Delta Electronics ASDA-AB manuale d’uso

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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. You should thoroughly understand all sa fety pr ecautio[...]

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.). z Do not disconnect the AC servo driv e and motor while the power is ON. z Do not atta[...]

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. Failure to observe this precaution may result in serious injury, damage[...]

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. Please consult our distributors or download the most upd[...]

Revision January 2009 Table of Contents Chapter 1 Unpacking Check and Model Explanation ............................................................. 1-1 1.1 Unpackin g Check ............................................................................................................ ............ 1-1 1.2 Model Ex planation ..........................[...]

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 ................................................................................... 3-14 3.3[...]

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 ................................................................................................. .... 4-3 4.3.5 Monitor Se [...]

Table of Contents | ASDA-AB Serie s Revision January 2009 Chapter 6 Control Modes of Operation .................................................................................. 6-1 6.1 Control Modes of Operation ................................................................................................. ....... 6-1 6.2 Position C ontrol Mode [...]

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 ......................................................................... 6-32 6.5.2 Speed / Torqu[...]

Table of Contents | ASDA-AB Serie s Revision January 2009 Chapter 10 Troubleshooting ..................................................................................................... 10-1 10.1 Fault Messages Table ...................................................................................................... ........... 10-1 10.2 Potenti[...]

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 1.2 fo[...]

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. (3) CN1 Connector: 50 PIN Co nnector (3M type analog product) (4) CN2 Connector: 20 PIN Co nnector (3M type analog product) (5) CN3 Connector: 6[...]

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. The boxes (  ) in the model names are for optional conf igurations. (Plea se refer to Sectio[...]

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. Mode Code Description External Position Control Pt External Position control mode for t[...]

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.  If the servo moto[...]

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. I[...]

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. Please follow the guidelines in this manual when installing the servo drive and motor. The AS[...]

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 3.1 220V Servo Drive[...]

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. (Control circuit use s the same voltage as the main circuit. ) R, S, T (for 220V models) L[...]

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. 1. Please note that the m ain circuit t erminals of 110V model s are L1M and L2M, and t here is no terminal T in 110V [...]

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. But, 220V single-phase model s are available in 1.5kW and below only and 1 10V singl[...]

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 3.5 Three-Phase Power Supply (all 220V models)[...]

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. (Please refer to section 1.2 for model explanation.) Motor Model Name U, V, W / Electromagnetic Brake Connector Terminal Identification ECMA-C30401  S [...]

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. The names of terminal identification are BRAKE1 (Blue) and BRAKE2 (Brown)[...]

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) +5V (Brown & Brown/White) GND (Blue & Blue/White) BRAID SHELD A 1 4 2 5 3 6 7 8 9 Terminal Identification 3106A-20- 29S A (Blue) /A (Blue /Black[...]

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 (9.84ft.) ASD-A0211-AB ASD-A0221-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD[...]

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. ii 8 [...]

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 output 3 DO3+ Digital output 28 DO5+ Digital output 4 DO2- Digital output 29 NC No Co nnection 5 DO2+ Digital output 30 DI8- Digital input 6 DO1- Digita l[...]

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.B details the Di gital Output (D O) signals and Table 3.C details the Digital Input (DI) sign[...]

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. - The Digital Input (DI) and Digital Output (DO ) have factory default settings which corre spond to the various servo driv[...]

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. TSPD will remain[...]

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.C DI Signals DI Signal DI Code Assigned Control Mode Pin No. (Default) Details (*2) Wiring Diagra[...]

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.F. S-P 18 Pt-S, Pr-S 31 Speed / Position mode switchin g OFF: Speed, ON:[...]

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. [see P4-05] JOGD 38 Not assigned - Reverse JOG input. When JOG[...]

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.E Source of Spe[...]

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 On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 ARST 02 Reset DI5 DI5 DI5 D I5 DI5 DI5 GAINUP 03 Gain switching in speed and position mode CCLR 04 Pul[...]

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 operation torque limit (torque limit function is valid only when P1-02 is enabled) TRLM 26 Forward operation torque limit (torque limit function is valid onl[...]

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 3.3.1. Table 3.H Default DO signals and Control modes Signal DO Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 S O N 0 2 S e r v o O[...]

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. The user-defined DI and DO sig[...]

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. C3-1 : Pulse input, for the use of internal power supply (O pen-[...]

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. 100mA) C5 : Wiring of DO signal, for the use of internal power supply, general load C6 : Wiring of DO signal, for the use of internal pow[...]

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 : Wiring of DI signal, for the use of int ernal power supply C10 : Wiring of DI signal, for the use of external power supply PNP transistor with multiple[...]

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. When power is first applied to the servo drive, cont rol algorithms detect the motor's roto r position through imbedded sensors in the motor w[...]

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. Users can operate the servo drive through PC software supplied by Delta (contact to the deale[...]

