Pr Procedure Execution Flow; Trigger Mechanism; Pr Execution Flow In The Asda-A3 - Delta ASDA-A3 Series User Manual

Motion Control

7.1.6 PR procedure execution flow

The ASDA-A3 updates the command status every 1 ms. Figure 7.1.6.1 illustrates the PR
procedure execution flow and how the servo drive deals with PR commands. Once a PR
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procedure is triggered, it goes through three units, which are PR queue, PR executor, and motion
command generator.
Priority
 Every 1 ms, issues the waiting lead PR to PR executor no matter whether the
 New lead PR replaces the PR in the executor.
 Sends the paths set with motion commands to the generator (Speed Cmd, Position
 Completes jump, write, and arithmetic operations commands.
 Within 1 ms, it completes at least 20 consecutive paths with interruption functions
 Integrates multiple commands (Sequence, interrupt, or overlap commands).
 Output the integrated motion commands.

Trigger mechanism


The trigger mechanism is as mentioned in Section 7.1.5. There are three trigger methods. A PR
procedure is executed as long as a trigger signal is output. When two different trigger methods
are used for one PR procedure within the same ms, the priority is as follows: DI trigger (DI.CTRG)
> PR command trigger register (P5.007) > Rising-edge event trigger (Event ↑) > Falling-edge
event trigger (Event↓). Within this ms, commands with higher priority are executed first and then
the lower priority commands are arranged in the next ms. If three trigger commands are
generated in the same ms, the third is not added to the PR queue.
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High DI:CTRG
executor has completed the commands or not.
Cmd).
and without delay (If arithmetic operations which cannot be interrupted are
included, duration is determined by the operation time and will be the last
command in 1 ms).
Motion command generator
Speed
Figure 7.1.6.1 PR execution flow in the ASDA-A3
P5.007 Event(↑)
PR queue
PR executor
Event(↓) Low
Time
Revision December, 2017
ASDA-A3