Allen-Bradley Kinetix 5100 2198-E1004-ERS - PR Command with Application of Compare Function

326 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12 Motion Control Applications
Figure 148 - PR Command with Application of Compare Function
Figure 149 shows how the data is compared in the data array when the compare
function is executed.
PR#6 (I)
Write
DLY=[10] 1 ms
P5.058=3
PR#5 (I)
Write
DLY=[0] 0 ms
P5.056=50
PR#45 (I)
Position
DLY=[0] 0 ms
50000 PUU
INC
100rpm
PR#8 (I)
Speed
DLY=[0] 0 ms
50 rpm
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
PR#46
Speed
DLY=[0] 0 ms
50 rpm
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
PR#3 (I)
Write
DLY=[0] 0 ms
Arr[52]=40000
PR#4 (I)
Write
DLY=[0] 0 ms
P5.059=
0x00640030
PR#2 (I)
Write
DLY=[0] 0 ms
Arr[51]=30000
PR#7 (I)
Write
DLY=[0] 0 ms
P5.059=
0x0064103B
PR#1
Write
DLY=[0] 0 ms
Arr[50]=20000