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Delta ASDA-A3 Series, User Manual

The Delta ASDA-A3 Series User Manual is an essential resource for understanding and operating this exceptional product. Easily downloadable and free of charge, it provides comprehensive instructions and insights. Visit our website to access the manual and enhance your experience with the Delta ASDA-A3 Series.

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12-1 

 
CANopen Mode

 

This chapter provides details for the required parameter settings when the servo 

communicates with the controller through the CANopen communication function.

 

                                                                                                                                                                                                 

 

12.1    Basic configuration ·········································································· 12-2 

12.1.1    Supported functions ································································· 12-2 

12.1.2    Hardware configuration ···························································· 12-3 

12.1.3    Parameter settings of CANopen mode ········································· 12-4 

12.2    Communication specification ····························································· 12-5 

12.2.1    Servo communication architecture ·············································· 12-5 

12.2.2    Communication objects ···························································· 12-6 

12.2.2.1    Process data object (PDO) ············································· 12-7 

12.2.2.2    Service data object (SDO) ·············································· 12-8 

12.2.2.3    SDO abort codes ························································· 12-11 

12.2.2.4    Synchronization object (SYNC) ······································ 12-12 

12.2.2.5    Emergency object (EMCY) ············································ 12-13 

12.2.2.6    NMT services ····························································· 12-14 

12.3    CANopen operation mode ································································ 12-17 

12.3.1    Profile Position Mode ······························································ 12-17 

12.3.2    Interpolation Position Mode ······················································ 12-21 

12.3.3    Homing Mode ········································································ 12-24 

12.3.4    Profile Velocity Mode ······························································ 12-26 

12.3.5    Profile Torque Mode································································ 12-28 

12.4    Object dictionary ············································································ 12-30 

12.4.1    Specifications for objects ························································· 12-30 

12.4.2    List of objects ········································································ 12-31 

12.4.3    Details of objects ··································································· 12-33 

12.4.3.1    OD 1XXXh communication object group ··························· 12-33 

12.4.3.2    OD 2XXXh servo parameter group ·································· 12-48 

12.4.3.3    OD 6XXXh communication object group ··························· 12-49 

12.5    Diagnostics and troubleshooting ························································ 12-84 

 

 

Summary of Contents for ASDA-A3 Series

Page 1: ... A de C V Mexico Offi Vía Dr Gustavo Baz No 2160 Colonia La Loma 54060 Tlalnepantla Estado de Mexico TEL 52 55 2628 3015 3050 3052 EMEA Headquarters Delta Electronics Netherlands B V Sales Sales IA EMEA deltaww com Marketing Maketing IA EMEA deltaww com Technical Support iatechnicalsupport deltaww com Customer Support Customer Support deltaww com Service Service IA emea deltaww com TEL 31 0 40 800...

Page 2: ...tomatic tuning function is more user friendly and allows you to complete tuning easily In addition you can use the gain adjustment function to improve the performance of the drive Its compact design can reduce the space required inside the cabinet The smaller design of the new generation of the ECM A3 series servo motor can also meet the need to reduce equipment structures size and weight How to u...

Page 3: ...ere or fatal injuries to personnel if the instructions are not followed Warning May cause moderate injury to personnel or lead to severe damage or even malfunction of the product if the instructions are not followed Absolutely prohibited activities May cause serious damage or even malfunction of the product if the instructions are not followed Inspection Installation Wiring Please follow the instr...

Page 4: ...er connecting the servo motor to the equipment it may damage the equipment and lead to personnel injury In order to reduce the danger it is strongly recommended that you check if the motor can operate normally without load first Then try operating the motor with load Do not touch the heat sink of the servo drive during operation or it may cause burns Do not touch the internal parts of the servo dr...

Page 5: ...ching the terminals Do not repeatedly turn the power on and off If it is necessary to turn the power on and off make sure that you wait one minute at least before turning the power on or off again When wiring the servo drive please remove the terminal blocks from the servo drive Insert only one electric wire per terminal socket When inserting the electric wires do not short circuit the adjacent co...

Page 6: ... space 2 4 2 4 Safety precautions for using motors 2 6 2 4 1 Troubleshooting for the motor operation and status 2 8 2 4 2 Mounting directions and precautions for the servo motor 2 9 2 4 3 Precautions for using oil seal servo motors 2 10 2 4 4 Precautions for using couplings 2 10 2 4 5 Oil and water prevention measures for the servo motor 2 11 2 4 6 Measures to suppress temperature increase of the ...

Page 7: ...ing the CN1 quick connector for wiring 3 37 3 4 Wiring for the CN2 encoder connector 3 42 3 5 Wiring for the CN3 connector RS 485 high speed communication 3 45 3 6 CN4 serial connector Mini USB 3 47 3 7 CN5 connector for machine position feedback applicable to full closed loop 3 48 3 8 CN6 connector 3 49 3 8 1 DMCNET communication connector for wiring 3 49 3 9 CN10 STO connector Safe torque off 3 ...

Page 8: ... display 4 10 4 4 2 Force DO on 4 11 4 4 3 Digital input diagnosis operation 4 12 4 4 4 Digital output diagnosis operation 4 12 4 5 Testing 4 13 4 5 1 Testing without load 4 13 4 5 2 Apply power to A3 servo drive 4 14 4 5 3 JOG trial run without load 4 19 4 5 4 Trial run without load Speed mode 4 21 4 5 5 Trial run without load Position mode 4 23 Tuning Tuning 5 1 Tuning procedure and the applied ...

Page 9: ...ratio 6 9 6 2 6 Low pass filter 6 10 6 2 7 Timing diagram of PR mode 6 10 6 2 8 Gain adjustment of the position loop 6 11 6 2 9 Low frequency vibration suppression in Position mode 6 13 6 3 Speed mode 6 15 6 3 1 Selecting the Speed command source 6 15 6 3 2 Control structure of Speed mode 6 16 6 3 3 Smooth Speed command 6 17 6 3 4 Scaling of the analog command 6 19 6 3 5 Timing diagram of Speed mo...

Page 10: ...metic operation Statement 7 36 7 1 4 Overview of the PR procedure 7 39 7 1 5 Trigger methods for the PR command 7 46 7 1 6 PR procedure execution flow 7 50 7 2 Application of motion control 7 66 7 2 1 Data array 7 66 7 2 2 High speed position capture function Capture 7 70 7 2 3 High speed position compare function Compare 7 74 7 3 E Cam 7 78 7 3 1 Source signal for the master axis 7 79 7 3 2 Clutc...

Page 11: ...ication 9 1 RS 485 communication interface hardware 9 2 9 2 RS 485 communication parameter settings 9 3 9 3 MODBUS communication protocol 9 4 9 4 Setting and accessing communication parameters 9 15 9 5 RS 485 communication specification 9 16 Absolute System 10 1 Battery box absolute type and wiring 10 3 10 1 1 Specifications 10 3 10 1 2 Battery box dimensions 10 4 10 1 3 Connection cable for the a...

Page 12: ... 11 10 11 3 Linear encoder 11 11 11 4 Hall sensor 11 12 11 4 1 Hall sensor phase sequence checking 11 13 11 5 Position signal converter box 11 13 11 6 Parameter setting 11 14 11 6 1 Total weight mover load 11 14 11 6 2 E Gear ratio 11 14 11 6 3 Limit setting 11 14 11 6 4 Initial magnetic field current detection 11 15 11 6 5 Overload gain 11 15 CANopen Mode 12 1 Basic configuration 12 2 12 1 1 Supp...

Page 13: ... 12 84 Troubleshooting 13 1 Alarm list 13 3 General type 13 3 STO type 13 5 Communication type 13 5 Motion control type 13 6 13 2 Causes and corrective actions 13 7 Specifications A 1 ASDA A3 series servo drive A 2 A 1 1 Specification of the ASDA A3 servo drive A 2 A 1 2 Dimensions of the servo drive A 5 A 2 ECM A3 series servo motor A 7 A 2 1 ECM A3L low inertia series servo motor A 9 A 2 2 ECM A...

Page 14: ... cable absolute type B 8 B 6 Battery box cable AW B 9 B 7 Battery box absolute type B 9 B 8 I O connector B 10 B 9 Terminal block module B 11 B 10 CANopen communication cable B 11 B 11 CANopen distribution box B 12 B 12 Ferrite ring B 12 B 13 A3 A2 conversion cable B 13 B 14 A3 CN3 RS 485 B 14 B 15 A3 CN3 RS 485 CANOpen terminal resistor B 14 B 16 A3 CN6 DMCNET terminal resistor B 15 B 17 CN4 Mini...

Page 15: ... This page is intentionally left blank ...

Page 16: ... find a suitable motor model for your A3 servo drive in the table in Section 1 3 1 1 Components of the servo set 1 2 1 2 Model overview 1 3 1 2 1 Nameplate information 1 3 1 2 2 Model explanation 1 5 1 3 ASDA A3 servo drive and motor 1 9 1 4 Description of the drive interface 1 10 1 4 1 A3 L models 1 10 1 4 2 A3 M models 1 11 1 4 3 A3 F models 1 12 ...

Page 17: ...converter box optional purchase 6 A 26 pin connector for the communication type converter box optional purchase 7 A 50 pin connector for CN1 optional purchase 8 A 6 pin connector for CN2 optional purchase 9 An RJ45 connector for CN3 which you use for general RS 485 and high speed CANopen communication optional purchase 10 A 4 pin connector for CN4 Mini USB connector optional purchase 11 Power supp...

Page 18: ...el name Capacity specification Applicable power supply Rated power output Barcode Firmware version Serial number A30421L0 T 15 07 0006 1 2 3 4 5 1 Model name 2 Manufacturing plant T Taoyuan W Wujiang 3 Year of production 15 year 2015 4 Week of production from 1 to 52 5 Serial number production sequence in a week starting from 0001 ...

Page 19: ...ction 14 year 2014 4 Week of production from 1 to 52 5 Serial number production sequence in a week starting from 0001 ECMC series servo motor Nameplate information Model name Applicable power supply Rated power output Barcode Serial number CW1010RS T 16 07 0001 1 2 3 4 5 1 Model name 2 Manufacturing plant T Taoyuan W Wujiang 3 Year of production 16 year 2016 4 Week of production from 1 to 52 5 Ser...

Page 20: ...age and phase 21 220V single three phase 23 220V three phase 5 Model type Code Pulse input RS 485 CANopen Full closed loop control Analog voltage control DMCNET E CAM STO L M F Note columns with an means that this function is going to be added Code Specification Code Specification Code Specification 01 100 W 07 750 W 20 2 0 kW 02 200 W 10 1 0 kW 30 3 0 kW 04 400 W 15 1 5 kW ...

Page 21: ... 000 rpm 6 Encoder type Y 24 bit absolute optical encoder resolution of single turn 24 bit resolution of multiple turns 16 bit 1 24 bit single turn absolute optical encoder G 16 bit single turn absolute magnetic encoder 2 24 bit single turn absolute magnetic optical encoder A 24 bit absolute magnetic optical encoder resolution of single turn 24 bit resolution of multiple turns 16 bit Note models w...

Page 22: ... 7 specific 14 mm 11 Special code 1 standard products Code Specification Code Specification 0F 50 W 04 400 W 01 100 W 07 750 W 02 200 W w o brake w o oil seal with brake w o oil seal w o brake with oil seal with brake with oil seal Round shaft with fixed screw holes C D Keyway with fixed screw holes P Q R S ...

Page 23: ... Encoder type W 22 bit absolute encoder resolution of single turn 22 bit resolution of multiple turns 16 bit 5 Motor frame size 10 100 mm 13 130 mm 18 180 mm 6 Rated power output 7 Shaft type and oil seal 8 Shaft diameter S standard Code Specification Code Specification 08 850 W 18 1 8 kW 10 1 0 kW 20 2 0 kW 13 1 3 kW 30 3 0 kW 15 1 5 kW w o brake w o oil seal with brake w o oil seal w o brake wit...

Page 24: ...E 1 1310 2 3 5 6 16 8 1500 ECMC E 1 1315 2 3 8 3 24 9 ASD A3 1521 8 30 35 36 2000 ECMC E 1 1320 2 3 11 01 33 ASD A3 2023 13 40 53 03 2000 ECMC E 1 1820 2 3 11 22 33 7 3000 ECMC E 1 1830 2 3 16 1 48 3 ASD A3 3023 19 40 70 71 ECMC F 1500 rpm Three phase 3000 ECMC F 1 1830 2 3 19 4 58 2 High inertia ECM A3H 3000 rpm Single three phase 50 ECM A3H C 1 040F 2 3 1 0 64 2 59 ASD A3 0121 0 9 3 54 100 ECM A...

Page 25: ...ion ports 10 Heat sink for securing the servo drive and heat dissipation 5 CN1 I O signal interface connects to PLC and controls I O 11 CN5 Position feedback connector 6 CN2 Encoder connector connects to the encoder 12 UVW motor power output connects to the motor power connector UVW Do not connect to the main circuit power Incorrect wiring will cause damage to the servo drive 13 Regenerative resis...

Page 26: ...ation 5 CN1 I O signal interface connects to PLC and controls I O 12 CN5 Position feedback connector 6 CN2 Encoder connector connects to the encoder 13 UVW motor power output connects to the motor power connector UVW Do not connect to the main circuit power Incorrect wiring will cause damage to the servo drive 7 Ground terminal connects to the ground wire for the power and servo motor 14 Regenerat...

Page 27: ... sink for securing the servo drive and heat dissipation 5 CN1 I O signal interface connects to PLC and controls I O 11 CN5 Position feedback connector 6 CN2 Encoder connector connects to the encoder 12 UVW motor power output connects to motor power connector UVW Do not connect to the main circuit power Incorrect wiring will cause damage to the servo drive 13 Regenerative resistor Install the exter...

Page 28: ...leshooting for the motor operation and status 2 8 2 4 2 Mounting directions and precautions for the servo motor 2 9 2 4 3 Precautions for using oil seal servo motors 2 10 2 4 4 Precautions for using couplings 2 10 2 4 5 Oil and water prevention measures for the servo motor 2 11 2 4 6 Measures to suppress temperature increase of the servo motor 2 12 2 5 Specifications for the circuit breaker and fu...

Page 29: ... storage conditions Before installation this product must be kept in the shipping carton In order to retain the warranty coverage and for maintenance follow the instructions below for storage While the product is temporarily not in use Store the product in an ambient temperature range of 20 C 4 F to 65 C 149 F Store the product in a relative humidity range of 0 to 90 RH non condensing Avoid storin...

Page 30: ...ation the suggested temperature of the operating environment should be under 45 C 113 F to ensure the servo drive s performance Mount the product vertically in the distribution board see the illustration of the correct mounting direction in Section 2 3 and install a fan on the board for heat dissipation Ensure that the temperature for the clearance of 5 cm 1 97 inches beneath and on both sides of ...

Page 31: ...he wall Incorrect mounting direction may result in malfunction For better ventilation and cooling allow sufficient clearance space between the AC servo drive and the adjacent objects and the wall or overheating may result in machine malfunction Do not block the ventilation holes of the servo drive and do not mount it in the incorrect direction or it may result in machine malfunction Correct Incorr...

Page 32: ...ons on the diagrams One servo drive Multiple servo drives Servo drive model Cooling method Minimum distance d corresponding to the operating temperature Ta Considering the assembly tolerances the servo drive requires a minimum clearance of 1 mm ASD A3 0121 ASD A3 0221 ASD A3 0421 Natural cooling ASD A3 0721 ASD A3 1021 ASD A3 1521 ASD A3 2023 ASD A3 3023 ASD A3 4523 ASD A3 5523 ASD A3 7523 ASD A3 ...

Page 33: ...n and apply rustproof oil every three months if storing the motor for more than six months Ensure that the environmental conditions for storing the servo motor conform to the specifications in the instruction sheet The encoder attached to the motor is easily damaged take the necessary steps to avoid electromagnetic interference vibration and abnormal temperature changes Wiring If the current excee...

Page 34: ...ll another safety device for stopping the machine When the built in brake is clamping the motor rotation backlash can still occur and the maximum rotation is 1 to 2 When a motor with a brake is operating the brake lining sometimes generates a noise a swishing or clicking sound which is caused by the structure of brake module not a malfunction It will not affect the motor s function When using a se...

Page 35: ... damage to the encoder 2 Remove and shake the motor to see if there is any abnormal noises disk damage 3 Visually inspect the encoder s rear cover for dust encoder damage Replace the servo motor When the servo motor is overheating Possible causes Checking methods Handling measures Mounting surface of the servo motor has poor thermal conductivity Measure the temperatures of the servo motor frame an...

Page 36: ...seals in the vertical direction When wiring you need to install an oil trap marked as 1 in the figure on the left to prevent vapor from entering the motor When installing the servo motor in a machine such as in a gearbox you must adhere to the measures in Section 2 4 5 to prevent oil and gas from entering the servo motor Vertical shaft end down If you are using a servo motor with an oil seal refer...

Page 37: ...ted to use flexible couplings specifically designed for servo motors especially double spring couplings which provide some buffer tolerance during eccentric motion and deflection Please select couplings of appropriate size for the operating conditions Improper use or connection may cause damage 1 The rustproof coating or oil on the motor shaft must be wiped off 2 If you use a servo motor with a ke...

Page 38: ... and radial load are within specifications Refer to the specifications for the maximum axial load N and maximum radial load N for each servo motor 2 4 5 Oil and water prevention measures for the servo motor Follow the precautions below and do not allow water oil or other foreign matter to enter the servo motor 1 Do not submerge the cable in oil or water 1 Servo motor 2 Oil 1 The distance is measur...

Page 39: ...itions such as size of the heat sink provided in the specifications of each servo motor type 2 The heat generated during the motor operation is dissipated to the heat sink through the motor mounting surface Therefore if the surface area of the heat sink is too small the temperature of the servo motor may increase abnormally 3 If it is difficult to apply large heat sinks in the operating environmen...

Page 40: ...delay if the system ground wire may contain DC electricity 5 Use the fuse and circuit breaker that comply with the UL CSA standard 2 6 Ferrite ring The removable or round shaped ferrite ring is usually made of Mn Zn ferrite The impedance of the ferrite ring varies with frequency Normally its impedance is relatively small to low frequency signals however when the frequency of the signal increases t...

Page 41: ... also happen due to electrical interference caused by unstable electric potential The ferrite ring causes eddy current losses to high frequency signals and transforms them into heat when suppressing common mode interference The ferrite ring acts as a low pass filter to effectively suppress high frequency noise and ensure the stability of the circuit while the impedance to low frequency signals is ...

Page 42: ...stallation structure or wiring Delta servo products are designed in accordance with the specifications of the EMC test Refer to the following diagram for the standard installation Servo drive R S T EMI filter R S U V W MCCB P1 P2 T L1C L2C CN1 CN2 U shape saddle U shape saddle U shape saddle Controller U shape saddle STO Safety relay Motor Encoder Shielding box 1 1 1 1 1 1 Note 1 Use shielded wire...

Page 43: ...SD A3 0721 EMF023A21A EMF10AM23A 1000 W ASD A3 1021 EMF023A21A EMF10AM23A 1500 W ASD A3 1521 EMF023A21A EMF24AM23B 2000 W ASD A3 2023 EMF24AM23B 3000 W ASD A3 3023 EMF24AM23B Note in the servo drive model column represents the model code General precautions for installation To ensure the best performance of the EMI filter apart from the instruction and wiring of the servo drive refer to these prec...

Page 44: ...s of the motor cable should be grounded with the shortest cable length and the largest contact area 3 Remove the protective paint on the U shape saddle and metal plate to ensure good contact See the figure below 4 Correctly connect the braided shielding of the motor cable and the metal plate fix the braided shielding on both ends of the motor cable with the U shape saddle and metal plate See the f...

Page 45: ... a built in regenerative resistor you can also use an external regenerative resistor if needed 1 Moving direction of the object 2 Direction of torque 3 Regenerative energy Specifications of the built in regenerative resistor in the ASDA A3 are as follows Servo drive kW Specifications of the built in regenerative resistor Capacity of the built in regenerative resistor Watt Minimum allowable resista...

Page 46: ...of the regenerative resistors make sure the resistance value meets the requirements See the following diagram and settings for connecting the regenerative resistors in series and parallel Connect to one external regenerative resistor C P3 1 kW 10 Ω Setting P1 052 10 Ω P1 053 1000 W C 1 kW 10 Ω P3 1 kW 10 Ω Connect to external regenerative resistors serial connection Setting P1 052 20 Ω P1 053 2000...

Page 47: ...decelerates If the motor is making a reciprocating motion the regenerative resistor consumes the excess return energy Refer to the following table when calculating and selecting the required regenerative resistor Servo drive kW Motor Rotor inertia 10 4 kg m2 Regenerative energy generated when the motor decelerates from the rated speed to 0 without load Eo joule Maximum regenerative energy of the c...

Page 48: ...e motor column 3 represents the shaft diameter 4 Models with an means that this type of motor is coming soon Assume that the load inertia is N times the motor inertia and when the motor decelerates from 3 000 rpm to 0 the regenerative energy is N 1 Eo and the regenerative resistor needs to consume N 1 Eo Ec joules Assume that the reciprocating motion cycle is T sec then the required power of regen...

Page 49: ...fulfills the need In general the built in regenerative resistor can meet the requirement when the external load is not too great b Calculation of the regenerative power when there is external torque and the motor does the negative work 1 Moving direction of the object 2 Direction of torque 3 Regenerative energy Usually the motor does positive work and the motor s torque direction is identical to t...

Page 50: ...e can be enabled only when the servo is switched off The drive controls the brake with DO If DO BRKR is set to off it means the brake is not operating and the motor is clamped if DO BRKR is set to on it means the brake is operating and the motor can run freely You can use MBT1 P1 042 and MBT2 P1 043 to set the delay time Timing diagram of brake control ON ON OFF OFF OFF OFF SON DI input BRKR DO ou...

Page 51: ...roviding power to the brake and enabling the brake 3 Please note that there is no polarity for the brake coil Timing diagram of control power and main power 1 sec 2 sec 0 ms 800 ms Can be input 1 ms Min value delay time of the digital filter P2 009 L1C L2C Control power 5V Control power RST Main circuit power BUS voltage ready Servo ready Servo on DI input Servo on DO output Position Speed Torque ...

Page 52: ... A3 M series 3 24 3 3 3 CN1 I O connector for A3 F series 3 27 3 3 4 Signal explanation for connector CN1 for A3 F series 3 28 3 3 5 Wiring diagrams CN1 3 30 3 3 6 Application using the CN1 quick connector for wiring 3 37 3 4 Wiring for the CN2 encoder connector 3 42 3 5 Wiring for the CN3 connector RS 485 high speed communication 3 45 3 6 CN4 serial connector Mini USB 3 47 3 7 CN5 connector for m...

Page 53: ...e drive module 3 57 3 10 5 3 Multiple drive modules 3 58 3 11 Standard wiring example 3 59 3 11 1 Position PT control mode 3 59 3 11 2 Position PR control mode 3 60 3 11 3 Speed control mode 3 61 3 11 4 Torque control mode 3 62 3 11 5 Communication mode CANopen 3 63 3 11 6 Communication mode DMCNET 3 64 ...

Page 54: ...larm occurs it outputs ALARM signal and disconnect the power of the servo drive Power input of the main circuit RST No fuse breaker NFB It could prevent the instantaneous excessive current caused by short circuit or from damaging the servo drive when power is on off Expansion module CN9 Reserved STO Safe Torque Off Safe torque switch S I O Connector CN1 Mini USB connector CN4 Connect to PC to oper...

Page 55: ...erous operating conditions 2 Make sure the UVW terminal block is correctly wired to avoid abnormal operation of the motor 3 When installing an external regenerative resistor P3 and D contacts should be left open and the external regenerative resistor should connect to P3 and C contacts When using the built in regenerative resistor P3 and D contacts should be short circuited and P3 and C contacts s...

Page 56: ...ng unit Connect the external braking unit to P3 and of the servo drive P3 D contacts and P3 C contacts are left open Ground terminal Connect to the ground wire for the power and servo motor CN1 I O connector optional purchase Connect to the controller Refer to Section 3 3 for more information CN2 Connector for the encoder optional purchase Connect to the encoder or converter box Refer to Section 3...

Page 57: ...0 cm 11 8 inches 3 If the connection cable for CN2 encoder or CN5 position feedback connector is not long enough use a shielded twisted pair cable that conforms to UL2464 specifications If it is over 20 meters 65 62 ft choose a signal cable with the diameter two times greater to avoid excessive signal attenuation 4 When using RS 485 CAN and DMCNET use the standard shielded twisted pair cable to en...

Page 58: ...wer relay and the contact for the main power circuit Wiring method for single phase power supply for models of 1 5 kW and below Servo drive L1C L2C R S T Noise filter Motor MC SPD ALRM_RY_B Power 1 Power 2 MC R S 24 VDC DO5 28 CN1 U V W MCCB MC DO5 27 ALRM_RY P1 P2 Note MCCB molded case circuit breaker MC magnetic contactor SPD surge protection device Power1 power on Power2 power off ALRM_RY alarm...

Page 59: ...Noise filter Motor MC SPD ALRM_RY_B Power 1 Power 2 MC R S 24 VDC DO5 28 CN1 U V W MCCB MC DO5 27 ALRM_RY T P1 P2 Note MCCB molded case circuit breaker MC magnetic contactor SPD surge protection device Power1 power on Power2 power off ALRM_RY alarm relay ALRM_RY_B normally closed contact of the alarm relay ...

Page 60: ...ly allows servo drives with two different power levels 1 If there is a 400 W servo drive in the system you can connect a 200 W servo drive and the regenerative resistor or braking unit should connect to the 400 W servo drive 2 If there is a 400 W servo drive in the system you can connect a 750 W servo drive and the regenerative resistor or braking unit should connect to the 750 W servo drive L1C R...

Page 61: ...is changed which is different from that of A2 Refer to the following table for UVW connector specifications Motor model UVW connector ECM A3 1 C 2 040F 3 4 50 W ECM A3 1 C 2 0401 3 4 100 W ECM A3 1 C 2 0602 3 4 200 W ECM A3 1 C 2 0604 3 4 400 W ECM A3 1 C 2 0804 3 4 400 W ECM A3 1 C 2 0807 3 4 750 W Pin assignment U Red V White W Black CASE GROUND Green Yellow BRAKE1 Note BRAKE2 Note 1 2 3 4 ...

Page 62: ...MC E 2 1830 3 4 3000 W ECMC F 2 1830 3 4 3000 W Pin assignment U Red V White W Black CASE GROUND Green Yellow BRAKE1 Note BRAKE2 Note D E F G A B Wire selection use a 600 VAC PVC cable with the length less than 30 meters 98 43 feet If it is longer than 30 meters 98 43 feet refer to the voltage drop wire impedance to select the cable size See Section 3 1 6 for more information Note 1 In the motor m...

Page 63: ...the connection between the servo drive and the encoder and it is not drawn to scale The specification is subject to change depending on the selected servo drive and motor models Motor model Quick connector male ECM A3 1 C 2 040F 3 4 50 W ECM A3 1 C 2 0401 3 4 100 W ECM A3 1 C 2 0602 3 4 200 W ECM A3 1 C 2 0604 3 4 400 W ECM A3 1 C 2 0804 3 4 400 W ECM A3 1 C 2 0807 3 4 750 W ...

Page 64: ...White Red T Reserved Reserved Reserved Reserved White Red T 7 8 9 9 8 7 Brown DC 5V Blue GND Shield Shield Blue GND Brown DC 5V The wire color for the ASDA A3 servo drive is for reference only Refer to the actual servo drive A3 servo drive Encoder To directly connect the wires without using the connectors wire them according to the corresponding wire number shown above For example connect wire No ...

Page 65: ...attery explosion Connect to the servo drive CN2 connector Battery box Quick connector Connect to the motor A3 servo drive Encoder View from this side View from this side Quick connector for the encoder Male Female 1 2 3 3 2 1 White T Red BAT Reserved Reserved Black BAT White T 4 5 6 6 5 4 White Red T Black BAT Reserved Reserved Black Red BAT White Red T 7 8 9 9 8 7 Brown DC 5V Blue GND Shield Shie...

Page 66: ...on the selected servo drive and motor models Motor model Military connector ECMC F 2 1308 3 4 ECMC C 2 1010 3 4 ECMC E 2 1310 3 4 ECMC E 2 1315 3 4 ECMC E 2 1320 3 4 ECMC F 2 1313 3 4 ECMC F 2 1318 3 4 ECMC E 2 1820 3 4 ECMC E 2 1830 3 4 ECMC F 2 1830 3 4 Model name military Straight L mm inch ACS3 CAEB3003 3106A 20 29S 3000 50 118 2 ACS3 CAEB3005 3106A 20 29S 5000 50 197 2 ACS3 CAEB3010 3106A 20 ...

Page 67: ... the servo drive Note if using an incremental type of encoder connecting BAT and BAT is not required Model name military Straight L mm inch ACS3 CAEF3003 3106A 20 29S 3000 50 118 2 ACS3 CAEF3005 3106A 20 29S 5000 50 197 2 ACS3 CAEF3010 3106A 20 29S 10000 100 394 4 ACS3 CAEF3020 3106A 20 29S 20000 100 788 4 Pin No Symbol Color A T White B T White Red C BAT Red D BAT Black S DC 5V Brown R GND Blue L...

Page 68: ... 12 24 AWG 14 24 AWG DN02512D 14 AWG DN01512D 16 AWG DN00712D 18 24 AWG ECM A3 1 C 2 0401 ASD A3 0221 ECM A3 1 C 2 0602 12 22 AWG 14 22 AWG ASD A3 0421 ECM A3 1 C 2 0604 12 20 AWG 14 20 AWG ECM A3 1 C 2 0804 ASD A3 0721 ECM A3 1 C 2 0807 12 16 AWG 14 16 AWG DN02512D 14 AWG DN01512D 16 AWG ASD A3 1021 ECMC F 2 1308 16 AWG 14 AWG 12 14 AWG 14 AWG DN02512D ECMC C 2 1010 ECMC E 2 1310 ASD A3 1521 ECMC...

Page 69: ...12B ECM A3 1 C 2 0401 ASD A3 0221 ECM A3 1 C 2 0602 16 22 AWG 16 22 AWG ASD A3 0421 ECM A3 1 C 2 0604 16 20 AWG 16 20 AWG ECM A3 1 C 2 0804 ASD A3 0721 ECM A3 1 C 2 0807 16 AWG 16 AWG ASD A3 1021 ECMC F 2 1308 16 AWG 14 AWG N A N A N A ECMC C 2 1010 ECMC E 2 1310 ASD A3 1521 ECMC E 2 1315 ASD A3 2023 ECMC E 2 1320 12 AWG 16 20 AWG 16 20 AWG DN02513B ECMC F 2 1313 ECMC F 2 1318 14 AWG 14 AWG ECMC E...

Page 70: ...able for wiring the encoder to reduce the noise interference 2 The shield should connect to the phase of SHIELD 3 When wiring use the wires suggested in this section to avoid danger 4 Specification of brake cable F40 F86 AWG22 specification of brake cable F100 or above AWG20 5 When the encoder cable length is 3 20 m 9 84 65 62 ft 0 324 mm 2C AWG22 2C is 5V and grounded and 0 205 mm 2P AWG24 2P is ...

Page 71: ...ction Regeneration circuit Rectifier circuit P1 P2 GATE DRIVE Dynamic brake Reserved Reserved Control panel CN10 STO 7 1 CN5 M Servo motor L2C Voltage detection Voltage detection Control unit 2 RS 485 CANopen 4 Note 1 Short circuit P1 and P2 as illustrated in the diagram 2 Models of 200 W and below without built in regenerative resistor models of 400 W with built in regenerative resistor 3 Functio...

Page 72: ... DRIVE Dynamic brake Reserved Reserved Control panel CN10 STO 7 1 CN5 M Servo motor L2C Voltage detection Voltage detection Control unit 12V 750 W 1 5 kW models single three phase 200 230V 2 kW 3 kW models three phase 200 230V 2 RS 485 CANopen Reserved DMCNET 5 EtherCAT 6 4 Note 1 Short circuit P1 and P2 as illustrated in the diagram 2 The dynamic brakes of 2 kW 3 kW models are three phase and UVW...

Page 73: ... highly flexible communication between the servo drive and the controller For more information refer to Section 3 3 5 In addition differential type output signals for encoder A A B B Z and Z are provided Analog torque command input analog speed position command input and pulse position command input are also available The pin assignments are shown as follows 1 CN1 connector female 2 CN1 connector ...

Page 74: ...l input 25 OB Encoder B pulse output 42 V_REF Analog command input speed position 9 DI1 Digital input 26 DO4 Digital output 43 PULSE Position pulse 10 DI2 Digital input 27 DO5 Digital output 44 GND Ground for analog differential output signal 11 COM Power input 24V 10 28 DO5 Digital output 45 NC Not in use 12 GND Ground for analog differential output signal 29 DI9 Digital input 46 DO6 Digital outp...

Page 75: ...elect the data to be monitored with P0 003 This signal is based on the power ground C2 Position pulse input PULSE PULSE 43 41 Position pulse can be sent by Line Driver single phase max frequency 4 MHz or open collector single phase max frequency 200 kHz Three command types can be selected with P1 000 CW CCW pulse pulse and direction and A B pulse If open collector type is used when sending positio...

Page 76: ... 0x01 SON SON SON SON SON SON SON SON SON 2 0x04 0x08 0x09 0x10 0x04 0x04 0x08 0x08 CCLR CTRG TRQLM SPDLM CCLR CCLR CTRG CTRG 3 0x16 0x11 0x14 0x16 0x14 0x16 0x11 0x11 0x14 TCM0 POS0 SPD0 TCM0 SPD0 TCM0 POS0 POS0 SPD0 4 0x17 0x12 0x15 0x17 0x15 0x17 0x12 0x12 0x15 TCM1 POS1 SPD1 TCM1 SPD1 TCM1 POS1 POS1 SPD1 5 0x02 0x02 0x02 0x02 0x14 0x16 0x16 ARST ARST ARST ARST SPD0 TCM0 TCM0 6 0x22 0x22 0x22 0...

Page 77: ... Description of each DO signal Signal Description Signal Description Signal Description SRDY Servo ready HOME Homing completed TSPD Target speed reached ZSPD Zero motor speed TPOS Target position reached ALRM Servo alarm If the default DI DO functions cannot meet the application requirements set the functions of DI1 10 and DO1 6 with the corresponding parameters listed in the following table That ...

Page 78: ...on 1 DO1 Digital output 10 DI4 Digital input 19 OB Encoder B pulse output 2 DO1 Digital output 11 DI5 Digital input 20 OB Encoder B pulse output 3 DO2 Digital output 12 DI6 Digital input 21 OZ Encoder Z pulse output 4 DO2 Digital output 13 DI7 Digital input 22 OZ Encoder Z pulse output 5 NC Not in use 14 NC Not in use 23 DO4 Digital output 6 COM Power input 24V 10 15 NC Not in use 24 DO4 Digital o...

Page 79: ...fferential output signal Other NC 14 15 No connection This is for internal use only Do not connect to NC or it may damage the servo drive The A3 F provides user defined I O for you to set functions according to the application requirements See Chapter 8 and refer to Table 8 1 Digital input DI descriptions and Table 8 2 Digital output DO descriptions The default DI DO signal configuration for each ...

Page 80: ...ion requirement specify the DI DO functions by setting DI or DO code to the corresponding parameters Signal Pin No Corresponded parameter Signal Pin No Corresponded parameter Standard DI DI1 7 P2 010 Standard DI DI5 11 P2 014 DI2 8 P2 011 DI6 12 P2 015 DI3 9 P2 012 DI7 13 P2 016 DI4 10 P2 013 Signal Pin No Corresponded parameter Signal Pin No Corresponded parameter Standard DO DO1 1 P2 018 Standar...

Page 81: ... voltage range with the relevant parameters C1 input for speed torque force analog command GND Approx 12 kΩ SG 42 V REF 13 Controller 18 T REF 10 kΩ 1 2 kΩ 10V Servo drive 10V Note this is not supported by the A3 F C2 output for analog monitoring command MON1 and MON2 10 V full scale SG 13 Servo drive 8 kΩ GND MON1 16 MON2 15 8 kΩ Controller Max output 8 V 1 mA Note this is not supported by the A3...

Page 82: ...Max pulse input frequency 200 Kpps Max pulse input frequency 200 Kpps 51 Ω SG Pull hi_S Servo drive Controller Sign Sign Pull hi_P Pulse Pulse 35 39 37 41 Note this is not supported by the A3 F C3 2 the source for the pulse input is open collector PNP type equipment which uses the external power supply SG Servo drive Controller 51 Ω 51 Ω Max pulse input frequency 200 Kpps 51 Ω 51 Ω Max pulse input...

Page 83: ...only be used with 2 8V 3 6V power systems Do not use it with 24V power 51 Ω 51 Ω 51 Ω Max pulse input frequency 4 Mpps Max pulse input frequency 4 Mpps 51 Ω SG SIGN PULSE SIGN 36 37 43 Servo drive Controller PULSE 41 Note this is not supported by the A3 F ...

Page 84: ...0 mA maximum voltage 30V C5 DO wiring the servo drive uses an external power supply and the resistor is for general load R 24 VDC DOX Servo drive DOX C6 DO wiring the servo drive uses an external power supply and the resistor is for inductive load DOX Servo drive DOX Make sure the polarity of diode is correct or it may damage the servo drive 24 VDC ...

Page 85: ...transistor Conditions of DI On Off ON 15V 24V condition input current 8 mA OFF below 5V the input current must not be higher than 0 5 mA C7 NPN transistor SINK mode DC 24V DI COM Servo drive Approx 4 7 KΩ C8 PNP transistor SOURCE mode DC 24V DI COM Servo drive Approx 4 7 KΩ ...

Page 86: ...sted that you connect the two GND for the controller and servo drive in parallel when the voltage deviation between the controller and the servo drive is too great C10 output for encoder position signal Opto isolator Controller Servo drive AM26C31 type Max output current 20 mA SG OA 21 OA 22 High speed photocoupler 200Ω OB 25 OB 23 High speed photocoupler 200Ω OZ 50 OZ 24 High speed photocoupler 2...

Page 87: ...Wiring ASDA A3 3 36 3 C11 encoder OCZ output open collector Z pulse output OCZ48 GND 13 Servo drive Max 30V 50 mA 24V Note this is not supported by the A3 F ...

Page 88: ...o drive and can satisfy the needs of different DI O applications It is a good choice if you do not want to solder the wires Its spring terminal blocks prevent vibration from loosening the wire It includes five digital inputs four digital outputs differential pulse command inputs and Z phase open collector outputs Note select the quick connector ASD IF SC2616 for the A3 F series servo drive ...

Page 89: ...Wiring ASDA A3 3 38 3 Pin assignment for the CN1 quick connector J2 and J1 ...

