Delta ASDA-A3 Series User Manual page 347

Motion Control
Set the initial engagement position: align the start point of 0 degree in the E-Cam curve
4.
table with the index coordinate origin.
Set the PR number to save the deviation: specify PR#1 - 99 in hexadecimal.
5.
Set P5.093.YX = 0x01 - 0x63, and set this PR as an incremental position command.
7
Select the direction control type: set P5.093.BA = 00 to use the dodge point for controlling
6.
the forward and reverse directions. Set P5.093.BA = 01 to use the allowable forward rate
for controlling the forward and reverse directions.
Set the reverse inhibit function: set P5.093.CD = 0 to disable the reverse inhibit function.
7.
Set P5.093.CD = 1 to enable the reverse inhibit function.
Set the dodge point or allowable forward rate: if using the dodge point for direction control,
8.
set P5.095 to 0 - 100% for the dodge position. If using the allowable forward rate for
direction control, set P5.095 to 0 - 100% as the allowable forward rate. Refer to the
following figure.
Dodge
point
Enable Macro #D: set P5.097 = 0x000D to enable Macro #D. Read P5.097 and if it returns
9.
0x100D, it means the macro execution is successful. If any of the following failure codes
shows, modify the setting according to the description.
Failure code
0xF0D1
0xF0D2
0xF0D3
0xF0D5
0xF0D6
0xF0D7
0xF0D8
0xF0D9
0xF0DA
0xF0DB
7-150
P5.093.BA = 00
0
Slave axis
°
target
position
θ
θ = 360° x P5.095 %
Slave axis
start
position
When executing this macro command, the clutch is not in the engaged status.
PR number specified by P5.093.YX exceeds the range (0x01 - 0x63).
P5.095 the dodge point or allowable forward rate exceeds the range (0 - 100%).
Position correction value does not exist. This macro command might be
triggered twice.
E-Cam did not remain engaged when servo is off, so when servo switches to the
on state again, E-Cam is not engaged.
Slave axis moving distance does not equal the total index moving distance
(ECAM_H ≠ P2.052).
E-Cam curve scaling does not equal 1 (P5.019 ≠ 1).
P5.093.BA forward / reverse direction setting exceeds the range (00 - 01).
P5.093.DC reverse inhibit setting exceeds the range (00 - 01).
The reverse inhibit function has failed. Do not use macro command #D and #10
consecutively.
P5.093.BA = 01
Slave axis
Reverse
operation
100%
P5.095 = 0
P5.095 = 25 75%
50%
P5.095 = 50
P5.095 = 75
P5.095 = 100
Description
position
Forward
operation
Always reverse
25%
Move with
50%
shortest path
75%
25%
100%
Always forward
ASDA-A3