User manual

Publication 2092-UM001D-EN-P — July 2005
5-14 Ultra1500 Application Examples
The PTO functionality provides the pulse generation capability necessary for
Step/Direction or Step Up/Step Down follower mode operation. The PTO
feature allows a simple motion profile to be generated directly from the
controller. The pulse profile has three primary components:
• Total number of pulses to be generated
• Accelerate/decelerate intervals
• Run interval
The total number of pulses to be generated (which corresponds to the distance
traveled) is defined, as well as how many pulses to use for each acceleration/
deceleration period. The number of pulses not used in the acceleration/
deceleration period defines how many pulses will be generated during the
constant velocity or run portion of the move.
The interface to the PTO sub-system is accomplished by scanning a PTO
instruction in the main program file, or by scanning a PTO instruction in any
of the subroutine files. A typical operating sequence of a PTO instruction is as
follows:
1. The rung that a PTO instruction is on becomes true.
2. The PTO instruction is started, and pulses are produced based on the
acceleration/deceleration (ACCEL) parameters, which define the number
of ACCEL pulses and the type of profile: s-curve or trapezoid.
3. The ACCEL phase completes.
4. The RUN phase is entered, and the number of pulses defined for RUN is
output.
5. The RUN phase completes.
6. Decelerate (DECEL) is entered, and pulses are produced based on the
acceleration/deceleration parameters, which defines the number of
DECEL pulses and the type of profile: s-curve or trapezoid.
7. The DECEL phase completes.
8. The PTO instruction is DONE.
Testing Your Axis
This procedure assumes that you have configured your Ultra1500 and the
MicroLogix controller, and have previously tested your drive-motor interface.