Position Command Types; Parameters For Pr Mode Position Settings; Absolute Position Command (Abs); Rockwell Automation Publication 2198-Um004A-En-P - October - Allen-Bradley Kinetix 5100 2198-E1004-ERS User Manual

Motion Control in PR Mode
Chapter 11
270
Figure 100 - Parameters for PR Mode Position Settings
Speed
Target speed
Acceleration time
Below are the functions of each bit when a position command is applied.
PR parameters D C
- -
Command type
Data content
Note:
1. OPT: option
BIT 3 2
CMD
Command type
0 0
Data content
0 1
1 0
1 1

Position Command Types

There are four types of position commands for the PR mode. You can choose the
position command according to the application requirements. The functions of
each type are described in the examples below. The condition in these examples is
that a position command is still being executed and another type of command is
inserted. To see how the position commands are combined, see
1. Absolute position command (ABS): when executed, the target position
value equals the absolute command value. In
command with the value of 60000 PUU is inserted in the previous PR
command with setting target position of 60000 PUU on the coordinate
axis.

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019

Position
command
Deceleration time
B A U Z Y
DLY SPD DEC ACC OPT
Target position [PUU]
1 0 Description
OVLP INS
ABS (absolute positioning)
REL (relative positioning)
- -
INC (incremental positioning)
CAP (high-speed position capturing)
Delay time
Time
X
2 or 3
-
Figure 101.
Figure 101, an ABS