Delta ASDA Series User Manual

Application Examples ASDA Series Application Note
3-2 March, 2015
3.3.2.3 Label Positioning Sensor .................................................................. 3-40
3.3.2.4 Labeling Start Sensor ........................................................................ 3-40
3.3.3 Setting of Servo System .............................................................................. 3-40
3.3.3.1 Camshaft is Enabled and Starts to Label ............................................ 3-40
3.3.3.2 Camshaft is Disabled and Label Positioning .................................... 3-42
3.3.3.3 PR Program and Execution .............................................................. 3-44
3.3.3.4 Structure of E-cam Curve ................................................................. 3-46
3.3.3.5 E-cam Curve Creation ....................................................................... 3-48
3.3.3.6 Analysis of E-cam Curve ................................................................... 3-55
3.4 Printing Machine Application with Synchronization of Multiple Axes .................. 3-57
3.4.1 Description ................................................................................................... 3-57
3.4.2 System Operation and Configuration .......................................................... 3-57
3.4.2.1 How to Configure Your System ........................................................ 3-57
3.4.2.2 Analysis of System Operation ......................................................... 3-58
3.4.3 Servo System Setting .................................................................................. 3-58
3.4.3.1 PR Procedure and E-Cam Curve .................................................... 3-58
3.4.3.2 Simulative Operation ....................................................................... 3-60
3.5 Application to Gantry .......................................................................................... 3-64
3.5.1 Introduction .................................................................................................. 3-64
3.5.2 How Gantry works and the System Structure ............................................. 3-64
3.5.2.1 How does gantry work? ................................................................... 3-64
3.5.2.2 Positioning and Homing of Gantry ................................................... 3-65
3.5.2.3 Motion Following .............................................................................. 3-67
3.5.3 Servo System Settings ................................................................................ 3-68
3.5.3.1 Wiring ............................................................................................... 3-68
3.5.3.2 Sequential Logic Control of Positioning and Homing ...................... 3-71
3.5.3.3 Steps for Adjusting the Servo when Using Gantry Control .............. 3-77
3.6 Application Example of Packing Machine ........................................................... 3-83
3.6.1 Description ................................................................................................... 3-83
3.6.2 System plan ................................................................................................. 3-83
3.6.2.1 Master axis (Film feeding axis) ........................................................ 3-84
3.6.2.2 Camshaft (Flying shear) .................................................................. 3-84
3.6.2.3 Camshaft (Chain conveyor) ............................................................. 3-85
3.6.3 Servo system setting ................................................................................... 3-85
3.6.3.1 System configuration ....................................................................... 3-85
3.6.3.2 Function introduction ....................................................................... 3-86
3.6.3.3 Design of E-cam curve ....................................................................... 3-92
3.7 Application of Precision Positioning via Mark Reading ...................................... 3-95
3.7.1 Description ................................................................................................... 3-95
3.7.2 System theorem and setting ........................................................................ 3-95

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)