Delta ASDA-AB - Manuals

Preface | ASDA-AB Series iv Revision January 2009 NOT E 1) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric units for precise measurements. 2) The content of this manual may be revised without prior notice. Please co...

Revision January 2009 Table of Contents Chapter 1 Unpacking Check and Model Explanation............................................................. 1-1 1.1 Unpacking Check ........................................................................................................................ 1-1 1....

Table of Contents | ASDA-AB Series Revision January 2009 About this Manual… User Information Be sure to store this manual in a safe place. Due to constantly growing product range, technical improvement, alteration or changed texts, figures and diagrams, we reserve the right to make information chang...

Revision January 2009 1-1 Chapter 1 Unpacking Check and Model Explanation 1.1 Unpacking Check After receiving the AC servo drive, please check for the following: „ Ensure that the product is what you have ordered. Verify the part number indicated on the nameplate corresponds with the part number of ...

Chapter 1 Unpacking Check and Model Explanation | ASDA-AB Series 1-2 Revision January 2009 (2) One encoder cable, which is used to connect the encoder of servo motor to the CN2 terminal of servo drive. (3) CN1 Connector: 50 PIN Connector (3M type analog product) (4) CN2 Connector: 20 PIN Connector (...

Chapter 1 Unpacking Check and Model Explanation | ASDA-AB Series 1-4 Revision January 2009 ECMA Series Servo Motor

Chapter 1 Unpacking Check and Model Explanation | ASDA-AB Series Revision January 2009 1-5 1.3 Servo Drive and Servo Motor Combinations The table below shows the possible combination of Delta ASDA-AB series servo drives and ECMA series servo motors. The boxes ( … ) in the model names are for optiona...

Chapter 1 Unpacking Check and Model Explanation | ASDA-AB Series 1-6 Revision January 2009 1.4 Servo Drive Features 220V models

Chapter 1 Unpacking Check and Model Explanation | ASDA-AB Series 1-8 Revision January 2009 1.5 Control Modes of Servo Drive The Delta Servo provides six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code Description External Position ...

Revision January 2009 2-1 Chapter 2 Installation and Storage 2.1 Installation Notes Please pay close attention to the following installation notes: „ Do not bend or strain the connection cables between servo drive and motor. „ When mounting the servo drive, make sure to tighten all screws to secure ...

Chapter 2 Installation and Storage | AS DA-AB Series 2-2 Revision January 2009 2.3 Installation Conditions Operating Temperature ASDA-AB Series Servo Drive : 0°C to 55°C (32°F to 131°F) ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive should be under 45°C ...

Chapter 2 Installation and Storage | AS DA-AB Series Revision January 2009 2-3 2.4 Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual...

Revision January 2009 3-1 Chapter 3 Connections and Wiring This chapter provides information on wiring ASDA-AB series products, the descriptions of I/O signals and gives typical examples of wiring diagrams. 3.1 Connections 3.1.1 Connecting to Peripheral Devices Figure 3.1 220V Servo Drive

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-3 3.1.2 Servo Drive Connectors and Terminals Terminal Identification Terminal Description Notes L1, L2 Control circuit terminal Used to connect single-phase AC control circuit power. (Control circuit uses the same voltage as t...

Chapter 3 Connections and Wiring | ASDA-AB Series 3-4 Revision January 2009 Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor. 1. Please note that the main circuit terminals of 110V models are L1M ...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-7 3.1.4 Motor Power Cable Connector Specifications The boxes ( … ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Motor Model Name U, V, W / Electromagnetic Brake Conne...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-9 Terminal Identification AMP (1- 172161-9) A (Black) /A (Black /Red) B (White) /B (White /Red) Z (Orange) /Z (Orange /Red) +5V (Brown & Brown/White) GND (Blue & Blue/White) BRAID SHELD A 1 4 2 5 3 6 7 8 9 Terminal Ide...

Chapter 3 Connections and Wiring | ASDA-AB Series 3-10 Revision January 2009 Encoder Cable Encoder Cable - Wire Gauge AWG (mm 2 ) Servo Drive Wire Size Core Number UL Rating Standard Wire Length ASD-A0111-AB ASD-A0121-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A0211-AB ASD-A0221-AB 0.1...

Chapter 3 Connections and Wiring | ASDA-AB Series 3-12 Revision January 2009 Figure 3.7 Basic Wiring Schematic of 2kW, 220V models

Chapter 3 Connections and Wiring | ASDA-AB Series 3-14 Revision January 2009 3.3 Input / Output Interface Connector -CN1 The CN1 Interface Connector provides access to three signal groups: i General interface for the analog speed and torque control, encoder reference signal from the motor, pulse / d...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-15 CN1 Terminal Signal Identification 1 DO4+ Digital output 26 DO4- Digital output 2 DO3- Digital output 27 DO5- Digital output 3 DO3+ Digital output 28 DO5+ Digital output 4 DO2- Digital output 29 NC No Connection 5 DO2+ Digi...

Chapter 3 Connections and Wiring | ASDA-AB Series 3-16 Revision January 2009 3.3.2 Signals Explanation of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the general signals. Table 3.B details the Digital Output (DO) signals and...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-17 Signal Pin No Details Wiring Diagram (Refer to 3-3-3) Other NC 14,29, 38,39, 40,46, 48 See previous note for NC terminals CN1 connector on page 3-11. - The Digital Input (DI) and Digital Output (DO) have factory default set...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-19 N OT E 1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected. 2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS. Table 3.C DI Signals DI Signal DI Code Assigned Contr...

Chapter 3 Connections and Wiring | ASDA-AB Series 3-22 Revision January 2009 Table 3.D Source of Position Command POS2 POS1 POS0 Parameter OFF OFF OFF P1-15, P1-16 OFF OFF ON P1-17, P1-18 OFF ON OFF P1-19, P1-20 OFF ON ON P1-21, P1-22 ON OFF OFF P1-23, P1-24 ON OFF ON P1-25, P1-26 ON ON OFF P1-27, P...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-23 Table 3.G Default DI signals and Control modes Signal DI Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T SON 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 ARST 02 Reset DI5 DI5 DI5 DI5 DI5 DI5 GAINUP 03 Gain...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-25 N OT E 1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1. Table 3.H Default DO signals and Control modes Signal DO Code Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T SRDY 01 Servo ready DO1 DO1 DO1 DO1...

