Page 1 Raleigh Office TEL: +7 495 644 3240 P.O. Box 12173, 5101 Davis Drive, Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3813 / FAX: 1-919-767-3969 Şerifali Mah. Hendem Cad. Kule Sok. No:16-A 34775 Ümraniye – İstanbul Delta Greentech (Brasil) S/A Mail: Sales.IA.Turkey@deltaww.com...
Page 2 Preface Thank you for purchasing this product. This manual provides information about the ASDA-B3 series servo drives (B3) and the ECM-B3 and ECM-A3 series servo motors. This manual includes:  Installation and inspection of servo drive and servo motor ...
Page 3 (PMSM) and to achieve precise positioning. The ASDA-B3 series are used in industrial applications and should be installed in the control box. Servo drives, wires, and motors should all be installed in an environment which complies with the minimum requirement of UL50 Type 1.
Page 4 Operation  Before operating the machine, change the servo parameter setting according to the application. If the parameters are not adjusted to the correct values, it may lead to malfunction of the machine or the operation might be out of control. ...
Page 5 Main Circuit Wiring  Do not put the power cable and signal cable in the same channel or bond them together. Separate the power cable and signal cable by at least 30 centimeters (11.8 inches).  Use stranded wires and multi-core shielded-pair wires for signal cables and encoder (PG) feedback cables.
Page 6: Table Of Contents
Table of Contents Before Operation Product Overview 1.1 Components of the servo set ·············································································· 1-2 1.2 Model overview ································································································ 1-3 1.2.1 Nameplate information ·················································································· 1-3 1.2.2 Model explanation ························································································ 1-5 1.3 ASDA-B3 servo drive and motor ········································································ 1-11 1.4 Description of the drive interface ········································································ 1-12 1.4.1 B3□-L models ···························································································...
Page 7 Wiring 3.1 System connection ··························································································· 3-3 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) ······························································································· 3-3 3.1.2 Connectors and terminal blocks ······································································ 3-5 3.1.3 Wiring for power supply ················································································· 3-6 3.1.4 UVW connectors for the ASDA-B3 servo drive ···················································· 3-9 3.1.5 Specification for the encoder connector ··························································...
Page 8 3.9.5.3 Wiring for multiple drive modules with the STO function ································· 3-75 3.10 Standard wiring example ················································································ 3-76 3.10.1 Position (PT) control mode - differential pulse signal ········································ 3-76 3.10.2 Position (PT) control mode - open-collector pulse signal ··································· 3-77 3.10.3 Position (PR) control mode - internal position command ···································...
Page 9 5.2 Auto tuning ····································································································· 5-4 5.2.1 Flowchart of auto tuning ················································································ 5-5 5.2.2 Auto tuning with the drive panel ······································································ 5-6 5.2.3 Auto tuning with ASDA-Soft (software) ······························································ 5-7 5.2.4 Alarms related to auto tuning ········································································ 5-14 5.3 Gain adjustment modes ··················································································· 5-15 5.3.1 Flowchart of Gain adjustment mode ·······························································...
Page 10 6.4.2 Control structure of Torque mode ··································································· 6-27 6.4.3 Smooth Torque command ············································································ 6-28 6.4.4 Scaling of the analog command ···································································· 6-28 6.4.5 Timing diagram of Torque mode ···································································· 6-29 6.5 Dual mode ···································································································· 6-30 6.5.1 Speed / Position dual mode ·········································································· 6-31 6.5.2 Speed / Torque dual mode ···········································································...
Page 11 P2.xxx Extension parameters ··············································································· 8-64 P3.xxx Communication parameters ······································································· 8-93 P4.xxx Diagnosis parameters ············································································· 8-100 P5.xxx Motion control parameters ······································································· 8-107 P6.xxx PR parameters ······················································································ 8-131 P7.xxx PR parameters ······················································································ 8-155 Table 8.1 Digital input (DI) descriptions ································································ 8-175 Table 8.2 Digital output (DO) descriptions ····························································· 8-182 Table 8.3 Monitoring variables descriptions ···························································...
Page 12 CANopen Mode 11.1 Basic configuration ························································································ 11-2 11.1.1 Supported functions ·················································································· 11-2 11.1.2 Hardware configuration ·············································································· 11-3 11.1.3 Parameter settings of CANopen mode ·························································· 11-4 11.2 Communication specification ··········································································· 11-5 11.2.1 Servo communication architecture ································································ 11-5 11.2.2 Communication objects ·············································································· 11-6 11.2.2.1 Process data object (PDO) ·····································································...
Page 13 12.2.2.2 Select Synchronization mode ······························································ 12-15 12.2.2.3 Synchronous clock setting ·································································· 12-16 12.2.3 EtherCAT state machine ·········································································· 12-17 12.2.4 PDO mapping configuration ······································································ 12-19 12.2.4.1 Default PDO mapping configuration ····················································· 12-19 12.2.4.2 Set PDO mapping ············································································ 12-21 12.2.4.3 PDO mapping object ········································································· 12-22 12.2.4.4 SDO abort codes ·············································································...
Page 14 Appendix Specifications A.1 ASDA-B3 series servo drive ·············································································· A-2 A.1.1 Specifications of the ASDA-B3 servo drive ······················································· A-2 A.1.2 Dimensions of the servo drive ······································································· A-5 A.2 ECM series servo motor ··················································································· A-7 A.2.1 ECM-B3 series servo motor ········································································· A-11 A.2.2 ECM-A3L low inertia series servo motor ·························································...
Page 15 (This page is intentionally left blank.)
Page 16 Product Overview Before using the ASDA-B3 series servo drive, pay attention to the description of the inspection, nameplate, and model type. You can find a suitable motor model for your B3 servo drive in the table in Section 1.3. 1.1 Components of the servo set ································································ 1-2 1.2 Model overview ·················································································...
Page 17: Components Of The Servo Set
Product Overview ASDA-B3 1.1 Components of the servo set A complete servo set includes: A servo drive and a servo motor. A UVW motor power cable: one end of the U, V, and W wires connects to the servo drive and the other end to the motor (optional purchase).
Page 18: Model Overview
ASDA-B3 Product Overview 1.2 Model overview 1.2.1 Nameplate information ASDA-B3 series servo drive  Nameplate information Model name Capacity specification 100W 2 0 0 ~ 2 3 0 V 3 P H 5 0 V 6 0 H z 0 .3 9 A App lica ble power su pply 2 0 0 ~ 2 3 0 V 1 P H 5 0 V 6 0 H z 0 .6 9 A...
Page 19 Product Overview ASDA-B3 ECM series servo motor  Nameplate information  Serial number Note: the servo motor uses the certified voltage as the rated input voltage for operation, so the applicable power supply is 110V.
Page 20: Model Explanation
ASDA-B3 Product Overview 1.2.2 Model explanation ASDA-B3 series servo drive (1) Product name AC Servo Drive (2) Series B3 series B3A series B3B series (3) Rated power output Code Specification Code Specification Code Specification 100 W 750 W 2.0 kW 200 W 1.0 kW...
Page 21 Product Overview ASDA-B3 B3A series Analog Pulse Code voltage PR mode RS-485 CANopen DMCNET EtherCAT input control ○ ○ ○ ○ ○ × × × ○ ○ ○ ○ ○ ○ × × ○ ○ ○ ○ ○ × × ×...
Page 22 ASDA-B3 Product Overview ECM-B3 series servo motor ECM - B 06 04 R (2) (3) (4) (5) (6) (7) (8) (10) (11) (1) Product name ECM: Electronic Commutation Motor (2) Servo type B: general type servo motor (3) Series 3: 3 series (4) Inertia M: medium inertia...
Page 23 Product Overview ASDA-B3 (7) Motor frame size Code Specification Code Specification 40 mm 130 mm 60 mm 180 mm 80 mm (8) Rated power output Code Specification Code Specification 100 W 1.0 kW 200 W 1.5 kW 400 W 2.0 kW 750 W 3.0 kW (9) Shaft type and oil seal...
Page 24 ASDA-B3 Product Overview ECM-A3 series servo motor ECM - A 06 04 R (2) (3) (4) (5) (6) (7) (8) (10) (11) (1) Product name ECM: Electronic Commutation Motor (2) Servo type A: high-precision servo motor (3) Series 3: 3 series (4) Inertia H: high inertia...
Page 25 Product Overview ASDA-B3 (7) Motor frame size Code Specification Code Specification 40 mm 80 mm 60 mm (8) Rated power output Code Specification Code Specification 50 W 400 W 100 W 750 W 200 W (9) Shaft type and oil seal w/o brake with brake w/o brake...
Page 26: Asda-B3 Servo Drive And Motor
ASDA-B3 Product Overview 1.3 ASDA-B3 servo drive and motor Servo motor Servo drive Rated / Rated Max. Output Inertia Max. Power Model name torque torque Model name speed (N-m) (N-m) 0.159 0.557 ECM-A3L-C 040F ASD-B3 1 -0121- 2 0.32 1.12 ECM-A3L-C 0401 0.64 2.24...
Page 27: Description Of The Drive Interface
Product Overview ASDA-B3 1.4 Description of the drive interface 1.4.1 B3□-L models (10) (11) (12) Name Description 7-segment display. CHARGE Power indicator. Main circuit power input terminal: connects to commercial power supply (200 - 230 V , 50 / 60 Hz). Control circuit power input terminal: connects to single-phase power supply (200 - 230 V , 50 / 60 Hz).
Page 28: B3□-M / B3□-F Models
ASDA-B3 Product Overview 1.4.2 B3□-M / B3□-F models (10) (11) (12) Name Description 7-segment display. CHARGE Power indicator. Main circuit power input terminal: connects to commercial power supply (200 - 230 V , 50 / 60 Hz). Control circuit power input terminal: connects to single-phase power supply (200 - 230 V , 50 / 60 Hz).
Page 29: B3□-E Models
Product Overview ASDA-B3 1.4.3 B3□-E models (10) (11) (12) Name Description 7-segment display. CHARGE Power indicator. Main circuit power input terminal: connects to commercial power supply (200 - 230 V , 50 / 60 Hz). Control circuit power input terminal: connects to single-phase power supply (200 - 230 V , 50 / 60 Hz).
Page 30: Installation
Installation Follow the instructions in this chapter during installation. This chapter includes information about the circuit breaker, fuse, EMI filter selection, and the regenerative resistor. 2.1 Ambient storage conditions ·································································· 2-2 2.2 Ambient installation conditions······························································ 2-3 2.3 Mounting direction and space ······························································· 2-4 2.4 Safety precautions for using motors ·······················································...
Page 31: Ambient Storage Conditions
Installation ASDA-B3 Precautions: If the connection between the servo drive and servo motor is over 20 meters (65.61 feet), increase the gauge of the UVW connecting wire and the encoder cable. Refer to Section 3.1.6 for the wire specification. 2.1 Ambient storage conditions Before installation, this product must be kept in the shipping carton.
Page 32: Ambient Installation Conditions
ASDA-B3 Installation 2.2 Ambient installation conditions B3 servo drive: the environment should be free of devices that generate excessive heat; no water, vapor, dust, and oily dust; no corrosive and inflammable gas or liquids; no airborne dust or metal particles; and the environment should be solid without vibration and interference of electromagnetic noise.
Page 33: Mounting Direction And Space
Installation ASDA-B3 2.3 Mounting direction and space Precautions:  Mount the servo drive in the correct direction according to the following illustrations with the base of the heat sink vertically on the wall. Incorrect mounting direction may result in malfunction. ...
Page 34 ASDA-B3 Installation Heat dissipation requirements  To lower the wind resistance of the fan for better heat dissipation, follow these diagrams for the suggested clearance values when installing one or more servo drives.  Avoid mounting one servo drive above one another. Keep the bottom of the servo drive clear because the generated heat rises and causes higher temperature for the drives mounted above.
Page 35: Safety Precautions For Using Motors
ASDA-B3 2.4 Safety precautions for using motors The Delta AC servo motor is designed for industrial applications. It is necessary that you fully understand the motor specifications and operation manual. For your safety and correct use, read the manual, specifications, and precautions for the motor carefully before connecting the motor to any equipment.
Page 36 Others  Delta servo motors have no user-replaceable parts.  Do not disassemble the motor or change its parts, or it will void the warranty.  Do not disassemble the motor by yourself, or it may lead to permanent malfunction or damage.
Page 37: Troubleshooting For The Motor Operation And Status
Installation ASDA-B3 2.4.1 Troubleshooting for the motor operation and status When the servo motor makes abnormal noises: Possible causes Checking methods Handling measures Check if there is any foreign Replace the connecting There is a source of vibration in object, damage, or deformation component (such as the the connecting component.
Page 38: Mounting Directions And Precautions For The Servo Motor
ASDA-B3 Installation 2.4.2 Mounting directions and precautions for the servo motor You can install the servo motor horizontally or vertically. Mounting direction Precautions Horizontal If you are using a servo motor with an oil seal, refer to Section 2.4.5 for oil and water prevention measures for the servo motor.
Page 39: Precautions For Using Servo Motor With Oil Seal
Installation ASDA-B3 2.4.3 Precautions for using servo motor with oil seal This section defines the operating conditions for using the servo motor with oil seal: 1. In the operating environment, keep the oil level lower than the oil seal lip. (1) Servo motor;...
Page 40: Oil And Water Prevention Measures For The Servo Motor
Follow these precautions and do not allow water, oil, or other foreign matter to enter the servo motor. 1. Do not submerge the cable in oil or water. (1) Servo motor; (2) Oil 2. If oil or water is unavoidable, use oil-resistant cables. Delta does not provide oil-resistant cables. 2-11...
Page 41: Measures To Suppress Temperature Increase Of The Servo Motor
Installation ASDA-B3 3. If the servo motor must be mounted with the shaft end up, do not use it in a machine, gearbox, or other environment where the servo motor may have contact with oil or water. (1) Gear; (2) Oil 4.
Page 42: Specifications For The Circuit Breaker And Fuse
ASDA-B3 Installation 2.5 Specifications for the circuit breaker and fuse Servo drive model Circuit breaker Fuse (Class T) ASD-B3 -0121- ASD-B3 -0221- ASD-B3 -0421- ASD-B3 -0721- ASD-B3 -1021- ASD-B3 -1521- ASD-B3 -2023- ASD-B3 -3023- Note: 1. In the servo drive model column, represents the product series and represents the model code.
Page 43: Installation Requirements For Emc
This section illustrates the installation requirements for passing the EMC test. Note that the EMC rating varies based on the installation structure or wiring. Delta servo products are designed in accordance with the specifications of the EMC test. Refer to the following diagram for the standard installation.
Page 44: Emi Filters
With an EMI filter correctly installed, you can eliminate much of the interference. For better performance, it is recommended to use Delta’s EMI filter for suppressing the interference. Recommended EMI filter...
Page 45 Installation ASDA-B3 Motor cable selection and installation precautions The selection of motor cable (refer to Appendix B Accessories) and installation accuracy determine the performance of the EMI filter. Follow these precautions: 1. Use a cable that has braided shielding (the effect of double shielding is better). 2.
Page 46: Selecting The Regenerative Resistor
ASDA-B3 Installation 2.7 Selecting the regenerative resistor When the direction of torque is opposite to the direction of rotation, the energy generated returns to the servo drive from the load. This energy is turned into electricity in the capacitance of the DC Bus and thus increases the voltage. When the voltage reaches a given value, it is consumed by a regenerative resistor.
Page 47 Installation ASDA-B3 When the regenerative energy exceeds the capacity of the built-in regenerative resistor, use an external regenerative resistor. Pay special attention to the following when using a regenerative resistor: 1. Choose the correct resistance value (P1.052) and capacity (P1.053) for the regenerative resistor;...
Page 48 ASDA-B3 Installation When installing an external regenerative resistor, connect the resistor to P and C contacts, and P and D contacts are left open. It is recommended that you choose external regenerative resistors of the resistance values specified in the table on page 16. Choose the external regenerative resistor according to the selected rotary motor (the setting value has included the factor of energy consumed by the IGBT).
Page 49 Installation ASDA-B3 Regenerative energy Maximum generated when the regenerative Rotor inertia motor decelerates from Servo drive (kW) Motor energy of the the rated speed to a (× 10 kg.m capacitance Ec stop without load Eo (joule) (joule) 11.22 24.66 34.94 ECM-B3M-E 2 1315 3 4 5 14.65 32.20...
Page 50 ASDA-B3 Installation Find the maximum regenerative energy: Eo = 0.74 joules (from the table above). Find the regenerative energy that can be absorbed by the capacitor: Ec = 8.42 joules (from the table above). 2×((N+1)×�� −�� 2×((15+1)×0.74−8.42) The required capacity of the regenerative resistor = ��...
Page 51: The Use Of Braking
Installation ASDA-B3 2.8 The use of braking A brake is usually used for motions in the Z-axis direction because gravity causes the mechanism to fall. A brake can prevent the mechanism from falling and reduce the motor’s excessive resistance. The motor lifespan could be reduced due to the excessive heat generated by continuous resistance.
Page 52 ASDA-B3 Installation Wiring of the brake: Servo drive Ensure the polarity of diode is correct, or it DOX: (DOX+, DOX-) will damage the drive. X = 1, 2, 3, 4, 5, 6 It is open circuit when the Motor DO1: (7, 6) emergency stop signal is on.
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Page 54 This chapter illustrates the power supply circuit, connectors, and wiring for each mode of the ASDA-B3. 配 3.1 System connection ············································································· 3-3 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) ················································································ 3-3 3.1.2 Connectors and terminal blocks ······················································· 3-5 3.1.3 Wiring for power supply ·································································· 3-6 3.1.4 UVW connectors for the ASDA-B3 servo drive ····································...
Page 55 Wiring ASDA-B3 3.9.3 Specifications of STO ·································································· 3-70 3.9.4 How does the STO function work? ·················································· 3-71 3.9.4.1 Activation status ································································ 3-71 3.9.4.2 Deactivation status ····························································· 3-73 3.9.5 Wiring for STO ··········································································· 3-74 3.9.5.1 Wiring without the STO function ············································ 3-74 3.9.5.2 Wiring for single drive module with the STO function ··················...
Page 56: System Connection
ASDA-B3 Wiring 3.1 System connection 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) Power 100 W - 1.5 kW Single- / Three-phase 200 - 230V 2 kW - 3 kW Three-phase 200 - 230V No fuse breaker (NFB)
Page 57 Wiring ASDA-B3 Installation precautions: 1. Make sure the power and wiring connections of the R, S, T, and L are correct. Refer to Appendix A Specifications for the correct voltage input to avoid any damage to the servo drive and dangerous operating conditions. 2.
Page 58: Connectors And Terminal Blocks
ASDA-B3 Wiring 3.1.2 Connectors and terminal blocks Symbol Name Description Connect to single-phase AC power. Power input for the control circuit (Refer to the model specification for the proper input voltage.) Connect to three-phase AC power. Power input for the main R, S, T circuit (Refer to the model specification for the proper input voltage.)
Page 59: Wiring For Power Supply
Wiring ASDA-B3 3.1.3 Wiring for power supply There are two methods for wiring the power supply: single-phase and three-phase. In the following diagram, Power 1 is normally open, and Power 2 and ALRM_RY_B are normally closed. MC (magnetic contactor) is the power relay and the contact for the main power circuit. ...
Page 60 ASDA-B3 Wiring  Wiring method for three-phase power supply (for all series) MCCB Noise filter Power 1 Power 2 ALRM_RY_B Servo drive Motor Note: MCCB: molded case circuit breaker 24 V MC: magnetic contactor DO5+ (28) SPD: surge protection device Power 1: power on ALRM_RY Power 2: power off...
Page 61 Wiring ASDA-B3  Connecting multiple servo drives (in series) Using a common DC Bus can increase the efficiency of the regenerative energy. For instance, while one of the axes is decelerating, the regenerative energy can supply other axes. If you need to connect servo drives of different power levels, only models of similar power levels can be connected.
Page 62: Uvw Connectors For The Asda-B3 Servo Drive
Number of bending times 10 million* Bending speed 5 m/s Note: Delta also provides standard and flexible encoder cables. Refer to Appendix B for more details. Bending the cable into a curve and then straightening it is considered as one time.
Page 63 Wiring ASDA-B3 ( ) 1 Note: pin assignments of the B3 and B2 models are the same. For easier wiring, the B3’s connector illustration (angle of viewing) is changed, which is different from that of B2. 3-10...
Page 64 ASDA-B3 Wiring Refer to the following table for UVW connector specifications. Motor model UVW connector Recommended brand Model number 50-36-1735 (housing) Molex 39-00-0040 (terminal) C4201H00-2*2PA (housing) C4201TOP-2 (terminal) ECM-B3 -C 0401 Pin assignment ECM-B3 -C 0602 CASE GROUND U (Red) V (White) W (Black) BRAKE1...
Page 65 Wiring ASDA-B3 Motor model UVW connector Recommended brand Model number CE05-6A18-10SD-D-BSS(R1) (connector) ECM-B3 1310 3 4 5 CE3057-10A-1-D(R1) (cable clamp) ECM-B3 1315 3 4 5 ECM-B3 -E 1320 SUNCHU CMS3106S18-10SBI WPS3106A18-10S-R (connector) WPS3057-10A-R (cable clamp) Pin assignment CASE GROUND U (Red) V (White) W (Black) BRAKE1...
Page 66 ASDA-B3 Wiring Motor model UVW connector ECM-B3 -E 1310 ECM-B3 -E 1315 Recommended brand Model number for UVW end ECM-B3 -E 1320 CE05-6A18-10SD-D-BSS(R1) (connector) CE3057-10A-1-D(R1) (cable clamp) SUNCHU CMS3106S18-10SBI WPS3106A18-10S-R (connector) WPS3057-10A-R (cable clamp) Recommended brand Model number for brake end CM10-SP2S-x-D or CMV1-SP2S-x-D SUNCHU SC-CMV1-SP02C...
Page 67 Wiring ASDA-B3 Motor model UVW connector Recommended brand Model number CE05-6A22-22SD-D-BSS(R1) (connector) ECM-B3 -E 1820 CE3057-12A-1-D(R1) (cable clamp) ECM-B3 1830 3 4 5 SUNCHU CMS3106S22-22SBI WPS3106A22-22S-R (connector) WPS3057-12A-R (cable clamp) Pin assignment CASE GROUND U (Red) V (White) W (Black) BRAKE1 BRAKE2 (Green /...
Page 68 ASDA-B3 Wiring Motor model UVW connector ECM-B3 -E 1820 Recommended brand Model number for UVW end ECM-B3 1830 3 4 5 CE05-6A22-22SD-D-BSS(R1) (connector) CE3057-12A-1-D(R1) (cable clamp) SUNCHU CMS3106S22-22SBI WPS3106A22-22S-R (connector) WPS3057-12A-R (cable clamp) Recommended brand Model number for brake end CM10-SP2S-x-D or CMV1-SP2S-x-D SUNCHU SC-CMV1-SP02C...
Page 69 Wiring ASDA-B3 Motor model UVW connector Recommended brand Model number 23004231-01 (wire diameter: Φ3.5 - 6.5 mm) CHOGORI 23004231-02 (wire diameter: Φ6.5 - 9.5 mm) Pin assignment ECM-B3 0401 3 4 5 CASE ECM-B3 0602 3 4 5 GROUND U (Red) V (White) W (Black) BRAKE1...
Page 70: Specification For The Encoder Connector
Number of bending times 10 million* Bending speed 5 m/s Note: Delta also provides standard and flexible power cables. Refer to Appendix B for more details. Bending the cable into a curve and then straightening it is considered as one time. 3-17...
Page 71 Wiring ASDA-B3 Encoder connection (Diagram 1): Quick connector (1) CN2 connector; (2) Quick connector (Male) Note: the diagram shows the connection between the servo drive and the encoder, and it is not drawn to scale. The specification is subject to change depending on the selected servo drive and motor models. Motor model Quick connector (Male) ECM-B3 -C 0401...
Page 72 ASDA-B3 Wiring Specifications and pin assignment for the quick connector of the incremental encoder Model name inch 3000  50 118  2 ACS3-CAE 1003 5000  50 197  2 ACS3-CAE 1005 10000  100 394  4 ACS3-CAE 1010 20000 ...
Page 73 Wiring ASDA-B3 Specification and pin assignment for the quick connector of the absolute encoder Model name inch 3000  50 118  2 ACS3-CAE 1003 5000  50 197  2 ACS3-CAE 1005 10000  100 394  4 ACS3-CAE 1010 20000 ...
Page 74 ASDA-B3 Wiring Encoder connection (Diagram 2): Military connector (1) CN2 connector; (2) Military encoder Note: the diagram shows the connection between the servo drive and the encoder, and it is not drawn to scale. The specification is subject to change depending on the selected servo drive and motor models. Motor model Military connector ECM-B3 -E 1310...
Page 75 Wiring ASDA-B3 Specifications and pin assignment for the military connector of the B3 incremental encoder Model name Straight inch 3000  50 118  2 CMV1-10S ACS3-CAE 2703 5000  50 197  2 CMV1-10S ACS3-CAE 2705 10000  100 394 ...
Page 76 ASDA-B3 Wiring Specifications and pin assignment for the military connector of the B3 absolute encoder Model name Straight inch 3000  50 118  2 ACS3-CAE 2703 CMV1-10S 5000  50 197  2 ACS3-CAE 2705 CMV1-10S 10000  100 394 ...
Page 77 Wiring ASDA-B3 Encoder connection (Diagram 3): IP67 waterproof connectors for ECM-A3 / B3 motors (1) CN2 connector; (2) IP67 waterproof connector Note: the diagram shows the connection between the servo drive and the encoder, and it is not drawn to scale.
Page 78 ASDA-B3 Wiring Specifications and pin assignment for the IP67 waterproof connector of the A3 / B3 incremental encoder Model name Straight inch 3000  50 118  2 ACS3-CAE 2A03 22008231-01 5000  50 197  2 ACS3-CAE 2A05 22008231-01 10000 ...
Page 79 Wiring ASDA-B3 Specifications and pin assignment for the IP67 waterproof connector of the A3 / B3 absolute encoder Model name Straight inch 3000  50 118  2 ACS3-CAE 2A03 22008231-01 5000  50 197  2 ACS3-CAE 2A05 22008231-01 10000 ...
Page 80: Wire Selection
ASDA-B3 Wiring 3.1.6 Wire selection Refer to the requirements for doubling, and note the recommended wire for connectors and signal wiring for ASDA-B3 as listed in the following tables: 1. The shield should connect to the phase of the ground terminal. 2.
Page 81 Wiring ASDA-B3 Wire diameter K. S. Terminals Inc. Kise Terminal Kss Terminal Servo drive model R, S, T Y type O type Y type O type Y type O type ASD-B3 -0121- 22 AWG ASD-B3 -0221- SVBL1-3.7 RVBM1-3.7 SV 1.25-3 RV 1.25-3 YF1.25-3 RF1.25-3 ASD-B3 -0421- 20 AWG...
Page 82 ASDA-B3 Wiring Encoder cable - wire diameter mm² (AWG) Servo drive model Size Number Specification Standard length ASD-B3 -0121- ASD-B3 -0221- ASD-B3 -0421- ASD-B3 -0721- L = 3 - 20 m L = 3 - 20 m Note 2C+2P (UL2464) (9.84 - 65.6 ft) ASD-B3 -1021- ASD-B3...
Page 83: Ip67 Connector Wiring Instructions
Wiring ASDA-B3 3.1.7 IP67 connector wiring instructions Follow these wiring instructions: Step 1: Cut through the cable and expose the shielding. The exposed wire length should be 8 - 12 mm (0.31 - 0.47 inches) and the tinned wire length should be 2 - 3 mm (0.08 - 0.12 inches).
Page 84 ASDA-B3 Wiring Caution: After wiring the IP67 connector, only fasten the (A) location to lock the connector for connecting the servo motor and drive. Do not pull or rotate the (B) clamp ring and seals nut to avoid loose connection and thus fail to meet the IP67 protection level.
Page 85: Wiring Diagram For The Servo System
Wiring ASDA-B3 3.2 Wiring diagram for the servo system Models of 750 W and below Connect to the external regenerative resistor Power Single- / Three-phase 200 - 230V Built-in regenerative resistor Servo motor Varistor Loss phase detection Encoder Gate Current Voltage drive detection...
Page 86 ASDA-B3 Wiring Models of 1 kW – 3 kW (with built-in regenerative resistor and fan) Connect to the external regenerative resistor Power 1 kW - 1.5 kW models single- / three-phase 200 - 230V 2 kW - 3 kW models three-phase 200 - 230V Built-in +12V regenerative...
Page 87: Wiring For Cn1 I/O Connector
Wiring ASDA-B3 3.3 Wiring for CN1 I/O connector 3.3.1 CN1 I/O connector (for M, F, and E models) You can define 4 digital input (DI) points and 2 digital output (DO) points to provide highly flexible communication between the servo drive and the controller. In addition, differential type output signals, A+, A-, B+, B-, Z+, and Z-, for the encoder are provided.
Page 88: Signal Explanation For Cn1 I/O Connector (For M, F, And E Models)
ASDA-B3 Wiring 3.3.2 Signal explanation for CN1 I/O connector (for M, F, and E models) The following table details the signals listed in the previous section. General signals: Wiring method Signal Pin No. Description (refer to Section 3.3.7) (1) When the motor speed command is set to -10V to +10V, it means the rotation speed is -3000 to +3000 rpm (default).
Page 89 Wiring ASDA-B3 These servo drive models provide user-defined I/O for you to set functions according to the application requirements. See Section 8.3 and refer to Table 8.1 Digital input (DI) descriptions and Table 8.2 Digital output (DO) descriptions. The default DI/DO signal configuration for each operation mode includes the most commonly used functions and meets the requirements for general applications.
Page 90 ASDA-B3 Wiring See the following table for the default DO signal of each control mode: Control mode S/Sz T/Tz PT-S PT-T PR-S Default Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal Signal 0x01 0x01 0x01 0x01 0x01 0x01 0x01...
Page 91: Application: Using The Cn1 Quick Connector For Wiring (For M, F, And E Models)
Wiring ASDA-B3 3.3.3 Application: using the CN1 quick connector for wiring (for M, F, and E models) The CN1 quick connector* is designed for easy wiring, which can be applied to the ASDA-B3 series servo drive. It is a good choice if you do not want to solder the wires. Its spring terminal blocks prevent the wire from loosening due to vibration.
