Allen-Bradley Kinetix 5100 2198-E1004-ERS User Manual

306 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Figure 135 - Internal Interruption - Position Command
Integration for internal interrupt of an absolute position command (ABS) is
slightly different from what described in Position Control Command
on
page 269. The way REL and INC commands work is the identical. The target
position is the previous target position plus the current. See the example below.
PR#1
Position
DLY=[0] 0 ms
1000 PUU
ABS
100rpm
PR#3
Position
DLY=[0] 0 ms
10000 PUU
ABS
500rpm
PR
executor
( 1 ms Cmd cycle )
Motion
command
generator
Time
Speed
PR#2 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200rpm
(1 ms Cmd cycle)
PR#1
Position
DLY=[1] 100 ms
1000 PUU
ABS
100 rpm
PR#3
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#2 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
100 ms
(1 ms Cmd cycle)(1 ms Cmd cycle)(1 ms Cmd cycle)
Command with Delay
Command without Delay

Allen-Bradley Kinetix 5100 2198-E1004-ERS Specifications

General

Brand	Allen-Bradley
Model	Kinetix 5100 2198-E1004-ERS
Category	Servo Drives
Language	English