Chapter 3 Connections and Wiring | ASDA-AB Series 3-26 Revision January 2009 3.3.3 User-defined DI and DO signals If the default DI and DO signals could not be able to fulfill users’ requirements, there are still user- defined DI and DO signals. The setting method is easy and they are all defined vi...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-31 3.4 Encoder Connector CN2 Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal. When power is first applied to the servo drive, control algorithms detect the motor's rotor positio...

Chapter 3 Connections and Wiring | ASDA-AB Series 3-32 Revision January 2009 3.5 Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification The servo drive can be connected to a PC or controller via a serial communication connector. Users can operate the servo drive through PC s...

Chapter 3 Connections and Wiring | ASDA-AB Series Revision January 2009 3-33 3.5.2 Connection between PC and Connector CN3

Chapter 3 Connections and Wiring | ASDA-AB Series 3-34 Revision January 2009 3.6 Standard Connection Example 3.6.1 Position (Pt) Control Mode (220V models) Note: 1 The coil of brake has no polarity. 2. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 ...

Revision January 2009 4-1 Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers. 4.1 Description of the Digital Keypad The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of th...

Chapter 4 Display and Operation | ASDA-AB Series 4-2 Revision January 2009 4.2 Display Flowchart Figure 4.2 Keypad Operation 1. When the power is applied to the AC servo drive, the LCD display will show the monitor function codes for approximately one second, then enter into the monitor mode. 2. In ...

Chapter 4 Display and Operation | ASDA-AB Series Revision January 2009 4-3 4.3 Status Display 4.3.1 Save Setting Display After the SET key is pressed, LCD display will show the following display messages for approx. one second according to different status. Display Message Description The setting va...

Chapter 4 Display and Operation | ASDA-AB Series 4-6 Revision January 2009 4.4 General Function Operation 4.4.1 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding fault code history for the parameter or press UP ar...

Chapter 4 Display and Operation | ASDA-AB Series Revision January 2009 4-9 The learning position and internal memorized position are listed as below: Learning Position Internal Memorized Position JOGo1 P1-15 (1st Position Command for Rotation), P1-16 (1st Position Command for Pulse) JOGo2 P1-17 (2nd...

Revision January 2009 5-1 Chapter 5 Trial Run and Tuning Procedure This chapter, which is divided into two parts, describes trial run for servo drive and motor. One part is to introduce the trial run without load, and the other part is to introduce trial run with load. Ensure to complete the trial r...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-3 5.2 Applying Power to the Drive The users please observe the following steps when applying power supply to the servo drive. 1. Please check and confirm the wiring connection between the drive and motor is correct. 1)...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-4 Revision January 2009 1) When display shows: Over voltage: The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect power input). Corrective Actions: „ Use voltmeter to check whether the input v...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-5 „ If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to confirm that which of digital inputs DI1~DI8 is set to “Emergency Stop (EMGS)” and check if the digital input signal is ON (...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-7 5.3 JOG Trial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring. The external wiring is not necessary and the users only need to conn...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-9 5.4 Speed Trial Run without Load Before speed trial run, fix and secure the motor as possible to avoid the danger from the reacting force when motor speed changes. STEP 1: Set the value of parameter P1-01 to 02 and i...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-11 5.5 Position Trial Run without Load Before position trial run, fix and secure the motor as possible to avoid the danger from the reacting force when the motor speed changes. STEP 1: Set the value of parameter P1-01 ...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-14 Revision January 2009 5.6 Tuning Procedure Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode Tuning Procedure Display 1. After wiring is completed, when power in connected to the AC servo dri...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-16 Revision January 2009 5.6.2 Load Inertia Estimation Flowchart

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-17 5.6.3 AutoMode (PI) Tuning Flowchart Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjustment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) not used A B A: No function B: Responsiveness level of auto...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series Revision January 2009 5-21 5.6.5 Manual Mode Tuning Flowchart Position Mode

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-22 Revision January 2009 Speed Mode 5.6.6 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be above 200r/min. The load inertia must be 100 multiple or less of m...

Chapter 5 Trial Run and Tuning Procedure | ASDA-AB Series 5-24 Revision January 2009 „ KPP, Parameter P2-00 Proportional Position Loop Gain This parameter is used to determine the responsiveness of position loop (position loop gain). It could be used to increase stiffness, expedite position loop res...

Revision January 2009 6-1 Chapter 6 Control Modes of Operation 6.1 Control Modes of Operation The Delta ASDA-AB series can be programmed to provide six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code Description External Position C...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-2 Revision January 2009 The following sections describe the operation of each control mode, including control structure, command source and loop gain adjustment, etc. 6.2 Position Control Mode The position control mode (Pt or Pr mode) is usuall...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-4 Revision January 2009 Position Command POS2 POS1 POS0 CTRG Parameters Description P1-23 Rotation number (+/- 30000) P5 1 0 0 P1-24 Pulses (+/- max cnt) P1-25 Rotation number (+/- 30000) P6 1 0 1 P1-26 Pulses (+/- max cnt) P1-27 Rotation numbe...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-6 Revision January 2009 Ti me (ms) TS L/2 TA CC TS L/2 TSL/2 TA CC TS L/2 Positi on Speed Rated speed Torque Ti me (ms) Ti me (ms) P-curve character isti cs and Time relationship (A ccel er ati on) TSL/2 TDEC TSL/2 TSL/2 TDEC TSL/2 P-curve char...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-7 1st to 3rd step Acceleration time. It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled....

