Delta ASD-B2-0121-F User Manual Download Page 104 | Manualshive

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ASDA-B2-F Control Mode of Operation

September, 2015

6-15

6

Relevant Parameters (Please refer to Chapter 7 for detailed description):

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 speed loop gain (KVP), speed integral
compensation (KVI) and speed feed forward gain (KVF). Descriptions of their basic principles are
provided from the aspects of frequency domain and time domain.

Frequency Domain

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Summary of Contents for ASD-B2-0121-F

Page 1: ...F Series User Manual Asia Delta Electronics Jiangsu Ltd Zhangjiagang Haina Automation Equipment Co Ltd Sales office No 11 Yuefeng Road Economic Development Zone Zhangjiagang Jiangsu China Mainland TEL...

Page 2: ...cost effective servo drive for application which requires multi axis motion control and can be operated via DMCNET high speed network Besides high response B2 F also supports absolute functions and mu...

Page 3: ...September 2015 This page is intentionally left blank...

Page 4: ...lection 2 5 2 7 Selection of Regenerative Resistor 2 7 Wiring 3 1 Connections 3 2 3 1 1 Connecting to Peripheral Devices 3 2 3 1 2 Connectors and Terminals of Servo Drive 3 3 3 1 3 Wiring Method 3 4 3...

Page 5: ...d Negative Sign Setting 4 7 4 3 5 Monitor Display 4 7 4 4 General Function 4 10 4 4 1 Operation of Fault Record Display 4 10 4 4 2 JOG Mode 4 11 4 4 3 Force DO Output 4 12 4 4 4 Digital Input Diagnosi...

Page 6: ...Structure of Speed Mode 6 11 6 3 3 Smooth Speed Command 6 12 6 3 4 Timing Diagram of Speed Mode 6 13 6 3 5 Gain Adjustment of Speed Loop 6 14 6 3 6 Resonance Suppression 6 18 6 4 Torque Mode 6 23 6 4...

Page 7: ...Box and Wiring Rods 10 3 10 1 1 Specifications 10 3 10 1 2 Battery Box Dimensions 10 5 10 1 3 Connection Cable for Absolute Encoder 10 6 10 1 4 Battery Box Cable 10 8 10 2 Installation 10 9 10 2 1 Ins...

Page 8: ...ccessories Power Connector B 2 Power Cable B 3 Encoder Connector B 5 Encoder Cable B 5 Encoder Cable Absolute Type B 6 Battery Box Cable AW B 7 Battery Box Cable IW B 7 Battery Box Absolute Type B 8 I...

Page 9: ...VI September 2015 This page is intentionally left blank...

Page 10: ...eplate and model type Suitable motor model for your servo drive can be found in the table of Chapter 1 3 111111111111111111111111111111111111111 11111 1 1 Inspection 1 2 1 2 Product Model 1 3 1 2 1 Na...

Page 11: ...e Check if there is any loose screw Make sure no screw is un tightened or fall off If any of the above situations happens please contact the distributors to solve the problems A complete and workable...

Page 12: ...21521F W 14 17 0001 ECMA Series Servo Motor 0 Nameplate Information Model Name Input Power Barcode Rated Speed and Rated Output INPUT VAC 110 A 1 55 Ins A C10602EST14330001 OUTPUT r min 3000 N m 0 64...

Page 13: ...4 2 1 F Product Name AC Servo Drive Series B2 Rate Output Power Input Voltage and Phase Model Type Code Spec Code Spec 01 100 W 10 1 kW 02 200 W 15 1 5 kW 04 400 W 20 2 kW 07 750 W 30 3 kW Code Volta...

Page 14: ...000 rpm E 220 V 2 000 rpm F 220 V 1 500 rpm G 220 V 1 000 rpm Encoder Type Code Spec 1 Incremental type 20 bit 2 Incremental type 17 bit 3 2500 ppr M Magnet type 13 bit code Spec code Spec 04 40 mm 10...

Page 15: ...C 0602 S 1 55 4 65 ASD B2 0221 F 1 55 4 65 400 ECMA C 0604 S 2 60 7 80 ASD B2 0421 F 2 60 7 80 400 ECMA C 0804 7 2 60 7 80 750 ECMA C 0807 S 5 10 15 30 ASD B2 0721 F 5 10 15 30 750 ECMA C 0907 S 3 66...

Page 16: ...s Regenerative Resistor 1 When using an external regenerative resistor connect P and C to the regenerative resistor and ensure that the circuit between P and C is open 2 When using the internal regene...

Page 17: ...Inspection and Model Explanation ASDA B2 F 1 8 September 2015 1 This page is intentionally left blank...

Page 18: ...t breaker fuse EMI filter selection and selection of regenerative resistor are also included 11111111111111111111111111111111111111111111 1111111 2 1 Notes 2 2 2 2 Ambient Conditions of Storage 2 2 2...

Page 19: ...65 C Store the product within a relative humidity range of 0 to 90 and a non condensing environment Avoid storing the product in the environment of corrosive gas and liquid It is better to store the p...

Page 20: ...ent space between adjacent object and the baffle is needed Ensure all ventilation holes are not obstructed Do not install the drive in a horizontal direction or malfunction and damage will occur Corre...

Page 21: ...C N 1 C N 2 C N 3 C N 6 20 mm 0 8 inches min 50 mm 2 0 inches min 100 mm 4 0 inches min 10 mm 0 4 inches min Air Flow Air Flow FAN FAN 40 mm 1 6 inches min C N 1 C N 2 C N 3 C N 6 C N 1 C N 2 C N 3 C...

Page 22: ...121 F RF007S21AA RF022M43AA N 2 200 W ASD B2 0221 F RF007S21AA RF022M43AA N 3 400 W ASD B2 0421 F RF007S21AA RF022M43AA N 4 750 W ASD B2 0721 F RF007S21AA RF022M43AA N 5 1000 W ASD B2 1021 F RF015B21A...

Page 23: ...rea should be as large as possible Motor Cable Selection and Installation Precautions The selection of motor cables and installation affect the performance of EMI Filter Please follow the precautions...

Page 24: ...ce 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 the applied val...

Page 25: ...8 17 40 40 8 42 1 0 ECMA E 1310 8 41 41 59 21 22 1 5 ECMA E 1315 11 18 55 29 25 58 2 0 ECMA E 1320 14 59 72 15 25 58 ECMA E 1820 34 68 171 49 25 58 3 0 ECMA E 1830 54 95 217 73 31 20 Medium High Inert...

Page 26: ...he motor is the same as the rotation direction However in some applications the direction of torque output is different from the rotation In this situation the motor is in reverse rotation The externa...

Page 27: ...ad inertia or speed The following is the calculation method m represents load motor inertia ratio Allowable frequency Allowable frequency when servo motor run without load m 1 x Rated speed Operating...

Page 28: ...149 144 109 400 W 40 217 If watt is not enough when using regenerative resistor connecting the same regenerative resistor in parallel can increase the power Dimensions of Regenerative Resistor Delta P...

Page 29: ...Installation ASDA B2 F 2 12 September 2015 2 This page is intentionally left blank...

Page 30: ...asic Wiring 3 11 3 2 1 200 W or models below withtout built in regenerative resistor nor fan 3 11 3 2 2 400 W 750 W models with built in regenerative resistor but no fan 3 12 3 2 3 1 kW 1 5 kW models...

Page 31: ...ase connect the P and C end of the servo drive to external regenerative resistor and the contact of P and D end should be opened If using the internal regenerative resistor please make sure the contac...

Page 32: ...contact between P and D and P and C should be opened P connects to the positive end of V_BUS voltage connects to the negative end of V_BUS voltage Ground terminal Connect to the ground wire of the po...

Page 33: ...ic contactor and self remaining power and is the contact of main power circuit Wiring Method of Single phase Supply suitable for 1 5 kW and models below 1 5 kW Servo Drive L1C L2C R S T Noise Filter M...

Page 34: ...C1040F S 50 W ECMA C 0401 S 100 W ECMA C 0602 S 200 W ECMA C 0604 S 400 W ECMA C 0604 H 400 W ECMA C 0804 7 400 W ECMA C 0807 S 750 W ECMA C 0807 H 750 W ECMA C 0907 S 750 W ECMA C 0910 S 1000 W with...

