Delta Electronics ASDA-B Series manual

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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 ecauti[...]

Preface | ASDA-B Series ii Revision January, 2009 z Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to observe this precaution will damage eith er the Servo motor or drive. z Ensure that the motor and drive are correc tly connected to a grou nd. The grounding method must comply with the electrical standard of the[...]

Preface | ASDA-B Series Revision January, 2009 iii Unpacking Check ¾ Please ensure that both the servo drive and motor are co rrectly matched for size ( power rating). Failure to observe this precaution may cau se fir e, seriously damage the drive / motor or cause personal injury. Installation ¾ Do not install the product in a location that is ou[...]

Preface | ASDA-B Series iv Revision January, 2009 ¾ It is not recommended to frequen tly power the drive on and off. D o not turn the drive off and on more than once per minute as high charging currents within the internal capacitors may cause damage. Main Circuit Terminal Wiring ¾ Insert only one wire into one te rminal on the ter minal block. ?[...]

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-B Series Revision January, 2009 3.2 Basic Wiring ............................................................................................................... .................. 3-9 3.3 Input / Output Inte rface Connect or -CN1.................................................................................... . 3-12 3.3.[...]

Table of Contents | ASDA-B Series Revision January, 2009 4.2 ASD-P U-01B ................................................................................................................. .............. 4-18 4.2.1 Description of Digi tal Keypad ASD-P U-01B ..................................................................... 4-18 4.2.2 Display Flowc[...]

Table of Contents | ASDA-B Series 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-B Series Revision January, 2009 6.5.2 Speed / Torque Contro l Mode Select ion .......................................................................... 6-30 6.5.3 Torque / Position Cont rol Mode Sele ction ........................................................................ 6-30 6.6 Others .............................[...]

Table of Contents | ASDA-B Series Revision January, 2009 Chapter 11 Specifications ...................................................................................................... .. 11-1 11.1 Specifications of Serv o Drive (ASDA- B Series ) .......................................................................... 11- 1 11.2 Specifications o[...]

Table of Contents | ASDA-B Series 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 im provement and alteration or change d texts, figures and diagrams, we reserve the right of this ma nual c ontained information change without prior n otice[...]

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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 -B Series 1-2 Revision January 2009 Delt a AC Servo Drive and Motor[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -B Series Revision January 2009 1-3 1.2 Model Explanation 1.2.1 Nameplate Information ASDA-B Series Servo Driv e  Nameplate Explanation  Serial Number Explanation ECMA Series Servo Motor  Nameplate Explanation  Serial Number Explanation[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -B Series 1-4 Revision January 2009 1.2.2 Model Name Explanation ASDA-B Series Servo Driv e[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -B Series Revision January 2009 1-5 ECMA Series Servo Motor[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -B Series 1-6 Revision January 2009 1.3 Servo Drive and Servo Motor Combinations The table bel ow shows the possible combination of De lt a ASDA-B series servo drives and E C MA 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 -B Series Revision January 2009 1-7 1.4 Servo Drive Features NOTE 1) Only 750W and above servo drives are provided with built-in regenerative resi stors. Th e servo drives below 400W are not. 2) CMD LED: A lit CMD LED indicates that the servo drive is ON (Serv o On) or the motor speed is equal[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -B Series 1-8 Revision January 2009 1.5 Control Modes of Servo Drive The Delta Servo can be programmed to provide five single and three dual mo des of operation. Their operation and description is listed in the followin g table. Mode Code Description External Position Control P Position contro[...]

Revision January 2009 2-1 Chapter 2 Installation and S torage 2.1 Inst allation Notes Pay close attention on the following inst allation notes:  Do not bend or strain the connection cables b etween servo drive and motor.  When mounting servo driv e, make sure to ti ghten screws to secure the drive in place.  If the servo motor shaft is cou[...]

Chapter 2 Installation and Storage | AS DA-B Series 2-2 Revision January 2009 2.3 Inst allation Conditions Operat ing Temper ature ASDA-B Series Servo Drive : 0°C to 45°C (32°F to 113°F) ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive for long-term reliability should be under 45°C (113°F). If t[...]

Chapter 2 Installation and Storage | AS DA-B Series Revision January 2009 2-3 2.4 Inst allation Procedu re 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 A[...]

Chapter 2 Installation and Storage | AS DA-B Series 2-4 Revision January 2009  Minimum Clearances 2.0in 50mm () min. 2.0in 50mm () min. 0.8in 20mm () min. 0.8in 20mm () min.  Side by Side Inst allation FA N FA N 4.0in 100mm () min. 4.0in 100mm () min. 4.0in 100mm () min. 4.0in 100mm () min. 1.6in 40mm () min. 1.6in 40mm () min. 0.4in 10mm () [...]

Revision January 2009 3-1 Chapter 3 Connections and Wiring This chapter provides information on wi ring ASDA-B series products, the descriptions of I/O signals and gives typical examples of wiring diagrams. 3.1 Connections 3.1.1 Connecting to Peripheral Devices In Figure 3.1, it briefly explains how to connect each peripheral device. Figure 3.1[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-2 Revision January 2009 3.1.2 Servo Drive Connectors and Terminals Terminal Identification Terminal Description Notes R, S, T Main circuit terminal The Main Circuit Termin al is used to supply the servo wit h line power. If a single-ph ase supply, is used conn ect the R and S terminals to power. I[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-3 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. Ensure t o check if t he power su pply and wiring of t he "power" te rminals (R, S , T, U, V, & W) is[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-4 Revision January 2009 3.1.3 Wiring Methods For servo drives 1.5kW and below the input power ca n be either si ngle or three-phase. For dr ives 2kW and above only three-phas e connections are available. In the wiring diagram figures 3.2 & 3.3: Power ON : contact “a” (normally open) Power [...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-5 Figure 3.3 Three-Phase Power Supply Connection 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 Conne[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-6 Revision January 2009 Motor Model Name U, V, W / Electromagnetic Brake Connector Terminal Identification ECMA-G31303  S (300W) ECMA-E31305  S (500W) ECMA-G31306  S (600W) ECMA-G31309  S (900W) ECMA-C31010  S (1000W) ECMA-E31310  S (1000W) ECMA-E31315  S (1500W) ECMA-C31020 ?[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-7 3.1.5 Encoder 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 Encoder Connector Terminal Identification ECMA-C30401  S (100W) ECMA-C30602  S (200W) EC[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-8 Revision January 2009 3.1.6 Cable Specifications fo r Servo Drive and Servo Motor Power Cable - Wire Gau ge mm 2 (AWG) Servo Drive and Servo Motor R,S,T U,V,W P,C ASD-B0121-A ECMA-C30401  S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ASD-B0221-A ECMA-C30602  S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-9 3.2 Basic Wiring Figure 3.4 Basic Wiring Schematic of 400W and below models[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-10 Revision January 2009 Figure 3.5 Basic Wiring Schematic of 750W models[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-11 Figure 3.6 Basic Wiring Schematic of 1kW and above models[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-12 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, open collector and line driv er inputs, and reference vo[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-13 NOTE 1) GND (Pin 8) and COM- (Pin 13) of CN1 co nnector a re independent respectively and do not have connection with the ground terminal outside the servo drive. 3.3.2 Signals Explanat ion of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signal s[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-14 Revision January 2009 All of the DI's and DO's and their corresp onding pin numbers are factory set and nonchangeable, however, all of the assigned signals an d control mo des are user changeable. Fo r Example, the factory default setting of DO1 (pin 16) is SRDY (servo ready) signal, [...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-15 Pin No. DO Signal Assigned Control Mode + Details (*1) Wiring Diagram (Refer to 3.3.3) WARN ALL - Servo warning output. WARN i s activated when the drive has detected Reverse lim it error, Forward limit error, Emerge ncy stop, Serial communication error, and Undervo ltage [...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-16 Revision January 2009 DI Signal Assigned Control Mode Pin No. Details (*2) Wiring Diagram (Refer to 3.3.3) TCM0 TCM1 ALL - Select the source of torque command: See Table 3.E. S-P Sz , S , P - Speed / Position mode switching OFF: Speed, ON: Position S-T Sz , S , Tz - Speed / Torque mode switchin[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-17 Table 3.F Default DI Signals and DO Signals The factory default settings of DI signals Signal DI Code Function Default Settings SON 01 Servo On DI1 ARST 02 Alarm Reset DI2 GAINUP 03 Gain switching in speed and position mode CCLR 04 Pulse clear DI3 ZCLAMP 05 Zero speed CLAM[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-18 Revision January 2009 3.3.3 User-defined DI and DO signals If the default DI and DO signals could not be able to fu lfill the users’ requirements, there a re 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 D[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-19 Setting of parameter P2-1 0 to P2-15: DI Code Signal Description 19 S-T Speed / Torque mode switchin g (OFF: Speed, ON: Torque) 20 T-P Torque / Position mode switching (OFF: Torque, ON: Position) 21 EMGS Emergency stop (contact b) 22 CWL Reverse inhibit limit (contact b) 2[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-20 Revision January 2009 3.3.4 Wiring Diagrams of I/O Signals (CN1) The valid voltage range of analog input comm and in speed and torque mode is -10V ~+10V. The command value can be set via rele vant parameters. C1: Speed / Torque anal og signal inpu t There are two kinds of pulse inputs, Line dri[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-21 C2-1: Pulse input (O pen collecto r – in ternal power) 7 VDD 19 /SIGN 20 SIGN COM- 22 PULSE 13 21 /PULSE DC24V Max. input pulse frequen cy is 200kpps S ervo Drive Approx. 1K Approx. 1K 50 50 50 50 C2-2: Pulse input (Open collector – ext ernal power) 7 VDD 19 /SIGN 20 S[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-22 Revision January 2009 C3: Pulse inpu t (Line Driver) Be sure to connect a diode when the dri ve is applied to inductive load. (Continuous maximum current: 40mA, Instantaneous peak current: max. 100mA) C4: Wiring of DO signal, f or the use of internal power supply, gen eral load C5: Wiring of DO[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-23 C6: Wiring of DO sign al, for the use of external power supply, general load C7: Wiring of DO sign al, for the use of external power supply , inductive load Use a relay or open-collector tran sistor to input signal. C8: Wiring of DI sig nal, for the use of internal power s[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-24 Revision January 2009 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, control algorithms d etect the motor's rotor position throu gh imbedded sensors in the motor w[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-25 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. The users can operate the servo drive throug h PC software supp lied by Delta (contact to the[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-26 Revision January 2009 2) When using RS-232 com munication, the user c an use the communication cable provided by Delta PLC directly. (The PLC communication cabl e is co mpatible with all Delta Servo systems for the users’ convenience) 3.5.2 Connection between PC/Keypad and Connector CN3  C[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-27 3.6 St andard Connection Example 3.6.1 Position Control Mode[...]

