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ASDA-A3

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Motion Control

 Speed command followed by a Speed command

When the PR executor receives two consecutive Speed commands, if they do not have

Interrupt or Overlap functions, the PR executor issues the first Speed command to the motion

command generator, and the generator starts the first part of speed control. After the first Speed

command completes, if no delay time is set, the PR executor issues the second Speed

command for the generator to start the second part of speed control (see Figure 7.1.6.3 (a)).

If the first Speed command includes a delay, the PR executor starts counting the delay time

right after the motor reaches the target speed. Then it issues the second Speed command for

the generator to start the second part of speed control as shown in Figure 7.1.6.3 (b).

executor

(1 ms command cycle) (1 ms command cycle)

PR#1

PR#2

Speed

DLY=[0] 0 ms

100 rpm

Acc=[11] 100 ms

Dec=[11] 100 ms

DLY=[0] 0 ms

500 rpm

Acc=[0] 33.3 ms

Dec=[0] 33.3 ms

Motion

command

generator

Speed (rpm)

500

100

Time

executor

(a) Speed command without delay

(1 ms command cycle)

PR#1

Speed

DLY=[1] 100 ms

100 rpm

Acc=[11] 100 ms

Dec=[11] 100 ms

(1 ms command cycle)

PR#2

Speed

DLY=[0] 0 ms

500 rpm

Acc=[0] 33.3 ms

Dec=[0] 33.3 ms

Motion

command

generator

Speed (rpm)

500

100

100 ms

(b) Speed command with delay

Figure 7.1.6.3 Speed sequence command

Time

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