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ASDA-A3

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Motion Control

You can use Macro #7 of the servo drive to create the table with the same method. The

advantage of using the macro to create an E-Cam curve is that when changing the cutting

length is required, you can create a new curve simply by modifying the parameters. It is very

friendly for those applications that require frequent modification of the cutting length. The setting

steps are as follows:

1. Set the start position for the data array: use P5.081 to specify the data array start position

for E-Cam and use P5.085 to set the E-Cam’s segment number for clutch engagement.

When Macro #7 is used, the range of E-Cam segment (P5.082) is 30 - 72. It is suggested

that you set the segment to 72 for the optimal resolution of 5°.

2. Set the system E-Gear ratio: set the system E-Gear ratio with P1.044 and P1.045.

3. Set the E-Cam’s gear ratio and curve scaling: set the pulse number required for the cutting

length, which is P5.083 = 1 and

P5.084 = Pulse number per revolution of the master axis encoder ������ × Cutting length ������(������������).

������ × master axis encoder diameter ������2(������������)

Use P5.019 to specify the E-Cam curve scaling.

4. Set the parameters for the E-Cam curve zones: specify the size of the waiting, acceleration,

synchronous speed, and S-curve zones. P5.093.DCBA sets the S-curve level (S) with the

range of 1 - 4; the calculation for the corresponding angle (S°) is as follows. P5.093.UZYX

sets the angle (W) of the waiting zone with the range of -1° to 170° in hexadecimal. If you

enter -1 (0xFFFF), it means the cutter speed is 0 in the waiting zone and the angle for the

waiting zone is calculated by the servo drive. P5.094 sets the angle (Y) of the synchronous

speed zone with the range of 0° - 330° in decimal format. The acceleration zone is

automatically calculated by the servo drive, as shown in the following formula.

2������ × 360°

������° = E − Cam segment number ������5.082

360° = 2������ + 2������������������ + 2������° + ������

As the synchronous speed zone is adjustable, there are limitations when using Macro #7

to create the waiting zone of the E-Cam curve. The conditions are as follows.

���̂���(minimum

waiting

360° 360° ������

zone) = 180° + ������5.082 − ������ + 2

7

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