Delta ASD-A3-0121, User Manual

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Parameters ASDA-A3
8-144
Revision December, 2017
8
(Continued)
Failure code F0D1h When executing this macro command, E-Cam is not in engaged status.
E-Cam should be engaged.
Failure code F0D2h P5.093.YX (PR number) exceeds the range: 1 – 0x3F
Failure code F0D3h P5.095 (allowable forward rate) exceeds the range: 0 – 100 (%)
Failure code F0D5h Position correction value does not exist. This macro command might be
triggered twice.
Failure code F0D6h When servo switches to on state again, E-Cam is not engaged.
Failure code F0D7h Height (Y axis) of E-Cam table does not equal to the value of P2.052.
Failure code F0D8h E-Cam table scaling does not equal to 1.
Failure code F0D9h Values of P5.093.BA and P5.095 exceed the range: 0 – 1.
Failure code F0DAh P5.093.DC (reverse inhibit) exceeds the range: 0 – 1.
Failure code F0DBh The reverse inhibit function has failed. Do not use macro command #D and
#10h consecutively.
Command code
000Eh
Perform E-Cam alignment immediately and write the correction value into the
specified PR.
Macro parameters
P5.093 = DCBA : UZYX (8 digits, HEX)
YX (PR number) = 0 – 0x3F (invalid when value is 0).
UZ (maximum allowable correction rate) = 0 – 0x64 (%)
A (trigger specified PR directly) = 1: on, 0: off
DCB = must be set to 0.
P5.094 (DI delay time compensation) = -25000 to +25000 (unit: usec).
P5.095 (allowable forward rate)
＝
0 – 100 (%)
P5.096 (target position of alignment X) (unit: pulse number of master axis) =
0 to (P5.084/P5.083) - 1.
Monitoring variable 062(3Eh): displays the current engaged position (X) of master axis.
This macro command can move the engaged position to the
alignment target position X
when
E-Cam is engaged, and then write the alignment correction value into the specified PR.
You can use this macro command: during E-Cam operation (E-Cam is engaged), if you want to
quickly align the E-Cam position with the mechanical referral point, you can use the sensor to trigger
DI.EVx to execute this macro command.
After E-Cam alignment completes, the engaged position moves to the new position. The excessive or
insufficient moving distance after E-Cam operates one cycle is called the alignment correction
value which is written into the PR specified by P5.093.YX. You can use the PR incremental command
to execute this alignment correction so that the E-Cam slave axis position remains and offset the
phase of E-Cam to align with the referral position of the machine. For some applications when PR is
not needed, set P5.093.YX to 0. Please note that PR can only be executed when triggered by the host
controller . This macro command is only for setting the value.
When E-Cam rotates one cycle,
pulse number of master axis: (P5.084/P5.083) = L
Master axis
position (X)
Slave axis
position (Y)
Current
engaged
position
Alignment
target position
P5.096
Alignment
correction
value = Y_Diff
*P5.093.UZ is able to limit the maximum correction rate. The alignment target position
★
will be
different from P5.096.
｜
Alignment target position
★
- Current engaged position
｜
/ L <= P5.093.UZ %
*DI time delay compensation can be set by P5.094 to correct the error caused by different speed of
motion.
Due to cyclic operation, when E-Cam moves from current position to the target position, it can either
rotate in the forward or reverse direction. However, the moving distance is usually different between
them. Thus, you can use the allowable forward rate to determine whether to operate in the forward or
reverse rotation.