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ASDA-A3

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Motion Control

7. Set the compensation for the DI time delay: set P5.094 as -25000 to 25000 (µs) to

compensate the delay time for the sensor and the signal transmission.

8. Set the allowable forward rate: set P5.095 to 0 - 100% to specify the allowable forward

rotation rate.

P5.095 = 0

Slave axis

position

Reverse

correction

Forward

correction

100%

Always reverse

P5.095 = 25

P5.095 = 50

P5.095 = 75

75%

50%

25%

50%

25%

75%

Correction with

shortest path

P5.095 = 100

100%

Always forward

9. Set the positioning pulse number: use P5.096 to set the pulse number (position) of the

master axis for positioning. The setting range is as follows:

P5.084

0 ≤ P5.096(Pulse) < P5.083

10. Enable Macro #E: set P5.097 = 0x000E to enable Macro #E. Read P5.097 and if it returns

0x100E, it means the macro execution is successful. If any of the following failure codes

shows, modify the setting according to the description.

Failure code

0xF0E1

0xF0E2

Description

When this macro command is executed, the clutch is not in the engaged

status.

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

0xF0E3

P5.093.UZ maximum correctable rate exceeds the range (0x00 - 0x64%).

0xF0E4

P5.094 DI delay time compensation exceeds the range (-25000 to 25000 μs).

0xF0E5

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

0xF0E6

0xF0E7

0xF0E8

0xF0E9

P5.096 pulse number (position) of the master axis for positioning exceeds the

range (0 ≤ P5.096 < P5.084).

P5.083

P5.093 setting value exceeds the range (0x0000 - 0x0111).

When using DI7 with the Capture function for triggering (P5.093.C = 1), set the

Capture axis as the source pulse of the master axis (P5.088.Y = 0).

When using DI7 with the Capture function for triggering (P5.093.C = 1),

execute PR#50 (P5.039.X Bit 3 = 1) for compensation after the last data is

captured.

7

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