Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 303
Motion Control in PR Mode Chapter 11
Figure 132 - Speed Command
Multiple Commands
The PR queue updates commands every 1 ms. if it is a motion command, the PR
queue issues the next command to the generator only after the previous
completes. For jump or write commands, they are executed in the PR queue
immediately.
Command with Delay
Command without Delay
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#1
Speed
DLY=[0] 0 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
PR#2
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
100
500
(1 ms command cycle)(1 ms command cycle)
PR
executor
Motion
command
generator
Time
PR#1
Speed
DLY=[1] 100 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
PR#2
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
100ms
Speed (rpm)
100
500
(1 ms command cycle)(1 ms command cycle)
To Next Page
Loading...
Need help?
General
