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Revision December, 2017

7-1

Motion Control

This chapter introduces internal motion commands in the ASDA-A3 in PR mode. In this

mode, commands are generated based on the internal commands of the servo drive.

Various motion commands are available, including homing, speed, position, parameter

writing, arithmetic operation, and jump. Other motion control functions such as

high-speed position capture (Capture), high-speed position compare (Compare), and

E-Cam are also available. This chapter contains detailed description of each command

type.

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 ······························································ 7-8

7.1.4 Overview of the PR procedure ······················································· 7-35

7.1.5 Trigger methods for the PR command ············································· 7-42

7.1.6 PR procedure execution flow ························································· 7-46

7.2 Application of motion control ······························································· 7-59

7.2.1 Data array ················································································· 7-59

7.2.2 High-speed position capturing function (Capture) ······························· 7-62

7.2.3 High-speed position comparing function (Compare) ···························· 7-66

Содержание ASD-A3-0121

Страница 1: ...Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 0...

Страница 2: ...The new automatic tuning function is more user friendly and allows you to complete tuning easily In addition you can use the gain adjustment function to improve the performance of the drive Its compa...

Страница 3: ...ay cause severe or fatal injuries to personnel if the instructions are not followed Warning May cause moderate injury to personnel or lead to severe damage or even malfunction of the product if the in...

Страница 4: ...operly after connecting the servo motor to the equipment it may damage the equipment and lead to personnel injury In order to reduce the danger it is strongly recommended that you check if the motor c...

Страница 5: ...efore touching the terminals Do not repeatedly turn the power on and off If it is necessary to turn the power on and off make sure that you wait one minute at least before turning the power on or off...

Страница 6: ...s 2 6 2 5 Specifications for the circuit breaker and fuse 2 8 2 6 Ferrite ring 2 8 2 7 Installation requirements for EMC 2 10 2 7 1 EMI filters 2 11 2 8 Selecting the regenerative resistor 2 13 2 9 Th...

Страница 7: ...50 3 10 STO function Safe torque off 3 51 3 10 1 Introduction to STO 3 51 3 10 2 The potential danger of STO 3 51 3 10 3 Wiring for STO 3 52 3 10 4 How does the STO function work 3 53 3 10 5 Related p...

Страница 8: ...ing 5 4 5 3 1 Flow chart for auto tuning 5 5 5 3 2 Auto tuning through the drive panel 5 6 5 3 3 Auto tuning with ASDA Soft software 5 7 5 3 4 Alarms related to auto tuning 5 14 5 4 Tuning mode 5 15 5...

Страница 9: ...sion unit 6 23 6 4 Torque mode 6 26 6 4 1 Selecting the Torque command source 6 26 6 4 2 Control structure of Torque mode 6 27 6 4 3 Smooth Torque command 6 28 6 4 4 Scaling of the analog command 6 28...

Страница 10: ...174 Table 8 1 Digital input DI descriptions 8 194 Table 8 2 Digital output DO descriptions 8 201 Table 8 3 Monitoring variables descriptions 8 206 MODBUS Communication 9 1 RS 485 communication interf...

Страница 11: ...11 1 Alarm list 11 3 General type 11 3 STO type 11 5 Communication type 11 5 Motion control type 11 6 11 2 Causes and corrective actions 11 7 General type 11 7 STO type 11 32 Communication type 11 33...

Страница 12: ...able incremental type B 7 B 4 Encoder cable absolute type B 8 B 5 Battery box cable AW B 9 B 6 Battery box absolute type B 9 B 7 I O signal connector B 10 B 8 Terminal block module B 11 B 9 CANopen co...

Страница 13: ...Revision December 2017 This page is intentionally left blank...

Страница 14: ...the inspection nameplate and model type You can find a suitable motor model for your A3 servo drive in the table in Section 1 3 1 1 Components of the servo set 1 2 1 2 Model overview 1 3 1 2 1 Namepl...

Страница 15: ...pe converter box Optional purchase 6 A 26 pin connector for the communication type converter box Optional purchase 7 A 50 pin connector for CN1 Optional purchase 8 A 6 pin connector for CN2 Optional p...

Страница 16: ...formation ASDA A3 series servo drive Nameplate information Serial number A30421L T 15 07 0006 1 2 3 4 5 1 Model name 2 Manufacturing plant T Taoyuan W Wujiang 3 Year of production 15 year 2015 4 Week...

Страница 17: ...r of production 16 year 2016 4 Week of production From 1 to 52 5 Serial number Production sequence in a week starting from 0001 ECMC series servo motor Nameplate information Serial number CW1010RS T 1...

Страница 18: ...output power 4 Input voltage and phase 21 220V single three phase 23 220V three phase 5 Model type Type Pulse input RS 485 CANopen Full closed loop control Analog voltage control DMCNET E CAM STO L M...

Страница 19: ...type A High precision servo motor 3 Series 3 A3 series 4 Inertia H High inertia L Low inertia 5 Rated voltage and speed C 200V and 3 000 rpm 6 Encoder type Y 24 bit absolute type encoder resolution o...

Страница 20: ...n means that this type of motor is coming soon 10 Shaft diameter S Standard 7 14 mm specific 11 Special code 1 Standard products w o brake w o oil seal with brake w o oil seal w o brake with oil seal...

Страница 21: ...rpm F 200V and 1 500 rpm 4 Encoder type W 22 bit Absolute type resolution of single turn 22 bit multiple turns 16 bit 5 Motor frame size 10 100 mm 13 130 mm 18 180 mm 6 Rated power output 7 Type of sh...

Страница 22: ...00 ECMC EA 1E A1315A 2E AA 3E 8 3 24 9 ASD A3 1521 8 30 35 36 2000 ECMC EA 1E A1320A 2E AA 3E 11 01 33 ASD A3 2023 13 40 53 03 2000 ECMC EA 1E A1820A 2E AA 3E 11 22 33 7 3000 ECMC EA 1E A1830A 2E AA 3...

Страница 23: ...er and communication ports 13 Heat sink for securing the servo drive and heat dissipation 7 CN1 I O signal interface connects to PLC and controls I O 14 CN5 Connector for transmitting feedback signals...

Страница 24: ...the regenerative resistor 2 1 Ambient storage conditions 2 2 2 2 Ambient installation conditions 2 3 2 3 Mounting direction and space 2 4 2 4 Safety precautions for using motors 2 6 2 5 Specifications...

Страница 25: ...1 Ambient storage conditions Before installation this product must be kept in the shipping carton In order to retain the warranty coverage and for maintenance please follow the instructions below for...

Страница 26: ...well ventilated environment During long term operation the ambient temperature should be under 45 C to ensure the servo drive s performance If the product is installed in an electric box make sure th...

Страница 27: ...rtically on the wall Incorrect installation may result in a drive malfunction For better ventilation and cooling make sure there is sufficient space between the adjacent objects and the wall otherwise...

Страница 28: ...below are not accurately scaled Please refer to the annotations on the diagrams Single servo drive Multiple servo drives Servo drive model Cooling method Operating temperature Ta corresponding to min...

Страница 29: ...is not rust proof Although the rust proof oil has been applied to the shaft during the manufacturing process you must check the shaft condition and apply rust proof oil every three 3 months if storing...

Страница 30: ...please apply rust proof oil during operation The built in brake is for clamping the motor Do not use it for stopping the motor Caution the built in brake is not a device for safely stopping the machi...

Страница 31: ...t breaker with time delay ONLY if the system ground wire may contain DC electricity 5 Please use the circuit breaker and fuse that comply with the UL CSA standard 2 6 Ferrite ring The movable or round...

Страница 32: ...also happen due to electrical interference caused by unstable electric potential The ferrite ring causes eddy current losses to high frequency signal and transforms it into heat when suppressing comm...

Страница 33: ...the installation structure or wiring Delta servo products are designed to conform to the specifications of the EMC test Please refer to the following diagram for the standard installation Servo drive...

Страница 34: ...3 0421 RF007S21AA RF022B43AA N 750 W ASD A3 0721 RF007S21AA RF037B43BA N 1000 W ASD A3 1021 RF007S21AA RF037B43BA N 1500 W ASD A3 1521 RF015B21AA RF037B43BA N 2000 W ASD A3 2023 RF037B43BA N 3000 W AS...

Страница 35: ...d with the shortest cable length and the largest contact area 3 Remove the protective paint on the U shape saddle and metal plate in order to ensure good contact Please see the figure below 4 A correc...

Страница 36: ...ive resistor The servo drive has a built in regenerative resistor You can also use the external regenerative resistor if needed 1 Moving direction of the object 2 Direction of torque 3 Regenerative en...

Страница 37: ...er of the regenerative resistor please make sure the capacitance meets the requirements See the following diagram and settings for connecting the regenerative resistors in serial and parallel Connect...

Страница 38: ...istor by calculating the regenerative power Refer to the following table when calculating and selecting the required regenerative resistor Servo drive kW Motor Rotor inertia 10 4kg m2 Regenerative pow...

Страница 39: ...oil seal type 3 3E in the servo motor model name signifies shaft diameter 4 The signifies that this model is coming soon Assume that the load inertia is N times the motor inertia and when motor decele...

Страница 40: ...the need In general the built in regenerative resistor can meet the requirement when the external load is not too great b Calculation of the regenerative power when there is external torque and the m...

Страница 41: ...operation the brake can be enabled only when the servo is switched off The servo drive controls the brake with DO If DO BRKR is set to off it means the brake is not operating and the motor is clamped...

Страница 42: ...s the solenoid valve providing power to the brake and enabling the brake 3 Please note that there is no polarity for the coil brake Timing diagram of control power and main power 1 sec 2 sec 0 ms 800...

Страница 43: ...Installation ASDA A3 2 20 Revision December 2017 2 This page is intentionally left blank...

Страница 44: ...24 3 3 3 CN1 I O connector for A3 F series 3 27 3 3 4 Signal explanation for connector CN1 for A3 F series 3 28 3 3 5 Wiring diagrams CN1 3 30 3 3 6 Application using the CN1 quick connector for wirin...

Страница 45: ...A A3 3 2 Revision December 2017 3 3 11 2 Position PR control mode 3 57 3 11 3 Speed control mode 3 58 3 11 4 Torque control mode 3 59 3 11 5 Communication mode CANopen 3 60 3 11 6 Communication mode D...

Страница 46: ...curs 000 0 it outputs 0ALARM 0signal 000 and 0disconnect 0the power 000 0 of the servo 0drive 00 0 No fuse 0breaker 000 It could 0prevent 0 short circuit 0 Expansion 0module 0 Reserve 0000 0 I O Conne...

Страница 47: ...f the motor 3 When using the external regenerative resistor the contact between P3 and D should be open and the external regenerative resistor should connect to P3 and C When using the internal regene...

Страница 48: ...the contact between P3 and D should be open Use external braking unit Connect the braking unit to P2 and of the servo drive The connection between P3 D and P3 C should be opened Ground terminal Conne...

Страница 49: ...1 8 inches 3 If the connection cable for CN2 encoder or CN5 position feedback is not long enough please use an AWG26 shielded twisted pair cable that conforms to UL2464 specifications If it is over 20...

Страница 50: ...w Power On is normally open Power Off and ALRM_RY are normally closed MC magnetic contactor is the power relay and the contact for the main power circuit Wiring Method for Single phase Power Supply su...

Страница 51: ...ion December 2017 3 Wiring Method for Three phase Power Supply suitable for all series Servo Drive L1 L2 R S T EMI Filter Motor MC SUP ALRM_RY Power on Power off MC R S 24 VDC DO5 28 CN1 U V W MCCB MC...

Страница 52: ...ries Using a common DC BUS can increase the efficiency of the regenerative power For instance while one of the axes is decelerating the regenerative power can supply other axes L1 R S T EMI Filter MC...

Страница 53: ...le of viewing is changed which is different from that of A2 1 Please refer to the following table for UVW connector specifications Motor model UVW connector ECM A3 1 C 2E A040F 50W ECM A3A 1 C 2E A040...

Страница 54: ...lue F I B E G H ECMC E 1E 1820 2000 W ECMC E 1E 1830 3000 W ECMC F 1E 1830 3000 W Pin assignment U Red V White W Black CASE GROUND Green BRAKE1 Yellow BRAKE2 Blue D E F G A B Wire selection please use...

Страница 55: ...diagram shows the connection between the servo drive and the encoder and is not drawn to scale The specification is subject to change depending on the selected servo drive and motor models Motor mode...

Страница 56: ...Blue GND Shield Shield Blue GND Brown DC 5V The wire color for the ASDA A3 servo drive is for reference only Please refer to the actual servo drive To directly connect the wires without using the conn...

Страница 57: ...tructed below Incorrect wiring may cause battery explosion 1 2 3 3 2 1 White T Red BAT Reserved Reserved Orange BAT White T 4 5 6 6 5 4 White Red T Black BAT Reserved Reserved Gray BAT White Red T 7 8...

Страница 58: ...not drawn to scale The specification is subject to change according to the selected servo drive and motor models Motor model Military connector ECMC F 1E A1308 ECMC CA 1E A1010 ECMC EA 1E 1310 ECMC E...

Страница 59: ...n Please wire as instructed below Incorrect wiring may cause battery explosion Note if using an incremental type of encoder connecting BAT and BAT is not required Pin No Symbol Color A T White B T Whi...

Страница 60: ...21 ECM A3A 1E A CA 2E A0604 12 20 AWG 14 20 AWG ECM A3A 1E A CA 2E A0804 ASD A3 0721 ECM A3A 1E A CA 2E A0807 12 16 AWG 14 16 AWG DN02512D 14AWG DN01512D 16AWG Note A 1E A in the servo motor model rep...

Страница 61: ...A3 0721 ECM A3A 1E A CA 2E A0807 16 AWG 16 AWG Note A 1E A in the servo motor model represents inertia ratio of motor and A 2E A is the encoder type Servo drive and corresponding servo motor Power ca...

Страница 62: ...AWG26 10 cores 4 pairs UL2464 3 m 9 84 ft ASD A3 0221 ASD A3 0421 ASD A3 0721 ASD A3 1021 ASD A3 1521 ASD A3 2023 ASD A3 3023 Note 1 Please use shielded twisted pair cable for wiring the encoder to re...

Страница 63: ...Reserved Reserved Control panel CN10 STO 1 CN5 M Servo Motor L2c Voltage Detection Control Unit Voltage Detection 2 Rectifier ci rcu it Regen eration circuit RS 485 CANopen Reserved DMCNET 5 EtherCAT...

