ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-161
P5-xx Motion Setting Parameters
P5-00 ~
P5-02
Reserved
P5-03 PDEC Deceleration Time of Auto Protection
Address: 0506H
0507H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0XEEEFEEFF
Control
Mode：
ALL
Unit：
-
Range：
0x00000000 ~ 0xFFFFFFFF
Data Size：
32-bit
Format：
Hexadecimal
Settings：
The parameter setting is divided into D, C, B, A, W, Z, Y, X
(hexadecimal), including:
1. The deceleration time when activating the auto-protection function:
OVF (DO.0x11, poisiiton command / feedback overflows), CTO
(communication timeout AL020), SPL, SNL, PL, NL
2. Deceleration time of Stop Command: STP
Item D C B A W Z Y X
Function STP
PFQS
CTO OVF SNL SPL NL PL
Range
０~ F
0～F
０~ F ０~ F ０~ F ０~ F ０~ F ０~ F
0 ~ F is used to indexing the deceleration time of P5-20~P5-35.
For example: If X is set to A, then the deceleration time of PL is
determined by P5-30.
P5-04 HMOV Homing Mode
Address: 0508H
0509H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PR
Unit：
-
Range：
0 ~ 0x128
Chapter 8 Parameters ASDA-A2
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Data Size：
16-bit
Format：
Hexadecimal
Settings：
X: Homing method
Y: Z pulse setting
Z: Limit setting
W: Reserved
Not in use
The definition of the setting value is as the followings:
W Z Y X
Reserved Limit Setting Z pulse Setting Homing Method
- 0 ~ 1 0 ~ 2 0 ~ 8
Y
= 0: Stop and
return to Z
pulse
Y = 1: Go forward
to Z pulse
Y = 2: Do not look
for Z pulse
X = 0: Homing in forward
direction and regard PL as
the homing origin.
X = 1: Homing in reverse
direction and regard NL as
the homing origin.
When
encounter limit:
Z = 0: shows
error
Z = 1: rotates
backwards
X = 2: Homing in forward
direction
ORGP: OFF > ON, as the
homing origin
X = 3: Homing in reverse
direction
ORGP: OFF > ON, as the
homing origin
X = 4: Look for Z pulse in
forward direction and regard
it as the homing origin
X = 5: Look for Z pulse in
reverse direction and regard
it as the homing origin
X = 6: Homing in forward
direction
ORGP: ON >OFF, as the
homing origin
X = 7: Homing in reverse
direction
ORGP: ON > OFF, as the
homing origin
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-163
W Z Y X
Reserved Limit Setting Z pulse Setting Homing Method
- 0 ~ 1 0 ~ 2 0 ~ 8
When
encounter limit:
Z = 0: shows
error
Z = 1: rotates
backwards
Y
= 0: Stop and
return to Z
pulse
Y = 1: Go forward
to Z pulse
Y = 2: Do not look
for Z pulse
X = 7: Homing in reverse
direction
ORGP: ON > OFF, as the
homing origin
X = 8: directly define the
current position as the origin
Y = 0: Return to Z
pulse
Y = 1: Do not look
for Z pulse
X = 9: Regard the collision
point as the original point in
forward direction
X = A: Regard the collision
point as the original point in
reverse direction
P5-05 HSPD1 1
st
Speed Setting of High Speed Homing
Address: 050AH
050BH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
100.0 1000
Control
Mode：
(This has to be set with P5-04)
Unit：
1 r/min
0.1 r/min
Range：
0.1 ~ 2000.0 1 ~ 20000
Data Size：
32-bit
Format：
Decimal
Example：
1.5 = 1.5 r/min 15 = 1.5 r/min
Settings：
The 1
st
speed of high speed homing
Chapter 8 Parameters ASDA-A2
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P5-06 HSPD2 2
nd
Speed Setting of Low Speed Homing
Address: 050CH
050DH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
20.0 200
Control
Mode：
PR (This has to be set with P5-04)
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 2000.0 1 ~ 20000
Data Size：
16-bit
Format：
Decimal
Example：
1.5 = 1.5 r/min 15 = 1.5 r/min
Settings：
The 2
nd
speed setting of low speed homing
P5-07■
PRCM Trigger Position Command (PR mode only)
Address: 050EH
050FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PR
Unit：
-
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
Settings：
Set P5-07 to 0 to start homing
Set P5-07 to 1~63 to execute PR procedure which is the same as
DI.CTRG+POSn
It is prohibited to set P5-07 to 64 ~ 9999 (The value exceeds the valid
range)
Set P5-07 to 1000 to execute Stop Command which is the same as
DI.STP
When reading P5-07:
If the command is incomplete, the drive will read the current command.
If the command is completed, the drive will read the current command
+ 10000.
If the command is completed and DO.TPOS is ON, reach the motor
position, the drive will read the current command +20000.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-165
When PR is triggered by DI, the reading value is the same
For example:
Set P5-07 to 3, PR#3 will be triggered.
If the reading value is 3, it means PR #3 is incomplete.
If the reading value is 10003, it means PR#3 is issued completed, but
the motor has not reached the target position yet.
If the reading value is 20003, it means PR#3 is issued completed and
the motor has reached the target position.
P5-08 SWLP Forward Software Limit
Address: 0510H
0511H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
2147483647
Control
Mode：
PR
Unit：
PUU
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
In PR mode, if the motor rotates in forward direction and its command
position exceeds the setting value of P5-08, it will trigger AL.283.
P5-09 SWLN Reverse Software Limit
Address: 0512H
0513H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
-2147483648
Control
Mode：
PR
Unit：
PUU
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
In PR mode, if the motor rotates in reverse direction and its command
position exceeds the setting value of P5-09, it will trigger AL.285.
Chapter 8 Parameters ASDA-A2
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P5-10★
AYSZ
Data Array－Data Size
Address: 0514H
0515H
Operational
Interface：
Panel / Software Communication
Related Section:
7.2
Default：
-
Control
Mode：
ALL
Unit：
-
Range：
Read-only
Data Size：
16-bit
Format：
Decimal
Settings：
Data size (N x 32 bits) means size N of data array
P5-11■
AYID Data Array - Address of Reading / Writing
Address: 0516H
0517H
Operational
Interface：
Panel / Software Communication
Related Section:
7.2
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ (value set by P5-10 minus 1)
Data Size：
16-bit
Format：
Decimal
Settings：
The address of specified data when reading or writing data array.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-167
P5-12■
AYD0
Data Array－Window #1 for Reading / Writing
Address: 0518H
0519H
Operational
Interface：
Panel / Software Communication
Related Section:
7.2
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Window #1 (Array[P5-11++])
When reading the parameter via panel, the value set by P5-11 will not
add 1, but the others will.
P5-13■
AYD1 Data Array - Window #2 for Reading / Writing
Address: 051AH
051BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.2
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Window #2 (Array[P5-11++])
When reading and writing the parameter via panel or communication,
the value set by P5-11 will add 1. Panel is write-protected.
P5-14 Reserved
Chapter 8 Parameters ASDA-A2
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P5-15■
PMEM PATH#1 ~ PATH#2 No Data Retained Setting
Address: 051EH
051FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0x0
Control
Mode：
ALL
Unit：
-
Range：
0x0 ~ 0x0011
Data Size：
16-bit
Format：
Hexadecimal
Settings：
The parameter is divided into 00YX:
X=0: PATH#1 Data retained
X=1: PATH#1 No data retained
Y=0: PATH#2 Data retained
Y=1: PATH#2 No data retained
Others are reserved
Users can continuously write the new position into the drive through
communication by P5-05.
