Delta Electronics ASD-A0121LA User Manual Download Page 126

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Chapter 6 Control Modes of Operation

ASDA-A&A+ Series

Revision April 2009

6-13

When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness

will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate.

At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating. When

there is an external torque command interrupted, over low KPP value will let the motor cannot overcome

the external strength and fail to meet the requirement of reasonable position track error demand. Adjust

feed forward gain, PFG (P2-02) to efficiently reduce the dynamic position track error.

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Call 1(800)985-6929 for Sales

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[email protected]

Summary of Contents for ASD-A0121LA

Page 1: ...Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com...

Page 2: ...nd adjusting methods of AC servo drives z Parameter settings z Communication protocol z Inspection and maintenance z Troubleshooting z Application examples Who should use this manual This user manual...

Page 3: ...afety standards They are provided with precise feedback control and high speed calculation function incorporating DSP Digital Signal Processor technology and intended to drive three phase permanent ma...

Page 4: ...form trial run without load first and then perform trial run with load connected After the servo motor is running normally and regularly without load then run servo motor with load connected Ensure to...

Page 5: ...orm the wiring again with proper tools Never use force to remove the terminals or wires Otherwise it may result in malfunction or damage NOTE 1 In this manual actual measured values are in metric unit...

Page 6: ...es 2 1 2 2 Storage Conditions 2 1 2 3 Installation Conditions 2 2 2 4 Installation Procedure and Minimum Clearances 2 3 Chapter 3 Connections and Wiring 3 1 3 1 Connections 3 1 3 1 1 Connecting to Per...

Page 7: ...Connector CN3 3 38 3 6 Standard Connection Example 3 39 3 6 1 Position Pt Control Mode 3 39 3 6 2 Position Pr Control Mode 3 40 3 6 3 Speed Control Mode 3 41 3 6 4 Torque Control Mode 3 42 Chapter 4...

Page 8: ...out Load 5 11 5 6 Tuning Procedure 5 14 5 6 1 Tuning Flowchart 5 15 5 6 2 Load Inertia Estimation Flowchart 5 16 5 6 3 Easy Mode Tuning Flowchart 5 17 5 6 4 AutoMode PI Tuning Flowchart 5 20 5 6 5 Aut...

Page 9: ...alog Speed Input Scaling 6 19 6 3 5 Timing Chart of Speed Control Mode 6 20 6 3 6 Speed Loop Gain Adjustment 6 20 6 3 7 Resonance Suppression 6 28 6 4 Torque Control Mode 6 31 6 4 1 Command Source of...

Page 10: ...US Communications 8 1 8 1 Communication Hardware Interface 8 1 8 2 Communication Parameter Settings 8 5 8 3 MODBUS Communication Protocol 8 9 8 4 Communication Parameter Write in and Read out 8 17 Cha...

Page 11: ...ries 11 21 11 10 Dimensions of Medium Inertia Servo Motor ASMT M Series 11 23 11 11 Dimensions of Medium High Inertia Servo Motor ECMA Series 11 24 Chapter 12 Application Examples 12 1 12 1 Position C...

Page 12: ...rd to serve you needs and willing to offer our best support and service to you Reach us by the following ways ASIA DELTA ELECTRONICS INC Taoyuan Plant 1 31 1 XINGBANG ROAD GUISHAN INDUSTRIAL ZONE TAOY...

Page 13: ...s ASDA A A Series Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales d...

Page 14: ...from or your local Delta sales representative A complete and workable AC servo system should be including the following parts Part I Delta standard supplied parts 1 Servo drive 2 Servo motor 3 5 PIN T...

Page 15: ...og product 4 CN2 Connector 20 PIN Connector 3M type analog product 5 CN3 Connector 6 PIN Connector IEEE1394 analog product 1 2 Model Explanation 1 2 1 Nameplate Information ASDA A Series Servo Drive N...

Page 16: ...erial Number Explanation ASDA A Series Servo Drive Nameplate Explanation Serial Number Explanation ECMA Series Servo Motor Nameplate Explanation Call 1 800 985 6929 for Sales deltaacdrives com sales d...

Page 17: ...Series 1 4 Revision April 2009 Serial Number Explanation 1 2 2 Model Name Explanation ASDA A Series Servo Drive Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985...

Page 18: ...d Model Explanation ASDA A A Series Revision April 2009 1 5 ASMT Series Servo Motor Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives...

Page 19: ...nation ASDA A A Series 1 6 Revision April 2009 ASDA A Series Servo Drive ECMA Series Servo Motor Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales d...

Page 20: ...1 2 for model explanation ASDA A Series Servo Drive Servo drive Servo motor 100W ASD A0121L ASMT01L250 200W ASD A0221L ASMT02L250 400W ASD A0421L ASMT04L250 750W ASD A0721L ASMT07L250 1000W ASD A1021L...

Page 21: ...d for size power rating If the power of motor and drive is not within the specifications the drive and motor may overheat and servo alarm would be activated For the detail specifications of servo driv...

Page 22: ...nation ASDA A A Series Revision April 2009 1 9 1 4 Servo Drive Features ASDA A Series Servo Drive Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales...

Page 23: ...el Explanation ASDA A A Series 1 10 Revision April 2009 ASDA A Series Servo Drive 4 5 kW Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdr...

Page 24: ...el Explanation ASDA A A Series Revision April 2009 1 11 ASDA A Series Servo Drive 5 5 kW Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdr...

Page 25: ...el Explanation ASDA A A Series 1 12 Revision April 2009 ASDA A Series Servo Drive 7 5 kW Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdr...

Page 26: ...rvo motor can be achieved via parameters set within the controller or from an external analog 10 10 Vdc command Control of the internal torque parameters is via the Digital Inputs DI A maximum of thre...

Page 27: ...l Explanation ASDA A A Series 1 14 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacd...

Page 28: ...of the encoder cable and motor connection cable connected to U V W terminals Make sure to tighten the screws for securing motor 2 2 Storage Conditions The product should be kept in the shipping carton...

Page 29: ...if the vibration has impacted the electric devices in the control panel Please observe the following precautions when selecting a mounting location Failure to observe the following precautions may vo...

Page 30: ...pacing of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional space may be necessary for wiring and cable connections Also as the drive conducts hea...

Page 31: ...A Series 2 4 Revision April 2009 Minimum Clearances For models of 5 5kW and below For 7 5kW model Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales...

Page 32: ...eries Revision April 2009 2 5 Side by Side Installation For models of 5 5kW and below For 7 5kW model Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sa...

Page 33: ...Storage ASDA A A Series 2 6 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives c...

Page 34: ...signals and gives typical examples of wiring diagrams 3 1 Connections 3 1 1 Connecting to Peripheral Devices In Figure 3 1 and 3 2 it briefly explains how to connect each peripheral device Figure 3 1...

Page 35: ...l block module ASD BM 50A are all optional parts not Delta standard supplied part Refer to Appendix A 2 Check if the wiring of control circuit power L1 L2 and main circuit power R S T are correct Call...

Page 36: ...C and ensure an open circuit between P P and D When using an internal resistor ensure the circuit is closed between P P and D and the circuit is open between P P and C 5 If a fault or emergency stop...

Page 37: ...nsure an open circuit between P P and D P P Main circuit terminal Main circuit terminal Braking unit is suitable for 2kW and above models When using braking unit ensure to connect terminal of the brak...

Page 38: ...les connected to them after the power has been turned off and the charge LED is lit Please refer to the Safety Precautions on page ii 4 The cables connected to R S T and U V W terminals should be plac...

Page 39: ...e available In the wiring diagram figures 3 3 3 4 Power ON contact a normally open Power OFF or Alarm Processing contact b normally closed MC coil of electromagnetic contactor self holding power conta...

Page 40: ...A Series Revision April 2009 3 7 Figure 3 4 Three Phase Power Supply Connection for all models Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales de...

Page 41: ...0W ASMT 04L250A 750W ASMT 07L250A 1 2 3 4 A 100W ASMT 01L250B 200W ASMT 02L250B 400W ASMT 04L250B 750W ASMT 07L250B 1 2 3 4 5 6 B ASMT 10L250 1kW ASMT 10M250 1 5kW ASMT 15M250 2kW ASMT 20L250 3kW ASMT...

Page 42: ...1875 3 E Terminal Identification U V W CASE GROUND E A B C D Servo Drive Power Rating Motor Part Number Description Electromagnetic Brake Connector Terminal Identification 5 5kW ECMA F21855 3 7 5kW EC...

Page 43: ...ASMT 04L250 750W ASMT 07L250 A ASMT 10L250 1kW ASMT 10M250 1 5kW ASMT 15M250 ASMT 20L250 2kW ASMT 20M250 ASMT 30L250 3kW ASMT 30M250 ECMA F21830 S ECMA E21835 S 4 5kW ECMA F21845 S 5 5kW ECMA F21855...

Page 44: ...SD A2023MA ASMT15M250 1 3 AWG16 2 1 AWG14 2 1 AWG14 3 3 AWG12 ASD A3023LA ASMT20M250 1 3 AWG16 3 3 AWG12 3 3 AWG12 3 3 AWG12 ASD A3023MA ASMT30M250 1 3 AWG16 3 3 AWG12 3 3 AWG12 3 3 AWG12 Encoder Cabl...

Page 45: ...Drive Wire Size Core Number UL Rating Wire Length ASD A4523 B 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD A5523 B 0 13 AWG26 10 core 4 pair UL2464 3m 9 84 ft ASD A7523 B 0 13 AWG26 10 core 4 pair...

Page 46: ...ies Revision April 2009 3 13 3 2 Basic Wiring Figure 3 5 Basic Wiring Schematic of 100W 1 5kW models Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sal...

Page 47: ...DA A A Series 3 14 Revision April 2009 Figure 3 6 Basic Wiring Schematic of 2kW 3kW models Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaac...

Page 48: ...ASDA A A Series Revision April 2009 3 15 Figure 3 7 Basic Wiring Schematic of 4 5kW model Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacd...

Page 49: ...A A Series 3 16 Revision April 2009 Figure 3 8 Basic Wiring Schematic of 5 5kW 7 5kW models Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales delta...

