This article contains the official education training file link of Delta A3 Servo. The topics include: A3 function introduction, adjustment method, motion function, electronic cam, PR (four arithmetic)…etc., interested readers can download and use directly！
AL.007 Over speed – Delta servo troubleshooting
Name  Description  ALM  WRN  SRV ON  Clear Way 

AL.007 Overspeed 
The control speed of the motor exceeds the normal speed  ⊗  NO  DI.ARST 
What is smart servo ?
The definition of smart servo on this site must include the following functions :
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Troubleshooting summary of Delta A2 servo
This article provides the troubleshooting methods for Delta servo. The content comes from two sources : (1) The manual from Delta’s official website. (2) The collection of experience provided by authors and readers on this site ! Under construction …
Following Error of servo motor – (2) Eliminating method for Delta’s servo
Delta ASDA2/M series servo’s following error comes from two parts:
 The delay of command processing E_{d}
 Servo control lag E_{s}
The total following error：E_{total} = E_{d} + E_{s}
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 :

 When the motor stops : the error is almost 0
 When doing acceleration and deceleration : the error is larger
 When running at constant speed : medium error
Electronic gear ratio (online) calculator – Indexer/Turret
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:
 Enter the number(C) of Tools or Stations.
 Define Division, ie, How many PUUs betweens 2 stations.
 the Circumference(C×P) is displayed and which is used for P252 of Delta A2 servo.
 Enter the mechanical Reduction ratio (1:1 without deceleration)
 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.
 Press the “Calculate” button to get the numerator and denominator of the EGear Ratio.
 Enter the positioning time T of each division to check whether the simulation result is satisfied?
Electronic gear ratio (online) calculator – Belt mechanism
This article provides an online calculator for the Belt or Roller 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:
 Define user units(PUU), eg, How many PUUs correspond to 1 mm
 Enter the mechanical Reduction ratio (1:1 without deceleration)
 Enter the diameter(D) or circumference of the pully, including the belt.
 Enter Encoder Resolution(PLS), PLS number per turn of the Encoder,ie,when the electronic gear ratio is 1:1, how many PUUs the drive has to receive in order to rotate 1 turn.
 Press the “Calculate” button to get the numerator and denominator of the EGear Ratio
 Select “Significant digit number“: to specify the numeric width of the numerator, suggest 6 or above [Note 1].
 Enter the Line Speed(V) of the machine to check if the simulation results meet the requirements ?
AL.186 CAN Bus off Error – Delta servo troubleshooting
Name  Description  ALM  WRN  SRV ON  Clear Way 

AL.186 CAN Bus off 
CAN data transmission error  ⊗  Yes  NMT:Reset node/
0x6040.Fault Reset 
Electronic Gear Ratio (online) Calculator – Ball Screw
This article provides an online calculator for common screw mechanisms 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:
 Enter User Unit(PUU) : ie, How many PUUs represent 1 mm.
 Enter the machine’s Reduction ratio (1:1 without deceleration)
 Enter the Pitch of the screw (the machine displacement while screw rotates 1 turn)
 Enter Encoder Resolution(PLS), PLS number per turn of the Encoder,ie,when the electronic gear ratio is 1:1, how many PUUs the servo has to receive in order to rotate 1 turn.
 Press the “Calculate” button to get the numerator and denominator of the EGear Ratio.
 Enter the Line Speed of the machine to check if the simulation results meet the requirements ?