Delta ASDA-A3 Series User Manual page 10

6.5.2 Speed / Torque dual mode ··········································································· 6-32
6.5.3 Torque / Position dual mode ········································································· 6-33
6.6 Others ········································································································· 6-34
6.6.1 Applying the speed limit ··············································································· 6-34
6.6.2 Applying the torque limit ·············································································· 6-34
6.6.3 Analog monitoring ······················································································ 6-35
7
Description of Motion Control
7.1 PR mode description ························································································· 7-3
7.1.1 Shared PR parameters ·················································································· 7-5
7.1.2 Monitoring variables of PR mode ····································································· 7-7
7.1.3 Motion Control commands ··········································································· 7-10
7.1.3.1 Homing methods ··················································································· 7-10
7.1.3.2 Speed command ··················································································· 7-23
7.1.3.3 Position command ················································································· 7-25
7.1.3.4 Jump command ····················································································· 7-28
7.1.3.5 Write command ····················································································· 7-30
7.1.3.6 Index Position command ········································································· 7-32
7.1.3.7 Arithmetic operation (Statement) ······························································· 7-36
7.1.4 Overview of the PR procedure ······································································ 7-39
7.1.5 Trigger methods for the PR command ···························································· 7-46
7.1.6 PR procedure execution flow ········································································ 7-50
7.2 Application of motion control ············································································· 7-66
7.2.1 Data array ································································································ 7-66
7.2.2 High-speed position capture function (Capture) ················································ 7-70
7.2.3 High-speed position compare function (Compare) ············································· 7-74
7.3 E-Cam ········································································································· 7-78
7.3.1 Source signal for the master axis ··································································· 7-79
7.3.2 Clutch engagement and disengagement ························································· 7-83
7.3.3 E-Cam gears and curve scaling ···································································· 7-91
7.3.4 E-Cam curve ····························································································· 7-94
7.3.5 E-Cam curve and PR command overlapping ·················································· 7-102
7.3.6 Troubleshooting for E-Cam ········································································ 7-104
7.3.7 Rotary Shear ·························································································· 7-106
7.3.8 Flying Shear ··························································································· 7-134
7.3.9 Macro ···································································································· 7-147
7.3.10 Auxiliary function ···················································································· 7-157
7.3.11 Horizontal packing machine applications ····················································· 7-159