Delta ASDA Series Application Notes

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DELTA_IA-ASD_ASDA-Series_AN_EN_20150324

Application Notes for

ASDA Series Servo Drive

www.deltaww.com

Table of Contents

Chapters

Table of Contents

Summary of Contents for Delta ASDA Series

Page 1 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Application Notes for Geumcheon-gu, Seoul, Korea, 153-704 TEL: 82-2-515-5303 / FAX: 82-2-515-5302 Delta Electronics Int’l (S) Pte Ltd. ASDA Series Servo Drive 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt.
Page 2 ASDA-Soft. Personnel This document is for personnel who have already purchased ASDA series servo drive or engineers and technicians who use ASDA series servo drive to configure the product. If you have any enquiry, please contact the distributors or DELTA customer service center.
Page 3 It is not suggested to use the same setting values in the example of this notes. Delta will not take responsibility for the direct or indirect loss caused by the system configuration of different applications.
Page 4 Safety Precautions To your safety, please pay special attention to the following safety precautions before using this application notes. The symbol of danger, warning and stop represent: It indicates the potential hazards. It is possible to cause severe injury or fatal harm if not follow the instructions.
Page 5: Table Of Contents
Table of Contents Introduction of PR Operation System Information ····················································································· 1-2 Introduction of ASDA-A2 PR Function ······························································ 1-10 Motion Control ···························································································· 1-29 Presentation of PR ······················································································ 1-39 How is PR Arranged? ··················································································· 1-42 PR Setting Examples ··················································································· 1-44 Introduction of E-Cam Operation Introduction of E-Cam ··················································································...
Page 6 Application Techniques DO Output with Fixed Distance ····································································· 4-2 How to Use E-Cam Function to Compensate Tolerance on Ball Screw ···················· 4-8 PT Command Transferred from Analog Voltage ················································· 4-17 Speed Change during the Execution of PR Position Command ····························· 4-22 Macro for E-Cam Application ·········································································...
Page 7 Introduction of PR Operation 1.1 System Information ....................1-2 1.1.1 What is System Parameter and How is it Used? .......... 1-2 1.1.2 Mapping Parameter ..................1-5 1.1.4 Data Array....................1-10 1.2 Introduction of ASDA-A2 PR Function ............1-10 1.2.1 Shared Setting List for PR ................1-13 1.2.2 Introduction of PR Homing ................
Page 8: Introduction Of Pr Operation
This Chapter introduces the basic system and setup information about the ASDA-A2, providing the background information for using the PR function. The Delta PR function in the ASDA-A2 servo drive is defined as “Program Register” or parameterized setup of sequence and built-in motion functionality.
Page 9 ASDA Series Application Note Introduction of PR Operation 2. USB: Connect to a computer via USB and use ASDA-Soft (software for ASDA series servo drive) to read or write parameters. ASDA-Soft provides Parameter Editor for users to read or write parameters. Please refer to ASDA-Soft User Guide for operation detail.
Page 10 Introduction of PR Operation ASDA Series Application Note 5. PR: Edit parameters by triggering PR event. Use write-in function of PR to pre-set the parameter and value that required editing. Once this PR is triggered, parameter settings can be modified. The related setting and triggering methods will be explained in Section 1.2.7.
Page 11 ASDA Series Application Note Introduction of PR Operation 1.1.2 Mapping Parameter Advantages about using mapping parameters are listed below: 1. Quickly read and write: It allows users to consecutively read and write communication addresses of different parameter groups that are not jointed.
Page 12: Mapping Parameter
Introduction of PR Operation ASDA Series Application Note Click Change to change the setting. Figure 1.6 Using Status Monitor to Configure Mapping Parameter The size of mapping index and mapping content is 32-bit. A mapping parameter can map to two 16-bit parameters.
Page 13 ASDA Series Application Note Introduction of PR Operation If the size of mapping content is 32-bit, a mapping parameter can map one parameter which has the size of 32-bit. For example, P1-09 is a 32-bit parameter. Enter 0x0109 in both high-word and low-word of P0-35, the content of P1-09 will all be mapped to P0-25.
Page 14 Introduction of PR Operation ASDA Series Application Note Figure 1.10 Using PC Scope to monitor Mapping Parameters 1.1.3 Monitoring Parameter Monitoring Parameter can be used to observe the prompt change inside the servo drive. Types of monitoring parameter and their codes provided by ASDA-A2 can be found in Chapter 7 of ASDA-A2 User Manual.
Page 15 ASDA Series Application Note Introduction of PR Operation Monitoring variables can be set via Status Monitor in ASDA-Soft. The Status Monitor window has organized 5 groups of monitoring variables in the same section. The setting steps are shown below. 1. Select the monitoring variables to be set.
Page 16: Introduction Of Asda-A2 Pr Function
Introduction of PR Operation ASDA Series Application Note 1.1.4 Data Array Data Array in ASDA-A2 servo drive is a continuous block of memory; it is used to save the captured data, compared value and E-CAM tables. Data array is capable to save 800 data in total.
Page 17 ASDA Series Application Note Introduction of PR Operation target of PR command. Parameters defining PR#2 are P6-04 and P6-05; the definition of P6-04 has to be identical to that of P6-02 and definition of P6-05 has to be identical to definition of P6-03, and so on.
Page 18 Introduction of PR Operation ASDA Series Application Note  TYPE, OPT: TYPE 4 BIT 3 ~ 0 BIT UNIT 22AUTO 1: SPEED, Speed setting control 2: SINGLE, Positioning control. It will load in the next path when finished. OVLP 2INS 3: AUTO positioning control.
Page 19: Shared Setting List For Pr
ASDA Series Application Note Introduction of PR Operation PULSE V001 P1-44 V004 Cmd _O P1-45 V002 V005 Servo Err_PUU Motor drive V000 P1-45 Fb_PUU P1-44 V003 Figure 1.15 Definition of PUU 1.2.1 Shared Setting List for PR ASDA-A2 provides 16 sets of acceleration/deceleration time (P5-20~P5-35),16 sets of delay time (P5-40~P5-55), and 16 sets of target speed (P5-60~P5-75) in the setting list;...
Page 20: Introduction Of Pr Homing
Introduction of PR Operation ASDA Series Application Note 1.2.2 Introduction of PR Homing ASDA-A2 provides 9 homing methods in PR mode, such as using home sensor or limit as the origin. If including the sub-selection such as taking Z pulse and limit as triggering reference, over 30 choices are available.
Page 21 ASDA Series Application Note Introduction of PR Operation Y=0, Return to Z Y=1, Ahead to Z Y=2, Do not search for Z Z Pulse high PL Signal Figure 1.18 Homing Path when Reference to Limit Signal In Figure 1.18, take Y=1 and look for Z for example, no matter the starting position is S1 or S2, it will stop at position E after homing is completed.
Page 22 Introduction of PR Operation ASDA Series Application Note 1.2.2.2 Reference to Rising-Edge Signal on Home Sensor (P5-04.X=2: move forward to look for rising signal on home sensor; P5-04.X=3: move backward to look for rising signal on home sensor) This homing method is to take home sensor as reference, regarding rising signal on the home sensor as homing origin.
Page 23: Reference To Z Pulse
ASDA Series Application Note Introduction of PR Operation origin. No matter the starting position is S1, S2, or S3, the origin is at position E. Y=0, Return to Z Y=1, Ahead to Z Y=2, Do not look for Z Z Pulse...
Page 24: Reference To The Falling-Edge Signal On Home Sensor
Introduction of PR Operation ASDA Series Application Note after homing will be identical. Ignore Y Z Pulse PL Signal Figure 1.22 Homing Path when Taking Z Pulse as Reference 1.2.2.4 Reference to the Falling-Edge Signal on Home Sensor (P5-04.X=6: move forward to look for the falling edge signal of home sensor;...
Page 25 ASDA Series Application Note Introduction of PR Operation When starting from position S2, it means when issuing the homing command, the sensor board has passed through the sensor. The sensor board will encounter limit signal first; meanwhile, motor can be selected to automatically reverse or to stop and display errors. In this example, motor encounters the limit signal and then reverse automatically.
Page 26: Reference To Current Position
Introduction of PR Operation ASDA Series Application Note (P5-04.X=8) 1.2.2.5 Reference to Current Position This homing mode regards motor’s current position as reference origin. Coordinates positioning can be done by triggering homing signal without operating the motor. Figure 1.25 Regarding Current Position as Home Position There is one thing worth noticing when homing in PR mode.
Page 27 ASDA Series Application Note Introduction of PR Operation PR#1 -2000 Coordinate after 1000 -3000 -1000 homing. -523 The position where motor stops after homing. Y=0， Searching Z Z Pulse PL Signal Figure 1.26 Positions of Motor and Homing Origin PR homing mode of ASDA-A2 can regard any value in the coordinate system as homing origin;...
Page 28: Pr Speed Command
Introduction of PR Operation ASDA Series Application Note 1.2.3 PR Speed Command Users may use PR mode to configure the speed command, including acceleration/deceleration time, target speed, and delay time. The speed command here refers to the speed command in...
Page 29: Pr Position Command
ASDA Series Application Note Introduction of PR Operation 1.2.4 PR Position Command When using PR mode to configure position commands, other than target position, users have to decide how motor reaches the target position. That is, the acceleration/ deceleration and target speed of the motor has to be specified.
Page 30 Introduction of PR Operation ASDA Series Application Note 3. Incremental command 60000 PUU: Target position (90000 PUU) = Previous target position (30000 PUU) + New position command (60000 PUU) 4. Capture command 60000 PUU: If the last value captured is 10000 PUU, target position will be 10000 PUU + 60000 PUU =...
Page 31: Jump Command
ASDA Series Application Note Introduction of PR Operation 1.2.5 Jump Command Users may use Jump command to call any PR. It serves as functions like subroutines and is able to turn PR paths into a loop. See Figure 1.31. Figure 1.31 Example of PR Jump Command 1.2.6 PR Write-in Command...
Page 32: Pr Triggering Methods
Introduction of PR Operation ASDA Series Application Note 1.2.7 PR Triggering Methods Multiple types of PR triggering methods are available on ASDA-A2. Users may choose the most suitable method based on the application. 1.2.7.1 Trigger by DI.CTRG / POS0 ~ POS5 / STOP To use this trigger method, users have to use DI to select the PR to be carried out.
Page 33: Di.shom
ASDA Series Application Note Introduction of PR Operation ASDA Soft P5-07 PR#20 Host 20, PR is being executed. Controller 10020, command sent and final destination does not yet reach. 20020, PR is executed. Button Figure 1.34 Triggering PR by Parameter To observe the PR procedure, check the item ADR in PC scope channel and then enter 0x20002507.
