Delta ASDA Series Supplement

Application Notes for
ASDA Series Servo Drive
Application Notes for ASDA Series Servo Drive
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Preface
About this application notes
This notes provide basic application examples and settings that apply to ASDA-A2 servo drive.
The content includes:
PR Operation
E-Cam Operation
Application Examples
Application Techniques
Note: 1. Please refer to ASDA series user manual for detailed description of parameters.
2. Please refer to ASDA series user manual for detailed description of system
framework and motion control mode.
3. Please refer to ASDA-Soft user manual for detailed
description about using the ASDA-Soft.
Personnel
This document is for personnel who have already purchased ASDA series servo drive or
engineers and technicians who use ASDA series servo drive to configure the product.
If you have any enquiry, please contact the distributors or DELTA customer
service center.
[email protected]

Important Notice
Different device has different features and operational ways. Technical personnel who is in
charge of operating the software shall implement appropriate measures and follow the
instructions of the user guide.
This manual mainly focuses on settings of ASDA-A2 servo drive when it is applied to
different types of machine. Please follow the instructions and notices of the machine which
is applied. Delta shall not be liable for the indirect, derivative, subsidiary, or related loss
caused by inappropriate operation of machine.
Delta will not take responsibility for the results of unauthorized modifications of this product.
Delta shall not be liable for any damages or troubles resulting from unauthorized
modification.
The drawings, figures, values and content presented in this application notes are typical
examples and are only used for functional description. However, there must be different
demands and variations in practical operation and settings. Configurations shall be
changed in accordance with the real applications. It is not suggested to use the same
setting values in the example of this notes. Delta will not take responsibility for the direct or
indirect loss caused by the system configuration of different applications.
No patent liability is assumed with respect to the use of the information contained herein.
No part of this work may be reproduced in any form (by photocopying, microfilm or any
other method) without the written permission of Delta.
Technical changes which improve the performance of the device may be made. Delta has
the right to change the definition and contents of this application notes.

Safety Precautions
To your safety, please pay special attention to the following safety precautions
before using this application notes.
The symbol of danger, warning and stop represent:
It indicates the potential hazards. It is possible to cause severe injury or fatal harm if not
follow the instructions.
It indicates the potential hazards. It is possible to cause minor injury or lead to serious
damage of the product or even malfunction if not follow the instructions.
It indicates the absolute prohibited activity. It is possible to damage the product or
cannot be used due to malfunction if not follow the instructions.
System Operation
Please follow the instruction when using servo drive and servo motor, or it is
possible to cause fire or malfunction. For instructions and safety precautions of
ASDA-A2 servo drive, please refer to its user manual. To use the relevant
parameter settings, please refer to the important notice of ASDA-Soft User Guide.
Wiring
To avoid danger, please refer to the selection of wiring rod when wiring.
Operation
Before start the machine, please set the relevant parameters properly. Failing to
set to correct value might cause malfunction of the mechanism.
Before start the machine, please check if the emergency stop can be used
anytime.

March, 2015 I
Table of Contents
Introduction of PR Operation
1.1 System Information ·····················································································1-2
1.2 Introduction of ASDA-A2 PR Function······························································1-10
1.3 Motion Control····························································································1-29
1.4 Presentation of PR ······················································································1-39
1.5 How is PR Arranged?···················································································1-42
1.6 PR Setting Examples···················································································1-44
IntroductionofE-CamOperation
2.1 Introduction of E-Cam··················································································2-2
2.2 Source of the Master Axis ·············································································2-5
2.3 The Clutch·································································································2-7
2.4 The E-gear of the Master Axis········································································2-13
2.5 E-Cam Curve·····························································································2-14
2.6 E-gear Ratio and Scaling of E-Cam Curve························································2-40
2.7 E-Cam Setting Example ···············································································2-42
2.8 Simultaneously Using E-Cam Function and PR Command···································2-46
2.9 Troubleshooting when E-Cam is not Working Properly ········································2-48
ApplicationsExamples
3.1 How to Use CAPTURE Function to Create an E-Cam Curve ······························· 3-4
3.2 Application to Wrapping Machine··································································· 3-20
3.3 Application to Labeling Machine·····································································3-39
3.4 Printing Machine Application with Synchronization of Multiple Axes························3-57
3.5 Application to Gantry····················································································3-64
3.6 Application Example of Packing Machine ·························································3-83
3.7 Application of Precision Positioning via Mark Reading·········································3-95
3.8 Application Example of Packing Machine with Phase Alignment Function················3-101

