ASDA-A2 Series

Electronic Cam (E-CAM)

Function – Advanced Level
 About This Presentation
Intended Audience
This is an advanced level presentation designed for
the users who have a basic knowledge of Delta‘s
servo products, and understand Pr mode and
electronic cam (E-CAM) function of ASDA-A series.

Presentation Revision
Revision: 9/8/2009
Revision: those before 8/25/2009 is obsoleted

Firmware & Software Version

Firmware: DSP V1.027 SUB 2, CPLD V0.09
Software: ASDA-A2 Soft V1.04.04 Green Edition
 Table of Contents
E-CAM Parameter Settings
Master Axis Input, Clutch, Electronic Gear Ratio,
E-CAM Profile

Auto Rotary Knife

Theory, Settings, Usage and Example

Auto Flying Shear

Theory, Applications, Create E-CAM Profie

CAPTURE SYNC AXIS

Theory, Settings, Usage and Example
 E-CAM Introduction -1
Actual Mechanical Cam and Electronic Cam
E-CAM Introduction -2
E-CAM Parameters
 Master Axis
E-CAM axis which is able to execute E-CAM
profile is controlled by the master axis.
There are six kinds of command source
settings (P5-88 Y Setting) of the master axis:

0: CAPTURE AXIS
1: Auxiliary Encoder (Linear Scale)
2: Pulse Command
3. Pr Command
4. Time Axis (1ms)
5: CAPTURE SYNC AXIS (P5-77)
 Master Axis -1

0: CAPTURE AXIS
The command of the master axis can be from
Capture axis, i.e. B setting (Capture source
settings) of P5-39.
 Master Axis -2

1: Auxiliary encoder (Linear Scale)

CN5 inputs: Opt A, /Opt A, Opt B, /Opt B
 Master Axis -3
2: Pulse Command
CN1 inputs: Pulse, /Pulse, Sign, /Sign
 Master Axis -4
3: Pr Command
Internal Pr commands

4: Time Axis
1ms time pulse
 Master Axis -5
5: CAPTURE SYNC AXIS
New function which is available in firmware
V1.009 or later version (more introduction will
be described on page 128~148)
 Master Axis -6
One Master Axis to multiple Slave Axes –
via CN1 connection
ASDA-A2 provides pulse signal transmission function.
One master axis can send the signals to multiple
slave axes, i.e. one master axis can control multiple
slave axes to move synchronously. The delay for one
level is 50ns on slave axis, so the pulse signal is not
attenuated.

Master E-CAM E-CAM E-CAM E-CAM E-CAM E-CAM

Axis Axis 1 Axis 1 Axis 2 Axis 2 Axis 3 Axis 3
CN1 CN1 CN1 CN1 CN1 CN1 CN1
OA, Pulse, OA, Pulse, OA, /OA, Pulse, OA, /OA,
/OA, /Pulse, /OA, /Pulse, OB, /Pulse, OB,
OB, Sign, OB, Sign, /OB Sign, /OB
/OB /Sign /OB /Sign /Sign
P1-74.Y P1-74.Y P1-74.Y
=2 =2 =2
 Master Axis -7
One Master Axis to multiple Slave Axes –
via CN5 By-pass function
The pulse signals of ASDA-A2 can be transmitted
via CN5.
 Master Axis -8
Control and Output of Pulse Command Source
Settings:
0: Motor Encoder, 1: Auxiliary Encoder (Linear Scale),
2: Pulse Command. When sending the signals, it can
make the pulse command to be in reverse direction.
P5-17
P1-74 C Setting:
Axis Position: Internal
Polarity Setting
Auxiliary Circuit
of Linear Scale
Encoder
Linear P5-18 Pulse Command
Scale CN5 Axis Position: Pulse, /Pulse
Auxiliary Pulse
Command
Sign, /Sign
Encoder
P5-16
CN1
Axis
Motor CN2 Position:
Encoder Motor Pulse Output
Encoder 0 1 2 OA, /OA
OB, /OB
P1-74 B Setting:
Source of OA/OB/
OZ Outputs

P1-03 B Setting:
Position Pulse
Outputs Polarity
 Clutch -1
The work of clutch is to control the timing
when E-CAM axis accepts the command from
master axis. When the clutch is engaged, E-CAM
axis will accept the pulse command of master axis
and follow E-CAM profile to move synchronously. If
the clutch is disengaged, E-CAM will not accept the
command of master axis. There are three kinds of
settings for engage timing(P5-88 Z Setting):
0: Immediately
1: Digital Input (DI) signal: CAM ON
2. Any point of CAPTURE AXIS

P5-88 Z Setting: Engage Timing

0 : Immediately. Once E-CAM function is enabled, the
clutch is engaged.
1 : DI signal: CAM ON(0x36). Triggered by DI signal
 Clutch -2
2 : Any point of CAPTURE AXIS
Use Capture function to quickly receive the
command via the digital input, DI7.
The command comes from the hardware (DI7),
so there is almost no time delay.
When Capture function is enabled, ASDA-A2 will
activate E-CAM function simultaneously according
to this Capture signal.
 Clutch -3
When the clutch is disengaged, E-CAM will
disengaged also and E-CAM axis will not follow
the master axis to move synchronously.
There are six kinds of settings for disengage
timing (P5-88 U Setting):

0: Do not disengage
1: DI signal: CAM OFF
2: Master axis reaches the setting value of P5-89.
 Clutch -3
6: This function is the same as the function of
P5-88 U=2, but the differences are that the
speed will not change when electronic gear is
disengaged and the engage length will exceed
the setting value of P5-89 a little.

4: After master axis exceeds the setting value of

P5-89, the clutch will return to the Lead state.

8: Disable E-CAM function after the clutch is

disengaged.

The setting value can be added up,

but the setting value 2, 4 and 6 can
not be selected simultaneously.

P5-88 U Setting: Disengage Timing

0 : Do not disengage. Once E-CAM function
is enabled, the clutch will not disengage.
 Clutch -4
1 : DI signal: CAM ON(0x36).

The disengage timing is controlled by digital

input signal (DI signal).

Enter into the state of “Stop” after the clutch

is disengaged.
 Clutch -5
2: Master axis reaches the setting value of
P5-89
Enter into the state of “Stop” after the clutch
is disengaged. (Able to enter intro Pr mode)
 Clutch -6
6: Master axis reaches the setting value of P5-89
and the speed will not change when the clutch is
disengaged, and the engage length will exceed
the setting value of P5-89 a little. (This function
is available in firmware V1.009 and later models.)
Enter into the state of “Stop” after the clutch is
disengaged. (Able to enter intro Pr mode)
 Clutch -7
4: Master axis exceeds the setting value of
P5-89.

