ASDA-A User Manual Preface & Safety Precautions 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 WARNINGS and CAUTIONS before proceeding with the installation, wiring and operation.
Preface & Safety Precautions z z z z ASDA-A User Manual must comply with the electrical standard of the country. Do not disconnect the AC servo drive and motor while the power is ON. Do not attach, modify and remove wiring when power is applied to the AC servo drive and motor. Before starting the operation with a mechanical system connected, make sure the emergency stop equipment can be energized and work at any time. Do not touch the drive heat sink or the servo motor during operation.
ASDA-A User Manual CAUTION Preface & Safety Precautions z Do not connect any power suppies to the U, V, W terminals. Failure to observe this precaution may result in serious injury, damage to the drive or fire. z Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive and motor. Failure to observe this caution may result in damage, fire or personal injury.
Preface & Safety Precautions CAUTION ASDA-A User Manual z Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise. Separate the conduits by 30cm. z As a charge may still remain in the drive with hazardous voltages even after power has been removed, be sure to wait at least 10 minutes after power has been removed before performing any wiring and/or inspection. z It is not recommended to frequently power the drive on and off.
ASDA-A User Manual Table of Contents Delta AC Servo Drive and Servo Motor Ȫ ASDA-A Series ȫ User Manual T ABLE OF C ONTENTS Preface and Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v Chapter 1 Unpacking Check and Model Explanation . . . . . . . . . . . . . . . . . 1-1 1-1 Un pac k ing Chec k .
Table of Contents ASD-A User Manual 3-2 Basic Wiring ........................................................................................ 3-9 3-3 I npu t / Outp ut I nterf ace Conn ecto r -CN1 ................................................ 3-11 3-3-1 CN1 Terminal Identi ficat ion ............................................................. 3-11 3-3-2 Si g nals Expl anatio n of Co nnect o r CN1 ............................................. 3-13 3-3-3 Use r-de fined DI and DO si gnals ...............
ASDA-A User Manual Chapter 5 Table of Contents Trial Run and Tuning Procedure ................................ 5-1 5-1 I nspe ction with out L oad ....................................................................... 5-1 5-2 Appl yi ng Power to th e Dri ve .................................................................. 5-3 5-3 J O G Trial Run without Loa d .................................................................. 5-7 5-4 Sp eed Trial Run wit hout L oad .....................................
Table of Contents ASD-A User Manual 6-3-5 Ti mi ng Chart of Spee d Con trol M ode ................................................ 6-20 6-3-6 Spe ed Lo op Gain Adjust me nt ........................................................... 6-21 6-3-7 Res onance Suppressi o n .................................................................. 6-27 6-4 To rqu e Control Mo de ............................................................................ 6-29 6-4-1 Co mma nd Source of Torque Con trol Mode .............
ASDA-A User Manual Table of Contents Chapter 9: Maintenance and Inspection ........................................ 9-1 9-1 Basic Inspecti on .................................................................................. 9-1 9-2 Maint enance ....................................................................................... 9-2 9-3 Li fe of Re place me nt Co mponen ts .......................................................... 9-2 Chapter 10: Troubleshooting .......................................
Table of Contents ASD-A User Manual About this Manual… Use r Info rma tio n Be sure to store this manual in a safe place. D u e t o c o n s ta n t l y g r o w i n g p r o d u c t r a n g e , t e c h n i c a l i m p r o v e m e n t a n d a l t e r a t i o n o r c h a n g e d t e x ts , f i g u r e s a n d d i a g r a m s , w e r e s e r v e t h e r i g h t o f t h i s m a n u a l c o n ta i n e d i n f o r m a t i o n change without prior notice.
ASDA-A User Manual Chapter 1 Unpacking Check and Model Explanation Chapter 1 Unpacking Check and Model Explanation 1-1 Unpacking Check After receiving the product, 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.
Chapter 1 Unpacking Check and Model Explanation (5) 1-2 ASDA-A User Manual CN3 Connector: 6 PIN Connector (IEEE1394 analog product) Model Explanation 1-2-1 Nameplate ASDA-A Series Servo Drive Nameplate Explanation Serial Number Explanation 4th Edition 2005/11/30, HE03 1-2 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 1 Unpacking Check and Model Explanation ASMT Series Servo Motor Nameplate Explanation Serial Number Explanation 1-2-2 Model Name ASDA-A Series Servo Drive © DELTA ELECTRONICS, INC.
Chapter 1 Unpacking Check and Model Explanation ASDA-A User Manual ASMT Series Servo Motor 4th Edition 2005/11/30, HE03 1-4 © DELTA ELECTRONICS, INC.
ASDA-A User Manual 1-3 Chapter 1 Unpacking Check and Model Explanation Servo Drive and Servo Motor Combinations The tables below show the possible combination of Delta ASDA-A series servo drives and ASMT series servo motors. The boxes ( ) at the end of the model names are for version or optional configurations.
Chapter 1 Unpacking Check and Model Explanation ASDA-A User Manual If the power of motor and drive is not within the specifications, the drive and motor may overheat and servo alarm would be activated. For the detail specifications of servo drives and motors, please refer to Chapter 11 “Specifications”. The drives shown in the above table are designed according to the three multiple of rated current of motors shown in the above table.
ASDA-A User Manual 1-4 Chapter 1 Unpacking Check and Model Explanation Servo Drive Features © DELTA ELECTRONICS, INC.
Chapter 1 Unpacking Check and Model Explanation 1-5 ASDA-A User Manual Control Modes of Servo Drive The Delta Servo 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.
ASDA-A User Manual 1-6 Chapter 1 Unpacking Check and Model Explanation Molded-case Circuit Breaker, Fuse and Leakage Current Model Name OUTPUT SHORT CIRCUIT LEAKING CURRENT LEAKING CURRENT BREAKER FUSE Operation Mode General 3-Phase 1-Phase General General ASD-A0121LA 8.4A (peak) 0.06mA 0.16mA 5A 5A ASD-A0221LA 8.4A (peak) 0.06mA 0.16mA 5A 5A ASD-A0421LA 25A (peak) 0.08mA 0.2mA 10A 20A ASD-A0721LA 42A (peak) 0.08mA 0.2mA 10A 20A ASD-A1021LA 60A (peak) 0.08mA 0.
Chapter 1 Unpacking Check and Model Explanation ASDA-A User Manual This page intentionally left blank. 4th Edition 2005/11/30, HE03 1-10 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 2 Installation and Storage Chapter 2 Installation and Storage 2-1 Installation Notes Pay close attention on the following installation notes: 1) Do not bend or strain the connection cables between servo drive and motor. 2) When mounting servo drive, make sure to tighten screws to secure the drive in place. 3) 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.
Chapter 2 Installation and Storage ASDA-A User Manual Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel. Please observe the following precautions when selecting a mounting location. Failure to observe the following precautions may void the warranty! Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.
ASDA-A User Manual Chapter 2 Installation and Storage Drive Mounting Servo drives must be back mounted vertically on a dry and solid surface such as a NEMA enclosure. A minimum spacing of two inches must be maintained above and below the drive for ventilation and heat dissipation. Additional space may be necessary for wiring and cable connections.
Chapter 2 Installation and Storage ASDA-A User Manual Side by Side Installation 4th Edition 2005/11/30, HE03 2-4 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 3 Chapter 3 Configuration and Wiring Configuration and Wiring This chapter provides information on wiring ASDA-A series products, the descriptions of I/O signals and gives typical examples of wiring diagrams. 3-1 Configuration 3-1-1 Connecting to Peripheral Devices In Figure 3.1, it briefly explains how to connect each peripheral device. Figure 3.1 "When using an external regenerative resistor, ensure P and D is closed, and P and C is open.
Chapter 3 Configuration and Wiring ASDA-A User Manual 3-1-2 Servo Drive Connectors and Terminals Terminal Identification L1, L2 R, S, T Description Notes Control circuit terminal The servo Control Circuit requires an independent 220V single-phase VAC supply. Main circuit terminal The Main Circuit Terminal is used to supply the servo with line power. If a single-phase supply, is used connect the R and S terminals to power. If 3-phase, connect all three R, S, & T terminals.
ASDA-A User Manual Chapter 3 Configuration and Wiring Please observe the following precautions while performing wiring and touching any electrical connections on the servo drive or servo motor. 1) Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, L1, L2, U, V, & W) is correct.
Chapter 3 Configuration and Wiring ASDA-A User Manual Figure 3.3 Single-Phase Power Supply Connection (for 1kW and below) R S 1MCCB Alarm Processing Power Power Noise filter On Off 1MC/x 1MC/a R 1MC S T SUP U Servo Drive V W 1MC M L1 L2 PE 3-1-4 Motor Power Cable Connector Specifications The boxes ( ) at the end of the model names are for version or optional configurations. (Please refer to section 1-2 for model explanation.
ASDA-A User Manual Chapter 3 Configuration and Wiring Servo Drive Motor Part Number Power Rating Description 1kW U, V, W / Electromagnetic Brake Connector Terminal Identification ASMT10L250 ASMT10M250 1.
Chapter 3 Configuration and Wiring ASDA-A User Manual 3-1-5 Encoder Connector Specifications The boxes ( ) at the end of the model names are for version or optional configurations. (Please refer to section 1-2 for model explanation.) Servo Drive Capacity 100W Motor Model Name Terminal Encoder Connector Identification ASMT01L250 A1 200W ASMT02L250 400W ASMT04L250 750W ASMT07L250 1kW ASMT10L250 A A9 ASMT10M250 1.
ASDA-A User Manual Chapter 3 Configuration and Wiring 3-1-6 Cable Specifications for Servo Drive The boxes ( ) at the end of the model names are for version or optional configurations. (Please refer to section 1-2 for model explanation.) Power Cable Servo Drive Power ~ mm2 (Gauge) L1, L2 R, S, T U, V, W P, C ASD-A0121L 1.25(AWG16) 2(AWG14) 2(AWG16) 2(AWG14) ASD-A0221 L 1.25(AWG16) 2(AWG14) 2(AWG16) 2(AWG14) ASD-A0421 L 1.25(AWG16) 2(AWG14) 2(AWG16) 2(AWG14) ASD-A0721 L 1.
Chapter 3 Configuration and Wiring ASDA-A User Manual 3. As for motor cable selection, please use the 600V PTFE wire and the wire length should be less than 30m. If the wiring distance is longer than 30m, please choose the adequate wire size according to the voltage. 4. The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked ) of the servo drive. 4th Edition 2005/11/30, HE03 3-8 © DELTA ELECTRONICS, INC.
ASDA-A User Manual 3-2 Chapter 3 Configuration and Wiring Basic Wiring Figure 3.4 Basic Wiring Schematic of 100W ~ 1.5kW Models Power 100W a1.5kW 1-phase or 3-phase 200 a 230V Connect to external braking resistor ~ P Servo Drive D C 750W~1.5kW models PRB 60W or 120W +12V Servo Motor R U V S T M W PE L1 +15V +5V +3.
Chapter 3 Configuration and Wiring ASDA-A User Manual Figure 3.5 Basic Wiring Schematic of 2kW ~ 3kW Models Power 2kW a3kW 3-phase 200 a 230V Connect to external braking resistor ~ N Servo Drive P D C PRB 60W or 120W +12V Servo Motor R U S T V M W PE L1 +15V +5V +3.
ASDA-A User Manual 3-3 Chapter 3 Configuration and Wiring 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. ii 8 programmable Digital Inputs (DI) iii 5 programmable Digital Outputs (DO) A detailed explanation of each group is available in section 3-3-2, tables 3-B, 3-C & 3-D.
Chapter 3 Configuration and Wiring Table 3.
ASDA-A User Manual Chapter 3 Configuration and Wiring 3-3-2 Signals Explanation of Connector CN1 The tables 3.B, 3.C, & 3.D detail the three groups of signals of the CN1 interface. Table 3.B details the general signals. Table 3.C details the Digital Input (DI) signals and Table 3.D details the Digital Output (DO) 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 user. Table 3.
Chapter 3 Configuration and Wiring Signal VDD ASDA-A User Manual Wiring Diagram Pin No Details 17 VDD is the +24V source voltage provided by the drive. (Refer to 3-3-3) - Maximum permissible current 500mA. Power COM+ 11 COM+ is the common voltage rail of the Digital Input COM- 45 and Digital Output signals. Connect VDD to Com+ for 47 source mode. For external applied power sink mode 49 (+12V to +24V), the positive terminal should be connected to COM+ and the negative to COM-.
ASDA-A User Manual Chapter 3 Configuration and Wiring The following tables 3.C and 3.D detail the functions, applicable operational modes, signal name and relevant wiring schematic of the default DI and DO signals. Table 3.C DO Signal SRDY Digital Output Functions DO Assigned Code Control Mode 01 ALL Pin No. + - 7 6 Wiring Diagram Details (*1) (Default) (Refer to 3-3-3) SRDY is activated when the servo drive is ready to run. All fault and alarm conditions, if present, have been cleared.
Chapter 3 Configuration and Wiring DO Signal TPOS DO Assigned Code Control Mode 05 Pt, Pr, Pt-S, ASDA-A User Manual Pin No. Details (*1) (Default) + 1 - Wiring Diagram (Refer to 3-3-3) 26 1. When the drive is in Pt mode, TPOS will Pt-T, Pr-S, be activated when the position error is Pr-T equal and below the setting value of P1-54. 2. When the drive is in Pr mode, TPOS will be activated when the drive detects that the position of the motor is in a -P1-54 to +P1-54 band of the target position.
ASDA-A User Manual Table 3.D DI Signal Chapter 3 Configuration and Wiring Digital Input Functions DI Assigned Control Code Mode Pin No. Wiring Diagram Details (*2) (Default) (Refer to 3-3-3) SON 01 ALL ARST 02 ALL 33 GAINUP 03 ALL - CCLR 04 Pt ZCLAMP 05 ALL - When this signal is On and the motor speed value is lower than the setting value of P1-38, it is used to lock the motor in the instant position while ZCLAMP is On.
