Page 1 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 TEL: 82-2-515-5303 / FAX: 82-2-515-5302 AC Servo Drive with Delta Electronics Int’l (S) Pte Ltd 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Excellent Performance Delta Electronics (India) Pvt.
Page 2 Preface Thank you for purchasing ASDA-M. This user manual provides the related information of ASDA-M series servo drives and ECMA series servo motors. This manual includes:  Installation and inspection of servo drive and servo motor  The configuration of servo drive ...
Page 3 ASDA-M Safety Precautions ASDA-M series is the high resolution and open type servo drive. It should be installed in a shielded control box during operation. This servo drive uses precise feedback control and the digital signal processor with high-speed calculation function to control the current output which generated by IGBT so as to operate three-phase permanent magnet synchronous motors (PMSM) and to achieve precise positioning.
Page 4 ASDA-M Preface Operation Before the operation, please change the parameter setting value according to  the needs. If it is not adjusted to the correct setting value, it is possible to lead to malfunction of the machine or the operation might out of control. Before the machine starts to operate, please be ensured the emergency stop ...
Page 5 When inserting the electric wires, do not connect the conductor to the adjacent  wire. Before connecting to the power, please inspect and be ensured the wiring is  correct. NOTE If there is any difference of each version, please refer to DELTA’s website (http://www.delta.com.tw/industrialautomation/) for the latest information. Revision December, 2014...
Page 6: Table Of Contents
Table of Content Chapter 1 Inspection and Model Explanation Inspection ...................... 1-1 Product Model ....................1-2 1.2.1 Nameplate Information ................. 1-2 1.2.2 Model Explanation ................1-3 Servo Drive and Corresponding Servo Motor ..........1-5 Features of Servo Drive ................. 1-6 Chapter 2 Installation Notes ......................
Page 7 Table of Content ASDA-M 3.1.2 Connectors and Terminals of the Servo Drive ........3-3 3.1.3 Wiring Method ..................3-5 3.1.4 Specification of Motor U, V, W Power Cable ......... 3-7 3.1.5 Specification of Connector of Encoder Cable ........3-9 3.1.6 Selection of Wire Rod ................3-12 Schematic Diagram of Servo System ............
Page 8 ASDA-M Table of Content 3.9.5 CANopen Mode Standard Wiring ............3-54 Chapter 4 Panel Display and Operation Panel Description ..................4-1 Parameter Setting Procedure ................ 4-2 4.2.1 Axis Switching Procedure ..............4-2 4.2.2 Parameter Setting Procedure of Each Axis ......... 4-3 Status Display....................
Page 9 Table of Content ASDA-M JOG Trial Run without Load ................5-6 Trial Run without Load (Speed Mode) ............5-7 Trial Run without Load (Position Mode) ............5-9 Tuning Procedure ..................5-11 5.6.1 Flowchart of Tuning Procedure ............. 5-12 5.6.2 Inertia Estimation Flowchart (with Mechanism) ........5-13 5.6.3 Flowchart of Auto Tuning ..............
Page 10 ASDA-M Table of Content 6.2.8 Gain Adjustment of Position Loop ............6-16 6.2.9 Low-frequency Vibration Suppression in Position Mode ....... 6-18 Speed Mode ....................6-24 6.3.1 Selection of Speed Command .............. 6-24 6.3.2 Control Structure of Speed Mode ............6-25 6.3.3 Smooth Speed Command ..............
Page 11 Table of Content ASDA-M 6.6.3 Analog Monitor ..................6-56 6.6.4 The Use of Mechanical Brake ............... 6-61 Chapter 7 Motion Control Motion Control Functions of ASDA-M ............7-1 Information of the Servo Drive ............... 7-1 7.2.1 Description of Monitor Variables ............7-3 7.2.2 Description of Data Array ..............
Page 12 ASDA-M Table of Content Parameters ....................8-2 Parameter Description ................... 8-12 P0-xx Monitor Parameters ................8-12 P1-xx Basic Parameters ................. 8-38 P2-xx Extension Parameters ................8-79 P3-xx Communication Parameters ..............8-118 P4-xx Diagnosis Parameters ................8-127 P5-xx Motion Setting Parameters ..............8-142 P6-xx PR Parameters ..................
Page 13 Corrective Actions after the Alarm Occurs ............. 10-36 Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-M Series) ..........11-1 11.2 Specifications of Servo Motor (ECMA Series) ..........11-4 11.3 Torque Features (T-N curve) ................. 11-12 11.4 Overload Features ..................11-13 11.5...
Page 14: Chapter 1 Inspection And Model Explanation
Chapter 1 Inspection and Model Explanation 1.1 Inspection In order to prevent the negligence during purchasing and delivery, please inspect the following items carefully.  Please check if the product is what you have purchased: check the part number of the motor and the servo drive on the nameplate.
Page 15: Product Model
Chapter 1 Inspection and Model Explanation ASDA-M 1.2 Product Model 1.2.1 Nameplate Information ASDA-M Series Servo Drive  Nameplate Information Model Name MODEL : ASD-M-0721-F Power Specification POWER : 750W INPUT : 200~230V 3PH 50/60Hz 9.51A Power Input Specification 200~230V 1PH 50/60Hz 18.3A Power Output Specification OUTPUT : 110V 0-250Hz 5.1A...
Page 16: Model Explanation
ASDA-M Chapter 1 Inspection and Model Explanation 1.2.2 Model Explanation ASDA-M Series Servo Drive A S D - M - 0 7 2 1 - L Model Type Input Voltage and Phase 21: 220V 1 phase/3 phase Rated Power Input 07: 750W 15: 1.5kW...
Page 17 Chapter 1 Inspection and Model Explanation ASDA-M ECMA Series Servo Motor E C M A - C 1 0 6 0 2 E S Standard Shaft Diameter: S Specific Shaft Diameter: 3=42mm, 7=14mm with With Type of Shaft Brake Brake Brake Brake Diameter and...
Page 18: Servo Drive And Corresponding Servo Motor
ASDA-M Chapter 1 Inspection and Model Explanation 1.3 Servo Drive and Corresponding Servo Motor ASDA-M Series Servo Drive Servo Drive Corresponding Servo Motor ECMA-C1040FS（S=8 mm） △ ECMA-C 0401S（S=8 mm） △ ECMA-C 0602S（S=14 mm） △ ECMA-C 0604S（S=14 mm） ECMA-C△0604H ( H = high-inertia) △...
Page 19: Features Of Servo Drive
Chapter 1 Inspection and Model Explanation ASDA-M Features of Servo Drive ASDA-M Series Servo Drive Revision December, 2014...
Page 20 ASDA-M Chapter 1 Inspection and Model Explanation ASDA-M Series Servo Drive (top view) Revision December, 2014...
Page 21 Chapter 1 Inspection and Model Explanation ASDA-M ASDA-M Series Servo Drive (bottom view) Revision December, 2014...
Page 22: Chapter 2 Installation
Chapter 2 Installation 2.1 Notes Please pay special attention to the followings: 1) Do not strain the cable connection between the servo drive and the servo motor. 2) Make sure each screw is tightened when fixing the servo drive. 3) The motor shaft and the ball screw should be parallel. 4) If the connection between the servo drive and the servo motor is over 20 meters, please thicken the connecting wire, UVW as well as the encoder cable.
Page 23: Ambient Conditions Of Installation
Chapter 2 Installation ASDA-M 2.3 Ambient Conditions of Installation The best temperature of this servo drive is between 0℃ and 55℃. If the temperature is over 45℃, please place the product in a well-ventilated environment so as to ensure its reliability performance.
Page 24: Installation Direction And Space
ASDA-M Chapter 2 Installation 2.4 Installation Direction and Space Notes: Follow the instructions for installation direction. Otherwise it is possible to cause malfunction. In order to have well-cooling and circulation effect, the enough space between adjacent objects and the baffle is needed. Or it might result in malfunction. When installing AC servo drive, do not seal the suction hole and the vent hole.
Page 25 Chapter 2 Installation ASDA-M Dimensions: In order to have smaller wind resistance of the fan and increase the ventilation, please follow the suggested clearance value when installing one or more than one servo drives. (Refer to the following diagrams) The above diagrams are not in equal proportion. Please refer to the NOTE annotation.
Page 26: Specification Of Circuit Breaker And Fuse
ASDA-M Chapter 2 Installation 2.5 Specification of Circuit Breaker and Fuse Caution: Please use the fuse and circuit breaker that is recognized by UL/CSA. Servo Drive Model Circuit breaker Fuse (Class T) Operation Mode General General ASD-M-0721- ASD-M-1521- 140A If the servo drive equips with earth leakage circuit breaker for avoiding electric leakage, please choose the current sensitivity which is over NOTE 200mA and can continue up to 0.1 seconds.
Page 27 Chapter 2 Installation ASDA-M General Precaution In order to ensure the best performance of EMI Filter, apart from the instructions of servo drive installation and wiring, please follow the precautions mention below: 1. The servo drive and EMI Filter should be installed on the same metal plate. 2.
Page 28 ASDA-M Chapter 2 Installation Diagram 1 Diagram 2 Dimensions of EMI Filter Delta Part Number: 20TDT1W4D Revision December, 2014...
Page 29: Selection Of Regenerative Resistor
Chapter 2 Installation ASDA-M 2.7 Selection of Regenerative Resistor When the direction of pull-out torque is different from the rotation, it means the electricity is sent back to the servo drive from the load-end. It becomes the capacitance of DC Bus and increases the voltage.
Page 30 ASDA-M Chapter 2 Installation When using the external regenerative resistor, the resistor should connect to P, C terminal and the contact of P, D terminal should be opened. It is recommended to choose the above mentioned capacitance. For easy calculation of regenerative resistor capacity, except the energy consumed by IGBT, two ways are provided to select the capacity of external regenerative resistor.
Page 31 Chapter 2 Installation ASDA-M Assume the load inertia is N times to the motor inertia and the motor decelerates from 3000r/min to 0, its regenerative energy is (N+1) × Eo. The consumed regenerative resistor is (N+1) × Eo－Ec joule. If the cycle of back and forth operation is T sec, then the power of regenerative resistor it needs is 2×（(N+1) ×...
Page 32 ASDA-M Chapter 2 Installation (b) When the external load torque exists, the motor is in reverse rotation. Usually, the motor is in forward rotation, which means the torque output direction of the motor is the same as the rotation direction. However, in some applications, the direction of torque output is different from the rotation.
Page 33 Chapter 2 Installation ASDA-M 0r/min to the rated speed and then decelerates from the rated speed to 0r/min. The following table lists the allowable frequency of built-in regenerative resistor when the servo drive runs without load (times/min). Allowable frequency of built-in regenerative resistor when the servo drive runs without load (times/min) Motor Capacity 600W...
Page 34 ASDA-M Chapter 2 Installation Allowable frequency of regenerative resistor when the servo drive runs without load (times/min) ECMA□□C Motor Capacity 400W 400W 200W 750W 1.0kW (F60) (F80) Suggested Regenerative Resistor BR400W040 (400W 40Ω) 8608 3506 2110 BR1K0W020 (1kW 20Ω) 8765 5274 2312 ECMA□□E...
Page 35 Chapter 2 Installation ASDA-M Dimensions of Regenerative Resistor Delta Part Number: BR400W040 (400W 40Ω) MAX. WEIGHT (g) Delta Part Number: BR1K0W020 (1kW 20Ω) MAX. WEIGHT (g) 2800 2-14 Revision December, 2014...
Page 36 ASDA-M Chapter 2 Installation Delta Part Number: BR1K5W005 (3kW 10Ω) 2-15 Revision December, 2014...
Page 37 Chapter 2 Installation ASDA-M (This page is intentionally left blank.) 2-16 Revision December, 2014...
Page 38: Chapter 3 Wiring
Chapter 3 Wiring This chapter details the wiring method of servo drive, the definition of each signal and standard wiring diagram. 3.1 Connection between Peripheral Devices and Main Power Circuit 3.1.1 Wiring Diagram of Peripheral Devices Revision December, 2014...
Page 39 Chapter 3 Wiring ASDA-M Installation Notes: NOTE Check if the power and wiring among R, S, T and L1c, L2c are correct. Check if the output terminal U, V, W of the servo motor is correctly wired. The incorrect wiring may disable the operation of the motor or cause the malfunction. When applying to the external regenerative resistor, the contact between P D should be opened and the external regenerative resistor should connect to terminal P...
Page 40: Connectors And Terminals Of The Servo Drive
ASDA-M Chapter 3 Wiring 3.1.2 Connectors and Terminals of the Servo Drive Terminal Name Description Signal L1c, L2c Power input Connect single-phase power (select control circuit appropriate voltage specification according to the product ) R, S, T Power input of the main Connect to three-phase AC power (select the appropriate circuit voltage specification according to the product)
Page 41 Chapter 3 Wiring ASDA-M 3) If the wire of encoder CN2 or CN5 connecter is not long enough, please use shielded twisted-pair cable which cannot exceed 20 meters (65.62 inches). If it exceeds 20 meters, please choose the bigger wire diameter of signal cable to ensure it will not cause signal fading.
Page 42: Wiring Method
ASDA-M Chapter 3 Wiring 3.1.3 Wiring Method The wiring method of ASDA-M servo drive is divided into single-phase and three-phase. In the diagram below, Power On is contact a, Power Off and ALRM_RY are contact b. MC is the coil of magnetic contactor and self-remaining power and is the contact of main power circuit.
Page 43 Chapter 3 Wiring ASDA-M  Wiring Method of Three-phase Power Supply ( suitable for all series) Revision December, 2014...
Page 44: Specification Of Motor U, V, W Power Cable
ASDA-M Chapter 3 Wiring 3.1.4 Specification of Motor U, V, W Power Cable Terminal U、V、W／Connector of Mechanical Brake Motor Model Definition ECMA-C1040FS (50W) ECMA-C△0401S (100W) ECMA-C△0602S (200W) ECMA-C△0604S (400W) ECMA-C△0604H (400W) ECMA-C△08047 (400W) ECMA-C△0807S (750W) ECMA-C△0807H (750W) HOUSING: JOWLE (C4201H00-2*2PA) ECMA-C△0907S (750W) ECMA-C△0910S (1000W) ECMA-C1040FS (50W)
Page 45 Chapter 3 Wiring ASDA-M CASE GROUND BRAKE1 BRAKE2 Wiring Name (Red) (White) (Black) (Green) (Yellow) (Blue) Terminal Definition A Terminal Definition B Terminal Definition C Terminal Definition D When selecting the wire rod, please choose 600V PVC cable and the length should not longer than 30m.
Page 46: Specification Of Connector Of Encoder Cable
ASDA-M Chapter 3 Wiring 3.1.5 Specification of Connector of Encoder Cable Encoder connection diagram 1: This diagram shows the connection between the servo drive and the motor encoder. It NOTE is not drew by the practical scale and specification will be different according to the selected servo drive and motor model.
Page 47 Chapter 3 Wiring ASDA-M Specification and Definition of Encoder Connector: Connector of Connector of Encoder Cable Motor Encoder Housing : AMP(1-172161-9) Motor Servo Drive Encoder View from this side View from this side (Encoder type is 17bit , 20bit): Blue Reserved Reserved White...
Page 48 ASDA-M Chapter 3 Wiring Encoder connection diagram 2: This diagram shows the connection between the servo drive and the motor encoder. It NOTE is not drew by the practical scale and specification will be different according to the selected servo drive and motor model. 1) Please refer to Section 3.4, CN2 Connector.
Page 49: Selection Of Wire Rod
Chapter 3 Wiring ASDA-M Please select shielded multi-core and the shielded cable should connect to the SHIELD end. Please refer to the description of Section 3.1.6. 1) Box, () in servo motor model represents brake or keyway / oil seal. NOTE 2) Triangle, (△) in servo motor model represents encoder type.
Page 50 ASDA-M Chapter 3 Wiring △=1: incremental, 6) Box, (△) in servo motor model represents encoder type. 20-bit; △=2: incremental, 17-bit; △=3: 2500 ppr; △=A: absolute. 3-13 Revision December, 2014...
Page 51: Schematic Diagram Of Servo System
Chapter 3 Wiring ASDA-M 3.2 Schematic Diagram of Servo System 750W~1.5kW Model (Built-in Regenerative Resistor and Fan) External regenerative Power resistor 750W、1.5kW single/three-phase 200~230V 750W one group of fan 1.5 one group of fan IGBT_X Encoder Motor Servo Motor Encoder IGBT_Y Encoder Motor...
Page 52: I/O Signal (Cn1) Connection
ASDA-M Chapter 3 Wiring 3.3 I/O Signal (CN1) Connection 3.3.1 I/O Signal (CN1) Connector Terminal Layout In order to have a more flexible communication with the master, 9 programmable Digital Outputs (DO) and 18 programmable Digital Inputs (DI) are provided. The setting of 6 digital inputs and 3 digital outputs of each axis provided by ASDA-M, which are parameter P2-10~P2-15 and parameter P2-18~P2-20 respectively.
Page 53 Chapter 3 Wiring ASDA-M Reserved 26 NC Reserved 2 DO3- Digital output 27 NC Reserved Digital DO3+ 28 NC Reserved output High-speed position 4 DO2- Digital output 29 /HPULSE command Digital DO2+ 30 NC Reserved output pulse (－) 6 DO1- Digital output 31 NC Reserved...
Page 54: Explanation Of I/O (Cn1) Connector Signal
ASDA-M Chapter 3 Wiring 3.3.2 Explanation of I/O (CN1) Connector Signal The following details the signals listed in previous section: General Signals Wiring Method Signal Name Pin No Function (Refer to 3.3.3) (1) The speed command of the motor is -10V ~ +10V which means the speed command is -3000 ~ +3000 r/min (default).
Page 55 Chapter 3 Wiring ASDA-M Wiring Method Signal Name Pin No Function (Refer to 3.3.3) High-speed position pulse only accepts Line Drive (+5V) as the input type. High-spee HPULSE The max. frequency of single phase is d position /HPULSE 4MHz. There are three kinds of command C4-2 pulse HSIGN...
Page 56 ASDA-M Chapter 3 Wiring can choose the desired DI/DO signal to meet the demand. Basically, the default setting of DI/DO signal has already have the appropriate function which can satisfy the demand of normal application. Users have to select the operation mode based on the needs first (please refer to Chapter 6.1 for the introduction of each mode) and refer to the following DI/DO table to know the corresponding default setting of DI/DO signal and Pin No of the selected mode in order to conduct the wiring.
Page 57 Chapter 3 Wiring ASDA-M Pin No Wiring DO Signal Method Operation Mode Function ＋－ Name (Refer to 3.3.3) When the overload level is reached, this DO is ON. A warning occurs. When status WARN forward/reverse limit, emergency stop, communication error, under voltage, this DO is ON.
Page 58 ASDA-M Chapter 3 Wiring Pin No Wiring DO Signal Method Operation Mode Function ＋－ Name (Refer to 3.3.3) C5/C6/ SDO_F - Output the status of bit15 of P4-06 C7/C8 1) For example, if the user selects PR mode, pin 3 and 2 are HOME. If NOTE the user selects S mode, pin 3 and 2 are TSPD.
Page 59 Chapter 3 Wiring ASDA-M The explanation of DI signal default setting is as the followings Wiring DI Signal Operation Method Function Name Mode (Refer to 3.3.3) When DI is ON, the servo circuit will be activated and the motor coil will generate current. When the alarm (ALRM) occurs, this signal is used to reset the ARST servo drive and output the signal, Ready (SRDY) again.
Page 60 ASDA-M Chapter 3 Wiring Wiring DI Signal Operation Method Function Name Mode (Refer to 3.3.3) The source of selecting torque command: PT,T, TCM0 PT-T PR-T, TCM1 PT-S, Mode switching. OFF: Speed; ON: Position PR-S 31 Mode switching. OFF: Speed; ON: Torque PT-T, 31 Mode switching.
Page 61 Chapter 3 Wiring ASDA-M Wiring DI Signal Operation Method Function Name Mode (Refer to 3.3.3) PT, PR, Electronic gear ratio (numerator) selection 0 (Please GNUM0 PT-S, refer P2-60~P2-62 gear ratio selection PR-S (numerator).) PT, PR, Electronic gear ratio (numerator) selection 1 (Please C9/C10 GNUM1 PT-S,...
Page 62 ASDA-M Chapter 3 Wiring The default setting of DI and DO in each operation mode is shown as the followings. Please note that the following table neither detail the information as the previous one nor show the Pin number of each signal. However, each operation mode is separated in different columns in order to avoid the confusion.
Page 63 Chapter 3 Wiring ASDA-M Symbol Input Function PT PR Sz Tz Code selection 0 Speed command SPD1 0x15 selection 1 Torque command TCM0 0x16 DI4 DI4 selection 0 Torque command TCM1 0x17 selection 1 Mode switch 0x18 between speed and position command Mode switch 0x19...
Page 64 ASDA-M Chapter 3 Wiring Symbol Input Function PT PR Sz Tz Code to the setting of P5-98, P5-99) Event trigger PR command #2 (refer 0x3A to the setting of P5-98, P5-99) Event trigger PR command #3 firmware V1.008 0x3B sub04 will be provided afterwards) Event trigger PR...
Page 65 Chapter 3 Wiring ASDA-M Table 3.2 Default Value of DO Output Function Output Symbol PT PR Code Function SRDY 0x01 Servo is ready. DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 0x02 Servo is on. ZSPD 0x03 Zero-speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 reached TSPD...
Page 66 ASDA-M Chapter 3 Wiring Output Symbol PT PR Code Function P4-06 SDO_1 0x31 Output the status of bit01 of P4-06 SDO_2 0x32 Output the status of bit02 of P4-06 SDO_3 0x33 Output the status of bit03 of P4-06 SDO_4 0x34 Output the status of bit04 of P4-06 SDO_5...
Page 67 Chapter 3 Wiring ASDA-M Output Symbol PT PR Code Function status of bit13 of P4-06 SDO_E 0x3E Output the status of bit14 of P4-06 SDO_F 0x3F Output the status of bit15 of P4-06 Please refer to Section 3.3.1 for corresponding pin from DO1 to 3. NOTE 3-30 Revision December, 2014...
Page 68: Wiring Diagram (Cn1)
ASDA-M Chapter 3 Wiring 3.3.3 Wiring Diagram (CN1) The valid voltage of speed analog command and torque analog command is between -10V and +10V. The command value can be set via relevant parameters. The input impedance is 10K. C1: speed, Input of Torque Analog Command C2：Analog Monitor Output MON1 ,MON2 Servo Drive Max.
Page 69 Chapter 3 Wiring ASDA-M Pulse command can be input by the way of open-collector or Line driver. The maximum input pulse of Line driver is 500kpps and 200kpps for open-collector. C3-1: The source of pulse input is open-collector NPN equipment which applies the internal power of the servo drive.
Page 70 ASDA-M Chapter 3 Wiring  Caution: Do not apply to dual power or it may damage the servo drive. C3-2: The source of pulse input is open-collector NPN equipment and applies the external power.  Caution: Do not apply to dual power or it may damage the servo drive. C3-2: The source of pulse input is open-collector PNP equipment and applies the external power.
Page 71 Chapter 3 Wiring ASDA-M C4-1: Pulse input (Line driver) can only apply to 5V power. Do not apply to 24V power.  This opto-isolator is one-way input, please be ensured the direction of current of pulse input is correct. 3-34 Revision December, 2014...
