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Revision March 2008, Doc. Name: 2007PDD23000011 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 underst[...]

Preface | ASDA-AB Serie s ii Revision March 2008, Doc. Name: 2007PDD23000011 z Ensure that the drive and motor are co rrectly connected to a ground. The grou nding method must comply with the elec trical standard of the country. z Do not disconnect the AC servo driv e and motor while the power is ON. z Do not attach, modify and remove wiring when p[...]

Preface | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 iii Wiring ¾ Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω ). Improper grounding may result in electric shock or fire. ¾ Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result[...]

Preface | ASDA-AB Serie s iv Revision March 2008, Doc. Name: 2007PDD23000011 NOTE 1) In this manual, actual measured values ar e in metric units. Dimensions in (impe rial units) are for reference only. Please use metric for p recise measurements. 2) The content of this manual may be revis ed without prior notice. Please consult our distributors or [...]

Revision March 2008, Doc. Name: 2007PDD23000011 Table of Contents Chapter 1 Unpacking Check and Model Explanation ............................................................. 1-1 1.1 Unpackin g Check ............................................................................................................ ............ 1-1 1.2 Model Ex planation [...]

Table of Contents | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 3.2 Basic Wiring ............................................................................................................... .................. 3-11 3.3 Input / Output Inte rface Connect or -CN1....................................................................[...]

Table of Contents | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 4.3.3 Fault Mess age Display .................................................................................................... .4 - 3 4.3.4 Polarity Setting Display ................................................................................................. [...]

Table of Contents | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 Chapter 6 Control Modes of Operation .................................................................................. 6-1 6.1 Control Modes of Operation ................................................................................................. ....... 6-1 6[...]

Table of Contents | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 6.5 Control Modes Selection .................................................................................................... ......... 6-32 6.5.1 Speed / Position Cont rol Mode Sele ction ......................................................................... [...]

Table of Contents | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 9.2 Maint enance ................................................................................................................ ................ 9-2 9.3 Life of Repl acement Components ...............................................................................[...]

Table of Contents | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 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 c[...]

Table of Contents | ASDA-AB Serie s Revision March 2008, Doc. Name: 2007PDD23000011 This page intentionally left blank.[...]

Revision March 2008, Doc. Name: 2007PDD23000011 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 (Plea[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-2 Revision March 2008, Doc. Name: 2007PDD23000011 (2) One encoder cable, whi ch is used to connect the encoder of servo motor and CN2 terminal of servo drive. (3) CN1 Connector: 50 PIN Co nnector (3M type analog product) (4) CN2 Connector: 20 PIN Co nnector (3M type analog product[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series Revision March 2008, Doc. Name: 2007PDD23000011 1-3 1.2.2 Model Name Explanation ASDA-AB Series Servo Drive[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-4 Revision March 2008, Doc. Name: 2007PDD23000011 ECMA Series Servo Motor[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series Revision March 2008, Doc. Name: 2007PDD23000011 1-5 1.3 Servo Drive and Servo Motor Combinations The table bel ow shows the possible combination of Delt a ASDA-AB series servo drives a nd ECMA series servo motors. The boxes (  ) in the model names are for optional conf igurations[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-6 Revision March 2008, Doc. Name: 2007PDD23000011 1.4 Servo Drive Features 220V models[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series Revision March 2008, Doc. Name: 2007PDD23000011 1-7 110V models[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-8 Revision March 2008, Doc. Name: 2007PDD23000011 1.5 Control Modes of Servo Drive The Delta Servo can be programmed to provide six single an d five dual modes of operation. Their operation and description is listed in the followin g table. Mode Code Description External Position [...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series Revision March 2008, Doc. Name: 2007PDD23000011 1-9 1.6 Molded-case Circuit Breaker and Fuse Current Model Name Breaker Fuse Operation Mode General General ASD-A0111-AB 10A 10A ASD-A0211-AB 10A 10A ASD-A0411-AB 20A 40A ASD-A0121-AB 5A 5A ASD-A0221-AB 5A 5A ASD-A0421-AB 10A 20A ASD-A[...]

Chapter 1 Unpacking Check and M odel Explanation | ASDA -AB Series 1-10 Revision March 2008, Doc. Name: 2007PDD23000011 This page intentionally left blank.[...]

Revision March 2008, Doc. Name: 2007PDD23000011 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 th[...]

Chapter 2 Installation and Storage | AS DA-AB Series 2-2 Revision March 2008, Doc. Name: 2007PDD23000011 2.3 Inst allation Conditions Operat ing Temperat ure ASDA-AB Series Servo Drive : 0° C to 55°C (32°F to 131°F) ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive for long-term reliability should [...]

Chapter 2 Installation and Storage | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 2-3 2.4 Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual when installing the ser[...]

Chapter 2 Installation and Storage | AS DA-AB Series 2-4 Revision March 2008, Doc. Name: 2007PDD23000011  Minimum Clearances  Side by Side Inst allation[...]

Revision March 2008, Doc. Name: 2007PDD23000011 3-1 Chapter 3 Connections and Wiring This chapter provides information on wi ring ASDA-AB series products, the descriptions of I/O signals a nd gives typical examples of wiring diagrams. 3.1 Connections 3.1.1 Connecting to Peripheral Devices Figure 3.1 220V Servo Drive[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-2 Revision March 2008, Doc. Name: 2007PDD23000011 Figure 3.2 110V Servo Drive[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-3 3.1.2 Servo Drive Connectors and Terminals Terminal Identification Terminal Description Notes L1, L2 Control circuit terminal Used to co nnect single-phase AC control circuit p ower. (Control circuit use s the same voltage as the main circuit. ) R,[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-4 Revision March 2008, Doc. Name: 2007PDD23000011 Wiring Notes Please observe the following wiring not es while pe rforming wiring and touching any electrical connections on the servo drive or servo motor. 1. Please note that the m ain circuit t erminals of 110V model s are L1M and L2M, and t here[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-5 3.1.3 Wiring Methods For servo drives from 100W to 1.5kW the input powe r can be either single o r three-phase. For servo drives 2kW and above onl y three-phase connectio n s are available. But, 220V single-phase model s are available in 1.5kW and [...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-6 Revision March 2008, Doc. Name: 2007PDD23000011 Figure 3.4 Single-Phase Power Supply (400W and belo w , 110V models) Figure 3.5 Three-Phase Power Supply (all 220V models)[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-7 3.1.4 Motor Power Cable Connector Specifications The boxes (  ) in the model names are for optional configurat ions. (Please refer to section 1.2 for model explanation.) Motor Model Name U, V, W / Electromagnetic Brake Connector Terminal Identif[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-8 Revision March 2008, Doc. Name: 2007PDD23000011 Terminal Identification U (Red) V (White) W (Black) CASE GROUND (Green) BRAKE1 (Blue) BRAKE2 (Brown ) A 1 2 3 4 - - B 1 2 4 5 3 6 C F I B E G H D D E F G A B NOTE 1) The coil of brake has no polarity. The names of terminal identification are BRAKE1[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-9 Terminal Identification AMP (1- 172161-9) A (Black) /A (Black /Red) B (White) /B (White /Red) Z (Orange) /Z (Orange /Red) +5V (Brown & Brown/White) GND (Blue & Blue/White) BRAID SHELD A 1 4 2 5 3 6 7 8 9 Terminal Identification 3106A-20- 29[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-10 Revision March 2008, Doc. Name: 2007PDD23000011 Encoder Cable Encoder Cable - Wire Gauge AWG (mm 2 ) Servo Drive Wire Size Core Number UL Rating Standard Wire Length ASD-A0111-AB ASD-A0121-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A0211-AB ASD-A0221-AB 0.13 (AWG26) 10 core (4 pai[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-11 3.2 Basic Wiring Figure 3.6 Basic Wiring Schemati c of 100W ~ 1.5 kW, 220V models[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-12 Revision March 2008, Doc. Name: 2007PDD23000011 Figure 3.7 Basic Wiring Sche matic of 2kW, 220V models[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-13 Figure 3.8 Basic Wiring Schematic of 100W ~ 400W, 110V mo dels[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-14 Revision March 2008, Doc. Name: 2007PDD23000011 3.3 Input / Output Interface Connector -CN1 The CN1 Interface Connector provid es access to three signal groups: i General interface for the analog speed a nd torque control, encoder referen ce signal from the motor, pulse / direction inputs, and [...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-15 CN1 Terminal Signal Identification 1 DO4+ Digital output 26 DO4- Digital output 2 DO3- Digita l output 27 DO5- Digital output 3 DO3+ Digital output 28 DO5+ Digital output 4 DO2- Digital output 29 NC No Co nnection 5 DO2+ Digital output 30 DI8- Dig[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-16 Revision March 2008, Doc. Name: 2007PDD23000011 3.3.2 Signals Explanat ion of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signal s of the CN1 interface. Table 3.A details the general signals. Table 3.B details the Di gital Output (D O) signals and Table 3.C details t[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-17 Signal Pin No Details Wiring Diagram (Refer to 3-3-3) Other NC 14,29, 38,39, 40,46, 48 See previous note for NC terminals CN1 connector on page 3-11. - The Digital Input (DI) and Digital Output (DO ) have factory default settings which corre spond[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-18 Revision March 2008, Doc. Name: 2007PDD23000011 Pin No. (Default) DO Signal DO Code Assigned Control Mode + - Details (*1) Wiring Diagram (Refer to 3-3-3) TSPD 04 ALL 3 2 TSPD is activated once the drive has detected the motor has reached the Ta rget Rotation Speed setting as defined in paramet[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-19 NOTE 1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected. 2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS. Table 3.C DI Signals DI Signal DI Code Assigned Control Mode Pin No. (Default) [...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-20 Revision March 2008, Doc. Name: 2007PDD23000011 DI Signal DI Code Assigned Control Mode Pin No. (Default) Details (*2) Wiring Diagra m (Refer to 3-3-3) TCM0 16 34 TCM1 17 Pt, T, Tz, Pt-T, Pr-T, S-T 8 Select the source of torque command: See table 3.F. S-P 18 Pt-S, Pr-S 31 Speed / Position mode [...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-21 DI Signal DI Code Assigned Control Mode Pin No. (Default) Details (*2) Wiring Diagra m (Refer to 3-3-3) JOGU 37 Not assigned - Forward JOG input. When JOGU is activated, the motor will JOG in forward direction. [see P4-05] JOGD 38 Not assigned - R[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-22 Revision March 2008, Doc. Name: 2007PDD23000011 Table 3.D Source of Position Command POS2 POS1 POS0 Parameter OFF OFF OFF P1-15, P1-16 OFF OFF ON P1-17, P1-18 OFF ON OFF P1-19, P1-20 OFF ON ON P1-21, P1-22 ON OFF OFF P1-23, P1-24 ON OFF ON P1-25, P1-26 ON ON OFF P1-27, P1-28 ON ON ON P1-29, P1-[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-23 Table 3.G Default DI signals and Control modes Signal DI Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T SON 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 ARST 02 Reset DI5 DI5 DI5 D I5 DI5 DI5 GAINUP 03 Gain switching in speed and[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-24 Revision March 2008, Doc. Name: 2007PDD23000011 Signal DI Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T ORGP 24 Reference “Home” sensor TLLM 25 Reverse operation torque limit (torque limit function is valid only when P1-02 is enabled) TRLM 26 Forward operation torque limit (torque l[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-25 NOTE 1) For Pin numbers of DI1~DI 8 signal s, please refer to section 3.3.1. Table 3.H Default DO signals and Control modes Signal DO Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-26 Revision March 2008, Doc. Name: 2007PDD23000011 3.3.3 User-defined DI and DO signals If the default DI and DO signals could not be able to fulfill users’ requirement s, there are still user- defined DI and DO signal s. The setting method is eas y and they are all defined via param eters. The [...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-27 There are two kinds of pulse inputs, Line driver input and Op en-collector input. Max. input pulse frequency of Line driver input is 500kpp s and max. input pulse frequency of Open-collector input is 200kpps. C3-1 : Pulse input, for the use of int[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-28 Revision March 2008, Doc. Name: 2007PDD23000011 Be sure to connect a diode when the dri ve is applied to inductive load. (Permissible current: 40mA, Instant aneous pea k current: max. 100mA) C5 : Wiring of DO signal, for the use of internal power supply, general load C6 : Wiring of DO signal, f[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-29 C9 : Wiring of DI signal, for the use of int ernal power supply C10 : Wiring of DI signal, for the use of external power supply ¾ Caution: Do not use dual power supply. Fai lure to observe this caution may result in damag e to the servo drive and[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-30 Revision March 2008, Doc. Name: 2007PDD23000011 3.4 Encoder Connector CN2 Integrated within the servo motor is an incre ment al encoder with 2,500PPR and commutation signal. When power is first applied to the servo drive, cont rol algorithms detect the motor's roto r position through imbed[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-31 3.5 Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification The servo drive can be co nnected to a PC or controll er via a serial communication co nnector. Users can operate the servo drive through PC software supplied by D[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-32 Revision March 2008, Doc. Name: 2007PDD23000011 3.5.2 Connection between PC and Connector CN3[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-33 3.6 St andard Connection Example 3.6.1 Position (Pt) Control Mode (220V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to C4 wiring di agram on page 3-26. If it is open-collector input, plea se refer to C3 wiring diag ram on p[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-34 Revision March 2008, Doc. Name: 2007PDD23000011 3.6.2 Position (Pt) Control Mode (110V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to C4 wiring di agram on page 3-26. If it is open-collector input, plea se refer to C3 wiring diag ram on page 3-26. 3. Please refer to para[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-35 3.6.3 Position (Pr) Control Mode (220V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to parameter P1-46 in Chapter 7.[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-36 Revision March 2008, Doc. Name: 2007PDD23000011 3.6.4 Position (Pr) Control Mode (110V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to parameter P1-46 in Chapter 7.[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-37 3.6.5 Speed Control Mode (220V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to parameter P1-46 in Chapter 7.[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-38 Revision March 2008, Doc. Name: 2007PDD23000011 3.6.6 Speed Control Mode (110V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to parameter P1-46 in Chapter 7.[...]