Page 35: ...and the length should be no longer than 30 m If the length exceeds 30 m please take the received voltage into consideration when selecting the wire size Please refer to Section 3 1 6 for wire rod sel...

Page 36: ...h is not drawn by the practical scale The specification will change subject to the selected servo drive and motor model 1 Please refer to the Section of Specification and Definition of Encoder Connect...

Page 37: ...d so on Please number the cores from the servo drive in order and then connect it to the encoder Servo Drive CN2 Motor Encoder 1 1 2 2 3 3 4 4 1 4 7 8 5 2 3 9 6 White Blue Brown White Red Shield DC 5V...

Page 38: ...1306 S 600 W ECMA F 1308 S 850 W ECMA G 1309 S 900 W ECMA C 1010 S 1000 W ECMA E 1310 S 1000 W ECMA F 1313 S 1300 W ECMA E 1315 S 1500 W ECMA F 1318 S 1800 W ECMA C 1020 S 2000 W ECMA E 1320 S 2000 W...

Page 39: ...1 3 AWG16 2 1 AWG14 3 3 AWG12 2 1 AWG14 ECMA F11313 S ECMA F11318 S ASD B2 3023 F ECMA C 1330 4 ECMA E 1830 S ECMA E 1835 S ECMA F 1830 S Servo Drive Model Encoder Wiring Wire Diameter mm 2 AWG Size...

Page 40: ...ectifier Circuit U V W CN2 GATE DRIVE CN1 Digital Intput Digital Output A B Output Serial Communication RS 232 Display MODE SHIFT SET CHARGE Encoder Servo Motor M Protection Circuit 3 3V Pha se Loss D...

Page 41: ...ircuit U V W CN2 GATE DRIVE CN1 Digital Intput Digital Output A B Output Serial Communication RS 232 Display MODE SHIFT SET CHARGE Encoder Servo Motor M Protection Circuit 3 3 V Pha se Loss Detection...

Page 42: ...2 GATE DRIVE CN1 Digital Input Digital Output A B Output Serial Communication RS 232 Display MODE SHIFT SET CHARGE Encoder Servo Motor M Protection Circuit 3 3 V Phase Loss Detection Regeneration Circ...

Page 43: ...Output A B Output Serial Communication RS 232 Display MODE SHIFT SET CHARGE Encoder Servo Motor M Protection Circuit 3 3 V Phase Loss Detection Regeneration Circuit Control Power 15 V 5 V 24 V C S T D...

Page 44: ...al output encoder signal A A B and B are also provided The followings are the pin diagrams CN1 Connector female Connector male Front View Rear View DO1 DO2 1 DO2 DO1 COM DI2 DI3 DI4 DI1 DI5 GND OB OA...

Page 45: ...eet different application requirements Basically default setting of DI DO signal has already have the appropriate function which can satisfy the demand of general application Refer to the following DI...

Page 46: ...occur The default setting of DI and DO in each operation mode is shown as the followings The table below is presented in a different way and the corresponding operation mode is put in the table in or...

Page 47: ...VDC DOX Servo Drive DOX DO1 12 13 DO2 14 15 DOX DOX DOX X 1 2 24 VDC 50 mA C2 Wiring of DO signal The servo drive applies to the external power and the resistor is inductive load DOX Servo Drive DOX...

Page 48: ...7 K Caution Do not apply to dual power or it may damage the servo drive C5 Encoder signal output Line driver C6 Encoder signal output Opto isolator 125 125 OA 7 OA 8 OB 9 OB 10 Controller Servo Drive...

Page 49: ...and DO1 2 is determined by parameter P2 10 P2 14 and parameter P2 18 P2 19 respectively Please refer to the following table Enter DI or DO code in the corresponding parameter to set up DI DO Signal N...

Page 50: ...Connect to the servo drive CN2 on drive side The terminal block of the connector and pin number are as follows A CN2 Connector View from this side 1 2 3 4 5 6 7 8 9 Rear view of the terminal block B E...

Page 51: ...n signal input output B 4 Blue Black 8 5V 5 V power supply S 7 Red Red White 6 7 GND Power ground R 8 Black Black White Shell Shielding Shielding L 9 The shielding procedures of CN2 encoder connector...

Page 52: ...low to avoid damage or danger caused by incorrect wiring Pin No Signal Name Terminal Symbol Function and Description 1 Grounding GND 5 V connects to the signal terminal 2 RS 232 data transmission RS 2...

Page 53: ...via parameter P3 00 and the transmission rate is up to 20 Mbps For connecting more than one drives it provides two sets of communication connectors one is for receiving and another is for transmission...

Page 54: ...erminating resistor is suggested to use 120 Ohm 0 25 W or above 2 The wiring method of concatenate more than one drives is based on two terminals of DMCNET One is for receiving and another one is for...

Page 55: ...hase differential signal B Phase differential signal Encoder pulse output 9 10 8 7 RS232_RX RS232_TX GND 5 6 4 3 1 2 CN3 CN6 DMCNET 9 11 10 12 13 14 15 16 Data Output DMCNET_1A DMCNET_1B DMCNET_2A DMC...

Page 56: ...1 Panel Description 4 2 4 2 Parameter Setting Procedure 4 3 4 3 Status Display 4 6 4 3 1 Save Setting Display 4 6 4 3 2 Decimal Point 4 6 4 3 3 Alarm Message 4 6 4 3 4 Positive and Negative Sign Sett...

Page 57: ...Monitor Mode SET Key Pressing the SET key can display and save the setting value In monitor mode pressing the SET key can switch decimal or hexadecimal display In parameter mode pressing the SET key c...

Page 58: ...turn to Alarm Mode automatically Please refer to Chapter 9 for detailed alarm description Parameter Mode Monitoring Mode Alarm Mode Power On MODE MODE MODE Please refer to Chapter 7 for parameters Ope...

Page 59: ...September 2015 4 Parameter Mode Monitoring Parameter P0 Basic Parameter P1 Extension Parameter P2 Communication Parameter P3 Diagnosis Parameter P4 Motion Control Parameter P5 Parameter Mode SHIFT SHI...

Page 60: ...arameter setting value Save the parameter setting value Then return to Parameter Mode Monitoring Alarm Mode MODE SET SHIFT SET SET SET MODE If no alarm occurs the Alarm Mode will be skipped Save the p...

Page 61: ...eter will be effective after the servo drive is re powered on Power On 4 3 2 Decimal Point Displayed Symbol Description Negative Sign No Function Low Byte High Byte High byte low byte indication When...

Page 62: ...tem will pre set the monitoring code according to the setting value of P0 02 For example the setting value of P0 02 is 4 Every time when applying to the power it will display C PLS monitor sign first...

Page 63: ...ter 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 parameter P0 2...

Page 64: ...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 in decimal for...

Page 65: ...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 recent error Th...

Page 66: ...JOG It is adjusted to 100 r min in the example 3 Press the SET Key to display JOG and enter JOG mode 4 When it is in JOG Mode press the UP or DOWN Key to enable the servo motor in forward or reverse d...

Page 67: ...P4 06 When the setting value is 2 it will force to enable DO2 When the setting value is 5 it will force to enable DO1 and DO3 No data is retained in this mode It returns to the normal DO mode when re...

Page 68: ...ignal will be shown on the panel It is displayed by bit When it shows bit it means the DI is ON For example if it shows 001E E is in hexadecimal format it will be 1110 when it transfers to binary form...

Page 69: ...DO2 is ON and the corresponding signal will be shown on the panel It is displayed by bit When it shows 1 it means the DO is ON For example if it shows 03 3 is in hexadecimal format it will be 0011 wh...

Page 70: ...5 2 Apply Power to the Servo Drive 5 3 5 3 JOG Trial Run without Load 5 7 5 4 Trial Run without Load Speed Mode 5 8 5 5 Tuning Procedure 5 10 5 5 1 Flowchart of Tuning Procedure 5 11 5 5 2 Inertia Est...

