Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 255
Motion Control in PR Mode Chapter 11
Figure 84 - Monitoring Variables’ Status When Executing a Command IN PR Mode
Use digital input (DI) and digital output (DO) signals to monitor PR commands
as shown in Figure 85
. When the motion command is triggered by DI.CTRG
[0x08], the servo drive operates based on the command from the internal register.
Once the execution is completed, DO.Cmd_OK [0x15] turns on. And when
motor reaches its target position range, which is set by ID159 (P1.054)
InPositionWindow, DO.TPOS [0x05] is on. Once the PR position command
completes and the motor reaches the target position, both DO signals are on and
the servo drives outputs the MC_OK [0x17] signal to signify that this PR
command is completed.
Figure 85 - Operation of DI and DO Signals in PR Mode
Cmd_O
Err_PUU
Command
Fb_PUU
Position (PUU)
Time
Cmd_E
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