Page 50: ...tion inputs and reference voltages ii 8 programmable Digital Inputs DI can be set via parameters P2 10 P2 17 iii 5 programmable Digital Outputs DO can be set via parameters P2 18 P2 22 A detailed expl...

Page 51: ...power output for external I O 43 PULSE Pulse input Analog speed input Analog torque Input 19 GND 44 GND 20 VCC Analog input signal ground 45 COM Analog input signal ground 12V power output for analog...

Page 52: ...of pulse inputs Open Collector and Line Driver Three different pulse commands can be selected via parameter P1 00 Quadrature CW CCW pulse Pulse Direction C3 C4 1 Position Pulse Input PULL HI 35 Shoul...

Page 53: ...and non changeable however all of the assigned signals and control modes are user changeable For Example the factory default setting of DO5 pins 28 27 can be assigned to DO1 pins 7 6 and vise versa T...

Page 54: ...ivate once the motor is in 99 pulses range of the target position then deactivate after it reaches 99 pulses range of the desired position TQL 06 Not assigned TQL is activated when the drive has detec...

Page 55: ...Alarms can be cleared by activating ARST Please see table 10 3 for applicable faults that can be cleared with the ARST command However please investigate Fault or Alarm if it does not clear or the fa...

Page 56: ...ON or a fault ALE13 will display CWL 22 Pt Pr S T Sz Tz 32 Reverse inhibit limit It should be contact b and normally ON or a fault ALE14 will display CCWL 23 Pt Pr S T Sz Tz 31 Forward inhibit limit I...

Page 57: ...tion AUTOR 42 Pr Auto run input When AUTOR is activated the motor will run automatically according to internal position command For time interval setting please see P2 52 to P2 59 GNUM0 43 Pt Pr Pt S...

Page 58: ...nd TCM1 TCM0 Parameter OFF OFF T mode analog input Tz mode 0 OFF ON P1 12 ON OFF P1 13 ON ON P1 14 The default DI and DO signals in different control mode are listed in the following table 3 G and tab...

Page 59: ...sition command selection 0 DI3 DI3 DI3 POS1 12 Position command selection 1 DI4 DI4 DI4 POS2 13 Position command selection 2 SPD0 14 Speed command selection 0 DI3 DI3 DI3 DI5 DI3 SPD1 15 Speed command...

Page 60: ...ection input 2 bit 2 INDEX3 31 Feed step selection input 3 bit 3 INDEX4 32 Feed step selection input 4 bit 4 MD0 33 Feed step mode input 0 MD1 34 Feed step mode input 1 MDP0 35 Manually continuous ope...

Page 61: ...PD 03 At Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 TSPD 04 At Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 TPOS 05 At Positioning completed DO4 DO4 DO4 DO4 DO4 DO4 DO4 TQL 06 At Torq...

Page 62: ...nals Signal Name Pin No Parameter Signal Name Pin No Parameter DI1 9 P2 10 DO1 7 DI2 10 P2 11 DO1 6 P2 18 DI3 34 P2 12 DO2 5 DI4 8 P2 13 DO2 4 P2 19 DI5 33 P2 14 DO3 3 DI6 32 P2 15 DO3 2 P2 20 DI7 31...

Page 63: ...nput and Open collector input Max input pulse frequency of Line driver input is 500kpps and max input pulse frequency of Open collector input is 200kpps C3 1 Pulse input for the use of internal power...

Page 64: ...ground terminal of the controller and the servo drive should be connected to each other Because this photocoupler is a unidirectional optocoupler please pay close attention on the current direction o...

Page 65: ...e is correct or it may damage the drive DOX DOX DOX DO1 7 6 X 1 2 3 4 5 DO2 5 4 DO3 3 2 DO4 1 26 DO5 28 27 17 45 C7 Wiring of DO signal for the use of external power supply general load C8 Wiring of D...

Page 66: ...use of external power supply PNP transistor with multiple emitter fingers SOURCE Mode C11 Wiring of DI signal for the use of internal power supply C12 Wiring of DI signal for the use of external powe...

Page 67: ...s 3 34 Revision April 2009 C13 Encoder output signal Line driver C14 Encoder output signal Photocoupler Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for...

Page 68: ...e amplifier of the UVW signals for commutation is via the ABZ encoder signal wires Following rotor position sensing the amplifier automatically switches to encoding for commutation control The 2500PPR...

Page 69: ...phase input Z F 5 Encoder Z phase output 14 16 Encoder power 5V S 7 Encoder 5V power 13 15 Encoder power GND R 8 Grounding Shielding Shielding L 9 Shielding ASDA A Series PIN No Signal Name Terminal I...

Page 70: ...232 TX For data transmission of the servo drive Connected to the RS 232 interface of PC 3 RS 422 data receiving RS 422 RX For data receiving of the servo drive differential line driver end RS 232 data...

Page 71: ...ASDA A A Series 3 38 Revision April 2009 3 5 2 Connection between PC and Connector CN3 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdri...

Page 72: ...input please refer to C3 wiring diagram on page 3 27 2 These terminals are for ASDA A series only In ASDA A series they are marked NC No Connection and must be left unconnected 3 CN2 encoder terminals...

Page 73: ...3 6 2 Position Pr Control Mode Note 1 CN2 encoder terminals for ASDA A series only 2 Please refer to parameter P1 46 in Chapter 7 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives co...

Page 74: ...41 3 6 3 Speed Control Mode Note 1 CN2 encoder terminals for ASDA A series only 2 Please refer to parameter P1 46 in Chapter 7 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com C...

Page 75: ...09 3 6 4 Torque Control Mode Note 1 CN2 encoder terminals for ASDA A series only 2 Please refer to parameter P1 46 in Chapter 7 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com...

Page 76: ...ital Keypad The digital keypad includes the display panel and function keys The Figure 4 1 shows all of the features of the digital keypad and an overview of their functions Figure 4 1 1 100W 5 5kW mo...

Page 77: ...is selected and its value displayed pressing SHIFT key can move the cursor to the left and then change parameter settings blinking digits by using arrow keys UP and DOWN arrow Key Pressing the UP and...

Page 78: ...SHIFT key can switch parameter group and pressing UP or DOWN arrow key can change parameter group code 4 In parameter mode the system will enter into the setting mode immediately after the Set key is...

Page 79: ...de pressing MODE key again can abort parameter setting change 4 3 3 Fault Message Display Display Message Description When the AC servo drive has a fault LCD display will display ALEnn ALE indicates t...

Page 80: ...e monitor status depends on the setting value of P0 02 For example if the setting value of P0 02 is 2 when the power is applied the monitor function will be Pulse counts of pulse command the C P monit...

Page 81: ...ble lists the display examples of monitor value Display Message Description Positive value display No positive sign is displayed to indicate it is a positive value Display value 1234 Negative value di...

Page 82: ...e is 20 r min Step2 Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed This also can be undertaken by using the SHIFT key to move the cursor to the desired unit column the e...

Page 83: ...pressing UP or DOWN arrow key at any time can rotate Servo motor in forward or reverse rotation Servo motor will immediately stop running if releasing the UP or DOWN arrow key This operation is only...

Page 84: ...ommand for Rotation P1 20 3rd Position Command for Pulse JOGo4 P1 21 4th Position Command for Rotation P1 22 4th Position Command for Pulse JOGo5 P1 23 5th Position Command for Rotation P1 24 5th Posi...

Page 85: ...ressing UP or DOWN arrow key can change xx value from 00 to 1F hexadecimal format and force digital outputs DO1 to DO5 to be activated ON or inactivated OFF The DO function and status is determined by...

Page 86: ...DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 ON ON ON ON ON ON ON OFF OFF SET Light 4 4 6 DO Diagnosis Operation Following the setting method in Figure 4 8 can perform DO diagnosis operation parameter P4 09 Ou...

Page 87: ...ation ASDA A A Series 4 12 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives co...

Page 88: ...motor is running normally and regularly without load then run servo motor with load connected Ensure to perform trial run in this order to prevent unnecessary danger After power in connected to AC ser...

Page 89: ...s of various machinery equipment are different in order to avoid accident or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value z Ensure to...

Page 90: ...it wiring Connect power to the AC servo For three phase input power connection and single phase input power connection please refer to Section 3 1 3 3 Turn the Power On The Power includes control circ...

Page 91: ...or incorrect Corrective Actions Check if the users perform wiring recommended in the user manual Examine the encoder connector and cable Inspect whether wire is loose or not Check if the encoder is d...

Page 92: ...ut signal the users only need to confirm that which of digital inputs DI1 DI8 is set to Reverse inhibit limit CWL and check if the digital input signal is ON It should be activated 5 When display show...

Page 93: ...al conductor being exposed 7 When display shows Undervoltage Corrective Actions Check whether the wiring of main circuit input voltage is normal Use voltmeter to check whether input voltage of main ci...

Page 94: ...peration mode automatically STEP 3 The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust the digit number of the displayed value STEP 4 Pressing SET key can determine t...

Page 95: ...ial Run and Tuning Procedure ASDA A A Series 5 8 Revision April 2009 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales delta...

Page 96: ...imit and DI6 is the function of emergency stop DI8 if the users do not set the setting value of parameters P2 15 to P2 17 to 0 Disabled the faults ALE13 14 and 15 will occur For the information of fau...

Page 97: ...N SPD0 it indicates S2 command P1 09 is set to 3000 is selected and the motor speed is 3000r min at this time 4 If only DI4 is ON SPD1 it indicates S3 command P1 10 is set to 100 is selected and the m...

Page 98: ...verse inhibit limit DI7 is the function of forward inhibit limit and DI6 is the function of emergency stop DI8 if the users do not set the setting value of parameters P2 15 to P2 17 to 0 Disabled the...

Page 99: ...ndicates ON Normally Closed The users can set the value of these 8 groups of commands P1 15 P1 30 freely The command can be absolute position command P1 33 0 or relative position command P1 33 1 For e...

Page 100: ...of internal position 1 P1 15 Rotation No P1 16 Pulse No 1 turn is selected and the motor has rotated one turn at this time 3 Set DI3 POS0 to be ON first and then enable DI2 CTRG to be ON it indicates...

