Instruction/ maintenance manual of the product ASDA-AB Delta Electronics
Go to page of 357
.
Revision January 2009 i Preface Thank you very much for purchasi ng DE LTA’s AC servo products. This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and motor. Before using the product, please read this use r manual to ensure correct use.
Preface | ASDA-AB Serie s ii Revision January 2009 z Ensure that the motor and drive are co rrectly connected to a ground. The grou nding method must comply with the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.
Preface | ASDA-AB Serie s Revision January 2009 iii Wiring ¾ Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω ). Improper grounding may result in electric shock or fire. ¾ Do not connect any power supplies to the U, V, W terminals.
Preface | ASDA-AB Serie s iv Revision January 2009 NOTE 1) In this manual, actual measured values ar e in metric units. Dimensions in (impe rial units) are for reference only. Please use metric units for precise measurements. 2) The content of this manual may be revis ed without prior notice.
Revision January 2009 Table of Contents Chapter 1 Unpacking Check and Model Explanation ............................................................. 1-1 1.1 Unpackin g Check ............................................................................
Table of Contents | ASDA-AB Serie s Revision January 2009 3.2 Basic Wiring ............................................................................................................... .................. 3-11 3.3 Input / Output Inte rface Connect or - CN1 .
Table of Contents | ASDA-AB Serie s Revision January 2009 4.3.3 Fault Mess age Display .................................................................................................... .4 - 3 4.3.4 Polarity Setting Display .........................
Table of Contents | ASDA-AB Serie s Revision January 2009 Chapter 6 Control Modes of Operation .................................................................................. 6-1 6.1 Control Modes of Operation ......................................
Table of Contents | ASDA-AB Serie s Revision January 2009 6.5 Control Mo de Selection ..................................................................................................... .......... 6-32 6.5.1 Speed / Position Cont rol Mode Sele ction .
Table of Contents | ASDA-AB Serie s Revision January 2009 Chapter 10 Troubleshooting ..................................................................................................... 10-1 10.1 Fault Messages Table .................................
Table of Contents | ASDA-AB Serie s Revision January 2009 About this Manual… User Information Be sure to store this manual in a safe place. Due to constantly growing product rang e, technical improvement, alteration or changed texts, figures and diagrams, we reserve the right to make i nformatio n changes within this manual wi thout prior notice.
Table of Contents | ASDA-AB Serie s Revision January 2009 This page intentionally left blank..
Revision January 2009 1-1 Chapter 1 Unpacking Check and Model Explanation 1.1 Unp acking Check After receiving the AC servo drive, please check for the followin g: Ensure that the product is what you hav e ordered. V erify the part number indicated o n the nameplate corresponds wit h the part number of your order (Please refer to Section 1.
Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-2 Revision January 2009 (2) One encoder cable, whi ch is used to connect t he encoder of servo motor to the CN2 terminal of servo drive.
Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series Revision January 2009 1-3 1.2.2 Model Name Explanation ASDA-AB Series Servo Drive.
Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-4 Revision January 2009 ECMA Series Servo Motor.
Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series Revision January 2009 1-5 1.3 Servo Drive and Servo Motor Combinations The table bel ow shows the possible combination of Delt a ASDA-AB series servo drives a nd ECMA series servo motors.
Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-6 Revision January 2009 1.4 Servo Drive Features 220V models.
Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series Revision January 2009 1-7 110V models.
Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-8 Revision January 2009 1.5 Control Modes of Servo Drive The Delta Servo provides six single and five dual modes of operation. Their operation and description is listed in the followin g table.
Revision January 2009 2-1 Chapter 2 Installation and S torage 2.1 Inst allation Notes Please pay close attention to the following installatio n notes: Do not bend or strain the connection cables b etween servo drive and motor. When mounting the servo drive, make sure to ti ghten all screws to secure the drive in place.
Chapter 2 Installation and Storage | AS DA-AB Series 2-2 Revision January 2009 2.3 Inst allation Conditions Operat ing Tempe rature ASDA-AB Series Servo Drive : 0° C to 55°C (32°F to 131°F) ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive should be under 45°C (113°F) for long-term reliability.
Chapter 2 Installation and Storage | AS DA-AB Series Revision January 2009 2-3 2.4 Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor.
Chapter 2 Installation and Storage | AS DA-AB Series 2-4 Revision January 2009 Minimum Clearances Side by Side Inst allation.
Revision January 2009 3-1 Chapter 3 Connections and Wiring This chapter provides information on wi ring ASDA-AB series products, the descriptions of I/O signals a nd gives typical examples of wiring diagrams. 3.1 Connections 3.1.1 Connecting to Peripheral Devices Figure 3.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-2 Revision January 2009 Figure 3.2 110V Servo Drive.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-3 3.1.2 Servo Drive Connectors and Terminals Terminal Identification Terminal Description Notes L1, L2 Control circuit terminal Used to co nnect single-phas e AC contro l circuit power.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-4 Revision January 2009 Wiring Notes Please observe the following wiring not es while pe rforming wiring and touching any electrical connections on the servo drive or servo motor.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-5 3.1.3 Wiring Methods For servo drives from 100W to 1.5kW the input powe r can be either single o r three-phase. For servo drives 2kW and above onl y three-phase connectio n s are available.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-6 Revision January 2009 Figure 3.4 Single-Phase Power Supply (400W and belo w , 110V models) Figure 3.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-7 3.1.4 Motor Power Cable Connector Specifications The boxes ( ) in the model names are for optional configurat ions.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-8 Revision January 2009 Terminal Identification U (Red) V (White) W (Black) CASE GROUND (Green) BRAKE1 (Blue) BRAKE2 (Brown ) A 1 2 3 4 - - B 1 2 4 5 3 6 C F I B E G H D D E F G A B NOTE 1) The coil of brake has no polarity.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-9 Terminal Identification AMP (1- 172161-9) A (Black) /A (Black /Red) B (White) /B (White /Red) Z (Orange) /Z (Orange /Red) +5.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-10 Revision January 2009 Encoder Cable Encoder Cable - Wire Gauge AWG (mm 2 ) Servo Drive Wire Size Core Number UL Rating Standard Wire Length ASD-A0111-AB ASD-A0121-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-11 3.2 Basic Wiring Figure 3.6 Basic Wiring Schemati c of 100W ~ 1.5 kW, 220V models.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-12 Revision January 2009 Figure 3.7 Basic Wiring Sche matic of 2kW, 220V models.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-13 Figure 3.8 Basic Wiring Schematic of 100W ~ 400W, 110V mo dels.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-14 Revision January 2009 3.3 Input / Output Interface Connector -CN1 The CN1 Interface Connector provid es access to three signal groups: i General interface for the analog speed a nd torque control, encoder referen ce signal from the motor, pulse / direction inputs, and referen ce voltages.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-15 CN1 Terminal Signal Identification 1 DO4+ Digital output 26 DO4- Digital output 2 DO3- Digita l output 27 DO5- Digital outp.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-16 Revision January 2009 3.3.2 Signals Explanat ion of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signal s of the CN1 interface. Table 3.A details the general signals. Table 3.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-17 Signal Pin No Details Wiring Diagram (Refer to 3-3-3) Other NC 14,29, 38,39, 40,46, 48 See previous note for NC terminals CN1 connector on page 3-11.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-18 Revision January 2009 Pin No. (Default) DO Signal DO Code Assigned Control Mode + - Details (*1) Wiring Diagram (Refer to 3-3-3) TSPD 04 ALL 3 2 TSPD is activated once the drive has detected the motor has reached the Ta rget Rotation Speed setting as defined in parameter P1-39.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-19 NOTE 1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected. 2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS. Table 3.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-20 Revision January 2009 DI Signal DI Code Assigned Control Mode Pin No. (Default) Details (*2) Wiring Diagra m (Refer to 3-3-3) TCM0 16 34 TCM1 17 Pt, T, Tz, Pt-T, Pr-T, S-T 8 Select the source of torque command: See table 3.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-21 DI Signal DI Code Assigned Control Mode Pin No. (Default) Details (*2) Wiring Diagra m (Refer to 3-3-3) JOGU 37 Not assigned - Forward JOG input. When JOGU is activated, the motor will JOG in forward direction.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-22 Revision January 2009 Table 3.D Source of Position Command POS2 POS1 POS0 Parameter OFF OFF OFF P1-15, P1-16 OFF OFF ON P1-17, P1-18 OFF ON OFF P1-19, P1-20 OFF ON ON P1-21, P1-22 ON OFF OFF P1-23, P1-24 ON OFF ON P1-25, P1-26 ON ON OFF P1-27, P1-28 ON ON ON P1-29, P1-30 Table 3.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-23 Table 3.G Default DI signals and Control modes Signal DI Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T SON 01 Servo.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-24 Revision January 2009 Signal DI Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T ORGP 24 Reference “Home” sensor TLLM 25 Reverse operati.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-25 NOTE 1) For Pin numbers of DI1~DI 8 signal s, please refer to section 3.3.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-26 Revision January 2009 3.3.3 User-defined DI and DO signals If the default DI and DO signals could not be able to fulfill users’ requirement s, there are still user- defined DI and DO signal s. The setting method is eas y and they are all defined via param eters.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-27 There are two kinds of pulse inputs, Line driver input and Op en-collector input. Max. input pulse frequency of Line driver input is 500kpp s and max. input pulse frequency of Open-collector input is 200kpps.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-28 Revision January 2009 Be sure to connect a diode when the dri ve is applied to inductive load. (Permissible current: 40mA, Instant aneous pea k current: max.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-29 Use a relay or open-collector tran sistor to input signal. NPN transistor with multipl e emitter fingers (SINK Mode) C9 : W.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-30 Revision January 2009 C13 : Encoder output signal (Line driver) C14 : Encoder output signal (Photocoupler).