Page 71: ...uding sheetmetal such as screws or inflammable objects are not in the servo drive Make sure the control switch is OFF Do not place the servo drive or external regenerative resistor on inflammable obje...

Page 72: ...on Do not connect the power R S T to the output terminal U V W of the servo drive Or it might damage the servo drive B Power circuit of the servo drive Apply power to the servo drive Please refer to C...

Page 73: ...the input voltage from the main circuit is within the range of rated voltage Use the voltmeter to measure if the power system complies with the specifications 2 When the screen displays Warning of enc...

Page 74: ...check if any of the digital input DI1 DI5 is set to negative limit NL and that DI is ON Corrective action If not desire to set negative limit NL as one of the digital input make sure no digital input...

Page 75: ...on between the motor and servo drive Check if the conducting wire is short circuited Exclude short circuit and avoid metal conductors being exposed 7 When screen displays Warning of undervoltage Corre...

Page 76: ...Servo On the drive Set parameter P2 30 to 1 This setting is to force servo on the drive through software Step 2 Set P4 05 to JOG speed Unit r min After setting the desired JOG speed press the SET key...

Page 77: ...lse Clear DI2 2 DI3 P2 12 114 SPD0 Speed Selection DI3 3 DI4 P2 13 115 SPD1 Speed Selection DI4 4 DI5 P2 14 0 Disabled DI disabled DI5 5 The above table shows the settings that disable the function of...

Page 78: ...register Set parameter P1 09 to 30000 Input command Rotation direction Set parameter P1 10 to 1000 CCW Set parameter P1 11 to 30000 CW Step 3 1 Switch ON DI 1 and Servo On 2 Both DI 3 SPD0 and DI 4 SP...

Page 79: ...ODE key to select the mode of parameter function P2 30 14 Press the SHIFT key to select the mode of parameter group P4 00 15 Press the UP key to select parameter P4 05 P4 05 16 Press the SET key to sh...

Page 80: ...odel Trial run without load is OK Exit the control of the host controller Use the servo drive to perform trial run and estimate the inertia ratio Manual mode Semi auto mode Auto mode Connect to the ho...

Page 81: ...erse key to perform JOG Set JOG speed at 20 r min If it operates smoothly at constant speed Increase JOG speed which is 200 r min Alternately accelerate and decelerate the mechanical system View the p...

Page 82: ...inertia ratio is used for rotary motors Figure 5 3 Tuning procedure in auto mode Set P2 32 to 1 auto mode continuous tuning The servo will continue to estimate the system inertia Then it will automat...

Page 83: ...or a while and wait until the system inertia is stable it stops estimating The estimated inertia ratio will be saved to P1 37 When switching mode from manual or auto to semi auto the system starts tun...

Page 84: ...7 only until the system inertia is stable and stops the estimation of load inertia Servo off and set P2 32 to 2 Then Servo on again Set P0 02 to 15 The panel displays The inertia ratio The servo drive...

Page 85: ...No Yes Yes No Note 2 Note 1 Figure 5 6 Procedure of auto suppressing the resonance Note 1 Resonance suppression is determined by parameter P2 44 and P2 46 If the value has been set to the maximum 32 d...

Page 86: ...suppression and manual adjustment The servo issues the command to make motor accelerate decelerate alternatively High frequency resonance Yes Save the value of resonance frequency to P2 23 and set P2...

Page 87: ...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 P2 04 P2...

Page 88: ...frequency of position loop And it will have better following smaller position error and shorter settling time However if the value is set too high the machinery will vibrate or overshoot when positio...

Page 89: ...ease use this parameter to elimiate the noise of resonance The higher the value is the better the capability of reducing high frequency noise will be However if the value is set too big it would cause...

Page 90: ...6 3 6 2 2 S curve Filter Position 6 4 6 2 3 Electronic Gear Ratio 6 5 6 2 4 Low pass Filter 6 6 6 2 5 Gain Adjustment of Position Loop 6 6 6 2 6 Low frequency Vibration Suppression in Position Mode 6...

Page 91: ...d command can only be issued by register 3 sets of register in total and uses DI signal to select the register Torque Mode No analog input Tz 05 The servo drive receives torque command and commands th...

Page 92: ...re of Position Mode For better control the position command should be processed and modified through position command processing unit The structure is shown as the figure below Counter S curve Filter...

Page 93: ...tor will be influenced by friction and inertia when it starts or stops the rotation The situation can be improved by increasing the value of acceleration deceleration constant of S curve TSL accelerat...

Page 94: ...f travel distance The high electronic gear ratio would cause the position command to be stepped command S curve or low pass filter can be used to improve the situation When electronic gear ratio is se...

Page 95: ...and position feed forward gain P2 02 Users also can use the auto mode to automatically set the gain of speed and position control unit 1 Proportional gain Increase the gain so as to enhance the respon...

Page 96: ...s not enough the mechanical transmission will continue vibrating even when the motor stops and the positioning command is completed The function of low frequency vibration suppression can eliminate th...

Page 97: ...30 Note2 Yes No Yes Yes No No Yes Figure 6 4 Procedure of Auto Low frequency Vibration Suppression Note 1 When the value of P1 26 and P1 28 are both 0 it means it is unable to search for the frequenc...

Page 98: ...ression One is parameter P1 25 and P1 26 and the other one is parameter P1 27 and P1 28 These two sets of low frequency vibration suppression can be used to eliminate low frequency vibration with two...

Page 99: ...functions of load inertia estimation and parameter adjustment In auto mode parameters set by users will be regarded as default values 6 3 1 Selection of Speed Command The source of speed command is f...

Page 100: ...ve setting for smoothing speed command The speed control unit manages the gain parameters of the servo drive and calculates the current command for servo motor in time The resonance suppression unit i...

Page 101: ...ge during deceleration and acceleration deceleration constant of S curve TSL to improve the status of motor when it starts stops operating The calculation of the time to complete the command is provid...

Page 102: ...ease refer to Chapter 7 for detailed description Parameter Abbr Function P1 06 SFLT Acceleration Deceleration Smooth Constant of Speed Command Low pass Filter 6 3 4 Timing Diagram of Speed Mode Figure...

Page 103: ...ers are set by users and all auto or auxiliary functions will be disabled in this mode Auto General load inertia estimation is provided It can adjust the parameter automatically Its framework is divid...

Page 104: ...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 speed loop gain KVP speed integral compensation KV...

Page 105: ...too small To steady state following error the result is not as good as KVI But it helps to reduce the dynamic following error The bigger KVI value causes greater low frequency gain and shortens the ti...

Page 106: ...e 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 automatical...

Page 107: ...or Speed Control Unit Figure 6 9 Resonance Suppression There are two sets of notch filter for auto resonance suppression one is P2 43 resonance frequency and P2 44 attenuation rate and the other one i...

Page 108: ...resonance suppression 0 2 Clear the setting value of P2 43 P2 46 and enable the function of auto resonance suppression 1 0 Save the setting value of P2 43 P2 46 and disable the function of auto resona...

Page 109: ...44 0 the value of P2 44 should 1 If P2 46 0 the value of P2 46 should 1 Check if resonance has been improved Complete Drive the machine by servo system Check if resonance occurs Set P2 47 0 Check if r...

Page 110: ...nate the resonance The frequency setting range of the notch filter is merely from 50 to 1000 Hz The suppression strength is from 0 to 32 dB If the resonance frequency is not within the range it is sug...

Page 111: ...Gain Frequency When the value of low pass filter P2 25 is increased from 0 B W becomes smaller Although it improves the situation of resonance the response bandwidth and phase margin are reduced as w...

Page 112: ...e command source Torque Command DI Signal of CN1 Command Source Content Range TCM1 TCM0 T1 0 0 Mode Tz None Torque command is 0 0 T2 0 1 Parameter of internal register P1 12 300 300 T3 1 0 P1 13 300 3...

Page 113: ...nit manages the gain parameters of the servo drive 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...

Page 114: ...on Parameter Abbr Function P1 07 TFLT Smooth Constant of Torque Command Low pass Filter TFLT 6 4 4 Timing Diagram of Torque Mode Figure 6 13 Timing Diagram of Torque Mode Note 1 OFF means the contact...