Page 72 ASDA-M Chapter 3 Wiring C4-2: High-speed pulse input (Line driver) can only apply to 5V power. Do not apply to 24V power. The high-speed pulse input interface of the servo drive is not the  isolated interface. In order to reduce the interference of the noise, it is suggested that the terminal ground of the controller and the servo drive should be connected to each other.
Page 73 Chapter 3 Wiring ASDA-M When the drive connects to inductive load, the diode has to be installed. (The permissible current is under 40mA. The surge current is under 100mA.) C5: Wiring of DO signal. The servo drive applies to the internal power and the resistor is general load.
Page 74 ASDA-M Chapter 3 Wiring C7: Wiring of DO signal. The servo drive applies to the external power and the resistor is general load. C8: Wiring of DO signal. The servo drive applies to the external power and the resistor is inductive load. 3-37 Revision December, 2014...
Page 75 Chapter 3 Wiring ASDA-M Input signal via relay or open-collector transistor NPN transistor, common emitter (E) mode (SINK mode) C9: The wiring of DI. The servo drive applies C10: The wiring of DI. The servo drive to the internal power. applies to the external power.
Page 76 ASDA-M Chapter 3 Wiring C13：Encoder signal output (Line driver) C14：Encoder signal output (Opto-isolator) 3-39 Revision December, 2014...
Page 77 Chapter 3 Wiring ASDA-M C15：Encoder OCZ output (open-collector Z pulse output) 3.3.4 The DI and DO Signal Specified by the User If the default setting of DI/DO signal cannot satisfy the need, self-set the DI/DO signal will do and easy. The signal function of DI1 ~ 6 and DO1 ~ 3 is determined by parameter P2-10 ~ P2-15 and parameter P2-18 ~ P2-20 respectively.
Page 78: Cn2 Connector
ASDA-M Chapter 3 Wiring 3.4 CN2 Connector CN2 encoder connector can be connected in two ways: CN2 connector Encoder connector CN2 on the Connect to the servo drive Connect to the motor servo drive Quick connector Military connector (A) CN2 Connector: View from this side CN2 rear view of the terminal block...
Page 79 Chapter 3 Wiring ASDA-M The definition of each signal is as follows: Drive Connector Encoder Connector Terminal Military Quick Pin No Function and Description Color Symbol connector connector Serial communication signal Blue input/output (+) Serial communication signal Blue & input/output (-) Black Reserved Reserved...
Page 80 ASDA-M Chapter 3 Wiring Leave a length of 5~10mm metal core wires with shielding outside the cable. The length is about the width of the metal saddle. The other unexposed wires of the cable should be protected by the heat shrink tube for good ground contact.
Page 81: Wiring Of Cn3 Connector
Chapter 3 Wiring ASDA-M 3.5 Wiring of CN3 Connector 3.5.1 Layout of CN3 Connector The servo drive connects to the personal computer via communication connector. The user can operate the servo drive via MODBUS, PLC or HMI. There are two common communication interfaces, RS-232 and RS-485.
Page 82: Connection Between Cn3 Connector And Personal Computer
ASDA-M Chapter 3 Wiring 3.5.2 Connection between CN3 Connector and Personal Computer 3-45 Revision December, 2014...
Page 83: Cn4 Serial Connector (Usb)
Chapter 3 Wiring ASDA-M 3.6 CN4 Serial Connector (USB) CN4 is a serial connector which used to connect PC software and enhance the efficiency. The transmission speed of USB can up to 1MB, that is to say PC Data Scope can obtain the correct data in time.
Page 84: Cn5 Connector (Full-Closed Loop)
ASDA-M Chapter 3 Wiring 3.7 CN5 Connector (Full-closed Loop) Connect to the external linear scale or encoder (A, B, Z) and form a full-closed loop with the servo. In position mode, the pulse position command issued by the controller is based on the control loop of the external linear scale.
Page 85: Cn6 Connector (Canopen)
Chapter 3 Wiring ASDA-M 3.8 CN6 Connector (CANopen) Based on the standard of CANopen DS301 and DS402, CN6 uses the standard CAN interface to implement position, torque and speed mode. It also can read or monitor the drive status. The station number of CANopen is the same as RS-232/RS-485. All are set via parameter P3-00 and the transmission rate can up to 1 Mbps.
Page 86 ASDA-M Chapter 3 Wiring The termination resistor is suggested to use 120 Ω (Ohm) 0.25W or NOTE above. The wiring method of concatenate more than one drives is based on two terminals of CANopen. One is for receiving and another one is for transmission.
Page 87: Standard Wiring Method
Chapter 3 Wiring ASDA-M 3.9 Standard Wiring Method 3.9.1 Position (PT) Mode Standard Wiring Servo Drive MCCB ASDA-M series AC 200/230 V ⊕ Three three-phase groups 50/60Hz Three Power groups white EMGS BRKR*¹ Brake black /SIGN green /SIGN Encoder SIGN...
Page 88: Position (Pr) Mode Standard Wiring
ASDA-M Chapter 3 Wiring 3.9.2 Position (PR) Mode Standard Wiring Servo Drive MCCB ASDA-M series AC 200/230 V ⊕ three-phase Three 50/60Hz groups Power white EMGS BRKR*¹ Brake black green Encoder Blue Blue/ Three black groups Green Green/ black 14,16 10KΩ...
Page 89: Speed Mode Standard Wiring
Chapter 3 Wiring ASDA-M 3.9.3 Speed Mode Standard Wiring Servo Drive MCCB ASDA-M series AC 200/230 V ⊕ three-phase Three 50/60Hz groups Power White 剎車 EMGS BRKR*¹ Brake Black Green Encoder Three Blue groups Blue/ black Green 10KΩ Green/ black V-REF ±...
Page 90: Torque Mode Standard Wiring
ASDA-M Chapter 3 Wiring 3.9.4 Torque Mode Standard Wiring Servo Drive MCCB ASDA-M series AC 200/230 V ⊕ Three three-phase groups 50/60Hz Power white EMGS BRKR*¹ Brake black green Encoder Three Blue Blue/ groups black Green Green/ 10KΩ black V-REF...
Page 91: Canopen Mode Standard Wiring
Chapter 3 Wiring ASDA-M 3.9.5 CANopen Mode Standard Wiring Servo Drive MCCB ASDA-M series AC 200/230 V ⊕ Three three-phase groups 50/60Hz Power white EMGS BRKR*¹ Brake black Three green groups Encoder DC 24V Blue Blue/ black Green COM+ Green/...
Page 92: Chapter 4 Panel Display And Operation
Chapter 4 Panel Display and Operation This chapter details the panel status and operation of ADSA-M series servo drive. 4.1 Panel Description Name Function The single-group of seven-segment display is for displaying the selected axis. Display The five-group of seven-segment display is for displaying the monitoring values, parameter values and setting values.
Page 93: Parameter Setting Procedure
Chapter 4 Panel Display and Operation ASDA-M 4.2 Parameter Setting Procedure 4.2.1 Axis Switching Procedure (1) When the servo drive connects to the power, the display will show the monitor variable for about one second, and then enter into the Monitor Mode. (2) The single-group of seven-segment display shows the current selected axis.
Page 94: Parameter Setting Procedure Of Each Axis
ASDA-M Chapter 4 Panel Display and Operation 4.2.2 Parameter Setting Procedure of Each Axis (1) Select and set the axis first. (2) Press the MODE Key to switch Parameter Mode → Monitor Mode → Alarm Mode. If there is no alarm, then it will skip the Alarm Mode. (3) When there is a new alarm, it will switch to Alarm Display Mode in any conditions.
Page 95: Status Display
Chapter 4 Panel Display and Operation ASDA-M 4.3 Status Display 4.3.1 Setting Saved Display When finishing editing parameter, press the SET Key to save the setting. The panel will display the setting status according to the setting for a second. Displayed Symbol Description The setting value is saved correctly.
Page 96: Monitor Display
ASDA-M Chapter 4 Panel Display and Operation 4.3.5 Monitor Display When the drive is applied to the power, the display will show the monitor displayed symbol for a second, and then enter into the Monitor Mode. In Monitor Mode, SEL Key can select the desired monitor axis.
Page 97 Chapter 4 Panel Display and Operation ASDA-M Monitor Displayed P0-02 Description Unit Setting Value Symbol IGBT temperature [℃] Resonance frequency (Low byte is the first resonance and high byte is the second [Hz] one). The absolute pulse number of encoder Z phase equals to the homing value, 0.
Page 98 ASDA-M Chapter 4 Panel Display and Operation Example of the Status Description displayed value If the value is 1234, it displays 01234 (shows in (Dec) decimal format). 16 bits If the value is 0x1234, it displays 1234 (shows in hexadecimal format; the first digit does not show (Hex) any).
Page 99: General Function
Chapter 4 Panel Display and Operation ASDA-M 4.4 General Function 4.4.1 Operation of Fault Record Display When it is in Parameter Mode, select the parameter which is in error status first. Then select P4-00~P4-04. Press the SET Key, the corresponding fault record will shown. The First Recent Error DOWN...
Page 100: Jog Mode
ASDA-M Chapter 4 Panel Display and Operation 4.4.2 JOG Mode When it is in Parameter Mode, select the parameter of JOG first. Then select P4-05. And enter into JOG Mode by the following settings: (1) Press the SET Key to display the speed value of JOG. The default value is 20r/min. (2) Press UP or DOWN Key to adjust the desired speed value of JOG.
Page 101 Chapter 4 Panel Display and Operation ASDA-M 4.4.3 Force DO Output Enter into the Output Diagnosis Mode by the following settings. First, select the desired output axis to switch the parameter. Set P2-08 to 406 and enable the function of force DO output.
Page 102: Digital Input Diagnosis Operation
ASDA-M Chapter 4 Panel Display and Operation 4.4.4 Digital Input Diagnosis Operation Enter into the Digital Input Diagnosis Mode by the following setting methods. When the external output signal DI1~DI6 is ON, the corresponding signal will be shown on the panel. It is displayed by bit.
Page 103: Digital Output Diagnosis Operation
Chapter 4 Panel Display and Operation ASDA-M 4.4.5 Digital Output Diagnosis Operation Enter into the Digital Output Diagnosis Mode by the following setting methods. The output signal DO1~DO3 is ON and the corresponding signal will be shown on the panel. It is displayed by bit.
Page 104: Chapter 5 Trial Operation And Tuning
Chapter 5 Trial Operation and Tuning This chapter is divided into two parts to describe the trial operation. The first one is the inspection without load and another one is the inspection with load. For safety reasons, please conduct the first inspection. 5.1 Inspection without Load Please remove the load of the servo motor, including coupling on the shaft and accessories so as to avoid any damage on servo drive or mechanism.
Page 105: Apply Power To The Servo Drive
Chapter 5 Trial Operation and Tuning ASDA-M  Please contact with Delta if there is any vibration of the servo motor or unusual noise during the operation.  Make sure the setting of the parameters is correct. Different machinery has different characteristic, please adjust the parameter according to the characteristic of each machinery.
Page 106 ASDA-M Chapter 5 Trial Operation and Tuning motor speed (07), then the screen display will be: When the screen displays no text, please check if the power of control circuit is under voltage. 1) When the screen displays Warning of overvoltage: It means the voltage input by the main circuit is higher than the rated voltage or power input error (incorrect power system).
Page 107 Chapter 5 Trial Operation and Tuning ASDA-M When the screen displays: Warning of emergency stop: Please check if any of the digital input DI1~DI8 is set to emergency stop (EMGS). Corrective action:  If not desire to set emergency stop (EMGS) as one of the digital input, make sure no digital input is set to emergency stop (EMGS) among DI1~DI8.
Page 108 ASDA-M Chapter 5 Trial Operation and Tuning 6) When the screen displays Warning of overcurrent: Corrective action:  Check the connection between the motor and servo drive.  Check if the conducting wire is short circuited. Exclude short circuit and avoid metal conductors being exposed. 7) When the screen displays Warning of under voltage: Corrective action:...
Page 109: Jog Trial Run Without Load
Chapter 5 Trial Operation and Tuning ASDA-M 5.3 JOG Trial Run without Load It is very convenient to test the motor and servo drive with the method of JOG trial run without load since the extra wiring is unnecessary. For safety reasons, it is recommended to set JOG at low speed.
Page 110: Trial Run Without Load (Speed Mode)
The above table disables the function of emergency stop (DI6) (the default setting), thus, set P2-15 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.
Page 111 Chapter 5 Trial Operation and Tuning ASDA-M 0: means DI is OFF 1: means DI is ON The setting range of register parameter is from -60000 to 60000. Setting value = setting range x unit (0.1r/min). For example, P1-09 = +30000; Setting value = +30000 x 0.1r/min = +3000r/min Command setting of speed register Set parameter P1-09 to Input command...
Page 112: Trial Run Without Load (Position Mode)
The above table disables the function of emergency stop (DI6) (the default setting), thus, set P2-15 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.
Page 113 Chapter 5 Trial Operation and Tuning ASDA-M Please refer to Chapter 3.9.2, 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. Position Corresponding POS5 POS4 POS3...
Page 114: Tuning Procedure
ASDA-M Chapter 5 Trial Operation and Tuning 5.6 Tuning Procedure Estimate the inertia ratio------- JOG mode After completing wiring, when applying to the power, the AL013 servo drive will display: Press the MODE Key to select the mode of parameter P0-00 function.
Page 115: Flowchart Of Tuning Procedure
Chapter 5 Trial Operation and Tuning ASDA-M 5.6.1 Flowchart of Tuning Procedure If the measurement of inertia ratio is incorrect, it cannot obtain the best performance of tuning. 1. Understand the required specification is a must. 2. Resonance can be suppressed by P2-23 and P2-24.
Page 116: Inertia Estimation Flowchart (With Mechanism)
ASDA-M Chapter 5 Trial Operation and Tuning 5.6.2 Inertia Estimation Flowchart (with Mechanism) 5-13 Revision December, 2014...
Page 117: Flowchart Of Auto Tuning
Chapter 5 Trial Operation and Tuning ASDA-M 5.6.3 Flowchart of Auto Tuning Set P2-32 to 1 (auto mode, continuous tuning) Continue to estimate the system inertia. Automatically save the value in P1-37 every 30 minutes and refer the stiffness and bandwidth setting of P2-31. P2-31Stiffness setting in auto tuning mode (The default value is 40) In auto and semi-auto mode, the bandwidth setting of speed circuit is: 1~50Hz: low-stiffness, low-response...
Page 118: Flowchart Of Semi-Auto Tuning
ASDA-M Chapter 5 Trial Operation and Tuning 5.6.4 Flowchart of Semi-auto Tuning Set P2-32 to 2 (semi-auto mode, non-continuous tuning) After tuning for a while and wait until the system inertia is stable, it stops estimating. The estimated inertia ratio will be saved to P1-37. When switching mode from manual or auto to semi auto, the system starts tuning again.
Page 119 Chapter 5 Trial Operation and Tuning ASDA-M Note: 1. If P2-33 bit 0 is set to 1, it means the inertia estimation in semi-auto mode is completed. The result can be accessed by P1-37. 2. If the value of P2-33 bit 0 is cleared to 0, the system will start to estimate again. 5-16 Revision December, 2014...
Page 120: Limit Of Load Inertia Estimation
ASDA-M Chapter 5 Trial Operation and Tuning 5.6.5 Limit of Load Inertia Estimation Acceleration / Deceleration time of reaching 2000r/min should be less than 1 second. The speed in forward and reverse direction should be higher than 200r/min. The load inertia should be under 100 times of motor inertia. The change of external force of inertia ratio cannot be too severe.
Page 121 Chapter 5 Trial Operation and Tuning ASDA-M Note: 1. Parameter P2-44 and P2-46 are the setting value of resonance suppression. If the value has been set to the maximum (32dB), and still cannot suppress the resonance, please reduce the speed bandwidth. After setting P2-47, users can check the value of P2-44 and P2-46.
Page 122: Mechanical Resonance Suppression Method
ASDA-M Chapter 5 Trial Operation and Tuning 5.6.6 Mechanical Resonance Suppression Method Three groups of Notch filter are provided to suppress mechanical resonance. Two of them can be set to the auto resonance suppression and manual adjustment. The procedure of manually suppress the resonance is as the followings: 5-19 Revision December, 2014...
Page 123: Tuning Mode And Parameters
Chapter 5 Trial Operation and Tuning ASDA-M 5.6.7 Tuning Mode and Parameters Auto-set User-defined parameters Inertia Tuning mode P2-32 parameters adjustment P1-37 (Inertia ratio of the motor) P2-00 (Position control gain) P2-04 (Speed control gain) P2-06 (Speed integral The value Manual mode (default compensation)
Page 124: Tuning In Manual Mode
ASDA-M Chapter 5 Trial Operation and Tuning 5.6.8 Tuning in Manual Mode The selection of position / speed response frequency should be determined by the machinary stiffness and application. General speaking, the high-frequency machinary or the one requries precise processing needs the higher response frequency. However, it might easily cause the resonance.
Page 125 Chapter 5 Trial Operation and Tuning ASDA-M  Low-pass filter of resonance suppression (NLP, parameter P2-25) The high value of inertia ratio will reduce the frequency response of speed loop. Therefore, the KVP value must be increased to maintain the response frequency. During the process of increasing KVP value, it might cause machinary resonance.
Page 126: Chapter 6 Control Mode Of Operation
Chapter 6 Control Mode of Operation 6.1 Selection of Operation Mode Three basic operation modes are provided in this servo drive, position, speed and torque. Users can use single mode (only in one-mode control) and dual mode to control. The following table lists all operation mode and description.
Page 127 Chapter 6 Control Mode of Operation ASDA-M The servo drive receives torque command and commands the motor to the target torque. The torque command can be issued Torque mode by register (3 sets of registers in total) or the external analog voltage (-10V ~ +10V). DI signal is used to select the command source.
Page 128: Position Mode
ASDA-M Chapter 6 Control Mode of Operation 6.2 Position Mode The followings describe the related information and settings of position mode. 6.2.1 Position Command of PT Mode PT, position command is the pulse input from terminal block. There are three types of pulse and each type has positive/negative logic which can be set in parameter P1-00.
Page 129 Chapter 6 Control Mode of Operation ASDA-M  Filter Width If the received frequency is much higher than the setting, it will be regarded as the noise and filtered out. Low-speed filter High-speed filter Setting Setting frequency frequency Value Value (Min.
Page 130 ASDA-M Chapter 6 Control Mode of Operation  Logic Type Logic Pulse Type Forward Reverse AB phase pulse CW and CCW pulse Pulse + Symbol AB phase pulse CW and CCW pulse Pulse + Symbol Minimum time width Pulse Max. Input Specification Frequency High-speed...
Page 131: Position Command Of Pr Mode
Chapter 6 Control Mode of Operation ASDA-M  The Source of External Pulse: 0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN) 1: High-speed differential (CN1 Pin: HPULSE, HSIGN) Position pulse can be input from CN1 terminal, PULSE (43), /PULSE (41), HPULSE (38), /HPULSE (29) and SIGN (36), /SIGN (37), HSIGN (46), /HSIGN (40).
Page 132: Control Structure Of Position Mode
ASDA-M Chapter 6 Control Mode of Operation Absolute Type Incremental Type 20 turns 20 turns 10 turns 10 turns 6.2.3 Control Structure of Position Mode The basic control structure is as the following diagram: Position Command Position Command Unit Position Speed Current Motor...
Page 133: S-Curve Filter (Position)
Chapter 6 Control Mode of Operation ASDA-M The upper path of the above diagram is PR mode and the lower one is PT mode which could be selected via P1-01. Both modes can set E-gear ratio for the proper position resolution.
Page 134 ASDA-M Chapter 6 Control Mode of Operation position time (ms) speed time (ms) Rated speed torque time (ms) TDEC TACC TSL/2 TSL/2 TSL/2 TSL/2 Position and speed S-curve and time setting (deceleration for position command) Related parameters: Address: 0144H P1-34 TACC Acceleration Constant of S-Curve 0145H...
Page 135 Chapter 6 Control Mode of Operation ASDA-M Default： 200 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16bit Format： DEC Settings： Acceleration Constant: P1-34, P1-35 and P1-36, the acceleration time of speed command from zero to the rated speed, all can be set individually. Even when P1-36 is set to 0, it still has acceleration / deceleration of trapezoid-curve.
Page 136 ASDA-M Chapter 6 Control Mode of Operation Acceleration / Deceleration Constant of Address: 0148H P1-36 S-Curve 0149H Parameter Related Section: Parameter for individual axis Section 6.3.3 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control S，PR Mode： Unit： ms Range：...
Page 137: Electronic Gear Ratio
Chapter 6 Control Mode of Operation ASDA-M 6.2.5 Electronic Gear Ratio Related parameters: Address: 0158H P1-44▲ Gear Ratio (Numerator) (N1) 0159H Parameter Related Section: Parameter for individual axis Section 6.2.5 Attribute： Operational Panel / Software Communication Interface： Default： 128 Control PT／PR Mode：...
Page 138 ASDA-M Chapter 6 Control Mode of Operation Settings： If the setting is wrong, the servo motor will easily have sudden unintended acceleration. Please follow the rules for setting: The setting of pulse input: Range of command pulse input : 1／50＜Nx／M＜25600 1) The setting value cannot be changed when Servo ON neither NOTE in PT nor in PR mode.
Page 139: Low-Pass Filter
Chapter 6 Control Mode of Operation ASDA-M 6.2.6 Low-pass Filter Related parameters: Smooth Constant of Position Address: 0110H P1-08 PFLT Command (Low-pass Filter) 0111H Parameter Related Section: Parameter for individual axis Section 6.2.6 Attribute： Operational Panel / Software Communication Interface： Default：...
Page 140: Timing Diagram In Position Mode (Pr)
ASDA-M Chapter 6 Control Mode of Operation 6.2.7 Timing Diagram in Position Mode (PR) In PR mode, the position command is selected by either DI signal (POS0~POS5 and CTRG) of CN1 or communication. Please refer to Section 6.2.2 for the information about DI signal and its selected register.
Page 141: Gain Adjustment Of Position Loop
Chapter 6 Control Mode of Operation ASDA-M 6.2.8 Gain Adjustment of Position Loop Before setting the position control unit, users have to manually (P2-32) complete the setting of speed control unit since the speed loop is included in position loop. Then, set the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of position loop.
Page 142 ASDA-M Chapter 6 Control Mode of Operation Address: 0204H P2-02 Position Feed Forward Gain 0205H Parameter Related Section: Parameter for individual axis Attribute ： Section 6.2.8 Operational Panel / Software Communication Interface ： Default ： 50 Control PT ／ PR Mode ：...
Page 143: Low-Frequency Vibration Suppression In Position Mode
