E-Cam Curve And Pr Command Overlapping - Delta ASDA-A3 Series User Manual

Motion Control

7.3.5 E-Cam curve and PR command overlapping

When the E-Cam curve is operating, if you trigger a PR path of incremental position command,
the E-Cam command is overlapped with the PR command. As shown in the upper part of Figure
7
7.3.5.1, the moving direction of the slave axis is the same as that set in the incremental position
command. When the slave axis is moving at 300 rpm and you trigger an incremental position
command with the target speed of 200 rpm in the same direction, the slave axis overlaps the
PR incremental position command with the E-Cam command and completes the 5000 PUU
incremental position command at the target speed of 500 rpm. As shown in the lower part of
Figure 7.3.5.1, the moving direction of the slave axis is opposite to that set in the incremental
position command. When the slave axis is moving at 300 rpm and you trigger an incremental
position command with the target speed of 200 rpm in the reverse direction, the slave axis
executes the E-Cam command at the target speed of 100 rpm. Then, it resumes the original
speed after the incremental position command of -5000 PUU is executed completely.
Slave axis speed
1000
300
Slave axis speed
1000
300
Figure 7.3.5.1 Overlapping of E-Cam command and PR incremental position command
To change the E-Cam phase when E-Cam is operating, use the PR incremental position
command. Both the phase alignment function and macro for the rotary shear, which align the
E-Cam phase, are completed by this command overlapping method. For more about this
function, refer to Sections 7.3.7 and 7.3.9.
7-102
Slave axis speed
PR#51 (I)
Position
+
DLY = [0] 0 ms
5000 PUU
INC
200 rpm
200
Time
Slave axis speed
-200
PR#51 (I)
+
Position
DLY = [0] 0 ms
-5000 PUU
INC
Time Time
200 rpm
Slave axis speed
1000
=
500
300
Time
Slave axis speed
Time
1000
=
300
100
ASDA-A3
Time
Time