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Chapter 6 Control Modes of Operation

ASDA-AB Series

6-4

Revision January 2009

Position

Command

POS2

POS1

POS0

CTRG Parameters

Description

P1-23

Rotation number (+/- 30000)

P5 1 0 0

P1-24

Pulses (+/- max cnt)

P1-25

Rotation number (+/- 30000)

P6 1 0 1

P1-26

Pulses (+/- max cnt)

P1-27

Rotation number (+/- 30000)

P7 1 1 0

P1-28

Pulses (+/- max cnt)

P1-29

Rotation number (+/- 30000)

P8 1 1 1

P1-30

Pulses (+/- max cnt)

State of POS0~2: 0 indicates the contact is OFF (Normally Open)

1 indicates the contact is ON (Normally Closed)

CTRG : the instant time when the contact changes from 0 (open) to 1 (closed).

The application of absolute and incremental position control is various and multiple. This kind of position

control is equal to a simple sequence control. User can easily complete the cycle running by using the

above table. For example, the position command, P1 is 10 running and P2 is 20 running. Give the

position command P1 first and then give the position command P2. The difference between absolute

and incremental position control is shown as the figure below:

20 turns

10 turns

20 turns

10 turns

Absolute Type

Incremental Type

6.2.3 Structure of Position Control Mode

Basic Structure:

Содержание AC Servo Drive ASDA-AB

Страница 1: ......

Страница 2: ...and motors z Configuration and wiring z Trial run steps z Control functions and adjusting methods of AC servo drives z Parameter settings z Communication protocol z Inspection and maintenance z Troub...

Страница 3: ...provided with precise feedback control and high speed calculation function incorporating DSP Digital Signal Processor technology and intended to drive three phase permanent magnet synchronous motors P...

Страница 4: ...me hot and personal injury may result Maintenance and Inspection Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result Do not remove the operation pa...

Страница 5: ...in metric units Dimensions in imperial units are for reference only Please use metric units for precise measurements 2 The content of this manual may be revised without prior notice Please consult our...

Страница 6: ...rvo Drive 1 8 Chapter 2 Installation and Storage 2 1 2 1 Installation Notes 2 1 2 2 Storage Conditions 2 1 2 3 Installation Conditions 2 2 2 4 Installation Procedure and Minimum Clearances 2 3 Chapter...

Страница 7: ...Connection between PC and Connector CN3 3 33 3 6 Standard Connection Example 3 34 3 6 1 Position Pt Control Mode 220V models 3 34 3 6 2 Position Pt Control Mode 110V models 3 35 3 6 3 Position Pr Cont...

Страница 8: ...n 4 10 Chapter 5 Trial Run and Tuning Procedure 5 1 5 1 Inspection without Load 5 1 5 2 Applying Power to the Drive 5 3 5 3 JOG Trial Run without Load 5 7 5 4 Speed Trial Run without Load 5 9 5 5 Posi...

Страница 9: ...r Control Mode 6 10 6 2 8 Position Loop Gain Adjustment 6 10 6 3 Speed Control Mode 6 13 6 3 1 Command Source of Speed Control Mode 6 13 6 3 2 Structure of Speed Control Mode 6 14 6 3 3 Smoothing Stra...

Страница 10: ...40 6 6 5 Electromagnetic Brake 6 43 Chapter 7 Parameters 7 1 7 1 Definition 7 1 7 2 Parameter Summary 7 2 7 2 1 Parameter List by Group 7 2 7 2 2 Parameter List by Function 7 9 7 3 Detailed Parameter...

Страница 11: ...ad Characteristics 11 8 11 5 Dimensions of Servo Drive 11 16 11 6 Dimensions of Servo Motor 11 20 Chapter 12 Application Examples 12 1 12 1 Position Control including homing function 12 1 12 2 Roller...

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

Страница 13: ...Table of Contents ASDA AB Series Revision January 2009 This page intentionally left blank...

Страница 14: ...y items are damaged or incorrect please inform the distributor whom you purchased the product from or your local Delta sales representative A complete and workable AC servo system should include the f...

Страница 15: ...of servo drive 3 CN1 Connector 50 PIN Connector 3M type analog product 4 CN2 Connector 20 PIN Connector 3M type analog product 5 CN3 Connector 6 PIN Connector IEEE1394 analog product 1 2 Model Explan...

Страница 16: ...Chapter 1 Unpacking Check and Model Explanation ASDA AB Series Revision January 2009 1 3 1 2 2 Model Name Explanation ASDA AB Series Servo Drive...

Страница 17: ...Chapter 1 Unpacking Check and Model Explanation ASDA AB Series 1 4 Revision January 2009 ECMA Series Servo Motor...

Страница 18: ...S 22mm 1500W ASD A1521 AB ECMA E31315 S S 22mm 2000W ASD A2023 AB ECMA C31020 S S 22mm ECMA E31320 S S 22mm ECMA E31820 S S 35mm The servo drives shown in the above table are designed for use in combi...

Страница 19: ...Chapter 1 Unpacking Check and Model Explanation ASDA AB Series 1 6 Revision January 2009 1 4 Servo Drive Features 220V models...

Страница 20: ...Chapter 1 Unpacking Check and Model Explanation ASDA AB Series Revision January 2009 1 7 110V models...

Страница 21: ...peeds can be stored internally Torque Control T External Internal Torque control mode for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC...

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

Страница 23: ...dissipation Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel Please observe the following precautions when selectin...

Страница 24: ...mounted vertically on a dry and solid surface such as a NEMA enclosure A minimum spacing of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional spac...

Страница 25: ...Chapter 2 Installation and Storage ASDA AB Series 2 4 Revision January 2009 Minimum Clearances Side by Side Installation...

Страница 26: ...ons and Wiring This chapter provides information on wiring ASDA AB series products the descriptions of I O signals and gives typical examples of wiring diagrams 3 1 Connections 3 1 1 Connecting to Per...

Страница 27: ...Chapter 3 Connections and Wiring ASDA AB Series 3 2 Revision January 2009 Figure 3 2 110V Servo Drive...

Страница 28: ...nd S to L1 and L2 Used to connect servo motor Terminal Symbol Wire Color U Red V White W Black U V W FG Servo motor output FG Green Internal resistor Ensure the circuit is closed between P and D and t...

Страница 29: ...e cables connected to them after the power has been turned off and the charge LED is lit Please refer to the Safety Precautions on page ii 5 The cables connected to R L1M S L2M T and U V W terminals s...

Страница 30: ...hase connections are available But 220V single phase models are available in 1 5kW and below only and 110V single phase models are available in 400W and below only In the wiring diagram figures 3 3 3...

Страница 31: ...Chapter 3 Connections and Wiring ASDA AB Series 3 6 Revision January 2009 Figure 3 4 Single Phase Power Supply 400W and below 110V models Figure 3 5 Three Phase Power Supply all 220V models...

Страница 32: ...ame U V W Electromagnetic Brake Connector Terminal Identification ECMA C30401 S 100W ECMA C30602 S 200W ECMA C30604 S 400W ECMA C30804 7 400W ECMA C30807 S 750W HOUSING JOWLE C4201H00 2 2PA A ECMA C30...

Страница 33: ...is DC24V Never use it for VDD the 24V source voltage 3 1 5 Encoder Connector Specifications The boxes in the model names are for optional configurations Please refer to section 1 2 for model explanat...

Страница 34: ...1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ASD A0211 AB ASD A0221 AB ECMA C30602 S 1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ECMA C30604 S 1 3 AWG16 2 1 AWG14 0 82 AWG18 2 1 AWG14 ECMA C30804 7 1 3 AWG1...

Страница 35: ...AB ASD A0421 AB 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD A0721 AB 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD A1021 AB 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD A1521 AB 0 13 AWG26 10 c...

Страница 36: ...Chapter 3 Connections and Wiring ASDA AB Series Revision January 2009 3 11 3 2 Basic Wiring Figure 3 6 Basic Wiring Schematic of 100W 1 5kW 220V models...

Страница 37: ...Chapter 3 Connections and Wiring ASDA AB Series 3 12 Revision January 2009 Figure 3 7 Basic Wiring Schematic of 2kW 220V models...

Страница 38: ...Chapter 3 Connections and Wiring ASDA AB Series Revision January 2009 3 13 Figure 3 8 Basic Wiring Schematic of 100W 400W 110V models...

Страница 39: ...d and torque control encoder reference signal from the motor pulse direction inputs and reference voltages ii 8 programmable Digital Inputs DI can be set via parameters P2 10 P2 17 iii 5 programmable...

Страница 40: ...ound 39 NC No Connection 15 MON2 40 NC No Connection 16 MON1 Analog monitor output 2 41 PULSE Pulse input Analog monitor output 1 17 VDD 42 V_REF 18 T_REF 24V power output for external I O 43 PULSE Pu...

Страница 41: ...ommands and P1 04 P1 05 for scaling factors Output voltage is reference to the power ground C2 PULSE PULSE SIGN SIGN 41 43 37 36 The drive can accept two different types of pulse inputs Open Collector...

Страница 42: ...g Tables 3 B and 3 C detail the functions applicable operational modes signal name and relevant wiring schematic of the default DI and DO signals Table 3 B DO Signals Pin No Default DO Signal DO Code...

Страница 43: ...of via an external analog voltage ALRM 07 ALL 28 27 ALRM is activated when the drive has detected a fault condition However when Reverse limit error Forward limit error Emergency stop Serial communic...

Страница 44: ...ter P2 50 Pulse Clear Mode is executed ZCLAMP 05 ALL When this signal is On and the motor speed value is lower than the setting value of P1 38 it is used to lock the motor in the instant position whil...

Страница 45: ...or a fault ALE15 will display ORGP 24 Not assigned When ORGP is activated the drive will command the motor to start to search the reference Home sensor TLLM 25 Not assigned Reverse operation torque l...

Страница 46: ...otor will run to previous position STEPB 41 Not assigned Step back input When STEPB is activated the motor will return to first position AUTOR 42 Not assigned Auto run input When AUTOR is activated th...

