Position Control Mode Configuration
Original instructions
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At a Glance
The configuration of a PTO module is stored in the configuration constants (%KW).
The parameters r,m and c shown in the following tables represent the topological addressing of the module. Each parameter has the following signification:
Configuration Objects
The table below presents the position control mode configurable elements.
Number
Address in the configuration
Configurable values
Output Mode
%KWr.m.c.1(low byte)
  • Pulse + Direction (default value)
  • CW/CCW
  • A/B Phases
  • Pulse + Direction - Reverse
  • CW/CCW - Reverse
  • A/B Phases - Reverse
Power Supply Fault
%KWr.m.c.1.8
  • General I/O Fault (default)
  • Local
Output Fault
%KWr.m.c.1.9
  • General I/O Fault (default)
  • Local
Drive Ready & Emergency Input Filter
%KWr.m.c.2(low byte)
  • Without (default)
  • Low
  • Medium
  • High
Counter in position Input Filter
%KWr.m.c.2(high byte)
  • Without (default)
  • Low
  • Medium
  • High
Origin Input Filter
%KWr.m.c.3(low byte)
  • Without (default)
  • Low
  • Medium
  • High
Proximity&LimitSwitch Input Filter
%KWr.m.c.3(high byte)
  • Without (default)
  • Low
  • Medium
  • High
Acc / Dec Unit
%KWr.m.c.1.12
  • ms (default)
  • Hz/2ms
Max Acceleration
%KWr.m.c.4
10 to 32,500 (default value = 32,500)
Max Deceleration
%KWr.m.c.5
10 to 32,500 (default value = 32,500)
Max Frequency
%KDr.m.c.6
0 to 200,000 (default value = 200,000)
SW Max High Limit
%KDr.m.c.8
-2,147,483,647 to 2,147,483,647
(default value = 2,147,483,647)
SW Min Low Limit
%KDr.m.c.10
-2,147,483,648 to 2,147,483,646
(default value = 2,147,483,648)
Homing Type
%KWr.m.c.12
  • Short Cam (default)
  • Long Cam Positive
  • Long Cam Negative
  • Short Cam with Positive Limit
  • Short Cam with Negative Limit
  • Short Cam with Marker
Homing I/O Settings
%KWr.m.c.1.10-11
  • No I/O used (default)
  • With Counter Clear Output
  • With Counter in Position Input
Event
%KWr.m.c.0 (high byte)
  • Disable (default)
  • Enable
Event number
%KWr.m.c.0 (high byte)
Event Nb (Default: First free EVT)
NOTE: For better accuracy of the PTO, set Acc/Dec parameter to Hz/2ms.
NOTE: Physical output are refreshed when PLC is in RUN state only.In STOP state, previous value are maintained.