Delta ASDA-A3 Series User Manual page 403

Parameters
(Continued)
When the master axis resumes operation, use another PR for the moving distance of the return trip
(-Y_Drift) to return to the original position (moving distance of onward trip + moving distance of
return trip = 0). E-Cam position remains the same.
8
Note: regardless of onward trip or return trip, use the PR command through incremental positioning control.
Due to cyclic operation, when E-Cam moves from current position to the target position, it can either
rotate in the forward or reverse direction. However, the moving distance is usually different between
them. Thus, you can use the allowable forward rate to determine whether to operate in forward or
reverse rotation.
*Allowable forward rate: the allowable maximum proportion of forward path. Please see below for
details.
Failure code F0F1h
Failure code F0F2h
Failure code F0F3h
Failure code F0F5h
Failure code F0F6h
8-146
When E-Cam rotates one cycle,
pulse number of master axis: (P5.084 / P5.083)
Slave axis
position (Y)
Current
engaged
position
E-Cam current position
Max. forward rotation limit.
forward direction in the figure
Target position is within the range; onward trip
is in forward direction
Target position is within the range; return trip
is in reverse direction
Allowable forward
rate = 0% (0°),
reverse direction
only for onward trip
Allowable forward
rate = 25%, onward
max. path +90°
Allowable forward rate = 50%,
onward max. path
When executing this macro command, E-Cam is not in engaged status.
Engaged position can only be modified when E-Cam is engaged.
P5.093.YX (PR number of onward trip) exceeds the range: 0 – 0x3F
P5.093.UZ (PR number of return trip) exceeds the range: 0 – 0x3F
P5.095 (allowable forward rate) exceeds the range: 0 – 100 (%)
P5.096 (target position) exceeds the range: 0 to (P5.084/P5.083) - 1
Master axis
position (X)
Target position
P5.096
Counterclockwise is
+180°
Moving distance
of onward trip =
Y_Drift
Allowable forward
rate = 75%, onward
max. path +270°
Allowable forward
rate = 100%
(360°), forward
direction only for
onward trip
Revision December, 2017
ASDA-A3