Страница 47: ...0 OFF ON P1 09 ON OFF P1 10 ON ON P1 11 Table 3 F Source of Torque Command TCM1 TCM0 Parameter OFF OFF T mode analog input Tz mode 0 OFF ON P1 12 ON OFF P1 13 ON ON P1 14 The default DI and DO signal...

Страница 48: ...Speed limit enabled DI2 DI2 POS0 11 Position command selection 1 8 DI3 DI3 DI3 POS1 12 Position command selection 1 8 DI4 DI4 DI4 POS2 13 Position command selection 1 8 SPD0 14 Speed command selection...

Страница 49: ...X2 30 Feed step selection input 2 bit 2 INDEX3 31 Feed step selection input 3 bit 3 INDEX4 32 Feed step selection input 4 bit 4 MD0 33 Feed step mode input 0 MD1 34 Feed step mode input 1 MDP0 35 Manu...

Страница 50: ...O1 SON 02 Servo On ZSPD 03 Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 TSPD 04 Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 TPOS 05 Positioning completed DO4 DO4 DO4 DO4 DO4 DO4 DO4 TQ...

Страница 51: ...lease refer to the following Table 3 I for the settings Table 3 I User defined DI and DO signals Signal Name Pin No Parameter Signal Name Pin No Parameter DI1 9 P2 10 DO1 7 DI2 10 P2 11 DO1 6 P2 18 DI...

Страница 52: ...tor input is 200kpps C3 1 Pulse input for the use of internal power supply Open collector input C3 2 Pulse input for the use of external power supply Open collector input Caution Do not use dual power...

Страница 53: ...sible current 40mA Instantaneous peak current max 100mA C5 Wiring of DO signal for the use of internal power supply general load C6 Wiring of DO signal for the use of internal power supply inductive l...

Страница 54: ...nal for the use of internal power supply C10 Wiring of DI signal for the use of external power supply PNP transistor with multiple emitter fingers SOURCE Mode C11 Wiring of DI signal for the use of in...

Страница 55: ...Chapter 3 Connections and Wiring ASDA AB Series 3 30 Revision January 2009 C13 Encoder output signal Line driver C14 Encoder output signal Photocoupler...

Страница 56: ...multiplied to 10000PPR by X4 logic for increased control accuracy Figure 3 10 The layout of CN2 Drive Connector Quick Connector HOUSING AMP 1 172161 9 Military Connector 3106A 20 29S CN2 Terminal Sig...

Страница 57: ...dentification Description 1 Grounding GND 2 RS 232 data transmission RS 232 TX For data transmission of the servo drive Connected to the RS 232 interface of PC 3 RS 422 data receiving RS 422 RX For da...

Страница 58: ...Chapter 3 Connections and Wiring ASDA AB Series Revision January 2009 3 33 3 5 2 Connection between PC and Connector CN3...

Страница 59: ...ndard Connection Example 3 6 1 Position Pt Control Mode 220V models Note 1 The coil of brake has no polarity 2 Please refer to C4 wiring diagram on page 3 26 If it is open collector input please refer...

Страница 60: ...009 3 35 3 6 2 Position Pt Control Mode 110V models Note 1 The coil of brake has no polarity 2 Please refer to C4 wiring diagram on page 3 26 If it is open collector input please refer to C3 wiring di...

Страница 61: ...pter 3 Connections and Wiring ASDA AB Series 3 36 Revision January 2009 3 6 3 Position Pr Control Mode 220V models Note 1 The coil of brake has no polarity 2 Please refer to parameter P1 46 in Chapter...

Страница 62: ...pter 3 Connections and Wiring ASDA AB Series Revision January 2009 3 37 3 6 4 Position Pr Control Mode 110V models Note 1 The coil of brake has no polarity 2 Please refer to parameter P1 46 in Chapter...

Страница 63: ...Chapter 3 Connections and Wiring ASDA AB Series 3 38 Revision January 2009 3 6 5 Speed Control Mode 220V models Note 1 The coil of brake has no polarity 2 Please refer to parameter P1 46 in Chapter 7...

Страница 64: ...Chapter 3 Connections and Wiring ASDA AB Series Revision January 2009 3 39 3 6 6 Speed Control Mode 110V models Note 1 The coil of brake has no polarity 2 Please refer to parameter P1 46 in Chapter 7...

Страница 65: ...Chapter 3 Connections and Wiring ASDA AB Series 3 40 Revision January 2009 3 6 7 Torque Control Mode 220V models Note 1 The coil of brake has no polarity 2 Please refer to parameter P1 46 in Chapter 7...

Страница 66: ...Chapter 3 Connections and Wiring ASDA AB Series Revision January 2009 3 41 3 6 8 Torque Control Mode 110V models Note 1 The coil of brake has no polarity 2 Please refer to parameter P1 46 in Chapter 7...

Страница 67: ...Chapter 3 Connections and Wiring ASDA AB Series 3 42 Revision January 2009 This page intentionally left blank...

Страница 68: ...e circuit MODE Key Pressing MODE key can enter or exit different parameter groups and switch between Monitor mode and Parameter mode SHIFT Key Pressing SHIFT key can scrolls through parameter groups A...

Страница 69: ...N arrow key can change parameter group code 4 In parameter mode the system will enter into the setting mode immediately after the Set key is pressed The LCD display will display the corresponding sett...

Страница 70: ...ription In parameter mode pressing MODE key can abort parameter setting change and return to monitor mode In parameter setting mode pressing MODE key can return back to parameter mode After returning...

Страница 71: ...he LCD display will show the monitor function codes for approximately one second and then enter into the monitor mode In monitor mode in order to change the monitor status the users can press UP or DO...

Страница 72: ...ber relative value Position latch rotation number rev The following table lists the display examples of monitor value Display Message Description Positive value display No positive sign is displayed t...

Страница 73: ...ode P4 00 to P4 04 Fault Record press SET key to display the corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1 to H5 in order H1 indicates the mo...

Страница 74: ...o the desired unit column the effected number will blink then changed using the UP and DOWN arrow keys The example display in Figure 4 4 is adjusted as 100 r min Step3 Press the SET key when the desir...

Страница 75: ...mode 5 In the position learning mode display JOGox pressing UP or DOWN arrow key at any time can rotate Servo motor in forward or reverse rotation Servo motor will immediately stop running if releasi...

Страница 76: ...tion Command for Rotation P1 26 6th Position Command for Pulse JOGo7 P1 27 7th Position Command for Rotation P1 28 7th Position Command for Pulse JOGo8 P1 29 8th Position Command for Rotation P1 30 8t...

Страница 77: ...ment lit and display on the screen it means that the corresponding digital input signal is ON Please also refer to Figure 4 7 Figure 4 7 4 4 6 DO Diagnosis Operation Following the setting method in Fi...

Страница 78: ...oad first and then perform trial run with load connected After the servo motor is running normally and regularly without load then run servo motor with load connected Ensure to perform trial run in th...

Страница 79: ...at all user defined parameters are set correctly Since the characteristics of various machinery equipment are different in order to avoid accident or cause damage do not adjust the parameter abnormall...

Страница 80: ...U V W output terminals This will damage the AC servo drive 2 Main circuit wiring Connect power to the AC servo For three phase input power connection and single phase input power connection please re...

Страница 81: ...iring is correct Check if the encoder wiring CN2 of servo motor is loose or incorrect Corrective Actions Check if the users perform wiring recommended in the user manual Examine the encoder connector...

Страница 82: ...not set to 22 If it is necessary to use Reverse inhibit limit CWL as input signal the users only need to confirm that which of digital inputs DI1 DI8 is set to Reverse inhibit limit CWL and check if...

Страница 83: ...the wiring is closed Remove the short circuited condition and avoid metal conductor being exposed 7 When display shows Undervoltage Corrective Actions Check whether the wiring of main circuit input v...

Страница 84: ...JOG speed is set and then press SET key the drive will enter into JOG operation mode automatically STEP 3 The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust the dig...

Страница 85: ...Chapter 5 Trial Run and Tuning Procedure ASDA AB Series 5 8 Revision January 2009...

Страница 86: ...ion of reverse inhibit limit DI7 is the function of forward inhibit limit and DI6 is the function of emergency stop DI8 if the users do not set the setting value of parameters P2 15 to P2 17 to 0 Disa...

Страница 87: ...otor is operating according to external analog command 3 If only DI3 is ON SPD0 it indicates S2 command P1 09 is set to 3000 is selected and the motor speed is 3000r min at this time 4 If only DI4 is...

Страница 88: ...sabled This DI function is disabled By default DI6 is the function of reverse inhibit limit DI7 is the function of forward inhibit limit and DI6 is the function of emergency stop DI8 if the users do n...

Страница 89: ...1 1 1 P1 30 P2 43 V8 Pulse No max cnt 0 indicates OFF Normally Open 1 indicates ON Normally Closed The users can set the value of these 8 groups of commands P1 15 P1 30 freely The command can be abso...

Страница 90: ...he servo drive Servo ON 2 Set DI2 CTRG to be ON it indicates the command of internal position 1 P1 15 Rotation No P1 16 Pulse No 1 turn is selected and the motor has rotated one turn at this time 3 Se...

Страница 91: ...side 9 Select parameter value 1 Use UP key to cycle through the available settings 10 Press SET key to write parameter value to the drive and the right side display will show on the LCD display 11 At...

Страница 92: ...ation Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia J_load J_motor Then execute JOG operation again press MODE key once and press SET...

Страница 93: ...Chapter 5 Trial Run and Tuning Procedure ASDA AB Series 5 16 Revision January 2009 5 6 2 Load Inertia Estimation Flowchart...

Страница 94: ...icates the responsiveness setting When the setting value is higher the responsiveness is faster Adjust P2 31 Increase the setting value of P2 31 Increase the value B to speed the responsiveness or red...