Page 34 PR#59 Figure 1.36 Trigger PR by Event For example, when P5-98 = 05D2 and P5-99 = 790A: (The way that Delta usually use when describing parameters: P5-98=0xUZYX) 1. EV1: Because P5-98.X = 2, the rising edge signal of EV1 will trigger PR#52. Because P5-99.X = A, the falling edge of EV1 will trigger PR#60.
Page 35: Motion Control
ASDA Series Application Note Introduction of PR Operation CAPTURE Completed / COMPARE Completed / E-CAM 1.2.7.5 Others Disengaged If Bit 3 of P5-39 has been set, after Capture command (P5-38 = 0) is completed, the servo will automatically call PR#45. If P5-88.BA has been set, when E-Cam is disengaged, the system will regard the setting of P5-88.BA as PR path to be carried out and then automatically carry out this...
Page 36 Introduction of PR Operation ASDA Series Application Note Figure 1.38 PC Scope of PR Monitoring Variables (32-bit) Except that Err_PUU is 16-bit, other three parameters are 32-bit. To see the whole picture of Cmd_O, Cmd_E, and Fb_PUU, users have to select the item of 32-bit display; however, only two variables can be monitored at the same time in this case.
Page 37 ASDA Series Application Note Introduction of PR Operation As feedback value has to be identical to the command value, Cmd_O = Fb_PUU + Err_PUU. Shown in Figure 1.40, after the servo issues the command, which is an internal one, the servo will immediately know its target destination, which is Cmd_E in this case.
Page 38 Introduction of PR Operation ASDA Series Application Note Another exception is homing command. The difference between homing and position command is that Cmd_E does not know where the target position is when homing. Only when reference origin is found and coordinate system is built can Cmd_E’s position be known. That is, after homing command is issued and before origin found and coordinate system built, Cmd_E = Cmd_O.
Page 39 ASDA Series Application Note Introduction of PR Operation 1.3.2 Sequence Command PR can also specify motion commands including position control and speed control. Sequence command is a motion command that does not have overlaps (OVLP) or interrupts (INS). It is executed in sequence.
Page 40: Overlap Of Commands
Introduction of PR Operation ASDA Series Application Note 1.3.3 Overlap of Commands When using the overlap function, delay time is still effective in the system. To smoothly carry out commands one after another, please set the delay time to 0 in the previous part when using the overlap function.
Page 41: Interrupt Of Command
ASDA Series Application Note Introduction of PR Operation See Figure 1.46 for example, the meshed part is the overlapped area. When speed of the two position commands is identical and the absolute value of deceleration curve slope of previous command equals acceleration curve slope of the next command, the measure of meshed area...
Page 42 Introduction of PR Operation ASDA Series Application Note Internal Interrupt: In a series of PR profiles, when PR has enabled function of automatically move to the next command, the system will read the next command first after reading the current PR.(If delay time is set, the next command will be read after delay time is over.);...
Page 43 ASDA Series Application Note Introduction of PR Operation The final destination: SPEED OVLP OVLP Absolute: Cmd_E = command P_Command 1 (Type 3) TIME Relative, Incremental: Cmd_E = last Cmd_E + P_Command 2 DLY 1 command (Type 2) If 0, this command will be omitted.
Page 44 Introduction of PR Operation ASDA Series Application Note If the next PR command is an absolute one with interrupt, no matter what previous PR command is, the final destination will be the target position CMD_E of the next PR command. If the next PR command is an incremental one and with interrupt, the final destination will be previous PR command’s CMD_E plus the next command’s CMD_E.
Page 45: Presentation Of Pr
ASDA Series Application Note Introduction of PR Operation 1.4 Presentation of PR This section explains how PR functions are presented. With the presentation format shown here, the whole PR procedure can be understood more easily. In this document, this format will continue be used to illustrate the PR profile.
Page 46 Introduction of PR Operation ASDA Series Application Note Default Home Home Home Home Homing Offset =0 Offset = 0 Offset = 100 Offset = 100 Command PR#1 PR#1 PR#0 PR#0 Coordinate offset Go to PR#1 Stay in PR#0 after set in P6-01...
Page 47 ASDA Series Application Note Introduction of PR Operation command type, ABS stands for an absolute command, REL for relative command, INC for incremental command, and CAP for capture command. Type 2 position command Target speed Type 2, finish PR#51 with...
Page 48: How Is Pr Arranged
Introduction of PR Operation ASDA Series Application Note 1.5 How is PR arranged? ASDA-A2 will update the command status every 1 ms; Figure 1.59 shows how PR profile is arranged in ASDA-A2 and illustrating how it deals with PR commands.
Page 49 ASDA Series Application Note Introduction of PR Operation PR Executor The newly-received Head PR and its PR group in the PR executor will immediately replace the PR group being executed. If the PR group contains motion commands, which includes speed command and position command, no matter this PR group is completed or not, the executor will distribute those PR with motion commands to the motion command generator.
Page 50: Pr Setting Examples
Introduction of PR Operation ASDA Series Application Note 1.6 PR Setting Examples Five similar PR examples are listed here. The difference among them is whether interrupt/delay time is set in each PR. Below is the PR operating procedure. Example 1:...
Page 51 ASDA Series Application Note Introduction of PR Operation Please follow the steps to edit the related settings in PR Mode Editor: 1. PR#1: ⓑ ⓒ ⓐ ⓓ ⓔ ⓕ Figure 1.62 Settings of PR#1 a. Select path PR#01. b. Select Type [3] in section TYPE settings.
Page 52 Introduction of PR Operation ASDA Series Application Note 2. PR#2: Jump DLY = 0 ( I) PR # 10 Figure 1.63 Settings of PR#2 a. Select path PR#2. b. Select Type [7] Jump to the specified path in Type Settings.
Page 53 ASDA Series Application Note Introduction of PR Operation 3. PR#10: Write DLY =0 # 10 P 5 - 55 = 10 ( I) Figure 1.64 Settings of PR#10 a. Select Path PR#10. b. Select Type [8] Write the specified parameter to the specified path in Type Settings.
Page 54 Introduction of PR Operation ASDA Series Application Note 4. PR#11: Position (3) D=0, S =100 .0 rpm 300000 PUU , INC Figure 1.65 Settings of PR#11 a. Select path PR#11. b. Select Type [3] in the TYPE settings. c. Select INC Incremental Position as the command type.
Page 55 ASDA Series Application Note Introduction of PR Operation 5. PR#12: Write # 12 DLY =0 ( I) P 5 - 55 = 12 ⓑ ⓒ ⓓ ⓔ ⓕ ⓐ ⓖ Figure 1.66 Settings of PR#12 a. Select path PR#12. b. Select [8]: Write the specified parameter to the specified path at Type Settings.
Page 56 Introduction of PR Operation ASDA Series Application Note PR#11 / PR#12: Because PR#11 has no interrupt, it does not exist with PR#1, PR#2, and PR#10 in the PR executor at the same time (it is not categorized into the same PR group with PR#1, PR#2 and PR#10);...
Page 57 ASDA Series Application Note Introduction of PR Operation Example 2: Position (3) Jump Write Position (3) Write D=0, S= 20.0 rpm DLY=0 DLY =0 D=0, S=100.0 rpm DLY=0 200000PUU, INC PR#10 P5-55=10 300000PUU , INC P5-55=12 命令群 Command Group Figure 1.68 Example 2 PR Motion Analysis: In Figure 1.68, only PR#1 has no interrupt;...
Page 58 Introduction of PR Operation ASDA Series Application Note Result ： Figure 1.69 shows the result after PR Group is executed in Example 2. Position (3) Jump Write Position (3) Write D=0, S= 20.0 rpm DLY=0 DLY=0 D=0, S=100.0 rpm DLY=0...
Page 59 ASDA Series Application Note Introduction of PR Operation Example 3: Position (3) Jump Write Position (3) Write D=0 S= 20.0 rpm DLY= 0 DLY= 0 D=0, S= 100.0 rpm DLY=0 200000PUU , INC PR#10 P5-55=10 300000PUU, INC P5-55=12 (A ) 1ms...
Page 60 Introduction of PR Operation ASDA Series Application Note 660542 21.2 660542 21.2 Figure 1.71 Output of PR Example 3 Example 4: Command Group Command Group Figure 1.72 Example 4 PR Motion Analysis: In Figure 1.72, only PR#1 has no interrupt but it has 10 ms delay time. Thus, PR#2 will enter the executor after PR#1 starts to be carried out for 10 ms.
Page 61 ASDA Series Application Note Introduction of PR Operation Result: Figure 1.73 shows the result after PR group is executed in Example 4. Command Group Command Group 660542 21.2 660542 21.2 Figure 1.73 Output of PR Example 4 From t = Ts to t = T+10 ms, motor will operate based on the position command generated by PR#1.
Page 62 Introduction of PR Operation ASDA Series Application Note Example 5: Position (3) Jump Write Position (3) Write S= 20.0 rpm DLY=0 DLY=5000 D=0, S=100.0 rpm DLY=0 200000PUU , INC PR#10 P5-55=10 300000PUU , INC P5-55=12 (A ) 1ms (B ) 1ms...
Page 63 ASDA Series Application Note Introduction of PR Operation Result: Figure 1.75 shows the result after PR group is carried out in Example 5. Position (3) Jump Write Position (3) Write S= 20.0 rpm DLY=0 DLY= 5000 D=0, S=100.0 rpm DLY = 0...
Page 64 Introduction of PR Operation ASDA Series Application Note (This page is intentionally left blank.) 1-58 March, 2015...
Page 65: Introduction Of E-Cam Operation
Introduction of E-Cam Operation 111111010111111111111111111111111111111 1111111 2.1 Introduction of E-Cam ..................2-2 2.2 Source of the Master Axis ..................2-5 2.3 The Clutch ......................2-7 2.3.1 Settings for Engaging E-Cam ................ 2-7 2.4 The E-Gear of the Master Axis ................2-13 2.5 E-Cam Curve ......................
Page 66: Introduction Of E-Cam
Introduction of E-Cam Operation ASDA Series Application Note 2.1 Introduction of E-Cam E-Cam, a virtual cam implemented by software that simulates a machine cam. E-Cam curve is built by software to achieve the relative motion between Master axis and Slave axis like real cams.
Page 67 ASDA Series Application Note Introduction of E-Cam Operation Mechanical Power Pulse Command Input of Master Axis Output of Cam If both of the axes work in the same manner, the Servo system can be used to replace the machine Cam.
