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Parameters

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ASDA-A3

8

Command code

0x000F

Calculate the moving distance between the current and target position of the

slave axis for PR positioning

When the clutch is engaged, this macro command calculates the moving distance

between the current and target position of the slave axis and writes the value to the

PR incremental position command.

During E-Cam operation, if you want to move the slave axis to the specified position

when the master axis stops but with the E-Cam in the engaged status, use this macro

command to calculate the moving distance of the onward trip and save the value in

the specified PR incremental position command. When the master axis resumes

operation, use another PR incremental position command for the moving distance of

the return trip, so E-Cam returns to the original position (moving distance of onward

trip + moving distance of return trip = 0). For setting details, refer to Section 7.3.9

Macro.

When E-Cam ro tates o ne cycle, pulse number of

master axis: (P5.084 / P5.083)

Slave

axis Moving distance

position of onward trip

Moving distance

of retu rn trip

Macro parameter

Read the return value

of P5.097 after

executing the macro

Curren t positi on

Target positio n

P5.096

Master axis

position

P5.093.L (low word)(Hex) = UZYX

YX: PR number of onward trip (0x01 - 0x63); invalid when value is 0

UZ: PR number of return trip (0x01 - 0x63); invalid when value is 0

P5.093.H (high word)(Hex) = 0

P5.095: allowable forward rate (0 - 100%) (Refer to macro command #D for the

setting.)

P5.096: target position; unit: pulse number of master axis (0 to (P5.084 / P5.083) -1)

Note: monitoring variable 062 (3Eh) displays the current position of the master axis.

Success code

0x100F

Failure code

0xF0F1: when this macro command is executed, E-Cam is not in the engaged status

0xF0F2: PR number of onward trip specified by P5.093.YX exceeds the range (0x01 -

0x63)

0xF0F3: PR number of return trip specified by P5.093.UZ exceeds the range (0x01 -

0x63)

0xF0F5: P5.095 allowable forward rate exceeds the range (0 - 100%)

0xF0F6: P5.096 target position exceeds the range (0 to (P5.084 / P5.083) -1)

8-200

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