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Chapter 6 Control Modes of Operation

Revision June 2010

6-21

When using speed smooth command, increase gain can improve speed track
deviation.

When not using speed smooth command, decrease gain can improve the resonance
condition of mechanical system.

In theory, stepping response can be used to explain proportional gain (KVP), integral gain
(KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively
to explain the logic.

Frequency Domain

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Summary of Contents for ASD-B2-0121-B

Page 1: ......

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

Page 3: ...observe these precautions may void the warranty ASDA B2 series drives are open type servo drives and must be installed in an NEMA enclosure such as a protection control panel during operation to compl...

Page 4: ...s precaution may cause serious personal injury In order to prevent accidents the initial trial run for servo motor should be conducted under no load conditions separate the motor from its couplings an...

Page 5: ...once per minute as high charging currents within the internal capacitors may cause damage Main Circuit Terminal Wiring Please perform the wiring after the terminal blocks are all removed from the dri...

Page 6: ...of Servo Drive 1 7 Chapter 2 Installation and Storage 2 1 2 1 Installation Notes 2 1 2 2 Storage Conditions 2 1 2 3 Installation Conditions 2 2 2 4 Installation Procedure and Minimum Clearances 2 3 2...

Page 7: ...and DO signals 3 27 3 3 4 Wiring Diagrams of I O Signals CN1 3 32 3 4 Encoder Connector CN2 3 33 3 5 Serial Communication Connector CN3 3 34 3 5 1 Terminal Layout and Identification CN3 3 34 3 5 2 Con...

Page 8: ...r 5 Trial Run and Tuning Procedure 5 1 5 1 Inspection without Load 5 1 5 2 Applying Power to the Drive 5 3 5 3 JOG Trial Run without Load 5 7 5 4 Speed Trial Run without Load 5 9 5 5 Tuning Procedure...

Page 9: ...mand Source of Speed Control Mode 6 10 6 3 2 Structure of Speed Control Mode 6 11 6 3 3 Smoothing Strategy of Speed Control Mode 6 12 6 3 4 Analog Speed Input Scaling 6 16 6 3 5 Timing Chart of Speed...

Page 10: ...Chapter 7 Parameters 7 1 7 1 Definition 7 1 7 2 Parameter Summary 7 2 7 3 Detailed Parameter Listings 7 11 Chapter 8 MODBUS Communications 8 1 8 1 Communication Hardware Interface 8 1 8 2 Communicati...

Page 11: ...Chapter 11 Specifications 11 1 11 1 Specifications of Servo Drive ASDA B2 Series 11 1 11 2 Specifications of Servo Motor ECMA Series 11 3 11 3 Servo Motor Speed Torque Curves 11 8 11 4 Overload Charac...

Page 12: ...l support service information or if you have any questions in the use of this product We look forward to serving your needs and are willing to offer our best support and service to you ASIA DELTA ELEC...

Page 13: ...Table of Contents xii Revision June 2010 This page intentionally left blank...

Page 14: ...ws Ensure that all necessary screws are tight and secure If any items are damaged or incorrect please inform the distributor whom you purchased the product from or your local Delta sales representativ...

Page 15: ...o drive 3 CN1 Connector 4 PIN Connector 3M type analog product 4 CN2 Connector 9 PIN Connector 3M type analog product 5 CN3 Connector 6 PIN Connector IEEE1394 analog product 1 2 Model Explanation 1 2...

Page 16: ...Chapter 1 Unpacking Check and Model Explanation Revision June 2010 1 3 1 2 2 Model Name Explanation ASDA B2 Series Servo Drive...

Page 17: ...Chapter 1 Unpacking Check and Model Explanation 1 4 Revision June 2010 ECMA Series Servo Motor...

Page 18: ...1500W ASD B2 1521 B ECMA E21315 S S 22mm 2000W ASD B2 2023 B ECMA C21020 S S 22mm ECMA E21320 S S 22mm ECMA E21820 S S 35mm 3000W ASD B2 3023 B ECMA E21830 S S 35mm ECMA F21830 S S 35mm The servo dri...

Page 19: ...Chapter 1 Unpacking Check and Model Explanation 1 6 Revision June 2010 1 4 Servo Drive Features...

Page 20: ...ntrol T External Internal Torque control mode for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC command Control of the internal torque m...

Page 21: ...Chapter 1 Unpacking Check and Model Explanation 1 8 Revision June 2010 This page intentionally left blank...

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

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

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

Page 25: ...Chapter 2 Installation and Storage 2 4 Revision June 2010 Minimum Clearances Side by Side Installation...

Page 26: ...circuit breaker and fuse which are recognized by and comply with the UL or CSA standards Servo Drive Model Recommended Breaker Recommended Fuse Class T Operation Mode General General ASD B2 0121 B 5A...

Page 27: ...to use Delta s EMI filter to have the best interference elimination performance We assure that it can comply with following rules when AC servo drive and EMI filter are installed and wired according...

Page 28: ...shielding is the best The shielding on both ends of the motor cable should be grounded with the minimum length and maximum contact area Remove any paint on metal saddle for good ground contact with th...

Page 29: ...Chapter 2 Installation and Storage 2 8 Revision June 2010 Dimensions Delta Part Number 08TDT1W4S Delta Part Number 20TDT1W4D...

Page 30: ...nce Ohm 0 1 60 0 2 60 0 4 60 0 75 100 60 30 60 1 0 40 60 30 30 1 5 40 60 30 30 2 0 40 60 60 15 3 0 40 60 60 15 1 Regenerative Power Calculation The amount of regenerative power average value that can...

Page 31: ...scribe Regenerative Power Calculation Method and Simple Calculation Method for calculating the regenerative power capacity of external regenerative resistors Regenerative Power Calculation Method 1 Wi...

Page 32: ...Drive State Display 4 Set load motor inertia ratio N Input by the users or read via P0 02 Drive State Display 5 Calculate the max regenerative power Eo Eo J x wr2 182 6 Set the regenerative power Ec t...

Page 33: ...is an example The users can see the motor is in forward rotation at constant speed when a sudden external load torque change and great power is transmitted to regenerative resistor rapidly Motor Rota...

Page 34: ...when the servo motor run without load are summarized in the following table Allowable Frequencies for Servo Motor Running Without Load times min When Using Built in Regenerative Resistor 600W 750W 90...

Page 35: ...40 400W 40 8608 3506 2110 925 562 BR1K0W020 1kW 20 8765 5274 2312 1406 ECMA E 0 5kW 1kW 1 5kW 2 0kW 2 0kW 3 0kW Motor Capacity Delta External Regenerative Resistor 05 1 0 15 20 20 30 BR400W040 400W 40...

Page 36: ...tion and Storage Revision June 2010 2 15 Dimensions Delta Part Number BR400W040 400W 40 L1 L2 H D W MAX WEIGHT g 265 250 30 5 3 60 930 Delta Part Number BR1K0W020 1kW 20 L1 L2 H D W MAX WEIGHT g 400 3...

Page 37: ...hapter 2 Installation and Storage 2 16 Revision June 2010 NOTE Regarding the selection of regenerative resistor please refer to the table of regenerative resistor specifications described in Appendix...

Page 38: ...er 3 Connections and Wiring This chapter provides information on wiring ASDA B2 series products the descriptions of I O signals and gives typical examples of wiring diagrams 3 1 Connections 3 1 1 Conn...

Page 39: ...te W Black Connecting to three phase motor main circuit cable U V W FG Servo motor output FG Green Connecting to ground terminal of the servo drive Internal resistor Ensure the circuit is closed betwe...

Page 40: ...Blue Black 5 Reserved 3 Reserved 2 Reserved 1 Reserved 9 5V Red Bed White 8 CN2 Encoder connector GND Black Black White 6 7 CN3 Communication connector Used to connect PC or keypad Please refer to se...

Page 41: ...d U V W terminals should be placed in separate conduits from the encoder or other signal cables Separate them by at least 30cm 11 8 inches 5 If the encoder cable is too short please use a twisted shie...

