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Motion Control

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ASDA-A3

7

PR executor

(1 ms command cycle)

PR#1

Speed

DLY=[1] 100 ms

100 rpm

Acc=[11] 100 ms

Dec=[11] 100 ms

External

interruption

(1 ms command cycle)

PR#2

Speed

DLY=[0] 0 ms

500 rpm

Acc=[11] 33.3 ms

Dec=[11] 33.3 ms

(1 ms command cycle)

PR#10 (I)

Speed

DLY=[0] 0 ms

200 rpm

Acc=[12] 333 ms

Dec=[12] 333 ms

(1 ms command cycle)

PR#11

Speed

DLY=[0] 0 ms

500 rpm

Acc=[0] 33.3 ms

Dec=[0] 33.3 ms

Motion

command

generator

Speed (rpm)

500

200

100

(b) External interruption - Speed command

Figure 7.1.6.10 External interruption

Time

7-60

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