Delta ASDA Series User Manual

ASDA Series Application Note Application Examples
March, 2015 3-29
The pitch of ball screw is 5mm. As for the wrapping length, followings are the calculation method:
(190 mm-15.2 mm) / 5 (mm/rev) = 34.96 rev.
This is the value of the cam on ball screw. When the value corresponds to the motor, according
to the calculation of gear ratio, the value should multiply double, which is 34.96*2=69.92 rev.
The PUU for one cycle of gear ratio is 100000PUU (P1-44=128, P1-45=10), thus the PUU of the
cam needs to operate is 69.92 rev * 100000 PUU/rev = 6992000 PUU. This value is the ideal
value which needs to be slightly adjusted when in real situation.
The corresponding relation of E-cam curve is shown as Figure 3.2.14.
Figure 3.2.14 E-cam curve
Command
from the cam
6992000 PUU
Pulse number of
master axis
165600 pulses
Command
from the cam
6992000 PUU
Pulse number of
master axis
165600 pulses
Pulse number of
master axis
165600 / 2 =
82800 pulses
Command from the cam
6992000 /2 = 3496000 PUU

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)