Rockwell Automation Allen-Bradley Kinetix 5100 - Page 337

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 337
Chapter 11 Motion Control in PR Mode
As shown in Figure 143, the start PR command is set to 1 and command
number is set to 8 (which means that the wizard creates 8 sequential PRs) and
total moving distance is 80000 PUU (the wizard creates 8 PRs with an
equidistant 10000 PUU each distance). Click OK for the wizard to
automatically pre-populate the PR values (Figure 144
). You can modify the
values with your application requirements if needed.
These index types are used with the raC_xxx_K5100_MAM, Move Types 2,3,4.
Figure 143 - PR Mode Index Position Example
Figure 144 - PR Mode Setting
See Index Position Command on page 333 for information on the Index
Coordinates function. If you choose a command type of [0xA]: Index Position
Control, you can configure the OPTIONS and the Speed and Time Setting on
the PR Mode tab.
Figure 145 - PR Mode Editor for Index Position Command
4
5
6
7
8
3
2
1
Indexing
Coordinate
Target
position
Current
position
Total index
moving
distance
Motor’s
running
direction
Indexing
coordinates
1
2
3
4
5
6
7
8
Target
position
Current
position
1
2
3
4
5
6
7
8
.
10000 PUU
20000 PUU
30000 PUU
40000 PUU
50000 PUU
60000 PUU
70000 PUU
0 PUU
.
Forward Direction (Always forward).
raC_MAM; Move Type=3
Reverse Direction (Always reverse).
raC_MAM; Move Type=4
and
Shortest Distance. raC_MAM; Move Type=2
Forward Direction
(Always forward)
Reverse Direction
(Always reverse)
and
Shortest Distance