Delta ASDA-A3 Series User Manual page 553

Motion Control
Macro #F - use the deviation between the current slave axis position and the target
position for PR positioning
When the master axis stops but the E-Cams remain engaged, this macro can move the slave
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axis to the specified position and then return it to the original position. The specified position is
set with the master axis pulse number. After Macro #F is triggered, the servo calculates the
required moving amount for the slave axis to move to the specified position and writes this
moving amount to the two PR incremental position commands (onward and return trips). Trigger
the onward trip PR command, and the slave axis moves to the target position. Trigger the return
PR command, and the slave axis returns to the original position. This macro is suitable for
applications that require moving the slave axis while the system or the master axis is stopped.
The operation is shown in Figure 7.3.9.4.
Setting steps:
The master axis stops and the clutch is engaged.
1.
Set the onward and return trip PR numbers: specify any of the PR from PR#1 - 99 in
2.
hexadecimal as the onward trip PR command. Set P5.093.YX = 0x01 - 0x63 and set this
PR as the incremental position command. Set any of the PR from PR#1 - 99 as the return
trip PR command. Set P5.093.UZ = 0x01 - 0x63 and set this PR as the incremental
position command. Do not use the same PR number at the same time.
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Figure 7.3.9.4 Macro #F operation
ASDA-A3