Delta ASDA-A3 Series User Manual page 249

Motion Control
Sequence command
The configurable commands for PR paths are the motion commands, which are the Position
and Speed commands. A sequence command is a motion command without an Overlap or
7
Interrupt function. The following command starts to be executed only after the delay set in the
previous command. Regarding Position commands, the delay time starts to count after the
target position is reached. For Speed command, the delay time counting starts after the target
speed is reached.
 Position command followed by a Position command
When the PR executor receives two consecutive Position commands, if they do not have
Interrupt or Overlap functions, the PR executor issues the first Position command to the motion
command generator, and the generator starts the first part of position control. After the first
Position command completes, if no delay time is set, the PR executor issues the second
Position command for the generator to start the second part of position control (see Figure
7.1.6.2 (a)).
If the first Position command includes a delay, the PR executor starts counting the delay time
right after the motor reaches the target position. Then it issues the second Position command
for the generator to start the second part of position control as shown in Figure 7.1.6.2 (b).
PR
executor
Motion
command
generator
7-52
(1 ms command cycle)
PR#1
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
Speed
(a) Position command without delay
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
ASDA-A3
Time