Delta ASD-A2-0121 Series User Manual page 292

Chapter 7 Motion Control
Lead Pulse
Monitoring
Variables
(061)
Disengage
Condition
P5-88.U
Auxiliary
Selection
P5-88.BA
In pre-engaged status, the lead pulse is the moving distance of

master axis before the E-cam is engaged (path 3). It can be
observed through the monitoring variable (061). Its value
decreases when inputting the master pulse. When the value is 0,
it enters Engaged status.
Enter Pre-engaged status via path 1, the lead pulse is determined

by the value of P5-87.
Enter Pre-engaged status via path 4, the lead pulse is determined

by the value of P5-92.
If the setting is 0, it means no lead pulse and will enter Engaged

status immediately.
Symbol ＋/－ represents the direction of lead pulse. Please note that
the E-cam will be unable to engage if setting the wrong direction.
If setting the wrong direction, the value of monitoring variable (061) will
increase, which is far from 0, and causes overflow at the end. If it
overflows, the E-cam function will be disabled (P5-88.X=0) and the E-
cam will be forced to return to Stop status.
When the E-cam is in Engaged status, the method of determining
disengaged is as the following:
Note: 2, 4, and 6 cannot be selected at the same time
U Disengage Condition
0 Never disengaged.
1 Disengage when DI.CAM is OFF.
Master axis receives the pulse
number which is set by P5-89 and
2
stops immediately. (The symbol
represents the direction)
(Provided by firmware version
V1.009 or later versions)
Same as 2, the E-cam starts to
6 decelerate when disengaging. It is
suitable for the application of calling
the next PR position command right
after disengaged.
(Provided by firmware version
V1.009 or later versions)
Master axis receives the pulse
4
number which is set by P5-89 and
stops immediately. (The symbol
represents the direction)
8 Disable the E-cam after disengaging
When the E-cam disengaged, if it is in the setting distance
(P5-88.U=2), it returns to Stop status and can determine the execution
PR number.
ASDA-A2
After Disengaged
(Path 5)
Enter Stop Status
(Path 5)
Enter Stop Status
(Path 5)
Enter Stop Status
(Path 4)
Returns to Pre-
engage Status
The lead pulse is
P5-92
Set P5-88.X＝0
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