Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 201
Modes of Operation Chapter 10
PR Mode (Position Command with Internal Register Input)
PR command source is selected by parameters ID397 and ID398(P6.000 and
P6.001), and ID595 and ID596 (P7.098 and P7.099), which are the 99 built-in
command registers.
The drive supports the following motion command types, which are described in
detail in Chapter 11
, Motion Control in PR Mode:
•Homing
• Speed
• Position
•Jump
• Parameter write
• Arithmetic operation
The drive provides the following PR triggering methods:
• Digital input (DI)
•Event-triggered
• ID300 (P5.007)
•Capture (high-speed position capturing)
• Compare-triggered (high-speed position comparing)
•E-Cam
You can choose the most suitable triggering method according to the applications
and requirements. For detailed descriptions of the methods, see Trigger Method
for PR Commands on page 294.
Control Structure of Position Mode
The basic control structure is as follows:
For better control, the pulse signals are processed by the position command
processing unit. Structure is shown in the following diagram.
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