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Chapter 6 Control Modes of Operation

ASDA-A User Manual

4th Edition 2005/11/30, HE03

6-10

6-2-6 Low-pass

Filter

Relevant parameters:

P1 - 08

PFLT

Smooth Constant of Position Command (Low-pass
filter)

Communication Addr.: 0108H

Default: 0

Applicable Control Mode: P

Range: 0~1000 (0: Disabled)

Unit: 10 msec

PFLT

Target position

6-2-7 Timing Chart of Position (Pr) Control Mode

In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG.

Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is

shown the timing chart of Pr mode:

POS0

POS1

CTRG

SON

External I/O signal

OFF

>2ms, can be set by P2-09

POS2

OFF

Internal position

command

1ms

Summary of Contents for ASDA-A Series

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Page 4: ...and wiring z Trial run steps z Control functions and adjusting methods of AC servo drives z Parameter settings z Communication protocol z Inspection and maintenance z Troubleshooting z Application ex...

Page 5: ...use in a suitable enclosure with a minimum of a UL Type 1 rating Carefully notice and observe the following safety precautions when receiving inspecting installing operating maintaining and troublesho...

Page 6: ...quipment or device is connected and working correctly before operating the motor that is connected to a mechanical system z Do not touch either the drive heat sink or the motor during operation as the...

Page 7: ...may cause damage Main Circuit Terminal Wiring CAUTION z Remove the terminal block from the servo drive before wiring z Insert only one wire into one terminal on the terminal block z When inserting wir...

Page 8: ...1 5 1 4 Servo Drive Features 1 7 1 5 Control Modes of Servo Drive 1 8 1 6 Molded case Circuit Breaker Fuse and Leakage Current 1 9 Chapter 2 Installation and Storage 2 1 2 1 Installation Notes 2 1 2...

Page 9: ...ard Connection Example 3 31 3 6 1 Position Pt Control Mode 3 31 3 6 2 Position Pr Control Mode 3 32 3 6 3 Speed Control Mode 3 33 3 6 4 Torque Control Mode 3 34 Chapter 4 Display and Operation 4 1 4 1...

Page 10: ...of Load Inertia Estimation 5 23 5 6 8 Relationship between Tuning Modes and Parameters 5 24 5 6 9 Gain Adjustment in Manual Mode 5 25 Chapter 6 Control Modes of Operation 6 1 6 1 Control Modes of Oper...

Page 11: ...odes Selection 6 34 6 5 1 Speed Position Control Mode Selection 6 35 6 5 2 Speed Torque Control Mode Selection 6 36 6 5 3 Torque Position Control Mode Selection 6 37 6 6 Others 6 38 6 6 1 Speed Limit...

Page 12: ...dium Inertia Servo Motor Specifications ASMT M Series 11 5 11 4 Servo Motor Speed Torque Curves 11 6 11 5 Overload Characteristics 11 8 11 6 Dimensions of Servo Drive 11 10 11 7 Dimensions of Low Iner...

Page 13: ...any technical support service and information 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...

Page 14: ...ecessary 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 wor...

Page 15: ...User Manual 4th Edition 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED 1 2 5 CN3 Connector 6 PIN Connector IEEE1394 analog product 1 2 Model Explanation 1 2 1 Nameplate ASDA A Series Servo...

Page 16: ...Unpacking Check and Model Explanation DELTA ELECTRONICS INC ALL RIGHTS RESERVED 4th Edition 2005 11 30 HE03 1 3 ASMT Series Servo Motor Nameplate Explanation Serial Number Explanation 1 2 2 Model Nam...

Page 18: ...ive Servo motor 100W ASD A0121L ASMT01L250 200W ASD A0221L ASMT02L250 400W ASD A0421L ASMT04L250 750W ASD A0721L ASMT07L250 1000W ASD A1021L ASMT10L250 2000W ASD A2023L ASMT20L250 Low inertia 3000W AS...

Page 19: ...motor may overheat and servo alarm would be activated For the detail specifications of servo drives and motors please refer to Chapter 11 Specifications The drives shown in the above table are design...

Page 21: ...Inputs DI A maximum of three speeds can be stored internally Torque Control T Torque control for the servo motor can be achieved via parameters set within the controller or from an external analog 10...

Page 22: ...Phase General General ASD A0121LA 8 4A peak 0 06mA 0 16mA 5A 5A ASD A0221LA 8 4A peak 0 06mA 0 16mA 5A 5A ASD A0421LA 25A peak 0 08mA 0 2mA 10A 20A ASD A0721LA 42A peak 0 08mA 0 2mA 10A 20A ASD A1021...

Page 24: ...ct should be kept in the shipping carton before installation In order to retain the warranty coverage the AC drive should be stored properly when it is not to be used for an extended period of time So...

Page 25: ...where temperatures and humidity will exceed specification Do not mount the servo drive or motor in a location where vibration and shock will exceed specification Do not mount the servo drive or motor...

Page 26: ...mounting the mounting plane or surface should be conductor away and not conduct heat into the drive from external sources Motor Mounting Servo motors should be mounted firmly to a dry and solid mount...

Page 28: ...descriptions of I O signals and gives typical examples of wiring diagrams 3 1 Configuration 3 1 1 Connecting to Peripheral Devices In Figure 3 1 it briefly explains how to connect each peripheral dev...

Page 29: ...o motor Terminal Symbol Wire Color U Red V White W Black U V W FG Servo motor output FG Green Internal resistor Ensure P and D is closed and P and C is open P D C Regenerative resistor terminal Extern...

Page 30: ...autions on page ii 3 The cables connected to R S T and U V W terminals should be placed in separate conduits from the encoder or other signal cables Separate them by at least 30cm 12 4 For the connect...

Page 31: ...P R S T L1 L2 U V W PE M Servo Drive 3 1 4 Motor Power Cable Connector Specifications The boxes at the end of the model names are for version or optional configurations Please refer to section 1 2 for...

Page 32: ...or Part Number Description U V W Electromagnetic Brake Connector Terminal Identification 1kW ASMT10L250 ASMT10M250 1 5kW ASMT15M250 2kW ASMT20L250 3kW ASMT30L250 20 18 C 2kW ASMT20M250 3kW ASMT30M250...

Page 33: ...to section 1 2 for model explanation Servo Drive Capacity Motor Model Name Encoder Connector Terminal Identification 100W ASMT01L250 200W ASMT02L250 400W ASMT04L250 750W ASMT07L250 A 1kW ASMT10L250 AS...

Page 34: ...5 AWG12 3 5 AWG10 2 AWG14 ASD A3023 M 1 25 AWG16 3 5 AWG12 3 5 AWG10 2 AWG14 Encoder Cable Encoder mm2 Gauge Servo Drive Wire Size Core Number UL Rating Wire Length ASD A0121L AWG26 10 core 4 pair UL2...

Page 35: ...3 As for motor cable selection please use the 600V PTFE wire and the wire length should be less than 30m If the wiring distance is longer than 30m please choose the adequate wire size according to th...

Page 36: ...or 120W R T S L1 L2 GATE DRIVER PE PE U V W Servo Motor Protection circuit 12V Connect to external braking resistor A D PWM ENC A D CN3 CN1 CN2 RS 232 RS 485 RS 422 D A Current control Display Serial...

Page 37: ...RB 60W or 120W R T S L1 L2 5V 3 3V 24V GATE DRIVER PE PE U V W N Servo Motor 12V Protection circuit A D CN1 PWM ENC A D CN2 CN3 RS 232 RS 485 RS 422 D A External speed External torque Position pulse D...

Page 38: ...three signal groups i General interface for the analog speed and torque control encoder reference signal from the motor pulse direction inputs and reference voltages ii 8 programmable Digital Inputs...

Page 39: ...ut 38 NC No Connection 14 NC No Connection signal ground 39 NC No Connection 15 MON2 Analogmonitor 40 NC No Connection 16 MON1 Analogmonitor output 2 41 PULSE Pulse input output 1 17 VDD 24V power out...

Page 40: ...000 RPM C1 Analog Signal Input T_REF 18 Motor torque command 10V to 10V corresponds to 100 to 100 rated torque command C1 Analog Monitor Output MON1 MON2 16 15 The MON1 and MON2 can be assigned drive...

