Delta ASDA-A3 Series User Manual page 530

ASDA-A3
PR path setting: the compensation amount for the slave axis is stored in the PR number
7.
specified by P2.073.BA. When the slave axis requires compensation, the system can
trigger this PR path at the proper timing. When using the E-Cam phase alignment function,
set the following for the specified PR: select [Point-to-Point Command], set NO for [INS:
Interrupt the previous PR path when executing the current PR path], set NO for [OVLP:
allow the next PR command to overlap the command that is currently executed when
decelerating], and select [INC Incremental position] and the appropriate speed and
acceleration. Setting the position command is not required because it is automatically set
by the E-Cam phase alignment function.
E-Cam phase alignment setting: it is set by P2.076.X. P2.076.X Bit 0 enables or disables
8.
the alignment function. After this function is enabled, it starts operating as soon as the
servo drive receives the DI signal. P2.076.X Bit 1 sets whether to immediately trigger the
PR command and calls this PR command when the clutch disengages (P5.088.BA).
P2.076.X Bit 2 selects the phase alignment method depending on whether the mark is on
the compensated motion axis.
Motion Control
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