Страница 95: ...January 2009 Table 5 B P2 31 Value B Setting in AutoMode PI and the setting of P2 00 P2 25 P2 31 value B Speed Loop Responsive Recommended Setting Value of P2 25 0 20Hz 13 1 30Hz 9 2 40Hz 6 3 60Hz 4...

Страница 96: ...o tuning mode In AutoMode PDFF the value B indicates the responsiveness setting When the setting value is higher the responsiveness is faster Adjust P2 31 Increase the setting value of P2 31 Increase...

Страница 97: ...le 5 C P2 31 Value B Setting in AutoMode PDFF and the Speed Loop Responsiveness P2 31 value B Speed Loop Responsiveness P2 31 value B Speed Loop Responsiveness 0 20HZ 8 120Hz 1 30 HZ 9 140HZ 2 40 HZ A...

Страница 98: ...Chapter 5 Trial Run and Tuning Procedure ASDA AB Series Revision January 2009 5 21 5 6 5 Manual Mode Tuning Flowchart Position Mode...

Страница 99: ...a The change of external force and the inertia ratio can not be too much In AutoMode P2 32 is set to 3 or 5 it will stop estimating the load inertia The measured load inertia value will not be saved w...

Страница 100: ...37 Ratio of Load Inertia to Servo Motor Inertia J_load J_motor P2 31 Value B Level of Responsiveness Fixed When switching mode 3 to 0 the setting value of P2 00 P2 04 and P2 06 will change to the val...

Страница 101: ...osition loop is higher than the responsiveness of speed loop the machinery system may generate vibration or noise or even overshoot during positioning The speed loop responsiveness is calculated as fo...

Страница 102: ...rough P2 32 AutoMode PDFF setting value is 5 mode 5 automatically The setting value of P2 26 will change to the value that measured in mode 5 AutoMode PDFF when switching mode 5 AutoMode PDFF to mode...

Страница 103: ...Chapter 5 Trial Run and Tuning Procedure ASDA AB Series 5 26 Revision January 2009 This page intentionally left blank...

Страница 104: ...maximum of three speeds can be stored internally Torque Control T Torque control for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC comma...

Страница 105: ...ent position command into these eight internal parameters before operation and then use POS0 POS2 of DI signals of CN1 to perform positioning control The other setting method is to use serial communic...

Страница 106: ...input from these terminals PULSE 41 PULSE 43 and SIGN 37 SIGN 36 It can be an open collector circuit or line driver circuit For the detail wiring please refer to 3 6 1 6 2 2 Command Source of Position...

Страница 107: ...ally Closed CTRG the instant time when the contact changes from 0 open to 1 closed The application of absolute and incremental position control is various and multiple This kind of position control is...

Страница 108: ...de if INHP is activated the external pulse input command is not valid and the motor will stop Pulse command INHP ON OFF ON 6 2 4 P curve Filter for Position Control The P curve filter is for the posit...

Страница 109: ...haracteristics and Time relationship Acceleration TSL 2 TDEC TSL 2 TSL 2 TDEC TSL 2 P curve characteristics and Time relationship Deceleration Time ms Time ms Position Speed Rated speed Torque Relevan...

Страница 110: ...P1 35 is disabled P1 36 TSL Accel Decel S curve Communication Addr 0124H Pr mode Default 20 See Note 2 Related Section Other mode Default 0 P1 34 P1 35 Section 6 3 3 Unit ms Range 0 10000 0 Disabled...

Страница 111: ...it may lead to personnel injury therefore ensure to observe the following rule when setting P1 44 P1 45 The electronic gear ratio setting Please also see P1 44 P2 60 P2 62 f1 f2 f1 x N M N M Pulse inp...

Страница 112: ...is not used 1 1 3x1000 4x2500 3000 10000 m When the electronic gear ratio is not used 10000 3000 1 m 6 2 6 Low pass Filter Relevant parameters P1 08 PFLT Smooth Constant of Position Command Low pass...

Страница 113: ...contains speed loop Then adjust the Proportional Position Loop Gain KPP parameter P2 00 and Position Feed Forward Gain PFG parameter P2 02 Or use Auto mode to adjust the gain of speed and position co...

Страница 114: ...position loop response and reduce position error However if the setting value is over high it may generate vibration or noise P2 02 PFG Position Feed Forward Gain Communication Addr 0202H Default 5000...

Страница 115: ...this happens the rotor of motor will oscillate At this time the users have to decrease the value of KPP until the rotor of motor stop oscillating When there is an external torque command interrupted...

Страница 116: ...hnology Manual Auto are also provided for the users to select parameter P2 32 There are two turning modes for gain adjustment Manual and Auto modes Manual Mode User defined loop gain adjustment When u...

Страница 117: ...rol according to chapter 6 3 1 including proportional gain P1 40 and S curve filter smoothing strategy of speed control The speed control block diagram is used to manage the gain parameters of the ser...

Страница 118: ...n make the motor run more smoothly S curve filter parameters include P1 34 Acceleration Time TACC P1 35 Deceleration Time TDEC and Accel Decel S curve TSL and the users can use these three parameters...

Страница 119: ...ge 0 10000 0 Disabled Settings This parameter is used to make the motor run more smoothly when startup and windup Using this parameter can improve the motor running stability 1 2TSL TACC TDEC 1 2TSL 1...

Страница 120: ...of speed command is different during acceleration and deceleration Also the users can see the difference of input command tracking and can adjust time setting by using parameter P1 34 P1 35 P1 36 to i...

Страница 121: ...and Limit Communication Addr 0128H Default rated speed Related Section Applicable Control Mode S T Section 6 3 4 Unit r min Range 0 10000 Settings In Speed mode this parameter is used to set the speed...

Страница 122: ...ly closed 2 When speed control mode is Sz the speed command S1 0 when speed control mode is S the speed command S1 is external analog voltage input Please refer to P1 01 3 After Servo ON the users can...

Страница 123: ...PDFF Pseudo Derivative Feedback and Feedforward Explanation of Auto tuning 1 When switching mode 2 or 4 to 3 the system will save the measured load inertia value automatically and memorized in P1 37 T...

Страница 124: ...oop response However if the setting value is over high it may generate vibration or noise P2 06 KVI Speed Integral Compensation Communication Addr 0206H Default 100 Related Section Applicable Control...

Страница 125: ...B Series 6 22 Revision January 2009 In theory stepping response can be used to explain proportional gain KVP integral gain KVI and feed forward gain KVF Now we use frequency area and time area respect...

Страница 126: ...n In general the equipment such as spectrum analyzer is needed and used to analyze when using frequency domain method and the users also should have this kind of analysis technology However when using...

Страница 127: ...ble for wide range of load inertia change The period of adjustment time is different depending on the acceleration and deceleration of servo motor To change the stiffness and responsiveness please use...

Страница 128: ...Suppression Communication Addr 0219H Default 2 1kW and below models or Related Section 5 above 1kW models Section 6 3 7 Applicable Control Mode P S T Unit ms Range 0 1000 Settings This parameter is us...

Страница 129: ...he resonance conditions directly by using notch filter parameter P2 23 P2 24 However the range of frequency setting is from 50 to 1000Hz only and the range of resonant attenuation is 0 32 dB only Ther...

Страница 130: ...frequency will become smaller see the figure on page 6 26 The resonant condition is improved but the frequency response and phase margin will also decrease and the system may become unstable Therefore...

Страница 131: ...e T External analog signal Voltage between T REF GND 10 V T1 0 0 Mode Tz None Torque command is 0 0 T2 0 1 P1 12 300 T3 1 0 P1 13 300 T4 1 1 Internal parameter P1 14 300 State of TCM0 1 0 indicates OF...

Страница 132: ...is not allowed The function and structure of torque command processing is shown as the figure below A D P1 12 1 14 P1 41 P1 01 P1 07 TCM0 TCM1 signal of CN1 Command selection Low pass filter Command s...

Страница 133: ...st the torque control ramp and its range 5 10 5 10 100 300 100 300 Analog Input Voltage V The torque control ramp is determined by parameter P1 41 Torque command Relevant parameters P1 41 TCM Max Anal...

Страница 134: ...command limit Input voltage x setting 10 6 4 5 Timing Chart of Torque Control Mode T4 P1 14 T3 P1 13 T2 P1 12 T1 TCM0 TCM1 SON OFF ON OFF ON ON OFF ON Internal speed command External analog voltage or...

Страница 135: ...an use external analog signal as input command in speed and torque mode to reduce the use of DI inputs SPD0 1 or TCM0 1 In position mode we recommend that the users can use Pt mode to input pulse to r...

Страница 136: ...rs P1 12 to P1 14 and TCM0 1 is used to select torque command The speed and torque mode switching is controlled by the S T signal The timing chart of speed torque control mode selection is shown as th...

Страница 137: ...following the external pulse command When switching to the torque mode when T P is OFF it will stop counting pulse even if the pulse command is continuously sent out The torque command is determined...

Страница 138: ...2 is set to 1 SPD0 1 INVALID SPD0 1 VALID Disable Enable Speed Limit Function Settings in parameter P1 02 is set to 0 Command Source Selection of Speed Limit 6 6 2 Torque Limit The command source of t...

Страница 139: ...0 75 40 60 30 20 1 0 40 60 30 20 1 5 40 60 30 20 2 0 20 120 60 10 When the regenerative power exceeds the processing capacity of the servo drive install an external regenerative resistor Please pay c...

Страница 140: ...ive power Use the table and procedure described below to calculate the regenerative power Servo Drive kW Rotor Inertia J kg m2 Regenerative power from empty load 3000r min to stop Eo joule Max regener...

Страница 141: ...eration of regenerative resistor 2 With Load When there is an external load torque servo motor is in reverse rotation when external load greater than motor torque Servo motor is usually in forward rot...

Страница 142: ...wable frequency when the servo motor run without load times min 100W 200W 300W 400W 60mm 400W 80mm 500W 600W 750W ECMA Series 01 02 03 04 04 05 06 07 Allowable Frequency times min 1275 519 43 41 319 9...