Chapter 3 Configuration and Wiring DI Signal DI Code Assigned Control Mode ASDA-A User Manual Pin No. Details (*2) (Default) 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. CWL 22 Pt, Pr, S, T Sz, Tz 32 Reverse inhibit limit.
ASDA-A User Manual DI Signal DI Code Assigned Control Chapter 3 Configuration and Wiring Pin No. (Default) Mode Wiring Diagram Details (*2) (Refer to 3-3-3) STEPB 41 Not assigned - Step back input. When STEPB is activated, the motor will return to first position. AUTOR 42 Not assigned - Auto run input. When AUTOR is activated, the motor will run automatically according to internal position command. For time interval setting, please see P2-52 to P2-59.
Chapter 3 Configuration and Wiring Table 3.
ASDA-A User Manual Signal DI Code TLLM 25 TRLM 26 SHOM 27 INDEX0 28 INDEX1 29 INDEX2 30 INDEX3 31 INDEX4 32 MD0 33 MD1 34 MDP0 35 MDP1 36 JOGU 37 JOGD 38 STEPU 39 STEPD 40 STEPB 41 AUTOR 42 GNUM0 43 GNUM1 44 INHP 45 Function Chapter 3 Configuration and Wiring Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T Reverse operation torque limit (torque limit function is valid only when P1-02 is enabled) Forward operation torque limit (torque limit function is valid only
Chapter 3 Configuration and Wiring Table 3.
ASDA-A User Manual Chapter 3 Configuration and Wiring Setting of parameter P2-10 to P2-17: DI Code 01 02 Signal SON Setting of parameter P2-18 to P2-22: DO Code 01 Description Servo On Signal Description SRDY Servo ready 02 SON 03 ZSPD Zero speed 04 ARST Reset Gain switching in speed and GAINUP position mode CCLR Pulse clear (see P2-50) 04 TSPD Speed reached 05 ZCLAMP Low speed CLAMP 05 TPOS Positioning completed 06 06 09 CMDINV Command input reverse control Internal position control
Chapter 3 Configuration and Wiring ASDA-A User Manual Setting of parameter P2-10 to P2-17: DI Code 33 Signal 34 Description MD0 Feed step mode input 0 MD1 Feed step mode input 1 35 MDP0 Manually continuous operation 36 MDP1 Manually single step operation 37 JOGU Forward JOG input 38 39 40 41 42 43 44 45 JOGD Reverse JOG input Step up input (available in Pr mode STEPU only) Step down input (available in Pr STEPD mode only) Step back input.
ASDA-A User Manual Chapter 3 Configuration and Wiring 3-3-4 Wiring Diagrams of I/O Signals (CN1) The valid voltage range of analog input command in speed and torque mode is -10V ~+10V. The command value can be set via relevant parameters. C1: Speed / Torque analog signal input C2: Analog monitor output (MON1, MON2) Servo Drive Servo Drive Output +8V 1mA max. 42 V-REF 18 (T-REF) 10K MON1 16 (MON2)(15) +10V 8K Approx.
Chapter 3 Configuration and Wiring ASDA-A User Manual C5: Wiring of DO signal, for the use of internal power supply, general load C6: Wiring of DO signal, for the use of internal power supply, inductive load Servo Drive Servo Drive DC24V DC24V VDD 17 VDD DOX: (DOX+, DOX-) X=1,2,3,4,5 DOX: (DOX+, DOX-) X=1,2,3,4,5 DO1: ( 7, 6) DO2: ( 5, 4) DO3: ( 3, 2) DO4: ( 1, 26) DO5: (28, 27) Ensure the polarity(+ of Diode is correct or may damage the driv 17 DO1: ( 7, 6) DO2: ( 5, 4) DO3: ( 3, 2) DO4: ( 1
ASDA-A User Manual Chapter 3 Configuration and Wiring Use a relay or open-collector transistor to input signal. C9: Wiring of DI signal, for the use of internal power supply C10: Wiring of DI signal, for the use of external power supply Servo Drive Servo Drive Do not connect VDD-COM+ VDD-COM- DC24V VDD 17 R: Approx. 4.7K 11 SON DC24V 200mA min. 9 45 TR Vces Iceo < 1.0V = < = 100uA VDD 17 COM+ COM+ Approx. 5mA for a transistor DC24V SON R: Approx. 4.
Chapter 3 Configuration and Wiring 3-4 ASDA-A User Manual Encoder Connector CN2 Integrated within the servo motor is a 2500PPR incremental encoder. When power is first applied to the servo drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor. Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires. Following rotor position sensing the amplifier automatically switches to encoding for commutation control.
ASDA-A User Manual 3-5 Chapter 3 Configuration and Wiring 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.
Chapter 3 Configuration and Wiring ASDA-A User Manual 3-5-2 Connection between PC and Connector CN3 4th Edition 2005/11/30, HE03 3-30 © DELTA ELECTRONICS, INC.
ASDA-A User Manual 3-6 Chapter 3 Configuration and Wiring Standard Connection Example 3-6-1 Position (Pt) Control Mode Servo Driv e MC CB AC 220 /230V Si ngle -pha se or Thre e-ph ase 50/60H z MC R S T L1 L2 Pu lse Inpu t (Line Dri ver ) *1 10V SI GN 37 /S IGN 36 PU LSE 41 /P ULSE 43 T-R EF 18 13 GN D P D C CN1 U V W FG CN2 DC24V SON C TRG T CM0 T CM1 DI2 A RST DI3 10 34 DI4 8 CWL DI5 DI6 33 32 C CWL DI7 E MGS DI8 31 30 1.5 K SR DY 1 .5K ZSPD 1 .5K 24V HOME 1 .5K TPOS 1 .
Chapter 3 Configuration and Wiring ASDA-A User Manual 3-6-2 Position (Pr) Control Mode MC CB AC 220 /230V Si ngle -pha se or Thre e-ph ase 50/60H z R S T L1 L2 CN1 T- REF 1 0V G ND 18 13 P D C Red U White V Black W Gree n FG C N2 V CC 20 DC 24V SON CTRG P OS0 P OS1 A RST DI2 DI3 DI4 DI5 DI6 DI7 CWL CCWL E MGS DI8 4 5,47, 49 9 10 34 8 33 1 .5K ZSPD 2 4V 1 .5K H OME 1 .5K T POS 1 .
ASDA-A User Manual Chapter 3 Configuration and Wiring 3-6-3 Speed Control Mode MC CB AC 220 /230V Si ngle -pha se or Thre e-ph ase 50/60H z Se rvo Driv e MC R S T L1 L2 P D C U CN1 10K 10V 10K V- REF 42 13 GND T-REF GND 18 13 V CC 20 R ege nera tive R esis tor CN2 DI1 DI2 9 SPD0 DI3 34 SPD1 8 C WL DI4 DI5 DI6 CC WL DI7 32 31 EMGS DI8 30 ARST 1.5K SR DY 1.5K ZSPD 1.5K 24V TSPD 1.5K BRKR 1.
Chapter 3 Configuration and Wiring ASDA-A User Manual 3-6-4 Torque Control Mode MCC B AC 220 /230V Si ngle-pha se or Thre e-ph ase 50/60H z R S T L1 L2 P CN1 1 0K 10V 10K Regene rativ e Resistor Se rvo Drive MC V- REF GND 42 13 T-REF GND 18 13 VCC 20 D C Red U Whi te V Blac k W G reen FG C N2 DC24V 17 COM+ 11 COM- 45 ,47,49 SON SPDLM DI1 DI2 9 10 TCM0 DI3 34 TCM1 ARST DI4 8 DI5 CWL DI6 33 32 CCWL DI7 DI8 E MGS 1.5K S RDY 1.5K ZS PD 1.5K 24V TSPD 1.5K BRKR 1.
ASDA-A User Manual Chapter 4 Chapter 4 Display and Operation Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers. 4-1 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.
Chapter 4 Display and Operation 4-2 ASDA-A User Manual Display Flowchart Figure 4.2 Keypad Operation SHIFT MODE Monitor Status SHIFT Monitor Parameter SHIFT Basic Parameter SHIFT Extension Parameter SHIFT Communication Parameter Diagnosis Parameter or or SET to display setting value or SET to save setting value (1) When the power is applied to the AC servo drive, the LCD display will show the monitor display symbol for approximately one second, then enter into the monitor display mode.
ASDA-A User Manual 4-3 Chapter 4 Display and Operation 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. Read only. Write-protected. Invalid password or no password input The setting value is error or input reserve setting value. Servo system is running and it is unable to input.
Chapter 4 Display and Operation Display Message ASDA-A User Manual Description When the parameter setting is greater than four digits, after the display value is set, continuously press SHIFT key for many times and then decimal points in the upper four digits will light. Negative value is indicated by the lit decimal points in the upper four digits. If the parameter value is less than five digits, the negative value is indicated by symbol “Ё”. Reverse rotation is also indicates by symbol “Ё”.
ASDA-A User Manual Settings of P0-02 Chapter 4 Display and Operation Display Message Description Unit 11 Average Torque [%] 12 Peak Torque [%] 13 Main circuit voltage [V] 14 Ratio of Load/Motor inertia [times] 15 Feedback pulse number of servo [pulse] motor (Relative value) 16 Feedback rotation number of servo [rev] motor (Relative value) The following table lists the display examples of monitor value: Display Message Description Positive value display. Display value: +1234.
Chapter 4 Display and Operation 4-4 ASDA-A User Manual General Function Operation 4-4-1 Error Status Display Operation After entering the parameter mode P4-00 to P4-04, press Set key to display the corresponding error code history or press UP arrow key to display the error code of H1 to H5 in order. H1 indicates the most recently occurred error code, H2 is the previous occurred error code before H1 and so forth. Please refer to the Figure 4.3. The recently occurred error code is 10. Figure 4.
ASDA-A User Manual Chapter 4 Display and Operation Figure 4.4 SET or or SET CW CCW 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 rpm.
Chapter 4 Display and Operation ASDA-A User Manual Figure 4.
ASDA-A User Manual Chapter 4 Display and Operation Figure 4.6 SET Force DO to be ON Force DO1 to be ON Force DO2 to be ON or Force DO3 to be ON Force DO4 to be ON Force DO5 to be ON 4-4-5 DI signal Display Diagnosis Operation Follow the setting method in Figure 4.7 to enter into DI signal display diagnosis operation mode. According to the ON and OFF status of external input signal DI1 to DI8, the corresponding signal status will display on the LED display.
Chapter 4 Display and Operation ASDA-A User Manual 4-4-6 DO signal Display Diagnosis Operation Follow the setting method in Figure 4.8 to enter into DO signal display diagnosis operation mode. According to the ON and OFF status of digital output signals DO1 to DO5, the corresponding signal status will display on the LED display. When the segment lit and display on the screen, it means that the digital input signal is ON. (Please also refer to Figure 4.8) Figure 4.
ASDA-A User Manual Chapter 5 Chapter 5 Trial Run and Tuning Procedure 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.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual Inspection during 4. Reset parameters when the servo drive is off. Otherwise, it may result in malfunction. operation 5. Ensure correct operation when using a relay and request assistance should there (Control power is be any unusual noises. 6. Check for abnormal conditions of the power indicators and LED display. applied) 4th Edition 2005/11/30, HE03 5-2 © DELTA ELECTRONICS, INC.
ASDA-A User Manual 5-2 Chapter 5 Trial Run and Tuning Procedure Applying Power to the Drive Users please observe the following steps when applying power supply to the servo drive. 1. Please check and confirm the wiring connection between the drive and motor is correct. 1) 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.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual 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.
ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure 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. Corrective Actions: If it is no need to use “Reverse inhibit limit (CWL)” as input signal, it only needs to confirm that if all of the digital inputs DI1~DI8 are not set to “Reverse inhibit limit (CWL)”.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual Overcurrent: Corrective Actions: Check the wiring connections between drive and motor. Check if the circuit of wire is closed. Repair the short-circuited and avoid metal conductor being exposed. 7) When display shows: Undervoltage: Corrective Actions: Check whether the wiring of main circuit input voltage is normal. Use voltmeter to check whether input voltage of main circuit is normal.
ASDA-A User Manual 5-3 Chapter 5 Trial Run and Tuning Procedure JOG Trial Run without Load It is very convenient to use JOG trial run without load because it can save the wiring. 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. The setting value of parameter P2-30 should be set to 1 (servo on). STEP 2: Set parameter P4-05 as JOG speed (unit: rpm).
Chapter 5 Trial Run and Tuning Procedure 5-4 ASDA-A User Manual 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 1Κ 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 and the setting would be valid.
ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure 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 3Κ (1) The user can use DI1 to activate the servo drive (Servo ON). (2) If DI3 (SPD0) and DI4 (SPD1) are OFF both, it is S1 command. At this time, the motor is operating according to external analog command.
Chapter 5 Trial Run and Tuning Procedure 5-5 ASDA-A User Manual 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 1Κ 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.
ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure The relationship of position command (1~8) and POS0 ~ POS2 is listed as the table below: Position Command Internal Position 1 Internal Position 2 Internal Position 3 Internal Position 4 Internal Position 5 Internal Position 6 Internal Position 7 Internal Position 8 POS2 POS1 POS0 0 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1 CTRG Parameters P1-15 P1-16 P1-17 P1-18 P1-19 P1-20 P1-21 P1-22 P1-23 P1-24 P1-25 P1-26 P1-27
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual Set P1-23 to -1000 (rotation number) Set P1-24 to 0 (pulse number) The command of internal position 5: P1-23 Rotation No. + P1-24 Pulse No. 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.
ASDA-A User Manual 5-6 Chapter 5 Trial Run and Tuning Procedure Tuning Procedure Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode 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 P2-30. 5.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual 5-6-1 Tuning Flowchart Run without load confirmed OK If tune the drive at the first time ? NO YES Removed from the control of the host (external) controller, perform trial run and estimate the value of (J_load /J_motor) Manual Mode Easy Mode If the value of (J_load / J_motor) is estimated incorrectly, the optimum gain can not be adjusted. AutoMode Connect to the host (external) controller.
ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure 5-6-2 Load Inertia Estimation Flowchart Make s ure the power of Ser v o drive is OFF Conne ct Motor to the Mec hanical s ystem Powe r on Ser vo Driv e Whe n P0-02 is set to 14, the display will show the rati o of Load i nertia to Motor inertia ( J _load / J _motor ) I f P2- 32 is set to 0, it is Manual m ode Set P2-32 t o 1, forc e the dr ive to be Ser vo On. YE S D ecr eas e the se tting va lue of P2-00.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual 5-6-3 Easy Mode Tuning Flowchart P2-31 Auto and Easy Mode Selection (Default setting: A=4) A B not used In Easy Mode, the value “A” indicates the stiffness setting. When the setting value is higher, the control stiffness is also higher Adjust P2-31: Increase the setting value of P2-31. Increase the value “A” to add the control stiffness or reduce the noise.
ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure Table 5.A Stiffness Setting in Easy Mode (P2-31 value “A”) and the setting of P2-00, P2-25 Level (P2-31 High Responsiveness Level Medium Responsiveness Level Low Responsiveness Level Value A) Load Range (J_load /J_motor) Max.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual 5-6-4 AutoMode (PI) Tuning Flowchart P2-31 Auto and Easy Mode Selection (Default setting: B=4) 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. Increase the value “B” to speed the responsiveness or reduce the noise.
ASDA-A User Manual Table 5.B Chapter 5 Trial Run and Tuning Procedure P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25 P2-31 value “B” Speed Loop Responsive Recommended Setting Value of P2-25 0 20Hz 13 1 30Hz 9 2 40Hz 6 3 60Hz 4 4 85Hz 3 5 120Hz 3 6 160Hz 2 7 200Hz 1 8 250Hz 1 9 and above 300Hz 0 © DELTA ELECTRONICS, INC.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual 5-6-5 AutoMode (PDFF) Tuning Flowchart P2-31 Auto and Easy Mode Selection (Default setting: B=4) 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. Increase the value “B” to speed the responsiveness or reduce the noise.
ASDA-A User Manual Table 5.C Chapter 5 Trial Run and Tuning Procedure P2-31 Value “B” Setting in AutoMode (PDFF) and the Speed Loop Responsiveness. P2-31 value “B” Speed Loop Responsiveness P2-31 value “B” Speed Loop Responsiveness 0 20HZ 8 120Hz 1 30 HZ 9 140HZ 2 40 HZ A 160HZ 3 50 HZ B 180HZ 4 60 HZ C 200Hz 5 70 Hz D 220Hz 6 80Hz E 260Hz 7 100Hz F 300HZ © DELTA ELECTRONICS, INC.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual 5-6-6 Manual Mode Tuning Flowchart Position Mode Set P2- 00 to a smaller value to make the position loop responsiv enes s t o be lower than speed loop responsiv eness. The setting value of P2-06 should be equal to P2-00. Servo motor d rive pe rfor m p osition con trol op eration repeate dly. If ther e is r esonanc e noise ? NO Inc re ase the setting value of P2- 04 and adj us t P2-25 .
ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure Speed Mode Set P 2-06 (Speed Integral Compensation) to a smaller value. Servo motor drive perform position control oper ati on repeatedly. NO If ther e i s r eson ance no ise ? Inc rease th e settin g valu e of P2- 04 and adj ust P2-2 5. YE S Adjust P 2-04 to 75 per cent of speed loop gain wh en the ther e is r es ona nc e noi se. 1. I ncr ease the setting value of P2- 06 (Speed Integral Compens ation). 2.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual 5-6-8 Relationship between Tuning Modes and Parameters Tuning Mode P2-32 AutoSet User-defined Parameter Parameter Gain Value P2-00 (Proportional Position Loop Gain) Manual Mode 0(Default setting) P2-04 (Proportional Speed Loop Gain) None P2-06 (Speed Integral Compensation) Fixed P2-25 (Low-pass Filter Time Constant of Resonance Suppression) P2-04 Easy Mode 1 P2-06 P2-26 AutoMode (PI) [Continuous] P2-00, 2 P2-04, P2-06, P2-31 Val
ASDA-A User Manual Chapter 5 Trial Run and Tuning Procedure 5-6-9 Gain Adjustment in Manual Mode The position and speed responsiveness selection is depending on and determined by the the control stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process system. However, the higher responsiveness may easily result in the resonance of machinery system.
Chapter 5 Trial Run and Tuning Procedure ASDA-A User Manual NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression When the value of (J_load / J_motor) is high, the responsiveness of speed loop may decrease. At this time, the user can increase the setting value of KVP (P2-04) to keep the responsiveness of speed loop. However, when increasing the setting value of KVP (P2-04), it may easily result in the vibration of machinery system.
ASDA-A User Manual Chapter 6 6-1 Chapter 6 Control Modes of Operation Control Modes of Operation Control Modes of Operation The Delta Servo can be programmed to provide six single and five dual modes of operation. Their operation and description is listed in the following table. Mode External Position Control Code Pt Description Position control for the servo motor is achieved via an external pulse command.
Chapter 6 Control Modes of Operation ASDA-A User Manual The steps of changing mode: (1) Turn off the servo drive (the status of Servo Off) and turning SON signal of Digit input to be off can complete this action. (2) Using parameter P1-01. (Refer to chapter 7). (3) After the setting is completed, cut the power off and restart the drive again. The following sections describe the operation of each control mode, including control structure, command source and loop gain adjustment, etc.
ASDA-A User Manual 6-2 Chapter 6 Control Modes of Operation Position Control Mode The position control mode (Pt or Pr mode) is usually used on the applications of precision positioning, such as industry machine, etc. Delta servo drive supports two kinds of command sources in position control mode. One is external pulse train and the other is internal parameter. The external pulse train input with direction can control the rotation angle of servo motor. The max.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-2-1 Command Source of Position (Pt) Control Mode The command source of Pt mode is external pulse train input form terminals. There are three types of pulse input and each pulse type is with polarity (positive (+), negative (-)). They all can be set in parameter P1-00. Please refer to the following: P1 - 00ϧ PTT External Pulse Input Type Communication Addr.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-2-2 Command Source of Position (Pr) Control Mode The command sources of Pr mode are P1-15, P1-16 to P1-29, P1-30 these eight built-in parameters. According to parameter P1-33, users can select: a) Absolute or b) Incremental position control. Using with external I/O signals (CN1, POS0 to POS 2 and CTRG) can select one of the eight built-in parameters to be position command.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-2-3 Structure of Position Control Mode Basic Structure: Position Command Position Command Processing Speed Loop Position Control Block Diagram Current Loop Output Position 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: Position Command Processing (Pr Mode) CN1 POS2~ POS0 CTRG (Pt Mode) Electronic gear rati
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-2-4 P-curve Filter for Position Control The P-curve filter is for the position smoothing of motion command. Using P-curve filter can run the servo motor more smoothly in response to a sudden position command.
Chapter 6 Control Modes of Operation ASDA-A User Manual 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.: 0122H Default: 200 Applicable Control Mode: P/S Range: 1~20000 Unit: msec P1 - 35 TDEC Deceleration Time Communication Addr.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-2-5 Electronic Gear Ratio Relevant parameters: P1 - 44ϧ GR1 Electronic Gear Ratio (1st Numerator) (N1) Default: 1 Communication Addr.: 012CH Applicable Control Mode: P Range: 1~32767 Unit: Pulse P1 - 45ϧ GR2 Electronic Gear Ratio (Denominator) Default: 1 Communication Addr.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-2-6 Low-pass Filter Relevant parameters: P1 - 08 PFLT Smooth Constant of Position Command (Low-pass Communication Addr.: 0108H filter) Default: 0 Applicable Control Mode: P Range: 0~1000 (0: Disabled) Unit: 10 msec Target position PFLT 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.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-2-8 Position Loop Gain Adjustment Before performing position control (setting position control block diagram), users should complete the speed control setting by selecting tuning mode (using parameter P-32) since the position loop contains speed loop. Then, adjust the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02). Or using Auto mode to automatically adjust the gain of speed and position control mode.
Chapter 6 Control Modes of Operation ASDA-A User Manual When the value of KPP is too great, the bandwidth of position loop is increase and it will result in small phase margin. At this time, the rotor of motor will shake and turn around. Users have to decrease the value of KPP until the rotor of motor coould not shake and turn around. When there is an external torque interrupted, over low KPP value cannot meet the requirement of reasonable position track error demand.
ASDA-A User Manual 6-3 Chapter 6 Control Modes of Operation 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. Delta 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 rotation speed of servo motor.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-3-1 Command Source of Speed Control Mode Speed command Source: 1. External analog signal: External analog voltage input, -10V to +10V 2.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-3-2 Structure of Speed Control Mode Basic Structure: Speed command Speed Command Processing Speed estimator Speed Control Block Diagram Resonant Suppression Block Diagram Torque limiter Current loop In the above figure, the speed command processing is used to select the command source of speed control according to chapter 6-3-1, including max.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-3-3 Smoothing Strategy of Speed Control Mode S-curve Filter The S-curve filter is for the speed smoothing of motion command which provides 3 steps accel S-curve smoothing strategy during acceleration and deceleration. Using S-curve filter can run the servo motor more smoothly in response to a sudden speed command.
ASDA-A User Manual P1 - 36 TSL Chapter 6 Control Modes of Operation Accel /Decel S-curve Communication Addr.: 0124H Default: 0 Applicable Control Mode: P/S Range: 0~10000 (0: disabled) Unit: msec Note: If the setting value of parameter P1-36 is set to 0, it indicates Accel / Decel S-curve function is disabled and the command is just By-Pass. Analog Input Filter ASDA-A series AC drive also provide analog input filter for the smoothing in response to a sudden analog input signal.
Chapter 6 Control Modes of Operation ASDA-A User Manual Target Speed SFLT 4th Edition 2005/11/30, HE03 6-18 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-3-4 Analog Input Proportional Gain (Scalar) The analog voltage between V_REF and GND controls the motor speed command. Using with parameter P1-40 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 P1 - 40ϧ VCM Max. Analog Speed Command Default: rated Communication Addr.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-3-5 Timing Chart of Speed Control Mode S4 Internal speed command S3 S2 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. 3.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-3-6 Speed Loop Gain Adjustment The function and structure of speed control block diagram is shown as the figure below: Speed Control Block Diagram differentiator Feed forward Gain P2-07 Proportional Gain P2-04 Integrator Integral Gain P2-06 Encoder Speed estimator There are three turning modes of gain adjustment: Manual, Auto and Easy modes. Manual Mode: User-defined loop gain adjustment.
Chapter 6 Control Modes of Operation ASDA-A User Manual Manual Mode When P2-32 is set to 0, users can define the proportional gain of speed loop (P2-04), integral gain (P2-06) and feed forward gain (P2-07). Please refer to the following description: Proportional gain: Adjust this gain can increase the response bandwidth of position loop. 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.
ASDA-A User Manual Chapter 6 Control Modes of Operation Frequency Domain STEP 2ΚFix the value of KVP and adjust the value of KVI. STEP 1: Set the value of KVI=0, the value of KVF=0 and adjust the value of KVP. Gain Gain KVI KVP Frequency Frequency Frequency Frequency KVP KVI Phase Phase STEP 3ΚSelect the value of KVI, if the value of Gain phase margin is too small, re-adjust the value of KVP again to obtain the value, 45deg of phase margin.
Chapter 6 Control Modes of Operation ASDA-A User Manual Time Domain Rotation Speed KVP When the value of KVP is greate , the value of the bandwidthis also greater and the raising time is shorter. However, when the value of phase margin is over low, it is not more helpful to steady error. But it is more helpful to dynamic tracking error. Time Rotation Speed When the value of KVI is greater, the value of KVI low-frequency gain is also greater and the value of steady error is nearly zero (0).
ASDA-A User Manual Chapter 6 Control Modes of Operation Easy Mode When P2-32 is set to 1, the easy mode function is activated. In order to enhance the performance of servo system, ASDA-A series servo drive provide “Robust Control Technology” when user select the easy mode of tuning technology. The following introduces the basic structure.
Chapter 6 Control Modes of Operation Level Max.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-3-7 Resonance Suppression The resonance of mechanical system may occur due to excessive system stiffness or frequency response. However, this kind of resonance condition can be improved, suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and notch filter (parameter P2-23, P2-24) without changing control parameter. P2 - 23 NCF Notch Filter Frequency of Resonance Suppression Communication Addr.
Chapter 6 Control Modes of Operation ASDA-A User Manual 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 BW will become smaller (see the figure below). The resonant condition is improved and the frequency response and phase margin also decrease.
ASDA-A User Manual 6-4 Chapter 6 Control Modes of Operation 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 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.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-4-2 Structure of Torque Control Mode Basic Structure: Torque command Torque Command Processing Resonant Suppression Block Diagram Speed Loop Output Torque Current Control Block Diagram Current Sensor In the above figure, the toque command processing is used to select the command source of torque control according to chapter 6-4-1, including max. output of analog torque limit (parameter P1-41) and smoothing strategy of torque control mode.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-4-3 Smoothing Strategy of Torque Control Mode P1 - 07 TFLT Smooth Constant of Analog Torque Command (Low-pass smooth filter) Default: 0 Communication Addr.: 0107H Applicable Control Mode: T Range: 0~100 (0: Disabled) Unit: msec Note: 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 © DELTA ELECTRONICS, INC.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-4-4 Analog Input Proportional Gain (Scalar) 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. 300% The torque control ramp is determined by parameter P1-41 100% Torque command -10 -5 5 10 Analog Input Voltage (V) -100% -300% P1 - 41ϧ TCM Max. Analog Torque Command Default: 100 Communication Addr.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-4-5 Timing Chart of Speed Control Mode T4 Internal speed command T3 T2 External analog voltage or zero (0) External I/O signal T1 TCM0 OFF TCM1 OFF SON ON OFF ON ON ON Note: 1. OFF indicates normally open and ON indicates normally closed. 2. When speed control mode is Tz, the torque command T1=0; when speed control mode is T, the torque command T1 is external analog voltage input. 3.