Chapter 3 Connections and Wiring | ASD A-B Series 3-28 Revision January 2009 3.6.2 Speed Control Mode[...]

Chapter 3 Connections and Wiring | ASD A-B Series Revision January 2009 3-29 3.6.3 Torque Control Mode[...]

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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. There are several modes of operatio n: Monitor, Parameter, Parameter Setting, Save, Write and Fast Edit Mode. In Monitor mode , users can display the monitor status. In Parameter mode , users can d[...]

Chapter 4 Display and Operation | ASDA-B Series 4-2 Revision January 2009 Name Function LCD Display 2 line × 16 chara cter LCD display shows the monito r codes, parameter settings and operation values of the AC servo drive. Status Display (LED Indication) SON LED (Servo On Indicator). A lit LED illumi nates to indicate that the servo drive is enab[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-3 4.1.2 Display Flowchart Monitor Mode, Parameter Mode and Parameter Setting Mode 1. When the power is applied to the AC servo drive, the digita l keypad will execute communication initial setup for approximately two seconds (9 600bps & 7,N,2 Modbus ASCII) first, and then e[...]

Chapter 4 Display and Operation | ASDA-B Series 4-4 Revision January 2009 SAVE Mode (Save parameter settings from the Drive to the Keypad) 1. When the power is applied to the A C servo drive, the digital key pad will enter into the monitor mode first. 2. In monitor mode, pressing SAVE key can switch to SAVE mode. 3. In SAVE mode, pressing SAVE key [...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-5 WRITE Mode (Parameter settings writte n out from Keypad to the Drive) 1. When the power is applied to the A C servo drive, the digital key pad will enter into the monitor mode first. 2. In monitor mo de, pressing WR ITE key ca n switch to WRITE mode. 3. In WRITE mode, pressin[...]

Chapter 4 Display and Operation | ASDA-B Series 4-6 Revision January 2009 Fast Edit Mode (Fast Editing, Static & Dynamic Auto-tuning) 1. When the power is applied to the A C servo drive, the digital key pad will enter into the monitor mode first. 2. In monitor mode, press ing Fast Edit key can switch to Fast Edit mode. 3. In Fast Edit mode, pr [...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-7 Figure 4.5 STS0 0: Fb PULSE 0 p u l s e FEDI T :PR EDIT FEDI T : PR EDIT PR E NAB LE FEDI T :PR EDIT PR DISA B LE FEDIT :AUTO S FEDIT :AU TO S -BW 1 0 0 H Z FEDIT :AUTO S - J R 1. 0 H Z FEDIT :AUTO S -RH 1. 0 00 HZ FEDIT :AUTO S - RH PR Dl oad FEDIT :AU TO D -R 2 re v FEDIT :[...]

Chapter 4 Display and Operation | ASDA-B Series 4-8 Revision January 2009 4.1.3 Status Display 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 T D T T P : 0 1 - 0 S EE N P The setting value is saved cor rectly.[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-9 Monitor Setting Display In monitor mode, in order to change the monitor stat us, the users can press UP or DOWN arrow key or change parameter P0-02 dire ctly to specify the monitor status. When the power is applied, the monito r status depends on the setting value of P0-02. F[...]

Chapter 4 Display and Operation | ASDA-B Series 4-10 Revision January 2009 P0-02 Setting Display Message Description Unit 12 S : K TS1 0 A PE A D LO % 2 Peak load % 13 S : s TS1 0 u Vb 3 l ot v Main circuit voltag e volt 14 S : TS1 0 JL 4 m ie t Ratio of load inertia to Mot or inertia time 15 S : T TS1 0 B IG m p Te 5 g eC d IGBT Temper ature of po[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-11 4.1.4 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 press UP arrow key to display the fault code of ASH1 to ASH5 in order. ASH1 indicates the [...]

Chapter 4 Display and Operation | ASDA-B Series 4-12 Revision January 2009 4.1.5 JOG Operation After entering parameter mode P4-05, the use rs can follow the following steps to perfo rm JOG operation or press JOG key on the digital keypad to enter into parameter setting mode of P 4-05 directly. Step 1. Press the SET key to display the JOG rpm speed[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-13 Figure 4.9 O J P : 0 4 - 5 G r 0 SET SET MO DE CCW CW C o u n t e r c l o c k w i s e C l o c k w i s e 2 pm O J P : 0 4 - 5G r 0 2 pm O J P : 0 4 - 5 G r 1 2p m O J P : 0 4 - 5G r 0 0 pm O J P : 0 4 - 5G rp m O J G 1[...]

Chapter 4 Display and Operation | ASDA-B Series 4-14 Revision January 2009 4.1.6 DO Force Output Diagnosis Operation For testing, the digital outputs can be forced to be activated (O N) or inactivated (OFF) by using parameter P4-06. Follow the setting met hod in Figure 4.10 to enter into DO force output diag nosis operation (OP x) mode (“x” ind[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-15 4.1.7 DI Diagnosis Operation Following the setting method in Figure 4 .11 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI6, the corres ponding status will display on the servo drive LCD display. When th[...]

Chapter 4 Display and Operation | ASDA-B Series 4-16 Revision January 2009 4.1.9 Parameters Read and Write Digital keypad provides the servo parameters read and write function not only for the servo drive but also for PC side. The function of parame ter read and write must be set via the PC software (P lease see Figure 4.6 & Figure 4.7). The us[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-17 Figure 4.7[...]

Chapter 4 Display and Operation | ASDA-B Series 4-18 Revision January 2009 4.2 ASD-PU-01B 4.2.1 Description of Digi tal Keypad ASD-PU-01B The digital keypad includes the ASD-PU-01B display panel and function keys. Th e Figure 4.8 shows all of the features of the ASD-PU-01B digital keypad and an overview of their functions. Figure 4.8 Name Function [...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-19 Name Function UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll thro ugh and change monitor code s, parameter groups and variou s parameter settings. In SAVE ( ) mode and WRITE ( ) mode, pressing UP and DOWN arrow key can scroll through and change t he mem[...]

Chapter 4 Display and Operation | ASDA-B Series 4-20 Revision January 2009 Figure 4.9[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-21 SAVE Mode ( Save p arameter settings from the Drive to the Keypad) 1. When the power is applied to t he AC servo driv e, the digital keypad will enter into the monit or mode first. 2. In monitor mode, pressing FUN C key first. Then, press ing UP key four times or DOWN key th[...]

Chapter 4 Display and Operation | ASDA-B Series 4-22 Revision January 2009 Figure 4.10[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-23 WRITE Mode ( Parameter settings written out from Key pad to the Drive) 1. When the power is applied to the A C servo drive, the digital key pad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key first. Then, press ing UP ke y five times or DOWN k e[...]

Chapter 4 Display and Operation | ASDA-B Series 4-24 Revision January 2009 Figure 4.11[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-25 Fast Edit Mode ( Fast Editing Function) 1. When the power is applied to t he AC servo driv e, the digital keypad will enter into the monit or mode first. 2. In monitor mode, p ressing FUNC k ey once can sw itch to Fast Edit mode. 3. In Fast Edit mode, pressing F UNC key can [...]

Chapter 4 Display and Operation | ASDA-B Series 4-26 Revision January 2009 Dynamic Auto-tuning Mode ( Dynamic Auto-tuning Function) 1. When the power is applied to t he AC servo driv e, the digital keypad will enter into the monit or mode first. 2. In monitor mode , pressing FUNC k ey first. T hen, pressing U P key two times or DOWN key five times [...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-27 Static Auto-tuning Mode ( Static Auto-tuning Function) 1. When the power is applied to t he AC servo driv e, the digital keypad will enter into the monit or mode first. 2. In monitor mode , pressing FUNC k ey first. T hen, pressing U P key two times or DOWN key five times ca[...]

Chapter 4 Display and Operation | ASDA-B Series 4-28 Revision January 2009 4.2.3 Status Display Save Setting Display After the SET key is pressed, LED display will show the following display messag es for approx. one second according to different status. Display Message Description The setting value is saved cor rectly. This paramete r is read only[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-29 Monitor Setting Display In monitor mode, in order to change the monitor stat us, the users can press UP or DOWN arrow key or change parameter P0-02 dire ctly to specify the monitor status. When the power is applied, the monito r status depends on the setting value of P0-02. [...]

Chapter 4 Display and Operation | ASDA-B Series 4-30 Revision January 2009 P0-02 Setting Display Message Description Unit 14 Ratio of load inertia to Mot or inertia time 15 IGBT Temper ature of powe r supply module degC(°C) The following table lists the display examples of monit o r value: Display Message Description Posit ive va lue displ ay. Dis[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-31 4.2.4 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 in order. H1 indicates the most [...]

Chapter 4 Display and Operation | ASDA-B Series 4-32 Revision January 2009 NOTE 1) JOG operation is effective only when Se rvo On (when the servo dri ve is enabled). 2) Before using JOG function, please ensure to conf irm t hat P2-10 (DI1) is set to 101 (Servo On). Otherwise, the JOG operation cannot be enabled even if the FUNC key has been pressed[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-33 4.2.6 DO Force Output Diagnosis Operation For testing, the digital outputs can be forced to be activated (O N) or inactivated (OFF) by using parameter P4-06. Follow the setting met hod in Figure 4.17 to enter into DO force output diag nosis operation (OP x) mode (“x” ind[...]