Chapter 3 Connections and Wiring | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 3-39 3.6.7 Torque Control Mode (220V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to parameter P1-46 in Chapter 7.[...]

Chapter 3 Connections and Wiring | ASDA-AB Series 3-40 Revision March 2008, Doc. Name: 2007PDD23000011 3.6.8 Torque Control Mode (110V models) Note: 1 The coil of brake h as no polarity. 2. Please refer to parameter P1-46 in Chapter 7.[...]

Revision March 2008, Doc. Name: 2007PDD23000011 4-1 Chapter 4 Display and Operation This chapter describe s the basic operation of t he digital keypad and the features it offers. 4.1 Description of the Digit al Keypad The digital keypad includes the display panel an d functi on keys. The Figure 4.1 shows all of the features of the digital keypad an[...]

Chapter 4 Display and Operation | A SDA-AB Series 4-2 Revision March 2008, Doc. Name: 2007PDD23000011 4.2 Display Fl owchart Figure 4.2 Key pad Operation 1. When the power is applied to the AC servo drive, the LCD display will show the mo nitor function codes for approxim ately one second, then enter int o the monitor mode. 2. In monitor mode , pre[...]

Chapter 4 Display and Operation | A SDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 4-3 4.3 St atus Display 4.3.1 Save Setting Display After the SET key is pressed, LCD display will sh o w the following display messages for approx. one second according to different status. Display Message Description The setting value is s aved correc[...]

Chapter 4 Display and Operation | A SDA-AB Series 4-4 Revision March 2008, Doc. Name: 2007PDD23000011 Display Message Descript ion Negative va lue display. When the parameter setting is gr eater than four di gits (for t he setting va lue within th e range of le ss than five decimal places), afte r the display value is set, continu ously press SHIFT[...]

Chapter 4 Display and Operation | A SDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 4-5 P0-02 Setting Display Message Description Unit 9 Torque input command Volt 10 Torque input command % 11 Average load % 12 Peak load % 13 Main circuit voltag e Volt 14 Ratio of load inertia to mot or inertia time 15 Motor feedback pulse number (rela[...]

Chapter 4 Display and Operation | A SDA-AB Series 4-6 Revision March 2008, Doc. Name: 2007PDD23000011 4.4 General Function Operation 4.4.1 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (F ault Record), press SET key to display the corresponding fault code history for the para meter or pr ess UP arrow key to display t[...]

Chapter 4 Display and Operation | A SDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 4-7 4.4.2 JOG Operation After entering parameter mode P4-05, the use rs can follow the following steps to perform JOG operation. (Please also refer to Figure 4.4). Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min). Step[...]

Chapter 4 Display and Operation | A SDA-AB Series 4-8 Revision March 2008, Doc. Name: 2007PDD23000011 4.4.3 Position Learning Operation Follow the following steps to perform po sition learni ng operation (Please also refer to Figure 4.5). 1. Activate the internal position learning function (Set P2-30=4). 2. After enter into parameter mode P4-05, pr[...]

Chapter 4 Display and Operation | A SDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 4-9 The learning position and internal m emorized position are listed as below: Learning Position Internal Memorized Pos ition JOGo1 P1-15 (1st Position Command for Rotation), P1-16 (1st Position Command for Pulse ) JOGo2 P1-17 (2nd Position Command fo[...]

Chapter 4 Display and Operation | A SDA-AB Series 4-10 Revision March 2008, Doc. Name: 2007PDD23000011 4.4.5 DI Diagnosis Operation Following the setting method in Figure 4 .7 can perform DI diagnosis ope ration (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI8, the corres ponding status will display on the serv[...]

Revision March 2008, Doc. Name: 2007PDD23000011 5-1 Chapter 5 T r ial Run and T uning Procedure This chapter, which is divided into two parts, de scribes trial run for servo drive and motor. One part is to introduce the trial run without load, and the other p art is to introduce trial run with load. Ensure to complete the trial run without load fir[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-2 Revision March 2008, Doc. Name: 2007PDD23000011 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 [...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-3 5.2 Applying Power to the Drive The users please observe the following steps w hen ap plying power supply to the servo drive. 1. Please check and confirm the wiring connec tion between the drive and moto r is correct. 1) Terminal U, V, W an[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-4 Revision March 2008, Doc. Name: 2007PDD23000011 1) When display shows: Over volt age: The main circuit voltage ha s exceeded its maximum a llo wable value or input power is erro r (Incorrect power input). Corrective Actions:  Use voltmeter to check whether the input vo ltage falls wit[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-5  If it is necessary to use “Emergency Stop (EMGS)” as inp ut signal, the users only need to confirm that which of digital inputs DI1~DI8 is set to “Emerg en cy Stop (EMGS)” and check if the digital input signal is ON (It should b[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-6 Revision March 2008, Doc. Name: 2007PDD23000011 When “Digital Input 1 (DI 1)” is set to Servo On (SON ), if DI1 is set to ON (it indicates that Serv o On (SON) function is enabled) and th e following fault message sho w s on the display: 6) When display shows: Overcurrent: Corrective[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 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 keypa[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-8 Revision March 2008, Doc. Name: 2007PDD23000011 CC W 0 Sp eed Press Re le as e If the servo m otor d oe s not r ot ate, p l ea s e c h ec k i f the w i r i ng o f U , V , W t e r m in al s a n d e n c o d er i s c o r r ec t o r n ot. If the s ervo m o tor d oes not r otat e pr oper ly ,[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-9 5.4 Speed T rial Run without Load Before speed trial run, fix and secure the motor a s possible to avoid the danger from the reacting force when motor speed change s. STEP 1: Set the value of parameter P1-01 to 02 and it is sp eed (S) co nt[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-10 Revision March 2008, Doc. Name: 2007PDD23000011 The settings of speed comm and: P1-09 is set t o 3000 Input value command Rotation dire ction P1-10 is set to 100 + CW P1-11 is set t o -3000 - CCW STEP 3: 1. Th e users can u se DI1 to en able the servo drive (Se rvo ON). 2. If DI 3 (SPD0[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-11 5.5 Position T rial Run without Load Before position trial run, fix and secure the motor as possible to av oid the danger from the reacting force when the motor speed changes. STEP 1: Set the value of parameter P1-01 to 01 and it is pos it[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-12 Revision March 2008, Doc. Name: 2007PDD23000011 The position command is sele cted by POS0 ~ POS2. Please refer to the following table: Position Command POS2 POS1 POS0 CTRG Parameters Moving Speed Register Description P1-15 Rotation No. (+/- 30000) Internal Position 1 0 0 0 P1-16 P2-36 ([...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-13 Set P1-25 to 0 (rotation number) Set P1-26 to 100 (pulse number) The command of internal position 6: P1-25 Rotation No. + P1-26 P ulse No. Set P1-27 to 0 (rotation number) Set P1-28 to 1000 (pulse number) The command of internal position 7[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-14 Revision March 2008, Doc. Name: 2007PDD23000011 5.6 T uning Procedure Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_m otor): JOG Mode Tuning Procedure Display 1. After wiring is completed, whe n power in connected to the AC servo drive, the right side di[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-15 21. The ratio of Load Inertia to Servo Motor I nertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 ope ration. Please press MODE key twice co ntinuously and the users can see the ratio of Load Inertia to Servo Mo[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-16 Revision March 2008, Doc. Name: 2007PDD23000011 5.6.2 Load Inertia Es timation Flowchart[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-17 5.6.3 AutoMode (PI) Tuning Flowchart Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjust ment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) not u sed A B A: No function B: Responsiveness level of auto-tuning mode In AutoMo[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-18 Revision March 2008, Doc. Name: 2007PDD23000011 Table 5.B P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25 P2-31 value “B” Speed Loop Responsive Recommended Setting Value of P2-25 0 20Hz 13 1 30Hz 9 2 40Hz 6 3 60Hz 4 4 85Hz 3 5 120Hz 3 6 160Hz 2 7 200Hz 1[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-19 5.6.4 AutoMode (PDFF) Tuning Flowchart Set P2-32 to 4 (4: AutoMode (PDFF) [Continuous adjustment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) not u sed A B A: No function B: Responsiveness level of auto-tuning mode In Aut[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-20 Revision March 2008, Doc. Name: 2007PDD23000011 Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Sp eed Loop Responsiveness. P2-31 value “B” Speed Loop Responsiveness P2-31 value “B” Speed Loop Respo nsiveness 0 20HZ 8 120Hz 1 30 HZ 9 140 HZ 2 40 HZ A 160HZ 3 50 [...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-21 5.6.5 Manual Mode Tuning Flowchart Position Mode[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-22 Revision March 2008, Doc. Name: 2007PDD23000011 Speed Mode 5.6.6 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min mu st be below 1 second. The rotation speed must be above 200r/min. The load inertia must b e 100 multiple or less of motor inertia. The chan[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-23 5.6.7 Relationship between Tuning Modes and Parameters Tuning Mode P2-32 AutoSet Parameter User-defined Parameter Gain Value Manual Mode 0(Default setting) None P2-00 (Proportional Positio n Loop Gain) P2-04 (Proportional Speed Loop Gain) [...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-24 Revision March 2008, Doc. Name: 2007PDD23000011  KPP, Parameter P2-00 Proportional Position Loop Gain This parameter is used to determi ne the responsiveness of positio n loop (position loop gain). It could be used to increase stiffness, expedite po sition loop respo nse and reduce p[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 5-25  DST, Parameter P2-26 External Anti-Interferen ce Gain This parameter is used to enha nce the anti-interf erence capability and reduce the occurren ce of overshoot. The default setting is 0 (Disabled). It is not recommended to use it in[...]

