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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
269
Motion Control in PR Mode
Chapter 11
Position Control Command
Position control function is also available in PR mode of the drive. There are two
command types: Mode 2 and Mode 3. Mode 2 command signifies that execution
will stop once command is completed. Mode 3 command signifies that the next
PR command will automatically be executed. Their setting methods are identical.
When configuring position control, the X value determines the Mode. INS is the
interrupt command, which interrupts the previous motion command. OVLP is
the overlap command, which allows the next PR command to overlap the
command that is currently being executed when decelerating. If this function is
applied, setting the delay time to 0 is suggested. ACC / DEC is the acceleration/
deceleration time configured by the shared PR parameters ID312
(P5.020)…ID327 (P5.035). The required duration to accelerate from 0 to the
target speed will be calculated and shown by the software. SPD is the target speed
specified by the shared PR parameters ID352 (P5.060)…ID367 (P5.075). You
can set whether it should times 0.1. DLY is the delay time specified by the shared
PR parametersID332 (P5.040)…ID347 (P5.055). It is defined by the command.
In other words, once the target position is reached, the delay time starts counting.
The position command is user-defined and its unit is PUU.
See PR Command Setting on page 249 on for details on the PR commands.
Figure 99 - PR Mode Position Interface of the Configuration Software