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. If it is open-collector input, plea se refer to C3 wiring diag ram on page 3-26. 3. Please refer [...]

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. 3. Please refer to parameter P1-46 in Chapter 7.[...]

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. 2. Please refer to parameter P1-46 in Chapter 7.[...]

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. 2. Please refer to parameter P1-46 in Chapter 7.[...]

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. 2. Please refer to parameter P1-46 in Chapter 7.[...]

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. 2. Please refer to parameter P1-46 in Chapter 7.[...]

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. 2. Please refer to parameter P1-46 in Chapter 7.[...]

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. 2. Please refer to parameter P1-46 in Chapter 7.[...]

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. The Figure 4.1 shows all of the features of the digital keypad and an overview of their fun[...]

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. 2. In monitor mode , pressing U P or DOWN a rrow [...]

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. Display Message Description The setting value is saved cor rectly. This paramete r is re[...]

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 setting va lue within th e range of le ss than five decimal places), afte r the display value is set, continu ously press SHIFT key fo r many times and[...]

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 Peak load % 13 Main circuit voltag e Volt 14 Ratio of load inertia to mot or inertia time 15 Motor feedback pulse nu mber (rela tive value) / Pos ition [...]

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 Record), press SET key to display the corresponding fault code history for the para meter or pr ess UP arrow key to display the fault code of H1 to H5 [...]

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. (The default value is 20 r/min). Step2. Press the UP or DOWN ar[...]

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). 2. After enter into parameter mode P4-05, pre ss Set key and the LED d[...]

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 JOGo1 P1-15 (1st Position Command for Rotation), P1-16 (1st Position Command for Pulse ) JOGo2 P1-17 (2nd Position Command for Rotation), P1-18 (2nd Po[...]

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. When [...]

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. Ensure to complete the trial run without load first before performing the t[...]

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. When the motor is running, pay close a ttention on the conne ction of the cables and notice that if they are da[...]

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. 1) Terminal U, V, W and FG (frame ground ) must [...]

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). Corrective Actions:  Use voltmeter to check whether the input vo ltage falls within the rated input volta [...]

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). 4) When disp[...]

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) function is enabled) and th e following fault message sho w s on the display: 6) When display shows: Overcurrent: Corrective Actions:  Check the wi[...]

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. For [...]

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. After selecting [...]

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). 2. If DI 3 (SPD0) and DI4 (SPD1) a re OFF [...]

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. STEP 1: Set the value of parameter P1-01 to 01 and it is pos ition (Pr) cont rol mode. Af[...]

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. (+/- 30000) Internal Position 1 0 0 0 P1-16 P2-36 (V1) Pulse No. (+/- max cnt[...]

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. + P1-[...]

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. After wiring is completed, whe n power in connected to the AC servo drive, the right side display will show on the LCD[...]

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. Please press MODE key twice co ntinuously and the users can see the ratio of Load Inertia to Servo Motor Inertia (J _load /J_mo[...]

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 Responsiveness Level (Default setting: B=4) not u sed A B A: No function B: Responsiveness level of auto-tuning mode In AutoMode (PI), the value “B”[...]

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 Loop Responsive Re commended Setting Value of P2-25 0 20Hz 13 1 30Hz 9 2 40Hz 6 3 60Hz 4 4 85Hz 3 5 120Hz 3 6 160Hz 2 7 200Hz 1 8 250Hz 1 9 and above 30[...]

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 Responsiveness Level (Default setting: B=4) not u sed A B A: No function B: Responsiveness level of auto-tuning mode In AutoMode (PDFF), the value ?[...]

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. P2-31 value “B” Speed Loop Responsiveness P2-31 value “B” Speed Loop Responsiven ess 0 20HZ 8 120Hz 1 30 HZ 9 140 HZ 2 40 HZ A 160HZ 3 50 HZ B 180HZ 4 60 HZ C 200Hz[...]

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. The change of external force and t[...]

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 Gain Value Manual Mode 0(Default setting) None P2-00 (Proportional Positio n Loop Gain) P2-04 (Proportional Speed Loop Gain) P2-06 (Speed Integral Comp[...]

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. When the se[...]

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. The default setting is 0 (Disabled). It is not recommended to use it in manual mo de only when pe[...]

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. Mode Code Description External Position Control Pt Position control for the servo motor i[...]

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. 6.2 Position Control Mode The position control mode (Pt or Pr mode) is u sually us ed for the applications requiring precis[...]

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. However, if the instant input pulse filter frequency is over high, the frequency that exceeds the set t[...]

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 (+/- max cn t) P1-25 Rotation number (+/- 3 0000) P6 1 0 1 P1-26 Pulses (+/- max cn t) P1-27 Rotation number (+/- 3 0000) P7 1 1 0 P1-28 Pulses (+/- max[...]

