Delta ASDA-A3 Series User Manual page 400

ASDA-A3
General parameters
Macro parameters
Monitoring variable 091(5Bh): displays the current indexing coordinate position (PUU).
When E-Cam is engaged and the motor is stopped due to Servo Off or an alarm, it causes position
error between the actual position and the E-Cam position. After changing back to Servo On, you can
use this macro command to calculate the correction value and write the value into the specified PR for
incremental positioning, so that the motor can return to the correct E-Cam position.
When using this macro command:
1. Set P5.088.X1 to 1 to keep E-Cam engaged when Servo Off and continue to calculate E-Cam
position.
2. Height of indexing coordinate and E-Cam coordinate should be the same: P2.052 = ECAM_H
(moving distance when E-Cam operates one cycle).
3. E-Cam table scaling P5.019 must be 1.0 time.
4. When E-Cam is engaged for the first time, 0 degrees in the E-Cam table should point to 0
degrees in the indexing coordinate. You can achieve this alignment by executing homing.
5. You can only use this macro command for a periodic cycle and when each cycle starts from the
same position.
position (Y)
Note:
1. ECAM_H (height of E-Cam table) = E-Cam table (last point minus first point)
2. Indexing coordinate = remainder of (absolute coordinate / P2.052)
3. Use PR command via incremental positioning control
Due to the cyclic operation of E-Cam, the motor travels to the specified position either in the forward
or reverse direction. However, the moving distance is usually different between them. Thus, you can
use the position of the avoid point to determine whether to operate in the forward or reverse direction.
*Avoid point: the point that cannot be passed when executing macro PR positioning. Please see
below for details.
Revision December, 2017
N/A
P5.093.Low_Word = DCBA : UZYX (8 digits, HEX)
YX (PR number) = 0 – 0X3F (invalid when value is 0)
Value of UZ has to be set to 0
BA (function of P5.095): 0 (use avoid point); 1 (use allowable forward rate)
DC (inhibit reverse rotation): 0 (invalid), 1 (inhibit reverse rotation)
P5.095: avoid point (cannot pass this point) = 0 – 100 (%) of E-Cam cycle or
allowable forward rate 0 – 100 (%)
One cycle of E-Cam
Slave axis
0° 360°
E-Cam table
E-Cam current position
E-Cam target position
E-Cam avoid point Θ, set by P5.095
Cannot pass
One cycle of indexing
0°
Indexing coordinates
0°
Θ = 360° x P5.095%
Θ
Actual traveling
distance
Parameters
8
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