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ASDA-A3

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Motion Control

Command overlapping

If the previous position command includes an Overlap function, it allows the next command to

be executed while the previous motion is decelerating, thus achieving a continuous motion.

When you use a command with an Overlap function, the delay time is still effective. The delay

time starts to count from the command’s start point; however, in order to have the commands

transition smoothly, setting the delay time of the previous command to 0 is suggested. In

addition, if deceleration time of the previous command is identical to acceleration time of the

next, the transition between commands can be very smooth, avoiding discontinuous speed

during transition (see Figure 7.1.6.11). The calculation is as follows.

1st target speed (��1)

3000

× Deceleration time (��)

2nd target speed (��2)

3000

× Acceleration time (��)

Commands that include an Interrupt function have a higher priority than commands that include

an Overlap function. Thus, when you set an Overlap function in the current Position command,

and the next motion command includes an Interrupt function, only the command with the

Interrupt function is executed.

executor

(1 ms command cycle)

PR#1 (O)

Position

DLY=[0] 0 ms

5000 PUU

ABS

200 rpm

Acc=[0] 6.67 ms

Dec=[0] 6.67 ms

(1 ms command cycle)

PR#2

Position

DLY=[0] 0 ms

10000 PUU

ABS

500 rpm

Acc=[0] 16.65 ms

Speed

Motion

command

generator

Deceleration time of the 1st command is different from

acceleration time of the 2nd command

(a) Command overlapping - Acceleration and deceleration time are different

Time

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