372 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Appendix H User-defined Function Block Motion 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_Opr_K5100_MAI
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
UDFBs. 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.
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