Chapter 6 Control Mode of Operation ASDA-M 6.2.9 Low-frequency Vibration Suppression in Position Mode If the stiffness is not enough, the mechanical transmission will continue to vibrate even when the motor stops after completing the positioning command. The function of low-frequency vibration suppression can eliminate the vibration of mechanical transmission.
Page 144 ASDA-M Chapter 6 Control Mode of Operation value of P1-26 and P1-28 is 0, it means no frequency has been detected. Please decrease the value of P1-30 and set P1-29 to 1 so as to search the vibration frequency again. Please note that when the detection level is set too small, the noise will be regarded as the low-frequency.
Page 145 Chapter 6 Control Mode of Operation ASDA-M The related parameters of auto vibration suppression: Auto Low-frequency Vibration Address: 013AH P1-29 AVSM Supression Setting 013BH Parameter Related Section: Parameter for individual axis Attribute ： Section 6.2.9 Operational Panel / Software Communication Interface ：...
Page 146 ASDA-M Chapter 6 Control Mode of Operation Settings ： When enabling the auto suppression (P1-29 = 1), it will automatically search the detection level. The lower the value is, the more sensitive of the detection will be. However, it is easy to misjudge the noise or regard the other low-frequency vibration as the suppression frequency.
Page 147 Chapter 6 Control Mode of Operation ASDA-M Low-frequency Vibration Suppression Address: 0132H P1-25 VSF1 0133H Parameter Related Section: Parameter for individual axis Attribute ： Section 6.2.9 Operational Panel / Software Communication Interface ： Default ： 1000 Control PT / PR Mode ：...
Page 148 ASDA-M Chapter 6 Control Mode of Operation Low-frequency Vibration Suppression Address: 0136H P1-27 VSF2 0137H Parameter Related Section: Parameter for individual axis Attribute ： Section 6.2.9 Operational Panel / Software Communication Interface ： Default ： 1000 Control PT / PR Mode ：...
Page 149: Speed Mode
Chapter 6 Control Mode of Operation ASDA-M 6.3 Speed Mode Speed control mode (S or Sz) is applicable in precision speed control, such as CNC machine tools. This servo drive includes two types of command input, analog and register. Analog command input can use external voltage to control the motor speed. There are two methods in register input.
Page 150: Control Structure Of Speed Mode
ASDA-M Chapter 6 Control Mode of Operation  The setting range of internal parameters is between -60000 and 60000. Setting value = setting range x unit (0.1r/min). For example: P1-09 = +30000, setting value = +30000 x 0.1r/min = +3000r/min The speed command not only can be issued in speed mode (S or Sz), but also in torque mode (T or Tz) as the speed limit.
Page 151: Smooth Speed Command
Chapter 6 Control Mode of Operation ASDA-M P1-01(S or Sz). Usually, S-curve and low-pass filter are applied for having a smooth resonance of command. 6.3.3 Smooth Speed Command S-curve Filter During the process of acceleration or deceleration, S-curve filter applies the program of three-stage acceleration curve for smoothing the motion command, which generates the continuous acceleration.
Page 152 ASDA-M Chapter 6 Control Mode of Operation Related parameters: Address: 0144H P1-34 TACC Acceleration Constant of S-Curve 0145H Parameter Related Section: Parameter for individual axis Attribute ： Section 6.3.3 Operational Panel / Software Communication Interface ： Default ： 200 Control Mode ：...
Page 153 Chapter 6 Control Mode of Operation ASDA-M Settings： Deceleration Constant: P1-34, P1-35 and P1-36, the deceleration time of speed command from the rated speed to zero, all can be set individually. Even when P1-36 is set to 0, it still has acceleration / deceleration of trapezoid-curve.
Page 154 ASDA-M Chapter 6 Control Mode of Operation Analog Speed Command Filter Analog speed command filter is provided especially for ASDA-M series users. It mainly helps with buffer when the analog input signal changes too fast. Speed (rpm) Analog speed command...
Page 155: The Scaling Of Analog Command
Chapter 6 Control Mode of Operation ASDA-M Settings ： 0: Disabled Target Speed SFLT 6.3.4 The Scaling of Analog Command The motor speed command is controlled by the analog voltage deviation between V_REF and VGND. Use parameter P1-40 to adjust the speed-control slope and its range. 5000rpm The speed control ramp is determined by parameter P1-40...
Page 156: The Timing Diagram In Speed Mode
ASDA-M Chapter 6 Control Mode of Operation Data Size ： 16bit Format ： DEC Settings ： Maximum Speed of Analog Speed Command: In speed mode, the analog speed command inputs the swing speed setting of the max. voltage (10V). For example, if the setting is 3000, when the external voltage inputs 10V, it means the speed control command is 3000r/min.
Page 157: Gain Adjustment Of Speed Loop
Chapter 6 Control Mode of Operation ASDA-M 6.3.6 Gain Adjustment of Speed Loop Here introduces the function of speed control unit. The following shows its structure. Many kinds of gain in speed control unit are adjustable. Two ways, manual and auto, are provided for selection.
Page 158 ASDA-M Chapter 6 Control Mode of Operation Parameter P2-32 can be used to adjust the gain. Address: 0240H P2-32 ▲ AUT2 Tuning Mode Selection 0241H Parameter Related Section: Parameter for individual axis Attribute ： Section 5.6 Section 6.3.6 Operation al Interfac Panel / Software Communication e ：...
Page 159 Chapter 6 Control Mode of Operation ASDA-M Relevant description of semi-auto mode setting: 1. When the system inertia is stable, the value of P2-33 will be 1 and the system stops estimating. The inertia value will be saved to P1-37 automatically. When switching mode to semi-auto mode (from manual or auto mode), the system starts to estimate again.
Page 160 ASDA-M Chapter 6 Control Mode of Operation Address: 020CH P2-06 Speed Integral Compensation 020DH Parameter Related Section: Parameter for individual axis Attribute ： Section 6.3.6 Operational Panel / Software Communication Interface ： Default ： 100 Control Mode ： Unit ： rad/s Range ：...
Page 161 Chapter 6 Control Mode of Operation ASDA-M Frequency Domain 6-36 Revision December, 2014...
Page 162 ASDA-M Chapter 6 Control Mode of Operation Time Domain The bigger KVP value cause higher bandwidth and shorten the rising time. However, if the value is set too big, the phase margin will be too small. To steady-state error, the result is not as good as KVI.
Page 163 Chapter 6 Control Mode of Operation ASDA-M That is to say, the following command and resistance of torque load have the same performance in frequency domain and time domain. Users can reduce the bandwidth by setting the low-pass filter in command end. Auto Mode Auto mode adopts adaptive principle.
Page 164: Resonance Suppression
ASDA-M Chapter 6 Control Mode of Operation 6.3.7 Resonance Suppression When resonance occurs, it is probably because the stiffness of the control system is too strong or the response is too fast. Eliminating these two factors might improve the situation. In addition, low-pass filter (parameter P2-25) and notch filter (parameter P2-23 and P2-24) are provided to suppress the resonance if not changing the control parameters.
Page 165 Chapter 6 Control Mode of Operation ASDA-M Settings ： The first resonance suppression (notch filter) attenuation rate. When this parameter is set to 0, the function of Notch filter is disabled. Resonance Suppression (Notch filter) Address: 0256H P2-43 NCF2 0257H Parameter Related Section: Parameter for individual axis...
Page 166 ASDA-M Chapter 6 Control Mode of Operation Resonance Suppression (Notch filter) Address: 025AH P2-45 NCF3 025BH Parameter Related Section: Parameter for individual axis Attribute ： Section 6.3.7 Operational Panel / Software Communication Interface ： Default ： 1000 Control Mode ： Unit ：...
Page 167 Chapter 6 Control Mode of Operation ASDA-M Low-pass Filter of Resonance Address: 0232H P2-25 Suppression 0233H Parameter Related Section: Parameter for individual axis Attribute ： Section 6.3.7 Operational Panel / Software Communication Interface ： Default ： 0.2 (under 1kW) or 2 (under 1kW) or 0.5 (other model) 5 (other model)
Page 168 ASDA-M Chapter 6 Control Mode of Operation bandwidth first and then start to estimate again. If the value of both is smaller than 32 and resonance still exists, please set P2-47 to 0 first and then manually increase the value of P2-44 and P2-46.
Page 169 Chapter 6 Control Mode of Operation ASDA-M Flowchart of Auto Resonance Suppression: Drive the machine by servo system Check if vibration occurs Set P2-47 = 1 Check if vibration occurs Set P2-47 = 1 for three time P2-44 = 32 Decrease frequency or P2-46 = 32 response...
Page 170 ASDA-M Chapter 6 Control Mode of Operation Gain Frequency When the value of P2-25 is increased from 0, BW becomes smaller (See as the following diagram). Although it solves the problem of resonance frequency, the response bandwidth and phase margin is reduced. Gain Frequency If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can...
Page 171 Chapter 6 Control Mode of Operation ASDA-M Resonance suppression with low-pass filter Resonance Resonance conditions Low-pass Filter Gain Gain Gain Point is suppressed Attenuation Rate -3db Cut-off Frequency of Low-pass Filter Low-pass Low-pass = 10000 / P2-25 Hz Frequency Frequency Frequency Resonance Frequency...
Page 172: Torque Mode
ASDA-M Chapter 6 Control Mode of Operation 6.4 Torque Mode Torque control mode (T or Tz) is appropriate in torque control application, such as printing machine, winding machine, etc. There are two kinds of command source, analog input and register. Analog command input uses external voltage to control the torque of the motor while register uses the internal parameters (P1-12~P1-14) as the torque command.
Page 173: Control Structure Of Torque Mode
Chapter 6 Control Mode of Operation ASDA-M 6.4.2 Control Structure of Torque Mode The basic control structure is as the following diagram: The torque command unit is to select torque command source according to Section 6.4.1, including the scaling (P1-40) setting and S-curve setting. The current control unit manages the gain parameters of the servo drive and calculates the current for servo motor in time.
Page 174: Smooth Torque Command
ASDA-M Chapter 6 Control Mode of Operation 6.4.3 Smooth Torque Command Related parameter: Analog Torque Command (Low-pass Address: 010EH P1-07 TFLT Filter) 010FH Parameter Related Section: Parameter for individual axis Attribute ： Section 6.4.3 Operational Panel / Software Communication Interface ： Default ：...
Page 175: The Scaling Of Analog Command
Chapter 6 Control Mode of Operation ASDA-M 6.4.4 The Scaling of Analog Command The motor torque command is controlled by the analog voltage deviation between T_REF and GND and goes with parameter P1-41 to adjust the torque slope and its range.
Page 176: The Timing Diagram In Torque Mode
ASDA-M Chapter 6 Control Mode of Operation Settings： Maximum Output of Analog Torque Speed: In torque mode, the analog torque command inputs the torque setting of the max. voltage (10V). When the default setting is 100, if the external voltage inputs 10V, it means the torque control command is 100% rated torque.
Page 177: Dual Mode
Chapter 6 Control Mode of Operation ASDA-M 6.5 Dual Mode Apart from single mode, dual mode is also provided for operation. According to Section 6.1, dual modes are as followings: Speed/position dual mode (PT-S, PR-S, PT-PR) Speed/torque dual mode (S-T) Torque/position dual mode (PT-T, PR-T) Position speed multi mode (PT-PR-S) Position torque multi mode (PT-PR-T)
Page 178: Speed／Position Dual Mode
ASDA-M Chapter 6 Control Mode of Operation 6.5.1 Speed／ Position Dual Mode There are PT-S and PR-S in speed/position dual mode. The command source of the former one comes from external pulse while the latter one comes from internal parameters (P6-00~P7-27). Speed command could be issued by external analog voltage or internal parameters (P1-09~P1-11).
Page 179: Torque／Position Dual Mode
Chapter 6 Control Mode of Operation ASDA-M Diagram 2: Dual control mode of speed and torque In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and SPD 1.
Page 180: Others
ASDA-M Chapter 6 Control Mode of Operation 6.6 Others 6.6.1 The Use of Speed Limit The maximum speed in each mode is limited by internal parameters (P1-55), not matter it is in position, speed or torque mode. The issuing method of speed limit command and speed command is the same. The command source could be external analog voltage or internal parameter (P1-09 ~ P1-11).
Page 181: Analog Monitor
Chapter 6 Control Mode of Operation ASDA-M 6.6.3 Analog Monitor Users could observe the needed voltage signal via analog monitor. Two analog channels are provided by the servo drive and locate in terminal 15 and 16 of CN1. The related parameter settings are as the followings.
Page 182 ASDA-M Chapter 6 Control Mode of Operation MON1 axis Description selection MON1 is from X axis MON1 is from Y axis MON1 is from Z axis MON2 axis Description selection MON2 is from X axis MON2 is from Y axis MON2 is from Z axis Please refer to parameter P1-04, P1-05 for proportional setting NOTE...
Page 183 Chapter 6 Control Mode of Operation ASDA-M Settings： Polarity of Monitor Analog Output 0: MON1(+), MON2(+) 1: MON1(+), MON2(-) 2: MON1(-), MON2(+) 3: MON1(-), MON2(-)  Polarity of encoder pulse output 0: Forward output 1: Reverse output MON1 Analog Monitor Output Address: 0108H P1-04 MON1...
Page 184 ASDA-M Chapter 6 Control Mode of Operation MON2 Analog Monitor Output Address: 0108H P1-05 MON2 Proportion 0109H Parameter Related Section: Parameter for individual axis Attribute ： Section 6.6.3 Operational Panel / Software Communication Interface ： Default ： 100 Control Mode ： Unit ：...
Page 185 Chapter 6 Control Mode of Operation ASDA-M Offset Adjustment Value of Analog Address: 042AH P4-21 DOF2 Monitor Output (Ch2) 042BH Parameter Related Section: Parameter for three axes Attribute ： Section 6.6.3 Operational Panel / Software Communication Interface ： Default ： 0 Control Mode ：...
Page 186: The Use Of Mechanical Brake
ASDA-M Chapter 6 Control Mode of Operation 6.6.4 The Use of Mechanical Brake When operating mechanical brake via servo drive, if the DO signal, BRKR is set to OFF, it means the mechanical brake is not working and the motor will be locked. If BRKR is set to ON, it means the mechanical brake is working and the motor can operate.
Page 187 Chapter 6 Control Mode of Operation ASDA-M The wiring diagram of using mechanical brake: 1) Please refer to Chapter 3, Wiring. NOTE 2) The brake signal controls the solenoid valve, provides power to the brake and enables the brake. 3) Please note that there is no polarity in coil brake. 4) Do not use brake power and control power (VDD) at the same time.
Page 188: Chapter 7 Motion Control
Chapter 7 Motion Control 7.1 Motion Control Functions of ASDA-M Single-axis motion controller of PR (Procedure) control Function of CAPTURE (data capture)／COMPARE (data compare) Function of E-Cam 7.2 Information of the Servo Drive The information of this servo drive can be divided into three parts: System parameters, Monitor variables and Data array.
Page 189 Chapter 7 Motion Control ASDA-M variables to system parameters. Mapping 8 groups of parameter, P0-25 5 groups of parameter, P0-09 ~ P0-13 Support ~ P0-32 (set by P0-17 ~ P0-21) (set by P0-35 ~ P0-42) Note In Monitor Mode, pressing UP/DOWN Key on the panel to switch the commonly used monitor variables (code 0~26);...
Page 190: Description Of Monitor Variables
ASDA-M Chapter 7 Motion Control 7.2.1 Description of Monitor Variables Description of Monitor Variables: Item Descriptions Variable Each monitor variable has a code. Set the code via P0-02 so that the Code users can monitor the variable. Format Every monitor variable is saved with the format of 32-bit (long integer) in the servo drive.
Page 191 Chapter 7 Motion Control ASDA-M The descriptions of monitor variables attribute are as the following. Attribute Descriptions BASE: basic variables. Variables that can be viewed by UP/DOWN Key on the panel. When the panel displays, the position of the decimal point will be which means it only shows one decimal point;...
Page 192 ASDA-M Chapter 7 Motion Control Code Name of Variables Descriptions ／Attribute (07h) B D1 Dec The value is more stable since it has been though low-pass filter. Speed command The speed command is issued by analog. The unit is 0.01 (08h) (analog) Volt.
Page 193 Chapter 7 Motion Control ASDA-M Code Name of Variables Descriptions ／Attribute parameter ＃1 P0-35 Mapping Return the value of parameter P0-26 which is mapped by parameter ＃2 (14h) P0-36 Mapping Return the value of parameter P0-27 which is mapped by parameter ＃3 (15h) P0-37...
Page 194 ASDA-M Chapter 7 Motion Control Code Name of Variables Descriptions ／Attribute (35h) (processed) (%). D1 Dec The source might be analog, register or speed loop. Torque feedback Current actual torque of the motor. The unit is 0.1 Percent (36h) D1 Dec (%).
Page 195 Chapter 7 Motion Control ASDA-M Code Name of Variables Descriptions ／Attribute (45h) (output) smooth the output command. It is effective in PR mode, ECAM and speed command. Speed command In PR mode, the programmed trapezoid speed curve is (4Ch) of PR contour determined by the target speed, acceleration, deceleration and moving distance (before S-curve filter).
Page 196: Description Of Data Array
ASDA-M Chapter 7 Motion Control Code Name of Variables Descriptions ／Attribute The returned The returned value when monitoring via panel (7Bh) value when monitoring via panel 7.2.2 Description of Data Array Many functions of motion control are added in ADSA-M, e.g. CAPTURE, COMPARE and E-Cam, and those are the data that needs to be saved in large amount memory space, therefore, the servo drive reserves a continuous internal space to satisfy the need.
Page 197 Chapter 7 Motion Control ASDA-M The content of data array cannot be read or wrote directly, reading or writing the data must via parameter P5-10 ~ P5-13. The description of the parameters is as the followings: Description of Related Parameter about Data Array Parameter Name Description...
Page 198 ASDA-M Chapter 7 Motion Control Set P5-12 to 300 (After writing 300 into address 13 in data array, the value of P5-11 will increase 1 automatically.) The last step is to read address 11, 12 and 13 and check if the content is the value that just wrote into.
Page 199 Chapter 7 Motion Control ASDA-M Each axis has its own station number. If the controller desires to NOTE communicate with different axis, it should switch the station number which is set by P3-00 through communication. If users desire to read the value of data array in order to check the previous written content, users can write the desired reading start address into P5-11 via MODBUS communication command 0x06 (write 1 data).
Page 200: Description Of Motion Axes
ASDA-M Chapter 7 Motion Control 7.3 Description of Motion Axes The motion axis is an internal counter of the servo drive. It is used for counting the absolute position of the axis (32-bit integer). The following motion axes are included in this servo drive: Name of the Axis Description...
Page 201: Description Of Pr Mode
Chapter 7 Motion Control ASDA-M Name of the Axis Description Access Attribute command axis of PR mode is not instantaneous; therefore, it cannot be the command source axis of CAP and CMP function. However, it could be the command source of master axis of E-Cam. 7.4 Description of PR Mode PR Procedure: It is the smallest unit of command.
Page 202 ASDA-M Chapter 7 Motion Control Feedback register (monitor variable000): Fb_PUU; it shows the absolute feedback position of the motor. Deviation register (monitor variable002): Err_PUU; it is the deviation between the register from command output and feedback register. In PR mode, either in operation or stop status, it satisfies the condition of Err_PUU = Cmd_O - Fb_PUU.
Page 203: Description Of Homing In Pr Mode
Chapter 7 Motion Control ASDA-M 7.7 Description of Homing in PR Mode The aim of homing is to connect the Z pulse position of the motor encoder to the internal coordinate of the servo drive. The coordinate value of Z pulse can be set by P6-01. After homing, the stop point will not locate at Z pulse position.
Page 204 ASDA-M Chapter 7 Motion Control Description of command triggered method in PR mode: 99 command procedures are in each axis of PR mode. Procedure #0 is homing and the others are the procedures that users can self-define. The command triggered method is concluded as the followings: Command Source Description...
Page 205: Parameter Settings In Pr Mode
Chapter 7 Motion Control ASDA-M Parameter Settings in PR Mode 1) Target speed: P5-60 ~P5-75, 16 PR in total 15 ~ 0 BIT TARGET_SPEED: 0.1 ~ 6000.0 (r/min) 2) Acceleration / Deceleration time: P5-20 ~ P5-35, 16 PR in total 15 ~ 0 BIT T_ACC / T_DEC : 1 ~ 65500 (msec) 3) Pause time: P5-40 ~ P5-55, 16 PR in total...
Page 206 ASDA-M Chapter 7 Motion Control OPT: OPT selection 4 BIT UNIT AUTO ※DI.STP stop and software limit are acceptable. INS: When this PR is executing, it will interrupt the previous PR. AUTO: When the speed reaches the constant speed area, the next PR will be loaded automatically.
Page 207 Chapter 7 Motion Control ASDA-M (Monitor variable 00h) plus DATA. Note 4: Position terminal command is determined by the position latched by CAP (Monitor variable 2Bh) plus DATA. 8) Multi-axis linear interpolation: TYPE = 4, execute the function of multi-axis linear interpolation.
Page 208 ASDA-M Chapter 7 Motion Control Grade Percentage Grade Percentage 100% SEL: 0~3, axis selection SELECT Code Axis selection 0: Multi-axis linear interpolation 1: XY two-axis linear interpolation 2: YZ two-axis linear interpolation 3: XZ two-axis linear interpolation Command source: P6-02~P7-99 of the first axis, parameter DW1 (DATA-32BIT), 99 PR in total.
Page 209 Chapter 7 Motion Control ASDA-M set to 0. Even though it is part of the interpolation, position of Y-axis remains the same.) In this condition, users have to know which axis’ setting( including OVLP, DLY, VSPD, VDEC, VACC, OPT) is applied to conduct the interpolation and synchronous motion.
Page 210 ASDA-M Chapter 7 Motion Control FUNC_CODE: Reserved DLY: The delay time after jump 11) Special code: TYPE = 8, write the specified parameter 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT P_Grp...
Page 211 Chapter 7 Motion Control ASDA-M ※DI.STP stop and software limit are acceptable. OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0. AUTO: Position reached and the next PR is loaded automatically. CMD: The calculation of the position command termination (Cmd_E) is as follows: Note 8: angle command –...
