Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Motion Control
Revision December, 2017
7-37
7
Speed command
You can use the Speed command in any PR paths (PR#1 – PR#99). It is marked as “Speed”.
See Figure 7.1.4.3.
PR#1 (I)
Speed
DLY=[0] 0 ms
100 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
(1)
(2)
(3)
(4)
(5)
Figure 7.1.4.3 Speed command display
(1) Command execution type: a Speed command can interrupt (INS) the previous PR path.
If the Interrupt function is enabled, it displays (I); if not, no information is displayed.
(2) Delay time (DLY): determined by shared PR parameters. It is defined by a command from
the controller; the servo drive starts counting the delay time once it reaches the target
speed.
(3) Target speed: the set target speed.
(4) Acceleration time (ACC): determined by shared PR parameters; length of time to reach the
target speed from stopped.
(5) Deceleration time (DEC): determined by shared PR parameters; length of time to
decelerate from target speed to stopped.
Position command
You can use the Position command in any PR paths (PR#1 – PR#99). It is marked as “Position”,
and includes the options to “Stop once position control completed” and “Load the next path once
position control completed”. The only difference is that “Load the next path once position control
completed” shows an arrow pointing to the next PR. See Figure 7.1.4.4.
PR#1 (I)(O)
Position
DLY=[0] 0 ms
100000 PUU
ABS
200rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
(1)
(2)
(3)
(4)
(5)
(6)
(7)
PR#1 (I)(O)
Position
DLY=[0] 0 ms
100000 PUU
ABS
200rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Figure 7.1.4.4 Position command display
(1) Command execution type: a Position command can interrupt (INS) the previous PR path.
If the Interrupt function is enabled, it displays (I); if not, no information is displayed. The
Position command can overlap (OVLP) the next PR path. If delay time is set to 0 when this