Page 101: ...r Inertia J_load J_motor 13 Display the current ratio of Load Inertia to Servo Motor Inertia J_load J_motor 5 0 is default setting 14 Press MODE key to select parameter mode 15 Press SHIFT key twice t...

Page 102: ...Tuning Procedure ASDA A A Series Revision April 2009 5 15 5 6 1 Tuning Flowchart Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com...

Page 103: ...ocedure ASDA A A Series 5 16 Revision April 2009 5 6 2 Load Inertia Estimation Flowchart Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdr...

Page 104: ...eries This parameter allows the users to set the responsiveness level setting of auto tuning mode Users can control the responsiveness according to application condition When the setting value is high...

Page 105: ...al Run and Tuning Procedure ASDA A A Series 5 18 Revision April 2009 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales delta...

Page 106: ...16 The setting of P2 00 and P2 25 must be inputted manually 5 12 16 20Hz 20 12 6 8 12 27Hz 27 9 7 5 8 40Hz 40 6 8 2 5 60Hz 60 4 Medium Responsiveness Level 9 0 2 115Hz 115 2 The setting of P2 00 and P...

Page 107: ...ter allows the users to set the responsiveness level setting of auto tuning mode Users can control the responsiveness according to application condition When the setting value is higher the responsive...

Page 108: ...ting 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 8 250Hz 1 9 and above 300Hz 0 Cal...

Page 109: ...of auto tuning mode ASDA A series This parameter allows the users to set the responsiveness level setting of auto tuning mode Users can control the responsiveness according to application condition Wh...

Page 110: ...iveness P2 31 value B Speed Loop Responsiveness P2 31 value B Speed Loop Responsiveness 0 20HZ 8 120Hz 1 30 HZ 9 140HZ 2 40 HZ A 160HZ 3 50 HZ B 180HZ 4 60 HZ C 200Hz 5 70 Hz D 220Hz 6 80Hz E 260Hz 7...

Page 111: ...n P2 25 Low pass Filter Time Constant of Resonance Suppression Fixed Easy Mode 1 P2 04 P2 06 P2 26 P2 31 Value A Level of Stiffness P2 00 Proportional Position Loop Gain P2 25 Low pass Filter Time Con...

Page 112: ...e the responsiveness of position loop position loop gain It could be used to increase stiffness expedite position loop response and reduce position error When the setting value of KPP is higher the re...

Page 113: ...e of NLP is higher the capability of improving the noise of resonance is better However if the setting value is over high it may easily lead to the instability of speed loop and overshoot of machinery...

Page 114: ...rque control for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 Vdc command Control of the internal torque parameters is via the Digital Inpu...

Page 115: ...before operation and then use POS0 POS2 of DI signals of CN1 to perform positioning control The other setting method is to use serial communication to change the setting value of these eight internal...

Page 116: ...he chatter caused by the noise etc However if the instant input pulse filter frequency is over high the frequency that exceeds the setting value will be regarded as noise and filtered C Logic type 0 P...

Page 117: ...tal position control Using with external I O signals CN1 POS 0 to POS 2 and CTRG can select one of the eight built in parameters to be position command Please refer to the table below Position Command...

Page 118: ...rns Give the position command P1 first and then give the position command P2 The difference between absolute and incremental position control is shown as the figure below 20 turns 10 turns 20 turns 10...

Page 119: ...Position Control The S curve filter is for the position smoothing of motion command Using S curve filter can run the servo motor more smoothly in response to a sudden position command Since the speed...

Page 120: ...Control Modes of Operation ASDA A A Series Revision April 2009 6 7 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales deltaac...

Page 121: ...e 1 20000 Settings 1st to 3rd step deceleration time It is used to determine the deceleration time to decelerate from its rated motor speed to 0 When P1 36 is set to 0 Accel Decel function is disabled...

Page 122: ...32767 Settings Multiple step electronic gear numerator setting Please refer to P2 60 P2 62 P1 45 GR2 Electronic Gear Ratio Denominator Communication Addr 012DH Default 1 Related Section Applicable Con...

Page 123: ...is two pulses For example after the proper electronic gear ratio is set the reference travel distance is 1 m pulse the machinery will become easier to be used Electronic Gear Ratio Corresponding trav...

Page 124: ...parameter P2 00 and Position Feed Forward Gain PFG parameter P2 02 Or use Auto mode to adjust the gain of speed and position control block diagram automatically 1 Proportional Position Loop Gain To i...

Page 125: ...is over high it may generate vibration or noise P2 02 PFG Position Feed Forward Gain Communication Addr 0202H Default 5000 Related Section Applicable Control Mode Pt Pr Section 6 2 8 Unit 0 0001 Rang...

Page 126: ...ve to decrease the value of KPP until the rotor of motor stop oscillating When there is an external torque command interrupted over low KPP value will let the motor cannot overcome the external streng...

Page 127: ...re three turning modes for gain adjustment Manual Auto and Easy modes Manual Mode User defined loop gain adjustment When using this mode all auto and auxiliary function will be disabled Auto Mode Cont...

Page 128: ...urce of speed control according to chapter 6 3 1 including proportional gain P1 40 and S curve filter smoothing strategy of speed control The speed control block diagram is used to manage the gain par...

Page 129: ...cceleration Time TACC P1 35 Deceleration Time TDEC and Accel Decel S curve TSL and the users can use these three parameters to improve the motor performance during acceleration deceleration and operat...

Page 130: ...meter is used to make the motor run more smoothly when startup and windup Using this parameter can improve the motor running stability TSL P1 36 Accel Decel S curve TACC P1 34 Acceleration time TDEC P...

Page 131: ...lso the users can see the difference of input command tracking and can adjust time setting by using parameter P1 34 P1 35 P1 36 to improve the actual motor performance according to actual condition An...

Page 132: ...icable Control Mode S T Section 6 3 4 P1 55 Unit r min Range 0 10000 Settings In Speed mode this parameter is used to set the speed at the maximum input voltage 10V of the analog speed command In Torq...

Page 133: ...ally closed 2 When speed control mode is Sz the speed command S1 0 when speed control mode is S the speed command S1 is external analog voltage input Please refer to P1 01 3 After Servo ON the users c...

Page 134: ...levels of system stiffness Using easy mode can immediately suppress the interference of external load and mechanical resonance and also stand for the load inertia change The mode of gain adjustment c...

Page 135: ...5 auto tuning mode Manual Mode When Tuning Mode Settings of P2 32 is set to 0 the users can define the proportional speed loop gain P2 04 speed integral gain P2 06 feed forward gain P2 07 and ratio o...

Page 136: ...Feed Forward Gain Communication Addr 0207H Default 0 Related Section Applicable Control Mode ALL Section 6 3 6 Unit 0 0001 Range 0 20000 Settings This parameter is used to set the feed forward gain wh...

Page 137: ...Modes of Operation ASDA A A Series 6 24 Revision April 2009 Time Domain Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales d...

Page 138: ...en using frequency domain method and time domain method The users can reduce the responsiveness of input command tracking by using input command low pass filter Easy Mode for ASDA A series only ASDA A...

Page 139: ...ing and F indicates the highest setting total 16 settings available Settings not used A B ASDA A series This parameter allows the users to set the stiffness setting of easy mode and the responsiveness...

Page 140: ...127 1 B 2 8 103Hz 103 2 C 8 15 76Hz 76 3 D 15 25 62Hz 62 4 E 25 50 45Hz 45 5 High Responsiveness Level F 50 100 36Hz 36 6 The setting value of P2 00 and P2 25 must be inputted manually Auto Mode Conti...

Page 141: ...sed to set resonance frequency of mechanical system It can be used to suppress the resonance of mechanical system If P2 24 is set to 0 this parameter is disabled P2 24 DPH Notch Filter Attenuation Rat...

Page 142: ...er Low pass filter Please use parameter P2 25 The figure below shows the resonant open loop gain Gain Frequency When the low pass filter parameter P2 25 is adjusted from 0 to high value the value of L...

Page 143: ...ass Filter Cut off Frequency of Low pass Filter 10000 P2 25 Hz 0db Resonance conditions is suppressed Gain Frequency Gain Frequency Gain Frequency Low pass Frequency Low pass Frequency Resonance Frequ...

Page 144: ...e Tz None Torque command is 0 0 T2 0 1 P1 12 300 T3 1 0 P1 13 300 T4 1 1 Internal parameter P1 14 300 State of TCM0 1 0 indicates OFF Normally Open 1 indicates ON Normally Closed When TCM0 and TCM1 ar...

Page 145: ...s shown as the figure below A D P1 12 1 14 P1 41 P1 01 P1 07 TCM0 TCM1 signal of CN1 Command selection Low pass filter Command source Internal parameter Command source External analog signal Analog si...

Page 146: ...Input Voltage V The torque control ramp is determined by parameter P1 41 Torque command Relevant parameters P1 41 TCM Max Analog Torque Command or Limit Communication Addr 0129H Default 100 Related S...

Page 147: ...ntrol Mode T4 P1 14 T3 P1 13 T2 P1 12 T1 TCM0 TCM1 SON OFF ON OFF ON ON OFF ON Internal speed command External analog voltage or zero 0 External I O signal NOTE 1 OFF indicates normally open and ON in...

Page 148: ...e mode to reduce the use of DI inputs SPD0 1 or TCM0 1 In position mode we recommend that the users can use Pt mode to input pulse to reduce the use of DI inputs POS0 2 Please refer to table 3 B and t...

Page 149: ...and torque mode switching is controlled by the S T signal The timing chart of speed torque control mode selection is shown as the figure below S T NOT CARE NOT CARE SPD0 1 VALID TCM0 1 VALID NOT CARE...

Page 150: ...when T P is OFF it will stop counting pulse even if the pulse command is continuously sent out The torque command is determined by TCM0 1 and the motor will rotate following the command After T P is O...

Page 151: ...ction Settings in parameter P1 02 is set to 0 Command Source Selection of Speed Limit 6 6 2 Torque Limit The command source of torque limit command is the same as torque command It can be the external...

Page 152: ...4 5 20 100 60 10 When the regenerative power exceeds the processing capacity of the servo drive install an external regenerative resistor Please pay close attention on the following notes when using a...

