Delta ASD-A2R-0221 Series User Manual

Chapter 7 Motion Control ASDA-A2R Series
Revision December, 2014 7-29
P5-88.X 1: enable E-cam function and starts to judge the engaged
condition
E-Cam Status
Status can be known via parameter P5-88.S: 0
– Stop; 1 –
Engage; 2
– Pre-engage
Status Description:
 Stop: It is the initial status of the cam. The E-cam will not
operate with the master pulse. When E-cam function is
disabled (P5-88.X=0), it returns to this status.
 Pre-engage: When the engaged condition (path 1) is
established, it enters this status. The E-cam still
will not operate with the master pulse.
 Engage: When it reaches pre-engaged status (path 3), it
enters this status. The E-cam starts to operate with
the master pulse.
Path Description:
 Path 1：When the engaged condition is established (P5-88.Z),
the status is
Stop → Pre-engaged.
The lead pulse is determined by P5-87.
 Path 2：When the E-cam function is disabled (P5-88.X=0), it
returns to Stop status.
 Path 3：When it is in pre-engaged status, the status is
Pre-engaged
→ Engaged.
 Path 4：When the disengaged condition is established
(P5-88.U=4), the status is Engaged
→ Pre-engaged.
The lead pulse is determined by P5-92. (It is available
after firmware version V1.006sub04)
 Path 5：When the disengaged condition is established
(P5-88.U=1,2,6), or the E-cam function is disabled
(P5-88.X=0), the status is Engaged
→ Stop.
Engage
Condition
When the E-cam is in Stop status, the method of determine
engaged (path 1) is as the following:

Delta ASD-A2R-0221 Series Specifications

General

Brand	Delta
Model	ASD-A2R-0221 Series
Category	Servo Drives
Language	English