Page 42: ...single or three phase However single phase connections are for servo drives 1 5kW and below only In the wiring diagram figures 3 2 3 3 Power ON contact a normally open Power OFF contact b normally clo...

Page 43: ...Chapter 3 Connections and Wiring 3 6 Revision June 2010 Figure 3 3 Three Phase Power Supply all models...

Page 44: ...S 400W ECMA C20804 7 400W ECMA C20807 S 750W ECMA C20907 S 750W HOUSING JOWLE C4201H00 2 2PA A ECMA C20602 S 200W ECMA C20604 S 400W ECMA CM0604PS 400W ECMA C20804 7 400W ECMA C20807 S 750W ECMA C2090...

Page 45: ...Black CASE GROUND Green BRAKE1 Blue BRAKE2 Brown A 1 2 3 4 B 1 2 4 5 3 6 C F I B E G H D D E F G A B NOTE 1 The coil of brake has no polarity The names of terminal identification are BRAKE1 Blue and...

Page 46: ...04 7 400W ECMA C20807 S 750W ECMA C20907 S 750W HOUSING AMP 1 172161 9 A ECMA G21303 S 300W ECMA E21305 S 500W ECMA G21306 S 600W ECMA GM1306PS 600W ECMA G21309 S 900W ECMA GM1309PS 900W ECMA C21010 S...

Page 47: ...AWG14 0 82 AWG18 2 1 AWG14 ECMA C20807 S 1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ECMA C20907 S 1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ECMA G21306 S 1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ASD B2 0...

Page 48: ...64 3m 9 84ft ASD B2 3023 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft NOTE 1 Please use shielded twisted pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interferenc...

Page 49: ...Chapter 3 Connections and Wiring 3 12 Revision June 2010 3 2 Basic Wiring Figure 3 4 Basic Wiring Schematic of 400W and below models without built in regenerative resistor and cooling fan...

Page 50: ...Chapter 3 Connections and Wiring Revision June 2010 3 13 Figure 3 5 Basic Wiring Schematic of 750W model with built in regenerative resistor but without cooling fan...

Page 51: ...Chapter 3 Connections and Wiring 3 14 Revision June 2010 Figure 3 6 Basic Wiring Schematic of 1kW 1 5kW models with built in regenerative resistor and cooling fan...

Page 52: ...Chapter 3 Connections and Wiring Revision June 2010 3 15 Figure 3 7 Basic Wiring Schematic of 2kW 3kW models with built in regenerative resistor and cooling fan...

Page 53: ...que control encoder reference signal from the motor pulse direction inputs and reference voltages ii 8 programmable Digital Inputs DI can be set via parameters P2 10 P2 17 iii 5 programmable Digital O...

Page 54: ...PULSE High speed position pulse 22 OA Encoder A pulse output 7 DO1 Digital output 37 SIGN Position sign 23 OB Encoder B pulse output 8 DI4 Digital input 38 HPULSE High speed position pulse 24 OZ Encod...

Page 55: ...r type of pulse be used this terminal must be lulled high to pin 17 C3 High speed Position Pulse Input HPULSE HPULSE HSIGN HSIGN 38 36 42 40 The drive can accept two different types of high speed puls...

Page 56: ...2 The Digital Input DI and Digital Output DO have factory default settings which correspond to the various servo drive control modes See section 1 5 However both the DI s and DO s can be programmed in...

Page 57: ...d below the setting value of P1 54 TQL Not assigned TQL is activated when the drive has detected that the motor has reached the torques limits ALRM ALL 28 27 ALRM is activated when the drive has detec...

Page 58: ...1 PINS 3 2 can TSPD when control mode S is selected 2 The DO signals that do not have pin numbers in Tables 3 B are not default DO signals If the users want to use these non default DO signals the us...

Page 59: ...que ON Position EMGS ALL 30 It should be contact b and normally ON or a fault ALRM will display NL CWL PT S T Sz Tz 32 Reverse inhibit limit It should be contact b and normally ON or a fault ALRM will...

Page 60: ...t on the settings of parameters P2 10 P2 17 Please refer to section 3 3 3 for details Table 3 D Source of Speed Command SPD1 SPD0 Parameter OFF OFF S mode analog input Sz mode 0 OFF ON P1 09 ON OFF P1...

Page 61: ...bled DI2 DI2 STOP 46 Motor stop SPD0 14 Speed command selection 0 DI3 DI3 DI3 DI3 SPD1 15 Speed command selection 1 DI4 DI4 DI4 DI4 TCM0 16 Torque command selection 0 DI3 DI3 DI3 DI3 DI5 TCM1 17 Torqu...

Page 62: ...please refer to section 3 3 1 Table 3 G Default DO signals and Control modes Signal DO Code Function PT S T Sz Tz PT S PT T S T SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 SON 02 Servo On ZSPD...

Page 63: ...O_5 35 Output the status of bit05 of P4 06 SDO_6 36 Output the status of bit06 of P4 06 SDO_7 37 Output the status of bit07 of P4 06 SDO_8 38 Output the status of bit08 of P4 06 SDO_9 39 Output the st...

Page 64: ...tput MON1 MON2 There are two kinds of pulse inputs Line driver input and Open collector input Max input pulse frequency of Line driver input is 500kpps and max input pulse frequency of Open collector...

Page 65: ...er It requires 5V power supply only Never apply a 24V power supply C4 2 High speed pulse input Line driver It requires 5V power supply only Never apply a 24V power supply Caution Ensure that the groun...

Page 66: ...rent 40mA Instantaneous peak current max 100mA C5 Wiring of DO signal for the use of internal power supply general load C6 Wiring of DO signal for the use of internal power supply inductive load C7 Wi...

Page 67: ...he use of internal power supply C10 Wiring of DI signal for the use of external power supply PNP transistor with multiple emitter fingers SOURCE Mode C11 Wiring of DI signal for the use of internal po...

Page 68: ...Chapter 3 Connections and Wiring Revision June 2010 3 31 C13 Encoder output signal Line driver C14 Encoder output signal Photocoupler C15 Encoder OCZ output Open collector Z pulse output...

Page 69: ...ia parameters P2 10 to P2 17 P2 36 and P2 18 to P2 22 and P 37 Please refer to the following Table 3 H for the settings Table 3 H User defined DI and DO signals Signal Name Pin No Parameter Signal Nam...

Page 70: ...Military Connector 3106A 20 29S CN2 Terminal Signal Identification Drive Connector Motor Connector PIN No Terminal Identification Description Military Connector Quick Connector Color 4 T Serial commu...

Page 71: ...e Connector CN3 Terminal Signal Identification PIN No Signal Name Terminal Identification Description 1 Grounding GND Ground 2 RS 232 data transmission RS 232 TX For data transmission of the servo dri...

Page 72: ...Chapter 3 Connections and Wiring Revision June 2010 3 35 3 5 2 Connection between PC and Connector CN3...

Page 73: ...iring diagrams in section 3 3 3 on page 3 24 and 3 25 2 Please refer to C3 C4 wiring diagrams in section 3 3 3 on page 3 24 and 3 25 3 Please refer to C9 C12 wiring diagrams SINK SOURCE mode in sectio...

Page 74: ...ne 2010 3 37 3 6 2 Speed Control Mode Please note 1 Please refer to C9 C12 wiring diagrams SINK SOURCE mode in section 3 3 3 on page 3 27 2 400W and below drives do not provide built in regenerative r...

Page 75: ...on June 2010 3 6 3 Torque Control Mode Please note 1 Please refer to C9 C12 wiring diagrams SINK SOURCE mode in section 3 3 3 on page 3 27 2 400W and below drives do not provide built in regenerative...

Page 76: ...itch between Monitor mode and Parameter mode SHIFT Key SHIFT Key Pressing SHIFT key can scrolls through parameter groups After a parameter is selected and its value displayed pressing SHIFT key can mo...

Page 77: ...y symbol will display for approximately one second 5 In monitor mode pressing MODE key can enter into parameter mode pressing the SHIFT key can switch parameter group and pressing UP or DOWN arrow key...

