Delta ASD-A2-0121 Series User Manual page 516

ASDA-A2
Failure code
0xF0C2
Failure code
0xF0C3
The following macros are available from version V1.038 sub48 (included):
Command code
0x000D
General
Parameters
Macro Parameters
Monitoring variable 091(5Bh): It displays the current indexing coordinate position
When E-Cam is engaged, and the motor is stopped because of Servo Off or
alarm occurs, it would cause position error between the actual position and E-
Cam position. After re-servo On, this macro command can be used to calculate
the correction value and write the value into the specified PR for incremental
positioning. So that the motor can return to the ideal E-Cam position.
When using this macro command:
1. P5-88.X1 = 1 to make E-Cam keep engaging when servo off and continue to
2. The height of indexing coordinate and E-Cam coordinate should be the
3. E-Cam table scaling (P5-19) must be 1.0 time.
4. When E-Cam is engaged for the first time, 0 degree of E-cam should aim at
5. This macro command only can be applicable on periodic cycle and when
engaged.
The setting value of P5-93 is in error. The value cannot less
than 0. It should > = 0.
The setting value of P5-93 is in error. The value has to less
than the value of (P5-84 / P5-83)
Calculate the error between E-Cam and indexing
coordinates for PR positioning.
N/A
P5-93.Low_Word = DCBA: UZYX (8 digits,
HEXADECIMAL)
YX (PR number) = 0~0x3F (it is invalid when the value is
set to 0)
UZ: The value has to be set to 0.
BA (Function of P5-95):
DC (Inhibit reverse rotation):
P5-95: Avoid point (cannot pass this point) = 0 ~ 100 (%) of
calculate E-Cam position.
same: P2-52= ECAM_H (The moving distance when E-cam operates one
cycle)
0 degree of indexing coordinate.
every cycle starts from the same position.
0 (Use avoid point)，
1 (Use available forward rate, V1.038 sub53)
0 (invalid),
1(Inhibit reverse rotation, V1.038 sub53)
E-Cam cycle or available forward rate 0 ~ 100 (%)
(PUU)
Chapter 8 Parameters
8-217