Page 68 Introduction of E-Cam Operation ASDA Series Application Note Figure 2.3 illustrates parameter settings of E-Cam with the concept of using machine cams. The required parameters of using E-Cam are shown below. Master Axis: Clutch: Sources of master Control the timing that...
Page 69: Source Of The Master Axis
ASDA Series Application Note Introduction of E-Cam Operation 2.2 Source of the Master Axis P5-88 High Word High Word Low Word Low Word Parameter settings of E-Cam 00~3F 00~3F Figure 2.4 P5-88.Y: Settings for Source of the Master Axis Source of the master axis can be specified by P5-88.Y. Any pulses that conform to the hardware specifications of ASDA-A2 can be the source of master axis, such as encoder, PLC, or a servo drive.
Page 70 Introduction of E-Cam Operation ASDA Series Application Note Pulse By-pass Function On ASDA-A2, the by-pass function allows one master axis to drive multiple slave axes. With this function, a servo can send the received signals to the next slave axis (servo). Signals passing through the servo will not be attenuated because ASDA-A2 acts like an amplifier, boosting the signal and maintain its origin intensity before output.
Page 71: The Clutch
ASDA Series Application Note Introduction of E-Cam Operation Slave 1 Master Slave 1 Slave 2 Slave 2 Slave 3 Slave 3 Opt A, Opt A, Opt A, Opt A, OptA, OptA, /Opt A, /Opt A, /OA, /OA, /OA, /OA, /Opt A,...
Page 72 Introduction of E-Cam Operation ASDA Series Application Note High Word High Word Low Word Low Word P5-88 Parameter Setting of E-Cam 00~3 F 00~3 Figure 2.9 P5-88.Z: Settings for the Engaging Timing The engaging timing is specified by P5-88.Z: ...
Page 73 ASDA Series Application Note Introduction of E-Cam Operation High Word High Word Low Word Low Word P5-88 E-Cam Settings 00~3F 00~3F Figure 2.11 P5-88.U: Settings for Disengaging Time Disengaging timing is specified by P5-88.U:  P5-88.U = 0: Remain engaged unless E-Cam function is disabled.
Page 74 Introduction of E-Cam Operation ASDA Series Application Note P5-88.U = 4 PUU, Position (Slave) Pulse (Master) The pulse number P5-92 The pulse number set in P5-89 Lead set in P5-89 disengaging. pulse disengaging. Figure 2.14 P5-88.U = 4 Operation of E-Cam In Figure 2.14, the lead pulse number specified by P5-92 is the one before the cycle starts;...
Page 75 ASDA Series Application Note Introduction of E-Cam Operation P5-88.U Function Disengaged Condition After Disengaged Remain engaged DI(0x36) OFF: CAM OFF After master axis receives the pulse amount which is set by P5-89, the motor stops immediately after disengaging. Enter Stop Status P5-88.U = 1 or P5-88.U = 2:...
Page 76 Introduction of E-Cam Operation ASDA Series Application Note Monitoring E-Cam Status High Word Low Word P5-88, E-Cam Settings 00~3F P5-88.U = 1, 2, 6 P5-88.X = 0 Stop Engaged P5-88.U = 4. The lead pulse P5-88.X = 0 number is set by P5-92.
Page 77: The E-Gear Of The Master Axis
ASDA Series Application Note Introduction of E-Cam Operation 2.4 The E-Gear of the Master Axis E-gear ratio of the master axis will determine the pulse resolution, which is defined by P5-83 and P5-84. When the slave axis receives the pulse number P from the master axis specified by P5-84, E-Cam will rotate M circle specified by P5-83, which is M cycle of the E-Cam table.
Page 78: E-Cam Curve
Introduction of E-Cam Operation ASDA Series Application Note 2.5 E-Cam Curve When E-Cam is engaged and receiving pulses from the master, the slave axis will operate according to the setting of E-Cam curve. On ASDA-A2, E-Cam can be applied as long as the pulse from the master axis and position of the slave axis is a one-to-one relation.
Page 79 ASDA Series Application Note Introduction of E-Cam Operation Data Array P5-81 = 50 starting 30000 20000 address 40000 45000 30000 P5-82 + 1 = 8 + 1 = 9 20000 20000 50000 30000 Position ( PUU ) (Slave) 45000 50000...
Page 80: Create An E-Cam Curve By Software
Introduction of E-Cam Operation ASDA Series Application Note Monitoring variable 062 will display the current pulse number being received so users may acquire the E-Cam’s position. For example, if the master axis outputs 3600 pulses (P5-84 = 3600), E-Cam rotates one circle (P5-83 = 1), this means it moves from 0° to 360°. When E-Cam moves to 180°, and monitoring variable 062 will read 1800 pulses.
Page 81 ASDA Series Application Note Introduction of E-Cam Operation appropriate area number of E-Cam in data array. Data array is able to store max 800 data. Users need to pay special attention to the setting limit if desire to store multiple E-Cam curves.
Page 82 Introduction of E-Cam Operation ASDA Series Application Note 4. Although this method is to use the speed relation to create an E-Cam curve, the system is actually making a curve by using cam angles and their corresponding position on the slave axis that are saved in the table.
Page 83 ASDA Series Application Note Introduction of E-Cam Operation Slave Axis Master Axis Figure 2.24 Rotary Shear Material being sent too fast Material being sent too slow Figure 2.25 Speed of Master Axis does not Synchronize with the Slave Axis E-Cam curve with a constant speed area is mainly applied to mechanism with flat cutters, which is generally used for package with sealing zones.
Page 84 Introduction of E-Cam Operation ASDA Series Application Note curve with wider constant speed area can be applied to narrower cutters. However, when using a E-Cam curve which constant speed area is too narrow or doesn’t have enough constant speed area to a flatter cutter, material might be damaged due to the inconsistent speed of the master and slave axis when cutting.
Page 85 ASDA Series Application Note Introduction of E-Cam Operation narrower constant speed area. If the required operating distance of the cutter axis is the same (integral value of the speed curve is the same), curve with wider constant speed area will accelerate/decelerate faster during the non-constant speed area thus reaching the operating limit (max.
Page 86 Introduction of E-Cam Operation ASDA Series Application Note The definition of constant speed area is determined by the proportion of required constant speed during material feeding, not the constant speed area generated when cutter is operating. Different material requires different constant speed area. Thus, to generate different E-Cam curve is required.
Page 87 ASDA Series Application Note Introduction of E-Cam Operation Figure 2.32 Enter Values of Rotary Shear Specifications  Gear Ratio: Directly enter the number of gear and the system will figure out the gear ratio automatically.  Cutter number (Knife No.) and diameter (Knife Diameter d1): The cutter number can be changed according to the application and should be equally allocated on the cutter axis.“Cutter radius”...
Page 88 Introduction of E-Cam Operation ASDA Series Application Note the moving distance a of slave axis when cutting, it will be unable to increase the speed of slave axis to satisfy the demand of short cutting length. If the value of R is too small, it might need to modify the mechanism to conquer the problem.
Page 89 ASDA Series Application Note Introduction of E-Cam Operation Figure 2.35 Speed Compensation When creating a rotary shear curve by Rotary Shear-W/T Sealing Zone, no additional parameter is required because the constant speed area is fixed to 51°; there is no need to set up the constant speed area.
Page 90 Introduction of E-Cam Operation ASDA Series Application Note can be easily done by Cubic Curve Creation. When using this method, the connection between two points can be a straight line, a curve, or an S-curve. 1. Straight line: starting angle (the angle when departing from the start point) and ending angle (the angle when arriving the target point) cannot be adjusted.
Page 91 ASDA Series Application Note Introduction of E-Cam Operation Figure 2.38 Screen of Cubic Curve Creation When editing the curve by dragging points in section (2), points can be inserted or deleted by right clicking the mouse button. Users may change the point number to modify the cam shape so as to satisfy the demand of different applications.
Page 92 Introduction of E-Cam Operation ASDA Series Application Note Figure 2.40 E-Cam Table of Cubic Curve Creation To create a curve with higher precision, sampling angle can be set to 1 so that the E-Cam area number can be increased to 360.However, as the default setting (P-19: E-CAM Curve Scaling = 1) will round off the value of Position Y thus causing speed trembling.
Page 93 ASDA Series Application Note Introduction of E-Cam Operation  Rotary Shear- Printer Machine Here come the operational principles: The relation between printing axis and material feeding axis is shown in Figure 2.42. Each printing axis does not connect to ball-screw but operates individually. Due to the printing length limit, it cannot do full printing.
Page 94 Introduction of E-Cam Operation ASDA Series Application Note Figure 2.43 Setting Wizard for Intermittent Motion Control When using this method to create an E-Cam curve for rotary shear printing machine, mechanical specifications have to be filled in the table. See Figure 2.44.
Page 95 ASDA Series Application Note Introduction of E-Cam Operation are R＞1.) Take the initial parameter in software as the example: L (Circumference of printing cylinder) = π x 100 = 314.15 mm (Pitch of materials) = PL + BL = 200＋20＝220 mm R = L / = 314.15 / 220 = 1.428 (R＞1, reasonable range)
Page 96: Using Macro To Create An E-Cam Curve
Introduction of E-Cam Operation ASDA Series Application Note Synchronous area The moving direction of the product Printing range Figure 2.46 Synchronous Area Setting of E-Cam Curve for Rotary Shear- Printer Machine If the curve needs to be fine adjusted, users can adjust the degree of Waiting Angle, S-Curve Angle, and Syn.
Page 97 ASDA Series Application Note Introduction of E-Cam Operation Step 1: When using Macro 6, the first step is to store the required relevant parameters in data array, which includes P5-81 (the start address of E-Cam curve in data array) and P5-85 (engaging time).
Page 98 Introduction of E-Cam Operation ASDA Series Application Note Gear Box Tooth (to motor) Tooth#B (to cutter) Encoder pulse number per revolution Cutting Length Number of 切刀的數目 cutter 編碼器直徑 Diameter Diameter P5- 83 = P5- 83 = π π P5- 84 =...
Page 99 ASDA Series Application Note Introduction of E-Cam Operation  Macro 7 (E-Cam curve for rotary shear with adjustable sealing zone.) When using flat cutters which cutting length is changed, the width of the cutter usually remains the same. However, different material will change the cutting length and angle in synchronous zone because this area is determined by material.
Page 100 Introduction of E-Cam Operation ASDA Series Application Note S ° S = 2 W + = 2 W + 2Acc 2Acc ^S) * 360 / (P5-82) ^S) * 360 / (P5-82) =( =(2 2 P5-82=72 P5-82=72 S ° ° °...
