Delta ASDA Series Application Notes

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Introduction of PR Operation ASDA Series Application Note1-22 March, 20151.2.3 PR Speed CommandUsers may use PR mode to configure the speed command, including acceleration/decelerationtime, target speed, and delay time. The speed command here refers to the speed command inPR mode (P1-01=0), which is different from command in speed mode (P1-01=2)Delay time refers to the interval after previous command is completed and before carrying outthe next command. The setting of delay time is defined by the servo drive, which means theservo drive will not start counting the delay time until the motor has reached the target speed.Delay time is not defined by motor’s feedback signal because the feedback setting time varieswith different system performance.If the trigger setting of PR is defined as a speed command, motor will operate according to theacceleration/deceleration setting until reaching the target speed. Then it keeps operating tillother command interrupts this PR command.TargetSpeedAcc. Time TimeSpeedFeedback SpeedDelayCommandSpeedTargetSpeed TimeDec. TimeDelayFeedback SpeedCommandFigure 1.28 PR Speed Command