Page 1 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 2 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Preface Thank you very much for purchasing DELTA’s AC servo products. This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and motor. Before using the product, please read this user manual to ensure correct use. You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before proceeding with the installation, wiring and operation.
Page 3 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Preface|ASDA-A&A+ Series Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply with the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.). Do not disconnect the AC servo drive and motor while the power is ON.
Page 4 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Preface|ASDA-A&A+ Series Installation Do not install the product in a location that is outside the stated specification for the drive and motor. Failure to observe this caution may result in electric shock, fire, or personal injury. Wiring Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω).
Page 5 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Preface|ASDA-A&A+ Series Main Circuit Terminal Wiring Please perform the wiring after the terminal blocks are all removed from the drive. Insert only one wire into one terminal on the terminal block. When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires. Ensure to double check the wiring before applying power to the drive.
Page 6 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Table of Contents Chapter 1 Unpacking Check and Model Explanation............. 1-1 Unpacking Check ........................1-1 Model Explanation........................1-2 1.2.1 Nameplate Information ..................... 1-2 1.2.2 Model Name Explanation ....................1-4 Servo Drive and Servo Motor Combinations................1-7 Servo Drive Features ......................
Page 7 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Table of Contents|ASDA-A&A+ Series Basic Wiring ..........................3-13 Input / Output Interface Connector -CN1 ................3-17 3.3.1 CN1 Terminal Identification ....................3-17 3.3.2 Signals Explanation of Connector CN1 ................3-19 3.3.3 User-defined DI and DO signals..................3-29 3.3.4 Wiring Diagrams of I/O Signals (CN1)................
Page 8 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Table of Contents|ASDA-A&A+ Series 4.4.1 Fault Code Display Operation ..................4-7 4.4.2 JOG Operation........................4-7 4.4.3 Position Learning Operation ..................... 4-8 4.4.4 DO Force Output Diagnosis Operation ................4-10 4.4.5 DI Diagnosis Operation ....................4-11 4.4.6 DO Diagnosis Operation....................
Page 9 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Table of Contents|ASDA-A&A+ Series 6.2.2 Command Source of Position (Pr) Control Mode ............. 6-4 6.2.3 Structure of Position Control Mode .................. 6-5 6.2.4 P-curve Filter for Position Control..................6-6 6.2.5 Electronic Gear Ratio ....................... 6-9 6.2.6 Low-pass Filter .........................
Page 10 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Table of Contents|ASDA-A&A+ Series Others............................6-38 6.6.1 Speed Limit........................6-38 6.6.2 Torque Limit........................6-38 6.6.3 Regenerative Resistor ...................... 6-39 6.6.4 Analog Monitor........................6-44 6.6.5 Electromagnetic Brake ..................... 6-47 Chapter 7 Parameters......................7-1 Definition ..........................7-1 Parameter Summary .......................
Page 11 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Table of Contents|ASDA-A&A+ Series Chapter 11 Specifications ......................11-1 11.1 Specifications of Servo Drive (ASDA-A Series) ..............11-1 11.2 Specifications of Servo Drive (ASDA-A+ Series)..............11-4 11.3 Low Inertia Servo Motor Specifications (ASMT L Series) ..........11-6 11.4...
Page 12 Due to constantly growing product range, technical improvement and alteration or changed texts, figures and diagrams, we reserve the right of this manual contained information change without prior notice. Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited. Technical Support and Service Welcome to contact us or visit our web site (http://www.delta.com.tw/industrialautomation/) if you need any...
Page 13 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Table of Contents|ASDA-A&A+ Series This page intentionally left blank. Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 14 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation Unpacking Check After receiving the AC servo drive, please check for the following: Ensure that the product is what you have ordered. Verify the part number indicated on the nameplate corresponds with the part number of your order (Please refer to Section 1.2 for details about the model explanation).
Page 15 CN1 Connector: 50 PIN Connector (3M type analog product) CN2 Connector: 20 PIN Connector (3M type analog product) CN3 Connector: 6 PIN Connector (IEEE1394 analog product) Model Explanation 1.2.1 Nameplate Information ASDA-A Series Servo Drive Nameplate Explanation Serial Number Explanation ASMT Series Servo Motor Nameplate Explanation...
Page 16 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series Serial Number Explanation ASDA-A+ Series Servo Drive Nameplate Explanation Serial Number Explanation ECMA Series Servo Motor Nameplate Explanation Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 17 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series Serial Number Explanation 1.2.2 Model Name Explanation ASDA-A Series Servo Drive Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 18 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series ASMT Series Servo Motor Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 19 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series ASDA-A+ Series Servo Drive ECMA Series Servo Motor Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 20 The table below shows the possible combination of Delta ASDA-A and ASDA-A+ series servo drives and ASMT and ECMA series servo motors. The boxes ( ) in the model names are for optional configurations. (Please refer to Section 1.2 for model explanation) ASDA-A Series Servo Drive Servo drive Servo motor...
Page 21 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series ASDA-A+ Series Servo Drive Servo drive Servo motor ECMA-F21830 S 4500W ASD-A4523-B ECMA-E21835 S ECMA-F21845 S 5500W ASD-A5523-B ECMA-F21855 3 7500W ASD-A7523-B ECMA-F21875 3 The drives shown in the above table are designed for use in combination with the specific servo motors. Check the specifications of the drives and motors you want to use.
Page 22 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series Servo Drive Features ASDA-A Series Servo Drive Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 23 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series ASDA-A+ Series Servo Drive (4.5 kW) 1-10 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 24 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series ASDA-A+ Series Servo Drive (5.5 kW) 1-11 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 25 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series ASDA-A+ Series Servo Drive (7.5 kW) 1-12 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 26 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series Control Modes of Servo Drive The Delta Servo can be programmed to provide six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code Description...
Page 27 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 1 Unpacking Check and Model Explanation|ASDA-A&A+ Series This page intentionally left blank. 1-14 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 28 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 2 Installation and Storage Installation Notes Pay close attention on the following installation notes: Do not bend or strain the connection cables between servo drive and motor. When mounting servo drive, make sure to tighten screws to secure the drive in place. If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of the servo motor, coupling, and device are followed.
Page 29 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 2 Installation and Storage|ASDA-A&A+ Series Installation Conditions Operating Temperature ASDA-A&A+ Series Servo Drive : 0°C to 55°C (32°F to 131°F) ECMA Series Servo Motor 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive for long-term reliability should be under 45°C (113°F). If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a well- ventilated location and do not obstruct the airflow for the cooling fan.
Page 30 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 2 Installation and Storage|ASDA-A&A+ Series Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual when installing the servo drive and motor. The ASDA-A&A+ servo drive should be mounted perpendicular to the wall or in the control panel.
Page 31 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 2 Installation and Storage|ASDA-A&A+ Series Minimum Clearances For models of 5.5kW and below For 7.5kW model Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 32 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 2 Installation and Storage|ASDA-A&A+ Series Side by Side Installation For models of 5.5kW and below For 7.5kW model Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 33 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 2 Installation and Storage|ASDA-A&A+ Series This page intentionally left blank. Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 34 Connections 3.1.1 Connecting to Peripheral Devices In Figure 3.1 and 3.2, it briefly explains how to connect each peripheral device. Figure 3.1 (ASDA-A Series) Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com...
Page 35 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Figure 3.2 (ASDA-A+ Series) NOTE 1) CN1, CN2, CN3 connectors and terminal block module, ASD-BM-50A are all optional parts, not Delta standard supplied part (Refer to Appendix A). 2) Check if the wiring of control circuit power (L1, L2) and main circuit power (R, S, T) are correct.
Page 36 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3) Check if the phase of U, V, W cables is connected correctly. Incorrect connection will cause the servo motor to rotate improperly. 4) When using an external resistor, connect it to P (P ) and C, and ensure an open circuit between P (P ) and D.
Page 37 Used to connect external controllers. Please refer to section I/O connector 3.3 for details. Used to connect encoder of servo motor. Please refer to section 3.4 for details. ASDA-A Series Terminal Symbol Wire Color Blue Blue/Black Encoder connector Green...
Page 38 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Terminal Terminal Notes Identification Description ASDA-A+ Series Terminal Symbol Wire Color Line driver SD Blue Encoder connector Line driver /SD Blue/Black Black Communication Used to connect PC or keypad. Please refer to section 3.5 connector for details.
Page 39 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.1.3 Wiring Methods For servo drives from 100W to 1.5kW the input power can be either single or three-phase. For servo drives 2kW and above only three-phase connections are available. In the wiring diagram figures 3.3 &...
Page 40 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Figure 3.4 Three-Phase Power Supply Connection (for all models) Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 41 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.1.4 Motor Power Cable Connector Specifications The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Terminal Servo Drive Motor Part Number U, V, W / Electromagnetic Brake Connector Power Rating...
Page 42 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Terminal Servo Drive Motor Part Number U, V, W Connector Power Rating Description Identification 5.5kW ECMA-F21855 3 7.5kW ECMA-F21875 3 Terminal CASE GROUND Identification Terminal Servo Drive Motor Part Number Electromagnetic Brake Connector Power Rating Description...
Page 43 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.1.5 Encoder Connector Specifications The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Terminal Servo Drive Motor Model Name Encoder Connector Capacity Identification...
Page 44 3.1.6 Cable Specifications for Servo Drive The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) ASDA-A Series Power Cable Power Cable - Wire Gauge mm² (AWG) Servo Drive and Servo Motor...
Page 45 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series ASDA-A+ Series Power Cable Power Cable - Wire Gauge mm² (AWG) Servo Drive and Servo Motor L1, L2 R, S, T U, V, W P, C ECMA-F21830 S 1.3 (AWG16) 3.3 (AWG12) 3.3 (AWG12)
