290 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
3. Offset: origin offset, ID398 (P6.001)
4. Command: next PR command to be executed after homing
5. Homing at high speed: first homing speed, ID298 (P5.005)
HomingSpeed.
6. Homing at low speed: second homing speed, ID299 (P5.006)
HomingCreepSpeed.
Speed Command PR Display
You can use the Speed command in any PR command (PR#1…PR#99). It is
identified or indicated as "Speed". See Figure 120
.
Figure 120 - Speed Command Display
1. Command execution type: a Speed command can interrupt (INS) the
previous PR command. If the Interrupt function is enabled, it displays (I);
if not, no information is displayed.
2. Delay time (DLY): determined by shared PR parameters. It is defined by a
command from the controller; the servo drive starts counting the delay
time once it reaches the target speed.
3. Target speed: the set target speed.
4. Acceleration time (ACC): determined by shared PR parameters; length of
time to reach the 3000 rpm speed from stopped.
5. Deceleration time (DEC): determined by shared PR parameters; length of
time to decelerate from 3000 rpm speed to stopped.
X = 8: use the current point as the origin 8: CUR
X = 9: look for collision point in forward direction and use it as the origin 9: F_BUMPZ 9: F_BUMP
X = A: look for collision point in reverse direction and use it as the origin A: R_BUMPZ A: R_BUMP
Homing methods Y = 0: reverse to look for Z pulse
Y = 1: go forward to look for Z pulse
Y = 2: do not look for Z pulse
PR#1 (I)
Speed
DLY=[0] 0 ms
100 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
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