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

Table of Contents

Unpacking Check4
Installation4
Wiring4
Operation4
Main Circuit Terminal Wiring5
Table Of Contents6
User Information12
Technical Support And Service12
Chapter 1 Unpacking Check And Model Explanation14
Delta Ac Servo Drive And Motor15
Model Explanation16
Nameplate Information16
Serial Number Explanation16
Model Name Explanation17
Ecma Series Servo Motor18
Servo Drive And Servo Motor Combinations19
Servo Drive Features20
Control Modes Of Servo Drive21
Installation Notes22
Storage Conditions22
Chapter 2 Installation And Storage22
Installation Conditions23
Installation Procedure And Minimum Clearances24
Drive Mounting24
Motor Mounting24
Minimum Clearances24
Side By Side Installation25
Connections And Wiring26
Connecting To Peripheral Devices26
Chapter 3 Connections And Wiring26
Servo Drive Connectors And Terminals27
Wiring Notes28
Wiring Methods29
Single-Phase Power Supply Connection29
Three-Phase Power Supply Connection30
Motor Power Cable Connector Specifications30
Encoder Connector Specifications32
Cable Specifications For Servo Drive And Servo Motor33
Basic Wiring34
Basic Wiring Schematic Of 750W Models35
Basic Wiring Schematic Of 1Kw And Above Models36
Input / Output Interface Connector -Cn137
Cn1 Terminal Identification37
The Layout Of Cn1 Drive Connector37
Cn1 Terminal Signal Identification37
Signals Explanation Of Connector Cn138
General Signals38
B Do Signals39
Di Signals40
D Source Of Speed Command41
E Source Of Torque Command41
Default Di Signals And Do Signals42
User-Defined Di And Do Signals43
Setting Of Parameter P2-10 To P2-1544
Setting Of Parameter P2-18 To P2-2044
Wiring Diagrams Of I/O Signals (Cn1)45
C1: Speed / Torque Analog Signal Input45
C2-1: Pulse Input (Open Collector – Internal Power)46
C2-2: Pulse Input (Open Collector – External Power)46
C3: Pulse Input (Line Driver)47
Wiring Of Do Signal, For Use Of Internal Power Supply, General Load47
Encoder Connector Cn249
The Layout Of Cn2 Drive Connector49
Cn2 Terminal Signal Identification49
Serial Communication Connector Cn350
Cn3 Terminal Layout And Identification50
The Layout Of Cn3 Drive Connector50
Connection Between Pc/Keypad And Connector Cn351
Connection Between Keypad And Cn351
Standard Connection Example52
Position Control Mode52
Speed Control Mode53
Torque Control Mode54
Description Of Digital Keypad Asd-Pu-01A56
Chapter 4 Display And Operation56
Display Flowchart58
Monitor Mode, Parameter Mode And Parameter Setting Mode58
Save Mode (Save Parameter Settings From The Drive To The Keypad)59
Write Mode (Parameter Settings Written Out From Keypad To The Drive)60
Fast Edit Mode (Fast Editing, Static & Dynamic Auto-Tuning)61
Status Display63
Save Setting Display63
Abort Setting Display63
Fault Message Display63
Monitor Setting Display64
Fault Code Display Operation66
Fault Code History66
Current Display Fault Code History66
Jog Operation67
Do Force Output Diagnosis Operation69
Di Diagnosis Operation70
Do Diagnosis Operation70
Parameters Read And Write71
Description Of Digital Keypad Asd-Pu-01B73
Save Mode76
Write Mode78
Fast Edit Mode80
Dynamic Auto-Tuning Mode81
Static Auto-Tuning Mode82
Polarity Setting Display83
Inspection Without Load94
Chapter 5 Trial Run And Tuning Procedure94
Applying Power To The Drive96
Main Circuit Wiring96
Turn The Power On96
Over Voltage96
Encoder Error97
Emergency Stop Activated97
Reverse Limit Switch Error97
Forward Limit Switch Error98
Overcurrent98
Undervoltage98
Magnetic Field Error99
Input Power Phase Loss99
Jog Trial Run Without Load100
Asd-Pu-01A Tuning Flowchart100
Asd-Pu-01B Tuning Flowchart101
Speed Trial Run Without Load102
Tuning Procedure104
Tuning Flowchart106
Load Inertia Estimation Flowchart107
Automode (Pi) Tuning Flowchart108
Automode (Pdff) Tuning Flowchart110
Limit Of Load Inertia Estimation111
Relationship Between Tuning Modes And Parameters112
