Delta ASDA-A3 Series, User Manual, Page: 254 / 845

ASDA-A3 Motion Control
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7
PR#1
Position
DLY=[0] 0 ms
1000 PUU
ABS
100 rpm
PR#3
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
( 1 ms Cmd cycle )
Motion
command
generator
Time
Speed
PR#2 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
(1 ms Cmd cycle)
(a) Position command without delay
PR#1
Position
DLY=[4] 500 ms
10000 PUU
ABS
100 rpm
PR#3
Position
DLY=[0] 0 ms
100000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#2 (I)
Position
DLY=[0] 0 ms
50000 PUU
ABS
200 rpm
500 ms
(1 ms Cmd cycle) (1 ms Cmd cycle) (1 ms Cmd cycle)
(b) Position command with delay
Figure 7.1.6.6 Internal interruption - Position command
The integration for internal interrupt position command is slightly different from what is described
in Section 7.1.3. The way REL and INC commands work is identical. The target position is the
previous target position plus the current position. See the following example. The rest of the
integration method is the same as mentioned in Section 7.1.3.
Internal interruption
REL (I)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor
’
s
current position
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
Internal interruption
INC (I)
60000 PUU
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor
’
s
current position
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
Figure 7.1.6.7 Example of relative and incremental position commands for internal interruption