Delta ASDA-A3 Series User Manual page 345

Motion Control
Macro #C - change the engagement position and operate in forward direction until the
disengagement condition is met
When the clutch is engaged, this macro immediately changes the master axis position and
7
automatically calculates the remaining pulse number in the cycle. When the E-Cam cycle is
complete, the clutch disengages based on the set disengagement condition (P5.088.U).
This macro can be used for setting the initial engagement position for the master axis and you
can select any of the master axis position to engage. The precision level is higher when you use
Macro #C than using P5.085 to select the section from the E-Cam table for engagement. When
using this macro, the master axis should stay stationary. Wait for the macro to complete before
operating the master axis. The operation is shown in Figure 7.3.9.1.
Setting steps:
The E-Cams engage and the master axis stops.
1.
Set the disengagement condition (P5.088.U).
2.
Set the engagement position: use P5.093 to write the master axis engagement position
3.
(pulse) in hexadecimal and use monitoring variable 062(3Eh) to monitor the current master
axis position. The specified range for the new engagement master axis position is:
7-148
Slave axis position
(PUU)
Default
engagement
position
Figure 7.3.9.1 Macro #C operation
Complete the
remaining cycle in
forward direction
Remaining
pulses in the
cycle
P5.093
Specified
engagement
position
P5.084
0 ≤ P5.093(Pulse) <
P5.083
Master axis
position
(Pulse)
ASDA-A3