control a variety of industrial processes.
The type or model of automation equipment suitable for each application will vary depending on
factors such as the control function required, degree of protection required, production methods,
unusual conditions, government regulations, etc. In some applications, more than one processor
may be required, as when backup redundancy is needed.
Only you, the user, machine builder or system integrator can be aware of all the conditions and
factors present during setup, operation, and maintenance of the machine and, therefore, can
determine the automation equipment and the related safeties and interlocks which can be properly
used. When selecting automation and control equipment and related software for a particular
application, you should refer to the applicable local and national standards and regulations. The
National Safety Council’s Accident Prevention Manual (nationally recognized in the United States
of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection such as point-
of-operation guarding must be provided. This is necessary if the operator’s hands and other parts
of the body are free to enter the pinch points or other hazardous areas and serious injury can occur.
Software products alone cannot protect an operator from injury. For this reason the software
cannot be substituted for or take the place of point-of-operation protection.

8 EIO0000001450 04/2014
 Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-operation
protection have been installed and are operational before placing the equipment into service. All
interlocks and safeties related to point-of-operation protection must be coordinated with the related
automation equipment and software programming.
NOTE: Coordination of safeties and mechanical/electrical interlocks for point-of-operation
protection is outside the scope of the Function Block Library, System User Guide, or other
implementation referenced in this documentation.

START-UP AND TEST

Before using electrical control and automation equipment for regular operation after installation,
the system should be given a start-up test by qualified personnel to verify correct operation of the
equipment. It is important that arrangements for such a check be made and that enough time is
allowed to perform complete and satisfactory testing.

CAUTION
EQUIPMENT OPERATION HAZARD
 Verify that all installation and set up procedures have been completed.
 Before operational tests are performed, remove all blocks or other temporary holding means
used for shipment from all component devices.
 Remove tools, meters, and debris from equipment.
Failure to follow these instructions can result in injury or equipment damage.

Follow all start-up tests recommended in the equipment documentation. Store all equipment
documentation for future references.
Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are not
installed according to local regulations (according to the National Electrical Code in the U.S.A, for
instance). If high-potential voltage testing is necessary, follow recommendations in equipment
documentation to prevent accidental equipment damage.
Before energizing equipment:
 Remove tools, meters, and debris from equipment.
 Close the equipment enclosure door.
 Remove all temporary grounds from incoming power lines.
 Perform all start-up tests recommended by the manufacturer.

EIO0000001450 04/2014 9
OPERATION AND ADJUSTMENTS
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English
version prevails):
 Regardless of the care exercised in the design and manufacture of equipment or in the selection
and ratings of components, there are hazards that can be encountered if such equipment is
improperly operated.
 It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or unsafe
operation. Always use the manufacturer’s instructions as a guide for functional adjustments.
Personnel who have access to these adjustments should be familiar with the equipment
manufacturer’s instructions and the machinery used with the electrical equipment.
 Only those operational adjustments actually required by the operator should be accessible to
the operator. Access to other controls should be restricted to prevent unauthorized changes in
operating characteristics.

10 EIO0000001450 04/2014
 About the Book

At a Glance

Document Scope
This documentation acquaints you with the pulse train output (PTO), pulse width modulation
(PWM) and frequency generator (FG) functions offered within the Modicon M241 Logic Controller.
This document describes the data types and functions of the M241 PTOPWM Library.
In order to use this manual, you must:
 Have a thorough understanding of the M241, including its design, functionality, and implemen-
tation within control systems.
 Be proficient in the use of the following IEC 61131-3 PLC programming languages:
 Function Block Diagram (FBD)
 Ladder Diagram (LD)
 Structured Text (ST)
 Instruction List (IL)
 Sequential Function Chart (SFC)

NOTE: The term “functional safety” and “safety”, as used in this document, is defined by the
standards EN ISO 13849-1, EN 15011, and EN 14439.

Validity Note
This document has been updated with the release of SoMachine V4.1.

Related Documents

Title of Documentation Reference Number

Modicon M241 Logic Controller Programming Guide EIO0000001432 (Eng),
EIO0000001433 (Fre),
EIO0000001434 (Ger),
EIO0000001435 (Spa),
EIO0000001436 (Ita),
EIO0000001437 (Chs)

You can download these technical publications and other technical information from our website
at www.schneider-electric.com.

EIO0000001450 04/2014 11
Product Related Information

WARNING
LOSS OF CONTROL
 The designer of any control scheme must consider the potential failure modes of control paths
and, for certain critical control functions, provide a means to achieve a safe state during and
after a path failure. Examples of critical control functions are emergency stop and overtravel
stop, power outage and restart.
 Separate or redundant control paths must be provided for critical control functions.
 System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
 Observe all accident prevention regulations and local safety guidelines.1
 Each implementation of this equipment must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

1For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest
edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of
Adjustable-Speed Drive Systems" or their equivalent governing your particular location.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only use software approved by Schneider Electric for use with this equipment.
 Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

12 EIO0000001450 04/2014
 Modicon M241 Logic Controller
Introduction
EIO0000001450 04/2014

Part I
Introduction

Introduction

Overview
This part provides an overview description, available modes, functionality and performances of the
different functions.

What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
1 Overview 15
2 Generalities 23

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Introduction

14 EIO0000001450 04/2014
 Modicon M241 Logic Controller
Overview
EIO0000001450 04/2014

Chapter 1
Overview

Overview

Overview
This chapter provides an overview description, functionality, and performances of the Frequency
Generator (FG), Pulse Train Output (PTO), and Pulse Width Modulation (PWM)
functions.
The functions provide simple, yet powerful solutions for your application. In particular, they are
extremely useful for controlling movement. However, the use and application of the information
contained herein require expertise in the design and programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors
present during installation and setup, operation, and maintenance of the machine or related
processes, and can therefore determine the automation and associated equipment and the related
safeties and interlocks which can be effectively and properly used. When selecting automation and
control equipment, and any other related equipment or software, for a particular application, you
must also consider any applicable local, regional or national standards and/or regulations.

WARNING
REGULATORY INCOMPATIBILITY
Ensure that all equipment applied and systems designed comply with all applicable local,
regional, and national regulations and standards.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

The functions provided by the M241 PTOPWM library were conceived and designed assuming that
you incorporate the necessary safety hardware into your application architecture, such as, but not
limited to, appropriate limit switches and emergency stop hardware and controlling circuitry. It is
implicitly assumed that functional safety measures are present in your machine design to prevent
undesirable machine behavior such as over-travel or other forms of uncontrolled movement.
Further, it is assumed that you have performed a functional safety analysis and risk assessment
appropriate to your machine or process.

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Overview

WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that a risk assessment is conducted and respected according to EN/ISO 12100 during
the design of your machine.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Expert I/O Overview 17
Embedded Expert I/O Mapping 19

16 EIO0000001450 04/2014
 Overview

Expert I/O Overview

Introduction
The M241 logic controller provides:

I/O Type 24 I/O References 40 I/O References

TM241•24• TM241•40•
Fast inputs 8 8
Regular inputs 6 16
Fast outputs 4 4
Regular outputs 6 12

The M241 logic controller supports the following expert functions:

Functions Description
Counters HSC Simple The HSC functions can execute fast counts of pulses from
HSC Main Single Phase sensors, switches, and so on, that are connected to the fast
inputs.
HSC Main Dual Phase For more information about the HSC functions, refer to the High
Frequency Meter Speed Counter types (see Modicon M241 Logic Controller, High
Speed Counting, HSC Library Guide).
Period Meter
Pulse PTO (see page 27) The PTO function generates a pulse train output to control a
Generators linear single-axis stepper or servo drive in open loop mode.
PWM (see page 165) The PWM function generates a square wave signal on dedicated
output channels with a variable duty cycle.
Frequency Generator The frequency generator function generates a square wave
(see page 183) signal on dedicated output channels with a fixed duty cycle
(50%).

NOTE:
 When an input is used as Run/Stop, it cannot be used by an expert function.
 When an output is used as Alarm, it cannot be used by an expert function.
For more details, refer to Embedded Functions Configuration (see Modicon M241 Logic Controller,
Programming Guide).

EIO0000001450 04/2014 17
Overview

Configuring an Expert Function

To configure an expert function, proceed as follow:

Step Description
1 Double-click the Counters or Pulse_Generators node in the Devices Tree.
Result: The Counters or Pulse_Generators function window appears:

2 Double-click Value and choose the function type to assign.

Result: The parameters of the expert function appear.

Expert Function I/O Within Regular I/O

Expert function I/O within regular I/O:
 Inputs can be read through standard memory variables even if configured as expert functions.
 An input cannot be configured as an expert function if it has already been configured as a
Run/Stop input.
 An output cannot be configured in an expert function if it has already been configured as an
alarm.
 Short-Circuit management still applies on all outputs. Status of outputs are available.
 All I/O that are not used by expert functions can be used as any other I/O.

When inputs are used in expert functions (Latch, HSC,…), integrator filter is replaced by anti-
bounce filter. Filter value is configured in expert configuration screen.

18 EIO0000001450 04/2014
 Overview

Embedded Expert I/O Mapping

Input Mapping for Expert Functions on M241

M241 Expert Inputs Fast Inputs Regular Inputs

I0 I1 I2 I3 I4 I5 I6 I7 I8 I9 I10 I11 I12 I13
Event Latch 0 Input M
Event Latch 1 Input M
Event Latch 2 Input M
Event Latch 3 Input M
Event Latch 4 Input M
Event Latch 5 Input M
Event Latch 6 Input M
Event Latch 7 Input M
HSC Simple 0 Input M
HSC Simple 1 Input M
HSC Simple 2 Input M
HSC Simple 3 Input M
HSC Simple 4 Input M
HSC Simple 5 Input M
HSC Simple 6 Input M
HSC Simple 7 Input M
HSC Main 0 Input A M
Input B/EN C
SYNC C
CAP C C
Reflex 0
Reflex 1
HSC Main 1 Input A M
Input B/EN C
SYNC C
CAP C C
Reflex 0
Reflex 1
M Mandatory
C Depend on Configuration

EIO0000001450 04/2014 19
Overview

M241 Expert Inputs Fast Inputs Regular Inputs

I0 I1 I2 I3 I4 I5 I6 I7 I8 I9 I10 I11 I12 I13
Frequency Meter Signal M
0/Period Meter 0
EN C
Frequency Meter Signal M
1/Period Meter 1 EN C
PWM 0/Frequency Outputs
Generator 0
EN C C
SYNC C
PWM 1/Frequency Outputs
Generator 1
EN C C
SYNC C
PTO 0 REF (Origin) C
INDEX C
(Proximity)
PROBE C C
Output
A/CW/Pulse
Output
B/CCW/Dir
PTO 1 REF (Origin) C
INDEX C
(Proximity)
PROBE C C
Output
A/CW/Pulse
Output
B/CCW/Dir
M Mandatory
C Depend on Configuration

20 EIO0000001450 04/2014
 Overview

Output Mapping for Expert Functions on M241

M241 Expert Outputs Fast Outputs Regular Outputs

Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7 Q8 Q9
HSC Main 0 Input A
Input B/EN
SYNC
CAP
Reflex 0 C C
Reflex 1 C C
HSC Main 1 Input A
Input B/EN
SYNC
CAP
Reflex 0 C C
Reflex 1 C C
Frequency Meter Signal
0/Period Meter 0
EN
Frequency Meter Signal
1/Period Meter 1
EN
PWM 0/Freq Gen 0 Outputs M C
EN
SYNC
PWM 1/Freq Gen 1 Outputs M C
EN
SYNC
PTO 0 REF (Origin)
INDEX
(Proximity)
PROBE
Output M C
A/CW/Pulse
Output M C
B/CCW/Dir
M Mandatory
C Depend on Configuration

EIO0000001450 04/2014 21
Overview

M241 Expert Outputs Fast Outputs Regular Outputs

Q0 Q1 Q2 Q3 Q4 Q5 Q6 Q7 Q8 Q9
PTO 1 REF (Origin)
INDEX
(Proximity)
PROBE
Output M C
A/CW/Pulse
Output M C
B/CCW/Dir
M Mandatory
C Depend on Configuration

I/O Summary
The IO Summary window displays the I/Os used by the expert functions.
To display the IO Summary window:

Step Action
1 In the Devices tree tab, right-click the MyController node and choose IO Summary.

Example of IO Summary window:

22 EIO0000001450 04/2014
 Modicon M241 Logic Controller
Generalities
EIO0000001450 04/2014

Chapter 2
Generalities

Generalities

Overview
This chapter provides general information of the Frequency Generator (FG), Pulse Train Output
(PTO), and Pulse Width Modulation (PWM) functions.
The functions provide simple, yet powerful solutions for your application. In particular, they are
extremely useful for controlling movement. However, the use and application of the information
contained herein require expertise in the design and programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors
present during installation and setup, operation, and maintenance of the machine or related
processes, and can therefore determine the automation and associated equipment and the related
safeties and interlocks which can be effectively and properly used. When selecting automation and
control equipment, and any other related equipment or software, for a particular application, you
must also consider any applicable local, regional or national standards and/or regulations.