Chapter 6 Control Modes of Operation 6-5 ASDA-A User Manual Control Modes Selection Except signal control mode operation, ASDA-A series AC drive also provide Pt-S, Pr-S, S-T, Pt-T, Pr-T these five multiple modes for user to select.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-5-1 Speed / Position Control Mode Selection Pt-S Mode / Pr-S Mode: The command source of Pt-S mode is from external input pulse. The command source of Pr-S mode is from internal parameters (P1-15 to P1-30). The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11). The speed and position mode switching is controlled by the S-P signal.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-5-2 Speed / Torque Control Mode Selection S-T Mode: The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and SPD0~1 is used to select speed command. The same as speed command, the torque command can be the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select torque command The speed and torque mode switching is controlled by the S-T signal.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-5-3 Torque / Position Control Mode Selection Pt-T Mode / Pr-T Mode: The command source of Pt-T mode is from external input pulse. The command source of Pr-T mode is from internal parameters (P1-15 to P1-30). The torque command can be the external input pulse or internal parameters (P1-12 to P1-14). The torque and position mode switching is controlled by T-P signal.
Chapter 6 Control Modes of Operation 6-6 ASDA-A User Manual 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.
ASDA-A User Manual Chapter 6 Control Modes of Operation 6-6-2 Torque Limit The command source of torque limit command is the same as torque command. It can be the external analog voltage but also can be internal parameters (P1-12 to P1-14). For more information of torque command source, please refer to chapter 6-4-1. The speed limit only can be used in position mode (Pt and Pr mode) and speed mode (S mode) to limit the output torque of servo motor.
Chapter 6 Control Modes of Operation ASDA-A User Manual 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 is returned from the load to the servo drive. This power will be transmitted into the capacitance of DC Bus and result in rising voltage. When the voltage has risen to some high voltage, using regenerative resistor can dischange.
ASDA-A User Manual Chapter 6 Control Modes of Operation 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 user should use the external regenerative resistor that the resistance value following the above table. We ignore the discharge power of IGBT in order to let user easily calculate the power of regenerative resistor.
Chapter 6 Control Modes of Operation ASDA-A User Manual For example: If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. rotation speed is 3000rpm, the load inertia = 7 ͪ motor inertia, then the necessary the power of regenerative resistor = 2 ͪ ( (7+1) ͪ 1.68Ё8) / 0.4=27.2W. If the regenerative power is very small, we recommend user to use the built-in 60W regenerative resistor.
ASDA-A User Manual Chapter 6 Control Modes of Operation For example: When external load torque is a +70% rated torque and rotation speed reachs 3000 rpm, if using 400W servo drive (rated torque: 1.27Nt-m), then users need to connect a external regenerative resistor which power is 2 ͪ (0.7 ͪ 1.27) ͪ (3000 ͪ 2 ͪ Ӹ/ 60) = 560W, 40:.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-6-4 Analog Monitor User can use analog monitor to observe the required analog voltage signals. ASDA-A series provide two analog channels, they are PIN No. 15 and 16 of CN1 connector. The parameters relative to analog monitor are shown below. P0 - 03 MON Communication Addr.
ASDA-A User Manual Chapter 6 Control Modes of Operation P1 - 05 MON2 Analog Monitor Output Proportion 2 (CH2) Default: 100 Communication Addr.: 0105H Applicable Control Mode: P/S/T Range: 0~100 Unit: %(full scale) P4 - 20 DOF1 Offset Adjustment Value of Analog Monitor Output (CH1) Default: 0 Communication Addr.: 0414H Applicable Control Mode: P/S/T Range: -800~800 Unit: mV P4 - 21 DOF2 Offset Adjustment Value of Analog Monitor Output Communication Addr.
Chapter 6 Control Modes of Operation ASDA-A User Manual 6-6-5 Electromagnetic Brake When the servo drive is operating, if the BRKR is set to Off, it indicates the electromagnetic brake is disabled and motor is stop running and locked. If the BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run freely. There are two setting methods of electromagnetic brake. One is using MBT1 (parameter P1-42) and the other is using MBT2 (parameter P1-43) to set the relevant time delay.
ASDA-A User Manual Chapter 6 Control Modes of Operation Electromagnetic Brake Wiring Diagram R S T 1MCCB Noise filter ASD ASMT R *1 U S Motor V T W L1 L2 PE BRAR-RY +24V CN1 BRAR+ Brake BRAR- CN2 *2 Encoder BRAR-RY AC DC 24V *1: Please refer to Chapter 3 Configuration and Wiring *2: BRKR-RY: Brake control relay ASDA-A series servo drive provides the digital output signal (BRKR-RY). The BRKR-RY and the DC24V+ power supply complete a brake ON / OFF circuit. © DELTA ELECTRONICS, INC.
Chapter 6 Control Modes of Operation ASDA-A User Manual 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 4th Edition 2005/11/30, HE03 Input available 6-48 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 7 Chapter 7 Parameters Parameters 7-1 Definition 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) Abbreviation of control modes: P : Position control mode S : Speed control mode T : Torque control mode Explanation of symbols (marked after para
Chapter 7 Parameters ASDA-A User Manual 7-2 Parameters Summary 7-2-1 Parameters List by Group Group 0: P0-xx Monitor Parameters Control Parameter Name Function Default Unit Mode P S T P0-00Ϫ VER Software Version Factory setting --- O O O P0-01Ϫ ALE Drive Fault Code --- --- O O O P0-02 STS Drive Status 00 --- O O O P0-03 MON Analog Monitor Output 01 --- O O O P0-04 CM1 Status Monitor 1 0 --- O O O P0-05 CM2 Status Monitor 2 0 --- O O O P0-06 CM3 Stat
ASDA-A User Manual Chapter 7 Parameters Group 1: P1-xx Basic Parameters Control Parameter Name Function Default Unit Mode P S T P1-00ϧ PTT External Pulse Input Type 2 --- O P1-01ϥ CTL Control Mode and Output Direction 00 --- O O O P1-02 PSTL Speed and Torque Limit 00 --- O O O P1-03 AOUT Output Polarity Setting 0 --- O O O P1-04 MON1 Analog Monitor Output Proportion 1 (CH1) 100 % O O O P1-05 MON2 Analog Monitor Output Proportion 2 (CH2) 100 % O O O P1-06
Chapter 7 Parameters ASDA-A User Manual Basic Parameters Control Parameter Name Function Default Unit Mode P S T P1-50 HOF1 Homing Offset Rotation Number 0 rev O P1-51 HOF2 Homing Offset Pulse Number 0 pulse O P1-52 RES1 Regenerative Resistor Value --- Ohm O O O P1-53 RES2 Regenerative Resistor Capacity --- Watt O O O P1-54 PER Positioning Completed Width 100 pulse O rated --- O O O 50 % O O O P1-55 P1-56 MSPD Maximum Speed Limit OLW Output Overload War
ASDA-A User Manual Chapter 7 Parameters Group 2: P2-xx Extension Parameters Control Parameter Name Function Default Unit Mode P S P2-00 KPP Proportional Position Loop Gain 35 rad/s O P2-01 PPR Position Gain Switching Rate 100 % O P2-02 PFG Position Feed Forward Gain 5000 0.
Chapter 7 Parameters ASDA-A User Manual Extension Parameters Control Parameter Name Function Default Unit Mode P P2-34 SDEV Overspeed Warning Condition 5000 rpm P2-35 PDEV Excessive Error Warning Condition 30000 pulse O 1000 rpm O --- O P2-36 ~ P2-43 POV1 Moving Speed Setting of 1st ~ 8th Position ~ POV8 DOM Digital Output Modes 0 P2-45 DOD Combination Output Signal Delay Time 1 P2-46 FSN Feed Step Number 6 --- O P2-47 PED Position Deviation Clear Delay Time 0 20msec
ASDA-A User Manual Chapter 7 Parameters Group 3: P3-xx Communication Parameters Control Parameter Name Function Default Unit Mode P S T P3-00 ADR Communication Address 1 --- O O O P3-01 BRT Transmission Speed 1 bps O O O P3-02 PTL Communication Protocol 0 --- O O O P3-03 FLT Transmission Fault Treatment 0 --- O O O P3-04 CWD Communication Time Out Detection 0 sec O O O P3-05 CMM Communication Selection 0 --- O O O P3-06Ϯ SDI Digital Input Contact Co
Chapter 7 Parameters ASDA-A User Manual Group 4: P4-xx Diagnosis Parameters Control Parameter Name Function Default Unit Mode P S T P4-00Ϫ ASH1 Fault Record (N) 0 --- O O O P4-01Ϫ ASH2 Fault Record (N-1) 0 --- O O O P4-02Ϫ ASH3 Fault Record (N-2) 0 --- O O O P4-03Ϫ ASH4 Fault Record (N-3) 0 --- O O O P4-04Ϫ ASH5 Fault Record (N-4) 0 --- O O O P4-05 JOG JOG Operation 20 rpm O O O P4-06ϧ FOT Force Output 0 --- O O O P4-07 ITST Multi Function D
ASDA-A User Manual Chapter 7 Parameters 7-2-2 Parameters List by Function Monitor and General Use Parameter Name Function Default Factory Unit Control Mode Related P S T Section --- O O O --- P0-00Ϫ VER Software Version P0-01Ϫ ALE Drive Fault Code --- --- O O O 10-1 P0-02 STS Drive Status 00 --- O O O 4-3-5 P0-03 MON Analog Monitor Output 01 --- O O O 4-3-5 P0-04 CM1 Status Monitor 1 0 --- O O O 4-3-5 P0-05 CM2 Status Monitor 2 0 --- O O O 4-3-
Chapter 7 Parameters ASDA-A User Manual Smooth Filter and Resonance Suppression Parameter Name Function Default Unit 0 msec Control Mode P S T Related Section P1-06 SFLT Accel / Decel Smooth Constant of Analog Speed Command (Low-pass smooth filter) P1-07 TFLT Smooth Constant of Analog Torque Command (Low-pass smooth filter) 0 msec P1-08 PFLT Smooth Constant of Position Command (Low-pass smooth filter) 0 msec O P1-34 TACC Acceleration Time 200 msec O O 6-3-3 P1-35 TDEC Dec
ASDA-A User Manual Chapter 7 Parameters Gain and Switch Parameter Name Function Default Unit Control Mode P S T Related Section P2-00 KPP Proportional Position Loop Gain 35 rad/s O 6-2-8 P2-01 PPR Position Gain Switching Rate 100 % O --- P2-02 PFG Position Feed Forward Gain 5000 0.
Chapter 7 Parameters ASDA-A User Manual Position Control Parameter Name Function Default Unit Control Mode and Output Direction 00 Speed and Torque Limit S T Section --- O O O 6-1 00 --- O O O 6-6 rated --- O O O --- 100 % O O O 6-4-1 PG Dividing Output Pulse Ratio 1 --- O --- Pulse Clear Mode 0 --- O ---- CTL P1-02 PSTL P1-55 MSPD Maximum Speed Limit TQ1 ~ 3 P1-46ϧ GR3 P2-50 CCLR Related P P1-01ϥ P1-12 ~ P1-14 Control Mode 1st ~ 3rd Torque Command
ASDA-A User Manual Chapter 7 Parameters Position Control Parameter Name Function Default Unit Control Mode P S T Related Section P2-48 BLAS Backlash Compensation of Feed Step Control 0 pulse O 12-6 P2-52 ATM0 Timer 0 of Auto Mode 0 sec O --- P2-53 ATM1 Timer 1 of Auto Mode 0 sec O --- P2-54 ATM2 Timer 2 of Auto Mode 0 sec O --- P2-55 ATM3 Timer 3 of Auto Mode 0 sec O --- P2-56 ATM4 Timer 4 of Auto Mode 0 sec O --- P2-57 ATM5 Timer 5 of Auto Mode 0 sec
Chapter 7 Parameters ASDA-A User Manual Speed Control Parameter Name Function Default Unit Control Mode and Output Direction 00 Control Mode P S T Section --- O O O 6-1 O O 6-6 P1-01ϥ CTL P1-02 PSTL Speed and Torque Limit 00 --- O P1-46ϧ GR3 PG Dividing Output Pulse Ratio 1 --- O rated --- O 100~300 --- 100 % P1-55 MSPD Maximum Speed Limit P1-09 ~ P1-11 SP1 ~ 3 P1-12 ~ P1-14 TQ1 ~ 3 P1-40ϧ VCM Max. Analog Speed Command rated rpm P1-41ϧ TCM Max.
ASDA-A User Manual Chapter 7 Parameters Torque Control Parameter Name Function Default Unit Control Mode and Output Direction 00 Speed and Torque Limit P1-01ϥ CTL P1-02 PSTL P1-55 MSPD Maximum Speed Limit 1st ~ 3rd Speed Command S T Section --- O O O 6-1 00 --- O O O 6-6 rated --- O O O --- 100~300 --- O O 6-6-1 100 % O O O 6-4-1 O O --- O --- SP1 ~ 3 P1-12 ~ P1-14 TQ1 ~ 3 P1-40ϧ VCM Max. Analog Speed Command rated rpm P1-41ϧ TCM Max.
