Send Quote Requests to info@automatedpt.com

Motion Control

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

ASDA-A3

7

7.1.6 PR procedure execution flow

The ASDA-A3 updates the command status every 1 ms. Figure 7.1.6.1 illustrates the PR

procedure execution flow and how the servo drive deals with PR commands. Once a PR

procedure is triggered, it goes through three units, which are PR queue, PR executor, and

motion command generator.

Priority

High

DI.CTRG P5.007 Event( ) Event( )

Low

PR queue

 Every 1 ms, issues the waiting lead PR to PR executor no matter whether the

executor has completed the commands or not.

 New lead PR replaces the PR in the executor.

PR executor

 Sends the paths set with motion commands to the generator (Speed Cmd, Position

Cmd).

 Completes jump, write, and arithmetic operations commands.

 Within 1 ms, it completes at least 20 consecutive paths with interruption functions

and without delay (if arithmetic operations which cannot be interrupted are

included, duration is determined by the operation time and will be the last command

in 1 ms).

Motion command generator

 Integrates multiple commands (sequence, interrupt, or overlap commands).

 Outputs the integrated motion commands.

Speed

Time

Figure 7.1.6.1 PR execution flow in the ASDA-A3

 Trigger mechanism

The trigger mechanism is as mentioned in Section 7.1.5. There are three trigger methods. A PR

procedure is executed as long as a trigger signal is output. When two different trigger methods

are used for one PR procedure within the same ms, the priority is as follows: DI trigger

(DI.CTRG) > PR command trigger register (P5.007) > Rising-edge event trigger (Event ↑) >

Falling-edge event trigger (Event ↓). Within this ms, commands with higher priority are executed

first and then the lower priority commands are arranged in the next ms. If three trigger

commands are generated in the same ms, the third is not added to the PR queue.

7-50

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com