Introduction of PR Operation ASDA Series Application Note
1-36 March, 2015
Internal Interrupt:
In a series of PR profiles, when PR has enabled function of automatically move to the next
command, the system will read the next command first after reading the current PR.(If delay time
is set, the next command will be read after delay time is over.); the system reads the next
command before the current one is completed. If the next command has set the interrupt function,
as it has higher priority, the system will promptly deal with the interrupt command, replacing or
combining previous command with the latter one. In the following example, PR#1 and PR#2 both
automatically call the next command to be executed. However, interrupt is only set in PR#2. After
the system finishes reading PR#1, it will read PR#2 immediately. While interrupt function is set in
PR#2 and no delay time is set in PR#1, PR#1 will not be carried out and be replaced with PR#2.
Next, the system will then continue to read PR#3. As PR#3 has not set interrupt, the system will
start carrying out PR#2. PR#3 is the reserved command, which will be carried out after PR#2 is
completed.
PR
#1
Position (3)
D=0 S = 20.0 rpm
200000PUU, INC
PR
#2
(I)
Position (3)
D=0, S=100.0 rpm
300000PUU, INC
PR
#3
Without interrupt
With interrupt
Position (2)
D=0, S=200.0 rpm
100000PUU, INC
,
Figure 1.48 Example of Internal Interrupt in PR Profile
Delay time is effective to internal interrupt. With interrupt function, count of delay time of previous
command begins when previous command starts. If the delay time of previous command is set to
0 and the next command is set with interrupt, previous command will not be executed and next
command will be carried out directly. If previous command has set delay time, the next command
will be executed after the delay time is over.
When next PR command is an absolute one and with interrupt, no matter what next PR is, the
final destination will be the target position, CMD_E from next PR command. When next PR
command is incremental or relative and with interrupt, the destination will be the previous
command’s CMD_E plus next PR command’s CMD_E.
To Next Page
Loading...
Need help?
General