Страница 64: ...E Dynamic brake Reserved Control Panel CN10 STO 1 CN5 M Servo Motor L2c Voltage detection Control Unit 12V 750 W 1 5 kW models single Three phase 200 230V 2 kW 3 kW models Three phase 200 230V 2 Reser...

Страница 65: ...oints to provide highly flexible communication between the servo drive and the controller For more information please refer to section 3 3 5 In addition differential type output signals for encoder A...

Страница 66: ...Position pulse 8 DI4 Digital input 25 OB Encoder B pulse output 42 V_REF Analog command input speed 9 DI1 Digital input 26 DO4 Digital output 43 PULSE Position pulse 10 DI2 Digital input 27 DO5 Digit...

Страница 67: ...elect the data to be monitored with parameter P0 003 This signal is based on the power ground C2 Position Pulse input PULSE PULSE 43 41 Position pulse can be sent by Line Driver single phase max frequ...

Страница 68: ...nal Default signal Default signal Default signal Default signal Default signal Default signal Default signal Default signal 1 0x01 0x01 0x01 0x01 0x01 0x01 0x01 0x01 0x01 SON SON SON SON SON SON SON S...

Страница 69: ...ication requirements you can set the functions of DI1 10 and DO1 6 with the corresponding parameters listed in the following table That is you can specify the DI DO functions by setting DI or DO code...

Страница 70: ...n Signal Function 1 DO1 Digital output 10 DI4 Digital input 19 OB Encoder B pulse output 2 DO1 Digital output 11 DI5 Digital input 20 OB Encoder B pulse output 3 DO2 Digital output 12 DI6 Digital inpu...

Страница 71: ...10 GND 16 GND for differential signal output Other NC 14 15 No connection This is for internal use only Do not connect to NC or it may damage the servo drive A3 F series servo drives provides user def...

Страница 72: ...irement you can specify the DI DO functions by setting the DI or DO code to the corresponding parameters DI signal Pin No Corresponded parameter DI signal Pin No Corresponded parameter Standard DI DI1...

Страница 73: ...rs C1 input for speed torque force analog command GND Approx 12 k SG 42 V REF 13 Controller 18 T REF 10 k 1 2 k 10V _ Servo Drive Note this is not supported by the A3 F C2 output for analog monitoring...

Страница 74: ...24V 1 5 K 51 51 51 1 5 K Max pulse input frequency 200 kpps Max pulse input frequency 200 kpps 51 SG Pull hi_S Servo Drive Controller S S Pull hi_P P P 35 39 37 41 Note this is not supported by the A3...

Страница 75: ...ne driver can only be used with 2 8 V 3 6 V power systems Do not use with 24 V power 51 51 51 Max pulse input frequency 4 mpps Max pulse input frequency 4 mpps 51 SG SIGN PULSE SIGN 36 37 43 Servo Dri...

Страница 76: ...t below 100 mA maximum voltage 30 V 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 ex...

Страница 77: ...collector transistor Conditions of DI On Off ON 15 V 24 V Condition Input current 8 mA OFF below 5 V the input current must not be higher than 0 5 mA C7 NPN transistor SINK mode DC 24V DI COM Servo Dr...

Страница 78: ...2 It is suggested that you connect the two GND for the controller and servo drive in parallel when the voltage level is not the same for the controller and the servo drive C10 output for encoder posit...

Страница 79: ...Wiring ASDA A3 3 36 Revision December 2017 3 C11 encoder OCZ output open collector Z pulse output OCZ48 GND 13 Servo Drive Max 30 V 50 mA 24 V Note this is not supported by the A3 F...

Страница 80: ...A A2R series servo drive and can satisfy the needs of different DI O applications It is a good choice if you do not want to solder the wires Its spring terminal blocks prevent vibration from loosening...

Страница 81: ...NC 12 PULSE 13 PULSE 14 SIGN 15 SIGN 16 OCZ 17 GND 18 DO4 19 DO3 20 CN_GND PIN Signal 17 NC 11 COM 2 4 6 26 DO 9 DI1 10 DI2 34 DI3 8 DI4 31 DI7 7 DO1 5 DO2 NC NC 41 PULSE 43 PULSE 37 SIGN 36 SIGN 48 O...

Страница 82: ...IGN OCZ GND DO4 DO3 CN_GND DO DI1 DI2 DI3 DI4 DI7 DO1 DO2 Max output current 50 mA voltage 30V 24 VDC Pulse input Line Driver Z phase open collector signal Shield Internal circuit COM Applies to exter...

Страница 83: ...uick connector has multiple spring terminals Please determine which terminal is to be wired in advance 2 Use a flathead screwdriver to press the spring down to open the pin 3 Insert the stripped wire...

Страница 84: ...ing Revision December 2017 3 41 3 3 4 Wiring for the CN2 encoder connector The CN2 encoder signal connector is shown below 1 CN2 connector Female 2 CN2 connector Male Quick connector ends Military con...

Страница 85: ...for CN2 for the servo drive is not required Please refer to the detailed wiring description in section 3 1 5 Specifications for the encoder connector Connecting shielded wire to the CN2 encoder connec...

Страница 86: ...3 3 continued Step 5 Fasten the other side of the metal case Step 6 Tighten the screws of the metal case Step 7 Fit one side of the plastic case over the connector Step 8 Place and fasten the other si...

Страница 87: ...485 and CAN This enables you to connect to multiple servo drives simultaneously Note RS 485 and high speed communication are not supported by A3 F 1 CN3 connector Female 2 CN3 connector Male Pin assi...

Страница 88: ...5 with the CANopen cable length of up to 30 m The communication quality and the connectable axes are determined by the controller s specifications quality of wires grounding interference and whether t...

Страница 89: ...PC and 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...

Страница 90: ...assignment Pin No Signal Function 1 Opt_ Z Z phase input 2 Opt_ B B phase input 3 Opt_B B phase input 4 Opt_A A phase input 5 Opt_ A A phase input 6 GND Encoder grounding 7 GND Encoder grounding 8 5V...

Страница 91: ...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 Please r...

Страница 92: ...elta PLC department please contact your local distributors for ordering information Note 1 This supports up to 12 axes and the cable length of up to 30 m 2 It is suggested that you use a terminal resi...

Страница 93: ...nment Pin No Signal Function 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 VD...

Страница 94: ...e for mechanical damage and personnel injury if you fail to observe the following instructions 1 For a safety circuit design make sure the selected components conform to the safety specifications 2 Be...

Страница 95: ...own in the following diagram ESTOP 2 3 4 5 6 7 8 STO_A STO_A STO_B STO_B FDBK FDBK Reserved STO 24V DC Safety Relay 1 Reserved If you are not using the STO function you can short circuit the connector...

Страница 96: ...actions description ON 24V OFF 0V Signal Channel Status of opto isolator 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...

Страница 97: ...FDBK and whether FDBK latches if an STO alarm occurs The structure for P2 093 is shown below P2 093 XX 1 0 1 2 3 1 Not in use 2 1 FDBK no latch 2 FDBK latch 3 0 Logic A 1 Logic B 2 Logic C 3 Logic D...

Страница 98: ...Latch even when the safety signal is back to normal the FDBK status remains closed To reset FDBK 1 Reconnect the power supply FDBK status returns to open 2 Do not reconnect the power supply Instead se...

Страница 99: ...output 10 K 10 K Twisted pair or twisted shielded cable 10 K 10V 12 K 1 2 K Regenerative resistor Red White Black Green SG Brake Power supply Encoder BRKR EMGS 24V 200 240 VAC Three phase 6 50 60 Hz...

Страница 100: ...ollector Encoder pulse output Twisted pair or twisted shielded cable 10 K 10V Regenerative Resistor Red White Black Green SG Brake Power Supply Encoder BRKR EMGS 24V 200 240 VAC Three phase 5 50 60 Hz...

Страница 101: ...ulse output 10K 10K Twisted pair or twisted shielded cable 10K 10V 12K 1 2K Regenerative resistor Red White Black Green SG Brake Power Supply Encoder BRKR EMGS 24V 200 240 VAC Three phase 5 50 60 Hz 2...

Страница 102: ...shielded cable 10V Regenerative Resistor Red White Black Green SG Brake Power Supply Encoder BRKR EMGS 24V 200 240 VAC Three phase 5 50 60Hz 2 4 Opt A 5 V Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5...

Страница 103: ...lack Green SG Brake Power Supply Encoder BRKR EMGS 24V 200 240 VAC Three phase 5 50 60Hz 2 4 Opt A 5 V Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5 6 3 1 2 8 4 12 10 11 13 14 15 Twisted pair or twisted...

Страница 104: ...4V 200 230 VDC Three phase 50 60 Hz 5 2 4 Opt A 5 V Opt B Opt B Opt A Opt Z Opt Z GND GND 9 7 5 6 3 1 2 8 4 12 10 11 13 14 15 Twisted pair or twisted shielded cable DMCNET_1A 5V GND 1 2 P1 P2 Mini USB...

Страница 105: ...Wiring ASDA A3 3 62 Revision December 2017 3 This page is intentionally left blank...

Страница 106: ...oint 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 11 4 4 1 Operation of fault record display 4 11 4 4 2 Force DO on 4...

Страница 107: ...er and value 4 DOWN key changes monitoring code parameter number and value 5 SHIFT key in Parameter mode use this key to change the group number In Editing mode moving the flashing selected digit to t...

Страница 108: ...cally Please refer to Chapter 11 for detailed alarm information Parameter mode Monitoring mode Alarm mode Power On M M M Please refer to Chapter 8 for parameters Please refer to Chapter 8 Operating in...

Страница 109: ...evision December 2017 4 Parameter mode Monitoring parameter P0 Basic parameter P1 Extension parameter P2 Communication parameter P3 Diagnosis parameter P4 Motion control parameter P5 PR parameter P6 P...

Страница 110: ...mode Display parameter setting value Save the parameter setting value Then return to Parameter mode Monitoring Alarm mode M S If no alarm occurs the Alarm mode is skipped Save the parameter setting v...

Страница 111: ...an incorrect setting value or the reserved setting value Out of Range You cannot enter a value when in Servo On state Servo On Changes to the parameter take effect after cycling the power to the servo...

Страница 112: ...hows the monitoring symbol for one second and then enters Monitoring mode In Monitoring mode use the UP and DOWN keys to change the monitoring variable Or you can directly change the setting of P0 002...

Страница 113: ...ratio note if it shows 13 0 it means the actual inertia is 13 1 times 16 IGBT temperature C 17 Resonance frequency low byte is the first resonance and high byte is the second one Hz 18 Z Z Z 0 0 0 50...

Страница 114: ...er P0 028 specify the mapping target by P0 038 23 Monitoring variable 1 shows the content of parameter P0 009 specify the monitoring variable code by P0 017 24 Monitoring variable 2 shows the content...

Страница 115: ...value is 0x12345678 the display of the high byte is h1234 and displays L5678 as the low byte in hexadecimal format The following table shows the panel display for the negative sign Example of the disp...

Страница 116: ...4 General functions 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 erro...

Страница 117: ...meter value is 2 it forces DO2 on When the value is 5 it forces DO1 and DO3 on No data is retained in this mode The mode returns to the normal DO mode after cycling the power You can also set P2 008 t...

Страница 118: ...1 1 1 1 0 0 0 0 1 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Corresponding DI status Binary code The panel displays in hexadecimal format Display in hexadecimal format 4 4 4 Digital output diagnosis operation...

Страница 119: ...l should be isolated Make sure the wiring is correct to avoid damage or any abnormal operation Check for and remove any electrically conductive objects including metal such as screws or inflammable ob...

Страница 120: ...necessary Please refer to Sections 3 1 and 3 4 for the wiring for CN2 Caution do not connect the power R S T to the output terminal U V W of A3 servo drive or you may damage the servo drive 2 Connect...

Страница 121: ...voltmeter to measure the input voltage from the main circuit and ensure it is within the rated range 2 Use the voltmeter to check if the power system complies with the specifications When the screen d...

Страница 122: ...nction code 0x0021 please make sure that DI is always normally closed If not please set DI as normally open function code 0x0121 When the screen displays Negative limit error warning Please check if a...

Страница 123: ...0x0023 please make sure DI is always normally closed If not please set DI as normally open function code 0x0123 When the screen displays Overcurrent warning Corrective action 1 Check the connection b...

Страница 124: ...r with the host controller Step 2 Set P4 005 to JOG speed unit rpm Press the S key to display the JOG speed The default is 20 rpm Step 3 Press the or key to adjust the JOG speed In the following examp...

Страница 125: ...G timing diagram Release Press Press Motor stops Speed 0 If the motor does not run please check if the wiring between U V W and encoder cable is correct If the motor runs abnormally please check if th...

Страница 126: ...I4 P2 013 115 SPD1 Speed selection DI4 8 DI5 P2 014 102 ARST Alarm reset DI5 33 DI6 P2 015 0 DI disabled DI7 P2 016 0 DI disabled DI8 P2 017 0 DI disabled DI9 P2 036 0 DI disabled DI10 P2 037 0 DI dis...

Страница 127: ...pm Command setting for the speed register Set P1 009 to 30000 Set P1 010 to 1000 Set P1 011 to 30000 Motor s running direction Input command Rotation direction CCW forward direction CW reverse directi...

Страница 128: ...election DI3 34 DI4 P2 013 112 POS1 Position selection DI4 8 DI5 P2 014 102 ARST Alarm reset DI5 33 DI6 P2 015 0 DI disabled DI7 P2 016 0 DI disabled DI8 P2 017 0 DI disabled DI9 P2 036 0 DI disabled...

Страница 129: ...POS0 POS6 Position command POS6 POS5 POS4 POS3 POS2 POS1 POS0 CTRG Corresponding parameters Homing 0 0 0 0 0 0 P6 000 P6 001 PR1 0 0 0 0 0 1 P6 002 P6 003 PR50 0 1 1 0 0 1 0 P6 098 P6 099 PR51 0 1 1 0...

Страница 130: ...5 3 5 2 Quick mode 5 4 5 3 Auto tuning 5 4 5 3 1 Flow chart for auto tuning 5 5 5 3 2 Auto tuning through the drive panel 5 6 5 3 3 Auto tuning with ASDA Soft software 5 7 5 3 4 Alarms related to auto...

Страница 131: ...art from the Auto Tuning mode If you are not satisfied with the system s performance you can use Tuning modes 1 2 3 or Manual mode for tuning the servo system Motor runs smoothly without load Quick mo...