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-26 Revision March 2008, Doc. Name: 2007PDD23000011 This page intentionally left blank.[...]

Revision March 2008, Doc. Name: 2007PDD23000011 6-1 Chapter 6 Control Modes of Operation 6.1 Control Modes of Operation The Delta ASDA-AB series can be p rogrammed to provide six single and five dual modes of operatio n. Their operation and description is listed in the following table. Mode Code Description External Position Control Pt Position con[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-2 Revision March 2008, Doc. Name: 2007PDD23000011 The following sections describ e the operation of eac h control mode, including control structu re, command source and loop gain adjustment, etc. 6.2 Position Control Mode The position control mode (Pt or Pr mode) is u sually us ed for the app[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-3 • Value B: Input pulse filter B=0: 500Kpp s B=1: 200Kpps B=2: 150Kpp s B=3: 80Kpps This setting is used to suppress or reduce the chatter caused by the noise, etc. However, if the instant input pulse filter frequency is over high, the freque[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-4 Revision March 2008, Doc. Name: 2007PDD23000011 Position Command POS2 POS1 POS0 CTRG Parameters Description P1-23 Rotation number (+/- 30000) P5 1 0 0 P1-24 Pulses (+/- max cn t) P1-25 Rotation number (+/- 30000) P6 1 0 1 P1-26 Pulses (+/- max cn t) P1-27 Rotation number (+/- 30000) P7 1 1 [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-5 In order to pursue the goal of perfe ction in positio n control, the pulse signal should be modified through position command pro cessing and the struct ure is shown as the f igure below: Using parameter can sel ect Pr mode and Pt mode. Electr[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-6 Revision March 2008, Doc. Name: 2007PDD23000011 Ti me ( ms ) TSL /2 TA C C T S L / 2 TSL/2 TA C C TSL/ 2 Posit ion Spee d Ra ted spee d To r q u e Ti me ( ms ) Ti me ( ms ) P-cur ve c haract erist i cs and Time re lat ionship (Accel er ation ) TSL/2 TD EC TS L/2 TSL/ 2 TDEC TS L/2 P-cu rv e[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-7 1st to 3rd step Acceleration time. It is used to determine the acceleration time to accele rate from 0 to its rated rot ation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.) P1 - 35 TDEC Decele[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-8 Revision March 2008, Doc. Name: 2007PDD23000011 2) So if user change the control mode to Pr mode and switching power off and on, the servo drive of parameter P1-36 will auto set the value to 20. 6.2.5 Electronic Gear Ratio Relevant parameters: P1 - 44 ▲ GR1 Electronic Gear Ratio (1st Nume[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-9 Electronic Gear Rati o Corresponding travel distanc e per pulse When the el ectronic gear ratio i s not used = 1 1 = 3x 100 0 4x 250 0 = 300 0 100 00 m When the el ectronic gear ratio i s not used = 1000 0 300 0 =1 m 6.2.6 Low-pass Filter Rele[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-10 Revision March 2008, Doc. Name: 2007PDD23000011 6.2.7 Timing Chart of Po sition (Pr) Control Mode In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG. Please refer to 6-2-2 to see the relation ship between DI signals an d parameters. The following[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-11 For example, the desired position loop resp onsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/ s. Relevant parameters: P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 35 Related Section: Applicab[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-12 Revision March 2008, Doc. Name: 2007PDD23000011 When the value of Proportional Position Loop Gain, KPP is too great, the posit ion loop resp onsiveness will be increased and it will result in small phase margin . If this happens, the rotor of motor will oscillate. At this time, the users h[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-13 6.3 Speed Control Mode The speed control mode (S or Sz) is usually used on t he applications of precision spe ed control, such as CNC machine, etc. ASDA-AB series servo drive supp o rts two kinds of command sources in speed control mode. One [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-14 Revision March 2008, Doc. Name: 2007PDD23000011 GND. The setting range of the input voltage is from -10V to +10V an d the corresponding motor speed is adjustable (Plea se see parameter P1-40 ).  When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command i s internal parameter [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-15 6.3.3 Smoothing Strategy of Speed Control Mode S-curve Filter The S-curve filter is a speed smoothi ng command wh ich provide s 3 steps accel / decel S-curve to smooth the speed command ch ange of the motor during acceleration and d ecelerati[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-16 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 35 TDEC Deceleration Time Communication Addr.: 0123H Default: 200 Related Section: Applicable Control Mode: P/S P1-34, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step Deceleration time. It is used to determine th[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-17 Analog Speed Command S-curv e Filter ASDA-AB series servo drives also provide Analog Speed Comman d S-curve Filter for the smoothing in response to a sudden anal og input signal. Spee d ( rpm) 3000 -3000 0 13 246 57 9 8 Ti m e ( s ec ) Moto r[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-18 Revision March 2008, Doc. Name: 2007PDD23000011 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF an d GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Comman d) ca n adjust the speed control ramp and its range. 51 0 -5 -10 3000 rpm 5000[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-19 6.3.5 Timing Chart of Speed Control Mode S4 (P1- 1 1 ) S3 (P1- 10) S2 (P1- 09) S1 SPD0 SPD1 SON OFF ON OFF ON ON OFF ON Inter nal sp eed co mmand Ext e rna l an al og volt age or zero (0) Ex ternal I/ O sign al NOTE 1) OFF indicates normally [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-20 Revision March 2008, Doc. Name: 2007PDD23000011  Manual Mode: User-defin ed loop gain adjustment. When using this mode, all auto and a uxiliary function will be disabled.  Auto Mode: Continuous a djustment of loop gains according to measu red inertia, with ten levels of system bandwi[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-21  Proportional gain: Adjust this gain ca n increase the position loop responsiveness.  Integral gain: Adjust this gain can enha nce the low-frequency sti ffness of speed loop and eliminate the steady error. Also, reduce the value of phas[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-22 Revision March 2008, Doc. Name: 2007PDD23000011 In theory, stepping response can be used to explain proportional ga in (KVP), integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic. Frequency Domain[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-23 Time Domain In general, the equipment, such as spect rum analyzer is needed and use d to analyze when using frequency domain method and the users also should hav e this kind of analysis technology. However, when using time domain method, the [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-24 Revision March 2008, Doc. Name: 2007PDD23000011 users usually use time domain method with the analog DI/DO terminal provided by the servo drive to adjust what is called as PI (Proportional and Integral ) type controller. As for the perform a nce of torque shaft load, input command tracking[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-25 P2 - 24 DPH Notch Filter Attenuation Rate (Resonance Suppression) Communication Addr.: 0218H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 6.3.7 Unit: dB Range: 0 ~ 32 Settings: 0: Disabled P2 - 25 NLP Low-pass Filter Tim[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-26 Revision March 2008, Doc. Name: 2007PDD23000011 Low-pass filter Please use parameter P2-25. The figure below shows the re sonant open-loop gain. Gain Fr eque ncy When the low-pass filter (param eter P2-25) is adju sted from 0 to high value, the value of Low-pass frequency (BW) will beco me[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-27 Use Low-pass Filter to suppres s resonance Low-pass Fil ter Cut-off Frequenc y of Low -pas s Filter = 10000 / P2-25 Hz - 0db Resonance conditions is suppress ed . . Gain Frequency Gain Frequency Gain Frequency Low-pass Frequency Low-pass Freq[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-28 Revision March 2008, Doc. Name: 2007PDD23000011 6.4 T orque Control Mode The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machin e, twister, etc. Delta ASDA- AB series servo drive supports two kinds of co mmand sour[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-29 6.4.2 Structure of To rque Control Mode Basic Struct ure: The toque command processi ng is used to select the command source of torque control according to chapter 6.4.1, including ma x. analog torque command (parameter P1-41) an d smoothing [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-30 Revision March 2008, Doc. Name: 2007PDD23000011 NOTE 1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled and the command is ju st By-Pass. TFL T Ta r g e t S p e e d 6.4.4 Analog Torque Input Scaling The analog voltage between T_R[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-31 For example, in torque mode, if P1-41 is set to 100 and the input volt age is 10V , it indicates that the torque command is 100% rated torq ue. If P1-41 is set to 100, but the input voltage is changed to 5V , then the torque command is change[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-32 Revision March 2008, Doc. Name: 2007PDD23000011 6.5 Control Modes Selection Except signal control mode operatio n, ASDA-AB series AC drive also provide Pt-S, Pr-S, S-T , Pt-T , Pr-T these five multiple modes for the users to selec t. 1 ） Speed / Position mode selection: Pt-S, Pr-S 2 ） [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-33 In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time. When switching to the position mode (when S-P is OFF), the position com mand is not determined (it needs to wait that CTRG is on the rising[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-34 Revision March 2008, Doc. Name: 2007PDD23000011 The timing chart of speed / position control mode sele ction is shown as the figure below: In position mode (when T-P is ON), the motor will sta r t to count pulse and operate following the external pulse command. When switching to the torque[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-35 6.6 Others 6.6.1 Speed Limit The max. servo motor speed can be lim ited by using parameter P1-55 no m atter in position, speed or torque control mode. The command source of speed limit command is the same as speed command. It can be the exter[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-36 Revision March 2008, Doc. Name: 2007PDD23000011 6.6.3 Regenerative Resistor  Built-in Regenerativ e Resistor When the output torque of servo m otor in reverse dire ction of motor rot ation speed, it indicates that there is a regenerative power retur ned from the load to the servo drive.[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-37  External Regenerativ e Resistor When using external re generative resistor, connect it to P and C, and make su re the circuit between P and D is open. We recomm end the users should use the external regenerative resi stor that the resista[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-38 Revision March 2008, Doc. Name: 2007PDD23000011 For example: If we use 400W servo drive, the time of repeat oper ation cycle is T = 0.4 se c, max. motor speed is 3000r/min, the load inertia = 7 × motor inertia, then the necessa ry t he power of regenerative resistor = 2 x ( (7+1) × 1.68 [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-39 For example: When external load torque is a +70% ra ted torque and rotation speed reaches 3000r/mi n, if using 400W servo drive (rated torque: 1.27Nt-m) , then the users need to connect a external regenerative resi stor which power is 2 x (0.[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-40 Revision March 2008, Doc. Name: 2007PDD23000011 Allowable frequency when the servo motor run without load (times/min) 500W 600W 750W 900W 1.0kW (100 mm) ECMA Series Regenerative Resistors 05 06 07 09 10 BR400W040 291 283 2128 213 925 BR1K0W020 729 708 5274 533 2312 1.0kW (130mm) 1.5kW 2.0k[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-41 Example: P0-03 = 01(CH1 is speed a nalog output) Motor rotation speed = (M ax. rotation speed × V1/8) × P1-04/100, when the output volt age value of CH1 is V1. P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-42 Revision March 2008, Doc. Name: 2007PDD23000011 P4 - 21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Communication Addr.: 0415H Default: Factory setting Related Section: N/A Applicable Control Mode: P/S/T Section 6.4.4 Unit: mV Range: -800~800 This paramet er cannot be reset. For exam[...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-43 6.6.5 Electromagnetic Brake When the servo drive is operating, if the digi tal output BRKR is set to Of f, it indicates the electromagnetic brake is disabl ed and motor is stop running and lo cked. If the digital output BRKR is set to ON, it [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-44 Revision March 2008, Doc. Name: 2007PDD23000011 Electromagnetic Brake Wiring Di agram NOTE 1) Please refer to Chapter 3 Connection s and Wiring for more wiring information. 2) The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the servo drive can be used [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 6-45 The timing charts of control circuit power and main circuit power: L1, L2 Cont r ol Cir cui t Power 5V Cont r ol Cir cui t Power R, S, T Mai n Ci rcu it Power BUS V ol tage RE ADY SERVO REA DY SERVO ON (DI Input) SERVO ON (DO Output) Posi ti [...]

