Delta ASD-A2-0121 Series User Manual page 520

ASDA-A2
The following macros are available from version V1.038 sub26 (included):
Command code
0x000F
General
parameters
Macro parameters
Monitoring variable 062(3Eh): It displays the current engaged position (X) of master
This macro command calculates the moving distance between current and target
engaged position (X) and writes into the specified PR.
During E-Cam operation, if users desire to move the slave axis to the specified
position when master axis stops and still in engaged status, this macro command
can calculates the correct moving distance (Y_Drift) of going trip for PR positioning.
When master axis resumes the operation, use another PR to run the moving
distance of return trip (-Y_Drift), it can back to the original position (moving
distance of going trip + moving distance of return trip = 0). E-Cam position remains
the same.
Note: PR command must be the incremental command, regardless in going trip or return
When E-Cam moves from current position to the target one, it can rotate at forward
or reverse position. Due to the cyclic operation, it can reach the target position
either at forward or reverse direction. However, the moving distance between both
is usually different. Use available forward rate to plan the timing of forward and
reverse rotation.
Calculate the moving distance between current and target
position of E-Cam for PR positioning.
N/A
P5-93.Low_Word = UZYX (4 digits, HEXADECIMAL)
YX (PR number of going trip) = 0~0x3F, it is invalid if the
value is set to 0.
UZ (PR number of return trip) = 0~0x3F, it is invalid if the
value is set to 0.
P5-93.Hi_Word = it has to be set to 0
P5-95 (Available forward rate) = 0 ~ 100 (%)
P5-96 (target positionＸ); Unit: pulse number of master axis =
0 ~ (P5-84/P5-83) - 1
Pulse number of master axis after
rotating a cycle: (P5-84/P5-83) = L
Slave axis
position (Y)
Current
engaged
position
trip.
＊Available forward rate: The available max. proportion of forward path
axis (X)
Master axis position (X)
Alignment target
position P5-96
Chapter 8 Parameters
Alignment
correction value
= Y_Diff
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