AC Servo Drive User Manual

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Summary of content (357 pages)

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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 thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before proceeding with the installation, wiring and operation. If you do not understand please contact your local Delta sales representative.
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Preface|ASDA-AB Series 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 and motor while the power is ON. z Do not attach, modify or remove wiring while power is applied to the AC servo drive.
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Preface|ASDA-AB Series 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 precaution may result in serious injury, damage to the drive or fire. ¾ Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive and motor.
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Preface|ASDA-AB Series NOTE 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 consult our distributors or download the most updated version at http://www.delta.com.tw/industrialautomation. .
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Table of Contents Chapter 1 Unpacking Check and Model Explanation............................................................. 1-1 1.1 Unpacking Check ........................................................................................................................ 1-1 1.2 Model Explanation ....................................................................................................................... 1-2 1.2.1 Nameplate Information .......................................................
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Table of Contents|ASDA-AB Series 3.2 Basic Wiring................................................................................................................................. 3-11 3.3 Input / Output Interface Connector - CN1 ................................................................................... 3-14 3.3.1 CN1 Terminal Identification .............................................................................................. 3-14 3.3.2 Signals Explanation of Connector - CN1..........
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Table of Contents|ASDA-AB Series 4.4 4.3.3 Fault Message Display ..................................................................................................... 4-3 4.3.4 Polarity Setting Display..................................................................................................... 4-3 4.3.5 Monitor Setting Display..................................................................................................... 4-4 General Function Operation ...................................
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Table of Contents|ASDA-AB Series Chapter 6 Control Modes of Operation .................................................................................. 6-1 6.1 Control Modes of Operation ........................................................................................................ 6-1 6.2 Position Control Mode ................................................................................................................. 6-2 6.3 6.4 6.2.1 Command Source of Position (Pt) Control Mode ..
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Table of Contents|ASDA-AB Series 6.5 6.6 Control Mode Selection ............................................................................................................... 6-32 6.5.1 Speed / Position Control Mode Selection......................................................................... 6-32 6.5.2 Speed / Torque Control Mode Selection .......................................................................... 6-33 6.5.3 Torque / Position Control Mode Selection..............................
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Table of Contents|ASDA-AB Series Chapter 10 Troubleshooting..................................................................................................... 10-1 10.1 Fault Messages Table ................................................................................................................. 10-1 10.2 Potential Cause and Corrective Actions...................................................................................... 10-3 10.3 Clearing Faults ............................................
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Table of Contents|ASDA-AB Series 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 changes within this manual without prior notice. Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited.
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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 your order (Please refer to Section 1.2 for details about the model explanation). Ensure that the servo motor shaft rotates freely. Rotate the motor shaft by hand; a smooth rotation will indicate a good motor.
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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series (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 (3M type analog product) (5) CN3 Connector: 6 PIN Connector (IEEE1394 analog product) 1.2 Model Explanation 1.2.
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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series 1.2.
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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series ECMA Series Servo Motor 1-4 Revision January 2009
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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series 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 optional configurations. (Please refer to Section 1.
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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series 1.
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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series 110V models Revision January 2009 1-7
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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series 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 External Position Control Internal Position Control Speed Control Single Mode Internal Speed Control Torque Control Code Pt External Position control mode for the servo motor is achieved via an external pulse command.
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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 the drive in place. If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of the servo motor, coupling, and device are followed.
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Chapter 2 Installation and Storage|ASDA-AB Series 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 (113°F) for long-term reliability. If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a wellventilated location and do not obstruct the airflow for the cooling fan.
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Chapter 2 Installation and Storage|ASDA-AB Series 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 when installing the servo drive and motor. The ASDA-AB servo drive should be mounted perpendicular to the wall or in the control panel.
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Chapter 2 Installation and Storage|ASDA-AB Series Minimum Clearances Side by Side Installation 2-4 Revision January 2009
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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.
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Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.1.2 Servo Drive Connectors and Terminals Terminal Identification L1, L2 Terminal Description Notes Control circuit terminal Used to connect single-phase AC control circuit power. (Control circuit uses the same voltage as the main circuit.) Main circuit terminal Used to connect single-phase or three-phase AC main circuit power depending on connecting servo drive model. For single-phase 220V models, connect R and S terminals to power.
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Chapter 3 Connections and Wiring|ASDA-AB Series 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 and L2M, and there is no terminal T in 110V models. In other words, the terminal T in 220V models becomes no function in 110V models. 2.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.1.3 Wiring Methods For servo drives from 100W to 1.5kW the input power can be either single or three-phase. For servo drives 2kW and above only three-phase connections are available. But, 220V single-phase models are available in 1.5kW and below only and 110V single-phase models are available in 400W and below only. In the wiring diagram figures 3.3, 3.4 & 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.4 Single-Phase Power Supply (400W and below, 110V models) Figure 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series 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.
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Chapter 3 Connections and Wiring|ASDA-AB Series Terminal Identification U (Red) V (White) W (Black) CASE GROUND (Green) BRAKE1 (Blue) BRAKE2 (Brown) A 1 2 3 4 - - B 1 2 4 5 3 6 C F I B E G H D D E F G A B NOTE 1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Blue) and BRAKE2 (Brown). 2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage. 3.1.
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Chapter 3 Connections and Wiring|ASDA-AB Series Terminal /A /B /Z +5V GND Identification A B Z BRAID (Black (White (Orange (Brown & (Blue & AMP (1(Black) (White) (Orange) SHELD /Red) /Red) /Red) Brown/White) Blue/White) 172161-9) A 1 4 2 5 3 6 7 8 9 Terminal GND /A /B /Z +5V Identification A B Z (Black & BRAID (Blue (Green (Yellow (Red & Red 3106A-20- (Blue) (Green) (Yellow) Black SHELD /Black) /Black) /Black) /White) 29S /White) B A B C D F G S R L 3.1.
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Chapter 3 Connections and Wiring|ASDA-AB Series Encoder Cable 2 Encoder Cable - Wire Gauge AWG (mm ) 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 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A0411-AB ASD-A0421-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A0721-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-A1021-AB 0.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.2 Basic Wiring Figure 3.6 Basic Wiring Schematic of 100W ~ 1.
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Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series 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 / direction inputs, and reference voltages.
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Chapter 3 Connections and Wiring|ASDA-AB Series CN1 Terminal Signal Identification 1 2 DO3- DO2- 27 DO5- DO1- DI4- DO2+ 31 DI7DO1+ 33 DI59 10 DI2- DI1- 12 GND 14 NC Analog input signal ground 11 COM+ Power input (12~24V) 13 GND No Connection 16 MON1 Analog monitor output 1 15 MON2 Analog monitor output 2 17 VDD 18 T_REF Analog torque Input 19 GND 20 VCC 22 /OA 24 /OZ +12V power output (for analog command) Encoder /A pulse output Analog input signal ground 21 OA +24V power output (fo
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Chapter 3 Connections and Wiring|ASDA-AB Series 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 Table 3.C details the Digital Input (DI) signals. The General Signals are set by the factory and can not be changed, reprogrammed or adjusted. Both the Digital Input and Digital Output signals can be programmed by the users. Table 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series Signal Pin No Details Wiring Diagram (Refer to 3-3-3) 14,29, Other NC 38,39, See previous note for NC terminals CN1 connector 40,46, on page 3-11. - 48 The Digital Input (DI) and Digital Output (DO) have factory default settings which correspond to the various servo drive control modes. (See section 1.5). However, both the DI's and DO's can be programmed independently to meet the requirements of the users. Detailed in Tables 3.B and 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series DO Signal TSPD DO Code Assigned Control Mode Pin No. (Default) + 04 ALL 3 TPOS 05 Pt, Pr, PtS, Pt-T, Pr-S, Pr-T 1 TQL 06 Not assigned - Details (*1) - Wiring Diagram (Refer to 3-3-3) TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed setting as defined in 2 parameter P1-39. TSPD will remain activated until the motor speed drops below the Target Rotation Speed. 1.
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Chapter 3 Connections and Wiring|ASDA-AB Series NOTE 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 Control Mode Pin No. (Default) Details (*2) SON 01 ALL 9 Servo On. Switch servo to "Servo Ready". Check parameter P2-51. A number of Faults (Alarms) can be cleared by activating ARST.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3-20 Assigned Control Mode Pin No. (Default) 34 17 Pt, T, Tz, Pt-T, Pr-T, S-T S-P 18 Pt-S, Pr-S 31 Speed / Position mode switching OFF: Speed, ON: Position S-T 19 S-T 31 Speed / Torque mode switching OFF: Speed, ON: Torque T-P 20 Pt-T, Pr-T 31 Torque / Position mode switching OFF: Torque, ON: Position EMGS 21 ALL 30 It should be contact “b” and normally ON or a fault (ALE13) will display.
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Chapter 3 Connections and Wiring|ASDA-AB Series DI Signal DI Code Assigned Control Mode Pin No. (Default) JOGU 37 Not assigned - Forward JOG input. When JOGU is activated, the motor will JOG in forward direction. [see P4-05] JOGD 38 Not assigned - Reverse JOG input. When JOGD is activated, the motor will JOG in reverse direction. [see P4-05] STEPU 39 Not assigned - Step up input. When STEPU is activated, the motor will run to next position. STEPD 40 Not assigned - Step down input.
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Chapter 3 Connections and Wiring|ASDA-AB Series 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, P1-28 ON ON ON P1-29, P1-30 Table 3.E Source of Speed Command SPD1 SPD0 Parameter OFF OFF OFF ON P1-09 ON OFF P1-10 ON ON P1-11 S mode: analog input Sz mode: 0 Table 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series Table 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series Signal DI Code ORGP 24 Reference “Home” sensor 25 Reverse operation torque limit (torque limit function is valid only when P1-02 is enabled) TRLM 26 Forward operation torque limit (torque limit function is valid only when P1-02 is enabled) SHOM 27 Move to “Home” INDEX0 28 Feed step selection input 0 (bit 0) INDEX1 29 Feed step selection input 1 (bit 1) INDEX2 30 Feed step selection input 2 (bit 2) INDEX3 31 Feed step selection input 3
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Chapter 3 Connections and Wiring|ASDA-AB Series NOTE 1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1. Table 3.
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Chapter 3 Connections and Wiring|ASDA-AB Series 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 userdefined DI and DO signals. The setting method is easy and they are all defined via parameters. The user-defined DI and DO signals are defined via parameters P2-10 to P2-17 and P2-18 to P2-22. Please refer to the following Table 3.I for the settings. Table 3.I User-defined DI and DO signals Signal Name DI Pin No.
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Chapter 3 Connections and Wiring|ASDA-AB Series There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse frequency of Line driver input is 500kpps and max. input pulse frequency of Open-collector input is 200kpps. C3-1: Pulse input, for the use of internal power supply (Open-collector input) C3-2: Pulse input, for the use of external power supply (Open-collector input) ¾ Caution: Do not use dual power supply.
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Chapter 3 Connections and Wiring|ASDA-AB Series Be sure to connect a diode when the drive is applied to inductive load. (Permissible current: 40mA, Instantaneous peak current: max.
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Chapter 3 Connections and Wiring|ASDA-AB Series Use a relay or open-collector transistor to input signal.
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Chapter 3 Connections and Wiring|ASDA-AB Series C13: Encoder output signal (Line driver) 3-30 C14: Encoder output signal (Photocoupler) Revision January 2009
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Chapter 3 Connections and Wiring|ASDA-AB Series 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 through imbedded sensors in the motor within 500msec approximately. Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires.
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Chapter 3 Connections and Wiring|ASDA-AB Series 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 software supplied by Delta (contact to the dealer). The communication connector/port of Delta servo drive can provide three common serial communication interfaces: RS-232, RS-485, and RS-422 connection.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.5.