Chapter 4 Display and Operation | ASDA-B Series 4-34 Revision January 2009 4.2.7 DI Diagnosis Operation Following the setting method in Figure 4 .18 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI6, the corres ponding status will display on the servo drive LED display. When th[...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-35 4.2.8 DO Diagnosis Operation Following the setting method in Figure 4 .19 can perform DO diagnosi s operation (parameter P4-09). According to the ON and OFF status of t he digi tal outputs DO1 to DO3, the corresponding st atus will display on the servo drive LED display. Whe[...]

Chapter 4 Display and Operation | ASDA-B Series 4-36 Revision January 2009 4.2.9 Parameters Read and Write Digital keypad provides the servo parameters read and write function not only for the servo drive but also for PC side. The function of parame ter read and write must be set via the PC software (P lease see Figure 4.20 & Figure 4.21). The [...]

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-37 Figure 4.21[...]

Chapter 4 Display and Operation | ASDA-B Series 4-38 Revision January 2009 This page intentionally left blank.[...]

Revision January 2009 5-1 Chapter 5 T r ial Run and T uning Procedure This chapter describe s trial run and tuning procedure fo r servo driv e and motor. Trial run, which is divided into two parts, one part is to introduce th e trial run without load, an d the other part is to introduce trial run with load. Ensure to complete the trial ru n without[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B 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 dam[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-3 5.2 Applying Power to the Drive Users please observe the following steps wh en applying power supply to the servo drive. 1. Please check and confirm the wiring connec tion between the drive and motor is correct. 1) Terminal U, V, W and FG (frame ground ) must connect[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-4 Revision January 2009 2) When display shows: Encoder error: Check if the wiring is correct. Check if the enc ode r wiring (CN2) of servo motor is loose or incorrect. Corrective Actions:  Check if the user performs wiring re commended in the user manual.  Examine the encoder connecto[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-5 5) When display shows: Forward limit sw itch error: Please check if any of digital input s DI1~DI6 signal is set to “Forward inhibit limit (CCWL)” and check if the signal is ON or not. Corrective Actions:  If it is no need to use “Forward inhibit limi t (CCW[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-6 Revision January 2009 Magnetic field error: Corrective Actions:  Check if the encoder is abnormal.  Verify the encoder connector. 9) When display shows: Input power phase loss: Corrective Actions:  Verify the main circuit power R, S, T. Che ck for possible poor con nection on the[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B 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 (ASD-PU- 01A or ASD-PU-01[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-8 Revision January 2009 5.3.2 ASD-PU-01B Tuning Flowchart STEP 1: Turn the drive ON through software. Ensure that there is no fault message di splay on the LED display and the servo drive is normal. STEP 2: Press FUNC key on the keypad first. Then, pr ess UP key three times or DOWN key four[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B 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 4 and it is spee d (Sz) control mode. Please ensure to s[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-10 Revision January 2009 The settings of speed comm and: P1-09 is set t o 3000 Input value command Rotation di rection P1-10 is set to 100 + CCW P1-11 is set t o -3000 - CW 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 b[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-11 5.5 T uning Procedure  ASD-PU-01A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_l oad /J_motor): JOG Mode Tuning Procedure Display Message 1. After wiring is completed, when power in connected to the AC servo drive, the right side display will show[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-12 Revision January 2009 Tuning Procedure 13. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation. 14. Execute JOG operation in low speed first. After the machine is running smoothl y, then execute JOG operation in high speed. 15. The ratio of Load Inertia to Servo[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-13 Tuning Procedure 13. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation . 14. Execute JOG operation in low speed first. After the machine is running smoothly, then execu te JOG operation in high speed. 15. The ratio of Load Inertia to Serv[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-14 Revision January 2009 5.5.2 Load Inertia Es timation Flowchart[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-15 5.5.3 AutoMode (PI) Tuning Flowchart P2-31 Auto Stiffness and Respon siveness Level (Default setting: 6) Function: This parameter allows use r to set the stiffness and responsivene ss level automatically. Users can control the stiffness and responsive ness according[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-16 Revision January 2009 Table 5.A P2-31 Value in AutoMode(PI) and the setting of Speed Loop Responsiveness and P2-25. Setting Value of P2-31 Speed Loop Responsiveness Low-pass Filter Time Constant of Resonance Suppression (P2-25) 0 10 Hz 125 1 15 Hz 83 2 20 Hz 62 3 25 Hz 50 4 30 Hz 41 5 35[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-17 5.5.4 AutoMode (PDFF) Tuning Flowchart P2-31 Auto Stiffness and Respon siveness Level (Default setting: 6) Function: This parameter allows use r to set the stiffness and responsivene ss level automatically. Users can control the stiffness and responsive ness accordi[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-18 Revision January 2009 Table 5.B P2-31 Value in AutoMode(PDFF) and the setting of Speed Loop Responsiveness. Setting Value of P2-31 Speed Loop Responsiveness Setting Value of P2-31 Speed Loop Responsiveness 0 10 Hz 8 65 Hz 1 15 Hz 9 80 Hz 2 20 Hz A 100 Hz 3 25 Hz B 120 Hz 4 30 Hz C 145 Hz[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-19 5.5.6 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 Compe[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-20 Revision January 2009 5.5.7 Gain Adjustment in Manual Mode The position and speed respo nsiveness selection is depending on and determined by the the control stiffness of machinery and conditions of application s . Generally, high reponsiveness is essential for the high frequency positio[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-21  NLP, Parameter P2-25 Lo w-pass Filter Time Constant (Re sonance Suppression) When the value of (J_load / J_motor) is high, t he responsivene ss of speed loop may decreas e. At this time, the users can increase the setting value of KVP (P2-04) to keep the respons[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-22 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-B series Servo can be programmed to provide five single and t hree dual modes of operation. Their operation and descripti on is listed in the following Table 6.A. Mode Code Description External Position Control P 00 Position control for the[...]

