Delta ASDA Series Supplemento

Application Notes for

ASDA Series Servo Drive

Application Notes for ASDA Series Servo Drive

www.deltaww.com

Industrial Automation Headquarters

Delta Electronics, Inc.

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Asia

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*We reserve the right to change the information in this catalogue without prior notice.

Preface

About this application notes

This notes provide basic application examples and settings that apply to ASDA-A2 servo drive.

The content includes:

PR Operation

E-Cam Operation

Application Examples

Application Techniques

Note: 1. Please refer to ASDA series user manual for detailed description of parameters.

2. Please refer to ASDA series user manual for detailed description of system

framework and motion control mode.

3. Please refer to ASDA-Soft user manual for detailed

description about using the ASDA-Soft.

Personnel

This document is for personnel who have already purchased ASDA series servo drive or

engineers and technicians who use ASDA series servo drive to configure the product.

If you have any enquiry, please contact the distributors or DELTA customer

service center.

[email protected]

Important Notice

Different device has different features and operational ways. Technical personnel who is in

charge of operating the software shall implement appropriate measures and follow the

instructions of the user guide.

This manual mainly focuses on settings of ASDA-A2 servo drive when it is applied to

different types of machine. Please follow the instructions and notices of the machine which

is applied. Delta shall not be liable for the indirect, derivative, subsidiary, or related loss

caused by inappropriate operation of machine.

Delta will not take responsibility for the results of unauthorized modifications of this product.

Delta shall not be liable for any damages or troubles resulting from unauthorized

modification.

The drawings, figures, values and content presented in this application notes are typical

examples and are only used for functional description. However, there must be different

demands and variations in practical operation and settings. Configurations shall be

changed in accordance with the real applications. It is not suggested to use the same

setting values in the example of this notes. Delta will not take responsibility for the direct or

indirect loss caused by the system configuration of different applications.

No patent liability is assumed with respect to the use of the information contained herein.

No part of this work may be reproduced in any form (by photocopying, microfilm or any

other method) without the written permission of Delta.

Technical changes which improve the performance of the device may be made. Delta has

the right to change the definition and contents of this application notes.

Safety Precautions

To your safety, please pay special attention to the following safety precautions

before using this application notes.

The symbol of danger, warning and stop represent:

It indicates the potential hazards. It is possible to cause severe injury or fatal harm if not

follow the instructions.

It indicates the potential hazards. It is possible to cause minor injury or lead to serious

damage of the product or even malfunction if not follow the instructions.

It indicates the absolute prohibited activity. It is possible to damage the product or

cannot be used due to malfunction if not follow the instructions.

System Operation

Please follow the instruction when using servo drive and servo motor, or it is

possible to cause fire or malfunction. For instructions and safety precautions of

ASDA-A2 servo drive, please refer to its user manual. To use the relevant

parameter settings, please refer to the important notice of ASDA-Soft User Guide.

Wiring

To avoid danger, please refer to the selection of wiring rod when wiring.

Operation

Before start the machine, please set the relevant parameters properly. Failing to

set to correct value might cause malfunction of the mechanism.

Before start the machine, please check if the emergency stop can be used

anytime.