Page 78: ...al 32 bit data these two digits are used to show if the display is high byte or low byte Negative value display When the data is displayed in decimal format the most left two digits represent negative...

Page 79: ...LCD display will show ASDB2 first and then display the monitor status depending on the setting value of P0 02 For example if the setting value of P0 02 is 4 when the power is applied the monitor funct...

Page 80: ...from 5000 to 5000 pulses The following table lists the display examples of monitor value Display Message Description Dec Decimal display When the actual value is 1234 the display is 01234 Hex 16 bit D...

Page 81: ...above display methods are both available in monitor mode and parameter setting mode 3 All monitor variables are 32 bit data The users can switch to high byte or low byte and display format Dec or Hex...

Page 82: ...ion June 2010 4 7 4 4 General Function Operation 4 4 1 Fault Code Display Operation After entering the parameter mode P4 00 to P4 04 Fault Record press SET key to display the corresponding fault code...

Page 83: ...ired unit column the effected number will blink then changed using the UP and DOWN arrow keys The example display in Figure 4 4 is adjusted as 100 r min Step3 Press the SET key when the desired JOG sp...

Page 84: ...o 2 the digital output DO2 is activated When P4 06 is set to 7 the digital outputs DO1 DO2 and DO3 are both activated The parameter setting value of P4 06 is not retained when power is off After re po...

Page 85: ...atus of the digital inputs DI1 to DI9 the corresponding status will display on the servo drive LED display When the Bit is set to 1 it means that the corresponding digital input signal is ON Please al...

Page 86: ...status of the digital outputs DO1 to DO6 the corresponding status will display on the servo drive LED display When the Bit is set to 1 it means that the corresponding digital output signal is ON Plea...

Page 87: ...Chapter 4 Display and Operation 4 12 Revision June 2010 This page intentionally left blank...

Page 88: ...because the unassembled parts on motor shaft may easily disassemble during running and it may damage mechanical system or even result in personnel injury After removing the load or mechanical system...

Page 89: ...minate noise to the servo drive z Ensure that the external applied voltage to the drive is correct and matched to the controller Inspection during operation Control power is applied z Ensure that the...

Page 90: ...put terminals This will damage the AC servo drive 2 Main circuit wiring Connect power to the AC servo For three phase input power connection and single phase input power connection please refer to Sec...

Page 91: ...Encoder error Check if the wiring is correct Check if the encoder wiring CN2 of servo motor is loose or incorrect Corrective Actions Check if the users perform wiring recommended in the user manual Ex...

Page 92: ...eed to confirm that if all of the digital inputs DI1 DI9 are not set to Reverse inhibit limit NL The setting value of parameter P2 10 to P2 17 and P2 36 is not set to 22 If it is necessary to use Reve...

Page 93: ...rent Corrective Actions Check the wiring connections between the servo drive and motor Check if the circuit of the wiring is closed Remove the short circuited condition and avoid metal conductor being...

Page 94: ...peed unit r min After the desired JOG speed is set and then press SET key the drive will enter into JOG operation mode automatically STEP 3 The users can press UP and DOWN key to change JOG speed and...

Page 95: ...Chapter 5 Trial Run and Tuning Procedure 5 8 Revision June 2010 In the example below the JOG speed is adjusted from 20r min Default setting to 100r min...

Page 96: ...on is disabled DI7 P2 16 0 Disabled This DI function is disabled DI8 P2 17 0 Disabled This DI function is disabled DI9 P2 36 0 Disabled This DI function is disabled By default DI6 is the function of r...

Page 97: ...of speed command P1 09 is set to 30000 Input value command Rotation direction P1 10 is set to 1000 CW P1 11 is set to 30000 CCW STEP 3 1 The users can use DI1 to enable the servo drive Servo ON 2 If...

Page 98: ...the parameter value as shown on the right side 9 Select parameter value 1 Use UP key to cycle through the available settings 10 At this time the servo drive is ON and the right side display will appea...

Page 99: ...operation Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia J_load J_motor Then execute JOG operation again press MODE key once and press...

Page 100: ...Chapter 5 Trial Run and Tuning Procedure Revision June 2010 5 13 5 5 2 Load Inertia Estimation Flowchart...

Page 101: ...he frequency response settings of P2 31 P2 31 Auto Mode Stiffness Setting Default setting 80 In Auto mode and Semi Auto mode the speed loop frequency response settings are as follows 1 50Hz Low stiffn...

Page 102: ...servo drive will perform continuous adjustment for estimating the load inertia P1 37 again The servo drive will refer to the frequency response settings of P2 31 when estimating the system inertia P2...

Page 103: ...n bit0 of P2 33 is set to 1 it indicates that the system inertia estimation of semi auto mode has been completed and the measured load inertia value is saved and memorized in P1 37 automatically 2 If...

Page 104: ...tia The change of external force and the inertia ratio can not be too much In Auto Mode P2 32 is set to 1 the measured load inertia value will be saved automatically and memorized in P1 37 every 30 mi...

Page 105: ...an check the setting values of P2 44 and P2 46 If the setting value of P2 44 is not 0 it indicates that one resonance frequency exists in the system and then the users can read P2 43 i e the frequency...

Page 106: ...SDA B2 series servo drive provides three notch filters resonance suppression parameters for resonance suppression Two notch filters can be set to suppress the resonance automatically If the users do n...

Page 107: ...Gain Fixed Auto Mode Continuous Adjustment 1 P1 37 P2 00 P2 02 P2 04 P2 06 P2 25 P2 26 P2 49 P2 31 Auto Stiffness and Frequency response Level Continuous Adjusting every 30 minutes Semi Auto Mode Non...

Page 108: ...esponse and reduce position error When the setting value of KPP is higher the response to the position command is quicker the position error is less and the settling time is also shorter However if th...

Page 109: ...ing the noise of resonance is better However if the setting value is over high it may easily lead to the instability of speed loop and overshoot of machinery system The recommended setting value is as...

Page 110: ...Torque control mode for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC command Control of the internal torque mode is via the Digital In...

Page 111: ...Command Source of Position PT Control Mode The command source of P mode is external pulse train input form terminals There are three types of pulse input and each pulse type is with logic type positiv...

Page 112: ...s 125ns 125ns Line driver 500Kpps 0 5 s 1 s 2 s 2 s 1 s 1 s Low speed pulse Open collector 200Kpps 1 25 s 2 5 s 5 s 5 s 2 5 s 2 5 s Pulse specification Max input pulse frequency Voltage specification...

Page 113: ...ease refer to 3 6 1 6 2 2 Structure of Position Control Mode Basic Structure In order to pursue the goal of perfection in position control the pulse signal should be modified through position command...

Page 114: ...ultiple step electronic gear numerator setting Please refer to P2 60 P2 62 Please note 1 In PT mode the setting value of P1 44 can t be changed when the servo drive is enabled Servo On P1 45 GR2 Elect...

Page 115: ...filter parameter to improve this kind of situation For example assume that the electronic gear ratio is equal to 1 and the encoder pulse per revolution is 10000ppr if the electronic gear ratio is chan...

Page 116: ...Gain KPP parameter P2 00 and Position Feed Forward Gain PFG parameter P2 02 Or use Auto mode to adjust the gain of speed and position control block diagram automatically 1 Proportional Position Loop...

Page 117: ...ition loop response and reduce position error However if the setting value is over high it may generate vibration or noise P2 02 PFG Position Feed Forward Gain Communication Addr 0204H 0205H Default 5...

Page 118: ...ens the rotor of motor will oscillate At this time the users have to decrease the value of KPP until the rotor of motor stop oscillating When there is an external torque command interrupted over low K...

Page 119: ...S curve profile for speed control mode For the closed loop speed control ASDA B2 series servo drive provides gain adjustment function and an integrated PI or PDFF controller Besides two modes of tunin...

Page 120: ...The range of internal parameters is within 50000 50000 r min Setting value Range x Unit 0 1 r min For example if P1 09 is set to 30000 the setting value 30000 x 0 1 r min 3000 r min The speed command...

