Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 313
Motion Control in PR Mode Chapter 11
Figure 140 - Overlap Command
Arithmetic Operation Command Execution
Arithmetic operations commands can be regarded as combinations of write
commands and jump commands. Thus, the execution priority is the same as these
two types of commands, which are executed by PR executor. Arithmetic
operations commands can interrupt the previous command but cannot be
interrupted by the latter. This is for ensuring that all arithmetic operations are
completed before the PR commands enter the PR queue. In other words, for a
series of PR commands with both arithmetic operations and interrupt functions,
only the arithmetic operations commands of this PR command will be executed
in the first ms. And the rest will be arranged to the PR queue in the next ms.
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Acc=[0] 16.65 ms
Acc=[0] 16.65 ms
PR
executor
Motion
command
generator
Time
Speed
PR#1 (O)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Deceleration time of the 1
st
command is different from
acceleration time of the 2
nd
command
(1 ms command cycle)
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Acc=[2] 6.67 ms
Dec=[2] 6.67 ms
PR
executor
Motion
command
generator
Time
Speed
PR#1 (O)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Deceleration time of the 1
st
command is identical to
acceleration time of the 2
nd
command
(1 ms command cycle) (1 ms command cycle)
Command with Delay - Acceleration and Deceleration Time are Identical
Overlap Command - Acceleration and Deceleration Time are Different
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