Delta ASDA-A3 Series User Manual page 524

ASDA-A3
Macro parameters
Read the return value of
P5.097 after executing
the macro
Command code 0x000F
Macro parameters
P5.093 = DCBA UZYX (HEX)
YX: PR number (0x01 - 0x63); invalid when value is 0
UZ: maximum allowable alignment correction rate (0x00 - 0x64%)
｜Alignment target position - Current position｜/ Pulse number of master
axis when E-Cam rotates one cycle
A: PR triggering method. 0 (manual trigger); 1 (immediate automatic trigger)
B: position of the mark. 0 (on non-compensated motion axis); 1 (on
compensated motion axis)
C: DI channel. 0 (general DI triggering event); 1 (high-speed DI7 with Capture)
D = 0
P5.094 = DI time delay compensation (-25000 to +25000 μs)
P5.095 = Allowable forward rate (0 - 100%) [Refer to macro command #D for the
setting]
P5.096 = Alignment target position; unit: pulse number of master axis
(0 to (P5.084 / P5.083) -1)
Note: monitoring variable 062(3Eh) displays the current position of the master axis.
0xF0E1: when executing this macro command, E-Cam is not in engaged status
0xF0E2: PR number specified by P5.093.YX exceeds the range (0x01 - 0x63)
0xF0E3: P5.093.UZ maximum correction rate exceeds the range (0 - 0x64%)
0xF0E4: P5.094 DI delay time compensation exceeds the range (-25000 to +25000 μs)
0xF0E5: P5.095 allowable forward rate exceeds the range (0 - 100%)
0xF0E6: P5.096 alignment target position exceeds the range
(0 to (P5.084 / P5.083) -1)
0xF0E7: P5.093 setting value exceeds the range (0x0000 - 0x0111)
0xF0E8: when using DI7 with Capture triggering (P5.093.C = 1), the master axis pulse
source must be the Capture axis (P5.088.Y = 0)
0xF0E9: when using DI7 with Capture triggering (P5.093.C = 1), execute PR#50
(P5.039.X [Bit 3] = 1) for compensation after the last data is captured
Calculate the moving distance between the current and target position of the
slave axis for PR positioning
When the clutch is engaged, this macro command calculates the moving distance
between the current and target position of the slave axis and writes the value to the PR
incremental position command.
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 moving distance of the onward trip and
save the value in the specified PR incremental position command. When the master
axis resumes operation, use another PR incremental position command for the moving
distance of the return trip, so E-Cam returns to the original position (moving distance of
onward trip + moving distance of return trip = 0). For setting details, refer to Section
7.3.9 Macro.
When E-Cam ro tates o ne cycle, pulse number of
master axis: (P5.084 / P5.083)
Slave
axis Moving distance
position of onward trip
Curren t positi on
P5.093.L (low bit)(Hex) = UZYX
YX: PR number of onward trip (0x01 - 0x63); invalid when value is 0
UZ: PR number of return trip (0x01 - 0x63); invalid when value is 0
P5.093.H (high bit)(Hex) = 0
P5.095: allowable forward rate (0 - 100%) (Refer to macro command #D for the
setting.)
P5.096: target position; unit: pulse number of master axis (0 to (P5.084 / P5.083) -1)
Note: monitoring variable 062(3Eh) displays the current position of the master axis.
Success code
0x100E
Failure code
Moving distance
of retu rn trip
Master axis
position
Target positio n
P5.096
Parameters
8
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