Return to the state of “Lead” after the clutch

is disengaged. The Cyclic Lead Command
Length is determined by P5-92
(This function is available in firmware V1.009
and later models)
 Clutch -8
8: Disable E-CAM function after the clutch is
disengaged, i.e. X setting of P5-88 is set to 0.
This function can be used with the function of
setting value 1, 2 and 6. If the function of
setting value 4 and 8 is used at the same time,
the function of setting value 8 will be disabled.
 Clutch -9
P5-88 S Setting: Engage Status Display
S=0: Stop state (When E-CAM function is disabled,
the system will return to this state)
S=1: Engaged state (E-CAM will move with master
pulse command according to E-CAM profile.)
S=2: Lead state (E-CAM is waiting and it will not
move with master pulse command.) 動
 Electronic Gear of Master Axis
P5-83: E-CAM Cycle Number (M)
After receiving the pulse number P (P5-84)of
master axis, the shaft of E-CAM will rotate M
cycles. It indicates that there are M cycles of
the E-CAM table. (This parameter can be changed
when Servo On)

P5-84: Pulse Number of Master Axis (P)

The pulse number transmitted by master axis.
It indicates that there are M cycles (P5-83)of the
E-CAM table.
Position
(PUU)
360
degrees

0o (profile degree) 720o

0 (pulse command of master axis) 100000
 E-CAM Profile -1
Save E-CAM profile
The E-CAM profile is saved in data array.
One E-CAM profile can be divided into max. 720
areas. It means that there are total 721 points in
one E-CAM table. After E-CAM profile is
downloaded, if it needs to be copied into EEPROM
and retained when power is off, the users can use
ASDA-A2 Soft software or set P2-08 to 30 and then
35 to complete the copy operation.

P5-81: Start Address of Data Array

P5-82: E-CAM Area Number N (E-CAM profile is
divided into N areas. The E-CAM table should
include N(P5-82)+1 data (points).
P5-85: Engage Area Number
 E-CAM Profile -2
Create E-CAM Profile
Divide the E-CAM profile into equal areas.
The areas are more, the profile is more accurate.
If E-CAM profile is divided into N areas, it indicates that
there are (N+1) points. In ASDA-A2 series, E-CAM profile
should be divided into 5 areas at least. One E-CAM profile
can be divided into max. 720 areas (Set by P5-82). It
indicates that ASDA-A2 allows total 721 points in one E-
CAM profile table. In the figure below, E-CAM profile is
divided into 8 areas, and it means that there are 9 points
should be created.
 E-CAM Profile -3
Record E-CAM Profile

Record the distance from the intersecting line of E-CAM

area and E-CAM profile to the center of the circle. Enter
the data into E-CAM profile table and the E-CAM profile
can be easily created.
 E-CAM Profile -4
Profile Analysis
 E-CAM Profile -5
Interpolation

Delta ASDA-A2 series provides interpolation function.

Using this function can help the users to use less points
but create more smooth E-CAM profile.

Slave Axis Slave Axis

PUU PUU

E-CAM E-CAM
1 2 3 4 5 6 7 8 1 degree 1 2 3 4 5 6 7 8 1 degree

0 45 90 135 180 225 270 315 360 degrees 0 45 90 135 180 225 270 315 360 degrees
 E-CAM Profile -6
Able to Save Multiple groups of E-CAM Profile

The users can save multiple groups of E-CAM

profiles into data array. Up to 800 positions can
be saved. Just use three parameters, P5-81(Start
Address of Data Array), P5-82(E-CAM Area Number N)
and P5-83(E-CAM Cycle Number (M)), changing E-CAM
profile is simple.
 Electronic Gear of E-CAM Axis
P1-44: Electronic Gear Ratio
(1st Numerator) (N1)

P1-45: Electronic Gear Ratio

(Denominator) (M)
 E-CAM Profile Table
Magnification -1
P5-19: E-CAM Profile Table Magnification
This parameter is used to magnify or minify
the E-CAM profile table.
Min. units: 0.000001 times
Range: -2147.000000 ~ 2147.000000
This parameter can be changed when E-CAM is operating.
However, it is effective only when the electronic gear is
engaged. This function is available in firmware V1.017 and
later models only and it is similar to P1-44 and P1-45.
The differences are:
 E-CAM Profile Table
Magnification -2
Magnification Ratio

Using P5-19 can easily enlarge and reduce the

size of E-CAM profile.
 E-CAM Profile Table
Magnification -3

Magnification Ratio

When setting P5-19 from 1 to -1, E-CAM profile

will display in mirror image.

0
0 360 degrees
0 360 degrees
0
 E-CAM Profile Table
Magnification -4
From Command to Output

P5-19 can be regarded as another electronic

gear ratio and it affect E-CAM profile only.
 E-CAM Profile Table
Magnification -5
Adjust Magnification during Operation

After P5-19 is changed, the setting will be

effective only when the electronic gear is
engaged next time.

0 360o 0 360o
 Rotary Knife System -1
Rotary Knife System Introduction

When the rotary knife is cutting, the conveyer which

sends the materials will not stop. Therefore, when
the rotary knife of the cutting axis touches the
cutting materials, the speed of the rotary knife
should match the speed of the conveyer.
 Rotary Knife System -2
When the speed of the rotary knife is slower than
the speed of the material feeding system (Conveyer)

When the cutting operation is executed, if the speed

of the rotary knife is slower than the speed of the
material feeding system, the materials will be
stacked up on the conveyer.
 Rotary Knife System -3
When the speed of the rotary knife is faster than
the speed of the material feeding system (Conveyer)

When the cutting operation is executed, if the speed

of the rotary knife is faster than the speed of the
material feeding system, the materials will be
pulled apart and damaged.
 Software Settings for
Rotary Knife Application -1
ASDA-A2 Rotary Cutter Table Setting Function

ASDA-A2 provides the user-friendly software

settings which assist the users to easily create
E-CAM profile for rotary knife application.
 Software Settings for
Rotary Knife Application -2
Rotary Cutter
Table Setting
for Rotary
Knife
Application
 Software Settings for
Rotary Knife Application -3
Gear Ratio and Rotary Knife Settings
Gear Ratio: Actual gear box, not electronic gear ratio
If there is no actual gear box, please set
A:B to
Knife No. :

Knife Diameter:
No matter how many knifes
are used, the knife diameters
are all the same.

Knife Knife
Knife
Diameter Diameter
Diameter
 Software Settings for
Rotary Knife Application -4
Master Axis Settings:
Encoder Diameter:
Used to calculate the material
feeding length. There should be
slippage or drift between encoder
wheel and materials.

Encoder Pulse:
Pulse number of master axis.
Used to command the E-CAM axis
belong to the cutter.
 Software Settings for
Rotary Knife Application -5
E-CAM and other Settings:
Motor PUU Number (per/rev):
The system will set the electronic
gear ratio (P1-44,P1-45) of E-CAM
axis by referring this setting value.

