Delta ASDA Series User Manual

Application Examples ASDA Series Application Note
3-110 March, 2015
Step 4: Set up the maximum allowable correction rate
When a big position error exists, the movement of every adjustment might be big and thus easily
causes motor vibration or overload. The setting of P2-73.UZ could separate the adjustment for
positioning into several times and can moderate the adjustment. However, it takes longer time.
When conducting the positioning, the limit of every maximum allowable correction rate is as
follows:
| C | <= (P5-84 / P5-83) X P2-73.UZ%
Masking range
-75
Pulse
number of
master
axis
0
slaves
PUU
Filter works and
averages the errors
before doing the
adjustment
1
2
3
(P5-
84
)
/ ( P5
-
83)
P2
Example:
P5- 84
=
10000
,
P5- 83=1,
P2
-75
=
5000
,
5000 / 10000
*
360
º
=
180
º
DI ALGN
Current position
V03Eh
P
Time
compensation
of signal delay
Adjustment direction
<= P2-76. UZ
2 76 Y=3 Suggestion: P
Uses % to show errors
5
Current
position
Target
position
Maximum allowable correction rate
<= P2-73.UZ
Enable
registration
Conduct the adjustment
by triggering PR
P2-73. BA
Range of the filter
<= P2-73.YX
Strength of the filter
P2-76.Y
100
%
backward
forward
50
%
50
%
75
%
25
%
75
%
25
%
100
%
Current
position
limit
Filter does not
work and does
the adjustment
immediately
4
For preventing the
dramatic change, the
value needs to be set
in a reasonable range
P2-76.UZ = 0
P2-76.UZ = 25
P2-76.UZ = 50
P2-76.UZ = 75
P2-76.UZ = 100
Figure 3.8.9 Cam Positioning Setup

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)