Allen-Bradley Kinetix 5100 2198-E1004-ERS - Speed Control Command

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 267
Motion Control in PR Mode Chapter 11
Figure 96 - Homing Mode and Monitoring Variables
Speed Control Command
PR mode of the drive provides speed control function. The parameters available
for PR mode with speed control are acceleration/deceleration time, delay time,
and target speed.
Figure 97 - Parameter for PR Mode Speed Control
Err_PUU
Before
command
issued
Fb_PUU
Cmd_O
Cmd_E
Err_PUU
Fb_PUU
Cmd_O
Cmd_E
Err_PUU
Fb_PUU
Cmd_O
Cmd_E
Err_PUU
Fb_PUU
Cmd_O
Cmd_E
Err_PUU
Fb_PUU
Cmd_O
Cmd_E
After
command
issued
Command in
execution
Command
completed
Motor
positioned
Target speed
Acceleratio n time
Time
Speed
Feedback speed
Command
Delay time
Target speed
Deceleration time
Time
Speed
Delay time
Feedback speed
Comm and