Table Of Contents - Delta ASD-B2-0121-B User Manual

Table of Contents

Revision June2
Table Of Contents6
User Information12
Technical Support And Service12
Unpacking Check14
Chapter 1 Unpacking Check And Model Explanation14
Model Explanation15
Nameplate Information15
Nameplate Explanation15
Serial Number Explanation15
Model Name Explanation16
Ecma Series Servo Motor17
Servo Drive And Servo Motor Combinations18
Servo Drive Features19
Control Modes Of Servo Drive20
Installation And Storage22
Installation Notes22
Storage Conditions22
Chapter 2 Installation And Storage22
Installation Conditions23
Operating Temperature23
Drive Mounting24
Motor Mounting24
Installation Procedure And Minimum Clearances24
Side By Side Installation25
Molded-Case Circuit Breaker And Fuse Current Recommended Value26
Emi Filter Selection27
General Precaution27
Choose Suitable Motor Cable And Precautions28
Dimensions29
Regenerative Resistor30
Built-In Regenerative Resistor30
Built-In Regenerative Resistor Specifications30
External Regenerative Resistor31
Regenerative Power Calculation Method31
Without Load31
Simple Calculation Method34
Connections And Wiring38
Connecting To Peripheral Devices38
Chapter 3 Connections And Wiring38
Servo Drive Connectors And Terminals39
Wiring Notes41
Wiring Methods42
Single-Phase Power Supply42
Three-Phase Power Supply43
Motor Power Cable Connector Specifications44
Encoder Connector Specifications46
Cable Specifications For Servo Drive47
Basic Wiring49
Input / Output Interface Connector - Cn153
Cn1 Terminal Identification53
The Layout Of Cn1 Drive Connector53
Cn1 Terminal Signal Identification54
Signals Explanation Of Connector Cn155
Signals Explanation Of Connector Cn556
Do Signals57
Di Signals58
Source Of Speed Command60
Source Of Torque Command60
Default Di Signals And Control Modes61
Default Do Signals And Control Modes62
Wiring Diagrams Of I/O Signals (Cn1)64
Speed / Torque Analog Signal Input64
Analog Monitor Output64
User-Defined Di And Do Signals69
Encoder Connector Cn270
The Layout Of Cn2 Drive Connector70
The Layout Of Cn2 Motor Connector70
Cn2 Terminal Signal Identification70
Serial Communication Connector Cn371
Cn3 Terminal Layout And Identification71
Cn3 Terminal Signal Identification71
Connection Between Pc And Connector Cn372
Standard Connection Example73
Speed Control Mode74
Torque Control Mode75
Description Of Digital Keypad76
Chapter 4 Display And Operation76
Display Flowchart77
Keypad Operation77
Status Display78
Save Setting Display78
Fault Message Display78
Polarity Setting Display78
Monitor Setting Display79
General Function Operation82
Fault Code Display Operation82
Jog Operation83
Force Output Control Operation84
Di Diagnosis Operation85
Do Diagnosis Operation86
Inspection Without Load88
Chapter 5 Trial Run And Tuning Procedure88
Applying Power To The Drive90
Main Circuit Wiring90
Turn The Power On90
Over Voltage91
Encoder Error91
Reverse Limit Switch Error92
Forward Limit Switch Error92
Overcurrent93
Undervoltage93
Jog Trial Run Without Load94
Speed Trial Run Without Load96
Tuning Procedure98
Tuning Flowchart99
Load Inertia Estimation Flowchart100
Auto Mode Tuning Flowchart101
Semi-Auto Mode Tuning Flowchart102
Limit Of Load Inertia Estimation104
Mechanical Resonance Suppression Method106
Relationship Between Tuning Modes And Parameters107
Gain Adjustment In Manual Mode108
Kvp, Parameter P2-04 Proportional Speed Loop Gain108
Kpp, Parameter P2-00 Proportional Position Loop Gain108
Kvi, Parameter P2-06 Speed Integral Compensation109
Dst, Parameter P2-26 External Anti-Interference Gain109
Pfg, Parameter P2-02 Position Feed Forward Gain109
Control Modes Of Operation110
Chapter 6 Control Modes Of Operation110