Cut Length: Desired cut length

Speed Compensation:
Used to adjust the cut length

Create Table:
When all settings are completed, click “Create Table”
button, the system will automatically create the E-CAM
profile and profile table needed for rotary knife application.
 Software Settings for
Rotary Knife Application -6
E-CAM Profile Table for Rotary Knife System

When “Create Table” button is clicked, the system will

automatically create the E-CAM profile and profile
table which is needed for rotary knife application.
 Software Settings for
Rotary Knife Application -7
Adjust E-CAM Profile
The users can use “Adjustment Bar” to adjust the E-CAM
profile.
 Software Settings for
Rotary Knife Application -8
Download Table/Burn Table Data (Record Table Data)
After profile adjustment is completed, please download
E-CAM profile table first and then record the data into
EEPROM of the servo drive. Please note that the
operation of recording data into EEPROM is allowed only
when the servo drive is under the status of Servo Off.

Material Feeding Speed

of Master Axis Cut Point

E-CAM Speed Profile

E-CAM Position Profile

 Software Settings for
Rotary Knife Application -9
Parameters of E-CAM Table

ASDA-A2 Soft configuration software will not fill these

parameters automatically. Therefore, the users need to
download them from the servo drive and set them
manually.
 Software Settings for
Rotary Knife Application -10
E-CAM Parameters
As ASDA-A2 Soft configuration software will not set P5-88
and P5-89 automatically, please set the settings of these
two parameters and download them from the servo drive
according to actual conditions. After the above actions are
made, it indicates that the settings of rotary knife system
are completed as well. This option is designed for the users
to perform trial run easily. After trial run is finished, when
the system is initialized, please use Pr mode to complete
the settings of P5-88 as this parameter setting value will
not retained when power is off.
 Software Settings for
Rotary Knife Application -11
E-CAM Profile without Synchronization Function
The profile range created by this function is:
”0.3a ≦ A ≦ 3a” A: Cut Length
a: Knife Interval Distance

The head of the rotary knife is a sharp knife.

 Software Settings for
Rotary Knife Application -12
E-CAM Profile with Synchronization Function
The profile range created by this function is:
”0.07a ≦ A ≦2.5a” A: Cut Length
a: Knife Interval Distance

The head of the rotary knife is a flat knife.

 Software Settings for
Rotary Knife Application -13
When the encoder diameter of master axis could not
be measured:
When the master axis is changed to AC drive or
another servo drive, or when the mechanical system is
complicated, the system may not be able to
measure the encoder pulse per revolution.
At this time, the users can choose to
input the setting value of P5-84
directly to solve this problem.

Cut Length

Pulse Number P5-84

sent by
Master Axis
 Speed Compensation for
Rotary Knife Application -1
When the speed of the rotary knife is slower than the speed
of the material feeding system (conveyer)
After completing all rotary knife settings, if the speed of the
rotary knife is slower than the speed of the material feeding
system, the users can use ”Speed Compensation” function to
adjust the speed of the rotary knife or examine all rotary
knife settings again to check if all of the settings are correct.
 Speed Compensation for
Rotary Knife Application -2
When the speed of the rotary knife is faster than the speed
of the material feeding system (conveyer)
After completing all rotary knife settings, if the speed of
the rotary knife is faster than the speed of the material
feeding system, the users can use ”Speed Compensation”
function to adjust the speed of the rotary knife or examine
all rotary knife settings again to check if all of the settings
are correct.
 Auto Create E-CAM Profile for
Rotary Knife Application -1
Create E-CAM Profile with Synchronization Function for
Rotary Knife Application
The profile range created by this function is:
”0.05 a ≦ A ≦2.5a” A: Cut Length
a: Knife Interval Distance

This function is available in firmware V1.024 and later

models only.
 Auto Create E-CAM Profile for
Rotary Knife Application -2
Create E-CAM Profile by using Macro Command

This method is to use new “Macro Command”

parameters to create E-CAM profile within the servo
drive. The advantage of using this method is to help the
host (external) controller be able to change E-CAM
profile quickly. It can be applied for the applications
which need to change the cut length very often.
 Auto Create E-CAM Profile for
Rotary Knife Application -3
Steps – Setting System Parameter 1
1. P5-81 = Start Address of Data Array. Set the start
point of E-CAM table.
2. P5-82 = E-CAM Area Number N. Set the divided parts
of E-CAM table. The number is fixed as 7 (total 8
points)
3. P5-85 = 0(Engage Area Number) Set the E-CAM area
number when the electronic gear is engaged.
 Auto Create E-CAM Profile for
Rotary Knife Application -4
Steps – Setting System Parameter 2
4. P5-83 = 1 (E-CAM Cycle Number (M))
5. P5-84 = Pulse Number of Master Axis (P)
 Auto Create E-CAM Profile for
Rotary Knife Application -5-1
Steps – Setting Macro Paramters

1. P5-94 = Near Motor Electronic Gear Ratio A

(Deceleration Ratio: Numerator) x C (Knife Number)
2. P5-95 = Near Rotary Knife Electronic Gear Ratio B
(Deceleration Ratio: Denominator)
3. P5-96 = 1000000 x R x V
(R (Cut Ratio) = L (Cut Length) x ℓ (Knife Circumference
π*D1) x C (Knife Number)
V (Speed Compensation) = (Cut Speed) / (Product Speed)

Setting Range of V:0.8≦V ≦1.2

V setting is used to adjust the speed of rotary knife and
the adjustment ratio is within 20%.
Auto Create E-CAM Profile for
Rotary Knife Application -5-2
 Auto Create E-CAM Profile for
Rotary Knife Application -6-1
Steps – Use Macro Parameters to Create E-CAM Profile
1. Ensure that the setting values of “System Parameters”
and “Macro Parameters” are correct.

2. Command the servo drive to create E-CAM profile by

using P5-97. Set the setting value of P5-97 to 6.

3. Read the setting value of P7-96 and check if the

setting value is 0x1006 (P5-97=0x1006). This value
indicates that E-CAM is created successfully. If the
setting value of P5-97 is not 0x1006, please correct
the parameter setting value by referring the displayed
error message.
Auto Create E-CAM Profile for
Rotary Knife Application -6-2
 Rotary Knife Parameters -1
Rotary Knife Interval Distance and Cut Length

Rotary Knife Interval Distance is a and the Cut Length is A.

Material
Feeding Speed Cut
of Master Axis Point
Acceleration Deceleration
Speed Speed
 Rotary Knife Parameters -2
The difference between Disengage Timing Setting
U=2 and U=6 of P5-88 on rotary knife application

The setting value U=2 and U=6 of P5-88 can not be

selected simultaneously. But, when the disengage
conditions are satisfied (U=2 and U=6 of P5-88), the
users can choose if the system will execute Pr path or
not after the electronic gear is disengaged.
 Rotary Knife Parameters -3
Disengage Timing Setting U=2 of P5-88
Supposes that the master axis sends 10 pulses every
1ms to E-CAM axis and E-CAM axis will disengage when
it reaches P5-83 = 53 pulses (assume that it is 220
degrees), after E-CAM is disengaged, E-CAM profiles of
Speed 0 command using Pr path and Speed 0 command
without using Pr path are shown in the figures below.
This disengage command will change the pulse train
command of master axis.

