Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 319
Motion Control Applications Chapter 12
Using PR Command Programming with the Capture Function (H3)
To use motion commands with the Capture function, we recommend using PR
command programming.
With PR command programming, write commands configure the high-speed
position capture function, as well as execute the motion commands once
configuration is complete. See Chapter 11
for details on PR command
programming.
The following example describes how the PR command works and is illustrated
in Figure 145
.
1. PR#1 confirms that the Capture function is disabled, with ID331.X
(P5.039.X) NAME Bit 0 = 0.
2. PR#2 sets the start position of data array to #100.
3. PR#3 sets the capturing amount as 3.
4. PR#4 sets the capturing axis' position to 0 for the first capture point.
5. PR#5 sets the cyclic capture mode and then delay 1 ms to execute the next
PR command.
6. PR#6 enables the capture function and resets the first point. Once the data
capture is complete, the drive executes PR#50. It selects motor's encoder as
the capturing axis, applying 'normally closed' contact as trigger logic with
trigger interval of 2 ms.
7. PR#7 sets the speed command at 50 rpm.
8. PR#50 sets the move command (50000 PUU) per the last capturing
position. Once the CAP (selects motor's main encoder as the capturing
axis, applying ‘normally closed’ contact as trigger logic with trigger interval
of 2 ms) is completed, carry on executing PR#50.
9. PR#51 sets the speed command at 50 rpm.
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