Page 115: ...during the decelerating process to make the braking force of the brake and the motor remain in the same direction By doing so the drive decelerates normally due to the braking force from the brake If...

Page 116: ...5 Wiring of brake Note 1 Please refer to Chapter 3 for wiring 2 The brake signal controls the solenoid valve provides power to the brake and enables the brake 3 Please note that there is no polarity i...

Page 117: ...Control Mode of Operation ASDA B2 F 6 28 September 2015 6 This page is intentionally left blank...

Page 118: ...1 Parameter Definition 7 2 7 2 List of Parameters 7 3 7 3 Parameter Description 7 10 P0 xx Monitor Parameters 7 10 P1 xx Basic Parameters 7 22 P2 xx Extension Parameters 7 37 P3 xx Communication Para...

Page 119: ...itor parameters example P0 xx Group 1 Basic parameters example P1 xx Group 2 Extension parameters example P2 xx Group 3 Communication parameters example P3 xx Group 4 Diagnosis parameters example P4 x...

Page 120: ...s Monitor Register 3 Selection 0 P0 20 CM4A Status Monitor Register 4 Selection 0 P0 21 CM5A Status Monitor Register 5 Selection 0 P0 25 MAP1 Mapping Parameter 1 No need to initialize O O O 4 3 5 P0 2...

Page 121: ...Section DMC Sz Tz P1 06 SFLT Acceleration Deceleration Smooth Constant of Speed Command Low pass Filter 0 ms O 6 3 3 P1 07 TFLT Smooth Constant of Torque Command Low pass Filter 0 ms O 6 4 3 P1 08 PFL...

Page 122: ...2 0 5 Panel Software 2 5 Panel Software O O O 6 3 6 1 ms Commu nication 0 1 ms Commu ni cation P2 33 AUT3 Semi auto Inertia Adjustment 0 O O O P2 49 SJIT Speed Detection Filter 0B O O O Gain and Switc...

Page 123: ...P1 01 and P3 00 Parameters of no data retained setting e g P2 31 and P3 06 Position Control Parameter Parameter Abbr Function Default Unit Control Mode Related Section DMC Sz Tz P1 01 CTL Input Settin...

Page 124: ...g of Encoder Output OA OB 5500 r min O O O Torque Control Parameter Parameter Abbr Function Default Unit Control Mode Related Section DMC Sz Tz P1 01 CTL Input Setting of Control Mode and Control Comm...

Page 125: ...onal Planning 021 O O O Table 7 1 P2 18 DO1 DO1 Functional Planning 101 O O O Table 7 2 P2 19 DO2 DO2 Functional Planning 103 O O O Table 7 2 P1 38 ZSPD Zero Speed Range Setting 10 0 Panel Software 1...

Page 126: ...DMC Sz Tz P4 00 ASH1 Fault Record N 0 O O O 4 4 1 P4 01 ASH2 Fault Record N 1 0 O O O 4 4 1 P4 02 ASH3 Fault Record N 2 0 O O O 4 4 1 P4 03 ASH4 Fault Record N 3 0 O O O 4 4 1 P4 04 ASH5 Fault Record...

Page 127: ...status In Servo On status after the servo drive has been connected to R S T power the alarm will not be cleared automatically please refer to P2 66 018 Abnormal signal output 004 Motor combination err...

Page 128: ...rom the current position to Z The range of the value is between 5000 and 5000 The interval of the two Z phase pulse command is 10000 pulse 19 Mapping parameter 1 P0 25 20 Mapping parameter 2 P0 26 21...

Page 129: ...1 first and then shows the content of P0 09 P0 10 CM2 Status Monitor Register 2 Address 0014H 0015H Operational Interface Panel Software Communication Related Section 4 3 5 Default Control Mode ALL U...

Page 130: ...trol Mode Unit Range 0 127 Format DEC Data Size 16 bit Settings Please refer to the description of P0 02 for setting value For example If P0 17 is set to 07 then reading P0 09 means reading Motor Spee...

Page 131: ...ping Parameter 2 Address 0034H 0035H Operational Interface Panel Software Communication Related Section 4 3 5 Default No need to initialize Control Mode ALL Unit Range Determined by the corresponding...

Page 132: ...n 4 3 5 Default No need to initialize Control Mode ALL Unit Range Determined by the corresponding parameter of P0 41 Format HEX Data Size 32 bit Settings The using method is the same as P0 25 The mapp...

Page 133: ...writing P0 25 it also reads writes P1 44 Moreover users can also access the value of P2 02 and P2 04 through P0 25 P2 02 Position feed forward gain 16 bit P2 04 Speed control gain 16 bit Users only ne...

Page 134: ...tion 4 3 5 Default 0 Control Mode ALL Unit Range Determined by the communication address of the parameter group Format HEX Data Size 32 bit P0 40 MAP6A Target Setting of Mapping Parameter P0 30 Addres...

Page 135: ...ameter group Format DEC Data Size 32 bit Settings Same as parameter P0 09 P0 46 SVSTS Servo Digital Output Status Display Address 005CH 005DH Operational Interface Panel Software Communication Related...

Page 136: ...0065H Operational Interface Panel Software Communication Related Section Default 0 Control Mode ALL Unit Range 0x00 0x1F Format HEX Data Size 16 bit Settings Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1...

Page 137: ...6BH Operational Interface Panel Software Communication Related Section Default 0 Control Mode ALL Unit ms Range 0x0000 0x000F Format HEX Data Size 16 bit Settings X Filtering time for the 1 st monitor...

Page 138: ...Operational Interface Panel Software Communication Related Section Default 0 Control Mode ALL Unit Range 2147483648 2147483647 Format DEC Data Size 32 bit Settings If the value of parameter P0 09 cha...

Page 139: ...ode setting Direction control of torque output Not in use Control Mode Setting Sz Speed Control Mode Zero Speed Internal Speed Command It can be slected via DI SPD0 and DI SPD1 Tz Torque Control Mode...

Page 140: ...ock diagram of speed limit setting P1 09 1 P1 10 2 P1 11 3 Vref SPD0 SPD1 0 Speed Limit Command Disable Enable torque limit function 0 Disable torque limit function 1 Enable torque limit function It i...

Page 141: ...nal Interface Panel Software Communication Related Section 6 3 1 Default 1000 Control Mode Sz Internal Speed Command Tz Internal Speed Limit Unit 0 1 r min Range 60000 60000 Format DEC Data Size 32 bi...

Page 142: ...r min 1000 P1 12 TQ1 Internal Torque Command 1 Internal Torque Limit 1 Address 0118H 0119H Operational Interface Panel Software Communication Related Section 6 4 1 Default 100 Control Mode Tz Internal...

Page 143: ...ing internal torque limit Torque Limit Setting Value of P1 14 Allowbale Torque Range Forward Torque Limit Reverse Torque Limit 30 30 30 30 30 30 P1 15 P1 24 Reserved P1 25 VSF1 Low frequency Vibration...

Page 144: ...ational Interface Panel Software Communication Related Section 6 2 6 Default 0 Control Mode DMCNET Unit Range 0 1 Format DEC Data Size 16 bit Settings 0 The auto detection function is disabled 1 Set b...

Page 145: ...ously P1 33 Reserved 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 Sz Unit ms Range...

Page 146: ...4 and P1 35 Compensation function of following error is provided P1 36 0 P1 36 1 P 36 1 Smoothing function of S curve Disable Disable Enable Compensation function of following error Disable Enable Det...

Page 147: ...setting value the digital output will be enabled P1 40 P1 41 Reserved P1 42 MBT1 Enable Delay Time of Brake Address 0154H 0155H Operational Interface Panel Software Communication Related Section 6 5...

Page 148: ...se follow the rules for setting The setting of pulse input Range of command pulse input 1 50 Nx M 25600 Note The setting value cannot be changed when Servo On P1 46 GR3 Pulse Number of Encoder Output...

