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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11
Motion Control in PR Mode
With the exception of arithmetic operations, the properties and corresponding
data of each PR command are set by parameters. For example, PR#1 is defined by
two parameters, ID399 (P6.002) PRCmd1Setting and ID400 (P6.003)
PRCmd1Data. ID399 (P6.002) is for specifying the properties of PR#1, such as
the PR command type, and whether to interrupt or auto-execute the next PR.
ID400 (P6.003) is subject to change based on the property set by ID399
(P6.002). If ID399 (P6.002) is set to a speed command, then ID400 (P6.003) is
used to specify the target speed. If ID399 (P6.002) is set to a jump command,
then ID400 (P6.003) specifies the target PR to jump to. For the remaining PR
commands, the PRCmd X Setting and PRCmd X Data parameters are grouped in
pairs as shown in Figure 81 .
Figure 81 - Setting Parameters for Each PR Command
PR Command Setting and Data Definitions
The Command setting defines the type of command (Speed, Position, Jump,
Write, Index, Arithmetic/Statement).
• CMD is the position command selection.
00: ABS, Absolute Position, CMD = DATA;
01: REL, Relative Position, CMD = Current Po DATA
10: INC, Incremental Position, CMD = Previous CMD + DATA
11: CAP, High Speed Position Capturing, CMD = Captured Po
DATA
• UNIT is the speed unit selection; 0 signifies 0.1 rpm and 1 signifies pulse
per second (PPS).
PR Command
PR#0
PR#1
PR#2
Setting Parameters Command Property
Command Data
ID397 (P6.000)
ID399 (P6.002)
ID401 (P6.004)
ID398 (P6.001)
ID400 (P6.003)
ID402 (P6.005)
PR#50
PR#99
ID497 (P7.000) ID498 (P7.001)
ID595 (P7.098) ID596 (P7.099)