Chapter 7 Parameters ASDA-A User Manual Digital I/O and relative input output setting Digital I/O Parameter Name Function Default Unit 2 Control Mode P S T 2msec O O O Related Section P2-09 DRT Bounce Filter P2-10 DI1 Digital Input Terminal 1 (DI1) 101 --- O O O P2-11 DI2 Digital Input Terminal 2 (DI2) 116 --- O O O P2-12 DI3 Digital Input Terminal 3 (DI3) 117 --- O O O P2-13 DI4 Digital Input Terminal 4 (DI4) 0 --- O O O P2-14 DI5 Digital Input Terminal
ASDA-A User Manual Chapter 7 Parameters Communication Parameter Name Function Default Unit Control Mode Related P S T Section P3-00 ADR Communication Address 1 --- O O O 8-2 P3-01 BRT Transmission Speed 1 bps O O O 8-2 P3-02 PTL Communication Protocol 0 --- O O O 8-2 P3-03 FLT Transmission Fault Treatment 0 --- O O O 8-2 P3-04 CWD Communication Time Out Detection 0 sec O O O 8-2 P3-05 CMM Communication Selection 0 --- O O O 8-2 P3-06Ϯ SDI D
Chapter 7 Parameters ASDA-A User Manual Diagnosis Parameter Name Function Default Unit Control Mode Related P S T Section P4-00Ϫ ASH1 Fault Record (N) 0 --- O O O 4-4-1 P4-01Ϫ ASH2 Fault Record (N-1) 0 --- O O O 4-4-1 P4-02Ϫ ASH3 Fault Record (N-2) 0 --- O O O 4-4-1 P4-03Ϫ ASH4 Fault Record (N-3) 0 --- O O O 4-4-1 P4-04Ϫ ASH5 Fault Record (N-4) 0 --- O O O 4-4-1 P4-05 JOG JOG Operation 20 rpm O O O 4-4-2 P4-06ϧ FOT Force Output 0 --- O
ASDA-A User Manual Chapter 7 Parameters Others Parameter Name P1-31 Function Default Unit 0 Control Mode Related P S T Section --- O O O --- Reserved P1-32 LSTP Motor Stop Mode Selection P1-37 GDR Ratio of Load Inertia to Servo Motor Inertia 5.
Chapter 7 Parameters 7-3 ASDA-A User Manual Detailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00Ϫ VER Software Version Communication Addr.: 0000H Default: Factory setting P0 - 01Ϫ ALE Applicable Control Mode: P/S/T Drive Fault Code Communication Addr.
ASDA-A User Manual Chapter 7 Parameters 03: Rotation number of pulse command 04: Position error counter [pulse] 05: Input frequency of pulse command [kHz] 06: Motor rotation speed [rpm] 07: Speed input command [Volt] 08: Speed input command [rpm] 09: Torque input command [Volt] 10: Torque input command [N-M] 11: Average load [%] 12: Peak load [%] 13: Main circuit voltage 14: Ratio of load inertia to Motor inertia 15: Motor feedback pulse number (relative value) 16: Motor feedback pulse number (relative va
Chapter 7 Parameters P0 - 04 CM1 ASDA-A User Manual Status Monitor 1 Communication Addr.: 0004H Default: 0 Applicable Control Mode: P/S/T Range: 0~16 Select the desired drive status through the keypad or communication setting (please refer to P0-02). The drive status can be read from the communication address of this parameter via communication port. P0 - 05 CM2 Status Monitor 2 Communication Addr.: 0005H Default: 0 Applicable Control Mode: P/S/T Range: 0~16 See P0-04 for explanation.
ASDA-A User Manual Chapter 7 Parameters P0 - 10 MAP1 Block Data Read/Write Register 1 Default: 10FH Communication Addr.: 000AH Applicable Control Mode: P/S/T Range: 100H~417H See P0-09 for explanation. P0 - 11 MAP2 Block Data Read/Write Register 2 Default: 110H Communication Addr.: 000BH Applicable Control Mode: P/S/T Range: 100H~417H See P0-09 for explanation. P0 - 12 MAP3 Block Data Read/Write Register 3 Default: 224H Communication Addr.
Chapter 7 Parameters ASDA-A User Manual Group 1: P1-xx Basic Parameters P1 - 00ϧ PTT External Pulse Input Type Communication Addr.: 0100H Default: 2 Applicable Control Mode: P Range: 0~132 Setting: A B C not used Value A: pulse type Input pulse interface x A=0: AB phase pulse (4x) A=1: CW + CCW pulse Max.
ASDA-A User Manual P1 - 01ϥ CTL Chapter 7 Parameters Control Mode and Output Direction Communication Addr.: 0101H Default: 00 Applicable Control Mode: P/S/T Range: 00~1110 Unit: pulse (Position mode), rpm(Speed mode), N.M(Torque mode) A B C D not used x BA=10: Control mode setting x C: Torque output direction control x D=1: When switching to different mode, DIO (P2-10~P1-22) can be reset to be the default value of the mode you switch to.
Chapter 7 Parameters P1 - 02ϧ PSTL ASDA-A User Manual Speed and Torque Limit Communication Addr.
ASDA-A User Manual Chapter 7 Parameters P1 - 04 MON1 Analog Monitor Output Proportion 1 (CH1) Default: 100 Communication Addr.: 0104H Applicable Control Mode: P/S/T Range: 0~100 Unit: %(full scale) P1 - 05 MON2 Analog Monitor Output Proportion 2 (CH2) Default: 100 Communication Addr.: 0105H Applicable Control Mode: P/S/T Range: 0~100 Unit: %(full scale) P1 - 06 SFLT Accel / Decel Smooth Constant of Analog Speed Command (Low-pass filter) Default: 0 Communication Addr.
Chapter 7 Parameters P1 - 10 SP2 ASDA-A User Manual 2nd Speed Command Communication Addr.: 010AH 2nd Speed Limit Default: 200 Applicable Control Mode: S Range: +/-5000 Unit: r/min 2nd Speed Command In Speed mode, this parameter is used to set speed 2 of internal speed command. For the decimal place setting of internal speed command, please refer to P2-63.
ASDA-A User Manual Chapter 7 Parameters Digital output signal TQL is activated when the drive has detected that the motor has reached the torques limits set by either the parameters P1-12 ~ P1-14 of via an external analog voltage. P1 - 13 TQ2 2nd Torque Command Communication Addr.: 010DH 2nd Torque Limit Default: 100 Applicable Control Mode: T Range: +/-300 Unit: % 2nd Torque Command In Torque mode, this parameter is used to set torque 2 of internal torque command.
Chapter 7 Parameters P1 - 16 PO1L ASDA-A User Manual 1st Position Command for Pulse Default: 0 Communication Addr.: 0110H Applicable Control Mode: Pr Range: +/-max. cnt/rev 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 Default: 0 Communication Addr.: 0111H Applicable Control Mode: Pr Range: +/-30000 This parameter is used to set rotation pulse number of internal position 2.
ASDA-A User Manual P1 - 23 PO5H Chapter 7 Parameters 5th Position Command for Rotation Default: 0 Communication Addr.: 0117H Applicable Control Mode: Pr Range: +/-30000 This parameter is used to set rotation pulse number of internal position 5. P1 - 24 PO5L 5th Position Command for Pulse Default: 0 Communication Addr.: 0118H Applicable Control Mode: Pr Range: +/-max. cnt/rev This parameter is used to set rotation cycle number of internal position 5.
Chapter 7 Parameters P1 - 30 PO8L ASDA-A User Manual 8th Position Command for Pulse Communication Addr.: 011EH Default: 0 Applicable Control Mode: Pr Range: +/-max. cnt/rev This parameter is used to set rotation pulse number of internal position 8. Stroke8 = PO8H × (cnt/rev) + PO8L P1 - 31 Reversed P1 - 32 LSTP Motor Stop Mode Selection Communication Addr.
ASDA-A User Manual P1 - 34 TACC Chapter 7 Parameters Acceleration Time Communication Addr.: 0122H Default: 200 Applicable Control Mode: P/S Range: 1~20000 Unit: msec 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.
Chapter 7 Parameters P1 - 38 ZSPD ASDA-A User Manual Zero Speed Level Communication Addr.: 0126H Default: 10 Applicable Control Mode: P/S/T Range: 0~200 Unit: rpm 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. For Example, at default ZSPD will be activated when the drive detects the motor rotating at speed at or below 10 rpm.
ASDA-A User Manual P1 - 41ϧ TCM Chapter 7 Parameters Max. Analog Torque Command Default: 100 Communication Addr.: 0129H Applicable Control Mode: T Range: 0~1000 Unit: % In Torque mode, this parameter is used to set the output torque at maximum input voltage (10V) of analog torque command. For example, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the torque command is 100% rated torque.
Chapter 7 Parameters P1 - 44ϧ GR1 ASDA-A User Manual Electronic Gear Ratio (1st Numerator) (N1) Default: 1 Communication Addr.: 012CH Applicable Control Mode: P Range: 1~32767 Unit: Pulse Multiple-step electronic gear numerator setting. Please refer to P2-60~P2-62. P1 - 45ϧ GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH Default: 1 Applicable Control Mode: P Range: 1~32767 Unit: Pulse Electronic gear denominator setting.
ASDA-A User Manual P1 - 47 HMOV Chapter 7 Parameters Homing Mode Communication Addr.: 012FH Default: 00 Applicable Control Mode: P Range: 00~1225 A B C D not used D=0: After detecting “Home”, the motor will decelerate and return to “Home”. D=1: After detecting “Home”, the motor will decelerate and stop in the forward direction. C=0: Disable homing function. C=1: Enable homing function automatically after power supplies to the servo drive. C=2: Enable homing function by SHOM.
Chapter 7 Parameters ASDA-A User Manual P1 - 48 HSPD1 1st Speed Setting of High Speed Homing Default: 1000 Communication Addr.: 0130H Applicable Control Mode: P Range: 1~2000 Unit: rpm HSP1 HSP2 Z pulse P1 - 49 HSPD2 2nd Speed Setting of Low Speed Homing Default: 50 Communication Addr.: 0131H Applicable Control Mode: P Range: 1~500 Unit: rpm P1 - 50 HOF1 Homing Offset Rotation Number Default: 0 Communication Addr.
ASDA-A User Manual P1 - 54 PER Chapter 7 Parameters Positioning Completed Width Default: 100 Communication Addr.: 0136H Applicable Control Mode: P Range: 0~10000 Unit: pulse This parameter is used to band of the target position. For Example, at factory default TPOS (positioning completed signal) will activate once the motor is in -99 pulses range of the target position, then deactivate after it reaches +99 pulses range of the desired position. P1 - 55 MSPD Maximum Speed Limit Communication Addr.
Chapter 7 Parameters ASDA-A User Manual Group 2: P2-xx Extension Parameters P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 35 Applicable Control Mode: P Range: 0~1023 Unit: rad/s 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.
ASDA-A User Manual Chapter 7 Parameters This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is increased, it can expedite speed loop response. However, if the setting value is over high, it may generate vibration or noise. In easy mode, the value of this parameter is set to the default of the easy mode automatically. P2 - 05 SPR Speed 2nd Loop Gain Communication Addr.
Chapter 7 Parameters ASDA-A User Manual 3. Users may lock the parameters and protect parameters against change by unauthorized personnel. Parameter Lock (Password Input): Enter 5-digit password (your password should be at least five characters long). Confirm your password again and then, the password input is completed. (The highest digit of your password number should be at least set to 1). Set parameters: Enter correct password, and then you can unlock the parameters and change them.
ASDA-A User Manual P2 - 12 DI3 Chapter 7 Parameters Digital Input Terminal 3 (DI3) Communication Addr.: 020CH Default: 116 Applicable Control Mode: P/S/T Range: 0~145 See P2-10 for explanation. P2 - 13 DI4 Digital Input Terminal 4 (DI4) Communication Addr.: 020DH Default: 117 Applicable Control Mode: P/S/T Range: 0~145 See P2-10 for explanation. P2 - 14 DI5 Digital Input Terminal 5 (DI5) Communication Addr.
Chapter 7 Parameters ASDA-A User Manual C=0: normally closed (contact b) C=1: normally open (contact a) For the setting value (B, A) of P2-18~P2-22, please refer to Table 7.B Please re-start the servo drive after parameters have been changed. P2 - 19 DO2 Digital Output Terminal 2 (DO2) Communication Addr.: 0213H Default: 103 Applicable Control Mode: P/S/T Range: 0~109 See P2-18 for explanation. P2 - 20 DO3 Digital Output Terminal 3 (DO3) Communication Addr.
ASDA-A User Manual P2 - 25 NLP Chapter 7 Parameters Low-pass Filter Time Constant of Resonance Suppression Default: 2 (1KW and below models) or Communication Addr.: 0219H Applicable Control Mode: P/S/T 5 (1KW and below above models) Range: 0~1000 Unit: msec This parameter is used to set low-pass filter time constant of resonance suppression. 0: Disabled P2 - 26 DST External Anti-Interference Gain Default: 0 Communication Addr.: 021AH Applicable Control Mode: P/S/T Range: 0~30000 Unit: 0.
Chapter 7 Parameters P2 - 30Ϯ INH ASDA-A User Manual Auxiliary Function Communication Addr.: 021EH Default: 0 Applicable Control Mode: P/S/T Range: 0~5 Setting: 0: Input contact SON, CW, CCW operate normally. 1: Force to be servo on (ignore CW and CCW signal) 2: Ignore CW limiting signal 3: Ignore CCW limiting signal 4: Internal position learning function 5: After set P2-30 to 5, the setting values of all parameters will lost at power-down.
ASDA-A User Manual Chapter 7 Parameters 5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can be adjusted] PI : Proportional - Integral control PDFF : Pseudo-Derivative Feedback and Feedforward Explanation of Auto-tuning: 1. When switching mode #2 or #4 to #3, the system will save the measured load inertia value automatically and memorized in P1-37. Then, set the corresponding parameters according to this measured load inertia value. 2.
Chapter 7 Parameters ASDA-A User Manual This parameter is used to set the excessive error condition of the drive fault code (Refer to P0-01). As for the proportion value setting of position excessive error warning condition, please refer to P2-63) P2 - 36 POV1 Moving Speed Setting of 1st Position Default: 1000 Communication Addr.: 0224H Applicable Control Mode: P Range: 1~5000 Unit: rpm (When setting value of P2-36 to P2-43 is higher than 3000 rpm, please set setting value of P1-55 to its max.
