Delta ASDA Series User Manual

ASDA Series Application Note Introduction of E-Cam Operation
March, 2015 2-39
Figure 2.56 Diagram of Creating E-Cam Table with Macro 7 (R = 1.1 ~ 5)
Calculate length
ratio R = A/a
1.1 ≦ R ≦ 5
FalseTrue
R > 5
Change
mechanism or
Use other
methods
Define S smooth level
P5-93.H=S=1~4
Calculate the possible
biggest constant
speed area
Y=360/R - (3+2
(s+1)
)*5
0 ≦ P5-94 ≦ Y
Y ≧ 0
Lower S level
Calculate the waiting zone
Wd=360 - 360/R - (2
(s+1)
-1)*5
P5-93.L = W = (Wd /2), convert to
Hex.
Speed
compensation
Vc >1
True
False
True
False
Start
Finish
Select possible
highest Vc
∆Y = 360/ R*(1-1/ Vc)
Calculate constant
speed area
Ynew = Y-∆Y
0 ≦ P5-94 ≦ Ynew
Select new constant
speed area
Ynew < Y
∆Y = Y - Ynew
0 ≦ P5-94 ≦ Ynew
Calculate Vc
Vc = 360/ (360 - ∆Y*R)
Renew the waiting zone
P5-93.L = Wnew
= (Wd+∆Y) /2,
Covert to Hex.
Calculate P5-95 & P5-96.
P5-95.H = A*C, (Hex.)
P5-95.L = B, (Hex.)
P5-96 = 1000000*R*Vc
P5-97 = 7
1
1
V first Y first

Delta ASDA Series Specifications

General

Brand	Delta
Model	ASDA Series
Category	Servo Drives
Language	English