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Motion Control
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ASDA-A3
7
Macro #10 - the slave axis immediately pauses for one cycle
When the clutch is engaged and the slave axis operates in forward direction, this macro can stop
one cycle of the slave axis operation and then the operation resumes. To stop for multiple cycles,
consecutively trigger Macro #10 for a number of times. The servo drive records the number of
times Macro #10 is triggered and the slave axis will stop for the number of cycles accordingly.
When using this macro, use P1.022 PR special filter and set P1.022.YX acceleration time limit
(the required time for the motor to accelerate from 0 to 3000 rpm, which range is 10 - 1270 ms).
If the acceleration or deceleration time is shorter than the acceleration time limit, then the filter
takes effect and smooths the acceleration or deceleration process, preventing the command from
changing too drastically and machine vibration. The following error caused by the smooth
command will be compensated after the command changes become moderate, so the final
position does not deviate. This macro is usually used for the empty pack prevention function on
the packing machine. The operation is shown in Figure 7.3.9.5.
Slave axis
position
(PUU)
Original
position curve
Original cycle
Pausing
position
0°
One cycle
X°
Macro triggering
position
360°
X+360°
Resuming
position
Slave axis
speed
(PUU/s)
Original cycle
E-Cam phase (°)
0°
One cycle
X°
360°
X+360°
Macro triggering
position
Resuming
position
Figure 7.3.9.5 Macro #10 operation
E-Cam phase (°)
7-152
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