Page 92 ASDA-B3 Wiring Pin assignment: Signal Description Signal Description DO4+ Digital output Encoder /B pulse output DO3- Digital output Encoder /Z pulse output DO3+ Digital output Encoder B pulse output DO2- Digital output DO4- Digital output DO2+ Digital output DO5- Digital output DO1- Digital output DO5+...
Page 93: Signal Explanation For Cn1 I/O Connector (For L Model)
Wiring ASDA-B3 3.3.5 Signal explanation for CN1 I/O connector (for L model) The following table details the signals listed in the previous section. General signals: Wiring method Signal Pin No. Description (refer to Section 3.3.7) (1) When the motor speed command is set to -10V to +10V, it means the rotation speed is -3000 to +3000 rpm (default).
Page 94 ASDA-B3 Wiring There are various operation modes available (refer to Section 6.1) and the I/O configuration differs for each mode. This servo drive model provides user-defined I/O for you to set functions according to the application requirements. See Section 8.3 and refer to Table 8.1 Digital input (DI) descriptions and Table 8.2 Digital output (DO) descriptions.
Page 95 Wiring ASDA-B3 Control mode PR-S PR-T PT-PR PT-PR-S PT-PR-T Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal 0x01 0x01 0x01 0x01 0x01 0x01 0x08 0x08 0x00 0x04 0x04 0x04 CTRG CTRG CCLR CCLR CCLR 0x11 0x11 0x14 0x08 0x08...
Page 96 ASDA-B3 Wiring See the following table for the default DO signal of each control mode: Control mode S/Sz T/Tz PT-S PT-T Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal 0x01 0x01 0x01 0x01 0x01 0x01 SRDY SRDY SRDY SRDY...
Page 97 Wiring ASDA-B3 If the default DI/DO function cannot meet the application requirement, specify the DI/DO functions by setting DI or DO code to the corresponding parameters. The signal functions are set with the parameters listed in the following table. Corresponding Corresponding Signal Pin No.
Page 98: Application: Using The Cn1 Quick Connector For Wiring (For L Model)
The CN1 quick connector (ACS3-IFSC4444) is designed for easy wiring, which can be applied to the ASDA-B3 series servo drive. It is a good choice if you do not want to solder the wires. Its spring terminal blocks prevent the wire from loosening due to vibration.
Page 99 Wiring ASDA-B3 Pin assignment for the CN1 quick connector: PULSE /PULSE SIGN /SIGN PULL HI_S PULL HI_P DI5- DI3- DI7- DI6- DI8- DO5- DO5+ DO4- V_REF MON1 T_REF DO6- DO6+ MON2 COM+ DI9- DI1- DI2- DO1+ DI4- DO2+ DO1- DO3+ DO2- DO4+ DO3-...
Page 100 ASDA-B3 Wiring Wiring and installation for the CN1 quick connector: Installation Wiring (1) The CN1 quick connector has multiple spring terminals. Determine which terminal is to be wired in advance. Use a flathead screwdriver to press the spring down to open the pin.
Page 101: Cn1 Wiring Diagrams
Wiring ASDA-B3 3.3.7 CN1 wiring diagrams The wiring diagrams in this chapter are based on the B3-L model. Refer to the notes for the pin definition of other models. For the functions supported by each model, refer to Chapter 1. The valid voltage for the analog speed command and the analog torque command is between -10V and +10V.
Page 102 ASDA-B3 Wiring You can input the Pulse command with the open collector or line driver. The maximum input pulse is 4 Mpps for the line driver and 200 Kpps for the open collector. Caution: do not directly input the 24V power supply to the SIGN+, SIGN-, PULSE+, and PULSE- pins, or the circuit elements will be damaged.
Page 103 Wiring ASDA-B3 C3-2: the source for the pulse input is open collector PNP type equipment, which uses the external power supply. Controller Servo drive PULL HI_S Max. pulse input frequency: 1.5 kΩ 200 Kpps 51 Ω 51 Ω SIGN- PULL HI_P Max.
Page 104 ASDA-B3 Wiring C4: pulse input (line driver) can only be used with 2.8V - 3.6V power systems. Do not use it with 24V power. Maximum input Pulse Type frequency (single-phase) Pulse train + sign 4 Mpps Differential High speed pulse Forward and reverse pulse trains signal AB phase pulse train...
Page 105 Wiring ASDA-B3 Important: when the drive connects to an inductive load, you must install the diode. DO specification: Permissible current: below 40 mA; surge current: below 100 mA; maximum voltage: 30V. Diode specification: 1A or above; 500V or above (such as 1N4005 diode) C5: DO wiring - the servo drive uses an external power supply and the resistor is for general load.
Page 106 ASDA-B3 Wiring DI wiring - input signals by relay or open collector transistor. Conditions of DI On / Off: ON: 15V - 24V; condition: input current = 3 mA. OFF: below 5V; condition: input current ≦ 0.5 mA. C7: NPN transistor (SINK mode) C8: PNP transistor (SOURCE mode) Servo drive DC 24V...
Page 107 Wiring ASDA-B3 C9: output for encoder position signal (line driver) Max. output current 20 mA Servo drive Controller AM26C31 series 120 Ω 120 Ω 120 Ω Note: It is suggested that you connect the two GND for the controller and servo drive in parallel when the voltage deviation between the controller and the servo drive is too great.
Page 108 ASDA-B3 Wiring C11: encoder OCZ output (open collector Z pulse output) Note: this is not supported by the communication type models. 3-55...
Page 109: Wiring For The Cn2 Encoder Connector
Wiring ASDA-B3 3.4 Wiring for the CN2 encoder connector The CN2 encoder signal connector is shown as follows: (1) CN2 connector (female); (2) CN2 connector (male)  DO NOT wire Pin 3 and Pin 4 of the servo drive CN2 connector. They are for internal use only;...
Page 110 ASDA-B3 Wiring IP67 waterproof connector ends: Pin assignment of CN2 connector: The end that connects to the encoder The end that connects to the servo drive Military Quick IP67 Color Pin No. Signal Description connector connector connector Brown DC+5V +5V power supply Blue Power ground Do not connect this pin.
Page 111 Wiring ASDA-B3 Step 3: You need the following items to assemble the connector: (A) Big metal case (B) Small metal case (C) Metal ring Step 4: Place the big metal case to cover the exposed wire shielding. Make sure the shielding is completely covered to maintain the integrity of the shielding.
Page 112: Wiring For The Cn3 Communication Connector
ASDA-B3 Wiring 3.5 Wiring for the CN3 communication connector 3.5.1 Wiring for the MODBUS communication connector When the servo drive is connected to the PC via CN3, you can operate the servo drive, PLC, or HMI through MODBUS using the assembly language. The CN3 connector supports the RS-485 communication interface which enables you to connect multiple servo drives simultaneously.
Page 113 Wiring ASDA-B3 Connecting multiple servo drives: Control ler 120 Ω (1) Connect to the controller / PLC; (2) Modbus connector; (3) Wiring for RS-485 terminal resistor Note: This supports up to 32 axes via RS-485. The communication quality and the number of connectable axes are determined by the controller’s specifications, quality of wires, grounding, interference, and whether a shielded twisted-pair cable is used.
Page 114: Wiring For The Canopen Communication Connector
ASDA-B3 Wiring 3.5.2 Wiring for the CANopen communication connector The CN3 connector conforms to the CANopen DS301 and DS402 standards. You can use it for controlling position, torque, and speed, as well as accessing or monitoring the servo status with the standard CAN interface.
Page 115 Wiring ASDA-B3 Connecting multiple servo drives: Control ler 120 Ω (1) Connect to the controller / PLC; (2) Wiring for CAN terminal resistor Note: The CANopen cable length can be up to 30 m (98.43 ft). The communication quality and the number of connectable axes are determined by the controller’s specifications, quality of wires, grounding, interference, and whether a shielded twisted-pair cable is used.
Page 116: Cn4 Serial Connector (Mini Usb)
This is a Type B Mini USB that is compatible with the USB 2.0 specification. Note: when there is high interference during operation, it is suggested that you install a USB isolator. (Delta part number: UC-ADP01-A) (1) USB connector (female); (2) USB connector (male)
Page 117: Wiring For The Cn6 Communication Connector
The servo drive uses a standard RJ45 connector with a shielded cable to connect to the controller or motion control card for controlling position, torque, and speed, as well as accessing or monitoring the servo status with Delta’s DMCNET system. You can set the station number of DMCNET with P3.000. Its maximum transmission rate is 20 Mbps.
Page 118 120 Ω 120 Ω (1) Connection to the controller / motion control card (2) DMCNET terminal resistor (Delta part number: ASD-TR-DM0008) Note: This supports up to 12 axes with the cable length up to 30 m (98.43 ft). It is suggested to use a terminal resistor of 120 Ω (Ohm) and 0.5 W (or above).
Page 119: Wiring For The Ethercat Communication Connector
Wiring ASDA-B3 3.7.2 Wiring for the EtherCAT communication connector Two ports are provided for connecting multiple servo drives, with one way in and the other way out. (1) CN6 connector (female); (2) CN6 connector (male) Pin assignment (same for both connectors): Pin No.
Page 120 ASDA-B3 Wiring  EtherCAT error indicator (ERR) Indicator Status Description No error No error has occurred. Servo drive malfunction. Contact the distributor for PDI Watchdog timeout assistance. Parameter setting error causes the system unable to Blinking State change error switch states. Refer to the following diagram. The synchronization between the controller and the Synchronization error / Single flash...
Page 121: Cn10 Sto Connector (Safe Torque Off)
Wiring ASDA-B3 3.8 CN10 STO connector (Safe torque off) This connector provides the STO function. More details are provided in the next section. Note: The STO function is supported by the B3A series only. STO certification application is in progress. (1) CN10 STO connector (female);...
Page 122: Sto Function (Safe Torque Off)
After the STO function is enabled, the motor is no longer controlled by the servo motor. Thus, take all the potential danger resulted from enabling the STO function into consideration. Delta is not liable for mechanical damage and personnel injury if you fail to observe the following instructions: 1.
Page 123: Specifications Of Sto
Wiring ASDA-B3 3.9.3 Specifications of STO The ASDA-B3 series servo drive conforms to the following safety specifications: Item Description Standard Safety data Channel1: 80.08% Safe failure fraction IEC61508 Channel2: 68.91% Hardware fault tolerance IEC61508 (Type A subsystem) IEC61508 SIL2 Safety integrity level...
Page 124: How Does The Sto Function Work
ASDA-B3 Wiring 3.9.4 How does the STO function work? The STO function controls the motor current by two individual circuits. It cuts off the power supply to the motor when needed, after which the motor is free from torque force. When an STO alarm occurs, determine the alarm type according to the pin status of the feedback monitor signal (FDBK).
Page 125 Wiring ASDA-B3 AL500: see the following diagram. When the motor runs normally, but both STO_A and STO_B signals are low for 10 ms at the same time, the firmware disables the drive (Servo Off) and triggers AL500. STO_A STO_B 10 ms Firmware detection of STO not active...
Page 126: Deactivation Status
ASDA-B3 Wiring 3.9.4.2 Deactivation status When both safety signal sources switch back to high, the alarm will not be cleared automatically. Of all the STO alarms, only AL500 can be cleared with DI.ARST. STO_A STO_B Max. 10 ms Close Open FDBK AL500 ARST...
Page 127: Wiring For Sto
Wiring ASDA-B3 3.9.5 Wiring for STO 3.9.5.1 Wiring without the STO function You can short-circuit the connector or plug in the short-circuit connector that comes with the servo drive. Refer to the following wiring diagram: Reserved Reserved STO_A / STO_A STO_B / STO_B FDBK+...
Page 128: Wiring For Multiple Drive Modules With The Sto Function
ASDA-B3 Wiring 3.9.5.3 Wiring for multiple drive modules with the STO function In the multiple drive modules system, the value of multiplying PFD and PFH by the number of drives must not exceed the specified safety value. Reserved Reserved STO_A 24 V / STO_A STO_B...
Page 129: Standard Wiring Example
Wiring ASDA-B3 3.10 Standard wiring example 3.10.1 Position (PT) control mode - differential pulse signal Servo drive ASDA -B3 Series MCCB ＊2 AC 200 / 230V Regenerative ＊5 resistor Three-phase 50 / 60 Hz Power White supply Black EMGS BRKR Green Brake ＊3...
Page 130: Position (Pt) Control Mode - Open-Collector Pulse Signal
ASDA-B3 Wiring 3.10.2 Position (PT) control mode - open-collector pulse signal Servo drive ASDA -B3 Series MCCB ＊2 AC 200 / 230V Regenerative ＊5 resistor Three-phase 50 / 60 Hz Power White supply ＊1 Open-collector pulse Black command input EMGS BRKR Brake Green...
Page 131: Position (Pr) Control Mode - Internal Position Command
Wiring ASDA-B3 3.10.3 Position (PR) control mode - internal position command Servo drive ASDA -B3 series ＊2 Regenerative MCCB resistor AC 200 / 230V ＊5 Three-phase Power White supply 50 / 60 Hz Black EMGS BRKR Green Brake ＊3 Encoder Do no t co nn ect th is p in Do no t co nn ect...
Page 132: Speed (S) Control Mode
ASDA-B3 Wiring 3.10.4 Speed (S) control mode Servo drive ASDA -B3 series MCCB Regenerative resistor AC 200 / 230V Three-phase Power 50 / 60 Hz White supply Black EMGS BRKR Green Brake Encoder Do no t co nn ect th is p in 1.2 kΩ...
Page 133: Torque (T) Control Mode
Wiring ASDA-B3 3.10.5 Torque (T) control mode Servo drive ASDA -B3 series MCCB Regenerative resistor AC 200 / 230V Three-phase Power 50 / 60 Hz White supply Black EMGS BRKR Brake Green Encoder Do not connect 1.2 kΩ th is p in V-REF Do no t co nn ect ±...
Page 134: Canopen Communication Mode
ASDA-B3 Wiring 3.10.6 CANopen communication mode Servo drive ASDA-B3-M Series ＊2 Regenerative MCCB resistor AC 200 / 230V Power ＊5 Three-phase White supply 50 / 60 Hz Black BRKR EMGS Green Brake 24 V ＊3 Encoder Do no t co nn ect th is p in Do no t co nn ect th is p in...
Page 135: Dmcnet Communication Mode
Wiring ASDA-B3 3.10.7 DMCNET communication mode Servo drive ASDA-B3-F Series Regenerative MCCB resistor AC 200 / 230V ＊5 Power Three-phase White supply 50 / 60 Hz Black BRKR EMGS Brake Green Encoder Do no t co nn ect th is p in Do no t co nn ect th is p in Twisted-pair or...
Page 136: Ethercat Communication Mode
ASDA-B3 Wiring 3.10.8 EtherCAT communication mode Servo drive ASDA-B3-E Series MCCB Regenerative AC 200 / 230 V resistor ＊5 Three-phase 50 / 60 Hz Power White supply Black BRKR EMGS Brake Green Encoder Do no t co nn ect COM+ this pin Do no t co nn ect 4.7 kΩ...
Page 137 Wiring ASDA-B3 (This page is intentionally left blank.) 3-84...
Page 138 Test Operation and Panel Display This chapter describes the panel display of ASDA-B3 series servo drive, as well as its operation and testing. 4.1 Panel description ··············································································· 4-2 4.2 Parameter setting procedure ································································ 4-3 4.3 Status display ··················································································· 4-6 4.3.1 Save the setting display ································································ 4-6 4.3.2 Display the decimal point ······························································...
Page 139: Panel Description
Test Operation and Panel Display ASDA-B3 4.1 Panel description (1) Display: 5-digit, 7-segment LED displays the monitoring values, parameters, and setting values. (2) MODE key: switches the display among Monitoring mode, Parameter mode, and Alarm mode. In Editing mode, press the MODE key to switch back to Parameter mode. (3) UP (▲) key: changes the monitoring code, parameter number, and value.
Page 140: Parameter Setting Procedure
ASDA-B3 Test Operation and Panel Display 4.2 Parameter setting procedure Switching modes: Power On Monitoring Refer to Chapter 8. mode MODE Parameter Refer to Chapter 8. mode 1. If no alarm occurs, Alarm mode is skipped. MODE 2. When a new alarm occurs, it switches to Alarm mode from any other mode.
Page 141 Test Operation and Panel Display ASDA-B3 Parameter mode Parameter mode Monitoring parameter P0 SHIFT Basic parameter SHIFT Extension parameter P2 SHIFT Communication parameter P3 SHIFT Diagnosis parameter P4 SHIFT Motion control parameter P5 SHIFT PR parameter SHIFT PR parameter SHIFT MODE Monitoring mode...
Page 142 ASDA-B3 Test Operation and Panel Display Editing mode Parameter mode MODE Editing mode After saving the parameter Display parameter setting value, it setting value automatically returns to SHIFT Parameter mode. After saving the parameter setting value, it SHIFT automatically returns to Parameter mode.
Page 143: Status Display
Test Operation and Panel Display ASDA-B3 4.3 Status display 4.3.1 Save the setting display When you complete the parameter setting, press the SET key to save the parameters. The panel displays the status for one second. Displayed symbol Description Correctly saved the setting value (Saved). Read-only and write-protected parameter (Read-only).
Page 144: Alarm Messages
ASDA-B3 Test Operation and Panel Display 4.3.3 Alarm messages Displayed symbol Description When an alarm occurs, the servo drive shows ‘AL’ as the alarm symbol and ‘nnn’ as the alarm code. Refer to Chapter 8 Parameters for a detailed description of P0.001 or Chapter 12 Troubleshooting for alarm details.
Page 145 Test Operation and Panel Display ASDA-B3 P0.002 Monitoring displayed Description Unit setting value symbol Torque command [Volt] Torque command Average torque Peak torque Main circuit voltage [Volt] Load / motor inertia ratio [1 times] Note: if it shows 13.0, it means the load inertia ratio is 13. IGBT temperature [°C] Resonance frequency (low byte is the first...
Page 146 ASDA-B3 Test Operation and Panel Display The following table shows the panel display of 16-bit and 32-bit values. Example of the displayed value Description If the value is 1234, it displays 01234 (in decimal format). (Dec) 16 bits If the value is 0x1234, it displays 1234 (in hexadecimal format;...
Page 147: General Functions
Test Operation and Panel Display ASDA-B3 4.4 General functions 4.4.1 Operation of fault record display In Parameter mode, select P4.000 - P4.004 and press the SET key to show the corresponding fault record. The 1 recent error The 2 recent error The 3 recent error The 4...
Page 148: Force Do On
ASDA-B3 Test Operation and Panel Display 4.4.2 Force DO on You can switch to the Diagnosis mode by the following steps. Set P2.008 to 406 and enable the function to force DO on. Then, set the DO by binary method with P4.006. When the parameter value is 2, it forces DO2 on.
Page 149: Digital Input Diagnosis Operation
Test Operation and Panel Display ASDA-B3 4.4.3 Digital input diagnosis operation You can switch to the Diagnosis mode by the following steps. When DI1 - DI9 are triggered by the external signal, the panel shows the corresponding signal in bit. When it shows 1, it means the DI is on.
Page 150: Testing
Protect the encoder cable from excessive stress. When the motor is running, make sure the cable is not worn or stretched.  Contact Delta if the servo motor vibrates or makes unusual noise during operation.  Make sure the settings for the parameters are correct. Different machinery Inspection during has different characteristics.
Page 151: Apply Power To B3 Servo Drive
Test Operation and Panel Display ASDA-B3 4.5.2 Apply power to B3 servo drive Follow these instructions. 1. Make sure the wiring between the motor and servo drive is correct: (1) U, V, W, and FG have to connect to the red, white, black, and green wires respectively. If the wiring is incorrect, the motor cannot work properly.
Page 152 ASDA-B3 Test Operation and Panel Display  When the screen displays: Overvoltage warning: This means the voltage input from the main circuit is higher than the rated range or a power input error has occurred (incorrect power system). Corrective action: 1.
Page 153 Test Operation and Panel Display ASDA-B3  When the screen displays: Emergency stop warning: Check if any of the digital inputs DI1 - DI9 are set to emergency stop (EMGS). Corrective action: 1. If you do not want to set the emergency stop (EMGS) as one of the digital inputs, make sure none of the digital inputs DI1 - DI9 are set to emergency stop (EMGS) (make sure that none of the parameters, P2.010 - P2.017 and P2.036, are set to 21).
Page 154 ASDA-B3 Test Operation and Panel Display  When the screen displays: Positive limit error warning: Check if any of the digital inputs DI1 - DI9 are set to positive limit (PL) and make sure that DI is off. Corrective action: 1.
Page 155: Jog Trial Run Without Load
Test Operation and Panel Display ASDA-B3 4.5.3 JOG trial run without load It is easy to test the motor and servo drive using a JOG trial run without load since no extra wiring is needed. For safety reasons, it is recommended to set JOG at low speed. Follow these steps: Step 1: JOG trial run is available only when the servo drive is in the Servo On state.
Page 156 ASDA-B3 Test Operation and Panel Display The following shows the JOG timing diagram: Motor runs in positive direction Speed 0 Motor stops Motor runs in negative direction Release Press Press If the motor does not run, check if the wiring between U, V, W and encoder cable is correct. If the motor runs abnormally, check if the U, V, W phase sequence is correct.
Page 157: Trial Run Without Load (Speed Mode)
(DI8) functions. Thus, parameters P2.015 - P2.017 and P2.036 - P2.040 are set to 0 (disabled). You can program the digital inputs of Delta’s servo drive. When programming the digital inputs for the servo drive, refer to Table 8.1 Digital input (DI) descriptions in Chapter 8.
Page 158 ASDA-B3 Test Operation and Panel Display The Speed command selection is determined by SPD0 and SPD1. See the following table. CN1 DI signal Speed command Command source Content Range number SPD1 SPD0 Voltage difference External between V-REF -10V to +10V analog signal and GND Mode...
Page 159: Trial Run Without Load (Position Mode)
(DI8) functions. Thus, parameters P2.015 - P2.017 and P2.036 - P2.040 are set to 0 (disabled). You can program the digital inputs of Delta’s servo drive. When programming the digital inputs for the servo drive, refer to Table 8.1 Digital input (DI) descriptions in Chapter 8.
Page 160 ASDA-B3 Test Operation and Panel Display Refer to Section 3.10.2 for the wiring for Position (PR) control mode. See the following table for the 100 sets of PR and the Position commands (POS0 - POS6). Position Corresponding POS6 POS5 POS4 POS3 POS2 POS1...
Page 161 Test Operation and Panel Display ASDA-B3 (This page is intentionally left blank.) 4-24...
Page 162: Tuning
Tuning This chapter contains information about the auto tuning procedure and the three gain adjustment modes. Advanced users can also tune the servo system using the manual mode. 5.1 Tuning procedure and the applied mode ················································· 5-2 5.1.1 Flowchart of the tuning procedure ··················································· 5-2 5.1.2 Differences between gain adjustment modes ·····································...
Page 163: Tuning Procedure And The Applied Mode
Tuning ASDA-B3 5.1 Tuning procedure and the applied mode 5.1.1 Flowchart of the tuning procedure You can tune the servo drive by following this flowchart. First, start from the Auto Tuning mode. If you are not satisfied with the system’s performance, then use Gain adjustment modes 1, 2, 3, or Manual mode for tuning the servo system.
Page 164: Differences Between Gain Adjustment Modes
ASDA-B3 Tuning 5.1.2 Differences between gain adjustment modes P2.032 Parameter Adjustment setting Inertia estimation mode Manual Auto value P1.037, P2.000, P2.004, P2.006, P2.023, P2.024, P2.025, P2.043, Fixed set value of Manual P2.044, P2.045, P1.037 P2.046, P2.049, P2.089, P2.098, P2.099, P2.101, P2.102 P1.037, P2.000, P2.004, P2.006,...
Page 165: Auto Tuning
Tuning ASDA-B3 5.2 Auto tuning The auto tuning function provided by the ASDA-B3 enables the system to perform real-time machine inertia estimation and upload the tuned parameters to the servo drive. You can use the ASDA-Soft software or the drive panel to start auto tuning. The following table lists the parameters that change with the results of auto tuning.
Page 166: Flowchart Of Auto Tuning
ASDA-B3 Tuning 5.2.1 Flowchart of auto tuning You can use the drive panel or ASDA-Soft to complete auto tuning. The auto tuning function in the B3 servo drive helps you to find the most suitable parameters for your system according to the machine characteristics.
Page 167: Auto Tuning With The Drive Panel
Tuning ASDA-B3 5.2.2 Auto tuning with the drive panel With the following tuning procedure, use the drive panel to complete auto tuning. Make sure the emergency stop, positive and negative limit switches work properly before you start to tune the system.
Page 168: Auto Tuning With Asda-Soft (Software)
Tuning 5.2.3 Auto tuning with ASDA-Soft (software) Instead of using the drive panel, you can use ASDA-Soft to complete auto tuning. Go to Delta’s website (http://www.deltaww.com/) to download ADSA-Soft for free. Install the software and open the executable file (.exe), then you can see the following screen.
Page 169 Tuning ASDA-B3 There are two types of auto-tuning procedure, one using the controller and one using the servo drive. Both procedures are described as follows.  Auto tuning with the controller: the controller sends the commands to drive the motor. Step 1: When the software is in online mode, the program window appears as follows.
Page 170 ASDA-B3 Tuning Step 2: Click Controller: Motion Command from Controller and make sure the motion / machining path is set correctly. Suggestions: set the motor to operate at least one cycle in both positive and negative directions. The delay time for reaching the positions in both positive and negative directions should not be less than 1,000 ms with the running speed no less than 500 rpm.
Page 171 Tuning ASDA-B3 Wait until the tuning progress bar reaches 100%, after which a window with “Auto tuning completed.” appears. Click OK to continue. The screen shows a table comparing the parameters before and after being changed by auto tuning. Click Update to complete auto tuning. 5-10...
Page 172 ASDA-B3 Tuning  Auto tuning with the servo drive: the servo drive sends the commands to drive the motor. Step 1: When the software is in online mode, the program window appears as follows. Click Auto Tuning in the Function List tree view. Step 2: Click Drive: Motion Command from Drive to enter the path setting window.
Page 173 Tuning ASDA-B3 Follow these steps to set the motor running path: Set the system to the Servo ON state. Set the acceleration / deceleration time and jog speed. The default setting for acceleration / deceleration time is 500 ms. Set the jog speed to no less than 500 rpm. Then click Download.
Page 174 ASDA-B3 Tuning Step 3: Wait until the tuning progress bar reaches 100%, after which a window with “Auto tuning completed.” appears. Click OK to continue. The screen shows a table comparing the parameters before and after being changed by auto tuning. Click Update to complete auto tuning.
Page 175: Alarms Related To Auto Tuning
Tuning ASDA-B3 5.2.4 Alarms related to auto tuning In Auto Tuning mode, it is vital that you program the command path, including the operation cycle (such as acceleration, constant speed, and deceleration) and dwell time. See the following figure. When any of the settings is incorrect, the servo drive stops tuning and displays an alarm. Please check the alarm causes and take corrective actions.
Page 176: Gain Adjustment Modes
ASDA-B3 Tuning 5.3 Gain adjustment modes Apart from the auto tuning function described above, there are three other gain adjustment modes you can use to fine tune the system. You can then easily complete tuning by increasing or decreasing the bandwidth response level (P2.031). Follow the tuning procedure in Section 5.1. 5.3.1 Flowchart of Gain adjustment mode Start Adjustment mode 1...
Page 177: Gain Adjustment Mode 1
Tuning ASDA-B3 5.3.2 Gain adjustment mode 1 In this mode, the servo drive continues to estimate the machine inertia and updates the value of P1.037. P2.032 Parameter setting Adjustment mode Inertia estimation Manual Auto value P1.037, P2.000, P2.004, P2.006, P2.023, P2.024, P2.025, P2.043, Gain adjustment Real-time estimation...
Page 178: Gain Adjustment Mode 3
ASDA-B3 Tuning 5.3.4 Gain adjustment mode 3 When Gain adjustment modes 1 and 2 cannot meet your need, try Gain adjustment mode 3 to tune the servo system. P2.089 (Command response gain) is available in this mode. You can increase the gain value to shorten the response and settling time for the position command. However, if you set the parameter value too high, it might cause position overshoot and machinery vibration.
Page 179: Setting The Bandwidth Response Level (Stiffness)
Tuning ASDA-B3 5.3.5 Setting the bandwidth response level (stiffness) When the inertia is fixed and you increase the bandwidth response level (P2.031), the servo’s bandwidth increases as well. If resonance occurs, lower the parameter value by one or two bandwidth response levels (you should adjust the bandwidth response level according to the actual situation).
Page 180: Setting The Command Response Gain (Response)
ASDA-B3 Tuning 5.3.6 Setting the command response gain (response) Use P2.089 to adjust the command response gain. Increasing the gain can minimize the deviation between the position command and command response in the intermittent duty zone. This function is only available for changing commands. Before adjusting the value of P2.089, first enable the two-degrees-of-freedom control function (set P2.094 [Bit 12] to 1).
Page 181: Tuning In Manual Mode
Tuning ASDA-B3 5.4 Tuning in manual mode The selection of the position or speed response bandwidth should be determined by the machine stiffness and the application. Generally, for applications or machines that require high-speed positioning and high precision, higher response bandwidth is required. However, increasing the response bandwidth might cause mechanical resonance.
Page 182 ASDA-B3 Tuning  Low-pass filter for resonance suppression (NLP, P2.025) A high load inertia ratio reduces the response bandwidth of the speed loop. Therefore, you must increase the KVP value to maintain the response bandwidth. Increasing the KVP value might cause sound due to mechanical resonance. Use this parameter to eliminate the noise from resonance.
Page 183: Mechanical Resonance Suppression
Tuning ASDA-B3 5.5 Mechanical resonance suppression Five sets of notch filters are provided to suppress mechanical resonances. You can set all five to auto resonance suppression with P2.047 or manually set the resonance suppression with ASDA-Soft. See the following flowchart of manual adjustment. Use the analytic tool provided by ASDA-Soft to display the point of resonance.
Page 184: Operation Mode
Operation Mode This chapter describes the operation of each control mode, including gain adjustment and filters. For Position mode, you use the external pulse and commands from the internal registers. For Speed mode and Torque mode, apart from the commands from the internal registers, you can also control the servo drive by the analog voltage input.
Page 185 Operation Mode ASDA-B3 6.5.2 Speed / Torque dual mode ··························································· 6-32 6.5.3 Torque / Position dual mode ························································· 6-33 6.6 Others ··························································································· 6-34 6.6.1 Applying the speed limit ······························································ 6-34 6.6.2 Applying the torque limit ······························································ 6-34 6.6.3 Analog monitoring ······································································ 6-35...
Page 186: Selecting The Operation Mode
ASDA-B3 Operation Mode 6.1 Selecting the operation mode This servo drive provides three basic operation modes: Position, Speed, and Torque. The available communication modes are CANopen, DMCNET, and EtherCAT. For the basic operation mode, you can choose from Single mode, Dual mode, and Multi-mode. The following table lists all the available modes.
Page 187 Operation Mode ASDA-B3 Here are the steps to switch the operation mode: 1. Switch the servo drive to Servo Off status. You can do this by setting DI.SON to off. 2. Set P1.001 and refer to the code listed above for the mode selection. 3.
Page 188: Position Command In Pt Mode
ASDA-B3 Operation Mode 6.2 Position mode Two input modes for position control are available on the ASDA-B3: external pulse (PT mode) and internal register (PR mode). In PT mode, the ASDA-B3 servo drive receives the pulse command for direction (motor runs forward or reverse). You can control the rotation angle of the motor with the input pulse.
Page 189: Control Structure Of Position Mode
Operation Mode ASDA-B3 There are many applications for both absolute type and incremental type registers. You can easily complete a periodic motor operation according to the table above. For example, assume the Position command PR#1 is 10 turns and PR#2 is 20 turns. PR#1 is issued first and PR#2 comes second.
Page 190: S-Curve Filter For Position Commands
ASDA-B3 Operation Mode The upper path of the above diagram is the PR mode and the lower one is the PT mode that you can select with P1.001. You can set the E-Gear ratio in both modes to adjust the positioning resolution.
