Delta ASDA-A3 Series User Manual page 567

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 the macro is 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.
7
When using this 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
7-164
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