Delta ASDA-A3 Series User Manual page 463

Motion Control
7
PR executor
Motion
command
generator
7-60
(1 ms command cycle)
PR#1
Speed
DLY=[1] 100 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
Speed (rpm)
500
200
100
(b) External interruption - Speed command
Figure 7.1.6.10 External interruption
(1 ms command cycle)
External
interruption PR#2
Speed
DLY=[0] 0 ms
500 rpm
Acc=[11] 33.3 ms
Dec=[11] 33.3 ms
(1 ms command cycle) (1 ms command cycle)
PR#10 (I)
Speed
DLY=[0] 0 ms DLY=[0] 0 ms
200 rpm
Acc=[0] 33.3 ms
Acc=[12] 333 ms
Dec=[12] 333 ms Dec=[0] 33.3 ms
PR#11
Speed
500 rpm
ASDA-A3
Time