Page 191 Operation Mode ASDA-B3 Position Time (ms) Speed Time (ms) Rated speed Torque Time (ms) AC0 - 15 AC0 - 15 P1.036 P1.036 P1.036 P1.036 Position and S-curve speed and time setting (decremental position command) Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P1.036...
Page 192: Electronic Gear Ratio (E-Gear Ratio)
ASDA-B3 Operation Mode 6.2.5 Electronic gear ratio (E-Gear ratio) The electronic gear provides easy settings for the resolution. The resolution of ASDA-B3 is 24-bit, which means that it generates 16,777,216 pulses per motor rotation. Regardless of the encoder resolution (17-bit, 20-bit, or 22-bit), the E-Gear ratio is set according to the 24-bit resolution of ASDA-B3 servo drive.
Page 193: Low-Pass Filter
Operation Mode ASDA-B3 6.2.6 Low-pass filter Target position P1.008 Refer to Chapter 8 for detailed descriptions of the relevant parameter. Parameter Function P1.008 Position command smoothing constant (low-pass filter) 6.2.7 Timing diagram of PR mode In PR mode, the Position command is issued with the DI signals (POS0 - POS6 and CTRG) of CN1.
Page 194: Gain Adjustment Of The Position Loop
ASDA-B3 Operation Mode 6.2.8 Gain adjustment of the position loop There are two types of gain adjustment for the position loop: auto and manual.  Auto The ASDA-B3 servo drive provides an Auto Tuning function that allows you to easily complete the gain adjustment.
Page 195: Low-Frequency Vibration Suppression In Position Mode
Operation Mode ASDA-B3 When you set the value of KPP (P2.000) too high, the bandwidth for the position loop is increased and the phase margin is reduced. Meanwhile, the rotor rotates and vibrates in the forward and reverse directions. In this case, decrease the KPP value until the rotor stops vibrating.
Page 196 ASDA-B3 Operation Mode The process of automatically searching for the resonance frequency is shown in the following flowchart. Repeat position control function. Check if vibration occurs during positioning? Set P1.029 to 1. Decrease the Increase the value value of P1.030. of P1.030.
Page 197 Operation Mode ASDA-B3 Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P1.029 Auto low-frequency vibration suppression mode P1.030 Low-frequency vibration detection P1.030 sets the detection range for the magnitude of low-frequency vibration. When the frequency is not detected, it is probably because you set the value of P1.030 too high and it exceeds the vibration range.
Page 198: Speed Mode
ASDA-B3 Operation Mode 6.3 Speed mode There are two kinds of command sources: analog input and internal register (parameters). The analog command controls the motor speed by scaled external voltage input. The command register input controls the speed in two ways. Before operation, respectively set the speed values in three registers.
Page 199: Control Structure Of Speed Mode
Operation Mode ASDA-B3 6.3.2 Control structure of Speed mode The basic control structure is shown in the following flowchart. Speed command Speed command processing unit Speed estimator Speed control Resonance Current Torque limit Motor unit suppression unit loop The Speed command processing unit selects the command source (see Section 6.3.1), including the scaling parameter (P1.040) for maximum rotation speed corresponding to the analog voltage and the S-curve parameter for smoothing the speed.
Page 200: Smooth Speed Command
ASDA-B3 Operation Mode 6.3.3 Smooth Speed command S-curve filter During the process of acceleration or deceleration, the S-curve filter uses the three-stage acceleration curve and creates a smoother motion trajectory. It avoids jerk (rapid change of acceleration), resonance, and noise caused by abrupt speed variation. You can use the following parameters for adjustment.
Page 201 Operation Mode ASDA-B3 S-curve filter for analog commands The S-curve filter for analog commands helps to stabilize the motor operation when the analog input signal (speed) changes rapidly. Speed (rpm) (1) Analog Speed command; (2) Motor speed The S-curve filter for analog commands smoothes the analog input signal. Its time program is the same as the S-curve filter mentioned in the above paragraph.
Page 202: Scaling Of The Analog Command
ASDA-B3 Operation Mode 6.3.4 Scaling of the analog command In the analog mode, control the motor’s Speed command by the analog voltage difference between V_REF and GND. Use P1.040 and P1.081 (maximum rotation speed for analog Speed command) to adjust the slope of the speed change and its range. P1.082 can change the filter switching time between P1.040 and P1.081.
Page 203: Timing Diagram Of Speed Mode
Operation Mode ASDA-B3 6.3.5 Timing diagram of Speed mode Internal register External analog voltage or 0 SPD0 External SPD1 Note: “off” means that DI is off (the circuit is open); “on” means that DI is on (the circuit is closed). When it is in Sz mode, the Speed command S1 = 0;...
Page 204: Gain Adjustment Of The Speed Loop
ASDA-B3 Operation Mode 6.3.6 Gain adjustment of the speed loop The structure of the speed control unit is shown in the following diagram. Speed control unit Speed feed forward gain Differentiator System inertia J P2.007 (1+P1.037)*JM Speed control gain P2.004 Integrator Gain Load inertia...
Page 205 Operation Mode ASDA-B3 Theoretically, a stepping response can be used to explain proportional gain (KVP), integral gain (KVI), and feed forward gain (KVF). Here, the time domain is used to illustrate the basic principle. Time domain The higher the KVP value, the larger the bandwidth.
Page 206: Resonance Suppression Unit
ASDA-B3 Operation Mode 6.3.7 Resonance suppression unit When resonance occurs, it is probably because the stiffness of the control system is too high or the response bandwidth is too great. Eliminating these two factors can improve the situation. In addition, use the low-pass filter (P2.025) and Notch filter (P2.023, P2.024, P2.043 - P2.046, and P2.095 - P2.103) to suppress the resonance if you want the control parameters to remain unchanged.
Page 207 Operation Mode ASDA-B3 The ASDA-B3 provides two types of resonance suppression: one is the Notch filter and the other is the low-pass filter. See the following diagrams for the results of using these filters. System open-loop gain with resonance:  Notch filter (1) Resonance point;...
Page 208 ASDA-B3 Operation Mode System open-loop gain with resonance: When the value of P2.025 is increased from 0, BW becomes smaller, as shown in the following figure. Although it solves the problem of the resonance frequency, the response bandwidth and phase margin are reduced. If you know the resonance frequency, you can suppress the resonance by using the Notch filter.
Page 209: Torque Mode
Operation Mode ASDA-B3 6.4 Torque mode The Torque control mode (T or Tz) is suitable for torque control applications, such as printing machines and winding machines. There are two kinds of command sources: analog input and internal register (parameters). The analog command input uses scaled external voltage to control the torque of the motor while the register uses the internal parameters (P1.012 - P1.014) for the Torque command.
Page 210: Control Structure Of Torque Mode
ASDA-B3 Operation Mode 6.4.2 Control structure of Torque mode The following diagram shows the basic control structure of Torque mode. Output torque Torque Torque command Resonance Current control Motor processing command suppression unit unit unit Current sensor The Torque command processing unit selects the command source (see Section 6.4.1), including the scaling parameter (P1.041) for rotation speed and S-curve parameter for smoothing the torque.
Page 211: Smooth Torque Command
Operation Mode ASDA-B3 6.4.3 Smooth Torque command Refer to Chapter 8 for detailed descriptions of the relevant parameter. Parameter Function P1.007 Torque command smoothing constant (low-pass filter) Target torque P1.007 6.4.4 Scaling of the analog command The Torque command is controlled by the analog voltage difference between T_REF and GND. Adjust the torque slope and its range with P1.041.
Page 212: Timing Diagram Of Torque Mode
ASDA-B3 Operation Mode 6.4.5 Timing diagram of Torque mode Internal register External analog voltage or 0 TCM0 External TCM1 Note: “off” means that DI is off (the circuit is open); “on” means that DI is on (the circuit is closed). When in Tz mode, the Torque command T1 = 0;...
Page 213: Dual Mode
Operation Mode ASDA-B3 6.5 Dual mode Apart from the single mode for position, speed, and torque, there are also eight dual / multiple modes available for operation (see Section 6.1). Mode Short name Code Description PT-S PT and S can be switched with DI signal, S_P. PT-T PT and T can be switched with DI signal, T_P.
Page 214: Speed / Position Dual Mode
ASDA-B3 Operation Mode 6.5.1 Speed / Position dual mode Speed / Position dual mode includes PT-S and PR-S. The command source for PT-S comes from the external pulse while the source for PR-S comes from the internal parameters (P6.000 - P7.027).
Page 215: Speed / Torque Dual Mode
Operation Mode ASDA-B3 6.5.2 Speed / Torque dual mode Speed / Torque dual mode includes only S-T. You control the Speed command with the external analog voltage and the internal parameters (P1.009 - P1.011), which you select with DI.SPD0 and DI.SPD1. Similarly, the source of the Torque command can be the external analog voltage or the internal parameters (P1.012 - P1.014), and is selected by DI.TCM0 and DI.TCM1.
Page 216: Torque / Position Dual Mode
ASDA-B3 Operation Mode 6.5.3 Torque / Position dual mode Torque / Position dual mode includes PT-T and PR-T. The command source for PT-T comes from the external pulse while the source for PR-T comes from internal parameters (P6.000 - P7.027). You control the Torque command with the external analog voltage or the internal parameters (P1.012 - P1.014).
Page 217: Others
Operation Mode ASDA-B3 6.6 Others 6.6.1 Applying the speed limit The maximum speed in each mode (Position, Speed, and Torque) is determined by the internal parameter (P1.055). The methods for using the Speed limit command and Speed command are the same. You can use either the external analog voltage or the internal parameters (P1.009 - P1.011).
Page 218: Analog Monitoring
ASDA-B3 Operation Mode 6.6.3 Analog monitoring You can find the required voltage signal with analog monitoring. The servo drive provides two analog channels. Refer to Chapter 3 for more information about wiring. Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P0.003...
Page 219 Operation Mode ASDA-B3 Voltage drift When voltage drift occurs, the voltage level defined as zero voltage is different from the set zero point. To fix this problem, use DOF1 (P4.020) and DOF2 (P4.021) to calibrate the offset voltage output. The voltage level for analog monitoring output is ±8V. If the output voltage exceeds the range, it is limited within ±8V.
Page 220: Motion Control
Motion Control This chapter introduces internal motion commands in the ASDA-B3 in PR mode. In this mode, commands are generated based on the internal command of the servo drive. Various motion commands are available, including Homing, Speed, Position, Write, Jump, and high-speed position capture (Capture). This chapter contains detailed description of each command type.
Page 221: Pr Mode Description
Motion Control ASDA-B3 7.1 PR mode description In PR mode, the servo drive automatically generates the motion commands and saves all parameter settings in the servo drive parameter file. Thus changing parameter values simultaneously changes the PR commands. The ASDA-B3 provides 100 path setting sets, which include the homing method, Position command, Speed command, Jump command, Write command, and Index Position command.
Page 222 ASDA-B3 Motion Control In the ASDA-Soft software, when you select the PR to be edited in PR mode, the corresponding parameters appear at the top of the window. See Figure 7.1.2. If you select PR#1, P6.002 and P6.003 appear at the top in the editing section. See P6.002 and P6.003 in Table 7.1.1 for example.
Page 223: Shared Pr Parameters
Motion Control ASDA-B3 ASDA-Soft version V6 provides an editing interface for PR diagrams. (see Figure 7.1.3). It is easier to set PR paths in ASDA-Soft, where you can set the options of command triggering, command types, and other properties. Figure 7.1.3 PR Diagram display in ASDA-Soft 7.1.1 Shared PR parameters ASDA-B3 provides 16 acceleration and deceleration time settings (P5.020 - P5.035), 16 delay time settings (P5.040 - P5.055), and 16 target speed settings (P5.060 - P5.075) for you to set...
Page 224 ASDA-B3 Motion Control ASDA-Soft also provides a user-friendly interface for this shared PR parameter function (see Figure 7.1.1.2). In these data, the acceleration or deceleration time is set based on the length of time for motor to accelerate from 0 to 3000 rpm or to decelerate from 3000 rpm to 0. For instance, if the acceleration time is set to 50 ms, when the target speed for the motion command is 3000 rpm, then the required duration is 50 ms.
Page 225: Monitoring Variables Of Pr Mode
Motion Control ASDA-B3 7.1.2 Monitoring variables of PR mode The PR mode provides four monitoring variables for the servo commands and feedback status: command position (PUU), PR command end register, feedback position (PUU), and position error (PUU). These are described as follows: Command position (PUU): monitoring variable code 001, simplified as Cmd_O (Command Operation).
Page 226 ASDA-B3 Motion Control The detailed command behavior of each stage is illustrated in Figure 7.1.2.2. Cmd_E is the endpoint specified by the command; it is set when the PR path is triggered. Fb_PUU is the feedback position, which is motor’s actual position. Divide this motion command into slices and take one of them as example.
Page 227 Motion Control ASDA-B3 Execution Motor Before command Command in issued execution completed positioned Command trigger DI: CTRG Command PR position command completed DO: Cmd_OK Motor reaches target Cmd_O(Pulse) – Fb_Pulse < P1.054 position DO: TPOS Servo procedure completed DO: MC_OK Figure 7.1.2.3 Operation of DI/DO signals in PR mode Before command Command in...
Page 228: Motion Control Commands
ASDA-B3 Motion Control 7.1.3 Motion Control commands The ASDA-B3 provides 100 path setting sets, which include the homing method, Speed command, Position command, Jump command, Write command, and Index Position command. The following sections detail each command type. 7.1.3.1 Homing methods The ASDA-B3 provides 11 homing methods in the PR mode, including home sensor, limit, and hard stop as the reference origin.
Page 229 Motion Control ASDA-B3 X = 8: define current position as the origin X = 9: torque homing in forward direction When reaching the limit: Y = 0: return to Z pulse Z = 0: show error Y = 2: do not look for Z pulse Z = 1: reverse direction X = A: torque homing in reverse direction Address: 0600H...
Page 230 ASDA-B3 Motion Control The PR Homing mode includes the function for setting the origin offset. You can define any point on the coordinate axis as the reference origin, which does not have to be 0. Once you define the reference origin, the system can create the coordinate system for the motion axis. See Figure 7.1.3.1.1.
Page 231 Motion Control ASDA-B3 Address: 050AH P5.005 High speed homing (first speed setting) 050BH Operation Panel / software Communication Control mode: PR (set with P5.004) interface: Default: 100.0 1000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.1 - 2000.0 1 - 20000 Format: Example:...
Page 232 ASDA-B3 Motion Control Figure 7.1.3.1.2 Homing screen in ASDA-Soft The following describes the homing methods supported by the ASDA-B3. They can be categorized into six types based on their reference points. Referencing the limit. This method uses the positive or negative limit as the reference point. When the limit is detected, you can choose whether or not to look for the Z pulse and use it as the reference origin.
Page 233 Motion Control ASDA-B3 If you set the servo to look for the Z pulse in the reverse direction, the servo operates at high speed (first speed setting) and then decelerates once it reaches the limit (rising-edge triggered). Then the servo switches to low speed (second speed setting) to look for the Z pulse in the reverse direction.
Page 234 ASDA-B3 Motion Control Referencing the rising edge of the ORG signal. This method uses the rising edge of the home sensor signal as the reference origin. You can choose whether or not to use the Z pulse as the reference origin after the ORG signal is detected.
Page 235 Motion Control ASDA-B3 If the ORG signal at the start point is triggered (high, Start point 3), the servo reverses with low speed (second speed setting) and after the ORG signal switches to low, it continues to look for the Z pulse. Once the servo finds the Z pulse, it decelerates to a stop, completing the homing procedure.
Page 236 ASDA-B3 Motion Control Referencing the falling edge of the ORG signal. This method uses the falling-edge signal of the home sensor as the reference origin. You can choose whether or not to use the Z pulse as the reference origin after the ORG signal is detected.
Page 237 Motion Control ASDA-B3 If the ORG signal at the start point is triggered (high, Start point 3), the servo operates at low speed (second speed setting) in the forward direction until the ORG signal switches to low. Next, the servo reverses to look for the Z pulse. When the servo finds the Z pulse, it decelerates to a stop, completing the homing procedure.
Page 238 ASDA-B3 Motion Control Referencing the torque limit. This method uses the motor’s stop position as the origin by referring to: the limit on the mechanism, the torque level setting (P1.087), and the retaining time (P1.088). You can also choose whether to use the Z pulse as the reference origin. Motor Protector (a) Reverse to Z...
Page 239 Motion Control ASDA-B3 The following tables list the parameters for the torque limit (P1.087) and the torque limit time (P1.088). Address: 01AEH P1.087 Torque homing - torque level detection 01AFH Default: Control mode: PR Unit: Setting range: 1 - 300 Format: Data size: 16-bit...
Page 240 ASDA-B3 Motion Control As mentioned in Section 7.1.2, the PR mode provides four monitoring variables for you to monitor the servo commands and feedback status. These are Command position PUU (Cmd_O), PR command end register (Cmd_E), Feedback position PUU (Fb_PUU), and Position error PUU (Err_PUU).
Page 241: Speed Command
Motion Control ASDA-B3 7.1.3.2 Speed command The PR mode includes a speed control function. The following parameters are available for PR speed setting: acceleration / deceleration time, delay time, and target speed. You can easily set the Speed command in the PR mode screen in ASDA-Soft. See Figure 7.1.3.2.1. ...
Page 242 ASDA-B3 Motion Control Speed Delay time Target speed Feedback speed Command Time Acceleration time Speed Feedback speed Command Delay time Target speed Time Deceleration time Figure 7.1.3.2.2 Parameters for PR mode speed control Table 7.1.3.2.1 Bit functions of PR speed control PR parameters Command type Data content...
Page 243: Position Command
Motion Control ASDA-B3 7.1.3.3 Position command The PR mode includes a position control function. There are two command types: Type 2 and Type 3. If you choose the Type 2 command, the execution stops once the command is complete. If you choose the Type 3 command, the next PR path is automatically executed. Use the same method to set the value for these types of commands in ASDA-Soft.
Page 244 ASDA-B3 Motion Control Figure 7.1.3.3.1 PR mode Position control screen in ASDA-Soft Speed Target speed Position command Delay time Time Acceleration time Deceleration time Figure 7.1.3.3.2 Parameters for PR mode position control 7-25...
Page 245 Motion Control ASDA-B3 There are four types of position commands for the PR mode. You can choose the position command according to the application requirements. The functions of each type are described in the following examples. Note that the condition in these examples is that a position command is still being executed and another type of command is inserted.
Page 246 ASDA-B3 Motion Control Motor’s current position Target position (Fb_PUU) Absolute command (ABS) 60000 PUU 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Motor’s current Target position 60000 position (Fb_PUU) Relative command (REL) 60000 PUU 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Endpoint of Motor’s current Target...
Page 247: Jump Command
Motion Control ASDA-B3 7.1.3.4 Jump command The PR mode includes a Jump command. It can call any PR paths or form PR paths into a loop, as shown in Figure 7.1.3.4.1. You can specify the PR path number to jump to in the PR mode screen in ASDA-Soft (see Figure 7.1.3.4.2).
Page 248 ASDA-B3 Motion Control Table 7.1.3.4.1 Bit functions of PR Jump command PR parameters Command type Data content Jump to target PR path (0 - 99) Note: 1. Y: OPT: option Command type INS: Interrupt command that interrupts the previous motion command. 2.
Page 249: Write Command
Motion Control ASDA-B3 7.1.3.5 Write command The PR mode includes a Write command. It can write constants, parameters, data arrays, and monitoring variables to the specified parameters or data arrays. You can write a parameter to a specified path in the PR mode screen in ASDA-Soft (see Figure 7.1.3.5.1). ...
Page 250 ASDA-B3 Motion Control Table 7.1.3.5.1 Bit functions of PR Write command PR parameters Command type SOUR_DEST DESTINATION Data content SOURCE Note: 1. Y: OPT: option Command type AUTO INS: Interrupt command that interrupts the previous motion command. AUTO: automatically load the next PR command when the current one is complete. ROM: write data to RAM and EEPROM at the same time.
Page 251: Index Position Command
Motion Control ASDA-B3 7.1.3.6 Index Position command The PR mode includes an Index Position command, which creates an indexing coordinate system. This command positions the motor within the indexing coordinates. Unlike other feedback positions in global coordinate system, the Index Position command is able to divide the total moving distance of one index into the number of paths required by the application (see Figure 7.1.3.6.1).
Page 252 ASDA-B3 Motion Control Position (PUU) Motor s feedback position Total index moving distance Motor s index position (P2.052)-1 Motor s running direction Indexing coordinates Total index moving distance Total index Path No. moving distance Indexing coordinates Motor s running direction Figure 7.1.3.6.1 PR mode indexing coordinates Figure 7.1.3.6.2 Index Coordinates Setting Wizard in PR mode 7-33...
Page 253 Motion Control ASDA-B3 Figure 7.1.3.6.3 PR mode Index Position screen in ASDA-Soft Always forward (Forward) Current Indexing Coordinate position Always backward (Backward) & Shortest Dist. Target position Indexing coordinates Total index moving Always forward distance 70000 PUU (Forward) 60000 PUU Current 50000 PUU position...
Page 254 ASDA-B3 Motion Control Table 7.1.3.6.1 Bit functions of the PR Index Position command PR parameters Command type OPT2 Data content Index Position command [PUU](0 - P2.052 minus1) Note: 1. Y: OPT: option Description Command type OVLP Always goes forward (Forward) Always goes backward Backward) Data content...
Page 255: Overview Of The Pr Procedure
Motion Control ASDA-B3 7.1.4 Overview of the PR procedure In the PR mode, there are six types of commands. To make users understand how the PR procedure works, ASDA-Soft presents the execution order and calling sequence of all PR procedures. The symbols and contents in the PR diagram are shown as follows. This includes five parts: number, command execution type (property), command type, next procedure command, and command information.
Page 256 ASDA-B3 Motion Control Homing methods In the display of homing methods, PR#0 always signifies the homing procedure, which is marked as “Homing”. See Figure 7.1.4.2. PR#0 (B) Homing 0:PLZ Offset = 0 PR#1 Speed1 = 100 Speed2 = 20 Figure 7.1.4.2 Homing methods display Activation mode (Boot): to execute homing when the drive is in Servo On state, it displays (B);...
Page 257 Motion Control ASDA-B3 Speed command You can use the Speed command in any PR paths (PR#1 - PR#99). It is marked as “Speed”. See Figure 7.1.4.3. PR#1 (I) Speed DLY = [0] 0 ms 100 rpm Acc = [0] 6.67 ms Dec = [0] 6.67 ms Figure 7.1.4.3 Speed command display Command execution type (property): a Speed command can interrupt (INS) the previous...
Page 258 ASDA-B3 Motion Control Position command You can use the Position command in any PR paths (PR#1 - PR#99). It is marked as “Position”, and includes the options to “Stop once position control completed” and “Load the next path once position control completed”. The only difference is that “Load the next path once position control completed”...
Page 259 Motion Control ASDA-B3 Jump command You can use the Jump command in any PR paths (PR#1 - PR#99). It is marked as “Jump” and followed by an arrow pointing to the next PR path. See Figure 7.1.4.5. PR#1 (I) Jump DLY = [0] 0 ms PR#2 Figure 7.1.4.5 Jump command display...
Page 260 ASDA-B3 Motion Control Index Position command You can use the Index Position command in any PR paths (PR#1 - PR#99). The number of PR paths is determined by the index number. It is marked as “Index Position”. See Figure 7.1.4.7. Index Position List [100000] PR#1 (I)(O) PR#3 (I)(O)
Page 261: Trigger Methods For The Pr Command
Motion Control ASDA-B3 7.1.5 Trigger methods for the PR command There are four types of PR trigger methods. They are DI-triggered, Event-triggered, P5.007- triggered, and Capture-triggered (high-speed position capturing). Choose the most suitable trigger method according to the applications and requirements. Digital input (DI) triggering For the DI triggering method, you choose the PR path to be executed by using the internal registers (Position command Bit0 - Bit6) and use a command to trigger the selected PR path.
Page 262 ASDA-B3 Motion Control Select the PR number to be executed based on the on / off status of DI.POS0 - 6 and use DI.CTRG to trigger the specified PR path. See Figure 7.1.5.1 for an example. Table 7.1.5.1 Use DI to select the PR path to be triggered Correspon- Position CTRG...
Page 263 Motion Control ASDA-B3 Event triggering For the event triggering method, you use Event trigger commands 1 - 4 to execute the specified PR path. There are two types of Event triggering: rising-edge trigger and falling-edge trigger. The range of PR path numbers that you can specify is from 51 - 63 (see the example in Figure 7.1.5.3).
Page 264 ASDA-B3 Motion Control You can use P5.098 to set the rising-edge trigger of the PR path and use P5.099 to set the falling-edge trigger. Refer to Chapter 8 for more details. Users can use ASDA-Soft to set the event trigger of PR paths. See Figure 7.1.5.5. Figure 7.1.5.5 Event ON / OFF setting screen in ASDA-Soft PR command trigger register (P5.007) For the PR command trigger register, you write the PR number to be executed in P5.007 to...
Page 265: Pr Procedure Execution Flow
Motion Control ASDA-B3 7.1.6 PR procedure execution flow The ASDA-B3 updates the command status every 1 ms. Figure 7.1.6.1 illustrates the PR procedure execution flow and how the servo drive deals with PR commands. Once a PR procedure is triggered, it goes through three units, which are PR queue, PR executor, and motion command generator.
Page 266 ASDA-B3 Motion Control  PR queue The triggered PR path is the lead PR. The PR group it leads goes into the PR queue to wait for prioritization. In each ms, the servo drive sends the lead PR and the PR group it leads to the PR executor with a first-in first-out method no matter whether a PR path is being executed.
Page 267 Motion Control ASDA-B3  Position command followed by a Position command When the PR executor receives two consecutive Position commands, if they do not have Interrupt or Overlap functions, the PR executor issues the first Position command to the motion command generator, and the generator starts the first part of position control.
Page 268 ASDA-B3 Motion Control  Speed command followed by a Speed command When the PR executor receives two consecutive Speed commands, if they do not have Interrupt or Overlap functions, the PR executor issues the first Speed command to the motion command generator, and the generator starts the first part of speed control.
Page 269 Motion Control ASDA-B3  Multiple commands The PR queue updates commands every 1 ms. For a motion command, the PR queue sends the next command to the generator only after the previous command completes. Jump or Write commands are executed in the PR queue immediately. As shown in Figure 7.1.6.4, in the first ms, the PR queue receives a Position command and sends this command to the motion command generator, having the generator to execute the command.
Page 270 ASDA-B3 Motion Control Command interruption Interruption (INS) causes a command in execution to be replaced or integrated. The results of the interruption differ based on the command types. The next command replaces or combines with the previous command. There are two types of interruption: internal and external, as shown in Figure 7.1.6.5.
Page 271 Motion Control ASDA-B3 1 ms Cmd cycle (1 ms Cmd cycle) PR#1 PR#2 (I) PR#3 Position Position Position executor DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms 1000 PUU 5000 PUU 10000 PUU 100 rpm 200 rpm 500 rpm Speed Motion command...
Page 272 ASDA-B3 Motion Control  Speed command  Speed command (I)  Speed command When the PR executor receives three consecutive Speed commands with an interrupt in the second command, the executor treats the first and the second as one PR group. Since the first Speed command is not executed, the executor replaces the first command with the second and only sends the second command to the motion command generator for execution.
Page 273 Motion Control ASDA-B3  Multiple interrupt commands The PR queue updates commands every 1 ms. If all PR paths include an Interrupt function, the queue can read at least 20 PR paths in 1 ms, and these paths are called a PR group. If this PR group has multiple motion commands, the PR queue only sends the last command it receives to the motion command generator for execution.
Page 274 ASDA-B3 Motion Control External Interruption If an external interruption is encountered, it uses the PR Command trigger method to execute another PR path (refer to Section 7.1.5 for PR trigger methods). When the PR queue receives a PR path with an Interrupt function, it sends this path to the motion command generator immediately and changes the path in execution.
Page 275 Motion Control ASDA-B3 (1 ms command cycle) (1 ms command cycle) External PR#1 PR#2 interruption Speed Speed DLY=[1] 100 ms DLY=[0] 0 ms 100 rpm 500 rpm Acc=[11] 100 ms Acc=[11] 33.3 ms Dec=[11] 100 ms Dec=[11] 33.3 ms PR executor (1 ms command cycle) (1 ms command cycle) PR#10 (I)
Page 276 ASDA-B3 Motion Control (1 ms command cycle) (1 ms command cycle) PR#1 (O) PR#2 Position Position DLY=[0] 0 ms DLY=[0] 0 ms 5000 PUU 10000 PUU executor 200 rpm 500 rpm Acc=[0] 6.67 ms Acc=[0] 16.65 ms Dec=[0] 6.67 ms Acc=[0] 16.65 ms Speed Motion...
Page 277: Application Of Motion Control
Motion Control ASDA-B3 7.2 Application of motion control The ASDA-B3 motion control includes the high-speed position capture function. It uses digital input DI3 (B3-F, M) or DI7 (B3-L) to instantly capture the motor’s feedback position and store this position in the data array. You can find more details about the setting and how it works in the following sections.
Page 278 ASDA-B3 Motion Control You can use the panel, communication, or ASDA-Soft to read data from or write data to the data array. Regardless of the methods, they are completed by parameter settings. The first group of parameters for reading and writing the data array are P5.011, P5.012, and P5.013. P5.011 specifies the address for reading and writing the data array.
Page 279 Motion Control ASDA-B3 1. Read / write with panel: Write to data array Read from data array Set the address Set the address Write Write for writing the for reading the P5.011 = 11 P5.011 = 11 first data first data P5.013 Write Read...
Page 280 ASDA-B3 Motion Control Table 7.2.1.2 Group 2 - reading and writing the data array Parameter Description Example 1 Example 2 P5.011 Specify the address in the data array when reading and writing Address for data. reading / writing Example 1 Example 2 Window for Description...
Page 281: High-Speed Position Capture Function (Capture)
Motion Control ASDA-B3 7.2.2 High-speed position capture function (Capture) The high-speed position capturing function (CAP) uses the external-triggered high-speed digital input DI3 (B3-F, M) or DI7 (B3-L) (with execution time of only 5 µs) to capture the position data of the motion axis and store it in the data array for further motion control. As the Capture function is executed by the hardware, there is no lag in the software, and it is able to capture the motion axis’...
Page 282 ASDA-B3 Motion Control CAP triggering logic CAP axis source Normally open P5.039.Z = 0 CAP switch CAP axis position CN1 P5.039.Y = 2 P5.039.X Bit 0 P5.037 CN2 P5.039.Y = 3 7890 Normally closed P5.039.Z = 1 Data array Start address 1234 P5.036 Reset the 1...
