Pr Procedure Execution Flow - Delta ASDA-B3 Series User Manual

Motion Control

7.1.6 PR procedure execution flow

The servo drive updates the command status every millisecond. Figure 7.1.6.1 illustrates how
the servo drive deals with the PR commands. Once a PR procedure is triggered, it goes through
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three processing units, which are PR queue, PR executor, and motion command generator.
Priority High
 Trigger mechanism
As mentioned in Section 7.1.5, the servo drive provides multiple trigger methods. A PR
procedure is executed as long as a trigger signal is output. When two different trigger
commands are generated within the same ms, the priority is as follows: High-speed position
capture triggering (CAP) > DI triggering (DI.CTRG) > PR command trigger register (P5.007) >
Rising-edge event triggering (Event ↑) > Falling-edge event triggering (Event↓). Within this
ms, commands with higher priority are executed first and then the lower priority commands are
sent in the next ms. If three trigger commands are generated in the same ms, the third is not
added to the PR queue.
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CAP
 Issues the waiting lead PR to PR executor in every millisecond no matter whether
the executor has completed the commands or not.
 The issued lead PR replaces the PR in the executor.
 Sends the paths set with motion commands (Speed and Position commands) to the
generator.
 Completes Jump and Write commands.
 Within 1 ms, it completes at least 20 consecutive paths with Interrupt functions and
without delay.
Motion command generator
 Integrates multiple commands (Sequence, Interrupt, or Overlap commands).
 Outputs the integrated motion commands.
Speed
Figure 7.1.6.1 PR execution flow in the servo drive
DI.CTRG P5.007
PR queue
PR executor
Event ( ) Event ( )
Time
ASDA-B3
Low