Delta ASD-A2R-0121 Series, User Manual

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Chapter 7 Motion Control

ASDA-A2R Series
Revision December, 2014 7-27
maintenance is necessary.
Others The master axis needs space
and it consumes energy as
well. Save the space and energy which
protects the environment.
The main feature of E-Cam is as the followings:
Features of E-Cam
Operation Operate the E-cam in PR mode only.
Active the E-Cam
Function
P5-88.X
0: disable E-cam function and force to disengage (default).
1: enable E-cam function and starts to judge the engaged condition.
E-Cam Status Stop / Pre-engage / Engage
Source of Master
Axis

Auxiliary encoder (linear scale)

Pulse command

CAP axis (defined by CAP function)

PR command

Time axis

Synchronous capture axis
Motion Command
of the Servo Drive
The overlap motion command issued by PR and E-Cam
Command of the Servo Drive = E-Cam command
＋
PR
command

The command will be issued only in Engaged status

PR command is effective regardless to the E-Cam status.
Except when E-cam is engaging and the source of master axis
is PR command, PR command is 0.
When E-Cam is operating, its position still can be adjusted by PR
command (incremental command in general).
Data Storage
Address of E-Cam
table

It is stored in Data array and the start address is set by P5-81.
Data Size of
E-Cam table

It is set by P5-82. 720 points is the maximum and 5 points is
the minimum.
Data Format of
E-Cam table

32-bit signed value.
Data Content of
E-Cam table

Save the position of slave axis (User unit, PUU)
The operation of
E-Cam position

The master axis operates by incremental command input.

The slave axis issues position command incrementally.

The start and the end of E-Cam curve profile could not always
be the same. It depends on the value of E-Cam table.

The command is interpolated by cubic curve. The torque on
each point will be smoothly connected because of quadratic
differential operation.