Page 46 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Basic Wiring Figure 3.5 Basic Wiring Schematic of 100W ~ 1.5kW models 3-13 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 47 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Figure 3.6 Basic Wiring Schematic of 2kW ~ 3kW models 3-14 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 48 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Figure 3.7 Basic Wiring Schematic of 4.5kW model 3-15 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 49 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Figure 3.8 Basic Wiring Schematic of 5.5kW ~ 7.5kW models 3-16 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 50 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Input / Output Interface Connector -CN1 The CN1 Interface Connector provides access to three signal groups: General interface for the analog speed and torque control, encoder reference signal from the motor, pulse / direction inputs, and reference voltages.
Page 51 NOTE 1) CN1 terminal signal, HSIGN (pin 46), /HSIGN (pin 40), HPULSE (pin 38), and /HPULSE (pin 29) are provided in ASDA-A+ series only. In ASDA-A series, the function of these terminals is “NC”, which means “No Connection”. 2) The terminals marked "NC" must be left unconnected (No Connection). The NC terminals are used within the servo drive.
Page 52 P1-00. Quadrature, CW + CCW pulse & Position C4-2 HPULSE Pulse / Direction. These signals are used for ASDA- Pulse A+ series only. In ASDA-A series, these terminals /HPULSE Input are marked “”NC”, which means “No Connection” and must be left unconnected. Position...
Page 53 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Wiring Diagram Signal Pin No Details (Refer to 3.3.4) VCC is a +12V power rail provided by the drive. It can be used for the input on an analog speed or torque command.
Page 54 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Pin No. Assigned Wiring Diagram (*1) (Default) Control Details Signal Code (Refer to 3.3.4) Mode ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1- ZSPD For Example, at factory default ZSPD will be...
Page 55 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Pin No. Assigned Wiring Diagram (*1) (Default) Control Details Signal Code (Refer to 3.3.4) Mode Internal position command completed output. CMDOK is activated when the servo drive has detected that the internal position CMDOK C5/C6/C7/C8 command has been completed or stopped...
Page 56 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Assigned Pin No. Wiring Diagram (*2) Control Details Code Signal (Default) (Refer to 3.3.4) Mode ON indicates the torque limit command is TRQLM S, Sz valid. ON indicates the speed limit command is SPDLM T, Tz valid.
Page 57 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Assigned Pin No. Wiring Diagram (*2) Control Details Code Signal (Default) (Refer to 3.3.4) Mode Feed step mode input 0 (bit 0) Feed step mode input 1 (bit 1) MDP0 Manually continuous operation MDP1...
Page 58 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Table 3.D Source of Position Command POS2 POS1 POS0 Parameter P1-15, P1-16 P1-17, P1-18 P1-19, P1-20 P1-21, P1-22 P1-23, P1-24 P1-25, P1-26 P1-27, P1-28 P1-29, P1-30 Table 3.E Source of Speed Command SPD1 SPD0 Parameter...
Page 59 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Table 3.G Default DI signals and Control modes Signal Function Tz Pt-S Pt-T Pr-S Pr-T S-T Code 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 ARST 02 Alarm Reset DI5 DI5 DI5 DI5 DI5 DI5...
Page 60 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Signal Function Tz Pt-S Pt-T Pr-S Pr-T S-T Code Forward inhibit limit CCWL (contact b, normally DI7 DI7 DI7 DI7 DI7 DI7 closed) Reference “Home” ORGP sensor Torque limit - Reverse operation (torque limit TLLM function is valid only...
Page 61 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Signal Function Tz Pt-S Pt-T Pr-S Pr-T S-T Code INHP 45 Pulse inhibit input Enable motor forward operation. Enable motor reverse operation. NOTE 1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1. Table 3.H Default DO signals and Control modes Signal Function...
Page 62 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.3.3 User-defined DI and DO signals If the default DI and DO signals could not be able to fulfill users’ requirements, there are still user- defined DI and DO signals. The setting method is easy and they are all defined via parameters. The user-defined DI and DO signals are defined via parameters P2-10 to P2-17 and P2-18 to P2-22.
Page 63 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.3.4 Wiring Diagrams of I/O Signals (CN1) The valid voltage range of analog input command in speed and torque mode is -10V ~+10V. The command value can be set via relevant parameters. C1: Speed / Torque analog signal input C2: Analog monitor output (MON1, MON2) There are two kinds of pulse inputs, Line driver input and Open-collector input.
Page 64 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series C4-1: Pulse input (Line driver) Because this photocoupler is a unidirectional optocoupler, please pay close attention on the current direction of input pulse command. C4-2: High-speed pulse input (Line driver) Caution: Ensure that the ground terminal of the controller and the servo drive should be connected to each other.
Page 65 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Be sure to connect a diode when the drive is applied to inductive load. (Continuous maximum current: 40mA, Instantaneous peak current: max. 100mA) C5: Wiring of DO signal, for the use of internal C6: Wiring of DO signal, for the use of internal power power supply, general load supply, inductive load...
Page 66 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Use a relay or open-collector transistor to input signal. NPN transistor with multiple emitter fingers (SINK Mode) C9: Wiring of DI signal, for the use of internal C10: Wiring of DI signal, for the use of external power power supply supply PNP transistor with multiple emitter fingers (SOURCE Mode)
Page 67 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series C13: Encoder output signal (Line driver) C14: Encoder output signal (Photocoupler) 3-34 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 68 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Encoder Connector CN2 Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal. When power is first applied to the servo drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor within 500msec approximately.
Page 69 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series CN2 Terminal Signal Identification ASDA-A Series Terminal Military Quick PIN No. Signal Name Description Identification Connector Connector /Z phase input Encoder /Z phase output /A phase input Encoder /A phase output...
Page 70 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification The servo drive can be connected to a PC or controller via a serial communication connector. Users can operate the servo drive through PC software supplied by Delta (contact to the dealer).
Page 71 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.5.2 Connection between PC and Connector CN3 3-38 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 72 Please refer to C4 wiring diagram on page 3-28. If it is open-collector input, please refer to C3 wiring diagram on page 3-27. These terminals are for ASDA-A+ series only. In ASDA-A series, they are marked NC (No Connection) and must be left unconnected.
Page 73 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.6.2 Position (Pr) Control Mode Note: CN2 encoder terminals for ASDA-A+ series only. Please refer to parameter P1-46 in Chapter 7. 3-40 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 74 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.6.3 Speed Control Mode Note: CN2 encoder terminals for ASDA-A+ series only. Please refer to parameter P1-46 in Chapter 7. 3-41 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 75 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 3 Connections and Wiring|ASDA-A&A+ Series 3.6.4 Torque Control Mode Note: CN2 encoder terminals for ASDA-A+ series only. Please refer to parameter P1-46 in Chapter 7. 3-42 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 76 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers. Description of the Digital Keypad The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of the digital keypad and an overview of their functions.
Page 77 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series Name Function The LCD Display (5-digit, 7-step display panel) shows the monitor codes, parameter LCD Display settings and operation values of the AC servo drive. Charge LED The Charge LED lights to indicate the power is applied to the circuit. MODE Key.
Page 78 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series Display Flowchart Figure 4.2 Keypad Operation Monitor Mode Para mete r Mod e S HIFT MODE S HIFT S HIFT S HIFT S HIFT Monitor Basic Extension Co mm unication Diagnosis Monitor S tatus Param eter...
Page 79 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series Status Display 4.3.1 Save Setting Display After the SET key is pressed, LCD display will show the following display messages for approx. one second according to different status. Display Message Description The setting value is saved correctly.
Page 80 P0-02. For example, if the setting value of P0-02 is 2 when the power is applied, the monitor function will be Pulse counts of pulse command, the C.P monitor codes will first display and then the pulse number will display after. ASDA-A Series P0-02 Display Message...
Page 81 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series P0-02 Display Message Description Unit Setting Motor feedback pulse number (Relative [pulse] value) / Position latch pulse number Motor feedback rotation number (Relative [rev] value) / Position latch rotation number ASDA-A+ Series P0-02 Display Message...
Page 82 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series General Function Operation 4.4.1 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1 to H5 in order.
Page 83 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series Figure 4.4 4.4.3 Position Learning Operation Follow the following steps to perform position learning operation (Please also refer to Figure 4.5). 1. Activate the internal position learning function (Set P2-30=4). 2.
Page 84 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series Figure 4.5 SHIFT The learning position and internal memorized position are listed as below: Learning Position Internal Memorized Position P1-15 (1st Position Command for Rotation) JOGo1 P1-16 (1st Position Command for Pulse) P1-17 (2nd Position Command for Rotation) JOGo2 P1-18 (2nd Position Command for Pulse)
Page 85 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series 4.4.4 Force Output Control Operation For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using parameter P4-06. Follow the setting method in Figure 4.6 to enter into Force Output Control operation (OP xx) mode (“xx”...
Page 86 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series 4.4.5 DI Diagnosis Operation Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07, Input Status or Force Input Control). According to the ON and OFF status of the digital inputs DI1 to DI8, the corresponding status will display on the servo drive LED display.
Page 87 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 4 Display and Operation|ASDA-A&A+ Series This page intentionally left blank. 4-12 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 88 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure This chapter, which is divided into two parts, describes trial run for servo drive and motor. One part is to introduce the trial run without load, and the other part is to introduce trial run with load. Ensure to complete the trial run without load first before performing the trial run with load.
Page 89 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Item Content Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended.
Page 90 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Applying Power to the Drive The users please observe the following steps when applying power supply to the servo drive. 1. Please check and confirm the wiring connection between the drive and motor is correct. 1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables separately (U: Red, V: White, W: Black, FG: Green).
Page 91 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series 1) When display shows: Over voltage: The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect power input). Corrective Actions: Use voltmeter to check whether the input voltage falls within the rated input voltage.
Page 92 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to confirm that which of digital inputs DI1~DI8 is set to “Emergency Stop (EMGS)” and check if the digital input signal is ON (It should be activated).
Page 93 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On (SON) function is enabled) and the following fault message shows on the display: 6) When display shows: Overcurrent: Corrective Actions:...
Page 94 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series JOG Trial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring.
Page 95 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 96 P2-15 to P2-17 to 0 (Disabled) in advance. All the digital inputs of Delta ASDA-A series are user-defined, and the users can set the DI signals freely. Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please refer to Table 7.A in Chapter 7).
Page 97 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series The settings of speed command: P1-09 is set to 3000 Input value command Rotation direction P1-10 is set to 100 P1-11 is set to -3000 STEP 3: The users can use DI1 to enable the servo drive (Servo ON).