Chapter 6 Control Modes of Operati on | ASDA-B 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 (P mode) is u sually used fo r the applications requiring precisi on po[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-3 Other setting: Reversed Input pulse interface Max. input pulse frequency Line driver 500kpps Open collector 200kpps • Logic type 0=Positive Logic 1=Negative Logic Pulse Type Forward Reverse Forward Reverse AB phase pulse CW + CCW pulse Pulse + Direction 6.2.2 Structu[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-4 Revision January, 2009 6.2.3 Pulse Inhibit Input Function (INHP) INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-15 a nd DI INHP(07) in Table 7.A).When the drive is in position mode, if INHP is activated, the external pul se input command is not valid and the motor[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-5 DI Name DI Status Selected Electronic Gear Not select (Note 1) P1-44, P1-45 0 P1-44, P1-45 GNUM0 1 P1-44, P1-45 NOTE 1) DI signal can be selected b y parameter P2- 10 to P2-15 and Table 7.A. If uses only need to use one group of electronic gear, it allows u sers not to[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-6 Revision January, 2009 Electronic Gear Rati o Correspond ing tra vel 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 Table 6.B 6.2.5 Low-pass Filter Relevant parameters[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-7 The equation is shown as f ollows: fp < fv 4 , fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz) KPP = 2 × π × fp. For example, the desired position loop resp onsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/ s. Relevant [...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-8 Revision January, 2009 of mechanical system. In PDFF control AutoMode, the value of this parameter will be cha nged in accordance with the setting value of p aramete r P2-31 automatically (Please refer T able 6.D & 6.E in Chapter 6). P2 - 03 PFF Smooth Constant of Posi tion Feed Forward [...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-9 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-B series servo drive su ppo rts two kinds of command sources in speed control mode. One is external analog signal an[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-10 Revision January, 2009 NOTE 1) In speed control mode, if the users want to adj ust anal og speed input offset value, please refer to parameter 4-22 for the operation. 6.3.2 Structure of Speed Control Mode Basic S tructu re: Speed Command Speed C ommand Pr oces si ng To r q u e L i m i t e r[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-11 The command source is selected according to the state of SPD0, SPD1 and p arameter P1-01 (S or Sz). Whenever the command signal ne eds to be more smoothly, we recomm end the users to use S-curve and low-pass filter. 6.3.3 Smoothing Strategy of Speed Control Mode S-cur[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-12 Revision January, 2009 Settings: 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 Addr.: 0123H Default: 20[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-13 Analog Speed Command S-curv e Filter ASDA-B series servo drives also provide Analog Speed Comma nd 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 com[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-14 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 -1 0 3000 rpm 5000 rpm -3 00 0r pm -5 00 0r[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-15 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-B Series 6-16 Revision January, 2009 There are two turning modes of gain adjustment: Ma n ual and Auto modes. The gain of ASDA-B series servo drives can be adjusted by usin g any one of two tuning modes.  Manual Mode: User-defined loop gain adjustment. Wh en using this mode, all auto and auxiliary fun[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-17 PDFF Structure (P2-32) Stiffness Setting P2-31 Speed Loop Responsive - ness (Hz) Proportional Position Loop Gain P2-00 Position Feed Forward Gain (%) P2-02 Proportional Speed Loop Gain P2-04 Speed Integral Compensation P2-06 Low-pass Filter Time Constant (Reson ance S[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-18 Revision January, 2009 • Tuning Mode Settings: 0: Manual mode 1: AutoMode (Continuous adjustment) The ratio of Load Inertia to servo moto r inertia can be continuously adjusted. The level of stiffness an d responsiveness are adjuste d by parameter P2-3 1. 2: AutoMode (The ratio of Load In[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-19 Relevant parameters: P1 - 37 GDR Ratio of Load Inertia to Serv o Motor Inertia Communication Addr.: 0125H Default: 10 Related Section: Applicable Control Mode: P/S/T P2-31, P2-32, Section 6.3.6 Unit: 0.1times Range: 0 ~ 2000 Settings: Ratio of load inertia to servo mo[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-20 Revision January, 2009 AutoMode, the value of this param eter will be changed in accordance with the setting value o f parameter P2-31 autom atically (Please refer T able 6.D & 6.E in Chapter 6). T ime constant of speed integral compen sation: (1000/KVI) ms P2 - 07 SFG Speed Feed Forw a[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-21 STEP 3 Sel ect t he valu e o f KVI, if the va l ue of ph as e m a r g in i s t oo s m a l l , r e- a dj u s t the value of KVP again to obtain the ： val ue, 45 deg of pha se margi n. Gain Fre quency Phase Fre quency Time Domain KVP Wh en the value of KV P is greater[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-22 Revision January, 2009 SFG Wh en the va lue o f S FG is nea rly to 1and the forward c t he valu e of dy nami c t ra ck i ng er ror wi l l become very small. However , when the valu e of SFG is too great , it may ca us e vi b rat i on . om pe nsat ion is mor e com ple te, then Spee d Ti me A[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-23 6.3.7 Resonance Suppression The resonance of mechani cal system may occur du e to excessive system stiffness o r frequency response. However, this kind of re sonance condition can be improved, suppre ssed, even can be eliminated by using low-pass filter (para meter P2[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-24 Revision January, 2009 P2 - 25 NLP Lo w -pass Filter Time Constant (Resonance Suppression) Communication Addr.: 0219H Default: 20 Related Section: Applicable Control Mode: P/S/T Section 6.3.7, P2-32 Unit: 0.1ms Range: 0 ~ 10000 Settings: This parameter is used to set low-pass filt er time c[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-25 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 ASD A-B series servo drive supports two kind s of command sources in torque control mode.[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-26 Revision January, 2009 6.4.2 Structure of To rque Control Mode Basic Struct ure: To r q u e co mmand To r q u e C o m m a n d Proc essi ng Reso nant Suppr es si on Bl ock Di ag ra m Cur rent Senso r Current Control Block Diagram Outp ut T orque + - In the above figure, the toque command pro[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-27 6.4.3 Smoothing Strategy of Torque Control Mode Relevant parameters: 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: Di[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-28 Revision January, 2009 Relevant parameters: P1 - 41 ▲ TCM Max. Analog Torque Command or Limit Communication Addr.: 0129H Default: 100 Related Section: Applicable Control Mode: T / S, P Section 6.4.4, P1-55 Unit: % Range: 0 ~ 300 Settings: In T orque mode , this parameter is used to set th[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-29 6.5 Control Modes Selection Except signal control mode operatio n, ASDA-B series AC drive also provide S-P , S-T , T -P these three multiple modes for the users to select. 1 ） Speed / Position mode selection: S-P 2 ） Speed / Torque mode selection: S-T 3 ） Torque[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-30 Revision January, 2009 6.5.2 Speed / Torque Control Mode Selection S-T Mode: The speed command can b e the external analog voltage or internal parameters (P1-09 to P1-11) an d SPD0~1 is used to select speed comm and. The same as speed command, the torqu e command can be the external analog [...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-31 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-B Series 6-32 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-B Series Revision January, 2009 6-33 recommend the users to use the r egenerative resistor s with thermal switches. As for the load characteristics of the regen erative resist ors, please check with the manufacturer.  External Regenerativ e Resistor When using external re generative resistor, connect [...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-34 Revision January, 2009 If the load inertia is N × motor inertia, the regenerative power will b e (N+1) × E0 when servo motor brakes from 3000rpm to 0. Then, the r egenerative resistor can dissipate: (N+1) × E0 - Ec (joule). If the time of repeat operation cycle is T se c, then the regene[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-35 Mot or Rotati on Spee d Exte rna l Lo ad T or que Mot or Output T orque Re ve r se R otatio n Reve rs e Rota tion Forward Rota tion Forward R otatio n External load torque in reverse dire ction: TL * Wr TL : External load torque For the safety, we strongly recommend t[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-36 Revision January, 2009 When the servo motor runs with load, the allowabl e frequenci es will change according to the change s of the load inertia and rotation speed. Use the followi ng equation to calculate the allowable frequ ency. A l l o w a b l e f r eq u e n c y = Al lowabl e fr equenc[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series Revision January, 2009 6-37 If the users desire to control electromagnetic brake vi a external controller, not by the servo drive, the users must execute the function of ele ctromagnetic br ake during the period of time when se rvo motor is braking. The braking stren gth of motor and electromagn[...]

Chapter 6 Control Modes of Operati on | ASDA-B Series 6-38 Revision January, 2009 Electromagnetic Brake Wiring Di agram NOTE 1) Please refer to Chapter 3 Conne ctions and Wiring for more wiri ng information. 2) Please note that the coil of brake has no polarity. 3) The power supply for brake is DC24V. Never use it for VDD, the +24V sou rce voltage.[...]

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-[...]

Chapter 7 Servo Parameters | AS DA-B Series 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 P 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 0 N/A { { [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-3 Group 1: P1-xx Basic Parameters Control Mode Parameter Name Function Default Unit P S T P1-00 ▲ PTT External Pulse Input Type 2 N/A { P1-01 ● CTL Control Mode and Output Direction 0 pulse Rpm N.M { { { P1-02 ▲ PSTL Speed and Torqu e Limit 0 N/A { { { P1-03 AOUT Pulse Outpu[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-4 Revision January, 2009 Basic Parameters Control Mode Parameter Name Function Default Unit P S T P1-44 ▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) 1 pulse { P1-45 ▲ GR2 Electronic Gear Ratio (Denominator) 1 pulse { P1-46 ▲ GR3 Encoder Output Pulse Number 2500 pulse { { { P1-47 ~ P1-51 Reserv[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-5 Group 2: P2-xx Extension Parameters Control Mode Parameter Name Function Default Unit P S T P2-00 KPP Proportional Posi tion Loop Gain 50 rad/s { P2-01 PPR Position Loop Gain Switching Rate 100 % { P2-02 PFG Position Feed Forward Gain 0 % { P2-03 PFF Smooth Constant of Position [...]

Chapter 7 Servo Parameters | AS DA-B Series 7-6 Revision January, 2009 Extension Parameters Control Mode Parameter Name Function Default Unit P S T P2-31 ■ AUT1 Auto Stiffness and Responsiveness Level 6 N/A { { { P2-32 ▲ AUT2 Tuning Mode Selection 0 N/A { { { P2-33 Reserved P2-34 SDEV Overspeed Warning Condition 5000 rpm { P2-35 PDEV Excessive [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-7 Group 3: P3-xx Communication Parameters Control Mode Parameter Name Function Default Unit P S T P3-00 ADR Communication Address Setting 1 N/A { { { P3-01 BRT Tran smission Speed 3 bps { { { P3-02 PTL Comm unication Protocol 0 N/A { { { P3-03 FLT Tran smission Fault Treatm ent 0 [...]