Page 41: ...100mA Power GND 12 13 19 44 The polarity of VCC is with respect to Ground GND Other NC 14 29 38 39 40 46 48 See previous note for NC terminals CN1 connector 3 A The Digital Input DI and Digital Output...

Page 42: ...as a fault alarm condition may exist Servo ON SON is 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...

Page 43: ...ed TQL is activated when the drive has detected that the motor has reached the torques limits set by either the parameters P1 12 P1 14 of via an external analog voltage ALRM 07 ALL 28 27 ALRM is activ...

Page 44: ...ng value of P1 38 it is used to lock the motor in the instant position while ZCLAMP is On CMDINV 06 Pr T S When this signal is On the motor is in reverse rotation HOLD 07 Not assigned Internal positio...

Page 45: ...M 26 Not assigned Forward operation torque limit Torque limit function is valid only when P1 02 is enabled SHOM 27 Not assigned When SHOM is activated the drive will command the motor to move to Home...

Page 46: ...is not valid C9 C10 Footnote 2 The state of the input function may be turned ON or OFF as it will be dependant on the settings of P2 10 P2 17 Table 3 E Table 3 F POS2 POS1 POS0 Parameter OFF OFF OFF...

Page 47: ...I2 SPDLM 10 Speed limit enabled DI2 DI2 POS0 11 Position command selection 1 8 DI3 DI3 DI3 POS1 12 Position command selection 1 8 DI4 DI4 DI4 POS2 13 Position command selection 1 8 SPD0 14 Speed comma...

Page 48: ...on 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 operati...

Page 49: ...rake DO4 DO4 DO4 DO4 HOME 09 Home completed DO3 DO3 OLW 10 Output overload warning Note For Pin numbers of DO1 DO5 signals please refer to section 3 3 1 3 3 3 User defined DI and DO signals If the def...

Page 50: ...overload warning 11 POS0 Position command selection 1 8 12 POS1 Position command selection 1 8 13 POS2 Position command selection 1 8 14 SPD0 Speed command selection 1 3 15 SPD1 Speed command selecti...

Page 51: ...n Pr mode only 41 STEPB Step back input available in internal auto running mode only 42 AUTOR Auto run input 43 GNUM0 Electronic gear ratio Numerator selection 0 see P2 60 P2 62 44 GNUM1 Electronic ge...

Page 52: ...K Output 8V 1mA max 8V full scale 13 Servo Drive There are two kinds of pulse inputs Line driver input and Open collector input Max input pulse frequency of Line driver input is 500kpps and max input...

Page 53: ...rive Ensure the polarity of Diode is correct or may damage the driv 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...

Page 54: ...prox 5mA for a transistor VDD DC24V COM COM SON Vces 1 0V Iceo 100uA TR Servo Drive 17 11 9 45 R Approx 4 7K VDD DC24V COM COM SON DC24V 200mA min VDD COM VDD COM Servo Drive Do not connect R Approx 4...

Page 55: ...ier automatically switches to encoding for commutation control The 2500PPR encoder is automatically multiplied to 10000PPR for increased control accuracy Figure 3 7 shows the layout of CN2 connector F...

Page 56: ...pter is required for converting electric current and voltage when using RS 485 interface 6 RS 422 T X 4 RS 422 RX RS 232 RX 5 RS 422 TX 3 RS 422 RX 1 GND CN3 2 RS 232 T X Table 3 L Signals of Serial C...

Page 58: ...e A A B B Z Z 5V GND Blue Blue Black Green Green Black Yellow Yellow Black Red Blac k E nco der Wiring VDD COM COM DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 1 7 11 9 1 0 3 4 8 3 3 3 2 3 1 3 0 45 47 49 DO 1 DO 1...

Page 59: ...5K SRDY ZSPD HOME ALRM DC24V CN1 CN1 TPOS AC 220 230V Single pha se or Thre e ph ase 50 60Hz Servo Drive P D C U V W FG Regenerative Resistor Se rvo Mo tor Encoder Red White Black Gree n VCC 20 5 4 7...

Page 60: ...ALRM DC24V CN1 CN1 BRKR T REF GND 18 13 10K 10K AC 220 230V Single pha se or Thre e ph ase 50 60Hz Se rvo Drive V CC 20 5 4 7 9 10 2 14 16 13 15 P D C U V W FG A A B B Z Z 5 V GND CN2 SG Rege nera tiv...

Page 61: ...M DC24V CN1 CN1 BRKR T REF GND 18 13 10K 10K AC 220 230V Single pha se or Thre e ph ase 50 60Hz Se rvo Drive VCC 20 5 4 7 9 1 0 2 14 16 13 15 P D C U V W FG A A B B Z Z 5V GND CN2 SG Regene rative Res...

Page 62: ...eration values of the AC servo drive Charge LED The Charge LED lights to indicate the power is applied to the circuit MODE Key Pressing the MODE key can enter or exit different parameter groups and se...

Page 63: ...ly one second 3 In monitor mode pressing Mode key can enter into parameter mode pressing the Shift key can switch parameter group and pressing UP or DOWN arrow key can change parameter group code 4 In...

Page 64: ...the drive 4 3 2 Abort Setting Display Display Message Description In parameter mode press Mode key to abort parameter setting In setting mode pressing Mode key can return back to parameter mode After...

Page 65: ...er into the monitor display mode In monitor display mode pressing UP or DOWN arrow key can change the monitor state or directly change parameter P0 02 to specify the monitor status When the power is a...

Page 66: ...times 15 Feedback pulse number of servo motor Relative value pulse 16 Feedback rotation number of servo motor Relative value rev The following table lists the display examples of monitor value Display...

Page 67: ...05 users can follow the following steps to perform JOG operation Please also refer to Figure 4 4 1 Press the SET key to display the JOG rpm speed The default value is 20 rpm 2 Press the UP or DOWN arr...

Page 68: ...y then JOG o1 will display and enter position learning mode 5 In the position learning mode display JOGox pressing UP or DOWN arrow key at any time can rotate Servo motor in forward or reverse rotatio...

Page 69: ...1 21 Position rotation number P1 22 Position pulse number JOGo5 P1 23 Position rotation number P1 24 Position pulse number JOGo6 P1 25 Position rotation number P1 26 Position pulse number JOGo7 P1 27...

Page 70: ...play Diagnosis Operation Follow the setting method in Figure 4 7 to enter into DI signal display diagnosis operation mode According to the ON and OFF status of external input signal DI1 to DI8 the cor...

Page 71: ...4 8 to enter into DO signal display diagnosis operation mode According to the ON and OFF status of digital output signals DO1 to DO5 the corresponding signal status will display on the LED display Whe...

Page 72: ...connected to AC servo drive the charge LED will light and it indicates that AC servo drive is ready Please check the followings before trial run Inspection before operation Control power is not appli...

Page 73: ...ERVED 5 2 Inspection during operation Control power is applied 4 Reset parameters when the servo drive is off Otherwise it may result in malfunction 5 Ensure correct operation when using a relay and r...

Page 74: ...o 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 input power connection and...

Page 75: ...orrective Actions Check if the user performs wiring recommended in the user manual Examine the encoder connector Inspect whether wire is loose or not Check if the encoder is damaged 3 When display sho...

Page 76: ...set to Reverse inhibit limit CWL and check if the digital input signal is ON It should be ON 5 When display shows Forward limit switch error Please check if any of digital inputs DI1 DI8 signal is se...

Page 77: ...tal 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 c...

Page 78: ...JOG speed is set and then press SET key the drive will enter into JOG operation mode automatically STEP 3 When pressing MODE key it can exit JOG operation mode In the example below the JOG speed is a...

Page 79: ...02 ARST Reset DI5 33 DI6 P2 15 0 Disabled This DI function is disabled DI7 P2 16 0 Disabled This DI function is disabled DI8 P2 17 0 Disabled This DI function is disabled In the above table the functi...

Page 80: ...F both it is S1 command At this time the motor is operating according to external analog command 3 If only DI3 is ON SPD0 it indicates S2 command P1 09 is set to 3000 is selected and the motor speed i...

Page 81: ...n command selection DI3 34 DI4 P2 13 112 POS1 Position command selection DI4 8 DI5 P2 14 102 ARST Reset DI5 33 DI6 P2 15 0 Disabled This DI function is disabled DI7 P2 16 0 Disabled This DI function i...

