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Chapter 6 Control Mode of Operation



ASDA-A2R Series

6-22

Revision December, 2014

Manual Mode

When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral
Compensation (P2-06) and Speed Feed Forward Gain (P2-07). Influence of each
parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response frequency of

speed loop.

Integral gain: To increase the integral gain could increase the low-frequency stiffness of

speed loop, reduce the steady-state error and sacrifice the phase margin.
The over high integral gain will cause the instability of the system.

Feed forward gain: Diminish the deviation of phase delay.

Related parameters: Please refer to Chapter 8 for further information.

Parameter Abbr.

Function

P2-04

KVP Speed Loop Gain

P2-06

KVI Speed Integral Compensation

P2-07

KVF Speed Feed Forward Gain

Theoretically, stepping response can be used to explain proportional gain (KVP), integral
gain (KVI) and feed forward gain (KVF). Here, the frequency domain and time domain
are used to illustrate the basic principle.

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Summary of Contents for ASD-A2R-0121 Series

Page 1: ...3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S...

Page 2: ...product please read through this manual carefully in order to ensure the correct use of the product In addition please place this manual safely for quick reference whenever is needed Please follow th...

Page 3: ...s It is possible to cause severe injury or fatal harm if not follow the instructions It indicates the potential hazards It is possible to cause minor injury or lead to serious damage of the product or...

Page 4: ...aintenance and Inspection It is prohibited to touch the internal parts of the servo drive and servo motor Or it is possible to cause electric shock It is prohibited to disassemble the panel of the ser...

Page 5: ...ease disassemble the terminal socket from the servo drive One terminal of the terminal socket for one electric wire only When inserting the electric wires do not connect the conductor to the adjacent...

Page 6: ...ury Do not touch the motor during operation Or it is possible to cause scald due to the high temperature Do not touch the machine that just turned off the residual temperature might cause scald Strong...

Page 7: ...10 1 5 ECML Series Servo Motor 1 13 Chapter 2 Installation 2 1 Notes 2 1 2 2 Ambient Conditions of Storage 2 1 2 3 Ambient Conditions of Installation 2 2 2 4 Installation Direction and Space 2 3 2 5 S...

Page 8: ...16 3 3 I O Signal CN1 Connection 3 18 3 3 1 I O Signal CN1 Connector Terminal Layout 3 18 3 3 2 Explanation of I O CN1 Connector Signal 3 20 3 3 3 Wiring Diagram CN1 3 31 3 3 4 The DI and DO Signal S...

Page 9: ...iring Diagram of Peripheral Devices 3 58 3 11 2 Specification of Definition of ECML Motor Cable 3 62 3 11 3 Signal Converter Box 3 64 Chapter 4 Panel Display and Operation 4 1 Panel Description 4 1 4...

Page 10: ...sition Mode 5 9 5 6 Tuning Procedure 5 11 5 6 1 Flowchart of Tuning Procedure 5 13 5 6 2 Inertia Estimation Flowchart with Mechanism 5 14 5 6 3 Flowchart of Auto Tuning 5 15 5 6 4 Flowchart of Semi au...

Page 11: ...Mode 6 12 6 3 Speed Mode 6 15 6 3 1 Selection of Speed Command 6 15 6 3 2 Control Structure of Speed Mode 6 16 6 3 3 Smooth Speed Command 6 18 6 3 4 The Scaling of Analog Command 6 20 6 3 5 The Timin...

Page 12: ...l Functions of ASDA A2R 7 1 7 2 Information of the Servo Drive 7 1 7 2 1 Description of Monitor Variables 7 3 7 2 2 Description of Data Array 7 9 7 3 Description of Motion Axes 7 12 7 4 Description of...

Page 13: ...Parameters 8 2 8 3 Parameter Description 8 16 P0 xx Monitor Parameters 8 16 P1 xx Basic Parameters 8 37 P2 xx Extension Parameters 8 81 P3 xx Communication Parameters 8 119 P4 xx Diagnosis Parameters...

Page 14: ...ns 10 10 10 5 Corrective Actions after the Alarm Occurs 10 32 Chapter 11 Specifications 11 1 Specifications of Servo Drive 11 1 11 2 Specifications of Servo Motor ECMA Series 11 4 11 3 Specifications...

Page 15: ...Table of Contents ASDA A2R Series Revision December 2014 12 2 Panel Setup Procedure without PC Software 12 24 Appendix A Accessories Appendix B Maintenance and Inspection...

Page 16: ...Table of Contents ASDA A2R Series Revision December 2014 This page is intentionally left blank...

Page 17: ...otor power cable the U V and W wires can connect to the socket attached by the servo drive and another side is the plug which could connect to the socket of the motor And a green ground wire which sho...

Page 18: ...Inspection and Model Explanation ASDA A2R Series 1 2 Revision December 2014 13 3 PIN fast connector U V W 14 3 PIN fast connector P D C 15 A plastic lever 16 A metal short circuit chip 17 An installat...

Page 19: ...Number ECMA Series Servo Motor Nameplate Information Serial Number Serial Number Production Week Production Year 8 Year of 2008 Production Factory T Taoyuan W Wujiang Model Name Model Name Power Input...

Page 20: ...n and Model Explanation ASDA A2R Series 1 4 Revision December 2014 ECML Series Servo Motor Coil Assembly_Nameplate Information Coil assembly_Serial Number Magnetic way_ Nameplate Information Magnetic...

Page 21: ...A S D A 2 R 0 1 2 1 U Model Type Type Full closed Loop CANopen DMCNET E CAM Expansion Slot for Digital Input M U F L Input Voltage and Phase 21 220 V 1 phase 23 220 V 3 phase Model Type Product Series...

Page 22: ...Shaft Diameter S Specific Shaft Diameter 3 42mm 7 14mm Motor Frame Size 04 40 mm 09 86 mm 18 180 mm 06 60 mm 10 100 mm 22 22 0mm 08 80 mm 13 130 mm Name of the Series Rated Voltage and Rated Speed C...

Page 23: ...al length of magnetic way 0340 340 mm 0520 520 mm 0700 700 mm 0880 880 mm 1060 1060 mm 1240 1240 mm Magnetic way dimensions 16 16 mm 20 20 mm 25 25 mm 32 32 mm Component type Null coil assembly M magn...

Page 24: ...sensor type A Analog D Digital Input voltage 2 220V 3 380V Wiring method A Wiring method A Number of coil sets 03 3 sets 04 4sets 05 5sets 06 6sets 08 8sets Magnetic way dimensions 16 16 mm 20 20 mm 2...

Page 25: ...ECMA G 1309 S S 22 mm 1500 W ASD A2R 1521 ECMA E 1315 S S 22 mm 2000 W ASD A2R 2023 ECMA C 1020 S S 22 mm ECMA E 1320 S S 22 mm ECMA E 1820 S S 35 mm ECMA F11313 S S 22 mm ECMA F11318 S S 22 mm 3000 W...

Page 26: ...nect to PLC or control I O Connect to linear scale Connector for communication control 6 extension DI are available Grounding terminal Sliding cover Indicator of input voltage Please refer to the bott...

Page 27: ...Chapter 1 Inspection and Model Explanation ASDA A2R Series Revision December 2014 1 11 Top view of the servo drive...

Page 28: ...on December 2014 Bottom view of the servo drive Grounding Terminal Reserved connector Connect to motor power connector U V W and cannot connect to the main circuit power Wrong connection may damage th...

Page 29: ...o Motor Motor power cable It contains 4 core cables which are for U V W and ground wire It connects to output port of the servo drive and grounding terminal It contains 7 core cables which are for Hal...

Page 30: ...Chapter 1 Inspection and Model Explanation ASDA A2R Series 1 14 Revision December 2014 This page is intentionally left blank...

Page 31: ...fixed four screws of the motor 2 2 Ambient Conditions of Storage Before the installation this product has to be kept in shipping carton In order to retain the warranty coverage and for the maintenance...

Page 32: ...machine Check if the vibration will influence the electronic device of the electric box Besides the ambient conditions should also include Location has no over heat device Location has no water drop...

Page 33: ...d Or it might result in malfunction When installing AC servo drive do not seal the suction hole and the vent hole Do not place the drive in a horizontal direction or it might cause malfunction Scheme...

Page 34: ...cuit breaker Fuse Class T Operation Mode General General ASD A2R 0121 5A 5A ASD A2R 0221 5A 5A ASD A2R 0421 10A 10A ASD A2R 0721 10A 20A ASD A2R 1021 15A 25A ASD A2R 1521 20A 40A ASD A2R 2023 30A 50A...

Page 35: ...nterference can be eliminated It is suggested to use Delta s EMI Filter to suppress the interference better When installing servo drive and EMI Filter please follow the instructions of the user manual...

Page 36: ...rounded in the shortest distance and the largest contact area 3 The protective paint of the U shape saddle and metal plate should be removed in order to ensure the good contact Please see disgram 1 4...

Page 37: ...the resistance P1 52 and capacity P1 53 of regenerative resistor Or it might influence the performance of this function 2 If users desire to use the external regenerative resistor please make sure th...

Page 38: ...m empty load 3000r min to stop Eo joule The maximum regenerative power of capacitance Ec joule Low Inertia 0 05 ECMA C1040F 0 021 0 10 4 21 0 1 ECMA C10401 0 037 0 18 4 21 0 2 ECMA C10602 0 177 0 87 5...

Page 39: ...ful power of regenerative resistor is 2 7 1 1 68 8 0 4 27 2 W If it is smaller than the built in capacity of regenerative resistor the built in 60W regenerative resistor will do Generally speaking whe...

Page 40: ...allowable frequency is the frequency of continuous operation when the servo motor runs from 0r min to the rated speed and then decelerates from the rated speed to 0r min within the shortest time The f...

Page 41: ...s min of regenerative resistor when the servo drive runs without load Allowable frequency of regenerative resistor when the servo drive runs without load times min Motor Capacity Corresponding Motor E...

Page 42: ...2R Series 2 12 Revision December 2014 Motor Capacity Corresponding Motor ECMA L 11 kW 15 kW 1B 1F BR400W040 400 W 40 BR1K0W020 1 kW 20 Allowable frequency of regenerative resistor when the servo drive...

Page 43: ...CML S1608A2DNS 1 35 16 875 4 21 0 2 ECML S2003A2DNS 1 95 24 375 5 62 ECML S2004A2DNS 2 49 31 125 5 62 ECML S2005A2DNS 3 37 5 5 62 0 4 ECML S2504A2DNS 3 3 41 25 8 42 ECML S2506A2DNS 4 8 60 8 42 ECML S3...

Page 44: ...is enough The diagram below describes the actual operation The smaller power of the regenerative resistor it is the more energy it accumulates and the higher temperature it will be When the temperatu...

Page 45: ...reasons please calculate it by considering the safest situation For example when the external force is the 70 rated force and the speed reaches 2m s then take 400W rated force is FN as the example th...

Page 46: ...cording to different load inertia or speed The following is the calculation method The comparison table of external regenerative resistor is provided below Please choose the appropriate regenerative r...

Page 47: ...es Revision December 2014 2 17 Dimensions of Regenerative Resistor Delta part number BR400W040 400 W 40 L1 L2 H D W MAX WEIGHT g 265 250 30 5 3 60 930 Delta part number BR1K0W020 1 kW 20 L1 L2 H D W M...

Page 48: ...Chapter 2 Installation ASDA A2R Series 2 18 Revision December 2014 Delta part number BR1K5W005 3 kW 10...

Page 49: ...ut terminal U V W of the servo motor is correctly wired The incorrect wiring may disable the operation of the motor or cause malfunction 3 When applying to the external regenerative resistor the conta...

Page 50: ...ASDA SOFT to conduct tuning parameter setting and control Transmit the signal of CN1 50pin to the controller through this terminal It could connect to Delta s PLC controller or other NC controller Reg...

Page 51: ...resister Connect P C ends to the resistor and the contact between P and D end should be opened Use external braking unit P and P of the brake unit should connect to P and P respectively The contact be...

Page 52: ...e of encoder CN2 or CN5 connecter is not long enough please use shielded twisted pair cable which cannot exceed 20 meters 65 62 inches If it exceeds 20 meters please choose the bigger wire diameter of...

Page 53: ...ive is divided into single phase and three phase In the diagram below Power On is contact a Power Off and ALRM_RY are contact b MC is the coil of magnetic contactor and self remaining power and is the...

Page 54: ...Chapter 3 Wiring ASDA A2R Series 3 6 Revision December 2014 Wiring Method of Three phase Power Supply suitable for all series...

Page 55: ...07 S 750 W ECMA C 0910 S 1000 W A ECMA C1040F S 50 W ECMA C 0401 S 100 W ECMA C 0602 S 200 W ECMA C 0604 S 400 W ECMA C 0804 7 400 W ECMA C 0807 S 750 W ECMA C 0907 S 750 W ECMA C 0910 S 1000 W with b...

Page 56: ...Definition ECMA E 1820 S 2000 W ECMA E 1830 S 3000 W ECMA E 1835 S 3500 W ECMA F 1830 S 3000 W D Wiring Name U Red V White W Black CASE GROUND Green BRAKE1 Yellow BRAKE2 Blue Terminal Definition A 1 2...

Page 57: ...A absolute 4 Box in servo motor model represents brake or keyway oil seal Specification of ECML Motor U V W Power Cable Motor Model Color Definition AWG ECML S16 S ECML S20 S Red U phase circuit cable...

Page 58: ...by the practical scale and specification will be different according to the selected servo drive and motor model 1 Please refer to the Section of Specification and Definition of Encoder Connector 2 P...

Page 59: ...3 9 6 White Blue White Red Brown DC 5V GND T T Reserved Reserved 1 4 7 8 5 2 3 9 6 White Blue Brown White Red Shield DC 5V GND T T Reserved Reserved Reserved In servo motor models encoder types are 25...

Page 60: ...ase refer to Section 3 5 CN2 Connector Motor Model Connector of Encoder Cable ECMA G 1303 S 300 W ECMA E 1305 S 500 W ECMA F11305 S 500 W ECMA G 1306 S 600 W ECMA F 1308 S 850 W ECMA G 1309 S 900 W EC...

Page 61: ...Cable Motor Model Color Definition AWG ECML S16 S ECML S20 S ECML S25 S ECML S32 S Black Hall sensor 5V 26 Black Red Hall sensor 0V 26 White U phase signal of hall sensor 26 Brown V phase signal of ha...

Page 62: ...WG16 2 1 AWG14 1 3 AWG16 2 1 AWG14 ASD A2R 2023 ECMA C 1020 S 1 3 AWG16 2 1 AWG14 2 1 AWG14 2 1 AWG14 ECMA E 1320 S 1 3 AWG16 2 1 AWG14 2 1 AWG14 2 1 AWG14 ECMA E 1820 S 1 3 AWG16 2 1 AWG14 3 3 AWG12...

Page 63: ...vision December 2014 3 15 4 Box at the end of the servo drive model represents the model code of ASDA A2 Please refer to the model information of the product you purchased 5 Box in servo motor model r...

Page 64: ...Chapter 3 Wiring ASDA A2R Series 3 16 Revision December 2014 3 2 Schematic Diagram of Servo System 220 V 400 W included model below No built in regenerative resistor...

Page 65: ...ernal torque Position pulse Digital input Digital output A B Z output Analog output Extension DI Operation Display MODE SHIFT SET CHARGE Protect circuit 3 3V Control Power 15V 5V 24V USB Reserved CN6...

Page 66: ...Digital Inputs DI are provided The setting of 8 digital inputs and 5 digital outputs of each axis are parameter P2 10 P2 17 and parameter P2 18 P2 22 respectively In addition the differential output e...

Page 67: ...e 14 NC No connection 39 PULL HI_P Pulse Pull high voltage of pulse 15 MON2 Analog monitor output 2 40 HSIGN High speed position command 16 MON1 Analog monitor output 1 41 PULSE Position command pulse...

Page 68: ...lect the desired monitoring data via parameter P0 03 This signal is based on the power ground C2 Position Pulse input PULSE PULSE SIGN SIGN PULL HI_P PULL HI_S 43 41 36 37 39 35 Position pulse can be...

Page 69: ...o Chapter 6 1 Each operation mode needs different I O signal In order to use the terminal in a more efficient way the selection of I O signal has to be programmable That is to say users can choose the...

Page 70: ...ning occurs When it is in the status of forward reverse limit emergency stop communication error under voltage this DO is ON OVF ALL Position command overflows SNL SCWL PR Reverse software limit SPL S...

Page 71: ...it12 of P4 06 SDO_D ALL Output the status of bit13 of P4 06 SDO_E ALL Output the status of bit14 of P4 06 SDO_F ALL Output the status of bit15 of P4 06 NOTE 1 For example if the user selects PR mode p...

Page 72: ...he signal is triggered CMDINV PR T S When this DI is ON the motor will operate in the opposite direction CTRG PR PR S PR T 10 In PR mode the moment CTRG is ON rising edge save the position command sel...

Page 73: ...OFF the source of external command pulse is low speed pulse PULSE PULSE SIGN SIGN Pin When the DI is ON the source will be high speed pulse This function can go with handwheel This DI can be used to s...

Page 74: ...PR S Electronic gear ratio numerator selection 0 Please refer to P2 60 P2 62 for gear ratio selection numerator C9 C10 C11 C12 GNUM1 PT PR PT S PR S Electronic gear ratio numerator selection 1 Please...