Page 153: ...enerated when braking will transmitted into the capacitance of DC bus After the capacitance voltage exceeds some high value regenerative resistor can dissipate the remained regenerative power Use the...

Page 154: ...ller than regenerative power we recommend the users to use the built in 60W regenerative resistor Usually the built in regenerative resistor provided by ASDA A and ASDA A series servo drives can meet...

Page 155: ...enerative resistors according to the allowable frequency required by actual operation and the allowable frequency when the servo motor runs without load The allowable frequency when the servo motor ru...

Page 156: ...ASDA A Series Allowable frequency when the servo motor run without load times min and uses external regenerative resistor ASMT L 100W 200W 400W 750W 1 0kW 1 5kW 2 0kW 3 0kW Motor Capacity Recommended...

Page 157: ...meters 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 used A CH1 B CH2 AB A CH1 B CH2 0...

Page 158: ...Addr 0104H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit full scale Range 0 100 P1 05 MON2 Analog Monitor Output Proportion 2 CH2 Communication Addr 0105H Default 100 Rel...

Page 159: ...P1 03 A 0 3 output polarity setting In general when output voltage value of Ch1 is V1 the pulse command frequency is equal to Max input frequency V1 8 P1 04 100 Because there is an offset value of an...

Page 160: ...control electromagnetic brake via external controller not by the servo drive the users must execute the function of electromagnetic brake during the period of time when servo motor is braking The brak...

Page 161: ...brake operation The VDD DC24V power supply of the servo drive can be used to power the relay coil Relay When BRKR signal is ON the motor brake will be activated 3 Please note that the coil of brake ha...

Page 162: ...Circuit Power R S T Main Circuit Power BUS Voltage READY SERVO READY SERVO ON DI Input SERVO ON DO Output Position Speed Torque Command Input 1 sec 0msec 800ms 2 sec 1 msec min P2 09 Response Filter...

Page 163: ...peration ASDA A A Series 6 50 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives...

Page 164: ...Pr Position control mode command from internal signal S Speed control mode T Torque control mode Explanation of symbols marked after parameter Read only register such as P0 00 P0 01 P4 00 Parameter ca...

Page 165: ...gister 1 10FH N A P0 11 MAP2 Block Data Read Write Register 2 110H N A P0 12 MAP3 Block Data Read Write Register 3 224H N A P0 13 MAP4 Block Data Read Write Register 4 111H N A P0 14 MAP5 Block Data R...

Page 166: ...P1 09 P1 11 SP1 3 1st 3rd Speed Limit 100 300 r min 1st 3rd Torque Command P1 12 P1 14 TQ1 3 1st 3rd Torque Limit 100 PO1H PO8H 1st 8th Position command for Rotation 0 N A P1 15 P1 30 PO1L PO8L 1st 8...

Page 167: ...Capacity N A Watt P1 54 PER Positioning Completed Width 100 pulse P1 55 MSPD Maximum Speed Limit rated speed r min P1 56 OVW Output Overload Warning Time 120 P1 57 Reserved P1 58 Reserved P1 62 COKT...

Page 168: ...117 N A P2 14 DI5 Digital Input Terminal 5 DI5 102 N A P2 15 DI6 Digital Input Terminal 6 DI6 22 N A P2 16 DI7 Digital Input Terminal 7 DI7 23 N A P2 17 DI8 Digital Input Terminal 8 DI8 21 N A P2 18 D...

Page 169: ...N A P2 52 ATM0 Timer 0 of Auto Mode 0 sec P2 53 ATM1 Timer 1 of Auto Mode 0 sec P2 54 ATM2 Timer 2 of Auto Mode 0 sec P2 55 ATM3 Timer 3 of Auto Mode 0 sec P2 56 ATM4 Timer 4 of Auto Mode 0 sec P2 57...

Page 170: ...P3 05 CMM Communication Selection 0 N A P3 06 SDI Digital Input Communication Function 0 N A P3 07 CDT Communication Response Delay Time 0 0 5ms Explanation of symbols marked after parameter Read only...

Page 171: ...Speed Input Drift Adjustment 2 Factory setting N A P4 13 TOF1 Analog Torque Drift Adjustment 1 Factory setting N A P4 14 TOF2 Analog Torque Drift Adjustment 2 Factory setting N A P4 15 COF1 Current D...

Page 172: ...110H N A P0 12 MAP3 Block Data Read Write Register 3 224H N A P0 13 MAP4 Block Data Read Write Register 4 111H N A P0 14 MAP5 Block Data Read Write Register 5 112H N A P0 15 MAP6 Block Data Read Write...

Page 173: ...6 3 3 P2 23 NCF Notch Filter Resonance Suppression 1000 Hz 6 3 7 P2 24 DPH Notch Filter Attenuation Rate Resonance Suppression 0 dB 6 3 7 P2 25 NLP Low pass Filter Time Constant Resonance Suppression...

Page 174: ...Forward Gain 0 0 0001 6 3 6 P2 26 DST External Anti Interference Gain 0 0 001 P2 27 GCC Gain Switching Control Selection 0 N A P2 28 GUT Gain Switching Time Constant 10 10ms P2 29 GPE Gain Switching...

Page 175: ...2nd Numerator N2 1 pulse Table 7 A P2 61 GR5 Electronic Gear Ratio 3rd Numerator N3 1 pulse Table 7 A P2 62 GR6 Electronic Gear Ratio 4th Numerator N4 1 pulse Table 7 A Internal pulse control command...

Page 176: ...e 0 sec P2 54 ATM2 Timer 2 of Auto Mode 0 sec P2 55 ATM3 Timer 3 of Auto Mode 0 sec P2 56 ATM4 Timer 4 of Auto Mode 0 sec P2 57 ATM5 Timer 5 of Auto Mode 0 sec P2 58 ATM6 Timer 6 of Auto Mode 0 sec P2...

Page 177: ...12 P1 14 TQ1 3 1st 3rd Torque Limit 100 6 6 2 P1 40 VCM Max Analog Speed Command or Limit rated speed r min 6 3 4 P1 41 TCM Max Analog Torque Command or Limit 100 P2 63 TSCA Proportion Value Setting 0...

Page 178: ...0 300 r min 6 6 1 1st 3rd Torque Command P1 12 P1 14 TQ1 3 1st 3rd Torque Limit 100 6 4 1 P1 40 VCM Max Analog Speed Command or Limit rated speed r min P1 41 TCM Max Analog Torque Command or Limit 100...

Page 179: ...minal 2 DO2 103 N A P2 20 DO3 Digital Output Terminal 3 DO3 109 N A P2 21 DO4 Digital Output Terminal 4 DO4 105 N A P2 22 DO5 Digital Output Terminal 5 DO5 7 N A P1 38 ZSPD Zero Speed Range Setting 10...

Page 180: ...0 sec 8 2 P3 05 CMM Communication Selection 0 N A 8 2 P3 06 SDI Digital Input Communication Function 0 N A 8 2 P3 07 CDT Communication Response Delay Time 0 0 5ms Explanation of symbols marked after p...

Page 181: ...ng N A P4 12 SOF2 Analog Speed Input Drift Adjustment 2 Factory setting N A P4 13 TOF1 Analog Torque Drift Adjustment 1 Factory setting N A P4 14 TOF2 Analog Torque Drift Adjustment 2 Factory setting...

Page 182: ...Excessive Error Warning Condition 30000 pulse P2 51 SRON Servo ON 0 N A 12 6 P2 63 TSCA Proportion Value Setting 0 times P2 65 GBIT Special Function 0 N A Parameters for ASDA A series only P1 59 MFLT...

Page 183: ...Reserved ASDA A Series Mismatch error ASDA A Series 05 Regeneration error 06 Overload 07 Overspeed 08 Abnormal pulse control command 09 Excessive deviation 10 Watch dog fault 11 Position detector faul...

Page 184: ...f pulse command Kpps ASDA A series 06 Motor speed r min 07 Speed input command Volt 08 Speed input command r min 09 Torque input command Volt 10 Torque input command 11 Average load 12 Peak load 13 Ma...

Page 185: ...voltage proportion refer to the P1 04 and P1 05 Example P0 03 01 CH1 is speed analog output Motor speed Max motor speed V1 8 P1 04 100 when the output voltage value of CH1 is V1 P0 04 CM1 Status Monit...

Page 186: ...through communication setting or the keypad please refer to P0 02 The drive status can be read from the communication address of this parameter via communication port If users set this parameter to 17...

Page 187: ...te the data from communication address 0009H it means that the read and write value is the setting value of parameter P4 07 P0 10 MAP1 Block Data Read Write Register 1 Communication Addr 000AH Default...

Page 188: ...Section N A Applicable Control Mode ALL Unit N A Range 100H 417H Settings See P0 09 for explanation P0 16 MAP7 Block Data Read Write Register 7 Communication Addr 0010H Default 109H Related Section N...

Page 189: ...utput overload warning Bit9 WARN Servo warning activated Bit10 CMDOK Internal position command completed Bit11 Reserved Bit12 Reserved Bit13 ALRM Servo alarm activated Bit14 BRKR Electromagnetic brake...

Page 190: ...pulse filter B 0 500Kpps B 1 200Kpps B 2 150Kpps 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 h...

Page 191: ...input pulse frequency 4Mpps is for ASDA A only P1 01 CTL Control Mode and Output Direction Communication Addr 0101H Default 00 Related Section Applicable Control Mode ALL Section 6 1 Unit pulse P mod...

Page 192: ...n Applicable Control Mode ALL Section 6 6 Unit N A Range 0 11 Settings not used A B A 0 Disable speed limit function A 1 Enable speed limit function It is available in torque mode Other Reserved P1 09...

Page 193: ...1 CH1 Communication Addr 0104H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit full scale Range 0 100 P1 05 MON2 Analog Monitor Output Proportion 2 CH2 Communication Addr 01...

Page 194: ...eed mode this parameter is used to set speed 1 of internal speed command For the decimal place setting of internal speed command please refer to P2 63 1st Speed Limit In Torque mode this parameter is...

Page 195: ...4 1 Unit Range 300 300 Settings 1st Torque Command In Torque mode this parameter is used to set torque 1 of internal torque command 1st Torque Limit In Position and Speed mode this parameter is used t...

