Delta ASDA-A2 Series User Manual page 502

A2
ASDA-
 The firmware version V1.038 sub48 and later models provide the following
macro command:
Command code:
000Dh
General Parameters
Macro Parameters
Monitor Variable
When E-Cam is engaged, the servo motor may stop due to Servo Off or a fault
(Alarm) and cause the actual position is out of the E-Cam position. After Sevo On,
this macro command is able to calculate the correction value automatically and write
the correction value into the specified PR for incremental positioning to let the motor
return to the perfect E-Cam position.
When using this macro command :
1. P5-88. X1=1 must be selected to let the E-Cam is engaged and continue to
calculate the E-Cam position even when Servo Off.
2. The height of E-Cam and indexing coordinates should be the same.
P2-52=ECAM_H (Moving distance of one cycle of E-Cam)
3. P5-19 must be set to 1.0 (magnification is set to 1.0 times)
4. When E-Cam is engaged at the first time, 0° position of E-Cam table should
correspond to 0° position of indexing coordinates.
Slave
Axis
Position
(Y)
Please note:
1. ECAM_H (Height of E-Cam Table) = E-Cam Table (Last point – First point)
2. Indexing coordinates = (Absolute coordinates / P2-52) take remainder
3. Use PR command for incremental positioning control
Revision September 2012
Calculate the errors between E-Cam and indexing coordinates
for positioning control of PR command.
N/A
P5-93 Low_Word = DCBA : UZYX (8 digits, Hexadecimal)
YX: PR number = 0 ~0X3F (0: Disabled)
UZ: Must be set to 0.
BA: Function of P5-95
0: Use prohibition zone
1: Use for forward rotation allowable rate
(1: In firmware version V1.038 sub53 and later models)
DC: Inhibit reverse rotation
0: Disabled
1: Reverse rotation is not allowed
(1: In firmware version V1.038 sub53 and later models)
P5-95: Prohibition zone (the area cannot walk across)
= (0 ~ 100)% of a cycle or (0 ~ 100)% of forward rotation
allowable rate
091(5Bh): display the position of indexing coordinate
position (PUU).
A Cycle of E-Cam
0° 360°
E-Cam Table
Chapter 8 Servo Parameters
A Cycle of Indexing
0°
Indexing Coordinates
8-225