Delta ASDA-A3 Series User Manual page 363

Motion Control
For the empty pack prevention mechanism, it uses the controller to call the PR command for the
two slave axes, which executes Macro #10. When executed, these two slave axes pause for
one E-Cam cycle and then resume the operation in the next cycle. If there are two consecutive
empty packs, the mechanism can trigger Macro #10 for two consecutive times. When using this
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function, use the PR special filter (P1.022) to avoid drastic speed change of the slave axes.
The operation is shown in Figure 7.3.11.4.
No empty pack
One empty pack
7-166
Empty pack
detection sensor
Slave axis
position
(PUU)
0° 45° 90° 135° 180° 225° 270° 315° 360°
DO: 0x18
CAM_AREA
P5.090 = 90
DO: 0x1A
CAM_AREA2
Figure 7.3.11.4 Empty pack prevention mechanism
P5.091 = 225
P2.078 = 0
ASDA-A3
E-Cam phase (°)
P2.079 = 45