Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 308

308 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Figure 137 - Internal Interruption - Speed Command
Multiple Commands
The PR queue updates once every 1 ms Command cycle. If all PR commands are
set with interrupt function, the queue can read at least 20 PR commands in 1 ms
and these commands are called a PR group.
Command with Delay
Command without Delay
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#2 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#3
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
PR#1
Speed
DLY=[0] 0 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
( 1 ms command cycle ) (1 ms command cycle)
200
500
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#2 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#3
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
PR#1
Speed
DLY=[1] 100 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
100 ms
(1 ms Cmd cycle)
(1 ms Cmd cycle)
(1 ms Cmd cycle)
200
100
500