Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 311

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 311
Motion Control in PR Mode Chapter 11
Figure 139 - External Interruption
PR#1
Position
DLY=[0] 0 ms
1000 PUU
ABS
100 rpm
PR#11
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#10 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
External
interruption
(1 ms command cycle) (1 ms command cycle)
(1 ms command cycle) (1 ms command cycle)
PR executor
Motion
command
generator
Time
Speed (rpm)
PR#10 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#11
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
PR#2
Speed
DLY=[0] 0 ms
500 rpm
Acc=[11] 33.3 ms
Dec=[11] 33.3 ms
External
interruption
(1 ms command cycle) (1 ms command cycle)
(1 ms command cycle) (1 ms command cycle)
100
200
500
(A) - External Interruption - Position Command
(B) - External Interruption - Speed Command