Delta ASDA-A2 Series User Manual page 503

Chapter 8 Servo Parameters
When the servo motor moves from current position to target position, two kinds of
rotations, forward and reverse are available for selection. However, the rotation of
the E-Cam is a kind of cyclic motion movement. No matter forward or reverse
rotation is selected, the motor will reach the target position. The only difference is
that the moving distance is not the same. Using the function of prohibition zone is
able to plan the timing for forward and reverse rotation and let the system know
when the motor rotates in forward direction and when the motor rotates in reverse
direction.
* Prohibition zone: In PR mode, it is the area that cannot walk across.
Failure code: F0D1h
Failure code: F0D2h
Failure code: F0D3h
Failure code: F0D5h
Failure code: F0D6h
Failure code: F0D7h
Failure code: F0D8h
Failure code: F0D9h
Failure code: F0DAh
Failure code: F0DBh
8-226
: E-CamCurrent Position
: E-Cam Target Position
: E-Cam Prohibition Zone Θ, set by P5-95
Cannot walk
across this area
The E-Cam is not engaged when executing this marco
command. The E-Cam should be engaged.
The setting value of P5-93. YX (PR number) is not within its
allowable range. It should be within the range of 1 ~ 0x3F.
The setting value of P5-95 (forward rotation allowable rate) is
not within its allowable range. It should be within the range
of 0 ~ 100%.
The position correction value does not exist. This maco
command may be triggered twice.
The E-Cam is not engaged at the moment of Servo On.
The height (Y Axis) of E-Cam table is not equal to P2-52.
The setting value of P5-19 is not equal to 1.0.
The setting values of P5-93. BA and P5-95 have exceeded the
allowable range. The setting values of P5-93. BA and P5-95
should be within the range of 0 ~ 1.
The setting values of P5-93. DC has exceeded the allowable
range. The setting values of P5-93. DC should be within the
range of 0 ~ 1.
The function of Inhibiting reverse rotation has failed. Do not
use macro command 000Dh and 0010h consecutively.
Θ = 360° x P5-95 %
0°
Θ
Actual walking distance
A2
ASDA-
Revision September 2012