Page 283 Motion Control ASDA-B3 It is suggested that you use the PR path programming to use the motion commands with the Capture function. You can use Write commands to set the high-speed position capture function, as well as to execute motion commands once capturing is complete. See the example in Figure 7.2.2.3.
Page 284 ASDA-B3 Motion Control PR#4 (I) PR#1 (I) PR#2 (I) PR#3 (I) Write Write Write Write DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms P5.076=0 P5.039=0x2030 P5.036=100 P5.038=3 PR#7 (I) PR#5 (I) PR#6 (I) Speed Write Write DLY=[0] 0 ms DLY=[10] 1 ms DLY=[0] 0 ms...
Page 285 Motion Control ASDA-B3 (This page is intentionally left blank.) 7-66...
Page 286 Parameters This chapter introduces the parameter settings of the servo drive, as well as the descriptions for digital input (DI), digital output (DO), and monitoring variables. You can control the drive functions with these parameters and DI/O. 8.1 Parameter definitions ········································································· 8-2 8.2 List of parameters ··············································································...
Page 287: Parameter Definitions
Parameters ASDA-B3 8.1 Parameter definitions The servo drive parameters are divided into eight groups. The first character after the start code P is the group number and the following three characters are the parameter indicator. The communication address is the combination of the group number and the three-digit number, expressed in hexadecimal.
Page 288: List Of Parameters
ASDA-B3 Parameters 8.2 List of parameters Monitoring and general output parameters Control mode Parameter Function Default value Unit PT PR P0.000 Firmware version Factory setting ★ Current drive alarm code (seven- P0.001■ segment display) P0.002 Drive status P0.003 Analog output monitoring 0x0000 P0.008 Total servo drive operation time...
Page 289 Parameters ASDA-B3 Monitoring and general output parameters (continued) Control mode Parameter Function Default value Unit PT PR Target setting for mapping parameter P0.039 P0.029 Target setting for mapping parameter P0.040 P0.030 Target setting for mapping parameter P0.041 P0.031 Target setting for mapping parameter P0.042 P0.032 P0.046...
Page 290 ASDA-B3 Parameters Filter and resonance suppression parameters (continued) Control mode Parameter Function Default value Unit PT PR S First set of vibration elimination - P1.089 4000 0.1 Hz anti-resonance frequency First set of vibration elimination - P1.090 4000 0.1 Hz resonance frequency First set of vibration elimination - P1.091...
Page 291 Parameters ASDA-B3 Gain and switching parameters Control mode Parameter Function Default value Unit PT PR S 1 times 0.0 (B3-F) (panel / (panel / software) software) P1.037 Load inertia ratio 0.1 times 0 (B3-F) (communication) (communication) P2.000 Position control gain rad/s P2.001 Position control gain rate of change...
Page 292 ASDA-B3 Parameters Position control parameters Control mode Parameter Function Default value Unit PT PR 0x0000 Input for control mode and control P1.001● command 0x000B (B3-F) P1.002▲ Speed and torque limits 0x0000 P1.003 Encoder pulse output polarity 0x0000 P1.012 - Internal Torque command / internal P1.014 torque limit 1 - 3 P1.044▲...
Page 293 Parameters ASDA-B3 Position control parameters - internal register control command (PR mode) Control mode Parameter Function Default value Unit PT PR S P5.008 Positive software limit 2147483647 P5.009 Negative software limit -2147483648 P6.002 - Internal Position commands P7.099 (Path definition) #1 - 99 20.0 - 3000.0 1 rpm (panel /...
Page 294 ASDA-B3 Parameters Speed control parameters Control mode Parameter Function Default value Unit PT PR 0x0000 Input for control mode and control P1.001● command 0x000B (B3-F) P1.002▲ Speed and torque limits 0x0000 P1.003 Encoder pulse output polarity 0x0000 P1.046▲ Encoder pulse number output 2500 pulse P1.055...
Page 295 Parameters ASDA-B3 Planning of digital input / output pin and output parameters Control mode Parameter Function Default value Unit PT PR S General range compare DO output - P0.053 0x0000 filter time General range compare digital output - P0.054 first lower limit General range compare digital output - P0.055 first upper limit...
Page 296 ASDA-B3 Parameters Planning of digital input / output pin and output parameters (continued) Control mode Parameter Function Default value Unit PT PR S P2.038 DI11 functional planning 0x0100 P2.039 DI12 functional planning 0x0100 P2.040 DI13 functional planning 0x0100 P2.041 DO6 functional planning 0x0100 10.0 1 rpm...
Page 297 Parameters ASDA-B3 Diagnosis parameters Control mode Parameter Function Default value Unit PT PR P4.000 Fault record (N) 0x00000000 ★ P4.001 Fault record (N-1) 0x00000000 ★ P4.002 Fault record (N-2) 0x00000000 ★ P4.003 Fault record (N-3) 0x00000000 ★ P4.004 Fault record (N-4) 0x00000000 ★...
Page 298: Parameter Descriptions
ASDA-B3 Parameters 8.3 Parameter descriptions P0.xxx Monitoring parameters Address: 0000H P0.000 Firmware version ★ 0001H Default: Factory setting Control mode: All Unit: Setting range: - Format: Data size: 16-bit Settings: Displays the firmware version of the servo drive. Address: 0002H P0.001■...
Page 299 Parameters ASDA-B3 MON1 and MON2 MON1 and MON2 Description Description value value Torque command Motor speed (+/- 8 volts / Maximum Torque (+/- 8 volts / Maximum speed) command) Motor torque VBUS voltage (+/- 8 volts / Maximum torque) (+/- 8 volts / 450V) Pulse command frequency Analog output voltage is the set (+8 volts / 4.5 Mpps)
Page 300 ASDA-B3 Parameters Address: 0012H P0.009 ■ Status monitoring register 1 ★ 0013H Default: Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: Set the value to be monitored in P0.017 through the drive panel or communication. Please refer to P0.002.
Page 301 Parameters ASDA-B3 Settings: Set the value to be monitored in P0.020 through the drive panel or communication. Please refer to P0.002. To get the status, read the communication address through the communication port. Set P0.002 to 26 and the panel displays “VAR-4” and then the value of P0.012. Address: 001AH P0.013 ■...
Page 302 ASDA-B3 Parameters Address: 0028H P0.020 Select content displayed by status monitoring register 4 0029H Default: Control mode: All Unit: Setting range: -300 to 127 Format: Data size: 16-bit Settings: Refer to Table 8.3 for the available values. Address: 002AH P0.021 Select content displayed by status monitoring register 5 002BH Default:...
Page 303 Parameters ASDA-B3 Address: 0036H P0.027■ Mapping parameter #3 0037H Default: Control mode: All Determined by the corresponding Unit: Setting range: parameter P0.037 Format: Data size: 32-bit Settings: This setting is the same as P0.025, except its mapping target is set in P0.037. Address: 0038H P0.028■...
Page 304 ASDA-B3 Parameters Address: 0040H P0.032■ Mapping parameter #8 0041H Default: Control mode: All Determined by the corresponding Unit: Setting range: parameter P0.042 Format: Data size: 32-bit Settings: This setting is the same as P0.025, except its mapping target is set in P0.042. P0.033 - Reserved P0.034...
Page 305 Parameters ASDA-B3 Write: in the mapping content, set P0.025 to 0x00050064, and the values of P2.003 and P2.005 are: When PH = PL = P, it indicates that the content of P0.025 includes one 32-bit parameter. Example: Target: set P6.010 to 0x00050064 in the mapping parameter. Setting: set both the high bit and low bit of P0.035 to 060A (P6.010).
Page 306 ASDA-B3 Parameters Address: 004CH P0.038 Target setting for mapping parameter P0.028 004DH Default: Control mode: All Determined by the communication Unit: Setting range: address of the parameter group Format: Data size: 32-bit Settings: High bit Low bit Position of mapping Position of mapping P0.038 parameter...
Page 307 Parameters ASDA-B3 Address: 0052H P0.041 Target setting for mapping parameter P0.031 0053H Default: Control mode: All Determined by the communication Unit: Setting range: address of the parameter group Format: Data size: 32-bit Settings: High bit Low bit Position of mapping Position of mapping P0.041 parameter...
Page 308 ASDA-B3 Parameters Status monitoring register content selection (for PC Address: 005AH P0.045■ 005BH software) Default: Control mode: All Unit: Setting range: -300 to 127 Format: Data size: 16-bit Settings: This setting is the same as P0.017. Address: 005CH P0.046 ■ Servo drive digital output (DO) status ★...
Page 309 Parameters ASDA-B3 Command processing Reserved Reserved Reserved  X: command processing 0: N/A 1: update the encoder data in P0.050 - P0.052. 2: update the values in P0.050 - P0.052 and clear the position error. When this command takes effect, the motor's current position is set to the terminal point of the Position command. Address: 0064H P0.050 ■...
Page 310 ASDA-B3 Parameters Encoder absolute position - pulse number or PUU within Address: 0068H P0.052 ■ ★ 0069H single turn Default: Control mode: All 0 to 16777216-1 (pulse) Unit: pulse or PUU Setting range: -2147483648 to +2147483647 (PUU) Format: Data size: 32-bit Settings: When you set P2.070 [Bit 1] to 1 for reading the pulse number, this parameter indicates the pulse...
Page 311 Parameters ASDA-B3 Address: 006CH P0.054 General range compare digital output - first lower limit 006DH Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Before using this function, set the digital output function to [0x2C] (first set of general range comparison) and the monitoring items of P0.017.
Page 312 ASDA-B3 Parameters Address: 0075H P0.058 General range compare digital output - third lower limit 0076H Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Before using this function, set the digital output function to [0x2E] (third set of general range comparison) and the monitoring items of P0.019.
Page 313 Parameters ASDA-B3 Address: 007EH P0.063 Duration of voltage exceeding 400V 007FH Default: Control mode: All Unit: Setting range: 0x00000000 - 0x7FFFFFFF Format: Data size: 32-bit Settings: Records the total time during which the voltage of the servo drive exceeded 400V. 8-28...
Page 314 ASDA-B3 Parameters P1.xxx Basic parameters Address: 0100H P1.000▲ External pulse input type 0101H Default: 0x1042 Control mode: PT Unit: Setting range: 0x0000 - 0x11F2 Format: Data size: 16-bit Settings: Pulse type Logic type Filter width Filter width  X: pulse type 0: AB phase pulse (4x) 1: clockwise and counterclockwise pulse 2: pulse + sign...
Page 315 When the low speed pulse is used (U = 2), parameter Y has to be 0 (no filter function). It is suggested that you use the low speed pulse function when there is high frequency interference. Contact Delta for the production week of the servo drives that support the low speed pulse function. ...
Page 316 ASDA-B3 Parameters U = 0 U = 1 Unit: μs (kHz) Unit: μs (kHz) 9 (55) 0.9 (555) 10 (50) 1 (500) 11 (45) 1.1 (454) 12 (41) 1.2 (416) 13 (38) 1.3 (384) 14 (35) 1.4 (357) 15 (33) 1.5 (333) Example: When you set U and Y to 1 respectively (and filter width is therefore 0.2 μs), and when the high and...
Page 317 ▲ Dual mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ Communication mode for Delta PLC DVP-15MC and DVP-50MC series models, DMCNET mode CANopen mode, EtherCAT mode Multi-mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ PT: Position control mode; the command source is from the external pulse and the external analog voltage (coming soon).
Page 318 ASDA-B3 Parameters speed registers which you can select with DI.SPD0 and DI.SPD1. Tz: Torque control mode; the torque command is zero or the command source is from the internal torque registers which you can select with DI.TCM0 and DI.TCM1. Dual mode: you can switch between two modes with external DI. For example, you can use DI.S-P to switch the dual mode of PT/S (control mode setting: 06).
Page 319 Parameters ASDA-B3 See the following diagram for Speed Limit setting:  Y: disable / enable Torque Limit function 0: disable Torque Limit function 1: enable Torque Limit function See the following diagram for Torque Limit setting: When using the Torque Limit function, set this parameter to 1 to limit the torque permanently without occupying a DI setting.
Page 320 ASDA-B3 Parameters  Y: polarity of encoder pulse output 0: pulse output in positive direction 1: pulse output in negative direction Address: 0108H P1.004 MON1 analog monitor output proportion 0109H Default: Control mode: All Unit: % (full scale) Setting range: 0 - 100 Format: Data size: 16-bit...
Page 321 Parameters ASDA-B3 Address: 010EH P1.007 Torque command smoothing constant (low-pass filter) 010FH Default: Control mode: T / Tz Unit: Setting range: 0 - 1000 Format: Data size: 16-bit Settings: 0: disable this function. Address: 0110H P1.008 Position command smoothing constant (low-pass filter) 0111H Default: Control mode: PT / PR...
Page 322 ASDA-B3 Parameters Address: 0114H P1.010 Internal Speed command 2 / internal speed limit 2 0115H S / Sz: internal Speed command 2 Default: 2000 Control mode: T / Tz: internal speed limit 2 Unit: 0.1 rpm Setting range: -60000 to +60000 Format: Data size: 32-bit...
Page 323 Parameters ASDA-B3 Settings: Internal Torque command 1: first internal Torque command. Internal torque limit 1: first internal torque limit. Example of internal torque limit: Torque limit in forward Torque limit in reverse Torque limit value of P1.012 Valid torque range direction direction -30 to 30%...
Page 324 ASDA-B3 Parameters Example of internal torque limit: Torque limit in forward Torque limit in reverse Torque limit value of P1.014 Valid torque range direction direction -30 to 30% -30% P1.015 - Reserved P1.018 Address: 0126H P1.019 Additional function for Capture 0127H Default: 0x0000...
Page 325 Parameters ASDA-B3 P1.021 Reserved Address: 012CH P1.022 PR command special filter 012DH Default: 0x0000 Control mode: PR Unit: Setting range: 0x0000 - 0x107F Format: Data size: 16-bit Settings: Acceleration / deceleration time limit Reserved (0 - 1270 ms) Reverse inhibit ...
Page 326 ASDA-B3 Parameters PR speed command (rpm) Original command Filtered command Time (sec) Command slows down Command changes and the two commands drastically so the overlap filter takes effect Note: if the command does not slow down, the following error of the internal position exceeds the allowable range and then triggers AL404.
Page 327 Parameters ASDA-B3 low-frequency vibration suppression filter is disabled. Address: 0134H P1.026 Low-frequency vibration suppression gain (1) 0135H Default: Control mode: PT / PR Unit: Setting range: 0 - 9 Format: Data size: 16-bit Settings: Sets the gain of the first low-frequency vibration suppression. The higher the value, the better the position response.
Page 328 ASDA-B3 Parameters Auto mode setting description: When the value is 1, vibration suppression is in automatic mode. When the vibration cannot be detected or the vibration frequency is stable, the system automatically resets the parameter to 0 and saves the vibration suppression frequency to P1.025.
Page 329 Parameters ASDA-B3 Function Description command when 1: when P1.043 is a negative value and AL022 occurs, the servo AL022 occurs drive commands the motor to decelerate to 0 in the Servo On state Bit 7 Reserved When the motor reaches PL (CCWL) or NL (CWL), refer to P5.003 for setting the deceleration time. If you set the deceleration time to 1 ms, the motor stops instantly.
Page 330 ASDA-B3 Parameters Address: 0148H P1.036 S-curve acceleration / deceleration constant 0149H Default: Control mode: PR / S / Sz Unit: Setting range: 0 - 65500 Format: Data size: 16-bit Settings: 0: disable this function. Acceleration / deceleration constant of S-curve: Speed Time (ms)
Page 331 Parameters ASDA-B3 Address: 014CH P1.038 Zero speed range 014DH Operation Panel / software Communication Control mode: All interface: Default: 10.0 Data size: 16-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 - 200.0 0 - 2000 Format: One decimal Example: 1.5 = 1.5 rpm 15 = 1.5 rpm Settings:...
Page 332 ASDA-B3 Parameters Address: 0152H P1.041▲ Maximum output for analog Torque command 0153H Default: Control mode: All Unit: Setting range: -1000 to 1000 Format: Data size: 16-bit Settings: Torque mode: Set the torque corresponding to 10V (maximum voltage) for the analog torque command. Voltage input×P1.041 Torque control command = (Unit: %)
Page 333 Parameters ASDA-B3 Address: 0156H P1.043 Disable delay time for magnetic brake 0157H Default: Control mode: All Unit: Setting range: -1000 to 1000 Format: Data size: 16-bit Settings: Sets the delay time from Servo Off status to the deactivation of the magnetic brake signal (DO: 0x08, BRKR).
Page 334 ASDA-B3 Parameters Address: 015CH P1.046▲ Encoder pulse number output 015DH Default: 2500 Control mode: All Unit: pulse Setting range: 1 - 536870912 Format: Data size: 32-bit Settings: The number of single-phase pulse outputs per revolution. The maximum output frequency of the hardware is 19.8 MHz.
Page 335 Parameters ASDA-B3 4. Determine whether the absolute value of the speed deviation is smaller than the parameter value. If you set the parameter to 0, DO.SP_OK is always off. If the absolute value is smaller than the parameter, DO.SP_OK is on, otherwise it is off. Address: 0160H P1.048 Motion reached (DO.MC_OK) operation selection...
Page 336 ASDA-B3 Parameters 4. DO.TPOS: indicates whether position error of the servo drive is within the range set in P1.054. 5. DO.MC_OK: Position command output and servo positioning completed, which indicates that DO.Cmd_OK and DO.TPOS are both on. 6. DO.MC_OK (retains digital output status): same as 5, except that once this DO is on, its status is retained regardless of the signal 4 status.
Page 337 Parameters ASDA-B3 Address: 016AH P1.053 Regenerative resistor capacity 016BH Determined by the model. Refer to Default: Control mode: All the following table. Unit: Watt Setting range: 0 - 3000 Format: Data size: 16-bit Settings: Model Default (Watt) Model Default (Watt) 200 W or below 2 - 3 kW (included) 400 W - 1.5 kW...
Page 338 ASDA-B3 Parameters Address: 016EH P1.055 Maximum speed limit 016FH Default: Rated speed Control mode: All Unit: Setting range: 0 to maximum speed Format: Data size: 16-bit Settings: Sets the maximum speed of the servo motor. Address: 0170H P1.056 Motor output overload warning level 0171H Default: Control mode: All...
Page 339 Parameters ASDA-B3 Address: 0176H Speed command - moving filter P1.059 0177H Operation Panel / software Communication Control mode: S interface: Default: Data size: 16-bit Unit: 1 ms 0.1 ms Format: One decimal Setting range: 0.0 - 4.0 0 - 40 Example: 1.5 = 1.5 ms 15 = 1.5 ms...
Page 340 ASDA-B3 Parameters Address: 017EH P1.063 Constant of friction compensation 017FH Default: Control mode: PT / PR / S / Sz Unit: Setting range: 1 - 1000 Format: Data size: 16-bit Settings: Sets the smoothing constant of friction compensation. Address: 0180H P1.064 Analog position command: activation control 0181H...
Page 341 Parameters ASDA-B3 Address: 0182H P1.065 Smooth constant of analog Position command 0183H Default: Control mode: PT Unit: 10 ms Setting range: 1 - 1000 Format: Data size: 16-bit Settings: The smooth constant of analog Position command is only effective to analog Position command. Address: 0184H P1.066 Maximum rotation number of analog Position command...
Page 342 ASDA-B3 Parameters The moving filter smooths the beginning and end of the step command, but it also delays the command. P1.069 - Reserved P1.073 Address: 0194H P1.074 Output source of OA / OB / OZ 0195H Default: 0x0000 Control mode: PT Unit: Setting range: 0x0000 - 0x0030 Format:...
Page 343 Parameters ASDA-B3 P1.077 - Reserved P1.080 Second set of maximum rotation speed for analog Speed Address: 01A2H P1.081 01A3H command Default: Rated speed Control mode: S / T Unit: Setting range: 0 - 50000 Format: Data size: 32-bit Settings: Refer to the description of P1.040. Address: 01A4H P1.082 Filter switching time between P1.040 and P1.081...
Page 344 ASDA-B3 Parameters to find the Z pulse as the origin. Protector Level reached timer P1.088 Maximum torque output Torque level detection P1.087 Torque curve when the servo searches for the hard stop Start point Torque curve when the servo searches for Z pulse Z pulse Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087).
Page 345 Parameters ASDA-B3 Example: Set P2.094 = 0x11 to enable the first set. Set P2.094 = 0x12 to enable the second set. Set P2.094 = 0x13 to enable the first and second sets simultaneously. Address: 01B4H P1.090 First set of vibration elimination - resonance frequency 01B5H Default: 4000...
Page 346 ASDA-B3 Parameters Address: 01BCH P1.094 Second set of vibration elimination - resonance difference 01BDH Default: Control mode: PT / PR Unit: 0.1 dB Setting range: 10 - 4000 Format: Data size: 16-bit Settings: Attenuation rate for the second set of low frequency vibration elimination. P1.095 - Reserved P1.096...
Page 347 Parameters ASDA-B3 Address: 01C4H P1.098 Disconnection detection protection (UVW) response time 01C5H Default: Control mode: All Unit: Setting range: 0, 100 - 800 Format: Data size: 16-bit Settings: When the disconnection detection protection (UVW) function is enabled (P2.065 [Bit 9] = 1), select the detection response time with this parameter.
Page 348 ASDA-B3 Parameters P1.103 - Reserved P1.110 Address: 01DEH P1.111 Overspeed protection level 01DFH Default: Maximum motor speed x 1.1 Control mode: All Unit: Setting range: 0 to maximum speed Format: Data size: 32-bit Settings: This function is to protect the motor from overspeeding, which can be applied to all control modes. When the filtered motor speed exceeds this set speed, AL056 is triggered.
Page 349 Parameters ASDA-B3 P2.xxx Extension parameters Address: 0200H P2.000 Position control gain 0201H Default: Control mode: PT / PR Unit: rad/s Setting range: 0 - 2047 Format: Data size: 16-bit Settings: Increasing the position control gain can enhance the position response and reduce the deviation in position control.
Page 350 ASDA-B3 Parameters Address: 0208H P2.004 Speed control gain 0209H Default: Control mode: All Unit: rad/s Setting range: 0 - 8191 Format: Data size: 16-bit Settings: Increasing the speed control gain can enhance the speed response. If you set the value too high, it may cause vibration and noise.
Page 351 Parameters ASDA-B3 Address: 0210H P2.008■ Special parameter write-in function 0211H Default: Control mode: All Unit: Setting range: 0 - 501 Format: Data size: 16-bit Settings: Special parameter write-in function: Code Function Reset all parameters (cycle the power after reset). P4.010 is writable. P4.011 - P4.021 are writable.
Page 352 ASDA-B3 Parameters Address: 0216H P2.011 DI2 functional planning 0217H 0x0104 (B3-L) Default: Control mode: All 0x0022 (B3-F, E, M) 0x0000 - 0x015F Unit: Setting range: (last two codes are DI codes) Format: Data size: 16-bit Settings: Refer to the description of P2.010. Address: 0218H P2.012 DI3 functional planning...
Page 353 Parameters ASDA-B3 Address: 021EH P2.015 DI6 functional planning 021FH 0x0022 (B3-L) Default: Control mode: All 0x0100 (B3-F, E, M) 0x0000 - 0x015F Unit: Setting range: (last two codes are DI codes) Format: Data size: 16-bit Settings: Refer to the description of P2.010. There is no physical pin for DI6 on B3-F, B3-E, and B3-M models. DI6 is a virtual digital input which you can use when the number of physical DI points is insufficient and trigger through communication.
Page 354 ASDA-B3 Parameters Address: 0224H P2.018 DO1 functional planning 0225H 0x0101 (B3-L) Default: Control mode: All 0x0100 (B3-F, E, M) 0x0000 - 0x013F Unit: Setting range: (last two codes are DO codes) Format: 16-bit Data size: Settings: Output function selection Output contact: A or B contact Reserved ...
Page 355 Parameters ASDA-B3 Address: 022AH P2.021 DO4 functional planning 022BH 0x0105 (B3-L) Default: Control mode: All 0x0100 (B3-F, E, M) 0x0000 - 0x013F Unit: Setting range: (last two codes are DO codes) Format: Data size: 16-bit Settings: Refer to the description of P2.018. Address: 022CH P2.022 DO5 functional planning...
Page 356 ASDA-B3 Parameters Address: 0232H P2.025 Resonance suppression low-pass filter 0233H Operation Panel / software Communication Control mode: All interface: Default: Data size: 16-bit Unit: 1 ms 0.1 ms Setting range: 0.0 - 100.0 0 - 1000 Format: One decimal Example: 1.5 = 1.5 ms 15 = 1.5 ms Settings:...
Page 357 Parameters ASDA-B3 Function In position control mode, position error is larger than P2.029 Frequency of Position command is larger than P2.029 Rotation speed of servo motor is faster than P2.029 Signal of gain switching (DI.GAINUP) is off In position control mode, position error is smaller than P2.029 Frequency of Position command is smaller than P2.029 Rotation speed of servo motor is slower than P2.029 ...
Page 358 ASDA-B3 Parameters Address: 023CH P2.030■ Auxiliary function 023DH Default: Control mode: All Unit: Setting range: -8 to +8 Format: Data size: 16-bit Settings: Setting Function value Disable all functions described as follows. Switch servo to Servo On state. 2 to 4 Reserved.
Page 359 Parameters ASDA-B3 Address: 0240H P2.032 Gain adjustment mode 0241H 0x0001 Default: Control mode: All 0x0000 (B3-F) Unit: Setting range: 0x0000 - 0x0004 Format: Data size: 16-bit Settings: The servo drive provides three gain adjustment modes for fine tuning. You can then easily complete tuning by increasing or decreasing the bandwidth response level (P2.031).
Page 360 ASDA-B3 Parameters P2.033 Reserved Address: 0244H P2.034 Speed command error warning 0245H Default: 5000 Control mode: S / Sz Unit: Setting range: 1 - 30000 Format: Data size: 16-bit Settings: In Speed mode, this parameter sets the acceptable difference between the command speed and the feedback speed.
Page 361 Parameters ASDA-B3 Address: 024AH P2.037 DI10 functional planning 024BH Default: 0x0100 Control mode: All 0x0000 - 0x015F Unit: Setting range: (last two codes are DI codes) Format: Data size: 16-bit Settings: Refer to the description of P2.010. There is no physical pin for DI10 on all models. DI10 is a virtual digital input which you can use when the number of physical DI points is insufficient and trigger through communication.
Page 362 ASDA-B3 Parameters Address: 0250H P2.040 DI13 functional planning 0251H Default: 0x0100 Control mode: All 0x0000 - 0x015F Unit: Setting range: (last two codes are DI codes) Format: Data size: 16-bit Settings: Refer to the description of P2.010. There is no physical pin for DI13 on all models. DI13 is a virtual digital input which you can use when the number of physical DI points is insufficient and trigger through communication.
Page 363 Parameters ASDA-B3 Address: 025AH P2.045 Notch filter frequency (3) 025BH Default: 1000 Control mode: All Unit: Setting range: 50 - 5000 Format: Data size: 16-bit Settings: The third setting for resonance frequency. This function is disabled if P2.046 is 0. Address: 025CH P2.046 Notch filter attenuation level (3)
Page 364 ASDA-B3 Parameters 2: auto resonance suppression mode 2; when the servo determines it is stable* , the servo stores the resonance suppression points to EEPROM (non-volatile memory for parameters). In this mode, the searching cycle continues until the 5 sets of resonance suppression parameters are set, then the auto resonance suppression function is disabled (X = 0).
Page 365 Parameters ASDA-B3 it writes the data of the 1 point to the 1 set of resonance suppression parameters and the data of the 2 point to the 3 set of resonance suppression parameters. That is, it skips the 2 set of parameters.
Page 366 ASDA-B3 Parameters Address: 0268H P2.052▲ Indexing coordinates scale 0269H Default: 1000000000 Control mode: All Unit: Setting range: 0 - 1000000000 Format: Data size: 32-bit Settings: Sets the scale of the indexing coordinates, indexing command position, and indexing feedback position. If the value is too small, it may cause errors in the indexing coordinates. The ranges of values for P2.052 are: 16777216 P1.045...
Page 367 Parameters ASDA-B3 Address: 027AH P2.061 E-Gear ratio (numerator) (N3) 027BH Default: 16777216 Control mode: PT Unit: pulse Setting range: 1 to (2 Format: Data size: 32-bit Settings: Refer to the description of P2.060. Address: 027CH P2.062 E-Gear ratio (numerator) (N4) 027DH Default: 16777216...
Page 368 ASDA-B3 Parameters Bit 10  Bit 10 = 0 and command source is the analog voltage. The ZCLAMP function uses the analog Speed command without acceleration or deceleration to determine if this function should be enabled. The motor is clamped at the position where ZCLAMP conditions are met.
Page 369 Parameters ASDA-B3 Bit 10  Bit 10 = 1 and command source is the internal register. ZCLAMP function uses the register Speed command with acceleration or deceleration to determine if this function should be enabled. When ZCLAMP conditions are met, the motor speed is set to 0 rpm. Function Description 0: disable PL / NL pulse inhibit function.
Page 370 ASDA-B3 Parameters Address: 0284H P2.066 Special bit register 2 0285H Default: 0x0000 Control mode: PT / PR / S / Sz Unit: Setting range: 0x0000 - 0x187F Format: Data size: 16-bit Settings: Function Description Bit 0 - Bit 1 Reserved 0: enable the function, so the low voltage error is not cleared automatically.
Page 371 Parameters ASDA-B3 Address: 0288H P2.068 Following error compensation switch 0289H Default: 0x00000000 Control mode: All Unit: Setting range: 0x00000000 - 0x00000101 Format: Data size: 32-bit Settings: High bit Low bit Reserved Following error compensation switch Reserved Reserved Reserved DI.STP triggering method Reserved Reserved ...
Page 372 ASDA-B3 Parameters  Z*: index coordinates function setting when overflow occurs 0: index coordinates are lost when overflow occurs. 1: index coordinates are not affected by overflow, but absolute coordinates are not retained. Note: this function is coming soon. Address: 028CH P2.070 Read data selection 028DH...
Page 373 Parameters ASDA-B3 P2.090 - Reserved P2.093 Address: 02BCH P2.094▲ Special bit register 3 02BDH 0x1010 Default: Control mode: PT / PR / S / Sz 0x0010 (B3-F) Unit: Setting range: 0x0000 - 0xF3F6 Format: Data size: 16-bit Settings: Function Description Bit 0 - Bit 3 Reserved 0: disable new dynamic brake...
Page 374 ASDA-B3 Parameters Address: 02C0H P2.096 Notch filter bandwidth (2) 02C1H Default: Control mode: All Unit: Setting range: 1 - 10 Format: Data size: 16-bit Settings: The second value of resonance width. This function is disabled if P2.044 is 0. P2.043, P2.044, and P2.096 are the second Notch filter parameters.
Page 375 Parameters ASDA-B3 Address: 02C8H P2.100 Notch filter bandwidth (4) 02C9H Default: Control mode: All Unit: Setting range: 1 - 10 Format: Data size: 16-bit Settings: The fourth value of resonance width. This function is disabled if P2.099 is 0. P2.098, P2.099, and P2.100 are the fourth set of Notch filter parameters.
Page 376 ASDA-B3 Parameters Address: 02D0H P2.104 P/PI torque switching command condition 02D1H Default: Control mode: PT / PR / S / Sz Unit: Setting range: 1 - 800 Format: Data size: 16-bit Settings: When the Torque command exceeds P2.104, the speed controller gain is switched from PI to P in order to reduce response overshoot.
Page 377 Parameters ASDA-B3 P2.107 - Reserved P2.111 Address: 02E0H P2.112▲ Special bit register 4 02E1H Default: 0x0018 Control mode: PT / PR / S / Sz Unit: Setting range: 0x0000 - 0x153F Format: Data size: 16-bit Settings: Function Description Bit 0 Reserved 0: disable AL089 Bit 1...
Page 378: P3.Xxx Communication Parameters
ASDA-B3 Parameters P3.xxx Communication parameters Address: 0300H P3.000● Address 0301H Default: 0x007F Control mode: All 0x0001 - 0x007F Unit: Setting range: 0x0001 - 0xFFFF (B3-E) Format: Data size: 16-bit Settings: UZYX Communication address setting When using RS-485 to communicate, one servo drive can set only one address. Setting more than one addresses causes abnormal communications.
Page 379 Parameters ASDA-B3 U: DMCNET motion card  0: use Delta’s controller, such as PLC or HMI 3: use Delta’s motion card Note: The communication speed of USB is set at 1.0 Mbps and cannot be changed. If this parameter is set through CANopen, only Z can be set and the others remain unchanged.
Page 380 ASDA-B3 Parameters Address: 030CH P3.006■ Digital input (DI) control switch 030DH Default: 0x0000 Control mode: All Unit: Setting range: 0x0000 - 0x1FFF Format: Data size: 16-bit Settings: Source of the DI that controls the switch. Each bit of this parameter determines one input source of DI signal: Bit 0 - Bit 8 correspond to DI1 - DI9;...
Page 381 Parameters ASDA-B3 initial lead into account. Target value = 400 + 10 x T. For example, if T = 5, the target value is 450.  U: if the deviation between the SYNC arrival time and the target value is smaller than the range, it means the synchronization is successful (unit: 10 μs).
Page 382 ASDA-B3 Parameters Communication setting is divided into X, Y, Z, and U (hexadecimal): Digit Function Parameter is stored in EEPROM or not Range 0 - 1 X: parameter is stored in EEPROM or not  0: parameters are not stored in EEPROM. 1: when you write parameters through CANopen / DMCNET PDOs, parameters are stored in EEPROM.
Page 383 Parameters ASDA-B3 Related variables for Z settings: Variables during initialization P3.012.Z = 0 P3.012.Z = 1 Note P1.032 0x0010 EEPROM P2.035 50331648 EEPROM P1.047 EEPROM P1.049 EEPROM P1.038 EEPROM P6.001 EEPROM Acc (P1.034) EEPROM Used in PV and PP modes Dec (P1.034) EEPROM Used in PV and PP modes...