Page 149: ...Interface Panel Software Communication Related Section Default 0 Control Mode DMCNET Unit Range 0x0000 0x0011 Format HEX Data Size 16 bit Settings Control selection of digital output DO MC_OK DO code...

Page 150: ...mode when the deviation value between speed command and motor feedback speed is smaller than the range set by P1 47 and reaches the time set by P1 49 DO SP_OK DO code is 0x19 will be ON If the deviat...

Page 151: ...Size 32 bit Settings In DMCNET mode if the deviation pulse number is smaller than the setting range the setting value of parameter P1 54 DO TPOS is ON P1 55 MSPD Maximum Speed Limit Address 016EH 016...

Page 152: ...the function P1 58 CRSHT Motor Crash Protection protection time Address 0174H 0175H Operational Interface Panel Software Communication Related Section Default 1 Control Mode ALL Unit ms Range 1 1000...

Page 153: ...ction in the beginning and the end of step command but it will delay the command P1 69 P1 75 Reserved P1 76 AMSPD Maximum Rotation Setting of Encoder Output OA OB Address 0198H 0199H Operational Inter...

Page 154: ...n 6 2 5 Default 50 Control Mode DMCNET Unit Range 0 100 Format DEC Data Size 16 bit Settings If the position command is changed smoothly increasing the gain value can reduce the position error If the...

Page 155: ...nterface Panel Software Communication Related Section 6 3 5 Default 0 Control Mode ALL Unit Range 0 100 Format DEC Data Size 16 bit Settings If the speed command is changed smoothly increasing the gai...

Page 156: ...s normally opened a contact P2 10 P2 17 The setting value of function programmed When parameters are modified please re start the servo drive to ensure it can work normally Note Parameter P3 06 is use...

Page 157: ...ss 0224H 0225H Operational Interface Panel Software Communication Related Section Table 7 2 Default 101 Control Mode ALL Unit Range 0 0x013F The last two codes are DO code Format HEX Data 16 bit Setti...

Page 158: ...then it would be 5dB P2 25 NLP Low pass Filter of Resonance Suppression Address 0232H 0233H Operational Interface Panel Software Communication Related Section 6 3 6 Default 0 2 under 1 kW or 0 5 othe...

Page 159: ...s smaller than the setting value of P2 29 8 The speed of servo motor is slower than the setting value of P2 29 Gain switching method 0 Gain switching 1 Integrator switching P PI Setting Value Control...

Page 160: ...al Interface Panel Software Communication Related Section 5 6 6 3 5 Default 0 Control Mode ALL Unit Range 0 2 Format HEX Data Size 16 bit 0 Disable all the functions described below 1 Use the software...

Page 161: ...6 will be modified to the corresponding parameters in auto mode Description of semi auto mode setting 1 When the system inertia is stable the value of P2 33 will be 1 and the system stops estimating T...

Page 162: ...3 6 Default 0 Control Mode ALL Unit dB Range 0 32 0 Disable the function of notch filter Format DEC Data Size 16 bit Settings The second resonance suppression notch filter attenuation rate When this...

Page 163: ...unstable re power on for re estimation When switching to mode 0 from mode 2 or 1 the setting of P2 43 P2 44 P2 45 and P2 46 will be saved automatically P2 48 ANCL Resonance Suppression Detection Leve...

Page 164: ...t 4 Bit 3 Bit 2 Bit 1 Bit 0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 2 5 Bit 7 and Bit 14 Reserved Please set to 0 Bit 0 Bit 1 Reserved Bit 6 In DMCNET mode the switch of pulse error...

Page 165: ...ALM Bit 10 Bit 15 Reserved P2 67 JSL The Stable Level of Inertia Estimation Address 0286H 0287H Operational Interface Panel Software Communication Related Section Default 1 5 15 Control Mode ALL Unit...

Page 166: ...low warning 1 No overflow warning 0 Overflow warning AL289 PUU and AL062 pulse Bit 3 Bit 15 Reserved Must be set to 0 P2 71 CAP Absolute Position Homing Address 028EH 028FH Operational Interface Panel...

Page 167: ...nnot be set to 0xFF P3 01 BRT Transmission Speed Address 0302H 0303H Operational Interface Panel Software Communication Related Section Default 3203 Control Mode ALL Unit Bps Range 0x000 0x3405 Format...

Page 168: ...unction is enabled immediately If it is set to 0 this function will be disabled P3 05 CMM Communication Mechanism Address 030AH 030BH Operational Interface Panel Software Communication Related Section...

Page 169: ...can only monitor 2 channels L Sampling time of low speed monitoring Unit ms It means the axial status will be sent via USB every L ms So the controller can monitor the axial status Each monitoring mes...

Page 170: ...ion Default 0 Control Mode DMCNET Unit Range Shown as below Format HEX Data Size 16 bit Settings DMCNET synchronization setting is divided into X Y Z and U hexadecimal Item U Z Y X Function Undefined...

Page 171: ...ommuniation P parameters that mentioned in the following table will remain its original setting The value of DMCNET parameters will not be loaded in DMCNET Parameter P3 13 P3 16 Reserved DMCNET Parame...

Page 172: ...ss 0404H 0405H Operational Interface Panel Software Communication Related Section 4 4 1 Default 0 Control Mode ALL Unit Range Format HEX Data Size 32 bit Settings The last third abnormal status record...

Page 173: ...rmat HEX Data Size 16 bit Settings bit 00 correspond to DO code 0x30 bit 08 correspond to DO code 0x38 bit 01 correspond to DO code 0x31 bit 09 correspond to DO code 0x39 bit 02 correspond to DO code...

Page 174: ...ings There is no difference between reading via panel or communication P4 10 CEN Adjustment Selection Address 0414H 0415H Operational Interface Panel Software Communication Related Section Default 0 C...

Page 175: ...tment This parameter cannot be reset P4 18 COF4 Current Detector W2 Phase Offset Adjustment Address 0424H 0425H Operational Interface Panel Software Communication Related Section Default Factory defau...

Page 176: ...on time of P5 20 P5 35 For example If X is set to A then the deceleration time of PL is determined by P5 30 P5 04 P5 07 Reserved P5 08 SWLP Forward Software Limit Address 0510H 0511H Operational Inter...

Page 177: ...tion Default 500 Control Mode DMCNET Unit ms Range 1 65500 Format DEC Data Size 16 bit Settings Please refer to P5 20 for the setting of acceleration deceleration time in DMCNET mode P5 23 AC3 Acceler...

Page 178: ...mode P5 28 AC8 Acceleration Deceleration Time Number 8 Address 0538H 0539H Operational Interface Panel Software Communication Related Section Default 1500 Control Mode DMCNET Unit ms Range 1 65500 Fo...

Page 179: ...Section Default 8000 Control Mode DMCNET Unit ms Range 1 65500 Format DEC Data Size 16 bit Settings Please refer to P5 20 for the setting of acceleration deceleration time in DMCNET mode P5 34 AC14 Ac...

Page 180: ...Selection 1 4 Speed Command Number DI Signal of CN1 Command Source Content Range SPD1 SPD0 S1 0 0 Mode Sz N A Speed command is 0 0 S2 0 1 Internal Register Parameter P1 09 5000 r min S3 1 0 P1 10 500...

Page 181: ...inhibit limit contact b Level triggered ALL Setting Value 0x24 DI Name Function Description of Digital Input DI Trigger Method Control Mode ORGP In DMCNET mode if this DI is ON during the process of...

Page 182: ...Setting Value 0x04 DO Name Function Description of Digital Output DO Trigger Method Control Mode TSPD When the motor speed is faster than the target speed P1 39 this DO is ON Level triggered ALL Sett...

Page 183: ...overload error ALRM For example The setting value of pre overload warning is 60 P1 56 60 When the output average load of the servo drive is 200 if the output time exceeds 8 seconds the servo drive wil...

Page 184: ...Description of Digital Output DO Trigger Method Control Mode MC_OK When DO Cmd_OK and TPOS are both ON this DO is ON Please refer to P1 48 Level triggered DMCNET Setting Value 0x19 DO Name Function D...

Page 185: ...Parameters ASDA B2 F 7 68 September 2015 7 This page is intentionally left blank...