Page 90: ...ULSE 43 14 SIGN 37 15 SIGN 36 16 OCZ 48 17 GND 12 13 19 44 18 DO4 1 19 DO3 3 20 CN_GND 51 52 Note NC represents No connection Wiring example PULSE PULSE SIGN SIGN OCZ GND DO4 DO3 CN_GND DO DI1 DI2 DI3 DI4 DI7 DO1 DO2 Max output current 50 mA voltage 30V 24 VDC Pulse input Line driver Z phase open collector signal Shield Internal circuit COM Applies to external power supply ...

Page 91: ...Wiring ASDA A3 3 40 3 Wiring for CN1 quick connector and installation Installation ...

Page 92: ...nnector has multiple spring terminals Determine which terminal is to be wired in advance 2 Use a flathead screwdriver to press the spring down to open the pin 3 Insert the stripped wire into the pin 4 Withdraw the screwdriver to complete the wiring ...

Page 93: ...CN2 encoder connector The CN2 encoder signal connector is shown as follows 1 CN2 connector female 2 CN2 connector male Quick connector ends View from this side View from this side Military connector ends View from this side View from this side ...

Page 94: ...power directly to the encoder Thus wiring to the CN2 connector of the servo drive is not required Refer to the wiring description in Section 3 1 5 Specification for the encoder connector for details Connecting shielded wire to the CN2 encoder connector is shown as follows Step 1 Cut through the cable and expose the shielding The exposed wire length should be 20 30 mm 0 79 1 18 inches Step 2 Spread...

Page 95: ... the shielding is completely covered to maintain the integrity of the shielding Step 5 Fasten the other side of the metal case Step 6 Tighten the screws of the metal case Step 7 Fit one side of the plastic case over the connector Step 8 Place and fasten the other side of the case to complete the connector ...

Page 96: ...orts supports both RS 485 and high speed communication CANopen 1 CN3 connector female 2 CN3 connector male Pin assignment same for both connectors Pin No Signal Description 1 CAN_H CAN_H bus line dominant high 2 CAN_L CAN_L bus line dominant low 3 7 GND_ISO Signal GND 4 RS 485 The servo drive transmits the data to differential terminal 5 RS 485 The servo drive transmits the data to differential te...

Page 97: ...p to 30 m 98 43 ft The communication quality and the connectable axes are determined by the controller s specifications quality of wires grounding interference and whether a shielded twisted pair cable is used 2 It is suggested to use a terminal resistor of 120Ω Ohm and 0 5 W or more 3 To connect multiple servo drives in parallel use CAN RS 485 connectors as shown above and put the terminal resist...

Page 98: ... allows you to operate the servo drive with the software This is a Type B Mini USB that is compatible with the USB 2 0 specification Note when there is high interference during operation it is suggested that you install the USB isolator Delta part number UC ADP01 A 1 USB connector female 2 USB connector male ...

Page 99: ...D Encoder grounding 7 GND Encoder grounding 8 5V Encoder power 9 Opt_Z Z phase input 10 HALL_U Hall sensor U phase input 11 HALL_V Hall sensor V phase input 12 HALL_W Hall sensor W phase input 13 TEMP Motor temperature detection 14 TEMP Motor temperature detection 15 Reserved Reserved Note 1 This only supports encoders with AB phase signal power supply voltage is 5V and maximum current consumption...

Page 100: ...set the station number of DMCNET with P3 000 Its maximum transmission rate is 20 Mbps Two ports are provided for connecting multiple servo drives with one way in and the other way out Remember to put the terminal resistor 120Ω in the last servo drive Note DMCNET is supported by the A3 F only 1 CN6 connector female 2 CN6 connector male Pin assignment Pin No Signal Description 1 9 DMCNET_1A DMCNET C...

Page 101: ...esistor Delta part number ASD TR DM0008 Note 1 This supports up to 12 axes with the cable length up to 30 m 98 43 ft 2 It is suggested to use a terminal resistor of 120Ω Ohm and 0 5 W or more 3 To connect multiple servo drives in serial use DMCNET connectors as shown above and put the terminal resistor in the last servo drive ...

Page 102: ...o Signal Description 1 Reserved Reserved 2 Reserved Reserved 3 STO_A STO input A 4 STO_A STO input A 5 STO_B STO input B 6 STO_B STO input B 7 FDBK STO alarm output BJT Output Max rating 80 VDC 0 5 A 8 FDBK STO alarm output BJT Output Max rating 80 VDC 0 5 A If you do not need the STO function plug in the STO connector that comes with the servo drive The wiring has been done as shown in the figure...

Page 103: ...fications 2 Before installation read the safety instructions in the STO related user manual for the components you use 3 Do not touch the servo drive when the STO function is enabled Although the power to the motor is cut off there is residual electricity since the power supply is not completely removed from the servo drive When maintaining the servo drive use the molded case circuit breaker MCCB ...

Page 104: ...nnel2 68 91 HFT Type A subsystem Hardware fault tolerance IEC61508 1 SIL Safety integrity level IEC61508 SIL2 IEC62061 SILCL2 PFH Probability of dangerous failure per hour h 1 IEC61508 9 56 10 10 PFDav Average probability of failure on demand IEC61508 4 18 10 6 Category Category EN954 1 Category 3 PL Performance level ISO13849 1 d MTTFd Mean time to dangerous failure ISO13849 1 High DC Diagnostic ...

Page 105: ...tor STO STO_A STO_A ON ON OFF OFF STO_B STO_B ON OFF ON OFF Servo drive output status Ready Torque off STO_B lost Torque off STO_A lost Torque off STO mode Feedback monitor signal FDBK status Open Close Open Open Alarm N A AL500 AL501 AL502 Note 1 ON 24V OFF 0V 2 Open open circuit Close short circuit 3 The status of the feedback monitor signal switches immediately based on the safety signal source...

Page 106: ...Close AL501 AL502 see the following diagram When the motor runs normally but one of the safety signal source is low for 1 s the firmware disables the drive Servo Off and triggers AL501 or AL502 The following diagram illustrates AL501 STO_A STO_B H H L L FDBK SRDY Open AL501 Alarm 1s Firmware detection of the STO function STO not active STO active ON OFF No alarm Max 20 ms Open Note 1 When the STO_...

Page 107: ...nal sources switch back to high the alarm will not be cleared automatically Of all the STO alarms only AL500 can be cleared with DI_ARST STO_A STO_B FDBK SRDY H H L L Max 10 ms Max 10 ms DI_ARST ARST AL500 OFF ON Close Open Note refer to Section 3 10 4 for the FDBK signal ...

Page 108: ...connector that comes with the servo drive 2 3 4 5 6 7 8 STO_A STO_A STO_B STO_B FDBK FDBK Reserved STO 1 Reserved M 3 10 5 2 Single drive module To use a safety relay to trigger the STO function connect the wiring as shown in the following diagram ESTOP 2 3 4 5 6 7 8 STO_A STO_A STO_B STO_B FDBK FDBK Reserved STO 24V DC Safety relay 1 Reserved M ...

Page 109: ...y the number of drives the value must not exceed the specified safety value 2 7 8 STO_A STO_A STO_B STO_B FDBK FDBK Reserved STO 1 Reserved 2 3 4 5 6 7 8 STO_A STO_A STO_B STO_B FDBK FDBK Reserved STO 1 Reserved ESTOP 2 7 8 STO_A STO_A STO_B STO_B FDBK FDBK Reserved STO 1 Reserved Safety relay 3 4 5 6 3 4 5 6 24V DC M M M ...

Page 110: ...6 SIGN SIGN SIGN SIGN DO5 DO6 1 2 STO_A 3 STO_A 4 STO_B 5 STO_B 6 FDBK 7 FDBK 8 CN10 STO certification application in progress GND OCZ 44 48 OA OA OB OB OZ OZ 21 22 50 24 25 23 Max output current 50 mA voltage 30V A phase pulse B phase pulse Z phase pulse Z phase open collector Encoder pulse output CN3 7 CN4 CN5 5 5V Opt A Opt A Opt B Opt B Opt Z GND GND Opt Z 9 1 2 3 5 6 7 8 4 TEMP HALL_U HALL_V ...

Page 111: ... DO5 DO6 DO5 DO6 1 2 STO_A 3 STO_A 4 STO_B 5 STO_B 6 FDBK 7 FDBK 8 CN10 STO certification application in progress GND OCZ 44 48 OA OA OB OB OZ OZ 21 22 50 24 25 23 Max output current 50 mA voltage 30V A phase pulse B phase pulse Z phase pulse Z phase open collector Encoder pulse output CN3 6 CN4 CN5 4 5V Opt A Opt A Opt B Opt B Opt Z GND GND Opt Z 9 1 2 3 5 6 7 8 4 TEMP HALL_U HALL_V 13 12 10 11 H...

Page 112: ..._A 3 STO_A 4 STO_B 5 STO_B 6 FDBK 7 FDBK 8 CN10 STO certification application in progress GND OCZ 44 48 OA OA OB OB OZ OZ 21 22 50 24 25 23 Max output current 50 mA voltage 30V A phase pulse B phase pulse Z phase pulse Z phase open collector Encoder pulse output CN3 6 CN4 CN5 4 5V Opt A Opt A Opt B Opt B Opt Z GND GND Opt Z 9 1 2 3 5 6 7 8 4 TEMP HALL_U HALL_V 13 12 10 11 HALL_W TEMP 14 15 Mini US...

Page 113: ...Ω 4 7 SG Twisted pair or twisted shielded cable 1 2 STO_A 3 STO_A 4 STO_B 5 STO_B 6 FDBK 7 FDBK 8 CN10 STO certification application in progress 13 12 10 9 14 16 11 15 Data output Data input 10V 10KΩ PULSE PULSE T REF GND MON1 GND MON2 COM DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 DO1 DO1 DO2 DO2 DO3 DO3 DO4 DO4 DO5 DO6 DO5 DO6 GND OCZ 44 48 OA OA OB OB OZ OZ 21 22 50 24 25 23 Max output current 50...

Page 114: ...STO_A 4 STO_B 5 STO_B 6 FDBK 7 FDBK 8 CN10 STO certification application in progress GND OCZ 44 48 OA OA OB OB OZ OZ 21 22 50 24 25 23 Max output current 50 mA voltage 30V A phase pulse B phase pulse Z phase pulse Z phase open collector Encoder pulse output CN1 CN3 CN4 CN5 4 5V Opt A Opt A Opt B Opt B Opt Z GND GND Opt Z 9 1 2 3 5 6 7 8 4 TEMP HALL_U HALL_V 13 12 10 11 HALL_W TEMP 14 15 Mini USB 1...

Page 115: ...r supply Encoder BRKR EMGS 24V AC200 230V Three phase 50 60Hz 5 2 4 Opt A 5V Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5 6 3 1 2 8 4 TEMP HALL_U HALL_V 12 10 11 HALL_W TEMP 13 14 15 5V GND 1 2 P1 P2 Mini USB 3 CN1 24V 1 4 7 KΩ 4 7 KΩ KΩ KΩ 4 7 4 7 KΩ 4 7 KΩ 4 7 KΩ 4 7 1 7 8 DMCNET_1B DMCNET_2A DMCNET_2B DMCNET_1A 10 11 12 13 14 9 15 16 DMCNET_1B DMCNET_2A DMCNET_2B Data input Data output SG Twiste...

Page 116: ... 3 3 Alarm messages 4 7 4 3 4 Positive and negative sign setting 4 7 4 3 5 Monitoring display 4 7 4 4 General functions 4 10 4 4 1 Operation of fault record display 4 10 4 4 2 Force DO on 4 11 4 4 3 Digital input diagnosis operation 4 12 4 4 4 Digital output diagnosis operation 4 12 4 5 Testing 4 13 4 5 1 Testing without load 4 13 4 5 2 Apply power to A3 servo drive 4 14 4 5 3 JOG trial run withou...

Page 117: ... key changes monitoring code parameter number and value 5 SHIFT key in Parameter mode press this key to change the group number In Editing mode moving the flashing selected digit to the left lets you adjust the higher setting bit You can switch the display of high low digits in Monitoring mode 6 SET key displays and stores the parameter value In Monitoring mode pressing the SET key switches betwee...

Page 118: ...e See Chapter 13 for detailed alarm information Parameter mode Monitoring mode Alarm mode Power On M M M Refer to Chapter 8 Refer to Chapter 8 for parameters Operating in each mode Monitoring mode Monitoring mode 1 Press keys to select monitoring variables Refer to Section 4 3 5 for detailed information 2 You can directly enter the code of monitoring variables via P0 002 Refer to Chapter 8 for a d...

Page 119: ...SDA A3 4 4 4 Parameter mode Monitoring parameter P0 Basic parameter P1 Extension parameter P2 Communication parameter P3 Diagnosis parameter P4 Motion control parameter P5 PR parameter P6 PR parameter P7 Parameter mode M Monitoring mode ...

Page 120: ...ter saving the parameter setting value it automatically returns to Parameter mode Monitoring Alarm mode M S If no alarm occurs Alarm mode is skipped After saving the parameter setting value it automatically returns to Parameter mode After saving the parameter setting value it automatically returns to Parameter mode S S S M ...

Page 121: ...ting value or the reserved setting value Out of Range You cannot enter a value when in the Servo On state Servo On Changes to the parameter take effect after cycling the power to the servo drive Power On 4 3 2 Display the decimal point Displayed symbol Description Low byte High byte High byte low byte indication this indicates the current high byte or low byte when the data is displayed in decimal...

Page 122: ...econd and then enters Monitoring mode In Monitoring mode press the UP and DOWN keys to change the monitoring variables Or you can directly change the setting value of P0 002 to specify the monitoring code When powered the default monitoring code is set to the value of P0 002 For example the value of P0 002 is 4 When the drive is powered it displays the monitoring symbol C PLS first and then shows ...

Page 123: ...hase equals the homing value 0 It is 5000 or 4999 pulses when the motor rotates in the forward or reverse direction 19 Mapping parameter 1 shows the content of parameter P0 025 specify the mapping target by P0 035 20 Mapping parameter 2 shows the content of parameter P0 026 specify the mapping target by P0 036 21 Mapping parameter 3 shows the content of parameter P0 027 specify the mapping target ...

Page 124: ...567890 the display of the high byte is 1234 5 and displays 67890 as the low byte in decimal format Hex high Hex low If the value is 0x12345678 the display of the high byte is h1234 and displays L5678 as the low byte in hexadecimal format The following table shows the panel display for the negative sign Example of the displayed value Description If the value is 12345 it displays as 1 2 345 only in ...

Page 125: ...unctions 4 4 1 Operation of fault record display In Parameter mode select P4 000 P4 004 and press the SET key to show the corresponding fault record The 1st recent error The 2nd recent error The 3rd recent error The 4th recent error The 5th recent error S S S S S ...

Page 126: ... is 2 it forces DO2 on When the value is 5 it forces DO1 and DO3 on No data is retained in this mode The mode returns to the normal DO mode after cycling the power You can also set P2 008 to 400 to switch to the normal DO mode Force to enable DO mode Force DO1 on S Force DO2 on Force DO3 on Force DO4 on Force DO5 on Force DO1 and DO3 on Force DO1 DO2 and DO3 on S S Note P4 006 is displayed in hexa...

Page 127: ... 0 1 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Corresponding DI status Binary code The panel displays in hexadecimal format Display in hexadecimal format 4 4 4 Digital output diagnosis operation You can switch to the Diagnosis mode by the following steps When DO1 DO5 are triggered by the output signal the panel shows the corresponding signal in bit When it shows 1 it means the DO is on For example if it sh...

Page 128: ...ve any electrically conductive objects including metal such as screws or inflammable objects inside or near the servo drive Check that the control switch is in the Off state Do not place the servo drive or external regenerative resistor on inflammable objects To ensure the electromagnetic brake works check if the stop and circuit breaker functions are working normally Reduce the electromagnetic in...

Page 129: ... T to the output terminal U V W of A3 servo drive or it may damage the servo drive 2 Connect the power circuit for the servo drive 200V servo drive connect the power to the servo drive Refer to Section 3 1 3 for power wiring 3 Turn on the power 220V servo drive supply apply power including to the control circuit L1C L2C and main circuit R S T When the power is on the display of the servo drive sho...

Page 130: ... measure the input voltage from the main circuit and ensure it is within the rated range 2 Use the voltmeter to measure if the power system complies with the specifications When the screen displays Encoder error warning Check that the motor encoder is securely connected and the wiring is correct Corrective action 1 Make sure the wiring is following the instructions in the user manual 2 Check the e...

Page 131: ...en it is preset as normally closed function code 0x0021 and then set this DI as normally open function code 0x0121 When the screen displays Negative limit error warning Check if any of the digital inputs DI1 DI10 are set to negative limit NL and that DI is not on Corrective action 1 If you do not want to set the negative limit NL as one of the digital inputs make sure none of the digital inputs DI...

Page 132: ...re set to positive limit PL make sure that none of the parameters P2 010 P2 017 P2 036 and P2 037 are set to 23 2 If the positive limit PL function is needed make sure this DI is on when it is preset as normally closed function code 0x0023 and then set this DI as normally open function code 0x0123 When the screen displays Overcurrent warning Corrective action 1 Check the connection between the mot...

Page 133: ...rcuit wiring is correct 2 Use a voltmeter to make sure that the main circuit voltage is normal 3 Use the voltmeter to measure if the power system complies with the specifications Note during power on or in the Servo On state without issuing any commands if an alarm occurs or any abnormal display appears please contact the distributors ...

Page 134: ... operate the JOG trial run Step 2 set JOG speed unit rpm with P4 005 Press the S key to display the JOG speed The default is 20 rpm Step 3 press the or key to adjust the JOG speed In the following example the speed is set to 100 rpm Step 4 press the S key to display JOG and enter JOG mode Step 5 press the M key after completing the trial run to exit JOG mode JOG mode Adjust the speed to 100 rpm Di...

Page 135: ...ming diagram Release Press Press Motor stops Speed 0 If the motor does not run check if the wiring between U V W and encoder cable is correct If the motor runs abnormally check if the U V W phase sequence is correct Motor runs in forward direction Motor runs in reverse direction ...

Page 136: ...P2 013 115 SPD1 Speed selection DI4 8 DI5 P2 014 102 ARST Alarm reset DI5 33 DI6 P2 015 0 DI disabled DI7 P2 016 0 DI disabled DI8 P2 017 0 DI disabled DI9 P2 036 0 DI disabled DI10 P2 037 0 DI disabled VDI11 P2 038 0 DI disabled VDI12 P2 039 0 DI disabled VDI13 P2 040 0 DI disabled This table shows the settings that disable the negative limit DI6 positive limit DI7 and emergency stop DI8 function...

Page 137: ... 0 1 rpm 3000 rpm Command setting for the speed register Set P1 009 to 30000 Set P1 010 to 1000 Set P1 011 to 30000 Motor s running direction Input command Rotation direction CCW forward direction CW reverse direction Step 3 1 Switch on DI1 and the drive is in the Servo On state 2 When both Speed commands of DI3 SPD0 and DI4 SPD1 are off that means it executes the S1 command The motor rotates acco...

Page 138: ...I3 34 DI4 P2 013 112 POS1 Position selection DI4 8 DI5 P2 014 102 ARST Alarm reset DI5 33 DI6 P2 015 0 DI disabled DI7 P2 016 0 DI disabled DI8 P2 017 0 DI disabled DI9 P2 036 0 DI disabled DI10 P2 037 0 DI disabled VDI11 P2 038 0 DI disabled VDI12 P2 039 0 DI disabled VDI13 P2 040 0 DI disabled This table shows the settings that disable the negative limit DI6 positive limit DI7 and emergency stop...

Page 139: ...Position command POS6 POS5 POS4 POS3 POS2 POS1 POS0 CTRG Corresponding parameter Homing 0 0 0 0 0 0 P6 000 P6 001 PR1 0 0 0 0 0 1 P6 002 P6 003 PR50 0 1 1 0 0 1 0 P6 098 P6 099 PR51 0 1 1 0 0 1 1 P7 000 P7 001 PR99 1 1 0 0 0 1 0 P7 098 P7 099 0 means the switch is open off 1 means the switch is closed on You can set the 99 sets of PR P6 000 P7 099 which you can also set for absolute position comma...

Page 140: ... Flowchart of auto tuning 5 5 5 2 2 Auto tuning through the drive panel 5 6 5 2 3 Auto tuning with ASDA Soft software 5 7 5 2 4 Alarms related to auto tuning 5 14 5 3 Tuning mode 5 15 5 3 1 Flowchart of Gain adjustment mode 5 15 5 3 2 Gain adjustment mode 1 5 16 5 3 3 Gain adjustment mode 2 5 16 5 3 4 Gain adjustment mode 3 5 17 5 3 5 Setting the bandwidth response level stiffness 5 18 5 3 6 Setti...

Page 141: ...tart from the Auto Tuning mode If you are not satisfied with the system s performance you can use Gain adjustment modes 1 2 3 or Manual mode for tuning the servo system Motor runs smoothly without load Enter Auto Tuning mode Enter Gain adjustment mode Enter Manual mode Complete No Yes Yes Yes No No Satisfactory performance Satisfactory performance Satisfactory performance ...

Page 142: ... Fixed set value of P1 037 P1 037 P2 031 P2 000 P2 004 P2 006 P2 023 P2 024 P2 025 P2 043 P2 044 P2 045 P2 046 P2 049 P2 089 P2 098 P2 099 P2 101 P2 102 3 Gain adjustment mode 3 Fixed set value of P1 037 P1 037 P2 031 P2 089 P2 000 P2 004 P2 006 P2 023 P2 024 P2 025 P2 043 P2 044 P2 045 P2 046 P2 049 P2 098 P2 099 P2 101 P2 102 4 Gain adjustment mode 4 Reset to gain default value Note 1 Refer to t...

Page 143: ... gain P1 026 Low frequency vibration suppression gain 1 P2 004 Speed control gain P1 027 Low frequency vibration suppression frequency 2 P2 006 Speed integral compensation P1 028 Low frequency vibration suppression gain 2 P2 031 Bandwidth response level P2 023 Notch filter frequency 1 P2 032 Gain adjustment mode P2 024 Notch filter attenuation level 1 P2 089 Command response gain enabling the two ...

Page 144: ... by the host controller The drive automatically estimates the inertia and starts to tune the system Complete Note when the path is configured by the host controller make sure the dwell time is added to the operation cycle Otherwise AL08B occurs and the servo drive cannot complete auto tuning You can use P2 105 and P2 106 to adjust the response and stiffness in Auto Tuning mode See the flowchart be...

Page 145: ...key to complete the setting of Position 1 Press the Up and Down keys to set Position 2 Press the S key to complete the setting of Position 2 Then the system starts to do positioning between the two points that you just set The blinking SPEED reminds you to adjust the positioning speed Then you can set the positioning speed with the Up Down and Shift keys Press the S key to complete the speed setti...

Page 146: ... auto tuning Please go to Delta s website http www deltaww com to download ADSA Soft for free Install the software and open the executable file exe then you can see the screen shown below Make sure your ASDA A3 servo drive servo motor and power are all properly connected Then click Add to connect to the servo drive with ASDA Soft ...

Page 147: ...he other using the servo drive Both procedures are described below Auto tuning with the host controller the host controller sends the commands to drive the motor Step 1 When the computer is connected to the controller the program window appears as below Click Auto Tuning in the Function List tree view ...

Page 148: ... least one cycle in both forward and backward directions The delay time for reaching the positions in both forward and backward directions should not be less than 1 000 ms with the running speed no less than 500 rpm Step 3 Please repeatedly start and run the motor with the path you just set Before running the motor make sure no one is standing close to the machinery Then click Next ...

Page 149: ...uning progress bar reaches 100 after which a window with Auto tuning completed appears Click OK to continue The screen shows a table comparing the parameters before and after being changed by auto tuning Click Update to complete auto tuning ...

Page 150: ...w Click Auto Tuning from the Function List tree view Step 2 Click Drive Motion Command From Drive to start the Auto Tuning procedure Follow the steps below to set the motor running path 1 Set the system to Servo On state 2 Set the acceleration deceleration time and jog speed The default setting for acceleration deceleration time is 500 ms Set the jog speed to no less than 500 rpm Then click Downlo...

Page 151: ... click Start Moving to run between two positions The motor moves to Position 1 and Position 2 in the forward and backward directions Before running the motor make sure no one is standing close to the machinery Step 3 Wait until the tuning progress bar reaches 100 after which a window with Auto tuning completed appears Click OK to continue Left Right ...

Page 152: ...ASDA A3 Tuning 5 13 5 The screen shows a table comparing the parameters before and after being changed by auto tuning Click Update to complete auto tuning ...

Page 153: ... and dwell time See the figure below When any of the settings is incorrect the servo drive stops and displays an alarm Please check the alarm causes and take corrective actions Acc time Max speed Dwell Operation cycle Operation cycle Speed Time Display Alarm name AL08A Auto tuning function command error AL08B Auto tuning function pause time is too short AL08C Auto tuning function inertia estimatio...

Page 154: ...ain adjustment mode Start Adjustment mode 1 P2 032 1 Complete No Yes No Yes Yes Yes No No Keep estimating the inertia ratio P1 037 Adjust P2 031 Bandwidth level Adjust P2 031 Bandwidth level and P1 037 Inertia ratio Adjust P2 031 Bandwidth level P1 037 Inertia ratio and P2 089 Command response gain You can adjust all parameters in Manual mode Satisfactory performance Satisfactory performance Satis...

Page 155: ... should be less than 50 times the motor inertia 4 The change in the inertia ratio cannot be too great 5 3 3 Gain adjustment mode 2 When Gain adjustment mode 1 cannot meet your need you can try Gain adjustment mode 2 to tune the servo system In Gain adjustment mode 2 the system does not automatically estimate the inertia You must set the correct machine inertia in parameter P1 037 P2 032 setting va...

Page 156: ...shoot and machinery vibration This function is only available when changing the command such as the acceleration deceleration application However when the two dimensional control function is disabled P2 094 Bit 12 0 the effect of Gain adjustment mode 3 is the same as that of Gain adjustment mode 2 so setting P2 089 is invalid in that scenario P2 032 setting value Adjustment mode Inertia estimation...

Page 157: ...by one or two bandwidth levels you should adjust the bandwidth level according to the actual situation For instance if the value of P2 031 is 30 you can reduce the bandwidth level to 28 When you adjust the value of this parameter the servo system automatically adjusts the corresponding parameters such as P2 000 and P2 004 Inertia ratio P1 037 Servo bandwidth Level increases 5 26 Hz 84 Hz Position ...

Page 158: ... minimize the deviation between the position command and command response in the intermittent duty zone Before adjusting the value of P2 089 first enable the two dimensional control function set P2 094 to 0x1000 Position Position Command Response Feedback Command Response Feedback Time Time Smaller Greater Figure 5 3 6 1 Adjust the response gain ...

Page 159: ...o vibrate or cause overshoot when positioning The calculation of position loop response bandwidth is as follows Position loop response bandwidth Hz KPP 2π Speed control gain KVP parameter P2 004 This parameter determines the response of the speed control loop The bigger the KVP value the higher the response bandwidth of the speed loop and the lower the following error However if you set the value ...

Page 160: ... follows NLP 10000 6 Speed loop response bandwidth Hz Anti interference gain DST parameter P2 026 Use this parameter to increase the ability to resist external force and eliminate overshoot during acceleration deceleration The default value is 0 Adjusting this value in Manual mode is not suggested unless it is for fine tuning Note to use this parameter disable the two dimensional control function ...

Page 161: ... resonance suppression with ASDA Soft See the following flowchart of manual adjustment Yes No No Use the analytic tool provided by ASDA Soft to display the point of resonance The drive issues the command to accelerate and decelerate the motor alternatively Set the value of resonance frequency to P2 023 and set P2 024 to 4 Increase the value of P2 024 Complete Tuning complete Yes High frequency res...

Page 162: ... curve filter Position 6 7 6 2 5 Electronic gear ratio E Gear ratio 6 9 6 2 6 Low pass filter 6 10 6 2 7 Timing diagram of PR mode 6 10 6 2 8 Gain adjustment of the position loop 6 11 6 2 9 Low frequency vibration suppression in Position mode 6 13 6 3 Speed mode 6 15 6 3 1 Selecting the Speed command source 6 15 6 3 2 Control structure of Speed mode 6 16 6 3 3 Smooth Speed command 6 17 6 3 4 Scali...

Page 163: ...n Mode ASDA A3 6 2 6 6 5 2 Speed Torque dual mode 6 32 6 5 3 Torque Position dual mode 6 33 6 6 Others 6 34 6 6 1 Applying the speed limit 6 34 6 6 2 Applying the torque limit 6 34 6 6 3 Analog monitoring 6 35 ...

Page 164: ... terminal block You select the command with DI signals Speed mode No analog input Sz 04 The servo drive receives the Speed command and commands the motor to run at the target speed The Speed command can only be issued from the internal registers 3 sets in total instead of through the external terminal block You select the command with DI signals Torque mode T 03 The servo drive receives the Torque...

Page 165: ... steps to switch the operation mode 1 Switch the servo drive to Servo Off status You can do this by setting DI SON to off 2 Set P1 001 and refer to the code listed above for the mode selection 3 After setting the parameter cycle power to the servo drive The following sections describe the operation of each mode including the mode structure command source selection and processing of the command and...

Page 166: ...h Or you can directly set the register values through communication 6 2 1 Position command in PT mode The PT Position command is the pulse input from the terminal block There are three pulse types and each type has positive and negative logic that you can set in parameter P1 000 Refer to Chapter 8 for more details Parameter Function P1 000 External pulse input type 6 2 2 Position command in PR mod...

Page 167: ...sters For example assume the Position command P1 is 10 turns and P2 is 20 turns P1 is issued first and P2 comes second The following diagram shows the difference between absolute and incremental positioning Absolute type 10 turns 20 turns Incremental type 10 turns 20 turns 6 2 3 Control structure of Position mode The basic control structure is shown in the following flowchart Position command Spee...

Page 168: ...o adjust the positioning resolution In addition you can use either a moving filter or low pass filter to smooth the command described below The Pulse Command Input Inhibit INHP function In PT mode when DI INHP is on the servo drive stops receiving external pulse commands and the motor stops running As this function is only supported by DI8 setting P2 017 DI8 to 0x45 DI INHP is required DI INHP ON ...

Page 169: ...osition command Speed Position Rated speed Torque Time ms Time ms Time ms AC0 15 AC0 15 P1 036 2 P1 036 2 P1 036 2 P1 036 2 Position and S curve speed and time setting decremental position command Refer to Chapter 8 for detailed descriptions of the relevant parameters Parameter Function P1 036 S curve acceleration deceleration constant P5 020 P5 035 Acceleration deceleration times Number 0 15 ...

Page 170: ...p corner in the profile and lead to a high jerk To solve this problem you can apply an S curve acceleration deceleration filter or a low pass filter to reduce the jerk For example if you set the E Gear ratio so that the workpiece is moved at the speed of 1 μm pulse then it means the workpiece moves 1 μm per pulse 1 Motor 2 Ball screw pitch 3 mm equals 3000 m WL workpiece WT platform Gear ratio Mov...

Page 171: ...S0 POS6 and CTRG for CN1 Refer to Section 6 2 2 for information about the DI signal and its selected register The timing diagrams are shown below PR 1 Internal register PR 0 99 1 ms on off off off on on off off on Set the response time with P2 009 POS 0 POS 1 POS 2 CTRG SON External DI on on on off off off Cmd_OK TPOS MC_OK Internal DO PR 2 PR 4 Motion curve Speed Note Cmd_OK is on when the PR com...

Page 172: ...l gain P2 000 and position feed forward gain P2 002 Description of the position control gain and position feed forward gain 1 Position control gain the higher the gain the larger bandwidth for the position loop response 2 Position feed forward gain reduces the deviation of phase delay Please note that the position loop bandwidth should not be larger than the speed loop bandwidth Calculation 4 fv f...

Page 173: ...width for the position loop is increased and the phase margin is reduced Meanwhile the rotor rotates and vibrates in the forward and reverse directions In this case you have to decrease the KPP value until the rotor stops vibrating When the external torque is too high the low value for KPP cannot meet the demand of reducing the position following error In this case increasing the position feed for...

Page 174: ... the same level it automatically sets P1 029 to 0 and sets P1 025 to the first frequency and sets P1 026 to 1 It sets P1 027 to the second frequency and then sets P1 028 to 1 If P1 029 is automatically reset to 0 but the low frequency vibration persists check if P1 026 or P1 028 is enabled If the values of P1 026 and P1 028 are both 0 it means no frequency is detected Lower the value of P1 030 and...

Page 175: ...e is set too small the system might detect noise as the resonance vibration frequency You can also use a software scope to observe the range of position error pulse between the upper and lower magnitude of the curve to adjust the value of P1 030 Manual Setting There are two sets of low frequency vibration suppression one is parameters P1 025 P1 026 and the other is parameters P1 027 P1 028 You can...

Page 176: ... of Speed command sources analog voltage and internal register parameters You can select the source with DI signals for CN1 See the following table for the command source selection Speed command number CN1 DI signal Command source Content Range SPD1 SPD0 S1 0 0 Mode S External analog signal Voltage difference between V REF and GND 10V to 10V Sz N A Speed command is 0 0 S2 0 1 Register parameters P...

Page 177: ...g parameter P1 040 for rotation speed and S curve parameter for smoothing the speed The Speed control unit manages the gain parameters for the servo drive and calculates the current command for servo motor in real time The Resonance suppression unit suppresses the resonance of the machine The following diagram introduces the function of Speed command processing unit Its structure is shown below An...

Page 178: ...ation and the S curve acceleration deceleration constant TSL improves the status of motor activating and stopping This can also calculate the total time for executing the command T m indicates the operation time and S rpm indicates the absolute Speed command which is the absolute value of the initial speed minus the end speed Rated speed Speed Time ms P1 034 Torque Time ms 0 0 Acceleration Deceler...

Page 179: ... the Speed command and the motor speed when you apply the Analog Speed command filter In the diagram above the slopes of the Speed command in acceleration deceleration are different You can adjust the time setting P1 034 P1 035 and P1 036 according to the actual application to improve the performance Low pass filter for speed commands You usually use the low pass filter to remove unwanted high fre...

Page 180: ...r P1 040 maximum rotation speed for Analog Speed command to adjust the slope of the speed change and its range 6000 rpm 3000 rpm 6000 rpm 3000 rpm The slope is set by P1 040 Analog voltage input V 10 5 10 5 P1 040 6000 P1 040 3000 Speed command Refer to Chapter 8 for detailed descriptions of the relevant parameter Parameter Function P1 040 Maximum rotation speed for Analog Speed command ...

Page 181: ... O on S3 External analog voltage or 0 Note 1 off means that DI is off the circuit is open on means that DI is on the circuit is closed 2 When it is in Sz mode the Speed command S1 0 when it is in S mode the Speed command S1 is the external analog voltage input 3 In Servo On state the command is selected according to the status of SPD0 SPD1 ...

Page 182: ...rovided Manual you need to manually set the parameters and all auto or auxiliary functions are disabled Gain adjustment mode refer to Chapter 5 Tuning Manual mode When you set P2 032 to 0 you also set the speed control gain P2 004 speed integral compensation P2 006 and speed feed forward gain P2 007 Speed control gain the higher the gain the larger the bandwidth for the speed loop response Speed i...

Page 183: ...owever if the value is set too high the phase margin is too small The effect is not as good as KVI for the steady state error but is better for the effect on following error The higher the KVI value the larger the low frequency gain It shortens the time for the steady state error to reduce to zero However it does not significantly reduce the following error The closer the KVF value is to 1 the mor...

Page 184: ...2 044 Notch filter attenuation level 2 P2 045 Notch filter frequency 3 P2 046 Notch filter attenuation level 3 P2 095 Notch filter bandwidth 1 P2 096 Notch filter bandwidth 2 P2 097 Notch filter bandwidth 3 P2 098 Notch filter frequency 4 P2 099 Notch filter attenuation level 4 P2 100 Notch filter bandwidth 4 P2 101 Notch filter frequency 5 P2 102 Notch filter attenuation level 5 P2 103 Notch filt...

Page 185: ...ff frequency of low pass filter 1000 P2 025 Hz 4 Resonance point suppressed by the low pass filter To conclude from these two examples if you increase the value of P2 025 from 0 the bandwidth BW becomes smaller Although it solves the problem of resonance it also reduces the response bandwidth and phase margin and thus the system becomes unstable If you know the resonance frequency you can suppress...

Page 186: ...sonance frequency it also reduces the response bandwidth and phase margin If you know the resonance frequency the Notch filter can eliminate the resonance directly The frequency range of the notch filter is 50 5000 Hz and the suppression strength is 0 40 dB If the frequency does not meet the Notch filter conditions then using the low pass filter to reduce the resonance is suggested ...

Page 187: ...10V Tz N A Torque command is 0 0 T2 0 1 Register parameters P1 012 400 to 400 T3 1 0 P1 013 400 to 400 T4 1 1 P1 014 400 to 400 Status of TCM0 TCM1 0 means that DI is off the circuit is open 1 means that DI is on the circuit is closed When both TCM0 and TCM1 are 0 if it is in Tz mode then the command is 0 If there is no need to use the analog voltage for the Torque command then Tz mode is applicab...

Page 188: ...control unit manages the gain parameters for the servo drive and calculates the current for servo motor in real time you can only set this by commands The structure of torque command processing unit is as follows Analog signal Command selection P1 001 Register P1 012 P1 014 Scaling P1 041 Low pass filter P1 007 A D TCM0 and TCM1 signals of CN1 The upper path is the command from the register and th...

Page 189: ...REF and GND You can adjust the torque slope and its range with parameter P1 041 For example 1 If you set P1 041 to 100 and the external input voltage is 10V the Torque command is 100 of the rated torque 2 If you set P1 041 to 300 and the external input voltage is 10V the Torque command is 300 of the rated torque 300 100 300 100 The slope is set by P1 041 Analog voltage input V 10 5 10 5 Torque com...

Page 190: ...nal I O on T3 External analog voltage or 0 Note 1 off means that DI is off the circuit is open on means that DI is off the circuit is closed 2 When in Tz mode the Torque command T1 0 when in T mode the Torque command T1 is the external analog voltage input 3 In Servo On state the command is selected according to the status of TCM0 TCM1 ...

Page 191: ...hed with DI signal PT_PR Multi mode PT PR S 0E PT PR and S can be switched with DI signals S_P and PT_PR PT PR T 0F PT PR and T can be switched with DI signals T_P and PT_PR Sz and Tz dual mode is not supported To avoid occupying too many digital inputs in dual mode Speed and Torque modes can use the external analog voltage as the command source to reduce the use of DI points SPD0 SPD1 or TCM0 TCM...

Page 192: ...with the DI signal The timing diagram is shown below CTRG S P POS0 6 valid POS0 6 invalid SPD0 1 valid SPD0 1 invalid SPD0 1 valid Speed mode Position mode Speed mode POS0 6 invalid ON OFF ON Figure 6 5 1 1 Speed Position dual mode In Speed mode DI S P is on you select the Speed command with DI SPD0 and DI SPD1 DI CTRG is not applicable When switching to Position mode DI S P is off since the Posit...

