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ASDA-A3

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Motion Control

7.3.2 Clutch engagement and disengagement

When the E-Cam function is enabled, the E-Cam clutch status determines whether the slave

axis operates based on the signals sent from the master axis. While the clutch is engaged, the

slave axis operates according to the received master axis pulses and the E-Cam curve; when

the clutch is disengaged, the slave axis does not operate according to the E-Cam curve even if

it receives the master axis pulses. The clutch engagement and disengagement timings are

described as follows.

Clutch engagement condition

After the E-Cam function is enabled, the slave axis operates according to the master axis

signals and E-Cam curve only when the clutch is engaged as shown in Figure 7.3.2.1. The

timing for clutch engagement can be specified with P5.088.Z. The ASDA-A3 provides three

condition options for clutch engagement timing:

1. Engage immediately (P5.088.Z = 0): the clutch engages immediately as soon as the

E-Cam function is enabled. The slave axis operates according to the E-Cam curve and the

master axis signals.

2. Engagement control with DI (P5.088.Z = 1): trigger DI.[0x36]CAM to have the clutch

engaged. When this DI is triggered, the clutch remains engaged until the disengagement

condition is met.

3. Engagement control with high-speed capturing (P5.088.Z = 2): when the master axis

source is the Capture axis and the first position data is captured, input a signal from DI7 to

have the clutch engaged immediately. Different from triggering DI.[0x36]CAM for clutch

engagement, the high-speed capturing function only takes 5 μs to have the clutch

engaged using the DI7, making the system timing control more precise.

7

Figure 7.3.2.1 Clutch engagement

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