Delta ASD-A3-0121, User Manual

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Parameters ASDA-A3
8-142
Revision December, 2017
8
Command code
0008h
E-Cam curve scaling (P5.019) is effective immediately.
Macro parameters N/A
This macro can be triggered when E-Cam is engaged, and P5.019 becomes effective immediately.
Normally, E-Cam scaling is only loaded into the system by P5.019 at the point when E-Cam engages
(see below: transition 3). It cannot be changed in the engaged condition. E-Cam scaling can only be
changed after one E-Cam cycle to ensure that the E-Cam can return to the original position without
accumulative error.
Engaged: 1
Stop: 0
Lead: 2
1
2
5
4
3
P5.019 loading into
E-Cam scaling
If necessary in the application, there are two ways to change the setting of E-Cam curve scaling
immediately:
1. P5.088.X2 = 1: when E-Cam is engaged, set up this bit at the same time, this causes each
change in P5.019 to be enabled immediately.
2. Use macro #8: each time that this macro command is triggered, the function of P5.019 is
enabled immediately. However, if the value of P5.019 is changed and this macro is not triggered,
then the function of P5.019 is not enabled immediately. This macro command has to be triggered
again to enable the function of P5.019.
Failure code N/A
Command code
000Ch
Change position X where E-Cam is engaged: E-Cam disengages after
rotating one cycle in the forward direction.
General parameters N/A
Macro parameters
P5.093 = new engaged position X, Unit: pulse number of master axis.
Monitoring variable 062(3Eh): displays the current engaged position (X)
of master axis.
This macro command can change the engaged position immediately even when E-Cam is engaged.
It automatically calculates the remaining engaged length so that E-Cam disengages after rotating
one cycle (360°) in the forward direction. However, you must set P5.088.U to 2, 4, or 6; otherwise,
E-Cam does not disengage.
E-Cam disengages when an alarm occurs or power supply is cut off. If you want E-Cam to re-engage
at the last disengaged position and continue its remaining cycle, it is recommended that you record
the last disengaged position (X) and then resume the operation of this macro command. Please note
that when E-Cam is disengaged, the servo position might shift slightly, causing position error when
E-Cam re-engages.
The engaged direction is in the forward direction (master axis operates in forward direction):
When E-Cam rotates one cycle, pulse number of master axis: (P5.084 / P5.083)
Master axis
position (X)
Assign new
position P5.093
Remaining engaged
length
(auto calculation)
Slave axis
position (Y)
Note: when using this macro command, it is recommended that you execute the macro command before operating
the master axis.
Failure code F0C1h When executing this macro command, E-Cam is not in engaged status.
Engaged position can only be modified when E-Cam is engaged.
Failure code F0C2h Value of P5.093 is in error. The value cannot be less than 0.
Failure code F0C3h Value of P5.093 is in error. The value has to be less than the value of
(P5.084 / P5.083).
Command code
000Dh
Calculate the error between E-Cam and indexing coordinates for PR
positioning.