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. Electronic gear ratio can be set[...]

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 me ( ms ) P-cur ve chara ct erist i cs and Time rel at ionsh ip (A cceler at i on) TSL/2 TD E C TSL/2 TSL/ 2 TDE C TSL/2 P-cu r ve chara ct er isti cs[...]

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.e. P1-34, P1-35 is disabled.) P1 - 35 TDEC Deceleration Time Communication [...]

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. 6.2.5 Electronic Gear Ratio Relevant parameters: P1 - 44 ▲ GR1 Electronic Gear Ratio (1st Numerator ) (N1) Commun icatio[...]

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 6.2.6 Low-pass Filter Relevant parameters: P1 - 08 P[...]

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. The following figure is shown the timin[...]

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.: 0200H Default: 35 Related Section: Applicable Control Mode: P Section[...]

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. At this time, the users have to decrease the value [...]

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. One is external analog signal [...]

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). The comm[...]

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. Using S-curve filter c[...]

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. It is used to determine the deceleration time to de[...]

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. Spee d ( rpm) 3000 -3000 0 13 246 57 9 8 Ti me ( s e c ) Moto r T or que Anal og speed co[...]

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. 51 0 -5 -10 3000 rpm 5000 rpm -3 00 0r pm -5 00 0r [...]

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 Inter nal sp eed co mman d Ext e rna l anal og volt age or zer o (0) Ex ternal I/ O sign al NOTE 1) OFF indicates normally open and ON indicate s nor[...]

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. The parameter se t by[...]

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. Also, reduce the value of phase margin. Over high int eg[...]

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. Frequency Domain[...]

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. However, when using time domain method, the users only need to prepare[...]

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. As for the perform a nce of torque shaft load, input command tracking and torque sha ft load ha[...]

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.: 0218H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 6.3.7 Unit: dB Range: 0 ~ 32 Settings: 0: Disabled P2 - 25 NLP Low-pass Filter Time Constant (Resonance Supp[...]

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. Gain Fr eque nc y When the low-pass filter (param eter P2-25) is adju sted from 0 to high value, the value of Low-pass frequency (BW) will beco me smaller (see the figure [...]

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 . . Gain Frequency Gain Frequency Gain Frequency Low-pass Frequency Low-pass Frequency Resonance Frequency[...]

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. Delta ASDA- AB series servo drive supports two kinds of co mmand sources in torque control mode[...]

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. analog torque command (parameter P1-41) an d smoothing strategy of torque control[...]

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 6.4.4 Analog Torque Input Scaling The analog voltage between T_RE F and GND controls the m[...]

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. T [...]

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. 1 ） Speed / Position mode selection: Pt-S, Pr-S 2 ） Speed / Torque mode select[...]

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. When switching to the position mode (when S-P is OFF), the position command is not determin ed (it needs to wait that CTRG is on the rising edge), so t he motor stop[...]

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. When switching to the torque mode (when T-P is OFF), i[...]

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. It can be the external analog voltage but als[...]

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. This po wer will be trans[...]

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. We recomm end the users should use the external regenerative resi stor that the resistance value followi ng the a[...]

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) × 1.68 - 8) / 0.4 = 27.2W. If the [...]

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 (0.7 x 1.27) x (3000 x 2 x π[...]

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 1.0kW (130mm) 1.5kW 2.0kW (100mm) 2.0kW (130mm) 2.[...]

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.: 0103H Default: 0 Related Section: Applicab[...]

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 6.4.4 Unit: mV Range: -800~800 This paramet er cannot be reset. For example, when the users want [...]

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. If the digital output BRKR is set to ON, it indicates electromagnetic [...]

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. The VDD DC24V power supply of the servo drive can be used to power the relay coil (R[...]

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 rc u it Power R, S, T Mai n Ci r cu it Power BUS V ol tage RE ADY SERVO REA DY SERVO ON (DI Input) SERVO ON (DO Output) Posi ti on S p ee d T orq u[...]

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: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communication para meter (example: P3-xx) Group 4: Diagnosis para meter (example: P4-x[...]

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 Default Unit Pt Pr S T P0-00 ★ VER Firmware Version Factory setting N/A { { { { P0-01 ★ ALE Drive Fault Code N/A N/A { { { { P0-02 STS Drive Status 00[...]

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.M { {{{ P1-02 ▲ PSTL Speed and Torqu e Limit 0 N/A { {{{ P1-03 AOUT Pulse[...]

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 ms { {{{ P1-44 ▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) 1 pulse { { P1-45 ▲ GR2 Electronic Gear Ratio (Den ominator) 1 pulse { { P1-46 ?[...]

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 0.0001 { { P2-03 PFF Smooth Con[...]

