Delta ASDA Series User Manual

Chapter 4 Application Techniques ASDA Series Application Note
4-28 March, 2015
E-Cam
Position
Master
Slave
Command
position
P
R
P
R
One
Cycle
ECAM_H
in P2- 52
PR Position command is incremental
P
R
E-Cam operates to the target
position in reverse direction
P
R
E-Cam operates to the target
position in forward direction
Figure 4.5.2 Macro D
The following macros are available from version V1.038 sub48 (included):
Command code
000Dh
Calculate the error between E-Cam and indexing coordinates for PR
positioning.
General Parameters N/A
Macro Parameters
P5-93.Low_Word = DCBA: UZYX (8 digits, HEX)
YX (PR number) = 0 ~ 0x3F (it is invalid when the value is set to 0)
UZ: The value has to be set to 0.
BA (Function of P5-95):
0 (Use avoid point);
1 (Use available forward rate, V1.038 sub53)
DC (Inhibit reverse rotation):
0 (invalid),
1(Inhibit reverse rotation, V1.038 sub53)
P5-95: Avoid point (cannot pass this point) = 0 ~ 100 (%) of E-Cam cycle
or available forward rate 0 ~ 100 (%)
Monitoring variable 091 (5Bh): It displays the current indexing coordinate position (PUU)
When E-Cam is engaged, and the motor is stopped because of Servo Off or alarm occurs, it would
cause position error between the actual position and E-Cam position. After re-servo On, this macro
command can be used to calculate the correction value and write the value into the specified PR
for incremental positioning. So that the motor can return to the ideal E-Cam position.
When using this macro command:
1. P5-88.X1 = 1 to make E-Cam keep engaging when servo Off and continue to calculate E-Cam
position.
2. The height of indexing coordinate and E-Cam coordinate should be the same:
P2-52 = ECAM_H (The moving distance when E-cam operates one cycle)
3. E-Cam table scaling (P5-19) must be 1.0 time
4. When E-Cam is engaged for the first time, 0 degree of E-cam should aim at 0 degree of indexing
coordinate.

Delta ASDA Series Specifications

General

Brand	Delta
Model	ASDA Series
Category	Servo Drives
Language	English