Page 75: ...ommand will be in reverse direction Reserved 0x07 Reserved CTRG 0x08 Internal position command triggered DI2 DI2 DI2 TRQLM 0x09 Torque limit DI2 DI2 SPDLM 0x10 Speed limit DI2 DI2 POS0 0x11 Internal p...

Page 76: ...bit limit DI7 DI7 DI7 DI7 DI7 DI7 ORGP 0x24 Original point of homing SHOM 0x27 Homing is activated CAM 0x36 E Cam engaged JOGU 0x37 Forward JOG input JOGD 0x38 Reverse JOG input EV1 0x39 Event trigger...

Page 77: ...e DO3 DO3 OLW 0x10 Early warning for overload WARN 0x11 Servo warning OVF 0x12 Position command overflows SNL SCWL 0x13 Reverse software limit SPL SCCWL 0x14 Forward software limit Cmd_OK 0x15 Interna...

Page 78: ...t09 of P4 06 SDO_A 0x3A Output the status of bit10 of P4 06 SDO_B 0x3B Output the status of bit11 of P4 06 SDO_C 0x3C Output the status of bit12 of P4 06 SDO_D 0x3D Output the status of bit13 of P4 06...

Page 79: ...Wiring Diagram CN1 The valid voltage of speed analog command and torque analog command is between 10V and 10V The command value can be set via relevant parameters The input impedance is 10K C1 Speed...

Page 80: ...of Line driver is 500 kpps and 200 kpps for open collector C3 1 The source of pulse input is open collector NPN equipment which applies the internal power of the servo drive C3 2 The source of pulse i...

Page 81: ...R Series Revision December 2014 3 33 C3 3 The source of pulse input is open collector NPN equipment and applies the external power C3 4 The source of pulse input is open collector PNP equipment and ap...

Page 82: ...y damage the servo drive C4 1 Pulse input Line driver can only apply to 5V power Do not apply to 24V power This opto isolator is one way input please be ensured the direction of current of pulse input...

Page 83: ...ground of the controller and the servo drive should be connected to each other When the drive connects to inductive load the diode has to be installed The permissible current is under 40mA The surge...

Page 84: ...e applies to the external power and the resistor is general load R DC24V DOX Servo Drive DOX DO1 7 6 DO2 5 4 DO3 3 2 DO4 1 26 DO5 28 27 DOX DOX DOX X 1 2 3 4 5 No connection between VDD and COM C8 Wir...

Page 85: ...g of DI The servo drive applies to the internal power C10 The wiring of DI The servo drive applies to the external power PNP transistor common emitter E mode SOURCE mode C11 The wiring of DI The servo...

Page 86: ...Series 3 38 Revision December 2014 C13 Encoder signal output Line driver 125 125 125 OA 21 OA 22 OB 25 OB 23 OZ 24 OZ 50 Controller Servo Drive AM26CS31 type Max output current 20mA SG C14 Encoder si...

Page 87: ...7 2 which shown as the following table Enter DI or DO code in the corresponding parameter to setup DI DO Signal Name Pin No Corresponding Parameter Signal Name Pin No Corresponding Parameter Standard...

Page 88: ...nd can satisfy the demand of different DI O application It will be a good choice for those who do not want to self weld the wiring rods The vibration will not loose the leading wire due to the design...

Page 89: ...1 COM 3 COM 2 4 6 26 45 47 COM 4 DI1 9 DI1 5 DI2 10 DI2 6 DI3 34 DI3 7 DI4 8 DI4 8 DI7 31 DI7 9 DO1 7 DO1 10 DO2 5 DO2 11 PULL_HI_PS 35 PULL_HI_PS 12 PULSE 41 PULSE 13 PULSE 43 PULSE 14 SIGN 37 SIGN 1...

Page 90: ...Chapter 3 Wiring ASDA A2R Series 3 42 Revision December 2014 Wiring and installation of CN1 quick connector Wiring Installation...

Page 91: ...ion December 2014 3 43 3 4 CN2 Connector The terminal block of the connector and pin number are as follows A Encoder Connector CN2 Connector female Side view CN2 Rear view of the terminal block Rear v...

Page 92: ...5V Power 5 V S 7 Red Red White 13 15 GND Power ground R 8 Black Black White Shell Shielding Shielding L 9 The shielding procedures of CN2 encoder connector are as the followings 1 Cut through the cab...

Page 93: ...the cable should be protected by the heat shrink tube for good ground contact 4 Install a metal saddle to fix the exposed metal core wires The metal saddle must completely cover all the exposed metal...

Page 94: ...No Signal Name Terminal Symbol Function and Description 1 Signal grounding GND 5 V connects to the signal terminal 2 RS 232 data transmission RS 232_TX The drive transmits the data The connector conne...

Page 95: ...Chapter 3 Wiring ASDA A2R Series Revision December 2014 3 47 3 5 2 Connection between CN3 Connector and Personal Computer...

Page 96: ...nector which used to connect PC software and enhance the efficiency The transmission speed of USB can up to 1MB that is to say PC Data Scope can obtain the correct data in time CN4 Connector female Pi...

Page 97: ...A A phase input 6 Encoder grounding GND Ground 7 Encoder grounding GND Ground 8 Encoder power 5 V 5 V power 9 Z phase input Opt_Z Z phase input 10 Hall sensor U phase input HALL_U Hall sensor U phase...

Page 98: ...RS 232 RS 485 All are set via parameter P3 00 and the transmission rate can up to 1 Mbps It provides two sets of communication connectors one is for receiving and another one is for transmission in o...

Page 99: ...nation resistor is suggested to use 120 Ohm 0 25W or above 2 The wiring method of concatenate more than one drives is based on two terminals of CANopen One is for receiving and another one is for tran...

Page 100: ...nd CN7 Connector female Pin No Signal Name Terminal Symbol Function and Description 1 VDD24 V power COM Power of VDD 24V should be the same as Pin 11 of CN1 2 Extension DI9 EDI 9 Digital input DI9 3 E...

Page 101: ...N L CAN GND CAN GND 4 12 5 13 6 14 8 16 4K 4K 4K 4K 4K 4K 4K 4K 4K 4K 4K 4K 4K 4K Opt A 5V Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5 6 3 1 2 8 4 HALL_U 12 10 11 HALL_V HALL_W TEMP TEMP 13 14 15 T T...

Page 102: ...Please refer to section 3 3 3 for the wiring of C9 C12 SINK SOURCE mode 2 No built in regenerative resistor for 100W 200W or below servo drives 3 Brake wiring has no polarity 4 Extension DI selective...

Page 103: ...lector Encoder pulse output 10K 10K Shielded twisted pair cable 10K 10V 10K DC 24V SG 1 5 4 1 9 3 11 2 10 7 15 CAN H CAN L CAN GND CAN GND 4 12 5 13 6 14 8 16 Opt A 5V Opt B Opt B Opt A Opt Z Opt Z GN...

Page 104: ...14 8 16 Opt A 5V Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5 6 3 1 2 8 4 HALL_U 12 10 11 HALL_V HALL_W TEMP TEMP 13 14 15 4K 4K 4K 4K 4K 4K VDD MON1 GND MON2 12 13 19 42 44 18 13 16 T REF GND 15 17 T...

Page 105: ...l Z phase differential signal Encoder pulse output DC 24V Regenerative resistor Red White Black Green SG Brake Power Encoder BRKR EMGS 24V Shielded twisted pair cable Reserved Reserved Reserved 1 5 2...

Page 106: ...g the internal regenerative resistor please be ensured the contact of PD end should be closed and the contact of PC end should be opened Drive Mode X1 A B Pulse X2 A Sin B Cos X3 RS 485 w o CLK X4 RS...

Page 107: ...Chapter 3 Wiring ASDA A2R Series Revision December 2014 3 59 Connect Communication Type of Motor to CN5...

Page 108: ...netic Contactor MC When an alarm occurs it could output ALRM signal and disconnect the power of the servo drive In order to prevent the energy flowing back caused by motor brake and result in error pl...

Page 109: ...USB connecting line to connect to PC to operate the software 2 Use ASDA SOFT to conduct tuning parameter setting and control Transmit the signal of CN1 50pin to the controller through this terminal It...

Page 110: ...Black 20 CASE GROUND Green 20 ECML S25 S ECML S32 S U Red 18 V White 18 W Black 18 CASE GROUND Green 18 NOTE 1 U V W are the bare wire which has no connector and terminal 2 The total length of standar...

Page 111: ...d 26 NOTE 1 U V W are the bare wire which has no connector and terminal 2 The total length of standard cable is 500mm Please use shielded twisted pair cable for encoder wiring so as to reduce the inte...

Page 112: ...ould ensure communication quality Through the interpolation of sine wave signal it could improve the resolution and avoid the limit of frequency so as to satisfy the demand of high precision and high...

Page 113: ...oment Switch Mode The status of converter box is controlled by the button and the switch The command issued by servo drive does not work Hall Sensor Hall sensor is installed W O Hall Sensor Hall senso...

Page 114: ...ion 20 pin Connector PIN Definition Descriptions PIN Definition Descriptions 1 Reserved 11 OZ 2 FPGA_TDI 12 FPGA_TRST 3 FPGA_TMS 13 GND Power Ground 4 Drive_T Serial Communication Signal Transmission...

Page 115: ...Sinusoid A phase input 21 LiMot_Data 9 A _IN Sinusoid A phase input 22 LiMot_Data 10 B _IN Sinusoid B phase input 23 GND Pulse Power Ground 11 B _IN Sinusoid B phase input 24 GND Pulse Power Ground 12...

Page 116: ...Chapter 3 Wiring ASDA A2R Series 3 68 Revision December 2014 This page is intentionally left blank...

Page 117: ...g arrow keys SET Key Pressing the SET key can display and save the parameter groups the various parameter settings In monitor mode pressing SET key can switch decimal or hexadecimal display In paramet...

Page 118: ...Chapter 4 Panel Display and Operation ASDA A2R Series 4 2 Revision December 2014 4 2 Parameter Setting Procedure Switch the mode Operate in each mode Monitoring mode...

Page 119: ...4 3 Parameter Mode Monitor Parameter P0 Basic Parameter P1 Extension Parameter P2 Communication Parameter P3 Diagnosis Parameter P4 Motion Control Parameter P5 PR Parameter P6 PR Parameter P7 Paramet...

Page 120: ...Chapter 4 Panel Display and Operation ASDA A2R Series 4 4 Revision December 2014 Edit Setting Mode...

Page 121: ...indicating the current high or low byte Negative sign When the data is displayed in decimal format the two decimal points in the left represents the negative sign no matter it is showed in 16 or 32 bi...

Page 122: ...the scaling of electronic gear ratio User unit user unit 1 Input pulse number of pulse command after the scaling of electronic gear ratio User unit user unit 2 The difference of error pulse number be...

Page 123: ...of parameter P0 25 specify the mapping target by P0 35 20 Mapping parameter 2 shows the content of parameter P0 26 specify the mapping target by P0 36 21 Mapping parameter 3 shows the content of para...

Page 124: ...w If the value is 0x12345678 the display of the high byte is h1234 and displays L5678 as the low byte shows in hexadecimal format Negative display If the value is 12345 it displays 1 2 345 only shows...

Page 125: ...l Function 4 4 1 Operation of Fault Record Display When it is in Parameter Mode select P4 00 P4 04 and press the SET Key the corresponding fault record will be shown The 1st recent error The 2nd recen...

Page 126: ...peed value of JOG It is adjusted to 100r min in the example Unit rotary motor r min linear motor s m 10 3 3 Press the SET Key to display JOG and enter JOG mode 4 When it is in JOG Mode press UP or DOW...

Page 127: ...nction of force DO output Then set the force DO output by binary method via P4 06 When the setting value is 2 DO2 will be forced to enable When the setting value is 5 DO1 and DO3 will be forced to ena...

Page 128: ...DI 12 DI 11 DI 10 DI 9 DI 8 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 Corresponding DI status Binary code The panel displays in hexadecimal format Display in hexadecimal format 4 4 5 Digital Output Diagnosi...

Page 129: ...pearance The splicing parts of the wiring terminal should be isolated Make sure the wiring is correct so as to avoid the damage or any abnormity Check if the electric conductivity objects including sh...

Page 130: ...lease refer to Chapter 3 1 for wiring 2 The encoder cable of the motor has correctly connected If users only desire to execute JOG function it is unnecessary to connect CN1 and CN3 Please refer to Cha...

Page 131: ...coder is securely connected or the wiring is correct Corrective action Check if the wiring is the same as the instruction of the user manual Check the encoder connector Check if the wiring is loose En...

Page 132: ...positive limit PL as one of the digital input make sure no digital input is set to positive limit PL among DI1 DI8 That is to say none of the parameters P2 10 P2 17 is set to 23 If the signal of posi...

Page 133: ...nnecessary For safety reasons it is recommended to set JOG at low speed Please see the following descriptions STEP 1 Use software setting to Servo ON Set parameter P2 30 to 1 This setting is to force...

Page 134: ...DI function DI7 P2 16 0 Disabled Invalid DI function DI8 P2 17 0 Disabled Invalid DI function EDI9 P2 36 0 Disabled Invalid DI function CN7 2 EDI10 P2 37 0 Disabled Invalid DI function CN7 3 EDI11 P2...

Page 135: ...synchronous rotary motor is 30000 x 0 1r min 3000r min The setting value of permanent magnet synchronous linear motor 30000 x s m 10 6 0 03m s For example P1 09 30000 Setting value 30000 x 0 1r min 3...

Page 136: ...Chapter 5 Trial Operation and Tuning ASDA A2R Series 5 8 Revision December 2014 6 Step 3 4 and 5 can be repeatedly executed 7 If users desire to stop the motor switch OFF DI1 Servo OFF...

Page 137: ...P2 36 0 Disabled Invalid DI function CN7 2 EDI10 P2 37 0 Disabled Invalid DI function CN7 3 EDI11 P2 38 0 Disabled Invalid DI function CN7 4 EDI12 P2 39 0 Disabled Invalid DI function CN7 5 EDI13 P2 4...

Page 138: ...OS1 POS0 CTRG Corresponding Parameter P1 0 0 0 0 0 0 P6 00 P6 01 P2 0 0 0 0 0 1 P6 02 P6 03 P50 1 1 0 0 1 0 P6 98 P6 99 P51 1 1 0 0 1 1 P7 00 P7 01 P64 1 1 1 1 1 1 P7 26 P7 27 0 means DI is OFF 1 mean...

Page 139: ...ratio 12 The panel displays the current value of inertia ratio total weight of movable section and load kg default value 13 Press the MODE Key to select the mode of parameter function 14 Press the SH...

Page 140: ...eries 5 12 Revision December 2014 press the MODE Key and then press the SET Key twice Observe the panel display to see if the load inertia ratio total weight of movable section and load remain at the...

Page 141: ...Chapter 5 Trial Operation and Tuning ASDA A2R Series Revision December 2014 5 13 5 6 1 Flowchart of Tuning Procedure...

Page 142: ...Chapter 5 Trial Operation and Tuning ASDA A2R Series 5 14 Revision December 2014 5 6 2 Inertia Estimation Flowchart with Mechanism...

Page 143: ...de the bandwidth setting of speed circuit is 1 50Hz low stiffness low response 51 250Hz medium stiffness medium response 251 850Hz high stiffness high response 851 1000Hz extremely high stiffness extr...

Page 144: ...ise Continue to tune until the performance is satisfied Then tuning is completed P2 31 Response setting in auto mode The default value is 80 The bigger the value is the better the response will be In...

Page 145: ...forward and reverse direction should be higher than 200r min 2 The moving speed should 0 01m s 3 The load inertia should be under 100 times of motor inertia 3 The load inertia should be under 100 tim...

Page 146: ...Chapter 5 Trial Operation and Tuning ASDA A2R Series 5 18 Revision December 2014...

Page 147: ...the maximum 32dB and still cannot suppress the resonance please reduce the speed bandwidth After setting P2 47 users can check the value of P2 44 and P2 46 If the value of P2 44 is not 0 it means the...

Page 148: ...2014 5 6 6 Mechanical Resonance Suppression Method Three groups of Notch filter are provided to suppress mechanical resonance Two of them can be set to the auto resonance suppression and manual adjus...

Page 149: ...25 P2 26 P2 49 P2 31 Frequency response of speed loop setting in auto mode response level Continuous tuning update the inertia every 30 minutes Semi auto mode non continuous estimation 2 P1 37 P2 00...

Page 150: ...y of position loop And it will cause better following error smaller position error and shorter settling time Note If the value is set too big the machinery will vibrate or overshoot when positioning C...

Page 151: ...ise will be However if the value is set too big it would cause the unstability of speed loop and overshoot Calculation It is suggested to set the value as the following Anti interference gain DST para...

Page 152: ...Chapter 5 Trial Operation and Tuning ASDA A2R Series 5 24 Revision December 2014 This page is intentionally left blank...

Page 153: ...commands the motor to the target speed The speed command can be issued by register 3 sets of registers in total or the external analog voltage 10V 10V DI signal is used to select the command source S...

Page 154: ...e of PT and PR via DI signal Multi Mode PT PR S 0E Switch the mode of PT PR and S via DI signal PT PR T 0F Switch the mode of PT PR and T via DI signal Steps of switching mode 1 Servo Off the servo dr...