Page 186: ...ion for motion control network please refer to the description of DMCNET Information about character structures of ASCII and RTU mode are also provided in this chapter 12 8 1 RS 232 Communication Hard...

Page 187: ...the wiring description CN3 1394 Connector D Sub 9 Pin Connector 4 Rx 2 Tx 1 GND 3 Tx 2 Rx 5 GND Figure 8 1 Wiring of RS 232 Note 1 Use a 15 meter communication cable in environment for less interfere...

Page 188: ...r the communication of the servo drive The rest parameters such as P3 03 Communication Error Disposal P3 04 Communication Timeout Setting P3 06 Control Switch of Digital Input P3 07 Communication Resp...

Page 189: ...send 36H to represent 6 and 34H to represent 4 ASCII code for digits 0 to 9 and characters A to F are as follows Character 0 1 2 3 4 5 6 7 ASCII Code 30H 31H 32H 33H 34H 35H 36H 37H Character 8 9 A B...

Page 190: ...art character 3AH Slave Address Communication address 1 byte consists of 2 ASCII codes Function Function code 1 byte consists of 2 ASCII codes Data n 1 Data content n word n x 2 byte consists of n x 4...

Page 191: ...ultiple words The master issues command to the 1st slave and reads continuous 2 words starting from the start data address 0200H In response message from the slave the content of start data address 02...

Page 192: ...ore and after transmission in RTU mode 10 ms of silent interval is needed Example 2 function code 06H writing single word The master issues command to the 1st slave and writes data 0064H to address 02...

Page 193: ...99H High CRC Check High 99H High Note Before and after transmission in RTU mode 10 ms of silent interval is needed Example 3 function code10H writing multiple words The master issues command to the 1...

Page 194: ...ress 0 Slave Address 0 1 1 Function 1 Function 1 0 0 Start Data Address 0 Start Data Address 0 1 1 1 1 2 2 Data Number in word 0 Data Number 0 0 0 0 0 2 2 Data Number in byte 0 LRC Check D 4 A Content...

Page 195: ...t Data Address 01H High 12H Low 12H Low Data Number in word 00H High Data Number in word 00H High 02H Low 02H Low Data Number in byte 04H CRC Check Low E0H Low CRC Check High 31H High Content of the 1...

Page 196: ...Redundancy Check is for RTU mode LRC ASCII Mode The calculation of LRC is to add up all the byte round down the carry and take 2 s complement For example 7FH 03H 05H C4H 00H 01H 14CH round down carry...

Page 197: ...one bit and CRC register XOR A001H 4 Return to step 3 until step 3 has been executed for 8 times Go to step 5 5 Repeat the procedure from step 2 to step 4 until all byte is processed The content of CR...

Page 198: ...ine THR 0x0000 define RDR 0x0000 define BRDL 0x0000 define IER 0x0001 define BRDH 0x0001 define LCR 0x0003 define MCR 0x0004 define LSR 0x0005 define MSR 0x0006 unsigned char rdat 60 read 2 data from...

Page 199: ...Communications ASDA B2 F 8 14 September 2015 8...

Page 200: ...nication protocol the next data will be written with the new communication protocol after the new value is set P4 05 JOG control parameters For writing method please refer to chapter regarding paramet...

Page 201: ...Communications ASDA B2 F 8 16 September 2015 8 This page is intentionally left blank...

Page 202: ...apter provides alarm descriptions and corrective actions which users can refer to for troubleshooting 12 9 1 Alarm of Servo Drive 9 2 9 2 Alarm of DMCNET Communication 9 3 9 3 Alarm of Motion Control...

Page 203: ...d output frequency ALM OFF AL019 Serial communication error RS 232 communication is in error ALM OFF AL020 Serial communication timeout RS 232 communication timeout WARN ON AL022 Main circuit power la...

Page 204: ...ceeds the warning level But it is still within the protective range WARN N A AL069 Wrong motor type Incremental motor is not allowed to activate absolute functions ALM OFF AL070 Encoder does not compl...

Page 205: ...is smaller than reverse software limit The fault will be cleared automatically when the motor operates backwards WARN ON AL289 Feedback position counter overflows Feedback position counter overflows...

Page 206: ...allowable voltage value please refer to Appendix A Connect to the correct power supply or serial voltage regulator Wrong power input incorrect power system Use voltmeter to see if the power system ma...

Page 207: ...heck if the acceleration deceleration constant is set too fast 1 Adjust the gain value of the control circuit 2 Slow down the acceleration deceleration setting time Wrong wiring of the motor and the e...

Page 208: ...s OFF Causes Checking Method Corrective Actions The emergency stop button is pressed Check if the emergency stop button is enabled Release emergency stop button AL014 Reverse limit error Cleared by DI...

Page 209: ...damaged or there is no data in ROM Please send the drive back to the distributors or contact with Delta AL018 Abnormal signal output Cleared by DI ARST Causes Checking Method Corrective Actions The en...

Page 210: ...d of the encoder U V W signal is in error 1 Check if the servo motor is properly grounded 2 Check if the encoder cable is separated from the power supply or high current cable to avoid interference 3...

Page 211: ...ease send the drive back to the distributors or contact with Delta AL028 Encoder voltage error or the internal of the encoder is in error Cleared after re power on Causes Checking Method Corrective Ac...

Page 212: ...tion of the encoder is in error Cleared after re power on Causes Checking Method Corrective Actions Internal communication of the encoder is in error 1 Internal communication error of the absolute enc...

Page 213: ...again Please refer to the description of absolute coordinate initialization in Chapter 10 AL061 Encoder under voltage AL061 will be automatically cleared after new battery is installed Causes Checking...

Page 214: ...8 to 30 then 28 and this alarm can be cleared after re power on AL111 DMCNET SDO receives overflow Check if the controller receives sends one DMCNET SDO in 1 ms Causes Checking Method Corrective Actio...

Page 215: ...s over time N A If this alarm occurs please directly send the servo drive back to Delta without making any modification AL283 Forward software limit Issue alarm reset to clear this alarm Causes Checki...

Page 216: ...CNET is sent too fast 1 Check if the setting of P3 09 is reasonable It is better to use the default value 2 Check if the order of the controller is correct Issue alarm reset AL303 The synchronized sig...

Page 217: ...Troubleshooting ASDA B2 F 9 16 September 2015 9 This page is intentionally left blank...

Page 218: ...Dimensions 10 5 10 1 3 Connection Cable for Absolute Encoder 10 6 10 1 4 Battery Box Cable 10 8 10 2 Installation 10 9 10 2 1 Install Battery Box in Servo System 10 9 10 2 2 How to Install the Batter...

Page 219: ...incremental type motor and the related parameters of absolute system are enabled AL069 will occur When using an absolute motor as soon as it applies to the power the motor speed should not exceed 250...

Page 220: ...use new batteries only This is for avoiding losing electric energy or shortening the lifetime of new batteries Please follow the instructions when conduct wiring for battery box or danger may occur D...

Page 221: ...n the power consumption of an absolute encoder is 65 uA or lower if the voltage of the battery keeps 3 V or higher the expected battery life is about 21900 hr approximately 2 5 years Note Therefore th...

Page 222: ...bsolute System September 2015 10 5 10 10 1 2 Battery Box Dimensions Single battery box Delta Part Number ASD MDBT0100 Unit mm Weight 44 g Dual battery box Delta Part Number ASD MDBT0200 72 5 Unit mm W...

Page 223: ...osion Servo Drive Connector of encoder cable Connector of motor encoder Quick Connector Motor CN2 Connector Battery Box 1 View from this side Connector of motor encoder Connector of encoder cable The...

Page 224: ...100 197 4 Connection method Note Please follow the instructions below when conduct wiring Wrong wiring might result in explosion Military connector Servo Drive CN2 Connector Motor Battery box 1 A E B...

Page 225: ...Absolute System ASDA B2 F 10 8 September 2015 10 10 1 4 Battery Box Cable Battery Box Cable AW Delta Part Number 3864573700 Battery Box Cable IW Delta Part Number 3864811900...