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-31 3.4 Encoder Connector CN2 Integrated within the servo motor is an incre ment al encoder with 2,500PPR and commutation signal.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-32 Revision January 2009 3.5 Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification The servo drive can be co nnected to a PC or controll er via a serial communication co nnector.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-33 3.5.2 Connection between PC and Connector CN3.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-34 Revision January 2009 3.6 St andard Connection Example 3.6.1 Position (Pt) Control Mode (220V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to C4 wiring di agram on page 3-26.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-35 3.6.2 Position (Pt) Control Mode (110V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to C4 wiring di agram on page 3-26. If it is open-collector input, plea se refer to C3 wiring diag ram on page 3-26.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-36 Revision January 2009 3.6.3 Position (Pr) Control Mode (220V models) Note: 1 The coil of brake h as no polarity.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-37 3.6.4 Position (Pr) Control Mode (110V models) Note: 1 The coil of brake h as no polarity.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-38 Revision January 2009 3.6.5 Speed Control Mode (220V models) Note: 1 The coil of brake h as no polarity.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-39 3.6.6 Speed Control Mode (110V models) Note: 1 The coil of brake h as no polarity.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-40 Revision January 2009 3.6.7 Torque Control Mode (220V models) Note: 1 The coil of brake h as no polarity.
Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-41 3.6.8 Torque Control Mode (110V models) Note: 1 The coil of brake h as no polarity.
Chapter 3 Connections and Wiring | ASDA-AB Series 3-42 Revision January 2009 This page intentionally left blank..
Revision January 2009 4-1 Chapter 4 Display and Operation This chapter describe s the basic operation of t he digital keypad and the features it offers. 4.1 Description of the Digit al Keypad The digital keypad includes the display panel an d functi on keys.
Chapter 4 Display and Operation | A SDA-AB Series 4-2 Revision January 2009 4.2 Display Fl owchart Figure 4.2 Key pad Operation 1. When the power is applied to the AC ser vo drive, the LCD display w ill show the monitor function codes for approxim ately one second, then enter int o the monitor mode.
Chapter 4 Display and Operation | A SDA-AB Series Revision January 2009 4-3 4.3 St atus Display 4.3.1 Save Setting Display After the SET key is pressed, LCD display will sh o w the following display messages for approx. one second according to different status.
Chapter 4 Display and Operation | A SDA-AB Series 4-4 Revision January 2009 Display Message Descript ion Negative va lue displa y. When the parameter s etting is gr eater than four di gits (for t he s.
Chapter 4 Display and Operation | A SDA-AB Series Revision January 2009 4-5 P0-02 Setting Display Message Description Unit 9 Torque input command Volt 10 Torque input command % 11 Average load % 12 Pe.
Chapter 4 Display and Operation | A SDA-AB Series 4-6 Revision January 2009 4.4 General Function Operation 4.4.1 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (F ault R.
Chapter 4 Display and Operation | A SDA-AB Series Revision January 2009 4-7 4.4.2 JOG Operation After entering parameter mode P4-05, the use rs can follow the following steps to perform JOG operation. (Please also refer to Figure 4.4). Step1. Press the SET key to display the JOG speed.
Chapter 4 Display and Operation | A SDA-AB Series 4-8 Revision January 2009 4.4.3 Position Learning Operation Follow the following steps to perform po sition learni ng operation (Please also refer to Figure 4.5). 1. Activate the internal position learning function (Set P2-30=4).
Chapter 4 Display and Operation | A SDA-AB Series Revision January 2009 4-9 The learning position and internal m emorized position are listed as below: Learning Position Internal Memorized Pos ition J.
Chapter 4 Display and Operation | A SDA-AB Series 4-10 Revision January 2009 4.4.5 DI Diagnosis Operation Following the setting method in Figure 4 .7 can perform DI diagnosis ope ration (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI8, the corres ponding status will display on the servo drive LED display.
Revision January 2009 5-1 Chapter 5 T r ial Run and T uning Procedure This chapter, which is divided into two parts, de scribes trial run for servo drive and motor. One part is to introduce the trial run without load, and the other p art is to introduce trial run with load.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-2 Revision January 2009 Item Content Inspection during operation (Control power is applied) ） z Ensure that the cables are not damaged, stressed excessively or l oaded heavily.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-3 5.2 Applying Power to the Drive The users please observe the following steps w hen ap plying power supply to the servo drive. 1. Please check and confirm the wiring connec tion between the drive and moto r is correct.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-4 Revision January 2009 1) When display shows: Over volt age: The main circuit voltage ha s exceeded its maximum a llo wable value or input power is erro r (Incorrect power input).
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-5 If it is necessary to use “Emergency Stop (EMGS)” as inp ut signal, the users only need to confirm that which of digital inputs DI1~DI8 is set to “Emerg en cy Stop (EMGS)” and check if the digital input signal is ON (It should be activated).
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-6 Revision January 2009 When “Digital Input 1 (DI 1)” is set to Servo On (SON ), if DI1 is set to ON (it indicates that Serv o On (SON) .
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-7 5.3 JOG T rial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring. The e xternal wiring is not necessary and the users only need to connect the digit al keypad to the servo drive.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-8 Revision January 2009.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-9 5.4 Speed T rial Run without Load Before speed trial run, fix and secure the motor a s possible to avoid the danger from the reacting force when motor speed change s. STEP 1: Set the value of parameter P1-01 to 02 and it is sp eed (S) co ntrol mode.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-10 Revision January 2009 The settings of speed comm and: P1-09 is set t o 3000 Input value command Rotation dire ction P1-10 is set to 100 + CW P1-11 is set t o -3000 - CCW STEP 3: 1. Th e users can u se DI1 to en able the servo drive (Se rvo ON).
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-11 5.5 Position T rial Run without Load Before position trial run, fix and secure the motor as possible to av oid the danger from the reacting force when the motor speed changes.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-12 Revision January 2009 The position command is sele cted by POS0 ~ POS2. Please refer to the following table: Position Command POS2 POS1 POS0 CTRG Parameters Moving Speed Register Description P1-15 Rotation No.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-13 Set P1-25 to 0 (rotation number) Set P1-26 to 100 (pulse number) The command of internal position 6: P1-25 Rotation No. + P1-26 P ulse No. Set P1-27 to 0 (rotation number) Set P1-28 to 1000 (pulse number) The command of internal position 7: P1-27 Rotation No.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-14 Revision January 2009 5.6 T uning Procedure Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_m otor): JOG Mode Tuning Procedure Display 1.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-15 21. The ratio of Load Inertia to Servo Motor I nertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 ope ration.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-16 Revision January 2009 5.6.2 Load Inertia Es timation Flowchart.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-17 5.6.3 AutoMode (PI) Tuning Flowchart Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjust ment] ) P2-31 Auto Mode Re.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-18 Revision January 2009 Table 5.B P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25 P2-31 value “B” Speed Lo.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-19 5.6.4 AutoMode (PDFF) Tuning Flowchart Set P2-32 to 4 (4: AutoMode (PDFF) [Continuous adjustment] ) P2-31 Auto Mode.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-20 Revision January 2009 Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Sp eed Loop Responsiveness.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-21 5.6.5 Manual Mode Tuning Flowchart Position Mode.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-22 Revision January 2009 Speed Mode 5.6.6 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min mu st be below 1 second. The rotation speed must be above 200r/min. The load inertia must b e 100 multiple or less of motor inertia.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-23 5.6.7 Relationship between Tuning Modes and Parameters Tuning Mode P2-32 AutoSet Parameter User-defined Parameter G.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-24 Revision January 2009 KPP, Parameter P2-00 Proportional Position Loop Gain This parameter is used to determi ne the responsiveness of positio n loop (position loop gain). It could be used to increase stiffness, expedite po sition loop respo nse and reduce position error.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-25 DST, Parameter P2-26 External Anti-Interferen ce Gain This parameter is used to enha nce the anti-interf erence capability and reduce the occurren ce of overshoot.
Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-26 Revision January 2009 This page intentionally left blank..
Revision January 2009 6-1 Chapter 6 Control Modes of Operation 6.1 Control Modes of Operation The Delta ASDA-AB series can be p rogrammed to provide six single and five dual modes of operatio n. Their operation and description is listed in the following table.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-2 Revision January 2009 The following sections describ e the operation of eac h control mode, including control structu re, command source and loop gain adjustment, etc.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-3 • Value B: Input pulse filter B=0: 500Kpp s B=1: 200Kpps B=2: 150Kpp s B=3: 80Kpps This setting is used to suppress or reduce the chatter caused by the noise, etc.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-4 Revision January 2009 Position Command POS2 POS1 POS0 CTRG Parameters Description P1-23 Rotation number (+/- 3 0000) P5 1 0 0 P1-24 Pulses (+.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-5 In order to pursue the goal of perfe ction in positio n control, the pulse signal should be modified through position command pro cessing and the struct ure is shown as the f igure below: Using parameter can sel ect Pr mode and Pt mode.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-6 Revision January 2009 Ti me ( ms ) TSL /2 TA C C T S L / 2 TSL/2 TA C C TSL/ 2 Posit i on Spee d Ra te d s p ee d To r q u e Ti me ( ms ) Ti .
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-7 1st to 3rd step Acceleration time. It is used to determine the acceleration time to accele rate from 0 to its rated rot ation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-8 Revision January 2009 2) So if user change the control mode to Pr mode and switching power off and on, the servo drive of parameter P1-36 will auto set the value to 20.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-9 Electronic Gear Rati o Corresponding trave l distance per pulse When the el ectronic gear ratio i s not used = 1 1 = 3x 100 0 4x 250 0 = 300 0 100 00 m When the el ectronic gear ratio i s not used = 1000 0 300 0 =1 m 6.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-10 Revision January 2009 6.2.7 Timing Chart of Po sition (Pr) Control Mode In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG. Please refer to 6-2-2 to see the relation ship between DI signals an d parameters.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-11 For example, the desired position loop resp onsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/ s. Relevant parameters: P2 - 00 KPP Proportional Position Loop Gain Communication Addr.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-12 Revision January 2009 When the value of Proportional Position Loop Gain, KPP is too great, the posit ion loop resp onsiveness will be increased and it will result in small phase margin . If this happens, the rotor of motor will oscillate.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-13 6.3 Speed Control Mode The speed control mode (S or Sz) is usually used on t he applications of precision spe ed control, such as CNC machine, etc. ASDA-AB series servo drive supp o rts two kinds of command sources in speed control mode.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-14 Revision January 2009 GND. The setting range of the input voltage is from -10V to +10V an d the corresponding motor speed is adjustable (Plea se see parameter P1-40 ). When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command i s internal parameter (P1-09 to P1-11).
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-15 6.3.3 Smoothing Strategy of Speed Control Mode S-curve Filter The S-curve filter is a speed smoothi ng command wh ich provide s 3 steps accel / decel S-curve to smooth the speed command ch ange of the motor during acceleration and d eceleration.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-16 Revision January 2009 P1 - 35 TDEC Deceleration Time Communication Addr.: 0123H Default: 200 Related Secti on: Applicable Control Mode: P/S P1-34, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step Deceleration time.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-17 Analog Speed Command S-curv e Filter ASDA-AB series servo drives also provide Analog Speed Comman d S-curve Filter for the smoothing in response to a sudden anal og input signal.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-18 Revision January 2009 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF an d GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Comman d) ca n adjust the speed control ramp and its range.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-19 6.3.5 Timing Chart of Speed Control Mode S4 (P1- 1 1) S3 (P1- 10) S2 (P1- 09) S1 SPD0 SPD1 SON OFF ON OFF ON ON OFF ON.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-20 Revision January 2009 Manual Mode: User-defin ed loop gain adjustment. When using this mode, all auto and a uxiliary function will be disabled. Auto Mode: Continuous a djustment of loop gains according to measu red inertia, with ten levels of system bandwidth.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-21 Proportional gain: Adjust this gain ca n increase the position loop responsiveness. Integral gain: Adjust this gain can enha nce the low-frequency sti ffness of speed loop and eliminate the steady error.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-22 Revision January 2009 In theory, stepping response can be used to explain proportional ga in (KVP), integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-23 Time Domain In general, the equipment, such as spect rum analyzer is needed and use d to analyze when using frequency domain method and the users also should hav e this kind of analysis technology.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-24 Revision January 2009 users usually use time domain method with the analog DI/DO terminal provided by the servo drive to adjust what is called as PI (Proportional and Integral ) type controller.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-25 P2 - 24 DPH Notch Filter Attenuation Rate (Resonance Suppression) Communication Addr.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-26 Revision January 2009 Low-pass filter Please use parameter P2-25. The figure below shows the re sonant open-loop gain.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-27 Use Low-pass Filter to suppres s resonance Low-pass Fil ter Cut-off Frequenc y of Low -pas s F ilter = 10000 / P2-25 Hz - 0db Resonance conditions is suppress ed .
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-28 Revision January 2009 6.4 T orque Control Mode The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machin e, twister, etc.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-29 6.4.2 Structure of To rque Control Mode Basic Struct ure: The toque command processi ng is used to select the command source of torque control according to chapter 6.4.1, including ma x.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-30 Revision January 2009 NOTE 1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled and the command is ju st By-Pass. TFL T Ta r g e t S p e e d 6.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-31 For example, in torque mode, if P1-41 is set to 100 and the input volt age is 10V , it indicates that the torque command is 100% rated torq ue. If P1-41 is set to 100, but the input voltage is changed to 5V , then the torque comman d is changed to 50% rated torque.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-32 Revision January 2009 6.5 Control Modes Selection Except signal control mode operatio n, ASDA-AB series AC drive also provide Pt-S, Pr-S, S-T , Pt-T , Pr-T these five multiple modes for the users to selec t.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-33 In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-34 Revision January 2009 The timing chart of speed / position control mode sele ction is shown as the figure below: In position mode (when T-P is ON), the motor will sta r t to count pulse and operate following the external pulse command.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-35 6.6 Others 6.6.1 Speed Limit The max. servo motor speed can be lim ited by using parameter P1-55 no m atter in position, speed or torque control mode. The command source of speed limit command is the same as speed command.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-36 Revision January 2009 6.6.3 Regenerative Resistor Built-in Regenerativ e Resistor When the output torque of servo m otor in reverse dire ction of motor rot ation speed, it indicates that there is a regenerative power retur ned from the load to the servo drive.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-37 External Regenerativ e Resistor When using external re generative resistor, connect it to P and C, and make su re the circuit between P and D is open.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-38 Revision January 2009 For example: If we use 400W servo drive, the time of repeat oper ation cycle is T = 0.4 se c, max. motor speed is 3000r/min, the load inertia = 7 × motor inertia, then the necessa ry the power of regenerative resistor = 2 x ( (7+1) × 1.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-39 For example: When external load torque is a +70% ra ted torque and rotation speed reaches 3000r/mi n, if using 400W servo drive (rated torque: 1.27Nt-m) , then the users need to connect a external regenerative resi stor which power is 2 x (0.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-40 Revision January 2009 Allowable frequency when the servo motor run without load (times/min) 500W 600W 750W 900W 1.0kW (100 mm) ECMA Series Regenerative Resistors 05 06 07 09 10 BR400W040 291 283 2128 213 925 BR1K0W020 729 708 5274 533 2312 1.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-41 Example: P0-03 = 01(CH1 is speed a nalog output) Motor rotation speed = (M ax. rotation speed × V1/8) × P1-04/100, when the output volt age value of CH1 is V1. P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-42 Revision January 2009 P4 - 21 DOF2 Analog Monitor Output Drift Adjustm ent (CH2) Communication Addr.: 0415H Default: Factory setting Related Section: N/A Applicable Control Mode: P/S/T Section 6.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-43 6.6.5 Electromagnetic Brake When the servo drive is operating, if the digi tal output BRKR is set to Of f, it indicates the electromagnetic brake is disabl ed and motor is stop running and lo cked.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-44 Revision January 2009 Electromagnetic Brake Wiring Di agram NOTE 1) Please refer to Chapter 3 Connection s and Wiring for more wiring information. 2) The BRKR signal is used to control the brake operation.
Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision January 2009 6-45 The timing charts of control circuit power and main circuit power: L1, L2 Cont r ol Ci rc u it Power 5V Cont r ol Ci r.
Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-46 Revision January 2009 This page int entionally left blank.
Revision January 2009 7-1 Chapter 7 Servo Parameters 7.1 Definition There are following five groups for drive param eters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-2 Revision January 2009 7.2 Parameters Summary 7.2.1 Parameters List by Group Group 0: P0-xx Monitor Parameters Control Mode Parameter Name Function Defa.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-3 Group 1: P1-xx Basic Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P1-00 ▲ PTT External Pulse Input Type 2 N/A { P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-4 Revision January 2009 Basic Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P1-43 MBT2 OFF Delay Time of Electromagnetic Brake 0.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-5 Group 2: P2-xx Extension Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P2-00 KPP Proportional Posi tion Loop Gain 35 rad/s { { P2-01 PPR Position Loop Gain Switching Rate 100 % { { P2-02 PFG Position Feed Forward Gain 5000 0.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-6 Revision January 2009 Extension Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P2-31 ■ AUT1 Auto Mode Responsiveness Level 44.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-7 Group 3: P3-xx Communication Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P3-00 ADR Communicati on Addr.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-8 Revision January 2009 Group 4: P4-xx Diagnosis Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P4-00 ★ ASH1 Fault Record (N) 0.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-9 7.2.2 Parameters List by Function Monitor and General Use Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P0-00 ★ VER Firmware Vers ion Factory setting N/A { { ` { { --- P0-01 ★ ALE Drive Fault Code N/A N/A { { { { 10.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-10 Revision January 2009 Smooth Filter and Resonance Suppression Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-06 SFLT Accel / Decel Smooth Constant of Analog Speed Command (Low- pass Filter) 0 ms { 6.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-11 Gain and Switch Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P2-00 KPP Proportional Posi tion Loop Gain 35 rad/s { { 6.2.8 P2-01 PPR Position Loop Gain Switching Rate 100 % { { --- P2-02 PFG Position Feed Forward Gain 5000 0.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-12 Revision January 2009 Position Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-13 Position Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P2-45 DOD Combination Output Signal Delay Time 1 4ms { 12.6 P2-46 FSN Feed Step Number 6 N/A { 12.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-14 Revision January 2009 Speed Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-15 Torque Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-16 Revision January 2009 Digital I/O and relative input output setting Digital I/O Control Mode Parameter Name Function Default Unit Pt Pr S T Related Se.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-17 Communication Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P3-00 ADR Communi cation Address Setting 1 N/A { { { { 8.2 P3-01 BRT Transmission Speed 1 bps { { { { 8.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-18 Revision January 2009 Diagnosis Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P4-00 ★ ASH1 Fault Record (N) 0 N/A { { { { 4.4.1 P4-01 ★ ASH2 Fault Record (N-1) 0 N/A { { { { 4.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-19 Others Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-31 MSE Motor Type Selection 0 N/A { { { { --- P1-32 LSTP Motor Stop Mode Selection 0 N/A { { { { --- P1-37 GDR Ratio of Load Inertia to Servo Motor Inertia 5.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-20 Revision January 2009 7.3 Det ailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00 ★ VER Firmware Version Communication Addr.: 0000H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: N/A P0 - 01 ★ ALE Drive Fault Code Communication Addr.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-21 P0 - 02 STS Drive Status Communication Addr.: 0002H Default: 00 Related Section: Applicable Control Mode: ALL Section 4.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-22 Revision January 2009 P0 - 03 MON Analog Monitor Output Communication Addr.: 0003H Default: 01 Related Section: Applicable Control Mode: ALL Section 4.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-23 P0 - 05 CM2 Status Monitor 2 Communication Addr.: 0005H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 0 ~ 16 Settings: See P0-04 for explanation.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-24 Revision January 2009 P0 - 09 MAP0 Block Data Read / Write Register 0 Communication Addr.: 00 09H Default: 407H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: Set the register address in HEX that use rs w ant to read and write by using the keypad.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-25 P0 - 13 MAP4 Block Data Read / Write Register 4 Communication Addr.: 0 00 DH Default: 1 1 1H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: See P0-09 for explanation.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-26 Revision January 2009 P0 - 17 SVSTS Servo Output Status Display Communication Addr.: 0 01 1H Default: N/A Related Section: Applicable Control Mode: ALL T able 7.B Unit: N/A Range: N/A Settings: This paramet er is used to display the digital out put si gnal of the servo drive.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-27 Group 1: P1-xx Basic Parameters P1 - 00 ▲ PTT External Pulse Input Ty pe Communication Addr.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-28 Revision January 2009 P1 - 01 ● CTL Control Mode and Output Direction Communication Addr.: 0101H Default: 00 Related Section: Applicable Control Mode: ALL Section 6.1 Unit: pulse (P mode), r/min (S mode), N.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-29 P1 - 02 ▲ PSTL Speed and Torque Limit Communication Addr.: 0102H Default: 00 Related Section: Applicable Control Mode: ALL Section 6.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-30 Revision January 2009 P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0 Related Section: Applicable Control Mode: ALL Section 3.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-31 P1 - 07 TFLT Smooth Constant of Analog Torque Command (Low-pass Filter) Communication Addr.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-32 Revision January 2009 P1 - 11 SP3 3rd Speed Command or Limit Communication Addr.: 010BH Default: 300 Related Secti on: Applicable Control Mode: S, T Section 6.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-33 P1 - 13 TQ2 2nd Torque Command or Limit Communication Addr.: 010DH Default: 100 Related Secti on: Applicable Control Mode: T , P/S Section 6.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-34 Revision January 2009 P1 - 16 PO1L 1st Position Command for Pulse Communication Addr.: 0110H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of internal position 1.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-35 P1 - 20 PO3L 3rd Position Command for Pulse Communication Addr.: 0114H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of internal position 3.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-36 Revision January 2009 P1 - 24 PO5L 5th Position Command for Pulse Communication Addr.: 0118H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of internal position 5.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-37 P1 - 28 PO7L 7th Position Command for Pulse Communication Addr.: 0 1 1C H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of internal position 7.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-38 Revision January 2009 P1 - 32 LSTP Motor Stop Mode Selection Communication Addr.: 0120H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 1 1 Settings: This paramet er is used to select servo motor stop m ode.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-39 P1 - 34 TACC Acceleration Time Communication Addr.: 0122H Default: 200 Related Secti on: Applicable Control Mode: Pr , S P1-35, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step acceleration time.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-40 Revision January 2009 P1 - 36 TSL Accel /Decel S-curv e Communication Addr.: 0124H Pr mode Default: 20 (See Note 2) R elated Section: Other mode Default: 0 P1-34, P1-35, Unit: ms Section 6.2.4 (Pr mode), Range: 0 ~ 10000 (0: Disabled) Section 6.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-41 P1 - 38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: r/min Range: 0 ~ 200 Settings: This paramet er is used to set output range of zero speed si gnal (ZSPD).
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-42 Revision January 2009 P1 - 40 ▲ VCM Max. Analog Speed Command or Limit Communication Addr.: 0128H Default: rated speed Related Section: Applicable Control Mode: S/T Section 6.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-43 P1 - 43 MBT2 OFF Delay Time of Electr omagnetic Brake Communication Addr.: 012BH Default: 0 Related Section: Applicable Control Mode: ALL Section 6.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-44 Revision January 2009 P1 - 45 ▲ GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH Default: 1 Related Section: Applicable Control Mode: Pt, Pr Section 6.3.6 Unit: Pulse Range: 1 ~ 32767 Settings: Electronic gear denomin ator setting.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-45 P1 - 46 ▲ GR3 Encoder Output Pulse Number Communication Addr.: 012EH Default: 1 Related Section: N/A Applicable Control Mode: .