Page 82: ...ion No 30000 Internal Position 7 1 1 0 P1 28 P2 42 V7 Pulse No max cnt P1 29 Rotation No 30000 Internal Position 8 1 1 1 P1 30 P2 43 V8 Pulse No max cnt 0 indicates OFF Normally Open 1 indicates ON No...

Page 83: ...STEP 3 1 The user can use DI1 to activate the servo drive Servo ON 2 Set DI2 CTRG to be ON it indicates the command of internal position 1 P1 15 Rotation No P1 16 Pulse No 1 turn is selected and the m...

Page 84: ...rent ratio of Load Inertia to Servo Motor Inertia J_load J_motor 5 0 is default setting 11 Press MODE key to select parameter mode 12 Press SHIFT key twice to select parameter group 13 Press UP key to...

Page 85: ...ode AutoMode OK If the value of J_load J_motor is estimated incorrectly the optimum gain can not be adjusted 1 Must understand the customer specifications and what the customer really needs 2 Can use...

Page 86: ...ia to motor inertia J_load J_motor become a fixed value after the motor acceleratesa nd decelerates many time s and then Note If the user can not view the ratio of load inertia to motor inertia J_load...

Page 87: ...from t he host extern al controller M ake the servo drive run FWD and RE V and perform Accel and Decel operation repe atedly alternately 1 Increase P2 3 1 value A to reduce noise and refer to Table 5...

Page 88: ...Remark 1 50 100 5Hz 5 50 2 30 50 8Hz 8 31 3 20 30 11Hz 11 33 Low Responsiveness Level 4 16 20 15Hz 15 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...

Page 89: ...e noise and refer to Table 5 B to set P2 25 2 If the user do not want to decrease the value of P2 31 value B the user can adjust P2 23 and P2 24 to suppress the resonance of mechanical system If there...

Page 90: ...SERVED 4th Edition 2005 11 30 HE03 5 19 Table 5 B P2 31 Value B Setting in AutoMode PI and the setting of P2 00 P2 25 P2 31 value B Speed Loop Responsive Recommended Setting Value of P2 25 0 20Hz 13 1...

Page 91: ...and REV and Accel and Decel Control command from the host external controller to make the servo motor run FWD and REV and perform Accel and Decel operation repeatedly alternately 1 Increase P2 31 val...

Page 92: ...n 2005 11 30 HE03 5 21 Table 5 C P2 31 Value B Setting in AutoMode PDFF and the Speed Loop Responsiveness P2 31 value B Speed Loop Responsiveness P2 31 value B Speed Loop Responsiveness 0 20HZ 8 120Hz...

Page 93: ...setting value of P2 02 and increase t he accel and d ecel tim e 3 Th e settin g value of P2 06 shou ld be equal to th e settin g value of P2 00 If there is resonanc e noise Set P2 00 to a smaller valu...

Page 94: ...o 75 per cent of speed loop gain wh en the there is resona nce noise NO YE S 5 6 7 Limit of Load Inertia Estimation The accel decel time for reaching 2000RPM must be below 1 second The rotation speed...

Page 95: ...Time Constant of Resonance Suppression Fixed AutoMode PI Continuous 2 P2 00 P2 04 P2 06 P2 31 Value B Level of Responsiveness P2 25 Low pass Filter Time Constant of Resonance Suppression Continuous Ad...

Page 96: ...ng value of KPP is higher the response to the position command is quicker the position error is less and the settling time is also shorter However if the setting value is over high the machinery syste...

Page 97: ...t of machinery system The recommended setting value is as follows 1000 NLP Parameter P2 25 4 x Speed Loop Responsiveness Hz DST Parameter P2 26 External Anti Interference Gain This parameter is used t...

Page 98: ...Speed Control Sz Speed control for the servo motor is only achieved via parameters set within the controller Control of the internal speed parameters is via the Digital Inputs DI A maximum of three sp...

Page 99: ...servo drive the status of Servo Off and turning SON signal of Digit input to be off can complete this action 2 Using parameter P1 01 Refer to chapter 7 3 After the setting is completed cut the power...

Page 100: ...osition command into these eight internal parameters before operation and then use POS0 POS2 of DI signals of CN1 to perform positioning control The other is to use serial communication to change the...

Page 101: ...0100H Default 2 Applicable Control Mode P Range 0 132 Setting not used A B C Value A pulse type x A 0 AB phase pulse 4x A 1 CW CCW pulse A 2 Pulse Direction x Other setting Reversed Reserved setting v...

Page 102: ...mber 30000 P4 0 1 1 P1 22 Pulses max cnt P1 23 Rotation number 30000 P5 1 0 0 P1 24 Pulses max cnt P1 25 Rotation number 30000 P6 1 0 1 P1 26 Pulses max cnt P1 27 Rotation number 30000 P7 1 1 0 P1 28...

Page 103: ...08 P1 15 P1 30 P1 44 P1 45 P1 33 P1 01 P1 34 P1 35 P1 36 CN1 POS2 0 CTRG POS Position Command Processing Electronic gear ratio 1 Absolute position control 2 Incremental position control S curve Filter...

Page 104: ...erformance when servo motor accelerate or decelerate but also can make motor to operate more smoothly from mechanical view When the load is change the motor usually run not smoothly when starts to run...

Page 105: ...ACC Acceleration Time Communication Addr 0122H Default 200 Applicable Control Mode P S Range 1 20000 Unit msec P1 35 TDEC Deceleration Time Communication Addr 0123H Default 200 Applicable Control Mode...

Page 106: ...ervo motor travel distance per input reference pulse to be set to any value It also allows the pulses that may be generated by the external controller to be used for control without considering the ma...

Page 107: ...rol Mode P Range 0 1000 0 Disabled Unit 10 msec PFLT Target position 6 2 7 Timing Chart of Position Pr Control Mode In Pr mode position command source is DI signal from CN1 i e selected by POS0 POS2 a...

Page 108: ...dwidth of position loop 2 Feed forward gain Adjust this gain the phase delay time during operation is nearly zero when the setting is close to 100 The bandwidth of position loop can not exceed the ban...

Page 109: ...e margin At this time the rotor of motor will shake and turn around Users have to decrease the value of KPP until the rotor of motor coould not shake and turn around When there is an external torque i...

Page 110: ...lue of parameter Beside in order to make the servo motor and load can be operate more smoothly Delta servo drive also provide complete S curve profile for speed control mode In speed close loop ASDA A...

Page 111: ...F if the control mode of operation is Sz then the command is 0 Therefore if users do not use analog voltage as speed command users can choose Sz mode to operation speed control to avoid the zero point...

Page 112: ...rol block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously The resonance suppression block diagram is used to suppress...

Page 113: ...motor to operate more smoothly from mechanical view When the load is change the motor usually run not smoothly when starts to run and stop due to the friction and inertia change At this moment users c...

Page 114: ...e S curve filter The speed and acceleration curve of analog input filter are both continuous The above figure shows the curve of analog input filter and you can see the ramp of speed command is differ...

Page 116: ...ed command Using with parameter P1 40 can adjust the speed control ramp and its range 5 10 5 10 3000rpm 5000rpm 3000rpm 5000rpm Analog Input Voltage V The speed control ramp is determined by parameter...

Page 117: ...PD1 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 indicates normally closed 2 When speed control mo...

Page 118: ...bandwidth The parameter set by user is default value Easy Mode Robust for wide range of external load inertia change with ten levels of system stiffness Using easy mode can immediately suppress the in...

Page 119: ...ver high integral gain will result in the unstable servo system Feed forward gain Adjust this gain the phase delay time during operation is nearly zero when the setting is close to 100 Relevant parame...

Page 120: ...1 Set the value of KVI 0 KVF 0 and adjust the value of KVP the value of STEP 2 Fix the value of KVP and adjust the value of KVI Gain Gain Frequency Frequency Frequency Frequency Phase Phase STEP 3 Sel...

Page 121: ...the value of KVF is nearly to zero 0 the phase delay time is also nearly to zero 0 and the value of dynamic tracking error will become very small However when the value of KVF is too great it may caus...

Page 122: ...an be robust for the wide range of external load inertia change with ten levels of system stiffness Users only need to set the A value of parameter P2 31 to select ten levels of system stiffness The v...

Page 123: ...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 of P2 00 and P2 25 must be inputted manually Auto Mode Auto tuning The auto mode pr...