P5-16■
AXEN Axis Position - Motor Encoder
Address: 0520H
0521H
Operational
Interface：
Panel / Software Communication
Related Section:
7.3
Default：
0
Control
Mode：
ALL
Unit：
PUU (User position unit)
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Read: The feedback position of the motor encoder, which is the
monitor various V000 + the offset value. (This function is supported
after firmware version V1.015)
Write: Any value can be written into the parameter and will neither
change V000 nor influence the positioning coordinate system. It is only
for observation when adjusting the offset value.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-169
P5-17 AXAU Axis Position - Auxiliary Encoder
Address: 0522H
0523H
Operational
Interface：
Panel / Software Communication
Related Section:
7.3
Default：
-
Control
Mode：
ALL
Unit：
Pulse number
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Sends back: pulse counts of the auxiliary encoder (linear scale)
P5-18 AXPC Axis Position - Pulse Command
Address: 0524H
0525H
Operational
Interface：
Panel / Software Communication
Related Section:
7.3
Default：
-
Control
Mode：
ALL
Unit：
Pulse number
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Sends back: pulse counts of pulse command
Chapter 8 Parameters ASDA-A2
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P5-19 TBS E-Cam Curve Scaling
Address: 0526H
0527H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
1.000000
Control
Mode：
PR
Unit：
0.000001 times, which is 1 / (10^6)
Range：
-2147.000000 ~ +2147.000000
Data Size：
32-bit
Format：
DEC
Example：
1100000 = 1.1 times
Settings：
(It will be provided after firmware version V1.017)
This parameter is used to magnify or minify the E-Cam table without
changing its setting value.
For example, the data in the table is 0,10,20,30,40,20, magnification x
2.000000 equals to the data in the table: 0,20,40,60,80,40,
magnification x 1.000000.
Enable the operation of E-Cam by using the same pulse frequency of
the master axis. Magnify the magnification will enlarge the route of E-
Cam operation. The speed will be magnified as well.
NOTE
This parameter can be set anytime, but will be effective only when pre-
engaged → engaged.
P5-20 AC0 Acceleration/Deceleration Time (Number #0)
Address: 0528H
0529H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
200
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
The setting time of acceleration/deceleration in PR mode, which is the
time it needs when accelerating from 0 to 3000r/min
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-171
P5-21 AC1 Acceleration/Deceleration Time (Number #1)
Address: 052AH
052BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
300
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-22 AC2 Acceleration/Deceleration Time (Number #2)
Address: 052CH
052DH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
500
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-23 AC3 Acceleration/Deceleration Time (Number #3)
Address: 052EH
052FH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
600
Control
Mode：
PR
Unit：
ms
Chapter 8 Parameters ASDA-A2
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Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-24 AC4 Acceleration/Deceleration Time (Number #4)
Address: 0530H
0531H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
800
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-25 AC5 Acceleration/Deceleration Time (Number #5)
Address: 0532H
0533H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
900
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-173
P5-26 AC6 Acceleration/Deceleration Time (Number #6)
Address: 0534H
0535H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1000
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-27 AC7 Acceleration/Deceleration Time (Number #7)
Address: 0536H
0537H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1200
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-28 AC8 Acceleration/Deceleration Time (Number #8)
Address: 0538H
0539H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1500
Control
Mode：
PR
Unit：
ms
Chapter 8 Parameters ASDA-A2
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Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-29 AC9 Acceleration/Deceleration Time (Number #9)
Address: 053AH
053BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
2000
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-30 AC10 Acceleration/Deceleration Time (Number #10)
Address: 053CH
053DH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
2500
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-175
P5-31 AC11 Acceleration/Deceleration Time (Number #11)
Address: 053EH
053FH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
3000
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-32 AC12 Acceleration/Deceleration Time (Number #12)
Address: 0540H
0541H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
5000
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-33 AC13 Acceleration/Deceleration Time (Number #13)
Address: 0542H
0543H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
8000
Control
Mode：
PR
Unit：
ms
Chapter 8 Parameters ASDA-A2
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Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to P5-20 for the setting of acceleration/deceleration time in
PR mode.
P5-34 AC14 Acceleration/Deceleration Time (Number #14)
Address: 0544H
0545H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
50
Control
Mode：
PR
Unit：
ms
Range：
1 ~ 1500
Data Size：
16-bit
Format：
Decimal
Settings：
The default value of this parameter is smaller (short deceleration time)
and it is used for deceleration time setting of auto protection.
P5-35 AC15 Acceleration/Deceleration Time (Number #15)
Address: 0546H
0547H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
30
Control
Mode：
PR
Unit：
ms
Range：
1 ~1200
Data Size：
16-bit
Format：
Decimal
Settings：
The default value of this parameter is smaller (short deceleration time)
and it is used for short deceleration time and stops promptly of auto
protection.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-177
P5-36 CAST CAPTURE - Start Address of Data Array
Address: 0548H
0549H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.1
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ (value set by P5-10 minus 1)
Data Size：
16-bit
Format：
Decimal
Settings：
The first data CAPTURE obtained should be saved in the address of
data array.
NOTE
It is writable only when COMPARE stops (please refer to P5-39)
P5-37■
CAAX
CAPTURE－Axis Position CNT
Address: 054AH
054BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.1
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Shows the axis position of CAPTURE pulse source
NOTE
1）It is writable only when COMPARE stops (please refer to P5-39)
2）If the source is the main encoder, this parameter is write-protected
and the content is the feedback position of the motor (monitoring
variable 00h).
Chapter 8 Parameters ASDA-A2
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P5-38■
CANO
CAPTURE－The Number of Capturing Times
Address: 054CH
054DH
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.1
Default：
1
Control
Mode：
ALL
Unit：
-
Range：
1 ~ (the value set by P5-10 minus the value
set by P5-36)
Data Size：
16-bit
Format：
Decimal
Settings：
When CAP stops, it means the number of data that expect to capture
(readable and writable)
When CAP activates, it means the number of data that has not been
captured (read-only); Every time, when it captures one data, the value
of P5-38 will minus one. When the value is 0, it means the capturing is
completed.
NOTE
1. The number of data which is used by COMPARE, CAPTURE and
E-Cam cannot exceed 800.
2. A2L does not support E-Cam function.
P5-39■
CACT
CAPTURE－Activate CAP Control
Address: 054EH
054FH
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.1
Default：
0x2010
Control
Mode：
ALL
Unit：
-
Range：
0x0000 ~ 0xF13F
Data Size：
16-bit
Format：
Hexadecimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-179
Settings：
X
Y
Z
U
Low word
X: See the following table
Y: 0－CAPTURE is not working
1－AUX ENC (linear scale) is set as the source
2－PULSE Cmd
3－Main ENC (main encoder)
When the source of CMP is CAP axis, the source Y of CAP cannot
be changed.
Z: 0－NO, 1－NC
U: trigger the minimum interval (Unit: ms)
bit 3 2 1 0
X function Execute PR
when
finishing
capturing
After
capturing the
first data,
CMP is
activated.
Reset the
position of
the first data
Activate CAP
Description Execute PR
＃50 after
finishing CAP
It is invalid
when CMP is
activated.
After
capturing the
first data,
reset the
position
coordinate
Starts to
capture when
it is set to 1.
