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ASDA-A3

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Motion Control

4. Set the initial engagement position: align the start point of 0 degree in the E-Cam curve

table with the origin of the rotary axis position.

5. Set the PR number to save the deviation: specify PR#1 - 99 in hexadecimal.

Set P5.093.YX = 0x01 - 0x63, and set this PR as an incremental position command.

6. Select the direction control type: set P5.093.BA = 00 to use the dodge point for controlling

the forward and reverse directions. Set P5.093.BA = 01 to use the allowable forward rate

for controlling the forward and reverse directions.

7. Set the reverse inhibit function: set P5.093.CD = 0 to disable the reverse inhibit function.

Set P5.093.CD = 1 to enable the reverse inhibit function.

8. Set the dodge point or allowable forward rate: if using the dodge point for direction control,

set P5.095 to 0 - 100% for the dodge position. If using the allowable forward rate for

direction control, set P5.095 to 0 - 100% as the allowable forward rate. Refer to the

following figure.

P5.093.BA = 00

Slave axis

0

target

°

position

Dodge

point

θ

θ = 360° x P5.095 %

Slave axis

start

position

P5.095 = 0

P5.095 = 25

P5.095 = 50

P5.095 = 75

P5.095 = 100

P5.093.BA = 01

Slave axis

position

Reverse

Forward

operation

operation

100%

75% 25%

50% 50%

25%

75%

100%

Always reverse

Move with

shortest path

Always forward

9. Enable Macro #D: set P5.097 = 0x000D to enable Macro #D. Read P5.097 and if it returns

0x100D, it means the macro execution is successful. If any of the following failure codes

shows, modify the setting according to the description.

Failure code

Description

0xF0D1 When this macro command is executed, the clutch is not in the engaged status.

0xF0D2 PR number specified by P5.093.YX exceeds the range (0x01 - 0x63).

0xF0D3

0xF0D5

0xF0D6

0xF0D7

0xF0D8

P5.095 the dodge point or allowable forward rate exceeds the range (0 - 100%).

Position correction value does not exist. This macro command might be

triggered twice.

E-Cam did not remain engaged when servo is off, so when servo switches to the

on state again, E-Cam is not engaged.

Slave axis moving distance does not equal the rotary axis position scale

(ECAM_H ≠ P2.052).

E-Cam curve scaling does not equal 1 (P5.019 ≠ 1).

0xF0D9 P5.093.BA forward / reverse direction setting exceeds the range (00 - 01).

0xF0DA

0xF0DB

P5.093.DC reverse inhibit setting exceeds the range (00 - 01).

The reverse inhibit function has failed. Do not use macro commands #D and #10

consecutively.

7

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