WARNING
REGULATORY INCOMPATIBILITY
Ensure that all equipment applied and systems designed comply with all applicable local,
regional, and national regulations and standards.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

The functions provided by the M241 PTOPWM library were conceived and designed assuming that
you incorporate the necessary safety hardware into your application architecture, such as, but not
limited to, appropriate limit switches and emergency stop hardware and controlling circuitry. It is
implicitly assumed that functional safety measures are present in your machine design to prevent
undesirable machine behavior such as over-travel or other forms of uncontrolled movement.
Further, it is assumed that you have performed a functional safety analysis and risk assessment
appropriate to your machine or process.

WARNING
UNINTENDED EQUIPMENT OPERATION
Ensure that a risk assessment is conducted and respected according to EN/ISO 12100 during
the design of your machine.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

EIO0000001450 04/2014 23
Generalities

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Dedicated Features 25
General Information on Function Block Management 26

24 EIO0000001450 04/2014
 Generalities

Dedicated Features

Bounce Filter
This table shows the maximum counter frequencies determined by the filtering values used to
reduce the bounce effect on the input:

Input Bounce Filter Value (ms) Maximum Counter Frequency

A 0.000 200 kHz
B
0.001 200 kHz
EN
CAP 0.002 200 kHz
0.005 100 kHz
0.010 50 kHz
0.05 25 kHz
0.1 5 kHz
0.5 1 kHz
1 500 Hz
5 100 Hz
A is the counting input of the counter.
B is the counting input of the dual phase counter.
EN is the enable input of the counter.
CAP is the capture input of the counter.

Dedicated Outputs
Outputs used by the Frequency Generator, Pulse Train Output, Pulse Width Modulation, and High
Speed Counters can only be accessed through the function block. They can not be read or written
directly within the application.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Do not use the same instance of a function block in more than 1 task.
 Do not modify function block references (••_REF_IN) while the function block is active
(executing).
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

EIO0000001450 04/2014 25
Generalities

General Information on Function Block Management

Management of Input Variables

The variables are used with the rising edge of the Execute input. To modify any variable, it is
necessary to change the input variables and to trigger the function block again.
The function blocks managed by an Enable input are executed when this input is true. The values
of the function block inputs can be modified continuously, and the outputs are updated
continuously. When the Enable input is false, the function block execution is terminated and its
outputs are reseted.
According to IEC 61131-3, if any variable of a function block input is missing (= open), then the
value from the previous invocation of this instance will be used. In the first invocation the initial
value is applied.

Management of Output Variables

The Done, Error, ErrID, and CommandAborted outputs are mutually exclusive; only one of
them can be TRUE on one function block. When the Execute input is TRUE, one of these outputs
is TRUE.
At the rising edge of the Execute input, the Busy output is set. It remains set during the execution
of the function block and is reset at the rising edge of one of the other outputs (Done, Error).
The Done output is set when the execution of the function block is successfully completed.
When an execution of the function block ends owing to a detected error, the Error output is set
and the detected error number is contained in the ErrId output.
The Done, Error, ErrID, and CommandAborted outputs are set or reset with the falling edge of
Execute input:
 reset if the function block execution is finished.
 set for at least one task cycle if the function block execution is not finished.

When an instance of a function block receives a new Execute before it is finished (as a series of
commands on the same instance), the function block does not return any feedback, like Done, for
the previous action.

Error Handling
All blocks have 2 outputs that can report a detected error during the execution of the function block:
 Error= The rising edge of this bit informs that a detected error occurred.
 ErrID= The detected error number

When an Error occurs, the other output signals, such as Done are reset.

26 EIO0000001450 04/2014
 Modicon M241 Logic Controller
PTO
EIO0000001450 04/2014

Part II
Pulse Train Output (PTO)

Pulse Train Output (PTO)

Overview
This part describes the Pulse Train Output function.

What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
3 Overview 29
4 Configuration 33
5 Data Unit Types 71
6 Motion Function Blocks 79
7 Administrative Function Blocks 137

EIO0000001450 04/2014 27
PTO

28 EIO0000001450 04/2014
 Modicon M241 Logic Controller
PTO - Overview
EIO0000001450 04/2014

Chapter 3
Overview

Overview

Pulse Train Output (PTO)

Introduction
The PTO function provides 2 pulse train output channels for a specified number of pulses and a
specified velocity (frequency). The PTO function is used to control the positioning or speed of 2
independent linear single-axis stepper or servo drives in open loop mode (for example with Lexium
23D).
The PTO function does not have any position feedback information from the process, and the
position loop is integrated in the drive.
The PTO, PWM (pulse width modulation), and FG (frequency generation) functions use the same
dedicated outputs. Only one of these 3 functions can be used on the same channel. Using different
functions on channel 0 and channel 1 is allowed.
A PTO channel can use up to:
 6 physical inputs, if optional interface signals for homing (ref/index), event (probe), limits (limP,
limN), or drive interface (driveReady), are used,
 3 physical outputs, if optional drive interface signal is used (driveEnable).

Automatic origin offset and backlash compensation are also managed to improve positioning
accuracy. Diagnostics are available for status monitoring, allowing a comprehensive and quick
troubleshooting.

Supported Functions
The 2 PTO channels support the following functions:
 3 output modes, including quadrature,
 single axis moves (velocity and position),
 relative and absolute positioning,
 automatic trapezoidal acceleration and deceleration,
 homing (7 modes, with offset compensation),
 on-the-fly acceleration, deceleration, velocity, and position modification,
 switch from speed to position mode,
 move queuing (buffer of 1 move),
 position capture and move trigger on event (using probe input),
 backlash compensation (in quadrature mode),
 limits (hardware and software),
 diagnostics.

EIO0000001450 04/2014 29
PTO - Overview

PTO Function Blocks

The PTO function is programmed in SoMachine using the following function blocks, available in
the M241 PTOPWM library:

Category Subcategory Function Block

Motion (single axis) Power MC_Power_PTO (see page 93)
Discrete MC_MoveAbsolute_PTO (see page 111)
MC_MoveRelative_PTO (see page 105)
MC_Halt_PTO (see page 130)
MC_SetPosition_PTO (see page 122)
Continuous MC_MoveVelocity_PTO (see page 99)
Homing MC_Home_PTO (see page 117)
Stopping MC_Stop_PTO (see page 125)
Administrative Status MC_ReadActualVelocity_PTO (see page 139)
MC_ReadActualPosition_PTO (see page 141)
MC_ReadStatus_PTO (see page 142)
MC_ReadMotionState_PTO (see page 144)
Parameters MC_ReadParameter_PTO (see page 147)
MC_WriteParameter_PTO (see page 149)
MC_ReadBoolParameter_PTO (see page 151)
MC_WriteBoolParameter_PTO (see page 153)
Probe MC_TouchProbe_PTO (see page 156)
MC_AbortTrigger_PTO (see page 158)
Detected error handling MC_ReadAxisError_PTO (see page 160)
MC_Reset_PTO (see page 162)

NOTE: The motion function blocks act on the motion state diagram (see page 81), to modify the
motion of the axis. The administrative function blocks do not influence the motion state diagram.
NOTE:
 Each function block can be called by any application task.
 MC_Power_PTO function block is mandatory before a move command can be issued.

30 EIO0000001450 04/2014
 PTO - Overview

WARNING
UNINTENTED EQUIPMENT OPERATION
 Do not use the same function block instance in different program tasks.
 Do not change the function block reference (AXIS_REF_PTO) while the function block is
active (executing).
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

PTO Performances
The PTO function has the following performances:

Characteristic Value
Number of channels 2
Number of axis 1 per channel
Position range -2,147,483,648...2,147,483,647 (32 bits)
Minimum velocity 1 Hz
Maximum velocity 100 kHz (for a 40/60 duty cycle and 200 mA)
Minimum step 1 Hz
Acceleration / deceleration min 1 Hz/ms
Acceleration / deceleration max 100,000 Hz/ms
Start move IEC 300 µs + 1 pulse output time
Start move on probe event
Change move parameter
Accuracy on velocity 0.5 %
Accuracy in position Depend on the delay to take into account the command

EIO0000001450 04/2014 31
PTO - Overview

32 EIO0000001450 04/2014
 Modicon M241 Logic Controller
Configuration
EIO0000001450 04/2014

Chapter 4
Configuration

Configuration

Overview
This chapter describes how to configure a PTO channel and the associated parameters.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 Configuration 34
4.2 Home Modes 50

EIO0000001450 04/2014 33
Configuration

Section 4.1
Configuration

Configuration

Overview
This section describes how to configure a PTO channel and the associated parameters.

What Is in This Section?

This section contains the following topics:
Topic Page
PTO Configuration 35
Pulse Output Modes 39
Start/Stop Velocity 41
Probe Event 42
Backlash Compensation (Only Available in Quadrature Mode) 45
Positioning Limits 47

34 EIO0000001450 04/2014
 Configuration

PTO Configuration

Hardware Configuration
There are up to 6 physical inputs for a PTO channel:
 3 are associated to the PTO function by configuring and taken into account immediately on
event:
 REF input,
 INDEX input,
 PROBE input.

 3 are used through MC_Power_PTO function block; they have no fixed allocation on the terminal
block (they are freely allocated, that is, not configured in the configuration screen), and are
sampled at the scan time of the task:
 Drive ready input,
 Limit positive input,
 Limit negative input.

NOTE: The positive and negative limit inputs are required to help prevent certains types of
movements from experiencing uncontrolled over-travel.
NOTE: These inputs are managed as any other regular input, but are used by the PTO controller
when used by MC_Power_PTO function block.
When the PTO channel is disabled, or when the Drive ready input is not used for the PTO channel,
these inputs can be used as any other regular input.
There are up to 3 physical outputs for a PTO channel:
 2 are mandatory to manage pulse and direction; they have a fixed allocation on the terminal
block, and must be enabled by configuration:
 A / CW / Pulse,
 B / CCW / Direction.

 The other output, DriveEnable, is used through MC_Power_PTO function block; it has no fixed
allocation on the terminal block (it is freely allocated), and is sampled at the scan time of the
task.
NOTE: This output is managed as any other regular output, but is controlled by the PTO controller
when used by MC_Power_PTO function block.
When the PTO channel is disabled, these outputs can be used as any other regular output.

EIO0000001450 04/2014 35
Configuration

Configuration Window Description

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

36 EIO0000001450 04/2014
 Configuration

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

Parameter Value Default Description

General Instance name - PTO_0 or Name of the axis controlled by this PTO
PTO_1 channel. It is used as input of the PTO
function blocks.
Output Mode A ClockWise / B A ClockWise / Select the pulse output mode.
(see page 39) CounterClockWise B Counter-
A Pulse / B Direction ClockWise
Quadrature
A output location Q0 or Q4 (channel 0) Q0 (channel 0) Select the controller output used for the
Q2 or Q6 (channel 1) Q2 (channel 1) signal A.
B output location Q1 or Q5 (channel 0) Q1 (channel 0) Select the controller output used for the
Q3 or Q7 (channel 1) Q3 (channel 1) signal B.
Mechanics Backlash 0...255 0 In quadrature mode, amount of motion
Compensation needed to compensate the mechanical
(see page 45) clearance when movement is reversed.
Position Enable Software Enabled Enabled Select whether to use the software limits.
Limits / Limits Disabled
Software (see page 48)
Limits
SW Low Limit -2,147,483,648... -2,147,483,648 Set the software limit position to be
2,147,483,647 detected in the negative direction.
SW High Limit -2,147,483,648... 2,147,483,647 Set the software limit position to be
2,147,483,647 detected in the positive direction.
Motion / Maximum 0...100,000 100,000 Set the pulse output maximum velocity (in
General Velocity Hz).
Start Velocity 0...100,000 0 Set the pulse output start velocity (in Hz). 0
(see page 41) if not used.
Stop Velocity 0...100,000 0 Set the pulse output stop velocity (in Hz). 0
(see page 41) if not used.
Acc./Dec. Unit Hz/ms Hz/ms Set acceleration/deceleration as rates
(see page 41) ms (Hz/ms) or as time constants from 0 to
Maximum Velocity (ms).
Maximum 1...100,000 100,000 Set the acceleration maximum value (in
Acceleration Acc./Dec. Unit).
Maximum 1...100,000 100,000 Set the deceleration maximum value (in
Deceleration Acc./Dec. Unit).
Motion / Fast Stop 1...100,000 5,000 Set the deceleration value in case of
Fast Stop Deceleration detected error (in Acc./Dec. Unit)

EIO0000001450 04/2014 37
Configuration

Parameter Value Default Description

Homing / Location Disabled Disabled Select the controller input used for the REF
REF input I8 (channel 0) signal (see page 50).
I11 (channel 1)
Bounce filter 0.000 0.005 Set the filtering value to reduce the bounce
0.001 effect on the REF input (in ms).
0.002
0.005
0.010
0.05
0.1
0.5
1
5
Type Normally opened Normally Select whether the switch contact default
Normally closed opened state is open or closed.
Homing / Location Disabled Disabled Select the controller input used for the
INDEX input I9 (channel 0) INDEX signal (see page 50).
I12 (channel 1)
Bounce filter 0.000 0.005 Set the filtering value to reduce the bounce
0.001 effect on the INDEX input (in ms).
0.002
0.005
0.010
0.05
0.1
0.5
1
5
Type Normally opened Normally Select whether the switch contact default
Normally closed opened state is open or closed.s
Registration Location Disabled Disabled Select the controller input used for the
/ PROBE I3 or I10 (channel 0) PROBE signal (see page 42).
input I7 or I13 (channel 1)
Bounce filter 0.000 0.005 Set the filtering value to reduce the bounce
0.001 effect on the PROBE input (in ms).
0.002
0.005
0.010
0.05
0.1
0.5
1
5

38 EIO0000001450 04/2014
 Configuration

Pulse Output Modes

Overview
There are 3 possible output modes:
 A ClockWise / B CounterClockwise
 A Pulse / B direction
 Quadrature

A ClockWise / B CounterClockwise Mode

This mode generates a signal that define the motor operating speed. This signal is implemented
either on the PTO output A or on PTO output B depending on the motor rotation direction

A Pulse / B direction Mode

This mode generates 2 signals on the PTO outputs:
 Output A: pulse which provides the motor operating speed.
 Output B: direction which provides the motor rotation direction.