Page 101 ASDA Series Application Note Introduction of E-Cam Operation Gear Box Tooth (to motor) Tooth (to cutter) Encoder pulse number per revolution, Cutting number Length of cutter, Diameter Diameter P5-83 = P5-84 = (π d2 (mm) L (mm), (pulses required by L) P5-95.H (Hex.）...
Page 102 Introduction of E-Cam Operation ASDA Series Application Note Two examples are presented below to help users create E-Cam curves with Macro 7. Example 1: When using Macro 7 to create E-Cam curve and R = 1.1 ~ 5 (when R > 1.0, cutting length is longer than cutter circumference), adopting rules presented in the diagram (Figure 2.56) can...
Page 103 ASDA Series Application Note Introduction of E-Cam Operation Start Calculate length ratio R = A/a V first Y first Select new constant R > 5 Select possible speed area Change False 1.1 ≦ R ≦ 5 highest Vc Ynew < Y mechanism or ∆Y = 360/ R*(1-1/ Vc)
Page 104: E-Gear Ratio And Scaling Of E-Cam Curve
Introduction of E-Cam Operation ASDA Series Application Note Example 2: When using Macro 7 to create an E-Cam curve and R = 0.5 ~ 1.09 (when R < 1.0, cutting length < cutter circumference), follow the instructions shown in Figure 2.57 to write macro commands can avoid occurrence of error codes.
Page 105 ASDA Series Application Note Introduction of E-Cam Operation will only output half of the PUU number. If P5-19 is set to a negative value, the output of E-cam curve will be inverted compared with that is set to a positive value. If using firmware version earlier than v1.038 sub48, after value of P5-19 is changed, users have to re-engage E-Cam to...
Page 106: E-Cam Setting Example
Introduction of E-Cam Operation ASDA Series Application Note 2.7 E-Cam Setting Example (This example only illustrates the basic setting of E-Cam, real application example can be found in Chapter 3 of this application note.) 2.7.1 Creating an E-Cam Curve In this example, Speed Fitting Creation in ASDA-Soft is used to create a simple E-Cam curve.
Page 107 ASDA Series Application Note Introduction of E-Cam Operation 1. The moving distance of the carrier is 200 mm and the pitch of the ball screw is 10 mm. It takes 20 rotations for the moving carrier to reach the entire traveling distance.
Page 108: Relevant Parameter Settings And Enabling E-Cam Function
Introduction of E-Cam Operation ASDA Series Application Note curve is stored in data array. When only one E-Cam curve is stored, changing settings of P5-81 and P5-82 is not required. 4. Select Based on lead pulse, calculate P5-84 pulse number. Since the moving distance of the slave axis cannot be changed, which means the traveling distance is fixed, the system will work out the value required by P5-84 based on the lead pulse.
Page 109 ASDA Series Application Note Introduction of E-Cam Operation PR#3: Specify the place where the captured data is saved in data array. In this example, the E-Cam’s engaging time is controlled by the capture signal. Therefore, parameters relevant to the capture function have to be set. The captured data can be stored anywhere in data array.
Page 110: Simultaneously Using E-Cam Function And Pr Command
Introduction of E-Cam Operation ASDA Series Application Note 2.8 Simultaneously Using E-Cam Function and PR command When servo is working at the command of E-Cam and a PR with incremental position command is triggered at the same time, E-Cam command and PR command will be overlapped. Both commands will change the output of the servo.
Page 111 ASDA Series Application Note Introduction of E-Cam Operation take a three-synchronous-axis printing machine for example. Pulses from the encoder are sent to the three slave axes as the source signal to make identical curves. Phases of the three slave axes have to be identical. When phases are inconsistent, users can use PR command to overlap E-Cam command so as to have the phase shifted.
Page 112: Troubleshooting When E-Cam Is Not Working Properly
Introduction of E-Cam Operation ASDA Series Application Note 2.9 Troubleshooting when E-Cam is not working properly If E-Cam is not working properly, the following methods can be used to troubleshoot. Make sure source of the master axis is correct; this can be done by checking the setting of P5-88.Y that specifies the source of the master axis.
Page 113 Application Examples 3.1 How to Use Capture Function to Create E-Cam Curves? ........3-4 3.1.1 Description ....................3-4 3.1.2 About the System and System Configuration ..........3-4 3.1.2.1 Creating an E-Cam Curve ..............3-4 3.1.2.2 Settings for the Route of Master Axis (Rectangle Carrier) ....3-5 3.1.2.3 Settings for the Route of Slave Axis (Round Compression Axis) ..
Page 114 Application Examples ASDA Series Application Note 3.3.2.3 Label Positioning Sensor ..............3-40 3.3.2.4 Labeling Start Sensor ................ 3-40 3.3.3 Setting of Servo System ................3-40 3.3.3.1 Camshaft is Enabled and Starts to Label ..........3-40 3.3.3.2 Camshaft is Disabled and Label Positioning ........3-42 3.3.3.3 PR Program and Execution ..............
Page 115 ASDA Series Application Note Application Examples 3.7.3 Setting of servo system ................3-95 3.7.3.1 DI setting ..................3-95 3.7.3.2 System configuration ............... 3-96 3.7.3.3 Motion command and PR program ..........3-97 3.8 Application Example of Packing Machine with Phase Alignment Function ..3-101 3.8.1 Instruction ....................
Page 116: How To Use Capture Function To Create E-Cam Curves
Application Examples ASDA Series Application Note 3.1 How to Use Capture Function to Create E-Cam Curves? 3.1.1 Description This application example will demonstrate how Capture function on ASDA-A2 is used to create an E-Cam curve. This chapter will focus on the procedure of creating an E-Cam curve and explain how the system work and its settings.
Page 117: Settings For The Route Of Master Axis (Rectangle Carrier)
ASDA Series Application Note Application Examples Slave position (Round compression axis) M1 M2 M3 M4 M5 Master position (Rectangle carrier) Figure 3.1.2 Creating an E-Cam Curve 3.1.2.2 Settings for the Route of Master Axis (Rectangle Carrier) When creating the E-Cam curve, the moving distance of the rectangle carrier has to be divided into equal parts.
Page 118: Settings For The Route Of Slave Axis (Round Compression Axis)
Application Examples ASDA Series Application Note 3.1.2.3 Settings for the Route of Slave Axis (Round Compression Axis) See (1) in Figure 3.1.3. It shows the positions of the rectangle carrier and round compression axis after homing. Before creating an E-Cam curve, homing for each axis is required. That is, one point must be regarded as the reference origin for each axis.
Page 119: System Structure
ASDA Series Application Note Application Examples 3.1.3.1 System Structure The master axis used here is an ASDA-A series servo drive and the slave axis used is an ASDA-A2 series servo drive. There is a decelerator which reduces the speed to 1/5 of the original speed.
Page 120: Parameter Settings For Master Axis (Rectangle Carrier)
Application Examples ASDA Series Application Note DELTA ASDA A DELTA ASDA A2 3 Phases 220 V 3 Phases 220 V TYPE B PULSE /PULSE SIGN /SIGN COM+ COM+ COM- COM- SHOM SHOM ORGP ORGP CTRG CAPTURE Abbr. Function code Description...
Page 121 ASDA Series Application Note Application Examples Function Parameter Settings for Master Axis (Rectangle Carrier) Please see Figure 3.1.5 the wiring diagram for I/O settings. P1-01 Control mode: set to 0x01 in PR Mode. P1-47 Homing mode: Set to 0x202. 2: Homing in forward direction; DI.ORGP is regarded as the homing origin.
Page 122: Parameter Settings For Slave Axis (Round Compression Axis)
Application Examples ASDA Series Application Note Sequence Diagram—Traveling of the Master Axis and Sampling of the Round Compression Axis Sampli ng of Sampli ng of slave slave Sampli ng of slave (compressi on) axis (compressi on) (compressi on) axis axis...
Page 123 ASDA Series Application Note Application Examples Setting Screen for PR#0— Homing Figure 3.1.9 Setting of PR#0 for the Slave Axis Set Homing Method to X : 2 : Homing in forward direction: ORGP : OFF-> ON, as homing origin. Then, Set Single Setting to Y : 0 : Return to Z pulse. When homing is completed, PR stops and set P6-01 which specifies the origin to 0.
Page 124 Application Examples ASDA Series Application Note PR#2 Setting Screen Figure 3.1.11 Setting Screen of PR#2 for the Slave Axis PR#2 is set to control the position, which command is absolute type. See Figure 3.1.11. PR#5 Setting Screen Figure 3.1.12 PR#5 Setting Screen for the Slave Axis The program system writes value to P1-12.
Page 125 ASDA Series Application Note Application Examples PR#6 Setting Screen Figure 3.1.13 Setting Screen of PR#6 for the Slave Axis This PR path is set to a position command which is absolute type. See Figure 3.1.13. PR#7 Setting Screen Figure 3.1.14 Setting Screen of PR#7 for the Slave Axis This path setting is for torque limit.
Page 126 Application Examples ASDA Series Application Note PR#51 Setting Screen Figure 3.1.15 Setting Screen of PR #51 for Slave Axis This is a jump path, which will be carried out when EV1 (Event 1) is triggered by rising-edge. PR#52 Setting Screen Figure 3.1.16 Setting Screen of PR#52 for Slave Axis...
Page 127 ASDA Series Application Note Application Examples PR Program Torque Limit; Position Cmd; move to Jump Cmd; Torque Limit; set to 10% ABS position -800000 jump to PR#5 set to 50% Write JUMP Position Write DELAY= 0 DELAY= 0 EV 1...
Page 128: Settings For Capture Function
Application Examples ASDA Series Application Note Rising-edge Trigger EV1 When the system returns to the origin and after the first time EV1 is triggered by rising-edge, the starting point is A instead of B. From the second time, it will start from point B because it is set to absolute position in the PR path.
Page 129 ASDA Series Application Note Application Examples When starting Capture function, the X of P5-39 has to be written to 1. Using Capture Function with ASDA-Soft When using software to set the above parameters, select Parameter Function on the function bar and enable Capture/Compare function.
Page 130: E-Cam Parameter Settings
Application Examples ASDA Series Application Note 3.1.3.6 E-Cam Parameter Settings After 50 data are captured, E-Cam parameters can be set for verification. Firstly, please open E-CAM editor to set parameters. Settings for E-Cam Table Figure 3.1.21 Start Screen of E-Cam Editor Open E-Cam Editor in ASDA-Soft.