Page 193: ...nd Torque modes is controlled by DI S T 0x19 signal The timing diagram is shown below S T TCM0 1 valid TCM0 1 valid Speed mode Torque mode Torque mode TCM0 1 invalid SPD0 1 valid SPD0 1 invalid SPD0 1 invalid ON OFF ON Figure 6 5 2 1 Speed Torque dual mode In Torque mode DI S T is on you select the Torque command with DI TCM0 and DI TCM1 When switching to Speed mode DI S T is off you select the Sp...

Page 194: ...ing diagram is shown below CTRG S P POS0 6 valid POS0 6 invalid POS0 6 invalid ON OFF ON Position mode Torque mode Torque mode TCM0 1 valid TCM0 1 invalid TCM0 1 valid Figure 6 5 3 1 Torque Position dual mode In Torque mode DI T P is on you select the Torque command with DI TCM0 and DI TCM1 DI CTRG is not applicable When switching to Position mode DI T P is off since the Position command has not b...

Page 195: ... 1 valid SPD0 1 invalid Speed limit function disabled P1 002 Speed limit function enabled P1 002 Command source selection of speed limit 6 6 2 Applying the torque limit The methods for using the Torque Limit command and Torque command are the same You can use either the external analog voltage or the internal parameters P1 012 P1 014 Refer to Section 6 4 1 for descriptions You can use the torque l...

Page 196: ... 020 Offset adjustment for analog monitor output Ch1 P4 021 Offset adjustment for analog monitor output Ch2 Example Specify a motor speed of 1000 rpm which corresponds to analog voltage output of 8V with the maximum speed of 5000 rpm The setting is as follows P1 004 Required speed Max speed x 100 1000 rpm 5000 rpm x 100 20 You can calculate the corresponding voltage output for the current motor sp...

Page 197: ...t from the set zero point To fix this problem you can use DOF1 P4 020 and DOF2 P4 021 to calibrate the offset voltage output The voltage level for analog monitoring output is 8V If the output voltage exceeds the range it is limited within 8V The resolution is approximately 10 bits which is equivalent to 13 mV LSB DOF 8V 8V ...

Page 198: ...ommands 7 10 7 1 3 1 Homing methods 7 10 7 1 3 2 Speed command 7 23 7 1 3 3 Position command 7 25 7 1 3 4 Jump command 7 28 7 1 3 5 Write command 7 30 7 1 3 6 Index Position command 7 32 7 1 3 7 Arithmetic operation Statement 7 36 7 1 4 Overview of the PR procedure 7 39 7 1 5 Trigger methods for the PR command 7 46 7 1 6 PR procedure execution flow 7 50 7 2 Application of motion control 7 66 7 2 1...

Page 199: ...Motion Control ASDA A3 7 2 7 7 3 8 Flying Shear 7 134 7 3 9 Macro 7 147 7 3 10 Auxiliary function 7 157 7 3 11 Horizontal packing machine applications 7 159 ...

Page 200: ...ation of all PR parameters in the descriptions of Group 6 and 7 in Chapter 8 For example PR 1 path is defined by two parameters P6 002 and P6 003 P6 002 is for specifying the property of PR 1 such as the PR command type whether to interrupt and whether to auto execute the next PR P6 003 is subject to change based on the properties set in P6 002 If P6 002 is set to a Speed command then P6 003 speci...

Page 201: ... about Motion Control mode refer to Section 7 1 3 Figure 7 1 2 PR Mode interface in ASDA Soft Table 7 1 1 Example of PR 1 property and data content Note TYPE Control command mode Bit PR 1 31 28 27 24 23 20 19 16 15 12 11 8 7 4 3 0 P6 002 TYPE P6 003 Data content 32 bit TYPE No Command mode 1 SPEED speed control 2 SINGLE positioning control stop once positioning is complete 3 AUTO positioning contr...

Page 202: ...d by multiple PR paths then all PR paths using this parameter are changed as well Please be aware of this when setting PR paths so as to avoid any danger or damage to the machine For example if multiple PR commands use the target speed setting from P5 060 when you change the value of P5 060 those PR commands target speed are also changed ASDA Soft also provides a user friendly interface for this s...

Page 203: ...R path setting 0 1 2 3 4 5 6 14 15 0 1 2 3 4 5 6 14 15 0 1 2 3 4 5 6 14 15 Acceleration deceleration time ACC DEC Delay time DLY Target speed SPD P5 040 P5 041 P5 042 P5 043 P5 044 P5 045 P5 046 0 100 200 400 500 800 1000 5000 P5 054 P5 055 5500 P5 060 P5 061 P5 062 P5 063 P5 064 P5 065 P5 066 20 0 50 0 100 0 200 0 300 0 500 0 600 0 2500 0 P5 074 P5 075 3000 0 Figure 7 1 1 1 Shared parameter data ...

Page 204: ...ion coordinates simplified as Fb_PUU Feedback PUU 4 Position error PUU monitoring variable code 002 The deviation between the command position PUU and the feedback position PUU simplified as Err_PUU Error PUU How these four monitoring variables work is shown in Figure 7 1 2 1 After the servo issues a Position command the servo sets the position of Cmd_E once the target position data is acquired Th...

Page 205: ...n descriptions When you trigger the motion command with DI CTRG 0x08 the servo drive operates based on the command from the internal registers Once the execution is complete DO Cmd_OK 0x15 PR Position command complete is set to on When the position deviation pulse number becomes smaller than the set amount in P1 054 DO TPOS 0x05 Motor reaches the target position is set to on Then both DO signals a...

Page 206: ... DO MC_OK Cmd_O Pulse Fb_Pulse P1 054 Figure 7 1 2 3 Operation of DI DO signals in PR mode Cmd_O Pulse Fb_Pulse P1 054 Before issuing command Command in execution Command completed Motor positioned Command trigger DI CTRG Command Cmd PR position command completed DO Cmd_OK Delay time Motor reaches target position DO TPOS Servo procedure completed DO MC_OK Motor in operation Figure 7 1 2 4 Operatio...

Page 207: ... 004 Homing methods Address 0508H 0509H Default 0x0000 Control mode PR Unit Setting range 0 0x12A Format HEX Data size 16 bit Settings Y Z U X X Homing method Z Limit setting Y Z pulse setting U Reserved Definition of each setting value U Z Y X Reserved Limit setting Z pulse setting Homing method 0 1 0 2 0 A Y 0 return to Z pulse Y 1 go forward to Z pulse Y 2 do not look for Z pulse X 0 homing in ...

Page 208: ...celeration time selection for second homing YX PATH path type B DLY select 0 F for delay time Z ACC select 0 F for acceleration time C N A U DEC1 deceleration time selection for first homing D BOOT automatically execute homing procedure YX PATH path type 0x0 Stop homing complete and stop 0x1 0x63 Auto homing complete and execute the specified path Path 1 Path 99 Z ACC select 0 F for acceleration t...

Page 209: ... is issued the motor moves to the specified position PL signal Z pulse H L Reverse to Z E S1 2000 Coordinates after homing 1000 3000 1000 1477 Motor position after homing 5000 0 4000 Origin Reference origin P6 001 Origin definition Figure 7 1 3 1 1 Origin definition P6 001 Origin definition Address 0602H 0603H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data si...

Page 210: ...cond low speed homing Second low speed homing Note rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P5 006 Low speed homing second speed setting Address 050CH 050DH Operation interface Panel software Communication Control mode PR set with P5 004 Default 20 0 200 Data size 32 bit Unit 1 rpm rotary 10 6 m s linear 0 1 rpm r...

Page 211: ...SDA A3 7 14 7 You can set the homing parameters in the PR mode homing screen in ASDA Soft including the homing methods homing definition and homing speed see Figure 7 1 3 1 2 Figure 7 1 3 1 2 Homing screen in ASDA Soft ...

Page 212: ...motor switches to low speed second speed setting to look for the Z pulse in the reverse direction When the motor finds the Z pulse it decelerates and stops completing the homing procedure If you set the motor to look for the Z pulse in the forward direction and the limit signal remains un triggered low Start point 1 the servo motor operates at high speed first speed setting and then decelerates on...

Page 213: ...nt 3 Start point 2 The figure above shows an example of reversing to look for the Z pulse If the home sensor signal for the start position is un triggered low Start point 1 the servo motor operates at high speed first speed setting until it reaches the rising edge of ORG signal Then it decelerates switches to low speed second speed setting until the home sensor signal turns off and starts looking ...

Page 214: ...the Z pulse is found homing is complete If you set the servo motor to look for the Z pulse in the forward direction or not to look for the Z pulse this is similar to the first method mentioned above going in the reverse direction or not to look for the pulse Z refer to the timing diagram above 3 Referencing the Z pulse This method uses the Z pulse as the reference origin One Z pulse is generated p...

Page 215: ...off low Next it reverses to look for the Z pulse and decelerates to a stop once it finds the Z pulse completing the homing If ORG signal is un triggered at the start point and is relatively closer to the limit switch Start point 2 the motor runs at high speed first speed setting You can set whether to show an error or reverse the running direction when it reaches the limit switch If you set it to ...

Page 216: ...ning is complete Motor End DI 0x27 SHOM 6 Referencing the torque limit This method uses the motor s stop position as the reference origin by referring to the limit on the mechanism the torque level detection P1 087 and the level reached timer P1 088 You can also choose whether to use the Z pulse as the reference origin Motor Start point Reverse to Z End Protector Do not look for Z Start point End ...

Page 217: ...tting P1 087 the great impact may cause damage to the machine The settings and descriptions for the torque level detection P1 087 and level reached timer P1 088 are as follows P1 087 Torque homing torque level detection Address 01AEH 01AFH Default 1 Control mode PR Unit Setting range 1 300 Format DEC Data size 16 bit Settings This setting is only for the Torque homing mode As shown in the followin...

Page 218: ...on error PUU Err_PUU Before homing completes the command end register Cmd_E cannot be calculated because the coordinate system can only be created after homing is complete and the target position remains unknown after the Homing command is issued This is why the status of each monitoring variables is different during homing In Homing command s default setting the contents of Cmd_E and Cmd_O are id...

Page 219: ...d Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E Err_PUU Fb_PUU Cmd_O Cmd_E After command issued Command in execution Command completed Motor positioned Figure 7 1 3 1 3 Homing mode and monitoring variables ...

Page 220: ...ath completes In addition you can set the target speed with two unit options which are 0 1 rpm and 1 PPS ranging from 6000 rpm to 6000 rpm ACC DEC is the acceleration deceleration time determined by the shared PR parameters The software calculates and displays the required duration for accelerating from 0 to the target speed DLY is the delay time that is determined by the shared PR parameters It d...

Page 221: ...ontrol Note 1 Y OPT option INS interrupt command that interrupts the previous motion command AUTO automatically load the next PR command when the current one is complete UNIT speed unit selection 0 signifies 0 1 rpm and 1 signifies PPS 2 Z U ACC DEC acceleration deceleration time set by P5 020 P5 035 3 B DLY delay time set by P5 040 P5 055 PR parameters D C B A U Z Y X Command type DLY DEC ACC OPT...

Page 222: ... setting the delay time to 0 is suggested refer to Section 7 1 6 ACC DEC is the acceleration deceleration time determined by the shared PR parameters The software calculates and displays the required duration for accelerating from 0 to the target speed SPD is the target speed specified by the shared PR parameters You can choose whether it is multiplied by 0 1 DLY is the delay time specified by the...

Page 223: ...evious PR path The target position is the motor s current position 20000 PUU plus the relative position command 60000 PUU which equals 80000 PUU on the coordinate axis The target position specified by the original command is omitted 3 Incremental command INC when executed the target position is the previous target position value plus the current position command value In the following example an I...

Page 224: ...n Fb_PUU Target position Capturing position 60000 High speed position capturing CAP 60000 PUU Figure 7 1 3 3 3 Four types of Position command Table 7 1 3 3 1 Bit functions of PR position control Note 1 Y OPT option INS interrupt command that interrupts the previous motion command OVLP allow overlapping of the next command CMD Position command selection 2 Z U ACC DEC acceleration deceleration time ...

Page 225: ...ommand that interrupts the previous motion command Refer to Section 7 1 6 for more details DLY is the delay time that is determined by the shared PR parameters Once a Jump command is issued the servo drive starts counting the delay time Available target PR numbers are PR 00 PR 99 Table 7 1 3 4 1 shows the bit functions when a Jump command is in operation PR 01 PR 07 PR 08 PR 09 PR 10 Jump Jump Fig...

Page 226: ...PR Jump command Note 1 Y OPT option INS interrupt command that interrupts the previous motion command 2 B DLY delay time set by P5 040 P5 055 PR parameters D C B A U Z Y X Command type DLY OPT 7 Data Content Jump to target PR path 0 99 BIT 3 2 1 0 Command type INS ...

Page 227: ...utomatically loads and executes the next PR once the current PR completes ROM command writes parameters to both RAM and EEPROM at the same time Writing to non volatile memory function is also available however frequent usage shortens the life of the EEPROM DLY is the delay time that is determined by the shared PR parameters Once a Jump command is issued the servo drive starts counting the delay ti...

Page 228: ...mand type 0 SOUR_DEST DLY DESTINATION OPT 8 Data Content SOURCE BIT 3 2 1 0 Command type ROM AUTO INS BIT 3 2 1 0 Description Command type SOUR DEST Data source Writing target Data Content 0 0 0 0 Constant Parameter 0 1 0 Parameter Parameter 1 0 0 Data array Parameter 1 1 0 Monitoring variable Parameter 0 0 1 Constant Data array 0 1 1 Parameter Data array 1 0 1 Data array Data array 1 1 1 Monitori...

Page 229: ...rrupts the previous motion command see Section 7 1 6 OVLP stands for the overlap command that allows the next PR command to overlap the command that is currently being executed when decelerating If you use this function setting the delay time to 0 is suggested refer to Section 7 1 6 DIR sets the rotation direction with options of forward rotation always runs forward reverse rotation always runs ba...

Page 230: ...ing distance Motor s running direction Indexing coordinates 1 2 3 4 5 6 7 8 Motor s running direction Position PUU Motor s feedback position Motor s index position 231 1 231 Total index moving distance P2 052 1 0 Figure 7 1 3 6 1 PR mode indexing coordinates Figure 7 1 3 6 2 Index Coordinates Setting Wizard in PR mode ...

Page 231: ...nce Motor s running direction Indexing coordinates 1 2 3 4 5 6 7 8 Target position Current position 1 2 3 4 5 6 7 8 Always forward Forward Always backward Backward Shortest Dist 10000 PUU 20000 PUU 30000 PUU 40000 PUU 50000 PUU 60000 PUU 70000 PUU 0 PUU Always backward Backward Shortest Dist Always forward Forward Figure 7 1 3 6 4 Motor s operation direction and indexing coordinates ...

Page 232: ...y load the next PR command when the current one is complete 3 Z U ACC DEC acceleration deceleration time set by P5 020 P5 035 4 A SPD delay time set by P5 060 P5 075 5 B DLY delay time set by P5 040 P5 055 BIT PR parameters D C B A U Z Y X Command type OPT2 DLY SPD DEC ACC OPT 0xA Data Content Index Position command PUU 0 P2 052 1 BIT 3 2 1 0 Description Command type DIR OVLP INS Data Content 0 0 ...

Page 233: ...jump condition in the path so that execution jumps to different PR path and then continues or stops once the operation is done You can also use it as a loop function The arithmetic operation commands support negative integer operations but not floating point operations Negative integer operations are calculated by two s complement Figure 7 1 3 7 1 is the Arithmetic Operations screen in ASDA Soft A...

Page 234: ...ray Arr 0 799 Monitoring variable Mon 2 Procedure section uses the IF statement to determine whether the user defined condition is fulfilled If true jump to the next specified PR path if false jump to the other specified PR path If you click Next PR in Quick Setting the software automatically inputs the condition and then jumps to the next PR path If you leave this section blank then the PR proced...

Page 235: ...ata in those two sections are different then the data is saved to another statement The time required to execute the statement is shown in the Spend Time field Total Capacity shows the servo drive s memory capacity basic operations cannot be performed if there is no memory space available The Statements tab is shown in Figure 7 1 3 7 2 The upper section displays all the statements and the lower se...

Page 236: ... execute homing when power on O command overlap R write data to EEPROM I command interrupt 3 Command type there are seven types of PR path commands homing speed position writing jumping index positioning and arithmetic operations The color displayed in this section depends on the command type 4 Next procedure command if followed by a PR command the arrow points to the specified PR path 5 Command i...

Page 237: ...direction with ORG when it switches from off to on state as the homing origin 2 F_ORGZ 2 F_ORG X 3 homing in reverse direction with ORG when it switches from off to on state as the homing origin 3 R_ORGZ 3 R_ORG X 4 look for the Z pulse in forward direction with it as the homing origin 4 F_Z X 5 look for the Z pulse in reverse direction with it as the homing origin 5 R_Z X 6 homing in forward dire...

Page 238: ...path If the Interrupt function is enabled it displays I if not no information is displayed 2 Delay time DLY determined by shared PR parameters It is defined by a command from the controller the servo drive starts counting the delay time once it reaches the target speed 3 Target speed the set target speed 4 Acceleration time ACC determined by shared PR parameters length of time to reach the target ...

Page 239: ...ion is enabled it displays I if not no information is displayed The Position command can overlap OVLP the next PR path If delay time is set to 0 when this function is enabled it displays O If the Overlap function is not used no information is displayed 2 Delay time DLY determined by shared PR parameters It is defined by a command from the controller The servo drive starts counting the delay time o...

Page 240: ...paths PR 1 PR 99 It is marked as Write See Figure 7 1 4 6 PR 1 I R Write DLY 0 0 ms P1 001 1 1 2 3 Figure 7 1 4 6 Write command display 1 Command execution type property a Write command can interrupt INS the previous PR path If the Interrupt function is enabled it displays I if not no information is displayed You can determine whether to write the data to EEPROM If writing data to EEPROM is requir...

Page 241: ...osition command can interrupt INS the previous PR path If the Interrupt function is enabled it displays I if not no information is displayed The Position command can overlap OVLP the next PR path If delay time is set to 0 when this function is enabled it displays O If the Overlap function is not used no information is displayed 3 Delay time DLY determined by shared PR parameters It is defined by a...

Page 242: ...top it once the execution is complete See Figure 7 1 4 8 PR 1 I Statement S0 Exe Time 3 89μs 2 3 true false PR 2 1 PR 1 I Statement S0 Exe Time 3 89μs 2 3 true false 1 PR 1 I Statement S0 Exe Time 3 89μs 2 3 1 Figure 7 1 4 8 Arithmetic operation display 1 Command execution type property an arithmetic operation command can interrupt INS the previous PR path If the Interrupt function is enabled it d...

Page 243: ...n choose the PR path to be executed by using the internal registers Position command Bit0 Bit6 and use a command to trigger the selected PR path Before using DI triggering commands you must define the 8 sets of DI functions which are 0x11 POS0 0x12 POS1 0x13 POS2 0x1A POS3 0x1B POS4 0x1C POS5 0x1E POS6 and 0x08 CTRG refer to Table 8 1 You can also set this in the I O screen in ASDA Soft as shown i...

Page 244: ...0 1 0 P6 098 P6 099 PR 51 0 1 1 0 0 1 1 P7 000 P7 001 PR 99 1 1 0 0 0 1 1 P7 098 P7 099 In addition there are two sets of DI for special functions 0x27 Enable homing and 0x46 Motor stops If the former is triggered the servo drive executes homing based on the homing setting If the latter is triggered the servo drive stops the motor You can use the I O screen in ASDA Soft to set these functions as s...

Page 245: ...he Event trigger for PR command you must define the DI functions which are 0x39 Event trigger command 1 0x3A Event trigger command 2 0x3B Event trigger command 3 and 0x3C Event trigger command 4 see Table 8 1 You can use the I O screen in ASDA Soft to set these functions as shown in Figure 7 1 5 4 DI 2 0x39 Event trigger command 1 PR 51 PR 52 PR path No to be executed DI 3 0x3A Event trigger comma...

Page 246: ...f you write 1000 to the PR Command Trigger register the servo drive stops executing PR commands You can find more information in the description of P5 007 in Chapter 8 Special trigger method You can use High speed position capture Capture High speed position compare Compare and the E Cam function to trigger the specified PR path When the capturing completes you can set Bit3 of P5 039 X to trigger ...

Page 247: ...tions and without delay If arithmetic operations which cannot be interrupted are included duration is determined by the operation time and will be the last command in 1 ms Motion command generator Integrates multiple commands sequence interrupt or overlap commands Outputs the integrated motion commands Time Speed Figure 7 1 6 1 PR execution flow in the ASDA A3 Trigger mechanism The trigger mechani...

Page 248: ...can consecutively complete at least 20 PR paths with interrupt commands INS without delay times within 1 ms If there is a PR path that has not completed within 1 ms and a new PR group is sent to the executor by the queue the new PR group then replaces the previous PR group In other words instead of executing the PR group that hasn t been completed the executor starts executing the new PR group How...

Page 249: ...verlap functions the PR executor issues the first Position command to the motion command generator and the generator starts the first part of position control After the first Position command completes if no delay time is set the PR executor issues the second Position command for the generator to start the second part of position control see Figure 7 1 6 2 a If the first Position command includes ...

Page 250: ...DLY 1 100 ms 10000 PUU ABS 200 rpm PR 2 Position DLY 0 0 ms 10000 PUU ABS 500 rpm PR executor Motion command generator Time Speed 100 ms 1 ms command cycle 1 ms command cycle b Position command with delay Figure 7 1 6 2 Position sequence command ...

Page 251: ...y the PR executor starts counting the delay time right after the motor reaches the target speed Then it issues the second Speed command for the generator to start the second part of speed control as shown in Figure 7 1 6 3 b PR executor Motion command generator Time Speed rpm PR 1 Speed DLY 0 0 ms 100 rpm Acc 11 100 ms Dec 11 100 ms PR 2 Speed DLY 0 0 ms 500 rpm Acc 0 33 3 ms Dec 0 33 3 ms 100 500...

Page 252: ...iately In the third ms the PR queue receives a Jump command and executes it immediately as well These last two commands are not sent to the motion command generator since the PR queue and the generator can execute commands independently In the fourth ms the PR queue receives a Position command After the first Position command is complete the PR executor sends it to the generator and the generator ...

Page 253: ...ith the next Position command Position command I Position command When the PR executor receives three consecutive Position commands with an interrupt in the second command the executor treats the first and the second Position commands as one PR group Since the first Position command is not executed the executor replaces the first command with the second It only sends the second command to the moti...

Page 254: ... integration for internal interrupt position command is slightly different from what is described in Section 7 1 3 The way REL and INC commands work is identical The target position is the previous target position plus the current position See the following example The rest of the integration method is the same as mentioned in Section 7 1 3 Internal interruption REL I 60000 PUU 0 10000 20000 30000...

Page 255: ...he generator starts the second part of speed control While the first command is still being executed it is integrated with the second command Once the second command is complete the executor sends the third to the generator for execution see Figure 7 1 6 8 b PR executor Motion command generator Time Speed rpm PR 2 I Speed DLY 0 0 ms 200 rpm Acc 12 333 ms Dec 12 333 ms PR 3 Speed DLY 0 0 ms 500 rpm...

Page 256: ... all paths on the basis of this PR path The prior path s including a delay becomes the first PR group and what follows is the second PR group Thus this PR procedure can execute up to two PR paths with motion commands as shown in Figure 7 1 6 9 b PR 1 I Position DLY 0 0 ms 1000 PUU ABS 200 rpm PR 7 I Position DLY 0 0 ms 10000 PUU ABS 500 rpm PR executor Motion command generator Time Speed PR 2 I Wr...

Page 257: ...f a PR path with external interruption enters the PR executor the executor sends this Position command immediately to the generator so that the motor can run in accordance with the interruption The motor uses the settings that integrate with the former motion commands when running The methods of integration are described in Section 7 1 3 Similarly an external interruption affects Speed and Positio...

Page 258: ...d DLY 0 0 ms 500 rpm Acc 0 33 3 ms Dec 0 33 3 ms PR 1 Speed DLY 1 100 ms 100 rpm Acc 11 100 ms Dec 11 100 ms PR 2 Speed DLY 0 0 ms 500 rpm Acc 11 33 3 ms Dec 11 33 3 ms External interruption 1 ms command cycle 1 ms command cycle 1 ms command cycle 1 ms command cycle 100 200 500 b External interruption Speed command Figure 7 1 6 10 External interruption ...

Page 259: ...ng discontinuous speed during transition see Figure 7 1 6 11 The calculation is as follows 1st target speed 𝑆𝑝𝑑1 3000 Deceleration time 𝐷𝑒𝑐 2nd target speed 𝑆𝑝𝑑2 3000 Acceleration time 𝐴𝑐𝑐 An Interrupt command has a higher priority than an Overlap command Thus when you set an Overlap function in the current Position command and the next motion command includes an Interrupt function only the comman...

Page 260: ...mand generator Time Speed PR 1 O Position DLY 0 0 ms 5000 PUU ABS 200 rpm Acc 0 6 67 ms Dec 0 6 67 ms Deceleration time of the 1st command is identical to acceleration time of the 2nd command 1 ms command cycle 1 ms command cycle b Overlap command Acceleration and deceleration time are identical Figure 7 1 6 11 Overlap command ...

Page 261: ...PR executor Statement commands can interrupt the previous command but cannot be interrupted by the following command This ensures that all statements are executed before the PR paths enter the PR queue In addition whether there is an interrupt command in the next PR path determines the statement execution duration in the command cycle If the following PR has no interruption setting see Figure 7 1 ...

Page 262: ...ement S0 Exe Time 3 89 μs true false PR 10 I Write DLY 0 0 ms P5 045 200 PR 20 I Write DLY 0 0 ms P5 045 300 1 ms Cmd cycle Execution time 3 89 μs Figure 7 1 6 13 Multiple commands with arithmetic operations followed by a PR path with interrupt command ...

Page 263: ... the curve in the data array The Slave axis refers to the Master axis position and moves to the position specified by the E Cam You can find more details about the setting and how it works in the following sections 7 2 1 Data array The data array can store up to 800 32 bit data 0 799 You can use it to store the high speed position capture data and high speed position compare data as well as the E ...

Page 264: ...ds data from or writes data to the data array address set by P5 011 P5 101 reads data from or writes data to the data array address following the address set by P5 011 P5 102 and P5 103 work the same way If the address value accumulates and exceeds the maximum of 799 the returned address is 0 You can find more details in Table 7 2 1 2 Table 7 2 1 1 Group 1 reading and writing the data array Parame...

Page 265: ...2 100 Read P5 012 200 Value of P5 011 writing address adds 1 P5 011 13 Write P5 012 300 Read P5 013 100 P5 011 reading address remains P5 011 11 Write P5 011 12 P5 011 reading address remains P5 011 12 Read P5 012 300 Write P5 011 13 Value of P5 011 reading address adds 1 P5 011 12 Read P5 013 200 Value of P5 011 reading address adds 1 P5 011 1 Write to data array Read from data array Set the addr...

Page 266: ...e data array Packet Communi cation Cmd Start address Data size P5 011 P5 012 P5 013 Low bit High bit Low bit High bit Low bit High bit 4 0x06 P5 011 11 0 5 0x03 P5 011 6 words 11 0 100 0 200 0 6 0x03 P5 011 6 words 13 0 300 0 0 0 Table 7 2 1 2 Group 2 reading and writing the data array Parameter Description Example 1 Example 2 P5 011 Address for reading writing Specify the address for reading from...

Page 267: ...ced by the data captured in the next cycle P5 039 enables and disables the Capture function and other settings See the following table for more information To capture multiple position data use P1 020 to set the masking range for capturing This prevents the same position data being captured repeatedly because capturing more than once is not allowed in the masked area You can set the Capture functi...

Page 268: ... source CAP triggering logic CAP completed P5 038 0 Yes No Reset the 1st position P5 039 X Bit 1 1 1st position P5 076 Enable CMP after the 1st data is captured P5 039 X Bit 2 1 Cyclic CAP P1 019 X 1 P5 038 initial value Call PR 50 P5 039 X Bit 3 1 Data array 1234 2345 5678 6789 7890 DI7 DI7 CAP amount P5 038 P5 038 1 Figure 7 2 2 1 Flow chart for high speed position capturing Figure 7 2 2 2 Captu...

Page 269: ...function for the first point is enabled and P5 076 is set to 0 At the moment DI7 is triggered the second and third time the position data is written to the data array 101 and 102 Once the first capture cycle is complete DO 0x16 CAP is set to on and then PR 50 high speed position capture command and PR 51 motion with fixed speed are executed Then the servo drive continues executing the next cycle m...

Page 270: ... I Write DLY 0 0 ms P5 039 0x203B PR 5 I Write DLY 10 1 ms P1 019 0x0001 PR 51 Speed DLY 0 0 ms 50 rpm Acc 0 3 33 ms Dec 0 3 33 ms Figure 7 2 2 3 PR path with application of high speed capture function CAP axis position PUU Time 10000 PUU DI7 CAP DO 0x16 CAP_OK 10000 PUU PR path 50 50 51 51 1 6 7 Data array 0 0 0 45678 45678 45678 100 0 12501 12501 12501 50345 50345 101 0 0 26789 26789 26789 56789...

Page 271: ...ifted using P1 023 non volatile and P1 024 volatile You can reset P1 024 to 0 after the shift and you can enable this function with P1 019 Z You can also set the Compare function in ASDA Soft as shown in Figure 7 2 3 2 P5 059 bit Function Description X 0 Enable high speed position compare function When P5 058 0 and bit 0 1 the comparing starts Each time a point is compared the value of P5 058 is d...

Page 272: ...ount P5 058 P5 058 1 Figure 7 2 3 1 Flow chart for the high speed position Compare function Figure 7 2 3 2 Compare Function screen in ASDA Soft It is suggested that you use PR path programming to use motion commands with the Compare function You can use Write commands to edit the contents of the data array and set the high speed position Compare function as well as executing the motion command As ...

Page 273: ...aring axis runs to 40000 pulses it is identical to the contents of data array 52 and the third DO4 is set to on Once the first cycle completes the comparing axis resets to 0 and executes PR 45 Incremental command 50000 PUU which is equivalent to a half turn of the motor Therefore the comparing axis outputs 5000 pulses and after the position command completes it executes the Speed command Then the ...

Page 274: ...UU Time DO4 CMP PR path 9 45 45 46 46 5000 20000 30000 40000 1 8 Data array 20000 20000 20000 20000 20000 20000 50 30000 30000 30000 30000 30000 30000 51 40000 40000 40000 40000 40000 40000 52 1 1 2 2 3 3 Figure 7 2 3 4 Timing of the Compare function ...

Page 275: ...echanical cam and E Cam The E Cam function is only available in PR mode P1 001 1 The slave axis operates based on the cam curve the positions of the master and slave correspond to a mathematical function The master axis sends pulses to the slave axis so the slave axis runs according to the corresponding E Cam curve as shown in Figure 7 3 2 P5 088 X can enable or disable the E Cam function When thi...

Page 276: ... master axis signal source You can read the value of P5 037 to acquire the master axis position 2 Encoder when P5 088 Y 1 it uses CN5 external encoder signals as the master axis signal source You can read the value of P5 017 to acquire the master axis position 3 Pulse input when P5 088 Y 2 it uses pulses input through CN1 as the master axis signal source You can read the value of P5 018 to acquire...

Page 277: ...master axis Pulse of master axis lead pulse and Position of master axis The following is the detail description for the four monitoring variables 1 Accumulative pulse of master axis monitoring variable code 059 3Bh the accumulative pulse number of the E Cam master axis Same as P5 086 2 Incremental pulse of master axis monitoring variable code 060 3Ch the incremental pulse number of the E Cam maste...

Page 278: ... servo drive are attenuated to the level that the servo cannot identify use a cable with thicker gauge or a shorter signal cable If not considering the signal delay caused by cables the delay time of each servo drive is 50 ns On the ASDA A3 servo drives the pulse output pins are OA OA OB and OB of CN1 only pulses can be input through CN1 or CN5 to the servo drive Use P1 074 Y to set the output sig...

Page 279: ...Motion Control ASDA A3 7 82 7 1 Master axis 2 Slave axes 1 2 and 3 Figure 7 3 1 3 Pulse by pass function CN1 output CN1 input ...

Page 280: ... timing for clutch engagement can be specified with P5 088 Z The ASDA A3 provides three condition options for clutch engagement timing 1 Engage immediately P5 088 Z 0 the clutch engages immediately as soon as the E Cam function is enabled The slave axis operates according to the E Cam curve and the master axis signals 2 Engagement control with DI P5 088 Z 1 trigger DI 0x36 CAM to have the clutch e...

Page 281: ...agement condition is met the master axis needs to reach the set lead pulse number first and then the clutch is engaged as shown in Figure 7 3 2 2 Slave axis position PUU Master axis position Pulse Initial lead pulse P5 087 Engagement condition met Reach the lead pulse No and clutch engages Figure 7 3 2 2 Initial lead pulse before clutch engagement ...

Page 282: ...based on the E Cam curve and master axis signals When the slave axis completes the motion you can directly disable the E Cam function or disengage the clutch to stop the slave axis motion While the clutch is disengaged the slave remains stationary regardless of the master axis motion as shown in Figure 7 3 2 3 Figure 7 3 2 3 Clutch disengagement ...

Page 283: ...ion is suitable for applications that require the slave axis to accurately stop at the specified position Slave axis position PUU Master axis position Pulse Disengagement pulse No P5 089 Slave axis stop position Clutch disengagement position Figure 7 3 2 4 Disengagement timing slave axis stops right after clutch disengagement 4 Decelerate to stop after disengagement P5 088 U 6 when the clutch is e...

Page 284: ...e No P5 089 Disengagement pulse No P5 089 Pre engage pulse for each cycle P5 092 Figure 7 3 2 6 Disengagement timing cyclic mode Note that the pre engage pulse for each cycle and the initial lead pulse are different The initial lead pulse is valid only for the first engagement whereas the pre engage pulse for each cycle is effective before each engagement cycle You can see how these two work toget...

Page 285: ...axis pulse number reaches the setting value of P5 089 and the slave axis stops immediately 0 stop 4 Condition 4 disengages when the master axis pulse number reaches the setting value of P5 089 and the master and slave axes enters the cyclic mode When the pre engaged pulse number for each cycle P5 092 is reached the clutch re engages 2 pre engage 5 Condition 1 Condition 4 E Cam enters the cyclic mo...

Page 286: ...nd disable the E Cam function Note for the system status after disengagement refer to the following sections You can choose one of the three disengagement conditions for the PR path after the clutch disengagement which are Immediate stop after disengagement Decelerate to stop after disengagement and Enter cyclic mode after disengagement P5 088 U 2 6 or 4 Write the PR number in hexadecimal to P5 08...

Page 287: ...nt conditions Disengagement control with DI Immediate stop after disengagement or Decelerate to stop after disengagement P5 088 U 1 2 or 6 is met the system is stopped If the condition Enter cyclic mode after disengagement P5 088 U 4 is met the system enters the Pre engage state 3 Pre engage state P5 088 D 2 the clutch is disengaged If pulses from the master axis reach the initial lead pulse numbe...

Page 288: ...Therefore if you need to change the E Cam curve scaling changing P1 044 and P1 045 is not suggested The E Gear of the master axis is only for the E Cam system and can change the pulse command resolution of the master axis The setting parameters are P5 083 and P5 084 When the slave axis receives the pulse number defined by P5 084 from the master axis E Cam rotates the number of cycles defined by P5...

Page 289: ... can set P5 083 to 2 and P5 084 to 1035 Slave axis PUU Master axis Pulse 360 P5 084 P5 083 10000 1 12500 1 7500 1 10000 pulses 12500 pulses 7500 pulses Figure 7 3 3 2 E gear ratio for E Cam To change the slave axis motion path proportionally in E Cam applications it is suggested to use P5 019 to scale the E Cam curve This parameter is only effective to the E Cam system and does not affect other mo...

Page 290: ...t engagement then the cutting length changes upon the next clutch engagement For details about flying shear applications refer to Section 7 3 8 Master axis position Pulse Slave axis position PUU Master axis position Pulse Slave axis position PUU P5 019 0 5 P5 019 2 Slave axis position PUU Master axis position Pulse P5 019 1 Master axis position Pulse Slave axis position PUU P5 019 1 Figure 7 3 3 3...

Page 291: ... E Cams to replace mechanical cams divide the mechanical cam into several segments The more the segments the higher the precision In this example the cam is divided into 8 segments and each interval is 45 degrees this is for reference only you need to delicately segment the cam in the actual application or the path will be distorted Then enter the distance between the cam shaft and the points 1 8 ...

Page 292: ... cams can be replaced by E Cams It creates the E Cam curve by using the angles of the mechanical cams corresponding to the distances between the cam shaft and edge which is to establish the correlation of the angles and slave axis positions The setting interface for manually creating E Cam tables in ASDA Soft is shown in Figure 7 3 4 3 The following illustrates the steps to manually create the tab...

Page 293: ...Figure 7 3 4 3 ASDA Soft Manual setting interface for creating E Cam table When using a third party software such as Excel to create the table save all position data as a text file txt and use the Space Tab Enter keys vertical bar or a comma to separate the position data of each point If you start the E CAM Editor in ASDA Soft and choose to manually create the table specify the E Cam segment numbe...

Page 294: ...vision copy and exchange functions for users to change the E Cam curve quickly There are also functions for inserting and deleting single position data on the right click menu The setting interface for creating E Cam tables with a third party software in ASDA Soft is shown in Figure 7 3 4 4 Figure 7 3 4 4 Use third party software to create E Cam curves ...

Page 295: ... 6 Steps to create the table with the speed fitting method are as follows 1 Plan the E Cam curve determine the proportions of the waiting acceleration synchronous speed deceleration and stop zones within an E Cam cycle 2 Set the total moving distance lead set the total moving distance of the slave axis within one cycle in the unit of PUU 3 Set the S curve set smoothness at the transition points of...

Page 296: ...ASDA A3 Motion Control 7 99 7 Figure 7 3 4 6 ASDA Soft Speed fitting setting interface for creating E Cam table ...

Page 297: ...d angles are both adjustable Changing the angles also changes the speed when departing from the start point and arriving at the target point Note that improper angle setting leads to drastic speed change which causes machine vibration 90 0 180 270 90 0 180 270 N1 N2 Figure 7 3 4 7 Start angle and end angle Figure 7 3 4 8 is the cubic curve setting interface for creating E Cam tables in ASDA Soft T...

Page 298: ...nterface for creating E Cam table Create E Cam table for rotary shear applications For rotary shear applications ASDA Soft provides three methods for creating rotary shear curves Rotary Shear W O Syn Speed Zone Rotary Shear Fixed Sync Zone and Rotary Shear Adjustable Sync Zone The only difference between these methods is the synchronous speed zone for the master and slave axes which is adjusted ba...

