Trial Run Without Load (Position Mode) - Delta ASD-A2R-0221 Series User Manual

5.5 Trial Run without Load (Position Mode)

Before the trial run without load, firmly secure the motor base so as to avoid the danger
cause by the reaction of motor operation.
STEP 1:
Set the control mode of the servo drive to position mode.
Set parameter P1-01 to 1, which is the position mode. Then, re-power on the servo drive.
STEP 2: In position mode, the digital input settings of trial run are as follows:
Parameter
Digital Input
Setting Value
DI1 P2-10 = 101
DI2 P2-11 = 108
DI3 P2-12 = 111
DI4 P2-13 = 112
DI5 P2-14 = 102
DI6 P2-15 = 0
DI7 P2-16 = 0
DI8 P2-17 = 0
EDI9 P2-36 = 0
EDI10 P2-37 = 0
EDI11 P2-38 = 0
EDI12 P2-39 = 0
EDI13 P2-40 = 0
EDI14 P2-41 = 0
The above table disables the function of negative limit (DI6), positive limit (DI7) and
emergency stop (DI8), thus, set P2-15 ~ P2-17 and P2-36 ~ P2-41 to 0 (Disabled). The
digital input of Delta's servo drive can be programmed by users. When programming
digital input, please refer to the description of DI code.
The default setting includes the function of negative limit, positive limit and emergency stop,
therefore, after the setting is completed, if there is any alarm occurs, please re-power on
the servo drive or switch ON DI5 to clear the alarm. Please refer to Chapter 5.2.
Please refer to Chapter 3.10.2, Position (PR) Mode Standard Wiring for wiring diagram.
However, since POS2 is not the default digital input, set P2-14 to 113. Please refer to the
table below for 64 sets of register command, POS0~POS5 and the relative parameters.
Revision December, 2014
Chapter 5 Trial Operation and TuningASDA-A2R Series
Symbol Function Description
SON Servo ON
CTRG Torque limit
Position command
POS0
Position command
POS1
ARST Alarm reset
Disabled Invalid DI function
Disabled Invalid DI function
Disabled Invalid DI function
Disabled Invalid DI function
Disabled Invalid DI function
Disabled Invalid DI function
Disabled Invalid DI function
Disabled Invalid DI function
Disabled Invalid DI function
CN1 Pin No
DI1- = 9
DI2- = 10
DI3- = 34
selection
DI4- = 8
selection
DI5- = 33
-
-
-
CN7 = 2
CN7 = 3
CN7 = 4
CN7 = 5
CN7 = 6
CN7 = 7
5-9