Delta ASDA-B Series - Manual

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 shoul...

Page 5 - Main Circuit Terminal Wiring; NOT E

Preface | ASDA-B Series iv Revision January, 2009 ¾ It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more than once per minute as high charging currents within the internal capacitors may cause damage. Main Circuit Terminal Wiring ¾ Insert only one wir...

Page 6 - Table of Contents; Modes

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

Page 12 - About this Manual...

Table of Contents | ASDA-B 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 and alteration or changed texts, figures and diagrams, we reserve the right of this manual contain...

Page 14 - Chapter 1 Unpacking Check and Model Explanation; Check; Ensure that the product is what you have ordered.

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 ...

Page 15 - Delta AC Servo Drive and Motor

Chapter 1 Unpacking Check and Model Explanation | ASDA-B Series 1-2 Revision January 2009 Delta AC Servo Drive and Motor

Page 16 - Explanation; ASDA-B Series Servo Drive

Chapter 1 Unpacking Check and Model Explanation | ASDA-B Series Revision January 2009 1-3 1.2 Model Explanation 1.2.1 Nameplate Information ASDA-B Series Servo Drive Nameplate Explanation Serial Number Explanation ECMA Series Servo Motor Nameplate Explanation Serial Number Explanation

Page 18 - ECMA Series Servo Motor

Chapter 1 Unpacking Check and Model Explanation | ASDA-B Series Revision January 2009 1-5 ECMA Series Servo Motor

Page 19 - Servo Drive and Servo Motor Combinations; for model explanation)

Chapter 1 Unpacking Check and Model Explanation | ASDA-B Series 1-6 Revision January 2009 1.3 Servo Drive and Servo Motor Combinations The table below shows the possible combination of Delta ASDA-B series servo drives and ECMA series servo motors. The boxes ( ) in the model names are for optional ...

Page 20 - Servo Drive Features

Chapter 1 Unpacking Check and Model Explanation | ASDA-B Series Revision January 2009 1-7 1.4 Servo Drive Features NOT E 1) Only 750W and above servo drives are provided with built-in regenerative resistors. The servo drives below 400W are not. 2) CMD LED: A lit CMD LED indicates that the servo driv...

Page 21 - Control Modes of Servo Drive

Chapter 1 Unpacking Check and Model Explanation | ASDA-B Series 1-8 Revision January 2009 1.5 Control Modes of Servo Drive The Delta Servo can be programmed to provide five single and three dual modes of operation. Their operation and description is listed in the following table. Mode Code Descripti...

Page 22 - Chapter 2 Installation and Storage; Notes

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

Page 23 - AS; Conditions; Operating Temperature; Caution; space around the units for heat dissipation.

Chapter 2 Installation and Storage | AS DA-B Series 2-2 Revision January 2009 2.3 Installation Conditions Operating Temperature ASDA-B Series Servo Drive : 0°C to 45°C (32°F to 113°F) ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive for long-term reliabili...

Page 24 - Installation Procedure and Minimum Clearances; Installation Procedure; conduct heat into the drive from external sources; Motor Mounting

Chapter 2 Installation and Storage | AS DA-B 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 ...

Page 26 - Chapter 3 Connections and Wiring; gives typical examples of wiring diagrams.

Revision January 2009 3-1 Chapter 3 Connections and Wiring This chapter provides information on wiring ASDA-B 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 In Figure 3.1, it briefly explains how ...

Page 27 - Servo Drive Connectors and Terminals

Chapter 3 Connections and Wiring | ASDA-B Series 3-2 Revision January 2009 3.1.2 Servo Drive Connectors and Terminals Terminal Identification Terminal Description Notes R, S, T Main circuit terminal The Main Circuit Terminal is used to supply the servo with line power. If a single-phase supply, is u...

Page 28 - Wiring Notes; connections on the servo drive or servo motor.

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-3 Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor. 1. Ensure to check if the power supply and wiring of the "power"...

Page 29 - Figure 3.2 Single-Phase Power Supply Connection

Chapter 3 Connections and Wiring | ASDA-B Series 3-4 Revision January 2009 3.1.3 Wiring Methods For servo drives 1.5kW and below the input power can be either single or three-phase. For drives 2kW and above only three-phase connections are available. In the wiring diagram figures 3.2 & 3.3: Powe...

Page 30 - Figure 3.3 Three-Phase Power Supply Connection; Motor Power Cable Connector Specifications; Motor Model Name

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-5 Figure 3.3 Three-Phase Power Supply Connection 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 Mo...

Page 33 - Cable Specifications for Servo Drive and Servo Motor; N OT E

Chapter 3 Connections and Wiring | ASDA-B Series 3-8 Revision January 2009 3.1.6 Cable Specifications for Servo Drive and Servo Motor Power Cable - Wire Gauge mm 2 (AWG) Servo Drive and Servo Motor R,S,T U,V,W P,C ASD-B0121-A ECMA-C30401 S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ASD-B0221-A ECMA-C306...

Page 34 - Wiring; Figure 3.4 Basic Wiring Schematic of 400W and below models

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-9 3.2 Basic Wiring Figure 3.4 Basic Wiring Schematic of 400W and below models

Page 35 - Figure 3.5 Basic Wiring Schematic of 750W models

Chapter 3 Connections and Wiring | ASDA-B Series 3-10 Revision January 2009 Figure 3.5 Basic Wiring Schematic of 750W models

Page 36 - Figure 3.6 Basic Wiring Schematic of 1kW and above models

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-11 Figure 3.6 Basic Wiring Schematic of 1kW and above models

Page 37 - Figure 3.7 The Layout of CN1 Drive Connector:

Chapter 3 Connections and Wiring | ASDA-B Series 3-12 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, open colle...

Page 38 - Signals Explanation of Connector CN1; Table 3.A General Signals

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-13 N OT E 1) GND (Pin 8) and COM- (Pin 13) of CN1 connector are independent respectively and do not have connection with the ground terminal outside the servo drive. 3.3.2 Signals Explanation of Connector CN1 The Tables 3.A, 3....

Page 42 - Table 3.F Default DI Signals and DO Signals

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-17 Table 3.F Default DI Signals and DO Signals The factory default settings of DI signals Signal DI Code Function Default Settings SON 01 Servo On DI1 ARST 02 Alarm Reset DI2 GAINUP 03 Gain switching in speed and position mode ...

Page 43 - Table 3.G User-defined DI and DO signals

Chapter 3 Connections and Wiring | ASDA-B Series 3-18 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 the users’ requirements, there are still user- defined DI and DO signals. The setting method is easy and they are all defined...