Page 212 ASDA-M Chapter 7 Motion Control degrees. (Note 9) DATA1 is the setting of arc starting angle. DATA2 is the setting of arc moving angle. Note 9: The unit of angle is 0.5 degrees, which means the input value is two times of the setting value.
Page 213 Chapter 7 Motion Control ASDA-M Grade Percentage Grade Percentage 100% SEL: 0~2, axis selection SELECT Code Axis selection 0: XY, two-axis circular interpolation 1: YZ, two-axis circular interpolation 2: XZ, two-axis circular interpolation Command source: P6-02~P7-99 of the first axis, parameter DW1 (DATA-32BIT), 99 PR in total.
Page 214 ASDA-M Chapter 7 Motion Control DEC1/DEC2: The first / second deceleration time DLY: Delay time BOOT: Activation mode. When the POWER is ON: 0: will not do homing 1: start homing (Servo ON for the first time) ORG_DEF: the coordinate value of the origin definition which might not be 0 A.
Page 215 Chapter 7 Motion Control ASDA-M 7.9.1 The Relation between the Previous Path and the Next Path 1) Interrupt (the previous path) and overlap (the next path) can be set in every path OVLP OVLP Path 1 Path 2 Note: Path (procedure) 2) The priority of interrupt command is higher than overlap PATH 1 PATH 2...
Page 216: Programming The Path In Pr Mode
ASDA-M Chapter 7 Motion Control 7.9.2 Programming the Path in PR Mode 1) Sequence command Path 1: is AUTO and has set DLY Path 2: does not set INS (DLY starts to count after completing the command) Path 1: speed command and has set DLY Path 2: position command DLY 1 (DLY starts to count after completing the...
Page 217: The Description Of E-Cam Function
Chapter 7 Motion Control ASDA-M 7.10 The Description of E-Cam Function E-Cam is a virtual cam which is implemented by software. It includes Master axis and Slave axis. The illustration is as the following: In PT mode, the position command (slave) is issued by the external pulse input (master). The two is merely the linear scaling relation (its scaling equals to e-gear ratio).
Page 218 ASDA-M Chapter 7 Motion Control The Necessity The master axis is necessary. The master axis is unnecessary when of Master Axis it is applied to constant speed motion. It will do by using the internal signal of the servo drive. Flexibility It is inconvenient to change It will do by re-setting the parameter.
Page 219 Chapter 7 Motion Control ASDA-M table P5-81. Data Size of E-Cam  It is set by P5-82. 720 points is the maximum and 5 points is table the minimum. Data Format of  32-bit signed value. E-Cam table  Data Content of Save the position of slave axis (User unit, PUU) E-Cam table Features of E-Cam...
Page 220 ASDA-M Chapter 7 Motion Control  Master Axis, the description is as follows: Function The moving distance of the master axis is the source which could drive the E-Cam Source of Master Source selected by P5-88.Y: Axis  Auxiliary encoder (linear scale) The Setting ...
Page 221 Chapter 7 Motion Control ASDA-M established, it enters this status. The E-cam still will not operate with the master pulse. Engage: When it reaches pre-engaged status (path 3), it  enters this status. The E-cam starts to operate with the master pulse. Path Description: Path 1：When the engaged condition is established (P5-88.Z), ...
Page 222 ASDA-M Chapter 7 Motion Control Engaged status immediately. Symbol ＋/－ represents the direction of lead pulse. Please note that the E-cam will be unable to engage if setting the wrong direction. If setting the wrong direction, the value of monitor variable (061) will increase, which is far from 0 and causes overflow at the end.
Page 223 Chapter 7 Motion Control ASDA-M Gear ＃1, the description is as follows:   Function Set the relativity of master axis and E-cam axis. e.g. The master axis operates one cycle, the E-cam axis is no need to operates one cycle. ...
Page 224 ASDA-M Chapter 7 Motion Control total. It is because the position of the first point (0 degree) and the final point (360 degree) might not be the same. The data of 1.0° and 360° The data of 2.0° and 360° is the same.
Page 225 Chapter 7 Motion Control ASDA-M  E-cam axis can operate in forward / reverse direction.  If the E-cam position is between two points of the E-cam table, the position of the slave axis will be interpolated with cubic curve function. The adjacent curve remains quadratic differential at the point in order to smooth torque.
Page 226: Function Description Of Capture (Data Capture)
ASDA-M Chapter 7 Motion Control 7.10.1 Function Description of CAPTURE (Data Capture) The concept of CAPTURE is to capture the position of motion axis instantaneously by using the external trigger signal DI5. Then save it in data array so as to be used for motion control afterwards.
Page 227 Chapter 7 Motion Control ASDA-M CAPTURE Features  Set P5-39.X0 to 1 so as to activate CAPTURE function and this DO is OFF. Note  If P5-38=0, set the value of P5-39 X, Bit0 to 1 will disable the CAPTURE function. Clear the setting value of P5-39 X, Bit0 to 0 and set DO.CAP_OK to OFF.
Page 228 ASDA-M Chapter 7 Motion Control The 1 axis Data Array Automatically activate COMPARE ….. position can The 1 point is saved in P5-36. POS 1 be reset to The 2nd point is saved in P5-36＋1. the value as POS 2 The 3 point is saved in P5-36＋2.
Page 229: Function Description Of Compare (Data Compare)
Chapter 7 Motion Control ASDA-M 7.10.2 Function Description of COMPARE (Data Compare) The concept of COMPARE is to compare the instant position of motion axis with the value which is saved in data array. Then output DO3 after the COMPARE condition is established for motion control.
Page 230 ASDA-M Chapter 7 Motion Control  Since the capture axis is 32-bit wide, the accumulation will cause overflow. Please avoid this. The value of COMPARE is saved in data array and the first compare data locates in P5-56. The CMP number has no limit, thus it can be set via P5-58. The last CMP data is saved in P5-56＋P5-58－1.
Page 231 Chapter 7 Motion Control ASDA-M (This page is intentionally left blank.) 7-44 Revision December, 2014...
Page 232: Chapter 8 Parameters
Chapter 8 Parameters 8.1 Parameter Definition Parameters are divided into eight groups which are shown as follows. The first character after the start code P is the group character and the second character is the parameter character. As for the communication address, it is the combination of group number along with two digit number in hexadecimal.
Page 233: Parameters
Chapter 8 Parameters ASDA-M 8.2 Parameters Monitor and General Output Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Factory Firmware Version O O O O P0-00★ Setting 10.1 Alarm Code Display of Drive P0-01■ O O O O 10.2 (Seven-segment Display) 10.3...
Page 234 ASDA-M Chapter 8 Parameters Monitor and General Output Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S No need P0-30 MAP6 Mapping Parameter # 6 O O O O 4.3.5 initialize No need P0-31 MAP7 Mapping Parameter # 7 O O O O 4.3.5 initialize...
Page 235 Chapter 8 Parameters ASDA-M Filter and Resonance Suppression Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Analog Speed Command P1-06 SFLT 6.3.3 (Low-pass Filter) Analog Torque Command P1-07 TFLT 6.4.3 (Low-pass Filter) Smooth Constant of Position Command P1-08 PFLT...
Page 236 ASDA-M Chapter 8 Parameters Auto Resonance Suppression P2-47 ANCF O O O O Mode Setting Resonance Suppression P2-48 ANCL O O O O Detection Level Low-pass Filter of Resonance 0.2 or P2-25 1ms O O O O 6.3.7 Suppression P2-49 SJIT Speed Detection Filter O O O O...
Page 237 Chapter 8 Parameters ASDA-M (★) Read-only register, can only read the status. For example: parameter P0-00, P0-10 and P4-00, etc. (▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. (●) Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00. (■) Parameters of no data retained setting, e.g.
Page 238 ASDA-M Chapter 8 Parameters Position Control Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Trigger Position Command (PR P5-07 PRCM mode only) P5-20 ~ AC0 ~ 200 ~ Acceleration/Deceleration 7.10 Time (Number #0 ~ 15) P5-35 AC15 P5-40 ~...
Page 239 Chapter 8 Parameters ASDA-M 1000 Internal Speed Command 1 ~ P1-09 ~ SP1 ~ 3 6.3.1 r/min P1-11 Internal Speed Limit 1 ~ 3 3000 Internal Torque Command 1 ~ P1-12 ~ TQ1 ~ 3 O O O O 6.6.2 P1-14 Internal Torque Limit 1 ~ 3 Maximum Speed of Analog...
Page 240 ASDA-M Chapter 8 Parameters (●) Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00. (■) Parameters of no data retained setting, e.g. parameter P2-30 and P3-06. Planning of Digital Input / Output Pin and Output Setting Parameter Control Mode Related Parameter Abbr.
Page 241 Chapter 8 Parameters ASDA-M (■) Parameters of no data retained setting, e.g. parameter P2-30 and P3-06. Axial code: Symbol N in default setting is 1~3 which means the value is in accordance with the displayed default value. For example, the display of P2-10 will show 1101 when selecting X axis, 2101 when selecting Y axis and 3101 when selecting Z.
Page 242 ASDA-M Chapter 8 Parameters Diagnosis Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Digital Output Register P4-06▲■ N/A O O O O 4.4.3 (Readable and Writable) P4-07 ITST Multi-function of Digital Input N/A O O O O 4.4.4 Input Status of the Drive PKEY...
Page 243: Parameter Description
Chapter 8 Parameters ASDA-M 8.3 Parameter Description P0-xx Monitor Parameters Address: 0000H Firmware Version P0-00★ 0001H Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： Factory Setting Control Mode： Unit： - Range： - Data Size：...
Page 244 ASDA-M Chapter 8 Parameters Alarm of Servo Drive 001：Over current 002：Over voltage 003：Under voltage (In default setting, the alarm occurs only when the voltage is not enough in Servo ON status; In Servo ON status, when it applies to power R, S, T, the alarm still will not be cleared.
Page 245 Chapter 8 Parameters ASDA-M 008：Abnormal pulse command 009：Excessive deviation of position command 011 ： Encoder error (The servo drive cannot connect to the encoder because of disconnection or abnormal wiring) 012：Adjustment error 013：Emergency stop 014：Reverse limit error 015：Forward limit error 016：IGBT overheat 017：Abnormal EEPROM 018：Abnormal signal output...
Page 246 ASDA-M Chapter 8 Parameters Alarm of CANopen Communication 111：CANopen SDO receives buffer overflow 112：CANopen PDO receives buffer overflow 121：Index error occurs when accessing CANopen PDO 122：Sub-Index error occurs when accessing CANopen PDO 123：Data size error occurs when accessing CANopen PDO 124：Data range error occurs when accessing CANopen PDO 125 ：...
Page 247 Chapter 8 Parameters ASDA-M 249：The number of PR command exceeds the range 261：Index error occurs when accessing CANopen object 263：Sub-Index error occurs when accessing CANopen object 265：Data size error occurs when accessing CANopen object 267：Data range error occurs when accessing CANopen 269：CANopen object is read-only and write-protected 26b：CANopen object is not allowed in PDO 26d：CANopen object is write-protected when Servo ON...
Page 248 ASDA-M Chapter 8 Parameters Data Size： 16bit Format： DEC Settings： 00 ： Motor feedback pulse number (after the scaling of electronic gear ratio) [PUU] 01：Input pulse number of pulse command (after the scaling of electronic gear ratio) [PUU] 02：Deviation between control command pulse and feedback pulse number[PUU] 03 ：...
Page 249 Chapter 8 Parameters ASDA-M 22：Mapping Parameter #4：P0-28 23：Monitor Variable #1：P0-09 24：Monitor Variable #2：P0-10 25：Monitor Variable #3：P0-11 26：Monitor Variable #4：P0-12 Address: 0006H P0-03 Analog Output Monitor 0007H Parameter Related Section: Parameter for three axes Section 6.6.3 Attribute： Operational Panel / Software Communicaiton Interface：...
Page 250 ASDA-M Chapter 8 Parameters MON1, MON2 Description Setting Value Motor speed (+/-8 Volts/Max. speed) Motor torque (+/-8 Volts/Max. torque) Pulse command frequency (+8 Volts／4.5Mpps) Speed command (+/-8 Volts/Max. speed command) Torque command (+/-8 Volts/Max. torque command) VBUS voltage (+/-8 Volts／450V) Reserved Reserved MON1 axis...
Page 251 Chapter 8 Parameters ASDA-M Address: 000AH P0-05■ Reserved 000BH Address: 000CH P0-06■ Reserved 000DH Address: 000EH P0-07■ Reserved 000FH Address: 0010H TSON Power On Time P0-08★ 0011H Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communicaiton Interface：...
Page 252 ASDA-M Chapter 8 Parameters Settings： The setting value which is set by P0-17 should be monitored via P0-09. (Please refer to Chapter 7.2.1, Description of Monitor Variable for the setting value.) For example, if P0-17 is set to 3, when accessing P0-09, it obtains the total feedback pulse number of motor encoder.
Page 253 Chapter 8 Parameters ASDA-M Unit： - Range： - Data Size： 32bit Format： DEC Settings： The setting value which is set by P0-19 should be monitored via P0-11. (Please refer to Chapter 7.2.1, Description of Monitor Variable for the setting value.) Set P0-02 to 25, the panel displays VAR-3 first, and then shows the content of P0-11.
Page 254 ASDA-M Chapter 8 Parameters Range： - Data Size： 32bit Format： DEC Settings： The setting value which is set by P0-21 should be monitored via P0-13. (Please refer to Chapter 7.2.1, Description of Monitor Variable for the setting value.) Address: 001CH P0-14 Reserved 001DH...
Page 255 Chapter 8 Parameters ASDA-M Address: 0024H P0-18 CM2A Status Monitor Register 2 Selection 0025H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 127 Data Size： 16bit Format：...
Page 256 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： 0 ~ 127 Data Size： 16bit Format： DEC Settings： Please refer to Chapter 7.2.1, Description of Monitor Variable for the setting value. Address: 002AH P0-21 CM5A Status Monitor Register 5 Selection 002BH Parameter Related Section: -...
Page 257 Chapter 8 Parameters ASDA-M Address: 0032H P0-25 MAP1 Mapping Parameter # 1 0033H Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： No need to initialize Control Mode： Unit： - Range： determined by the corresponding parameter of P0-35 Data Size：...
Page 258 ASDA-M Chapter 8 Parameters Address: 0036H P0-27 MAP3 Mapping Parameter # 3 0037H Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： No need to initialize Control Mode： Unit： - Range： determined by the corresponding parameter of P0-37 Data Size：...
Page 259 Chapter 8 Parameters ASDA-M Address: 003AH P0-29 MAP5 Mapping Parameter # 5 003BH Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： No need to initialize Control Mode： Unit： - Range： determined by the corresponding parameter of P0-39 Data Size：...
Page 260 ASDA-M Chapter 8 Parameters Address: 003EH P0-31 MAP7 Mapping Parameter # 7 003FH Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： No need to initialize Control Mode： Unit： - Range： determined by the corresponding parameter of P0-41 Data Size：...
Page 261 Chapter 8 Parameters ASDA-M Target Setting of Mapping Parameter Address: 0046H P0-35 MAP1A P0-25 0047H Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： 0x0 Control Mode： Unit： - Range： determined by the communication address of the parameter group Data Size：...
Page 262 ASDA-M Chapter 8 Parameters When PH=PL=P, it means the content of P0-25 includes one 32-bit parameter. If P=060Ah (parameter P6-10), then V32 is P6-10. The setting format of PH, PL is: A: The hexadecimal of parameter indexing B: The hexadecimal of parameter group For example: If the mapping target is P2-06, set P0-35 to 0206.
Page 263 Chapter 8 Parameters ASDA-M Format： HEX Settings： Same as parameter P0-35 Target Setting of Mapping Parameter Address: 004AH P0-37 MAP3A P0-27 004BH Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： 0x0 Control Mode：...
Page 264 ASDA-M Chapter 8 Parameters Settings： Same as parameter P0-35 Target Setting of Mapping Parameter Address: 004EH P0-39 MAP5A P0-29 004FH Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： 0x0 Control Mode： Unit：...
Page 265 Chapter 8 Parameters ASDA-M Settings： Same as parameter P0-35 Target Setting of Mapping Parameter Address: 0052H P0-41 MAP7A P0-31 0053H Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface： Default： 0x0 Control Mode： Unit：...
Page 266 ASDA-M Chapter 8 Parameters Settings： Same as parameter P0-35 Address: 0056H P0-43 Reserved 0057H Status Monitor Register (for PC Address: 0058H PCMN P0-44★ software) 0059H Parameter Related Section: Parameter for individual axis Section 4.3.5 Attribute： Operational Panel / Software Communication Interface：...
Page 267 Chapter 8 Parameters ASDA-M Settings： Same as parameter P0-17 Address: 005CH SVSTS Servo Digital Output Status Display P0-46★ 005DH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range：...
Page 268 ASDA-M Chapter 8 Parameters Address: 0062H P0-49 Reserved 0063H Address: 0064H P0-50 Reserved 0065H Address: 0066H P0-51 Reserved 0067H Address: 0068H P0-52 Reserved 0069H Address: 006AH P0-53 Reserved 006BH Address: 006CH P0-54 Reserved 006DH Address: 006EH P0-55 Reserved 006FH Address: 0070H P0-56 Reserved 0071H...
Page 269: P1-Xx Basic Parameters
Chapter 8 Parameters ASDA-M P1-xx Basic Parameters Address: 0100H P1-00▲ The Type of External Pulse Input 0101H Parameter Related Section: Parameter for individual axis Section 6.2.1 Attribute： Operational Panel / Software Communication Interface： Default： 0x2 Control Mode： Unit： - Range： 0 ~ 0x1142 Data Size：...
Page 270 ASDA-M Chapter 8 Parameters NOTE When the source of external pulse is from the high-speed differential signal and the setting value is 0 (the high-speed filter frequency is 3.33Mpps at the moment), then: If the user uses 2~4MHz input pulse, it is suggested to set the filter value to 4. Note: When the signal is the high-speed pulse specification of 4 Mpps and the settings value of the filter is 4, then pulse will not be filtered.
Page 271 Chapter 8 Parameters ASDA-M  Logic Type Logic Pulse Type Forward Reverse Pulse AB phase pulse Sign CW and CCW pulse Pulse + Symbol AB phase pulse CW and CCW pulse Pulse + Symbol Minimum time width Pulse Max. Input Specification Frequency High-speed...
Page 272 ASDA-M Chapter 8 Parameters  The Source of External Pulse: 0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN) 1: High-speed differential (CN1 Pin: HPULSE, HSIGN) Input Setting of Control Mode and Address: 0102H P1-01● Control Command 0103H Parameter Related Section: Parameter for individual axis Section 6.1 Attribute：...
Page 273 Chapter 8 Parameters ASDA-M  Control Mode Settings PT PR Sz Tz Mode Single Mode ▲ ▲ ▲ ▲ ▲ ▲ Dual Mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ CANopen Mode Reserved ▲ ▲ Multiple Mode ▲...
Page 274 ASDA-M Chapter 8 Parameters  Dual Mode: It can switch mode via the external Digital Input (DI). For example, if it is set to the dual mode of PT/S (Control mode setting: 06), the mode can be switched via DI. S-P (Please refer to table 8.1).
Page 275 Chapter 8 Parameters ASDA-M Settings：  X: Disable / enable speed limit function 0: Disable speed limit function 1: Enable speed limit function (it is effective in T mode only) Other: Reserved Block diagram of speed limit setting: Vref Speed Limit Command P1-09(1) P1-10(2)
Page 276 ASDA-M Chapter 8 Parameters Polarity Setting of Encoder Pulse Address: 0106H P1-03 AOUT Output 0107H Parameter Related Section: Parameter for individual axis Section 6.6.3 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 0x13 Data Size：...
Page 277 Chapter 8 Parameters ASDA-M Range： 0 ~ 100 Data Size： 16bit Format： DEC Settings： Please refer to parameter P0-03 for the setting of analog output selection. For example: P0-03 = 0x1101 (MON1 is the motor speed analog output of X axis) When the output voltage value of MON1 is V1: X axis P1...
Page 278 ASDA-M Chapter 8 Parameters Analog Speed Command (Low-pass Address: 010CH P1-06 SFLT Filter) 010DH Parameter Related Section: Parameter for individual axis Section 6.3.3 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： ms Range： 0 ~ 1000 (0: disable this function) Data Size：...
Page 279 Chapter 8 Parameters ASDA-M Control PT／PR Mode： Unit： 10 ms Range： 0 ~ 1000 Data Size： 16bit Format： DEC Example： 11 = 110 ms Settings： 0: Disabled ／ Internal Speed Command 1 Internal Address: 0112H P1-09 0113H Speed Limit 1 Parameter Related Section: Parameter for individual axis...
Page 280 ASDA-M Chapter 8 Parameters ／ Internal Speed Command 2 Internal Address: 0114H P1-10 0115H Speed Limit 2 Parameter Related Section: Parameter for individual axis Section 6.3.1 Attribute： Operational Panel / Software Communication Interface： Default： 2000 Control S／T Mode： Unit： 0.1r/min Range：...
Page 281 Chapter 8 Parameters ASDA-M Range： -60000 ~ +60000 Data Size： 32bit Format： DEC Example： Internal Speed Command: 120 = 12 r/min Internal Speed limit: Positive value and negative value is the same. Please refer to the following description. Settings： Internal Speed Command 3: The setting of the third internal speed command Internal Speed Limit 3: The setting of the third internal speed limit Example of inputting internal speed limit:...
Page 282 ASDA-M Chapter 8 Parameters Example of inputting internal torque limit: Torque limit Allowable Forward Reverse setting Torque Torque Limit Torque Limit value of Range P1-12 -30 ~ 30 % 30 % -30 % ／ Internal Torque Command 2 Internal Address: 011AH P1-13 011BH Torque Limit 2...
Page 283 Chapter 8 Parameters ASDA-M ／ Internal Torque Command 3 Internal Address: 011CH P1-14 011DH Torque Limit 3 Parameter Related Section: Parameter for individual axis Section 6.4.1 Attribute： Operational Panel / Software Communication Interface： Default： 100 Control Mode： Unit： % Range： -300 ~ +300 Data Size：...
Page 284 ASDA-M Chapter 8 Parameters Address: 0128H P1-20 Reserved 0129H Address: 012AH P1-21 Reserved 012BH Address: 012CH P1-22 Reserved 012DH Address: 012EH P1-23 Reserved 012FH Address: 0130H P1-24 Reserved 0131H Low-frequency Vibration Suppression Address: 0132H P1-25 VSF1 0133H Parameter Related Section: Parameter for individual axis Section 6.2.9 Attribute：...
Page 285 Chapter 8 Parameters ASDA-M Unit： - Range： 0 ~ 9 (0: Disable the first low-frequency filter) Data Size： 16bit Format： DEC Settings： The first low-frequency vibration suppression gain. The bigger value it is, the better the position response will be. However, if the value is set too big, the motor will not be able to smoothly operate.
Page 286 ASDA-M Chapter 8 Parameters Range： 0 ~ 9 (0: Disable the second low-frequency filter) Data Size： 16bit Format： DEC Settings： The second low-frequency vibration suppression gain. The bigger value it is, the better the position response will be. However, if the value is set too big, the motor will not be able to smoothly operate.
Page 287 Chapter 8 Parameters ASDA-M Unit： Pulse Range： 1 ~ 8000 Data Size： 16bit Format： DEC Settings： When enabling the auto suppression (P1-29 = 1), it will automatically search the detection level. The lower the value is, the more sensitive the detection will be. However, it is easy to misjudge the noise or regard the other low-frequency vibration as the suppression frequency.
