ASDA-A2 Chapter 7 Motion Control
7-28 Revision February, 2017
The main feature of E-Cam is as the followings:
Features of E-Cam
Operation Operate the E-cam in PR mode only.
Active the E-Cam Function
P5-88.X
0: disable E-cam function and force to disengage (default).
1: enable E-cam function and starts to judge the engaged condition.
E-Cam Status Stop / Pre-engage / Engage
Source of Master Axis
Auxiliary encoder (linear scale)
Pulse command
CAP axis (defined by CAP function)
PR command
Time axis
Synchronous capture axis
Motion Command of the
Servo Drive
The overlap motion command issued by PR and E-Cam
Command of the Servo Drive = E-Cam command ＋ PR
command
The command will be issued only in Engaged status
PR command is effective regardless to the E-Cam status.
Except when E-cam is engaging and the source of master axis
is PR command, PR command is 0.
When E-Cam is operating, its position still can be adjusted by PR
command (incremental command in general).
Data Storage Address of
E-Cam table
It is stored in Data array and the start address is set by P5-81.
Data Size of E-Cam table
It is set by P5-82. 720 points is the maximum and 5 points is
the minimum.
Data Format of E-Cam
table
32-bit signed value.
Data Content of E-Cam
table
Save the position of slave axis (User unit, PUU)
The operation of E-Cam
position
The master axis operates by incremental command input.
The slave axis issues position command incrementally.
The start and the end of E-Cam curve profile could not always
be the same. It depends on the value of E-Cam table.
The command is interpolated by cubic curve. The torque on
each point will be smoothly connected because of quadratic
differential operation.
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