Page 121: ...ring acceleration and deceleration Using S curve filter can let the servo motor run more smoothly in response to a sudden speed command change Since the speed and acceleration curve are both continuou...

Page 122: ...ts rated motor speed The functions of parameters P1 34 P1 35 and P1 36 are each individual When P1 36 is set to 0 Disabled the settings of P1 34 P1 35 are still effective It indicates that the paramet...

Page 123: ...will not become disabled even when P1 36 is disabled NOTE 1 When the source of speed command is analog command the maximum setting value of P1 36 is set to 0 the acceleration and deceleration function...

Page 124: ...urve Filter for the smoothing in response to a sudden analog input signal Speed rpm 3000 3000 0 1 3 2 4 6 5 7 9 8 Time sec Motor Torque Analog speed command The analog speed command S curve filter is...

Page 125: ...lay Format DEC NOTE 1 If the setting value of parameter P1 06 is set to 0 it indicates the function of this parameter is disabled and the command is just By Pass SFLT Target Speed 6 3 4 Analog Speed I...

Page 126: ...e if P1 40 is set to 3000 and the input voltage is 10V it indicates that the speed command is 3000r min If P1 40 is set to 3000 but the input voltage is changed to 5V then the speed command is changed...

Page 127: ...n using this mode all auto and auxiliary function will be disabled Auto Mode Continuous adjustment of loop gains according to measured inertia with ten levels of system bandwidth The parameter set by...

Page 128: ...P2 04 and P2 06 will change to the value that measured in 1 auto tuning mode Explanation of semi auto tuning mode 1 After the system inertia becomes stable The display of P2 33 will show 1 it will st...

Page 129: ...nsation Communication Addr 020CH 020DH Default 100 Related Section Applicable Control Mode ALL Section 6 3 6 Unit rad s Range 0 1023 Data Size 16 bit Display Format DEC Settings This parameter is used...

Page 130: ...ck deviation When not using speed smooth command decrease gain can improve the resonance condition of mechanical system In theory stepping response can be used to explain proportional gain KVP integra...

Page 131: ...Chapter 6 Control Modes of Operation 6 22 Revision June 2010 Time Domain...

Page 132: ...torque shaft load input command tracking and torque shaft load have the same responsiveness when using frequency domain method and time domain method The users can reduce the responsiveness of input...

Page 133: ...ical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 24 is set to 0 this parameter is disabled The parameters P2 23 and P2 24 a...

Page 134: ...44 are the second group of notch filter parameters P2 44 DPH2 Notch Filter Attenuation Rate 2 Resonance Suppression Communication Addr 0258H 0259H Default 0 Related Section Applicable Control Mode AL...

Page 135: ...parameter is used to set magnitude of the resonance suppression that is set by parameter P2 45 If P2 46 is set to 0 the parameters P2 45 and P2 46 are both disabled P2 25 NLP Low pass Filter Time Con...

Page 136: ...4 and P2 46 manually If the resonance exists still after increasing the setting value of P2 44 and P2 46 please decrease the value of speed frequency response again and then use the resonance suppress...

Page 137: ...28 Revision June 2010 Settings of P2 47 Current Value Desired Value Function 2 2 Do not clear the setting value of P2 43 P2 46 and enable auto resonance suppression function continuously Flowchart of...

Page 138: ...crease 0dB BW Gain Frequency Notch Filter Usually if the users know the resonance frequency we recommend the users can eliminate the resonance conditions directly by using notch filter parameter P2 23...

Page 139: ...sonance Point Resonance Frequency When the low pass filter parameter P2 25 is adjusted from 0 to high value the value of Low pass frequency will become smaller see the figure on page 6 26 The resonant...

Page 140: ...nal analog signal Voltage between T REF GND 10 V T1 0 0 Mode Tz None Torque command is 0 0 T2 0 1 P1 12 300 T3 1 0 P1 13 300 T4 1 1 Internal parameter P1 14 300 State of TCM0 1 0 indicates OFF Normall...

Page 141: ...aneously As the current control block diagram is too complicated setting the parameters of current control block diagram is not allowed The function and structure of torque command processing is shown...

Page 142: ...Disabled Data Size 16 bit Display Format DEC NOTE 1 If the setting value of parameter P1 07 is set to 0 it indicates the function of this parameter is disabled and the command is just By Pass TFLT Ta...

Page 143: ...is set to 100 and the input voltage is 10V it indicates that the torque command is 100 rated torque If P1 41 is set to 100 but the input voltage is changed to 5V then the torque command is changed to...

Page 144: ...ontrol mode can be selected via the Digital Inputs DI Sz and Tz mode selection is not provided In order to avoid using too much DI inputs we recommend that the users can use external analog signal as...

Page 145: ...torque control mode selection is shown as the figure below In torque mode when S T is ON torque command is selected by TCM0 1 When switching to the speed mode when S T is OFF the speed command is sele...

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

Page 147: ...Control Mode ALL Section 4 3 5 Unit N A Range 00 77 Data Size 16 bit Display Format HEX Settings not used A CH1 B CH2 AB A CH1 B CH2 0 Motor speed 8 V maximum rotation speed 1 Motor torque 8 V maximum...

Page 148: ...MON1 MON2 A 2 MON1 MON2 A 3 MON1 MON2 Pulse output polarity B 0 Forward output B 1 Reverse output P1 04 MON1 Analog Monitor Output Proportion 1 CH1 Communication Addr 0108H 0109H Default 100 Related S...

Page 149: ...pps then it is needed to change the setting value of parameter P1 04 Analog Monitor Output Proportion 1 to 50 325Kpps Max input frequency Other related parameters setting include parameter P0 03 A 3 a...

Page 150: ...axis direction to reduce the large energy generated from servo motor Using electromagnetic brake can avoid the load may slip since there is no motor holding torque when power is off Without using elec...

Page 151: ...en SERVO OFF when DI SON is not activated the BRKR output goes Off electromagnetic brake is locked if the delay time set by P1 43 is not reached and the motor speed is still lower than the setting val...

Page 152: ...er and main circuit power L1 L2 Control Circuit Power 5V Control Circuit Power R S T Main Circuit Power BUS Voltage READY SERVO READY SERVO ON DI Input SERVO ON DO Output Position Speed Torque Command...

Page 153: ...Chapter 6 Control Modes of Operation 6 44 Revision June 2010 This page intentionally left blank...

Page 154: ...xx Abbreviation of control modes PT Position control mode command from external signal S Speed control mode T Torque control mode Explanation of symbols marked after parameter Read only register such...

Page 155: ...or 4 N A N A O O O 4 3 5 P0 13 CM5 Status Monitor 5 N A N A O O O 4 3 5 P0 17 CM1A Status Monitor Selection 1 0 N A P0 18 CM2A Status Monitor Selection 2 0 N A P0 19 CM3A Status Monitor Selection 3 0...

Page 156: ...ance Suppression 1000 Hz O O O 6 3 7 P2 24 DPH1 Notch Filter Attenuation Rate 1 Resonance Suppression 0 dB O O O 6 3 7 P2 43 NCF2 Notch Filter 2 Resonance Suppression 1000 Hz O O O 6 3 7 P2 44 DPH2 No...

Page 157: ...O O 6 3 6 P2 07 KVF Speed Feed Forward Gain 0 O O O 6 3 6 P2 26 DST External Anti Interference Gain 0 0 001 O O O P2 27 GCC Gain Switching Control Selection 0 N A O O O P2 28 GUT Gain Switching Time C...

Page 158: ...ulse Control Command PT mode P1 00 PTT External Pulse Input Type 0x2 N A O 6 2 1 P1 44 GR1 Electronic Gear Ratio 1st Numerator N1 1 pulse O 6 2 5 P1 45 GR2 Electronic Gear Ratio Denominator M 1 pulse...

Page 159: ...3rd Speed Command 1000 3000 0 1 r min O O 6 3 1 P1 12 P1 14 TQ1 3 1st 3rd Torque Limit 100 O O O 6 6 2 P1 40 VCM Max Analog Speed Command or Limit rated r min O O 6 3 4 P1 41 TCM Max Analog Torque Com...

