298 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
• Z: PR triggered when EV3 is on
0: no action
1-D: execute PR#51…63
•U: PR triggered when EV4 is on
0: no action
1-D: execute PR#51…63
The following information describes the functions of ID387 (P5.099)
EventFallingEdgePRNumber
Settings
• X: PR triggered when EV1 is off
0: no action
1-D: execute PR#51…63
• Y: PR triggered when EV2 is off
0: no action
1-D: execute PR#51…63
• Z: PR triggered when EV3 is off
0: no action
1-D: execute PR#51…63
•U: PR triggered when EV4 is off
0: no action
1-D: execute PR#51…63
Trigger Position Command ID300 (P5.007)
Write the PR number to be executed in ID300 (P5.007) PRCmdTrigger and the
servo drive will execute the specified PR command.
• If you write 0 to the PR command trigger register, the servo drive will
execute homing.
X PR triggered by EV1 rising-edge Z PR triggered by EV3 rising-edge
Y PR triggered by EV2 rising-edge U PR triggered by EV4 rising-edge
YZU
X
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