II March, 2015
ApplicationTechniques
4.1 DO Output with Fixed Distance ····································································· 4-2
4.2 How to Use E-Cam Function to Compensate Tolerance on Ball Screw····················4-8
4.3 PT Command Transferred fromAnalog Voltage ·················································4-17
4.4 Speed Change during the Execution of PR Position Command·····························4-22
4.5 Macro for E-Cam Application ·········································································4-26

March, 2015 1-1
Introduction of PR
Operation
1.1 System Information...............................................................................................1-2
1.1.1 What is System Parameter and How is it Used? ..........................................1-2
1.1.2 Mapping Parameter.......................................................................................1-5
1.1.4 Data Array....................................................................................................1-10
1.2 Introduction of ASDA-A2 PR Function ...........................................................1-10
1.2.1 Shared Setting List for PR...........................................................................1-13
1.2.2 Introduction of PR Homing..........................................................................1-14
1.2.2.1 Reference to Limit..............................................................................1-14
1.2.2.3 Reference to Z Pulse.........................................................................1-17
1.2.2.4 Reference to the Falling-Edge Signal on Home Sensor....................1-18
1.2.2.5 Reference to Current Position ...........................................................1-20
1.2.3 PR Speed Command ..................................................................................1-22
1.2.4 PR Position Command................................................................................1-23
1.2.5 Jump Command..........................................................................................1-25
1.2.6 PR Write-in Command ................................................................................1-25
1.2.7 PR Triggering Methods................................................................................1-26
1.2.7.1 Trigger by DI.CTRG / POS0 ~ POS5 / STOP....................................1-26
1.2.7.2 Parameter P5-07 ...............................................................................1-26
1.2.7.3 DI.SHOM............................................................................................1-27
1.2.7.4 Event Trigger......................................................................................1-27
1.2.7.5 Others CAPTURE Completed / COMPARE Completed / E-CAM
Disengaged ......................................................................................................1-29
1.3 Motion Control ....................................................................................................1-29
1.3.1 Monitoring Variables Related to PR............................................................1-29
1.3.3 Overlap of Commands ................................................................................1-34
1.3.4 Interrupt of Command .................................................................................1-35
1.4 Presentation of PR..............................................................................................1-39
1.5 How is PR arranged?..........................................................................................1-42
1.6 PR Setting Examples..........................................................................................1-44

IntroductionofPROperation ASDASeriesApplicationNote
1-2 March, 2015
This Chapter introduces the basic system and setup information about the ASDA-A2, providing
the background information for using the PR function. The Delta PR function in theASDA-A2
servo drive is defined as “Program Register” or parameterized setup of sequence and built-in
motion functionality. In the last part, operation examples of PR commands will be presented to
demonstrate and prove its motion command performance.
1.1 System Information
1.1.1 What is System Parameter and How is it Used?
The purpose of system parameter is allow for configuration of functions and commands of the
servo drive, serving as a mode reference, data display, or operation conditions during operation.
On ASDA-A2 servo system, users may have a comprehensive control over the servo by reading
and writing parameters. System parameter is presented in the format of Px-xx. The first
character after the start code P is the group character and the second character is the parameter
character. See the parameter groups below:
Group 0: Monitoring parameters
Group 1: Basic parameters
Group 2: Extension parameters
Group 3: Communication parameters
Group 4: Diagnosis parameters
Group 5: Motion control parameters
Group 6: PR parameters
Group 7: PR parameters
16-bit and 32-bit parameters are included in ASDA-A2 system. Users may read and write
parameters with the following methods.
1. Panel of the servo drive: using buttons on the panel to read or write parameters.
Please refer toA2 user manual for setting detail.
SHIFT
▲
▼
SET
MODE
CHARGE
Panel Display
Shift Key
Set Key
Down Key
Up Key
Mode Key
Power Indicator
Figure 1.1 Display Panel of the Servo Drive