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 N/A { {{{ P2-32 ▲ AUT2 Tuning Mode Selection 0 N/A { {{{ P2-33 ▲ INF Easy Setting of Input Filter 0 N/A { {{{ P2-34 SDEV Overspeed Warnin g Condi[...]

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 Address Setting 1 N/A { {{{ P3-01 BRT Tran smission Speed 1 bps { {{{ P3-02 PTL Comm unication Protocol 0 N/A { {{{ P3-03 FLT Transmission Fault Treatment[...]

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 N/A { {{{ P4-01 ★ ASH2 Fault Record (N-1) 0 N/A { {{{ P4-02 ★ ASH3 Fault Record (N-2) 0 N/A { {{{ P4-03 ★ ASH4 Fault Record (N-3) 0 N/A { {{{ P[...]

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 { { { { 10.1 P0-02 STS Dr[...]

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 { 6.3.3 P1-07 TFLT Smooth Constant of Analog Torque Comman[...]

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 0.0001 { [...]

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 { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6 P1-46 ▲ GR3 Encoder Output Pulse N[...]

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 { 12.6 P2-47 PED Position Deviation Clear Delay Time 0 20ms { 12.6 P2-48 BLAS[...]

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 { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6 P1-46 ▲ GR3 Encoder Output Pulse Numb[...]

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 { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6 P1-46 ▲ GR3 Encoder Output Pulse Num[...]

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 Section of User Manual P2-09 DRT Bounce Filter 2 2ms { { { { P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A { { { { P2-11 DI2 Digital Input Terminal 2[...]

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 { { { { 8.2 P3-02 PTL Communication Protocol 0 N/A { { { { 8.2 P3-03 FLT Transm[...]

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 { { { { 4.4.1 P4-02 ★ ASH3 Fault Record (N-2) 0 N/A { { { { 4.4.1 P4-03 ★ ASH4 Fa[...]

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 5.0 times { { { { 6.3[...]

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.: 0[...]

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 4.3.5 Unit: N/A Range: 00 ~ 16 Settings: 00: Motor feedback pulse number (a bsolute value) [pulse] 01: Motor feedback rot ation number (absolute value) [rev] 02[...]

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 4.3.5 Unit: N/A Range: 00 ~ 55 Settings: not us ed A : C H 1 B: CH2 AB: (A: CH1; B: CH2) 0: Motor speed (+/-8V / maximum motor speed) 1: Motor torque ([...]

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. P0 - 06 CM3 Status Monitor 3 Communication Addr.: 0006H Default: 0 Related Section: Applic[...]

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. Users can [...]

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. P0 - 14 MAP5 Block Data Read / Write Register 5 Communication Addr.: [...]

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. The servo outp ut statu[...]

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.: 0100H Default: 2 Related Section: Applicable Control Mode: Pt Section 6.2.1 Unit: N/A Range: 0 ~ 132 Settings: no t use d A B C • Value A: Pulse type A=0: AB phase pulse (4x) A=1: [...]

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.M (T mode) Range: 0 ~ 1 1 10 Settings: not us ed A B C • A: Control mode settings • B: [...]

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 6.6 Unit: N/A Range: 0 ~ 1 1 Settings: not us ed A B • A=0: Disable speed limit function A=1: Enable speed limit function (It is available in t[...]

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 3.3.3 Unit: N/A Range: 0 ~ 1 Settings: not us ed A B A: Monitor analog output polarity A=0: MON1(+), MON2(+) A=1: MON1(+), MON2(-) A=2: MON1(-)[...]

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.: 0107H Default: 0 Related Section: Applicable Control Mode: T Section 6.4.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) P1 - 08 PFLT Smooth Constant of Position Command (Lo w- pass Filter) Co[...]

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 6.3.1 Unit: r/min Range: -5000 ~ +5000 Settings: 3rd Speed Command In S peed mode, this parameter is u sed to set speed 3 of internal speed com[...]

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 6.4.1 Unit: % Range: -300 ~ +300 Settings: 2nd T orque Command In T orque mode, this parameter is used to set torque 2 of internal torque c[...]

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. S troke1 = PO1[...]

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. S troke3 = PO3[...]

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. S troke5 = PO5[...]

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. S troke7 = [...]

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. When a fault occurs (except for CWL, CCWL, EM GS and seria[...]

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. It is used to determine the acceleration time to accele ra[...]

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 6.3.3 (S mode) Settings: This paramet er is used to make [...]

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). ZSPD is activated when the drive senses [...]

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 6.3.4, P1-55 Unit: r/min Range: 0 ~ 10000 Settings: In Speed mode , this p arameter is used to set the sp eed at the maximum [...]

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 6.5.5 Unit: ms Range: 0 ~ 1000 Settings: Used to set the period of time between when t he servo drive is Of f (Servo Off) and when e[...]

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. It is recommended to set electronic gea r ratio [...]

