Delta ASD-A2-0121 Series User Manual page 515

Chapter 8 Parameters
In application, two ways can change the setting of E-Cam curve scaling.
1. P5-88.X2 = 1: When E-Cam is engaged, setup this bit at the same time.
Function of P5-19 will be enabled immediately.
2. Use macro#8: Every time when this macro command is triggered, function of
P5-19 will be enabled. However, if the value of P5-19 is changed and this
macro is not triggered, function of P5-19 will not be enabled. This macro
command has to be triggered again.
Failure code
The following macros are available from version V1.035 sub00 (included):
Command code
0x000C
General
parameters
Macro parameters
This macro command can change the engaged position even when E-Cam is
engaged. It will automatically calculate the residual engaged length. E-Cam will
disengage after rotating one cycle at forward direction. Users have to set P5-88.U
to 2, 4, and 6; otherwise, the E-cam will not disengage.
E-Cam will disengage when alarm occurs or the power supply is cut off. If users
desire E-Cam to re-engage at the last disengaged position and continue its
operation, it is recommended to record the disengaged position (X) and resume the
operation by this macro command. Please note that when E-Cam is disengaged,
the servo position might slightly shift and therefore cause position error when E-
Cam re-engages again.
The Engaged direction is in forward direction (Master axis operates at forward
direction):
Note: When using this macro command, it would be better to execute this command before
Failure code
0xF0C1
8-216
N/A
Change position X, where E-Cam is engaged: E-Cam
disengages after rotating one cycle at forward direction.
N/A
P5-93 = New engaged position X. Unit: pulse number of
master axis.
Monitoring variable 062(3Eh): It displays the current engaged
position (X) of master axis.
When E-Cam operates one cycle, the pulse
number of master axis is (P5-84/P5-83)
Slave Axis
Position (Y)
operate the master axis.
When executing this macro command, E-Cam is not in
engaged status.
To modify the engaged position only when E-Cam is
Assign new
Residual Engaged Length
position P5-93
calculated automatically)
Master Axis
Position (X)
(the value will be
ASDA-A2