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Chapter 3 Connections and Wiring|ASDA-AB Series 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 wiring diagram on page 3-26. 3. Please refer to parameter P1-46 in Chapter 7.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.2 Position (Pt) Control Mode (110V models) Note: 1 The coil of brake has no polarity. 2. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 wiring diagram on page 3-26. 3. Please refer to parameter P1-46 in Chapter 7.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.3 Position (Pr) Control Mode (220V models) Note: 1 The coil of brake has no polarity. 2. Please refer to parameter P1-46 in Chapter 7.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.4 Position (Pr) Control Mode (110V models) Note: 1 The coil of brake has no polarity. 2. Please refer to parameter P1-46 in Chapter 7.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.5 Speed Control Mode (220V models) Note: 1 The coil of brake has no polarity. 2. Please refer to parameter P1-46 in Chapter 7.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.6 Speed Control Mode (110V models) Note: 1 The coil of brake has no polarity. 2. Please refer to parameter P1-46 in Chapter 7.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.7 Torque Control Mode (220V models) Note: 1 The coil of brake has no polarity. 2. Please refer to parameter P1-46 in Chapter 7.
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Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.8 Torque Control Mode (110V models) Note: 1 The coil of brake has no polarity. 2. Please refer to parameter P1-46 in Chapter 7.
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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 the digital keypad and an overview of their functions. Figure 4.1 Name Function LCD Display The LCD Display (5-digit, 7-step display panel) shows the monitor codes, parameter settings and operation values of the AC servo drive.
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Chapter 4 Display and Operation|ASDA-AB Series 4.2 Display Flowchart Figure 4.2 1. Keypad Operation 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 monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. At this time, monitor display symbol will display for approximately one second. 3.
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Chapter 4 Display and Operation|ASDA-AB Series 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 value is saved correctly. This parameter is read only. Write-protected. (cannot be changed) Invalid password or no password was input. The setting value is error or invalid.
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Chapter 4 Display and Operation|ASDA-AB Series Display Message Description Negative value display. When the parameter setting is greater than four digits (for the setting value within the range of less than five decimal places), after the display value is set, continuously press SHIFT key for many times and then the lit decimal points are used to indicate a negative value. Negative value display.
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Chapter 4 Display and Operation|ASDA-AB Series P0-02 Setting Display Message Description Unit 9 Torque input command Volt 10 Torque input command % 11 Average load % 12 Peak load % 13 Main circuit voltage Volt 14 Ratio of load inertia to motor inertia time 15 Motor feedback pulse number (relative value) / Position latch pulse number pulse 16 Motor feedback rotation number (relative value) / Position latch rotation number rev The following table lists the display examples of monit
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Chapter 4 Display and Operation|ASDA-AB Series 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 arrow key to display the fault code of H1 to H5 in order. H1 indicates the most recent occurred fault code, H2 is the previous occurred fault code before H1 and so on. Please refer to the Figure 4.3. The recently occurred error code is 10.
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Chapter 4 Display and Operation|ASDA-AB Series 4.4.2 JOG Operation After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation. (Please also refer to Figure 4.4). Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min). Step2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed.
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Chapter 4 Display and Operation|ASDA-AB Series 4.4.3 Position Learning Operation Follow the following steps to perform position learning operation (Please also refer to Figure 4.5). 1. Activate the internal position learning function (Set P2-30=4). 2. After enter into parameter mode P4-05, press Set key and the LED display will show learning moving speed value. The default setting is 20 r/min. 3. Press UP or DOWN arrow key to set the desired moving speed value.
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Chapter 4 Display and Operation|ASDA-AB Series 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 Position Command for Rotation), P1-18 (2nd Position Command for Pulse) JOGo3 P1-19 (3rd Position Command for Rotation), P1-20 (3rd Position Command for Pulse) JOGo4 P1-21 (4th Position Command for Rotation), P1-22 (4th Position Co
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Chapter 4 Display and Operation|ASDA-AB Series 4.4.5 DI Diagnosis Operation Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI8, the corresponding status will display on the servo drive LED display. When the segment lit and display on the screen, it means that the corresponding digital input signal is ON. (Please also refer to Figure 4.7) Figure 4.7 4.4.
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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 run without load first before performing the trial run with load. 5.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 the cables and notice that if they are damaged, frayed or over extended. z Check for abnormal vibrations and sounds during operation.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables separately (U: Red, V: White, W: Black, FG: Green). If not connect to the specified cable and terminal, then the drive cannot control motor.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 voltage falls within the rated input voltage. Use voltmeter to check whether the input voltage is within the specified limit. 2) When display shows: Encoder error: Check if the wiring is correct.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 (It should be activated). 4) When display shows: Reverse limit switch error: Please check if any of digital inputs DI1~DI8 signal is set to “Reverse inhibit limit (CWL)” and check if the signal is ON or not.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On (SON) function is enabled) and the following fault message shows on the display: 6) When display shows: Overcurrent: Corrective Actions: Check the wiring connections between the servo drive and motor. Check if the circuit of the wiring is closed. Remove the short-circuited condition and avoid metal conductor being exposed.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 connect the digital keypad to the servo drive. For safety, it is recommended to set JOG speed at low speed. Please refer to the following steps to perform JOG trial run without load. STEP 1: Turn the drive ON through software.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 5-8 Revision January 2009
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 it is speed (S) control mode. After selecting the operation mode as speed (S) control mode, please restart the drive as P1-01 is effective only after the servo drive is restarted (after switching power off and on).
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series The settings of speed command: P1-09 is set to 3000 Input value command Rotation direction P1-10 is set to 100 + CW P1-11 is set to -3000 - CCW STEP 3: 1. The users can use DI1 to enable the servo drive (Servo ON). 2. If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At this time, the motor is operating according to external analog command. 3.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 to 01 and it is position (Pr) control mode. After selecting the operation mode as position (Pr) control mode, please restart the drive and the setting would be valid.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series The position command is selected by POS0 ~ POS2.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Set P1-25 to 0 (rotation number) Set P1-26 to 100 (pulse number) The command of internal position 6: P1-25 Rotation No. + P1-26 Pulse No. Set P1-27 to 0 (rotation number) Set P1-28 to 1000 (pulse number) The command of internal position 7: P1-27 Rotation No. + P1-28 Pulse No. Set P1-29 to -10 (rotation number) Set P1-30 to 2500 (pulse number) The command of internal position 8: P1-29 Rotation No. + P1-30 Pulse No.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 drive, the right side display will show on the LCD display. 2. Press MODE key to enter into parameter mode. 3. Press SHIFT key twice to select parameter group. 4. Press UP key to view each parameter and select parameter P2-17. 5.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 21. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 operation. Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, execute JOG operation again, press MODE key once and press SET key twice to view the display on the keypad.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 5.6.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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) A: No function B: Responsiveness level of auto-tuning mode A B not used In AutoMode (PI), the value “B” indicates the responsiveness setting. When the setting value is higher, the responsiveness is faster. Adjust P2-31: Increase the setting value of P2-31.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Table 5.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 5.6.4 AutoMode (PDFF) Tuning Flowchart Set P2-32 to 4 (4: AutoMode (PDFF) [Continuous adjustment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) A: No function B: Responsiveness level of auto-tuning mode A B not used In AutoMode (PDFF), the value “B” indicates the responsiveness setting. When the setting value is higher, the responsiveness is faster. Adjust P2-31: Increase the setting value of P2-31.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Speed Loop Responsiveness.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 5.6.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 motor inertia. The change of external force and the inertia ratio can not be too much. In AutoMode (P2-32 is set to 3 or 5), it will stop estimating the load inertia.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 5.6.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 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 response and reduce position error. When the setting value of KPP is higher, the response to the position command is quicker, the position error is less and the settling time is also shorter.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series DST, Parameter P2-26 External Anti-Interference Gain This parameter is used to enhance the anti-interference capability and reduce the occurrence of overshoot. The default setting is 0 (Disabled).
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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 Description External Position Control Pt Position control for the servo motor is achieved via an external pulse command. Internal Position Control Pr Position control for the servo motor is achieved via by 8 commands stored within the servo controller.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 usually used for the applications requiring precision positioning, such as industry positioning machine, indexing table etc. Delta ASDA-AB series servo drive supports two kinds of command sources in position control mode.
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Chapter 6 Control Modes of Operation|ASDA-AB Series • Value B: Input pulse filter This setting is used to suppress or reduce the chatter caused by the noise, etc. However, if B=0: 500Kpps the instant input pulse filter frequency is over B=1: 200Kpps high, the frequency that exceeds the setting B=2: 150Kpps value will be regarded as noise and filtered.
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Chapter 6 Control Modes of Operation|ASDA-AB Series Position Command POS2 POS1 POS0 P5 1 0 0 P6 1 0 1 P7 1 1 0 P8 1 1 1 CTRG Parameters Description P1-23 Rotation number (+/- 30000) P1-24 Pulses (+/- max cnt) P1-25 Rotation number (+/- 30000) P1-26 Pulses (+/- max cnt) P1-27 Rotation number (+/- 30000) P1-28 Pulses (+/- max cnt) P1-29 Rotation number (+/- 30000) P1-30 Pulses (+/- max cnt) State of POS0~2: 0 indicates the contact is OFF (Normally Open) 1 indicates the c
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Chapter 6 Control Modes of Operation|ASDA-AB Series In order to pursue the goal of perfection in position control, the pulse signal should be modified through position command processing and the structure is shown as the figure below: Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set in both two modes to set proper position revolution.
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Chapter 6 Control Modes of Operation|ASDA-AB Series Position Time (ms) Speed Rated speed Time (ms) Torque Time (ms) TSL/2 TACC TSL/2 TSL/2 TACC TSL/2 P-curve characteristics and Time relationship (Acceleration) Position Time (ms) Speed Rated speed Time (ms) Torque TSL/2 TDEC TSL/2 TSL/2 TDEC TSL/2 P-curve characteristics and Time relationship (Deceleration) Relevant parameters: P1 - 34 TACC Acceleration Time Communication Addr.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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.) 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.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 2) So if user change the control mode to Pr mode and switching power off and on, the servo drive of parameter P1-36 will auto set the value to 20. 6.2.5 Electronic Gear Ratio Relevant parameters: P1 - 44▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) Communication Addr.: 012CH Default: 1 Related Section: Applicable Control Mode: P Section 6.2.5 Unit: Pulse Range: 1 ~ 32767 Settings: Multiple-step electronic gear numerator setting.
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Chapter 6 Control Modes of Operation|ASDA-AB Series Electronic Gear Ratio When the electronic gear ratio is not used = When the electronic gear ratio is not used = 1 1 1000 0 300 0 Corresponding travel distance per pulse = 3x 100 0 300 0 = 4x 250 0 100 00 m =1 m 6.2.6 Low-pass Filter Relevant parameters: P1 - 08 PFLT Smooth Constant of Position Command (Lowpass Filter) Communication Addr.: 0108H Default: 0 Related Section: Applicable Control Mode: P Section 6.2.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 6.2.7 Timing Chart of Position (Pr) Control Mode In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG. Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is shown the timing chart of Pr mode: P8 P3 Internal position command P2 P1 External I/O signal 1ms POS0 OFF POS1 OFF POS2 OFF ON OFF ON ON ON CTRG SON ON >2ms, can be set by P2-09 6.2.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 Section: Applicable Control Mode: P Section 6.2.8 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is used to set the position loop gain. It can increase stiffness, expedite position loop response and reduce position error.
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Chapter 6 Control Modes of Operation|ASDA-AB Series When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate. At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the speed of servo motor.
