Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 365
Chapter 11 Motion Control in PR Mode
Speed Commands
See Figure 174 to use these two examples.
• Example 1: When the PR executor receives three consecutive speed
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 speed 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 target speed
executes while DLY is timing. When the delay has expired, the PR
executor then processes PR#02 and sends it to the motion command
generator and the command profile executes PR#02 (still a constant
speed type). Once PR#02 is completed (reaches target speed), PR#03 is
sent to the motion command generator and PR#03 is executed.
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