Delta ASDA Series User Manual

Introduction of PR Operation ASDA Series Application Note
1-54 March, 2015
Figure 1.71 Output of PR Example 3
Example 4:
Figure 1.72 Example 4
PR Motion Analysis:
In Figure 1.72, only PR#1 has no interrupt but it has 10 ms delay time. Thus, PR#2 will enter the
executor after PR#1 starts to be carried out for 10 ms.
During the 10 ms delay time, PR#1 is completed in the executor and has entered motion
command generator to make the motor run. After 10 ms, other PR commands will enter the
executor one after another and be completed. The motion command generated by PR#11 will
enter motion command generator and replace the motion command from PR#1 because of its
interrupt setting. However, as PR#11 is incremental, the motor’s total traveling distance should
be: distance generated by PR# + distance generated by PR#11, which is 500000PUU. After 10
ms, the motor will operate at the speed specified by PR#11.
21.2
21.2
10
10
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660542
660542
Command Group
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)