Delta Electronics ASD-B0121-A User Manual Download Page 108

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Chapter 5 Trial Run and Tuning Procedure

ASDA-B Series

Revision January 2009

5-15

5.5.3 AutoMode (PI) Tuning Flowchart

P2-31 Auto Stiffness and Responsiveness Level (Default setting: 6)

Function:

This parameter allows user to set the stiffness and responsiveness level automatically. Users can

control the stiffness and responsiveness according to application condition. When the setting value is

higher, the stiffness and responsiveness is higher.

Adjust P2-31: Increase the setting value of P2-31 to speed the responsiveness or reduce the noise.

Continuously adjust until the satisfactory performance is achieved, and then the tuning is completed.

Summary of Contents for ASD-B0121-A

Page 1: ......

Page 2: ...cluding the following topics z Installation of AC servo drives and motors z Configuration and wiring z Trial run steps z Control functions and adjusting methods of AC servo drives z Parameter settings...

Page 3: ...ck control and high speed calculation function incorporating DSP Digital Signal Processor technology and intended to drive three phase permanent magnet synchronous motors PMSM to achieve precise posit...

Page 4: ...anical system Connecting the motor to its mechanical system may cause damage or result in personal injury during the trail run Connect the servo motor once it has successfully completed a trail run Ca...

Page 5: ...res please ensure that the conductors are not shorted to adjacent terminals or wires Please use Y type terminals to tighten the ends of wires Ensure to double check the wiring before applying power to...

Page 6: ...e 1 8 Chapter 2 Installation and Storage 2 1 2 1 Installation Notes 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 Conne...

Page 7: ...out and Identification 3 25 3 5 2 Connection between PC Keypad and Connector CN3 3 26 3 6 Standard Connection Example 3 27 3 6 1 Position Control Mode 3 27 3 6 2 Speed Control Mode 3 28 3 6 3 Torque C...

Page 8: ...4 36 Chapter 5 Trial Run and Tuning Procedure 5 1 5 1 Inspection without Load 5 1 5 2 Applying Power to the Drive 5 3 5 3 JOG Trial Run without Load 5 7 5 3 1 ASD PU 01A Tuning Flowchart 5 7 5 3 2 ASD...

Page 9: ...Command Source of Speed Control Mode 6 9 6 3 2 Structure of Speed Control Mode 6 10 6 3 3 Smoothing Strategy of Speed Control Mode 6 11 6 3 4 Analog Speed Input Scaling 6 14 6 3 5 Timing Chart of Spee...

Page 10: ...Summary 7 2 7 2 1 Parameters List by Group 7 2 7 2 2 Parameters List by Function 7 10 7 3 Detailed Parameter Listings 7 19 Chapter 8 MODBUS Communications 8 1 8 1 Communication Hardware Interface 8 1...

Page 11: ...ns of Servo Drive 11 7 11 4 Servo Motor Speed Torque Curves T N Curve 11 10 11 5 Overload Characteristics 11 11 11 6 Dimensions of Servo Motor 11 18 11 7 EMI Filters Selection 11 22 Chapter 12 Applica...

Page 12: ...on or if you have any question in using the product We are looking forward to serve you needs and willing to offer our best support and service to you Reach us by the following ways ASIA DELTA ELECTRO...

Page 13: ...Table of Contents ASDA B Series Revision January 2009 This page intentionally left blank...

Page 14: ...necessary screws are tight and secure If any items are damaged or incorrect please inform the distributor whom you purchased the product from or your local Delta sales representative A complete and w...

Page 15: ...Chapter 1 Unpacking Check and Model Explanation ASDA B Series 1 2 Revision January 2009 Delta AC Servo Drive and Motor...

Page 16: ...ation ASDA B Series Revision January 2009 1 3 1 2 Model Explanation 1 2 1 Nameplate Information ASDA B Series Servo Drive Nameplate Explanation Serial Number Explanation ECMA Series Servo Motor Namepl...

Page 17: ...Chapter 1 Unpacking Check and Model Explanation ASDA B Series 1 4 Revision January 2009 1 2 2 Model Name Explanation ASDA B Series Servo Drive...

Page 18: ...Chapter 1 Unpacking Check and Model Explanation ASDA B Series Revision January 2009 1 5 ECMA Series Servo Motor...

Page 19: ...A ECMA E31315 S S 22mm 2000W ASD B2023 A ECMA C31020 S S 22mm ECMA E31320 S S 22mm ECMA E31820 S S 35mm The drives shown in the above table are designed for use in combination with the specific servo...

Page 20: ...o Drive Features NOTE 1 Only 750W and above servo drives are provided with built in regenerative resistors The servo drives below 400W are not 2 CMD LED A lit CMD LED indicates that the servo drive is...

Page 21: ...parameters set within the servo drive or from an external analog 10 10 Vdc command Control of the internal torque parameters is via the Digital Inputs DI A maximum of three torque levels can be stored...

Page 22: ...ervo drive and motor is more than 20m 65 62ft please increase the wire gauge of the encoder cable and motor connection cable connected to U V W terminals Make sure to tighten the screws for securing m...

Page 23: ...issipation Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel Please observe the following precautions when selecting...

Page 24: ...ically on a dry and solid surface such as a NEMA enclosure A minimum spacing of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional space may be nec...

Page 25: ...09 Minimum Clearances 2 0in 50mm min 2 0in 50mm min 0 8in 20mm min 0 8in 20mm min Side by Side Installation FAN FAN 4 0in 100mm min 4 0in 100mm min 4 0in 100mm min 4 0in 100mm min 1 6in 40mm min 1 6in...

Page 26: ...provides information on wiring ASDA B series products the descriptions of I O signals and gives typical examples of wiring diagrams 3 1 Connections 3 1 1 Connecting to Peripheral Devices In Figure 3...

Page 27: ...nd C and ensure an open circuit between P and D P D C Regenerative resistor terminal Only 750W and above servo drives are provided with built in regenerative resistors Ensure to leave the circuit clos...

Page 28: ...should be placed in separate conduits from the encoder or other signal cables Separate them by at least 30cm 11 8inches 5 If the encoder cable is too short please use a twisted shield signal wire wit...

Page 29: ...gle or three phase For drives 2kW and above only three phase connections are available In the wiring diagram figures 3 2 3 3 Power ON contact a normally open Power OFF or Alarm Processing contact b no...

Page 30: ...s are for optional configurations Please refer to section 1 2 for model explanation Motor Model Name U V W Electromagnetic Brake Connector Terminal Identification ECMA C30401 S 100W ECMA C30602 S 200W...

Page 31: ...0W ECMA E31310 S 1000W ECMA E31315 S 1500W ECMA C31020 S 2000W ECMA E31320 S 2000W 3106A 20 18S C ECMA E31820 S 2000W 3106A 24 11S D Terminal Identification U Red V White W Black CASE GROUND Green BRA...

Page 32: ...SING AMP 1 172161 9 A ECMA G31303 S 300W ECMA E31305 S 500W ECMA G31306 S 600W ECMA G31309 S 900W ECMA C31010 S 1000W ECMA E31310 S 1000W ECMA E31315 S 1500W ECMA C31020 S 2000W ECMA E31320 S 2000W EC...

Page 33: ...re Length ASD B0121 A ECMA C30401 S 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B0221 A ECMA C30602 S 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ECMA C30604 S 0 13 AWG26 10 core 4 pair UL2464 3m 9...

Page 34: ...Chapter 3 Connections and Wiring ASDA B Series Revision January 2009 3 9 3 2 Basic Wiring Figure 3 4 Basic Wiring Schematic of 400W and below models...

Page 35: ...Chapter 3 Connections and Wiring ASDA B Series 3 10 Revision January 2009 Figure 3 5 Basic Wiring Schematic of 750W models...

Page 36: ...Chapter 3 Connections and Wiring ASDA B Series Revision January 2009 3 11 Figure 3 6 Basic Wiring Schematic of 1kW and above models...

Page 37: ...3 B 3 C 3 3 1 CN1 Terminal Identification Figure 3 7 The Layout of CN1 Drive Connector 1 14 13 25 CN1 Terminal Signal Identification 1 D03 Digital output 14 DI6 Digital input 2 DO2 Digital output 15 D...

Page 38: ...ts Open Collector and Line Driver Three different pulse commands can be selected via parameter P1 00 Quadrature CW CCW pulse Pulse Direction C2 C3 OA OA 10 23 OB OB 12 11 Position Pulse Output OZ OZ 2...

