Delta ASDA-A3 Series User Manual page 461

Motion Control
 Multiple interrupt commands
The PR queue updates commands every 1 ms. If all PR paths include an Interrupt function, the
queue can read at least 20 PR paths in 1 ms, and these paths are called a PR group.
If this PR group has multiple motion commands, the PR queue only sends the last command it
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receives to the motion command generator for execution. Therefore, in a PR group, only one
PR path with motion command is executed. The latter motion command directly replaces the
former, whereas Jump and Write commands are executed as soon as they are received by the
PR queue (see Figure 7.1.6.9 (a)). If one of the PR paths includes a delay, the PR queue
schedules all paths on the basis of this PR path and regards the prior path(s) (including the PR
path which includes a delay) as the first PR group, and regards what follows as the second PR
group. Thus, this PR procedure can execute up to two PR paths with motion commands, as
shown in Figure 7.1.6.9 (b).
PR
executor
Motion
command
generator
PR
executor
Motion
command
generator
7-58
PR#1 (I)
PR#2 (I)
Position
DLY=[0] 0 ms
1000 PUU
DLY=[0] 0 ms
ABS
P5.045=100
200 rpm
Speed
(a) Multiple commands without delay
(1 ms Cmd cycle)
Approx. 20 PR paths
PR#1 (I)
Position
DLY=[0] 0 ms
1000 PUU
ABS
200 rpm
Speed
(b) Multiple commands with delay
Figure 7.1.6.9 Internal interruption - Multiple commands
(1 ms Cmd cycle)
Approx. 20 PR paths
Write
DLY 100 ms
PR#6 (I)
Write
DLY=[1] 100 ms
P5.045=100
PR#7 (I)
PR#8 (I)
Position
Jump
DLY=[0] 0 ms
10000 PUU
DLY=[0] 0 ms
ABS
PR#10
500 rpm
(1 ms Cmd cycle)
PR#7 (I)
PR#8 (I)
Position
Jump
DLY=[0] 0 ms
10000 PUU
DLY=[0] 0 ms
ABS
PR#10
500 rpm
ASDA-A3
Time
Time