Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 250

250 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Definitions are as follows:
•YX
TYPE command type: when executing 1…3, it can be interrupted and
stopped by DI.STP and software limits.
•UZ
Y: OPT, Option
X: TYPE, Command Type
Bit 3 Bit 2 Bit 1 Bit 0
- UNIT AUTO INS 1: Constant speed control
CMD OVLP INS
2: Point-to-point command
3: Point-to-point command (Proceed to the next command when completed)
- - - INS 7: Jump to the specified PR command
- ROM AUTO INS 8: Write to parameter or Data Array
DIR OVLP INS A: Index position control
- - - - B: Statement / arithmetic operation
U: DEC, Deceleration Time Z: ACC, Acceleration Time Corresponding Parameter Default Value (ms)
0 0 ID312 (P5.020) 200
1 1 ID313 (P5.021) 300
2 2 ID314 (P5.022) 500
3 3 ID315 (P5.023) 600
4 4 ID316 (P5.024) 800
5 5 ID317 (P5.025) 900
6 6 ID318 (P5.026) 1000
7 7 ID319 (P5.027) 1200
8 8 ID320 (P5.028) 1500
9 9 ID321 (P5.029) 2000
10 10 ID322 (P5.030) 2500
11 11 ID323 (P5.031) 3000
12 12 ID324 (P5.032) 5000
13 13 ID325 (P5.033) 8000
14 14 ID326 (P5.034) 50
15 15 ID327 (P5.035) 30