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304 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
As shown in Figure 133 , in the first ms, the PR queue receives a position
command and it issues this command to the motion command generator,
allowing the generator to execute it. In the second ms, the PR queue receives a
write command and executes it immediately. In the third ms, the PR queue
receives a jump command and executes it right away as well. So, these two
commands are not sent to the motion command generator; the PR queue and the
generator can execute commands individually. In the fourth ms, the PR queue
receives a position command.
After the first position command is completed, the PR executor will issue it to the
generator and the generator starts executing it promptly.
Figure 133 - Sequence Command - Multiple Commands
Command Interrupts Execution
Interruption (INS) is an action that results in a command in execution being
replaced or integrated. Results of interruption differ based on the command
types. With INS, the latter command replaces the previous. There are two types
of interruption: internal and external, as shown in
Figure 134 .
PR#1
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
PR#5
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#2
Write
DLY=[0] 0 ms
P5.045=100
PR#3
Jump
DLY=[0] 0 ms
PR#5
(1 ms command cycle)
(1 ms command
cycle)
(1 ms command
cycle)
(1 ms command cycle)