Delta ASDA-A3 Series User Manual page 766

ASDA-A3

BA: auto execute the specified PR path
Set the PR path number for auto execution when the disengagement condition (P5.088.U = 2, 4,
6) is met. Use hexadecimal notation to specify PR#1 - 99 (01 - 63h) and 00 indicates not to
continue with a PR command.

D: E-Cam engagement status (read-only)
0: stop
1: engaged
2: pre-engaged
P5.089
Default: 0
Unit: Pulse unit of master axis
Format: DEC
Settings:
When the pulse number of the master axis reaches the value set by P5.089, the clutch disengages
based on the disengagement condition setting (P5.088.U).
P5.090
Default: 270
Unit: Degree
Format: DEC
Settings:
See the correlation between DO.CAM_AREA1 (DO: 0x18) and the parameters in the following figure.
When E-Cam is not in the engaged state, this signal is always off.
E-Cam: pulse number upon disengagement
E-Cam: DO.CAM_AREA1 rising-edge phase
Slave axis position (PUU)
0 45 90 135 180 225 270 315 360
DO: 0x18
P5.090 = 135 P5.091 = 240
DO: 0x18
P5.091 = 45
Control mode: PR
Setting range: -1073741824 to +1073741823
Data size: 32-bit
Control mode: PR
Setting range: 0 to 360
Data size: 16-bit
E-Cam angle (°)
P5.090 P5.091
P5.090 > P5.091
P5.090 = 270
Parameters
Address: 05B2H
05B3H
Address: 05B4H
05B5H
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