Page 45 - ensure to connect one 1 ~ 2 K

Chapter 3 Connections and Wiring | ASDA-B Series 3-20 Revision January 2009 3.3.4 Wiring Diagrams of I/O Signals (CN1) The valid voltage range of analog input command in speed and torque mode is -10V ~+10V. The command value can be set via relevant parameters. C1: Speed / Torque analog signal input ...

Page 46 - V D D

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-21 C2-1: Pulse input (Open collector – internal power) 7 V D D 19 /SIGN 20 SIGN C O M - 22 PULSE 1 3 21 /PULSE DC 24V M a x. in pu t pu ls e f req ue n cy i s 20 0k p ps Se r v o D r i v e Ap pr ox .1K Ap pr ox .1K 50 50 50 50 ...

Page 49 - Encoder Connector CN2; Figure 3.8 The layout of CN2 Drive Connector:

Chapter 3 Connections and Wiring | ASDA-B Series 3-24 Revision January 2009 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 position...

Page 50 - Serial Communication Connector CN3; Figure 3.9 The layout of CN3 Drive Connector:; CN3 Drive Connector; CN3 Terminal Signal Identification

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-25 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. The users can operate the servo drive through P...

Page 51 - Connection between PC and CN3; Connection between Keypad and CN3

Chapter 3 Connections and Wiring | ASDA-B Series 3-26 Revision January 2009 2) When using RS-232 communication, the user can use the communication cable provided by Delta PLC directly. (The PLC communication cable is compatible with all Delta Servo systems for the users’ convenience) 3.5.2 Connectio...

Page 52 - Standard Connection Example

Chapter 3 Connections and Wiring | ASDA-B Series Revision January 2009 3-27 3.6 Standard Connection Example 3.6.1 Position Control Mode

Page 56 - Chapter 4 Display and Operation

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. There are several modes of operation: Monitor, Parameter, Parameter Setting, Save, Write and Fast Edit Mode. In Monitor mode , users can display the ...

Page 57 - Name; LCD Display

Chapter 4 Display and Operation | ASDA-B Series 4-2 Revision January 2009 Name Function LCD Display 2 line × 16 character LCD display shows the monitor codes, parameter settings and operation values of the AC servo drive. Status Display (LED Indication) SON LED (Servo On Indicator). A lit LED illumi...

Page 58 - Monitor Mode, Parameter Mode and Parameter Setting Mode; into the monitor mode.; Parameter M ode

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-3 4.1.2 Display Flowchart Monitor Mode, Parameter Mode and Parameter Setting Mode 1. When the power is applied to the AC servo drive, the digital keypad will execute communication initial setup for approximately two seconds (960...

Page 59 - SAVE Mode (Save parameter settings from the Drive to the Keypad); In monitor mode, pressing SAVE key can switch to SAVE mode.; YES

Chapter 4 Display and Operation | ASDA-B Series 4-4 Revision January 2009 SAVE Mode (Save parameter settings from the Drive to the Keypad) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing SAVE key can switch t...

Page 60 - P r e ss k e y to re t u rn to p r e v i o u s d i sp l a y

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-5 WRITE Mode (Parameter settings written out from Keypad to the Drive) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing WRITE key can swi...

Page 62 - Fast Editing; 靜態自動增益

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-7 Figure 4.5 STS 00: Fb PUL SE 0 puls e FE DIT:PR EDIT FEDIT:PR EDITPR E NAB LE FEDIT:PR EDITPR DISAB LE FEDIT:AU TO S FEDIT:AU TO S - BW 1 0 0 HZ FEDIT:AU TO S - J R 1 .0 H Z FEDIT:AU TO S - RH 1 .0 0 0 HZ FEDIT:AU TO S - RHPR ...

Page 63 - Save Setting Display

Chapter 4 Display and Operation | ASDA-B Series 4-8 Revision January 2009 4.1.3 Status Display 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 T D T T P : 0 1 - 0...

Page 64 - Monitor Setting Display

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-9 Monitor Setting Display In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or change parameter P0-02 directly to specify the monitor status. When the power is applied, the monitor ...

Page 68 - CCW

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-13 Figure 4.9 O J P : 0 4 - 5 G r 0 SE T SE T M OD E CCW CW Coun terclo ckwis e Clockw i se 2 p m O J P : 0 4 - 5 G r 0 2 p m O J P : 0 4 - 5 G r 1 2 p m O J P : 0 4 - 5 G r 0 0 p m O J P : 0 4 - 5 G r p m O J G 1

Page 69 - DO Force Output Diagnosis Operation; O P; Forc e DO1 to be acti vated

Chapter 4 Display and Operation | ASDA-B Series 4-14 Revision January 2009 4.1.6 DO Force Output Diagnosis Operation For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using parameter P4-06. Follow the setting method in Figure 4.10 to enter into DO force outp...

Page 70 - D I; the corresponding digital input signal is ON.; D O

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-15 4.1.7 DI Diagnosis Operation Following the setting method in Figure 4.11 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI6, the corresponding status will...

Page 73 - LED Display

Chapter 4 Display and Operation | ASDA-B Series 4-18 Revision January 2009 4.2 ASD-PU-01B 4.2.1 Description of Digital Keypad ASD-PU-01B The digital keypad includes the ASD-PU-01B display panel and function keys. The Figure 4.8 shows all of the features of the ASD-PU-01B digital keypad and an overvi...

Page 76 - Save parameter settings from the Drive to the Keypad); three times can switch to SAVE mode.

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-21 SAVE Mode ( Save parameter settings from the Drive to the Keypad) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key first. The...

Page 78 - Parameter settings written out from Keypad to the Drive); times can switch to WRITE mode.

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-23 WRITE Mode ( Parameter settings written out from Keypad to the Drive) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key first....

Page 80 - Fast Editing Function); the parameters that have been edited before.

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-25 Fast Edit Mode ( Fast Editing Function) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key once can switch to Fast Edit mode. 3...

Page 88 - DO Force Output Diagnosis Operation

Chapter 4 Display and Operation | ASDA-B Series Revision January 2009 4-33 4.2.6 DO Force Output Diagnosis Operation For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using parameter P4-06. Follow the setting method in Figure 4.17 to enter into DO force outp...

Page 94 - Chapter 5 Trial Run and Tuning Procedure; without

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

Page 96 - Applying Power to the Drive; Main circuit wiring

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-3 5.2 Applying Power to the Drive 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) Term...

Page 97 - Emergency stop activated:

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-4 Revision January 2009 2) When display shows: Encoder error: Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or incorrect. Corrective Actions: Check if the user performs wiring recommended in the ...

