Table Of Contents - Delta Electronics ASDA-A Series User Manual

Table of Contents

Using This Manual2
Safety Information3
Table Of Contents6
Chapter 1 Unpacking Check And Model Explanation14
Nameplate Information15
Serial Number Explanation15
Model Explanation15
Asda-A+ Series Servo Drive Identification16
Ecma Series Servo Motor Identification16
Unpacking Check And Model Explanation|Asda-A&A+ Series17
Model Name Explanation17
Servo Drive And Servo Motor Combinations20
Servo Drive Features22
Product View And Parts Identification22
Control Modes Of Servo Drive26
Installation Notes28
Storage Conditions28
Chapter 2 Installation And Storage28
Installation Conditions29
Installation Procedure And Minimum Clearances30
Drive Mounting30
Motor Mounting30
Side By Side Installation32
Connecting To Peripheral Devices34
Chapter 3 Connections And Wiring34
Servo Drive Connectors And Terminals37
Wiring Notes38
Wiring Methods39
Three-Phase Power Supply Connection40
Motor Power Cable Connector Specifications41
Encoder Connector Specifications43
Cable Specifications For Servo Drive44
Basic Wiring46
Input / Output Interface Connector - Cn150
Cn1 Terminal Identification50
Cn1 Terminal Signal Identification51
Signals Explanation Of Connector Cn152
Do Signals53
Di Signals55
Source Of Position Command58
Source Of Speed Command58
Source Of Torque Command58
Default Di Signals And Control Modes59
Default Do Signals And Control Modes61
User-Defined Di And Do Signals62
Wiring Diagrams Of I/O Signals (Cn1)63
Npn Transistor With Multiple Emitter Fingers (Sink Mode)66
Pnp Transistor With Multiple Emitter Fingers (Source Mode)66
Encoder Connector Cn268
The Layout Of Cn2 Drive Connector68
Cn2 Terminal Signal Identification69
Serial Communication Connector Cn370
Cn3 Terminal Layout And Identification70
Connection Between Pc/Keypad And Connector Cn371
Standard Connection Example72
Position (Pt) Control Mode72
Position (Pr) Control Mode73
Speed Control Mode74
Torque Control Mode75
Description Of The Digital Keypad76
Chapter 4 Display And Operation76
Display Flowchart78
Keypad Operation78
Status Display79
Save Setting Display79
Fault Message Display79
Polarity Setting Display79
Monitor Setting Display80
Fault Code Display Operation82
Jog Operation82
General Function Operation82
Position Learning Operation83
Force Output Control Operation85
Di Diagnosis Operation86
Do Diagnosis Operation86
Inspection Without Load88
Chapter 5 Trial Run And Tuning Procedure88
Applying Power To The Drive90
Turn The Power On90
Over Voltage91
Encoder Error91
Emergency Stop Activated91
Reverse Limit Switch Error92
Forward Limit Switch Error92
Overcurrent93
Undervoltage93
Jog Trial Run Without Load94
Speed Trial Run Without Load96
Position Trial Run Without Load98
Tuning Procedure101
Tuning Flowchart102
Load Inertia Estimation Flowchart103
Easy Mode Tuning Flowchart104
Stiffness Setting In Easy Mode And Setting Of P2-00, P2-25106
Automode (Pi) Tuning Flowchart107
Automode (Pdff) Tuning Flowchart109
Limit Of Load Inertia Estimation111
Relationship Between Tuning Modes And Parameters111
Gain Adjustment In Manual Mode112
Kpp, Parameter P2-00 Proportional Position Loop Gain112
Kvp, Parameter P2-04 Proportional Speed Loop Gain112
Kvi, Parameter P2-06 Speed Integral Compensation113
Nlp, Parameter P2-25 Low-Pass Filter113
Dst, Parameter P2-26 External Anti-Interference Gain113
Pfg, Parameter P2-02 Position Feed Forward Gain113
Control Modes Of Operation114
Chapter 6 Control Modes Of Operation114
Position Control Mode115
Command Source Of Position (Pt) Control Mode115
Command Source Of Position (Pr) Control Mode117
Structure Of Position Control Mode118
S-Curve Filter For Position Control119
Pulse Inhibit Input Function (Inhibit)119
Acceleration Time121
Deceleration Time121
Accel /Decel S-Curve121
Electronic Gear Ratio122
Low-Pass Filter123
Smooth Constant Of Position Command (Low-Pass Filter)123
Timing Chart Of Position (Pr) Control Mode124
Position Loop Gain Adjustment124
Proportional Position Loop Gain125
Position Feed Forward Gain125
Command Source Of Speed Control Mode127
Structure Of Speed Control Mode128
Smoothing Strategy Of Speed Control Mode129
S-Curve Filter129
Accel / Decel Smooth Constant Of Analog Speed Command131
Analog Speed Command S-Curve Filter131
Analog Speed Input Scaling132
Timing Chart Of Speed Control Mode133
Speed Loop Gain Adjustment133
Tuning Mode Selection134
