Delta ASDA-AB - Manual

Delta ASDA-AB

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Table of Contents:

  • Page 2 – Preface; Using This Manual
  • Page 3 – Failure to observe these precautions may void
  • Page 4 – Wiring; Operation
  • Page 5 – NOT E
  • Page 6 – Table of Contents; Modes
  • Page 12 – About this Manual...
  • Page 14 – Chapter 1 Unpacking Check and Model Explanation; Check; Ensure that the product is what you have ordered.
  • Page 15 – Explanation; ASDA-AB Series Servo Drive
  • Page 17 – ECMA Series Servo Motor
  • Page 18 – Servo Drive and Servo Motor Combinations; for model explanation)
  • Page 19 – Servo Drive Features
  • Page 21 – Control Modes of Servo Drive
  • Page 22 – Chapter 2 Installation and Storage; Notes
  • Page 23 – AS; Conditions; Operating Temperature; Caution; space around the units for heat dissipation.
  • Page 24 – Installation Procedure and Minimum Clearances; Installation Procedure; from external sources; Motor Mounting
  • Page 26 – Chapter 3 Connections and Wiring; gives typical examples of wiring diagrams.
  • Page 28 – Servo Drive Connectors and Terminals; two places
  • Page 29 – Wiring Notes; connections on the servo drive or servo motor.
  • Page 32 – Motor Power Cable Connector Specifications; Motor Model Name
  • Page 34 – Cable Specifications for Servo Drive; Power Cable
  • Page 35 – Encoder Cable; N OT E
  • Page 37 – Figure 3.7 Basic Wiring Schematic of 2kW, 220V models
  • Page 39 – Figure 3.9 The Layout of CN1 Drive Connector
  • Page 40 – CN1 Terminal Signal Identification; and void the warranty!
  • Page 41 – Signals Explanation of Connector CN1; Table 3.A General Signals
  • Page 42 – Table 3.B DO Signals
  • Page 44 – Table 3.C DI Signals
  • Page 47 – Table 3.D Source of Position Command
  • Page 48 – Table 3.G Default DI signals and Control modes
  • Page 50 – Table 3.H Default DO signals and Control modes
  • Page 51 – Table 3.I User-defined DI and DO signals
  • Page 56 – Encoder Connector CN2; Figure 3.10 The layout of CN2 Drive Connector
  • Page 57 – Serial Communication Connector CN3; Figure 3.11 The layout of CN3 Drive Connector
  • Page 58 – Connection between PC and Connector CN3
  • Page 59 – Standard Connection Example; The coil of brake has no polarity.
  • Page 68 – Chapter 4 Display and Operation; Description of the Digital Keypad; the digital keypad and an overview of their functions.
  • Page 69 – Flowchart; Keypad Operation; MODE key to exit and return back to the parameter mode.
  • Page 70 – Display
  • Page 73 – General Function Operation
  • Page 76 – DO Force Output Diagnosis Operation
  • Page 78 – Chapter 5 Trial Run and Tuning Procedure; without
  • Page 80 – Applying Power to the Drive; Main circuit wiring
  • Page 81 – Emergency stop activated:
  • Page 82 – Reverse limit switch error:; Forward limit switch error:; the signal is ON or not.
  • Page 84 – JOG Trial Run without Load; to perform JOG trial run without load.
  • Page 86 – Speed Trial Run without Load; force when motor speed changes.
  • Page 88 – Position Trial Run without Load; force when the motor speed changes.
  • Page 91 – Procedure; Tuning Procedure
  • Page 93 – Load Inertia Estimation Flowchart
  • Page 94 – not used; B: Responsiveness level of auto-tuning mode
  • Page 98 – Position Mode
  • Page 99 – Speed Mode
  • Page 101 – K V P
  • Page 104 – Chapter 6 Control Modes of Operation; Control Modes of Operation