Page 288 ASDA-M Chapter 8 Parameters Settings：  Selection of executing dynamic brake: Stop Mode when Servo Off or Alarm (including EMGS) occurs. 0: Execute dynamic brake 1: Motor free run 2: Execute dynamic brake first, then execute free run until it stops (The motor speed is slower than P1-38).
Page 289 Chapter 8 Parameters ASDA-M 1) When the source of speed command is analog, and P1-36 is NOTE set to 0, it will disable S-curve function. 2) When the source of speed command is analog, the max. range of P1-34 will be set within 20000 automatically. Address: 0146H P1-35 TDEC...
Page 290 ASDA-M Chapter 8 Parameters Data Size： 16bit Format： DEC Settings： Acceleration / Deceleration Constant of S-Curve: P1-34: Set the acceleration time of acceleration / deceleration of trapezoid-curve P1-35: Set the deceleration time of acceleration / deceleration of trapezoid-curve P1-36: Set the smoothing time of S-curve acceleration and deceleration P1-34, P1-35 and P1-36 can be set individually.
Page 291 Chapter 8 Parameters ASDA-M Settings： Inertia ratio to servo motor (rotary motor): (J_load／J_motor) Among them: J_motor: rotor inertia of the servo motor J_load: Total equivalent of inertia of external mechanical load. Load weight ratio to servo motor (linear motor) (*it will be available soon): (M_load／M_motor) Among them:...
Page 292 ASDA-M Chapter 8 Parameters Control Mode： Unit： r/min Range： 0 ~ 5000 Data Size： 16bit Format： DEC Settings： When the target speed is reached, DO (TSPD) is enabled. It means when the motor speed in forward / reverse direction is higher than the setting value, the target speed is reached and enables DO.
Page 293 Chapter 8 Parameters ASDA-M Maximum Output of Analog Torque Address: 0152H P1-41▲ Speed 0153H Parameter Related Section: Parameter for individual axis Section 6.4.4 Attribute： Operational Panel / Software Communication Interface： Default： 100 Control Mode： Unit： % Range： 0 ~ 1000 Data Size：...
Page 294 ASDA-M Chapter 8 Parameters Format： DEC Settings： Set the delay time from servo ON to activate the signal of mechanical brake (BRKR). Disable Delay Time of Mechanical Address: 0156H P1-43 MBT2 Brake 0157H Parameter Related Section: Parameter for individual axis Section 6.6.4 Attribute：...
Page 295 Chapter 8 Parameters ASDA-M Address: 0158H P1-44▲ Gear Ratio (Numerator) (N1) 0159H Parameter Related Section: Parameter for individual axis Section 6.2.5 Attribute： Operational Panel / Software Communication Interface： Default： 128 Control PT／PR Mode： Unit： Pulse Range： 1 ~（2 -1） Data Size： 32bit Format：...
Page 296 ASDA-M Chapter 8 Parameters Settings： If the setting is wrong, the servo motor will easily have sudden unintended acceleration. Please follow the rules for setting: The setting of pulse input: Range of command pulse input : 1／50＜Nx／M＜25600 1) The setting value cannot be changed when Servo ON neither NOTE in PT nor in PR mode.
Page 297 Chapter 8 Parameters ASDA-M Address: 015EH SPOK Speed Reached (DO：SP_OK) Range P1-47 015FH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 10 Control S / Sz Mode： Unit： r/min Range： 0 ~ 300 Data Size：...
Page 298 ASDA-M Chapter 8 Parameters Operation Selection of Motion Reached Address: 0160H P1-48 MCOK (DO：MC_OK) 0161H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x0011 Data Size：...
Page 299 Chapter 8 Parameters ASDA-M Block diagram: Description: 1. Command triggered: It means the new PR command is effective. Position command starts to output and clear signal 2, 4, 5, 6 at the same time. 2. CMD_OK: It means the position command is completely outputted and can set the delay time (DLY).
Page 300 ASDA-M Chapter 8 Parameters Range： 0 ~ 65535 Data Size： 16bit Format： DEC Settings： In speed mode, when the deviation between the speed feedback and the command is smaller than the setting value of P1-47 and exceed the setting time of P1-49, DO: SP_OK is ON. Whenever the deviation exceeds the setting range of P1-47, the time count will be reset.
Page 301 Chapter 8 Parameters ASDA-M Address: 016AH P1-53 RES2 Regenerative Resistor Capacity 016BH Parameter Related Section: Parameter for three axes Section 2.7 Attribute： Operational Panel / Software Communication Interface： Default： Determined by the model. Please refer to the following table. Control Mode：...
Page 302 ASDA-M Chapter 8 Parameters Address: 016EH P1-55 MSPD Maximum Speed Limit 016FH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： Same as the rated speed of each model Control Mode： Unit： r/min Range：...
Page 303 Chapter 8 Parameters ASDA-M Address: 0176H P1-59 MFLT Analog Speed Command 0177H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0.0 Control Mode： Unit： 1 ms 0.1 ms Range： 0.0 ~ 4.0 0 ~ 40 Data Size：...
Page 304 ASDA-M Chapter 8 Parameters Address: 017CH P1-62 Reserved 017DH Address: 017EH P1-63 Reserved 017FH Address: 0180H P1-64 Reserved 0181H Address: 0182H P1-65 Reserved 0183H Address: 0184H P1-66 Reserved 0185H Address: 0186H P1-67 Reserved 0187H Address: 0188H P1-68 PFLT2 Position Command Moving Filter 0189H Parameter Related Section: -...
Page 305 Chapter 8 Parameters ASDA-M Address: 018AH P1-69 Reserved 018BH Address: 018CH P1-70 Reserved 018DH Address: 018EH P1-71 Reserved 018FH Address: 0190H P1-72 Reserved 0191H Address: 0192H P1-73 Reserved 0193H Address: 0194H P1-74 Reserved 0195H Address: 0196H P1-75 Reserved 0197H Maximum Rotation of Encoder Output Address: 0198H P1-76 AMSPD...
Page 306 ASDA-M Chapter 8 Parameters Address: 019CH P1-78 OVLPS The Setting of PR Path Overlap 019DH Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 0x0001 Data Size：...
Page 307 Chapter 8 Parameters ASDA-M Settings： The setting of overlap PR path: 0: Disable the function of PR path overlap 1: Enable the function of PR path overlap: (When enabling the function, follow OVLP of PR multi-axis interpolation command (note) and index to the percentage selection of overlap area) Note: PR command of multi-axis interpolation 3 ~ 0...
Page 308 ASDA-M Chapter 8 Parameters The setting of the percentage of the Address: 019EH P1-79 OVLPP overlap PR path 019FH Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： 10 Control Mode： Unit： % (percentage) Range：...
Page 309 Chapter 8 Parameters ASDA-M Address: 01A0H P1-80 OVLPL The setting of the overlap PR path 01A1H Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： 100000 Control Mode： Unit： - Range： 1000 ~ 2147483647 Data Size：...
Page 310: P2-Xx Extension Parameters
ASDA-M Chapter 8 Parameters P2-xx Extension Parameters Address: 0200H P2-00 Position Loop Gain 0201H Parameter Related Section: Parameter for individual axis Section 6.2.8 Attribute： Operational Panel / Software Communication Interface： Default： 35 Control PT／PR Mode： Unit： rad/s Range： 0 ~ 2047 Data Size：...
Page 311 Chapter 8 Parameters ASDA-M Address: 0204H P2-02 Position Feed Forward Gain 0205H Parameter Related Section: Parameter for individual axis Section 6.2.8 Attribute： Operational Panel / Software Communication Interface： Default： 50 Control PT／PR Mode： Unit： % Range： 0 ~ 100 Data Size： 16bit Format：...
Page 312 ASDA-M Chapter 8 Parameters Address: 0208H P2-04 Speed Loop Gain 0209H Parameter Related Section: Parameter for individual axis Section 6.3.6 Attribute： Operational Panel / Software Communication Interface： Default： 500 Control Mode： Unit： rad/s Range： 0 ~ 8191 Data Size： 16bit Format：...
Page 313 Chapter 8 Parameters ASDA-M Address: 020CH P2-06 Speed Integral Compensation 020DH Parameter Related Section: Parameter for individual axis Section 6.3.6 Attribute： Operational Panel / Software Communication Interface： Default： 100 Control Mode： Unit： rad/s Range： 0 ~ 1023 Data Size： 16bit Format：...
Page 314 ASDA-M Chapter 8 Parameters Address: 0210H P2-08■ PCTL Special Parameter Write-in 0211H Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 65535 Data Size： 16bit Format：...
Page 315 Chapter 8 Parameters ASDA-M Address: 0212H P2-09 DI Debouncing Time 0213H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 2 Control Mode： Unit： 2ms Range： 0 ~ 20 Data Size： 16bit Format： DEC Example：...
Page 316 ASDA-M Chapter 8 Parameters Settings：  Input function selection: Please refer to table 8.1  Input contact: a or b contact 0: Set the input contact as normally closed (b contact) 1: Set the input contact as normally open (a contact) (P2-10 ~ P2-15) The setting value of function programmed ...
Page 317 Chapter 8 Parameters ASDA-M Control Mode： Unit： - Range： 0 ~ 0x015F (the last two codes are DI code) Data Size： 16bit Format： HEX Settings： Please refer to the description of P2-10 Address: 0218H P2-12 DI3 Functional Planning 0219H Parameter Related Section: Parameter for individual axis Table 8.1...
Page 318 ASDA-M Chapter 8 Parameters Format： HEX Settings： Please refer to the description of P2-10 Address: 021CH P2-14 DI5 Functional Planning 021DH Parameter Related Section: Parameter for individual axis Table 8.1 Attribute： Operational Panel / Software Communication Interface： Default： 102 Control Mode：...
Page 319 Chapter 8 Parameters ASDA-M Address: 0220H P2-16 EDI7 ED17 Functional Planning 0221H Parameter Related Section: Parameter for individual axis Table 8.1 Attribute： Operational Panel / Software Communication Interface： Default： 100 Control Mode： Unit： - Range： 0 ~ 315Fh (The last two codes are DI code) Data Size：...
Page 320 ASDA-M Chapter 8 Parameters NOTE 1）DI shared by three axes provides three functions: a. SON-Servo On. The setting value is 0101 for a contact and 0001 for b contact. b. ARST-Alarm reset. The setting value is 0102 for a contact and 0002 for b contact.
Page 321 Chapter 8 Parameters ASDA-M Format： HEX Settings：  Output function selection: Please refer to table 8.2  Output contact: a or b contact 0: Set the output contact as normally closed (b contact) 1: Set the output contact as normally open (a contact) (P2-18 ~ P2-20) The setting value of function programmed ...
Page 322 ASDA-M Chapter 8 Parameters Address: 0228H P2-20 DO3 Functional Planning 0229H Parameter Related Section: Parameter for individual axis Table 8.2 Attribute： Operational Panel / Software Communication Interface： Default： 7 Control Mode： Unit： - Range： 0 ~ 0x013F (the last two codes are DO code) Data Size：...
Page 323 Chapter 8 Parameters ASDA-M Resonance Suppression (Notch filter) Address: 0230H P2-24 DPH1 Attenuation Rate (1) 0231H Parameter Related Section: Parameter for individual axis Section 6.3.7 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： dB Range： 0 ~ 32 (0: disable the function of Notch filter) Data Size：...
Page 324 ASDA-M Chapter 8 Parameters Address: 0234H P2-26 Anti-interference Gain 0235H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： 1 Range： 0 ~ 1023 (0: disable this function) Data Size： 16bit Format：...
Page 325 Chapter 8 Parameters ASDA-M Settings：  Gain switching condition: 0: Disable gain switching function. 1: The signal of gain switching (GAINUP) is ON. 2: In position control mode, the position error is bigger than the value of P2-29. 3: The frequency of position command is bigger than the value of P2-29.
Page 326 ASDA-M Chapter 8 Parameters Control Mode： Unit： 10ms Range： 0 ~ 1000 Data Size： 16bit Format： DEC Example： 15 = 150 ms Settings： It is for switching the smooth gain. (0: disable this function) Address: 023AH P2-29 Gain Switching 023BH Parameter Related Section: - Parameter for individual axis...
Page 327 Chapter 8 Parameters ASDA-M Format： DEC 0: Disable all functions described below Settings： 1: Force to Servo On the software 2~4: (reserved) 5: This setting allows the written parameters not retain after the power off. When the data is no need to save, it can avoid the parameters continuously writing into the EEPROM and shortening the lifetime of EEPROM.
Page 328 ASDA-M Chapter 8 Parameters Format： HEX Settings： 1~50Hz: Low stiffness, low response 51~250Hz: Medium stiffness, medium response 251~850Hz: High stiffness, high response 851~1000Hz: Extremely high stiffness, extremely high response 1) According to the speed loop setting of P2-31, the servo drive NOTE sets the position loop response automatically.
Page 329 Chapter 8 Parameters ASDA-M 1. Set the system to manual mode 0 from auto 1 or semi-auto 2, the system will save the estimated inertia value to P1-37 automatically and set the corresponding parameters. 2. Set the system to auto mode 1 or semi-auto mode 2 from manual mode 0, please set P1-37 to the appropriate value.
Page 330 ASDA-M Chapter 8 Parameters Settings：  Semi-auto Setting: 1: It means the inertia estimation in semi-auto mode is completed. The inertia value can be accessed via P1-37. 0: 1. When the display is 0, it means the inertia adjustment is not completed and is adjusting.
Page 331 Chapter 8 Parameters ASDA-M Range： 1 ~ 128000000 Data Size： 32bit Format： DEC Settings： The setting of excessive position control deviation warning in servo drive erro display (P0-01) Address: 0248H P2-36 EDI9 EDI9 Functional Planning 0249H Parameter Related Section: Parameter for individual axis Table 8.1 Attribute：...
Page 332 ASDA-M Chapter 8 Parameters Address: 024CH P2-38 EDI11 EDI11 Functional Planning 024DH Parameter Related Section: Parameter for individual axis Table 8.1 Attribute： Operational Panel / Software Communication Interface： Default： 100 Control Mode： Unit： - Range： 0 ~ 315Fh (The last two codes are DI code) Data Size：...
Page 333 Chapter 8 Parameters ASDA-M Control Mode： Unit： - Range： 0 ~ 315Fh (The last two codes are DI code) Data Size： 16bit Format： HEX Settings： Please refer to the description of P2-16 Address: 0252H P2-41 EDI14 EDI14 Functional Planning 0253H Parameter Related Section: Parameter for individual axis...
Page 334 ASDA-M Chapter 8 Parameters Data Size： 16bit Format： DEC Settings： The second setting value of resonance frequency. If P2-44 is set to 0, this function is disabled. P2-23 and P2-24 are the first Notch filter. Resonance Suppression (Notch filter) Address: 0258H P2-44 DPH2 Attenuation Rate (2)
Page 335 Chapter 8 Parameters ASDA-M Settigs： The third group of mechanism resonance frequency setting value. If P2-46 is set to 0, this function will be disabled. P2-23 and P2-24 are the first group of resonance suppression (Notch filter). Resonance Suppression (Notch filter) Address: 025CH P2-46 DPH3...
Page 336 ASDA-M Chapter 8 Parameters Description of Auto Mode Setting: When it is set to 1: Auto resonance, the value returns to 0 automatically and saves the point of resonance suppression when it is stable. If it is unstable, re-power on or set back to 1 for re-estimation again.
Page 337 Chapter 8 Parameters ASDA-M Address: 0262H P2-49 SJIT Speed Detection Filter 0263H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0x0 ~ 0x1F Data Size： 16bit Format：...
Page 338 ASDA-M Chapter 8 Parameters Settings： The filter of speed estimation Speed estimation Setting Value bandwidth (Hz) 2500 2250 2100 2000 1800 1600 1500 1400 1300 1200 1100 1000 8-107 Revision December, 2014...
Page 339 Chapter 8 Parameters ASDA-M Address: 0264H P2-50 DCLR Pulse Clear Mode 0265H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control PT／PR Mode： Unit： - Range： 0 ~ 0x2 Data Size： 16bit Format：...
Page 340 ASDA-M Chapter 8 Parameters Settings： When increasing the value of position control integral, reducing the position steady-state error, it may easily cause position overshoot and noise if the value is set too big. The Gain of Synchronous Speed Address: 026CH P2-54 Control 026DH...
Page 341 Chapter 8 Parameters ASDA-M Settings： When increasing integral compensation to synchronous speed, two motors speed following can be enhanced and the speed error between two motors can be reduced. However, if the value is set too big, it may easily cause vibration and noise. (Firmware, V1.005 sub00 will be provided soon) Integral Compensation to Synchronous Address: 0270H...
Page 342 ASDA-M Chapter 8 Parameters Settings： If users do not know how to set P2-54~P2-56, setting the bandwidth of synchronous control value will do since the value will correspond to P2-54~P2-56. The bigger the bandwidth of synchronous control value is, the better the synchronous effect will be.
Page 343 Chapter 8 Parameters ASDA-M Settings： (Firmware, V1.005 sub00 will be provided soon)  The switch of gantry function 0: Gantry function is not used Disable the gantry function including command source selection gantry compensation. Excessive synchronous deviation disables the function. 1: Gantry function is used Enable the gantry function including command source selection...
Page 344 ASDA-M Chapter 8 Parameters When it is in speed mode, the speed command comes from the speed command of Z axis. When it is in torque mode, the torque command comes from the torque command of Z axis.  DI synchronization 0: DI synchronization is used DI status of the two axes of the gantry is the same 1: DI synchronization is not used...
Page 345 Chapter 8 Parameters ASDA-M Range： 1 ~ (2 Data Size： 32bit Format： DEC Settings： The numerator of electronic gear ratio can be selected via DI.GNUM0 and DI.GNUM1 (Please refer to table 8.1). If DI.GNUM0 and DI.GNUM1 are not set, P1-44 will automatically be the numerator of electronic gear ratio.
Page 346 ASDA-M Chapter 8 Parameters Address: 027CH P2-62 Gear Ratio (Numerator) (N4) 027DH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 128 Control Mode： Unit： Pulse Range： 1 ~ (2 Data Size： 32bit Format：...
Page 347 Chapter 8 Parameters ASDA-M Special-bit Register: Settings： Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8  Bit0 ~ Bit5: reserved, please set to 0  Bit6: In PT mode, the switch of pulse error protection function (pulse frequency is over high) Bit6 = 0: Normally use the function of pulse error protection Bit6 = 1: Disable the function of pulse error protection...
Page 348 ASDA-M Chapter 8 Parameters Address: 0286H P2-67 The Stable Level of Inertia Estimation 0287H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 1.5 Control Mode： Unit： 1 times 0.1 times Range： 0 ~ 200.0 0 ~ 2000 Data Size：...
Page 349: P3-Xx Communication Parameters
Chapter 8 Parameters ASDA-M P3-xx Communication Parameters Address: 0300H P3-00● Address Setting 0301H Parameter Related Section: Parameter for individual axis Section 9.2 Attribute： Operational Panel / Software Communication Interface： Default： 0x7C Control Mode： Unit： - Range： 0x01 ~ 0x7F Data Size： 16bit Format：...
Page 350 ASDA-M Chapter 8 Parameters Control Mode： Unit： bps Range： 0x0000 ~ 0x0405 Data Size： 16bit Format： HEX Settings： The setting of transmission speed is divided into Z, Y, X (hexadecimal): Communication －－ RS-232/485 port Range  Definition of X setting value 0: 4800 1: 9600 2: 19200...
Page 351 Chapter 8 Parameters ASDA-M Unit： - Range： 0 ~ 0x8 Data Size： 16bit Format： HEX Settings： The definition of the setting value is as the followings: 0: 7, N, 2 (MODBUS, ASCII) 1: 7, E, 1 (MODBUS, ASCII) 2: 7, O,1 (MODBUS, ASCII) 3: 8, N, 2 (MODBUS, ASCII) 4: 8, E, 1 (MODBUS, ASCII) 5: 8, O, 1 (MODBUS, ASCII)
Page 352 ASDA-M Chapter 8 Parameters Default： 0 Control Mode： Unit： sec Range： 0 ~ 20 Data Size： 16bit Format： DEC Settings： If the setting value is not 0, enable communication timeout immediately. If it is set to 0, disable the function. Address: 030AH P3-05 Communication Mechanism...
Page 353 Chapter 8 Parameters ASDA-M Address: 030CH P3-06■ Control Switch of Digital Input (DI) 030DH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0x0000 ~ 0x3FFF Data Size： 16bit Format：...
Page 354 ASDA-M Chapter 8 Parameters Settings： Delay the time of communication response from servo drive to controller Address: 0310H P3-08■ Monitor Mode 0311H Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： 0000 Control Mode：...
Page 355 Chapter 8 Parameters ASDA-M Address: 0312H P3-09 CANopen Synchronize Setting 0313H Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： 0x57A1 Control CANopen Mode： Unit： - Range： Shown as below Data Size： 16bit Format：...
Page 356 ASDA-M Chapter 8 Parameters Address: 0316H P3-11 CANOP CANopen Selection 0317H Parameter Related Section: - Parameter for three axes Attribute： Operationa Panel / Software Communication l Interface： Default： 0x0000 Control CANopen Mode： Unit： - Range： Shown as below Data Size： 16bit Format：...
Page 357 Chapter 8 Parameters ASDA-M Address: 0318H P3-12 QSTPO CANopen Support Setting 0319H Parameter Related Section: - Parameter for three axes Attribute： Operational Panel / Software Communication Interface： Default： 0x0000 Control CANopen Mode： Unit： - Range： Shown as below Data Size： 16bit Format：...
Page 358: P4-Xx Diagnosis Parameters
ASDA-M Chapter 8 Parameters P4-xx Diagnosis Parameters Address: 0400H ASH1 Fault Record (N) P4-00★ 0401H Parameter Related Section: Parameter for individual axis Section 4.4.1 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： - Data Size： 32bit Format：...
Page 359 Chapter 8 Parameters ASDA-M Address: 0404H ASH3 Fault Record (N-2) P4-02★ 0405H Parameter Related Section: Parameter for individual axis Section 4.4.1 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： - Data Size： 32bit Format： HEX Settings：...
Page 360 ASDA-M Chapter 8 Parameters Address: 0408H ASH5 Fault Record (N-4) P4-04★ 0409H Parameter Related Section: Parameter for individual axis Section 4.4.1 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： - Data Size： 32bit Format： HEX Settings：...
Page 361 Chapter 8 Parameters ASDA-M Settings： Three control methods are as follows: 1. Operation test After the JOG speed is set by P4-05 via panel, the panel will display the symbol of JOG. Pressing the UP Key can control JOG operation in positive direction, pressing the DOWN Key can control negative direction.
Page 362 ASDA-M Chapter 8 Parameters Settings： bit 00: correspond to DO code=0x30 bit 01: correspond to DO code=0x31 bit 02: correspond to DO code=0x32 bit 03: correspond to DO code=0x33 bit 04: correspond to DO code=0x34 bit 05: correspond to DO code=0x35 bit 06: correspond to DO code=0x36 bit 07: correspond to DO code=0x37 bit 08: correspond to DO code=0x38...
Page 363 Chapter 8 Parameters ASDA-M Address: 040EH P4-07■ ITST Multi-function of Digital Input 040FH Parameter Related Section: Parameter for individual axis Section 4.4.4 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 0x3FFF Data Size： 16bit Format：...
Page 364 ASDA-M Chapter 8 Parameters Input Status of the Drive Keypad Address: 0410H PKEY P4-08★ (Read-only) 0411H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： - Control Mode： Unit： - Range： (Read-only) Data Size： 16bit Format：...
Page 365 Chapter 8 Parameters ASDA-M Address: 0414H P4-10■ Adjustment Selection 0415H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 6 Data Size： 16bit Format： DEC Settings：...
Page 366 ASDA-M Chapter 8 Parameters Settings： Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset. Analog Speed Input Offset Adjustment Address: 0418H P4-12 SOF2...