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Chapter 6 Control Modes of Operation|ASDA-AB Series GND. The setting range of the input voltage is from -10V to +10V and the corresponding motor speed is adjustable (Please see parameter P1-40). When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter (P1-09 to P1-11). The command is valid (enabled) after either SPD0 or SPD1 is changed.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 acceleration and deceleration. Using S-curve filter can let the servo motor run more smoothly in response to a sudden speed command change.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 is used to determine the deceleration time to decelerate from its rated rotation speed to 0. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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) Analog speed command Motor Torque 3000 0 1 2 3 4 5 6 7 8 9 Time (sec) -3000 The analog speed command S-curve filter is for the smoothing of analog input signal and its function is the same as the S-curve filter.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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. 5000rpm The speed control ramp is determined by parameter P1-40 3000rpm -10 -5 5 10 Analog Input Voltage (V) -3000rpm -5000rpm Relevant parameters: P1 - 40▲ VCM Max. Analog Speed Command / Limit Communication Addr.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 6.3.5 Timing Chart of Speed Control Mode S4 (P1-11) Internal speed command S3 (P1-10) S2 (P1-09) External analog voltage or zero (0) External I/O signal S1 SPD0 OFF SPD1 OFF SON ON OFF ON ON ON NOTE 1) OFF indicates normally open and ON indicates normally closed. 2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the speed command S1 is external analog voltage input (Please refer to P1-01).
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 of system bandwidth. The parameter set by user is default value. The mode of gain adjustment can be selected by parameter P2-32: P2 - 32▲ AUT2 Tuning Mode Selection Communication Addr.
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Chapter 6 Control Modes of Operation|ASDA-AB Series Proportional gain: Adjust this gain can increase the position loop responsiveness. Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will result in the unstable servo system.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 domain method, the users only need to prepare an oscilloscope.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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, input command tracking and torque shaft load have the same responsiveness when using frequency domain method and time domain method. The users can reduce the responsiveness of input command tracking by using input command low-pass filter.
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Chapter 6 Control Modes of Operation|ASDA-AB Series P2 - 24 Notch Filter Attenuation Rate (Resonance Suppression) DPH 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 Low-pass Filter Time Constant (Resonance Suppression) NLP Communication Addr.: 0219H Default: 2 (1kW and below models) or Related Section: 5 (above 1kW models) Section 6.3.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 (BW) will become smaller (see the figure below). The resonant condition is improved and the frequency response and phase margin will also decrease.
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Chapter 6 Control Modes of Operation|ASDA-AB Series Use Low-pass Filter to suppress resonance . Resonance Point Gain Low-pass Frequency Resonance Frequency Frequency Gain 0db Attenuation Rate -3db Low-pass Filter Cut-off Frequency of Low-pass Filter = 10000 / P2-25 Hz Frequency Gain Resonance conditions is suppressed Low-pass Frequency Resonance Frequency .
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Chapter 6 Control Modes of Operation|ASDA-AB Series 6.4 Torque Control Mode The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machine, twister, etc. Delta ASDA-AB series servo drive supports two kinds of command sources in torque control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the torque of servo motor.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 P1-41) and smoothing strategy of torque control mode. The current control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously.
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Chapter 6 Control Modes of Operation|ASDA-AB Series NOTE 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. Target Speed TFLT 6.4.4 Analog Torque Input Scaling The analog voltage between T_REF and GND controls the motor torque command. Using with parameter P1-41 can adjust the torque control ramp and its range.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 torque command is changed to 50% rated torque. Torque command / limit = Input voltage x setting/10 (%) 6.4.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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.
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Chapter 6 Control Modes of Operation|ASDA-AB Series In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time. When switching to the position mode (when S-P is OFF), the position command is not determined (it needs to wait that CTRG is on the rising edge), so the motor stop running. Once CTRG is on the rising edge, position command will be selected according to POS0~2 and the motor will immediately move to the determined position.
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Chapter 6 Control Modes of Operation|ASDA-AB Series The timing chart of speed / position control mode selection is shown as the figure below: In position mode (when T-P is ON), the motor will start to count pulse and operate following the external pulse command. When switching to the torque mode (when T-P is OFF), it will stop counting pulse even if the pulse command is continuously sent out. The torque command is determined by TCM0~1 and the motor will rotate following the command.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 6.6 Others 6.6.1 Speed Limit The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or torque control mode. The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11). For more information of speed command source, please refer to chapter 6.3.1.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 the servo drive. This power will be transmitted into the capacitance of DC Bus and result in rising voltage.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 that the resistance value following the above table (Built-in Regenerative Resistor Specifications).
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Chapter 6 Control Modes of Operation|ASDA-AB Series For example: If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. motor speed is 3000r/min, the load inertia = 7 × motor inertia, then the necessary the power of regenerative resistor = 2 x ( (7+1) × 1.68 - 8) / 0.4 = 27.2W. If the calculation result is smaller than regenerative power, we recommend the users to use the built-in 60W regenerative resistor.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 which power is 2 x (0.7 x 1.27) x (3000 x 2 x π/ 60) = 560W, 40Ω.
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Chapter 6 Control Modes of Operation|ASDA-AB Series Allowable frequency when the servo motor run without load (times/min) ECMA Series 500W 600W 750W 900W 1.0kW (100 mm) 05 06 07 09 10 BR400W040 291 283 2128 213 925 BR1K0W020 729 708 5274 533 2312 1.0kW (130mm) 1.5kW 2.0kW (100mm) 2.0kW (130mm) 2.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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.: 0103H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 3.3.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 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 cannot be reset.
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Chapter 6 Control Modes of Operation|ASDA-AB Series 6.6.5 Electromagnetic Brake When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the electromagnetic brake is disabled and motor is stop running and locked. If the digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run freely. There are two parameters that affect the electromagnetic brake. One is parameter P1-42 (MBT1) and the other is parameter P1-43 (MBT2).
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Chapter 6 Control Modes of Operation|ASDA-AB Series Electromagnetic Brake Wiring Diagram NOTE 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 servo drive can be used to power the relay coil (Relay). When BRKR signal is ON, the motor brake will be activated. 6-44 3) Please note that the coil of brake has no polarity. 4) The power supply for brake is DC24V.
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Chapter 6 Control Modes of Operation|ASDA-AB Series The timing charts of control circuit power and main circuit power: L1, L2 Control Circuit Power 1 sec 5V Control Circuit Power > 0msec R, S, T Main Circuit Power 800ms BUS Voltage READY 2 sec SERVO READY SERVO ON (DI Input) 1 msec (min)+ Response Filter Time of Digital Input ( P2-09) SERVO ON (DO Output) Position \ Speed \ Torque Command Input Revision January 2009 Input available 6-45
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Chapter 7 Servo Parameters 7.
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Chapter 7 Servo Parameters|ASDA-AB Series 7.2 Parameters Summary 7.2.
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Chapter 7 Servo Parameters|ASDA-AB Series Group 1: P1-xx Basic Parameters Parameter Name Function Default Control Mode Unit Pt Pr S T P1-00▲ PTT External Pulse Input Type 2 P1-01● CTL Control Mode and Output Direction 0 P1-02▲ PSTL Speed and Torque Limit 0 N/A { { { { P1-03 AOUT Pulse Output Polarity Setting 0 N/A { { { { P1-04 MON1 Analog Monitor Output Proportion 1 (CH1) 100 % { { { { P1-05 MON2 Analog Monitor Output Proportion 2 (CH2) 100 % { { { { P1-06 SFLT Ac
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Chapter 7 Servo Parameters|ASDA-AB Series Basic Parameters Parameter Name Function Default Unit Control Mode Pt Pr S T OFF Delay Time of Electromagnetic Brake 0 GR1 Electronic Gear Ratio (1st Numerator) (N1) 1 pulse { { P1-45▲ GR2 Electronic Gear Ratio (Denominator) 1 pulse { { P1-46▲ GR3 Encoder Output Pulse Number 1 pulse { { { { P1-47 HMOV Homing Mode 00 N/A { { { { P1-48 HSPD1 1st Speed Setting of High Speed Homing 1000 r/min { { { { P1-49 HSPD2 2nd Speed Setting of
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Chapter 7 Servo Parameters|ASDA-AB Series Group 2: P2-xx Extension Parameters Parameter Name Function Default Unit Control Mode Pt Pr S P2-00 KPP Proportional Position Loop Gain 35 rad/s { { P2-01 PPR Position Loop Gain Switching Rate 100 % { { P2-02 PFG Position Feed Forward Gain 5000 P2-03 PFF Smooth Constant of Position Feed Forward Gain P2-04 KVP P2-05 T 0.
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Chapter 7 Servo Parameters|ASDA-AB Series Extension Parameters Parameter Name Function Default Unit Control Mode Pt Pr S 7-6 T P2-31■ AUT1 Auto Mode Responsiveness Level 44 N/A { { { { P2-32▲ AUT2 Tuning Mode Selection 0 N/A { { { { P2-33▲ INF Easy Setting of Input Filter 0 N/A { { { { P2-34 SDEV Overspeed Warning Condition 5000 r/min P2-35 PDEV Excessive Error Warning Condition 30000 pulse { { P2-36 ~ P2-43 POV1 ~ POV8 Moving Speed Setting of 1st ~ 8th Position 1000
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Chapter 7 Servo Parameters|ASDA-AB Series Group 3: P3-xx Communication Parameters Parameter Name Function Default Unit Control Mode 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 0 N/A { { { { P3-03 FLT Transmission Fault Treatment 0 N/A { { { { P3-04 CWD Communication Time Out Detection 0 sec { { { { P3-05 CMM Communication Selection 0 N/A { { { { P3-06■ SDI Digital Inp
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Chapter 7 Servo Parameters|ASDA-AB Series Group 4: P4-xx Diagnosis Parameters Parameter Name Function Default Unit Control Mode Pt Pr S 7-8 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★ ASH4 Fault Record (N-3) 0 N/A { { { { P4-04★ ASH5 Fault Record (N-4) 0 N/A { { { { P4-05 JOG JOG Operation 20 r/min { { { { P4-06▲■ FOT Force Output Control 0 N/A { { { { P4-07■
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Chapter 7 Servo Parameters|ASDA-AB Series 7.2.2 Parameters List by Function Monitor and General Use Parameter Name Function Default Unit Control Mode Pt Pr S T Related Section of User Manual P0-00★ VER Firmware Version Factory setting N/A { {` { { --- P0-01★ ALE Drive Fault Code N/A N/A { { { { 10.1 P0-02 STS Drive Status 00 N/A { { { { 4.3.5 P0-03 MON Analog Monitor Output 01 N/A { { { { 4.3.5 P0-04 CM1 Status Monitor 1 0 N/A { { { { 4.3.
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Chapter 7 Servo Parameters|ASDA-AB Series Smooth Filter and Resonance Suppression Parameter Name Function Default Control Mode Unit Pt Pr S T Related Section of User Manual { 6.3.3 P1-06 SFLT Accel / Decel Smooth Constant of Analog Speed Command (Lowpass Filter) 0 ms P1-07 TFLT Smooth Constant of Analog Torque Command (Low-pass Filter) 0 ms P1-08 PFLT Smooth Constant of Position Command (Low-pass Filter) 0 ms P1-34 TACC Acceleration Time 200 ms { { 6.3.
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Chapter 7 Servo Parameters|ASDA-AB Series Gain and Switch Parameter Name Function Default Unit Control Mode Pt Pr S T rad/s { { Related Section of User Manual P2-00 KPP Proportional Position Loop Gain 35 P2-01 PPR Position Loop Gain Switching Rate 100 % { { --- P2-02 PFG Position Feed Forward Gain 5000 0.0001 { { 6.2.8 P2-03 PFF Smooth Constant of Position Feed Forward Gain 5 ms { { --- P2-04 KVP Proportional Speed Loop Gain 500 rad/s { { { { 6.3.