Page 131 ASDA Series Application Note Application Examples Figure 3.1.23 E-Cam Curve Figure 4 Setting Pulse Resolution of Master Axis P5-83 (E-Cam Cycle Number: M): Set to 1. This value is subject to change based on the required motion. P5-84 (Pulse number of master axis): P: Set to 50000. The master axis (rectangle carrier) sends 50000 pulses whenever it makes one rotation.
Page 132: Test The System
Application Examples ASDA Series Application Note Now, parameter settings for the slave axis have to be completed. As the command source of the round compression axis is sent via Pulse, /Pulse, Sing, and /Sign, Y: Command Source has to be set to 2.Pulse Cmd. Z: Engaged time is set to 0: Engage Immediately.
Page 133 ASDA Series Application Note Application Examples Figure 3.1.26 PR#0 Parameter Setting In PR#0, set P6-01: Homing Definition Value to -10000. This setting will make the origin right-shifted. In this case, the compression axis will not touch the rectangle carrier. Users may check whether the system is working correctly by observing its motion.
Page 134 Application Examples ASDA Series Application Note Figure 3.1.28 Traveling Route of the Compression Axis (Slave Axis) Steps to Test the System Allow the rectangle carrier (Master axis) return to the origin (DI.SHOM). Allow the round compression axis (Slave axis) return to the origin (DI.SHOM).
Page 135: Application To Winding Machine
ASDA Series Application Note Application Examples Application to Winding Machine 3.2.1 Description This chapter aims at the application of ASDA-A2 on wrapping machine. The configuration function of tape can be done by electronic cam of ASDA-A2. The main parameters such as the width of tape, the interval of tape and the length of bobbin can be modified easily.
Page 136: Camshaft
Application Examples ASDA Series Application Note 3.2.2.2 Camshaft This axis places the tape according to the pulse of master axis. The interval and width of the tape can be adjusted through the proper setting. Figure 3.2.3 Different interval and different width 3.2.3 Servo System Setting...
Page 137 ASDA Series Application Note Application Examples Stop at the endpoint Figure 3.2.5 Configuration of tape The purpose of stopping at the endpoint Logically, it divides the bobbin into equal parts as the length the tape stops at the endpoint. It is for staggering the returning positions of tape, so that the tape will not overlap on bobbin and cause the bulge.
Page 138: The Meaning Of E-Cam Curve
Application Examples ASDA Series Application Note 3.2.3.2 The Meaning of E-cam Curve The transverse axis of E-cam curve is the pulse number which sent out by master axis. The vertical axis is the moving distance of ball screw, which is the wrapping length on bobbin. The tape shall be placed in orderly arrangement on bobbin.
Page 139: Example
ASDA Series Application Note Application Examples Figure 3.2.10 Time sequence of motion 3.2.3.3 Example Figure 3.2.11 Application example The master axis sends out 14400 pulses per revolution; the wrapping length is 190mm; the width of tape is 15mm; the interval between each tape is 0.2mm; the pitch of ball screw is 5mm; gear ratio of motor cam shaft and ball screw is 1:2.
Page 140 Application Examples ASDA Series Application Note Figure 3.2.12 Configuration of tape (12.5 -1) * 14400 = 165600 (pulses) This is the pulse number that master axis needs for wrapping one layer, which is the pulse number for 11.5 cycles. This value is in ideal situation and not considering any error. The value should be adjusted in real situation.
Page 141 ASDA Series Application Note Application Examples The pitch of ball screw is 5mm. As for the wrapping length, followings are the calculation method: (190 mm-15.2 mm) / 5 (mm/rev) = 34.96 rev. This is the value of the cam on ball screw. When the value corresponds to the motor, according to the calculation of gear ratio, the value should multiply double, which is 34.96*2=69.92 rev.
Page 142: Pr Programming And Execution
Application Examples ASDA Series Application Note 3.2.3.4 PR Programming and Execution Figure 3.2.15 PR blueprint PR#0: Homing before the system starts to operate. PR#1: After the homing is completed, it goes to the middle point of bobbin and enables the operator to install the bobbin and the tape.
Page 143 ASDA Series Application Note Application Examples PR#2: Setup the E-cam curve magnification which means to set P5-19 to 69.92. Different length of bobbin brings different magnification. Figure 3.2.17 E-cam curve magnification PR#3: Select the initial curve. There should be three E-cam curves in total in data array. This one is the first.
Page 144 Application Examples ASDA Series Application Note PR#10: Setup parameter to select the E-cam curve of return trip. Please refer to Figure 3.2.18. PR#11: Setup parameter to set the pulse number that master axis needs for wrapping 1 layer. Please refer to Figure 3.2.14.
Page 145 ASDA Series Application Note Application Examples Figure 3.2.19, the main flow chart of PR application Figure 3.2.19 Time sequence of PR execution 3-33 March, 2015...
Page 146: System Adjustment
Application Examples ASDA Series Application Note 3.2.3.5 System Adjustment a. The length of bobbin remains and the width of tape is changed. See Figure 3.2.20. Assume the tape is changed from 15 mm to 10 mm and the interval and the length of bobbin remain at 0.2 mm and 190 mm respectively.
Page 147 ASDA Series Application Note Application Examples b. The length of bobbin is changed and the width of tape remains. See Figure 3.2.21. Assume the length of bobbin is changed from 190mm to 150mm and the width of tape and the interval remain at 15mm and 0.2mm respectively.
Page 148: The Design Of E-Cam Curve
Application Examples ASDA Series Application Note Looking for the middle point of bobbin: PR#1: Incremental command 2850000PUU Figure 3.2.22 Looking for the middle point of bobbin 3.2.3.6 The Design of E-cam Curve In this application, to build the E-cam curve is quite easy, only by one linear line will do. It is not suitable to plan acceleration/deceleration on two endpoints in this application.
Page 149 ASDA Series Application Note Application Examples Only one linear line is needed to build in E-cam curve which is shown in the following Figure. Figure 3.2.24 E-cam curve of half going trip Figure 3.2.25 E-cam curve of the whole return trip...
Page 150 Application Examples ASDA Series Application Note Figure 3.2.26 E-cam curve of the whole going trip 3-38 March, 2015...
Page 151: Application To Labeling Machine
Besides the detailed description of labeling motion, this chapter will introduce how E-cam curve is created in speed section by Delta’s ASDA soft. This curve has a very long constant speed section, which is the table creation basis in rotary cutoff and similar applications.
Page 152: Master Axis - Axis Of Conveyor
Application Examples ASDA Series Application Note 3.3.2.1 Master Axis – Axis of Conveyor It transports the to-be labeled objects, such as packing box. The pulse signals are sent out to command the camshaft axis simultaneously in order to control the labeling speed.
Page 153 ASDA Series Application Note Application Examples Figure 3.3.2 Labeling start Figure 3.3.3 Side view of labeling process 3-41 March, 2015...
Page 154: Camshaft Is Disabled And Label Positioning
Application Examples ASDA Series Application Note 3.3.3.2 Camshaft is Disabled and Label Positioning The label positioning sensor determines the disengagement of camshaft and the outstretched part positioning. It can be adjusted by different label lengths and different demand. See Figure 3.3.4 for the adjustment of outstretched part positioning.
Page 155 ASDA Series Application Note Application Examples Figure 3.3.5 Label outstretching and positioning 3-43 March, 2015...
Page 156: Pr Program And Execution
Application Examples ASDA Series Application Note 3.3.3.3 PR Program and Execution Figure 3.3.6 PR program and execution PR#0: Homing. Due to the design of mechanical structure, when enabling the function, regard the stop position as the homing position will do.
Page 157 ASDA Series Application Note Application Examples Figure 3.3.7 Label stop position PR#11: Setup parameter to disable EV1 rising edge trigger command in order to prevent the alarm occurs. PR#12: Setup parameter to reset the Capture amount. Only one position is needed to capture for E-cam function.
Page 158: Structure Of E-Cam Curve
Application Examples ASDA Series Application Note Figure 3.3.8 Spacing between labels PR#57: When executing this PR, the label positioning sensor has left label position. EV1 falling edge trigger will not continuously be triggered twice in control procedure. In order to prevent the error occurs, disable EV1 falling edge trigger first and enable it later by PR command at an appropriate time.
Page 159 ASDA Series Application Note Application Examples Figure 3.3.9 Labeling and E-cam curve From Figure 3.3.9, a long constant speed section is needed in E-cam curve. Thus, the maximum label length the machine may operate should be considered. See Figure 3.3.10.
Page 160: E-Cam Curve Creation
Application Examples ASDA Series Application Note 3.3.3.5 E-cam Curve Creation According to the actual machine, the roller diameter of master axis is 5 cm. The encoder sends out 1600 pulses for each revolution. See Figure 3.3.11. Thus, the pulse number sent by master axis per revolution is: 1600 pulse / (π*50 mm) = 10.185916 (pulse/mm).
Page 161 ASDA Series Application Note Application Examples From the above Figure 3.3.12, the label length brought by each roller revolution is π*5 cm = 15.708 cm. To meet the requirement of maximum 23 cm, the curve must be longer than 23 cm since the acceleration / deceleration time should be left.
Page 162 Application Examples ASDA Series Application Note resolution, but increase its readability. In this example, the traveling distance for each camshaft axis resolution is π*5 cm =15.708 cm. In order to make the data more readable, users can set 157080PUU for each cycle the camshaft travels, which is 0.001 mm per PUU. Thus, set P1-44 to 128000 and P1-45 to 15708.
Page 163 ASDA Series Application Note Application Examples Figure 3.3.16 Simulation information c. Set slave axis lead Setup the longest lead of labeling, 23 cm and consider the acceleration / deceleration section, this curve must be designed longer than 23 cm. According to the previous experience, take 30 cm for a rough estimation (About 10% more, including 5% of acceleration and 5% of deceleration).
Page 164 Application Examples ASDA Series Application Note d. Set master axis lead It is estimated that master axis will travel 33 cm (10% more). Therefore, if P5-83 is set to 1, then P5-84 = 10.185916(pulse/mm)*330(mm) = 3361. Figure 3.3.18 Pulse number setting of master axis e.
Page 165 ASDA Series Application Note Application Examples Figure 3.3.19 Create E-cam curve f. Use camshaft axis to adjust the speed in Constant Speed Area To adjust the curve by Acceleration / Deceleration Area or slave axis lead will be introduced here (Both can be adjusted simultaneously.). In Figure 3.3.20, after adjusting Acceleration / Deceleration Area, the Constant Speed Area of camshaft axis can comply with the speed of master axis (Please see the result in mark 4 and 5 in Figure 3.3.20.).
