Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 363
Chapter 11 Motion Control in PR Mode
Command Interrupts Execution
Interruption (INS) is an action that results in a change with the motion
command (and the cycle profile). The current motion command is interrupted
with the second motion command. Results of the interruption differ based on
the command types. There are two types of interruption: internal and external,
as shown in Figure 171
.
Figure 171 - Internal and External Interruption
Internal Interrupts
With a typical sequence of PR commands that use Auto (Auto execute the next
command), the system processes the next command when the current
command is completed.
However, if the next command is of the type shown for an internal interrupt
(shown in Figure 172
), the drive processes this command immediately. For
example, a Point to point PR is considered an internal interrupt. If Interrupt
Previous PR is selected with this PR command, the drive immediately changes
the executing cycle profile to reflect this new PR command
Position Commands
See Figure 172 to use these two examples.
• Example 1: When the PR executor receives three consecutive position
commands with the second command using the interrupt setting
(PR#01 -> PR#02 (I)->PR#03), the PR executor treats the PR#01 and
PR#02 as one command. Because both the PR commands occurred in the
same 1 ms cycle, and there is no DLY used, the PR executor replaces
PR#01 with PR#02. It sends the second PR to the motion command
generator for execution. When PR#02 is complete, the PR executor sends
PR#03 to the generator.
• Example 2: Using the same three consecutive position commands, if
PR#01 uses a 100 ms DLY (Time Delay), the PR executor processes PR#01
and PR#02, because the DLY is used with PR#01, the PR#01 movement
executes while DLY is timing. When the delay has expired, and PR#01 has
not reached its target position, the PR executor then processes PR#02
and sends it to the motion command generator and the command profile
executes PR#02 (still a point-to-point index). Once PR#02 is completed,
PR#03 is sent to the motion command generator and PR#03 is executed.
ID 300 (P5.007) PRCmdTrigger
Special Trigger (CAP/CMP/E-CAM)
External Interruption
Software Trigger
Event Trigger
DI Trigger
Homing
Position command
Speed command
Jump command
Write-in command
Internal interruption
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