After
finishing
capturing,
this bit
becomes 0
automatically
.
bit 0: When the value set by P5-38 is bigger than 0, set bit 0 to 1 will
activate CAP function and DO.CAP_OK is OFF. Every time,
when a data is captured, the value of P5-38 will minus one. When
the P5-38 is 0, it means the capture function is completed,
DO.CAP_OK is ON and bit 0 will be reset to 0 automatically. If
P5-38 equals to 0, set bit 0 to 1 will not activate CAP function.
DO.CAP_OK is OFF and bit 0 will automatically be set to 0. If
CAP function is activated, it cannot set 1 to bit 0. It only can be
written 0 to disable CAP function.
bit 1: If this bit is 1, when capturing the first data, the current position of
CAP axis will be set to the value of P5-76.
bit 2: If this bit is 1, when capturing the first data, CMP will be activated.
(When bit 0 of P5-59 is set to 1 and P5-58 is set to the previous
value.) If CMP has been activated, then this function is invalid.
bit 3: If this bit is 1, as soon as the CAP finished, PR procedure #50 will
be triggered automatically.
Chapter 8 Parameters ASDA-A2
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P5-40 DLY0
Delay Time After Position Completed (Number
#0)
Address: 0550H
0551H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
0
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 1
st
Delay Time of PR mode
P5-41 DLY1
Delay Time After Position Completed (Number
#1)
Address: 0552H
0553H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
100
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 2
nd
Delay Time of PR mode
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-181
P5-42 DLY2
Delay Time After Position Completed (Number
#2)
Address: 0554H
0555H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
200
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 3
rd
Delay Time of PR mode
P5-43 DLY3
Delay Time After Position Completed (Number
#3)
Address: 0556H
0557H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
400
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 4
th
Delay Time of PR mode
P5-44 DLY4
Delay Time After Position Completed (Number
#4)
Address: 0558H
0559H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
500
Control
Mode：
PR
Unit：
ms
Chapter 8 Parameters ASDA-A2
8-182 Revision February, 2017
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 5
th
Delay Time of PR mode
P5-45 DLY5
Delay Time After Position Completed (Number
#5)
Address: 055AH
055BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
800
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 6
th
Delay Time of PR mode
P5-46 DLY6
Delay Time After Position Completed (Number
#6)
Address: 055CH
055DH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1000
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 7
th
Delay Time of PR mode
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-183
P5-47 DLY7
Delay Time After Position Completed (Number
#7)
Address: 055EH
055FH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1500
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 8
th
Delay Time of PR mode
P5-48 DLY8
Delay Time After Position Completed (Number
#8)
Address: 0560H
0561H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
2000
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 9
th
Delay Time of PR mode
P5-49 DLY9
Delay Time After Position Completed (Number
#9)
Address: 0562H
0563H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
2500
Control
Mode：
PR
Unit：
ms
Chapter 8 Parameters ASDA-A2
8-184 Revision February, 2017
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The10
th
Delay Time of PR mode
P5-50 DLY10
Delay Time After Position Completed (Number
#10)
Address: 0564H
0565H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
3000
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 11
th
Delay Time of PR mode
P5-51 DLY11
Delay Time After Position Completed (Number
#11)
Address: 0566H
0567H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
3500
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 12
th
Delay Time of PR mode
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-185
P5-52 DLY12
Delay Time After Position Completed (Number
#12)
Address: 0568H
0569H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
4000
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 13
th
Delay Time of PR mode
P5-53 DLY13
Delay Time After Position Completed (Number
#13)
Address: 056AH
056BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
4500
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 14
th
Delay Time of PR mode
P5-54 DLY14
Delay Time After Position Completed (Number
#14)
Address: 056CH
056DH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
5000
Control
Mode：
PR
Unit：
ms
Chapter 8 Parameters ASDA-A2
8-186 Revision February, 2017
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 15
th
Delay Time of PR mode
P5-55 DLY15
Delay Time After Position Completed (Number
#15)
Address: 056EH
056FH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
5500
Control
Mode：
PR
Unit：
ms
Range：
0 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
The 16
th
Delay Time of PR mode
P5-56 CMST
COMPARE－Start Address of Data Array
Address: 0570H
0571H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.2
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ (The value of P5-10 minus 1)
Data Size：
16-bit
Format：
Decimal
Settings：
The first COMPARE data is saved in the address of data array.
NOTE
It is writable only when COMPARE stops (please refer to P5-59)
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-187
P5-57■
CMAX
COMPARE－Axis Position
Address: 0572H
0573H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.2
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
The axis position of COMPARE pulse source is displayed here.
It is writable only when COMPARE stops (please refer to P5-59)
NOTE
1）It is write-protected when the source is Capture axis.
2） When the source is the main encoder, P5-57 is also write-
protected. The pulse revolution is determined by parameter P1-46.
When P5-59.Y is set to the main encoder, this parameter is set to
the motor feedback position (monitoring variable 00h). If this
parameter is not the same as the motor feedback position due to
homing or reset by CAP function, the user can set P5-59.Y = 0 and
then P5-59.Y = 3. In this way, this parameter will be reset to the
motor feedback position.
P5-58■
CMNO
COMPARE－Compare Amount
Address: 0574H
0575H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.2
Default：
1
Control
Mode：
ALL
Unit：
-
Range：
1 ~ (the value set by P5-10 minus the value
set by P5-56)
Data Size：
16-bit
Format：
Decimal
Chapter 8 Parameters ASDA-A2
8-188 Revision February, 2017
Settings：
When COMPARE stops, it means the number of data that expect to
compare (readable and writable)
When COMPARE activates, it means the number of data that has not
been compared (read-only); Every time, when it compares one data,
the value of P5-38 will minus one. When the value is 0, it means the
comparing is completed.
P5-59 CMCT
COMPARE－Activate CMP Control
Address: 0576H
0577H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11.2
Default：
00640010h
Control
Mode：
ALL
Unit：
-
Range：
00010000h ~ 0x0FFF313F
Data Size：
32-bit
Format：
Hexadecimal
Settings：
X: See the following table.
Y: 0－When selecting CAPTURE AXES, the source of CAP cannot be
changed.
1－AUX ENC (linear scale) is set as the source
2－PULSE Cmd
3－Main ENC (main encoder)
Z: 0－NO, 1－NC outputs the polarity
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-189
U: See table U below:
bit 15 14 13 12
U function - - - Trigger PR
Description - - - When this bit is set to
1, PR#45 will be
triggered after the last
compare is completed.
It is provided in V1.038
sub09 (or the later
version)
CBA: Output the pulse length; Unit: 1ms
bit 3 2 1 0
X function
After
finishing
comparing,
the counter
returns to 0.
When
finishing
comparing,
CAP is
activated.
Cycle mode CMP is
activated
Description
As soon as
the last data
is compared,
P5-57 is set
to 0.
It is invalid
when CAP is
activated.
Never end Starts to
compare
when this
bit is set to
1. It returns
to 0 when
finishing
comparing.
bit 0: When the value of P5-58 is more than 0, set bit to 1 will activate
CMP. When comparing one data, the value of P5-58 will minus 1.
When P5-58 is set to 0, the comparing is completed and returns
to 0. If P5-58 is 0, set bit 0 to 1 will not do any comparing and
return to 0 automatically. If bit 0 has already been set to 1, it is not
allowed to write 1 as the new value into the parameter. But it is ok
to write 0 to disable CMP.
bit 1: If this bit is 1, P5-58 will be reset after comparing the last data.