Page 299: ...osition command When the slave axis is moving at 300 rpm and you trigger an incremental position command with the target speed of 200 rpm in the reverse direction the slave axis executes the E Cam command at the target speed of 100 rpm Then it resumes the original speed after the incremental position command of 5000 PUU is executed completely Slave axis speed Time Slave axis speed Time Slave axis ...

Page 300: ...slave axes operate based on the same E Cam curve Generally the E Cam phases of the three axes must be consistent If inconsistent use the command overlapping function to correct the E Cam phase To shift the phase in the forward direction set the forward incremental command To shift the phase in the reverse direction set the reverse incremental command Figure 7 3 5 2 E Cam phase alignment function ...

Page 301: ...t number 4 E Cam gear ratio and scaling of E Cam curve check the master axis E Gear ratio P5 084 5 083 and the slave axis E Gear ratio P1 044 P1 045 Check the E Cam curve scaling P5 019 If the proportion is set too small the motor operation is too subtle to be monitored even when E Cam is operating In this case use the scope in the ASDA Soft to see if the motor is slightly rotating 5 Clutch status...

Page 302: ...P1 003 b Master axis pulse input from CN5 change the auxiliary encoder feedback direction P1 074 Z c Master axis pulse input from CN1 directly modify the wirings by exchanging the wirings for the A and B phase signals Stopped P5 088 D 0 Engaged P5 088 D 1 Pre engage P5 088 D 2 Engagement condition is met P5 088 Z and initial lead pulse is set P5 087 Disable E Cam function P5 088 X 0 Enter cyclic m...

Page 303: ...7 3 7 1 Rotary shear system cutting machine Apart from the requirement for calculating the correct cutting length the operation speeds of both the material feeder and cutter have to be the same during cutting This stage in the E Cam curve is called the synchronous speed zone During cutting if the material feeder runs too fast the material might be crushed or piled in front of the cutters as shown ...

Page 304: ...d is zero so the the materials are not over stretched when cutting In terms of cutters wider cutters require larger synchronous speed zone as shown in Figure 7 3 7 3 The proportion of this zone is determined by the cutting length instead of the cutter width as shown in Figure 7 3 7 4 Synchronous speed zone Figure 7 3 7 3 Cutter type and synchronous speed zone Sweet Sweet Synchronous speed zone E C...

Page 305: ...th b Arc length between cutter ends cutting length Figure 7 3 7 5 Correlations between the cutting length speed and arc length between cutter ends You can adjust the cutting length by changing the cutter rotation speed However the larger the synchronous speed zone the less flexibility to adjust the cutting length As shown in Figure 7 3 7 6 the cutting length is the same meaning the rotation distan...

Page 306: ...ere are four methods to create E Cam curves for rotary shear applications Rotary Shear W O Sync Zone Rotary Shear Fixed Sync zone and Rotary Shear Adjustable Sync Zone are designed for common rotary shear applications The differences among the three are whether there is a synchronous speed zone and whether this zone is adjustable Rotary Shear Printing Machine is specially designed for creating cur...

Page 307: ...adius This value does not change with the cutter number and the software will calculate the circumference drawn by the cutter end 4 Encoder diameter d2 and encoder pulse number N set the diameter and pulse per encoder revolution The command resolution can be calculated with these two values If you know the master axis gear ratio entering the encoder diameter and pulse number are not required You c...

Page 308: ...so you can use speed compensation to change the speed of the cutter axis In the cutting zone if the speed compensation value is positive the cutter axis speed is faster than the master axis if the speed compensation value is negative the cutter axis speed is slower than the master axis Figure 7 3 7 9 ASDA Soft setting interface for Rotary Shear W O Sync Zone ...

Page 309: ...using the macro to create an E Cam curve is that when changing the cutting length is required you can create a new curve simply by modifying the parameters It is very friendly for those applications that require frequent modification of the cutting length The setting steps are as follows 1 Set the start position for the data array use P5 081 to specify the data array start position for E Cam and u...

Page 310: ... Macro 6 Read P5 097 and if it returns 0x1006 it means using macro for table creation is successful If any of the following failure codes shows modify the setting according to the description Failure code Description 0xF061 When the clutch is engaged the E Cam table cannot be created 0xF062 Data of P5 094 exceeds the range 1 65535 0xF063 Cutter number set in P5 095 exceeds the range 1 65535 0xF064...

Page 311: ...tware automatically limits the cutting length by referring to the ratio R of the cutting length L and the arc length between cutter ends a R L a 1 88 R Speed compensation Vc The difference from the rotary shear curves without the synchronous speed zone is you can plot the acceleration synchronous speed and S curve zones for the curves with adjustable synchronous speed zone If the deceleration zone...

Page 312: ... P5 083 1 and P5 084 Pulse number per turn of the master axis encoder 𝑁 𝜋 master axis encoder diameter 𝑑2 𝑚𝑚 Cutting length 𝐿 𝑚𝑚 Use P5 019 to specify the E Cam curve scaling 4 Set the parameters for the E Cam curve zones specify the size of the waiting acceleration synchronous speed and S curve zones P5 093 DCBA sets the S curve level S with the range of 1 4 the calculation for the corresponding ...

Page 313: ...ble P5 095 DCBA Motor gear teeth number A cutter number C in decimal format P5 095 UZYX Cutter gear teeth number B in decimal format For example if the motor gear teeth number A 10 cutter number C 1 and cutter gear teeth number B 1 then P5 095 0x000A0001 HEX and you need set P5 095 to 655361 DEC P5 096 Cutting length 𝐿 𝑚𝑚 𝜋 cutter diameter 𝑑1 𝑚𝑚 Cutter number 𝐶 Speed compensation 𝑉𝐶 1000000 If Vc ...

Page 314: ...igh Decrease the values of P1 044 and P1 045 but maintain the same ratio for example adjust 167772160 1000000 to 16777216 100000 0xF079 Acceleration degree is too small Decrease the value for the waiting zone synchronous speed zone or S curve level 0xF07A Waiting zone minimum waiting zone Increase the value for the waiting zone or decrease the value for the synchronous speed zone The following met...

Page 315: ...ro parameter P5 094 to set the angle of the synchronous speed zone Y Its angle must be greater than 0 As shown in the following formula when the synchronous speed zone YMax is less than 0 degree decrease the S curve level 𝑌𝑀𝑎𝑥 360 𝑅 5 3 2𝑠 1 0 3 Set the waiting zone use macro parameter P5 093 UZYX in hexadecimal to set the angle of the waiting zone W The calculation is as follows 𝑊 𝐻𝑒𝑥 180 180 𝑅 5...

Page 316: ...𝑐 New Sync zone size Ynew Ynew Y ΔY Sync zone size Use the new Sync zone size Ynew to calculate the variation of the Sync zone ΔY Y Ynew ΔY Y Ynew Ynew P5 094 0 Speed compensation Vc 𝑉 𝑐 360 360 𝑌 𝑅 5 Set the new waiting zone size use the macro parameter P5 093 UZYX in hexadecimal to set the re calculated waiting zone angle Wnew as shown in the following formula 𝑊 𝑛𝑒𝑤 𝑊 𝑌 2 6 Set the parameters re...

Page 317: ... Ynew Ynew P5 094 0 New Sync zone Ynew Y Y Give priority to speed compensation Give priority to Sync zone No Yes Cutting length ratio 1 1 R L a 5 YMax 360 R 5 3 2s 1 0 Speed compensation Vc 1 Speed compensation Vc 360 360 Y R Waiting zone size P5 093 UZYX W Hex 180 180 R 2s 1 1 5 2 New waiting zone Wnew P5 093 UZYX Wnew 2 Y Hex W Set parameters P5 095 DCBA A C P5 095 UZYX B P5 096 1000000 R Vc P5 ...

Page 318: ...ted the drive roll starts to decelerate and move in the opposite direction until reaching the specified zone as shown in Figure 7 3 7 12 b Afterwards the drive roll resumes operation in the printing direction When the printing plate and paper come into contact again the paper and printing axis resume a synchronous relation and make the next print Regarding the E Cam curve for intermittent printing...

Page 319: ...r printing axis and number of pulses per revolution 5 Number of PUU per motor revolution set the number of PUU per motor revolution of the drive roll after E Gear ratio conversion P1 044 P1 045 The ratio of printing axis circumference to printing zone length 𝑅 𝜋 𝑑2 𝑃𝐿 𝐵𝐿 must exceed 1 when using E Cam curves for intermittent printing machines in order to save the material Calculate the synchronous...

Page 320: ...ASDA A3 Motion Control 7 123 7 Figure 7 3 7 14 ASDA Soft rotary shear intermittent printing machine setting interface ...

Page 321: ...tension between materials wound onto the inner circle and outer circle 5 Tension mechanism causing material deformation material deformed due to tension mechanism of the machine causing inaccurate cutting length 6 Alignment mark position printing or other factors may cause inconsistent spacing between marks Compensation mechanism of synchronous Capture axis The servo drive uses the deviation betwe...

Page 322: ...ASDA A3 Motion Control 7 125 7 Deviation in pulse Mark sensor CAP axis position Mark Figure 7 3 7 15 Synchronous Capture axis compensation ...

Page 323: ...be corrected immediately instead of being filtered Its operation is shown in Figure 7 3 7 16 Correction rate variation P1 015 YX Correction rate filter range P1 015 Z Correction filter intensity Average of 2z Sync CAP axis output pulse Figure 7 3 7 16 Correction filter of synchronous Capture axis When the mark printing quality is inferior or there is a stain on the non mark reading area the synchr...

Page 324: ...078 must be equal to the received pulse number per E Cam cycle P5 084 P5 083 maximum correction rate P5 080 and correction filter P1 015 7 Set the PR command to enable the Capture and E Cam functions PR 0 executes the homing procedure PR 1 uses the absolute position command to move the motor to the origin Disable the Capture and E Cam functions before using the PR command to set their parameters s...

Page 325: ... the E Cam phase alignment compensation set the parameters for the DI digital input phase alignment position and compensation level The flow chart is shown in Figure 7 3 7 20 The steps to set the E Cam phase alignment function are as follows 1 Presetting create and download the E Cam curve to the servo drive Set the E Gear ratio including the system E Gear ratio P1 044 and P1 045 E Cam gear ratio ...

Page 326: ...requires immediate compensation P2 076 Y specifies the filter intensity This works the same way as P1 015 Z the correction filter intensity of the synchronous Capture axis which setting value is suggested to be less than 3 Refer to Figure 7 3 7 15 Use the monitoring variable 085 55h to monitor the E Cam phase deviation in percentage which unit is 0 1 If this value is 10 it means the deviation is 1...

Page 327: ...tly executed when decelerating and the appropriate speed and acceleration Setting the position command is not required because it is automatically set by the E Cam phase alignment function 8 E Cam phase alignment setting it is set by P2 076 X P2 076 X Bit 0 enables or disables the alignment function After this function is enabled it starts operating as soon as the servo drive receives the DI signa...

Page 328: ...g mark position is unchanged If the mark is on the compensation motion axis and when E Cam phase alignment is operating the following mark position is changed as shown in Figure 7 3 7 19 a Mark on the non compensation motion axis P2 076 X Bit 2 0 b Mark on the compensation motion axis P2 076 X Bit 2 1 Figure 7 3 7 19 E Cam phase alignment ...

Page 329: ...lignment Slave axis position Always align in reverse direction Align with the shortest distance Always align in forward direction Total displacement 1st alignment compensation 2nd alignment compensation 3rd alignment compensation P2 073 UZ Maximum allowable correction rate per time P2 073 UZ Maximum allowable correction rate per time P2 073 UZ Maximum allowable correction rate per time P2 073 BA S...

Page 330: ...ction method Corrects master axis pulses Uses the PR incremental position command to correct the slave axis position Digital input DI High speed DI7 CAP only Uses DI ALGN most of the time Uses Macro E if using high speed DI7 CAP is required Marking position On the non compensation motion axis On any of the axes compensation or non compensation Equal space marking Available Available and can be use...

Page 331: ...rn to the right position to avoid damaging the cutter or materials as shown in Figure 7 3 8 1 Common applications include cutting machines filling machines and labeling machines Different from rotary shear the compensation methods using synchronous Capture axis and phase alignment are not applicable to flying shear applications This avoids machine damage caused by the compensation in the synchrono...

Page 332: ...er axis path Figure 7 3 8 2 Cutting path and operation cycle of the cutting machine Fully engaged The fully engaged E Cam application is suitable for cutting operations without marks Its E Cam curve includes the acceleration zone synchronous speed zone deceleration zone and reset zone The master axis operates at a constant speed The slave axis operates according to the E Cam curve and the cutting ...

Page 333: ...ne and reset zone Because the cutting zone is in the first segment of the curve there will be more position points plotted in the first segment to ensure the flying shear can complete the cutting in the cutting zone In the following example the cutting zone and stop zone are segmented as the first section of the curve with 300 position points The second section of the curve is the reset zone with ...

Page 334: ...2 to 300 This example sets the cutting zone to 95 including acceleration zone of 5 synchronous speed zone of 85 and deceleration zone of 5 which is 285 position points The stop zone is 5 which is 15 position points After setting the required lead distance of the slave axis click Create Table Stop zone Cutting zone Reset zone Position curve 300 position points 1st section of the curve 2nd section o...

Page 335: ...nts and specify the saving location then click OK to save 4 Plan and create the second section of the E Cam curve the reset zone has 100 position points in total You must set the E Cam segment number N P5 082 to 100 Since the curves created by this function are all in forward direction you must first create a curve and then reverse it to complete the curve for the reset zone ...

Page 336: ...l in 1 and select the check box for Don t close continue the next operation then the curve direction reverses from forward to backward Then select plus fill in 100000 for the lead distance of 100 000 PUU so that the initial value of this curve section smoothly coincides with the final value of the previous curve section Click OK then click on Draw to complete the reversed direction of the curve ...

Page 337: ...ASDA A3 7 140 7 5 Export the curve data of the second section right click on the table select Export points and a window appears Select the check box for All points and specify the save location then click OK to save ...

Page 338: ...00 Click Create Table and a table of 400 position points is generated Right click on the table select Import points fill in 1 to 300 in the pop up window select the first section of the curve then click OK Follow the same steps as previous but fill in 301 to 400 in the pop up window select the second section of the curve then click Draw to complete the E Cam curve of the fully engaged mode ...

Page 339: ...ber for each cycle P5 092 When the E Cam enters the pre engaged status the material feeder continues operating but the cutting axis stops The cutting axis resumes operation until the pre engaged pulse number for each cycle is met The greater the pre engaged pulse number for each cycle the longer the cutting length Cutting point Cutting point Cutting length Sync speed zone Dec zone Reset zone Sync ...

Page 340: ...eted in the synchronous speed zone This method is not recommended for applications when the cutting length is greater than the E Cam curve operating length Because when you increase the moving distance of the slave axis the machine may not have sufficient distance to complete the slave axis motion which can lead to collision Cutting point Cutting point Cutting length Sync speed zone Dec zone Reset...

Page 341: ... you can create an E Cam curve with a larger synchronous speed zone based on the maximum moving distance of the cutter This is suitable for applications with the cutting length smaller than the waiting zone For applications with the cutting length greater than the maximum moving distance of the cutter disengage the E Cam and have the material feeder continue to operate and then the E Cam re engage...

Page 342: ...et P5 088 U to E it means the clutch disengages when the master axis pulse number reaches the pulse number set in P5 089 the slave axis decelerates to stop and the E Cam function is disabled 4 To set the subsequent PR procedure after the clutch disengages set the PR number to be executed in P5 088 BA in hexadecimal 5 Set the PR procedures Procedure 1 set the PR commands for execution when the cutt...

Page 343: ...146 7 DI7 PR A Speed curve P5 089 PR B Cutter Slave axis Initial lead pulse number P5 087 Master pulse number of disengaging time Maximum moving distance of the cutter Figure 7 3 8 5 Operation of partially engaged cutting axis ...

Page 344: ...scaling P5 019 takes effect one time Prompt change in scaling Macro C When the clutch engages sets the master axis pulse phase when the motor remains unmoved Precise control of the clutch engagement position Macro D When the slave axis position is not in the corresponding E Cam curve calculates the position correction amount and writes this amount to the PR incremental position command Slave axis ...

Page 345: ... the section from the E Cam table for engagement When using this macro the master axis should stay stationary Wait for the macro to complete before operating the master axis The operation is shown in Figure 7 3 9 1 Master axis position Pulse Slave axis position PUU P5 093 Specified engagement position Default engagement position Remaining pulses in the cycle Complete the remaining cycle in forward...

Page 346: ...value and the current motor position and writes the deviation to the PR incremental position command You can trigger the specified PR and move the motor of the slave axis to the position corresponding to the master axis position This macro is suitable for the cyclic motion which starts from the same point In other words the mechanism returns to the start point each cycle and the slave axis moving ...

Page 347: ...00 P5 095 0 P5 095 25 P5 095 50 P5 095 75 P5 095 100 Reverse operation Forward operation Slave axis position Always reverse Move with shortest path Always forward P5 093 BA 00 P5 093 BA 01 25 9 Enable Macro D set P5 097 0x000D to enable Macro D Read P5 097 and if it returns 0x100D it means the macro execution is successful If any of the following failure codes shows modify the setting according to...

Page 348: ...e the clutch 2 Set the PR number to save the correction amount specify PR 1 99 in hexadecimal Set P5 093 YX 0x01 0x63 and set this PR as an incremental position command 3 Set the maximum correction rate specify the maximum correction rate of 0 100 in hexadecimal When P5 093 UZ 0x00 0x64 it limits the correctable range to avoid over correction per time and causing machine vibration 4 Set the PR tri...

Page 349: ...tion is successful If any of the following failure codes shows modify the setting according to the description Failure code Description 0xF0E1 When executing this macro command the clutch is not in the engaged status 0xF0E2 PR number specified by P5 093 YX exceeds the range 0x01 0x63 0xF0E3 P5 093 UZ maximum correctable rate exceeds the range 0x00 0x64 0xF0E4 P5 094 DI delay time compensation exce...

Page 350: ...arget position Trigger the return PR command and the slave axis returns to the original position This macro is suitable for applications that require moving the slave axis while the system or the master axis is stopped The operation is shown in Figure 7 3 9 4 Master axis position Pulse Slave axis position PUU P5 096 Target pulse no Current One cycle Current Target Onward PR Return PR Figure 7 3 9 ...

Page 351: ...84 P5 083 5 Enable Macro F set P5 097 0x000F to enable Macro F Read P5 097 and if it returns 0x100F it means the macro execution is successful If any of the following failure codes shows modify the setting according to the description Failure code Description 0xF0F1 When executing this macro command the clutch is not in the engaged status 0xF0F2 PR number of onward trip specified by P5 093 YX exce...

Page 352: ... 1270 ms If the acceleration or deceleration time is shorter than the acceleration time limit then the filter takes effect and smooths the acceleration or deceleration process preventing the command from changing too drastically and machine vibration The following error caused by the smooth command will be compensated after the command changes become moderate so the final position does not deviate...

Page 353: ...xF101 When executing this macro command the clutch is not in the engaged status 0xF102 Set P5 093 to 0 0xF103 The slave axis must operate in forward direction Check the E Cam curve and P5 019 E Cam curve scaling 0xF104 Accumulated pause distance exceeds 231 Do not execute this macro command consecutively Note this function is accumulative If the command is triggered for N times consecutively it pa...

Page 354: ... adjust the command response gain P2 089 to reduce the following error To have better performance in the synchronous speed zone set the additional compensation time P1 017 to compensate the deviation The formula is as follows Compensation distance P1 017 additional compensation time current motor speed Excluding the following error caused by the machine if the error is proportional to the speed fo...

Page 355: ...e actual master axis P5 088 Y plus the virtual pulse frequency in Kpps set by P2 077 UZ This virtual pulse function continues to operate To stop it set X to 9 B Continuous reverse running C Forward JOG Command source is the pulse transmitted by the actual master axis P5 088 Y plus the virtual pulse number in pulses set by P2 077 UZ This function is often used for dynamic adjustment D Reverse JOG P...

Page 356: ...y complete positioning and return to the correct cutting spot System scheme There are two parts in the packing machine system the master axis controller and three slave axes conveyor wrap feeder and heat sealer with cutter The controller is the pulse source for the master axis It outputs the pulse signals to the slave axis and performs logic condition check for the auxiliary function The main func...

Page 357: ...g wrap can be over extended However if the tension is not high enough slippery on the wrap feed roller might occur When any of these two circumstances occurs it means the output master pulses do not match the packing film length In this case use the phase alignment compensation function provided by the servo drive for correction Heat sealer with cutter slave axis The design for the heat sealer wit...

Page 358: ...the E Cam phase alignment function install the mark sensor on the wrap feeder and use DI 0x35 ALGN to correct the E Cam phase The mark sensor for the synchronous Capture axis is installed on the chain conveyor and sends the signals through the high speed input point DI7 to the servo drives controlling the wrap feeder and cutter In other words the synchronous Capture axis provides the source pulses...

Page 359: ...ting prevention PR path and enables Macro F to avoid damages to the machine or cutter caused by content position errors while cutting The electrical framework for empty pack prevention and miscutting prevention is as shown in Figure 7 3 11 3 When an error occurs and causes the machine to stop and the slave axis actual position is inconsistent with the E Cam phase use Macro D to re align the E Cam ...

Page 360: ...mber B 5 Cutter number 1 Cutter diameter d1 200 mm Encoder diameter d2 20 mm Pulse per encoder revolution N 10000 Cutting length L 500 mm 2 Wrap feeder select Manually create a table in the ASDA Soft See the following example The roll diameter for dragging the packing wrap is 20 mm so the wrap feeder feeds the wrap of 62 83 mm per roll revolution A cutting length of 500 mm requires 50 000 PUU Ever...

Page 361: ...rce for the synchronous Capture axis And this synchronous Capture axis is regarded as the pulse source for the master axis to drive the slave axes In addition the pulse number from the master axis corresponding to the slave axis changes with the synchronous Capture axis For detailed settings refer to Section 7 3 7 E Cam phase alignment First set the position for the phase alignment The servo drive...

Page 362: ...ent within this packing distance and requires to enable the empty pack prevention mechanism Set the distance between the detection spot and the cutting spot for the controller If the detection spot is 5 fixed packing distances away from the cutting spot then the controller needs to complete the packing for the previous five packs After the second set of DO CAM_AREA2 is on it calls the PR command t...

Page 363: ...e two consecutive empty packs the mechanism can trigger Macro 10 for two consecutive times When using this function use the PR special filter P1 022 to avoid drastic speed change of the slave axes The operation is shown in Figure 7 3 11 4 No empty pack One empty pack Empty pack detection sensor DO 0x18 CAM_AREA DO 0x1A CAM_AREA2 P5 090 90 P5 091 225 P2 078 0 P2 079 45 E Cam phase Slave axis positi...

Page 364: ...ent use the DI event to trigger the PR path and activate the miscutting prevention mechanism Use Macro F to calculate the deviation between the cutter axis current position and the target position and write this deviation data to the specified PR number Set the E Cam curve scaling P5 019 to 0 and use Macro 8 to activate the scaling setting When the master axis keeps operating and the clutch is eng...

Page 365: ...es the deviation data to the specified PR incremental position command and triggers this PR command to complete the E Cam phase alignment Manually adjust the slave axis To manually adjust the packing wrap to the position near the cutting spot use the virtual pulses P2 077 to fine tune the positions of the wrap feeder and cutter axes so the machine can perform the first cut at the correct position ...

Page 366: ...LY 0 0 ms P2 076 0x3207 PR 3 I O Position DLY 0 0 ms 0 PUU INC 300 rpm PR 4 I Write DLY 0 0 ms P2 073 0x32080A00 PR 5 I Write DLY 0 0 ms P2 076 0x3207 PR 8 I O Position DLY 0 0 ms 0 PUU INC 300 rpm PR 9 I Write DLY 0 0 ms P2 073 0x550C1205 PR 10 I Write DLY 0 0 ms P2 076 0x3227 PR 12 I O Position DLY 0 0 ms 0 PUU INC 300 rpm Execute the phase alignment of the 1st stage and set the 2nd stage Execut...

Page 367: ...the filter function when the correction amount is less than 5 Sets the maximum correction rate to 18 and the masking range of 85 and writes the correction amount to PR 12 PR 10 Enables the E Cam phase alignment of the second stage Sets the allowable forward rate to 50 and the filter volume to 2 Immediately triggers the correction PR command PR 12 Uses the incremental position command to correct th...

Page 368: ...ite DLY 0 0 ms P1 022 0x1022 PR 60 I Write DLY 0 0 ms P5 093 0x00000000 PR 61 I Write DLY 0 0 ms P5 097 0x0010 Event 1 On PR 60 Rising edge triggers Event 1 to set the macro parameter P5 093 to 0 PR 61 Executes Macro 10 to immediately stop the wrap feeder operation for one cycle PR 62 Inhibits the reverse operation and enables the filter when the acceleration or deceleration time is less than 340 ...

Page 369: ...DLY 0 0 ms P5 039 0x0000 PR 20 PR 21 Disables the Capture and E Cam functions Disable the capturing and E Cam functions before using the PR commands to set the parameters for high speed position capturing and E Cam PR 22 Sets the amount to capture PR 23 Enables the Cyclic Capture mode PR 24 Enables the high speed Capture function and sets the pulse source PR 25 Enables the E Cam function Sets the ...

Page 370: ...s continues to send pulses at 1 Kpps PR 41 disables the reverse inhibit function If the positioning is complete execute PR 34 to disable the virtual master axis function To prevent the cutter from cutting before the wrap arrives the target position write the virtual master axis pulse number plus pulses of one cycle to EEPROM This ensures the cutter cuts only when the wrap reaches the right positio...

Page 371: ... the allowable forward rate to 40 PR 8 Sets the target position as the position when the master axis pulse is 0 PR 9 Executes Macro F to calculate the deviation between the E Cam current position and target position PR 10 Sets the E Cam scaling to 0 PR 11 Executes Macro 8 to have PR 10 immediately take effect so the cutter stops operating PR 12 Resets the scaling to default PR 13 Uses the incremen...

Page 372: ...he alarm occurrence and the current position to PR 46 Sets to inhibit the reverse operation PR 44 Sets the allowable forward rate to 0 PR 45 Executes Macro D to calculate the deviation between the position before the alarm occurrence and the current position PR 46 Uses the incremental position command to move the cutter back to the position before the alarm occurrence ...

Page 373: ...Motion Control ASDA A3 7 176 7 This page is intentionally left blank ...

Page 374: ...s 8 3 8 3 Parameter descriptions 8 12 P0 xxx Monitoring parameters 8 12 P1 xxx Basic parameters 8 27 P2 xxx Extension parameters 8 67 P3 xxx Communication parameters 8 102 P4 xxx Diagnosis parameters 8 108 P5 xxx Motion control parameters 8 115 P6 xxx PR parameters 8 155 P7 xxx PR parameters 8 179 PM xxx Motor parameters 8 199 Table 8 1 Digital input DI descriptions 8 213 Table 8 2 Digital output ...

Page 375: ...xample P4 xxx Group 5 Motion control parameters Example P5 xxx Group 6 PR parameters Example P6 xxx Group 7 PR parameters Example P7 xxx Group M Motor parameters Example PM xxx Control mode description PT Position control command input through terminal block PR Position control command sent from internal register S Speed control T Torque control DMC DMCNET control Special symbol description Icon o...

Page 376: ...status monitoring register 3 0 O O O O P0 020 Select content displayed by status monitoring register 4 0 O O O O P0 021 Select content displayed by status monitoring register 5 0 O O O O P0 025 Mapping parameter 1 O O O O P0 026 Mapping parameter 2 O O O O P0 027 Mapping parameter 3 O O O O P0 028 Mapping parameter 4 O O O O P0 029 Mapping parameter 5 O O O O P0 030 Mapping parameter 6 O O O O P0 ...

Page 377: ...n gain 1 0 O O P1 027 Low frequency vibration suppression frequency 2 1000 0 1 Hz O O P1 028 Low frequency vibration suppression gain 2 0 O O P1 029 Auto low frequency vibration suppression mode 0 O O P1 030 Low frequency vibration detection 800 pulse O O P1 034 S curve acceleration constant 200 ms O P1 035 S curve deceleration constant 200 ms O P1 036 S curve acceleration deceleration constant 0 ...

Page 378: ...ter frequency 4 1000 Hz O O O O P2 099 Notch filter attenuation level 4 0 dB O O O O P2 100 Notch filter bandwidth 4 5 O O O O P2 101 Notch filter frequency 5 1000 Hz O O O O P2 102 Notch filter attenuation level 5 0 dB O O O O P2 103 Notch filter bandwidth 5 5 O O O O Gain and switching parameters Parameter No Function Default value Unit Control mode PT PR S T P1 037 Load inertia ratio or total w...

Page 379: ...eters Parameter No Function Default value Unit Control mode PT PR S T P1 001 Input for control mode and control command 0x0000 0x000B O O O O P1 002 Speed and torque limits 0x0000 O O O O P1 003 Encoder pulse output polarity 0x0000 O O O O P1 012 P1 014 Internal torque limits 1 3 100 O O O O P1 044 E Gear ratio numerator N1 16777216 pulse O O P1 045 E Gear ratio denominator M 100000 pulse O O P1 0...

Page 380: ...re O 1000 communication 0 1 rpm rotary 10 6 m s linear communication O P5 006 Low speed homing second speed setting 20 panel software 1 rpm rotary 10 6 m s linear panel software O 200 communication 0 1 rpm rotary 10 6 m s linear communication O P5 007 Trigger Position command PR mode only 0 O P5 040 P5 055 Delay times after position reached 0 5500 ms O P5 098 PR triggered by event rising edge 0x00...

Page 381: ...l parameters Parameter No Function Default value Unit Control mode PT PR S T P1 001 Input for control mode and control command 0x0000 0x000B O O O O P1 002 Speed and torque limits 0x0000 O O O O P1 003 Encoder pulse output polarity 0x0000 O O O O P1 046 Encoder pulse number output OA OB 2500 pulse O O O O P1 055 Maximum speed limit Rated speed of each model rpm rotary mm s linear O O O O P1 009 P1...

Page 382: ...2 019 DO2 functional planning 0x0103 O O O O P2 020 DO3 functional planning 0x0109 O O O O P2 021 DO4 functional planning 0x0105 O O O O P2 022 DO5 functional planning 0x0007 O O O O P2 036 DI9 functional planning 0x0000 O O O O P2 037 DI10 functional planning 0x0000 O O O O P2 038 VDI11 functional planning 0x0000 O O O O P2 039 VDI12 functional planning 0x0000 O O O O P2 040 VDI13 functional plan...

Page 383: ...Fault record N 3 0x00000000 O O O O P4 004 Fault record N 4 0x00000000 O O O O P4 005 Servo motor JOG control 20 rpm O O O O P4 006 Digital output register readable and writable 0x0000 O O O O P4 007 Multi function for digital input 0x0000 O O O O P4 008 Input status of servo drive panel read only O O O O P4 009 Digital output status read only O O O O P4 010 Adjustment function 0 O O O O P4 011 An...

Page 384: ... mV O O O O P4 022 Analog speed input offset 0 mV O P4 023 Analog torque input offset 0 mV O Read only parameter Can only read the value of the parameter For example P0 000 P0 010 P4 000 etc Parameter cannot be changed when servo is in Servo On status For example P1 000 and P1 046 Parameter changes become valid after cycling the power For example P1 001 and P3 000 Parameter resets to its default v...

Page 385: ...01 0xFFFF displays the alarm code not writable Format HEX Data size 16 bit Settings For the list of alarms refer to Section 13 1 Alarm list P0 002 Drive status Address 0004H 0005H Default 1 Control mode All Unit Setting range 300 to 127 Format DEC Data size 16 bit Settings The panel displays some parameters Input the monitoring code to P0 002 to view changes to the variable on the panel For the li...

Page 386: ...utput of motor speed MON2 is the analog output of motor torque MON1 output voltage 8 x Motor speed Maximum speed x P1 004 100 Unit volts MON2 output voltage 8 x Motor torque Maximum torque x P1 005 100 Unit volts P0 004 P0 007 Reserved P0 008 Total servo drive operation time Address 0010H 0011H Default 0 Control mode All Unit hour Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Set...

Page 387: ... or communication Please refer to P0 002 The communication port reads the communication address to get the status Set P0 002 to 24 and the panel displays VAR 2 as the value of P0 010 P0 011 Status monitoring register 3 Address 0016H 0017H Default Control mode All Unit Setting range Format DEC Data size 32 bit Settings Set the value to be monitored in P0 019 through the drive panel or communication...

Page 388: ...efault 0 Control mode All Unit Setting range 0 127 Format DEC Data size 16 bit Settings Refer to Table 8 3 for the available values For example if you set P0 017 to 07 then reading P0 009 displays the motor speed rpm P0 018 Select content displayed by status monitoring register 2 Address 0024H 0025H Default 0 Control mode All Unit Setting range 0 127 Format DEC Data size 16 bit Settings Refer to T...

Page 389: ...ng parameter 1 Address 0032H 0033H Default Control mode All Unit Setting range Determined by the corresponding parameter P0 035 Format HEX Data size 32 bit Settings You can continuously read and write parameters faster if they are not in the same group Use P0 035 to specify the mapping parameter number with the panel or communication The value of the parameter that is specified by P0 035 is shown ...

Page 390: ...g parameter 5 Address 003AH 003BH Default Control mode All Unit Setting range Determined by the corresponding parameter P0 039 Format HEX Data size 32 bit Settings This setting is the same as P0 025 except its mapping target is set in P0 039 P0 030 Mapping parameter 6 Address 003CH 003DH Default Control mode All Unit Setting range Determined by the corresponding parameter P0 040 Format HEX Data si...

Page 391: ...al code for the parameter index C Hexadecimal code for the parameter group Z Hexadecimal code for the parameter group D N A U N A h High bit L Low bit Select the data block to access the parameter corresponding to register 1 The mapping value is 32 bits and can map to two 16 bit parameters or one 32 bit parameter P0 035 Mapping parameter P0 035 Mapping content P0 025 Set the P parameter to be mapp...

Page 392: ...rget setting for mapping parameter P0 026 Address 0048H 0049H Default Control mode All Unit Setting range Determined by the communication address of the parameter group Format HEX Data size 32 bit Settings Position of mapping parameter P0 036 P0 026 High bit Low bit Position of mapping parameter Content of mapping parameter Content of mapping parameter P0 037 Target setting for mapping parameter P...

Page 393: ...FH Default Control mode All Unit Setting range Determined by the communication address of the parameter group Format HEX Data size 32 bit Settings Position of mapping parameter P0 039 P0 029 High bit Low bit Position of mapping parameter Content of mapping parameter Content of mapping parameter P0 040 Target setting for mapping parameter P0 030 Address 0050H 0051H Default Control mode All Unit Set...

Page 394: ...ng for mapping parameter P0 032 Address 0054H 0055H Default Control mode All Unit Setting range Determined by the communication address of the parameter group Format HEX Data size 32 bit Settings Position of mapping parameter P0 042 P0 032 High bit Low bit Position of mapping parameter Content of mapping parameter Content of mapping parameter P0 043 Reserved P0 044 Status monitoring register for P...

Page 395: ...load 2 ZSPD zero speed detection 10 WARN This DO is on when servo warning CW CCW EMGS undervoltage or communication error occurs 3 TSPD target speed reached 11 Reserved 4 TPOS target position reached 12 Reserved 5 TQL torque limit activated 13 Reserved 6 ALRM servo alarm 14 Reserved 7 BRKR magnetic brake control output 15 Reserved P0 049 Update encoder absolute position Address 0062H 0063H Default...

Page 396: ...ontrol mode All Unit rev Setting range 32768 to 32767 Format DEC Data size 32 bit Settings When you set P2 070 Bit 1 to 1 for reading the pulse number this parameter displays the number of turns of the encoder absolute position When you set P2 070 Bit 1 to 0 for reading the PUU number this parameter becomes invalid and displays 0 P0 052 Encoder absolute position pulse number or PUU within single t...

Page 397: ...P0 055 P0 054 On P0 009 monitoring item value P0 053 X filtering time DO 0x2C Off P0 053 X filtering time P0 054 General range compare digital output first lower limit Address 006CH 006DH Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Before using this function set the digital output function to 0x2C first set of general range comparison...

Page 398: ...n the range set by P0 056 and P0 057 and after the filtering time set by P0 053 Y this digital output status is on P0 057 General range compare digital output second upper limit Address 0073H 0074H Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P0 056 P0 058 General range compare digital output third lower lim...

Page 399: ... range comparison and the monitoring items of P0 020 When the monitoring item value of P0 012 is within the range set by P0 060 and P0 061 and after the filtering time set by P0 053 U this digital output status is on P0 061 General range compare digital output fourth upper limit Address 007BH 007CH Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit S...

Page 400: ...served Z logic type 0 positive logic 1 negative logic Digital circuits use 0 and 1 to represent the high and low voltage levels In positive logic 1 represents high voltage and 0 represents low voltage in negative logic 1 represents low voltage and 0 represents high voltage Example Positive logic Negative logic Logic type Pulse type Pulse input Forward Reverse Z 0 X 0 Pulse phase lead Pulse phase l...

Page 401: ...rent Differential signal 4 Mpps 5V 25 mA Open collector 200 Kpps 24V maximum 25 mA UY filter width setting If the pulse frequency is too high causing a pulse width smaller than the filter width then this pulse gets filtered out as noise Therefore set the filter width smaller than the actual pulse width You should set the filter width as 4 times smaller than the actual pulse width Y value U 0 Unit ...

Page 402: ...th is smaller than 0 2 μs it will be filtered out Pulse input Pulse input 0 8 μs 0 8 μs If this first pulse width is smaller than 0 8 μs it may be filtered out and thus two input pulses will be regarded as one pulse If this pulse width is smaller than 0 2 μs it will be filtered out If you use a 125 ns 4 Mpps input pulse set the filter value Y to 0 to disable the filter function Note when the high ...

Page 403: ...d the internal register which you can select with DI TCM0 and DI TCM1 Sz Speed control mode the command source is from the zero speed and the internal speed register which you can select with DI SPD0 and DI SPD1 Tz Torque control mode the command source is from the zero torque and the internal torque register which you can select with DI TCM0 and DI TCM1 Dual mode you can switch the mode with exte...

Page 404: ...eed and torque limits Address 0104H 0105H Default 0x0000 Control mode All Unit Setting range 00 11 Format HEX Data size 16 bit Settings Y Z U X X Disable enable Speed Limit function Y Disable enable Torque Limit function UZ Reserved X disable enable Speed Limit function 0 disable Speed Limit function 1 enable Speed Limit function only available in T and Tz modes See the following diagram for Speed...

Page 405: ...r disable the limit function with DI TRQLM which is more flexible but the setting then occupies a DI setting You can enable the Torque Limit function by either P1 002 or DI UZ reserved P1 003 Encoder pulse output polarity Address 0106H 0107H Default 0x0000 Control mode All Unit Setting range 0 13 Format HEX Data size 16 bit Settings Y Z U X X Polarity of monitor analog output Y Polarity of encoder...