Страница 143: ...monitor to observe the required analog voltage signals ASDA AB series provide two analog channels they are PIN No 15 and 16 of CN1 connector The parameters relative to analog monitor are shown below R...

Страница 144: ...1 MON2 A 2 MON1 MON2 A 3 MON1 MON2 Pulse output polarity B 0 Forward output B 1 Reverse output P1 04 Analog Monitor Output Proportion 1 CH1 Communication Addr 0104H Default 100 Related Section Applica...

Страница 145: ...cy Other related parameters setting include parameter P0 03 A 3 and P1 03 A 0 3 output polarity setting In general when output voltage value of Ch1 is V1 the pulse command frequency is equal to Max in...

Страница 146: ...be activated after servo system is off Servo Off If the users desire to control electromagnetic brake via external controller not by the servo drive the users must execute the function of electromagn...

Страница 147: ...ing for more wiring information 2 The BRKR signal is used to control the brake operation The VDD DC24V power supply of the servo drive can be used to power the relay coil Relay When BRKR signal is ON...

Страница 148: ...rcuit power and main circuit power L1 L2 Control Circuit Power 5V Control Circuit Power R S T Main Circuit Power BUS Voltage READY SERVO READY SERVO ON DI Input SERVO ON DO Output Position Speed Torqu...

Страница 149: ...Chapter 6 Control Modes of Operation ASDA AB Series 6 46 Revision January 2009 This page intentionally left blank...

Страница 150: ...n of control modes Pt Position control mode command from external signal Pr Position control mode command from internal signal S Speed control mode T Torque control mode Explanation of symbols marked...

Страница 151: ...Data Read Write Register 0 407H N A P0 10 MAP1 Block Data Read Write Register 1 10FH N A P0 11 MAP2 Block Data Read Write Register 2 110H N A P0 12 MAP3 Block Data Read Write Register 3 224H N A P0 1...

Страница 152: ...f Position Command Low pass Filter 0 ms 1st 3rd Speed Command P1 09 P1 11 SP1 3 1st 3rd Speed Limit 100 300 r min 1st 3rd Torque Command P1 12 P1 14 TQ1 3 1st 3rd Torque Limit 100 PO1H PO8H 1st 8th Po...

Страница 153: ...umber 0 rev P1 51 HOF2 Homing Offset Pulse Number 0 pulse P1 52 RES1 Regenerative Resistor Value N A Ohm P1 53 RES2 Regenerative Resistor Capacity N A Watt P1 54 PER Positioning Completed Width 100 pu...

Страница 154: ...tal Input Terminal 3 DI3 116 N A P2 13 DI4 Digital Input Terminal 4 DI4 117 N A P2 14 DI5 Digital Input Terminal 5 DI5 102 N A P2 15 DI6 Digital Input Terminal 6 DI6 22 N A P2 16 DI7 Digital Input Ter...

Страница 155: ...ion Clear Delay Time 0 20ms P2 48 BLAS Backlash Compensation of Feed Step Control 0 pulse P2 49 SJIT Speed Detection Filter and Jitter Suppression 0 sec P2 50 DCLR Pulse Deviation Clear Mode 0 N A P2...

Страница 156: ...n Fault Treatment 0 N A P3 04 CWD Communication Time Out Detection 0 sec P3 05 CMM Communication Selection 0 N A P3 06 SDI Digital Input Communication Function 0 N A P3 07 CDT Communication Response D...

Страница 157: ...log Speed Input Drift Adjustment 1 Factory setting N A P4 12 SOF2 Analog Speed Input Drift Adjustment 2 Factory setting N A P4 13 TOF1 Analog Torque Drift Adjustment 1 Factory setting N A P4 14 TOF2 A...

Страница 158: ...d Write Register 1 10FH N A P0 11 MAP2 Block Data Read Write Register 2 110H N A P0 12 MAP3 Block Data Read Write Register 3 224H N A P0 13 MAP4 Block Data Read Write Register 4 111H N A P0 14 MAP5 Bl...

Страница 159: ...TDEC Deceleration Time 200 ms 6 3 3 P1 36 TSL Accel Decel S curve 0 ms 6 3 3 P2 23 NCF Notch Filter Resonance Suppression 1000 Hz 6 3 7 P2 24 DPH Notch Filter Attenuation Rate Resonance Suppression 0...

Страница 160: ...P2 06 KVI Speed Integral Compensation 100 N A 6 3 6 P2 07 SFG Speed Feed Forward Gain 0 0 0001 6 3 6 P2 26 DST External Anti Interference Gain 0 0 001 P2 27 GCC Gain Switching Control Selection 0 N A...

Страница 161: ...45 GR2 Electronic Gear Ratio Denominator 1 pulse 6 3 6 P2 60 GR4 Electronic Gear Ratio 2nd Numerator N2 1 pulse P2 61 GR5 Electronic Gear Ratio 3rd Numerator N3 1 pulse P2 62 GR6 Electronic Gear Rati...

Страница 162: ...2 52 ATM0 Timer 0 of Auto Mode 0 sec 12 6 P2 53 ATM1 Timer 1 of Auto Mode 0 sec P2 54 ATM2 Timer 2 of Auto Mode 0 sec P2 55 ATM3 Timer 3 of Auto Mode 0 sec P2 56 ATM4 Timer 4 of Auto Mode 0 sec P2 57...

Страница 163: ...SP1 3 1st 3rd Speed Limit 100 300 r min 6 3 1 1st 3rd Torque Command P1 12 P1 14 TQ1 3 1st 3rd Torque Limit 100 6 6 2 P1 40 VCM Max Analog Speed Command or Limit rated speed r min 6 3 4 P1 41 TCM Max...

Страница 164: ...eed r min 1st 3rd Speed Command P1 09 P1 11 SP1 3 1st 3rd Speed Limit 100 300 r min 6 6 1 1st 3rd Torque Command P1 12 P1 14 TQ1 3 1st 3rd Torque Limit 100 6 4 1 P1 40 VCM Max Analog Speed Command or...

Страница 165: ...8 DO1 Digital Output Terminal 1 DO1 101 N A P2 19 DO2 Digital Output Terminal 2 DO2 103 N A P2 20 DO3 Digital Output Terminal 3 DO3 109 N A P2 21 DO4 Digital Output Terminal 4 DO4 105 N A P2 22 DO5 Di...

Страница 166: ...on Fault Treatment 0 N A 8 2 P3 04 CWD Communication Time Out Detection 0 sec 8 2 P3 05 CMM Communication Selection 0 N A 8 2 P3 06 SDI Digital Input Communication Function 0 N A 8 2 P3 07 CDT Communi...

Страница 167: ...tion 0 N A P4 11 SOF1 Analog Speed Input Drift Adjustment 1 Factory setting N A P4 12 SOF2 Analog Speed Input Drift Adjustment 2 Factory setting N A P4 13 TOF1 Analog Torque Drift Adjustment 1 Factory...

Страница 168: ...P1 58 Reserved P1 59 Reserved P1 60 Reserved P1 61 Reserved P2 08 PCTL Special Factory Setting 0 N A P2 30 INH Auxiliary Function 0 N A P2 34 SDEV Overspeed Warning Condition 5000 r min P2 35 PDEV Exc...

Страница 169: ...le Control Mode ALL Chapter 10 Unit N A Range 00 23 Settings 01 Overcurrent 02 Overvoltage 03 Undervoltage 04 Z Pulse shift 05 Regeneration error 06 Overload 07 Overspeed 08 Abnormal pulse control com...

Страница 170: ...of pulse command pulse 03 Rotation number of pulse command rev 04 Position error counts pulse 05 Input frequency of pulse command Kpps 06 Motor speed r min 07 Speed input command Volt 08 Speed input...

Страница 171: ...Note For the setting of analog output voltage proportion refer to the P1 04 and P1 05 Example P0 03 01 CH1 is speed analog output Motor speed Max motor speed V1 8 P1 04 100 when the output voltage va...

Страница 172: ...ction 4 3 5 Unit N A Range 0 17 Settings Select the desired drive status through communication setting or the keypad please refer to P0 02 The drive status can be read from the communication address o...

Страница 173: ...if setting P0 09 to 407 by using the keypad when the users read and write the data from communication address 0009H it means that the read and write value is the setting value of parameter P4 07 P0 1...

Страница 174: ...on Addr 000EH Default 112H Related Section N A Applicable Control Mode ALL Unit N A Range 100H 417H Settings See P0 09 for explanation P0 15 MAP6 Block Data Read Write Register 6 Communication Addr 00...

Страница 175: ...ay will show in hexadecimal format Bit0 SRDY Servo ready Bit1 SON Servo On Bit2 ZSPD At Zero speed Bit3 TSPD At Speed reached Bit4 TPOS At Positioning completed Bit5 TQL At Torque limit Bit6 Reserved...

Страница 176: ...lue B Input pulse filter B 0 500Kpps B 1 200Kpps B 2 150Kpps B 3 80Kpps This setting is used to suppress or reduce the chatter caused by the noise etc However if the instant input pulse filter frequen...

Страница 177: ...can be reset to be the default value of the mode you switch to C 0 When switching to different mode the setting value of DIO P2 10 P2 22 will remain the same and will not be changed Control Mode Setti...

Страница 178: ...t N A Range 0 11 Settings not used A B A 0 Disable speed limit function A 1 Enable speed limit function It is available in torque mode Other Reserved P1 09 1 P1 10 2 P1 11 3 Vref SPD0 SPD1 0 Speed Lim...

Страница 179: ...d output B 1 Reverse output P1 04 MON1 Analog Monitor Output Proportion 1 CH1 Communication Addr 0104H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit full scale Range 0 100...

Страница 180: ...Section 6 3 1 Unit r min Range 5000 5000 Settings 1st Speed Command In Speed mode this parameter is used to set speed 1 of internal speed command For the decimal place setting of internal speed comman...

