244 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 10 Modes of Operation
You can choose the most suitable triggering method according to the
applications and requirements. For detailed descriptions of the methods, see
Trigger Methods for PR Commands
on page 354.
Control Structure of Position Mode
The basic control structure is as follows:
For better control, the pulse signals are processed by the position command
processing unit. Structure is shown in the following diagram.
Position
command
processing unit
Position control
unit
Position command
Speed loop
Current loop
Motor
Command Source
ID397…ID524
(P6.000…P7.027)
Notch Filter
ID135…ID136
(P1.025…P1.026)
Command Selection
ID117 (P1.001)
1. P1.001
2. P1.064
1. P1.001
2. I/O mode par
1. P1.001
2. I/O mode par
1. P1.001
2. I/O mode par
Moving Filter
ID170 (P1.068)
Accel/Decel Time
ID312…ID327
(P5.020…P5.035)
Low-pass Filter
ID124 (P1.008)
Notch Filter
ID137…ID138
(P1.027…P1.028)
Pulse Type
Selection
ID116 (P1.000)
Counter
Position Command Processing Unit
High
Speed
Pulse Signal
Inhibit
(1)
Inhibit
(1)
I/O Controller
POS0…POS6
CRTG
Low
Speed
Delay Time
ID332…ID347
(P5.040…P5.055)
CyclicMove Type
(for example, YX
of ID399 [P6.002])
Acceleration
Reference
Starting Index
I/O Mode - Index
Position Reference
I/O Mode - Position
Deceleration
Reference
Acceleration
Reference
Position Reference
I/O Mode - Home
I/O Mode - Gear
Home
Return
Speed
Speed
Reference
Homing
Method
Deceleration
Reference
Target Speed
ID352…ID367
(P5.060…P5.075)
GNUM0, GNUM1
GearRatioFollowerCounts N1 - ID151 (P1.044)
GearRatioFollowerCounts N2 - ID236 (P2.060)
GearRatioFollowerCounts N3 - ID237 (P2.061)
GearRatioFollowerCounts N4 - ID238 (P2.062)
GearRatioMasterCounts - ID152 (P1.045)
Numerators
Denominator
S-curve Filter
ID143 (P1.036)
Analog Input
Scaling
ID169 (P1.066)
Analog
Command Filter
ID168 (P1.065)
PTO
AUX
(1) For more information, see Pulse Command Input Inhibitor (INHP) on page 240.
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