Delta ASDA-A3 Series User Manual page 284

ASDA-A3
Enter cyclic mode after disengagement (P5.088.U = 4): when the clutch is engaged and
5.
the pulse number of the master axis reaches the value set in P5.089, the clutch
disengages and the master and slave axes enter the cyclic mode. Then, the E-Cam
system goes into the
pre-engage state and waits for the master axis pulse to reach the number set in P5.092.
Next, the clutch re-engages and operation of the next cycle starts. See Figure 7.3.2.6.
Slave axis
position
(PUU)
Disengagement pulse No.
Note that the "pre-engage pulse for each cycle" and the "initial lead pulse" are different.
The "initial lead pulse" is valid only for the first engagement whereas the "pre-engage
pulse for each cycle" is effective before each engagement cycle. You can see how these
two work together in Figure 7.3.2.7.
Initial lead
(P5.087)
Engagement
condition met
Pre-engage
pulse for
(P5.089)
each cycle
(P5.092)
Figure 7.3.2.6 Disengagement timing: cyclic mode
Slave axis position
(PUU)
Disengagement
pulse No.
pulse
(P5.089)
Lead pulse No. is
reached, clutch
engages
Figure 7.3.2.7 "Initial lead pulse" and "Pre-engage pulse for each cycle"
Disengagement pulse No.
(P5.089)
Pre-engage
Disengagement
pulse for
pulse No.
each cycle
(P5.089)
(P5.092)
Motion Control
7
Master axis
position
(Pulse)
Master
axis
position
(Pulse)
7-87