Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 373
Motion Control Applications Chapter 12
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. This
macro is usually used for the empty pack prevention function on the packing
machine. The operation is shown in Figure 188
.
Figure 188 - Macro #10 Operation Diagram
1. Engage the clutch.
2. Set ID385 (P5.097) = 0x0010 to enable Macro #10.
3. Read ID385 (P5.097) and if it returns 0x1010, it means the macro
execution is successful.
4. If any of the following failure codes shows, modify the setting according to
the description.
Error Codes Error Instruction
0xF101 When executing this macro command, the clutch is not in the engaged status.
0xF102 Set ID381 (P5.093) to 0.
0xF103 The slave axis must operate in forward direction. Check the E-Cam curve and ID311 (P5.019)
E-Cam curve scaling.
0xF104 Accumulated pause distance exceeds 231. Do not execute this macro command
consecutively.
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