Position Control Mode111
Command Source Of Position (Pt) Control Mode111
Structure Of Position Control Mode113
Electronic Gear Ratio114
Pulse Inhibit Input Function (Inhp)114
Electronic Gear Ratio (1St Numerator) (N1)114
Electronic Gear Ratio (Denominator)114
Low-Pass Filter116
Smooth Constant Of Position Command116
Position Loop Gain Adjustment116
Proportional Position Loop Gain117
Position Feed Forward Gain117
Command Source Of Speed Control Mode119
Manual Mode119
Auto Mode119
Structure Of Speed Control Mode120
Smoothing Strategy Of Speed Control Mode121
S-Curve Filter121
Acceleration Time122
Deceleration Time123
Accel /Decel S-Curve123
Analog Speed Command S-Curve Filter124
Analog Speed Command Low-Pass Filter124
Analog Speed Input Scaling125
Max. Analog Speed Command / Limit126
Timing Chart Of Speed Control Mode126
Speed Loop Gain Adjustment127
Tuning Mode Selection127
Explanation Of Manual Mode128
Explanation Of Auto-Tuning Mode128
Explanation Of Semi-Auto Tuning Mode128
Proportional Speed Loop Gain129
Speed Integral Compensation129
Speed Feed Forward Gain129
Frequency Domain130
Time Domain131
Speed131
Auto Mode (Continuous Adjustment))132
Resonance Suppression133
Notch Filter 1 (Resonance Suppression)133
Notch Filter Attenuation Rate 1133
Notch Filter 2 (Resonance Suppression)134
Notch Filter Attenuation Rate 2134
Notch Filter 3 (Resonance Suppression)134
Notch Filter Attenuation Rate 3135
Low-Pass Filter Time Constant135
Settings Of P2-47137
Flowchart Of Auto Resonance Suppression Operation137
Use Notch Filter To Suppress Resonance139
Use Low-Pass Filter To Suppress Resonance139
Command Source Of Torque Control Mode140
Torque Command Sources140
Structure Of Torque Control Mode141
Smoothing Strategy Of Torque Control Mode142
Analog Torque Input Scaling142
Max. Analog Torque Command / Limit143
Timing Chart Of Torque Control Mode143
Control Mode Selection144
Speed / Position Control Mode Selection144
Speed / Torque Control Mode Selection145
Torque / Position Control Mode Selection145
Pt-T Mode145
Others146
Speed Limit146
Torque Limit146
Analog Monitor147
Pulse Output Polarity Setting148
Analog Monitor Output Proportion 1(Ch1)148
Analog Monitor Output Proportion 2(Ch2)148
Analog Monitor Output Drift Adjustment149
Electromagnetic Brake150
Brkr Output Timing Explanation151
Electromagnetic Brake Wiring Diagram151
Servo Parameters154
Definition154
Abbreviation Of Control Modes154
Explanation Of Symbols (Marked After Parameter)154
Chapter 7 Parameters154
Parameters Summary155
Monitor And General Use155
Digital I/O And Relative Input Output Setting161
Communication162
Diagnosis163
Detailed Parameter Listings164
Firmware Version164
Drive Fault Code164
Drive Status (Front Panel Display)165
Servo Startup Time167
Status Monitor 1167
Status Monitor 2168
Status Monitor 3168
Status Monitor 4169
Status Monitor Selection 2170
Status Monitor Selection 3170
Status Monitor Register171
Status Monitor Register Selection171
Servo Output Status Display172
P1-Xx Basic Parameters173
External Pulse Input Type173
Input Polarity174
Source Of Pulse Command174
Control Mode And Output Direction175
Control Mode Settings175
Single Mode175
Sz: Zero Speed / Internal Speed Command176
Tz: Zero Torque / Internal Torque Command176
Speed And Torque Limit176
1St Speed Command Or Limit179
2Nd Speed Command Or Limit179
3Rd Speed Command Or Limit179
1St Torque Command Or Limit180
2Nd Torque Command Or Limit180
3Rd Torque Command Or Limit181
Motor Stop Mode Selection181
Electronic Gear Ratio (Denominator) (M)187
Encoder Output Pulse Number188
Speed Reached Output Range189
Regenerative Resistor Value190
Regenerative Resistor Capacity190
Positioning Completed Width190
Maximum Speed Limit191