Page 155: ...wiring method 6 2 2 Position Command in PR Mode PR position command source of each axis is from the 64 set of register which constituted by parameters P6 00 P6 01 P7 26 P7 27 When going with the exter...

Page 156: ...f Position Mode The basic control structure is as the following diagram For a better control the pulse signal should be processed and modified through position command unit Structure is shown as the d...

Page 157: ...mand Inhibit Function INHP Use DI to select INHP Refer to P2 10 17 and table 8 1 INHP 45 before using this function If not this function will be unable to use When DI INHP is ON the pulse command will...

Page 158: ...tes but also smoothes the operation of mechanical structure When the load inertia increases the operation of the motor will be influenced by friction and inertia during the time of activation and stop...

Page 159: ...on December 2014 6 7 Related parameters Please refer to Chapter 8 for further information Parameter Abbr Function P1 34 TACC Acceleration Constant of S Curve P1 35 TDEC Deceleration Constant of S Curv...

Page 160: ...be used to improve the situation When electronic gear ratio is set to 1 the motor will turn one cycle for every 1280000PUU When electronic gear ratio is changed to 0 5 then every two pulses from the c...

Page 161: ...ASDA A2R Series Revision December 2014 6 9 6 2 6 Low pass Filter Related parameters Please refer to Chapter 8 for further information Parameter Abbr Function P1 08 PFLT Smooth Constant of Position Com...

Page 162: ...14 6 2 7 Timing Diagram in Position Mode PR In PR mode the position command is selected by either DI signal POS0 POS5 and CTRG of CN1 or communication Please refer to Section 6 2 2 for the information...

Page 163: ...andwidth cannot exceed the speed loop bandwidth It is suggested that 4 fv fp fv response bandwidth of speed loop Hz KPP 2 fp fp response bandwidth of position loop Hz For example the desired position...

Page 164: ...ches the frequency of low frequency vibration If P1 29 is set to 1 the system will disable the function of low frequency vibration suppression automatically and starts to search the vibration frequenc...

Page 165: ...cannot be diminished P1 25 or P1 27 can be manually set to suppress the vibration if the frequency Hz of the low frequency is identified Related parameters Please refer to Chapter 8 for further infor...

Page 166: ...of low frequency vibration close to the real vibration frequency Parameter P1 26 and P1 28 are used to set the response after filter The bigger the setting value of P1 26 and P1 28 is the better respo...

Page 167: ...can set all parameters and all auto or auxiliary function will be disabled in manual mode While in auto mode it provides the function of load inertia estimation and parameter adjustment In auto mode p...

Page 168: ...setting range x unit 0 1r min For example P1 09 30000 setting value 30000 x 0 1r min 3000r min The setting range of internal parameters for linear motor is between 15999999 and 15999999 Setting value...

Page 169: ...2014 6 17 The upper path is the command from register while the lower one is external analog command The command is selected according to the status of SPD0 SPD1 and P1 01 S or Sz Usually S curve and...

Page 170: ...sonance and noise Users can use acceleration constant of S curve TACC to adjust the slope changed by acceleration deceleration constant of S curve TDEC to adjust the slope changed by deceleration and...

Page 171: ...e as S curve filter in normal speed Also the speed curve and the acceleration curve are both continuous The above is the diagram of analog speed command filter The slope of speed command in accelerati...

Page 172: ...P1 40 VCM Maximum Speed of Analog Speed Command Set P1 40 to 2000 If the input voltage is 10V the speed command will be 2000r min 6 3 5 The Timing Diagram in Speed Mode NOTE 1 OFF means the contact p...

Page 173: ...ol unit are adjustable Two ways manual and auto are provided for selection Manual All parameters are set by users and the auto or auxiliary function will be disabled in this mode Auto General load ine...

Page 174: ...the low frequency stiffness of speed loop reduce the steady state error and sacrifice the phase margin The over high integral gain will cause the instability of the system Feed forward gain Diminish...

Page 175: ...Chapter 6 Control Mode of Operation ASDA A2R Series Revision December 2014 6 23 Frequency Domain...

Page 176: ...s to reduce the dynamic following error The bigger KVI value cause greater low frequency gain and shorten the time the steady state error returns to zero However the phase margin will dramatically dec...

Page 177: ...e the same performance in frequency domain and time domain Users can reduce the bandwidth by setting the low pass filter in command end Auto Mode Auto mode adopts adaptive principle The servo drive au...

Page 178: ...6 DPH3 Resonance Suppression Notch filter Attenuation Rate 3 There are two sets of auto resonance suppression one is P2 43 and P2 44 and another one is P2 45 and P2 46 When the resonance occurs set P2...

Page 179: ...ion P2 47 Function Table P2 47 Current Value P2 47 Desire Value Function 0 1 Clear the value of P2 43 P2 46 and enable the function of auto resonance suppression 0 2 Clear the value of P2 43 P2 46 and...

Page 180: ...Chapter 6 Control Mode of Operation ASDA A2R Series 6 28 Revision December 2014 Flowchart of Auto Resonance Suppression...

Page 181: ...uced 0dB BW If users know the resonance frequency notch filter parameter P2 23 and P2 24 can directly eliminate the resonance The frequency setting range of notch filter is merely from 50 to 1000Hz Th...

Page 182: ...s the problem of resonance frequency the response bandwidth and phase margin is reduced Also the system becomes unstable If users know the resonance frequency notch filter parameter P2 23 and P2 24 ca...

Page 183: ...deviation between T REF and GND 10 V 10V Tz N A Torque force command is 0 0 T2 0 1 Parameters P1 12 300 300 T3 1 0 P1 13 300 300 T4 1 1 P1 14 300 300 The status of TCM0 TCM1 0 means DI OFF and 1 means...

Page 184: ...ive and calculates the current for servo motor in time Since the current control unit is very complicated and is not relevant to the application There is no need to adjust parameters Only command end...

Page 185: ...log Command The motor torque command is controlled by the analog voltage deviation between T_REF and GND and goes with parameter P1 41 to adjust the torque slope and its range Related parameter Please...

Page 186: ...ontact point is open while ON means the contact point is close 2 When it is in Tz mode the torque force command T1 0 When it is in T mode the torque force command T1 is the external analog voltage inp...

Page 187: ...S and T can be switched via DI signal S_T PT PR 0D PT and PR can be switched via DI signal PT_PR Multi Mode PT PR S 0E PT PR and S can be switched via DI signal S_P and PT_PR PT PR T 0F PT PR and T c...

Page 188: ...or stops The position command is determined by POS0 POS5 and triggered by rising edge of CTRG When S P is ON it goes back to speed mode again Please refer to the introduction of single mode for DI sig...

Page 189: ...witch of torque force position mode is controlled by T P signal and the switch of PR T mode is controlled by DI signal which is more complicated The timing diagram is shown as below In torque force mo...

Page 190: ...s enabled See the timing diagram as below 6 6 2 The Use of Torque force Limit The issuing method of torque force limit command and torque force command is the same The command source could be external...

Page 191: ...erve the voltage signal of channel 1 if the monitor output voltage is 8 V per 2 25 M then the setting value of P1 04 should be changed to 50 2 25 M max input frequency Other related setting includes P...

Page 192: ...te the brake the brake has to be activated before the motor stops running Servo OFF The brake has to be released after Servo ON Otherwise it would become the loading of the motor and might damage the...

Page 193: ...ower to the brake and enables the brake 3 Please note that there is no polarity in coil brake 4 Do not use brake power and control power VDD at the same time Timing diagram of control power and main p...

Page 194: ...Chapter 6 Control Mode of Operation ASDA A2R Series 6 42 Revision December 2014 This page is intentionally left blank...

Page 195: ...displays PX XX Pressing the SET Key to display parameters and start setting Please refer to Chapter 4 for Panel Display and Operation Set P0 02 to Monitor variables code and enter into Monitor Mode Th...

Page 196: ...on Control ASDA A2R Series 7 2 Revision December 2014 Note In Monitor Mode pressing UP DOWN Key on the panel to switch the commonly used monitor variables code 0 26 however it cannot display all about...

Page 197: ...bles to the system parameters and view the variables via parameters Panel Display 1 Switch to the Monitor Mode by pressing the MODE Key and select the desired monitoring variables via UP DOWN Key 2 Di...

Page 198: ...unit PT mode it represents the pulse number the servo drive received PR mode the value of absolute coordinate from position command Equals to the pulse number sent by the controller 002 02h Position d...

Page 199: ...times Linear motor Total weight of linear motor and load Unit 0 1kg 016 10h IGBT temperature B The temperature of IGBT The unit is 017 11h Resonance frequency B Dec Resonance frequency of the system...

Page 200: ...g The Data captured by CAP hardware from the latest time Note CAP could continuously capture many points 048 30h Auxiliary encoder CNT The value of pulse counter from auxiliary encoder CN5 049 31h Pul...

Page 201: ...PR mode the accumulative output of position command 067 43h PR target speed The target speed of path command in PR mode The unit is PPS Pulse Per Second 068 44h S curve filter input The input command...

Page 202: ...array The unit is DWORD 32 Bits 111 6Fh Error code of the servo drive Error code of the servo drive only for the control loop not including the motion controller 112 70h CANopen SYNC TS hasn t been t...

Page 203: ...is a must and the data should be saved in EEPROM of the servo drive Save the data when it is Servo Off The data will be loaded into data array automatically when it is Servo On Accessing Window Shoul...

Page 204: ...P5 11 will increase 1 automatically The last step is to read address 11 12 and 13 and check if the content is the value that just wrote into B Read via panel Use P5 13 reading writing window 2 so as t...

Page 205: ...ing communication command is as the following Content of Communication Command Set the Reading Address of Data Array No Command Start Add Written Data 4 0x06 P5 11 11 Then read the content of specifie...

Page 206: ...n Its command source could be the above mentioned axis 1 4 which can write the new value into it and has an offset from the physical axis R W Functional Axis 6 Master Axis P5 86 It is the master axis...

Page 207: ...et Motion speed x 8 sets Delay time x 8 sets Absolute incremental can be set individually Acceleration Deceleration time x 16 sets Motion speed x 16 sets Delay time x 16 sets Command Triggering Time I...

Page 208: ...ands P pulse per revolution PUU rev the gear ratio should set as GEAR_NUM P1 44 GEAR_DEN P1 45 X P X encoder resolution pulse rev Linear motor if 1PUU P m the gear ratio should set as GEAR_NUM P1 44 G...

Page 209: ...Cmd_O continuously output DO CMD_OK is unchangeable Cmd_E does not change Cmd_O stops according to the deceleration curve Cmd_E does not change Cmd_O position after stop DO CMD_OK is ON Homing Command...

Page 210: ...e when specifying the coordinate value corresponded by Z pulse is 100 and it is Cmd_O 300 after homing it means the deceleration distance is 300 100 200 PUU Since Cmd_E 100 Z s absolute coordinate if...

Page 211: ...s in half way When DI SHM is from OFF ON it starts homing Event trigger DI EV1 4 The change status of DI EV1 4 can be the triggered event Set the triggered procedure number from OFF ON by parameter P5...

Page 212: ...n time of auto protection P5 04 Homing mode P5 05 1st Speed setting of high speed homing P5 06 2nd Speed setting of low speed homing P5 07 PR command register P5 08 Forward software limit P5 09 Revers...

Page 213: ...ernal INS is invalid DLY 4 Index P5 40 P5 55 7 POSITION Positioning control TYPE 2 PR is completed and stopped TYPE 3 the next PR is executed automatically after the PR is completed 31 28 27 24 23 20...

Page 214: ...get procedure number FUNC_CODE Reserved DLY The delay time after jump 9 Special code TYPE 8 write the specified parameter 31 28 27 24 23 20 19 16 15 12 11 8 7 4 3 0 BIT DW0 0 S_D DLY DESTINATION OPT 8...

Page 215: ...e position of data array Para_Data the written constant Sys_Var monitor parameter code Refer to P0 02 for its setting When Rsvd is not 0 it will display AL213 When P_Grp exceeds the range it will disp...

Page 216: ...us one OVLP It is allowed to overlap the next PR When overlapping please set DLY to 0 OPT2 OPT2 Selection 27 26 25 24 BIT AUTO S_LOW AUTO Position reached and the next PR is loaded automatically S_LOW...

Page 217: ...the motor has to decelerate to stop The stop position will slightly exceed the origin After the positioning is completed users can determine and setup the motor position If not returning to the origin...

Page 218: ...n of speed position OVLP 1 INS 0 Overlap NO DLY PATH 2 is SPEED and does not support overlap OVLP 0 INS 1 Interrupt N A PATH 1 2 which could be the combination of speed position OVLP 1 7 10 2 Programm...

Page 219: ...s set DLY Path 2 has set INS DLY is effective to the internal interrupt It can be used to pre constitute complicated Profile 4 External interrupt Path 1 AUTO or SINGLE Regardless the setting of DLY Pa...

Page 220: ...achine Cam E Cam Structure Return to the original position after rotating a cycle It might not return to the original position after rotating a cycle The structure could be in spiral shape like mosqui...

Page 221: ...ommand will be issued only in Engaged status PR command is effective regardless to the E Cam status Except when E cam is engaging and the source of master axis is PR command PR command is 0 When E Cam...

Page 222: ...gaged To change this parameter will not influence the position of the slave It is because the moving distance of master axis remains Clutch the description is as follows Function It is used to determi...

Page 223: ...nters this status The E cam starts to operate with the master pulse Path Description Path 1 When the engaged condition is established P5 88 Z the status is Stop Pre engaged The lead pulse is determine...

Page 224: ...enter Engaged status immediately Symbol represents the direction of lead pulse Please note that the E cam will be unable to engage if setting the wrong direction If setting the wrong direction the va...

Page 225: ...s resolution is determined by the source Setting Method P5 83 M P5 84 P If the pulse number of master axis is P the E cam axis operates M cycle Then the setting of gear ratio is P5 83 M P5 84 P Cam th...

Page 226: ...ifferent it means after the E cam operating a cycle the slave axis does not return to the origin position Operation Description The slave axis is a virtual axis and the unit of slave position is PUU A...

Page 227: ...and the unit of slave position is PUU The pulse command is the encoder unit pulse The resolution is 1280000 pulse rev For one cycle of the chart the slave axis operates a cycle Setting Method P1 44 n...

Page 228: ...ble DI function which means the setting will be P2 16 0x0100 automatically Since the value is not written into EEPROM P2 16 will return to the default value after re power on Trigger method Edge trigg...

Page 229: ...CAP axis can be reset The first CAP value will be the value set by P5 76 And the value of the second CAP data will be the incremental value from the first data This method is called Relative Capture...

Page 230: ...e the function can work When using COMPARE in order to avoid DO error the system will force to disable DO function which means the setting will be P2 21 0x0100 automatically Since the value is not wri...

Page 231: ...procedure is completed the setting value of P5 59 X Bit0 will be cleared to 0 When comparing to the last point it can select if it returns to the first data for comparing This is called cycle mode Or...

Page 232: ...Chapter 7 Motion Control ASDA A2R Series 7 38 Revision December 2014 This page is intentionally left blank...

Page 233: ...e g P3 xx Group 4 Diagnosis Parameters e g P4 xx Group 5 Motion Setting Parameters e g P5 xx Group 6 PR Parameters e g P6 xx Group 7 PR Parameters e g P7 xx Group M Motor Parameters e g PM xx Control...

Page 234: ...11 CM3 Status Monitor Register 3 N A N A O O O O 4 3 5 P0 12 CM4 Status Monitor Register 4 N A N A O O O O 4 3 5 P0 13 CM5 Status Monitor Register 5 N A N A O O O O 4 3 5 P0 17 CM1A Status Monitor Re...

Page 235: ...0x0 N A O O O O 4 3 5 P0 39 MAP5A Target Setting of Mapping Parameter P0 29 0x0 N A O O O O 4 3 5 P0 40 MAP6A Target Setting of Mapping Parameter P0 30 0x0 N A O O O O 4 3 5 P0 41 MAP7A Target Setting...

Page 236: ...ction Compensation 0 O O O O P1 63 FRCT Friction Compensation 0 ms O O O O P1 68 PFLT2 Position Command Moving Filter 0 ms O O P1 75 FELP Low pass Filter Time Constant of Full closed Loop control 100...

Page 237: ...O O O O P2 06 KVI Speed Integral Compensation 100 rad s O O O O 6 3 6 P2 07 KVF Speed Feed Forward Gain 0 O O O O 6 3 6 P2 26 DST Anti interference Gain 0 0 001 O O O O P2 27 GCC Gain Switching and S...

Page 238: ...ll closed Loop Control 30000 pulse O O P1 74 FCON Full closed Loop Control of Linear Scale 000h O O P2 50 DCLR Pulse Clear Mode 0 N A O O External Pulse Command PT mode P1 00 PTT External Pulse Input...

Page 239: ...only 0 N A O P5 20 P5 35 AC0 AC15 Acceleration Deceleration Time 200 30 ms O 7 10 P5 40 P5 55 DLY0 DLY15 Delay Time after Position Completed 0 5500 ms O 7 10 P5 98 EVON Position Command of Event Risi...

Page 240: ...ion 1 pulse O O O O P1 55 MSPD Maximum Speed Limit rated r min rotary motor 3 10 m s linear motor O O O O P1 09 P1 11 SP1 3 Internal Speed Command 1 3 1000 3000 0 1r m in rotary motor 6 10 m s linear...