Then, start from the first data again. The cycle will never end and
bit 0 is always 1.
bit 2: If this bit is 1, CAP will be activated after comparing the last data.
(Set bit 0 of P5-39 to 1 and reset P5-38 to the previous value) If
CAP has already been activated, this function is invalid.
bit 3: If this bit is 1, set the counter (P5-57) to 0 after comparing the last
data. For example, if the comparing data is set to 3000 (one data
in total), the default value of the counter (P5-57) is 0. It is
expected to input 4000 pulse. When it reaches the 3000
th
pulse,
the CMP is completed and P5-57 returns to 0. When the pulse
reaches 4000, P5-57=1000. (No accumulative error)
Chapter 8 Parameters ASDA-A2
8-190 Revision February, 2017
P5-60 POV0 Target Speed Setting #0
Address: 0578H
0579H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
20.0 200
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
15 = 15 r/min 150 = 15 r/min
Settings：
The 1
st
target speed of PR mode
P5-61 POV1 Target Speed Setting #1
Address: 057AH
057BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
50.0 500
Control
Mode：
PR
Unit：
1 r/min
0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 2
nd
target speed of PR mode
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-191
P5-62 POV2 Target Speed Setting #2
Address: 057CH
057DH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
100.0 1000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 3
rd
target speed of PR mode
P5-63 POV3 Target Speed Setting #3
Address: 057EH
057FH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
200.0 2000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 4
th
target speed of PR mode
Chapter 8 Parameters ASDA-A2
8-192 Revision February, 2017
P5-64 POV4 Target Speed Setting #4
Address: 0580H
0581H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
300.0 3000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 5
th
target speed of PR mode
P5-65 POV5 Target Speed Setting #5
Address: 0582H
0583H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
500.0 5000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 6
th
target speed of PR mode
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-193
P5-66 POV6 Target Speed Setting #6
Address: 0584H
0585H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
600.0 6000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 7
th
target speed of PR mode
P5-67 POV7 Target Speed Setting #7
Address: 0586H
0587H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
800.0 8000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 8
th
target speed of PR mode
Chapter 8 Parameters ASDA-A2
8-194 Revision February, 2017
P5-68 POV8 Target Speed Setting #8
Address: 0588H
0589H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1000.0 10000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 9
th
target speed of PR mode
P5-69 POV9 Target Speed Setting #9
Address: 058AH
058BH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1300.0 13000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 10
th
target speed of PR mode
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-195
P5-70 POV10 Target Speed Setting #10
Address: 058CH
058DH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1500.0 15000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 11
th
target speed of PR mode
P5-71 POV11 Target Speed Setting #11
Address: 058EH
058FH
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
1800.0 18000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 12
th
target speed of PR mode
Chapter 8 Parameters ASDA-A2
8-196 Revision February, 2017
P5-72 POV12 Target Speed Setting #12
Address: 0590H
0591H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
2000.0 20000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 11 ~ 600001
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 13
th
target speed of PR mode
P5-73 POV13 Target Speed Setting #13
Address: 0592H
0593H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
2300.0 23000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 14
th
target speed of PR mode
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-197
P5-74 POV14 Target Speed Setting #14
Address: 0594H
0595H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
2500.0 25000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
16-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 15
th
target speed of PR mode
P5-75 POV15 Target Speed Setting #15
Address: 0596H
0597H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
3000.0 30000
Control
Mode：
PR
Unit：
1 r/min 0.1 r/min
Range：
0.1 ~ 6000.0 1 ~ 60000
Data Size：
32-bit
Format：
Decimal
Example：
1= 1 r/min 10 = 1r/min
Settings：
The 16
th
target speed of PR mode
Chapter 8 Parameters ASDA-A2
8-198 Revision February, 2017
P5-76★
CPRS
CAPTURE－First Position Reset Data
Address: 0598H
0599H
Operational
Interface：
Panel / Software Communication
Related Section:
7.10
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-1073741824 ~ +1073741823
Data Size：
32-bit
Format：
Decimal
Settings：
Please refer to the description of P5-39 X 1
P5-77■
CSAX
The Position of Synchronous Capture Axis
(CAP SYNC AXES)
Address: 059AH
059BH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
The position of this axis will synchronize with CAP signal. That is to
say, when activating CAP every two times, the motor moving distance
of this axis is the value of P5-78. (There is no accumulative error and
only in single-way operation) The synchronous capture axis can be the
source of Master.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-199
P5-78 CSDS
The Interval Pulse Number between Each
Synchronous Capture Axis
Address: 059CH
059DH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
100
Control
Mode：
ALL
Unit：
Pulse
Range：
10 ~ +100000000
Data Size：
32-bit
Format：
Decimal
Settings：
It is the moving distance of synchronous capture axis between two
CAP actions.
The new value can be written into the parameter not until CAP is
disabled (P5-39, X0=0).
P5-79■
CSDS
Error Pulse Number of Synchronous Capture
Axis
Address: 059EH
059FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
Pulse unit of capture axis
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Chapter 8 Parameters ASDA-A2
8-200 Revision February, 2017
Settings：
When synchronous capture axis is operating, the synchronous error
should be 0. This parameter shows this error value. The followings are
its concept:
Synchronous Error ＝ Output value of synchronous axis－Setting
value of synchronous axis
＝ the accumulative amount of P5-77－(P5-78 x
Capturing number of times)
When capturing the data, the synchronous axis works normally. This
parameter updates once.
This parameter can be written into as well. It indicates the offset of
synchronous master. When the synchronous capture axis is regarded
as the master of flying shear, modify this parameter can deviate the
cutting position to the left/right.
NOTE
A2L does not support E-Cam function.
P5-80 CSDS
Max. Correction Rate of Synchronous Capture
Axis
Address: 05A0H
05A1H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
10
Control
Mode：
ALL
Unit：
%
Range：
0 ~ 90
Data Size：
16-bit
Format：
Decimal
Settings：
This parameter limits the percentage (%) of synchronous adjustment.
Correctionrate
pulsenumberoutputbysynchronousaxis
/pulsenumberinputbysynchronousaxis
100 P5
80
% 100 5 80%
The bigger correction rate, the faster the synchronous error becomes
0. However, the speed changing will be more severe.
The smaller correction rate, the slower the synchronous error becomes
0. However, the speed changing will be smoother.
In the application of flying shear, after adjusting the synchronous error,
P5-79: the bigger parameter value will reduce the time the slave axis
goes to the desired position. However, the speed is not synchronized.
NOTE
A2L does not support E-Cam function.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-201
P5-81 ECHD E-CAM: Start Address of Data Array
Address: 05A2H
05A3H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
100
Control
Mode：
PR
Unit：
-
Range： 0 ~ (800－P5-82)
Data Size：
16-bit
Format：
Decimal
Settings：
The first data of E-Cam table is saved in the address of data array.
NOTE
1. Version V1.015 (before): This parameter cannot be modified when
E-Cam is activated (P5-88, X = 1).
2. Version V1.015 (included or after): This parameter can be set
anytime, but will be effective only when pre-engaged → engaged.
3. A2L does not support this function.
P5-82 ECMN E-CAM: Area Number N (at least >=5)
Address: 05A4H
05A5H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
5
Control
Mode：
PR
Unit：
-
Range： 5 ~ 720, must < = (P5-10－P5-81)
And P5-82 x P5-84 ＜＝ 2147483647
Data Size：
16-bit
Format：
Decimal
Settings：
It means the E-Cam curve is divided into N area, and the table should
include N+1 data.
