Delta ASDA-A3 Series, User Manual

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Motion Control ASDA-A3
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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 for 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 for
the generator to start 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
100 ms
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