Page 241: ...r motor O O O O P1 09 P1 11 SP1 3 Internal Speed Limit 1 3 100 300 0 1r m in rotary motor 6 10 m s linear motor O O 6 6 1 P1 12 P1 14 TQ1 3 Internal Torque force Command 1 3 100 O O O O 6 4 1 P1 40 VC...

Page 242: ...ional Planning 0 N A O O O O Table 8 1 P2 39 EDI12 DI12 Functional Planning 0 N A O O O O Table 8 1 P2 40 EDI13 DI13 Functional Planning 0 N A O O O O Table 8 1 P2 41 EDI14 DI14 Functional Planning 0...

Page 243: ...Control Mode Related Section PT PR S T P3 00 ADR Address Setting 0x01 N A O O O O 9 2 P3 01 BRT Transmission Speed 0x3203 bps O O O O 9 2 P3 02 PTL Communication Protocol 6 N A O O O O 9 2 P3 03 FLT C...

Page 244: ...P4 11 SOF1 Analog Speed Input Offset Adjustment 1 Factory Setting N A O O O O P4 12 SOF2 Analog Speed Input Offset Adjustment 2 Factory Setting N A O O O O P4 13 TOF1 Analog Torque force Input Offset...

Page 245: ...tor Parameter 0 N A O O PM 02 Confirmation of Motor Parameter 0 N A O O PM 03 Encoder Type 0x0100 N A O O PM 04 Encoder Resolution 2500 Rotary motor Pulse rev square wave digital signal Periods rev Si...

Page 246: ...t Loop 0 0 001 O O PM 16 Integral Gain of Current Loop 0 N A O O PM 17 Reserved PM 18 Reserved PM 19 Overload Gain Temperature Rises 100 O O PM 20 Overload Gain Temperature Falls 100 O O PM 21 Cogging...

Page 247: ...ck EMF Constant 0 4 10 Volt rpm O PM 39 Reserved 0 N A O PM 40 Reserved 0 N A O PM 41 Reserved 0 N A O PM 42 Reserved 0 N A O PM 43 Reserved 0 N A O PM 44 Reserved 0 N A O PM 45 Linear Motor Pole Pitc...

Page 248: ...0002H 0003H Operational Interface Panel Software Communication Related Section 11 1 11 2 11 3 Default Control Mode ALL Unit Range 0x0000 0xFFFF It only can be set to 0 to clear the alarm Same as DI A...

Page 249: ...g for overload 024 Encoder initial magnetic field error The magnetic field of the encoder U V W signal is in error 025 The internal of the encoder is in error The internal memory of the encoder and th...

Page 250: ...g CANopen PDO 125 CANopen PDO mapping object is read only and write protected 126 CANopen PDO mapping object is not allowed in PDO 127 CANopen PDO mapping object is write protected when Servo ON 128 E...

Page 251: ...EPROM 273 The accessing address of EEPROM is out of range when using CANopen object 275 CRC of EEPROM calculation error occurs when using CANopen object 277 Enter the incorrect password when using CAN...

Page 252: ...quency of pulse command input Kpps 07 Motor speed Permanent magnet synchronous rotary motor r min Permanentmagnet synchronous linear motor m s 08 Speed command input Volt 09 Speed command input Perman...

Page 253: ...voltage is 3 6 V P0 03 MON Analog Output Monitor Address 0006H 0007H Operational Interface Panel Software Communication Related Section 6 6 4 Default 00 Control Mode ALL Unit Range 00 0x77 Data Size 1...

Page 254: ...dress 0008H 0009H P0 05 Reserved Address 000AH 000BH P0 06 Reserved Address 000CH 000DH P0 07 Reserved Address 000EH 000FH P0 08 TSON Power On Time Address 0010H 0011H Operational Interface Panel Soft...

Page 255: ...Hi word Low word Set P0 02 to 23 the panel displays VAR 1 first and then shows the content of P0 09 P0 10 CM2 Status Monitor Register 2 Address 0014H 0015H Operational Interface Panel Software Commun...

Page 256: ...Address 0018H 0019H Operational Interface Panel Software Communication Related Section 4 3 5 Default Control Mode ALL Unit Range Data Size 32bit Format DEC Settings The setting value which is set by...

Page 257: ...tatus Monitor Register 1 Selection Address 0022H 0023H Operational Interface Panel Software Communication Related Section Default 0 Control Mode Unit Range 0 127 Data Size 16bit Format DEC Settings Pl...

Page 258: ...t Format DEC Settings Please refer to Chapter 7 2 1 Description of Monitor Variable for the setting value P0 20 CM4A Status Monitor Register 4 Selection Address 0028H 0029H Operational Interface Panel...

Page 259: ...tware Communication Related Section 4 3 5 Default No need to initialize Control Mode ALL Unit Range determined by the corresponding parameter of P0 35 Data Size 32bit Format HEX Settings Users can rap...

Page 260: ...by the corresponding parameter of P0 37 Data Size 32bit Format HEX Settings The using method is the same as P0 25 The mapping target is set by parameter P0 37 P0 28 MAP4 Mapping Parameter 4 Address 00...

Page 261: ...ated Section 4 3 5 Default No need to initialize Control Mode ALL Unit Range determined by the corresponding parameter of P0 40 Data Size 32bit Format HEX Settings The using method is the same as P0 2...

Page 262: ...ameter of P0 42 Data Size 32bit Format HEX Settings The using method is the same as P0 25 The mapping target is set by parameter P0 42 P0 33 Reserved Address 0042H 0043H P0 34 Reserved Address 0044H 0...

Page 263: ...10 The setting format of PH PL is A The hexadecimal of parameter indexing B The hexadecimal of parameter group For example If the mapping target is P2 06 set P0 35 to 0206 If the mapping target is P5...

Page 264: ...ings P0 37 MAP3A Target Setting of Mapping Parameter P0 27 Address 004AH 004BH Operational Interface Panel Software Communication Related Section 4 3 5 Default 0x0 Control Mode ALL Unit Range determin...

Page 265: ...Software Communication Related Section 4 3 5 Default 0x0 Control Mode ALL Unit Range determined by the communication address of the parameter group Data Size 32bit Format HEX Settings P0 40 MAP6A Tar...

Page 266: ...group Data Size 32bit Format HEX Settings P0 42 MAP8A Target Setting of Mapping Parameter P0 32 Address 0054H 0055H Operational Interface Panel Software Communication Related Section 4 3 5 Default 0x...

Page 267: ...nitor Register Selection for PC software Address 005AH 005BH Operational Interface Panel Software Communication Related Section 4 3 5 Default 0x0 Control Mode ALL Unit Range 0 127 Data Size 16bit Form...

Page 268: ...ervo alarm Bit7 BRKR Brake control output Bit8 HOME Homing finished Bit9 OLW Early warning for overload Bit10 WARN When Servo warning CW CCW EMGS under voltage Communication error etc occurs DO is ON...

Page 269: ...etting reserved Filter Width If the received frequency is much higher than the setting it will be regarded as the noise and filtered out Setting Value Low speed filter frequency Min pulse width note1...

Page 270: ...high speed filter frequency is 3 33Mpps at the moment then If the user uses 2 4 MHz input pulse it is suggested to set the filter value to 4 Please note that the applicable version is DSP version 1 0...

Page 271: ...pulse input Logic Pulse Type Forward Reverse 0 Positive Logic Pulse Symbol Sign high Sign low Low speed pulse input Logic Pulse Type Forward Reverse 0 Positive Logic Pulse Symbol Sign low Sign high F...

Page 272: ...Voltage Specification Forward Current High speed pulse Differential Signal 4Mpps 5V 25mA Low speed pulse Differential Signal 500Kpps 2 8V 3 7V 25mA Open collector 200Kpps 24V Max 25mA The Source of E...

Page 273: ...S Speed Control Mode The command source is the external analog voltage and register It can be selected via DI SPD0 SPD1 T Torque force Control Mode The command source is the external analog voltage a...

Page 274: ...gital Input Digital Output DIO Setting 0 When switching mode DIO P2 10 P2 22 remains the original setting value and will not be changed 1 When switching mode DIO P2 10 P2 22 can be reset to the defaul...

Page 275: ...e limit setting P1 12 1 P1 13 2 P1 14 3 Tref TCM0 TCM1 0 Torque Limit Command When desiring to use torque limit function users could use parameter to set this value to 1 and limit the torque for good...

Page 276: ...fault 100 Control Mode ALL Unit full scale Range 0 100 Data Size 16bit Format DEC Settings Please refer to parameter P0 03 for the setting of analog output selection For example P0 03 0x00 MON1 is the...

Page 277: ...06 SFLT Analog Speed Command Low pass Filter Address 010CH 010DH Operational Interface Panel Software Communication Related Section 6 3 3 Default 0 Control Mode S Unit ms Range 0 1000 0 disable this...

Page 278: ...113H Operational Interface Panel Software Communication Related Section 6 3 1 Default 1000 Control Mode S T Unit Permanent magnet synchronous rotary motor 0 1rpm Permanent magnet synchronous linear mo...

Page 279: ...00 r min 1000 Permanent magnet synchronous linear motor Speed limit setting value of P1 09 Allowable Speed Range Forward Speed Limit Reverse Speed Limit 100000 0 1 0 1 m s 0 1 m s 0 1 m s 100000 P1 10...

Page 280: ...rotary motor Speed limit setting value of P1 10 Allowable Speed Range Forward Speed Limit Reverse Speed Limit 1000 100 100 r min 100 r min 100 r min 1000 Permanent magnet synchronous linear motor Spee...

Page 281: ...he third internal speed limit Example of inputting internal speed limit Permanent magnet synchronous rotary motor Speed limit setting of P1 11 Allowable Speed Range Forward Speed Limit Reverse Speed L...

Page 282: ...P1 12 Allowable Torque force Range Forward Torque force Limit Reverse Torque force Limit 30 30 30 30 30 30 P1 13 TQ2 Internal Torque Force Command 2 Internal Torque Force Limit 2 Address 011AH 011BH O...

Page 283: ...6 4 1 Default 100 Control Mode T P S Unit Range 300 300 Data Size 16bit Format DEC Example Internal Torque Force Command 30 30 Internal Torque Force Limit Positive value and negative value is the sam...

Page 284: ...00h 0x1F5F Data Size 16bit Format HEX Settings YX Threshold of correction Z Filter intensity U Filter is functioning read only YX When synchrounous axis captures the signal the system will calculate t...

Page 285: ...ed P1 16 CSOF Capture Synchronous Axis Offset Compensation Address 0120H 0121H Operational Interface Panel Software Communication Related Section Default 0 Control Mode PR Unit Pulse unit of Capture A...

Page 286: ...make the position error PUU close to 0 according to the compensation amount of command If the time delay is caused by other reasons users could setup the additional compensation time to compensate the...

Page 287: ...PARE Offset Data of CMP can reset to 0 automatically Address 0130H 0131H Operational Interface Panel Software Communication Related Section Default 0 Control Mode ALL Unit Pulse unit of compare source...

Page 288: ...w frequency filter Data Size 16bit Format DEC Settings The first low frequency vibration suppression gain The bigger value it is the better the position response will be However if the value is set to...

Page 289: ...lue to 1 P1 29 AVSM Auto Low frequency Vibration Supression Setting Address 013AH 013BH Operational Interface Panel Software Communication Related Section 6 2 9 Default 0 Control Mode PT PR Unit Range...

Page 290: ...ever it is easy to misjudge the noise or regard the other low frequency vibration as the suppression frequency If the value is bigger it will make more precise judgment However if the vibration of the...

Page 291: ...0142H 0143H P1 34 TACC Acceleration Constant of S Curve Address 0144H 0145H Operational Interface Panel Software Communication Related Section 6 3 3 Default 200 Control Mode S Unit ms Range 1 65500 D...

Page 292: ...celerates from the rated speed to 0 Deceleration Constant of Linear Motor The time that speed command decelerates from 5m s to 0 P1 34 P1 35 and P1 36 the deceleration time of speed command from the r...

Page 293: ...leration deceleration of trapezoid curve Version after V1 036 sub00 provides the compensation function of following error P1 36 0 P1 36 1 P1 36 1 Smoothing function of S curve Disable Disable Enable C...

Page 294: ...o to servo motor rotary motor J_load J_motor Among them J_motor Rotor inertia of the servo motor J_load Total equivalent of inertia of external mechanical load Total weight of movable section and load...

Page 295: ...Section Table 8 2 Default 3000 Control Mode ALL Unit Permanent magnet synchronous rotary motor rpm Permanent magnet synchronous linear motor 3 10 m s Range Permanent magnet synchronous rotary motor 0...

Page 296: ...t is 5V then the speed control command is 1500r min Permanent magnet synchronous linear motor If the setting is 3000 when the external voltage input is 10V it means the speed control command is 3m s I...

Page 297: ...x setting value 10 In speed PT and PR mode the analog torque force limit inputs the torque force limit setting of the max voltage 10V Torque force limit command input voltage value x setting value 10...

Page 298: ...cy the setting of P1 43 is equivalent to 0 if P1 43 is set to a negative value P1 44 GR1 Gear Ratio Numerator N1 Address 0158H 0159H Operational Interface Panel Software Communication Related Section...

Page 299: ...PT nor in PR mode P1 46 GR3 Pulse Number of Encoder Output Address 015CH 015DH Operational Interface Panel Software Communication Related Section Default 2500 Control Mode ALL Unit Pulse Range 20 5368...

Page 300: ...hen the deviation between speed command and motor feedback speed is smaller than this parameter then the digital output DO SP_OK DO code is 0x19 is ON Block diagram 1 Speed command It is the command i...

Page 301: ...ntrol Mode PR Unit Range 0x0000 0x0011 Data Size 16bit Format HEX Settings Control selection of digital output DO MC_OK DO code is 0x17 It will be available after firmware version V1 003 sub08 The for...

Page 302: ...error of the servo drive is smaller than P1 54 6 MC_OK remains the digital output status It is the same as 5 However once this DO is ON its status will be remained regardless signal 4 is OFF or not 7...

Page 303: ...Related Section 2 7 Default Determined by the model Please refer to the following table Control Mode ALL Unit Watt Range 0 15000 Data Size 16bit Format DEC Settings Model Default 1 5 kW included or be...

Page 304: ...the rated speed of each model Control Mode ALL Unit Permanent magnet synchronous rotary motor rpm Permanent magnet synchronous linear motor 3 10 m s Range 0 max speed Data Size 16bit Format DEC Setti...

Page 305: ...ve means to enable the function P1 58 CRSHT Motor Crash Protection Time Address 0174H 0175H Operational Interface Panel Software Communication Related Section Default 1 Control Mode ALL Unit ms Range...

Page 306: ...effect to command end Therefore it is suggested that if the speed loop receives the command from the controller for forming the position control loop then low pass filter can be used If it is only fo...

Page 307: ...ware Communication Related Section Default 0 Control Mode PT PR S Unit ms Range 0 1000 Data Size 16bit Format DEC Settings Setup smoothing constant of friction compensation P1 64 Reserved Address 0180...

Page 308: ...t voltage value x Setting value 10 NOTE It will be available after firmware version v1 031 sub8 P1 67 Reserved Address 0186H 0187H P1 68 PFLT2 Position Command Moving Filter Address 0188H 0189H Operat...

Page 309: ...closed Loop Control Address 0192H 0193H Operational Interface Panel Software Communication Related Section P2 34 Default 30000 Control Mode PT PR Unit Pulse based on the feedback of full closed loop...

Page 310: ...ale is the output source Firmware version DSP V1 016 CPLD 0 07 or the later version will provide 2 Pulse command of CN1 is the output source Positive negative direction selection of linear scale feedb...

Page 311: ...ness of mechanical system the setting value of P1 75 The stiffness of mechanical system the setting value of P1 75 P1 76 AMSPD Maximum Rotation of Encoder Output Setting OA OB Address 0198H 0199H Oper...

Page 312: ...tional Interface Panel Software Communication Related Section P1 40 Default Motor rated speed Control Mode S T Unit rpm 10V Range 0 50000 Data Size 32bit Format DEC Settings Please refer to the descri...

Page 313: ...ced and the position error can be reduced If the value is set too big it may easily cause vibration and noise P2 01 PPR Switching Rate of Position Loop Gain Address 0202H 0203H Operational Interface P...

Page 314: ...ated Section Default 5 Control Mode PT PR Unit ms Range 2 100 Data Size 16bit Format DEC Settings If the position command is changed smoothly decreasing the value can reduce the position error If the...

Page 315: ...ed Integral Compensation Address 020CH 020DH Operational Interface Panel Software Communication Related Section 6 3 6 Default 100 Control Mode ALL Unit rad s Range 0 1023 Data Size 16bit Format DEC Se...

Page 316: ...ce Panel Software Communication Related Section Default 0 Control Mode ALL Unit Range 0 65535 Data Size 16bit Format DEC Settings Special parameter write in Parameter code Function 10 Reset the parame...

Page 317: ...Size 16bit Format HEX Settings Input function selection Please refer to table 8 1 Input contact a or b contact 0 Set the input contact as normally closed b contact 1 Set the input contact as normally...

Page 318: ...oftware Communication Related Section Table 8 1 Default 116 Control Mode ALL Unit Range 0 0x015F the last two codes are DI code Data Size 16bit Format HEX Settings Please refer to the description of P...