Chapter 7 Servo Parameters | AS DA-B Series 7-8 Revision January, 2009 Group 4: P4-xx Diagnosis Parameters Control Mode Parameter Name Function Default Unit P 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 { { { P4-04[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-9 Group 8: P8-xx Keypad Parameters Control Mode Parameter Name Function Default Unit P S T P8-00 ★ KVER Keypad Firmware Version Factory setting N/A { { { P8-01 KFUN Keypad Communication and Reset Setting 1 N/A { { { P8-02 Reserved P8-03 Reserved P8-04 Reserved P8-05 KADR Communi[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-10 Revision January, 2009 7.2.2 Parameters List by Function Monitor and General Use Control Mode Parameter Name Function Default Unit P 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 0 N/A { { { P0-04 CM1 Status Monitor 1 [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-11 Gain and Switch Control Mode Parameter Name Function Default Unit P S T P2-00 KPP Proportional Posi tion Loop Gain 50 rad/s { P2-01 PPR Position Loop Gain Switching Rate 100 % { P2-02 PFG Position Feed Forward Gain 0 % { P2-03 PFF Smooth Constant of Position Feed Forward Gain 5[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-12 Revision January, 2009 Position Control Control Mode Parameter Name Function Default Unit P S T P1-01 ● CTL Control Mode and Output Direction 0 pulse rpm N.M { { { P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { P1-55 MSPD Maximum Speed Limit rated speed rpm { { { P1-12 ~ P1-14 TQ1 ~ 3 1st ~ 3rd [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-13 Speed Control Control Mode Parameter Name Function Default Unit P S T P1-01 ● CTL Control Mode and Output Direction 0 pulse rpm N.M { { { P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { P1-46 ▲ GR3 Encoder Output Pulse Number 2500 pulse { { { P1-55 MSPD Maximum Speed Limi[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-14 Revision January, 2009 Digital I/O and relative input output setting Digital I/O Control Mode Parameter Name Function Default Unit P S T 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 (DI2) 102 N/A { { { P2-12 DI3 Digital [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-15 Communication Control Mode Parameter Name Function Default Unit P S T P3-00 ADR Communication Address Setting 1 N/A { { { P3-01 BRT Tran smission Speed 3 bps { { { P3-02 PTL Comm unication Protocol 0 N/A { { { P3-03 FLT Tran smission Fault Treatm ent 0 N/A { { { P3-04 CWD Commu[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-16 Revision January, 2009 Diagnosis Parameters Control Mode Parameter Name Function Default Unit P 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 { { { P4-04 ★ ASH5 Faul[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-17 Others Control Mode Parameter Name Function Default Unit P S T P1-32 LSTP Motor Stop Mode Selection 0 N/A { { { P1-37 GDR Ratio of Load Inertia to Servo Motor Inertia 10 0.1 times { { { P1-52 RES1 Regenerative Resistor Value 40 Ohm { { { P1-53 RES2 Regenerative Resistor Capacit[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-18 Revision January, 2009 Keypad Parameters Control Mode Parameter Name Function Default Unit P S T P8-00 ★ KVER Keypad Firmware Version Factory setting N/A { { { P8-01 KFUN Keypad Communication and Reset Setting 1 N/A { { { P8-05 KADR Communication Address Setting (Drive) 255 N/A { { { P8-06 KBRT Tra[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-19 7.3 Det ailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00 ★ VER Firmw are Version Communication Addr.: 0000H Default: Factory setting Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A P0 - 01 ★ ALE Drive Fault Code Communication Addr.[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-20 Revision January, 2009 NOTE 1) When this fault occurs, users can u se ARST signal to clear the fault message. 2) This fault can be cleared automatically whe n users eliminate the error source. Using ARST signal can not clear this fault message. 3) This fault can not be cleared even if users eliminate[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-21 P0 - 02 STS Drive Status Communication Addr.: 0002H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 4.3.5 Unit: N/A Range: 0 ~ 15 Settings: 0 : Motor feedback pulse number [pulse] 1 : Motor feedback rotation numbe r [rev] 2 : Pulse counts of pulse comman d [p[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-22 Revision January, 2009 P0 - 05 CM2 Status Monitor 2 Communication Addr.: 0005H Default: 0 Related Section: Applicable Control Mode: P/S/T P0-02 Unit: N/A Range: 0 ~ 15 Settings: See P0-04 for explanation. P0 - 06 CM3 Status Monitor 3 Communication Addr.: 0006H Default: 0 Related Section: Applicable C[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-23 Bit9: W ARN (Servo warning output. W ARN is activated when the drive has detected Reverse limit error , Forward limit error , Emergency stop, Serial communicati on error , and Undervolt age these fault conditions.) Bit10 ~ 15 : Reserved[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-24 Revision January, 2009 Group 1: P1-xx Basic Parameters P1 - 00 ▲ PTT External Pulse Input T ype Communication Addr.: 0100H Default: 2 Related Section: Applicable Control Mode: P Se ction 3.3.3, Section 3.6.1, Unit: N/A Section 6.2.1 Range: 0 ~ 142 Settings: ASD-PU-01A ASD-PU-01B P P : 0 - 0 2 1T T [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-25 P1 - 01 ● CTL Control Mode and Output Direction Communication Addr.: 0101H Default: 0 Related Section: Applicable Control Mode: P/S/ T P mode: See Section 6.2.1 Unit: pulse (P mode), rpm (S mode), N.M (T mode ) S, Sz mode: See Section 6.3.1 Range: 0 ~ 1 10 T , Tz mode: See Se[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-26 Revision January, 2009 Settings: ASD-PU-01A ASD-PU-01B • Disable / Enable Speed Limit Function Settings 0: Disable S peed Limit Function 1: Enable S peed Limit Function (It is valid only in T orque mode) The source of speed limit is determined b y the speed command (SPD1, SPD0) of DI signal. DI Nam[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-27 P1 - 03 AOUT Pulse Output Polarit y Setting Communication Addr.: 01 03H Default: 0 Related Section: Applicable Control Mode: P/S/T P1-46 Unit: N/A Range: 0 ~ 1 Settings: • Pulse Output Polarity Settings (A/B phase deviation from 90 degrees (Quadrature)) 0: Forward output 1: R[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-28 Revision January, 2009 P1 - 09 SPD1 1st Speed Command or Limit Communication Addr.: 01 09H Default: 100 Related Section: Applicable Control Mode: S/T S mode: Section 6.3.5 Unit: rpm T mode: P1-0 2 Range: -5000 ~ +5000 Settings: 1st Speed Command In S peed mode, this parameter is u sed to set speed 1 [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-29 P1 - 12 TQ1 1st Torque Command or Limit Communication Addr.: 010CH Default: 100 Related Section: Applicable Control Mode: T / P , S T mode: Sect ion 6.4.5 Unit: % P , S mode: P1-02 Range: -300 ~ +300 Settings: 1st T orque Command In T orque mode, this parameter is used to set t[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-30 Revision January, 2009 P1 - 15 ▲ GR4 Electronic Gear Ratio (2nd Numerator) (N2) Communication Addr.: 010FH Default: 1 Related Section: Applicable Control Mode: P Section 6.2.4, P1-44, P1-45 Unit: pulse DI GNUM0(1 1) in T able 7. A Range: 1 ~ 32767 Settings: The electronic gear numerator value ca n [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-31 P1 - 26 Reserved Communication Addr.: 011AH P1 - 27 Reserved Communication Addr.: 011BH P1 - 28 Reserved Communication Addr.: 011CH P1 - 29 Reserved Communication Addr.: 011DH P1 - 30 Reserved Communication Addr.: 011EH P1 - 31 Reserved Communication Addr.: 011FH P1 - 32 LSTP M[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-32 Revision January, 2009 P1 - 33 Reserved Communica tion Addr.: 0121H P1 - 34 TACC Acceleration Time Communication Addr.: 0122H Default: 200 Related Section: Applicable Control Mode: S P1-35, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: It is used to determine the acceleration time to accel[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-33 P1 - 37 GDR Ratio of Load Inertia to Serv o Motor Inertia Communication Addr.: 0125H Default: 10 Related Section: Applicable Control Mode: P/S/T P2-31, P2-32, Section 6.3.6 Unit: 0.1times Range: 0 ~ 2000 Settings: Ratio of load inertia to servo motor ine rtia: (J_load /J_motor)[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-34 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: rpm Range: 0 ~ 5000 Settings: In Speed mode , this p arameter is used to set the sp eed at the maximum inp[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-35 P1 - 43 MBT2 OFF Delay Time of Electr omagnetic Brake Communication Addr.: 012BH Default: 100 Related Section: Applicable Control Mode: P/S/T DO BRKR(08) in T able 7.B Unit: ms P1-42, Section 6.6.4 Range: -1000 ~ 1000 Settings: Used to set the period of time between when t he s[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-36 Revision January, 2009 P1 - 44 ▲ GR1 Electronic Gear Ratio (1st Numerator) (N1 ) Communication Addr.: 012CH Default: 1 Related Section: Applicable Control Mode: P Section 6.2.4, P1-15, P1-45 Unit: pulse DI GNUM0(1 1) in T able 7. A Range: 1 ~ 32767 Settings: The electronic gear numerator value ca n[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-37 P1 - 46 ▲ GR3 Encoder Output Pulse Number Communication Addr.: 012EH Default: 2500 Related Section: Applicable Control Mode: P/S/T P1-03 Unit: pulse Range: 1 ~ 2500 (0 = By p ass) Settings: This paramet er is used to set the pulse number of en coder outputs . Encoder output p[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-38 Revision January, 2009 P1 - 54 PER Positioning Completed Width Communication Addr.: 0136H Default: 100 Related Section: Applicable Control Mode: P DO TPOS(05) in T able 7.B Unit: pulse Range: 0 ~ 10000 Settings: This paramet er is used to set the width of pulse o utput range in which TPOS (positionin[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-39 Group 2: P2-xx Extension Parameters P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 50 Related Section: Applicable Control Mode: P Section 6.2.6, P2-27 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is u sed to set the position loop gain. I[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-40 Revision January, 2009 P2 - 03 PFF Smooth Constant of Posi tion Feed Forward Gain Communication Addr.: 0203H Default: 5 Related Section: Applicable Control Mode: P Section 6.2.6, P2-02 Unit: ms Range: 2 ~ 100 Settings: When using position smoot h command, increase gain can improve position track devi[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-41 Settings: This parameter is u sed to set the integral time of speed loop. When the value of speed integral compensation is increase d, it can improve the speed response ability and decrease the speed control deviation. However , if the setting value is over high, it may generat[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-42 Revision January, 2009 P2 - 09 DRT Bounce Filter Communication Addr.: 0209H Default: 2 Related Section: Applicable Control Mode: P/S/T Section 6.3.6 Unit: 2ms Range: 0 ~ 20 Settings: For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=10ms. When there are too much vibration or noise [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-43 P2 - 11 DI2 Digital Input Terminal 2 (DI2) Communication Addr.: 020BH Default: 102 Related Section: Applicable Control Mode: P/S/ T Section 3.3.4, T able 7.A Unit: N/A Range: 0 ~ 126 Settings: See P2-10 for explanation. P2 - 12 DI3 Digital Input Terminal 3 (DI3) Communication A[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-44 Revision January, 2009 P2 - 15 DI6 Digital Input Terminal 6 (DI6) Communication Addr.: 020EH Default: 21 Related Section: Applicable Control Mode: P/S/ T Section 3.3.4, T able 7.A Unit: N/A Range: 0 ~ 126 Settings: See P2-10 for explanation. P2 - 16 Reserved Communica tion Addr.: 0210H P2 - 17 Reserv[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-45 P2 - 19 DO2 Digital Output Terminal 2 (DO2) Communication Addr.: 0213H Default: 103 Related Section: Applicable Control Mode: P/S/ T Section 3.3.4, T able 7.B Unit: N/A Range: 0 ~ 1 10 Settings: See P2-18 for explanation. P2 - 20 DO3 Digital Output Terminal 3 (DO3) Communicatio[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-46 Revision January, 2009 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, P2-23 Unit: dB Unit: Hz Range: 0 ~ 32 Settings: 0: Disabled P2 - 25 NLP Low-pass Filter Time Constant (Resonanc[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-47 P2 - 27 GCC Gain Switching Control Selection Communication Addr.: 021BH Default: 0 Related Section: Applicable Control Mode: P/S P2-01, P2-05, P2-28, P2-29 Unit: N/A Range: 0 ~ 14 Settings: ASD-PU-01A ASD-PU-01B • Gain Switching Condition Settings: 0: Disabled 1: Gain switchi[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-48 Revision January, 2009 P2 - 29 GPE Gain Switching Condition Communication Addr.: 021DH Default: 10000 Related Section: Applicable Control Mode: P/S P2-27, P2-28 Unit: pulse, Kpps, rpm Range: 0 ~ 30000 Settings: 0: Disabled This paramet er is used to set the value of gain switching condition (pulse er[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-49 When the setting value is highe r , the st iffness and re sponsiveness is higher . Setting Value of P2-31 Speed Loop Responsiveness (Hz) Stiffness and Responsiveness 0 10 Low Stiffness 1 15 Low Responsiveness 2 20 3 25 4 30 5 35 6 45 7 55 Medium Stiffness 8 65 Medium Re sponsiv[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-50 Revision January, 2009 2: AutoMode (The ratio of Load Inertia to servo motor inertia is fixed) The ratio of Load Inertia to servo motor inertia is set by param eter P1-37. The level of stiffness an d responsiveness are adjuste d by parameter P2-3 1. • Control Loop Structure Settings: 0: PDFF Contro[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-51 P2 - 36 OVL Overload Protection Level Communication Addr.: 0224H Default: 100 Related Section: Applicable Control Mode: P/S/T Fault Code 06 in P0-01, P2-37 Unit: % Range: 70 ~ 100 Settings: 100: The overload time will not be extended. 70: The overload time will be extended. The[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-52 Revision January, 2009 P2 - 38 GBIT Special Function Communication Addr.: 0226H Default: 0 Related Section: Applicable Control Mode: P/S/T P1-34, P1-35, P1-36 Unit: N/A Range: 0H ~ FFFFH Settings: 0 0 0 0 0 Bit10 0 0 0 0 0 0 0 0 0 0 Bit0 ~ Bit9 and Bit1 1 ~ Bit15: Reserved. Must be set to 0. Bit10: D[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-53 P2 - 44 ATUR Motor Rotation Number Communication Addr.: 022CH Default: 2 Related Section: Applicable Control Mode: P/S/T P2-45, P2-46, P2-47 Unit: turn Range: 1 ~ 3 Settings: This paramet er is used to set the motor rotation n umber when auto-tuning p arameters. P2 - 45 AFRQ Mo[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-54 Revision January, 2009 ASD-PU-01A ASD-PU-01B • Motor Startup Operation Settings: 0: No operation. The motor does not run. 1: Motor start up operation. The motor start s to run. • Responsiveness Selection Setting s: 0: Auto-select the appropriate respon siveness accord ing to the measured load ine[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-55 P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H Default: 10 Related Section: Applicable Control Mode: P/S Section 6.3.6 Unit: N/A Range: 0 ~ 1 19 Settings: ASD-PU-01A ASD-PU-01B • Speed Detection Filter Constant Settings: Setting Value Sp[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-56 Revision January, 2009 Group 3: P3-xx Communication Parameters P3 - 00 ADR Communication Addre ss Setting Communication Addr.: 0300H Default: 1 Related Section: Applicable Control Mode: P/S/T Section 3.5.1, Section 8.2 Unit: N/A Range: 1 ~ 254 Settings: If the AC servo drive is controlled by RS-232/4[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-57 P3 - 02 PTL Communication Protocol Communication Addr.: 0302H Default: 0 Related Section: Applicable Control Mode: P/S/T 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: [...]

