Allen-Bradley Kinetix 5100 2198-E1004-ERS - PR Command Setting

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 249
Motion Control in PR Mode Chapter 11
• DIR sets the rotation direction
00: Forward
01: Backward
10: Shortest distance
11: Reserved
• ROM lets the drive write parameters to both RAM and EEPROM at the
same time. This function can only write parameters.
• INS: executing this PR command interrupts the previous PR command.
• OVLP: allow overlapping of the next PR command. Overlapping is not
allowed in Speed mode. When overlapping in Position mode, DLY has no
function.
• AUTO: once current PR command is finished, automatically load the next
command.
• DLY is the delay time index.
• SPD is the target speed index.
• ACC is the acceleration time index.
• DEC is the deceleration time index.
For parameter descriptions and data, see the Knowledgebase article 1090034
Kinetix® 5100 Servo Drive Parameter Data and Fault Codes.
PR Command Setting
The PRCmdXSetting parameters define how the PR commands
(PR#01…PR#99) function. ID399 (P6.002) PRCmd1Setting is described below,
but the description applies to all PRCmdXSetting parameters.
Settings:
Format of this parameter: (High word h) DCBA: (Low word L) UZYX
A SPD, Target speed index X TYPE, Command type
B DLY, Delay time index Y OPT, Option
C AUTO Z ACC, Acceleration time index
D Reserved U DEC, Deceleration time index
High word Low word
CD
B A
YZU
X