EIO0000001450 04/2014 39
Configuration

Quadrature Mode
This mode generates 2 signals in quadrature phase on the PTO outputs (the phase sign depends
on motor direction).

40 EIO0000001450 04/2014
 Configuration

Start/Stop Velocity

Overview
The start/stop velocity is the maximum frequency at which a stepper motor can start/stop, with a
load applied, without loss of steps.

Start Velocity
Start Velocity parameter is used when starting a motion from velocity 0.
Start Velocity must be in the range 0...MaxVelocityAppl (see page 76).
Value 0 means that the Start Velocity parameter is not used. In this case, the motion will start at
a velocity = acceleration rate x 1 ms.

Stop Velocity
Stop Velocity is only used when moving from a higher velocity than Stop Velocity, down to
velocity 0.
Stop Velocity must be in the range 0...MaxVelocityAppl (see page 76).
Value 0 means that the Stop Velocity parameter is not used. In this case, the motion will stop at
a velocity = deceleration rate x 1 ms.

Automatic Ramp
The ramping-up from Start Velocity to target velocity (conversely ramping-down from target
velocity to Stop Velocity) is automatically managed by the PTO function, according to acceleration
(conversely deceleration) parameter. In Hz/ms units, the parameter directly represents the rate of
velocity change. In ms units, the parameter represents the time to go from 0 to Maximum velocity.

EIO0000001450 04/2014 41
Configuration

Probe Event

Description
The PROBE input is enabled by configuration, and activated using the MC_TouchProbe_PTO
function block.
The PROBE input is used as an event, to:
 capture the current position (setpoint position),
 start a move independently of the task.

The input event can be enabled by an enable window (WindowOnly), defined by position limits. In
this case, only the window defined by FirstPosition and LastPosition is used to accept
trigger events (MC_TouchProbe_PTO (see page 156)).
Both functions can be active at the same time, that is, the same event captures the current position
and start a motion function block (see page 79).
NOTE: Only the first event after the rising edge at the MC_TouchProbe_PTO function block Busy
pin is valid. Once the Done output pin is set, subsequent events are ignored. The function block
needs to be reactivated to respond to other events.

Position Capture
The position catured is available in MC_TouchProbe_PTO.RecordedPosition.

Motion Trigger
The BufferMode input of a motion function block must be set to seTrigger.
This example illustrates a change target velocity with enable windows:

1 Capture the position counter value

2 Trigger Move Velocity function block

42 EIO0000001450 04/2014
 Configuration

This example illustrates a move of pre-programmed distance, with simple profile and no enable
window:

1 Capture the position counter value

2 Trigger Move Relative function block

This example illustrates a move of pre-programmed distance, with complex profile and enable
window:

1 Capture the position counter value

2 Trigger Move Relative function block

EIO0000001450 04/2014 43
Configuration

This example illustrates a trigger event out of enable window:

44 EIO0000001450 04/2014
 Configuration

Backlash Compensation (Only Available in Quadrature Mode)

Description
The Backlash Compensation parameter is defined as the amount of motion needed to
compensate the mechanical clearance in gears, when movement is reversed:

NOTE: The function does not take into account any external sources of movement, such as inertia
movement or other forms of induced movement.
Backlash compensation is set in number of pulses (0...255, default value is 0). When set, at each
direction reversal, the specified number of pulses is first output at start velocity, and then the
programmed movement is executed. The backlash compensation pulses are not added to the
position counter.

EIO0000001450 04/2014 45
Configuration

This figure illustrates the backlash compensation:

NOTE:
 Before the initial movement is started, the function cannot determine the amount of backlash to
compensate for. Therefore, the backlash compensation is only active after a homing is
successfully performed. If the homing is performed without movement, it is assumed that the
initial movement applies no compensation, and the compensation is applied at the first direction
reversal.
 Once started, the compensation pulses are output until completion, even if an aborting
command is received in the meantime. In this case, the aborting command is buffered and will
start as soon as compensation pulses are output. No additional buffered command is accepted
in this case.
 If the axis is stopped by an error detected before all the compensation pulses are output, the
backlash compensation is reset. A new homing procedure is needed to reinitialize the backlash
compensation.
 Backlash timeout of 80 s: The system does not accept to configure a movement of more than
80 s. So if a backlash is configured, it may for example not be more than 80 pulses to 1 Hz. The
error detected in case of this timeout is "Invalid acceleration" (code 1000).

46 EIO0000001450 04/2014
 Configuration

Positioning Limits

Introduction
Positive and negative limits can be set to control the movement boundaries in both directions. Both
hardware and software limits are managed by the controller.
Hardware and software limit switches are used to manage boundaries in the controller application
only. They are not intended to replace any functional safety limit switches wired to the drive. The
controller application limit switches must necessarily be activated before the functional safety limit
switches wired to the drive. In any case, the type of functional safety architecture, which is beyond
the scope of the present document, that you deploy depends on your safety analysis, including,
but not limited to:
 risk assessment according to EN/ISO 12100
 FMEA according to EN 60812

WARNING
REGULATORY INCOMPATIBILITY
Ensure that all equipment applied and systems designed comply with all applicable local,
regional, and national regulations and standards.
Failure to follow these instructions can result in death, serious injury, or equipment
damage.

The figure illustrates hardware and software limit switches:

EIO0000001450 04/2014 47
Configuration

If either of these controller limits are reached:

 the axis switches to ErrorStop state, with ErrorId 1002 to 1005 (PTO_ERROR (see page 77)),
 the function block under execution detects the error state,
 status bits on other applicable function blocks are set to CommandAborted.

The axis is back to Standstill state after a successful execution of MC_Reset_PTO. As long as the
axis is outside the limits, any move is forbidden in the current direction (function block terminates
with ErrorId=InvalidDirectionValue) while it is still possible to move in the opposite
direction. If no further status update is given, it indicates that the current position is outside the
limits.

NOTE: Once either the software negative or positive limits are crossed, an error is detected and a
Fast stop deceleration is performed. In this case, it is not possible to initiate another move in the
same direction.

Software Limits
Software limits can be set to control the movement boundaries in both directions.
Limit values are enabled and set in the configuration screen, such that:
 Positive limit > Negative limit
 Values in the range -2,147,483,648 to 2,147,483,647

They can also be enabled, disabled, or modified in the application program

(MC_WriteParameter_PTO (see page 149) and PTO_PARAMETER (see page 76)).
NOTE: When enabled, the software limits are valid after an initial homing is successfully performed
(that is, the axis is homed, MC_Home_PTO (see page 117)).
NOTE: An error is only detected when the software limit is physically reached, not at the initiation
of the movement.

48 EIO0000001450 04/2014
 Configuration

Hardware Limits
Hardware limits are required for the homing procedure, and for helping to prevent damage to the
machine. The appropriate inputs must be used on the MC_Power_PTO.LimP and
MC_Power_PTO.LimN input bits. The hardware limit devices must be of a normally closed type
such that the input to the function block is FALSE when the respective limit is reached.

WARNING
UNINTENTED 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.

NOTE: Adequate braking distance is dependent on the maximum velocity, maximum load (mass)
of the equipment being moved, and the value of the Fast stop deceleration parameter.

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Configuration

Section 4.2
Home Modes

Home Modes

Overview
This section describes the PTO home modes.

What Is in This Section?

This section contains the following topics:
Topic Page
Home Modes 51
Position Setting 54
Long Reference 55
Long Reference & Index 57
Short Reference Reversal 59
Short Reference No Reversal 61
Short Reference & Index Outside 63
Short Reference & Index Inside 66
Home Offset 69

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 Configuration

Home Modes

Description
A homing is a movement to a defined position. This position is defined as the reference point (or
origin), being the point of reference for absolute movements.
A homing movement can be made using different methods. The M241 PTO channels provide 7
standard homing movement types:
 position setting (see page 54),
 long reference (see page 55),
 long reference and index (see page 57),
 short reference reversal (see page 59),
 short reference no reversal (see page 61),
 short reference and index outside (see page 63),
 short reference and index inside (see page 66).

A homing movement must be terminated without interruption for the new reference point to be
valid. If the reference movement is interrupted, it needs to be started again.
Refer to MC_Home_PTO (see page 117) and PTO_HOMING_MODE (see page 75).

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Configuration

Home Position
When the homing is done with an external switch, the homing position is defined on the switch
edge. Then the motion is decelerated until stop.
The actual position of the axis at the end of the motion sequence may therefore differ from the
position parameter set on the function block:

REF (NO) Reference point (Normally Open)

1 Position at the end of motion = MC_HOME_PTO.Position + “deceleration to stop” distance.

To simplify the representation of a stop in the homing mode diagrams, the following presentation
is made to represent the actual position of the axis:

REF (NO) Reference point (Normally Open)

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 Configuration

Limits
Hardware limits are necessary for the correct functioning of the MC_Home_PTO function block
(Positioning Limits (see page 47) and MC_Power_PTO (see page 93)). Depending on the
movement type you request with the homing mode, the hardware limits help assure that the end
of travel is respected by the function block.
When a homing action is initiated in a direction away from the reference switch, the hardware limits
serve to either:
 indicate a reversal of direction is required (to move the axis toward the reference switch) or,
 indicate that an error has been detected as the reference switch was not found before reaching
the end of travel.
For homing movement types that allow for reversal of direction, when the movement reaches the
hardware limit the axis stops using the configured deceleration, and resumes motion in a reversed
direction.
In homing movement types that do not allow for the reversal of direction, when the movement
reaches the hardware limit, the homing procedure is aborted with a detected error, and the axis
stops with the Fast stop deceleration.

WARNING
UNINTENTED 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.

NOTE: Adequate braking distance is dependent on the maximum velocity, maximum load (mass)
of the equipment being moved, and the value of the Fast stop deceleration parameter.

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Position Setting

Description
In the case of position setting, the current position is set to the specified position value. No move
is performed.

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Long Reference

Long Reference: Positive Direction

Homes to the reference switch falling edge in reverse direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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Configuration

Long Reference: Negative Direction

Homes to the reference switch falling edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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 Configuration

Long Reference & Index

Long Reference & Index: Positive Direction

Homes to the first index, after the reference switch falling edge in reverse direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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Configuration

Long Reference & Index: Negative Direction

Homes to the first index, after the reference switch falling edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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Short Reference Reversal

Short Reference Reversal: Positive Direction

Homes to the reference switch rising edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Configuration

Short Reference Reversal: Negative Direction

Homes to the reference switch rising edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Short Reference No Reversal

Short Reference No Reversal: Positive Direction

Homes at low speed to the reference switch rising edge in forward direction, with no reversal:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Configuration

Short Reference No Reversal: Negative Direction

Homes at low speed to the reference switch falling edge in reverse direction, with no reversal:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Short Reference & Index Outside

Short Reference & Index Outside: Positive Direction

Homes to the first index, after the reference switch transitions on and off in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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Configuration

REF (NO) Reference point (Normally Open)

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 Configuration

Short Reference & Index Outside: Negative Direction

Homes to the first index, after the reference switch transitions on and off in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Configuration

Short Reference & Index Inside

Short Reference & Index Inside: Positive Direction

Homes to the first index, after the reference switch rising edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

REF (NO) Reference point (Normally Open)

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Short Reference & Index Inside: Negative Direction

Homes to the first index, after the reference switch rising edge in forward direction.
The initial direction of motion is dependent on the state of the reference switch:

REF (NO) Reference point (Normally Open)

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REF (NO) Reference point (Normally Open)

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Home Offset

Description
If the origin cannot be defined by switches with enough accuracy, it is possible to make the axis
move to a specific position away from the origin switch. Home offset allows making a difference
between mechanical origin and electrical origin.
Home offset is set in number of pulses (-2,147,483,648...2,147,483,647, default value 0). When
set by configuration, the MC_Home_PTO (see page 117) command is executed first, and then the
specified number of pulses is output at the home low velocity in the specified direction. The
parameter is only effective during a reference movement without index pulse.
NOTE: The wait time between MC_Home_PTO command stop on origin switch and start of offset
movement is fixed, set to 500 ms. The MC_Home_PTO command busy flag is only released after
origin offset has been completed.

