Delta ASD-A3-0121, User Manual

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Motion Control ASDA-A3
7-48
Revision December, 2017
7

Position command followed by a Position command
When the PR executor receives two consecutive Position commands, if they do not have
Interrupt or Overlap functions, the PR executor issues the first Position command to the motion
command generator, and the generator starts the first part of position control. After the first
Position command completes, if no delay time is set, the PR executor issues the second Position
command for the generator to start the second part of position control (see Figure 7.1.6.2(a)).
If the first Position command includes a delay, the PR executor starts counting the delay time
right after the motor reaches the target position. Then it issues the second Position command to
the generator for the second part of position control as shown in Figure 7.1.6.2 (b).
PR#1
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
(1 ms command cycle)
Motion
command
generator
Time
Speed
(1 ms command cycle)
(a) Position command without delay
PR#1
Position
DLY=[1] 100 ms
10000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
100ms
(1 ms command cycle)
(1 ms command cycle)
(b) Position command with delay
Figure 7.1.6.2 Sequence Position command