ASDA Series Application Note Introduction of PR Operation
March, 2015 1-43
PR Executor
The newly-received Head PR and its PR group in the PR executor will immediately replace the
PR group being executed. If the PR group contains motion commands, which includes speed
command and position command, no matter this PR group is completed or not, the executor will
distribute those PR with motion commands to the motion command generator. In addition, PR
with write-in command or Jump command will be completed at the moment PR executor is read;
they will not enter the motion command generator. In PR executor, 8 commands with interrupt
and without delay time, as well as being continuously carried out will be completed within 1 ms. If
there is a PR command that hasn’t been completed within 1 ms and a new PR command group
has been sent to the PR executor by the Queue, new PR command group will then replace the
previous one. In other words, instead of carrying out the group that hasn’t been executed, the
executor will start carrying out new ones.
Motion Command Generator
Motion command generator has a buffer zone for temporarily reserving the next command. All
motion commands are integrated here. Commands that are being carried out can also be
interrupted here. If a PR command contains speed or position orders, PR executor will
automatically send this command to the motion generator. As long as motion commands enter
the generator, they will be carried out right away. If other command (with interrupt) also enters
the generator, it will be integrated with the current command in the generator and the integration
is based on its setting. The setting of each PR determines whether multiple motion commands
can overlap, interrupt the previous command or being executed in sequence.
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