ASDA-M Chapter 7 Motion Control
Revision December, 2014
7-29
7.9.2 Programming the Path in PR Mode
1) Sequence command
Path 1: is AUTO and has set DLY
Path 2: does not set INS
(DLY starts to count after completing
the command)
Path 1: speed command and has set DLY
Path 2: position command
(DLY starts to count after completing the
command)
2) Overlap
Path 1: has set OVLP but cannot set
DLY
Path 2: does not set INS
3) Internal interrupt
Path 1: AUTO and has set DLY
Path 2: has set INS
(DLY is effective to the internal
interrupt)
It can be used to pre-constitute
complicated Profile
4) External interrupt
Path 1: AUTO or SINGLE
Regardless the setting of DLY
Path 2: has set INS
(DLY is ineffective to the external
interrupt)
Profile can be changed from external
any time
Path 2
DLY 1
Speed 1
Path 1
Path 2
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