NOTE
1. This parameter can be wrote when E-Cam stops (Please refer
toP5-88, X=0).
2. A2L does not support E-Cam function.
Chapter 8 Parameters ASDA-A2
8-202 Revision February, 2017
P5-83 ECMM E-CAM: Master Gear Ratio Setting M
Address: 05A6H
05A7H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
1
Control
Mode：
PR
Unit：
-
Range：
1 ~ 32767
Data Size：
16-bit
Format：
Decimal
Settings：
When receiving pulse number P of the Master, E-Cam will rotate M
circle, which means the M cycle of the E-Cam table.
NOTE
1. This parameter can be wrote when E-Cam stops (Please refer
toP5-88, X=0).
2. A2L does not support E-Cam function.
P5-84 ECMP E-CAM: Master Gear Ratio Setting P
Address: 05A8H
05A9H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
3600
Control
Mode：
PR
Unit：
-
Range：
10 ~ 1073741823,
and P5-82 x P5-83 ＜＝ P5-84
and P5-82 x P5-84 ＜＝ 2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
When receiving pulse number P of the Master, E-Cam will rotate M
circle, which means the M cycle of the E-Cam table.
NOTE
1. This parameter can be wrote when E-Cam stops (Please refer
toP5-88, X=0).
2. This parameter can be modified anytime, and has no limit that
mentioned above.
3. A2L does not support E-Cam function.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-203
P5-85 ECME E-CAM: Number of Area
Address: 05AAH
05ABH
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
0
Control
Mode：
PR
Unit：
-
Range： 0 ~ (P5-82－1)
Data Size：
16-bit
Format：
Decimal
Settings：
The area number of E-cam when E-cam engaged.
NOTE
A2L does not support E-Cam function.
P5-86■
ECAX E-CAM: Master Axis Position
Address: 05ACH
05ADH
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
0
Control
Mode：
PR
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
The position counter of the E-Cam Master
NOTE
1. This parameter can be wrote when E-Cam stops (Please refer
toP5-88, X=0).
2. A2L does not support E-Cam function.
Chapter 8 Parameters ASDA-A2
8-204 Revision February, 2017
P5-87 PLED E-CAM: Lead Pulse
Address: 05AEH
05AFH
Operational
Interface：
Panel / Software
Communication
Related Section:
7.11
Default：
0
Control
Mode：
PR
Unit：
-
Range：
-1073741824 ~ +1073741823
Data Size：
32-bit
Format：
Decimal
Settings：
When the engaging condition (P5-88.Z) of E-cam is satisfied, the pulse
number from the master has to exceed the setting value of this
parameter, so that E-cam is fully engaged.
In other words, E-cam engages after neglecting the lead pulse
specified by this parameter.
If the symbol of this parameter is +, it means the received forward pulse
is regarded as the lead pulse.
If the symbol of this parameter is - , it means the received reverse
pulse is regarded as the lead pulse.
NOTE
A2L does not support E-Cam function.
P5-88■
ECON E-CAM: Activate E-Cam Control
Address: 05B0H
05B1H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
00000000h
Control
Mode：
PR
Unit：
-
Range：
0 ~ 0x203FF257
Data
Size：
32-bit
Format：
Hexadecimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-205
Settings：
The format of this parameter: (High word h) S0BA：(Low word L) UZYX
Definition of each column is as follows:
X: E-Cam command
Description of each bit:
X3 - -
X2 P5-19 is
effective
immediately
It is available after V1.038 sub48:
0: P5-19 is effective after the next engage.
1: P5-19is effective immediately.
X1 E-Cam does
not disengage
when Servo
OFF
It is available after 1.038 sub29:
0: E-Cam does not work
1: When E-Cam stops because of alarm or Servo
Off, it can keep in engaged status. When re-
servo on, E-cam can operate directly. It can
return to the correct position by macro #D.
X0 E-Cam is
enabled
0: E-Cam is disabled
1: E-Cam is enabled (E-CAM is enabled while
other functions cannot be modified.)
Y: Command source
0: CAP axis
1: AUX ENC
2: Pulse Cmd
3: PR command
4: Time Axis (1ms)
5: Synchronous Capture Axis (P5-77)
6: Analog channel 1 (virtual axis, Unit: 1M pulse/s /10V)
Z: Engaging Time (No multiple choice)
0: Immediately
1: DI.CAM ON
2: Any one of the Capture
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U: Disengaging Condition (2, 4 and 6 cannot be selected at the
same time)
U Disengaged Condition Action after
disengaged
0 Never disengaged
－
1 DI.CAM is OFF In STOP status
2 Master axis receives the pulse number
which is set by P5-89 and stops
immediately. (The symbol represents the
direction)
In STOP status
6 (It is available after firmware version
V1.009)
Same as 2, the E-cam starts to
decelerate when disengaging. It is
suitable for the application of calling the
next PR position command right after
disengaged.
4 (It is available after firmware version
V1.009)
Master axis exceeds the setting value of
P5-89 (Sign indicates the direction)
Back to the pre-engage
status
The lead pulse is P5-
92
8 When U = 1, 2 or 6:
Disable E-Cam after it is disengaged.
Set X to 0
When U = 4:
To avoid jittering when it returns to lead
status.
N/A
NOTE
The servo is Off, when ALM or forward/reverse limit occur or PR
is doing homing procedure, it disengages (P5-88, X = 0)
BA: When disengaging condition is satisfied (P5-88, U＝2, 4, 6), a
PR 00~63 (hexadecimal; 00 means no action) will automatically be
executed.
S:Shows the engage status (Read-only, the setting is invalid)
0: Stop
1: Engage status
2: Pre-engage status
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Revision February, 2017 8-207
P5-89 ECRD E-CAM: Information of Disengaging Time
Address: 05B2H
05B3H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
0
Control
Mode：
PR
Unit：
-
Range：
-1073741824 ~ +1073741823
Data Size：
32-bit
Format：
Decimal
Settings：
(Please refer to the definition of P5-88 U setting value 2)
NOTE
A2L does not support E-Cam function.
P5-90 CMAP
E-CAM: AREA No.＋The Point of DO ON
Address: 05B4H
05B5H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
0
Control
Mode：
PR
Unit：
Degree (It was changed after firmware
V1.009)
Range：
0 ~ 360
Data Size：
16-bit
Format：
Decimal
Settings：
When E-cam is engaged, set the start angle of DO output (DO.
CAM_AREA).
NOTE
A2L does not support E-Cam function.
Chapter 8 Parameters ASDA-A2
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P5-91 CMAN E-CAM: AREA No. - The Point of DO OFF
Address: 05B6H
05B7H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
0
Control
Mode：
PR
Unit：
Degree
Range：
0 ~ 360
Data Size：
16-bit
Format：
Decimal
Settings：
When E-cam is engaged, set the end angle of DO output (DO.
CAM_AREA).
P5-92 PLED E-CAM: Pre-engaged Time of Each Cycle
Address: 05B8H
05B9H
Operational
Interface：
Panel / Software Communication
Related Section:
7.11
Default：
0
Control
Mode：
PR
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
This parameter goes with the selection of P5-88, U=4 (E-cam will
disengage if it exceeds the moving distance):
After disengaging, it does not enter the Stop status but pre-engaged
status. The lead pulse is determined by this parameter.
