Delta ASDA-A3 Series User Manual page 260

ASDA-A3 Motion Control
(1 ms command cycle) (1 ms command cycle)
PR#1 (O) PR#2
Position Position
PR
DLY=[0] 0 ms DLY=[0] 0 ms
5000 PUU 10000 PUU
executor
ABS ABS
7
200 rpm 500 rpm
Acc=[0] 6.67 ms Acc=[2] 6.67 ms
Dec=[0] 6.67 ms Dec=[2] 6.67 ms
Speed
Motion
command
generator
Time
st
Deceleration time of the 1 command is identical to
nd
acceleration time of the 2 command
(b) Overlap command - Acceleration and deceleration time are identical
Figure 7.1.6.11 Overlap command
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