Delta ASDA-A3 Series User Manual page 777

Parameters
8
Command code
0x0010
Macro parameter
Read the return value
of P5.097 after
executing the macro
P5.098
Default: 0x0000
Format: HEX
Settings:
U
The action when PR is EV1 rising-edge
X
triggered
The action when PR is EV2 rising-edge
Y
triggered

X: the action when EV1 is on
0: no action
1 - D: execute PR# 51 - 63

Y: the action when EV2 is on
0: no action
1 - D: execute PR# 51 - 63
8-200
After the clutch is engaged, this macro command can immediately pause the slave
axis for one cycle regardless of the current E-Cam position.
To use this macro command to pause the slave axis, the E-Cam curve must be in
forward operation (including straight line). Use this macro command with P1.022.YX
acceleration time limit and P1.022.U reverse inhibit to prevent mechanical vibration.
For setting details, refer to Section 7.3.9 Macro.
Note: this function is accumulative. If the command is triggered for N times consecutively, it pauses
the E-Cam for N cycles. Note that the accumulated pause distance cannot exceed 2^31, otherwise
the macro command is invalid. When E-Cam resumes operation, the accumulated pause distance
is cleared to 0.
P5.093 (Hex) = 0x00000000
0xF101: when this macro command is executed, E-Cam is not in the engaged status
0xF102: value of P5.093 exceeds the range; must be set to 0x00000000
0xF103: slave axis must operate in the forward direction. Check the E-Cam curve and
P5.019 E-Cam curve scaling
0xF104: accumulated pause distance exceeds 2^31. Do not execute this macro
command consecutively
PR number triggered by event rising-edge
Unit: -
Z Y X
Slave axis immediately pauses for one cycle
Success code
0x1010
Failure code
Control mode: PR
Setting range: 0x0000 - 0xDDDD
Data size: 16-bit
The action when PR is EV3 rising-edge
Z
triggered
The action when PR is EV4 rising-edge
U
triggered
ASDA-A3
Address: 05C4H
05C5H