278 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Note:
1. Y: OPT: option
2. C: OPT2: Option 2
See Index Coordinates Settings Wizard
on page 284 for Index position control
and use the Index Coordinates Setting Wizard.
Arithmetic Operations
Commands
In PR mode, the drive provides arithmetic operations commands, including
addition, subtraction, multiplication, division, OR, AND, MOD, and logic
condition. Available operands are user variable, parameter, data array, monitoring
variable, and constant. Among them, a user variable is the register only for four
arithmetic operations. It is user-defined, offering 64 sets of user variables with
each data size of 32 bits. And data size of each constant is also 32-bit. After all
arithmetic operation commands are executed, you can set a jump condition in the
PR command so that it will jump to different PR command and then carry on the
next one or stop once operation is done and it can also serve as a loop function.
The arithmetic operation commands support negative numbers operations but
not floating points. Negative numbers are calculated by Two's compliment.
Arithmetic operations must be set via the Arithmetic Operations dialog box in
KNX5100C software. See Arithmetic Operations in KNX5100C Software
on
page 285. To avoid error occurrences, do not use the panel or a Message
instruction to do the setting.
BIT 3 2 1 0 Description
Command type DIR OVLP INS -
Data content 00
--
Always goes forward (Forward)
0 1 Always goes backward (Backward)
10 Shortest distance
11 -
BIT3210
Command type -AUTO-S_LOW
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