Delta ASDA-A2 Series User Manual page 271

A2
ASDA-
Operation

Function of Gear Box #2
Function
Explanation
Setting Method
P1-44: Numerator of
Electronic Gear Ratio
P1-45: Denominator of
Electronic Gear Ratio

Digital Outputs for E-Cam Function
Digital Outputs
Function
When E-Cam engaged
When E-Cam
disengaged
7-40
Function of E-Cam Curve

Slave axis is a virtual axis (user unit is PUU).

P5-85 is the first point where the E-Cam engaged. When E-
Cam engaged, the position of E-Cam axis will move to the
point set by P5-85. The position of slave axis will move to the
position which corresponds to P5-85.

After E-Cam engaged, if E-Cam axis does not move, the slave
axis will not move either. After E-Cam engaged, if E-Cam
moves, the position changes of E-Cam axis represent the
output pulses of the slave axis.

When E-Cam rotates 360 degrees (one revolution), the slave
axis operates one cycle.

E-Cam axis can rotate in either forward or reverse direction.

If the position of E-Cam axis is between two points of E-Cam
curve, the position of the slave axis can be interpolated by
cubic curves and the adjacent curves at the ends will
continue quadratic differential equation and make the torque
of the ends to be smooth. The point number of E-Cam curve
will not affect the smooth operation of E-Cam either.
(
Slave E-Gear)
Function of Gear Box #2 (Slave E-Gear)

This function defines the relationship of slave axes and pulse
command.

When the slave axis rotates one revolution, it does not mean
that pulse command must rotate one revolution as well. The
slave E-Gear can be set.

Slave axis is a virtual axis (user unit is PUU).

The unit of pulse command is encoder unit, pulse (1280000
pulse/rev)

When E-Cam axis rotates one revolution, the slave axis
operates one cycle as well.

When the pulse command of slave axis is L and motor runs R
rotation, the electronic gear ratio will be equal to
P1-44/P1-45 = 1280000 x R/L

The function is the same as the electronic gear ratio in PT
and PR mode.
Digital Outputs for E-Cam Function

DO signal: CAM_AREA (DO=0x18)

When DO signal, CAM_AREA is ON, it indicates that the
position of E-Cam axis is within the specified angle range.

Degree when P5-90 and P5-91 is set to ON

See Table 1 & 2 below.

DO signal: CAM_AREA are OFF
Chapter 7 Motion Control Functions
Revision September 2012