366 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Figure 174 - Internal Interruption - Speed Command
Multiple Commands
The PR queue updates once every 1 ms Command cycle. If all PR commands are
set with interrupt function, the queue can read at least 20 PR commands in
1ms.
If these multiple PR commands contain multiple motion commands, the PR
queue only issues the last command it receives to the motion command
generator for execution. Therefore, in the same PR group, only one PR
command with motion command is executed. This sequence is different for
non-motion PR types where jump and write commands are executed once
received by the PR queue (see Figure 175
).
Command with Delay
Command without Delay
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#2 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#3
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
PR#1
Speed
DLY=[0] 0 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
( 1 ms command cycle ) (1 ms command cycle)
200
500
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#2 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#3
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
PR#1
Speed
DLY=[1] 100 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
100 ms
(1 ms Cmd cycle)
(1 ms Cmd cycle)
(1 ms Cmd cycle)
200
100
500
Motion
command
generator
Command with Delay
Command without Delay
PR
executor
PR
executor
Motion
command
generator
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