Page 39: ...is ready to run NO fault alarm exists ZSPD ALL 2 DO2 ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1 38 For Example at de...

Page 40: ...te Fault or Alarm if it does not clear or the fault description warrants closer inspection of the drive system GAINUP ALL Gain switching in speed and position mode CCLR P 5 When CCLR is activated the...

Page 41: ...hen P1 02 is enabled TRLM P S Torque limit Forward operation Torque limit function is valid only when P1 02 is enabled C8 C9 Footnote 2 The state of the input function may be turned ON or OFF as it wi...

Page 42: ...command selection 0 TCM1 17 Torque command selection 1 S P 18 Position Speed mode switching OFF Speed ON Position S T 19 Speed Torque mode switching OFF Speed ON Torque T P 20 Torque Position mode sw...

Page 43: ...1 P2 20 DI4 3 P2 13 DI5 15 P2 14 DI DI6 14 P2 15 DI signal For example If the users want to set DI1 to be servo on it only needs to set the value of parameter P2 10 to 101 refer to chapter 7 NOTE 1 14...

Page 44: ...t Reverse operation 26 TRLM Torque limit Forward operation DO signal For example If the users want to set DO1 to be servo ready it only needs to set the value of parameter P2 18 to 101 refer to chapte...

Page 45: ...ut 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 NOTE 1 In order to protect the internal circuit w...

Page 46: ...rive Approx 1K Approx 1K 50 50 50 50 C2 2 Pulse input Open collector external power 7 VDD 19 SIGN 20 SIGN COM 22 PULSE 13 21 PULSE Vdc DC24V Max input pulse frequency is 200kpps Servo Drive Approx 1K...

Page 47: ...ctive load Continuous maximum current 40mA Instantaneous peak current max 100mA C4 Wiring of DO signal for the use of internal power supply general load C5 Wiring of DO signal for the use of internal...

Page 48: ...ral load C7 Wiring of DO signal for the use of external power supply inductive load Use a relay or open collector transistor to input signal C8 Wiring of DI signal for the use of internal power supply...

Page 49: ...2500PPR encoder is automatically multiplied to 10000PPR by X4 logic for increased control accuracy Figure 3 8 The layout of CN2 Drive Connector 1 6 5 9 CN2 Terminal Signal Identification Pin No Signa...

Page 50: ...tification Pin No Signal Name Terminal Identification Description 1 RS 485 RS 485 For data transmission of the servo drive Connected to the RS 485 interface of PC 2 Signal power 5VD 3 RS 485 RS 485 Fo...

Page 51: ...LC directly The PLC communication cable is compatible with all Delta Servo systems for the users convenience 3 5 2 Connection between PC Keypad and Connector CN3 Connection between PC and CN3 2 3 5 5...

Page 52: ...Chapter 3 Connections and Wiring ASDA B Series Revision January 2009 3 27 3 6 Standard Connection Example 3 6 1 Position Control Mode...

Page 53: ...Chapter 3 Connections and Wiring ASDA B Series 3 28 Revision January 2009 3 6 2 Speed Control Mode...

Page 54: ...Chapter 3 Connections and Wiring ASDA B Series Revision January 2009 3 29 3 6 3 Torque Control Mode...

Page 55: ...Chapter 3 Connections and Wiring ASDA B Series 3 30 Revision January 2009 This page intentionally left blank...

Page 56: ...or function of the servo drive is disabled and the LED indicators on the digital keypad are invalid at this time when in Save mode and Write mode In Fast Edit mode users can edit the parameters more q...

Page 57: ...an scroll through and change the memory blocks In SAVE mode pressing UP and DOWN arrow key can select and change the memory file name also SET SET Key Pressing Set key can enter into the Parameter Set...

Page 58: ...ow key to change parameter value or press MODE key to exit and return back to the parameter mode 5 In parameter setting mode users can move the cursor to left by pressing the SHIFT key and change the...

Page 59: ...e words by using UP and DOWN keys and change the words by using SHIFT key 6 In SAVE mode pressing MODE key once can return to the previous display and finally exit the SAVE mode However if the users h...

Page 60: ...MCU version of the servo drive and the preset file name such as BL001 XX The last two words XX can be modified by the users and its range is within 0 9 or A Z The users can select the words by using...

Page 61: ...tatic Auto tuning function is enabled the users can input the value of responsiveness frequency width motor load inertia and stiffness directly 7 In Fast Edit mode when Dynamic Auto tuning function is...

Page 62: ...Dload FEDIT AUTO D R 2 rev FEDIT AUTO D R 3 HZ FEDIT AUTO D F 1 0 HZ FEDIT AUTO D F 1 1 HZ FEDIT AUTO D T 15 s FEDIT AUTO D L PR Dload FEDIT AUTO D FEDIT AUTO D L 6 FEDIT AUTO D L 7 FEDIT AUTO D T 16...

Page 63: ...er setting mode pressing MODE key can return back to parameter mode After returning back to parameter mode pressing MODE key again can abort parameter setting change Fault Message Display Display Mess...

Page 64: ...t 0 b F S 0 T S 0 0 L P U S E l p u s e Motor feedback pulse number pulse 1 b F S 0 T S 1 0 V R E v r e Motor feedback rotation number rev 2 M C S 0 T S 2 0 L P U S E l p u s e D Pulse counts of pulse...

Page 65: ...o of load inertia to Motor inertia time 15 S T T S 1 0 B I G m p T e 5 g e C d IGBT Temperature of power supply module degC C The following table lists the display examples of monitor value Display Me...

Page 66: ...UP arrow key to display the fault code of ASH1 to ASH5 in order ASH1 indicates the most recent occurred fault code ASH2 is the previous occurred fault code before ASH1 and so on Figure 4 8 S A P 0 4...

Page 67: ...display in Figure 4 8 is adjusted as 100rpm Step 3 Press the SET key when the desired JOG speed is set The Servo Drive will display JOG and JOG LED will light up Step 4 Press the UP or DOWN arrow keys...

Page 68: ...tion ASDA B Series Revision January 2009 4 13 Figure 4 9 O J P 0 4 5 G r 0 SET SET MODE CCW CW Counterclockwise Clockwise 2 p m O J P 0 4 5 G r 0 2 p m O J P 0 4 5 G r 1 2 p m O J P 0 4 5 G r 0 0 p m...

Page 69: ...n OP x mode x indicates the parameter range from 0 to 7 Pressing UP or DOWN arrow key can change x value from 0 to 7 hexadecimal format and force digital outputs DO1 to DO3 to be activated ON or inact...

Page 70: ...hat the corresponding digital input signal is ON Figure 4 11 T I P 0 4 7 S 7 SET D I T 5 T I P 0 4 7 S T DI6 ON DI5 ON DI4 ON DI3 OFF DI2 OFF DI1 ON 4 1 8 DO Diagnosis Operation Following the setting...

Page 71: ...nction not only for the servo drive but also for PC side The function of parameter read and write must be set via the PC software Please see Figure 4 6 Figure 4 7 The users can use this software to re...

Page 72: ...Chapter 4 Display and Operation ASDA B Series Revision January 2009 4 17 Figure 4 7...

Page 73: ...D Alarm Output Indicator A lit ALRM LED illuminates to indicates that a alarm output is activated JOG LED JOG Operation Indicator A lit JOG LED illuminates to indicates that JOG operation is enabled T...

Page 74: ...ied to the AC servo drive the digital keypad will execute communication initial setup for approximately two seconds 9600bps 7 N 2 Modbus ASCII first and then enter into the monitor mode 2 In monitor m...

Page 75: ...Chapter 4 Display and Operation ASDA B Series 4 20 Revision January 2009 Figure 4 9...

Page 76: ...emory block is selected press FUNC key the LED display will show At this time pressing MODE key once can return to the previous display pressing FUNC key can record the address and save the data When...

Page 77: ...Chapter 4 Display and Operation ASDA B Series 4 22 Revision January 2009 Figure 4 10...

Page 78: ...sion is 1 014 the message 01014 or 11014 or 21014 or 31014 etc will show on the LED display The users can change the write address memory block by using UP and DOWN keys 5 After the write address memo...

Page 79: ...Chapter 4 Display and Operation ASDA B Series 4 24 Revision January 2009 Figure 4 11...

Page 80: ...Static Auto tuning function is enabled the users can input the value of responsiveness frequency width motor load inertia and stiffness directly 6 In Fast Edit mode when Dynamic Auto tuning function...

