Delta ASDA-A3 Series User Manual page 244

ASDA-A3
PR
executor
Speed
Motion
command
generator
(a) Overlap command - Acceleration and deceleration time are different
PR
executor
Speed
Motion
command
generator
(b) Overlap command - Acceleration and deceleration time are identical
Revision December, 2017
(1 ms command cycle)
PR#1 (O)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
st
Deceleration time of the 1 command is different from
nd
acceleration time of the 2 command
(1 ms command cycle)
PR#1 (O)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
st
Deceleration time of the 1 command is identical to
nd
acceleration time of the 2 command
Figure 7.1.6.11 Overlap command
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Acc=[0] 16.65 ms
Acc=[0] 16.65 ms
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Acc=[2] 6.67 ms
Dec=[2] 6.67 ms
Motion Control
7
Time
Time
7-57