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-9 Electronic Gear Ratio Corresponding travel distance per pulse When the electronic gear ratio is not used = 11 = 3 x 1 0 0 0 4 x 2 5 0 0 = 3 0 0 0 1 0 0 0 0 m When the electronic gear ratio is not used = 1 0 0 0 0 3 0 0 0...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-11 For example, the desired position loop responsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/s. Relevant parameters: P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 35 Related...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-13 6.3 Speed Control Mode The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as CNC machine, etc. ASDA-AB series servo drive supports two kinds of command sources in speed...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-15 6.3.3 Smoothing Strategy of Speed Control Mode S-curve Filter The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to smooth the speed command change of the motor during accelerat...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-16 Revision January 2009 P1 - 35 TDEC Deceleration Time Communication Addr.: 0123H Default: 200 Related Section: Applicable Control Mode: P/S P1-34, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step Deceleration time. It ...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-17 Analog Speed Command S-curve Filter ASDA-AB series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in response to a sudden analog input signal. Speed ( rpm) 3000 -3000 0 1 3 2 4 6 5 7 9 8...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-18 Revision January 2009 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF and GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range. 5 10 ...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-19 6.3.5 Timing Chart of Speed Control Mode S4 (P1-11) S3 (P1-10) S2 (P1-09) S1 SPD0 SPD1 SON OFF ON OFF ON ON OFF ON Internal speedcommand External anal og voltage or zer o ( 0) External I/O s ignal NOT E 1) OFF indicates...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-20 Revision January 2009 „ Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will be disabled. „ Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels o...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-22 Revision January 2009 In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic. Frequency Domain

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-23 Time Domain In general, the equipment, such as spectrum analyzer is needed and used to analyze when using frequency domain method and the users also should have this kind of analysis technology. However, when using time...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-24 Revision January 2009 users usually use time domain method with the analog DI/DO terminal provided by the servo drive to adjust what is called as PI (Proportional and Integral) type controller. As for the performance of torque shaft load, in...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-25 P2 - 24 DPH Notch Filter Attenuation Rate (Resonance Suppression) Communication Addr.: 0218H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 6.3.7 Unit: dB Range: 0 ~ 32 Settings: 0: Disabled P2 - 25 ...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-26 Revision January 2009 Low-pass filter Please use parameter P2-25. The figure below shows the resonant open-loop gain. Gain Frequency When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass frequency...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-27 Use Low-pass Filter to suppress resonance Low-pass Fi l ter Cut- off Frequenc y of Low-pas s F il ter = 10000 / P2-25 Hz - 0db Resonanc e condi ti ons i s suppress ed . . Gain F requency Gain F requency Gain Frequency L...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-29 6.4.2 Structure of Torque Control Mode Basic Structure: The toque command processing is used to select the command source of torque control according to chapter 6.4.1, including max. analog torque command (parameter P1-...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-30 Revision January 2009 NOT E 1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled and the command is just By-Pass. TFLT Target Speed 6.4.4 Analog Torque Input Scaling The analog volta...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-31 For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V, then the torqu...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-32 Revision January 2009 6.5 Control Modes Selection Except signal control mode operation, ASDA-AB series AC drive also provide Pt-S, Pr-S, S-T, Pt-T, Pr-T these five multiple modes for the users to select. 1 ） Speed / Position mode selection: ...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-36 Revision January 2009 6.6.3 Regenerative Resistor „ Built-in Regenerative Resistor When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that there is a regenerative power returned from the load to ...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-37 „ External Regenerative Resistor When using external regenerative resistor, connect it to P and C, and make sure the circuit between P and D is open. We recommend the users should use the external regenerative resistor ...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-39 For example: When external load torque is a +70% rated torque and rotation speed reaches 3000r/min, if using 400W servo drive (rated torque: 1.27Nt-m), then the users need to connect a external regenerative resistor whi...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-40 Revision January 2009 Allowable frequency when the servo motor run without load (times/min) 500W 600W 750W 900W 1.0kW (100 mm) ECMA Series Regenerative Resistors 05 06 07 09 10 BR400W040 291 283 2128 213 925 BR1K0W020 729 708 5274 533 2312 1...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-41 Example: P0-03 = 01(CH1 is speed analog output) Motor rotation speed = (Max. rotation speed × V1/8) × P1-04/100, when the output voltage value of CH1 is V1. P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr....

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-42 Revision January 2009 P4 - 21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Communication Addr.: 0415H Default: Factory setting Related Section: N/A Applicable Control Mode: P/S/T Section 6.4.4 Unit: mV Range: -800~800 This parameter can...

Chapter 6 Control Modes of Operation | ASDA-AB Series 6-44 Revision January 2009 Electromagnetic Brake Wiring Diagram NOT E 1) Please refer to Chapter 3 Connections and Wiring for more wiring information. 2) The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the se...

Chapter 6 Control Modes of Operation | ASDA-AB Series Revision January 2009 6-45 The timing charts of control circuit power and main circuit power: L1, L2Contr ol Circuit Power 5V Contr ol CircuitPower R, S, TMain Ci rcuit Power BUS Voltage RE ADY SERVOREADY SERVO ON(DI Input) SERVO ON (DO Output) P...

Revision January 2009 7-1 Chapter 7 Servo Parameters 7.1 Definition There are following five groups for drive parameters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communication parameter (example: P3-...

Chapter 7 Servo Parameters | ASDA-AB Series 7-2 Revision January 2009 7.2 Parameters Summary 7.2.1 Parameters List by Group Group 0: P0-xx Monitor Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P0-00 ★ VER Firmware Version Factory setting N/A { { { { P0-01 ★ ALE Drive Fault C...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-3 Group 1: P1-xx Basic Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P1-00 ▲ PTT External Pulse Input Type 2 N/A { P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { P1-02 ▲ PSTL Speed a...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-5 Group 2: P2-xx Extension Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P2-00 KPP Proportional Position Loop Gain 35 rad/s { { P2-01 PPR Position Loop Gain Switching Rate 100 % { { P2-02 PFG Position Feed F...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-7 Group 3: P3-xx Communication Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P3-00 ADR Communication Address Setting 1 N/A { { { { P3-01 BRT Transmission Speed 1 bps { { { { P3-02 PTL Communication Protocol ...

Chapter 7 Servo Parameters | ASDA-AB Series 7-8 Revision January 2009 Group 4: P4-xx Diagnosis Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P4-00 ★ ASH1 Fault Record (N) 0 N/A { { { { P4-01 ★ ASH2 Fault Record (N-1) 0 N/A { { { { P4-02 ★ ASH3 Fault Record (N-2) 0 N/A { { { ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-9 7.2.2 Parameters List by Function Monitor and General Use Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P0-00 ★ VER Firmware Version Factory setting N/A { { ` { { --- P0-01 ★ ALE Drive ...