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: ALL Unit: Pulse Range: 10020 ~ 12500 Settings: This paramet er is used to set the pulse number of en coder outputs which directly represent s the enco[...]

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 12.8 Unit: N/A Range: 00 ~ 1225 Settings: no t use d A B C D • A=0: Forward homing (CCWL as “Home”) • A=1: Reverse homing (CWL as “Home”) • A=2: F[...]

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 12.8 Unit: r/min Range: 1 ~ 2000 Settings: Z p u l s e HSP2 HSP1 P1 - 49 HSPD2 2nd Speed Setting of Low Speed Homing Communication[...]

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.: 0135H Default:[...]

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. When the mo tor has reached the output overload level set [...]

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.B Unit: ms Range: 0 ~ 200 Settings: This parameter is u sed to delay the output time of digi[...]

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 6.2.8 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is u sed to set the position loop gain. It [...]

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. When [...]

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. When the value of speed integral comp[...]

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 Unit: N/A Range: 0 ~ 65536 This parameter can be used to reset all p arameters to their original factory settings and enab le some parameters functio[...]

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. not us ed A B • A: DI Function[...]

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. P2 - 14 DI5 Digital Input Terminal 5 (DI5) Communication Addr.: 020EH Defa[...]

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. not us ed A B • A: DO Functi[...]

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. P2 - 22 DO5 Digital Output Terminal 5 (DO5) Communication Addr.: 0216H De[...]

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 6.3.7 Applicable Control Mode: ALL Unit: ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is u[...]

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. P2 - 29 GPE 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 5.6, Section 6.3.6 Unit: N/A Range: 0 ~ FF Settings: This paramet er allows the users to set the respo nsiveness level setting of auto-tuning[...]

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 5.6, Section 6.3.6 Unit: N/A Range: 0 ~ 5 Settings: 0: Manual mode 2: AutoMode (PI) [Continuous adjustment] 3: AutoMode (PI) [Fix the ratio of Load[...]

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 6.3.6 Unit: N/A Range: 00 ~ 19 Settings: not us ed A B • A: S peed selection Low speed Hi gh sp eed A=0 A=9 • B=1: Enable this function P[...]

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 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: When setting value of P2-36 to P2-43 is highe r than 3000 r/min, please set the setting va[...]

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. P2 - 41 POV6 Moving Speed Setting of 6th Position Communication Add[...]

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 12.6 Unit: N/A Range: 0 ~ 1 Settings: This parameter dete rmines that the digital output equals the setting value of P2-18 ~ P2-22 o r INDEX posit[...]

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. P2 - 48 BLAS Backlash Compensation [...]

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 Control Mode: ALL Unit: sec Range: 0 ~ 1 19 Settings: not used A B C • A: Speed Detection Filter Constant Setting Value A Speed Detection Freque nc[...]

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.A. This pulse deviation clea r function is ena[...]

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 ~ 1 Settings: 0: Servo ON (SON) is activated via Digit a l Input signal 1: Servo ON (SON) is activated when control po we r is applied the servo driv[...]

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.: 0239H Default: 0 Related Section: N/A Applicable Control Mode: Pr Unit: se[...]

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. P2 - 62 GR6 Electronic Gear Ratio (4th Numerator) (N4) Communicatio[...]

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. 0: When value A is set to 0, the unit [...]

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, Pr , S Unit: N/A Range: 0 ~ 3 Settings: PL: Positive Limit NL: Negative Limit T ref: T orque Analog Input V oltage Tpl: Actual PL value in “T orque [...]

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 Unit: N/A Range: 0 ~ 3 Settings: Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit1 Bit0 Bit0: DI SPD0/SPD1 spe[...]

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: disable abnormal pulse command d etection, If the detection function is disabled, the ALE08 will not come out when the pulse frequency is higher than 570K[...]

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.: 0300H Default: 1 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 1~254 Settings: If the AC servo drive is controlled by RS- 232/485/422 comm unicat[...]

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 8.2 Unit: N/A Range: 0~8 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1> 3: Modb[...]

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 8.2 Unit: N/A Range: 0~20 Settings: 0: Disabled This parameter is u sed to set the maximum permissible time before detecting a fault due to c[...]

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 8.2 Unit: N/A Range: 0~FFFF Settings: The setting of this pa rameter determines how the Digit al Inputs (DI) accept commands a[...]

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. P4 - 01 ★ ASH2 Fault Record (N-1) Communication Addr[...]

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. Operation T est (1) Press the SET key to display the JOG speed. (The default value is 20 r/[...]

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. When the value of P4-06 is a non-zero value, it indicates this function is enable [...]

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 4.4.6 Unit: N/A Range: 0~0x1F Settings: External Control: Display the status of DO output sig nal Communication Co ntrol: Read the status of output [...]

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. P4 - 13 TOF1 Analog Torque Drift Adjustment 1 Communic[...]