Proportional Speed Loop Gain135
Manual Mode135
Speed Integral Compensation136
Speed Feed Forward Gain136
Easy Mode138
Auto Mode Responsiveness Level139
Auto Mode (Continuous Adjustment)140
Resonance Suppression141
Notch Filter (Resonance Suppression)141
Notch Filter Attenuation Rate (Resonance Suppression)141
Low-Pass Filter Time Constant (Resonance Suppression)141
Notch Filter143
Use Notch Filter To Suppress Resonance143
Use Low-Pass Filter To Suppress Resonance143
Command Source Of Torque Control Mode144
Structure Of Torque Control Mode145
Smoothing Strategy Of Torque Control Mode145
Analog Torque Input Scaling146
Max. Analog Torque Command Or Limit146
Timing Chart Of Torque Control Mode147
Control Modes Selection148
Speed / Position Control Mode Selection148
Speed / Torque Control Mode Selection149
Torque / Position Control Mode Selection149
Speed Limit151
Torque Limit151
Others151
Regenerative Resistor152
Regenerative Power Calculation Method153
Simple Calculation Method155
Analog Monitor157
Pulse Output Polarity Setting158
Analog Monitor Output Proportion158
Analog Monitor Output Drift Adjustment158
Electromagnetic Brake160
Servo Parameters164
Abbreviation Of Control Modes164
Explanation Of Symbols (Marked After Parameter)164
Chapter 7 Parameters164
Definition164
Parameter Summary165
Parameters List By Group165
Basic Parameters166
Extension Parameters168
Communication Parameters170
Diagnosis Parameters171
Parameters List By Function172
Monitor And General Use172
Smooth Filter And Resonance Suppression173
Gain And Switch174
Position Control175
Speed Control177
Torque Control178
Digital I/O179
Communication180
Diagnosis181
Detailed Parameter Listings183
Group 0: P0-Xx Monitor Parameters183
Firmware Version183
Drive Fault Code183
Drive Status184
Analog Monitor Output185
Status Monitor185
Block Data Read / Write Register187
Servo Output Status Display188
Group 1: P1-Xx Basic Parameters190
External Pulse Input Type190
Control Mode And Output Direction191
Speed And Torque Limit192
Accel/Decel Smooth Constant Of Analog Speed Command193
Smooth Constant Of Analog Torque Command (Low-Pass Filter)194
1St Speed Command Or Limit194
2Nd Speed Command Or Limit194
3Rd Speed Command Or Limit195
1St Torque Command Or Limit195
2Nd Torque Command Or Limit195
3Rd Torque Command Or Limit196
1St Position Command For Rotation196
1St Position Command For Pulse196
2Nd Position Command For Rotation197
2Nd Position Command For Pulse197
3Rd Position Command For Rotation197
3Rd Position Command For Pulse197
4Th Position Command For Rotation198
4Th Position Command For Pulse198
5Th Position Command For Rotation198
5Th Position Command For Pulse198
6Th Position Command For Rotation199
6Th Position Command For Pulse199
7Th Position Command For Rotation199
7Th Position Command For Pulse199
8Th Position Command For Rotation200
8Th Position Command For Pulse200
Motor Stop Mode Selection200
Position Control Mode (Pr)201
Ratio Of Load Inertia To Servo Motor Inertia202
Zero Speed Range Setting203
Target Motor Speed203
Max. Analog Speed Command Or Limit203
On Delay Time Of Electromagnetic Brake204
Off Delay Time Of Electromagnetic Brake204
Electronic Gear Ratio (1St Numerator) (N1)205
Electronic Gear Ratio (Denominator)205
Encoder Output Pulse Number206
Homing Mode207
1St Speed Setting Of High Speed Homing208
2Nd Speed Setting Of Low Speed Homing208
Homing Offset Rotation Number209
Homing Offset Pulse Number209
Regenerative Resistor Value209
Regenerative Resistor Capacity210
Positioning Completed Width210
Maximum Speed Limit210
Output Overload Warning Time211
Analog Speed Linear Filter212
High Resolution Electronic Gear Ratio212
High Resolution Output Pulse Number213
Delay Time Of Internal Position Command Completed Output Signal213
Position Loop Gain Switching Rate214
Smooth Constant Of Position Feed Forward Gain Communication215
Speed Loop Gain Switching Rate215
Special Factory Setting216
Bounce Filter217
Digital Input Terminal217
Digital Output Terminal219
External Anti-Interference Gain221
Gain Switching Control Selection221
Gain Switching Time Constant222
Gain Switching Condition222
Auxiliary Function222
Easy Setting Of Input Filter225
Overspeed Warning Condition225
Excessive Error Warning Condition225
Moving Speed Setting Of 1-4 Position226
Moving Speed Setting Of 5-8 Position227
Digital Output Mode Setting228
Combination Output Signal Delay Time228
