Delta A2 servo has many pulse sources, such as main encoder, auxiliary encoder, pulse command, which can be used for positioning command (PT mode), high-speed capture/comparison, E-CAM master pulse and so on. In addition, the various pulse sources can be also output from CN1 for the host controller to count. Due to the large number of parameters, it is often confusing. This article draws the relevant functions and parameters into a block diagram to facilitate quick and comprehensive understanding for readers’ reference.
This article lists all the trigger conditions, alarm numbers, deceleration time, and output DO related to the emergency stop and safety protection functions of Delta Servo as follows: For its functional behavior, please refer to => Emergency stop and protection function of Delta servo-(1) Description。
In automation applications, servos are used as motion control actuators. In addition to performance requirements, safety protection is also very important. This article summarizes all the emergency stop and safety protection functions of Delta Servo, and explains the use timing, trigger conditions, and corresponding deceleration time.
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!
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 !
Delta ASD-A2/M series servo’s following error comes from two parts:
- The delay of command processing Ed
- Servo control lag Es
The total following error：Etotal = Ed + Es