The pulse number sent by the Master must exceed the setting value of
this parameter so that E-cam will engage again.
In other words, E-cam will engage not until the lead pulse is ignored.
If the symbol of this parameter is ＋, it means the received positive
pulse will be regarded as the lead pulse.
If the symbol of this parameter is －, it means the received negative
pulse will be regarded as the lead pulse.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-209
P5-93 CSDS
Motion Control Macro Command: Command
Parameter # 4
Address: 05BAH
05BBH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-100000000 ~ +100000000
Data Size：
32-bit
Format：
Decimal
Settings：
Before issuing the macro command, the relevant parameters # 4 must
be set in advance.
The function of the parameter is determined by the macro command.
Not every macro command has its relevant parameters.
P5-94 CSDS
Motion Control Macro Command: Command
Parameter # 3
Address: 05BCH
05BDH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Before issuing the macro command, the relevant parameters # 3 must
be set in advance.
The function of the parameter is determined by the macro command.
Not every macro command has its relevant parameters.
Chapter 8 Parameters ASDA-A2
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P5-95 CSDS
Motion Control Macro Command: Command
Parameter # 2
Address: 05BEH
05BFH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Before issuing the macro command, the relevant parameters # 2 must
be set in advance.
The function of the parameter is determined by the macro command.
Not every macro command has its relevant parameters.
P5-96 CSDS
Motion Control Macro Command: Command
Parameter # 1
Address: 05C0H
05C1H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-2147483648 ~ +2147483647
Data Size：
32-bit
Format：
Decimal
Settings：
Before issuing the macro command, the relevant parameters # 1 must
be set in advance.
The function of the parameter is determined by the macro command.
Not every macro command has its relevant parameters.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-211
P5-97■
CSDS
Motion Control Macro Command: Issue
Command / Executing Result
Address: 05C2H
05C3H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x99F
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Write-in: It is used to issue the macro command (0CBAh)
Read: It is used to examine the execution result of macro command (If
success, the result will be sent back to 1CBAh).
If the command issues 0001, 1001h will be sent back when success;
and Fxxxh when failed (depending on the command description).
If issuing the command that is not supported, the failure code F001h
will be sent back.
The provided command code is as the followings.
The following macros are available from Version V1.027 (included):
Command code
0003h
Motion parameter protection: password setting, protection
activation
Macro parameters P5-93= Parameter write-protected level (0~1) (0 means no
protection)
P5-94= Protection level of data array (0~7) (-1 means no
protection)
P5-95= Set new password (1~16777215)
P5-96= Confirm new password (1~16777215)
Among them:
For success setting, the setting of P5-95 must equal to P5-96
and the password must be set within the allowable range.
This function can be executed before activating the function of parameter
protection.
If the protection function is activated, when repeat execute this function, the failure
code will be sent back.
Failure code F031h Protection function has been activated and cannot be set
repeat.
Failure code F032h Wrong password setting: P5-95 not equals to P5-96.
Failure code F033h Password setting exceeds the allowable range
(1~16777215).
Failure code F034h The protection level, P5-94 exceeds the allowable range (-
1~7).
Chapter 8 Parameters ASDA-A2
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Failure code F035h The protection level, P5-94 exceeds the allowable range
(0~1).
Success code
1003h
The following macros are available from version V1.026 (included):
Command code
0004h
Motion parameter protection: unlock the protection
Macro parameters P5-96= enter the password (1~16777215)
This function can be executed when activating the function of parameter protection.
If the protection function is unlocked, repeat execute this function will sent back the
failure code.
If entering the wrong password, failure code Ennn will be sent back. nnn means the
rest decode number. It will be misused one number after one failure. When the
number is 0, it will be locked for good.
Failure code F041h Protection function is unlocked and it cannot repeat unlock.
Failure code F043h The password setting exceed the allowable range
(1~16777215)
Failure code F044h The number of times of entering wrong password exceeds
the limit: Lock for good.
Reset the parameter (P2-08=10) to unlock it is the only
method. However, all parameter will return to the default
value.
Failure code
Ennnh
Incorrect password setting: Failed to unlock.
nnn: the rest decode number. It will be minuses one number
after one failure. When the number is 0, it will be locked for
good.
Success code
1004h
The following macros are available from version 1.024 (included):
Command code
0006h
Build up E-Cam table: flying shear, including synchronous
area (7 areas)
General
parameters
P5-81= Address of table (Data array)
P5-82 = 7 (This macro is fixed to 7 areas)
P1-44, P1-45 = E-gear ratio (it has to be setup in advance)
Macro parameters P5-94 = A (Deceleration ratio: numerator) x C (Number of
cutter)
P5-95= B (Deceleration ratio: denominator)
P5-96= 1000000 x R x V
Among them:
R (cutting ratio) = L (cutting length)／ℓ (Girth of cutter)
Allowable cutting ratio: (0.3 ~ 2.5) times
Ｖ(Speed factor) = target cutting speed／speed of delivered
product
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-213
V=1.0: When cutting, the speed of cutter is the same as the
product
V=1.1: When cutting, the speed of cutter is 10% faster than
the product
V=0.9: When cutting, the speed of cutter is 10% slower than
the product
This macro will calculate the data of E-Cam table according to the above
mentioned parameters, and store in data array which designated by P5-
81.Parameters listed above are related to E-Cam table calculation. Please correctly
setup those parameters before executing this macro.
After this macro is executed, if the above parameters have been changed, it has to
recreate the E-Cam table and this macro will have to be executed again. Data in E-
Cam table will be changed after executing this macro; thus, do not execute it when
E-Cam is in engaged status.
In E-Cam application, parameters, such as P5-83 and P5-84 that are not related to
this macro are not listed here. Users could setup parameters according to the real
application. Please refer to Chapter 7, sections about E-Cam.
After executing this macro, E-Cam table will not be saved to EEPROM
automatically.
Failure code F061h When creating the table, E-Cam is in engaged status.
Failure code F062h The setting value of P5-94 exceeds the range: (1 ~ 65535)
Failure code F063h The setting value of P5-95 exceeds the range: (1 ~ 65535)
Failure code F064h The setting value of P5-96 exceeds the range: (300000 ~
2500000)
Failure code F065h The address specified by P5-81is too long and the space of
data array is not enough.
Failure code F066h The setting value of P5-82 should be set to 7. Otherwise the
command cannot be executed.
Failure code F067h Data calculation error. Please decrease the setting value of
(P1-44, P1-45) and keep the proportion will do.
Command code
0007h
Create E-Cam table: Flying cut
General
parameters
P5-81 = Address of table (data array)
P5-82 = N (30~72) (Area number of E-Cam)
P1-44, P1-45 = E-gear ration (has to be setup first)
Macro parameters P5-93.H16 (high 16-bit) = S
P5-93.L16 (low 16-bit) = W
Among them:
S (curve level) = 1~4 levels
W (degree of waiting area) = -1~170 degrees
W = -1 is available in firmware version V1.038 (sub29)
(or the later version)
P5-94 = Y (degree of synchronous area) = 0~330 degrees
P5-95.H16 (high 16-bit) = A x C
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P5-95.L16 (low 16-bit) = B
Among them:
A (Deceleration ratio: numerator), C (Number of cutter)
B (Deceleration ratio: denominator)
P5-96 = 1000000 x R x V
Among them:
R (cutting ratio) = L (target cutting length)／ ℓ (Length of
cutter)
Allowable cutting ratio: (0.05 ~ 5.0) times
V (speed factor) = target cutting speed／speed of delivered
product
V=1.0: When cutting, the speed of cutter is the same as the
product
V=1.1: When cutting, the speed of cutter is 10% faster than
the product
V=0.9: When cutting, the speed of cutter is 10% slower than
the product
Note:
Ｗ´ = 180 + 360/N – 360/R + Y/2
When
1. P5-93.L16 ＜ Ｗ´, E-cam table is in error (failure code F07Ah)
2. P5-93.L16 = Ｗ´, the initial speed is 0 in E-Cam table
3. P5-93.L16 ＞ Ｗ´, the initial speed > 0 in E-Cam table
This macro will calculate the data of E-Cam table according to the above
mentioned parameters, and store in data array which designated by P5-
81.Parameters listed above are related to E-Cam table calculation. Please correctly
setup those parameters before executing this macro.
