Delta ASD-A2 Series User Manual page 468

ASDA-A2
Monitoring variable 091(5Bh): It displays the current indexing coordinate position
(PUU)
When E-Cam is engaged, and the motor is stopped because of Servo Off or alarm
occurs, it would cause position error between the actual position and E-Cam
position. After re-servo On, this macro command can be used to calculate the
correction value and write the value into the specified PR for incremental
positioning. So that the motor can return to the ideal E-Cam position.
When using this macro command:
1. P5-88.X1 = 1 to make E-Cam keep engaging when servo off and continue to
calculate E-Cam position.
2. The height of indexing coordinate and E-Cam coordinate should be the same:
P2-52= ECAM_H (The moving distance when E-cam operates one cycle)
3. E-Cam table scaling (P5-19) must be 1.0 time
4. When E-Cam is engaged for the first time, 0 degree of E-cam should aim at 0
degree of indexing coordinate.
5. This macro command only can be applicable on periodic cycle and when every
cycle starts from the same position.
Note 1: ECAM_H (height of E-Cam table) = E-Cam table (last point - first points)
Note 2: Indexing coordinate = (absolute coordinates／P2-52) take remainder.
Note 3: Use PR command for incremental positioning control.
When motor moves from the current position to the target position, it can operate at
forward or reverse direction. Due to the cyclic operation, the motor will travel to the
specified position either at forward or reverse direction. However, the moving
distance is different between both. Uses avoid point to plan the timing of forward
and reverse rotation.
＊Avoid point: the point that cannot be passed by the planned PR.
Revision February, 2017
DC (Inhibit reverse rotation):
0 (invalid),
1(Inhibit reverse rotation, V1.038 sub53)
P5-95: Avoid point (cannot pass this point) = 0 ~ 100 (%) of
E-Cam cycle or available forward rate 0 ~ 100 (%)
Chapter 8 Parameters
8-217