272 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Jump Command
The drive provides a jump function in PR mode. It can call any PR commands or
form PR commands into a loop, as shown in Figure 102
. You can specify the PR
command number to be jumped to by using PR mode setting screen in the
configuration software. Among the options, INS stands for an interrupt
command which interrupts the previous motion command. DLY is the delay
time determined by shared PR parameters ID332…ID347 (P5.040…P5.055).
Once a jump command is issued, the servo drive will start counting the delay
time.
Figure 102 - Jump Command in PR Mode
Figure 103 - Using PR Mode Jump Command
PR #01
PR #07 PR #08 PR #09 PR #10
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