Page 160: ...d r min O O O P1 09 P1 11 SP1 3 1st 3rd Speed Limit 1000 3000 r min O O 6 6 1 P1 12 P1 14 TQ1 3 1st 3rd Torque Command 100 O O O 6 4 1 P1 40 VCM Max Analog Speed Command or Limit rated r min O O P1 41...

Page 161: ...19 DO2 Digital Output Terminal 2 DO2 103 N A O O O Table 7 B P2 20 DO3 Digital Output Terminal 3 DO3 109 N A O O O Table 7 B P2 21 DO4 Digital Output Terminal 4 DO4 105 N A O O O Table 7 B P2 22 DO5 D...

Page 162: ...D Communication Time Out Detection 0 sec O O O 8 2 P3 05 CMM Communication Selection 0 N A O O O 8 2 P3 06 SDI Digital Input Communication Function 0 N A O O O 8 2 P3 07 CDT Communication Response Del...

Page 163: ...Setting N A O O O P4 14 TOF2 Analog Torque Drift Adjustment 2 Factory Setting N A O O O P4 15 COF1 Current Detector Drift Adjustment V1 phase Factory Setting N A O O O P4 16 COF2 Current Detector Dri...

Page 164: ...current servo drive fault if the servo drive is currently faulted The fault code is hexadecimal data but displayed in BCD format Binary coded decimal Servo Drive Fault Codes 001 Overcurrent 002 Overvo...

Page 165: ...oder data error 027 Encoder internal reset error 030 Motor protection error 031 U V W wiring error 099 DSP firmware upgrade P0 02 STS Drive Status Front Panel Display Address 0004H 0005H Default 00 Re...

Page 166: ...ute pulse number relative to encoder use Z phase as home The value of Z phase home point is 0 and it can be the value from 5000 to 5000 pulses P0 03 MON Analog Monitor Output Address 0006H 0007H Defau...

Page 167: ...ed Section N A Applicable Control Mode ALL Unit Hour Range 0 65535 Data Size 16 bit Display Format Decimal P0 09 CM1 Status Monitor 1 Address 0012H 0013H Default N A Related Section Applicable Control...

Page 168: ...s through communication setting or the keypad The drive status can be read from the communication address of this parameter via communication port When reading the drive status through the keypad if P...

Page 169: ...26 VAR 4 will quickly show for about two seconds and then the value of P0 12 will display on the display P0 13 CM5 Status Monitor 5 Address 001AH 001BH Default N A Related Section Applicable Control M...

Page 170: ...Unit N A Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the drive status found in P0 02 P0 19 CM3A Status Monitor Selection 3 Address 0026H 0027H Defa...

Page 171: ...e Control Mode ALL Section 4 3 5 Unit N A Range determined by the communication address of the designated parameter Data Size 32 bit Display Format Decimal Settings The function of this parameter is t...

Page 172: ...Servo ready Bit1 SON Servo On Bit2 ZSPD At Zero speed Bit3 TSPD At Speed reached Bit4 TPOS At Positioning completed Bit5 TQL At Torque limit Bit6 ALRM Servo alarm activated Bit7 BRKR Electromagnetic b...

Page 173: ...se type 0 AB phase pulse 4x Quadrature Input 1 Clockwise CW Counterclockwise CCW pulse 2 Pulse Direction 3 Other settings B Input pulse filter This setting is used to suppress or reduce the chatter ca...

Page 174: ...125ns Line driver 500Kpps 0 5 s 1 s 2 s 2 s 1 s 1 s Low speed pulse Open collector 200Kpps 1 25 s 2 5 s 5 s 5 s 2 5 s 2 5 s Pulse specification Max input pulse frequency Voltage specification Forward...

Page 175: ...00 01 Reserved 02 03 04 05 Multiple Mode 06 07 08 Reserved 09 Reserved 0A Single Mode PT Position control mode The command is from external pulse or analog voltage external analog voltage will be avai...

Page 176: ...irection 0 1 Forward Reverse P0 02 PSTL Speed and Torque Limit Address 0104H 0105H Default 00 Related Section Applicable Control Mode ALL Section 6 6 Table 7 A Unit N A Range 00 11 Data Size 16 bit Di...

Page 177: ...ect the command source of the speed and torque limit P1 03 AOUT Pulse Output Polarity Setting Address 0106H 0107H Default 0 Related Section Applicable Control Mode ALL Section 3 3 3 Unit N A Range 0 1...

Page 178: ...Section Applicable Control Mode S Section 6 3 3 Unit msec Range 0 1000 0 Disabled Data Size 16 bit Display Format Decimal P1 07 TFLT Smooth Constant of Analog Torque Command Low pass Filter Address 01...

Page 179: ...or Limit Address 0114H 0115H Default 2000 Related Section Applicable Control Mode S T Section 6 3 1 Unit 0 1 r min Range 50000 50000 Data Size 32 bit Display Format Decimal Settings 2nd Speed Command...

Page 180: ...arameter is used to set torque 1 of internal torque command 1st Torque Limit In Position and Speed mode this parameter is used to set torque limit 1 of internal torque command P1 13 TQ2 2nd Torque Com...

Page 181: ...Speed Limit In Position and Speed mode this parameter is used to set torque limit 3 of internal torque command P1 15 Reserved Do Not Use P1 16 Reserved Do Not Use P1 17 Reserved Do Not Use P1 18 Rese...

Page 182: ...ccurs please refer to the settings of parameter P1 06 P1 35 P1 36 to determine the deceleration time If the deceleration time is set to 1msec the motor will stop instantly P1 33 Reserved Do Not Use P1...

Page 183: ...speed command is analog command the maximum setting value of P1 36 is set to 0 the acceleration and deceleration function will be disabled P1 36 TSL Accel Decel S curve Address 0148H 0149H Default 0...

Page 184: ...cimal Settings Ratio of load inertia to servo motor inertia for Rotation Motor J_load J_motor J_load Total equivalent moment of inertia of external mechanical load J_motor Moment of inertia of servo m...

Page 185: ...cted the motor has reached the Target Motor Speed setting as defined in parameter P1 39 TSPD will remain activated until the motor speed drops below the Target Motor Speed P1 40 VCM Max Analog Speed C...

Page 186: ...input voltage is changed to 5V then the torque command is changed to 50 rated torque Torque Command Limit Input Voltage Value x Setting value of P1 41 10 P1 42 MBT1 On Delay Time of Electromagnetic B...

Page 187: ...set by P1 43 is a negative value it will not affect the operation of the motor A negative value of the off delay time is equivalent to one with a zero value P1 44 GR1 Electronic Gear Ratio 1st Numerat...

Page 188: ...50 N M 25600 Please note 1 In PT r mode the setting value of P1 45 can not be changed when the servo drive is enabled Servo On P1 46 GR3 Encoder Output Pulse Number Address 015CH 015DH Default 2500 R...

Page 189: ...d It is the speed command input by the users no Accel Decel not the frond end command of speed control loop The source of this command includes analog voltage and registers 2 Feedback Speed It is the...

Page 190: ...016AH 016BH Default Related Section Section 6 6 3 Applicable Control Mode ALL Unit Watt Range 30 3000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the capacity of th...

Page 191: ...warning the DO signal OLW will be activated If the setting value of parameter P1 56 exceeds 100 the function of parameter P1 56 is disabled tOL Permissible Time for Overload x the setting value of pa...

Page 192: ...ctivated when the setting value of P1 57 is reached after a period of time set by P1 58 P1 58 CRSHT Motor Protection Time Address 0174H 0175H Default 1 Related Section N A Applicable Control Mode ALL...

Page 193: ...motor very effectively Therefore it is recommended to use P1 06 Low pass Filter when the speed command from the external controller is applied for position control loop If the command is for speed co...

Page 194: ...ant of friction compensation P1 64 Reserved Do Not Use P1 65 Reserved Do Not Use P1 66 Reserved Do Not Use P1 67 Reserved Do Not Use P1 68 PFLT2 Position Command Moving Filter Address 0188H 0189H Defa...