Page 367 Chapter 8 Parameters ASDA-M Settings： Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset. Analog Torque Input Offset Adjustment Address: 041CH P4-14 TOF2...
Page 368 ASDA-M Chapter 8 Parameters Settings： Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset. Current Detector (V2 Phase) Offset Address: 0420H P4-16 COF2...
Page 369 Chapter 8 Parameters ASDA-M Settings： Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset. Current Detector (W2 Phase) Offset Address: 0424H P4-18 COF4...
Page 370 ASDA-M Chapter 8 Parameters Offset Adjustment Value of Analog Address: 0428H P4-20 DOF1 Monitor Output (Ch1) 0429H Parameter Related Section: Parameter for three axes Section 6.6.3 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： mV Range： -800 ~ 800 Data Size：...
Page 371 Chapter 8 Parameters ASDA-M Control Mode： Unit： mV Range： -5000 ~ 5000 Data Size： 16bit Format： DEC Settings： Users manually adjust the OFFSET Address: 042EH P4-23 Analog Torque Input OFFSET 042FH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication...
Page 372 ASDA-M Chapter 8 Parameters Settings： When the voltage of DC BUS is lower than P4-24* , the undervoltage alarm occurs. Address: 0432H P4-25 SFSW Special Function Switch 0433H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface：...
Page 373: P5-Xx Motion Setting Parameters
Chapter 8 Parameters ASDA-M P5-xx Motion Setting Parameters Address: 0500H P5-00 Reserved 0501H Address: 0502H P5-01 Reserved 0503H Address: 0504H P5-02 Reserved 0505H Address: 0506H P5-03 PDEC Deceleration Time of Auto Protection 0507H Parameter Related Section: - Parameter for individual axis Attribute：...
Page 374 ASDA-M Chapter 8 Parameters Address: 0508H P5-04 HMOV Homing Mode 0509H Parameter Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 0x128 Data Size： 16bit Format： HEX Settings： The definition of the setting value is as the followings: 8-143 Revision December, 2014...
Page 375 Chapter 8 Parameters ASDA-M Reserved Limit Setting Z pulse Setting Homing Method 0 ~ 1 0 ~ 2 0 ~ 8 Y=0: Stop and X=0: Homing in forward return to Z direction and regard PL as pulse the homing origin. Y=1: Go forward X=1: Homing in reverse to Z pulse...
Page 376 ASDA-M Chapter 8 Parameters Speed Setting of High Speed Address: 050AH P5-05 HSPD1 Homing 050BH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 100.0 1000 Control Mode： Unit： 1 r/min 0.1 r/min Range：...
Page 377 Chapter 8 Parameters ASDA-M Settings： The 2 speed setting of low speed homing Trigger Position Command (PR mode Address: 050EH P5-07■ PRCM only) 050FH Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode：...
Page 378 ASDA-M Chapter 8 Parameters Address: 0510H P5-08 SWLP Forward Software Limit 0511H Parameter Related Section: - Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 2147483647 Control Mode： Unit： PUU Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 379 Chapter 8 Parameters ASDA-M Address: 0514H AYSZ P5-10★ Data Array－Data Size 0515H Parameter Related Section: Parameter for three axes Section 7.2.2 Attribute： Operational Panel / Software Communication Interface： Default： - Control Mode： Unit： - Range： Read-only Data Size： 16bit Format： DEC Settings：...
Page 380 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format： DEC Settings： Window #1 (Array[P5-11++]) When reading the parameter via panel, the value set by P5-11 will not add 1, but the others will. Data Array - Window #2 for Reading / Address: 051AH P5-13■...
Page 381 Chapter 8 Parameters ASDA-M Control Mode： Unit： - Range： 0x0 ~ 0x0011 Data Size： 16bit Format： HEX Settings： The parameter is divided into 00YX: X=0: PATH#1 Data retained X=1: PATH#1 No data retained Y=0: PATH#2 Data retained Y=1: PATH#2 No data retained Others are reserved Users can continuously write the new position into the drive through communication by P5-05.
Page 382 ASDA-M Chapter 8 Parameters Address: 0522H P5-17 AXAU Axis Position - Auxiliary Encoder 0523H Parameter Related Section: Parameter for individual axis Section 7.3 Attribute： Operational Panel / Software Communication Interface： Default： - Control Mode： Unit： Pulse number Range： -2147483648 ~ +2147483647 Data Size：...
Page 383 Chapter 8 Parameters ASDA-M Control Mode： Unit： 0.000001 times which is 1 / (10^6) Range： -2147.000000 ~ +2147.000000 Data Size： 32 bit Format： DEC Example： 1100000 = 1.1 times Settings： This parameter is used to magnify or minify the E-Cam table without changing its setting value.
Page 384 ASDA-M Chapter 8 Parameters Acceleration/Deceleration Time Address: 052AH P5-21 (Number #1) 052BH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 300 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16bit Format：...
Page 385 Chapter 8 Parameters ASDA-M Default： 600 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16bit Format： DEC Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode. Acceleration/Deceleration Time Address: 0530H P5-24 (Number #4) 0531H Parameter Related Section:...
Page 386 ASDA-M Chapter 8 Parameters Data Size： 16bit Format： DEC Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode. Acceleration/Deceleration Time Address: 0534H P5-26 (Number #6) 0535H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 387 Chapter 8 Parameters ASDA-M Acceleration/Deceleration Time Address: 0538H P5-28 (Number #8) 0539H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 1500 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16bit Format：...
Page 388 ASDA-M Chapter 8 Parameters Default： 2500 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16bit Format： DEC Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode. Acceleration/Deceleration Time Address: 053EH P5-31 AC11 (Number #11) 053FH Parameter Related Section:...
Page 389 Chapter 8 Parameters ASDA-M Data Size： 16bit Format： DEC Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode. Acceleration/Deceleration Time Address: 0542H P5-33 AC13 (Number #13) 0543H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 390 ASDA-M Chapter 8 Parameters Acceleration/Deceleration Time Address: 0546H P5-35 AC15 (Number #15) 0547H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 30 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16bit Format：...
Page 391 Chapter 8 Parameters ASDA-M Address: 054AH P5-37■ CAAX CAPTURE－Axis Position CNT 054BH Parameter Related Section: Parameter for individual axis Section 7.11.1 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 392 ASDA-M Chapter 8 Parameters Settings： When CAP stops, it means the number of data that expect to capture (readable and writable) When CAP activates, it means the number of data that has not been captured (read-only); Every time, when it captures one data, the value of P5-38 will minus one.
Page 393 Chapter 8 Parameters ASDA-M Y： 0－CAPTURE is not working 1－AUX ENC (linear scale) is set as the source 2－PULSE Cmd 3－Main ENC (main encoder) When the source of CMP is CAP axis, the source Y of CAP cannot be changed. Z：0－NO，1－NC。...
Page 394 ASDA-M Chapter 8 Parameters bit 1: If this bit is 1, when capturing the first data, the current position of CAP axis will be set to the value of P5-76. bit 2: If this bit is 1, when capturing the first data, CMP will be activated.
Page 395 Chapter 8 Parameters ASDA-M Settings： The 2 Delay Time of PR mode Delay Time After Position Completed Address: 0554H P5-42 DLY2 (Number #2) 0555H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default：...
Page 396 ASDA-M Chapter 8 Parameters Delay Time After Position Completed Address: 0558H P5-44 DLY4 (Number #4) 0559H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 500 Control Mode： Unit： ms Range： 0 ~ 32767 Data Size：...
Page 397 Chapter 8 Parameters ASDA-M Control Mode： Unit： ms Range： 0 ~ 32767 Data Size： 16bit Format： DEC Settings： The 7 Delay Time of PR mode Delay Time After Position Completed Address: 055EH P5-47 DLY7 (Number #7) 055FH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 398 ASDA-M Chapter 8 Parameters Settings： The 9 Delay Time of PR mode Delay Time After Position Completed Address: 0562H P5-49 DLY9 (Number #9) 0563H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default：...
Page 399 Chapter 8 Parameters ASDA-M Default： 3500 Control Mode： Unit： ms Range： 0 ~ 32767 Data Size： 16bit Format： DEC Settings： The 12 Delay Time of PR mode Delay Time After Position Completed Address: 0568H P5-52 DLY12 (Number #12) 0569H Parameter Related Section: Parameter for individual axis Section 7.10...
Page 400 ASDA-M Chapter 8 Parameters Format： DEC Settings： The 14 Delay time of PR mode Delay Time After Position Completed Address: 056CH P5-54 DLY14 (Number #14) 056DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface：...
Page 401 Chapter 8 Parameters ASDA-M COMPARE - Start Address of Data Address: 0570H P5-56 CMST Array 0571H Parameter Related Section: Parameter for individual axis Section 7.11.2 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ (The value of P5-10 minus 1) Data Size：...
Page 402 ASDA-M Chapter 8 Parameters 1) It is write-protected when the source is Capture axis. NOTE 2) When the source is the main encoder, P5-57 is also write-protected. The pulse revolution is determined by parameter P1-46. When P5-59.Y is set to the main encoder, this parameter is set to the motor feedback position (monitor variable 00h).
Page 403 Chapter 8 Parameters ASDA-M Unit： - Range： 00010000h ~0x 0FFF313F Data Size： 32bit Format： HEX Settings： X: See the following table Y: 0－When selecting CAPTURE AXES, the source of CAP cannot be changed. 1－AUX ENC (linear scale) is set as the source 2－PULSE Cmd 3－Main ENC (main encoder) Z: 0－NO, 1－NC outputs the polarity...
Page 404 ASDA-M Chapter 8 Parameters bit 0: When the value of P5-58 is more than 0, set bit to 1 will activate CMP. When comparing one data, the value of P5-58 will minus 1. When P5-58 is set to 0, the comparing is completed and returns to 0.
Page 405 Chapter 8 Parameters ASDA-M Address: 0578H P5-60 POV0 Target Speed Setting #0 0579H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 20.0 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 406 ASDA-M Chapter 8 Parameters Address: 057CH P5-62 POV2 Target Speed Setting #2 057DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 100.0 1000 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 407 Chapter 8 Parameters ASDA-M Address: 0582H P5-64 POV5 Target Speed Setting #4 0583H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 300.0 3000 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 408 ASDA-M Chapter 8 Parameters Address: 0584H P5-66 POV6 Target Speed Setting #6 0585H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 600.0 6000 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 409 Chapter 8 Parameters ASDA-M Address: 0588H P5-68 POV8 Target Speed Setting #8 0589H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 1000.0 10000 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 410 ASDA-M Chapter 8 Parameters Address: 058CH P5-70 POV10 Target Speed Setting #10 058DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Defalt： 1500.0 15000 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 411 Chapter 8 Parameters ASDA-M Address: 0590H P5-72 POV12 Taget Speed Setting #12 0591H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 2000.0 20000 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 412 ASDA-M Chapter 8 Parameters Address: 0594H P5-74 POV14 Target Speed Setting #14 0595H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 2500.0 25000 Control Mode： Unit： 1 r/min 0.1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size：...
Page 413 Chapter 8 Parameters ASDA-M Address: 0598H CPRS CAPTURE - First Position Reset Data P5-76★ 0599H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -1073741824 ~ +1073741823 Data Size：...
Page 414 ASDA-M Chapter 8 Parameters The Interval Pulse Number between Address: 059CH P5-78 CSDS Each Synchronous Capture Axis 059DH Related Section: - Parameter Parameter for individual axis Attribute： Operational Panel / Software Communication Interface： Default： 100 Control Mode： Unit： Pulse Range： 10 ~ +100000000 Data Size：...
Page 415 Chapter 8 Parameters ASDA-M Settings： When synchronous capture axis is operating, the synchronous error should be 0. This parameter shows this error value. The followings are its concept: ＝ Synchronous Error Output value of synchronous axis－ Setting value of synchronous axis ＝...
Page 416 ASDA-M Chapter 8 Parameters Settings： This parameter limits the percentage (%) of synchronous adjustment. Correction rate pulse number output by synchronous axis /pulse number input by synchronous axis 100 80 % 80 % The bigger correction rate, the faster the synchronous error becomes 0. However, the speed changing will be more severe. The smaller correction rate, the slower the synchronous error becomes 0.
Page 417 Chapter 8 Parameters ASDA-M Address: 05A4H P5-82 ECMN E-CAM: Area Number N (at least >=5) 05A5H Parameter Related Section: Parameter for individual axis Section 7.11 Attribute： Operational Panel / Software Communication Interface： Default： 5 Control Mode： Unit： - Range： 5 ~ 720, must < = (P5-10－P5-81) And P5-82 x P5-84 ＜＝...
Page 418 ASDA-M Chapter 8 Parameters Address: 05A8H P5-84 ECMP E-CAM: Master Gear Ratio Setting P 05A9H Parameter Related Section: Parameter for individual axis Section 7.11 Attribute： Operational Panel / Software Communication Interface： Default： 3600 Control Mode： Unit： - Range： 10 ~ 1073741823, and P5-82 x P5-83 ＜＝...
Page 419 Chapter 8 Parameters ASDA-M Address: 05ACH P5-86■ ECAX E-CAM: Master Axis Position 05ADH Parameter Related Section: Parameter for individual axis Section 7.11 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 420 ASDA-M Chapter 8 Parameters If the symbol of this parameter is + , it means the received forward pulse is regarded as the lead pulse If the symbol of this parameter is - , it means the received reverse pulse is regarded as the lead pulse Address: 05B0H P5-88■...
Page 421 Chapter 8 Parameters ASDA-M  U: Disengaging Condition (2, 4 and 6 cannot be selected at the same time) Disengaged Condition Action after disengaged Never disengaged － In STOP status DI：CAM OFF Master axis receives the pulse number which is set by P5-89 and stops immediately.
Page 422 ASDA-M Chapter 8 Parameters Settings： (Please refer to the definition of P5-88 U setting value 2) Address: 05B4H E-CAM: AREA No.＋The Point of DO P5-90 CMAP 05B5H Parameter Related Section: Parameter for individual axis Section 7.11 Attribute： Operational Panel / Software Communication Interface：...
Page 423 Chapter 8 Parameters ASDA-M E-CAM: Pre-engaged Time of Each Address: 05B8H P5-92 PLED Cycle 05B9H Parameter Related Section: Parameter for individual axis Section 7.11 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -100000000 ~ +100000000 Data Size：...
Page 424 ASDA-M Chapter 8 Parameters Data Size： 32bit Format： DEC Settings： Before issuing the macro command, the relevant parameters # 4 must be set in advance. The function of the parameter is determined by the macro command. Not every macro command has its relevant parameters.
Page 425 Chapter 8 Parameters ASDA-M Data Size： 32bit Format： DEC Settings： Before issuing the macro command, the relevant parameters # 2 must be set in advance. The function of the parameter is determined by the macro command. Not every macro command has its relevant parameters.
Page 426 ASDA-M Chapter 8 Parameters Data Size： 16 bit Format： HEX Settings： Write-in: It is used to issue the macro command (0CBAh) Read: It is used to examine the execution result of macro command (If success, the result will be sent back to 1CBAh).
Page 427 Chapter 8 Parameters ASDA-M Command code 0004h Motion parameter protection: unlock the protection Macro parameters P5-96= enter the password (1~16777215) This function can be executed when activating the function of parameter protection. If the protection function is unlocked, repeatly execute this function will sent back the failure code.
Page 428 ASDA-M Chapter 8 Parameters Data Size： 16bit Format： HEX Settings： Four items: UZYX When EVx is set to ON, the PR# which will be executed X=0: When EV1 is ON, PR will not be triggered. X=1~D: When EV1 is ON, execute PR # 51~63. Y=0: When EV2 is ON, PR will not be triggered.
Page 429: P6-Xx Pr Parameters
Chapter 8 Parameters ASDA-M P6-xx PR Parameters (Please refer to Chapter 7 for detailed setting) Address: 0600H P6-00 ODEF Homing Definition 0601H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode：...
Page 430 ASDA-M Chapter 8 Parameters  Apart from the above mentioned definition, the related setting of homing also includes: 1. P5-04 Homing mode 2. P5-05~P5-06 Speed setting of searching the origin 3. P6-01: ORG_DEF is the location of the origin. It may not be 0.
Page 431 Chapter 8 Parameters ASDA-M Address: 0604H P6-02 PDEF1 PATH#1 Definition 0605H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 432 ASDA-M Chapter 8 Parameters  TYPE: 1 ~ 4 and E ~ F accept DO.STP stop and software limit.  INS: When executing this PR, it interrupts the previous one.  OVLP: Allow the overlap of the next path. The overlap is not allowed in speed mode.
Page 433 Chapter 8 Parameters ASDA-M Address: 0608H P6-04 PDEF2 PATH#2 Definition 0609H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 434 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format： HEX Settings： Please refer to the description of P6-02 Address: 060EH P6-07 PDAT3 PATH#3 Data 060FH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 435 Chapter 8 Parameters ASDA-M Settings： Please refer to the description of P6-02 Address: 0612H P6-09 PDAT4 PATH#4 Data 0613H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range：...
Page 436 ASDA-M Chapter 8 Parameters Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format： DEC Settings： Please refer to the description of P6-03 Address: 0618H P6-12 PDEF6 PATH#6 Definition 0619H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 437 Chapter 8 Parameters ASDA-M Address: 061AH P6-13 PDAT6 PATH#6 Data 061BH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 438 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format： DEC Settings： Please refer to the description of P6-03 Address: 0620H P6-16 PDEF8 PATH#8 Definition 0621H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 439 Chapter 8 Parameters ASDA-M Address: 0622H P6-17 PDAT8 PATH#8 Data 0623H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 440 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format： DEC Settings： Please refer to the description of P6-03 Address: 0628H P6-20 PDEF10 PATH#10 Definition 0629H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 441 Chapter 8 Parameters ASDA-M Settings： Please refer to the description of P6-03 Address: 062CH P6-22 PDEF11 PATH#11 Definition 062DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range：...
Page 442 ASDA-M Chapter 8 Parameters Address: 0630H P6-24 PDEF12 PATH#12 Definition 0631H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 443 Chapter 8 Parameters ASDA-M Address: 0634H P6-26 PDEF13 PATH#13 Definition 0635H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 444 ASDA-M Chapter 8 Parameters Address: 0638H P6-28 PDEF14 PATH#14 Definition 0639H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 445 Chapter 8 Parameters ASDA-M Address: 063CH P6-30 PDEF15 PATH#15 Definition 063DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 446 ASDA-M Chapter 8 Parameters Address: 0640H P6-32 PDEF16 PATH#16 Definition 0641H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 447 Chapter 8 Parameters ASDA-M Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format： HEX Settings： Please refer to the description of P6-02 Address: 0646H P6-35 PDAT17 PATH#17 Data 0647H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 448 ASDA-M Chapter 8 Parameters Settings： Please refer to the description of P6-02 Address: 064AH P6-37 PDAT18 PATH#18 Data 064BH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range：...
Page 449 Chapter 8 Parameters ASDA-M Address: 064EH P6-39 PDAT19 PATH#19 Data 064FH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 450 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format： DEC Settings： Please refer to the description of P6-03 Address: 0654H P6-42 PDEF21 PATH#21 Definition 0655H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 451 Chapter 8 Parameters ASDA-M Settings： Please refer to the description of P6-03 Address: 0658H P6-44 PDEF22 PATH#22 Definition 0659H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range：...
Page 452 ASDA-M Chapter 8 Parameters Address: 065CH P6-46 PDEF23 PATH#23 Definition 065DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 453 Chapter 8 Parameters ASDA-M Address: 0660H P6-48 PDEF24 PATH#24 Definition 0661H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 454 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format： HEX Settings： Please refer to the description of P6-02 Address: 0666H P6-51 PDAT25 PATH#25 Data 0667H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 455 Chapter 8 Parameters ASDA-M Address: 0668H P6-52 PDEF26 PATH#26 Definition 0669H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 456 ASDA-M Chapter 8 Parameters Address: 066CH P6-54 PDEF27 PATH#27 Definition 066DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 457 Chapter 8 Parameters ASDA-M Address: 0670H P6-56 PDEF28 PATH#28 Definition 0671H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 458 ASDA-M Chapter 8 Parameters Address: 0674H P6-58 PDEF29 PATH#29 Definition 0675H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 459 Chapter 8 Parameters ASDA-M Address: 0678H P6-60 PDEF30 PATH#30 Definition 0679H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 460 ASDA-M Chapter 8 Parameters Address: 067CH P6-62 PDEF31 PATH#31 Definition 067DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 461 Chapter 8 Parameters ASDA-M Address: 0680H P6-64 PDEF32 PATH#32 Definition 0681H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 462 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format： HEX Settings： Please refer to the description of P6-02 Address: 0686H P6-67 PDAT33 PATH#33 Data 0687H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 463 Chapter 8 Parameters ASDA-M Settings： Please refer to the description of P6-02 Address: 068AH P6-69 PDAT34 PATH#34 Data 068BH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range：...
Page 464 ASDA-M Chapter 8 Parameters Address: 068EH P6-71 PDAT35 PATH#35 Data 068FH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 465 Chapter 8 Parameters ASDA-M Address: 0692H P6-73 PDAT36 PATH#36 Data 0693H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 466 ASDA-M Chapter 8 Parameters Address: 0696H P6-75 PDAT37 PATH#37 Data 0697H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 467 Chapter 8 Parameters ASDA-M Address: 069AH P6-77 PDAT38 PATH#38 Data 069BH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 468 ASDA-M Chapter 8 Parameters Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format： DEC Settings： Please refer to the description of P6-03 Address: 06A0H P6-80 PDEF40 PATH#40 Definition 06A1H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute：...
