Delta ASD-A2 Series User Manual page 241

ASDA-A2
The main feature of E-Cam is as the followings:
Operation
Active the E-Cam Function
P5-88.X
E-Cam Status
Source of Master Axis
Motion Command of the
Servo Drive
Data Storage Address of
E-Cam table
Data Size of E-Cam table
Data Format of E-Cam
table
Data Content of E-Cam
table
The operation of E-Cam
position
7-28
Features of E-Cam
Operate the E-cam in PR mode only.
0: disable E-cam function and force to disengage (default).
1: enable E-cam function and starts to judge the engaged condition.
Stop / Pre-engage / Engage

Auxiliary encoder (linear scale)

Pulse command

CAP axis (defined by CAP function)

PR command

Time axis

Synchronous capture axis
The overlap motion command issued by PR and E-Cam
Command of the Servo Drive
command

The command will be issued only in Engaged status

PR command is effective regardless to the E-Cam status.
Except when E-cam is engaging and the source of master axis
is PR command, PR command is 0.
When E-Cam is operating, its position still can be adjusted by PR
command (incremental command in general).

It is stored in Data array and the start address is set by P5-81.

It is set by P5-82. 720 points is the maximum and 5 points is
the minimum.

32-bit signed value.

Save the position of slave axis (User unit, PUU)

The master axis operates by incremental command input.

The slave axis issues position command incrementally.

The start and the end of E-Cam curve profile could not always
be the same. It depends on the value of E-Cam table.

The command is interpolated by cubic curve. The torque on
each point will be smoothly connected because of quadratic
differential operation.
Chapter 7 Motion Control
= E-Cam command
Revision February, 2017
＋
PR