370 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Arithmetic Operation Command Execution
Arithmetic commands (typically in Statement type PR commands) have the
same execution priority as Jump and Write commands. When executed
consecutively, Arithmetic operations commands can interrupt the currently
executing PR command but cannot be interrupted by a PR command. This
sequence is to confirm that all arithmetic operations are completed before the
PR commands enter the PR queue (and PR executor). If a PR attempts to
interrupt an arithmetic command by highest priority, either interrupt or
PRCmdTrigger input, the interrupt occurs on the next command cycle (after
the current 1 ms cycle completes).
Figure 179 - Multiple Commands with Arithmetic Operations
Figure 180 - Writing Trigger Command in Statement Section
PR executor
PR#1 (I)
Write
DLY=[0] 0 ms
P5.045=100
PR#6 (I)
Statement
S0
Exe.Time=3.89μs
true
false
PR#10 (I)
Write
DLY=[0] 0 ms
P5.045=200
PR#20 (I)
Write
DLY=[0] 0 ms
P5.045=300
(1 ms command cycle) (1 ms command cycle)
(1 ms command cycle)
PR
executor
(1 ms command cycle)
PR executor
PR#1 (I)
Write
DLY=[0] 0 ms
P5.045=100
PR#6 (I)
Statement
S1
(P5.007 = 30)
Exe.Time=1.89μs
PR#30 (I)
Write
DLY=[0] 0 ms
P5.045=400
(1 ms command cycle) (1 ms command cycle)
PR
executor
(1 ms command cycle)
(1 ms command cycle)
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