250
Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11
Motion Control in PR Mode
Definitions are as follows:
• YX
TYPE command type: when executing 1…3, it can be interrupted and
stopped by DI.STP and software limits.
• UZ
Y: OPT, Option
X: TYPE, Command Type
Bit 3
Bit 2
Bit 1
Bit 0
-
UNIT
AUTO
INS
1: Constant speed control
CMD
OVLP
INS
2: Point-to-point command
3: Point-to-point command (Proceed to the next command when completed)
-
-
-
INS
7: Jump to the specified PR command
-
ROM
AUTO
INS
8: Write to parameter or Data Array
DIR
OVLP
INS
A: Index position control
-
-
-
-
B: Statement / arithmetic operation
U: DEC, Deceleration Time
Z: ACC, Acceleration Time Corresponding Parameter
Default Value (ms)
0
0
ID312 (P5.020)
200
1
1
ID313 (P5.021)
300
2
2
ID314 (P5.022)
500
3
3
ID315 (P5.023)
600
4
4
ID316 (P5.024)
800
5
5
ID317 (P5.025)
900
6
6
ID318 (P5.026)
1000
7
7
ID319 (P5.027)
1200
8
8
ID320 (P5.028)
1500
9
9
ID321 (P5.029)
2000
10
10
ID322 (P5.030)
2500
11
11
ID323 (P5.031)
3000
12
12
ID324 (P5.032)
5000
13
13
ID325 (P5.033)
8000
14
14
ID326 (P5.034)
50
15
15
ID327 (P5.035)
30
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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