Страница 132: ...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 Tuning mode 2 Value of P1 037 P1 037 P2 031 P2 000 P2 004 P2 006 P2 023 P2 024...

Страница 133: ...meters Filter and resonance suppression parameters Parameter No Function Parameter No Function P1 037 Inertia ratio and load weight ratio of servo motor P1 025 Low frequency vibration suppression 1 P2...

Страница 134: ...rtia and starts to tune the system With the host controller The path is planned by the host controller Note when the running distance is configured by the host controller make sure the delay time is a...

Страница 135: ...he Up and Down keys to set Position 1 Press the S key to complete the setting of position 1 Press the Up and Down key to set Position 2 Then the system starts to do positioning between the two points...

Страница 136: ...oft to complete auto tuning Please go to Delta s website http www deltaww com to download ADSA Soft for free Install the software and open the executable file exe You see the screen shown below Make s...

Страница 137: ...controller and one using the servo drive Both procedures are described below Auto tuning with host controller the host controller sends the commands to drive the motor Step 1 When the computer is conn...

Страница 138: ...the motor to operate at least one cycle in both forward and backward directions It should reach the positions in both forward and backward directions in 1000 ms or less with the running speed not less...

Страница 139: ...ntil the 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 b...

Страница 140: ...s below Click Auto Tuning in the Function List tree view Step 2 Click Drive Motion Command From Drive to start the Auto Tuning procedure Please follow the steps below to set the motor running path 1 S...

Страница 141: ...u can use the Left or Right button to run the motor to position 1 and 2 Then click Start Moving to run between two positions The motor moves to position 1 and 2 in the forward and backward directions...

Страница 142: ...7 5 13 5 Step 3 Wait until the 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...

Страница 143: ...n constant speed and deceleration and dwell time See the figure below When any of the settings are incorrect the servo drive stops and displays an alarm Please check the alarm causes and take correcti...

Страница 144: ...ction 5 1 5 4 1 Flow chart of Tuning mode Start Tuning 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 Bandwid...

Страница 145: ...3 The load inertia should be less than 50 times the motor inertia 4 The change in the external force or inertia ratio cannot be too great 5 4 3 Tuning mode 2 When Tuning mode 1 cannot meet your need...

Страница 146: ...me for the position command However if you set the parameter value too high it might cause overshoot and machinery vibration This function is only available when changing the command such as the accel...

Страница 147: ...s as well If resonance occurs please lower the parameter value by one or two bandwidth levels you should adjust the bandwidth level according to the actual situation For instance if the value of P2 03...

Страница 148: ...o adjust the response Increasing the gain can minimize the deviation between the position command and command response in intermittent duty zone When adjusting the value of P2 089 please enable the fu...

Страница 149: ...inery to vibrate or cause overshoot when positioning The calculation of position loop frequency response is as follows Frequency response bandwidth of position loop Hz KPP 2 Speed control gain KVP par...

Страница 150: ...tability in the speed loop and overshoot in positioning It is suggested that you set the value as follows NLP P2 025 10000 6 Speed loop frequency response Hz Anti interference gain DST parameter P2 02...

Страница 151: ...7 with manual adjustment Please see the following flowchart for manual adjustment Yes No No Use the analytic tool provided by ASDA Soft to display the point of resonance Save the value of resonance fr...

Страница 152: ...e of Position mode 6 5 6 2 4 S curve filter Position 6 7 6 2 5 Electronic gear ratio E Gear ratio 6 8 6 2 6 Low pass filter 6 9 6 2 7 Timing diagram of PR mode 6 9 6 2 8 Gain adjustment for the positi...

Страница 153: ...cember 2017 6 6 5 1 Speed Position dual mode 6 30 6 5 2 Speed Torque dual mode 6 31 6 5 3 Torque Position dual mode 6 32 6 6 Others 6 33 6 6 1 Applying the speed limit 6 33 6 6 2 Applying the torque l...

Страница 154: ...command with DI signals Speed mode No analog input Sz 04 The servo drive receives the Speed command and commands the motor to run at the target speed The Speed command can only be issued from the int...

Страница 155: ...the pulse command for direction motor runs forward or reverse You can control the rotation angle of the motor with the input pulse The ASDA A3 can receive pulse commands of up to 4 Mpps You can also a...

Страница 156: ...1 P7 098 P7 099 State of POS0 POS6 0 signifies that DI is off 1 signifies that DI is on CTRG this signifies the moment that DI is switched from off to on There are many applications for both absolute...

Страница 157: ...0 Command selection P1 001 Moving filter P1 068 Low pass filter P1 008 Notch filter P1 027 P1 028 Notch filter P1 025 P1 026 Position command processing unit The upper path of the above diagram is the...

Страница 158: ...an increase the smoothness of operation When the Position command source is pulse the speed and angular acceleration are continuous and the S curve filter is not necessary Speed Position Rated speed T...

Страница 159: ...ght create a sharp corner in the profile and lead to a high jerk To solve this problem you can apply an S curve acceleration deceleration filter or a low pass filter to reduce the jerk For example if...

Страница 160: ...th the DI signal POS0 POS6 and CTRG for CN1 Please refer to Section 6 2 2 for information about the DI signal and its selected register The timing diagrams are shown below PR99 PR01 PR02 Internal regi...

Страница 161: ...ger gain increases the response bandwidth of position loop 2 Feed forward gain reduces the deviation of phase delay Please note that the position loop bandwidth should not be larger than the speed loo...

Страница 162: ...ward and reverse directions In this case you have to decrease KPP until the rotor stops vibrating When the external torque is too high the low value for KPP cannot meet the demand of reducing position...

Страница 163: ...ins at the same level it automatically sets P1 029 to 0 and sets P1 025 to the first frequency and sets P1 026 to 1 It sets P1 027 to the second frequency and then sets P1 028 to 1 If P1 029 is automa...

Страница 164: ...f the value is too small the system might detect noise as the resonance vibration frequency You can also use a software Scope to observe the range of position error pulse between the upper and lower m...

Страница 165: ...eter values you set are regarded as the default values 6 3 1 Selecting the Speed command source There are two types of Speed command sources analog voltage and internal register parameters You can sel...

Страница 166: ...ng the scaling parameter P1 040 for rotation speed and S curve parameter for smoothing the speed The Speed Control unit manages the gain parameters for the servo drive and calculates the current comma...

Страница 167: ...of the change in deceleration and the S curve acceleration deceleration constant TSL improves the status of motor activating and stopping This can also calculate the total time for executing the comm...

Страница 168: ...ove graph shows the curve of the Speed command and the motor torque when you apply the Analog Speed Command filter In the diagram above the slopes of the Speed command in acceleration deceleration are...

Страница 169: ...tween V_REF and VGND Use parameter P1 040 maximum rotation speed for the analog Speed command to adjust the slope of the speed change and its range 6000 rpm 3000 rpm 6000 rpm 3000 rpm Slope is set by...

Страница 170: ...ff SPD 0 SPD 1 SON External I O on S3 External analog voltage or 0 Note 1 off means that the contact is open while on means that the contact is closed 2 When in Sz mode the Speed command S1 0 when in...

Страница 171: ...justment modes provided Manual you set values for all the parameter settings Auto and auxiliary functions are disabled Gain Adjustment mode please refer to Chapter 5 Auto tuning Manual mode When you s...

Страница 172: ...ease will also be shorter However 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 The h...

Страница 173: ...2 044 Notch filter attenuation level 2 P2 045 Notch filter frequency 3 P2 046 Notch filter attenuation level 3 P2 095 Notch filter bandwidth 1 P2 096 Notch filter bandwidth 2 P2 097 Notch filter bandw...

Страница 174: ...pass filter Cutoff 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 ba...

Страница 175: ...em of the resonance frequency the response bandwidth and phase margin are reduced Also the system becomes unstable If you know the resonance frequency the Notch filter can eliminate the resonance dire...

Страница 176: ...ence between T REF and GND 10V to 10V Tz N A Torque command is 0 0 T2 0 1 Parameters P1 012 300 300 T3 1 0 P1 013 300 300 T4 1 1 P1 014 300 300 State of TCM0 TCM1 0 means that the circuit is open DI i...

Страница 177: ...ntrol 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 unit is as the foll...

Страница 178: ...tween T_REF and GND You can adjust the torque slope and its range with parameter P1 041 For example 1 If you set P1 041 to 100 and the external input voltage is 10V the Torque command is 100 of the ra...

Страница 179: ...1 SON External DI O on T3 External analog voltage or zero Note 1 off signifies the contact is open while on signifies the contact is closed 2 When in Tz mode the Torque command T1 0 when in T mode th...

Страница 180: ...can be switched with DI signal PT_PR Multiple mode PT PR S 0E PT PR and S can be switched with DI signal S_P and PT_PR PT PR T 0F PT PR and T can be switched with DI signal T_P and PT_PR Sz and Tz dua...

Страница 181: ...sition and Speed commands in PR S mode with the DI signal The timing diagram is shown below CTRG S P POS0 6 valid POS0 6 invalid SPD0 1 valid SPD0 1 invalid SPD0 1 valid Speed mode Speed mode Position...

Страница 182: ...switch between Speed and Torque mode is controlled by DI S T 0x19 signal The timing diagram is shown below S T TCM0 1 valid TCM0 1 valid Speed mode Torque mode Torque mode Invalid SPD0 1 valid Invali...

Страница 183: ...ommands in PR T mode with the DI signal The timing diagram is shown below CTRG T P POS0 6 valid POS0 6 invalid POS0 6 invalid TCM0 1 valid TCM0 1 invalid TCM0 1 valid Position mode Torque mode Torque...

Страница 184: ...peed limit is applicable only in Torque mode T for controlling the motor s maximum speed If you are using the external analog voltage in Torque mode the DI signals are available and you can set SPD0 S...

Страница 185: ...tion P1 002 to 1 you enable the Torque Limit function See the timing diagram below TCM0 1 valid TCM0 1 inavalid Torque limit function disabled P1 002 Torque limit function enabled P1 002 Command sourc...

Страница 186: ...m MON1 8V Current speed Max speed P1 004 100 100 8V 300 RPM 5000 RPM 20 100 100 2 4V 900 rpm MON1 8V Current speed Max speed P1 004 100 100 8V 900 RPM 5000 RPM 20 100 100 7 2V Voltage drift When volta...

Страница 187: ...Operation Mode ASDA A3 6 36 Revision December 2017 6 This page is intentionally left blank...

Страница 188: ...pture Capture high speed position compare Compare and E Cam are also available This chapter contains detailed description of each command type 0 7 1 PR mode description 7 2 7 1 1 Shared PR parameters...

Страница 189: ...find information for all PR parameters in the descriptions of Group 6 and 7 in Chapter 8 For example PR 1 path is defined by two parameters P6 002 and P6 003 P6 002 specifies the properties for PR 1...

Страница 190: ...tion about Motion Control mode please 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 TYPE No Co...

Страница 191: ...parameter are changed as well Please be aware of this when setting PR paths so as to avoid any danger or damage to the machine For example if multiple PR commands use the target speed setting from P5...

Страница 192: ...15 0 1 2 3 4 5 6 14 15 Acceleration deceleration time ACC DEC Delay time DLY Target speed SPD P5 040 P5 041 P5 042 P5 043 P5 044 P5 045 P5 046 0 100 200 400 500 800 1000 5000 P5 054 P5 055 5500 P5 06...

Страница 193: ...oordinates for the motor simplified as Fb_PUU Feedback PUU 4 Position error PUU monitoring variable code 002 The deviation between the command position PUU and the feedback position PUU simplified as...

Страница 194: ...al output DO to monitor PR paths 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 completed DO Cmd_...

Страница 195: ...bit is listed below P5 004 Homing methods Address 0508H 0509H Default 0x0 Control mode PR Unit Setting range 0 0x128 Format HEX Data size 16 bit Settings Y Z U X X Homing method Z Limit setting Y Z pu...

Страница 196: ...000 Control mode PR Unit Setting range 0x00000000 0xFFFFFF3F Format HEX Data size 32 bit Settings Homing definition B C D A YX Z U A DEC2 deceleration time selection of second homing YX PATH path type...

Страница 197: ...th 1 Set from absolute position ABS to 0 as the route of Path 1 set P6 002 P6 003 2 If the origin is found sensor or Z and you want it to move an offset S and define the coordinate as P after moving t...

Страница 198: ...d by P5 005 and P5 006 P5 005 High speed homing first speed setting Address 050AH 050BH Operation interface Panel software Communication Control mode PR set with P5 004 Default 100 0 1000 Data size 32...

Страница 199: ...ge 0 1 6000 0 rotary motor 0 1 1599999 9 linear motor 1 60000 rotary motor 1 15999999 linear motor Format DEC DEC Example 1 5 1 5 rpm 150 1 5 rpm Settings the second speed setting for low speed homing...

Страница 200: ...triggers the signal Then the motor switches to low speed second speed value to look for the Z pulse When the motor finds the Z pulse it decelerates and stops completing the homing procedure If you set...

Страница 201: ...int 1 End ORG signal Limit Start point 3 Start point 2 Start point 2 Start point 3 Start point 3 Start point 2 The figure above shows an example of reversing to look for the Z pulse If the home sensor...

Страница 202: ...returns to look for the Z pulse Once the Z pulse is found homing is complete If you set the server motor to look for the Z pulse or not to look for the Z pulse in the forward direction this is similar...

Страница 203: ...ignal is off low Next it reverses to look for the Z pulse and decelerates to a stop once it finds the Z pulse completing the homing If ORG signal is un triggered at the start point and is closer to th...

Страница 204: ...t This method uses the motor s stop position as the origin by referring to the limit on the mechanism the torque level setting P1 087 and the retaining time P1 088 You can also choose whether to use t...

Страница 205: ...current to counter the external force from the collision protector The servo drive uses the motor current and the Torque limit time to determine homing and then it runs in the opposite direction to f...

Страница 206: ...ollowing parameters are available for PR speed setting acceleration deceleration time delay time and target speed You can easily set the Speed command in the PR mode screen in ASDA Soft See Figure 7 1...

Страница 207: ...ntrol Table 7 1 3 1 shows the bit function when speed control is in operation Figure 7 1 3 4 PR mode Speed screen in ASDA Soft Target speed Acceleration time Time Speed Feedback speed Command Delay ti...

Страница 208: ...e for these modes in ASDA Soft See Figure 7 1 3 6 In Figure 7 1 3 6 INS stands for the interrupt command that interrupts the previous motion command OVLP stands for the overlap command that allows the...