Page 319: ...escription of P2 10 P2 15 DI6 DI6 Functional Planning Address 021EH 021FH Operational Interface Panel Software Communication Related Section Table 8 1 Default 22 Control Mode ALL Unit Range 0 0x015F t...

Page 320: ...Default 21 Control Mode ALL Unit Range 0 0x015F the last two codes are DI code Data Size 16bit Format HEX Settings Please refer to the description of P2 10 P2 18 DO1 DO1 Functional Planning Address 0...

Page 321: ...rk normally P2 19 DO2 DO2 Functional Planning Address 0226H 0227H Operational Interface Panel Software Communication Related Section Table 8 2 Default 103 Control Mode ALL Unit Range 0 0x013F the last...

Page 322: ...to the description of P2 18 P2 22 DO5 DO5 Functional Planning Address 022CH 022DH Operational Interface Panel Software Communication Related Section Table 8 2 Default 7 Control Mode ALL Unit Range 0...

Page 323: ...Notch filter Data Size 16bit Format DEC Settings The first resonance suppression notch filter attenuation rate When this parameter is set to 0 the function of Notch filter is disabled P2 25 NLP Low pa...

Page 324: ...loop It is suggested to set P2 26 equals to the value of P2 06 If users desire to adjust P2 26 please follow the rules below 1 In speed mode incrase the value of this parameter can reduce speed oversh...

Page 325: ...equency of position command is smaller than the value of P2 29 8 When the speed of servo motor is slower than the value of P2 29 Gain switching method 0 Gain switching 1 Integrator switching P PI Sett...

Page 326: ...0000 Control Mode ALL Unit Pulse Kpps r min Range 0 3840000 Data Size 32bit Format DEC Settings The setting of gain switching Pulse error Kpps r min is determined by the selection of gain switching P2...

Page 327: ...via scope software However the motor will not operate The aim is to examine the command accuracy 7 It will be available after firmware version V1 013 High speed oscilloscope disable Time Out function...

Page 328: ...ault 0 Control Mode ALL Unit Range 0 0x2 Data Size 16bit Format HEX Settings 0 Manual Mode 1 Auto Mode continuous adjustment 2 Semi auto Mode non continuous adjustment Relevant description of manual m...

Page 329: ...uto mode setting 1 When the system inertia is stable the value of P2 33 will be 1 and the system stops estimating The inertia value will be saved to P1 37 automatically When switching mode to semi aut...

Page 330: ...34 SDEV The Condition of Overspeed Warning Address 0244H 0245H Operational Interface Panel Software Communication Related Section Default 5000 Control Mode S Unit Permanent magnet synchronous rotary m...

Page 331: ...last two codes are EDI code Data Size 16bit Format HEX Settings Input function selection Please refer to table 8 1 Input contact a or b contact 0 Set the input contact as normally closed b contact 1...

Page 332: ...re Communication Related Section Table 8 1 Default 0 Control Mode ALL Unit Range 0 0x015F the last two codes are EDI code Data Size 16bit Format HEX Settings Please refer to the description of P2 36 P...

Page 333: ...the description of P2 36 P2 41 EDI14 Extended EDI14 Functional Planning Address 0252H 0253H Operational Interface Panel Software Communication Related Section Table 8 1 Default Control Mode ALL Unit...

Page 334: ...ALL Unit dB Range 0 32 0 disable Notch filter Data Size 16bit Format DEC Settings The second resonance suppression notch filter attenuation rate When this parameter is set to 0 the function of Notch f...

Page 335: ...Default 1 Control Mode ALL Unit Range 0 2 Data Size 16bit Format DEC Settings 0 The value of P2 43 P2 44 and P2 45 P2 46 will retain 1 The value of P2 43 P2 44 and P2 45 P2 46 will retain after resona...

Page 336: ...fault 100 Control Mode ALL Unit Range 1 300 Data Size 16bit Format DEC Settings The smaller the setting value is the more sensitive the resonance wil be P2 48 resonance sensitiveness P2 48 resonance s...

Page 337: ...0 02 2100 03 2000 04 1800 05 1600 06 1500 07 1400 08 1300 09 1200 0A 1100 0B 1000 0C 950 0D 900 0E 850 0F 800 10 750 11 700 12 650 13 600 14 550 15 500 16 450 17 400 18 350 19 300 1A 250 1B 200 1C 175...

Page 338: ...LR is level P2 51 Reserved Address 0266H 0267H P2 52 Reserved Address 0268H 0269H P2 53 KPI Position Integral Compensation Address 026AH 026BH Operational Interface Panel Software Communication Relate...

Page 339: ...asing integral compensation to synchronous speed two motors speed following can be enhanced and the speed error between two motors can be reduced However if the value is set too big it may easily caus...

Page 340: ...sing the bandwidth of speed loop and synchronous control pay special attention to the response of P2 25 which should be faster than the setting of the both bandwidth P2 58 SVL Low pass Filter of Synch...

Page 341: ...ratio can be selected via DI GNUM0 and DI GNUM1 Please refer to table 8 1 If DI GNUM0 and DI GNUM1 are not set P1 44 will automatically be the numerator of electronic gear ratio Please switch GNUM0 a...

Page 342: ...Default 128 Control Mode PT Unit pulse Range 1 229 1 Data Size 32bit Format DEC Settings Please refer to the description of P2 60 P2 63 Reserved Address 027EH 027FH P2 64 Reserved Address 0280H 0281H...

Page 343: ...wiring error protection Bit8 Bit8 1 Enable U V W wiring error protection Bit9 U W W wiring cut off detection Bit9 Bit9 1 Enable U W W wiring cut off detection Bit 10 DI ZCLAMP function selection Bit1...

Page 344: ...s enabled The motor will be locked at the position where ZCALMP conditions are established Bit10 1 The command source is analog spped command ZCLAMP function will use the analog speed command without...

Page 345: ...he servo PL pulse input will be accepted In PT mode if PL exists the external PL pulse will be inhibited to input to the servo NL pulse will be accepted Please note In PT mode if NL and PL both exist...

Page 346: ...of low voltage error the error will be cleared automatically B3 Reserved B4 Cancel the detection of AL 044 0 AL 044 will occur 1 AL 044 will be ignored B5 Enable disconnection detection of linear sca...

Page 347: ...completed P2 68 TEP Switch of Following Error Compensation Address 0288H 0289H Operational Interface Panel Software Communication Related Section Default 0 Control Mode ALL Unit Range 0000h 0x0001 Dat...

Page 348: ...029AH 029BH P2 78 Reserved Address 029CH 029DH P2 79 Reserved Address 029EH 029FH P2 80 Reserved Address 02A0H 02A1H P2 81 LPUS Swtich of Pulse Loss Detection Address 02A2H 02A3H Operational Interfac...

Page 349: ...vailable only when motor travels through Z phase signal P2 83 Level Checked via Z Address 02A6H 02A7H Operational Interface Panel Software Communication Related Section Default 2000 Control Mode ALL U...

Page 350: ...timated gain If motor resolution is lower and operates at low speed it will cause noise If this function is enabled and the motor speed is slower than 25 rpm then the value of the estimated gain will...

Page 351: ...e servo drive can only set one address The duplicate address setting will cause abnormal communication This address represents the absolute address of the servo drive in communication network It is al...

Page 352: ...s 3 750 Kbit s 4 1 0 Mbit s NOTE 1 If this parameter is set via CAN only Z can be set and the others remain 2 The communication speed of USB is 1 0 Mbit s only and is unchangeable P3 02 PTL Communica...

Page 353: ...Data Size 16bit Format HEX Settings The definition of the setting value is as the following 0 Warning and keeps running 1 Warning and stops deceleration The deceleration time is set to parameter P5 03...

Page 354: ...Input DI Address 030CH 030DH Operational Interface Panel Software Communication Related Section 9 2 Default 0 Control Mode ALL Unit Range 0x0000 0x3FFF Data Size 16bit Format HEX Settings The source...

Page 355: ...ata Size 16bit Format DEC Settings Delay the time of communication response from servo drive to controller P3 08 MNS Monitor Mode Address 0310H 0311H Operational Interface Panel Software Communication...

Page 356: ...6 bit x 4 If L is set to 0 this function is disabled L is enabled when H is set to 1 P3 09 SYC CANopen Synchronize Setting Address 0312H 0313H Operational Interface Panel Software Communication Relate...

Page 357: ...from the target value Thus the buffer is necessary Target value 400 10 x T For instance if T 5 the target value will be 450 E If the deviation between SYNC reaching time and the target value is smalle...

Page 358: ...ALM number High word hYYYY display the error code corresponds to CANopen P4 01 ASH2 Fault Record N 1 Address 0402H 0403H Operational Interface Panel Software Communication Related Section 4 4 1 Defau...

Page 359: ...3 Address 0406H 0407H Operational Interface Panel Software Communication Related Section 4 4 1 Default 0 Control Mode ALL Unit Range Data Size 32bit Format HEX Settings The last fourth abnormal status...

Page 360: ...Three control methods are as follows 1 Operation Test After the JOG speed is set by P4 05 via panel the panel will display the symbol of JOG Pressing the UP Key can control JOG operation in positive d...

Page 361: ...code 0x35 bit 06 correspond to DO code 0x36 bit 07 correspond to DO code 0x37 bit 08 correspond to DO code 0x38 bit 09 correspond to DO code 0x39 bit 10 correspond to DO code 0x3A bit 11 correspond to...

Page 362: ...ing P4 07 is 0x0011 which means DI1 and DI5 is ON after combination The value of writing P4 07 is 0x0011 which means software SDI1 and SDI5 is ON Please refer to P2 10 P2 17 for the function programe...

Page 363: ...Section Default 0 Control Mode ALL Unit Range 0 6 Data Size 16bit Format DEC Settings 0 reserved 1 Exectue the adjustment of analog speed input offset 2 Exectue the adjustment of analog torque input o...

Page 364: ...djustment This parameter cannot be reset P4 12 SOF2 Analog Speed Input Offset Adjustment 2 Address 0418H 0419H Operational Interface Panel Software Communication Related Section Default Factory defaul...

Page 365: ...Unit Range 0 32767 Data Size 16bit Format DEC Settings Manually adjust the hardware offset The adjustment function needs to be enabled by the setting of parameter P2 08 It is not suggested to adjust...

Page 366: ...ustment This parameter cannot be reset P4 17 COF3 Current Detector W1 Phase Offset Adjustment Address 0422H 0423H Operational Interface Panel Software Communication Related Section Default Factory def...

Page 367: ...etection Level cannot reset Address 0426H 0427H Operational Interface Panel Software Communication Related Section Default Factory default Control Mode ALL Unit Range 1 4 Data Size 16bit Format DEC Se...

Page 368: ...EC Settings Offset adjustment value cannot reset P4 22 SAO Analog Speed Input OFFSET Address 042CH 042DH Operational Interface Panel Software Communication Related Section Default 0 Control Mode S Uni...

Page 369: ...OFFSET P4 24 LVL Level of Undervoltage Error Address 0430H 0431H Operational Interface Panel Software Communication Related Section Default 160 Control Mode ALL Unit V rms Range 140 190 Data Size 16bi...

Page 370: ...rmat HEX Settings The parameter setting is divided into D C B A W Z Y X hexadecimal including 1 The deceleration time when activating the auto protection function OVF CTO communication timeout AL020 S...

Page 371: ...SDA A2R Series Revision December 2014 8 139 Range 0 0x128 Data Size 16bit Format HEX Settings The definition of the setting value is as the followings X Homing method Y Z pulse setting Z Limit setting...

Page 372: ...ows error Z 1 rotates backwards X 2 Homing in forward direction ORGP OFF ON as the homing origin X 3 Homing in reverse direction ORGP OFF ON as the homing origin X 4 Look for Z pulse in forward direct...

Page 373: ...otor 0 1rpm Permanet magnet synchronous linear motor 6 10 m s Range Permanet magnet synchronous rotary motor 0 1 2000 0 Permanet magnet synchronous linear motor 1 15999999 Permanet magnet synchronous...

Page 374: ...0 1 2000 0 Permanent magnet synchronous linear motor 1 15999999 Permanent magnet synchronous rotary motor 1 20000 Permanent magnet synchronous linear motor 1 15999999 Data Size 32bit Format DEC Examp...

Page 375: ...the current command 20000 When PR is triggered by DI the reading value is the same For example Set P5 07 to 3 PR 3 will be triggered If the reading value is 3 it means PR 3 is incompleted If the read...

Page 376: ...s command position exceeds the setting value of P5 09 it will trigger AL 285 P5 10 AYSZ Data Array Data Size Address 0514H 0515H Operational Interface Panel Software Communication Related Section 7 2...

Page 377: ...32bit Format DEC Settings Window 1 Array P5 11 When reading the parameter via panel the value set by P5 11 will not add 1 but the others will P5 13 AYD1 Data Array Window 2 for Reading Writing Addres...

Page 378: ...are reserved Users can continuously write the new position into the drive through communication by P5 05 P5 16 AXEN Axis Position Motor Encoder Address 0520H 0521H Operational Interface Panel Software...

Page 379: ...ry encoder linear scale P5 18 AXPC Axis Position Pulse Command Address 0524H 0525H Operational Interface Panel Software Communication Related Section 7 3 Default Control Mode ALL Unit Pulse number Ran...

Page 380: ...ter can be set anytime but will be effective only when pre engaged engaged P5 20 AC0 Acceleration Deceleration Time Number 0 Address 0528H 0529H Operational Interface Panel Software Communication Rela...

Page 381: ...unication Related Section 7 10 Default 500 Control Mode PR Unit ms Range 1 65500 Data Size 16bit Format DEC Settings Please refer to P5 20 for the setting of acceleration deceleration time in PR mode...

Page 382: ...deceleration time in PR mode P5 25 AC5 Acceleration Deceleration Time Number 5 Address 0532H 0533H Operational Interface Panel Software Communication Related Section 7 10 Default 900 Control Mode PR U...

Page 383: ...at DEC Settings Please refer to P5 20 for the setting of acceleration deceleration time in PR mode P5 28 AC8 Acceleration Deceleration Time Number 8 Address 0538H 0539H Operational Interface Panel Sof...

Page 384: ...ommunication Related Section 7 10 Default 2500 Control Mode PR Unit ms Range 1 65500 Data Size 16bit Format DEC Settings Please refer to P5 20 for the setting of acceleration deceleration time in PR m...

Page 385: ...deceleration time in PR mode P5 33 AC13 Acceleration Deceleration Time Number 13 Address 0542H 0543H Operational Interface Panel Software Communication Related Section 7 10 Default 8000 Control Mode P...

Page 386: ...it ms Range 1 65500 Data Size 16bit Format DEC Settings The default value of this parameter is smaller short deceleration time and it is used for short deceleration time and stops promptly of auto pro...

Page 387: ...edback position of the motor monitor variable 00h P5 38 CANO CAPTURE The Number of Capturing Times Address 054CH 054DH Operational Interface Panel Software Communication Related Section 7 11 1 Default...

Page 388: ...the source 2 PULSE Cmd 3 Main ENC main encoder When the source of CMP is CAP axis the source Y of CAP cannot be changed Z 0 NO 1 NC U trigger the minimum interval Unit ms bit 3 2 1 0 X function Execu...

Page 389: ...ata the current position of CAP axis will be set to the value of P5 76 bit 2 If this bit is 1 when capturing the first data CMP will be activated When bit 0 of P5 59 is set to 1 and P5 58 is set to th...

Page 390: ...Data Size 16bit Format DEC Settings The 3rd Delay Time of PR mode P5 43 DLY3 Delay Time After Position Completed Number 3 Address 0556H 0557H Operational Interface Panel Software Communication Related...

Page 391: ...erface Panel Software Communication Related Section 7 10 Default 800 Control Mode PR Unit ms Range 0 32767 Data Size 16bit Format DEC Settings The 6th Delay Time of PR mode P5 46 DLY6 Delay Time After...

Page 392: ...lay Time of PR mode P5 48 DLY8 Delay Time After Position Completed Number 8 Address 0560H 0561H Operational Interface Panel Software Communication Related Section 7 10 Default 2000 Control Mode PR Uni...

Page 393: ...Format DEC Settings The 11th Delay Time of PR mode P5 51 DLY11 Delay Time After Position Completed Number 11 Address 0566H 0567H Operational Interface Panel Software Communication Related Section 7 1...

Page 394: ...e 0 32767 Data Size 16bit Format DEC Settings The 14th Delay Time of PR mode P5 54 DLY14 Delay Time After Position Completed Number 14 Address 056CH 056DH Operational Interface Panel Software Communic...

Page 395: ...The value of P5 10 minus 1 Data Size 16bit Format DEC Settings The first COMPARE data is saved in the address of data array NOTE It is writable only when COMPARE stops please refer to P5 59 P5 57 CMA...

Page 396: ...58 CMNO COMPARE Compare Amount Address 0574H 0575H Operational Interface Panel Software Communication Related Section 7 11 2 Default 1 Control Mode ALL Unit Range 1 the value set by P5 10 minus the va...

Page 397: ...set by CAP It is provided in V1 038 sub19 or the later version When this bit is set PR 45 will be triggered after the last compare is completed It is provided in V1 038 sub09 or the later version CBA...

Page 398: ...0 of P5 39 to 1 and reset P5 38 to the previous value If CAP has already been activated this function is invalid bit 3 If this bit is 1 set the counter P5 57 to 0 after comparing the last data For ex...

