Delta ASDA-B2-F Series User Manual page 291

Position mode 6-3~6-5
S-curve filter (Position) 6-4 , 6-12
Selection of operation mode: position mode 6-2
Specifications of ASDA-B2-F servo drive: position control mode
A-2
Related Alarms
Excessive deviation of position command (AL009) 9-2, 9-6
PR command overflows (AL235) 9-4, 9-14
PR positioning is over time (AL245) 9-4, 9-14
Related Parameters
Anti-interference gain (P2-26) 5-20, 7-5, 7-41
Condition of excessive position control deviation warning
(P2-35) 7-45
Position command moving filter (P1-68) 7-4, 7-36
Position completed range (P1-54) 7-8, 7-34
Position loop gain (P2-00) 5-19, 7-5, 7-37
Position feed forward gain (P2-02) 7-5, 7-37
Smooth constant of position command (Low-pass Filter) (P1-08)
7-4, 7-24
Regenerative Resistor
1 ~1.5 kW models (with built-in regenerative resistor and fan)
3-13
200 W or models below (without built-in regenerative resistor nor
fan) 3-11
2 ~3 kW models (with built-in regenerative resistor and fan) 3-14
Connecting to peripheral devices: regenerative resistor (optional)
3-2
400 ~750 W models (with built-in regenerative resistor but no fan)
3-12
Connectors and terminals of servo drive 3-3
Each Part of the Servo Drive – regenerative resistor 1-7
Selection of regenerative resistor 2-7~2-11
Specifications of ASDA-B2-F servo drive: regenerative resistor
A-2
Regenerative resistor (Applicable to ASDA-B2-F series) B-18
Related Parameters
Regenerative resistor value (P1-52) 7-33
Regenerative resistor capacity (P1-53) 7-33~7-34
Related Alarms
Regeneration error (AL005) 9-2, 9-6
Resonance Suppression
Filter and resonance suppression parameter (List) 7-4~7-5
Low-pass filter
Command end low-pass filter 6-13
Control structure of torque mode 6-24
Gain adjustment of speed loop 6-14
Low-pass filter 6-6
Notch filter
Control structure of position mode 6-3
Control structure of speed mode 6-11
Low-pass filter of resonance suppression 5-20
Mechanical resonance suppression method 5-17
Procedure of auto suppressing the resonance 5-16
Procedure of auto resonance suppression 6-19
Related Parameters
Auto resonance suppression mode setting (P2-47) 7-5, 7-46
Low-pass filter of resonance suppression (P2-25) 5-20, 7-5,
7-41
Resonance suppression (Notch Filter) (1) (P2-23) 7-4, 7-41
Resonance suppression (Notch Filter) attenuation rate (1)
(P2-24) 7-5, 7-41
Resonance suppression (Notch Filter) (2) (P2-43) 7-5, 7-45
Resonance suppression (Notch Filter) attenuation rate (2)
(P2-44) 7-5, 7-45
Resonance suppression (Notch Filter) (3) (P2-45) 7-5, 7-45
Resonance suppression (Notch Filter) attenuation rate (3)
(P2-46) 7-5, 7-45
Resonance suppression detection level (P2-48) 7-5, 7-46
Resonance suppression 6-11, 6-18~6-22
Resonance suppression with notch filter 6-21
Tuning mode and parameters 5-18
Speed Mode
Control structure of speed mode 6-11
DI signal: SPD0/SPD1 (0x14, 0x15) 7-63
DO signal: SP_OK (0x19) 7-67
Gain adjustment of speed loop 6-14
2
Parameter definition – Sz refers to speed control mode 7-2
Position feed forward gain (P2-07) 7-5, 7-28, 6-15~6-17
Related Alarms
Over speed (AL007) 9-2, 9-6
Related Parameters
Acceleration constant of S-Curve (P1-34) 7-4, 7-28
Acceleration / Deceleration constant of S-Curve (P1-36) 7-4,
7-29
Acceleration / Deceleration smooth constant of speed
command (Low-pass Filter) (P1-06) 7-4, 7-24
Deceleration constant of S-Curve (P1-35) 7-4, 7-28
Internal speed command 1~3 (P1-09~P1-11) 7-7, 7-24~7-25
Maximum speed limit (P1-55) 7-6, 7-7, 7-34
Speed and torque limit setting (P1-02) 7-6, 7-7, 7-23
Speed loop gain (P2-04) 5-19, 7-5, 7-37
Speed integral compensation (P2-06) 5-20, 7-5, 7-38
Speed feed forward gain (P2-07) 7-5, 7-38
Selection of speed command 6-10
Selection of operation mode: speed mode (No analog input) 6-2
Smooth speed command 6-12
Specifications of ASDA-B2-F servo drive: speed control mode
A-2
Speed mode 6-10~6-17
Speed loop gain (P2-04) 7-5, 7-37, 5-19
Speed control parameter (List) 7-7
Timing diagram of speed mode 6-13
Trial run without load (Speed Mode) - speed command selection
5-9
Trial run without load (Speed Mode) 5-8
Wiring diagrams (CN1) 3-18
Torque Mode
Control structure of torque mode 6-24
DI signal: TCM0/TCM1 (0 x16, 0x17) 7-63
DO signal: TQL (0x07) 7-65
Parameter definition – Tz refers to torque control mode 7-2
Specifications of ASDA-B2-F servo drive: torque control mode
A-2
Related Parameters
Internal torque limit 1~3 (P1-12~P1-14) 7-6, 7-7, 7-25~7-26
Speed and torque limit setting (P1-02) 7-6, 7-7, 7-23
Smooth constant of torque command (Low-pass Filter) (P1-07)
7-4, 7-24
Selection of torque command 6-23
Selection of operation mode: torque mode (No analog input) 6-2
Smooth torque command 6-25
Timing diagram of torque mode 6-25
Torque mode 6-23~6-25
Torque control parameter (List) 7-7
Wiring diagrams (CN1) 3-18
Tuning
Auto Gain Adjustment
Related Parameters
Anti-interference gain (P2-26) 5-20, 7-5, 7-41
Gain adjustment of speed loop 6-14
Limit of inertia ratio 5-15~5-16
Speed mode 6-10
Tuning mode and parameters 5-18
Bandwidth
Gain adjustment of position loop 6-6~6-7
Manual mode 6-14
Resonance Suppression 6-18
Specifications of ASDA-B2-F servo drive A-2
Related Parameters
Speed detection filter (P2-49) 7-5, 7-46
Speed loop frequency response setting in auto and
semi-auto mode (P2-31) 7-6, 7-43
Tuning mode selection (P2-32) 7-6, 7-43~7-44
Flowchart of auto tuning 5-13
Flowchart of semi-auto tuning 5-14
Flowchart of tuning procedure 5-11
Trial operation and tuning 5-1
Tuning procedure 5-10
Time domain 6-16~6-17
September, 2015