Chapter 7 Motion Control
ASDA-A2R Series
Revision December, 2014
7-7
Code Name of Variables
／
Attribute
Descriptions
059
(3Bh)
Pulse from E-Cam
master axis
(accumulation)
The accumulative pulse number of E-Cam master axis. It
is the same as P5-86.
060
(3Ch)
Pulse from E-Cam
master axis
(increment)
The incremental pulse number from master axis. The unit
is pulse number per msec.
061
(3Dh)
Pulse from E-Cam
mast axis
(lead pulse)
The lead pulse of E-Cam master axis which is used to
judge the engaging condition.
When it is disengaged: lead pulse = P5-87 or P5-92.
When it is engaged: lead pulse = P5-89. When the value
is 0, it will be disengaged.
062
(3Eh)
The position of
E-Cam axis
The position of E-Cam axis.
Unit: The pulse is from the master axis. When the
incremental pulse from master axis is P, the axis
rotates M cycle (P5-83
＝
M, P5-84
＝
P).
063
(3Fh)
Position of E-Cam
slave axis
The position of E-Cam slave axis.
Unit: PUU
064
(40h)
Terminal register
of PR command
In PR mode, the termination of position command
(Cmd_E)
065
(41h)
Output register of
PR command
In PR mode, the accumulative output of position
command
067
(43h)
PR target speed
The target speed of path command in PR mode. The unit
is PPS (Pulse Per Second)
068
(44h)
S-curve filter
(input)
The input command of S-curve filter which is used to
smooth the input command.
It is effective in PR mode, E-Cam and speed command.
069
(45h)
S-curve filter
(output)
The output command of S-curve filter which is used to
smooth the output command.
It is effective in PR mode, E-Cam and speed command.
076
(4Ch)
Speed command
of PR contour
In PR mode, the programmed trapezoid speed curve is
determined by the target speed, acceleration, deceleration
and moving distance (before S-curve filter).
The unit is PPS (Pulse Per Second).
081
(51h)
Synchronous
capture axis
Incremental input
pulse
When synchronous capture axis is enabled, the received
pulse number between two captures can be used to
measure the real distance of Mark.
084
(54h)
Synchronous
capture axis
Deviation pulse
number
The deviation between the real output pulse and the target
pulse when synchronous capture axis is enabled. If it
reaches the synchronization, the value will close to 0.
096
(60h)
Firmware version
Dec
It includes two versions, DSP and CPLD.
When monitoring via panel, pressing the
SHF
Key can