Chapter 7 Servo Parameters | AS DA-B Series 7-58 Revision January, 2009 Settings: 0: Disabled This parameter is u sed to set the maximum permissible time before detecting a fault due to communication time out. Whe n this parameter is se t to a value over than 0, it indicates this function is enabled. However , if not communicating with the servo in[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-59 Group 4: P4-xx Diagnosis Parameters P4 - 00 ★ ASH1 Fault Record (N) Communication Addr.: 0400H Default: 0 Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A Settings: The latest fault record. P4 - 01 ★ ASH2 Fault Record (N-1) Communication Addr.: 0401H[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-60 Revision January, 2009 P4 - 05 JOG JOG Operation Communication Addr.: 0405H Default: 20 Related Section: Applicable Control Mode: P/S/T Section 4.4.3 Unit: rpm Range: 0 ~ 5000 Settings: JOG operation command: T o perform a JOG O peration via communication command, u se communication add ress 0405H En[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-61 P4 - 07 ■ ITST Input Status or Force Input Control Communication Addr.: 0407H Default: 0 Related Section: Applicable Control Mode: P/ S/T P3-06, Section 4.4.5, Unit: N/A Section 8.2 Range: 0 ~ 63 Settings: Please see P3-06 and Se ction 8.2 for setting method. External Control[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-62 Revision January, 2009 The status of DO signal, please refer to P2-18 ~ P2-2 0. For example: If P4-09 is set to 3, it indicates that the Digi tal Output s 1, 2 are "ON" and Digital O utput 3 is "OFF". NOTE 1) Please pay close attention on the prope rty of Digital Outputs. When the[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-63 P4 - 11 SOF1 Analog Speed Input Drift Adjus tment 1 Communication Addr.: 040BH Default: Factory setting Related Section: Applicable Control Mode: P/S/T P4-10 Unit: N/A Range: 0 ~ 32767 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this para me[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-64 Revision January, 2009 function, although this parameter all ows the us ers can execute manual adjustment, we still do not recommend users to change the default setting manually . Auto Adjustment Operation: Set parameter P2-08 to 20 first and then set param eter P4-10 to 2. When executing this auto a[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-65 NOTE 1) When P2-08 is set to 10, user s cannot reset this parameter. P4 - 17 COF3 Current Detector Drift Adjustment (W1 phase) Communication Addr.: 0411H Default: Factory setting Related Section: Applicable Control Mode: P/S/T P4-10 Unit: N/A Range: 0 ~ 32767 Settings: Manual A[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-66 Revision January, 2009 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this para meter . This is an auxiliary adjusting function, although this parameter all ows the us ers can execute manual adjustment, we still do not recommend users to change the default setting ma[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-67 Users can use this param eter to adjust a nalog torque input of fset value manually . NOTE 1) Before using this function, please short the in ternal circuit first or connecting to a 0V output of the external controller in advance (Ple ase refer to the figure below). Internal Co[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-68 Revision January, 2009 Group 8: P8-xx Keypad Parameters NOTE All the keypad parameters cannot be download to PC or the servo drive via com munication. Users only can edit and change the keypad par ameters through the keypad. P8 - 00 ★ KVER Keypad Firmware Version Communication Addr.: 0800H Default:[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-69 1: If 1 is set, it indicates the keypad is t he master side during com munication. 1 must be set when communicating with servo drive, or there will be a communication fault. • Keypad Parameter Reset Function Settings: 0: Disable keypad p arameter reset function. 1: Enable key[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-70 Revision January, 2009 4: Baud rate 57600 (dat a transmission speed: bits / second) 5: Baud rate 1 15200 (data transmission speed: bit s / second) P8 - 07 KPTL Communication Protocol (Key pad) Communication Addr.: 0807H Default: 0 Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: 0[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-71 2: LED testing. 3: Dynamical memory testing (RAM). Th e testing time is approx. 18 seconds. 4: Data memory testing (E EPROM). Th e testing time is approx. 140 se conds. This parameter is u sed to test the hardware of the keypad. Since the life of the dat a memory is limited and[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-72 Revision January, 2009 • Reserve / Clear Memory Block Fun ction Settings 0: Reserve memory block 1: Clear memory block When the clear memory block function is selected, the memory block will be cleared. This parameter setting will return to its default setting af ter clear function is executed succ[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-73 P8 - 14 ★ KBL1 Firm w are Version of Memory Block (ROMx) Communicat ion Addr.: 08 0EH Default: 0 Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A This paramet er displays the firmware versio n of parameter memory number (ROMx) by referring the setting [...]

Chapter 7 Servo Parameters | AS DA-B Series 7-74 Revision January, 2009 Table 7.A Input Function Definition Setting value of P2-10 ~ P2-15 : 01 DI Name DI Function Descriptio n Trigger Metho d Cont rol Mode SON Servo On. When this DI is activated, it indicates the servo drive is enabled. Level Triggered P, S, T Setting value of P2-10 ~ P2-15 : 02 D[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-75 Setting value of P2-10 ~ P2-15 : 05 DI Name DI Function Descriptio n Trigger Metho d Cont rol Mode ZCLAMP Zero speed CLAMP. Wh en ZCLAMP is act ivat ed ( ON) and the motor speed val ue is below the set ting value of P1-38, it is used to l ock the moto r in the inst ant position[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-76 Revision January, 2009 Setting value of P2-10 ~ P2-15 : 10 DI Name DI Function Descriptio n Trigger Metho d Cont rol Mode SPDLM Speed limit enabled. Wh en the drive is in torque mode and SPDLM is activated, it indicate s the speed limit co mmand is valid. The speed limit co mmand sour ce is internal [...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-77 DI Name DI Function Descriptio n Trigger Metho d Cont rol Mode SPD0 SPD1 Speed comman d number: S3 CN1 DI signal SPD1 SPD0 Command Source Content Range 1 0 Internal parameter P1-10 +/- 5000 rpm Speed comman d number: S4 CN1 DI signal SPD1 SPD0 Command Source Content Range 1 1 I[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-78 Revision January, 2009 Setting value of P2-10 ~ P2-15 : 18 DI Name DI Function Descriptio n Trigger Metho d Cont rol Mode S-P Speed / Pos ition mode sw itching. OFF: Speed mode, ON: Position mode Level Triggered P, S Setting value of P2-10 ~ P2-15 : 19 DI Name DI Function Descriptio n Trigger Metho d[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-79 Setting value of P2-10 ~ P2-15 : 24 DI Name DI Function Descriptio n Trigger Metho d Cont rol Mode Reserved Setting value of P2-10 ~ P2-15 : 25 DI Name DI Function Descriptio n Trigger Metho d Cont rol Mode TLLM Torque limit - Reverse oper ation (Torque limit function is valid [...]

Chapter 7 Servo Parameters | AS DA-B Series 7-80 Revision January, 2009 Table 7.B Output Function Definition Setting value of P2-18 ~ P2-20 : 01 DO Name DO Function Description Control Mode SRDY Servo ready. SRDY i s activated when the servo drive is rea dy to run. All fault and alarm conditions , if present, have been cleared . P, S, T Setting val[...]

Chapter 7 Servo Parameters | AS DA-B Series Revision January, 2009 7-81 Setting value of P2-18 ~ P2-20 : 06 DO Name DO Function Description Control Mode TQL At Torques li mit. TQL is activat ed when the drive has detected t hat the motor has reached t he torques limits set by eithe r the param eters P1-1 2 ~ P1-14. P, S Setting value of P2-18 ~ P2-[...]

