Delta ASDA-A3 Series User Manual page 315

Motion Control
Write the corresponding parameters: P5.093.DCBA = S-curve level (S); P5.093.UZYX =
2.
Angle of the waiting zone (W) set in hexadecimal; P5.094 = Synchronous speed zone (Y);
other parameter settings for curve table creation are the same as Step 5 mentioned
above. Set P5.097 to 7 to enable Macro #7.
7
If the ratio (R) of the cutting length (L) and the arc length between cutter ends (a) is 1.1 - 5
(R = 1.1 - 5), and the E-Cam segment number P5.082 = 72, follow the parameter setting
procedure to create the table with Macro #7.
Set the S-curve level: use macro parameter P5.093.DCBA to set the S-curve level (S) with
1.
the range of 1 - 4.
Set the synchronous speed zone: use macro parameter P5.094 to set the angle of the
2.
synchronous speed zone (Y). Its angle must be greater than 0. As shown in the following
formula, when the synchronous speed zone (Y
S-curve level.
Set the waiting zone: use macro parameter P5.093.UZYX in hexadecimal to set the angle
3.
of the waiting zone (W). The calculation is as follows.
When cutting, if the cutter speed is faster than the material feeder, it means the speed
compensation (V
speed and waiting zones based on the speed compensation requirements. If the cutter is
slower than the material feeder, it means the speed compensation is equal to or less than
1. Proceed to Step 6, set the mechanism related parameters, and enable Macro #7 to
complete the E-Cam curve creation.
7-118
360
�� =
������
��
�� ( ������ ) = 180 −
) is greater than 1. Proceed to Step 4 and re-plan the synchronous
c
) is less than 0 degree, decrease the
Max
��+1
− 5 × ( 3 + 2 ) ≥ 0
��+1
5 × ( 2 − 1 )
180
−
�� 2
ASDA-A3