Page 166 Application Examples ASDA Series Application Note Figure 3.3.20 Adjust the E-cam curve in Acceleration / Deceleration Area Figure 3.3.21 Adjust the E-cam curve of camshaft axis lead g. Adjust the speed in Constant Speed Area by master axis Data showed in Figure 3.3.22, mark 1 is the same as Figure 3.3.19. Here, adjust the pulse of master axis (P5-84) in Figure 3.3.18 from 3361 to 3376 (the result after trying several times)
Page 167: Analysis Of E-Cam Curve
ASDA Series Application Note Application Examples Figure 3.3.22 Adjust the E-cam curve of master axis lead 3.3.3.6 Analysis of E-cam Curve In Figure 3.3.23, mark 5 shows the traveling distance of master axis and camshaft axis at 30° (before entering the Constant Speed Area).
Page 168 Application Examples ASDA Series Application Note Figure 3.3.23 Analysis of E-cam curve Figure 3.3.24 Acceleration Area and labeling start sensor 3-56 March, 2015...
Page 169: Printing Machine Application With Synchronization Of Multiple Axes
ASDA Series Application Note Application Examples 3.4 Printing Machine Application with Synchronization of Multiple Axes 3.4.1 Description This section mainly describes the position synchronization application for shaftless color process printing. In this application, the position error is not compensated by ASDA-A2, but the host controller by sending the signal for position synchronization.
Page 170: Analysis Of System Operation
Application Examples ASDA Series Application Note speed. This could correct the relative position by promptly accelerating or decelerating the printing roller while it is still synchronized with the master axis. 3.4.2.2 Analysis of System Operation When the system works normally, all slave axes follow the master with the same speed.
Page 171 ASDA Series Application Note Application Examples the position. Distance setting of PR incremental command If EV1 is the DI signal for position compensation and P5-9 8 =0x0001, when this DI is triggered, PR#51 will be executed. See the setting of PR#51 as below: Figure 3.4.4 PR incremental command...
Page 172: Simulative Operation
Application Examples ASDA Series Application Note E-Cam speed curve Pulse number of slave E-Cam position curve axis Pulse number of master axis Figure 3.4.5 Traveling distance of master axis corresponds to the distance of E-cam In figure 3.4.5, you can see the operation speed of master axis and slave axis presents a straight line, which means it is in normal operation.
Page 173 ASDA Series Application Note Application Examples See figure 3.4.9 for E-Cam operation without compensation. Figure 3.4.9 E-Cam operation curve without compensation When forward shifting the phase, the printing roller moves forward for 3000 PUU. See the setting and operation curve below: Figure 3.4.10 PR setting of forward phase shifting...
Page 174 Application Examples ASDA Series Application Note Figure 3.4.11 E-Cam operation curve of forward phase shifting See PR setting for backward shifting the phase (= moves backward) Figure 3.4.12 PR setting of backward phase shifting 3-62 March, 2015...
Page 175 ASDA Series Application Note Application Examples Figure 3.4.13 E-Cam operation curve of backward phase shifting 3-63 March, 2015...
Page 176: Application To Gantry
3.5 Application to Gantry 3.5.1 Introduction This chapter explains the gantry setting and how gantry works when it is used on Delta ASDA-A2 series products. Users may increase or reduce control signals based on their needs. For other description of functions and commands, please refer to user manuals of Delta servo drive.
Page 177: Positioning And Homing Of Gantry
ASDA Series Application Note Application Examples 3.5.2.2 Positioning and Homing of Gantry When gantry starts working, completed positioning and homing is required. Positioning is completed by a position sensor installed on the side of each axis. This position sensor must be correctly installed as this is the only part that enables the gantry to correct its parallel position.
Page 178 Application Examples ASDA Series Application Note Figure 3.5.3 demonstrates the relative position between the sensing object and the position sensor. This is an example of a grooved-type photoelectric sensor. Figure 3.5.3 The Relative Position of the Position Sensor and Sensing Object Figure 3.5.4 demonstrates the status before positioning.
Page 179: Motion Following
ASDA Series Application Note Application Examples Low-speed zone Axis 1 Axis 1 Moving platform Position Axis 2 Axis 2 sensor Sensing object Figure (1) Entering low-speed zone Figure (2) One axis is in position Axis 1 Axis 1 Axis 2...
Page 180: Servo System Settings
Application Examples ASDA Series Application Note 3.5.3 Servo System Settings 3.5.3.1 Wiring Figure 3.5.5 shows the wiring of the entire system. Users may apply different applications according to actual needs. Figure 3.5.6 shows the detailed wiring. a. DI signal SON (0x01): System Start-Up; when system is activated, the start signal of each system is required.
Page 181 ASDA Series Application Note Application Examples Host Controller Axis 1 Axis 2 (1) DI/O signal used for communicating between Axis 1 and the host controller (2) DI/O signal used for communicating between Axis 2 and the host controller (3) Position command to Axis 1 and 2 sent by the...
Page 182 Application Examples ASDA Series Application Note Figure 3.5.6 System Wiring Diagram (for reference) 3-70 March, 2015...
Page 183: Sequential Logic Control Of Positioning And Homing
ASDA Series Application Note Application Examples 3.5.3.2 Sequential Logic Control of Positioning and Homing Concerning the gantry control method of ASDA-A2, the control logic of positioning and homing has to be completed by the host controller. The control sequence of a host controller and how it works is explained in previous sections.
Page 184 Application Examples ASDA Series Application Note b. The timing diagram of two axes symmetrically return to positioning point Two Axes Symmetrically Return to Positioning Point Delay Time Command from Host Controller is Sent to Axis 1 and 2 Command Received by...
Page 185 ASDA Series Application Note Application Examples c. Two axes return to positioning point asymmetrically Shown in Figure 3.5.9, if any unexpected problem occurs during the operation that results in asymmetry of two axes, the position of two axes can be corrected by homing.
Page 186 Application Examples ASDA Series Application Note d. Timing diagram of two axes return to positioning point asymmetrically Two Axes Asymmetrically Return to Positioning Point Low-speed zone Delay Time Command from Host Controller is Sent to Axis 1 and 2 Command Received by...
Page 187 ASDA Series Application Note Application Examples e. Descriptions about homing As Z pulse is set to be the homing origin, this figure below demonstrates how it searches for Z pulse of Axis 1. Please see the descriptions below. Figure 3.5.11 Homing Figure 3.5.12 presents the position command that the host controller has to issue when homing.
Page 188 Application Examples ASDA Series Application Note Signal control procedure of homing Homing Command from Host Controller is Sent to Axis 1 and 2 Command Received by Axis 1 ORG Signal of Axis 1 Axis 1 Pulse Inhibit Signal Level 0...
Page 189: Steps For Adjusting The Servo When Using Gantry Control
ASDA Series Application Note Application Examples 3.5.3.3 Steps for Adjusting the Servo when Using Gantry Control The following steps are about the gantry setting and parameter adjusting. Step 1: Check the wiring Please refer to the application in section 3.5.3.1 and make sure the wiring is correct.
Page 190 Application Examples ASDA Series Application Note (46.875 * 110% ) / 60 * (P1- 46) * 4 < 8 * 10 Two servos’ setting of P1-46 has to be the same; this is the output resolution of the motor. The higher the resolution is, the better control of the gantry will be.
Page 191 ASDA Series Application Note Application Examples Figure 3.5.14 The Phases of Feedback Pulse in the Opposite Direction 4. If the setting is correct, the signal will be the same as shown in the figure below; the increasing amount is in the same direction. (The zigzag signal shown in yellow is normal because value resetting is done to avoid overflow.)
Page 192 Application Examples ASDA Series Application Note Step 6: Activate the synchronous control Activate the synchronous control via P1-74; set digit in ones to 2, the synchronous control of gantry will be activated. Step 7: Trial runs 1. Let gantry function remain in pause so as to assure the mechanism is safe when adjusting parameters.
Page 193 ASDA Series Application Note Application Examples Step 8: Synchronizing test and parameters adjustment 1. Be sure to complete the steps described above. Then, please use parallel connection to connect the gantry mechanism between two motors and then start testing the gantry.
Page 194 Application Examples ASDA Series Application Note Figure 3.5.18 Gantry’s Synchronous Control Structure 3-82 March, 2015...
Page 195: Application Example Of Packing Machine
ASDA Series Application Note Application Examples 3.6 Application Example of Packing Machine 3.6.1 Description This chapter aims at the application of ASDA-A2 on packing machine, which is for suing the compensation of flying shear and mark tacking. If the film has improper tension adjusting, mechanical slips or the distance between marks is different, ASDA-A2 has the automatic correction feature to correct the errors.
Page 196: Master Axis (Film Feeding Axis)
Application Examples ASDA Series Application Note 3.6.2.1 Master axis (Film feeding axis) This axis is for delivering the film for packing. The delivery should be smooth, e.g. the mechanical tension should not be too big or it might extend the length of film. However, if the tension is loose, the film feeding bobbin would slip easily.
Page 197: Camshaft (Chain Conveyor)
ASDA Series Application Note Application Examples 3.6.2.3 Camshaft (Chain conveyor) Chain conveyor receives the pulse sent by master axis and synchronizes with master axis. With ASDA-A2, this axis has the function of pulse tracking and mark correction which will be elaborated later.
Page 198: Function Introduction
Application Examples ASDA Series Application Note Figure 3.6.4 The setting of different color mark 3.6.3.2 Function introduction Adjusting the cutting position A great development of ASDA-A2 on packing machine is the function of mark correction. The packaging film has ductility, thus it is very sensitive to different tension. When the tension is too big, it would extend the length of packaging film;...
Page 199 ASDA Series Application Note Application Examples Build-in function of masking and cutting with missing marks The system inspects the actual length by marks printed on packaging material. Thus, mark plays an important role to the system. To make sure the mark can be read by the system is a vital task.
Page 200 Application Examples ASDA Series Application Note Figure 3.6.7 Function of initial position adjusting Empty pack skip function ASDA-A2 uses the feature of motion command overlap. With the assistance of the controller, it can skip the empty pack. The inertia produced by mechanism when stops instantaneously should be considered.
Page 201 ASDA Series Application Note Application Examples Figure 3.6.8 Photoelectric switch for detecting empty pack When empty pack is detected, the controller will trigger EV in a proper time and conduct offset compensation. Since ASDA-A2 has the feature of command overlap, skip empty pack can be done by this function.
Page 202 Application Examples ASDA Series Application Note Figure 3.6.9 The combination of empty pack command Cutting skip with incorrect object position Before cutting, if the package is in wrong position, in order to avoid the wrong cutting and damage the mechanism, proper defense mechanism is a must. See Figure 3.6.10.