  • Page 105 – Position Control Mode; change the setting value of these eight internal parameters.; PTT; Applicable Control Mode: Pt
  • Page 107 – A b s o l u t e Ty p e; Structure of Position Control Mode
  • Page 109 – TA CC; TDEC; P-curve character isti cs and Time relationshi p ( Dec el eration); Relevant parameters:; TACC Acceleration Time
  • Page 110 – TDEC Deceleration Time; st to 3rd step Deceleration time.; TSL; Pr mode Default: 20 (See Note 2) Related Section:; TACC
  • Page 112 – PFLT; Applicable Control Mode: P; P F LT
  • Page 114 – KPP; PFG
  • Page 116 – Control
  • Page 118 – Smoothing Strategy of Speed Control Mode; after starting speed subtracts the final speed.; st to 3rd step Acceleration time.
  • Page 119 – drive of parameter P1-36 will auto set the value to 20.
  • Page 120 – Analog Speed Command S-curve Filter; response to a sudden analog input signal.; Analog Speed Command Low-pass Filter; Applicable Control Mode: S; is disabled and the command is just By-Pass.; SFLT; Target Speed
  • Page 121 – VCM
  • Page 122 – Timing Chart of Speed Control Mode; ) OFF indicates normally open and ON indicates normally closed.; speed control mode; is shown as the figure below:
  • Page 123 – AUT2
  • Page 125 – Frequency Domain
  • Page 126 – Time Domain
  • Page 127 – NCF
  • Page 128 – DPH; PW M
  • Page 129 – Gain; frequency response and phase margin will also decrease.; BW; Gai n; Notch Filter; to improve resonant condition.; Use Notch Filter to suppress resonance
  • Page 130 – Use Low-pass Filter to suppress resonance
  • Page 132 – Structure of Torque Control Mode; TFLT; Applicable Control Mode: T
  • Page 133 – TCM
  • Page 134 – Timing Chart of Torque Control Mode
  • Page 135 – Control Modes Selection
  • Page 139 – Built-in Regenerative Resistor; regenerative resistor if more regenerative capacity is needed.
  • Page 140 – External Regenerative Resistor
  • Page 142 – Simple Calculation Method
  • Page 143 – MON
  • Page 144 – AOUT Pulse Output Polarity Setting; Analog Monitor Output Proportion 1 (CH1); Default: Factory setting
  • Page 145 – DOF2; D O F
  • Page 147 – brake will be activated.
  • Page 148 – R es ponse Fil ter Time of Di gital Input (
  • Page 150 – Chapter 7 Servo Parameters; Abbreviation of control modes:
  • Page 151 – Chapter 7 Servo Parameters; Summary; Monitor Parameters
  • Page 152 – Basic Parameters
  • Page 154 – Extension Parameters
  • Page 156 – Communication Parameters
  • Page 157 – Diagnosis Parameters
  • Page 158 – Monitor and General Use
  • Page 159 – Smooth Filter and Resonance Suppression; Acceleration Time
  • Page 160 – Gain and Switch
  • Page 161 – Position Control
  • Page 163 – Speed Control
  • Page 164 – Torque Control
  • Page 165 – Digital I/O and relative input output setting
  • Page 166 – Communication
  • Page 167 – Diagnosis; Input
  • Page 168 – Others
  • Page 169 – Detailed Parameter Listings; VER
  • Page 170 – STS; Applicable Control Mode: ALL
  • Page 171 – Status Monitor 1
  • Page 172 – Status Monitor 2; Status Monitor 3; Status Monitor 4; Status Monitor 5
  • Page 175 – SVSTS Servo Output Status Display
  • Page 177 – CTL; n o t u se d
  • Page 178 – PSTL; Vref; Reserved
  • Page 179 – MON1 Analog Monitor Output Proportion 1 (CH1)
  • Page 187 – LSTP
  • Page 188 – st to 3rd step acceleration time.; st to 3rd step deceleration time.
  • Page 189 – GDR
  • Page 190 – ZSPD; SSPD Target Motor Speed
