Delta ASDA-B3 Series User Manual Download Page 199

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Operation Mode

ASDA-B3

6-16

6.3.2 Control structure of Speed mode

The basic control structure is shown in the following flowchart.

Speed command

Speed control

unit

Speed

command

processing unit

Torque limit

Resonance

suppression unit

Speed

estimator

Motor

Current

loop

The Speed command processing unit selects the command source (see Section 6.3.1),

including the scaling parameter (P1.040) for maximum rotation speed corresponding to the

analog voltage and the 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 as follows.

Analog signal

Command

selection

P1.001

P1.011

Scaling

P1.040

S-curve filter

P1.036

S-curve filter for

analog

commands

P1.059

Low-pass filter

P1.006

A/D

SPD0 and SPD1 signals of CN1

The upper path is the command from the register and the lower one is the command from the

external analog voltage that you can select with the status of SPD0 and SPD1, and P1.001

(S or Sz). In this condition, the S-curve and low-pass filters are applied to achieve a smoother

response.

Summary of Contents for ASDA-B3 Series

Page 1: ...4060 Tlalnepantla Estado de Mexico TEL 52 55 2628 3015 3050 3052 We reserve the right to change the information in this catalogue without prior notice EMEA Headquarters Delta Electronics Netherlands B V Sales Sales IA EMEA deltaww com Marketing Marketing IA EMEA deltaww com Technical Support iatechnicalsupport deltaww com Customer Support Customer Support deltaww com Service Service IA emea deltaw...

Page 2: ...rcomes the problems of a lack of stiffness or flexibility in the machine structure Automatic tuning function user friendly and allows you to complete tuning easily Gain adjustment function automatically detects changes in the inertia and improves the control precision New generation of the ECM B3 series servo motor a compact size servo motor meets the need for reducing the size and weight of the e...

Page 3: ...tal injuries to personnel if the instructions are not followed Warning May cause moderate injury to personnel or lead to several 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 Follow the instructions when us...

Page 4: ...it is connected to the equipment it may damage the equipment and lead to personnel injury In order to reduce the danger make sure the servo motor can operate normally without load Then try operating the motor with load Do not touch the heat sink of the servo drive when it is operating to avoid scalding Do not touch the internal parts of the servo drive and servo motor or it may cause electric shoc...

Page 5: ...e servo drive after the power is turned off Wait until the CHARGE indicator is off before performing inspection Do not repeatedly turn the power on and off If continuous power on and off is needed wait one minute between intervals When wiring securely tighten the screws of the terminal block When wiring do not short circuit the wire with adjacent wires Before applying power inspect and ensure that...

Page 6: ...irection and 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 servo motor with oil seal 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 ...

Page 7: ...odel 3 40 3 3 6 Application using the CN1 quick connector for wiring for L model 3 45 3 3 7 CN1 wiring diagrams 3 48 3 4 Wiring for the CN2 encoder connector 3 56 3 5 Wiring for the CN3 communication connector 3 59 3 5 1 Wiring for the MODBUS communication connector 3 59 3 5 2 Wiring for the CANopen communication connector 3 61 3 6 CN4 serial connector Mini USB 3 63 3 7 Wiring for the CN6 communic...

Page 8: ... procedure 4 3 4 3 Status display 4 6 4 3 1 Save the setting display 4 6 4 3 2 Display the decimal point 4 6 4 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 Te...

Page 9: ...sition mode 6 5 6 2 1 Position command in PT mode 6 5 6 2 2 Position command in PR mode 6 5 6 2 3 Control structure of Position mode 6 6 6 2 4 S curve filter for Position commands 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 ...

Page 10: ...4 7 1 2 Monitoring variables of PR mode 7 6 7 1 3 Motion Control commands 7 9 7 1 3 1 Homing methods 7 9 7 1 3 2 Speed command 7 22 7 1 3 3 Position command 7 24 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 4 Overview of the PR procedure 7 36 7 1 5 Trigger methods for the PR command 7 42 7 1 6 PR procedure execution flow 7 46 7 2 Application of motio...

Page 11: ...ttery box dimensions 10 5 10 1 3 Connection cable for the absolute encoder 10 6 10 1 4 Battery box cable 10 8 10 2 Installation 10 9 10 2 1 Installing the battery box in the servo system 10 9 10 2 2 Installing and replacing a battery 10 11 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 ...

Page 12: ...3 2 Interpolation Position Mode 11 21 11 3 3 Homing Mode 11 24 11 3 4 Profile Velocity Mode 11 26 11 3 5 Profile Torque Mode 11 28 11 4 Object dictionary 11 30 11 4 1 Specifications for objects 11 30 11 4 2 List of objects 11 31 11 4 3 Details of objects 11 33 11 4 3 1 OD 1XXXh communication object group 11 33 11 4 3 2 OD 2XXXh servo parameter group 11 49 11 4 3 3 OD 6XXXh communication object gro...

Page 13: ... 35 12 3 6 Cyclic Synchronous Velocity Mode 12 37 12 3 7 Cyclic Synchronous Torque Mode 12 39 12 3 8 Touch Probe function Position capture function and position capture status 12 41 12 4 Object dictionary 12 46 12 4 1 Specifications for objects 12 46 12 4 2 List of objects 12 47 12 4 3 Details of objects 12 49 12 4 3 1 OD 1XXXh communication object group 12 49 12 4 3 2 OD 2XXXh servo parameter gro...

Page 14: ...mensions of ECM B3 series servo motor A 26 A 2 9 Dimensions of ECM A3L A3H series servo motor A 29 Accessories B 1 Power connector B 2 B 2 Power cable B 4 B 3 Encoder connector B 8 B 4 Encoder cable incremental type B 9 B 5 Encoder cable absolute type B 11 B 6 Battery box cable B 13 B 7 Battery box absolute type B 14 B 8 CN1 connector B 15 B 9 CN1 quick connector B 16 B 10 Terminal block module B ...

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

Page 16: ...d a suitable motor model for your B3 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 B3 servo drive and motor 1 11 1 4 Description of the drive interface 1 12 1 4 1 B3 L models 1 12 1 4 2 B3 M B3 F models 1 13 1 4 3 B3 E models 1 14 1 ...

Page 17: ...the servo drive optional purchase 5 A 26 pin connector for CN1 optional purchase for B3 F M and E models 6 A 44 pin connector for CN1 optional purchase for B3 L models 7 A 6 pin connector for CN2 optional purchase 8 An RJ45 connector for CN3 and CN6 which you use for general RS 485 communication optional purchase 9 A 4 pin connector for CN4 Mini USB connector optional purchase 10 Power supply for ...

Page 18: ...0 69A 110V 0 250Hz 0 9A B30121M0T18010001 Model name Capacity specification Applicable power supply Rated power output Serial number and barcode Firmware version Serial number B30121M0 T 18 01 0001 1 2 3 4 5 1 Model name 2 Manufacturing plant T Taoyuan W Wujiang 3 Year of production 18 year 2018 4 Week of production from 1 to 52 5 Serial number production sequence in a week starting from 0001 ...

Page 19: ...t Barcode and serial number Serial number ABCYB1JB W 14 23 0024 1 2 3 4 5 1 Model name 2 Manufacturing plant T Taoyuan W Wujiang 3 Year of production 14 year 2014 4 Week of production from 1 to 52 5 Serial number production sequence in a week starting from 0001 Note the servo motor uses the certified voltage as the rated input voltage for operation so the applicable power supply is 110V ...

Page 20: ...A series B3B series 3 Rated power output 4 Input voltage and phase 21 220V single three phase 23 220V three phase 5 Model code B3 series Code Pulse input Analog voltage control PR mode RS 485 CANopen DMCNET EtherCAT STO L M F E 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: ...ries Code Pulse input Analog voltage control PR mode RS 485 CANopen DMCNET EtherCAT STO L M F E B3B series Code Pulse input Analog voltage control PR mode RS 485 CANopen DMCNET EtherCAT STO L Note B3 represents B3 B3A or B3B in this manual ...

Page 22: ...nertia L low inertia 5 Rated voltage and speed C 220V and 3 000 rpm E 220V and 2 000 rpm F 220V and 1 500 rpm 6 Encoder type A 24 bit absolute magnetic optical encoder resolution of single turn 24 bit multiple turns 16 bit 2 24 bit incremental magnetic optical encoder single turn absolute P 17 bit absolute magnetic encoder resolution of single turn 17 bit multiple turns 16 bit M 17 bit incremental...

Page 23: ...ctors K special shaft diameter 14 mm and IP67 waterproof connectors Note special shaft diameter is available for F80 400 W models 11 Special code 1 standard products Code Specification Code Specification 04 40 mm 13 130 mm 06 60 mm 18 180 mm 08 80 mm Code Specification Code Specification 01 100 W 10 1 0 kW 02 200 W 15 1 5 kW 04 400 W 20 2 0 kW 07 750 W 30 3 0 kW w o brake w o oil seal with brake w...

Page 24: ...ies 4 Inertia H high inertia L low inertia 5 Rated voltage and speed C 220V and 3 000 rpm 6 Encoder type Y 24 bit absolute optical encoder resolution of single turn 24 bit multiple turns 16 bit 1 24 bit incremental optical encoder single turn absolute A 24 bit absolute magnetic optical encoder resolution of single turn 24 bit multiple turns 16 bit 2 24 bit incremental magnetic optical encoder sing...

Page 25: ...of connectors K special shaft diameter 14 mm and IP67 waterproof connectors Note special shaft diameter is available for F80 400 W models 11 Special code 1 standard products Z refer to the note in Section A 2 8 Code Specification Code Specification 04 40 mm 08 80 mm 06 60 mm 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 ...

Page 26: ...rpm 1000 ECM B3M E 2 1310 3 4 1 4 77 14 3 ASD B3 1 1021 2 1500 ECM B3M E 2 1315 3 4 1 7 16 21 48 ASD B3 1 1521 2 Three phase 2000 ECM B3M E 2 1320 3 4 1 9 55 28 65 ASD B3 1 2023 2 2000 ECM B3M E 2 1820 3 4 1 9 55 28 65 1500 3000 rpm 3000 ECM B3M F 2 1830 3 4 1 19 1 57 29 ASD B3 1 3023 2 High inertia 3000 6000 rpm Single three phase 50 ECM A3H C 2 040F 3 4 1 0 159 0 557 ASD B3 1 0121 2 100 ECM A3H ...

Page 27: ...nects to an external regenerative resistor external regenerative braking unit or the built in regenerative resistor 6 UVW Servo drive current output connects to the motor power connector U V W Do not connect to the main circuit power Incorrect wiring will cause damage to the servo drive 7 Grounding screws Connect to the ground wire for the power and servo motor 8 CN4 Mini USB connector connects to...

Page 28: ...esistor external regenerative braking unit or the built in regenerative resistor 6 UVW Servo drive current output connects to the motor power connector U V W Do not connect to the main circuit power Incorrect wiring will cause damage to the servo drive 7 Grounding screws Connect to the ground wire for the power and servo motor 8 CN4 Mini USB connector connects to PC 9 CN3 or CN6 CANopen CN3 or DMC...

Page 29: ...enerative resistor external regenerative braking unit or the built in regenerative resistor 6 UVW Servo drive current output connects to the motor power connector U V W Do not connect to the main circuit power Incorrect wiring will cause damage to the servo drive 7 Grounding screws Connect to the ground wire for the power and servo motor 8 CN4 Mini USB connector connects to PC 9 CN6 EtherCAT high ...

Page 30: ...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 servo motor with oil seal 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 break...

Page 31: ...nt storage conditions Before installation this product must be kept in the shipping carton In order to retain the warranty coverage and for maintenance follow these instructions 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 storing ...

Page 32: ...the operating environment for the servo drive is between 0 C 32 F and 55 C 131 F If the temperature is over 45 C 113 F place the product in a well ventilated environment During long term operation 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 th...

Page 33: ...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 Air Flow Air Flow Base I...

Page 34: ... Keep the bottom of the servo drive clear because the generated heat rises and causes higher temperature for the drives mounted above One servo drive Multiple servo drives min 25 mm 1inch min 25 mm 1 inch min 100 mm 4 inch min 80 mm 3 2 inch Air Flow Air Flow Air Flow Cabinet Air Flow min 50 mm 2 inch min 50 mm 2 inch min 25 mm min 25 mm min 50 mm 2 inch 50 mm 2 inch 1 inch 1 inch min Note the dia...

Page 35: ...ndition 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...

Page 36: ...nother 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 servo ...

Page 37: ...amage 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 and ...

Page 38: ...motor with oil seal in the vertical direction When wiring 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 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 to Sec...

Page 39: ... couplings Caution It is suggested to use flexible couplings specifically designed for servo motors especially double spring couplings which provide some buffer tolerance during eccentric motion and deflection Select couplings of appropriate size for the operating conditions Improper use or connection may cause damage 1 Wipe off the rustproof coating or oil on the motor shaft 2 If you use a servo ...

Page 40: ... 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 these precautions 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 2 1 1 Servo motor 2 Oil 2 If oil or water is unavoidable use oil resistant cables Delta does not...

Page 41: ...n 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 environment or if the ambient air temperature or height e...

Page 42: ...presents the product series and 2 represents the model code The above table includes the B3 B3A and B3B series 2 Operation mode general 3 If the servo drive is equipped with a residual current device RCD for electricity leakage protection select a circuit breaker with sensitivity of at least 200 mA and with minimum 0 1 sec working time to avoid incorrect operation of the RCD 4 Select Type B residu...

Page 43: ...on the installation 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 T L1C L2C CN1 CN2 U shape saddle U shape saddle U shape saddle Controller U shape saddle Motor Encoder Shielding box 1 1 1 1 1 Note 1 Use shielded wires ...

Page 44: ... B3 1 1021 2 EMF023A21A EMF10AM23A 1500 W ASD B3 1 1521 2 EMF023A21A EMF10AM23A 2000 W ASD B3 1 2023 2 EMF021A23A 3000 W ASD B3 1 3023 2 EMF021A23A Note in the servo drive model column 1 represents the product series and 2 represents the model code The above table includes the B3 B3A and B3B series General precautions for installation To ensure the best performance of the EMI filter apart from the...

Page 45: ...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 following figure 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 follow...

Page 46: ...s a built in regenerative resistor you can also use an external regenerative resistor if needed 3 2 3 1 2 1 1 Moving direction of the object 2 Direction of torque 3 Regenerative energy Specifications of the built in regenerative resistor in the ASDA B3 are as follows Servo drive kW Specifications of the built in regenerative resistor Capacity of the built in regenerative resistor Watt Minimum allo...

Page 47: ...the power of the regenerative resistors make sure the resistance value meets the requirements See the following diagrams and settings for connecting the regenerative resistors in series and parallel Connect to one external regenerative resistor C 1 kW 10Ω P P1 052 10 Ω P1 053 1000 W Connect to external regenerative resistors serial connection C 1 kW 10Ω 1 kW 10Ω P P1 052 20 Ω P1 053 2000 W Connect...

Page 48: ...tion 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 a stop without load Eo joule Maximum regenerative energy of the capacitance Ec joule Low inertia 0 1 ECM A3L C 2 ...

Page 49: ...nergy 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 regenerative resistor 2 N 1 Eo Ec T The calculation is as follows Step What to do Calculation and setting method 1 Set the capacity of the regenerative resistor to the maximum Set P1 053 to the maximum value 2 Set the operation cycle T Manua...

Page 50: ...he motor s torque direction is identical to the rotation direction However in some instances the motor s torque direction is opposite to the rotation direction This means the motor is doing negative work and the external energy is applied to the servo drive through the motor For instance if the external force direction is identical to the rotation direction such as downward motion of the verticall...

Page 51: ... 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 output Motor speed MBT1 P1 042 MBT2 P1 043 ZSPD P1 038 Motor speed ZSPD P1 038 Output timing of the BRKR signal 1 When the servo drive is off ...

Page 52: ... is on Brake 1 Brake 2 Motor Brake Encoder Note 1 The B3 M F and E models have only DO1 and DO2 For more details refer to Chapter 3 Wiring 2 The brake signal controls the solenoid valve providing power to the brake and enabling the brake 3 Note that there is no polarity for the brake coil Calculate the brake s rated current ECM A3L CY0604RS1 is used as an example here Power consumption of the brak...

Page 53: ...Installation ASDA B3 2 24 2 This page is intentionally left blank ...

Page 54: ...odels 3 35 3 3 3 Application using the CN1 quick connector for wiring for M F and E models 3 38 3 3 4 CN1 I O connector for L model 3 38 3 3 5 Signal explanation for CN1 I O connector for L model 3 40 3 3 6 Application using the CN1 quick connector for wiring for L model 3 45 3 3 7 CN1 wiring diagrams 3 48 3 4 Wiring for the CN2 encoder connector 3 56 3 5 Wiring for the CN3 communication connector...

Page 55: ...ction 3 74 3 9 5 3 Wiring for multiple drive modules with the STO function 3 75 3 10 Standard wiring example 3 76 3 10 1 Position PT control mode differential pulse signal 3 76 3 10 2 Position PT control mode open collector pulse signal 3 77 3 10 3 Position PR control mode internal position command 3 78 3 10 4 Speed S control mode 3 79 3 10 5 Torque T control mode 3 80 3 10 6 CANopen communication...

Page 56: ...aging the servo drive when power is on off Magnetic contactor MC When an alarm occurs it outputs ALARM signal and cuts off the power to the servo drive Encoder connector CN2 Servo drive output UVW Regenerative resistor optional purchase Mini USB connector CN4 Connect to PC to operate the software Use standard type USB mini connection cable to connect to ASDA Soft I O connector CN1 Communication po...

Page 57: ...orrectly wired to avoid abnormal operation of the motor 3 When installing an external regenerative resistor P and D contacts are left open and the external regenerative resistor is connected to P and C contacts When using the built in regenerative resistor P and D contacts are short circuited and P and C contacts are left open 4 When an alarm occurs or the system is in the emergency stop status us...

Page 58: ...and servo motor CN1 I O connector optional purchase Connect to the controller Refer to Section 3 3 for more information CN2 Encoder connector optional purchase Connect to the encoder Refer to Section 3 4 for more information CN3 RS 485 or CANopen connector optional purchase For RS 485 or CANopen Refer to Section 3 5 for more information CN4 Mini USB connector optional purchase Connect to PC or not...

Page 59: ...power 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 Note MCCB molded case circuit breaker MC magnetic contactor SPD surge protection device Power 1 power on Power 2 power off ALRM_RY alarm r...

Page 60: ...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 T Note MCCB molded case circuit breaker MC magnetic contactor SPD surge protection device Power 1 power on Power 2 power off ALRM_RY alarm relay ALRM_RY_B normally closed contact of the alarm relay ...

Page 61: ...rvo 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 MC EMI filter MC SPD ALRM_RY_B Power 1 Power 2 MC R S T MCCB Note MCCB molded case c...

Page 62: ...nected to a moving machinery it is suggested to use a flexible cable Refer to the following table for flexible cable specifications R Bend radius of the encoder cable R Test item Test specification Bend radius 7 5 times of the cable outer diameter Number of bending times 10 million 2 Bending speed 5 m s Note 1 Delta also provides standard and flexible encoder cables Refer to Appendix B for more de...

Page 63: ...Wiring ASDA B3 3 10 3 1 Note pin assignments of the B3 and B2 models are the same For easier wiring the B3 s connector illustration angle of viewing is changed which is different from that of B2 ...

Page 64: ...2 3 4 Recommended brand Model number Molex 50 36 1736 housing 39 00 0040 terminal JWT C4201H00 2 3PA housing C4201TOP 2 terminal Pin assignment U Red V White W Black CASE GROUND Green Yellow BRAKE1 4 BRAKE2 4 1 2 4 5 3 6 Wire selection use a 600 VAC PVC cable Refer to Section 3 1 6 for more information Note 1 In the servo motor model name 1 represents the motor inertia 2 represents the encoder typ...

Page 65: ... WPS3106A18 10S R connector WPS3057 10A R cable clamp Pin assignment U Red V White W Black CASE GROUND Green Yellow BRAKE1 BRAKE2 A B C D Wire selection use a 600 VAC PVC cable Refer to Section 3 1 6 for more information Note in the servo motor model name 1 represents the motor inertia 2 represents the encoder type 3 represents the brake or keyway oil seal type 4 represents the shaft diameter and ...

Page 66: ...KE1 4 BRAKE2 4 A B C D 1 2 Wire selection use a 600 VAC PVC cable Refer to Section 3 1 6 for more information Note 1 In the servo motor model name 1 represents the motor inertia 2 represents the encoder type 3 represents the brake or keyway oil seal type 4 represents the shaft diameter and connector type and 5 represents the special code 2 Power supply for the brake is 24 VDC Do not share the same...

Page 67: ...22S R connector WPS3057 12A R cable clamp Pin assignment U Red V White W Black CASE GROUND Green Yellow BRAKE1 BRAKE2 A B C D Wire selection use a 600 VAC PVC cable Refer to Section 3 1 6 for more information Note in the servo motor model name 1 represents the motor inertia 2 represents the encoder type 3 represents the brake or keyway oil seal type 4 represents the shaft diameter and connector ty...

Page 68: ... 4 A B C D 1 2 Wire selection use a 600 VAC PVC cable Refer to Section 3 1 6 for more information Note 1 In the servo motor model name 1 represents the motor inertia 2 represents the encoder type 3 represents the brake or keyway oil seal type 4 represents the shaft diameter and connector type and 5 represents the special code 2 Power supply for the brake is 24 VDC Do not share the same power suppl...

Page 69: ...iameter Φ3 5 6 5 mm 23006231 02 wire diameter Φ6 5 9 5 mm Pin assignment U Red V White W Black CASE GROUND Green Yellow BRAKE1 4 BRAKE2 4 1 2 3 4 5 6 Wire selection use a 600 VAC PVC cable Refer to Section 3 1 6 for more information Note 1 In the servo motor model name 1 represents the motor inertia 2 represents the encoder type 3 represents the brake or keyway oil seal type 4 represents the shaft...

Page 70: ...lexible cable Refer to the following table for flexible cable specifications R Bend radius of the encoder cable R Test item Test specification Bend radius 7 5 times of the cable outer diameter Number of bending times 10 million 2 Bending speed 5 m s Note 1 Delta also provides standard and flexible power cables Refer to Appendix B for more details 2 Bending the cable into a curve and then straighte...

Page 71: ... 5 ECM A3 1 C 2 0401 3 4 5 ECM A3 1 C 2 0602 3 4 5 ECM A3 1 C 2 0604 3 4 5 ECM A3 1 C 2 0804 3 4 5 ECM A3 1 C 2 0807 3 4 5 Recommended brand Model number TE Connectivity 1 172161 9 or 172161 1 housing 170359 1 terminal tin plated 170359 3 terminal gold plated Note 1 In the servo motor model name 1 represents the motor inertia 2 represents the encoder type 3 represents the brake or keyway oil seal ...

Page 72: ...rved Reserved Reserved Reserved White T 4 5 6 6 5 4 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 Note the wire colors of the ASDA B3 servo drive are for reference only Refer to the actual servo drive Encoder 1 2 3 4 1 2 3 4 Servo drive To directly connect the wires without using the connectors wire them according to...

Page 73: ...low these instructions when wiring Incorrect wiring may cause battery explosion Battery box CN2 connector Connect to the servo drive Connect to the motor Quick connector Quick connector for the encoder Female Male Encoder Servo drive View from this side View from this side 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 ...

Page 74: ...motor models Motor model Military connector ECM B3 1 E 2 1310 3 4 5 ECM B3 1 E 2 1315 3 4 5 ECM B3 1 E 2 1320 3 4 5 ECM B3 1 E 2 1820 3 4 5 ECM B3 1 F 2 1830 3 4 5 1 7 4 1 0 8 2 3 9 Recommended brand Model number DDK CM10 SP10S x D or CMV1 SP10S x D SUNCHU SC CMV1 SP10C Note in the servo motor model name 1 represents the motor inertia 2 represents the encoder type 3 represents the brake or keyway ...

Page 75: ... 10S 5000 50 197 2 ACS3 CAE 2710 CMV1 10S 10000 100 394 4 ACS3 CAE 2720 CMV1 10S 20000 100 788 4 Note select cables according to the in the model name F represents flexible cables and N represents standard cables Military connector CN2 connector Connect to the servo drive Connect to the motor 1 7 4 1 0 8 2 3 9 Pin No Terminal Color 1 T White 2 T White Red 3 4 DC 5V Brown 5 6 7 8 9 GND Blue 10 Shie...

Page 76: ... CMV1 10S 20000 100 788 4 Note select cables according to the in the model name B represents flexible cables and A represents standard cables Connection method Caution Follow these instructions when wiring Incorrect wiring may cause battery explosion Military connector CN2 connector Connect to the servo drive Connect to the motor 1 7 4 1 0 8 2 3 9 Battery box Pin No Terminal Color 1 T White 2 T Wh...

Page 77: ...is subject to change depending on the selected servo drive and motor models Motor model IP67 waterproof connector ECM B3 1 C 2 0401 3 4 5 ECM B3 1 C 2 0602 3 4 5 ECM B3 1 C 2 0604 3 4 5 ECM B3 1 C 2 0804 3 4 5 ECM B3 1 C 2 0807 3 4 5 ECM A3 1 C 2 040F 3 4 5 ECM A3 1 C 2 0401 3 4 5 ECM A3 1 C 2 0602 3 4 5 ECM A3 1 C 2 0604 3 4 5 ECM A3 1 C 2 0804 3 4 5 ECM A3 1 C 2 0807 3 4 5 1 7 2 3 4 5 6 8 Recomm...

Page 78: ...231 01 5000 50 197 2 ACS3 CAE 2A10 22008231 01 10000 100 394 4 ACS3 CAE 2A20 22008231 01 20000 100 788 4 Note select cables according to the in the model name F represents flexible cables and N represents standard cables IP67 waterproof connector CN2 connector Connect to the servo drive Connect to the motor 1 7 2 3 4 5 6 8 Pin No Terminal Color 1 T White 2 T White Red 3 GND Blue 4 DC 5V Brown 5 6 ...

Page 79: ...lect cables according to the in the model name B represents flexible cables and A represents standard cables Connection method Caution Follow these instructions when wiring Incorrect wiring may cause battery explosion IP67 waterproof connector CN2 connector Connect to the servo drive Connect to the motor Battery box 1 7 2 3 4 5 6 8 Note if using an incremental encoder cable connecting BAT and BAT ...

Page 80: ...5 YF3 5 3S RF2 3 ASD B3 1 1521 2 ASD B3 1 2023 2 12 AWG SVBS5 4 RVBS5 4 SVS 5 5 4 RVL 5 5 4 YF5 5 4 RF5 5 4 ASD B3 1 3023 2 Servo drive model Wire diameter K S Terminals Inc Kise Terminal Kss Terminal P C Y type O type Y type O type Y type O type ASD B3 1 0121 2 14 AWG SVBL2 3 7 RVBM2 3 2 SV 3 5 3 RV 2 3 YF3 5 3S RF2 3 ASD B3 1 0221 2 ASD B3 1 0421 2 ASD B3 1 0721 2 ASD B3 1 1021 2 ASD B3 1 1521 2...

Page 81: ... to the terminal block width and screw specifications in the following table Servo drive model Width Screw ASD B3 1 0121 2 7 mm M3 ASD B3 1 0221 2 ASD B3 1 0421 2 ASD B3 1 0721 2 ASD B3 1 1021 2 ASD B3 1 1521 2 ASD B3 1 2023 2 9 5 mm M4 ASD B3 1 3023 2 Note 1 Select the correct O type terminal or Y type terminal corresponding to the servo drive and make sure the wire conforms to the specifications...

Page 82: ...uce the noise interference 2 The shield should connect to the phase of the ground terminal 3 When wiring use the wires suggested in this section to avoid danger 4 Specification of brake cable for motors with the frame size of 40 86 mm 22 AWG specification of brake cable for motors with the frame size of 100 mm or above 20 AWG 5 When the encoder cable length is 3 20 m 9 84 65 62 ft 0 324 mm 2C 22 A...