Page 98 P2-15 to P2-17 to 0 (Disabled) in advance. All the digital inputs of Delta ASDA-A series are user-defined, and the users can set the DI signals freely. Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please refer to Table 7.A in Chapter 7).
Page 99 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series The position command is selected by POS0 ~ POS2. Please refer to the following table: Position Moving Speed POS2 POS1 POS0 CTRG Parameters Description Command Register P1-15 Rotation No.
Page 100 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Set P1-25 to 0 (rotation number) Set P1-26 to 100 (pulse number) The command of internal position 6: P1-25 Rotation No. + P1-26 Pulse No. Set P1-27 to 0 (rotation number) Set P1-28 to 1000 (pulse number) The command of internal position 7: P1-27 Rotation No.
Page 101 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Tuning Procedure Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode Tuning Procedure Display After wiring is completed, when power in connected to the AC servo drive, the right side display will show on the LCD display.
Page 102 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series 5.6.1 Tuning Flowchart 5-15 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 103 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series 5.6.2 Load Inertia Estimation Flowchart 5-16 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 104 Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series 5.6.3 Easy Mode Tuning Flowchart Set P2-31 to 1 (Easy Mode, for ASDA-A series only, ASDA-A+ series does not support this mode) P2-31 Auto and Easy Mode Selection (Default setting is 4)
Page 105 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series 5-18 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 106 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Table 5.A Stiffness Setting in Easy Mode (P2-31 value “A”) and the setting of P2-00, P2-25 Max. Load Load Range Level (P2-31) Remark Corresponding (J_load /J_motor) (P2-00) (P2-25) Responsiveness...
Page 107 P2-31 Auto and Easy Mode Selection (Default setting is 4) Settings: not used ASDA-A series: This parameter allows the users to set the stiffness setting of easy mode and the responsiveness level of auto-tuning mode. Users can control the stiffness and responsiveness according to application condition.
Page 108 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Table 5.B P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25 P2-31 value “B” Speed Loop Responsive Recommended Setting Value of P2-25 20Hz 30Hz 40Hz...
Page 109 P2-31 Auto and Easy Mode Selection (Default setting is 4) Settings: not used ASDA-A series: This parameter allows the users to set the stiffness setting of easy mode and the responsiveness level of auto-tuning mode. Users can control the stiffness and responsiveness according to application condition.
Page 110 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Speed Loop Responsiveness. P2-31 value “B” Speed Loop Responsiveness P2-31 value “B” Speed Loop Responsiveness 20HZ 120Hz 30 HZ...
Page 111 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series 5.6.6 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be above 200r/min. The load inertia must be 100 multiple or less of motor inertia. The change of external force and the inertia ratio can not be too much.
Page 112 If responsiveness of position loop is higher than the responsiveness of speed loop, the machinery system may generate vibration or noise, or even overshoot during positioning. The speed loop responsiveness is calculated as follows: ASDA-A Series: K V P Speed Loop Responsiv enes s...
Page 113 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 5 Trial Run and Tuning Procedure|ASDA-A&A+ Series ASDA-A+ Series: JM: Motor Inertia (1 +P 1-3 7/ 10) K V P )X [ ]H z JL: Load Inertia Speed Loop Responsiv enes s (1 +J L/J M) P1-37: 0.1 times When the value of P1-37 (no matter it is the measured load inertia value or the set load inertia value) is equal to the actual load inertia value, the actual speed loop responsiveness will be:...
Page 114 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation Control Modes of Operation The Delta ASDA-A and ASDA-A+ series can be programmed to provide six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code Description...
Page 115 P1 - 00▲ External Pulse Input Type Communication Addr.: 0100H Default: 2 Related Section: Applicable Control Mode: Pt Section 6.2.1 Unit: N/A Range: 00 ~ 132 (ASDA-A series) 00 ~ 1132 (ASDA-A+ series) Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 116 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Settings: ASDA-A series: ASDA-A+ series: not used not used • A: Pulse type A=0: AB phase pulse (4x) A=1: CW + CCW pulse A=2: Pulse + Direction Other setting: Reversed •...
Page 117 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series • D: Source of pulse command Setting Max. input pulse Input pulse interface Remark value frequency Line driver 500Kpps CN1 Terminal Identification: PULSE, /PULSE, SIGN, /SIGN Open collector 200Kpps CN1 Terminal Identification: Line driver for...
Page 118 Basic Structure: In order to pursue the goal of perfection in position control, the pulse signal should be modified through position command processing and the structure is shown as the figure below: ASDA-A Series: Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com...
Page 119 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series ASDA-A+ Series: Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set in both two modes to set proper position revolution. ASDA-A and ASDA-A+ series servo drives also provide S-curve and low- pass filter, which are used whenever the motor and load need to be operated more smoothly.
Page 120 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 121 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Relevant parameters: P1 - 34 TACC Acceleration Time Communication Addr.: 0122H Default: 200 Related Section: Applicable Control Mode: Pr, S P1-35, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step acceleration time.
Page 122 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Total acceleration time = TACC + TSL Total deceleration time = TDEC + TSL NOTE 1) If the control of the servo motor is achieved via internal parameters, the command curve should be defined by the users.
Page 123 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series The electronic gear function provides easy travel distance ratio change. However, the over high electronic gear ratio will command the motor to move not smoothly. At this time, the users can use low- pass filter parameter to improve this kind of situation.
Page 124 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series 6.2.7 Timing Chart of Position (Pr) Control Mode In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG. Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is shown the timing chart of Pr mode: Internal position command...
Page 125 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series For example, the desired position loop responsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/s. Relevant parameters: P2 - 00 Proportional Position Loop Gain Communication Addr.: 0200H Default: 35...
Page 126 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate. At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating.
Page 127 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Speed Control Mode The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as CNC machine, etc. ASDA-A and ASDA-A+ series servo drives support two kinds of command sources in speed control mode.
Page 128 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series users can choose Sz mode and avoid the zero point drift problem of analog voltage signal. If the speed control mode is S mode, then the command is the analog voltage between V-REF and GND.
Page 129 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series 6.3.3 Smoothing Strategy of Speed Control Mode S-curve Filter The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to smooth the speed command change of the motor during acceleration and deceleration. Using S-curve filter can let the servo motor run more smoothly in response to a sudden speed command change.
Page 130 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series P1 - 35 TDEC Deceleration Time Communication Addr.: 0123H Default: 200 Related Section: Applicable Control Mode: Pr, S P1-34, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step deceleration time.
Page 131 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Analog Speed Command S-curve Filter ASDA-A and ASDA-A+ series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in response to a sudden analog input signal. Speed (rpm) Analog speed command Motor Torque...
Page 132 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF and GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range. 5000rpm The speed control ramp is determined by parameter P1-40...
Page 133 3) After Servo ON, the users can select command according to the state of SPD0~1. 6.3.6 Speed Loop Gain Adjustment The function and structure of speed control mode is shown as the figure below: ASDA-A Series: 6-20 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com...
Page 134 Settings: 0: Manual mode 1: Easy mode (for ASDA-A series only, ASDA-A+ series does not support this mode) 2: AutoMode (PI) [Continuous adjustment] 3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be...
Page 135 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: rad/s Range: 0 ~ 20000 (ASDA-A series) 0 ~ 4095 (ASDA-A+ series) Settings: This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is increased, it can expedite speed loop response. However, if the setting value is over high, it may generate vibration or noise.
Page 136 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: N/A Range: 0 ~ 4095 (ASDA-A series) 0 ~ 1023 (ASDA-A+ series) Settings: This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation.
Page 137 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Time Domain 6-24 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 138 When P2-32 is set to 1, the easy mode function is activated. In order to enhance the performance of servo system, ASDA-A series servo drive provide “Robust Control Technology” when the users select the easy mode of tuning technology. The following introduces the basic structure.
Page 139 Settings: not used ASDA-A series: This parameter allows the users to set the stiffness setting of easy mode and the responsiveness level of auto-tuning mode. Users can control the stiffness and responsiveness according to application condition. When the setting value is higher, the stiffness and the responsiveness is higher.
Page 140 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Stiffness Setting in Easy Mode (P2-31 value “A”) and the setting of P2-00, P2-25 Max. Load Level Load Range Corresponding Remark (P2-31 Value A) (J_load /J_motor) (P2-00) (P2-25) Responsiveness 50~100...
Page 141 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series 6.3.7 Resonance Suppression The resonance of mechanical system may occur due to excessive system stiffness or frequency response. However, this kind of resonance condition can be improved, suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and notch filter (parameter P2-23, P2-24) without changing control parameter.
Page 142 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Speed Control Block Diagram Feed forward differentiator Gain P2-07 Current Sensor PI Controller (Proportional and Current Controller Integral Controller) P2-04,2-06 Low-pass Notch Filter Filter P2-23,P2-24 P2-25 Torque Load Speed estimator Encoder...
Page 143 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Notch Filter Usually, if the users know the resonance frequency, we recommend the users can eliminate the resonance conditions directly by using notch filter (parameter P2-23, P2-24). However, the range of frequency setting is from 50 to 1000Hz only and the range of resonant attenuation is 0~32 dB only.
Page 144 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Torque Control Mode The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machine, twister, etc. Delta ASDA-A and ASDA-A+ series servo drives support two kinds of command sources in torque control mode.
Page 145 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series 6.4.2 Structure of Torque Control Mode Basic Structure: The toque command processing is used to select the command source of torque control according to chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of torque control mode.
Page 146 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series NOTE 1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled and the command is just By-Pass. Target Speed TFLT 6.4.4 Analog Torque Input Scaling...
Page 147 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V, then the torque command is changed to 50% rated torque.
Page 148 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Control Modes Selection Except signal control mode operation, ASDA-A and ASDA-A+ series servo drives also provide Pt-S, Pr-S, S- T, Pt-T, Pr-T these five multiple modes for the users to select. 1）...