Page 124: ...pression Communication Addr 0217H Default 1000 Applicable Control Mode P S T Range 50 1000 Unit Hz P2 24 DPH Notch Filter Attenuation Ratio of Resonance Suppression Communication Addr 0218H Default 0...

Page 125: ...l become smaller see the figure below The resonant condition is improved and the frequency response and phase margin also decrease 0dB BW Gain Frequency Notch Filter If the resonant frequency can be r...

Page 126: ...d Source Content Range T External analog signal Voltage between T REF GND 10 V T1 0 0 Mode Tz None Torque command is 0 0 T2 0 1 P1 12 0 300 T3 1 0 P1 13 0 300 T4 1 1 Internal parameter P1 14 0 300 Sta...

Page 127: ...ol mode The current control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously ASDA A series servo drive only prov...

Page 128: ...of Torque Control Mode P1 07 TFLT Smooth Constant of Analog Torque Command Low pass smooth filter Communication Addr 0107H Default 0 Applicable Control Mode T Range 0 100 0 Disabled Unit msec Note If...

Page 129: ...nd Using with parameter P1 41 can adjust the torque control ramp and its range 5 10 5 10 100 300 100 300 Analog Input Voltage V The torque control ramp is determined by parameter P1 41 Torque command...

Page 130: ...M1 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 indicates normally closed 2 When speed control mod...

Page 131: ...T control mode can be selected via the Digital Inputs DI Pr S 08 Either Pr or S control mode can be selected via the Digital Inputs DI Pr T 09 Either Pr or T control mode can be selected via the Digi...

Page 132: ...n control mode selection is shown as the figure below CTRG S P POS0 2 NOT CARE POS0 2 NOT CARE POS0 2 VALID SPD0 1 VALID SPD0 1 NOT CARE SPD0 1 VALID Speed control mode Position control mode Speed con...

Page 133: ...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 TCM0 1 VALID Tor...

Page 134: ...ol mode selection is shown as the figure below CTRG CTRG T P POS0 2 NOT CARE POS0 2 NOT CARE POS0 2 VALID TCM0 1 VALID TCM0 1 NOT CARE TCM0 1 VALID Torque control mode Position control mode Torque con...

Page 135: ...f speed command source please refer to chapter 6 3 1 The speed limit only can be used in torque mode T mode to limit the servo motor speed When the torque command is the external analog voltage there...

Page 136: ...ition mode Pt and Pr mode and speed mode S mode to limit the output torque of servo motor When the position and speed command is the external analog voltage there should be surplus DI signal that can...

Page 137: ...lue that can be processed is rated at 50 of the capacity of the servo drive s built in regenerative resistor The regenerative power calculation method of external regenerative resistor is the same Whe...

Page 138: ...ble and procedure described below to calculate the regenerative power Servo Drive kW Rotor Inertia J kg m2 Regenerative power from empty load 3000rpm to stop Eo joule Max regenerative power of capacit...

Page 139: ...se The fault ALE05 may occur if the temperature is over high b When there is an external load torque servo motor is in reverse rotation when external load greater than motor torque Servo motor is usua...

Page 140: ...ies when the servo motor run without load are summarized in the following table Allowable frequencies when the servo motor run without load times min 100W 200W 400W 750W 1 0kW 1 5kW 2 0kW 3 0kW Servo...

Page 141: ...A CH1 B CH2 AB A CH1 B CH2 0 Motor speed 8 V maximum rotation speed 1 Motor torque 8 V maximum torque 2 Pulse command frequency 8 Volts 650Kpps 3 Speed command 8 Volts maximum speed command 4 Torque...

Page 142: ...pps then it is needed to change the setting value of parameter P1 04 Analog Monitor Output Proportion 1 to 50 325Kpps Max input frequency Other related parameters setting include parameter P0 03 X 3 a...

Page 143: ...function the electromagnetic brake should be activated after servo system is off Servo Off If users desire to control electromagnetic brake by themselves not by the servo drive users must execute the...

Page 144: ...Diagram Motor 1MCCB R S T Noise filter R S T L1 L2 U V W PE 1 Brake Encoder CN2 BRAR AC DC 24V BRAR BRAR RY BRAR RY 24V ASD ASMT CN1 2 1 Please refer to Chapter 3 Configuration and Wiring 2 BRKR RY B...

Page 145: ...iming charts of control circuit power and main circuit power L1 L2 Control Circuit Power 5V Control Circuit Power R S T Main Circuit Power BUS Voltage READY SERVO READY SERVO ON DI Input SERVO ON DO O...

Page 146: ...nsion parameter example P2 xx Group 3 Communication parameter example P3 xx Group 4 Diagnosis parameter example P4 xx Abbreviation of control modes P Position control mode S Speed control mode T Torqu...

Page 147: ...0 04 CM1 Status Monitor 1 0 O O O P0 05 CM2 Status Monitor 2 0 O O O P0 06 CM3 Status Monitor 3 0 O O O P0 07 CM4 Status Monitor 4 0 O O O P0 08 CM5 Status Monitor 5 0 O O O P0 09 MAP0 Block data read...

Page 148: ...12 P1 14 TQ1 3 1st 3rd Torque Limit 100 O O O 1st 8th Position command for Rotation P1 15 P1 30 PO1 PO8 1st 8th Position command for Pulse 0 O P1 31 Reserved P1 32 LSTP Motor Stop Mode Selection 0 O O...

Page 149: ...nction Default Unit P S T P1 50 HOF1 Homing Offset Rotation Number 0 rev O P1 51 HOF2 Homing Offset Pulse Number 0 pulse O P1 52 RES1 Regenerative Resistor Value Ohm O O O P1 53 RES2 Regenerative Resi...

Page 150: ...DI4 0 O O O P2 14 DI5 Digital Input Terminal 5 DI5 102 O O O P2 15 DI6 Digital Input Terminal 6 DI6 22 O O O P2 16 DI7 Digital Input Terminal 7 DI7 23 O O O P2 17 DI8 Digital Input Terminal 8 DI8 21 O...

Page 151: ...Backlash Compensation of Feed Step Control 0 pulse O P2 49 SJIT Speed Detection Filter and Jitter Suppression 0 sec O O P2 50 CCLR Pulse Clear Mode 0 O P2 51 SRON Servo ON 0 O O O P2 52 ATM0 Timer 0 o...

Page 152: ...efault Unit P S T P3 00 ADR Communication Address 1 O O O P3 01 BRT Transmission Speed 1 bps O O O P3 02 PTL Communication Protocol 0 O O O P3 03 FLT Transmission Fault Treatment 0 O O O P3 04 CWD Com...

Page 153: ...O O P4 11 SOF1 Analog Speed Input Offset 1 Factory setting O O O P4 12 SOF2 Analog Speed Input Offset 2 Factory setting O O O P4 13 TOF1 Analog Torque Input Offset 1 Factory setting O O O P4 14 TOF2 A...

Page 154: ...r 3 0 O O O 4 3 5 P0 07 CM4 Status Monitor 4 0 O O O 4 3 5 P0 08 CM5 Status Monitor 5 0 O O O 4 3 5 P0 09 MAP0 Block data read write register 0 407H O O O P0 10 MAP1 Block data read write register 1 1...

Page 155: ...c O 6 4 3 P1 08 PFLT Smooth Constant of Position Command Low pass smooth filter 0 msec O 6 2 6 P1 34 TACC Acceleration Time 200 msec O O 6 3 3 P1 35 TDEC Deceleration Time 200 msec O O 6 3 3 P1 36 TSL...

Page 156: ...03 PFF Smooth Constant of Position Feed Forward Gain 5 msec O P2 04 KVP Proportional Speed Loop Gain 500 rad s O O 6 3 6 P2 05 SPR Speed Gain Switching Rate 100 O O P2 06 KVI Speed Integral Compensat...

Page 157: ...Ratio Denominator 1 pulse O 6 3 6 P2 60 GR4 Electronic Gear Ratio 2nd Numerator N2 1 pulse O P2 61 GR5 Electronic Gear Ratio 3rd Numerator N3 1 pulse O P2 62 GR6 Electronic Gear Ratio 4th Numerator N...