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Data Unit Types
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Chapter 5
Data Unit Types

Data Unit Types

Overview
This chapter describes the data unit types of the M241 PTO Library.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
AXIS_REF_PTO Data Type 72
MC_BUFFER_MODE 73
MC_DIRECTION 74
PTO_HOMING_MODE 75
PTO_PARAMETER 76
PTO_ERROR 77

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Data Unit Types

AXIS_REF_PTO Data Type

Data Type Description

The AXIS_REF_PTO type is a data type that contains information on the corresponding axis. It is
used as a VAR_IN_OUT in all function blocks of the PTO library.

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MC_BUFFER_MODE

Buffer Mode Enumeration

This table lists the values for the MC_BUFFER_MODE enumeration:

Enumerator Value Description

mcAborting 0 Start FB immediately (default mode).
Any ongoing motion is aborted. The move queue is cleared.
mcBuffered 1 Start FB after current move has finished (Done or
InVelocity bit is set). There is no blending.
mcBlendingPrevious 3 The velocity is blended with the velocity of the first FB
(blending with the velocity of FB1 at end-position of FB1).
seTrigger 10 Start FB immediately when an event on the probe input is
detected.
Any ongoing motion is aborted. The move queue is cleared.
seBufferedDelay 11 Start FB after current motion has finished (Done or
InVelocity bit is set) and the time delay has elapsed.
There is no blending.
The Delay parameter is set using
MC_WriteParameter_PTO (see page 149), with
ParameterNumber 1000.

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Data Unit Types

MC_DIRECTION

Move Direction Enumeration

This table lists the values for the MC_DIRECTION enumeration:

Enumerator Value Description

mcPositiveDirection 1 CW, forward, positive (according to Output Mode
configuration setting).
mcNegativeDirection -1 CCW, backward, reverse, negative (according to Output
Mode configuration setting).
mcCurrentDirection 2 Move in the last used direction.

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PTO_HOMING_MODE

Homing Mode Enumeration

This table lists the values for the PTO_HOMING_MODE enumeration:

Enumerator Value Description

PositionSetting 0 Position.
LongReference 1 Long reference.
LongReferenceAndIndex 10 Long reference and index.
ShortReference_Reversal 20 Short reference.
ShortReference_NoReversal 21 Short reference no reversal.
ShortReferenceAndIndex_Outside 30 Short reference and index outside.
ShortReferenceAndIndex_Inside 31 Short reference and index inside.

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Data Unit Types

PTO_PARAMETER

PTO Parameter Enumeration

This table lists the values for the PTO_PARAMETER enumeration:

Parameter Name Parameter Type Standard R/W Description

Number
CommandedPosition 1 DINT Mandatory R Commanded position.
SWLimitPos 2 DINT Optional R/W Positive software limit switch position.
SWLimitNeg 3 DINT Optional R/W Negative software limit switch position.
EnableLimitPos 4 BOOL Optional R/W Enable positive software limit switch.
EnableLimitNeg 5 BOOL Optional R/W Enable negative software limit switch.
MaxVelocityAppl 9 DINT Mandatory R/W Maximal allowed velocity of the axis in the
application.
ActualVelocity 10 DINT Mandatory R Actual velocity.
CommandedVelocity 11 DINT Mandatory R Commanded velocity.
MaxAccelerationAppl 13 DINT Optional R/W Maximal allowed acceleration of the axis in
the application.
MaxDecelerationAppl 15 DINT Optional R/W Maximal allowed deceleration of the axis in
the application.
Reserved to 999 - - - Reserved for the PLCopen standard.
Delay 1000 DINT Vendor R/W Time in ms (0...65,535)
specific Default value: 0

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PTO_ERROR

PTO Error Enumeration

This table lists the values for the PTO_ERROR enumeration:

Enumerator Value Description

NoError 0 No detected error.
Axis Control Error
InternalError 1000 Motion controller internal detected error.
DisabledAxis 1001 The move could not be started or has been aborted
because the axis is not ready.
HwPositionLimitP 1002 Hardware positive position limit limP exceeded.
HwPositionLimitN 1003 Hardware negative position limit limN exceeded.
SwPositionLimitP 1004 Software positive position limit exceeded.
SwPositionLimitN 1005 Software negative position limit exceeded.
Axis Control Warning
WarningVelocityValue 1100 Commanded Velocity parameter is out of range.
WarningAccelerationValue 1101 Commanded Acceleration parameter is out of range.
WarningDecelerationValue 1102 Commanded Deceleration parameter is out of range.
WarningDelayedMove 1103 Not enough time to stop the current active move, so the
requested move is delayed.
Motion State Error
ErrorStopActive 2000 The move could not be started or has been aborted
because motion is prohibited by an ErrorStop
condition.
StoppingActive 2001 The move could not be started because motion is
prohibited by MC_Stop_PTO having control of the axis
(either the axis is stopping, or
MC_Stop_PTO.Execute input is held high).
InvalidTransition 2002 Refer to the Motion State Diagram (see page 81),
transitions not allowed.
InvalidSetPosition 2003 MC_SetPosition_PTO cannot be executed while the
axis is moving.
HomingError 2004 Homing sequence cannot start on reference cam in this
mode.
InvalidProbeConf 2005 The PROBE input must be configured..
InvalidHomingConf 2006 The home inputs (REF, INDEX) must be configured for
this home mode.

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Data Unit Types

Enumerator Value Description

InvalidAbsolute 2007 An absolute move cannot be executed while the axis is
not successfully homed to an origin position. A homing
sequence must be executed first (MC_Home_PTO
(see page 117)).
MotionQueueFull 2008 The move could not be buffered because the motion
queue is full.
Range Error
InvalidAxis 3000 The function block is not applicable for the axis
specified.
InvalidPositionValue 3001 Position parameter is out of limits, or distance
parameter gives an out of limits position.
InvalidVelocityValue 3002 Velocity parameter is out of range.
InvalidAccelerationValue 3003 Acceleration parameter is out of range.
InvalidDecelerationValue 3004 Deceleration parameter is out of range.
InvalidBufferModeValue 3005 Buffer mode does not correspond to a valid
enumeration value.
InvalidDirectionValue 3006 Direction does not correspond to a valid enumeration
value, or direction is invalid due to software position
limit exceeded.
InvalidHomeMode 3007 The parameter number does not exist for the specified
axis.
InvalidParameter 3008 Home mode is not applicable.
InvalidParameterValue 3009 Parameter value is out of range.
ReadOnlyParameter 3010 Parameter is read-only.

An Axis Control Error switches the axis in ErrorStop state (MC_Reset_PTO is mandatory to get
out of ErrorStop state). The resulting axis status is reflected by MC_ReadStatus_PTO and
MC_ReadAxisError_PTO.
A Motion State Error or a Range Error does not affect the axis state, nor any move currently
executing, nor the move queue. In this case, the detected error is only local to the applicable
function block: the Error output is set, and the ErrorId pin is set to the appropriate
PTO_ERROR value.

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Motion Function Blocks
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Chapter 6
Motion Function Blocks

Motion Function Blocks

Overview
This chapter describes the motion function blocks.
A motion function block acts on the diagram of axis state, to modify the motion of the axis. These
function blocks can return a status to the application before the move is complete. The application
program uses these status bits to determine the move status (Done, Busy, Active,
CommandAborted, and detected Error). For axis status, you can use the MC_ReadStatus_PTO
function block.

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
6.1 Operation Modes 80
6.2 MC_Power_PTO Function Block 93
6.3 MC_MoveVelocity_PTO Function Block 99
6.4 MC_MoveRelative_PTO Function Block 105
6.5 MC_MoveAbsolute_PTO Function Block 111
6.6 MC_Home_PTO Function Block 117
6.7 MC_SetPosition_PTO Function Block 122
6.8 MC_Stop_PTO Function Block 125
6.9 MC_Halt_PTO Function Block 130
6.10 Adding a Motion Function Block 135

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Motion Function Blocks

Section 6.1
Operation Modes

Operation Modes

Overview
This section describes the operation modes.

What Is in This Section?

This section contains the following topics:
Topic Page
Motion State Diagram 81
Buffer Mode 83
Timing Diagram Examples 85

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 Motion Function Blocks

Motion State Diagram

State Diagram
The axis is always in one of the defined states in this diagram:

Note 1 From any state, when an error is detected.

Note 2 From any state except ErrorStop, when MC_Power_PTO.Status = FALSE.
Note 3 MC_Reset_PTO.Done = TRUE and MC_Power_PTO.Status = FALSE.
Note 4 MC_Reset_PTO.Done = TRUE and MC_Power_PTO.Status = TRUE.
Note 5 MC_Power_PTO.Status = TRUE.
Note 6 MC_Stop_PTO.Done = TRUE and MC_Stop_PTO.Execute = FALSE.

The table describes the axis states:

State Description
Disabled Initial state of the axis, no motion command is allowed. The axis is not homed.
Standstill Power is on, there is no detected error, and there are no motion commands active on
the axis. Motion command is allowed.
ErrorStop Highest priority, applicable when an error is detected on the axis or in the controller.
Any ongoing move is aborted by a deceleration to stop, according to Fast Stop
Deceleration configuration parameter. Error pin is set on applicable function blocks,
and ErrorId pin is set according to the detected error type. As long as an error is
pending, the state remains ErrorStop. No further motion command is accepted until
a reset has been done using MC_Reset_PTO.
Homing Applicable when MC_Home_PTO has control on the axis.

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Motion Function Blocks

State Description
Discrete Applicable when MC_MoveRelative_PTO, MC_MoveAbsolute_PTO, or
MC_Halt_PTO has control on the axis.
Continuous Applicable when MC_MoveVelocity_PTO has control on the axis.
Stopping Applicable when MC_Stop_PTO has control on the axis.

NOTE: Function blocks which are not listed in the state diagram do not affect the state of the state
diagram, that is, whenever they are called the state does not change.
The entire motion command including acceleration and deceleration ramps cannot exceed
4,294,967,295 pulses. At the maximum frequency of 100 kHz, it would limit the duration of
acceleration/deceleration ramps to 80 seconds.

Motion Transition Table

The PTO channel can respond to a new command while executing (and before completing) the
current command according to the following table. "Allowed" means that the new command will
begin execution even if the previous command has not completed execution. "Rejected" means
that the new command will be ignored and will result in the declaration of a detected error:

Command Next
Home MoveVelocity MoveRelative MoveAbsolute Halt Stop
Current Standstill Allowed Allowed (1)
Allowed (1)
Allowed (1) Allowed Allowed

Home Rejected Rejected Rejected Rejected Rejected Allowed

MoveVelocity Rejected Allowed Allowed Allowed Allowed Allowed
MoveRelative Rejected Allowed Allowed Allowed Allowed Allowed
MoveAbsolute Rejected Allowed Allowed Allowed Allowed Allowed
Halt Rejected Allowed Allowed Allowed Allowed Allowed
Stop Rejected Rejected Rejected Rejected Rejected Rejected

(1) If the axis is standstill, the buffer modes

mcAborting/mcBuffered/mcBlendingPrevious
are behaving the same way: the move starts immediately.
NOTE: When an error is detected in the motion transition, the axis goes into ErrorStop state. The
ErrorId is set to InvalidTransition.

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Buffer Mode

Description
Some of the motion function blocks have an input called BufferMode. With this input, the function
block can either start immediately, start on probe event, or be buffered.
The available options are defined in the enumeration of type MC_BUFFER_MODE (see page 73):
 An aborting motion (mcAborting) starts immediately, aborting any ongoing move, and clearing
the motion queue.
 A buffered motion (mcBuffered, mcBlendingPrevious, seBufferedDelay) is queued,
that is, appended to any moves currently executing or waiting to execute, and will start when the
previous motion is done.
 An event motion (seTrigger) is a buffered motion, starting on probe event (see page 42).

Motion Queue Diagram

The figure illustrates the motion queue diagram:

The buffer can contain only 1 motion function block.

The execution condition of the motion function block present in the buffer is:
 mcBuffered: when the current continuous motion is InVelocity, resp. when the current
discrete motion stops.
 seBufferedDelay: when the specified delay has elapsed, from the current continuous motion
is InVelocity, resp. from the current discrete motion stops.

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Motion Function Blocks

 mcBlendingPrevious: when the position and velocity targets of current function block are
reached.
 seTrigger: when a valid event is detected on the probe input.
The motion queue is cleared (all buffered motions are deleted):
 When an aborting move is triggered (mcAborting): CommandAborted pin is set on buffered
function blocks.
 When a MC_Stop_PTO function is executed: Error pin is set on cleared buffered function
blocks, with ErrorId=StoppingActive (see page 77).
 When a transition to ErrorStop state is detected: Error pin is set on buffered function blocks,
with ErrorId=ErrorStopActive (see page 77).
NOTE:
 Only a valid motion can be queued. If the function block execution terminates with the Error
output set, the move is not queued, any move currently executing is not affected, and the queue
is not cleared.
 When the queue is already full, the Error output is set on the applicable function block, and
ErrorId output returns a detected error MotionQueueFull (see page 77).