10 Pulses/ms
Speed Curve
3 Pulses/ms
Speed Curve

Pr Type 1 of Speed
Speed 0
Command 0 + Interrupt

E-CAM Disengage
Point 220o
 Rotary Knife Parameters -4
Disengage Timing Setting U=2 of P5-88
Supposes that the master axis sends 10 pulses every 1ms
to E-CAM axis and E-CAM axis will disengage when it
reaches P5-83 = 53 pulses (assume that it is 220 degrees),
after E-CAM is disengaged, E-CAM profiles of Speed 0
command using Pr path and Speed 0 command without
using Pr path are shown in the figures below. This
disengage command will not change the pulse train
command of master axis.
 Rotary Knife Parameters -5
Disengage Timing Setting U=6 of P5-88
This option is suitable for the application which needs to
use Pr command immediately after the electronic gear is
disengaged.
Using this option is to prevent the excessive speed caused
when the electronic gear is disengaged suddenly during
operation.
 Rotary Knife Example 1-1
Product on Master Axis appears at random
Such as gluing machine or labeling machine.
When CAPTURE signal transmitted through digital
input, DI7 is regarded as the condition (P5-88 Z=2)
that is used to enable the operation of E-CAM, after E-
CAM operates for a certain length of lead command, it
will engage. After E-CAM is engaged for a certain
length of time, it will disengage and perform preset
Pr command, reset CAPTURE function and wait for
next trigger.
E-CAM Axis
DI 7

Encoder of Master Axis

 Rotary Knife Example 1-2
E-CAM Operation Timing

E-CAM stopped and wait for DI7

signal. Enable condition: P5-88 Z=2.

The condition for enabling E-CAM is satisfied. But,

as P5-87 (Lead Command Length) is set, it needs to
wait until the lead command length is reached.

Initial lead command

is reached and E-CAM
start to operate.

When the E-CAM operating length reaches the

disengage length, after E-CAM is disengaged, perform
the preset Pr command, set P5-88 U=2, set P5-89
(Disengage Timing Data), and P5-88 BA=PR#7.
 Rotary Knife Example 2
Products on Master Axis move continuously
without registration marks
Such as cutting machine. DI signal, CAM ON can be
used as the enable and disable condition of E-CAM
operation. P5-87 is used to set the lead command
length.

Encoder of Master Axis E-CAM Axis

 Rotary Knife Example 3-1
Products on Master Axis move continuously with
registration marks
Such as cutting machine. The users can use CAPTURE
function (DI7) to detect the registration marks first and
use CAPTURE SYNC AXIS function (P5-88 Y=5) to control
master axis (more introduction of CAPTURE SYNC AXIS
function will be described on page 128~148).
 Rotary Knife Example 3-2
Products on Master Axis move continuously with
registration marks
E-CAM Operation
DI7: Enage Timing is
determined by any
point of CAPTURE
AXIS (P5-88 Z=2)
Disengage Timing
Setting: Do not
disengage (P5-88.U=0)

Pr #52: Set Interrupt

speed command =0.
Default lead E-CAM operates Execute Pr #51: Set
Doing this can make E-
command length with the signals of P5-88 X=0, Disable E-
CAM decelerate slowly
can be 0 or set master axis, and CAM, and Delay 1 ms
according to adjusts / starts
(coast to stop) and does
actual condition cutting operation not stop suddenly.
(P5-87) according to
CAPTURE SYNC
AXIS
DI: EV1
Trigger Pr#51
 Rotary Knife Example 4
Synchronous Conveyer
This example is similar to rotary knife application.
There are registration marks also.
But, the speed of E-CAM profile of vertical
conveyer should be set to the same.
If vertical conveyer uses the same E-CAM
profile of rotary knife application, the vertical
conveyer may accelerate and decelerate very
often, and move and pause continuously.

Encoder of CAM Axis

Master Axis
 Rotary Knife Example 5
Recover the System
Set disengage timing to “Do not disengage”
(P5-88 U=4). When the system error occurs, it is easy
to recover the system to normal status.

S1 S0
Engaged Stop

P5-88 U = 4
P5-92= 0
(Cyclic Lead
Command Length)

Counts of lead
command length
becomes 0 E-CAM
(can be monitored by
monitor variable 061) Curve Torque
S2
Lead Limit
Curve
DO signals from Signal
Complete
E-CAM axis to
Signal
Master axis

Low-speed pulse signals of master axis bring

E-CAM axis to the end of E-CAM curve
 Tips for Rotary Knife
Application 1-1
How to make E-CAM disengage at E-CAM profile 360o
position
When DI:CAM OFF is activated, if E-CAM disengages
immediately, E-CAM operation will not stop at the
position of E-CAM profile 360o. This tip is used to solve
this problem.
P5-88.U=1
P5-88.Z=1 DI: CAM OFF
DI: CAM ON

Stop Lead Engage Disengage Stop

Default lead E-CAM operates

command length and starts to
can be 0 or set perform cutting
according to by following the
actual condition signal of master
E-CAM Axis (P5-87) axis.
Encoder of Master Axis
 Tips for Rotary Knife
Application 1-2
Disengage Timing Setting
When P5-88 U=4, using the setting value of P5-92 can
determine the lead command length. Please refer to the
figure below.
 Tips for Rotary Knife
Application 1-3
Cyclic Lead Command Length and Master Pulses
P5-86 is used to monitor the accumulated pluses which is
sent to E-CAM from master axis. Cyclic Lead Command
Length is determined by P5-92. When master pulses is
sent, the changes of cyclic lead command length can be
monitored via CNT (monitor variable 061h).
P5-86=1000 P5-86=1050 P5-86=1100 P5-86=1150

CNT=100 CNT=50 CNT=0 E-CAM is engaged

Time
T1 T2 T3
 Tips for Rotary Knife
Application 1-4
E-CAM Start Operation
Set P5-88 Z=1 and use DI signal: CAM On to enable E-
CAM operation. P5-87 is used to set the lead command
length of one-time execution before E-CAM operation.
P5-92 is used to set cyclic lead command length when
P5-88 U=4.
 Tips for Rotary Knife
Application 1-5
E-CAM Stop Operation
Use Event Trigger Command, EV1 to set parameter P5-92
= -2147483648 (max. negative number). When E-CAM
enters into “Lead” state, the count overflow error will
occur and E-CAM operation will stop.