Page 149 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time. When switching to the position mode (when S-P is OFF), the position command is not determined (it needs to wait that CTRG is on the rising edge), so the motor stop running.
Page 150 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series The timing chart of speed / position control mode selection is shown as the figure below: In position mode (when T-P is ON), the motor will start to count pulse and operate following the external pulse command.
Page 151 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Others 6.6.1 Speed Limit The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or torque control mode. The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11).
Page 152 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series 6.6.3 Regenerative Resistor Built-in Regenerative Resistor When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that there is a regenerative power returned from the load to the servo drive. This power will be transmitted into the capacitance of DC Bus and result in rising voltage.
Page 153 DC bus. After the capacitance voltage exceeds some high value, regenerative resistor can dissipate the remained regenerative power. Use the table and procedure described below to calculate the regenerative power. ASDA-A Series Rotor Inertia Regenerative power from empty Max.
Page 154 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series If the load inertia is N × motor inertia, the regenerative power will be (N+1) x E0 when servo motor brakes from 3000r/min to 0. Then, the regenerative resistor can dissipate: (N+1) x E0 - Ec (joule). If the time of repeat operation cycle is T sec, then the regenerative power = 2 x ((N+1) x E0 - Ec) / T.
Page 155 0r/min to rated speed and decelerate from rated speed down to 0r/min. The allowable frequencies when the servo motor run without load are summarized in the following table. ASDA-A Series Allowable frequency when the servo motor runs without load (times/min) and uses built-in regenerative resistor...
Page 156 = load/motor inertia ratio The users can select the adequate external regenerative resistors according to the allowable frequency by referring to the table below: ASDA-A Series Allowable frequency when the servo motor run without load (times/min) and uses external regenerative resistor...
Page 157 0: Motor speed (+/-8V / maximum motor speed) 1: Motor torque (+/-8V / maximum torque) 2: Pulse command frequency (+8Volts / 650Kpps) (ASDA-A series) Pulse command frequency (+8Volts / 4.5Mpps) (ASDA-A+ series) 3: Speed command (+/-8Volts / maximum speed command)
Page 158 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0 Related Section: Applicable Control Mode: ALL Section 3.3.3 Unit: N/A Range: 0 ~ 1 Settings: not used A: Monitor analog output polarity...
Page 159 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series P4 - 21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Communication Addr.: 0415H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Section 6.4.4 Unit: mV Range: -800~800 Settings: When P2-08 is set to 10, users cannot reset this parameter.
Page 160 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series 6.6.5 Electromagnetic Brake When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the electromagnetic brake is disabled and motor is stop running and locked. If the digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run freely.
Page 161 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series Electromagnetic Brake Wiring Diagram NOTE Please refer to Chapter 3 Connections and Wiring for more wiring information. The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the servo drive can be used to power the relay coil (Relay).
Page 162 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series The timing charts of control circuit power and main circuit power: L1, L2 Control Circuit Power 1 sec Control Circuit Power > 0msec R, S, T Main Circuit Power 800ms BUS Voltage...
Page 163 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 6 Control Modes of Operation|ASDA-A&A+ Series This page intentionally left blank. 6-50 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 164 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters Definition There are following five groups for drive parameters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communication parameter (example: P3-xx) Group 4: Diagnosis parameter (example: P4-xx)
Page 165 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Parameters Summary 7.2.1 Parameters List by Group Group 0: P0-xx Monitor Parameters Control Mode Parameter Name Function Default Unit Pt Pr S Factory P0-00★ Firmware Version setting P0-01★ Drive Fault Code P0-02 Drive Status P0-03...
Page 166 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Group 1: P1-xx Basic Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P1-00▲ External Pulse Input Type pulse P1-01● Control Mode and Output Direction r/min P1-02▲...
Page 167 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Basic Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T OFF Delay Time of Electromagnetic P1-43 MBT2 Brake Electronic Gear Ratio (1st Numerator) P1-44▲ pulse (N1) P1-45▲...
Page 168 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Group 2: P2-xx Extension Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P2-00 Proportional Position Loop Gain rad/s P2-01 Position Loop Gain Switching Rate P2-02 Position Feed Forward Gain 5000 0.0001...
Page 169 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Extension Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P2-31■ Auto Mode Responsiveness Level AUT1 Tuning Mode Selection P2-32▲ AUT2 P2-33▲ Easy Setting of Input Filter P2-34 SDEV Overspeed Warning Condition...
Page 170 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Group 3: P3-xx Communication Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P3-00 Communication Address Setting P3-01 Transmission Speed P3-02 Communication Protocol P3-03 Transmission Fault Treatment P3-04 Communication Time Out Detection P3-05...
Page 171 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Group 4: P4-xx Diagnosis Parameters Control Mode Parameter Name Function Default Unit Pt Pr S T P4-00★ ASH1 Fault Record (N) P4-01★ ASH2 Fault Record (N-1) P4-02★ ASH3 Fault Record (N-2) P4-03★...
Page 172 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series 7.2.2 Parameters List by Function Monitor and General Use Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual Factory P0-00★ Firmware Version setting P0-01★...
Page 173 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Smooth Filter and Resonance Suppression Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual Accel / Decel Smooth Constant of P1-06 SFLT Analog Speed Command (Low- 6.3.3 pass Filter)
Page 174 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Gain and Switch Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual P2-00 Proportional Position Loop Gain rad/s 6.2.8 P2-01 Position Loop Gain Switching Rate P2-02 Position Feed Forward Gain 5000...
Page 175 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Position Control Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual pulse P1-01● Control Mode and Output Direction r/min P1-02▲ PSTL Speed and Torque Limit P1-46▲...
Page 176 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Position Control Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual Combination Output Signal Delay P2-45 12.6 Time P2-46 Feed Step Number 12.6 Position Deviation Clear Delay P2-47...
Page 177 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Speed Control Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual pulse P1-01● Control Mode and Output Direction r/min P1-02▲ PSTL Speed and Torque Limit P1-46▲...
Page 178 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Torque Control Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual pulse P1-01● Control Mode and Output Direction r/min P1-02▲ PSTL Speed and Torque Limit P1-46▲...
Page 179 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Digital I/O and relative input output setting Digital I/O Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual P2-09 Bounce Filter P2-10 Digital Input Terminal 1 (DI1) P2-11 Digital Input Terminal 2 (DI2)
Page 180 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Communication Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual P3-00 Communication Address Setting P3-01 Transmission Speed P3-02 Communication Protocol P3-03 Transmission Fault Treatment P3-04 Communication Time Out Detection P3-05...
Page 181 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Diagnosis Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual P4-00★ ASH1 Fault Record (N) 4.4.1 P4-01★ ASH2 Fault Record (N-1) 4.4.1 P4-02★...
Page 182 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Others Control Related Mode Section of Parameter Name Function Default Unit User Pt Pr S T Manual P1-31 Reserved P1-32 LSTP Motor Stop Mode Selection Ratio of Load Inertia to Servo Motor P1-37 times 6.3.6...
Page 183 Communication Addr.: 0001H Default: Factory setting Related Section: Applicable Control Mode: ALL Chapter 10 Unit: N/A Range: 00 ~ 23 (ASDA-A series) 00 ~ 25 (ASDA-A+ series) Settings: 01: Overcurrent 21: DSP to MCU command write-in error 02: Overvoltage 22: Input power phase loss...
Page 184 02: Pulse counts of pulse command [pulse] 03: Rotation number of pulse command [rev] 04: Position error counts [pulse] 05: Input frequency of pulse command [r/min] (ASDA-A series) Input frequency of pulse command [Kpps] (ASDA-A+ series) 06: Motor speed [r/min]...
Page 185 0: Motor speed (+/-8V / maximum motor speed) 1: Motor torque (+/-8V / maximum torque) 2: Pulse command frequency (+8Volts / 650Kpps) (ASDA-A series) Pulse command frequency (+8Volts / 4.5Mpps) (ASDA-A+ series) 3: Speed command (+/-8Volts / maximum speed command)
Page 186 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P0 - 05 Status Monitor 2 Communication Addr.: 0005H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: 0 ~ 16 Settings: See P0-04 for explanation. P0 - 06 Status Monitor 3 Communication Addr.: 0006H...
Page 187 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P0 - 09 MAP0 Block Data Read / Write Register 0 Communication Addr.: 0009H Default: 407H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: Set the register address in HEX that users want to read and write by using the keypad.
Page 188 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P0 - 13 MAP4 Block Data Read / Write Register 4 Communication Addr.: 000DH Default: 111H Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: See P0-09 for explanation.
Page 189 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Bit0: SRDY (Servo ready) Bit1: SON (Servo On) Bit2: ZSPD (At Zero speed) Bit3: TSPD (At Speed reached) Bit4: TPOS (At Positioning completed) Bit5: TQL (At Torque limit) Bit6: Reserved Bit7: Reserved Bit8: OLW (Output overload warning) Bit9: WARN (Servo warning activated)
Page 190 Communication Addr.: 0100H Default: 2 Related Section: Applicable Control Mode: Pt Section 6.2.1 Unit: N/A Range: 00 ~ 132 (ASDA-A series) 00 ~ 1132 (ASDA-A+ series) Settings: ASDA-A series: • A: Pulse type A=0: AB phase pulse (4x) A=1: CW + CCW pulse...
Page 191 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series • D: Source of pulse command Setting Max. input pulse Input pulse interface Remark value frequency Line driver 500Kpps CN1 Terminal Identification: PULSE, /PULSE, SIGN, /SIGN Open collector 200Kpps CN1 Terminal Identification: Line driver for 4Mpps...
Page 192 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series • C=1: When switching to different mode, DIO (P2-10 ~ P2-22) can be reset to be the default value of the mode you switch to. C=0: When switching to different mode, the setting value of DIO (P2-10 ~ P2-22) will remain the same and will not be changed.
Page 193 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0 Related Section: Applicable Control Mode: ALL Section 3.3.3 Unit: N/A Range: 0 ~ 1 Settings: not used A: Monitor analog output polarity B: Position pulse output polarity A=0: MON1(+), MON2(+)
Page 194 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Smooth Constant of Analog Torque Command P1 - 07 TFLT Communication Addr.: 0107H (Low-pass Filter) Default: 0 Related Section: Applicable Control Mode: T Section 6.4.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) Smooth Constant of Position Command (Low- P1 - 08 PFLT...
Page 195 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 11 3rd Speed Command or Limit Communication Addr.: 010BH Default: 300 Related Section: Applicable Control Mode: S, T Section 6.3.1 Unit: r/min Range: -5000 ~ +5000 Settings: 3rd Speed Command In Speed mode, this parameter is used to set speed 3 of internal speed command.
Page 196 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series 2nd Torque Limit In Position and Speed mode, this parameter is used to set torque limit 2 of internal torque command. Digital output signal TQL is activated when the drive has detected that the motor has reached the torques limits set by either the parameters P1-12 ~ P1-14 of via an external analog voltage.
Page 197 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 17 PO2H 2nd Position Command for Rotation Communication Addr.: 0111H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: rev Range: -30000 ~ +30000 Settings: This parameter is used to set rotation cycle number of internal position 2.