Страница 181: ...de this parameter is used to set speed limit 3 of internal speed command P1 12 TQ1 1st Torque Command or Limit Communication Addr 010CH Default 100 Related Section Applicable Control Mode T P S Sectio...

Страница 182: ...log voltage P1 14 TQ3 3rd Torque Command or Limit Communication Addr 010EH Default 100 Related Section Applicable Control Mode T P S Section 6 4 1 Unit Range 300 300 Settings 3rd Speed Command In Torq...

Страница 183: ...l Mode Pr Section 6 2 2 Unit rev Range 30000 30000 Settings This parameter is used to set rotation cycle number of internal position 2 P1 18 PO2L 2nd Position Command for Pulse Communication Addr 0112...

Страница 184: ...l Mode Pr Section 6 2 2 Unit rev Range 30000 30000 Settings This parameter is used to set rotation cycle number of internal position 4 P1 22 PO4L 4th Position Command for Pulse Communication Addr 0116...

Страница 185: ...l Mode Pr Section 6 2 2 Unit rev Range 30000 30000 Settings This parameter is used to set rotation cycle number of internal position 6 P1 26 PO6L 6th Position Command for Pulse Communication Addr 011A...

Страница 186: ...0000 30000 Settings This parameter is used to set rotation cycle number of internal position 8 P1 30 PO8L 8th Position Command for Pulse Communication Addr 011EH Default 0 Related Section Applicable C...

Страница 187: ...Pr Communication Addr 0121H Default 0 Related Section Applicable Control Mode Pr Section 6 2 2 Unit N A Range 0 6 Settings This parameter determines the specific type of position control for Pr mode...

Страница 188: ...time to accelerate from 0 to its rated motor speed When P1 36 is set to 0 Accel Decel function is disabled i e P1 34 P1 35 is disabled P1 35 TDEC Deceleration Time Communication Addr 0123H Default 200...

Страница 189: ...me TACC TSL Total deceleration time TDEC TSL NOTE 1 If the control of the servo motor is achieved via internal parameters the command curve should be defined by the users Therefore when the command so...

Страница 190: ...peed at or below 10 r min ZSPD will remain activated until the motor speed increases above 10 r min P1 39 SSPD Target Motor Speed Communication Addr 0127H Default 3000 Related Section N A Applicable C...

Страница 191: ...rque Command or Limit Communication Addr 0129H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit Range 0 1000 Settings In Torque mode this parameter is used to set the output...

Страница 192: ...nactivated NOTE 1 When MBT2 delay time has not finished and motor speed is lower than the setting value of P1 38 electromagnetic brake interlock signal BRKR is closed 2 When MBT2 delay time has finish...

Страница 193: ...en the servo drive is Off As the wrong setting may cause motor to run chaotically out of control and it may lead to personnel injury therefore ensure to observe the following rule when setting P1 44 P...

Страница 194: ...B 1 the setting value A directly represents the pulse numbers of encoder outputs per motor revolution At this time the range of the setting value A is 20 2500 The Default indicates that the pulses wi...

Страница 195: ...to the servo drive C 2 Enable homing function by SHOM D 0 After detecting Home the motor will decelerate and return to Home D 1 After detecting Home the motor will decelerate and stop in the forward...

Страница 196: ...r to P1 48 P1 50 HOF1 Homing Offset Rotation Number Communication Addr 0132H Default 0 Related Section Applicable Control Mode ALL Section 12 8 Unit rev Range 30000 30000 Settings Please refer to P1 5...

Страница 197: ...tion Addr 0136H Default 100 Related Section N A Applicable Control Mode Pt Pr Unit Pulse Range 0 10000 Settings This parameter is used to set the width of pulse output range in which TPOS positioning...

Страница 198: ...ad time exceeds the permissible time for overload the overload alarm ALE06 will occur For example If the setting value of parameter P1 56 Output Overload Warning Level is 60 when the permissible time...

Страница 199: ...digital output CMDOK Internal position command completed output when the servo drive has detected the internal position command has been completed If this parameter is set to 0 when DO ZSPD 1 the inte...

Страница 200: ...Mode Pt Pr Unit Range 10 500 Settings This parameter is used to set the position gain switching rate when the gain switching condition is satisfied Please refer to P2 27 for gain switching control sel...

Страница 201: ...t 500 Related Section Applicable Control Mode ALL Section 6 3 6 Unit rad s Range 0 20000 Settings This parameter is used to set the speed loop gain When the value of proportional speed loop gain is in...

Страница 202: ...ed response ability and decrease the speed control deviation However if the setting value is over high it may generate vibration or noise P2 07 SFG Speed Feed Forward Gain Communication Addr 0207H Def...

Страница 203: ...arameters against change by unauthorized personnel Parameter Lock Password Input Enter 5 digit password your password should be at least five characters long Confirm your password again and then the p...

Страница 204: ...2 10 P2 17 please refer to Table 7 A B DI Enabled Status Settings 0 Normally closed contact b 1 Normally open contact a Please re start the servo drive after parameters have been changed P2 11 DI2 Dig...

Страница 205: ...e 0 147 Settings See P2 10 for explanation P2 15 DI6 Digital Input Terminal 6 DI6 Communication Addr 020FH Default 22 Related Section Applicable Control Mode ALL Table 7 A Unit N A Range 0 147 Setting...

Страница 206: ...18 P2 22 please refer to Table 7 A B DO Enabled Status Settings 0 Normally closed contact b 1 Normally open contact a Please re start the servo drive after parameters have been changed P2 19 DO2 Digi...

Страница 207: ...Range 0 112 Settings See P2 18 for explanation P2 23 NCF Notch Filter Resonance Suppression Communication Addr 0217H Default 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz Rang...

Страница 208: ...Section N A Applicable Control Mode ALL Unit 0 001 Range 0 30000 Settings 0 Disabled In AutoMode PDFF mode parameter P2 32 is set to 4 or 5 the value of this parameter is determined by the system aut...

Страница 209: ...rent gain switching condition P2 30 INH Auxiliary Function Communication Addr 021EH Default 0 Related Section N A Applicable Control Mode ALL Unit N A Range 0 5 Settings 0 Normal operation of Digital...

Страница 210: ...t the responsiveness level setting of auto tuning mode Users can control the responsiveness according to application condition When the setting value is higher the responsiveness is higher not used A...

Страница 211: ...orward Explanation of Auto tuning 1 When switching mode 2 or 4 to 3 the system will save the measured load inertia value automatically and memorized in P1 37 Then set the corresponding parameters acco...

Страница 212: ...ation Addr 0222H Default 5000 Related Section N A Applicable Control Mode S Unit r min Range 1 5000 Settings This parameter is used to set the over speed condition of the drive fault code See P0 01 P2...

Страница 213: ...ng Speed Setting of 2nd Position Communication Addr 0225H Default 1000 Related Section Applicable Control Mode Pr Section 6 2 2 Unit r min Range 1 5000 Settings Please refer to P2 36 P2 38 POV3 Moving...

Страница 214: ...ddr 0229H Default 1000 Related Section Applicable Control Mode Pr Section 6 2 2 Unit r min Range 1 5000 Settings Please refer to P2 36 P2 42 POV7 Moving Speed Setting of 7th Position Communication Add...

Страница 215: ...control function this output mode must be selected Otherwise the feed step control function can not be used normally Refer to Section 12 6 When the users want to use internal auto running mode functio...

Страница 216: ...ntrol Communication Addr 0230H Default 0 Related Section Applicable Control Mode Pr Section 12 6 Unit pulse Range 0 10312 Settings A B A Pulse Number Settings 0 312 the pulse number of backlash compen...

Страница 217: ...2 2 2 400 2 5 3 350 2 8 4 300 3 3 5 250 4 0 6 200 5 0 7 150 6 6 8 100 10 0 9 80 12 5 B Enable Disable Jitter Suppression Function B 0 Disable Jitter Suppression function B 1 Enable Jitter Suppression...

Страница 218: ...will be clear to 0 1 Clear motor feedback pulse and rotation number available in Pt and Pr mode only When this input is triggered the count pulse and rotation number will be clear to 0 This zero poin...

Страница 219: ...y to run Servo ready SRDY is ON where the servo is ready to run NO fault alarm exists P2 51 should turn servo ready SRDY off on P2 52 ATM0 Timer 0 of Auto Mode Communication Addr 0234H Default 0 Relat...

Страница 220: ...rol Mode Pr Unit sec Range 0 120 00 P2 59 ATM7 Timer 7 of Auto Mode Communication Addr 023BH Default 0 Related Section N A Applicable Control Mode Pr Unit sec Range 0 120 00 P2 60 GR4 Electronic Gear...

Страница 221: ...ication Addr 023DH Default 1 Related Section N A Applicable Control Mode Pt Pr Unit pulse Range 1 32767 Settings Please refer to P2 60 P2 62 GR6 Electronic Gear Ratio 4th Numerator N4 Communication Ad...

Страница 222: ...o 1234 and value A is set to 0 and then the internal speed is 1234 r min If P1 09 is set to 1234 and value A is set to 1 and then the internal speed is 123 4 r min This value A setting is available fo...

Страница 223: ...d mode Negative If Tref 0 Tpl Tnl 0 If NL Tref 0 Tnl Tref If Tref NL Tnl NL This parameter can allow the users to set two different kinds of torque limit command sources when limiting torque We call i...

Страница 224: ...nal command 3 Bit4 Bit3 Bit2 Fast DI digital input function When this function is activated the function of P2 17 DI8 will become invalid and change to Fast DI digital input function When Bit3 Bit5 ar...

Страница 225: ...these two functions If the users want to use the edge of a D1 signal to stop the motor at the desired position and do not care the speed deceleration curve then set Bit10 of P2 65 to 0 If the users w...

Страница 226: ...host external controller no matter the address is matching or not 2 When the address of host external controller is set to 255 it is with auto respond function Then the servo drive will receive from...