Page 81: ...3 In Dynamic Auto tuning mode the users can input the value of motor rotation number motor rotation frequency motor rotation time and responsiveness directly 4 Dynamic Auto tuning function only can be...

Page 82: ...times or DOWN key five times can switch to Static Auto tuning mode 3 In Static Auto tuning mode the users can input the value of responsiveness frequency width motor load inertia and stiffness direct...

Page 83: ...rn back to parameter mode After returning back to parameter mode pressing MODE key again can abort parameter setting change Fault Message Display Display Message Description When the AC servo drive ha...

Page 84: ...ied the monitor function will be Pulse counts of pulse command the C P monitor codes will first display and then the pulse number will display after P0 02 Setting Display Message Description Unit 0 Mo...

Page 85: ...it 14 Ratio of load inertia to Motor inertia time 15 IGBT Temperature of power supply module degC C The following table lists the display examples of monitor value Display Message Description Positive...

Page 86: ...mode of P4 05 directly Step 1 Press the FUNC key to display the JOG rpm speed The default value is 20 rpm Step 2 Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed This als...

Page 87: ...the servo drive is enabled 2 Before using JOG function please ensure to confirm that P2 10 DI1 is set to 101 Servo On Otherwise the JOG operation cannot be enabled even if the FUNC key has been presse...

Page 88: ...setting method in Figure 4 17 to enter into DO force output diagnosis operation OP x mode x indicates the parameter range from 0 to 7 Pressing UP or DOWN arrow key can change x value from 0 to 7 hexa...

Page 89: ...thod in Figure 4 18 can perform DI diagnosis operation parameter P4 07 According to the ON and OFF status of the digital inputs DI1 to DI6 the corresponding status will display on the servo drive LED...

Page 90: ...thod in Figure 4 19 can perform DO diagnosis operation parameter P4 09 According to the ON and OFF status of the digital outputs DO1 to DO3 the corresponding status will display on the servo drive LED...

Page 91: ...tion not only for the servo drive but also for PC side The function of parameter read and write must be set via the PC software Please see Figure 4 20 Figure 4 21 The users can use this software to re...

Page 92: ...Chapter 4 Display and Operation ASDA B Series Revision January 2009 4 37 Figure 4 21...

Page 93: ...Chapter 4 Display and Operation ASDA B Series 4 38 Revision January 2009 This page intentionally left blank...

Page 94: ...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 perform t...

Page 95: ...e that all user defined parameters are set correctly Since the characteristics of various machinery are different in order to avoid accident or cause damage do not adjust the parameter abnormally and...

Page 96: ...fer to Section 3 1 and 3 4 Do not connect the AC input power R S T to the U V W output terminals This will damage the AC servo drive 2 Main circuit wiring Connect power to the AC servo For three phase...

Page 97: ...parameter P2 10 to P2 15 is not set to 21 If it is necessary to use Emergency Stop EMGS as input signal the users only need to confirm that which of digital inputs DI1 DI6 is set to Emergency Stop EM...

Page 98: ...digital inputs DI1 DI6 is set to Forward inhibit limit CCWL and check if the digital input signal is ON It should be activated When Digital Input 1 DI1 is set to Servo On SON if DI1 is set to ON it i...

Page 99: ...hows Input power phase loss Corrective Actions Verify the main circuit power R S T Check for possible poor connection on the power cable Check if one phase of the input power is lost NOTE 1 If there a...

Page 100: ...d Servo On 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 the speed of JOG o...

Page 101: ...play STEP 5 Pressing UP key and the servo motor will run in CCW direction After releasing UP key the motor will stop running STEP 6 Pressing DOWN key and the servo motor will run in CW direction After...

Page 102: ...it and DI6 is the function of emergency stop DI6 if the users do not set the setting value of parameters P2 13 to P2 15 to 0 Disabled the faults ALE13 14 and 15 will occur For the information of fault...

Page 103: ...the motor speed command is 0 zero 3 If only DI3 is ON SPD0 it indicates S2 command P1 09 is set to 3000 is selected and the motor speed should be 3000rpm at this time 4 If only DI4 is ON SPD1 it indic...

Page 104: ...ed Status to Normally open status I D P 1 3 2 4 2 2 1 6 Repeat the action of item 4 and 5 Set the setting value of parameter P2 14 as shown on the right side display I D P 1 4 2 5 2 3 1 7 Repeat the a...

Page 105: ...rive the right side display will show on the LED display 2 Press MODE key to enter into parameter mode 3 Press SHIFT key twice to select parameter group 4 Press UP key to view each parameter and selec...

Page 106: ...Load Inertia to Servo Motor Inertia J_load J_motor cannot be shown in the display of JOG parameter P4 05 operation Please press MODE key twice continuously and the users can see the ratio of Load Ine...

Page 107: ...Chapter 5 Trial Run and Tuning Procedure ASDA B Series 5 14 Revision January 2009 5 5 2 Load Inertia Estimation Flowchart...

Page 108: ...o set the stiffness and responsiveness level automatically Users can control the stiffness and responsiveness according to application condition When the setting value is higher the stiffness and resp...

Page 109: ...ing of Speed Loop Responsiveness and P2 25 Setting Value of P2 31 Speed Loop Responsiveness Low pass Filter Time Constant of Resonance Suppression P2 25 0 10 Hz 125 1 15 Hz 83 2 20 Hz 62 3 25 Hz 50 4...

Page 110: ...matically Users can control the stiffness and responsiveness according to application condition When the setting value is higher the stiffness and responsiveness is higher Adjust P2 31 Increase the se...

Page 111: ...ad Inertia Estimation 1 The accel decel time for reaching 2000RPM must be below 1 second The rotation speed must be above 200RPM The load inertia must be 100 multiple or less of motor inertia The chan...

Page 112: ...1 Auto Stiffness and Responsiveness Level P2 26 External Anti Interference Gain Continuous Adjusting AutoMode PI Fixed Inertia The inertia ratio is determined by P1 37 12 P2 00 P2 04 P2 06 P2 25 P1 37...

Page 113: ...ommand is quicker the position error is less and the settling time is also shorter However if the setting value is over high the machinery system may generate vibration or noise or even overshoot duri...

Page 114: ...ver high it may easily lead to the instability of speed loop and overshoot of machinery system The recommended setting value is as follows 1000 NLP Parameter P2 25 4 x Speed Loop Responsiveness Hz DST...

Page 115: ...Chapter 5 Trial Run and Tuning Procedure ASDA B Series 5 22 Revision January 2009 This page intentionally left blank...

Page 116: ...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 three torque l...

Page 117: ...forward compensation The users can also select two kinds of tuning mode Manual Auto modes to perform gain adjustment This Section 6 2 mainly describes the applicability of loop gain adjustment and fee...

Page 118: ...Direction 6 2 2 Structure of Position Control Mode Basic Structure Position Command Position Command Processing Position Control Block Diagram Speed Loop Current Loop Output Position In order to purs...

Page 119: ...P Section 6 2 4 P1 44 P1 45 Unit pulse DI GNUM0 11 in Table 7 A Range 1 32767 Settings The electronic gear numerator value can be set via external DI signal refer to Table 7 A DI Name DI Status Select...

Page 120: ...gear ratio setting range must be within 1 50 N M 200 In terms of the servo drive which the firmware version is V1 018 or above the electronic gear ratio can be set when the servo drive is On Servo On...

Page 121: ...the speed control setting by using Manual mode parameter P 32 since the position loop contains speed loop Then adjust the Proportional Position Loop Gain KPP parameter P2 00 and Position Feed Forward...

Page 122: ...hanged in accordance with the setting value of parameter P2 31 automatically Please refer Table 6 D 6 E in Chapter 6 P2 01 PPR Position Loop Gain Switching Rate Communication Addr 0201H Default 100 Re...

Page 123: ...portional Position Loop Gain P2 00 Position Command Smooth Constant of Position Feed Forward Gain P2 03 Position Loop Gain Switching RateP2 01 Maximum Speed Limit P1 55 Gain Switching Control Selectio...

Page 124: ...urce of Speed Control Mode Speed command Sources 1 External analog signal External analog voltage input 10V to 10V 2 Internal parameter P1 09 to P1 11 CN1 DI signal Speed Command SPD1 SPD0 Command Sou...

Page 125: ...rce 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 para...

