Delta ASD-A3-0121, User Manual

Page: 236 / 603

ASDA-A3 Motion Control
Revision December, 2017
7-49
7
 Speed command followed by a Speed command
When the PR executor receives two consecutive Speed commands, if they do not have Interrupt
or Overlap functions, the PR executor issues the first Speed command to the motion command
generator, and the generator starts the first part of speed control. After the first Speed command
completes, if no delay time is set, the PR executor issues the second Speed command to the
generator to start the second part of speed control (see Figure 7.1.6.3(a)).
If the first Speed command includes a delay, the PR executor starts counting the delay time right
after the motor reaches the target speed. Then it issues the second Speed command to the
generator for the second part of speed control as shown in Figure 7.1.6.3 (b).
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#1
Speed
DLY=[0] 0 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
PR#2
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
100
500
(1 ms command cycle) (1 ms command cycle)
(a) Speed command without delay
PR
executor
Motion
command
generator
Time
PR#1
Speed
DLY=[1] 100 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
PR#2
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
100ms
Speed (rpm)
100
500
(1 ms command cycle) (1 ms command cycle)
(b) Speed command with delay
Figure 7.1.6.3 Speed sequence command