Feed Step Number228
Position Deviation Clear Delay Time229
Backlash Compensation Of Feed Step Control229
Speed Detection Filter And Jitter Suppression230
Pulse Deviation Clear Mode230
Servo On231
Timer 0-7 Of Auto Mode231
Proportion Value Setting234
Torque Limit Mixed Mode235
Special Function236
Group 3: P3-Xx Communication Parameters239
Communication Address Setting239
Transmission Speed239
Communication Protocol240
Transmission Fault Treatment240
Communication Time Out Detection241
Communication Selection241
Digital Input Communication Function242
Communication Response Delay Time242
Group 4: P4-Xx Diagnosis Parameters243
Fault Record243
Force Output Control245
Input Status Or Force Input Control245
Digital Keypad Input Of Servo Drive245
Output Status Display246
Adjustment Function246
Analog Speed Input Drift Adjustment247
Analog Torque Drift Adjustment248
Current Detector Drift Adjustment249
Igbt Ntc Calibration251
Analog Speed Input Offset252
Analog Torque Input Offset252
Input Function Definition253
Digital Input Function Description253
Output Function Definition257
Digital Output Function Description257
Modbus Communications260
Communication Hardware Interface260
Communication Parameter Settings264
Modbus Communication Protocol268
Code Description268
Data Format268
Ascii Mode270
Rtu Mode271
Lrc (Ascii Mode)272
Crc (Rtu Mode)273
Pc Communication Program Example274
Communication Parameter Write-In And Read-Out276
Maintenance And Inspection278
Life Of Replacement Components279
Troubleshooting282
Fault Messages Table282
Servo Drive Fault Messages282
Servo Drive Fault Messages (Asda-A+ Series Only)283
Potential Cause And Corrective Actions284
Overvoltage284
Regeneration Error285
Overload/Overspeed285
Abnormal Pulse Control Command285
Excessive Deviation285
Watch Dog Execution Time Out286
Encoder Error (Position Detector Fault)286
Adjustment Error286
Emergency Stop Activated/Reverse (Cwl) Limit Switch Error286
Forward (Ccwl) Limit Switch Error287
Igbt Temperature Error/Memory Error287
Dsp Communication Error287
Serial Communication Error287
Serial Communication Time Out/Command Write-In Error288
Input Power Phase Loss288
Pre-Overload Warning288
Internal Command Execution Time Out288
"Mismatch" Error289
Clearing Faults290
Specifications Of Servo Drive (Asda-A Series)292
Chapter 11 Specifications292
Specifications Of Servo Drive (Asda-A+ Series)295
Low Inertia Servo Motor Specifications (Asmt L Series)297
Medium Inertia Servo Motor Specifications (Asmt M Series)299
Medium And Medium / High Inertia Servo Motor Specifications (Ecma Series)301
Servo Motor Speed-Torque Curves (T-N Curves)302
Overload Characteristics304
Overload Protection Function304
Occasion Of Overload304
Chart Of Load And Operating Time (Low Inertia Servo Motor)304
Chart Of Load And Operating Time305
Dimensions Of Servo Drive306
Dimensions Of Low Inertia Servo Motor (Asmt L Series)312
Dimensions Of Medium Inertia Servo Motor (Asmt M Series)314
Dimensions Of Medium / High Inertia Servo Motor (Ecma Series)315
Position Control (Including Homing Function)318
Parameters Setting318
Chapter 12 Application Examples318
Roller Feeding320
Connecting To Delta Dvp-Eh Series Plc321
Connecting To Delta Tp04 Series326
Position Control Mode (Pr Mode)328
Trigger Timing Charts329
Timing Chart Of Internal Position Register Selection329
Hold Timing Chart329
Command Abort Timing Chart330
Feed Step Control331
Digital I/O Signal Setting332
Mode Functions333
Definitions Of Index0~4 (On=1, Off=0)334
Definitions Of Do Signals (On=1, Off=0)335
Timing Charts Of Di/Do Signals Operation336
Internal Auto Running Mode342
Homing Function347
Explanation Of Homing Mode347
Home Sensor Type And Homing Direction347
Homing Moving Method348
Homing Enable Setting348
Recommended Homing Modes349
Homing Timing Charts349
Homing Stop Setting349
Timing Charts Of Enable Homing Mode349
External Controller Connection Examples354
Accessories360
Power Connectors360
Power Cables361
Appendix A Accessories361
Encoder Connectors366
Encoder Cables367
I/O Signal Connector (Сn1)367
Communication Cable Between Drive And Computer (For Pc)368
Terminal Block Module368
Servo Drive, Servo Motor And Accessories Combinations369
Regenerative Resistor Specifications374
Appendix B Molded-Case Circuit Breaker, Fuse Current And Emi Filters376
Ac Servo Drive - Emi Filter Cross Reference377
Choose Suitable Motor Cable And Precautions378