Page 158: ...Section P2 48 BLAS Backlash Compensation of Feed Step Control 0 pulse O 12 6 P2 52 ATM0 Timer 0 of Auto Mode 0 sec O P2 53 ATM1 Timer 1 of Auto Mode 0 sec O P2 54 ATM2 Timer 2 of Auto Mode 0 sec O P2...

Page 159: ...L Speed and Torque Limit 00 O O O 6 6 P1 46 GR3 PG Dividing Output Pulse Ratio 1 O P1 55 MSPD Maximum Speed Limit rated O O O 1st 3rd Speed Command P1 09 P1 11 SP1 3 1st 3rd Speed Limit 100 300 O O 6...

Page 160: ...ion P1 01 CTL Control Mode and Output Direction 00 O O O 6 1 P1 02 PSTL Speed and Torque Limit 00 O O O 6 6 P1 55 MSPD Maximum Speed Limit rated O O O 1st 3rd Speed Command P1 09 P1 11 SP1 3 1st 3rd S...

Page 161: ...15 DI6 Digital Input Terminal 6 DI6 22 O O O P2 16 DI7 Digital Input Terminal 7 DI7 23 O O O P2 17 DI8 Digital Input Terminal 8 DI8 21 O O O Table 7 A P2 18 DO1 Digital Output Terminal 1 DO1 101 O O...

Page 162: ...P3 00 ADR Communication Address 1 O O O 8 2 P3 01 BRT Transmission Speed 1 bps O O O 8 2 P3 02 PTL Communication Protocol 0 O O O 8 2 P3 03 FLT Transmission Fault Treatment 0 O O O 8 2 P3 04 CWD Commu...

Page 163: ...ent Function 0 O O O P4 11 SOF1 Analog Speed Input Offset 1 Factory setting O O O P4 12 SOF2 Analog Speed Input Offset 2 Factory setting O O O P4 13 TOF1 Analog Torque Input Offset 1 Factory setting O...

Page 164: ...O O O P1 37 GDR Ratio of Load Inertia to Servo Motor Inertia 5 0 times O O O P1 52 RES1 Regenerative Resistor Value Ohm O O O 6 6 3 P1 53 RES2 Regenerative Resistor Capacity Watt O O O 6 6 3 P2 08 PC...

Page 165: ...generation error 06 Overload 07 Overspeed 08 Abnormal pulse control command 09 Excessive deviation 10 Watch dog fault 11 Position detector fault 12 Adjustment error 13 Emergency stop 14 Reverse limit...

Page 166: ...er relative value 16 Motor feedback pulse number relative value P0 03 MON Analog Monitor Output Communication Addr 0003H Default 01 Applicable Control Mode P S T Range 00 55 Setting not used A CH1 B C...

Page 167: ...r explanation P0 07 CM4 Status Monitor 4 Communication Addr 0007H Default 0 Applicable Control Mode P S T Range 0 17 If users set this parameter to 17 the status of DI signal can be read See P0 04 for...

Page 168: ...ult 224H Applicable Control Mode P S T Range 100H 417H See P0 09 for explanation P0 13 MAP4 Block Data Read Write Register 4 Communication Addr 000DH Default 111H Applicable Control Mode P S T Range 1...

Page 169: ...P Range 0 132 Setting not used A B C Value A pulse type x A 0 AB phase pulse 4x A 1 CW CCW pulse A 2 Pulse Direction x Other setting Reversed Reserved setting value of B 0 Value C Logic type 500kpps...

Page 170: ...to different mode DIO P2 10 P1 22 can be reset to be the default value of the mode you switch to D 0 When switching to different mode the setting value of DIO P2 10 P1 22 will remain the same and will...

Page 171: ...e P1 09 1 P1 10 2 P1 11 3 Vref SPD0 SPD1 0 Speed Limit Command x Other Reserved x B 0 Disable torque limit function B 1 Enable torque limit function It is available in position and speed mode P1 12 1...

Page 172: ...FLT Smooth Constant of Analog Torque Command Low pass smooth filter Communication Addr 0107H Default 0 Applicable Control Mode T Range 0 100 0 Disabled Unit msec P1 08 PFLT Smooth Constant of Position...

Page 173: ...mit Communication Addr 010BH Default 300 Applicable Control Mode S Range 5000 Unit r min 3rd Speed Command In Speed mode this parameter is used to set speed 3 of internal speed command For the decimal...

Page 174: ...vated when the drive has detected that the motor has reached the torques limits set by either the parameters P1 12 P1 14 of via an external analog voltage 3rd Torque Command P1 14 TQ3 3rd Torque Limit...

Page 175: ...ycle number of internal position 2 Stroke2 PO2H cnt rev PO2L P1 19 PO3H 3rd Position Command for Rotation Communication Addr 0113H Default 0 Applicable Control Mode Pr Range 30000 This parameter is us...

Page 176: ...rotation pulse number of internal position 6 P1 26 PO6L 6th Position Command for Pulse Communication Addr 011AH Default 0 Applicable Control Mode Pr Range max cnt rev This parameter is used to set ro...

Page 177: ...a fault occurs CWL CCWL EMGS and serial communication error this parameter is used to select servo motor stop mode x A 0 Stop instantly x A 1 Decelerate to stop P1 33 POSS Position Control Mode Pr Co...

Page 178: ...ddr 0123H Default 200 Applicable Control Mode Pr S Range 1 20000 Unit msec 1st to 3rd step Deceleration time It is used to determine the deceleration time to decelerate from its rated rotation speed t...

Page 179: ...er than the setting value the motor will reach the target rotation speed and then TSPD signal will output TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed...

Page 180: ...orque at maximum input voltage 10V of analog torque limit Torque limit command Input voltage x setting 10 P1 42 MBT1 On Delay Time of Electromagnetic Brake Communication Addr 012AH Default 20 Applicab...

Page 181: ...y therefore ensure to observe the following rule when setting P1 44 P1 45 The electronic gear ratio setting Please also see P1 44 P2 60 P2 62 f1 f2 f1x Nx M Nx M Pulse input Position command x 1 2 3 4...

Page 182: ...se homing CWL as Home A 2 Forward homing ORGP as Home A 3 Reverse homing ORGP as Home A 4 Forward to find Z phase pulse and regard Z phase pulse as Home A 5 Reverse to find Z phase pulse and regard Z...

Page 183: ...rev P1 51 HOF2 Homing Offset Pulse Number Communication Addr 0133H Default 0 Applicable Control Mode P Range max cnt rev Unit pulse When the value of HOF1 HOF2 P1 50 P1 51 is set to 0 Home will be de...

Page 184: ...eter P1 56 the motor will send a warning to the drive After the drive has detected the warning the DI signal OLW will be activated tOL Permissible Time for Overload x the setting value of parameter P1...

Page 185: ...sition gain switching rate according to gain switching condition P2 02 PFG Position Feed Forward Gain Communication Addr 0202H Default 5000 Applicable Control Mode P Range 10 20000 Unit 0 0001 This pa...

Page 186: ...se the speed control deviation However if the setting value is over high it may generate vibration or noise In easy mode the value of this parameter is the default of the easy mode automatically P2 07...

Page 187: ...P2 09 DRT Bounce Filter Communication Addr 0209H Default 2 Applicable Control Mode P S T Range 0 20 Unit 2 msec For example if P2 09 is set to 5 the bounce filter time is 5 x 2ms 10ms When there are t...

Page 188: ...r 020EH Default 102 Applicable Control Mode P S T Range 0 145 See P2 10 for explanation P2 15 DI6 Digital Input Terminal 6 DI6 Communication Addr 020FH Default 22 Applicable Control Mode P S T Range 0...

Page 189: ...T Range 0 109 See P2 18 for explanation P2 21 DO4 Digital Output Terminal 4 DO4 Communication Addr 0215H Default 105 Applicable Control Mode P S T Range 0 109 See P2 18 for explanation P2 22 DO5 Digi...

Page 190: ...021BH Default 0 Applicable Control Mode P S Range 0 4 Setting 0 Disabled 1 Gain switching signal GAINUP is On 2 In position control mode position deviation is higher than the setting value of P2 29 3...

Page 191: ...ng value of P2 30 will return to 0 automatically after re power the servo drive P2 31 AUT1 Auto and Easy Mode Selection Communication Addr 021FH Default 44 Applicable Control Mode P S T Range 0 FF not...

