## 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 :

## 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

## 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

## Electronic gear ratio (on-line) 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:

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?

## Electronic gear ratio (on-line) 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:

1. Define  eg, How many PUUs correspond to 1 mm
2. Enter the mechanical Reduction ratio (1:1 without deceleration)
3. Enter the diameter(D) or circumference of the pully, including the belt.
4. 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.
5. Press the “Calculate” button to get the numerator and denominator of the E-Gear Ratio
6. Select “Significant digit number“: to specify the numeric width of the numerator,  suggest 6 or above [Note 1].
7. 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 (on-line) 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:

1. Enter User Unit(PUU) : ie, How many PUUs represent 1 mm.
2. Enter the machine’s Reduction ratio (1:1 without deceleration)
3. Enter the Pitch of the screw (the machine displacement while screw rotates 1 turn)
4. 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.
5. Press the “Calculate” button to get the numerator and denominator of the E-Gear Ratio.
6. Enter the Line Speed of the machine to check if the simulation results meet the requirements ?