Delta Electronics ASDA-A2 Series User Manual page 233

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
Characteristics of E-Cam:
Control Mode
Enable E-Cam Function
(P5-88 X Settings)
States of E-Cam
Sources of Master Axis
(P5-88 Y Settings)
Servo Drive Command
Data Storage Location
E-Cam Curve Division
Data Format
Data Content
Calculation Method of
E-Cam Position
DO signal: CAM_AREA
(DO=0x18)
7-30
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Characteristics of E-Cam
E-Cam function is available only in PR mode.
X=0: Disable E-Cam function (Default). If E-Cam has been engaged
already, setting X=0 will force E-Cam to be disengaged.
X=1：Enable E-Cam function.
There are three statuses: Stop / Lead Pulse / Engaged

Physical axes:
P5-88 Y=1. Linear Encoder (CN5)

P5-88 Y=2. Pulse Command (CN1)


Output axis:
P5-88 Y=0. Capture source setting. (Defined by Capture

function, P5-39 B settings)

Virtual axes:
P5-88 Y=3. PR command (Internal signal)

P5-88 Y=4. 1ms clock (Internal signal)

P5-88 Y=5. Synchronous Capture Axis (P5-39 B, Mark

tracking)
Servo drive command = E-Cam command + PR command

The command will be sent only when E-Cam is engaged.

No matter E-Cam is engaged or not, PR command is valid.
Only when E-Cam is engaged, the source of master axis is PR
command and PR command is set to 0.
When E-Cam operates, users can adjust E-Cam position through PR
command still (usually using incremental position command).

Data array. The E-Cam curve is stored in the data array. P5-81
notes its start point where P5-82 +1 (720+1, maximum items
of one E-Cam curve) is for its length. P5-85 is the initial point
where the E-Cam engaged.

It is set by P5-82. Range: 5 ~ 720

32-bit data with polarity

Save the position of slave axis (user unit: PUU)

Pulses of E-Cam master axis output incrementally  E-Cam
Axis

Pulses of E-Cam slave axis output incrementally  Position
Command

After E-Cam rotates one revolution, the slave axis may not
return to the original position definitely. The position of the
slave axis is determined by the content of E-Cam curve.

Three curves can be interpolated between two positions upon
software. The adjacent curves at the ends continue quadratic
differential equation and make the torque of the ends to be
smooth.

DO signal：CAM_AREA. When CAM_AREA is activated, it
indicates that the servo drive has detected the E-Cam master
position is within the setting area.
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Chapter 7 Motion Control Functions
Revision January 2011
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