Page 399: ...et magnet synchronous linear motor 1000 0 0 01m s Permanet magnet synchronous rotary motor 10 1r min Permanet magnet synchronous linear motor 10000 0 01m s Settings The 2nd target speed of PR mode P5...

Page 400: ...Unit Permanet magnet synchronous rotary motor 1rpm Permanet magnet synchronous linear motor 6 10 m s Permanet magnet synchronous rotary motor 0 1rpm Permanet magnet synchronous linear motor 6 10 m s...

Page 401: ...t magnet synchronous rotary motor 1 60000 Permanet magnet synchronous linear motor 1 15999999 Data Size 32bit Format DEC Example Permanet magnet synchronous rotary motor 1 1 r min Permanet magnet sync...

Page 402: ...net synchronous linear motor 10000 0 01m s Settings The 6th target speed of PR mode P5 66 POV6 Target Speed Setting 6 Address 0584H 0585H Operational Interface Panel Software Communication Related Sec...

Page 403: ...linear motor 6 10 m s Permanet magnet synchronous rotary motor 0 1rpm Permanet magnet synchronous linear motor 6 10 m s Range Permanet magnet synchronous rotary motor 0 1 6000 0 Permanet magnet synch...

Page 404: ...t magnet synchronous linear motor 1000 0 0 01m s Permanet magnet synchronous rotary motor 10 1r min Permanet magnet synchronous linear motor 10000 0 01m s Settings The 9th target speed of PR mode P5 6...

Page 405: ...PR Unit Permanet magnet synchronous rotary motor 1rpm Permanet magnet synchronous linear motor 6 10 m s Permanet magnet synchronous rotary motor 0 1rpm Permanet magnet synchronous linear motor 6 10 m...

Page 406: ...t magnet synchronous rotary motor 1 60000 Permanet magnet synchronous linear motor 1 15999999 Data Size 32bit Format DEC Example Permanet magnet synchronous rotary motor 1 1 r min Permanet magnet sync...

Page 407: ...ting 13 Address 0592H 0593H Operational Interface Panel Software Communication Related Section 7 10 Default 2300 0 23000 Control Mode PR Unit Permanet magnet synchronous rotary motor 1rpm Permanet mag...

Page 408: ...s Range Permanet magnet synchronous rotary motor 0 1 6000 0 Permanet magnet synchronous linear motor 1 15999999 Permanet magnet synchronous rotary motor 1 60000 Permanet magnet synchronous linear mot...

Page 409: ...Example Permanet magnet synchronous rotary motor 1 1 r min Permanet magnet synchronous linear motor 1000 0 0 01m s Permanet magnet synchronous rotary motor 10 1r min Permanet magnet synchronous linear...

Page 410: ...he Interval Pulse Number between Each Synchronous Capture Axis Address 059CH 059DH Operational Interface Panel Software Communication Related Section Default 100 Control Mode ALL Unit Pulse Range 10 1...

Page 411: ...of flying shear modify this parameter can deviate the cutting position to the left right P5 80 CSDS Max Correction Rate of Synchronous Capture Axis Address 05A0H 05A1H Operational Interface Panel Soft...

Page 412: ...effective only when pre engaged engaged P5 82 ECMN E CAM Area Number N at least 5 Address 05A4H 05A5H Operational Interface Panel Software Communication Related Section 7 11 Default 5 Control Mode PR...

Page 413: ...Panel Software Communication Related Section 7 11 Default 3600 Control Mode PR Unit Range 10 1073741823 and P5 82 x P5 83 P5 84 and P5 82 x P5 84 2147483647 Data Size 32bit Format DEC Settings When re...

Page 414: ...e position counter of the E Cam Master NOTE This parameter can be wrote when E Cam stops Please refer toP5 88 X 0 P5 87 PLED E CAM Lead Pulse Address 05AEH 05AFH Operational Interface Panel Software C...

Page 415: ...arded as the lead pulse If the symbol of this parameter is it means the received reverse pulse is regarded as the lead pulse P5 88 ECON E CAM Activate E Cam Control Address 05B0H 05B1H Operation al In...

Page 416: ...o OFF It is available after 1 038 sub29 0 E Cam does not work 1 When E Cam stops because of alarm or Servo Off it can keep in engaged status When re servo on E cam can operate directly It can return t...

Page 417: ...xis exceeds the setting value of P5 89 Sign indicates the direction Back to the pre engage status The lead pulse is P5 92 8 When U 1 2 or 6 Disable E Cam after it is disengaged Set X to 0 When U 4 To...

Page 418: ...a Size 16bit Format DEC Settings When E cam is engaged set the start angle of DO output DO CAM_AREA P5 91 CMAN E CAM AREA No The Point of DO OFF Address 05B6H 05B7H Operational Interface Panel Softwar...

Page 419: ...it means the received positive pulse will be regarded as the lead pulse If the symbol of this parameter is it means the received negative pulse will be regarded as the lead pulse P5 93 CSDS Motion Con...

Page 420: ...2 Address 05BEH 05BFH Operational Interface Panel Software Communication Related Section Default 0 Control Mode ALL Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Before issuing...

Page 421: ...Address 05C2H 05C3H Operational Interface Panel Software Communication Related Section Default 100 Control Mode ALL Unit Pulse Range 0 0x0999 Data Size 16 bit Format HEX Settings Write in It is used...

Page 422: ...ng them For success setting the setting of P5 95 must equal to P5 96 and the password must be set within the allowable range This function can be executed before activating the function of parameter p...

Page 423: ...Ennn will be sent back nnn means the rest decode number It will be minused one number after one failure When the number is 0 it will be locked for good Failure code F041h Protection function is unloc...

Page 424: ...lated to E Cam table calculation Please correctly setup those parameters before executing this macro After this macro is executed if the above parameters has been changed it has to recreate the E Cam...

Page 425: ...aiting area 1 170 degrees W 1 is available in firmware version V1 038 sub29 or the later version P5 94 Y degree of synchronous area 0 330 degrees P5 95 H16 high 16 bit A x C P5 95 L16 low 16 bit B Amo...

Page 426: ...d setup parameters according to the real application Please refer to Chapter 7 sections about After executing this macro E Cam table will not be saved to EEPROM automatically Failure code F071h When c...

Page 427: ...er one E Cam cycle so as to make sure the E Cam can return to the original position without accumulative error In application two ways can change the setting of E Cam curve scaling 1 P5 88 X2 1 When E...

Page 428: ...ion it is recommended to record the disengaged position X and resume the operation by this macro command Please note that when E Cam is disengaged the servo position might slightly shift and therefore...

Page 429: ...rror between the actual position and E Cam position After re servo On this macro command can be used to calculate the correction value and write the value into the specified PR for incremental positio...

Page 430: ...93 YX PR number exceeds the range 1 0x3F Failure code F0D3h The value of P5 95 available forward rate exceeds the range 0 100 Failure code F0D5h The position correction value does not exist This macr...

Page 431: ...nical referral point sensor can be used to trigger DI EVx to execute this macro command After E Cam alignment is completed the engaged position will move to the new position The excess or not enough m...

Page 432: ...m has to engage to execute alignment correction Failure code F0E2h The setting value of P5 93 YX PR number exceeds the range 0 0x3F Failure code F0E3h The setting value of P5 93 UZ Max alignment corre...

Page 433: ...number of master axis 0 P5 84 P5 83 1 Monitor variable 062 3Eh It displays the current engaged position X of master axis This macro command calculates the moving distance between current and target en...

Page 434: ...verse rotation Avaliable forward rate The available max proportion of forward path Avaliable forward rate 0 0 reverse path only E Cam current position Max forward rotation limit Counterclockwise repre...

Page 435: ...ailure code F0F2h The setting value of P5 93 YX PR number of going trip exceeds the range 0 0x3F Failure code F0F3h The setting value of P5 93 UZ PR number of return trip exceeds the range 0 0x3F Fail...

Page 436: ...point first point x P5 19 the effective scaling Note 2 This function can accumulate times If the command is triggered for N times consecutively it will stop the E Cam for N cycles The accumulated pau...

Page 437: ...will not be triggered X 1 D When EV1 is ON execute PR 51 63 Y 0 When EV2 is ON PR will not be triggered Y 1 D When EV2 is ON execute PR 51 63 Note EV3 and EV4 are supported after firmware V1 009 Z 0 W...

Page 438: ...ll not be triggered X 1 D When EV1 is OFF execute PR 51 63 Y 0 When EV2 is OFF PR will not be triggered Y 1 D When EV2 is OFF execute PR 51 63 Note EV3 and EV4 are supported after firmware V1 009 Z 0...

Page 439: ...19 16 6B15 12 11 8 7 4 3 0 BIT BOOT DLY DEC1 0BACC PATH PATH Path type 4 bit 0 Stop Homing complete and stop 1 63 Auto Homing complete and execute the specified path ACC Select 0 F for acceleration ti...

Page 440: ...s to return to the origin set PATH to non zero value and set PABS ORG_DEF B If the origin is found Sensor or Z desire to move an offset S and define the coordinate as P after moving then PATH non zero...

Page 441: ...cified path AUTO INS 8 Write the specified parameter to the specified path TYPE 1 3 accept DO STP stop and software limit INS When executing this PR it interrupts the previous one OVLP Allow the overl...

Page 442: ...e P6 04 PDEF2 PATH 2 Definition Address 0608H 0609H Operational Interface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Siz...

Page 443: ...fer to the description of P6 02 P6 07 PDAT3 PATH 3 Data Address 060EH 060FH Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 2147483648 2147...

Page 444: ...t Format DEC Settings Please refer to the description of P6 03 P6 10 PDEF5 PATH 5 Definition Address 0614H 0615H Operational Interface Panel Software Communication Related Section 7 10 Default 0x00000...

Page 445: ...e 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 13 PDAT6 PATH 6 Data Address 061AH 061BH Operational Interface Panel Software Communication Rela...

Page 446: ...Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 16 PDEF8 PATH 8 Definition Address 0620H 0621H Operational Interface Panel Soft...

Page 447: ...nterface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6...

Page 448: ...of P6 02 P6 21 PDAT10 PATH 10 Data Address 062AH 062BH Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Range 2147483648 2147483647 Data Size 32bit For...

Page 449: ...to the description of P6 03 P6 24 PDEF12 PATH 12 Definition Address 0630H 0631H Operational Interface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0...

Page 450: ...0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 27 PDAT13 PATH 13 Data Address 0636H 0637H Operational Interface Panel Software Communication Related Sectio...

Page 451: ...e PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 30 PDEF15 PATH 15Definition Address 063CH 063DH Operational Interface Panel Softwa...

Page 452: ...nterface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6...

Page 453: ...se refer to the description of P6 02 P6 35 PDAT17 PATH 17 Data Address 0646H 0647H Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 21474836...

Page 454: ...3647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 38 PDEF19 PATH 19 Definition Address 064CH 064DH Operational Interface Panel Software Communication Related Section...

Page 455: ...de PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 41 PDAT20 PATH 20 Data Address 0652H 0653H Operational Interface Panel Software C...

Page 456: ...el Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 44 PDEF22 PATH...

Page 457: ...r to the description of P6 03 P6 46 PDEF23 PATH 23Definition Address 065CH 065DH Operational Interface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0...

Page 458: ...0 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 49 PDAT24 PATH 24Data Address 0662H 0663H Operational Interface Panel Software Communication Related Sectio...

Page 459: ...e PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 52 PDEF26 PATH 26Definition Address 0668H 0669H Operational Interface Panel Softwa...

Page 460: ...nterface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6...

Page 461: ...fer to the description of P6 02 P6 57 PDAT28 PATH 28Data Address 0672H 0673H Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 2147483648 214...

Page 462: ...t Format DEC Settings Please refer to the description of P6 03 P6 60 PDEF30 PATH 30Definition Address 0678H 0679H Operational Interface Panel Software Communication Related Section 7 10 Default 0x0000...

Page 463: ...0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 63 PDAT31 PATH 31Data Address 067EH 067FH Operational Interface Panel Software Communication Rela...

Page 464: ...Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 66 PDEF33 PATH 3...

Page 465: ...r to the description of P6 03 P6 68 PDEF34 PATH 34Definition Address 0688H 0689H Operational Interface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0...

Page 466: ...0 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 71 PDAT35 PATH 35Data Address 068EH 068FH Operational Interface Panel Software Communication Related Sectio...

Page 467: ...ftware Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 2147483648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 74 PDEF37 PATH 37De...

Page 468: ...he description of P6 03 P6 76 PDEF38 PATH 38Definition Address 0698H 0699H Operational Interface Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000...

Page 469: ...ze 32bit Format HEX Settings Please refer to the description of P6 02 P6 79 PDAT39 PATH 39Data Address 069EH 069FH Operational Interface Panel Software Communication Related Section 7 10 Default 0 Con...

Page 470: ...3648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 82 PDEF41 PATH 41Definition Address 06A4H 06A5H Operational Interface Panel Software Communication Relat...

Page 471: ...Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 8...

Page 472: ...se refer to the description of P6 02 P6 87 PDAT43 PATH 43Data Address 06AEH 06AFH Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 214748364...

Page 473: ...83647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P6 90 PDEF45 PATH 45Definition Address 06B4H 06B5H Operational Interface Panel Software Communication Related Section...

Page 474: ...nel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P6 93 P...

Page 475: ...fer to the description of P6 02 P6 95 PDAT47 PATH 47Data Address 06BEH 06BFH Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 2147483648 214...

Page 476: ...t Format DEC Settings Please refer to the description of P6 03 P6 98 PDEF49 PATH 49Definition Address 06C4H 06C5H Operational Interface Panel Software Communication Related Section 7 10 Default 0x0000...

Page 477: ...Chapter 8 Parameters ASDA A2R Series Revision December 2014 8 245 Data Size 32bit Format DEC Settings Please refer to the description of P6 03...

Page 478: ...32bit Format HEX Settings Please refer to the description of P6 02 NOTE PATH procedure P7 01 PDAT50 PATH 50 Data Address 0702H 0703H Operational Interface Panel Software Communication Related Section...

Page 479: ...648 2147483647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P7 04 PDEF52 PATH 52 Definition Address 0708H 0709H Operational Interface Panel Software Communication Relat...

Page 480: ...Panel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 0...

Page 481: ...se refer to the description of P6 02 P7 09 PDAT54 PATH 54 Data Address 0712H 0713H Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 21474836...

Page 482: ...3647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P7 12 PDEF56 PATH 56 Definition Address 0718H 0719H Operational Interface Panel Software Communication Related Section...

Page 483: ...nel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 15 P...

Page 484: ...se refer to the description of P6 02 P7 17 PDAT58 PATH 58 Data Address 0722H 0723H Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 21474836...

Page 485: ...3647 Data Size 32bit Format DEC Settings Please refer to the description of P6 03 P7 20 PDEF60 PATH 60 Definition Address 0728H 0729H Operational Interface Panel Software Communication Related Section...

Page 486: ...nel Software Communication Related Section 7 10 Default 0x00000000 Control Mode PR Unit Range 0x00000000 0xFFFFFFFF Data Size 32bit Format HEX Settings Please refer to the description of P6 02 P7 23 P...

Page 487: ...se refer to the description of P6 02 P7 25 PDAT62 PATH 62 Data Address 0732H 0733H Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 21474836...

Page 488: ...se refer to the description of P6 02 P7 27 PDAT63 PATH 63 Data Address 0736H 0737H Operational Interface Panel Software Communication Related Section 7 10 Default 0 Control Mode PR Unit Range 21474836...

Page 489: ...synchronous rotary motor SPM 2 Permanent magnet synchrounous linear motor LM PM 01 Automatic Identification of Motor Parameter Address Applicable motor type IM Related Section Operational Interface P...

Page 490: ...rameter and enable this function PM 03 Encoder Type Address Applicable motor type ALL Related Section Operational Interface Panel Software Communication Default 0x0100 Unit Range 0 x0000 0x1311 Data S...

Page 491: ...on Address Applicable motor type ALL Related Section Operational Interface Panel Software Communication Default 2500 Unit Permanet magnet synchronous rotary motor rev pulse square wave digital siganl...

Page 492: ...ata Size 16bit Format DEC Settings PM 06 UVW Phase Sequence and Hall Sensor Address Applicable motor type ALL Related Section Operational Interface Panel Software Communication Default 00 Unit Range 0...

Page 493: ...pter 8 Parameters ASDA A2R Series Revision December 2014 8 261 0 The scale direction and phase sequence of each U V W is the same see diagram below 1 The scale direction is opposite to UVW phase seque...

Page 494: ...A A2R Series 8 262 Revision December 2014 The relation between UVW phase sequence and Hall sensor 0 UVW phase sequence of Hall sensor is the same as the motor s 1 UVW phase sequence of Hall sensor is...

Page 495: ...gs Motor U phase back EMF U phase U phase of Hall sensor PM 07 When hysteresis is caused by different moving direction of motor the original point of U phase of Hall sensor will base on the center ang...

Page 496: ...2014 Data Size 16bit Format DEC Settings PM 09 Correction of Electrical Angle When Reached Z Axis Address Applicable motor type ALL Related Section Operational Interface Panel Software Communication...

Page 497: ...function Use hall sensor to see if motor magnetic field is deviated PM 10 Offset Angle of Z Signal Address Applicable motor type ALL Related Section Operational Interface Panel Software Communication...