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-3
2. USB: Connect to a computer via USB and use ASDA-Soft (software for ASDA series
servo drive) to read or write parameters.
ASDA-Soft provides Parameter Editor for users to read or write parameters. Please refer to
ASDA-Soft User Guide for operation detail.
Figure 1.2 Parameter Editor
3. CANopen: Use CANopen fieldbus to connect to a host controller and
read/write parameters with the controller.
4. RS485/RS232: Use RS485 or RS232 to connect to a host controller and
read/write parameters with the controller.
Regarding reading and writing parameters with CANopen and RS485/RS232, it is for
editing the value for the communication address that corresponds to each parameter.
Please refer to Chapter 9 of ASDA-A2 user manual for communication protocol and
settings and Chapter 8 for communication address of each parameter which shown at the
right corner of each parameter table.
Figure 1.3 CommunicationAddress of Parameter

IntroductionofPROperation ASDASeriesApplicationNote
1-4 March, 2015
5. PR: Edit parameters by triggering PR event.
Use write-in function of PR to pre-set the parameter and value that required editing.
Once this PR is triggered, parameter settings can be modified. The related setting and
triggering methods will be explained in Section 1.2.7.
Figure 1.4 Use PR Write-in Function to Edit Parameter Setting
In this example, if system parameter value is shown in hexadecimal format, the bit code
will be presented by 0xDCBAUZYX.

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-5
1.1.2 Mapping Parameter
Advantages about using mapping parameters are listed below:
1. Quickly read and write: It allows users to consecutively read and write communication
addresses of different parameter groups that are not jointed.
2. Read any parameters from PC scope: PC scope channel can read mapping parameters; it can
read any parameters via mapping parameters.
3. Enable the function of reading parameter value after password is set: users may access the
parameter that is going to be monitored via mapping parameter. Then, users may still read its
value via mapping parameter when a parameter is set with password.
ASDA-A2 can map any of the parameters to the specified address. In ASDA-A2 system, 8
groups of mapping parameters are available: P0-35 ~ P0-42 is the index group, the parameter
value specified by the index group will be mapped to P0-25 ~ P0-32 respectively. See Figure 1.5,
the input value of P0-35 ~ P0-42 is in hexadecimal format.
P0-42
Index Content
P0-32
P0-41
P0-40
P0-39
P0-38
P0-37
P0-36
P0-35
P0-31
P0-30
P0-29
P0-28
P0-27
P0-26
P0-25
Figure 1.5 Mapping Parameters
Besides parameter setting, mapping parameter can also be set via Status Monitor inASDA-Soft,
which shown in Figure 1.6.
8 groups of mapping parameter are organized together in Status Monitor. Steps to setup are
shown below:
1. Select the mapping parameter that is going to be used.
2. Use the drop-down list to select the parameter to be mapped.
3. If “32-bit” is selected, the high-word item will be blocked to insure the doubleword is mapped
correctly, and all bits of the mapping parameters are used to display in the same parameter.

IntroductionofPROperation ASDASeriesApplicationNote
1-6 March, 2015
Click Change to change the setting.
Figure 1.6 Using Status Monitor to Configure Mapping Parameter
The size of mapping index and mapping content is 32-bit. A mapping parameter can map to two
16-bit parameters. The parameter content specified by the low-word will be mapped to the
low-word of the mapped content. The parameter content specified by the high-word will be
mapped to the high-word of the mapped content. For example, P1-06 and P1-36 are both
parameters of 16-bit; In P0-37, when 0x0106 is written into the low-word and 0x0124 is written
into the high-word, the low-word of P0-27 will show the content of P1-06 and the high-word will
show the content of P1-36. See Figure 1.7.
0x0123
0x5678
0x0124 0x0106
Mapping Parameter
P0-27
0x01230x5678
16- bit
Parameters
P1-06
P1-36
Index of Mapping Parameter
P0-37
Format of Data: 0GAB
G: Parameter Group
AB: Parameter # in Hex.
Figure 1.7 Example of Mapping a 16-bit Parameter

