Delta ASD-A2 Series User Manual page 467

Chapter 8 Parameters
engaged. It will automatically calculate the residual engaged length. E-Cam will
disengage after rotating one cycle at forward direction. Users have to set P5-88.U
to 2, 4, and 6; otherwise, the E-cam will not disengage.
E-Cam will disengage when alarm occurs or the power supply is cut off. If users
desire E-Cam to re-engage at the last disengaged position and continue its
operation, it is recommended to record the disengaged position (X) and resume the
operation by this macro command. Please note that when E-Cam is disengaged,
the servo position might slightly shift and therefore cause position error when E-
Cam re-engages again.
The Engaged direction is in forward direction (Master axis operates at forward
direction):
Note: When using this macro command, it would be better to execute this
command before operate the master axis.
Failure code
F0C1h
Failure code
F0C2h
Failure code
F0C3h
Command code
000Dh
General
Parameters
Macro Parameters
8-216
When executing this macro command, E-Cam is not in
engaged status.
To modify the engaged position only when E-Cam is
engaged.
The setting value of P5-93 is in error. The value cannot less
than 0. It should > = 0.
The setting value of P5-93 is in error. The value has to less
than the value of (P5-84 / P5-83)
The following macros are available from version V1.038 sub48 (included):
Calculate the error between E-Cam and indexing coordinates
for PR positioning.
N/A
P5-93.Low_Word = DCBA: UZYX (8 digits, HEXADECIMAL)
YX (PR number) = 0~0x3F (it is invalid when the value is set
to 0)
UZ: The value has to be set to 0.
BA (Function of P5-95):
0 (Use avoid point)，
1 (Use available forward rate, V1.038 sub53)
ASDA-A2
Revision February, 2017