Delta ASDA-A3 Series User Manual page 402

ASDA-A3
(Continued)
*Allowable forward rate: the allowable maximum proportion of the forward path. Please see below
for details.
Failure code F0E1h
Failure code F0E2h
Failure code F0E3h
Failure code F0E4h
Failure code F0E5h
Failure code F0E6h
Command code
000Fh
General parameters
Macro parameters
Monitoring variable 062(3Eh): displays the current engaged position (X) of master axis.
When E-Cam is engaged, this macro command calculates the moving distance between the current
and target engaged position (X) and writes the value into the specified PR.
You can use this macro command: during E-Cam operation, if you want to move the slave axis to the
specified position when the master axis stops but is still in engaged status. This macro command can
calculate the correct moving distance (Y_Drift) of the onward trip for the PR incremental command.
Revision December, 2017
E-Cam current position
Max. forward rotation limit. Counterclockwise
forward direction in the figure
Target position is within the range; onward trip
is in forward direction
Target position is within the range; return trip
is in reverse direction
Allowable forward
rate = 0% (0°),
reverse direction
only for onward trip
Allowable forward
rate = 25%, onward
max. path +90°
Allowable forward rate = 50%,
onward max. path +180°
When executing this macro command, E-Cam is not in engaged status.
E-Cam has to be engaged to execute the alignment correction.
P5.093.YX (PR number) exceeds the range: 0 – 0x3F
P5.093.UZ (maximum alignment correction rate) exceeds the range: 0 – 0x64 (%)
P5.094 (DI delay time compensation) exceeds the range: -10000 to +10000
P5.095 (allowable forward rate) exceeds the range: 0 – 100 (%)
P5.096 (alignment target position) exceeds the range: 0 to (P5.084/P5.083) - 1
Calculate the moving distance between current and target position of E-Cam
for PR positioning.
N/A
P5.093.Low_Word = UZYX (4 digits, HEX)
YX (PR number of onward trip) = 0 – 0X3F (invalid when value is 0).
UX (PR number of return trip) = 0 – 0X3F (invalid when value is 0).
P5.093.Hi_Word = must be set to 0.
P5.095 (allowable forward rate) = 0 – 100 (%)
P5.096 (target position X) (unit: pulse number of master axis) = 0 to (P5.084 /
P5.083) - 1.
is
Allowable forward
rate = 75%, onward
max. path +270°
Allowable forward
rate = 100%
(360°), forward
direction only for
onward trip
Parameters
8
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