Overlap Command - Delta ASDA-A3 Series User Manual

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Motion Control

Overlap command

If the previous position command includes an Overlap function; it allows the next command to be

executed while the previous motion is decelerating, thus achieving a continuous motion. When

you use an Overlap command, the delay time is still effective. The delay time starts to count from

the command‟s start point; however, in order to have the commands transition smoothly, setting

the delay time of the previous command to 0 is suggested. In addition, if deceleration time of the

previous command is identical to acceleration time of the next, the transition between commands

can be very smooth, avoiding discontinuous speed during transition (see Figure 7.1.6.11). The

calculation is as follows.

An Interrupt command has a higher priority than an Overlap command. Thus, when you set an

Overlap function in the current Position command, and the next motion command includes an

Interrupt function, only the command with the Interrupt function is executed.

(1 ms command cycle)

DLY=[1] 100 ms

Acc=[11] 100 ms

Dec=[11] 100 ms

(b) External interruption – Speed command

Figure 7.1.6.10 External interruption

(1 ms command cycle)

interruption

DLY=[0] 0 ms

Acc=[11] 33.3 ms

Dec=[11] 33.3 ms

(1 ms command cycle)

DLY=[0] 0 ms

Acc=[12] 333 ms

Acc=[0] 33.3 ms

Dec=[12] 333 ms

Dec=[0] 33.3 ms

Revision December, 2017

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