Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 299
Motion Control in PR Mode Chapter 11
• If you write1…99 to PR command trigger register, the servo drive will
execute the specified PR command (1…99).
• If you write 1000, the servo drive will stop executing PR commands. which
is the same function as DI.STP [0x46] motor stop. Values 100…999 are
not valid.
When reading ID300 (P5.007) PRCmdTrigger, if the command is incomplete,
the drive reads the current command (1…99).
If the command is complete, the drive reads the current command +10000. If the
command is complete, DO.TPOS [0x05] target position reached is on, and
motor position is reached, the drive reads the current command +20000.
For example:If the value read is 3, it means PR#3 is incomplete. If the value read
is 10003, it means PR#3 completed, but the motor has not reached the target
position yet. If the value read is 20003, it means PR#3 completed and the motor
reached the target position.
Special Trigger (Capture, Compare, E-Cam)
You can use high-speed position capturing (Capture), high-speed position
comparing (Compare), and E-Cam function to trigger the specified PR
command. While the capturing completes, you can set Bit3 of ID331 (P5.039).X
or ID395 (P5.110).X to determine whether to trigger PR#50, or set Bit 0 of
ID351 (P5.059).U to determine whether to trigger PR#45 once the last data is
compared. If E-Cam disengagement setting is 2, 4, or 6, use ID376 (P5.088).BA
to write the PR command number.
See features of High-speed Position Capture Function (CAP)
on page 315,
High-speed Position Compare Function (CMP)
on page 322, and E-Cam on
page 333 for more information.
For parameter descriptions and data, see the Knowledgebase article 1090034
Kinetix 5100 Servo Drive Parameter Data and Fault Codes.
The total number of Capture, Compare, or E-Cam cannot exceed 800 (the limit
of the data array). See Chapter 12
for more information about these applications.
Triggering method Setting bit Default Trigger PR Command
ID331 (P5.039) DI9CaptureControl ID331 (P5.039).X Bit 3 PR#50
ID395 (P5.110) DI10CaptureControl ID395 (P5.110).X Bit 3 PR#50
ID351 (P5.059) CompareControl ID351 (P5.059).U Bit 0 PR#45
ID376 (P5.088) ECamControl ID376 (P5.088).BA User-defined
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