Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 Motion Control
7-53
7
 Speed command

Speed command (I)

Speed command
When the PR executor receives three consecutive Speed commands with an interrupt in the
second command, the executor treats the first and the second as one PR group. Since the first
Speed 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 7.1.6.8 (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.
Once the second command is complete, the executor sends the third to the generator for
execution (see Figure 7.1.6.8 (b)).
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#2 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#3
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
PR#1
Speed
DLY=[0] 0 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
( 1 ms command cycle ) (1 ms command cycle)
200
500
(a) Speed command without delay
PR
executor
Motion
command
generator
Time
Speed (rpm)
PR#2 (I)
Speed
DLY=[0] 0 ms
200 rpm
Acc=[12] 333 ms
Dec=[12] 333 ms
PR#3
Speed
DLY=[0] 0 ms
500 rpm
Acc=[0] 33.3 ms
Dec=[0] 33.3 ms
PR#1
Speed
DLY=[1] 100 ms
100 rpm
Acc=[11] 100 ms
Dec=[11] 100 ms
100 ms
(1 ms Cmd cycle) (1 ms Cmd cycle) (1 ms Cmd cycle)
200
100
500
(b) Speed command with delay
Figure 7.1.6.8 Internal interruption - Speed command