Page 469 Chapter 8 Parameters ASDA-M Address: 06A2H P6-81 PDAT40 PATH#40 Data 06A3H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 470 ASDA-M Chapter 8 Parameters Address: 06A6H P6-83 PDAT41 PATH#41 Data 06A7H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 471 Chapter 8 Parameters ASDA-M Address: 06AAH P6-85 PDAT42 PATH#42 Data 06ABH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 472 ASDA-M Chapter 8 Parameters Address: 06AEH P6-87 PDAT43 PATH#43 Data 06AFH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 473 Chapter 8 Parameters ASDA-M Address: 06B2H P6-89 PDAT44 PATH#44 Data 06B3H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 474 ASDA-M Chapter 8 Parameters Address: 06B6H P6-91 PDAT45 PATH#45 Data 06B7H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 475 Chapter 8 Parameters ASDA-M Address: 06BAH P6-93 PDAT46 PATH#46 Data 06BBH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 476 ASDA-M Chapter 8 Parameters Address: 06BEH P6-95 PDAT47 PATH#47 Data 06BFH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 477 Chapter 8 Parameters ASDA-M Address: 06C2H P6-97 PDAT48 PATH#48 Data 06C3H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 478 ASDA-M Chapter 8 Parameters Address: 06C6H P6-99 PDAT49 PATH#49 Data 06C7H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32bit Format：...
Page 479: P7-Xx Pr Parameters
Chapter 8 Parameters ASDA-M P7-xx PR Parameters (Please refer to Chapter 7 for detailed setting) Address: 0700H P7-00 PDEF50 PATH#50 Definition 0701H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode：...
Page 480 ASDA-M Chapter 8 Parameters Address: 0704H P7-02 PDEF51 PATH#51 Definition 0705H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 481 Chapter 8 Parameters ASDA-M Address: 0708H P7-04 PDEF52 PATH#52 Definition 0709H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 482 ASDA-M Chapter 8 Parameters Address: 070CH P7-06 PDEF53 PATH#53 Definition 070DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 483 Chapter 8 Parameters ASDA-M Address: 0710H P7-08 PDEF54 PATH#54 Definition 0711H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 484 ASDA-M Chapter 8 Parameters Address: 0714H P7-10 PDEF55 PATH#55 Definition 0715H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 485 Chapter 8 Parameters ASDA-M Address: 0718H P7-12 PDEF56 PATH#56 Definition 0719H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 486 ASDA-M Chapter 8 Parameters Address: 071CH P7-14 PDEF57 PATH#57 Definition 071DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 487 Chapter 8 Parameters ASDA-M Address: 0720H P7-16 PDEF58 PATH#58 Definition 0721H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 488 ASDA-M Chapter 8 Parameters Address: 0724H P7-18 PDEF59 PATH#59 Definition 0725H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 489 Chapter 8 Parameters ASDA-M Address: 0728H P7-20 PDEF60 PATH#60 Definition 0729H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 490 ASDA-M Chapter 8 Parameters Address: 072CH P7-22 PDEF61 PATH#61 Definition 072DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 491 Chapter 8 Parameters ASDA-M Address: 0730H P7-24 PDEF62 PATH#62 Definition 0731H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 492 ASDA-M Chapter 8 Parameters Address: 0734H P7-26 PDEF63 PATH#63 Definition 0735H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 493 Chapter 8 Parameters ASDA-M Address: 0738H P7-28 PDEF64 PATH#64 Definition 0739H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 494 ASDA-M Chapter 8 Parameters Address: 073CH P7-30 PDEF65 PATH#65 Definition 073DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 495 Chapter 8 Parameters ASDA-M Address: 0740H P7-32 PDEF66 PATH#66 Definition 0741H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 496 ASDA-M Chapter 8 Parameters Address: 0744H P7-34 PDEF67 PATH#67 Definition 0745H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 497 Chapter 8 Parameters ASDA-M Address: 0748H P7-36 PDEF68 PATH#68 Definition 0749H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 498 ASDA-M Chapter 8 Parameters Address: 074CH P7-38 PDEF69 PATH#69 Definition 074DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 499 Chapter 8 Parameters ASDA-M Address: 0750H P7-40 PDEF70 PATH#70 Definition 0751H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 500 ASDA-M Chapter 8 Parameters Address: 0754H P7-42 PDEF71 PATH#71 Definition 0755H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 501 Chapter 8 Parameters ASDA-M Address: 0758H P7-44 PDEF72 PATH#72 Definition 0759H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 502 ASDA-M Chapter 8 Parameters Address: 075CH P7-46 PDEF73 PATH#73 Definition 075DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 503 Chapter 8 Parameters ASDA-M Address: 0760H P7-48 PDEF74 PATH#74 Definition 0761H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 504 ASDA-M Chapter 8 Parameters Address: 0764H P7-50 PDEF75 PATH#75 Definition 0765H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 505 Chapter 8 Parameters ASDA-M Address: 0768H P7-52 PDEF76 PATH#76 Definition 0769H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 506 ASDA-M Chapter 8 Parameters Address: 076CH P7-54 PDEF77 PATH#77 Definition 076DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 507 Chapter 8 Parameters ASDA-M Address: 0770H P7-56 PDEF78 PATH#78 Definition 0771H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 508 ASDA-M Chapter 8 Parameters Address: 0774H P7-58 PDEF79 PATH#79 Definition 0775H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 509 Chapter 8 Parameters ASDA-M Address: 0778H P7-60 PDEF80 PATH#80 Definition 0779H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 510 ASDA-M Chapter 8 Parameters Address: 077CH P7-62 PDEF81 PATH#81 Definition 077DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 511 Chapter 8 Parameters ASDA-M Address: 0780H P7-64 PDEF82 PATH#82 Definition 0781H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 512 ASDA-M Chapter 8 Parameters Address: 0784H P7-66 PDEF83 PATH#83 Definition 0785H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 513 Chapter 8 Parameters ASDA-M Address: 0788H P7-68 PDEF84 PATH#84 Definition 0789H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 514 ASDA-M Chapter 8 Parameters Address: 078CH P7-70 PDEF85 PATH#85 Definition 078DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 515 Chapter 8 Parameters ASDA-M Address: 0790H P7-72 PDEF86 PATH#86 Definition 0791H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 516 ASDA-M Chapter 8 Parameters Address: 0794H P7-74 PDEF87 PATH#87 Definition 0795H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 517 Chapter 8 Parameters ASDA-M Address: 0798H P7-76 PDEF88 PATH#88 Definition 0799H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 518 ASDA-M Chapter 8 Parameters Address: 079CH P7-78 PDEF89 PATH#89 Definition 079DH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 519 Chapter 8 Parameters ASDA-M Address: 07A0H P7-80 PDEF90 PATH#90 Definition 07A1H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 520 ASDA-M Chapter 8 Parameters Address: 07A4H P7-82 PDEF91 PATH#91 Definition 07A5H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 521 Chapter 8 Parameters ASDA-M Address: 07A8H P7-84 PDEF92 PATH#92 Definition 07A9H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 522 ASDA-M Chapter 8 Parameters Address: 07ACH P7-86 PDEF93 PATH#93 Definition 07ADH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 523 Chapter 8 Parameters ASDA-M Address: 07B0H P7-88 PDEF94 PATH#94 Definition 07B1H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 524 ASDA-M Chapter 8 Parameters Address: 07B4H P7-90 PDEF95 PATH#95 Definition 07B5H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 525 Chapter 8 Parameters ASDA-M Address: 07B8H P7-92 PDEF96 PATH#96 Definition 07B9H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 526 ASDA-M Chapter 8 Parameters Address: 07BCH P7-94 PDEF97 PATH#97 Definition 07BDH Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 527 Chapter 8 Parameters ASDA-M Address: 07C0H P7-96 PDEF98 PATH#98 Definition 07C1H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 528 ASDA-M Chapter 8 Parameters Address: 07C4H P7-98 PDEF99 PATH#99 Definition 07C5H Parameter Related Section: Parameter for individual axis Section 7.10 Attribute： Operational Panel / Software Communication Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32bit Format：...
Page 529: Table 8.1 Function Description Of Digital Input (Di)
Chapter 8 Parameters ASDA-M Table 8.1 Function Description of Digital Input (DI) Setting Value: 0x01 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode When this DI is ON, servo is activated (Servo On). Level triggered Setting Value: 0x02 Trigger Control DI Name...
Page 530 ASDA-M Chapter 8 Parameters Setting Value: 0x06 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode CMDINV In PT and speed mode, when the DI is ON, the input Level S, T triggered command will be in reverse direction. Setting Value: 0x07 Trigger Control...
Page 531 Chapter 8 Parameters ASDA-M Setting Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C Trigger Control Function Description of Digital Input (DI) Name Method Mode POS0 PR Command Selection (1~64) Level POS1 triggered Position Corresponding POS5 POS4 POS3 POS2 POS1 POS0 CTRG POS2 command parameter...
Page 532 ASDA-M Chapter 8 Parameters Setting Value: 0x16, 0x17 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode TCM0 Internal Torque Command Selection (1~4) Level TCM1 triggered DI signal of Torque command Command Source Content Range number TCM1 TCM0 Voltage deviation Analog...
Page 533 Chapter 8 Parameters ASDA-M Setting Value: 0x22 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Reverse inhibit limit (contact b) Level triggered Setting Value: 0x23 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Forward inhibit limit (contact b) Level...
Page 534 ASDA-M Chapter 8 Parameters Setting Value: 0x38 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode JOGD When this DI is on, the motor will JOG in reverse direction. Level triggered Setting Value: 0x39 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode...
Page 535 Chapter 8 Parameters ASDA-M Setting Value: 0x45 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode INHP Level In position mode, when this DI is ON, the external pulse input triggered command is not working. (Note: The function has to be set to DI6 so as to ignore the pulse command) Setting Value: 0x46 Trigger...
Page 536: Table 8.2 Function Description Of Digital Output (Do)
ASDA-M Chapter 8 Parameters Table 8.2 Function Description of Digital Output (DO) Setting Value: 0x01 Trigger Control Function Description of Digital Output (DO) Name Method Mode SRDY When the controlled and main circuit power is applied to the Level triggered drive, this DO is ON if there is no alarm occurs.
Page 537 Chapter 8 Parameters ASDA-M Setting Value: 0x08 Trigger Control Function Description of Digital Output (DO) Name Method Mode BRKR When the signal of mechanical brake control is output, adjust Level triggered the setting of parameter P1-42 and P1-43. BRKR MBT1(P1-42) MBT2(P1-43) ZSPD Motor...
Page 538 ASDA-M Chapter 8 Parameters Setting Value: 0x10 Trigger Control Function Description of Digital Output (DO) Name Method Mode Level When reaching the overload setting, this DO is ON. triggered = Overload allowable time of the servo x Setting value of P1-56, when the overload accumulative time exceeds it will output pre-overload warning (OLW).
Page 539 Chapter 8 Parameters ASDA-M Setting Value: 0x15 Trigger Control Function Description of Digital Output (DO) Name Method Mode Cmd_OK Complete PR command and enter into PR mode, this DO is Level triggered When PR command is executing, this DO is OFF. After completing the command, this DO is ON.
Page 540 ASDA-M Chapter 8 Parameters Setting Value: 0x31 Trigger Control Function Description of Digital Output (DO) Name Method Mode SDO_1 Ouput the status of bit 01 of P4-06 Level triggered Setting Value: 0x32 Trigger Control Function Description of Digital Output (DO) Name Method Mode...
Page 541 Chapter 8 Parameters ASDA-M Setting Value: 0x3A Trigger Control Function Description of Digital Output (DO) Name Method Mode SDO_A Ouput the status of bit 10 of P4-06 Level triggered Setting Value: 0x3B Trigger Control Function Description of Digital Output (DO) Name Method Mode...
Page 542: Chapter 9 Communication
Chapter 9 Communication RS-485 / RS-232 Communication Hardware Interface This servo drive supports the serial communication of RS-485 and RS-232. Communication function enables the servo drive to access and change parameters inside the system. However, RS-485 and RS-232 cannot be used at the same time. Parameter P3-05 can use RS-485 and RS-232 as the communication protocol.
Page 543 ASDA-M Chapter 9 Communication RS-485  Configuration 100 meters of communication cable is suitable for less NOTE interference environment. If the transmission speed is over 38400bps, the length of communication cable should not longer than 15 meters so as to ensure the accuracy of transmission. Numbers shown in the above diagram represent the pin number of each connector.
Page 544 ASDA-M Chapter 9 Communication Using RS-485 can connect up to 32 servo drives at the same time. REPEATER can be used to connect more servo drives. 127 is the maximum. Please refer to Chapter 3.5 for CN3 Pin Definition. Revision December, 2014...
Page 545: Rs-232 Communication Parameters Setting
ASDA-M Chapter 9 Communication RS-485 / RS-232 Communication Parameters Setting The following four parameters, P3-00 (Address Setting), P3-01 (Transmission Speed), P3-02 (Communication Protocol) and P3-05 (Communication Mechanism), are essential and must be set for the communication of the servo drive. The rest, such as P3-03 (Communication Error Disposal), P3-04 (Communication Timeout), P3-06 (Control Switch of Digital Input), P3-07 (Communication Response Delay Time) and P3-08 (Monitor Mode) is optional.
Page 546 ASDA-M Chapter 9 Communication Address: 0302H P3-01 Transmission Speed 0303H Parameter Related Section: Parameter for three axes Section 9.2 Attribute： Operational Panel / Software Communication Interface： Default： 0x0203 Control Mode： Unit： bps Range： 0x0000 ~ 0x0405 Data Size： 16bit Format： HEX Settings：...
Page 547 ASDA-M Chapter 9 Communication Address: 0304H P3-02 Communication Protocol 0305H Parameter Related Section: Parameter for three axes Section 9.2 Attribute： Operational Panel / Software Communication Interface： Default： 6 Control Mode： Unit： - Range： 0 ~ 0x8 Data Size： 16bit Format： HEX Settings：...
Page 548 ASDA-M Chapter 9 Communication Settings： The definition of setting value is as the followings: 0: Warning and keeps running 1: Warning and decelerates to stop (The deceleration time is set to parameter P5-03.B) Address: 030AH P3-05 Communication Mechanism 030BH Parameter Related Section: Parameter for three axes Section 9.2...
Page 549: Modbus Communication Protocol
ASDA-M Chapter 9 Communication MODBUS Communication Protocol There are two modes of MODBUS networks communication, ASCII (American Standard Code for Information Interchange) mode and RTU (Remote Terminal Unit) mode. Users could set the needed communication protocol via parameter P3-02. Apart from these two communication modes, this servo drive also supports function of 03H to access more than one data, 06H to write one character and 10H to write multiple characters.
Page 550 ASDA-M Chapter 9 Communication Start Stop parity 7-data bits 10-bits character frame 11 bits character frame (for 8-bits character) Start Stop Stop 8-data bits 11-bits character frame Start Even Stop parity 8-data bits 11-bits character frame Start Stop parity 8-data bits 11-bits character frame Revision December, 2014...
Page 551 ASDA-M Chapter 9 Communication  Communication Data Structure The Data Frame in two different communication modes: ASCII mode: Start Start character ’：’ (3AH) Slave Address Communication address：1-byte includes 2 ASCII codes Function Function code：1-byte includes 2 ASCII codes Data (n-1) Data content：n-word =2n-byte includes 4n of ASCII code, …….
Page 552 ASDA-M Chapter 9 Communication Example１: function code 03H, access multiple words: The Master issues the command to the 1 Slave and reads the continuous 2 words starting from the start address 0200H. In response message from the Slave, the content of starting address 0200H is 00B1H and the content of the 2 data address 0201H is 1F40H.
Page 553 ASDA-M Chapter 9 Communication RTU mode: Command message from the Master: Response message from the Slave: Slave Address Slave Address Function Function 02H (High word) Starting data Number of data address (In Byte) 00H (High word) The content of 00H (High word) Number of data starting address (In Word)
Page 554 ASDA-M Chapter 9 Communication RTU mode: Command message from the Master: Response message from the Slave: Address Address Slave Function Slave Function 02H (High word) 02H (High word) Starting data Starting data address address 00H (Low word) 00H (Low word) 00H (High word) 00H (High word) Data content...
Page 555 ASDA-M Chapter 9 Communication ‘B’ ‘8’ ‘0’ ‘0’ The 2 data content ‘0’ ‘0’ ‘1’ LRC Check ‘3’ End 1 (0DH)(CR) End 0 (0AH)(LF) RTU mode: Command message from the Master: Response message from the Slave: Slave Address Slave Address Function Function 01H(High word)
Page 556 ASDA-M Chapter 9 Communication  LRC and CRC transmission error checking The error checking in ASCII communication mode is LRC (Longitudinal Redundancy Check); CRC (Cyclical Redundancy Check) is for RTU communication mode. The algorithm of both is as the following. LRC (ASCII mode): Start ‘:’...
Page 557 ASDA-M Chapter 9 Communication Description: After calculating CRC value, fill in the low word of CRC first in command message, and then fill in the high word of CRC. For example, if the result of CRC algorithm is 3794H, fill in 94H in low word and then 37H in high word. 01H (High word) Starting data address 01H (Low word)
Page 558 ASDA-M Chapter 9 Communication Example of CRC program: Produce CRC in C language. This function needs two parameters: unsigned char* data; unsigned char length This function returns CRC of unsigned integer. unsigned int crc_chk(unsigned char* data, unsigned char length) { int j;...
Page 559 ASDA-M Chapter 9 Communication <8,O,1> = 0BH for( I = 0; I<=16; I++ ) { while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */ outportb(PORT+THR,tdat[I]); /* send data to THR */ I = 0; while( !kbhit() ) { if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */ rdat[I++] = inportb(PORT+RDR);...
Page 560: Write-In And Read-Out In Communication Parameters
ASDA-M Chapter 9 Communication Write-in and Read-out in Communication Parameters Please refer to Chapter 8, Parameters for all parameter details. And the descriptions of parameters which can be wrote or read through communication are as follows. Parameters are divided into 8 groups, Group 0: Monitor Parameters, Group 1: Basic Parameters, Group 2: Extension Parameters, Group 3: Communication Parameters, Group 4: Diagnosis Parameters, Group 5: Motion Setting, Group 6: PR Definition and Group 7: PR Definition.
Page 561 ASDA-M Chapter 9 Communication Read parameters through communication: Parameters can be read through communication include: Group 0 (P0-00~P0-46) Group 4 (P4-00~P4-23) Group 1 (P1-00~P1-76) Group 5 (P5-00~P5-99) Group 2 (P2-00~P2-67) Group 6 (P6-00~P6-99) Group 3 (P3-00~P3-11) Group 7 (P7-00~P7-27) 9-20 Revision December, 2014...
Page 562: Chapter 10 Troubleshooting
Chapter 10 Troubleshooting 10.1 Alarm of Servo Drive Corresponding Servo Display Alarm Name Alarm Description Status Overcurrent The current of the main circuit is Servo times more than AL001 instantaneous current motor. Overvoltage Servo The voltage of the main circuit is AL002 higher than the standard voltage.
Page 563 Chapter 10 Troubleshooting ASDA-M Corresponding Servo Display Alarm Name Alarm Description Status Servo Abnormal EEPROM It is in error when DSP AL017 accesses EEPROM. Servo Abnormal signal output The encoder output exceeds AL018 the rated output frequency. Serial Communication RS-232/485 communication is Servo AL019 Error...
Page 564 ASDA-M Chapter 10 Troubleshooting Corresponding Servo Display Alarm Description Alarm Name Status Excessive deviation of full Excessive Deviation Servo AL040 closed-loop position control of Full Closed-loop Position Control The communication of linear Communication of Servo AL041 scale is breakdown. Linear Scale is Breakdown AL044 Warning of servo drive...
Page 565: Alarm Of Canopen Communication
Chapter 10 Troubleshooting ASDA-M firstly set P2-08 to 30. Then set P2-08 to 28. And re-power on the drive. 10.2 Alarm of CANopen Communication Corresponding Corrective Servo Display Alarm Name Alarm Description Actions Status CANopen SDO Rx Buffer overflow NMT：Reset (receives more than two Servo node or...
Page 566 ASDA-M Chapter 10 Troubleshooting CANopen The specified object in PDO object is Same as Servo the message is AL125 above read-only and write-protected. write-protected CANopen The specified object in PDO object is Same as Servo the message does not AL126 above not allowed in support PDO...
Page 567 Chapter 10 Troubleshooting ASDA-M CRC of It indicates that the data EEPROM stored in ROM has been calculation damaged. All objects of Same as Servo AL131 error occurs CAN will return to the above when using default setting CANopen automatically. PDO object Enter the When entering...
Page 568: Alarm Of Motion Control
ASDA-M Chapter 10 Troubleshooting 10.3 Alarm of Motion Control Corresponding Corrective Servo Display Alarm Name Alarm Description Actions Status An error occurs An error occurs when DI:ARST, when loading loading data via CANopen CANopen data EEPROM. 0x1011 Servo AL201 WARN Restore default parameter...
Page 569 Chapter 10 Troubleshooting ASDA-M Write Write parameters via parameters: PR procedure: it is Correct the parameter write-protected when Servo locked the servo is ON or the AL219 command WARN input data is unreasonable. parameter The setting of DI:ARST， monitoring item of The setting of CANopen PR#8 Sys_Var exceeds...
Page 570 ASDA-M Chapter 10 Troubleshooting Data Size error The data length in the occurs when message does not accessing match to the specified Same as Servo AL265 WARN CANopen object object. above Data range error The data value in the occurs when message is over the Same as Servo...
