Delta ASD-A2R-0121 Series, User Manual

Page: 222 / 660

Chapter 7 Motion Control

ASDA-A2R Series
7-28 Revision December, 2014
Features of E-Cam
DO.CAM_AREA
(DO no.= 0x18)

Digital Output (DO): CAM_AREA. If this DO is ON, it means
the E-Cam axis is in the setting area.
E-Cam provided by this servo drive and below is its functional diagram:

Master Axis, the description is as follows:
Function The moving distance of the master axis is the source which
could drive the E-Cam
Source of Master
Axis
The Setting
Value of P5-88 Y
Source selected by P5-88.Y:

Auxiliary encoder (linear scale)

Pulse command

PR command

Time axis

Synchronous capture axis

CAP axis (defined by CAP function)
Position of
Master Axis
P5-86
The position of master axis can be monitored via P5-86. It also
can be written before the E-cam engaged. To change this
parameter will not influence the position of the slave. It is
because the moving distance of master axis remains.

Clutch, the description is as follows:
Function
It is used to determine the status of engaged / disengaged
between the master axis and gear box # 1.
The moving distance of the master axis can drive the E-Cam not
until the cam is engaged.
Activate
E-cam
function
0: disable E-cam function (default value). If the cam is engaged,
the cam will be forced to disengage.
(pulse)
Pulse command
Slave axis
(PUU)
Slave axis
Clutch
Gear box
＃２
P5-88.Y
setting
value
P5-88.ZU engaged
method
P5-87 lead pulse
P5-89 Engaged
distance
P5-84: Pulse number sent by master axis
P5-83: E-cam rotation cycle
P5-81: Table address
P5-82: Data amount N
P5-85: Entering point
P5-19: Table scale
Data array
…..
POS 0
POS 1
~
P1-44: gear ratio
(numerator)
P1-45: gear ratio
(denominator)
Master
axis
P5-88.X
setting
value
Position
controller
E-cam axis
Cam
Gear box
＃１