Delta ASD-A3-0121, User Manual

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ASDA-A3 Motion Control
Revision December, 2017
7-51
7
Command interruption
Interruption (INS) causes a command in execution to be replaced or integrated. The results of
the interruption differ based on the command types. The next command replaces the previous
command. There are two types of interruption: internal and external, as shown in Figure 7.1.6.5.
Figure 7.1.6.5 Internal and external interruption
1. Internal Interruption
For a series of PR paths, if one PR path includes an AUTO function (auto-execute the next path),
the system reads the next path after reading the current path. If the current path includes a delay,
the next path is read after delay time is over. Meanwhile, if the next path includes an Interrupt
function (which has a higher execution priority) the servo drive immediately executes the
interrupt command. It replaces the un-executed part in the previous path with the next or
integrates the commands in the execution of the previous path.
 Position command

Position command (I)

Position command
When the PR executor receives three consecutive Position commands with an interrupt in the
second command, the executor treats the first and the second Position commands as one PR
group. Since the first Position command is not executed, the executor replaces the first
command with the second. It only sends the second command to the motion command
generator for execution. After the second command is completed, the executor sends the third
command to the generator (see Figure 7.1.6.6 (a)).
If the first command includes a delay, then the PR executor sends the first command to the
generator and then starts counting the delay time. After the delay is over, the PR executor then
sends the second command and the generator starts the second part of position control. While
the first command is still being executed, it is integrated with the second command. The
integration is slightly different from what is described in Section 7.1.3. Please refer to the note
below. Once the second command is completed, the executor sends the third command to the
generator for execution (see Figure 7.1.6.6 (b)).