Page 226: ...scale For different models of AC servo drive and motors the connection cables may differ Please refer to section 10 1 3 for the wiring of 1 and 2 3 Definition of CN2 connector Please follow the instru...

Page 227: ...iagram of connecting to a single battery box which is not drawn to scale For different models of AC servo drive and motors the connection cables may differ 1 Make sure the battery box is firmly fixed...

Page 228: ...e AW Note This is the wiring diagram of connecting to a dual battery box which is not drawn to scale For different models of AC servo drive and motors the connection cables may differ Please refer to...

Page 229: ...er cable ASDBCAEN0003 ASDBCAEN0005 ASDBCAEN1003 ASDBCAEN1005 1 Incremental type encoder cable ASDBCAEN0003 ASDBCAEN0005 ASDBCAEN1003 ASDBCAEN1005 1 CN4 3 CN4 3 Note This is the wiring diagram of conne...

Page 230: ...below Tighten the screws to secure the battery box Put the metal clip on connection cable Please note that the metal clip should be put close to the heat shrink Install a new battery and connect it to...

Page 231: ...ing after replacing a new battery Please refer to Chapter 9 for further information Note For avoiding data loss it is recommended to replace the new battery when the servo drive still has power supply...

Page 232: ...onnect the connector again Please complete it within 10 minutes so as to avoid data lose Cover the top cover back Place the cables toward the inner side of the box so that batteries can be both placed...

Page 233: ...2 STS Drive Status P0 49 UAP Renew Encoder Absolute Position P0 50 APSTS Absolute Coordinate System Status P0 51 APR Encoder Absolute Position Multiturn P0 52 APP Encoder Absolute Position Pulse numbe...

Page 234: ...bsolute encoder 2 Internal error of other type of encoder AL060 The absolute position is lost Due to battery undervoltage or the failure of power supply the encoder lost the internal record AL061 Enco...

Page 235: ...should be between 2147483648 and 2147483647 or AL289 will occur Apart from the alarms that mentioned above P2 70 can be used to setup Delta s absolute servo system AL062 and AL289 can be set not to sh...

Page 236: ...32767 and moves to the target position the value will turn to 32768 If it keeps rotating the sequence of the cycle number will be 32768 32767 32766 and so on and vice versa when rotating in clockwise...

Page 237: ...and AL289 When the motor rotates in forward direction and exceeds the range of PUU once the rotating number reaches 2147483647 the value will turn to 2147483648 If it keeps rotating the sequence of th...

Page 238: ...pulse or PUU As the motor stands still it still slightly moves forward and backward When P0 49 is set to 1 it will read the exact position where the motor stops without changing anything On the other...

Page 239: ...Absolute System ASDA B2 F 10 22 September 2015 10 This page is intentionally left blank...

Page 240: ...cations Appendix Specifications of ASDA B2 F Servo Drive A 2 Specifications of Servo Motors ECMA Series A 4 Torque Features T N Curves A 13 Overload Features A 15 Dimensions of Servo Drive A 17 Dimens...

Page 241: ...t 1280000 p rev Main Circuit Control SVPWM control Control Mode Manual Auto Regenerative Resistor None Built in Position Control Mode Command Source DMCNET mode Smoothing Strategy Low pass filter E Ge...

Page 242: ...on for DI input and DI functions of emergency stop forward reverse inhibit limit and homing Output A B Line Driver output Servo ready Servo on Zero speed reached Target speed reached Target position c...

Page 243: ...age 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 Electric C...

Page 244: ...ed Speed r min 3000 3000 Max Speed r min 5000 4500 Rated Current A 7 30 12 05 17 2 Max Instantaneous Current A 21 9 36 15 47 5 Max Power Rating kW s 38 1 90 6 71 8 Rotor Inertia 10 4 kg m 2 2 65 4 45...

Page 245: ...s are used or when an oil seal is used to be fitted to the rotating shaft an oil seal model is used Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temp...

Page 246: ...0 89 0 76 0 66 0 98 Voltage Constant KE mV r min 30 9 31 9 31 8 31 8 31 4 32 0 29 2 24 2 35 0 Armature Resistance Ohm 0 57 0 47 0 26 0 174 0 119 0 052 0 38 0 124 0 077 Armature Inductance mH 7 39 5 9...

Page 247: ...is used to be fitted to the rotating shaft an oil seal model is used Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature when attaching with th...

Page 248: ...ce Ohm 1 06 0 82 0 43 Armature Inductance mH 14 29 11 12 6 97 Electric Constant ms 13 55 13 55 16 06 Insulation Class Class A UL Class B CE Insulation Resistance 100 M DC 500 V Insulation Strength AC...

Page 249: ...40 C operating temperature when attaching with the following heat sink dimension ECMA _ _ 04 06 08 250 mm x 250 mm x 6 mm ECMA _ _ 10 300 mm x 300 mm x 12 mm ECMA _ _ 13 400 mm x 400 mm x 20 mm ECMA...

Page 250: ...ature Resistance Ohm 1 55 0 42 Armature Inductance mH 6 71 3 53 Electric Constant ms 4 3 8 36 Insulation Class Class A UL Class B CE Insulation Resistance 100 M DC 500 V Insulation Strength 1 8k Vac 1...

Page 251: ...n 0 40 C operating temperature when attaching with the following heat sink dimension ECMA _ _ 04 06 08 250 mm x 250 mm x 6 mm ECMA _ _ 10 300 mm x 300 mm x 12 mm ECMA _ _ 13 400 mm x 400 mm x 20 mm EC...

Page 252: ...C 0604 S ECMA C 0604 H ECMA C 0804 7 5000 3000 1 43 60 7 16 300 Speed r min 2 39 100 Torque N m Intermittent Duty Zone Continuous Duty Zone ECMA C 0807 S ECMA C 0807 H ECMA C 0907 S 3000 2000 7 14 298...

Page 253: ...ne ECMA E 1820 S 3000 2000 6 4 67 28 66 300 Speed r min 9 55 100 Torque N m Intermittent Duty Zone Continuous Duty Zone ECMA E 1830 S 3000 2000 9 59 67 42 97 300 Speed r min 14 32 100 Torque N m Inter...

Page 254: ...n of Overload Protection The overload protection is to prevent the motor from overheating Causes of Overload 1 The motor operates over the rated torque and the operation time is too long 2 The inertia...

Page 255: ...Appendix A Specifications ASDA B2 F A 16 September 2015 A Medium and Medium High Inertia Series ECMA E F Series High Inertia Series ECMA G GM Series...

Page 256: ...nsions of Servo Drive ASD B2 0121 F ASD B2 0221 F ASD B2 0421 F 100 W 400 W Weight 1 07 2 36 Note 1 Dimensions are in millimeters inches Weights are in in kilograms kg and pounds lbs 2 Dimensions and...

Page 257: ...REW TORQUE 14 kgf cm 5 0 1 9 163 4 6 43 152 5 98 GROUND 49 1 92 162 6 37 70 2 76 79 5 3 12 C N 1 C N 2 C N 3 C N 6 Weight 1 54 3 40 Note 1 Dimensions are in millimeters inches Weights are in in kilogr...

Page 258: ...A ASD B2 1021 F ASD B2 1521 F 1 kW 1 5 kW 152 5 98 6 0 2 3 162 6 37 Weight 1 72 3 79 Note 1 Dimensions are in millimeters inches Weights are in in kilograms kg and pounds lbs 2 Dimensions and weights...

Page 259: ...September 2015 A ASD B2 2023 F ASD B2 3023 F 2 kW 3 kW Weight 2 67 5 88 Note 1 Dimensions are in millimeters inches Weights are in in kilograms kg and pounds lbs 2 Dimensions and weights of the servo...

Page 260: ...6 37 LS 20 20 27 27 27 LR 25 25 30 30 30 LE 2 5 2 5 3 3 3 LG 5 5 7 5 7 5 7 5 LW 16 16 20 20 20 RH 6 2 6 2 11 11 11 WK 3 3 5 5 5 W 3 3 5 5 5 T 3 3 5 5 5 TP M3 Depth 8 M3 Depth 8 M4 Depth 15 M4 Depth 15...