Page 498: ...e that the magnetic field detection does not work if Z axis has no spring or balance PM 12 Condition of Magnetic Field Detection When Power On Address Applicable motor type ALL Related Section Operati...

Page 499: ...Software Communication Default 0 Unit 0 001 Range SPM IPM 0 1023000 LM 0 16383000 IM 0 32767000 Data Size 32bit Format DEC Settings PM 16 Integral Gain of Current Loop Address Applicable motor type AL...

Page 500: ...100 N A 120 26 38sec PM 19 140 35 2sec PM 19 160 17 6sec PM 19 180 11 2sec PM 19 200 8sec PM 19 220 6 1sec PM 19 240 4 8sec PM 19 260 3 9sec PM 19 280 3 3sec PM 19 300 2 8sec PM 19 320 2 5sec PM 19 3...

Page 501: ...e above pattern it will not exceed the protection level However if motor only generates no current in a short time it will exceed the protection level PM 20 Overload Gain Temperature Falls Address App...

Page 502: ...ation Estimate low pass filter 1 A 30 300HZ Estimate high pass filter 1 A 0 5 5HZ PM 22 Motor Temperature Sensor Address Applicable motor type ALL Related Section Operational Interface Panel Software...

Page 503: ...tor Poles Address Applicable motor type SPM IPM Related Section Operational Interface Panel Software Communication Default 10 Unit pole Range 2 20 Data Size 16bit Format DEC Settings PM 29 PM Motor Ra...

Page 504: ...current of servo drive Data Size 16bit Format DEC Settings PM 31 PM Motor Rated Speed Address Applicable motor type SPM IPM Related Section Operational Interface Panel Software Communication Default 3...

Page 505: ...Unit 0 001Nm A Range 0 13850 Data Size 16bit Format DEC Settings PM 34 PM Motor Inertia Address Applicable motor type SPM IPM Related Section Operational Interface Panel Software Communication Defaul...

Page 506: ...Section Operational Interface Panel Software Communication Default 0 Unit 0 01mh Range 0 3200 Data Size 16bit Format DEC Settings PM 37 Reserved Address PM 38 PM Motor Back EMF Constant Address Appli...

Page 507: ...s Applicable motor type LM Related Section Operational Interface Panel Software Communication Default 0 Unit 0 1mm 360 electrical angle Range 0 32767 Data Size 16bit Format DEC Settings PM 46 Linear M...

Page 508: ...f servo drive Data Size 16bit Format DEC Settings PM 48 Max Speed of Linear Motor Address Applicable motor type LM Related Section Operational Interface Panel Software Communication Default 5000 Unit...

Page 509: ...Unit 0 001ohm Range 0 63999 Data Size 16bit Format DEC Settings PM 51 Linear Motor Phase Inductance Address Applicable motor type LM Related Section Operational Interface Panel Software Communication...

Page 510: ...olt m s Range 0 11824 Data Size 16bit Format DEC Settings PM 54 Reserved Address PM 55 Reserved Address PM 56 Reserved Address PM 57 Reserved Address PM 58 Reserved Address PM 59 Reserved Address PM 6...

Page 511: ...ition mode when the DI is ON P2 27 should be set to 1 the gain switched to the one multiplies the switching rate Level triggered PT PR S Setting Value 0x04 DI Name Function Description of Digital Inpu...

Page 512: ...ed by the register Rising edge triggered PR Setting Value 0x09 DI Name Function Description of Digital Input DI Trigger Method Control Mode TRQLM In speed and position mode when the DI is ON the motor...

Page 513: ...1 64 Position Command POS5 POS4 POS3 POS2 POS1 POS0 CTRG Corresponding Parameter Homing 0 0 0 0 0 0 P6 00 P6 01 Procedure1 0 0 0 0 0 1 P6 02 P6 03 Procedure 50 1 1 0 0 1 0 P6 98 P6 99 Procedure 51 1...

Page 514: ...nction Description of Digital Input DI Trigger Method Contro l Mode SPD0 SPD1 Internal Speed Command Selection 1 4 Speed Command Number DI signal of CN1 Command Source Content Range SPD1 SPD0 S1 0 0 M...

Page 515: ...ue force mode if the DI is OFF it is in torque force mode if the DI is ON then it is in position mode Level triggered Dual Mode Setting Value 0x21 DI Name Function Description of Digital Input DI Trig...

Page 516: ...Mode Setting Value 0x36 DI Name Function Description of Digital Input DI Trigger Method Control Mode CAM E Cam engaging control Please refer to the setting of P5 88 U Z value Rising Falling edge trig...

Page 517: ...DI Name Function Description of Digital Input DI Trigger Method Control Mode GNUM0 GNUM1 Gear Ratio Selection 0 Numerator Gear Ratio Selection 1 Numerator Level triggered PT Setting Value 0x45 DI Name...

Page 518: ...Trigger Method Control Mode TSPD When the motor speed is faster than the target speed P1 39 this DO is ON Level triggered ALL Setting Value 0x05 DO Name Function Description of Digital Output DO Trigg...

Page 519: ...ABSW Warning of absolute encoder ALL Setting Value 0x0E DO Name Function Description of Digital Output DO Control Mode IDXD Indexing coordinates is valid PR Setting Value 0x10 DO Name Function Descri...

Page 520: ...limit Level triggered ALL Setting Value 0x14 DO Name Function Description of Digital Output DO Trigger Method Control Mode SPL SCCWL Software limit Forward limit Level triggered ALL Setting Value 0x1...

Page 521: ...igital Output DO Trigger Method Control Mode ABSR is always outputted by DO2 DO ABSR is OFF means the Request sent by ABSQ has been received DO ABSR is ON means the data that is outputted by ABSD is v...

Page 522: ...Function Description of Digital Output DO Trigger Method Control Mode SDO_5 Ouput the status of bit 05 of P4 06 Level triggered ALL Setting Value 0x36 DO Name Function Description of Digital Output D...

Page 523: ...gital Output DO Trigger Method Control Mode SDO_C Ouput the status of bit 12 of P4 06 Level triggered ALL Setting Value 0x3D DO Name Function Description of Digital Output DO Trigger Method Control Mo...

Page 524: ...Chapter 8 Parameters ASDA A2R Series 8 292 Revision December 2014 This page is intentionally left blank...

Page 525: ...time Parameter P3 05 can use RS 485 and RS 232 as the communication protocol Followings are the wiring description RS 232 Configuration CN3 1394 Connector D Sub 9 Pin Connector 4 Rx 2 Tx 1 GND 3 Tx 2...

Page 526: ...munication cable should not longer than 15 meters so as to ensure the accuracy of transmission 2 Numbers shown in the above diagram represent the pin number of each connector 3 Please use the power su...

Page 527: ...08 Monitor Mode is optional Please refer to Chapter 8 of this user manual Communication Parameter Parameter Abbr Function Default Unit Control Mode Related Section PT PR S T P3 00 ADR Address Setting...

Page 528: ...ster will send 6 which represented by 36H of ASCII code and 4 represented by 34H of ASCII code ASCII code of digit 0 to 9 and characters A to F is as follows Character 0 1 2 3 4 5 6 7 ASCII code 30H 3...

Page 529: ...frame for 8 bit character 8N2 Start bit 0 1 2 3 4 5 6 Stop bit 8 data bits 11 bits character frame Stop bit 7 8E1 Start bit 0 1 2 3 4 5 6 Stop bit 8 data bits 11 bits character frame 7 Even parity 8O...

Page 530: ...the ASCII code of two characters The end code is CR Carriage Return and LF Line Feed And the communication address function code data content error checking LRC Longitudinal Redundancy Check etc are...

Page 531: ...ress 0201H is 1F40H The maximum allowable data in one single access is 10 The calculation of LRC and CRC will be described in next chapter ASCII mode Command message from the Master Response message f...

Page 532: ...eck High D4H High word Note Before and after the transmission in RTU mode 10ms of silent interval is needed Example 2 function code 06H write single word The Master issues command to the 1st Slave and...

Page 533: ...ion code 10H write multiple words The Master issues command to the 1st Slave and writes 0BB8H and 0000H to the starting address 0112H That is to say 0112H is written into 0BB8H and 0113H is written in...

Page 534: ...d Starting data address 01H High word 12H Low word 12H Low word Number of data In Word 00H High word Number of data In Word 00H High word 02H Low word 02H Low word Number of data In Byte 04H CRC Check...

Page 535: ...4CH is B4H CRC RTU mode The description of CRC is as the followings Step 1 Load a 16 bits register of FFFFH which is called CRC register Step 2 The low byte of CRC register XOR The first byte of comm...

Page 536: ...first in command message and then fill in the high word of CRC For example if the result of CRC algorithm is 3794H fill in 94H in low word and then 37H in high word ARD 01H CMD 03H Starting data addre...

Page 537: ...e include stdio h include dos h include conio h include process h define PORT 0x03F8 the address of COM 1 define THR 0x0000 define RDR 0x0000 define BRDL 0x0000 define IER 0x0001 define BRDH 0x0001 de...

Page 538: ...Revision December 2014 8 O 1 0BH for I 0 I 16 I while inportb PORT LSR 0x20 wait until THR empty outportb PORT THR tdat I send data to THR I 0 while kbhit if inportb PORT LSR 0x01 b0 1 read data read...

Page 539: ...Please note that P3 01 When change to a new communication speed the next data will be written in a new transmission speed after setting the new value P3 02 When change to the new communication protoco...

Page 540: ...ber 2014 Read parameters through communication Parameters can be read through communication include Group 0 P0 00 P0 46 Group 4 P4 00 P4 23 Group 1 P1 00 P1 76 Group 5 P5 00 P5 99 Group 2 P2 00 P2 67...

Page 541: ...or and the drive is overload ALM Servo Off Over speed The control speed of the motor exceeds the normal speed ALM Servo Off Abnormal Pulse Command The input frequency of the pulse command is over the...

Page 542: ...erload WARN Servo On Encoder initial magnetic field error The magnetic field of the encoder U V W signal is in error ALM Servo Off The Internal of the Encoder is in Error The internal memory of the en...

Page 543: ...nd pole pitch this alarm will occur ALM Servo Off Initial magnetic pole detection error When PM 03 Y 0 it will detect the initial magnetic pole automatically When it cannot find the initial magnetic p...

Page 544: ...tatus CANopen SDO receives buffer overflow SDO Rx Buffer overflow receives more than two SDOs within 1 millisecond NMT Reset node or 0x6040 Fault Reset ALM Servo On CANopen PDO receives buffer overflo...

Page 545: ...rs when writing CANopen PDO object via EEPROM An error occurs when saving the current value into ROM Same as above ALM Servo On The accessing address of EEPROM is out of range when using CANopen PDO o...

Page 546: ...is unreasonable Correct the PR command and parameter WARN Servo On PR command overflows Feedback position counter overflows and executes the absolute positioning command NMT Reset node or 0x6040 Faul...

Page 547: ...above WARN Servo On Error occurs when reading CANopen object via EEPROM An error occurs when loading the default value via ROM at start up All objects of CANopen returns to the default value automati...

Page 548: ...On Feedback position counter overflows Feedback position counter overflows NMT Reset node or 0x6040 Fault Reset WARN Servo On Servo OFF error Servo OFF when the motion path is incomplete Same as abov...

Page 549: ...9 After DO MC_OK ON DO MC_OK becomes OFF because DO TPOS turns OFF NOTE If the alarm occurs and is different from the alarm showed in Alarm of Servo Drive Alarm of CANopen Communication and Alarm of M...

Page 550: ...d or filter applying to smooth command Over voltage Causes Checking Method Corrective Actions The input voltage of the main circuit is higher than the rated allowable voltage Use the voltmeter to see...

Page 551: ...enerative resistor is not in use Check if parameter P1 53 of regenerative resister is set to zero Set parameter P1 53 of regenerative resistor to zero when it is not applying Wrong parameter setting C...

Page 552: ...Checking Method Corrective Actions Parameter P2 35 is set too small Check the setting value of parameter P2 35 The warning condition of excessive position deviation Increase the setting value of P2 35...

Page 553: ...reset send the drive back to the distributors or contact with Delta Emergency Stop Causes Checking Method Corrective Actions Press the emergency stop button Check if the emergency stop button is enabl...

Page 554: ...0A it means it is parameter P2 10 If it shows E3610 it means it is parameter P6 16 Please check the parameter The fault occurs when applying to the power It means one of the parameters is over the rea...

Page 555: ...P1 76 Motor Speed or 6 10 19 8 4 46 1 P 60 Speed Motor Serial Communication Error Causes Checking Method Corrective Actions Improper setting of the communication parameter Check the setting value of...

Page 556: ...Check if it is used in overload condition 2 Check if the value of parameter P1 56 is set to small 1 Please refer to the corrective actions of AL006 2 Please increase the setting value of parameter P1...

Page 557: ...king Method Corrective Actions The encoder is in error Errors occur in the internal data for three times continuously 1 Check if the servo is properly grounded 2 Check if the encoder cable separates f...

Page 558: ...nected Follow the user manual to correctly wire U V W and make sure it is grounded Connection of 26 pin on converter box is breakdown Causes Checking Method Corrective Actions Connection of 26 pin on...

Page 559: ...Communication of CN5 is breakdown Check if the connection of pin1 5 and pin 9 on CN5 connector is breakdown Make sure the connection is correct and then re servo on Warning of servo drive function ov...

Page 560: ...ill rotate at forward and reverse direction for one magnetic cycle during detection The linear motor will move for a pitch forward and backward Please preserve the moving distance before detection 3 C...

Page 561: ...2 assume that the feedback type of the encoder is square wave digital signal check if the motor is over speed and exceeds the limit that hardware could take The limit is 20Mhz the resolution of quard...

Page 562: ...of surrounding environment DSP firmware upgrade Causes Checking Method Corrective Actions Upgrade DSP firmware Check if the firmware is upgraded Firstly set P2 08 to 30 Then set P2 08 to 28 the alarm...

Page 563: ...er the range of the specified object Check if the written range is wrong when PDO is receiving or sending NMT Reset node or 0x6040 Fault Reset CANopen PDO Object is read only and write protected Cause...

Page 564: ...ct is wrote into EEPROM NMT Reset node or 0x6040 Fault Reset The accessing address of EEPROM is out of range when using CANopen PDO object Causes Checking Method Corrective Actions The quantity of the...

Page 565: ...ality is good It is suggested to use common grounding and shielded cable NMT Reset node or re servo on An error occurs when loading CANopen data Causes Checking Method Corrective Actions An error occu...

Page 566: ...command except incremental at this time the error will occur NMT Reset node or 0x6040 Fault Reset PR positioning is over time Causes Checking Method Corrective Actions PR positioning is over time This...

Page 567: ...e range of the specified object This alarm will not occur at the moment If it does please contact the distributors NMT Reset node or 0x6040 Fault Reset CANopen object is read only and write protected...

Page 568: ...the distributors NMT Reset node or 0x6040 Fault Reset The accessing address of EEPROM is out of range when using CANopen object Causes Checking Method Corrective Actions The quantity of the data insid...

Page 569: ...not over the limit Therefore setting an appropriate decelerating time could satisfy the demand Please refer to the description of parameter P5 03 NMT Reset node or 0x6040 Fault Reset Reverse Software...

Page 570: ...nized signal of CANopen is sent too fast Causes Checking Method Corrective Actions The synchronized signal of CANopen is sent too fast 1 Check if synchronized cycle 0x1006 is the same as the setting o...

Page 571: ...od Corrective Actions SYNC Period is in error Examine the content of 0x1006 If it is smaller than or equals to 0 the alarm will occur NMT Reset node or 0x6040 Fault Reset Position Deviation Alarm Caus...

Page 572: ...be cleared when removing CN1 wiring and execute auto adjustment Emergency stop The alarm can be cleared automatically after turning DI EMGS off Reverse limit error Turn DI ARST on or Servo Off to clea...

Page 573: ...re power on will do Auto detection of motor parameters is completed The alarm can be cleared after re power on Auto detection of motor parameters is in error Turn DI ARST on to clear the alarm Initia...

Page 574: ...0 Fault Reset Error occurs when reading CANopen PDO object via EEPROM NMT Reset node or 0x6040 Fault Reset Error occurs when writing CANopen PDO object via EEPROM NMT Reset node or 0x6040 Fault Reset...

Page 575: ...T Reset node or 0x6040 Fault Reset CANopen object is read only and write protected NMT Reset node or 0x6040 Fault Reset PDO is not allowed in CANopen object NMT Reset node or 0x6040 Fault Reset CANope...

Page 576: ...ls to synchronize NMT Reset node or 0x6040 Fault Reset The synchronized signal of CANopen is sent too fast NMT Reset node or 0x6040 Fault Reset The synchronized signal of CANopen is sent too slow NMT...

Page 577: ...t 1280000 p rev Main circuit control SVPWM control Control mode Manual Auto Dynamic brake N A Built in Position Control Mode Max input pulse frequency Transmitted by differential 500K 4Mpps transmitte...

Page 578: ...rse operation torque limit Homing activated E CAM engage Forward reverse JOG input Event trigger E gear N selection Pulse input prohibition Output A B Z Line Driver output Servo on Servo ready Zero sp...

Page 579: ...load the speed ratio is the minimum speed smooth operation rated speed 2 When the command is the rated speed the velocity correction ratio is rotational speed with no load rotational speed with full...