Page 406: ...m MON1 8V Current speed Maximum speed P1 004 100 100 8V 300 rpm 5000 rpm 20 100 100 2 4V 900 rpm MON1 8V Current speed Maximum speed P1 004 100 100 8V 900 rpm 5000 rpm 20 100 100 7 2V P1 005 MON2 analog monitor output proportion Address 010AH 010BH Default 100 Control mode All Unit full scale Setting range 0 100 Format DEC Data size 16 bit Settings Refer to P0 003 for the analog output setting P1 ...

Page 407: ... Speed command Internal speed limit 1 first internal speed limit Example of internal speed limit Speed limit value of P1 009 Valid speed range Speed limit in forward direction Speed limit in reverse direction 1000 100 to 100 rpm 100 rpm 100 rpm 1000 Note rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P1 010 Internal Spe...

Page 408: ...ical Refer to the following descriptions Settings Internal Speed command 3 third internal Speed command Internal speed limit 3 third internal speed limit Example of internal speed limit Speed limit value of P1 011 Valid speed range Speed limit in forward direction Speed limit in reverse direction 1000 100 to 100 rpm 100 rpm 100 rpm 1000 Note rotary motor means a permanent magnet synchronous rotary...

Page 409: ... second internal torque limit Example of internal torque limit Torque limit value of P1 013 Valid torque range Torque limit in forward direction Torque limit in reverse direction 30 30 to 30 30 30 30 P1 014 Internal Torque command 3 internal torque limit 3 Address 011CH 011DH Default 100 Control mode T Tz internal Torque command 3 PT PR S Sz internal torque limit 3 Unit Setting range 400 to 400 Fo...

Page 410: ...or 1 YX then the filter is enabled Z filter intensity 0 F When 2 set value times of error is captured the average of the error is used for correction Set to 0 and the filter is disabled When you set the Z value higher you can avoid drastic correction and interference caused by the sensor noise which allows the movement to be more stable However setting this value too high causes the correction to ...

Page 411: ...rror PUU close to 0 If this is unable to accomplish by setting the position feed forward gain P2 002 and position integral compensation P2 053 set the additional compensation time to compensate the error amount Additional compensation distance P1 017 x Motor speed Note enable the following error compensation function P1 036 1 to use the additional compensation function P1 018 E Cam compensation ti...

Page 412: ...t setting 1 3 Reserved Z additional function for Compare 3 2 1 0 Bit Bit Function Description 0 P1 024 is reset to 0 automatically Set this bit to 0 to disable this function and the value of P1 024 remains Set this bit to 1 to enable this function and P1 024 automatically resets to 0 after taking effect once 1 3 Reserved P1 020 Capture masking range Address 0128H 0129H Default 0 Control mode All U...

Page 413: ...equency of the E Cam master axis Kpps with the monitoring variable 060 3Ch The pulse frequency of the E Cam master axis Kpps must be greater than P1 021 to be compensated P1 022 PR command special filter Address 012CH 012DH Default 0x0000 Control mode PR Unit Setting range 0x0000 0x107F Format HEX Data size 16 bit Settings Y U X Z XY Acceleration deceleration time limit 0 1270 ms Z Reserved U Reve...

Page 414: ...mmand rpm Time sec Original command Filtered command Command slows down and the two commands overlap Command changes drastically and the filter takes effect Note if the command does not slow down the internal position lag accumulates and triggers AL404 Z reserved U reverse inhibit When the reverse inhibit function is enabled the reverse command is inhibited The reverse command is reserved in the s...

Page 415: ...et automatically Address 0130H 0131H Default 0 Control mode All Unit Pulse unit of compare source Setting range 32768 to 32767 Format DEC Data size 16 bit Settings When using the Compare function add the translation value to the data array to be used as the actual comparison data CMP_DATA DATA_ARRAY P1 023 P1 024 Note 1 If P1 019 Z Bit 0 1 this parameter automatically resets after taking effect 2 ...

Page 416: ...vibration suppression frequency When you set P1 028 to 0 the second low frequency vibration suppression filter is disabled P1 028 Low frequency vibration suppression gain 2 Address 0138H 0139H Default 0 Control mode PT PR Unit Setting range 0 9 Format DEC Data size 16 bit Settings To set the gain of the second low frequency vibration suppression increase the value to improve the position response ...

Page 417: ...other low frequency vibrations as frequencies to be suppressed If the value is high the system is less likely to misjudge but if the vibration of the machine is small the system may not properly detect low frequency vibrations P1 031 Reserved P1 032 Motor stop mode Address 0140H 0141H Default 0x0000 Control mode All Unit Setting range 0 20 Format HEX Data size 16 bit Settings Y Z U X X Reserved Y ...

Page 418: ...dress 0146H 0147H Default 200 Control mode S Sz Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings Deceleration constant P1 034 P1 035 and P1 036 represent the deceleration time for the Speed command from the rated speed to zero You can set each parameter individually When using an internal command if you set P1 036 to 0 the acceleration and deceleration follow a trapezoid curve wh...

Page 419: ...ary motor kg linear motor 0 1 times rotary motor 0 1 kg linear motor Setting range 0 0 200 0 rotary motor 0 0 6553 5 linear motor 0 2000 rotary motor 0 65535 linear motor Format One decimal DEC Example 1 5 1 5 times kg 15 1 5 times kg Settings Rotary motor load inertia ratio J_load J_motor or total weight of linear motor mover and load M_motor M_load J_motor rotor inertia of the servo motor J_load...

Page 420: ... P1 040 Maximum rotation speed for analog Speed command Address 0150H 0151H Default 3000 Control mode S T Unit rpm Setting range 0 50000 Format DEC Data size 32 bit Settings Maximum rotation speed for analog Speed command Speed mode Speed control command Input voltage Setting 10 Set the rotation speed corresponding to 10V maximum voltage for the analog Speed command If the value is 2000 and the ex...

Page 421: ... external analog input is 10V the torque control command 10V 10 10 10 When the external analog input is 5V the torque control command 5V 10 10 5 In Speed PT and PR modes Torque limit command Input voltage Setting 10 Unit Set the torque limit corresponding to 10V maximum voltage for the analog torque limit Torque limit command 10V 100 10 100 P1 042 Enable delay time for magnetic brake Address 0154H...

Page 422: ...t Settings For the E Gear ratio setting refer to Section 6 2 5 Refer to P2 060 P2 062 for multiple E Gear ratio numerator settings Note 1 Do not change the setting in the Servo On state 2 In communication mode DMCNET CANopen EtherCAT if you cycle the power to the drive the E Gear ratio is set to the default value of the communication protocol Resetting to the default value results in the re establ...

Page 423: ...motor the number of single phase pulse outputs per meter the maximum output frequency of the hardware is 19 8 MHz Note The following circumstances may result in exceeding the maximum allowable output pulse frequency of the drive causing AL018 1 Encoder error 2 The motor speed is faster than P1 076 3 Rotary motor if P1 074 Y 0 and P1 097 0 motor speed rpm 60 x P1 046 x 4 19 8 x 106 Linear motor if ...

Page 424: ...value of the speed deviation is smaller than the parameter value If you set the parameter to 0 the output is always off If the absolute value is smaller than the parameter the digital output is on otherwise it is off P1 048 Motion reached DO MC_OK operation selection Address 0160H 0161H Default 0x0000 Control mode PR Unit Setting range 0x0000 0x0011 Format HEX Data size 16 bit Settings Control sel...

Page 425: ...tioning completed which indicate that DO CMD_OK and DO TPOS are both on 6 DO MC_OK retains digital output status same as 5 except that once this DO is on its status is kept regardless of the signal 4 status 7 Can only select either signal 5 or signal 6 to output and the choice is specified in P1 048 X 8 Position deviation when number 7 occurs if signal 4 or 5 is off it means the position has devia...

Page 426: ...20 750 2 3 kW 10 750 750 W 1 5 kW 20 750 P1 053 Regenerative resistor capacity Address 016AH 016BH Default Determined by the model Refer to the following table Control mode All Unit Watt Setting range 0 6000 Format DEC Data size 16 bit Settings Setting the parameter value when connecting the regenerative resistor with different methods External regenerative resistor Setting External regenerative r...

Page 427: ... each model Linear motor automatically fills in after motor identification Control mode All Unit Rotary motor rpm Linear motor mm s Setting range 0 to maximum speed Format DEC Data size 16 bit Settings Sets the maximum speed of the servo motor Note rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P1 056 Motor output overl...

Page 428: ...ddress 0176H 0177H Operation interface Panel software Communication Control mode S Default 0 0 0 Data size 16 bit Unit 1 ms 0 1 ms Format One decimal DEC Setting range 0 0 4 0 0 40 Example 1 5 1 5 ms 15 1 5 ms Settings 0 disable moving filter P1 006 is the low pass filter and P1 059 is the moving filter The difference between them is the moving filter can smooth the beginning and end of the step c...

Page 429: ...ing range 1 1000 Format DEC Data size 16 bit Settings Set the smoothing constant of friction compensation P1 064 Analog position command activation control Address 0180H 0181H Default 0x0000 Control mode PT Unit Setting range 0x0000 0x0011 Format HEX Data size 16 bit Settings Y Z U X X Setting for position command issued by the analog signal Y Initial position setting UZ Reserved X setting for pos...

Page 430: ...n command Address 0182H 0183H Default 1 Control mode PT Unit 10 ms Setting range 1 1000 Format DEC Data size 16 bit Settings The smooth constant of analog Position command is only effective to analog Position command P1 066 Maximum rotation number of analog Position command Address 0184H 0185H Operation interface Panel software Communication Control mode PT Default 1 0 10 Data size 16 bit Unit 1 c...

Page 431: ...Unit pulse rev Setting range 200 1280000 Format DEC Data size 32 bit Settings The number of A B pulses corresponding to a full closed loop when the motor runs a cycle after quadruple frequency P1 073 Error protection range for full closed loop control Address 0192H 0193H Default 30000 Control mode PT Unit pulse based on the feedback of full closed loop Setting range 1 to 231 1 Format DEC Data size...

Page 432: ...chronous control function Y selection of OA OB OZ output source 0 CN2 encoder is the output source 1 CN5 encoder is the output source If P1 097 0 the OA OB output must be 1 1 If you need to change the output ratio refer to the settings of P1 046 and P1 097 2 CN1 pulse command is the output source If P1 097 0 the OA OB output must be 1 1 If you need to change the output ratio refer to the settings ...

Page 433: ...et the value to 0 to disable If the stiffness of the mechanical system is low increase the value of P1 075 P1 076 Maximum speed for encoder output OA OB Address 0198H 0199H Default 5500 Control mode All Unit Rotary motor rpm Linear motor 10 3 ms Setting range Rotary motor 0 6000 Linear motor 0 15999 Format DEC Data size 16 bit Settings Input the actual maximum speed of the motor as the reference v...

Page 434: ...or this parameter is the original analog input voltage which has not been changed by an offset value through P4 022 analog speed input offset P1 084 P1 086 Reserved P1 087 Torque homing torque level detection Address 01AEH 01AFH Default 1 Control mode PR Unit Setting range 1 300 Format DEC Data size 16 bit Settings This setting is only for the torque homing mode As shown in the following figure af...

Page 435: ...set of vibration elimination anti resonance frequency Address 01B2H 01B3H Default 4000 Control mode PT PR Unit 0 1 Hz Setting range 10 4000 Format DEC Data size 16 bit Settings Anti resonance frequency for the first set of low frequency vibration elimination Use this function in flexible machines with low rigidity The definition of a flexible machine is one for which when the target position is re...

Page 436: ... Unit 0 1 dB Setting range 10 4000 Format DEC Data size 16 bit Settings Attenuation rate for the first set of low frequency vibration elimination P1 092 Second set of vibration elimination anti resonance frequency Address 01B8H 01B9H Default 4000 Control mode PT PR Unit 0 1 Hz Setting range 10 4000 Format DEC Data size 16 bit Settings Anti resonance frequency for the second set of low frequency vi...

Page 437: ...pulse output refers to the values of P1 046 and P1 097 Refer to Example 2 2 When P1 074 Y 1 CN5 encoder is the output source or 2 CN1 pulse command is the output source a When P1 097 0 OA OB pulse output does not refer to the value of P1 046 but outputs according to the ratio of 1 1 instead b When P1 097 0 OA OB pulse output refers to the values of P1 046 and P1 097 Refer to Example 2 Example 1 th...

Page 438: ...that you use this parameter 2 When the servo is on and has not started running it is recommended that you set this parameter if you need to detect disconnection P1 099 P1 100 Reserved P1 101 Analog monitor output voltage 1 Address 01CAH 01CBH Default 0 Control mode All Unit mV Setting range 10000 to 10000 Format DEC Data size 16 bit Settings When you set 6 for the monitor source for P0 003 YX then...

Page 439: ...or speed x 1 1 Control mode All Unit Rotary motor rpm Linear motor mm s Setting range 0 66000 Format DEC Data size 32 bit Settings This function is to protect the motor from overspeeding which can be applied to all control modes When the filtered motor speed exceeds this set speed AL056 is triggered ...

Page 440: ... forward gain Address 0204H 0205H Default 50 Control mode PT PR Unit Setting range 0 100 Format DEC Data size 16 bit Settings If the position control command changes position smoothly increasing the gain value can reduce the position following errors If it does not change smoothly decreasing the gain value can reduce mechanical vibration This gain parameter is disabled when the two dimensional con...

Page 441: ...s 020CH 020DH Default 100 Control mode All Unit rad s Setting range 0 1023 Format DEC Data size 16 bit Settings Increasing the value of the integral speed control can enhance the speed response and reduce the deviation in speed control If you set the value too high it may cause vibration and noise P2 007 Speed feed forward gain Address 020EH 020FH Default 0 Control mode All Unit Setting range 0 10...

Page 442: ...is value can enhance the control stability If you set the value too high it impacts the response time P2 010 DI1 functional planning Address 0214H 0215H Default 0x0101 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings YX Z U YX input function selection Refer to Table 8 1 Z input contact A or B contact 0 set this input contact to be normal...

Page 443: ...f P2 010 P2 013 DI4 functional planning Address 021AH 021BH Default 0x0117 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings Refer to the description of P2 010 P2 014 DI5 functional planning Address 021CH 021DH Default 0x0102 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings Refe...

Page 444: ...are DI codes Format HEX Data size 16 bit Settings Refer to the description of P2 010 P2 018 DO1 functional planning Address 0224H 0225H Default 0x0101 Control mode All Unit Setting range 0 0x013F last two codes are DO codes Format HEX Data size 16 bit Settings YX Z U YX output function selection Refer to Table 8 2 Z output contact A or B contact 0 set this output contact to be normally closed B co...

Page 445: ... Address 022AH 022BH Default 0x0105 Control mode All Unit Setting range 0 0x013F last two codes are DO codes Format HEX Data size 16 bit Settings Refer to the description of P2 018 P2 022 DO5 functional planning Address 022CH 022DH Default 0x0007 Control mode All Unit Setting range 0 0x013F last two codes are DO codes Format HEX Data size 16 bit Settings Refer to the description of P2 018 P2 023 N...

Page 446: ...suppression Set this parameter to 0 to disable the low pass filter P2 026 Anti interference gain Address 0234H 0235H Default 0 Control mode All Unit rad s Setting range 0 1023 Format DEC Data size 16 bit Settings Increasing this parameter can increase the damping of the speed loop and reduce the speed loop response Setting the value of P2 026 to equal P2 006 is recommended See the following for se...

Page 447: ...P2 029 P 7 Frequency of Position command is smaller than P2 029 P 8 Rotation speed of servo motor is slower than P2 029 All Y gain switching method 0 gain rate switching 1 integrator switching P controller switches to PI controller Value Control mode P Control mode S Gain switching 0 P2 000 x 100 P2 004 x 100 P2 004 x 100 Before switching P2 000 x P2 001 P2 004 x P2 005 P2 004 x P2 005 After switc...

Page 448: ...nal and the force Servo On of the PR mode in ASDA Soft cannot work Also the DSP Error variable 0x6F is read as 0 and P0 001 only shows the external error code positive negative limit emergency stop etc DO SRDY is on commands are accepted in each mode and can be observed through the scope software but the motor does not operate Use this mode to examine command accuracy 8 Back up all current paramet...

Page 449: ...ment mode 1 Real time estimation P2 031 P1 037 P2 000 P2 004 P2 006 P2 023 P2 024 P2 025 P2 043 P2 044 P2 045 P2 046 P2 049 P2 089 P2 098 P2 099 P2 101 P2 102 2 Gain adjustment mode 2 Fixed set value of P1 037 P1 037 P2 031 P2 000 P2 004 P2 006 P2 023 P2 024 P2 025 P2 043 P2 044 P2 045 P2 046 P2 049 P2 089 P2 098 P2 099 P2 101 P2 102 3 Gain adjustment mode 3 only two dimensional control function i...

Page 450: ...ode PT PR Unit pulse Setting range 1 1677721600 Format DEC Data size 32 bit Settings In Position mode this parameter sets the acceptable difference between the command position and the feedback position If the difference is greater than this value AL009 occurs P2 036 DI9 functional planning Address 0248H 0249H Default 0x0000 Control mode All Unit Setting range 0 0x015F last two codes are DI codes ...

Page 451: ...as Servo On P2 039 VDI12 functional planning Address 024EH 024FH Default 0x0000 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings Refer to the description of P2 038 P2 040 VDI13 functional planning Address 0250H 0251H Default 0x0000 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16 bit Settin...

Page 452: ...ond Notch filter attenuation level A value of 5 indicates 5 dB Set this parameter to 0 to disable the Notch filter P2 045 Notch filter frequency 3 Address 025AH 025BH Default 1000 Control mode All Unit Hz Setting range 50 5000 Format DEC Data size 16 bit Settings The third setting for resonance frequency This function is disabled if P2 046 is 0 P2 046 Notch filter attenuation level 3 Address 025CH...

Page 453: ... 1 to 0 the known resonance suppression points will be stored in EEPROM 3 If you keep the setting of X as 1 the known resonance suppression points will not be cleared but they are not written to EEPROM yet They are written to EEPROM when the servo determines it is stable 2 auto resonance suppression mode 2 when the servo determines it is stable 2 the servo stores the resonance suppression points i...

Page 454: ...sonance suppression 1 manually set the fourth set of resonance suppression parameters Z fixed resonance suppression parameter In auto resonance suppression mode set the Notch filters to use manual resonance suppression 3 2 1 0 Bit Bit Function Description 0 Notch 5 auto manual setting 0 auto resonance suppression 1 manually set the fifth set of resonance suppression parameters Example if P2 047 0x...

Page 455: ... Unit Setting range 0 1 Format HEX Data size 16 bit Settings Refer to Table 8 1 for digital input Set digital input DI as CCLR to enable the Pulse Clear function If this DI is on the accumulated position error is reset to 0 0 DI CCLR is rising edge triggered 1 DI CCLR is level triggered P2 051 Reserved P2 052 Indexing coordinates scale Address 0268H 0269H Default 1000000000 Control mode All Unit P...

Page 456: ...igh it may cause vibration and noise P2 055 Synchronous speed integral compensation Address 026EH 026FH Default 0 Control mode All Unit rad s Setting range 0 1023 Format DEC Data size 16 bit Settings Increase the synchronous speed integral compensation to enhance the speed following and reduce the speed errors between two motors If the value is too high it may cause vibration and noise P2 056 Sync...

Page 457: ...control the response of P2 025 must be faster than the setting of both bandwidths Therefore decrease P2 025 as needed P2 058 Synchronous speed error low pass filter Address 0274H 0275H Default 0 Control mode All Unit 0 1 ms Setting range 0 1000 Format DEC Data size 16 bit Example 15 1 5 ms Settings When the synchronous control is affected by low resolution meaning that noise less sharp and rough s...

Page 458: ... 1 to 229 1 Format DEC Data size 32 bit Settings Refer to the description of P2 060 P2 062 E Gear ratio numerator N4 Address 027CH 027DH Default 16777216 Control mode PT Unit pulse Setting range 1 to 229 1 Format DEC Data size 32 bit Settings Refer to the description of P2 060 P2 063 P2 064 Reserved P2 065 Special bit register Address 0282H 0283H Default 0 Control mode PT PR S Sz Unit Setting rang...

Page 459: ...ff detection function Bit 10 ZCLAMP function selection The ZCLAMP function is enabled when the following conditions are met Condition 1 Speed mode Condition 2 DI ZCLAMP is on Condition 3 motor speed is slower than the value of P1 038 0 command source is the analog voltage The ZCLAMP function uses the analog Speed command without acceleration deceleration to determine if this function should be ena...

Page 460: ...he ZCLAMP function uses the register Speed command with acceleration deceleration to determine if this function should be enabled When ZCLAMP conditions are met the motor speed becomes 0 rpm Bit 11 enable pulse inhibit function 0 disable PL NL pulse inhibit function In PT mode the external Position pulse command is input to the servo drive under any condition 1 enable PL NL pulse inhibit function ...

Page 461: ...Special bit register 2 Address 0284H 0285H Default 0x0020 Control mode PT PR S Sz Unit Setting range 0x0000 0x182F Format HEX Data size 16 bit Settings 7 6 5 4 3 2 1 0 Bit 15 14 13 12 11 10 9 8 Bit Bit 0 1 Bit 3 Bit 6 8 Bit 10 15 reserved Bit 2 cancel low voltage error latch function 0 enable the low voltage error latch function the error is not cleared automatically 1 disable the low voltage erro...

Page 462: ...owing error compensation 1 enable following error compensation Y reserved Z DI STP triggering method 0 DI STP is rising edge triggered 1 DI STP is level triggered U reserved P2 069 Absolute encoder Address 028AH 028BH Default 0x0000 Control mode All Unit Setting range 0 1 Format HEX Data size 16 bit Settings Y Z U X X Set the operation mode Z Index coordinates function setting when overflow occurs...

Page 463: ... and AL062 do not function U reserved Note 1 The current firmware does not have this feature It is expected to have this feature added in the near future 2 Changes to this setting are effective only after power is cycled to the servo drive P2 070 Read data selection Address 028CH 028DH Default 0x0000 Control mode All Unit Setting range 0x00 0x07 Format HEX Data size 16 bit Settings 7 6 5 4 3 2 1 0...

Page 464: ...d The system detects the current E Cam position When the difference between the current E Cam position and its previous alignment position is less than the parameter s range as a percentage the filter function is enabled Otherwise the system uses the new position to do the alignment YX Description 00 Filter disabled 01 5F If Error 1 YX then the filter is enabled Note using the filter allows the al...

Page 465: ...ult 0 000 Control mode PR Unit ms minimum scale is μs Setting range 25 000 to 25 000 includes 3 decimal places Format DEC Data size 16 bit Settings This parameter offsets the alignment target to resolve DI and sensor delays The setting works as follows P2 074 P2 009 DI response filter time sensor s delay time P2 075 E Cam phase alignment target position Address 0296H 0297H Default 0 Control mode P...

Page 466: ...pensated motion axis as the position of the mark is affected when aligning 3 Reserved Y filter intensity 0 F Indicates average of 2 value Set to 0 to disable the filter When the value of Y increases the correction is slower which can avoid large amounts of correction during E Cam adjustment This can also avoid disturbances caused by sensor noise for a smoother operation Setting P2 076 Y too high c...

Page 467: ...al pulse frequency unit Kpps set by P2 077 UZ This function continues to operate To stop the virtual pulse set X to 1 3 Continuous reverse running 4 Forward JOG Command source is the virtual pulse number unit pulse set by P2 077 UZ This function only refers to the pulse number set by P2 077 UZ 5 Reverse JOG 6 8 9 Master axis pulse masked Receive actual master axis pulse Disabled Slave axis is driv...

Page 468: ...7 Y to 1 then P5 087 2000 255 2255 2 Virtual pulse number is 255 Set P2 077 Y to 4 then P5 087 2000 255 5000 7255 3 Virtual pulse number is 2550 Set P2 077 Y to 1 then P5 087 2000 2550 5000 4450 UZ pulse data when master axis performs continuous forward reverse running or JOG function Example Initiate masking of the actual pulse of master axis UZYX 0x0001 Continuous forward running of master axis ...

Page 469: ...orrelation between DO CAM_AREA 2 and the parameters P2 080 P2 087 Reserved P2 088 Third party motor special bit register Address 02B0H 02B1H Default 0x0000 Control mode PT PR S Sz Unit Setting range 0x0000 0xFFFF Format HEX Data size 16 bit Settings 7 6 5 4 3 2 1 0 Bit 15 14 13 12 11 10 9 8 Bit Bit Function Description Bit 0 Bit 3 Reserved Bit 4 Position pulse input is prohibited during initial ma...

Page 470: ...nsional control function 0 disable two dimensional control function 1 enable two dimensional control function Bit 11 10 Reserved Bit 9 Second set of vibration elimination 0 disable second set of vibration elimination 1 enable second set of vibration elimination P1 092 P1 094 Vibration elimination takes effect only when the two dimensional control function P2 094 Bit 12 is enabled Bit 8 First set o...

Page 471: ...econd set of Notch filter parameters P2 097 Notch filter bandwidth 3 Address 02C2H 02C3H Default 5 Control mode All Unit Setting range 1 10 Format DEC Data size 16 bit Settings The third value of resonance width This function is disabled if P2 046 is 0 P2 045 P2 046 and P2 097 are the third set of Notch filter parameters P2 098 Notch filter frequency 4 Address 02C4H 02C5H Default 1000 Control mode...

Page 472: ...0 5000 Format DEC Data size 16 bit Settings The fifth value of resonance frequency This function is disabled if P2 102 is 0 P2 101 P2 102 and P2 103 are the fifth set of Notch filter parameters P2 102 Notch filter attenuation level 5 Address 02CCH 02CDH Default 0 Control mode All Unit dB Setting range 0 40 Format DEC Data size 16 bit Settings The fifth Notch filter attenuation level Set this param...

Page 473: ...er but if the bandwidth margin is insufficient it may cause machine jitter If the value is too low the bandwidth after auto tuning is lower but the response is slower P2 105 11 P2 105 11 P2 105 11 Frequency Hz Value dB Bandwidth higher Bandwidth moderate Bandwidth lower P2 106 Automatic gain adjustment level 2 Address 02D4H 02D5H Default 2000 Control mode PT PR Unit Pulse number Setting range 1 50...

Page 474: ... 02E1H Default 0x0008 Control mode PT PR S Sz Unit Setting range 0x0000 0x001F Format HEX Data size 16 bit Settings 7 6 5 4 3 2 1 0 Bit 15 14 13 12 11 10 9 8 Bit Bit Function Description Bit 15 4 Reserved Bit 3 Auto gain adjustment mode 0 reserved 1 cycle adjustment Bit 2 Reserved Bit 1 Enable AL089 0 disable AL089 1 enable AL089 Bit 0 Reserved ...

Page 475: ...It is applicable to RS 485 CANopen and DMCNET When the communication address of MODBUS is 0xFF the servo drive automatically receives and replies the data regardless of the address but P3 000 cannot be set to 0xFF P3 001 Transmission speed Address 0302H 0303H Default 0x0203 Control mode All Unit Setting range 0x000 0x3405 Format HEX Data size 16 bit Settings Y Z U X Transmission speed is divided i...

Page 476: ...7 E 1 MODBUS ASCII 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCII 4 8 E 1 MODBUS ASCII 5 8 O 1 MODBUS ASCII 6 8 N 2 MODBUS RTU 7 8 E 1 MODBUS RTU 8 8 O 1 MODBUS RTU P3 003 Communication error handling Address 0306H 0307H Default 0x0000 Control mode All Unit Setting range 0x0000 0x0001 Format HEX Data size 16 bit Settings Definition of each value 0 display warning and let motor continue operating 1 disp...

Page 477: ...formation on DI functional planning please see DI1 DI8 P2 010 P2 017 DI9 DI10 P2 036 P2 037 VDI11 VDI13 P2 038 P2 040 P3 007 Communication response delay time Address 030EH 030FH Default 0 Control mode All Unit 0 5 ms Setting range 0 1000 Format DEC Data size 16 bit Settings Delay the time of communication response from servo drive to controller P3 008 Reserved P3 009 Communication synchronization...

Page 478: ...Default 0x0000 Control mode CANopen DMCNET Unit Setting range 0x0000 0xFFFF Format HEX Data size 16 bit Settings Communication protocol is divided into U Z Y and X hexadecimal Digit U Z Y X Function PDO alarm is cleared automatically or not Torque source limited Range 0 1 0 1 Definition is as follows X reserved Y reserved Z torque source limited only functions in mode B 0 torque source limited to ...

Page 479: ...MCNET Unit Setting range 0x0000 0x0111 Format HEX Data size 16 bit Settings Y Z U X Digit U Z Y X Function Reserved Load in CANopen DMCNET values Reserved Reserved Range 0 1 Control mode CANopen mode 0x0B 0x0C DMCNET mode 0x0B There are X and Y settings hexadecimal for the CANopen Quick Stop mode which is only suitable in CANopen control mode 0x0B set P1 001 to b X reserved Y reserved Z P paramete...

Page 480: ... mode Acc 200 Undefined Used in PV and PP modes Dec 200 Undefined Used in PV and PP modes Torque slope 200 Undefined Used in PT mode P1 044 1 EEPROM P1 045 1 EEPROM Methods to write parameters to EEPROM even when the power is off SDO parameters are stored in EEPROM when written PDO refer to the setting of P3 011 X X 1 when writing parameters throught PDO parameters are stored in EEPROM X 0 when wr...

Page 481: ...last abnormal status record Low word LXXXX the alarm number High word hYYYY the error code corresponding to CANopen DMCNET P4 002 Fault record N 2 Address 0404H 0405H Default 0x00000000 Control mode All Unit Setting range Format HEX Data size 32 bit Settings The third to last abnormal status record Low word LXXXX the alarm number High word hYYYY the error code corresponding to CANopen DMCNET P4 00...

Page 482: ...JOG operation in the positive direction pressing the DOWN key controls the JOG operation in the negative direction Stop pressing to stop the JOG operation If there is any error in this setting then the motor cannot operate The maximum JOG speed is the maximum speed of the servo motor 2 DI control If you set the DI to JOGU and JOGD refer to Table 8 1 then the JOG operation in the positive or negati...

Page 483: ...nge 0 3FFF Format HEX Data size 16 bit Settings The source of the DI input signal can be the external terminal DI1 DI5 or the software SDI1 SDI5 corresponding to Bit 0 4 of P4 007 which is determined by P3 006 If the corresponding bit of P3 006 is 1 which means the source is the software SDI P4 007 if the corresponding bit is 0 then the source is the hardware DI See the following figure External D...

Page 484: ... encoder W phase offset adjustment 1 execute analog speed input offset adjustment 5 execute 1 4 offset adjustment 2 execute analog torque input offset adjustment 6 14 reserved 3 execute current encoder V phase offset adjustment Note the function must be enabled by setting P2 008 When adjusting the external analog voltage wiring connected to the torque needs to be removed completely and must be in ...

Page 485: ...his parameter cannot be reset P4 014 Analog torque input 2 offset adjustment Address 041CH 041DH Default Factory setting Control mode All Unit Setting range 0 32767 Format DEC Data size 16 bit Settings Manually adjust the offset The function must be enabled by setting P2 008 Do not change the auxiliary adjustment as this parameter cannot be reset P4 015 Current encoder V1 phase offset adjustment A...

Page 486: ...425H Default Factory setting Control mode All Unit Setting range 0 32767 Format DEC Data size 16 bit Settings Manually adjust the offset The function must be enabled by setting P2 008 Do not change the auxiliary adjustment as this parameter cannot be reset P4 019 IGBT NTC adjustment level cannot reset Address 0426H 0427H Default Factory setting Control mode All Unit Setting range 1 4 Format DEC Da...

Page 487: ...efault 0 Control mode S Unit mV Setting range 5000 to 5000 Format DEC Data size 16 bit Settings Manually adjust the offset P4 023 Analog torque input offset Address 042EH 042FH Default 0 Control mode T Unit mV Setting range 5000 to 5000 Format DEC Data size 16 bit Settings Manually adjust the offset P4 024 Level of undervoltage error Address 0430H 0431H Default 160 Control mode All Unit V rms Sett...

Page 488: ...D C B A W Z Y and X hexadecimal including 1 Deceleration time when the auto protection function is enabled OVF DO 0x12 Position command feedback overflows CTO communication timeout AL020 SPL SNL PL and NL 2 Deceleration time for stop command STP Digit D C B A W Z Y X Function STP PFQS CTO OVF SNL SPL NL PL Range 0 F 0 F 0 F 0 F 0 F 0 F 0 F 0 F Use 0 F to index the deceleration time of P5 020 P5 03...

Page 489: ...ine it as the homing origin Y 0 return to Z pulse Y 1 go forward to Z pulse Y 2 do not look for Z pulse X 6 homing in forward direction ORG ON OFF as the homing origin X 7 homing in reverse direction ORG ON OFF as the homing origin X 8 define the current position as the origin When reaching the limit Z 0 show error Z 1 reverse direction Y 0 return to Z pulse Y 2 do not look for Z pulse X 9 torque ...

Page 490: ...15999999 linear motor 1 60000 rotary motor 1 15999999 linear motor Format DEC DEC Example 1 5 1 5 rpm 150 1 5 rpm Settings The second speed setting for low speed homing Note rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P5 007 Trigger Position command PR mode only Address 050EH 050FH Default 0 Control mode PR Unit Sett...

Page 491: ...ed and the motor reached the target position P5 008 Forward software limit Address 0510H 0511H Default 2147483647 Control mode PR Unit PUU Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings In PR mode if the motor rotates in the forward direction and its feedback position exceeds the value of P5 008 AL283 occurs P5 009 Reverse software limit Address 0512H 0513H Default 214...

Page 492: ... 1 but reading or writing by other methods adds 1 Refer to Section 7 2 1 Data array for detailed instructions P5 013 Data array window 2 for reading and writing Address 051AH 051BH Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Window 2 when reading the parameter with the panel or reading and writing the parameter through communication t...

Page 493: ...000 00h offset value Write write any value to the parameter and it neither changes the monitoring variable 000 00h nor affects the positioning coordinate system It is only for observation when adjusting the offset value P5 017 Axis position CN5 Address 0522H 0523H Default 0 Control mode All Unit Pulse number Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Pulse count fr...

Page 494: ...eter can be set at any time but the time when it becomes effective is determined by P5 088 X Bit 2 P5 020 Acceleration deceleration time Number 0 Address 0528H 0529H Default 200 Control mode PR Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings The duration of acceleration and deceleration in PR mode which is the length of time to accelerate from 0 to 3 000 rpm P5 021 Acceleration ...

Page 495: ...P5 025 Acceleration deceleration time Number 5 Address 0532H 0533H Default 900 Control mode PR Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings Refer to P5 020 for the acceleration deceleration time in PR mode P5 026 Acceleration deceleration time Number 6 Address 0534H 0535H Default 1000 Control mode PR Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings Refer to ...

Page 496: ...5 030 Acceleration deceleration time Number 10 Address 053CH 053DH Default 2500 Control mode PR Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings Refer to P5 020 for the acceleration deceleration time in PR mode P5 031 Acceleration deceleration time Number 11 Address 053EH 053FH Default 3000 Control mode PR Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings Refer t...

Page 497: ... deceleration time Number 15 Address 0546H 0547H Default 30 Control mode PR Unit ms Setting range 1 1200 Format DEC Data size 16 bit Settings This parameter is for the deceleration time for auto protection and the default value of this is small shorter deceleration time P5 036 Capture start address of data array Address 0548H 0549H Default 0 Control mode All Unit Setting range 0 to value set by P5...

Page 498: ...res one data the value of P5 038 decrements by 1 until the value is 0 indicating that capturing is complete Note the total number of data from Compare Capture and E Cam cannot exceed 800 P5 039 Capture activate CAP control Address 054EH 054FH Default 0x2010 Control mode All Unit Setting range 0x0000 0xF13F Format HEX Data size 16 bit Settings Y Z U X X Capture setting Z Trigger logic Y Axis source...

Page 499: ... bit Settings The first delay time of PR mode P5 041 Delay time after position reached Number 1 Address 0552H 0553H Default 100 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The second delay time of PR mode P5 042 Delay time after position reached Number 2 Address 0554H 0555H Default 200 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit ...

Page 500: ...e of PR mode P5 046 Delay time after position reached Number 6 Address 055CH 055DH Default 1000 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The seventh delay time of PR mode P5 047 Delay time after position reached Number 7 Address 055EH 055FH Default 1500 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The eighth delay time...

Page 501: ...f PR mode P5 051 Delay time after position reached Number 11 Address 0566H 0567H Default 3500 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The twelfth delay time of PR mode P5 052 Delay time after position reached Number 12 Address 0568H 0569H Default 4000 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The thirteenth delay t...

Page 502: ...le when Compare stops refer to P5 059 P5 057 Compare axis position Address 0572H 0573H Default 0 Control mode All Unit Pulse unit of compare source Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings The axis position of the Compare pulse source This parameter is only writable when Compare stops refer to P5 059 Note 1 This parameter is write protected when the axis source o...

Page 503: ...t Setting range 0x00010000 0x0FFF313F Format HEX Data size 32 bit Settings CBA D Y Z U X CBA Duration of pulse output unit 1 ms X Compare setting D N A Y Axis source of Compare Z Trigger logic U Trigger PR h High bit L Low bit X Compare setting Bit Function Description 0 Activate Compare Start comparing after finishing comparing set to 0 1 Cycle mode When the number of comparing times P5 058 is 0 ...

Page 504: ... rotary motor 0 15999999 linear motor Format DEC Example 15 15 rpm 150 15 rpm Settings First target speed of PR mode Note rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P5 061 Target speed setting 1 Address 057AH 057BH Operation interface Panel software Communication Control mode PR Default 50 0 500 Data size 32 bit Uni...

Page 505: ...ftware Communication Control mode PR Default 200 0 2000 Data size 32 bit Unit 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 15999999 linear motor 0 60000 rotary motor 0 15999999 linear motor Format DEC Example 1 1 rpm 10 1 rpm Settings Fourth target speed of PR mode Note rotary motor means a permanent magnet synchronou...

Page 506: ...DEC Example 1 1 rpm 10 1 rpm Settings Sixth target speed of PR mode Note rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P5 066 Target speed setting 6 Address 0584H 0585H Operation interface Panel software Communication Control mode PR Default 600 0 6000 Data size 32 bit Unit 1 rpm rotary motor 10 6 m s linear motor 0 1 ...

Page 507: ...tware Communication Control mode PR Default 1000 0 10000 Data size 32 bit Unit 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 15999999 linear motor 0 60000 rotary motor 0 15999999 linear motor Format DEC Example 1 1 rpm 10 1 rpm Settings Ninth target speed of PR mode Note rotary motor means a permanent magnet synchronou...

Page 508: ...C Example 1 1 rpm 10 1 rpm Settings Eleventh target speed of PR mode Note rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P5 071 Target speed setting 11 Address 058EH 058FH Operation interface Panel software Communication Control mode PR Default 1800 0 18000 Data size 32 bit Unit 1 rpm rotary motor 10 6 m s linear motor ...