Page 83: ...te place the flat face of the gasket outwards and the groove face towards the clamp ring for the IP67 design Step 3 1 For the power connector refer to Section 3 1 4 for the pin assignment to connect the pins 2 For the encoder connector refer to Section 3 1 5 for the pin assignment to connect the pins A B Step 4 Place the groove face of the A gasket towards the clamp ring and fit it into the B clam...

Page 84: ... servo drive B B A After wiring the IP67 connector only fasten the A location to lock the connector for connecting the servo motor and drive Do not pull or rotate the B clamp ring and seals nut to avoid loose connection and thus fail to meet the IP67 protection level ...

Page 85: ...tifier circuit Gate drive Control panel M Servo motor L2C Voltage detection Loss phase detection Control unit RS 485 CANopen 2 Built in regenerative resistor 1 Digital input Digital output Analog monitor output External speed External torque Position pulse Disconnec tion detection Note 1 Models of 200 W and below do not have built in regenerative resistor models of 400 W and 750 W have built in re...

Page 86: ...it Rectifier circuit Gate drive Control panel M Servo motor L2C Voltage detection Loss phase detection Control unit 12V 1 kW 1 5 kW models single three phase 200 230V 2 kW 3 kW models three phase 200 230V RS 485 CANopen 1 DMCNET 2 EtherCAT 3 A B Z output Digital input Digital output Analog monitor output External speed External torque Position pulse Disconnec tion detection Note 1 CANopen is avail...

Page 87: ...1 Digital output 3 OZ Encoder Z pulse output 16 DO1 Digital output 4 OZ Encoder Z pulse output 17 DO2 Digital output 5 COM Power input 24V 10 18 DO2 Digital output 6 DI1 Digital input 19 V_REF Analog speed position input 7 DI2 Digital input 20 T_REF Analog torque input 8 DI3 Digital input 21 MON1 Analog monitor output 1 9 DI4 Digital input 22 MON2 Analog monitor output 2 10 GND Ground for analog d...

Page 88: ... This servo drive provides 2 output channels You can select the data to be monitored with P0 003 This signal is based on the power ground C2 Position pulse input PULSE PULSE 25 26 Position pulse can be sent by the 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...

Page 89: ...lt Signal Default Signal Default Signal Default Signal Default Signal 1 0x01 0x01 0x01 0x01 0x01 0x01 0x01 SON SON SON SON SON SON SON 2 0x22 0x22 0x22 0x22 0x22 0x22 0x22 NL NL NL NL NL NL NL 3 0x23 0x23 0x23 0x23 0x23 0x23 0x23 PL PL PL PL PL PL PL 4 0x21 0x21 0x21 0x21 0x21 0x21 0x21 EMGS EMGS EMGS EMGS EMGS EMGS EMGS DI Control mode PR T S T Communication PT PR PT PR S PT PR T Default Signal D...

Page 90: ...lt Signal 1 0x01 0x01 0x01 0x01 0x01 0x01 SRDY SRDY SRDY SRDY SRDY SRDY 2 0x07 0x07 0x07 0x07 0x07 0x07 ALRM ALRM ALRM ALRM ALRM ALRM Note 1 Description of each DO signal Signal Description Signal Description SRDY Servo ready ALRM Servo alarm 2 Refer to the C5 and C6 figures in Section 3 3 7 for wiring If the default DI DO function cannot meet the application requirement specify the DI DO function...

Page 91: ...e to vibration Note coming soon 3 3 4 CN1 I O connector for L model You can define 9 digital input DI points and 6 digital output DO points to provide highly flexible communication between the servo drive and the controller In addition differential type output signals A A B B Z and Z for the encoder are provided Analog torque command input analog speed position command input and pulse position com...

Page 92: ...ign External power input of Sign pulse 14 MON2 Analog monitor output 2 36 PULL HI_P Pulse External power input of pulse 15 DO6 Digital output 37 SIGN Position sign 16 DO6 Digital output 38 NC 17 MON1 Analog monitor output 1 39 SIGN Position sign 18 T_REF Analog torque input 40 GND GND for analog signal and differential output signal 19 GND GND for analog signal and differential output signal 41 PU...

Page 93: ... This signal is based on the power ground C2 Position pulse input PULSE PULSE 43 41 Position pulse can be sent by the 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 position pulses CN1 should be connected to an...

Page 94: ...drive then you can reset the signals to the default values corresponding to each mode See the following table for the default DI signal of each control mode DI Control mode PT PR S Sz T Tz PT S PT T Default Signal Default Signal Default Signal Default Signal Default Signal Default Signal 1 0x01 0x01 0x01 0x01 0x01 0x01 SON SON SON SON SON SON 2 0x04 0x08 0x09 0x10 0x04 0x04 CCLR CTRG TRQLM SPDLM C...

Page 95: ...1 0x21 0x2B 0x2B 0x2B EMGS EMGS EMGS PT PR PT PR PT PR 9 0x00 0x00 0x00 0x02 0x02 0x02 ARST ARST ARST Note 1 Description of each DI signal Signal Description Signal Description Signal Description SON Servo is activated NL Negative limit PL Positive limit CCLR Pulse clear ARST Alarm reset EMGS Emergency stop CTRG Internal position command triggered TCM0 Torque command 0 TCM1 Torque command 1 TRQLM ...

Page 96: ...M ALRM ALRM ALRM ALRM DO Control mode PR S PR T S T PT PR PT PR S PT PR T Default Signal Default Signal Default Signal Default Signal Default Signal Default Signal 1 0x01 0x01 0x01 0x01 0x01 0x01 SRDY SRDY SRDY SRDY SRDY SRDY 2 0x03 0x03 0x03 0x03 0x03 0x03 ZSPD ZSPD ZSPD ZSPD ZSPD ZSPD 3 0x04 0x04 0x04 0x09 0x09 0x09 TSPD TSPD TSPD HOME HOME HOME 4 0x05 0x05 0x00 0x05 0x05 0x05 TPOS TPOS TPOS TPO...

Page 97: ...g table Signal Pin No Corresponding parameter Signal Pin No Corresponding parameter Standard DI DI1 9 P2 010 Standard DI DI6 32 P2 015 DI2 10 P2 011 DI7 31 P2 016 DI3 34 P2 012 DI8 30 P2 017 DI4 8 P2 013 DI9 12 P2 036 DI5 33 P2 014 Signal Pin No Corresponding parameter Signal Pin No Corresponding parameter Standard DO DO1 7 P2 018 Standard DO DO4 1 P2 021 DO1 6 DO4 26 DO2 5 P2 019 DO5 28 P2 022 DO...

Page 98: ... wiring for L model The CN1 quick connector ACS3 IFSC4444 is designed for easy wiring which can be applied to the ASDA B3 series servo drive It is a good choice if you do not want to solder the wires Its spring terminal blocks prevent the wire from loosening due to vibration ...

Page 99: ...I3 34 DI6 32 DI8 30 DO5 28 DO4 26 OZ 24 OA 22 V_REF 20 T_REF 18 DO6 16 MON2 14 DI9 12 DI2 10 DI4 8 DO1 6 DO2 4 DO3 2 PULSE 43 PULSE 41 SIGN 39 SIGN 37 PULL HI_S 35 DI5 33 DI7 31 GND 29 DO5 27 OB 25 OB 23 OA 21 GND 19 MON1 17 DO6 15 OZ 13 COM 11 DI1 9 DO1 7 DO2 5 DO3 3 DO4 1 Note NC represents No connection ...

Page 100: ...llation Wiring 1 The CN1 quick connector has multiple spring terminals Determine which terminal is to be wired in advance Use a flathead screwdriver to press the spring down to open the pin 2 Insert the stripped wire into the pin and withdraw the screwdriver to complete the wiring ...

Page 101: ...he relevant parameters C1 input for speed torque force analog command GND Approx 12 kΩ SG 20 V REF 19 Controller 18 T REF 10 kΩ 1 2 kΩ 10V Servo drive 10V Note the pin definition of the communication type models is different from that of the L model Communication type model pins V REF 19 T REF 20 and GND 10 C2 output for analog monitoring command MON1 and MON2 10V full scale SG 19 Servo drive 8 kΩ...

Page 102: ...he source for the pulse input is open collector NPN type equipment which uses the external power supply DC 24V 1 5 kΩ 51 Ω 51 Ω 51 Ω 1 5 kΩ Max pulse input frequency 200 Kpps Max pulse input frequency 200 Kpps 51 Ω SG PULL HI_S Servo drive Controller SIGN PULL HI_P PULSE 35 36 37 41 Note 1 This is supported by the B3 L model and the B3A series only 2 The pin definition of the communication type mo...

Page 103: ...ulse input frequency 200 Kpps 51 Ω 51 Ω Max pulse input frequency 200 Kpps DC 24V 1 5 kΩ 1 5 kΩ PULL HI_S PULL HI_P SIGN PULSE 35 37 36 41 Note 1 This is supported by the B3 L model and the B3A series only 2 The pin definition of the communication type models is different from that of the L model Communication type model pins PULL HI_S 13 PULL HI_P 14 SIGN 24 and PULSE 26 ...

Page 104: ...lse trains AB phase pulse train 2 Mpps Low speed pulse Differential signal 200 Kpps 51 Ω 51 Ω 51 Ω Max pulse input frequency 4 Mpps Max pulse input frequency 4 Mpps 51 Ω SG SIGN PULSE SIGN 39 37 43 Servo drive Controller PULSE 41 Note 1 This is supported by the B3 L model and the B3A series only 2 The pin definition of the communication type models is different from that of the L model Communicati...

Page 105: ... 30V Diode specification 1A or above 500V or above such as 1N4005 diode 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 106: ...ector transistor Conditions of DI On Off ON 15V 24V condition input current 3 mA OFF below 5V condition input current 0 5 mA C7 NPN transistor SINK mode DC 24V DI COM Servo drive Approx 4 7 kΩ 11 C8 PNP transistor SOURCE mode DC 24V DI COM Servo drive Approx 4 7 kΩ 11 ...

Page 107: ...great 2 The pin definition of the communication type models is different from that of the L model Communication type model pins OA 1 OA 2 OB 11 OB 12 OZ 3 and OZ 4 C10 output for encoder position signal opto isolator Controller Servo drive AM26C31 series Max output current 20 mA SG High speed photocoupler 200 Ω High speed photocoupler 200 Ω High speed photocoupler 200 Ω OA OA OB OB OZ OZ 21 22 25 ...

Page 108: ...ASDA B3 Wiring 3 55 3 C11 encoder OCZ output open collector Z pulse output OCZ 44 GND 40 Servo drive Max 30V 50 mA 24V Note this is not supported by the communication type models ...

Page 109: ...4 6 View from this side Military connector ends View from this side View from this side 1 3 5 2 4 6 1 7 4 10 8 2 3 9 DO NOT wire Pin 3 and Pin 4 of the servo drive CN2 connector They are for internal use only wiring them will cause damage to the internal circuit When using an absolute encoder the battery supplies power directly to the encoder so wiring to the CN2 connector of the servo drive is no...

Page 110: ...4 Do not connect this pin For internal use only 1 1 1 White 5 T Serial communication signal 2 4 2 White Red 6 T Serial communication signal 10 9 8 Case Shield Shielding 6 2 6 Red Battery 3 6V 5 5 5 Black Battery ground Note for the absolute battery wiring refer to Section 3 1 5 Specification for the encoder connector Connecting shielded wire to the CN2 encoder connector is shown as follows Step 1 ...

Page 111: ...ase to cover the exposed wire shielding Make sure the shielding is completely covered to maintain the integrity of the shielding Step 5 Fasten the small metal case on the other side Step 6 Tighten the metal ring to the big 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 112: ...supports the RS 485 communication interface which enables you to connect multiple servo drives simultaneously Note B3 L model single port Pin 1 Pin 8 supports RS 485 only 1 2 8 1 1 CN3 connector female 2 CN3 connector male Pin assignment Pin No Signal Description 1 2 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 d...

Page 113: ...RS 485 The communication quality and the number of 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 120 Ω Ohm and 0 5 W or above 3 To connect multiple servo drives in parallel use a Modbus connector as shown above and put the terminal resistor ...

Page 114: ...tandard CAN interface The CN3 connector supports the CANopen communication interface which enables you to connect multiple servo drives simultaneously Note B3 M model dual ports supports high speed communication CANopen 1 2 9 16 1 8 1 CN3 connector female 2 CN3 connector male Pin assignment Pin No Signal Description 1 9 CAN_H CAN_H bus line dominant high 2 10 CAN_L CAN_L bus line dominant low 3 11...

Page 115: ...The communication quality and the number of 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 120 Ω Ohm and 0 5 W or above 3 To connect multiple servo drives in parallel use two sets of CAN ports as shown above and put the terminal resistor in t...

Page 116: ...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 a USB isolator Delta part number UC ADP01 A 1 2 1 USB connector female 2 USB connector male ...

Page 117: ...You can 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 120 Ω in the last servo drive 1 2 9 16 1 8 1 CN6 connector female 2 CN6 connector male Pin assignment same for both connectors Pin No Signal Description 1 9 DMCNET_1A DMC...

Page 118: ...DMCNET terminal resistor 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 120 Ω Ohm and 0 5 W or above 3 To connect multiple servo drives in serial use two sets of DMCNET ports as shown above and put the terminal resistor in the last servo drive ...

Page 119: ...twork is connected Connection is established but no data transmission Blinking Connection is established and in data transmission Data in transmission Off No connection Connection is not established EtherCAT connection status indicator RUN Indicator Status Description Off Initial After power cycling and the initialization of the servo drive is complete the communication has not yet started but the...

Page 120: ...lowing diagram Single flash Synchronization error SyncManager error The synchronization between the controller and the servo drive failed or the data was lost during data reception Init Pre operational Safe operational Operational OI IP PI OP PS SP SO OS SI State switching diagram Connecting multiple servo drives PLC 1 Note 1 When multiple servo drives are connected the maximum distance between ea...

Page 121: ...ignment Pin No 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 ...

Page 122: ...ifications 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 123: ...nel2 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 c...

Page 124: ...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 125: ...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 1 s 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 126: ...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 9 4 for the FDBK signal ...

Page 127: ...o drive Refer to the following wiring diagram 2 3 4 5 6 7 8 STO_A STO_A STO_B STO_B FDBK FDBK Reserved STO 1 Reserved M 3 9 5 2 Wiring for single drive module with the STO function 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 24 VDC Safety relay 1 Reserved M ...

Page 128: ...multiplying PFD and PFH by the number of drives 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 24 VDC M M M ...

Page 129: ...2 CN3 CN4 CN1 P D C U V W Max output current 50 mA voltage 30V R S T L1C L2C MC MCCB Servo drive ASDA B3 Series 1 2 kΩ Regenerative resistor Red White Black Green Brake Power supply Encoder BRKR EMGS 24V AC 200 230V Three phase 50 60 Hz 5 2 2 4 4 7 KΩ 4 7 KΩ KΩ KΩ 12 DI9 DO5 DO6 27 16 5V GND 1 2 Mini USB 3 4 7 4 7 KΩ 4 7 KΩ 4 7 KΩ 4 7 KΩ 4 7 KΩ 4 7 SG Twisted pair or twisted shielded cable 12 kΩ 1...

Page 130: ... kΩ Regenerative resistor Red White Black Green Brake Power supply Encoder BRKR EMGS 24V AC 200 230V Three phase 50 60 Hz 5 2 2 4 4 7 KΩ 4 7 KΩ KΩ KΩ 12 DI9 DO5 DO6 27 16 5V GND 1 2 Mini USB 3 4 7 4 7 KΩ 4 7 KΩ 4 7 KΩ 4 7 KΩ 4 7 KΩ 4 7 SG Twisted pair or twisted shielded cable 12 kΩ 10 kΩ 10 kΩ 1 5 kΩ Do not connect this pin Do not connect this pin 3 4 PULL HI_P 36 37 41 CN1 Open collector pulse c...

Page 131: ... 31 7 6 5 4 3 2 1 26 28 21 15 22 13 24 25 23 CN1 D C U V W Max output current 50 mA Servo drive ASDA B3 series 24V Regenerative resistor Red White Black Green Brake Power supply Encoder BRKR EMGS 24V 2 4 DI9 12 DO5 DO6 27 16 3 SG Twisted pair or twisted shielded cable R S T L1C L2C MC MCCB AC 200 230V Three phase 50 60 Hz 5 P RS485 RS485 GND_ISO 6 8 5 4 3 7 2 1 CN3 CN4 Mini USB B phase differentia...

Page 132: ...cable 10 kΩ 10V 12 kΩ 1 2 kΩ Regenerative resistor Red White Black Green SG Brake Power supply Encoder BRKR EMGS 24V AC 200 230V Three phase 50 60 Hz 5 2 Twisted pair or twisted shielded cable DI9 12 DO5 DO6 27 16 1 5 kΩ 3 V REF GND 20 19 CN1 10 kΩ 10V 24V 1 2 kΩ 1 4 7 kΩ 4 7 kΩ kΩ kΩ 4 7 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 P 4 RS485 RS485 GND_ISO 6 8 5 4 3 7 2 1 CN3 CN4 Mini USB 12 kΩ B phase ...

Page 133: ... 50 mA voltage 30V 1 5 kΩ 1 5 kΩ 1 5kΩ 1 5kΩ 1 5kΩ A phase differential signal Z phase open collector signal Encoder pulse output 10 kΩ 10 kΩ Twisted pair or twisted shielded cable 10 kΩ 10V 12 kΩ 1 2 kΩ DI9 12 DO5 DO6 27 16 1 5kΩ V REF GND 20 19 CN1 12 kΩ 10 kΩ 10V 1 2 kΩ 1 4 7kΩ 4 7 kΩ kΩ 4 7 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 RS485 RS485 GND_ISO 6 8 5 4 3 7 2 1 CN3 CN4 Mini USB kΩ B phase d...

Page 134: ... OB OB OZ OZ 1 2 3 4 11 12 A phase differential signal B phase differential signal Z phase differential signal Encoder pulse output CN1 CN3 CN4 4 Mini USB 13 12 10 9 14 16 11 15 Data output Data input CAN_H CAN_L GND_ISO 6 8 5 4 3 7 2 1 CAN_H CAN_L GND_ISO L1C L2C P 1 5 kΩ T T Shield 5 6 Case CN2 5V GND 1 2 Do not connect this pin Do not connect this pin 3 4 Note 1 Refer to Section 3 3 7 for CN1 w...

Page 135: ...5 OA OA OB OB OZ OZ 1 2 3 4 11 12 A phase differential signal B phase differential signal Z phase differential signal Encoder pulse output P ALRM DMCNET_1A 9 10 11 12 13 14 15 16 DMCNET_1B DMCNET_2A DMCNET_2B DMCNET_1A 1 2 3 4 5 6 7 8 DMCNET_1B DMCNET_2A DMCNET_2B 1 5 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ T T Shield 5 6 Case CN2 5V GND 1 2 Do not connect this pin Do not connect this pin 3 4 Note 1 Refer to Sect...

Page 136: ...2 3 4 11 12 A phase differential signal B phase differential signal Z phase differential signal Encoder pulse output P ALRM CN6 EtherCAT Connects to the controller or previous servo drive Connects to the next servo drive or no connection CN6A CN6B 1 5 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ T T Shield 5 6 Case CN2 5V GND 1 2 Do not connect this pin Do not connect this pin 3 4 Note 1 Refer to Section 3 3 7 ...

Page 137: ...Wiring ASDA B3 3 84 3 This page is intentionally left blank ...

Page 138: ...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 B3 servo drive 4 14 4 5 3 JOG trial run without...

Page 139: ...4 CHARGE Charge LED the Charge LED indicator is on when the power is applied to the circuit 5 DOWN key changes the monitoring code parameter number and value 6 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 7 S...

Page 140: ...arm mode See Chapter 12 for detailed alarm information Parameter mode Monitoring mode Alarm mode Power On MODE Refer to Chapter 8 Refer to Chapter 8 MODE MODE 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 Directly enter the code of monitoring variables via P0 002 Refer to Chapter 8 for a detailed...

Page 141: ...e 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 MODE SHIFT Monitoring mode SHIFT SHIFT SHIFT SHIFT SHIFT SHIFT SHIFT ...

Page 142: ...e parameter setting value it automatically returns to Parameter mode Monitoring Alarm mode MODE SET 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 SET SET SET MODE SHIFT SHIFT ...

Page 143: ...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 144: ...onitoring 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 determined by 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 the input number...

Page 145: ...on 19 Mapping parameter 1 shows the content of parameter P0 025 P0 035 specifies the mapping target 20 Mapping parameter 2 shows the content of parameter P0 026 P0 036 specifies the mapping target 21 Mapping parameter 3 shows the content of parameter P0 027 P0 037 specifies the mapping target 22 Mapping parameter 4 shows the content of parameter P0 028 P0 038 specifies the mapping target 23 Monito...

Page 146: ... 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 Shows negative values If the value is 12345 it displays as 1 2 345 only in decimal format there is no positive or negative sign for hexadecimal format display Note 1 Dec means the value is displayed in decim...

Page 147: ...ons 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 SET SET SET SET SET ...

Page 148: ... 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 SET Force DO2 on Force DO3 on Force DO4 on Force DO5 on Force DO1 and DO3 on Force DO1 DO2 and DO3 on SET SET Note P4 006 is displayed in h...

Page 149: ... 0 1 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 DO6 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 shows...

Page 150: ...ation Check for and remove 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 Make sure the circuits for the emergency stop and circuit breaker function normally These functions need to be activ...

Page 151: ... output terminal U V W of B3 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 Chapter 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 shows The defaul...

Page 152: ... 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 153: ...when 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 DI9 are set to negative limit NL and that DI is off 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 DI1 ...

Page 154: ...t 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 motor and servo drive 2 Check if the conducting wire is short circuited Fix the short circuit and prevent any metal conductors from being exposed When the screen displays Undervoltage warning Correctiv...

Page 155: ...mmunication mode Step 2 set JOG speed unit rpm with P4 005 Press the SET 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 SET key to display JOG and enter JOG mode Step 5 press the MODE key after completing the trial run to exit JOG mode JOG mode Adjust the speed to 100 rpm Displ...

Page 156: ...ing 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 positive direction Motor runs in negative direction ...

Page 157: ... 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 DI11 P2 038 0 DI disabled DI12 P2 039 0 DI disabled DI13 P2 040 0 DI disabled This table shows the settings that disable the negative limit DI6 positive limit DI7 and emergency stop DI8 functions Thus parame...

Page 158: ...eed setting 30000 x 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 positive direction CW negative 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 T...

Page 159: ...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 DI11 P2 038 0 DI disabled DI12 P2 039 0 DI disabled DI13 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 160: ...6 Position command POS6 POS5 POS4 POS3 POS2 POS1 POS0 CTRG Corresponding parameter Homing 0 0 0 0 0 0 0 P6 000 P6 001 PR1 0 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 1 P7 098 P7 099 0 the switch is open off 1 the switch is closed on You can set the 100 sets of PR P6 000 P7 099 which you can also set for absolute position commands ...

Page 161: ...Test Operation and Panel Display ASDA B3 4 24 4 This page is intentionally left blank ...

Page 162: ...ing 5 4 5 2 1 Flowchart of auto tuning 5 5 5 2 2 Auto tuning with 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 Gain adjustment modes 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 stiffn...

Page 163: ...the Auto Tuning mode If you are not satisfied with the system s performance then 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 Satisfied with the performance Satisfied with the performance Satisfied with the performance ...

Page 164: ... 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 when the two degrees of freedom control function is enabled 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 ...

Page 165: ...ression 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 degrees of freedom control function set P...

Page 166: ... the servo drive The drive automatically estimates the inertia and starts to tune the system Complete Note when the path is configured by the 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 following flowchart Star...

Page 167: ...omplete 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 SPEED is blinking to remind 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 setting Pres...

Page 168: ...omplete auto tuning 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 following screen Make sure your ASDA B3 servo drive servo motor and power are all properly connected Then click Add for the ASDA Soft to be in online mode ...

Page 169: ...ler and one using the servo drive Both procedures are described as follows Auto tuning with the controller the controller sends the commands to drive the motor Step 1 When the software is in online mode the program window appears as follows Click Auto Tuning in the Function List tree view ...

Page 170: ...at least one cycle in both positive and negative directions The delay time for reaching the positions in both positive and negative directions should not be less than 1 000 ms with the running speed no less than 500 rpm Step 3 Repeatedly 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 171: ...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 172: ...e servo drive sends the commands to drive the motor Step 1 When the software is in online mode the program window appears as follows Click Auto Tuning in the Function List tree view Step 2 Click Drive Motion Command from Drive to enter the path setting window ...

Page 173: ...ms Set the jog speed to no less than 500 rpm Then click Download 3 After you set the motor s running path you can use the Left or Right button to run the motor to Position 1 and Position 2 Then 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 machine...

Page 174: ...e tuning 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 175: ...dwell time See the following figure When any of the settings is incorrect the servo drive stops tuning 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 est...

Page 176: ...n 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 Satisfied with the performance Satisfied with the perform...

Page 177: ...load inertia must be no more 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 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 P1 037 P2 032 setting value A...

Page 178: ...ration This function is only available for changing commands such as the acceleration deceleration application which improves the response However when the two degrees of freedom control function is disabled set P2 094 Bit 12 to 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 Ine...

Page 179: ...he bandwidth response level according to the actual situation For instance if the value of P2 031 is 30 you can reduce the bandwidth response level to 28 When you adjust the value of this parameter the servo drive 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 Command Response Feedback Command...

Page 180: ...sition command and command response in the intermittent duty zone This function is only available for changing commands Before adjusting the value of P2 089 first enable the two degrees of freedom control function set P2 094 Bit 12 to 1 Position Position Command Response Feedback Command Response Feedback Time Time Smaller Greater Figure 5 3 6 1 Adjust the command response gain ...

Page 181: ... to vibrate or cause overshoot when positioning The calculation of the position loop response bandwidth is as follows Position loop response bandwidth Hz KPP 2π Speed control gain KVP 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 too ...

Page 182: ...P 10000 6 Speed loop response bandwidth Hz Anti interference gain DST 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 degrees of freedom control function set P2 094 Bit...

Page 183: ...esonance 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 Complete Yes High frequency resonance Re...

Page 184: ...filter for Position commands 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 12 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...

Page 185: ...n Mode ASDA B3 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 186: ...als 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 Select the command with DI signals Torque mode T 03 The servo drive receives the Torque command and commands the motor to run with the target ...

Page 187: ...n 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 gain adjustment ...

Page 188: ...d 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 P1 000 Refer to Chapter 8 for more details Parameter Function P1 000 External pulse input type 6 2 2 Position command in PR mode The PR command source is the 100 built in command registers P6 000 P6 001 P7 098 P7 099 Use DI 0x...

Page 189: ...Position command Speed loop Position control unit Position command processing unit Current loop Motor For better control the pulse signals are processed by the Position command processing unit The structure is shown in the following diagram Command source P6 000 P7 099 Acc Dec time P5 020 P5 035 Delay time P5 040 P5 055 Target speed P5 060 P5 075 1st numerator P1 044 2nd numerator P2 060 3rd numer...

Page 190: ...r Position commands The S curve filter for Position commands smoothes the motion command in PR mode The filter makes the speed and acceleration continuous and reduces jerking resulting in a smoother mechanical operation If the load inertia increases the motor operation is influenced by friction and inertia when the motor starts or stops rotating Setting a larger acceleration deceleration constant ...

Page 191: ... 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 192: ...rger E Gear ratio might create a sharp corner in the profile and lead to a high jerk To solve this problem apply an S curve command 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 3 000 μm WL workpiece WT platform G...

