Application Case

Application Case
Application Case
Industrial Automation BG, Delta Electronics, Inc.
Case
Application: Delta’s AC Servo System on Robot Arms for CNC Machine Tools
Issued by
Solution Center
Date
March 2013
Pages
5
Applicable to Delta’s AC Servo Drives and Motors
Key words
Servo System, Servo Motor, Robot Arm
[Introduction]
Delta officially launched its new three-axis intelligent servo system, the ASDA-M Series for multi-axis
motion control applications, last November. The ASDA-M is an innovative servo system that has
successfully integrated control, motion and drive into one servo system. The ASDA-M includes three of
Delta’s ASDA-A2 servo drives in one frame and features the built-in functions of a small programmable
logic controller (PLC) to provide three-axis motion control. With the aid of Delta’s high speed DMCNET
communication, the ASDA-M can further collocate with Delta’s Human Machine interface & Controller
(HMC) and Delta’s servo motors for a highly integrated and cost effective solution for various applications
and different customized requirements. This new 3-in-1 system offers the best distributed system and an
ideal solution for multi-axis Cartesian robot arm applications that fulfill the needs of CNC machine tool
industries.
[System Configuration]
Figure 1: Distributed Motion Control System – ASDA-M serves as a Master
With solid experience and advanced technology, Delta Industrial Automation offers efficient and reliable solutions and service – we are
your most trustworthy partner.
COPYRIGHT © 2008 DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED.
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Application Case
Industrial Automation BG, Delta Electronics, Inc.
[Equipment Functions]
Path Planning:
When the motion path of a multi-axis Cartesian robot arm needs to be changed, users can input the
desired motion path into the HMC or change the motion path via a manual pulse generator (MPG) for
jogging the axes. The value set in the software determines the scaling of pulses sent to the axis being
controlled by spinning the MPG. If the application allows zero return to be executed after switching the
power off and on, it indicates that an incremental encoder system will be enough to meet its application
requirements. If not, it indicates that an absolute encoder system is necessary. Users should first select
the proper encoder system for their applications.
Interpolation Function:
When the interpolation function is used, the movement of synchronous multiple axes can be regarded as
one single axis motion. The interpolation function will harmonize the movement of two axes of a multi-axis
Cartesian robot arm and will position both axes simultaneously. For example, when using the interpolation
function on the X-axis and Z-axis (see Figure 2 below), the Y-axis only needs to check that either the
X-axis or Z-axis has completed its positioning, and then the Y-axis can conduct the picking and placing
operation. There is no need to examine the movement of each axis on a multi-axis Cartesian robot arm.
In addition, the ASDA-M also provides a three-axis linear interpolation function to offer shortest path
planning. In Figure 2 below, a three-axis linear interpolation function can easily help a Cartesian robot arm
execute a picking action at A and complete a placing action at B.
Figure 2: Moving Range of Robot Arm and 3-Axis Linear Interpolation
With solid experience and advanced technology, Delta Industrial Automation offers efficient and reliable solutions and service – we are
your most trustworthy partner.
COPYRIGHT © 2008 DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED.
-2-
Application Case
Industrial Automation BG, Delta Electronics, Inc.
The ASDA-M also provides a two-axis arc interpolation function. Users can also use this arc interpolation
function for special applications such as keeping away from some certain areas during operation (see
Figure 3 below).
Figure 3: Using Interpolation Function to Keep Away from Certain Areas
[Delta Products and Features]
HMC (Human Machine interface & Controller):
The HMC Series provides an 8-inch standard type HMC and a 7-inch handheld HMC (see Figure 4 below)
for users to select. To offer an integrated platform for different communication protocols and devices, the
HMC provides all the existing functions of Delta’s human machine interfaces, as well as additional built-in
PLC functions for sequence control. It integrates HMC screen editing and PLC programming functions into
one HMC unit to provide a direct and rapid design environment which simplifies the design time and
reduces cost. It also supports quick PLC ladder monitoring which allows the PLC ladder programs and
registers to be monitored and changed in real time. Various kinds of communication protocols are
available. The HMC supports Ethernet for whole factory automation, the most commonly used RS-485, the
high-speed RS-422, general remote I/O, and Delta’s DMCNET motion control network for a wide range of
applications in a variety of communications environments.
Figure 4: Handheld Type HMC – Side View and Front View
With solid experience and advanced technology, Delta Industrial Automation offers efficient and reliable solutions and service – we are
your most trustworthy partner.
COPYRIGHT © 2008 DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED.
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Application Case
Industrial Automation BG, Delta Electronics, Inc.
Figure 5: Functions of Delta’s New HMC
ASDA-M Servo System:
The ASDA-M innovatively integrates 3 servo drives in one unit with synchronous three-axis motion and a
built-in programmable logic controller function. Complicated wiring for a logic controller is eliminated, and
materials cost is saved. The ASDA-M features multi-axis synchronous interpolation functions such as
3-axis helical interpolation, 3-axis linear interpolation and 2-axis linear / arc interpolation. More advanced
functions such as advanced gantry control, contour analysis, and built-in G-code interpreter are equipped
as standard. The signals and feedback errors of servo commands and signals are easily detected. The
motion path made by CAD-CAM computing can also be executed directly in the ASDA-M servo system.
There is no time delay in data transmission and exchange while executing synchronous multi-axis motion.
The ASDA-M follows in the footsteps of Delta’s successful ASDA Series servo systems. It also offers high
resolution encoders, high frequency response, built-in electronic cam (E-Cam), auto notch filter, vibration
suppression and more strong motion control functions. To enable the servo system to integrate with other
automation devices more efficiently, the ASDA-M also supports DMCNET and CANopen communication
protocols. The ASDA-M is perfect for applications in high-end synchronous control facilities as well as for
enhancing motion control performance with better stability for parallel movement.
With solid experience and advanced technology, Delta Industrial Automation offers efficient and reliable solutions and service – we are
your most trustworthy partner.
COPYRIGHT © 2008 DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED.
-4-
Application Case
Industrial Automation BG, Delta Electronics, Inc.
Figure 6: Functions of Delta’s New ASDA-M
[Conclusion]
The successful application of Delta’s servo system with multi-axis Cartesian robot arms is a good
demonstration that Delta can provide complete industrial automation products and total solutions for
the CNC machine tool industries.
For more information on Delta’s industrial automation products, visit our website at:
www.delta.com.tw/ia
With solid experience and advanced technology, Delta Industrial Automation offers efficient and reliable solutions and service – we are
your most trustworthy partner.
COPYRIGHT © 2008 DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED.
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