Страница 227: ...set the communication protocol The alphanumeric characters represent the following 7 or 8 is the number of data bits N E or O refer to the parity bit Non Even or Odd the 1 or 2 is the numbers of stop...

Страница 228: ...on time out When this parameter is set to a value over than 0 it indicates this function is enabled However if not communicating with the servo in this period of time the servo drive will assume the c...

Страница 229: ...corresponds with DI1 DI8 The least significant bit Bit0 shows DI1 status and the most significant bit Bit7 shows DI8 status The new DI9 DI16 for software communication corresponds with CTRG POS0 POS1...

Страница 230: ...Addr 0401H Default 0 Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A P4 02 ASH3 Fault Record N 2 Communication Addr 0402H Default 0 Related Section Applicable Control Mode...

Страница 231: ...layed The Servo Drive will display JOG 4 Press the UP or DOWN arrow keys to jog the motor either CCW or CW The motor will only rotation while the arrow key is activated 5 To change JOG speed again pre...

Страница 232: ...rce Input Control Communication Addr 0407H Default 0 Related Section Applicable Control Mode ALL P3 06 Section 4 4 5 Unit N A Section 8 2 Range 0 FFFF Settings Please see P3 06 and Section 8 2 for set...

Страница 233: ...nt detector V phase drift adjustment 4 Execute current detector W phase drift adjustment 5 Execute drift adjustment of the above 1 4 6 Execute IGBT NTC calibration This adjustment function is enabled...

Страница 234: ...execute manual adjustment we still do not recommend the users to change the default setting manually This parameter cannot be reset P4 14 TOF2 Analog Torque Drift Adjustment 2 Communication Addr 040EH...

Страница 235: ...ated Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Settings Please see P4 15 for explanation P4 18 COF4 Current Detector Drift Adjustment W2 phase Communication Addr 0412H Default Fac...

Страница 236: ...Related Section N A Applicable Control Mode ALL Section 6 4 4 Unit mV Range 800 800 Settings This parameter cannot be reset P4 22 SAO Analog Speed Input Offset Communication Addr 0416H Default 0 Rela...

Страница 237: ...Chapter 7 Servo Parameters ASDA AB Series 7 88 Revision January 2009 P4 24 Reserved Communication Addr 0418H P4 25 Reserved Communication Addr 0419H P4 26 Reserved Communication Addr 041AH...

Страница 238: ...otor speed value is below the setting value of P1 38 it is used to lock the motor in the instant position while ZCLAMP is On Time Setting value of P1 38 Zero speed OFF ZCLAMP input signal Motor Speed...

Страница 239: ...ON OFF ON P1 26 P1 27 P7 ON ON OFF P1 28 P1 29 P8 ON ON ON P1 30 SPD0 14 SPD1 15 Speed command selection 0 1 DI signal of CN1 Command No SPD1 SPD0 Command Source Content Range S External analog comman...

Страница 240: ...ee P1 47 INDEX0 28 Feed step selection input 0 bit 0 INDEX1 29 Feed step selection input 1 bit 1 INDEX2 30 Feed step selection input 2 bit 2 INDEX3 31 Feed step selection input 3 bit 3 INDEX4 32 Feed...

Страница 241: ...ectronic gear ratio Numerator selection 0 see P2 60 P2 62 GNUM1 44 Electronic gear ratio Numerator selection 1 see P2 60 P2 62 Pulse Denominator P1 45 Smooth Filter P1 08 1st Numerator N1 P1 44 2nd Nu...

Страница 242: ...in parameter P1 39 TSPD will remain activated until the motor speed drops below the Target Motor Speed TPOS 05 At Positioning completed When the drive is in Pt mode TPOS will be activated when the pos...

Страница 243: ...overload fault ALE06 will be detected and shown on the LED display At this time tOL 8 x 60 4 8 seconds Result When the drive output is at 200 rated output and the drive is continuously overloaded for...

Страница 244: ...5 and RS 422 All aspects of control operation and monitoring as well as programming of the controller can be achieved via communication However only one communication mode can be used at a time Users...

Страница 245: ...to a minimum communication cable should kept apart from high voltage wires If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 3m 9 84ft which...

Страница 246: ...Chapter 8 MODBUS Communications ASDA AB Series Revision January 2009 8 3 Cable Connection...

Страница 247: ...kept apart from high voltage wires If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 15m 50ft which will ensure the correct and desired baud...

Страница 248: ...drive or device must be uniquely identified and addressed between 1 and 254 Access to program this number is via parameter P3 00 0301H Transmission Speed Default 1 Range 0 5 Settings 0 Baud rate 4800...

Страница 249: ...tected If 1 is selected the drive will stop operating upon detection the communication fault The mode of stopping is set by parameter P1 32 0304H Communication Time Out Detection Watch Dog Timer It is...

Страница 250: ...ddressed and converted to a single decimal or hexadecimal number The eight Digital Inputs are noted from the right DI 1 to left DI 8 with their desired input command or signal method 0 or 1 Once all e...

Страница 251: ...on or off Again this achieved by sending a decimal or hexadecimal number that corresponds to the binary representation of the Digital Inputs being addressed Therefore in the previous example 113 or 7...

Страница 252: ...ameter P3 02 Code Description ASCII Mode Each 8 bit data is the combination of two ASCII characters For example a 1 byte data 64 Hex shown as 64 in ASCII consists of 6 36Hex and 4 34Hex The following...

Страница 253: ...mmunication Protocol ASCII Mode STX Start character 3AH ADR Communication address 1 byte consists of 2 ASCII codes CMD Command code 1 byte consists of 2 ASCII codes DATA n 1 DATA 0 Contents of data n...

Страница 254: ...characters depends on the command code The available command codes and examples for AC servo drive are described as follows Command code 03H read N words The maximum value of N is 10 For example read...

Страница 255: ...bytes 1FH Upper bytes CRC Check High B3H Upper bytes Contents of second data address 0201H 40H Lower bytes CRC Check Low A3H Lower bytes CRC Check High D4H Upper bytes Command code 06H write 1 word F...

Страница 256: ...C Check High 99H Upper bytes CRC Check High 99H Upper bytes LRC ASCII Mode LRC Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADR to last data charac...

Страница 257: ...mmand message Continue doing this until all bytes have been processed The final contents of the CRC register are the CRC value NOTE 1 When transmitting the CRC value in the message the upper and lower...

Страница 258: ...while length reg_crc data for j 0 j 8 j if reg_crc 0x01 LSB bit 0 1 reg_crc reg_crc 1 0xA001 else reg_crc reg_crc 1 return reg_crc PC communication program example include stdio h include dos h includ...

Страница 259: ...T LCR 0x80 the BRDL BRDH can be access as LCR b7 1 outportb PORT BRDL 12 outportb PORT BRDH 0x00 outportb PORT LCR 0x06 set prorocol 7 E 1 1AH 7 O 1 0AH 8 N 2 07H 8 E 1 1BH 8 O 1 0BH for I 0 I 16 I wh...

Страница 260: ...col is set the next data will be written in new communication protocol 3 P4 05 JOG control of servo motor For the description refer to Chapter 7 4 P4 06 Force output contact control This parameter is...

Страница 261: ...on January 2009 Communication read out parameters for ASDA AB series are including Group 0 P0 00 P0 17 0000H to 0011H Group 1 P1 00 P1 62 0100H to 013EH Group 2 P2 00 P2 65 0200H to 0241H Group 3 P3 0...

Страница 262: ...cause damage z Ensure the correct installation and the control panel It should be free from airborne dust harmful gases or liquids z Ensure that all wiring instructions and recommendations are follow...

Страница 263: ...with Delta z Check for abnormal conditions of the power indicators and LED display If there is any abnormal condition of the power indicators and LED display please contact your distributor for assist...

Страница 264: ...9 9 3 Cooling fan The cooling fan life is limited and should be changed periodically The cooling fan will reach the end of its life in 2 3 years when it is in continuous operation However it also must...

Страница 265: ...Chapter 9 Maintenance and Inspection ASDA AB Series 9 4 Revision January 2009 This page intentionally left blank...

Страница 266: ...e shift The corresponding angle of magnetic field of Z phase is error Regeneration error Regeneration control operation is in error Overload Servo motor and drive is overload Overspeed Motor s control...

Страница 267: ...ervo motor and drive is going to overload This alarm will display before ALM06 When the servo motor reach the setting value of P1 56 the motor will send a warning to the drive After the drive has dete...

Страница 268: ...lter function Overvoltage Potential Cause Checking Method Corrective Actions The main circuit voltage has exceeded its maximum allowable value Use voltmeter to check whether the input voltage falls wi...

Страница 269: ...iring is correct Overspeed Potential Cause Checking Method Corrective Actions Speed input command is not stable too much fluctuation Use signal detector to detect if input signal is abnormal Ensure th...

Страница 270: ...ift adjustment has exceeded its maximum allowable value 1 Remove CN1 wiring 2 Execute the drift adjustment again Set P2 08 to 20 first and then set P4 10 to 5 If the error does not clear after executi...

Страница 271: ...and reset control power If the error does not clear after resetting the power supply please contact your distributor for assistance or contact with Delta Serial communication error Potential Cause Che...

Страница 272: ...servo motor and drive 2 Check the setting value of P1 56 Check whether the setting value of P1 56 is to small 1 Please refer to the correction actions of ALE06 2 Increase the setting value of P1 56 or...

Страница 273: ...Encoder error This fault message can be removed by restarting the servo drive Adjustment error This fault message can be removed after the wiring of CN1 connector I O signal connector is removed and a...

Страница 274: ...ult message can be removed automatically after input power phase lost problem is solved Pre overload warning Turn ARST DI signal ON to clear the fault or restart the servo drive Internal command execu...

Страница 275: ...Chapter 10 Troubleshooting ASDA AB Series 10 10 Revision January 2009 This page intentionally left blank...

Страница 276: ...n collector Pulse Type Pulse Direction A phase B phase CCW pulse CW pulse Command Source External pulse train Internal parameters Smoothing Strategy Low pass and P curve filter Electronic Gear Electro...

