Delta ASDA-A3 Series User Manual page 326

ASDA-A3
The formula is as follows:
E-Cam phase alignment setting: P2.075 sets the alignment position for E-Cam phase
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alignment. The unit is the pulse number of the master axis, which corresponds to the
specified E-Cam phase after conversion. For example, if the pulse number per E-Cam
curve cycle is 36000, then P5.083 = 1 and P5.084 = 36000. If you set P2.075 to 18000,
then upon the DI receives the signal, the system starts comparing the slave axis' actual
position and the set E-Cam position of 180° and then calculates the required
compensation value. If you set P2.075 to 10000, when the DI receives the signal, the
system starts comparing the slave axis' actual position and the set E-Cam position of 100°
and then calculates the required compensation value. Use the monitoring variable
063(3Fh) to monitor the slave axis' actual position.
Filter setting: to keep the operation smooth and decrease the position deviation caused by
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the noise of the external sensor, when the distances between each mark read by the
sensor are equal, you can use the filter to improve the stability of the phase alignment.
P2.073.YX specifies the filter range (%) in hexadecimal. If the deviation is smaller than this
set value, the filter function is effective. If the deviation is greater than this value, it means
the deviation is greater and requires immediate compensation. P2.076.Y specifies the filter
intensity. This works the same way as P1.015.Z, the correction filter intensity of the
synchronous Capture axis, which setting value is suggested to be less than 3. Refer to
Figure 7.3.7.15. Use the monitoring variable 085(55h) to monitor the E-Cam phase
deviation in percentage, which unit is 0.1%. If this value is 10, it means the deviation is
1%, which is 3.6°.
Compensation direction setting: P2.076.UZ specifies the allowable forward alignment rate
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in hexadecimal. Set it to 0% to perform the alignment always in the reverse direction; set
50% to align the phase with the shortest path; set 100% to perform the alignment always
in the forward direction. When you select "always forward" or "always reverse" for the
alignment, you must set the maximum correction rate to avoid excessive compensation.
Generally, using the shortest path for alignment is recommended. If the application has set
the reverse inhibit condition and the deviation is sometimes positive and sometimes
negative, use with P1.022.U the reverse inhibit function.
Maximum correction rate setting: when the alignment deviation is too great, the
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compensation amount might thus be great which causes motor vibration or even overload.
P2.073.UZ in hexadecimal sets the maximum correction rate and gradually compensates
the deviation in stages to alleviate the motor vibration, but it requires longer time to
complete the alignment compensation. The formula for maximum correction amount per
time is as follows:
Masking zone (pulse) =
Max. correction rate per time (pulse) =
P5.084
× P2.073. DC(%)
P5.083
P5.084
× P2.073. UZ(%)
P5.083
Motion Control
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