Page 198 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 21 PO4H 4th Position Command for Rotation Communication Addr.: 0115H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: rev Range: -30000 ~ +30000 Settings: This parameter is used to set rotation cycle number of internal position 4.
Page 199 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 25 PO6H 6th Position Command for Rotation Communication Addr.: 0119H Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: rev Range: -30000 ~ +30000 Settings: This parameter is used to set rotation cycle number of internal position 6.
Page 200 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 29 PO8H 8th Position Command for Rotation Communication Addr.: 011DH Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: rev Range: -30000 ~ +30000 Settings: This parameter is used to set rotation cycle number of internal position 8.
Page 201 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 33 POSS Position Control Mode (Pr) Communication Addr.: 0121H ● Default: 0 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: N/A Range: 0 ~ 6 Settings: This parameter determines the specific type of position control for Pr mode with the internal INDEX number.
Page 202 P1-36 will auto set the value to 20. P1 - 37 Ratio of Load Inertia to Servo Motor Inertia Communication Addr.: 0125H Default: 5.0 (ASDA-A series) or 0.00 (ASDA-A+ series) Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: times Range: 0 ~ 200.0...
Page 203 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: r/min Range: 0 ~ 200 Settings: This parameter is used to set output range of zero speed signal (ZSPD). ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1-38.
Page 204 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates that the speed command is 3000 r/min. If P1-40 is set to 3000, but the input voltage is changed to 5V, then the speed command is changed to 1500 r/min.
Page 205 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series NOTE 1) When MBT2 delay time has not finished and motor speed is lower than the setting value of P1-38, electromagnetic brake interlock signal (BRKR) is closed. 2) When MBT2 delay time has finished and motor speed is still higher than the setting value of P1-38, electromagnetic brake interlock signal (BRKR) is closed.
Page 206 10020 ~ 12500 (with B=1) Settings: This parameter is used to set the pulse numbers of encoder outputs per motor revolution. ASDA-A series: A: Range of the pulse numbers or the pulse dividing ratio of the encoder outputs • Range of the setting value: 1 ~ 125 (with B=0) or 20 ~ 2500 (with B=1) B: Pulse dividing ratio function selection •...
Page 207 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series For example: If A=2 and B=0, i.e. P1-46 is set to 2, and P1-61 is set to 7 (Default), the pulse numbers of 2500 encoder outputs per motor revolution = ×...
Page 208 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series • C=2: Enable homing function by SHOM. • D=0: After detecting “Home”, the motor will decelerate and return to “Home”. • D=1: After detecting “Home”, the motor will decelerate and stop in the forward direction. •...
Page 209 RES1 Regenerative Resistor Value Communication Addr.: 0134H Default: - Related Section: Applicable Control Mode: ALL Section 6.6.3 Unit: Ohm Range: 10 ~ 750 (ASDA-A series) 5 ~ 750 (ASDA-A+ series) Settings: ASDA-A series Model Default 1.5kW and below above 1.5kW...
Page 210 Communication Addr.: 0136H Default: 100 Related Section: N/A Applicable Control Mode: Pt , Pr Unit: pulse (ASDA-A series, Pr mode of ASDA-A+ series) 1/10000 rev. (Pt mode of ASDA-A+ series) Range: 0 ~ 10000 Settings: In Pt mode, when the error pulse numbers is less than the setting value of parameter P1-54, TPOS (At positioning completed signal) will be activated.
Page 211 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 56 Output Overload Warning Time Communication Addr.: 0138H Default: 120 Related Section: N/A Applicable Control Mode: ALL Unit: % Range: 0 ~ 120 Settings: This parameter is used to set output overload time. If the setting value of parameter P1-56 is set to 0 ~ 100, the function of parameter P1-56 is enabled.
Page 212 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 59 MFLT Analog Speed Linear Filter Communication Addr.: 013BH Default: 0 Related Section: N/A Applicable Control Mode: S Unit: 0.1ms Range: 0 ~ 40 Settings: This function is for ASDA-A+ series only. This parameter is used to eliminate the noise generated during the operation when the host (external) controller sends the step analog voltage speed command.
Page 213 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P1 - 61 High Resolution Output Pulse Number Communication Addr.: 013DH Default: 7 Related Section: N/A Applicable Control Mode: Pt Unit: - Range: 0 ~ 7 Settings: This function is for ASDA-A+ series only. Please refer to P1-46 for explanation. Delay Time of Internal Position Command P1 - 62 COKT...
Page 214 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Group 2: P2-xx Extension Parameters P2 - 00 Proportional Position Loop Gain Communication Addr.: 0200H Default: 35 Related Section: Applicable Control Mode: Pt, Pr Section 6.2.8 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is used to set the position loop gain.
Page 215 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: rad/s Range: 0 ~ 20000 (ASDA-A series) 0 ~ 4095 (ASDA-A+ series) Settings: This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is increased, it can expedite speed loop response. However, if the setting value is over high, it may generate vibration or noise.
Page 216 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Settings: This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation.
Page 217 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Set parameters: Enter correct password, and then you can unlock the parameters and change them. Password Decode: First, enter correct password, and set P2-08 to 0(zero) twice continuously. P2 - 09 Bounce Filter Communication Addr.: 0209H Default: 2...
Page 218 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 12 Digital Input Terminal 3 (DI3) Communication Addr.: 020CH Default: 116 Related Section: Applicable Control Mode: ALL Table 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation. P2 - 13 Digital Input Terminal 4 (DI4) Communication Addr.: 020DH...
Page 219 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 17 Digital Input Terminal 8 (DI8) Communication Addr.: 0211H Default: 21 Related Section: Applicable Control Mode: ALL Table 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation. P2 - 18 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H...
Page 220 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 21 Digital Output Terminal 4 (DO4) Communication Addr.: 0215H Default: 105 Related Section: Applicable Control Mode: ALL Table 7.B Unit: N/A Range: 0 ~ 112 Settings: See P2-18 for explanation. P2 - 22 Digital Output Terminal 5 (DO5) Communication Addr.: 0216H...
Page 221 Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: 0.001 Range: 0 ~ 30000 (ASDA-A series) 0 ~ 1023 (ASDA-A+ series) Settings: 0: Disabled In AutoMode (PDFF) mode (parameter P2-32 is set to 4 or 5), the value of this parameter is determined by the system automatically.
Page 222 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 28 Gain Switching Time Constant Communication Addr.: 021CH Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: 10ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is used to set the time constant when switching the smooth gain. P2 - 29 Gain Switching Condition Communication Addr.: 021DH...
Page 223 Settings: not used ASDA-A series: This parameter allows the users to set the stiffness setting of easy mode and the responsiveness level of auto-tuning mode. Users can control the stiffness and responsiveness according to application condition. When the setting value is higher, the stiffness and the responsiveness is higher.
Page 224 Settings: 0: Manual mode 1: Easy mode (for ASDA-A series only, ASDA-A+ series does not support this mode) 2: AutoMode (PI) [Continuous adjustment] 3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be...
Page 225 Communication Addr.: 0223H Default: 30000 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: pulse (ASDA-A series, Pr mode of ASDA-A+ series) 1/10000 rev. (Pt mode of ASDA-A+ series) Range: 1 ~ 30000 Settings: This parameter is used to set the position deviation excessive error threshold that is used to determine the escessive deviation fault condition.
Page 226 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 36 POV1 Moving Speed Setting of 1st Position Communication Addr.: 0224H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: When setting value of P2-36 to P2-43 is higher than 3000 r/min, please set the setting value of P1-55 to its maximum value.
Page 227 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 40 POV5 Moving Speed Setting of 5th Position Communication Addr.: 0228H Default: 1000 Related Section: Applicable Control Mode: Pr Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36.
Page 228 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 44 Digital Output Mode Setting Communication Addr.: 022CH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.6 Unit: N/A Range: 0 ~ 1 Settings: This parameter determines that the digital output equals the setting value of P2-18 ~ P2-22 or INDEX positions when using feed step control function and in internal auto running mode (See Chapter 12 for explanation).
Page 229 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 47 Position Deviation Clear Delay Time Communication Addr.: 022FH Default: 0 Related Section: Applicable Control Mode: Pr Section 12.6 Unit: 20ms Range: 0 ~ 250 Settings: This function is disabled when its setting value is set to 0. P2 - 48 BLAS Backlash Compensation of Feed Step Control...
Page 230 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: sec Range: 0 ~ 19 Settings: not used •...
Page 231 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Cle ar Next movin g r emai ning co mmand puls es Speed Posi tion DI=T RI G DI=CCLR Time P2 - 51 SRON Servo ON Communication Addr.: 0233H Default: 0 Related Section: N/A Applicable Control Mode: ALL...
Page 232 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 54 ATM2 Timer 2 of Auto Mode Communication Addr.: 0236H Default: 0 Related Section: N/A Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 55 ATM3 Timer 3 of Auto Mode Communication Addr.: 0237H...
Page 233 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 60 Electronic Gear Ratio (2nd Numerator) (N2) Communication Addr.: 023CH Default: 1 Related Section: N/A Applicable Control Mode: Pt, Pr Unit: pulse Range: 1 ~ 32767 Settings: The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to Table 7.A).
Page 234 B: Proportion value setting of position excessive error warning condition (P2-35) ASDA-A series 0: When value B is set to 0, the unit of P2-35 is 1 pulse 1: When value B is set to 1, the unit of P2-35 is 100 pulses If P2-35 is set to 1000, and value B is set to 0, the position excessive error warning pulse is 1000 pulses.
Page 235 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 64 TLMOD Torque Limit Mixed Mode Communication Addr.: 0240H Default: 0 Related Section: N/A Applicable Control Mode: Pt, Pr, S Unit: N/A Range: 0 ~ 3 Settings: PL: Positive Limit NL: Negative Limit Tref: Torque Analog Input Voltage...
Page 236 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 65 GBIT Special Function Communication Addr.: 0241H Default: 0 Related Section: N/A Applicable Control Mode: Pr, Pt, S Unit: N/A Range: 0 ~ 3 Settings: Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit1 Bit0 Bit0: DI SPD0/SPD1 speed command trigger mode...
Page 237 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Bit5: Reserved. Must be set to 0. Bit6 Bit6: Abnormal pulse command detection 0: enable abnormal pulse command detection 1: disable abnormal pulse command detection, Bit7 ~ Bit9: Reserved. Must be set to 0. Bit10 Bit10: DI ZCLAMP function selection 0: Locked at the position when ZCLAMP conditions are satisfied.
Page 238 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P2 - 66 Reserved Communication Addr.: 0242H P2 - 67 Reserved Communication Addr.: 0243H P2 - 68 Reserved Communication Addr.: 0244H 7-75 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 239 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Group 3: P3-xx Communication Parameters P3 - 00 Communication Address Setting Communication Addr.: 0300H Default: 1 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 1~254 Settings: If the AC servo drive is controlled by RS-232/485/422 communication, each drive (or device) must be uniquely identified and addressed between 1 and 254.
Page 240 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P3 - 02 Communication Protocol Communication Addr.: 0302H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~8 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1>...
Page 241 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P3 - 04 Communication Time Out Detection Communication Addr.: 0304H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~20 Settings: 0: Disabled This parameter is used to set the maximum permissible time before detecting a fault due to communication time out.