Chapter 7 Servo Parameters | ASDA-AB Series 7-10 Revision January 2009 Smooth Filter and Resonance Suppression Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-06 SFLT Accel / Decel Smooth Constant of Analog Speed Command (Low-pass Filter) 0 ms { 6.3.3 P1...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-11 Gain and Switch Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P2-00 KPP Proportional Position Loop Gain 35 rad/s { { 6.2.8 P2-01 PPR Position Loop Gain Switching Rate 100 % { { --- P2-...

Chapter 7 Servo Parameters | ASDA-AB Series 7-12 Revision January 2009 Position Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { {...

Chapter 7 Servo Parameters | ASDA-AB Series 7-14 Revision January 2009 Speed Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-15 Torque Control Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-01 ● CTL Control Mode and Output Direction 0 pulse r/min N.M { { { { 6.1 P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { {...

Chapter 7 Servo Parameters | ASDA-AB Series 7-16 Revision January 2009 Digital I/O and relative input output setting Digital I/O Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P2-09 DRT Bounce Filter 2 2ms { { { { P2-10 DI1 Digital Input Terminal 1 (DI1) 1...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-17 Communication Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P3-00 ADR Communication Address Setting 1 N/A { { { { 8.2 P3-01 BRT Transmission Speed 1 bps { { { { 8.2 P3-02 PTL Communica...

Chapter 7 Servo Parameters | ASDA-AB Series 7-18 Revision January 2009 Diagnosis Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P4-00 ★ ASH1 Fault Record (N) 0 N/A { { { { 4.4.1 P4-01 ★ ASH2 Fault Record (N-1) 0 N/A { { { { 4.4.1 P4-02 ★ ASH3 Fault Record ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-19 Others Control Mode Parameter Name Function Default Unit Pt Pr S T Related Section of User Manual P1-31 MSE Motor Type Selection 0 N/A { { { { --- P1-32 LSTP Motor Stop Mode Selection 0 N/A { { { { --- P1-37 GDR Ratio of Load Ine...

Chapter 7 Servo Parameters | ASDA-AB Series 7-20 Revision January 2009 7.3 Detailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00 ★ VER Firmware Version Communication Addr.: 0000H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: N/A P0 - 01 ★...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-21 P0 - 02 STS Drive Status Communication Addr.: 0002H Default: 00 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 00 ~ 16 Settings: 00: Motor feedback pulse number (absolute value) [pulse] 01: Motor fee...

Chapter 7 Servo Parameters | ASDA-AB Series 7-22 Revision January 2009 P0 - 03 MON Analog Monitor Output Communication Addr.: 0003H Default: 01 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 00 ~ 55 Settings: not used A: CH1 B: CH2 AB: (A: CH1; B: CH2) 0: Motor speed (+...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-23 P0 - 05 CM2 Status Monitor 2 Communication Addr.: 0005H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 0 ~ 16 Settings: See P0-04 for explanation. P0 - 06 CM3 Status Monitor 3 Communicatio...

Chapter 7 Servo Parameters | ASDA-AB Series 7-26 Revision January 2009 P0 - 17 SVSTS Servo Output Status Display Communication Addr.: 0011H Default: N/A Related Section: Applicable Control Mode: ALL Table 7.B Unit: N/A Range: N/A Settings: This parameter is used to display the digital output signal ...

Chapter 7 Servo Parameters | ASDA-AB Series 7-28 Revision January 2009 P1 - 01 ● CTL Control Mode and Output Direction Communication Addr.: 0101H Default: 00 Related Section: Applicable Control Mode: ALL Section 6.1 Unit: pulse (P mode), r/min (S mode), N.M (T mode) Range: 0 ~ 1110 Settings: n o t u...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-29 P1 - 02 ▲ PSTL Speed and Torque Limit Communication Addr.: 0102H Default: 00 Related Section: Applicable Control Mode: ALL Section 6.6 Unit: N/A Range: 0 ~ 11 Settings: not used A B • A=0: Disable speed limit function A=1: Enable...

Chapter 7 Servo Parameters | ASDA-AB Series 7-30 Revision January 2009 P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0 Related Section: Applicable Control Mode: ALL Section 3.3.3 Unit: N/A Range: 0 ~ 1 Settings: not used A B A: Monitor analog output polarity A=0: MON...

Chapter 7 Servo Parameters | ASDA-AB Series 7-38 Revision January 2009 P1 - 32 LSTP Motor Stop Mode Selection Communication Addr.: 0120H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 11 Settings: This parameter is used to select servo motor stop mode. When a fault...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-39 P1 - 34 TACC Acceleration Time Communication Addr.: 0122H Default: 200 Related Section: Applicable Control Mode: Pr, S P1-35, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step acceleration time. It is used ...

Chapter 7 Servo Parameters | ASDA-AB Series 7-40 Revision January 2009 P1 - 36 TSL Accel /Decel S-curve Communication Addr.: 0124H Pr mode Default: 20 (See Note 2) Related Section: Other mode Default: 0 P1-34, P1-35, Unit: ms Section 6.2.4 (Pr mode), Range: 0 ~ 10000 (0: Disabled) Section 6.3.3 (S m...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-41 P1 - 38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: r/min Range: 0 ~ 200 Settings: This parameter is used to set output range of zero speed signal (...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-43 P1 - 43 MBT2 OFF Delay Time of Electromagnetic Brake Communication Addr.: 012BH Default: 0 Related Section: Applicable Control Mode: ALL Section 6.5.5 Unit: ms Range: 0 ~ 1000 Settings: Used to set the period of time between when...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-45 P1 - 46 ▲ GR3 Encoder Output Pulse Number Communication Addr.: 012EH Default: 1 Related Section: N/A Applicable Control Mode: ALL Unit: Pulse Range: 10020 ~ 12500 Settings: This parameter is used to set the pulse number of encode...

Chapter 7 Servo Parameters | ASDA-AB Series 7-46 Revision January 2009 P1 - 47 HMOV Homing Mode Communication Addr.: 012FH Default: 00 Related Section: Applicable Control Mode: ALL Section 12.8 Unit: N/A Range: 00 ~ 1225 Settings: not used A BCD • A=0: Forward homing (CCWL as “Home”) • A=1: Reverse ...

Chapter 7 Servo Parameters | ASDA-AB Series 7-50 Revision January 2009 P1 - 62 COKT Delay Time of Internal Position Command Completed Output Signal Communication Addr.: 013EH Default: 0 Related Section: Applicable Control Mode: Pr DO CMDOK(12) in Table 7.B Unit: ms Range: 0 ~ 200 Settings: This para...

