Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 253
Motion Control in PR Mode Chapter 11
Figure 82 - Shared Parameter Data of PR Commands
See Speed and Time Settings on page 279 for information about configuring the
speed and time settings for these shared parameters.
Monitoring Variables in PR Mode
PR mode provides the following four monitoring variables for servo command
and feedback.
• Command position (PUU): monitoring variable code 001. The target
position of the motion command generated per scan cycle during servo
operation (updated every 1 ms), simplified as Cmd_O (Command
Operation).
• PR command end register: monitoring variable code 064. The target
position of the PR command, simplified as Cmd_E (Command End).
When a command is triggered, the servo drive calculates the target
position and then updates the PR command end register.
• Feedback position (PUU): monitoring variable code 000. The feedback
position (coordinates) for the motor, simplified as Fb_PUU (Feedback
PUU).
• Position error (PUU): monitoring variable code 002. The deviation
between the command position (PUU) and the feedback position (PUU),
simplified as Err_PUU (Error PUU).
PR Command Setting
ACC:1 DEC:4 DLY:2 SPD:5
Acceleration / Deceleration Time
(ACC/DEC)
0 ID312 (P5.020) 200
1 ID313 (P5.021) 300
2 ID314 (P5.022) 500
3 ID315 (P5.023) 600
4 ID316 (P5.024) 800
5 ID317 (P5.025) 900
6 ID318 (P5.026) 1000
……
14 ID326 (P5.034) 50
15 ID327(P5.035) 30
0 ID332 (P5.040) 0
1 ID333 (P5.041) 100
2 ID334 (P5.042) 200
3 ID335 (P5.043) 400
4 ID336 (P5.044) 500
5 ID337 (P5.045) 800
6 ID338 (P5.046) 1000
……
14 ID346 (P5.054) 5000
15 ID347(P5.055) 5500
Delay Time (DLY) Target Speed (SPD)
0 ID352 (P5.060) 20.0
1 ID353 (P5.061) 50.0
2 ID354 (P5.062) 100.0
3 ID355 (P5.063) 200.0
4 ID356 (P5.064) 300.0
5 ID357 (P5.065) 500.0
6 ID358 (P5.066) 600.0
……
14 ID366 (P5.074) 2500.0
15 ID367(P5.075) 3000.0
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