March, 2015 I

Table of Contents

Introduction of PR Operation

1.1 System Information ·····················································································1-2

1.2 Introduction of ASDA-A2 PR Function······························································1-10

1.3 Motion Control····························································································1-29

1.4 Presentation of PR ······················································································1-39

1.5 How is PR Arranged?···················································································1-42

1.6 PR Setting Examples···················································································1-44

IntroductionofE-CamOperation

2.1 Introduction of E-Cam··················································································2-2

2.2 Source of the Master Axis ·············································································2-5

2.3 The Clutch·································································································2-7

2.4 The E-gear of the Master Axis········································································2-13

2.5 E-Cam Curve·····························································································2-14

2.6 E-gear Ratio and Scaling of E-Cam Curve························································2-40

2.7 E-Cam Setting Example ···············································································2-42

2.8 Simultaneously Using E-Cam Function and PR Command···································2-46

2.9 Troubleshooting when E-Cam is not Working Properly ········································2-48

ApplicationsExamples

3.1 How to Use CAPTURE Function to Create an E-Cam Curve ······························· 3-4

3.2 Application to Wrapping Machine··································································· 3-20

3.3 Application to Labeling Machine·····································································3-39

3.4 Printing Machine Application with Synchronization of Multiple Axes························3-57

3.5 Application to Gantry····················································································3-64

3.6 Application Example of Packing Machine ·························································3-83

3.7 Application of Precision Positioning via Mark Reading·········································3-95

3.8 Application Example of Packing Machine with Phase Alignment Function················3-101

II March, 2015

ApplicationTechniques

4.1 DO Output with Fixed Distance ····································································· 4-2

4.2 How to Use E-Cam Function to Compensate Tolerance on Ball Screw····················4-8

4.3 PT Command Transferred fromAnalog Voltage ·················································4-17

4.4 Speed Change during the Execution of PR Position Command·····························4-22

4.5 Macro for E-Cam Application ·········································································4-26

March, 2015 1-1

Introduction of PR

Operation

1.1 System Information...............................................................................................1-2

1.1.1 What is System Parameter and How is it Used? ..........................................1-2

1.1.2 Mapping Parameter.......................................................................................1-5

1.1.4 Data Array....................................................................................................1-10

1.2 Introduction of ASDA-A2 PR Function ...........................................................1-10

1.2.1 Shared Setting List for PR...........................................................................1-13

1.2.2 Introduction of PR Homing..........................................................................1-14

1.2.2.1 Reference to Limit..............................................................................1-14

1.2.2.3 Reference to Z Pulse.........................................................................1-17

1.2.2.4 Reference to the Falling-Edge Signal on Home Sensor....................1-18

1.2.2.5 Reference to Current Position ...........................................................1-20

1.2.3 PR Speed Command ..................................................................................1-22

1.2.4 PR Position Command................................................................................1-23

1.2.5 Jump Command..........................................................................................1-25

1.2.6 PR Write-in Command ................................................................................1-25

1.2.7 PR Triggering Methods................................................................................1-26

1.2.7.1 Trigger by DI.CTRG / POS0 ~ POS5 / STOP....................................1-26

1.2.7.2 Parameter P5-07 ...............................................................................1-26

1.2.7.3 DI.SHOM............................................................................................1-27

1.2.7.4 Event Trigger......................................................................................1-27

1.2.7.5 Others CAPTURE Completed / COMPARE Completed / E-CAM

Disengaged ......................................................................................................1-29

1.3 Motion Control ....................................................................................................1-29

1.3.1 Monitoring Variables Related to PR............................................................1-29

1.3.3 Overlap of Commands ................................................................................1-34

1.3.4 Interrupt of Command .................................................................................1-35

1.4 Presentation of PR..............................................................................................1-39

1.5 How is PR arranged?..........................................................................................1-42

1.6 PR Setting Examples..........................................................................................1-44

IntroductionofPROperation ASDASeriesApplicationNote

1-2 March, 2015

This Chapter introduces the basic system and setup information about the ASDA-A2, providing

the background information for using the PR function. The Delta PR function in theASDA-A2

servo drive is defined as “Program Register” or parameterized setup of sequence and built-in

motion functionality. In the last part, operation examples of PR commands will be presented to

demonstrate and prove its motion command performance.

1.1 System Information

1.1.1 What is System Parameter and How is it Used?

The purpose of system parameter is allow for configuration of functions and commands of the

servo drive, serving as a mode reference, data display, or operation conditions during operation.

On ASDA-A2 servo system, users may have a comprehensive control over the servo by reading

and writing parameters. System parameter is presented in the format of Px-xx. The first

character after the start code P is the group character and the second character is the parameter

character. See the parameter groups below:

Group 0: Monitoring parameters

Group 1: Basic parameters

Group 2: Extension parameters

Group 3: Communication parameters

Group 4: Diagnosis parameters

Group 5: Motion control parameters

Group 6: PR parameters

Group 7: PR parameters

16-bit and 32-bit parameters are included in ASDA-A2 system. Users may read and write

parameters with the following methods.

1. Panel of the servo drive: using buttons on the panel to read or write parameters.

Please refer toA2 user manual for setting detail.

SHIFT

▲

▼

SET

MODE

CHARGE

Panel Display

Shift Key

Set Key

Down Key

Up Key

Mode Key

Power Indicator

Figure 1.1 Display Panel of the Servo Drive

ASDA Series Application Note Introduction of PR Operation

March, 2015

1-3

2. USB: Connect to a computer via USB and use ASDA-Soft (software for ASDA series

servo drive) to read or write parameters.

ASDA-Soft provides Parameter Editor for users to read or write parameters. Please refer to

ASDA-Soft User Guide for operation detail.

Figure 1.2 Parameter Editor

3. CANopen: Use CANopen fieldbus to connect to a host controller and

read/write parameters with the controller.

4. RS485/RS232: Use RS485 or RS232 to connect to a host controller and

read/write parameters with the controller.

Regarding reading and writing parameters with CANopen and RS485/RS232, it is for

editing the value for the communication address that corresponds to each parameter.

Please refer to Chapter 9 of ASDA-A2 user manual for communication protocol and

settings and Chapter 8 for communication address of each parameter which shown at the

right corner of each parameter table.

Figure 1.3 CommunicationAddress of Parameter

IntroductionofPROperation ASDASeriesApplicationNote

1-4

March, 2015

5. PR: Edit parameters by triggering PR event.

Use write-in function of PR to pre-set the parameter and value that required editing.

Once this PR is triggered, parameter settings can be modified. The related setting and

triggering methods will be explained in Section 1.2.7.

Figure 1.4 Use PR Write-in Function to Edit Parameter Setting

In this example, if system parameter value is shown in hexadecimal format, the bit code

will be presented by 0xDCBAUZYX.

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