Chapter 7 Servo Parameters | ASDA-AB Series 7-52 Revision January 2009 P2 - 03 PFF Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H Default: 5 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: ms Range: 2 ~ 100 Settings: When using position smooth command, increase g...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-53 P2 - 06 KVI Speed Integral Compensation Communication Addr.: 0206H Default: 100 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: N/A Range: 0 ~ 4095 Settings: This parameter is used to set the integral time of sp...

Chapter 7 Servo Parameters | ASDA-AB Series 7-54 Revision January 2009 P2 - 08 ■ PCTL Special Factory Setting Communication Addr.: 0208H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 65536 This parameter can be used to reset all parameters to their original factor...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-59 P2 - 25 NLP Low-pass Filter Time Constant (Resonance Suppression) Communication Addr.: 0219H Default: 2 (1kW and below models) or Related Section: 5 (above 1kW models) Section 6.3.7 Applicable Control Mode: ALL Unit: ms Range: 0 ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-61 P2 - 31 AUT1 Auto Mode Responsiveness Level Communication Addr.: 021FH Default: 44 Related Section: Applicable Control Mode: ALL Section 5.6, Section 6.3.6 Unit: N/A Range: 0 ~ FF Settings: This parameter allows the users to set ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-63 P2 - 33 ▲ INF Easy Setting of Input Filter Communication Addr.: 0221H Default: 0 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: N/A Range: 00 ~ 19 Settings: not used A B • A: Speed selection L o w sp e e d H ig...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-67 P2 - 47 PED Position Deviation Clear Delay Time Communication Addr.: 022FH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.6 Unit: 20ms Range: 0 ~ 250 Settings: This function is disabled when its setting value ...

Chapter 7 Servo Parameters | ASDA-AB Series 7-68 Revision January 2009 P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: sec Range: 0 ~ 119 Settings: n o t u se d ABC • A: Speed Detection Filter Co...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-69 P2 - 50 DCLR Pulse Deviation Clear Mode Communication Addr.: 0232H Default: 0 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: N/A Range: 0 ~ 3 Settings: For digital input function (DI function), please refer to Table 7...

Chapter 7 Servo Parameters | ASDA-AB Series 7-70 Revision January 2009 P2 - 51 SRON Servo ON Communication Addr.: 0233H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 1 Settings: 0: Servo ON (SON) is activated via Digital Input signal 1: Servo ON (SON) is activated...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-71 P2 - 56 ATM4 Timer 4 of Auto Mode Communication Addr.: 0238H Default: 0 Related Section: N/A Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 57 ATM5 Timer 5 of Auto Mode Communication Addr.: 0239H Default: 0 Related ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-73 P2 - 63 TSCA Proportion Value Setting Communication Addr.: 023FH Default: 0 Related Section: N/A Applicable Control Mode: Pt, S Unit: times Range: 0 ~ 11 Settings: not used A B Value A: decimal place setting of internal speed com...

Chapter 7 Servo Parameters | ASDA-AB Series 7-74 Revision January 2009 P2 - 64 TLMOD Torque Limit Mixed Mode Communication Addr.: 0240H Default: 0 Related Section: N/A Applicable Control Mode: Pt, Pr, S Unit: N/A Range: 0 ~ 3 Settings: PL: Positive Limit NL: Negative Limit Tref: Torque Analog Input ...

Chapter 7 Servo Parameters | ASDA-AB Series 7-76 Revision January 2009 Bit5: Reserved. Must be set to 0. Bit6 Bit6: Abnormal pulse command detection 0: enable abnormal pulse command detection 1: disable abnormal pulse command detection, If the detection function is disabled, the ALE08 will not come ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-77 Group 3: P3-xx Communication Parameters P3 - 00 ADR Communication Address Setting Communication Addr.: 0300H Default: 1 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 1~254 Settings: If the AC servo dr...

Chapter 7 Servo Parameters | ASDA-AB Series 7-78 Revision January 2009 P3 - 02 PTL Communication Protocol Communication Addr.: 0302H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~8 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-79 P3 - 04 CWD Communication Time Out Detection Communication Addr.: 0304H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~20 Settings: 0: Disabled This parameter is used to set the maximum pe...

Chapter 7 Servo Parameters | ASDA-AB Series 7-80 Revision January 2009 P3 - 06 ■ SDI Digital Input Communication Function Communication Addr.: 0306H Default: 0 Related Section: Applicable Control Mode: ALL P4-07, Section 8.2 Unit: N/A Range: 0~FFFF Settings: The setting of this parameter determines ...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-81 Group 4: P4-xx Diagnosis Parameters P4 - 00 ★ ASH1 Fault Record (N) Communication Addr.: 0400H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A Settings: The latest fault record. P4 - 01...

Chapter 7 Servo Parameters | ASDA-AB Series 7-82 Revision January 2009 P4 - 05 JOG JOG Operation Communication Addr.: 0405H Default: 20 Related Section: Applicable Control Mode: ALL Section 4.4.2 Unit: r/min Range: 0~5000 Settings: JOG operation command: 1. Operation Test (1) Press the SET key to di...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-89 Table 7.A Input Function Definition Sign Setting Value Digital Input Function Description SON 01 Servo On. Switch servo to "Servo Ready". Check parameter P2-51. ARST 02 Alarm Reset. A number of Faults (Alarms) can be clea...

Chapter 7 Servo Parameters | ASDA-AB Series Revision January 2009 7-93 Table 7.B Output Function Definition Sign Setting Value Digital Output Function Description SRDY 01 Servo ready. SRDY is activated when the servo drive is ready to run. All fault and alarm conditions, if present, have been cleare...

Chapter 7 Servo Parameters | ASDA-AB Series 7-94 Revision January 2009 Sign Setting Value Digital Output Function Description OLW 10 Output overload warning. OLW is activated when the servo drive has detected that the motor has reached the output overload level set by parameter P1-56. tOL = Permissi...

Revision January 2009 8-1 Chapter 8 MODBUS Communications 8.1 Communication Hardware Interface The ASDA-AB series servo drive has three modes of communication: RS-232, RS-485, and RS-422. All aspects of control, operation and monitoring as well as programming of the controller can be achieved via co...

