Delta ASDA-A3 Series User Manual page 353

Motion Control
Setting steps:
Engage the clutch.
1.
Set P1.022.YX the acceleration time limit. If the reverse inhibit is required, set P1.022.U.
2.
Enable Macro #10: set P5.097 = 0x0010 to enable Macro #10. Read P5.097 and if it
3.
7
returns 0x1010, it means the macro execution is successful. If any of the following failure
codes shows, modify the setting according to the description.
Failure code
Note: this function is accumulative. If the command is triggered for N times consecutively, it pauses
the E-Cam for N cycles. Note that the accumulated pause distance cannot exceed the range.
When the pause cycle is complete, the slave axis continues to operate and the accumulated pause
distance is cleared to 0.
7-156
0xF101 When executing this macro command, the clutch is not in the engaged status.
0xF102 Set P5.093 to 0.
The slave axis must operate in forward direction. Check the E-Cam curve and
0xF103
P5.019 E-Cam curve scaling.
Accumulated pause distance exceeds 2
0xF104
command consecutively.
Description
31 . Do not execute this macro
ASDA-A3