Delta ASDA Series User Manual

Introduction of PR Operation ASDA Series Application Note
1-52 March, 2015
Result ：
Figure 1.69 shows the result after PR Group is executed in Example 2.
Figure 1.69 Output of PR Example 2
In this example, the first position command (PR#1) is interrupted by the second position
command (PR#11). The first position command is hardly executed; therefore, only the output of
the second command is read by the motion command generator. The command executing time
is 1.2 sec. with the speed of 100 rpm, and moves from 0 to 300000 PUU. Regarding P5-55,
when PR#10 is carried out, P5-55=10. However, it will be immediately replaced by PR#12 as
P5-55 = 12. Figure 1.69 shows that from PR#10 to PR#12, it only takes 0.25 ms to carry out.
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
21.2
21.2
10
10
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660542
660542
Command Group

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)