Page 580: ...oltage constant KE mV r min 9 8 13 6 16 0 17 4 18 5 17 2 24 2 27 5 Armature resistance Ohm 12 7 9 30 2 79 1 55 0 93 0 42 1 34 0 897 Armature inductance mH 26 24 0 12 07 6 71 7 39 3 53 7 55 5 7 Electri...

Page 581: ...erproof connector and shaft seal installation or oil seal Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the followin...

Page 582: ...nstant KE mV r min 16 8 19 2 20 98 Armature resistance Ohm 0 20 0 13 0 0976 Armature inductance mH 1 81 1 50 1 21 Electric constant ms 9 30 11 4 12 4 Insulation class Class A UL Class B CE Insulation...

Page 583: ...and shaft seal installation or oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the following heat sink...

Page 584: ...ature resistance Ohm 0 57 0 47 0 26 0 174 0 119 0 052 0 052 1 06 0 82 0 43 Armature inductance mH 7 39 5 99 4 01 2 76 2 84 1 38 1 38 14 29 11 12 6 97 Electric constant ms 12 96 12 88 15 31 15 86 23 87...

Page 585: ...of connector and shaft seal installation or oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the followi...

Page 586: ...tia 10 4 kg m 2 10 3 13 6 20 24 9 54 95 Mechanical constant ms 2 8 2 43 1 62 1 7 1 28 Torque constant KT N m A 0 82 0 76 0 66 0 88 0 98 Voltage constant KE mV r min 29 5 29 2 24 2 32 2 35 0 Motor resi...

Page 587: ...of connector and shaft seal installation or oil seal model Approvals 4 Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the follo...

Page 588: ...7 9 11 Rated power W 47 62 6 46 9 62 3 78 Max instantaneous power W 751 7 1001 3 749 7 997 1 1248 3 Motor constant N W 3 2 4 6 4 3 5 5 6 Electric constant ms 0 19 0 19 0 35 0 34 0 33 Thermal resistanc...

Page 589: ...4 9 97 4 152 5 97 9 151 201 8 Max instantaneous power W 1038 6 1557 8 2439 6 1565 7 2416 5 3229 5 Motor constant N W 7 7 9 5 10 5 8 8 11 3 13 Electric constant ms 1 26 1 26 1 83 1 14 1 17 1 16 Thermal...

Page 590: ...000 0 095 60 0 477 300 Speed r min 0 159 100 Torque N m Acceleration Deceleration area Continuous area ECMA C10910 S 3000 2000 8 78 276 Speed r min 3 18 100 Torque N m Acceleration Deceleration area C...

Page 591: ...4 11 15 ECMA E11835 S 3000 2000 11 20 67 50 13 300 Speed r min 16 71 100 Torque N m Acceleration Deceleration area Continuous area ECMA F11305 S 3000 1 59 50 8 92 280 Speed r min 3 18 100 Torque N m A...

Page 592: ...Chapter 11 Specifications ASDA A2R Series 11 16 Revision December 2014 11 5 Force and Speed Features F S curve...

Page 593: ...350 400 Continuous area Acceleration Deceleration area 0 5 1 0 1 5 2 0 2 5 3 0 3 5 4 0 4 5 0 50 100 150 200 450 400 350 300 250 500 Force N Speed m s ECML S3206 Continuous area Acceleration Decelerati...

Page 594: ...erload 1 When the motor operates over the rated torque the operation time is too long 2 The inertia ratio is set too big and frequently accelerate decelerate 3 Connection error between the power cable...

Page 595: ...Chapter 11 Specifications ASDA A2R Series Revision December 2014 11 19 Medium and Medium high inertia ECMA E1 F1 series High inertia ECMA G1 series...

Page 596: ...on December 2014 11 7 Dimensions of the Servo Drive ASD A2R 0121 ASD A2R 0221 ASD A2R 0421 100W 400W Weight 1 5 3 3 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms pounds 2 Dimens...

Page 597: ...ries Revision December 2014 11 21 ASD A2R 0721 ASD A2R 1021 ASD A2R 1521 750W 1 5kW Weight 2 0 4 4 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms pounds 2 Dimensions and weights...

Page 598: ...A2R Series 11 22 Revision December 2014 ASD A2R 2023 ASD A2R 3023 2kW 3kW Weight 2 89 6 36 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms pounds 2 Dimensions and weights might b...

Page 599: ...he model names are for encoder resolution types 1 Incremental encoder 20 bit 2 Incremental encoder 17 bit Model C1040F S C 0401 S C 0602 S C 0604 S C 0604 H LC 40 40 60 60 60 LZ 4 5 4 5 5 5 5 5 5 5 LA...

Page 600: ...der resolution types 1 Incremental encoder 20 bit 2 Incremental encoder 17 bit Model C 0804 7 C 0807 S C 0807 H C 0907 S C 0910 S LC 80 80 80 86 86 LZ 6 6 6 6 6 6 6 6 6 6 LA 90 90 90 100 100 S 14 0 01...

Page 601: ...7 5 147 5 147 5 167 5 187 5 LL with brake 192 5 226 216 0 183 5 183 5 202 216 LS 37 37 47 47 47 47 47 LR 45 45 55 55 55 55 55 LE 5 5 6 6 6 6 6 LG 12 12 11 5 11 5 11 5 11 5 11 5 LW 32 32 36 36 36 36 36...

Page 602: ...52 5 187 5 202 147 5 147 5 163 5 LL with brake 168 181 183 5 183 5 198 LS 47 47 47 47 47 47 47 LR 55 55 55 55 55 55 55 LE 6 6 6 6 6 6 6 LG 11 5 11 5 11 5 11 5 11 5 11 5 11 5 LW 36 36 36 36 36 36 36 RH...

Page 603: ...rake 169 202 1 202 1 202 1 LL with brake 203 1 235 3 235 3 235 3 LS 73 73 73 73 LR 79 79 79 79 LE 4 4 4 4 LG 20 20 20 20 LW 63 63 63 63 RH 30 30 30 30 WK 10 10 10 10 W 10 10 10 10 T 8 8 8 8 TP M12 Dep...

Page 604: ...32 42 42 42 CD 17 5 17 5 21 5 21 5 21 5 CL 108 138 108 138 168 P1 29 29 29 29 29 P2 50 80 50 80 110 P3 21 21 21 21 21 P4 66 96 66 96 126 T1 3 5 3 5 3 5 3 5 3 5 T2 25 25 35 35 35 T3 3 5 3 5 3 5 3 5 3 5...

Page 605: ...8 258 138 198 258 P1 37 37 37 37 37 37 P2 64 124 184 64 124 92x2 P3 27 27 27 27 27 27 P4 84 144 204 84 144 204 T1 5 5 5 5 5 5 T2 42 42 42 50 50 50 T3 5 5 5 5 5 5 T4 42 42 42 50 50 50 M1 x L1 M5x8 M5x8...

Page 606: ...300 450 630 790 970 1150 Approx mass 0 51 0 78 1 05 1 32 1 59 1 86 0 87 1 29 1 71 2 13 2 55 2 97 Model SM 25 SM 32 0390 0570 0390 0570 0390 0570 0390 0570 0390 0570 0390 0570 L1 390 570 390 570 390 57...

Page 607: ...is properly set through the tuning procedure it can go with the permanent magnet synchronous linear motor and permanent magnet synchronous rotary motor of other brands Users can setup motor parameters...

Page 608: ...irectly enter the value of each parameter for editing Please refer to Chapter 8 PM Parameter Groups for relevant motor parameters After editing download the parameter to the servo drive and set PM 02...

Page 609: ...value of parameter editing 1 Set default value as edit settings the initial value of parameter editing The initial value of the parameter 2 Load from servo as edit settings the initial value of parame...

Page 610: ...2014 STEP 4 The setting of motor basic parameters Select the motor type Permanent magnet synchronous linear motor or permanent magnet synchronous rotary motor When editing parameters if the selected...

Page 611: ...e 0 13850 unit 0 001Nm A ampere 4 The inertia of PM synchronous rotary motor unit 2 7 10 m kg 5 The rated current of PM synchronous rotary motor range 0 the rated current of the servo unit 0 01A amper...

Page 612: ...0 177362 unit 0 01N A ampere 3 The rated current of PM synchronous linear motor range 0 the rated current of the servo unit 0 01A ampere the input value cannot exceed the rated current of the servo 4...

Page 613: ...A A2R Series Revision December 2014 12 7 STEP 5 The setting of feedback signal type STEP 5 1 The setting of permanent magnet synchronous rotary motor Select the encoder feedback signal type square wav...

Page 614: ...ignal source Select the feedback signal source CN2 or CN5 3 Encoder resolution signal before quadrature process The pulse number in one cycle of motor feedback unit rev pulse 4 The resolution of quadr...

Page 615: ...gnal before quadrature process The pulse number in one cycle of motor feedback unit rev period 4 The interpolation of signal converter box Setup the interpolation of signal converter box It fine cuts...

Page 616: ...ure process The length of one pulse of linear scale feedback unit pulse m 10 5 For example if the resolution of linear scale is 1um signal after quadrature process users should enter 400000 in the tab...

Page 617: ...4 The interpolation of signal converter box Setup the interpolation of signal converter box It fine cuts the sinusoid analog signal and transforms the signal into square wave signal which also enhance...

Page 618: ...moves back and forth for one pole pitch and the rotary motor rotates one cycle Users shall pay attention to the direction the motor moves at the moment as it can be used to setup the definition of mot...

Page 619: ...on again 2 The rotary motor will rotate at forward and reverse direction for one magnetic cycle during detection The linear motor will move for a pitch forward and backward Please preserve the moving...

Page 620: ...sensor can work properly In PC software enter address 0xe37b and the value is 16bit Bit1 bit2 and bit3 of this variable corresponds to the three phase U V and W of Hall sensor respectively Move the m...

Page 621: ...ies Revision December 2014 12 15 STEP 6 2 Set the motor moving direction When the detection is completed the above page pops up Users self define the first moving direction as backward or forward dire...

Page 622: ...otor Parameters ASDA A2R Series 12 16 Revision December 2014 STEP 6 3 After the auto detection procedure is completed and re servo on the servo drive please press The servo has been re power on and pr...

Page 623: ...on December 2014 12 17 STEP7 Edit motor parameters This page shows motor parameters and the value from auto detection The listed parameters are effective If users desire to change the motor parameter...

Page 624: ...Chapter 12 Setting of Motor Parameters ASDA A2R Series 12 18 Revision December 2014 STEP8 Gain adjustment of linear motor Open PC software and select Auto Gain Tuning 1 2 3 4...

Page 625: ...lose to the actual weight If the input value is much smaller than the actual one the motor might tremble during the operation if the input value is much bigger than the actual one it might cause reson...

Page 626: ...distance between two fixed points can be determined by Position 1 and 2 4 Start Press the Start Key and the motor starts to move back and forth In the item of the total weight of movable section and l...

Page 627: ...effectively prevent the sudden unintended acceleration The motor can run at the maximum speed within the maximum limit Observe the variable which is the approximate value of encoder error through PC s...

Page 628: ...lter frequency 20MHz 50ns as the example The single phase with the width smaller than 50ns will be filtered For example when connecting to 1um of linear scale the maximum speed of motor is 1m s At the...

Page 629: ...l be the most ideal and realistic signal output P1 74 Set P1 74 Y to 1 When the motor feedback signal is from CN5 setup the appropriate filter function of linear scale can prevent the interference P1...

Page 630: ...Use SHIFT UP and DOWN Keys to setup the rated speed of the motor unit rpm range 0 3000 Then press the SET Key to save it 13 Use UP and DOWN Keys to select the parameter to PM 32 14 Press the SET Key t...

Page 631: ...r setting is as the followings The setting of signal type 0 Square wave digital signal 1 Sinusoid analog signal The setting of Hall sensor 0 without Hall sensor 1 with Hall sensor The filter setting o...

Page 632: ...the parameter to P2 08 42 Press the SET Key to show the value 43 Use SHIFT UP and DOWN Keys to set the value to 40 Then press the SET Key to save the value 44 Press the SHIFT Key to select the paramet...

Page 633: ...t 3 10 m s range 0 15999 and press the SET Key 13 Use UP and DOWN Keys to select the parameter to PM 49 14 Press the SET Key to show the value 15 Use SHIFT UP and DOWN Keys to set the motor force cons...

Page 634: ...from CN5 27 Use UP and DOWN Keys to select the parameter to PM 04 28 Press the SET Key to show the value 29 Use SHIFT UP and DOWN Keys to setup the encoder resolution single phase resolution Then pres...

Page 635: ...the value 40 Press the SHIFT Key to select the parameter group mode to PM group 41 Press the SET Key to show the value 42 Use SHIFT UP and DOWN Keys to set the value to 01 Then press the SET Key to s...

Page 636: ...Chapter 12 Setting of Motor Parameters ASDA A2R Series 12 30 Revision December 2014 This page is intentionally left blank...

Page 637: ...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 638: ...Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE Title Part No L mm inch 1 ASD ABPW0003 3000 100 118 4 2 ASD ABPW0005 5000 100 197 4 Delta Part Number ASD ABPW0103 ASD ABPW0105 Title Part No Man...

Page 639: ...ght L mm inch 1 ASD CAPW1003 3106A 20 18S 3000 100 118 4 2 ASD CAPW1005 3106A 20 18S 5000 100 197 4 Delta Part Number ASD CAPW1103 ASD CAPW1105 Title Part No Straight L mm inch 1 ASD CAPW1103 3106A 20...

Page 640: ...18S 5000 100 197 4 Delta Part Number ASD A2PW1103 ASD A2PW1105 Title Part No Straight L mm inch 1 ASD A2PW1103 3106A 20 18S 3000 100 118 4 2 ASD A2PW1105 3106A 20 18S 5000 100 197 4 Delta Part Number...

Page 641: ...106A 24 11S 5000 100 197 4 Encoder Connector Delta Part Number ASD ABEN0000 Title Part No Manufacturer MOTOR SIDE Housing AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA DRIV...

Page 642: ...TA 34703237XX DELTA DRIVE SIDE PLUG 3M 10120 3000PE 3M SHELL 3M 10320 52A0 008 3M Title Part No L mm inch 1 ASD ABEN0003 3000 100 118 4 2 ASD ABEN0005 5000 100 197 4 Delta Part Number ASD CAEN1003 ASD...

Page 643: ...AMP CLAMP DELTA 34703237XX DELTA DRIVE SIDE PLUG 3M 10120 3000PE 3M SHELL 3M 10320 52A0 008 3M Title Model Name L mm inch 1 ASD A2EB0003 3000 100 118 4 2 ASD A2EB0005 5000 100 197 4 Delta Part Number...

Page 644: ...pin Connector Delta Part Number ASD CNSC0026 Title Part No Vender Part No Manufacturer Housing 305059030L 10326 52A0 008 3M Terminal 307740120L 10126 3000PE 3M SCSI 20 pin Connector Delta Part Number...

Page 645: ...AWG Type L mm inch 1 ASD CASC2003 5 3 5 7 28AWG UL2464 3000 100 118 4 2 ASD CASC2005 5 3 5 7 28AWG UL2464 5000 100 197 4 I O Connector Delta Part Number ASD CNSC0050 Vendor Name Vendor P N 3M TAIWAN...

Page 646: ...CARS0003 Title Part No L mm inch 1 ASD CARS0003 3000 100 118 4 Software Communication Cable Delta Part Number DOP CAUSBAB Title Part No L mm inch 1 DOP CAUSBAB 1400 30 55 1 2 CANopen Communication Ca...

Page 647: ...Appendix A Accessories ASDA A2R Series Revision December 2014 A 11 CANopen Distribution Box Delta Part Number TAP CN03 RS 485 Connector Delta Part Number ASD CNIE0B06...

Page 648: ...Appendix A Accessories ASDA A2R Series A 12 Revision December 2014 CN1 Quick Connector Delta Part Number ASD IF SC5020...

Page 649: ...coder Connector ASD A2EB000X Encoder Connector ASD ABEN0000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 100W servo drive and 100W low inertia Motor Servo Drive...

Page 650: ...MA C 0604 S ECMA C 0804 7 Motor Power Cable without brake ASD ABPW000X Power Connector without brake ASDBCAPW0000 Motor Power Cable with brake ASD ABPW010X Power Connector with brake ASDBCAPW0100 Incr...

Page 651: ...r Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X E...

Page 652: ...r Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB...

Page 653: ...inertia Motor ECMA F 1308 S Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute...

Page 654: ...ia Motor ECMA C 1020 S Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type...

Page 655: ...tia Motor ECMA F11313 S Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Typ...

Page 656: ...Motor ECMA E 1830 S Motor Power Cable without brake ASD CAPW200X Motor Power Cable with brake ASD CAPW210X Power Connector ASD CAPW2000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type En...

Page 657: ...2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m Other Accessories suitable for the whole series of ASDA A2R Name Product Numb...

Page 658: ...Appendix A Accessories ASDA A2R Series A 22 Revision December 2014 This page is intentionally left blank...

Page 659: ...terminal of the control chamber If the wiring is needed wait at least 10 minutes after disconnecting the drive from the main supply power or discharge electricity by discharge device The splicing part...

Page 660: ...semble any mechanical part when in maintenance Periodically clean the ventilation ports of the servo drive and do not use the product in a high temperature site for a long time so as to avoid the malf...

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