Settings For The Route Of Slave Axis (Round Compression Axis); Servo System Structure And Configuration - Delta ASDA Series Application Notes

Application Examples

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.
See (2) in Figure 3.1.3. After homing, we can move the compression axis to the nearest position
of rectangle carrier without obstructing its operating route. (Please be aware of the direction.)
The maximum traveling distance has to be taken into consideration when setting distance B.
Shorten distance B will shorten the time for creating the E-Cam curve.
When position B in (2) is selected, every time the E-Cam points are captured, the compression
axis returns to this position (not the origin) and wait for the next command. In (3), C is the
distance that the compression axis needs to travel to reach the rectangle carrier. If traveling
distance is set to C and when there is a backlash or tolerance, the round compression axis will
not be able to stay close to the carrier tightly (in this moving direction). In this case, this will cause
inaccuracy or change the precision level of the curve. In (4), distance D is the proper moving
distance for the compression axis. However, the round compression axis will never able to reach
this distance, which will be explained later.

3.1.3 Servo System Structure and Configuration

This section will explain how to manually create an E-Cam curve. A host controller can be used
to automatically carry out the step and replace the manual steps. And this will be an automatic
system for creating E-Cam curves. The following describes how it works.
3-6
(1)
C
(3)
Figure 3.1.3 Motion and Traveling Route of the Slave Axis
ASDA Series Application Note
A
B
(2)
D
(4)
March, 2015