Chapter 8 MODBUS Communications | ASDA-AB Series 8-2 Revision January 2009 NOT E 1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or greate...

Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-3 „ Cable Connection

Chapter 8 MODBUS Communications | ASDA-AB Series 8-4 Revision January 2009 NOT E 1) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a location where there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum, communication cable s...

Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-5 8.2 Communication Parameter Settings The following describes the communication addresses for the communication parameters. For communication parameters, please refer to the Chapter 7. Communication Addresses 0301, 0302, and 0...

Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-9 8.3 MODBUS Communication Protocol When using RS-232/485/422 serial communication interface, each ASDA-AB series AC servo drive has a pre-assigned communication address specified by parameter “P3-00”. The computer then control...

Chapter 8 MODBUS Communications | ASDA-AB Series 8-10 Revision January 2009 11-bit character frame (For 8-bit character) 8N2 Start bit 0 1 2 3 4 5 6 Stop bit 8-data bits 11-bits charac ter fr ame Stop bit 7 8E1 Start bit 0 1 2 3 4 5 6 Stop bit 8-data bits 11-bits charac ter fr ame 7 Even parity 8O1 ...

Chapter 8 MODBUS Communications | ASDA-AB Series Revision January 2009 8-17 8.4 Communication Parameter Write-in and Read-out There are following five groups for parameters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P...

Revision January 2009 9-1 Chapter 9 Maintenance and Inspection Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is required to operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform a periodic mainte...

Chapter 9 Maintenance and Inspection | ASDA-AB Series 9-2 Revision January 2009 Item Content Inspection during operation (Control power is applied) ） z Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of ...

Chapter 9 Maintenance and Inspection | ASDA-AB Series Revision January 2009 9-3 „ Cooling fan The cooling fan life is limited and should be changed periodically. The cooling fan will reach the end of its life in 2~3 years when it is in continuous operation. However, it also must be replaced if the c...

Revision January 2009 10-1 Chapter 10 Troubleshooting If a fault is detected on the servo drive or motor a corresponding fault code will be shown on the drive's LED display. Fault codes can also be transmitted via communication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI. 10.1 Faul...

Chapter 10 Troubleshooting | ASDA-AB Series 10-2 Revision January 2009 Fault Messages Display Fault Name Fault Description IGBT temperature error The temperature of IGBT is over high. Memory error EE-PROM write-in and read-out is in error. DSP communication error The communication between DSP and MC...

Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-3 10.2 Potential Cause and Corrective Actions Servo Drive Fault Messages : Overcurrent Potential Cause Checking Method Corrective Actions Short-circuit at drive output (U, V, W) 1. Check the wiring connections between drive and mot...

Chapter 10 Troubleshooting | ASDA-AB Series 10-4 Revision January 2009 : Regeneration error Potential Cause Checking Method Corrective Actions Regenerative resistor is not connected. Check the wiring connection of regenerative resistor. Reconnect regenerative resistor. Regenerative switch transistor...

Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-5 : Watch dog execution time out Potential Cause Checking Method Corrective Actions Watch dog execution error. Check and reset the power supply. If there are any abnormal conditions after resetting the power supply, please contact ...

Chapter 10 Troubleshooting | ASDA-AB Series 10-6 Revision January 2009 : IGBT temperature error Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load during continuous operation. Check if there is overload or the motor current is too high. Increase motor capacity o...

Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-7 : Command write-in error Potential Cause Checking Method Corrective Actions Control power is in error. Check and reset control power If the error does not clear after resetting the power supply, please contact your distributor fo...

Chapter 10 Troubleshooting | ASDA-AB Series 10-8 Revision January 2009 10.3 Clearing Faults Display Fault Name Clearing Method Overcurrent Turn ARST (DI signal) ON to clear the fault or restart the servo drive. Overvoltage Turn ARST (DI signal) ON to clear the fault or restart the servo drive. Under...

Chapter 10 Troubleshooting | ASDA-AB Series Revision January 2009 10-9 Display Fault Name Clearing Method Command write-in error Turn ARST (DI signal) ON to clear the fault or restart the servo drive. Input power phase loss Turn ARST (DI signal) ON to clear the fault. This fault message can be remov...

Revision January 2009 11-1 Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-AB Series) 100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A ……………… 01 02 04 01 02 04 07 10 15 20 Phase / Voltage Single-phase 110VAC Three-phase or Single-phase 220VAC Three-phase 220VAC Permis...

Chapter 11 Specifications | ASDA-AB Series 11-2 Revision January 2009 100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A ……………… 01 02 04 01 02 04 07 10 15 20 Voltage Range 0 ~ ±10 V DC Input Resistance 10K Ω Analog Input Command Time Constant 2.2 μ s Command Source External analog signal ...

Chapter 11 Specifications | ASDA-AB Series 11-4 Revision January 2009 11.2 Specifications of Servo Motor (ECMA Series) Low Inertia Servo Motor C304 C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW Model: ECMA Series 01 02 04 04 07 10 20 Rated output power (kW) 0.1 0.2 0.4 0.4 0.75 1.0 2.0 Rated torqu...

Chapter 11 Specifications | ASDA-AB Series Revision January 2009 11-5 C304 C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW Model: ECMA Series 01 02 04 04 07 10 20 Vibration grade (um) 15 Operating temperature 0 o C to 40 o C (32 o F to 104 o F) Storage temperature -10 o C to 80 o C (-14 o F to 176 o...

Chapter 11 Specifications | ASDA-AB Series 11-8 Revision January 2009 11.4 Overload Characteristics „ Overload Protection Function Overload protection is a built-in protective function to prevent a motor from overheating. „ Occasion of Overload 1. Motor was operated for several seconds under a torqu...

Chapter 11 Specifications | ASDA-AB Series Revision January 2009 11-9 „ Chart of load and operating time (ECMA-C30602 …… ) 0.1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rated torque) O pe rat in g T im e (s ec on ds ) Load Operating Time 120% 213.6s 140% 42.3s 160% 21.8s 180% 13.7s 200% 9...