Page 195: ...e Control Mode ALL Unit r min Range 0 6000 0 Disabled Data Size 16 bit Display Format Decimal Settings This parameter is used to optimize the encoder outputs OA OB When the users set the actual reache...

Page 196: ...ntrol Mode PT Section 6 2 8 Unit Range 10 500 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the position gain switching rate when the gain switching condition is satis...

Page 197: ...Control Mode ALL Section 6 3 6 Unit rad s Range 0 8191 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the speed loop gain When the value of proportional speed loop gai...

Page 198: ...n Address 020EH 020FH Default 0 Related Section Applicable Control Mode ALL Section 6 3 6 Unit Range 0 100 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the feed forwa...

Page 199: ...ut Control operation mode to normal Digital Output DO Control operation mode P2 09 DRT Bounce Filter Address 0212H 0213H Default 2 Related Section N A Applicable Control Mode ALL Unit 2msec Range 0 20...

Page 200: ...ept commands and signals through the external terminals or via the communication which is determined by parameter P4 07 P2 11 DI2 Digital Input Terminal 2 DI2 Address 0216H 0217H Default 104 Related S...

Page 201: ...Table 7 A Applicable Control Mode ALL Unit N A Range 0 015Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 16 DI7 Digital Input Terminal 7 DI7 Address 0220H 0...

Page 202: ...0 Normally closed contact b 1 Normally open contact a For example when P2 18 is set to 101 it indicates that the function of DO1 is SRDY Servo ready setting value is 0x01 and it requires a normally o...

Page 203: ...Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 18 for explanation P2 23 NCF1 Notch Filter 1 Resonance Suppression Address 022EH 022FH Default 1000 Related Section Appli...

Page 204: ...nd the parameters P2 43 and P2 44 are the second group of notch filter parameters P2 25 NLP Low pass Filter Time Constant Resonance Suppression Address 0232H 0233H Default 2 1kW and below models or Re...

Page 205: ...frequency is higher than the setting value of P2 29 4 Servo motor speed is higher than the setting value of P2 29 5 Gain switching DI Digital Input signal GAINUP is Off see Table 8 A 6 In position mo...

Page 206: ...s parameter is used to set the value of gain switching condition pulse error Kpps r min selected in P2 27 The setting value will be different depending on the different gain switching condition P2 30...

Page 207: ...op etc only Please note 1 Please set P2 30 to 0 during normal operation 2 When the communication control function is used ensure that P2 30 is set to 5 3 The setting value of P2 30 will return to 0 au...

Page 208: ...n switching mode 1 or 2 to 0 the servo drive will continuously estimate the system inertia save the measured load inertia value automatically and memorized in P1 37 Then set the corresponding paramete...

Page 209: ...ion of semi auto tuning mode has been completed The measured load inertia is memorized in P1 37 If P2 33 is reset to 0 the servo drive will perform continuous adjustment for estimating the load inerti...

Page 210: ...tion and actual motor position is over than the setting value of parameter P2 35 the servo fault Excessive Deviation AL009 will be activated P2 36 DI9 External Digital Input Terminal 9 DI9 Address 024...

Page 211: ...ction Applicable Control Mode ALL Section 6 3 7 Unit Hz Range 50 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set second resonance frequency of mechanical system It...

Page 212: ...m It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 45 is set to 0 this parameter is disabled P2 46 DPH3 Notch Filter Attenuation Rate 3...

Page 213: ...hen the mechanical system is not stable if the servo drive is restarted or P2 47 is set to 1 the servo drive will estimate the resonance suppression point again When P2 47 is set to 2 the servo drive...

Page 214: ...ode ALL Unit sec Range 0 1F Data Size 16 bit Display Format Decimal Settings Setting Value of P2 49 Cutoff Frequency of Speed Loop Feedback Hz 00 2500 01 2250 02 2100 03 2000 04 1800 05 1600 06 1500 0...

Page 215: ...0 available in PT mode only 0 CCLR is triggered by rising edge 1 CCLR is triggered bu level P2 51 Reserved Do Not Use P2 52 Reserved Do Not Use P2 53 KPI Position Integral Compensation Address 026AH 0...

Page 216: ...GNUM0 GNUM1 refer to Table 8 A When the GNUM0 GNUM1 are not defined the default of gear numerator value is set by P1 44 When the users wish to set the gear numerator value by using GNUM0 GNUM1 please...

Page 217: ...ress 0282H 0283H Default 0 Related Section N A Applicable Control Mode PT S Unit N A Range 0 0xFF Data Size N A Display Format N A Settings Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5...

Page 218: ...at the position when ZCLAMP conditions are satisfied 0 When the command source is an internal speed command the users can use ZCLAMP DI signal to stop the motor at the desire position and keep the the...

Page 219: ...nction 0 Disable NL CWL PL CCWL pulse input inhibit function In PT mode no matter NL or PL exists or not external position pulse command will be input into the servo drive 1 Enable NL CWL PL CCWL puls...

Page 220: ...on function Bit15 Bit14 Bit14 Bit15 Reserved Must be set to 0 P2 66 GBIT2 Special Function 2 Address 0284H 0285H Default 0 Related Section N A Applicable Control Mode PT S Unit N A Range 0 0x000F Data...

Page 221: ...ble Control Mode ALL Unit 0 1times Range 0 200 0 Data Size 16 bit Display Format Decimal Settings In semi auto tuning mode after the servo drive continuously perform the adjustment for a period of tim...

Page 222: ...drive is controlled by RS 232 485 communication each drive or device must be uniquely identified One servo drive only can set one address If the address is duplicated there will be a communication fau...

Page 223: ...Settings This parameter is used to set the communication protocol The alphanumeric characters represent the following 7 or 8 is the number of data bits N E or O refers to the parity bit Non Even or O...

Page 224: ...ata Size 16 bit Display Format Decimal Settings This parameter is used to set the maximum permissible time before detecting a fault due to communication time out When P3 04 is set to a value over than...

Page 225: ...settings of DI1 DI9 please refer to P2 10 P2 17 and P2 36 This parameter P3 06 also works in conjunction with the parameter P4 07 which has several functions Please see section 8 2 for details P3 07...

Page 226: ...3 H Monitor mode the value must be within the range from 0 through 3 0 Disabled i e disable monitor function 1 Reserved 2 High speed monitor mode The sampling time is 2000 times per second and 4 chan...

Page 227: ...01 ASH2 Fault Record N 1 Address 0402H 0403H Default 0 Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Settings This parameter...

Page 228: ...SET key to display the JOG speed The default value is 20 r min 2 Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed This also can be undertaken by using the SHIFT key to mo...

Page 229: ...de ALL Section 4 4 3 Unit N A Range 0 0xFF Data Size 16 bit Display Format Hexadecimal Settings The function of Digital Outout DO is determined by the DO setting value The user can set DO setting valu...

Page 230: ...internal software digital inputs SDI1 SDI9 corresponds to Bit0 Bit8 of P1 47 via communication upon software Please refer to P3 06 and section 8 2 for the setting method Read P4 07 Display the final...

Page 231: ...licable Control Mode ALL Section 4 4 5 Unit N A Range 0 0x1F Data Size 16 bit Display Format Hexadecimal Settings There is no difference when reading DO output signal via the drive keypad or the commu...

Page 232: ...Although these parameters allow the users to execute manual adjustment we still do not recommend the users to change the default setting value of these parameters P4 11 P4 19 manually Please note tha...

Page 233: ...s parameter P4 15 COF1 Current Detector Drift Adjustment V1 phase Address 041EH 041FH Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Di...

Page 234: ...Drift Adjustment W2 phase Address 0424H 0425H Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P...

Page 235: ...Related Section Applicable Control Mode ALL Section 6 4 4 Unit mV Range 800 800 Data Size 16 bit Display Format Decimal Settings Please note that when P2 08 is set to 10 the users cannot reset this p...