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-7
If the size of mapping content is 32-bit, a mapping parameter can map one parameter which has
the size of 32-bit. For example, P1-09 is a 32-bit parameter. Enter 0x0109 in both high-word and
low-word of P0-35, the content of P1-09 will all be mapped to P0-25.
0x12340x0001
0x0109 0x0109 0x12340x0001
32-bit
Parameters
Index of Mapping Parameter
P0-35 Mapping Parameter P0-25
P1-09 H-Word
P1-09 L-Word
Figure 1.8 Example of Mapping a 32-bit Parameter
If respectively specifying a 32-bit parameter in low-word and high-word of the mapping index, the
mapping content will only show the low-word part of each 32-bit parameter. For example, P1-09
and P1-10 are both 32-bit; writing 0x0109 into low-word of P0-38, low-word part of P1-09 will be
mapped into the low-word part of P0-28. Writing 0x010A into high-word of P0-38, the low-word
part of P1-10 will be mapped into the high-word part of P0-28. See Figure 1.9.
Index of Mapping Parameter
P0-38
0x0001
0x0002
0x010A 0x0109 0x12030x3214
0x1203
0x3214
Mapping Parameter
P0-28
32-bit
Parameters
P1-09 L-Word
P1-10 L-Word
Figure 1.9 Example of Mapping Two Sets of 32-bit Parameter
Mapped parameter groups 1~4 can be observed via PC scope. This can be done by selecting
the items from the drop-down list of each channel on PC scope.

IntroductionofPROperation ASDASeriesApplicationNote
1-8 March, 2015
Figure 1.10 Using PC Scope to monitor Mapping Parameters
1.1.3 Monitoring Parameter
Monitoring Parameter can be used to observe the prompt change inside the servo drive. Types
of monitoring parameter and their codes provided by ASDA-A2 can be found in Chapter 7 of
ASDA-A2 User Manual. To read monitoring variables from the drive panel, users can set the
variables to be monitored in P0-02 and the panel will display the content based on the setting of
P0-02. Pressing Up and Down keys can change the displayed content. To read monitoring
variables via communication, users may set the codes of the variables to be monitored in
P0-17~P0-21 and the set variables will be displayed in P0-09 ~ P0-13 respectively. Figure 1.11
shows the setting example; the index can specify codes of the monitoring variables and the read
values that codes represent will be displayed in the content of the monitoring variables.
Monitoring
Parameters
1231
232682
P0-09
P0-10 303
0
P0-11
P0-12 12345P0-13
02d
03d
07d
026d
019d
P0-17
P0-18
P0-19
P0-20
P0-21
Specified
Monitoring
Parameters
02: Position Deviation
03: Feedback Position
07: Motor Speed
19: Mapping Parameter #1
26: Status Monitor #4
Examples
Figure 1.11 The Setting Example of Monitoring Variables

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-9
Monitoring variables can be set via Status Monitor in ASDA-Soft. The Status Monitor window has
organized 5 groups of monitoring variables in the same section. The setting steps are shown
below.
1. Select the monitoring variables to be set.
2. Use the drop-down list to select the monitoring variables user wishes to observe.
3. Click on Change to modify the setting.
Figure 1.12 Use Status Monitor to Configure Monitoring Variables
Monitoring groups from #1 to #4 can be observed via PC scope. This can be done by selecting
the items from the drop-down list of each channel. See Figure 1.13.
Figure 1.13 Use PC Scope to Observe Monitoring Variables

