Installation manual

Chapter 6 Programming
6-61
Current timings are as follows:
① When PA library is issued just before the calculation in motion control section is
completed.
With this processing, the motion control section acquires the target value. When
“count-up” is on time in the final processing (count-up data is reflected on the memory
in the final processing.) , with this “●” timing PA library is released from
“count-up-wait.” The target value ① acquired at this moment is reflected on the
control in the period 2.
② When PA library is issued just after the calculation in motion control section is
completed.
As target value ① acquisition is completed at this ● timing in the period 2 and
reflected on the control, count-up can be confirmed in the PA library, only after final
processing is completed.in the cycle 2.
Target value① ▲
Period 1 (2msec)
Period 2 (2msec)
Target value② ▲
●
●
Motion control
section
Communication ...
Calculation ...
Real-time control mode
Command value acquisition ...
Operation control section
Real-time control mode
PA library performance ...
▲ ： PA library issuing
● ： Release from issued PA library
▲ ： PA library issuing
● ： Release from PA library issuing
●
Target value①
Period 1 (2msec)
Period 2 (2msec)
Motion control
section
Communication ...
Calculation...
Real-time control mode
Command value acquisition ...
Operation control section
Real-time control mode
PA library performance...