Delta ASDA-A3 Series User Manual page 465

Motion Control
PR
executor
7
Motion
command
generator
Interpret PR path flow
The PR paths mentioned earlier include commands such as Sequence, Interrupt, and Overlap.
The replacement, integration, and overlapping for commands have different behavior depending
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) settings 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 of Statement commands 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.
7-62
(1 ms command cycle)
PR#1 (O)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Speed
st
Deceleration time of the 1 command is identical to
acceleration time of the 2
(b) Command overlapping - Acceleration and deceleration time are identical
Figure 7.1.6.11 Command overlapping
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Acc=[2] 6.67 ms
Dec=[2] 6.67 ms
nd
command
ASDA-A3
Time