Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 243
Chapter 10 Modes of Operation
Clear Function of Analog Position Command (DI code:0x0D)
When a Digital Input (DI) is configured for Clear function of analog Position
command, and this DI is ON, the motor position is held at the current position
when the DI transitions ON.
While this DI is ON, the motor does not move, even if there is a change of
analog input command. When the motor transitions to OFF, the current motor
position is redefined to the position that corresponds with the analog input
voltage on VREF/GND.
PR Mode (Position Command with Internal Register Input)
PR Mode is typically used to control your application when standalone
operation is required. This mode contains the indexing functionality and
program control that you can customize for your application.
The drive supports the following motion command types, which are described
in detail in Chapter 11
, Motion Control in PR Mode:
•Homing
• Speed
• Position (indexing)
• Jump
• Parameter write
•Arithmetic operation
The drive provides the following methods to initiate a PR:
• Digital input (DI)
• Event-triggered
• PRCmdTrigger Digital Input ID300 (P5.007) with PR selection using
binary weighted Digital Inputs
• Capture (high-speed position capturing)
• Compare-triggered (high-speed position comparing)
•E-CAM
Motor
position
when DI is
triggered
Voltage when DI is
triggered
When DI is on, all
input command is
cleard
When DI is off, motor is still,
but its coordinate is
redefined
Motor position
(Tum)
Analog input
command (V)
Analog input
command (V)
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