Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 351
Chapter 11 Motion Control in PR Mode
Position Command PR Display
You can use the Position command in any PR command (PR#1…PR#99). It is
marked as ‘Position’, and includes the options to ‘Stop once position control
completed’ and ‘Load the next command once position control completed’. The
only difference is that ‘Load the next command once position control
completed’ shows an arrow pointing to the next PR. See Figure 159
and the PR
command to the right.
Figure 159 - Position Command Display
1. Command execution type: a Position command can interrupt (INS) the
previous PR command. If the Interrupt function is enabled, it displays
(I); if not, no information is displayed. The Position command can
overlap (OVLP) the next PR command. If delay time is set to 0 when this
function is enabled, it displays (O). If the Overlap function is not used, 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 position.
3. Target position: the set target position.
4. Position command type: ‘ABS’ means an absolute positioning command;
‘REL’ means relative positioning; "INC" means incremental positioning;
‘CAP’ means high speed position capture.
5. Target speed: determined by shared PR parameters.
6. Acceleration time (ACC): determined by shared PR parameters; the
length of time to reach the 3000 rpm speed from stopped.
7. Deceleration time (DEC): determined by shared PR parameters; the
length of time to decelerate from 3000 rpm speed to stopped.
PR#1 (I)(O)
Position
DLY=[0] 0 ms
100000 PUU
ABS
200rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
1
2
3
4
5
6
7
PR#1 (I)(O)
Position
DLY=[0] 0 ms
100000 PUU
ABS
200rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
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