Page 236: ...er to add an offset value to analog speed input P4 24 LVL Undervoltage Error Level Address 0430H 0431H Default 160 Related Section N A Applicable Control Mode ALL Unit V rms Range 140 190 Data Size 16...

Page 237: ...e investigate Fault or Alarm if it does not clear or the fault description warrants closer inspection of the drive system Rising edge Triggered All Setting value 0x03 DI Name DI Function Description T...

Page 238: ...ing value 0x06 DI Name DI Function Description Trigger Method Control Mode CMDINV Command input reverse control When the drive is in the Position Speed and Torque mode and CMDINV is activated the moto...

Page 239: ...S1 S4 DI signal of CN1 Command No SPD1 SPD0 Command Source Content Range S External analog command Voltage between V REF and GND 10 V S1 OFF OFF Mode Sz None Speed command is 0 0 S2 OFF ON P1 09 S3 O...

Page 240: ...que Position mode switching OFF Torque mode ON Position mode Level Triggered P T Setting value 0x21 DI Name DI Function Description Trigger Method Control Mode EMGS Emergency stop It should be contact...

Page 241: ...02 is enabled Level Triggered PT S Setting value 0x37 DI Name DI Function Description Trigger Method Control Mode JOGU Forward JOG input When JOGU is activated the motor will JOG in forward direction...

Page 242: ...r Method Control Mode INHP Pulse inhibit input When the drive is in position mode if INHP is activated the external pulse input command is not valid Level Triggered PT NOTE 1 11 17 Single control mode...

Page 243: ...un as a fault alarm condition may exist Servo ON SON is ON with control power applied to the servo drive there may be a fault condition or not The servo is not ready to run Servo ready SRDY is ON wher...

Page 244: ...activated when the position error is equal and below the setting value of P1 54 Level Triggered PT Setting value 0x06 DO Name DO Function Description Trigger Method Control Mode TQL TQL is activated w...

Page 245: ...56 When overload accumulated time continuously overload time exceeds the value of tOL the overload warning signal will output i e DO signal OLW will be ON However if the accumulated overload time con...

Page 246: ...d Undervoltage these fault conditions Level Triggered All Setting value 0x13 DO Name DO Function Description Trigger Method Control Mode SNL SCWL Reverse software limit SNL is activated when the servo...

Page 247: ...x32 DO Name DO Function Description Trigger Method Control Mode SDO_2 Output the status of bit02 of P4 06 Level Triggered All Setting value 0x33 DO Name DO Function Description Trigger Method Control...

Page 248: ...x38 DO Name DO Function Description Trigger Method Control Mode SDO_8 Output the status of bit08 of P4 06 Level Triggered All Setting value 0x39 DO Name DO Function Description Trigger Method Control...

Page 249: ...ethod Control Mode SDO_D Output the status of bit13 of P4 06 Level Triggered All Setting value 0x3E DO Name DO Function Description Trigger Method Control Mode SDO_E Output the status of bit14 of P4 0...

Page 250: ...hree modes of communication RS 232 and RS 485 All aspects of control operation and monitoring as well as programming of the controller can be achieved via communication The two communication modes can...

Page 251: ...minimum communication cable should kept apart from high voltage wires If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 3m 9 84ft which will...

Page 252: ...ept apart from high voltage wires If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 15m 50ft which will ensure the correct and desired baud r...

Page 253: ...e there will be a communication fault This address is an absolute address which represents the servo drive on a RS 232 485 or CANbus network When the address of host external controller is set to 0xFF...

Page 254: ...splay fault and stop operating This parameter is used to determine the operating sequence once a communication fault has been detected If 1 is selected the drive will stop operating upon detection the...

Page 255: ...ftware If this parameter is set to 0 all commands are external and via CN1 if this parameter is set to FFFF hexadecimal all the DI signals are via communication upon software For example if P3 06 is s...

Page 256: ...0311H Monitor Mode Default 0000 Range 0 1000 Byte H Function Monitor mode Range 0 0 0 0 3 Setting H 0 Disabled i e disable monitor function 1 Reserve 2 High speed monitor mode The sampling time is 200...

Page 257: ...2 Code Description ASCII Mode Each 8 bit data is the combination of two ASCII characters For example a 1 byte data 64 Hex shown as 64 in ASCII consists of 6 36Hex and 4 34Hex The following table shows...

Page 258: ...n Protocol ASCII Mode STX Start character 3AH ADR Communication address 1 byte consists of 2 ASCII codes CMD Command code 1 byte consists of 2 ASCII codes DATA n 1 DATA 0 Contents of data n word n x 2...

Page 259: ...rs depends on the command code The available command codes and examples for AC servo drive are described as follows Command code 03H read N words The maximum value of N is 10 For example reading conti...

Page 260: ...H Upper bytes CRC Check High B3H Upper bytes Contents of second data address 0201H 40H Lower bytes CRC Check Low A3H Lower bytes CRC Check High D4H Upper bytes Command code 06H write 1 word For exampl...

Page 261: ...igh 99H Upper bytes CRC Check High 99H Upper bytes LRC ASCII Mode LRC Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADR to last data character then...

Page 262: ...for the next 8 bit byte of the command message Continue doing this until all bytes have been processed The final contents of the CRC register are the CRC value NOTE 1 When transmitting the CRC value...

Page 263: ...integer unsigned int crc_chk unsigned char data unsigned char length int j unsigned int reg_crc 0xFFFF while length reg_crc data for j 0 j 8 j if reg_crc 0x01 LSB bit 0 1 reg_crc reg_crc 1 0xA001 else...

Page 264: ...IER 0x01 interrupt as data in outportb PORT LCR inportb PORT LCR 0x80 the BRDL BRDH can be access as LCR b7 1 outportb PORT BRDL 12 outportb PORT BRDH 0x00 outportb PORT LCR 0x06 set prorocol 7 E 1 1...

Page 265: ...e next data will be written in new communication protocol 3 P4 05 JOG control of servo motor For the description refer to Chapter 7 4 P4 06 Force output contact control This parameter is for the users...

Page 266: ...ODBUS Communications Revision June 2010 8 17 Communication read out parameters for ASDA B2 series are including Group 0 P0 00 P0 46 Group 1 P1 00 P1 76 Group 2 P2 00 P2 67 Group 3 P3 00 P3 11 Group 4...

Page 267: ...Chapter 8 MODBUS Communications 8 18 Revision June 2010 This page intentionally left blank...

Page 268: ...fall inside the servo drive motor control panel or ventilation slots and holes As these will cause damage z Ensure the correct installation and the control panel It should be free from airborne dust h...

Page 269: ...ent or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value z Ensure to reset some parameters when the servo drive is off Please refer to Chap...

Page 270: ...is properly used in normal air conditioned environment Relay The contacts will wear and result in malfunction due to switching current The life of relay varies according to power supply capacity Ther...

Page 271: ...Chapter 9 Maintenance and Inspection 9 4 Revision June 2010 This page intentionally left blank...

Page 272: ...Motor error The motor does not match the drive They are not correctly matched for size power rating Regeneration error Regeneration control operation is in error Overload Servo motor and drive is ove...

Page 273: ...signal OLW will be activated and this fault message will display Encoder initial magnetic field error The magnetic field of the encoder U V W signal is in error Encoder internal error The internal mem...

Page 274: ...input command is unstable too much fluctuation 1 Ensure that input command frequency is stable too much fluctuation 2 Activate filter function Overvoltage Potential Cause Checking Method Corrective A...

Page 275: ...ting and specifications of regenerative resistor Correctly reset parameter again Overload Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load during continuous ope...

Page 276: ...on Reduce external applied load or re estimate the motor capacity Reserve Encoder error Position detector fault Potential Cause Checking Method Corrective Actions The wiring of encoder is in error 1 C...

Page 277: ...he drive has exceeded its rated load during continuous operation Check if there is overload or the motor current is too high Increase motor capacity or reduce load Short circuit at drive output Check...

Page 278: ...the wiring of encoder is in error Check if the recent fault records P4 00 P4 05 display on the drive keypad in accordance with the fault codes AL011 AL024 AL025 and AL026 Perform the corrective action...