Page 126: ...mmand differentiation of acceleration using S curve filter not only can improve the performance when servo motor accelerate or decelerate but also can make the motor run more smoothly S curve filter p...

Page 127: ...s set to 0 Accel Decel function is disabled i e P1 34 P1 35 is disabled P1 36 TSL Accel Decel S curve Communication Addr 0124H Default 0 Related Section Applicable Control Mode S P1 34 P1 35 Section 6...

Page 128: ...f speed command is different during acceleration and deceleration Also 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 im...

Page 129: ...d or Limit Communication Addr 0128H Default rated speed Related Section Applicable Control Mode S T Section 6 3 4 P1 55 Unit rpm Range 0 5000 Settings In Speed mode this parameter is used to set the s...

Page 130: ...ommand S1 is external analog voltage input Please refer to P1 01 3 After Servo ON the users can select command according to the state of SPD0 1 6 3 6 Speed Loop Gain Adjustment The function and struct...

Page 131: ...e setting value of the parameters listed in the Table 6 4 and 6 5 will also be changed PI Structure P2 32 Stiffness Setting P2 31 Speed Loop Responsive ness Hz Proportional Position Loop Gain P2 00 Pr...

Page 132: ...111 15 2 20 31 50 125 20 83 20 3 25 39 50 157 25 66 25 4 30 47 50 188 30 55 30 5 35 54 50 219 35 47 35 6 45 70 50 282 45 37 45 7 55 86 50 345 55 30 55 8 65 102 50 408 65 25 65 9 80 125 50 502 80 20 8...

Page 133: ...ng mode 2 to 0 it indicates the setting of P1 37 and all settings of related gain parameters will be returned to original setting value in 0 manual mode 5 No matter in Manual mode 0 or in AutoMode 2 t...

Page 134: ...nged in accordance with the setting value of parameter P2 31 automatically Please refer Table 6 D 6 E in Chapter 6 Speed Loop Responsiveness X Hz KVP 2 1 P1 37 10 1 JL JM JM Motor inertia JL Load iner...

Page 135: ...to set the feed forward gain when executing speed control command When using speed smooth command increase gain can improve speed track deviation When not using speed smooth command decrease gain can...

Page 136: ...the value of the responsiveness is also greater and the raising time is shorter However when the value of phase margin is over low it is not helpful to steady error But it is helpful to dynamic tracki...

Page 137: ...utomatically It is suitable when the load inertia is fixed or the load inertia change is small and is not suitable for wide range of load inertia change The period of adjustment time is different depe...

Page 138: ...P1 01 Speed Control Block Diagram P2 23 P2 24 Resonance Suppression Block Diagram Relevant parameters P2 23 NCF Notch Filter Resonance Suppression Communication Addr 0217H Default 1000 Related Section...

Page 139: ...sonance conditions is suppressed Gain Frequency Gain Frequency Gain Frequency Low pass Frequency Low pass Frequency Resonance Frequency Attenuation Rate 3db Resonance Point Resonance Frequency When th...

Page 140: ...0 0 Mode 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 Table 6 F State of TCM0 1 0 indicates OFF Normally Open 1 indicates ON Normally Closed When...

Page 141: ...the gain parameters of the servo drive and calculate the current input provided to motor instantaneously As current control block diagram is too complicated setting the parameters of current control b...

Page 142: ...Unit ms Range 0 1000 0 Disabled 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 just By Pass TFLT Target Speed 6...

Page 143: ...to 100 and the input voltage is 10V it 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 rat...

Page 144: ...SPD0 1 or TCM0 1 Please refer to table 3 B and table 3 C in section 3 3 2 to see the default pin number of DI DO signal 6 5 1 Speed Position Control Mode Selection S P Mode The command source of S P m...

Page 145: ...eed command is selected by SPD0 1 and then the motor will immediately rotate following the command After S T is ON again it will immediately return to torque mode 6 5 3 Torque Position Control Mode Se...

Page 146: ...P1 02 is set to 1 SPD0 1 INVALID SPD0 1 VALID Disable Enable Speed Limit Function Settings in parameter P1 02 is set to 0 Command Source Selection of Speed Limit 6 6 2 Torque Limit The command source...

Page 147: ...0 1 0 40 60 30 20 1 5 40 60 30 20 2 0 40 60 30 10 1 Regenerative power calculation The amount of regenerative power average value that can be processed is rated at 50 of the capacity of the servo driv...

Page 148: ...istors Regenerative Power Calculation Method 1 Without Load When there is no external load torque if the servo motor repeats operation the returned regenerative power generated when braking will trans...

Page 149: ...regenerative resistor 2 4 1 5 36 11 07 0 75 41 9W If the calculation result is smaller than regenerative power we recommend the users to use the built in 60W regenerative resistor Usually the built in...

Page 150: ...generative resistors according to the allowable frequency required by actual operation and the allowable frequency when the servo motor run without load The allowable frequency when the servo motor ru...

Page 151: ...W 130mm 2 0KW 180mm ECMA Series Regenerative Resistors 10 15 20 20 20 BR400W040 283 213 562 163 68 BR1K0W020 708 533 1363 408 171 motor frame size unit is in millimeters Table 6 L 6 6 4 Electromagneti...

Page 152: ...ay the cause of overload servo fault Timing chart for using servo motor with electromagnetic brake 1 When the setting value of P1 43 is greater than or equal to 0 zero SON Digital Input ON OFF MBT1 P1...

Page 153: ...nuary 2009 Electromagnetic Brake Wiring Diagram NOTE 1 Please refer to Chapter 3 Connections and Wiring for more wiring information 2 Please note that the coil of brake has no polarity 3 The power sup...

Page 154: ...P4 xx There is following one group for keypad parameters Group 8 Keypad parameter example P8 xx Abbreviation of control modes P Position control mode S Speed control mode T Torque control mode Explana...

Page 155: ...Drive Status 0 N A P0 03 Reserved P0 04 CM1 Status Monitor 1 0 N A P0 05 CM2 Status Monitor 2 0 N A P0 06 CM3 Status Monitor 3 0 N A P0 07 Reserved P0 08 Reserved P0 09 SVSTS Servo Output Status Displ...

Page 156: ...Command Low pass Filter 0 10ms P1 09 P1 11 SPD1 3 1st 3rd Speed Command or Limit 100 300 rpm P1 12 P1 14 TQ1 3 1st 3rd Torque Command or Limit 100 P1 15 GR4 Electronic Gear Ratio 2nd Numerator N2 1 p...

Page 157: ...47 P1 51 Reserved P1 52 RES1 Regenerative Resistor Value 40 Ohm P1 53 RES2 Regenerative Resistor Capacity 60 Watt P1 54 PER Positioning Completed Width 100 pulse P1 55 MSPD Maximum Speed Limit rated...

Page 158: ...N A P2 11 DI2 Digital Input Terminal 2 DI2 102 N A P2 12 DI3 Digital Input Terminal 3 DI3 104 N A P2 13 DI4 Digital Input Terminal 4 DI4 22 N A P2 14 DI5 Digital Input Terminal 5 DI5 23 N A P2 15 DI6...

Page 159: ...evel 50 N A P2 38 GBIT Special Function 0 N A P2 39 P2 43 Reserved P2 44 ATUR Motor Rotation Number 2 turn P2 45 AFRQ Motor Rotation Frequency 10 0 1Hz P2 46 ATME Motor Rotation Time 15 sec P2 47 ASTR...

Page 160: ...Transmission Fault Treatment 0 N A P3 04 CWD Communication Time Out Detection 0 sec P3 05 Reserved P3 06 SDI Digital Input Communication Function 0 N A P3 07 CDT Communication Response Delay Time 0 ms...

Page 161: ...t 2 Factory setting N A P4 13 TOF1 Analog Torque Drift Adjustment 1 Factory setting N A P4 14 Reserved P4 15 COF1 Current Detector Drift Adjustment V1 phase Factory setting N A P4 16 COF2 Current Dete...

Page 162: ...on Protocol Keypad 0 N A P8 08 KCMM Communication Selection Keypad 0 N A P8 09 KTST Keypad Hardware Testing 0 N A P8 10 KBLT LCD Backlight Display 0 N A P8 11 KCLR Memory Block Clear 0 N A P8 12 KRNO...

Page 163: ...ilter 0 ms P1 07 TFLT Smooth Constant of Analog Torque Command Low pass Filter 0 ms P1 08 PFLT Smooth Constant of Position Command Low pass Filter 0 10ms P1 34 TACC Acceleration Time 200 ms P1 35 TDEC...

