Delta ASDA-A3 Series User Manual page 460

ASDA-A3
 Speed command  Speed command (I)  Speed command
When the PR executor receives three consecutive Speed commands with an interrupt in the
second command, the executor treats the first and the second as one PR group. Since the first
Speed command is not executed, the executor replaces the first command with the second. It
only sends the second command to the motion command generator for execution. After the
second command is complete, the executor sends the third command to the generator (see
Figure 7.1.6.8 (a)).
If the first command includes a delay, then the PR executor sends the first command to the
generator and then starts counting the delay time. After the delay is over, it then sends the
second command and the generator starts the second part of speed control. While the first
command is still being executed, it is integrated with the second command. Once the second
command is complete, the executor sends the third to the generator for execution (see Figure
7.1.6.8 (b)).
PR
executor
Motion
command
generator
PR
executor
Motion
command
generator
( 1 ms command cycle
PR#1
Speed
DLY=[0] 0 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
Speed (rpm)
500
200
(a) Speed command without delay
(1 ms Cmd cycle) (1 ms Cmd cycle)
PR#1
Speed
DLY=[1] 100 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
Speed (rpm)
500
200
100
100 ms
(b) Speed command with delay
Figure 7.1.6.8 Internal interruption - Speed command
) (1 ms command cycle)
PR#3
PR#2 (I)
Speed Speed
DLY=[0] 0 ms DLY=[0] 0 ms
200 rpm 500 rpm
Acc=[12] 333 ms Acc=[0] 33.3 ms
Dec=[12] 333 ms Dec=[0] 33.3 ms
(1 ms Cmd cycle)
PR#2 (I) PR#3
Speed
Speed
DLY=[0] 0 ms
DLY=[0] 0 ms
500 rpm
200 rpm
Acc=[0] 33.3 ms
Acc=[12] 333 ms
Dec=[0] 33.3 ms
Dec=[12] 333 ms
Motion Control
7
Time
Time
7-57