Delta ASDA Series User Manual

ASDA Series Application Note Introduction of E-Cam Operation
March, 2015 2-47
take a three-synchronous-axis printing machine for example. Pulses from the encoder are sent
to the three slave axes as the source signal to make identical curves. Phases of the three slave
axes have to be identical. When phases are inconsistent, users can use PR command to overlap
E-Cam command so as to have the phase shifted. To have a positive phase shift, a positive
incremental position command can be used. Please make sure the speed (in forward direction)
is higher than the speed specified by E-Cam command. On the other hand, to have a negative
phase shift, please set a PR with negative incremental position command.
(PUU)
Master
(PUU)
Slave
(PUU)
Speed
Time
(PUU) (PUU)
(PUU)
Phases are indentical
Phases are not identical
Time
Speed
EV1 EV2
(PUU) (PUU
Slave
(PUU)
EV1 EV2
(PUU) (PUU
(PUU)
EV1 EV2
(PUU) (PUU
(PUU)
))
)
Speed Speed
TimeTime
Slave
Slave
MasterMaster
Master MasterMaster
Slave Slave
Speed
Speed
Time
Time
Figure 2.66 An Example of E-Cam Command Overlaps with PR Command

Delta ASDA Series Specifications

General

Control Modes	Position, Speed, Torque
Communication Interface	RS-485, CANopen, Modbus
Feedback	Incremental encoder, Absolute encoder
Protection	Overvoltage, Undervoltage, Overcurrent, Overtemperature
Power Supply	Single-phase or three-phase AC
Output Power	50W to 15kW (depending on the specific model within the series)