Страница 209: ...s illustrated in Figure 7 1 3 7 Table 7 1 3 2 lists the bit functions of position control Figure 7 1 3 6 PR mode position interface of ASDA Soft Target speed Acceleration time Time Speed Delay time De...

Страница 210: ...sition 20000 PUU plus the relative position command 60000 PUU which equals 80000 PUU in the coordinate system The target position specified by the original command is omitted 3 Incremental command INC...

Страница 211: ..._PUU Target position Capturing position 60000 High speed position capturing CAP 60000 PUU Figure 7 1 3 8 Four types of position command Table 7 1 3 2 Bit functions of parameters of PR mode Position co...

Страница 212: ...interrupt command that interrupts the previous motion command You can find more information in Section 7 1 6 DLY is the delay time determined by shared PR parameters Once a Jump command is issued the...

Страница 213: ...on command Refer to Section 7 1 6 for more details AUTO command automatically loads and executes the next PR once the current PR completes ROM command writes parameters to both RAM and EEPROM at the s...

Страница 214: ...and interrupts the previous motion command AUTO once the current PR is completed automatically load the next command ROM write data to RAM and EEPROM at the same time This function can only write para...

Страница 215: ...tware automatically writes position command 0 PUU to PR 01 10000 PUU to PR 02 20000 PUU to PR 03 and so on up to PR 08 When the index position reaches 80000 PUU it automatically returns to 0 PUU In ad...

Страница 216: ...arget position the servo drive starts counting the delay time Position command is the target position of each index segment Please note that the setting range must be smaller than the total index movi...

Страница 217: ...Motion Control ASDA A3 7 30 Revision December 2017 7 Figure 7 1 3 13 Indexing Coordinates Setting Wizard in PR mode Figure 7 1 3 14 PR mode Index Position screen in ASDA Soft...

Страница 218: ...ex Position command Note 1 Y OPT option INS Interrupt command interrupts the previous motion command OVLP allow overlapping of the next command 2 C OPT2 Option 2 S_LOW speed unit options 0 stands for...

Страница 219: ...set a jump condition in the path so that execution jumps to different PR path and then continue or stop once the operation is done You can also use it as a loop function The arithmetic operation comma...

Страница 220: ...ter PX XXX Data array Arr 0 799 Monitoring variable Mon 2 Procedure section uses the IF statement to determine whether the user defined condition is fulfilled If true jump to the next specified PR pat...

Страница 221: ...R paths If data in those two sections are different then the data is saved to another statement The time required to execute the statement is shown in the Spend Time field Total Capacity shows the ser...

Страница 222: ...4 5 Figure 7 1 4 1 PR display 1 Number the PR number ranging from PR 0 to PR 99 100 sets of PR paths 2 Command execution property B Execute homing when power on O Command overlap R write data to EEPRO...

Страница 223: ...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 homi...

Страница 224: ...stopped 5 Deceleration time DEC determined by shared PR parameters length of time to decelerate from target speed to stopped Position command You can use the Position command in any PR paths PR 1 PR...

Страница 225: ...ermined by shared PR parameters 6 Acceleration time ACC determined by shared PR parameters the length of time to reach the target speed from stopped 7 Deceleration time DEC determined by shared PR par...

Страница 226: ...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 required it shows R if not no information is displayed 2...

Страница 227: ...osition command can interrupt INS the previous PR path If the Interrupt function is enabled it displays I if not no information is displayed The Position command can overlap OVLP the next PR path If d...

Страница 228: ...xt PR path and stop once the execution is completed See Figure 7 1 4 8 PR 1 I Statement S0 Exe Time 3 89 s 2 3 true false PR 2 1 PR 1 I Statement S0 Exe Time 3 89 s 2 3 true false 1 PR 1 I Statement S...

Страница 229: ...ggering You can 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 m...

Страница 230: ...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 homing enabling and 0x46 motor stop If the fo...

Страница 231: ...3 Before using the Event trigger for PR command you must define the DI functions which are 0x39 Event trigger command 1 0x3A Event trigger command 2 0x3B Event trigger command 3 and 0x3C Event trigger...

Страница 232: ...cified PR path If you write 1000 the servo drive stops executing PR commands You can find more information in the description of P5 007 in Chapter 8 Special trigger method You can use High speed posit...

Страница 233: ...uption functions and without delay If arithmetic operations which cannot be interrupted are included duration is determined by the operation time and will be the last command in 1 ms Motion command ge...

Страница 234: ...hen replaces the previous PR group In other words instead of executing the PR group that hasn t been completed the executor starts executing the new PR group However if a new PR group hasn t been sent...

Страница 235: ...1 6 2 a If the 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 to th...

Страница 236: ...ncludes a delay the PR executor starts counting the delay time right after the motor reaches the target speed Then it issues the second Speed command to the generator for the second part of speed cont...

Страница 237: ...tely 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...

Страница 238: ...ious path 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 a...

Страница 239: ...d Note the 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 the identical The target position is t...

Страница 240: ...mmand and 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 completed the execut...

Страница 241: ...hedules all paths on the basis of this PR path The prior path s including a delay becomes as the first PR group and what follows is the second PR group Thus this PR procedure can execute up to two PR...

Страница 242: ...7 1 6 10 a If a PR path with external interruption enters the PR executor the executor sends this Position command immediately to the generator so that the motor can run in accordance with the interru...

Страница 243: ...executed while the previous motion is decelerating thus achieving a continuous motion When you use an Overlap command the delay time is still effective The delay time starts to count from the command...

Страница 244: ...command 1 ms command cycle 1 ms command cycle a Overlap command Acceleration and deceleration time are different PR 2 Position DLY 0 0 ms 10000 PUU ABS 500 rpm Acc 2 6 67 ms Dec 2 6 67 ms PR executor...

Страница 245: ...cified by the path with arithmetic operations is executed in the next ms see Figure 7 1 6 12 If you have entered the triggering parameter in the Statement section such as PR command trigger register P...

Страница 246: ...lave and then store the curve in the data array The Slave axis refers to the Master axis position and moves to the position specified by the E Cam You can find more details about the setting and how i...

Страница 247: ...or reading writing Panel Value of P5 011 does not add 1 Value of P5 011 adds 1 Communication ASDA Soft Value of P5 011 adds 1 Value of P5 011 adds 1 P5 013 Window 2 for reading writing Panel Value of...

Страница 248: ...300 0 0 0 Reading the data array Packet Communi cation Cmd Start Address Data size P5 011 P5 012 P5 013 Low bit High bit Low bit High bit Low bit High bit 4 0x06 P5 011 11 0 5 0x03 P5 011 6 words 11...

Страница 249: ...e 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 you can use P1 020 to set the masking ra...

Страница 250: ...P5 039 Y 3 CAP axis source CAP axis source CAP completed P5 038 0 Yes No Reset the first position P5 039 X Bit 1 1 First position P5 076 Enable CMP after the first data is captured P5 039 X Bit 2 1 Cy...

Страница 251: ...eset function for the first point is enabled and P5 076 is set to 0 At the moment DI7 is triggered the second and third time the position data is written to the data array 101 and 102 Once the first c...

Страница 252: ...3 ms PR 6 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 captur...

Страница 253: ...omparing position in the data array can be shifted using P1 023 non volatile and P1 024 volatile You can reset P1 024 to 0 after the shift and you can enable this function with P1 019 Z You can also s...

Страница 254: ...UX ENC P5 059 Y 1 Pulse Cmd P5 059 Y 2 Main ENC P5 059 Y 3 CMP axis source CMP completed P5 058 0 No Enable CAP after completed P5 059 X Bit 2 1 Cyclic CMP P5 059 X Bit 1 1 P5 058 Previous setting val...

Страница 255: ...es per rotation of the motor PR 1 3 use Write commands to edit data array 50 52 PR 4 confirms that the Compare function is disabled P5 039 X Bit 0 0 PR 5 sets the start position to 50 PR 6 sets the co...

Страница 256: ...he motor Therefore the comparing axis outputs 5000 pulses and after the position command completes it executes the Speed command Then the next comparing cycle starts This is the same as the first cycl...

Страница 257: ...position PUU Time DO4 CMP PR path 8 45 45 46 46 5000 20000 30000 40000 1 7 Data array 20000 20000 20000 20000 20000 20000 50 30000 30000 30000 30000 30000 30000 51 40000 40000 40000 40000 40000 40000...

Страница 258: ...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 28 P2 xxx Extension parameters 8 61 P3 xxx Communication parameters 8 96 P4 xx...

Страница 259: ...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 c...

Страница 260: ...ct content displayed by status monitoring register 1 0 P0 018 Select content displayed by status monitoring register 2 0 P0 019 Select content displayed by status monitoring register 3 0 P0 020 Select...

Страница 261: ...l 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 filt...

Страница 262: ...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 1 O O O O P2 048 Auto resonance detection level 100 O O O...

Страница 263: ...condition and method selection 0 O O O O P2 028 Gain switching time constant 10 10 ms O O O O P2 029 Gain switching condition 16777216 pulse kpps rpm O O O O P2 031 Response bandwidth level 19 Hz O O...

Страница 264: ...P1 055 Maximum speed limit Rated speed of the model rpm O O O O P1 097 Encoder output denominator 0 O O O O P5 003 Deceleration time for auto protection EEEFEEFF O O O O P5 020 P5 035 Acceleration dec...

Страница 265: ...ware O 1000 communication 0 1 rpm communication O P5 006 Low speed homing second speed setting 20 panel software 1 rpm panel software O 200 communication 0 1 rpm communication O P5 007 Trigger Positio...

Страница 266: ...put 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 0 pulse rpm N M O O O O P1 002 Sp...

Страница 267: ...036 DI9 functional planning 0 O O O O P2 037 DI10 functional planning 0 O O O O P2 038 VDI11 functional planning 0 O O O O P2 039 VDI12 functional planning 0 O O O O P2 040 VDI13 functional planning 0...

Страница 268: ...T protocol 1 P3 011 CANopen DMCNET options 0 P3 012 CANopen DMCNET support 0 Diagnosis parameters Parameter No Function Default value Unit Control mode PT PR S T P4 000 Fault record N 0 O O O O P4 001...

Страница 269: ...encoder W2 phase offset adjustment Factory setting O O O O P4 019 IGBT NTC adjustment level cannot reset Factory setting O O O P4 020 Offset adjustment for analog monitor output Ch1 0 mV O O O O P4 0...

Страница 270: ...ntrol mode All Unit Setting range 0X0000 alarm clear same as DI ARST 0x0001 0xFFFF displays the alarm code not writable Format HEX Data size 16 bit Settings For the list of alarms please refer to Sect...

Страница 271: ...Motor torque 8 volts Maximum torque 5 VBUS voltage 8 volts 450V 2 Pulse command frequency 8 volts 4 5 Mpps 6 Reserved 3 Speed command 8 volts Maximum Speed command 7 Reserved Note please refer to para...

Страница 272: ...panel or communication Please refer to P0 002 To get the status the communication port must read the communication address For example if you set P0 017 to 3 when accessing P0 009 the panel displays...

Страница 273: ...or communication Please refer to P0 002 To get the status the communication port must read the communication address Set P0 002 to 26 and the panel displays VAR 3 as the value of P0 012 P0 013 Status...

Страница 274: ...Unit Setting range 0 127 Format DEC Data size 16 bit Settings Please refer to Table 8 3 for the available values P0 020 Select content displayed by status monitoring register 4 Address 0028H 0029H Def...

Страница 275: ...ter 2 Address 0034H 0035H Default Control mode All Unit Setting range Determined by the corresponding parameter P0 036 Format HEX Data size 32 bit Settings This setting is the same as P0 025 except it...

Страница 276: ...rmat HEX Data size 32 bit Settings This setting is the same as P0 025 except its mapping target is set in P0 040 P0 031 Mapping Parameter 7 Address 003EH 003FH Default Control mode All Unit Setting ra...

Страница 277: ...pondingto register 1 The mapping value is 32 bits and can map to two 16 bit parameters or one 32 bit parameter P0 035 Mapping parameter P0 035 Mapping content P0 025 Set the P parameter to be mapped f...

Страница 278: ...lt 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...

Страница 279: ...s 004EH 004FH Default Control mode All Unit Setting range Determined by the communication address of the parameter group Format HEX Data size 32 bit Settings P0 039 P0 029 High bit Low bit Position of...

Страница 280: ...rget setting 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 Set...

Страница 281: ...for motor overload 2 ZSPD zero speed 10 WARN This DO is on when servo warning CW CCW EMGS undervoltage communication error etc occurs 3 TSPD target speed reached 11 Reserved 4 TPOS target position re...

Страница 282: ...066H 0067H Default 0 Control mode All Unit Rev Setting range 32768 to 32767 Format DEC Data size 32 bit Settings When you set P2 070 Bit 1 to read the pulse number this parameter displays the number o...

Страница 283: ...it Address 006CH 006DH Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Whenever the value of P0 009 changes from outside the set range to in...

Страница 284: ...0 063 Duration 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 w...

Страница 285: ...Others reserved 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 lo...

Страница 286: ...ward current Differential signal 4 Mpps 5V 25 mA Open collector 200 Kpps 24V maximum 25 mA UY filter width setting If the pulse frequency is too high causing a pulse width smaller than the filter widt...

Страница 287: ...lse width is shorter than 0 2 s it will be filtered Pulse input Pulse input 0 8 s 0 8 s If this first pulse width is shorter than 0 8 s it may be filtered and thus two input pulses will be regarded as...

Страница 288: ...is from the zero speed and the internal speed register which you can select with DI SPD0 and DI SPD1 Tz Torque control mode the command source is from the zero torque and the internal torque register...

Страница 289: ...x0000 Control mode All Unit Setting range 00 11 Format HEX Data size 16 bit Settings Y Z U X X Disable enable Speed Limit function Y Disable enable Torque Limit function UZ Reserved X disable enable S...

Страница 290: ...RQLM which is more flexible but the setting then occupies a DI setting You can enable the Torque Limit function by either P1 002 or DI UZ not in use P1 003 Encoder pulse output polarity Address 0106H...

Страница 291: ...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 MO...

Страница 292: ...t internal Speed command Internal speed limit 1 first internal speed limit Example of internal speed limit Speed limit value of P1 009 Valid speed range Speed limit in forward direction Speed limit in...

Страница 293: ...3 third internal Speed command Internal speed limit 3 third internal speed limit Example of internal speed limit Speed limit value of P1 011 Valid speed range Speed limit in forward direction Speed l...