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Timing Diagram Examples

Move Velocity to Move Velocity with mcAborting

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Motion Function Blocks

1 Execute rising edge: command parameters are latched, movement is started with target velocity 1000.
2 Target velocity 1000 is reached.
3 Velocity parameter changed to 2000: not applied (no rising edge on Execute input, and
ContinuousUpdate was latched with value 0 at start of the movement).
4 Execute falling edge: status bits are cleared.
5 Execute rising edge: command parameters are latched, movement is started with target velocity 2000
and ContinuousUpdate active.
6 Velocity parameter changed to 500: applied ContinuousUpdate is true). Note: previous target
velocity 2000 is not reached.
7 Target velocity 500 is reached.
8 Velocity parameter changed to 2000: applied ContinuousUpdate is true).
9 Execute falling edge: status bits are cleared.
10 Target velocity 2000 is reached, InVelocity is set for 1 cycle (Execute pin is reset).
11 Velocity parameter changed to 3000: not applied (movement is still active, but no longer busy).

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Move Relative to Move Relative with mcAborting

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Motion Function Blocks

1 FB1 Execute rising edge: command parameters are latched, movement is started with target velocity
2000 and distance 1000.
2 Movement ends: distance traveled is 1000.
3 FB1 Execute rising edge: command parameters are latched, movement is started with target velocity
2000 and distance 2000.
4 FB2 Execute rising edge: command parameters are latched, movement is started with target velocity
1000 and distance 500. Note: FB1 is aborted.
5 Movement ends.

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Move Relative to Move Absolute with mcAborting

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Motion Function Blocks

1 FB1 Execute rising edge: command parameters are latched, movement is started with target velocity
2000 and distance 1800.
2 FB2 Execute rising edge: command parameters are latched, FB1 is aborted, and movement continues
with target velocity 1000 and targetposition 3400. Automatic direction management: direction
reversal is needed to reach target position, move to stop at deceleration of FB2.
3 Velocity 0, direction reversal, movement resumes with target velocity 1000 and target position 3400.
4 Movement ends: target position 3400 reached.

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Move Velocity to Move Relative with seTrigger

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Motion Function Blocks

1 MC_TouchProbe_PTO not executed yet: probe input is not active.

2 MC_MoveVelocity_PTO Execute rising edge: command parameters are latched, movement is started
with target velocity vel1.
3 MC_TouchProbe_PTO Execute rising edge: probe input is active.
4 vel1 is reached.
5 MC_MoveRelative_PTO Execute rising edge: command parameters are latched, waiting for probe
event to start.
6 Probe event outside of enable windows: event is ignored.
7 A valid event is detected. MC_MoveRelative_PTO aborts MC_MoveVelocity_PTO, and probe input is
deactivated.
8 Following events are ignored.
9 Movement ends.

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Section 6.2
MC_Power_PTO Function Block

MC_Power_PTO Function Block

Overview
This section describes the MC_Power_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 94
MC_Power_PTO Function Block 95

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Motion Function Blocks

Description

Overview
The MC_Power_PTO function block allows enabling power to the axis, switching the axis state from
Disabled to Standstill. No motion function block is allowed on the axis until the
MC_Power_PTO.Status bit is TRUE.
Disabling power (MC_Power_PTO.Enable = FALSE) switches the axis:
 from Standstill, back to Disabled state.
 from any ongoing move, to ErrorStop, and then Disabled when the detected error is reset.

If DriveReady input is reset, the axis state switches to ErrorStop.

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MC_Power_PTO Function Block

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 (see page 199).

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Motion Function Blocks

Input Variables
This table describes the input variables:

Input Type Initial Description

Value
Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is to
be executed. The name is declared in the controller
configuration, in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The values of
the function block inputs can be modified continuously, and
the outputs are updated continuously.
When FALSE, terminates the function block execution and
resets its outputs.

DriveReady(1) BOOL FALSE Drive ready information from the drive. Must be TRUE when
the drive is ready to start executing motion.
If the drive signal is connected to the controller, use the
appropriate %Ix input. If the drive does not provide this
signal, you can select the value TRUE for this input.

LimP(1) BOOL TRUE Hardware limit switch information, in positive direction. It

must be FALSE when the hardware limit switch is reached.
If the hardware limit switch signal is connected to the
controller, use the appropriate %Ix input. If this signal is not
available, you can leave this input unused or set to TRUE.

LimN(1) BOOL TRUE Hardware limit switch information, in negative direction. It

must be FALSE when the hardware limit switch is reached.
If the hardware limit switch signal is connected to the
controller, use the appropriate %Ix. If this signal is not
available, you can leave this input unused or set to TRUE.

(1)
: DriveReady, LimP, and LimN are scanned at the task cycle time.

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Status BOOL FALSE When TRUE, power is enabled, motion
commands are possible.
DriveEnable BOOL FALSE Drive enable command to the drive. This
information should be provided to the drive for
enabling power.
If the drive signal is connected to the controller,
use the appropriate %Qx. If the drive does not
use this signal, you can leave this output unused.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).

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Motion Function Blocks

Timing Diagram Example

The diagram illustrates the function block operation:

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 Motion Function Blocks

Section 6.3
MC_MoveVelocity_PTO Function Block

MC_MoveVelocity_PTO Function Block

Overview
This section describes the MC_MoveVelocity_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 100
MC_MoveVelocity_PTO Function Block 101

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Motion Function Blocks

Description

Overview
This function causes the specified axis to move at the specified speed, and transfers the axis to
the state Continuous. This continuous movement is maintained until a software limit is reached,
an aborting move is triggered, or a transition to ErrorStop state is detected.

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MC_MoveVelocity_PTO Function Block

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.
A later change in these input parameters does not affect
the ongoing command, unless the input
ContinuousUpdate is used.
If a second rising edge is detected during the execution of
the function block, the current execution is aborted and
the function block is executed again.
Continu- BOOL FALSE At TRUE, makes the function block use the current values
ousUpdate of the input variables (Velocity, Acceleration,
Deceleration, and Direction), and apply it to the
ongoing command.
The impact of the input ContinuousUpdate begins
when the function block is triggered by a rising edge on
the Execute pin, and ends as soon as the function block
is no longer Busy or the input ContinuousUpdate is set
to FALSE.

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Input Type Initial Value Description

Velocity DINT 0 Target velocity in Hz, not necessarily reached.
Range: 0...MaxVelocityAppl (see page 76)
Acceleration DINT 0 Acceleration in Hz/ms or in ms (according to
configuration).
Range (Hz/ms): 1...MaxAccelerationAppl
(see page 76)
Range (ms): MaxAccelerationAppl
(see page 76)...100,000
Deceleration DINT 0 Deceleration in Hz/ms or in ms (according to
configuration).
Range (Hz/ms): 1...MaxDecelerationAppl
(see page 76)
Range (ms): MaxDecelerationAppl
(see page 76)...100,000
Direction MC_DIRECTION mcPositive- Direction of the movement (see page 74).
Direction
BufferMode MC_BUFFER_MODE mcAborting Transition mode from ongoing move (see page 73).

Output Variables
This table describes the output variables:

Output Type Initial Value Description

InVelocity BOOL FALSE If TRUE, indicates that the target velocity is reached.
Busy BOOL FALSE If TRUE, indicates that the function block execution is in
progress.
Active BOOL FALSE The function block currently has control of the Axis.
Only one function block at a time can set Active TRUE
for a defined Axis.
CommandAborted BOOL FALSE Function block execution is finished, by abortion due to
another move command or a detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoEr- When Error is TRUE: type of the detected error
ror (see page 77).

NOTE:
 To stop the motion, the function block has to be interrupted by another function bloc issuing a
new command.
 If a motion is ongoing, and the direction is reversed, first the motion is halted with the
deceleration of the MC_MoveVelocity_PTO function block, and then the motion resumes
backward.
 The acceleration/decceleration duration of the segment block must not exceed 80 s.

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Timing Diagram Example

The diagram illustrates a simple profile from Standstill state:

The diagram illustrates a complex profile from Continuous state:

The diagram illustrates a complex profile from Continuous state with change of direction:

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Motion Function Blocks

The diagram illustrates a complex profile from Discrete state:

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 Motion Function Blocks

Section 6.4
MC_MoveRelative_PTO Function Block

MC_MoveRelative_PTO Function Block

Overview
This section describes the MC_MoveRelative_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 106
MC_MoveRelative_PTO Function Block 107

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Description

Overview
This function causes the specified axis to move of an incremental distance, and transfers the axis
to the state Discrete. The target position is referenced from the current position at execution time,
incremented by a distance.

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MC_MoveRelative_PTO Function Block

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is to be
executed. The name is declared in the controller configuration,
in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block when its
execution terminates.
Distance DINT 0 Relative distance of the motion in number of pulses. The sign
specifies the direction.
Velocity DINT 0 Target velocity in Hz, not necessarily reached.
Range: 1...MaxVelocityAppl (see page 76)
Acceleration DINT 0 Acceleration in Hz/ms or in ms (according to configuration).
Range (Hz/ms): 1...MaxAccelerationAppl (see page 76)
Range (ms): MaxAccelerationAppl (see page 76)...100,000
Deceleration DINT 0 Deceleration in Hz/ms or in ms (according to configuration).
Range (Hz/ms): 1...MaxDecelerationAppl (see page 76)
Range (ms): MaxDecelerationAppl (see page 76)...100,000
BufferMode MC_BUFFER_ mcAborting Transition mode from ongoing move (see page 73).
MODE

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block
execution is finished with no detected error.
Busy BOOL FALSE If TRUE, indicates that the function block
execution is in progress.
Active BOOL FALSE The function block currently has control of the
Axis. Only one function block at a time can
set Active TRUE for a defined Axis.
CommandAborted BOOL FALSE Function block execution is finished, by
abortion due to another move command or a
detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoEr- When Error is TRUE: type of the detected
ror error (see page 77).

NOTE:
 The function block completes with velocity zero if no further blocks are pending.
 If the distance is too short for the target velocity to be reached, the movement profile is
triangular, rather than trapezoidal.
 If a motion is ongoing, and the commanded distance is exceeded due to the current motion
parameters, the direction reversal is automatically managed: the motion is first halted with the
deceleration of the MC_MoveRelative_PTO function block, and then the motion resumes
backward.
 The acceleration/decceleration duration of the segment block must not exceed 80 s.

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Timing Diagram Example

The diagram illustrates a simple profile from Standstill state:

The diagram illustrates a complex profile from Continuous state:

The diagram illustrates a complex profile from Continuous state with change of direction:

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Motion Function Blocks

The diagram illustrates a complex profile from Discrete state:

The diagram illustrates a complex profile from Discrete state with change of direction:

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Section 6.5
MC_MoveAbsolute_PTO Function Block

MC_MoveAbsolute_PTO Function Block

Overview
This section describes the MC_MoveAbsolute_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 112
MC_MoveAbsolute_PTO Function Block 113

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Motion Function Blocks

Description

Overview
This function causes the specified axis to move towards a given position at the specified speed,
and transfers the axis to the state Discrete. The function block terminates with Error set to 1, if
the axis is not homed (that is, no reference absolute position is defined). In this case, ErrorId is
set to InvalidAbsolute.

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MC_MoveAbsolute_PTO Function Block

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is to
be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block when
its execution terminates.
Position DINT 0 Target absolute position.
Velocity DINT 0 Target velocity in Hz, not necessarily reached.
Range: 1...MaxVelocityAppl (see page 76)
Acceleration DINT 0 Acceleration in Hz/ms or in ms (according to configuration).
Range (Hz/ms): 1...MaxAccelerationAppl (see page 76)
Range (ms): MaxAccelerationAppl
(see page 76)...100,000
Deceleration DINT 0 Deceleration in Hz/ms or in ms (according to configuration).
Range (Hz/ms): 1...MaxDecelerationAppl (see page 76)
Range (ms): MaxDecelerationAppl
(see page 76)...100,000
Direction MC_DIRECTION mcPositive- Direction of the movement.
Direction
BufferMode MC_BUFFER_ mcAborting Transition mode from ongoing move (see page 73).
MODE

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution is
finished with no detected error.
Busy BOOL FALSE If TRUE, indicates that the function block execution is in
progress.
Active BOOL FALSE The function block currently has control of the Axis.
Only one function block at a time can set Active TRUE
for a defined Axis.
CommandAborted BOOL FALSE Function block execution is finished, by abortion due to
another move command or a detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoEr- When Error is TRUE: type of the detected error
ror (see page 77).

NOTE:
 The function block completes with velocity zero if no further blocks are pending.
 The motion direction is automatically set, according to the current and target positions.
 If the distance is too short for the target velocity to be reached, the movement profile is
triangular, rather than trapezoidal.
 If the position cannot be reached with the current direction, the direction reversal is
automatically managed. If a motion is ongoing, it is first halted with the deceleration of the
MC_MoveAbsolute_PTO function block, and then the motion resumes backward.
 The acceleration/decceleration duration of the segment block must not exceed 80 s.

