Delta ASDA-A3 Series User Manual page 287

Motion Control
E-Cam system status
The E-Cam system has three states, Stop, Engage, and Pre-engage. When the E-Cam function
is enabled, you can use P5.088.D to promptly monitor the system's current status. The following
section explains each state, as shown in Figure 7.3.2.8.
7
Stop state (P5.088.D = 0): the clutch is disengaged and the system continues to check the
1.
engagement condition (P5.088.Z). If the engagement condition is met and the initial lead
pulse (P5.087) is not set, the clutch engages. If you have set the initial lead pulse, the
system enters the Pre-engage state. When the E-Cam function is disabled, the system is
also in the stop state.
Engage state (P5.088.D = 1): the clutch is engaged and the system continues to check the
2.
disengagement condition (P5.088.U). If one of the three disengagement conditions,
"Disengagement control with DI", "Immediate stop after disengagement, or "Decelerate to
stop after disengagement" (P5.088.U = 1, 2, or 6) is met, the system is stopped. If the
condition "Enter cyclic mode after disengagement (P5.088.U = 4)" is met, the system
enters the Pre-engage state.
Pre-engage state (P5.088.D = 2): the clutch is disengaged. If pulses from the master axis
3.
reach the initial lead pulse number or the pre-engaged pulse number for each cycle, the
clutch engages and the system enters the Engage state.
Disengagement with DI control,
immediate stop after
disengagement, decelerate to
stop after disengagement
(P5.088.U = 1, 2, 6)
Or disable E-Cam function
(P5.088.X = 0)
7-90
Stop state
P5.088.D = 0
Disable E-Cam function
Engage state
Enter cyclic mode
P5.088.D = 1
after disengagement
(P5.088.U = 4)
Reach initial lead pulse (P5.087) or
Pre-engaged pulse for each cycle (P5.092)
Figure 7.3.2.8 E-Cam system status
Engagement condition is
met (P5.088.Z) and initial
lead pulse is set (P5.087)
(P5.088.X = 0)
Pre-engage
state
P5.088.D = 2
ASDA-A3