368 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
External Interrupts
When an external interrupt is used, it uses an external interrupt trigger
method to execute another PR command, see Figure 171
.
When the PR queue receives a PR position command with the interrupt setting
(Interrupt Previous PR=1), it is sent to the motion command generator
immediately and any required motion command changes integrate with any
currently executing motion. The use of DLY does not change the result of an
external interruption. The external interruption of Speed or Position
command types operate the same way. Therefore, you can integrate a Constant
Speed PR type with a Positioning type and vice versa.
Figure 177 - External Interruption
PR#1
Position
DLY=[0] 0 ms
1000 PUU
ABS
100 rpm
PR#11
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#10 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
External
interruption
(1 ms command cycle) (1 ms command cycle)
(1 ms command cycle) (1 ms command cycle)
PR executor
Motion
command
generator
Time
Speed (rpm)
PR#10 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#11
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
PR#2
Speed
DLY=[0] 0 ms
500 rpm
Acc=[11] 33.3 ms
Dec=[11] 33.3 ms
External
interruption
(1 ms command cycle) (1 ms command cycle)
(1 ms command cycle) (1 ms command cycle)
100
200
500
(A) - External Interruption - Position Command
(B) - External Interruption - Speed Command
Motion
command
generator
(A) - External Interruption - Position Command
PR
executor
PR
executor
Motion
command
generator
(B) - External Interruption - Speed Command
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