Page 193: ...POS6 and CTRG of CN1 Refer to Section 6 2 2 for information about the DI signal and its selected register The timing diagrams are shown as follows 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 POS0 POS1 POS2 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 comma...

Page 194: ...the gain the larger bandwidth for the position loop response 2 Position feed forward gain reduces the deviation of phase delay Note that the position loop bandwidth should not be larger than the speed loop bandwidth Calculation 4 fv fp fv response bandwidth of speed loop Hz fp response bandwidth of position loop Hz KPP 2 fp Example if the desired position bandwidth is 20 Hz then adjust KPP P2 000 ...

Page 195: ...he suppression range is between 1 0 Hz and 100 0 Hz Both auto and manual functions are available Auto setting If you have difficulty finding the resonance at low frequency enable the auto low frequency vibration suppression function which automatically searches for the specific resonance at low frequency If you set P1 029 to 1 the system automatically disables the auto low frequency vibration supp...

Page 196: ...s No Note 1 When the values of P1 026 and P1 028 are both 0 it means the frequency cannot be found It is probably because the detection level is set too high causing the low frequency vibration not being able to be detected 2 When the value of P1 026 or P1 028 is greater than 0 but the vibration cannot be suppressed it is probably because the detection level is too low causing the system to detect...

Page 197: ...ency vibration suppression one is parameters P1 025 P1 026 and the other is parameters P1 027 P1 028 You can use these two sets of low frequency vibration suppression parameters to reduce two different frequency vibrations Use P1 025 and P1 027 to suppress the low frequency vibration The function works only when the low frequency vibration setting is close to the real vibration frequency Use P1 02...

Page 198: ...ge difference between V_REF and GND 10V to 10V Sz N A Speed command is 0 0 S2 0 1 Register parameter P1 009 60000 to 60000 S3 1 0 P1 010 60000 to 60000 S4 1 1 P1 011 60000 to 60000 Status of SPD0 and SPD1 0 means that DI is off the circuit is open 1 means that DI is on the circuit is closed When both SPD0 and SPD1 are 0 if it is in Sz mode the command is 0 Thus if the Speed command using analog vo...

Page 199: ...ters 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 as follows Analog signal Command selection P1 001 Register P1 009 P1 011 Scaling P1 040 S curve filter P1 036 S curve filter for analog co...

Page 200: ...hange in deceleration The S curve acceleration deceleration constant P1 036 improves the status of motor activating and stopping The servo drive can also calculate the total time for executing the command T ms 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 036 P1 034 Torqu...

Page 201: ...tinuous The above graph shows the S curve and the motor speed when you apply the S curve filter for analog commands The slopes of the Speed command in acceleration and deceleration are different Adjust the time settings 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 hi...

Page 202: ...hange and its range P1 082 can change the filter switching time between P1 040 and P1 081 6000 rpm 3000 rpm 6000 rpm 3000 rpm Analog voltage input V 10 5 10 5 P1 081 6000 P1 040 3000 Speed command Refer to Chapter 8 for detailed descriptions of the relevant parameters Parameter Function P1 040 First set of maximum rotation speed for analog Speed command P1 081 Second set of maximum rotation speed ...

Page 203: ...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 and SPD1 ...

Page 204: ...ually 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 The parameter descriptions are as follows Speed control gain the higher the gain the larger the bandwidth for the speed loop resp...

Page 205: ...ever 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 more ...

Page 206: ...lter 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 filter bandwidth 5...

Page 207: ...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 208: ...m of the resonance frequency the response bandwidth and phase margin are reduced If you know the resonance frequency you can suppress the resonance by using the Notch filter 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 209: ...10V Tz N A Torque command is 0 0 T2 0 1 Register parameter P1 012 500 to 500 T3 1 0 P1 013 500 to 500 T4 1 1 P1 014 500 to 500 Status of TCM0 and 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 appli...

Page 210: ...The current 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 reg...

Page 211: ...etween T_REF and GND Adjust the torque slope and its range with 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 command Refe...

Page 212: ... 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 on 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 and TCM1 ...

Page 213: ...can be switched with DI signal S_T PT PR 0D PT and PR can be switched 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 The dual mode for Sz and Tz is not supported To avoid occupying too many digital inputs in the dual mode Speed and Torque modes can use the external analog volt...

Page 214: ... the DI signal The timing diagram is shown as follows 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 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 Position command has not been issued it wait...

Page 215: ...etween Speed and Torque modes is controlled by the DI S T 0x19 signal The timing diagram is shown as follows 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 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 Speed command wit...

Page 216: ...th the DI signal The timing diagram is shown as follows 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 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 been issued i...

Page 217: ...SPD0 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 torq...

Page 218: ...ortion P4 020 Offset adjustment for analog monitor output Ch1 P4 021 Offset adjustment for analog monitor output Ch2 Example Specify a motor speed of 1 000 rpm which corresponds to analog voltage output of 8V with the maximum speed of 5 000 rpm The setting is as follows P1 004 Required speed Max speed x 100 1000 rpm 5000 rpm 100 20 You can calculate the corresponding voltage output for the current...

Page 219: ...erent from the set zero point To fix this problem 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 220: ... type 0 7 1 PR mode description 7 2 7 1 1 Shared PR parameters 7 4 7 1 2 Monitoring variables of PR mode 7 6 7 1 3 Motion Control commands 7 9 7 1 3 1 Homing methods 7 9 7 1 3 2 Speed command 7 22 7 1 3 3 Position command 7 24 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 4 Overview of the PR procedure 7 36 7 1 5 Trigger methods for the PR command 7 4...

Page 221: ...nd 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 property set in P6 002 If P6 002 is set to a Speed command then P6 003 specifies the target speed When P6 002 is set to a Jump command th...

Page 222: ...formation 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 AUTO DLY SPD DEC ACC OPT TYPE P6 003 Data content 32 bit TYPE No Command mode 1 SPEED speed control 2 SINGLE positioning control stop once positioning is...

Page 223: ...deceleration time settings P5 020 P5 035 16 delay time settings P5 040 P5 055 and 16 target speed settings P5 060 P5 075 for you to set the PR paths as shown in Figure 7 1 1 1 If you change a parameter that is used by multiple PR paths then all PR paths using this parameter are changed as well For example if multiple PR commands use the target speed setting from P5 060 when you change the value of...

Page 224: ...ime is 25 ms The acceleration or deceleration time is a fixed slope so the slope does not change when you change parameter values ACC 1 DEC 4 DLY 2 SPD 5 P5 020 P5 021 P5 022 P5 023 P5 024 P5 025 P5 026 200 300 500 600 800 900 1000 50 P5 034 P5 035 30 PR 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 P...

Page 225: ...k PUU The feedback position coordinates for the motor 4 Position error PUU monitoring variable code 002 simplified as Err_PUU Error PUU The deviation between the command position PUU and the feedback position 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 acquire...

Page 226: ...ble 8 1 and 8 2 for the DI O function 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 is set to on When the motor reaches its target position DO TPOS 0x05 is set to on Then after the PR Position command completes and motor reaches the target position both DO si...

Page 227: ... 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 command issued 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 Operation...

Page 228: ...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 8 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 forward direction and define the positive limit as the homing origin X 1 homing in reverse directi...

Page 229: ...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 YX PATH Path type 0x00 Stop homing complete and stop 0x01 0x63 Auto homing complete and execute the specified path 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 corresp...

Page 230: ...s 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 size 32 bit Settings Origin...

Page 231: ...RG Z Pulse ORG Z Pulse First high speed homing Second low speed homing Second low speed homing 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 0 1 rpm Setting range 0 1 500 0 1 5000 Format DEC DEC Example 1 5 1 5 rpm 15 1 5 rpm Settings The second speed set...

Page 232: ...itive or negative limit as the reference point When the limit is detected you can choose whether or not to look for the Z pulse and use it as the reference origin The searching result is the same regardless of where the start point is The ASDA B3 always looks for the set reference point to reset the coordinates Motor Z pulse Start point Limit signal a Reverse to Z End Start point 1 b Go forward to...

Page 233: ... it decelerates to a stop completing the homing procedure If you set the servo to look for the Z pulse in the forward direction and the limit signal at the start position is triggered high Start point 2 the servo operates at low speed second speed setting in the reverse direction to look for the rising edge limit signal Then the servo starts to look for the Z pulse in the forward direction once it...

Page 234: ...triggered Then it switches to low speed second speed setting until the ORG signal switches to low Next the servo starts to look for the Z pulse in the reverse direction When the servo finds the Z pulse it decelerates to a stop completing the homing procedure If the ORG signal at the start point is un triggered and the current position is relatively closer to the limit switch Start point 2 the serv...

Page 235: ...ompleting the homing procedure b If you set the servo to look for the Z pulse in the forward direction or not to look for the Z pulse this is similar to method a mentioned above 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 per rotation of the motor This method is only suitable when the operation is kept wi...

Page 236: ...elerates and switches to low speed second speed setting until the ORG signal switches to low Next the servo reverses to look for the Z pulse When the servo finds the Z pulse it decelerates to a stop completing the homing procedure If the ORG signal at the start point is un triggered and the current position is relatively closer to the limit switch Start point 2 the servo operates at high speed fir...

Page 237: ...e it decelerates to a stop completing the homing procedure b If you set the servo to look for the Z pulse in the forward direction or not to look for the Z pulse this is similar to method a mentioned above refer to the timing diagram above 5 Referencing the current position as the origin This method uses the motor s current position as the reference origin As long as the homing procedure is trigge...

Page 238: ...e motor torque reaches the torque detection level P1 087 and the output duration is longer than the level reached timer setting P1 088 the servo operates in the reverse direction to look for the Z pulse at low speed second speed setting Once the servo finds the Z pulse it decelerates to a stop completing the homing procedure b If you set the servo not to look for the Z pulse it operates at high sp...

Page 239: ...ns for homing Since the hard stops are not always the same it is recommended to return to find the Z pulse as the origin Protector Torque curve when the servo searches for the hard stop Torque level detection P1 087 Level reached timer P1 088 Z pulse Start point Torque curve the servo searches for Z pulse 10 Maximum torque output Note the actual maximum torque output of the motor is 10 greater tha...

Page 240: ... contents of Cmd_E and Cmd_O are identical After the servo finds the reference origin and creates the coordinate system it sets the content of Cmd_E to the coordinate of the reference origin However once the servo finds the reference origin it still requires some distance for motor to decelerate to a stop Meanwhile Cmd_O continues to issue commands If no other PR commands are issued after homing o...

Page 241: ...ath completes You can set the target speed with two unit options 0 1 rpm and 1 PPS and the setting range is 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 delays the ...

Page 242: ...control 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 OP...

Page 243: ...ting If you use this function 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 determinedby the shared PR parameters You can choose whether it is multiplied by 0 1 DLY is th...

Page 244: ...ntrol 7 25 7 Figure 7 1 3 3 1 PR mode Position control screen in ASDA Soft Target speed Acceleration time Time Speed Delay time Deceleration time Position command Figure 7 1 3 3 2 Parameters for PR mode position control ...

Page 245: ...sition 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 INC command with the value of 60000 PUU is inserted in the pr...

Page 246: ... 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 s...

Page 247: ...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 248: ...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 249: ...omatically 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 time...

Page 250: ...ommand 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 Monito...

Page 251: ...errupt command that interrupts the previous motion command Refer to Section 7 1 6 OVLP is an overlap command that allows the next PR command to overlap the command 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 al...

Page 252: ...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 253: ...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 254: ... 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 target speed 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 minus1 BIT 3 2 1 0 Description Command type DIR OVLP INS Data conten...

Page 255: ...Figure 7 1 4 1 Overview of the PR procedure 1 Number the PR number ranging from PR 0 to PR 99 100 sets of PR paths 2 Command execution type property B execute homing when power on O command overlap R write data to EEPROM I command interrupt 3 Command type there are five types of PR procedure commands homing speed position writing and jumping The color displayed in this section depends on the comma...

Page 256: ... homing origin 0 PLZ 0 PL X 1 homing in reverse direction with NL as the homing origin 1 NLZ 1 NL X 2 homing in forward 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 ...

Page 257: ...f the Interrupt function is enabled it displays I if not no information is displayed 2 Delay time DLY determined by the 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 the shared PR parameters length of time to reach the targe...

Page 258: ...n is enabled it displays I if not no information is displayed The Position command can overlap OVLP the next PR path Set the delay time to 0 when using this function If the Overlap function is enabled it displays O if not no information is displayed 2 Delay time DLY determined by the shared PR parameters It is defined by a command from the controller The servo starts counting the delay time once r...

Page 259: ...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 260: ...can interrupt INS the previous PR path If the Interrupt function is enabled it displays I if not no information is displayed The Index Position command can overlap OVLP the next PR path Before using the Overlap function set the delay time to 0 If the Overlap function is enabled it displays O if not no information is displayed 3 Delay time DLY determined by the shared PR parameters It is defined by...

Page 261: ...riggering For the DI triggering method you 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 the 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 use the DI...

Page 262: ...0 0 0 0 0 P6 000 P6 001 PR 1 0 0 0 0 0 0 1 P6 002 P6 003 PR 50 0 1 1 0 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 mo...

Page 263: ...e event triggering for PR commands 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 DI O setting 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 t...

Page 264: ...rive execute the specified PR path If you write 0 to the PR Command Trigger register the servo drive executes homing If you write 1 99 to the PR Command Trigger register the servo drive executes the specified PR path If you write 1000 to the PR command Trigger register the servo drive stops executing PR commands Refer to the setting descriptions of P5 007 in Chapter 8 High speed position capture C...

Page 265: ... completes at least 20 consecutive paths with interruption functions and without delay 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 B3 Trigger mechanism The trigger mechanism is as mentioned in Section 7 1 5 There are three trigger methods A PR procedure is...

Page 266: ...pleted the executor starts executing the new PR group If there is a PR path that has not been completed within 1 ms but no new PR group is sent to the executor the executor continues to execute the unfinished PR path Motion command generator Motion commands include the Speed and Position commands The PR executor sends this type of commands to the motion command generator This generator has a buffe...

Page 267: ... first Position command includes a delay the PR executor starts counting the delay time right after the motor reaches the target position Then it issues the second Position command for the generator to start the second part of position control as shown in Figure 7 1 6 2 b PR 1 Position DLY 0 0 ms 10000 PUU ABS 200 rpm PR 2 Position DLY 0 0 ms 10000 PUU ABS 500 rpm PR executor 1 ms command cycle Mo...

Page 268: ...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 269: ...mmand and executes it immediately 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 Next the PR executor sends this Position command to the generator for executio...

Page 270: ...e previous path which are in execution 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 and only sends the...

Page 271: ...he 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 300...

Page 272: ...the 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 rp...

Page 273: ... 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 274: ...th an Interrupt function enters the PR executor as an external interruption 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 Spe...

Page 275: ...ieving a continuous motion When you use an Overlap command the delay time is still effective The delay time starts to count from the command s start point however in order to have the commands transition smoothly setting the delay time of the previous command to 0 is suggested In addition if deceleration time of the previous command is identical to acceleration time of the next the transition betw...

Page 276: ...celeration 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 Interpret PR path flow The PR paths mentioned above include commands such as Sequence Interrupt and Overlap The replacement integration and overlapping for commands lead to different behavior depending on the settings The sugges...

Page 277: ...e setting and how it works in the following sections Note B3 E models do not support the Capture function 7 2 1 Data array The data array can store up to 128 sets of 32 bit data captured by the high speed capture function Set P2 008 to 30 and then 35 or use ASDA Soft to write the data to EEPROM otherwise the data in RAM is not saved after you turn the power off ASDA Soft provides a user friendly s...

Page 278: ...ray 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 19 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 Parameter Description P5 011 Address for reading writing Specify the address in the data array when reading and writing data Wi...

Page 279: ...2 Read write with communication To read from or write to the data array through Modbus use the communication command 0x10 to write consecutively 0x06 to write single data and 0x03 to read consecutively First use a consecutive writing command to write 100 to Data array 11 200 to Data array 12 and 300 to Data array 13 When reading use a single data writing command to set the start address as Data ar...

Page 280: ...ress Content P5 100 Window 3 for reading writing Read from or write to the address specified by P5 011 5 1234 17 5678 P5 101 Window 4 for reading writing Read from or write to the first address following the address specified by P5 011 6 2345 18 6789 P5 102 Window 5 for reading writing Read from or write to the second address following the address specified by P5 011 7 3456 19 7890 P5 103 Window 6...

Page 281: ...start position for storing the captured position data is still determined by P5 036 that is the captured data in the previous cycle is replaced 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 sa...

Page 282: ... 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 default value Call PR 50 P5 039 X Bit 3 1 Data array 1234 2345 5678 6789 7890 DI4 DI4 CAP amount P5 038 P5 038 1 Figure 7 2 2 1 Flowchart for high speed position capturing Figure 7 2 2 2 Capture funct...

Page 283: ...nction for the first point is enabled and P5 076 is set to 0 At the moment the DI is triggered the second and third time the position data is written to the data array 2 and 3 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 mean...

Page 284: ... 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 285: ...Motion Control ASDA B3 7 66 7 This page is intentionally left blank ...

Page 286: ...8 2 8 2 List of parameters 8 3 8 3 Parameter descriptions 8 13 P0 xxx Monitoring parameters 8 13 P1 xxx Basic parameters 8 29 P2 xxx Extension parameters 8 64 P3 xxx Communication parameters 8 93 P4 xxx Diagnosis parameters 8 100 P5 xxx Motion control parameters 8 107 P6 xxx PR parameters 8 131 P7 xxx PR parameters 8 155 Table 8 1 Digital input DI descriptions 8 175 Table 8 2 Digital output DO des...

Page 287: ...x Group 4 Diagnosis parameters Example P4 xxx Group 5 Motion control parameters Example P5 xxx Group 6 PR parameters Example P6 xxx Group 7 PR parameters Example P7 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 Special symbol description Icon of parameter property Descri...

Page 288: ...d by status monitoring register 1 0 O O O O P0 018 Select content displayed by status monitoring register 2 0 O O O O P0 019 Select content displayed by 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 ...

Page 289: ...ts default value after power cycling For example P3 006 Filter and resonance suppression parameters Parameter No Function Default value Unit Control mode PT PR S T P1 006 Speed command smoothing constant low pass filter 0 ms O P1 007 Torque command smoothing constant low pass filter 0 ms O P1 008 Position command smoothing constant low pass filter 0 10 ms O O P1 025 Low frequency vibration suppres...

Page 290: ...2 1000 Hz O O O O P2 044 Notch filter attenuation level 2 0 dB O O O O P2 045 Notch filter frequency 3 1000 Hz O O O O P2 046 Notch filter attenuation level 3 0 dB O O O O P2 047 Auto resonance suppression mode 0x0001 O O O O P2 048 Auto resonance detection level 100 O O O O P2 025 Resonance suppression low pass filter 1 0 panel software 1 ms panel software O O O O 10 communication 0 1 ms communic...

Page 291: ...ction 0x0000 O O O O P2 028 Gain switching time constant 10 ms O O O O P2 029 Gain switching condition 16777216 pulse kpps rpm O O O O P2 031 Bandwidth response level 19 O O O O P2 032 Gain adjustment mode 0x0001 0X0000 B3 F O O O O P2 053 Position integral compensation 0 rad s O O O O P2 089 Command response gain 25 rad s O O P2 094 Special bit register 3 0x1010 0X0010 B3 F O O O P2 104 P PI torq...

Page 292: ... 2500 pulse O O O O P1 055 Maximum speed limit Rated speed rpm O O O O P1 097 Encoder output denominator OA OB 0 O O O O P5 003 Deceleration time for auto protection 0xEEEFEEFF O O O P5 020 P5 035 Acceleration deceleration times Number 0 15 Refer to description of each parameter ms O P5 016 Axis position motor encoder 0 PUU O O O O P5 018 Axis position pulse command 0 pulse O O O O Position contro...

Page 293: ... panel software O 1000 communication 0 1 rpm communication O P5 006 Low speed homing second speed setting 20 0 panel software 1 rpm panel software O 200 communication 0 1 rpm communication O P5 007 Trigger Position command PR mode only 0 O P5 040 P5 055 Delay time after position reached Number 0 15 0 5500 ms O P5 098 PR triggered by event rising edge 0x0000 O P5 099 PR triggered by event falling e...

Page 294: ...d Rated speed rpm O O P1 041 Maximum output for analog Torque command 100 O O O O P1 076 Maximum speed for encoder output OA OB 5500 rpm O O O O Torque control parameters Parameter No Function Default value Unit Control mode PT PR S T P1 001 Input for control mode and control command 0x0000 0x000B B3 F O O O O P1 002 Speed and torque limits 0x0000 O O O O P1 003 Encoder pulse output polarity 0x000...

Page 295: ... compare digital output fourth upper limit 0 O O O O P2 009 DI response filter time 2 ms O O O O P2 010 DI1 functional planning 0x0101 B3 L 0x0100 O O O O P2 011 DI2 functional planning 0x0104 B3 L 0x0022 O O O O P2 012 DI3 functional planning 0x0116 B3 L 0x0023 O O O O P2 013 DI4 functional planning 0x0117 B3 L 0x0021 O O O O P2 014 DI5 functional planning 0x0102 B3 L 0x0100 O O O O P2 015 DI6 fu...

Page 296: ...e range for position reached 167772 pulse O O P1 056 Motor output overload warning level 120 O O O O Read only parameter Can only read the value of the parameter For example P0 000 P0 010 and P4 000 Parameter cannot be changed when servo is in Servo On status For example P1 000 and P1 046 Parameter changes become valid after power cycling For example P1 001 and P3 000 Parameter resets to its defau...

Page 297: ... Factory setting O O O O P4 014 Analog torque input 2 offset adjustment Factory setting O O O O P4 015 Current encoder V1 phase offset adjustment Factory setting O O O O P4 016 Current encoder V2 phase offset adjustment Factory setting O O O O P4 017 Current encoder W1 phase offset adjustment Factory setting O O O O P4 018 Current encoder W2 phase offset adjustment Factory setting O O O O P4 019 I...

Page 298: ...not writable Format HEX Data size 16 bit Settings For the list of alarms refer to Section 12 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 parameter setting displayed on the panel Input the monitoring code to P0 002 to view changes to the variable on the panel For the list of monitoring variabl...

Page 299: ...le when you set P0 003 to 01 MON1 is the analog output 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 0x00000000 Control mode All Unit hour Setting r...

Page 300: ...ister 2 Address 0014H 0015H Default Control mode All Unit Setting range Format DEC Data size 32 bit Settings Set the value to be monitored in P0 018 through the drive panel or communication Please refer to P0 002 To get the status read the communication address through the communication port Set P0 002 to 24 and the panel displays VAR 2 and then the value of P0 010 P0 011 Status monitoring registe...

Page 301: ...he communication port P0 014 P0 016 Reserved P0 017 Select content displayed by status monitoring register 1 Address 0022H 0023H Default 0 Control mode All Unit Setting range 300 to 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 7 then reading P0 009 displays the motor speed rpm P0 018 Select content displayed by status monitor...

Page 302: ...pping 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 through the panel or communication The value of the parameter that is specified by P0 035 is ...

Page 303: ...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 304: ...parameter index YX Hexadecimal 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 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 parameter to be...

Page 305: ...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 306: ...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 307: ...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 308: ...Bit Bit Function Bit Function 0 SRDY servo ready 8 HOME homing complete 1 SON servo activated 9 OLW early warning for motor overload 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 ...

Page 309: ...t Bit Function Description Bit 0 Absolute position status 0 normal 1 lost Bit 1 Battery voltage status 0 normal 1 undervoltage Bit 2 Status for absolute number of turns 0 normal 1 overflows Bit 3 PUU status 0 normal 1 overflows Bit 4 Absolute coordinate status 0 established 1 not yet established Bit 5 Bit 15 Reserved P0 051 Encoder absolute position multiple turns Address 0066H 0067H Default 0 Con...

Page 310: ...e position within a single turn When you set P2 070 Bit 1 to 0 for reading the PUU number this parameter indicates the motor s absolute position in PUU P0 053 General range compare DO output filter time Address 006AH 006BH Default 0x0000 Control mode All Unit Setting range 0x0000 0xFFFF Format HEX Data size 16 bit Settings Y Z U X X First filter time Z Third filter time Y Second filter time U Four...

Page 311: ...t Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P0 054 P0 056 General range compare digital output second lower limit Address 0071H 0072H 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 0x2D second set of general range c...

Page 312: ...g range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Refer to the description of P0 058 P0 060 General range compare digital output fourth lower limit Address 0079H 007AH 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 0x2F fourth set of general range compariso...

Page 313: ...tion of voltage exceeding 400V Address 007EH 007FH Default 0 Control mode All Unit ms Setting range 0x00000000 0x7FFFFFFF Format DEC Data size 32 bit Settings Records the total time during which the voltage of the servo drive exceeded 400V ...

Page 314: ... 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 lag TH ...

Page 315: ...wing table Differential signal Pulse train sign 4 Mpps 5V 25 mA Forward and reverse pulse trains AB phase pulse train 2 Mpps Open collector 200 Kpps 24V Max 25 mA Low speed pulseNote U 2 and Y 0 Differential signal 200 Kpps 5V 25 mA Open collector 200 Kpps 24V Max 25 mA Note 1 When the low speed pulse is used U 2 parameter Y has to be 0 no filter function 2 It is suggested that you use the low spe...

Page 316: ...red out Filtered signal Filtered signal 0 8 μs 0 8 μs If the low level 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 low level pulse width is smaller than 0 2 μs it will be filtered out Pulse input Pulse input 0 8 μs 0 8 μs If the first pulse width is smaller than 0 8 μs it may be filtered out and thus two input pulses wil...

Page 317: ...mode 0D 0E 0F PT Position control mode the command source is from the external pulse and the external analog voltage coming soon PR Position control mode the command source is from the 100 sets of internal registers which you can select with DI POS0 DI POS6 Multiple homing methods are also available S Speed control mode the command source is from the external analog voltage and the internal regist...

Page 318: ...tion Communication mode the command source is from the external fieldbus controller which sends the command to the servo drive through direct communication Z direction control Z 0 Z 1 Positive direction P CCW P CW Negative direction N CW N CCW U DIO value control volatile 0 when you switch the mode DIO settings P2 010 P2 022 remain the same 1 when you switch the mode DIO settings P2 010 P2 022 are...

Page 319: ...ue Limit function set this parameter to 1 to limit the torque permanently without occupying a DI setting Alternatively you can enable or 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 with either P1 002 or DI P1 003 Encoder pulse output polarity Address 0106H 0107H Default 0x0000 Control mode All U...

Page 320: ...000 rpm 100 20 Refer to the following examples for the motor s current speed and corresponding voltage output Motor speed MON1 analog monitor output 300 rpm 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 01...

Page 321: ...al Speed command 1 internal speed limit 1 Address 0112H 0113H Default 1000 Control mode S Sz internal Speed command 1 T Tz internal speed limit 1 Unit 0 1 rpm Setting range 60000 to 60000 Format DEC Data size 32 bit Example Internal Speed command 120 12 rpm Internal speed limit positive and negative values are identical Refer to the following descriptions Settings Internal Speed command 1 first in...

Page 322: ...H 0117H Default 3000 Control mode S Sz internal Speed command 3 T Tz internal speed limit 3 Unit 0 1 rpm Setting range 60000 to 60000 Format DEC Data size 32 bit Example Internal Speed command 120 12 rpm Internal speed limit positive and negative values are identical Refer to the following descriptions Settings Internal Speed command 3 third internal Speed command Internal speed limit 3 third inte...

Page 323: ...lues are identical Refer to the following descriptions Settings Internal Torque command 2 second internal Torque command Internal torque limit 2 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...

Page 324: ...n When the number of capturing times P5 038 is 0 capturing is complete 1 enable this function When the number of capturing times P5 038 is 0 it automatically resets the number of capturing times to the default setting Bit 1 Bit 3 Reserved P1 020 Capture masking range Address 0128H 0129H Default 0 Control mode All Unit Pulse unit of capture source Setting range 0 to 100000000 Format DEC Data size 3...

