Delta ASDA-A3 Series User Manual page 493

Motion Control
The following example illustrates how the command resolution is adjusted: assume that
the original master axis pulse number for one cycle is 10000 pulses as shown in Figure
7.3.3.2. If this master axis E-Gear ratio becomes larger (P5.084 increases or P5.083
decreases), then the master axis pulse unit corresponds to a narrower E-Cam phase,
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making the master axis pulse command resolution higher. When the master axis E-Gear
ratio becomes smaller (P5.084 decreases or P5.083 increases), the master axis pulse unit
corresponds to a wider E-Cam phase, making the master axis pulse command resolution
lower. In common applications, P5.083 is set to 1 and P5.084 is for specifying the required
master axis pulse number for the E-Cam to operate one cycle. If the required master axis
pulse number has decimal places, you can adjust the value of P5.083. For example, when
the required master axis pulse for operating one cycle is 517.5, you can set P5.083 to 2
and P5.084 to 1035.
To change the slave axis motion path proportionally in E-Cam applications, it is suggested that
you use P5.019 to scale the E-Cam curve. This parameter is only effective to the E-Cam system
and does not affect other motions in the servo system. As shown in Figure 7.3.3.3, if P5.019 =
2, the output curve of the slave axis is two times of the original. If P5.019 = 0.5, the output curve
of the slave axis is 0.5 times of the original. If P5.019 = -1, the positive and negative outputs of
the slave axis are reversed.
P5.088.X Bit 2 can specify the effective timing for the E-Cam curve scaling with the options of
taking effect immediately and after clutch re-engagement. For example, after adjusting the
cutting length in flying shear applications, you can use this parameter to determine when to
make the modified E-Cam curve scaling take effect. If the clutch is set to remain engaged and
modifying the cutting length is required, set P5.088.X Bit 2 to 1 (modified E-Cam curve scaling
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Slave axis
(PUU)
P5.084 10000
=
=
P5.083 1
12500
=
1
7500
=
1
Figure 7.3.3.2 E-Gear ratio for E-Cam
360°
10000 pulses
12500 pulses
7500 pulses
Master axis
(Pulse)
ASDA-A3