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Timing Diagram Example

The diagram illustrates a simple profile from Standstill state:

The diagram illustrates a complex profile from Continuous state:

The diagram illustrates a complex profile from Discrete state:

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Motion Function Blocks

The diagram illustrates a complex profile from Discrete state with change of direction:

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Section 6.6
MC_Home_PTO Function Block

MC_Home_PTO Function Block

Overview
This section describes the MC_Home_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 118
MC_Home_PTO Function Block 119

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Motion Function Blocks

Description

Overview
This function block commands the axis to perform the sequence defining the reference absolute
position, and transfers the axis to the state Homing. The details of this sequence depend on
homing configuration parameter settings.

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MC_Home_PTO Function Block

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.
Mode PTO_HOMING_ mcPositionSet- Predefined home mode (see page 75) type.
MODE ting
Position DINT 0 Position value is set as absolute current position at the
reference point switch detection, when the homing has
been successfully executed..
Direction MC_DIRECTION mcPositiveDi- Starting direction. For Homing, only
rection mcPositiveDirection and mcNegativeDirection
are valid.
HighVelocity DINT 0 Target homing velocity for searching the limit or reference
switch.
Range Hz: 1...MaxVelocityAppl (see page 76)

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Input Type Initial Value Description

LowVelocity DINT 0 Target homing velocity for searching the reference switch
or index signal. The movement stop when switching point
is detected.
Range Hz: 1...HighVelocity
Acceleration DINT 0 Acceleration in Hz/ms or in ms (according to
configuration).
Range (Hz/ms): 1...MaxAccelerationAppl
(see page 76)
Range (ms): MaxAccelerationAppl
(see page 76)...100,000
Deceleration DINT 0 Deceleration in Hz/ms or in ms (according to
configuration).
Range (Hz/ms): 1...MaxDecelerationAppl
(see page 76)
Range (ms): MaxDecelerationAppl
(see page 76)...100,000
Offset DINT 0 Distance from origin point. When the origin point is
reached, the motion resumes until the distance is
covered. Direction depends on the sign (Home offset
(see page 69)).
Range: -2,147,483,648...2,147,483,647

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block
execution is finished with no detected error.
Busy BOOL FALSE If TRUE, indicates that the function block
execution is in progress.
Active BOOL FALSE The function block currently has control of the
Axis. Only one function block at a time can set
Active TRUE for a defined Axis.
CommandAborted BOOL FALSE Function block execution is finished, by abortion
due to another move command or a detected
error.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoEr- When Error is TRUE: type of the detected
ror error (see page 77).

NOTE: The acceleration/decceleration duration of the segment block must not exceed 80 s.

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Timing Diagram Example

Home modes (see page 51)

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Section 6.7
MC_SetPosition_PTO Function Block

MC_SetPosition_PTO Function Block

Overview
This section describes the MC_SetPosition_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 123
MC_SetPosition_PTO Function Block 124

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Description

Overview
This function block shifts the actual position of the axis without any movement caused. This
function block cannot be used during motion (that is, only allowed when the axis is in Standstill
state).

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Motion Function Blocks

MC_SetPosition_PTO Function Block

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block
is to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.
Position DINT 0 New value of absolute position of the Axis.

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block
execution is finished with no detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).

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Section 6.8
MC_Stop_PTO Function Block

MC_Stop_PTO Function Block

Overview
This section describes the MC_Stop_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 126
MC_Stop_PTO Function Block 127

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Motion Function Blocks

Description

Overview
This function block commands a controlled motion stop and transfers the axis to the state
Stopping. It aborts any ongoing move execution. While the axis is in state Stopping, no other
function block can perform any motion on the same axis. This function block is primarily intended
for exception situations, or fast stop functionality (for example, machine detected error managed
by the user).

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MC_Stop_PTO Function Block

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is to be
executed. The name is declared in the controller configuration,
in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block when its
execution terminates.
Deceleration DINT 20 Deceleration in Hz/ms or in ms (according to configuration).
Range (Hz/ms): 1...MaxDecelerationAppl (see page 76)
Range (ms): MaxDecelerationAppl
(see page 76)...100,000

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution is
finished with no detected error.
Busy BOOL FALSE If TRUE, indicates that the function block execution is
in progress.
CommandAborted BOOL FALSE Function block execution is finished, by abortion due to
another move command or a detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoEr- When Error is TRUE: type of the detected error
ror (see page 77).

NOTE:
 Calling this function block in state Standstill changes the state to Stopping, and back to
Standstill when Execute is FALSE.
 The state Stopping is kept as long as the input Execute is true.
 TheDone output is set when the stop ramp is finished.
 If Deceleration = 0, the fast stop deceleration is used.
 The function block completes with velocity zero.
 The decceleration duration of the segment block must not exceed 80 s.

Timing Diagram Example

The diagram illustrates a simple profile from Continuous state:

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The diagram illustrates a simple profile from Discrete state:

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Motion Function Blocks

Section 6.9
MC_Halt_PTO Function Block

MC_Halt_PTO Function Block

Overview
This section describes the MC_Halt_PTO function block.

What Is in This Section?

This section contains the following topics:
Topic Page
Description 131
MC_Halt_PTO Function Block 132

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 Motion Function Blocks

Description

Overview
This function block commands a controlled motion stop until the velocity is zero, and transfers the
axis to the state Discrete. With the Done output set, the state is transferred to Standstill.

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Motion Function Blocks

MC_Halt_PTO Function Block

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.
Deceleration DINT 20 Deceleration in Hz/ms or in ms (according to
configuration).
Range (Hz/ms): 1...MaxDecelerationAppl
(see page 76)
Range (ms): MaxDecelerationAppl
(see page 76)...100,000
BufferMode MC_BUFFER_MODE mcAborting Transition mode from ongoing move (see page 73).

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution is
finished with no detected error.
Busy BOOL FALSE If TRUE, indicates that the function block execution is
in progress.
Active BOOL FALSE The function block currently has control of the Axis.
Only one function block at a time can set Active
TRUE for a defined Axis.
CommandAborted BOOL FALSE Function block execution is finished, by abortion due
to another move command or a detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).

NOTE: The function block completes with velocity zero.

Timing Diagram Example

The diagram illustrates a simple profile from Continuous state:

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Motion Function Blocks

The diagram illustrates a simple profile from Discrete state:

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 Motion Function Blocks

Section 6.10
Adding a Motion Function Block

Adding a Motion Function Block

Adding a Motion Function Block

Procedure
Follow these steps to add and create the instance of a motion function block:

Step Action
1 Add a POU (see SoMachine, Programming Guide) in the Applications tree.
2 Select the Libraries tab in the Software Catalog and click Libraries.
Select Controller →M241 →M241 PTOPWM →PTO →Motion →MC_xxxxxx_PTO in the list,
drag-and-drop the item onto the POU window.
3 Create the function block instance by clicking:

4 Associate the input/output variables (see page 79) of the function block.

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 Modicon M241 Logic Controller
Administrative Function Blocks
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Chapter 7
Administrative Function Blocks

Administrative Function Blocks

Overview
This chapter describes the administrative function blocks.
Administrative function blocks do not influence the state diagram (see page 81).

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
7.1 Status Function Blocks 138
7.2 Parameters Function Blocks 146
7.3 Probe Function Blocks 155
7.4 Error Handling Function Blocks 159
7.5 Adding an Administrative Function Block 163

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Administrative Function Blocks

Section 7.1
Status Function Blocks

Status Function Blocks

Overview
This section describes the status function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_ReadActualVelocity_PTO Function Block 139
MC_ReadActualPosition_PTO Function Block 141
MC_ReadStatus_PTO Function Block 142
MC_ReadMotionState_PTO Function Block 144

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MC_ReadActualVelocity_PTO Function Block

Function Description
This function block returns the value of the actual velocity of the axis.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The values of
the function block inputs can be modified continuously,
and the outputs are updated continuously.
When FALSE, terminates the function block execution
and resets its outputs.

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Administrative Function Blocks

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Valid BOOL FALSE Valid data is available at the function block output
pin.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
Velocity DINT 0 Actual velocity of the axis (in Hz).

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 Administrative Function Blocks

MC_ReadActualPosition_PTO Function Block

Function Description
This function block returns the value of the actual position of the axis.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The values
of the function block inputs can be modified continuously,
and the outputs are updated continuously.
When FALSE, terminates the function block execution
and resets its outputs.

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Valid BOOL FALSE Valid data is available at the function block output pin.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
Position DINT 0 Actual position of the axis.

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Administrative Function Blocks

MC_ReadStatus_PTO Function Block

Function Description
This function block returns the state diagram (see page 81) status of the axis.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The values of
the function block inputs can be modified continuously, and
the outputs are updated continuously.
When FALSE, terminates the function block execution and
resets its outputs.

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Valid BOOL FALSE The set of outputs is valid.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
ErrorStop BOOL FALSE If TRUE, the state is active (Motion state diagram
Disabled BOOL FALSE (see page 81)).

Stoppping BOOL FALSE

Homing BOOL FALSE
Stanstill BOOL FALSE
DiscreteMotion BOOL FALSE
ContinuousMotion BOOL FALSE
IsHomed BOOL FALSE If TRUE, the reference point is valid, absolute
motion is allowed.
AxisWarning BOOL FALSE If TRUE, an alert is present on the axis (call
MC_ReadAxisError_PTO (see page 160) for
detailed information).
QueueFull BOOL FALSE If TRUE, the motion queue is full, no additional
move is allowed in the buffer.

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Administrative Function Blocks

MC_ReadMotionState_PTO Function Block

Function Description
This function block returns the actual motion status of the axis.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The values of
the function block inputs can be modified continuously, and
the outputs are updated continuously.
When FALSE, terminates the function block execution and
resets its outputs.

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Valid BOOL FALSE Valid data is available at the function block output
pin.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
ConstantVelocity BOOL FALSE The actual velocity is constant.
Accelerating BOOL FALSE The actual velocity is increasing.
Decelerating BOOL FALSE The actual velocity is decreasing.

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Administrative Function Blocks

Section 7.2
Parameters Function Blocks

Parameters Function Blocks

Overview
This section describes the parameters function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_ReadParameter_PTO Function Block 147
MC_WriteParameter_PTO Function Block 149
MC_ReadBoolParameter_PTO Function Block 151
MC_WriteBoolParameter_PTO Function Block 153

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 Administrative Function Blocks

MC_ReadParameter_PTO Function Block

Function Description
This function block is used to get parameters from the PTO.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Description

Value
Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block
is to be executed. The name is declared in the controller
configuration, in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The values
of the function block inputs can be modified continuously,
and the outputs are updated continuously.
When FALSE, terminates the function block execution
and resets its outputs.
ParameterNumber INT 0 ID of the requested parameter (PTO_PARAMETER
(see page 76))

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Administrative Function Blocks

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Valid BOOL FALSE Valid data is available at the function block output pin.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
Value DINT 0 Value of the requested parameter.

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 Administrative Function Blocks

MC_WriteParameter_PTO Function Block

Function Description
This function block is used to write parameters to the PTO.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Description

Value
Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block
is to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.
ParameterNumber INT 0 ID of the requested parameter (PTO_PARAMETER
(see page 76))
Value DINT 0 Value to be written to the requested parameter.

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Administrative Function Blocks

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution is
finished with no detected error..
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).

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MC_ReadBoolParameter_PTO Function Block

Function Description
This function block is used to get BOOL parameters from the PTO.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Description

Value
Axis AXIS_REF_PTO - Name of the axis (instance) for which the function
block is to be executed. The name is declared in the
controller configuration, in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The
values of the other function block inputs can be
modified continuously, and the function block outputs
are updated continuously.
When FALSE, terminates the function block
execution and resets its outputs.
ParameterNumber INT 0 ID of the requested parameter (PTO_PARAMETER
(see page 76))

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Administrative Function Blocks

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Valid BOOL FALSE Valid data is available at the function block output pin.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
Value BOOL FALSE Value of the requested parameter.

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MC_WriteBoolParameter_PTO Function Block

Function Description
This function block is used to write BOOL parameters to the PTO.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Description

Value
Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.
ParameterNumber INT 0 ID of the requested parameter (PTO_PARAMETER
(see page 76))
Value BOOL FALSE Value to be written to the requested parameter.

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Administrative Function Blocks

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution is
finished with no detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).

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Section 7.3
Probe Function Blocks

Probe Function Blocks

Overview
This section describes the probe function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_TouchProbe_PTO Function Block 156
MC_AbortTrigger_PTO Function Block 158

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Administrative Function Blocks

MC_TouchProbe_PTO Function Block

Function Description
This function block is used to activate a trigger event on the probe input. This trigger event allows
to record the axis position, and/or to start a buffered move.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_ - Name of the axis (instance) for which the function block is to be
PTO executed. The name is declared in the controller configuration,
in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block when its
execution terminates.
WindowOnly BOOL FALSE If TRUE, only use the window defined by FirstPosition and
LastPosition to accept trigger events.
FirstPosition DINT 0 Start absolute position from where (positive direction) trigger
events are accepted (value included in window).
LastPosition DINT 0 Stop absolute position until where (positive direction) trigger
events are accepted (value included in window).
TriggerLevel BOOL FALSE If FALSE, position capture at falling edge.
If TRUE, position capture at rising edge.

