Speed Change During The Execution Of Pr Position Command; Speed Change During Execution Of Pr Position Command; Description; How Does System Work - Delta ASDA Series Application Notes

Chapter 4 Application Techniques

4.4 Speed Change during Execution of PR Position Command

4.4.1 Description

For the application of point-to-point operation, PR function in ASDA-A2 is a great tool for easy
setting and wiring. Also, the host controller is not required during operation and thus can greatly
enhance the efficiency and reduce the cost. Since motion is completed by triggering a series of
PR during operation, PR setting has to be completed in advance. To change the speed during
operation, please set up the PR for it beforehand. If not, use controller to issue the command to
change the required speed.

4.4.2 How does System Work?

During the operation between two points, when issuing the command of speed change, the
motor will operate with the new speed immediately. However, the next reverse command will be
executed until the current position command is complete. See figure 4.4.2.
4-22
Speed
curve
Position
curve
Figure 4.4.1 Point-to-point operation
Figure 4.4.2 Change the speed in half way in point-to-point operation
ASDA Series Application Note
March, 2015