Delta ASD-A2-0121 Series User Manual page 518

ASDA-A2
0xF0DA
Failure code
0xF0DB
The following macros are provided after version V1.038 sub26 (included):
Command code
0x000E
Macro parameters
Monitoring variable 062(3Eh): It displays the current engaged position of master
This macro command can move the engaged position to the alignment target
position (X) when E-Cam is engaged, and write the alignment correction value into
the specified PR.
During E-Cam operation (When E-Cam is engaged), if desire to quickly align the E-
cam position to the mechanical referral point, sensor can be used to trigger DI.EVx
to execute this macro command.
After E-Cam alignment is completed, the engaged position will move to the new
position. The excess or not enough moving distance after E-Cam operates one
cycle is called alignment correction value. It will be written into PR specified by P5-
93.YX. PR incremental command can be used to compensate this value so that the
slave axis position will remain and offset the phase of E-Cam to align the referral
position of machine. For some applications, set value of P5-93.YX to 0 will do.
Please note that PR can be executed only when triggering the host controller. This
macro command writes data only.
＊P5-93.UZ is able to limit the max. correction rate. The alignment target position
★ will be different from P5-96.
｜ a ｜ alignment target position★ – current engaged position｜ / L <= P5-93.UZ %
＊DI time delay compensation can be set via P5-94, it can correct the error caused
range: 0 ~ 1
The function of reverse inhibit has failed. Do not use macro
command #D, #10h consecutively.
Perform E-Cam alignment immediately and write the
correction value into the specified PR.
P5-93 = DCBA：UZYX (8 digits, HEXADECIMAL)
YX (PR number) = 0 ~ 0x3F, it is invalid when the value is set
to 0.
UZ (Max. alignment correction rate) = 0 ~ 0x64 (%)
A (Trigger the specified PR directly) = 1: On, 0: Off
DCB = has to be set to 0
P5-94 (DI delay time compensation) = -25000 ~ +25000;
Unit: usec.
P5-95 (available forward rate) = 0 ~ 100 (%)
P5-96 (target position of alignment Ｘ); Unit: pulse number of
master axis = 0 ~ (P5-84/P5-83) – 1.
axis (X)
Pulse number of master axis after
rotating a cycle: (P5-84/P5-83) = L
Slave axis
position (Y)
Current
engaged
position
Master axis position (X)
Alignment target
position P5-96
Chapter 8 Parameters
Alignment
correction value
= Y_Diff
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