Delta ASDA Series User Manual

ASDA Series Application Note Application Examples
March, 2015 3-67
Low-speed
zone
Sensing
object
Axis 1
Axis 2
Position
sensor
Moving
platform
Axis 1
Axis 2
Figure (1) Entering low-speed zone Figure (2) One axis is in position
Figure (3) Both axes are in position
Figure (4) Both axes
synchronously return to Z pulse
Axis 1 Axis 1
Axis 2 Axis 2
Figure 3.5.4 System Positioning and Homing
3.5.2.3 Motion Following
When completing positioning and returning to the homing origin, the host controller has to issue
position commands. Then, ASDA-A2 will synchronize the motion of the two axes with its
remarkable performance. When reaching the position, ASDA-A2 is able to report its arrival to the
host controller. In this gantry control, ASDA-A2 is operated in PT mode; it does not accept the
position command from the host to speed up or slow down. Therefore, the host controller itself
should plan the acceleration/deceleration time to achieve stability and efficiency.

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)