Page 164: ...tegral Compensation 50 rad s P2 07 SFG Speed Feed Forward Gain 0 P2 26 DST External Anti Interference Gain 0 N A P2 27 GCC Gain Switching Control Selection 0 N A P2 28 GUT Gain Switching Time Constant...

Page 165: ...ulse External pulse control command P mode P1 00 PTT External Pulse Input Type 2 P1 41 TCM Max Analog Torque Limit 100 P1 44 GR1 Electronic Gear Ratio 1st Numerator N1 1 pulse P1 45 GR2 Electronic Gea...

Page 166: ...ue Limit 100 Torque Control Control Mode Parameter Name Function Default Unit P S T P1 01 CTL Control Mode and Output Direction 0 pulse rpm N M P1 02 PSTL Speed and Torque Limit 0 N A P1 55 MSPD Maxim...

Page 167: ...N A P2 18 DO1 Digital Output Terminal 1 DO1 101 N A P2 19 DO2 Digital Output Terminal 2 DO2 103 N A P2 20 DO3 Digital Output Terminal 3 DO3 7 N A P1 38 ZSPD Zero Speed Range Setting 10 rpm P1 39 SSPD...

Page 168: ...smission Fault Treatment 0 N A P3 04 CWD Communication Time Out Detection 0 sec P3 06 SDI Digital Input Communication Function 0 N A P3 07 CDT Communication Response Delay Time 0 ms Explanation of sym...

Page 169: ...djustment 2 Factory setting N A P4 13 TOF1 Analog Torque Drift Adjustment 1 Factory setting N A P4 15 COF1 Current Detector Drift Adjustment V1 phase Factory setting N A P4 16 COF2 Current Detector Dr...

Page 170: ...Setting 0 N A P2 30 INH Auxiliary Function 0 N A P2 34 SDEV Overspeed Warning Condition 5000 rpm P2 35 PDEV Excessive Error Warning Condition 3000 10pls P2 36 OVL Overload Protection Level 100 P2 37 O...

Page 171: ...8 KCMM Communication Selection Keypad 0 N A P8 09 KTST Keypad Hardware Testing 0 N A P8 10 KBLT LCD Backlight Display 0 N A P8 11 KCLR Memory Block Clear 0 N A P8 12 KRNO Memory Block Position Number...

Page 172: ...ol Mode P S T Chapter 10 Unit N A Range 1 20 Settings Overcurrent Note 1 Overvoltage Note 2 Undervoltage Note 2 Z Pulse shift Note 3 Regeneration error Note 1 Overload Note 1 Overspeed Note 1 Abnormal...

Page 173: ...red 4 When this fault occurs it indicates the internal EEPROM may be damaged and using ARST signal can not clear this fault message The fault display shown on PC Based communication software and Keypa...

Page 174: ...que input command volt 10 Torque input command Nt M 11 Average load 12 Peak load 13 Main circuit voltage volt 14 Ratio of load inertia to Motor inertia time 15 IGBT Temperature of power supply module...

Page 175: ...S T P0 02 Unit N A Range 0 15 Settings See P0 04 for explanation P0 07 Reserved Communication Addr 0007H P0 08 Reserved Communication Addr 0008H P0 09 SVSTS Servo Output Status Display Communication...

Page 176: ...evision January 2009 7 23 Bit9 WARN Servo warning output WARN is activated when the drive has detected Reverse limit error Forward limit error Emergency stop Serial communication error and Undervoltag...

Page 177: ...6 1 Unit N A Section 6 2 1 Range 0 142 Settings ASD PU 01A ASD PU 01B P P 0 0 2 1 T T Pulse type Reserved Logic type Not used Pulse type 0 AB phase pulse 4x 1 CW CCW pulse 2 Pulse Direction Other sett...

Page 178: ...01B Control Mode Settings P S T Sz Tz 00 02 03 04 05 06 07 10 Torque Output Direction Settings 0 1 Forward Reverse P Position control mode command from external signal S Speed control mode external co...

Page 179: ...Status Command Source Not select Note 1 00 External analog command 01 P1 09 10 P1 10 SPD1 SPD0 11 P1 11 Disable Enable Torque Limit Function Settings 0 Disable Torque Limit Function 1 Enable Torque Li...

Page 180: ...cation Addr 0105H P1 06 SFLT Accel Decel Smooth Constant of Analog Speed Command Low pass Filter Communication Addr 0106H Default 0 Related Section Applicable Control Mode S Section 6 3 3 Unit ms Rang...

Page 181: ...10AH Default 200 Related Section Applicable Control Mode S T S mode Section 6 3 5 Unit rpm T mode P1 02 Range 5000 5000 Settings 2nd Speed Command In Speed mode this parameter is used to set speed 2 o...

Page 182: ...lt 100 Related Section Applicable Control Mode T P S T mode Section 6 4 5 Unit P S mode P1 02 Range 300 300 Settings 2nd Torque Command In Torque mode this parameter is used to set torque 2 of interna...

Page 183: ...t Note 1 P1 44 P1 45 0 P1 44 P1 45 GNUM0 1 P1 44 P1 45 NOTE 1 DI signal can be selected by parameter P2 10 to P2 15 and Table 7 A If uses only need to use one group of electronic gear it allows users...

Page 184: ...P S T Unit N A Range 0 11 Settings This parameter is used to select servo motor stop mode ASD PU 01A ASD PU 01B Fault Stop Function Settings When a fault occurs except for CWL CCWL EMGS and serial co...

Page 185: ...S P1 34 P1 36 Section 6 3 3 Unit ms Range 1 20000 Settings It is used to determine the deceleration time to decelerate from its rated rotation speed to 0 When P1 36 is set to 0 Accel Decel function is...

Page 186: ...g as defined in parameter P1 38 For Example at default ZSPD will be activated when the drive detects the motor rotating at speed at or below 10 rpm ZSPD will remain activated until the motor speed inc...

Page 187: ...munication Addr 0129H Default 100 Related Section Applicable Control Mode T S P Section 6 4 4 P1 55 Unit Range 0 300 Settings In Torque mode this parameter is used to set the output torque at maximum...

Page 188: ...ke output signal BRKR is unactivated NOTE 1 When the setting value of P1 43 is higher than or equal to 0 zero SON DI Input ON OFF MBT1 P1 42 BRKR DO Output OFF ON OFF OFF MBT2 P1 43 When Servo Off the...

Page 189: ...c Gear Ratio Denominator Communication Addr 012DH Default 1 Related Section Applicable Control Mode P Section 6 2 4 P1 15 P1 44 Unit pulse DI GNUM0 11 in Table 7 A Range 1 32767 Settings Please set el...

Page 190: ...Quadrature 2500ppr 2500 x setting value of P1 46 P1 47 Reserved Communication Addr 012FH P1 48 Reserved Communication Addr 0130H P1 49 Reserved Communication Addr 0131H P1 50 Reserved Communication A...

Page 191: ...ameter is used to set the width of pulse output range in which TPOS positioning completed signal will activate TPOS will be activated when the position error is below the setting value of P1 54 P1 55...

Page 192: ...ed Section Applicable Control Mode P Section 6 2 6 P2 27 P2 29 Unit Range 10 500 Settings This parameter is used to set the position gain switching rate when the gain switching condition is satisfied...

Page 193: ...f 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 In AutoMode the value of this parameter wil...

Page 194: ...ings This parameter is used to set the feed forward gain when executing speed control command When using speed smooth command increase gain can improve speed track deviation When not using speed smoot...

Page 195: ...er time can improve reliability However if the time is too long it may affect the response time P2 10 DI1 Digital Input Terminal 1 DI1 Communication Addr 020AH Default 101 Related Section Applicable C...

Page 196: ...ault 104 Related Section Applicable Control Mode P S T Section 3 3 4 Table 7 A Unit N A Range 0 126 Settings See P2 10 for explanation P2 13 DI4 Digital Input Terminal 4 DI4 Communication Addr 020DH D...

Page 197: ...Communication Addr 0211H P2 18 DO1 Digital Output Terminal 1 DO1 Communication Addr 0212H Default 101 Related Section Applicable Control Mode P S T Section 3 3 4 Table 7 B Unit N A Range 0 110 Settin...

Page 198: ...Control Mode P S T Section 3 3 4 Table 7 B Unit N A Range 0 110 Settings See P2 18 for explanation P2 21 Reserved Communication Addr 0215H P2 22 Reserved Communication Addr 0216H P2 23 NCF Notch Filte...

