Delta ASDA-A2 Series User Manual page 501

Chapter 8 Servo Parameters
 The firmware version V1.035 sub00 and later models provide the following
macro command:
Command code:
000Ch
General Parameters
Macro Parameters
Using this macro command is able to change engaged position, calculate residual
engaged length and make E-Cam be disengaged after one forward rotation (at 360°)
when E-Cam is engaged. However, please note that E-Cam can be disengaged only
when P5-88 U=2, 4, or 6. Ensure P5-88 U=2, 4, or 6 is selected; otherwise E-Cam
cannot be disengaged.
When a fault occurs on the servo drive or the power of the servo drive is shut down,
E-Cam will be disengaged. If the system needs that the E-Cam is re-enaged from the
disengaged position and continue a cycle of E-Cam movement, it is recommended to
record the position X first and use this macro command to change the engaged
position. However, the servo position may shift a little distance when E-Cam is
disengaged. Please note that a position error may occur when E-Cam is re-engaged.
Engaged direction is in forward direction (forward rotation of master axis):
Slave
Axis
Position
(Y)
Note: When using this macro command, it would be proper to execute this macro
command first and then operate the master axis. It is not recommended to enable
the master axis operation before executing this macro command.
Failure code: F0C1h
Failure code: F0C2h
Failure code: F0C3h
8-224
Change E-Cam engaged X position: disengage after one
forward rotation.
N/A
P5-53= New engaged position X. Unit is pulse number of
master axis.
Monitor variable 062(3Eh): Display the engaged position X of
master axis
A Cycle of a Resolution of Pulse Command: (P5-84／P5-83)
Assigh new position
P5-93
The E-Cam is not engaged when executing this marco
command. The E-Cam should be engaged before modifying
the engaged position.
The setting value of P5-93 is in error. It cannot less than 0. It
should be equal to or higher than 0.
The setting value of P5-93 is in error. It should be less than
(P5-84 / P5-83).
Master Axis Position (X)
Residual Engaged Length (calculate
the value automatically)
A2
ASDA-
Revision September 2012