Chapter 7 Servo Parameters | AS DA-B Series 7-82 Revision January, 2009 DO Name DO Function Description Control Mode OLW Result: When the dri ve output is at 20 0% rated outp ut and the drive is continuously overloa ded for 4.8 seconds, and the overload warning signal will be ON (DO code is 10, i.e. DO signal OLW will be activated). If the drive is[...]

Revision January 2009 8-1 Chapter 8 MODBUS Communications 8.1 Communication Hardw are Interface The ASDA-B series servo drive ha s two modes of co mmunication: RS-232, and RS-485. All aspects of control, operation and monitoring as well as pr ogramming of the controller ca n be achieved via communication. Ho wever , only one communication mode can [...]

Chapter 8 MODBUS Communications | ASDA-B S eries 8-2 Revision January 2009 NOTE 1) For RS-232 connection, the recommended maximum cabl e length is 15m (50ft.). Please note, RFI / EME noise should be kept to a minimum, communi cation cabl e should kept ap art from high voltage wires. If a transmission speed of 38400 bps or g reater is requi red, the[...]

Chapter 8 MODBUS Communications | ASDA-B S eries Revision January 2009 8-3 NOTE 1) For RS-485 and RS- 422 connections, the recomme nded maximum cable length is 100m (300ft.). Please note, RFI / EME noise should be kept to a minimum, communicati on cable should kept apart from high voltage wires. If a transmission spe ed of 38400 bps or greater is r[...]

Chapter 8 MODBUS Communications | ASDA-B S eries 8-4 Revision January 2009 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. 0300H Address Setting Default: 1 Range: 1 ~ 254  If the AC servo drive is controlled [...]

Chapter 8 MODBUS Communications | ASDA-B S eries Revision January 2009 8-5 0302H Communicati on Protocol Default: 0 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,O ,1> 6:[...]

Chapter 8 MODBUS Communications | ASDA-B S eries 8-6 Revision January 2009 communication and computer UI. If they are programmed via the keypad a he xadecimal number is entered; if programmed via communi cation or UI a decimal or hexade cimal number can be used. In both methods of programming, a single numb er is used fo r all six Digital Inputs. T[...]

Chapter 8 MODBUS Communications | ASDA-B S eries Revision January 2009 8-7 0307H Communicati on Response De lay Time Default: 0 Range: 0~255  This parameter is used to delay the communication time that servo drive re spond to host controller (external controlle r)  When the communication address is set to 255, the co mmunication respon se del[...]

Chapter 8 MODBUS Communications | ASDA-B S eries 8-8 Revision January 2009 8.3 MODBUS Communication Protocol When using RS-232/48 5 serial communication interface, each ASDA-B series A C servo drive has a pre- assigned communication address spe cified by parameter “P3-00”. The computer then controls ea ch AC servo drive according to its communi[...]

Chapter 8 MODBUS Communications | ASDA-B S eries Revision January 2009 8-9 11-bit character frame (For 8-bit characte r) 8N2 Start bit 01 2 34 5 6 St op bit 8-d ata bits 1 1 - b it s cha rac te r f r ame Sto p bit 7 8E1 Start bit 01 2 34 5 6 St op bit 8-d ata bits 1 1 - b it s cha rac te r f r ame 7 Even pari ty 8O1 Start bit 01 2 34 5 6 St op bit [...]

Chapter 8 MODBUS Communications | ASDA-B S eries 8-10 Revision January 2009 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-B S eries Revision January 2009 8-11 RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 03H CMD 03 H 02H (Upper bytes) Starting data address 00H (Lower bytes) Number o f data (Count by byte) 04H 00H 00H (Upper bytes) Number o f data (Count by w ord) 02H Contents o f starting data address 0200H B1[...]

Chapter 8 MODBUS Communications | ASDA-B S eries 8-12 Revision January 2009 RTU Mode: Command message: Response message: ADR 01H AD R 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 o[...]

Chapter 8 MODBUS Communications | ASDA-B S eries Revision January 2009 8-13 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-B S eries 8-14 Revision January 2009  Communication Related Error Code If one communication error occurs durin g communication, the AC servo drive will respond the corresponding error value and command cod e plus 80H back to the external controlle r. For example, ASCII Mode RTU Mode STX ‘:’ ADR 01H ‘0[...]

Chapter 8 MODBUS Communications | ASDA-B S eries 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-B S eries 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[...]

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-B Series 9-2 Revision January 2009 Item Content Inspection during operation (Control power is applied) ） z Ensure that the cables are not dam aged, stressed excessively or loade d heavily. When the motor is running, pay cl ose attention on the connection of the cables and notice that if they ar e damag[...]

Chapter 9 Maintenance and Inspec tion | ASDA-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 unusual[...]

Chapter 9 Maintenance and Inspec tion | ASDA-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 corresponding al arm will be activated and the fault message will be displayed on the LCD display of the d i gital keypad and the fault code will be shown on the 1-digit 7-segment LED display of the servo drive. 10.1 Fault Messages T able S[...]

Chapter 10 Troubleshooting | ASDA-B Series 10-2 Revision January 2009 Fault Messag es Display Fault Nam e Fault Descripti on ALE 20/ALE Input power phas e loss One phase of the input power i s loss. Keyp ad Fault Messages Fault Messag es Display Fault Nam e Fault Descripti on ALE 30 LCM hardware error The character display on LCM is in error. ALE 3[...]

Chapter 10 Troubleshooting | ASDA-B Series Revision January 2009 10-3 10.2 Potential Cause and Corrective Actions Servo Drive Fault Messag es ALE 1 / ALE : Ov ercurrent  When SERVO OFF, but the power is on: Potential Cause Checking Method Corrective Actions Short-circuit at drive output (U, V, W). 1. Check the wiring conne ctions betwe en drive [...]

Chapter 10 Troubleshooting | ASDA-B Series 10-4 Revision January 2009 ALE 3 / ALE : Und ervolt age Potential Cause Checking Method Corrective Actions The main circuit voltage is below its minimum specified value. Check whether the wi ring of main circuit input voltage is correct. Reconfirm voltage wiring. Correct input wiring is needed. No input vo[...]

Chapter 10 Troubleshooting | ASDA-B Series Revision January 2009 10-5 ALE 6 / ALE : Ov erload  When the motor is started within 30 minutes: Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load during continuous operation. Check if the drive is overloaded. I ncrease motor ca pacity or redu ce load. Check if the[...]

Chapter 10 Troubleshooting | ASDA-B Series 10-6 Revision January 2009 ALE 8 / ALE : Abnormal pulse control command Potential Cause Checking Method Corrective Actions Pulse command frequency is higher than rated input frequency. Use pulse frequency detec tor to measure input frequency. Correctly set the input pulse frequency. ALE 9 / ALE : Exces siv[...]

Chapter 10 Troubleshooting | ASDA-B Series Revision January 2009 10-7 ALE 1 1 / ALE : Encoder error (Position detector fault) Potential Cause Checking Method Corrective Actions The wiring of encoder is in error. 1. Check if all wiring is correct. 2. Check if the users conduct the wiring by the wiring information in the user manual. Ensure all wirin[...]

Chapter 10 Troubleshooting | ASDA-B Series 10-8 Revision January 2009 ALE 16 / ALE : IGBT tem perature 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 dri[...]

Chapter 10 Troubleshooting | ASDA-B Series Revision January 2009 10-9 Keyp ad Fault Messages ALE 30 : LCM hard w are error Potential Cause Checking Method Corrective Actions No display Check if the 4th Pin of LCM is normal. Please contact your di stributor for assistance or contact with Delta. Error charact ers display. Check if the related Pins is[...]

Chapter 10 Troubleshooting | ASDA-B Series 10-10 Revision January 2009 ALE 35 : COMM hard ware error Potential Cause Checking Method Corrective Actions Hardware error Check if the serial communication signal is normal. 1. Ac tivate P8-09 to perform the testing. 2. Please contact your distributor for assistance or contact with Delta. Communication p[...]

Chapter 10 Troubleshooting | ASDA-B Series Revision January 2009 10-11 ALE 43 : Error communication response address Potential Cause Checking Method Corrective Actions Receive the error communication response address Check if the sending and receiving communication add ress are the same. Check if the communication setting is correct by using P8-05.[...]

Chapter 10 Troubleshooting | ASDA-B Series 10-12 Revision January 2009 10.3 Clearing Servo Drive Fault s Display Faul t Name Clearing Meth od ALE Ov ercurrent Turn ARST (D I signal) ON to clear th e fault or restart the serv o drive. ALE Ov ervoltage Turn ARST (DI signal) ON to clear the fault or restart the serv o drive. ALE Under voltage This fau[...]

Revision January 2009 11-1 Chapter 11 Specifications 1 1.1 Specifications of Se rvo Drive (ASDA-B Series) 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASDA-B Series 01 02 04 07 10 15 20 Voltage / Frequency Three-p hase or Single-phase 22 0VAC Three- phase 220VAC Permissible Voltage Range 170 ~ 252VAC Power Supply Permissible Frequency Range 50/60Hz ± [...]

Chapter 11 Specifications | AS DA-B Series 11-2 Revision January 2009 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASDA-B Series 01 02 04 07 10 15 20 Voltage Range 0 ~ ± 10 VDC Input Resistanc e 10K Ω Analog Input Command Time Constant 2.2 us Command Source External analog signal / Internal p arameters Smoothing Strategy Low-p ass smoothing filter T [...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-3 NOTE 1) Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause). 2) When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotation speed[...]

Chapter 11 Specifications | AS DA-B 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 Maximu[...]

Chapter 11 Specifications | AS DA-B 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-conden[...]

Chapter 11 Specifications | AS DA-B 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-B Series Revision January 2009 11-7 1 1.3 Dimensions of Servo Drive Order P/N: ASD-B0121-A, ASD-B0 221-A, ASD-B042 1-A (100W to 400W) WEIGHT 1.2 (2.64) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pou nds (lbs)) 3) In this manual, actual measured values ar e in metric units.[...]