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Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution
is finished with no detected error.
Busy BOOL FALSE If TRUE, indicates that the function block execution
is in progress.
CommandAborted BOOL FALSE Function block execution is finished, by abortion due
to another move command or a detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected.
Function block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
RecordedPosition DINT 0 Position where trigger event was detected.

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Administrative Function Blocks

MC_AbortTrigger_PTO Function Block

Function Description
This function block is used to abort function blocks which are connected to trigger events (for
example, MC_TouchProbe_PTO).

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution is
finished with no detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).

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Section 7.4
Error Handling Function Blocks

Error Handling Function Blocks

Overview
This section describes the error handling function blocks.

What Is in This Section?

This section contains the following topics:
Topic Page
MC_ReadAxisError_PTO Function Block 160
MC_Reset_PTO Function Block 162

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Administrative Function Blocks

MC_ReadAxisError_PTO Function Block

Function Description
This function block returns a detected axis control error. If no axis control error is pending, the
function block returns AxisErrorId = 0 (detected errors referring to the function block are not
considered here).

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is to be
executed. The name is declared in the controller configuration,
in the device tree.
Enable BOOL FALSE When TRUE, the function block is executed. The values of the
function block inputs can be modified continuously, and the
outputs are updated continuously.
When FALSE, terminates the function block execution and
resets its outputs.

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 Administrative Function Blocks

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Valid BOOL FALSE Valid data is available at the function block output pin.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).
AxisErrorId PTO_ERROR PTO_ERROR.NoError Index 1000 of PTO_ERROR (see page 77).

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Administrative Function Blocks

MC_Reset_PTO Function Block

Function Description
This function block resets all axis-related detected errors, if possible, allowing a transition from the
state ErrorStop to Standstill. It does not affect the output of the function blocks instances.

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 (see page 199).

Input Variables
This table describes the input variables:

Input Type Initial Value Description

Axis AXIS_REF_PTO - Name of the axis (instance) for which the function block is
to be executed. The name is declared in the controller
configuration, in the device tree.
Execute BOOL FALSE On rising edge, starts the function block execution.
On falling edge, resets the outputs of the function block
when its execution terminates.

Output Variables
This table describes the output variables:

Output Type Initial Value Description

Done BOOL FALSE If TRUE, indicates that the function block execution is
finished with no detected error.
Error BOOL FALSE If TRUE, indicates that an error was detected. Function
block execution is finished.
ErrorId PTO_ERROR PTO_ERROR.NoError When Error is TRUE: type of the detected error
(see page 77).

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Section 7.5
Adding an Administrative Function Block

Adding an Administrative Function Block

Adding an Administrative Function Block

Procedure
Follow these steps to add and create the instance of an administrative function block:

Step Action
1 Add a POU (see SoMachine, Programming Guide) in the Applications tree.
2 Select the Libraries tab in the Software Catalog and click Libraries.
Select Controller →M241 →M241 PTOPWM →PTO →Administrative →MC_xxxxxx_PTO in
the list, drag-and-drop the item onto the POU window.
3 Create the function block instance by clicking:

4 Associate the input/output variables (see page 137) of the function block.

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Administrative Function Blocks

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 Modicon M241 Logic Controller
Pulse Width Modulation (PWM)
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Part III
Pulse Width Modulation (PWM)

Pulse Width Modulation (PWM)

Overview
This part describes the Pulse Width Modulation function.

What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
8 Introduction 167
9 Configuration and Programming 173
10 Data Types 181

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Pulse Width Modulation (PWM)

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 Modicon M241 Logic Controller
Introduction
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Chapter 8
Introduction

Introduction

Overview
This chapter provides a description of the PWM functions.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Description 168
FG/PWM Naming Convention 170
Synchronization and Enable Functions 171

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Introduction

Description

Overview
The pulse width modulation function generates a programmable pulse wave signal on a dedicated
output with adjustable duty cycle and frequency.

Signal Form
The signal form depends on the following input parameters:
 Frequency configurable from 0.1 Hz to 20 kHz with a 0.1 Hz step
 Duty Cycle of the output signal from 0% to 100%

Duty Cycle=Tp/T

Tp pulse width
T pulse period (1/Frequency)

Modifying the duty cycle in the program modulates the width of the signal. Below is an illustration
of an output signal with varying duty cycles.

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 Introduction

When duty cycle is below 4% or above 96%, depending on the frequency, the deviation is above
1% as illustrated in the graphic below:

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Introduction

FG/PWM Naming Convention

Definition
Frequency Generator and Pulse Width Modulation uses 1 fast physical output and up to 2 physical
inputs.
In this document, use the following naming convention:

Name Description
SYNC Synchronization function (see page 171).
EN Enable function (see page 171).
IN_SYNC Physical input dedicated to the SYNC function.
IN_EN Physical input dedicated to the EN function.
OUT_PWM Physical output dedicated to the FG or PWM.

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 Introduction

Synchronization and Enable Functions

Introduction
This section presents the functions used by the FG/PWM:
 Synchronization function
 Enable function

Each function uses the 2 following function block bits:

 EN_(function) bit: Setting this bit to 1 allows the (function) to operate on an external physical
input if configured.
 F_(function) bit: Setting this bit to 1 forces the (function).

The following diagram explains how the function is managed:

NOTE: (function) stands either for Enable (for Enable function) or Sync (for Synchronization
function).
If the physical input is required, enable it in the configuration screen (see page 174).

Synchronization Function
The Synchronization function is used to interrupt the current FG/PWM cycle and then restart a
new cycle.

Enable Function
The Enable function is used to activate the FG/PWM:

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Introduction

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 Modicon M241 Logic Controller
Configuration and Programming
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Chapter 9
Configuration and Programming

Configuration and Programming

Overview
This chapter provides configuration and programming guidelines for using PWM functions.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Configuration 174
Function Blocks 177
Programming the PWM Function Block 179

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Configuration and Programming

Configuration

Overview
2 pulse width modulation functions can be configured on the controller.

Adding a Pulse Width Modulation Function

To add a pulse width modulation function, proceed as follows:

Step Action
1 Double-click the Pulse Generators node of your controller in the Devices Tree.
2 Double-click the Pulse generation function value and select PWM.
Result: The PWM configuration parameters appear.

Parameters
The figure provides an example of a PWM configuration window:

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 Configuration and Programming

The pulse width modulation function has the following parameters:

Parameter Value Default Description

General Instance - PWM_0 or Set the instance name of the PWM function.
name PWM_1
A output Q0 or Q4 (channel0) Q0 (channel 0) Select the controller output used for the A
location Q2 or Q6 (channel1) Q2 (channel 1) signal.
Control Location Disabled Disabled Select the controller input used for presetting
inputs / I9 (channel 0) the PWM function.
SYNC input I12 (channel 1)
Bounce filter 0.000 0.005 Set the filtering value to reduce the bounce
0.001 effect on the SYNC input (in ms).
0.002
0.005
0.010
0.1
1.5
1
5
SYNC Edge Rising Rising Select the condition to preset the PWM function
Falling with the SYNC input.
Both
Control Location Disabled Disabled Select the controller input used for enabling the
inputs / EN I3 or I10 (channel 0) PWM function.
input I7 or I13 (channel 1)
Bounce filter 0.000 0.005 Set the filtering value to reduce the bounce
0.001 effect on the EN input (in ms).
0.002
0.005
0.010
0.1
1.5
1
5

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Configuration and Programming

Synchronizing with an External Event

On a rising edge on the IN_SYNC physical input (with EN_Sync = 1), the current cycle is
interrupted and the PWM restarts a new cycle.
This illustration provides a pulse diagram for the Pulse Width Modulation function block with
use of IN_SYNC input:

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 Configuration and Programming

Function Blocks

Overview
The Pulse Width Modulation function block commands a pulse width modulated signal output
at the specified frequency and duty cycle.

Graphical Representation
This illustration is a Pulse Width Modulation function block:

IL and ST Representation
To see the general representation in IL or ST language, refer to the Differences Between a
Function and a Function Block (see page 200) chapter.

Input Variables
This table describes the input variables:

Inputs Type Comment

EN_Enable BOOL TRUE = authorizes the PWM enable via the IN_Enable input (if configured).
F_Enable BOOL TRUE = enables the Pulse Width Modulation.
EN_SYNC BOOL TRUE = authorizes the restart via the IN_Sync input of the internal timer
relative to the time base (if configured).
F_SYNC BOOL On rising edge, forces a restart of the internal timer relative to the time base.
Frequency DWORD Frequency of the Pulse Width Modulation output signal in tenths of Hz
(range: min 1(0.1 Hz)...max 200,000(20 kHz)).
Duty Duty cycle of the Pulse Width Modulation output signal in % (range: min
0...max 100).

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Configuration and Programming

Output Variables
This table describes the output variables:

Outputs Type Comment

InFrequency BOOL TRUE = the Pulse Width Modulation signal is currently being output
at the specified frequency and duty cycle.
FALSE =
 The required frequency cannot be reached for any reason.
 F_Enable is set to False.
 EN_Enable is set to False or no signal detected on the physical
input EN Input (if configured).
Busy BOOL Busy is used to indicate that a command change is in progress: the
frequency is changed.
Set to TRUE when the Enable command is set and the frequency or duty
is changed.
Reset to FALSE when InFrequency or Error is set, or when the
Enable command is reset.
Error BOOL TRUE = indicates that an error was detected.
ErrID FREQGEN_PWM_ When Error is set: type of the detected error.
ERR_TYPE
(see page 181)

NOTE: When the required frequency cannot be reached for any reason, the InFrequency output
is not set to TRUE, but Error stays to FALSE.

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 Configuration and Programming

Programming the PWM Function Block

Procedure
Follow these steps to program a PWM function block:

Step Action
1 Select the Libraries tab in the Software Catalog and click Libraries.
Select Controller →M241 →M241 PTOPWM →PWM →PWM_M241 in the list, drag-and-drop the
item onto the POU window.
2
Select the function block instance by clicking .
The Input Assistant dialog is displayed. Select the global variable which references to the added
PWM (see page 174) during the configuration and confirm.
NOTE: If the function block instance is not visible, verify if the PWM is configured.
3 The inputs/outputs are detailed in the function block (see page 177).

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Configuration and Programming

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 Modicon M241 Logic Controller
Data Types
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Chapter 10
Data Types

Data Types

FREQGEN_PWM_ERR_TYPE

Error Type Enumeration

This table lists the values for the FREQGEN_PWM_ERR_TYPE enumeration:

Enumerator Value Description

FREQGEN_PWM_NO_ERROR 0 No error detected.
FREQGEN_PWM_UNKNOWN_REF 1 The reference to the FG / PWM is not valid.
FREQGEN_PWM_UNKNOWN_PARAMETER 2 The parameter type is unknown in the current mode.
FREQGEN_PWM_INVALID_PARAMETER 3 A parameter value is not valid or the combination of
parameter values is not valid.
FREQGEN_PWM_COM_ERROR 4 Communication error with the FG / PWM.
FREQGEN_PWM_AXIS_ERROR 5 PWM is in error state (&quo=PWMError" is set on
PTOSimple instance). No move is possible until the
error is reset.

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Data Types

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 Modicon M241 Logic Controller
Frequency Generator (FG)
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Part IV
Frequency Generator (FG)

Frequency Generator (FG)

Overview
This part describes the Frequency Generator function.

What Is in This Part?

This part contains the following chapters:
Chapter Chapter Name Page
11 Introduction 185
12 Configuration and Programming 189

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Frequency Generator (FG)

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 Modicon M241 Logic Controller
Introduction
EIO0000001450 04/2014

Chapter 11
Introduction

Introduction

Overview
This chapter provides a description of the FG functions.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Description 186
FG Naming Convention 187
Synchronization and Enable Functions 188

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Introduction

Description

Overview
The frequency generator function generates a square wave signal on dedicated output channels
with a fixed duty cycle (50%).
Frequency is configurable from 0.1 Hz to 100 kHz with a 0.1 Hz step.

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 Introduction

FG Naming Convention

Description
FG/PWM Naming Convention (see page 170)

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Introduction

Synchronization and Enable Functions

Description
Synchronization and Enable Functions (see page 171)

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 Modicon M241 Logic Controller
Configuration and Programming
EIO0000001450 04/2014

Chapter 12
Configuration and Programming

Configuration and Programming

Overview
This chapter provides configuration and programming guidelines for using FG functions.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Configuration 190
Function Blocks 193
Programming 195

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Configuration and Programming

Configuration

Overview
2 frequency generator functions can be configured on the controller.

Adding a Frequency Generator Function

To add a frequency generator function, proceed as follows:

Step Action
1 Double-click the Pulse Generators node of your controller in the Devices Tree.
2 Double-click the Pulse generation function value and select FreqGen.
Result: The frequency generator configuration parameters are displayed.