Chapter 6 Control Modes of Operati on | ASDA-AB Series 6-46 Revision March 2008, Doc. Name: 2007PDD23000011 This page int entionally left blank[...]

Revision March 2008, Doc. Name: 2007PDD23000011 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[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-2 Revision March 2008, Doc. Name: 2007PDD23000011 7.2 Parameters Summary 7.2.1 Parameters List by Group Group 0: P0-xx Monitor Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P0-00 ★ VER Firmware Version Factory setting N/A { { { { P0-01 ★ ALE Drive Fault Code N/A N/A { { { {[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-3 Group 1: P1-xx Basic Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P1-00 ▲ PTT External Pulse Input Type 2 N/A { P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { {{{ P1-02 ▲ PSTL Speed and Torqu e Limit 0 [...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-4 Revision March 2008, Doc. Name: 2007PDD23000011 Basic Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P1-43 MBT2 OFF Delay Time of Electromagnetic Brake 0 ms { {{{ P1-44 ▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) 1 pulse { { P1-45 ▲ GR2 Electronic Gear Ratio (Den omin[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-5 Group 2: P2-xx Extension Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P2-00 KPP Proportional Posi tion Loop Gain 35 rad/s { { P2-01 PPR Position Loop Gain Switching Rate 100 % { { P2-02 PFG Position Feed Forward Gain 5000 0.000[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-6 Revision March 2008, Doc. Name: 2007PDD23000011 Extension Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P2-31 ■ AUT1 Auto Mode Responsiveness Level 44 N/A { {{{ P2-32 ▲ AUT2 Tuning Mode Selection 0 N/A { {{{ P2-33 ▲ INF Easy Setting of Input Filter 0 N/A { {{{ P2-34 SDE[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-7 Group 3: P3-xx Communication Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P3-00 ADR Communication Address Setting 1 N/A { {{{ P3-01 BRT Tran smission Speed 1 bps { {{{ P3-02 PTL Comm unication Protocol 0 N/A { {{{ P3-03 FLT Tra[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-8 Revision March 2008, Doc. Name: 2007PDD23000011 Group 4: P4-xx Diagnosis Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P4-00 ★ ASH1 Fault Record (N) 0 N/A { {{{ P4-01 ★ ASH2 Fault Record (N-1) 0 N/A { {{{ P4-02 ★ ASH3 Fault Record (N-2) 0 N/A { {{{ P4-03 ★ ASH4 Fault [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-9 7.2.2 Parameters List by Function Monitor and General Use Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P0-00 ★ VER Firmware Vers ion Facto ry setting N/A { { ` { { --- P0-01 ★ ALE Drive Fault Code N/A N/[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-10 Revision March 2008, Doc. Name: 2007PDD23000011 Smooth Filter and Resonance Suppression Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-06 SFLT Accel / Decel Smooth Constant of Analog Speed Command (Low- pass Filter) 0 ms { 6.3.3 P1-07 TFLT Smooth Consta[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-11 Gain and Switch Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P2-00 KPP Proportional Posi tion Loop Gain 35 rad/s { { 6.2.8 P2-01 PPR Position Loop Gain Switching Rate 100 % { { --- P2-02 PFG Position Feed F[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-12 Revision March 2008, Doc. Name: 2007PDD23000011 Position Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6 P1-46 ▲ [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-13 Position Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P2-45 DOD Combination Output Signal Delay Time 1 4ms { 12.6 P2-46 FSN Feed Step Number 6 N/A { 12.6 P2-47 PED Position Deviation Clear Delay Tim[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-14 Revision March 2008, Doc. Name: 2007PDD23000011 Speed Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6 P1-46 ▲ GR3[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-15 Torque Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6 P1-46 ▲ GR[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-16 Revision March 2008, Doc. Name: 2007PDD23000011 Digital I/O and relative input output setting Digital I/O Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P2-09 DRT Bounce Filter 2 2ms { { { { P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A { { { { P2-11 DI[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-17 Communication Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P3-00 ADR Communi cation Address Setting 1 N/A { { { { 8.2 P3-01 BRT Transmission Speed 1 bps { { { { 8.2 P3-02 PTL Communication Protocol 0 N/A { [...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-18 Revision March 2008, Doc. Name: 2007PDD23000011 Diagnosis Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P4-00 ★ ASH1 Fault Record (N) 0 N/A { { { { 4.4.1 P4-01 ★ ASH2 Fault Record (N-1) 0 N/A { { { { 4.4.1 P4-02 ★ ASH3 Fault Record (N-2) 0 N/A { { {[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-19 Others Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-31 MSE Motor Type Selection 0 N/A { { { { --- P1-32 LSTP Motor Stop Mode Selection 0 N/A { { { { --- P1-37 GDR Ratio of Load Inertia to Servo Motor Ine[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-20 Revision March 2008, Doc. Name: 2007PDD23000011 7.3 Det ailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00 ★ VER Firmware Version Communication Addr.: 0000H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: N/A P0 - 01 ★ ALE Drive Fault C[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-21 P0 - 02 STS Drive Status Communication Addr.: 0002H Default: 00 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 00 ~ 16 Settings: 00: Motor feedback pulse number (a bsolute value) [pulse] 01: Motor feedback rot ation number[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-22 Revision March 2008, Doc. Name: 2007PDD23000011 P0 - 03 MON Analog Monitor Output Communication Addr.: 0003H Default: 01 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 00 ~ 55 Settings: not us ed A : C H 1 B: CH2 AB: (A: CH1; B: CH2) 0: Motor speed (+/-8V / maximum moto[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-23 P0 - 05 CM2 Status Monitor 2 Communication Addr.: 0005H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 0 ~ 16 Settings: See P0-04 for explanation. P0 - 06 CM3 Status Monitor 3 Communication Addr.: 0006H Default:[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-24 Revision March 2008, Doc. Name: 2007PDD23000011 P0 - 09 MAP0 Block Data Read / Write Register 0 Communication Addr.: 0009H Default: 407H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: Set the register address in HEX that use rs w ant to read and write by usi[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-25 P0 - 13 MAP4 Block Data Read / Write Register 4 Communication Addr.: 0 00 D H Default: 1 1 1H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: See P0-09 for explanation. P0 - 14 MAP5 Block Data Read / Write Regis[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-26 Revision March 2008, Doc. Name: 2007PDD23000011 P0 - 17 SVSTS Servo Output Status Display Communication Addr.: 0 0 11 H Default: N/A Related Section: Applicable Control Mode: ALL T able 7.B Unit: N/A Range: N/A Settings: This paramet er is used to display the digital out put si gnal of the servo dri[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-27 Group 1: P1-xx Basic Parameters P1 - 00 ▲ PTT External Pulse Input Ty pe Communication Addr.: 0100H Default: 2 Related Section: Applicable Control Mode: Pt Section 6.2.1 Unit: N/A Range: 0 ~ 132 Settings: no t use d A B C • Value A: Pulse type A=0:[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-28 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 01 ● CTL Control Mode and Output Direction Communica tion Addr.: 0101H Default: 00 Related Section: Applicable Control Mode: ALL Section 6.1 Unit: pulse (P mode), r/min (S mode), N.M (T mode) Range: 0 ~ 1 1 10 Settings: not us ed A B C • A: Co[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-29 P1 - 02 ▲ PSTL Speed and Torque Limit Communication Addr.: 0102H Default: 00 Related Section: Applicable Control Mode: ALL Section 6.6 Unit: N/A Range: 0 ~ 1 1 Settings: not us ed A B • A=0: Disable speed limit function A=1: Enable speed limit func[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-30 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0 Related Section: Applicable Control Mode: ALL Section 3.3.3 Unit: N/A Range: 0 ~ 1 Settings: not us ed A B A: Monitor analog output polarity A=0: MON1(+), MON2(+) A=1: MON[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-31 P1 - 07 TFLT Smooth Constant of Analog Torque Command (Low-pass Filter) Communication Addr.: 0107H Default: 0 Related Section: Applicable Control Mode: T Section 6.4.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) P1 - 08 PFLT Smooth Constant of Position Comm[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-32 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 11 SP3 3rd Speed Command or Limit Communication Addr.: 010BH Default: 300 Related Section: Applicable Control Mode: S, T Section 6.3.1 Unit: r/min Range: -5000 ~ +5 000 Settings: 3rd Speed Command In S peed mode, this parameter is u sed to set spe[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-33 P1 - 13 TQ2 2nd Torque Command or Limit Communication Addr.: 010DH Default: 100 Related Section: Applicable Control Mode: T , P/S Section 6.4.1 Unit: % Range: -300 ~ +300 Settings: 2nd T orque Command In T orque mode, this parameter is used to set torq[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-34 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 16 PO1L 1st Position Command for Pulse Communication Addr.: 0110H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of internal [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-35 P1 - 20 PO3L 3rd Position Command for Pulse Communication Addr.: 0114H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of internal [...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-36 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 24 PO5L 5th Position Command for Pulse Communication Addr.: 0118H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of internal [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-37 P1 - 28 PO7L 7th Position Command for Pulse Communication Addr.: 0 1 1C H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This paramet er is used to set rotation p ulse number of intern[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-38 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 32 LSTP Motor Stop Mode Selection Communication Addr.: 0120H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 1 1 Settings: This paramet er is used to select servo motor stop m ode. When a fault occurs (except for [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-39 P1 - 34 TACC Acceleration Time Communication Addr.: 0122H Default: 200 Related Section: Applicable Control Mode: Pr , S P1-35, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step acceleration time. It is used to determine the accel[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-40 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 36 TSL Accel /Decel S-curv e Communication Addr.: 0124H Pr mode Default: 20 (See Note 2) Related Section: Other mode Default: 0 P1-34, P1-35, Unit: ms Section 6.2.4 (Pr mode), Range: 0 ~ 10000 (0: Disabled) Section 6.3.3 (S mode) Settings: This pa[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-41 P1 - 38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: r/min Range: 0 ~ 200 Settings: This paramet er is used to set output range of zero speed si gnal (ZSPD). ZSPD is activa[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-42 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 40 ▲ VCM Max. Analog Speed Command or Limit Communication Addr.: 0128H Default: rated speed Related Section: Applicable Control Mode: S/T Section 6.3.4, P1-55 Unit: r/min Range: 0 ~ 10000 Settings: In Speed mode , this p arameter is used to set [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-43 P1 - 43 MBT2 OFF Delay Time of Electr omagnetic Brake Communication Addr.: 012BH Default: 0 Related Section: Applicable Control Mode: ALL Section 6.5.5 Unit: ms Range: 0 ~ 1000 Settings: Used to set the period of time between when t he servo drive is O[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-44 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 45 ▲ GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH Default: 1 Related Section: Applicable Control Mode: Pt, Pr Section 6.3.6 Unit: Pulse Range: 1 ~ 32767 Settings: Electronic gear denomin ator setting. Please set electronic [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-45 P1 - 46 ▲ GR3 Encoder Output Pulse Number Communication Addr.: 012EH Default: 1 Related Section: N/A Applicable Control Mode: ALL Unit: Pulse Range: 10020 ~ 12500 Settings: This paramet er is used to set the pulse number of en coder outputs which dir[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-46 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 47 HMOV Homing Mode Communication Addr.: 012FH Default: 00 Related Section: Applicable Control Mode: ALL Section 12.8 Unit: N/A Range: 00 ~ 1225 Settings: no t use d A B C D • A=0: Forward homing (CCWL as “Home”) • A=1: Reverse homing (CWL[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-47 P1 - 48 HSPD1 1st Speed Setting of High Speed Homing Communication Addr.: 0130H Default: 1000 Related Section: Applicable Control Mode: ALL Section 12.8 Unit: r/min Range: 1 ~ 2000 Settings: Z p u l s e HSP2 HSP1 P1 - 49 HSPD2 2nd Speed Setting of Low [...