206 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
Position Mode Timing (PR Mode)
In PR mode, the position command is issued via DI signal (POS0…POS6 and
CTRG) of the I/O connector signals. The following are the timing diagrams.
The following apply to the internal digital output (DO) timing diagram:
• Cmd_OK is on when PR command is completed.
• TPOS is on when the error is smaller than value set by the ID159
(P1.054) In Position Window parameter.
• MC_OK is on when Cmd_OK and TPOS are both on.
When the deviation between the target position and the actual motor position is
smaller than the setting range of ID159 (P1.054) in PR mode, then the
DO.TPOS signal is on.
IMPORTANT These values are disabled when the parameter values are set to 0.
Table 75 - Relevant Parameter
Parameter Name
ID159 (P1.054) InPositionWindow
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