Chapter 11 Specifications | ASDA-AB Series 11-10 Revision January 2009 „ Chart of load and operating time (ECMA-C30804 …… ) 0.1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rated torque) O pe rat in g T im e ( sec on ds ) Load Operating Time 120% 254.5s 140% 50.4s 160% 26.0s 180% 16.4s 200% ...

Chapter 11 Specifications | ASDA-AB Series Revision January 2009 11-11 „ Chart of load and operating time (ECMA-C31010 …… ) 0.1 1 10 100 1000 0 50 100 150 200 250 300 Load (% rated torque) O pe rat in g T im e ( sec on ds ) Load Operating Time 120% 185.8s 140% 36.8s 160% 19.0s 180% 12.0s 200% 8.0s 2...

Chapter 11 Specifications | ASDA-AB Series 11-12 Revision January 2009 „ Chart of load and operating time (ECMA-G31303 …… ) 0.1 1 10 100 1000 10000 0 50 100 150 200 250 300 Load (% rated torque) O pe rat in g T im e ( sec on ds ) Load Operating Time 120% 613.1s 140% 121.4s 160% 62.6s 180% 39.4s 200%...

Chapter 11 Specifications | ASDA-AB Series Revision January 2009 11-13 „ Chart of load and operating time (ECMA-G31306 …… ) 0.1 1 10 100 1000 0 50 100 150 200 250 300 Load (% rated torque) O per at in g T im e ( sec on ds ) Load Operating Time 120% 167.2s 140% 33.1s 160% 17.1s 180% 10.8s 200% 7.2s 2...

Chapter 11 Specifications | ASDA-AB Series 11-14 Revision January 2009 „ Chart of load and operating time (ECMA-E31310 …… ) 0.1 1 10 100 1000 0 50 100 150 200 250 300 Load (% rated torque) O pe rat in g T im e (s ec on ds ) Load Operating Time 120% 130.0s 140% 25.7s 160% 13.3s 180% 8.4s 200% 5.6s 22...

Chapter 11 Specifications | ASDA-AB Series Revision January 2009 11-15 „ Chart of load and operating time (ECMA-E31320 …… ) 0.1 1 10 100 1000 0 50 100 150 200 250 300 Load (%) rated torque O pe rat in g T im e (s ec on ds ) Load Operating Time 120% 185.78s 140% 36.78s 160% 18.98s 180% 11.95s 200% 8s...

Chapter 11 Specifications | ASDA-AB Series 11-16 Revision January 2009 11.5 Dimensions of Servo Drive Order P/N: ASD-A0111-AB, ASD-A0211-AB, ASD-A0411-AB (100W ~ 400W) WEIGHT 1.5 (3.3) N OT E 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this m...

Chapter 11 Specifications | ASDA-AB Series 11-20 Revision January 2009 11.6 Dimensions of Servo Motor Motor Frame Size: 80mm and below Models Model C30401 … S C30602 … S C30604 … S C30804 … 7 C30807 … S LC 40 60 60 80 80 LZ 4.5 5.5 5.5 6.6 6.6 LA 46 70 70 90 90 S 8 14 14 14 19 LB 30 50 50 70 70 LL (...

Chapter 11 Specifications | ASDA-AB Series Revision January 2009 11-21 Motor Frame Size: 100mm and above Models Model G31303 … S E31305 … S G31306 … S G31309 … S C31010 … S LC 130 130 130 130 100 LZ 9 9 9 9 9 LA 145 145 145 145 115 S 22 22 22 22 22 LB 110 110 110 110 95 LL (without brake) 147.5 147....

Revision January 2009 12-1 Chapter 12 Application Examples 12.1 Position Control (including homing function) Suppose that the machine will move to limit switch (CCWL), L.S.1 when motor is in forward rotation (from motor shaft view) and the machine will move to limit switch (CWL), L.S.2 when motor is...

Chapter 12 Application Examples | ASDA-AB Series 12-2 Revision January 2009 „ P1-50=0, P1-51=0 (Homing offset rotation / pulse number) „ Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting); P1-48, P1-49 (Speed setting of high/low speed Homing) Operation „ Re-start...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-3 12.2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered every time (10000/4=2500Pulse). Parameters Setting „ P1-01=1 (Position control (Pr) mode setting) „ P2-10=101 (Servo On (SON), default: DI1) „ ...

Chapter 12 Application Examples | ASDA-AB Series 12-4 Revision January 2009 12.3 Connecting to Delta DVP-EH Series PLC Delta servo drives can be connected to Delta DVP-EH series PLC and provide functions including: home, JOG operation, acceleration/deceleration setting, relative position control, ab...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-9 12.4 Connecting to Delta TP04 Series Delta servo drives can be connected to Delta TP04 Series Operation Interface Panel and provide functions including: Home, JOG operation, Position learning function, Relative position cont...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-11 12.5 Position Control Mode (Pr Mode) „ Relevant Parameters Description Parameter Communication Address Parameter Description P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque i...

Chapter 12 Application Examples | ASDA-AB Series 12-12 Revision January 2009 „ Trigger Timing Charts (1) Timing Chart of Internal Position Register Selection P 8 P 3 P 2 P 1 POS 0 PO S 1 C TR G SO N E x ter na l I / O sig n al OFF ON OFF ON ON O FF ON > 2 m s, ca n be se t b y P2 -0 9 PO S 2 ON O...

Chapter 12 Application Examples | ASDA-AB Series 12-14 Revision January 2009 12.6 Feed Step Control „ Relevant Parameters Description Parameter Communication Address Parameter Description P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-1...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-15 Parameter Communication Address Parameter Description P1-50 0132H Homing Offset Rotation Number P1-51 0133H Homing Offset Pulse Number Total homing offset pulse number =P1-50 x 10000 + P1-51 P1-55 0137H Maximum Speed Limit ...

Chapter 12 Application Examples | ASDA-AB Series 12-16 Revision January 2009 DO Signal Parameter Setting Explanation DO1 P2-18 = 101 DO2 P2-19 = 103 DO3 P2-20 = 109 DO4 P2-21 = 105 DO5 P2-22 = 107 Please refer to “Definition of DO Signals” in the following section. NOT E 1) Please set parameter P2-0...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-19 3) When return back to “Home” (Homing), DO=2 4) When returning back to “Home” is completed, DO=3 5) When feed step function is undergoing, DO=4 6) When feed step function is completed (In position), the corresponding INDEX ...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-21 (3) Manually Single Step Control Mode 1 PowerSupply ONOFF DO VALUEINDEX4 Motor Speed STEPU IDX Value ON OFF ON OFF ON OFF TorqueLimit MD1 MD0 Servo ON P2-45 INDEX 2 auto running manually feed forward CI CI INDEX 2 CI INDEX ...

