Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 277
Motion Control in PR Mode Chapter 11
options of forward (always runs forward), backward (always runs backward), and
shortest distance. S_LOW is the speed unit with available options of 0.1 rpm or
0.01 rpm. The option AUTO automatically loads the next PR command. When
current PR command completes, the next PR command will be auto-executed.
ACC / DEC is the acceleration / deceleration time setting determined by shared
PR parameters ID312…ID327(P5.020… P5.035). SPD is the target speed set by
the PR shared parameters ID352…ID367 (P5.060…P5.075). DLY is the delay
time. When motor reaches the target position, the servo drive will start counting
the delay time. Position command is the target position of each index segment.
Figure 106 - PR Mode Index Position Screen
Below are the functions of each bit when a index command is applied using the
ID339…ID595 (P6.002…P7.098) PRCmdXSetting.
PR parameters D C B A U Z Y X
Command type -OPT2DLY SPD DEC ACC OPT 0xA
Data content Index Position command [PUU](0 – P2.052-1)
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