Delta ASDA-A3 Series User Manual page 522

ASDA-A3
Command code
0x000D
Macro parameters
Calculate the error between the current position of the slave axis and indexing
coordinates for PR positioning
When the clutch is engaged and the motor is stopped due to Servo Off or an alarm,
position error occurs between the actual position and the E-Cam position. After the
servo switches to on again, use this macro command to automatically calculate the
displacement value and write the value to the specified PR for incremental positioning.
When executing this PR command, the slave axis returns to the corresponding position
of the master axis position according to the positive / negative type and reverse limit.
For setting details, refer to Section 7.3.9 Macro.
When using this macro command:
1. Set P5.088.X [Bit 1] to 1 to keep the clutch engaged when Servo Off.
2. Height of indexing coordinate and E-Cam coordinate should be the same:
P2.052 = ECAM_H (moving distance when slave axis operates one cycle)
3. E-Cam curve scaling (P5.019) must be 1.0 time.
4. When E-Cam is engaged for the first time, 0 degrees in the E-Cam table should
point to the origin of the indexing coordinate. You can achieve this alignment by
executing homing.
5. You can only use this macro command for a periodic cycle and when each cycle
starts from the same position.
Note:
ECAM_H (moving distance when slave axis operates one cycle) = E-Cam table last point
1.
minus E-Cam table first point
Indexing coordinate = remainder of (absolute coordinate / P2.052). Monitoring variable 091
2.
displays the current position of the indexing coordinate (PUU)
Use PR command via incremental positioning control
3.
P5.093 (Hex) = DCBA UZYX
YX: PR number (0x01 - 0x63); invalid when value is 0
UZ = 00
BA: positive / negative type (P5.095), 0 (avoid point); 1 (allowable
forward rate)
DC: inhibit reverse rotation. 0 (invalid); 1 (inhibit reverse rotation)
P5.095 = avoid point cycle 0 - 100(%) or allowable forward rate 0 - 100(%)
target position
Avoid
point
Slave axis
start position
Slave axis
0°
θ
θ = 360° x P5.095 %
Parameters
8
8-149