Delta ASDA-A3 Series User Manual page 285

Motion Control
There are three available options for disengagement timing (choose one of the following):
"Immediate stop after disengagement", "Decelerate to stop after disengagement", or "Enter
cyclic mode after disengagement" (P5.088.U = 2, 6, or 4). If you select the disengagement
options such as "Disengagement control with DI", "Immediate stop after disengagement", or
7
"Decelerate to stop after disengagement" (P5.088.U = 1, 2, or 6), you can activate the function
for disabling the E-Cam after clutch disengagement (P5.088.U = 8). This is the same as setting
P5.088.X to 0; however, you cannot set it individually; you need to use one of the three options
(P5.088.U = 1, 2, or 6) when setting P5.088.U to 8. You can stop the slave axis by disengaging
the clutch or disabling the E-Cam. Regardless of the current state of the E-Cam system (stop,
engaged, or disabled), you need to enable the E-Cam function to operate it. When the clutch is
disengaged, although the slave axis is stopped, the slave axis continues to monitor the signals
sent from the master axis as the E-Cam system remains operating. Settings for clutch
disengagement timing and disabling E-Cam function are as follows:
P5.088.U
value
0
1
2
3
4
5
6
7
8
9
A
B
C
D
7-88
Clutch disengagement condition
Condition 0: remains engaged
Condition 1: disengages when DI (DI: 0x36) is off
Condition 2: disengages when the master axis pulse number
reaches the setting value of P5.089, and the slave axis stops
immediately
Condition 1 + Condition 2: disengages when DI (DI: 0x36) is off
or when the master axis pulse number reaches the setting value
of P5.089, and the slave axis stops immediately
Condition 4: disengages when the master axis pulse number
reaches the setting value of P5.089 and the master and slave
axes enters the cyclic mode. When the pre-engaged pulse
number for each cycle (P5.092) is reached, the clutch re-
engages
Condition 1 + Condition 4: E-Cam enters the cyclic mode, but
disengages when DI (DI: 0x36) is off
Condition 6: disengages when the master axis pulse number
reaches the setting value of P5.089, and the slave axis
decelerates to stop
Condition 1 + Condition 6: disengages when DI (DI: 0x36) is off
or when the master axis pulse number reaches the setting value
of P5.089, and the slave axis decelerates to stop
Condition 8: set other disengagement conditions first, and the E-
Cam function is disabled after the clutch disengages
Condition 1 + Condition 8: disengages when DI (DI: 0x36) is off
and the E-Cam function is disabled
Condition 2 + Condition 8: disengages when the master axis
pulse number reaches the setting value of P5.089, the slave axis
stops immediately, and the E-Cam function is disabled
Condition 1 + Condition 2 + Condition 8: disengages when DI
(DI: 0x36) is off or when the master axis pulse number reaches
the setting value of P5.089, the slave axis stops immediately,
and the E-Cam function is disabled
Reserved
Condition 1 + Condition 4 + Condition 8: disengages when DI
(DI: 0x36) is off and the E-Cam function is disabled, otherwise
the system operates according to the condition of P5.088.U = 4
ASDA-A3
System status after
disengagement
-
0: stop
0: stop
0: stop
2: pre-engage
0: stop
2: pre-engage
0: stop
0: stop
-
0: stop and disable
the E-Cam function
0: stop and disable
the E-Cam function
0: stop and disable
the E-Cam function
-
0: stop
2: pre-engage and
disable the E-Cam
function