288 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Figure 117 - PR Procedure
Display of PR Procedure in
KNX5100C Software
This section describes how the software displays information related to each of
the seven types of PR mode commands. This display is on the Chart tab of the
PR Mode Editor in KNX5100C software. To help you understand how PR
procedure works, the configuration software presents the execution order and
calling sequence of all PR procedures.
Parts of the PR Display
The PR display includes five parts: number, execution property, command type,
next PR command, and command data.
Figure 118 - PR Display
1. Number: the PR number, ranging from PR#0…PR#99 (100 sets of PR
commands).
2. Execution property: (B) Execute homing when power on; (O) Command
overlap; (R) write data to EEPROM; (I) command interrupt.
3. Command type: there are six types of PR commands: homing, speed,
position, writing, jumping, and arithmetic operations. The color displayed
in this section depends on the command type.
PR#1 (I)(O)
Position
DLY = [0] 0 ms
100000 PUU
INC
200 rpm
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