Page 98 - Forward limit switch error:

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-5 5) When display shows: Forward limit switch error: Please check if any of digital inputs DI1~DI6 signal is set to “Forward inhibit limit (CCWL)” and check if the signal is ON or not. Corrective Actions: If it is no ...

Page 99 - Magnetic field error:; Input power phase loss:; Corrective Actions:

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-6 Revision January 2009 Magnetic field error: Corrective Actions: Check if the encoder is abnormal. Verify the encoder connector. 9) When display shows: Input power phase loss: Corrective Actions: Verify the main circuit power R, S, T....

Page 100 - JOG Trial Run without Load

Chapter 5 Trial Run and Tuning Procedure | ASDA-B 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 conne...

Page 102 - Speed Trial Run without Load; force when motor speed changes.

Chapter 5 Trial Run and Tuning Procedure | ASDA-B 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 4 and it ...

Page 104 - Procedure; Tuning Procedure

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-11 5.5 Tuning Procedure ASD-PU-01A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode Tuning Procedure Display Message 1. After wiring is completed, when power in connected to the AC...

Page 106 - operation in high speed.

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-13 Tuning Procedure 13. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation. 14. Execute JOG operation in low speed first. After the machine is running smoothly, then execute JOG operation in h...

Page 107 - Load Inertia Estimation Flowchart

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-14 Revision January 2009 5.5.2 Load Inertia Estimation Flowchart

Page 112 - Relationship between Tuning Modes and Parameters

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-19 5.5.6 Relationship between Tuning Modes and Parameters Tuning Mode P2-32 AutoSet Parameter User-defined Parameter Gain Value Manual Mode 0(Default setting) None P2-00 (Proportional Position Loop Gain) P2-04 (Proporti...

Page 113 - KV P

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series 5-20 Revision January 2009 5.5.7 Gain Adjustment in Manual Mode The position and speed responsiveness selection is depending on and determined by the the control stiffness of machinery and conditions of applications. Generally, high reponsiven...

Page 114 - x S pe e d L o op R es p on s i ve n es s (H z ); PFG, Parameter P2-02 Position Feed Forward Gain

Chapter 5 Trial Run and Tuning Procedure | ASDA-B Series Revision January 2009 5-21 NLP, Parameter P2-25 Low-pass Filter Time Constant (Resonance Suppression) When the value of (J_load / J_motor) is high, the responsiveness of speed loop may decrease. At this time, the users can increase the setti...

Page 116 - Chapter 6 Control Modes of Operation; Control Modes of Operation

Revision January, 2009 6-1 Chapter 6 Control Modes of Operation 6.1 Control Modes of Operation The Delta ASDA-B series Servo can be programmed to provide five single and three dual modes of operation. Their operation and description is listed in the following Table 6.A. Mode Code Description Externa...

Page 117 - Position Control Mode; pulse input and each pulse type is with; PTT; Applicable Control Mode: P; T T; Pulse type

Chapter 6 Control Modes of Operation | ASDA-B 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 (P mode) is usually used ...

Page 118 - Structure of Position Control Mode

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-3 Other setting: Reversed Input pulse interface Max. input pulse frequency Line driver 500kpps Open collector 200kpps • Logic type 0=Positive Logic 1=Negative Logic Pulse Type Forward Reverse Forward Reverse AB phase pulse...

Page 120 - Pulse i nput

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-5 DI Name DI Status Selected Electronic Gear Not select (Note 1) P1-44, P1-45 0 P1-44, P1-45 GNUM0 1 P1-44, P1-45 NOT E 1) DI signal can be selected by parameter P2-10 to P2-15 and Table 7.A. If uses only need to use one g...

Page 121 - PFLT; P F LT

Chapter 6 Control Modes of Operation | ASDA-B Series 6-6 Revision January, 2009 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...

Page 123 - PFF; K P F

Chapter 6 Control Modes of Operation | ASDA-B Series 6-8 Revision January, 2009 of mechanical system. In PDFF control AutoMode, the value of this parameter will be changed in accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6). P2 - 03 P...

Page 124 - Control

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-9 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-B series servo drive supports two kinds of command sources in speed c...

Page 126 - Smoothing Strategy of Speed Control Mode; after starting speed subtracts the final speed.; TDEC; Relevant parameters:; TACC Acceleration Time; Applicable Control Mode: S

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-11 The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz). Whenever the command signal needs to be more smoothly, we recommend the users to use S-curve and low-pass filter. 6.3.3 ...

Page 127 - TDEC Deceleration Time; TSL; TACC; is disabled and the command is just By-Pass.

Chapter 6 Control Modes of Operation | ASDA-B Series 6-12 Revision January, 2009 Settings: 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) P1 - 35 TDEC Decelerati...

Page 128 - Analog Speed Command S-curve Filter; response to a sudden analog input signal.; Analog Speed Command Low-pass Filter; SFLT; Target Speed

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-13 Analog Speed Command S-curve Filter ASDA-B 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 ...

Page 129 - VCM

Chapter 6 Control Modes of Operation | ASDA-B Series 6-14 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 ...

Page 130 - Timing Chart of Speed Control Mode; ) OFF indicates normally open and ON indicates normally closed.; speed control mode; is shown as the figure shown below:

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-15 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...

Page 132 - AUT2

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-17 PDFF Structure (P2-32) Stiffness Setting P2-31 Speed Loop Responsive- ness (Hz) Proportional Position Loop Gain P2-00 Position Feed Forward Gain (%) P2-02 Proportional Speed Loop Gain P2-04 Speed Integral Compensation P...

Page 133 - Manual Mode

Chapter 6 Control Modes of Operation | ASDA-B Series 6-18 Revision January, 2009 • Tuning Mode Settings: 0: Manual mode 1: AutoMode (Continuous adjustment) The ratio of Load Inertia to servo motor inertia can be continuously adjusted. The level of stiffness and responsiveness are adjusted by paramet...

Page 135 - SFG; Frequency Domain; K V P

Chapter 6 Control Modes of Operation | ASDA-B Series 6-20 Revision January, 2009 AutoMode, the value of this parameter will be changed in accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6). Time constant of speed integral compensation: ...

Page 136 - Time Domain

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-21 STEP 3 Sel ect the value of KVI, i f the value of phas e margin is too smal l, r e-adjust the value of KV P again to obtain the ： value, 45deg of phas e margin. Gain Frequency Phase Frequency Time Domain KVP When the va...

Page 137 - S FG; Auto Mode (The ratio of Load Inertia to servo motor inertia is fixed)

Chapter 6 Control Modes of Operation | ASDA-B Series 6-22 Revision January, 2009 S FG When the val ue of SFG is nearl y to 1andthe forward c the value of dynami c tracki ng er ror wi ll become v ery smal l . However, when the val ueof SFG is too great, it may caus e v ibrati on. ompensation is more ...

