Delta ASDA-A3 Series User Manual page 527

Motion Control
 Settings for synchronous Capture axis
Before using the synchronous Capture axis, set the parameters for E-Cam, E-Cam curves, and
the synchronous Capture axis. Next, use PR commands to enable the Capture and E-Cam
functions. The settings are as follows.
7
Create and download the E-Cam curve to the servo drive.
1.
Set the E-Gear ratio: including the system E-Gear ratio (P1.044 and P1.045), E-Cam gear
2.
ratio (P5.083 and P5.084), and E-Cam curve scaling (P5.019).
Relevant settings for E-Cam: start address for data array (P5.081), segment number N
3.
(P5.082), and engaged segment number (P5.085).
Relevant settings for high speed position capturing (Capture) : start address of data array
4.
(P5.036) and masking range (P1.020).
Set the homing methods.
5.
Relevant settings for synchronous Capture axis: the interval between each synchronous
6.
Capture action (P5.078) must be equal to the received pulse number per E-Cam cycle
(P5.084/P5.083), maximum correction rate (P5.080), and correction filter (P1.015).
Set the PR command to enable the Capture and E-Cam functions: PR#0 executes the
7.
homing procedure. PR#1 uses the absolute position command to move the motor to the
origin. Disable the Capture and E-Cam functions before using the PR command to set
their parameters, such as the case in PR#2 and PR#3. PR#4 sets the capturing amount.
PR#5 enables the cyclic capturing mode. PR#6 enables the E-Cam function, uses the
synchronous Capture axis as the source for the master axis, and executes the capturing
action based on the clutch engagement timing. PR#7 enables the Capture function and
sets the pulse source.
Homing
Offset=0
Speed1=100
Speed2=20
7-124
PR#0
PR#1
Position
0: PLZ
DLY=[0] 0 ms
0 PUU
PR#1
ABS
10 rpm
PR#4 (I)
Write
DLY=[1] 1 ms
DLY=[0] 0 ms
P1.019=0x0001
P5.038=1
PR#2 (I)
Write
DLY=[0] 0 ms
P5.039=0x2020
PR#5 (I) PR#6 (I)
Write Write
DLY=[1] 1 ms
P5.088=0x0251
ASDA-A3
PR#3 (I)
Write
DLY=[0] 0 ms
P5.088=0x0250
PR#7 (I)
Write
DLY=[0] 0 ms
P5.039=0x2021