Page 571 Chapter 10 Troubleshooting ASDA-M Thus, it cannot be used. CRC of It indicates that the EEPROM data stored in ROM has calculation error been damaged. All Same as Servo AL275 WARN occurs when CANopen objects will above using CANopen return to the default object setting automatically.
Page 572 ASDA-M Chapter 10 Troubleshooting The synchronized synchronized signal, SYNC of Same as Servo AL302 signal of CANopen is sent too WARN above CANopen is fast. sent too fast The synchronized synchronized signal, SYNC of Same as Servo AL303 signal of CANopen has not been WARN above...
Page 573: Causes And Corrective Actions
IGBT is abnormal The temperature of the heat sink Send the drive back to the is abnormal distributors or contact with Delta. The control parameter Check if the setting value Setting back to the default setting is in error.
Page 574 If the regenerative resistor is alarm does not go off, please unconnected. send the drive back to the distributor or contact with Delta. Parameter P1-53 is not Check if parameter P1-53 of parameter P1-53 set to zero when the...
Page 575 Correct wiring Wrong wiring of the Check the wiring of U, V, W and motor and the encoder. the encoder. Send the drive back to the distributors or contact with Delta. The encoder of the motor is defective. AL007 : Overspeed...
Page 576 Reset the power supply The detection device is If the error still occurs after reset, damaged send the drive back to the distributors or contact with Delta. AL013 : Emergency Stop Causes Checking Method Corrective Actions...
Page 577 E0001 servo-on. Usually it is because the data in ROM is damaged or there is no data in ROM. Please send the drive back to the distributors or contact with Delta. 10-16 Revision December, 2014...
Page 578 ASDA-M Chapter 10 Troubleshooting AL018 : Abnormal Signal Output Causes Checking Method Corrective Actions The encoder is in error Check the fault records Conduct the corrective actions of cause (P4-00~P4-05). See if the alarm AL011, AL024, AL025, AL026 abnormal signal output exists with the encoder error (AL011, AL024, AL025, AL026) output...
Page 579 If the situation is not improving, field of the encoder is grounded. please send the drive back to the in error distributors or contact with Delta. 2. Check if the encoder cable (Signal U, V, W of the separates from the power encoder magnetic field...
Page 580 3. Please use shielding mesh. are used in the wiring of the situation encoder. improving, please send the drive back to the distributors or contact with Delta. AL026 : Unreliable internal data of the encoder Causes Checking Method Corrective Actions The encoder is in error.
Page 581 4. Please use shielding mesh. If the situation is not improving, please send the drive back to the distributors or contact with Delta. 10-20 Revision December, 2014...
Page 582 ASDA-M Chapter 10 Troubleshooting AL029 :：Gray code error Causes Checking Method Corrective Actions The internal address of Re-power on to operate the If the alarm occurs again, please the encoder is in error. motor and check if the alarm change the encoder. will occur again.
Page 583 Chapter 10 Troubleshooting ASDA-M AL044 : Warning of Servo Drive function overload Causes Checking Method Corrective Actions Warning of Servo Set P2-66 Bit 4 to 1 can disable Drive function the display of this alarm. overload AL060 : The absolute position is lost Causes Checking Method Corrective Actions...
Page 584 ASDA-M Chapter 10 Troubleshooting ：The multi-turn of absolute encoder overflows AL062 Causes Checking Method Corrective Actions multi-turn Check if the operation distance Conduct homing procedure absolute encoder exceeds the range,-32768 ~ again. Please refer exceeds the maximum +32767, the absolute encoder is description absolute range:...
Page 585 Chapter 10 Troubleshooting ASDA-M AL082 : Abnormal Gantry selection Causes Checking Method Corrective Actions When enabling gantry Check if the value of P2-58 which Check the setting of parameter function, not select any can operate the two axes of the P2-58 again.
Page 586 ASDA-M Chapter 10 Troubleshooting AL123 : Data Size error occurs when accessing CANopen PDO Causes Checking Method Corrective Actions The data length in the Check if the data length of Entry NMT: Reset node message does of PDO Mapping is modified 0x6040.Fault Reset match to the specified when...
Page 587 Chapter 10 Troubleshooting ASDA-M ：Error occurs when reading CANopen PDO object via EEPROM AL128: Causes Checking Method Corrective Actions An error occurs when When receiving NMT: Reset node loading default sending, check if the error occurs 0x6040.Fault Reset value because the specified object start-up.
Page 588 ASDA-M Chapter 10 Troubleshooting AL132 : Enter the incorrect password when using CANopen PDO object Causes Checking Method Corrective Actions When entering Check if the specified object NMT: Reset node parameters via CAN, enters the wrong password when 0x6040.Fault Reset parameters PDO is receiving or sending.
Page 589 Chapter 10 Troubleshooting ASDA-M AL201 : An error occurs when loading CANopen data Causes Checking Method Corrective Actions An error occurs when 1. If the alarm is cleared when DI:ARST，CANopen 0x1011 loading CANopen data re-servo on, it means the data Restore default parameter error occurs instantaneously when...
Page 590 ASDA-M Chapter 10 Troubleshooting AL213 ~ AL219: An error occurs when writing parameter via PR Causes Checking Method Corrective Actions AL213: parameter exceeds the PR commands TYPE 8 DI：Alm Reset or range Error occurs when AL215: the parameter is P0-01 = 0 writing parameters read-only AL217: Servo ON or invalid value...
Page 591 Chapter 10 Troubleshooting ASDA-M AL261: Index error occurs when accessing CANopen object Causes Checking Method Corrective Actions The specified Index in This alarm will not occur at the NMT: Reset node the message does not moment. does, please 0x6040.Fault Reset exist.
Page 592 ASDA-M Chapter 10 Troubleshooting AL26d : CANopen object is write-protected when Servo On Causes Checking Method Corrective Actions The specified object in This alarm will not occur at the NMT: Reset node message moment. does, please 0x6040.Fault Reset write-protected when contact the distributors.
Page 593 Chapter 10 Troubleshooting ASDA-M AL275 : CRC of EEPROM calculation error occurs when using CANopen object Causes Checking Method Corrective Actions It indicates that the This alarm will not occur at the NMT: Reset node data stored in ROM moment. does, please 0x6040.Fault Reset...
Page 594 ASDA-M Chapter 10 Troubleshooting AL285 : Reverse Software Limit Causes Checking Method Corrective Actions Reverse Software Limit Reverse Software Limit NMT: Reset node determined position 0x6040.Fault Reset command, actual feedback position. It is because the command will arrive first and then the feedback.
Page 595 Chapter 10 Troubleshooting ASDA-M AL302 : The synchronized signal of CANopen is sent too fast Causes Checking Method Corrective Actions 1. Check if synchronized cycle synchronized NMT: Reset node 0x1006 is the same as the signal of CANopen is 0x6040.Fault Reset setting of controller.
Page 596 This alarm can be cleared by P1-48.Y=0. ：System Failure AL555 Causes Checking Method Corrective Actions If AL555 occurs, please do not DSP processing error switch and send the drive back to the distributor or contact with Delta 10-35 Revision December, 2014...
Page 597: Corrective Actions After The Alarm Occurs
Chapter 10 Troubleshooting ASDA-M 10.5 Corrective Actions after the Alarm Occurs ：Overcurrent AL001 Turn DI.ARST on to clear the alarm. ：Overvoltage AL002 Turn D.ARST on to clear the alarm. The alarm can be cleared after the ：Undervoltage AL003 voltage returns to normal. ：The magnetic field of the motor is The alarm can be cleared after AL004...
Page 598 ASDA-M Chapter 10 Troubleshooting ：Serial Communication Time Out AL020 Turn DI.ARST on to clear the alarm. ：Main circuit power leak phase AL022 Turn DI.ARST on to clear the alarm. ：Early warning for overload AL023 Turn DI.ARST on to clear the alarm. The alarm can be cleared after ：Encoder initial magnetic field error AL024...
Page 599 Chapter 10 Troubleshooting ASDA-M ：CANopen PDO object is NMT: Reset node or 0x6040.Fault AL127 Reset write-protected when Servo On ：Error occurs when reading CANopen NMT: Reset node or 0x6040.Fault AL128 Reset PDO object via EEPROM ：Error occurs when writing CANopen NMT: Reset node or 0x6040.Fault AL129 Reset...
Page 600 ASDA-M Chapter 10 Troubleshooting ：Data range error occurs when NMT: Reset node or 0x6040.Fault AL267 Reset accessing CAN. ：CANopen object is read-only and NMT: Reset node or 0x6040.Fault AL269 Reset write-protected ：PDO is not allowed in CANopen NMT: Reset node or 0x6040.Fault AL26b Reset object...
Page 601 Chapter 10 Troubleshooting ASDA-M NMT: Reset node or 0x6040.Fault ：CANopen IP command is failed AL304 Reset NMT: Reset node or 0x6040.Fault ：SYNC Period is in error AL305 Reset ：Position Deviation Alarm AL380 DI.Alm Reset or P0-01= 0 ：DSP processing error AL555 10-40 Revision December, 2014...
Page 602: Specifications Of Servo Drive (Asda-M Series)
Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-M Series) 750W 1.5KW ASD-M Series Phase／Voltage Three phase or single phase 220 VAC Permissible voltage Single phase / Three phase: 200 ~ 230 VAC, -15%~10% Input Current (3PH) 18.6 (Arms) Input Current (1PH) 17.8...
Page 603 Chapter 11 Specifications ASDA-M 750W 1.5W ASD-M Series Voltage range 0 ~ ±10 V Input resistance 10 K Time constant 2.2 us Command source External analog command / Register Smoothing strategy Low-pass filter Speed limit Via parameter setting or analog input The monitor signal which can be set via parameters Analog monitor output (Output voltage range: ±8V)
Page 604 ASDA-M Chapter 11 Specifications IEC/EN 61800-5-1 UL 508C Approvals Note: *1 When it is in rated load, the speed ratio is: the minimum speed (smooth operation) /rated speed. *2 When the command is the rated speed, the velocity correction ratio is: (rotational speed with no load – rotational speed with full load) / rated speed.
Page 605: Specifications Of Servo Motor (Ecma Series)
Chapter 11 Specifications ASDA-M 11.2 Specifications of Servo Motor (ECMA Series) Low inertia series C△04 C△06 C△08 C△09 C△10 C104 ECMA 04□ S Rated power (kW) 0.05 0.75 0.75 Rated torque (N-m) 0.159 0.32 0.64 1.27 1.27 2.39 2.39 3.18 3.18 Max.
Page 606 ASDA-M Chapter 11 Specifications C△04 C△06 C△08 C△09 C△10 C104 ECMA 04□ S Operating temperature (˚C) 0℃ ~ 40℃ Storage temperature (˚C) -10℃ ~ 80℃ 20 ~ 90%RH (non-condensing) Operating humidity Storage humidity 20 ~ 90%RH (non-condensing) Vibration capacity 2.5G IP65 (use the waterproof connector and shaft seal installation (or oil seal) IP Rating model)
Page 607 Chapter 11 Specifications ASDA-M Medium／High inertia series (ECMA-E1) △ △ ECMA Rated power (kW) Rated torque (N-m) 2.39 4.77 7.16 2.86 5.73 8.59 Max. torque (N-m) 7.16 14.3 21.48 8.59 17.19 21.48 Rated speed (r/min) 2000 1000 Max. speed (r/min) 3000 2000 Rated current (A)
Page 608 ASDA-M Chapter 11 Specifications Vibration grade (μm) Operating temperature (˚C) 0℃ ~ 40℃ Storage temperature (˚C) -10℃ ~ 80℃ 20 ~ 90% RH (non-condensing) Operating humidity 20 ~ 90% RH (non-condensing) Storage humidity 2.5 G Vibration capacity IP65 (use the waterproof connector and IP Rating shaft seal installation (or oil seal) model) Approvals...
Page 609 Chapter 11 Specifications ASDA-M Medium-high/ High inertia series F△13 ECMA 0.85 Rated power (kW) 5.41 Rated torque (N-m) 13.8 Max. torque (N-m) 1500 Rated speed (r/min) Max. speed (r/min) 3000 Rated current (A) 19.4 Max. instantaneous current (A) Max. power per second (kW/s) 21.52 13.6 Rotor inertia (×...
Page 610 ASDA-M Chapter 11 Specifications F△13 ECMA Mechanical constant (ms) 2.65 (with brake) Brake holding torque 10.0 [Nt-m (min)] Brake power consumption 19.0 (at 20˚C) [W] Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (μm) 0 ℃~ 40℃ Operating temperature (˚C) Storage temperature (˚C) -10℃...
Page 611 Chapter 11 Specifications ASDA-M High inertia series C△06 C△08 ECMA 04□ H 07□ H Rated power (kW) 0.75 Rated torque (N-m) 1.27 2.39 3.82 7.16 Max. torque (N-m) 3000 3000 Rated speed (r/min) 5000 5000 Max. speed (r/min) Rated current (A) Max.
Page 612 ASDA-M Chapter 11 Specifications C△06 C△08 ECMA 04□ H 07□ H Storage temperature (˚C) -10℃ ~ 80℃ Operating humidity 20 ~ 90% RH (non-condensing) 20 ~ 90% RH (non-condensing) Storage humidity 2.5 G Vibration capacity IP65 (use the waterproof connector and IP Rating shaft seal installation (or oil seal) model) Approvals...
Page 613: Torque Features (T-N Curve)
Chapter 11 Specifications ASDA-M 11.3 Torque Features (T-N curve) Torque (N-m) Torque (N-m) Torque (N-m) Acceleration/ Acceleration/ Deceleration Deceleration Acceleration/ area area Deceleration area Continuous area Continuous area Continuous area Speed (r/min) Speed (r/min) Speed (r/min) 轉矩(N-m) 轉矩(N-m) Torque (N-m) Torque (N-m) Torque (N-m) 7.16...
Page 614: Overload Features
ASDA-M Chapter 11 Specifications 11.4 Overload Features The definition of overload protection The overload protection is to prevent the motor in overheat status. The cause of overload 1) When the motor operates over the rated torque, the operation time is too long 2) The inertia ratio is set too big and frequently accelerate / decelerate 3) Connection error between the power cable and encoder wiring 4) Servo gain setting error and cause resonance of the motor...
Page 615 Chapter 11 Specifications ASDA-M Medium and Medium-high inertia (ECMA E1, E2 Series) High inertia (ECMA G1 Series) 11-14 Revision December, 2014...
Page 616: Dimensions Of The Servo Drive
ASDA-M Chapter 11 Specifications 11.5 Dimensions of the Servo Drive ASD-M-0721 (750W) Weight 3.5 (7.7) Dimensions are in millimeters (inches); Weights are in kilograms NOTE (pounds). Dimensions and weights might be revised without prior notice. 11-15 Revision December, 2014...
Page 617 Chapter 11 Specifications ASDA-M ASD-M-1521 (1.5kW) Weight 4.5 (9.9) Dimensions are in millimeters (inches); Weights are in kilograms NOTE (pounds). Dimensions and weights might be revised without prior notice. 11-16 Revision December, 2014...
Page 618: Dimensions Of The Servo Motor
ASDA-M Chapter 11 Specifications 11.6 Dimensions of the Servo Motor Motor Frame Size: 86 or below (Units: mm) C△0401□ S C△0602□ S C△0604□ S C△0604□ H Model C1040F□ S            ...
Page 619 Chapter 11 Specifications ASDA-M Motor Frame Size: 86 or below (Units: mm) C△0804□ 7 C△0807□ S C△0807□ H C△0907□ S C△0910□ S Model                  ...
Page 620 ASDA-M Chapter 11 Specifications Motor Frame Size: 100 ~ 130 (Units: mm) C△1010□ S E△1305□ S E△1310□ S E△1315□ S Model                 153.3 147.5 147.5 167.5 （without brake）...
Page 621 Chapter 11 Specifications ASDA-M Motor Frame Size: 100 ~ 130 (Units: mm) Model F△1308□ S G△1303□ S G△1306□ S G△1309□ S                 152.5 147.5 147.5 163.5 （without brake）...
Page 622 Appendix A Accessories  Power Connector Delta Part Number: ASDBCAPW0000 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASDBCAPW0100 Title Part No. Manufacturer Housing C4201H00-2*3PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASD-CAPW1000 Delta Part Number: ASD-CAPW2000...
Page 623 ASDA-M Appendix A Accessories  Power Cable Delta Part Number: ASD-ABPW0003, ASD-ABPW0005 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No. inch 3000  100 118  4 ASD-ABPW0003 5000  100 197  4 ASD-ABPW0005...
Page 624 Appendix A Accessories ASDA-M Delta Part Number: ASD-CAPW1003, ASD-CAPW1005 (50mm) (1.97 inch) (80 mm) (3.15 inch) Title Part No. Straight inch 3000  100 118  4 ASD-CAPW1003 3106A-20-18S 5000  100 197  4 ASD-CAPW1005 3106A-20-18S Delta Part Number: ASD-CAPW1103, ASD-CAPW1105 (50mm) (1.97 inch)
Page 625 ASDA-M Appendix A Accessories Delta Part Number: ASD-A2PW1003, ASD-A2PW1005 (50mm) (1.97 inch) (80 mm) (3.15 inch) Title Part No. Straight inch 3000  100 118  4 ASD-A2PW1003 3106A-20-18S 5000  100 197  4 ASD-A2PW1005 3106A-20-18S Delta Part Number: ASD-A2PW1103, ASD-A2PW1105 (50mm) (1.97 inch)
Page 626 Appendix A Accessories ASDA-M Delta Part Number: ASD-CAPW2003, ASD-CAPW2005 Title Part No. Straight inch 3000  100 118  4 ASD-CAPW2003 3106A-24-11S 5000  100 197  4 ASD-CAPW2005 3106A-24-11S Delta Part Number: ASD-CAPW2103, ASD-CAPW2105 Title Part No. Straight inch 3000 ...
Page 627 ASDA-M Appendix A Accessories  Encoder Connector Delta Part Number: ASD-ABEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) MOTOR SIDE Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE DRIVE SIDE SHELL 3M 10320-52A0-008 Delta Part Number: ASD-CAEN1000 Title Part No.
Page 628 Appendix A Accessories ASDA-M  Encoder Cable Delta Part Number: ASD-ABEN0003, ASD-ABEN0005 Title Part No. Manufacturer Housing AMP (1-172161-9) MOTOR SIDE Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE DRIVE SIDE SHELL 3M 10320-52A0-008 Title Part No. inch 3000 ...
Page 629 ASDA-M Appendix A Accessories  I/O Connector Delta Part Number: ASD-CNSC0050 Vendor Name Vendor P/N 3M TAIWAN LTD 10150-3000PE 3M TAIWAN LTD 10350-52A0-008  Terminal Block Module Delta Part Number: ASD-BM-50A  RS-232 Communication Cable Delta Part Number: ASD-CARS0003 Title Part No.
Page 630  Software Communication Cable Delta Part Number: DOP-CAUSBAB Title Part No. inch 1400  30 55 1.2 DOP-CAUSBAB  CANopen Communication Connector Delta Part Number: TAP-CB03, TAP-CB05 Title Part No. inch 300  10 19  0.4 TAP-CB03 39  0.4 TAP-CB05 500...
Page 631 ASDA-M Appendix A Accessories  RS-485 Connector Delta Part Number: ASD-CNIE0B06 A-10 Revision December, 2014...
Page 632 Appendix A Accessories ASDA-M  Optional Accessories 750W servo drive and 50W low-inertia motor Servo Drive ASD-M-0721- Low-inertia Motor ECMA-C 040FS Motor Power Cable ASD-ABPW000X (without brake) Power Connector ASDBCAPW0000 (without brake) Motor Power Cable ASD-ABPW010X (with brake) Power Connector ASDBCAPW0100 (with brake) Incremental Type...
Page 633 ASDA-M Appendix A Accessories 750W servo drive and 200W low-inertia motor Servo Drive ASD-M-0721- ECMA-C △ 0602S Low-inertia Motor Motor Power Cable ASD-ABPW000X (without brake) Power Connector ASDBCAPW0000 (without brake) Motor Power Cable ASD-ABPW010X (with brake) Power Connector ASDBCAPW0100 (with brake) Incremental Type ASD-ABEN000X Encoder Connector...
Page 634 Appendix A Accessories ASDA-M 750W servo drive and 500W medium-inertia motor Servo Drive ASD-M-0721- ECMA-E △ 1305S Medium-inertia Motor Motor Power Cable ASD-CAPW100X (without brake) Motor Power Cable ASD-CAPW110X (with brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Connector Absolute Type Encoder ASD-A2EB100X Connector Encoder Connector...
Page 635 ASDA-M Appendix A Accessories 750W servo drive and 750W low-inertia motor Servo Drive ASD-M-0721- ECMA-C △ 0807S ECMA-C △ 0807H Low-inertia Motor △ ECMA-C 0907S Motor Power Cable ASD-ABPW000X (without brake) Power Connector ASDBCAPW0000 (without brake) Motor Power Cable ASD-ABPW010X (with brake) Power Connector ASDBCAPW0100...
Page 636 Appendix A Accessories ASDA-M 750W servo drive and 850W medium-high-inertia motor Servo Drive SD-M-1521- Medium-high-inertia △ ECMA-F 1308S Motor Motor Power Cable ASD-CAPW100X (without brake) Motor Power Cable ASD-CAPW110X (with brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Connector Absolute Type Encoder ASD-A2EB100X Connector Encoder Connector...
Page 637 ASDA-M Appendix A Accessories 1.5kW servo drive and 1kW low-inertia motor Servo Drive ASD-M-1521- ECMA-C △ 0910S Low-inertia Motor Motor Power Cable ASD-ABPW000X (without brake) Power Connector ASDBCAPW0000 (without brake) Motor Power Cable ASD-ABPW010X (with brake) Power Connector ASDBCAPW0100 (with brake) Incremental Type ASD-ABEN000X Encoder Connector...
Page 638 Appendix A Accessories ASDA-M 1.5kW servo drive and 900W high-inertia motor Servo Drive ASD-M-1521- ECMA-G △ 1309S High-inertia Motor Motor Power Cable ASD-CAPW100X (without brake) Motor Power Cable ASD-CAPW110X (with brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Connector Absolute Type Encoder ASD-A2EB100X Connector Encoder Connector...
Page 639 ASDA-M Appendix A Accessories 2kW servo drive and 2kW low-inertia motor Servo Drive ASD-M-2023- ECMA-C △ 1020S Low-inertia Motor Motor Power Cable ASD-A2PW100X (without brake) Motor Power Cable ASD-A2PW110X (with brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Connector Absolute Type Encoder ASD-A2EB100X Connector Encoder Connector...
Page 640 Appendix A Accessories ASDA-M 2kW servo drive and 2kW medium-inertia motor Servo Drive ASD-M-2023- ECMA-E △ 1820S Medium-inertia Motor Motor Power Cable ASD-CAPW200X (without brake) Motor Power Cable ASD-CAPW210X (with brake) Power Connector ASD-CAPW2000 Incremental Type ASD-CAEN100X Encoder Connector Absolute Type Encoder ASD-A2EB100X Connector Encoder Connector...
Page 641 ASDA-M Appendix A Accessories Other Accessories (suitable for the whole series of ASDA-M) Name Product Number 50Pin I/O Connector (CN1) ASD-CNSC0050 Terminal Block Module ASD-BM-50A RS-232 Communication Cable ASD-CARS0003 Software Communication Cable DOP-CAUSBAB CANopen Communication Connector TAP-CB03 / TAP-CB04 CANopen Distribution Box TAP-CN03 　RS-485 Connector ASD-CNIE0B06...
Page 642 Appendix B Maintenance and Inspection ■Basic Inspection Item Content Periodically check if the screws of the servo drive, the connection between the motor shaft and the mechanical system as well as the connection of terminal block and mechanical system are securely tightened.
Page 643 The encoder cable should avoid excessive stress. When the motor is running, please be ensured the cable is not frayed or over extended. Please contact with Delta if there is any vibration of the servo Inspection before motor or unusual noise during the operation.
Page 644 ASDA-M Appendix B Maintenance and Inspection The lifetime of machinery parts  Dc Bus Capacitor DC Bus Capacitor will be deteriorated by the affection of ripple current. Its lifetime is determined by the surrounding temperature and operating conditions. If it is operating in an air-conditioned site, its lifetime can up to 10 years.
Page 645 Appendix B Maintenance and Inspection ASDA-M (This page is intentionally left blank.) Revision December, 2014...

This manual is also suitable for:

Asd-m-0721 series Asd-m-0721-f Asd-m-1521 series Asd-m-1521-m Asd-m-0721-m

Delta ASDA-M Series User Manual

Chapter 1 Inspection and Model Explanation

Chapter 2 Installation

Chapter 3 Wiring

Chapter 4 Panel Display and Operation

Chapter 5 Trial Operation and Tuning

Chapter 6 Control Mode of Operation

Chapter 7 Motion Control

Chapter 8 Parameters

Chapter 9 Communication

Chapter 10 Troubleshooting

Chapter 11 Specifications

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