IntroductionofPROperation ASDASeriesApplicationNote
1-10 March, 2015
1.1.4 Data Array
Data Array in ASDA-A2 servo drive is a continuous block of memory; it is used to save the
captured data, compared value and E-CAM tables. Data array is capable to save 800 data in
total. As size and saving destination of these data is not specified in the system, users have to
define the saving address of each datum properly so as to avoid data overlap and causing
problems of overwriting. Detail about data array is explained in Chapter 2 E-CAM of this
application note; details about how to read and write data array can also be found in ASDA-A2
user manual andASDA-Soft user manual.
1.2 Introduction of ASDA-A2 PR Function
There are several ways to set the attributes and value settings for each of the PR’s (such as
setting P6-02 and P6-03 for PR#1). The most intuitive way is to use the PR wizard in ASDA-Soft
software tool, as it uses dropdown selection boxes and pop-up wizard windows to explain each
entry choice. Another way is to simply set the parameter values directly from the parameter
editor in the ASDA-Soft software tool. A third way is to set the parameter values by
communication port from a host controller or HMI by setting/resetting PR functions for static or
dynamic use.
In PR mode, motion commands are generated in the servo drive and used to control the motor.
Commands are generated based on parameters settings and are composed of one or more
profiles. Thus, commands generated by PR can be changed by editing their corresponding
values. Including Homing mode,ASDA-A2 provides 64 profiles.
PR#0: Homing mode
PR#1 ~ PR#63 can be set as: Position Command- Position Control
Speed Command- Speed Control
Write Command- Edit Parameter Setting or Data Array
Jump Command- Edit PR Executing Procedure
ASDA-A2 also provides various types of PR triggering methods, which allow users to select
based on different applications.
Each definition and its corresponding data of PR are defined by parameter settings. Parameters
related to PR mode are included in Chapter 7, mainly in Group 6 and Group 7, in ASDA-A2 user
manual. If selecting a PR path to be edited in ASDA-Soft, the corresponding parameter of this
PR will be shown at top of the window. See Figure 1.14 for example, when selecting PR#1 to edit,
value of P6-02 and P6-03 will be displayed at top of the window. P6-02 is for defining the
attribute of PR#1, which is for determine the type of PR command and to determine if this PR is
going to execute interrupt command or to execute the next PR procedure automatically. On the
other hand, P6-03 is the value setting for the PR#1, and definition of what the setting is for
depends on the attribute setting of P6-02. For instance, if P6-02 is a speed command, P6-03 will
be defining the target speed; when P6-02 is a Jump command, P6-03 determines the jumping

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-11
target of PR command. Parameters defining PR#2 are P6-04 and P6-05; the definition of P6-04
has to be identical to that of P6-02 and definition of P6-05 has to be identical to definition of
P6-03, and so on. If users need to change the setting of individual PR command, directly
changing the parameter that corresponds to this PR will change the definition or value of this PR
command. For example, if regarding PR#1 as speed control, changing the target speed of PR#1
can be done easily by using communication, panel, or using other PR to edit the setting of P6-03.
If directly changing the setting of P6-02, PR#1 will have a different command definition.
Figure 1.14 PR Parameters
Below are the parameters that correspond to PR setting. P6-02 and P6-03 are presented as
examples.
P6-02 PDEF1 PATH#1 Definition Address: 0604H
0605H
Operational
Interface：Panel / Software Communication Related Section:
7.10
Default：0
Control
Mode：PR
Unit：-
Range：0x00000000 ~ 0xFFFFFFFF
Data Size：32-bit
Format：HEX
Settings：Properties of PATH# 1:
.31 ~
28 .27 ~ 24 .23 ~ 20 .19 ~ 16 .15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
P6-02 - - DLY - - - OPT TYPE
P6-03 DATA (32-bit)

IntroductionofPROperation ASDASeriesApplicationNote
1-12 March, 2015

TYPE, OPT:
OPT TYPE
7 6 5 4 BIT 3 ~ 0 BIT
- UNIT 22AUTO INS 1: SPEED, Speed setting control
CMD OVLP 2INS
2: SINGLE, Positioning control. It will load in
the next path when finished.
3: AUTO positioning control. It will load in the
next path when finished.
- - - INS 7: JUMP to the specified path
- - AUTO INS 8: Write the specified parameter to the
specified path

TYPE: 1 ~ 3 accept DO.STP stop and software limit.