Page 242 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P3 - 06■ Digital Input Communication Function Communication Addr.: 0306H Default: 0 Related Section: Applicable Control Mode: ALL P4-07, Section 8.2 Unit: N/A Range: 0~FFFF Settings: The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.
Page 243 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Group 4: P4-xx Diagnosis Parameters P4 - 00★ ASH1 Fault Record (N) Communication Addr.: 0400H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A Settings: The latest fault record.
Page 244 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 05 JOG Operation Communication Addr.: 0405H Default: 20 Related Section: Applicable Control Mode: ALL Section 4.4.2 Unit: r/min Range: 0~5000 Settings: JOG operation command: 1. Operation Test (1) Press the SET key to display the JOG speed.
Page 245 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 06 Force Output Control Communication Addr.: 0406H ▲ ■ Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.4 Unit: N/A Range: 0~0x1F Settings: Settings: 0: Disabled. When the value of P4-06 is a non-zero value, it indicates this function is enabled.
Page 246 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 09★ Output Status Display Communication Addr.: 0409H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.6 Unit: N/A Range: 0~0x1F Settings: External Control: Display the status of DO output signal Communication Control: Read the status of output signal The status of DO signal, please refer to P2-18 ~ P2-22.
Page 247 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 11 SOF1 Analog Speed Input Drift Adjustment 1 Communication Addr.: 040BH Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter.
Page 248 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 13 TOF1 Analog Torque Drift Adjustment 1 Communication Addr.: 040DH Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter.
Page 249 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 15 COF1 Current Detector Drift Adjustment (V1 phase) Communication Addr.: 040FH Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter.
Page 250 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 17 COF3 Current Detector Drift Adjustment (W1 phase) Communication Addr.: 0411H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter.
Page 251 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 19 TIGB IGBT NTC Calibration Communication Addr.: 0413H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 1~7 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary adjusting function, although this parameter allows the users can execute manual adjustment, we still do not recommend users to change the default setting manually.
Page 252 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series P4 - 22 Analog Speed Input Offset Communication Addr.: 0416H Default: 0 Related Section: N/A Applicable Control Mode: S Unit: mV Range: -5000~5000 Settings: In speed mode, the users can use this parameter to adjust analog speed input offset value manually.
Page 253 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Table 7.A Input Function Definition Setting Sign Digital Input Function Description Value Servo On. Switch servo to "Servo Ready". Check parameter P2-51. ARST Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST. Gain switching in speed and position mode.
Page 254 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Setting Sign Digital Input Function Description Value Position command selection 0 ~ 2 When the Pr mode is selected, the 8 stored positions are programmed via a combination of the POS 0, POS 1, and POS 2 commands. Command No.
Page 255 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Setting Sign Digital Input Function Description Value Speed / Torque mode switching (OFF: Speed, ON: Torque) (see section 6.5) Torque / Position mode switching (OFF: Torque, ON: Position) (see section 6.5) Emergency stop.
Page 256 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Setting Sign Digital Input Function Description Value Step down input. When STEPD is activated, STEPD the motor will run to previous position. Step back input. When STEPB is activated, STEPB the motor will return to first position.
Page 257 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Table 7.B Output Function Definition Setting Sign Digital Output Function Description Value Servo ready. SRDY is activated when the servo drive is ready to run. All fault and SRDY alarm conditions, if present, have been cleared.
Page 258 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 7 Servo Parameters|ASDA-A&A+ Series Setting Sign Digital Output Function Description Value Output overload warning. OLW is activated when the servo drive has detected that the motor has reached the output overload time set by parameter P1-56. t OL = Permissible Time for Overload x setting value of P1-56 When overload accumulated time (continuously overload time) exceeds the value of tOL, the overload warning signal will output, i.e.
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Page 260 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications Communication Hardware Interface The ASDA-A and ASDA-A+ series servo drives have three modes of communication: RS-232, RS-485, and RS-422. All aspects of control, operation and monitoring as well as programming of the controller can be achieved via communication.
Page 261 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series NOTE 1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or greater is required, the maximum length of the communication cable is 3m (9.84ft.) which will ensure the correct and desired baud rate.
Page 262 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series Cable Connection Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 263 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series NOTE 1) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a location where there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires.
Page 264 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series Communication Parameter Settings The following describes the communication addresses for the communication parameters. For communication parameters, please refer to the Chapter 7. Communication Addresses 0301, 0302, and 0305 have to be set identically for all the drives and devices to communicate correctly. 0300H Default: 1 Communication...
Page 265 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series 0302H Default: 0 Communication Range: 0~8 Protocol Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1> 3: Modbus ASCII mode, <8,N,2 > 4: Modbus ASCII mode, <8,E,1>...
Page 266 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series 0306H Digital Input Contact Control: Digital Input Default: 0 Communication Range: 0~FFFF (hexadecimal number) Function The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals. Input commands or signals through the DI can be either from an external source, through the CN 1 interface connector, or via communication, (RS-232, RS-485, RS-422).
Page 267 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series If the contents of P4-07 is being read via communication the output will be a decimal number that will represent the "binary" display. Therefore in the previous example the decimal number being read would be 113.
Page 268 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series MODBUS Communication Protocol When using RS-232/485/422 serial communication interface, each ASDA-A or ASDA-A+ series AC servo drive has a pre-assigned communication address specified by parameter “P3-00”. The computer then controls each AC servo drive according to its communication address.
Page 269 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series 11-bit character frame (For 8-bit 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 Communication Protocol: ASCII Mode:...
Page 270 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address) The valid communication addresses are in the range of 1 to 254. For example, communication to AC servo drive with address 16 decimal: ASCII Mode: ADR=’1’,’0’...
Page 271 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series RTU Mode: Command message: Response message: 02H (Upper bytes) Number of data Starting data address (Count by byte) 00H (Lower bytes) Contents of starting 00H (Upper bytes) Number of data data address (Count by word) B1H (Lower bytes)
Page 272 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series RTU Mode: Command message: Response message: 02H (Upper bytes) 02H (Upper bytes) Starting data Starting data address address 00H (Lower bytes) 00H (Lower bytes) 00H (Upper bytes) 00H (Upper bytes) Content of data Content of data 64H (Lower bytes)
Page 273 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (called CRC register) with FFFFH. Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register.
Page 274 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series The following is an example of CRC generation using C language. The function takes two arguments: unsigned char* data; unsigned char length The function returns the CRC value as a type of unsigned integer. unsigned int crc_chk(unsigned char* data, unsigned char length) { int j;...
Page 275 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series int I; outportb(PORT+MCR,0x08); /* interrupt enable */ outportb(PORT+IER,0x01); /* interrupt as data in */ outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) ); /* the BRDL/BRDH can be access as LCR.b7 == 1 */ outportb(PORT+BRDL,12);...
Page 276 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications|ASDA-A&A+ Series Communication Parameter Write-in and Read-out There are following five groups for parameters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communication parameter (example: P3-xx) Group 4: Diagnosis parameter...
Page 277 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 8 MODBUS Communications| ASDA-A&A+ Series Communication read-out parameters for ASDA-A and ASDA-A+ series are including: Group 0: P0-00 ~ P0-17 (0000H to 0011H) Group 1: P1-00 ~ P1-62 (0100H to 013EH) Group 2: P2-00 ~ P2-65 (0200H to 0241H) Group 3: P3-00 ~ P3-07 (0300H to 0307H) Group 4: P4-00 ~ P4-23 (0400H to 0417H) 8-18...
Page 278 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 9 Maintenance and Inspection Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is required to operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform a periodic maintenance and inspection of the AC servo drive by a qualified technician.
Page 279 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 9 Maintenance and Inspection|ASDA-A&A+ Series Item Content Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended.
Page 280 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 9 Maintenance and Inspection|ASDA-A&A+ Series Cooling fan The cooling fan life is limited and should be changed periodically. The cooling fan will reach the end of its life in 2~3 years when it is in continuous operation. However, it also must be replaced if the cooling fan is vibrating or there are unusual noises.
Page 281 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 9 Maintenance and Inspection|ASDA-A&A+ Series This page intentionally left blank. Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 282 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting If a fault is detected on the servo drive or motor a corresponding fault code will be shown on the drive's LED display. Fault codes can also be transmitted via communication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI.
Page 283 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series Fault Messages Display Fault Name Fault Description IGBT temperature error The temperature of IGBT is over high. Memory error EE-PROM write-in and read-out is in error. DSP communication The communication between DSP and MCU is in error. DSP do error not respond to MCU command.
Page 284 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series 10.2 Potential Cause and Corrective Actions Servo Drive Fault Messages : Overcurrent Potential Cause Checking Method Corrective Actions 1. Check the wiring connections between drive Short-circuit at drive Repair the short-circuited and avoid and motor.
Page 285 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series : Regeneration error Potential Cause Checking Method Corrective Actions Regenerative resistor is Check the wiring connection of regenerative Reconnect regenerative resistor. not connected. resistor. Regenerative switch Check if regenerative switch transistor is short- Please contact your distributor for transistor fault circuited.
Page 286 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series : Watch dog execution time out Potential Cause Checking Method Corrective Actions If there are any abnormal conditions after resetting the power Watch dog execution Check and reset the power supply. supply, please contact your error.
Page 287 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series : Forward (CCWL) limit switch error Potential Cause Checking Method Corrective Actions Forward limit switch is Check if forward limit switch is On or Off. Activate forward limit switch. activated. Servo system is not Check the value of control parameter setting Modify parameter setting and re-...