Chapter 12 Application Examples | ASDA-AB Series 12-22 Revision January 2009 (4) Manually Single Step Control Mode 2 PowerSupply ONOFF DO VALUEINDEX4 Motor Speed IDX Value ON OFF TorqueLimit Servo ON INDEX 2 CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 3 ONOFF ON OFF MD1 MD0 ONOFF MDP0 auto running man...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-23 (5) Manually Continuous Step Control Mode PowerSupply ONOFF DO VALUEINDEX4 Motor Speed IDX Value ON OFF Torque Limit Servo ON INDEX 2 CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 5 MD0 ON OFF ON OFF MD1 ONOFF MDP1 auto running...

Chapter 12 Application Examples | ASDA-AB Series 12-24 Revision January 2009 „ Communication Control Example Explanation Communication Address Communication Content Explanation H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H4...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-25 12.7 Internal Auto Running Mode „ Relevant Parameters Description Parameter Communication Address Parameter Description P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr ...

Chapter 12 Application Examples | ASDA-AB Series 12-30 Revision January 2009 12.8 Homing Function „ Relevant Parameters Description Parameter Communication Address Parameter Description P1-47 012FH Homing Mode No use A: Home Sensor Type and Homi ng Di rection B: Homi ng Moving Method C: Homing Setti...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-31 A=2: Forward homing and ORGP (Reference “Home” sensor) is regarded as a reference “Home”. At this time, users can set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as a precise mechanical “Ho...

Chapter 12 Application Examples | ASDA-AB Series 12-32 Revision January 2009 D: Homing Stop Setting D=0: After detecting “Home”, the motor will decelerate and return to “Home”. After get the home sensor signal in 2nd step speed operation, the motor will decelerate and stop. After the servo motor sto...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-33 2. Enable homing function by input contact (SHOM) (C=2) POWER ON refer to homing timing char t time SERVO READY SERVO ON HOME TRIGGER HOMING HOMING COMPLETED Homing Timing Charts 1. B/A = 0/0 or B/A = 0/2 Positi on Z pul se...

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-37 12.9 External Controller Connection Examples „ Connecting to Delta DVP-EH PLC

Chapter 12 Application Examples | ASDA-AB Series 12-38 Revision January 2009 „ Connecting to Delta DVP-01PU

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-39 „ Connecting to Mitsubishi FX1PG

Chapter 12 Application Examples | ASDA-AB Series 12-40 Revision January 2009 „ Connecting to Mitsubishi FX2N1PG

Chapter 12 Application Examples | ASDA-AB Series Revision January 2009 12-41 „ Connecting to Mitsubishi AD75

Revision January 2009 A-1 Appendix A Accessories „ Power Connectors Delta Part Number: ASDBCAPW0000 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASDBCAPW0100 Title Part No. Manufacturer Housing C4201H00-2*3PA JOWLE Terminal C4201TOP-2 JOWLE De...

Appendix A Accessories | ASDA-AB Series A-2 Revision January 2009 „ Power Cables Delta Part Number: ASD-ABPW0003, ASD-ABPW0005 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE L Title Part No. mm inch 1 ASD-ABPW0003 3000 ± 100 118 ± 4 2 ASD-ABPW0005 5000 ± 100 197 ±...

Appendix A Accessories | ASDA-AB Series A-6 Revision January 2009 „ Encoder Connectors Delta Part Number: ASD-ABEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP MOTOR SIDE CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE 3M DRIVE SIDE SHELL 3M 10320-52A0...

Appendix A Accessories | ASDA-AB Series Revision January 2009 A-7 „ Encoder Cables Delta Part Number: ASD-ABEN0003, ASD-ABEN0005 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP MOTOR SIDE CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE 3M DRIVE SIDE SHELL 3M ...

Appendix A Accessories | ASDA-AB Series A-8 Revision January 2009 „ I/O Signal Connector (CN1) Delta Part Number: ASD-CNSC0050 Vendor Name Vendor P/N 3M TAIWAN LTD 10150-3000PE 3M TAIWAN LTD 10350-52A0-008 „ Communication Cable between Drive and Computer (for PC) Delta Part Number: ASD-CARS0003 Part...

Appendix A Accessories | ASDA-AB Series Revision January 2009 A-9 „ Servo Drive, Servo Motor and Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive ASD-A0121-AB Low inertia Servo Motor ECMA-C30401 † S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-ABPW...

Appendix A Accessories | ASDA-AB Series A-10 Revision January 2009 400W Servo Drive and 500W Medium Inertia Servo Motor Servo Drive ASD-A0421-AB Medium inertia Servo Motor ECMA-E31305 † S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power C...

Appendix A Accessories | ASDA-AB Series Revision January 2009 A-11 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive ASD-A0721-AB High inertia Servo Motor ECMA-G31306 † S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable...

Appendix A Accessories | ASDA-AB Series A-12 Revision January 2009 1kW Servo Drive and 900W High Inertia Servo Motor Servo Drive ASD-A1021-AB High inertia Servo Motor ECMA-G31309 † S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ...

Appendix A Accessories | ASDA-AB Series Revision January 2009 A-13 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-A2023-AB Medium inertia Servo Motor ECMA-E31320 † S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cab...

Revision January 2009 B-1 Appendix B Molded-case Circuit Breaker, Fuse Current and EMI Filters „ Molded-case Circuit Breaker and Fuse Current Recommended Value ¾ Caution: Please use molded-case circuit breaker and fuse which are recognized by and comply with the UL or CSA standards. Servo Drive Mode...

Appendix A Accessories | ASDA-AB Series B-2 Revision January 2009 Installation All electrical equipment, including AC servo drives, will generate high-frequency/low-frequency noise and will interfere with peripheral equipment by radiation or conduction when in operation. By using an EMI filter with ...

Appendix A Accessories | ASDA-AB Series Revision January 2009 B-3 Figure 1 Saddle on both ends Saddle on one end Figure 2

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