Page 325: ...leration deceleration time limit the time required for the motor to accelerate from 0 to 3 000 rpm with this function If the acceleration deceleration time of the command is shorter than this limit the filter takes effect to smooth the acceleration deceleration which prevents the command from changing too drastically and causing mechanical vibration When the filter is functioning the following err...

Page 326: ...hen the value of the current position command is lower than that of the previous position command the motor does not move PR position command PUU Time sec PR position command PUU Time sec Reverse inhibit function is disabled Reverse inhibit function is enabled Reverse command Reverse command P1 023 P1 024 Reserved P1 025 Low frequency vibration suppression frequency 1 Address 0132H 0133H Default 1...

Page 327: ...s the second low frequency 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 Sets the gain of the second low frequency vibration suppression The higher the value the be...

Page 328: ...the value is high the system is less likely to misjudge but if the mechanical vibration 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 0x0000 0x0020 Format HEX Data size 16 bit Settings Y Z U X X Reserved Z Reserved Y Dynamic brake operation options U Reserved Y optio...

Page 329: ...nt the acceleration time for the Speed command from zero to the rated speed 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 when using an analog command you must set P1 036 larger than 0 so that the acceleration and deceleration follow a trapezoid curve P1 035 S curve deceleration constant Addr...

Page 330: ...individually Even if you set P1 036 to 0 the acceleration and deceleration still follow a trapezoid curve Note the following error compensation P1 036 0 P1 036 1 P1 036 1 Smoothing function for S curve Disabled Disabled Enable Following error compensation function Disabled Enable Determined by P2 068 X P1 037 Load inertia ratio Address 014AH 014BH Operation interface Panel software Communication C...

Page 331: ...get speed signal is triggered and DO TSPD is on P1 040 First set of 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 Voltage input Setting value 10 Set the rotation speed corresponding to 10V maximum vo...

Page 332: ... 10V the torque control command 10V 10 10 10 When the external analog voltage input is 5V the torque control command 5V 10 10 5 P1 042 Enable delay time for magnetic brake Address 0154H 0155H Default 0 Control mode All Unit ms Setting range 0 1000 Format DEC Data size 16 bit Settings Sets the delay time from Servo On status to the activation of the magnetic brake signal DO 0x08 BRKR ON ON OFF OFF ...

Page 333: ...ault 16777216 Control mode PT PR Unit pulse Setting range 1 to 229 1 Format DEC Data size 32 bit Settings For the E Gear ratio setting refer to Section 6 2 5 For multiple E Gear ratio numerator settings refer to P2 060 P2 062 Note do not change the setting in the Servo On state P1 045 E Gear ratio denominator M Address 015AH 015BH Default 100000 Control mode PT PR Unit pulse Setting range 1 to 231...

Page 334: ...rpm Setting range 0 300 Format DEC Data size 16 bit Settings In Speed mode when the deviation between the Speed command and the motor feedback speed is less than this parameter and the difference reaches the time set in P1 049 the digital output DO SP_OK DO code 0x19 is on Note when the deviation between the Speed command and the motor feedback speed exceeds the range set in P1 047 the system reca...

Page 335: ...d option 0 output status is not retained 1 output status is retained Y position deviation alarm AL380 option 0 AL380 not functioning 1 AL380 functioning Diagram DLY 1 Position command triggered 2 DO Cmd_OK 4 DO TPOS 5 DO MC_OK 6 DO MC_OK 3 Command output P1 048 X 0 output not retained P1 048 X 1 output retained 7 Keep activated after first time on 8 AL380 triggered 7 P1 048 Y 1 Description 1 Comma...

Page 336: ... triggered Use P1 048 Y to set whether AL380 is functioning P1 049 Accumulated time to reach desired speed Address 0162H 0163H Default 0 Control mode S Sz Unit ms Setting range 0 65535 Format DEC Data size 16 bit Settings Refer to the description of P1 047 P1 050 P1 051 Reserved P1 052 Regenerative resistor value Address 0168H 0169H Default Determined by the model Refer to the following table Cont...

Page 337: ...rnal regenerative resistor in series P Setting P1 052 20 Ω P1 053 2000 W C 1 kW 10Ω 1 kW 10Ω External regenerative resistor in parallel P Setting P1 052 5 Ω P1 053 2000 W P1 054 Pulse range for position reached Address 016CH 016DH Default 167772 Control mode PT PR Unit pulse Setting range 0 1000000 Format DEC Data size 32 bit Settings In Position PT mode when the deviation pulse number is smaller ...

Page 338: ... on If the value is over 100 this function is disabled P1 057 Motor hard stop torque percentage Address 0172H 0173H Default 0 Control mode All Unit Setting range 0 300 Format DEC Data size 16 bit Settings Sets the protection level For the percentage of rated torque set the value to 0 to disable the function and set the value to 1 or above to enable the function P1 058 Motor hard stop protection ti...

Page 339: ...the command at the end Therefore if the speed loop receives the command from the controller for the position control loop then the low pass filter is recommended If the setting is only for the speed control then use the moving filter for better smoothing Command that has gone through analog speed linear filtering Original step analog Speed command Holding time P1 060 P1 061 Reserved P1 062 Percent...

Page 340: ...d X setting for position command issued by the analog signal 0 disable 1 enable Y initial position setting 0 after the servo is on the motor regards the current position as the position when the voltage is 0V Then the motor will operate to the position according to the command issued by analog input Motor position Turn Analog input command V Current command level The current position is regarded a...

Page 341: ...Operation interface Panel software Communication Control mode PT Default 0 0 0 Data size 16 bit Unit 1 cycle 0 1 cycle Format One decimal DEC Setting range 0 0 200 0 0 2000 Example 1 5 1 5 cycles 15 1 5 cycles Settings Rotation number setting when the maximum voltage 10V is input to the analog Position command If the setting on the panel is 3 0 and the external voltage input is 10V then the Positi...

Page 342: ...ed Y Selection of OA OB OZ output source U Reserved Y selection of OA OB OZ output source 0 output source is from the encoder connected to CN2 1 reserved 2 output source is the pulse command from CN1 If P1 097 0 the output ratio has to be 1 1 If you need to change the output ratio refer to the settings of P1 046 and P1 097 P1 075 Reserved P1 076 Maximum speed for encoder output OA OB Address 0198H...

Page 343: ... Settings When the absolute value of the analog input voltage is higher than this set parameter for more than 50 ms AL042 occurs The comparison value for 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 mo...

Page 344: ...mination 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 reached due to lack of...

Page 345: ... 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 346: ... pulse output refers to the value of P1 046 Refer to Example 1 b When P1 097 0 OA OB pulse output refers to the values of P1 046 and P1 097 Refer to Example 2 2 When P1 074 Y 2 output source is the pulse command from CN1 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 ...

Page 347: ...ve has not issued the command it is recommended that you set this parameter if disconnection detection is needed 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 of P0 003 YX then the analog monitor output voltage refers to the ...

Page 348: ...can be applied to all control modes When the filtered motor speed exceeds this set speed AL056 is triggered P1 112 Single direction torque limit Address 01F0H 01F1H Default 500 Control mode All Unit Setting range 500 to 500 Format DEC Data size 16 bit Settings Sets the torque limit for one of the motor operation directions If the value of P1 112 is smaller than the values of P1 012 P1 014 the torq...

Page 349: ...dress 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 the mechanical vibration during operation Note this gain parameter is disabled when the two dimen...

Page 350: ... switching condition P2 006 Speed integral compensation Address 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 ...

Page 351: ...tings When environmental interference is high increasing this value can enhance the control stability If you set the value too high it affects the response time P2 010 DI1 functional planning Address 0214H 0215H Default 0x0101 B3 L 0x0100 B3 F E M Control mode All Unit Setting range 0x0000 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings YX Z U YX Input function selection Z ...

Page 352: ...H Default 0x0117 B3 L 0x0021 B3 F E M Control mode All Unit Setting range 0x0000 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 B3 L 0x0100 B3 F E M Control mode All Unit Setting range 0x0000 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings Refer to t...

Page 353: ...mat HEX Data size 16 bit Settings Refer to the description of P2 010 There is no physical pin for DI7 on B3 F B3 E and B3 M models DI7 is a virtual digital input which you can use when the number of physical DI points is insufficient and trigger through communication You can set this virtual DI for a normally closed contact if the DI has to switch on as soon as power is applied such as DI SON P2 0...

Page 354: ... 0 set this output contact to be normally closed B contact 1 set this output contact to be normally open A contact P2 019 DO2 functional planning Address 0226H 0227H Default 0x0103 B3 L 0x0100 B3 F E M Control mode All Unit Setting range 0x0000 0x013F last two codes are DO codes Format HEX Data size 16 bit Settings Refer to the description of P2 018 P2 020 DO3 functional planning Address 0228H 022...

Page 355: ...Format HEX Data size 16 bit Settings Refer to the description of P2 018 P2 023 Notch filter frequency 1 Address 022EH 022FH Default 1000 Control mode All Unit Hz Setting range 50 5000 Format DEC Data size 16 bit Settings The first setting for resonance frequency This function is disabled if P2 024 is 0 P2 043 and P2 044 are the second Notch filter parameters P2 024 Notch filter attenuation level 1...

Page 356: ... 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 setting P2 026 1 In Speed mode increase the value of this parameter to reduce speed overshoot 2 In Position mode decrease the value of this parameter to reduce position overshoot Note this gain parameter is disabled when the two dimensional control func...

Page 357: ...g 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 switching 1 P2 006 x 0 P2 026 x 0 Before switching P2 006 x 100 P2 026 x 100 After switching P2 028 Gain switching time constant Address 0238H 0239H Default 10 Control mode All Unit ms Setting range 0 1000 0 disable this function Forma...

Page 358: ...al error code positive negative limit emergency stop In this mode DO SRDY is on commands are accepted in each mode and can be observed through the scope function of the software but the motor does not operate Use this mode to examine command accuracy 7 Reserved 8 Back up all current parameter values to EEPROM so that the values are retained after power cycling The panel displays to rom during exec...

Page 359: ...in adjustment 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 when two dimensional cont...

Page 360: ...e 32 bit Settings In Position mode this parameter sets the condition of 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 0x0100 Control mode All Unit Setting range 0x0000 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings Refer to the...

Page 361: ... HEX Data size 16 bit Settings Refer to the description of P2 010 There is no physical pin for DI11 on all models DI11 is a virtual digital input which you can use when the number of physical DI points is insufficient and trigger through communication You can set this virtual DI for a normally closed conact if the DI has to swtich on as soon as power is applied such as DI SON P2 039 DI12 functiona...

Page 362: ...applied such as DI SON P2 041 DO6 functional planning Address 0252H 0253H Default 0x0100 Control mode All Unit Setting range 0x0000 0x013F last two codes are DO codes Format HEX Data size 16 bit Settings Refer to the description of P2 018 P2 042 Reserved P2 043 Notch filter frequency 2 Address 0256H 0257H Default 1000 Control mode All Unit Hz Setting range 50 5000 Format DEC Data size 16 bit Setti...

Page 363: ...xed resonance suppression parameter U Reserved X auto resonance suppression function 0 disable auto resonance suppression After the function is disabled the existing resonance suppression parameter values do not change 1 auto resonance suppression mode 1 when the servo determines it is stable 2 the servo stores the resonance suppression points to EEPROM non volatile memory for parameters and disab...

Page 364: ...essed no other interference that affects the operation is found and the motor speed is maintained at above 10 rpm for 3 minutes Y 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 Bit 0 Notch 1 auto manual setting 0 auto resonance suppression 1 manually set the first set of resonan...

Page 365: ...software Communication Control mode All Default 1 0 10 Data size 16 bit Unit 1 ms 0 1 ms Setting range 0 0 100 0 0 1000 Format One decimal DEC Example 1 5 1 5 ms 15 1 5 ms Settings Sets the filter for speed estimation Adjusting this parameter can improve the extent of the speed jitter but when the value is too high the phase margin affecting the speed loop decreases and thus makes the system unsta...

Page 366: ...ze 16 bit Settings Increase the position control integral compensation to reduce the position steady state errors If the value is too high it may cause position overshoot and noise P2 054 P2 059 Reserved P2 060 E Gear ratio numerator N2 Address 0278H 0279H Default 16777216 Control mode PT Unit pulse Setting range 1 to 229 1 Format DEC Data size 32 bit Settings The numerator of the E Gear ratio can...

Page 367: ...ngs 7 6 5 4 3 2 1 0 Bit 15 14 13 12 11 10 9 8 Bit Bit Function Description Bit 0 Bit 2 Reserved Bit 3 Methods for regenerative energy consumption 0 determined by the servo s internal algorithm 1 determined by the DC Bus voltage Bit 4 Bit 5 Reserved Bit 6 Pulse error pulse frequency is too high protection function in PT mode 0 enable the function 1 disable the function Bit 7 Reserved Bit 8 U V W wi...

Page 368: ... function uses the register Speed command with acceleration or deceleration to determine if this function should be enabled The motor is clamped at the position where ZCLAMP conditions are met Bit 10 1 and command source is the analog voltage ZCLAMP function uses the analog Speed command without acceleration deceleration to determine if this function is enabled When ZCLAMP conditions are met the m...

Page 369: ...mands for negative direction opertaion and stops receiving pulse position commands for positive direction operataion In PT mode if the motor reaches the NL the servo drive receives pulse position commands for positive direction operation and stops receiving pulse position commands for negative direction operation Bit 12 Leak phase detection function 0 enable the leak phase AL022 detection function...

Page 370: ...low voltage error is cleared automatically Bit 3 Reserved Bit 4 AL044 detection servo function overload warning function switch 0 enable the function 1 disable the function Bit 5 Reserved Bit 6 Leak phase error latch 0 disable the function so leak phase error AL022 is cleared automatically 1 enable the function so leak phase error AL022 is not cleared automatically Bit 7 Bit 8 Reserved Bit 9 Low v...

Page 371: ... triggered 1 DI STP is level triggered P2 069 Absolute encoder Address 028AH 028BH Default 0x0000 Control mode All Unit Setting range 0x0000 0x0111 Format HEX Data size 16 bit Settings Y Z U X X Operation mode setting Z Index coordinates function setting when overflow occurs Y Pulse command setting when absolute position is lost U Reserved X operation mode setting 0 incremental type An absolute ty...

Page 372: ...ng AL289 PUU and AL062 pulse 1 no overflow warning Bit 3 Bit 15 Reserved P2 071 Absolute position homing Address 028EH 028FH Default 0x0000 Control mode All Unit Setting range 0x0000 0x0001 Format HEX Data size 16 bit Settings When P2 071 is 1 the current absolute position of the encoder is the home position Set P2 008 to 271 and then you can enable this function P2 072 P2 088 Reserved P2 089 Comm...

Page 373: ...e first set of vibration elimination P1 089 P1 091 Vibration elimination takes effect only when the two degrees of freedom control function P2 094 Bit 12 is enabled 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 degrees of freedom control function...

Page 374: ...function is disabled if P2 046 is 0 P2 045 P2 046 and P2 097 are the third Notch filter parameters P2 098 Notch filter frequency 4 Address 02C4H 02C5H Default 1000 Control mode All Unit Hz Setting range 50 5000 Format DEC Data size 16 bit Settings The fourth value of resonance frequency This function is disabled if P2 099 is 0 P2 098 P2 099 and P2 100 are the fourth set of Notch filter parameters ...

Page 375: ...requency 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 0 disable this function Format DEC Data size 16 bit Settings The fifth Notch filter attenuation level For example if you set the attenuation level to 5 then the value...

Page 376: ...igher but if the bandwidth margin is insufficient it may cause machine jitter If the value is smaller 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 Higher bandwidth Moderate bandwidth Lower bandwidth P2 106 Automatic gain adjustment level 2 Address 02D4H 02D5H Default 2000 Control mode PT PR Unit pulse Setting range 1 503316...

Page 377: ...efault 0x0018 Control mode PT PR S Sz Unit Setting range 0x0000 0x153F 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 Reserved Bit 1 Enable or disable AL089 0 disable AL089 1 enable AL089 Bit 2 Reserved Bit 3 Auto gain adjustment mode 0 reserved 1 cycle adjustment Bit 4 Bit 15 Reserved ...

Page 378: ...ble to RS 485 CANopen DMCNET and EtherCAT 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 B3 L M E 0x3203 B3 F Control mode All Unit Setting range 0x0000 0x0405 B3 L M E 0x0000 0xF405 B3 F Format HEX Data size 16 bit Se...

Page 379: ... 2 MODBUS ASCII 1 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 Modbus communication error handling Address 0306H 0307H Default 0x0000 Control mode All Unit Setting range 0x0000 0x0001 Format HEX Data size 16 bit Settings 0 display warning and let motor continue operating 1 disp...

Page 380: ...0EH 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 RS 485 communication response from servo drive to controller P3 008 Reserved P3 009 Communication synchronization Address 0312H 0313H Default 0x5055 Control mode CANopen Unit Setting range Shown as follows Format HEX Data size 16 bit Settings The synchronous setting is divid...

Page 381: ...s Range 0 1 0 1 0 1 X reserved Y motor status when communication error occurs 0 motor keeps operating when communication error AL170 occurs only applicable in DMCNET mode and CANopen B 1 motor switches to Servo Off status when communication error AL180 occurs Z source for torque limit only applicable in DMCNET mode 0 communication commands are the source for the torque limit 1 DI commands are the ...

Page 382: ... 0319H Default 0x0000 Control mode CANopen DMCNET EtherCAT 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 EtherCAT values Reserved Reserved Range 0 1 X reserved Y reserved Z P parameters are overwritten by the CANopen DMCNET EtherCAT parameters Z 0 when you cycle the power on the servo drive or reset the communic...

Page 383: ...eters are stored in EEPROM X 0 when you write parameters through PDOs parameters are not stored in EEPROM Note when using OD 1010 Store Parameter the servo drive stores the CANopen OD in non volatile memory If P3 012 Z 0 then the initial values are the corresponding CANopen OD vaues specified in the CANopen Stardard document If P3 012 Z 1 then the initial values are the values listed in the above ...

Page 384: ...f the alarm occurs it means the allowable duration for packet loss exceeds the set range Y Z U X Digit UZ YX Function AL180 alarm condition AL3E3 alarm condition Range 0x00 disabled 0xFF default 02 14 YX AL3E3 alarm condition allowable cycle for elapsed time applicable to IP CSP CSV CST modes AL3E3 occurs when the servo drive does not receive the PDO within the set cycle When the communication cyc...

Page 385: ...32 bit Settings The second to last abnormal status record Low word LXXXX the alarm number High word hYYYY the alarm number 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 alarm number P4 003 Fault record N 3 Address 040...

Page 386: ...el displays JOG Pressing the UP key controls the 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...

Page 387: ...through communication DO and then write to P4 006 P4 007 Multi function for digital input Address 040EH 040FH Default 0x0000 Control mode All Unit Setting range 0x0000 0x3FFF 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 o...

Page 388: ...ting range 0 6 Format DEC Data size 16 bit Settings 0 reserved 4 execute current 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 volta...

Page 389: ...ction must be enabled by setting P2 008 Do not change the auxiliary adjustment as this 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...

Page 390: ...ally 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 018 Current encoder W2 phase offset adjustment Address 0424H 0425H 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 c...

Page 391: ...ustment value cannot reset The function must be enabled by setting P2 008 P4 022 Analog speed input offset Address 042CH 042DH Default 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 Setting...

Page 392: ... 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 035 F...

Page 393: ... 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 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 homing in forward...

Page 394: ...valid range Example to trigger PR 2 Method 1 Trigger by DI Register Position command selection 1 99 Bit 1 DI 0x12 Trigger command DI 0x08 Method 2 Trigger by P5 007 Set P5 007 to 2 to start executing PR 2 Write 1000 to execute stop command which is the same as DI STP When reading P5 007 if the command is incomplete the drive reads the current command 1 99 If the command is complete but DO TPOS is ...

Page 395: ...3647 Format DEC Data size 32 bit Settings In PR mode if the motor rotates in the negative direction and its feedback position exceeds the value of P5 009 AL285 occurs P5 010 Data array data size Address 0514H 0515H Default Control mode All Unit Setting range Read only Format DEC Data size 16 bit Settings Data size N x 32 bits means size N of data array P5 011 Data array address for reading and wri...

Page 396: ...8 to 2147483647 Format DEC Data size 32 bit Settings Window 2 when you read the parameter with the panel or read and write the parameter through communication the value set inP5 011 adds 1 but the panel is write protected Refer to Section 7 2 1 Data array for detailed instructions P5 014 Reserved P5 015 PATH 1 PATH 2 volatile setting Address 051EH 051FH Default 0x0000 Control mode PR Unit Setting ...

Page 397: ...ition pulse command Address 0524H 0525H Default 0 Control mode All Unit pulse Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Pulse count from the pulse command P5 019 Reserved P5 020 Acceleration deceleration time Number 0 Address 0528H 0529H Default 200 Control mode PR Unit ms Setting range 1 to 65500 Format DEC Data size 16 bit Settings The duration of acceleration a...

Page 398: ...5 024 Acceleration deceleration time Number 4 Address 0530H 0531H Default 800 Control mode PR Unit ms Setting range 1 to 65500 Format DEC Data size 16 bit Settings Refer to P5 020 for the acceleration deceleration time in PR mode P5 025 Acceleration deceleration time Number 5 Address 0532H 0533H Default 900 Control mode PR Unit ms Setting range 1 to 65500 Format DEC Data size 16 bit Settings Refer...

Page 399: ... 029 Acceleration deceleration time Number 9 Address 053AH 053BH Default 2000 Control mode PR Unit ms Setting range 1 to 65500 Format DEC Data size 16 bit Settings Refer to P5 020 for the acceleration deceleration time in PR mode P5 030 Acceleration deceleration time Number 10 Address 053CH 053DH Default 2500 Control mode PR Unit ms Setting range 1 to 65500 Format DEC Data size 16 bit Settings Ref...

Page 400: ...ting range 1 to 1500 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 035 Acceleration deceleration time Number 15 Address 0546H 0547H Default 30 Control mode PR Unit ms Setting range 1 to 1200 Format DEC Data size 16 bit Settings This parameter is for the deceleration time for a...

Page 401: ...eter indicates the number of data expected to be captured readable and writable When Capture activates this parameter indicates the remaining number of data to be captured read only each time it captures 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 Capture cannot exceed 100 P5 039 Capture Activate CAP con...

Page 402: ...s 0550H 0551H Default 0 Control mode PR Unit ms Setting range 0 to 32767 Format DEC Data size 16 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 to 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...

Page 403: ...ched Number 5 Address 055AH 055BH Default 800 Control mode PR Unit ms Setting range 0 to 32767 Format DEC Data size 16 bit Settings The sixth delay time 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 to 32767 Format DEC Data size 16 bit Settings The seventh delay time of PR mode P5 047 Delay time after position ...

Page 404: ...PR mode P5 050 Delay time after position reached Number 10 Address 0564H 0565H Default 3000 Control mode PR Unit ms Setting range 0 to 32767 Format DEC Data size 16 bit Settings The eleventh delay time of PR mode P5 051 Delay time after position reached Number 11 Address 0566H 0567H Default 3500 Control mode PR Unit ms Setting range 0 to 32767 Format DEC Data size 16 bit Settings The twelfth delay...

Page 405: ...Data size 16 bit Settings The fifteenth delay time of PR mode P5 055 Delay time after position reached Number 15 Address 056EH 056FH Default 5500 Control mode PR Unit ms Setting range 0 to 32767 Format DEC Data size 16 bit Settings The sixteenth delay time of PR mode P5 056 P5 059 Reserved P5 060 Target speed setting 0 Address 0578H 0579H Operation interface Panel software Communication Control mo...

Page 406: ...dress 057CH 057DH Operation interface Panel software Communication Control mode PR Default 100 0 1000 Data size 32 bit Unit 1 rpm 0 1 rpm Setting range 0 0 to 6000 0 0 to 60000 Format DEC DEC Example 15 15 rpm 150 15 rpm Settings Third target speed of PR mode P5 063 Target speed setting 3 Address 057EH 057FH Operation interface Panel software Communication Control mode PR Default 200 0 2000 Data s...

Page 407: ...dress 0582H 0583H Operation interface Panel software Communication Control mode PR Default 500 0 5000 Data size 32 bit Unit 1 rpm 0 1 rpm Setting range 0 0 to 6000 0 0 to 60000 Format DEC DEC Example 15 15 rpm 150 15 rpm Settings Sixth target speed of PR mode P5 066 Target speed setting 6 Address 0584H 0585H Operation interface Panel software Communication Control mode PR Default 600 0 6000 Data s...

Page 408: ...ress 0588H 0589H Operation interface Panel software Communication Control mode PR Default 1000 0 10000 Data size 32 bit Unit 1 rpm 0 1 rpm Setting range 0 0 to 6000 0 0 to 60000 Format DEC DEC Example 15 15 rpm 150 15 rpm Settings Ninth target speed of PR mode P5 069 Target speed setting 9 Address 058AH 058BH Operation interface Panel software Communication Control mode PR Default 1300 0 13000 Dat...

Page 409: ...ess 058EH 058FH Operation interface Panel software Communication Control mode PR Default 1800 0 18000 Data size 32 bit Unit 1 rpm 0 1 rpm Setting range 0 0 to 6000 0 0 to 60000 Format DEC DEC Example 15 15 rpm 150 15 rpm Settings Twelfth target speed of PR mode P5 072 Target speed setting 12 Address 0590H 0591H Operation interface Panel software Communication Control mode PR Default 2000 0 20000 D...

Page 410: ...ress 0594H 0595H Operation interface Panel software Communication Control mode PR Default 2500 0 25000 Data size 32 bit Unit 1 rpm 0 1 rpm Setting range 0 0 to 6000 0 0 to 60000 Format DEC DEC Example 15 15 rpm 150 15 rpm Settings Fifteenth target speed of PR mode P5 075 Target speed setting 15 Address 0596H 0597H Operation interface Panel software Communication Control mode PR Default 3000 0 3000...

Page 411: ...parameters in advance The function of the parameter is determined by the macro command Not every macro command requires this parameter P5 094 Motion control macro command command parameter 3 Address 05BCH 05BDH 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 fun...

Page 412: ...function When the protection function is activated the failure code is returned if this function is executed repeatedly Macro parameters P5 093 parameter groups 5 6 and 7 are write protected 0 no protection 1 enable protection P5 094 read protection range of parameter and data array 1 to 7 1 parameter groups 5 6 7 and data array are readable 0 parameter groups 5 6 7 and data array are unreadable 1...

Page 413: ...dly 0xF043 password value exceeds the allowable range 1 to 16777215 0xF044 the maximum number of failed password attempts has been reached and it is locked You can only unlock by resetting the parameters P2 008 10 but this also resets all parameters to the default values 0xEnnn incorrect password setting failed to unlock nnn remaining attempts to enter the password The number decrements by 1 after...

Page 414: ...off 0 no action 1 D execute PR 51 63 Y PR triggered when EV2 is off 0 no action 1 D execute PR 51 63 Z PR triggered when EV3 is off 0 no action 1 D execute PR 51 63 U PR triggered when EV4 is off 0 no action 1 D execute PR 51 63 P5 100 Data array window 3 for reading and writing Address 05C8H 05C9H Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit S...

Page 415: ...ress 05CCH 05CDH Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Window 5 when you read or write the parameter by any method the value set by P5 011 does not add 1 Refer to Section 7 2 1 Data array for detailed instructions P5 103 Data array window 6 for reading and writing Address 05CEH 05CFH Default 0 Control mode All Unit Setting range...

Page 416: ...tion 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 execute homing 1 execute homing automatically servo switches to on for the first time after applying pow...

