Delta ASDA-A2 Series User Manual page 504

A2
ASDA-
 The firmware version V1.038 sub26 and later models provide the following
macro command:
Command code:
000Eh
General Parameters
Macro Parameters
Monitor Variable
When E-Cam is engaged, this macro command is able to move the engaged position
to the alignment target position (X) and write the E-Cam alignment correction value
into the specified PR.
During E-Cam operation (when E-Cam is engaged), if quickly aligning the E-Cam
position and the mechanical reference point is required, using this macro command
is able to meet the requirement of this kind of application. The users can use sensor
to trigger the digital input, EVx to execute this macro command.
After E-Cam alignment is completed, the engaged position will move to the new
position. The alignment correction value is the excess or not enough distance after
one cycle of E-Cam operation. This alignment correction value will be written into the
PR specified by the setting value of P5-93. YX. The users can use PR incremental
command to compensate this correction value and make the final position of E-Cam
slave axis remain unchanged. In some applications, there is no need to use PR to do
the compensation. At this time. the users can set the setting value of P5-93. YX to 0.
Please note that PR command must be triggered by the host. After completing all the
settings of this macro command, it is needed to trigger the PR command again.
Slave
Axis
Position
(Y)
Current Engaged
Please note:
* P5-93. UZ setting is able to limit the m ax. alignment correction rate.
The modified alignment target position ★ and P5-96 may be not the same.
Revision September 2012
Perform E-Cam alignment immediately and write the
correction value into the specified PR.
N/A
P5-93 = DCBA : UZYX (8 digits, Hexadecimal)
YX: PR number = 0 ~0X3F (0: Disabled)
UZ: Max. alignment correction rate = 0 ~ 0x64 (%)
A: Trigger the specificed PR
0: ON
1: OFF
DCB: Must be set to 0
P5-94: DI delay time compensation
= -25000 ~ +25000 (unit: usec)
P5-95: Forward rotation allowable rate = (0 ~ 100)%
P5-96: Alignment target position (X) = 0 ~ (P5-84/P5-83)-1
(unit: pulse number of master axis)
062(3Eh): display the current engaged position (X) of master
axis.
A Cycle of a Resolution of Pulse Command: (P5-84／P5-83)= L
Alignment
Position Target Position
P5-96
Chapter 8 Servo Parameters
Alignment Correction
Value =
Master Axis Position (X)
Y_Diff
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