Delta ASDA-A3 Series User Manual page 556

ASDA-A3
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.
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
0xF101
0xF102
0xF103
0xF104
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.
When this macro command is executed, the clutch is not in the engaged
status.
Set P5.093 to 0.
The slave axis must operate in forward direction. Check the E-Cam curve and
P5.019 E-Cam curve scaling.
Accumulated pause distance exceeds 2
command consecutively.
Description
31
. Do not execute this macro
Motion Control
7
7-153