Page 203 ASDA Series Application Note Application Examples curve. Set P5-88.U to C could avoid the situation and have the same function as P5-88.U=4, periodically disengage. Firmware version after V1.027 Sub.6 supports P5-88.U=C). It also can satisfy the demand of one or more cutting skips through adjusting lead pulse (P5-92). See Figure 3.6.11.
Page 204: Design Of E-Cam Curve
Application Examples ASDA Series Application Note 3.6.3.3 Design of E-cam curve Types of flying shear curve A variety of flying shear curves is offered by ASDA-A2. See Figure 3.6.13. There are three kinds at the moment. One is to build the curve which has no synchronous zone by PC software. The other one is to build the curve which has synchronous zone and remains at 51 degrees by PC software or macro command.
Page 205 ASDA Series Application Note Application Examples Figure 3.6.14 Calculation of synchronous zone Limit of cutting length Figure 3.6.13 indicates three kinds of cutting length proportion. The so called cutting length proportion represents the ratio of the wrapping length to the distance the cutter travels, see Figure 3.6.15.
Page 206 Application Examples ASDA Series Application Note Figure 3.6.16 Use lead pulse to lengthen the cutting length Cutting speed compensation While cutting, the cutting speed will be faster or slower than the film feeding speed base on some specific requirement. When the cutting speed is slower than the speed of synchronous zone, the film will be squeezed.
Page 207: Application Of Precision Positioning Via Mark Reading
ASDA Series Application Note Application Examples 3.7 Application of Precision Positioning via Mark Reading 3.7.1 Description ASDA-A2 has built-in motion control function. It can quickly complete motion control command and be applied to the application that requires quick response and precise positioning. The general controller cannot satisfy the demand of some applications, which might needs different speed control, but ASDA-A2 could show its excellent performance in this area.
Page 208: System Configuration
Application Examples ASDA Series Application Note 3.7.3.2 System configuration Figure 3.7.1 is the description of system plan. The section that CAP function is enabled 30,000 PUU The moving distance after being triggered Moving direction Moving distance Start position End position...
Page 209: Motion Command And Pr Program
ASDA Series Application Note Application Examples 3.7.3.3 Motion command and PR program Motion command and PR program are shown in Figure 3.7.2. PR program will be elaborated in this chapter. Figure 3.7.2 PR program 3-97 March, 2015...
Page 210 Application Examples ASDA Series Application Note The main PR function of each cycle: Set PR#8 to Homing mode at the start position (Use the current position as original point). Enable the first COMPARE function. Specify the JUMP path of PR#45 to PR#20.
Page 211 ASDA Series Application Note Application Examples Jump to different PR when CMP is completed Jump Delay = 0 PR#20 or PR#30 (Write by PR#7 and PR#23) Disable CMP function CMP data address CMP amount Write Write Write Delay = 1ms...
Page 212 Application Examples ASDA Series Application Note Figure 3.7.6 The system does not detect the mark 3-100 March, 2015...
Page 213: Application Example Of Packing Machine With Phase Alignment Function
ASDA Series Application Note Application Examples 3.8 Application Example of Packing Machine with Phase Alignment Function 3.8.1 Instruction This chapter aims at the application of horizontal packing machine which uses the material feeding axis as master axis and film feeding axis and cutter axis as slave axes. With cam positioning and synchronous capture axis, it fulfills the function of modification by mark tracking.
Page 214: Servo System Setup
Application Examples ASDA Series Application Note Figure 3.8.1 Systematic Diagram of Packing Machine 3.8.3 Servo System Setup 3.8.3.1 Configuration The pulse of master axis on two camshafts is from the output pulse of material feeding axis. The film feeding axis and cutter axis can therefore operate in accordance with the speed of material feeding axis by pulse by-pass function.
Page 215 Until the next package enters the operation zone, two slaves start to operate. Thus, it can save the packaging materials. The empty pack skip function of Delta Servo System can apply to single or multiple packs. However, when applying this function, the capability of the machine should be taken into consideration.
Page 216: Features
Application Examples ASDA Series Application Note Figure 3.8.3 System Configuration – Signal of Empty Pack Skip and Cutting Skip 3.8.3.2 Features Synchronous Capture Axis Synchronous capture axis applying here is to ensure it can automatically adjust its motion and overcome the problem of incorrect packaging and wrong cutting position when master axis (material feeding axis) transmits the abnormal pulse to the slaves (film feeding axis and cutter axis).
Page 217 ASDA Series Application Note Application Examples Figure 3.8.4 Relation of the Pulse from the Master Axis and the Cutting Length In order to solve the problem of abnormal pulse sent by master axis, the pulse number between two marks can be regarded as the basis. And the difference between the actual receiving pulses of two marks can be the basis for adjusting the cutting length.
Page 218 Application Examples ASDA Series Application Note marks will be compared with the standard pulse number set by P5-78 and be calculated the difference. The difference will be saved in P5-79 and applied by the camshaft to adjust the error. ...
Page 219 ASDA Series Application Note Application Examples PR#22: P5-38 is to set up the captured quantity. The capture function captures one data every cycle. Therefore, P5-38 = 1. PR#23: Enable Capture Function, P5-39.X = 1. PR#24: Enable E-Cam, P5-88.X1 = 1.
Page 220 Application Examples ASDA Series Application Note Figure 3.8.8 Theorem of Cam Positioning Parameters from P2-73 to P2-76 have the function of cam positioning. The followings detail the description of each parameter. Step 1: Set relevant settings of the input DI The DI pin which connects to the sensor needs to be set to 0x35 (normally close) or 0x135 (normally open).
Page 221 ASDA Series Application Note Application Examples Step 2: Filter setting In order to have a more smooth operation of the cam and reduce the position error caused by DI noise (for example, the vibration during the delivering of the wrapping film will cause slight difference when DI is reading the mark), the filter can help for increasing the stability of positioning.
Page 222 Application Examples ASDA Series Application Note Step 4: Set up the maximum allowable correction rate When a big position error exists, the movement of every adjustment might be big and thus easily causes motor vibration or overload. The setting of P2-73.UZ could separate the adjustment for positioning into several times and can moderate the adjustment.
Page 223 ASDA Series Application Note Application Examples Step 5: Set PR and enable positioning After positioning, the difference of the E-cam position will be saved in specified PR data of P2-73.BA. When the system needs to do the adjustment, this PR could conduct it in an appropriate time.
Page 224 Application Examples ASDA Series Application Note P2-76.X trigger PR Two point Enable Function phase immediately registration 0 : Manually 0 : Single point Description 0: disable correction trigger PR set by P2-73.BA 1: enable 1 : Adjust the phase of...
Page 225 ASDA Series Application Note Application Examples P2-76.X2 = 0 P2-76.X2 = 1 Slave DI.ALGN: Axis DI.ALGN: 0x35 0x35 Slave Axis Master Axis Master axis Figure 3.8.12 Mechanisms which can apply the funciton of cam positioning In this example, the target of cam positioning is material feeding axis. The system will automatically call PR for adjustment (P2-76.X1 = 1) when DI.ALGN is triggered every time.
Page 226 Application Examples ASDA Series Application Note times continuously. Only if the master axis continues travelling, will the slave axis start to operate automatically after the stopped cycle. When setting the macro, P5-39 has to be 0. Also, the E-cam has to be engaged and operates in forward direction.
Page 227 ASDA Series Application Note Application Examples Slave axis One cycle One cycle position Master axis Stop Start operating operating Figure 3.8.14 Macro10 Macro 10 usually goes with PR special filter P1-22. It is for alleviating the disturbance caused by the dramatic change of commands. P1-22.YX sets for the limit of acceleration time. When PR (or cam) commands change too severe, this setting can smooth the mechanical operation.
Page 228 Application Examples ASDA Series Application Note If the user worries that PR special filter will cause reverse operation, use the setting of P1-22.U to avoid it. When the function is working, it will prohibit reverse command. The system will save the prohibited amount.
Page 229 ASDA Series Application Note Application Examples Correct packing position Incorrect packing position Figure 3.8.18 Material is misplaced Using E-Cam output angle and the sensor could avoid and detect the material that is placed in a wrong position. See Figure 3.8.19, when DO.0x118 is On, if the sensor does not detect the material, it might mean the material is in a wrong position.
Page 230 Application Examples ASDA Series Application Note Pulse number of master axis after rotating a cycle: (P5-84/P5-83) = L Slave axis Alignment position (Y) correction value Y_Drift Master axis position (X) Current engaged Alignment target position position P5-96 Figure 3.8.20 Macro F When PR is triggered, the system will set P5-19 to 0 and trigger macro 8 to enable the setting of P5-19 = 0.
Page 231 ASDA Series Application Note Application Examples 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.
Page 232 Application Examples ASDA Series Application Note Troubleshooting after alarm is cleared If mechanism stops operating because alarms occur, it might result in relative phase shift. If the system could correctly correspond the phase of master axis to the E-Cam before operation, it can save the material during the phase correction process.
Page 233 ASDA Series Application Note Application Examples When desire to move the cutter to the target position, motor can operate either at forward or reverse direction. Users can set up available forward rate or avoid point to plan the operating direction.
Page 234 Application Examples ASDA Series Application Note Figure 3.8.25 Setting of avoid point If reverse direction is not allowed, users can set up reverse inhibit (P5-93.DC = 1). Then, the command of reverse direction will be neglected. That is to say, the motor will start its operation when it receives the command of forward direction.
Page 235: Design Of E-Cam Curve
ASDA Series Application Note Application Examples the distance the position command needs to move. After this PR is triggered, the cutter axis will move to the target position. Setup available Setting before enabling macro D Enable macro D PR for cam registration...
Page 236 Application Examples ASDA Series Application Note E-Cam curve of cutter axis The E-Cam curve of cutter axis can be done by E-CAM editor of ASDA-Soft. This example uses Rotary Shear – Adjustable Sealing Zone to create an E-Cam curve. Users can create the curve by setting up the required mechanism specification and angle.
Page 237 ASDA Series Application Note Application Examples E-Cam curve of film feeding axis The E-Cam curve of film feeding axis can be done by E-CAM Editor of ASDA-Soft. Assume the gear ratio between motor and mechanism is 1:5 and the cutting length is 500 mm, 1 mm of resolution corresponds to 100 PUU and 500 mm needs 50,000 PUU.
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Page 239: Application Techniques
Application Techniques 4.1 DO Output with Fixed Distance ..................4-2 4.1.1 Description ......................4-2 4.1.2 System Configuration ..................... 4-2 4.1.3 Servo System Setting .................... 4-3 4.2 How to Use E-Cam Function to Compensate Tolerances on Lead Screw ....4-8 4.2.1 Description ......................4-8 4.2.2 How does the System Work? .................