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-48 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 52 RES1 Regenerative Resistor Value Communication Addr.: 0134H Default: 40 (1kW and below), 20 (above 1kW) Related Secti on: Applicable Control Mode: ALL Section 6.6.3 Unit: Ohm Range: 10 ~ 750 P1 - 53 RES2 Regenerative Resistor Capacity Communica[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-49 P1 - 56 OVW Output Overload Warning Level Communication Addr.: 0138H Default: 120 Related Section: N/A Applicable Control Mode: ALL Unit: % Range: 0 ~ 120 Settings: This parameter is u sed to set output overload level. When the mo tor has reached the o[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-50 Revision March 2008, Doc. Name: 2007PDD23000011 P1 - 62 COKT Delay Time of Internal Position Com mand Completed Output Signal Communication Addr.: 013EH Default: 0 Related Section: Applicable Control Mode: Pr DO CMDOK(12) in T able 7.B Unit: ms Range: 0 ~ 200 Settings: This parameter is u sed to del[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-51 Group 2: P2-xx Extension Parameters P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 35 Related Section: Applicable Control Mode: Pt, Pr Section 6.2.8 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is u sed to set t[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-52 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 03 PFF Smooth Constant of Posi tion Feed Forward Gain Communication Addr.: 0203H Default: 5 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: ms Range: 2 ~ 100 Settings: When using position smoot h command, increase gain can improve posit[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-53 P2 - 06 KVI Speed Integral Compensation Communication Addr.: 0206H Default: 100 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: N/A Range: 0 ~ 4095 Settings: This parameter is u sed to set the integral time of speed loop. When the val[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-54 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 08 ■ PCTL Special Factory Setting Communication Addr.: 0208H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 65536 This parameter can be used to reset all p arameters to their original factory settings and enab [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-55 P2 - 10 DI1 Digital Input Terminal 1 (DI1) Communicat ion Addr.: 020AH Default: 101 Related Section: Applicable Control Mode: ALL T able 7.A Unit: N/A Range: 0 ~ 147 Settings: This paramet er is used to determine the function and st atus of DI1. not us[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-56 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 13 DI4 Digital Input Terminal 4 (DI4) Communication Addr.: 020DH Default: 1 17 Related Section: Applicable Control Mode: ALL T able 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation. P2 - 14 DI5 Digital Input Terminal 5 (DI5) Commun[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-57 P2 - 18 DO1 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H Default: 101 Related Section: Applicable Control Mode: ALL T able 7.B Unit: N/A Range: 0 ~ 1 12 Settings: This paramet er is used to determine the function and st atus of DO1. not u[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-58 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 21 DO4 Digital Output Terminal 4 (DO4) Communication Addr.: 0215H Default: 105 Related Section: Applicable Control Mode: ALL T able 7.B Unit: N/A Range: 0 ~ 1 12 Settings: See P2-18 for explanation. P2 - 22 DO5 Digital Output Terminal 5 (DO5) Comm[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-59 P2 - 25 NLP Low-pass Filter Time Constant (Resonance Suppression) Communication Addr.: 0219H Default: 2 (1kW and below models) o r Related Section: 5 (above 1kW models) Section 6.3.7 Applicable Control Mode: ALL Unit: ms Range: 0 ~ 1000 Settings: 0: Di[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-60 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 28 GUT Gain Switching Time Constant Communication Addr.: 021CH Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: 10ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is u sed to set the time constant wh en switching the smoo[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-61 P2 - 31 AUT1 Auto Mode Responsiveness Level Communication Addr.: 021FH Default: 44 Related Section: Applicable Control Mode: ALL Section 5.6, Section 6.3.6 Unit: N/A Range: 0 ~ FF Settings: This paramet er allows the users to set the respo nsiveness le[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-62 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 32 ▲ AUT2 Tuning Mode Selection Communication Addr.: 0220H Default: 0 Related Section: Applicable Control Mode: ALL Section 5.6, Section 6.3.6 Unit: N/A Range: 0 ~ 5 Settings: 0: Manual mode 2: AutoMode (PI) [Continuous adjustment] 3: AutoMode ([...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-63 P2 - 33 ▲ INF Easy Setting of Input Filter Communication Addr.: 0221H Default: 0 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: N/A Range: 00 ~ 19 Settings: not us ed A B • A: S peed selection Low speed Hi gh sp eed A=0 A=9 • B[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-64 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 36 POV1 Moving Speed Setting of 1st Position Communication Addr.: 0224H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: When setting value of P2-36 to P2-43 is highe r than 3000 r/min,[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-65 P2 - 40 POV5 Moving Speed Setting of 5th Position Communication Addr.: 0228H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36. P2 - 41 POV6 Moving Speed Setting of 6th [...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-66 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 44 DOM Digital Output Mode Setting Communication Addr.: 022CH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.6 Unit: N/A Range: 0 ~ 1 Settings: This parameter dete rmines that the digital output equals the setting value of P2-1[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-67 P2 - 47 PED Position Deviation Clear Delay Time Communication Addr.: 022FH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.6 Unit: 20ms Range: 0 ~ 250 Settings: This function is disabled when it s setting value is set to 0. P2 - 48 B[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-68 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: sec Range: 0 ~ 1 19 Settings: not used A B C • A: Speed Detection Filter Constant Setting Value A[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-69 P2 - 50 DCLR Pulse Deviation Clear Mode Communication Addr.: 0232H Default: 0 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: N/A Range: 0 ~ 3 Settings: For digital input function (DI function), pl ease refer to T able 7.A. This pulse deviat[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-70 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 51 SRON Servo ON Communication Addr.: 0233H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 1 Settings: 0: Servo ON (SON) is activated via Digit a l Input signal 1: Servo ON (SON) is activated when control po we r[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-71 P2 - 56 ATM4 Timer 4 of Auto Mode Communication Addr.: 0238H Default: 0 Related Section: N/A Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 57 ATM5 Timer 5 of Auto Mode Communication Addr.: 0239H Default: 0 Related Section: N/A Applicable[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-72 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 61 GR5 Electronic Gear Ratio (3rd Numerator) (N3) Communication Addr.: 0 23 DH Default: 1 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: pulse Range: 1 ~ 32767 Settings: Please refer to P2-60. P2 - 62 GR6 Electronic Gear Ratio (4th Num[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-73 P2 - 63 TSCA Proportion Value Setting Communication Addr.: 0 23 FH Default: 0 Related Section: N/A Applicable Control Mode: Pt, S Unit: times Range: 0 ~ 1 1 Settings: not us ed A B V alue A: decimal place setting of internal speed command. 0: When valu[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-74 Revision March 2008, Doc. Name: 2007PDD23000011 P2 - 64 TLMOD Torque Limit Mixed Mode Communication Addr.: 0 2 40 H Default: 0 Related Section: N/A Applicable Control Mode: Pt, Pr , S Unit: N/A Range: 0 ~ 3 Settings: PL: Positive Limit NL: Negative Limit T ref: T orque Analog Input V oltage Tpl: Act[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-75 P2 - 65 GBIT Special Function Communication Addr.: 0 24 1H Default: 0 Related Section: N/A Applicable Control Mode: Pr , Pt, S Unit: N/A Range: 0 ~ 3 Settings: Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit1 B[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-76 Revision March 2008, Doc. Name: 2007PDD23000011 Bit5: Reserved. Must be set to 0. Bit6 Bit6: Abnormal pulse command detection 0: enable abnormal pulse command detection 1: disable abnormal pulse command detection, If the detection function is disabled, the ALE08 will not come out when the pulse freq[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-77 Group 3: P3-xx Communication Parameters P3 - 00 ADR Communication Address Setting Communication Addr.: 0300H Default: 1 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 1~254 Settings: If the AC servo drive is controlled by RS[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-78 Revision March 2008, Doc. Name: 2007PDD23000011 P3 - 02 PTL Communication Protocol Communication Addr.: 0302H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~8 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII m[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-79 P3 - 04 CWD Communication Time Out Detection Communication Addr.: 0304H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~20 Settings: 0: Disabled This parameter is u sed to set the maximum permissible time before [...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-80 Revision March 2008, Doc. Name: 2007PDD23000011 P3 - 06 ■ SDI Digital Input Communication Function Communication Addr.: 0306H Default: 0 Related Section: Applicable Control Mode: ALL P4-07, Section 8.2 Unit: N/A Range: 0~FFFF Settings: The setting of this pa rameter determines how the Digit al Inp[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-81 Group 4: P4-xx Diagnosis Parameters P4 - 00 ★ ASH1 Fault Record (N) Communication Addr.: 0400H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A Settings: The latest fault record. P4 - 01 ★ ASH2 Fault Recor[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-82 Revision March 2008, Doc. Name: 2007PDD23000011 P4 - 05 JOG JOG Operation Communication Addr.: 0405H Default: 20 Related Section: Applicable Control Mode: ALL Section 4.4.2 Unit: r/min Range: 0~5000 Settings: JOG operation command: 1. Operation T est (1) Press the SET key to display the JOG speed. ([...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-83 P4 - 06 ▲ ■ FOT Force Output Control Communication Addr.: 0406H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.4 Unit: N/A Range: 0~0x1F Settings: Settings: 0: Disabled. When the value of P4-06 is a non-zero value, it indicate[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-84 Revision March 2008, Doc. Name: 2007PDD23000011 P4 - 09 ★ MOT Output Status Displa y Communication Addr.: 04 09H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.6 Unit: N/A Range: 0~0x1F Settings: External Control: Display the status of DO output sig nal Communication Co ntrol[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-85 P4 - 12 SOF2 Analog Speed Input Drift Adjustment 2 Commun ication Addr.: 040CH Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-1 1 for explanation. P4 - 13 TOF1 Analog Torque D[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-86 Revision March 2008, Doc. Name: 2007PDD23000011 P4 - 16 COF2 Current Detector Drift Adjustment (V2 phase) Communication Addr.: 0410H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-15 for expla nation. P4 - 17 COF3 Current D[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-87 P4 - 20 DOF1 Analog Monitor Output Drift Adjustment (CH1) Communication Addr.: 0414H Default: Factory setting Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: mV Range: -800~800 Settings: This paramet er cannot be reset. P4 - 21 DOF2 A[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-88 Revision March 2008, Doc. Name: 2007PDD23000011 P4 - 24 Reserved Co mm un ic at io n A dd r. : 0418H P4 - 25 Reserved Co mm un ic at io n A dd r. : 0419H P4 - 26 Reserved C om mu ni ca t io n A dd r. : 041AH[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-89 Table 7.A Input Function Definition Sign Setting Value Digital Input Function Description SON 01 Servo On. Switch servo to "Ser vo Ready". Check parameter P2-51 . ARST 02 Alarm Reset. A number of Faults (A larm s) can be cleared by activating[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-90 Revision March 2008, Doc. Name: 2007PDD23000011 Sign Setting Value Digital Input Function Description POS0 11 POS1 12 POS2 13 Position command selection 0 ~ 2 When the Pr mode is selected, the 8 stored positions are p rogrammed via a combination of the POS 0, POS 1, and POS 2 commands. Command No. P[...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-91 Sign Setting Value Digital Input Function Description S-P 18 Speed / Position mode swit ching (OFF: Speed, ON: Position) S-T 19 Speed / Torque mode switching (OFF: Speed, ON: T orque) T-P 20 Torque / Posi tion mode switching (OFF: Torque, ON: Position)[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-92 Revision March 2008, Doc. Name: 2007PDD23000011 Sign Setting Value Digital Input Function Description STEPD 40 Step down input. When STEPD is activated, the motor will run to previous position. STEPB 41 Step back input. When STEPB is activated, the motor will return to first position. AUTOR 42 Auto [...]

