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Motion Control

ASDA-A3

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

Speed

(1 ms command cycle)

PR#2

Position

DLY=[0] 0 ms

10000 PUU

ABS

500 rpm

Acc=[2] 6.67 ms

Dec=[2] 6.67 ms

Motion

command

generator

Deceleration time of the 1st command is identical to

acceleration time of the 2nd command

(b) Command overlapping - Acceleration and deceleration time are identical

Figure 7.1.6.11 Command overlapping

Interpret PR path flow

Time

The PR paths mentioned earlier include commands such as Sequence, Interrupt, and Overlap.

The replacement, integration, and overlapping for commands have different behavior depending

on the settings. The suggested steps to interpret the PR path is as follows.

1. Check the command sequence. Check whether there are delay time (DLY) and interrupt

(INS) settings because these two types change the command execution sequence.

2. Find the lead PR and identify each PR group of 1 ms.

3. In each PR group of 1 ms, only the last motion command is executed. The Jump and Write

commands are immediately executed in the PR executor.

4. Position commands are combined based on the principle described in Section 7.1.3.3.

Statement (Arithmetic operation)

You can regard Statement commands as combinations of Write commands and Jump

commands. Thus, the execution priority of Statement commands is the same as these two types

of commands, which are executed by the PR executor. Statement commands can interrupt the

previous command but cannot be interrupted by the following command. This ensures that all

statements are executed before the PR paths enter the PR queue. In addition, whether there is

an interrupt command in the next PR path determines the statement execution duration in the

command cycle. If the following PR has no interruption setting (see Figure 7.1.6.12),

the arithmetic operation only takes 3.89 µs, but it still takes a complete cycle of 1 ms. The Jump

PR number in the Statement is executed in the next ms. If the Jump PR number specified in the

Statement has the interruption setting (as shown in Figure 7.1.6.13), this Jump command is

executed only when the Statement is completely executed (which is after 3.89 µs). Using

P5.007 to trigger other PR paths is not applicable in the arithmetic operation area in the

Statement.

7-62

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