Page 417: ...05H 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 bit Low bit C D B A Y Z U X A SPD Target speed index X TYPE Path type B DLY Delay time index Y OPT Option C AUTO 1 Z ACC Acceleration time index D Reserved U DEC Deceleration time index Definitions are as follows YX Y OP...

Page 418: ...e index 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 10 P5 030 2500 11 11 P5 031 3000 12 12 P5 032 5000 13 13 P5 033 8000 14 14 P5 034 50 15 15 P5 035 30 A SPD target speed index A Corresponding parameter Default value ms 0 P5 060 20 1 P5 061 50 2...

Page 419: ...l Description of each bit Bit Function Description Bit 0 Bit 1 Reserved Bit 2 AUTO 0 disable auto function 1 once current PR path is finished automatically load the next path 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 Refer to Chapter 7 for detailed instructions P6 003 PATH 1 data Addres...

Page 420: ...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 421: ...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 422: ...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 423: ... 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 424: ...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 425: ...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 426: ...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 427: ...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 428: ...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 429: ...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 430: ...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 431: ...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 432: ...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 433: ...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 434: ...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 435: ...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 436: ...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 437: ...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 438: ...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 439: ...ameters ASDA B3 8 154 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 440: ...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 441: ...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 442: ...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 443: ...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 444: ...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 445: ...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 446: ...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 447: ...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 448: ...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 449: ...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 450: ...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 451: ...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 452: ...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 453: ...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 454: ...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 455: ...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 456: ...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 457: ...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 458: ...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 459: ...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 460: ...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 461: ...T PR S 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 the time this DI is on the motor does not operate even when there is a change in the analog command When this DI is off the motor completes the command that was changed during the ti...

Page 462: ...red 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 0x10 DI name Description Triggering method Control mode SPDLM In Torque mode motor speed is limited when this DI is on and source of the limited Speed command is the internal register or analog voltage Level triggered ...

Page 463: ... the handshaking signal When DI ABSQ is off the controller issues the request when DI ABSQ is on the controller has processed the ABSD signal This DI is only valid when DI ABSE is on Refer to Figure 10 3 5 1 1 for the timing diagram Rising and falling edge triggered All Value 0x14 0x15 DI name Description Triggering method Control mode SPD0 SPD1 Register Speed command selection 1 4 Speed command n...

Page 464: ...x2B Level triggered Dual mode Value 0x21 DI name Description Triggering method Control mode EMGS When this DI is on the motor stops immediately Level triggered All Value 0x22 DI name Description Triggering method Control mode NL CWL Negative inhibit limit contact B Level triggered All Value 0x23 DI name Description Triggering method Control mode PL CCWL Positive inhibit limit contact B Level trigg...

Page 465: ... the negative direction Level triggered All Value 0x39 DI name Description Triggering method Control mode EV1 Event trigger command 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 DO name...

Page 466: ...o function when this DI is on Note this function has to be set to DI4 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 467: ...ox 300 ns Level triggered All Value 0x03 DO name Description Triggering method Control mode ZSPD When 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 Descriptio...

Page 468: ...ng commands or feedback Then this DO turns off When the homing command is triggered this DO is off after homing is complete this DO is on Level triggered PR Value 0x0D DO name Description Triggering method Control mode ABSW When there are absolute encoder alarms this DO is on All Value 0x0E DO name Description Triggering method Control mode IDXD Indexing coordinate is defined When homing is comple...

Page 469: ...gering method Control mode OVF Position command feedback overflows Level triggered PT PR Value 0x13 DO name Description Triggering method Control mode SNL SCWL Software limit negative limit Level triggered PR Value 0x14 DO name Description Triggering method Control mode SPL SCCWL Software limit positive limit Level triggered PR Value 0x15 DO name Description Triggering method Control mode Cmd_OK W...

Page 470: ...10 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 and P0 059 then this DO is on All Value 0x2F DO name Description Triggering method Control mode Zon4 Fourth set of general range comparison...

Page 471: ...rol 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 0x39 DO name Description Triggering method Control mode SPO_9 Output bit 09 of P4 006 Level triggered All Value...

Page 472: ...ace 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 ABSD data This output is only valid when DI ABSE is on Re...

Page 473: ... variables 17h 18h 19h and 1Ah To monitor P0 009 set P0 017 to the value to read refer to P0 002 Read the data specified by P0 017 through communication Or set P0 002 to 23 and the panel displays VAR 1 and then the content value of P0 009 The property code of each monitoring variable is described in the following table Property Description B BASE basic variables Select the variables with the UP DO...

Page 474: ... Unit Volt 015 0Fh Load inertia ratio B D1 Dec Ratio of the load inertia to the motor inertia Unit 0 1 times 016 10h IGBT temperature B Temperature of IGBT Unit C 017 11h Resonance frequency B Dec Resonance frequency of the system consists of two groups of frequencies F1 and F2 When monitoring from the panel press the SHIFT key to switch between F1 and F2 F2 displays zero decimal places F1 display...

Page 475: ...ister or position loop 051 33h Speed feedback immediate D1 Dec Current actual motor speed Unit 0 1 rpm 053 35h Torque command integrated D1 Dec Integrated Torque command Unit 0 1 Source includes analog register or position loop 054 36h Torque feedback D1 Dec Current actual motor torque Unit 0 1 055 37h Current feedback D2 Dec Current actual motor current Unit 0 01 ampere Amp 056 38h DC Bus voltage...

Page 476: ... 6Fh Error code of the servo drive Error code from the servo drive control loop of the servo only not including the motion controller 123 7Bh Value returned when monitoring by panel Monitoring value displayed when returned to the monitoring panel 80 Encoder communication error rate When this value continues to increase it indicates that there is communication interference In an interference free e...

Page 477: ...Parameters ASDA B3 8 192 8 This page is intentionally left blank ...

Page 478: ...k refer to the related DMCNET CANopen and EtherCAT documentation The details of ASCII and RTU 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 3 9 4 Writing and reading communication parameters 9 14 9 5 RS 485 communication specification 9 15 9 ...

Page 479: ...when the servo drive is installed in a quiet environment If the required transmission speed is over 38 400 bps a 15 meter cable is recommended to ensure data transmission accuracy 2 The numbers 4 and 5 in 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 480: ...can Standard Code for Information Interchange and RTU Remote Terminal Unit You can set the communication protocol ASCII or RTU with P3 002 according to your requirements The ASDA B3 servo drive also supports these functions reading multiple words 03H writing single word 06H and writing multiple words 10H Refer to the following descriptions Code description ASCII mode In ASCII mode data is transmit...

Page 481: ...lows 10 bit character frame for 7 bit character 7N2 Start bit Stop bit Stop bit 0 1 2 3 4 5 6 7 data bits 10 bit character frame L H H 7E1 Start bit Even Parity Stop bit 0 1 2 3 4 5 6 7 data bits 10 bit character frame L H 7O1 Start bit Odd Parity Stop bit 0 1 2 3 4 5 6 7 data bits 10 bit character frame L H 11 bit character frame for 8 bit character 8N2 Start bit 7 Stop bit 0 1 2 3 4 5 6 8 data b...

Page 482: ...n code 1 byte consists of 2 ASCII codes Data n 1 Data content n word 2n byte consists of 4n ASCII codes n 10 Data 0 LRC Error check 1 byte consists of 2 ASCII codes End 1 End code 1 0DH CR End 0 End code 0 0AH LF RTU mode Start A silent interval of more than 10 ms Slave Address Communication address 1 byte Function Function code 1 byte Data n 1 Data content n word 2n byte n 10 Data 0 CRC Error che...

Page 483: ...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 F 4 8 0 End 1 0DH CR LRC 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 Start Data Address 02H High D...

Page 484: ... 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 9 LRC 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 Data Content 00H High ...

Page 485: ...e number of data in one single access is 8 The slave sends a response message to the master after writing is complete 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 D 4 A Content of the ...

Page 486: ...1H 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 mod...

Page 487: ...al Redundancy Check See the following details LRC ASCII mode To calculate the LRC value 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 B 4 End 1 0DH CR End 0 0AH LF ...

Page 488: ...it 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 i...

Page 489: ...eturn 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 unsig...

Page 490: ...R 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 data is read rdat I inportb PORT RDR read data from RDR ...

Page 491: ... communication speed the next data is written at the new transmission speed after the new speed is set P3 002 when changing the communication protocol setting the next data is written with the new communication protocol setting after the new values are set P4 005 JOG control Refer to Chapter 8 for detailed descriptions P4 006 force digital output DO contact control You can use this parameter to te...

Page 492: ...ansmission accuracy Transmission 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 it has metal shielded cover and a grounding wire which ensures better anti interference ability Topology For topology the closer to the master st...

Page 493: ... methods are as follows 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 6 Add X capacitor and Y capacitor which are IEC 60384 14 cer...

Page 494: ...ystem 10 9 10 2 2 Installing and replacing a battery 10 11 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 10...

Page 495: ...he 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 A Y absolute motor ECM B3 series servo motor ECM B3 A P abso...

Page 496: ...the battery with cable 0991023281 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 t...

Page 497: ...Battery life expectancy month ECM A3 A ECM B3 A ECM B3 P 30 87 5 ECMC W ECM A3 Y 45 58 33 ECMC V 35 75 2 The battery voltage can keep at 3 6V or above up to 5 years when stored in a cool dry place Note 1 The battery life expectancy is measured with a test using a servo drive a motor and a single battery 2 The current consumption is nearly 0 when the absolute origin coordinates are not established ...

Page 498: ...ttery box dimensions Single battery box Delta part number ASD MDBT0100 35 1 37 22 2 86 R3 25 68 2 67 Unit mm inch Weight 44 g Dual battery box Delta part number ASD MDBT0200 64 5 2 54 45 1 77 26 1 02 R2 5 72 5 2 85 Unit mm inch Weight 79 23 g ...

Page 499: ...w these instructions when wiring Incorrect wiring may cause battery explosion Battery box CN2 connector Connect to the servo drive Connect to the motor Quick connector Quick connector for the encoder Female Male Encoder Servo drive View from this side View from this side 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 BA...

Page 500: ...e select cables according to the in the model name B represents flexible cables and A represents standard cables Connection method Caution Follow these instructions when wiring Incorrect wiring may cause battery explosion Military connector CN2 connector Connect to the servo drive Connect to the motor 1 7 4 1 0 8 2 3 9 Battery box Pin No Terminal Color 1 T White 2 T White Red 3 4 DC 5V Brown 5 BAT...

Page 501: ...y box cable Battery box cable that connects to the encoder part number 3864573700 25 5 0 98 0 2 15 5 0 59 0 2 200 10 7 87 0 4 inch Battery box cable for self wiring part number 3864850600 200 10 7 87 0 4 5 1 0 1 0 04 15 5 0 59 0 2 2 1 Unit mm inch ...

Page 502: ...er cable 2 Single battery box absolute type 3 CN2 connector 4 Battery box wiring DO NOT wire Pin 3 and Pin 4 of the servo drive CN2 connector They are for internal use only wiring them will cause damage to the internal circuit When using an absolute encoder the battery supplies power directly to the encoder so wiring to the CN2 connector of the servo drive is not required ...

Page 503: ... Do not connect this pin For internal use only 4 Do not connect this pin For internal use only 1 1 1 White 5 T Serial communication signal 2 4 2 White Red 6 T Serial communication signal 10 9 8 Case Shield Shielding 6 2 6 Red Battery 3 6V 5 5 5 Black Battery ground Note for the absolute battery wiring refer to Section 3 1 5 Specification for the encoder connector Dual battery box connects to CN2 1...

Page 504: ...ion cable Note that the cable clamp should be placed close to the heat shrink tube A Cable clamp B Heat shrink tube Step 3 Plug in the lead wire and tighten the cable clamp 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 battery wire ...

Page 505: ...oring variable 26h to check the battery power When it displays 31 it means the voltage is below 3 1V Important When the voltage is below 2 7V 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 suggested that you replace the battery when the main power to the servo dr...

Page 506: ...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 sett...

Page 507: ...the system is operating 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 motors running direction You can read the cycle number and the pulse number either wi...

Page 508: ...483648 and then increases from 2147483648 to 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 509: ...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 rising edge triggered it needs to wait for TS before proceeding to the next step 2 After reaching TS the controller starts to reset the coordinate system When DI ABSC turns on and remains on for TQ the pulse number is set to zero and the PUU num...

Page 510: ...tion 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 C...

Page 511: ...al 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 the following figure Continued from 13 in the above figure Continue to 13 in the following figure Continue to 14 in the following figure TB Continued from 14 in the above figure 13 14 15 16 13 11 15...

Page 512: ...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 The contr...

Page 513: ...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 motors actual positioning i...

Page 514: ...e DI ABSQ from DI4 replaces the DI4 function from P2 013 ABSQ always input by DI4 When DI ABSE is on DI ABSD triggered by DO3 replaces the DO3 assigned by P2 020 ABSD always output by DO3 0x1F ABSC 0x0D ABSW Relevant alarms refer to Chapter 12 for detailed information Display Alarm name AL060 Absolute position is lost AL061 Encoder undervoltage AL062 Number of turns for the absolute encoder overfl...

Page 515: ...Absolute System ASDA B3 10 22 10 This page is intentionally left blank ...

Page 516: ...e data object SDO 11 8 11 2 2 3 SDO abort codes 11 11 11 2 2 4 Synchronization object SYNC 11 12 11 2 2 5 Emergency object EMCY 11 13 11 2 2 6 NMT services 11 14 11 3 CANopen operation mode 11 17 11 3 1 Profile Position Mode 11 17 11 3 2 Interpolation Position Mode 11 21 11 3 3 Homing Mode 11 24 11 3 4 Profile Velocity Mode 11 26 11 3 5 Profile Torque Mode 11 28 11 4 Object dictionary 11 30 11 4 1...

Page 517: ...protocol 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 function not supported by Delta servo drives Time stamp ...

Page 518: ...ctor male Pin assignment Pin No Signal Description 1 9 CAN_H CAN_H bus line dominant high 2 10 CAN_L CAN_L bus line dominant low 3 11 GND_ISO Signal GND 4 12 5 13 6 14 7 15 GND_ISO Signal GND 8 16 Baud rate setting Baud rate and bus length Baud rate Maximum bus length 1 Mbps 25 m 750 Kbps 50 m 500 Kbps default 100 m 250 Kbps 250 m 125 Kbps 500 m ...

Page 519: ...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 P6 001 0 EEPROM Acc P1 034 200 EEPROM Used in PV and PP modes Dec P1 034 200 EEPROM Used in PV and PP modes Torque slope P1 034 200 EEPROM Used in PT mode P1 044 1 EEPROM P1 045...

Page 520: ...ofile torque mode Modes of operation DS301 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 521: ...CY 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 No...

Page 522: ...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 523: ...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 524: ... in is successful 80h SDO abort codes Error code Note for SDO abort codes refer to Section 11 2 2 3 Example Write the value of 300 000 493E0h 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 525: ... 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 526: ...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 527: ...t transmission cycle is set by the object OD 1006h see Section 11 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 528: ...Y 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 P...

Page 529: ...mpletes initialization after being powered on without errors occurring The packet could still not be transmitted 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 exchang...

Page 530: ... 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 531: ...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 532: ...mode architecture of the 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 Encoder Servo motor M Profile accelerati...

Page 533: ... 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 the servo completes the first motion command the servo sets 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 rising edge triggered switch Bit 4...

Page 534: ... current 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 complete 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 3000...

Page 535: ...y actual value 606Ch Relevant object list Index Name Data type Access 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 ...

Page 536: ...OD 60C1h Interpolation time 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 Encoder Servo motor M Acceleration limit function Quick stop deceleration 6085h P...

Page 537: ...ccording to the requirements such as the feedback position OD 6064h 5 Set OD 6040h for the control command Follow these steps Steps 5 1 and 5 2 are to bring the servo drive s state machine into the ready state For more details of the state machine refer to Section 11 2 2 6 Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description 5 1 0 0 1 1 0 Shutdown 5 2 0 0 1 1 1 Switch on ready for servo on 5 3 0 1 1 1 1...

Page 538: ...s a difference between the SYNC and SYNC communication cycle time When this happens adjust the error value U 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 Data type Access 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mod...

Page 539: ...n 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 when searching for the home ...

Page 540: ...ame Data type Access 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 UNSIGNED32 RW 609Ah Homing acceleration UNSIGNED32 RW Note for more details refer to Section 11 4 3 Details of obje...

Page 541: ...city window time 606Eh Position window comparator Statusword Bit 10 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 mode the servo motor sta...

Page 542: ...word 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 Sect...

Page 543: ...emand value 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 4 Therefore set the target torque OD 6071h to 0 for safety reasons 4 Set OD 6040h for the control command Follow these steps Steps ...

Page 544: ...d 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 607Fh Max profile velocity UNSIGNED32 RW 6080h Max motor speed UNSIGNED32 RW 6087h Torque slope UNSIGNED32 RW N...

Page 545: ...ption 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 ...

Page 546: ...ORD Transmit PDO parameter UNSIGNED16 32 RW 1A00h 03h RECORD Transmit PDO mapping UNSIGNED32 RW Note only 1001h can be mapped to PDO OD 2XXXh servo parameter group Index Object code Name Data type Access Mappable Delta parameter definition 2XXXh VAR Parameter mapping INTEGER16 32 RW Y OD 6XXXh communication object group Index Object code Name Data type Access Mappable 603Fh VAR Error code UNSIGNED...

Page 547: ...ile velocity UNSIGNED32 RW Y 6083h VAR Profile acceleration UNSIGNED32 RW Y 6084h VAR 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 Interpol...

Page 548: ...rameter N A Format of this object High word h DCBA Low word L UZYX A Bit 16 Bit 31 Model type 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 type DCBA Model type 0402 A2 0602 M 0702 A3 0B02 B3 Object 1001h Error register Index 1001h Name Error register Object code VAR Data type UNSIGNED8 Access RO PDO mapping Yes S...

Page 549: ...ect 1003h Pre defined error field Sub index 1 5 Description Standard error field Data type 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 type UNSIGNED32 Access RW PDO mapping No Sub index 0 Description Number of errors Data type UNSIGNED8 Access RW PDO mapping No Setting range...

Page 550: ...03h 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 type UNSIGNED32 Access RO PDO mapping No Sett...

Page 551: ...ime Object code VAR Data type 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 time for the Life Guarding Protocol If the time OD 100Ch is set to 0 then this se...

Page 552: ...Object 1010h Store parameters Index 1010h Name Store parameters Object code ARRAY Data type UNSIGNED32 Access RW PDO mapping No Sub index 0 Description Number of sub index Data type UNSIGNED8 Access RO PDO mapping No Setting range UNSIGNED8 Default 1 Sub index 1 Description Store communication parameters Data type UNSIGNED32 Access RW PDO mapping No Setting range No Default 1 Object function Write...

Page 553: ...t code VAR Data type 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 servo drive sends the EMCY command 1 the emergency EMCY function is disabled servo drive do...

Page 554: ...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 produ...

Page 555: ...alid Object 1018h Identity object Index 1018h Name Identity object Object code RECORD Data type Identity Access RO PDO mapping No Sub index 0 Description Number of sub index Data type UNSIGNED8 Access RO PDO mapping No Setting range 3 Default 3 Sub index 1 Description Vendor ID Data type UNSIGNED32 Access RO PDO mapping No Setting range UNSIGNED32 Default 1DDh Sub index 2 Description Product code ...

Page 556: ...8 Access RO PDO mapping No Setting range 1 Default 1 Sub index 1 Description Communication error Data type 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 state is automatically switched to the Pre operational state Use this object setting to switch the state to the Pre operatio...

Page 557: ...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 type 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 Exampl...

Page 558: ...ng 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 ID s...

Page 559: ...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 not used for RPOD Data type UNSIGNED16 Access RW PDO mapping No Setting range UNSIGNED16 Default 0 Sub index 4 Description Compatibility entry Data type UNSIGNED8 Access RW PDO mapping No Setting range UNSIGNED8 Default 0 Sub index 5 Description Event timer not used for R...

Page 560: ...SIGNED8 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 type 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 17...

Page 561: ...e position 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 type PDO CommPar Access RW Sub index 0 Description Largest sub index supported Data type UNSIGNED8 Access RO PDO mapping No Setting range 5 Default 5 Sub inde...

Page 562: ...ction to determine if PDO is used in the Operational state Sub index 2 Description Transmission type Data type 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 2...

Page 563: ...ta type PDO mapping Access RW Note The total length of objects in a group of PDO cannot exceed 64 bits Sub index 0 Description Number of PDO mappings Data type 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 type UNSIGNED32 Access RW PDO mapping No Set...

Page 564: ...er number and index are converted as follows Pa bc 2aBCh BC is bc in hexadecimal format 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 type INTEGER16 Access RW PDO mapping Yes Setting range INTEGER16 Default 7Fh Example 2 Object 212Ch Electronic Gear P...

Page 565: ...esponding servo parameter N A Default 0 Object 6040h Controlword Index 6040h Name Controlword Object code VAR Data type 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 follo...

Page 566: ...nition Profile Position Mode Homing Mode Profile Velocity Mode Profile Torque Mode Interpolated Position Mode Bit 4 Command triggered rising edge triggered Homing rising edge triggered 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 567: ...long to this quick stop type 1 Trigger positive negative 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 chan...

Page 568: ...h 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 servo drive Bit 6 Bit 5 Bit ...

Page 569: ...ing Yes 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 runs 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 type ...

Page 570: ...NTEGER32 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 type INTEGER32 Ac...

Page 571: ...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 6067...

Page 572: ... 6067h 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 type UNSIGNED16 Access RW PDO mapping Yes Setting range UNSIGNED16 Default 0 Unit ms Object functi...

Page 573: ...ject code VAR Data type 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 type INTEGER32 Access...

Page 574: ...greater than OD 606Eh velocity window time then OD 6041h Bit 10 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 Obje...

Page 575: ...ata type INTEGER16 Access RW PDO mapping Yes Setting range 3000 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 6072h Max torque Index 6072h Name Max torque Object code VAR Data type UNSIGNED16 Access RW PDO mapping Yes Setting range 0 3000 Default 3000 U...

Page 576: ...rks in Profile Torque Mode Object 6075h Motor rated current Index 6075h Name Motor rated current Object code VAR Data type UNSIGNED32 Access RO PDO mapping Yes Setting range UNSIGNED32 Default 0 Unit 0 1 mA Object function This object displays the rated current specified on the motor nameplate Object 6076h Motor rated torque Index 6076h Name Motor rated torque Object code VAR Data type UNSIGNED32 ...

Page 577: ...dex 6078h Name Current actual value Object code VAR Data type INTEGER16 Access RO PDO mapping Yes Setting range INTEGER16 Default 0 Unit 0 1 Object function This object is the current motor current feedback percentage Object 607Ah Target position Index 607Ah Name Target position Object code VAR Data type INTEGER32 Access RW PDO mapping Yes Setting range INTEGER32 Default 0 Unit PUU Object function...

Page 578: ...reference point is found the position offset from this point is the user defined origin Home offset Home position Zero position Object 607Dh Software position limit Index 607Dh Name Software position limit Object code ARRAY Data type INTEGER32 Access RW Note Sub index 0 Description Number of entries Data type UNSIGNED8 Access RO PDO mapping Yes Setting range 2 Default 2 Sub index 1 Description Min...

Page 579: ...ult Varies depending on the motor model Corresponding servo parameter P1 055 rpm 10 Unit 0 1 rpm Object function The unit of this object is 0 1 rpm so it is equivalent to P1 055 maximum speed limit unit 1 rpm multiplied by 10 times Object 6080h Max motor speed Index 6080h Name Max motor speed Object code VAR Data type UNSIGNED32 Access RW PDO mapping Yes Setting range UNSIGNED32 Default Varies dep...

Page 580: ...pe 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 This object is only available in Profile Position Mode and Profile Velocity Mode Object 6084h Profile deceleration Index 6084h Name Profile deceleration Object code VAR Data type UNSIGNED32 Access RW PDO mappi...

Page 581: ...Name Torque slope Object code VAR Data type UNSIGNED32 Access RW PDO mapping Yes Setting range 0 65500 Default 200 Unit ms Object function The time slope set by this object is the time required from 0 to 100 of the rated torque Object 6093h Position factor Index 6093h Name Position factor Object code ARRAY Data type UNSIGNED32 Access RW PDO mapping Yes Corresponding servo parameter P1 044 and P1 0...

Page 582: ...tio setting refer to Section 6 2 5 Object 6098h Homing method Index 6098h Name Homing method Object code VAR Data type INTEGER8 Access RW PDO mapping 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...

Page 583: ...g on the positive limit switch and Z pulse Starting point Z pulse Positive limit switch 2 Methods 3 and 4 homing on the rising edge of home switch and Z pulse Z pulse Home switch Starting point 3 4 Starting point 3 4 Starting point Starting point ...

Page 584: ...switch and Z pulse Z pulse Home switch Starting point 5 6 Starting point 5 6 Starting point Starting point Method 7 homing on the positive limit switch rising edge of home switch and Z pulse Z pulse Home switch Starting point 7 Positive limit switch 7 Starting point Starting point 7 ...

Page 585: ...ome switch and Z pulse Z pulse Home switch Starting point 8 Positive limit switch Starting point 8 Starting point 8 Method 9 homing on the positive limit switch falling edge of home switch and Z pulse Z pulse Home switch Starting point Positive limit switch Starting point Starting point 9 9 9 ...

Page 586: ...e switch and Z pulse Z pulse Home switch Starting point Positivelimit switch Starting point Starting point 10 10 10 Method 11 homing on the negative limit switch rising edge of home switch and Z pulse Z pulse Home switch Negative limit switch Starting point Starting point 11 11 Starting point 11 ...

Page 587: ...e switch and Z pulse Z pulse Home switch Negative limit switch Starting point 12 Starting point 12 Starting point 12 Method 13 homing on the negative limit switch rising edge of home switch and Z pulse Starting point Starting point 13 Starting point 13 13 Z pulse Home switch Negative limit switch ...

Page 588: ...14 14 14 Z pulse Home switch Negative limit switch Methods 15 and 16 reserved Method 17 homing on the negative limit switch 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 19 20 19 20 ...

Page 589: ...3 and 24 homing on the positive limit switch and rising edge of home switch Home switch Starting point Positive limit switch Starting point Starting point 23 24 23 24 23 24 Methods 25 and 26 homing on the positive limit switch and falling edge of home switch Starting point Starting point Starting point 25 26 25 26 25 26 Home switch Positive limit switch ...

Page 590: ... 28 Starting point 27 28 27 28 Methods 29 and 30 homing on the negative limit switch and rising edge of home switch Starting point Starting point Starting point 29 30 29 30 29 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 591: ...g Yes Setting range 1 2000 Default 100 Unit 0 1 rpm Sub index 2 Description Speed during search for zero Data type UNSIGNED32 Access RW PDO mapping Yes Setting range 1 500 Default 20 Unit 0 1 rpm Object 609Ah Homing acceleration Index 609Ah Name Homing acceleration Object code VAR Data type UNSIGNED32 Access RW PDO mapping Yes Setting range UNSIGNED32 Default 100 Unit ms Object function The time s...

Page 592: ...ct code ARRAY Data type INTEGER32 Access RW PDO mapping Yes Object function PDO sets this record every T ms before receiving the SYNC message the T value is specified by 60C2h 01h Sub index 0 Description Number of sub index Data type UNSIGNED8 Access RO PDO mapping No Setting range 2 Default 2 Sub index 1 Description Command position Pos_Cmd Data type INTEGER32 Access RW PDO mapping Yes Setting ra...

Page 593: ...e UNSIGNED8 Access RW PDO mapping Yes Setting range UNSIGNED8 Default 1 Sub index 2 Description Power of 10 Data type INTEGER8 Access RW PDO mapping Yes Setting range 128 to 63 Default 3 Object function This object only works in IP Mode The interpolation cycle time is calculated by two objects OD 60C2h sub1 and OD 60C2h sub2 The calculation is as follows Interpolation cycle time 60𝐶2ℎ sub1 1060C2h...

