290 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Definitions of the words are as follows:
• YX: option; command type - the X, Y rows line up to show what options
are available for the Command Type
- DIR sets the rotation direction (Bit3, Bit2).
00: Forward
01: Backward
10: Shortest distance
11: Reserved
- ROM lets the drive write parameters to both RAM and EEPROM at the
same time. This function can only write parameters.
- INS: executing this PR command interrupts the previous PR
command.
- OVLP: allow overlapping of the next PR command. Overlapping is not
allowed in Speed mode. When overlapping Position mode, DLY has no
function.
- AUTO: once current PR command is finished, automatically load the
next command.
- CMD is the position command selection (Bit3, Bit2).
00: ABS, Absolute Position, CMD = DATA
01: REL, Relative Position, CMD = Current Position + DATA
10: INC, Incremental Position, CMD = Previous CMD + DATA
11: CAP, High Speed Position Capturing, CMD = Captured Position +
DATA
- UNIT is the speed unit selection: 0 signifies 0.1 rpm and 1 signifies
pulse per second (PPS).
Y: OPT, Option
X: TYPE, Command Type
Bit 3 Bit 2 Bit 1 Bit 0
- UNIT AUTO INS 1: Constant speed control
CMD OVLP INS
2: Point-to-point command
3: Point-to-point command (Proceed to the next command when
completed)
- - - INS 7: Jump to the specified PR command
- ROM AUTO INS 8: Write to parameter or Data Array
DIR OVLP INS A: Index position control
- - - - B: Statement / arithmetic operation
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