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ASDA-A3

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Motion Control

7. PR path setting: the compensation amount for the slave axis is stored in the PR number

specified by P2.073.BA. When the slave axis requires compensation, the system can

trigger this PR path at the proper timing. When using the E-Cam phase alignment function,

set the following for the specified PR: select [Point-to-Point Command], set NO for [INS:

Interrupt the previous PR path when executing the current PR path], set NO for [OVLP:

allow the next PR command to overlap the command that is currently executed when

decelerating], and select [INC Incremental position] and the appropriate speed and

acceleration. Setting the position command is not required because it is automatically set

by the E-Cam phase alignment function.

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8. E-Cam phase alignment setting: it is set by P2.076.X. P2.076.X Bit 0 enables or disables

the alignment function. After this function is enabled, it starts operating as soon as the

servo drive receives the DI signal. P2.076.X Bit 1 sets whether to immediately trigger the

PR command and calls this PR command when the clutch disengages (P5.088.BA).

P2.076.X Bit 2 selects the phase alignment method depending on whether the mark is on

the compensated motion axis.

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