Allen-Bradley Kinetix 5100 2198-E1004-ERS - Page 314

314 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Therefore, the target jump PR number specified by the command with arithmetic
operations is executed in the next ms. If users have input the triggering parameter
in Statement section, such as ID300 (P5.007) PRCmdTrigger, which has the
highest execution priority (regarded as external interruption), after the
arithmetic operations are done, the command specified by PR command trigger
register will be executed in the next ms. And logic condition commands will not
be executed (see Figure 141
).
Figure 141 - Multiple Commands with Arithmetic Operations
Figure 142 - Writing Trigger Command in Statement Section
PR executor
PR#1 (I)
Write
DLY=[0] 0 ms
P5.045=100
PR#6 (I)
Statement
S0
Exe.Time=3.89μs
true
false
PR#10 (I)
Write
DLY=[0] 0 ms
P5.045=200
PR#20 (I)
Write
DLY=[0] 0 ms
P5.045=300
(1 ms command cycle) (1 ms command cycle)
PR executor
PR#1 (I)
Write
DLY=[0] 0 ms
P5.045=100
PR#6 (I)
Statement
S1
(P5.007 = 30)
Exe.Time=1.89μs
PR#30 (I)
Write
DLY=[0] 0 ms
P5.045=400
(1 ms command cycle) (1 ms command cycle)