  • Page 192 – MBT2 OFF Delay Time of Electromagnetic Brake
  • Page 194 – Encoder Output Pulse Number
  • Page 195 – HMOV Homing Mode
  • Page 199 – COKT; Applicable Control Mode: Pr
  • Page 201 – PFF; SPR
  • Page 202 – KVI; SFG
  • Page 203 – PCTL
  • Page 208 – NLP; DST; GCC
  • Page 210 – AUT1
  • Page 212 – INF; L o w sp e e d; SDEV Overspeed Warning Condition; PDEV Excessive Error Warning Condition
  • Page 216 – PED
  • Page 217 – SJIT
  • Page 218 – DCLR Pulse Deviation Clear Mode
  • Page 219 – SRON Servo ON; ATM0 Timer 0 of Auto Mode; ATM1 Timer 1 of Auto Mode; ATM2 Timer 2 of Auto Mode; ATM3 Timer 3 of Auto Mode
  • Page 220 – ATM4 Timer 4 of Auto Mode; ATM5 Timer 5 of Auto Mode; ATM6 Timer 6 of Auto Mode; ATM7 Timer 7 of Auto Mode
  • Page 222 – TSCA Proportion Value Setting
  • Page 223 – TLMOD Torque Limit Mixed Mode; Tref: Torque Analog Input Voltage
  • Page 225 – Bit6: Abnormal pulse command detection; : enable abnormal pulse command detection; Bit10: DI ZCLAMP function selection; : Locked at the position when ZCLAMP conditions are satisfied.
  • Page 226 – Group 3: P3-xx Communication Parameters; BRT
  • Page 227 – PTL; Applicable Control Mode: ALL; FLT; : Display fault and continue operating
  • Page 228 – CWD; CMM
  • Page 229 – SDI; CDT
  • Page 230 – ASH1
  • Page 231 – JOG
  • Page 238 – Table 7.A Input Function Definition
  • Page 242 – Table 7.B Output Function Definition; Sign
  • Page 243 – = Permissible Time for Overload x setting value of P1-56; tOL
  • Page 244 – Chapter 8 MODBUS Communications; Hardware; desired communication mode via parameter P3-05.; Configuration
  • Page 245 – will ensure the correct and desired baud rate.
  • Page 246 – Cable Connection
  • Page 247 – correct and desired baud rate.
  • Page 248 – Communication Parameter Settings
  • Page 252 – MODBUS Communication Protocol
  • Page 253 – Communication Protocol:
  • Page 260 – Parameter
  • Page 262 – Chapter 9 Maintenance and Inspection; Inspection
  • Page 263 – Life of Replacement Components; Smooth capacitor
  • Page 264 – Cooling fan; fan is vibrating or there are unusual noises.
  • Page 266 – Chapter 10 Troubleshooting; Fault Messages Table; Servo Drive Fault Messages
  • Page 267 – Fault Messages
  • Page 268 – Potential Cause and Corrective Actions
  • Page 269 – : Regeneration error
  • Page 270 – : Watch dog execution time out
  • Page 271 – : IGBT temperature error
  • Page 272 – : Input power phase loss
  • Page 273 – Clearing Faults
  • Page 274 – Command write-in error
  • Page 276 – Chapter 11 Specifications
  • Page 277 – Torq
  • Page 279 – Low Inertia Servo Motor
  • Page 280 – Medium / High Inertia Servo Motor
  • Page 283 – Overload Characteristics; Overload Protection Function
  • Page 284 – Chart of load and operating time (ECMA-C30602
  • Page 285 – Chart of load and operating time (ECMA-C30804
  • Page 286 – Chart of load and operating time (ECMA-C31010
  • Page 287 – Chart of load and operating time (ECMA-G31303
  • Page 288 – Chart of load and operating time (ECMA-G31306
  • Page 289 – Chart of load and operating time (ECMA-E31310
  • Page 290 – Chart of load and operating time (ECMA-E31320
  • Page 291 – Dimensions of Servo Drive; WEIGHT; reference only. Please use metric for precise measurements.
  • Page 295 – Dimensions of Servo Motor; Motor Frame Size: 80mm and below Models; Model; use metric for precise measurements.
