Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Motion Control
Revision December, 2017
7-55
7
2. External Interruption
If an external interruption is encountered, it uses the PR Command trigger method to execute
another PR path (refer to Section 7.1.5 for PR trigger methods). When the PR queue receives a
PR path with an Interrupt function, it sends this path to the motion command generator
immediately and changes the path in execution. Note that a delay does not change the result of
an external interruption. That is, once the PR queue receives an external interruption command,
the motion commands in the latter part are executed by the generator and integrated with the
previous commands. The external interruption is as shown in Figure 7.1.6.10 (a).
If a PR path with external interruption enters the PR executor, the executor sends this Position
command immediately to the generator so that the motor can run in accordance with the
interruption. The motor uses the settings that integrate with the former motion commands when
running. The methods of integration are described in Section 7.1.3. Similarly, an external
interruption affects Speed and Position commands the same way and the same is true for
multiple commands. See Figure 7.1.6.10(b) for an example.
PR#1
Position
DLY=[0] 0 ms
1000 PUU
ABS
100 rpm
PR#11
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
PR
executor
Motion
command
generator
Time
Speed
PR#10 (I)
Position
DLY=[0] 0 ms
5000 PUU
ABS
200 rpm
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
External
interruption
(1 ms command cycle) (1 ms command cycle)
(1 ms command cycle) (1 ms command cycle)
(a) External interruption – Position command