ASDA-Soft Building CAM Table – (2) Trapezoidal Curve


Trapezoidal CAM curve is being widely used in the flying-shear and labeling application. This article explains how to build a “trapezoidal cam table” with software ASDA-Soft, which is the foundation of the flying-shear application including adjusting the profile of the curve, synchronizing the speed of master and slave axes, configuring the output angle of the synchronization area , etc. Applicable to both ASD-A2 and ASD-M-R series servos!

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A2 E-CAM Example: Flying Shear (2) – Parameter setting

Fly Shear Icon

Following the sample program in A2 E-CAM Example – Flying Shear (1) – Basic Operation, this article includes the further introduction of the parameter configuration. Due to the difference in specifications of each flying shear mechanism, it is not appropriate to apply the sample parameters completely unchanged. This article will elaborate the related parameters and the principle for the proper configuration.

— Thanks to Jack Tsai for providing this English translation.
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Delta A2 Servo Quick Start and FAQ

This article contains frequently asked questions and alarms for the Delta ASD-A2 servo system for readers’ reference:

Q1,AL.13/AL.14/AL.15 is displayed on power-up, how to deal with it?

A => For safety reasons, the default functions of the servo DI 6/7/8 are reverse limit/forward limit/emergency stop, and are all B (normally closed) contacts, so when there is no limit switch connected, The above alarm will occur when power is applied. If the motor (not the linear motor) is not connected to the mechanism, the user only wants to test it. You can temporarily remove these protection functions by setting the hundred digits of P2-15, P2-16, and P2-17 from 0 to 1. , change to A (normally open) contact; or directly set all three parameters to 0, which means to turn off these protection functions ! Users should take extra care when testing and fix the motor firmly for safety !

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A2 E-CAM Example: Flying Shear (1) – Basic Operation

Fly Shear Icon

Flying shear is a common application of the E-CAM function. This article provides the Delta A2 servo’s sample program of the flying shear, including the trapezoidal E-CAM curve, parameter file with the PR commands, so users can follow the instruction and easily run the program to help with understanding the operating principle of flying shear and how to utilize it. Generally, the master axis of the flying shear is the encoder signal of the feeding axis while the slave axis is the sliding table, which is the target to be controlled in this example. Please refer to the video clip in the following links for the flying shear application => YouTube

— Thanks to Jack Tsai for providing this English translation.

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What is smart servo ?

Smart servo definition

The definition of  smart servo on this site must include the following functions :
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Following Error of servo motor – (2) Eliminating method for Delta’s servo

Delta ASD-A2/M series servo’s following error comes from two parts:

  1. The delay of command processing Ed
  2. Servo control lag Es

The total following error:Etotal = Ed + Es

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Following Error of Servo motor -(1)Concept

The following error of the servo motor means the difference between the received command and the actual position, namely :

Following Error = Command position – Actual position

Generally, in the case where the servo gain is well adjusted, the following error characteristics are :

    1. When the motor stops : the error is almost 0
    2. When doing acceleration and deceleration : the error is larger
    3. When running at constant speed : medium error

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Electronic gear ratio (on-line) calculator – Indexer/Turret

Indexer mechanism

This article provides an online calculator for the Indexer/ATC turret/Flying shear rotary cut mechanism to quickly find the servo’s electronic gear ratio and provide additional simulation information to evaluate whether the system parameters meet the requirements. The steps are as follows:

  1. Enter the number(C) of Tools or Stations.
  2. Define Division, ie, How many PUUs betweens 2 stations.
  3. the Circumference(C×P) is displayed and which is used for P2-52 of Delta A2 servo.
  4. Enter the mechanical Reduction ratio (1:1 without deceleration)
  5. Enter Encoder Resolution(PLS), PLS number per turn of the Encoder,ie,The number of PUUs required to make the motor rotate 1 turn when the electronic gear ratio is 1:1.
  6. Press the “Calculate” button to get the numerator and denominator of the E-Gear Ratio.
  7. Enter the positioning time T of each division to check whether the simulation result is satisfied?

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