DI: EV1

Set P5-92 to
max. negative
number

Lead Engage Lead Engage Lead Stop

Cyclic E-CAM operates Cyclic E-CAM operates Cyclic Lead CNT

Lead and starts to Lead and starts to Command Overflow
Command perform cutting Command perform cutting Length (P5-92)
Length by following the Length by following the = 2147483648
(P5-92=0) signal of master (P5-92=0) signal of master
axis. axis.
 Tips for Rotary Knife
Reset Parameters Application 1-6
When E-CAM returns to Stop state, E-CAM parameters
should be reset for next operation. When HMI is not
connected (without communication), the users can use
Event parameters to reset P5-88 to default value and
reset P5-92 to 0. If P5-92 is not reset to 0, when E-CAM
enters into “Lead” state (S2), the count overflow error
will occur and E-CAM operation will stop.
 Tips for Rotary Knife
Application 2-1
Cut Length
When using auto rotary knife system, the cut length
will be limited ”0.3a ≦ A ≦ 3a” due to the algorithm
and actual usage of mechanical system. Even if the
desired cut length is very long and longer than triple
cutter interval distance a, using with the tips described
earlier, ASDA-A2 can be stilled applied on the auxiliary
system for auto rotary knife application.
A: Cut Length
a: Knife Interval Distance
 Tips for Rotary Knife
Application 2-2
Use Cyclic Lead Command Length P5-92
In this case, cut length is equal to 4a. 3a is the auto
rotary knife cut length and the rest 1a is cyclic lead
command length. Of course, the users need to set P5-88
U=4. For the other relevant settings, please refer to the
tips described in this presentation earlier.
Cut Length A=4a

Cyclic Lead
Cyclic Lead
Command
E-CAM Command
P5-92=a Speed P5-92=a
Curve E-CAM
Position
Curve
Auto Rotary Knife
Cut Length 3a
 Tips for Rotary Knife
Application 2-3
Change Cut Length
When the users want to change cut length from 4a to
3.5a (still longer than auto rotary knife cut length 3a), it
only needs to adjust cyclic lead command length and has
no need to create E-CAM profile again.
 Tips for Rotary Knife
Application 2-4
Use CAPTURE SYNC AXIS
Before using CAPTURE SYNC AXIS, ensure that the
following condition is satisfied:
P5-78 = (P5-84 / P5-83) + P5-92 , and (P5-84 / P5-83)
= an integer
P5-78: Interval Pulse Number of CAPTURE SYNC AXIS
P5-92: Cyclic Lead Command Length
The usage of CAPTURE SYNC AXIS will be described
later.
 Flying Shear System
Explanation
Flying shear system is used for the process that requires
cutting operation when the cutting materials are fed on a
conveyer (feeding axis will not stop) simultaneously. In this
system, the speed of flying shear E-CAM axis and feeding
axis must be matched and the cutting time should be long
enough to make the cutter complete cutting operation and
move to a safe place. Please refer to the following
“continuous feeding” flying shear system.
Flying Shear
E-CAM Axis

Encoder of Master Axis

 Flying Shear Operation
Analysis -1
Detailed Operation of Flying Shear Axis
The design of flying shear E-CAM will be described later
in this presentation
 Flying Shear Operation
Analysis -2
Acceleration Area of Flying Operating Direction of
Shear E-CAM Axis Master Feeding Axis
Cut Point
In the end of acceleration
area, the cutter of flying
shear axis should Operating Direction
synchronize to cut point. of E-CAM Axis
If not so, after entering Accel.
Synchronization
synchronization area, as the Area
Area

speed of flying shear and Speed Curve

feeding axis are the same
and the relative speed is 0, Position Curve

the cutter of flying shear

axis could not synchronize There is relative There is no relative
speed between speed between
to cut point. feeding axis and feeding axis and
cutter axis cutter axis.
 Flying Shear Operation
Analysis -3
Same Speed Area of Flying Shear Axis
The cutting time should be long enough to make the
cutter complete cutting operation and move to a safe
place. Even if the master axis and E-CAM axis operate
with the same speed, the cutter will move to the
position where the cutter will not hit the moving cutting
materials.
 Flying Shear Operation
Analysis -4
Deceleration Area of Flying Shear E-CAM Axis
This area is used to decelerate E-CAM axis and prepare to
let E-CAM axis operate in reverse direction so as to
return to the starting position (home position). This area
could be shorter a little in principle. It only needs to keep
the distance which is enough for eliminating the lead
inertia. Flying Shear
E-CAM Axis

Synchronization
Deceleration Area
Area
 Flying Shear Operation
Analysis -5
Flying Shear Axis Returns to Starting Point (Home)
After all the cutting operation is completed, the flying
shear should return to the starting point (home position)
in the most shortest possible time for the sake of next
cycle cutting operation. This is because when the return
time is shorter, the time for synchronization area is more
and the cutting time will be more enough as well.
Flying Shear
E-CAM Axis

Starting Point
(Home)
 Flying Shear Operation
Analysis -6
E-CAM Lead Command
Length Setting
It is set by P5-87 and
includes
synchronization area,
deceleration area,
return to home area
and sensor drift area.
 Flying Shear Operation
Analysis -7
When the cut length is longer than E-CAM profile
Set P5-88 U=4 and use P5-92 to determine the lead
command length.

E-CAM Synchronization E-CAM Cutter

Accel. Area Decel. Head
Area Area returns
Speed Curve to Home
position
Position Curve
 Flying Shear Operation
Analysis -8
When the cut length is less than E-CAM profile
Use P5-19 to adjust E-CAM profile table. The
parameters relevant to pulse number of master axis,
such as P5-84 should be adjusted as well. Please also
notice that the cutting time should be long enough to
make the cutter complete cutting operation.

Corresponding pulses for cut

length become fewer

E-CAM profile table will be

magnified or minified by
magnification ratio setting
 Flying Shear Operation
Analysis -9
CAPTURE and COMPARE Functions
If CAPTURE and COMPARE functions are both used, it has
no need to create E-CAM profile for return path for
“continuous feeding” flying shear application.
Operating Direction of Cut Point
Feeding Axis
Cut Length Cut Length

E-CAM E-CAM Cutter E-CAM E-CAM Cutter E-CAM E-CAM

E-CAM
Head Head
Sync. Decel. Accel. Synchronization Decel. Accel. Sync.
returns to returns to
Area Area Home Area Area Area Home Area Area
position position
Speed Curve
Pr controls Pr controls
knife to knife to
return to Position Curve return to
Home Home
position position

Operating Operating Operating Operating Operating

Direction of Direction Direction of Direction Direction of
E-CAM Axis after E-CAM E-CAM Axis after E-CAM E-CAM Axis
is disengaged is disengaged
 Flying Shear Operation
Analysis -10
Use COMPARE function to calculate Cut Length
Incorporating DO4 (Digital Output) and DI7 (Digital Input),
the users can use CAMPARE function to calculate the cut
length and use CAPTURE function to enable E-CAM operation.
The whole motion cycle should return to starting point
(home position) before next cutting operation.

COMPARE Function
Calculate Cut Length

E-CAM E-CAM E-CAM Cutter

Accel. Synchronization Decel. Head
Area Area Area returns
to Home
Speed Curve position

Position Curve Pr controls

knife to
return to
Home
position

CAPTURE COMPARE CAPTURE

 Flying Shear Operation
Knife Working Area Analysis -11
Cutting operation is
controlled by another DI/DO signals
of E-CAM
E-CAM or external
controller. The first cut Flying
should be activated via Shear E-
CAM Axis
DI7 which is directly
triggered by external
signal.

