Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 7 Motion Control

ASDA-A2R Series
Revision December, 2014 7-29
P5-88.X 1: enable E-cam function and starts to judge the engaged
condition
E-Cam Status Status can be known via parameter P5-88.S: 0
–
Stop; 1
–
Engage; 2
–
Pre-engage
Status Description:

Stop : It is the initial status of the cam. The E-cam will not
operate with the master pulse. When E-cam function is
disabled (P5-88.X=0), it returns to this status.

Pre-engage : When the engaged condition (path 1) is
established, it enters this status. The E-cam still
will not operate with the master pulse.

Engage : When it reaches pre-engaged status (path 3), it
enters this status. The E-cam starts to operate with
the master pulse.
Path Description:

Path 1
：
When the engaged condition is established (P5-88.Z),
the status is Stop
→
Pre-engaged .
The lead pulse is determined by P5-87.

Path 2
：
When the E-cam function is disabled (P5-88.X=0), it
returns to Stop status.

Path 3
：
When it is in pre-engaged status, the status is
Pre-engaged
→
Engaged.

Path 4
：
When the disengaged condition is established
(P5-88.U=4), the status is Engaged
→
Pre-engaged.
The lead pulse is determined by P5-92. (It is available
after firmware version
V1.006sub04)

Path 5
：
When the disengaged condition is established
(P5-88.U=1,2,6), or the E-cam function is disabled
(P5-88.X=0), the status is Engaged
→
Stop.
Engage
Condition
When the E-cam is in Stop status, the method of determine
engaged (path 1) is as the following: