Delta ASDA-A3 Series User Manual page 776

ASDA-A3
Command code
0x000F
Macro parameter
Read the return value
of P5.097 after
executing the macro
Calculate the moving distance between the current and target position of the
slave axis for PR positioning
When the clutch is engaged, this macro command calculates the moving distance
between the current and target position of the slave axis and writes the value to the
PR incremental position command.
During E-Cam operation, if you want to move the slave axis to the specified position
when the master axis stops but with the E-Cam in the engaged status, use this macro
command to calculate the moving distance of the onward trip and save the value in
the specified PR incremental position command. When the master axis resumes
operation, use another PR incremental position command for the moving distance of
the return trip, so E-Cam returns to the original position (moving distance of onward
trip + moving distance of return trip = 0). For setting details, refer to Section 7.3.9
Macro.
P5.093.L (low word)(Hex) = UZYX
YX: PR number of onward trip (0x01 - 0x63); invalid when value is 0
UZ: PR number of return trip (0x01 - 0x63); invalid when value is 0
P5.093.H (high word)(Hex) = 0
P5.095: allowable forward rate (0 - 100%) (Refer to macro command #D for the
setting.)
P5.096: 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.
0xF0F1: when this macro command is executed, E-Cam is not in the engaged status
0xF0F2: PR number of onward trip specified by P5.093.YX exceeds the range (0x01 -
0x63)
0xF0F3: PR number of return trip specified by P5.093.UZ exceeds the range (0x01 -
0x63)
0xF0F5: P5.095 allowable forward rate exceeds the range (0 - 100%)
0xF0F6: P5.096 target position exceeds the range (0 to (P5.084 / P5.083) -1)
Success code
0x100F
Failure code
Parameters
8
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