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Motion Control

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ASDA-A3

7

7.3 E-Cam

The E-Cam system uses the mathematical formula to plan the relative following motion path

based on the master-slave operation, which can replace the mechanical cams instead of being

limited to the mechanical cam shapes. You can use the E-Cam function as long as it is a

master-slave application and their positions can translate into a mathematical formula. The

mechanical cam and E-Cam are shown in Figure 7.3.1.

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(1) Mechanical cam master axis input; (2) Cam curve;

(3) Slave axis output; (4) E-Cam master axis input

Figure 7.3.1 Mechanical cam and E-Cam

The E-Cam function is only available in PR mode (P1.001 = 1). The slave axis operates based

on the cam curve; the positions of the master and slave correspond to a mathematical function.

The master axis sends pulses to the slave axis so the slave axis runs according to the

corresponding E-Cam curve, as shown in Figure 7.3.2. Setting P5.088.X can enable or disable

the E-Cam function. When this function is enabled, the servo drive determines the clutch

engagement and disengagement timings. Figure 7.3.3 introduces the E-Cam parameters with a

mechanical cam illustration. See the detailed settings in the following section.

Slave position

(PUU)

Corresponding

position of slave axis

Pulse number of master axis

Figure 7.3.2 E-Cam curve

Master position

(Pulse)

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