Page 196: ...o set torque limit 3 of internal torque command Digital output signal TQL is activated when the drive has detected that the motor has reached the torques limits set by either the parameters P1 12 P1 1...

Page 197: ...pulse number of internal position 2 Stroke2 PO2H cnt rev PO2L P1 19 PO3H 3rd Position Command for Rotation Communication Addr 0113H Default 0 Related Section Applicable Control Mode Pr Section 6 2 2 U...

Page 198: ...pulse number of internal position 4 Stroke4 PO4H cnt rev PO4L P1 23 PO5H 5th Position Command for Rotation Communication Addr 0117H Default 0 Related Section Applicable Control Mode Pr Section 6 2 2 U...

Page 199: ...pulse number of internal position 6 Stroke6 PO6H cnt rev PO6L P1 27 PO7H 7th Position Command for Rotation Communication Addr 011BH Default 0 Related Section Applicable Control Mode Pr Section 6 2 2 U...

Page 200: ...f internal position 8 Stroke8 PO8H cnt rev PO8L P1 31 Reserved 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...

Page 201: ...e cycle auto running positioning mode Incremental This function when changed from absolute to incremental or incremental to absolute only gets registered in the drive after switching power off and on...

Page 202: ...TACC TSL Total deceleration time TDEC TSL NOTE 1 If the control of the servo motor is achieved via internal parameters the command curve should be defined by the users Therefore when the command sour...

Page 203: ...its preset value digital output TSPD is enabled When the forward and reverse speed of servo motor is equal and higher than the setting value the motor will reach the target motor speed and then TSPD...

Page 204: ...indicates that the torque command is 100 rated torque If P1 41 is set to 100 but the input voltage is changed to 5V then the torque command is changed to 50 rated torque Torque command limit Input vo...

Page 205: ...unication Addr 012DH Default 1 Related Section Applicable Control Mode Pt Pr Section 6 2 5 Unit pulse Range 1 32767 Settings Electronic gear denominator setting It is recommended to set electronic gea...

Page 206: ...pulse dividing ratio is equal to 2500 5 500 It indicates that the pulse numbers of encoder outputs per motor revolution 500 pulses The encoder will output 500 pulses per motor revolution When B 1 the...

Page 207: ...r pulse output is 500Kpps 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 not used A B C D A 0 Forwa...

Page 208: ...ncorrect or there is no corresponding external limit switch the drive and motor may not work normally 3 Set the value of P1 47 to 203 4 Use external signal to enable the function of SHOM Then the dric...

Page 209: ...will be determined as Z phase pulse or ORGP according to the setting of P1 47 If the value of HOF1 HOF2 P1 50 P1 51 is not 0 Home will be determined as Z phase pulse or ORGP plus one offset pulse as...

Page 210: ...Pt mode of ASDA A series Range 0 10000 Settings In Pt mode when the error pulse numbers is less than the setting value of parameter P1 54 TPOS At positioning completed signal will be activated In Pr...

Page 211: ...ON However if the accumulated overload time continuous overload time exceeds the permissible time for overload the overload alarm ALE06 will occur For example If the setting value of parameter P1 56 O...

Page 212: ...on Addr 013CH Default 7 Related Section N A Applicable Control Mode Pt Unit Range 0 7 Settings This function is for ASDA A series only For the models which encoder resolution is 1280000 pulses per mot...

Page 213: ...meter is used to delay the output time of digital output CMDOK Internal position command completed output when the servo drive has detected the internal position command has been completed If this par...

Page 214: ...position gain switching rate when the gain switching condition is satisfied Please refer to P2 27 for gain switching control selection settings and refer to P2 29 for gain switching condition settings...

Page 215: ...en the value of proportional speed loop gain is increased it can expedite speed loop response However if the setting value is over high it may generate vibration or noise P2 05 SPR Speed Loop Gain Swi...

Page 216: ...Section N A Applicable Control Mode ALL Unit N A Range 0 65536 This parameter can be used to reset all parameters to their original factory settings and enable some parameters functions Settings Reset...

Page 217: ...t may affect the response time P2 10 DI1 Digital Input Terminal 1 DI1 Communication Addr 020AH Default 101 Related Section Applicable Control Mode ALL Table 7 A Unit N A Range 0 147 Settings This para...

Page 218: ...al 5 DI5 Communication Addr 020EH Default 102 Related Section Applicable Control Mode ALL Table 7 A Unit N A Range 0 147 Settings See P2 10 for explanation P2 15 DI6 Digital Input Terminal 6 DI6 Commu...

Page 219: ...setting value of P2 18 P2 22 please refer to Table 7 A B DO Enabled Status Settings 0 Normally closed contact b 1 Normally open contact a Please re start the servo drive after parameters have been ch...

Page 220: ...sonance Suppression Communication Addr 0217H Default 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz Range 50 1000 Settings This parameter is used to set resonance frequency of...

Page 221: ...A A series Settings 0 Disabled In AutoMode PDFF mode parameter P2 32 is set to 4 or 5 the value of this parameter is determined by the system automatically P2 27 GCC Gain Switching Control Selection C...

Page 222: ...dr 021EH Default 0 Related Section N A Applicable Control Mode ALL Unit N A Range 0 5 Settings 0 Normal operation of Digital Inputs SON CW and CCW 1 Force the servo drive to be Servo On ignore CW and...

Page 223: ...ding to application condition When the setting value is higher the stiffness and the responsiveness is higher A Stiffness setting of easy mode B Responsiveness level of auto tuning mode ASDA A series...

Page 224: ...hen switching mode 2 or 4 to 3 or 5 the system will save the measured load inertia value automatically and memorized in P1 37 Then set the corresponding parameters according to this measured load iner...

Page 225: ...l motor speed is over than the setting value of parameter P2 34 the servo fault Overspeed ALE07 will be activated P2 35 PDEV Excessive Error Warning Condition Communication Addr 0223H Default 30000 Re...

Page 226: ...Related Section Applicable Control Mode Pr Section 6 2 2 Unit r min Range 1 5000 Settings Please refer to P2 36 P2 38 POV3 Moving Speed Setting of 3rd Position Communication Addr 0226H Default 1000 Re...

Page 227: ...6 2 2 Unit r min Range 1 5000 Settings Please refer to P2 36 P2 42 POV7 Moving Speed Setting of 7th Position Communication Addr 022AH Default 1000 Related Section Applicable Control Mode Pr Section 6...

Page 228: ...ep control function can not be used normally Refer to Section 12 6 When the users want to use internal auto running mode function this output mode must be selected Otherwise the output signal can not...

Page 229: ...rol Mode Pr Section 12 6 Unit pulse Range 0 10312 Settings A B A Pulse Number Settings 0 312 the pulse number of backlash compensation Actual pulse number of backlash compensation of motor output shaf...

Page 230: ...set to pulse clear function CCLR mode DI function is set to 4 0 Clear position pulse deviation number available in Pt and Pr mode only When this input is triggered the position accumulated pulse numb...

Page 231: ...s ON with control power applied to the servo drive there may be a fault condition or not The servo is not ready to run Servo ready SRDY is ON where the servo is ready to run NO fault alarm exists P2 5...

Page 232: ...ection N A Applicable Control Mode Pr Unit sec Range 0 120 00 P2 57 ATM5 Timer 5 of Auto Mode Communication Addr 0239H Default 0 Related Section N A Applicable Control Mode Pr Unit sec Range 0 120 00...

Page 233: ...the gear numerator value by using GNUM0 GNUM1 please set P2 60 P2 62 after the servo motor has been stopped P2 61 GR5 Electronic Gear Ratio 3rd Numerator N3 Communication Addr 023DH Default 1 Related...

Page 234: ...speed limit command B Proportion value setting of position excessive error warning condition P2 35 ASDA A series 0 When value B is set to 0 the unit of P2 35 is 1 pulse 1 When value B is set to 1 the...

Page 235: ...NL This parameter can allow the users to set two different kinds of torque limit command sources when limiting torque We call it is Torque Limit Mixed Mode The torque limit function is activated by pa...

Page 236: ...2 17 DI8 will become invalid and change to Fast DI digital input function When Bit3 Bit4 are all set to 0 this fast DI digital input function is disabled Bit2 Fast DI contact type 0 normal open or ris...

Page 237: ...parameter P1 38 Bit11 Reserved Must be set to 0 B13 B12 Bit 12 Undervoltage Servo Drive Fault clear mode selection 0 When the main circuit voltage is within its specified limit or after Servo Off the...

Page 238: ...5 P2 66 Reserved Communication Addr 0242H P2 67 Reserved Communication Addr 0243H P2 68 Reserved Communication Addr 0244H Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1...

Page 239: ...the address of host external controller is set to 255 it is with auto respond function Then the servo drive will receive from and respond to host external controller both no matter the address is mat...

Page 240: ...following 7 or 8 is the number of data bits N E or O refer to the parity bit Non Even or Odd the 1 or 2 is the numbers of stop bits P3 03 FLT Transmission Fault Treatment Communication Addr 0303H Defa...

Page 241: ...es this function is enabled However if not communicating with the servo in this period of time the servo drive will assume the communication has failed and show the communication error fault message P...

Page 242: ...ication corresponds with CTRG POS0 POS1 POS2 ARST SHOM JOGU JOGD these signals The Digital Input Control Contact parameter P3 06 also works in conjunction with the Multi Function Digital Input paramet...

Page 243: ...4 4 1 Unit N A Range N A P4 02 ASH3 Fault Record N 2 Communication Addr 0402H Default 0 Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A P4 03 ASH4 Fault Record N 3 Communi...

Page 244: ...to jog the motor either CCW or CW The motor will only rotation while the arrow key is activated 5 To change JOG speed again press the MODE key The servo Drive will display P4 05 Press the SET key and...

Page 245: ...icable Control Mode ALL P3 06 Section 4 4 5 Unit N A Section 8 2 Range 0 FFFF Settings Please see P3 06 and Section 8 2 for setting method External Control Display the status of DI input signal Commun...

Page 246: ...trol Mode ALL Unit N A Range 0 6 Settings 0 Reserved 1 Execute analog speed input drift adjustment 2 Execute analog torque input drift adjustment 3 Execute current detector V phase drift adjustment 4...