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Chapter 7 Servo Parameters|ASDA-AB Series Position Control Parameter Name Function Default Control Mode Unit Pt Pr S P1-01● CTL P1-02▲ P1-46▲ P1-55 Control Mode and Output Direction 0 PSTL Speed and Torque Limit 0 GR3 Encoder Output Pulse Number MSPD Maximum Speed Limit P1-12 ~ P1-14 TQ1 ~ 3 1st ~ 3rd Torque Command P2-50 DCLR Pulse Deviation Clear Mode 1st ~ 3rd Torque Limit T pulse r/min { { { { N.M N/A Related Section of User Manual 6.1 { { { { 6.
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Chapter 7 Servo Parameters|ASDA-AB Series Position Control Parameter Name Function Default Unit Control Mode Pt Pr S T Related Section of User Manual P2-45 DOD Combination Output Signal Delay Time 1 4ms { 12.6 P2-46 FSN Feed Step Number 6 N/A { 12.6 P2-47 PED Position Deviation Clear Delay Time 0 20ms { 12.6 P2-48 BLAS Backlash Compensation of Feed Step Control 0 pulse { 12.6 P2-52 ATM0 Timer 0 of Auto Mode 0 sec { 12.
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Chapter 7 Servo Parameters|ASDA-AB Series Speed Control Parameter Name Function Default Unit Control Mode Pt Pr S P1-01● CTL P1-02▲ P1-46▲ P1-55 Control Mode and Output Direction 0 PSTL Speed and Torque Limit 0 GR3 Encoder Output Pulse Number MSPD Maximum Speed Limit pulse r/min { { { { N.M N/A 6.6 1 pulse { { { { --- rated speed r/min { { { { --- 100 ~ 300 r/min 100 % SP1 ~ 3 1st ~ 3rd Speed Command P1-12 ~ P1-14 TQ1 ~ 3 1st ~ 3rd Torque Command P1-40▲ VCM Max.
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Chapter 7 Servo Parameters|ASDA-AB Series Torque Control Parameter Name Function Default Unit Control Mode Pt Pr S P1-01● CTL P1-02▲ P1-46▲ P1-55 Control Mode and Output Direction 0 PSTL Speed and Torque Limit 0 GR3 Encoder Output Pulse Number MSPD Maximum Speed Limit pulse r/min { { { { N.M N/A 6.6 1 pulse { { { { --- rated speed r/min { { { { --- 100 ~ 300 r/min 100 % SP1 ~ 3 1st ~ 3rd Speed Command P1-12 ~ P1-14 TQ1 ~ 3 1st ~ 3rd Torque Command P1-40▲ VCM Max.
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Chapter 7 Servo Parameters|ASDA-AB Series Digital I/O and relative input output setting Digital I/O Parameter Name Function Default Unit Control Mode Pt Pr S 2 T Related Section of User Manual P2-09 DRT Bounce Filter 2ms { { { { P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A { { { { P2-11 DI2 Digital Input Terminal 2 (DI2) 104 N/A { { { { P2-12 DI3 Digital Input Terminal 3 (DI3) 116 N/A { { { { P2-13 DI4 Digital Input Terminal 4 (DI4) 117 N/A { { { { P2-14 DI5 Digit
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Chapter 7 Servo Parameters|ASDA-AB Series Communication Parameter Name Function Default Unit Control Mode 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 Communication Protocol 0 N/A { { { { 8.2 P3-03 FLT Transmission Fault Treatment 0 N/A { { { { 8.2 P3-04 CWD Communication Time Out Detection 0 sec { { { { 8.
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Chapter 7 Servo Parameters|ASDA-AB Series Diagnosis Parameter Name Function Default Unit Control Mode Pt Pr S 7-18 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 (N-2) 0 N/A { { { { 4.4.1 P4-03★ ASH4 Fault Record (N-3) 0 N/A { { { { 4.4.1 P4-04★ ASH5 Fault Record (N-4) 0 N/A { { { { 4.4.1 P4-05 JOG JOG Operation 20 r/min { { { { 4.4.
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Chapter 7 Servo Parameters|ASDA-AB Series Others Parameter Name Function Default Unit Control Mode 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 Inertia to Servo Motor Inertia 5.0 times { { { { 6.3.6 P1-52 RES1 Regenerative Resistor Value N/A Ohm { { { { 6.6.3 P1-53 RES2 Regenerative Resistor Capacity N/A Watt { { { { 6.6.
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Chapter 7 Servo Parameters|ASDA-AB Series 7.3 Detailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00★ VER Firmware Version Default: Factory setting Communication Addr.: 0000H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: N/A P0 - 01★ ALE Drive Fault Code Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P0 - 02 STS Drive Status Communication Addr.: 0002H Default: 00 Related Section: Applicable Control Mode: ALL Section 4.3.
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Chapter 7 Servo Parameters|ASDA-AB Series P0 - 03 MON Analog Monitor Output Communication Addr.: 0003H Default: 01 Related Section: Applicable Control Mode: ALL Section 4.3.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 Communication Addr.: 0006H 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 - 07 CM4 Status Monitor 4 Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P0 - 09 MAP0 Block Data Read / Write Register 0 Default: 407H Communication Addr.: 0009H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: Set the register address in HEX that users want to read and write by using the keypad. Users can enter the desired register address (0100H ~ 0417H) into P0-09 to P0-16 (0009H ~ 0010H).
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Chapter 7 Servo Parameters|ASDA-AB Series P0 - 13 MAP4 Block Data Read / Write Register 4 Default: 111H Communication Addr.: 000DH Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: See P0-09 for explanation. P0 - 14 MAP5 Block Data Read / Write Register 5 Default: 112H Communication Addr.: 000EH Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: See P0-09 for explanation.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 of the servo drive. The servo output status display will show in hexadecimal format.
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Chapter 7 Servo Parameters|ASDA-AB Series Group 1: P1-xx Basic Parameters P1 - 00▲ PTT External Pulse Input Type Communication Addr.: 0100H Default: 2 Related Section: Applicable Control Mode: Pt Section 6.2.
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Chapter 7 Servo Parameters|ASDA-AB Series 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: A B C not used • A: Control mode settings • B: Torque output direction settings • C=1: When switching to different mode, DIO (P2-10 ~ P2-22) can be reset to be the default value of the mode you switch to.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 02▲ PSTL Speed and Torque Limit Communication Addr.: 0102H Default: 00 Related Section: Applicable Control Mode: ALL Section 6.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0 Related Section: Applicable Control Mode: ALL Section 3.3.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 07 TFLT Smooth Constant of Analog Torque Command (Low-pass Filter) Communication Addr.: 0107H Default: 0 Related Section: Applicable Control Mode: T Section 6.4.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) P1 - 08 PFLT Smooth Constant of Position Command (Lowpass Filter) Communication Addr.: 0108H Default: 0 Related Section: Applicable Control Mode: Pt Section 6.2.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 11 SP3 3rd Speed Command or Limit Communication Addr.: 010BH Default: 300 Related Section: Applicable Control Mode: S, T Section 6.3.1 Unit: r/min Range: -5000 ~ +5000 Settings: 3rd Speed Command In Speed mode, this parameter is used to set speed 3 of internal speed command. For the decimal place setting of internal speed command, please refer to P2-63.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 13 TQ2 2nd Torque Command or Limit Communication Addr.: 010DH Default: 100 Related Section: Applicable Control Mode: T, P/S Section 6.4.1 Unit: % Range: -300 ~ +300 Settings: 2nd Torque Command In Torque mode, this parameter is used to set torque 2 of internal torque command. 2nd Torque Limit In Position and Speed mode, this parameter is used to set torque limit 2 of internal torque command.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 16 PO1L 1st Position Command for Pulse Communication Addr.: 0110H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 1. Stroke1 = PO1H × (cnt/rev) + PO1L P1 - 17 PO2H 2nd Position Command for Rotation Communication Addr.: 0111H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 20 PO3L 3rd Position Command for Pulse Communication Addr.: 0114H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 3. Stroke3 = PO3H × (cnt/rev) + PO3L P1 - 21 PO4H 4th Position Command for Rotation Communication Addr.: 0115H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 24 PO5L 5th Position Command for Pulse Communication Addr.: 0118H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 5. Stroke5 = PO5H × (cnt/rev) + PO5L P1 - 25 PO6H 6th Position Command for Rotation Communication Addr.: 0119H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 28 PO7L 7th Position Command for Pulse Communication Addr.: 011CH Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 7. Stroke7 = PO7H × (cnt/rev) + PO7L P1 - 29 PO8H 8th Position Command for Rotation Communication Addr.: 011DH Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 occurs (except for CWL, CCWL, EMGS and serial communication error), it is used to set servo motor stop mode.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 to determine the acceleration time to accelerate from 0 to its rated motor speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.) P1 - 35 TDEC Deceleration Time Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 mode) Settings: This parameter is used to make the motor run more smoothly when startup and windup. Using this parameter can improve the motor running stability.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 38 ZSPD Zero Speed Range Setting Default: 10 Communication Addr.: 0126H 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 (ZSPD). ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1-38.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 40▲ VCM Max. Analog Speed Command or Limit Communication Addr.: 0128H Default: rated speed Related Section: Applicable Control Mode: S/T Section 6.3.4, P1-55 Unit: r/min Range: 0 ~ 10000 Settings: In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V) of the analog speed command. In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V) of the analog speed limit.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 the servo drive is Off (Servo Off) and when electromagnetic brake output signal (BRKR) is inactivated.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 45▲ GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH Default: 1 Related Section: Applicable Control Mode: Pt, Pr Section 6.3.6 Unit: Pulse Range: 1 ~ 32767 Settings: Electronic gear denominator setting. It is recommended to set electronic gear ratio when the servo drive is Off.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 46▲ GR3 Encoder Output Pulse Number Default: 1 Communication Addr.: 012EH Related Section: N/A Applicable Control Mode: ALL Unit: Pulse Range: 10020 ~ 12500 Settings: This parameter is used to set the pulse number of encoder outputs which directly represents the encoder output pulse number per motor revolution.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 47 HMOV Homing Mode Communication Addr.: 012FH Default: 00 Related Section: Applicable Control Mode: ALL Section 12.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 48 HSPD1 1st Speed Setting of High Speed Homing Communication Addr.: 0130H Default: 1000 Related Section: Applicable Control Mode: ALL Section 12.8 Unit: r/min Range: 1 ~ 2000 Settings: HSP1 HSP2 Z pulse P1 - 49 HSPD2 2nd Speed Setting of Low Speed Homing Communication Addr.: 0131H Default: 50 Related Section: Applicable Control Mode: ALL Section 12.8 Unit: r/min Range: 1 ~ 500 Settings: Please refer to P1-48.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 52 RES1 Regenerative Resistor Value Communication Addr.: 0134H Default: 40 (1kW and below), 20 (above 1kW) Related Section: Applicable Control Mode: ALL Section 6.6.3 Unit: Ohm Range: 10 ~ 750 P1 - 53 RES2 Regenerative Resistor Capacity Communication Addr.: 0135H Default: 60 (1.5kW and below), 120 (above 1.5kW) Related Section: Applicable Control Mode: ALL Section 6.6.
