Delta ASDA-A3 Series User Manual page 256

ASDA-A3
 Multiple interrupt commands
The PR queue updates commands every 1 ms. If all PR paths include an Interrupt function, the
queue can read at least 20 PR paths in 1 ms, and these paths are called a PR group.
If this PR group has multiple motion commands, the PR queue only sends the last command it
receives to the motion command generator for execution. Therefore, in a PR group, only one
PR path with motion command is executed. The latter motion command directly replaces the
former, whereas Jump and Write commands are executed as soon as they are received by the
PR queue (see Figure 7.1.6.9 (a)). If one of the PR paths includes a delay, the PR queue
schedules all paths on the basis of this PR path. The prior path(s) including a delay becomes
the first PR group, and what follows is the second PR group. Thus, this PR procedure can
execute up to two PR paths with motion commands, as shown in Figure 7.1.6.9 (b).
PR
executor
Speed
Motion
command
generator
PR
executor
Speed
Motion
command
generator
PR#1 (I)
PR#2 (I)
Position
Write
DLY=[0] 0 ms
1000 PUU
DLY=[0] 0 ms
ABS
P5.045=100
200 rpm
(a) Multiple commands without delay
(1 ms Cmd cycle)
Approx. 20 PR paths
PR#1 (I)
Position
DLY=[0] 0 ms
1000 PUU
DLY=[1] 100 ms
ABS
200 rpm
(b) Multiple commands with delay
Figure 7.1.6.9 Internal interruption – Multiple commands
(1 ms Cmd cycle)
Approx. 20 PR paths
PR#7 (I)
Position
DLY=[0] 0 ms
10000 PUU
500 rpm
DLY 100 ms
PR#7 (I)
PR#6 (I)
Position
Write
DLY=[0] 0 ms
10000 PUU
P5.045=100
500 rpm
Motion Control
PR#8 (I)
Jump
DLY=[0] 0 ms
ABS
PR#10
Time
(1 ms Cmd cycle)
PR#8 (I)
Jump
DLY=[0] 0 ms
ABS
PR#10
Time
7
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