Delta ASDA-A3 Series, User Manual

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ASDA-A3 Motion Control
7-115
7
You can use Macro #7 of the servo drive to create the table with the same method. The
advantage of using the macro to create an E-Cam curve is that when changing the cutting
length is required, you can create a new curve simply by modifying the parameters. It is very
friendly for those applications that require frequent modification of the cutting length. The setting
steps are as follows:
1.
Set the start position for the data array: use P5.081 to specify the data array start position
for E-Cam and use P5.085 to set the E-Cam’s segment number for clutch engagement.
When using Macro #7, the range of E-Cam segment (P5.082) is 30 – 72. It is suggested to
set segment to 72 for the optimal resolution of 5°.
2.
Set the system E-Gear ratio: set the system E-Gear ratio with P1.044 and P1.045.
3.
Set the E-Cam’s gear ratio and curve scaling: set the pulse number required for the cutting
length, which is P5.083 = 1 and P5.084 =
Pulse number per turn of the master axis encoder 𝑁
𝜋 × master axis encoder diameter 𝑑2(𝑚𝑚)
×
Cutting length 𝐿(𝑚𝑚)
. Use P5.019 to specify the E-Cam curve scaling.
4.
Set the parameters for the E-Cam curve zones: specify the size of the waiting, acceleration,
synchronous speed, and S-curve zones. P5.093.DCBA sets the S-curve level (S) with the
range of 1 - 4; the calculation for the corresponding angle (S°) is as follows. P5.093.UZYX
sets the angle (W) of the waiting zone with the range of -1° to 170° in hexadecimal. If you
enter -1 (0xFFFF), it means the cutter speed is 0 in the waiting zone and the angle for the
waiting zone is calculated by the servo drive. P5.094 sets the angle (Y) of the synchronous
speed zone with the range of 0° - 330° in decimal format. The acceleration zone is
automatically calculated by the servo drive, as shown in the following formula.
𝑆° =
2
𝑆
× 360°
E − Cam segment number 𝑃5.082
360° = 2𝑊 + 2𝐴𝑐𝑐 + 2𝑆° + 𝑌
As the synchronous speed zone is adjustable, there are limitations when using Macro #7
to create the waiting zone of the E-Cam curve. The conditions are as follows.
𝑊
̂ (minimum waiting zone) = 180° +
360°
𝑃5.082
−
360°
𝑅
+
𝑌
2