Page 138 - NCF

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-23 6.3.7 Resonance Suppression The resonance of mechanical system may occur due to excessive system stiffness or frequency response. However, this kind of resonance condition can be improved, suppressed, even can be elimin...

Page 139 - NLP

Chapter 6 Control Modes of Operation | ASDA-B Series 6-24 Revision January, 2009 P2 - 25 NLP Low-pass Filter Time Constant (Resonance Suppression) Communication Addr.: 0219H Default: 20 Related Section: Applicable Control Mode: P/S/T Section 6.3.7, P2-32 Unit: 0.1ms Range: 0 ~ 10000 Settings: This p...

Page 141 - Structure of Torque Control Mode

Chapter 6 Control Modes of Operation | ASDA-B Series 6-26 Revision January, 2009 6.4.2 Structure of Torque Control Mode Basic Structure: Torque command Torque Command Proces sing Resonant Suppressi on Bl ock Di agram Current S ensor Current Control Block Di agram Output Torque + - In the above figur...

Page 142 - Smoothing Strategy of Torque Control Mode; Applicable Control Mode: T; parameter P1-41 can adjust the torque control ramp and its range.

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-27 6.4.3 Smoothing Strategy of Torque Control Mode Relevant parameters: P1 - 07 TFLT Smooth Constant of Analog Torque Command (Low-pass Filter) Communication Addr.: 0107H Default: 0 Related Section: Applicable Control Mode...

Page 143 - TCM; Timing Chart of Speed Control Mode

Chapter 6 Control Modes of Operation | ASDA-B Series 6-28 Revision January, 2009 Relevant parameters: P1 - 41 ▲ TCM Max. Analog Torque Command or Limit Communication Addr.: 0129H Default: 100 Related Section: Applicable Control Mode: T / S, P Section 6.4.4, P1-55 Unit: % Range: 0 ~ 300 Settings: In ...

Page 144 - Control Modes Selection

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-29 6.5 Control Modes Selection Except signal control mode operation, ASDA-B series AC drive also provide S-P, S-T, T-P these three multiple modes for the users to select. 1 ） Speed / Position mode selection: S-P 2 ） Speed ...

Page 147 - Built-in Regenerative Resistor; Built-in Regenerative Resistor Specifications

Chapter 6 Control Modes of Operation | ASDA-B Series 6-32 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 ...

Page 148 - External Regenerative Resistor

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-33 recommend the users to use the regenerative resistors with thermal switches. As for the load characteristics of the regenerative resistors, please check with the manufacturer. External Regenerative Resistor When using...

Page 150 - Simple Calculation Method

Chapter 6 Control Modes of Operation | ASDA-B Series Revision January, 2009 6-35 Motor Rotation Speed External Load Torque Motor Output Torque Reverse Rotati on ReverseRotati on Forwar dRotati on Forwar d Rotati on External load torque in reverse direction: TL* Wr TL : External load torque For the s...

Page 151 - referring to the table below:

Chapter 6 Control Modes of Operation | ASDA-B Series 6-36 Revision January, 2009 When the servo motor runs with load, the allowable frequencies will change according to the changes of the load inertia and rotation speed. Use the following equation to calculate the allowable frequency. A llo w a b le...

Page 153 - Please note that the coil of brake has no polarity.

Chapter 6 Control Modes of Operation | ASDA-B Series 6-38 Revision January, 2009 Electromagnetic Brake Wiring Diagram NOT E 1) Please refer to Chapter 3 Connections and Wiring for more wiring information. 2) Please note that the coil of brake has no polarity. 3) The power supply for brake is DC24V. ...

Page 154 - Chapter 7 Servo Parameters; Abbreviation of control modes:

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...

Page 155 - Summary; Monitor Parameters

Chapter 7 Servo Parameters | ASDA-B 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 P S T P0-00 ★ VER Firmware Version Factory setting N/A { { { P0-01 ★ ALE Drive Fault Code N/...

Page 156 - Basic Parameters

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

Page 158 - Extension Parameters

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-5 Group 2: P2-xx Extension Parameters Control Mode Parameter Name Function Default Unit P S T P2-00 KPP Proportional Position Loop Gain 50 rad/s { P2-01 PPR Position Loop Gain Switching Rate 100 % { P2-02 PFG Position Feed Forward G...

Page 160 - Communication Parameters

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-7 Group 3: P3-xx Communication Parameters Control Mode Parameter Name Function Default Unit P S T P3-00 ADR Communication Address Setting 1 N/A { { { P3-01 BRT Transmission Speed 3 bps { { { P3-02 PTL Communication Protocol 0 N/A { ...

Page 161 - Diagnosis Parameters

Chapter 7 Servo Parameters | ASDA-B Series 7-8 Revision January, 2009 Group 4: P4-xx Diagnosis Parameters Control Mode Parameter Name Function Default Unit P 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 { { { P4-03 ★ ...

Page 162 - Keypad Parameters

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-9 Group 8: P8-xx Keypad Parameters Control Mode Parameter Name Function Default Unit P S T P8-00 ★ KVER Keypad Firmware Version Factory setting N/A { { { P8-01 KFUN Keypad Communication and Reset Setting 1 N/A { { { P8-02 Reserved P...

Page 163 - Monitor and General Use

Chapter 7 Servo Parameters | ASDA-B Series 7-10 Revision January, 2009 7.2.2 Parameters List by Function Monitor and General Use Control Mode Parameter Name Function Default Unit P S T P0-00 ★ VER Firmware Version Factory setting N/A { { { P0-01 ★ ALE Drive Fault Code N/A N/A { { { P0-02 STS Drive S...

Page 164 - Gain and Switch

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-11 Gain and Switch Control Mode Parameter Name Function Default Unit P S T P2-00 KPP Proportional Position Loop Gain 50 rad/s { P2-01 PPR Position Loop Gain Switching Rate 100 % { P2-02 PFG Position Feed Forward Gain 0 % { P2-03 PFF...

Page 165 - Position Control

Chapter 7 Servo Parameters | ASDA-B Series 7-12 Revision January, 2009 Position Control Control Mode Parameter Name Function Default Unit P S T P1-01 ● CTL Control Mode and Output Direction 0 pulse rpm N.M { { { P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { P1-55 MSPD Maximum Speed Limit rated spe...