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. P4 - 17 COF3 Current Detector Drift Adjustmen t[...]

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. P4 - 21 DOF2 Analog Monitor Output Drif[...]

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. : 0419H P4 - 26 Reserved C o mm un i c at i o n Ad d r .: 041AH[...]

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. A number of Faults (A larm s) can be cleared by activating ARST. GAINUP 03 Gain swit[...]

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. Command No. POS2 POS1 POS0 CTRG Paramet[...]

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. I[...]

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. AUTOR 42 Auto run input. When AUTOR is a[...]

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. SON 02 Servo On. SON is activated when contr[...]

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. t OL = Permissible Time for Overload x setting value o f P1-5[...]

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. Ho wever , only one 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. If a tran smission speed of 38400 bps or greater is required, the maximum length of the communi[...]

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. If a tr[...]

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. Communication Addres ses 0301, 0302, and 0305 have to be set identically for all the dri[...]

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, <7,E,1 > 2: Modbus ASCII mode, <7,O ,1> 3: Modbus ASCII mode, <8,N ,2 > 4: Modbus ASCII mode, <8,E,1> 5: Modbus ASCII mode, <8,[...]

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.  Input commands or signals through the DI can[...]

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. However, in the communication mode the use r can [...]

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”. The computer then control s each AC servo drive according to its co[...]

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 ame Sto p bit 7 8E1 Start bit 01 2 34 5 6 St o p bit 8-d ata bits 1 1 - b it s cha rac ter fr ame 7 Even pari ty 8O1 Start bit 01 2 34 5 6 St o p bit [...]

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. For example, communicati on to AC servo drive with address 16 decimal: ASCII M[...]

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 (Lower bytes) Number o f data (Count by byte) 04H 00H 00H (Up per bytes) Number o f data (Count by w ord) 02H Contents o f starting data address 0200H B1[...]

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 data address 00H (Lower bytes) Starting data address 00H (Lower bytes) 00H (Upper bytes) 00H (Upper bytes) Content of da ta 64H (Lower bytes) Content of[...]

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. Step 2: Exclusive OR the first 8-bit byte of the co mmand message with the low order byte of the 16-bit CRC register, put[...]

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. unsigned int crc_chk(un signed char* data, unsig ned char length[...]

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.b7 == 1 */ outportb(PORT+BRDL,12); outportb(PORT+BRDH,0x00); outportb(PORT+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 parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communication para meter (example[...]

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 ~ P1-62 (0100H to 013E H) Group 2: P2-00 ~ P2-65 (0200H to 0241H) Group 3: P3-00 ~ P3-07 (0300H to 0307H) Group 4: P4-00 ~ P4-23 (0400H to 0417H)[...]

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. It is recommended to perform a periodic maintenance a nd inspection of the AC servo drive by a[...]

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. When the motor is running, pay close a ttention on the conne ction of the cables and notice that if they are dam [...]

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. However, it also must be replaced if the cooling fan is vibrating or there are unusu[...]

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. 10.1 Fault Messages T able Servo Drive Fault Me[...]

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. DSP do not respond to MCU comman[...]

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. Check the wiring conne ctions between drive and motor. 2. Check if the wire is short-circuited. Re[...]

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. Regenerative switch transistor fault Check if regenerative switch transistor[...]

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. Check and reset the power supply. If there are any abnormal conditions after resetting the power supply, please contact your distributor for assistance or contact with D[...]

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. Increase mot or capacity or reduce load. Short-circuit at drive output. Ch[...]

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. : Input power [...]

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. Underv oltage This fault message can be remove d [...]

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. This fault message can be rem oved automatical ly after input power phase los[...]

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 02 04 07 10 15 20 Phase / Voltage Single-phase 110VAC Three-phase or Single-phase 220VAC Thr ee-phas e 220VAC Permissible Voltage Range Single-phase:[...]

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 2.2 μ s Command Source Ex t er na l analog signal / Internal parameters Smooth[...]

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). *2 When command is rated rotation speed , the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotat[...]

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) 0.1 0.2 0.4 0.4 0.75 1.0 2.0 Rated torque (N.m) 0.32 0.64 1.27 1.27 2.39 3.18 6.37 Maxim[...]

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 temperature 0 o C to 40 o C ( 3 2 o F to 104 o F) Storage temperature -10 o C to 80 o C (-14 o F to 176 o F) Operating humidity 20% to 90% RH (non-conde[...]

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. thrust shaft load (N) 98 98 98 98 490 98 98 98 Power rating [...]

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. Motor was operated for several seco nds under a torque exceed ing 100% torque. 2. Motor had dr[...]

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% 213.6s 140% 42.3s 160% 21.8s 180% 13.7s 200% 9.2s 220% 6.9s 240% 5.0s 260% 3.9s 280% 3[...]

