312 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Overlap Command Execution
If an overlap function is set in the previous position command, it allows the next
command to be executed while the previous is decelerating thus achieving a
continuous motion. When an overlap command is used, the set delay time is still
effective. The delay time starts to count from command's start point; however, in
order to have the commands transit smoothly, setting the delay time of the
previous to 0 is suggested. In addition, if deceleration time of the previous is
identical to acceleration time of the next, the transition between commands can
be very smooth and discontinuous speed during transition can be avoided (see
Figure 140
). The calculation is as follows.
An interrupt command has a higher priority over an overlap command. Thus,
when overlap function is set in the current position command and the next
motion command is set to apply the interrupt function, only interrupt function
will be carried out.
1st target speed (Spd1)
3000
---------------- ----------------------------------------- --
Deceleration time (Dec)
×
2nd target speed (Spd2)
3000
-------------- ---------------------------------------- -------
Acceleration time (Acc)
×=
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