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Chapter 7 Servo Parameters|ASDA-AB Series P1 - 56 OVW Output Overload Warning Level Default: 120 Communication Addr.: 0138H Related Section: N/A Applicable Control Mode: ALL Unit: % Range: 0 ~ 120 Settings: This parameter is used to set output overload level. When the motor has reached the output overload level set by parameter P1-56, the motor will send a warning to the drive. After the drive has detected the warning, the DO signal OLW will be activated.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 parameter is used to delay the output time of digital output, CMDOK (Internal position command completed output) when the servo drive has detected the internal position command has been completed.
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Chapter 7 Servo Parameters|ASDA-AB Series Group 2: P2-xx Extension Parameters P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 35 Related Section: Applicable Control Mode: Pt, Pr Section 6.2.8 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is used to set the position loop gain. It can increase stiffness, expedite position loop response and reduce position error. However, if the setting value is over high, it may generate vibration or noise.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 gain can improve position track deviation. When not using position smooth command, decrease gain can improve the resonance condition of mechanical system. P2 - 04 KVP Proportional Speed Loop Gain Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 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 the setting value is over high, it may generate vibration or noise.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 08■ PCTL Special Factory Setting Default: 0 Communication Addr.: 0208H 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 factory settings and enable some parameters functions. Settings: Reset parameters settings: 10: Users can reset all parameter values to factory defaults. All parameter values will be reset after re-power the servo drive.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 10 DI1 Digital Input Terminal 1 (DI1) Communication Addr.: 020AH Default: 101 Related Section: Applicable Control Mode: ALL Table 7.A Unit: N/A Range: 0 ~ 147 Settings: This parameter is used to determine the function and status of DI1. A B not used • A: DI Function Settings: For the setting value of P2- 10 ~ P2-17, please refer to Table 7.A.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 13 DI4 Digital Input Terminal 4 (DI4) Communication Addr.: 020DH Default: 117 Related Section: Applicable Control Mode: ALL Table 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation. P2 - 14 DI5 Digital Input Terminal 5 (DI5) Communication Addr.: 020EH Default: 102 Related Section: Applicable Control Mode: ALL Table 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 18 DO1 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H Default: 101 Related Section: Applicable Control Mode: ALL Table 7.B Unit: N/A Range: 0 ~ 112 Settings: This parameter is used to determine the function and status of DO1. A B not used • A: DO Function Settings: For the setting value of P2- 18 ~ P2-22, please refer to Table 7.A.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 21 DO4 Digital Output Terminal 4 (DO4) Communication Addr.: 0215H Default: 105 Related Section: Applicable Control Mode: ALL Table 7.B Unit: N/A Range: 0 ~ 112 Settings: See P2-18 for explanation. P2 - 22 DO5 Digital Output Terminal 5 (DO5) Communication Addr.: 0216H Default: 7 Related Section: Applicable Control Mode: ALL Table 7.B Unit: N/A Range: 0 ~ 112 Settings: See P2-18 for explanation.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 25 Low-pass Filter Time Constant (Resonance Suppression) NLP Default: 2 (1kW and below models) or 5 (above 1kW models) Communication Addr.: 0219H Related Section: Section 6.3.7 Applicable Control Mode: ALL Unit: ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is used to set low-pass filter time constant of resonance suppression. P2 - 26 DST External Anti-Interference Gain Default: 0 Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 28 GUT Gain Switching Time Constant Default: 10 Communication Addr.: 021CH Related Section: N/A Applicable Control Mode: ALL Unit: 10ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is used to set the time constant when switching the smooth gain. P2 - 29 GPE Gain Switching Condition Default: 10000 Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 the responsiveness level setting of auto-tuning mode. Users can control the responsiveness according to application condition. When the setting value is higher, the responsiveness is higher.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 32▲ AUT2 Tuning Mode Selection Communication Addr.: 0220H Default: 0 Related Section: Applicable Control Mode: ALL Section 5.6, Section 6.3.
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Chapter 7 Servo Parameters|ASDA-AB Series 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: A B not used • • P2 - 34 A: Speed selection A=0 Low speed A=9 High speed B=1: Enable this function SDEV Overspeed Warning Condition Default: 5000 Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 36 POV1 Moving Speed Setting of 1st Position Communication Addr.: 0224H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: When setting value of P2-36 to P2-43 is higher than 3000 r/min, please set the setting value of P1-55 to its max. value. P2 - 37 POV2 Moving Speed Setting of 2nd Position Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 40 POV5 Moving Speed Setting of 5th Position Communication Addr.: 0228H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36. P2 - 41 POV6 Moving Speed Setting of 6th Position Communication Addr.: 0229H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 44 DOM Digital Output Mode Setting Communication Addr.: 022CH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.6 Unit: N/A Range: 0 ~ 1 Settings: This parameter determines that the digital output equals the setting value of P2-18 ~ P2-22 or INDEX positions when using feed step control function and in internal auto running mode (See Chapter 12 for explanation).
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Chapter 7 Servo Parameters|ASDA-AB Series 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 is set to 0. P2 - 48 BLAS Backlash Compensation of Feed Step Control Communication Addr.: 0230H Default: 0 Related Section: Applicable Control Mode: Pr Section 12.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Default: 0 Communication Addr.: 0231H Related Section: N/A Applicable Control Mode: ALL Unit: sec Range: 0 ~ 119 Settings: A B C not used • A: Speed Detection Filter Constant Setting Value A Speed Detection Frequency of Low-pass Filter (Hz) Filter Time (ms) 0 500 2.0 1 450 2.2 2 400 2.5 3 350 2.8 4 300 3.3 5 250 4.0 6 200 5.0 7 150 6.6 8 100 10.0 9 80 12.
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Chapter 7 Servo Parameters|ASDA-AB Series 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.A. This pulse deviation clear function is enabled when a digital input is set to pulse clear function (CCLR mode, DI function is set to 4).
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 51 SRON Servo ON Default: 0 Communication Addr.: 0233H 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 when control power is applied the servo drive (not via Digital Input signal) Servo ON (SON) is "ON" with control power applied to the servo drive, there may be a fault condition or not. The servo is not ready to run.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 56 ATM4 Timer 4 of Auto Mode Default: 0 Communication Addr.: 0238H Related Section: N/A Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 57 ATM5 Timer 5 of Auto Mode Default: 0 Communication Addr.: 0239H Related Section: N/A Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 58 ATM6 Timer 6 of Auto Mode Default: 0 Communication Addr.: 023AH Related Section: N/A Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 61 GR5 Electronic Gear Ratio (3rd Numerator) (N3) Default: 1 Communication Addr.: 023DH Related Section: N/A Applicable Control Mode: Pt, Pr Unit: pulse Range: 1 ~ 32767 Settings: Please refer to P2-60. P2 - 62 GR6 Electronic Gear Ratio (4th Numerator) (N4) Default: 1 Communication Addr.: 023EH Related Section: N/A Applicable Control Mode: Pt, Pr Unit: pulse Range: 1 ~ 32767 Settings: Please refer to P2-60.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 63 TSCA Proportion Value Setting Default: 0 Communication Addr.: 023FH Related Section: N/A Applicable Control Mode: Pt, S Unit: times Range: 0 ~ 11 Settings: A B not used Value A: decimal place setting of internal speed command. 0: When value A is set to 0, the unit of P1-09~P1-11 is 1 r/min (No decimal place setting) 1: When value A is set to 1, the unit of P1-09~P1-11 is 0.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 64 TLMOD Torque Limit Mixed Mode Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P2 - 65 GBIT Special Function Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 out when the pulse frequency is higher than 570Kpps. Bit7 ~ Bit9: Reserved. Must be set to 0. Bit10 Bit10: DI ZCLAMP function selection 0: Locked at the position when ZCLAMP conditions are satisfied.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 drive is controlled by RS-232/485/422 communication, each drive (or device) must be uniquely identified and addressed between 1 and 254. Access to program this number is via parameter P3-00. One servo drive only can set one address.
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Chapter 7 Servo Parameters|ASDA-AB Series P3 - 02 PTL Communication Protocol Communication Addr.: 0302H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 permissible time before detecting a fault due to communication time out. When this parameter is set to a value over than 0, it indicates this function is enabled.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 how the Digital Inputs (DI) accept commands and signals. If the Digital Input Contact Control parameter for the DI 1 ~ DI 8 is set to "0", command is external, and via CN1; if it is set to "1" the DI signal is via communication.
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Chapter 7 Servo Parameters|ASDA-AB Series 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★ ASH2 Fault Record (N-1) Communication Addr.: 0401H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A P4 - 02★ ASH3 Fault Record (N-2) Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series 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 display the JOG speed. (The default value is 20 r/min). (2) Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed.
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Chapter 7 Servo Parameters|ASDA-AB Series P4 - 06 ▲■ FOT Force Output Control Communication Addr.: 0406H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.4 Unit: N/A Range: 0~0x1F Settings: Settings: 0: Disabled. When the value of P4-06 is a non-zero value, it indicates this function is enabled. This parameter is used to check if there is any damage DO terminal. This parameter is not effective when the servo drive is enabled (Servo ON).
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Chapter 7 Servo Parameters|ASDA-AB Series P4 - 09★ MOT Output Status Display Communication Addr.: 0409H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.6 Unit: N/A Range: 0~0x1F Settings: External Control: Display the status of DO output signal Communication Control: Read the status of output signal The status of DO signal, please refer to P2-18 ~ P2-22. P4 - 10▲ CEN Adjustment Function Default: 0 Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P4 - 12 SOF2 Analog Speed Input Drift Adjustment 2 Default: Factory setting Communication Addr.: 040CH Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-11 for explanation. P4 - 13 TOF1 Analog Torque Drift Adjustment 1 Default: Factory setting Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series P4 - 16 COF2 Current Detector Drift Adjustment (V2 phase) Default: Factory setting Communication Addr.: 0410H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-15 for explanation. P4 - 17 COF3 Current Detector Drift Adjustment (W1 phase) Default: Factory setting Communication Addr.: 0411H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-15 for explanation.
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Chapter 7 Servo Parameters|ASDA-AB Series P4 - 20 DOF1 Analog Monitor Output Drift Adjustment (CH1) Communication Addr.: 0414H Default: Factory setting Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: mV Range: -800~800 Settings: This parameter cannot be reset. P4 - 21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Communication Addr.: 0415H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Section 6.4.
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Chapter 7 Servo Parameters|ASDA-AB Series P4 - 24 Reserved Communication Addr.: 0418H P4 - 25 Reserved Communication Addr.: 0419H P4 - 26 Reserved Communication Addr.
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Chapter 7 Servo Parameters|ASDA-AB Series Table 7.A Input Function Definition Sign Setting Value SON 01 Servo On. Switch servo to "Servo Ready". Check parameter P2-51. ARST 02 Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST. GAINUP 03 Gain switching in speed and position mode. When GAINUP is activated (P2-27 is set to 1), the gain is switched to the gain multiplied by fluctuation 04 Pulse clear (see P2-50).
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Chapter 7 Servo Parameters|ASDA-AB Series Sign Setting Value Digital Input Function Description Position command selection 0 ~ 2 When the Pr mode is selected, the 8 stored positions are programmed via a combination of the POS 0, POS 1, and POS 2 commands. POS0 POS1 POS2 11 Command No.
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Chapter 7 Servo Parameters|ASDA-AB Series Sign Setting Value S-P 18 Speed / Position mode switching (OFF: Speed, ON: Position) S-T 19 Speed / Torque mode switching (OFF: Speed, ON: Torque) T-P 20 Torque / Position mode switching (OFF: Torque, ON: Position) EMGS 21 Emergency stop. It should be contact “b” and normally ON or a fault (ALE13) will display. CWL 22 Reverse inhibit limit. It should be contact “b” and normally ON or a fault (ALE14) will display. CCWL 23 Forward inhibit limit.