Страница 294: ...1 013 Valid torque range Torque limit in forward direction Torque limit in reverse direction 30 30 to 30 30 30 30 P1 014 Internal Torque command 3 internal torque limit 3 Address 011CH 011DH Default 1...

Страница 295: ...2 1 0 Bit Bit Function Description 0 P1 024 is reset to 0 automatically Set this bit to 0 to disable this function Set this bit to 1 and P1 024 is reset to 0 automatically but it only takes effect onc...

Страница 296: ...2000 40 2040 Note 1 This parameter is non volatile 2 P1 024 after the value takes effect if P1 019 Z Bit 0 1 then it automatically resets 3 You can display CMP_DATA with the monitoring variable V25h...

Страница 297: ...y not operate smoothly The suggested value is 1 Set P1 026 to 0 to disable the first low frequency vibration suppression filter P1 027 Low frequency vibration suppression frequency 2 Address 0136H 013...

Страница 298: ...frequency to P1 025 P1 030 Low frequency vibration detection Address 013CH 013DH Default 800 Control mode PT PR Unit Pulse Setting range 1 8000 Format DEC Data size 16 bit Settings When enabling auto...

Страница 299: ...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 acceleration deceleration follow...

Страница 300: ...Please note the following error compensation P1 036 0 P1 036 1 P1 036 1 Smoothing function for S curve Disable Disable Enable Following error compensation function Disable Enable Determine by P2 068...

Страница 301: ...this value the target speed signal is triggered and the digital output is enabled Note Rotary motor means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous...

Страница 302: ...nalog input is 10V the torque control command 10V 100 10 100 When the external analog input is 5V the torque control command 5V 100 10 50 Example If P1 041 10 When the external analog input is 10V the...

Страница 303: ...ime to 0 P1 044 E Gear ratio Numerator N1 Address 0158H 0159H Default 16777216 Control mode PT PR Unit Pulse Setting range 1 to 2 29 1 Format DEC Data size 32 bit Settings For the E Gear ratio setting...

Страница 304: ...t P3 012 Z to 1 For details please refer to P3 012 P1 046 Encoder pulse number output Address 015CH 015DH Default 2500 Control mode All Unit Pulse Setting range 20 320000 Format DEC Data size 32 bit S...

Страница 305: ...he absolute value of the speed deviation is smaller than the parameter value If you set the parameter to 0 the output is always off If the absolute value is smaller than the parameter the DO output is...

Страница 306: ...d servo positioning completed which indicate that DO CMD_OK and DO TPOS are both on 6 DO MC_OK retains digital output status same as 5 except that once this DO is on its status is kept regardless of t...

Страница 307: ...nge 400 W or below 20 750 2 3 kW 10 750 750 W 1 5 kW 20 750 P1 053 Regenerative resistor capacity Address 016AH 016BH Default Determined by the model Please refer to the following table Control mode A...

Страница 308: ...ame as the rated speed of each model Control mode All Unit rpm Setting range 10 to maximum speed Format DEC Data size 16 bit Settings Set the maximum speed of the servo motor The default is the rated...

Страница 309: ...ol mode S Default 0 0 0 Data size 16 bit Unit 1 ms 0 1 ms Format One decimal DEC Setting range 0 0 4 0 0 40 Example 1 5 1 5 ms 15 1 5 ms Settings 0 disable moving filter P1 006 is the low pass filter...

Страница 310: ...ensation Address 017EH 017FH Default 1 Control mode PT PR S Sz Unit ms Setting range 1 1000 Format DEC Data size 16 bit Settings Set the smoothing constant of friction compensation P1 064 P1 067 Reser...

Страница 311: ...y be a result from the connector being loose or other mechanical problems When the deviation is greater than the value of P1 073 AL040 excessive deviation of full closed loop position control occurs P...

Страница 312: ...ime constant to enhance the stability of the system In other words temporarily create the half closed loop effect and after stabilizing the full closed loop effect is created When the stiffness is suf...

Страница 313: ...ettings When the analog input voltage is too high 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...

Страница 314: ...ible machines with low rigidity The definition of a flexible machine is one for which when the target position is reached due to lack of rigidity the machine vibrates and needs more time to become sta...

Страница 315: ...ration 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 Setting method is the same as for...

Страница 316: ...output 500 pulses Example 2 When P1 097 7 and P1 046 2500 OA OB output 7 357 142857 pulses P1 098 Disconnection detection protection UVW response time Address 01C4H 01C5H Default 0 Control mode All Un...

Страница 317: ...u select 6 for the monitor source for P0 003 YX then the analog monitor output voltage refers to the voltage value of P1 101 P1 102 Analog monitor output voltage 2 Address 01CCH 01CDH Default 0 Contro...

Страница 318: ...002 Position feed forward gain Address 0204H 0205H Default 50 Control mode PT PR Unit Setting range 0 100 Format DEC Data size 16 bit Settings If the position control command changes position smoothly...

Страница 319: ...gain according to the gain switching condition P2 006 Speed integral compensation Address 020CH 020DH Default 100 Control mode All Unit Setting range 0 1023 Format DEC Data size 16 bit Settings Incre...

Страница 320: ...rt the E Cam function P2 009 DI response filter time Address 0212H 0213H Default 2 Control mode All Unit ms Setting range 0 20 Format DEC Data size 16 bit Settings When environmental interference is h...

Страница 321: ...description of P2 010 P2 012 DI3 functional planning Address 0218H 0219H Default 0x0116 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings Pl...

Страница 322: ...ctional planning Address 0222H 0223H Default 0x0022 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16 bit Settings Please refer to the description of P2...

Страница 323: ...nal planning Address 022AH 022BH Default 0x0105 Control mode All Unit Setting range 0 0x013F last two codes are DO code Format HEX Data size 16 bit Settings Please refer to the description of P2 018 P...

Страница 324: ...1 5 1 5 ms 15 1 5 ms Settings Set the time constant for the low pass filter for resonance suppression Set this parameter to 0 to disable the low pass filter P2 026 Anti interference gain Address 0234...

Страница 325: ...aster than P2 029 Y gain switching method 0 gain rate switching 1 integrator switching P controller switches to PI controller Value Control mode P Control mode S Gain switching 0 P2 000 x 100 P2 004 x...

Страница 326: ...negative limit emergency stop etc DO Ready is on commands are accepted in each mode and can be observed through the scope software but the motor does not operate Use this mode to examine command accu...

Страница 327: ...P2 098 P2 099 P2 101 P2 102 N A 1 Gain 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...

Страница 328: ...ngs In Position mode this parameter sets the acceptable difference between the command position and the feedback position If the difference is greater than this value AL009 occurs P2 036 DI9 functiona...

Страница 329: ...refer to the description of P2 038 P2 040 VDI13 functional planning Address 0250H 0251H Default 0x0000 Control mode All Unit Setting range 0 0x015F last two codes are DI codes Format HEX Data size 16...

Страница 330: ...Settings The third setting for resonance frequency This function is disabled if P2 046 is 0 P2 046 Notch filter attenuation level 3 Address 025CH 025DH Default 0 Control mode All Unit dB Setting range...

Страница 331: ...auto manual setting 0 auto resonance suppression 1 manually set the second set of resonance suppression parameters 2 Notch 3 auto manual setting 0 auto resonance suppression 1 manually set the third...

Страница 332: ...n Address 0262H 0263H Operation interface Panel 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...

Страница 333: ...g range 0 1023 Format DEC Data size 16 bit Settings Increase the position control integral to reduce position steady state errors If the value is too high it may cause position overshoot and noise P2...

Страница 334: ...synchronous control bandwidth is greater than the servo bandwidth the synchronous following is better 2 When the servo bandwidth is greater than the synchronous control bandwidth the single axis motio...

Страница 335: ...d in order to avoid mechanical vibration 1st numerator P1 044 2nd numerator P2 060 3rd numerator P2 061 4th numerator P2 062 Denominator P1 045 Position command moving filter P1 068 Smooth filter P1 0...

Страница 336: ...unction 1 enable the U V W wiring error detection function Bit 9 U V W wiring cut off detection function 1 enable the U V W wiring cut off detection function Bit 10 ZCLAMP function selection The ZCLAM...

Страница 337: ...ZCLAMP conditions are met the motor speed decelerates to 0 rpm by S curve deceleration If ZCLAMP conditions are not met the motor follows the analog Speed command through the S curve 1 command source...

Страница 338: ...e loss phase AL022 detection Bit 13 Encoder output error detection function 0 enable encoder output error AL018 detection function 1 disable encoder output error AL018 detection function Bit 15 Fricti...

Страница 339: ...P2 068 Following error compensation switch Address 0288H 0289H Default 0x00000000 Control mode All Unit Setting range 0x00000000 0x00002101 Format HEX Data size 32 bit Settings B C D A Y Z U X A Reser...

Страница 340: ...remental type motor AL069 occurs Y Pulse command setting when absolute position is lost 0 when AL060 or AL06A occurs the system cannot accept a pulse command 1 when AL060 or AL06A occurs the system ca...

Страница 341: ...n is enabled by setting P2 008 to 271 P2 072 Reserved P2 073 E Cam alignment Operation Address 0292H 0293H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0x5F3F6F5F Format HEX Data s...

Страница 342: ...d in a specified PR This PR can compensate for the slave position at the appropriate timing point If BA is set to 0 any shortage of pulse numbers is not stored in PR Note the format of this parameter...

Страница 343: ...Z Alignment forward direction allowable rate 0 100 Y Filter intensity 0 F X E Cam alignment control 3 2 1 0 Bit Bit Function Description 0 Enable alignment Set this bit to 0 to disable this function s...

Страница 344: ...tion Value Alignment direction 0 Backward alignment only 80 Forward 80 backward 20 30 Forward 30 backward 70 100 Forward alignment only 50 Alignment with the shortest distance Note the E Cam function...

Страница 345: ...Continuous forward running Virtual pulse function enabled The source of the E Cam master axis is the frequency transmitted by the actual master axis P5 088 Y plus the virtual pulse frequency in kpps s...

Страница 346: ...s 029CH 029DH Default 270 Control mode PR Unit degree Setting range 0 360 Format DEC Data size 16 bit Settings The relationship between DO CAM_Area2 and the parameter values is shown below When E Cam...

Страница 347: ...esponsiveness of the Position command and shortens the tuning time but when the gain is too large it causes position overshoot which leads to machine jitter P2 090 P2 092 Reserved P2 093 STO FDBK cont...

Страница 348: ...094 Bit 12 is enabled Bit 8 First set of vibration elimination 0 disable first set of vibration elimination 1 enable first set of vibration elimination P1 089 P1 091 Vibration elimination takes effect...

Страница 349: ...disabled if P2 046 is 0 P2 045 P2 046 and P2 097 are the third set of Notch filter parameters P2 098 Notch filter frequency 4 Address 02C4H 02C5H Default 1000 Control mode All Unit Hz Setting range 50...

Страница 350: ...nction is disabled if you set P2 102 to 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 U...

Страница 351: ...2 105 Automatic gain adjustment level 1 Address 02D2H 02D3H Default 11 Control mode PT PR Unit Setting range 1 21 Format DEC Data size 16 bit Settings Use this parameter to adjust the bandwidth when a...

Страница 352: ...faster If the value is smaller the maximum overshoot allowed by auto tuning is smaller but the response is slower Time sec Pulse number Pulse Command feedback P2 106 P2 107 P2 111 Reserved P2 112 Spe...

Страница 353: ...n network It is also applicable to RS 485 CANopen and DMCNET When the communication address of MODBUS is 0xFF the servo drive automatically receives and and replies to data regardless of the address b...

Страница 354: ...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 Communication erro...

Страница 355: ...07 For more information on DI please see DI1 DI8 P2 010 P2 017 DI9 DI10 P2 036 P2 037 VDI11 VDI13 P2 038 P2 040 P3 007 Communication response delay time Address 030EH 030FH Default 0 Control mode All...

Страница 356: ...15H Default 0x1 Control mode CANopen DMCNET Unit Setting range 0x0000 0xFFFF Format HEX Data size 16 bit Settings Communication protocol is divided into U Z Y and X hexadecimal Bit U Z Y X Function PD...

Страница 357: ...CANopen DMCNET Unit Setting range 0x0000 0x0111 Format HEX Data size 16 bit Settings Y Z U X Digit U Z Y X Function Reserved Load in CANopen DMCNET values Reserved Reserved Range 0 1 Control mode CAN...

Страница 358: ...ined Used in HM mode Acc 200 Undefined Used in PV PP mode Dec 200 Undefined Used in PV PP mode Torque slope 200 Undefined Used in PT mode P1 044 1 EEPROM P1 045 1 EEPROM Methods to write parameters to...

Страница 359: ...second to last abnormal status record Low word LXXXX the alarm number High word hYYYY the error code corresponding to CANopen DMCNET P4 002 Fault record N 2 Address 0404H 0405H Default 0x0 Control mo...

Страница 360: ...controls JOG operation in the positive direction pressing the DOWN key controls JOG operation in the negative direction Stop pressing to stop the JOG operation If there is any error in this setting th...

Страница 361: ...i function for digital input Address 040EH 040FH Default 0x0 Control mode All Unit Setting range 0 3FFF Format HEX Data size 16 bit Settings The source of the DI input signal can be the external termi...

Страница 362: ...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...

Страница 363: ...et The function 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 Fa...

Страница 364: ...DEC Data size 16 bit Settings Manually adjust the offset The function must be enabled by setting P2 008 Do not change the auxiliary adjustment as this parameter cannot be reset P4 018 Current encoder...

Страница 365: ...Offset adjustment value cannot reset 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 adj...

Страница 366: ...s divided into D C B A W Z Y X hexadecimal including 1 Deceleration time when activating the auto protection function OVF DO 0x11 Position command feedback overflows CTO communication timeout AL020 SP...

Страница 367: ...do not look for Z pulse X 2 homing in forward direction ORG OFF ON as homing origin X 3 homing in reverse direction ORG OFF ON as homing origin X 4 look for Z pulse in forward direction and define it...

Страница 368: ...means a permanent magnet synchronous rotary motor linear motor means a permanent magnet synchronous linear motor P5 006 Low speed homing second speed setting Address 050CH 050DH Operation interface Pa...

Страница 369: ...ed the drive reads the current command 20000 Commands triggered by DI are also applicable Example If the value read is 3 it means PR 3 is incomplete If the value read is 10003 it means PR 3 completed...

Страница 370: ...w 1 for reading and writing Address 0518H 0519H Default 0 Control mode All Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Window 1 when reading the parameter using th...