Output Overload Warning Time191
Motor Protection Percentage192
Motor Protection Time192
Analog Speed Linear Filter (Moving Filter)192
Friction Compensation Percentage193
Friction Compensation Smooth Constant194
Position Command Moving Filter194
Max. Rotation Speed Of Encoder Output195
P2-Xx Extension Parameters196
Position Loop Gain Switching Rate196
Speed Loop Gain Switching Rate197
Digital Input Terminal 5 (Di5)201
Digital Input Terminal 6 (Di6)201
Digital Input Terminal 7 (Di7)201
Digital Output Terminal 1 (Do1)202
Digital Output Terminal 2 (Do2)202
Digital Output Terminal 3 (Do3)202
Digital Output Terminal 4 (Do4)203
Digital Output Terminal 5 (Do5)203
External Anti-Interference Gain204
Gain Switching Control Selection205
Gain Switching Time Constant206
Gain Switching Condition206
Auxiliary Function206
Overspeed Warning Condition209
Excessive Error Warning Condition210
External Digital Input Terminal 9 (Di9)210
Digital Output Terminal 6 (Do6)211
Speed Detection Filter And Jitter Suppression214
Pulse Deviation Clear Mode215
Position Integral Compensation215
Electronic Gear Ratio (2Nd Numerator)216
Electronic Gear Ratio (3Rd Numerator)216
Electronic Gear Ratio (4Th Numerator) (N4)217
Special Function 1217
Bit10: Di Zclamp Function Selection218
Bit11: Nl(Cwl)/Pl(Ccwl) Pulse Input Inhibit Function219
Special Function 2220
Stable Inertia Estimating Time221
P3-Xx Communication Parameters222
Communication Address Setting222
Transmission Speed222
Communication Protocol223
Transmission Fault Treatment223
Communication Time Out Detection224
Communication Selection224
Digital Input Communication Function225
Communication Response Delay Time225
Monitor Mode225
P4-Xx Diagnosis Parameters227
Fault Record (N)227
Fault Record (N-1)227
Fault Record (N-4)228
Force Output Contact Control229
Input Status230
Digital Keypad Input Of Servo Drive231
Output Status231
Adjustment Function231
Analog Speed Input Drift Adjustment 1232
Analog Speed Input Drift Adjustment 2232
Analog Torque Drift Adjustment 1232
Analog Torque Drift Adjustment 2233
Current Detector Drift Adjustment234
Igbt Ntc Calibration234
Analog Speed Input Offset235
Analog Torque Input Offset235
Undervoltage Error Level236
Input Function Definition237
Communication Hardware Interface250
Configuration250
Cable Connection250
Chapter 8 Modbus Communications250
Communication Parameter Settings253
Modbus Communication Protocol257
Code Description257
Ascii Mode257
Data Format257
11-Bit Character Frame (For 8-Bit Character)258
Command Message259
Response Message259
Communication Parameter Write-In And Read-Out265
Basic Inspection268
Chapter 9 Maintenance And Inspection268
Maintenance269
Life Of Replacement Components270
Smooth Capacitor270
Relay270
Cooling Fan270
Fault Messages Table272
Servo Drive Fault Messages272
Chapter 10 Troubleshooting272
Potential Cause And Corrective Actions274
Clearing Faults282
Chapter 11 Specifications284
Specifications Of Servo Drive (Asda-B2 Series)284
Specifications Of Servo Motor (Ecma Series)287
Servo Motor Speed-Torque Curves291
Overload Characteristics292
Overload Protection Function292
Occasion Of Overload292
Chart Of Load And Operating Time292
Medium And Medium-High Inertia Series293
High Inertia Series (Ecma G2/Gm Series)293
Dimensions Of Servo Drive294
Dimensions Of Servo Motor298
Accessories302
Power Connectors302
Power Cables303
Appendix A Accessories303
Encoder Cables306
I/O Signal Connector (Cn1)307
Communication Cable Between Drive And Computer (For Pc)307
Servo Drive, Servo Motor And Accessories Combinations307
200W Servo Drive And 200W Low Inertia Servo Motor308
400W Servo Drive And 400W Low Inertia Servo Motor308
400W Servo Drive And 500W Medium Inertia Servo Motor308