Delta ASDA-A3 Series User Manual page 523

Parameters
8
Macro parameters
Read the return value of
P5.097 after executing
the macro
Command code 0x000E
8-150
E-Cam current position
Maximum forward rotation
limit. Counterclockwise
direction is forward direction
in the figure
Allowable forward rate =
0%, reverse direction
only for onward trip
Allowable forward rate =
25%, onward maximum
path is +90°
Allowable forward rate =
50%, onward maximum
path is +180°
0xF0D1: when executing this macro command, E-Cam is not in engaged status
0xF0D2: PR number specified by P5.093.YX exceeds the range (0x01 - 0x63)
0xF0D3: P5.095 avoid point or allowable forward rate exceeds the range (0 - 100%)
0xF0D5: position correction value does not exist. This macro command might be
triggered twice
0xF0D6: E-Cam did not remain engaged when servo is off, so when servo switches to
on again, E-Cam is not engaged
0xF0D7: slave axis moving distance does not equal the total index moving distance
(ECAM_H ≠ P2.052)
0xF0D8: E-Cam curve scaling does not equal 1 (P5.019 ≠ 1)
0xF0D9: P5.093.BA positive / negative type setting exceeds the range (00 - 01)
0xF0DA: P5.093.DC reverse inhibit setting exceeds the range (00 - 01)
0xF0DB: the reverse inhibit function has failed. Do not use macro command #D and
#10 consecutively.
E-Cam displacement value for PR positioning
When the clutch is engaged, set the E-Cam engaging position with this macro
command and calculate the displacement value for the slave axis alignment, then write
the displacement value to the specified PR for incremental positioning. Trigger this PR
when needed to move the slave axis to the corresponding target position.
You can use this macro command: during E-Cam operation, if you want to quickly align
the E-Cam position with the mechanical referral point, you can use the sensor to trigger
the DI to execute this macro command. For setting details, refer to Section 7.3.9 Macro.
When E-Cam rotates one cycle, pulse number of master axis: (P5.084 / P5.083)
Slave axis
position
Current position
Target position
onward trip is in
Target position
return trip is in
Allowable forward rate =
75%, onward maximum
path is +270°
Allowable forward rate =
100%, forward direction
only for onward trip
Success code
0x100D
Failure code
Master axis
position
Alignment target
position P5.096
ASDA-A3
is within this range;
forward direction
is within this range;
reverse direction
Displacement
value