268 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
When configuring speed control, INS is an interrupt command which can
interrupt the previous motion command. AUTO is the command for
automatically loading the next PR command. It executes the next PR command
immediately after the current command completes. In addition, the target speed
can be set with two unit options, which are 0.1 rpm and 1 PPS ranging from -
6000 rpm…6000 rpm. ACC/DEC acceleration/deceleration time are configured
by shared PR parameters ID312 (P5.020)…ID327 (P5.035) AccelDecelTimeX.
The required duration for accelerating from 0 to the target speed is calculated
and shown by the software. DLY is the delay time command that is determined
by the shared PR parameters ID332 (P5.040)…ID347 (P5.055)
PositionCompletedDelayX; it is used to delay the command. In other words, the
delay time starts counting when the target speed is reached.
Figure 98 - PR Mode Speed Screen
Below are the functions of each bit when a speed command is applied using the
ID339…ID595 (P6.002…P7.098) PRCmdXSetting.
Y OPT: option
See PR Mode Setting
on page 281, where you can configure the PR mode for
speed and control in KNX5100C Software.
PR parameters D C B A U Z Y X
Command type --DLY-DECACCOPT1
Data Content Target speed [0.1 rpm / PPS]
BIT 3 2 1 0
Command type -UNITAUTOINS
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