Page 594: ... VAR Data type 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 Object 60F4h Following error actual value Index 60F4h Name Following error actual value Object code VAR Data type INTEGER32 Access RO PDO mapping Yes Setting range INTEGER32 Default 0 Unit PUU Obje...

Page 595: ...enerated after being processed by the servo drive filter For more details refer to the architecture diagram in Section 11 3 Object 60FDh Digital inputs Index 60FDh Name Digital inputs Object code VAR Data type 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 Positive...

Page 596: ... Name Supported drive modes Object code VAR Data type 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 Position Mode Bit ...

Page 597: ...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 598: ...te machine 12 17 12 2 4 PDO mapping configuration 12 19 12 2 4 1 Default PDO mapping configuration 12 19 12 2 4 2 Set PDO mapping 12 21 12 2 4 3 PDO mapping object 12 22 12 2 4 4 SDO abort codes 12 23 12 3 EtherCAT operation mode 12 24 12 3 1 Profile Position Mode 12 24 12 3 2 Profile Velocity Mode 12 29 12 3 3 Profile Torque Mode 12 31 12 3 4 Homing Mode 12 33 12 3 5 Cyclic Synchronous Position M...

Page 599: ...DA B3 12 2 12 12 4 3 2 OD 2XXXh servo parameter group 12 55 12 4 3 3 OD 6XXXh communication object group 12 56 12 5 Diagnostics and troubleshooting 12 92 12 5 1 EtherCAT diagnostic system 12 92 12 5 2 Alarm list 12 93 ...

Page 600: ...r master or the previous servo drive for receiving signals and the OUT connector can only connect to the next servo drive for outputting signals Incorrect connection will cause communication failure 1 2 9 16 1 8 IN OUT 1 CN6 connector female 2 CN6 connector male Pin assignment Pin No Terminal Signal Description 1 9 TX TX Transmit 2 10 TX TX Transmit 3 11 RX RX Receive 4 12 5 13 6 14 RX RX Receive ...

Page 601: ...nd in data transmission Data in transmission Steady off No connection Connection is not established EtherCAT connection status indicator RUN Indicator Status Description Steady off Initial After power cycling and the initialization of the servo drive is complete the communication has not yet started but the controller can access the servo drive s register Steady on Operational SDO TxPDO and RxPDO ...

Page 602: ...stance Continuous flashing State change error Parameter setting error causes the system unable to switch states Refer to Figure 12 1 1 1 Single flashing Synchronization error SyncManager error The synchronization between the controller and the servo drive failed or the data was lost during data reception Init Pre Operational Safe Operational Operational OI IP PI OP PS SP SO OS SI Figure 12 1 1 1 S...

Page 603: ...nches 2 Use CAT5e shielded twisted pair STP cables with metal connectors 3 It is suggested to use a Beckhoff network cable model number ZB9020 4 Check if the wiring is correct Note that the IN connector can connect to the controller master or the previous servo drive for receiving signals and the OUT connector can only connect to the next servo drive for outputting signals ...

Page 604: ...evices Delta s A3 E and B3 E servo drives share the same ESI file To import ESI files to non Delta controllers refer to the manufacturer s instruction manual Delta controller No need to import ESI files Download the ESI file for the A3 E and B3 E servo drives from Delta s website https downloadcenter deltaww com en US DownloadCenter The storage paths of ESI files in the non Delta controllers are a...

Page 605: ...ode P1 032 0x0000 605Bh 0 S curve acceleration constant P1 034 200 6087h 200 Zero speed range P1 038 100 0 1 rpm 606Fh 100 0 1 rpm E Gear ratio numerator N1 P1 044 16777216 6093h sub1 1 E Gear ratio denominator M P1 045 100000 6093h sub2 1 Speed reached range DO SP_OK P1 047 10 1 rpm 606Dh 100 0 1 rpm Accumulated time to reach desired speed P1 049 0 606Eh 0 Maximum speed limit P1 055 Rated by moto...

Page 606: ...me Sync0 SM2 event Sync0 delay Slave App Cycle time P3 018 EtherCAT special function switch Address 0324H 0325H Default 0x00002000 Control mode EtherCAT Unit Setting range 0x00000000 0x00112211 Format HEX Data size 32 bit Settings High bit Low bit C D B A Y Z U X A Reserved X Unit selection for Target velocity OD 60FF and Velocity actual value OD 606C when in the PV Profile Velocity mode or CSV Cy...

Page 607: ... the timeout setting The following two sets of digits specify the trigger conditions for AL180 and AL3E3 respectively to ensure that the servo drive receives the PDO When one of the alarm occurs it means the allowable duration for packet loss exceeds the set range Y Z U X Digit UZ YX Function AL180 alarm condition AL3E3 alarm condition Range 0x00 disabled 0xFF default 0x02 0x14 YX AL3E3 trigger co...

Page 608: ...riable on the panel For the list of monitoring variables refer to Table 8 3 Monitoring variables descriptions Code Variable name Description 119 77h EtherCAT state machine 1 Init 2 Pre Operational Pre OP 4 Safe Operational Safe OP 8 Operational OP 120 78h Communication error rate When this value continues to increase it indicates that there is communication interference In an interference free env...

Page 609: ... data input area FMMU2 mailbox status area Application layer protocol CoE CANopen over EtherCAT Synchronization mode DC Synchronous mode SYNC0 Asynchronous mode Free Run Communication object SDO Service data object PDO Process data object EMCY Emergency object LED indicator On RJ45 connector EtherCAT Error ERR 1 EtherCAT Link Activity L A 2 EtherCAT Run RUN 1 Application layer specifications IEC61...

Page 610: ...tionary DS402 is the device profile for drives and motion control defines the behavior of each motion mode and the required object parameter settings for execution EtherCAT node Motor EtherCAT network Drive Profile 402 Homing Mode Profile Position Mode Cyclic Synchronous Position Mode Profile Velocity Mode Profile Torque Mode Modes of operation Communication profile Cyclic Synchronous Velocity Mod...

Page 611: ...t time Cycle time 1 ms Frame U Master user shift time SM2 event Cycle time 1 ms Frame U Network Cycle time 1 ms Slave App Task Slave App Task Slave App Task Local timer Master application task Master application task Cycle time 1 ms SM2 event Slave App Task Cycle time 1 ms SM2 event Slave App Task T1 T1 T1 T2 T2 T2 T2 T2 DC Synchronous mode SYNC0 synchronization There is precise time synchronizati...

Page 612: ...ation mode Follow these steps to select DC Synchronous or Free Run mode 1 Select Drive 4 ASDA B3 E CoE Drive in the left column of the TwinCAT System Manager window 2 Select DC Synchronous or Free Run as the operation mode under the DC tab in the right column ...

Page 613: ...icks field under the Task tab in the right column Figure 12 2 2 3 1 The SYNC0 cycle is used to define the PDO cycle time The minimum unit of the SYNC0 cycle for A3 E and B3 E is 125 µs The SYNC0 cycles within 1 ms are 125 µs 250 µs and 500 µs in sequence The SYNC0 cycles above 1 ms are accumulated at intervals of 1 ms such as 1 ms 2 ms 3 ms 10 ms If the configuration includes an A2 E servo drive t...

Page 614: ...9 to monitor the current state of the EtherCAT state machine Init Pre Operational Safe Operational Operational OI IP PI OP PS SP SO OS SI Value displayed on the panel when P0 002 119 State Description 1 Init The servo drive successfully completes initialization after being powered on without errors occurring The packet cannot be transmitted in this state 2 Pre Operational Pre OP Data can be exchan...

Page 615: ...the Pre Operational state PS The master uses the SDO to set the PDO mapping and DC related parameters The master defines the FMMU and SyncManager 2 3 registers and the slave continues to transmit PDO TxPDO packets to the master The master issues the command and confirms that the slave switches to the Safe Operational state SO The master starts transmitting PDOs RxPDOs Start the DC synchronization ...

Page 616: ...ation for Omron controllers In Delta ASDA x3 E rev0 03 xml the first to fourth groups of PDO configuration are shown as follows First group of RxPDO mapping RxPDO 0x1600 Control Word 0x6040 Target Position 0x607A Target Velocity 0x60FF Touch Probe Function 0x60B8 First group of TxPDO mapping TxPDO 0x1A00 Status Word 0x6041 Actual Position 0x6064 Actual Velocity 0x606C Touch Probe Status 0x60B9 Tou...

Page 617: ...Status 0x60B9 Touch Probe Pos1 Pos value 0x60BA Digital inputs 0x60FD Fourth group of RxPDO mapping for Omron controllers RxPDO 0x1603 Control Word 0x6040 Target Position 0x607A Target Velocity 0x60FF Target Torque 0x6071 Mode Of Operation 0x6060 Negative torque limit 0x60E1 Touch Probe Function 0x60B8 Positive torque limit 0x60E0 Fourth group of TxPDO mapping for Omron controllers TxPDO 0x1A03 St...

Page 618: ...obe setting 60B8h data length is 16 bit OD 1601 sub0 5 Set 5 for the number of RxPDO mappings 4 Set the contents and number of TxPDO mappings set OD 1A01 sub 1 to sub 7 TxPDO for the content and set OD 1A01 sub 0 to 7 TxPDO for the number of TxPDO mappings Mapping parameter setting for TxPDO Data Description OD 1A01 sub1 6041h 00h 10h Statusword 6041h data length is 16 bit OD 1A01 sub2 6064h 00h 2...

Page 619: ... sends to the controller Set the mapping parameters as shown in the following table to use the PDOs Communication object Mapping object parameter Communication object Mapping object parameter RxPDO1 1600h TxPDO1 1A00h RxPDO2 1601h TxPDO2 1A01h RxPDO3 1602h TxPDO3 1A02h RxPDO4 1603h TxPDO4 1A03h The format of PDO mapping parameter 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...

Page 620: ...ot 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 an object is read from EEPROM 080000a2h An error occurred when an object is written to EEPROM 080000a3h Invalid range when accessing EEPROM 080000a4h EEPROM data content error occurred when accessing EEPROM 080000...

Page 621: ...e Position Mode architecture of the servo drive Target position 607Ah Software position limit 607Dh Position limit function Profile velocity 6081h Max profile velocity 607Fh Speed limit function Position trajectory generator E Gear ratio 6093h sub1 6093h sub2 Filter 2108h 2119h 211Ch 2124h 2144h Position control loop Speed control loop Torque control loop Max torque 6072h Positive torque limit 60E...

Page 622: ... 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 triggered 7 After the servo completes the first motion command the servo sets 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 rising edge triggered switch Bit ...

Page 623: ...when the current 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 acknowledged and executed only after the current command is complete Speed Command triggered 6040h Bit 4 Target position 607Ah Current position command Set point acknowledge 6041h Bit 12 Target reached 6041h Bit 10 60000 PU...

Page 624: ...ess 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 Pulse INTEGER32 RO 6064h Position actual value PUU INTEGER32 RO 6065h Following error window UNSIGNED32 RW 6067h Position window UNSIGNED32 RW 606Ch Velocity actual valu...

Page 625: ...type Access 60E0h Positive Torque Limit UNSIGNED16 RW 60E1h Negative Torque Limit UNSIGNED16 RW 60F4h Following error actual value INTEGER32 RO 60FCh Position demand value INTEGER32 RO Note for more details refer to Section 12 4 3 Details of objects ...

Page 626: ...eached 6041h Bit 10 Velocity demand value 606Bh Velocity window 606Dh Velocity window comparator Positive torque limit 60E0h Negative torque limit 60E1h Operation steps 1 Set OD 6060h to 03h to set the mode as the Profile Velocity Mode 2 Set OD 6083h for the acceleration time slope 3 Set OD 6084h for the deceleration time slope 4 Set the target velocity OD 60FFh to 0 In Profile Velocity Mode the s...

Page 627: ...l value INTEGER32 RO 606Dh Velocity window UNSIGNED16 RW 606Eh Velocity window time UNSIGNED16 RW 606Fh Velocity threshold UNSIGNED16 RW 6072h Max torque UNSIGNED16 RW 6077h Torque actual value INTEGER16 RO 607Fh Max profile velocity UNSIGNED32 RW 6083h Profile acceleration UNSIGNED32 RW 6084h Profile deceleration UNSIGNED32 RW 6085h Quick stop deceleration UNSIGNED32 RW 6093h Position factor UNSI...

Page 628: ...ative torque limit 60E1h Filter 2219h Operation steps 1 Set OD 6060h to 04h to set the mode as the Profile Torque Mode 2 Set OD 6087h for the torque slope 3 Set the target torque OD 6071h to 0 In Profile Torque Mode the servo target torque takes effect once the servo is switched to Servo On Step 4 Therefore set the target torque OD 6071h to 0 for safety reasons 4 Set OD 6040h for the control comma...

Page 629: ...isplay INTEGER8 RO 6064h Position actual value PUU INTEGER32 RO 606Ch Velocity actual value INTEGER32 RO 6071h Target torque INTEGER16 RW 6072h Max torque UNSIGNED16 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 6093h Position factor UNSIGNED32 RW 60E0...

Page 630: ...ched 6041h Bit 10 Following error actual value 60F4h Following error comparator Following error window 6065h Servo alarm AL009 2001h Position demand value 60FCh Position demand value 6062h Target position 607Ah Software position limit 607Dh Position offset 60B0h Controlword 6040h Torque offset 60B2h Velocity offset 60B1h Operation steps 1 Set OD 6060h to 06h to set the mode as Homing Mode 2 Set OD...

Page 631: ...lue INTEGER32 RO 6072h Max torque UNSIGNED16 RW 6077h Torque actual value INTEGER16 RO 607Ah Target position INTEGER32 RW 607Ch Home offset INTEGER32 RW 607Dh Software position limit INTEGER32 RW 607Fh Max profile velocity UNSIGNED32 RW 6085h Quick stop deceleration UNSIGNED32 RW 6093h Position factor UNSIGNED32 RW 6098h Homing method INTEGER8 RW 6099h Homing speeds UNSIGNED32 RW 609Ah Homing acce...

Page 632: ...ue actual value 6077h Velocity actual value 606Ch E Gear ratio 6093h sub2 6093h sub1 Position actual value 6064h Position window 2136h Position window comparator Target reached 6041h Bit 10 Following error actual value 60F4h Following error comparator Following error window 6065h Servo alarm AL009 2001h Position demand value 60FCh Position demand value 6062h Target position 607Ah Software position...

Page 633: ...2 RW 606Ch Velocity actual value INTEGER32 RO 6072h Max torque UNSIGNED16 RW 6077h Torque actual value INTEGER16 RO 607Ah Target position INTEGER32 RW 607Dh Software position limit INTEGER32 RW 607Fh Max profile velocity UNSIGNED32 RW 6085h Quick stop deceleration UNSIGNED32 RW 60B0h Position Offset INTEGER32 RW 60B1h Velocity Offset INTEGER32 RW 60B2h Torque Offset INTEGER16 RW 60E0h Positive Tor...

Page 634: ...ar ratio 6093h sub2 6093h sub1 Position actual value 6064h Velocity demand value 606Bh Positive torque limit 60E0h Negative torque limit 60E1h Velocity offset 60B1h Torque offset 60B2h Operation steps 1 Set OD 6060h to 09h to set the mode as the Cyclic Synchronous Velocity Mode 2 Set the target velocity OD 60FFh to 0 In Cyclic Synchronous Velocity Mode the servo motor starts operating once it is s...

Page 635: ...32 RO 606Bh Velocity demand value INTEGER32 RO 606Ch Velocity actual value INTEGER32 RO 6072h Max torque UNSIGNED16 RW 6077h Torque actual value INTEGER16 RO 607Fh Max profile velocity UNSIGNED32 RW 6085h Quick stop deceleration UNSIGNED32 RW 6093h Position factor UNSIGNED32 RW 60B1h Velocity Offset INTEGER32 RW 60B2h Torque Offset INTEGER16 RW 60E0h Positive Torque Limit UNSIGNED16 RW 60E1h Negat...

Page 636: ...value 6074h Positive torque limit 60E0h Negative torque limit 60E1h Filter 2219h Controlword 6040h Operation steps 1 Set OD 6060h to 0Ah to set the mode as the Cyclic Synchronous Torque Mode 2 Set the target torque OD 6071h to 0 In Cyclic Synchronous Torque Mode the servo target torque takes effect once the servo is switched to Servo On Step 3 Therefore set the target torque OD 6071h to 0 for safe...

Page 637: ...on display INTEGER8 RO 6064h Position actual value PUU INTEGER32 RO 606Ch Velocity actual value INTEGER32 RO 6071h Target torque INTEGER16 RW 6072h Max torque UNSIGNED16 RW 6074h Torque demand value INTEGER16 RO 6077h Torque actual value INTEGER16 RO 6093h Position factor UNSIGNED32 RW 60B2h Torque Offset INTEGER16 RW 60E0h Positive Torque Limit UNSIGNED16 RW 60E1h Negative Torque Limit UNSIGNED16...

Page 638: ...switch 0 disable Touch Probe 1 1 enable Touch Probe 1 Bit 1 Touch Probe 1 number of capturing times 0 capture one time 1 capture multiple times Bit 2 Touch Probe 1 capture source 0 DI 1 of CN1 1 motor Z pulse Bit 3 Reserved Bit 4 Rising edge trigger action of Touch Probe 1 0 N A 1 start capturing when the Touch Probe 1 signal is rising edge triggered and store the data in OD 60BAh Bit 5 Falling ed...

Page 639: ...of CN1 1 motor Z pulse Bit 7 Multi capture signal of Touch Probe 1 60B8 Bit 1 is active when multi capture function is enabled Each time the data is successfully captured the signal is reversed Refer to the timing diagram of Example 3 Bit 8 Touch Probe 2 function status 0 Touch Probe 2 fuction disabled 1 Touch Probe 2 function enabled Bit 9 Rising edge capture of Touch Probe 2 0 not captured 1 ris...

Page 640: ...D 60B8h Bit 1 0 Capture one time OD 60B8h Bit 4 1 Start capturing when the Touch Probe 1 signal is rising edge triggered OD 60B8h Bit 5 1 Start capturing when the Touch Probe 1 signal is falling edge triggered 2 OD 60B9h Bit 0 1 Touch Probe status Touch Probe 1 function enabled 3 Touch Probe 1 is rising edge triggered by external signal 4 OD 60B9h Bit 1 1 Touch Probe status Touch Probe 1 is rising...

Page 641: ...tatus 14a OD 60BAh The previously captured data remains the same Example 2 the following is the timing diagram for the Touch Probe 1 function In this example the Touch Probe 1 function is triggered by the motor Z pulse The data is captured only once when the Touch Probe 1 signal is rising edge triggered t OD 60B8h Touch Probe Function t Bit 4 Rising edge trigger action of Touch Probe 1 t Bit 0 Tou...

Page 642: ...be 1 t Touch Probe 1 signal motor Z pulse t 0x60BA Touch Probe Pos1 Pos Value t Position 1 Bit 1 Touch Probe 1 number of capturing times OD 60B9h Touch Probe Status Position 0 Position 5 t Bit 2 Touch Probe 1 capture source Bit 7 Multi capture signal of Touch Probe 1 t Position 2 Position 3 Position 4 Relevant object list Index Name Data type Access 60B8h Touch Probe Function UNSIGNED16 RW 60B9h T...

Page 643: ...iption 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...

Page 644: ...Y 605Bh VAR Shutdown option code INTEGER16 RW Y 6060h VAR Modes of operation INTEGER8 RW Y 6061h VAR Modes of operation display INTEGER8 RO Y 6062h VAR Position demand value PUU INTEGER32 RO Y 6063h VAR Position actual internal value Pulse INTEGER32 RO Y 6064h VAR Position actual value PUU INTEGER32 RO Y 6065h VAR Following error window UNSIGNED32 RW Y 6067h VAR Position window UNSIGNED32 RW Y 606...

Page 645: ...NSIGNED32 RW Y 60B0h VAR Position Offset INTEGER32 RW Y 60B1h VAR Velocity Offset INTEGER32 RW Y 60B2h VAR Torque Offset INTEGER16 RW Y 60B8h VAR Touch Probe Setting UNSIGNED16 RW Y 60B9h VAR Touch Probe Status UNSIGNED16 RO Y 60BAh VAR Touch Probe Pos1 Pos Value INTEGER32 RO Y 60BBh VAR Touch Probe Pos1 Neg Value INTEGER32 RO Y 60BCh VAR Touch Probe Pos2 Pos Value INTEGER32 RO Y 60BDh VAR Touch P...

Page 646: ... UNSIGNED32 Format of this object High word h DCBA Low word L UZYX A Bit 16 Bit 31 Model type 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 type DCBA Model type 0402 A2 0602 M 0702 A3 0B02 B3 Object 1001h Error register Index 1001h Name Error register Object code VAR Data type UNSIGNED8 Access RO PDO mapping Yes S...

Page 647: ...tion error Bit 5 Bit 7 Reserved Object 1003h Pre defined error field Sub index 0 Description Number of errors Data type UNSIGNED8 Access RW PDO mapping No Setting range 0 5 Default 0 Sub index 1 5 Description Standard error field Data type UNSIGNED32 Access RO PDO mapping No Setting range UNSIGNED32 Default 0 Index 1003h Name Pre defined error field Object code ARRAY Data type UNSIGNED32 Access RW...

Page 648: ...is stored in the 1003h 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 1006h Communication cycle period Index 1006h Name Communication cycle period Object code VAR Data type UNSIGNE...

Page 649: ...ex to be used Data type UNSIGNED16 Access RW PDO mapping No Setting range 0x1600 0x1601 0x1602 0x1603 Default 0x1601 Object 1C13h TxPDO assign Index 1C13h Name TxPDO assign Object code ARRAY Data type UNSIGNED16 Access RW PDO mapping No Sub index 0 Description Number of sub index supported Data type UNSIGNED8 Access RW PDO mapping No Setting range 0 1 Default 1 Sub index 1 Description Specify the ...

Page 650: ...iption Specify the 1st to 8th object and its content to be mapped Data type 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 17 16 Bit Function Bit 0 Bit 7 Object data length Bit 8 Bit 15 Object sub index Bit 16 Bit 31 Object index Example To set thr...

Page 651: ... Parameter Object code RECORD Data type PDO mapping Access RW Note The total length of objects in a group of PDO cannot exceed 64 bits Sub index 0 Description Number of PDO mappings Data type 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 Specify the 1st to 8th object and its content to be map...

Page 652: ...er number and index are converted as follows Pa bcd 2aBCh BC is hexadecimal format of bcd 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 type INTEGER16 Access RW PDO mapping Yes Setting range INTEGER16 Default 7Fh Example 2 Object 212Ch Electronic Gear...

Page 653: ...ame Controlword Object code VAR Data type UNSIGNED16 Access RW PDO mapping Yes Setting range UNSIGNED16 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 follows ControlWord 6040h State Machine StatusWord 6041h 15 14 13 12 11 10 9 8 Bit 7 6 5 4 3 2 1 0 Bit Function Descr...

Page 654: ...T Bit 4 Command triggered rising edge triggered Homing rising edge triggered Bit 5 Enable disable the 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 represents an internal or external behavior For example point to point motion event can o...

Page 655: ...ng two errors belong to this quick stop type 1 Trigger positive negative limit switch 2 Quick stop triggered by a control command OD 6040h xxxx x0xxx Quick stop function is enabled 12 Disable voltage command OD 6040h 0000 0110 or xxxx xx0x Servo switches to Servo Off 13 14 Alarm occurs Servo switches to Servo Off 15 Fault reset N A 16 Enable operation command and no alarm Motion operation restart ...

Page 656: ...ult Fault signal Bit 4 Voltage enabled Servo is powered on Bit 5 Quick stop Quick stop Bit 6 Switch on disabled Switch on disabled Bit 7 Warning Warning signal Warning output but the servo remains with the Servo On signal Bit 8 Reserved Bit 9 Remote Remote control Bit 10 Target reached Target reached Bit 11 Reserved Bit 12 Bit 13 Defined according to the control mode as shown in the following tabl...

Page 657: ... INTEGER16 Access RW PDO mapping Yes Setting range INTEGER16 Default 0 Object function Set to 0 when Servo Off the dynamic brake has no effect so the motor runs freely and the machine stops only by the frictional force Set to 1 when Servo Off the servo stops with the operation of the dynamic brake Note when P3 012 Z is set to 1 the non volatile setting for this object is enabled Object 6060h Modes...

Page 658: ...Setting range INTEGER8 Default 0 Object function This object displays the current operation mode Object 6062h Position demand value PUU Index 6062h Name Position demand value Object code VAR Data type INTEGER32 Access RO PDO mapping Yes Setting range INTEGER32 Default 0 Unit PUU Object function This position command is the interpolation command calculated by the servo internal interpolator This co...

Page 659: ...ervo drive generates 16 777 216 pulses per motor revolution Object 6064h Position actual value PUU Index 6064h Name Position actual value Object code VAR Data type INTEGER32 Access RO PDO mapping Yes Setting range INTEGER32 Default 0 Unit PUU Object 6065h Following error window Index 6065h Name Following error window Object code VAR Data type UNSIGNED32 Access RW PDO mapping Yes Setting range UNSI...

Page 660: ...DO mapping Yes Setting range UNSIGNED32 Default 100 Unit PUU Object function When the absolute error value between the command position PP mode OD 607Ah and the position actual value OD 6064h is within the position range of OD 6067h Position window OD 6041h Bit 10 Target reached is output Position not reached Position window Position window Position Position reached Target position Position not re...

Page 661: ...D 6068h Position window time OD 6041h Bit 10 Target reached is output Position window 6067h Position window comparator Target reached 6041h Bit 10 Position window time 6068h Window time comparator Position actual value 6064h PP mode Target position 607Ah Object 606Bh Velocity demand value Index 606Bh Name Velocity demand value Object code VAR Data type INTEGER32 Access RO PDO mapping Yes Setting r...

Page 662: ...nge 0 3000 Default 100 Unit 0 1 rpm Object function The speed comparator compares the speed error with OD 606Dh velocity window When the error is within the range of the velocity window and the retaining time is greater than OD 606Eh Velocity window time then OD 6041h Bit 10 Target reached is output This object only works in Profile Velocity Mode Note when P3 012 Z is set to 1 the non volatile set...

Page 663: ...h Name Velocity threshold Object code VAR Data type UNSIGNED16 Access RW PDO mapping Yes Setting range 0 2000 Default 100 Unit 0 1 rpm Object function This object sets the range for outputting the zero speed signal When the forward or reverse speed absolute value of the motor is slower than this set value the zero speed signal OD 6041h Bit 10 outputs 1 Note when P3 012 Z is set to 1 the non volati...

Page 664: ...imum torque in torque mode unit 0 1 Object 6074h Torque demand value Index 6074h Name Torque demand value Object code VAR Data type INTEGER16 Access RO PDO mapping Yes Setting range INTEGER16 Default 0 Unit 0 1 Object function The internal torque command is a command generated by the speed motion command generator and processed by the command filter of the drive This object only works in Profile T...

Page 665: ...ue specified on the motor nameplate Object 6077h Torque actual value Index 6077h Name Torque actual value Object code VAR Data type INTEGER16 Access RO PDO mapping Yes Setting range INTEGER16 Default 0 Unit 0 1 Object function This object is the motor torque feedback in percentage at present Object 6078h Current actual value Index 6078h Name Current actual value Object code VAR Data type INTEGER16...

Page 666: ...and Section 12 3 5 Cyclic Synchronous Position Mode Object 607Ch Home offset Index 607Ch Name Home offset Object code VAR Data type INTEGER32 Access RW PDO mapping Yes Setting range INTEGER32 Default 0 Unit PUU Object function Home Position is the origin reference point found when homing is executed such as the origin sensor and Z pulse When the origin reference point is found the position offset ...

