E-Cam Curve - Delta ASDA-A3 Series User Manual

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Motion Control

7.3.4 E-Cam curve

E-Cam curve is created by the mathematic function based on positions of the master and slave

axes. There are various ways to create the table. You can use mathematic tools (software) or

use the tabulation interface for industry-specific applications provided in ASDA-Soft. Regardless

of the tabulation methods, the software coverts the mathematic function into position data and

stores them in the data array. One E-Cam curve can have up to 721 sets of data (divided 720

times). It means the highest resolution is 0.5 degrees. As long as the total point number is within

the data array's maximum 800, the array can store multiple E-Cam curves. The slave axis curve

between two data points will be interpolated with a cubic curve to smooth the motion at each

See Figure 7.3.4.1 for example. If using E-Cams to replace mechanical cams, divide the

mechanical cam into several segments. The more the segments, the higher the precision. In this

example, the cam is divided into 8 segments, and each interval is 45 degrees (this is for

reference only; you need to delicately segment the cam in the actual application, or the path will

be distorted). Then, enter the distance between the cam shaft and the points (1 - 8) on the cam

edge to the data array. The start point 0 degree and the last point 360 degrees are identical but

you must enter both of the two points to the data array so the the E-Cam can completely go

around the mechanical cam for one cycle. Therefore, you need to enter 9 sets of data to

complete the E-Cam curve table.

Figure 7.3.4.1 Example of creating E-Cam curve table

A3-l A3-m A3-f A3-e