Delta ASDA-A2 Series User Manual

Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-31
Lead Pulse
Monitoring
Variables
(061)
 In pre-engaged status, the lead pulse is the moving distance of
master axis before the E-cam is engaged (path 3). Its value
decreases when input the master pulse. When the value is 0, it
enters Engaged status.
 Enter Pre-engaged status via path 1, the lead pulse is determined
by the value of P5-87.
 Enter Pre-engaged status via path 4, the lead pulse is determined
by the value of P5-92.
 If the setting is 0, it means no lead pulse and will enter Engaged
status immediately.
Symbol ＋/－ represents the direction of lead pulse. Please note that
the E-cam will be unable to engage if setting the wrong direction.
If setting the wrong direction, the value of monitoring variable (061) will
increase, which is far from 0 and causes overflow at the end. If it
overflows, the E-cam function will be disabled (P5-88.X=0) and the E-
cam will be forced to return to Stop status.
Disengage
Condition
P5-88.U
When the E-cam is in Engaged status, the method of determine
disengaged is as the following:
Note: 2, 4 and 6 cannot be selected at the same time
U Disengage Condition After Disengaged
0
Never disengaged. It will be forced to
disengage until P5-88.X is set to 0.
(Path 5)
Enter Stop Status
1 DI.CAM is OFF
(Path 5)
Enter Stop Status
2
Master axis receives the pulse
number which is set by P5-89 and
stops immediately. (The symbol
represents the direction)
(Path 5)
Enter Stop Status
6
Same as 2, the E-cam starts to
decelerate when disengaging. It is
suitable for the application of calling
the next PR position command right
after disengaged.
4
Master axis receives the pulse
number which is set by P5-89 and
stops immediately. (The symbol
represents the direction)
(Path 4)
Returns to Pre-
engage Status
The lead pulse is
P5-92
8 Disable the E-cam after disengaging
Set P5-88.X＝０
Auxiliary
Selection
P5-88.BA
When the E-cam disengaged, if it is in the setting distance (P5-
88.U=2), it returns to Stop status and can determine the execution PR
number.

Delta ASDA-A2 Series Specifications

General

Brand	Delta
Model	ASDA-A2 Series
Category	Servo Drives
Language	English