E-CAM axis uses COMPARE

function to compare the pulse
numbers sent by master axis, Encoder of
i.e. the system will trigger Master Axis
CAPTURE function when
cutting operation is performed.
 Flying Shear Application
Medicine Filling Machine
This kind of application is a typical “non-continuous
feeding” flying shear system. ASDA-A2 series can
easily complete this kind of operation.
 Flying Shear Application
Moving Load Table
Theory -1
When bottles reach the
position, the sensor will
sent the signal to enable
E-CAM, i.e the flying shear
axis of moving load table.
When moving load table
attain to the same speed
of conveyer, the filling
axis will move down and
start filling operation.
After filling operation is
completed, the filling axis
will move up to original
position and E-CAM will
be disengaged. If Pr path
is set in advance, the
system will control the
moving load table to
return to home position.
 Flying Shear Application
Theory -2
Filling Axis
When moving load table synchronizes to the conveyer of
medicine bottles, the filling axis will move down and start
filling operation. After filling operation is completed, the
filling tubes must leave the bottles when moving load table
and the conveyer operate in the same speed. Otherwise,
the filling tubes will hit the bottles when moving load table
start to return to home position.
 Flying Shear Application
E-CAM Profile Design Theory -3
This system needs two
groups of E-CAM profile,
one is for moving load
table (position curve)
and the other is for filling
axis (speed curve). On
the return path, the
system will move quickly
by using Pr path and
send the load table to go
back to the home
position. All operation Filling Axis
should complete before Medicine bottles
Position Curve Moving
next group of bottles reach the position P5-90, P5-91
Load Table
Speed Curve
reach the position of the of filling axis,
moving load start
Inform filling
axis to operate
filling axis. to operate.
Execute Pr path, control
moving table to go back to
home position quickly.
 Flying Shear Profile
Design -1
Operation Cycle Explanation
One operation cycle is defined as a period from the time
the load table completes E-CAM profile to the time the
load table executes Pr path after the filling tube leave
the bottles.

Execute Pr path,
Execute Pr path,
control moving table
Filling Axis Filling Axis control moving table
to go back to home
Position Curve Position Curve to go back to home
Moving position quickly. Moving
position quickly.
Load Table Load Table
Speed Curve Speed Curve
 Flying Shear Profile
Design -2
Position Curve and Speed Curve Explanation
Movement Distance of Master Axis ＞ Movement
Distance of E-CAM Axis ＞ Movement Distance of
Synchronization Operation

Speed Curve of
Master Axis
Speed Curve of Position Curve Movement Distance
E-CAM Axis of E-CAM Axis of Master Axis

Movement Distance
of E-CAM Axis
 Flying Shear Profile
Design -3
Mechanical System Size Settings
Before creating E-CAM profile, it needs to understand
the pulse physical quantity between master axis and
slave axis. Moving Table Path: 200 mm
Pitch: 10mm

P1-44=128, P1-45=10, encoder

pulses per revolution is 100000 PUU

System will send 52 pulses to slave

axis every 1mm
 Flying Shear Profile
Design -4
Create E-CAM Profile for Moving Load Table (1) –
Enter Setting Value and Simulation Value
Choose ”Speed Section” function to create E-CAM profile
for moving load table.
P1-44=12
P1-45=108

See Next Slide

 Flying Shear Profile
Design -5
Create E-CAM Profile for Moving Load Table (2) –
Enter Setting Values for Master Axis and Create E-CAM
Profile Table

See Next Slide

 Flying Shear Profile
Design -6
Create E-CAM Profile for Moving Load Table (3) –
Examine Operating Speed of Master and Slave
On E-CAM profile, setting “Master Simulate Velocity” to
1.923076923 which is smaller than E-CAM (Slave)
speed=1.942 is able to adjust the operating path of
master axis and slave axis, and accel. & decel. area of
slave axis so as to make the speed of flying shear axis
and master axis be the same.
 Flying Shear Profile
Design -7
Create E-CAM Profile for Moving Load Table (4) –
Adjust Speed through Commands of Slave Axis
Use Lead Command Length to make adjustment. Perform testing repeatedly
and stop until the speed of flying shear axis and master axis become the same.
The Lead Command Length will be adjusted from 2000000PUU to 1980000PUU.

Speed Curve
of Master Axis

Speed Curve
of Slave Axis

Position Curve
of Slave Axis
 Flying Shear Profile
Design -8
Create E-CAM Profile for Moving Load Table (5) –
Adjust Speed through Pulse Number of Master Axis
Use Lead Command Length to make adjustment. Perform
testing repeatedly and stop until the speed of flying shear
axis and master axis become the same. The pulse number of
master axis will be adjusted from 11440 to 11555.

Speed Curve
of Master Axis

Speed Curve
of Slave Axis

Position Curve
of Slave Axis
 Flying Shear Profile
Design -9
Create E-CAM Profile for Filling Axis (1) –
E-CAM Profile Direction and Moving Distance
Please refer to the torque output direction settings of
parameter P1-01.
 Flying Shear Profile
Design -10
Create E-CAM Profile for Filling Axis (2) –
Motor Operating Direction and E-CAM Profile
Same pulse command corresponds to the same position curve.
Using Torque Output Direction Settings is able to change the
motor operating direction. In ASDA-A2 series, motor forward
direction is defined as the increasing direction of encoder
pulse number. The motor operating direction in the figure
below is just the reference for explanation, not actual motor
operating direction.
P5-16 is positive, pulse
number is increased in
forward direction P1-01
P5-86 is positive, pulse Torque Output
number is increased in Direction
forward direction Settings = 0

P1-01
Torque Output
Direction
Settings = 1
 Flying Shear Profile
Design -11
Create E-CAM Profile for Filling Axis (3) –
E-CAM Profile Selection
The E-CAM profile must be set in accordance with the
motor operating direction. The following two E-CAM
profile could be both used for flying shear applications.
 Flying Shear Profile
Design -12
Create E-CAM Profile for Filling Axis (4) –
Position Curve and Speed Curve
The curvature of E-CAM position curve and concave- convex
direction will affect the operating speed of E-CAM Axis.
Units: Time Units: Time
Position Position
Position is Speed Position is Speed
Curve Curve
incremental incremental
 Flying Shear Profile
Design -13
Create E-CAM Profile for Filling Axis (5) –
E-CAM Curve Areas
Position curve of filling axis could be divided into two parts
and these two curves do not need to obtain a 1:1 ratio.
The motor operates in one direction only in each E-CAM
area on principle.

Total 400
E-CAM Areas
200 E-CAM 200 E-CAM
Areas Areas
 Flying Shear Profile
Design -14
Create E-CAM Profile for Filling Axis (6) – E-CAM Curve Areas
Position curve of filling axis could be designed as the figure shown
below as it also comply with “motor operates in one direction only in
each E-CAM area” this principle. But this profile is not more easy-to-use
than the profile shown on previous page 115, so it is recommended to
create E-CAM profile by referring to previous page 115.
 Flying Shear Profile
Design -15
Create E-CAM Profile for Filling Axis (7) –
Speed Curve and E-CAM Profile
 Flying Shear Profile
Design -16
Create E-CAM Profile for Filling Axis (8) – 1st E-CAM Profile
Choose ”Speed Section” function to create E-CAM profile.
In this example, if the lead command length is set to 40mm
and pitch is set to 10mm, it indicates that the motor has to
rotates for 4 revolutions. If P1-44=128 and P1-45=10, the
lead command length should be designed to 400000 PUU.

