Delta ASDA-A3 Series User Manual page 773

Parameters
8
Command code
0x000D
Macro parameter
8-196
Calculate the error between the current position of the slave axis and rotary axis
position 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 this PR command is executed, 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. Have the height of rotary axis position and E-Cam position be the same:
P2.052 = ECAM_H (moving distance when slave axis operates one cycle)
3. Set the E-Cam curve scaling (P5.019) to 1.0 times.
4. Have the 0 degree positions in the E-Cam table point to the origin of the rotary
axis position when E-Cam is engaged for the first time. You can achieve this
alignment by executing homing.
5. You can only use this macro command for a periodic cycle which always starts
from the same position.
Note:
1. ECAM_H (moving distance when slave axis operates one cycle) = E-Cam table last point
minus E-Cam table first point.
2. Rotary axis position = remainder of (absolute position / P2.052). Monitoring variable 091
displays the current rotary axis position (PUU).
3. Use PR command via incremental positioning control.
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 %
ASDA-A3