Page 384 ASDA-B3 Parameters 1: disconnection detection starts after EtherCAT communication enters INIT state. 2: disconnection detection disabled. P3.019 - Reserved P3.021 Address: 032CH P3.022 EtherCAT PDO timeout setting 032DH Default: 0xFF04 Control mode: EtherCAT Unit: Setting range: 0x0002 - 0xFF14 Format: Data size: 16-bit Settings:...
Page 385: P4.Xxx Diagnosis Parameters
Parameters ASDA-B3 P4.xxx Diagnosis parameters Address: 0400H P4.000★ Fault record (N) 0401H Default: 0x00000000 Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: The last abnormal status record. Low word (LXXXX): the alarm number. High word (hYYYY): the alarm number. Address: 0402H P4.001★...
Page 386 ASDA-B3 Parameters Address: 0408H P4.004★ Fault record (N-4) 0409H Default: 0x00000000 Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: The fifth to last abnormal status record. Low word (LXXXX): the alarm number. High word (hYYYY): the alarm number. Address: 040AH P4.005 Servo motor JOG control...
Page 387 Parameters ASDA-B3 Address: 040CH P4.006■ Digital output register (readable and writable) 040DH Default: 0x0000 Control mode: All Unit: Setting range: 0x0000 - 0xFFFF Format: Data size: 16-bit Settings: bit 00: corresponds to DO code = 0x30 bit 08: corresponds to DO code = 0x38 bit 01: corresponds to DO code = 0x31 bit 09: corresponds to DO code = 0x39 bit 02: corresponds to DO code = 0x32...
Page 388 ASDA-B3 Parameters Address: 0410H P4.008★ Input status of servo drive panel (read-only) 0411H Default: Control mode: All Unit: Setting range: Read-only Format: Data size: 16-bit Settings: Use this communication parameter to read and check if the five keys (MODE, UP, DOWN, SHIFT, and SET) can function normally.
Page 389 Parameters ASDA-B3 Address: 0418H P4.012 Analog speed input (2) offset adjustment 0419H Default: Factory setting Control mode: All Unit: Setting range: 0 - 32767 Format: Data size: 16-bit Settings: Manually adjust the offset. The function must be enabled by setting P2.008. Do not change the auxiliary adjustment as this parameter cannot be reset.
Page 390 ASDA-B3 Parameters Address: 0420H P4.016 Current encoder (V2 phase) offset adjustment 0421H Default: Factory setting Control mode: All Unit: Setting range: 0 - 32767 Format: Data size: 16-bit Settings: Manually adjust the offset. The function must be enabled by setting P2.008. Do not change the auxiliary adjustment as this parameter cannot be reset.
Page 391 Parameters ASDA-B3 Address: 0428H P4.020 Offset adjustment for analog monitor output (Ch1) 0429H Default: Control mode: All Unit: Setting range: -800 to 800 Format: Data size: 16-bit Settings: Offset adjustment value (cannot reset). The function must be enabled by setting P2.008. Address: 042AH P4.021 Offset adjustment for analog monitor output (Ch2)
Page 392: P5.Xxx Motion Control Parameters
ASDA-B3 Parameters P5.xxx Motion control parameters Address: 0500H P5.000★■ Firmware subversion 0501H Default: Factory setting Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: The low bit is the subversion of the firmware. P5.001 - Reserved P5.002 Address: 0506H P5.003 Deceleration time for auto-protection...
Page 393 Parameters ASDA-B3 Definition of each setting value: Reserved Limit setting Z pulse setting Homing method 0 - 1 0 - 2 0 - 8 X = 0: homing in forward direction and define the positive limit as the homing origin X = 1: homing in reverse direction and Y = 0: return to Z pulse define the negative limit as the homing...
Page 394 ASDA-B3 Parameters Address: 050CH P5.006 Low speed homing (second speed setting) 050DH Operation Panel / software Communication Control mode: PR (set with P5.004) interface: Default: 20.0 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.1 - 500.0 1 - 5000 Format: Example: 1.5 = 1.5 rpm...
Page 395 Parameters ASDA-B3 Address: 0510H P5.008 Positive software limit 0511H Default: 2147483647 Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: In PR mode, if the motor rotates in the positive direction and its feedback position exceeds the value of P5.008, AL283 occurs.
Page 396 ASDA-B3 Parameters Address: 0518H P5.012■ Data array - window #1 for reading and writing 0519H Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Window #1: when you read the parameter with the panel, the value set in P5.011 does not add 1, but reading or writing by other methods adds 1.
Page 397 Parameters ASDA-B3 Address: 0520H P5.016■ Axis position - motor encoder 0521H Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Read: feedback position of the encoder, which is the monitoring variable 000(00h) + offset value. Write: write any value to the parameter, and it neither changes the monitoring variable 000(00h) nor affects the positioning coordinate system.
Page 398 ASDA-B3 Parameters Address: 052CH P5.022 Acceleration / deceleration time (Number #2) 052DH Default: Control mode: PR Unit: Setting range: 1 to 65500 Format: Data size: 16-bit Settings: Refer to P5.020 for the acceleration / deceleration time in PR mode. Address: 052EH P5.023 Acceleration / deceleration time (Number #3) 052FH...
Page 399 Parameters ASDA-B3 Address: 0536H P5.027 Acceleration / deceleration time (Number #7) 0537H Default: 1200 Control mode: PR Unit: Setting range: 1 to 65500 Format: Data size: 16-bit Settings: Refer to P5.020 for the acceleration / deceleration time in PR mode. Address: 0538H P5.028 Acceleration / deceleration time (Number #8)
Page 400 ASDA-B3 Parameters Address: 0540H P5.032 Acceleration / deceleration time (Number #12) 0541H Default: 5000 Control mode: PR Unit: Setting range: 1 to 65500 Format: Data size: 16-bit Settings: Refer to P5.020 for the acceleration / deceleration time in PR mode. Address: 0542H P5.033 Acceleration / deceleration time (Number #13)
Page 401 Parameters ASDA-B3 Address: 054AH P5.037■ Capture－Axis position 054BH Default: Control mode: All Unit: Pulse unit of capture source Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Displays the axis position of Capture pulse source. Note that this parameter is only writable when Capture stops (refer to P5.039).
Page 402 ASDA-B3 Parameters  Y: axis source of Capture 0: Capture is not working 1: reserved 2: pulse command (CN1) 3: motor encoder (CN2) Note: when the source of Compare is the Capture axis, the source of Capture (P5.039.Y) cannot be changed. ...
Page 403 Parameters ASDA-B3 Unit: Setting range: 0 to 32767 Format: Data size: 16-bit Settings: The fourth delay time of PR mode. Address: 0558H P5.044 Delay time after position reached (Number #4) 0559H Default: Control mode: PR Unit: Setting range: 0 to 32767 Format: Data size: 16-bit...
Page 404 ASDA-B3 Parameters Address: 0560H P5.048 Delay time after position reached (Number #8) 0561H Default: 2000 Control mode: PR Unit: Setting range: 0 to 32767 Format: Data size: 16-bit Settings: The ninth delay time of PR mode. Address: 0562H P5.049 Delay time after position reached (Number #9) 0563H Default: 2500...
Page 405 Parameters ASDA-B3 Address: 056AH P5.053 Delay time after position reached (Number #13) 056BH Default: 4500 Control mode: PR Unit: Setting range: 0 to 32767 Format: Data size: 16-bit Settings: The fourteenth delay time of PR mode. Address: 056CH P5.054 Delay time after position reached (Number #14) 056DH Default: 5000...
Page 406 ASDA-B3 Parameters Address: 057AH P5.061 Target speed setting #1 057BH Operation Panel / software Communication Control mode: PR interface: Default: 50.0 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 6000.0 0 to 60000 Format: Example: 15 = 15 rpm 150 = 15 rpm Settings: Second target speed of PR mode.
Page 407 Parameters ASDA-B3 Address: 0580H P5.064 Target speed setting #4 0581H Operation Panel / software Communication Control mode: PR interface: Default: 300.0 3000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 6000.0 0 to 60000 Format: Example: 15 = 15 rpm 150 = 15 rpm Settings:...
Page 408 ASDA-B3 Parameters Address: 0586H P5.067 Target speed setting #7 0587H Operation Panel / software Communication Control mode: PR interface: Default: 800.0 8000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 6000.0 0 to 60000 Format: Example: 15 = 15 rpm 150 = 15 rpm Settings:...
Page 409 Parameters ASDA-B3 Address: 058CH P5.070 Target speed setting #10 058DH Operation Panel / software Communication Control mode: PR interface: Default: 1500.0 15000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 6000.0 0 to 60000 Format: Example: 15 = 15 rpm 150 = 15 rpm Settings:...
Page 410 ASDA-B3 Parameters Address: 0592H P5.073 Target speed setting #13 0593H Operation Panel / software Communication Control mode: PR interface: Default: 2300.0 23000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 6000.0 0 to 60000 Format: Example: 15 = 15 rpm 150 = 15 rpm Settings:...
Page 411 Parameters ASDA-B3 Address: 0598H P5.076 Capture - reset position after first data 0599H Default: Control mode: All Unit: Pulse unit of capture source Setting range: -1073741824 to +1073741823 Format: Data size: 32-bit Settings: If the position reset function is enabled (P5.039.X [Bit 1] = 1), after the first position data is captured, the servo resets the coordinates of the first point, which is defined by this parameter.
Page 412 ASDA-B3 Parameters Address: 05C0H P5.096 Motion control macro command: command parameter #1 05C1H Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Before executing the macro command, set the relevant parameters in advance. The function of the parameter is determined by the macro command.
Page 413 Parameters ASDA-B3 Parameter and data array protection: unlock protection This function can only be executed when the protection function is activated. When the protection function is unlocked, the failure code is returned if this function is Command code executed repeatedly. If the wrong password is entered, failure code 0xEnnn is 0x0004 returned.
Page 414 ASDA-B3 Parameters Address: 05C6H P5.099 PR# triggered by event falling-edge 05C7H Default: 0x0000 Control mode: PR Unit: Setting range: 0x0000 - 0xDDDD Format: Data size: 16-bit Settings: PR triggered by EV1 falling-edge PR triggered by EV3 falling-edge PR triggered by EV2 falling-edge PR triggered by EV4 falling-edge ...
Page 415 Parameters ASDA-B3 Address: 05CAH P5.101■ Data array - window #4 for reading and writing 05CBH Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Window #4: when you read or write the parameter by any method, the value set in P5.011 does not add 1.
Page 416: P6.Xxx Pr Parameters
ASDA-B3 Parameters P6.xxx PR parameters Address: 0600H P6.000 Homing definition 0601H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFF6F Format: Data size: 32-bit Settings: Homing definition: High bit Low bit DEC2: deceleration time selection for PATH: path type second homing DLY: select 0 - F for delay time ACC: select 0 - F for acceleration time...
Page 417 Parameters ASDA-B3 If returning to the origin is needed, set PATH to a non-zero value and set PABS = ORG_DEF. Example: Upon completion of P6.000 = 0x0001, automatically execute Path#1. Set from absolute position (ABS) to 0 as the route of Path#1 (set P6.002 & P6.003). If the origin is found (sensor or Z), and you want the motor to move an offset S and define the coordinate as P after moving, then PATH = non-zero and set ORG_DEF = P - S, and this absolute Position command = P.
Page 418 ASDA-B3 Parameters INS: executing this path interrupts the previous path. OVLP: allow overlapping of the next path. Overlapping is not allowed in Speed mode. When overlapping in Position mode, DLY has no function. AUTO: once current PR path is finished, automatically load the next path. CMD: refer to Section 7.1.3 Motion control commands.
Page 419 Parameters ASDA-B3 B: DLY, delay time index  Corresponding parameter Default value (ms) P5.040 P5.041 P5.042 P5.043 P5.044 P5.045 P5.046 1000 P5.047 1500 P5.048 2000 P5.049 2500 P5.050 3000 P5.051 3500 P5.052 4000 P5.053 4500 P5.054 5000 P5.055 5500  C: AUTO: once current PR path is finished, automatically load the next path.
Page 420 ASDA-B3 Parameters Address: 0608H P6.004 PATH#2 definition 0609H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 060AH P6.005 PATH#2 data 060BH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 421 Parameters ASDA-B3 Address: 0612H P6.009 PATH#4 data 0613H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0614H P6.010 PATH#5 definition 0615H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 422 ASDA-B3 Parameters Address: 061CH P6.014 PATH#7 definition 061DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 061DH P6.015 PATH#7 data 061FH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 423 Parameters ASDA-B3 Address: 0626H P6.019 PATH#9 data 0627H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0628H P6.020 PATH#10 definition 0629H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 424 ASDA-B3 Parameters Address: 0630H P6.024 PATH#12 definition 0631H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0632H P6.025 PATH#12 data 0633H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 425 Parameters ASDA-B3 Address: 063AH P6.029 PATH#14 data 063BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 063CH P6.030 PATH#15 definition 063DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 426 ASDA-B3 Parameters Address: 0644H P6.034 PATH#17 definition 0645H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0646H P6.035 PATH#17 data 0647H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 427 Parameters ASDA-B3 Address: 064EH P6.039 PATH#19 data 064FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0650H P6.040 PATH#20 definition 0651H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 428 ASDA-B3 Parameters Address: 0658H P6.044 PATH#22 definition 0659H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 065AH P6.045 PATH#22 data 065BH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 429 Parameters ASDA-B3 Address: 0662H P6.049 PATH#24 data 0663H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0664H P6.050 PATH#25 definition 0665H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 430 ASDA-B3 Parameters Address: 066CH P6.054 PATH#27 definition 066DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 066EH P6.055 PATH#27 data 066FH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 431 Parameters ASDA-B3 Address: 0676H P6.059 PATH#29 data 0677H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0678H P6.060 PATH#30 definition 0679H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 432 ASDA-B3 Parameters Address: 0680H P6.064 PATH#32 definition 0681H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0682H P6.065 PATH#32 data 0683H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 433 Parameters ASDA-B3 Address: 068AH P6.069 PATH#34 data 068BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 068CH P6.070 PATH#35 definition 068CH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 434 ASDA-B3 Parameters Address: 0694H P6.074 PATH#37 definition 0695H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0696H P6.075 PATH#37 data 0697H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 435 Parameters ASDA-B3 Address: 069EH P6.079 PATH#39 data 069FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 06A0H P6.080 PATH#40 definition 06A1H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 436 ASDA-B3 Parameters Address: 06A8H P6.084 PATH#42 definition 06A9H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 06AAH P6.085 PATH#42 data 06ABH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 437 Parameters ASDA-B3 Address: 06B2H P6.089 PATH#44 data 06B3H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 06B4H P6.090 PATH#45 definition 06B5H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 438 ASDA-B3 Parameters Address: 06BCH P6.094 PATH#47 definition 06BDH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 06BEH P6.095 PATH#47 data 06BFH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 439 Parameters ASDA-B3 Address: 0602H P6.099 PATH#49 data 0603H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. 8-154...
Page 440: P7.Xxx Pr Parameters
ASDA-B3 Parameters P7.xxx PR parameters Address: 0700H P7.000 PATH#50 definition 0701H Control mode: PR Default: 0x00000000 Setting range: 0x00000000 - 0xFFFFFFFF Unit: Data size: 32-bit Format: Settings: Refer to the description of P6.002. Address: 0702H P7.001 PATH#50 data 0703H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit:...
Page 441 Parameters ASDA-B3 Address: 070AH P7.005 PATH#52 data 070BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 070CH P7.006 PATH#53 definition 070DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 442 ASDA-B3 Parameters Address: 0714H P7.010 PATH#55 definition 0715H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0716H P7.011 PATH#55 data 0717H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 443 Parameters ASDA-B3 Address: 071EH P7.015 PATH#57 data 071FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0720H P7.016 PATH#58 definition 0721H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 444 ASDA-B3 Parameters Address: 0728H P7.020 PATH#60 definition 0729H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 072AH P7.021 PATH#60 data 072BH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 445 Parameters ASDA-B3 Address: 0732H P7.025 PATH#62 data 0733H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0734H P7.026 PATH#63 definition 0735H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 446 ASDA-B3 Parameters Address: 073CH P7.030 PATH#65 definition 073DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 073EH P7.031 PATH#65 data 073FH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 447 Parameters ASDA-B3 Address: 0746H P7.035 PATH#67 data 0747H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0748H P7.036 PATH#68 definition 0749H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 448 ASDA-B3 Parameters Address: 0750H P7.040 PATH#70 definition 0751H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0752H P7.041 PATH#70 data 0753H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 449 Parameters ASDA-B3 Address: 075AH P7.045 PATH#72 data 075BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 075CH P7.046 PATH#73 definition 075DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 450 ASDA-B3 Parameters Address: 0764H P7.050 PATH#75 definition 0765H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0766H P7.051 PATH#75 data 0767H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 451 Parameters ASDA-B3 Address: 076EH P7.055 PATH#77 data 076FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0770H P7.056 PATH#78 definition 0771H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 452 ASDA-B3 Parameters Address: 0778H P7.060 PATH#80 definition 0779H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 077AH P7.061 PATH#80 data 077BH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 453 Parameters ASDA-B3 Address: 0782H P7.065 PATH#82 data 0783H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0784H P7.066 PATH#83 definition 0785H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 454 ASDA-B3 Parameters Address: 078CH P7.070 PATH#85 definition 078DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 078EH P7.071 PATH#85 data 078FH Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 455 Parameters ASDA-B3 Address: 0796H P7.075 PATH#87 data 0797H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0798H P7.076 PATH#88 definition 0799H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 456 ASDA-B3 Parameters Address: 07A0H P7.080 PATH#90 definition 07A1H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 07A2H P7.081 PATH#90 data 07A3H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 457 Parameters ASDA-B3 Address: 07AAH P7.085 PATH#92 data 07ABH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 07ACH P7.086 PATH#93 definition 07ADH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 458 ASDA-B3 Parameters Address: 07B4H P7.090 PATH#95 definition 07B5H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 07B6H P7.091 PATH#95 data 07B7H Default: Control mode: PR Setting range: -2147483648 to +2147483647 Unit: Format:...
Page 459 Parameters ASDA-B3 Address: 07BEH P7.095 PATH#97 data 07BFH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 07C0H P7.096 PATH#98 definition 07C1H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 460 ASDA-B3 Parameters Table 8.1 Digital input (DI) descriptions Value: 0x01 Triggering Control DI name Description method mode Level When this DI is on, servo is activated (Servo On). triggered Value: 0x02 Triggering Control DI name Description method mode After the alarm is cleared, the drive shows that the alarm is cleared Rising-edge ARST when this DI is on.
Page 461 Parameters ASDA-B3 Value: 0x08 Triggering Control DI name Description method mode In PR mode, after you select the PR command (POS0 - 6), the motor Rising-edge CTRG operates according to the command issued by the register when this triggered DI is on. Value: 0x09 Triggering Control...
Page 462 ASDA-B3 Parameters Value: 0x0D Triggering Control DI name Description method mode Clear function of analog Position command. If this DI is on, the position of the motor is held at the current position when DI is triggered. Despite the change in the analog command during the time DI is on, the motor remains at the current position even when the DI is off.
Page 463 Parameters ASDA-B3 Value: 0x1D Triggering Control DI name Description method mode When DI.ABSE is on, it is in absolute mode and can enable the functions of DI.ABSQ, DI.ABSR, DI.ABSD, and DI.ABSC at the same time. Level ABSE When DI.ABSE is on, the functions of DI4, DO2, and DO3 are no triggered longer the ones assigned by the parameter.
Page 464 ASDA-B3 Parameters Value: 0x18 Triggering Control DI name Description method mode In S-P dual mode, if DI is off, it is in Speed mode; if DI is on, it is in Level Dual Position mode. In PT / PR / S modes, select PT or PR with DI.PT-PR triggered mode (0x2B).
Page 465 Parameters ASDA-B3 Value: 0x2B Triggering Control DI name Description method mode Use this DI to select the command source in PT-PR dual mode or Level Dual PT-PR PT-PR-S multiple mode. If this DI is off, it is in PT mode; if this DI is triggered mode on, it is in PR mode.
Page 466 ASDA-B3 Parameters Value: 0x43, 0x44 Triggering Control DI name Description method mode E-Gear ratio (numerator) selection 0 E-Gear ratio (numerator) selection 1 GNUM0 Level triggered GNUM1 Value: 0x45 Triggering Control DI name Description method mode In Position mode, the external pulse input command has no Level INHP function when this DI is on.
Page 467 Parameters ASDA-B3 Table 8.2 Digital output (DO) descriptions Value: 0x01 Triggering Control DO name Description method mode When the control and main circuit power is applied to the drive, Level SRDY this DO is on if no alarm occurs. triggered Value: 0x02 Triggering Control...
Page 468 ASDA-B3 Parameters Value: 0x07 Triggering Control DO name Description method mode When an alarm occurs, this DO is on. (Except for positive / negative Level ALRM limit, communication error, undervoltage, and fan error.) triggered Value: 0x08 Triggering Control DO name Description method mode...
Page 469 Parameters ASDA-B3 Value: 0x10 Triggering Control DO name Description method mode output time exceeds 8 seconds, the overload alarm (AL006) occurs. = Duration when the output average load of the servo is 200% x value for the overload warning level = 8 sec x 60% = 4.8 sec Result: when the output average load of the servo drive is 200% for over t = 4.8 seconds, this overload warning DO is on (DO:...
Page 470 ASDA-B3 Parameters Value: 0x19 Triggering Control DO name Description method mode Motor speed reaches the target speed: in Speed mode, when the Level SP_OK deviation between the speed feedback and the command is smaller S, Sz triggered than the value of P1.047, this DO is on. Value: 0x2C Triggering Control...
Page 471 Parameters ASDA-B3 Value: 0x33 Triggering Control DO name Description method mode Level SPO_3 Output bit 03 of P4.006. triggered Value: 0x34 Triggering Control DO name Description method mode Level SPO_4 Output bit 04 of P4.006. triggered Value: 0x35 Triggering Control DO name Description method...
Page 472 ASDA-B3 Parameters Value: 0x3C Triggering Control DO name Description method mode Level SPO_C Output bit 12 of P4.006. triggered Value: 0x3D Triggering Control DO name Description method mode Level SPO_D Output bit 13 of P4.006. triggered Value: 0x3E Triggering Control DO name Description method...
Page 473 Parameters ASDA-B3 Table 8.3 Monitoring variables descriptions Description of monitoring variables: Item Description Monitoring Each monitoring variable has a code, and you can use P0.002 to set the code for code monitoring the variable. Format Each monitoring variable is stored in the 32-bit format (long integer) of the servo drive. Basic variables / expansion variables: Basic variables: variables (P0.002 = 0 to 26) within the cycle;...
Page 474 ASDA-B3 Parameters Code Variable name / property Description Position deviation (pulse) Deviation between the Position command and the 005 (05h) feedback position. Unit: encoder unit (pulse). Pulse command Frequency of the pulse command received by the drive. 006 (06h) frequency B Unit: Kpps.
Page 475 Parameters ASDA-B3 Code Variable name / property Description Mapping monitoring variable #3 025 (19h) Returns the value of P0.011 which is mapped by P0.019. Mapping monitoring variable #4 026 (1Ah) Returns the value of P0.012 which is mapped by P0.020. Indexing coordinate Current command for the indexing coordinates.
Page 476 ASDA-B3 Parameters Code Variable name / property Description Includes 2 versions: DSP and CPLD. When monitoring from the panel, press the SHIFT key to switch between DSP and CPLD: DSP displays zero decimal places; CPLD displays 1 Drive firmware version 096 (60h) decimal place.
Page 477 Parameters ASDA-B3 (This page is intentionally left blank.) 8-192...
Page 478: Modbus Communication
MODBUS Communication This chapter describes the MODBUS communication which you use for setting, reading, and writing general parameters. For the motion control network, refer to the related DMCNET, CANopen, and EtherCAT documentation. The details of ASCII and RTU modes are also provided in this chapter. 9.1 RS-485 communication interface (hardware) ···········································...
Page 479: Communication Interface (Hardware)
MODBUS Communication ASDA-B3 9.1 RS-485 communication interface (hardware) The ASDA-B3 series servo drive supports RS-485 serial communication that you can use to access and change the parameters of the servo system. See the following description of the wiring: Note: The cable length can be up to 100 meters when the servo drive is installed in a quiet environment.
Page 480: Communication Parameter Settings
ASDA-B3 MODBUS Communication 9.2 RS-485 communication parameter settings The required parameters for a single servo drive connection are: P3.000 (Address), P3.001 (Transmission speed), and P3.002 (Communication protocol). P3.003 (Communication error handling), P3.004 (Communication timeout), P3.006 (Digital input (DI) control switch), and P3.007 (Communication response delay time) are optional settings.
Page 481 MODBUS Communication ASDA-B3 RTU mode: Every data frame consists of 8-bit hexadecimal characters, which is more efficient than ASCII mode for data transmission because it can be done without code interchange. For instance, when transmitting “64H” between the master and slave, just send “64H”. Characters are encoded into the following frames and transmitted in series.
Page 482 ASDA-B3 MODBUS Communication Communication data structure Definitions for the data frames in the two modes are as follows: ASCII mode: Start Start character ‘:’ (3AH) Slave Address Communication address: 1 byte consists of 2 ASCII codes Function Function code: 1 byte consists of 2 ASCII codes Data (n-1) …….
Page 483 MODBUS Communication ASDA-B3 Example 1: function code 03H, read multiple words When the master issues a read command to the first slave: The slave reads two continuous words starting from the start data address 0200H. In the response message from the slave, the content of the start data address 0200H is 00B1H and the content of the second data address 0201H is 1F40H.
Page 484 ASDA-B3 MODBUS Communication Example 2: function code 06H, write single word When the master issues a write command to the first slave: The slave writes data 0064H to the start data address 0200H and sends a response message to the master after writing is complete. ASCII mode: Command Message (Master): Response Message (Slave):...
Page 485 MODBUS Communication ASDA-B3 Example 3: function code 10H, write multiple words When the master issues a write command to the first slave: The slave writes two words 0BB8H and 0000H starting from the start address 0112H. In other words, 0BB8H is written into 0112H and 0000H is written into 0113H. The maximum allowable number of data in one single access is 8.
Page 486 ASDA-B3 MODBUS Communication RTU mode: Command Message (Master): Response Message (Slave): Slave Address Slave Address Function Function 01H (High) 01H (High) Start Data Address Start Data Address 12H (Low) 12H (Low) 00H (High) 00H (High) Data Number Data Number (in words) (in words) 02H (Low) 02H (Low)
Page 487 MODBUS Communication ASDA-B3 LRC and CRC transmission error check The error check used in ASCII mode is LRC (Longitudinal Redundancy Check) and that used in RTU mode is CRC (Cyclical Redundancy Check). See the following details. LRC (ASCII mode): Start ‘:’...
Page 488 ASDA-B3 MODBUS Communication CRC (RTU mode): To calculate the CRC value: Step 1: load a 16-bit register with the content of FFFFH, which is called the ‟CRC” register. Step 2: (The low byte of the CRC register) XOR (The first byte of the command), and save the result in the CRC register.
Page 489 MODBUS Communication ASDA-B3 CRC program example: This function calculates the CRC value in the C language. It needs two parameters: 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 490 ASDA-B3 MODBUS Communication outportb(PORT+BRDH,0x00); outportb(PORT+LCR,0x06); /* set prorocol <7,E,1> = 1AH, <7,O,1> = 0AH <8,N,2> = 07H <8,E,1> = 1BH <8,O,1> = 0BH for( I = 0; I<=16; I++ ) { while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */ outportb(PORT+THR,tdat[I]);...
Page 491: Writing And Reading Communication Parameters
MODBUS Communication ASDA-B3 9.4 Writing and reading communication parameters Refer to Chapter 8 for the descriptions of the parameters that you can write or read through the communication interface. The ASDA-B3 servo drive parameters are divided into eight groups: Group 0 (Monitoring parameters), Group 1 (Basic parameters), Group 2 (Extension parameters), Group 3 (Communication parameters), Group 4 (Diagnosis parameters), Group 5 (Motion control parameters), and Group 6 and Group 7 (PR parameters).
Page 492: Communication Specification
ASDA-B3 MODBUS Communication 9.5 RS-485 communication specification Compared with RS-232, the RS-485 communication can carry out one-to-many transmission and has better anti-interference ability. RS-485 uses a balanced transmission line for signal reception and transmission. The transmitter converts the TTL signal into a differential signal and then sends it to the receiver.
Page 493 MODBUS Communication ASDA-B3  Anti-interference methods In the signal transmission process, if there is interference, it may result in signal distortion. Therefore, it is important to eliminate interference. The elimination methods are as follows: 1. Add a terminal resistor. 2. Check if the servo drive is installed in a high magnetic field environment. If so, keep it as far away as possible.
Page 494: Absolute System
Absolute System This chapter introduces the absolute servo system, including the wiring and installation of the absolute encoder, the steps to set up the system, and the procedures for initializing and operating the system for the first time. 10.1 Battery box (absolute type) and wiring ················································ 10-3 10.1.1 Specifications ········································································...
Page 495 Install the battery correctly on the encoder. One servo drive uses one single battery box; two servo drives can share one dual battery box. Use Delta’s encoder cable to connect to the battery box. See the following sections for the specifications of the battery box and its accessories.
Page 496: Battery Box (Absolute Type) And Wiring
ASDA-B3 Absolute System 10.1 Battery box (absolute type) and wiring 10.1.1 Specifications Precautions Carefully read through the following safety precautions. Use batteries only in accordance with the specifications to avoid damage or dangerous conditions. Make sure the installation location is free of vapor, corrosive and ...
Page 497 Absolute System ASDA-B3 Battery life Source: EVE Energy Co. ER14505 Discharge Characteristics (1) The above figure illustrates the discharge current curves measured in the constant current test. According to the five curves shown above, if the voltage of the battery keeps at 3V or higher, the expected battery life is as shown in the following table.
Page 498: Battery Box Dimensions
ASDA-B3 Absolute System 10.1.2 Battery box dimensions Single battery box Delta part number: ASD-MDBT0100 35 (1.37) 22 (2.86) Unit: mm (inch) Weight: 44 g R3.25 Dual battery box Delta part number: ASD-MDBT0200 45 (1.77) 26 (1.02) 64.5 (2.54) Unit: mm (inch) Weight: 79.23 g...
