Delta ASDA-B3 Series, User Manual

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ASDA-B3 Motion Control
7-57
7
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Acc=[0] 16.65 ms
Acc=[0] 16.65 ms
PR
executor
Motion
command
generator
Time
Speed
PR#1 (O)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Deceleration time of the 1
st
command is different from
acceleration time of the 2
nd
command
(1 ms command cycle)
(1 ms command cycle)
(a) Overlap command - Acceleration and deceleration time are different
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Acc=[2] 6.67 ms
Dec=[2] 6.67 ms
PR
executor
Motion
command
generator
Time
Speed
PR#1 (O)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Deceleration time of the 1
st
command is identical to
acceleration time of the 2
nd
command
(1 ms command cycle) (1 ms command cycle)
(b) Overlap command - Acceleration and deceleration time are identical
Figure 7.1.6.11 Overlap command
Interpret PR path flow
The PR paths mentioned above include commands such as Sequence, Interrupt, and Overlap.
The replacement, integration, and overlapping for commands lead to different behavior
depending on the settings. The suggested steps to interpret the PR path is as follows.
1.
Check the command sequence. Check whether there are delay time (DLY) and interrupt
(INS) commands because these two types change the command execution sequence.
2.
Find the lead PR and identify each PR group of 1 ms.
3.
In each PR group of 1 ms, only the last motion command is executed. The Jump and Write
commands are immediately executed in the PR executor.
4.
Position commands are combined based on the principle described in Section 7.1.3.3.