Chapter 7 Servo Parameters | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 7-93 Table 7.B Output Function Definition Sign Setting Value Digital Output Function Description SRDY 01 Servo ready. SRDY is activated when the se rvo drive is rea dy to run. All fault and alarm conditions, if present, have been cleared. SON 02 Servo On. S[...]

Chapter 7 Servo Parameters | ASDA-AB Serie s 7-94 Revision March 2008, Doc. Name: 2007PDD23000011 Sign Setting Value Digital Output Function Description OLW 10 Output overload warning. OLW is activ ated when the servo drive has detected that the motor has reached the output overloa d level set by parameter P1-56. t OL = Permissible Time for Overloa[...]

Revision March 2008, Doc. Name: 2007PDD23000011 8-1 Chapter 8 MODBUS Communications 8.1 Communication Hardware Interface The ASDA-AB series servo drive ha s three modes of communicati on: RS-232, RS-485, and RS-422. All aspect s of control, operation and monitoring as well a s programming of the controller can be achieved via communication. Ho weve[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-2 Revision March 2008, Doc. Name: 2007PDD23000011 NOTE 1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise shoul d be kept to a minimum, communication cabl e should kept apart from high voltage wires. If a tran smission speed of 38400 bps or greater is required, the max[...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 8-3  Cable Connection[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-4 Revision March 2008, Doc. Name: 2007PDD23000011 NOTE 1) The maximum cable length is 100m (39.37inches) w hen the servo drive is installed in a location where there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum, communication ca ble should kept apart from h[...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 8-5 8.2 Communication Parameter Settings The following describes the comm unication addresses for the comm unication parameters. For communication param eters, please refer to the Chapter 7. Communication Addres ses 0301, 0302, and 0305 have to be set i[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-6 Revision March 2008, Doc. Name: 2007PDD23000011 0302H Communicati on Protocol Default: 0 Range: 0~8 Settings: 0: Modbus ASC II mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O ,1> 3: Modbus ASCII mode, <8,N,2 > 4: Modbus ASCII mode, <8,E,1> 5: [...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 8-7 0306H Digital In put Communicati on Function Digital Input Cont act Control: Default: 0 Range: 0~FFFF (hexadecimal nu mber)  The setting of this parameter determines how the Digital Inputs (DI) accept command s and signals.  Input commands or [...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-8 Revision March 2008, Doc. Name: 2007PDD23000011 If the contents of P4-07 is being read via communica tion the output will be a decimal number that will represent the "binary" display. Therefore in the pr evious example the de cimal number being read would be 113. However, in the communi[...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 8-9 8.3 MODBUS Communication Protocol When using RS-232/485/422 serial communication inte rface, each ASDA-AB serie s AC servo drive has a pre-assigned comm unication addre ss specified by parameter “P3-00”. The computer then control s each AC servo[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-10 Revision March 2008, Doc. Name: 2007PDD23000011 11-bit character frame (For 8-bit characte r) 8N2 Start bit 01 2 34 5 6 Sto p bit 8-d ata bits 1 1 - bit s cha rac te r fr ame Sto p bit 7 8E1 Start bit 01 2 34 5 6 Sto p bit 8-d ata bits 1 1 - bit s cha rac te r fr ame 7 Even pari ty 8O1 Start bit[...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 8-11 STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address ) The valid communication addresses a re in the range of 1 to 254. For example, communicati on to AC servo drive with a[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-12 Revision March 2008, Doc. Name: 2007PDD23000011 RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 03H CMD 03H 02H (Upper bytes) Starting data address 00H (Lower bytes) Number o f data (Count by byte) 04H 00H 00H (Up per bytes) Number o f data (Count by w ord) 02H Contents o f star[...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 8-13 RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 06H CMD 06H 02H (Upper bytes) 02H (Upper bytes) Starting data address 00H (Lower bytes) Starting data address 00H (Lower bytes) 00H (Upper bytes) 00H (Upper bytes) Content of da ta 64[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-14 Revision March 2008, Doc. Name: 2007PDD23000011 CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (c alled CRC regist er) with FFFFH. Step 2: Exclusive OR the first 8-bit byte of the co mmand message with the low order byte of th[...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 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* d[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-16 Revision March 2008, Doc. Name: 2007PDD23000011 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+BRD[...]

Chapter 8 MODBUS Communications | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 8-17 8.4 Communication Parameter W rite-in and Read-out There are following five groups for para meters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communi[...]

Chapter 8 MODBUS Communications | ASDA-AB Series 8-18 Revision March 2008, Doc. Name: 2007PDD23000011 Communication read-out parameters for ASDA-AB series are including: Group 0: P0-00 ~ P0-17 (0000H to 0011H) Group 1: P1-00 ~ P1-62 (0100H to 013E H) Group 2: P2-00 ~ P2-65 (0200H to 0241H) Group 3: P3-00 ~ P3-07 (0300H to 0307H) Group 4: P4-00 ~ P4[...]

Revision March 2008, Doc. Name: 2007PDD23000011 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 [...]

Chapter 9 Maintenance and Inspec tion | ASDA-A B Series 9-2 Revision March 2008, Doc. Name: 2007PDD23000011 Item Content Inspection during operation (Control power is applied) ） z Ensure that the cables are not damaged , stressed excessively or loaded heavily. When the motor is running, pay close a ttention on the conne ction of the cables and no[...]

Chapter 9 Maintenance and Inspec tion | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 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 vi[...]

Chapter 9 Maintenance and Inspec tion | ASDA-A B Series 9-4 Revision March 2008, Doc. Name: 2007PDD23000011 This page intentionally left blank.[...]

Revision March 2008, Doc. Name: 2007PDD23000011 10-1 Chapter 10 T r oubleshooting If a fault is detected on the servo drive or motor a co rrespondi ng fault code will be shown on the drive' s LED display. Fault codes can also be transmitted via com m unication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI. 10.1 Fault Messages T[...]

Chapter 10 Troubleshooting | ASDA-AB Series 10-2 Revision March 2008, Doc. Name: 2007PDD23000011 Fault Messag es Display Fault Nam e Fault Desc ription IGBT temperature error The temperature of IGBT is over high. Memory error EE-PROM write-in and read-out is in error. DSP communication error The communication between DSP and MCU is in error. DSP do[...]

Chapter 10 Troubleshooting | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 10-3 10.2 Potential Cause and Corrective Actions Servo Drive Fault Messag es : Overcurrent Potential Cause Checking Method Corrective Actions Short-circuit at drive output (U, V , W) 1. Check the wiring conne ctions between drive and motor. 2. Check if the w[...]

Chapter 10 Troubleshooting | ASDA-AB Series 10-4 Revision March 2008, Doc. Name: 2007PDD23000011 : Regeneration error Potential Cause Che cking Method Corrective Actions Regenerative resistor i s not connected. Check the wiring connectio n of regenerative resistor. Reconnect regenerative re sistor. Regenerative switch transistor fault Check if rege[...]

Chapter 10 Troubleshooting | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 10-5 : W atch dog execution time out Potential Cause Checking Method Corrective Actions Watch dog execution error. Check and reset the power supply. If there are any abnormal conditions after resetting the power supply, please contact your distributor for as[...]

Chapter 10 Troubleshooting | ASDA-AB Series 10-6 Revision March 2008, Doc. Name: 2007PDD23000011 : IGBT temperature error Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load during continuous operation. Check if there is overload or the moto r current is too high. Increase mot or capacity or reduce load. Short-c[...]

Chapter 10 Troubleshooting | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 10-7 : Command write-in error Potential Cause Checking Method Corrective Actions Control power is in error. Check and reset control power If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact [...]

Chapter 10 Troubleshooting | ASDA-AB Series 10-8 Revision March 2008, Doc. Name: 2007PDD23000011 10.3 Clearing Fault s Display Fault Nam e Clear ing Method Overcurrent Turn ARST (DI s ignal) ON to clear the fault or restart the serv o drive. Overvoltage Turn ARST (D I signal) ON to clear the fa ult or restart the serv o drive. Underv oltage This fa[...]

Chapter 10 Troubleshooting | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 10-9 Display Fault Nam e Clear ing Method Command write-in error Turn ARST (DI signal) ON to clear th e fault or restart the serv o drive. Input power phase loss Turn ARST (DI signal) ON to clear t he fault. This fault message can be rem oved automatical ly [...]

Chapter 10 Troubleshooting | ASDA-AB Series 10-10 Revision March 2008, Doc. Name: 2007PDD23000011 This page intentionally left blank.[...]

Revision Dec. 05th, 2007, Doc. Name: 2007PDD23000011 11-1 Chapter 11 Specifications 1 1.1 Specifications of Se rvo Drive (ASDA-AB Series) 100W 200 W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A  01 02 04 01 02 04 07 10 15 20 Phase / Voltage Single-phase 110VAC Three-phase or Single-phase 22 0VAC Three- phase 220VAC Permissi[...]

Chapter 11 Specifications | AS DA-AB Series 11-2 Revision March 2008, Doc. Name: 2007PDD23000011 100W 200 W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A  01 02 04 01 02 04 07 10 15 20 Voltage Range 0 ~ ±1 0 V DC Input Resistanc e 10K Ω Analog Input Command Time Constant 2.2 μ s Command Source Ex t er na l analog signal /[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-3 Footnote: *1 Rated rotation speed: When full load, speed ratio is defined a s the minimum speed (the motor will not pau se). *2 When command is rated rotation speed , the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rot[...]

Chapter 11 Specifications | AS DA-AB Series 11-4 Revision March 2008, Doc. Name: 2007PDD23000011 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[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 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 humidit[...]

Chapter 11 Specifications | AS DA-AB Series 11-6 Revision March 2008, Doc. Name: 2007PDD23000011 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 [...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-7 1 1.3 Servo Motor Speed-T orque Cu rves[...]

Chapter 11 Specifications | AS DA-AB Series 11-8 Revision March 2008, Doc. Name: 2007PDD23000011 1 1.4 Overload Characteristics  Overload Protection Function Overload protection is a built-in protective f unction to prevent a motor from ove rheating.  Occasion of Overload 1. Motor was operated for several seco nds under a torque exceed ing 10[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-9  Chart of load and operating time (ECMA-C3060 2  ) 0. 1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rat ed t orque) Operat ing Ti m e (s ec on ds ) Load Operating Time 120% 213.6s 140% 42.3s 160% 21.8s 180% 13.7s 200% 9.2s 220% 6.9s 24[...]