After this macro is executed, if the above parameters have been changed, it has to
recreate the E-Cam table and this macro will have to be executed again. Data in E-
Cam table will be changed after executing this macro; thus, do not execute it when
E-Cam is in engaged status.
In E-Cam application, parameters, such as P5-83 and P5-84 that are not related to
this macro are not listed here. Users could setup parameters according to the real
application. Please refer to Chapter 7, sections about
After executing this macro, E-Cam table will not be saved to EEPROM
automatically.
Failure code F071h When creating the table, E-Cam is in engaged status.
Failure code F072h P5-94 degree of synchronous area exceeds the range: (0 ~
330)
Failure code F073h P5-93.H16 curve level exceeds the range: (1 ~ 4)
Failure code F074h P5-93.L16 degree of waiting area exceeds the range: (0 ~
170)
Failure code F075h The setting value of P5-96 exceeds the range: (50000 ~
5000000)
Failure code F076h P5-82 area number of E-Cam exceeds the range: (30 ~ 72)
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Revision February, 2017 8-215
The following macros are available from version V1.042 sub09 (included):
Command code
0008h
E-Cam curve scaling (P5-19) is effective immediately
Macro parameters N/A
This macro can be triggered when E-cam is engaged. P5-19 is effective
immediately.
Usually, E-Cam scaling is only changed by P5-19 when it entering the engaged
condition (see transition 3). It cannot be changed in engaged condition. E-Cam
scaling only can be changed after one E-Cam cycle so as to make sure the E-Cam
can return to the original position without accumulative error.
Engaged: 1
Stop: 0
Lead: 2
1
2
5
4
3
P5-19 is loading into
E-Cam scaling.
In application, two ways can change the setting of E-Cam curve scaling.
1. P5-88.X2 = 1: When E-Cam is engaged, setup this bit at the same time.
Function of P5-19 will be enabled immediately.
2. Use macro#8: Every time when this macro command is triggered, function of
P5-19 will be enabled. However, if the value of P5-19 is changed and this
macro is not triggered, function of P5-19 will not be enabled. This macro
command has to be triggered again.
Failure code N/A
The following macros are available from version V1.035 sub00 (included):
Command code
000Ch
Change position X, where E-Cam is engaged: E-Cam
disengages after rotating one cycle at forward direction.
General
parameters
N/A
Macro parameters P5-93 = New engaged position X. Unit: pulse number of
master axis.
Monitoring variable 062(3Eh): It displays the current engaged
position (X) of master axis.
This macro command can change the engaged position even when E-Cam is
Failure code F077h The address specified by P5-81is too long and the space of
data array is not enough.
Failure code F078h Data calculation error. Please decrease the setting value of
(P1-44, P1-45) and keep the proportion will do.
Failure code F079h Acceleration degree is too small, and then please decreases
the value of waiting area (W), synchronous area (Y) or curve
level (S).
Failure code
F07Ah
Waiting area is too small, then please increase the value of
acceleration area (W) or decrease the value of synchronous
area (Y)
Chapter 8 Parameters ASDA-A2
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engaged. It will automatically calculate the residual engaged length. E-Cam will
disengage after rotating one cycle at forward direction. Users have to set P5-88.U
to 2, 4, and 6; otherwise, the E-cam will not disengage.
E-Cam will disengage when alarm occurs or the power supply is cut off. If users
desire E-Cam to re-engage at the last disengaged position and continue its
operation, it is recommended to record the disengaged position (X) and resume the
operation by this macro command. Please note that when E-Cam is disengaged,
the servo position might slightly shift and therefore cause position error when E-
Cam re-engages again.
The Engaged direction is in forward direction (Master axis operates at forward
direction):
Note: When using this macro command, it would be better to execute this
command before operate the master axis.
Failure code
F0C1h
When executing this macro command, E-Cam is not in
engaged status.
To modify the engaged position only when E-Cam is
engaged.
Failure code
F0C2h
The setting value of P5-93 is in error. The value cannot less
than 0. It should > = 0.
Failure code
F0C3h
The setting value of P5-93 is in error. The value has to less
than the value of (P5-84 / P5-83)
The following macros are available from version V1.038 sub48 (included):
Command code
000Dh
Calculate the error between E-Cam and indexing coordinates
for PR positioning.
General
Parameters
N/A
Macro Parameters P5-93.Low_Word = DCBA: UZYX (8 digits, HEXADECIMAL)
YX (PR number) = 0~0x3F (it is invalid when the value is set
to 0)
UZ: The value has to be set to 0.
BA (Function of P5-95):
0 (Use avoid point)，
1 (Use available forward rate, V1.038 sub53)
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Revision February, 2017 8-217
DC (Inhibit reverse rotation):
0 (invalid),
1(Inhibit reverse rotation, V1.038 sub53)
P5-95: Avoid point (cannot pass this point) = 0 ~ 100 (%) of
E-Cam cycle or available forward rate 0 ~ 100 (%)
Monitoring variable 091(5Bh): It displays the current indexing coordinate position
(PUU)
When E-Cam is engaged, and the motor is stopped because of Servo Off or alarm
occurs, it would cause position error between the actual position and E-Cam
position. After re-servo On, this macro command can be used to calculate the
correction value and write the value into the specified PR for incremental
positioning. So that the motor can return to the ideal E-Cam position.
When using this macro command:
1. P5-88.X1 = 1 to make E-Cam keep engaging when servo off and continue to
calculate E-Cam position.
2. The height of indexing coordinate and E-Cam coordinate should be the same:
P2-52= ECAM_H (The moving distance when E-cam operates one cycle)
3. E-Cam table scaling (P5-19) must be 1.0 time
4. When E-Cam is engaged for the first time, 0 degree of E-cam should aim at 0
degree of indexing coordinate.
5. This macro command only can be applicable on periodic cycle and when every
cycle starts from the same position.
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. Uses avoid point to plan the timing of forward
and reverse rotation.
＊Avoid point: the point that cannot be passed by the planned PR.
Chapter 8 Parameters ASDA-A2
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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 (%)
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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-219
P5-96 (target position of alignment Ｘ); Unit: pulse number of
master axis = 0 ~ (P5-84/P5-83) – 1.
Monitoring variable 062(3Eh): It displays the current engaged position of master
axis (X)
This macro command can move the engaged position to the alignment target
position (X) when E-Cam is engaged. And write the alignment correction value into
the specified PR.
During E-Cam operation (When E-Cam is engaged), if desire to quickly align the E-
cam position to the mechanical referral point, sensor can be used to trigger DI.EVx
to execute this macro command.
