Delta ASDA-A3 Series, User Manual

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ASDA-A3 Motion Control
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7
 Multiple interrupt commands
The PR queue updates commands every 1 ms. If all PR paths include an Interrupt function, the
queue can read at least 20 PR paths in 1 ms, and these paths are called a PR group.
If this PR group has multiple motion commands, the PR queue only sends the last command it
receives to the motion command generator for execution. Therefore, in a PR group, only one
PR path with motion command is executed. The latter motion command directly replaces the
former, whereas Jump and Write commands are executed as soon as they are received by the
PR queue (see Figure 7.1.6.9 (a)). If one of the PR paths includes a delay, the PR queue
schedules all paths on the basis of this PR path. The prior path(s) including a delay becomes
the first PR group, and what follows is the second PR group. Thus, this PR procedure can
execute up to two PR paths with motion commands, as shown in Figure 7.1.6.9 (b).
PR#1 (I)
Position
DLY=[0] 0 ms
1000 PUU
ABS
200 rpm
PR#7 (I)
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#2 (I)
Write
DLY=[0] 0 ms
P5.045=100
PR#8 (I)
Jump
DLY=[0] 0 ms
PR#10
Approx. 20 PR paths
(1 ms Cmd cycle)
(a) Multiple commands without delay
PR#1 (I)
Position
DLY=[0] 0 ms
1000 PUU
ABS
200 rpm
PR#7 (I)
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#6 (I)
Write
DLY=[1] 100 ms
P5.045=100
PR#8 (I)
Jump
DLY=[0] 0 ms
PR#10
Approx. 20 PR paths
DLY 100 ms
(1 ms Cmd cycle) (1 ms Cmd cycle)
(b) Multiple commands with delay
Figure 7.1.6.9 Internal interruption – Multiple commands