Chapter 11 Specifications | AS DA-AB Series 11-10 Revision March 2008, Doc. Name: 2007PDD23000011  Chart of load and operating time (ECMA-C3080 4  ) 0. 1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rated t orque) Operat ing T im 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 24[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-11  Chart of load and operating time (ECMA-C3101 0  ) 0. 1 1 10 100 1000 0 50 100 150 200 250 30 0 Load (% rated t orque) Operat ing T im 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% 4.4[...]

Chapter 11 Specifications | AS DA-AB Series 11-12 Revision March 2008, Doc. Name: 2007PDD23000011  Chart of load and operating time (ECMA-G31303  ) 0. 1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rated t orque) Operat ing T im 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 2[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-13  Chart of load and operating time (ECMA-G31306  ) 0. 1 1 10 100 1000 0 50 100 150 200 250 300 Load (% rat ed t orque) Operat ing T im 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[...]

Chapter 11 Specifications | AS DA-AB Series 11-14 Revision March 2008, Doc. Name: 2007PDD23000011  Chart of load and operating time (ECMA-E3131 0  ) 0. 1 1 10 100 1000 0 50 100 150 200 250 30 0 Load (% rated t orque) Operat ing T i m e (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% 3.1[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-15  Chart of load and operating time (ECMA-E3132 0  ) 0. 1 1 10 100 1000 0 50 100 150 200 250 300 Load (% ) rat ed t orque Operat ing Ti m e (s ec on ds ) Load Operating Time 120% 185.78s 140% 36.78s 160% 18.98s 180% 11.95s 200% 8s 220% 5.99s 240[...]

Chapter 11 Specifications | AS DA-AB Series 11-16 Revision March 2008, Doc. Name: 2007PDD23000011 1 1.5 Dimensions of Servo Drive Order P/N: ASD-A0111-AB, ASD-A021 1-AB, ASD-A0411-AB (100W ~ 4 00W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)). 3) In this manual, actual measur[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-17 Order P/N: ASD-A0121-AB, ASD-A022 1-AB, ASD-A0421-AB (100W ~ 4 00W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)). 3) In this manual, actual measured values are in metric units. D[...]

Chapter 11 Specifications | AS DA-AB Series 11-18 Revision March 2008, Doc. Name: 2007PDD23000011 Order P/N: ASD-A0721-AB, ASD-A102 1-AB, ASD-A1521-AB (750W ~ 1.5 kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)). 3) In this manual, actual measured values are in metric units. [...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-19 Order P/N: ASD-A2023-AB (2 kW) WEIGHT 3.0 (6.6) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilogram s (kg) and (pou nds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) a re fo[...]

Chapter 11 Specifications | AS DA-AB Series 11-20 Revision March 2008, Doc. Name: 2007PDD23000011 1 1.6 Dimensions of Servo Motor Motor Frame Size: 80mm and belo w Models Model C30401  S C30602  S C30604  S C30804  7 C30807  S LC 40 60 60 80 80 LZ 4.5 5.5 5.5 6.6 6.6 LA 46 70 70 90 90 S 8 14 14 14 19 LB 30 50 50 70 70 LL (without bra[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-21 Motor Frame Size: 100mm and abov e Models Model G31303  S E31305  S G31306  S G31309  S C31010  S LC 130 130 130 130 100 LZ 9 9 9 9 9 LA 145 145 145 145 115 S 22 22 22 22 22 LB 110 110 110 110 95 LL (without brake) 147.5 147.5 147.5 163.[...]

Chapter 11 Specifications | AS DA-AB Series 11-22 Revision March 2008, Doc. Name: 2007PDD23000011 Motor Frame Size: 100mm and abov e Models Model E31310  S E31315  S C31020  S G31320  S E31820  S LC 130 130 100 130 180 LZ 9 9 9 9 13.5 LA 145 145 115 145 200 S 22 22 22 22 35 LB 110 110 95 110 114.3 LL (without brake) 147.5 167.5 199 1[...]

Chapter 11 Specifications | AS DA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 11-23 1 1.7 EMI Filters Selection Item Power Servo Drive Model EMI Filter Model 16DRT1W3S (1-pha se) 1 100W ASD-A0121-AB 10TDT1W4C (3-phase) 16DRT1W3S (1-pha se) 2 200W ASD-A0221-AB 10TDT1W4C (3-phase) 16DRT1W3S (1-pha se) 3 400W ASD-A0421-AB 10TDT1W4C (3-ph[...]

Chapter 11 Specifications | AS DA-AB Series 11-24 Revision March 2008, Doc. Name: 2007PDD23000011 This page intentionally left blank.[...]

Revision March 2008, Doc. Name: 2007PDD23000011 12-1 Chapter 12 Application Examples 12.1 Position Control (including homing function) Suppose that the machine will move to limit switch (C CWL), L.S.1 when motor is in forward rotation (from motor shaft view) and the machine will move to limit swit ch (CWL), L.S.2 when motor is in reverse rotation, [...]

Chapter 12 Application Examples | ASDA-AB Series 12-2 Revision March 2008, Doc. Name: 2007PDD23000011  P1-50=0, P1-51=0 (Homing offset rotation / pulse nu mber)  Other relevant parameters: P1-34, P1-3 5, P1-36 (A cceleration/Deceleration time setting); P1-48, P1-49 (Speed setting of high/low speed Homin g) Operation  Re-start the power to [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-3 12.2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered eve ry time (10000/4=2500Pulse). Parameters Setting  P1-01=1 (Position control (Pr) mode setting)  P2-10=101 (Servo On (SON), default: DI1)  P2-11=108 (Comma[...]

Chapter 12 Application Examples | ASDA-AB Series 12-4 Revision March 2008, Doc. Name: 2007PDD23000011 12.3 Connecting to Delt a DVP-EH Series PLC Delta servo drives can be connected to Delta DVP-EH serie s PLC and provide functions including: home, JOG operation, acceleration/deceleration setting, relati ve position control, absolu te position cont[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-5 X1 M5 RS T M 1 0 RS T M 1 2 RS T M 1 3 SE T S 0 ZE R O X0 ST O P ( M 1 334 ) St o p ch 0 pu l s e ou t p u t M1 0 0 0 N or m al ly o n c o nt act ( a c ont ac t ) ( M 1 346 ) ZR N CL E A R ou tp ut si gn a l e nab l e S0 ZE R O ( M5 ) S1 0 JO G + [...]

Chapter 12 Application Examples | ASDA-AB Series 12-6 Revision March 2008, Doc. Name: 2007PDD23000011 X5 M5 RS T M 1 2 RS T M 1 3 SE T S 1 3 R EV PO S RE V P O S M10 X2 RS T M 1 2 RS T M 1 3 SE T S 1 0 J OG+ JO G + M5 X3 RS T M 1 2 RS T M 1 3 SE T S 11 J OG- JO G - M5 S0 K500 0 0 X1 0 SE T M 1 0 RS T S 0 ZE R O ZE R O M5 0 S DZ R N K 50 0 0 Y 0 M5 [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-7 S1 0 K 9 999 9 9 Y 0 RS T M10 29 JO G + M51 S DD R V I K 3 0 0 0 0 Y 1 M10 00 M1 0 29 P L SY Y 0 i n s t r uc t i on ex e c u tion co mp l e t e d f l ag N or m al l y on c o nt a ct (a c on t ac t) ( M 5 1 ) X2 J OG- RS T S 10 JO G + M1 3 36 M51 [...]

Chapter 12 Application Examples | ASDA-AB Series 12-8 Revision March 2008, Doc. Name: 2007PDD23000011 S1 3 K10 0 0 0 0 Y0 M54 S D D R VA K1 0 0 00 Y 1 M54 M1 0 00 No r ma l l y on cont a ct ( a co n ta ct) ( M 101 ) RE V P O S RS T S 13 M1 3 36 M10 1 C h 0 pu ls e s en d f l ag SET M 1 3 M1029 ( M 5 4 ) P L SY Y 0 i n s t r uc t i on ex e c u tion [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-9 12.4 Connecting to Delt a TP04 Series Delta servo drives can be connected to Delta TP04 Se rie s Operation Interface Panel and provide functio ns including: Home, JOG operation, Position learni ng fu nction, Relative position control, Absolute pos[...]

Chapter 12 Application Examples | ASDA-AB Series 12-10 Revision March 2008, Doc. Name: 2007PDD23000011[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-11 12.5 Position Control Mode (Pr Mode)  Relevant Parameters Des cription Parameter Communication Address Parameter Description P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33 0121[...]

Chapter 12 Application Examples | ASDA-AB Series 12-12 Revision March 2008, Doc. Name: 2007PDD23000011  Trigger Timing Charts (1) Timing Chart of Internal Position Reg ister Selection P8 P3 P2 P1 PO S 0 PO S 1 CT RG SO N E x ter na l I / O s i g n al OFF ON OFF ON ON OF F ON >2 m s, ca n b e se t b y P2 -0 9 PO S 2 ON OFF In ter na l po s i t[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-13 (3) Command Abort Timing Chart: To use command abort fun ction, set parameter P2-50 to 2. At this time, if CCLR signal is ON when the motor is running, the motor will decelerate first and stop a ccording to the deceleration time which is set by p[...]

Chapter 12 Application Examples | ASDA-AB Series 12-14 Revision March 2008, Doc. Name: 2007PDD23000011 12.6 Feed S tep Control  Relevant Parameters Des cription Parameter Communication Address Parameter Description P1-01 0101H Control Mode and Output Dire ction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-12 010CH Torque Limi[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-15 Parameter Communication Address Parameter Description P1-50 0132H Homing Offset Rotation Number P1-51 0133H Homing Offset Pulse Num ber Total homing offset pulse number =P1-50 x 10000 + P1-51 P1-55 0137H Maximum Speed Limit P2-36 0224H Moving Spe[...]

Chapter 12 Application Examples | ASDA-AB Series 12-16 Revision March 2008, Doc. Name: 2007PDD23000011 DO Signal Parameter Setting Explanation DO1 P2-18 = 101 DO2 P2-19 = 103 DO3 P2-20 = 109 DO4 P2-21 = 105 DO5 P2-22 = 107 Please refer to “Definition of DO Signal s” in the following sect ion. NOTE 1) Please set parameter P2-08 to 12 before cha [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-17  Definitions of INDEX0~4 (ON=1, OFF=0) Item INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 INDEX NUMBER 1 0 0 0 0 0 INDEX 1 2 0 0 0 0 1 INDEX 2 3 0 0 0 1 0 INDEX 3 4 0 0 0 1 1 INDEX 4 5 0 0 1 0 0 INDEX 5 6 0 0 1 0 1 INDEX 6 7 0 0 1 1 0 INDEX 7 8 0 0 1 1 1[...]

Chapter 12 Application Examples | ASDA-AB Series 12-18 Revision March 2008, Doc. Name: 2007PDD23000011  Definitions of DO Signals (ON=1, OFF=0 ) Item DO5 DO4 DO3 DO2 D01 Description 1 0 0 0 0 0 ALRAM 2 0 0 0 0 1 SERVO READY 3 0 0 0 1 0 HOMI NG (un der operation ) 4 0 0 0 1 1 HOME Completed 5 0 0 1 0 0 CHANGE INDEX (under operation) 6 0 0 1 0 1 I[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-19 3) When return back to “Home” (Homin g), DO=2 4) When returning back to “Home” i s completed, DO=3 5) When feed step function is undergoing, DO =4 6) When feed step function is completed (I n positio n), the corresponding INDEX NUMBER wil[...]

