Delta Electronics HMC Series, Руководство пользователя

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HMC Take-out Robot for Injection Molding Machine
June, 2015
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4.2 Servo Setting
This system needs to work with Delta’s ASDA-A2-F and ASDA-M-F series servo drive.
This screen is for setting up motion parameters of servo axis and servo performance.
(1) Gear ratio: Electronic gear ratio plays a vital role when converting the unit of
controlling system with the unit of real machine.
N represents numerator and M represents denominator; 1:a is the gear ratio
from motor side to final output terminal.
N = 1280000
M = gear number*tooth spacing/a
Note: the unit of pitch is millimeter (mm).
Example: a gear reducer with 1:5 of gear ratio, the gear number of belt pulley
is 20 and the pitch is 5 mm. Then, N = 1280000 , M = 20000
(20000 is acquired when the unit converts from mm to um)
N/M = 1280000/20000 = 64/1
(2) S-curve: It is for setting the acceleration curve when motion starts and deceleration
curve when motion stops. Bigger value brings smoother motion. However, it brings
longer response time.
(3) Acc. time(Acceleration time): The required time when the motor runs from 0 rpm
to 3000 rpm. Increase the value can smoother the operation. But the excessive
value might bring a longer response time.
(4) Dec. time(Deceleration time): The required time when the motor runs from 3000
rpm to 0 rpm. Increase the value can smoother the operation. But the excessive
value might bring a longer response time.
(5) Acc./dec. time of homing : Acceleration and deceleration time when homing.
(6) Max. speed: RPM = (rotation/minute); mm/s = (millimeter/second). When setting the
E-gear ratio, rpm and mm/s is in linear relation. RPM is equals to mm/s.
(7) Dire.(Forward direction):