Delta ASDA-A3 Series User Manual page 464

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Command overlapping

If the previous position command includes an Overlap function, it allows the next command to

be executed while the previous motion is decelerating, thus achieving a continuous motion.

When you use a command with an Overlap function, the delay time is still effective. The delay

time starts to count from the command's start point; however, in order to have the commands

transition smoothly, setting the delay time of the previous command to 0 is suggested. In

addition, if deceleration time of the previous command is identical to acceleration time of the

next, the transition between commands can be very smooth, avoiding discontinuous speed

during transition (see Figure 7.1.6.11). The calculation is as follows.

Commands that include an Interrupt function have a higher priority than commands that include

an Overlap function. Thus, when you set an Overlap function in the current Position command,

and the next motion command includes an Interrupt function, only the command with the

Interrupt function is executed.

(a) Command overlapping - Acceleration and deceleration time are different

1st target speed (��1)

2nd target speed ( ��2 )

(1 ms command cycle)

DLY=[0] 0 ms

Acc=[0] 6.67 ms

Dec=[0] 6.67 ms

Deceleration time of the 1

command is different from

acceleration time of the 2

× Deceleration time ( �� )

× Acceleration time (��)

(1 ms command cycle)

DLY=[0] 0 ms

Acc=[0] 16.65 ms

Motion Control

Troubleshooting

A3-l A3-m A3-f A3-e