Page 199: ...P2 25 NLP Low pass Filter Time Constant Resonance Suppression Communication Addr 0219H Default 20 Related Section Applicable Control Mode P S T Section 6 3 7 P2 32 Unit 0 1ms Range 0 10000 Settings Th...

Page 200: ...29 3 Position command frequency is higher than the setting value of P2 29 4 Servo motor speed is higher than the setting value of P2 29 Gain Switching Control Settings 0 Gain multiple switching 1 P P...

Page 201: ...e Servo On ignore CW and CCW signal 2 Ignore CW digital input signal 3 Ignore CCW digital input signal 4 Reserved 5 After setting P2 30 to 5 the setting values of all parameters will lost not remain i...

Page 202: ...siveness 9 80 A 100 B 120 C 145 D 170 E 205 High Stiffness F 250 High Responsiveness NOTE 1 This parameter is activated by P2 32 P2 32 AUT2 Tuning Mode Selection Communication Addr 0220H Default 0 Rel...

Page 203: ...ue 4 When switching mode 2 to 0 it indicates the setting of P1 37 and all settings of related gain parameters will be returned to original setting value in 0 manual mode 5 No matter in Manual mode 0 o...

Page 204: ...erload time 8 x 100 100 8 seconds has been reached However if P2 36 is set to 70 and P2 37 is set to 100 the servo fault message overload ALE06 will occur when the overload time 8 x 100 70 11 43 secon...

Page 205: ...gisters speed command is less than parameter P1 38 Bit10 0 Locked at the position when ZCLAMP conditions are satisfied Bit10 1 Speed command is forced to 0 RPM when ZCLAMP conditions are satisfied How...

Page 206: ...P2 44 P2 46 P2 47 Unit 0 1Hz Range 1 100 Settings This parameter is used to set the motor rotation frequency when auto tuning parameters P2 46 ATME Motor Rotation Time Communication Addr 022EH Default...

Page 207: ...rameter P2 31 P2 48 CCLR Pulse Deviation Clear Mode Communication Addr 0230H Default 0 Related Section Applicable Control Mode P DI CCLR 04 in Table 7 A Unit N A Range 0 1 Settings When the servo driv...

Page 208: ...01B Speed Detection Filter Constant Settings Setting Value Speed Detection Frequency of Low pass Filter Hz Filter Time ms 0 500 2 0 1 450 2 2 2 400 2 5 3 350 2 8 4 300 3 3 5 250 4 0 6 200 5 0 7 150 6...

Page 209: ...d to host external controller no matter the address is matching or not 2 When the address of host external controller is set to 255 it is with auto respond function Then the servo drive will receive f...

Page 210: ...wing 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 Default 0...

Page 211: ...al Input Contact Control parameter for the DI 1 DI 6 is set to 0 command is external and via CN1 if it is set to 1 the DI signal is via communication The Digital Input Control Contact parameter P3 06...

Page 212: ...munication Addr 0401H Default 0 Related Section N A Applicable Control Mode P S T Unit N A Range N A P4 02 ASH3 Fault Record N 2 Communication Addr 0402H Default 0 Related Section N A Applicable Contr...

Page 213: ...d during JOG operation the new setting value is effective only after the servo drive is restarted after switching power off and on NOTE 1 If the communication write in frequency is too high please set...

Page 214: ...s being read as 3 it indicates that the Digital Inputs 1 2 are ON and Digital Inputs 3 4 5 6 are OFF If P3 06 has been set to 1 and the written value of Bit 0 of P4 07 is 1 it indicates the status of...

Page 215: ...ift adjustment 2 Execute analog torque input drift adjustment 3 Execute current detector V phase drift adjustment 4 Execute current detector W phase drift adjustment 5 Execute drift adjustment of the...

Page 216: ...ensure that the external wiring connected to analog speed must be removed or an external zero voltage power is applied to the servo drive from the host controller and the servo system should be off Se...

Page 217: ...1 phase Communication Addr 040FH Default Factory setting Related Section Applicable Control Mode P S T P4 10 Unit N A Range 0 32767 Settings Manual Adjustment Operation Set parameter P2 08 to 22 and t...

Page 218: ...e the default setting manually Auto Adjustment Operation Set parameter P2 08 to 20 first and then set parameter P4 10 to 4 When executing this auto adjustment ensure that the servo system should be of...

Page 219: ...this parameter P4 20 Reserved Communication Addr 0414H P4 21 Reserved Communication Addr 0415H P4 22 SAO Analog Speed Input Offset Communication Addr 0416H Default 0 Related Section Applicable Contro...

Page 220: ...t analog torque input offset value manually NOTE 1 Before using this function please short the internal circuit first or connecting to a 0V output of the external controller in advance Please refer to...

Page 221: ...ion Communication Addr 0800H Default Factory setting Related Section N A Applicable Control Mode P S T Unit N A Range N A P8 01 KFUN Keypad Communication and Reset Setting Communication Addr 0801H Def...

Page 222: ...8 04 Reserved Communication Addr 0804H P8 05 KADR Communication Address Setting Drive Communication Addr 0805H Default 255 Related Section N A Applicable Control Mode P S T Unit N A Range 1 255 Settin...

Page 223: ...mode 8 N 2 4 Modbus ASCII mode 8 E 1 5 Modbus ASCII mode 8 O 1 6 Modbus RTU mode 8 N 2 7 Modbus RTU mode 8 E 1 8 Modbus RTU mode 8 O 1 P8 08 KCMM Communication Selection Keypad Communication Addr 080...

Page 224: ...this parameter will consumed the life of data memory it is not recommended to use this parameter and change the factory default setting if not necessary P8 10 KBLT LCD Backlight Display Communication...

Page 225: ...licable Control Mode P S T Unit N A Range 0 24 This parameter is used to determine the memory block number ROMx shown on the keypad display P8 13 KBL0 Status of Memory Block ROMx Communication Addr 08...

Page 226: ...14 KBL1 Firmware Version of Memory Block ROMx Communication Addr 080EH Default 0 Related Section N A Applicable Control Mode P S T Unit N A Range N A This parameter displays the firmware version of pa...

Page 227: ...Description Trigger Method Control Mode GAINUP Gain switching in speed and position mode When GAINUP is activated P2 27 is set to 1 the gain is switched to the gain multiplied by gain switching rate L...

Page 228: ...l When the drive is in the Position Speed and Torque mode and CMDINV is activated the motor is in reverse rotation Level Triggered S T Setting value of P2 10 P2 15 07 DI Name DI Function Description T...

Page 229: ...c gear ratio this DI signal can be used to switch the Numerator When GNUM0 is not activated it indicates the first Numerator N1 see P1 44 is used When GNUM0 is activated it indicates the second Numera...

Page 230: ...me DI Function Description Trigger Method Control Mode TCM0 TCM1 Torque command selection 1 4 Torque command number T1 CN1 DI signal TCM1 TCM0 Command Source Content Range T External analog command Vo...

Page 231: ...T P Torque Position mode switching OFF Torque mode ON Position mode Level Triggered P T Setting value of P2 10 P2 15 21 DI Name DI Function Description Trigger Method Control Mode EMGS Emergency stop...

Page 232: ...Mode TLLM Torque limit Reverse operation Torque limit function is valid only when P1 02 is enabled Level Triggered P S Setting value of P2 10 P2 15 26 DI Name DI Function Description Trigger Method Co...

Page 233: ...SRDY off on P S T Setting value of P2 18 P2 20 03 DO Name DO Function Description Control Mode ZSPD At Zero speed ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed...

Page 234: ...Mode OLW Output overload warning OLW is activated when the servo drive has detected that the motor has reached the output overload level set by parameter P2 37 This parameter is used to set output ove...

Page 235: ...inuously overloaded for 8 seconds the overload alarm will be detected and shown on the LED display ALE06 Then Servo Fault signal will be ON DO signal ALRM will be activated P S T Setting value of P2 1...

Page 236: ...of control operation and monitoring as well 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 co...

Page 237: ...kept to a minimum communication cable should kept apart from high voltage wires If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 3m 9 84ft w...

Page 238: ...age wires If a transmission speed of 38400 bps or 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 i...

Page 239: ...d 254 Access to program this number is via parameter P3 00 0301H Transmission Speed Default 3 Settings 0 Baud rate 4800 data transmission speed bits second 1 Baud rate 9600 data transmission speed bit...

