Delta ASDA Series - How Is PR Arranged

Introduction of PR Operation ASDA Series Application Note
1-42 March, 2015
1.5 How is PR arranged?
ASDA-A2 will update the command status every 1 ms; Figure 1.59 shows how PR profile is
arranged in ASDA-A2 and illustrating how it deals with PR commands.
Figure 1.59 Arrangement Procedure of PR
PR Trigger Mechanism
When PR command is triggered with different methods at the same time, the executing order is
CTRG > STP > P5-07 > SHOM > EV1~4 (rising-edge trigger) > EV1~4 (falling-edge trigger).
PR Queue
Once all PR commands are triggered, they will enter the PR Queue and wait. Triggered PR
command is the Head PR. Thus, its PR group will then enter and wait in the PR Queue. As long
as there is a PR command waiting in the Queue, the system will send the Head PR every 1 ms
and its PR group to the PR executor in order; the command that enters first will be sent first.
Whether there is a PR command being executed, the Queue will include every triggered PR and
make sure it enters the Queue.
PR Queue (first in first out)
CTRG STP P5-07 SHOM
EV1~4(↓) EV1~4(↑)
Priority
High Low
Every 1 ms, it will issue a Head PR command if any Head PR is
waiting in the PR queue.
PR Executor
1. The PR Executor will dispatch every single PR in the PR group to the next level if it is a
PR with motion function (Type 1 Constant Speed Control, Type 2 Position, and Type 3
Position to Next).
2. The Type 7 Jump and Type 8 Write-in Parameter will be finished in PR Executor.
3. Eight consecutive PRs with INS set can be guaranteed to be executed within 1 ms in
PR Executor.
Motion Command Generator
1. The motion command will be generated here.
2. It could be sequence, interrupt, or overlap.
Sequence / Interrupt / Overlap
TIME
SPEED
Motion
Command
Generator
PR Executor
PR Queue
Output
Motion Profile
The new Head PR issued by PR Queue will terminate the PR group
being executed in the PR Executor.