Page 499: Connection Cable For The Absolute Encoder
Absolute System ASDA-B3 10.1.3 Connection cable for the absolute encoder A. Quick connector Model name inch ACS3-CAE 1003 3000 ± 50 118 ± 2 ACS3-CAE 1005 5000 ± 50 197 ± 2 ACS3-CAE 1010 10000 ± 100 394 ± 4 ACS3-CAE 1020 20000 ±...
Page 500 ASDA-B3 Absolute System B. Military connector Model name Straight inch ACS3-CAE 2703 CMV1-10S 3000 ± 50 118 ± 2 ACS3-CAE 2705 CMV1-10S 5000 ± 50 197 ± 2 ACS3-CAE 2710 CMV1-10S 10000 ± 100 394 ± 4 ACS3-CAE 2720 CMV1-10S 20000 ±...
Page 501: Battery Box Cable
Absolute System ASDA-B3 10.1.4 Battery box cable Battery box cable that connects to the encoder (part number: 3864573700) 15 5 (0.59 0.2) 25 5 (0.98 0.2) 200 10 (7.87 0.4) (inch) Battery box cable for self-wiring (part number: 3864850600) 5±1(0.1±0.04) 15±5 (0.59±0.2) 200±10 (7.87±0.4) Unit: mm (inch)
Page 502: Installation
ASDA-B3 Absolute System 10.2 Installation 10.2.1 Installing the battery box in the servo system DO NOT wire Pin 3 and Pin 4 of the servo drive CN2 connector. They are for  internal use only; wiring them will cause damage to the internal circuit. When using an absolute encoder, the battery supplies power directly to the ...
Page 503 Absolute System ASDA-B3 Pin assignment of CN2 connector: The end that connects to the encoder The end that connects to the servo drive Military Quick IP67 Color Pin No. Signal Description connector connector connector Brown DC+5V +5V power supply Blue Power ground Do not connect this pin.
Page 504: Installing And Replacing A Battery
ASDA-B3 Absolute System 10.2.2 Installing and replacing a battery Single battery box Step 1: Release the snap-fit tabs on both sides and remove the battery box cover. Step 2: Position the cable clamp to the encoder connection cable. Note that the cable clamp should be placed close to the heat shrink tube.
Page 505 Absolute System ASDA-B3 Note: To avoid data loss, replace the battery when any of the following circumstances occurs: The servo drive shows AL061 which means the voltage is too low. Refer to Chapter 12 for more information. Use P0.002 (monitoring variable 26h) to check the battery power. When it displays 31, it means the voltage is below 3.1V.
Page 506: System Initialization And Operating Procedures
32768 to 32767, AL062 occurs. When the PUU position value goes outside the range -2147483648 to 2147483647, AL289 occurs. Except for the alarms mentioned above, you can use P2.070 to set up Delta’s absolute servo system. You can choose not to show AL062 and AL289 if the absolute coordinate system overflows when the number of rotations exceeds the range -32768 to 32767 or when the PUU exceeds the range -2147483648 to 2147483647.
Page 507: Pulse Number
Absolute System ASDA-B3 10.3.2 Pulse number When the motor is running in the clockwise direction, the cycle number is expressed as a negative value. When the motor runs in the counterclockwise direction, the cycle number is expressed as a positive value. The range of the number of rotations is between -32768 and +32767, and AL062 occurs once the number exceeds the range.
Page 508: Puu Number
ASDA-B3 Absolute System 10.3.3 PUU number The PUU number is a 32-bit absolute value with a positive or negative sign. When the motor is running in the forward direction, the PUU number increases; when it is running in the reverse direction, the PUU number decreases.
Page 509: Establish The Absolute Origin Coordinates
Absolute System ASDA-B3 10.3.4 Establish the absolute origin coordinates When the absolute coordinates are lost, the ASDA-B3 servo drive provides three ways to establish the absolute origin coordinates: DI/DO, parameter setting, or the PR homing function. The following provides more details for each operation mode. 10.3.4.1 Establishing the absolute origin coordinates with DI/DO When the servo system is controlled by the controller, you can reset the absolute coordinate system with DI/DO.
Page 510: Establishing The Absolute Origin Coordinates With Parameters
ASDA-B3 Absolute System 10.3.4.2 Establishing the absolute origin coordinates with parameters Set P2.071 to 1 to establish the absolute origin coordinates through the panel or with communication. Since the write-protect function of P2.071 is protected by P2.008, you must set P2.008 to 271 first.
Page 511 Absolute System ASDA-B3 You can read the pulse number or PUU number with DI/DO and P2.070. See the following timing diagram. Continue to (14) in Continue to (15) in the following figure the following figure (14) (15) ABSE (DIx) Communication enabled (12) (changeable DI) ABSQ (DI4)
Page 512 ASDA-B3 Absolute System Descriptions: 1. When the handshake communication starts, the ABSE signal is triggered. 2. After the T delay time (make sure the signal is on), the functions for DI4, DO2, and DO3 are switched to ABSQ, ABSR, and ABSD, respectively. If DI4 was in the high-level state before, it remains in the high-level state when switched to ABSQ (logic high-level signal).
Page 513: Reading The Absolute Position With Communication
Absolute System ASDA-B3 10.3.5.2 Reading the absolute position with communication You can access the data of the absolute encoder through two communication methods: instant access or parameter access. Instant access refers to reading the motor’s feedback position as soon as power is supplied to the servo. When you set the status monitoring register 1 to the motors feedback pulse number (P0.017 = 0), you can access the motor’s current position by reading P0.009.
Page 514: List Of Absolute Parameters, Di/Do, And Alarms
ASDA-B3 Absolute System 10.4 List of absolute parameters, DI/DO, and alarms Relevant parameters (refer to Chapter 8 for detailed information): Parameter Function P0.002 Drive status P0.049 Update encoder absolute position P0.050 Absolute coordinate system status P0.051 Encoder absolute position - multiple turns P0.052 Encoder absolute position - pulse number or PUU within single turn P2.069...
Page 515 Absolute System ASDA-B3 (This page is intentionally left blank,) 10-22...
Page 516: Canopen Mode
CANopen Mode This chapter provides details for the required parameter settings when the servo communicates with the controller through the CANopen communication function. 11.1 Basic configuration ·········································································· 11-2 11.1.1 Supported functions ································································· 11-2 11.1.2 Hardware configuration ····························································· 11-3 11.1.3 Parameter settings of CANopen mode ·········································· 11-4 11.2 Communication specification ·····························································...
Page 517: Basic Configuration
SDO transmission: acyclic data exchange for reading / writing parameters and communication related settings.  PDO transmission / reception: time-triggered, event-triggered, synchronous transmission (cyclic), and asynchronous transmission (acyclic).  Node guarding.  Heartbeat. CANopen function not supported by Delta servo drives:  Time stamp. 11-2...
Page 518: Hardware Configuration
ASDA-B3 CANopen Mode 11.1.2 Hardware configuration Pin assignment (RJ-45) for CAN bus wiring (1) CN3 connector (female); (2) CN3 connector (male) Pin assignment: Pin No. Signal Description 1, 9 CAN_H CAN_H bus line (dominant high) 2, 10 CAN_L CAN_L bus line (dominant low) 3, 11 GND_ISO Signal GND...
Page 519: Parameter Settings Of Canopen Mode
CANopen Mode ASDA-B3 11.1.3 Parameter settings of CANopen mode Follow these instructions to connect the CANopen controller and the ASDA-B3 servo drive: 1. Set CANopen mode: set P1.001 to 0x0C. 2. Set node ID: set the range of P3.000 to 01h - 7Fh. 3.
Page 520: Communication Specification
ASDA-B3 CANopen Mode 11.2 Communication specification 11.2.1 Servo communication architecture CAN network CAN node DS301 application layer and communication profile Drive Profile 402 Servo drive controls the state machine Modes of operation Inter- Profile Profile Profile Homing polated position velocity torque mode position...
Page 521: Communication Objects
CANopen Mode ASDA-B3 11.2.2 Communication objects The default of the Delta servo drive complies with the DS301 protocol. All CANopen data contains an 11-bit identifier, generally referred to as "COB-ID". The COB-ID data format is as follows: Function Description Bit 6 - Bit 0 Node-ID The data size is 7-bit and the setting range is 0 - 127.
Page 522: Process Data Object (Pdo)
ASDA-B3 CANopen Mode 11.2.2.1 Process data object (PDO) Real-time data transmission can be achieved with Process data objects (PDOs). There are two types of PDOs: the sent TxPDO and the received RxPDO. This definition is from the perspective of the servo drive, for example, the sent TxPDO refers to the object that the servo drive sends to the controller.
Page 523 CANopen Mode ASDA-B3 11.2.2.2 Service data object (SDO) With Service data objects (SDOs), you can write or read objects. The SDO message format is mainly composed of COB-ID and SDO data. SDO data can transmit up to 4 bytes. COB-ID Packet (8 bytes in total) 600h+ Controller...
Page 524 ASDA-B3 CANopen Mode The following figure shows the packet format returned by the servo drive when the controller sends the SDO for writing data: COB-ID Packet (8 bytes in total) 580h+ Controller Servo drive Node-ID Function Object Object index Data code sub-index Description...
Page 525 CANopen Mode ASDA-B3  Read data with SDO To use an SDO to read data with the controller, you need to write the request code and index according to the SDO format. The servo drive then returns the object's data based on the object to be read.
Page 526: Sdo Abort Codes
ASDA-B3 CANopen Mode 11.2.2.3 SDO abort codes The abort codes are as follows: Abort code Description 05040001h Client / server command is invalid or does not exist. 06010002h Attempt to write a read-only object. 06020000h Object does not exist in the object dictionary. 06040041h Unable to map the object to the PDO.
Page 527: Synchronization Object (Sync)
CANopen Mode ASDA-B3 11.2.2.4 Synchronization object (SYNC) The Synchronization objects (SYNCs) are periodically broadcast by the SYNC producer. There is no data in the SYNC packet (L = 0). The SYNC protocol is as follows: SYNC consumer SYNC producer (servo drive) (controller) Write SYNC Indication...
Page 528: Emergency Object (Emcy)
ASDA-B3 CANopen Mode The following figure shows the timing sequence between the servo drive TxPDO transmission and the controller SYNC transmission. The servo drive transmits the TxPDO data to the controller as soon as it receives the SYNC. SYNC SYNC Communication cycle Message Message...
Page 529: Nmt Services
CANopen Mode ASDA-B3 11.2.2.6 NMT services State machine  The NMT state machine is shown as follows. After the servo drive completes the Initialization state, it enters the Pre-operational state. The NMT state machine determines the behavior of the communication function, such as PDO functions only in the Operational state. Power On or Hardware Reset Initialization (11)
Page 530 ASDA-B3 CANopen Mode  Heartbeat The Heartbeat mechanism is mainly to enable the producer to periodically send packets to the consumer. The producer can be a controller or servo drive; on the other hand, a controller or servo drive can also be the consumer. If you use the servo drive as the consumer and the controller to send the heartbeat, you need to set the heartbeat receiving time (OD 1016h) of the servo drive.
Page 531 CANopen Mode ASDA-B3 The servo drive can play two roles simultaneously, the consumer and producer, but you need to set OD 1016h and OD 1017h at the same time. And the controller must also be set as the producer and consumer. ...
Page 532: Canopen Operation Mode
ASDA-B3 CANopen Mode 11.3 CANopen operation mode This section describes the servo motion mode (Mode of Operation) specified by CiA402 in CANopen mode. The content includes basic operation settings and related object descriptions. 11.3.1 Profile Position Mode After the servo drive receives the position command transmitted by the controller, the servo drive controls the servo motor to reach the target position.
Page 533 CANopen Mode ASDA-B3 Operation steps: 1. Set OD 6060h to 01h to set the mode as the position control mode. 2. Set OD 607Ah for the target position (unit: PUU). 3. Set OD 6081h for the speed command (unit: PUU/sec). 4.
Page 534 ASDA-B3 CANopen Mode Command to take immediate effect In the position control mode, set the command to take effect immediately or not with 6040h Bit 5.  When 6040h Bit 5 is set to 0, the command to take immediate effect is disabled. If the command to take immediate effect is not enabled, when the current motion command is in execution (not yet complete), the servo continues to execute the current motion command even if a new command is triggered.
Page 535 CANopen Mode ASDA-B3  When 6040h Bit 5 is set to 1, the command to take immediate effect is enabled (only valid in Profile Position Mode). If the command to take immediate effect is enabled, when the current motion command is in execution (not yet complete), the servo immediately interrupts the current command and executes the new command once the servo receives a new triggered command.
Page 536: Interpolation Position Mode
IP mode are issued by the controller. The servo drive only follows each position that the controller issues and finally completes a motion command. Delta servo drives only support synchronous operation which is the controller periodically sends the SYNC object (COB-ID = 0x80).
Page 537 CANopen Mode ASDA-B3 Operation steps: 1. Set OD 6060h to 07h to set the mode as Interpolation Position Mode. 2. Set OD 60C2h for the interpolation cycle. The setting must be the same as the communication cycle of OD 1006h. 3.
Page 538 ASDA-B3 CANopen Mode Adjustment method: It is suggested to set the SYNC communication cycle (OD 1006h) between 1 ms and 10 ms. Since the cycle time is too long, the position error also increases. If the position change is big, it causes speed fluctuations.
Page 539: Homing Mode
After homing is complete, the coordinate system of the servo drive is established and the drive can start executing the position command issued by the controller. Delta servo drives offer 35 homing modes, including finding the home switch, positive and negative limits, and motor Z pulse.
Page 540 ASDA-B3 CANopen Mode Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6064h to obtain the current motor feedback position. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16...
Page 541: Profile Velocity Mode
CANopen Mode ASDA-B3 11.3.4 Profile Velocity Mode In PV (Profile Velocity) mode, the controller specifies the speed command and acceleration / deceleration conditions, and the motion command generator of the servo drive plans the motion path according to these conditions. Speed Target velocity (60FFh) [RPM]...
Page 542 ASDA-B3 CANopen Mode Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 606Ch to obtain the current speed feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 543: Profile Torque Mode
CANopen Mode ASDA-B3 11.3.5 Profile Torque Mode In PT (Profile Torque) mode, the controller specifies the torque command and filtering conditions, and the motion command generator of the servo drive plans the torque slope according to these conditions. Target torque (6071h) Torque command Torque slope (6087h)
Page 544 ASDA-B3 CANopen Mode Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6077h to obtain the current torque feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 545: Object Dictionary
CANopen Mode ASDA-B3 11.4 Object dictionary This section details the CANopen objects supported by the servo. The contents include object index, name, data type, data length, and access properties. 11.4.1 Specifications for objects Object type Object code Description A single value, such as an UNSIGNED8, Boolean, float, and INTEGER16. An object of multiple data fields consisting of multiple variables of the same data ARRAY type, such as an UNSIGNED16 array.
Page 546: List Of Objects
UNSIGNED32 Note: only 1001h can be mapped to PDO. OD 2XXXh servo parameter group Index Object code Name Data type Access Mappable Delta parameter definition 2XXXh Parameter mapping INTEGER16/32 OD 6XXXh communication object group Index Object code Name Data type...
Page 547 CANopen Mode ASDA-B3 Index Object code Name Data type Access Mappable 606Fh Velocity threshold UNSIGNED16 6071h Target torque INTEGER16 6072h Max torque UNSIGNED16 6074h Torque demand value INTEGER16 6075h Motor rated current UNSIGNED32 6076h Motor rated torque UNSIGNED32 6077h Torque actual value INTEGER16 6078h Current actual value...
Page 548: Details Of Objects
ASDA-B3 CANopen Mode 11.4.3 Details of objects 11.4.3.1 OD 1XXXh communication object group Object 1000h: Device type Index 1000 Name Device type Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Corresponding servo parameter Format of this object: (High word h) DCBA : (Low word L) UZYX Bit 16 - Bit 31 Bit 0 - Bit 15 Model type...
Page 549 CANopen Mode ASDA-B3 Object function: The bits and corresponding functions are as follows: Function Bit 0 Generic error Bit 1 Current Bit 2 Voltage Bit 3 Temperature Bit 4 Communication error Bit 5 - Bit 7 Reserved Object 1003h: Pre-defined error field Index 1003h Name...
Page 550 Delta servo alarm (UINT16) Error code (UINT16) 0x0011 0x7305 AL011 is defined as encoder error based on the Delta servo alarm. Error code: 0x7305 is defined as an Incremental Sensor 1 fault according to DS 402. Object 1005h: COB-ID SYNC message Index...
Page 551 CANopen Mode ASDA-B3 Object 1006h: Communication cycle period Index 1006h Name Communication cycle period Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit μs Object function: This object is to set the communication cycle (unit: μs). The communication cycle is the interval between two SYNCs.
Page 552 ASDA-B3 CANopen Mode Object function: The Life Guarding Protocol includes OD 100Ch and 100Dh. OD 100Ch is the guard time in milliseconds and OD 100Dh is the multiplying factor. Therefore, OD 100Ch multiplied by OD 100Dh gives the life time for the Life Guarding Protocol. If the time (OD 100Ch) is set to 0, then this setting is invalid.
Page 553 CANopen Mode ASDA-B3 Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Sub-index Description Restore communication parameters Data type UNSIGNED32 Access PDO mapping Setting range Default Object function: Write 0x64616F6C (load) to sub-index 1 to reset all OD parameters to their default values. Object 1014h: COB-ID EMCY Index 1014h...
Page 554 ASDA-B3 CANopen Mode Node ID and corresponding COB-ID Node ID COB-ID 129 (81h) 130 (82h) 255 (FFh) Object 1016h: Consumer heartbeat time Index 1016h Name Consumer heartbeat time Object code ARRAY Data type UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access...
Page 555 CANopen Mode ASDA-B3 Object 1017h: Producer heartbeat time Index 1017h Name Producer heartbeat time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: Producer heartbeat time is defined as the cycle time of the heartbeat. When this value is set to 0, this function is invalid.
Page 556 ASDA-B3 CANopen Mode Sub-index Description Version Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Object function: This object includes the servo drive information. Object 1029h: Error behavior Index 1029h Name Error behavior Object code ARRAY Data type UNSIGNED8 Access PDO mapping Sub-index...
Page 557 CANopen Mode ASDA-B3 Object 1200h: Server SDO parameter Index 1200h Name Server SDO parameter Object code RECORD Data type SDO parameter Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Controller sends to servo drive Description COB-ID Client->Server (rx) Data type...
Page 558 ASDA-B3 CANopen Mode Object 1400h - 1403h: RPDO communication parameter Index 1400h - 1403h Name Receive PDO parameter Object code RECORD Data type PDO CommPar Access Sub-index Description Maximum number of sub-index supported Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description...
Page 559 CANopen Mode ASDA-B3 Sub-index Description Reception type Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Object function: The type setting is as follows. Setting value Transmission type Cyclic Acyclic Synchronous Asynchronous only 00h (0) 01h - F0h (1 - 240) F1h - FBh (241 - 251) Reserved FCh (252)
Page 560 ASDA-B3 CANopen Mode Object 1600h - 1603h: RPDO mapping parameter Index 1600h - 1603h Name Receive PDO mapping Object code RECORD Data type PDO mapping Access The total length of objects in a group of PDO cannot Note exceed 64 bits. Sub-index Description Number of PDO mappings...
Page 561 CANopen Mode ASDA-B3 Example: To set three PDOs (OD 6040h, OD 607Ah, and OD 6060h) in the first group of PDO, the setting is as follows: Mapping parameter setting Data Description for received PDO OD 1600 sub0 Set 3 PDO mappings. Mapping control command (6040h), OD 1600 sub1 6040h...
Page 562 ASDA-B3 CANopen Mode Object function: 26 25 Function Description Bit 10 - Bit 0 COB-ID The data size is 10-bit. Bit 30 - Bit 11 0: enable PDO function. PDO function 1: disable PDO function. Bit 31 switch Enable / disable the PDO function to determine if PDO is used in the Operational state.
Page 563 CANopen Mode ASDA-B3 Sub-index Description Reserved Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Sub-index Description Event timer Data type UNSIGNED16 Access PDO mapping 0: not in use Setting range UNSIGNED16 Default Object 1A00h - 1A03h: TPDO mapping parameter Index 1A00h - 1A03h Name...
Page 564: Od 2Xxxh Servo Parameter Group
ASDA-B3 CANopen Mode 11.4.3.2 OD 2XXXh servo parameter group Object 2XXXh: Parameter mapping Index 2XXXh Name Parameter mapping Object code Data type INTEGER16 / INTEGER32 Access PDO mapping Setting range INTEGER16 / INTEGER32 Default Object function: Access the servo parameters with the OD 2XXXh group. The parameter number and index are converted as follows: Pa-bc <= = >...
Page 565: Od 6Xxxh Communication Object Group
CANopen Mode ASDA-B3 11.4.3.3 OD 6XXXh communication object group Object 603Fh: Error code (error code of CANopen defined) Index 603Fh Name Error code Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Corresponding servo parameter Default Object 6040h: Controlword Index 6040h Name...
Page 566 ASDA-B3 CANopen Mode Function Description Bit 0 Switch on Bit 1 Enable voltage Bit 2 Quick stop (B-connect) Bit 3 Enable operation This bit is individually defined Bit 4 - Bit 6 Operation mode definition according to the control mode, as shown in the following table.
Page 567 CANopen Mode ASDA-B3 The state transition is defined as follows: Transition Event Action 0, 1 Automatic transition after power-on Device boot and initialization Command shutdown Command switch on Servo is ready for servo on Command enable operation Servo on and executes motion mode Command disable voltage Servo off Command shutdown...
Page 568 ASDA-B3 CANopen Mode Object 6041h: Statusword Index 6041h Name Statusword Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Corresponding servo parameter Default Object function: The control command contains many functions, such as Servo on, command triggering, fault reset, and emergency stop. The state machine architecture is as follows: Function Description Bit 0...
Page 569 CANopen Mode ASDA-B3 Bit 12 and Bit 13: current status of the servo drive. Operation mode definition Profile Interpolated Profile Velocity Profile Torque Homing Mode Position Mode Position Mode Mode Mode Set-point Homing is Interpolation Bit 12 Zero speed acknowledge complete mode in motion Following...
Page 570 ASDA-B3 CANopen Mode Object 6061h: Modes of operation display Index 6061h Name Modes of operation display Object code Data type INTEGER8 Access PDO mapping Setting range INTEGER8 Default Object function: This object displays the current operation mode. Object 6062h: Position demand value (PUU) Index 6062h Name...
Page 571 CANopen Mode ASDA-B3 Object 6064h: Position actual value Index 6064h Name Position actual value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object 6065h: Following error window Index 6065h Name Following error window Object code Data type UNSIGNED32 Access...
Page 572 ASDA-B3 CANopen Mode Object function: When the error value between the command (PP mode: OD 607Ah; IP mode: OD 60C1h) and the position actual value (OD 6064h) is smaller than this object, and the time is greater than OD 6068h (position window time), Bit 10 of Statusword 6041h outputs once the target is reached. Accepted position range Position Position window...
Page 573 CANopen Mode ASDA-B3 PP mode Target position (607Ah) Position window (6067h) IP mode Interpolation data record (60C1h) Position window time (6068h) Statusword target reached (6041h) Position Window window comparator comparator Position actual value (6064h) Object 606Bh: Velocity demand value Index 606Bh Name Velocity demand value...
Page 574 ASDA-B3 CANopen Mode Object 606Dh: Velocity window Index 606Dh Name Velocity window Object code Data type UNSIGNED16 Access PDO mapping Setting range 0 - 3000 Default Unit 0.1 rpm Object function: The speed comparator compares the speed error with OD 606Dh (velocity window). When the error is less than the velocity window and the retaining time is greater than OD 606Eh (velocity window time), then OD 6041h Bit 10 (target reached) is output.
Page 575 CANopen Mode ASDA-B3 Object 606Fh: Velocity threshold Index 606Fh Name Velocity threshold Object code Data type UNSIGNED16 Access PDO mapping Setting range 0 - 2000 Default Unit 0.1 rpm Object 6071h: Target torque Index 6071h Name Target torque Object code Data type INTEGER16 Access...
Page 576 ASDA-B3 CANopen Mode Object 6074h: Torque demand value Index 6074h Name Torque demand value Object code Data type INTEGER16 Access PDO mapping Setting range INTEGER16 Default Unit 0.1% Object function: The internal torque command is a command generated by the speed motion command generator and command filter of the drive.
Page 577 CANopen Mode ASDA-B3 Object 6077h: Torque actual value Index 6077h Name Torque actual value Object code Data type INTEGER16 Access PDO mapping Setting range INTEGER16 Default Unit 0.1% Object function: This object is the current motor torque feedback percentage. Object 6078h: Current actual value Index 6078h Name...
Page 578 ASDA-B3 CANopen Mode Object 607Ch: Home offset Index 607Ch Name Home offset Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: Home Position is the origin reference point found when executing homing, such as the origin sensor and Z pulse.
Page 579 CANopen Mode ASDA-B3 Sub-index Description Max position limit Data type INTEGER32 Access PDO mapping Setting range -2147483648 to +2147483647 Default +2147483647 Note Unit: PUU Object 607Fh: Max profile velocity Index 607Fh Name Max profile velocity Object code Data type UNSIGNED32 Access PDO mapping Setting range...
Page 580 ASDA-B3 CANopen Mode Object 6081h: Profile velocity Index 6081h Name Profile velocity Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default 10000 Unit PUU/s Object function: This object is only available in Profile Position Mode. For more details, refer to Section 11.3.1 Profile Position Mode.
Page 581 CANopen Mode ASDA-B3 Object 6085h: Quick stop deceleration Index 6085h Name Quick stop deceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required to decelerate from 3,000 rpm to 0 rpm. Object 6087h: Torque slope Index 6087h...
Page 582 ASDA-B3 CANopen Mode Sub-index Description E-Gear ratio numerator Data type UNSIGNED32 Access PDO mapping Default Corresponding servo P1.044 parameter Note For the E-Gear ratio setting, refer to Section 6.2.5. Sub-index Description E-Gear ratio denominator Data type UNSIGNED32 Access PDO mapping Default Corresponding servo P1.045...
Page 583 CANopen Mode ASDA-B3 Method 2: homing on the positive limit switch and Z pulse Starting point Z pulse Positive limit switch Methods 3 and 4: homing on the rising edge of home switch and Z pulse Starting point Starting point Starting point Starting point...
Page 584 ASDA-B3 CANopen Mode Methods 5 and 6: homing on the falling edge of home switch and Z pulse Starting point Starting point Starting point Starting point Z pulse Home switch Method 7: homing on the positive limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point...
Page 585 CANopen Mode ASDA-B3 Method 8: homing on the positive limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 9: homing on the positive limit switch, falling edge of home switch, and Z pulse Starting point Starting point Starting point...
Page 586 ASDA-B3 CANopen Mode Method 10: homing on the positive limit switch, falling edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 11: homing on the negative limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point...
Page 587 CANopen Mode ASDA-B3 Method 12: homing on the negative limit switch, falling edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Method 13: homing on the negative limit switch, rising edge of home switch, and Z pulse Starting point Starting point...
Page 588 ASDA-B3 CANopen Mode Method 14: homing on the negative limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Methods 15 and 16: reserved Method 17: homing on the negative limit switch Starting point Negative limit...
Page 589 CANopen Mode ASDA-B3 Methods 21 and 22: homing on the falling edge of home switch Starting point Starting point Home switch Methods 23 and 24: homing on the positive limit switch and rising edge of home switch Starting point Starting point Starting point Home switch Positive limit...
Page 590 ASDA-B3 CANopen Mode Methods 27 and 28: homing on the negative limit switch and falling edge of home switch Starting point Starting point Starting point Home switch Negative limit switch Methods 29 and 30: homing on the negative limit switch and rising edge of home switch Starting point Starting point...
Page 591 CANopen Mode ASDA-B3 Object 6099h: Homing speeds Index 6099h Name Homing speeds Object code ARRAY Data type UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Speed during search for switch Data type UNSIGNED32 Access...
Page 592 ASDA-B3 CANopen Mode Object 60C0h: Interpolation sub mode select Index 60C0h Name Interpolation sub mode select Object code Data type INTEGER16 Access PDO mapping Value range INTEGER16 Default value Object function: no need to set this object. Object 60C1h: Interpolation data record Index 60C1h Name...
Page 593 CANopen Mode ASDA-B3 Object 60C2h: Interpolation time period Index 60C2h Name Interpolation time period Object code RECORD Data type UNSIGNED8 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Interpolation cycle time constant Data type UNSIGNED8 Access...
Page 594 ASDA-B3 CANopen Mode Object 60C5h: Max acceleration Index 60C5h Name Max acceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required to accelerate from 0 rpm to 3,000 rpm. Object 60C6h: Max deceleration Index 60C6h...
Page 595 CANopen Mode ASDA-B3 Object 60FCh: Position demand value Index 60FCh Name Position demand value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit pulse Object function: This command is generated after being processed by the servo drive filter. For more details, refer to the architecture diagram in Section 11.3.
Page 596 Access PDO mapping Setting range UNSIGNED32 Default Object function: This object is read-only and provides the control modes supported by Delta servo drives in CANopen mode (OD 6502h = 6Dh). 26 25 18 17 Function Bit 0 Profile Position Mode...
Page 597: Diagnostics And Troubleshooting
CANopen Mode ASDA-B3 11.5 Diagnostics and troubleshooting This section provides diagnostics and troubleshooting information related to communication or interference with the controller. For information about the servo drive alarms, refer to Chapter 12. 1. The SYNC communication cycle of the controller and servo drive is different Since the jitter of each controller is different, the communication cycle time between the servo drive receiving the Sync and Sync synchronization action is different.
Page 598: Ethercat Mode
EtherCAT Mode This chapter provides details for the required parameter settings when the servo communicates with the controller through the EtherCAT communication function. 12.1 Basic configuration ·········································································· 12-3 12.1.1 Hardware configuration ···························································· 12-3 12.1.2 ESI file import ········································································ 12-7 12.1.3 Parameter settings of EtherCAT mode ········································ 12-8 12.2 Communication function ··································································...
Page 599 EtherCAT Mode ASDA-B3 12.4.3.2 OD 2XXXh servo parameter group ·································· 12-55 12.4.3.3 OD 6XXXh communication object group ··························· 12-56 12.5 Diagnostics and troubleshooting ······················································· 12-92 12.5.1 EtherCAT diagnostic system ···················································· 12-92 12.5.2 Alarm list ············································································· 12-93 12-2...
Page 600: Basic Configuration
