Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 245
Chapter 10 Modes of Operation
Position Mode Timing (PR Mode)
In PR Mode, the program (PR) is selected by using DI (binary weighted
POS0…POS6) and triggers the program (PR) using the Command Triggered
(CTRG) Digital Input. These timing diagrams show the timing used to execute
programs in PR Mode. SON represents Servo ON Digital Input.
The following apply to the internal digital output (DO) timing diagram:
• Cmd_OK is on when PR command is completed.
• TPOS is on when the error is smaller than value set by the ID159
(P1.054) In Position Window parameter.
• MC_OK is on when Cmd_OK and TPOS are both on.
When the deviation between the target position and the actual motor position
is smaller than the setting range of ID159 (P1.054) in PR Mode, then the
DO.TPOS signal is on.
Table 88 - Relevant Parameter
Parameter Name
ID159 (P1.054) InPositionWindow
Internal
register
(PR#0…99)
Motion
Curve
(Speed)
External
DI
I
n
t
e
r
n
a
l
D
O
S
e
t
t
h
e
r
e
s
p
o
n
s
e
t
i
m
e
w
i
t
h
I
D
1
9
4
(
P
2
.
0
0
9
)
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