Pr Procedure Execution Flow - Delta ASDA-A3 Series User Manual

Motion Control

7.1.6 PR procedure execution flow

The ASDA-A3 updates the command status every 1 ms. Figure 7.1.6.1 illustrates the PR
procedure execution flow and how the servo drive deals with PR commands. Once a PR
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procedure is triggered, it goes through three units, which are PR queue, PR executor, and
motion command generator.
Priority
 Trigger mechanism
The trigger mechanism is as mentioned in Section 7.1.5. There are three trigger methods. A PR
procedure is executed as long as a trigger signal is output. When two different trigger methods
are used for one PR procedure within the same ms, the priority is as follows: DI trigger
(DI.CTRG) > PR command trigger register (P5.007) > Rising-edge event trigger (Event ↑) >
Falling-edge event trigger (Event ↓). Within this ms, commands with higher priority are executed
first and then the lower priority commands are arranged in the next ms. If three trigger
commands are generated in the same ms, the third is not added to the PR queue.
7-50
DI.CTRG
High
 Every 1 ms, issues the waiting lead PR to PR executor no matter whether the
executor has completed the commands or not.
 New lead PR replaces the PR in the executor.
 Sends the paths set with motion commands to the generator (Speed Cmd, Position
Cmd).
 Completes jump, write, and arithmetic operations commands.
 Within 1 ms, it completes at least 20 consecutive paths with interruption functions
and without delay (if arithmetic operations which cannot be interrupted are
included, duration is determined by the operation time and will be the last command
in 1 ms).
Motion command generator
 Integrates multiple commands (sequence, interrupt, or overlap commands).
 Outputs the integrated motion commands.
Speed
Figure 7.1.6.1 PR execution flow in the ASDA-A3
P5.007 Event( )
PR queue
PR executor
ASDA-A3
Event( ) Low
Time