Rockwell Automation Motion Control PTO Application Building Block - Manual (Page 61)

Rockwell Automation Publication CC-QS033A-EN-P - February 2014 61
Kinetix 3 Drive Component-class User-defined Functional Block Appendix A
Figure 8 - RA_Motion_Move_Cmd Function Block Flowchart
Start
Select Move
Mode
Error?
Correct
Parameter
Read
Motion
Parameters
Execute
Halt?
Execute
Move?
Stop PTO
Motion
Error?
Await
Action
Completed
End
Start PTO
Yes
No
Yes
No
Yes
No
Yes
No
Yes
Axis
Error?
No
Motion
Error?
Correct
Parameter
Servo Off
Servo On Clear Fault
Yes