Delta ASDA-A3 Series User Manual page 399

Parameters
Command code
Macro parameters
This macro can be triggered when E-Cam is engaged, and P5.019 becomes effective immediately.
8
Normally, E-Cam scaling is only loaded into the system by P5.019 at the point when E-Cam engages
(see below: transition 3). It cannot be changed in the engaged condition. E-Cam scaling can only be
changed after one E-Cam cycle to ensure that the E-Cam can return to the original position without
accumulative error.
If necessary in the application, there are two ways to change the setting of E-Cam curve scaling
immediately:
1. P5.088.X2 = 1: when E-Cam is engaged, set up this bit at the same time, this causes each
change in P5.019 to be enabled immediately.
2. Use macro #8: each time that this macro command is triggered, the function of P5.019 is
enabled immediately. However, if the value of P5.019 is changed and this macro is not triggered,
then the function of P5.019 is not enabled immediately. This macro command has to be triggered
again to enable the function of P5.019.
Failure code
Command code
General parameters
Macro parameters
This macro command can change the engaged position immediately even when E-Cam is engaged.
It automatically calculates the remaining engaged length so that E-Cam disengages after rotating
one cycle (360°) in the forward direction. However, you must set P5.088.U to 2, 4, or 6; otherwise,
E-Cam does not disengage.
E-Cam disengages when an alarm occurs or power supply is cut off. If you want E-Cam to re-engage
at the last disengaged position and continue its remaining cycle, it is recommended that you record
the last disengaged position (X) and then resume the operation of this macro command. Please note
that when E-Cam is disengaged, the servo position might shift slightly, causing position error when
E-Cam re-engages.
The engaged direction is in the forward direction (master axis operates in forward direction):
Note: when using this macro command, it is recommended that you execute the macro command before operating
the master axis.
Failure code F0C1h
Failure code F0C2h
Failure code F0C3h
Command code
8-142
E-Cam curve scaling (P5.019) is effective immediately.
0008h
N/A
P5.019 loading into
N/A
Change position X where E-Cam is engaged: E-Cam disengages after
000Ch rotating one cycle in the forward direction.
N/A
P5.093 = new engaged position X, Unit: pulse number of master axis.
Monitoring variable 062(3Eh): displays the current engaged position (X)
of master axis.
When E-Cam rotates one cycle, pulse number of master axis: (P5.084 / P5.083)
Slave axis
position (Y)
When executing this macro command, E-Cam is not in engaged status.
Engaged position can only be modified when E-Cam is engaged.
Value of P5.093 is in error. The value cannot be less than 0.
Value of P5.093 is in error. The value has to be less than the value of
(P5.084 / P5.083).
Calculate the error between E-Cam and indexing coordinates for PR
000Dh positioning.
Stop: 0
Engaged: 1
5
4
1
3
Lead: 2
E-Cam scaling
Assign new
Remaining engaged
position P5.093
2
Master axis
position (X)
length
(auto calculation)
Revision December, 2017
ASDA-A3