Страница 277: ...ke control Homing completed Output overload warning Servo warning activated Internal position command completed Protective Functions Overcurrent Overvoltage Undervoltage Regeneration error Overload Ov...

Страница 278: ...d rotation speed the speed fluctuation rate is defined as Empty load rotation speed Full load rotation speed Rated rotation speed 3 TN system A power distribution system having one point directly eart...

Страница 279: ...A 0 36 0 41 0 49 0 49 0 47 0 43 0 53 Voltage constant KE mV r min 13 6 16 17 4 18 5 17 2 16 8 19 2 Armature resistance Ohm 9 3 2 79 1 55 0 93 0 42 0 20 0 13 Armature inductance mH 24 12 07 6 71 7 39...

Страница 280: ...77 7 16 9 55 9 55 2 86 5 73 8 59 Maximum torque N m 7 16 14 3 21 48 28 65 28 65 8 59 17 19 21 48 Rated speed r min 2000 1000 Maximum speed r min 3000 2000 Rated current A 2 9 5 6 8 3 11 01 11 22 2 5...

Страница 281: ...Nt m min 16 5 16 5 16 5 16 5 25 16 5 16 5 16 5 Brake power consumption at 20 o C W 21 0 21 0 21 0 21 0 31 1 21 0 21 0 21 0 Brake release time ms Max 5 0 5 0 5 0 5 0 5 0 5 0 5 0 5 0 Brake pull in time...

Страница 282: ...Chapter 11 Specifications ASDA AB Series Revision January 2009 11 7 11 3 Servo Motor Speed Torque Curves...

Страница 283: ...2 Motor had driven high inertia machine and had accelerated and decelerated at high frequency 3 Motor UVW cable or encoder cable was not connected correctly 4 Servo gain was not set properly and cause...

Страница 284: ...Operating Time seconds Load Operating Time 120 213 6s 140 42 3s 160 21 8s 180 13 7s 200 9 2s 220 6 9s 240 5 0s 260 3 9s 280 3 2s 300 2 5s Chart of load and operating time ECMA C30604 0 1 1 10 100 100...

Страница 285: ...perating Time seconds Load Operating Time 120 254 5s 140 50 4s 160 26 0s 180 16 4s 200 11 0s 220 8 2s 240 6 0s 260 4 7s 280 3 8s 300 2 9s Chart of load and operating time ECMA C30807 0 1 1 10 100 1000...

Страница 286: ...rating Time seconds Load Operating Time 120 185 8s 140 36 8s 160 19 0s 180 12 0s 200 8 0s 220 6 0s 240 4 4s 260 3 4s 280 2 8s 300 2 2s Chart of load and operating time ECMA C31020 0 1 1 10 100 1000 0...

Страница 287: ...rating Time seconds Load Operating Time 120 613 1s 140 121 4s 160 62 6s 180 39 4s 200 26 4s 220 19 8s 240 14 5s 260 11 4s 280 9 1s 300 7 1s Chart of load and operating time ECMA E31305 0 1 1 10 100 10...

Страница 288: ...rating Time seconds Load Operating Time 120 167 2s 140 33 1s 160 17 1s 180 10 8s 200 7 2s 220 5 4s 240 4 0s 260 3 1s 280 2 5s 300 1 9s Chart of load and operating time ECMA G31309 0 1 1 10 100 1000 0...

Страница 289: ...rating Time seconds Load Operating Time 120 130 0s 140 25 7s 160 13 3s 180 8 4s 200 5 6s 220 4 2s 240 3 1s 260 2 4s 280 1 9s 300 1 5s Chart of load and operating time ECMA E31315 0 1 1 10 100 1000 0 5...

Страница 290: ...econds Load Operating Time 120 185 78s 140 36 78s 160 18 98s 180 11 95s 200 8s 220 5 99s 240 4 39s 260 3 44s 280 2 76s 300 2 15s Chart of load and operating time ECMA E31820 0 1 1 10 100 1000 10000 0...

Страница 291: ...ASD A0111 AB ASD A0211 AB ASD A0411 AB 100W 400W WEIGHT 1 5 3 3 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in...

Страница 292: ...SD A0221 AB ASD A0421 AB 100W 400W WEIGHT 1 5 3 3 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units D...

Страница 293: ...D A1021 AB ASD A1521 AB 750W 1 5kW WEIGHT 2 0 4 4 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units D...

Страница 294: ...N ASD A2023 AB 2kW WEIGHT 3 0 6 6 NOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds lbs 3 In this manual actual measured values are in metric units Dimensions in imp...

Страница 295: ...LL with brake 141 6 166 8 152 8 178 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 LS without oil seal 20 27 27 27 32 LS with oil seal 20 24 24 24 5 29 5 RH 6 2 11 11 11 15 5 WK 3...

Страница 296: ...5 153 5 LL with brake 183 5 183 5 183 5 198 192 5 LR 55 55 55 55 45 LE 6 6 6 6 5 LG 11 5 11 5 11 5 11 5 12 LW 36 36 36 36 32 LS 47 47 47 47 37 RH 18 18 18 18 18 WK 8 8 8 8 8 W 8 8 8 8 8 T 7 7 7 7 7 TP...

Страница 297: ...187 5 169 LL with brake 183 5 202 226 216 203 1 LR 55 55 45 55 79 LE 6 6 5 6 4 LG 11 5 11 5 12 11 5 20 LW 36 36 32 36 63 LS 47 47 37 47 73 RH 18 18 18 18 30 WK 8 8 8 8 10 W 8 8 8 8 10 T 7 7 7 7 8 TP M...

Страница 298: ...ng P1 01 1 Position control Pr mode setting P1 47 100 Activate forward homing P2 15 022 Reverse inhibit limit CWL Then connect contact b of L S 1 to DI6 P2 16 023 Forward inhibit limit CCWL Then conne...

Страница 299: ...e setting P1 48 P1 49 Speed setting of high low speed Homing Operation Re start the power to be ON again After Servo ready is completed activate the drive to be Servo ON Then the system will automatic...

Страница 300: ...sition rotation number is 0 zero P1 16 2500 Position rotation pulse number P1 33 1 Incremental position command P2 18 101 Servo ready SRDY default DO1 P2 21 105 Positioning completed TPOS default DO4...

Страница 301: ...104 Pulse count clear function contact DI2 P2 15 102 Fault reset contact DI5 Other relevant parameters P1 34 P1 35 P1 36 Acceleration Deceleration time setting Operation Re start the power to be ON a...

Страница 302: ...tput M 1000 Normally on contact a contact M1346 ZRN CL EAR output signal enable S0 ZERO M5 S10 JOG S11 JOG S12 FW S13 REV POS M1334 Stop cho pulse output D P OS M 1002 O nonly for 1 scan a fter RUN Ma...

Страница 303: ...3 SET S13 REV POS REVPOS M10 X2 RST M1 2 RST M1 3 SET S10 JOG JOG M5 X3 RST M1 2 RST M1 3 SET S11 JOG JOG M 5 S0 K50000 X10 SET M1 0 RST S0 ZERO ZERO M 50 S D ZRN K5 000 Y0 M5 M1 336 M1 000 M 50 PLSY...

Страница 304: ...ruction execution completed flag S11 K 9 99999 Y0 RST M1029 JOG M52 S D DRVI K3 0000 Y1 M1000 M1 029 P LSY Y0 in struction execution comple ted flag Normally on contact a contact M 52 X3 JOG RST S 11...

Страница 305: ...A K1 0000 Y1 M54 M1 000 Normallyon contact a contact M101 RE VPOS RST S 13 M1 336 M101 Ch 0 pulse send flag SET M 13 M1029 M 54 P LSY Y0 in struction execution comple ted flag REV POS RET DMOV D200 M...

Страница 306: ...1 1 Position control Pr mode setting P1 47 202 SHOM drive ORGP to perform forward homing P2 15 124 Home detection position contact DI6 P2 16 127 Activate signal of home contact DI7 P2 10 101 Servo On...

Страница 307: ...Chapter 12 Application Examples ASDA AB Series 12 10 Revision January 2009...

Страница 308: ...s disabled P1 36 0124H Accel Decel S curve When parameter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 44 012CH Electronic Gear Ratio 1st Numerator N1 If the elect...

Страница 309: ...SON External I O signal OFF ON OFF ON ON OFF ON 2ms can be set by P2 0 9 POS2 ON OFF Internal position comman d 1ms 2 HOLD Timing Chart If HOLD signal is ON when the motor is running the motor will de...

Страница 310: ...when the motor is running the motor will decelerate first and stop according to the deceleration time which is set by parameter P1 34 P1 36 and the remaining pulses will be aborted When TRIG signal i...

Страница 311: ...feed step P1 34 0122H Acceleration Time 1st to 3rd step Acceleration time When parameter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 35 0123H Deceleration Time 1...

Страница 312: ...Output signal will hold delay time when position command is completed P2 46 022EH Feed Step Number Range 2 32 P2 47 022FH Position Deviation Clear Delay Time UNIT 20msec This function is disabled whe...

Страница 313: ...al operation ON OFF CCW manual operation ON Don t care NOTE 1 The emergency stop warning message will appear if MD0 and MD1 are ON after power suppliers to AC servo drive If turn MD0 and MD1 to be OFF...

Страница 314: ...1 0 1 INDEX 6 7 0 0 1 1 0 INDEX 7 8 0 0 1 1 1 INDEX 8 9 0 1 0 0 0 INDEX 9 10 0 1 0 0 1 INDEX 10 11 0 1 0 1 0 INDEX 11 12 0 1 0 1 1 INDEX 12 13 0 1 1 0 0 INDEX 13 14 0 1 1 0 1 INDEX 14 15 0 1 1 1 0 IND...

Страница 315: ...EX 8 In position 14 0 1 1 0 1 INDEX 9 In position 15 0 1 1 1 0 INDEX 10 In position 16 0 1 1 1 1 INDEX 11 In position 17 1 0 0 0 0 INDEX 12 In position 18 1 0 0 0 1 INDEX 13 In position 19 1 0 0 1 0 I...