Страница 371: ...position Motor encoder Address 0520H 0521H Default 0 Control mode All Unit PUU Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Read feedback position of the motor encoder w...

Страница 372: ...0 40 magnification x 1 000000 This enables the operation of E Cam with the same pulse frequency of the master axis Magnification enlarges both the route of E Cam operation and the speed Note 1 E Cam f...

Страница 373: ...R mode P5 024 Acceleration deceleration time Number 4 Address 0530H 0531H Default 800 Control mode PR Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings Please refer to P5 020 for the...

Страница 374: ...mode P5 029 Acceleration deceleration time Number 9 Address 053AH 053BH Default 2000 Control mode PR Unit ms Setting range 1 65500 Format DEC Data size 16 bit Settings Please refer to P5 020 for the...

Страница 375: ...lease refer to P5 020 for the acceleration deceleration time in PR mode P5 034 Acceleration deceleration time Number 14 Address 0544H 0545H Default 50 Control mode PR Unit ms Setting range 1 1500 Form...

Страница 376: ...n Capture stops please refer to P5 039 If the source is the main encoder this parameter is write protected and the Capture axis position is the feedback position of the motor monitoring variable 00h P...

Страница 377: ...Invalid when Compare is activated After capturing the first data reset the position coordinate Start capturing when set to 1 after finishing capturing this bit is cleared automatically Y axis source o...

Страница 378: ...hird delay time of PR mode P5 043 Delay time after position reached Number 3 Address 0556H 0557H Default 400 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The four...

Страница 379: ...hth delay time of PR mode P5 048 Delay time after position reached Number 8 Address 0560H 0561H Default 2000 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The nint...

Страница 380: ...delay time of PR mode P5 053 Delay time after position reached Number 13 Address 056AH 056BH Default 4500 Control mode PR Unit ms Setting range 0 32767 Format DEC Data size 16 bit Settings The fourte...

Страница 381: ...he Compare axis source is the Main Encoder P5 057 is also write protected The pulse resolution is determined by P1 046 When you set P5 059 Y to the Main Encoder this parameter is set to the feedback p...

Страница 382: ...n as the last data is compared Compare axis position P5 057 returns to 0 Invalid when Capture is activated Does not stop Start comparing when set to 1 after finishing comparing this bit is cleared aut...

Страница 383: ...it 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 1599999 9 linear motor 0 60000 rotary motor 0 15999999 linear motor For...

Страница 384: ...t 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 1599999 9 linear motor 0 60000 rotary motor 0 15999999 linear motor Form...

Страница 385: ...it 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 1599999 9 linear motor 0 60000 rotary motor 0 15999999 linear motor For...

Страница 386: ...t 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 1599999 9 linear motor 0 60000 rotary motor 0 15999999 linear motor Form...

Страница 387: ...it 1 rpm rotary motor 10 6 m s linear motor 0 1 rpm rotary motor 10 6 m s linear motor Setting range 0 0 6000 0 rotary motor 0 0 1599999 9 linear motor 0 60000 rotary motor 0 15999999 linear motor For...

Страница 388: ...824 to 1073741823 Format DEC Data size 32 bit Settings If the position reset function is enabled P5 039 X Bit1 1 after the first position data is captured the servo resets the coordiates of the first...

Страница 389: ...he offset of the synchronous axis When the synchronous capture axis is the master for the rotary shear modifying this parameter can shift the cutting position to the left and right Note A3 L does not...

Страница 390: ...ncludes N 1 data This parameter is only writable when E Cam stops please refer to P5 088 X Bit0 0 Its range must be smaller than or equal to P5 010 minus P5 081 and P5 082 x P5 084 must be smaller tha...

Страница 391: ...r in E Cam table Note A3 L does not support the E Cam function P5 086 E Cam Master axis position Address 05ACH 05ADH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Da...

Страница 392: ...vation 0 E Cam is disabled 1 E Cam is enabled relevant parameters cannot be modified once E Cam is enabled 1 E Cam does not disengage when servo is off 0 when the servo is stopped by alarm or servo is...

Страница 393: ...eturn to pre engaged status Lead pulse is P5 092 8 When U 1 2 or 6 disable E Cam after disengaging Set X to 0 When U 4 Avoid jittering when it returns to pre enagaged status N A BA auto execute the sp...

Страница 394: ...ult 360 Control mode PR Unit Degree Setting range 0 360 Format DEC Data size 16 bit Settings Please refer to P5 090 for the correlation between DO CAM_Area and parameters Note A3 L does not support th...

Страница 395: ...ecuting the macro command you must set the relevant parameter 3 in advance The function of the parameter is determined by the macro command Not every macro command requires this parameter Note A3 L do...

Страница 396: ...te protected level 0 1 0 no protection 1 enable protection P5 094 protection level of data array 1 to 7 0 password protection of all data array 1 password protection of data array 100 799 2 password p...

Страница 397: ...Note R cutting ratio L target cutting length perimeter of cutter Allowable cutting ratio 0 3 2 5 times V speed factor target cutting speed speed of delivered product V 1 0 when cutting the speed of c...

Страница 398: ...e relevant to the E Cam table calculation Please correctly set up the parameters prior to execution After this macro is executed if the above parameters have been modified the E Cam table must be recr...

Страница 399: ...nitoring variable 062 3Eh displays the current engaged position X of master axis This macro command can change the engaged position immediately even when E Cam is engaged It automatically calculates t...

Страница 400: ...inate should be the same P2 052 ECAM_H moving distance when E Cam operates one cycle 3 E Cam table scaling P5 019 must be 1 0 time 4 When E Cam is engaged for the first time 0 degrees in the E Cam tab...

Страница 401: ...engaged and then write the alignment correction value into the specified PR You can use this macro command during E Cam operation E Cam is engaged if you want to quickly align the E Cam position with...

Страница 402: ...lay time compensation exceeds the range 10000 to 10000 Failure code F0E5h P5 095 allowable forward rate exceeds the range 0 100 Failure code F0E6h P5 096 alignment target position exceeds the range 0...

Страница 403: ...or reverse rotation Allowable forward rate the allowable maximum proportion of forward path Please see below for details E Cam current position Max forward rotation limit Counterclockwise is forward d...

Страница 404: ...ctive scaling 2 This function is accumulative If the command is triggered for N times consecutively it pauses the E Cam for N cycles Please note that the accumulated pause distance cannot exceed 2 31...

Страница 405: ...Default 0x0 Control mode PR Unit Setting range 0x0000 0xDDDD Format HEX Data size 16 bit Settings Y Z U X X PR triggered by EV1 falling edge Z PR triggered by EV3 falling edge Y PR triggered by EV2 fa...

Страница 406: ...by any method the value set by P5 011 does not increase by 1 Please refer to Chapter 7 Data array for detailed instructions P5 102 Data array Window 5 for reading writing Address 05CCH 05CDH Default...

Страница 407: ...h 99 Z ACC select 0 F for acceleration time 0 F corresponds to P5 020 P5 035 U DEC1 deceleration time selection of first homing 0 F corresponds to P5 020 P5 035 A DEC2 deceleration time selection of s...

Страница 408: ...o move an offset S and define the coordinate as P after moving then PATH non zero and set ORG_DEF P S and this absolute Position command P P6 001 Origin definition Address 0602H 0603H Default 0 Contro...

Страница 409: ...an be interrupted and stopped by DO STP stop and software limits INS executing this path interrupts the previous path OVLP allows overlapping of the next path Overlapping is not allowed in Speed mode...

Страница 410: ...67 800 8 P5 068 1000 9 P5 069 1300 10 P5 070 1500 11 P5 071 1800 12 P5 072 2000 13 P5 073 2300 14 P5 074 2500 15 P5 075 3000 B DLY Delay time index B Corresponding parameters Default value ms 0 P5 040...

Страница 411: ...Please refer to Chapter 7 for detailed instructions P6 003 PATH 1 data Address 0606H 0607H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings P...

Страница 412: ...he description of P6 003 P6 008 PATH 4 definition Address 0610H 0611H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to t...

Страница 413: ...r to the description of P6 002 P6 013 PATH 6 data Address 061AH 061BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the des...

Страница 414: ...he description of P6 003 P6 018 PATH 9 definition Address 0624H 0625H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to t...

Страница 415: ...r to the description of P6 002 P6 023 PATH 11 data Address 062EH 062FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 416: ...he description of P6 003 P6 028 PATH 14 definition Address 0638H 0639H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to...

Страница 417: ...r to the description of P6 002 P6 033 PATH 16 data Address 0642H 0643H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 418: ...he description of P6 003 P6 038 PATH 19 definition Address 064CH 064DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to...

Страница 419: ...r to the description of P6 002 P6 043 PATH 21 data Address 0656H 0657H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 420: ...he description of P6 003 P6 048 PATH 24 definition Address 0660H 0661H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to...

Страница 421: ...r to the description of P6 002 P6 053 PATH 26 data Address 066AH 066BH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 422: ...he description of P6 003 P6 058 PATH 29 definition Address 0674H 0675H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to...

Страница 423: ...r to the description of P6 002 P6 063 PATH 31 data Address 067EH 067FH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 424: ...he description of P6 003 P6 068 PATH 34 definition Address 0688H 0689H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to...

Страница 425: ...r to the description of P6 002 P6 073 PATH 36 data Address 0692H 0693H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 426: ...he description of P6 003 P6 078 PATH 39 definition Address 069CH 069DH Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to...

Страница 427: ...r to the description of P6 002 P6 083 PATH 41 data Address 06A6H 06A7H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 428: ...he description of P6 003 P6 088 PATH 44 definition Address 06B0H 06B1H Default 0x00000000 Control mode PR Unit Setting range 0x00000000 0xFFFFFFFF Format HEX Data size 32 bit Settings Please refer to...

Страница 429: ...r to the description of P6 002 P6 093 PATH 46 data Address 06BAH 06BBH Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 430: ...R Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the description of P6 003 P6 098 PATH 49 definition Address 06C4H 06C5H Default 0x00000000 Control mo...

Страница 431: ...refer to 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 Please...

Страница 432: ...r to the 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 Please refer to the de...

Страница 433: ...he description 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 Please refer to...

Страница 434: ...r to the 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 Please refer to the de...

Страница 435: ...the description 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 Please refer to...

Страница 436: ...r to the 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 Please refer to the de...

Страница 437: ...he description 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 Please refer to...

Страница 438: ...r to the 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 Please refer to the de...

Страница 439: ...he description 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 Please refer to...

Страница 440: ...r to the 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 Please refer to the de...

Страница 441: ...he description 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 Please refer to...

Страница 442: ...r to the 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 Please refer to the de...

Страница 443: ...he description 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 Please refer to...

Страница 444: ...r to the 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 Please refer to the de...

Страница 445: ...he description 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 Please refer to...

Страница 446: ...r to the 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 Please refer to the de...

Страница 447: ...he description 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 Please refer to...

Страница 448: ...r to the 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 Please refer to the de...

Страница 449: ...he description 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 Please refer to...

Страница 450: ...r to the description of P6 002 P7 097 PATH 98 data Address 07C2H 07C3H Default 0 Control mode PR Unit Setting range 2147483648 to 2147483647 Format DEC Data size 32 bit Settings Please refer to the de...

Страница 451: ...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 P...

Страница 452: ...or monitoring the deviation of the two axes Rising edge triggered PT Value 0x0C DI name Description Triggering method Control mode VPL Latch function of analog Position command If this DI is on positi...

Страница 453: ...hen DI is triggered When DI is on all input command is cleared When DI is off motor does not move but coordinates are redefined Analog input command V Level triggered PT Value 0x10 DI name Description...

Страница 454: ...m DI4 replaces the DI4 function from P2 013 DI name Description Triggering method Control mode ABSQ always input by DI4 During I O transmission the controller sends the handshaking signal When DI ABSQ...

Страница 455: ...iggering method Control mode T P In Position and Torque modes if DI is off it is in Torque mode if DI is on it is in Position mode In PT PR T modes PT or PR are selected with DI PT PR 0x2B Level trigg...

Страница 456: ...ntrol mode JOGU When this DI is on motor JOGs in the forward direction Level triggered All Value 0x38 DI name Description Triggering method Control mode JOGD When this DI is on motor JOGs in the rever...

Страница 457: ...and has no function when this DI is on Note this function has to be set to DI8 to ensure immediate pulse inhibition Level triggered PT Value 0x46 DI name Description Triggering method Control mode STP...

Страница 458: ...SPD 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...

Страница 459: ...0E DO name Description Triggering method Control mode IDXD Indexing coordinate is defined When homing is completed indexing coordinate is defined as well PR Value 0x10 DO name Description Triggering m...

Страница 460: ...on When the Position command is executing this DO is off after the command completes this DO is on This DO only indicates that the command is completed but the motor positioning may not be completed y...

Страница 461: ...on DI ABSD triggered by DO3 will replace the DO3 assigned by P2 020 DO name Description Triggering method Control mode ABSD always output by DO3 DO pin of ABS data The data is valid when DO ABSR is o...

Страница 462: ...scription Triggering method Control mode SPO_A Output bit 10 of P4 006 Level triggered All Value 0x3B DO name Description Triggering method Control mode SPO_B Output bit 11 of P4 006 Level triggered A...

Страница 463: ...hen the panel displays VAR 1 it indicates 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 you...

Страница 464: ...nication mapping parameter Low word displays frequency F2 High word displays frequency F1 018 12h Z phase offset B Dec Offset value between motor position and Z phase range 5000 to 5000 Where it overl...

Страница 465: ...des analog register 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...

Страница 466: ...Drive firmware version Dec Includes 2 versions DSP and CPLD When monitoring from the panel press the SHF key to switch between DSP and CPLD DSP displays zero decimal places CPLD displays 1 decimal pl...

Страница 467: ...Parameters ASDA A3 8 210 Revision December 2017 8 This page is intentionally left blank...

Страница 468: ...r the motion control network please refer to the related DMCNET CANopen and EtherCAT documentation The details of ASCII RTU and TCP modes are also provided in this chapter 0 9 1 RS 485 communication i...

Страница 469: ...up to 100 meters when the servo drive is installed in a quiet environment If the transmission speed is over 38400 bps however a 15 meter cable is recommended to ensure data transmission accuracy 2 The...

Страница 470: ...ansmission speed and P3 002 Communication protocol P3 003 Communication error disposal P3 004 Communication timeout setting P3 006 Digital input DI control switch and P3 007 Communication delay time a...

