350 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
6. Homing at low speed: second homing speed, ID299 (P5.006)
HomingCreepSpeed.
Speed Command PR Display
You can use the Speed command in any PR command (PR#1…PR#99). It is
identified or indicated as "Speed". See Figure 158
.
Figure 158 - Speed Command Display
1. Command execution type: a Speed command can interrupt (INS) the
previous PR command. If the Interrupt function is enabled, it displays
(I); if not, no information is displayed.
2. Delay time (DLY): determined by shared PR parameters. It is defined by a
command from the controller; the servo drive starts counting the delay
time once it reaches the target speed.
3. Target speed: the set target speed.
4. Acceleration time (ACC): determined by shared PR parameters; length of
time to reach the 3000 rpm speed from stopped.
5. Deceleration time (DEC): determined by shared PR parameters; length of
time to decelerate from 3000 rpm speed to stopped.
PR#1 (I)
Speed
DLY=[0] 0 ms
100 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
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