Page 667: ...3647 Default 2147483648 Unit PUU Sub index 2 Description Max position limit Data type INTEGER32 Access RW PDO mapping Yes Setting range 2147483648 to 2147483647 Default 2147483647 Unit PUU Note when P3 012 Z is set to 1 the non volatile setting for this object is enabled Object 607Fh Max profile velocity Index 607Fh Name Max profile velocity Object code VAR Data type UNSIGNED32 Access RW PDO mappi...

Page 668: ...P3 012 Z is set to 1 the non volatile setting for this object is enabled Object 6081h Profile velocity Index 6081h Name Profile velocity Object code VAR Data type UNSIGNED32 Access RW PDO mapping Yes Setting range UNSIGNED32 Default 10000 Unit PUU s Object function This object is available in Profile Position Mode For more details refer to Section 12 3 1 Profile Position Mode Object 6083h Profile ...

Page 669: ...le Velocity Mode Object 6085h Quick stop deceleration Index 6085h Name Quick stop deceleration Object code VAR Data type 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 Object 6086h Motion profile type Index 6086h Name Motion profile type Object code VAR Data ...

Page 670: ...osition factor Index 6093h Name Position factor Object code ARRAY Data type UNSIGNED32 Access RW PDO mapping Yes Note Position factor Numerator Feed_constant Sub index 0 Description Number of sub index Data type UNSIGNED8 Access RO PDO mapping No Setting range 2 Default 2 Sub index 1 Description E Gear ratio numerator Data type UNSIGNED32 Access RW PDO mapping Yes Default 1 Note For the E Gear rat...

Page 671: ...ion 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 the 35th defines the current position as the origin Method 1 homing on the negative limit switch and Z pulse Starting point Z pulse Negative limit switch 1 indicates OD 6099h sub1 1st homing speed indicates OD 6099h sub2 2nd homing speed Method 2 homing on the posit...

Page 672: ... the home switch and Z pulse Z pulse Home switch Starting point Starting point Starting point Starting point 3 3 4 4 Methods 5 and 6 homing on the home switch and Z pulse Z pulse Home switch Starting point Starting point Starting point Starting point 6 6 5 5 ...

Page 673: ...home switch and Z pulse Z pulse Home switch Starting point Positive limit switch Starting point Starting point 7 7 7 Method 8 homing on the positive limit switch home switch and Z pulse Z pulse Home switch Starting point Positive limit switch Starting point Starting point 8 8 8 ...

Page 674: ...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 home switch and Z pulse Z pulse Home switch Starting point Positive limit switch Starting point Starting point 10 10 10 ...

Page 675: ... switch and Z pulse Z pulse Home switch Nega tive limit switch Starting point Starting point 11 11 Starting point 11 Method 12 homing on the negative limit switch home switch and Z pulse Z pulse Home switch Negative limit switch Starting point 12 Starting point 12 Starting point 12 ...

Page 676: ...rting point 13 13 Z pulse Home switch Negative limit switch Method 14 homing on the negative limit switch 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 Method 17 homing on the negative limit switch Starting point Negative limit switch 17 ...

Page 677: ...positive limit switch Starting point Positive limit switch 18 Methods 19 and 20 homing on the home switch Home switch Starting point Starting point 19 20 19 20 Methods 21 and 22 homing on the home switch Home switch Starting point 21 22 Starting point 21 22 ...

Page 678: ...tch and home switch Home switch Starting point Positive limit switch Starting point Starting point 23 24 23 24 23 24 Methods 25 and 26 homing on the positive limit switch and home switch Starting point Starting point Starting point 25 26 25 26 25 26 Home switch Positive limit switch ...

Page 679: ... 28 Starting point 27 28 27 28 Methods 29 and 30 homing on the negative limit switch and home switch Starting point Starting point Starting point 29 30 29 30 29 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 680: ...h Data type 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 type UNSIGNED32 Access RW PDO mapping Yes Setting range 1 500 Default 20 Unit 0 1 rpm Object 609Ah Homing acceleration Index 609Ah Name Homing acceleration Object code VAR Data type UNSIGNED32 Access RW PDO mapping Yes Setting range UNSIGNED32 Def...

Page 681: ...tion Mode Object 60B1h Velocity offset Index 60B1h Name Velocity offset Object code VAR Data type INTEGER32 Access RW PDO mapping Yes Setting range INTEGER32 Default 0 Unit 0 1 rpm Object function This object sets the velocity offset For more details refer to Section 12 3 6 Cyclic Synchronous Velocity Mode Object 60B2h Torque offset Index 60B2h Name Torque offset Object code VAR Data type INTEGER1...

Page 682: ...uch Probe 1 0 N A 1 start capturing when the Touch Probe 1 signal is rising edge triggered and store the data in OD 60BAh Bit 5 Falling edge trigger action of Touch Probe 1 0 N A 1 start capturing when the Touch Probe 1 signal is falling edge triggered and store the data in OD 60BBh Bit 6 Reserved Bit 8 Touch Probe 2 switch 0 disable Touch Probe 2 1 enable Touch Probe 2 Bit 9 Touch Probe 2 number ...

Page 683: ...ggered data successfully captured Bit 3 Bit 5 Reserved Bit 6 Touch Probe 1 capture source 0 DI 1 of CN1 1 motor Z pulse Bit 7 Multi capture signal of Touch Probe 1 60B8 Bit 1 is active when multi capture function is enabled Each time the data is successfully captured the signal is reversed Refer to the timing diagram of Example 3 Bit 8 Touch Probe 2 function status 0 Touch Probe 2 fuction disabled...

Page 684: ...ct code VAR Data type INTEGER32 Access RO PDO mapping Yes Setting range INTEGER32 Default 0 Object function For the function of this object refer to Section 12 3 8 Touch Probe Object 60BCh Touch Probe Pos2 Pos value Index 60BCh Name Touch Probe Pos2 Pos value Object code VAR Data type INTEGER32 Access RO PDO mapping Yes Setting range INTEGER32 Default 0 Object function For the function of this obj...

Page 685: ...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 type UNSIGNED32 Access RW PDO mapping Yes Setting range 1 65500 Default 1 Unit ms Object function The time slope set by this object is the time required to decelerate from 3 000 rpm to 0 rpm Object 60E0h Positive torque limit Index 60E0h Name Positive Torque ...

Page 686: ...mapping Yes Setting range INTEGER32 Default 0 Unit PUU Object function The following error is the difference between the command position OD 6062h and feedback position OD 6064h For more details refer to the architecture diagram in Section 12 3 Object 60FCh Position demand value Index 60FCh Name Position demand value Object code VAR Data type INTEGER32 Access RO PDO mapping Yes Setting range INTEG...

Page 687: ... 1 0 Bit Function Bit 0 Negative limit signal Bit 1 Positive limit signal Bit 2 Homing signal Bit 3 Bit 15 Reserved Bit 16 DI1 Bit 17 DI2 Bit 18 DI3 Bit 19 DI4 Bit 20 DI5 Bit 21 DI6 Bit 22 DI7 Bit 23 Bit 31 Reserved Object 60FFh Target velocity Index 60FFh Name Target velocity Object code VAR Data type INTEGER32 Access RW PDO mapping Yes Setting range INTEGER32 Default 0 Unit 0 1 rpm Object functi...

Page 688: ...es the control modes supported by Delta servo drives in EtherCAT mode 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 Position Mode Bit 1 Reserved Bit 2 Profile Velocity Mode Bit 3 Profile Torque Mode Bit 4 Reserved Bit 5 Homing Mode Bit 6 Reserved Bit 7 Cyclic Synchronous Position Mode Bit 8 Cyclic Synchronous Velocity Mode ...

Page 689: ...ted and grounded 12 5 1 EtherCAT diagnostic system The EtherCAT automatic error diagnostic function must be used with the ASDA Soft software of version 6 1 2 0 or above To use this function activate EtherCAT Diagnosis and press Diagnosis to get the following EtherCAT connection information for error detection For more details refer to the ASDA Soft User Guide 1 Check if the servo parameter P1 001 ...

Page 690: ... Encoder internal error 7305h AL026 Encoder unreliable internal data 7305h AL027 Encoder internal reset error 7305h AL028 Battery voltage error or encoder internal error 7305h AL029 Gray code error 7305h AL02A Number of revolutions of the encoder is in error 7305h AL02B Motor data error 7305h AL030 Motor collision error 7121h AL031 Motor power cable wiring error disconnection 3300h AL032 Abnormal ...

Page 691: ...s over 200 rpm 7305h AL07D Motor stops operating when servo drive power is cycled before AL07C is cleared 7305h AL07E Error occurs when the encoder clears the procedure 7305h AL07F Encoder version error 7305h AL083 Servo drive outputs excessive current 2310h AL085 Regeneration setting error 3210h AL086 Regenerative resistor overload 3110h AL088 Servo function operational alarm 0000h AL089 Current ...

Page 692: ...meout 0245h AL249 PR path number is out of range 0249h AL283 Software positive limit 5444h AL285 Software negative limit 5445h AL289 Position counter overflows 7305h AL301 CANopen synchronization failure 6200h AL302 Synchronization signal of CANopen is sent too soon 6200h AL303 CANopen synchronization signal timeout 6200h AL304 Invalid interpolation mode command 6200h AL305 SYNC period error 6200h...

Page 693: ...EtherCAT Mode ASDA B3 12 96 12 Alarm Description 16 bit error code AL521 Vibration elimination parameter error 6100h AL555 System failure AL809 PR motion setting error or command decoding error 0000h ...

Page 694: ...er provides alarm descriptions and the corrective actions you can use for troubleshooting 本 13 1 Alarm list 13 3 General type 13 3 Motion control type 13 6 STO type 13 6 Communication type 13 7 13 2 Causes and corrective actions 13 8 ...

Page 695: ... the hardware or encoder Motion control type alarms caused by motion control command in PR mode errors STO type alarms caused by STO errors Communication type alarms caused by CANopen DMCNET or EtherCAT communication errors AL nnn is the alarm format on the 7 segment display If the recommended alarm clearing method is DI ARST set DI ARST alarm reset to On or P0 001 to 1 for clearing the alarm ...

Page 696: ...it error AL016 Abnormal IGBT temperature AL017 EEPROM error AL018 Encoder output error AL020 Serial communication timeout AL022 RST leak phase AL023 Early overload warning AL024 Encoder initial magnetic field error AL025 Encoder internal error AL026 Encoder unreliable internal data AL027 Encoder internal reset error AL028 Battery voltage error or encoder internal error AL029 Gray code error AL02A ...

Page 697: ...AL069 Wrong motor type AL06A Absolute position is lost AL06B The error between the servo drive internal coordinate and the encoder coordinate is too large AL06E Encoder type is unidentifiable AL06F The absolute position is not established AL070 Encoder did not complete the read write procedure AL071 Number of revolutions of the encoder is in error AL072 Encoder overspeed AL073 Encoder memory error...

Page 698: ...unction command error AL08B Auto tuning function pause time is too short AL08C Auto tuning function inertia estimation error AL099 DSP firmware error AL09C Parameter reset failed AL0A6 Absolute position coordinates of the servo drive and motor do not match AL422 Write in failed caused by power supply cut off AL521 Vibration elimination parameter error AL35F Emergency stop during deceleration AL3CF...

Page 699: ...Software negative limit AL289 Position counter overflows AL380 Position offset alarm for DO MC_OK AL3F1 Absolute position command of the communication type servo drive is in error AL400 Indexing coordinate setting error AL404 PR special filter setting value is too great AL510 Internal parameter update program of the servo drive is abnormal AL520 Calculation program timeout AL555 System failure AL8...

Page 700: ...PROM AL129 Error occurs when PDO object is written to EEPROM AL130 Accessing address of EEPROM is out of range AL131 EEPROM CRC calculation error AL132 Parameter is write protected AL170 Bus communication timeout AL180 Bus communication timeout AL185 Bus hardware error AL186 Bus data transmission error AL201 Initialization error of object dictionary data AL301 CANopen synchronization failure AL302...

Page 701: ...is within the allowable rated value send your servo drive back to the distributor or contact Delta 3 Check the connection for the regenerative resistor re calculate the value for the regenerative resistor and correctly set the values of P1 052 and P1 053 AL001 Overcurrent Trigger condition and cause Condition main circuit current is greater than 1 5 times the maximum instantaneous current of the s...

Page 702: ...it voltage 3 Use a voltmeter to check if the power system complies with the specifications Check if using the right voltage source or connecting the transformer in series How to clear the alarm Set P2 066 Bit 2 to clear AL003 1 If P2 066 Bit 2 is set to 0 use DI ARST to clear the alarm after the voltage is back in the normal range 2 If P2 066 Bit 2 is set to 1 the alarm is automatically cleared on...

Page 703: ... are correct 4 Send the motor back to the distributor or contact Delta How to clear the alarm DI ARST AL005 Regeneration error Trigger condition and cause Condition an error occurs during regeneration Cause 1 Incorrect selection of the regenerative resistor or no connection to an external regenerative resistor 2 P1 053 Regenerative resistor capacity is not set to 0 when the regenerative resistor i...

Page 704: ...encoder cables is correct How to clear the alarm DI ARST AL008 Abnormal pulse command Trigger condition and cause Condition the input frequency of the pulse command is over the allowable value for the hardware interface Cause the pulse command frequency is higher than the rated input frequency Checking method and corrective action Use the scope to check if the input frequency is higher than the ra...

Page 705: ... alarm DI ARST AL010 Voltage error during regeneration Trigger condition and cause Condition an error occurs during regeneration Cause 1 When the voltage remains at 400V for a period of time during regeneration the possible cause may be the regenerative resistor is incorrectly selected or no external regenerative resistor is connected 2 P1 053 Regenerative resistor capacity is not set to 0 when th...

Page 706: ... if the connection for the encoder signal cable is normal Make sure the encoder signal cable is separated from the power supply or any high current cables to avoid interference c Use a shielded cable for the encoder pull out the shielded mesh and ground it 5 If you took all corrective actions but the issue persists replace the motor How to clear the alarm Cycle power on the servo drive AL012 Calib...

Page 707: ...mal IGBT temperature Trigger condition and cause Condition temperature of IGBT is abnormal Cause 1 The load is over the rated range and the servo drive is in a continuous overload condition 2 The servo drive output is short circuited Checking method and corrective action 1 Check for servo drive overload or motor overcurrent If so try increasing the motor s capacity or reducing the load 2 Check if ...

Page 708: ...r value has exceeded the range Modify the value and then cycle power on the servo drive If the alarm occurs during normal operation it means an error occurred when the parameter is written Use DI ARST to clear this alarm 2 Press the SHIFT key and the panel displays E100X or E0001 If this alarm occurs when power is supplied to the drive it is usually because the data in ROM is damaged or there is n...

Page 709: ...24 AL025 or AL026 Use the checking methods and corrective actions to clear the alarm if any of them occurs 4 If you do not need to use the OA OB pulse set P2 065 Bit 13 to 1 to disable the detection function for encoder output error AL018 How to clear the alarm 1 DI ARST 2 Contact the distributor AL020 Serial communication timeout Trigger condition and cause Condition RS 485 communication error Ca...

Page 710: ...ing 2 Check if the value of P1 056 Motor output overload warning level is set too low If so set the value higher or set the value greater than 100 to disable the warning function How to clear the alarm DI ARST AL024 Encoder initial magnetic field error Trigger condition and cause Condition the UVW phase of the encoder is in error Cause the initial magnetic field of the encoder is in error UVW phas...

Page 711: ...n power is on How to clear the alarm Cycle power on the servo drive AL026 Encoder unreliable internal data Trigger condition and cause Condition internal data error occurs three consecutive times Cause 1 External interference 2 Malfunction of the encoder hardware Checking method and corrective action If there is interference check the following items 1 Check if the motor is properly grounded Make ...

Page 712: ...igher than the specification 3 8V or the encoder signal is in error Cause 1 Voltage level of the battery is too high 2 Encoder internal error Checking method and corrective action 1 Check if there is a charging circuit Avoid incorrect wiring If Pin 1 5V of CN2 is connected to BAT of the encoder connector it means the power 5V of the servo drive is being charged to the battery 2 Check if the batter...

Page 713: ... error Trigger condition and cause Accessing the internal data of the motor is in error Checking method and corrective action Send your servo motor back to Delta How to clear the alarm N A AL030 Motor collision error Trigger condition and cause Condition when the motor hits the device the torque reaches the value set by P1 057 and the duration exceeds the time set by P1 058 Cause 1 Check if the pr...

Page 714: ...on abnormal vibration occurred in the encoder Cause the internal signal or mechanical part of the encoder is abnormal so the encoder returns an error signal Checking method and corrective action Check if the motor vibration range is within 2 5 G If the vibration is within the range but the issue persists send your servo motor back to the distributor or contact Delta How to clear the alarm DI ARST ...

Page 715: ...T or cycle power on the servo drive AL035 Encoder temperature exceeds the protective range Trigger condition and cause Condition encoder temperature is over the upper limit of 100 C 212 F Cause encoder temperature is over 100 C Checking method and corrective action Set P0 002 to 124 to read the temperature and check if it is below 100 C If the encoder temperature is higher than 100 C improve the h...

Page 716: ...ference or cable damage causing communication error 3 Encoder error Checking method and corrective action 1 The settings of P1 076 and P1 046 should follow these requirements P1 076 motor speed and Motor speed 60 P1 046 4 19 8 106 2 Check the communication error rate by setting P0 002 to 80 If this value continues to accumulate it means there is interference Check the following items a Check if th...

Page 717: ...cking method and corrective action 1 Check the reason for the high motor speed such as the set value of P1 111 is too small or the bandwidth is not properly set 2 Evaluate the motor speed and the condition of the mechanical parts If allowable increase the speed and the set value of P1 111 How to clear the alarm DI ARST AL05C Motor position feedback error Trigger condition and cause Condition sudde...

Page 718: ...tions because of low battery voltage or loss of 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 the absolute function is enabled 4 Poor connection or disconnection of the battery power circuit Checking method and corrective action 1 Check if the battery voltage is below 2 9V Re establi...

Page 719: ... to see if it is below 3 1V If the voltage is too low replace the battery when the servo drive s main power is On How to clear the alarm The alarm is cleared automatically AL062 Number of revolutions of the absolute encoder overflows issued by encoder Trigger condition and cause Condition the number of revolutions of the absolute motor exceeds the range of 32768 to 32767 Cause motor s rotation cyc...

Page 720: ...e encoder temperature is too high improve the heat dissipation or decrease the operating temperature If the temperature difference between the encoder and motor is over 30 C 86 F send the servo motor back to Delta How to clear the alarm Cycle power on the servo drive AL068 Absolute data transmitted by I O is in error Trigger condition and cause Condition the time sequence is wrong when the absolut...

Page 721: ...in coordinate is not established 2 Retaining the absolute position requires power supply so when the battery is drained and the power supply of the servo drive is cut off the absolute position of the servo is lost 3 After the E Gear ratio is modified the communication type coordinate system needs to be re established An error occurred Condition 1 Encoder cable is damaged including the exterior and...

Page 722: ...inate AL06B The error between the servo drive internal coordinate and the encoder coordinate is too large Trigger condition and cause Condition when the absolute motor is powered by the battery the number of motor rotations exceeds half the number of revolutions of the resolution Cause the error between the servo drive internal coordinate and the encoder coordinate is too large Checking method and...

Page 723: ...d by the battery over 10 000 rpm 3 Voltage level of the battery is too low Checking method and corrective action 1 Check if the motor is properly grounded Make sure the power cable green end is grounded to the servo drive heat sink 2 Check if the connection for the encoder signal cable is normal Make sure the encoder signal cable is separated from the power supply or any high current cables to avo...

Page 724: ...operly grounded Make sure the power cable green end is grounded to the servo drive heat sink 2 Check if the connection for the encoder 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 a shielded cable for the encoder pull out the shielded mesh and ground it 4 Check the motor speed and make sure it is...

Page 725: ...a shielded cable for the encoder 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 motor back to the distributor or contact Delta How to clear the alarm Cycle power on the servo drive AL079 Encoder parameter setting incomplete Trigger condition and cause The servo drive is not cycled after the encoder p...

Page 726: ...tion 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 1 Check if a command to clear the absolute position is issued while the motor speed is over 200 rpm If so follow the procedure for clearing the absolute position to clear this alarm 2 Do not i...

Page 727: ... cable make sure the UVW wiring sequence is correct b Make sure the UVW wiring between the servo drive and motor is correctly connected 3 Check if the analog signal GND is mistakenly connected to another ground signal incorrect connection can cause interference Do not use a common ground for the analog signal GND and other signal cables Follow the wiring instructions in Chapter 3 How to clear the ...

Page 728: ...n the allowable rated voltage refer to Appendix A Specifications If the input voltage exceeds the rated range remove the interference source 4 Measure the voltage between P3 and terminals If it does not match the displayed DC Bus voltage when you enter monitoring code 14 to P0 002 the servo drive may be malfunctioning Send your servo drive back to the distributor or contact Delta 5 If you took the...

Page 729: ... corrective action Check the environment around the servo drive to see if there is any interference source How to clear the alarm 1 Remove the interference source or move the servo drive away from the interference source 2 Set P2 112 Bit 1 to 0 to disable AL089 3 If the issue persists send your servo drive back to the distributor or contact Delta AL08A Auto tuning function command error Trigger co...

Page 730: ...s when the servo drive starts the auto tuning procedure Cause 1 Acceleration or deceleration time is too long 2 Rotation speed is too slow 3 Load inertia of the machine is too large 4 Inertia variation of the machine is too drastic Checking method and corrective action 1 The time for the motor to accelerate from 0 rpm to 3 000 rpm or decelerate from 3 000 rpm to 0 rpm must be within 1 5 seconds 2 ...

Page 731: ...and corrective action Re establish the absolute origin coordinate How to clear the alarm Re establish the absolute origin coordinate AL111 Buffer overflow occurs when SDO is received Trigger condition and cause SDO Rx Buffer overflows the servo drive receives more than two SDOs within 1 ms Checking method and corrective action Check if the servo drive master receives or sends more than one SDO wit...

Page 732: ... 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 the alarm NMT reset node 0x6040 fault reset or DI ARST AL123 Data l...

Page 733: ...e is on Checking method and corrective action Make sure no specified object is written when the servo drive receives or sends PDO in the Servo On state How to clear the alarm NMT reset node 0x6040 fault reset or DI ARST AL128 Error occurs when PDO object is read from EEPROM Trigger condition and cause An error occurs when the default value is loaded from ROM at start up All objects are automatical...

Page 734: ...he firmware has been updated but the data in the ROM was stored by the previous firmware version Checking method and corrective action Check if the specified object causes the accessing address in EEPROM exceeds the range when the servo drive receives or sends PDO How to clear the alarm NMT reset node 0x6040 fault reset or DI ARST AL131 EEPROM CRC calculation error Trigger condition and cause The ...

Page 735: ...ns and the communication cycle time is too short Lengthen the communication cycle How to clear the alarm NMT reset node 0x6040 fault reset or DI ARST AL201 Initialization error of object dictionary data Trigger condition and cause Condition an error has occurred when the servo drive loads data from EEPROM Cause initialization error of CANopen data Checking method and corrective action 1 If the ala...

Page 736: ...ange check the group setting of the written parameters How to clear the alarm DI ARST AL211 Parameter format setting of Type 8 PR is in error Trigger condition and cause Condition parameter format setting of Type 8 PR command is in error Cause 1 Incorrect parameter format 2 The ASDA Soft software version and the firmware version do not match Checking method and corrective action 1 Check if the par...

Page 737: ... servo drive is off and make sure the parameter value is within the range How to clear the alarm Modify the PR command and the parameter AL219 Write parameters parameter cannot be written Trigger condition and cause Condition this parameter is write protected Cause the parameter write protected function is enabled Checking method and corrective action Check if the parameter and data array protecti...

Page 738: ...setting of P1 001 Z is changed 3 The absolute origin coordinate is not established after the E Gear ratio P1 044 and P1 045 is changed 4 Established the absolute origin coordinate but the procedure is incomplete 5 When AL060 and AL062 occur use the scope to check if the feedback position has overflowed Check whether the above conditions have occurred and then establish the absolute origin coordina...

Page 739: ...orrective action The software positive limit is determined by the Position command instead of the actual feedback position because the command is sent before the feedback is received That is the actual position may not have exceeded the limit when this limit protection is enabled Set the appropriate deceleration time to achieve the desired effect For more information refer to the description of P5...

Page 740: ...een the servo drive and controller is good 2 After eliminating any problems that you find allow the controller to re send the synchronization signal and ensure that it is sent successfully 3 Modify the setting for P3 009 the default value is suggested How to clear the alarm NMT reset node or 0x6040 fault reset AL302 Synchronization signal of CANopen is sent too soon Trigger condition and cause Con...

Page 741: ...40 fault reset AL305 SYNC period error Trigger condition and cause Condition CANopen 301 Obj 0x1006 Data Error Cause SYNC period is in error Checking method and corrective action Check the value of 0x1006 If it is smaller than or equal to 0 this alarm occurs How to clear the alarm NMT reset node or 0x6040 fault reset AL304 Invalid interpolation mode command Trigger condition and cause Condition th...

Page 742: ...he controller fails in CANopen IP mode except in B mode Cause communication fails to synchronize Checking method and corrective action 1 Make sure the communication between the servo drive and controller is good 2 After eliminating any problems that you find allow the controller to re send the synchronization signal and ensure that it is sent successfully 3 Modify the setting for P3 009 the defaul...

Page 743: ...1 Absolute position command of the communication type servo drive is in error Trigger condition and cause Condition the bus communication type CANopen DMCNET and EtherCAT servo drive is in combination with an incremental motor and when the position overflow occurs and the absolute origin coordinate has not been established the absolute positioning command is issued Cause 1 The absolute origin coor...

Page 744: ...r 0x6040 fault reset How to clear the alarm DI ARST AL422 Write in failed caused by power supply cut off Trigger condition and cause Condition if P2 069 Z is set to 1 enabling the function of preventing indexing coordinate from overflow and the power supply is cut off the motor fails to store the current position Cause 1 The load is over the rated range and the servo drive is in a continuous overl...

Page 745: ... power on the servo drive AL502 STO_B lost signal loss or signal error Trigger condition and cause Loss of STO_B 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_B is correct How to clear the alarm Cycle power on the servo drive AL503 STO self diagnostic error Trigger condition and cause An error occurs ...

Page 746: ...bration elimination function by setting Bit 8 and Bit 9 of P2 094 to 0 How to clear the alarm N A AL521 Vibration elimination parameter error Trigger condition and cause Condition the input value for the vibration elimination parameter is not appropriate Cause 1 Your input value for the vibration elimination parameter is not appropriate 2 The Bode plot is in error due to other factors while the op...

Page 747: ...Troubleshooting ASDA B3 13 54 13 This page is intentionally left blank ...

Page 748: ... T N curves of the B3 motors A 13 A 2 3 Power derating curves of the B3 motors A 15 A 2 4 Overload features A 16 A 2 5 Dimensions of ECM B3 series servo motor A 18 A 3 ECM A3 series servo motor A 20 A 3 1 ECM A3L low inertia series servo motor A 22 A 3 2 ECM A3H high inertia series servo motor A 24 A 3 3 Torque features T N curves of the A3 motors A 26 A 3 4 Overload features A 28 A 3 5 Dimensions...

Page 749: ... Single phase 200 230 VAC 15 to 10 Input current 220V Unit Arms 0 13 0 13 0 13 0 13 0 15 0 15 0 17 0 17 Inrush current 220V Unit Arms 24 89 24 89 24 89 24 89 24 89 24 89 24 89 24 89 Continuous output current Unit Arms 0 9 1 55 2 65 5 1 7 3 8 3 13 4 19 4 Max instantaneous output current Unit Arms 3 88 7 07 10 6 14 14 21 21 27 38 3 58 9 Regenerative resistor Built in Resistance Ohm 100 100 100 100 2...

