Delta ASDA-A3 Series User Manual page 349

Motion Control
Set the compensation for the DI time delay: set P5.094 as -25000 to 25000 (µs) to
7.
compensate the delay time for the sensor and the signal transmission.
Set the allowable forward rate: set P5.095 to 0 - 100% to specify the allowable forward
8.
rotation rate.
7
Set the positioning pulse number: use P5.096 to set the pulse number (position) of the
9.
master axis for positioning. The setting range is as follows:
10. Enable Macro #E: set P5.097 = 0x000E to enable Macro #E. Read P5.097 and if it returns
0x100E, it means the macro execution is successful. If any of the following failure codes
shows, modify the setting according to the description.
Failure code
7-152
P5.095 = 0
P5.095 = 25
P5.095 = 50
P5.095 = 75
P5.095 = 100
0xF0E1 When executing this macro command, the clutch is not in the engaged status.
0xF0E2 PR number specified by P5.093.YX exceeds the range (0x01 - 0x63).
0xF0E3 P5.093.UZ maximum correctable rate exceeds the range (0x00 - 0x64%).
0xF0E4 P5.094 DI delay time compensation exceeds the range (-25000 to 25000 μs).
0xF0E5 P5.095 allowable forward rate exceeds the range (0 - 100%).
P5.096\ pulse number (position) of the master axis for positioning exceeds the
0xF0E6
range (0 ≤ P5.096 <
0xF0E7 P5.093 setting value exceeds the range (0x0000 - 0x0111).
When using DI7 with the Capture function for triggering (P5.093.C = 1), the
0xF0E8
Capture axis has to be the source pulse of the master axis (P5.088.Y = 0).
When using DI7 with the Capture function for triggering (P5.093.C = 1),
execute PR#50 (P5.039.X Bit3 = 1) for compensation after the last data is
0xF0E9
captured.
Slave axis
position
Reverse
Forward
correction
correction
100%
75%
25%
50% 50%
75%
25%
100%
P5.084
0 ≤ P5.096 ( Pulse ) <
P5.083
Description
P5.084
).
P5.083
Always reverse
Correction with
shortest path
Always forward
ASDA-A3