Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 275
Motion Control in PR Mode Chapter 11
2. C: SOUR_DEST: data source and data format to be written.
3. Z,U,A: DESTINATION: destination
4. SOURCE: data source setting
See PR Mode Setup in KNX5100C Software
on page 279 to configure the PR
Mode as Write to Parameters or Data Array.
Index Position Command
PR mode also provides an index position command, which creates an index
coordinate system. Unlike the feedback position in global coordinate system, the
index position command positions the motor within the range of indexing
coordinate. Using the index coordinate system, users are able to divide a total
moving distance into several equal moving distances.
BIT 3 2 1 0 Description
Command type SOUR - DEST Data source Writing target
Data content 00
0
0 Constant Parameter
0 1 0 Parameter Parameter
1 0 0 Data array Parameter
1 1 0 Monitoring variable Parameter
0 0 1 Constant Data array
0 1 1 Parameter Data array
1 0 1 Data array Data array
1 1 1 Monitoring variable Data array
AUZ
Target: Parameter Parameter group Parameter number
Target: Data array Data array number
DCBAUZYX
Data source: Constant Constant data
Data source: Parameter
-
Parameter
group
Parameter
number
Data source: Data array - Data array number
Data source: Monitoring variable
-
Monitoring
variable number
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