Page 750: ...ance 1 M Time constant 25 µs Speed control range 1 1 6000 Command source External analog command Register Smoothing method Low pass and S curve filters Torque limit Parameter settings Analog input Bandwidth Maximum 3 1 kHz Speed calibration ratio 2 0 01 at 0 to 100 load fluctuation 0 01 at 10 power fluctuation 0 01 at 0 C to 50 C 32 F to 122 F ambient temperature fluctuation Torque control mode An...

Page 751: ...ature is above 45 C 113 F forced cooling is required Storage temperature 20 C to 65 C 14 F to 176 F Humidity 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 UL TUV 5 61800 5 1 Note 1 Within the rated load the speed ratio is the minimum speed smooth operation rated speed 2 Within the rated...

Page 752: ...4 kgf cm Unit mm inch 5 0 2 152 5 98 60 2 36 49 1 93 6 3 0 25 155 85 6 14 70 2 76 60 2 36 162 6 38 M5 0 8 162 6 38 Weight 0 9 kg 1 98 lb 750 W 74 3 2 93 162 6 38 5 0 2 152 5 98 74 3 2 93 47 5 1 87 5 8 0 23 M5 0 8 165 85 6 53 70 2 76 SCREW M4x0 7 Mounting screw torque 14 kgf cm Unit mm inch 162 6 38 Weight 1 2 kg 2 64 lb ...

Page 753: ...EW M4x0 7 Mounting screw torque 14 kgf cm Unit mm inch 162 6 38 Weight 1 8 kg 3 96 lb 2 kW 3 kW 225 8 86 90 3 54 205 3 8 08 70 2 76 90 3 54 75 2 95 M5 0 8 216 8 5 3 0 12 SCREW M4x0 7 Mounting screw torque 14 kgf cm Unit mm inch Weight 2 8 kg 6 17 lb Note dimensions and weights of the servo drive may be updated without prior notice ...

Page 754: ...ed voltage and speed C 220V and 3 000 rpm E 220V and 2 000 rpm F 220V and 1 500 rpm 6 Encoder type A 24 bit absolute optical encoder resolution of single turn 24 bit number of revolutions 16 bit 2 24 bit incremental optical encoder single turn absolute P 17 bit absolute magnetic encoder resolution of single turn 17 bit number of revolutions 16 bit M 17 bit incremental magnetic encoder single turn ...

Page 755: ...aft diameter is available for F80 400W models 11 Special code 1 standard products Note the model information is for reference only Not all kinds of permutations are available Contact the distributor or Delta for the details Code Specification Code Specification 04 40 mm 13 130 mm 06 60 mm 18 180 mm 08 80 mm Code Specification Code Specification 01 100 W 10 1 kW 02 200 W 15 1 5 kW 04 400 W 20 2 kW ...

Page 756: ...0 52 0 8 0 54 Mechanical time constant ms with brake 0 53 0 97 0 54 0 86 0 57 Torque constant KT N m A 0 374 0 45 0 53 0 5 0 56 Voltage constant KE mV rpm 13 8 16 96 19 76 18 97 20 17 Armature resistance Ohm 8 22 4 71 2 04 1 125 0 55 Armature inductance mH 19 1 12 18 6 50 5 14 2 81 Electrical time constant ms 2 32 2 59 3 19 4 57 5 11 Weight w o brake kg 0 5 0 9 1 2 1 7 2 34 Weight with brake kg 0 ...

Page 757: ...104 F operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions F04 F06 and F08 250 mm x 250 mm x 6 mm Material aluminum 2 The built in servo motor brake is only for keeping the object in a stopped state Do not use it for deceleration or as a dynamic brake 3 In the servo motor model name 1 represents the inertia and 2 represents the encoder ...

Page 758: ...4 1 81 1 24 Torque constant KT N m A 0 80 0 88 0 90 0 88 1 05 Voltage constant KE mV rpm 29 30 31 69 32 70 31 6 37 9 Armature resistance Ohm 0 419 0 260 0 198 0 159 0 086 Armature inductance mH 4 2 81 2 18 2 34 1 52 Electrical time constant ms 9 55 10 81 11 01 14 72 17 67 Weight w o brake kg 4 9 6 0 7 10 13 9 Weight with brake kg 6 3 7 4 8 5 13 7 17 6 Max radial loading N 490 686 980 1470 1470 Max...

Page 759: ...o motor mounted with the heat sink of the following dimensions F130 400 mm x 400 mm x 20 mm F180 550 mm x 550 mm x 30 mm Material aluminum 2 The built in servo motor brake is only for keeping the object in a stopped state Do not use it for deceleration or as a dynamic brake 3 In the servo motor model name 1 represents the inertia and 2 represents the encoder type 4 If the ambient temperature is ov...

Page 760: ...uty zone Continuous duty zone Torque N m Speed rpm ECM B3M C 0804 3700 0 63 50 1 27 100 4 45 350 3 236 2 3 4 5 3000 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECM B3M C 0807 3700 1 2 50 2 4 100 8 4 350 6 250 2 3 4 5 3900 7 61 317 5 66 236 ASD B3 1021 2 ASD B3 0721 2 1 1 2000 3000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECM B3M E 1310 2500 3 18 67...

Page 761: ...us duty zone Torque N m Speed rpm ECM B3M F 1830 46 1 240 1500 2 3 4 5 Note 1 In the servo motor model name 2 represents the encoder type 3 represents the brake or keyway oil seal type 4 represents the shaft diameter and connector type 5 represents the special code 2 The dotted line in ECM B3M C 2 0807 3 4 5 is the specification for the ASD B3 1 0721 2 servo drive the solid line is the specificati...

Page 762: ... C F40 120 100 80 60 40 20 0 0 10 20 30 40 50 60 70 F180 120 100 80 60 40 20 0 0 10 20 30 40 50 60 70 F80 120 100 80 60 40 20 0 0 10 20 30 40 50 60 70 F60 120 100 80 60 40 20 0 0 10 20 30 40 50 60 70 F130 Derating rate Derating rate Operating temperature C Operating temperature C Operating temperature C Operating temperature C Derating rate Derating rate ...

Page 763: ...ates 3 Incorrect wiring of the power and encoder cables 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 B3L series medium inertia ECM B3M C series Load ratio 120 140 160 180 200 220 240 Operating time 263 8 s 35 2 s 17 6 s 11 2 s 8 s 6 1 s 4 8 s Load ratio 260 280 3...

Page 764: ... Load ratio 120 140 160 180 200 220 240 Operating time 527 6 s 70 4 s 35 2 s 22 4 s 16 s 12 2 s 9 6 s Load ratio 260 280 300 350 400 450 500 Operating time 7 8 s 6 6 s 5 6 s 4 2 s 3 2 s 2 4 s 2 0 s 100 150 200 250 300 350 400 450 500 10 0 10 1 10 2 10 3 10 4 10 5 s ...

Page 765: ...1 86 7 105 2 LL with brake 111 7 109 4 127 9 126 3 144 8 LH 300 300 300 300 300 LP 300 300 300 300 300 H 40 48 5 48 5 58 5 58 5 LR 25 30 30 30 35 LE 2 5 3 3 3 3 LG 5 7 5 7 5 8 8 LW 16 20 20 20 25 RH 6 2 11 11 11 15 5 WK 3 5 5 5 6 W 3 5 5 5 6 T 3 5 5 5 6 TP M3 Depth 8 M4 Depth 15 M4 Depth 15 M4 Depth 15 M6 Depth 20 Note 1 In the servo motor model name 2 represents the encoder type 3 represents the ...

Page 766: ...00 0 035 114 3 0 000 0 035 LL w o brake 127 9 139 9 151 9 137 5 160 5 LL with brake 168 5 180 5 192 5 189 5 212 5 H 115 115 115 139 139 LS 47 47 47 73 73 LR 55 55 55 79 79 LE 6 6 6 4 4 LG 12 5 12 5 12 5 18 18 LW 36 36 36 63 63 RH 18 18 18 30 30 WK 8 8 8 10 10 W 8 8 8 10 10 T 7 7 7 8 8 TP M6 Depth 12 M6 Depth 12 M6 Depth 12 M12 Depth 25 M12 Depth 25 Note in the servo motor model name 2 represents t...

Page 767: ...tia L low inertia 5 Rated voltage and speed C 220V and 3 000 rpm 6 Encoder type Y 24 bit absolute optical encoder resolution of single turn 24 bit number of revolutions 16 bit 1 24 bit incremental optical encoder single turn absolute A 24 bit absolute optical encoder resolution of single turn 24 bit number of revolutions 16 bit 2 24 bit incremental optical encoder single turn absolute Note number ...

Page 768: ...nnectors J standard shaft diameter and IP67 waterproof connectors K special shaft diameter 14 mm and IP67 waterproof connectors Note special shaft diameter is available for F80 400W models 11 Special code 1 standard products Z LS 32 mm LR 35 mm Refer to the note in Section A 3 5 Note the model information is for reference only Not all kinds of permutations are available Contact the distributor or ...

Page 769: ...e constant ms with brake 1 44 0 892 0 85 0 5 0 78 0 48 Torque constant KT N m A 0 241 0 356 0 441 0 479 0 488 0 469 Voltage constant KE mV rpm 9 28 13 3 16 4 18 17 9 17 Armature resistance 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 Weight w o brake kg 0 38 0 5 1 1 1 4 2 05 2 8 Weight with brake kg 0...

Page 770: ...provals Note 1 The rated torque is the continuous permissible torque between 0 C 40 C 32 F 104 F operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions F40 F60 and F80 250 mm x 250 mm x 6 mm Material aluminum 2 The built in servo motor brake is only for keeping the object in a stopped state Do not use it for deceleration or as a dynamic b...

Page 771: ...1 38 0 96 1 32 0 93 Mechanical time constant ms with brake 2 86 1 55 1 54 1 02 1 54 1 02 Torque constant KT N m A 0 248 0 356 0 441 0 479 0 49 0 52 Voltage constant KE 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 Weight w o brake kg 0 38 0 5 1 1 1...

Page 772: ...d shaft seals or oil seals Approvals Note 1 The rated torque is the continuous permissible torque between 0 C 40 C 32 F 104 F operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions F40 F60 and F80 250 mm x 250 mm x 6 mm Material aluminum 2 The built in servo motor brake is only for keeping the object in a stopped state Do not use it for d...

Page 773: ...Speed rpm 2300 ECM A3L C 0604 0 65 50 4 45 350 1 27 100 1 57 123 2 3 4 5 3000 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm 2050 ECM A3L C 0804 0 635 50 4 44 350 1 27 100 1 6 126 2 3 4 5 2750 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECM A3L C 0807 1 195 50 8 36 350 2 39 100 3 5 146 3000 2 3 5 4 3700 6 45 270 ASD B3 1021 2 ASD B3 0721 2 1 1 Note ...

Page 774: ...ed rpm ECM A3H C 0604 4200 3 9 307 2 3 4 5 4300 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm 3000 ECM A3H C 0804 0 635 50 4 44 350 1 27 100 3 28 258 2 3 4 5 1 195 50 2 39 100 8 36 350 3000 6000 Intermittent duty zone Continuous duty zone Torque N m Speed rpm ECM A3H C 0807 4200 7 290 2 3 5 4 4400 ASD B3 1021 2 ASD B3 0721 2 1 1 7 23 303 6 25 262 Note 1 In the servo motor m...

Page 775: ...erates 3 Incorrect wiring of the power and encoder cables 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 ratio 120 140 160 180 200 220 240 Operating time 263 8 s 35 2 s 17 6 s 11 2 s 8 s 6 1 s 4 8 s Load ratio 260 280 300...

Page 776: ... 14 0 000 0 011 19 0 000 0 013 LB 30 0 000 0 021 30 0 000 0 021 50 0 000 0 025 50 0 000 0 025 70 0 000 0 030 70 0 000 0 030 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 LH 300 300 300 300 300 300 LP 300 300 300 300 300 300 H 34 34 43 5 43 5 54 5 54 5 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 2...

Page 777: ...esents the brake or keyway oil seal type 4 represents the shaft diameter and connector type 5 represents the special code 2 When the special code of C 2 0807 3 S 5 is Z LS 32 and LR 35 3 IP67 waterproof connectors are available for F80 and below models Refer to Section A 3 for detailed model descriptions ...

Page 778: ... box absolute type B 14 B 8 CN1 connector B 15 B 9 CN1 quick connector B 16 B 10 Terminal block module B 17 B 11 B3 B2 conversion cables B 19 B 12 CN3 RS 485 tap B 19 B 13 CN3 RS 485 CANopen terminal resistor B 20 B 14 CN6 DMCNET terminal resistor B 20 B 15 CN4 Mini USB communication module B 21 B 16 CANopen communication cable B 23 B 17 CANopen distribution box B 23 B 18 Optional accessories B 24...

Page 779: ...mber ASDBCAPW0000 for F80 and below Delta model number ASDBCAPW0100 for F80 and below with brake Delta model number ACS3 CNPW1A00 IP67 waterproof connector for F80 and below Delta model number ACS3 CNPW2A00 IP67 waterproof connector for F80 and below with brake ...

Page 780: ...ta model number ACS3 CNPW5200 military connector MIL 18 10S for F100 F130 Delta model number ACS3 CNPW5300 military connector MIL 22 22S for F180 Delta model number ACS3 CNPW6300 military connector CMV1 2S for F100 F180 with brake ...

Page 781: ...3120 20000 100 788 4 Note indicates the cable material F represents flexible cables and W represents standard cables Delta model number ACS3 CAPW4103 ACS3 CAPW4105 ACS3 CAPW4110 ACS3 CAPW4120 ACS3 CAPF4103 ACS3 CAPF4105 ACS3 CAPF4110 ACS3 CAPF4120 for F80 and below with brake 80 mm 3 15 inch L 100 mm 3 94 inch Model No L mm inch ACS3 CAP 4103 3000 50 118 2 ACS3 CAP 4105 5000 50 197 2 ACS3 CAP 4110...

Page 782: ...00 100 788 4 Note indicates the cable material F represents flexible cables and W represents standard cables Delta model number ACS3 CAPW4A03 ACS3 CAPW4A05 ACS3 CAPW4A10 ACS3 CAPW4A20 ACS3 CAPF4A03 ACS3 CAPF4A05 ACS3 CAPF4A10 ACS3 CAPF4A20 for F80 and below with brake and IP67 waterproof connector 80 mm 3 15 inch L 100 mm 3 94 inch Model No L mm inch ACS3 CAP 4A03 3000 50 118 2 ACS3 CAP 4A05 5000 ...

Page 783: ...e indicates the cable material F represents flexible cables and W represents standard cables Delta model number ACS3 CAPW4203 ACS3 CAPW4205 ACS3 CAPW4210 ACS3 CAPW4220 ACS3 CAPF4203 ACS3 CAPF4205 ACS3 CAPF4210 ACS3 CAPF4220 for F100 F130 with brake 80 mm 3 15 inch L 100 mm 3 94 inch Model No Straight L mm inch ACS3 CAP 4203 MIL 18 10S CMV1 2S 3000 50 118 2 ACS3 CAP 4205 MIL 18 10S CMV1 2S 5000 50 ...

Page 784: ...e indicates the cable material F represents flexible cables and W represents standard cables Delta model number ACS3 CAPW4403 ACS3 CAPW4405 ACS3 CAPW4410 ACS3 CAPW4420 ACS3 CAPF4403 ACS3 CAPF4405 ACS3 CAPF4410 ACS3 CAPF4420 for F180 with brake 80 mm 3 15 inch L 100 mm 3 94 inch Model No Straight L mm inch ACS3 CAP 4403 MIL 22 22S CMV1 2S 3000 50 118 2 ACS3 CAP 4405 MIL 22 22S CMV1 2S 5000 50 197 2...

Page 785: ...coder connector Delta model number ACS3 CNEN1100 Delta model number ACS3 CNEN3000 for F100 F180 military connector CMV1 10S Delta model number ACS3 CNENC200 Delta model number ACS3 CNEN2A00 IP67 waterproof connector for F80 and below ...

Page 786: ...ial F represents flexible cables and N represents standard cables Refer to Chapter 3 Wiring for cable specifications Delta model number ACS3 CAEN2A03 ACS3 CAEN2A05 ACS3 CAEN2A10 ACS3 CAEN2A20 ACS3 CAEF2A03 ACS3 CAEF2A05 ACS3 CAEF2A10 ACS3 CAEF2A20 for F80 and below with IP67 waterproof connector Model No L mm inch ACS3 CAE 2A03 3000 50 118 2 ACS3 CAE 2A05 5000 50 197 2 ACS3 CAE 2A10 10000 100 394 ...

Page 787: ... CAEF2720 for F100 F180 Model No Straight L mm inch ACS3 CAE 2703 CMV1 10S 3000 50 118 2 ACS3 CAE 2705 CMV1 10S 5000 50 197 2 ACS3 CAE 2710 CMV1 10S 10000 100 394 4 ACS3 CAE 2720 CMV1 10S 20000 100 788 4 Note indicates the cable material F represents flexible cables and N represents standard cables Refer to Chapter 3 Wiring for cable specifications ...

Page 788: ...l B represents flexible cables and A represents standard cables Refer to Chapter 3 Wiring for cable specifications Delta model number ACS3 CAEA2A03 ACS3 CAEA2A05 ACS3 CAEA2A10 ACS3 CAEA2A20 ACS3 CAEB2A03 ACS3 CAEB2A05 ACS3 CAEB2A10 ACS3 CAEB2A20 for F80 and below with IP67 waterproof connector L Model No L mm inch ACS3 CAE 2A03 3000 50 118 2 ACS3 CAE 2A05 5000 50 197 2 ACS3 CAE 2A10 10000 100 394 ...

Page 789: ...CAEB2720 for F100 F180 L Model No Straight L mm inch ACS3 CAE 2703 CMV1 10S 3000 50 118 2 ACS3 CAE 2705 CMV1 10S 5000 50 197 2 ACS3 CAE 2710 CMV1 10S 10000 100 394 4 ACS3 CAE 2720 CMV1 10S 20000 100 788 4 Note indicates the cable material B represents flexible cables and A represents standard cables Refer to Chapter 3 Wiring for cable specifications ...

Page 790: ... Battery box cable that connects to the encoder cable part number 3864573700 25 5 0 98 0 2 15 5 0 59 0 2 200 10 7 87 0 4 Unit mm inch Battery box cable for self wiring part number 3864850600 200 10 7 87 0 4 5 1 0 1 0 04 15 5 0 59 0 2 2 1 Unit mm inch ...

Page 791: ...box absolute type Single battery box Delta model number ASD MDBT0100 Unit mm inch Weight 44 g 35 1 37 22 2 86 R3 25 68 2 67 Dual battery box Delta model number ASD MDBT0200 Unit mm inch Weight 79 23 g 64 5 2 54 45 1 77 26 1 02 R2 5 72 5 2 85 ...

Page 792: ...ASDA B3 Accessories B 15 B B 8 CN1 connector Delta model number ASDBCNDS0044 for B3 L only Delta model number ACS3 CNTB0500 for B3 M F E ...

Page 793: ...essories ASDA B3 B 16 B B 9 CN1 quick connector Delta model number ACS3 IFSC4444 for B3 L only Unit mm inch 50 16 97 27 85 1 1 19 0 745 17 2 0 68 63 5 2 5 47 04 1 85 56 9 2 24 12 4 72 67 44 26 55 20 1 7 91 ...

Page 794: ...ASDA B3 Accessories B 17 B B 10 Terminal block module Delta model number ACS3 MDTB4400 for B3 L only 145 5 5 73 500 19 69 Unit mm inch ...

Page 795: ...Accessories ASDA B3 B 18 B Delta model number ACS3 MDTD2600 for B3 M F E Unit mm inch 62 2 44 61 5 2 42 87 0 3 43 500 19 69 ...

Page 796: ...3 L only Delta model number ACS3 CABDC1 500 50 19 68 1 97 Unit mm inch CN2 conversion cable Delta model number ACS3 CABDC2 150 5 9 Unit mm inch B 12 CN3 RS 485 tap Delta model number ACS3 CNADC3RC 7 3 0 29 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 ...

Page 797: ...0 B B 13 CN3 RS 485 CANopen terminal resistor Delta model number ACS3 CNADC3TR Unit mm inch 14 2 0 56 16 4 0 65 43 5 1 71 B 14 CN6 DMCNET terminal resistor Delta model number ASD TR DM0008 Unit mm inch 8 1 40 1 1 58 27 8 1 09 ...

Page 798: ...USB A Male Mini USB B Male 12 0 48 6 8 0 27 L Unit mm inch 80 45 5 3 3 0 2 64 5 0 5 2 54 0 02 12 0 5 0 59 0 02 20 0 5 0 77 0 02 Model No L mm inch UC PRG015 01B 1500 100 59 4 UC PRG030 01B 3000 100 118 4 Delta model number UC ADP01 A Unit mm inch 80 45 5 3 3 0 2 64 5 0 5 2 54 0 02 12 0 5 0 59 0 02 20 0 5 0 77 0 02 ...

Page 799: ...essories ASDA B3 B 22 B Delta model number UC PRG015 01A UC PRG030 01A USB A Male Mini USB B Male 12 0 48 6 8 0 27 L Unit mm inch Model No L mm inch UC PRG015 01A 1500 100 59 4 UC PRG030 01A 3000 100 118 4 ...

Page 800: ...er UC CMC030 01A UC CMC050 01A L Model 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 B 17 CANopen distribution box Delta model number TAP CN03 Unit mm inch 87 3 43 66 5 2 61 ...

Page 801: ...connector Power connector without brake ACS3 CNPW1A00 Power connector with brake ACS3 CNPW2A00 Encoder connector ACS3 CNEN2A00 Standard cable Motor power cable without brake ACS3 CAPW31XX Motor power cable with brake ACS3 CAPW41XX Encoder cable incremental type ACS3 CAEN10XX Encoder cable absolute type ACS3 CAEA10XX Flexible cable Motor power cable without brake ACS3 CAPF31XX Motor power cable wit...

Page 802: ...ithout brake ACS3 CNPW1A00 Power connector with brake ACS3 CNPW2A00 Encoder connector ACS3 CNEN2A00 Standard cable Motor power cable without brake ACS3 CAPW31XX Motor power cable with brake ACS3 CAPW41XX Encoder cable incremental type ACS3 CAEN10XX Encoder cable absolute type ACS3 CAEA10XX Flexible cable Motor power cable without brake ACS3 CAPF31XX Motor power cable with brake ACS3 CAPF41XX Encod...

Page 803: ...nector Power connector without brake ACS3 CNPW1A00 Power connector with brake ACS3 CNPW2A00 Encoder connector ACS3 CNEN2A00 Standard cable Motor power cable without brake ACS3 CAPW31XX Motor power cable with brake ACS3 CAPW41XX Encoder cable incremental type ACS3 CAEN10XX Encoder cable absolute type ACS3 CAEA10XX Flexible cable Motor power cable without brake ACS3 CAPF31XX Motor power cable with b...

Page 804: ...r cable incremental type ACS3 CAEN10XX Encoder cable absolute type ACS3 CAEA10XX Flexible cable Motor power cable without brake ACS3 CAPF31XX Motor power cable with brake ACS3 CAPF41XX 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 Note 1 The connectors and cables listed in the above table are appli...

Page 805: ...3 CNPW1A00 Power connector with brake ACS3 CNPW2A00 Encoder connector ACS3 CNEN2A00 Standard cable Motor power cable without brake ACS3 CAPW31XX Motor power cable with brake ACS3 CAPW41XX Encoder cable incremental type ACS3 CAEN10XX Encoder cable absolute type ACS3 CAEA10XX Flexible cable Motor power cable without brake ACS3 CAPF31XX Motor power cable with brake ACS3 CAPF41XX Encoder cable increme...

Page 806: ...3 CAEF27XX Encoder cable absolute type ACS3 CAEB27XX 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 servo motor Servo drive model ASD B3 1 1521 2 Servo motor model ECM B3 1 E 2 1315 3 4 5 Standard connector Power connector without brake ACS3 CNPW5200 Power connector with brake wires only ACS3 CNPW6300 Encoder connector ACS3 CNENC200 Standard cable Motor p...

Page 807: ...olute type ACS3 CAEA27XX Flexible cable Motor power cable without brake ACS3 CAPF32XX ACS3 CAPF34XX Motor power cable with brake ACS3 CAPF42XX ACS3 CAPF44XX Encoder cable incremental type ACS3 CAEF27XX Encoder cable absolute type ACS3 CAEB27XX XX indicates the cable length 03 3 m 05 5 m 10 10 m 20 20 m Note 1 The connectors and cables listed in the above table are applicable to all B3 series model...

Page 808: ...A27XX Flexible cable Motor power cable without brake ACS3 CAPF34XX Motor power cable with brake ACS3 CAPF44XX Encoder cable incremental type ACS3 CAEF27XX Encoder cable absolute type ACS3 CAEB27XX XX indicates the cable length 03 3 m 05 5 m 10 10 m 20 20 m Note 1 The connectors and cables listed in the above table are applicable to all B3 series models 2 In the servo drive model name 1 represents ...

Page 809: ...Accessories ASDA B3 B 32 B This page is intentionally left blank ...

Page 810: ...L06A AL072 AL083 AL086 AL08A AL099 AL129 AL237 AL303 AL3E3 and AL400 Added alarms AL02A AL02B AL032 AL036 AL048 AL064 AL066 AL06B AL06E AL06F AL071 AL07A AL09C AL0A6 AL113 AL211 AL219 AL422 AL510 and AL520 13 New chapter added the EtherCAT information A 1 1 Modified the 750W servo drive specification the maximum instantaneous output current is 14 14 Arms Modified the maximum input pulse frequency ...

Page 811: ...e T N curve for using ECM A3L C 2 0807 3 4 5 with ASD B3 1 0721 2 Added the torque feature T N curve for using ECM A3H C 2 0807 3 4 5 with ASD B3 1 0721 2 February 2021 V4 0 Fourth edition 3 1 6 Added the unit of mm2 for the wire diameter Changed the UVW terminal selection information for the 2 kW and 3 kW models December 2020 V3 0 Third edition 3 10 B Changed the term of torsion resistant cable t...

Page 812: ...3 For relevant information about ASDA B3 please refer to 1 ASDA B2 User Manual 2 ASDA A3 User Manual 3 ASDA A2 User Manual ...

Page 813: ...Revision History ASDA B3 4 This page is intentionally left blank ...

Page 814: ... 5 2 2007 EN 61800 5 2 2017 IEC 61800 5 2 2016 EN 61800 5 1 2007 A1 2017 in extracts IEC 61800 5 1 2016 EN IEC 61800 3 2018 IEC 61800 3 2017 EN 62061 2005 AC 2010 A1 2013 A2 2015 EN ISO 13849 1 2015 ISO 13849 1 2015 EN 61508 2010 parts 1 7 IEC 61508 2010 parts 1 7 EN 60204 1 2018 in extracts IEC 60204 1 2016 The Notified Body TÜ V Industrie Service GmbH Am Grauen Stein D 51105 Köln Germany NB 0035...

Page 815: ...Drive 750W 240V ASD B3A 0721 M AC Servo Drive 750W 240V ASD B3A 0721 E AC Servo Drive 750W 240V ASD B3A 0721 F AC Servo Drive 750W 240V ASD B3A 1021 L AC Servo Drive 1 0kW 240V ASD B3A 1021 M AC Servo Drive 1 0kW 240V ASD B3A 1021 E AC Servo Drive 1 0kW 240V ASD B3A 1021 F AC Servo Drive 1 0kW 240V ASD B3A 1521 L AC Servo Drive 1 5kW 240V ASD B3A 1521 M AC Servo Drive 1 5kW 240V ASD B3A 1521 E AC ...

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