Delta ASDA-A3 Series User Manual page 252

ASDA-A3
 Multiple commands
The PR queue updates commands every 1 ms. For a motion command, the PR queue sends
the next command to the generator only after the previous command completes. Jump or Write
commands are executed in the PR queue immediately. As shown in Figure 7.1.6.4, in the first
ms, the PR queue receives a Position command and it sends this command to the motion
command generator, having the generator to execute the command. In the second ms, the PR
queue receives a Write command and executes it immediately. In the third ms, the PR queue
receives a Jump command and executes it immediately as well. These last two commands are
not sent to the motion command generator since the PR queue and the generator can execute
commands independently. In the fourth ms, the PR queue receives a Position command. After
the first Position command is complete, the PR executor sends it to the generator and the
generator starts executing it immediately.
PR
executor
Speed
Motion
command
generator
(1 ms Cmd cycle)
PR#1
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Figure 7.1.6.4 Multiple sequence commands
(1 ms Cmd cycle) (1 ms Cmd cycle)
PR#2 PR#3
Jump
Write
DLY=[0] 0 ms DLY=[0] 0 ms
P5.045=100 PR#5
Motion Control
(1 ms Cmd cycle)
PR#5
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Time
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7