Delta ASDA-A3 Series User Manual page 528

ASDA-A3
E-Cam phase alignment
The E-Cam phase alignment function is another compensation method provided by the servo
drive. You need to first set the phase for the E-Cam phase alignment and the compensation
detection position for the external sensor. In each cycle, everytime the E-Cam operates to the
detection position of the external sensor, the servo drive starts comparing the actual phase with
the correct phase and then calculates the deviation of the slave axis. Then, the servo drive writes
this deviation amount to the PR program for immediate or later compensation (user-defined),
which is completed with the E-Cam and PR command overlapping function introduced in Section
7.3.5. The compensation mechanism for the E-Cam phase alignment is shown in Figure 7.3.7.18.
 E-Cam phase alignment setting steps
When using the E-Cam phase alignment compensation, set the parameters for the DI (digital
input), phase alignment position, and compensation level. The flowchart is shown in Figure
7.3.7.20. The steps to set the E-Cam phase alignment function are as follows.
Presetting: create and download the E-Cam curve to the servo drive. Set the E-Gear ratio,
1.
including the system E-Gear ratio (P1.044 and P1.045), E-Cam gear ratio (P5.083 and
P5.084), and E-Cam curve scaling (P5.019). Complete the settings relevant to the
E-Cam, including the start address of the data array (P5.081), E-Cam segment number
(P5.082), and the E-Cam segment number for engagement (P5.085).
DI relevant settings: connect the external sensor with the DI point. Define this DI as
2.
[0x35]ALGN. Since both the DI and the sensor have delay, the captured phase position
might also delay. Use P2.074 to set the delay time compensation of the DI as follows:
To prevent mistakenly triggering the DI, set P2.073.DC in hexadecimal to specify the
masking zone proportion (%). The master axis pulse must exceed the masking area before
the next phase alignment starts. This function is only applicable to the applications with
forward direction pulse input.
Figure 7.3.7.18 Compensation mechanism for phase alignment
��2.074 = ��2.009 ( DI filter time ) + Sensor delay time
Motion Control
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