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-46 Revision January 2009 P1 - 47 HMOV Homing Mode Communication Addr.: 012FH Default: 00 Related Section: Applicable Control Mode: ALL Section 12.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-47 P1 - 48 HSPD1 1st Speed Setting of High Speed Homing Communication Addr.: 0130H Default: 1000 Related Section: Applicable Control Mode: ALL Section 12.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-48 Revision January 2009 P1 - 52 RES1 Regenerative Resistor Value Communication Addr.: 0134H Default: 40 (1kW and below), 20 (above 1kW) Related Section: Applicable Control Mode: ALL Section 6.6.3 Unit: Ohm Range: 10 ~ 750 P1 - 53 RES2 Regenerative Resistor Capacity Communica tion Addr.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-49 P1 - 56 OVW Output Overload Warning Level Communication Addr.: 0138H Default: 120 Related Secti on: N/A Applicable Control Mode: ALL Unit: % Range: 0 ~ 120 Settings: This parameter is u sed to set output overload level.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-50 Revision January 2009 P1 - 62 COKT Delay Time of Internal Position Com mand Completed Output Signal Communication Addr.: 013EH Default: 0 Related Section: Applicable Control Mode: Pr DO CMDOK(12) in T able 7.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-51 Group 2: P2-xx Extension Parameters P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 35 Related Section: Applicable Control Mode: Pt, Pr Section 6.2.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-52 Revision January 2009 P2 - 03 PFF Smooth Constant of Posi tion Feed Forward Gain Communication Addr.: 0203H Default: 5 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: ms Range: 2 ~ 100 Settings: When using position smoot h command, increase gain can improve position track deviation.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-53 P2 - 06 KVI Speed Integral Compensation Communication Addr.: 0206H Default: 100 Related Secti on: Applicable Control Mode: ALL Section 6.3.6 Unit: N/A Range: 0 ~ 4095 Settings: This parameter is u sed to set the integral time of speed loop.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-54 Revision January 2009 P2 - 08 ■ PCTL Special Factory Setting Communication Addr.: 0208H Default: 0 Related Section: N/A Applicable Control Mode: ALL.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-55 P2 - 10 DI1 Digital Input Terminal 1 (DI1) Communication Addr.: 020AH Default: 101 Related Secti on: Applicable Control Mode: ALL T able 7.A Unit: N/A Range: 0 ~ 147 Settings: This paramet er is used to determine the function and st atus of DI1.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-56 Revision January 2009 P2 - 13 DI4 Digital Input Terminal 4 (DI4) Communicat ion Addr.: 020DH Default: 1 17 Related Section: Applicable Control Mode: ALL T able 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-57 P2 - 18 DO1 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H Default: 101 Related Secti on: Applicable Control Mode: ALL T able 7.B Unit: N/A Range: 0 ~ 1 12 Settings: This paramet er is used to determine the function and st atus of DO1.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-58 Revision January 2009 P2 - 21 DO4 Digital Output Terminal 4 (DO4) Communication Addr.: 0215H Default: 105 Related Secti on: Applicable Control Mode: ALL T able 7.B Unit: N/A Range: 0 ~ 1 12 Settings: See P2-18 for explanation.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-59 P2 - 25 NLP Low-pass Filter Time Constant (Resonance Suppression) Communication Addr.: 0219H Default: 2 (1kW and below models) o r Related Section: 5 (above 1kW models) Section 6.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-60 Revision January 2009 P2 - 28 GUT Gain Switching Time Constant Communication Addr.: 021CH Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: 10ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is u sed to set the time constant wh en switching the smooth gain.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-61 P2 - 31 AUT1 Auto Mode Responsiveness Level Communication Addr.: 021FH Default: 44 Related Section: Applicable Control Mode: ALL Section 5.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-62 Revision January 2009 P2 - 32 ▲ AUT2 Tuning Mode Selection Communication Addr.: 0220H Default: 0 Related Section: Applicable Control Mode: ALL Section 5.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-63 P2 - 33 ▲ INF Easy Setting of Input Filter Communication Addr.: 0221H Default: 0 Related Section: Applicable Control Mode: ALL Section 6.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-64 Revision January 2009 P2 - 36 POV1 Moving Speed Setting of 1st Position Communication Addr.: 0224H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-65 P2 - 40 POV5 Moving Speed Setting of 5th Position Communication Addr.: 0228H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-66 Revision January 2009 P2 - 44 DOM Digital Output Mode Se tting Communication Addr.: 022CH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-67 P2 - 47 PED Position Deviation Clear Delay Time Communication Addr.: 022FH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.6 Unit: 20ms Range: 0 ~ 250 Settings: This function is disabled when it s setting value is set to 0.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-68 Revision January 2009 P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H Default: 0 Related Section: N/A Applicable.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-69 P2 - 50 DCLR Pulse Deviation Clear Mode Communication Addr.: 0232H Default: 0 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: N/A Range: 0 ~ 3 Settings: For digital input function (DI function), pl ease refer to T able 7.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-70 Revision January 2009 P2 - 51 SRON Servo ON Communication Addr.: 0233H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-71 P2 - 56 ATM4 Timer 4 of Auto Mode Communication Addr.: 0238H Default: 0 Related Section: N/A Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 57 ATM5 Timer 5 of Auto Mode Communication Addr.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-72 Revision January 2009 P2 - 61 GR5 Electronic Gear Ratio (3rd Numerator) (N3) Communication Addr.: 02 3 D H Default: 1 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: pulse Range: 1 ~ 32767 Settings: Please refer to P2-60.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-73 P2 - 63 TSCA Proportion Value Setting Communication Addr.: 0 23 FH Default: 0 Related Section: N/A Applicable Control Mode: Pt, S Unit: times Range: 0 ~ 1 1 Settings: not us ed A B V alue A: decimal place setting of internal speed command.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-74 Revision January 2009 P2 - 64 TLMOD Torque Limit Mixed Mode Communication Addr.: 0 24 0H Default: 0 Related Section: N/A Applicable Control Mode: Pt, .
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-75 P2 - 65 GBIT Special Function Communication Addr.: 0 24 1H Default: 0 Related Section: N/A Applicable Control Mode: Pr , Pt, S U.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-76 Revision January 2009 Bit5: Reserved. Must be set to 0. Bit6 Bit6: Abnormal pulse command detection 0: enable abnormal pulse command detection 1: disa.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-77 Group 3: P3-xx Communication Parameters P3 - 00 ADR Communication Address Setting Communica tion Addr.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-78 Revision January 2009 P3 - 02 PTL Communication Protocol Communication Addr.: 0302H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-79 P3 - 04 CWD Communication Time Out Detection Communication Addr.: 0304H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-80 Revision January 2009 P3 - 06 ■ SDI Digital Input Communication Function Communication Addr.: 0306H Default: 0 Related Section: Applicable Control Mode: ALL P4-07, Section 8.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-81 Group 4: P4-xx Diagnosis Parameters P4 - 00 ★ ASH1 Fault Record (N) Communication Addr.: 0400H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A Settings: The latest fault record.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-82 Revision January 2009 P4 - 05 JOG JOG Operation Communication Addr.: 0405H Default: 20 Related Section: Applicable Control Mode: ALL Section 4.4.2 Unit: r/min Range: 0~5000 Settings: JOG operation command: 1.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-83 P4 - 06 ▲ ■ FOT Force Output Control Communication Addr.: 0406H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.4 Unit: N/A Range: 0~0x1F Settings: Settings: 0: Disabled.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-84 Revision January 2009 P4 - 09 ★ MOT Output Status Display Communication Addr.: 0409H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-85 P4 - 12 SOF2 Analog Speed Input Drift Adjustment 2 Communicat ion Addr.: 040CH Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-1 1 for explanation.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-86 Revision January 2009 P4 - 16 COF2 Current Detector Drift Adjustmen t (V2 phase) Communication Addr.: 0410H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-15 for expla nation.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-87 P4 - 20 DOF1 Analog Monitor Output Drift Adjustm ent (CH1) Communication Addr.: 0414H Default: Factory setting Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: mV Range: -800~800 Settings: This paramet er cannot be reset.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-88 Revision January 2009 P4 - 24 Reserved Co mm u n ic at i o n Ad d r. : 0418H P4 - 25 Reserved Co mm u n ic at i o n Ad d r.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-89 Table 7.A Input Function Definition Sign Setting Value Digital Input Function Description SON 01 Servo On. Switch servo to "Ser vo Ready". Check parameter P2-51 . ARST 02 Alarm Reset.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-90 Revision January 2009 Sign Setting Value Digital Input Function Description POS0 11 POS1 12 POS2 13 Position command selection 0 ~ 2 When the Pr mode is selected, the 8 stored positions are p rogrammed via a combination of the POS 0, POS 1, and POS 2 commands.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-91 Sign Setting Value Digital Input Function Description S-P 18 Speed / Position mode swit ching (OFF: Speed, ON: Position) S-T 19 Speed / Torque mode switching (OFF: Speed, ON: T orque) T-P 20 Torque / Posi tion mode switching (OFF: Torque, ON: Position) EMGS 21 Emergency stop.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-92 Revision January 2009 Sign Setting Value Digital Input Function Description STEPD 40 Step down input. When STEPD is activated, the motor will run to previous position. STEPB 41 Step back input. When STEPB is activated, the motor will return to first position.
