Delta ASDA-A3 Series User Manual page 277

Motion Control
ASDA-A3 provides two sets of DO, [0x18] CAM_AREA1 and [0x1A] CAM_AREA2, which
specify the current E-Cam operation position (in respect of the master axis). The first set is set
by P5.090 and P5.091; the second set is set by P2.078 and P2.079, as shown in Figure 7.3.1.1.
For detailed settings, refer to Chapter 8.
7
DO: 0x18
DO: 0x1A
To get the data for the master axis, use four monitoring variables, which are Accumulative pulse
of master axis, Incremental pulse of master axis, Pulse of master axis (lead pulse), and Position
of master axis. The following is the detail description for the four monitoring variables.
Accumulative pulse of master axis: monitoring variable code 059(3Bh); the accumulative
1.
pulse number of the E-Cam master axis. Same as P5.086.
Incremental pulse of master axis: monitoring variable code 060(3Ch); the incremental
2.
pulse number of the E-Cam master axis generated per 1 ms.
Pulse of master axis (lead pulse): monitoring variable code 061(3Dh); when the clutch is
3.
engaged, the master axis disengagement pulse number (P5.089) decrements to 0 and
then the clutch disengages; when the clutch is disengaged, the master axis lead pulse
number (P5.087 or P5.092) decrements to 0 and then the clutch engages.
Position of master axis: monitoring variable code 062(3Eh); the position of the E-Cam
4.
master axis.
7-80
Slave axis position
(PUU)
0 45 90
P5.090 = 135
P2.079 = 45
Figure 7.3.1.1 DO is on when the clutch engages
135 180 225 270
P5.091= 240
P2.078 = 270
E-Cam phase(°)
360
315
ASDA-A3