Delta ASDA Series User Manual

ASDA Series Application Note Application Examples
March, 2015 3-119
mechanism can only operate at forward direction, then this setting should be set as 100%.
PR#8: Parameter setting of macro F is to set up the alignment target position. Pulse from master
axis is its unit. The setting range is between 0 and (P5-84 / P5-83) – 1.
PR#9: Trigger macro F. This macro will calculate the moving distance between the current
position and target position which is set by P5-96. Then write the moving distance into PR that is
specified by P5-93.
PR#10: Set P5-19 to 0. When the setting value of P5-19 is working, the E-Cam curve will be set
to 0 and the E-Cam will stop operating.
PR#11: Trigger macro 8. It allows the setting of P5-19 (E-Cam scaling) becomes effective when
E-Cam is engaged.
PR#12: Change the E-Cam scaling back to the original one.
PR#13: When triggering macro F, the calculated moving distance will be written into this PR as
the target the position command needs to move. After this PR is triggered, the cutter axis will
move to the position which is set by P5-96.
Enable macro F and calculate
the moving distance of E-Cam
PR
#
2
(I)
PR#6
(1)
Write
DLY = 0 ms
P5-93 = 0x0D
Set up PR of going trip
PR
#
4
(I)
PR#7
(1)
Write
DLY = 0 ms
P5-95 = 40
Available forward rate (%)
PR
#
3
(I)
DL
Y
=0
m
s
P5- =0x
PR#8
(1)
Write
DLY = 0 ms
P5-96 = 0
Set up the position after triggering
macro F and returning to 0 degree
PR
#
4
(I)
DL
Y
=1
m
s
P5- =0x
PR#9
(1)
Write
DLY = 0 ms
P5-97 = 0xF
PR
#
7
(I)
PR#13
(1)
E-Cam moves
Position
D = 0, S = 1500 rpm
0 PUU, INC
PR
#1
2
(I)
PR#10
(1)
Write
DLY = 0 ms
P5-19 = 0
Set up E-Cam curve
and stop E-Cam
PR
#1
2
PR#11
(1)
Write
DLY = 0 ms
P5-97 = 0x8
PR
#1
2
PR#12
(1)
Write
DLY = 0 ms
P5-19 = 1
Resume E-Cam scale
Trigger macro 8 and enable the
setting of P5-19 immediately
Figure 3.8.22 Anti-cut PR procedure
The time setting of E-Cam disengaged is very important when using this way to avoid mitcut.
P5-88.U should be set to C (8+4), which means to set up cyclic mode and the function to disable
E-Cam after disengaging. Otherwise, macro 8 cannot work. It has to set up P5-88.X1 (Set
P5-88.X to 3 when E-Cam is activated) when E-Cam is engaged. If E-Cam is still engaged
because of alarm or servo off, this setting is to ensure PR#13 can still work when E-Cam stops.

Delta ASDA Series Specifications

General

Control Modes	Position, Speed, Torque
Communication Interface	RS-485, CANopen, Modbus
Feedback	Incremental encoder, Absolute encoder
Protection	Overvoltage, Undervoltage, Overcurrent, Overtemperature
Power Supply	Single-phase or three-phase AC
Output Power	50W to 15kW (depending on the specific model within the series)