Chapter 7 Servo Parameters | AS DA-AB Series Revision January 2009 7-93 Table 7.B Output Function Definition Sign Setting Value Digital Output Function Description SRDY 01 Servo ready. SRDY is activated when the se rvo drive is rea dy to run. All fault and alarm conditions, if present, have been cleared.
Chapter 7 Servo Parameters | ASDA-AB Serie s 7-94 Revision January 2009 Sign Setting Value Digital Output Function Description OLW 10 Output overload warning. OLW is activ ated when the servo drive has detected that the motor has reached the output overloa d level set by parameter P1-56.
Revision January 2009 8-1 Chapter 8 MODBUS Communications 8.1 Communication Hardware Interface The ASDA-AB series servo drive ha s three modes of communicati on: RS-232, RS-485, and RS-422. All aspect s of control, operation and monitoring as well a s programming of the controller can be achieved via communication.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-2 Revision January 2009 NOTE 1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise shoul d be kept to a minimum, communication cabl e should kept apart from high voltage wires.
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-3 Cable Connection.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-4 Revision January 2009 NOTE 1) The maximum cable length is 100m (39.37inches) w hen the servo drive is installed in a location where there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum, communication ca ble should kept apart from high voltage wires.
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-5 8.2 Communication Parameter Settings The following describes the comm unication addresses for the comm unication parameters. For communication param eters, please refer to the Chapter 7.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-6 Revision January 2009 0302H Communicati on Protocol Default: 0 Range: 0~8 Settings: 0: Modbus ASC II mode, <7,N,2> 1: Modbus ASCII mode, <.
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-7 0306H Digital In put Communicati on Function Digital Input Cont act Control: Default: 0 Range: 0~FFFF (hexadecima l number) The setting of this parameter determines how the Digital Inputs (DI) accept command s and signals.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-8 Revision January 2009 If the contents of P4-07 is being read via communica tion the output will be a decimal number that will represent the "binary" display. Therefore in the pr evious example the de cimal number being read would be 113.
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-9 8.3 MODBUS Communication Protocol When using RS-232/485/422 serial communication inte rface, each ASDA-AB serie s AC servo drive has a pre-assigned comm unication addre ss specified by parameter “P3-00”.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-10 Revision January 2009 11-bit character frame (For 8-bit characte r) 8N2 Start bit 01 2 34 5 6 St o p bit 8-d ata bits 1 1 - b it s cha rac ter fr .
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-11 STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address ) The valid communication addresses a re in the range of 1 to 254.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-12 Revision January 2009 RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 03H CMD 03H 02H (Upper bytes) Starting data address 00H (Lo.
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-13 RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 06H CMD 06H 02H (Upper bytes) 02H (Upper bytes) Starting da.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-14 Revision January 2009 CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (c alled CRC re gister) with FFFFH.
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-15 The following is an example of CRC generation u sin g C language. The function takes two arg uments: unsigned char* data; unsigned char length The function returns the CRC value as a type of unsi gned integer.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-16 Revision January 2009 int I; outportb(PORT+MCR,0x08); /* interrupt enable */ outportb(PORT+IER,0x01); /* interrupt as data in */ outportb(PORT+LCR,( inport b(PORT+LCR) | 0x80 ) ); /* the BRDL/BRDH can be access as LCR.
Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-17 8.4 Communication Parameter W rite-in and Read-out There are following five groups for para meters: Group 0: Monitor paramet.
Chapter 8 MODBUS Communications | ASDA-AB Series 8-18 Revision January 2009 Communication read-out parameters for ASDA-AB series are including: Group 0: P0-00 ~ P0-17 (0000H to 0011H) Group 1: P1-00 ~.
Revision January 2009 9-1 Chapter 9 Maintenance and Inspection Delta AC servo drives are based on solid state ele ctronics technology. Preventive maintenance is required to operate this AC servo drives in its optim al condition, and to ensure a long life.
Chapter 9 Maintenance and Inspec tion | ASDA-A B Series 9-2 Revision January 2009 Item Content Inspection during operation (Control power is applied) ） z Ensure that the cables are not damaged , stressed excessively or loaded heavily.
Chapter 9 Maintenance and Inspec tion | ASDA-A B Series Revision January 2009 9-3 Cooling fan The cooling fan life is limited and sho uld be changed periodically. The co oling fan will reach the end of its life in 2~3 years when it is in continuo us operat ion.
Chapter 9 Maintenance and Inspec tion | ASDA-A B Series 9-4 Revision January 2009 This page intentionally left blank..
Revision January 2009 10-1 Chapter 10 T r oubleshooting If a fault is detected on the servo drive or motor a co rrespondi ng fault code will be shown on the drive' s LED display. Fault codes can also be transmitted via com m unication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI.
Chapter 10 Troubleshooting | ASDA-AB Series 10-2 Revision January 2009 Fault Messag es Display Fault Nam e Fault Desc ription IGBT temperature error The temperature of IGBT is over high. Memory error EE-PROM write-in and read-out is in error. DSP communication error The communication between DSP and MCU is in error.
Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-3 10.2 Potential Cause and Corrective Actions Servo Drive Fault Messag es : Overcurrent Potential Cause Checking Method Corrective Actions Short-circuit at drive output (U, V , W) 1.
Chapter 10 Troubleshooting | ASDA-AB Series 10-4 Revision January 2009 : Regeneration error Potential Cause Che cking Method Corrective Actions Regenerative resistor i s not connected. Check the wiring connectio n of regenerative resistor. Reconnect regenerative re sistor.
Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-5 : W atch dog execution time out Potential Cause Checking Method Corrective Actions Watch dog execution error.
Chapter 10 Troubleshooting | ASDA-AB Series 10-6 Revision January 2009 : IGBT temperature error Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load during continuous operation. Check if there is overload or the moto r current is too high.
Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-7 : Command write-in error Potential Cause Checking Method Corrective Actions Control power is in error. Check and reset control power If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta.
Chapter 10 Troubleshooting | ASDA-AB Series 10-8 Revision January 2009 10.3 Clearing Fault s Display Faul t Name Clearing Method Overcurrent Turn ARST (DI signal) ON to clear the fault or restart the serv o drive. Overvoltage Turn ARST (D I signal) ON to clear th e fault or restart the serv o drive.
Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-9 Display Faul t Name Clearing Method Command write-in error Turn ARST (DI signal) ON to cle ar the fault or restart the serv o drive. Input power phase loss Turn ARST (DI signal) ON to clear t he fault.
Chapter 10 Troubleshooting | ASDA-AB Series 10-10 Revision January 2009 This page intentionally left blank..
Revision January 2009 11-1 Chapter 11 Specifications 1 1.1 Specifications of Se rvo Drive (ASDA-AB Series) 100W 200 W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A 01 02 04 01.
Chapter 11 Specifications | AS DA-AB Series 11-2 Revision January 2009 100W 200 W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A 01 02 04 01 02 04 07 10 15 20 Voltage Range 0 ~ ±10 V DC Input Resistanc e 10K Ω Analog Input Command Time Constant 2.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-3 Footnote: *1 Rated rotation speed: When full load, speed ratio is defined a s the minimum speed (the motor will not pau se).
Chapter 11 Specifications | AS DA-AB Series 11-4 Revision January 2009 1 1.2 Specifications of Servo Motor (ECMA Series) Low Inertia Servo Motor C304 C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW Model: ECMA Series 01 02 04 04 07 10 20 Rated output power (kW) 0.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-5 C304 C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW Model: ECMA Series 01 02 04 04 07 10 20 Vibration grade (um) 15 Operating te.
Chapter 11 Specifications | AS DA-AB Series 11-6 Revision January 2009 E313 E318 G313 500W 1kW 1.5kW 2kW 2kW 300W 600W 900W Model: ECMA Series 05 10 15 20 20 03 06 09 Weight (kg) (with brake) 8.2 8.4 8.9 9.2 17.5 8.2 8.4 8.9 Max. radial shaft load (N) 490 490 490 490 1176 490 490 490 Max.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-7 1 1.3 Servo Motor Speed-T orque Curves.
Chapter 11 Specifications | AS DA-AB Series 11-8 Revision January 2009 1 1.4 Overload Characteristics Overload Protection Function Overload protection is a built-in protective f unction to prevent a motor from ove rheating. Occasion of Overload 1.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-9 Chart of load and operating time (ECMA-C3060 2 ) 0. 1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rat e d t o rque) Operat ing T i m e (s ec onds ) Load Operating Time 120% 213.
