ASDA Series Application Note Chapter 4 Application Techniques
March, 2015 4-29
Note 1: ECAM_H (height of E-Cam table) = E-Cam table (last point - first points)
Note 2: Indexing coordinate = (absolute coordinates／P2-52) take remainder.
Note 3: Use PR command for incremental positioning control.
When motor moves from the current position to the target position, it can operate at forward or
reverse direction. Due to the cyclic operation, the motor will travel to the specified position either at
forward or reverse direction. However, the moving distance is different between both. Use avoid
point to plan the timing of forward and reverse rotation.
＊Avoid point: the point that cannot be passed by the planned PR.
E-Cam current position
E-Cam current position
E-Cam avoid point Θ, which is set by P5-95
Actual traveling distance
0°
Cannot pass
Θ
Θ = 360° x P5-95%
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.
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