Страница 471: ...sends 36H to represent 6 and 34H to represent 4 The ASCII codes for the digits 0 to 9 and the characters A to F are as follows Character 0 1 2 3 4 5 6 7 ASCII code 30H 31H 32H 33H 34H 35H 36H 37H Cha...

Страница 472: ...r 8 bit character 8N2 Start bit 7 Stop bit 0 1 2 3 4 5 6 8 data bits 11 bit character frame L H Stop bit 8E1 Start bit 7 Stop bit 0 1 2 3 4 5 6 8 data bits 11 bit character frame L H Even parity 8O1 S...

Страница 473: ...The ADR is two characters in ASCII code The end code is CR Carriage Return and LF Line Feed The codes for data such as communication address function code data content and error checking LRC Longitud...

Страница 474: ...Address 0 1 1 Function 0 Function 0 3 3 Start Data Address 0 Data Number In byte 0 2 4 0 Content of Start Data Address 0200H 0 0 0 Data Number Word 0 B 0 1 0 Content of Second Data Address 0201H 1 2...

Страница 475: ...ion 0 Function 0 6 6 Start Data Address 0 Start Data Address 0 2 2 0 0 0 0 Data Content 0 Data Content 0 0 0 6 6 4 4 LRC Check 9 LRC Check 9 3 3 End 1 0DH CR End 1 0DH CR End 0 0AH LF End 0 0AH LF RTU...

Страница 476: ...The slave sends a response message to the master after the writing is completed The calculation of LRC and CRC is described below ASCII mode Command Message Master Response Message Slave Start Start...

Страница 477: ...Data Address 01H High 12H Low 12H Low Data Number In words 00H High Data Number In words 00H High 02H Low 02H Low Data Number In bytes 04H CRC Check Low E0H Low CRC Check High 31H High Content of the...

Страница 478: ...clical Redundancy Check See the details below LRC ASCII mode To calculate the LRC add all the bytes round down the carry and take the two s complement For example 7FH 03H 05H C4H 00H 01H 14CH round do...

Страница 479: ...is 1 then right move one bit and CRC register XOR A001H Repeat this step 8 times Step 4 Repeat the procedure from step 2 and step 3 until all bytes have been processed The content of the CRC register...

Страница 480: ...c reg_crc 1 return reg_crc Example of a PC communication program include stdio h include dos h include conio h include process h define PORT 0x03F8 the address of COM 1 define THR 0x0000 define RDR 0x...

Страница 481: ...b 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 while inportb PORT LSR 0x20 wait until THR empty outportb PORT THR tdat I send data to THR I 0 while kbhit...

Страница 482: ...P3 001 when changing to a new communication speed the next data is written in the new transmission speed after the new speed is set P3 002 when changing to a new communication protocol the next data...

Страница 483: ...MODBUS Communication ASDA A3 9 16 Revision December 2017 9 This page is intentionally left blank...

Страница 484: ...encoder 10 5 10 1 4 Battery box cable 10 7 10 2 Installation 10 8 10 2 1 Installing the battery box in the servo system 10 8 10 2 2 Installing and replacing a battery 10 10 10 3 System initialization...

Страница 485: ...up with other types of motors and the system is enabled AL069 occurs When using an absolute motor connected to power the motor speed should not exceed 250 rpm When operating with the battery make sure...

Страница 486: ...0 5 mm Weight Approx 19 g Operating temperature 40 to 85 C Do not place the battery in a high temperature environment over 100 C as this may cause a fire or an explosion The batteries are non recharge...

Страница 487: ...Absolute System ASDA A3 10 4 Revision December 2017 10 10 1 2 Battery box dimensions Single battery box Delta part number ASD MDBT0100 Double battery box Delta part number ASD MDBT0200...

Страница 488: ...97 4 Connection method Note Please follow the instructions below when connecting the cable Incorrect wiring may result in an explosion 1 White T 2 Red BAT 3 Reserved 3 Reserved 2 Orange BAT 1 White T...

Страница 489: ...tle Model name L mm inch 1 ACS3 CAEA3003 3000 100 118 4 2 ACS3 CAEA3005 5000 100 197 4 Connection method Note Please follow the instructions below when connecting the cable Incorrect wiring may result...

Страница 490: ...ASDA A3 Absolute System Revision December 2017 10 7 10 10 1 4 Battery box cable Battery box cable AW Battery connection cable to the encoder Unit mm Delta part number 3864573700...

Страница 491: ...connects to the servo drive Military connector Quick connector Color Pin No Symbol Description A 1 White 5 T Serial communication signal B 4 White Red 6 T Serial communication signal S 7 Brown 1 5V P...

Страница 492: ...ASDA A3 Absolute System Revision December 2017 10 9 10 Double battery box connects to CN2 1 Encoder cable 2 Battery box cable AW 3 Double battery box absolute type 4 CN2 connector...

Страница 493: ...ction cable Please note that the metal clip should be placed close to the heat shrink A Metal clip B Heat shrink Step 3 Plug in the connection cable and tighten the screw Step 4 Install a new battery...

Страница 494: ...n Do not remove the power cables or else the system might lose data Step 2 Lift the cover and pull out the batteries Step 3 Disconnect the connectors and remove the old batteries Replace them with the...

Страница 495: ...alarm AL061 which means the voltage is too low Please refer to Chapter 11 for more information 2 You can use P0 002 monitoring variable 26H to check the battery power When it displays 31 it means the...

Страница 496: ...t for the alarms 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 ro...

Страница 497: ...reasing to 32768 32767 32766 and so on When the system is operating in the clockwise direction the value jumps to 32767 in the next cycle after reaching 32768 In addition to the cycle counter there ar...

Страница 498: ...s from 2147483647 to 2147483648 2147483647 2147483647 and so on The value changes the other way when the motor operates in the reverse direction See the following examples Example 1 When P1 044 167772...

Страница 499: ...for initializing the absolute coordinate system with DI DO The following table describes the TS and TQ delay time after triggering DI ABSE and DI ABSC TS ms TQ ms Min TS TQ Value of P2 009 2 Max P2 0...

Страница 500: ...iptions below Bit 79 Bit 64 Bit 63 Bit 32 Bit 31 Bit 16 Bit 15 Bit 0 Check Sum Pulse number in one rotation 0 to 16777215 16777216 1 Encoder turn 32768 to 32767 Encoder status Description Check Sum WO...

Страница 501: ...O function prior to handshake communication TR b0 b1 b2 TB TS TQ TN TQ Continue to 15 in below figure Continued from 13 in above figure Continue to 13 in below figure Continue to 14 in below figure TB...

Страница 502: ...Q signal is set high to notify the servo drive that data was read 6 When ABSQ is high the ABSR signal is set low after the TN time in order to send the data for the next bit 7 When ABSR is low ABSQ is...

Страница 503: ...Even when the motor is stopped it still moves slightly forward and backward When you set P0 049 to 1 the encoder continues to read the exact position where the motor stops without changing anything el...

Страница 504: ...sition Pulse number or PUU within single turn P2 069 Absolute encoder P2 070 Read data selection P2 071 Absolute position homing Relevant DI DO please refer to Chapter 8 for detailed information Value...

Страница 505: ...g motor type AL072 Encoder overspeed AL073 Encoder memory error AL074 Absolute encoder single turn position error AL075 Absolute encoder position error AL077 Encoder computing error AL079 Encoder para...

Страница 506: ...and the corrective actions you can use for troubleshooting 11 1 Alarm list 11 3 General type 11 3 STO type 11 5 Communication type 11 5 Motion control type 11 6 11 2 Causes and corrective actions 11 7...

Страница 507: ...and Motion control General type alarms caused by hardware or encoder signal errors STO type alarms caused by STO errors Communication type alarms caused by CANopen or DMCNET errors Motion control typ...

Страница 508: ...op AL014 Reverse limit error AL015 Forward limit error AL016 IGBT overheat AL017 Abnormal EEPROM AL018 Abnormal encoder signal output AL019 Serial communication error AL020 Serial communication timeou...

Страница 509: ...d AL070 Encoder did not complete the command issued by servo drive AL072 Encoder overspeed AL073 Encoder memory error AL074 Absolute encoder single turn position error AL075 Absolute encoder position...

Страница 510: ...type Servo state ALM WARN ON OFF AL111 Buffer overflow occurs when receiving CANopen SDO AL112 Buffer overflow occurs when receiving CANopen PDO AL121 Object s index does not exist when CANopen PDO i...

Страница 511: ...WARN ON OFF AL207 Parameter group of PR 8 is out of range AL209 Parameter number of PR 8 is out of range AL213 Parameter setting of PR 8 is in error AL215 Write parameters read only AL217 Write param...

Страница 512: ...is suggested that you reset the servo drive to the factory default settings and then modify the settings one by one 3 Check if the target Torque Speed Position commanded changes greatly If so please...

Страница 513: ...if the power system complies with the specifications Check if using the right voltage source or the transformer is connected in series How to clear the alarm AL003 is cleared according to the setting...

Страница 514: ...erative resistor P1 052 and the regenerative resistor capacity P1 053 How to clear the alarm DI ARST AL006 Overload Trigger condition and causes Condition overload of motor and servo drive Causes 1 Th...

Страница 515: ...command frequency is higher than the rated input frequency Checking methods and corrective actions Use the scope to check if the input frequency is higher than the rated frequency Correctly set the in...

Страница 516: ...ons between the encoder and CN2 of the servo drive to see if there is any poor wiring or damaged wires If so please replace the connector and cable 4 Please check the communication error status by set...

Страница 517: ...er condition and causes Condition reverse limit switch is triggered Causes 1 Reverse limit switch is triggered 2 Servo system is unstable Checking methods and corrective actions 1 Check the reverse li...

Страница 518: ...this alarm occurs please send the servo drive back to the distributor or contact Delta Checking methods and corrective actions Press the SHIFT key on the panel and EXGAB is displayed X 1 2 3 G Group N...

Страница 519: ...ion error status by setting P0 002 to 80 If the value continuously increases it means there is interference Please check the following A Make sure the servo motor is properly grounded and connect the...

Страница 520: ...ak phase Trigger condition and causes Condition RST power cable is loose or there is no power The default setting of AL022 is a warning To set AL022 as an alarm you can set P2 066 Bit 12 Cause RST lea...

Страница 521: ...ar the alarm Re power on the servo drive AL025 Encoder internal error Trigger condition and causes Condition internal memory and counter of the encoder are in error Causes 1 Internal encoder error int...

Страница 522: ...supply for the encoder is stable and make sure to use shielded cable 3 Check if the operation temperature is over 95 Identify the cause for the high temperature and do not restart operation before th...

Страница 523: ...arm Re power on the servo drive AL030 Motor crash error Trigger condition and causes Condition when the motor hits the device the torque reaches the value of P1 057 and lasts for the time set by P1 05...

Страница 524: ...e protective range Trigger condition and causes Condition encoder temperature is over the maximum of 100 Cause encoder temperature is over 100 Checking methods and corrective actions Set P0 002 to 120...

Страница 525: ...eration to be in error Cause Servo function overload warning Checking methods and corrective actions 1 Check if the filter is enabled and see if enabling the filter is necessary 2 Set P2 066 Bit4 to 1...

Страница 526: ...te homing again please refer to Chapter 10 for absolute coordinate initialization 3 Please follow the instructions below A Install the battery B Check the connection between the battery power source a...

Страница 527: ...the encoder temperature is too high please improve the heat dissipation or reduce the operating load If the temperature difference between the encoder and motor is over 30 please send the motor back...

Страница 528: ...g methods and corrective actions Check if the absolute position is correctly initialized see Section 10 3 1 How to clear the alarm This alarm is cleared after you complete the initialization of the ab...

Страница 529: ...he shielded mesh and ground it 4 Check the motor speed and make sure it is within the rated range If the issue persists please send your servo drive back to the distributor or contact Delta How to cle...

Страница 530: ...es Encoder internal error internal computing error Checking methods and corrective actions 1 Check if the motor is well grounded make sure the power cable is grounded to the heat sink of the servo dri...

Страница 531: ...when the motor speed is over 200 rpm Trigger condition and causes The command to clear the absolute position is issued when the motor speed is over 200 rpm Checking methods and corrective actions Che...

Страница 532: ...level specified by the firmware This alarm protects IGBT from overheating or burning out because of the high current Causes 1 UVW cable is short circuited 2 Motor wiring is wrong 3 Interference on the...

Страница 533: ...rated voltage Causes 1 Other energy such as interference is input to the servo drive or the input voltage is higher than the permissible rated value 2 Malfunction of the servo drive hardware Checking...

Страница 534: ...ve back to the distributor or contact Delta AL08A Auto tuning function Command error Trigger condition and causes Condition no command is issued when the servo drive starts the auto tuning procedure C...

Страница 535: ...n the cycle is too short Checking methods and corrective actions 1 For a reciprocating motion between two points pausing is required on the return which has to be longer than 1 sec 2 For rotation in a...

Страница 536: ...ion and causes Condition the value for the vibration elimination parameter elasticity compensation is not appropriate Causes 1 The value of vibration suppression elasticity compensation is incorrect 2...

Страница 537: ...STO_B signals are not synchronized for more than 1 sec Checking methods and corrective actions Make sure the wiring of STO_A is correct How to clear the alarm Cycle power on the servo drive AL502 STO...

Страница 538: ...ler the specified object s index number is incorrect so that the servo drive cannot identify it Checking methods and corrective actions 1 Check if the object s index for PDO mapping for the controller...

Страница 539: ...L125 CANopen object is read only and write protected Trigger condition and causes The specified object in the message is read only and write protected Checking methods and corrective actions Check if...

Страница 540: ...a in the ROM is greater than the allowable space specified by the firmware It is probably because the firmware has been updated but the data in the ROM was stored by the old version of the firmware Ch...

Страница 541: ...curs more than 128 times Cause CAN Bus hardware error Checking methods and corrective actions 1 Check if the communication cable for CAN Bus is connected 2 Check the communication quality it is sugges...

Страница 542: ...and causes Condition the servo drive fails to synchronize with the controller in CANopen IP mode Cause CANopen synchronization failure Checking methods and corrective actions 1 Make sure the communica...

Страница 543: ...command Trigger condition and causes Condition command cannot be sent when in CANopen IP mode Cause invalid CANopen IP command Checking methods and corrective actions The computing time in IP mode tak...

Страница 544: ...methods and corrective actions Writing parameter using PR procedure parameter number of PR 8 is out of range Please check the setting How to clear the alarm DI ARST or set P0 001 to 0 AL213 Parameter...

