Delta ASDA-A2 User Manual

Chapter 8 Parameters ASDA-A2
8-218 Revision February, 2017
The following macros are provided after version V1.038 sub26 (included):
Command code
000Eh
Perform E-Cam alignment immediately and write the
correction value into the specified PR.
Macro parameters
P5-93 = DCBA：UZYX (8 digits, HEXADECIMAL)
YX (PR number) = 0~0x3F, it is invalid when the value is set
to 0.
UZ (Max. alignment correction rate) = 0~0x64 (%)
A (Trigger the specified PR directly) = 1: On, 0: Off
DCB = has to be set to 0
P5-94 (DI delay time compensation) = -25000 ~ +25000;
Unit: usec.
P5-95 (available forward rate) = 0 ~ 100 (%)
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Failure code
F0D1h
E-Cam is not engaged when executing this macro command.
E-Cam should be engaged.
Failure code
F0D2h
The value of P5-93.YX (PR number) exceeds the range: 1 ~
0x3F
Failure code
F0D3h
The value of P5-95 (available forward rate) exceeds the
range: 0 ~ 100 (%)
Failure code
F0D5h
The position correction value does not exist. This macro
command might be triggered twice.
Failure code
F0D6h
When re-servo On, E-cam is not engaged.
Failure code
F0D7h
The height (Y axis) of E-Cam table is not equal to the value
of P2-52.
Failure code
F0D8h
P5-19 is not equal to 1
Failure code
F0D9h
P5-93.BA, P5-95 exceeds the range: 0 ~ 1
Failure code
F0DAh
The setting value of P5-93.DC (reverse inhibit) exceeds the
range: 0 ~ 1
Failure code
F0DBh
The function of reverse inhibit has failed. Do not use macro
command #D, #10h consecutively.

Delta ASDA-A2 Specifications

General

Control Mode	Position, Speed, Torque
Model	ASDA-A2 Series
Operating Voltage	200 ~ 230VAC / 380 ~ 480VAC
Power Supply	200-230VAC ±10%, single-phase
Communication Interface	RS-485, CANopen
Feedback	Incremental encoder, Absolute encoder
Protection	Overcurrent, Overvoltage, Undervoltage, Overheating, Short Circuit
Operating Temperature	0°C
Storage Temperature	-20°C
Humidity	20% to 90% RH (non-condensing)
Position Control Mode Features	Electronic Cam
Weight	Varies depending on the model. Please refer to the specific model's datasheet.