Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 309

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 309
Motion Control in PR Mode Chapter 11
If this PR group has multiple motion commands, the PR queue will only issue the
last command it receives to the motion command generator for execution.
Therefore, in the same PR group, only one PR command with motion command
is executed. The latter motion command directly replaces the former, whereas
jump and write commands are executed once received by the PR queue (see
Figure 138
).
If one of the PR command is set with a delay, the PR queue will schedule all
commands on the basis of this PR command. The prior commands set with a
delay are regarded as the first PR group and what follows is regarded as the
second PR group. Thus, this PR procedure can execute up to two PR commands
with motion commands, as shown in Figure 138
.
Figure 138 - Internal Interruption - Multiple Commands
PR#1 (I)
Position
DLY=[0] 0 ms
1000 PUU
ABS
200 rpm
PR#7 (I)
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#2 (I)
Write
DLY=[0] 0 ms
P5.045=100
PR#8 (I)
Jump
DLY=[0] 0 ms
PR#10
Approx. 20 PR Commands
(1 ms Cmd cycle)
PR#1 (I)
Position
DLY=[0] 0 ms
1000 PUU
ABS
200 rpm
PR#7 (I)
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#6 (I)
Write
DLY=[1] 100 ms
P5.045=100
PR#8 (I)
Jump
DLY=[0] 0 ms
PR#10
Approx. 20 PR Commands
DLY 100 ms
(1 ms Cmd cycle)(1 ms Cmd cycle)
Multiple Commands with Delay
Multiple Commands without Delay