Страница 316: ...and DO nn 7 Feed step output position DO value 4 Example if DO 7 the feed step output position 7 4 3 8 When returning to HOME if DO 1 SERVO READY after any abnormal conditions are removed it is neede...

Страница 317: ...10 ON OFF ON OFF ON OFF Torque Limit MD1 MD0 CI CI INDEX 2 06 CI INDEX 6 0A Servo ON P2 45 Step No 2 Step No 6 Step No P2 47 ON OFF NOTE 1 The maximum value of P2 45 125 x T min 2 T min is the minimum...

Страница 318: ...Limit MD1 MD0 Servo ON P2 45 INDEX 2 auto running manually feed forward CI CI INDEX 2 CI INDEX 3 manually feed forward NOTE 1 When manually feed forward operation occurs please set MD1 to be ON first...

Страница 319: ...ually feed forward NOTE 1 After manually feed forward operation is completed please set MD1 and MD0 to be OFF and then turn MDP1 from ON to OFF ready to enter torque decrease status to avoid any abnor...

Страница 320: ...auto running manually feed forward NOTE 1 After manually feed forward operation is completed please set MD1 and MD0 to be OFF and then turn MDP0 from ON to OFF ready to enter torque decrease status to...

Страница 321: ...dress Communication Content Explanation H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H020 Torque decrease H407 H0A3 Ind...

Страница 322: ...ter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is disabled P1 36 0124H Accel Decel S curve When parameter P1 36 is set to 0 accel decel function is disabled i e P1 34 P1 35 is...

Страница 323: ...EX7 P1 27 P1 28 P2 42 V7 P2 58 T7 INDEX8 P1 29 P1 30 P2 43 V8 P2 59 T8 Digital I O Signal Setting DI Signal Parameter Setting Explanation DI1 SON P2 10 101 Servo ON DI2 AUTOR P2 11 142 Auto run input...

Страница 324: ...er operation CHANGE INDEX hereinafter called CI 6 0 0 1 0 1 INDEX 1 In position 7 0 0 1 1 0 INDEX 2 In position 8 0 0 1 1 1 INDEX 3 In position 9 0 1 0 0 0 INDEX 4 In position 10 0 1 0 0 1 INDEX 5 In...

Страница 325: ...unning Mode Power Supply ON OFF DO VALUE INDEX4 Motor Speed Servo ON CI T1 HOME 3 T1 CI T2 CI T8 CI AUTOR OFF V1 V2 IDX1 IDX2 IDX8 3 Manual Control Mode 1 Power Supply ON OFF DO VALUE INDEX4 Motor Spe...

Страница 326: ...r 12 Application Examples ASDA AB Series Revision January 2009 12 29 4 Manual Control Mode 2 Power Supply ON OFF DO VALUE INDEX4 Motor Speed Servo ON CI CI CI AUTOR V1 V2 IDX1 IDX2 IDX1 ON OFF STEPB O...

Страница 327: ...eference Home for homing function It also can use extra sensor such as proximity switch or photo switch as reference Home When the servo motor runs within one revolution only users also can set Z phas...

Страница 328: ...ing Moving Method B 0 After find reference Home after homing completed the servo motor returns in 2nd step speed to find the nearest Z phase pulse as the mechanical Home B 1 After find reference Home...

Страница 329: ...erence of the over distance Recommended Homing Modes According to various use requirements and corresponds to difference setting values of C and D the recommended setting values of A and B are shown a...

Страница 330: ...sion January 2009 12 33 2 Enable homing function by input contact SHOM C 2 POWER ON refer to homing timing chart time SERVO READY SERVO ON HOME TRIGGER HOMING HOMING COMPLETED Homing Timing Charts 1 B...

Страница 331: ...apter 12 Application Examples ASDA AB Series 12 34 Revision January 2009 2 B A 0 1 or B A 0 3 Position Z pulse CWL ORGP SPEED 3 B A 1 2 Position Z pulse ORGP SPEED 4 B A 1 3 Position Z pulse ORGP SPEE...

Страница 332: ...Chapter 12 Application Examples ASDA AB Series Revision January 2009 12 35 5 B A 2 2 Position ORGP SPEED 6 B A 2 3 Position ORGP SPEED 7 B A 2 4 Position SPEED Z pulse...

Страница 333: ...Chapter 12 Application Examples ASDA AB Series 12 36 Revision January 2009 8 B A 2 5 Position SPEED Z pulse...

Страница 334: ...Chapter 12 Application Examples ASDA AB Series Revision January 2009 12 37 12 9 External Controller Connection Examples Connecting to Delta DVP EH PLC...

Страница 335: ...Chapter 12 Application Examples ASDA AB Series 12 38 Revision January 2009 Connecting to Delta DVP 01PU...

Страница 336: ...Chapter 12 Application Examples ASDA AB Series Revision January 2009 12 39 Connecting to Mitsubishi FX1PG...

Страница 337: ...Chapter 12 Application Examples ASDA AB Series 12 40 Revision January 2009 Connecting to Mitsubishi FX2N1PG...

Страница 338: ...Chapter 12 Application Examples ASDA AB Series Revision January 2009 12 41 Connecting to Mitsubishi AD75...

Страница 339: ...Chapter 12 Application Examples ASDA AB Series 12 42 Revision January 2009 This page intentionally left blank...

Страница 340: ...Number ASDBCAPW0000 Title Part No Manufacturer Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASDBCAPW0100 Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4...

Страница 341: ...Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE L Title Part No mm inch 1 ASD ABPW0003 3000 100 118 4 2 ASD ABPW0005 5000 100 197 4 Delta Part Number ASD ABPW0103 ASD ABPW0105 Title Part No Man...

Страница 342: ...t No Straight mm inch 1 ASD CAPW1003 3106A 20 18S 3000 100 118 4 2 ASD CAPW1005 3106A 20 18S 5000 100 197 4 Delta Part Number ASD CAPW1103 ASD CAPW1105 L 80 mm 50mm 3 15 inch 1 97 inch L Title Part No...

Страница 343: ...4 inch 3 15 inch 80mm L Title Part No Straight mm inch 1 ASD CAPW1203 3106A 20 18S 3000 100 118 4 2 ASD CAPW1205 3106A 20 18S 5000 100 197 4 Delta Part Number ASD CAPW1303 ASD CAPW1305 80 mm 100 mm 3...

Страница 344: ...ch L 100 mm 3 94 inch L Title Part No Straight mm inch 1 ASD CAPW2203 3106A 24 11S 3000 100 118 4 2 ASD CAPW2205 3106A 24 11S 5000 100 197 4 Delta Part Number ASD CAPW2303 ASD CAPW2305 L 100 mm 3 15 i...

Страница 345: ...Part No Manufacturer Housing AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP MOTOR SIDE CLAMP DELTA 34703237XX DELTA PLUG 3M 10120 3000PE 3M DRIVE SIDE SHELL 3M 10320 52A0 008 3M Delta Part Number ASD CA...

Страница 346: ...37XX DELTA PLUG 3M 10120 3000PE 3M DRIVE SIDE SHELL 3M 10320 52A0 008 3M L Title Part No mm inch 1 ASD ABEN0003 3000 100 118 4 2 ASD ABEN0005 5000 100 197 4 Delta Part Number ASD CAEN1003 ASD CAEN1005...

Страница 347: ...Part Number ASD CNSC0050 Vendor Name Vendor P N 3M TAIWAN LTD 10150 3000PE 3M TAIWAN LTD 10350 52A0 008 Communication Cable between Drive and Computer for PC Delta Part Number ASD CARS0003 Part No Ite...

Страница 348: ...ble ASD ABPW0003 Motor Power Cable ASD ABPW0005 Motor Power Cable ASD ABPW0103 Motor Power Cable ASD ABPW0105 Cable Encoder Cable ASD ABEN0003 Encoder Cable ASD ABEN0005 Encoder Cable ASD ABEN0003 Enc...

Страница 349: ...303 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1003 Motor Power Cable ASD CAPW1005 Motor Power Cable ASD CAPW1103 Motor Power Cable ASD CAPW1105 Cable Encoder Cable ASD CAEN1003...

Страница 350: ...ECMA C31010 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1003 Motor Power Cable ASD CAPW1005 Motor Power Cable ASD CAPW1103 Motor Power Cable ASD CAPW1105 Cable Encoder Cable ASD...

Страница 351: ...o Motor ECMA E31315 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW1003 Motor Power Cable ASD CAPW1005 Motor Power Cable ASD CAPW1103 Motor Power Cable ASD CAPW1105 Cable Encoder Cab...

Страница 352: ...Encoder Connector ASD CAEN1000 Servo Drive ASD A2023 AB Medium inertia Servo Motor ECMA E31820 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD CAPW2203 Motor Power Cable ASD CAPW2205 Moto...

Страница 353: ...Appendix A Accessories ASDA AB Series A 14 Revision January 2009 This page intentionally left blank...

Страница 354: ...AB 10A 6A ASD A0411 AB 10A 10A ASD A0121 AB 5A 5A ASD A0221 AB 5A 6A ASD A0421 AB 10A 10A ASD A0721 AB 10A 20A ASD A1021 AB 15A 25A ASD A1521 AB 20A 40A ASD A2023 AB 30A 50A AC Servo Drive EMI Filter...

Страница 355: ...utions EMI filter and AC servo drive should be installed on the same metal plate Please install AC servo drive on same footprint with EMI filter or install EMI filter as close as possible to the AC se...

Страница 356: ...Appendix A Accessories ASDA AB Series Revision January 2009 B 3 Figure 1 Saddle on both ends Saddle on one end Figure 2...

Страница 357: ...Appendix A Accessories ASDA AB Series B 4 Revision January 2009 Dimensions Delta Part Number 08TDT1W4S Delta Part Number 20TDT1W4D...

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