Delta ASDA-A3 Series User Manual page 459

Motion Control
PR
executor
7
Motion
command
generator
PR
executor
Motion
command
generator
The integration for internal interrupt position command is slightly different from what is described
in Section 7.1.3. The way REL and INC commands work is identical. The target position is the
previous target position plus the current position. See the following example. The rest of the
integration method is the same as mentioned in Section 7.1.3.
Internal interruption
REL (I)
60000 PUU
Internal interruption
INC (I)
60000 PUU
Figure 7.1.6.7 Example of relative and incremental position commands for internal interruption
7-56
( 1 ms Cmd cycle
PR#1 PR#2 (I)
Position
DLY=[0] 0 ms
DLY=[0] 0 ms
1000 PUU 5000 PUU
ABS
100 rpm
Speed
(a) Position command without delay
(1 ms Cmd cycle) (1 ms Cmd cycle)
PR#1 PR#2 (I)
Position
DLY=[4] 500 ms DLY=[0] 0 ms
10000 PUU 50000 PUU
ABS
100 rpm 200 rpm
Speed
500 ms
(b) Position command with delay
Figure 7.1.6.6 Internal interruption - Position command
Motor s
previous command
current position
(Fb_PUU)
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor s
previous command
current position
(Fb_PUU)
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
) (1 ms Cmd cycle)
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
(1 ms Cmd cycle)
Position
DLY=[0] 0 ms
100000 PUU
ABS
Endpoint of
60000
(Cmd_E)
Endpoint of
60000
(Cmd_E)
PR#3
Position
ABS
500 rpm
PR#3
Position
ABS
500 rpm
Target
position
Target
position
ASDA-A3
Time
Time