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Motion Control

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ASDA-A3

 Multiple interrupt commands

The PR queue updates commands every 1 ms. If all PR paths include an Interrupt function, the

queue can read at least 20 PR paths in 1 ms, and these paths are called a PR group.

If this PR group has multiple motion commands, the PR queue only sends the last command it

receives to the motion command generator for execution. Therefore, in a PR group, only one

PR path with motion command is executed. The latter motion command directly replaces the

former, whereas Jump and Write commands are executed as soon as they are received by the

PR queue (see Figure 7.1.6.9 (a)). If one of the PR paths includes a delay, the PR queue

schedules all paths on the basis of this PR path and regards the prior path(s) (including the PR

path which includes a delay) as the first PR group, and regards what follows as the second PR

group. Thus, this PR procedure can execute up to two PR paths with motion commands, as

shown in Figure 7.1.6.9 (b).

executor

PR#1 (I)

Position

DLY=[0] 0 ms

1000 PUU

ABS

200 rpm

(1 ms Cmd cycle)

Approx. 20 PR paths

PR#2 (I)

Write

DLY=[0] 0 ms

P5.045=100

PR#7 (I)

Position

DLY=[0] 0 ms

10000 PUU

ABS

500 rpm

PR#8 (I)

Jump

DLY=[0] 0 ms

PR#10

Speed

Motion

command

generator

Time

(a) Multiple commands without delay

executor

(1 ms Cmd cycle)

DLY 100 ms

(1 ms Cmd cycle)

Approx. 20 PR paths

PR#1 (I)

Position

DLY=[0] 0 ms

1000 PUU

ABS

200 rpm

PR#6 (I)

Write

DLY=[1] 100 ms

P5.045=100

PR#7 (I)

Position

DLY=[0] 0 ms

10000 PUU

ABS

500 rpm

PR#8 (I)

Jump

DLY=[0] 0 ms

PR#10

Speed

Motion

command

generator

(b) Multiple commands with delay

Figure 7.1.6.9 Internal interruption - Multiple commands

Time

7-58

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