Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 515
Appendix C Use Add-On Instructions
• Position Command with Overlap option.
The executing index is interrupted during its deceleration. The new
index is started before the deceleration is complete
• Position Command with Interrupt option.
The executing index (Index 1) is terminated. The new index (Index 2) is
executed using its dynamics. This is shown in the graphic below. The red
arrow is the point where the command for Index 2 is received by the
drive
raC_xxx_K5100_MAI
(1)
It may be useful to execute a motion control internal register (PR) while in the
IO operation mode. This can be for performing an action that is not able to be
performed by one of the Add-On Instructions in the motion library. Using this
means that the PR has to be pre-configured in the drive by using KNX5100C
software, which is done before the IO Mode connection is established.
Figure 267 - MAI Ladder Diagram
(1) The xxx in the name can be Dvc (legacy applications) or Opr (new applications).
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