Delta ASDA-A3 Series User Manual page 404

ASDA-A3
Command code
0010h
General parameters
Macro parameters
After E-Cam is engaged, this macro command can pause the slave axis for one distance cycle
regardless of the current E-Cam degree. The following conditions have to be met when using this
macro command:
1. E-Cam must be in the engaged status.
2. E-Cam must be the forward operation curve (including straight line) so it can pause.
As shown in the figure below, by triggering this macro command, E-Cam pauses for one cycle
regardless of the degree (X) of E-Cam's current location.
Note:
1.
ECAM_H (E-Cam pause distance) = E-Cam table (Last point minus first point) x P5.019 (effective scaling).
2.
This function is accumulative. If the command is triggered for N times consecutively, it pauses the E-Cam for
N cycles. Please note that the accumulated pause distance cannot exceed (2^31), otherwise the macro
command is disabled.
3.
When E-Cam resumes operation, the accumulated pause distance is cleared to 0.
Failure code F101h
Failure code F102h
Failure code F103h
Failure code F104h
Note: A3L does not support the E-Cam function.
P5.098
Default: 0x0
Unit: -
Format: HEX
Settings:
U Z Y
X PR triggered by EV1 rising-edge
Y PR triggered by EV2 rising-edge
X: PR triggered when EV1 is on

0: no action
1 – D: execute PR# 51 – 63
Revision December, 2017
E-Cam pauses for one cycle and resumes operation at next cycle.
N/A
P5.093 must be set to 0.
E-Cam rotates one cycle
Slave axis
position
(PUU)
ECAM_H
0°
E-Cam master
axis degree (°)
When executing this macro command, E-Cam is not in the engaged status.
E-Cam should be engaged.
Value of P5.093 is incorrect: must be set to 0.
E-Cam must operate in the forward direction. Please check the E-Cam table
and make sure P5.019 > 0.
Accumulated pause distance exceeds 2^31. Do not execute this macro
command consecutively.
PR# triggered by event rising-edge
X
E-Cam stops
one cycle
X° X+360°
360°
Trigger this macro
command
Control mode: PR
Setting range: 0x0000 – 0xDDDD
Data size: 16-bit
Z PR triggered by EV3 rising-edge
U PR triggered by EV4 rising-edge
Parameters
ECAM_H
E-Cam
continues to
operate
Address: 05C4H
05C5H
8
8-147