Delta ASDA-A3 Series, User Manual

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Parameters ASDA-A3
8-148
8
Command code 0x0008
E-Cam curve scaling (P5.019) is effective immediately
This macro can be executed when the clutch is engaged, and the E-Cam scaling
(P5.019) becomes effective immediately.
If it is necessary to change the E-Cam scaling immediately in the application, set
P5.088.X [Bit 2] to 1 or execute this macro. Otherwise, the E-Cam scaling is only
loaded into the system by P5.019 at the point when E-Cam engages (see the following
transition 3). It cannot be changed in the engaged condition.
Engaged: 1 Stop: 0
Pre-engaged:
2
1
2
5
4
3
P5.019 loading into
E-Cam scaling
Macro parameters N/A
Read the return value of
P5.097 after executing
the macro
Success code
0x1008
Failure code
N/A
Command code
0x000C
Change engaged position: rotates in forward direction until disengagement
condition is met
This macro command can change the E-Cam position immediately even when the
clutch is engaged. It automatically calculates the remaining engaged length so that
E-Cam disengages according to the disengagement condition (P5.088.U) after rotating
one cycle (360°) in the forward direction.
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 master axis position of the last disengagement and
then execute this macro command. Note that when E-Cam is disengaged, the servo
position might shift slightly, causing position error when E-Cam re-engages. When using
this macro command, it is recommended that you execute the macro command before
operating the master axis. 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)
Master axis
position
Assign new
position P5.093
Remaining engaged
length (auto calculation)
Slave axis
position
Macro parameters
P5.093 (Hex) = specified master axis engaged position; unit: pulse number of master
axis
Note: monitoring variable 062(3Eh) displays the current position of the master axis.
Read the return value of
P5.097 after executing
the macro
Success code
0x100C
Failure code
0xF0C1: when executing this macro command, E-Cam is not in engaged status
0xF0C2: engaged position specified by P5.093 exceeds the range (the value cannot be
less than 0)
0xF0C3: engaged position specified by P5.093 exceeds the range (the value has to be
less than the value of (P5.084 / P5.083))