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
Position command followed by a Position command
When the PR executor receives two consecutive Position commands, if they do not have
Interrupt or Overlap functions, the PR executor issues the first Position command to the motion
command generator, and the generator starts the first part of position control. After the first
Position command completes, if no delay time is set, the PR executor issues the second
Position command for the generator to start the second part of position control (see Figure
7.1.6.2 (a)).
If the first Position command includes a delay, the PR executor starts counting the delay time
right after the motor reaches the target position. Then it issues the second Position command
for the generator to start the second part of position control as shown in Figure 7.1.6.2 (b).
PR
executor
(1 ms command cycle)
PR#1
Position
DLY=[0] 0 ms
10000 PUU
ABS
200 rpm
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Speed
Motion
command
generator
Time
(a) Position command without delay
PR
executor
(1 ms command cycle)
PR#1
Position
DLY=[1] 100 ms
10000 PUU
ABS
200 rpm
(1 ms command cycle)
PR#2
Position
DLY=[0] 0 ms
10000 PUU
ABS
500 rpm
Speed
Motion
command
generator
100 ms
(b) Position command with delay
Figure 7.1.6.2 Position sequence command
Time
7-52
Send Quote Requests to info@automatedpt.com
Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com