ASDA-A2 Chapter 7 Motion Control
7-6 Revision February, 2017
Code
Monitoring Variables /
Attribute
Explanation
060
(3Ch)
Pulse from E-Cam
master axis
(increment)
The incremental pulse number from master axis. The unit is
pulse number per msec. A2L does not support this function.
061
(3Dh)
Pulse from E-Cam
mast axis
(lead pulse)
The lead pulse of E-Cam master axis which is used to
judge the engaging condition.
When it is disengaged: lead pulse = P5-87 or P5-92.
When it is engaged: lead pulse = P5-89. When the value is
0, it will be disengaged.
A2L does not support this function.
062
(3Eh)
The position of E-Cam
axis
The position of E-Cam axis.
Unit: The pulse is from the master axis. When the
incremental pulse from master axis is P, the axis rotates M
cycle (P5-83＝M, P5-84＝P).
A2L does not support this function.
063
(3Fh)
Position of E-Cam
slave axis
The position of E-Cam slave axis. Unit: PUU
A2L does not support this function.
064
(40h)
Terminal register of PR
command
In PR mode, the termination of position command (Cmd_E)
065
(41h)
Output register of PR
command
In PR mode, the accumulative output of position command
067
(43h)
PR target speed The target speed of path command in PR mode. The unit is
PPS (Pulse Per Second)
068
(44h)
S-curve filter (input) The input commands of S-curve filter which is used to
smooth the input command.
It is effective in PR mode, E-Cam and speed command.
A2L does not support this function.
069
(45h)
S-curve filter (output) The output commands of S-curve filter which is used to
smooth the output command.
It is effective in PR mode, E-Cam and speed command.
A2L does not support this function.
072
(48h)
Speed command
(analog)
B D1 Dec
The speed command is issued via analog. The unit is 0.1
r/min.
This function is supported by A2-M/U/L.
076
(4Ch)
Speed command of PR
contour
In PR mode, the programmed trapezoid speed curve is
determined by the target speed, acceleration, deceleration
and moving distance (before S-curve filter).
The unit is PPS (Pulse Per Second).
081
(51h)
Synchronous capture
axis
Incremental input pulse
When synchronous capture axis is enabled, the received
pulse number between two captures can be used to
measure the real distance of Mark.
082
(52h)
PR number that is
currently executed
To inform HMC the PR number that is being executed (It is
applicable to A2-F)
084
(54h)
Synchronous capture
axis
Deviation pulse
number
The deviation between the real output pulse and the target
pulse when synchronous capture axis is enabled. If it
reaches the synchronization, the value will close to 0.
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