Page 166 - Speed Control

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-13 Speed Control Control Mode Parameter Name Function Default Unit P S T P1-01 ● CTL Control Mode and Output Direction 0 pulse rpm N.M { { { P1-02 ▲ PSTL Speed and Torque Limit 0 N/A { { { P1-46 ▲ GR3 Encoder Output Pulse Number 250...

Page 167 - Digital I/O and relative input output setting

Chapter 7 Servo Parameters | ASDA-B Series 7-14 Revision January, 2009 Digital I/O and relative input output setting Digital I/O Control Mode Parameter Name Function Default Unit P S T P2-09 DRT Bounce Filter 2 2ms { { { P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A { { { P2-11 DI2 Digital Input ...

Page 168 - Communication

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-15 Communication Control Mode Parameter Name Function Default Unit P S T P3-00 ADR Communication Address Setting 1 N/A { { { P3-01 BRT Transmission Speed 3 bps { { { P3-02 PTL Communication Protocol 0 N/A { { { P3-03 FLT Transmissio...

Page 170 - Others

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-17 Others Control Mode Parameter Name Function Default Unit P S T P1-32 LSTP Motor Stop Mode Selection 0 N/A { { { P1-37 GDR Ratio of Load Inertia to Servo Motor Inertia 10 0.1 times { { { P1-52 RES1 Regenerative Resistor Value 40 O...

Page 172 - Detailed Parameter Listings; ALE; Default: Factory setting

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-19 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: P/S/T Unit: N/A Range: N/A P0 - 01...

Page 174 - STS

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-21 P0 - 02 STS Drive Status Communication Addr.: 0002H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 4.3.5 Unit: N/A Range: 0 ~ 15 Settings: 0 : Motor feedback pulse number [pulse] 1 : Motor feedback rotation nu...

Page 175 - Status Monitor 2

Chapter 7 Servo Parameters | ASDA-B Series 7-22 Revision January, 2009 P0 - 05 CM2 Status Monitor 2 Communication Addr.: 0005H Default: 0 Related Section: Applicable Control Mode: P/S/T P0-02 Unit: N/A Range: 0 ~ 15 Settings: See P0-04 for explanation. P0 - 06 CM3 Status Monitor 3 Communication Addr...

Page 178 - CTL

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-25 P1 - 01 ● CTL Control Mode and Output Direction Communication Addr.: 0101H Default: 0 Related Section: Applicable Control Mode: P/S/T P mode: See Section 6.2.1 Unit: pulse (P mode), rpm (S mode), N.M (T mode) S, Sz mode: See Sect...

Page 185 - Reserved

Chapter 7 Servo Parameters | ASDA-B Series 7-32 Revision January, 2009 P1 - 33 Reserved Communication Addr.: 0121H P1 - 34 TACC Acceleration Time Communication Addr.: 0122H Default: 200 Related Section: Applicable Control Mode: S P1-35, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: It is ...

Page 186 - GDR

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-33 P1 - 37 GDR Ratio of Load Inertia to Servo Motor Inertia Communication Addr.: 0125H Default: 10 Related Section: Applicable Control Mode: P/S/T P2-31, P2-32, Section 6.3.6 Unit: 0.1times Range: 0 ~ 2000 Settings: Ratio of load in...

Page 188 - MBT2 OFF Delay Time of Electromagnetic Brake

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-35 P1 - 43 MBT2 OFF Delay Time of Electromagnetic Brake Communication Addr.: 012BH Default: 100 Related Section: Applicable Control Mode: P/S/T DO BRKR(08) in Table 7.B Unit: ms P1-42, Section 6.6.4 Range: -1000 ~ 1000 Settings: Use...

Page 191 - PER; MSPD Maximum Speed Limit; Default: rated speed

Chapter 7 Servo Parameters | ASDA-B Series 7-38 Revision January, 2009 P1 - 54 PER Positioning Completed Width Communication Addr.: 0136H Default: 100 Related Section: Applicable Control Mode: P DO TPOS(05) in Table 7.B Unit: pulse Range: 0 ~ 10000 Settings: This parameter is used to set the width o...

Page 194 - PCTLC Special Factory Setting; Reset parameters settings:

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-41 Settings: This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation. However, if ...

Page 195 - DRT; This parameter is used to determine the function and status of DI1.

Chapter 7 Servo Parameters | ASDA-B Series 7-42 Revision January, 2009 P2 - 09 DRT Bounce Filter Communication Addr.: 0209H Default: 2 Related Section: Applicable Control Mode: P/S/T Section 6.3.6 Unit: 2ms Range: 0 ~ 20 Settings: For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=...

Page 197 - This parameter is used to determine the function and status of DO1.

Chapter 7 Servo Parameters | ASDA-B Series 7-44 Revision January, 2009 P2 - 15 DI6 Digital Input Terminal 6 (DI6) Communication Addr.: 020EH Default: 21 Related Section: Applicable Control Mode: P/S/T Section 3.3.4, Table 7.A Unit: N/A Range: 0 ~ 126 Settings: See P2-10 for explanation. P2 - 16 Rese...

Page 199 - DPH

Chapter 7 Servo Parameters | ASDA-B Series 7-46 Revision January, 2009 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, P2-23 Unit: dB Unit: Hz Range: 0 ~ 32 Settings: 0: Disabled P2...

Page 200 - GCC

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-47 P2 - 27 GCC Gain Switching Control Selection Communication Addr.: 021BH Default: 0 Related Section: Applicable Control Mode: P/S P2-01, P2-05, P2-28, P2-29 Unit: N/A Range: 0 ~ 14 Settings: ASD-PU-01A ASD-PU-01B • Gain Switching ...

Page 201 - automatically after re-power the servo drive.

Chapter 7 Servo Parameters | ASDA-B Series 7-48 Revision January, 2009 P2 - 29 GPE Gain Switching Condition Communication Addr.: 021DH Default: 10000 Related Section: Applicable Control Mode: P/S P2-27, P2-28 Unit: pulse, Kpps, rpm Range: 0 ~ 30000 Settings: 0: Disabled This parameter is used to set...

Page 204 - OVL; 00: The overload time will not be extended.; OVW

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-51 P2 - 36 OVL Overload Protection Level Communication Addr.: 0224H Default: 100 Related Section: Applicable Control Mode: P/S/T Fault Code 06 in P0-01, P2-37 Unit: % Range: 70 ~ 100 Settings: 100: The overload time will not be exte...

Page 206 - ATUR Motor Rotation Number

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-53 P2 - 44 ATUR Motor Rotation Number Communication Addr.: 022CH Default: 2 Related Section: Applicable Control Mode: P/S/T P2-45, P2-46, P2-47 Unit: turn Range: 1 ~ 3 Settings: This parameter is used to set the motor rotation numbe...