Page 240: ...ot necessary Default 0 Range 0 20 sec The factory default setting is set to 0 and it indicates this function is disabled When this parameter is set to any value over 0 it indicates that the timer is e...

Page 241: ...ks in conjunction with the Multi Function Digital Input parameter P4 07 which has several functions The contents of P4 07 is read only via the drive keypad and will display the state on or off blank o...

Page 242: ...se Delay Time Default 0 Range 0 255 This parameter is used to delay the communication time that servo drive respond to host controller external controller When the communication address is set to 255...

Page 243: ...ter P3 02 Code Description ASCII Mode Each 8 bit data is the 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 tab...

Page 244: ...munication Protocol ASCII Mode STX Start character 3AH ADR Communication 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 w...

Page 245: ...characters depends on the command code The available command codes and examples for AC servo drive are described as follows Command code 03H read N words The maximum value of N is 10 For example read...

Page 246: ...bytes 1FH Upper bytes CRC Check High B3H Upper bytes Contents of second data address 0201H 40H Lower bytes CRC Check Low A3H Lower bytes CRC Check High D4H Upper bytes Command code 06H write 1 word F...

Page 247: ...C Check High 99H Upper bytes CRC Check High 99H Upper bytes LRC ASCII Mode LRC Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADR to last data charac...

Page 248: ...mmand message Continue doing this until all bytes have been processed The final contents of the CRC register are the CRC value NOTE 1 When transmitting the CRC value in the message the upper and lower...

Page 249: ...ed parameter 0x03 VAL_ERR Value Error Setting value is not within the setting range Higher than the maximum setting value or lower than the minimum setting value 0x04 OV_PT Numbers of Data Error Numbe...

Page 250: ...hile length reg_crc data for j 0 j 8 j if reg_crc 0x01 LSB bit 0 1 reg_crc reg_crc 1 0xA001 else reg_crc reg_crc 1 return reg_crc PC communication program example include stdio h include dos h include...

Page 251: ...LCR 0x80 the BRDL BRDH can be access as LCR b7 1 outportb PORT BRDL 12 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 whi...

Page 252: ...cause damage z Ensure the correct installation and the control panel It should be free from airborne dust harmful gases or liquids z Ensure that all wiring instructions and recommendations are follow...

Page 253: ...with Delta z Check for abnormal conditions of the power indicators and LED display If there is any abnormal condition of the power indicators and LED display please contact your distributor for assist...

Page 254: ...9 3 Cooling fan The cooling fan life is limited and should be changed periodically The cooling fan will reach the end of its life in 2 3 years when it is in continuous operation However it also must...

Page 255: ...Chapter 9 Maintenance and Inspection ASDA B Series 9 4 Revision January 2009 This page intentionally left blank...

Page 256: ...verspeed Motor s control speed exceeds the limit of normal speed ALE Abnormal pulse control command Input frequency of pulse command exceeds the limit of its allowable setting value ALE Excessive devi...

Page 257: ...nication initial setup ALE 36 Reserved ALE 37 Reserved ALE 38 Reserved ALE 39 Reserved ALE 40 Initial setup error Communication initial setup has not completed yet ALE 41 Communication receive time ou...

Page 258: ...wire is short circuited Repair the short circuited and avoid metal conductor being exposed Motor wiring error Check if the wiring steps are all correct when connecting motor to drive Follow the wiring...

Page 259: ...contact with Delta ALE 4 ALE Z Pulse shift Potential Cause Checking Method Corrective Actions Encoder is damage Check Encoder for the damage Repair or replace the motor Encoder is loose Examine the E...

Page 260: ...exceeded its rated load during continuous operation Check if the drive is overloaded Increase motor capacity or reduce load Check if there is mechanical vibration Adjust gain value of control circuit...

Page 261: ...oper gain value Correctly adjust gain value Torque limit is too low Check torque limit value Correctly adjust torque limit value There is an overload Check for overload condition Reduce external appli...

Page 262: ...cal potential of grounding Correctly ground analog input contact Detection device may be damaged Check and reset the power supply Please contact your distributor for assistance or contact with Delta A...

Page 263: ...ter is not correct Check communication time out parameter setting Correctly set P3 07 Not receiving communication command for a long time Check whether communication cable is loose or broken Tighten t...

Page 264: ...Method Corrective Actions The function key is disabled Check if IC operation is normal by setting P8 09 to 1 1 Activate P8 09 to perform the testing 2 Please contact your distributor for assistance or...

Page 265: ...test EEPROM and check if EEPROM is normal 1 Activate P8 09 to perform the testing 2 Please contact your distributor for assistance or contact with Delta Communication mode is error Check if using ASDA...

Page 266: ...gth of the content is error Verify the sending and receiving data format Respond error parameter content when writing parameter The data content is in error Verify the sending and receiving data forma...

Page 267: ...ault This fault message can also be removed automatically after the communication is normal ALE 11 ALE Encoder error Position detector fault Restart the servo drive ALE 12 ALE Adjustment error This fa...

Page 268: ...hase CCW pulse CW pulse Command Source External pulse train Smoothing Strategy Low pass smoothing filter Electronic Gear Electronic gear N M multiple N 1 32767 M 1 32767 1 50 N M 200 Torque Limit Oper...

Page 269: ...llector Digital Input Output Output Servo ready Servo On Zero speed Speed reached Positioning completed At torque limit Servo alarm output Servo fault Electromagnetic brake Home completed Protective F...

Page 270: ...ad 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 that points by prot...

Page 271: ...A 0 36 0 41 0 49 0 49 0 47 0 43 0 53 Voltage constant KE mV rpm 13 6 16 17 4 18 5 17 2 16 8 19 2 Armature resistance Ohm 9 3 2 79 1 55 0 93 0 42 0 20 0 13 Armature inductance mH 24 12 07 6 71 7 39 3 5...

Page 272: ...9 4 77 7 16 9 55 9 55 2 86 5 73 8 59 Maximum torque N m 7 16 14 3 21 48 28 65 28 65 8 59 17 19 21 48 Rated speed rpm 2000 1000 Maximum speed rpm 3000 2000 Rated current A 2 9 5 6 8 3 11 01 11 22 2 5 4...

Page 273: ...Nt m min 16 5 16 5 16 5 16 5 25 16 5 16 5 16 5 Brake power consumption at 20 o C W 21 0 21 0 21 0 21 0 31 1 21 0 21 0 21 0 Brake release time ms Max 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 Brake pull in time...

Page 274: ...ASD B0121 A ASD B0221 A ASD B0421 A 100W to 400W WEIGHT 1 2 2 64 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in...

Page 275: ...ASD B0721 A 750W WEIGHT 1 5 3 3 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units Dimensions in impe...

Page 276: ...D B1521 A ASD B2023 A 1kW to 2kW WEIGHT 2 0 4 4 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units Dim...

Page 277: ...Chapter 11 Specifications ASDA B Series 11 10 Revision January 2009 11 4 Servo Motor Speed Torque Curves T N Curve...

Page 278: ...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 set properly and caused...

Page 279: ...Operating Time seconds Load Operating Time 120 213 6s 140 42 3s 160 21 8s 180 13 7s 200 9 2s 220 6 9s 240 5 0s 260 3 9s 280 3 2s 300 2 5s Chart of load and operating time ECMAC30604 S 0 1 1 10 100 10...

Page 280: ...perating Time seconds Load Operating Time 120 254 5s 140 50 4s 160 26 0s 180 16 4s 200 11 0s 220 8 2s 240 6 0s 260 4 7s 280 3 8s 300 2 9s Chart of load and operating time ECMAC30807 S 0 1 1 10 100 100...

Page 281: ...ating Time seconds Load Operating Time 120 185 8s 140 36 8s 160 19 0s 180 12 0s 200 8 0s 220 6 0s 240 4 4s 260 3 4s 280 2 8s 300 2 2s Chart of load and operating time ECMAC31020 S 0 1 1 10 100 1000 0...

Page 282: ...rating Time seconds Load Operating Time 120 613 1s 140 121 4s 160 62 6s 180 39 4s 200 26 4s 220 19 8s 240 14 5s 260 11 4s 280 9 1s 300 7 1s Chart of load and operating time ECMAC31305 S 0 1 1 10 100 1...