  • Page 296 – Motor Frame Size: 100mm and above Models
  • Page 298 – Chapter 12 Application Examples; Parameters Setting
  • Page 299 – complete home operation.; SR DY
  • Page 300 – After DI2 is triggered, the motor will rotate 1/4rev automatically.; S R DY
  • Page 301 – Connecting to Delta DVP-EH Series PLC; After Servo ready is completed, activate the drive to be Servo ON.
  • Page 306 – Connecting to Delta TP04 Series; control, Monitor and parameter settings.
  • Page 308 – Relevant Parameters Description
  • Page 309 – Trigger Timing Charts
  • Page 311 – Feed Step Control
  • Page 312 – Digital I/O Signal Setting
  • Page 313 – Mode Functions
  • Page 316 – Timing charts of DI/DO Signals Operation
  • Page 318 – (3) Manually Single Step Control Mode 1
  • Page 319 – (4) Manually Single Step Control Mode 2
  • Page 320 – (5) Manually Continuous Step Control Mode
  • Page 321 – Communication Control Example Explanation
  • Page 322 – Internal Auto Running Mode
  • Page 327 – Homing Function
  • Page 328 – B: Homing Moving Method; the nearest Z-phase pulse as the mechanical “Home”.; C: Homing Enable Setting; what other parameter values are.
  • Page 329 – D: Homing Stop Setting; then move to the position of mechanical “Home”.; Recommended Homing Modes; recommended setting values of A and B are shown as below:; Homing Timing Charts; r efer to homing ti ming char t
  • Page 330 – refer to homing timing char t
  • Page 334 – External Controller Connection Examples; Connecting to Delta DVP-EH PLC
  • Page 335 – Connecting to Delta DVP-01PU
  • Page 336 – Connecting to Mitsubishi FX1PG
  • Page 337 – Connecting to Mitsubishi FX2N1PG
  • Page 338 – Connecting to Mitsubishi AD75
  • Page 340 – Appendix A Accessories; Power Connectors
  • Page 341 – Appendix A Accessories; Power Cables
  • Page 345 – Encoder Connectors
  • Page 346 – Encoder Cables
  • Page 347 – Communication Cable between Drive and Computer (for PC); Terminal Block Module
  • Page 348 – Servo Drive, Servo Motor and Accessories Combinations
  • Page 349 – 00W Servo Drive and 500W Medium Inertia Servo Motor
  • Page 350 – 50W Servo Drive and 600W High Inertia Servo Motor
  • Page 351 – kW Servo Drive and 900W High Inertia Servo Motor
  • Page 352 – kW Servo Drive and 2kW Medium Inertia Servo Motor
  • Page 354 – Molded-case Circuit Breaker and Fuse Current Recommended Value
  • Page 355 – Installation
  • Page 356 – Figure 2
  • Page 357 – Dimensions; Delta Part Number: 08TDT1W4S
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Summary

Page 2 - Preface; Using This Manual

Revision January 2009 i Preface Thank you very much for purchasing DELTA’s AC servo products. This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and motor. Before using the product, please read this user manual to ensure correct use. You should...

Page 3 - Failure to observe these precautions may void

Preface | ASDA-AB Series ii Revision January 2009 z Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply with the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.). z Do not disconnect the AC servo drive ...

Page 4 - Wiring; Operation

Preface | ASDA-AB Series Revision January 2009 iii Wiring ¾ Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω ). Improper grounding may result in electric shock or fire. ¾ Do not connect any power supplies to the U, V, W terminals. Failure to observe this pr...

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