Delta ASDA-A3 Series User Manual page 489

Motion Control
You can choose one of the three conditions for disengagement timing: "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 "Decelerate to stop
7
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
0
1
2
3
4
5
6
7
8
9
A
B
C
D
7-86
Clutch disengagement condition
0: remains engaged.
1: disengages when DI.CAM (DI: 0x36) is off.
2: disengages when master axis pulse number reaches the
setting value of P5.089, and slave axis stops immediately.
1 + 2: disengages when DI.CAM (DI: 0x36) is off or when master
axis pulse number reaches the setting value of P5.089, and
slave axis stops immediately.
4: disengages when master axis pulse number reaches the
setting value of P5.089 and enters the cyclic mode. When the
pre-engaged pulse number for each cycle (P5.092) is reached,
the clutch re-engages.
1 + 4: E-Cam enters the cyclic mode, but the clutch disengages
when DI.CAM (DI: 0x36) is off.
6: disengages when master axis pulse number reaches the
setting value of P5.089, and slave axis decelerates to stop.
1 + 6: disengages when DI.CAM (DI: 0x36) is off or when master
axis pulse number reaches the setting value of P5.089, and
slave axis decelerates to stop.
8: set other disengagement conditions first, and the E-Cam
function is disabled after the clutch disengages.
1 + 8: disengages when DI.CAM (DI: 0x36) is off and the E-Cam
function is disabled.
2 + 8: disengages when master axis pulse number reaches the
setting value of P5.089, slave axis stops immediately, and the E-
Cam function is disabled.
1 + 2 + 8: disengages when DI.CAM (DI: 0x36) is off or when
master axis pulse number reaches the setting value of P5.089,
slave axis stops immediately, and the E-Cam function is
disabled.
4 + 8 (special function): eases the speed vibration when the
clutch returns to the pre-engaged condition. This is generally
applied when the pre-engaged pulse number for each cycle
(P5.092) is 0 and the pulse number of disengaging time equals
master gear ratio (P5.089 = P5.084).
1 + 4 + 8: disengages when DI.CAM (DI: 0x36) is off, otherwise
operates according to the condition of P5.088.U = C.
ASDA-A3
Status after disengaged
-
0: stop
0: stop
0: stop
2: pre-engage
0 or 2: pre-engage or
stop
0: stop
0: stop
-
0: stop and disable E-
Cam.
0: stop and disable E-
Cam
0: stop and disable E-
Cam
2: pre-engage
0 or 2: stop and disable
E-Cam or pre-engage