Chapter 11 Specifications | AS DA-B Series 11-8 Revision January 2009 Order P/N: ASD-B0721-A (750W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (l bs)) 3) In this manual, actual measured values ar e in metric units. Dimensions in (imper ial units) are for reference only. Please use m[...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-9 Order P/N: ASD-B1021-A, ASD-B1521-A, ASD-B2023-A (1kW to 2kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (l bs)) 3) In this manual, actual measured values ar e in metric units. Dimensions in (imper ial units) are [...]

Chapter 11 Specifications | AS DA-B Series 11-10 Revision January 2009 1 1.4 Servo Motor Speed-T orque Curves (T -N Curve)[...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-11 1 1.5 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-B Series 11-12 Revision January 2009  Chart of load and operating time (ECMAC30602  S) 0. 1 1 10 100 1000 10000 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% 213.6s 140% 42.3s 160% 21.8s 180% 13.7s 200% 9.2s 220% 6.9s 240% 5.0s 260% 3.9s 280% 3.2s [...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-13  Chart of load and operating time (ECMAC30804  7) 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% 3.8s 3[...]

Chapter 11 Specifications | AS DA-B Series 11-14 Revision January 2009  Chart of load and operating time (ECMAC31010  S) 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 300% 2.[...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-15  Chart of load and operating time (ECMAC31303  S) 0. 1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rat ed t orque) Operat in g T i 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% 9[...]

Chapter 11 Specifications | AS DA-B Series 11-16 Revision January 2009  Chart of load and operating time (ECMAC31306  S) 0. 1 1 10 100 1000 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% 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 300% 1.9[...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-17  Chart of load and operating time (ECMAC31310  S) 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% 1.5s[...]

Chapter 11 Specifications | AS DA-B Series 11-18 Revision January 2009  Chart of load and operating time (ECMAC31320  S) 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% 2.76s [...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-19 1 1.6 Dimensions of Servo Motor Motor Frame Size: 80mm 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) 100.6 105.5 130.7 112.3 138.3 LL ([...]

Chapter 11 Specifications | AS DA-B Series 11-20 Revision January 2009 Motor Frame Size: 100mm 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) 183.5 183.5 18[...]

Chapter 11 Specifications | AS DA-B Series Revision January 2009 11-21 Motor Frame Size: 100mm 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) 183.5 202 226[...]

Chapter 11 Specifications | AS DA-B Series 11-22 Revision January 2009 1 1.7 EMI Filters Selection Item Power Servo Drive Model EMI Filter Model 16DRT1W3S (1-pha se) 1 200W ASD-B02 21-A 10TDT1W4C (3-phase) 16DRT1W3S (1-pha se) 2 400W ASD-B04 21-A 10TDT1W4C (3-phase) 16DRT1W3S (1-pha se) 3 750W ASD-B07 21-A 10TDT1W4C (3-phase) 16DRT1W3S (1-pha se) 4[...]

Revision January 2009 12-1 Chapter 12 Application Examples 12.1 Connecting to DVP-EH PLC and DOP-A HMI Application Example: Dual Mode (S-P Mode) Purpose Use Delta DVP-EH series PLC to output pulse co mmand (Homing operation, JO G operation, forward and reverse operation, and speed control mode switching) and enable ASDA-B se rvo drive. Also, use De[...]

Chapter 12 Application Examples | ASDA-B Series 12-2 Revision January 2009 PLC Program[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-3[...]

Chapter 12 Application Examples | ASDA-B Series 12-4 Revision January 2009[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-5 ASDA-B series Servo Driv e 1. When using open-co llector input, th e max. allowable inpu t pulse frequenc y is 200Kpps. 2. Paramet er Settings:  Set P1-01=06 (S-T dual mode)  Set P1-09 ~ P1-11 (Internal speed command)  Set P1-36=1 (Accel /Decel S-curve)  Set P2-1[...]

Chapter 12 Application Examples | ASDA-B Series 12-6 Revision January 2009 Connections bet w een DVP-EH series PLC and ASDA-B series Servo Drive Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 C0 C1 C2 C3 C4 C5 C6 C7 DVP-EH 12 34 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 ASDA-B CN1 Y2 Y3 Y4 Y5 Y0 Y1 1k 1k Co nn ecti ons : DVP-EH Y0 Y1 Y2 Y3 Y4 Y5 ASDA-B CN[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-7 HMI DOP-A HMI Program Screen (Homing Operation)[...]

Chapter 12 Application Examples | ASDA-B Series 12-8 Revision January 2009 (Position Control 1)[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-9 (Position Control 2)[...]

Chapter 12 Application Examples | ASDA-B Series 12-10 Revision January 2009 (JOG Operation)[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-11 (Speed Control) Operation Ensure all wiring is connect ed correctly.  Restart the servo drive (Apply the power to servo drive again).  At this time, the SON LED (Servo On Indicator) will be lit to indicate that the servo drive is enabled, and normal display will show [...]

Chapter 12 Application Examples | ASDA-B Series 12-12 Revision January 2009 12.2 Connecting to DVP-EH PLC and Delt a TP04 Series Application Example: Homing Operation Purpose Use Delta TP04 series operation pa nel interface as host (external) controller to control ASDA-B servo drive and let the servo drive follow the commands fro m PLC to complete [...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-13[...]

Chapter 12 Application Examples | ASDA-B Series 12-14 Revision January 2009 ASDA-B series Servo Driv e Parameter Settings:  P1-00 =0 (Position mode)  P2-10 =101 (SON Servo ON, the default is DI1)  P2-12 =104 (CCLR)  P2-32 =1 (PDFF, the ratio of load inertia to servo motor inertia can be continuou sly adjusted.) Communication Settings: ?[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-15 12.3 External Controller Connection Examples  Connecting to Delta DVP-EH PLC[...]

Chapter 12 Application Examples | ASDA-B Series 12-16 Revision January 2009  Connecting to Delta DVP-01PU[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-17  Connecting to Mitsubishi FX1PG[...]

Chapter 12 Application Examples | ASDA-B Series 12-18 Revision January 2009  Connecting to Mitsubishi FX2N1PG[...]

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-19  Connecting to Mitsubishi AD75[...]

Chapter 12 Application Examples | ASDA-B Series 12-20 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 JOW LE Terminal C4201TOP-2 JOWLE Delta Part Number: ASDBCA PW0100 Title Part No. Manufacturer Housing C 4201H00- 2*3PA JOW LE Terminal C4201TOP-2 JOWLE Delta Part Number: ASD- CAPW1000 Delta Par[...]

Appendix A Accessories | ASD A-B Series A-2 Revision January 2009  Power Cables Delta Part Number: ASDBCAPW0203/0205 Title Part No. Manufacturer Housing C 4201H00- 2*2PA JOW LE Terminal C4201TOP-2 JOWLE L Title Part No. mm inch 1 ASDBCAPW0203 3000 ± 50 118 ± 2 2 ASDBCAPW0205 5000 ± 50 197 ± 2 Delta Part Number: ASDBCAPW0303/0305 Title Part N[...]

Appendix A Accessories | ASD A-B Series Revision January 2009 A-3  Power Cables, cont. Delta Part Number: ASD-CAPW1203/1 205 L Title Part No. Straight mm inch 1 ASD-CAPW1203 3106A-20-18S 3000 ± 50 118 ± 2 2 ASD-CAPW1205 3106A-20-18S 5000 ± 50 197 ± 2 Delta Part Number: ASD-CAPW2203/2 205 L Title Part No. Straight mm inch 1 ASD-CAPW2203 3106A[...]

Appendix A Accessories | ASD A-B Series A-4 Revision January 2009  Encoder Connectors Delta Part Number: ASDBCA EN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP CLAMP DELTA (34703237XX) DELTA Delta Part Number: ASDBCA EN1000  Encoder Cables Delta Part Number: ASDBCAEN0003/0005 Title Part No. Manufact[...]

Appendix A Accessories | ASD A-B Series Revision January 2009 A-5  Encoder Cables, cont. Delta Part Number: ASDBCAEN1003/1005 L Title Part No. Straight mm inch 1 ASDBCAEN1003 3106A-20-29S 3000 ± 50 118 ± 2 2 ASDBCAEN1005 3106A-20-29S 5000 ± 50 197 ± 2  I/O Signal Connector Delta Part Number: ASDBCND S0025  Communication Cables Delta Pa[...]

Appendix A Accessories | ASD A-B Series A-6 Revision January 2009  Communication Cables, cont. Delta Part Number: DVPACAB2A30 (for PC, c onnecting a ASDA-B s ervo drive to a PC) Delta Part Number: ASDBCACK0001 (for Key pad, connecting a PC to a Key pad) Title Part No. Manufacturer Box Header 3071420300 DELTA Cover 3140311100 DELTA Housing 2541-K[...]

Appendix A Accessories | ASD A-B Series Revision January 2009 A-7 Delta Part Number: ASD-PU-0 1B (including communication cable) Title Part No. Manufacturer Box Header 3071420300 DELTA Cover 3140311100 DELTA Housing 2541-K-14PD JAWS Terminal 2541-T-G JAWS[...]

Appendix A Accessories | ASD A-B Series A-8 Revision January 2009  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 ASDBCAPW0203 Motor Power Cable ASDBCAPW0205 - - Cabl[...]

Appendix A Accessories | ASD A-B Series Revision January 2009 A-9 400W Servo Drive and 500W Medium Inertia Serv o Motor Medium inertia Servo Motor ECMA-E31305  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 Cable Encoder Cable ASDB[...]

Appendix A Accessories | ASD A-B Series A-10 Revision January 2009 750W Servo Drive and 600W High Iner tia Servo Motor Servo Drive ASD-B0721-A High inertia Servo Motor ECMA-G31306  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 Cab[...]

Appendix A Accessories | ASD A-B Series Revision January 2009 A-11 1kW Servo Drive and 900W High Iner tia Servo Motor Servo Drive ASD-B1021-A High inertia Servo Motor ECMA-G31309  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 Cabl[...]

Appendix A Accessories | ASD A-B Series A-12 Revision January 2009 2kW Servo Drive and 2kW Medium Inertia Serv o Motor Servo Drive ASD-B2023-A 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 C[...]