Stop Area

Decel. Area
P1-44=128
P1-45=10
Sync. Area E-CAM
Position Curve
of Filling Axis
Accel. Area

200 E-CAM
Areas
45% 55%
 Flying Shear Profile
Design -17
Create E-CAM Profile for Filling Axis (9) –
Acceleration and Deceleration Ratio of 1st E-CAM Profile
After complete the following settings in “Speed Section”
table, only click “Create Table” button, then E-CAM profile
and E-CAM profile table will be created and shown
immediately.

45 %

55% Speed Curve

Position Curve
 Flying Shear Profile
Design -18
Create E-CAM Profile for Filling Axis (10) –
Export (Save) 1st E-CAM Profile Table Data
Right-click the mouse on any column of E-CAM profile table and
select “Export points” from pop-up menu. After entering correct
information and then click OK button, the data of E-CAM profile
table could be saved in a file.
3

2
 Flying Shear Profile
Design -19
Create E-CAM Profile for Filling Axis (11) –
2nd E-CAM Profile
Choose ”Speed Section” function to create the return E-
CAM profile. In this example, the lead command length is
designed to 400000 PUU and E-CAM area number is set to
200 as well. The system will create the reverse position
curve and the users can use it to complete 2nd E-CAM
profile.
 Flying Shear Profile
Design -20
Create E-CAM Profile for Filling Axis (12) –
Complete Relevant Settings for 2nd E-CAM Profile
Complete the following settings in “Speed Section” table
(ensure to use S Curve No) and then click “Create Table”
button to create E-CAM profile table. After E-CAM profile table
is created, right-click the mouse on any of column of E-CAM
profile table and select “Fast Input Edit” from pop-up menu.

Speed Curve

Position Curve
100%

1
2
 Flying Shear Profile
Design -21
Create E-CAM Profile for Filling Axis (13) –
Edit Data of E-CAM Profile Table
When E-CAM ”Fast Input Editor” dialog appears, the users
can edit the data of E-CAM profile table (see the figures
below) to redraw and create new E-CAM profile.

1 2
 Flying Shear Profile
Design
Create E-CAM Profile for Filling Axis (14) –
-22
Export (Save) 2nd E-CAM Profile Table Data
Click “Draw” button, the E-CAM profile will appear immediately. Right-
click the mouse on any column of E-CAM profile table and select “Export
points” from pop-up menu. After entering correct information and then
click OK button, the data of E-CAM profile table could be saved in a file.

Position Curve

Speed Curve
1

3
2
 Flying Shear Profile
Design -23
Create E-CAM Profile for Filling Axis (15) –
Combine E-CAM Profile Table Data
Select “Manual Create” option from drop-down menu, after entering
the E-CAM area number and clicking “Create Table” button, E-CAM
profile table will be created immediately. Then, right-click the mouse
on any column of E-CAM profile table. When the pop-up menu
appears, select “Import points”.

3
4

2
6

5
 Flying Shear Profile
Design -24
Create E-CAM Profile for Filling Axis (16) –
Import E-CAM Profile Table Data
Import the data created previously by using “Speed Section”
function. Please note that one E-CAM area number should be
repeated and the file location must be entered correctly.
 Flying Shear Profile
Design -25
Create E-CAM Profile for Filling Axis (17) –
Complete E-CAM Profile and Profile
Click “Draw” button and the final complete E-CAM profile
will display immediately.

Position Curve

Speed Curve
 CAPTURE SYNC AXIS -1
Food Packaging Machine
 CAPTURE SYNC AXIS -2
System Configuration Explanation

Packaging Materials Feeding Axis

The job of this axis is to send packaging films to the
packaging system. This axis is also the master axis of servo
system which is used to send pulse signals to E-CAM axis and
control E-CAM axis.

Rotary Knife Control Axis

This axis is built-in with E-CAM profile for controlling the
rotary knife to cut the packaging films. As there are print
marks on the packaging films, it is needed to use mark sensor
and performs cutting operation by referring the mark signals.

Products Feeding Axis (Conveyer)

This axis is built-in with E-CAM profile for controlling the
feeding speed. Its usage is similar to rotary knife control axis.
But, the difference is that the E-CAM profile is not the same as
rotary knife control axis and it must operate smoothly (in a
smooth speed).
 CAPTURE SYNC AXIS -3
Analysis of Inaccurate Cutting Problem

Deviation is fixed
The potential cause may be positioning error. In order
to solve this problem, the users can adjust the position
of mark sensor or change the setting value of P5-87 to
adjust the lead command length before E-CAM is
engaged.
 CAPTURE SYNC AXIS -4
Analysis of Inaccurate Cutting Problem

Deviation is not fixed

Some of the potential causes are mentioned below:
Ball screw slips
Film tension is change
Packaging materials is dirtied
Inaccurate print mark
Pulse lost of master axis
Calculation errors caused by calculator
 CAPTURE SYNC AXIS -5

Analysis of Inaccurate Cutting Problem

Deviation is not fixed

This problem could be solved by using CAPTURE
SYNC AXIS function.
 CAPTURE SYNC AXIS -6
Analysis of Inaccurate Cutting
Problem

Pulse Command of Master Axis

and E-CAM Axis.

Suppose that the master axis has

to send pulses N when setting cut
length, if the pulses sent by
master axis is more than pulses N,
the time of cutting operation will
be advanced. When the pulses
sent by master axis is less than
pulses N, the time of cutting
operation will be delayed.
 CAPTURE SYNC AXIS -7
Introduction of CAPTURE SYNC AXIS
This function is available in firmware V1.009 and later
ASDA-A2 models. Setting a fixed cut length is able to
reduce the deviation occurred at every cut so as to
eliminate the accumulated errors caused between
every cut.

Mark Sensor
Pulse E-CAM
DI7 Profile
Correction
Function Input of Pulse
P5-78 Pulse of E-CAM Output
CN1 or P5-79 CAPTURE Master Axis
Pulse Input of CN5 P5-80 SYNC AXIS
Master Axis P5-77
Capture Source
Setting P5-39 B
Setting
(B=1 or 2)
 CAPTURE SYNC AXIS -8
Relevant Parameters Settings

P5-78 Interval Pulse Number of CAPTURE SYNC AXIS

= Cut Length
P5-83 E-CAM Cycle Number (M) = 1
P5-84 Pulse Number of Master Axis (P)
= Corresponding Pulse Number of Master Axis
i. e. the input pulses input from master axis
which control E-CAM profile rotate 1 cycle
i.e. the required pulses for moving “Cut
Length” by E-CAM axis
P5-88 Y=5, Command source setting is set to CAPTURE SYNC AXIS
(P5-77)
P5-88 Z=2, Engage timing is set to any point of CAPTURE SYNC AXIS
 CAPTURE SYNC AXIS -9
Parameters Settings for CAPTURE SYNC AXIS

P5-77 Position of CAPTURE SYNC AXIS

This parameter is used to set the position that synchronizes with the
capture signal so as to monitor the received pulses of CAPTURE SYNC
AXIS, i.e. the pulses provided for E-CAM system.