Page 207 - CCLR Pulse Deviation Clear Mode

Chapter 7 Servo Parameters | ASDA-B Series 7-54 Revision January, 2009 ASD-PU-01A ASD-PU-01B • Motor Startup Operation Settings: 0: No operation. The motor does not run. 1: Motor startup operation. The motor starts to run. • Responsiveness Selection Settings: 0: Auto-select the appropriate responsiv...

Page 208 - SJIT

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-55 P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H Default: 10 Related Section: Applicable Control Mode: P/S Section 6.3.6 Unit: N/A Range: 0 ~ 119 Settings: ASD-PU-01A ASD-PU-01B • Speed Detect...

Page 209 - ADR; BRT

Chapter 7 Servo Parameters | ASDA-B Series 7-56 Revision January, 2009 Group 3: P3-xx Communication Parameters P3 - 00 ADR Communication Address Setting Communication Addr.: 0300H Default: 1 Related Section: Applicable Control Mode: P/S/T Section 3.5.1, Section 8.2 Unit: N/A Range: 1 ~ 254 Settings:...

Page 212 - ASH1; The latest fault record.; ASH2

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-59 Group 4: P4-xx Diagnosis Parameters P4 - 00 ★ ASH1 Fault Record (N) Communication Addr.: 0400H Default: 0 Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A Settings: The latest fault record. P4 - 01 ★ ASH2 ...

Page 213 - JOG; JOG operation command:; FOT; When P4-06 is set to 3, it indicates that DI 1 and DI 2 are both ON.

Chapter 7 Servo Parameters | ASDA-B Series 7-60 Revision January, 2009 P4 - 05 JOG JOG Operation Communication Addr.: 0405H Default: 20 Related Section: Applicable Control Mode: P/S/T Section 4.4.3 Unit: rpm Range: 0 ~ 5000 Settings: JOG operation command: To perform a JOG Operation via communicatio...

Page 214 - ITST; External Control: Display the status of DI input signal; External Control: Display the status of DO output signal

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-61 P4 - 07 ■ ITST Input Status or Force Input Control Communication Addr.: 0407H Default: 0 Related Section: Applicable Control Mode: P/S/T P3-06, Section 4.4.5, Unit: N/A Section 8.2 Range: 0 ~ 63 Settings: Please see P3-06 and Sec...

Page 215 - CEN; : Execute analog speed input drift adjustment

Chapter 7 Servo Parameters | ASDA-B Series 7-62 Revision January, 2009 The status of DO signal, please refer to P2-18 ~ P2-20. For example: If P4-09 is set to 3, it indicates that the Digital Outputs 1, 2 are "ON" and Digital Output 3 is "OFF". NOT E 1) Please pay close attention on ...

Page 217 - COF2

Chapter 7 Servo Parameters | ASDA-B Series 7-64 Revision January, 2009 function, although this parameter allows the users can execute manual adjustment, we still do not recommend users to change the default setting manually. Auto Adjustment Operation: Set parameter P2-08 to 20 first and then set par...

Page 220 - Internal Connection

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-67 Users can use this parameter to adjust analog torque input offset value manually. NOT E 1) Before using this function, please short the internal circuit first or connecting to a 0V output of the external controller in advance (Pl...

Page 221 - edit and change the keypad parameters through the keypad.; KVER; KFUN; Communication Method Settings:

Chapter 7 Servo Parameters | ASDA-B Series 7-68 Revision January, 2009 Group 8: P8-xx Keypad Parameters NOT E All the keypad parameters cannot be download to PC or the servo drive via communication. Users only can edit and change the keypad parameters through the keypad. P8 - 00 ★ KVER Keypad Firmwa...

Page 222 - One servo drive only can set one communication address.; KBRT

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-69 1: If 1 is set, it indicates the keypad is the master side during communication. 1 must be set when communicating with servo drive, or there will be a communication fault. • Keypad Parameter Reset Function Settings: 0: Disable ke...

Page 223 - KPTL

Chapter 7 Servo Parameters | ASDA-B Series 7-70 Revision January, 2009 4: Baud rate 57600 (data transmission speed: bits / second) 5: Baud rate 115200 (data transmission speed: bits / second) P8 - 07 KPTL Communication Protocol (Keypad) Communication Addr.: 0807H Default: 0 Related Section: N/A Appl...

Page 224 - KBLT

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-71 2: LED testing. 3: Dynamical memory testing (RAM). The testing time is approx. 18 seconds. 4: Data memory testing (EEPROM). The testing time is approx. 140 seconds. This parameter is used to test the hardware of the keypad. Since...

Page 225 - KRNO Memory Block Position Number (ROMx)

Chapter 7 Servo Parameters | ASDA-B Series 7-72 Revision January, 2009 • Reserve / Clear Memory Block Function Settings 0: Reserve memory block 1: Clear memory block When the clear memory block function is selected, the memory block will be cleared. This parameter setting will return to its default ...

Page 226 - KBL1

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-73 P8 - 14 ★ KBL1 Firmware Version of Memory Block (ROMx) Communication Addr.: 080EH Default: 0 Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A This parameter displays the firmware version of parameter memor...

Page 227 - Table 7.A Input Function Definition

Chapter 7 Servo Parameters | ASDA-B Series 7-74 Revision January, 2009 Table 7.A Input Function Definition Setting value of P2-10 ~ P2-15: 01 DI Name DI Function Description Trigger Method Control Mode SON Servo On. When this DI is activated, it indicates the servo drive is enabled. Level Triggered ...

Page 233 - Table 7.B Output Function Definition

Chapter 7 Servo Parameters | ASDA-B Series 7-80 Revision January, 2009 Table 7.B Output Function Definition Setting value of P2-18 ~ P2-20: 01 DO Name DO Function Description Control Mode SRDY Servo ready. SRDY is activated when the servo drive is ready to run. All fault and alarm conditions, if pre...

Page 234 - OF F

Chapter 7 Servo Parameters | ASDA-B Series Revision January, 2009 7-81 Setting value of P2-18 ~ P2-20: 06 DO Name DO Function Description Control Mode TQL At Torques limit. TQL is activated when the drive has detected that the motor has reached the torques limits set by either the parameters P1-12 ~...

Page 236 - Chapter 8 MODBUS Communications; Hardware; Configuration

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

Page 238 - ) The power supply should provide a +12V and higher DC voltage.

Chapter 8 MODBUS Communications | ASDA-B Series Revision January 2009 8-3 NOT E 1) For RS-485 and RS-422 connections, the recommended maximum cable length is 100m (300ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a t...

Page 239 - Communication Parameter Settings; For communication parameters, please refer to the Chapter 7.

