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ASDA-A3

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Motion Control

5. Enter cyclic mode after disengagement (P5.088.U = 4): when the clutch is engaged and

the pulse number of the master axis reaches the value set in P5.089, the clutch

disengages and the master and slave axes enter the cyclic mode. Then, the E-Cam

system goes into the pre-engage state and waits for the master axis pulse to reach the

number set in P5.092. Next, the clutch re-engages and operation of the next cycle starts.

See Figure 7.3.2.6.

Slave axis

position

(PUU)

7

Disengagement pulse No.

(P5.089)

Pre-engage

pulse for

each cycle

(P5.092)

Disengagement pulse No.

(P5.089)

Figure 7.3.2.6 Disengagement timing: cyclic mode

Master axis

position

(Pulse)

Note that the “pre-engage pulse for each cycle” and the “initial lead pulse” are different.

The “initial lead pulse” is valid only for the first engagement whereas the “pre-engage

pulse for each cycle” is effective before each engagement cycle. You can see how these

two work together in Figure 7.3.2.7.

Slave axis position

(PUU)

Initial lead

pulse

(P5.087)

Disengagement

pulse No.

(P5.089)

Pre-engage

pulse for

each cycle

(P5.092)

Disengagement

pulse No.

(P5.089)

Master

axis

position

(Pulse)

Engagement

condition met

Lead pulse No. is

reached, clutch

engages

Figure 7.3.2.7 “Initial lead pulse” and “Pre-engage pulse for each cycle”

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