ASDA-A User Manual P2 - 42 POV7 Chapter 7 Parameters Moving Speed Setting of 7th Position Default: 1000 Communication Addr.: 022AH Applicable Control Mode: P Range: 1~5000 Unit: rpm P2 - 43 POV8 Moving Speed Setting of 8th Position Default: 1000 Communication Addr.: 022BH Applicable Control Mode: P Range: 1~5000 Unit: rpm P2 - 44 DOM Digital Output Mode Setting Communication Addr.
Chapter 7 Parameters ASDA-A User Manual A B C D E Value (C, B, A): 0~312, the pulse number of backlash compensation Actual pulse number of backlash compensation of motor output shaft is equal to the number of value (C, B, A) x electronic gear ratio E=0: Forward compensation E=1: Reverse compensation Note: After modifying the setting value, execute the home sensor function. After executing the home sensor function, perform the control function.
ASDA-A User Manual Chapter 7 Parameters P2 - 51 SRON Servo ON Communication Addr.: 0233H Default: 0 Applicable Control Mode: P/S/T Range: 0~1 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.
Chapter 7 Parameters P2 - 57 ATM5 ASDA-A User Manual Timer 5 of Auto Mode Communication Addr.: 0239H Default: 0 Applicable Control Mode: P Range: 0~120.00 Unit: sec P2 – 58 ATM6 Timer 6 of Auto Mode Communication Addr.: 023AH Default: 0 Applicable Control Mode: P Range: 0~120.00 Unit: sec P2 - 59 ATM7 Timer 7 of Auto Mode Communication Addr.: 023BH Default: 0 Applicable Control Mode: P Range: 0~120.
ASDA-A User Manual P2 - 62 GR6 Chapter 7 Parameters Electronic Gear Ratio (4th Numerator) (N4) Default: 1 Communication Addr.: 023EH Applicable Control Mode: P Range: 1~32767 Unit: Pulse P2 - 63 TSCA Proportion Value Setting Communication Addr.: 023FH Default: 0 Applicable Control Mode: P/S Range: 0~11 Unit: times Setting: A B not used Value A: decimal place setting of internal speed command.
Chapter 7 Parameters ASDA-A User Manual as the torque limit that determined by the torque limit command source. If users use TLLM or TRLM to activate torque limit function, the torque limit command source can be parameter P1-12 (NL) or P1-13 (PL).
ASDA-A User Manual Chapter 7 Parameters Group 3: P3-xx Communication Parameters P3 - 00 ADR Communication Address Communication Addr.: 0300H Default: 1 Applicable Control Mode: P/S/T Range: 0~254 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 communication address.
Chapter 7 Parameters ASDA-A User Manual This parameter is used to set the communication protocol. The alphanumeric characters represent the following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non, Even or Odd; the 1 or 2 is the numbers of stop bits. P3 - 03 FLT Transmission Fault Treatment Communication Addr.
ASDA-A User Manual Chapter 7 Parameters The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi Function Digital Input parameter P4-07 which has several functions. Please see page 8-6 for details. P3 - 07 CDT Communication Response Delay Time Default: 0 Communication Addr.: 0307H Applicable Control Mode: P/S/T Range: 0~255 Unit: 0.5msec Used to delay the communication time that servo drive respond to host controller (external controller) © DELTA ELECTRONICS, INC.
Chapter 7 Parameters ASDA-A User Manual Group 4: P4-xx Diagnosis Parameters P4 - 00Ϫ ASH1 Fault Record (N) Communication Addr.: 0400H Default: 0 Applicable Control Mode: P/S/T The latest fault record. P4 - 01Ϫ ASH2 Fault Record (N-1) Communication Addr.: 0401H Default: 0 P4 - 02Ϫ ASH3 Applicable Control Mode: P/S/T Fault Record (N-2) Communication Addr.: 0402H Default: 0 P4 - 03Ϫ ASH4 Applicable Control Mode: P/S/T Fault Record (N-3) Communication Addr.
ASDA-A User Manual Chapter 7 Parameters 2. DI Signal Control Set the value of DI signal as JOGU and JOGD (refer to Table 7.A). Users can perform JOG run forward and run reverse control. 3.
Chapter 7 Parameters P4 - 10ϧ CEN ASDA-A User Manual Adjustment Function Communication Addr.
ASDA-A User Manual P4 - 15 COF1 Chapter 7 Parameters Current Detector Offset (V1 phase) Default: Factory setting Communication Addr.: 040FH Applicable Control Mode: P/S/T Range: 0~32767 See P4-11 for explanation. P4 - 16 COF2 Current Detector Offset (V2 phase) Default: Factory setting Communication Addr.: 0410H Applicable Control Mode: P/S/T Range: 0~32767 See P4-11 for explanation. P4 - 17 COF3 Current Detector Offset (W1 phase) Default: Factory setting Communication Addr.
Chapter 7 Parameters P4 - 22 SAO ASDA-A User Manual Analog Speed Input Offset (Firmware) Default: 0 Communication Addr.: 0416H Applicable Control Mode: S Range: -5000~5000 Unit: mV Users manually adjust offset value P4 - 23 TAO Analog Torque Input Offset (Firmware) Default: 0 Communication Addr.: 0417H Applicable Control Mode: T Range: -5000~5000 Unit: mV Users manually adjust offset value 4th Edition 2005/11/30, HE03 7-62 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 7 Parameters Table 7.A Input Function Definition Sign Setting Value DI Function Description SON 01 Servo On. Switch servo to "Servo Ready". Check parameter P2-51. ARST 02 Reset. A number of Faults (Alarms) can be cleared by activating ARST. GAINUP 03 CCLR 04 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 Pulse clear (see P2-50).
Chapter 7 Parameters Setting Value POS0 11 POS1 12 POS2 13 SPD0 14 DI Function Description Position command selection (1~8) 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. Command No.
ASDA-A User Manual Sign Setting Value Chapter 7 Parameters DI Function Description S-T 19 Speed / Torque mode switching OFF: Speed, ON: Torque T-P 20 Torque / Position mode switching OFF: Torque, ON: Position EMGS 21 CWL 22 CCWL 23 ORGP 24 TLLM 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”.
Chapter 7 Parameters Sign Setting Value ASDA-A User Manual DI Function Description Step down input. When STEPD is activated, the motor will run to previous position. Step back input. When STEPB is activated, the motor will return to first position. Auto run input. When AUTOR is activated, the motor will run automatically according to internal position command. For time interval setting, please see P2-52 to P2-59.
ASDA-A User Manual Table 7.B Sign SRDY SON ZSPD TSPD TPOS TQL ALRM BRKR Chapter 7 Parameters Output Function Definition Setting DO Function Description Value 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.
Chapter 7 Parameters ASDA-A User Manual Note: When P2-18 to P2-22 is set to 0, it indicates input function is disabled. 4th Edition 2005/11/30, HE03 7-68 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 8 MODBUS Communications Chapter 8 MODBUS Communications 8-1 Communication Hardware Interface The ASDA-A series servo controller 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.
Chapter 8 MODBUS Communications ASDA-A User Manual Note: 1. Recommended maximum cable length is 15m. 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 which will ensure the correct and desired baud rate. 2. The number shown in the pervious figure indicates the terminal number of each connector.
ASDA-A User Manual Chapter 8 MODBUS Communications Note: 1. Recommended maximum cable length is 100m. 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 which will ensure the correct and desired baud rate. 2. The number shown in the pervious figure indicates the terminal number of each connector. 3.
Chapter 8 MODBUS Communications 8-2 ASDA-A User Manual 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.
ASDA-A User Manual Chapter 8 MODBUS Communications This parameter is used to set the communication protocol. The alphanumeric characters represent the following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non, Even or Odd; the 1 or 2 is the numbers of stop bits.
Chapter 8 MODBUS Communications ASDA-A User Manual Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 State 1 1 0 1 1 0 0 0 = D8 Hex (Keypad, Communication or UI) (External CN1 Communication) or = 216 Dec (Communication or UI only) Please see Chapter 4-4-5 DI Signal Display Diagnosis Operation for display layout of the Digital Signal selection.
ASDA-A User Manual 8-3 Chapter 8 MODBUS Communications MODBUS Communication Protocol When using RS-232/485/422 serial communication interface, each ASDA-A 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.
Chapter 8 MODBUS Communications ASDA-A User Manual 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
ASDA-A User Manual Chapter 8 MODBUS Communications 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’=31HΔ’0’=30H RTU Mode: ADR = 10H CMD (Command Codes) and DATA (Data Characters) The format of data characters depends on the command code. The available command codes and examples for AC servo drive are described as follows: Command code: 03H, read N words.
Chapter 8 MODBUS Communications ASDA-A User Manual Command code: 06H, write 1 word For example, writing 100 (0064H) to starting data address 0200H of ASDA-A series with address 01H.
ASDA-A User Manual Number of data LRC Check End 1 End 0 Chapter 8 MODBUS Communications ‘1’ ‘0’ ‘0’ ‘0’ ‘1’ ‘F’ ‘8’ (0DH)(CR) (0AH)(LF) 01H+03H+02H+01H+00H+01H = 08H, the 2’s complement negation of 08H is F8H. Hence, we can know that LRC CHK is ’F’,’8’. 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.
Chapter 8 MODBUS Communications ASDA-A User Manual End1, End0 (Communication End) ASCII Mode: In ASCII mode, (0DH) stands for character ’\r’ (carriage return) and (0AH) stands for character ’\n’ (new line), they indicate communication end. RTU Mode: In RTU mode, a silent interval of more than 10ms indicates communication end. The following is an example of CRC generation using C language.
ASDA-A User Manual Chapter 8 MODBUS Communications #define IER 0x0001 #define BRDH 0x0001 #define LCR 0x0003 #define MCR 0x0004 #define LSR 0x0005 #define MSR 0x0006 unsigned char rdat[60]; /* read 2 data from address 0200H of ASD with address 1 */ unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’}; void main() { int I; outportb(PORT+MCR,0x08); /* interrupt enable */ outportb(PORT+IER,0x01); /* interrupt as data in */ outportb(PORT+LCR,( inportb(PORT+LCR) |
Chapter 8 MODBUS Communications 8-4 ASDA-A User Manual 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.
ASDA-A User Manual Chapter 8 MODBUS Communications Communication read-out parameters for ASDA-A series are including: Group 0: P0-00 ~ P0-08 (0000H to 0008H) Group 1: P1-00 ~ P1-56 (0100H to 0138H) Group 2: P2-00 ~ P2-64 (0200H to 0240H) Group 3: P3-00 ~ P3-07 (0300H to 0307H) Group 4: P4-00 ~ P4-23 (0400H to 0417H) © DELTA ELECTRONICS, INC.
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ASDA-A User Manual Chapter 9 Chapter 9 Maintenance and Inspection 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.
Chapter 9 Maintenance and Inspection Inspection Item Inspection during operation (Control power is applied) 9-2 ASDA-A User Manual Inspection Content 1. 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. 2. Check for abnormal vibrations and sounds during operation.
ASDA-A User Manual Chapter 10 Chapter 10 Troubleshooting Troubleshooting 10-1 Fault Messages Table 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. Fault Messages Display Fault Name Fault Description Overcurrent Main circuit current is higher than 1.5 multiple of motor’s instantaneous maximum current value.
Chapter 10 Troubleshooting ASDA-A User Manual 10-2 Potential Cause and Corrective Actions : Overcurrent Potential Cause Short-circuit at drive output Checking Method Corrective Actions 1.Check the wiring connections between Repair the short-circuited and avoid metal conductor being exposed. drive and motor. 2.Check if the wire is short-circuited. Motor wiring error IGBT error Check if the wiring steps are all correct Follow the wiring steps in the user when connecting motor to drive.
ASDA-A User Manual Chapter 10 Troubleshooting : Motor overheated Potential Cause Servo system is Checking Method 1. Use thermometer to check the motor overloaded. Corrective Actions Estimate the capacity of motor and drive again. temperature. 2. Check if servo system is overloaded. : Regeneration error Potential Cause Checking Method Corrective Actions Regenerative resistor is Check the wiring connection of Reconnect regenerative resistor. not connected. regenerative resistor.
Chapter 10 Troubleshooting ASDA-A User Manual : Abnormal pulse control command Potential Cause Pulse command Checking Method Use pulse frequency detector to detect frequency is higher than input frequency. Corrective Actions Correctly set the input pulse frequency. rated input frequency. : Excessive deviation Potential Cause Checking Method Maximum deviation Check for the maximum deviation parameter setting is too parameter setting. Corrective Actions Increase setting value. small.
ASDA-A User Manual Chapter 10 Troubleshooting : Adjustment error Potential Cause Analog input contact Checking Method Corrective Actions Measure and check if the voltage level of Correctly ground analog input contact. does not correctly return analog input contact is the same as the electrical potential of grounding. to zero. Detection device may be Check and reset the power supply. If the error does not clear after damaged.
Chapter 10 Troubleshooting ASDA-A User Manual : Memory error Potential Cause Checking Method Corrective Actions Data in Memory read-out Reset parameter or power supply. If the error does not clear after / write-in error resetting the parameter or power supply, contact the distributor for assistance or return to manufacturer.
ASDA-A User Manual Chapter 10 Troubleshooting : Input power phase loss Potential Cause Input power is error. Checking Method Corrective Actions 1. Check for possible poor connection on Correctly connect three-phase power. If there are any abnormal conditions the input power line. 2. Check for possible loss of phase on assistance or return to manufacturer. input power line. © DELTA ELECTRONICS, INC.