Page 192: ...value in 0 manual mode 3 When switching mode 0 to 3 or 5 enter the appropriate load inertia value in P1 37 4 When switching mode 3 to 0 the setting value of P2 00 P2 04 and P2 06 will change to the v...

Page 193: ...se set setting value of P1 55 to its max value P2 37 POV2 Moving Speed Setting of 2nd Position Communication Addr 0225H Default 1000 Applicable Control Mode P Range 1 5000 Unit rpm P2 38 POV3 Moving S...

Page 194: ...utput mode This output mode must be select and set when users want to use feed step control function Otherwise the feed step control function can not be used normally P2 45 DOD Combination Output Sign...

Page 195: ...plicable Control Mode P S Range 0 19 Unit sec not used A B B 1 Activate jitter suppression function at stall A 0 9 Set speed estimator response P2 50 CCLR Pulse Clear Mode Communication Addr 0232H Def...

Page 196: ...rvo ready SRDY is ON where the servo is ready to run NO fault alarm exists P2 51 should turn servo ready SRDY off on P2 52 ATM0 Timer 0 of Auto Mode Communication Addr 0234H Default 0 Applicable Contr...

Page 197: ...ator N2 Communication Addr 023CH Default 1 Applicable Control Mode P Range 1 32767 Unit Pulse The electronic gear numerator value can be set via GNUM0 GNUM1 refer to Table 7 A When the GNUM0 GNUM1 are...

Page 198: ...speed limit command Value B Proportion value setting of position excessive error warning condition P2 35 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 unit of...

Page 199: ...NL or P1 13 PL PL Positive Limit NL Negative Limit Tref Torque Analog Input Voltage Tpl Actual PL value in Torque Limit Mixed Mode Tnl Actual NL value in Torque Limit Mixed Mode Setting 0 Disabled 1...

Page 200: ...1 Applicable Control Mode P S T Range 0 5 Unit bps Setting 0 Baud rate 4800 data transmission speed bits second 1 Baud rate 9600 data transmission speed bits second 2 Baud rate 19200 data transmission...

Page 201: ...communication fault The mode of stopping is set by parameter P1 32 P3 04 CWD Communication Time Out Detection Communication Addr 0304H Default 0 Applicable Control Mode P S T Range 0 20 Setting 0 Dis...

Page 202: ...works in conjunction with the Multi Function Digital Input parameter P4 07 which has several functions Please see page 8 6 for details P3 07 CDT Communication Response Delay Time Communication Addr 03...

Page 203: ...P S T Range 1 5000 Unit rpm JOG operation command 1 Operation Test 1 Press the SET key to display the JOG rpm speed The default value is 20 rpm 2 Press the UP or DOWN arrow keys to increase or decreas...

Page 204: ...FOT Force Output Communication Addr 0406H Default 0 Applicable Control Mode P S T Range 0 0x1F 0 Disabled When the value of communication control parameter is set to 0 it can disable the force output...

Page 205: ...torque must be removed and the servo system should be off Servo off P4 11 SOF1 Analog Speed Input Offset 1 Communication Addr 040BH Default Factory setting Applicable Control Mode P S T Range 0 32767...

Page 206: ...ee P4 11 for explanation P4 18 COF4 Current Detector Offset V2 phase Communication Addr 0412H Default Factory setting Applicable Control Mode P S T Range 0 32767 See P4 11 for explanation P4 19 TIGB A...

Page 207: ...O Analog Speed Input Offset Firmware Communication Addr 0416H Default 0 Applicable Control Mode S Range 5000 5000 Unit mV Users manually adjust offset value P4 23 TAO Analog Torque Input Offset Firmwa...

Page 208: ...e ZCLAMP 05 Low speed CLAMP When this signal is On and the motor speed value is below the setting value of P1 38 it is used to lock the motor in the instant position while ZCLAMP is On Time Setting va...

Page 209: ...P1 26 P1 27 P7 ON ON OFF P1 28 P1 29 P8 ON ON ON P1 30 SPD0 14 SPD1 15 Speed command selection 1 4 DI signal of CN1 Command No SPD1 SPD0 Command Source Content Range S External analog command Voltage...

Page 210: ...EX0 28 Feed step selection input 0 bit 0 INDEX1 29 Feed step selection input 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 selecti...

Page 211: ...to internal position command For time interval setting please see P2 52 to P2 59 Available when the drive is in Pr mode and users must set P1 33 to 5 and 6 Internal auto running mode see section 12 7...

Page 212: ...ill remain activated until the motor speed drops below the Target Rotation Speed TPOS 05 Positioning completed 1 When the drive is in Pt mode TPOS will be activated when the position error is equal an...

Page 213: ...Chapter 7 Parameters ASDA A User Manual 4th Edition 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED 7 68 Note When P2 18 to P2 22 is set to 0 it indicates input function is disabled...

Page 214: ...roller has three modes of communication RS 232 RS 485 and RS 422 All aspects of control operation and monitoring as well as programming of the controller can be achieved via communication However only...

Page 215: ...oise should be 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...

Page 216: ...d of 38400 bps or greater is required the maximum length of the communication cable is 15m which will ensure the correct and desired baud rate 2 The number shown in the pervious figure indicates the t...

Page 217: ...is via parameter P3 00 0301H Transmission Speed Settings 0 Baud rate 4800 data transmission speed bits second 1 Baud rate 9600 data transmission speed bits second 2 Baud rate 19200 data transmission s...

Page 218: ...ror will occur 0305H Communication Mode Communication selection Settings 0 RS 232 1 RS 422 2 RS 485 Multiple communication modes RS232 RS 485 RS 422 cannot be used within one communication ring 0306H...

Page 219: ...All DI is external and via the CN 1 interface and the P4 07 display is indicating the following _ _ _ _ for the manual this picture should be similar to the one shown on page 4 8 Ch 4 4 5 The Digital...

Page 220: ...unication protocol in parameter 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 a...

Page 221: ...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 word n x 2 byte cons...

Page 222: ...of AC servo drive with address 01H ASCII Mode Command message Response message STX STX 0 0 ADR 1 ADR 1 0 0 CMD 3 CMD 3 0 0 2 Number of data Count by byte 4 0 0 Starting data address 0 0 0 B 0 Content...

Page 223: ...ssage ADR 01H ADR 01H CMD 06H CMD 06H 02H Upper bytes 02H Upper bytes Starting data address 00H Lower bytes Starting data address 00H Lower bytes 00H Upper bytes 00H Upper bytes Content of data 64H Lo...

Page 224: ...with the polynomial value A001H Step 4 Repeat step 3 until eight shifts have been performed When this is done a complete 8 bit byte will have been processed then perform step 5 Step 5 Repeat step 2 to...

Page 225: ...example of CRC generation using C language The function takes two arguments unsigned char data unsigned char length The function returns the CRC value as a type of unsigned integer unsigned int crc_ch...

Page 226: ...0 0 0 0 0 2 F 8 r n void main int I outportb PORT MCR 0x08 interrupt enable outportb PORT IER 0x01 interrupt as data in outportb PORT LCR inportb PORT LCR 0x80 the BRDL BRDH can be access as LCR b7 1...

Page 227: ...the new communication protocol is set the next data will be written in new communication protocol P4 05 JOG control of servo motor For the description refer to Chapter 7 P4 06 Force output contact co...

Page 228: ...RESERVED 4th Edition 2005 11 30 HE03 8 15 Communication read out parameters for ASDA A series are including Group 0 P0 00 P0 08 0000H to 0008H Group 1 P1 00 P1 56 0100H to 0138H Group 2 P2 00 P2 64 0...

Page 230: ...jects do not fall inside the servo drive motor control panel or ventilation slots and holes As there will cause damage 3 Ensure the correct installation and the control panel It should be free from ai...

Page 231: ...he surface and panel of servo drive and motor Make sure the conductors or insulators are corroded and or damaged Do not disassemble or damage any mechanical part when performing maintenance Clean off...

Page 232: ...or and drive is overload Overspeed Motor s control speed exceeds the limit of normal speed Abnormal pulse control command Input frequency of pulse command exceeds the limit of its allowable setting va...

Page 233: ...ontrol input command is unstable fluctuate too much 1 Ensure that input command frequency is stable not fluctuate too much 2 Activate filter function Overvoltage Potential Cause Checking Method Correc...