Page 240: Do Output With Fixed Distance
Chapter 4 Application Techniques ASDA Series Application Note 4.1 DO Output with Fixed Distance 4.1.1 Description With the built-in COMPARE function of ASDA-A2, users can enable DO signal output after the motor operates for a distance. More than one DO output can be flexibly programed and its output length can also be modified.
Page 241: Servo System Setting
ASDA Series Application Note Chapter 4 Application Techniques See the example in figure 4.1.1. The output time of two DOs is overlapped. Followings are the system configuration: Use PR write-in function to write four values, input 1 to input 4 (the timing when DO1 and DO2 is on and off) into data array and regard them as the timing when Compare outputs.
Page 242 Chapter 4 Application Techniques ASDA Series Application Note Activate the motor Disable CMP function Activate Write the motor Jump Speed and enable Delay = 0 Delay = 0 Delay = 0 compare P5-59 = 0x11030 PR#9 10 rpm (CMP) function...
Page 243 ASDA Series Application Note Chapter 4 Application Techniques Jump to execute the Setup DO status Select the jump path third CMP function This will be executed Jump Write Write after the 3 Delay = 0 Delay = 0 Delay = 0...
Page 244 Chapter 4 Application Techniques ASDA Series Application Note Write the value required by compare function in data array. Here can setup the output timing and output duration of DO. See below for the main PR functions: Use P5-11 to specify the start address when writing value to data array.
Page 245 ASDA Series Application Note Chapter 4 Application Techniques Once the compare function is complete, a signal will be outputted and the compare function will be disabled. Then, PR#45 jumps to different PR so as to setup DO status. PR#30 / PR#33 / PR#36 / PR#39: Setup P4-06 so as to change the output status of...
Page 246: How To Use E-Cam Function To Compensate Tolerances On Lead Screw
Chapter 4 Application Techniques ASDA Series Application Note 4.2 How to Use E-Cam Function to Compensate Tolerances on Lead Screw 4.2.1 Description In the application of precision machinery that adapts an open-loop system, manufacturing tolerance on pitch of lead crew will cause inconsistency between command and position of machine.
Page 247: Servo System Configuration
ASDA Series Application Note Chapter 4 Application Techniques 4.2.3 Servo System Configuration 4.2.3.1 The Conversion of Command and Compensation from Servo Drive E-Cam system of ASDA-A2 can adjust the command resolution of the host controller and keep it consistent with the moving distance of the mechanism. If tolerance of pitch exists, the system is...
Page 248 Chapter 4 Application Techniques ASDA Series Application Note Command Conversion capability of from the servo E-Cam curve toward command from host controller Moving distance of the mechanism 20 mm Command from host 200 pulse controller (pulse) 1 pulse  1 PUU  0.1 mm Figure 4.2.4 The Proper Correlation when No Tolerance Exists...
Page 249: Measurement And Measuring Result
ASDA Series Application Note Chapter 4 Application Techniques Change the conversion capability of E-Cam curve Command from toward command from servo drive host controller Moving distance of Machine 22 mm Command from host 220 pulse controller (pulse) 1 pulse  0.9091 PUU  0.1 mm Figure 4.2.6 The Correlation after Compensation by E-Cam Curve...
Page 250 Chapter 4 Application Techniques ASDA Series Application Note Actual Position of Command from Servo Machine (PUU) (mm) 5000000 4000000 3000000 2000000 1000000 Command 1000 2000 3000 4000 5000 from Host pulse pulse pulse pulse pulse pulse Controller (pulse) Figure 4.2.8 The Correlation Curve when No Tolerance Exists In the actual measurement, there must be tolerance.
Page 251: Using E-Cam On Asda-A2 For Compensation
ASDA Series Application Note Chapter 4 Application Techniques Command from Actual Position of Servo Drive Machine (PUU) (mm) 5000000 4000000 3000000 2000000 1000000 Command from 1000 2000 3000 4000 5000 Host Controller pulse pulse pulse pulse pulse pulse (pulse) Figure 4.2.10 The Correlation when Tolerances Exist 4.2.3.3 Using E-Cam on ASDA-A2 for Compensation...
Page 252 Chapter 4 Application Techniques ASDA Series Application Note Steps to create E-Cam curve are shown below: 1. E-Cam curve on ASDA-A2 is created based on corresponding positions. Pulse of the master axis is the command from the host controller, which corresponds to the pulse number based on 360°.
Page 253 ASDA Series Application Note Chapter 4 Application Techniques Figure 4.2.14 Total points = measuring points + origin Figure 4.2.15 Set Curve Type of Every Angle to [1]: constant line 4. Please refer to Figure 4.2.9 and Figure 4.2.10. Calculate the angle of the master axis and take 0.1 mm/pulse as the basis of command resolution.
Page 254 2. Use this function in PR mode instead of the default PT mode. 3. For other operation and setting details about E-Cam, please refer to ASDA-A2 User Manual, teaching materials or contact service center of Delta Group. 4-16 March, 2015...
Page 255: Pt Command Transferred From Analog Voltage
ASDA Series Application Note Chapter 4 Application Techniques 4.3 PT Command Transferred from Analog Voltage 4.3.1 Description In ASDA-A2 control mode, analog signal can directly control speed and torque. For example, if wish to use analog signal (+10V/-10V) to find motor position, the positioning function that transfers analog speed to pulse can be used.
Page 256: Servo System Setting
Chapter 4 Application Techniques ASDA Series Application Note 4.3.3 Servo system setting 4.3.3.1 Wiring Analog signal is input via Pin42 (V-REF) and Pin44 (GND) of CN1. Its wiring method is identical to speed mode. Figure 4.3.2 Wiring Servo drive’s operation mode has to be set in PT mode. To avoid danger, please correctly setup E-gear ratio.
Page 257: Operation Steps
ASDA Series Application Note Chapter 4 Application Techniques 4.3.3.2 Operation steps Step 1: Setup operation mode Set the operation mode to PT：P1-01 = 0x0000 Step 2: Setup E-gear ratio It is strongly recommended to set E-gear ratio as 1:1 (P1-44 = 1 / P1-45 = 1). This is for avoiding the over speed of the motor.
Page 258 Chapter 4 Application Techniques ASDA Series Application Note When P1-64.Y = 1, servo drive will regard the motor’s current position as the position corresponded to analog command. Thus, motor will not operate when servo on. See figure 4.3.4, the input voltage is +5V, motor operates 50 cycles then servo off. Adjust the input voltage to +7V,...
Page 259 ASDA Series Application Note Chapter 4 Application Techniques DI: 0x0D sets the clear function of analog position command. When this DI is on, motor will be held at current position. Despite the change of analog command during the time of DI on, the motor will stay in current position even when this DI is off.
Page 260: Speed Change During The Execution Of Pr Position Command
Chapter 4 Application Techniques ASDA Series Application Note 4.4 Speed Change during Execution of PR Position Command 4.4.1 Description For the application of point-to-point operation, PR function in ASDA-A2 is a great tool for easy setting and wiring. Also, the host controller is not required during operation and thus can greatly enhance the efficiency and reduce the cost.
Page 261: Servo System Setting
ASDA Series Application Note Chapter 4 Application Techniques 4.4.3 Servo System Setting 4.4.3.1 Tips for Applying PR 1) Change PR definition via parameters All PR definition and related information can refer to relative parameters. Change the setting of corresponding parameters can modify PR definition. Please refer to Chapter 7 of ASDA-A2 user manual for further information about PR.
Page 262 Chapter 4 Application Techniques ASDA Series Application Note PR#4: Position command. Execute the position command at reverse direction. This PR has no interrupt. Thus, another motion command will be executed after this command is complete. PR#5: Jump command. To keep the motor operating at forward and reverse direciton.
Page 263 ASDA Series Application Note Chapter 4 Application Techniques Enable position command Jump DELAY = 0 PR#1 PR#1 Trigger this PR when changing the speed Jump PR#11 DELAY = 0 PR#11 The next position The next position command (PR#13) after command (PR#13) after...
Page 264: Macro For E-Cam Application
Chapter 4 Application Techniques ASDA Series Application Note 4.5 Macro for E-Cam Application 4.5.1 Macro C With this macro, the current pulse number of the master axis and position of the slave axis can be redefined without changing motor’s position.
Page 265: Macro D
ASDA Series Application Note Chapter 4 Application Techniques Note: When using this macro command, it would be better to execute this command before operating the master axis. Failure code F0C1h When executing this macro command, E-Cam is not in engaged status.
Page 266 Chapter 4 Application Techniques ASDA Series Application Note Slave Cycle E-Cam ECAM_H Position in P2- 52 Master Command position PR Position command is incremental E-Cam operates to the target position in reverse direction E-Cam operates to the target position in forward direction Figure 4.5.2 Macro D...
Page 267 ASDA Series Application Note Chapter 4 Application Techniques 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.
Page 268: Macro 10
Chapter 4 Application Techniques ASDA Series Application Note 4.5.3 Macro E This macro performs E-Cam alignment and writes the correction value into the specified PR. Please complete relevant settings such as target position and other PRs in advance. When macro E is triggered, the system will figure out the correction value and write it to the specified PR.
Page 269 ASDA Series Application Note Chapter 4 Application Techniques Pulse number of master axis after rotating a cycle: (P5-84/P5-83) = L Slave axis Alignment position (Y) correction value Y_Diff Master axis position (X) Current engaged Alignment target position position P5-96 ＊P5-93.UZ is able to limit the max. correction rate. The alignment target position ★ will be different from P5-96.
Page 270 Chapter 4 Application Techniques ASDA Series Application Note 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 4.5.4 Macro F...
Page 271 ASDA Series Application Note Chapter 4 Application Techniques The following macros are available from version V1.038 sub26 (included): Command Core 000Fh Calculate the moving distance between current and target position for PR positioning. General Parameters Macro parameters P5-93.Low_Word = UZTX(4 digits, HEX) YX (PR number of going trip) = 0 ~ 0X3F, it is invalid if the value is set to 0.
Page 272 Chapter 4 Application Techniques ASDA Series Application Note When executing this macro, E-Cam is not engaged. E-Cam has to Failure Code F0F1h engage to change the engaged position.
Page 273 ASDA Series Application Note Chapter 4 Application Techniques 4.5.5 Macro 10 After Macro 10 is triggered, the slave axis will stop operating. Then, it will start operating again after stopping for one cycle. In the application of packaging machine, using this macro can skip the empty pack.
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