Chapter 10 Troubleshooting ASDA-A User Manual 10-3 Clearing Faults Display Fault Name Clearing Method Overcurrent Turn ARST (DI signal) ON to clear the fault. Overvoltage Turn ARST (DI signal) ON to clear the fault. Undervoltage This fault could be cleared automatically when the main circuit voltage is returned within its specified value. Motor overheated Turn ARST (DI signal) ON to clear the fault. Regeneration error Turn ARST (DI signal) ON to clear the fault.
ASDA-A User Manual Display Chapter 10 Troubleshooting Fault Name Clearing Method DSP communication error Turn ARST (DI signal) ON to clear the fault. Serial communication error Turn ARST (DI signal) ON to clear the fault. Serial communication time out Turn ARST (DI signal) ON to clear the fault. Command write-in error Turn ARST (DI signal) ON to clear the fault. Input power phase loss Turn ARST (DI signal) ON to clear the fault. © DELTA ELECTRONICS, INC.
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ASDA-A User Manual Chapter 11 Specifications Chapter 11 Specifications 11-1 Servo Drive Specifications (ASDA-A Series) Power supply Model: ASD-A Position Control Mode 02 04 07 10 15 Voltage / Frequency Three-phase or Single-phase 220VAC Permissible Voltage Fluctuation Three-phase: 170~255VAC 20 30 Three-phase 220VAC 170~255VAC Single-phase: 200~255VAC Permissible Frequency Fluctuation Cooling System Speed Control Mode 01 50 / 60Hz ̈́5% Natural Air Circulation Fan Cooling Encoder Resol
Chapter 11 Specifications ASDA-A User Manual 11-1 Servo Drive Specifications (ASDA-A Series), cont. Torque Control Mode Model: ASD-A 01 02 04 07 10 15 Voltage Range Analog Input Input Command Time Constant 0 ~ ̈́10 VDC Permissible Time for 8 sec. Under 200% rated output Command Source External analog signal / Internal parameters Smoothing Strategy Low-pass filter Speed Limit Operation Parameter Setting or via Analog input Analog Monitor Output 20 30 10K: 2.
ASDA-A User Manual Chapter 11 Specifications 11-1 Servo Drive Specifications (ASDA-A Series), cont.
Chapter 11 Specifications ASDA-A User Manual 11-2 Low Inertia Servo Motor Specifications (ASMT 100W 200W 400W 750W 1kW 2kW 3kW 01 02 04 07 10 20 30 Rated output (kW) 0.1 0.2 0.4 0.75 1.0 2.0 3.0 Rated torque (N.m) 0.318 0.64 1.27 2.39 3.3 6.8 9.5 Maximum torque (N.m) 0.95 1.91 3.82 7.16 9.9 19.2 31.5 Model: ASMT L250 Rated speed (rpm) 3000 Maximum speed (rpm) Specifications 5000 4500 Rated current (A) 1.1 1.7 3.3 5.0 6.8 13.4 17.
ASDA-A User Manual Chapter 11 Specifications 11-3 Medium Inertia Servo Motor Specifications (ASMT 1kW 1.5kW 2kW 3kW 10 15 20 30 Rated output 1.0 1.5 2.0 3.0 Rated torque (N.m) 4.8 7.16 9.4 14.3 Maximum torque (N.m) 15.7 21.5 23.5 35.8 Model: ASMT M250 Rated speed (rpm) 2000 Maximum speed (rpm) 3000 Rated current (A) 5.6 10.6 13.1 17.4 Maximum current (A) 17.6 30.3 31.4 42.3 Power rating (kW/s) Rotor moment of inertia 38.4 58.3 55.6 47.2 5.98E-4 8.79E-4 15.
Chapter 11 Specifications ASDA-A User Manual 11-4 Servo Motor Speed-Torque Curves Low Inertial Servo Motor Speed-Torque Curves 4th Edition 2005/11/30, HE03 11-6 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 11 Specifications Medium Inertial Servo Motor Speed-Torque Curves © DELTA ELECTRONICS, INC.
Chapter 11 Specifications ASDA-A User Manual 11-5 Overload Characteristics Overload Protection Function Overload protection is a built-in protective function to prevent a motor from overheating. Occasion of Overload 1. Motor was operated for several seconds under a 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.
ASDA-A User Manual Chapter 11 Specifications Chart of load and operating time (1kW~3kW) 5 Operating T ime (seco nds) 10 Load 4 10 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 3 10 2 10 O p e ra tin g T im e 5 2 7 .6 s 7 0 .4 s 3 5 .2 s 2 2 .4 s 16s 1 2 .2 s 9 .6 s 7 .8 s 6 .6 s 5 .6 s 1 10 0 10 100 120 140 160 180 200 220 240 260 280 300 Load (% rated torque) © DELTA ELECTRONICS, INC.
Chapter 11 Specifications ASDA-A User Manual 11-6 Dimensions of Servo Drive (Units: mm) ASD-A0121LA; ASD-A0221LA; ASD-A0421LA (100W~400W) ˣ˘ʳ˧˘˥ˠ˜ˡ˜˔˟ ˊ ˁ ˃ ʳ ̋ ˇ ˠ ʳ ˍ ʳ ˪ ˘ ˥ ˖ ˦ ʼ ̀ ˶ ˀ ˹ ˺ ˾ ʻ ʳ ˇ ˄ ˍ ʳ ˘ ˨ ˚ ˥ ˢ ˧ ʳ ˪ ˘ ˥ ˖ ˦ ʳ ˚ ˡ ˜ ˧ ˡ ˨ ˢ ˠ WEIGHT (KG) 1.5 4th Edition 2005/11/30, HE03 11-10 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 11 Specifications 11-6 Dimensions of Servo Drive, cont. (Units: mm) ASD-A0721LA; ASD-A1021LA; ASD-A1021MA; ASD-A1521MA (750W~1.5kW) ˟ ˔ ˡ ˜ ˠ ˥ ˘ ˧ ʳ ˘ ˣ ˊ ˁ ˃ ʳ ̋ ˇ ˠ ʳ ˍ ʳ ˪ ˘ ˥ ˖ ˦ ʼ ̀ ˶ ˀ ˹ ˺ ˾ ʻ ʳ ˇ ˄ ˍ ʳ ˘ ˨ ˚ ˥ ˢ ˧ ʳ ˪ ˘ ˥ ˖ ˦ ʳ ˚ ˡ ˜ ˧ ˡ ˨ ˢ ˠ WEIGHT (KG) 2.0 © DELTA ELECTRONICS, INC.
Chapter 11 Specifications ASDA-A User Manual 11-6 Dimensions of Servo Drive, cont. (Units: mm) ASD-A2023LA; ASD-A2023MA; ASD-A3023LA; ASD-A3023MA (2kW~3kW) ˄˄˃ˁ˃ ˅˃ˉ ˊ˃ ˅ˇˈ ˅˅ˌˁˈ ˌ˄ˁ˅ ˟ ˔ ˡ ˜ ˠ ˥ ˘ ˧ ʳ ˘ ˣ ʼ ̀ ˶ ˀ ˹ ˺ ˾ ʻ ʳ ˇ ˄ ˍ ʳ ˘ ˨ ˚ ˥ ˢ ˧ ʳ ˪ ˘ ˊ˥ ˁ ˖ ˃ ʳ ˦ ̋ ʳ ˇ ˚ ˠˡ ʳ˜ ˍ ʳ ˧ ˪ˡ ˘˨ ˥ ˖ˢ ˦ˠ WEIGHT (KG) 3.0 4th Edition 2005/11/30, HE03 11-12 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 11 Specifications 11-7 Dimensions of Low Inertia Servo Motor (Units: mm) ˡ ˞ ˣ ˟ ˠ ˝ ˚ ˙ ˔ ˛ ˘ ˗ ˜ ˕ Model ˖ ˕˥˔˞˘ ASMT01L250 ASMT02L250 ASMT04L250 ASMT07L250 A 40 60 60 80 B 4.5 5.5 5.5 6.6 C 46 70 70 90 D 8h6 +0.0 -0.009 14h6 +0.0 -0.011 14h6 +0.0 -0.011 19h6 +0.0 -0.013 E 30h7 +0.0 -0.021 50h7 +0.0 -0.025 50h7 +0.0 -0.025 70h7 +0.0 -0.030 F (without brake) 100.1 102.4 124.4 135 F (with brake) 135.7 137 159 171.
Chapter 11 Specifications ASDA-A User Manual 11-7 Dimensions of Low Inertia Servo Motor, cont. (Units: mm) ˝ ˡ ˣ ˠ ˟ ˞ ˔ ˚ ˙ ˛ ˜ ˘ ˗ ˕ ˖ ˕˥˔˞˘ Model ASMT10L250 ASMT20L250 ASMT30L250 A 100 100 130 B 9 9 9 C 115 +0.2 -0.2 115 +0.2 -0.2 145 +0.2 -0.2 D 22h6 +0.0 -0.013 22h6 +0.0 -0.013 24h6 +0.0 -0.013 E 95h7 +0.0 -0.035 95h7 +0.0 -0.035 110h7 +0.0 -0.
ASDA-A User Manual Chapter 11 Specifications 11-8 Dimensions of Medium Inertia Servo Motor (Units: mm) ˝ ˡ ˟ ˙ ˣ ˠ ˞ ˚ ˛ ˔ ˜ ˕ ˖ Model ASMT10M250 ASMT15M250 ASMT20M250 ASMT30M250 A 130 130 180 180 B 9 9 13.5 13.5 C 145 +0.2 -0.2 145 +0.2 -0.2 200 +0.2 -0.2 200 +0.2 -0.2 D 22h6 +0.0 -0.013 22h6 +0.0 -0.013 35h6 +0.0 -0.016 35h6 +0.0 -0.016 E 110h7 +0.0 -0.035 110h7 +0.0 -0.035 114.3h7 +0 -0.035 114.3h7 +0 -0.
Chapter 11 Specifications ASDA-A User Manual 11-9 EMI Filters Selection Item Power Servo Drive Model 1 100W ASD-A0121LA 2 200W ASD-A0221LA 3 400W ASD-A0421LA 4 750W ASD-A0721LA 5 1000W ASD-A1021LA 6 1500W ASD-A1521MA 7 2000W ASD-A2023LA 26TDT1W4C (3-phase) 8 2000W ASD-A2023MA 26TDT1W4C (3-phase) 9 3000W ASD-A3023LA 26TDT1W4C (3-phase) 10 3000W ASD-A3023MA 26TDT1W4C (3-phase) 4th Edition 2005/11/30, HE03 11-16 EMI Filter Model 16DRT1W3S (1-phase) 10TDT1W4C (3-phase) 1
ASDA-A User Manual Chapter 12 Chapter 12 Application Examples 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. ASD PLC M L.S.1 P1 P2 L.S.
Chapter 12 Application Examples ASDA-A User Manual When home operation is completed (Home ready), then can perform the position control function. DO1 DO4 SRDY HOME DO2 DI1 SON CTRG (rising edge) DI2 DI3 POS=1 POS=0 P1 4th Edition 2005/11/30, HE03 12-2 P2 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 12 Application Examples 12-2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered every time (10000/4=2500Pulse).
Chapter 12 Application Examples ASDA-A User Manual 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.
ASDA-A User Manual X1 Chapter 12 Application Examples M5 RST M10 RST M12 RST M13 SET S0 ZERO X0 ( M1334 ) Stop ch0 pulse output STOP M1000 ( M1346 ) ZRN CLEAR output signal enable Normally on contact (a contact) S0 S10 S11 S12 S13 M1334 ( M5 ZERO JOG+ JOG- FW D POS REV POS ) Stop cho pulse output M1002 DMOV On only for 1 sc an after RUN K10000 D1341 Maximum output frequency DMOV K10000 D1341 Acceleration/deceleration on time X4 M5 M10 RST M12 RST M13 SET S12 FW D P
Chapter 12 Application Examples X5 M5 ASDA-A User Manual M10 RST M12 RST M13 SET S13 REV POS REV POS X2 M5 RST M12 RST M13 SET S10 JOG+ JOG+ X3 M5 RST M12 RST M13 SET S11 JOG- JOG- S0 S ZERO M50 DZRN K50000 K5000 X10 Y0 M5 SET M10 RST S0 PLSY Y0 instruction execution completed flag M1336 M50 Ch0 pulse send flag ZERO M1000 ( M50 ) Normally on contact (a contact) 4th Edition 2005/11/30, HE03 12-6 © DELTA ELECTRONICS, INC.
ASDA-A User Manual S10 S JOG+ X2 Chapter 12 Application Examples M51 DDRVI K999999 K30000 Y0 Y1 JOGM1336 M51 RST S10 Ch0 pulse send flag JOG+ M1000 ( M51 ) Normally on contact (a contact) M1029 RST PLSY Y0 instruction execution completed flag PLSY Y0 instruction execution completed flag S11 S JOG- X3 M1029 M52 DDRVI K-999999 K30000 Y0 Y1 JOGM1336 M52 RST S11 Ch0 pulse send flag JOG- M1000 ( M52 ) Normally on contact (a contact) M1029 RST PLSY Y0 instruction execution completed
Chapter 12 Application Examples S13 S REV POS ASDA-A User Manual M54 DDRVA K100000 K10000 Y0 Y1 M1029 SET M13 RST S13 PLSY Y0 instruction execution completed flag M1336 M101 Ch0 pulse send flag REV POS M54 ( M101 ) M1000 ( M54 ) Normally on contact (a contact) RET M1001 DMOV Normally on contact (a contact) D1336 Present value of ch0 pulse (low D200 Watchdog timer (WDT) value END 4th Edition 2005/11/30, HE03 12-8 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 12 Application Examples 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.
Chapter 12 Application Examples 4th Edition 2005/11/30, HE03 ASDA-A User Manual 12-10 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 12 Application Examples 12-5 Position Control Mode (Pr Mode) Relevant Parameters Description Parameter Communication P1-01 Parameter Description Address 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 fu
Chapter 12 Application Examples ASDA-A User Manual Trigger Timing Charts (1) Timing Chart of Internal Position Register Selection P8 Internal position command P3 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 (2) HOLD Timing Chart: If HOLD signal is ON when position moving, the motor will decelerate and stop according to the deceleration time which is set by parameter P1-34 ~ P1-36.