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Chapter 7 Servo Parameters|ASDA-AB Series Sign Setting Value STEPD 40 Step down input. When STEPD is activated, the motor will run to previous position. STEPB 41 Step back input. When STEPB is activated, the motor will return to first position. AUTOR 42 Auto run input. When AUTOR is activated, the motor will run automatically according to internal position command. For interval time setting (Timer 0 ~ 7), please see parameter P2-52 to P2-59.
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Chapter 7 Servo Parameters|ASDA-AB Series Table 7.B Output Function Definition Sign Setting Value SRDY 01 Servo ready. SRDY is activated when the servo drive is ready to run. All fault and alarm conditions, if present, have been cleared. 02 Servo On. SON is activated when control power is applied the servo drive. The drive may or may not be ready to run as a fault / alarm condition may exist. Servo ON (SON) is “ON” with control power applied to the servo drive, there may be a fault condition or not.
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Chapter 7 Servo Parameters|ASDA-AB Series Sign Setting Value Digital Output Function Description 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 = Permissible Time for Overload x setting value of P1-56 When overload accumulated time (continuously overload time) exceeds the value of tOL, the overload warning signal will output, i.e. DO signal, OLW will be ON.
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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 communication. However, only one communication mode can be used at a time. Users can select the desired communication mode via parameter P3-05. Please refer to the following sections for connections and limitations.
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Chapter 8 MODBUS Communications|ASDA-AB Series NOTE 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 greater is required, the maximum length of the communication cable is 3m (9.84ft.) which will ensure the correct and desired baud rate. 2) The number shown in the pervious figure indicates the terminal number of each connector.
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Chapter 8 MODBUS Communications|ASDA-AB Series Cable Connection Revision January 2009 8-3
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Chapter 8 MODBUS Communications|ASDA-AB Series NOTE 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 should kept apart from high voltage wires. If a transmission speed of 38400 bps or greater is required, the maximum length of the communication cable is 15m (50ft.) which will ensure the correct and desired baud rate.
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Chapter 8 MODBUS Communications|ASDA-AB Series 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 0305 have to be set identically for all the drives and devices to communicate correctly.
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Chapter 8 MODBUS Communications|ASDA-AB Series 0302H Communication Protocol Default: 0 Range: 0~8 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1> 3: Modbus ASCII mode, <8,N,2 > 4: Modbus ASCII mode, <8,E,1> 5: Modbus ASCII mode, <8,O,1> 6: Modbus RTU mode, <8,N,2> 7: Modbus RTU mode, <8,E,1> 8: Modbus RTU mode, <8,O,1> This parameter is used to set the communication protocol.
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Chapter 8 MODBUS Communications|ASDA-AB Series 0306H Digital Input Communication Function Digital Input Contact Control: Default: 0 Range: 0~FFFF (hexadecimal number) The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals. Input commands or signals through the DI can be either from an external source, through the CN 1 interface connector, or via communication, (RS-232, RS-485, RS-422).
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Chapter 8 MODBUS Communications|ASDA-AB Series If the contents of P4-07 is being read via communication the output will be a decimal number that will represent the "binary" display. Therefore in the previous example the decimal number being read would be 113. However, in the communication mode the user can write to P4-07 to turn the Digital Inputs either "on" or "off".
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Chapter 8 MODBUS Communications|ASDA-AB Series 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 controls each AC servo drive according to its communication address.
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Chapter 8 MODBUS Communications|ASDA-AB Series 11-bit character frame (For 8-bit character) 8N2 Start bit 0 1 2 3 4 5 6 7 Stop bit Stop bit 6 7 Even parity Stop bit 6 7 Odd parity Stop bit 8-data bits 11-bits character frame 8E1 Start bit 0 1 2 3 4 5 8-data bits 11-bits character frame 8O1 Start bit 0 1 2 3 4 5 8-data bits 11-bits character frame Communication Protocol: ASCII Mode: STX Start character’: ’ (3AH) ADR Communication address: 1-byte consists of 2 ASCII c
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Chapter 8 MODBUS Communications|ASDA-AB Series STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address) The valid communication addresses are in the range of 1 to 254. For example, communication to AC servo drive with address 16 decimal: ASCII Mode: ADR=’1’,’0’ => ‘1’=31H，’0’=30H RTU Mode: ADR = 10H CMD (Command Codes) and DATA (Data Characters) The format of data characters depends on the command code.
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Chapter 8 MODBUS Communications|ASDA-AB Series RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 03H CMD 03H Starting data address 02H (Upper bytes) Number of data (Count by byte) 04H Number of data (Count by word) 00H 02H CRC Check Low C5H (Lower bytes) CRC Check High B3H (Upper bytes) 00H (Lower bytes) Contents of starting data address 0200H 00H (Upper bytes) B1H (Lower bytes) Contents of second data address 0201H 1FH (Upper bytes) CRC Check Low A3H (Lower bytes)
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Chapter 8 MODBUS Communications|ASDA-AB Series RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 06H CMD 06H Starting data address 02H (Upper bytes) Starting data address 02H (Upper bytes) Content of data 00H (Lower bytes) 00H (Upper bytes) 64H (Lower bytes) Content of data 00H (Lower bytes) 00H (Upper bytes) 64H (Lower bytes) CRC Check Low 89H (Lower bytes) CRC Check Low 89H (Lower bytes) CRC Check High 99H (Upper bytes) CRC Check High 99H (Upper bytes) LRC (ASCII M
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Chapter 8 MODBUS Communications|ASDA-AB Series CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (called CRC register) with FFFFH. Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register. Step 3: Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC register one bit to the right.
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Chapter 8 MODBUS Communications|ASDA-AB Series The following is an example of CRC generation using C language. The function takes two arguments: unsigned char* data; unsigned char length The function returns the CRC value as a type of unsigned integer.
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Chapter 8 MODBUS Communications|ASDA-AB Series int I; outportb(PORT+MCR,0x08); outportb(PORT+IER,0x01); /* interrupt enable */ /* interrupt as data in */ outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) ); /* the BRDL/BRDH can be access as LCR.
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Chapter 8 MODBUS Communications|ASDA-AB Series 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: P2-xx) Group 3: Communication parameter (example: P3-xx) Group 4: Diagnosis parameter (example: P4-xx) For a complete listing and description of all parameters, refer to Chapter 7.
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Chapter 8 MODBUS Communications|ASDA-AB Series Communication read-out parameters for ASDA-AB series are including: Group 0: P0-00 ~ P0-17 (0000H to 0011H) Group 1: P1-00 ~ P1-62 (0100H to 013EH) Group 2: P2-00 ~ P2-65 (0200H to 0241H) Group 3: P3-00 ~ P3-07 (0300H to 0307H) Group 4: P4-00 ~ P4-23 (0400H to 0417H) 8-18 Revision January 2009
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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 maintenance and inspection of the AC servo drive by a qualified technician. Before any maintenance and inspection, always turn off the AC input power to the unit.
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Chapter 9 Maintenance and Inspection|ASDA-AB Series 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 the cables and notice that if they are damaged, frayed or over extended. z Check for abnormal vibrations and sounds during operation.
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Chapter 9 Maintenance and Inspection|ASDA-AB Series 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 cooling fan is vibrating or there are unusual noises.
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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 Fault Messages Table Servo Drive Fault Messages Fault Messages Display Fault Name Fault Description Overcurrent Main circuit current is higher than 1.5 multiple of motor’s instantaneous maximum current value.
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Chapter 10 Troubleshooting|ASDA-AB Series 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 MCU is in error. DSP do not respond to MCU command. The problem is on DSP side. Serial communication error RS232/485 communication is in error. Serial communication time out RS232/485 communication time out.
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Chapter 10 Troubleshooting|ASDA-AB Series 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 Repair the short-circuited and avoid and motor. metal conductor being exposed. 2. Check if the wire is short-circuited. Motor wiring error Check if the wiring steps are all correct when connecting motor to drive.
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Chapter 10 Troubleshooting|ASDA-AB Series : Regeneration error Potential Cause Checking Method Regenerative resistor is Check the wiring connection of regenerative not connected. resistor. Regenerative switch transistor fault Corrective Actions Reconnect regenerative resistor. Check if regenerative switch transistor is short- Please contact your distributor for circuited. assistance or contact with Delta.
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Chapter 10 Troubleshooting|ASDA-AB Series : Watch dog execution time out Potential Cause Watch dog execution error. Checking Method Check and reset the power supply. Corrective Actions If there are any abnormal conditions after resetting the power supply, please contact your distributor for assistance or contact with Delta. : Encoder error (Position detector fault) Potential Cause Checking Method Corrective Actions 1. Check if all wiring is correct. The wiring of encoder is 2.
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Chapter 10 Troubleshooting|ASDA-AB Series : IGBT temperature error Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load Check if there is overload or the motor current during continuous is too high. operation. Increase motor capacity or reduce load. Short-circuit at drive output. Ensure all wiring is correct. Check the drive input wiring. : Memory error Potential Cause Data error in Memory read-out / write-in. Checking Method Reset parameter or power supply.
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Chapter 10 Troubleshooting|ASDA-AB Series : Command write-in error Potential Cause Control power is in error. Checking Method Check and reset control power Corrective Actions If the error does not clear after resetting the power supply, please contact your distributor for assistance or contact with Delta. : Input power phase loss Potential Cause Checking Method Check the power cable and connections of R, Control power supply is S, T. Check whether the power cable is loose in error.
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Chapter 10 Troubleshooting|ASDA-AB Series 10.3 Clearing Faults Display 10-8 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. Undervoltage This fault message can be removed automatically after the voltage has returned within its specification. Z Pulse shift Restart the servo drive.
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Chapter 10 Troubleshooting|ASDA-AB Series 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 removed automatically after input power phase lost problem is solved. Pre-overload warning Turn ARST (DI signal) ON to clear the fault or restart the servo drive.
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Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-AB Series) 100W 200W 400W 100W 200W 400W 750W 1kW 1.
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Chapter 11 Specifications|ASDA-AB Series 100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW Model: ASD-A 01 02 04 01 02 Torque Control Mode Voltage Range 04 07 10 15 10KΩ 2.
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Chapter 11 Specifications|ASDA-AB Series Footnote: *1 Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause).
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Chapter 11 Specifications|ASDA-AB Series 11.2 Specifications of Servo Motor (ECMA Series) Low Inertia Servo Motor C304 Model: ECMA Series C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW 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 (N.m) 0.32 0.64 1.27 1.27 2.39 3.18 6.37 Maximum torque (N.m) 0.96 1.92 3.82 3.82 7.16 9.54 19.11 Rated speed (r/min) 3000 Maximum speed (r/min) 5000 Rated current (A) 0.9 1.55 2.6 2.6 5.
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Chapter 11 Specifications|ASDA-AB Series C304 Model: ECMA Series C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW 01 02 04 04 07 10 20 15 Vibration grade (um) o o o o Operating temperature 0 C to 40 C (32 F to 104 F) Storage temperature -10 C to 80 C (-14 F to 176 F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity 2.
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Chapter 11 Specifications|ASDA-AB Series E313 Model: ECMA Series E318 G313 500W 1kW 1.5kW 2kW 2kW 300W 600W 900W 05 10 15 20 20 03 06 09 Weight (kg) (with brake) 8.2 8.4 8.9 9.2 17.5 8.2 8.4 8.9 Max. radial shaft load (N) 490 490 490 490 1176 490 490 490 Max. thrust shaft load (N) 98 98 98 98 490 98 98 98 Power rating (kW/s) (with brake) 6.4 24.9 43.1 59.7 24.1 9.2 35.9 62.1 Rotor moment of inertia (Kg.m2) (with brake) 8.94E-4 9.14E-4 11.90E-4 15.
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Chapter 11 Specifications|ASDA-AB Series 11.
