Delta ASDA Series User Manual

Chapter 4 Application Techniques ASDA Series Application Note
4-26 March, 2015
4.5 Macro for E-Cam Application
4.5.1 Macro C
With this macro, the current pulse number of the master axis and position of the slave axis can
be redefined without changing motor’s position.
Macro C allows the system to change the engaging position promptly
and calculate the remaining pulses. Then, E-Cam can complete the
operation according to the E-Cam curve after engaging.
Master
axis
Slave
axis
Command
position
E-Cam
position
The remaining
pulses within one
cycle
The specified
engaging
position
Figure 4.5.1 Macro C
The following macros are available from version V1.035 sub00 (included):
Command code
000Ch
Change position X, where E-Cam is engaged: E-Cam disengages after
rotating one cycle at forward direction.
General parameters N/A
Macro parameters P5-93 = New engaged position X. Unit: pulse number of master axis.
Monitoring variable 062(3Eh): It displays the current engaged position
(X) of master axis.
This macro command can change the engaged position even when E-Cam is engaged. It will
automatically calculate the residual engaged length. E-Cam will disengage after rotating one
cycle at forward direction. Users have to set P5-88.U to 2, 4, 6; otherwise, the E-cam will not
disengage.
E-Cam will disengage when alarm occurs or the power supply is cut off. If users desire E-Cam to
re-engage at the last disengaged position and continue its operation, it is recommended to
record the disengaged position (X) and resume the operation by this macro command. Please
note that when E-Cam is disengaged, the servo position might slightly shift and therefore cause
position error when E-Cam re-engages again.
The Engaged direction is in forward direction (Master axis operates at forward direction):

Delta ASDA Series Specifications

General

Brand	Delta
Model	ASDA Series
Category	Servo Drives
Language	English