Chapter 8 MODBUS Communications | ASDA-B Series 8-4 Revision January 2009 8.2 Communication Parameter Settings The following describes the communication addresses for the communication parameters. For communication parameters, please refer to the Chapter 7. 0300H Address Setting Default: 1 Range: 1 ...

Page 243 - MODBUS Communication Protocol

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

Page 244 - Communication Protocol:

Chapter 8 MODBUS Communications | ASDA-B Series Revision January 2009 8-9 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 St...

Page 249 - Communication Related Error Code

Chapter 8 MODBUS Communications | ASDA-B Series 8-14 Revision January 2009 Communication Related Error Code If one communication error occurs during communication, the AC servo drive will respond the corresponding error value and command code plus 80H back to the external controller. For example, ...

Page 252 - Chapter 9 Maintenance and Inspection; Inspection

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...

Page 253 - Life of Replacement Components; Smooth capacitor

Chapter 9 Maintenance and Inspection | ASDA-B 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 t...

Page 254 - Cooling fan; fan is vibrating or there are unusual noises.

Chapter 9 Maintenance and Inspection | ASDA-B 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 co...

Page 256 - Chapter 10 Troubleshooting; Fault Messages Table; Servo Drive Fault Messages

Revision January 2009 10-1 Chapter 10 Troubleshooting If a fault is detected on the servo drive or motor, a corresponding alarm will be activated and the fault message will be displayed on the LCD display of the digital keypad and the fault code will be shown on the 1-digit 7-segment LED display of ...

Page 258 - Potential Cause and Corrective Actions

Chapter 10 Troubleshooting | ASDA-B Series Revision January 2009 10-3 10.2 Potential Cause and Corrective Actions Servo Drive Fault Messages ALE 1 / ALE : Overcurrent When SERVO OFF, but the power is on: Potential Cause Checking Method Corrective Actions Short-circuit at drive output (U, V, W). 1....

Page 261 - ALE 8 / ALE : Abnormal pulse control command

Chapter 10 Troubleshooting | ASDA-B Series 10-6 Revision January 2009 ALE 8 / ALE : Abnormal pulse control command Potential Cause Checking Method Corrective Actions Pulse command frequency is higher than rated input frequency. Use pulse frequency detector to measure input frequency. Correctly set t...

Page 262 - ALE 13 / ALE : Emergency stop activated

Chapter 10 Troubleshooting | ASDA-B Series Revision January 2009 10-7 ALE 11 / ALE : Encoder error (Position detector fault) Potential Cause Checking Method Corrective Actions The wiring of encoder is in error. 1. Check if all wiring is correct. 2. Check if the users conduct the wiring by the wiring...

Page 263 - ALE 18 / ALE : Serial communication time out

Chapter 10 Troubleshooting | ASDA-B Series 10-8 Revision January 2009 ALE 16 / ALE : 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 moto...

Page 265 - ALE 35 : COMM hardware error

Chapter 10 Troubleshooting | ASDA-B Series 10-10 Revision January 2009 ALE 35 : COMM hardware error Potential Cause Checking Method Corrective Actions Hardware error Check if the serial communication signal is normal. 1. Activate P8-09 to perform the testing. 2. Please contact your distributor for a...

Page 267 - Clearing Servo Drive Faults; Display

Chapter 10 Troubleshooting | ASDA-B Series 10-12 Revision January 2009 10.3 Clearing Servo Drive Faults Display Fault Name Clearing Method ALE Overcurrent Turn ARST (DI signal) ON to clear the fault or restart the servo drive. ALE Overvoltage Turn ARST (DI signal) ON to clear the fault or restart th...

Page 268 - Chapter 11 Specifications

Revision January 2009 11-1 Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-B Series) 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASDA-B Series 01 02 04 07 10 15 20 Voltage / Frequency Three-phase or Single-phase 220VAC Three-phase 220VAC Permissible Voltage Range 170 ~ 252VAC Powe r ...

Page 271 - Low Inertia Servo Motor

Chapter 11 Specifications | ASDA-B 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 torque...

Page 272 - Medium / High Inertia Servo Motor

Chapter 11 Specifications | ASDA-B 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 ...

Page 274 - Dimensions of Servo Drive; WEIGHT

Chapter 11 Specifications | ASDA-B Series Revision January 2009 11-7 11.3 Dimensions of Servo Drive Order P/N: ASD-B0121-A, ASD-B0221-A, ASD-B0421-A (100W to 400W) WEIGHT 1.2 (2.64) NOT E 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)) 3) In this manual...

Page 278 - Overload Characteristics; Overload Protection Function

Chapter 11 Specifications | ASDA-B Series Revision January 2009 11-11 11.5 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...

Page 279 - Chart of load and operating time (ECMAC30602

Chapter 11 Specifications | ASDA-B Series 11-12 Revision January 2009 Chart of load and operating time (ECMAC30602 S) 0.1 1 10 100 1000 10000 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% 213.6s 140% 42.3s 160% 21.8s 180% 13.7s 200% 9....

Page 280 - Chart of load and operating time (ECMAC30804

Chapter 11 Specifications | ASDA-B Series Revision January 2009 11-13 Chart of load and operating time (ECMAC30804 7) 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% 11...

Page 281 - Chart of load and operating time (ECMAC31010

Chapter 11 Specifications | ASDA-B Series 11-14 Revision January 2009 Chart of load and operating time (ECMAC31010 S) 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 220...

Page 282 - Chart of load and operating time (ECMAC31303

Chapter 11 Specifications | ASDA-B Series Revision January 2009 11-15 Chart of load and operating time (ECMAC31303 S) 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 ond s) Load Operating Time 120% 613.1s 140% 121.4s 160% 62.6s 180% 39.4s 200% 26...

Page 283 - Chart of load and operating time (ECMAC31306

Chapter 11 Specifications | ASDA-B Series 11-16 Revision January 2009 Chart of load and operating time (ECMAC31306 S) 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 220...

Page 284 - Chart of load and operating time (ECMAC31310

Chapter 11 Specifications | ASDA-B Series Revision January 2009 11-17 Chart of load and operating time (ECMAC31310 S) 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 220%...

Page 285 - Chart of load and operating time (ECMAC31320

Chapter 11 Specifications | ASDA-B Series 11-18 Revision January 2009 Chart of load and operating time (ECMAC31320 S) 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 2...

Page 286 - Dimensions of Servo Motor; Motor Frame Size: 80mm Models; Model; Please use metric for precise measurements.

Chapter 11 Specifications | ASDA-B Series Revision January 2009 11-19 11.6 Dimensions of Servo Motor Motor Frame Size: 80mm 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 (without bra...