Page 234: ...resistor Correctly reset again Overload Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load during continuous operation Check if the drive is overloaded Increase m...

Page 235: ...is over low Check torque limit value Correctly adjust torque limit value There is an overload Check load condition 1 Reduce external applied load 2 Estimate the motor capacity again Watch dog executio...

Page 236: ...limit switch error Potential Cause Checking Method Corrective Actions Reverse limit switch is disabled Check if reverse limit switch is On or Off Activate reverse limit switch Servo system is not stab...

Page 237: ...correct Check communication parameter setting Make sure parameter setting value is set correctly Communication address is not correct Check communication address Make sure the communication address i...

Page 238: ...loss Potential Cause Checking Method Corrective Actions Input power is error 1 Check for possible poor connection on the input power line 2 Check for possible loss of phase on input power line Correct...

Page 239: ...ntrol command Turn ARST DI signal ON to clear the fault Excessive deviation Turn ARST DI signal ON to clear the fault Watch dog execution time out This fault information could not be cleared Encoder e...

Page 240: ...ng Method DSP communication error Turn ARST DI signal ON to clear the fault Serial communication error Turn ARST DI signal ON to clear the fault Serial communication time out Turn ARST DI signal ON to...

Page 242: ...ase B phase CCW pulse CW pulse Command Source External pulse train Internal parameters Smoothing Strategy Low pass and P curve filter Electronic Gear Electronic gear N M multiple N 1 32767 M 1 32767 1...

Page 243: ...put Output Output Servo ready Servo On Zero speed Speed reached Positioning completed Reached torques limits Servo alarm output Servo fault Electromagnetic brake Home completed Protective Functions Ov...

Page 244: ...ment IEC EN 61800 5 1 UL 508C TUV C tick Footnote 1 At rated load the speed ratio is defined as Minimum speed Motor will not pause Rated speed 2 When command is rated speed the speed fluctuation rate...

Page 245: ...0 02 0 04 0 04 0 08 0 49 0 49 0 49 Torque constant KT N m A 0 32 0 39 0 4 0 5 0 56 0 54 0 581 Voltage constant KE V rpm 33 7E 3 41 0E 3 41 6E 3 52 2E 3 58 4E 3 57 0E 3 60 9E 3 Armature resistance Ohm...

Page 246: ...98 0 98 Torque constant KT N m A 0 91 0 73 0 77 0 86 Voltage constant KE V rpm 95 71E 3 76 0E 3 81 1E 3 90 5E 3 Armature resistance Ohm 1 98 0 828 0 6 0 162 Armature inductance mH 13 2 5 5 6 1 2 3 El...

Page 247: ...hapter 11 Specifications ASDA A User Manual 4th Edition 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED 11 6 11 4 Servo Motor Speed Torque Curves Low Inertial Servo Motor Speed Torque Curves...

Page 249: ...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 250: ...n 2005 11 30 HE03 11 9 Chart of load and operating time 1kW 3kW 100 120 140 160 180 200 220 240 260 280 300 10 0 10 1 10 2 10 3 10 4 10 5 Operating T ime seco nds Load ratedtorque Load O perating Tim...

Page 251: ...Specifications ASDA A User Manual 4th Edition 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED 11 10 11 6 Dimensions of Servo Drive Units mm ASD A0121LA ASD A0221LA ASD A0421LA 100W 400W WEI...

Page 252: ...Chapter 11 Specifications DELTA ELECTRONICS INC ALL RIGHTS RESERVED 4th Edition 2005 11 30 HE03 11 11 11 6 Dimensions of Servo Drive cont Units mm ASD A0721LA ASD A1021LA ASD A1021MA ASD A1521MA 750W...

Page 253: ...cations ASDA A User Manual 4th Edition 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED 11 12 11 6 Dimensions of Servo Drive cont Units mm ASD A2023LA ASD A2023MA ASD A3023LA ASD A3023MA 2kW...

Page 254: ...rake 100 1 102 4 124 4 135 F with brake 135 7 137 159 171 6 G 25 30 30 35 H 5 6 6 8 I 2 5 3 3 3 J 16 20 20 25 K 9 2 0 0 0 2 16 0 0 0 2 16 0 0 0 2 21 5 0 0 0 2 L 3h9 0 006 0 031 5h9 0 012 0 042 5h9 0 0...

Page 255: ...22h6 0 0 0 013 24h6 0 0 0 013 E 95h7 0 0 0 035 95h7 0 0 0 035 110h7 0 0 0 035 F without brake 158 194 173 F with brake 190 226 211 G 45 55 55 H 17 17 15 I 7 7 4 J 34 44 44 K 25 0 0 0 2 25 0 0 0 2 27 0...

Page 256: ...0 0 0 016 E 110h7 0 0 0 035 110h7 0 0 0 035 114 3h7 0 0 035 114 3h7 0 0 035 F without brake 143 158 164 212 F with brake 181 196 213 258 G 55 55 75 75 H 15 15 20 20 I 4 4 4 4 J 44 44 65 65 K 25 0 0 0...

Page 257: ...C 3 phase 16DRT1W3S 1 phase 2 200W ASD A0221LA 10TDT1W4C 3 phase 16DRT1W3S 1 phase 3 400W ASD A0421LA 10TDT1W4C 3 phase 16DRT1W3S 1 phase 4 750W ASD A0721LA 10TDT1W4C 3 phase 16DRT1W3S 1 phase 5 1000W...

Page 258: ...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 default DI2 P2 12...

Page 259: ...anual 4th Edition 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED 12 2 When home operation is completed Home ready then can perform the position control function DO1 SRDY HOME CTRG rising ed...

Page 260: ...red CTRG default DI2 P1 15 0 Position rotation number is 0 zero P1 16 2500 Position rotation pulse number P1 33 1 Incremental position command P2 18 101 Servo ready SRDY default DO1 P2 21 105 Position...

Page 261: ...o On SON default DI1 P2 11 104 Pulse count clear function contact DI2 P2 15 102 Fault reset contact DI5 Other relevant parameters P1 34 P1 35 P1 36 Acceleration Deceleration time setting Operation Re...

Page 262: ...STOP M1334 Stop ch0 pulse output M1000 Normally on contact a contact M1346 ZRN CLEAR output signal enable S0 ZERO M5 S10 JOG S11 JOG S12 FW S13 REV POS M1334 Stop cho pulse output D POS M1002 On only...

Page 263: ...SERVED 12 6 X5 M5 RST M12 RST M13 SET S13 REV POS REV POS M10 X2 RST M12 RST M13 SET S10 JOG JOG M5 X3 RST M12 RST M13 SET S11 JOG JOG M5 S0 K50000 X10 SET M10 RST S0 ZERO ZERO M50 S DZRN K5000 Y0 M5...

Page 264: ...h0 pulse send flag PLSY Y0 instruction execution completed flag S11 K 999999 Y0 RST M1029 JOG M52 S DDRVI K30000 Y1 M1000 M1029 PLSY Y0 instruction execution completed flag Normally on contact a conta...

Page 265: ...12 8 S13 K100000 Y0 M54 S DDRVA K10000 Y1 M54 M1000 Normally on contact a contact M101 REV POS RST S13 M1336 M101 Ch0 pulse send flag SET M13 M1029 M54 PLSY Y0 instruction execution completed flag REV...

Page 266: ...4G SVO M Parameters Setting P1 01 1 Position control Pr mode setting P1 47 202 SHOM drive ORGP to perform forward homing P2 15 124 Home detection position contact DI6 P2 16 127 Activate signal of home...

Page 268: ...disabled i e P1 34 P1 35 is 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...

Page 269: ...N OFF ON 2ms can be set by P2 09 POS2 ON OFF Internal position command 1ms 2 HOLD Timing Chart If HOLD signal is ON when position moving the motor will decelerate and stop according to the deceleratio...

Page 270: ...At this time if CCLR signal is ON when position moving the motor will decelerate and stop according to the deceleration time which is set by parameter P1 34 P1 36 and the remaining pulses will be abo...

Page 271: ...P1 35 0123H Deceleration Time 1st to 3rd step Deceleration time When parameter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 36 0124H Accel Decel S curve When param...