Page 509: ...ftware Communication Control mode PR Default 2300 0 23000 Data size 32 bit Unit 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 15999999 linear motor 0 60000 rotary motor 0 15999999 linear motor Format DEC Example 1 1 rpm 10 1 rpm Settings Fourteenth target speed of PR mode Note rotary motor means a permanent magnet sync...

Page 510: ...fter first data Address 0598H 0599H Default 0 Control mode All Unit Pulse unit of capture source Setting range 1073741824 to 1073741823 Format DEC Data size 32 bit Settings If the position reset function is enabled P5 039 X Bit 1 1 after the first position data is captured the servo resets the coordinates of the first point which is defined by this parameter P5 077 E Cam position for synchronous C...

Page 511: ...the synchronous axis to this parameter When the synchronous Capture axis is the master axis for the rotary shear modifying this parameter can shift the cutting position to the left or right You can also use P1 016 error offset compensation for synchronous Capture axis to achieve this effect Note monitor the pulse error for synchronous Capture axis with the monitoring variable 084 54h P5 080 E Cam ...

Page 512: ...ust be smaller than or equal to 2147483647 P5 083 E Cam master gear ratio setting cycle number M Address 05A6H 05A7H Default 1 Control mode PR Unit Setting range 1 32767 Format DEC Data size 16 bit Settings When the slave axis receives the pulse number defined by P5 084 from the master axis E Cam rotates the number of cycles defined by P5 083 one cycle of E Cam rotate from 0 to 360 This parameter ...

Page 513: ...it 0 0 P5 087 E Cam initial lead pulse before engaged Address 05AEH 05AFH Default 0 Control mode PR Unit Pulse unit of master axis Setting range 1073741824 to 1073741823 Format DEC Data size 32 bit Settings When the condition to engage E Cam P5 088 Z is met the pulse number from the master axis has to exceed the value of this parameter for the E Cam to fully engage This parameter can be written wi...

Page 514: ...y 1 trigger DI CAM 2 any one position data is captured U disengagement condition indicates multiple conditions but 2 4 and 6 cannot be selected at the same time U Disengagement condition Status after disengaged 0 0 remains engaged 1 1 disengages when DI DI 0x36 is off 0 stop 2 2 disengages when master axis pulse number reaches the setting value of P5 089 and slave axis stops immediately 0 stop 3 1...

Page 515: ... is off otherwise operates according to the condition of P5 088 U C 0 or 2 stop and disable E Cam or pre engage E 6 8 disengages when master axis pulse number reaches the setting value of P5 089 slave axis decelerates to stop and the E Cam function is disabled 0 stop and disable E Cam F 1 6 8 disengages when DI DI 0x36 is off or when master axis pulse number reaches the setting value of P5 089 sla...

Page 516: ...1 falling edge phase Address 05B6H 05B7H Default 360 Control mode PR Unit degree Setting range 0 360 Format DEC Data size 16 bit Settings Refer to P5 090 for the correlation between DO CAM_AREA 1 and the parameters P5 092 E Cam pre engaged pulse number for each cycle Address 05B8H 05B9H Default 0 Control mode PR Unit Pulse unit of master axis Setting range 2147483648 to 2147483647 Format DEC Data ...

Page 517: ...The function of the parameter is determined by the macro command Not every macro command requires this parameter P5 095 Motion control macro command command parameter 2 Address 05BEH 05BFH Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Before executing the macro command set the relevant parameters in advance The function of the parameter...

Page 518: ...nd data array 300 799 are unreadable 4 parameter groups 5 6 7 and data array 400 799 are unreadable 5 parameter groups 5 6 7 and data array 500 799 are unreadable 6 parameter groups 5 6 7 and data array 600 799 are unreadable 7 parameter groups 5 6 7 are unreadable but data array is readable P5 095 set new password 1 16777215 P5 096 confirm new password 1 16777215 Read the return value of P5 097 a...

Page 519: ...en modified the E Cam table must be recreated and you must execute this macro again Data in the E Cam table is changed after this macro is executed thus do not execute the macro when E Cam is in engaged status After this macro is executed the E Cam table is not stored in EEPROM automatically In E Cam applications parameters such as P5 083 and P5 084 that are irrelevant to this macro are not listed...

Page 520: ... Y degree of synchronous speed zone range 0 330 degrees P5 095 H high bit A number of teeth on the motor x C cutting count P5 095 L low bit B number of teeth on the cutter P5 096 1000000 x R x V range 1 88 R x V R cutting length ratio L target cutting length ℓ perimeter of cutter V speed compensation range 20 to 20 cutting speed feeding speed V 1 0 when cutting the speed of cutter is the same as t...

Page 521: ... disengages when an alarm occurs or power supply is cut off If you want E Cam to re engage at the last disengaged position and continue its remaining cycle it is recommended that you record the master axis position of the last disengagement and then execute this macro command Note that when E Cam is disengaged the servo position might shift slightly causing position error when E Cam re engages Whe...

Page 522: ... 3 E Cam curve scaling P5 019 must be 1 0 time 4 When E Cam is engaged for the first time 0 degrees in the E Cam table should point to the origin of the indexing coordinate You can achieve this alignment by executing homing 5 You can only use this macro command for a periodic cycle and when each cycle starts from the same position E Cam table Indexing coordinates One cycle of indexing One cycle of...

Page 523: ...hen servo switches to on again E Cam is not engaged 0xF0D7 slave axis moving distance does not equal the total index moving distance ECAM_H P2 052 0xF0D8 E Cam curve scaling does not equal 1 P5 019 1 0xF0D9 P5 093 BA positive negative type setting exceeds the range 00 01 0xF0DA P5 093 DC reverse inhibit setting exceeds the range 00 01 0xF0DB the reverse inhibit function has failed Do not use macro...

Page 524: ...0 0xF0E9 when using DI7 with Capture triggering P5 093 C 1 execute PR 50 P5 039 X Bit 3 1 for compensation after the last data is captured Command code 0x000F Calculate the moving distance between the current and target position of the slave axis for PR positioning When the clutch is engaged this macro command calculates the moving distance between the current and target position of the slave axis...

Page 525: ... details refer to Section 7 3 9 Macro E Cam rotates one cycle E Cam pauses one cycle E Cam continues to operate Slave axis position PUU 0 360 X X 360 Master axis phase Trigger this macro command Note this function is accumulative If the command is triggered for N times consecutively it pauses the E Cam for N cycles Note that the accumulated pause distance cannot exceed 2 31 otherwise the macro com...

Page 526: ...riggered when EV4 is on 0 no action 1 D execute PR 51 63 P5 099 PR triggered by event falling edge Address 05C6H 05C7H Default 0x0000 Control mode PR Unit Setting range 0x0000 0xDDDD Format HEX Data size 16 bit Settings Y Z U X X PR triggered by EV1 falling edge Z PR triggered by EV3 falling edge Y PR triggered by EV2 falling edge U PR triggered by EV4 falling edge X PR triggered when EV1 is off 0...

Page 527: ...4 when reading or writing the parameter by any method the value set by P5 011 does not add 1 Refer to Chapter 7 Data array for detailed instructions P5 102 Data array window 5 for reading and writing Address 05CCH 05CDH Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Window 5 when reading or writing the parameter by any method the value s...

Page 528: ...th Path 1 Path 99 Z ACC select 0 F for acceleration time 0 F correspond to P5 020 P5 035 U DEC1 deceleration time selection for first homing 0 F correspond to P5 020 P5 035 A DEC2 deceleration time selection for second homing 0 F correspond to P5 020 P5 035 B DLY select 0 F for delay time 0 F correspond to P5 040 P5 055 D BOOT when the drive is powered on whether to search for the origin 0 do not ...

Page 529: ...rigin definition Address 0602H 0603H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Origin definition P6 002 PATH 1 definition Address 0604H 0605H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Format of this parameter High word h DCBA Low word L UZYX High word Low word C D...

Page 530: ...on mode DLY has no function AUTO once current PR path is finished automatically load the next path CMD refer to Section 7 1 3 Motion Control commands UZ U DEC Deceleration time Z ACC Acceleration time Corresponding parameter Default value ms 0 0 P5 020 200 1 1 P5 021 300 2 2 P5 022 500 3 3 P5 023 600 4 4 P5 024 800 5 5 P5 025 900 6 6 P5 026 1000 7 7 P5 027 1200 8 8 P5 028 1500 9 9 P5 029 2000 10 1...

Page 531: ...ction is only enabled when X A indexing position control Description of each bit Bit 2 AUTO 0 disable auto function 1 once current PR path is finished automatically load the next path Bit 0 1 Reserved Note the parameter format definition C A U Z is different from the above table when the path type is 7 write the specified parameter to the specified path and 8 statement arithmetic operation Refer t...

Page 532: ...ription of P6 003 P6 006 PATH 3 definition Address 060CH 060DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 007 PATH 3 data Address 060EH 060FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 008 P...

Page 533: ...e description of P6 002 P6 011 PATH 5 data Address 0616H 0617H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 012 PATH 6 definition Address 0618H 0619H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6...

Page 534: ...ription of P6 003 P6 016 PATH 8 definition Address 0620H 0621H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 017 PATH 8 data Address 0622H 0623H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 018 P...

Page 535: ... description of P6 002 P6 021 PATH 10 data Address 062AH 062BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 022 PATH 11 definition Address 062CH 062DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P...

Page 536: ...ription of P6 003 P6 026 PATH 13 definition Address 0634H 0635H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 027 PATH 13 data Address 0636H 0637H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 028...

Page 537: ...e description of P6 002 P6 031 PATH 15 data Address 063EH 063FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 032 PATH 16 definition Address 0640H 0641H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 538: ...ription of P6 003 P6 036 PATH 18 definition Address 0648H 0649H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 037 PATH 18 data Address 064AH 064BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 038...

Page 539: ...e description of P6 002 P6 041 PATH 20 data Address 0652H 0653H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 042 PATH 21 definition Address 0654H 0655H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 540: ...ription of P6 003 P6 046 PATH 23 definition Address 065CH 065DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 047 PATH 23 data Address 065EH 065FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 048...

Page 541: ...e description of P6 002 P6 051 PATH 25 data Address 0666H 0667H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 052 PATH 26 definition Address 0668H 0669H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 542: ...ription of P6 003 P6 056 PATH 28 definition Address 0670H 0671H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 057 PATH 28 data Address 0672H 0673H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 058...

Page 543: ...e description of P6 002 P6 061 PATH 30 data Address 067AH 067BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 062 PATH 31 definition Address 067CH 067DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 544: ...ription of P6 003 P6 066 PATH 33 definition Address 0684H 0685H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 067 PATH 33 data Address 0686H 0687H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 068...

Page 545: ...e description of P6 002 P6 071 PATH 35 data Address 068EH 068FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 072 PATH 36 definition Address 0690H 0691H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 546: ...ription of P6 003 P6 076 PATH 38 definition Address 0698H 0699H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 077 PATH 38 data Address 069AH 069BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 078...

Page 547: ...e description of P6 002 P6 081 PATH 40 data Address 06A2H 06A3H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 082 PATH 41 definition Address 06A4H 06A5H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 548: ...ription of P6 003 P6 086 PATH 43 definition Address 06ACH 06ADH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 087 PATH 43 data Address 06AEH 06AFH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 088...

Page 549: ...e description of P6 002 P6 091 PATH 45 data Address 06B6H 06B7H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 092 PATH 46 definition Address 06B8H 06B9H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 550: ...ription of P6 003 P6 096 PATH 48 definition Address 06C0H 06C1H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P6 097 PATH 48 data Address 06C2H 06C3H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P6 098...

Page 551: ...ameters ASDA A3 8 178 8 P6 099 PATH 49 data Address 0602H 0603H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 ...

Page 552: ...o the description of P6 003 P7 002 PATH 51 definition Address 0704H 0705H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 003 PATH 51 data Address 0706H 0707H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 ...

Page 553: ...e description of P6 002 P7 007 PATH 53 data Address 070EH 070FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 008 PATH 54 definition Address 0710H 0711H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 554: ...ription of P6 003 P7 012 PATH 56 definition Address 0718H 0719H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 013 PATH 56 data Address 071AH 071BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 014...

Page 555: ...e description of P6 002 P7 017 PATH 58 data Address 0722H 0723H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 018 PATH 59 definition Address 0724H 0725H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 556: ...ription of P6 003 P7 022 PATH 61 definition Address 072CH 072DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 023 PATH 61 data Address 072EH 072FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 024...

Page 557: ...e description of P6 002 P7 027 PATH 63 data Address 0736H 0737H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 028 PATH 64 definition Address 0738H 0739H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 558: ...ription of P6 003 P7 032 PATH 66 definition Address 0740H 0741H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 033 PATH 66 data Address 0742H 0743H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 034...

Page 559: ...e description of P6 002 P7 037 PATH 68 data Address 074AH 074BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 038 PATH 69 definition Address 074CH 074DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 560: ...ription of P6 003 P7 042 PATH 71 definition Address 0754H 0755H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 043 PATH 71 data Address 0756H 0757H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 044...

Page 561: ...e description of P6 002 P7 047 PATH 73 data Address 075EH 075FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 048 PATH 74 definition Address 0760H 0761H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 562: ...ription of P6 003 P7 052 PATH 76 definition Address 0768H 0769H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 053 PATH 76 data Address 076AH 076BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 054...

Page 563: ...e description of P6 002 P7 057 PATH 78 data Address 0772H 0773H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 058 PATH 79 definition Address 0774H 0775H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 564: ...ription of P6 003 P7 062 PATH 81 definition Address 077CH 077DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 063 PATH 81 data Address 077EH 077FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 064...

Page 565: ...e description of P6 002 P7 067 PATH 83 data Address 0786H 0787H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 068 PATH 84 definition Address 0788H 0789H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 566: ...ription of P6 003 P7 072 PATH 86 definition Address 0790H 0791H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 073 PATH 86 data Address 0792H 0793H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 074...

Page 567: ...e description of P6 002 P7 077 PATH 88 data Address 079AH 079BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 078 PATH 89 definition Address 079CH 079DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 568: ...ription of P6 003 P7 082 PATH 91 definition Address 07A4H 07A5H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 083 PATH 91 data Address 07A6H 07A7H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 084...

Page 569: ...e description of P6 002 P7 087 PATH 93 data Address 07AEH 07AFH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 088 PATH 94 definition Address 07B0H 07B1H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 570: ...ription of P6 003 P7 092 PATH 96 definition Address 07B8H 07B9H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 P7 093 PATH 96 data Address 07BAH 07BBH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 094...

Page 571: ...e description of P6 002 P7 097 PATH 98 data Address 07C3H 07C4H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P6 003 P7 098 PATH 99 definition Address 07C4H 07C5H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Refer to the description of P6 002 ...

Page 572: ...id if you are using a Delta rotary motor 2 Rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor PM 002 Motor parameter identification status Address FD04H FD05H Default 0 Applicable motor Linear motor third party rotary motor Unit Setting range 0 1 Format DEC Data size 16 bit Settings 0 motor identification is not complete ye...

Page 573: ... 0 no Hall sensor 1 with Hall sensor Note that if you select no Hall sensor the motor moves slightly to detect the magnetic pole when the servo is on for the first time This cannot be applied to Z axis without the spring installed or balancing process Z converter box AB pulse filter 2 0 BYPASS 1 16 MHz 2 8 MHz 3 3 MHz Example pulse width 16 MHz 62 5 ns 62 5 ns 62 5 ns U signal source 0 CN2 1 CN5 N...

Page 574: ...tary motor for a square wave encoder input the number of single phase pulses for one revolution for a sine wave encoder input the number of sine waves for one revolution Linear motor input the linear scale resolution Note 1 Currently the ASDA A3 does not support sine wave analog signal CN2 converter box but this is expected to be added soon 2 If the setting is incorrect AL051 occurs 3 Rotary motor...

Page 575: ...swaying level of the linear motor during detection and the servo obtains the magnetic field data through the swaying Adjust this parameter when the following condition occurs 1 When the friction between the motor and the mechanism is too large magnetic field detection error may occur which triggers AL052 Increase the set value of this parameter can reduce the occurrence of AL052 2 When the linear ...

Page 576: ...tor 0 1023000 Linear motor 0 16383000 Format Three decimals DEC Example 1 5 1 5 rad s 1500 1 5 rad s Settings Increasing the current control gain can enhance the current response and reduce the current control errors If you set the value too high it may cause vibration and noise It is suggested that general users do not adjust this parameter Note rotary motor means a permanent magnet synchronous r...

Page 577: ... sec PM 019 400 1 6 sec PM 019 160 17 6 sec PM 019 420 1 4 sec PM 019 180 11 2 sec PM 019 440 1 3 sec PM 019 200 8 sec PM 019 460 1 2 sec PM 019 220 6 1 sec PM 019 480 1 1 sec PM 019 240 4 8 sec PM 019 500 1 sec PM 019 The time required for the motor protection level at the normal level to reach the overload level is called the operating time When the protection level reaches the overload level AL...

Page 578: ...the figure above the load ratio affects whether the load is accumulated When the load accumulates over 100 the operating time must be taken into consideration or else AL006 occurs If the load ratio is below 100 you do not need to consider the operating time PM 020 Load decrease gain Address FD28H FD29H Default 100 Applicable motor All Unit Setting range 0 600 Format DEC Data size 16 bit Settings R...

Page 579: ...0000 Format DEC Data size 32 bit Settings This parameter is only valid when PM 022 is set to 2 or 3 Input the resistance value corresponding to the temperature according to the specifications of the connected temperature sensor Refer to the NTC or PTC temperature and resistance value corresponding table for the resistance value PM 025 PM 027 Reserved PM 028 Permanent magnet rotary motor pole numbe...

Page 580: ...ximum current Address FD3CH FD3DH Operation interface Panel software Communication Applicable motor Permanent magnet rotary motor Default Data size 16 bit Unit Arms 0 01 Arms Setting range 0 00 to servo drive maximum current 0 to servo drive maximum current x 100 Format Two decimals DEC Example 1 5 1 5 Arms 150 1 5 Arms Settings Input the correct information according to the specifications of the ...

Page 581: ...cimals DEC Example 1 5 1 5 Nm Arms 1500 1 5 Nm Arms Settings Input the correct information according to the specifications of the third party permanent magnet rotary motor Unit conversion between Ampere peak and Ampere RMS Ampere peak Apk Ampere RMS Arms 2 PM 034 Permanent magnet rotary motor rotor inertia Address FD44H FD45H Operation interface Panel software Communication Applicable motor Perman...

Page 582: ...Applicable motor Permanent magnet rotary motor Default Data size 32 bit Unit mH 0 01 mH Setting range 0 00 655 35 0 65535 Format Two decimals DEC Example 1 5 1 5 mH 150 1 5 mH Settings Input the correct information according to the specifications of the third party permanent magnet rotary motor PM 037 Reserved PM 038 Permanent magnet rotary motor back electromotive force constant Address FD4CH FD4...

Page 583: ...ta size 16 bit Unit Arms 0 01 Arms Setting range 0 00 to servo drive rated current 0 to servo drive rated current x 100 Format Two decimals DEC Example 1 5 1 5 Arms 150 1 5 Arms Settings Input the correct information according to the specifications of the linear motor Unit conversion between Ampere peak and Ampere RMS Ampere peak Apk Ampere RMS Arms 2 PM 047 Linear motor maximum current Address FD...

Page 584: ... 150 1 5 N Arms Settings Input the correct information according to the specifications of the linear motor PM 050 Linear motor phase resistance Address FD64H FD65H Operation interface Panel software Communication Applicable motor Linear motor Default Data size 32 bit Unit ohm 0 001 ohm Setting range 0 000 63 535 0 63535 Format Three decimals DEC Example 1 5 1 5 ohm 1500 1 5 ohm Settings Input the ...

Page 585: ...force constant Address FD6AH FD6BH Operation interface Panel software Communication Applicable motor Linear motor Default Data size 16 bit Unit Vrms m s 0 1 Vrms m s Setting range 0 0 591 2 0 5912 Format One decimal DEC Example 1 5 1 5 Vrms m s 15 1 5 Vrms m s Settings Input the correct information according to the specifications of the linear motor PM 054 PM 063 Reserved ...

Page 586: ...riggered PT PR S Value 0x04 DI name Description Triggering method Control mode CCLR Clear pulse counter and P2 050 Set DI CCLR to 0 to clear position pulse deviation applicable to PT mode When this DI is on the accumulative pulse deviation of the drive is cleared to 0 Rising edge triggered level triggered PT PR Value 0x05 DI name Description Triggering method Control mode ZCLAMP When the speed is ...

Page 587: ...synchronous motion when P1 074 2 gantry function enabled The axis that receives this DI stops calculating and monitoring the deviation of the two axes Rising edge triggered PT Value 0x0C DI name Description Triggering method Control mode VPL Latch function of analog Position command If this DI is on position of the motor is held at the current position when the DI is triggered During this DI is on...

Page 588: ...ystem of the motor Motor position Turn Analog input command V Voltage when DI is triggered Motor position when DI is triggered When DI is on all input commands are cleared When DI is off motor does not move but the zero point of the coordinate is redefined Analog input command V Level triggered PT Value 0x0E DI name Description Triggering method Control mode FEC Clear error of full closed loop lin...

Page 589: ... and DO3 are no longer the ones assigned by the parameter The DI4 function will be DI ASDQ DO2 will be DI ABSR and DO3 will be DI ABSD In addition DI pins of DI ABSC can be assigned by parameters Level triggered All Value 0x1F DI name Description Triggering method Control mode ABSC When DI ABSC is on the number of turns stored in absolute encoder are cleared But this DI is only valid when DI ABSE ...

Page 590: ...ction 1 4 Torque command number DI signal of CN1 Command source Content Range TCM1 TCM0 T1 0 0 Mode Tz N A Torque command is 0 0 T2 0 1 Register parameter P1 012 400 T3 1 0 P1 013 400 T4 1 1 P1 014 400 Level triggered T Value 0x18 DI name Description Triggering method Control mode S P In S P dual mode if DI is off it is in Speed mode if DI is on it is in Position mode In PT PR S modes PT or PR is ...

Page 591: ...DI name Description Triggering method Control mode SHOM During homing when this DI is on it activates the function to search for the origin Refer to the setting of P5 004 Rising edge triggered PR Value 0x2B DI name Description Triggering method Control mode PT PR Use this DI to select the command source in PT PR dual mode or PT PR S multiple mode If this DI is off it is in PT mode if this DI is on...

Page 592: ...ommand 1 Refer to the setting of P5 098 and P5 099 Rising and falling edge triggered PR Value 0x3A DI name Description Triggering method Control mode EV2 Event trigger command 2 Refer to the setting of P5 098 and P5 099 Rising and falling edge triggered PR Value 0x3B DI name Description Triggering method Control mode EV3 Event trigger command 3 Refer to the setting of P5 098 and P5 099 Rising and ...

Page 593: ...o function when this DI is on Note this function has to be set to DI8 to ensure immediate pulse inhibition Level triggered PT Value 0x46 DI name Description Triggering method Control mode STP Motor stops Rising edge triggered PR Value 0x47 DI name Description Triggering method Control mode PFQS Use this DI to set the emergency stop for deceleration time The value for deceleration time is same as P...

Page 594: ... the motor speed is slower than the value of the zero speed P1 038 this DO is on Level triggered All Value 0x04 DO name Description Triggering method Control mode TSPD When the motor speed is faster than the target speed setting P1 039 this DO is on Level triggered All Value 0x05 DO name Description Triggering method Control mode TPOS When the deviation pulse number is smaller than the position ra...

Page 595: ...gering method Control mode IDXD Indexing coordinate is defined When homing is complete indexing coordinate is defined as well PR Value 0x10 DO name Description Triggering method Control mode OLW This DO is on when the overload level setting is reached tOL Overload allowable time of the servo x value for the overload warning level P1 056 When the overload accumulative time exceeds tOL it sends the ...

Page 596: ...Triggering method Control mode Cmd_OK When the Position command is complete and enters DMCNET mode this DO is on When the Position command is executing this DO is off after the command completes this DO is on This DO only indicates that the command is complete but the motor positioning may not be complete yet Refer to DO TPOS Level triggered PR Value 0x16 DO name Description Triggering method Cont...

Page 597: ... DO name Description Triggering method Control mode Zon2 Second set of general range comparison when the value of the item monitored by P0 010 ranges between the values of P0 056 and P0 057 then this DO is on All Value 0x2E DO name Description Triggering method Control mode Zon3 Third set of general range comparison when the value of the item monitored by P0 011 ranges between the values of P0 058...

Page 598: ...rol mode SPO_5 Output bit 05 of P4 006 Level triggered All Value 0x36 DO name Description Triggering method Control mode SPO_6 Output bit 06 of P4 006 Level triggered All Value 0x37 DO name Description Triggering method Control mode SPO_7 Output bit 07 of P4 006 Level triggered All Value 0x38 DO name Description Triggering method Control mode SPO_8 Output bit 08 of P4 006 Level triggered All Value...

Page 599: ... when DI ABSE is on DI ABSR triggered by DO2 will replace the DO2 assigned by P2 019 DO name Description Triggering method Control mode ABSR always output by DO2 When DO ABSR is off it indicates servo drive can receive request issued by DI ABSQ when DO ABSR is on it indicates after receiving the request the data has been prepared and the ABSD data is valid so that the controller can access the ABS...

Page 600: ...witch between high and low digit display Press the SET key on the panel to switch between decimal and hexadecimal display Mapping 1 Parameters that support monitoring variable mapping for P0 009 P0 013 refer to Section 8 3 Parameter descriptions 2 Read the monitoring variables through communication using mapping parameters 3 The values of the mapping parameters P0 009 P0 013 are the content of the...

Page 601: ... filter which makes it more stable 008 08h Speed command analog B D2 Dec Speed command from the analog channel Unit 0 01 Volt 009 09h Speed command integrated B Integrated Speed command Unit 0 1 rpm Source includes analog register or position loop 010 0Ah Torque command analog B D2 Dec Torque command from the analog channel Unit 0 01 Volt 011 0Bh Torque command integrated B Integrated Torque comma...

Page 602: ...ble to A3 F 031 1Fh Main auxiliary encoder position deviation PUU Feedback position deviation between the main encoder and auxiliary encoder Applicable to A3 F 035 23h Indexing coordinate command Current command for the indexing coordinates Unit Pulse of User Unit PUU 037 25h Compare data of Compare The actual Compare data is the Compare data plus a specified value CMP_DATA DATA_ARRAY P1 023 P1 02...

Page 603: ... pulse number of the master axis is P E Cam rotates M cycles P5 083 M P5 084 P 063 3Fh Position of E Cam slave axis Position of the E Cam slave axis and can be found from the E Cam table Unit unit used in the E Cam table 064 40h Endpoint register of PR command In PR mode the endpoint of the Position command Cmd_E 065 41h Output register of PR command In PR mode the accumulative output of the Posit...

Page 604: ...o A3 F 120 78h EtherCAT communication error rate When this value continues to increase it indicates that there is communication interference In an interference free environment this value should not increase Applicable to A3 E 121 79h DMCNET communication error rate When this value continues to increase it indicates that there is communication interference In an interference free environment this ...

Page 605: ...Parameters ASDA A3 8 232 8 This page is intentionally left blank ...

Page 606: ...refer to the related DMCNET CANopen and EtherCAT documentation The details of ASCII RTU and TCP modes are also provided in this chapter 0 9 1 RS 485 communication interface hardware 9 2 9 2 RS 485 communication parameter settings 9 3 9 3 MODBUS communication protocol 9 4 9 4 Setting and accessing communication parameters 9 15 9 5 RS 485 communication specification 9 16 ...

Page 607: ...up to 100 meters when the servo drive is installed in a quiet environment If the transmission speed is over 38 400 bps a 15 meter cable is recommended to ensure data transmission accuracy 2 The numbers on the above figure represent the pin number of each connector 3 Use 12 VDC for the power supply 4 When using RS 485 communication you may connect up to 32 servo drives Install a repeater to connect...

Page 608: ...ion speed and P3 002 Communication protocol P3 003 Communication error handling P3 004 Communication timeout P3 006 Digital input DI control switch and P3 007 Communication response delay time are optional settings Refer to Chapter 8 for detailed descriptions of the relevant parameters Parameter Function P3 000 Address P3 001 Transmission speed P3 002 Communication protocol ...

Page 609: ...and 34H to represent 4 The ASCII codes for the digits 0 to 9 and the 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 C D E F ASCII code 38H 39H 41H 42H 43H 44H 45H 46H RTU mode Every 8 bit data frame consists of two 4 bit characters hexadecimal For example if 64H is transmitted between two stations using RTU it is transmitted ...

Page 610: ...racter 8N2 Start bit 7 Stop bit 0 1 2 3 4 5 6 8 data bits 11 bit character frame L H Stop bit 8E1 Start bit 7 Stop bit 0 1 2 3 4 5 6 8 data bits 11 bit character frame L H Even parity 8O1 Start bit 7 Stop bit 0 1 2 3 4 5 6 8 data bits 11 bit character frame L H Odd parity ...

Page 611: ...s of two characters in ASCII code The message ends with CR Carriage Return and LF Line Feed The codes for data such as communication address function code data content and LRC error checking LRC Longitudinal Redundancy Check are between the start character and the end code RTU mode Start A silent interval of more than 10 ms Slave Address Communication address 1 byte Function Function code 1 byte D...

Page 612: ... 1 1 Function 0 Function 0 3 3 Start Data Address 0 Data Number in bytes 0 2 4 0 Content of Start Data Address 0200H 0 0 0 Data Number in words 0 B 0 1 0 Content of the 2nd Data Address 0201H 1 2 F LRC Check F 4 8 0 End 1 0DH CR LRC Check E End 0 0AH LF 8 End 1 0DH CR End 0 0AH LF RTU mode Command Message Master Response Message Slave Slave Address 01H Slave Address 01H Function 03H Function 03H S...

Page 613: ...ction 0 6 6 Start Data Address 0 Start Data Address 0 2 2 0 0 0 0 Data Content 0 Data Content 0 0 0 6 6 4 4 LRC Check 9 LRC Check 9 3 3 End 1 0DH CR End 1 0DH CR End 0 0AH LF End 0 0AH LF RTU mode Command Message Master Response Message Slave Address 01H Address 01H Slave Function 06H Slave Function 06H Start Data Address 02H High Start Data Address 02H High 00H Low 00H Low Data Content 00H High D...

Page 614: ...ends a response message to the master after the writing is complete The calculation of LRC and CRC is described as follows ASCII mode Command Message Master Response Message Slave Start Start Slave Address 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 words 0 Data Number 0 0 0 0 0 2 2 Data Number in bytes 0 LRC Check D 4 A Cont...

Page 615: ...01H High 12H Low 12H Low Data Number in words 00H High Data Number in words 00H High 02H Low 02H Low Data Number in bytes 04H CRC Check Low E0H Low CRC Check High 31H High Content of the 1st Data Frame 0BH High B8H Low Content of the 2nd Data Frame 00H High 00H Low CRC Check Low FCH Low CRC Check High EBH High Note a silent interval of 10 ms is required before and after each transmission in RTU mo...

Page 616: ...undancy Check See the following details LRC ASCII mode To calculate the LRC add all the bytes round down the carry and take the two s complement For example 7FH 03H 05H C4H 00H 01H 14CH round down the carry 1 and take 4CH The two s complement of 4CH is B4H Start Slave Address 7 F Function 0 3 Start Data Address 0 5 C 4 Data Number 0 0 0 1 LRC Check B 4 End 1 0DH CR End 0 0AH LF ...

Page 617: ... is 1 shift the register one bit to the right and execute CRC register XOR A001H Repeat this step 8 times Step 4 repeat steps 2 and 3 until all bytes have been processed The content of the CRC register is the CRC value After calculating the CRC value fill in the low word of the CRC value in the command message and then the high word For example if the result of CRC calculation is 3794H put 94H in ...

Page 618: ...1 return reg_crc Example of a PC communication program include stdio h include dos h include conio h include process h define PORT 0x03F8 the address of COM 1 define THR 0x0000 define RDR 0x0000 define BRDL 0x0000 define IER 0x0001 define BRDH 0x0001 define LCR 0x0003 define MCR 0x0004 define LSR 0x0005 define MSR 0x0006 unsigned char rdat 60 read 2 data from address 0200H of ASD with address 1 un...

Page 619: ... 0x06 set prorocol 7 E 1 1AH 7 O 1 0AH 8 N 2 07H 8 E 1 1BH 8 O 1 0BH for I 0 I 16 I while inportb PORT LSR 0x20 wait until THR empty outportb PORT THR tdat I send data to THR I 0 while kbhit if inportb PORT LSR 0x01 b0 1 read data ready rdat I inportb PORT RDR read data from RDR ...

Page 620: ...en changing to a new communication speed the next data is written in the new transmission speed after the new speed is set P3 002 when changing to a new communication protocol the next data is written with the new communication protocol after the new protocol is set P4 005 JOG control parameters Refer to Chapter 8 for detailed descriptions P4 006 force digital output DO contact control Use this pa...

Page 621: ...ansmission line The quality of the transmission line affects the signal transmission process If there is interference during the transmission process it may result in data loss It is suggested to use a shielded twisted pair cable as the outer layer has a shield layer of metal and grounding wire which has better anti interference ability Bus topology For topology the closer to the master station th...

Page 622: ...s 1 Add a terminal resistor 2 Check if the servo drive is installed in a high magnetic field environment If so keep it as far away as possible 3 Use a shielded twisted pair cable for the transmission line 4 When wiring isolate the high voltage power cable from the signal line 5 Use a magnetic ring at the power input For its usage refer to Section 2 6 6 Add X capacitor and Y capacitor at the power ...

Page 623: ...MODBUS Communication ASDA A3 9 18 9 This page is intentionally left blank ...

Page 624: ...system 10 8 10 2 2 Installing and replacing a battery 10 10 10 3 System initialization and operating procedures 10 13 10 3 1 System initialization 10 13 10 3 2 Pulse number 10 14 10 3 3 PUU number 10 15 10 3 4 Establish the absolute origin coordinates 10 16 10 3 4 1 Establishing the absolute origin coordinates with DI DO 10 16 10 3 4 2 Establishing the absolute origin coordinates with parameters 1...

Page 625: ...other types of motors and the system is enabled AL069 occurs When using an absolute motor connected to power the motor speed should not exceed 250 rpm When operating with the battery make sure the maximum speed does not exceed 200 rpm To determine whether your motor is an absolute type check the model name as shown in the following ECM A3 series servo motor ECM A3 Y Y absolute motor ECMC series se...

Page 626: ...0 C to 85 C Make sure the installation location is free of vapor corrosive and inflammable gas Correctly place the battery into the battery box to avoid short circuiting Do not short circuit the positive and negative electrodes of the battery and do not install the battery in reverse direction Do not mix new and used batteries to avoid losing power or shortening the life of the new batteries It is...

Page 627: ...Absolute System ASDA A3 10 4 10 10 1 2 Battery box dimensions Single battery box Delta part number ASD MDBT0100 Dual battery box Delta part number ASD MDBT0200 ...

Page 628: ...onnection method Note Follow these instructions when connecting the cable Incorrect wiring may result in an explosion 1 2 3 3 2 1 White T Red BAT Reserved Reserved Orange BAT White T 4 5 6 6 5 4 White Red T Black BAT Reserved Reserved Gray BAT White Red T 7 8 9 9 8 7 Brown DC 5V Black Black White GND Shield Shield Blue GND Brown DC 5V Note the wire colors of the ASDA A3 servo drive are for referen...

Page 629: ...5 5000 100 197 4 3 ACS3 CAEB3010 10000 100 394 4 4 ACS3 CAEB3020 20000 100 788 4 Connection method Note Follow these instructions when connecting the cable Incorrect wiring may result in an explosion Pin No Terminal Color A T White B T White Red C BAT Red D BAT Black S DC 5V Brown R GND Blue L BRAID SHIELD Connect to the motor Connect to the servo drive Military connector Battery box CN2 connector...

Page 630: ...ASDA A3 Absolute System 10 7 10 10 1 4 Battery box cable Battery box cable AW battery connection cable to the encoder unit mm Delta part number 3864573700 ...

Page 631: ...nnects to the servo drive Military connector Quick connector Color Pin No Signal Description A 1 White 5 T Serial communication signal B 4 White Red 6 T Serial communication signal S 7 Brown 1 5V Power 5V R 8 Blue 2 GND Power ground L 9 Case Shielding Shielding Note when using an absolute encoder the battery supplies power directly to the encoder so wiring the CN2 connector to the servo drive is n...

Page 632: ...ASDA A3 Absolute System 10 9 10 Dual battery box connects to CN2 1 Encoder cable 2 Battery box cable AW 3 Dual battery box absolute type 4 CN2 connector ...

Page 633: ... connection cable Note that the metal clip should be placed close to the heat shrink A Metal clip B Heat shrink Step 3 Plug in the lead wire and tighten the screw Step 4 Install a new battery and connect the wire C Replace the battery only when the main power to the servo drive is still on Do not remove the power cable or else the system may lose data Step 5 Place the wire into the box and fit the...

Page 634: ...remove the power cables or else the system may lose data Step 2 Lift the cover and pull out the batteries Step 3 Disconnect the connectors and remove the used batteries Replace them with new batteries and reconnect the lead wires Replace the new batteries within ten minutes to avoid data loss Step 4 Fit the lid B Place the wires toward the inside of the box so that the batteries both fit inside th...

Page 635: ... the voltage is too low Refer to Chapter 13 for more information 2 Use P0 002 monitoring variable 26h to check the battery power When it displays 31 it means the voltage is under 3 1V When the voltage is under 2 45V the motor s position record may be lost if the drive operates under battery power so you need to re establish the absolute origin coordinates after installing a new battery Thus it is ...

Page 636: ... mentioned above you can use P2 070 to set up Delta s absolute servo system You can choose not to show AL062 and AL289 if the absolute coordinate system overflows when the number of rotations exceeds the range 32768 to 32767 or when the PUU exceeds the range 2147483648 to 2147483647 For example you might do this on a system that uses incremental commands to operate in a single direction P2 070 set...

Page 637: ... in the clockwise direction and reaches 32 768 turns the value jumps to 32767 once it reaches the target position in the next cycle and the value keeps decreasing from 32767 to 32768 In addition to the cycle counter there are 16 777 216 pulses 0 16777215 in one rotation Pay attention to the motor s running direction You can read the cycle number and the pulse number either with communication or DI...

Page 638: ...om 2147483647 to 2147483648 2147483647 until 2147483647 The value changes the other way when the motor operates in the reverse direction See the following examples Example 1 When P1 044 16777216 and P1 045 100000 the motor needs 100 000 PUU to run a cycle 2147483647 100000 21474 8 so once the motor runs over 21 474 8 32767 cycles in the forward direction AL289 occurs Example 2 When P1 044 16777216...