Chapter 11 Specifications | AS DA-AB Series 11-10 Revision January 2009 Chart of load and operating time (ECMA-C3080 4 ) 0. 1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rat ed t orque) Operat i ng Ti m e (s ec onds ) Load Operating Time 120% 254.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-11 Chart of load and operating time (ECMA-C3101 0 ) 0. 1 1 10 100 1000 0 50 100 150 200 25 0 300 Load (% rat ed t orque) Operat i ng Ti m e (s ec onds ) Load Operating Time 120% 185.
Chapter 11 Specifications | AS DA-AB Series 11-12 Revision January 2009 Chart of load and operating time (ECMA-G31303 ) 0. 1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rat ed t orque) Operat i ng Ti m e (s ec onds ) Load Operating Time 120% 613.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-13 Chart of load and operating time (ECMA-G31306 ) 0. 1 1 10 100 1000 0 50 100 150 200 250 300 Load (% rat e d t o rque) Operat i ng Ti m e (s ec onds ) Load Operating Time 120% 167.
Chapter 11 Specifications | AS DA-AB Series 11-14 Revision January 2009 Chart of load and operating time (ECMA-E3131 0 ) 0. 1 1 10 100 1000 0 50 100 150 200 250 30 0 Load (% rat ed t orque) Operat ing T i me (s ec onds ) Load Operating Time 120% 130.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-15 Chart of load and operating time (ECMA-E3132 0 ) 0. 1 1 10 100 1000 0 50 100 150 20 0 250 300 Load (% ) rat ed t orque Operat ing T i m e (s ec onds ) Load Operating Time 120% 185.
Chapter 11 Specifications | AS DA-AB Series 11-16 Revision January 2009 1 1.5 Dimensions of Servo Drive Order P/N: ASD-A0111-AB, ASD-A021 1-AB, ASD-A0411-AB (100W ~ 4 00W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)).
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-17 Order P/N: ASD-A0121-AB, ASD-A022 1-AB, ASD-A0421-AB (100W ~ 4 00W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)).
Chapter 11 Specifications | AS DA-AB Series 11-18 Revision January 2009 Order P/N: ASD-A0721-AB, ASD-A102 1-AB, ASD-A1521-AB (750W ~ 1.5 kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)).
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-19 Order P/N: ASD-A2023-AB (2 kW) WEIGHT 3.0 (6.6) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)). 3) In this manual, actual measured values are in metric units.
Chapter 11 Specifications | AS DA-AB Series 11-20 Revision January 2009 1 1.6 Dimensions of Servo Motor Motor Frame Size: 80mm and belo w Models Model C30401 S C30602 S C30604 S C30804 7 C30807 S LC 40 60 60 80 80 LZ 4.5 5.5 5.5 6.
Chapter 11 Specifications | AS DA-AB Series Revision January 2009 11-21 Motor Frame Size: 100mm and abov e Models Model G31303 S E31305 S G31306 S G31309 S C31010 S LC 130 130 130 130 100 LZ 9 9 9 9 9 LA 145 145 145 145 115 S 22 22 22 22 22 LB 110 110 110 110 95 LL (without brake) 147.
Chapter 11 Specifications | AS DA-AB Series 11-22 Revision January 2009 Motor Frame Size: 100mm and abov e Models Model E31310 S E31315 S C31020 S G31320 S E31820 S LC 130 130 100 130 180 LZ 9 9 9 9 13.5 LA 145 145 115 145 200 S 22 22 22 22 35 LB 110 110 95 110 114.
Revision January 2009 12-1 Chapter 12 Application Examples 12.1 Position Control (including homing function) Suppose that the machine will move to limit switch (C CWL), L.S.1 when motor is in forward rotation (from motor shaft view) and the machine will move to limit swit ch (CWL), L.
Chapter 12 Application Examples | ASDA-AB Series 12-2 Revision January 2009 P1-50=0, P1-51=0 (Homing offset rotation / pulse nu mber) Other relevant parameters: P1-34, P1-3 5, P1-36 (A cceleration/Deceleration time setting); P1-48, P1-49 (Speed setting of high/low speed Homin g) Operation Re-start the power to be ON again.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-3 12.2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered eve ry time (10000/4=2500Pulse).
Chapter 12 Application Examples | ASDA-AB Series 12-4 Revision January 2009 12.3 Connecting to Delt a DVP-EH Series PLC Delta servo drives can be connected to Delta DVP-EH serie s PLC and provide func.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-5 X1 M5 RS T M 1 0 RS T M 1 2 RS T M 1 3 SE T S 0 ZE R O X0 ST O P ( M 1 334 ) St o p ch 0 pu l s e ou t p u t M1 0 0 0 N or .
Chapter 12 Application Examples | ASDA-AB Series 12-6 Revision January 2009 X5 M5 RS T M 1 2 RS T M 1 3 SE T S 1 3 R EV PO S RE V P O S M10 X2 RS T M 1 2 RS T M 1 3 SE T S 1 0 J OG+ JO G + M5 X3 RS T .
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-7 S1 0 K 9 999 9 9 Y 0 RS T M10 2 9 JO G + M51 S DD R V I K 30 0 0 0 Y 1 M10 00 M1 0 29 P L SY Y 0 i n s tr uc t i on ex e c .
Chapter 12 Application Examples | ASDA-AB Series 12-8 Revision January 2009 S1 3 K10 0 0 0 0 Y0 M54 S D D R VA K1 0 000 Y 1 M54 M1 0 00 No r ma l ly o n co n t a ct ( a co ntact) ( M 101 ) RE V P O S .
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-9 12.4 Connecting to Delt a TP04 Series Delta servo drives can be connected to Delta TP04 Se rie s Operation Interface Panel .
Chapter 12 Application Examples | ASDA-AB Series 12-10 Revision January 2009.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-11 12.5 Position Control Mode (Pr Mode) Relevant Parameters Des cription Parameter Communication Address Parameter Descri.
Chapter 12 Application Examples | ASDA-AB Series 12-12 Revision January 2009 Trigger Timing Charts (1) Timing Chart of Internal Position Reg ister Selection P8 P3 P2 P1 PO S 0 PO S 1 CT RG SO N E .
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-13 (3) Command Abort Timing Chart: To use command abort fun ction, set parameter P2-50 to 2.
Chapter 12 Application Examples | ASDA-AB Series 12-14 Revision January 2009 12.6 Feed S tep Control Relevant Parameters Des cription Parameter Communication Address Parameter Description P1-01 01.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-15 Parameter Communication Address Parameter Description P1-50 0132H Homing Offset Rotation Number P1-51 0133H Homing Offset .
Chapter 12 Application Examples | ASDA-AB Series 12-16 Revision January 2009 DO Signal Parameter Setting Explanation DO1 P2-18 = 101 DO2 P2-19 = 103 DO3 P2-20 = 109 DO4 P2-21 = 105 DO5 P2-22 = 107 Please refer to “Definition of DO Signal s” in the following sect ion.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-17 Definitions of INDEX0~4 (ON=1, OFF=0) Item INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 INDEX NUMBER 1 0 0 0 0 0 INDEX 1 2 0 0 0.
Chapter 12 Application Examples | ASDA-AB Series 12-18 Revision January 2009 Definitions of DO Signals (ON=1, OFF=0 ) Item DO5 DO4 DO3 DO2 D01 De scription 1 0 0 0 0 0 ALRAM 2 0 0 0 0 1 SERVO READ.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-19 3) When return back to “Home” (Homin g), DO=2 4) When returning back to “Home” i s completed, DO=3 5) When feed st.
Chapter 12 Application Examples | ASDA-AB Series 12-20 Revision January 2009 (2) Feed Step Control Mode Power Suppl y ON OF F DO V ALUE Moto r Spee d CCLR IDX V alu e 1 0 ON OF F ON OF F ON OFF To r q u e Limit MD1 MD0 CI CI I NDEX 2 (06) CI INDE X 6 (0A) Servo ON P2-45 Step No.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-21 (3) Manually Single Step Control Mode 1 Power Suppl y ON OFF DO V A LUE I NDEX4 Motor Spee d STEPU IDX V a lu e ON OFF ON .
Chapter 12 Application Examples | ASDA-AB Series 12-22 Revision January 2009 (4) Manually Single Step Control Mode 2 Powe r Suppl y ON OF F DO V ALUE IN DE X 4 Motor Spee d IDX V alu e ON OFF To r q u.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-23 (5) Manually Continuous Step Control Mode Power Supply ON OFF DO VALUE IND EX 4 Moto r Spee d IDX V a lu e ON OF F T orque.