P5-78 Interval Pulse Number of CAPTURE SYNC AXIS

This parameter is used to set the standard length of CAPTURE SYNC AXIS,
i.e. required cut length.

P5-79 Error Pulse Number of CAPTURE SYNC AXIS

This parameter is used to display the accumulated error pulse number
between actual output value and ideal setting value.
Error Pulse Number of CAPTURE SYNC AXIS =
Output Value of SYNC AXIS – Ideal Setting Value of SYNC AXIS
= P5-77 Accumulation Amount – (P5-78 x Capture (Output) Times)

P5-80 Max. Correction Rate of CAPTURE SYNC AXIS

This parameter is used to limit the correction rate of CAPTURE SYNC AXIS
at every output.
Ideal Cut Line

Sync. Accumulated Errors Actual Output

 CAPTURE SYNC AXIS -10
CAPTURE SYNC AXIS Correction Function
 CAPTURE SYNC AXIS -11
Max. Correction Rate of CAPTURE SYNC AXIS

P5-80 SYNC Correction Rate

When the value of the correction rate is higher, the SYNC error value
will go towards 0 quickly, i.e. attain the desired position more easily,
but the changes of the speed are very fast.

When the value of the correction rate is lower, the SYNC error value
will go towards 0 slowly, i.e. attain the desired position more
difficultly, but the changes of the speed are very smooth.

The following figures are for reference only, not actual application
result (Delta Confidential Information).
 CAPTURE SYNC AXIS -12
Set Cut Length

P5-78 Interval Pulse Number of CAPTURE SYNC AXIS

This parameter is used to set the standard length of

CAPTURE SYNC AXIS, i.e. required cut length.
The setting value of this parameter must be correct,
otherwise there will be an offset value in the system
always. The users can use monitor variable 051h to
monitor the actual input pulse value and then set this
parameter correctly.
 CAPTURE SYNC AXIS -13
Set Error Pulse Number

P5-79 Error Pulse Number of CAPTURE SYNC AXIS

It can be monitored by monitor variable 054h. When the ideal

setting value goes towards 0, it indicates that the correction
value is set correctly. If the setting value of P5-79 changes
excessively or will not go towards 0, it indicates that the
correction value is not correct. At this time, please examine
the setting values of relevant parameters or adjust the
mechanical system. This parameter can also be set when the
users want to correct or reset the accumulated errors.
Max. correction rate
One time error
Accumulated errors Input
Outputs after correction
Set ideal outputs

Max. correction rate

One time error
Accumulated errors Input
Outputs after correction
Set ideal outputs
 CAPTURE SYNC AXIS -14
Error occurs at the first cut

When executing the first cut, there should be no

accumulated error (P5-79) in the system. Therefore, if the
error occurs at the first cut, CAPTURE SYNC AXIS could not
correct the error. At this time, the users need to set P5-79 to
let the system move to the correct cut position. After the
system moves to the correct cut position, record this setting
value and set P5-87 to the setting value of P5-97.
 CAPTURE SYNC AXIS -15
When registration marks are missed

When CAPTURE SYNC AXIS function is used, if the

registration marks are missed (printing error), CAPTURE
SYNC AXIS still can perform cutting operation according
to the parameter setting values of the servo drive and
continue perform synchronization correction until
registration marks appear.
 CAPTURE SYNC AXIS -16
Relevant Parameters Settings for CAPTURE SYNC AXIS

CAPTURE and COMPARE functions will be both used.

CAPTURE Function Settings

CAPTURE Enable Setting: (P5-39 X Settings):

0: Enable CAPTURE function

CAPTURE Source Setting: (P5-39 Y Settings):

1: Auxiliary Encoder ; 2: Pulse Command

CAPTURE Activate State settings (P5-39 Z Settings):

0: Normally open (use N.O. contact, rising-edge triggered)
1: Normally closed (use N.C. contact, falling-edge triggered)

CAPTURE Trigger Time Setting (P5-39 U Settings: No need to set it

Start Address of Data Array (P5-36): Set to an unused address, in

case the other important data is overwritten.

Note: When using CAPTURE SYNC AXIS function, the system will
enable COMPARE function automatically after CAPTURE function is
completed. The parameters of COMPARE function will be introduced
later in this presentation.
 CAPTURE SYNC AXIS -17
COMPARE Function
Using COMPARE function to enable the CAPTURE
function can prevent interference and enhance the
system stability.

System will receive

wrong mark signal
due to dirty spots
 CAPTURE SYNC AXIS -18
CAPTURE / COMPARE Function

When the setting value of P5-78 is higher than the

setting value of P5-96, the correct registration mark
will be ignored and result in abnormal system operation.

P5-96 is Macro Parameter (Set COMPARE function),

available in firmware V1.009 and later ASDA-A2 models
 CAPTURE SYNC AXIS -19
Macro Parameters

Macro parameter can execute several macro commands by using one

parameter only. If use macro parameters, the users do not need to
set and enable each macro command one by one. It can save the
setting time and reduce errors.

P5-96 Motion Control: Macro Parameter 1

If this parameter is specified by macro command, ensure to
enter the relevant setting values correctly.

P5-97 Motion Control: Macro Command

Execute macro commands and display the execution result
 CAPTURE SYNC AXIS -20
Usage of Macro Commands
 CAPTURE SYNC AXIS -21
Parameters Setting Steps
Set E-CAM Parameters Set CAPTURE Parameters
Set CAPTURE SYNC AXIS P5-88 X=0 P5-39 X = 0
parameters P5-88 Y=5 (CAPTURE SYNC P5-39 Y=1 or 2
P5-78: Input pulses of master AXIS (P5-77)) P5-39 Z=NO or NC
axis for cut length. P5-88 Z=2 (for enabling P5-39 U=Unused (No Need to
P5-80: SYNC Correction CAPTURE function and Set It)
Ratio other necessary E-CAM P5-36 Set to unused address
settings) of data array.

Enable CAPTURE SYNC

Return to Home position and
AXIS Set COMPARE Parameters
Enable E-CAM function
Macro Command Parameter Set Macro Parameter P5-96
Master axis return to Home
P5-97=1 Set the COMPARE first
E-CAM axis return to Home
(CAPTURE / COMPARE coordinate (P5-56) to unused
Enable E-CAM function
functions will be enabled address of data array.
P5-88 X=1
simultaneously)

Disable CAPTURE SYNC

AXIS
Macro Command Parameter
P5-97=0
(CAPTURE / COMPARE
functions will be disabled
simultaneously)
Thank You