Delta ASDA-A3 Series User Manual page 775

Parameters
8
Command code
0x000E
Macro parameter
Read the return value
of P5.097 after
executing the macro
8-198
E-Cam displacement value for PR positioning
When the clutch is engaged, set the E-Cam engaging position with this macro
command and calculate the displacement value for the slave axis alignment, and then
write the displacement value to the specified PR for incremental positioning. Trigger
this PR when needed to move the slave axis to the corresponding target position.
During E-Cam operation, if you want to quickly align the E-Cam position with the
mechanical referral point, you can use the sensor to trigger the DI to execute this
macro command. For setting details, refer to Section 7.3.9 Macro.
When E-Cam ro tates o ne cycle, pulse number of master axi s: (P5.084 / P5.083)
Slave axis
position
Curren t positi on
P5.093 = DCBA UZYX (HEX)
YX: PR number (0x01 - 0x63); invalid when value is 0
UZ: maximum allowable alignment correction rate (0x00 - 0x64%)
｜Alignment target position - Current position｜/ Pulse number of master axis
when E-Cam rotates one cycle
A: PR triggering method. 0 (manual trigger); 1 (immediate automatic trigger)
B: position of the mark. 0 (on non-compensated motion axis); 1 (on compensated
motion axis)
C: DI channel. 0 (general DI triggering event); 1 (high-speed DI7 with Capture)
D = 0
P5.094 = DI time delay compensation (-25000 to +25000 μs)
P5.095 = Allowable forward rate (0 - 100%) (Refer to macro command #D for the
setting)
P5.096 = Alignment target position; unit: pulse number of master axis (0 to (P5.084 /
P5.083) -1)
Note: monitoring variable 062 (3Eh) displays the current position of the master axis.
0xF0E1: when this macro command is executed, E-Cam is not in the engaged status
0xF0E2: PR number specified by P5.093.YX exceeds the range (0x01 - 0x63)
0xF0E3: P5.093.UZ maximum correction rate exceeds the range (0 - 0x64%)
0xF0E4: P5.094 DI delay time compensation exceeds the range
(-25000 to +25000 μs)
0xF0E5: P5.095 allowable forward rate exceeds the range (0 - 100%)
0xF0E6: P5.096 alignment target position exceeds the range
(0 to (P5.084 / P5.083) -1)
0xF0E7: P5.093 setting value exceeds the range (0x0000 - 0x0111)
0xF0E8: when using DI7 with Capture triggering (P5.093.C = 1), set the master axis
pulse source to the Capture axis (P5.088.Y = 0)
0xF0E9: when using DI7 with Capture triggering (P5.093.C = 1), execute PR#50
(P5.039.X [Bit 3] = 1) for compensation after the last data is captured
Master axis
position
Alig nment target
position P5.096
Success code
0x100E
Failure code
ASDA-A3
Disp lacement
value