Delta ASDA Series User Manual

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-51
Example 2:
Figure 1.68 Example 2
PR Motion Analysis:
In Figure 1.68, only PR#1 has no interrupt; however, as it is the Head PR, these 5 PR commands
will enter PR executor together and be completely executed within 1 ms.
After entering PR executor, motion commands generated by PR#11 will interrupt the motion
commands of PR#1. Thus, only motion commands from PR#11 will enter the motion command
generator. PR#2, PR#10, and PR#12 will be completed in the executor. When carrying out
PR#10, P5-55 will be set to 10. After PR#12 is executed, P5-55 will be set to 12. Because they
are both carried out within the same 1 ms, the result of PR#10 will be replaced by PR#12 right
away. On the other hand, as there is still time difference between executing PR#10 and PR#12,
the value of P5-55 will be 10 in a very short time.
PR
#1
Position (3)
D=0, S= 20.0 rpm
200000PUU, INC
PR
#2
(I)
Jump
DLY=0
PR#10
PR
#10
(I)
Write
DLY=0
P5-55=10
PR
#11
(I)
Position (3)
D=0 , S =1 0 0. 0 r p m
300000PUU , INC
PR
#12
(I)
Write
DLY=0
P5-55=12
1ms
命令群
Command Grou
p

Delta ASDA Series Specifications

General

Control Modes	Position, Speed, Torque
Communication Interface	RS-485, CANopen, Modbus
Feedback	Incremental encoder, Absolute encoder
Protection	Overvoltage, Undervoltage, Overcurrent, Overtemperature
Power Supply	Single-phase or three-phase AC
Output Power	50W to 15kW (depending on the specific model within the series)