Page 283: ...ating Time seconds Load Operating Time 120 167 2s 140 33 1s 160 17 1s 180 10 8s 200 7 2s 220 5 4s 240 4 0s 260 3 1s 280 2 5s 300 1 9s Chart of load and operating time ECMAC31309 S 0 1 1 10 100 1000 0...

Page 284: ...rating Time seconds Load Operating Time 120 130 0s 140 25 7s 160 13 3s 180 8 4s 200 5 6s 220 4 2s 240 3 1s 260 2 4s 280 1 9s 300 1 5s Chart of load and operating time ECMAC31315 S 0 1 1 10 100 1000 0...

Page 285: ...econds Load Operating Time 120 185 78s 140 36 78s 160 18 98s 180 11 95s 200 8s 220 5 99s 240 4 39s 260 3 44s 280 2 76s 300 2 15s Chart of load and operating time ECMAC31820 S 0 1 1 10 100 1000 10000 0...

Page 286: ...4 14 19 LB 30 50 50 70 70 LL without brake 100 6 105 5 130 7 112 3 138 3 LL with brake 141 6 166 8 152 8 178 LR 25 30 30 30 35 LE 2 5 3 3 3 3 LG 5 7 5 7 5 8 8 LW 16 20 20 20 25 RH 6 2 11 11 11 15 5 kW...

Page 287: ...110 95 LL without brake 147 5 147 5 147 5 163 5 153 5 LL with brake 183 5 183 5 183 5 198 192 5 LR 55 55 55 55 45 LE 6 6 6 6 5 LG 11 5 11 5 11 5 11 5 12 LW 36 36 36 36 32 RH 18 18 18 18 18 kW 8 8 8 8...

Page 288: ...0 95 110 114 3 LL without brake 147 5 167 5 199 187 5 169 LL with brake 183 5 202 226 216 203 1 LR 55 55 45 55 79 LE 6 6 5 6 4 LG 11 5 11 5 12 11 5 20 LW 36 36 32 36 63 RH 18 18 18 18 30 kW 8 8 8 8 10...

Page 289: ...Filter Model 16DRT1W3S 1 phase 1 200W ASD B0221 A 10TDT1W4C 3 phase 16DRT1W3S 1 phase 2 400W ASD B0421 A 10TDT1W4C 3 phase 16DRT1W3S 1 phase 3 750W ASD B0721 A 10TDT1W4C 3 phase 16DRT1W3S 1 phase 4 10...

Page 290: ...and let the servo drive follow the commands from PLC to complete the positioning Explanation Programmable Logic Controller hereinafter PLC 1 Delta DVP EH series PLC is Transistor Output Model The defi...

Page 291: ...Chapter 12 Application Examples ASDA B Series 12 2 Revision January 2009 PLC Program...

Page 292: ...Chapter 12 Application Examples ASDA B Series Revision January 2009 12 3...

Page 293: ...Chapter 12 Application Examples ASDA B Series 12 4 Revision January 2009...

Page 294: ...Set P1 09 P1 11 Internal speed command Set P1 36 1 Accel Decel S curve Set P2 10 101 DI1 Servo On Set P2 11 104 DI2 CCLR Set P2 12 114 DI3 SPD0 Set P2 13 115 DI4 SPD1 Set P2 14 118 DI5 S P dual mode s...

Page 295: ...ions between DVP EH series PLC and ASDA B series Servo Drive Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 C0 C1 C2 C3 C4 C5 C6 C7 DVP EH 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 ASDA B CN1 Y2 Y3 Y...

Page 296: ...Chapter 12 Application Examples ASDA B Series Revision January 2009 12 7 HMI DOP A HMI Program Screen Homing Operation...

Page 297: ...Chapter 12 Application Examples ASDA B Series 12 8 Revision January 2009 Position Control 1...

Page 298: ...Chapter 12 Application Examples ASDA B Series Revision January 2009 12 9 Position Control 2...

Page 299: ...Chapter 12 Application Examples ASDA B Series 12 10 Revision January 2009 JOG Operation...

Page 300: ...If ALRM LED Alarm Output Indicator is lit or any fault message show on the LCD display please refer to Chapter 10 Troubleshooting to remove the fault code and fault message If there is no fault press...

Page 301: ...vo drive follow the commands from PLC to complete the positioning Delta TP04 Series The editing screens by using TPEditor software is shown as follows Download the editing screens to TP04 series by us...

Page 302: ...Chapter 12 Application Examples ASDA B Series Revision January 2009 12 13...

Page 303: ...tor will be lit to indicate that the servo drive is enabled and normal display will show on the LCD display If ALRM LED Alarm Output Indicator is lit or any fault message show on the LCD display pleas...

Page 304: ...Chapter 12 Application Examples ASDA B Series Revision January 2009 12 15 12 3 External Controller Connection Examples Connecting to Delta DVP EH PLC...

Page 305: ...Chapter 12 Application Examples ASDA B Series 12 16 Revision January 2009 Connecting to Delta DVP 01PU...

Page 306: ...Chapter 12 Application Examples ASDA B Series Revision January 2009 12 17 Connecting to Mitsubishi FX1PG...

Page 307: ...Chapter 12 Application Examples ASDA B Series 12 18 Revision January 2009 Connecting to Mitsubishi FX2N1PG...

Page 308: ...Chapter 12 Application Examples ASDA B Series Revision January 2009 12 19 Connecting to Mitsubishi AD75...

Page 309: ...Chapter 12 Application Examples ASDA B Series 12 20 Revision January 2009 This page intentionally left blank...

Page 310: ...Number ASDBCAPW0000 Title Part No Manufacturer Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASDBCAPW0100 Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4...

Page 311: ...Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE L Title Part No mm inch 1 ASDBCAPW0203 3000 50 118 2 2 ASDBCAPW0205 5000 50 197 2 Delta Part Number ASDBCAPW0303 0305 Title Part No Manufacturer...

Page 312: ...18 2 2 ASD CAPW1205 3106A 20 18S 5000 50 197 2 Delta Part Number ASD CAPW2203 2205 L Title Part No Straight mm inch 1 ASD CAPW2203 3106A 24 18S 3000 50 118 2 2 ASD CAPW2205 3106A 24 18S 5000 50 197 2...

Page 313: ...AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA Delta Part Number ASDBCAEN1000 Encoder Cables Delta Part Number ASDBCAEN0003 0005 Title Part No Manufacturer Housing AMP 1 17...

Page 314: ...EN1003 3106A 20 29S 3000 50 118 2 2 ASDBCAEN1005 3106A 20 29S 5000 50 197 2 I O Signal Connector Delta Part Number ASDBCNDS0025 Communication Cables Delta Part Number ASDBCADK0001 for Keypad connectin...

Page 315: ...2A30 for PC connecting a ASDA B servo drive to a PC Delta Part Number ASDBCACK0001 for Keypad connecting a PC to a Keypad Title Part No Manufacturer Box Header 3071420300 DELTA Cover 3140311100 DELTA...

Page 316: ...SDA B Series Revision January 2009 A 7 Delta Part Number ASD PU 01B including communication cable Title Part No Manufacturer Box Header 3071420300 DELTA Cover 3140311100 DELTA Housing 2541 K 14PD JAWS...

Page 317: ...le ASDBCAPW0203 Motor Power Cable ASDBCAPW0205 Motor Power Cable ASDBCAPW0303 Motor Power Cable ASDBCAPW0305 Cable Encoder Cable ASDBCAEN0003 Encoder Cable ASDBCAEN0005 Encoder Cable ASDBCAEN0003 Enco...

Page 318: ...Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1203 Motor Power Cable ASD CAPW1205 Motor Power Cable ASD CAPW1303 Motor Power Cable ASD CAPW1305 Cable Encoder Cable ASDBCAEN1003 Encoder Cable...

Page 319: ...ECMA C31010 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1203 Motor Power Cable ASD CAPW1205 Motor Power Cable ASD CAPW1303 Motor Power Cable ASD CAPW1305 Cable Encoder Cable ASDBC...

Page 320: ...Motor ECMA E31315 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1203 Motor Power Cable ASD CAPW1205 Motor Power Cable ASD CAPW1303 Motor Power Cable ASD CAPW1305 Cable Encoder Cabl...

Page 321: ...SD B2023 A Medium inertia Servo Motor ECMA E31820 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW2203 Motor Power Cable ASD CAPW2205 Motor Power Cable ASD CAPW2303 Motor Power Cable...

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Summary of Contents for ASD-B0121-A

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Delta Electronics ASD-B0121-A, User Manual

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