Delta ASDA-A3 Series User Manual page 478

ASDA-A3
PR#1
Write
DLY=[0] 0 ms
Arr[50]=20000
PR#5 (I)
Write
DLY=[0] 0 ms
P5.056=50
PR#45 (I)
Position
DLY=[0] 0 ms
50000 PUU
INC
100rpm
CMP axis
position
(PUU)
40000
30000
20000
5000
DO4: CMP
PR path
#1 - 8
PR#2 (I) PR#3 (I)
Write Write
DLY=[0] 0 ms DLY=[0] 0 ms
Arr[51]=30000 Arr[52]=40000
PR#6 (I)
Write
DLY=[0] 0 ms DLY=[10] 1 ms
P5.058=3
PR#46
Speed
DLY=[0] 0 ms
50 rpm
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
Figure 7.2.3.3 PR path using the Compare function
Data array
#50 20000 20000 20000
#51 30000 30000 30000
#52 40000 40000 40000
(1) (2)
#9
#45
Figure 7.2.3.4 Timing of the Compare function
PR#4 (I)
Write
DLY=[0] 0 ms
P5.059=
0x00640030
PR#8 (I)
PR#7 (I)
Write
Write
DLY=[0] 0 ms
P5.059=
P5.057=0
0x0064103B
20000 20000 20000
30000 30000 30000
40000 40000 40000
(3) (1) (2)
#46
Motion Control
PR#9 (I)
Speed
DLY=[0] 0 ms
50 rpm
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
Time
(3)
#46
#45
7
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