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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11
Motion Control in PR Mode
• C: AUTO: once current PR command is finished, automatically load the
next command. This function is only enabled when X = A indexing
position control.
Description of each bit:
Note: The parameter format definition [C, A, U, Z] is different from the above
table when the command type is [8]: write the specified parameter to the
specified command, and [B]: statement / arithmetic operation. See
for more information.
PR Command Data Setting
The PRCmd
X
Data parameters define either the target position of the related PR
command or the target PR command for the jump command.
Shared PR Parameters
The drive provides 16 acceleration / deceleration time settings ID312 (P5.020)…
ID327 (P5.035), 16 delay time settings ID332 (P5.040)…ID347 (P5.055), and
16 target speed settings ID352 (P5.060)…ID367 (P5.075) for users to set the PR
commands as shown in
. If a given setting that is used by multiple PR
commands is changed, then all PR commands applying this setting will be
changed as well.
For example, if multiple PR commands apply the target speed setting of ID352
(P5.060) PresetVelocity0, when value of ID352 (P5.060) is changed, those PR
commands' target speed will also be modified. In these data, the acceleration /
deceleration time is set based on the duration for motor to accelerate from 0 to
3000 rpm or decelerate from 3000 rpm to 0. For example, if acceleration time is
set to 50 ms, when the target speed of motion command is 3000 rpm, then the
required duration is 50 ms. If target speed of the motion command is 1500 rpm,
then the acceleration time will be 25 ms. The acceleration / deceleration time is a
fixed slope, and the slope will not change with the modification of target speed.
Bit 2
AUTO
0: disable auto function
1: once current PR command is finished, automatically load the next command
Bit 0, Bit 1
Reserved
-
ATTENTION:
Damage to machine can occur. Changing a setting that is used by
multiple PR commands will affect all PR commands using that setting.
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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