Delta ASDA-A3 Series User Manual page 462

ASDA-A3 Motion Control
External Interruption
2.
If an external interruption is encountered, it uses the PR Command trigger method to execute
another PR path (refer to Section 7.1.5 for PR trigger methods). When the PR queue receives a
PR path with an Interrupt function, it sends this path to the motion command generator
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immediately and changes the path in execution. Note that a delay does not change the result of
an external interruption. That is, once the PR queue receives an external interrupt command,
the motion commands in the latter part are executed by the generator and integrated with the
previous commands.
The external interruption is as shown in Figure 7.1.6.10 (a). If a PR path with external
interruption enters the PR executor, the executor sends this Position command immediately to
the generator so that the motor can run in accordance with the interruption. The motor uses the
settings that integrate with the former motion commands when running. The methods of
integration are described in Section 7.1.3. Similarly, an external interruption affects Speed and
Position commands the same way, as shown in Figure 7.1.6.10 (b). And the same is true for
multiple commands.
(1 ms command cycle) (1 ms command cycle)
External
interruption
PR#1 PR#2
Position Position
DLY=[0] 0 ms DLY=[0] 0 ms
1000 PUU 10000 PUU
ABS ABS
100 rpm 200 rpm
PR
executor
(1 ms command cycle) (1 ms command cycle)
PR#10 (I) PR#11
Position Position
DLY=[0] 0 ms DLY=[0] 0 ms
5000 PUU 10000 PUU
ABS ABS
200 rpm 500 rpm
Speed
Motion
command
generator
Time
(a) External interruption - Position command
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