Chapter 12 Application Examples | ASDA-AB Series 12-24 Revision January 2009 Communication Control Example Explanation Communication Address Communication Content Explanation H306 H0FF Set to soft.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-25 12.7 Internal Auto Running Mode Relevant Parameters Des cription Parameter Communication Address Parameter Description.
Chapter 12 Application Examples | ASDA-AB Series 12-26 Revision January 2009 When the setting value of the time listed below is se t to zero(0), the relative position will be ignored.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-27 Definitions of DO Signals (ON:1, OFF:0) Item DO5 DO4 DO3 DO2 DO1 Function 1 0 0 0 0 0 ALARM 2 0 0 0 0 1 SERVO READY 3 .
Chapter 12 Application Examples | ASDA-AB Series 12-28 Revision January 2009 (2) Auto Running Mode Powe r Supp ly ON OFF DO V ALUE INDEX4 Motor Spe ed Serv o ON CI T1 HOME (3) T1 CI T2 CI T8 CI AUTOR .
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-29 (4) Manual Control Mode 2 Power Supply ON OFF DO V ALUE INDEX4 Moto r Speed Servo ON CI CI CI AUTOR V1 V2 IDX 1 IDX2 ID X .
Chapter 12 Application Examples | ASDA-AB Series 12-30 Revision January 2009 12.8 Homing Function Relevant Parameters Des cription Parameter Communication Address Parameter Description P1-47 012FH.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-31 A=2: Forward homing and ORGP (Reference “Home ” sens or) is regarded as a referen ce “Home”. At this time, users can set B=0, i.e. return to find Z-phas e pulse during homing an d regard Z-phase pulse a s a precise mechanical “Home” or set B=1, i.
Chapter 12 Application Examples | ASDA-AB Series 12-32 Revision January 2009 D: Homing Stop Setting D=0: After detecting “Home”, the motor will decelerat e and return to “Home”. After get the home sensor signal in 2nd step speed operatio n, the motor will de celerate and stop.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-33 2. Enable homing function by input contact (SHOM) (C=2) POW ER ON refe r to homing timing char t time SER VO READY SER VO ON HOME TRIG GER HOM ING HOMING COMPLETED Homing Timing Charts 1.
Chapter 12 Application Examples | ASDA-AB Series 12-34 Revision January 2009 2. B/A = 0/1 or B/A = 0/3 Pos iti on Z p u l s e CWL / OR GP SPEED 3. B/A = 1/2 Posi ti on Z p u l s e ORGP SPEED 4.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-35 5. B/A = 2/2 Pos it i on ORG P SPEED 6. B/A = 2/3 Pos it i on ORG P SPEED 7.
Chapter 12 Application Examples | ASDA-AB Series 12-36 Revision January 2009 8. B/A = 2/5 Pos it i on SPEED Z p u l s e.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-37 12.9 External Controller Connection Examples Connecting to Delta DVP-EH PLC.
Chapter 12 Application Examples | ASDA-AB Series 12-38 Revision January 2009 Connecting to Delta DVP-01PU.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-39 Connecting to Mitsubishi FX1PG.
Chapter 12 Application Examples | ASDA-AB Series 12-40 Revision January 2009 Connecting to Mitsubishi FX2N1PG.
Chapter 12 Application Examples | ASDA-A B Series Revision January 2009 12-41 Connecting to Mitsubishi AD75.
Chapter 12 Application Examples | ASDA-AB Series 12-42 Revision January 2009 This page intentionally left blank..
Revision January 2009 A-1 Appendix A Accessories Power Connectors Delta Part Number: ASDBCA PW0000 Title Part No. Manufacturer Housing C 4201H00- 2*2PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASDBCA PW0100 Title Part No.
Appendix A Accessories | ASDA-AB Series A-2 Revision January 2009 Power Cables Delta Part Number: ASD-ABPW0003, ASD-ABPW0 005 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE L Title Part No.
Appendix A Accessories | ASDA-AB Series Revision January 2009 A-3 Power Cables, cont. Delta Part Number: ASD-CAPW1003, ASD-CAPW1 005 L Title Part No. Straight mm inch 1 ASD-CAPW1003 3106A-20-18 S 3000 ± 100 118 ± 4 2 ASD-CAPW1005 3106A-20-18 S 5000 ± 100 197 ± 4 Delta Part Number: ASD-CAPW1103, ASD-CAPW1 105 L (80 mm) (50mm) (3.
Appendix A Accessories | ASDA-AB Series A-4 Revision January 2009 Power Cables, cont. Delta Part Number: ASD-CAPW1203, ASD-CAPW1 205 (100 mm) L (3.
Appendix A Accessories | ASDA-AB Series Revision January 2009 A-5 Power Cables, cont. Delta Part Number: ASD-CAPW2203, ASD-CAPW2 205 (80mm) (3.15 inc h) L (100 mm) (3.
Appendix A Accessories | ASDA-AB Series A-6 Revision January 2009 Encoder Connectors Delta Part Number: ASD- ABEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (17035 9.
Appendix A Accessories | ASDA-AB Series Revision January 2009 A-7 Encoder Cables Delta Part Number: ASD-ABEN0003, ASD-ABEN0 005 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP MOTOR SIDE CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3 000PE 3M DRIVE SIDE SHELL 3M 10320-52A0-008 3M L Title Part No.
Appendix A Accessories | ASDA-AB Series A-8 Revision January 2009 I/O Signal Connector (CN1) Delta Part Number: ASD- CNSC0050 Vendor Name Vendor P/N 3M TAIWAN LTD 10150-3000PE 3M TAIWAN LTD 10350-52A0-008 Communication Cable bet w een Drive and Comput er (for PC) Delta Part Number: ASD-CA RS0003 Part No.
Appendix A Accessories | ASDA-AB Series Revision January 2009 A-9 Servo Drive, Servo Motor and Acces sories Combinations 100W Servo Drive and 100W Lo w Inertia Servo Motor Servo Drive ASD-A0121-AB.
Appendix A Accessories | ASDA-AB Series A-10 Revision January 2009 400W Servo Drive and 500W Medium Inertia Serv o Motor Servo Drive ASD-A0421-AB Medium inertia Servo Motor ECMA-E31305 S Without B.
Appendix A Accessories | ASDA-AB Series Revision January 2009 A-11 750W Servo Drive and 600W High Iner tia Servo Motor Servo Drive ASD-A0721-AB High inertia Servo Motor ECMA-G31306 S Without Brake.
Appendix A Accessories | ASDA-AB Series A-12 Revision January 2009 1kW Servo Drive and 900W High Iner tia Servo Motor Servo Drive ASD-A1021-AB High inertia Servo Motor ECMA-G31309 S Without Brake .
Appendix A Accessories | ASDA-AB Series Revision January 2009 A-13 2kW Servo Drive and 2kW Medium Inertia Serv o Motor Servo Drive ASD-A2023-AB Medium inertia Servo Motor ECMA-E31320 S Without Bra.
Appendix A Accessories | ASDA-AB Series A-14 Revision January 2009 This page intentionally left blank..
Revision January 2009 B-1 Appendix B Molded-case Circuit Breaker, Fuse Current and EMI Filters Molded-case Circuit Breaker and Fu se Current Recommended Value ¾ Caution: Please use molded-cas e circuit breaker and fuse which are recognized by an d co mply with the UL or CSA standards.
Appendix A Accessories | ASDA-AB Series B-2 Revision January 2009 Installation All electrical equipment, including AC servo drive s, will generate high-frequency/low-freque ncy noise and will interfere with peripheral equipment by ra diation or con duction when in operation.
Appendix A Accessories | ASDA-AB Series Revision January 2009 B-3 Figure 1 Saddle on both ends Saddle on one end Figure 2.
Appendix A Accessories | ASDA-AB Series B-4 Revision January 2009 Dimensions Delta Part Number: 08TDT1W4S Delta Part Number: 20TDT1W4D.
An important point after buying a device Delta Electronics ASDA-AB (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Delta Electronics ASDA-AB yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Delta Electronics ASDA-AB - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Delta Electronics ASDA-AB you will learn all the available features of the product, as well as information on its operation. The information that you get Delta Electronics ASDA-AB will certainly help you make a decision on the purchase.
If you already are a holder of Delta Electronics ASDA-AB, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Delta Electronics ASDA-AB.
However, one of the most important roles played by the user manual is to help in solving problems with Delta Electronics ASDA-AB. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Delta Electronics ASDA-AB along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
