Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 293
Motion Control in PR Mode Chapter 11
Index Position Command PR Display
You can use the Indexing Position command in any PR command
(PR#1…PR#99). The number of PR commands is determined by the index
number. It is identified or indicated as "Index Position". See Figure 124
.
Figure 124 - Indexing Position Command Display
1. Indexing Position command section: the number of the index position. It
shows the total moving distance at the top using double arrows to show
that the motor can run reciprocally between each target position in each
PR command.
2. Command execution type: a position command can interrupt (INS) the
previous PR command. If the Interrupt function is enabled, it displays (I).
If not, no information is displayed. The Position command can overlap
(OVLP) the next PR command. If delay time is set to 0 when this function
is enabled, it displays (O). If the Overlap function is not used, no
information is displayed.
3. 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 position.
4. Position command: the numerator is the position of this PR command;
the denominator is the total moving distance of this indexing Position
command, which is set by ID234 (P2.052) IndexingCcoordinatesScale.
Writing Target Data Source
Parameter (PX.XXX) Constant
Data array (Arr[#]) Parameter (PX.XXX)
- Data array (Arr[#])
- Monitoring variable (Mon[#])
PR#2 (I)(O)
Index Position
DLY=[0] 0 ms
33333/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Index Position List [100000]
PR#1 (I)(O)
Index Position
DLY=[0] 0 ms
0/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
PR#3 (I)(O)
Index Position
DLY=[0] 0 ms
66667/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
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