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% 254.5s 140% 50.4s 160% 26.0s 180% 16.4s 200% 11.0s 220% 8.2s 240% 6.0s 260% 4.7s 280% 3[...]

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% 185.8s 140% 36.8s 160% 19.0s 180% 12.0s 200% 8.0s 220% 6.0s 240% 4.4s 260% 3.4s 280% 2.8s 30[...]

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% 613.1s 140% 121.4s 160% 62.6s 180% 39.4s 200% 26.4s 220% 19.8s 240% 14.5s 260% 11.4s 280[...]

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% 167.2s 140% 33.1s 160% 17.1s 180% 10.8s 200% 7.2s 220% 5.4s 240% 4.0s 260% 3.1s 280% 2.5s 30[...]

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% 130.0s 140% 25.7s 160% 13.3s 180% 8.4s 200% 5.6s 220% 4.2s 240% 3.1s 260% 2.4s 280% 1.9s 300%[...]

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% 185.78s 140% 36.78s 160% 18.98s 180% 11.95s 200% 8s 220% 5.99s 240% 4.39s 260% 3.44s 280% 2[...]

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)). 3) In this manual, actual measured values are in metric un[...]

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)). 3) In this manual, actual measured values are in metric units. Dimensions in (i mperial un[...]

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)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial un[...]

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. Dimensions in (imperial units) a re for reference only. Please u[...]

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 6.6 6.6 LA 46 70 70 90 90 S 8 14 14 14 19 LB 30 50 50 70 70 LL (without brake) 100.6 105.5 130.7 112.[...]

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) 147.5 147.5 147.5 163.5 153.5 LL (with brake) 18[...]

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 95 110 114.3 LL (without brake) 147.5 167.5 199 187.5 169 LL (with brake) 1[...]

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.S.2 when motor is in reverse rotation, if limit switch is set, 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.  After Ser[...]

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). Parameters Setting  P1-01=1 (Position control (Pr) mode setting)  P2-10=101 (Servo On (SON), default: DI1)  P2-11=108 (Command triggered (CT RG), defa[...]

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 functions including: home, JOG operation, acceleration/deceleration setting, relati ve position control, absolu te position control and pulse numbers moni[...]

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 m al ly o n c o nt ac t ( a c ont ac t ) ( M 1 346 ) ZR N C L EAR ou tp ut si gn al e nab l e S0 ZE R O ( M5 ) S1 0 JO G + S1 1 JO G - S12 FW S1 3 RE [...]

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 M 1 2 RS T M 1 3 SE T S 11 J OG- JO G - M5 S0 K500 0 0 X10 SE T M 1 0 RS T S 0 ZE R O ZE R O M5 0 S DZ R N K 5 0 0 0 Y 0 M5 M1 3 3 6 M1 0 0 0 M5 0 P L[...]

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 u tion c o m p l e t e d fl ag N or m al l y on c o nt a c t ( a c on t ac t) ( M 5 1 ) X2 J OG- RS T S 10 JO G + M1 3 36 M51 C h 0 pu ls e s en d f l[...]

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 RS T S 13 M1 3 36 M10 1 C h 0 pu ls e s en d f l ag SET M 1 3 M1029 ( M 5 4 ) P L SY Y 0 i n s tr uc t i on ex e c u tion c o m p l e t e d fl ag R E [...]

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 and provide functio ns including: Home, JOG operation, Position learni ng fu nction, Relative position control, Absolute position control, Monitor and[...]

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 Description P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33 0121H Position Control Mode (P[...]

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 x ter na l I / O s i g n al OFF ON OFF ON ON OF F ON >2 m s, ca n b e se t by P2 -0 9 PO S 2 ON OFF In ter na l po s i t i on c o mma n d 1m s P8 P[...]

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. At this time, if CCLR signal is ON when the motor is running, the motor will decelerate first and stop a ccording to the deceleration time which is set by parameter P1-34 ~ P1-36 and[...]

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 0101H Control Mode and Output Dire ction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-12 010CH Torque Limit Setting Torque decrease [...]

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 Pulse Num ber Total homing offset pulse number =P1-50 x 10000 + P1-51 P1-55 0137H Maximum Speed Limit P2-36 0224H Moving Speed Setting of 1st Position[...]

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. NOTE 1) Please set parameter P2-08 to 12 before cha ngin g the setting value o[...]

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 0 1 INDEX 2 3 0 0 0 1 0 INDEX 3 4 0 0 0 1 1 INDEX 4 5 0 0 1 0 0 INDEX 5 6 0 0 1 0 1 INDEX 6 7 0 0 1 1 0 INDEX 7 8 0 0 1 1 1 INDEX 8 9 0 1 0 0 0 INDEX[...]

