Delta ASDA-A3 Series User Manual page 549

Motion Control
Enable Macro #C: set P5.097 = 0x000C to enable Macro #C. Read P5.097 and if it returns
4.
0x100C, it means the macro execution is successful. If any of the following failure codes
shows, modify the setting according to the description.
7
Macro #D - calculate the deviation between the current slave axis position and rotary
axis position for PR positioning
When the slave axis position is not at the E-Cam curve corresponding position, this macro finds
the slave axis position corresponding to the master axis position. Next, it calculates the deviation
between this position and the current motor position, and writes the deviation to the PR
incremental position command. You can trigger the specified PR and move the motor of the slave
axis to the position corresponding to the master axis position. This macro is suitable for the cyclic
motion which starts from the same point. In other words, the mechanical part returns to the start
point each cycle; and the slave axis moving distance is the same as the rotary axis position scale .
You can monitor the rotary axis position in PUU with monitoring variable 091 (5Bh). The operation
is shown in Figure 7.3.9.2.
Setting steps:
Set P5.088.X Bit 1 to 1 to keep the clutch engaged when Servo Off and engage the
1.
E-Cam.
Set the rotary axis position scale to equal the moving distance of the slave axis per cycle
2.
(P2.052 = slave axis moving distance ECAM_H).
Set the E-Cam scaling to 1 (P5.019 = 1).
3.
7-146
Failure code
When this macro command is executed, the clutch is not in the
0xF0C1
engaged status.
The engagement position specified in P5.093 exceeds the range
0xF0C2
(must be ≥ 0).
The engagement position specified in P5.093 exceeds the range
0xF0C3
(must be <
Slave axis position
(PUU)
Current
Reverse
operation to
the target
Target
Current
Figure 7.3.9.2 Macro #D operation
Description
P5.084
).
P5.083
P2.052 =
Slave axis
moving amount
Forward
operation to
the target
ASDA-A3
Master axis
position
(Pulse)