ASDA-B3 EtherCAT Mode 12.1 Basic configuration 12.1.1 Hardware configuration The pin assignments of the two EtherCAT connectors (CN6) are the same. Note that the IN connector can connect to the controller (master) or the previous servo drive for receiving signals, and the OUT connector can only connect to the next servo drive for outputting signals. Incorrect connection will cause communication failure.
Page 601 EtherCAT Mode ASDA-B3 Description of each indicator for the CN6 connector:  LED indicator status description Indicator Description Steady on Continuous flashing Single flashing Steady off  Network status indicator (L/A) Indicator Status Description Connection is established but no data Steady on Connection is established.
Page 602 EtherCAT error indicator (ERR) Indicator Status Description Steady off No error No error has occurred. Servo drive malfunction. Contact Delta's Steady on PDI Watchdog timeout distributor for assistance. Parameter setting error causes the system unable Continuous flashing State change error to switch states.
Page 603 EtherCAT Mode ASDA-B3 Connecting multiple servo drives: PL C Note: When multiple servo drives are connected, the maximum distance between each drive is 50 m (164.04 inches). Use CAT5e shielded twisted-pair (STP) cables with metal connectors. It is suggested to use a Beckhoff network cable (model number: ZB9020). Check if the wiring is correct.
Page 604: Esi File Import
ESI file. An ESI file may contain data of multiple devices. Delta's A3-E and B3-E servo drives share the same ESI file. To import ESI files to non-Delta controllers, refer to the manufacturer’s instruction manual.
Page 605: Parameter Settings Of Ethercat Mode
EtherCAT Mode ASDA-B3 12.1.3 Parameter settings of EtherCAT mode Follow these instructions to connect the EtherCAT controller and the ASDA-B3 servo drive: 1. Set to EtherCAT mode: set P1.001 to 0x000C. 2. Set the slave station number: set P3.000 to 01h - 7Fh. 3.
Page 606 ASDA-B3 EtherCAT Mode Address: 0312H P3.009 Communication synchronization 0313H Default: 0x5055 Control mode: CANopen / EtherCAT Unit: Setting range: Shown as follows Format: Data size: 16-bit Settings: Digit Function Target value Range 0 - F  Z: if the servo is operating in the DC Synchronous mode, you can adjust the timing of the servo for accessing EtherCAT packets to ensure that it does not conflict with the timing when the controller sends the packets.
Page 607 EtherCAT Mode ASDA-B3 Z: AL185 communication disconnection detection setting.  0: disconnection detection starts after EtherCAT communication enters OP state. 1: disconnection detection starts after EtherCAT communication enters INIT state. 2: disable disconnection detection. Note: when using the ring topology connection, set P3.018.Z to 2 to disable the disconnection detection. ...
Page 608 ASDA-B3 EtherCAT Mode Address: 0004H P0.002 Drive status 0005H Default: Control mode: All Unit: Setting range: -300 to 127 Format: Data size: 16-bit Settings: The parameter setting is displayed on the panel. Input the monitoring code to P0.002 to view changes to the variable on the panel.
Page 609: Communication Function
EtherCAT Mode ASDA-B3 12.2 Communication function 12.2.1 Specifications 100BASE-TX Physical layer Communication RJ45 × 2 connector Network topology Line connection 2 x 100 Mbps (full duplex) Baud rate Maximum 1,484 bytes Data frame length SM0: mailbox output SM1: mailbox input SyncManager SM2: process data output SM3: process data input...
Page 610 ASDA-B3 EtherCAT Mode The EtherCAT architecture of the servo drive is as follows:  Communication profile: this protocol includes the communication objects (PDO, SDO, SYNC, and Emergency object) and related communication object dictionary.  DS402 is the device profile for drives and motion control: defines the behavior of each motion mode and the required object parameter settings for execution.
Page 611: Dc-Synchronous Mode
EtherCAT Mode ASDA-B3 12.2.2 DC-Synchronous mode 12.2.2.1 Synchronization modes of the servo drive The servo drive supports two synchronization modes: Free Run mode and DC-Synchronous mode. Note that the Free Run mode is defined as a synchronous mode in the EtherCAT specification established by the EtherCAT Technology Group (ETG).
Page 612: Select Synchronization Mode
ASDA-B3 EtherCAT Mode 12.2.2.2 Select Synchronization mode Follow these steps to select DC-Synchronous or Free Run mode. Select Drive 4 (ASDA-B3-E CoE Drive) in the left column of the TwinCAT System Manager window. Select DC-Synchronous or Free Run as the operation mode under the DC tab in the right column.
Page 613: Synchronous Clock Setting
EtherCAT Mode ASDA-B3 12.2.2.3 Synchronous clock setting Follow these steps to set the data exchange cycle. Select NC-Task 1 SAF in the left column of the TwinCAT System Manager window. Set the data exchange cycle in the Cycle ticks field under the Task tab in the right column.
Page 614: Ethercat State Machine
ASDA-B3 EtherCAT Mode 12.2.3 EtherCAT state machine In EtherCAT communication, the servo includes the following states. The controller (master) controls the servo (slave) based on the actual state. The controller needs to configure the servo drive according to the designated flow in the following figure. After the controller completes the initialization of the communication, the servo (slave) is in the Operational state and waits for the user's command to perform motion control.
Page 615 EtherCAT Mode ASDA-B3 The controller issues corresponding commands to the servo according to the state transition. State Description transition  The master confirms the VendorID, ProductCode, and RevisionNumber of the slave.  Initialize and calibrate the DC synchronous clock (DC-Synchronous mode). ...
Page 616: Pdo Mapping Configuration
PDO mapping configuration according to the requirements. The fourth group of RxPDO and TxPDO is the suggested configuration for Omron controllers. In Delta ASDA-x3-E rev0.03.xml, the first to fourth groups of PDO configuration are shown as follows: First group of RxPDO mapping...
Page 617 EtherCAT Mode ASDA-B3 Third group of RxPDO mapping Third group of TxPDO mapping Fourth group of RxPDO mapping (for Omron controllers) Fourth group of TxPDO mapping (for Omron controllers) 12-20...
Page 618: Set Pdo Mapping
ASDA-B3 EtherCAT Mode 12.2.4.2 Set PDO mapping Take the second group of PDO configuration OD 1601 and OD 1A01 as an example. The settings are as follows: 1. Disable the PDO configuration: set OD 1C12 sub 0 to 0 (RxPDO) and OD 1C13 sub 0 to 0 (TxPDO).
Page 619: Pdo Mapping Object
EtherCAT Mode ASDA-B3 12.2.4.3 PDO mapping object Real-time data transmission can be achieved with Process data objects (PDOs). There are two types of PDOs: the sent TxPDO and the received RxPDO. This definition is from the perspective of the servo drive, for example, the sent TxPDO refers to the object that the servo drive sends to the controller.
Page 620: Sdo Abort Codes
ASDA-B3 EtherCAT Mode 12.2.4.4 SDO abort codes The abort codes are as follows: Abort code Description 05040001h Client / server command is invalid or does not exist. 06010002h Attempt to write a read-only object. 06020000h Object does not exist in the object dictionary. 06040041h Unable to map the object to the PDO.
Page 621: Ethercat Operation Mode
EtherCAT Mode ASDA-B3 12.3 EtherCAT operation mode This section describes the modes of operation specified by CiA402 when the servo is in the EtherCAT mode. The content includes basic operation settings and related object descriptions. 12.3.1 Profile Position Mode After the servo drive receives the position command transmitted by the controller, the servo drive controls the servo motor to reach the target position.
Page 622 ASDA-B3 EtherCAT Mode Operation steps: 1. Set OD 6060h to 01h to set the mode as the Profile Position Mode. 2. Set OD 607Ah for the target position (unit: PUU). 3. Set OD 6081h for the speed command (unit: PUU/sec). 4.
Page 623 EtherCAT Mode ASDA-B3 Enable / disable the command to take immediate effect In the Profile Position Mode, set the command to take effect immediately or not with 6040h Bit 5.  Set 6040h Bit 5 to 0 to disable the command from taking immediate effect If the command is not enabled to take immediate effect, when the current motion command is in execution (not yet complete), the servo continues to execute the current motion command even if a new command is triggered.
Page 624 ASDA-B3 EtherCAT Mode  Set 6040h Bit 5 to 1 to enable the command to take immediate effect (only valid in Profile Position Mode). If the command is enabled to to take immediate effect, when the current motion command is in execution (not yet complete), the servo immediately interrupts the current command and executes the new command once the servo receives a new triggered command.
Page 625 EtherCAT Mode ASDA-B3 Index Name Data type Access 60E0h Positive Torque Limit UNSIGNED16 60E1h Negative Torque Limit UNSIGNED16 60F4h Following error actual value INTEGER32 60FCh Position demand value INTEGER32 Note: for more details, refer to Section 12.4.3 Details of objects. 12-28...
Page 626: Profile Velocity Mode
ASDA-B3 EtherCAT Mode 12.3.2 Profile Velocity Mode In Profile Velocity (PV) Mode, the controller specifies the speed command and acceleration / deceleration conditions, and the motion command generator of the servo drive plans the motion path according to these conditions. Target velocity (60FFh) Speed Positive...
Page 627 EtherCAT Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 606Ch to obtain the current speed feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 628: Profile Torque Mode
ASDA-B3 EtherCAT Mode 12.3.3 Profile Torque Mode In Profile Torque (PT) Mode, the controller specifies the torque command and filtering conditions, and the motion command generator of the servo drive plans the torque slope according to these conditions. Target torque (6071h) Torque command Torque slope (6087h)
Page 629 EtherCAT Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6077h to obtain the current torque feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 630: Homing Mode
After homing is complete, the coordinate system of the servo drive is established and the drive can start executing the position command issued by the controller. Delta servo drives offer 35 Homing Modes, including finding the home switch, positive and negative limits, and motor Z pulse.
Page 631 EtherCAT Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6064h to obtain the current motor feedback position. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16...
Page 632: Cyclic Synchronous Position Mode
ASDA-B3 EtherCAT Mode 12.3.5 Cyclic Synchronous Position Mode The controller plans the path in Cyclic Synchronous Position Mode and transmits PDOs to the servo drive periodically. In this mode, when the controller transmits each PDO, it simultaneously transmits the target position and controlword to the servo drive. The velocity offset and torque offset can be used as the velocity and torque feed forward control setting.
Page 633 EtherCAT Mode ASDA-B3 Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Modes of operation INTEGER8 6061h Modes of operation display INTEGER8 6062h Position demand value [PUU] INTEGER32 6064h Position actual value [PUU] INTEGER32 6065h Following error window UNSIGNED32...
Page 634: Cyclic Synchronous Velocity Mode
ASDA-B3 EtherCAT Mode 12.3.6 Cyclic Synchronous Velocity Mode The controller plans the speed in Cyclic Synchronous Velocity Mode and transmits PDOs to the servo drive periodically. In this mode, when the controller transmits each PDO, it simultaneously transmits the target velocity and controlword to the servo drive. The velocity offset and torque offset can be used as the velocity and torque feed forward control setting.
Page 635 EtherCAT Mode ASDA-B3 Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Modes of operation INTEGER8 6061h Modes of operation display INTEGER8 6064h Position actual value [PUU] INTEGER32 606Bh Velocity demand value INTEGER32 606Ch Velocity actual value INTEGER32 6072h...
Page 636: Cyclic Synchronous Torque Mode
ASDA-B3 EtherCAT Mode 12.3.7 Cyclic Synchronous Torque Mode The controller plans the torque in Cyclic Synchronous Torque Mode. In this mode, when the controller transmits each PDO, it simultaneously transmits the target torque and controlword data to the servo drive. The torque offset can be used as the torque feed forward control setting. Target torque (6071h) Torque command...
Page 637 EtherCAT Mode ASDA-B3 Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Modes of operation INTEGER8 6061h Modes of operation display INTEGER8 6064h Position actual value [PUU] INTEGER32 606Ch Velocity actual value INTEGER32 6071h Target torque INTEGER16 6072h...
Page 638: Touch Probe Function (Position Capture Function And Position Capture Status)
ASDA-B3 EtherCAT Mode 12.3.8 Touch Probe function (Position capture function and position capture status) The Touch Probe function can be triggered by high-speed digital inputs (only DI1 and DI2 with the hardware response up to 5 µs) or by the motor Z pulse. This function is used for high-speed measurement or packaging applications.
Page 639 EtherCAT Mode ASDA-B3 Get the position capture status with the Touch Probe function with OD 60B9h. The definition of each bit is as follows. Function Description 0: Touch Probe 1 function disabled Bit 0 Touch Probe 1 function status 1: Touch Probe 1 function enabled 0: not captured Bit 1 Rising-edge capture of Touch Probe 1...
Page 640 ASDA-B3 EtherCAT Mode Example 1: the following is the timing diagram for the Touch Probe 1 function. In this example, the Touch Probe 1 function is triggered by the external DI. When OD 60B8h Bit 4 is enabled, the data is captured once whenever the Touch Probe 1 signal is rising-edge or falling-edge triggered.
Page 641 EtherCAT Mode ASDA-B3 Status Function Description (10) OD 60BAh Data at the rising-edge remains the same. (11) Touch Probe 1 is rising-edge triggered by external signal. Touch Probe status: Touch Probe 1 signal is rising-edge (12) OD 60B9h Bit 1 = 1 triggered and the data is successfully captured.
Page 642 ASDA-B3 EtherCAT Mode Example 3: the following is the timing diagram for the Touch Probe 1 function. In this example, the Touch Probe 1 function is triggered by the motor Z pulse. The data is captured multiple times when the Touch Probe 1 signal is rising-edge triggered. Bit 0 Touch Probe 1 switch Bit 1...
Page 643: Object Dictionary
EtherCAT Mode ASDA-B3 12.4 Object dictionary This section details the EtherCAT objects supported by the servo. The contents include object index, name, data type, data length, and access properties. 12.4.1 Specifications for objects Object type Object code Description A single value, such as an UNSIGNED8, Boolean, float, and INTEGER16. An object of multiple data fields consisting of multiple variables of the same data ARRAY type, such as an UNSIGNED16 array.
Page 644: List Of Objects
ASDA-B3 EtherCAT Mode 12.4.2 List of objects OD 1XXXh communication group Index Object code Name Data type Access 1000h Device type UNSIGNED32 1001h Error register UNSIGNED8 1003h ARRAY Pre-defined error field UNSIGNED32 1006h Communication cycle period UNSIGNED32 1600h - RECORD Receive PDO mapping UNSIGNED32 1603h...
Page 645 EtherCAT Mode ASDA-B3 Index Object code Name Data type Access Mappable 607Dh ARRAY Software position limit INTEGER32 607Fh Max profile velocity UNSIGNED32 6080h Max motor speed UNSIGNED32 6081h Profile velocity UNSIGNED32 6083h Profile acceleration UNSIGNED32 6084h Profile deceleration UNSIGNED32 6085h Quick stop deceleration UNSIGNED32 6086h...
Page 646: Details Of Objects
ASDA-B3 EtherCAT Mode 12.4.3 Details of objects 12.4.3.1 OD 1XXXh communication object group Object 1000h: Device type Index 1000h Name Device type Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Format of this object: (High word h) DCBA : (Low word L) UZYX Bit 16 - Bit 31 Bit 0 - Bit 15 Model type...
Page 647 EtherCAT Mode ASDA-B3 Object function: The bits and corresponding functions are as follows: Function Bit 0 Generic error Bit 1 Current Bit 2 Voltage Bit 3 Temperature Bit 4 Communication error Bit 5 - Bit 7 Reserved Object 1003h: Pre-defined error field Index 1003h Name...
Page 648 Delta servo alarm (UINT16) Error code (UINT16) 0x0011 0x7305 AL011 is defined as encoder error based on the Delta servo alarm. Error code: 0x7305 is defined as an Incremental Sensor 1 fault according to DS 402. Object 1006h: Communication cycle period Index...
Page 649 EtherCAT Mode ASDA-B3 Object 1C12h: RxPDO assign Index 1C12h Name RxPDO assign Object code ARRAY Data type UNSIGNED16 Access PDO mapping Sub-index Description Number of sub-index supported Data type UNSIGNED8 Access PDO mapping Setting range 0 - 1 Default Sub-index Description Specify the RxPDO index to be used Data type...
Page 650 ASDA-B3 EtherCAT Mode Object 1600h - 1603h: Receive PDO mapping parameter Index 1600h, 1601h, 1602h, 1603h Name Receive PDO mapping Object code RECORD Data type PDO mapping Access The total length of objects in a group of PDO cannot Note exceed 64 bits.
Page 651 EtherCAT Mode ASDA-B3 Mapping parameter Data Description setting for received PDO Mapping target position (607Ah), OD 1600 sub2 607Ah data length is 32-bit Mapping mode position (6060h), OD 1600 sub3 6060h data length is 8-bit The total length is 38h (56-bit) which meets the specification of less Note than 64-bit.
Page 652: Od 2Xxxh Servo Parameter Group
ASDA-B3 EtherCAT Mode 12.4.3.2 OD 2XXXh servo parameter group Object 2XXXh: Parameter mapping Index 2XXXh Name Parameter Mapping Object code Data type INTEGER16 / INTEGER32 Access PDO mapping Setting range INTEGER16 / INTEGER32 Default Object function: Access the servo parameters with the OD 2XXXh group. The parameter number and index are converted as follows: Read the index first to get the information of the parameter length, and then use SDO or PDO to change the data.
Page 653: Od 6Xxxh Communication Object Group
EtherCAT Mode ASDA-B3 12.4.3.3 OD 6XXXh communication object group Object 603Fh: Error code (error code of CANopen defined) Index 603Fh Name Error code Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object 6040h: Controlword Index 6040h Name Controlword Object code...
Page 654 ASDA-B3 EtherCAT Mode Function Description This bit is individually defined according Bit 4 - Bit 6 Operation mode definition to the control mode, as shown in the following table. Bit 7 Fault reset Bit 8 Halt Bit 9 - Bit 15 Reserved Bits 4 - Bit 6 are individually defined according to the mode, as shown in the following table: Operation mode definition...
Page 655 EtherCAT Mode ASDA-B3 The state transition is defined as follows: Transition Event Action 0, 1 Automatic transition after power-on Device is started and initialized Shutdown command Switch on command Servo is ready for Servo On Servo switches to Servo On and Enable operation command executes motion mode Disable operation command...
Page 656 ASDA-B3 EtherCAT Mode Object 6041h: Statusword Index 6041h Name Statusword Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: The control command contains many functions, such as Servo on, command triggering, fault reset, and emergency stop. The state machine architecture is as follows: Function Description Bit 0...
Page 657 EtherCAT Mode ASDA-B3 Note: 0 indicates the bit is off; 1 indicates the bit is on; - indicates the bit is invalid. Bit 12 - Bit 13: current status of the servo drive. Operation mode definition Homing Set-point Zero Homing is Mode is in Mode is in Mode is in...
Page 658 ASDA-B3 EtherCAT Mode Setting value Mode Homing Mode Reserved Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode Object 6061h: Modes of operation display Index 6061h Name Modes of operation display Object code Data type INTEGER8 Access PDO mapping Setting range INTEGER8...
Page 659 EtherCAT Mode ASDA-B3 Object 6063h: Position actual internal value (Pulse) Index 6063h Name Position actual internal value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Pulse (unit for encoder pulse resolution) The ASDA-A2 servo drive generates 1,280,000 Unit pulses per motor revolution.
Page 660 ASDA-B3 EtherCAT Mode Accepted following error Position Following error Following error window window No following error Following error Following error Reference position Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled. Object 6067h: Position window Index 6067h Name...
Page 661 EtherCAT Mode ASDA-B3 Object 6068h: Position window time Index 6068h Name Position window time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Unit Object function: When the error between the command position (PP mode: OD 607Ah) and the position actual value (OD 6064h) is within the position range of OD 6067h (Position window), and the retaining duration is greater than OD 6068h (Position window time), OD 6041h Bit 10 (Target reached) is output.
Page 662 ASDA-B3 EtherCAT Mode Object 606Ch: Velocity actual value Index 606Ch Name Velocity actual value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Unit 0.1 rpm Object function: Returns the current motor speed for the users to monitor. Object 606Dh: Velocity window Index 606Dh...
Page 663 EtherCAT Mode ASDA-B3 Object 606Eh: Velocity window time Index 606Eh Name Velocity window time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Unit Object function: Refer to OD 606Dh for the description of the object. Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled. Object 606Fh: Velocity threshold Index 606Fh...
Page 664 ASDA-B3 EtherCAT Mode Object function: This object sets the target torque in torque mode (unit: 0.1%). If this object is set to 1000 (100.0%), it corresponds to the rated torque of the motor. Object 6072h: Max torque Index 6072h Name Max torque Object code Data type...
Page 665 EtherCAT Mode ASDA-B3 Object function: This object displays the rated current specified on the motor nameplate. Object 6076h: Motor rated torque Index 6076h Name Motor rated torque Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit 0.001 N-m Object function: This object displays the rated torque specified on the motor nameplate.
Page 666 ASDA-B3 EtherCAT Mode Object 607Ah: Target position Index 607Ah Name Target position Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: This object is available in Profile Position Mode and Cyclic Synchronous Position Mode. For more details, refer to Section 12.3.1 Profile Position Mode and Section 12.3.5 Cyclic Synchronous Position Mode.
Page 667 EtherCAT Mode ASDA-B3 Object 607Dh: Software position limit Index 607Dh Name Software position limit Object code ARRAY Data type INTEGER32 Access Sub-index Description Number of entries Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Min position limit Data type INTEGER32 Access...
Page 668 ASDA-B3 EtherCAT Mode P1.055 Maximum speed limit (unit: 1 rpm). Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled. Object 6080h: Max motor speed Index 6080h Name Max motor speed Object code Data type UNSIGNED32 Access PDO mapping...
Page 669 EtherCAT Mode ASDA-B3 This object is available in Profile Position Mode and Profile Velocity Mode. Object 6084h: Profile deceleration Index 6084h Name Profile deceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required to decelerate from 3,000 rpm to 0 rpm.
Page 670 ASDA-B3 EtherCAT Mode Object 6087h: Torque slope Index 6087h Name Torque slope Object code Data type UNSIGNED32 Access PDO mapping Setting range 0 - 65500 Default Unit Object function: The time slope set by this object is the time required from 0% to 100% of the rated torque. Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
Page 671 EtherCAT Mode ASDA-B3 Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled. Object 6098h: Homing method Index 6098h Name Homing method Object code Data type INTEGER8 Access PDO mapping Setting range 0 - 35 Default Object function: There are a total of 35 homing methods.
Page 672 ASDA-B3 EtherCAT Mode Methods 3 and 4: homing on the home switch and Z pulse Starting point Starting point Starting point Starting point Z pulse Home switch Methods 5 and 6: homing on the home switch and Z pulse Starting point Starting point Starting point...
Page 673 EtherCAT Mode ASDA-B3 Method 7: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 8: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point...
Page 674 ASDA-B3 EtherCAT Mode Method 9: homing on the positive limit switch, home switch, and Z pulse St arting point Starting point St arting point Z pulse Home switch Positive limit switch Method 10: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point...
Page 675 EtherCAT Mode ASDA-B3 Method 11: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home sw itch Nega tive limit switch Method 12: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point...
Page 676 ASDA-B3 EtherCAT Mode Method 13: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Method 14: homing on the negative limit switch, home switch, and Z pulse St arting point St arting point...
Page 677 EtherCAT Mode ASDA-B3 Method 18: homing on the positive limit switch Methods 19 and 20: homing on the home switch Starting point Starting point Home switch Methods 21 and 22: homing on the home switch Starting point Starting point Home switch 12-80...
Page 678 ASDA-B3 EtherCAT Mode Methods 23 and 24: homing on the positive limit switch and home switch Starting point Starting point Starting point Home switch Positive limit switch Methods 25 and 26: homing on the positive limit switch and home switch Starting point Starting point Starting point...
Page 679 EtherCAT Mode ASDA-B3 Methods 27 and 28: homing on the negative limit switch and home switch Starting point Starting point Starting point Home switch Negative limit switch Methods 29 and 30: homing on the negative limit switch and home switch Starting point Starting point...
Page 680 ASDA-B3 EtherCAT Mode Object 6099h: Homing speeds Index 6099h Name Homing speeds Object code ARRAY Data type UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Speed during search for switch Data type UNSIGNED32 Access...
Page 681 EtherCAT Mode ASDA-B3 and decelerate from 3,000 rpm to 0 rpm. This object is available in Homing Mode. Object 60B0h: Position offset Index 60B0h Name Position offset Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: This object sets the position offset.
Page 682 ASDA-B3 EtherCAT Mode Object 60B8h: Touch Probe setting Index 60B8h Name Touch Probe setting Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: This object sets the Touch Probe related function settings. For the operation details, refer to Section 12.3.8.
Page 683 EtherCAT Mode ASDA-B3 Object 60B9h: Touch Probe status Index 60B9h Name Touch Probe status Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: You can use this object to get the position capturing status. For the function of this object, refer to Section 12.3.8 Touch Probe.
Page 684 ASDA-B3 EtherCAT Mode Object 60BAh: Touch Probe Pos1 Pos value Index 60BAh Name Touch Probe Pos1 Pos value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Object function: For the function of this object, refer to Section 12.3.8 Touch Probe. Object 60BBh: Touch Probe Pos1 Neg value Index 60BBh...
Page 685 EtherCAT Mode ASDA-B3 Setting range INTEGER32 Default Object function: For the function of this object, refer to Section 12.3.8 Touch Probe. Object 60C5h: Max acceleration Index 60C5h Name Max acceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit...
Page 686 ASDA-B3 EtherCAT Mode Object 60E1h: Negative torque limit Index 60E1h Name Negative Torque Limit Object code Data type UNSIGNED16 Access PDO mapping Setting range 0 - 3000 Default 3000 Unit 0.1% Object function: This object sets the negative torque limit. Object 60F4h: Following error actual value Index 60F4h...
Page 687 EtherCAT Mode ASDA-B3 Index 60FDh Name Digital inputs Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: Function Bit 0 Negative limit signal Bit 1 Positive limit signal Bit 2 Homing signal Bit 3 - Bit 15 Reserved Bit 16 Bit 17...
Page 688 UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default 03ADh Object function: This object is read-only and provides the control modes supported by Delta servo drives in EtherCAT mode. Function Bit 0 Profile Position Mode Bit 1 Reserved Bit 2 Profile Velocity Mode...
Page 689: Diagnostics And Troubleshooting
EtherCAT Mode ASDA-B3 12.5 Diagnostics and troubleshooting This section provides diagnostics and troubleshooting information related to communication or interference with the controller. For information about the servo drive alarms, refer to Chapter 13. 1. The SYNC communication cycle of the controller and servo drive is different Since the jitter of each controller is different, the communication cycle time between the servo drive receiving the Sync and Sync synchronization action is different.
Page 690: Alarm List
ASDA-B3 EtherCAT Mode 12.5.2 Alarm list Alarm Description 16-bit error code AL001 Overcurrent 2310h AL002 Overvoltage 3110h AL003 Undervoltage 3120h AL004 Motor combination error 7122h AL005 Regeneration error 3210h AL006 Overload 3230h AL007 Excessive deviation of Speed command 8400h AL008 Abnormal pulse command 8600h AL009...
Page 691 EtherCAT Mode ASDA-B3 Alarm Description 16-bit error code AL064 Encoder vibration warning 7305h Number of revolutions of the absolute encoder overflows (issued AL066 7305h by servo drive) AL067 Encoder temperature warning 7305h AL068 Absolute data transmitted by I/O is in error 7305h AL069 Wrong motor type...
Page 692 ASDA-B3 EtherCAT Mode Alarm Description 16-bit error code AL128 Error occurs when PDO object is read from EEPROM 8200h AL129 Error occurs when PDO object is written to EEPROM 8200h AL130 Accessing address of EEPROM is out of range 8200h AL131 EEPROM CRC calculation error 8200h...
Page 693 EtherCAT Mode ASDA-B3 Alarm Description 16-bit error code AL521 Vibration elimination parameter error 6100h AL555 System failure AL809 PR motion setting error or command decoding error 0000h 12-96...
Page 694: Troubleshooting
Troubleshooting This chapter provides alarm descriptions and the corrective actions you can use for troubleshooting. 本 13.1 Alarm list ······················································································ 13-3 General type ················································································· 13-3 Motion control type ········································································· 13-6 STO type ······················································································ 13-6 Communication type ······································································· 13-7 13.2 Causes and corrective actions ··························································· 13-8 13-1...
Page 695 Troubleshooting ASDA-B3 There are four types of alarms: General, Motion control, STO, and Communication. The detailed information is as follows. General type: alarms caused by signal errors of the hardware or encoder. Motion control type: alarms caused by motion control command (in PR mode) errors. STO type: alarms caused by STO errors.
Page 696: Alarm List
ASDA-B3 Troubleshooting 13.1 Alarm list General type Error type Servo state Display Alarm name WARN AL001 Overcurrent ○ ○ AL002 Overvoltage ○ ○ AL003 Undervoltage ○ ○ AL004 Motor combination error ○ ○ AL005 Regeneration error ○ ○ AL006 Overload ○...
Page 697 Troubleshooting ASDA-B3 General type (continued) Error type Servo state Display Alarm name WARN Analog voltage input for Speed command is AL042 ○ ○ too high AL044 Servo function operational warning ○ ○ AL045 E-Gear ratio value error ○ ○ AL048 Encoder output error ○...
Page 698 ASDA-B3 Troubleshooting General type (continued) Error type Servo state Display Alarm name WARN AL083 Servo drive outputs excessive current ○ ○ AL085 Regeneration setting error ○ ○ AL086 Regenerative resistor overload ○ ○ AL088 Servo function operational alarm ○ ○ AL089 Current detection interference ○...
Page 699: Motion Control Type
Troubleshooting ASDA-B3 Motion control type Error type Servo state Display Alarm name WARN Parameter group of Type [8] PR is out of AL207 ○ ○ range Parameter number of Type [8] PR is out of AL209 ○ ○ range Parameter format setting of Type [8] PR is in AL211 ○...
Page 700: Communication Type
ASDA-B3 Troubleshooting Communication type Error type Servo state Display Alarm name WARN AL111 Buffer overflow occurs when SDO is received ○ ○ AL112 Buffer overflow occurs when PDO is received ○ ○ AL113 TxPDO transmission failed ○ ○ Object’s index does not exist when PDO is AL121 ○...
Page 701: Causes And Corrective Actions
If the temperature of the heat sink is abnormal, send your servo drive back to the distributor or contact Delta. Check if the set value of the parameter is much greater than the default. It is recommended to reset the parameter to the factory default setting and then modify the setting gradually.
Page 702 ASDA-B3 Troubleshooting AL002 Overvoltage How to clear the DI.ARST alarm? AL003 Undervoltage Condition: Main circuit voltage is below the rated value. The error type of AL003 is a warning by default. To set AL003 as an alarm, you can set P2.066 [Bit 9] to 1. DC Bus voltage is below P4.024×...
Page 703 Incorrect parameter settings for P1.052 and P1.053. Check the connection for the regenerative resistor, re-calculate the value for the regenerative resistor, and correctly set the values of P1.052 and P1.053. If the issue persists, send your servo drive back to Delta. Checking method and corrective action Set P1.053 to 0 if not using a regenerative resistor.
