Delta ASDA-A3 Series User Manual page 521

Parameters
8
Command code 0x0008
Macro parameters
Read the return value of
P5.097 after executing
the macro
Command code
Macro parameters
Read the return value of
P5.097 after executing
the macro
8-148
This macro can be executed when the clutch is engaged, and the E-Cam scaling
(P5.019) becomes effective immediately.
If it is necessary to change the E-Cam scaling immediately in the application, set
P5.088.X [Bit 2] to 1 or execute this macro. Otherwise, the E-Cam scaling is only
loaded into the system by P5.019 at the point when E-Cam engages (see the following
transition 3). It cannot be changed in the engaged condition.
Change engaged position: rotates in forward direction until disengagement
This macro command can change the E-Cam position immediately even when the
clutch is engaged. It automatically calculates the remaining engaged length so that
E-Cam disengages according to the disengagement condition (P5.088.U) after rotating
one cycle (360°) in the forward direction.
E-Cam disengages when an alarm occurs or power supply is cut off. If you want E-Cam
to re-engage at the last disengaged position and continue its remaining cycle, it is
recommended that you record the master axis position of the last disengagement and
then execute this macro command. Note that when E-Cam is disengaged, the servo
position might shift slightly, causing position error when E-Cam re-engages. When using
this macro command, it is recommended that you execute the macro command before
operating the master axis. For setting details, refer to Section 7.3.9 Macro.
When E-Cam rotates one cycle, pulse number of master axis: (P5.084 / P5.083)
0x000C
Slave axis
position
P5.093 (Hex) = specified master axis engaged position; unit: pulse number of master
Note: monitoring variable 062(3Eh) displays the current position of the master axis.
0xF0C1: when executing this macro command, E-Cam is not in engaged status
0xF0C2: engaged position specified by P5.093 exceeds the range (the value cannot be
less than 0)
0xF0C3: engaged position specified by P5.093 exceeds the range (the value has to be
less than the value of (P5.084 / P5.083))
E-Cam curve scaling (P5.019) is effective immediately
N/A
Success code
0x1008
Failure code
N/A
condition is met
Assign new
position P5.093
axis
Success code
0x100C
Failure code
Master axis
position
Remaining engaged
length (auto calculation)
ASDA-A3