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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11
Motion Control in PR Mode
Figure 95 - Motor Actions After Homing Command is Triggered
Use Monitoring Variables While Homing
PR mode provides four monitoring variables for you to monitor the servo
commands and feedback status. These are Command position PUU (Cmd_O),
PR command end register (Cmd_E), Feedback position PUU (Fb_PUU), and
Position error PUU (Err_PUU). Before homing completes, the command end
register (Cmd_E) cannot be calculated because the coordinate system can only be
created after homing is completed, and the target position remains unknown
after the Homing command is issued. This is why the status of each monitoring
variables is different during homing. In the Homing command's default setting,
the contents of Cmd_E and Cmd_O are identical. After it finds the reference
origin in the coordinate system, it sets the content of Cmd_E to the coordinate of
the reference origin. However, once it finds the reference origin, it still requires
some distance for motor to decelerate to a stop. Meanwhile, Cmd_O continues
to issue commands. If no other PR commands are issued after homing (other than
the Position command), the contents of the final command position (Cmd_O)
and command end position (Cmd_E) will be different. See Figure 96 .
See Description of System Variable Monitoring on page 417 for more
information.
Protector
Torque curve when
searching for the
hard stop
Torque level
detection P1.087
Level reached timer P1.088
Z pulse
Starting point
Torque curve
when searching for
Z pulse
10%
Maximum torque output