Page 704 ASDA-B3 Troubleshooting AL007 Excessive deviation of Speed command Condition: difference between the command speed and the feedback speed exceeds the allowable range set by P2.034. Cause: Trigger condition A drastic change in the input Speed command. and cause Improper setting of P2.034 (Excessive deviation warning condition of Speed command).
Page 705 P1.052 and P1.053. Checking method and corrective action If the issue persists, send your servo drive back to Delta. Set P1.053 to 0 if not using a regenerative resistor. How to clear the DI.ARST...
Page 706 Checking method and corrective action Reset the power supply. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Remove the connection cable for CN1 and then execute auto calibration. alarm?
Page 707 Troubleshooting ASDA-B3 AL013 Emergency stop Trigger condition The emergency stop button is pressed. and cause Checking method Make sure the emergency stop button is off. and corrective action How to clear the Set DI.EMGS to off to clear the alarm. alarm? AL014 Negative limit error Condition: negative limit switch is triggered.
Page 708 ROM is damaged or there is no data in ROM. Send your servo drive back to the distributor or contact Delta. If this alarm occurs when the drive is started, reset the parameters and then cycle...
Page 709 Troubleshooting ASDA-B3 AL018 Encoder output error The settings of P1.076 and P1.046 should follow these requirements: Motor speed P1.076 > motor speed and × P1.046 × 4 < 19.8 × 10 Check the communication error rate by setting P0.002 to -80. If this value continues to accumulate, it means there is interference.
Page 710 Use a shielded cable for the encoder, pull out the shielded mesh, and ground If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 711 If the value is greater than 0 and increases continuously, check the previous three items again. If the value is 0, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 712 If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 713 Cause: the internal signal of the encoder is abnormal causing error in the number and cause of revolutions. Checking method Send your servo motor back to the distributor or contact Delta. and corrective action How to clear the alarm? AL02B Motor data error Trigger condition Accessing the internal data of the motor is in error.
Page 714 Check if the motor vibration range is within 2.5 G. If the vibration is within the Checking method range but the issue persists, send your servo motor back to the distributor or and corrective action contact Delta. How to clear the DI.ARST or cycle power on the servo drive. alarm?
Page 715 Use a shielded cable for the encoder, pull out the shielded mesh, and ground Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the DI.ARST or cycle power on the servo drive.
Page 716 ASDA-B3 Troubleshooting AL044 Servo function operational warning Condition: too many motor control functions on the servo drive are enabled. Trigger condition and cause Cause: servo function operational alarm. If using a filter, see if using this filter is necessary. Checking method and corrective action Set P2.066 [Bit 4] to 1 to disable this alarm.
Page 717 Troubleshooting ASDA-B3 AL048 Encoder output error or any high-current cables to avoid interference. (c) Use a shielded cable for the encoder, pull out the shielded mesh, and ground it. Check the fault record (P4.000 - P4.004) and see if an alarm has occurred (AL011, AL024, AL025, or AL026).
Page 718 ASDA-B3 Troubleshooting AL05C Motor position feedback error Check if the feedback signal is abnormal. Use the software scope and select Feedback position [PUU] as the input signal for the channel and sample at 16 kHz or 20 kHz, and then operate the motor manually to monitor whether the feedback value has discontinuous sudden jumps.
Page 719 The number of revolutions of a Trigger condition and cause Delta motor is -32768 to +32767. Cause: motor’s rotation cycle exceeds the allowable range. Check if the motor’s number of revolutions during operation is within the range...
Page 720 If the temperature difference and corrective action between the encoder and motor is over 30°C (86°F), send the servo motor back to Delta. How to clear the Cycle power on the servo drive. alarm? AL068 Absolute data transmitted by I/O is in error Condition: the time sequence is wrong when the absolute position is read by DI/O.
Page 721 Troubleshooting ASDA-B3 AL06A Absolute position is lost There are two conditions that may cause the loss of absolute position. One is that the absolute coordinate is not established. When the absolute origin coordinate is established, the origin is lost after power cycling of the servo drive. The other is that an error occurred.
Page 722 ASDA-B3 Troubleshooting AL06A Absolute position is lost Check if the absolute origin coordinate is established (refer to Section 10.3.1 for more information). Avoid replacing the battery when the servo drive is powered off. It is suggested to replace the battery when the servo drive is powered on, so the absolute encoder has continuous power supply.
Page 723 Measure the battery voltage to see if it is below 3.1V. Check if the battery wiring has poor contact. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 724 Use a shielded cable for the encoder, pull out the shielded mesh, and ground Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 725 Troubleshooting ASDA-B3 AL075 Encoder absolute number of revolutions is in error If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive. alarm? AL077 Encoder internal error Trigger condition Encoder internal error (internal computing error).
Page 726 Use a shielded cable for the encoder, pull out the shielded mesh, and ground Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 727 In this case, replace the power cable to prevent the metal conductor from being exposed. Refer to Chapter 3 Wiring and check the following items: (a) If you do not use the Delta standard power cable, make sure the UVW Checking method wiring sequence is correct.
Page 728 Check the connection for the regenerative resistor, re-calculate the value for the Checking method regenerative resistor, and correctly set the values of P1.052 and P1.053. and corrective action If the issue persists, send your servo drive back to Delta. How to clear the DI.ARST alarm?
Page 729 Set P2.112 [Bit 1] to 0 to disable AL089. alarm? If the issue persists, send your servo drive back to the distributor or contact Delta. AL08A Auto-tuning function - command error Condition: no command is issued within 15 seconds after the servo drive starts the auto-tuning procedure.
Page 730 Check if the firmware is updated. Set P2.008 to 30 first and then set it to 28. Checking method and corrective action Next, cycle power on the servo drive. Contact Delta if this error persists. How to clear the Set P2.008 to 30 and then 28. Cycle power on the servo drive.
Page 731 Troubleshooting ASDA-B3 AL09C Parameter reset failed Condition: the parameter reset process is not complete. Trigger condition Cause: an error occurred during the parameter reset process, so the reset and cause procedure could not be completed. Check if the power is cut off during the reset process. Check the power wiring and Checking method and corrective action switch.
Page 732 ASDA-B3 Troubleshooting AL121 Object’s index does not exist when PDO is accessed When the servo drive receives the PDO from the controller, the specified object’s Trigger condition and cause index number is incorrect, so the servo drive cannot identify it. Check if the object’s index number for PDO mapping of the controller is correct.
Page 733 Troubleshooting ASDA-B3 AL125 PDO object is read-only and write-protected Trigger condition The specified object in the message is read-only and write-protected. and cause Checking method Check if the object for PDO mapping is read-only. and corrective action How to clear the NMT: reset node, 0x6040 fault reset, or DI.ARST.
Page 734 ASDA-B3 Troubleshooting AL130 Accessing address of EEPROM is out of range The amount of data in the ROM is greater than the allowable space specified by Trigger condition the firmware. It is probably because the firmware has been updated, but the data and cause in the ROM was stored by the previous firmware version.
Page 735 Troubleshooting ASDA-B3 AL185 Bus hardware error Condition: bus communication is cut off. Trigger condition and cause Cause: abnormal communication hardware. Check if the communication cable is intact and firmly connected. Check the communication quality. It is suggested that you use common Checking method grounding and shielded cable.
Page 736 ASDA-B3 Troubleshooting AL207 Parameter group of Type [8] PR is out of range Condition: parameter group of Type [8] PR command is out of range. Trigger condition and cause Cause: the group of Type [8] PR command source exceeds the range. Write parameter using PR procedure: when the parameter group of command Checking method and corrective action...
Page 737 Troubleshooting ASDA-B3 AL215 Write parameters: read-only Condition: when you use the PR procedure to write the parameter, the parameter Trigger condition is read-only. and cause Cause: an error occurs when you write the parameter with Type [8] PR command. Checking method The specified parameter is read-only.
Page 738 ASDA-B3 Troubleshooting AL235 Position counter overflow warning Condition: a positioning command is executed after the overflow of the position Trigger condition command counter. and cause Cause: overflow of the position command counter. Incremental system: When the motor keeps operating in one direction, this leads to overflow of the position feedback register (FB_PUU), and the coordinate system cannot display the correct position.
Page 739 Troubleshooting ASDA-B3 AL245 PR positioning timeout Condition: PR positioning function is triggered. Trigger condition and cause Cause: the time for executing positioning is too long. Check if the conditions for completing the PR commands are not set or not Checking method and corrective action triggered causing the PR command incomplete.
Page 740 ASDA-B3 Troubleshooting AL289 Position counter overflows Trigger condition Position counter overflows. and cause Set the gear ratio according to the actual application requirements and the total traveling distance of the absolute motor to avoid overflow of the feedback Checking method counter.
Page 741 Troubleshooting ASDA-B3 AL303 CANopen synchronization signal timeout Condition: the synchronization with the controller fails when you use the CANopen Trigger condition IP mode (in B mode). and cause Cause: timeout of CANopen synchronization signal. Make sure the communication between the servo drive and controller is good. Make sure the setting of synchronization cycle (0x1006) is identical to that of the controller.
Page 742 ASDA-B3 Troubleshooting AL380 Position offset alarm for DO.MC_OK Trigger condition DO.MC_OK is on and then goes off. and cause Refer to the description of P1.048. DO.MC_OK is on, but then it goes off because Checking method DO.TPOS turns off. There might be an external force causing the position offset of and corrective action the motor after positioning is complete.
Page 743 Troubleshooting ASDA-B3 AL3E3 Communication synchronization signal timeout The target command is not received within a continuous communication cycle in Trigger condition and cause CANopen IP mode (except in B mode). Make sure the communication between the servo drive and controller is good. Make sure the setting of synchronization cycle (0x1006) is identical to that of the controller.
Page 744 Checking method Appendix A for Graph of load and operating time. and corrective action If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Cycle power on the servo drive. alarm?
Page 745 Troubleshooting ASDA-B3 AL500 STO function is enabled Trigger condition Safe torque off function (STO) is enabled. and cause Checking method Safe torque off function (STO) is enabled. Check why it is enabled. and corrective action Reset by using DI.ARST (Alarm reset), 0x6040 fault reset, or setting P0.001 to 0.
Page 746 [Bit 9] of P2.094 to 0. AL555 System failure Trigger condition Servo drive DSP is in error. and cause If this alarm occurs, send your servo drive directly back to Delta without making Checking method and corrective action any modification. How to clear the...
Page 747 Troubleshooting ASDA-B3 (This page is intentionally left blank.) 13-54...
Page 748: Specifications
Specifications A.1 ASDA-B3 series servo drive ····································································· A-2 A.1.1 Specifications of the ASDA-B3 servo drive ············································· A-2 A.1.2 Dimensions of the servo drive ····························································· A-5 A.2 ECM-B3 series servo motor ····································································· A-7 A.2.1 ECM-B3 series servo motor ································································ A-9 A.2.2 Torque features (T-N curves) of the B3 motors ······································ A-13 A.2.3 Power derating curves of the B3 motors ··············································...
Page 749: Asda-B3 Series Servo Drive
Specifications ASDA-B3 A.1 ASDA-B3 series servo drive A.1.1 Specifications of the ASDA-B3 servo drive 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW ASDA-B3 Three-phase Phase / Voltage Single- / Three-phase 220 V...
Page 750 ASDA-B3 Specifications Specification table Item Specification Servo drive resolution 24-bit (16777216 p/rev) Main circuit control SVPWM control Tuning mode Manual / Auto Pulse type Pulse + Direction, CCW pulse + CW pulse, A phase + B phase Pulse + Direction: 4 Mpps CCW pulse + CW pulse: 4 Mpps Max.
Page 751 Specifications ASDA-B3 Item Specification Overcurrent, Overvoltage, Undervoltage, Overheat, Regeneration error, Overload, Excessive speed deviation, Excessive position deviation, Encoder error, Calibration error, Emergency stop, Forward / reverse Protection function limit error, Serial communication error, RST leak phase, Serial communication timeout, Short-circuit protection for terminals U, V, and W.
Page 752: Dimensions Of The Servo Drive
ASDA-B3 Specifications A.1.2 Dimensions of the servo drive 100 W / 200 W / 400 W 60(2.36) 60(2.36) 70(2.76) 155.85(6.14) 49(1.93 ) 6.3(0.25) M5*0.8 SCREW: M4x0.7 Mounting scre w torque: 14 (kgf-cm) Unit: mm(inch) Weight 0.9 kg (1.98 lb) 750 W 74.3(2.93) 165.85(6.53) 74.3(2.93)
Page 753 Specifications ASDA-B3 1 kW / 1.5 kW 80.2(3.16) 194.15(7.64) 70(2.76) 80.2(3.16) 67(2.64) 7.7(0.3) M5*0.8 SCREW: M4x0.7 Mounting scre w torque: 14 (kgf-cm) Unit: mm(inch) Weight 1.8 kg (3.96 lb) 2 kW / 3 kW 90(3.54) 75(2.95) 90(3.54) 70(2.76) 205.3(8.08) M5*0.8 SCREW: M4x0.7 Mounting scre w torque: 14 (kgf-cm) Unit: mm(inch)
Page 754: Ecm Series Servo Motor
ASDA-B3 Specifications A.2 ECM-B3 series servo motor ECM-B3 series servo motor ECM - B 06 04 R (2) (3) (4) (5) (6) (7) (8) (10) (11) (1) Product name ECM: Electronic Commutation Motor (2) Servo type B: general type servo motor (3) Series 3: 3 series...
Page 755 K: special shaft diameter (14 mm)* and IP67 waterproof connectors Note: special shaft diameter is available for F80 400W models. (11) Special code 1: standard products Note: the model information is for reference only. Not all kinds of permutations are available. Contact the distributor or Delta for the details.
Page 756 ASDA-B3 Specifications A.2.1 ECM-B3 series servo motor Motor frame size: 80 mm and below ECM-B3 C 0401 C 0602 C 0604 C 0804 C 0807 0.75 Rated power (kW) 0.32 0.64 1.27 1.27 Rated torque (N-m) 1.12 2.24 4.45 4.45 Max.
Page 757 Specifications ASDA-B3 ECM-B3 C 0401 C 0602 C 0604 C 0804 C 0807 Operating temperature -20˚C to +60˚C (-4°F to +140°F) Storage temperature -20˚C to +80˚C (14˚F to 176˚F) Operating humidity 20 - 90% RH (non-condensing) Storage humidity 20 - 90% RH (non-condensing) Vibration capacity 2.5 G IP rating...
Page 758 ASDA-B3 Specifications Motor frame size: 130 - 180 mm ECM-B3 E 1310 E 1315 E 1320 E 1820 F 1830 Rated power (kW) 4.77 7.16 9.55 9.55 19.1 Rated torque (N-m) 14.3 21.48 28.65 28.65 57.29 Max. torque (N-m) 2000 1500 Rated speed (rpm) 3000...
Page 759 Specifications ASDA-B3 ECM-B3 E 1310 E 1315 E 1320 E 1820 F 1830 Operating humidity 20 - 90% RH (non-condensing) Storage humidity 20 - 90% RH (non-condensing) Vibration capacity 2.5 G IP67 IP rating (for models using waterproof connectors and shaft seals or oil seals) Approvals Note: 1.
Page 760 ASDA-B3 Specifications A.2.2 Torque features (T-N curves) of the B3 motors Torque (N-m) 1.12 (350%) Intermittent duty zone 0.52 (162%) 0.32 (100%) 0.16 (50%) Continuous duty zone Speed (rpm) 3300 3000 6000 ECM-B3L-C0401 3 4 5 Torque (N-m) 4.45 (350%) 2.81 (221%) Intermittent duty zone 1.27 (100%)
Page 761 Specifications ASDA-B3 Torque (N-m) 28.65 (300%) 25.8 (270%) Intermittent duty zone 9.55 (100%) 6.37 (67%) Continuous duty zone Speed (rpm) 2000 2350 3000 ECM-B3M-E1820 3 4 5 Note: In the servo motor model name, represents the encoder type; represents the brake or keyway / oil seal type;...
Page 762 ASDA-B3 Specifications A.2.3 Power derating curves of the B3 motors Operating temperature (°C) Operating temperature (°C) F130 Operating temperature (°C) Operating temperature (°C) F180 Operating temperature (°C) A-15...
Page 763 Specifications ASDA-B3 A.2.4 Overload features Definition of overload protection The overload protection prevents the motor from overheating. Causes of overload 1. The motor’s operating torque exceeds the rated range and the operating time is too long. 2. The inertia ratio is too high and the motor frequently accelerates and decelerates. 3.
Page 764 ASDA-B3 Specifications Medium inertia (ECM-B3M-E / F series) Load ratio 120% 140% 160% 180% 200% 220% 240% Operating time 527.6 s 70.4 s 35.2 s 22.4 s 16 s 12.2 s 9.6 s Load ratio 260% 280% 300% 350% 400% 450% 500% Operating time...
Page 765 Specifications ASDA-B3 A.2.5 Dimensions of ECM-B3 series servo motor Motor frame size: 80 mm and below Model 0401 0602 0604 0804 0807 3 4 5 3 4 5 3 4 5 3 4 5 +0.000 +0.000 +0.000 +0.000 +0.000 −0.009 −0.011 −0.011 −0.011...
Page 766 ASDA-B3 Specifications Motor frame size: 130 - 180 mm Model E 1310 1315 E 1320 E 1820 F 1830 13.5 13.5 +0.000 +0.000 +0.000 +0.000 +0.000 −0.013 −0.013 −0.013 −0.016 −0.016 +0.000 +0.000 +0.000 +0.000 +0.000 110( 110( 110( 114.3( 114.3( −0.035 −0.035...
Page 767 Specifications ASDA-B3 A.3 ECM-A3 series servo motor ECM-A3 series servo motor ECM - A 06 04 R (2) (3) (4) (5) (6) (7) (8) (10) (11) (1) Product name ECM: Electronic Commutation Motor (2) Servo type A: High-Precision Servo Motor (3) Series 3: 3 series...
Page 768 Z: LS = 32 mm; LR = 35 mm. Refer to the note in Section A.3.5. Note: the model information is for reference only. Not all kinds of permutations are available. Contact the distributor or Delta for the details. A-21...
Page 769: Ecm-A3L Low Inertia Series Servo Motor
Specifications ASDA-B3 A.3.1 ECM-A3L low inertia series servo motor ECM-A3L 040F 0401 0602 0604 0804 0807 0.05 0.75 Rated power (kW) 0.159 0.32 0.64 1.27 1.27 2.39 Rated torque (N-m) 0.557 1.12 2.24 4.45 4.44 8.36 Max. torque (N-m) 3000 Rated speed (rpm) 6000 Max.
Page 770 ASDA-B3 Specifications ECM-A3L 040F 0401 0602 0604 0804 0807 Operating temperature 0˚C to 40˚C (14˚F to 176˚F) Storage temperature -10˚C to +80˚C (14˚F to 176˚F) Operating humidity 20 - 90% RH (non-condensing) Storage humidity 20 - 90% RH (non-condensing) Vibration capacity 2.5 G IP67 (for models using waterproof connectors and shaft seals or oil IP rating...
Page 771: Ecm-A3H High Inertia Series Servo Motor
Specifications ASDA-B3 A.3.2 ECM-A3H high inertia series servo motor ECM-A3H 040F 0401 0602 0604 0804 0807 0.05 0.75 Rated power (kW) 0.159 0.32 0.64 1.27 1.27 2.39 Rated torque (N-m) 0.557 1.12 2.24 4.45 4.44 8.36 Max. torque (N-m) 3000 Rated speed (rpm) 6000 Max.
Page 772 ASDA-B3 Specifications ECM-A3H 040F 0401 0602 0604 0804 0807 1.8k V , 1 sec Insulation strength Vibration grade (μm) Operating temperature 0˚C to 40˚C (14˚F to 176˚F) Storage temperature -10˚C to +80˚C (14˚F to 176˚F) Operating humidity 20 - 90% RH (non-condensing) Storage humidity 20 - 90% RH (non-condensing) Vibration capacity...
Page 773: Torque Features (T-N Curves) Of The A3 Motors
Specifications ASDA-B3 A.3.3 Torque features (T-N curves) of the A3 motors Torque (N-m) 0.557 (350%) Intermittent duty zone 0.4 (251%) 0.159 (100%) 0.0795 (50%) Continuous duty zone Speed (rpm) 3000 4400 6000 ECM-A3L-C040F 3 4 5 Torque (N-m) 2.24 (350%) Intermittent duty zone 0.79 (123%) 0.64 (100%)
Page 774 ASDA-B3 Specifications Torque (N-m) Torque (N-m) 1.12 (350%) 0.557 (350%) 0.4 (251%) Intermittent duty zone Intermittent duty zone 0.9 (281%) 0.32 (100%) 0.159 (100%) 0.16 (50%) Continuous duty zone 0.0795 (50%) Continuous duty zone Speed (rpm) Speed (rpm) 6000 5500 6000 3000 4300...
Page 775: Overload Features
Specifications ASDA-B3 A.3.4 Overload features Definition of overload protection The overload protection prevents the motor from overheating. Causes of overload 1. The motor’s operating torque exceeds the rated range and the operating time is too long. 2. The inertia ratio is too high and the motor frequently accelerates and decelerates. 3.
Page 776: Dimensions Of Ecm-A3L/A3H Series Servo Motor
ASDA-B3 Specifications A.3.5 Dimensions of ECM-A3L/A3H series servo motor Motor frame size: 80 mm and below Model C 040F C 0401 C 0602 C 0604 C 0804 C 0807 +0.000 +0.000 +0.000 +0.000 +0.000 +0. .000 −0.009 −0.009 −0.011 −0.011 −0.011 −0.013 +0.000...
Page 777 Specifications ASDA-B3 Note: 1. In the servo motor model name, represents the encoder type; represents the brake or keyway / oil seal type; represents the shaft diameter and connector type; represents the special code. 2. When the special code of C 0807 is Z, LS = 32 and LR = 35.
Page 778 Accessories B.1 Power connector ··············································································· B-2 B.2 Power cable ····················································································· B-4 B.3 Encoder connector ············································································ B-8 B.4 Encoder cable (incremental type) ·························································· B-9 B.5 Encoder cable (absolute type) ···························································· B-11 B.6 Battery box cable ············································································ B-13 B.7 Battery box (absolute type) ································································ B-14 B.8 CN1 connector ···············································································...
Page 779: Power Connector
Delta model number: ASDBCAPW0000 (for F80 and below) Delta model number: ASDBCAPW0100 (for F80 and below with brake) Delta model number: ACS3-CNPW1A00 (IP67 waterproof connector for F80 and below) Delta model number: ACS3-CNPW2A00 (IP67 waterproof connector for F80 and below with brake)
Page 780 ASDA-B3 Accessories Delta model number: ACS3-CNPW5200 (military connector (MIL 18-10S) for F100 - F130) Delta model number: ACS3-CNPW5300 (military connector (MIL 22-22S) for F180) Delta model number: ACS3-CNPW6300 (military connector (CMV1-2S) for F100 - F180 with brake)
Page 781: Power Cable
Accessories ASDA-B3 B.2 Power cable Delta model number: ACS3-CAPW3103, ACS3-CAPW3105, ACS3-CAPW3110, ACS3-CAPW3120, ACS3-CAPF3103, ACS3-CAPF3105, ACS3-CAPF3110, ACS3-CAPF3120 (for F80 and below) (80 mm) (3.15 inch) (100 mm) (3.94 inch) Model No. inch ACS3-CAP 3103 3000 ± 50 118 ± 2 ACS3-CAP 3105 5000 ±...
Page 782 ASDA-B3 Accessories Delta model number: ACS3-CAPW3A03, ACS3-CAPW3A05, ACS3-CAPW3A10, ACS3-CAPW3A20, ACS3-CAPF3A03, ACS3-CAPF3A05, ACS3-CAPF3A10, ACS3-CAPF3A20 (for F80 and below with IP67 waterproof connector) (80 mm) (3.15 inch) (100 mm) (3.94 inch) Model No. inch ACS3-CAP 3A03 3000 ± 50 118 ± 2 ACS3-CAP 3A05 5000 ±...
Page 783 Accessories ASDA-B3 Delta model number: ACS3-CAPW3203, ACS3-CAPW3205, ACS3-CAPW3210, ACS3-CAPW3220, ACS3-CAPF3203, ACS3-CAPF3205, ACS3-CAPF3210, ACS3-CAPF3220 (for F100 - F130) (80 mm) (3.15 inch) (100 mm) (3.94 inch) Model No. Straight inch ACS3-CAP 3203 MIL 18-10S 3000 ± 50 118 ± 2 ACS3-CAP 3205 MIL 18-10S 5000 ±...
Page 784 ASDA-B3 Accessories Delta model number: ACS3-CAPW3403, ACS3-CAPW3405, ACS3-CAPW3410, ACS3-CAPW3420, ACS3-CAPF3403, ACS3-CAPF3405, ACS3-CAPF3410, ACS3-CAPF3420 (for F180) (80 mm) (3.15 inch) (100 mm) (3.94 inch) Model No. Straight inch ACS3-CAP 3403 MIL 22-22S 3000 ± 50 118 ± 2 ACS3-CAP 3405 MIL 22-22S 5000 ±...
Page 785: Encoder Connector
Accessories ASDA-B3 B.3 Encoder connector Delta model number: ACS3-CNEN1100 Delta model number: ACS3-CNEN3000 (for F100 - F180; military connector: CMV1-10S) Delta model number: ACS3-CNENC200 Delta model number: ACS3-CNEN2A00 (IP67 waterproof connector for F80 and below)
Page 786: Encoder Cable (Incremental Type
ASDA-B3 Accessories B.4 Encoder cable (incremental type) Delta model number: ACS3-CAEN1003, ACS3-CAEN1005, ACS3-CAEN1010, ACS3-CAEN1020, ACS3-CAEF1003, ACS3-CAEF1005, ACS3-CAEF1010, ACS3-CAEF1020 (for F80 and below) Model No. inch ACS3-CAE 1003 3000 ± 50 118 ± 2 ACS3-CAE 1005 5000 ± 50 197 ± 2 ACS3-CAE 1010 10000 ±...
Page 787 Accessories ASDA-B3 Delta model number: ACS3-CAEN2703, ACS3-CAEN2705, ACS3-CAEN2710, ACS3-CAEN2720, ACS3-CAEF2703, ACS3-CAEF2705, ACS3-CAEF2710, ACS3-CAEF2720 (for F100 - F180) Model No. Straight inch ACS3-CAE 2703 CMV1-10S 3000 ± 50 118 ± 2 ACS3-CAE 2705 CMV1-10S 5000 ± 50 197 ± 2 ACS3-CAE 2710 CMV1-10S 10000 ±...
Page 788: Encoder Cable (Absolute Type
ASDA-B3 Accessories B.5 Encoder cable (absolute type) Delta model number: ACS3-CAEA1003, ACS3-CAEA1005, ACS3-CAEA1010, ACS3-CAEA1020, ACS3-CAEB1003, ACS3-CAEB1005, ACS3-CAEB1010, ACS3-CAEB1020 (for F80 and below) Model No. inch ACS3-CAE 1003 3000 ± 50 118 ± 2 ACS3-CAE 1005 5000 ± 50 197 ± 2 ACS3-CAE 1010 10000 ±...
Page 789 Accessories ASDA-B3 Delta model number: ACS3-CAEA2703, ACS3-CAEA2705, ACS3-CAEA2710, ACS3-CAEA2720, ACS3-CAEB2703, ACS3-CAEB2705, ACS3-CAEB2710, ACS3-CAEB2720 (for F100 - F180) Model No. Straight inch ACS3-CAE 2703 CMV1-10S 3000 ± 50 118 ± 2 ACS3-CAE 2705 CMV1-10S 5000 ± 50 197 ± 2 ACS3-CAE 2710 CMV1-10S 10000 ±...
Page 790: Battery Box Cable
ASDA-B3 Accessories B.6 Battery box cable Battery box cable that connects to the encoder cable (part number: 3864573700) 15±5 (0.59±0.2) 25±5 (0.98±0.2) 200±10 (7.87±0.4) Unit: mm (inch) Battery box cable for self-wiring (part number: 3864850600) 5±1 (0.1±0.04) 15±5 (0.59±0.2) 200±10 (7.87±0.4) Unit: mm (inch) B-13...
Page 791: Battery Box (Absolute Type
Accessories ASDA-B3 B.7 Battery box (absolute type) Single battery box Delta model number: ASD-MDBT0100 22 (2.86) 35 (1.37) Unit: mm (inch) R3.25 Weight: 44 g Dual battery box Delta model number: ASD-MDBT0200 45 (1.77) 26 (1.02) 64.5 (2.54) Unit: mm (inch) R2.5...
Page 792: Cn1 Connector
ASDA-B3 Accessories B.8 CN1 connector Delta model number: ASDBCNDS0044 (for B3-L only) Delta model number: ACS3-CNTB0500 (for B3-M, F, E) B-15...
Page 793: Cn1 Quick Connector
Accessories ASDA-B3 B.9 CN1 quick connector Delta model number: ACS3-IFSC4444 (for B3-L only) 50 (16.97) 27.85 (1.1) 12 (4.72 ) 67.44 (26.55) Unit: mm (inch) B-16...
Page 794: Terminal Block Module
ASDA-B3 Accessories B.10 Terminal block module Delta model number: ACS3-MDTB4400 (for B3-L only) 145.5 (5.73) 500 (19.69) Unit: mm (inch) B-17...
Page 795 Accessories ASDA-B3 Delta model number: ACS3-MDTD2600 (for B3-M, F, E) 61.5 (2.42) 62 (2.44) 500 (19.69) Unit: mm (inch) B-18...
Page 796: B3 / B2 Conversion Cables
ASDA-B3 Accessories B.11 B3 / B2 conversion cables CN1 conversion cable (for B3-L only) Delta model number: ACS3-CABDC1 500±50 (19.68±1.97) Unit: mm (inch) CN2 conversion cable Delta model number: ACS3-CABDC2 150 (5.9) Unit: mm (inch) B.12 CN3 RS-485 tap Delta model number: ACS3-CNADC3RC 7.3 (0.29)
Page 797: Cn3 Rs-485 / Canopen Terminal Resistor
Accessories ASDA-B3 B.13 CN3 RS-485 / CANopen terminal resistor Delta model number: ACS3-CNADC3TR 16.4 (0.65) 43.5 (1.71) Unit: mm (inch) B.14 CN6 DMCNET terminal resistor Delta model number: ASD-TR-DM0008 40.1 (1.58) 27.8 (1.09) Unit: mm (inch) B-20...
Page 798: Cn4 Mini Usb Communication Module
ASDA-B3 Accessories B.15 CN4 Mini USB communication module Delta model number: UC-PRG015-01B, UC-PRG030-01B 12±0.5 80.45±5 64.5±0.5 (0.59±0.02) (3.3±0.2) (2.54±0.02) (0.48) (0.27) USB A Male Mini USB B Male Unit: mm (inch) Model No. inch UC-PRG015-01B 1500 ± 100 59 ± 4 UC-PRG030-01B 3000 ±...
Page 799 Accessories ASDA-B3 Delta model number: UC-PRG015-01A, UC-PRG030-01A (0.48) (0.27) USB A Male Mini USB B Male Unit: mm (inch) Model No. inch UC-PRG015-01A 1500 ± 100 59 ± 4 UC-PRG030-01A 3000 ± 100 118 ± 4 B-22...
Page 800: Canopen Communication Cable
300 ± 10 11 ± 0.4 UC-CMC050-01A 500 ± 10 19 ± 0.4 Note: for cables of other length, refer to the Delta PLC/HMI Cable Selection Guide. B.17 CANopen distribution box Delta model number: TAP-CN03 66.5 (2.61) Unit: mm (inch)
Page 801: Optional Accessories
Accessories ASDA-B3 B.18 Optional accessories 100 W servo drive and 50 W / 100 W servo motor Servo drive model ASD-B3 -0121- ECM-B3 0401 , ECM-A3 040F 3 4 5 3 4 5 Servo motor model ECM-A3 0401 3 4 5 Power connector ASDBCAPW0000 (without brake)
Page 802 ASDA-B3 Accessories 200 W servo drive and 200 W servo motor Servo drive model ASD-B3 -0221- Servo motor model ECM-B3 0602 , ECM-A3 0602 3 4 5 3 4 5 Power connector ASDBCAPW0000 (without brake) Power connector ASDBCAPW0100 (with brake) Encoder connector ACS3-CNENC200 Power connector...
Page 803 Accessories ASDA-B3 400 W servo drive and 400 W servo motor Servo drive model ASD-B3 -0421- ECM-B3 0604 , ECM-B3 0804 3 4 5 3 4 5 Servo motor model ECM-A3 0604 , ECM-A3 0804 3 4 5 3 4 5 Power connector ASDBCAPW0000 (without brake)
Page 804 ASDA-B3 Accessories 750 W servo drive and 750 W servo motor Servo drive model ASD-B3 -0721- Servo motor model ECM-B3 0807 , ECM-A3 0807 3 4 5 3 4 5 Power connector ASDBCAPW0000 (without brake) Power connector ASDBCAPW0100 (with brake) Encoder connector ACS3-CNENC200 Power connector...
Page 805 Accessories ASDA-B3 1 kW servo drive and 750 W servo motor Servo drive model ASD-B3 -1021- Servo motor model ECM-A3 0807 Power connector ASDBCAPW0000 (without brake) Power connector ASDBCAPW0100 (with brake) Encoder connector ACS3-CNENC200 Power connector ACS3-CNPW1A00 (without brake) Power connector ACS3-CNPW2A00 (with brake) Encoder connector...
Page 806 ASDA-B3 Accessories 1 kW servo drive and 1 kW servo motor Servo drive model ASD-B3 -1021- Servo motor model ECM-B3 1310 3 4 5 Power connector ACS3-CNPW5200 (without brake) Power connector ACS3-CNPW6300 (with brake wires only) Encoder connector ACS3-CNENC200 Motor power cable ACS3-CAPW32XX (without brake) Motor power cable...
Page 807 Accessories ASDA-B3 2 kW servo drive and 2 kW servo motor Servo drive model ASD-B3 -2023- Servo motor model ECM-B3 1320 ECM-B3 1820 3 4 5 3 4 5 Power connector ACS3-CNPW5200 ACS3-CNPW5300 (without brake) Power connector ACS3-CNPW6300 (with brake wires only) Encoder connector ACS3-CNENC200 Motor power cable...
Page 808 ASDA-B3 Accessories 3 kW servo drive and 3 kW servo motor Servo drive model ASD-B3 -3023- Servo motor model ECM-B3 1830 3 4 5 Power connector ACS3-CNPW5300 (without brake) Power connector ACS3-CNPW6300 (with brake wires only) Encoder connector ACS3-CNENC200 Motor power cable ACS3-CAPW34XX (without brake) Motor power cable...
Page 809 Accessories ASDA-B3 (This page is intentionally left blank.) B-32...
Page 810 Revision History Release date Version Chapter Revision contents Added the information of 750W motor August, 2021 V5.0 corresponding to the 1 kW servo drive (Fifth edition) Added the maximum input pulse frequency specifications for differential signals Added the diode specification when an 3.3.7 inductive load is connected to the drive for DO wirings.
Page 811 Revision History ASDA-B3 Release date Version Chapter Revision contents Added the note for notifying that the B3A August, 2021 V5.0 A.1.1 (Fifth edition) model is TUV certified. The tightening torque information is moved A.1.2 to Chapter 3. Added the descriptions for encoder types and special codes.
Page 812 For relevant information about [ASDA-B3], please refer to: (1) ASDA-B2 User Manual (2) ASDA-A3 User Manual (3) ASDA-A2 User Manual...
Page 813 Revision History ASDA-B3 (This page is intentionally left blank.)
Page 814 Authorized representative established and authorized to complie the technical file within the EU: Delta Electronics (Netherlands) BV De Witbogt 20, 5652 AG Eindhoven, The Netherlands. Representative : Kevin Lu / Technical Head_IABG, Delta EMEA Tel: +31 408 003 810 No. 18, Xinglong Rd., Taoyuan City 33068, Taiwan. (Company Address)
Page 815 Appendix Product p/n Product description ASD-B3A-0121-L AC Servo Drive 100W 240V ASD-B3A-0121-M AC Servo Drive 100W 240V ASD-B3A-0121-E AC Servo Drive 100W 240V ASD-B3A-0121-F AC Servo Drive 100W 240V ASD-B3A-0221-L AC Servo Drive 200W 240V ASD-B3A-0221-M AC Servo Drive 200W 240V ASD-B3A-0221-E AC Servo Drive 200W 240V ASD-B3A-0221-F...

Delta ASDA-B3 Series User Manual

Product Overview

Installation

Trial Operation and Panel Display

Tuning

Operation Mode

Motion Control

Parameters

MODBUS Communication

Absolute System

Canopen Mode

Ethercat Mode

Troubleshooting

Appendix

Appendix Specifications

Accessories

Quick Links

Troubleshooting

Related Manuals for Delta ASDA-B3 Series

Summary of Contents for Delta ASDA-B3 Series