Delta ASD-A2-0121 Series User Manual page 517

Chapter 8 Parameters
Note 1: ECAM_H (height of E-Cam table) = E-Cam table (last point - first points)
Note 2: Indexing coordinate = (absolute coordinates／P2-52) take remainder.
Note 3: Use PR command for incremental positioning control.
When motor moves from the current position to the target position, it can operate
at forward or reverse direction. Due to the cyclic operation, the motor will travel
to the specified position either at forward or reverse direction. However, the
moving distance is different between both. Uses avoid point to plan the timing of
forward and reverse rotation.
＊Avoid point: the point that cannot be passed by the planned PR.
Failure code
0xF0D1
Failure code
0xF0D2
Failure code
0xF0D3
Failure code
0xF0D5
Failure code
0xF0D6
Failure code
0xF0D7
Failure code
0xF0D8
Failure code
0xF0D9
Failure code
8-218
A cycle of E-Cam
Slave axis
position (Y)
0°
E-Cam table
E-Cam current position
E-Cam current position
E-Cam avoid point Θ, which is set by P5-95
Cannot pass
E-Cam is not engaged when executing this macro
command. E-Cam should be engaged.
The value of P5-93.YX (PR number) exceeds the range: 1
~ 0x3F
The value of P5-95 (available forward rate) exceeds the
range: 0 ~ 100 (%)
The position correction value does not exist. This macro
command might be triggered twice.
When re-servo On, E-cam is not engaged.
The height (Y axis) of E-Cam table is not equal to the value
of P2-52.
P5-19 is not equal to 1
P5-93.BA, P5-95 exceeds the range: 0 ~ 1
The setting value of P5-93.DC (reverse inhibit) exceeds the
0°
360°
0°
Θ
Actual traveling distance
A cycle of indexing
Indexing coordinates
Θ = 360° x P5-95%
ASDA-A2