Delta ASDA-A3 Series User Manual page 261

Motion Control
Interpret PR path flow
The PR paths mentioned above include commands such as Sequence, Interrupt, and Overlap.
The replacement, integration, and overlapping for commands have different behavior depending
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on the settings. The suggested steps to interpret the PR path is as follows.
1. Check the command sequence. Check whether there are delay time (DLY) and interrupt
(INS) commands because these two types change the command execution sequence.
2. Find the lead PR and identify each PR group of 1 ms.
3. In each PR group of 1 ms, only the last motion command is executed. The Jump and Write
commands are immediately executed in the PR executor.
4. Position commands are combined based on the principle described in Section 7.1.3.3.
Statement (Arithmetic operation)
You can regard Statement commands as combinations of Write commands and Jump
commands. Thus, the execution priority is the same as these two types of commands, which are
executed by the PR executor. Statement commands can interrupt the previous command but
cannot be interrupted by the following command. This ensures that all statements are executed
before the PR paths enter the PR queue. In addition, whether there is an interrupt command in
the next PR path determines the statement execution duration in the command cycle. If the
following PR has no interruption setting (see Figure 7.1.6.12):
The arithmetic operation only takes 3.89 µs, but it still takes a complete cycle of 1 ms. The
Jump PR number in the Statement is executed in the next ms. If the Jump PR number specified
in the Statement has the interruption setting (as shown in Figure 7.1.6.13), this Jump command
is executed only when the Statement is completely executed (which is after 3.89 µs). Using
P5.007 to trigger other PR paths is not applicable in the arithmetic operation area in the
Statement.
7-64
(1 ms Cmd cycle)
Execution time: 3.89
PR executor
Statement
Exe.Time=3.89 μs
Figure 7.1.6.12 Multiple commands with arithmetic operations
(followed by a PR path without interrupt command)
(1 ms Cmd cycle)
μs
PR#10
Write
PR#1
true
DLY=[0] 0 ms
P5.045=200
PR#20
S0
Write
false
DLY=[0] 0 ms
P5.045=300
ASDA-A3