The definition of smart servo on this site must include the following functions :
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What is smart servo ?

basic knowledge of motion
The definition of smart servo on this site must include the following functions :
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Delta ASD-A2/M series servo’s following error comes from two parts:
The total following error:Etotal = Ed + Es
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 :
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:
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:
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:
In this article, the formula for the electronic gear ratio of the servo drive for the screw mechanism is derived. The principle of deciding the gear ratio is to first determine the position unit PUU (Pos of User Unit), must be easily observed, usually PUU = 1 or 10 μm, and then calculate the corresponding Gear ratio. Instead of deciding on the gear ratio and then calculating the length of a PUU, otherwise it is asking for trouble (refer to the PUU concept). First, the symbol is defined as follows :
The PLS unit is based on the resolution of the encoder. Take Delta A2 servo as an example. Although the resolution of the encoder is 17 bits/rev or 20 bits/rev, the PLS units are all set to 1280000 PLS/rev, which cannot be changed by the user. That is, when the electronic gear ratio is set to 1:1, the driver must receive 1280000 pulses then the motor will make one revolution.Due to the high resolution, the PLS unit is suitable for inner motor control of servo drives. However, in the motion control system, an absolute coordinate system must be established. If PLS is used as the position unit, neither the command nor the feedback is suitable, the reason is as follows :
In the motion control system, there are a number of position counters to record the current position, commands and errors of the machine. It is not appropriate to use PLS as a unit (for reasons see Link). Therefore, a new position unit must be introduced, called the Position of User Unit (PUU), which is similar to the Pulse Equivalent Unit in the traditional system that uses pulses as the position command , indicates the moving distance of a pulse. Because the current control system can send commands through communication, there is no physical pulse, the user can be more freely choose the desired position unit, ie PUU. The relationship between PUU and PLS is the electronic gear ratio (N/M) defined as follows:
PUU (counts) * N/M (electronic gear ratio numerator/denominator) = PLS (counts)