Chapter 12 Application Examples | ASDA-AB Series 12-20 Revision March 2008, Doc. Name: 2007PDD23000011 (2) Feed Step Control Mode Power Suppl y ON OF F DO V ALUE Moto r Speed CCLR IDX V alu e 1 0 ON OF F ON OF F ON OFF To r q u e Limit MD1 MD0 CI CI I NDEX 2 (06) CI INDE X 6 (0A) Servo ON P2-45 Step No. 2 Ste p No. 6 Step No . P2-47 ON OFF NOTE 1) [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-21 (3) Manually Single Step Control Mode 1 Power Suppl y ON OFF DO V A LUE I NDEX4 Motor Spee d STEPU IDX V a lu e ON OFF ON OFF ON OFF To r q u e Limit MD1 MD0 Servo ON P2-45 I NDEX 2 auto runn i ng manual ly feed fo rw ard CI CI INDE X 2 CI I NDEX[...]

Chapter 12 Application Examples | ASDA-AB Series 12-22 Revision March 2008, Doc. Name: 2007PDD23000011 (4) Manually Single Step Control Mode 2 Powe r Suppl y ON OF F DO V ALUE IN DE X 4 Motor Spee d IDX V alu e ON OFF To r q u e Limit Servo ON IND EX 2 CI INDEX 2 CI IND EX 3 CI INDE X 4 CI IN DEX 3 ON OF F ON OFF MD1 MD0 ON OF F MDP0 auto runni ng [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-23 (5) Manually Continuous Step Control Mode Power Supply ON OFF DO VALUE IND EX 4 Moto r Sp eed IDX V a lu e ON OF F T orque Limi t Servo ON INDEX 2 CI IND EX 2 CI IN DE X 3 CI I NDEX 4 CI IN DE X 5 MD0 ON OF F ON OF F MD1 ON OF F MDP1 auto runni n[...]

Chapter 12 Application Examples | ASDA-AB Series 12-24 Revision March 2008, Doc. Name: 2007PDD23000011  Communication Control Example Explanation Communication Address Communication Content Explanation H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H 020 Torqu e decre[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-25 12.7 Internal Auto Running Mode  Relevant Parameters Des cription Parameter Communication Address Parameter Description P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33 0121H Pos[...]

Chapter 12 Application Examples | ASDA-AB Series 12-26 Revision March 2008, Doc. Name: 2007PDD23000011 When the setting value of the time listed below is se t to zero(0), the relative position will be ignored. Positioning Point Position Command Register Moving Speed Register Dwell Time Register INDEX1 ( P1-15, P1-16 ) P2-36 (V1) P2-52 (T1) INDEX2 ([...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-27  Definitions of DO Signals (ON:1, OFF:0) Item DO5 DO4 DO3 DO2 DO1 Function 1 0 0 0 0 0 ALARM 2 0 0 0 0 1 SERVO READY 3 0 0 0 1 0 HOMEING (under ope ration) 4 0 0 0 1 1 HOME Completed 5 0 0 1 0 0 CHANGE INDEX (under operation) (CHANGE INDEX her[...]

Chapter 12 Application Examples | ASDA-AB Series 12-28 Revision March 2008, Doc. Name: 2007PDD23000011 (2) Auto Running Mode Powe r Supp ly ON OFF DO V ALUE INDEX4 Motor Spe ed Serv o ON CI T1 HOME (3) T1 CI T2 CI T8 CI AUTOR OFF V1 V2 IDX1 ID X2 IDX8 (3) Manual Control Mode 1 Power Supp ly ON OFF DO V ALU E INDEX4 Motor Speed Serv o ON CI HOME (3)[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-29 (4) Manual Control Mode 2 Power Supply ON OFF DO V ALUE INDEX4 Moto r S peed Servo ON CI CI CI AUTOR V1 V2 IDX 1 IDX2 IDX 1 ON OFF STEPB ON OFF[...]

Chapter 12 Application Examples | ASDA-AB Series 12-30 Revision March 2008, Doc. Name: 2007PDD23000011 12.8 Homing Function  Relevant Parameters Des cription Parameter Communication Address Parameter Description P1-47 012FH Homing Mode No use A : Home Se nsor T ype a nd Homing Dir ect io n B: Homi ng Movin g Meth od C : Hom ing Setti ng Enab le [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-31 A=2: Forward homing and ORGP (Reference “Home ” sens or) is regarded as a referen ce “Home”. At this time, users can set B=0, i.e. return to find Z-phas e pulse durin g homing and regard Z-phase pulse as a precise mechanical “Home” or[...]

Chapter 12 Application Examples | ASDA-AB Series 12-32 Revision March 2008, Doc. Name: 2007PDD23000011 D: Homing Stop Setting D=0: After detecting “Home”, the motor will decelerat e and return to “Home”. After get the home sensor signal in 2nd step speed operatio n, the motor will de celerate and stop. After the servo motor stops, the then [...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-33 2. Enable homing function by input contact (SHOM) (C=2) POW ER ON refe r to homing ti ming char t time SER VO READY SER VO ON HOME TRIG GER HOM ING HOMING COMPLETED Homing Timing Charts 1. B/A = 0/0 or B/A = 0/2 Posi ti on Z p u l s e CCW L / O R[...]

Chapter 12 Application Examples | ASDA-AB Series 12-34 Revision March 2008, Doc. Name: 2007PDD23000011 2. B/A = 0/1 or B/A = 0/3 Pos iti on Z p u l s e CWL / OR GP SPEED 3. B/A = 1/2 Posi ti on Z p u l s e ORGP SPEED 4. B/A = 1/3 Pos iti on Z p u l s e ORG P SPEED[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-35 5. B/A = 2/2 Pos iti on ORG P SPEED 6. B/A = 2/3 Pos iti on ORG P SPEED 7. B/A = 2/4 Pos iti on SPEED Z p u l s e[...]

Chapter 12 Application Examples | ASDA-AB Series 12-36 Revision March 2008, Doc. Name: 2007PDD23000011 8. B/A = 2/5 Pos iti on SPEED Z p u l s e[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-37 12.9 External Controller Connection Examples  Connecting to Delta DVP-EH PLC[...]

Chapter 12 Application Examples | ASDA-AB Series 12-38 Revision March 2008, Doc. Name: 2007PDD23000011  Connecting to Delta DVP-01PU[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-39  Connecting to Mitsubishi FX1PG[...]

Chapter 12 Application Examples | ASDA-AB Series 12-40 Revision March 2008, Doc. Name: 2007PDD23000011  Connecting to Mitsubishi FX2N1PG[...]

Chapter 12 Application Examples | ASDA-A B Series Revision March 2008, Doc. Name: 2007PDD23000011 12-41  Connecting to Mitsubishi AD75[...]

Chapter 12 Application Examples | ASDA-AB Series 12-42 Revision March 2008, Doc. Name: 2007PDD23000011 This page intentionally left blank.[...]

Revision March 2008, Doc. Name: 2007PDD23000011 A-1 Appendix A Accessories  Power Connectors Delta Part Number: ASDBCA PW0000 Title Part No. Manufacturer Housing C 4201H00-2 *2PA J OWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASDBCA PW0100 Title Part No. Manufacturer Housing C 4201H00-2 *3PA J OWLE Terminal C4201TOP-2 JOWLE Delta Part Numbe[...]

Appendix A Accessories | ASDA-AB Series A-2 Revision March 2008, Doc. Name: 2007PDD2 3000011  Power Cables Delta Part Number: ASD-ABPW0003, ASD-ABPW0 005 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE L Title Part No. mm inch 1 ASD-ABPW0003 3000 ± 100 118 ± 4 2 ASD-ABPW0005 5000 ± 100 197 ± 4 Delta Part Nu[...]

Appendix A Accessories | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 A-3  Power Cables, cont. Delta Part Number: ASD-CAPW1003, ASD-CAPW1 005 L Title Part No. Straight mm inch 1 ASD-CAPW1003 3106A-20-18 S 3000 ± 100 118 ± 4 2 ASD-CAPW1005 3106A-20-18 S 5000 ± 100 197 ± 4 Delta Part Number: ASD-CAPW1103, ASD-CAPW1 105 L (80 [...]

Appendix A Accessories | ASDA-AB Series A-4 Revision March 2008, Doc. Name: 2007PDD2 3000011  Power Cables, cont. Delta Part Number: ASD-CAPW1203, ASD-CAPW1 205 (100 mm) L (3.94 inch) (3.15 inch) (80mm) L Title Part No. Straight mm inch 1 ASD-CAPW1203 3106A-20-18 S 3000 ± 100 118 ± 4 2 ASD-CAPW1205 3106A-20-18 S 5000 ± 100 197 ± 4 Delta Part[...]

Appendix A Accessories | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 A-5  Power Cables, cont. Delta Part Number: ASD-CAPW2203, ASD-CAPW2 205 (80mm) (3.15 inc h) L (100 mm) (3.94 inch) L Title Part No. Straight mm inch 1 ASD-CAPW2203 3106A-24-11 S 3000 ± 100 118 ± 4 2 ASD-CAPW2205 3106A-24-11 S 5000 ± 100 197 ± 4 Delta Part[...]

Appendix A Accessories | ASDA-AB Series A-6 Revision March 2008, Doc. Name: 2007PDD2 3000011  Encoder Connectors Delta Part Number: ASD- ABEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (17035 9-3) AMP MOTOR SIDE CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3 000PE 3M DRIVE SIDE SHELL 3M 10320-5 2A0-008 3M Delta Par[...]

Appendix A Accessories | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 A-7  Encoder Cables Delta Part Number: ASD-ABEN0003, ASD-ABEN0 005 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP MOTOR SIDE CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120 -3000PE 3M DRIVE SIDE SHELL 3M 10320-52A0-008 3M L [...]

Appendix A Accessories | ASDA-AB Series A-8 Revision March 2008, Doc. Name: 2007PDD2 3000011  I/O Signal Connector (CN1) Delta Part Number: ASD- CNSC0050 Vendor Name Vendor P/N 3M TAIWAN LTD 10150-3000PE 3M TAIWAN LTD 10350-52A0-008  Communication Cable bet w een Driv e and Computer (for PC) Delta Part Number: ASD-CA RS0003 Part No. Item 1 AS[...]

Appendix A Accessories | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 A-9  Servo Drive, Servo Motor and Acces sories Combinations 100W Servo Drive and 100W Lo w Inertia Servo Motor Servo Drive ASD-A0121-AB Low inertia Servo Motor ECMA-C30401  S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-ABPW0003 Motor Power C[...]

Appendix A Accessories | ASDA-AB Series A-10 Revision March 2008, Doc. Nam e: 2007PDD23000011 400W Servo Drive and 500W Medium Inertia Serv o Motor Servo Drive ASD-A0421-AB Medium inertia Servo Motor ECMA-E31305  S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Mo[...]

Appendix A Accessories | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 A-11 750W Servo Drive and 600W High Iner tia Servo Motor Servo Drive ASD-A0721-AB High inertia Servo Motor ECMA-G31306  S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor P[...]

Appendix A Accessories | ASDA-AB Series A-12 Revision March 2008, Doc. Nam e: 2007PDD23000011 1kW Servo Drive and 900W High Iner tia Servo Motor Servo Drive ASD-A1021-AB High inertia Servo Motor ECMA-G31309  S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor P[...]

Appendix A Accessories | ASDA-AB Series Revision March 2008, Doc. Name: 2007PDD23000011 A-13 2kW Servo Drive and 2kW Medium Inertia Serv o Motor Servo Drive ASD-A2023-AB Medium inertia Servo Motor ECMA-E31320  S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor[...]

Appendix A Accessories | ASDA-AB Series A-14 Revision March 2008, Doc. Nam e: 2007PDD23000011 This page intentionally left blank.[...]