Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 7 Motion Control

ASDA-A2R Series
7-30 Revision December, 2014
P5-88.Z
0: Engaged immediately. If P5-88.X is set to 1, the engaged
condition is established.
1: When DI.CAM is ON, E-cam is engaged.
2: From CAP to engaged: E-cam is engaged when CAP function
is enabled. After engaged, it starts to count the moving
distance. Since the CAP position is captured by hardware, it
has good instantaneity and no software delay, which is suitable
for the operating master axis before engaged.
Lead Pulse
Monitor
Variables
(061)

In pre-engaged status, the lead pulse is the moving distance
of master axis before the E-cam is engaged (path 3) . Its
value decreases when input the master pulse. When the
value is 0, it enters Engaged status.

Enter Pre-engaged status via path 1, the lead pulse is
determined by the value of P5-87.

Enter Pre-engaged status via path 4, the lead pulse is
determined by the value of P5-92.

If the setting is 0, it means no lead pulse and will enter
Engaged status immediately.
Symbol
＋
/
－
represents the direction of lead pulse. Please note
that the E-cam will be unable to engage if setting the wrong
direction.
If setting the wrong direction, the value of monitor variable (061)
will increase, which is far from 0 and causes overflow at the end.
If it overflows, the E-cam function will be disabled (P5-88.X=0)
and the E-cam will be forced to return to Stop status.
Disengage
Condition
P5-88.U
When the E-cam is in Engaged status, the method of determine
disengaged is as the following:
Note: 2, 4 and 6 cannot be selected at the same time
U Disengage Condition After Disengaged
0
Never disengaged. It will be forced to
disengage until P5-88.X is set to 0.
( Path 5 )
Enter Stop Status
1 DI.CAM is OFF
( Path 5 )
Enter Stop Status
2 Master axis receives the pulse
number which is set by P5-89 and
stops immediately. (The symbol
represents the direction)
( Path 5 )
Enter Stop Status
6 Same as 2, the E-cam starts to
decelerate when disengaging. It is
suitable for the application of calling
the next PR position command right
after disengaged.
4 Master axis receives the pulse
number which is set by P5-89 and
( Path 4 )