Multiple Commands With Arithmetic Operations; Writing Trigger Command In Statement Section - Delta ASDA-A3 Series User Manual

Motion Control
Arithmetic operations (Statement)
You can regard arithmetic operation commands as combinations of Write commands and Jump
commands. Thus, the execution priority is the same as these two types of commands, which are
executed by PR executor. Arithmetic operation commands can interrupt the previous command
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but cannot be interrupted by the following command. This ensures that all arithmetic operations
are completed before the PR paths enter the PR queue. In other words, for a series of PR paths
with both arithmetic operations and Interrupt functions, only the arithmetic operations commands
of this PR path are executed in the first ms. The rest are sent to the PR queue in the next ms.
Therefore, the jump target PR number specified by the path with arithmetic operations is
executed in the next ms (see Figure 7.1.6.12). If you have entered the triggering parameter in the
Statement section, such as PR command trigger register (P5.007) (which has the highest
execution priority and is processed as an external interruption) after the arithmetic operations are
done, the path specified by PR command trigger register is executed in the next ms. The logic
condition commands are not executed (see Figure 7.1.6.13).
PR executor
PR executor
7-58
(1 ms command cycle)
PR#1 (I)
Write
DLY=[0] 0 ms
P5.045=100
Figure 7.1.6.12 Multiple commands with arithmetic operations
(1 ms command cycle)
PR#1 (I)
Write
DLY=[0] 0 ms
P5.045=100
Figure 7.1.6.13 Writing trigger command in Statement section
(1 ms command cycle)
PR#6 (I)
true
DLY=[0] 0 ms
Statement
S0
Exe.Time=3.89μs
false
DLY=[0] 0 ms
(1 ms command cycle)
PR#6 (I)
Statement
S1
DLY=[0] 0 ms
(P5.007 = 30)
Exe.Time=1.89μs
ASDA-A3
PR#10 (I)
Write
P5.045=200
PR#20 (I)
Write
P5.045=300
PR#30 (I)
Write
P5.045=400
Revision December, 2017