Page 261: ...LS 27 32 32 30 30 LR 30 35 35 35 35 LE 3 3 3 3 3 LG 8 8 8 8 8 LW 20 25 25 20 20 RH 11 15 5 15 5 13 13 WK 5 6 6 5 5 W 5 6 6 5 5 T 5 6 6 5 5 TP M4 Depth 15 M6 Depth 20 M6 Depth 20 M5 Depth 15 M5 Depth...

Page 262: ...0 183 5 183 5 202 LS 37 37 47 47 47 47 LR 45 45 55 55 55 55 LE 5 5 6 6 6 6 LG 12 12 11 5 11 5 11 5 11 5 LW 32 32 36 36 36 36 RH 18 18 20 18 18 18 WK 8 8 8 8 8 8 W 8 8 8 8 8 8 T 7 7 7 7 7 7 TP M6 Depth...

Page 263: ...F 1313 S G 1303 S G 1306 S G 1309 S LC 130 130 130 130 130 130 LZ 9 9 9 9 9 9 LA 145 145 145 145 145 145 S 22 0 013 0 22 0 013 0 22 0 013 0 22 0 013 0 22 0 013 0 22 0 013 0 LB 110 0 035 0 110 0 035 0...

Page 264: ...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 Depth 25 Note 1 Dimensions...

Page 265: ...Appendix A Specifications ASDA B2 F A 26 September 2015 A This page is intentionally left blank...

Page 266: ...er Connector B 5 Encoder Cable B 5 Encoder Cable Absolute Type B 6 Battery Box Cable AW B 7 Battery Box Cable IW B 7 Battery Box Absolute Type B 8 I O Connector Terminal B 9 CN1 Convenient Connector B...

Page 267: ...Appendix B Accessories ASDA B2 F B 2 September 2015 B Power Connector Delta Part Number ASDBCAPW0000 Delta Part Number ASDBCAPW0100 Delta Part Number ASD CAPW1000 Delta Part Number ASD CAPW2000...

Page 268: ...ASDBCAPW0203 3000 50 118 2 2 ASDBCAPW0205 5000 50 197 2 Delta Part Number ASDBCAPW0303 0305 Title Part No L mm inch 1 ASDBCAPW0303 3000 50 118 2 2 ASDBCAPW0305 5000 50 197 2 Delta Part Number ASDBCAP...

Page 269: ...50 118 2 2 ASDBCAPW1305 3106A 20 18S 5000 50 197 2 Delta Part Number ASD CAPW2203 2205 Title Part No Straight L mm inch 1 ASD CAPW2203 3106A 24 11S 3000 50 118 2 2 ASD CAPW2205 3106A 24 11S 5000 50 19...

Page 270: ...Part Number ASDBCAEN1000 Encoder Cable Delta part number ASDBCAEN0003 0005 Title Part No L mm inch 1 ASDBCAEN0003 3000 50 118 2 2 ASDBCAEN0005 5000 50 197 2 Delta Part Number ASDBCAEN1003 1005 Title P...

Page 271: ...lute Type Delta Part Number ASD B2EB0003 ASD B2EB0005 Title Model Name L mm inch 1 ASD B2EB0003 3000 100 118 4 2 ASD B2EB0005 5000 100 197 4 Delta Part Number ASD B2EB1003 ASD B2EB1005 Title Model Nam...

Page 272: ...ASDA B2 F Appendix B Accessories September 2015 B 7 B Battery Box Cable AW Delta Part Number 3864573700 Battery Box Cable IW Delta part number 3864811900...

Page 273: ...Appendix B Accessories ASDA B2 F B 8 September 2015 B Battery Box Absolute Type Single Battery Box Delta Part Number ASD MDBT0100 Unit mm Dual Battery Box Delta Part Number ASD MDBT0200 Unit mm...

Page 274: ...ix B Accessories September 2015 B 9 B I O Connector Terminal Delta Part Number ASDBCNDS0044 Delta Part Number ASD CNDS0015 CN1 Convenient Connector Delta Part Number ASD IF DS1516 D SUB 15 PIN PLUG D...

Page 275: ...September 2015 B PC Connection Cable Delta Part Number ASD CNUS0A08 Title Part No ASD CNUS0A08 cable L 3000 100 mm 118 4 inch connector RJ connector RJ 45 USB connector A type USB V2 0 Terminal Block...

Page 276: ...C 0401 S Motor Power Cable without brake ASDBCAPW020X Power Connector without brake ASDBCAPW0000 Motor Power Cable with brake ASDBCAPW030X Power Connector with brake ASDBCAPW0100 Incremental Encoder C...

Page 277: ...gh inertia Motor ECMA C 0604 H Motor Power Cable without brake ASDBCAPW020X Power Connector without brake ASDBCAPW0000 Motor Power Cable with brake ASDBCAPW030X Power Connector with brake ASDBCAPW0100...

Page 278: ...Power Cable without brake ASDBCAPW120X Motor Power Cable with brake ASDBCAPW130X Power Connector ASD CAPW1000 Incremental Encoder Cable ASDBCAEN100X Absolute Encoder Cable ASD B2EB100X Encoder Connect...

Page 279: ...vo Drive ASD B2 1021 F Low inertia Motor ECMA F 1308 S Motor Power Cable without brake ASDBCAPW120X Motor Power Cable with brake ASDBCAPW130X Power Connector ASD CAPW1000 Incremental Encoder Cable ASD...

Page 280: ...rive ASD B2 1021 F Medium inertia Motor ECMA E 1310 S Motor Power Cable without brake ASDBCAPW120X Motor Power Cable with brake ASDBCAPW130X Power Connector ASD CAPW1000 Incremental Encoder Cable ASDB...

Page 281: ...nertia Motor ECMA C 1020 S Motor Power Cable without brake ASDBCAPW120X Motor Power Cable with brake ASDBCAPW130X Power Connector ASD CAPW1000 Incremental Encoder Cable ASDBCAEN100X Absolute Encoder C...

Page 282: ...ium high inertia Motor ECMA F 1313 S Motor Power Cable without brake ASDBCAPW120X Motor Power Cable with brake ASDBCAPW130X Power Connector ASD CAPW1000 Incremental Encoder Cable ASDBCAEN100X Absolute...

Page 283: ...e without brake ASD CAPW220X Motor Power Cable with brake ASD CAPW230X Power Connector ASD CAPW2000 Incremental Encoder Cable ASDBCAEN100X Absolute Encoder Cable ASD B2EB100X Encoder Connector ASDBCAE...

Page 284: ...September 2015 C 1 Maintenance and Inspection Appendix Basic Inspection C 2 Maintenance C 3 The Lifetime of Machinery Parts C 3...

Page 285: ...ted Make sure the wiring is correct so as to avoid damage or any irregularity Check if the electrically conductive objects such as screws sheet metal or inflammable objects are not inside the servo dr...

Page 286: ...citor DC bus capacitor will be deteriorated by the affection of ripple current Its lifetime is determined by the surrounding temperature and operating conditions If it is operating in an air condition...

Page 287: ...Appendix C Basic Inspection and Maintenance ASDA B2 F C 4 September 2015 C This page is intentionally left blank...

Page 288: ...2 3 4 5 6 1 Company Name 2 Category 3 Series 4 Type Abbr Type AN Application Note C Catalogue UM User Manual User Guide MM Maintenance Manual OM Operation Manual PM Programming Manual I Instruction S...

Page 289: ...Revision History ASDA B2 F 2 September 2015 Date of Release Version Revised Chapter Section Revision September 2015 V1 0 First version...

Page 290: ...18 Related Alarms Forward limit error AL015 9 2 9 7 Forward software limit AL283 9 4 9 14 Reverse limit error AL014 9 2 9 7 Reverse software limit AL285 9 4 9 14 DI signal HOME 0x09 7 66 DI signal ORG...

Page 291: ...Resonance suppression 6 11 6 18 6 22 Resonance suppression with notch filter 6 21 Tuning mode and parameters 5 18 Speed Mode Control structure of speed mode 6 11 DI signal SPD0 SPD1 0x14 0x15 7 63 DO...

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