Delta ASDA-A3 Series User Manual page 348

ASDA-A3
Macro #E - PR positioning using E-Cam correction amount
When the clutch engages, this macro sets the master axis engagement position (pulse) and
calculates the required correction amount for the slave axis to complete positioning for one time.
Next, it writes this correction amount to the PR incremental position command to execute.
You can trigger this PR command to have the slave axis operate to the corresponding target
position at the proper time. In actual applications, you can connect the external sensor to the
servo drive DI, and use an event trigger to enable Macro #E. Then, the macro calculates the
correction amount and writes this value to the specified PR program. This macro is suitable for
applications with random markings. The operation is shown in Figure 7.3.9.3.
Setting steps:
Engage the clutch.
1.
Set the PR number to save the correction amount: specify PR#1 - 99 in hexadecimal.
2.
Set P5.093.YX = 0x01 - 0x63, and set this PR as an incremental position command.
Set the maximum correction rate: specify the maximum correction rate of 0 - 100% in
3.
hexadecimal. When P5.093.UZ = 0x00 - 0x64%, it limits the correctable range to avoid
over-correction per time and causing machine vibration.
Set the PR trigger timing: set P5.093.A to 1 to immediately trigger the PR command for
4.
correction. Set P5.093.A to 0 to manually trigger the PR command.
Set the mark position: set P5.093.B to 0 to mark on other motion axis and the following
5.
mark positions are not changed when positioning. Set P5.093.B to 1 to mark on the motion
axis for compensation, but this changes the following mark positions when positioning.
Set the triggering method: set P5.093.C to 0 to use the general DI with event triggering.
6.
Set P5.093.C to 1 to use the high speed DI7 with Capture function as the triggering
method; meanwhile, set the pulse source of the master axis (P5.088.Y = 0) as the Capture
axis. When the last position data is captured, execute PR#50 (P5.039.X Bit3 = 1) to
perform the compensation. This is suitable for high precision applications.
Slave axis position
(PUU)
External sensor DI
Current
Correction
amount
Target
Figure 7.3.9.3 Operation of Macro #E
One cycle
P5.096
Current
positioning
pulse no.
Motion Control
Master axis
position
(Pulse)
7
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