Delta AS Series Programming Manual page 1323

AS Ser ies Pro gra mm in g M anu al
Symbol
_6
Explanation
1. For execution of this instruction, you need to use PLC FW V1.06 or later and ISPSoft V3.07 or later.
2. This instruction is for setting up the E-CAM related parameters for the first time or setting up the E-CAM chart before
the first engagement. If you need to modify the E-CAM chart during engaging, you need to use instruction ECAMC
(API2816) instead.
3. Slave is the servo slave station, ranging from 1 to 8. If the slave station number you are using is out of the supported
range, the instruction is NOT executed. And the Err (error) flag is ON. After modifying and the specified servo slave
station responds correctly, the DONE flag is ON.
4. Smode is where you can set the command source for encoder of the master axis; the options are as shown below.
6 - 1 0 4 4
： Servo slave station number
Slave
Command source for encoder of the master
Smode ：
axis
From which address to start storing E-CAM
CAddr ：
chart in the servo
： Specified E-CAM chart length for executing
CLen
Number of pulses for the master's E-CAM to
：
RPuu
rotate a full 360 cycle
Cmode ： Engaging condition
Number of pulses for E-CAM to wait before
WbPuu ：
engaging for the first time (32-bit value)
： Disengaging condition
OutT
Number of pulses for E-CAM to wait before
CaPuu ：
disengaging (32-bit value)
Number of pulses for E-CAM to wait before
CwPuu ：
engaging again (32-bit value)
ORate ： Output ratio for E-CAM chart (32-bit value)
： Downloading complete flag
Done
： Error flag
Err
ErrCode ： Error code