Rockwell Automation Allen-Bradley Kinetix 5100 User Manual

364 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Figure 172 - Internal Interruption - Position Command
The REL and INC position command types operate the same way. The target
position is the previous target position (30,000 in Figure 173
) plus the new
Command Position (60,000 in Figure 173
).
Figure 173 - Example of Relative and Incremental Position Command for Internal Interruption
PR#1
Position
DLY=[0] 0 ms
1000 PUU
ABS
100rpm
PR#3
Position
DLY=[0] 0 ms
10000 PUU
ABS
500rpm
PR
executor
( 1 ms Cmd cycle )
Motion
command
generator
Time
Speed
PR#2 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200rpm
(1 ms Cmd cycle)
PR#1
Position
DLY=[1] 100 ms
1000 PUU
ABS
100 rpm
PR#3
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#2 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
100 ms
(1 ms Cmd cycle)(1 ms Cmd cycle)(1 ms Cmd cycle)
Command with Delay
Command without Delay
Motion
command
generator
Command with Delay
Command without Delay
PR
executor
Motion
command
generator
PR
executor
Internal interruption
REL (I)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motorćs
current position
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
Internal interruption
INC (I)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motorćs
current position
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
Internal interruption
REL (I)
60000 PUU
Internal interruption
INC (I)
60000 PUU
Endpoint of
previous command
(Cmd_E)
Endpoint of
previous command
(Cmd_E)
Target
position
Motor
current position
(Fb_PUU)
Motor
current position
(Fb_PUU)
Target
position

Rockwell Automation Allen-Bradley Kinetix 5100 Specifications

General

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