Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 293
Chapter 11 Motion Control in PR Mode
If we chose our values from Figure 101 on page 289:
This becomes: 0 0 4 8 E E 4 3 which is 4,779,587 Decimal, this value is what we
write to ID399 (P6.002). This value is the PRCmdxSetting.
PR Command Data Setting
The PRCmdXData parameters define either the target position of the related
PR command or the target PR command for the jump command.
Shared PR Parameters
The drive dynamics and delays are shared by PR programs. The Speed,
Acceleration, Deceleration, and Delays that are chosen by pull-down menus
use a common value that is made in the PR Mode Editor>Speed and Time
Setting menu.
Figure 102 - Speed and Time Setting
For example, if multiple PR commands apply the target speed setting of
PresetVelocity0 ID352 (P5.060), and that preset rpm value is changed, that PR
command target speed is also changed. The Accel/Decel times that are used for
a Position Command are calculated based on reaching 3000 rpm. So, changing
this preset velocity also affects the Accel and Decel times for any profile that
uses the same Preset Velocity.
Table 111 - High/Low Word Values
High Word Value Low Word Value
A 8 (1000 RPM) X 3 (Point to Point Command-Proceed to next PR)
B 4 (500 ms delay) Y 0 1 0 0 (REL, OVLP, INS) – this is 4 in decimal
C 0 (Do not load next command) Z E (Accel of 50) – this is 14 in decimal
D 0 U E (Decel of 50) – this is 14 in decimal
HEX 0 0 4 8 HEX E E 4 3
ATTENTION: Damage to machine can occur. Changing a setting that is used
by multiple PR commands will affect all PR commands using that setting.
To Next Page
Loading...
Need help?
General
