Delta ASDA-A3 Series User Manual page 499

Motion Control
Speed Fitting
When the application requires the motions of both the master and slave axes to keep the same
speed or have the same correspondence relations, you can use the speed fitting method to
create the E-Cam curve. With this method, the E-Cam cycle is divided into five zones, which are
7
the waiting, acceleration, synchronous speed, deceleration, and stop zones as shown in Figure
7.3.4.5. You can adjust the proportion of each zone as needed.
This E-Cam curve is designed based on the positions. It plans the corresponding speed of the
master and slave axes based on the relationship between the position change and speed within
a given time. The setting interface for creating E-Cam curves with the speed fitting method in
ASDA-Soft is shown in Figure 7.3.4.6. Steps to create the table with the speed fitting method
are as follows:
Plan the E-Cam curve: determine the proportions of the waiting, acceleration, synchronous
1.
speed, deceleration, and stop zones within an E-Cam cycle.
Set the total moving distance (lead): set the total moving distance of the slave axis within
2.
one cycle in the unit of PUU.
Set the S-curve: set smoothness at the transition points of the position curve. The higher
3.
the value, the smoother the motor acceleration or deceleration, and the longer the
operation cycle. The S-curve setting value is usually the same or smaller than the stop
zone point number.
Download E-Cam curve: once the E-Cam curve is confirmed, click Download Table to
4.
write the E-Cam curve to the data array. If you click Write Table Data to EEPROM, the
data array is written to EEPROM and is non-volatile.
7-96
Figure 7.3.4.5 Speed fitting zone definition
ASDA-A3