Page 288 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series : Serial communication time out Potential Cause Checking Method Corrective Actions Setting value in time Check communication time out parameter out parameter is not Correctly set P3-07. setting. correct. Not receiving Tighten the communication cable, communication Check whether communication cable is loose...
Page 289 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series : DSP communication error Potential Cause Checking Method Corrective Actions If the error does not clear after resetting the power supply, please Maybe the hardware is Check and reset control power damaged.
Page 290 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series 10.3 Clearing Faults Display Fault Name Clearing Method Turn ARST (DI signal) ON to clear the fault or Overcurrent restart the servo drive. Turn ARST (DI signal) ON to clear the fault or Overvoltage restart the servo drive.
Page 291 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 10 Troubleshooting|ASDA-A&A+ Series Display Fault Name Clearing Method Turn ARST (DI signal) ON to clear the fault or Command write-in error restart the servo drive. Turn ARST (DI signal) ON to clear the fault. This Input power phase loss fault message can be removed automatically after input power phase lost problem is solved.
Page 292 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-A Series) 100W 200W 400W 750W 1.5kW ASDA-A Series Three-phase Phase / Voltage Three-phase or Single-phase 220VAC 220VAC Three-phase: 170 ~ 255VAC Permissible Voltage Range 170 ~ 255VAC...
Page 293 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 100W 200W 400W 750W 1.5kW ASDA-A Series Voltage Range 0 ~ ±10 V Analog Input Input 10KΩ Command Resistance Time Constant 2.2 us Command Source External analog signal / Internal parameters...
Page 294 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Footnote: Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause). When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed –...
Page 295 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.2 Specifications of Servo Drive (ASDA-A+ Series) 4.5kW 5.5kW 7.5kW ASDA-A+ Series Phase / Voltage Three-phase 220VAC Permissible Voltage Range 170 ~ 255VAC Permissible Frequency 50／60Hz ±5% Range Cooling System Fan Cooling Feedback Resolution 1280000 p／rev...
Page 296 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 4.5kW 5.5kW 7.5kW ASDA-A+ Series Analog Monitor Output Monitor signal can set by parameters (Output voltage range: ±8V) Servo On, Reset, Gain switching, Pulse clear, Zero speed CLAMP, Speed/Torque limit enabled, Emergency stop, Forward / Reverse inhibit limit, Position / Speed mode switching, Speed / Torque mode Input switching, Torque / Position mode switching, Feed step selection...
Page 297 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.3 Low Inertia Servo Motor Specifications (ASMT L Series) 100W 200W 400W 750W Model: ASMT L250 Rated output power (kW) 0.75 Rated torque (N-m) 0.318 0.64 1.27 2.39 Maximum torque (N-m) 0.95 1.91 3.82...
Page 298 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 100W 200W 400W 750W Model: ASMT L250 IP65 (when waterproof connectors are used, or when an oil seal is used IP Rating to be fitted to the rotating shaft (an oil seal model is used)) IEC60034-1, UL1004 Approvals 11-7...
Page 299 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.4 Medium Inertia Servo Motor Specifications (ASMT M Series) 1.5kW Model: ASMT M250 Rated output power (kW) Rated torque (N-m) 7.16 14.3 Maximum torque (N-m) 15.7 21.5 23.5 35.8 Rated speed (r/min) 2000 Maximum speed (r/min) 3000...
Page 300 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 1.5kW Model: ASMT M250 IP65 (when waterproof connectors are used, or when an oil seal is used IP Rating to be fitted to the rotating shaft (an oil seal model is used)) IEC60034-1, UL1004 Approvals 11-9...
Page 301 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.5 Medium and Medium / High Inertia Servo Motor Specifications (ECMA Series) E218 F218 Model: ECMA Series Rated output power (kW) Rated torque (N-m) 16.71 19.10 28.65 35.01 47.74 Maximum torque (N-m) 50.13 57.29 71.62...
Page 302 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.6 Servo Motor Speed-Torque Curves (T-N Curves) Low Inertial Servo Motor Speed-Torque Curves (ASMT L Series) 11-11 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 303 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Medium and Medium / High Inertial Servo Motor Speed-Torque Curves (ASMT M Series) (ECMA Series) 11-12 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 304 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.7 Overload Characteristics Overload Protection Function Overload protection is a built-in protective function to prevent a motor from overheating. Occasion of Overload 1. Motor was operated for several seconds under a torque exceeding 100% torque. 2.
Page 305 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Chart of load and operating time (Medium and Medium / High Inertia Servo Motor) (ASMT M Series) (ECMA Series) 11-14 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 306 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.8 Dimensions of Servo Drive Order P/N: ASD-A0121LA; ASD-A0221LA; ASD-A0421LA (100W ~ 400W) 75(2.95) 69(2.72) 64(2.52) 70(2.76) 140(5.51) LABEL LABEL PE TERMINIAL 68.8(2.71) SCREW : M4x 0.7 MOUNTING SCREW TORGUE :14 (kgf-cm) WEIGHT 1.5 (3.3) NOTE...
Page 307 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Order P/N: ASD-A0721LA; ASD-A1021 A; ASD-A1521 A (750W ~ 1.5kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
Page 308 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Order P/N: ASD-A2023 A; ASD-A3023 A (2kW ~ 3kW) 70(2.76) 206(8.11) 110(4.33) 91.2(3.59) LABEL LABEL PE TERMINIAL 91(3.58) SCREW : M4x 0.7 MOUNTING SCREW TORGUE :14 (kgf-cm) WEIGHT 3.0 (6.6) NOTE 1) Dimensions are in millimeters (inches);...
Page 309 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Order P/N: ASD-A4523-B (4.5kW) WEIGHT 3.0 (6.6) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
Page 310 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Order P/N: ASD-A5523-B (5.5kW) WEIGHT 5.5 (12.1) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
Page 311 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Order P/N: ASD-A7523-B (7.5kW) WEIGHT 8.0 (17.6) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
Page 312 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.9 Dimensions of Low Inertia Servo Motor (ASMT L Series) BRAKE Model ASMT01L250 ASMT02L250 ASMT04L250 ASMT07L250 8h6 +0.0 –0.009 14h6 +0.0 –0.011 14h6 +0.0 –0.011 19h6 +0.0 –0.013 30h7 +0.0 –0.021 50h7 +0.0 –0.025 50h7 +0.0 –0.025 70h7 +0.0 –0.030...
Page 313 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series BRAKE BRAKE Model ASMT10L250 ASMT20L250 ASMT30L250 115 +0.2 –0.2 115 +0.2 –0.2 145 +0.2 –0.2 22h6 +0.0 –0.013 22h6 +0.0 –0.013 24h6 +0.0 –0.013 95h7 +0.0 –0.035 95h7 +0.0 -0.035 110h7 +0.0 –0.035 F (without brake) F (with brake)
Page 314 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.10 Dimensions of Medium Inertia Servo Motor (ASMT M Series) Model ASMT10M250 ASMT15M250 ASMT20M250 ASMT30M250 13.5 13.5 145 +0.2 –0.2 145 +0.2 –0.2 200 +0.2 –0.2 200 +0.2 –0.2 22h6 +0.0 –0.013 22h6 +0.0 –0.013 35h6 +0.0 –0.016 35h6 +0.0 –0.016...
Page 315 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series 11.11 Dimensions of Medium / High Inertia Servo Motor (ECMA Series) Model ECMA-F21830 S ECMA-E21835 S ECMA-F21845 S 13.5 13.5 13.5 114.3 114.3 114.3 202.1 202.1 235.3 M12, Depth25 M12, Depth25 M12, Depth25 Weight (without brake) 18.5（40.79）...
Page 316 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series Model ECMA-F21855 3 ECMA-F21875 3 13.5 13.5 114.3 114.3 279.7 342.0 108.5 108.5 M16, Depth32 M16, Depth32 Weight (without brake) 30.5（67.24） 37.0（81.57） Weight (with brake) 36.0（79.37） 47（103.62） NOTE 1) Dimensions are in millimeters. Weights are in kilograms (kg) and (pounds (lbs)). 2) Dimensions and weights of the servo motor may be revised without prior notice.
Page 317 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 11 Specifications|ASDA-A&A+ Series This page intentionally left blank. 11-26 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 318 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples 12.1 Position Control (including homing function) Suppose that the machine will move to limit switch (CCWL), L.S.1 when motor is in forward rotation (from motor shaft view) and the machine will move to limit switch (CWL), L.S.2 when motor is in reverse rotation, if limit switch is set, L.S.1 as “Home”, the machine will be positioned between P1 and P2 according to working procedure.
Page 319 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting); P1-48, P1-49 (Speed setting of high/low speed Homing) Operation Re-start the power to be ON again. After Servo ready is completed, activate the drive to be Servo ON. Then, the system will automatically complete home operation.
Page 320 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 12.2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered every time (10000/4=2500Pulse). Parameters Setting P1-01=1 (Position control (Pr) mode setting) P2-10=101 (Servo On (SON), default: DI1) P2-11=108 (Command triggered (CTRG), default: DI2) P1-15=0 (Position rotation number is 0(zero)) P1-16=2500 (Position rotation pulse number)
Page 321 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series 12.3 Connecting to Delta DVP-EH Series PLC Delta servo drives can be connected to Delta DVP-EH series PLC and provide functions including: home, JOG operation, acceleration/deceleration setting, relative position control, absolute position control and pulse numbers monitor.
Page 322 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Repeat this position control operation. R ST R ST R ST S ET ZE R O ( M1334 ) Stop ch0 STOP pulse output M 1000 ( M1346 ) ZRN CL EAR N ormally on contact (a contact) output signal...
Page 323 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series M1 2 REV POS M1 3 REV POS M1 2 JOG+ M1 3 JOG+ M1 2 JOG- M1 3 JOG- M 50 D ZRN K50000 K5 000 ZERO M1 0 PLSY Y0 instru ction exec ution completed flag M 50 M1 336...
Page 324 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series S1 0 D DRVI K9 99999 K3 0000 JOG+ JOG- M1 336 S 10 Ch 0 pulse s end fl a g J OG+ M1000 ( M 51 ) N ormally on contact (a contac t) M1 029 M1029...
Page 325 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series S1 3 D DRVA K1000 00 K1 0000 RE V POS M1029 M 13 P LSY Y0 in structi o n exec ution comple ted flag M101 M1 336 S 13 Ch 0 pulse s end fl a g REV POS...
Page 326 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 12.4 Connecting to Delta TP04 Series Delta servo drives can be connected to Delta TP04 Series Operation Interface Panel and provide functions including: Home, JOG operation, Position learning function, Relative position control, Absolute position control, Monitor and parameter settings.
Page 327 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series 12-10 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 328 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 12.5 Position Control Mode (Pr Mode) Relevant Parameters Description Communication Parameter Parameter Description Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33 0121H Position Control Mode (Pr)
Page 329 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Trigger Timing Charts Timing Chart of Internal Position Register Selection Inter nal pos i tion Inter nal pos i tion c omman d c omman d POS0 POS0 O FF O FF PO S1 PO S1...
Page 330 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Command Abort Timing Chart: To use command abort function, set parameter P2-50 to 2. At this time, if CCLR signal is ON when the motor is running, the motor will decelerate first and stop according to the deceleration time which is set by parameter P1-34 ~ P1-36 and the remaining pulses will be aborted.
Page 331 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series 12.6 Feed Step Control Relevant Parameters Description Communication Parameter Parameter Description Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-12 010CH Torque Limit Setting...
Page 332 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Communication Parameter Parameter Description Address P1-50 0132H Homing Offset Rotation Number P1-51 0133H Homing Offset Pulse Number Total homing offset pulse number =P1-50 x 10000 + P1-51 P1-55 0137H Maximum Speed Limit P2-36...
Page 333 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series DO Signal Parameter Setting Explanation P2-18 = 101 P2-19 = 103 Please refer to “Definition of DO Signals” in the P2-20 = 109 following section. P2-21 = 105 P2-22 = 107 NOTE 1) Please set parameter P2-08 to 12 before changing the setting value of DI and DO signals.
Page 334 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Definitions of INDEX0~4 (ON=1, OFF=0) Item INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 INDEX NUMBER INDEX 1 INDEX 2 INDEX 3 INDEX 4 INDEX 5 INDEX 6 INDEX 7 INDEX 8 INDEX 9 INDEX 10 INDEX 11...