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Chapter 11 Specifications|ASDA-AB Series 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 torque exceeding 100% torque. 2. Motor had driven high inertia machine and had accelerated and decelerated at high frequency. 3. Motor UVW cable or encoder cable was not connected correctly. 4.
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Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-C30602 ) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 213.6s 42.3s 21.8s 13.7s 9.2s 6.9s 5.0s 3.9s 3.2s 2.5s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMA-C30604 ) 1000 Operating Time (seconds) 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 65.0s 12.9s 6.
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Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-C30804 ) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 254.5s 50.4s 26.0s 16.4s 11.0s 8.2s 6.0s 4.7s 3.8s 2.9s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMA-C30807 ) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.
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Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-C31010 ) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.8s 19.0s 12.0s 8.0s 6.0s 4.4s 3.4s 2.8s 2.2s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMA-C31020 ) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.8s 19.
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Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-G31303 ) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 613.1s 121.4s 62.6s 39.4s 26.4s 19.8s 14.5s 11.4s 9.1s 7.1s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMA-E31305 ) 1000 Operating Time (seconds) 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.
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Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-G31306 ) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 167.2s 33.1s 17.1s 10.8s 7.2s 5.4s 4.0s 3.1s 2.5s 1.9s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMA-G31309 ) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.8s 19.
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Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-E31310 ) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 130.0s 25.7s 13.3s 8.4s 5.6s 4.2s 3.1s 2.4s 1.9s 1.5s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMA-E31315 ) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 167.2s 33.1s 17.
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Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-E31320 ) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.78s 36.78s 18.98s 11.95s 8s 5.99s 4.39s 3.44s 2.76s 2.15s 0.1 0 50 100 150 200 250 300 Load (%) rated torque Chart of load and operating time (ECMA-E31820 ) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 278.
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Chapter 11 Specifications|ASDA-AB Series 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) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements.
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Chapter 11 Specifications|ASDA-AB Series Order P/N: ASD-A0121-AB, ASD-A0221-AB, ASD-A0421-AB (100W ~ 400W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements.
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Chapter 11 Specifications|ASDA-AB Series Order P/N: ASD-A0721-AB, ASD-A1021-AB, ASD-A1521-AB (750W ~ 1.5kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements.
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Chapter 11 Specifications|ASDA-AB Series Order P/N: ASD-A2023-AB (2kW) WEIGHT 3.0 (6.6) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements.
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Chapter 11 Specifications|ASDA-AB Series 11.6 Dimensions of Servo Motor Motor Frame Size: 80mm and below Models Model LC LZ LA S LB LL (without brake) LL (with brake) LR LE LG LW LS (without oil seal) LS (with oil seal) RH WK W T TP NOTE C30401 S 40 4.5 46 8 30 100.6 25 2.5 5 16 20 20 6.2 3 3 3 M3, Depth 8 C30602 S 60 5.5 70 14 50 105.5 141.6 30 3 7.5 20 27 24 11 5 5 5 M4, Depth 15 C30604 S 60 5.5 70 14 50 130.7 166.8 30 3 7.5 20 27 24 11 5 5 5 M4, Depth 15 C30804 7 80 6.6 90 14 70 112.3 152.
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Chapter 11 Specifications|ASDA-AB Series Motor Frame Size: 100mm and above Models Model LC LZ LA S LB LL (without brake) LL (with brake) LR LE LG LW LS RH WK W T TP NOTE G31303 S 130 9 145 22 110 147.5 183.5 55 6 11.5 36 47 18 8 8 7 M6, Depth 20 E31305 S 130 9 145 22 110 147.5 183.5 55 6 11.5 36 47 18 8 8 7 M6, Depth 20 G31306 S 130 9 145 22 110 147.5 183.5 55 6 11.5 36 47 18 8 8 7 M6, Depth 20 G31309 S 130 9 145 22 110 163.5 198 55 6 11.5 36 47 18 8 8 7 M6, Depth 20 C31010 S 100 9 115 22 95 153.
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Chapter 11 Specifications|ASDA-AB Series Motor Frame Size: 100mm and above Models Model LC LZ LA S LB LL (without brake) LL (with brake) LR LE LG LW LS RH WK W T TP NOTE E31310 S 130 9 145 22 110 147.5 183.5 55 6 11.5 36 E31315 S 130 9 145 22 110 167.5 202 55 6 11.5 36 C31020 S 100 9 115 22 95 199 226 45 5 12 32 G31320 S 130 9 145 22 110 187.5 216 55 6 11.5 36 E31820 S 180 13.5 200 35 114.3 169 203.
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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 in reverse rotation, if limit switch is set, L.S.1 as “Home”, the machine will be positioned between P1 and P2 according to working procedure.
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Chapter 12 Application Examples|ASDA-AB Series 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 the power to be ON again. After Servo ready is completed, activate the drive to be Servo ON. Then, the system will automatically complete home operation.
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Chapter 12 Application Examples |ASDA-AB Series 12.2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered every time (10000/4=2500Pulse).
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Chapter 12 Application Examples|ASDA-AB Series 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, absolute position control and pulse numbers monitor.
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Chapter 12 Application Examples |ASDA-AB Series X1 M5 R ST M10 R ST M12 R ST M13 S ET S0 ZE R O X0 ( M1334 ) Stop ch0 pulse output STOP M 1000 ( M1346 ) ZRN CL EAR output signal enable N ormally on contact (a contact) S0 S10 S11 S12 S13 M1334 ( M5 Z ERO J OG+ JOG- F WD P OS REV POS ) St op cho pulse output M 1002 D MO V O n only for 1 sc an a fter RUN K 10000 D13 41 M aximum output frequency D MO V K 10000 D13 41 Accel eration/decelerat ion on tim e X4 M5 M10 R ST M12 R ST
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Chapter 12 Application Examples|ASDA-AB Series X5 M5 M10 RST M1 2 RST M1 3 SET S13 REV POS REV POS X2 M5 RST M1 2 RST M1 3 SET S10 JOG+ JOG+ X3 M5 RST M1 2 RST M1 3 SET S11 JOG- JOGS0 M 50 S ZERO D ZRN K50000 K5 000 Y0 X10 M5 SET M1 0 RST S0 PLSY Y0 instru ction exec ution completed flag M1 336 M 50 Ch 0 pulse se nd flag ZER O M1 000 ( M50 ) N ormally on contact (a contac t) 12-6 Revision January 2009
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Chapter 12 Application Examples |ASDA-AB Series S1 0 X2 M51 D DRVI S JOG+ K9 99999 K3 0000 Y0 Y1 JOGM1 336 M51 RST S 10 Ch 0 pulse s end fla g J OG+ M1000 ( M 51 ) N ormally on contact (a contac t) M1 029 RST PLS Y Y0 inst ruction ex ecution com pleted flag P LSY Y0 in structio n exec ution comple ted flag S11 X3 M52 D DRVI S JOG- M1029 K-9 99999 K3 0000 Y0 Y1 JOGM1 336 M52 RST S 11 Ch 0 pulse s end fla g J OG- M1000 ( M 52 ) N ormally on contact (a contac t) M1 029 RST M1029 P
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Chapter 12 Application Examples|ASDA-AB Series S1 3 M54 S D DRVA K1000 00 K1 0000 Y0 Y1 RE V POS M1029 SET M 13 RST S 13 P LSY Y0 in structio n exec ution comple ted flag M1 336 M101 Ch 0 pulse s end fla g REV POS M54 ( M101 ) M1 000 ( M 54 ) Normally on cont act (a contact) RET M 1001 DMOV Normally on contact (a contact) D1336 Presen t value of ch0 pulse (lo w D200 Watch dog timer (WDT) value END 12-8 Revision January 2009
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Chapter 12 Application Examples |ASDA-AB Series 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 control, Absolute position control, Monitor and parameter settings.
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Chapter 12 Application Examples|ASDA-AB Series 12-10 Revision January 2009
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Chapter 12 Application Examples |ASDA-AB Series 12.5 Position Control Mode (Pr Mode) Relevant Parameters Description Parameter Communication Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33 0121H Position Control Mode (Pr) 0: Absolute position command 1: Incremental position command P1-34 0122H Acceleration Time 1st to 3rd step Acceleration time (When parameter P1-36 is set to 0, accel / decel function is disabled, i.e.
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Chapter 12 Application Examples|ASDA-AB Series Trigger Timing Charts (1) Timing Chart of Internal Position Register Selection P8 P3 Inter nal pos i tion c omman d P2 P1 Ex ter nal I/O signal 1ms POS0 OFF PO S1 O FF PO S2 OFF ON OFF ON ON ON CTR G SO N ON >2ms, can be set by P2-0 9 (2) HOLD Timing Chart: If HOLD signal is ON when the motor is running, the motor will decelerate first and stop according to the deceleration time which is set by parameter P1-34 ~ P1-36.
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Chapter 12 Application Examples |ASDA-AB Series (3) Command Abort Timing Chart: To use command abort function, set parameter P2-50 to 2. At this time, if CCLR signal is ON when the motor is running, the motor will decelerate first and stop according to the deceleration time which is set by parameter P1-34 ~ P1-36 and the remaining pulses will be aborted. When TRIG signal is ON again, the motor will continue to move forward and reach the target position that is set currently.
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Chapter 12 Application Examples|ASDA-AB Series 12.6 Feed Step Control Relevant Parameters Description Parameter Communication Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-12 010CH Torque Limit Setting Torque decrease value is represented by a percentage of rated torque.
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Chapter 12 Application Examples |ASDA-AB Series Parameter Communication Address 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 P2-36 0224H Moving Speed Setting of 1st Position Maximum feed step speed (When speed is above 3000r/min, please set P1-55 to a proper value) P2-44 022CH Digital Output Mode Setting 0: General output mode 1: Combination output mode Parameter Descr
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Chapter 12 Application Examples|ASDA-AB Series DO Signal Parameter Setting DO1 P2-18 = 101 DO2 P2-19 = 103 DO3 P2-20 = 109 DO4 P2-21 = 105 DO5 P2-22 = 107 Explanation Please refer to “Definition of DO Signals” in the following section. NOTE 1) Please set parameter P2-08 to 12 before changing the setting value of DI and DO signals.
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Chapter 12 Application Examples |ASDA-AB Series Definitions of INDEX0~4 (ON=1, OFF=0) Item INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 INDEX NUMBER 1 0 0 0 0 0 INDEX 1 2 0 0 0 0 1 INDEX 2 3 0 0 0 1 0 INDEX 3 4 0 0 0 1 1 INDEX 4 5 0 0 1 0 0 INDEX 5 6 0 0 1 0 1 INDEX 6 7 0 0 1 1 0 INDEX 7 8 0 0 1 1 1 INDEX 8 9 0 1 0 0 0 INDEX 9 10 0 1 0 0 1 INDEX 10 11 0 1 0 1 0 INDEX 11 12 0 1 0 1 1 INDEX 12 13 0 1 1 0 0 INDEX 13 14
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Chapter 12 Application Examples|ASDA-AB Series Definitions of DO Signals (ON=1, OFF=0) Item DO5 DO4 DO3 DO2 D01 Description 1 0 0 0 0 0 ALRAM 2 0 0 0 0 1 SERVO READY 3 0 0 0 1 0 HOMING (under operation) 4 0 0 0 1 1 HOME Completed 5 0 0 1 0 0 CHANGE INDEX (under operation) 6 0 0 1 0 1 INDEX 1 (In position) 7 0 0 1 1 0 INDEX 2 (In position) 8 0 0 1 1 1 INDEX 3 (In position) 9 0 1 0 0 0 INDEX 4 (In position) 10 0 1 0 0 1 INDEX 5 (In
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Chapter 12 Application Examples |ASDA-AB Series 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 NUMBER will display, and DO=nn 7) Feed step output position = DO value - 4 (Example: if DO=7, the feed step output position =7 - 4 = 3) 8) When returning to HOME, if DO=1 (SERVO READY) after any abnormal conditions are removed, it is needed
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Chapter 12 Application Examples|ASDA-AB Series (2) Feed Step Control Mode Power Supply ON OFF DO VALUE CI INDEX 2 (06) CI INDEX 6 (0A) CI P2-45 Motor Speed Servo ON Torque Limit ON OFF IDX Value 10 Step No. 2 Step No. 6 Step No. P2-47 CCLR ON OFF MD1 ON OFF MD0 ON OFF NOTE 1) The maximum value of P2-45 = 125 x T min. 2) T min. is the minimum time from A to B, i.e. the time between when start running at A and when start running at B (please refer to the figure below).