Parameters
The figure provides an example of a frequency generator configuration window:

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 Configuration and Programming

The pulse width modification function has the following parameters:

Parameter Value Default Description

General Instance - PWM_0 or Set the instance name of the frequency
name PWM_1 generator function.
A output Q0 or Q4 Q0 (channel 0) Select the controller output used for the A signal.
location (channel0) Q2 (channel 1)
Q2 or Q6
(channel1)
Control Location Disabled Disabled Select the controller input used for presetting the
inputs / I9 (channel 0) frequency generator function.
SYNC input I12 (channel 1)
Bounce filter 0.000 0.005 Set the filtering value to reduce the bounce effect
0.001 on the SYNC input (in ms).
0.002
0.005
0.010
0.1
1.5
1
5
SYNC Edge Rising Rising Select the condition to preset the frequency
Falling generator function with the SYNC input.
Both
Control Location Disabled Disabled Select the controller input used for enabling the
inputs / EN I3 or I10 (channel 0) frequency generator function.
input I7 or I13 (channel 1)
Bounce filter 0.000 0.005 Set the filtering value to reduce the bounce effect
0.001 on the EN input (in ms).
0.002
0.005
0.010
0.1
1.5
1
5

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Configuration and Programming

Synchronizing with an External Event

On a rising edge on the IN_SYNC physical input (with EN_Sync = 1), the current cycle is
interrupted and the FG restarts a new cycle.
This illustration provides a pulse diagram for the frequency generator function block with use of
IN_SYNC input:

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 Configuration and Programming

Function Blocks

Overview
The Frequency Generator function block commands a square wave signal output at the
specified frequency.

Graphical Representation (LD/FBD)

This illustration is a Frequency Generator function block:

IL and ST Representation
To see the general representation in IL or ST language, refer to the Differences Between a
Function and a Function Block (see page 200) chapter.

Input Variables
This table describes the input variables:

Inputs Type Comment

EN_Enable BOOL TRUE = authorizes the Frequency Generator enable via the IN_EN input
(if configured).
F_Enable BOOL TRUE = enables the Frequency Generator.
EN_SYNC BOOL TRUE = authorizes the restart via the IN_SYNC input of the internal timer
relative to the time base (if configured).
F_SYNC BOOL On rising edge, forces a restart of the internal timer relative to the time base.
Frequency DWORD Frequency of the Frequency Generator output signal in tenths of Hz.
(Range: min 1 (0.1Hz)...max 1,000,000 (100kHz)

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Configuration and Programming

Output Variables
This table describes the output variables:

Outputs Type Comment

InFrequency BOOL TRUE = the Frequency Generator signal is output at the specified
Frequency.
FALSE =
 The required frequency cannot be reached for any reason.
 F_Enable is set to False.
 EN_Enable is set to False or no signal detected on the physical
input EN Input (if configured).
Busy BOOL Busy is used to indicate that a command change is in progress: the
frequency is changed.
Set to TRUE when the Enable command is set and the frequency is
changed.
Reset to FALSE when InFrequency or Error is set, or when the
Enable command is reset.
Error BOOL TRUE = indicates that an error was detected.
ErrID FREQGEN_PWM_ When Error is set: type of the detected error.
ERR_TYPE
(see page 181)

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 Configuration and Programming

Programming

Procedure
Follow these steps to program a Frequency Generator function block:

Step Action
1 Select the Libraries tab in the Software Catalog and click Libraries.
Select Controller →M241 →M241 PTOPWM →Frequency Generator →
FrequencyGenerator_M241 in the list; drag-and-drop the item onto the POU window.
2
Select the function block instance by clicking .
The Input Assistant screen appears. Select the global variable which references to the added
FreqGen (see page 190) during the configuration and confirm.
NOTE: If the function block instance is not visible, verify if the frequency generator is configured.
3 The inputs/outputs are detailed in the function block (see page 193).

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Configuration and Programming

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 Modicon M241 Logic Controller

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Appendices

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198 EIO0000001450 04/2014
 Modicon M241 Logic Controller
Function and Function Block Representation
EIO0000001450 04/2014

Appendix A
Function and Function Block Representation

Function and Function Block Representation

Overview
Each function can be represented in the following languages:
 IL: Instruction List
 ST: Structured Text
 LD: Ladder Diagram
 FBD: Function Block Diagram
 CFC: Continuous Function Chart

This chapter provides functions and function blocks representation examples and explains how to
use them for IL and ST languages.

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Differences Between a Function and a Function Block 200
How to Use a Function or a Function Block in IL Language 201
How to Use a Function or a Function Block in ST Language 205

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Function and Function Block Representation

Differences Between a Function and a Function Block

Function
A function:
 is a POU (Program Organization Unit) that returns one immediate result.
 is directly called with its name (not through an instance).
 has no persistent state from one call to the other.
 can be used as an operand in other expressions.

Examples: boolean operators (AND), calculations, conversion (BYTE_TO_INT)

Function Block
A function block:
 is a POU (Program Organization Unit) that returns one or more outputs.
 needs to be called by an instance (function block copy with dedicated name and variables).
 each instance has a persistent state (outputs and internal variables) from one call to the other
from a function block or a program.
Examples: timers, counters
In the example, Timer_ON is an instance of the function block TON:

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 Function and Function Block Representation

How to Use a Function or a Function Block in IL Language

General Information
This part explains how to implement a function and a function block in IL language.
Functions IsFirstMastCycle and SetRTCDrift and Function Block TON are used as
examples to show implementations.

Using a Function in IL Language

This procedure describes how to insert a function in IL language:

Step Action
1 Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding
and Calling POUs (see SoMachine, Programming Guide).
2 Create the variables that the function requires.
3 If the function has 1 or more inputs, start loading the first input using LD instruction.
4 Insert a new line below and:
 type the name of the function in the operator column (left field), or
 use the Input Assistant to select the function (select Insert Box in the context menu).

5 If the function has more than 1 input and when Input Assistant is used, the necessary number of lines
is automatically created with ??? in the fields on the right. Replace the ??? with the appropriate
value or variable that corresponds to the order of inputs.
6 Insert a new line to store the result of the function into the appropriate variable: type ST instruction
in the operator column (left field) and the variable name in the field on the right.

To illustrate the procedure, consider the Functions IsFirstMastCycle (without input parameter)
and SetRTCDrift (with input parameters) graphically presented below:

Function Graphical Representation

without input parameter:
IsFirstMastCycle

with input parameters:

SetRTCDrift

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Function and Function Block Representation

In IL language, the function name is used directly in the operator column:

Function Representation in SoMachine POU IL Editor

IL example of a function
without input parameter:
IsFirstMastCycle

IL example of a function
with input parameters:
SetRTCDrift

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 Function and Function Block Representation

Using a Function Block in IL Language

This procedure describes how to insert a function block in IL language:

Step Action
1 Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding and
Calling POUs (see SoMachine, Programming Guide).
2 Create the variables that the function block requires, including the instance name.
3 Function Blocks are called using a CAL instruction:
 Use the Input Assistant to select the FB (right-click and select Insert Box in the context menu).
 Automatically, the CAL instruction and the necessary I/O are created.

Each parameter (I/O) is an instruction:

 Values to inputs are set by ":=".
 Values to outputs are set by "=>".

4 In the CAL right-side field, replace ??? with the instance name.
5 Replace other ??? with an appropriate variable or immediate value.

To illustrate the procedure, consider this example with the TON Function Block graphically
presented below:

Function Block Graphical Representation

TON

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Function and Function Block Representation

In IL language, the function block name is used directly in the operator column:

Function Block Representation in SoMachine POU IL Editor

TON

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 Function and Function Block Representation

How to Use a Function or a Function Block in ST Language

General Information
This part explains how to implement a Function and a Function Block in ST language.
Function SetRTCDrift and Function Block TON are used as examples to show implementations.

Using a Function in ST Language

This procedure describes how to insert a function in ST language:

Step Action
1 Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to Adding
and Calling POUs (see SoMachine, Programming Guide).
2 Create the variables that the function requires.
3 Use the general syntax in the POU ST Editor for the ST language of a function. The general
syntax is:
FunctionResult:= FunctionName(VarInput1, VarInput2,.. VarInputx);

To illustrate the procedure, consider the function SetRTCDrift graphically presented below:

Function Graphical Representation

SetRTCDrift

The ST language of this function is the following:

Function Representation in SoMachine POU ST Editor

SetRTCDrift PROGRAM MyProgram_ST
VAR myDrift: SINT(-29..29) := 5;
myDay: DAY_OF_WEEK := SUNDAY;
myHour: HOUR := 12;
myMinute: MINUTE;
myRTCAdjust: RTCDRIFT_ERROR;
END_VAR
myRTCAdjust:= SetRTCDrift(myDrift, myDay, myHour, myMinute);

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Function and Function Block Representation

Using a Function Block in ST Language

This procedure describes how to insert a function block in ST language:

Step Action
1 Open or create a new POU in Structured Text language.
NOTE: The procedure to create a POU is not detailed here. For more information on
adding, declaring and calling POUs, refer to the related documentation
(see SoMachine, Programming Guide).
2 Create the input and output variables and the instance required for the function block:
 Input variables are the input parameters required by the function block
 Output variables receive the value returned by the function block

3 Use the general syntax in the POU ST Editor for the ST language of a Function
Block. The general syntax is:
FunctionBlock_InstanceName(Input1:=VarInput1,
Input2:=VarInput2,... Ouput1=>VarOutput1,
Ouput2=>VarOutput2,...);

To illustrate the procedure, consider this example with the TON function block graphically
presented below:

Function Graphical Representation

Block
TON

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 Function and Function Block Representation

This table shows examples of a function block call in ST language:

Function Block Representation in SoMachine POU ST Editor

TON

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Function and Function Block Representation

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 Modicon M241 Logic Controller
Glossary
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Glossary

A
application
A program including configuration data, symbols, and documentation.

B
byte
A type that is encoded in an 8-bit format, ranging from 16#00 to 16#FF in hexadecimal
representation.

C
CFC
(continuous function chart) A graphical programming language (an extension of the IEC 61131-3
standard) based on the function block diagram language that works like a flowchart. However, no
networks are used and free positioning of graphic elements is possible, which allows feedback
loops. For each block, the inputs are on the left and the outputs on the right. You can link the block
outputs to the inputs of other blocks to create complex expressions.

F
FB
(function block) A convenient programming mechanism that consolidates a group of programming
instructions to perform a specific and normalized action, such as speed control, interval control, or
counting. A function block may comprise configuration data, a set of internal or external operating
parameters and usually 1 or more data inputs and outputs.
function
A programming unit that has 1 input and returns 1 immediate result. However, unlike FBs, it is
directly called with its name (as opposed to through an instance), has no persistent state from one
call to the next and can be used as an operand in other programming expressions.
Examples: boolean (AND) operators, calculations, conversions (BYTE_TO_INT)
function block diagram
One of the 5 languages for logic or control supported by the standard IEC 61131-3 for control
systems. Function block diagram is a graphically oriented programming language. It works with a
list of networks where each network contains a graphical structure of boxes and connection lines
representing either a logical or arithmetic expression, the call of a function block, a jump, or a return
instruction.

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Glossary

I
IEC 61131-3
Part 3 of a 3-part IEC standard for industrial automation equipment. IEC 61131-3 is concerned with
controller programming languages and defines 2 graphical and 2 textual programming language
standards. The graphical programming languages are ladder diagram and function block diagram.
The textual programming languages include structured text and instruction list.
IL
(instruction list) A program written in the language that is composed of a series of text-based
instructions executed sequentially by the controller. Each instruction includes a line number, an
instruction code, and an operand (refer to IEC 61131-3).
INT
(integer) A whole number encoded in 16 bits.

L
LD
(ladder diagram) A graphical representation of the instructions of a controller program with symbols
for contacts, coils, and blocks in a series of rungs executed sequentially by a controller (refer to
IEC 61131-3).

P
POU
(program organization unit) A variable declaration in source code and a corresponding instruction
set. POUs facilitate the modular re-use of software programs, functions, and function blocks. Once
declared, POUs are available to one another.

S
ST
(structured text) A language that includes complex statements and nested instructions (such as
iteration loops, conditional executions, or functions). ST is compliant with IEC 61131-3.

V
variable
A memory unit that is addressed and modified by a program.

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 Modicon M241 Logic Controller
Index
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Index

A in IL language, 201
how to use a function or a function block
AXIS_REF_PTO, 72
in ST language, 205
synchronization, 171
D
data unit types M
AXIS_REF_PTO, 72
management of status variables
FREQGEN_PWM_ERR_TYPE, 181
Busy, 26
MC_BUFFER_MODE, 73
CommandAborted, 26
MC_DIRECTION, 74
Done, 26
PTO_ERROR, 77
ErrID, 26
PTO_HOMING_MODE, 75
Error, 26
PTO_PARAMETER, 76
Execute, 26
dedicated features, 25
MC_BUFFER_MODE, 73
MC_DIRECTION, 74
E
error handling P
ErrID, 26
Programming
Error, 26
PWM, 179
PTO
F configuration, 35
Functionalities, 29
FREQGEN_PWM_ERR_TYPE, 181 PTO_ERROR, 77
frequency generator PTO_HOMING_MODE, 75
configuration, 190 PTO_PARAMETER, 76
description, 186 pulse width modulation
function blocks, 193 configuration, 174
programming, 195 description, 168
function blocks function blocks, 177
frequency generator, 193 PWM
pulse width modulation, 177 Programming, 179
Functionalities
PTO, 29
functions
differences between a function and a
function block, 200
enable, 171
how to use a function or a function block

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Index

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