Page 335 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Definitions of DO Signals (ON=1, OFF=0) Item Description ALRAM SERVO READY HOMING (under operation) HOME Completed CHANGE INDEX (under operation) INDEX 1 (In position) INDEX 2 (In position) INDEX 3 (In position) INDEX 4 (In position) INDEX 5 (In position) INDEX 6 (In position)
Page 336 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 3) When return back to “Home” (Homing), DO=2 4) When returning back to “Home” is completed, DO=3 5) When feed step function is undergoing, DO=4 6) When feed step function is completed (In position), the corresponding INDEX NUMBER will display, and DO=nn 7) Feed step output position = DO value - 4 (Example: if DO=7, the feed step output position =7 - 4 = 3) 8) When returning to HOME, if DO=1 (SERVO READY) after any abnormal conditions are removed, it is...
Page 337 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Feed Step Control Mode Power Supply DO VALUE INDEX 2 (06) INDEX 6 (0A) P2-45 Motor Speed Servo ON Torque Limit IDX Value 10 Step No. 2 Step No. 6 Step No.
Page 338 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Manually Single Step Control Mode 1 Power Supply DO VALUE INDEX 2 INDEX 3 INDEX4 P2-45 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 manually feed manually feed forward forward...
Page 339 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Manually Single Step Control Mode 2 Power Supply DO VALUE INDEX 2 INDEX 3 INDEX 4 INDEX 3 INDEX4 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 manually feed forward MDP0...
Page 340 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Manually Continuous Step Control Mode Power Supply DO VALUE INDEX 2 INDEX 3 INDEX 4 INDEX 5 INDEX4 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 manually feed forward MDP1...
Page 341 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Communication Control Example Explanation Communication Address Communication Content Explanation H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H020...
Page 342 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 12.7 Internal Auto Running Mode Relevant Parameters Description Communication Parameter Parameter Description Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33 0121H Position Control Mode (Pr)
Page 343 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series When the setting value of the time listed below is set to zero(0), the relative position will be ignored. Positioning Point Position Command Register Moving Speed Register Dwell Time Register INDEX1 ( P1-15, P1-16 ) P2-36 (V1)
Page 344 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Definitions of DO Signals (ON:1, OFF:0) Item Function ALARM SERVO READY HOMEING (under operation) HOME Completed CHANGE INDEX (under operation) (CHANGE INDEX hereinafter called “CI”) INDEX 1 (In position) INDEX 2 (In position) INDEX 3 (In position) INDEX 4 (In position)
Page 345 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series (2) Auto Running Mode Power Supply IDX1 IDX2 IDX8 DO VALUE HOME (3) INDEX4 Motor Speed Servo ON AUTOR OFF Manual Control Mode 1 Power Supply DO VALUE HOME (3) IDX1 IDX2 IDX3...
Page 346 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Manual Control Mode 2 Power Supply DO VALUE IDX1 IDX1 IDX2 INDEX4 Motor Speed Servo ON AUTOR STEPB 12-29 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 347 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series 12.8 Homing Function Relevant Parameters Description Communication Parameter Parameter Description Address P1-47 012FH Homing Mode A: Home Sensor Type and Homing Direction B: Homing Moving Method C: Homing Enable Setting D: Homing Stop Setting No use...
Page 348 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series A=2: Forward homing and ORGP (Reference “Home” sensor) is regarded as a reference “Home”. At this time, users can set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as a precise mechanical “Home”...
Page 349 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series D: Homing Stop Setting D=0: After detecting “Home”, the motor will decelerate and return to “Home”. After get the home sensor signal in 2nd step speed operation, the motor will decelerate and stop. After the servo motor stops, the then move to the position of mechanical “Home”.
Page 350 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 2. Enable homing function by input contact (SHOM) (C=2) POWER SERVO READY SERVO HOME TRIGGER refer to homing timing chart HOMING HOMING COMPLETED time Homing Timing Charts 1. B/A = 0/0 or B/A = 0/2 SPEED Position Z pulse...
Page 351 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series 2. B/A = 0/1 or B/A = 0/3 SPEED Position Z pulse CWL / ORGP 3. B/A = 1/2 SPEED Position Z pulse ORGP 4. B/A = 1/3 SPEED Position Z pulse ORGP...
Page 352 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 5. B/A = 2/2 SPEED Position ORGP 6. B/A = 2/3 SPEED Position ORGP 7. B/A = 2/4 SPEED Position Z pulse 12-35 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 353 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series 8. B/A = 2/5 SPEED Position Z pulse 12-36 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 354 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series 12.9 External Controller Connection Examples Connecting to Delta DVP-EH PLC 12-37 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 355 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Connecting to Delta DVP-01PU 12-38 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 356 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Connecting to Mitsubishi FX1PG 12-39 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 357 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series Connecting to Mitsubishi FX2N1PG 12-40 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 358 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples |ASDA-A&A+ Series Connecting to Mitsubishi AD75 12-41 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 359 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Chapter 12 Application Examples|ASDA-A&A+ Series This page intentionally left blank. 12-42 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 360 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories Power Connectors Delta Part Number: ASD-CAPW0000 Housing: AMP 350780-1 Terminal: AMP 350537-3 Delta Part Number: ASD-CAPW0100 Housing: AMP 350781-1 UVW Terminal: AMP 350537-3 Brake Terminal: AMP 350570-3 Delta Part Number: ASD-CAPW1000 CLAMP: MS3057-12A Straight Plug MS 3106-20-18S Revision April 2009...
Page 361 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Delta Part Number: ASD-CAPW2000 (for models of 4.5kW and below) CLAMP: MS3057-16A Straight Plug MS 3106-24-11S Delta Part Number: ASD-CAPW4000 (for models of 5.5kW and above) CLAMP: WPS3057-20A Motor Brake Connector: ASD-CNBR1000 (for models of 5.5kW and above) CLAMP: WPS3106A 10SL-4S-R 10SL-4S Power Cables...
Page 362 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Delta Part Number: ASD-CAPW0103, ASD-CAPW0105 (50mm) (1.97 inch) (80mm) (3.15 inch) Title Part No. inch ASD-CAPW0003 3000 ± 10 118 ± 0.4 5000 ± 10 197 ± 0.4 ASD-CAPW0005 Delta Part Number: ASD-CAPW1003, ASD-CAPW1005 (50mm) (1.97 inch) (80 mm)
Page 363 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Delta Part Number: ASD-CAPW1103, ASD-CAPW1105 (50mm) (1.97 inch) (80 mm) (3.15 inch) Title Part No. Straight inch ASD-CAPW1103 MS 3106-20-18S 3000 ± 10 118 ± 0.4 5000 ± 10 197 ± 0.4 ASD-CAPW1105 MS 3106-20-18S Delta Part Number: ASD-CAPW1203, ASD-CAPW1205...
Page 364 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Delta Part Number: ASD-CAPW1303, ASD-CAPW1305 (80 mm) (3.15 inch) (100 mm) (3.94 inch) Title Part No. Straight inch 3000 ± 10 118 ± 0.4 ASD-CAPW1303 MS 3106-20-18S ASD-CAPW1305 MS 3106-20-18S 5000 ±...
Page 365 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Delta Part Number: ASD-CAPW2303, ASD-CAPW2305 (cable for motors with brake) (for models of 3kW and below) (80mm) (3.15 inch) (100 mm) (3.94 inch) Title Part No. Straight inch 3000 ± 10 118 ±...
Page 366 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Power Cables: ASD-CAPW3303, ASD-CAPW3305 (cable for motors with brake) (for 4.5kW model) Item Part No. Straight inch inch ASD-CAPW3303 MS 3106-24-11S 3000 ± 10 118 ± 0.4 3100 ± 10 122 ±...
Page 367 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Encoder Cables Delta Part Number: ASD-CAEN0003, ASD-CAEN0005 (32 mm) (20 mm) (1.3 inch) (0.787 inch) Title Part No. inch 3000 ± 10 118 ± 0.4 ASD-CAEN0003 ASD-CAEN0005 5000 ± 10 197 ±...
Page 368 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Communication Cable between Drive and Computer (for PC) Delta Part Number: ASD-CARS0003 Title Part No. inch ASD-CARS0003 3000 ± 10 118 ± 0.4 Terminal Block Module Delta Part Number: ASD-BM-50A Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com...
Page 369 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Servo Drive, Servo Motor and Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive ASD-A0121LA Low Inertia ASMT-01L250A ASMT-01L250B Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable...
Page 370 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series 750W Servo Drive and 750W Low Inertia Servo Motor Servo Drive ASD-A0721LA Low Inertia ASMT-07L250A ASMT-07L250B Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW0003...
Page 371 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series 1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor Servo Drive ASD-A1521MA Medium inertia ASMT-15M250A ASMT-15M250B Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1003...
Page 372 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series 3kW Servo Drive and 3kW Low Inertia Servo Motor Servo Drive ASD-A3023LA Low Inertia ASMT-30L250A ASMT-30L250B Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1203...
Page 373 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series 4.5kW Servo Drive and 4.5kW High / Medium Inertia Servo Motor Servo Drive ASD-A4523-B Medium / High Inertia ECMA-F21845 S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable...
Page 374 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series Regenerative Resistor Specifications ASDA-A Series Servo Drive Recommended Specifications for Built-in Recommended Regenerative Resistor Servo Drive Specifications for Min. Allowable (kW) External Regenerative Resistance (Ohm) Resistance (Ohm) Capacity (Watt) Resistor...
Page 375 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix A Accessories|ASDA-A&A+ Series This page intentionally left blank. A-16 Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 376 EMI Filters Molded-case Circuit Breaker and Fuse Current Recommended Value Caution: Please use molded-case circuit breaker and fuse which are recognized by and comply with the UL or CSA standards. ASDA-A Series Servo Drive Model Name Breaker Fuse (Class T)
Page 377 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix B Accessories|ASDA-A&A+ Series AC Servo Drive - EMI Filter Cross Reference ASDA-A Series Servo Drive Item Power Servo Drive Model Recommended EMI Filter FootPrint 16DRT1W3S（1-phase） 100W ASD-A0121LA 10TDT1W4C（3-phase） 16DRT1W3S（1-phase） 200W ASD-A0221LA 10TDT1W4C（3-phase） 16DRT1W3S（1-phase）...
Page 378 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix B Accessories|ASDA-A&A+ Series General Precaution To ensure the best interference elimination performance when using Delta’s EMI filter, please follow the guidelines in this user manual to perform wiring and/or installation. In addition, please also observe the following precautions: EMI filter and AC servo drive should be installed on the same metal plate.
Page 379 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix B Accessories|ASDA-A&A+ Series Saddle on both ends Saddle on one end Figure 2 Dimensions Delta Part Number: 08TDT1W4S Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 380 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix B Accessories|ASDA-A&A+ Series Delta Part Number: 10TDT1W4C Delta Part Number: 16DRT1W3S Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 381 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix B Accessories|ASDA-A&A+ Series Delta Part Number: 20TDT1W4D Delta Part Number: 26TDT1W4C Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 382 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix B Accessories|ASDA-A&A+ Series Delta Part Number: RF075M43BA Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...
Page 383 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com Appendix B Accessories|ASDA-A&A+ Series This page intentionally left blank. Revision April 2009 Call 1(800)985-6929 for Sales deltaacdrives.com sales@deltaacdrives.com...

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Asda-a+ series Asd-a4523-b Asd-a5523-b Asd-a7523-b Asd-a0121la Asd-a0221la ... Show all

Delta Electronics ASDA-A Series User Manual

Chapter 1 Unpacking Check and Model Explanation

Chapter 2 Installation and Storage

Chapter 3 Connections and Wiring

Chapter 4 Display and Operation

Chapter 5 Trial Run and Tuning Procedure

Chapter 6 Control Modes of Operation

Chapter 7 Parameters

Chapter 11 Specifications

Chapter 12 Application Examples

Appendix A Accessories

Appendix B Molded-Case Circuit Breaker, Fuse Current and EMI Filters

Quick Links

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Summary of Contents for Delta Electronics ASDA-A Series

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