Programming The Path In Pr Mode - Delta ASD-A2R-0221 Series User Manual

Chapter 7 Motion Control ASDA-A2R Series
7.10.1 The Relation between the Previous Path and the Next Path
1) Interrupt (the previous path) and overlap (the next path) can be set in every path
INS
Note: Path (procedure)
2) The priority of interrupt command is higher than overlap
PATH 1 PATH 2
OVLP=0
OVLP=1
OVLP=0
OVLP=1

7.10.2 Programming the Path in PR Mode

1) Sequence command
Path 1: speed command and has
set DLY
Path 2: position command
(DLY starts to count after completing
the command)
2) Overlap
Path 1
7-24
OVLP
Path 1
Relation
In
INS=0
sequence
INS=0 Overlap
INS=1 Interrupt
Path 2
INS
Path 2
Output
PATH 1/2
DLY 1
combination of speed/position
PATH 2 is SPEED and does not
NO DLY
support overlap
PATH 1/2
N/A
combination of speed/position
Path 1: is AUTO and has set DLY
Path 2: does not set INS
(DLY starts to count after completing
the command)
DLY 1
Speed 1
Path 1: has set OVLP but cannot set
Path 2: does not set INS
OVLP
Note
which could
which could
Path 2
DLY
Revision December, 2014
be the
be the