Delta ASDA-A3 Series User Manual page 259

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Motion Control

Overlap command

If the previous position command includes an Overlap function, it allows the next command to

be executed while the previous motion is decelerating, thus achieving a continuous motion.

When you use an Overlap command, the delay time is still effective. The delay time starts to

count from the command's start point; however, in order to have the commands transition

smoothly, setting the delay time of the previous command to 0 is suggested. In addition, if

deceleration time of the previous command is identical to acceleration time of the next, the

transition between commands can be very smooth, avoiding discontinuous speed during

transition (see Figure 7.1.6.11). The calculation is as follows.

An Interrupt command has a higher priority than an Overlap command. Thus, when you set an

Overlap function in the current Position command, and the next motion command includes an

Interrupt function, only the command with the Interrupt function is executed.

1st target speed (��1)

2nd target speed ( ��2 )

(1 ms command cycle)

DLY=[0] 0 ms

Acc=[0] 6.67 ms

Dec=[0] 6.67 ms

Deceleration time of the 1

command is different from

acceleration time of the 2

(a) Overlap command - Acceleration and deceleration time are different

× Deceleration time ( �� )

× Acceleration time (��)

(1 ms command cycle)

DLY=[0] 0 ms

Acc=[0] 16.65 ms

Troubleshooting

Ecm-a3 series