Delta ASDA-A3 Series User Manual page 764

ASDA-A3
P5.087
Default: 0
Unit: Pulse unit of master axis
Format: DEC
Settings:
When the E-Cam engagement condition (P5.088.Z) is met, the pulse number from the master axis has
to exceed the value of this parameter for the E-Cam to fully engage. This parameter can be written with
the virtual master axis pulse function (refer to description of P2.077).
P5.088■
Default: 0x00000000
Unit: -
Format: HEX
Settings:
Auto execute the specified PR
BA
C
D E-Cam engagement status
-
Definitions are as follows:

X: activation setting of E-Cam function
Bit Function
0 E-Cam activation
Clutch
1
engagement when
servo is off
P5.019 effective
2
time
3 Reserved

Y: command source
0: Capture axis
1: CN5
2: CN1 (pulse command)
3: PR command
E-Cam: initial lead pulse before engaged
E-Cam: activate E-Cam control
High word
path
Reserved
-
0: E-Cam is disabled.
1: E-Cam is enabled (relevant parameters cannot be modified once E-
Cam is enabled).
0: when the servo is stopped by alarm or because servo is off, the clutch
disengages.
1: when the servo is stopped by alarm or because servo is off, the clutch
remains engaged. When the servo switches to on again, E-Cam can
operate directly.
If E-Cam phase offset occurs, use macro command #D to let the
E-Cam return to the correct position.
0: modification to P5.019 is effective after next engagement.
1: modification to P5.019 is effective immediately.
-
Control mode: PR
Setting range: -1073741824 to +1073741823
Data size: 32-bit
Control mode: PR
Setting range: 0x00000000 - 0x206FF267
Data size: 32-bit
Low word
X Activation setting of E-Cam function
Y Command source
Z Engagement condition
U Disengagement condition
Description
Parameters
Address: 05AEH
05AFH
Address: 05B0H
05B1H
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