March, 2015 I
Table of Contents
Introduction of PR Operation
1.1 System Information ····················································································· 1-2
1.2 Introduction of ASDA-A2 PR Function ······························································ 1-10
1.3 Motion Control ···························································································· 1-29
1.4 Presentation of PR ······················································································ 1-39
1.5 How is PR Arranged? ··················································································· 1-42
1.6 PR Setting Examples ··················································································· 1-44
Introduction of E-Cam Operation
2.1 Introduction of E-Cam ·················································································· 2-2
2.2 Source of the Master Axis ············································································· 2-5
2.3 The Clutch ································································································· 2-7
2.4 The E-gear of the Master Axis ········································································ 2-13
2.5 E-Cam Curve ····························································································· 2-14
2.6 E-gear Ratio and Scaling of E-Cam Curve ························································ 2-40
2.7 E-Cam Setting Example ··············································································· 2-42
2.8 Simultaneously Using E-Cam Function and PR Command ··································· 2-46
2.9 Troubleshooting when E-Cam is not Working Properly ········································ 2-48
Applications Examples
3.1 How to Use CAPTURE Function to Create an E-Cam Curve ······························· 3-4
3.2 Application to Wrapping Machine ··································································· 3-20
3.3 Application to Labeling Machine ····································································· 3-39
3.4 Printing Machine Application with Synchronization of Multiple Axes ························ 3-57
3.5 Application to Gantry ···················································································· 3-64
3.6 Application Example of Packing Machine ························································· 3-83
3.7 Application of Precision Positioning via Mark Reading ········································· 3-95
3.8 Application Example of Packing Machine with Phase Alignment Function ················ 3-101
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