Page 272: ...tion DI1 INDEX0 P2 10 128 Feed step selection input 0 DI2 INDEX1 P2 11 129 Feed step selection input 1 DI3 INDEX2 P2 12 130 Feed step selection input 2 DI4 INDEX3 P2 13 131 Feed step selection input 3...

Page 273: ...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 switched from 2 MD1 OFF...

Page 274: ...0 0 1 0 0 INDEX 5 6 0 0 1 0 1 INDEX 6 7 0 0 1 1 0 INDEX 7 8 0 0 1 1 1 INDEX 8 9 0 1 0 0 0 INDEX 9 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...

Page 275: ...4 0 1 1 0 1 INDEX 9 In position 15 0 1 1 1 0 INDEX 10 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 positio...

Page 276: ...step output position DO value 4 Example if DO 7 the feed step output position 7 4 3 8 When returning to HOME if DO 1 SERVO READY after any abnormal conditions are removed it is needed to return to HOM...

Page 277: ...Motor Speed CCLR IDX Value 10 ON OFF ON OFF ON OFF Torque Limit MD1 MD0 CI CI INDEX 2 06 CI INDEX 6 0A Servo ON P2 45 Step No 2 Step No 6 Step No P2 47 ON OFF Note The maximum value of P1 45 125 x T...

Page 278: ...N OFF ON OFF ON OFF Torque Limit MD1 MD0 Servo ON P2 45 INDEX 2 auto running manually feed forward CI CI INDEX 2 CI INDEX 3 manually feed forward Note 1 When manually feed forward operation occurs ple...

Page 279: ...OFF MDP0 auto running manually feed forward Note 1 After manually feed forward operation is completed please set MD1 and MD0 to be OFF and then turn MDP1 from ON to OFF ready to enter torque decrease...

Page 280: ...FF ON OFF MD1 ON OFF MDP1 auto running manually feed forward Note 1 After manually feed forward operation is completed please set MD1 and MD0 to be OFF and then turn MDP0 from ON to OFF ready to enter...

Page 281: ...planation Communication Address Communication Content Explanation H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H020 Tor...

Page 282: ...eleration time When parameter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 36 0124H Accel Decel S curve When parameter P1 36 is set to 0 accel decel function is di...

Page 283: ...1 26 P2 41 V6 P2 57 T6 INDEX7 P1 27 P1 28 P2 42 V7 P2 58 T7 INDEX8 P1 29 P1 30 P2 43 V8 P2 59 T8 Digital I O Signal Setting DI Signal Parameter Setting Explanation DI1 SON P2 10 101 Servo ON DI2 AUTOR...

Page 284: ...0 1 0 0 CHANGE INDEX under operation CHANGE INDEX hereinafter called CI 6 0 0 1 0 1 INDEX 1 In position 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...

Page 285: ...TS RESERVED 12 28 2 Auto Running Mode Power Supply ON OFF DO VALUE INDEX4 Motor Speed Servo ON CI 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...

Page 286: ...plication Examples DELTA ELECTRONICS INC ALL RIGHTS RESERVED 4th Edition 2005 11 30 HE03 12 29 4 Manual Control Mode 2 Power Supply ON OFF DO VALUE INDEX4 Motor Speed Servo ON CI CI CI AUTOR V1 V2 IDX...

Page 287: ...Description P1 34 0122H Acceleration Time P1 35 0123H Deceleration Time P1 36 0124H Accel Decel S curve Explanation of Homing Mode 1 A Home Sensor Type and Homing Direction Left or right limit switch...

Page 288: ...lse and regard Z phase pulse as a precise mechanical Home If users do not use Z phase pulse as mechanical Home users can set the rising edge of ORGP as the mechanical Home B 2 A 4 Forward finding Z ph...

Page 289: ...peration the motor will decelerate and stop After the servo motor stops the then move to the position of mechanical Home D 1 After detecting Home the motor will decelerate and stop in the forward dire...

Page 290: ...2 33 POWER ON refer to homing timing chart time SERVO READY SERVO ON HOMING HOMING COMPLETED 2 Enable homing function by input contact SHOM C 2 POWER ON refer to homing timing chart time SERVO READY S...

Page 291: ...les ASDA A User Manual 4th Edition 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED 12 34 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...

Page 292: ...r Manual Chapter 12 Application Examples DELTA ELECTRONICS INC ALL RIGHTS RESERVED 4th Edition 2005 11 30 HE03 12 35 5 B A 2 2 Position ORGP SPEED 6 B A 2 3 Position ORGP SPEED 7 B A 2 4 Position SPEE...

Page 294: ...OG Stop Error Reset DO_COM X10 X11 X12 X13 X14 SRDY ZSPD TPOS ALARM CN1 CN2 10 45 Y0 C0 Y1 C1 FWD REV Direction DVP32EH00T CN1 26 1 2 3 4 5 6 7 DO1 DO2 DO3 DO4 DO1 DO2 DO3 DO4 SRDY ZSPD HOME TPOS 220V...

Page 295: ...8 17 11 9 33 32 31 30 CN1 CN2 COM DI 2 10 47 CN1 26 1 2 3 4 5 6 7 DO1 DO2 DO3 DO4 DO1 DO2 DO3 DO4 SRDY ZSPD HOME TPOS 220VAC COM 45 50 27 28 DO5 DO5 ALARM DO_COM DVP01PU H START STOP LSP LSN DOG S S 2...

Page 296: ...X7 JOG Stop Error Reset DO_COM X10 X11 X12 X13 X14 SRDY ZSPD TPOS ALARM CN2 CN1 26 1 2 3 4 5 6 7 DO1 DO2 DO3 DO4 DO1 DO2 DO3 DO4 SRDY ZSPD HOME TPOS 220VAC 220VAC 27 28 DO5 DO5 ALARM DO_COM 24V PLC R...

Page 297: ...M X7 JOG Stop Error Reset DO_COM X10 X11 X12 X13 X14 SRDY ZSPD TPOS ALARM DI 7 DI 8 17 11 9 33 32 31 30 Encoder CN2 CN1 26 1 2 3 4 5 6 7 DO1 DO2 DO3 DO4 DO1 DO2 DO3 DO4 SRDY ZSPD HOME TPOS 220VAC 220V...

Page 298: ...CN1 VDD COM DI 1 DI 5 DI 6 SON ARST CWL CCWL EMGS DI 7 DI 8 17 11 9 33 32 31 30 CN1 Error Counter Electronic Gear Encoder CN2 COM DI 2 10 45 CN1 26 1 2 3 4 5 6 7 DO1 DO2 DO3 DO4 DO1 DO2 DO3 DO4 SRDY...

Page 300: ...ctors Delta Part Number ASD CAPW0000 100W 750W AMP 350780 1 Delta Part Number ASD CAPW0100 100W 750W with brake AMP 350781 1 Delta Part Number ASD CAPW1000 low inertia 1kW 3kW and medium inertia 1kW 1...

Page 301: ...on 2005 11 30 HE03 DELTA ELECTRONICS INC ALL RIGHTS RESERVED A 2 Power Cables Delta Part Number ASD CAPW0003 ASD CAPW0005 100W 750W Delta Part Number ASD CAPW0103 ASD CAPW0105 100W 750W with brake Del...

Page 302: ...TS RESERVED 4th Edition 2005 11 30 HE03 A 3 Power Cables cont Delta Part Number ASD CAPW1103 ASD CAPW1105 1kW 1 5kW with brake Delta Part Number ASD CAPW1203 ASD CAPW1205 low inertia 2kW 3kW Delta Par...

Page 303: ...les cont Delta Part Number ASD CAPW2203 ASD CAPW2205 medium inertia 2kW 3kW Delta Part Number ASD CAPW2303 ASD CAPW2305 medium inertia 2kW 3kW with brake M 211 nn Encoder Connectors Delta Part Number...

Page 304: ...INC ALL RIGHTS RESERVED 4th Edition 2005 11 30 HE03 A 5 Encoder Connectors cont Delta Part Number ASD CAEN1000 1kW and 1kW above Encoder Cables Delta Part Number ASD CAEN0003 ASD CAEN0005 100W 750W De...

Page 305: ...ICS INC ALL RIGHTS RESERVED A 6 I O Signal Connector Delta Part Number ASD CNSC0050 Vendor Name Vendor P N 3M TAIWAN LTD 10150 3000VE 3M TAIWAN LTD 10350 52A0 008 Communication Cable between Drive and...

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