Delta ASDA-A3 Series User Manual page 772

ASDA-A3
Command code
0x0008
Macro parameter
Read the return value
of P5.097 after
executing the macro
Command code
0x000C
Macro parameter
Read the return value
of P5.097 after
executing the macro
E-Cam curve scaling (P5.019) is effective immediately
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 loaded
into the system by P5.019 at the point only when E-Cam engages (see the following
transition 3). The scaling 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 the E-
Cam rotates 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. 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)
Slave axis
position
position
P5.093 (Hex) = specifies master axis engaged position; unit: pulse number of master
axis
Note: monitoring variable 062 (3Eh) displays the current position of the master axis.
0xF0C1: when this macro command is executed, E-Cam is not in the 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))
N/A
Success code
0x1008
Failure code
N/A
condition is met
Assign new
P5.093
Remaining engaged
length (auto calculation)
Success code
0x100C
Failure code
Parameters
Master axis
position
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