Delta ASDA Series User Manual

ASDA Series Application Note Application Examples
March, 2015 3-115
Master
axis
Slave axis
Stop
operating
Cam
position
One cycle
Start
operating
One cycle
Figure 3.8.14 Macro10
Macro 10 usually goes with PR special filter P1-22. It is for alleviating the disturbance caused by
the dramatic change of commands. P1-22.YX sets for the limit of acceleration time. When PR (or
cam) commands change too severe, this setting can smooth the mechanical operation.
Unlike the traditional filter, this special filter (figure 3.8.15) works only when the acceleration and
deceleration time shorter than the setting value. If the command time is shorter than the setting
value, special filter will change the setting from the original acceleration and deceleration time to
the filter’s time. If the time is longer than the filter’s time, the filter executes its command
according to the original time and will not change the command. The acceleration and
deceleration time of the filter is defined between 0 and 3000 rpm. If it is set to 300 ms and the
speed is at 1000 rpm, then the acceleration and deceleration time is 100 ms. When the speed is
at 1500 rpm, the acceleration and deceleration time is 150 rpm and so on. The good points of
using the filter is that it will gradually stops and its final position will not go wrong. The system will
automatically count the spare distance. When resuming the operation, the system will deduct
from it. See Figure 3.8.15.
Figure 3.8.15 PR Special Filter

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)