Delta ASDA-A3 Series User Manual page 346

ASDA-A3
Enable Macro #C: set P5.097 = 0x000C to enable Macro #C. Read P5.097 and if it returns
4.
0x100C, it means the macro execution is successful. If any of the following failure codes
shows, modify the setting according to the description.
Failure code
0xF0C1
0xF0C2
0xF0C3
Macro #D - calculate the deviation between the current slave axis position and index
coordinate for PR positioning
When the slave axis position is not at the E-Cam curve corresponding position, this macro finds
the slave axis position corresponding to the master axis position. Next, it calculates the deviation
between this value and the current motor position, and writes the deviation to the PR incremental
position command. You can trigger the specified PR and move the motor of the slave axis to the
position corresponding to the master axis position. This macro is suitable for the cyclic motion
which starts from the same point. In other words, the mechanism returns to the start point each
cycle; and the slave axis moving distance is the same as the total index moving distance. You can
monitor the index coordinate in PUU with monitoring variable 091(5Bh). The operation is shown in
Figure 7.3.9.2.
Slave axis position
Current
Target
Setting steps:
Set P5.088.X Bit1 to 1 to keep the clutch engaged when Servo Off and engage the
1.
E-Cam.
Set the total index moving distance to equal the moving distance of the slave axis per
2.
cycle (P2.052 = slave axis moving distance ECAM_H).
Set the E-Cam scaling to 1 (P5.019 = 1).
3.
When executing this macro command, the clutch is not in the
engaged status.
The engagement position specified in P5.093 exceeds the range
(must be ≥ 0).
The engagement position specified in P5.093 exceeds the range
(must be <
(PUU)
Reverse
operation to
the target
operation to
the target
Current
Figure 7.3.9.2 Macro #D operation
Description
P5.084
).
P5.083
P2.052 =
Slave axis
moving amount
Forward
Motion Control
Master axis
position
(Pulse)
7
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