Delta ASD-A3-0121, Руководство пользователя

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Motion Control ASDA-A3
7-50
Revision December, 2017
7
 Multiple commands
The PR queue updates commands every 1 ms. For a motion command, the PR queue sends the
next command to the generator only after the previous command completes. Jump or Write
commands are executed in the PR queue immediately.
As shown in Figure 7.1.6.4, in the first ms, the PR queue receives a Position command and it
sends this command to the motion command generator, causing the generator to execute the
command. In the second ms, the PR queue receives a Write command and executes it
immediately. In the third ms, the PR queue receives a Jump command and executes it
immediately as well. These last two commands are not sent to the motion command generator
since the PR queue and the generator can execute commands independently. In the fourth ms,
the PR queue receives a Position command. After the first Position command is completed, the
PR executor sends it to the generator and the generator starts executing it immediately.
PR#1
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
PR#5
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#2
Write
DLY=[0] 0 ms
P5.045=100
PR#3
Jump
DLY=[0] 0 ms
PR#5
(1 ms command cycle)
(1 ms command
cycle)
(1 ms command
cycle)
(1 ms command cycle)
Figure 7.1.6.4 Sequence command – Multiple commands