Rockwell Automation Allen-Bradley Kinetix 5100 User Manual

360 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Consecutive Position Commands
When the PR executor receives two position commands consecutively, and
they are not set with interrupt or overlap functions, the PR executor sends this
lead PR to the motion command generator. The profile generator creates the
cycle profile from this lead PR command. After the lead PR completes, if no
delay time is set, the PR executor sends the second PR (which now becomes the
lead PR) to the motion generator and the cycle profile is made for the second
position command.
If the first position command uses DLY (Delay Time), the PR executor starts
the DLY timing when the motor reaches the target position. When the DLY
expires, the second position command is executed as described earlier and
shown in Figure 168
.
Figure 168 - Position Command
PR#1
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
(1 ms command cycle)
Motion
command
generator
Time
Speed
(1 ms command cycle)
PR#1
Position
DLY=[1] 100 ms
10000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
7LPH
6SHHG
100ms
(1 ms command cycle)
(1 ms command cycle)
Command with Delay
Command without Delay
PR
executor
Command without Delay
PR
executor
Motion
command
generator
Motion
command
generator
Command with Delay

Rockwell Automation Allen-Bradley Kinetix 5100 Specifications

General

Brand	Rockwell Automation
Model	Allen-Bradley Kinetix 5100
Category	Servo Drives
Language	English