Page 287 - Motor Frame Size: 100mm Models

Chapter 11 Specifications | ASDA-B Series 11-20 Revision January 2009 Motor Frame Size: 100mm 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) 147.5 147.5 147.5 163...

Page 289 - EMI Filters Selection; Item

Chapter 11 Specifications | ASDA-B Series 11-22 Revision January 2009 11.7 EMI Filters Selection Item Power Servo Drive Model EMI Filter Model 16DRT1W3S (1-phase) 1 200W ASD-B0221-A 10TDT1W4C (3-phase) 16DRT1W3S (1-phase) 2 400W ASD-B0421-A 10TDT1W4C (3-phase) 16DRT1W3S (1-phase) 3 750W ASD-B0721-A ...

Page 290 - Chapter 12 Application Examples; Purpose; complete the positioning.; Programmable Logic Controller (hereinafter “PLC”)

Revision January 2009 12-1 Chapter 12 Application Examples 12.1 Connecting to DVP-EH PLC and DOP-A HMI Application Example: Dual Mode (S-P Mode) Purpose Use Delta DVP-EH series PLC to output pulse command (Homing operation, JOG operation, forward and reverse operation, and speed control mode switchi...

Page 291 - PLC Program

Chapter 12 Application Examples | ASDA-B Series 12-2 Revision January 2009 PLC Program

Page 294 - ASDA-B series Servo Drive; same communication protocol setting.

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-5 ASDA-B series Servo Drive 1. When using open-collector input, the max. allowable input pulse frequency is 200Kpps. 2. Parameter Settings: Set P1-01=06 (S-T dual mode) Set P1-09 ~ P1-11 (Internal speed command) Set P1-36...

Page 300 - Operation; Ensure all wiring is connected correctly.

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-11 (Speed Control) Operation Ensure all wiring is connected correctly. Restart the servo drive (Apply the power to servo drive again). At this time, the SON LED (Servo On Indicator) will be lit to indicate that the servo dr...

Page 301 - Connecting to DVP-EH PLC and Delta TP04 Series; Application Example: Homing Operation; adopt the same communication protocol setting.

Chapter 12 Application Examples | ASDA-B Series 12-12 Revision January 2009 12.2 Connecting to DVP-EH PLC and Delta TP04 Series Application Example: Homing Operation Purpose Use Delta TP04 series operation panel interface as host (external) controller to control ASDA-B servo drive and let the servo ...

Page 303 - Use

Chapter 12 Application Examples | ASDA-B Series 12-14 Revision January 2009 ASDA-B series Servo Drive Parameter Settings: P1-00 =0 (Position mode) P2-10 =101 (SON Servo ON, the default is DI1) P2-12 =104 (CCLR) P2-32 =1 (PDFF, the ratio of load inertia to servo motor inertia can be continuou...

Page 304 - External Controller Connection Examples; Connecting to Delta DVP-EH PLC

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-15 12.3 External Controller Connection Examples Connecting to Delta DVP-EH PLC

Page 305 - Connecting to Delta DVP-01PU

Chapter 12 Application Examples | ASDA-B Series 12-16 Revision January 2009 Connecting to Delta DVP-01PU

Page 306 - Connecting to Mitsubishi FX1PG

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-17 Connecting to Mitsubishi FX1PG

Page 307 - Connecting to Mitsubishi FX2N1PG

Chapter 12 Application Examples | ASDA-B Series 12-18 Revision January 2009 Connecting to Mitsubishi FX2N1PG

Page 308 - Connecting to Mitsubishi AD75

Chapter 12 Application Examples | ASDA-B Series Revision January 2009 12-19 Connecting to Mitsubishi AD75

Page 310 - Appendix A Accessories; Power Connectors

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...

Page 311 - Appendix A Accessories; Power Cables

Appendix A Accessories | ASDA-B Series A-2 Revision January 2009 Power Cables Delta Part Number: ASDBCAPW0203/0205 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE L Title Part No. mm inch 1 ASDBCAPW0203 3000 ± 50 118 ± 2 2 ASDBCAPW0205 5000 ± 50 197 ± 2 Delta Par...

Page 313 - Encoder Connectors

Appendix A Accessories | ASDA-B Series A-4 Revision January 2009 Encoder Connectors Delta Part Number: ASDBCAEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP CLAMP DELTA (34703237XX) DELTA Delta Part Number: ASDBCAEN1000 Encoder Cables Delta Part Number...

Page 314 - I/O Signal Connector

Appendix A Accessories | ASDA-B Series Revision January 2009 A-5 Encoder Cables, cont. Delta Part Number: ASDBCAEN1003/1005 L Title Part No. Straight mm inch 1 ASDBCAEN1003 3106A-20-29S 3000 ± 50 118 ± 2 2 ASDBCAEN1005 3106A-20-29S 5000 ± 50 197 ± 2 I/O Signal Connector Delta Part Number: ASDBCN...

Page 315 - Keypad

Appendix A Accessories | ASDA-B Series A-6 Revision January 2009 Communication Cables, cont. Delta Part Number: DVPACAB2A30 (for PC, connecting a ASDA-B servo drive to a PC) Delta Part Number: ASDBCACK0001 (for Keypad, connecting a PC to a Keypad) Title Part No. Manufacturer Box Header 3071420300 ...

Page 317 - Servo Drive, Servo Motor and Accessories Combinations

Appendix A Accessories | ASDA-B Series A-8 Revision January 2009 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 ASDBCAPW0...

Page 318 - 00W Servo Drive and 500W Medium Inertia Servo Motor

Appendix A Accessories | ASDA-B Series Revision January 2009 A-9 400W Servo Drive and 500W Medium Inertia Servo Motor Medium inertia Servo Motor ECMA-E31305 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor Pow...

Page 319 - 50W Servo Drive and 600W High Inertia Servo Motor

Appendix A Accessories | ASDA-B Series A-10 Revision January 2009 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive ASD-B0721-A High inertia Servo Motor ECMA-G31306 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable A...

Page 320 - kW Servo Drive and 900W High Inertia Servo Motor

Appendix A Accessories | ASDA-B Series Revision January 2009 A-11 1kW Servo Drive and 900W High Inertia Servo Motor Servo Drive ASD-B1021-A High inertia Servo Motor ECMA-G31309 S Without Brake With Brake 3M 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable AS...

Page 321 - kW Servo Drive and 2kW Medium Inertia Servo Motor

Appendix A Accessories | ASDA-B Series A-12 Revision January 2009 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-B2023-A 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 Cable...

Delta ASDA-B Series - Manual

Table of Contents:

Summary

Other Delta Models