Delta ASDA-A3 Series User Manual page 342

ASDA-A3
Function
Note: using the filter allows the alignment to be more stable and reduces any position errors caused by DI
noise and so the operation can be smoother.
UZ: maximum allowable correction rate (0 – 100%)

When alignment correction is enabled, the limitation of the maximum allowable correction rate (C)
is defined as follows:
｜C｜<= (P5.084 / P5.083) x P2.073.UZ %
Note: when the alignment error is too large, correcting this error once may cause motor vibration or
overloading. Using this parameter can divide the alignment correction into several stages to smooth the
process, but it may need more time to complete the alignment correction.
BA: PR number (PR#0 – PR#99)

After each alignment, any shortage of pulse numbers from the slave axis is stored in a specified
PR. This PR can compensate for the slave position at the appropriate timing point. If BA is set to 0,
any shortage of pulse numbers is not stored in PR.
Note: the format of this parameter is HEX. Thus, to set PR#11, write 0B to BA.
DC: masking range (0 – 95%)

When DI.ALGN is triggered, the next alignment action is allowed only after the increasing pulses of
the master axis are greater than the distance (M) masking.
M >= (P5.084 / P5.083) x P2.073.DC %
Note:
1. This masking function only allows increasing pulse input, and does not work for decreasing pulse input.
2. The E-Cam function is not supported by the model A3-L.
P2.074
Default: 0.000
Unit:
ms (minimum scale is
Format: DEC
Settings:
This parameter offsets the alignment target to resolve DI delays. The setting works as follows:
P2.074 = P2.009 (DI response filter time) + sensor's delay time
Note: the E-Cam function is not supported by the model A3-L.
Revision December, 2017
YX 00
Filter disabled
E-Cam alignment - DI delay time
μs
)
01 – 5F
| Error | <= (1 to YX)%: filter enabled
Control mode: PR
Setting range: -25.000 to +25.000
(includes 3 decimal places)
Data size: 16-bit
Parameters
Address: 0294H
0295H
8-85
8