Page 247: ...20 first and then set parameter P4 10 to 1 When executing this auto adjustment please short the internal circuit of the analog input voltage first or connecting to a 0V output of the external control...

Page 248: ...20 first and then set parameter P4 10 to 2 When executing this auto adjustment please short the internal circuit of the analog input voltage first or connecting to a 0V output of the external control...

Page 249: ...en set parameter P4 10 to 3 When executing this auto adjustment please short the internal circuit of the analog input voltage first or connecting to a 0V output of the external controller in advance a...

Page 250: ...en set parameter P4 10 to 4 When executing this auto adjustment please short the internal circuit of the analog input voltage first or connecting to a 0V output of the external controller in advance a...

Page 251: ...xecuting this auto adjustment please ensure to cool the servo drive to 25 o C NOTE 1 When P2 08 is set to 10 users cannot reset this parameter P4 20 DOF1 Analog Monitor Output Drift Adjustment CH1 Com...

Page 252: ...P4 23 TAO Analog Torque Input Offset Communication Addr 0417H Default 0 Related Section N A Applicable Control Mode T Unit mV Range 5000 5000 Settings In torque mode the users can use this parameter t...

Page 253: ...e Setting value of P1 38 Zero speed OFF ZCLAMP input signal Motor Speed ON Speed Command Setting value of P1 38 Zero speed CMDINV 06 Command input reverse control When the drive is in Pr Speed and Tor...

Page 254: ...0 1 DI signal of CN1 Command No SPD1 SPD0 Command Source Content Range S External analog command Voltage between V REF and GND 10 V S1 OFF OFF Mode Sz None Speed command is 0 0 S2 OFF ON P1 09 5000 r...

Page 255: ...ut 1 bit 1 INDEX2 30 Feed step selection input 2 bit 2 INDEX3 31 Feed step selection input 3 bit 3 INDEX4 32 Feed step selection input 4 bit 4 When the drive is in Pr mode if users set P1 33 to 2 3 an...

Page 256: ...onic gear ratio Numerator selection 1 see P2 60 P2 62 Pulse Denominator P1 45 Smooth Filter P1 08 1st Numerator N1 P1 44 2nd Numerator N2 P2 60 3rd Numerator N3 P2 61 4th Numerator N4 P2 62 Pulse Erro...

Page 257: ...below the Target Motor Speed TPOS 05 At Positioning completed When the drive is in Pt mode TPOS will be activated when the position error is equal and below the setting value of P1 54 When the drive...

Page 258: ...onds Result When the drive output is at 200 rated output and the drive is continuously overloaded for 4 8 seconds the overload warning signal will be ON DO code is 10 i e DO signal OLW will be activat...

Page 259: ...ers ASDA A A Series 7 96 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com...

Page 260: ...l as programming of the controller can be achieved via communication However only one communication mode can be used at a time Users can select the desired communication mode via parameter P3 05 Pleas...

Page 261: ...res If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 3m 9 84ft which will ensure the correct and desired baud rate 2 The number shown in the...

Page 262: ...Communications ASDA A A Series Revision April 2009 8 3 Cable Connection Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales d...

Page 263: ...r greater is required the maximum length of the communication cable is 15m 50ft which will ensure the correct and desired baud rate 2 The number shown in the pervious figure indicates the terminal num...

Page 264: ...54 Access to program this number is via parameter P3 00 0301H Transmission Speed Default 1 Range 0 5 Settings 0 Baud rate 4800 data transmission speed bits second 1 Baud rate 9600 data transmission sp...

Page 265: ...communication fault The mode of stopping is set by parameter P1 32 0304H Communication Time Out Detection Watch Dog Timer It is not recommended to change the factory default setting if not necessary...

Page 266: ...t Digital Inputs are noted from the right DI 1 to left DI 8 with their desired input command or signal method 0 or 1 Once all eight Digital Inputs have been noted this binary number is converted to a...

Page 267: ...that corresponds to the binary representation of the Digital Inputs being addressed Therefore in the previous example 113 or 71 hex would be sent to 407H to switch on Digital Inputs 1 5 6 7 Remember...

Page 268: ...e combination of two ASCII characters For example a 1 byte data 64 Hex shown as 64 in ASCII consists of 6 36Hex and 4 34Hex The following table shows the available hexadecimal characters and their cor...

Page 269: ...address 1 byte consists of 2 ASCII codes CMD Command code 1 byte consists of 2 ASCII codes DATA n 1 DATA 0 Contents of data n word n x 2 byte consists of n x 4 ASCII codes n 12 LRC Command code 1 byt...

Page 270: ...examples for AC servo drive are described as follows Command code 03H read N words The maximum value of N is 10 For example reading continuous 2 words from starting address 0200H of AC servo drive wit...

Page 271: ...address 0201H 40H Lower bytes CRC Check Low A3H Lower bytes CRC Check High D4H Upper bytes Command code 06H write 1 word For example writing 100 0064H to starting data address 0200H of ASDA A and ASD...

Page 272: ...Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADR to last data character then calculating the hexadecimal representation of the 2 s complement nega...

Page 273: ...e final contents of the CRC register are the CRC value NOTE 1 When transmitting the CRC value in the message the upper and lower bytes of the CRC value must be swapped i e the lower order byte will be...

Page 274: ...rc reg_crc 1 0xA001 else reg_crc reg_crc 1 return reg_crc PC communication program example include stdio h include dos h include conio h include process h define PORT 0x03F8 the address of COM 1 defin...

Page 275: ...outportb PORT BRDH 0x00 outportb PORT LCR 0x06 set prorocol 7 E 1 1AH 7 O 1 0AH 8 N 2 07H 8 E 1 1BH 8 O 1 0BH for I 0 I 16 I while inportb PORT LSR 0x20 wait until THR empty outportb PORT THR tdat I s...

Page 276: ...col 3 P4 05 JOG control of servo motor For the description refer to Chapter 7 4 P4 06 Force output contact control This parameter is for the users to test if DO Digit output is normal User can set 1 2...

Page 277: ...s are including Group 0 P0 00 P0 17 0000H to 0011H Group 1 P1 00 P1 62 0100H to 013EH Group 2 P2 00 P2 65 0200H to 0241H Group 3 P3 00 P3 07 0300H to 0307H Group 4 P4 00 P4 23 0400H to 0417H Call 1 80...

Page 278: ...should be free from airborne dust harmful gases or liquids z Ensure that all wiring instructions and recommendations are followed otherwise damage to the drive and or motor may result Inspection befor...

Page 279: ...ED display If there is any abnormal condition of the power indicators and LED display please contact your distributor for assistance or contact with Delta 9 2 Maintenance Use and store the product in...

Page 280: ...eriodically The cooling fan will reach the end of its life in 2 3 years when it is in continuous operation However it also must be replaced if the cooling fan is vibrating or there are unusual noises...

Page 281: ...spection ASDA A A Series 9 4 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives...

Page 282: ...ol operation is in error Overload Servo motor and drive is overload Overspeed Motor s control speed exceeds the limit of normal speed Abnormal pulse control command Input frequency of pulse command ex...

Page 283: ...and this fault message will display Internal command execution time out An error occurs when internal command is executing DSP communication error 1 DSP do not respond to MCU command 2 DSP has respond...

Page 284: ...ch fluctuation 2 Activate filter function Overvoltage Potential Cause Checking Method Corrective Actions The main circuit voltage has exceeded its maximum allowable value Use voltmeter to check whethe...

Page 285: ...ions Speed input command is not stable too much fluctuation Use signal detector to detect if input signal is abnormal Ensure that input command frequency is stable not fluctuate too much and activate...

Page 286: ...he drive for the damage Repair or replace the drive Adjustment error Potential Cause Checking Method Corrective Actions The setting value of drift adjustment has exceeded its maximum allowable value 1...

Page 287: ...error in Memory read out write in Reset parameter or power supply If the error does not clear after resetting the power supply please contact your distributor for assistance or contact with Delta DSP...

Page 288: ...t clear even when the three phase power is connected correctly please contact your distributor for assistance or contact with Delta Pre overload warning Potential Cause Checking Method Corrective Acti...

Page 289: ...r after resetting the power supply please contact your distributor for assistance or contact with Delta Encoder error Position detector fault Potential Cause Checking Method Corrective Actions The ser...

Page 290: ...t error This fault message can be removed after the wiring of CN1 connector I O signal connector is removed and auto adjustment function is executed Emergency stop activated This fault message can be...

Page 291: ...e DSP communication error Turn ARST DI signal ON to clear the fault or restart the servo drive DSP communication error Turn ARST DI signal ON to clear the fault or restart the servo drive ASDA A Serie...

Page 292: ...ternal parameters Smoothing Strategy Low pass and P curve filter Electronic Gear Electronic gear N M multiple N 1 32767 M 1 32767 1 50 N M 200 Torque Limit Operation Set by parameters Position Control...

Page 293: ...g activated Internal position command completed Protective Functions Overcurrent Overvoltage Undervoltage Motor overheated Regeneration error Overload Overspeed Abnormal pulse control command Excessiv...

Page 294: ...ation speed Full load rotation speed Rated rotation speed 3 TN system A power distribution system having one point directly earthed the exposed conductive parts of the installation being connected to...

Page 295: ...ition Control Mode Feed Forward Compensation Set by parameters Voltage Range 0 10 VDC Input Resistance 10K Analog Input Command Time Constant 2 2 us Speed Control Range 1 1 3000 Command Source Externa...

Page 296: ...phase loss Serial communication time out Command write in error short circuit protection of U V W and CN1 CN2 CN3 terminals Communication Interface RS 232 RS 485 RS 422 Installation Site Indoor locati...

Page 297: ...ture resistance Ohm 20 3 7 5 3 1 1 3 2 052 0 765 0 32 Armature inductance mH 32 24 11 6 3 8 4 3 45 2 63 Electrical time constant ms 1 6 3 2 3 2 4 8 4 1 4 5 8 2 Insulation class Class F Insulation resi...