After E-Cam alignment is completed, the engaged position will move to the new
position. The excess or not enough moving distance after E-Cam operates one
cycle is called alignment correction value. It will be written into PR specified by P5-
93.YX. PR incremental command can be used to compensate this value so that the
slave axis position will remain and offset the phase of E-Cam to align the referral
position of machine. For some applications, set value of P5-93.YX to 0 will do.
Please note that PR can be executed only when triggering the host controller.
＊P5-93.UZ is able to limit the max. correction rate. The alignment target position
★ will be different from P5-96.
a
｜ alignment target position★ – current engaged position｜ / L <= P5-93.UZ %
＊DI time delay compensation can be set via P5-94, it can correct the error caused
by different speed of motion.
When E-Cam moves from current position to the target one, it can rotate at forward
or reverse position. Due to the cyclic operation, it can reach the target position
either at forward or reverse direction. However, the moving distance between both
is usually different. Use available forward rate to plan the timing of forward and
reverse rotation.
＊Available forward rate: The available max. proportion of forward path
Chapter 8 Parameters ASDA-A2
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Failure code
F0E1h
When executing this macro, E-Cam is not engaged. E-Cam
has to engage to execute alignment correction.
Failure code
F0E2h
The setting value of P5-93.YX (PR number) exceeds the
range: 0 ~ 0x3F
Failure code
F0E3h
The setting value of P5-93.UZ (Max. alignment correction
rate) exceeds the range: 0~0x64 (%)
Failure code
F0E4h
The setting value of P5-94 (DI delay time compensation)
exceeds the range: -10000 ~ +10000
Failure code
F0E5h
The setting value of P5-95 (Available forward rate) exceeds
the range: 0 ~ 100 (%)
Failure code
F0E6h
The setting value of P5-96 (alignment target position)
exceeds the range: 0 ~ (P5-84/P5-83) - 1
The following macros are available from version V1.038 sub26 (included):
Command code
000Fh
Calculate the moving distance between current and target
position of E-Cam for PR positioning.
General
parameters
N/A
Macro parameters P5-93.Low_Word = UZYX (4 digits, HEXADECIMAL)
YX (PR number of going trip) = 0~0x3F, it is invalid if the
value is set to 0.
UZ (PR number of return trip) = 0~0x3F, it is invalid if the
value is set to 0.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-221
P5-93.Hi_Word = it has to be set to 0
P5-95 (Available forward rate) = 0 ~ 100 (%)
P5-96 (target positionＸ); Unit: pulse number of master axis =
0 ~ (P5-84/P5-83) - 1
Monitoring variable 062(3Eh): It displays the current engaged position (X) of master
axis (X)
This macro command calculates the moving distance between current and target
engaged position (X) and writes into the specified PR.
During E-Cam operation, if users desire to move the slave axis to the specified
position when master axis stops and still in engaged status, this macro command
can calculates the correct moving distance (Y_Drift) of going trip for PR positioning.
When master axis resumes the operation, use another PR to run the moving
distance of return trip (-Y_Drift), it can back to the original position (moving
distance of going trip + moving distance of return trip = 0). E-Cam position remains
the same.
Note: PR command must be the incremental command, regardless in going trip or
return trip.
When E-Cam moves from current position to the target one, it can rotate at forward
or reverse position. Due to the cyclic operation, it can reach the target position
either at forward or reverse direction. However, the moving distance between both
is usually different. Use available forward rate to plan the timing of forward and
reverse rotation.
＊Available forward rate: The available max. proportion of forward path
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8-222 Revision February, 2017
Failure code F0F1h When executing this macro, E-Cam is not engaged. E-Cam
has to engage to change the engaged position.
Failure code F0F2h The setting value of P5-93.YX (PR number of going trip)
exceeds the range: 0 ~ 0x3F
Failure code F0F3h The setting value of P5-93.UZ (PR number of return trip)
exceeds the range: 0 ~ 0x3F
Failure code F0F5h The setting value of P5-95 (Available forward rate) exceeds
the range: 0 ~ 100 (％)
Failure code F0F6h The setting value of P5-96 (target position) exceeds the
range: 0 ~ (P5-84/P5-83) - 1
The following macros are available from version V1.042 sub09 (included):
Command code
0010h
E-Cam stops for one cycle and resumes its operation at next
cycle.
General
parameters
N/A
Macro parameters Value of P5-93 has to be set to 0.
After E-Cam is engaged, this macro command can stop the slave axis for a cycle of
distance regardless the E-Cam degree.
The following conditions have to be established when using this macro command.
1. E-Cam must be in engaged status.
2. E-Cam must be the forward operation curve (including straight line) so it can
stop temporally.
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Revision February, 2017 8-223
Refer to the figure below, triggering this macro command, E-Cam will stop for one
cycle regardless the degree (X) where E-Cam is.
Note 1: ECAM_H (E-Cam pause distance) = table (last point – first point) x P5-19 (the
effective scaling)
Note 2: This function can accumulate times. If the command is triggered for N times
consecutively, it will stop the E-Cam for N cycles. The accumulated pause distance
cannot exceed (>2^31), or the macro command will be disabled.
Note 3: When E-Cam resumes the operation, the accumulated pause distance will be
cleared to 0.
Failure code F101h When executing this macro command, E-Cam is not
engaged.
Failure code F102h The setting value of P5-93 is incorrect: It has to be set to 0.
Failure code F103h E-Cam has to operate at forward direction. Please check the
E-Cam table and make sure P5-19 > 0.
Failure code F104h The accumulated pause distance exceeds 2^31. Do not
execute this macro command consecutively.
Note: A2L does not support E-Cam function.
P5-98 EVON PR# Triggered by Event Rising-Edge
Address: 05C4H
05C5H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PR
Unit：
-
Range：
0000 ~ 0xDDDD
Data Size：
16-bit
Format：
Hexadecimal
Chapter 8 Parameters ASDA-A2
8-224 Revision February, 2017
Settings：
Four items: UZYX
When EVx is set to ON, the PR# will be executed.
X=0: When EV1 is ON, PR will not be triggered.
X=1~D: When EV1 is ON, execute PR # 51~63.
Y=0: When EV2 is ON, PR will not be triggered.
Y=1~D: When EV2 is ON, execute PR # 51~63.
Note: EV3 and EV4 are supported after firmware V1.009.
Z=0: When EV3 is ON, PR will not be triggered.
Z=1~D: When EV3 is ON, execute PR # 51~63.
U=0: When EV3 is ON, PR will not be triggered.
U=1~D: When EV4 is ON, execute PR # 51~63.
P5-99 EVOF PR# Triggered by Event Falling-Edge
Address: 05C6H
05C7H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PR
Unit：
-
Range：
0000 ~ 0xDDDD
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Four items: UZYX
When EVx is set to OFF, the PR# will be executed.
X=0: When EV1 is OFF, PR will not be triggered.
X=1~D: When EV1 is OFF, execute PR # 51~63.
Y=0: When EV2 is OFF, PR will not be triggered.
Y=1~D: When EV2 is OFF, execute PR # 51~63.
Note: EV3 and EV4 are supported after firmware V1.009.
Z=0: When EV3 is OFF, PR will not be triggered.
Z=1~D: When EV3 is OFF, execute PR # 51~63.
U=0: When EV4 is OFF, PR will not be triggered.
U=1~D: When EV4 is OFF, execute PR # 51~63.
