Allen-Bradley Kinetix 5100 2198-E1004-ERS, Руководство пользователя, Страница: 305 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
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Motion Control in PR Mode
Chapter 11
Figure 134 - Internal and External Interruption
Internal Interrupts
For a series of PR commands, if one PR command is set with AUTO (auto-
execute the next command), the system will carry on to the next command after
the current command is read. (If the current is set with a delay, the next command
will be read after delay time is over.) Meanwhile, if the next command is set with
an interrupt function, which has a higher execution priority, the servo drive will
immediately execute the interrupt command. It replaces the un-executed part in
the previous command with the latter or integrates the commands in execution of
the previous.
Position Commands
When the PR executor receives three consecutive position commands and the
second command has an interrupt configured (Position command > Position
Command (I) > Position Command), the executor treats the first and second
commands as one PR group. As the first position command is unexecuted, the
executor will replace the first with the second. It only issues the second to the
motion command generator for execution. After the second is completed, the
executor issues the third to the generator.
If the first is set with a delay, then the PR executor will issue the first to the
generator and then start counting the delay time. After the delay is over, it then
issues the second and the generator starts the second part of position control.
While the first is still being executed, it will be integrated with the second. Refer
to the following note. Once the second is completed, the executor will issue the
third to the generator for execution.
ID 300 (P5.007) PRCmdTrigger
Special Trigger (CAP/CMP/E-Cam)
External Interruption
Software Trigger
Event Trigger
DI Trigger