Allen-Bradley Kinetix 5100 2198-E1004-ERS - High-Speed Position Capturing Command (CAP); Incremental Command (INC); Relative Position Command (REL)

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 271
Motion Control in PR Mode Chapter 11
2. Relative position command (REL): when executed, the target position
value is the motor's current position value plus the position command
value. In the figure, a REL command with the value on 60000 PUU is
inserted in the previous PR command. The target position is the motor's
current position (20000 PUU) plus the relative position command
(60000 PUU), which equals 80000 PUU in the coordinate system. The
target position specified by the original command is omitted.
3. Incremental command (INC): when executed, the target position is the
previous target position value plus the current position command value. In
the example below, an INC command with the value of 60000 PUU is
inserted in the previous PR command. The target position is the previous
target position value 30000 PUU plus the relative position command
60000 PUU, which equals 90000 PUU. The previous destination
specified by the previous command is combined to define the new one.
4. High-speed position capturing command (CAP): when executed, the
target position is the last position acquired by the Capture function plus
the position command value. In the following example, a high-speed
capturing command with the value of 60000 PUU is inserted in the
previous PR command. The target position value is the captured position
value of 10000 PUU plus the relative command of 60000 PUU, which
equals 70000 PUU. The target position specified by the original command
is omitted.
Figure 101 - Four Types of Position Command
See PR Mode Setup in KNX5100C Software on page 279, where you can
configure the PR mode for one of two position control modes:
• Mode 2 = Point-to-Point Command
• Mode 3 = Point-to-Point Command (Proceed to next command when
complete)
0
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
60000
Absolute command
(ABS)
60000 PUU
Motor’s current position
(Fb_PUU)
Target
position
Motor’s current
position
(Fb_PUU)
Relative command
(REL)
60000 PUU
Target
position
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor’s current
position
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
Incremental
command (INC)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor’s current
position
(Fb_PUU)
Target
position
Capturing
position
60000
High-speed position
capturing (CAP)
60000 PUU