Delta ASDA Series User Manual

Introduction of PR Operation ASDA Series Application Note
1-38 March, 2015
If the next PR command is an absolute one with interrupt, no matter what previous PR command
is, the final destination will be the target position CMD_E of the next PR command. If the next PR
command is an incremental one and with interrupt, the final destination will be previous PR
command’s CMD_E plus the next command’s CMD_E. If the next PR command is relative and
with interrupt, when interrupt occurs, the final destination is the motor’s current position Fb_PUU
of previous PR plus the next PR’s CMD_E.
Figure 1.51 External Interrupt
TIME
SPEED
TIME
SPEED
AUTO
INS
OVLP
DLY
DLY
DLY
V_Command 1
(Type 1)
P_Command 2
(Type 2)
P_Command 1
(Type 2 or 3)
INS
OVLP
DLY
P_Command 2
(Type 2 or 3)
The final destination:
Absolute: Cmd_E = command
Relative: Cmd_E = Fb_PUU + command
Incremental: Cmd_E = last Cmd_E + command
Capture: Data captured + Command
The final destination:
Absolute: Cmd_E = command
Relative: Cmd_E = Fb_PUU + command
Incremental: Cmd_E = last Cmd_E + command
Capture: Data captured + Command
INS
OVLP
DLY
INS
OVLP
DLY

Delta ASDA Series Specifications

General

Brand	Delta
Model	ASDA Series
Category	Servo Drives
Language	English