INS: When executing this PR, it interrupts the previous one.

OVLP: Allow the overlap of the next path. The overlap is not allowed
in speed mode. When overlap happens in position mode, DLY has no
function.

AUTO: When PR procedure completes, the next procedure will be
loaded in automatically.

CMD: Refer to Chapter 7 for PR command description.

DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this
PR. The external INS is invalid.
24DLY (4) Index P5-40 ~ P5-55
P6-03 PDAT1 PATH# 1 Data Address: 0606H
0607H
Operational
Interface：Panel / Software Communication Related Section:
7.10
Default：0
Control
Mode：PR
Unit：-
Range：-2147483648 ~ [phone]
Data Size：32-bit
Format：DEC
Settings：PATH# 1 Data
.31 ~
28 .27 ~ 24 .23 ~20 .19 ~ 16 .15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
DATA (32-bit)
Property of P6-02; P6-03 corresponds to the target position of P6-02 or
jump to PATH_NO.
Note: PATH (procedure)
The unit of position data in PR mode is PUU. PUU is the position unit that encoder’s original
pulse number being converted with E-gear ratio through the servo drive. For example, the
resolution of ASDA-A2 is 1280000 pulse/rev, if E-gear ratio is 128:10 (P1-44=128 / P1-45=10),
the PUU for an ASDA-A2 motor to make one full rotation is 1280000*(10/128) = 100000 PUU.
The best thing about using this method is that the unit of commands, errors, and feedback are
the same, which means no conversion is needed here and it is easy to be read and compared.

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-13
Cmd_O P1-44
P1-45
Err_PUU
Fb_PUU P1-45
P1-44
V002
V000
V001
Servo
drive Motor
V003
V005
V004
PUU PULSE
Figure 1.15 Definition of PUU
1.2.1 Shared Setting List for PR
ASDA-A2 provides 16 sets of acceleration/deceleration time (P5-20~P5-35),16 sets of delay
time (P5-40~P5-55), and 16 sets of target speed (P5-60~P5-75) in the setting list; these are
available when configuring PR profiles. If multiple sets of PR use the same setting in the
meantime, when value of this set is changed, all PRs that use this set will also be changed. In
other words, there is no need to change each PR setting respectively and that is why it is easy
and convenient to be used. For instance, if multiple PR commands all specify P5-62 as target
speed, when their values are changed, the target speed of PR motion command that define
P5-62 will thus be changed. Users can easily complete the setting through the built-in wizard
interface of ASDA-Soft. See figure 1.16.
Figure 1.16 Shared Data of PR
Shared setting list
Selection
of the
shared list
Settings of each PR Corresponding
parameters

IntroductionofPROperation ASDASeriesApplicationNote
1-14 March, 2015
1.2.2 Introduction of PR Homing
ASDA-A2 provides 9 homing methods in PR mode, such as using home sensor or limit as the
origin. If including the sub-selection such as taking Z pulse and limit as triggering reference, over
30 choices are available. Homing method is defined by P6-00 and value of origin is specified by
P6-01.
Main homing methods supported in PR mode on ASDA-A2 are listed below.
1.2.2.1 Reference to Limit (P5-04.X=0: Move forward to look for positive limit;
P5-04.X=1: Move backward to look for negative limit)
This homing method is to take positive limit or negative limit as the origin. After the limit is
detected, users may consider whether to regard Z pulse as the origin. See Figure 1.17.
Figure 1.17 Regarding Limit Signal as Origin
If the setting of homing is identical, the origin being found will be exactly the same regardless of
the starting position. See Figure 1.18 for homing path and its codes.
S1: starting position
S2: starting position is at the limit
E: end position
H: motor operating at high speed
L: motor operating at low speed