Delta ASD-A2-0121 Series User Manual page 289

ASDA-A2
Machine will wear and the
Maintenance
maintenance is necessary.
The master axis needs space and
Others
it consumes energy as well.
The main feature of E-Cam is as the followings:
Operation
Active the E-Cam Function
P5-88.X
E-Cam Status
Source of Master Axis
Motion Command of the
Servo Drive
Data Storage Address of
E-Cam table
Data Size of E-Cam table
Data Format of E-Cam
table
Data Content of E-Cam
table
The operation of E-Cam
position
DO: CAM_AREA
(DO no.= 0x18)
7-28
Machine Cam
Features of E-Cam
Operate the E-cam in PR mode only.
0: disable E-cam function and force to disengage (default).
1: enable E-cam function and starts to judge the engaged condition.
Stop / Pre-engage / Engage
Physical axis: auxiliary encoder (linear scale)

Physical axis: pulse command

Functional axis: CAP axis (defined by CAP function)

Virtual axis: PR command / Time axis / Synchronous capture

axis
The overlap motion command issued by PR and E-Cam
Command of the Servo Drive = E-Cam command + PR command
The command will be issued only in Engaged status

PR command is effective regardless of the E-Cam status. Only

when E-cam is engaging and the source of master axis is PR
command, PR command is 0.
When E-Cam is operating, its position still can be adjusted by PR
command (incremental command in general).
It is stored in Data array and the start address is set by P5-81.

It is set by P5-82. 720 points is the maximum and 5 points is

the minimum.
32-bit signed value.

Save the position of slave axis (User unit, PUU)

The master axis operates by incremental command input.

The slave axis issues position command incrementally.

The start and the end of E-Cam curve profile could not always

be the same. It depends on the value of E-Cam table.
The command is interpolated by cubic curve. The torque on

each point will be smoothly connected because of quadratic
differential operation.
DO: CAM_AREA: If it is on, it means the current E-Cam

position is within the set position.
E-Cam
No need to maintain.
Save the space and energy which
protects the environment.
Chapter 7 Motion Control