Page 639: ...is set to 0 and the PUU number is the value of P6 001 Refer to the following diagram for detailed descriptions Description 1 When the controller triggers DI ABSE it has to wait for TS before proceeding to the next step 2 After reaching TS the controller starts to establish the absolute origin coordinates When DI ABSC is triggered and remains on for TQ the pulse number is set to 0 and the PUU numbe...

Page 640: ...sition with DI DO Set P2 070 Bit 0 to 0 so that you can read the PUU number with DI DO See the following descriptions Bit 79 Bit 64 Bit 63 Bit 32 Bit 31 Bit 16 Bit 15 Bit 0 Check Sum Encoder PUU 2147483648 to 2147483647 0 Encoder status P0 050 Set P2 070 Bit 0 to 1 so that you can read the pulse number with DI DO See the following descriptions Bit 79 Bit 64 Bit 63 Bit 32 Bit 31 Bit 16 Bit 15 Bit 0...

Page 641: ...ngeable DI Signal request Fixed to DI4 Signal ready Fixed to DO2 Data content Fixed to DO3 Communication error DOx TS TQ TN DI DO function prior to handshake communication TR b0 b1 b2 TB TS TQ TN TQ Continue to 15 in below figure Continued from 13 in above figure Continue to 13 in below figure Continue to 14 in below figure TB Continued from 14 in above figure 13 14 15 16 13 11 15 14 1 2 3 5 7 9 1...

Page 642: ...o drive that data was read 6 When ABSQ is at high level ABSR is set to low level after the TN time in order to send the data for the next bit communication 7 When ABSR is at low level ABSQ is also set to low level and the servo drive needs to send the data for the next bit communication 8 Repeat steps 3 and 4 Send the absolute position to ABSD for the next bit communication 9 Repeat steps 5 to 7 T...

Page 643: ...rs the error at the same time when reading the position value Even when the motor is stopped it still moves slightly forward and backward for position correction which is normal for the servo system To avoid difference between the read coordinates and the actual positioning of the motor set to clear the position error at the same time when reading the coordinates so the motor s actual positioning ...

Page 644: ...set to ABSQ which is no longer configured by P2 013 ABSQ always input by DI4 When DI ABSE is on ABSD is output by DO3 which is no longer configured by P2 012 ABSD always output by DO3 0x1F ABSC 0x0D ABSW Relevant alarms refer to Chapter 13 for detailed information Display Alarm name AL060 Absolute position is lost AL061 Encoder undervoltage AL062 Number of turns for the absolute encoder overflows ...

Page 645: ...Absolute System ASDA A3 10 22 10 This page is intentionally left blank ...

Page 646: ...fication 11 4 11 2 2 Linear motor direction setting 11 10 11 3 Linear encoder 11 11 11 4 Hall sensor 11 12 11 4 1 Hall sensor phase sequence checking 11 13 11 5 Position signal converter box 11 13 11 6 Parameter setting 11 14 11 6 1 Total weight mover load 11 14 11 6 2 E Gear ratio 11 14 11 6 3 Limit setting 11 14 11 6 4 Initial magnetic field current detection 11 15 11 6 5 Overload gain 11 15 ...

Page 647: ...long causing the screw to droop and creating more friction which results in wearing of the screw The linear motor adopts a modular design which can connect to unlimited number of modules so there are relatively few restrictions on the stroke The linear motor uses the linear scale or magnetic scale to get the feedback position instead of the rotary encoder in the rotary motor When using a linear mo...

Page 648: ...or occurs when setting the parameters Note the units of rotary motor and linear motor are different in some parameter settings Refer to Chapter 8 for more information Comparison of rotary motor and linear motor Rotary motor Linear motor Speed unit rpm mm s μm s Acceleration unit 0 3000 rpm ms 0 5 𝑚 𝑠 𝑚𝑠 Load ratio P1 037 Load inertia ratio Total weight unit 0 1 kg Feedback type Encoder Linear scal...

Page 649: ...and Torque modes and then cycle power on the servo drive before executing the motor parameter identification process see the path in the following figure If you do not set the motor parameter identification an alarm may be triggered due to the parameter setting error or the motor may be burnt due to the motor current setting error When you replace the motor with a different type of motor execute t...

Page 650: ...ASDA A3 Linear Motor 11 5 11 Step 1 Select Motor Type Enter the Motor Parameter Identification Wizard and select Linear Motor ...

Page 651: ... fills in the motor specifications according to the content in the database For Manual Setting input all linear motor related specifications and correctly set the motor current parameters PM 046 and PM 047 or the motor may be burnt Thus be sure to double check the parameters and whether the unit is Ampere RMS or Ampere Peak before inputting the values When the settings are complete press Write and...

Page 652: ...oder is coming soon but the servo drive must be equipped with a position signal converter box The position signal converter box converts the signal to the communication format that the CN2 encoder signal connector can receive If the hardware connection does not match the parameter settings AL011 is triggered Next select Yes or No for installation of the Hall sensor When the settings are complete p...

Page 653: ... As for the Magnetic Pole Pitch you can find the value in the linear motor catalogue If you select a linear motor from the database this section is automatically filled in if it is not a Delta linear motor or the linear motor is not yet created in the database you must input the value If the set value is incorrect AL051 is triggered When the settings are complete press Write and then press Next ...

Page 654: ...y make sure there is no personnel nearby because the platform moves slightly when executing the motor identification process If an alarm occurs during the identification process refer to Chapter 13 Troubleshooting to clear the alarm The software only continues with the identification process when the alarm is cleared Cycle the power on the servo drive after the identification process is complete W...

Page 655: ...the JOG mode to set the linear motor direction with the jog speed unit as 0 01 mm s When executing jog control check if the jog speed is set too slow or too fast If it is too slow you may think that the motor is not actuated if it is too fast it may cause the motor to crash Flowchart of linear motor direction setting No Motor Parameter Identification Wizard Start parameter identification Cycle the...

Page 656: ...f AL011 is triggered when using the linear motor check if PM 003 U is set correctly The linear encoder types include sine wave type and pulse type Currently the CN5 2 of the ASDA A3 only supports pulse type encoders and sine wave type encoders must be used with a position signal converter box 3 to connect to CN2 Note 1 For detailed parameter description refer to Chapter 8 Parameters 2 The CN5 sing...

Page 657: ...0 to 360 by the three phase signals into six blocks 1 0 1 1 0 0 1 1 0 0 1 0 0 1 1 and 0 0 1 so that the servo drive can know the current position of the motor magnetic field Before using the linear motor make sure it is equipped with the Hall sensor If there is a Hall sensor set PM 003 Y to 1 otherwise set PM 003 Y to 0 If you activate the motor identification process when the linear motor is not ...

Page 658: ...nce may cause the motor to go in the wrong direction or even out of control Note bit value of the monitoring variable 177 Bit 1 U phase Bit 2 V phase Bit 3 W phase 0 1 1 0 0 1 1 0 1 1 0 0 1 1 0 0 1 0 11 5 Position signal converter box The position signal converter box is a feedback signal conversion product developed by Delta The feedback signals of OA OB pulses or sine wave can be converted into ...

Page 659: ...ested to set the E Gear ratio for the linear motor to P1 044 P1 045 1 1 If the E Gear ratio is 1 when the command issues 1 PUU the linear scale feedback is 1 pulse if the E Gear ratio is 2 when the command issues 1 PUU the linear scale feedback is 2 pulses Incorrect E Gear ratio setting may result in an error between the command and the actual movement distance 11 6 3 Limit setting The limit setti...

Page 660: ...e parameters do not affect the motor operation When setting these parameters to above 100 use the monitoring variable 91 to monitor whether the overload AL006 exceeds 100 Load Operating time Load Operating time 0 12 sec PM 020 260 3 9 sec PM 019 20 12 3 sec PM 020 280 3 3 sec PM 019 40 13 6 sec PM 020 300 2 8 sec PM 019 60 16 3 sec PM 020 320 2 5 sec PM 019 80 22 6 sec PM 020 340 2 2 sec PM 019 10...

Page 661: ...Linear Motor ASDA A3 11 16 11 This page is intentionally left blank ...

Page 662: ...vice data object SDO 12 8 12 2 2 3 SDO abort codes 12 11 12 2 2 4 Synchronization object SYNC 12 12 12 2 2 5 Emergency object EMCY 12 13 12 2 2 6 NMT services 12 14 12 3 CANopen operation mode 12 17 12 3 1 Profile Position Mode 12 17 12 3 2 Interpolation Position Mode 12 21 12 3 3 Homing Mode 12 24 12 3 4 Profile Velocity Mode 12 26 12 3 5 Profile Torque Mode 12 28 12 4 Object dictionary 12 30 12 ...

Page 663: ...rotocol NMT SYNC SDO PDO and EMCY SDO transmission acyclic data exchange for reading writing parameters and communication related settings PDO transmission reception time triggered event triggered synchronous transmission cyclic and asynchronous transmission acyclic Node guarding Heartbeat CANopen functions not supported by Delta servo drives Time stamp ...

Page 664: ...vo drive transmits data to differential terminal 5 RS 485 Servo drive transmits data to differential terminal 6 8 9 CAN_H CAN_H bus line dominant high 10 CAN_L CAN_L bus line dominant low 11 15 GND_ISO Signal GND 12 RS 485 Servo drive transmits data to differential terminal 13 RS 485 Servo drive transmits data to differential terminal 14 16 Baud rate setting Baud rate and bus length Baud rate Maxi...

Page 665: ...or baud rate as 1 Mbps 0 125 Kbp 1 250 Kbps 2 500 Kbps 3 750 Kbps 4 1 Mbps 4 It is suggested to set P3 012 to 0x0100 so the parameters in the following table are non volatile Variables during initialization P3 012 Z 0 P3 012 Z 1 Note P1 032 0x0010 EEPROM P2 035 50331648 EEPROM P1 047 100 EEPROM P1 049 0 EEPROM P1 038 100 EEPROM Home offset 0 EEPROM Used in Homing mode P1 044 1 EEPROM P1 045 1 EEPR...

Page 666: ...file torque mode Modes of operation DS 301 application layer and communication profile The CANopen architecture of the servo drive is as follows DS301 is the communication profile this protocol includes the communication objects PDO SDO SYNC and Emergency object NMT service and related communication object dictionary DS402 is the device profile for drives and motion control defines the behavior of...

Page 667: ... object 0 0 0 1 X X X X X X X 128 80h 1014h T_PDO1 0 0 1 1 X X X X X X X 384 180h Node ID 1800h R_PDO1 0 1 0 0 X X X X X X X 512 200h Node ID 1400h T_PDO2 0 1 0 1 X X X X X X X 640 280h Node ID 1801h R_PDO2 0 1 1 0 X X X X X X X 768 300h Node ID 1401h T_PDO3 0 1 1 1 X X X X X X X 896 380h Node ID 1802h R_PDO3 1 0 0 0 X X X X X X X 1024 400h Node ID 1402h T_PDO4 1 0 0 1 X X X X X X X 1152 480h Node...

Page 668: ...on object parameter Mapping object parameter R_PDO1 1400h 1600h T_PDO1 1800h 1A00h R_PDO2 1401h 1601h T_PDO2 1801h 1A01h R_PDO3 1402h 1602h T_PDO3 1802h 1A02h R_PDO4 1403h 1603h T_PDO4 1803h 1A03h The mapping parameter format of PDO is 31 30 29 28 27 26 25 24 Bit 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 23 22 21 20 19 18 17 16 Bit Function Bit 0 Bit 7 Object length Bit 8 Bit 15 Object sub index B...

Page 669: ...rite data with SDO To use an SDO to write data with the controller you need to write the request code index and data according to the SDO format The servo drive then returns the corresponding message based on the written data The following figure shows the packet format when the controller sends the SDO for writing data Controller Servo drive COB ID 600h Node ID Packet 8 bytes in total 0 1 2 3 4 5...

Page 670: ... in is successful 80h SDO abort codes Error code Note for SDO abort codes refer to Section 12 2 2 3 Example Write the value of 300 000 483E0h to the servo parameter P7 001 OD 2701h The write in format is as follows Function code Object index Object sub index Data Description Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 23h 01 27 0 E0 93 04 00 Write 4 bytes of data The returned packet is...

Page 671: ... Function code Object index Object sub index Data Description Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 40h Read data The following figure shows the packet format returned by the servo drive when the controller sends the SDO for reading data Controller Servo drive COB ID 580h Node ID Packet 8 bytes in total 0 1 2 3 4 5 6 7 Function code Object index Object sub index Data Description ...

Page 672: ...not match parameter length does not match 06090011h Sub index does not exist 06090030h The written parameter value is out of range 08000000h General error 080000a1h An error occurred when reading an object from EEPROM 080000a2h An error occurred when writing an object to EEPROM 080000a3h Invalid range when accessing EEPROM 080000a4h EEPROM data content error occurred when accessing EEPROM 080000a5...

Page 673: ...t transmission cycle is set by the object OD 1006h see Section 12 4 for detailed settings The following figure shows the timing sequence between the servo drive RxPDO reception and the controller SYNC transmission The controller transmits RxPDO to the servo drive between two SYNCs communication cycle and the servo drive will not execute the RxPDO received in the previous communication cycle until ...

Page 674: ...CY When the servo detects an abnormality it sends an alarm and notifies the controller with the Emergency object The Emergency object can only transmit one alarm at a time When a higher priority alarm occurs before the previous lower priority alarm is cleared the higher priority alarm overwrites the previous alarm and notifies the controller as an Emergency object Controller Servo drive COB ID 80 ...

Page 675: ...ompletes initialization after powering on without errors occurring The packet could still not be transferred in this state Pre operational Data can be exchanged with SDO If an alarm occurs in the servo drive an emergency message is sent to notify the controller Stopped SDO and TxPDO data packets can be used to exchange data with the controller Operational This state allows for all data exchanges i...

Page 676: ... heartbeat time The producer time is set by the controller Due to delays and other uncontrollable external factors in transmitting the heartbeat you must retain a tolerance margin value Heartbeat producer Heartbeat producer time 701h COB ID 700h Node ID Example for Node ID 1 S 701h S Heartbeat producer Heartbeat consumer Heartbeat consumer Heartbeat consumer time OD 1006h Heartbeat consumer time O...

Page 677: ...eriodically sends packets to the slave axis and the slave axis must return the packets to the master axis within the set guard time OD 100Ch otherwise an error occurs You must set the life time for the slave axis and the master slave must send the packets within the life guard time If the slave axis does not receive the packets AL180 is triggered Life time is set by multiplying the guard time by a...

Page 678: ... servo drive Target position 607Ah Software position limit 607Dh Position limit function Profile velocity 6081h Max profile velocity 607Fh Speed limit function Trajectory generator E Gear ratio 6093h sub1 6093h sub2 Filter P1 008 P1 025 P1 028 P1 036 P1 068 Position control loop Speed control loop Torque control loop Max torque 6072h Positive torque limit 60E0h Negative torque limit 60E1h Encoder ...

Page 679: ... 6 1 0 0 1 1 0 Shutdown 6 2 0 0 1 1 1 Switch on ready for servo on 6 3 0 1 1 1 1 Enable operation servo on 6 4 1 1 1 1 1 Command triggered rising edge triggering 7 After completing the first motion command set the target position speed and other conditions to execute the next motion command 8 Set OD 6040h for the control command Since the command is triggered by rising edge triggering switch Bit 4...

Page 680: ...nt motion command is in execution not yet complete the servo continues to execute the current motion command even if a new command is triggered The new command is only acknowledged and executed after the current command is executed Speed Command triggered 6040h bit 4 Target position 607Ah Execute current position Set point acknowledge 6041h bit 12 Target reached 6041h bit 10 60000 PUU s 30000 PUU ...

Page 681: ...y actual value 606Ch Relevant object list Index Name Type Attr 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 6062h Position demand value PUU INTEGER32 RO 6063h Position actual internal value INTEGER32 RO 6064h Position actual value INTEGER32 RO 6065h Following error window UNSIGNED32 RW 6067h Positio...

Page 682: ...period 60C2h Software position limit 607Dh Position limit function Max profile velocity 607Fh Speed limit function Trajectory generator E Gear ratio 6093h sub1 6093h sub2 Filter P1 008 P1 025 P1 028 P1 036 P1 068 Position control loop Speed control loop Torque control loop Max torque 6072h Positive torque limit 60E0h Negative torque limit 60E1h Encoder Servo motor M Acceleration limit function Qui...

Page 683: ...according to the requirements such as the feedback position OD 6064h 5 Set OD 6040h for the control command Follow the steps below Steps 6 1 and 6 2 are to bring the servo drive s state machine into the ready state For more details of the state machine refer to Section 12 2 2 6 Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description 6 1 0 0 1 1 0 Shutdown 6 2 0 0 1 1 1 Switch on ready for servo on 6 3 0 1 ...

Page 684: ...eives a difference between the SYNC and SYNC communication cycle time When this happens adjust the error value T of P3 009 to increase the error range and let the servo drive automatically correct the internal timer so it is consistent with the communication cycle of the controller Relevant object list Index Name Type Property 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mo...

Page 685: ...t function Max acceleration 60C5h Max deceleration 60C6h PUU RPM ms Torque actual value 6077h Velocity actual value 606Ch E Gear ratio 6093h sub2 6093h sub1 Position actual value 6064h Homing speeds 6099h Operation steps 1 Set OD 6060h to 06h to set the mode as Homing Mode 2 Set OD 607Ch for the home offset 3 Set OD 6098h for the method to find the origin point 4 Set OD 6099h sub1 for the speed wh...

Page 686: ...ndex Name Type Attr 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 607Ch Home offset INTEGER32 RW 6093h Position factor UNSIGNED32 RW 6098h Homing method INTEGER8 RW 6099h Homing speeds ARRAY RW 609Ah Homing acceleration UNSIGNED32 RW Note for more details refer to Section 12 4 3 Details of objects ...

Page 687: ...on actual value 6064h Velocity window time 606Eh Position window comparator Statusword Bit10 Target reached 6041h Velocity demand value 606Bh Velocity window 606Dh Speed comparator Operation steps 1 Set OD 6060h to 03h to set the mode as the speed control mode 2 Set OD 6083h for the acceleration time slope 3 Set OD 6084h for the deceleration time slope 4 Set the target speed OD 60FFh to 0 In speed...

Page 688: ... UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 606Bh Velocity demand value INTEGER32 RO 606Ch Velocity actual value INTEGER32 RO 606Dh Velocity window UNSIGNED16 RW 606Eh Velocity window time UNSIGNED16 RW 606Fh Velocity threshold UNSIGNED16 RW 60FFh Target velocity INTEGER32 RW Note for more details refer to Section ...

Page 689: ...n actual value 6064h Torque demand 6074h Operation steps 1 Set OD 6060h to 04h to set the mode as the torque control mode 2 Set OD 6087h for the torque slope 3 Set the target torque OD 6071h to 0 In torque mode the servo target torque takes effect once the servo is switched to servo on step 5 Therefore set the target torque OD 6071h to 0 for safety reasons 4 Set OD 6040h for the control command Fo...

Page 690: ...trolword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 6071h Target torque INTEGER16 RW 6074h Torque demand value INTEGER16 RO 6075h Motor rated current UNSIGNED32 RO 6077h Torque actual value INTEGER16 RO 6078h Current actual value INTEGER16 RO 6087h Torque slope UNSIGNED32 RW Note for more details refer to Section 1...

Page 691: ...nts VAR A single value such as an UNSIGNED8 Boolean float and INTEGER16 ARRAY An object of multiple data fields consisting of multiple variables of the same data type such as an UNSIGNED16 array The sub index 0 data type is UNSIGNED8 so it is not an array data RECORD An object of multiple data fields consisting of multiple variables of different data types The sub index 0 data type is UNSIGNED8 so...

Page 692: ... UNSIGNED32 RW Note only 1001h can be mapped to PDO OD 2XXXh servo parameter group Index Object type Name Data type Access Mappable Delta parameter definition 2xxx VAR Parameter mapping INTEGER16 32 RW Y OD 6XXXh communication object group Index Object type Name Data type Access Mappable 603Fh VAR Error code UNSIGNED16 RO Y 6040h VAR Controlword UNSIGNED16 RW Y 6041h VAR Statusword UNSIGNED16 RO Y...

Page 693: ...Profile deceleration UNSIGNED32 RW Y 6085h VAR Quick stop deceleration UNSIGNED32 RW Y 6087h VAR Torque slope UNSIGNED32 RW Y 6093h ARRAY Position factor UNSIGNED32 RW Y 6098h VAR Homing method INTEGER8 RW Y 6099h ARRAY Homing speeds UNSIGNED32 RW Y 609Ah VAR Homing acceleration UNSIGNED32 RW Y 60C0h VAR Interpolation sub mode select INTEGER16 RW Y 60C1h ARRAY Interpolation data record UNSIGNED16 ...

Page 694: ...arameter N A Format of this object High word h DCBA Low word L UZYX A Bit 16 Bit 31 Model number X Bit 0 Bit 15 Device profile number B Y C Z D U Definitions are as follows UZYX device profile number servo drive 0192 DCBA model number DCBA Model number 0402 A2 0602 M 0702 A3 Object 1001h Error register Index 1001h Name Error register Object code VAR Data format UNSIGNED8 Access RO PDO mapping Yes ...

Page 695: ...003h Pre defined error field Sub index 1 5 Description Standard error field Data format UNSIGNED32 Access RO PDO mapping No Setting range UNSIGNED32 Default 0 Corresponding servo parameter N A Index 1003h Name Pre defined error field Object code ARRAY Data format UNSIGNED32 Access RW PDO mapping No Sub index 0 Description Number of errors Data format UNSIGNED8 Access RW PDO mapping No Setting rang...

Page 696: ...h array The display is as follows Byte High word Low word Delta servo alarm UINT16 Error code UINT16 0x0011 0x7305 AL011 is defined as encoder error based on the Delta servo alarm Error code 0x7305 is defined as an Incremental Sensor 1 fault according to DS 402 Object 1005h COB ID SYNC message Index 1005h Name COB ID SYNC message Object code VAR Data format UNSIGNED32 Access RO PDO mapping No Sett...

Page 697: ...using SYNC set this object to 0 Object 100Ch Guard time Index 100Ch Name Guard time Object code VAR Data format UNSIGNED16 Access RW PDO mapping No Setting range UNSIGNED16 Default 0 Unit ms Object function The Life Guarding Protocol includes OD 100Ch and 100Dh OD 100Ch is the guard time in milliseconds and OD 100Dh is the multiplying factor Therefore OD 100Ch multiplied by OD 100Dh gives the life...

Page 698: ...ime equals 50 ms Object 1014h COB ID EMCY Index 1014h Name COB ID emergency message Object code VAR Data format UNSIGNED32 Access RO PDO mapping No Setting range UNSIGNED32 Default 80h Node ID Object function 31 30 29 28 27 26 25 24 Bit 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 23 22 21 20 19 18 17 16 Bit Function Description Bit 31 Emergency EMCY function 0 the emergency EMCY function is enabled ...

Page 699: ... 0 Object function 31 30 29 28 27 26 25 24 Bit 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 23 22 21 20 19 18 17 16 Bit Function Description Bit 31 Bit 24 Reserved Bit 23 Bit 16 Node ID UNSIGNED8 Bit 15 Bit 0 Heartbeat time UNSIGNED8 unit ms Consumer heartbeat time is defined as the time the servo drive expects to receive a heartbeat For the setting consumer heartbeat time must be greater than the pr...

Page 700: ...on is invalid Object 1018h Identity object Index 1018h Name Identity object Object code RECORD Data format Identity Access RO PDO mapping No Sub index 0 Description Number of sub index Data format UNSIGNED8 Access RO PDO mapping No Setting range 3 Default 3 Sub index 1 Description Vendor ID Data format UNSIGNED32 Access RO PDO mapping No Setting range UNSIGNED32 Default 1DDh Sub index 2 Descriptio...

Page 701: ...NSIGNED8 Access RO PDO mapping No Setting range 1 Default 1 Sub index 1 Description Communication error Data format UNSIGNED8 Access RW PDO mapping No Setting range UNSIGNED8 Default 0 Object function Generally when the servo drive detects a serious fault in the operational state the mode automatically switches to the pre operational state Use this object setting to switch the mode to the pre oper...

Page 702: ...O mapping No Setting range UNSIGNED32 Default Index 1200h 600h Node ID Sub index 2 Description Servo drive returns to controller COB ID Server Client tx Data format UNSIGNED32 Access RO PDO mapping No Setting range UNSIGNED32 Default Index 1200h 580h Node ID Object function This object is read only and cannot be set Read the station number for transmitting and receiving the SDO with this object Ex...

Page 703: ...tting range UNSIGNED32 Default Node ID 0 Object function 31 30 29 28 27 26 25 24 Bit 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 23 22 21 20 19 18 17 16 Bit Function Description Bit 10 Bit 0 COB ID The data size is 10 bit Bit 30 Bit 11 Bit 31 PDO function switch 0 enable PDO function 1 disable PDO function Enable disable the PDO function to determine if PDO is used in the operational state The COB I...

Page 704: ...V 01h F0h 1 240 V V F1h FBh 241 251 Reserved FCh 252 V V FDh 253 V V FEh 254 V FFh 255 V Sub index 3 Description Inhibit time not used for RPOD Data format UNSIGNED16 Access RW PDO mapping No Setting range UNSIGNED16 Default 0 Sub index 4 Description Compatibility entry Data format UNSIGNED8 Access RW PDO mapping No Setting range UNSIGNED8 Default 0 Sub index 5 Description Event timer not used for...

Page 705: ...NSIGNED8 Access RW PDO mapping No Setting range 0 disable 1 8 set the number of PDO mapping and enable the function Default 0 Sub index 1 8 Description Set n PDO mapping application objects Data format UNSIGNED32 Access RW PDO mapping No Setting range UNSIGNED32 Default 0 The format of this object is as follows 31 30 29 28 27 26 25 24 Bit 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 23 22 21 20 19 18...

Page 706: ...tion 6060h data length is 8 bit Note The total length is 38h 56 bit which meets the specification of less than 64 bit Object 1800h 1803h TPDO communication parameter Index 1800h 1803h Name Transmit PDO parameter Object code RECORD Data format PDO CommPar Access RW Sub index 0 Description Largest sub index supported Data format UNSIGNED8 Access RO PDO mapping No Setting range 5 Default 5 Sub index ...

Page 707: ...Sub index 2 Description Transmission type Data format UNSIGNED8 Access RW PDO mapping No Setting range UNSIGNED8 Default 0 Object function The type setting is as follows Setting value Transmission type Cyclic Acyclic Synchronous Asynchronous RTR only 00h 0 V V 01h F0h 1 240 V V F1h FBh 241 251 Reserved FCh 252 V V FDh 253 V V FEh 254 V FFh 255 V Sub index 3 Description Inhibit time Data format UNS...

Page 708: ...bjects in a group of PDO cannot exceed 64 bits Sub index 0 Description Number of PDO mappings Data format UNSIGNED8 Access RW PDO mapping No Setting range 0 disable 1 8 set the number of PDO mapping and enable the function Default 0 Sub index 1 8 Description Set n PDO mapping application objects Data format UNSIGNED32 Access RW PDO mapping No Setting range UNSIGNED32 Default 0 Format of this objec...

Page 709: ...ameter number and index are converted as follows Pa bc 2aBCh BC is hexadecimal format of bc Read the index first to get the information of the parameter length and then use SDO or PDO to change the data Example 1 Object 2300h Node ID P3 000 Index 2300h Name Node ID Object code VAR Data format INTEGER16 Access RW PDO mapping Yes Setting range INTEGER16 Default 7Fh Example 2 Object 212Ch Electronic ...

Page 710: ...esponding servo parameter N A Default 0 Object 6040h Controlword Index 6040h Name Controlword Object code VAR Data format UNSIGNED16 Access RW PDO mapping Yes Setting range UNSIGNED16 Corresponding servo parameter N A Default 0x0004 Object function The control command contains many functions such as Servo on command triggering fault reset and emergency stop The state machine architecture is as fol...

Page 711: ...ition Profile Position Mode Homing Mode Profile Velocity Mode Profile Torque Mode Interpolated Position Mode Bit 4 Command triggered rising edge triggering Homing rising edge triggering Bit 5 Command to take immediate effect Bit 6 0 absolute position command 1 relative position command Finite state automation as shown in the following diagram defines the behavior of a servo drive system Each state...

Page 712: ...elong to this quick stop type 1 Trigger forward reverse limit switch 2 Quick stop triggered by a control command OD 6040h xxxx x0xxx Quick stop function is enabled 12 Command disable voltage OD 6040h 0000 0110 or xxxx xx0x Servo off 13 14 Alarm occurs Servo off 15 Alarm is cleared N A 16 Command enable operation and no alarm Motion operation restart The restart action is mode dependent State chang...

Page 713: ...able for details Bit 1 Switch on Bit 2 Operation enabled Bit 3 Fault Bit 4 Voltage enabled Bit 5 Quick stop Bit 6 Switch on disabled Bit 7 Warning Warning output but the servo remains with the servo on signal Bit 8 Bit 9 Remote Bit 10 Target reached Bit 11 Bit 12 Bit 13 Individually defined according to the control mode Bit 14 Positive limit Bit 15 Negative limit Bit 0 Bit 6 current status of the ...

Page 714: ...es Setting range INTEGER16 Corresponding servo parameter N A Default 0 Object function Set to 0 when servo off the dynamic brake has no effect so the motor can rotate freely and the mechanism stops only by the frictional force Set to 1 when servo off the servo stops with the operation of the dynamic brake Object 6060h Modes of operation Index 6060h Name Modes of operation Object code VAR Data form...

Page 715: ...nge INTEGER32 Default 0 Unit PUU Object function This command position is the interpolation command calculated by the servo internal interpolator This command passes through the servo internal filter For detailed position refer to the servo architecture diagram of each mode Object 6063h Position actual internal value Index 6063h Name Position actual internal value Object code VAR Data format INTEG...

Page 716: ... RW PDO mapping Yes Setting range UNSIGNED32 Default 3840000 Unit PUU Object function When the position error 60F4h exceeds this setting range AL009 Excessive deviation of Position command is triggered Following error Following error window Position No following error Reference position Following error Accepted following error tolerance Following error window Object 6067h Position window Index 606...

Page 717: ...7h Position window comparator Statusword target reached 6041h Position window time 6068h Window comparator Position actual value 6064h PP mode Target position 607Ah IP mode Interpolation data record 60C1h Object 6068h Position window time Index 6068h Name Position window time Object code VAR Data format UNSIGNED16 Access RW PDO mapping Yes Setting range UNSIGNED16 Default 0 Unit ms Object function...

Page 718: ...ct code VAR Data format INTEGER32 Access RO PDO mapping Yes Setting range INTEGER32 Default 0 1 rpm Object function The internal speed command is a command generated by the speed motion command generator and command filter of the drive This object only works in Profile Velocity Mode Object 606Ch Velocity actual value Index 606Ch Name Velocity actual value Object code VAR Data format INTEGER32 Acce...

Page 719: ...greater than OD 606Eh velocity window time then OD 6041h Bit10 target reached is output This object only works in Profile Velocity Mode Velocity window time 606Eh Position window comparator Statusword Bit10 Target reached 6041h Velocity window 606Dh Speed comparator Velocity demand value 606Bh Velocity actual value 606Ch Object 606Eh Velocity window time Index 606Eh Name Velocity window time Objec...

Page 720: ...00 to 3000 Default 0 Unit 0 1 Object function This object sets the target torque in torque mode unit 0 1 If this object is set to 1000 100 0 it corresponds to the rated torque of the motor Object 6074h Torque demand value Index 6074h Name Torque demand value Object code VAR Data format INTEGER16 Access RO PDO mapping Yes Setting range INTEGER16 Default 0 Unit 0 1 Object function The internal torqu...

Page 721: ...6h Motor rated torque Index 6076h Name Motor rated torque Object code VAR Data format UNSIGNED32 Access RO PDO mapping Yes Setting range UNSIGNED32 Default 0 Unit 0 001 N m Object function This object displays the rated torque of the motor nameplate Object 6077h Torque actual value Index 6077h Name Torque actual value Object code VAR Data format INTEGER16 Access RO PDO mapping Yes Setting range IN...

Page 722: ...es Setting range INTEGER32 Default 0 Unit PUU Object function This object is only available in Profile Position Mode For more details refer to Section 12 3 1 Profile Position Mode Object 607Ch Home offset Index 607Ch Name Home offset Object code VAR Data format INTEGER32 Access RW PDO mapping Yes Setting range INTEGER32 Default 0 Unit PUU Object function Home Position is the origin reference point...

Page 723: ...t 6080h Max motor speed Index 6080h Name Max motor speed Object code VAR Data format UNSIGNED32 Access RW PDO mapping Yes Setting range UNSIGNED32 Default Varies depending on the motor model Corresponding servo parameter P1 055 Unit rpm Object function This object is equivalent to P1 055 which is the maximum speed limit Object 6081h Profile velocity Index 6081h Name Profile velocity Object code VA...

Page 724: ...on Index 6084h Name Profile deceleration Object code VAR Data format UNSIGNED32 Access RW PDO mapping Yes Setting range 1 65500 Default 200 Unit ms Object function The time slope set by this object is the time required to decelerate from 3 000 rpm to 0 rpm This object is only available in Profile Position Mode and Profile Velocity Mode Object 6085h Quick stop deceleration Index 6085h Name Quick st...

Page 725: ...on factor Index 6093h Name Position factor Object code ARRAY Data format UNSIGNED32 Access RW PDO mapping Yes Corresponding servo parameter P1 044 and P1 045 Note Position factor Numerator Feed_constant Sub index 0 Description Number of sub index Data format UNSIGNED8 Access RO PDO mapping No Setting range 2 Default 2 Sub index 1 Description E Gear ratio numerator Data format UNSIGNED32 Access RW ...

Page 726: ... Yes Setting range 0 35 Default 0 Object function There are a total of 35 homing methods The 1st 16th homing methods look for the Z pulse the 17th 34th do not look for the Z pulse and the 35th defines the current position as the origin Method 1 homing on the negative limit switch and Z pulse 1 Starting point Z pulse Negative limit switch indicates OD 6099h sub1 Speed during search for switch indic...

Page 727: ... of home switch and Z pulse Z pulse Home switch Starting point 3 4 Starting point 3 4 Starting point Starting point Methods 5 and 6 homing on the falling edge of home switch and Z pulse Z pulse Home switch Starting point 5 6 Starting point 5 6 Starting point Starting point ...

Page 728: ...ome switch and Z pulse Z pulse Home switch Starting point 7 Positive limit switch 7 Starting point Starting point 7 Method 8 homing on the positive limit switch rising edge of home switch and Z pulse Z pulse Home switch Starting point 8 Positive limit switch Starting point 8 Starting point 8 ...

Page 729: ...me switch and Z pulse Z pulse Home switch Starting point Positive limit switch Starting point Starting point 9 9 9 Method 10 homing on the positive limit switch falling edge of home switch and Z pulse Z pulse Home switch Starting point Positivelimit switch Starting point Starting point 10 10 10 ...

Page 730: ... switch and Z pulse Z pulse Home switch Negative limit switch Starting point Starting point 11 11 Starting point 11 Method 12 homing on the negative limit switch falling edge of home switch and Z pulse Z pulse Home switch Negative limit switch Starting point 12 Starting point 12 Starting point 12 ...

Page 731: ... pulse Starting point Starting point 13 Starting point 13 13 Z pulse Home switch Negative limit switch Method 14 homing on the negative limit switch rising edge of home switch and Z pulse Starting point Starting point Starting point 14 14 14 Z pulse Home switch Negative limit switch Methods 15 and 16 reserved ...

Page 732: ...nd Z pulse Starting point Negativelimit switch 17 Method 18 homing on the positive limit switch Starting point Positive limit switch 18 Methods 19 and 20 homing on the rising edge of home switch Home switch Starting point Starting point Starting point Starting point 19 19 20 20 ...

Page 733: ...g edge of home switch Home switch Starting point Starting point Starting point Starting point 21 21 22 22 Method 23 homing on the positive limit switch and rising edge of home switch Home switch Starting point Positive limit switch Starting point Starting point 23 23 23 ...

Page 734: ... rising edge of home switch Starting point Starting point Starting point 24 24 24 Home switch Positive limit switch Method 25 homing on the positive limit switch and falling edge of home switch Starting point Starting point Starting point 25 25 25 Home switch Positive limit switch ...

Page 735: ...falling edge of home switch Starting point Starting point Starting point 26 26 26 Home switch Positive limit switch Method 27 homing on the negative limit switch and falling edge of home switch Home switch Negative limit switch Starting point Starting point 27 Starting point 27 27 ...

Page 736: ... falling edge of home switch Starting point Starting point Starting point 28 28 28 Home switch Negative limit switch Method 29 homing on the negative limit switch and rising edge of home switch Starting point Starting point Starting point 29 29 29 Home switch Negative limit switch ...

Page 737: ...sing edge of home switch Starting point Starting point Starting point 30 30 30 Home switch Negative limit switch Methods 31 and 32 reserved Methods 33 and 34 homing on the Z pulse Z pulse Starting point 33 Starting point 34 Method 35 define the current feedback position as the origin ...

Page 738: ...er of sub index Data format UNSIGNED8 Access RO PDO mapping Yes Setting range 2 Default 2 Sub index 1 Description Speed during search for switch Data format UNSIGNED32 Access RW PDO mapping Yes Setting range 1 2000 Default 100 Unit 0 1 rpm Sub index 2 Description Speed during search for zero Data format UNSIGNED32 Access RW PDO mapping Yes Setting range 1 500 Default 20 Unit 0 1 rpm ...

Page 739: ... 60C0h Interpolation sub mode select Index 60C0h Name Interpolation sub mode select Object code VAR Data type INTEGER16 Access RW PDO mapping Yes Value range INTEGER16 Default value 0 Object function no need to set this object Object 60C1h Interpolation data record Index 60C1h Name Interpolation data record Object code ARRAY Data format INTEGER32 Access RW PDO mapping Yes Object function PDO sets ...

Page 740: ...erpolation time period Index 60C2h Name Interpolation time period Object code RECORD Data format UNSIGNED8 Access RW PDO mapping Yes Sub index 0 Description Number of sub index Data format UNSIGNED8 Access RO PDO mapping No Setting range 2 Default 2 Sub index 1 Description Interpolation cycle time constant Data format UNSIGNED8 Access RW PDO mapping Yes Setting range UNSIGNED8 Default 1 Sub index ...

Page 741: ...me 2 10 3 0 002 𝑠 2 𝑚𝑠 Object 60C5h Max acceleration Index 60C5h Name Max acceleration Object code VAR Data format UNSIGNED32 Access RW PDO mapping Yes Setting range 1 65500 Default 200 Unit ms Object function The time slope set by this object is the time required to accelerate from 0 rpm to 3 000 rpm Object 60C6h Max deceleration Index 60C6h Name Max deceleration Object code VAR Data format UNSIG...

