Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 7 Motion Control

ASDA-A2R Series
Revision December, 2014 7-33

For one cycle of the chart, the slave axis operates a cycle.

E-cam axis can operate in forward / reverse direction.

If the E-cam position is between two points of the E-cam
table, the position of the slave axis will be interpolated with
cubic curve function. The adjacent curve remains quadratic
differential at the point in order to smooth torque. The point
amount of the table will not influence the smoothing
operation of E-cam.

Gear
＃
2, the description is as follows:
Function

Set the relation between slave axis and pulse command

The slave axis operates a cycle, but the pulse command
might not operate a cycle.
Description 
The slave axis is a virtual axis and the unit of slave
position is PUU.

The pulse command is the encoder unit (pulse). The
resolution is 1280000 pulse/rev.

For one cycle of the chart, the slave axis operates a cycle.
Setting Method
P1-44: numerator
P1-45:
denominator

If the pulse number of slave axis is L, the motor axis
operates R cycle.
Then, the setting of gear ratio is P1-44/P1-45
＝
1280000 x
R / L

The gear ratio of PT and PR is the same.

Digital Output of E-cam, the description is as follows:
DO Name and
Number

DO.CAM_AREA (DO no.= 0x18)
Function

If DO.CAM_AREA is ON, it means the position of E-cam
axis is in the setting range.
When the E-cam
is engaging

Set the angle range of DO ON by P5-90 and P5-91.

Please refer to table 1 and 2 below
When the E-cam
is disengaging

DO.CAM_AREA is OFF.
Table 1 P5-90 <= P5-91:
E-Cam angle 0° ~ P5-90 ~ P5-91 ~ 360°
DO:CAM_AREA OFF OFF ON ON ON OFF OFF
Table 2 P5-90 > P5-91:
E-Cam angle 0° ~ P5-91 ~ P5-90 ~ 360°
DO:CAM_AREA ON ON OFF OFF OFF ON ON