310 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
External Interrupts
If external interruption is applied, it uses the PR command trigger method to
execute another PR command. When the PR queue receives a PR command with
interrupt function, this command will be issued to the motion command
generator immediately and change the command in execution. Whether a delay is
set will not change the result of external interruption. That is, once the PR queue
receives an external interruption command, the motion commands in the latter
part will be executed by the generator and integrated with the previous.
Procedure of external interruption is as shown in Figure 139
.
If a PR command with external interruption enters the PR executor, the executor
will issue this position command promptly to the generator so that the motor can
run in accordance. The motor will refer to the setting that integrates with the
former motion commands when running. Similarly, external interruption with
application of speed commands and position commands work the same way and
so do the applications of multiple commands. See Figure 139
for example.
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