Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
295
Motion Control in PR Mode
Chapter 11
sets of DI functions, which are POS0 [0x11], POS1[0x12], POS2 [0x13], POS3
[0x1A], POS4 [0x1B], POS5 [0x1C], POS6 [0x1E], and CTRG [0x08].
See
Description of Digital Input Functions on page 405
for more information.
Select the PR number to be executed based on the on/off status of DI.POS0 – 6
and use DI.CTRG to trigger the specified PR command.
This can also be set in the Digital I/O and Jog Function dialog box in
KNX5100C software, as shown in
.
Figure 126 - I/O Setting Screen
Table 101 - Use DI to Select the PR Command to be Triggered
Status of DI.POS0…DI.POS6 signals: 0= On; 1= Off
DI.CTRG (up arrow): This signifies the moment that the digital input is
switched from off to on.
In addition, there are two sets of DI for special functions, DI.SHOM[0x27]
return to homing origin and DI.STP[0x46] motor stop. If the former is triggered,
Position
Command
POS
POS
POS
POS
POS
POS
POS
CTRG
Parameter
6
5
4
3
2
1
0
Homing
0
0
0
0
0
0
0
ID397 (P6.000
ID398 (P6.001)
PR#1
0
0
0
0
0
0
1
ID399 (P6.002)
ID400 (P6.003)
~
PR#49
0
1
1
0
0
1
0
ID495 (P6.098)
ID496 (P6.099)
PR#50
0
1
1
0
0
1
1
ID497 (P7.000)
ID498 (P7.001)
~
PR#99
1
1
0
0
0
1
1
ID595 (P7.098)
ID596 (P7.099)
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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