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Motion Control

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ASDA-A3

7

Change the cutting

length ratio or use

other methods to

create the E-Cam table

Reduce the

S-curve level

No

Cutting length ratio

No

L

1.1 R = a 5

Yes

Set the S-curve level

P5.093.DCBA = 1 - 4

Sync. zone size

YMax Y = P5.094 0

YMax =

360

R

-5 

(3 + 2s+1)

0

Yes

Waiting zone size

P5.093.UZYX = W (Hex)

= 180 - 180 - 5  (2s+1-1)

R

2

No

Give priority to

speed compensation

Speed compensation

Vc >1

Yes

Give priority to

Sync. zone

Max. speed compensation Vc

Y =

360

R

 (1 -

1

)

Vc

Set the new Sync. zone

Y > Ynew

Y = Y – Ynew

Ynew P5.094 0

New Sync. zone

Ynew = Y – Y

Speed compensation

360

Vc = 360 - Y  R

New waiting zone Wnew

Y

P5.093.UZYX = Wnew = W + 2

(Hex)

Set parameters:

P5.095.DCBA = A × C

P5.095.UZYX = B

P5.096 = 1000000 × R × Vc

P5.097 = 0x0007

7-118

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