Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 273 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
273
Motion Control in PR Mode
Chapter 11
Below are the functions of each bit when a jump command is applied using the
ID399…ID595 (P6.002…P7.098) PRCmd X Setting.
Note:
1.
Y: OPT: option
See PR Mode Setup in KNX5100C Software on page 279 , where you can
configure the PR Mode as Jump to specified command.
Write Command
The write command in PR mode can write constants, parameters, data arrays, and
monitoring variables to the specified parameters or data arrays. Users can write
the parameter by using the PR mode setting screen of the configuration software.
INS is an interrupt command, which can interrupt the previous motion
command. AUTO command signifies that the next PR will be loaded
automatically; once current PR completes, the next one will be automatically
executed. The ROM command lets the drive write parameters to both RAM and
EEPROM at the same time. However, frequent usage will shorten the life of
EEPROM. DLY is the delay time selected by shared PR parameters
ID332…ID347 (P5.040…P5.055). Once a jump command is issued, the servo
drive will start calculating the delay time. The table below shows the bit function
when a write command is used.
PR parameters D C B A U Z Y X
Command type
- - DLY - - - OPT 7
Data content
Jump to target PR command(0…99)
BIT 3 2 1 0
Command type
- - - INS
Writing Target Data Source
Parameter Constant
Data array Parameter
- Data array
- Monitoring variables