Page 298: ...07 10 20 30 IP Rating IP65 when waterproof connectors are used or when an oil seal is used to be fitted to the rotating shaft an oil seal model is used Approvals IEC60034 1 UL1004 Call 1 800 985 6929...

Page 299: ...0 828 0 6 0 162 Armature inductance mH 13 2 5 5 8 1 2 3 Electrical time constant ms 6 7 6 6 10 1 14 2 Insulation class Class F Insulation resistance 100M DC 500V Insulation strength AC 1500 V 50 Hz 60...

Page 300: ...IP Rating IP65 when waterproof connectors are used or when an oil seal is used to be fitted to the rotating shaft an oil seal model is used Approvals IEC60034 1 UL1004 Call 1 800 985 6929 for Sales d...

Page 301: ...2 0 31 0 35 5 Armature resistance Ohm 0 052 0 077 0 032 0 025 0 015 Armature inductance mH 1 38 1 27 0 89 0 60 0 40 Electrical time constant ms 26 4 16 5 27 8 24 0 26 7 Insulation class Class B CE Ins...

Page 302: ...09 11 11 11 6 Servo Motor Speed Torque Curves T N Curves Low Inertial Servo Motor Speed Torque Curves ASMT L Series Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 9...

Page 303: ...ision April 2009 Medium and Medium High Inertial Servo Motor Speed Torque Curves ASMT M Series ECMA Series Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 f...

Page 304: ...e exceeding 100 torque 2 Motor had driven high inertia machine and had accelerated and decelerated at high frequency 3 Motor UVW cable or encoder cable was not connected correctly 4 Servo gain was not...

Page 305: ...April 2009 Chart of load and operating time Medium and Medium High Inertia Servo Motor ASMT M Series ECMA Series Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985...

Page 306: ...M4x 0 7 PE TERMINIAL 5 5 0 2 1 7 70 2 76 WEIGHT 1 5 3 3 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms kg and pounds lbs 2 Actual measured values are in metric units Dimensions...

Page 307: ...hes Weights are in kilograms kg and pounds lbs 2 Actual measured values are in metric units Dimensions and weights in imperial units are for reference only 3 Dimensions and weights of the servo drive...

Page 308: ...5 5 0 217 WEIGHT 3 0 6 6 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms kg and pounds lbs 2 Actual measured values are in metric units Dimensions and weights in imperial units ar...

Page 309: ...e in kilograms kg and pounds lbs 2 Actual measured values are in metric units Dimensions and weights in imperial units are for reference only 3 Dimensions and weights of the servo drive may be revised...

Page 310: ...e in kilograms kg and pounds lbs 2 Actual measured values are in metric units Dimensions and weights in imperial units are for reference only 3 Dimensions and weights of the servo drive may be revised...

Page 311: ...e in kilograms kg and pounds lbs 2 Actual measured values are in metric units Dimensions and weights in imperial units are for reference only 3 Dimensions and weights of the servo drive may be revised...

Page 312: ...6h9 0 012 0 042 M 3 0 0 0 025 5 0 0 0 030 5 0 0 0 030 6 0 0 0 030 N 3 0 0 0 025 5 0 0 0 030 5 0 0 0 030 6 0 0 0 030 P 16 0 0 0 18 20 0 0 0 21 20 0 0 0 21 25 0 0 0 21 Weight without brake 0 5 1 1 0 9 1...

Page 313: ...h9 0 0 0 036 8h9 0 0 0 036 M 8 8 8 N 7 7 7 P 30 40 40 Weight without brake 4 7 10 36 6 7 12 57 8 0 17 64 Weight with brake 6 3 13 89 8 3 16 09 10 7 23 59 NOTE 1 Dimensions are in millimeters Weights a...

Page 314: ...2 L 8h9 0 0 0 036 8h9 0 0 0 036 10h9 0 0 0 036 10h9 0 0 0 036 M 8 8 10 10 N 7 7 8 8 P 40 40 60 60 Weight without brake 4 8 10 58 7 0 15 43 12 0 26 46 17 0 37 48 Weight with brake 7 5 16 53 9 7 21 38...

Page 315: ...35 35 LB 114 3 114 3 114 3 LL 202 1 202 1 235 3 LR 79 79 79 LE 4 4 4 LG 20 20 20 LS 73 73 73 LW 63 63 63 RH 30 30 30 WK 10 10 10 W 10 10 10 T 8 8 8 TP M12 Depth25 M12 Depth25 M12 Depth25 Weight withou...

Page 316: ...36 0 79 37 47 103 62 NOTE 1 Dimensions are in millimeters Weights are in kilograms kg and pounds lbs 2 Dimensions and weights of the servo motor may be revised without prior notice 3 The boxes in the...

Page 317: ...ns ASDA A A Series 11 26 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com...

Page 318: ...ibit limit CWL Then connect contact b of L S 1 to DI6 P2 16 023 Forward inhibit limit CCWL Then connect contact b of L S 2 to DI7 P2 10 101 Servo On SON default DI1 P2 11 108 Command triggered CTRG de...

Page 319: ...again After Servo ready is completed activate the drive to be Servo ON Then the system will automatically complete home operation When home operation is completed Home ready then can perform the posit...

Page 320: ...er P1 33 1 Incremental position command P2 18 101 Servo ready SRDY default DO1 P2 21 105 Positioning completed TPOS default DO4 Other relevant parameters P1 34 P1 35 P1 36 Acceleration Deceleration ti...

Page 321: ...Fault reset contact DI5 Other relevant parameters P1 34 P1 35 P1 36 Acceleration Deceleration time setting Operation Re start the power to be ON again After Servo ready is completed activate the driv...

Page 322: ...L EAR output signal enable S0 ZERO M5 S10 JOG S11 JOG S12 FW S13 REV POS M1334 Stop cho pulse output D P OS M 1002 O nonly for 1 scan a fter RUN Maximum output frequency DMOV D13 41 K10000 Accel erati...

Page 323: ...RST M1 2 RST M1 3 SET S11 JOG JOG M 5 S0 K50000 X10 SET M1 0 RST S0 ZERO ZERO M 50 S D ZRN K5 000 Y0 M5 M1 336 M1 000 M 50 PLSY Y0 instru ction execution completed flag Ch 0 pulse se nd flag Normallyo...

Page 324: ...DRVI K3 0000 Y1 M1000 M1 029 P LSY Y0 in struction execution comple ted flag Normally on contact a contact M 52 X3 JOG RST S 11 JOG M1 336 M52 Ch 0 pulse send flag PLSYY0 instruction e xecution comple...

Page 325: ...3 M1 336 M101 Ch 0 pulse send flag SET M 13 M1029 M 54 P LSY Y0 in struction execution comple ted flag REV POS RET DMOV D200 M 1001 D1336 Normally on contact a contact END Presen t value of ch0 pulse...

Page 326: ...m forward homing P2 15 124 Home detection position contact DI6 P2 16 127 Activate signal of home contact DI7 P2 10 101 Servo On SON default DI1 P2 11 108 Command triggered CTRG default DI2 P2 12 111 P...

Page 327: ...2 Application Examples ASDA A A Series 12 10 Revision April 2009 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdr...

Page 328: ...0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 44 012CH Electronic Gear Ratio 1st Numerator N1 If the electronic gear deceleration ratio is 1 75 set numerator to 75 P1 45 012DH Ele...

Page 329: ...POS2 ON OFF Internal position comman d 1ms 2 HOLD Timing Chart If HOLD signal is ON when the motor is running the motor will decelerate first and stop according to the deceleration time which is set...

Page 330: ...rding to the deceleration time which is set by parameter P1 34 P1 36 and the remaining pulses will be aborted When TRIG signal is ON again the motor will continue to move forward and reach the target...

Page 331: ...me When parameter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 35 0123H Deceleration Time 1st to 3rd step Deceleration time When parameter P1 36 is set to 0 accel...

Page 332: ...46 022EH Feed Step Number Range 2 32 P2 47 022FH Position Deviation Clear Delay Time UNIT 20msec This function is disabled when its setting value is set to 0 P2 51 0233H Internal Servo ON setting Dig...

Page 333: ...essage will appear if MD0 and MD1 are ON after power suppliers to AC servo drive If turn MD0 and MD1 to be OFF the emergency stop warning message will disappear automatically 2 When the status is swit...

Page 334: ...10 0 1 0 0 1 INDEX 10 11 0 1 0 1 0 INDEX 11 12 0 1 0 1 1 INDEX 12 13 0 1 1 0 0 INDEX 13 14 0 1 1 0 1 INDEX 14 15 0 1 1 1 0 INDEX 15 16 0 1 1 1 1 INDEX 16 17 1 0 0 0 0 INDEX 17 18 1 0 0 0 1 INDEX 18 1...

Page 335: ...In position 16 0 1 1 1 1 INDEX 11 In position 17 1 0 0 0 0 INDEX 12 In position 18 1 0 0 0 1 INDEX 13 In position 19 1 0 0 1 0 INDEX 14 In position 20 1 0 0 1 1 INDEX 15 In position 21 1 0 1 0 0 INDEX...

Page 336: ...step output position 7 4 3 8 When returning to HOME if DO 1 SERVO READY after any abnormal conditions are removed it is recommended to return to HOME again to ensure that the Home is correct Timing ch...

Page 337: ...0A Servo ON P2 45 Step No 2 Step No 6 Step No P2 47 ON OFF NOTE 1 The maximum value of P2 45 125 x T min 2 T min is the minimum time from A to B i e the time between when start running at A and when...

Page 338: ...CI CI INDEX 2 CI INDEX 3 manually feed forward NOTE 1 When manually feed forward operation occurs please set MD1 to be ON first The feed step selection input should be kept unchanged to avoid returni...

Page 339: ...eted please set MD1 and MD0 to be OFF and then turn MDP1 from ON to OFF ready to enter torque decrease status to avoid any abnormal condition 2 In manually feed forward mode MDP1 is ON if the rising e...

Page 340: ...eration is completed please set MD1 and MD0 to be OFF and then turn MDP0 from ON to OFF ready to enter torque decrease status to avoid any abnormal condition 2 In manually feed forward mode MDP0 is ON...

Page 341: ...H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H020 Torque decrease H407 H0A3 Index 3 H407 H023 H020 Torque decrease H407 H0A5 Index 5 H407 H025 H020 Torq...