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 READY 3 0 0 0 1 0 HOMING (under operation) 4 0 0 0 1 1 HOME Completed 5 0 0 1 0 0 CHANGE INDEX (under operation) 6 0 0 1 0 1 INDEX 1 (In position) 7 0 0 1[...]

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 step function is undergoing, DO =4 6) When feed step function is completed (I n positio n), the corresponding INDEX NUMBER will display, and DO=nn 7) Fe[...]

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. 2 Ste p No. 6 Ste p No . P2-47 ON OFF NOTE 1) The maximum value of P2-[...]

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 OFF ON OFF To r q u e Limit MD1 MD0 Servo ON P2-45 I NDEX 2 auto runn i ng manual l y f eed fo rw ard CI CI INDE X 2 CI I NDEX 3 manually f eed fo rw [...]

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 e Limit Servo ON IND EX 2 CI INDEX 2 CI IND EX 3 CI INDE X 4 CI IN DEX 3 ON OF F ON OFF MD1 MD0 ON OF F MDP0 auto runni ng manual ly f eed for wa rd [...]

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 Limi t Servo ON INDEX 2 CI IND EX 2 CI IN DE X 3 CI I NDEX 4 CI IND EX 5 MD0 ON OF F ON OF F MD1 ON OF F MDP1 auto runni ng manuall y feed for wa rd [...]

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 software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H 020 Tor que dec rease H407 H0A3 Index 3 H40[...]

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 P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33 0121H Position Control Mode (Pr) 5:[...]

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. Positioning Point Position Command Regi ster Moving Speed Register Dwell Time Register INDEX1 ( P1-15, P1-16 ) P2-36 (V1) P2-52 (T1) INDEX2 ( P1-17, P1-18 ) P2-37 (V2[...]

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 0 0 0 1 0 HOMEING (under operation) 4 0 0 0 1 1 HOME Completed 5 0 0 1 0 0 CHANGE INDEX (under operation) (CHANGE INDEX hereinafter called “CI”) 6[...]

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 OFF V1 V2 IDX1 ID X2 IDX8 (3) Manual Control Mode 1 Power Supp ly ON OFF DO V ALU E INDEX4 Motor Speed Serv o ON CI HOME (3) CI CI CI V1 V2 IDX1 IDX2 [...]

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 1 ON OFF STEPB ON OFF[...]

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 Homing Mode No use A : Home Se nso r T y pe a nd Homi ng Di re ct io n B: Homi ng Movi ng Meth od C : Hom ing S etting Enab le D: H o min g S to p Se[...]

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.e. do not ret[...]

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. After the servo motor stops, the then move to the position of me[...]

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. B/A = 0/0 or B/A = 0/2 Posi ti on Z p u l s e CCW L / ORGP SPEED[...]

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. B/A = 1/3 Pos it i on Z p u l s e ORG P SPEED[...]

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. B/A = 2/4 Pos it i on SPEED Z p u l s e[...]

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. Manufacturer Housing C 4201H00- 2*3PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASD- CAPW1000 Delta Part [...]

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. mm inch 1 ASD-ABPW0003 3000 ± 100 118 ± 4 2 ASD-ABPW0005 5000 ± 100 197 ± 4 Delta Part Number: ASD-ABPW0103, ASD-ABP[...]

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) (3.15 inch) (1.[...]

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 (3.94 inch) (3.15 inch) (80mm) L Title Part No. Straight mm inch 1 ASD-CAPW1203 3106A-20-18 S 3000 ± 100 118 ± 4 2 ASD-CAPW1205 3106A-20-18 S 5000 ± 100 197 ± 4 Delta Part Number: ASD-CAPW1303, ASD-[...]

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) (3.94 inch) L Title Part No. Straight mm inch 1 ASD-CAPW2203 3106A-24-11 S 3000 ± 100 118 ± 4 2 ASD-CAPW2205 3106A-24-11 S 5000 ± 100 197 ± 4 Delta Part Number: ASD-CAPW2303, ASD[...]

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 9-3) AMP MOTOR SIDE CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3 000PE 3M DRIVE SIDE SHELL 3M 10320-5 2A0-008 3M Delta Part Number: ASD- CAEN1000 Tit[...]

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. mm inch 1 A[...]

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. Item 1 ASD-CARS0003 3000±10 mm inch[...]

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 Low inertia Servo Motor ECMA-C30401  S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-ABPW0003 Motor Power Cable ASD-ABPW0005 - - Cabl[...]

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 Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor Power Cable ASD-CAPW110[...]

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 With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor Power Cable ASD-CAPW1105 Ca[...]

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 With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor Power Cable ASD-CAPW1105 Cab[...]

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 Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor Power Cable ASD-CAPW1305 [...]

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. Servo Drive Model Recommended Brea ker Recommended Fuse (Cl[...]

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. By using an EMI filter with correct installation, much of the interference[...]

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[...]