Страница 545: ...ow to clear the alarm Reset the alarm or set P0 001 to 0 AL235 Absolute positioning command error Trigger condition and causes Condition execute a position command after the feedback position counter...

Страница 546: ...actions When you enable the software positive limit function this alarm is determined by the command instead of by the feedback position The alarm may occur while the actual position is still within...

Страница 547: ...rigger condition and causes DO MC_OK is on and then goes off Checking methods and corrective actions Please refer to the description of P1 048 After DO MC_OK is on DO MC_OK goes off because DO TPOS tu...

Страница 548: ...e range faster Please adjust the value of P1 022 How to clear the alarm DI ARST AL555 System failure Trigger condition and causes DSP processing error Checking methods and corrective actions If this a...

Страница 549: ...ion December 2017 11 3 For advanced users you can save the scope screenshot when the alarm occurs Set P5 007 and P0 001 for the two channels to monitor the status and save the scope How to clear the a...

Страница 550: ...A3L low inertia series servo motor A 9 A 2 2 ECM A3H high inertia series servo motor A 11 A 2 3 Torque features T N curves A 13 A 2 4 Overload features A 15 A 2 5 Dimensions of ECM A3L A3H series serv...

Страница 551: ...PWM control Control mode Manual Auto Regenerative resistor N A Built in Position control mode Pulse type except DMCNET mode Pulse Direction A phase B phase CCW pulse CW pulse Max input pulse frequency...

Страница 552: ...riginal point Forward reverse operation torque limit Homing activated E CAM engage Forward reverse JOG input Event trigger E Gear N selection Pulse input prohibition DMCNET mode is not included for th...

Страница 553: ...ty Under 0 90 RH non condensing Vibrating 9 80665m s2 1 G less than 20 Hz 5 88 m s2 0 6 G 20 to 50 Hz IP rating IP20 Power system TN system 3 4 Approvals IEC EN 61800 5 1 UL 508C Note 1 Within the rat...

Страница 554: ...ASDA A3 Specifications Revision December 2017 A 5 A A 1 2 Dimensions of the servo drive 100 W 200 W Weight 0 84 kgf 1 85 Ibf 400 W Weight 0 92 kgf 2 03 Ibf...

Страница 555: ...fications ASDA A3 A 6 Revision December 2017 A 750 W 1 kW 1 5 kW Weight 1 3 kgf 2 87 Ibf 2 kW 3 kW Weight 2 7 kgf 5 95 Ibf Note dimensions and weights of the servo drive may be updated without prior n...

Страница 556: ...Motor type A AC Servo Motor 3 Name of the Series 3 A3 series 4 Inertia type H high inertia L low inertia 5 Rated voltage and speed C Rated voltage 200V Speed 3 000 rpm 6 Encoder type Y Absolute type...

Страница 557: ...fies that this motor model is coming soon 10 Shaft diameter S standard 7 specific 14 mm 11 Special code 1 standard w o brake w o oil seal with brake w o oil seal w o brake with oil seal with brake wit...

Страница 558: ...m 11 9 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 Electric constant ms 1 56 1 71 3 78 4 52 6 63 7 67 Insulation class Class A UL Class B CE Insulation resistance 100 M...

Страница 559: ...f connectors or when an oil seal is fitted to the rotating shaft for an oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 C 40 C operating temperature whi...

Страница 560: ...Ohm 12 5 8 34 3 18 1 68 1 19 0 57 Armature inductance mH 13 3 11 8 15 4 03 4 2 2 2 Electric constant ms 1 07 1 32 2 14 2 40 3 53 3 86 Insulation class Class A UL Class B CE Insulation resistance 100...

Страница 561: ...of connectors or when an oil seal is fitted to the rotating shaft for an oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature whic...

Страница 562: ...16 50 0 32 100 1 12 350 0 45 140 3000 6000 Intermittent Duty Zone Continuous Duty zone Torque N m Speed rpm 2700 ECM A3L Cr0602 S1 0 32 50 1 92 300 0 64 100 3000 6000 Intermittent Duty Zone Continuou...

Страница 563: ...rmittent Duty Zone Continuous Duty Zone Torque N m Speed rpm ECM A3H Cr0602 S1 0 96 150 4300 0 64 50 1 27 100 4 45 350 3000 6000 Intermittent Duty Zone Continuous Duty Zone Torque N m Speed rpm ECM A3...

Страница 564: ...ng 2 The inertia ratio is too high and the motor frequently accelerates and decelerates 3 An incorrect connection between the power cable and the encoder wiring 4 Incorrect servo gain setting causes r...

Страница 565: ...cations ASDA A3 A 16 Revision December 2017 A High inertia ECM A3H series Load Operating time 120 263 8 s 140 35 2 s 160 17 6 s 180 11 2 s 200 8 s 220 6 1 s 240 4 8 s 260 3 9 s 280 3 3 s 300 2 8 s 350...

Страница 566: ...1 0 14 0 011 0 14 0 011 0 19 0 013 0 LB 30 0 021 0 30 0 021 0 50 0 025 0 50 0 025 0 70 0 030 0 70 0 030 0 LL w o brake 70 6 85 3 84 106 93 7 115 8 LL with brake 105 4 120 1 117 6 139 7 131 2 153 2 LS...

Страница 567: ...Motor recommended for CNC applications 3 Series C Rated voltage 200V Speed 3 000 rpm E Rated voltage 200V Speed 2 000 rpm F Rated voltage 200V Speed 1 500 rpm 4 Encoder type W Absolute type resolutio...

Страница 568: ...2017 A 19 A 7 Shaft type and oil seal 8 Shaft diameter S standard w o brake w o oil seal with brake w o oil seal w o brake with oil seal with brake with oil seal Round shaft with fixed screw holes C...

Страница 569: ...2 1 7 1 62 1 06 1 28 Torque constant KT N m A 0 44 0 85 0 87 0 87 0 76 0 66 0 88 0 85 0 89 0 98 Voltage constant KE mV rpm 16 8 31 9 31 8 31 8 29 2 24 2 32 2 31 4 32 0 35 Armature resistance Ohm 0 20...

Страница 570: ...ndensing Vibration capacity 2 5 G IP rating IP65 when using waterproof connectors or when an oil seal is fitted to the rotating shaft for an oil seal model Approvals Note 1 A 1E A in motor model names...

Страница 571: ...77 100 14 32 300 3 2 67 21 5 300 2000 3000 Intermittent Duty Zone Continuous Duty Zone Torque N m Speed rpm ECMC Er1315 S 7 16 100 4 8 67 2000 3000 Intermittent Duty Zone Continuous Duty Zone Torque N...

Страница 572: ...Continuous Duty Zone Torque N m Speed rpm ECMC Er1820 S 9 55 100 6 4 67 28 65 300 2000 3000 Intermittent Duty Zone Continuous Duty Zone Torque N m ECMC Er1830 S 14 32 100 9 59 67 42 97 300 Speed rpm 1...

Страница 573: ...2 The inertia ratio is set too high and the motor frequently accelerates and decelerates 3 An incorrect connection between the power cable and the encoder wiring 4 Incorrect servo gain setting causes...

Страница 574: ...ifications Revision December 2017 A 25 A Medium and medium high inertia ECMC E F series Load Operating time 120 527 6 s 140 70 4 s 160 35 2 s 180 22 4 s 200 16 s 220 12 2 s 240 9 6 s 260 7 8 s 280 6 6...

Страница 575: ...115 145 145 145 145 145 145 S LB LL w o brake 153 3 147 5 167 5 187 5 152 5 187 5 202 LL with brake 192 5 183 5 202 216 181 216 230 7 LS 37 47 47 47 47 47 47 LR 45 55 55 55 55 55 55 LE 5 6 6 6 6 6 6 L...

Страница 576: ...200 200 200 S LB LL w o brake 169 202 1 202 1 LL with brake 203 1 235 3 235 3 LS 73 73 73 LR 79 79 79 LE 4 4 4 LG 20 20 20 LW 63 63 63 RH 30 30 30 WK 10 10 10 W 10 10 10 T 8 8 8 TP M12 Depth 25 M12 D...

Страница 577: ...Specifications ASDA A3 A 28 Revision December 2017 A This page is intentionally left blank...

Страница 578: ...le AW B 9 B 6 Battery box absolute type B 9 B 7 I O signal connector B 10 B 8 Terminal block module B 11 B 9 CANopen communication cable B 11 B 10 CANopen distribution box B 12 B 11 Ferrite ring B 12...

Страница 579: ...sion December 2017 B B 1 Power connector Delta part number ASDBCAPW0000 for 200V servo drives Delta part number ASDBCAPW0100 for 200V servo drives with brake contact Delta part number ASD CAPW1000 Del...

Страница 580: ...CS3 CAPW1105 for 200V series servo drives Part No L mm inch ACS3 CAPW1103 3000 100 118 4 ACS3 CAPW1105 5000 100 197 4 Delta part number ACS3 CAPW2103 ACS3 CAPW2105 for 200V series servo drives and com...

Страница 581: ...1205 Part No Straight L mm inch ACS3 CAPW1203 3106A 20 18S 3000 100 118 4 ACS3 CAPW1205 3106A 20 18S 5000 100 197 4 Delta part number ACS3 CAPW2203 ACS3 CAPW2205 with brake cable Part No Straight L mm...

Страница 582: ...1305 Part No Straight L mm inch ACS3 CAPW1303 3106A 20 18S 3000 100 118 4 ACS3 CAPW1305 3106A 20 18S 5000 100 197 4 Delta part number ACS3 CAPW2303 ACS3 CAPW2305 with brake cable Part No Straight L mm...

Страница 583: ...1405 Part No Straight L mm inch ACS3 CAPW1403 3106A 24 11S 3000 100 118 4 ACS3 CAPW1405 3106A 24 11S 5000 100 197 4 Delta part number ACS3 CAPW2403 ACS3 CAPW2405 with brake cable Part No Straight L mm...

Страница 584: ...pe Delta part number ACS3 CAEN1003 ACS3 CAEN1005 Part No L mm inch ACS3 CAEN1003 3000 100 118 4 ACS3 CAEN1005 5000 100 197 4 Delta part number ACS3 CAEN3003 ACS3 CAEN3005 Part No Straight L mm inch AC...

Страница 585: ...lta part number ACS3 CAEA1003 ACS3 CAEA1005 Model name L mm inch ACS3 CAEA1003 3000 100 118 4 ACS3 CAEA1005 5000 100 197 4 Delta part number ACS3 CAEA3003 ACS3 CAEA3005 Model name Straight L mm inch A...

Страница 586: ...ries Revision December 2017 B 9 B B 5 Battery box cable AW Battery box cable that connects to the encoder Delta part number 3864573700 B 6 Battery box absolute type Single battery box Delta part numbe...

Страница 587: ...Accessories ASDA A3 B 10 Revision December 2017 B Double battery box Delta part number ASD MDBT0200 B 7 I O signal connector Delta part number ACS3 CNADC150...

Страница 588: ...ule Delta part number ACS3 MDTB5000 B 9 CANopen communication cable Delta part number UC CMC030 01A UC CMC050 01A Part No L mm inch UC CMC030 01A 300 10 11 0 4 UC CMC050 01A 500 10 19 0 4 Note Please...

Страница 589: ...12 Revision December 2017 B B 10 CANopen distribution box Delta part number TAP CN03 B 11 Ferrite ring Delta part number ASD ACFC7K00 Model name Outer diameter Inner diameter Height ASD ACFC7K00 68 0...

Страница 590: ...ision December 2017 B 13 B B 12 A3 A2 conversion cable A3 A2_CN1_conversion cable Delta part number 3081709800 A3 A2_CN2_conversion cable Delta part number 3081709600 A3 A2_CN5_conversion cable Delta...

Страница 591: ...Accessories ASDA A3 B 14 Revision December 2017 B B 13 A3 CN3 RS 485 CANOpen connector Delta part number ACS3 CNADC3RC B 14 A3 CN3 RS 485 CANOpen terminal resistor Delta part number ACS3 CNADC3TR...

Страница 592: ...ASDA A3 Accessories Revision December 2017 B 15 B B 15 CN4 Mini USB module Delta part number UC PRG015 01B UC PRG030 01B Part No L mm inch UC PRG015 01B 1500 100 59 4 UC PRG030 01B 3000 100 118 4...

Страница 593: ...Encoder cable absolute type ACS3 CAEA100X Encoder connector MEC TAXX09S X 3 indicates that the cable length is 3 m X 5 indicates that the cable length is 5 m 200 W servo drive and 200 W low high iner...

Страница 594: ...bsolute type ACS3 CAEA100X Encoder connector MEC TAXX09S X 3 indicates that the cable length is 3 m X 5 indicates that the cable length is 5 m 750 W servo drive and 750 W low high inertia servo motor...

Страница 595: ...ECMC CW1315 S Motor power cable without brake ACS3 CAPW120X Motor power cable with brake ACS3 CAPW220X Power connector ASD CAPW1000 Encoder cable incremental type ACS3 CAEN300X Encoder cable absolute...

Страница 596: ...rive ASD A3 3023 Motor model name ECMC EW1830 S ECMC FW1830 S Motor power cable without brake ACS3 CAPW140X Motor power cable with brake ACS3 CAPW240X Power connector ASD CAPW2000 Encoder cable increm...

Страница 597: ...Accessories ASDA A3 B 20 Revision December 2017 B This page is intentionally left blank...

Страница 598: ...dition 8 2 Change the parameter default value of P1 000 P1 030 P2 031 and P2 047 Change the parameter format of P2 031 3 1 4 Add notes for the UVW connector illustration angle of viewing 3 9 3 10 Add...

Страница 599: ...Revision History ASDA A3 2 Revision December 2017 For relevant information about ASDA A3 please refer to 1 ASDA A2 User Manual issued on 9th February 2017...

Страница 600: ...a communication 10 20 System initialization 10 13 Relevant parameters Read data selection P2 070 8 85 8 86 Forward software limit P5 008 8 8 8 114 Reverse software limit P5 009 8 8 8 114 Absolute coor...

Страница 601: ...7 48 Overlap command 7 57 Sequence command 7 48 Command interruption 7 52 Motion command generator 7 48 Electronic gear ratio E Gear ratio 6 8 Timing diagram of PR mode 6 9 Command type Index positio...

Страница 602: ...sition dual mode 6 30 Speed torque dual mode 6 31 Selection of operation mode Speed mode 6 3 Description of monitoring variables Speed command analog integrated feedback 8 209 8 211 Description of mon...

Страница 603: ...4 Revision December 2017 This page is intentionally left blank...

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