Delta ASD-A2R-0121 Series, User Manual

Page: 225 / 660

Chapter 7 Motion Control

ASDA-A2R Series
Revision December, 2014 7-31
stops immediately. (The symbol
represents the direction)
Returns to
Pre-engage Status
The lead pulse is
P5-92
8
Disable the E-cam after disengaging
Set P5-88.X
＝０
Auxiliary
Selection
P5-88.BA
When the E-cam disengaged, if it is in the setting distance
(P5-88.U=2), it returns to Stop status and can determine the
execution PR number.

Gear
＃
1, the description is as follows:
Function 
Set the relativity of master axis and E-cam axis.
e.g. The master axis operates one cycle, the E-cam axis
is no need to operates one cycle.
Description 
E-cam axis is a virtual axis.

The E-cam axis operates one cycle (360 degrees) means
the cam operates one cycle and the slave axis operates
one cycle.

The pulse number is the unit of moving distance of the
master axis. Its resolution is determined by the source.
Setting Method
P5-83: M
P5-84: P

If the pulse number of master axis is P, the E-cam axis
operates M cycle.
Then, the setting of gear ratio is P5-83
＝
M, P5-84
＝
P

Cam, the description is as follows:
Function 
Set the relation between E-cam axis and slave axis and
define it in the E-cam table.
E-cam axis operates one cycle and the slave axis operates
one cycle.
Data Storage
Address of
E-Cam table

Data array, the start address is set by P5-81
Data Format

32-bit (It has positive and negative, user unit: PUU)
E-Cam Curve
Scaling
P5-19
0 ~ +/- 32.700

It is used to magnify (minify) the E-cam shape.

It equals to the value of data multiplies P5-19.

Switch the symbol,
＋／－
will change the operation direction
of slave axis.

If P5-19 is set to
０
, the E-cam command will not be
outputted. (The setting will be 0 for good).
Data Size

It is divided into N parts via P5-82 (> = 5) and does not
exceed the limit of data array. It means 360 degrees a cycle
of E-cam are divided into N areas. Each area is (360/N)
degrees.