Delta ASDA-B3 Series, User Manual

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ASDA-B3 Motion Control
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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
or combines with 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 continues to read the next path after reading the current path. If the current
path includes a delay, the next path is read after the 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 next with the commands of the previous path which are in
execution.
 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 and only sends the second command to the motion command
generator for execution. After the second command is complete, 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, it then sends the second command and the generator starts the
second part of speed control. While the first command is still being executed, it is integrated
with the second command. Note that this integration differs from that described in Section 7.1.3.
Refer to the following note. Once the second command is complete, the executor sends the
third command to the generator for execution (see Figure 7.1.6.6 (b)).