Delta ASDA-A3 Series User Manual page 314

ASDA-A3
Enable Macro #7: write 0x0007 to P5.097 to enable Macro #7. Read P5.097 and if it
6.
returns 0x1007, it means using macro for table creation is successful. If any of the
following failure codes shows, modify the setting according to the description.
Failure code
0xF071
0xF072
0xF073
0xF074
0xF075
0xF076
0xF077
0xF078
0xF079
0xF07A
The following method helps you to test the maximum border condition and create the E-Cam
curve successfully when using the HMI or controller to create the E-Cam table.
If the ratio (R) of the cutting length (L) and the arc length between cutter ends (a) is 0.05 - 1.09
(R = 0.05 - 1.09), and the E-Cam segment number P5.082 = 72, follow the parameter setting
procedure to create the table with Macro #7.
Set the waiting zone (W) and synchronous speed zone (Y) based on the S-curve level:
1.
S-curve level (S)
1
2
3
4
When the clutch is engaged, the E-Cam table cannot be created.
Degree of synchronous area of P5.094 exceeds the range (0 - 330).
S-curve level of P5.093.DCBA (HEX) exceeds the range (1 - 4).
Degree of waiting zone of P5.093.UZYX (HEX) exceeds the range
(-1 to 170).
Data of P5.096 exceeds the range (50000 - 5000000).
E-Cam segment number of P5.082 exceeds the range (30 - 72).
P5.081 data array start position exceeds the array length.
The set values of P1.044 and P1.045 for the E-Gear ratio is too high.
Decrease the values of P1.044 and P1.045, but maintain the same ratio,
for example: adjust 167772160 : 1000000 to 16777216 : 100000.
Acceleration degree is too small. Decrease the value for the waiting zone,
synchronous speed zone, or S-curve level.
Waiting zone < minimum waiting zone. Increase the value for the waiting
zone or decrease the value for the synchronous speed zone.
Range of waiting zone (W) and synchronous speed zone (Y)
0° ≤ W ≤ 75°; 0° ≤ Y ≤ 150°
0° ≤ 2W+Y ≤ 300°
0° ≤ W ≤ 70°; 0° ≤ Y ≤ 150°
0° ≤ 2W+Y ≤ 290°
0° ≤ W ≤ 55°; 0° ≤ Y ≤ 110°
0° ≤ 2W+Y ≤ 220°
0° ≤ W ≤ 25°; 0° ≤ Y ≤ 30°
0° ≤ 2W+Y ≤ 80°
Description
Motion Control
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