Page 342: ...s disabled P1 36 0124H Accel Decel S curve When parameter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 44 012CH Electronic Gear Ratio 1st Numerator N1 If the elect...

Page 343: ...igital I O Signal Setting DI Signal Parameter Setting Explanation DI1 SON P2 10 101 Servo ON DI2 AUTOR P2 11 142 Auto run input DI3 STEPD P2 12 140 Step down input STEPU P2 12 139 Step up input STEPB...

Page 344: ...osition 7 0 0 1 1 0 INDEX 2 In position 8 0 0 1 1 1 INDEX 3 In position 9 0 1 0 0 0 INDEX 4 In position 10 0 1 0 0 1 INDEX 5 In position 11 0 1 0 1 0 INDEX 6 In position 12 0 1 0 1 1 INDEX 7 In positi...

Page 345: ...T1 HOME 3 T1 CI T2 CI T8 CI AUTOR OFF V1 V2 IDX1 IDX2 IDX8 3 Manual Control Mode 1 Power Supply ON OFF DO VALUE INDEX4 Motor Speed Servo ON CI HOME 3 CI CI CI V1 V2 IDX1 IDX2 IDX3 IDX2 ON OFF ON OFF S...

Page 346: ...anual Control Mode 2 Power Supply ON OFF DO VALUE INDEX4 Motor Speed Servo ON CI CI CI AUTOR V1 V2 IDX1 IDX2 IDX1 ON OFF STEPB ON OFF Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrive...

Page 347: ...roximity switch or photo switch as reference Home When the servo motor runs within one revolution only users also can set Z phase pulse as a reference Home A 0 Forward homing and CCWL limit input poin...

Page 348: ...e servo motor returns in 2nd step speed to find the nearest Z phase pulse as the mechanical Home B 1 After find reference Home after homing completed the servo motor does not return and continue to go...

Page 349: ...use requirements and corresponds to difference setting values of C and D the recommended setting values of A and B are shown as below B 0 1 2 3 4 5 0 Y Y Y Y N N 1 N N Y Y N N 2 N N Y Y Y Y Y Yes N N...

Page 350: ...2 POWER ON refer to homing timing chart time SERVO READY SERVO ON HOME TRIGGER HOMING HOMING COMPLETED Homing Timing Charts 1 B A 0 0 or B A 0 2 Position Z pulse CCWL ORGP SPEED Call 1 800 985 6929 f...

Page 351: ...2 B A 0 1 or B A 0 3 Position Z pulse CWL ORGP SPEED 3 B A 1 2 Position Z pulse ORGP SPEED 4 B A 1 3 Position Z pulse ORGP SPEED Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives co...

Page 352: ...n April 2009 12 35 5 B A 2 2 Position ORGP SPEED 6 B A 2 3 Position ORGP SPEED 7 B A 2 4 Position SPEED Z pulse Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6...

Page 353: ...amples ASDA A A Series 12 36 Revision April 2009 8 B A 2 5 Position SPEED Z pulse Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives co...

Page 354: ...Revision April 2009 12 37 12 9 External Controller Connection Examples Connecting to Delta DVP EH PLC Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for S...

Page 355: ...Examples ASDA A A Series 12 38 Revision April 2009 Connecting to Delta DVP 01PU Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com...

Page 356: ...xamples ASDA A A Series Revision April 2009 12 39 Connecting to Mitsubishi FX1PG Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com...

Page 357: ...amples ASDA A A Series 12 40 Revision April 2009 Connecting to Mitsubishi FX2N1PG Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives co...

Page 358: ...xamples ASDA A A Series Revision April 2009 12 41 Connecting to Mitsubishi AD75 Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com...

Page 359: ...mples ASDA A A Series 12 42 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives c...

Page 360: ...537 3 Delta Part Number ASD CAPW0100 Housing AMP 350781 1 UVW Terminal AMP 350537 3 Brake Terminal AMP 350570 3 Delta Part Number ASD CAPW1000 CLAMP MS3057 12A Straight Plug MS 3106 20 18S Call 1 800...

Page 361: ...AMP WPS3057 20A Motor Brake Connector ASD CNBR1000 for models of 5 5kW and above CLAMP WPS3106A 10SL 4S R 10SL 4S Power Cables Delta Part Number ASD CAPW0003 ASD CAPW0005 3 15 inch 80 mm 50mm 1 97 inc...

Page 362: ...118 0 4 2 ASD CAPW0005 5000 10 197 0 4 Delta Part Number ASD CAPW1003 ASD CAPW1005 L 80 mm 3 15 inch 50mm 1 97 inch L Title Part No Straight mm inch 1 ASD CAPW1003 MS 3106 20 18S 3000 10 118 0 4 2 AS...

Page 363: ...0 10 118 0 4 2 ASD CAPW1105 MS 3106 20 18S 5000 10 197 0 4 Delta Part Number ASD CAPW1203 ASD CAPW1205 100 mm L 3 94 inch 3 15 inch 80mm L Title Part No Straight mm inch 1 ASD CAPW1203 MS 3106 20 18S...

Page 364: ...2 ASD CAPW1305 MS 3106 20 18S 5000 10 197 0 4 Delta Part Number ASD CAPW2203 ASD CAPW2205 for models of 3kW and below 80mm 3 15 inch L 100 mm 3 94 inch L Title Part No Straight mm inch 1 ASD CAPW2203...

Page 365: ...MS 3106 24 11S 3000 10 118 0 4 2 ASD CAPW2305 MS 3106 24 11S 5000 10 197 0 4 Power Cables ASD CAPW3203 ASD CAPW3205 for 4 5kW model L L1 Item Part No Straight mm inch mm inch 1 ASD CAPW3203 MS 3106 2...

Page 366: ...0 4 3100 10 122 0 4 2 ASD CAPW3305 MS 3106 24 11S 5000 10 197 0 4 5100 10 201 0 4 Encoder Connectors Delta Part Number ASD CAEN0000 HOUSING AMP 1 172211 0 TERMINAL AMP 170376 3 Vendor Name Vendor P N...

Page 367: ...a Part Number ASD CAEN1003 ASD CAEN1005 L L Title Part No Straight mm inch 1 ASD CAEN1003 MS 3106 20 29S 3000 10 118 0 4 2 ASD CAEN1005 MS 3106 20 29S 5000 10 197 0 4 I O Signal Connector CN1 Delta Pa...

Page 368: ...Computer for PC Delta Part Number ASD CARS0003 L L Title Part No mm inch 1 ASD CARS0003 3000 10 118 0 4 Terminal Block Module Delta Part Number ASD BM 50A Call 1 800 985 6929 for Sales deltaacdrives...

Page 369: ...otor Power Cable ASD CAPW0003 Motor Power Cable ASD CAPW0005 Motor Power Cable ASD CAPW0103 Motor Power Cable ASD CAPW0105 Cable Encoder Cable ASD CAEN0003 Encoder Cable ASD CAEN0005 Encoder Cable ASD...

Page 370: ...tor Power Cable ASD CAPW1003 Motor Power Cable ASD CAPW1005 Motor Power Cable ASD CAPW1103 Motor Power Cable ASD CAPW1105 Cable Encoder Cable ASD CAEN1003 Encoder Cable ASD CAEN1005 Encoder Cable ASD...

Page 371: ...Cable ASD CAPW1203 Motor Power Cable ASD CAPW1205 Motor Power Cable ASD CAPW1303 Motor Power Cable ASD CAPW1305 Cable Encoder Cable ASD CAEN1003 Encoder Cable ASD CAEN1005 Encoder Cable ASD CAEN1003 E...

Page 372: ...ble ASD CAPW2203 Motor Power Cable ASD CAPW2205 Motor Power Cable ASD CAPW2303 Motor Power Cable ASD CAPW2305 Cable Encoder Cable ASD CAEN1003 Encoder Cable ASD CAEN1005 Encoder Cable ASD CAEN1003 Enc...

Page 373: ...o Drive ASD A5523 B Medium High Inertia Servo Motor ECMA F21855 3 Power Connector ASD CAPW2000 Encoder Connector ASD CAEN1000 Connector Brake Connector ASD CNBR1000 7 5kW Servo Drive and 7 5kW High Me...

Page 374: ...Servo Drive kW Resistance Ohm parameter P1 52 Capacity Watt parameter P1 53 Recommended Specifications for External Regenerative Resistor Min Allowable Resistance Ohm 4 5 20 100 W 12 4 5kW 10 5 5 8 5...

Page 375: ...s ASDA A A Series A 16 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sa...

Page 376: ...ode General General ASD A0121LA 5A 5A ASD A0221LA 6A 6A ASD A0421LA 10A 10A ASD A0721LA 10A 20A ASD A1021LA 15A 25A ASD A1021MA 15A 20A ASD A1521LA 20A 40A ASD A1521MA 20A 40A ASD A2023LA 30A 50A ASD...

Page 377: ...tem Power Servo Drive Model Recommended EMI Filter FootPrint 1 4500W ASD A4523 B 20TDT1W4D 3 phase N 2 5500W ASD A5523 B RF075M43BA 3 phase Y 3 7500W ASD A7523 B RF075M43BA 3 phase Y Installation All...

Page 378: ...contact area should be as large as possible Choose Suitable Motor Cable and Precautions Improper installation and choice of motor cable will affect the performance of EMI filter Be sure to observe the...

Page 379: ...ision April 2009 Saddle on both ends Saddle on one end Figure 2 Dimensions Delta Part Number 08TDT1W4S Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for S...

Page 380: ...Series Revision April 2009 B 5 Delta Part Number 10TDT1W4C Delta Part Number 16DRT1W3S Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdri...

Page 381: ...Series B 6 Revision April 2009 Delta Part Number 20TDT1W4D Delta Part Number 26TDT1W4C Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdri...

Page 382: ...ries ASDA A A Series Revision April 2009 B 7 Delta Part Number RF075M43BA Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sales...

Page 383: ...s ASDA A A Series B 8 Revision April 2009 This page intentionally left blank Call 1 800 985 6929 for Sales deltaacdrives com sales deltaacdrives com Call 1 800 985 6929 for Sales deltaacdrives com sal...

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