Delta ASDA-A3 Series, Руководство пользователя

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ASDA-A3 Motion Control
7-169
7
1.
Setting for synchronous Capture axis and E-Cam phase alignment:
The steps for enabling the E-Cam have to include settings for the synchronous Capture
axis and E-Cam phase alignment. See the following figure. PR#20 - 25 set the
synchronous Capture axis and enable the E-Cam. PR#19 and PR#26 - 27 set the E-Cam
phase alignment and the following PR commands are the correction settings for phase
alignment of the three stages.
PR#22 (I)
Write
DLY=[0] 0 ms
P5.038=1
PR#21 (I)
Write
DLY=[0] 0 ms
P5.088=
0x00000000
PR#19 (I)
Write
DLY=[0] 0 ms
P2.015=0x0135
PR#20 (I)
Write
DLY=[0] 0 ms
P5.039=0x0000
PR#26 (I)
Write
DLY=[0] 0 ms
P2.073=
0x32030A00
PR#25 (I)
Write
DLY=[0] 0 ms
P5.088=
0x0000C253
PR#23 (I)
Write
DLY=[0] 0 ms
P1.019=0x0001
PR#24 (I)
Write
DLY=[0] 0 ms
P5.039=0x0021
PR#27 (I)
Write
DLY=[0] 0 ms
P2.076=0x3207
PR#3 (I)(O)
Position
DLY=[0] 0 ms
0 PUU
INC
300 rpm
PR#4 (I)
Write
DLY=[0] 0 ms
P2.073=
0x32080A00
PR#5 (I)
Write
DLY=[0] 0 ms
P2.076=0x3207
PR#8 (I)(O)
Position
DLY=[0] 0 ms
0 PUU
INC
300 rpm
PR#9 (I)
Write
DLY=[0] 0 ms
P2.073=
0x550C1205
PR#10 (I)
Write
DLY=[0] 0 ms
P2.076=0x3227
PR#12 (I)(O)
Position
DLY=[0] 0 ms
0 PUU
INC
300 rpm
Execute the phase
alignment of the 1
st
stage and set the
2
nd
stage
Execute the phase
alignment of the 2
nd
stage and set the 3
rd
stage
Execute the phase
alignment of the 3
rd
stage
The function for each PR command is as follows.
PR#19
Specifies DI6 as the mark reading signal (input to the servo drive) for E-Cam
phase alignment.
PR#20
PR#21
Disables the Capture and E-Cam functions. Disable the capturing and E-Cam
functions before using the PR commands to set the parameters for high-speed
position capturing and E-Cam.
PR#22 Sets the amount to capture.
PR#23 Enables the Cyclic Capture mode.
PR#24 Enables the high-speed Capture function and sets the pulse source.