Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 307
Motion Control in PR Mode Chapter 11
Figure 136 - Example of Relative and Incremental Position Command for Internal Interruption
Speed Commands
When the PR executor receives three consecutive speed commands and the
second command has an interrupt configured (Speed command > Speed
Command (I) > Speed Command), the executor treats the first and second
commands as one PR group.As the first speed command is unexecuted, the
executor will replace the first with the second. It only issues the second command
to the motion command generator for execution. After the second is completed,
the executor issues the third to the generator (see Figure 137
).
If the first command is set with a delay, then the PR executor will issue the first to
the generator and then start counting the delay time. After the delay is over, it
then issues the second command and the generator starts the second part of speed
control. While the first command is still being executed, it will be integrated with
the second command. Once the second is completed, the executor will issue the
third to the generator for execution (see Figure 137
).
Internal interruption
REL (I)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motorćs
cur ren t p ositio n
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
Internal interruption
INC (I)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motorćs
cur ren t p ositio n
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
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