Page 279: ...correctly please contact your distributor for assistance or contact with Delta Pre overload warning Potential Cause Checking Method Corrective Actions The drive is going to overload 1 Check the load...

Page 280: ...r wiring 4 If the error does not clear after all the above actions are done please contact your distributor for assistance or contact with Delta Encoder data error Potential Cause Checking Method Corr...

Page 281: ...tting may let the motor protection function not operate U V W wiring error Potential Cause Checking Method Corrective Actions The wiring connections of U V W for servo motor output and GND for groundi...

Page 282: ...cessive deviation Turn ARST DI signal ON to clear the fault or restart the servo drive Watch dog execution time out This fault message cannot be cleared Encoder error This fault message can be removed...

Page 283: ...an be removed automatically after input power phase lost problem is solved Pre overload warning Turn ARST DI signal ON to clear the fault or restart the servo drive Encoder initial magnetic field erro...

Page 284: ...n collector Max 200Kpps Pulse Type Pulse Direction A phase B phase CCW pulse CW pulse Command Source External pulse train Internal parameters Smoothing Strategy Low pass filter Electronic Gear Electro...

Page 285: ...At Speed reached At Positioning completed At Torques limit Servo alarm Servo fault activated Electromagnetic brake control Output overload warning Servo warning activated Protective Functions Overcurr...

Page 286: ...n speed the speed fluctuation rate is defined as Empty load rotation speed Full load rotation speed Rated rotation speed 3 TN system A power distribution system having one point directly earthed the e...

Page 287: ...1 0 49 0 49 0 47 0 65 0 75 0 43 0 53 Voltage constant KE mV r min 13 6 16 0 17 4 18 5 17 2 27 5 24 2 16 8 19 2 Armature resistance Ohm 9 30 2 79 1 55 0 93 0 42 1 34 0 897 0 20 0 13 Armature inductance...

Page 288: ...tors are used or when an oil seal is used to be fitted to the rotating shaft an oil seal model is used Approvals Footnote 1 Rate torque values are continuous permissible values at 0 40o C ambient temp...

Page 289: ...E mV r min 30 9 31 9 31 8 31 8 31 4 32 0 35 0 42 5 43 8 41 6 Armature resistance Ohm 0 57 0 47 0 26 0 174 0 119 0 052 0 077 1 06 0 82 0 43 Armature inductance mH 7 39 5 99 4 01 2 76 2 84 1 38 1 27 14...

Page 290: ...nectors are used or when an oil seal is used to be fitted to the rotating shaft an oil seal model is used Approvals Footnote 1 Rate torque values are continuous permissible values at 0 40o C ambient t...

Page 291: ...Chapter 11 Specifications 11 8 Revision June 2010 11 3 Servo Motor Speed Torque Curves...

Page 292: ...f Overload 1 Motor was operated for several seconds under a torque exceeding 100 torque 2 Motor had driven high inertia machine and had accelerated and decelerated at high frequency 3 Motor UVW cable...

Page 293: ...Chapter 11 Specifications 11 10 Revision June 2010 Medium and Medium High Inertia Series ECMA E2 F2 Series High Inertia Series ECMA G2 GM Series...

Page 294: ...0121 ASD B2 0221 ASD B2 0421 100W 400W WEIGHT 1 07 2 36 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric u...

Page 295: ...721 750W WEIGHT 1 54 3 40 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units Dimensions in imperial un...

Page 296: ...2 1521 1kW 1 5kW WEIGHT 1 72 3 79 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units Dimensions in imp...

Page 297: ...B2 3023 2kW 3kW WEIGHT 2 67 5 88 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units Dimensions in impe...

Page 298: ...3 LS without oil seal 20 27 27 27 32 30 30 LS with oil seal 20 24 24 24 5 29 5 30 30 LR 25 30 30 30 35 35 35 LE 2 5 3 3 3 3 3 3 LG 5 7 5 7 5 8 8 8 8 LW 16 20 20 20 25 20 20 RH 6 2 11 11 11 15 5 13 13...

Page 299: ...5 198 192 5 LS 47 47 47 47 37 LR 55 55 55 55 45 LE 6 6 6 6 5 LG 11 5 11 5 11 5 11 5 12 LW 36 36 36 36 32 RH 18 18 18 18 18 WK 8 8 8 8 8 W 8 8 8 8 8 T 7 7 7 7 7 TP M6 Depth 20 M6 Depth 20 M6 Depth 20 M...

Page 300: ...LL without brake 147 5 167 5 199 187 5 LL with brake 183 5 202 226 216 LS 47 47 37 47 LR 55 55 45 55 LE 6 6 5 6 LG 11 5 11 5 12 11 5 LW 36 36 32 36 RH 18 18 18 18 WK 8 8 8 8 W 8 8 8 8 T 7 7 7 7 TP M6...

Page 301: ...0 LL without brake 169 202 1 202 1 LL with brake 203 1 235 3 235 3 LS 73 73 73 LR 79 79 79 LE 4 4 4 LG 20 20 20 LW 63 63 63 RH 30 30 30 WK 10 10 10 W 10 10 10 T 8 8 8 TP M12 Depth 25 M12 Depth 25 M12...

Page 302: ...umber 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 C42...

Page 303: ...C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE L Title Part No mm inch 1 ASDBCAPW0203 3000 50 118 2 2 ASDBCAPW0205 5000 50 197 2 Delta Part Number ASDBCAPW0303 0305 Title Part No Manufacturer Housing...

Page 304: ...3000 50 118 2 2 ASD CAPW1205 3106A 20 18S 5000 50 197 2 Delta Part Number ASD CAPW1303 1305 L Title Part No Straight mm inch 1 ASD CAPW1303 3106A 20 18S 3000 50 118 2 2 ASD CAPW1305 3106A 20 18S 5000...

Page 305: ...No Straight mm inch 1 ASD CAPW2303 3106A 24 11S 3000 50 118 2 2 ASD CAPW2305 3106A 24 11S 5000 50 197 2 Encoder Connectors Delta Part Number ASDBCAEN0000 Title Part No Manufacturer Housing AMP 1 1721...

Page 306: ...rer Housing AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA L Title Part No mm inch 1 ASDBCAEN0003 3000 50 118 2 2 ASDBCAEN0005 5000 50 197 2 Delta Part Number ASDBCAEN1003 1...

Page 307: ...ARS0003 3000 100 118 4 Servo Drive Servo Motor and Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive ASD B2 0121 B Low inertia Servo Motor ECMA C20401 S Without Br...

Page 308: ...S ECMA CM0604PS ECMA C20804 7 Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASDBCAPW0203 Motor Power Cable ASDBCAPW0205 Motor Power Cable ASDBCAPW0303 Motor Power Cable ASDBCAPW0305 Cable Enc...

Page 309: ...Brake With Brake 3M 5M 3M 5M Motor Power Cable ASDBCAPW0203 Motor Power Cable ASDBCAPW0205 Motor Power Cable ASDBCAPW0303 Motor Power Cable ASDBCAPW0305 Cable Encoder Cable ASDBCAEN0003 Encoder Cable...

Page 310: ...21310 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1203 Motor Power Cable ASD CAPW1205 Motor Power Cable ASD CAPW1303 Motor Power Cable ASD CAPW1305 Cable Encoder Cable ASDBCAEN100...

Page 311: ...C21020 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1203 Motor Power Cable ASD CAPW1205 Motor Power Cable ASD CAPW1303 Motor Power Cable ASD CAPW1305 Cable Encoder Cable ASDBCAEN10...

Page 312: ...E21830 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW2203 Motor Power Cable ASD CAPW2205 Motor Power Cable ASD CAPW2303 Motor Power Cable ASD CAPW2305 Cable Encoder Cable ASDBCAEN1...

Page 313: ...Resistor 400W 100 BR400W040 Regenerative Resistor 3kW 10 BR1K0W020 NOTE 1 The boxes at the ends of the servo drive model names are for optional configurations Full closed loop CANopen and extension DI...

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