Delta ASDA-A3 Series User Manual page 455

Motion Control
 Position command followed by a Position command
When the PR executor receives two consecutive Position commands, if they do not have
Interrupt or Overlap functions, the PR executor issues the first Position command to the motion
command generator, and the generator starts the first part of position control. After the first
7
Position command completes, if no delay time is set, the PR executor issues the second
Position command for the generator to start the second part of position control (see Figure
7.1.6.2 (a)).
If the first Position command includes a delay, the PR executor starts counting the delay time
right after the motor reaches the target position. Then it issues the second Position command
for the generator to start the second part of position control as shown in Figure 7.1.6.2 (b).
PR
executor
Motion
command
generator
PR
executor
Motion
command
generator
7-52
(1 ms command cycle)
PR#1
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
Speed
(a) Position command without delay
(1 ms command cycle)
PR#1
Position
DLY=[1] 100 ms
10000 PUU
ABS
200 rpm
Speed
(b) Position command with delay
Figure 7.1.6.2 Position sequence command
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
100 ms
ASDA-A3
Time
Time