ASDA-A User Manual (3) Chapter 12 Application Examples Command Abort Timing Chart: To use command abort function, set parameter P2-50 to 2. At this time, if CCLR signal is ON when position moving, the motor will decelerate 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.
Chapter 12 Application Examples ASDA-A User Manual 12-6 Feed Step Control Relevant Parameters Description Parameter P1-01 Communication Parameter Description Address 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.
ASDA-A User Manual Chapter 12 Application Examples Relevant Parameters Description, cont. Parameter Communication P2-45 Parameter Description Address 022DH Combination Output Signal Delay Time [UNIT: 4msec] Output signal will hold delay time when position command is completed. P2-46 022EH Feed Step Number Range: 2~32 P2-47 022FH Position Deviation Clear Delay Time [UNIT: 20msec] This function is disabled when its setting value is set to 0.
Chapter 12 Application Examples ASDA-A User Manual Mode Functions MDP0, MDP1 OFF ON Status MD1 MD0 Explanation 1 OFF OFF Torque decrease 2 OFF ON Feed step position mode 3 ON OFF Homing mode 4 ON ON Emergency stop - - - - OFF ON CW manual operation - ON OFF CCW manual operation - - - Don’t care Don’t care Note: 1. The emergency stop warning message will appear if MD0 and MD1 are ON after power suppliers to AC servo drive.
ASDA-A User Manual Chapter 12 Application Examples Definitions of INDEX0~4 (ON=1, OFF=0) Nr.
Chapter 12 Application Examples ASDA-A User Manual Definitions of DO Signals (ON=1, OFF=0) Nr.
ASDA-A User Manual Chapter 12 Application Examples 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 to return to HOME again to ensure that the “Home” is correct.
Chapter 12 Application Examples (2) ASDA-A User Manual Feed Step Control Mode Power Supply ON OFF DO VALUE CI INDEX 2 (06) CI CI INDEX 6 (0A) 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: The maximum value of P1-45 = 125 x T min. 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).
ASDA-A User Manual (3) Chapter 12 Application Examples Manually Single Step Control Mode 1 Power Supply ON OFF DO VALUE INDEX4 CI CI INDEX 2 INDEX 3 CI 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.
Chapter 12 Application Examples (4) ASDA-A User Manual 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.
ASDA-A User Manual (5) Chapter 12 Application Examples 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.
Chapter 12 Application Examples ASDA-A User Manual Communication Control Example Explanation Communication Address Communication Content Explanation H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H020 Torque decrease H407 H0A3 Index 3 H407 H023 (H020) H407 H0A5 H407 H025 (H020) H407 H0An H407 H02n (H020) 4th Edition 2005/11/30, HE03 Torque decrease Index 5 Torque decrease Index n Torque decr
ASDA-A User Manual Chapter 12 Application Examples 12-7 Internal Auto Running Mode Relevant Parameters Description Parameter P1-01 Communication Parameter Description Address 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) 5: Continuous auto-running position command (Absolute) 6: Continuous auto position command (Incremental) P1-34 0122H Acceleration Time 1st to 3rd step Acceleration time (When paramet
Chapter 12 Application Examples ASDA-A User Manual When the setting value of the time listed below is set to zero(0), the relative position will be ignored.
ASDA-A User Manual Chapter 12 Application Examples Definitions of DO Signals (ON:1, OFF:0) Nr.
Chapter 12 Application Examples (2) ASDA-A User Manual Auto Running Mode Power ON Supply OFF IDX1 DO VALUE INDEX4 HOME (3) CI T1 IDX2 CI IDX8 CI T2 V1 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 CI IDX2 V1 CI IDX3 CI IDX2 V2 Motor Speed Servo ON ON STEPU OFF ON STEPD OFF 4th Edition 2005/11/30, HE03 12-28 © DELTA ELECTRONICS, INC.
ASDA-A User Manual (4) Chapter 12 Application Examples Manual Control Mode 2 Power ON Supply OFF DO VALUE INDEX4 CI IDX1 CI IDX2 V1 CI IDX1 V2 Motor Speed Servo ON ON AUTOR OFF ON STEPB OFF © DELTA ELECTRONICS, INC.
Chapter 12 Application Examples ASDA-A User Manual 12-8 Homing Function Relevant Parameters Description Parameter P1-47 Communication Parameter Description Address 012FH Homing Mode A: Home Sensor Type and Homing Direction B: Homing Moving Method C: Homing Enable Setting D: Homing Stop Setting No use P1-48 0130H 1st Speed Setting of High Speed Homing P1-49 0131H 2nd Speed Setting of Low Speed Homing P1-50 0132H Homing Offset Rotation Number P1-51 0133H Homing Offset Pulse Number Rele
ASDA-A User Manual Chapter 12 Application Examples A=1: Reverse homing and CWL limit input point is regarded as a rough reference “Home”. When home is in position, CWL will turn into limit input function. If trigger CWL afterward, the limit alarm will occur. When use limit input point as a rough reference “Home”, we recommend users to set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as a precise mechanical “Home”.
Chapter 12 Application Examples ASDA-A User Manual values are. C=1: Enable homing function automatically after power in connected to the servo drive. This function is valid only when power on and servo on. It is used on condition that it doesn’t need to repeat the execution of homing function when the servo drive is operating. Use this function can save an input contact which is used for executing homing function. C=2: Enable homing function by SHOM input contact.
ASDA-A User Manual Chapter 12 Application Examples POWER ON SERVO READY SERVO ON refer to homing timing chart HOMING HOMING COMPLETED time 2. Enable homing function by input contact (SHOM) (C=2) POWER ON SERVO READY SERVO ON HOME TRIGGER refer to homing timing chart HOMING HOMING COMPLETED (2) time Homing Timing Charts 1. B/A = 0/0 or B/A = 0/2 SPEED Position Z pulse CCWL / ORGP © DELTA ELECTRONICS, INC.
Chapter 12 Application Examples ASDA-A User Manual 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. B/A = 1/3 SPEED Position Z pulse ORGP 4th Edition 2005/11/30, HE03 12-34 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 12 Application Examples 5. B/A = 2/2 SPEED Position ORGP 6. B/A = 2/3 SPEED Position ORGP 7. B/A = 2/4 SPEED Position Z pulse © DELTA ELECTRONICS, INC.
Chapter 12 Application Examples ASDA-A User Manual 8. B/A = 2/5 SPEED Position Z pulse 4th Edition 2005/11/30, HE03 12-36 © DELTA ELECTRONICS, INC.
ASDA-A User Manual Chapter 12 Application Examples 12-9 External Controller Connection Examples Connecting to Delta DVP-EH PLC 220VAC 220VAC Single-phase power N +24V S/S Servo Motor L AC Servo Drive Three-phase power DVP-EH MPU ASDA Series R U S DI 1 : SON V T DI 5 : ARST W DI 6 : CWL CN1 DI 7 : CCWL DI 8 : EMGS 7 DO1+ 6 DO1- 17 5 DO2+ COM+ 11 4 DO2- CN1 SRDY 24G DO_COM X0 X1 Start Zero Point Reset X2 JOG(+) DI 1 9 3 DO3+ X3 JOG(-) DI 5 33 2 DO3- X4 DI 6
Chapter 12 Application Examples ASDA-A User Manual AC Servo Drive ASDA Series R Servo Motor 220VAC Three-phase power Connecting to Delta DVP-01PU U S V T W CN1 7 DO1+ 6 DO1- 17 5 DO2+ COM+ 11 4 DO2- CN1 VDD 24V DI 1 9 3 DO3+ DI 5 33 2 DO3- DI 5 : ARST DI 6 32 1 DO4+ DI 6 : CWL DI 7 31 26 DO4- DI 8 30 28 DO5+ ALARM COM- 45 27 DO5- DO_COM DI 8 : EMGS +24VDCIN DVP01PU-H CN2 STOP LSP LSN ͅA+ A-phase TPOS Encoder Error Counter 0V CN1 PGO+ 50 PGO- 24 Z
ASDA-A User Manual Chapter 12 Application Examples Connecting to Mitsubishi FX1PG 24V 220VAC 220VAC Single-phase power N DO_COM COM ASDA Series U R S DI 1 : SON V T DI 5 : ARST W DI 6 : CWL CN1 DI 7 : CCWL PLC RUN RUN Servo Motor L Three-phase power AC Servo Drive FX-32MT DI 8 : EMGS 7 DO1+ 24V 6 DO1- 17 5 DO2+ COM+ 11 4 DO2- X1 Start Zero Point Reset X2 JOG(+) X3 JOG(-) DI 1 9 3 DO3+ X4 Stop Error Reset FWD Limit DI 5 33 2 DO3DO4+ X0 X5 X6 CN1 VDD R
Chapter 12 Application Examples ASDA-A User Manual Connecting to Mitsubishi FX2N1PG 24V 220VAC 220VAC Single-phase power N DO_COM COM PLC RUN RUN Servo Motor L Three-phase power AC Servo Drive FX-32MT ASDA Series U R S DI 1 : SON V T DI 5 : ARST W DI 6 : CWL DI 7 : CCWL CN1 DI 8 : EMGS 7 DO1+ 6 DO1- 17 5 DO2+ COM+ 11 4 DO2- X1 Start Zero Point Reset X2 JOG(+) X3 JOG(-) DI 1 9 3 DO3+ X4 Stop Error Reset FWD Limit DI 5 33 2 DO3DO4+ X0 X5 X6 REV Limit X7
ASDA-A User Manual Chapter 12 Application Examples AC Servo Drive R ASDA Series Servo Motor 220VAC Three-phase power Connecting to Mitsubishi AD75 U S V T W CN1 7 DO1+ 6 DO1- 17 5 DO2+ COM+ 11 4 DO2- CN1 VDD 24V SRDY ZSPD DI 1 9 3 DO3+ DI 1 : SON DI 5 33 2 DO3- DI 5 : ARST DI 6 32 1 DO4+ DI 6 : CWL DI 7 31 26 DO4- DI 8 30 28 DO5+ ALARM COM- 45 27 DO5- DO_COM DI 7 : CCWL DI 8 : EMGS HOME TPOS A1SD75-P CN2 START 16 Error Counter STOP 14 CN1 PLS 12 P
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Appendix A: Accessories! ASDA-A User Manual Appendix A: Accessories Power Connectors Delta Part Number: ASD-CAPW0000 (100W ~750W) AMP:350780-1! Delta Part Number: ASD-CAPW0100 (100W ~750W with brake) AMP:350781-1! ! Delta Part Number: ASD-CAPW1000 (low inertia 1kW ~3kW and medium inertia 1kW~1.5kW) CLAMP:MS3057-12A! Straight Plug MS 3106-20-18S Delta Part Number: ASD-CAPW2000 (medium inertia 2kW ~3kW) CLAMP:MS3057-16A Straight Plug MS 3106-24-11S ! © DELTA ELECTRONICS, INC.
Appendix A: Accessories ASDA-A User Manual Power Cables Delta Part Number: ASD-CAPW0003, ASD-CAPW0005 (100W ~750W) ʻˈ˃̀̀ʼ ʻ˄ˁˌˊʳ˼́˶˻ʼ ʻˋ˃ʳ̀̀ʼ ˟ ʻˆˁ˄ˈʳ˼́˶˻ʼ ˜̇˸̀ ˣ˴̅̇ʳˡ̂ˁ ˄ ˅ ˟ ̀̀ ˼́˶˻ ˔˦˗ˀ˖˔ˣ˪˃˃˃ˆ ˆ˃˃˃̈́˄˃ ˄˄ˋ̈́˃ˁˇ ˔˦˗ˀ˖˔ˣ˪˃˃˃ˈ ˈ˃˃˃̈́˄˃ ˄ˌˊ̈́˃ˁˇ Delta Part Number: ASD-CAPW0103, ASD-CAPW0105 (100W ~750W with brake) ʻˈ˃̀̀ʼ ʻ˄ˁˌˊʳ˼́˶˻ʼ ˟ ʻˋ˃̀̀ʼ ʻˆˁ˄ˈʳ˼́˶˻ʼ ˜̇˸̀ ˣ˴̅̇ʳˡ̂ˁ ˄ ˅ ˟ ̀̀ ˼́˶˻ ˔˦˗ˀ˖˔ˣ˪˃˄˃ˆ ˆ˃˃˃̈́˄˃ ˄˄ˋ̈́˃ˁˇ ˔˦˗ˀ˖˔ˣ˪˃˄˃ˈ ˈ˃˃˃̈́˄˃ ˄ˌˊ̈́˃ˁˇ ! Delta Part Number: ASD-CAPW1003, ASD-CAP
Appendix A: Accessories! ASDA-A User Manual Power Cables, cont. Delta Part Number: ASD-CAPW1103, ASD-CAPW1105 (1kW ~1.
Appendix A: Accessories ASDA-A User Manual Power Cables, cont.
Appendix A: Accessories! ASDA-A User Manual Encoder Connectors, cont.
Appendix A: Accessories ASDA-A User Manual I/O Signal Connector Delta Part Number: ASD-CNSC0050 Vendor Name Vendor P/N 3M TAIWAN LTD 10150-3000VE 3M TAIWAN LTD 10350-52A0-008 Communication Cable between Drive and Computer Delta Part Number: ASD-CARS0003 ˟ ˜̇˸̀ ˣ˴̅̇ʳˡ̂ˁ ˄ ˔˦˗ˀ˖˔˥˦˃˃˃ˆ ˟ ̀̀ ˼́˶˻ ˆ˃˃˃̈́˄˃ ˄˄ˋ̈́˃ˁˇ Terminal Block Delta Part Number: ASD-BM-50A ! 4th Edition 2005/11/30, HE03 A-6 © DELTA ELECTRONICS, INC.