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Chapter 12 Application Examples |ASDA-AB Series (3) Manually Single Step Control Mode 1 Power Supply ON OFF DO VALUE INDEX4 CI INDEX 2 CI CI INDEX 3 P2-45 Motor Speed Servo ON Torque ON OFF Limit IDX Value INDEX 2 manually feed forward manually feed forward STEPU auto running MD1 ON OFF MD0 ON OFF NOTE 1) When manually feed forward operation occurs, please set MD1 to be ON first (The feed step selection input should be kept unchanged to avoid returning to INDEX1 when manually feed forwar
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Chapter 12 Application Examples|ASDA-AB Series (4) Manually Single Step Control Mode 2 Power Supply ON OFF DO VALUE INDEX4 CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 3 Motor Speed Servo ON Torque ON OFF Limit IDX Value INDEX 2 manually feed forward MDP0 ON OFF auto running MD1 ON OFF MD0 ON OFF NOTE 1) After manually feed forward operation is completed, please set MD1 and MD0 to be OFF and then turn MDP1 from ON to OFF (ready to enter torque decrease status) to avoid any abnormal condit
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Chapter 12 Application Examples |ASDA-AB Series (5) Manually Continuous Step Control Mode Power Supply ON OFF DO VALUE INDEX4 CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 5 Motor Speed Servo ON Torque ON OFF Limit IDX Value INDEX 2 manually feed forward MDP1 ON OFF auto running MD1 ON OFF MD0 ON OFF NOTE 1) After manually feed forward operation is completed, please set MD1 and MD0 to be OFF and then turn MDP0 from ON to OFF (ready to enter torque decrease status) to avoid any abnormal con
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Chapter 12 Application Examples|ASDA-AB Series Communication Control Example Explanation Communication Address Communication Content H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H020 Torque decrease H407 H0A3 Index 3 H407 H023 (H020) H407 H0A5 H407 H025 (H020) H407 H0An H407 H02n (H020) 12-24 Explanation Torque decrease Index 5 Torque decrease Index n Torque decrease Revision January 2009
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Chapter 12 Application Examples |ASDA-AB Series 12.
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Chapter 12 Application Examples|ASDA-AB Series When the setting value of the time listed below is set to zero(0), the relative position will be ignored.
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Chapter 12 Application Examples |ASDA-AB Series Definitions of DO Signals (ON:1, OFF:0) Item DO5 DO4 DO3 DO2 DO1 Function 1 0 0 0 0 0 ALARM 2 0 0 0 0 1 SERVO READY 3 0 0 0 1 0 HOMEING (under operation) 4 0 0 0 1 1 HOME Completed 5 0 0 1 0 0 CHANGE INDEX (under operation) (CHANGE INDEX hereinafter called “CI”) 6 0 0 1 0 1 INDEX 1 (In position) 7 0 0 1 1 0 INDEX 2 (In position) 8 0 0 1 1 1 INDEX 3 (In position) 9 0 1 0 0 0 INDEX 4 (In pos
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Chapter 12 Application Examples|ASDA-AB Series (2) Auto Running Mode Power ON Supply OFF IDX1 DO VALUE INDEX4 HOME (3) CI T1 IDX2 CI V1 IDX8 CI T2 T8 CI T1 V2 Motor Speed Servo ON AUTOR OFF (3) Manual Control Mode 1 Power ON Supply OFF DO VALUE INDEX4 HOME (3) CI IDX1 V1 CI IDX2 CI IDX3 CI IDX2 V2 Motor Speed Servo ON ON STEPU OFF ON STEPD OFF 12-28 Revision January 2009
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Chapter 12 Application Examples |ASDA-AB Series (4) Manual Control Mode 2 Power ON Supply OFF DO VALUE INDEX4 CI IDX1 V1 CI IDX2 CI IDX1 V2 Motor Speed Servo ON ON AUTOR OFF ON STEPB OFF Revision January 2009 12-29
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Chapter 12 Application Examples|ASDA-AB Series 12.
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Chapter 12 Application Examples |ASDA-AB Series 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 “Home” or set B=1, i.e. do not return and go forward to find Z-phase pulse and regard Z-phase pulse as a precise mechanical “Home”.
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Chapter 12 Application Examples|ASDA-AB Series 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 stops, the then move to the position of mechanical “Home”. D=1: After detecting “Home”, the motor will decelerate and stop in the forward direction.
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Chapter 12 Application Examples |ASDA-AB Series 2. Enable homing function by input contact (SHOM) (C=2) POWER ON SERVO READY SERVO ON HOME TRIGGER HOMING refer to homing timing chart HOMING COMPLETED time Homing Timing Charts 1.
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Chapter 12 Application Examples|ASDA-AB Series 2. B/A = 0/1 or B/A = 0/3 SPEED Position Z pulse CWL / ORGP 3. B/A = 1/2 SPEED Position Z pulse ORGP 4.
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Chapter 12 Application Examples |ASDA-AB Series 5. B/A = 2/2 SPEED Position ORGP 6. B/A = 2/3 SPEED Position ORGP 7.
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Chapter 12 Application Examples|ASDA-AB Series 8.
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Chapter 12 Application Examples |ASDA-AB Series 12.
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Chapter 12 Application Examples|ASDA-AB Series Connecting to Delta DVP-01PU 12-38 Revision January 2009
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Chapter 12 Application Examples |ASDA-AB Series Connecting to Mitsubishi FX1PG Revision January 2009 12-39
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Chapter 12 Application Examples|ASDA-AB Series Connecting to Mitsubishi FX2N1PG 12-40 Revision January 2009
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Chapter 12 Application Examples |ASDA-AB Series Connecting to Mitsubishi AD75 Revision January 2009 12-41
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Appendix A Accessories Power Connectors Delta Part Number: ASDBCAPW0000 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No.
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Appendix A Accessories|ASDA-AB Series Power Cables Delta Part Number: ASD-ABPW0003, ASD-ABPW0005 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No. 1 2 L mm inch ASD-ABPW0003 3000 ± 100 118 ± 4 ASD-ABPW0005 5000 ± 100 197 ± 4 Delta Part Number: ASD-ABPW0103, ASD-ABPW0105 A-2 Title Part No. Manufacturer Housing C4201H00-2*3PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No.
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Appendix A Accessories|ASDA-AB Series Power Cables, cont. Delta Part Number: ASD-CAPW1003, ASD-CAPW1005 (50mm) (1.97 inch) (80 mm) L (3.15 inch) Title Part No. Straight 1 ASD-CAPW1003 2 ASD-CAPW1005 L mm inch 3106A-20-18S 3000 ± 100 118 ± 4 3106A-20-18S 5000 ±100 197 ± 4 Delta Part Number: ASD-CAPW1103, ASD-CAPW1105 (50mm) (1.97 inch) (80 mm) L (3.15 inch) Title Part No.
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Appendix A Accessories|ASDA-AB Series Power Cables, cont. Delta Part Number: ASD-CAPW1203, ASD-CAPW1205 (80mm) (3.15 inch) (100 mm) (3.94 inch) L Title Part No. Straight 1 ASD-CAPW1203 2 ASD-CAPW1205 L mm inch 3106A-20-18S 3000 ± 100 118 ± 4 3106A-20-18S 5000 ±100 197 ± 4 Delta Part Number: ASD-CAPW1303, ASD-CAPW1305 (80 mm) (3.15 inch) (100 mm) (3.94 inch) L A-4 Title Part No.
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Appendix A Accessories|ASDA-AB Series Power Cables, cont. Delta Part Number: ASD-CAPW2203, ASD-CAPW2205 (80mm) (3.15 inch) (100 mm) (3.94 inch) L Title Part No. Straight 1 ASD-CAPW2203 2 ASD-CAPW2205 L mm inch 3106A-24-11S 3000 ± 100 118 ± 4 3106A-24-11S 5000 ±100 197 ± 4 Delta Part Number: ASD-CAPW2303, ASD-CAPW2305 (80mm) (3.15 inch) (100 mm) (3.94 inch) L Title Part No.
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Appendix A Accessories|ASDA-AB Series Encoder Connectors Delta Part Number: ASD-ABEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE 3M SHELL 3M 10320-52A0-008 3M Title Part No.
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Appendix A Accessories|ASDA-AB Series Encoder Cables Delta Part Number: ASD-ABEN0003, ASD-ABEN0005 Title MOTOR SIDE DRIVE SIDE Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE 3M SHELL 3M 10320-52A0-008 3M Title Part No. 1 2 L mm inch ASD-ABEN0003 3000 ± 100 118 ±4 ASD-ABEN0005 5000 ± 100 197 ± 4 Delta Part Number: ASD-CAEN1003, ASD-CAEN1005 Title Part No.
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Appendix A Accessories|ASDA-AB Series 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 L Item Part No. 1 ASD-CARS0003 L mm inch 3000±10 118±0.
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Appendix A Accessories|ASDA-AB Series 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-C30401S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-ABPW0003 Motor Power Cable ASD-ABPW0005 - - Encoder Cable ASD-ABEN0003 Encoder Cable ASD-ABEN0005 - - Power Connector ASDBCAPW0000 Connector Encoder Connector ASD-ABEN0000 200W Servo Drive and 200W Low Inertia Servo Moto
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Appendix A Accessories|ASDA-AB Series 400W Servo Drive and 500W Medium Inertia Servo Motor Servo Drive ASD-A0421-AB Medium inertia Servo Motor ECMA-E31305S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor Power Cable ASD-CAPW1105 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASD-C
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Appendix A Accessories|ASDA-AB Series 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive ASD-A0721-AB High inertia Servo Motor ECMA-G31306S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor Power Cable ASD-CAPW1105 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASD-CAEN1
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Appendix A Accessories|ASDA-AB Series 1kW Servo Drive and 900W High Inertia Servo Motor Servo Drive ASD-A1021-AB High inertia Servo Motor ECMA-G31309S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1003 Motor Power Cable ASD-CAPW1005 Motor Power Cable ASD-CAPW1103 Motor Power Cable ASD-CAPW1105 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASD-CAEN10
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Appendix A Accessories|ASDA-AB Series 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-A2023-AB Medium inertia Servo Motor ECMA-E31320S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor Power Cable ASD-CAPW1305 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Encoder Cable ASD-CAEN1003 Encoder Cable ASD-CAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASD-CAE
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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.
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Appendix A Accessories|ASDA-AB Series 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 correct installation, much of the interference can be eliminated. It is recommended to use Delta’s EMI filter to have the best interference elimination performance.
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Appendix A Accessories|ASDA-AB Series Figure 1 Saddle on both ends Saddle on one end Figure 2 Revision January 2009 B-3
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Appendix A Accessories|ASDA-AB Series Dimensions Delta Part Number: 08TDT1W4S Delta Part Number: 20TDT1W4D B-4 Revision January 2009