Page 742: ...ject code VAR Data format UNSIGNED16 Access RW PDO mapping Yes Setting range 0 3000 Default 3000 Unit 0 1 Object function This object sets the negative torque limit Object 60F4h Following error actual value Index 60F4h Name Following error actual value Object code VAR Data format INTEGER32 Access RO PDO mapping Yes Setting range INTEGER32 Default 0 Unit PUU Object function The following error is t...

Page 743: ...enerated after being processed by the servo drive filter For more details refer to the architecture diagram in Section 12 3 Object 60FDh Digital inputs Index 60FDh Name Digital inputs Object code VAR Data format UNSIGNED32 Access RO PDO mapping Yes Setting range UNSIGNED32 Default 0 Unit Object function 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit Function Bit 0 Negative limit signal Bit 1 Positi...

Page 744: ...dex 6502h Name Supported drive modes Object code VAR Data format UNSIGNED32 Access RO PDO mapping Yes Setting range UNSIGNED32 Default 6Dh Object function This object is read only and provides the control modes supported by Delta servo drives in CANopen mode OD 6502h 6Dh 31 30 29 28 27 26 25 24 Bit 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 23 22 21 20 19 18 17 16 Bit Function Bit 0 Profile Positio...

Page 745: ...and Sync synchronization action is different When this happens increase the error value T by adjusting P3 009 and let the servo drive automatically correct the internal timer so it is consistent with the communication cycle of the controller 2 Clear interference Packets are particularly sensitive to interference in high speed network communication applications To achieve fast and high precision co...

Page 746: ...er provides alarm descriptions and the corrective actions you can use for troubleshooting 本 13 1 Alarm list 13 3 General type 13 3 STO type 13 5 Communication type 13 5 Motion control type 13 6 13 2 Causes and corrective actions 13 7 ...

Page 747: ...tailed information below General type alarms caused by hardware or encoder signal errors STO type alarms caused by STO errors Communication type alarms caused by CANopen or DMCNET errors Motion control type alarms caused by motion control command in PR mode errors AL nnn is the alarm format on the 7 segment display ...

Page 748: ...AL024 Encoder initial magnetic field error AL025 Encoder internal error AL026 Encoder unreliable internal data AL027 Encoder internal reset error AL028 Encoder voltage error or encoder internal error AL029 Gray code error AL030 Motor crash error AL031 Motor power cable disconnection AL034 Encoder internal communication error AL035 Encoder temperature exceeds the protective range AL040 Excessive de...

Page 749: ...s is in error AL077 Encoder internal error AL079 Encoder parameter error AL07B Encoder memory busy AL07C Command to clear the absolute position is issued when the motor speed is over 200 rpm AL07D Motor stops operating when servo drive power is cycled before AL07C is cleared AL07E Encoder clearing procedure error AL07F Encoder version error AL083 Servo drive outputs excessive current AL085 Regener...

Page 750: ...open PDO AL125 CANopen PDO object is read only and write protected AL126 Specified object does not support PDO mapping AL127 CANopen PDO is write protected when servo drive is on AL128 Error occurs when reading CANopen PDO from EEPROM AL129 Error occurs when writing CANopen PDO to EEPROM AL130 Accessing address of EEPROM is out of range when using CANopen PDO AL131 CRC of EEPROM calculation error ...

Page 751: ... out of range AL235 Position counter overflow warning AL237 Indexing coordinate is undefined AL249 PR number exceeds the range AL283 Software positive limit AL285 Software negative limit AL289 Position counter overflows AL380 Position offset alarm for DO MC_OK AL3F1 Communication type absolute position command error AL400 Index coordinate error AL404 Value of PR special filter setting is too high ...

Page 752: ...r than the default It is suggested that you reset the servo drive to the factory default settings and then modify the settings one by one 3 Check if the control input command changes greatly If so modify the rate of change in the command or enable the filter function How to clear the alarm DI ARST AL002 Overvoltage Trigger condition and cause Condition main circuit voltage exceeds the rated value ...

Page 753: ...ect and the input voltage for the main circuit is normal 2 Cycle the servo drive power and use a voltmeter to check the main circuit voltage 3 Use a voltmeter to check if the power system complies with the specifications Check if using the right voltage source or the transformer is connected in series How to clear the alarm AL003 is cleared according to the setting of P2 066 Bit2 1 If P2 066 Bit2 ...

Page 754: ...or the regenerative resistor P1 052 and the regenerative resistor capacity P1 053 How to clear the alarm DI ARST AL006 Overload Trigger condition and cause Condition overload of motor and servo drive Cause 1 The load is over the rated range and the servo drive is in a persistent overload condition 2 The control system parameter is wrong 3 Incorrect wiring of motor and encoder 4 Encoder malfunction...

Page 755: ...the rated input frequency Checking method and corrective action Use the scope to check if the input frequency is higher than the rated frequency Correctly set the input pulse frequency How to clear the alarm DI ARST AL009 Excessive deviation of Position command Trigger condition and cause Condition deviation between the Position command and the feedback position exceeds the allowable range P2 035 ...

Page 756: ...he connectors 3 Check both of the connections between the encoder and CN2 of the servo drive to see if there is any poor wiring or damaged wires If so replace the connector and cable 4 Check the communication error status by setting P0 002 to 80 If the value continuously increases it means there is interference Check the following Make sure the servo motor is properly grounded and connect the grou...

Page 757: ...ger condition and cause Condition reverse limit switch is triggered Cause 1 Reverse limit switch is triggered 2 Servo system is unstable Checking method and corrective action 1 Check the reverse limit switch and make sure it is off 2 Check the parameter setting and the load inertia If the setting is wrong modify the parameter value or re estimate the motor capacity How to clear the alarm The alarm...

Page 758: ... back to the distributor or contact Delta Checking method and corrective action Press the SHIFT key on the panel and EXGAB is displayed X 1 2 3 G Group number of the parameter AB Parameter number in hexadecimal format If the panel displays E320A this is parameter P2 010 If E3610 is displayed this is P6 016 Check the value for the displayed parameter 1 Press the SHIFT key to display the parameter c...

Page 759: ...046 60 speed Motor 2 Check the communication error status by setting P0 002 to 80 If the value continuously increases it means there is interference Check the following Make sure the servo motor is properly grounded and connect the ground of the UVW connector green to the servo drive heat sink Check if the connection for the encoder signal cable is normal Make sure the encoder signal cable is sepa...

Page 760: ...d has timed out refer to P5 003 Checking method and corrective action 1 Check and make sure the value for the communication timeout parameter is correct 2 Check if the communication cable is loose or broken and is correctly wired How to clear the alarm DI ARST AL022 RST leak phase Trigger condition and cause Condition RST power cable is loose or there is no power The default setting of AL022 is a ...

Page 761: ... normal Make sure the encoder signal cable is separated from the power supply or any high current cables to avoid interference 3 Use shielded cable for the encoder 4 If using a linear motor check the wiring noise interference For the noise filter of the conversion board refer to P1 074 For the noise filter of the CN5 position feedback signal connector refer to PM 003 5 Check the Hall sensor wiring...

Page 762: ...der signal cable is normal Make sure the encoder signal cable is separated from the power supply or any high current cables to avoid interference 3 Use shielded cable for the encoder 4 Set P0 002 to 80 by using the panel to monitor the communication error status If the value is greater than 0 and the value increases continuously check steps 1 3 again If the value is 0 send your motor back to the d...

Page 763: ...ltage 3 8V 2 a Make sure the encoder is the absolute type Check and remove the cause for the alarm If the issue persists send your servo drive back to the distributor or contact Delta b Make sure the servo motor is properly grounded and connect the ground of the UVW connector green to the servo drive heat sink c Make sure the encoder signal cable is separated from the power supply or any high curr...

Page 764: ...disconnection of the motor power cable U V W and GND Cause Incorrect wiring or disconnection of the motor power cable U V W The switch for cut off detection is set by P2 065 Bit 9 which default is set to disable Checking method and corrective action Check if the motor power cable U V W GND is firmly connected Connect wiring and ground properly by following the instructions in this user manual How ...

Page 765: ... sure the connector is firmly connected and there is no problem in connecting the machine How to clear the alarm DI ARST AL041 Linear scale communication is cut off Trigger condition and cause Linear scale communication is cut off Checking method and corrective action Make sure the wiring for the linear scale is correct How to clear the alarm DI ARST AL042 Analog input voltage is too high Trigger ...

Page 766: ... identification is complete Trigger condition and cause Use the Motor Parameter Identification Wizard and the identification is complete Checking method and corrective action Cycle power on the servo drive How to clear the alarm Cycle power on the servo drive AL051 Motor parameter automatic identification error Trigger condition and cause Condition error occurred when using the Motor Parameter Ide...

Page 767: ...0 for not using the Hall sensor the servo automatically detects the magnetic field when Servo On This alarm is displayed when the servo cannot detect the magnetic field Checking method and corrective action 1 To make sure that the source of the feedback signal is correct check the PM 003 U setting when using the Motor Parameter Identification Wizard 2 Check if the feedback signal is abnormal Use t...

Page 768: ... servo drive AL055 Motor magnetic field error Trigger condition and cause Condition the difference between the monitored magnetic field returned by the Hall sensor and the magnetic field calculated by the servo is too big Cause when PM 009 Y is set to 1 the servo detects the current magnetic field position of the motor and compares it with the magnetic field position of the Hall sensor When the er...

Page 769: ...s converging the position error Since the servo is not fully settled the new command increase the servo position error resulting in unable to converge Cause the moving distance of the motor is too large or the controller issued a command during the detection Checking method and corrective action 1 Check if the controller has issued the command immediately when it is powered on Use the software sco...

Page 770: ... is not 0 and continuously increases How to clear the alarm Cycle power on the servo drive AL060 Absolute position is lost Trigger condition and cause Condition losing number of revolutions because of low battery voltage or loss of the power Cause 1 Voltage level of the battery is too low 2 The battery is replaced when the main power of the servo drive is off 3 The battery is not installed when th...

Page 771: ...the main power is on How to clear the alarm The alarm is cleared automatically AL062 Number of turns for the absolute encoder overflows Trigger condition and cause Condition the number of turns for the absolute encoder exceeds the range 32768 to 32767 Cause motor s rotation cycle exceeds the allowable range Checking method and corrective action Check if the motor s number of turns while operating ...

Page 772: ...rt the absolute function Checking method and corrective action 1 Check to see if your servo motor has an incremental or absolute encoder 2 Check the setting of P2 069 and correctly set the value Set P2 069 to 0 if your encoder does not use the absolute function How to clear the alarm Set P2 069 to 0 and then cycle power on the servo drive AL06A Absolute position is lost Trigger condition and cause...

Page 773: ...at the battery box connector is loose or excessive machine vibration 3 The absolute encoder of this motor is abnormal 4 If J1 and J2 are connected reversely the battery cannot charge the capacitor The function of the capacitor is to act as a buffer to supply power when the power of the servo drive is cut off and switching to battery power supply Checking method and corrective action 1 Check if the...

Page 774: ...to avoid interference 3 Use shielded cable for the encoder and pull out the shielded mesh and ground it 4 Check the motor speed and make sure it is within the rated range If the issue persists send your servo drive back to the distributor or contact Delta How to clear the alarm Cycle power on the servo drive AL073 Encoder memory error Trigger condition and cause An error occurs when the encoder is...

Page 775: ...Make sure the power cable is grounded to the servo drive heat sink 2 Make sure the encoder signal cable is separated from the power supply or any high current cables to avoid interference 3 Use shielded cable for the encoder and pull out the shielded mesh and ground it 4 Check the motor speed and make sure it is within the rated range If the issue persists send your servo drive back to the distrib...

Page 776: ...ck to the distributor or contact Delta How to clear the alarm Cycle power on the servo drive AL07C Command to clear the absolute position is issued when the motor speed is over 200 rpm Trigger condition and cause The command to clear the absolute position is issued when the motor speed is over 200 rpm Checking method and corrective action Check if a command to clear the absolute position is issued...

Page 777: ...le level specified by the firmware This alarm protects IGBT from overheating or burning because of the high current Cause 1 UVW cable is short circuited 2 Motor wiring is wrong 3 The analog signal GND for the servo drive is interfered Checking method and corrective action 1 Check the connection between the motor power cable and its connector If metal wire is exposed or the wire is torn the UVW cab...

Page 778: ...tmeter to measure if the input voltage from the power source is within the permissible rated voltage see the servo drive specifications If the voltage exceeds the rated value remove the interference source If you cannot eliminate the interference the interference can be consumed with an external resistor by setting P2 065 bit3 to 0 and P2 094 bit4 to 0 2 If the voltmeter detects that the voltage i...

Page 779: ...source is the servo drive position 1 and 2 specify the same position 3 The signal cable is not connected or incorrectly connected so that the servo drive cannot receive the command Checking method and corrective action 1 Make sure a command is being issued 2 Make sure the wiring between the controller and servo drive is correct How to clear the alarm DI ARST AL08B Auto tuning function Pause time i...

Page 780: ...isconnected Trigger condition and cause The value of P1 053 regenerative resistor capacity is not 0 and the external regenerative resistor or the brake is not connected Only servo drives of 5 5 kW or above show this alarm because there is no built in regenerative resistor Checking method and corrective action 1 If the regenerative brake is required connect the regenerative resistor Once you connec...

Page 781: ...index number is incorrect so that the servo drive cannot identify it Checking method and corrective action 1 Check if the object s index number for PDO mapping of the controller is correct 2 If the index number is correct it means this specified object is not supported by the servo drive Check if it is necessary to use this object or if you can substitute it with a different object How to clear th...

Page 782: ... mapping is read only How to clear the alarm NMT reset node or 0x6040 fault reset AL126 Specified object does not support PDO mapping Trigger condition and cause The specified object in the message does not support PDO mapping Checking method and corrective action Check if the specified object allows PDO mapping when PDO is receiving or sending How to clear the alarm NMT reset node or 0x6040 fault...

Page 783: ...C of EEPROM calculation error occurs when using CANopen PDO Trigger condition and cause The data in ROM is damaged All CAN objects are automatically restored to default values Checking method and corrective action Check if the specified object causes a CRC calculation error in EEPROM during PDO receiving or sending Usually this alarm is caused by an error in DSP How to clear the alarm NMT reset no...

Page 784: ...he communication cycle is too short Lengthen the communication cycle How to clear the alarm NMT reset node or 0x6040 fault reset AL201 Error occurs when loading CANopen data Trigger condition and cause Condition an error has occurred when loading data from EEPROM Cause initialization error of CANopen data Checking method and corrective action 1 If the alarm is cleared after cycling power on the se...

Page 785: ...g of PR 8 is in error Trigger condition and cause Condition when using PR 8 to write parameters the parameter value is incorrect Cause an error occurs when writing parameters with PR 8 command Checking method and corrective action Make sure the parameter value is within the correct range How to clear the alarm DI ARST or set P0 001 to 0 AL215 Write parameters read only Trigger condition and cause ...

Page 786: ...the monitoring item How to clear the alarm DI ARST or set P0 001 to 0 AL235 Position counter overflow warning Trigger condition and cause Condition execute a positioning command after the position command counter overflows Cause position command counter overflows Checking method and corrective action Incremental system When the motor keeps operating in one direction this leads to overflow of the p...

Page 787: ...hen you power on the servo How to clear the alarm DI ARST or set P0 001 to 0 AL249 PR number exceeds the range Trigger condition and cause Condition the triggered PR path number exceeds the upper limit Condition the triggered PR path number exceeds 99 Checking method and corrective action 1 Check if the PR command jumps to a path exceeding the range 2 Check if the PR command format is correct How ...

Page 788: ...al application requirements and the total traveling distance of the absolute motor to avoid overflow of the feedback counter 2 If P2 069 Z is set to 1 prevent index coordinate overflow function set P2 070 bit 2 to 1 How to clear the alarm DI ARST AL301 CANopen synchronization failure Trigger condition and cause Condition the servo drive fails to synchronize with the controller in CANopen IP mode C...

Page 789: ...off There might be an external force causing the position deviation of the motor after positioning is complete Disable this alarm by setting P1 048 Y to 0 How to clear the alarm DI ARST or set P0 001 to 0 AL3CF Emergency stop Trigger condition and cause After AL35F is triggered and the motor has decelerated to 0 Checking method and corrective action Check if the parameter setting caused DI 0x47 to...

Page 790: ...and the absolute origin coordinates have not been established the absolute positioning command is issued Cause 1 The absolute origin coordinates are not established 2 Overflow occurs since the motor keeps rotating in the same direction Checking method and corrective action Establish the absolute origin coordinates How to clear the alarm Establish the absolute origin coordinates AL400 Index coordin...

Page 791: ...Reset 2 If not using STO plug the short circuit device into CN10 or wiring to short circuit the block Follow the instructions in Section 3 10 5 for the STO wiring AL501 STO_A lost signal loss or signal error Trigger condition and cause Loss of STO_A signal or STO_A and STO_B signals are not synchronized for more than 1 second Checking method and corrective action Make sure the wiring of STO_A is c...

Page 792: ...on If this alarm occurs send your servo drive directly back to Delta without making any modification How to clear the alarm N A AL809 PR arithmetic operation error or secondary platform error Trigger condition and cause Condition an error occurs when the servo drive decodes the motion command Cause The PR arithmetic operation must be compiled by the ASDA Soft software before downloading to the ser...

Page 793: ...Troubleshooting ASDA A3 13 48 13 This page is intentionally left blank ...

Page 794: ... series servo motor A 9 A 2 2 ECM A3H high inertia series servo motor A 11 A 2 3 Torque features T N curves A 13 A 2 4 Overload features A 15 A 2 5 Dimensions of ECM A3L A3H series servo motor A 16 A 3 ECMC series servo motor A 17 A 3 1 ECMC series servo motor with frame size 100 180 A 18 A 3 2 Torque features T N curves A 20 A 3 3 Overload features A 22 A 3 4 Dimensions of ECMC series servo motor...

Page 795: ...ling method Air convection cooling Fan cooling Encoder resolution 24 bit 16777216 p rev Main circuit control SVPWM control Control mode Manual Auto Regenerative resistor N A Built in Position control mode Pulse type except DMCNET mode Pulse Direction CCW pulse CW pulse A phase B phase Max input pulse frequency except DMCNET mode Pulse Direction 4 Mpps CCW pulse CW pulse 4 Mpps A phase B phase sing...

Page 796: ...tching Speed torque mode switching Torque position mode switching PT PR command switching Emergency stop Forward reverse limit Original point Forward reverse operation torque limit Homing activated E Cam engage Forward reverse JOG input Event trigger E Gear N selection Pulse input prohibition DMCNET mode is not included for the DI mentioned above When using DMCNET mode it is suggested that you use...

Page 797: ...Under 0 90 RH non condensing Vibrating 9 80665 m s2 1 G less than 20 Hz 5 88 m s2 0 6 G 20 to 50 Hz IP rating IP20 Power system TN system 3 4 Approvals IEC EN 61800 5 1 UL 508C Note 1 Within the rated load the speed ratio is the minimum speed smooth operation rated speed 2 Within the rated speed the speed calibration ratio is rotational speed with no load rotational speed with full load rated spee...

Page 798: ...ASDA A3 Specifications A 5 A A 1 2 Dimensions of the servo drive 100 W 200 W Weight 0 84 kgf 1 85 Ibf 400 W Weight 0 92 kgf 2 03 Ibf ...

Page 799: ...Specifications ASDA A3 A 6 A 750 W 1 kW 1 5 kW Weight 1 3 kgf 2 87 Ibf 2 kW 3 kW Weight 2 7 kgf 5 95 Ibf Note dimensions and weights of the servo drive may be updated without prior notice ...

Page 800: ... 24 bit absolute optical encoder resolution of single turn 24 bit multiple turns 16 bit 1 24 bit single turn absolute optical encoder G 16 bit single turn absolute magnetic encoder 2 24 bit single turn absolute magnetic optical encoder A 24 bit absolute magnetic optical encoder resolution of single turn 24 bit multiple turns 16 bit Note models with an means that this type of encoder is coming soon...

Page 801: ... 10 Shaft diameter S standard 7 specific 14 mm 11 Special code 1 standard products w o brake w o oil seal with brake w o oil seal w o brake with oil seal with brake with oil seal Round shaft with fixed screw holes C D Keyway with fixed screw holes P Q R S ...

Page 802: ...sistance Ohm 12 1 9 47 4 9 2 27 1 6 0 6 Armature inductance mH 18 6 16 2 18 52 10 27 10 6 4 6 Electrical time constant ms 1 54 1 71 3 78 4 52 6 63 7 67 Insulation class Class A UL Class B CE Insulation resistance 100 M DC 500V Insulation strength 1 8k Vac 1 sec Weight w o brake kg 0 38 0 5 1 1 1 4 2 05 2 8 Weight with brake kg 0 68 0 8 1 6 1 9 2 85 3 6 Max radial loading N 78 78 245 245 392 392 Ma...

Page 803: ...an oil seal is fitted to the rotating shaft for an oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 C 40 C operating temperature which is suitable for the servo motor mounted with the following heat sink dimensions ECM A3L_ _ 04 06 08 250 mm x 250 mm x 6 mm Material aluminum F40 F60 F80 2 The built in servo motor brake is only for keeping the object i...

Page 804: ...E mV rpm 9 54 12 9 16 4 17 2 17 9 18 7 Armature resistance Ohm 12 5 8 34 3 8 1 68 1 19 0 57 Armature inductance mH 13 34 11 8 15 4 03 4 2 2 2 Electrical time constant ms 1 07 1 32 2 14 2 40 3 53 3 86 Insulation class Class A UL Class B CE Insulation resistance 100 M DC 500V Insulation strength 1 8k Vac 1 sec Weight w o brake kg 0 38 0 5 1 1 1 4 2 05 2 8 Weight with brake kg 0 68 0 8 1 6 1 9 2 85 3...

Page 805: ...ng IP67 when using waterproof connectors and when an oil seal is fitted to the rotating shaft for an oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 C 40 C operating temperature which is suitable for the servo motor mounted with the following heat sink dimensions ECM A3L_ _ 04 06 08 250 mm x 250 mm x 6 mm Material aluminum F40 F60 F80 2 The built in ...

Page 806: ... 3000 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm 2400 ECM A3L Cr0602 S1 0 32 50 2 24 350 0 79 123 0 64 100 3000 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm 2300 ECM A3L Cr0604 S1 0 65 50 4 45 350 1 27 100 1 57 123 3000 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm 2050 ECM A3L Cr0804 71 0 635 50 4 44 350 1 27 100 1 6 126 ...

Page 807: ...inuous duty zone Torque N m Speed rpm ECM A3H Cr0602 S1 1 9 306 4300 0 65 50 1 27 100 4 45 350 3000 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECM A3H Cr0604 S1 4200 3 9 307 4300 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm 3000 ECM A3H Cr0804 71 0 635 50 4 44 350 1 27 100 3 28 258 1 195 50 2 39 100 8 36 350 3000 6000 Intermittent duty zone Conti...

Page 808: ...high and the motor frequently accelerates and decelerates 3 An incorrect connection between the power cable and the encoder wiring 4 Incorrect servo gain setting causes resonance in the motor 5 You operate a motor with a built in brake without releasing the brake Graph of load and operating time Low inertia ECM A3L series high inertia ECM A3H series Load Operating time 120 263 8 s 140 35 2 s 160 1...

Page 809: ...0 013 0 LB 30 0 021 0 30 0 021 0 50 0 025 0 50 0 025 0 70 0 030 0 70 0 030 0 LL w o brake 70 6 85 3 84 106 93 7 115 8 LL with brake 105 4 120 1 117 6 139 7 131 2 153 2 LS 21 5 21 5 27 27 27 37 LR 25 25 30 30 30 40 LE 2 5 2 5 3 3 3 3 LG 5 5 7 5 7 5 8 8 LW 16 16 20 20 20 25 RH 6 2 6 2 11 11 11 15 5 WK 3 3 5 5 5 6 W 3 3 5 5 5 6 T 3 3 5 5 5 6 TP M3 Depth 6 M3 Depth 6 M4 Depth 8 M4 Depth 8 M4 Depth 8 M...

Page 810: ... 220V and 1 500 rpm 4 Encoder type W 22 bit absolute encoder resolution of single turn 22 bit multiple turns 16 bit 5 Motor frame size 10 100 mm 13 130 mm 18 180 mm 6 Rated power output 7 Shaft type and oil seal 8 Shaft diameter S standard Code Specification Code Specification 08 850 W 18 1 8 kW 10 1 0 kW 20 2 0 kW 13 1 3 kW 30 3 0 kW 15 1 5 kW w o brake w o oil seal with brake w o oil seal w o br...

Page 811: ...4 1 51 1 10 0 96 2 43 1 62 1 7 1 62 1 06 1 28 Torque constant KT N m A 0 44 0 85 0 87 0 87 0 76 0 66 0 88 0 85 0 89 0 98 Voltage constant KE mV rpm 16 8 31 9 31 8 31 8 29 2 24 2 32 2 31 4 32 0 35 Armature resistance Ohm 0 20 0 47 0 26 0 174 0 38 0 124 0 185 0 119 0 052 0 077 Armature inductance mH 1 81 5 99 4 01 2 76 4 77 1 7 2 6 2 84 1 38 1 27 Electrical time constant ms 9 3 12 9 15 3 15 9 12 6 1...

Page 812: ...tion capacity 2 5 G IP rating IP65 when waterproof connectors 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 1 in the servo motor model names represents the encoder type 2 The rated torque is the continuous permissible torque between 0 C 40 C operating temperature which is suitable for the servo motor mounted with the following he...

Page 813: ...32 300 3 2 67 21 5 300 2000 3000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECMC Er1315 S 7 16 100 4 8 67 2000 3000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECMC Er1320 S 9 55 100 6 4 67 28 65 300 2 7 50 2200 3000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECMC Fr 1308S 1500 5 4 100 7 130 13 8 255 3000 Intermittent duty zone Conti...

Page 814: ...ty zone Torque N m Speed rpm ECMC Er1820 S 9 55 100 6 4 67 28 65 300 2000 3000 Intermittent duty zone Continuous duty zone Torque N m ECMC Er1830 S 14 32 100 9 59 67 42 97 300 Speed rpm ECMC Fr1830 S 1500 3000 Intermittent duty zone Continuous duty zone Torque N m 19 1 100 9 55 50 57 3 300 Speed rpm Note r in the motor model name represents the encoder type represents the shaft type and oil seal ...

Page 815: ...nertia ratio is too high and the motor frequently accelerates and decelerates 3 An incorrect connection between the power cable and the encoder wiring 4 Incorrect servo gain setting causes resonance in the motor 5 You operate a motor with a built in brake without releasing the brake Graph of load and operating time Low inertia ECMC C series Load Operating time 120 263 8 s 140 35 2 s 160 17 6 s 180...

Page 816: ...ASDA A3 Specifications A 23 A Medium and medium high inertia ECMC E F series Load Operating time 120 527 6 s 140 70 4 s 160 35 2 s 180 22 4 s 200 16 s 220 12 2 s 240 9 6 s 260 7 8 s 280 6 6 s 300 5 6 s ...

Page 817: ...S LB LL w o brake 153 3 147 5 167 5 187 5 152 5 187 5 202 LL with brake 192 5 183 5 202 216 181 216 230 7 LS 37 47 47 47 47 47 47 LR 45 55 55 55 55 55 55 LE 5 6 6 6 6 6 6 LG 12 11 5 11 5 11 5 11 5 11 5 11 5 LW 32 36 36 36 36 36 36 RH 18 18 18 18 18 18 18 WK 8 8 8 8 8 8 8 W 8 8 8 8 8 8 8 T 7 7 7 7 7 7 7 TP M6 Depth 20 M6 Depth 20 M6 Depth 20 M6 Depth 20 M6 Depth 20 M6 Depth 20 M6 Depth 20 Note 1 in...

Page 818: ...LL w o 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 Depth 25 Note 1 in the motor model name represents the encoder type 2 represents the shaft type and oil seal 3 represents a special code ...

Page 819: ...Specifications ASDA A3 A 26 A This page is intentionally left blank ...

Page 820: ... 7 Battery box absolute type B 9 B 8 I O connector B 10 B 9 Terminal block module B 11 B 10 CANopen communication cable B 11 B 11 CANopen distribution box B 12 B 12 Ferrite ring B 12 B 13 A3 A2 conversion cable B 13 B 14 A3 CN3 RS 485 B 14 B 15 A3 CN3 RS 485 CANOpen terminal resistor B 14 B 16 A3 CN6 DMCNET terminal resistor B 15 B 17 CN4 Mini USB module B 16 B 18 Optional accessories B 17 ...

Page 821: ...A A3 B 2 B B 1 Power connector Delta part number ASDBCAPW0000 for 220V servo drives Delta part number ASDBCAPW0100 for 220V servo drives with brake contact Delta part number ASD CAPW1000 Delta part number ASD CAPW2000 ...

Page 822: ...S3 CAPF1103 3000 50 118 2 ACS3 CAPF1105 5000 50 197 2 ACS3 CAPF1110 10000 100 394 4 ACS3 CAPF1120 20000 100 788 4 Delta part number ACS3 CAPW2103 ACS3 CAPW2105 ACS3 CAPW2110 ACS3 CAPW2120 ACS3 CAPF2103 ACS3 CAPF2105 ACS3 CAPF2110 ACS3 CAPF2120 for 220V servo drives with brake cable Cable type Part No L mm inch General ACS3 CAPW2103 3000 50 118 2 ACS3 CAPW2105 5000 50 197 2 ACS3 CAPW2110 10000 100 ...

Page 823: ...8S 5000 100 197 4 Delta part number ACS3 CAPW2203 ACS3 CAPW2205 with brake cable Cable type Part No Straight L mm inch General ACS3 CAPW2203 3106A 20 18S 3000 100 118 4 ACS3 CAPW2205 3106A 20 18S 5000 100 197 4 Delta part number ACS3 CAPW1303 ACS3 CAPW1305 Cable type Part No Straight L mm inch General ACS3 CAPW1303 3106A 20 18S 3000 100 118 4 ACS3 CAPW1305 3106A 20 18S 5000 100 197 4 ...

Page 824: ...06A 20 18S 5000 100 197 4 Delta part number ACS3 CAPW1403 ACS3 CAPW1405 Cable type Part No Straight L mm inch General ACS3 CAPW1403 3106A 24 11S 3000 100 118 4 ACS3 CAPW1405 3106A 24 11S 5000 100 197 4 Delta part number ACS3 CAPW2403 ACS3 CAPW2405 with brake cable Cable type Part No Straight L mm inch General ACS3 CAPW2403 3106A 24 11S 3000 100 118 4 ACS3 CAPW2405 3106A 24 11S 5000 100 197 4 ...

Page 825: ...Accessories ASDA A3 B 6 B B 3 Encoder connector Delta part number ACS3 CNEN1100 Delta part number ACS3 CNEN3100 Delta part number ACS3 CNENC200 ...

Page 826: ...000 50 118 2 ACS3 CAEF1005 5000 50 197 2 ACS3 CAEF1010 10000 100 394 4 ACS3 CAEF1020 20000 100 788 4 Delta part number ACS3 CAEF3003 ACS3 CAEF3005 ACS3 CAEF3010 ACS3 CAEF3020 Cable type Part No Straight L mm inch Torsion resistant ACS3 CAEF3003 3106A 20 29S 3000 50 118 2 ACS3 CAEF3005 3106A 20 29S 5000 50 197 2 ACS3 CAEF3010 3106A 20 29S 10000 100 394 4 ACS3 CAEF3020 3106A 20 29S 20000 100 788 4 ...

Page 827: ...1003 3000 50 118 2 ACS3 CAEB1005 5000 50 197 2 ACS3 CAEB1010 10000 100 394 4 ACS3 CAEB1020 20000 100 788 4 Delta part number ACS3 CAEB3003 ACS3 CAEB3005 ACS3 CAEB3010 ACS3 CAEB3020 Cable type Model name Straight L mm inch Torsion resistant ACS3 CAEB3003 3106A 20 29S 3000 50 118 2 ACS3 CAEB3005 3106A 20 29S 5000 50 197 2 ACS3 CAEB3010 3106A 20 29S 10000 100 394 4 ACS3 CAEB3020 3106A 20 29S 20000 10...

Page 828: ...B 9 B B 6 Battery box cable AW Battery box cable that connects to the encoder Delta part number 3864573700 B 7 Battery box absolute type Single battery box Delta part number ASD MDBT0100 Unit mm Weight 44 g 68 35 22 R3 25 ...

Page 829: ...Accessories ASDA A3 B 10 B Double battery box Delta part number ASD MDBT0200 B 8 I O connector Delta part number ACS3 CNADC150 ...

Page 830: ... part number ACS3 MDTB5000 B 10 CANopen communication cable Delta part number UC CMC030 01A UC CMC050 01A Part No L mm inch UC CMC030 01A 300 10 11 0 4 UC CMC050 01A 500 10 19 0 4 Note for cables of other length refer to the Delta PLC HMI Cable Selection Guide ...

Page 831: ...es ASDA A3 B 12 B B 11 CANopen distribution box Delta part number TAP CN03 B 12 Ferrite ring Delta part number ASD ACFC7K00 Model name Outer diameter Inner diameter Height ASD ACFC7K00 68 0 0 6 44 0 0 6 13 5 0 5 ...

Page 832: ...ssories B 13 B B 13 A3 A2 conversion cable A3 A2_CN1_conversion cable Delta part number ACS3 CAADC1 A3 A2_CN2_conversion cable Delta part number ACS3 CAADC2 A3 A2_CN5_conversion cable Delta part number ACS3 CAADC5 ...

Page 833: ... CN3 RS 485 Delta part number ACS3 CNADC3RC 7 3 34 95 1 37 29 20 1 15 15 10 0 59 25 8 1 01 43 04 1 69 11 68 0 46 Unit mm inch B 15 A3 CN3 RS 485 CANOpen terminal resistor Delta part number ACS3 CNADC3TR 43 5 1 71 16 4 0 65 Unit mm inch ...

Page 834: ...ASDA A3 Accessories B 15 B B 16 A3 CN6 DMCNET terminal resistor Delta part number ASD TR DM0008 Unit mm inch 8 1 40 1 1 58 27 8 1 09 ...

Page 835: ...02 80 45 5 3 3 0 2 64 5 0 5 2 54 0 02 Part No L mm inch UC PRG015 01B 1500 100 59 4 UC PRG030 01B 3000 100 118 4 Delta part number UC ADP01 A 12 0 5 0 59 0 02 80 45 5 3 3 0 2 64 5 0 5 2 54 0 02 Delta part number UC PRG015 01A UC PRG030 01A USB A MALE MINI USB B MALE 12 0 48 6 8 0 27 L Part No L mm inch UC PRG015 01A 1500 100 59 4 UC PRG030 01A 3000 100 118 4 ...

Page 836: ... Encoder cable incremental type ACS3 CAEF10XX Encoder cable absolute type ACS3 CAEB10XX XX indicates the cable length 03 3 m 05 5 m 10 10 m 20 20 m 200 W servo drive and 200 W low high inertia servo motor Servo drive ASD A3 0221 Motor model ECM A3L C 0602 S1 ECM A3H C 0602 S1 Motor power cable without brake ACS3 CAPW110XX Power connector without brake ASDBCAPW0000 Motor power cable with brake ACS3...

Page 837: ...incremental type ACS3 CAEF10XX Encoder cable absolute type ACS3 CAEB10XX XX indicates the cable length 03 3 m 05 5 m 10 10 m 20 20 m 750 W servo drive and 750 W low high inertia servo motor Servo drive ASD A3 0721 Motor model ECM A3L C 0807 S1 ECM A3H C 0807 S1 Motor power cable without brake ACS3 CAPW110XX Power connector without brake ASDBCAPW0000 Motor power cable with brake ACS3 CAPW21XX Power...

Page 838: ...le incremental type ACS3 CAEF30XX Encoder cable absolute type ACS3 CAEB30XX XX indicates the cable length 03 3 m 05 5 m 10 10 m 20 20 m 1 5 kW servo drive and 1 5 kW medium inertia servo motor Servo drive ASD A3 1521 Motor model ECMC CW1315 S Motor power cable without brake ACS3 CAPW12XX 4 Motor power cable with brake ACS3 CAPW22XX 4 Power connector ASD CAPW1000 Torsion resistant cable Motor power...

Page 839: ...oder cable incremental type ACS3 CAEF30XX Encoder cable absolute type ACS3 CAEB30XX XX indicates the cable length 03 3 m 05 5 m 10 10 m 20 20 m 2 kW servo drive and 2 kW medium inertia servo motor Servo drive ASD A3 2023 Motor model ECMC EW1820 S Motor power cable without brake ACS3 CAPW14XX 4 Motor power cable with brake ACS3 CAPW24XX 4 Power connector ASD CAPW2000 Torsion resistant cable Motor p...

Page 840: ...ncoder cable incremental type ACS3 CAEF30XX Encoder cable absolute type ACS3 CAEB30XX XX indicates the cable length 03 3 m 05 5 m 10 10 m 20 20 m Note 1 at the end of the servo drive model names represents the ASDA A3 model number For the actual model name refer to the ordering information of your purchased product 2 in the servo motor model names represents the encoder type Refer to Chapter 1 for...

Page 841: ...Accessories ASDA A3 B 22 B This page is intentionally left blank ...

Page 842: ...am function 1 2 2 Modify the descriptions for model codes and specifications 1 4 Add the name of each part for all models 2 4 Add Sections 2 4 1 2 4 6 2 7 1 Modify the model names of the EMI Filters 2 8 Modify the notes for the regenerative resistor 3 1 2 Modify the wiring description for the external brake unit 3 1 3 Modify the wiring diagram for power supply Add the description for connecting mu...

Page 843: ... diagram of Position mode 6 2 4 Modify the diagram of Position and S curve speed and time setting decremental position command 6 2 7 Modify the timing diagram of PR mode 6 2 9 Modify the diagram of the low frequency vibration suppression 6 3 3 Modify the S curve and time setting diagram 6 3 4 Modify the analog speed command diagram 6 3 5 Modify the timing diagram of Speed mode 6 3 7 Modify the sup...

Page 844: ...1 056 P1 074 P1 076 P1 083 P1 087 P1 097 P2 010 P2 018 P2 026 P2 027 P2 032 P2 049 P2 066 P2 068 P2 077 P2 089 P2 093 P2 112 P4 019 P4 020 P4 021 P5 003 P5 037 P5 039 P5 057 P5 059 P5 097 P6 000 and P6 003 Add parameters P0 056 P0 057 P0 058 P0 059 P0 060 P0 061 P1 064 P1 065 P1 066 P1 111 P2 084 P2 088 and PM parameters Add monitoring variables 85 121 80 91 124 177 and 178 Modify monitoring varia...

Page 845: ...Add alarms AL050 AL054 AL05B AL05C AL219 AL249 AL35F AL3CF AL3E2 and AL3E3 Delete alarms AL302 and AL303 Appendix A Modify the specifications of the ECM A3 series motors Appendix B Add the DMCNET terminal resistor Add the power cable specification Add the power cable size Add the encoder connector Add the encoder cable specification Add the A2 A3 conversion cable part numbers Add the USB cable and...

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