Gain Adjustment In Manual Mode113
Kpp, Parameter P2-00 Proportional Position Loop Gain113
Kvp, Parameter P2-04 Proportional Speed Loop Gain113
Kvi, Parameter P2-06 Speed Integral Compensation113
Nlp, Parameter P2-25 Low-Pass Filter Time Constant114
Dst, Parameter P2-26 External Anti-Interference Gain114
Pfg, Parameter P2-02 Position Feed Forward Gain114
Control Modes Of Operation116
Chapter 6 Control Modes Of Operation116
Command Source Of Position Control Mode117
External Pulse Input Type117
Structure Of Position Control Mode118
Pulse Inhibit Input Function (Inhp)119
Electronic Gear Ratio119
Electronic Gear Ratio (1St Numerator) (N1)119
Electronic Gear Ratio (2Nd Numerator) (N2)119
Electronic Gear Ratio (Denominator)120
Low-Pass Filter121
Position Loop Gain Adjustment121
Proportional Position Loop Gain122
Position Loop Gain Switching Rate122
Position Feed Forward Gain122
Position Control Block Diagram123
Command Source Of Speed Control Mode124
Structure Of Speed Control Mode125
Speed Control Block Diagram125
Smoothing Strategy Of Speed Control Mode126
S-Curve Filter126
Acceleration Time126
S-Curve Characteristics And Time Relationship126
Deceleration Time127
Accel /Decel S-Curve127
Analog Speed Command S-Curve Filter128
Analog Speed Input Scaling129
Max. Analog Speed Command Or Limit129
Timing Chart Of Speed Control Mode130
Speed Loop Gain Adjustment130
Pi Structure (P2-32)131
Pdff Structure (P2-32)132
Tuning Mode Selection132
Explanation Of Auto-Tuning133
Manual Mode133
Ratio Of Load Inertia To Servo Motor Inertia134
Proportional Speed Loop Gain134
Speed Integral Compensation134
Speed Feed Forward Gain135
Time Domain136
Auto Mode (Continuous Adjustment))137
Auto Mode (The Ratio Of Load Inertia To Servo Motor Inertia Is Fixed)137
Resonance Suppression138
Resonance Suppression Block Diagram138
Notch Filter (Resonance Suppression)138
Notch Filter Attenuation Rate138
Low-Pass Filter Time Constant139
Use Notch Filter To Suppress Resonance139
Use Low-Pass Filter To Suppress Resonance139
Command Source Of Torque Control Mode140
Torque Command Sources140
Structure Of Torque Control Mode141
Torque Control Block Diagram141
Smoothing Strategy Of Torque Control Mode142
Smooth Constant Of Analog Torque Command142
Analog Torque Input Scaling142
Max. Analog Torque Command Or Limit143
Control Modes Selection144
Speed / Position Control Mode Selection144
Speed / Torque Control Mode Selection145
Torque / Position Control Mode Selection145
Others146
Speed Limit146
Torque Limit146
Regenerative Resistor147
Built-In Regenerative Resistor147
Built-In Regenerative Resistor Specifications147
External Regenerative Resistor148
Regenerative Power Calculation Method148
Simple Calculation Method150
Electromagnetic Brake151
Definition154
Chapter 7 Servo Parameters154
Parameters Summary155
Parameters List By Group155
Monitor Parameters155
Basic Parameters156
Extension Parameters158
Diagnosis Parameters161
Keypad Parameters162
Parameters List By Function163
Monitor And General Use163
Smooth Filter And Resonance Suppression163
Gain And Switch164
Position Control165
Detailed Parameter Listings172
Firmware Version172
Drive Fault Code172
Drive Status174
Reserved174
Status Monitor 1174
Status Monitor 2175
Status Monitor 3175
Servo Output Status Display175
Control Mode And Output Direction178
Speed And Torque Limit178
Disable / Enable Speed Limit Function Setting179
Pulse Output Polarity Setting180
1St Speed Command Or Limit181
2Nd Speed Command Or Limit181
3Rd Speed Command Or Limit181
1St Torque Command Or Limit182
2Nd Torque Command Or Limit182
3Rd Torque Command Or Limit182
Motor Stop Mode Selection184
Zero Speed Range Setting186
Target Rotation Speed186
Off Delay Time Of Electromagnetic Brake188
Encoder Output Pulse Number190
Regenerative Resistor Value190
Regenerative Resistor Capacity190
Positioning Completed Width191
Maximum Speed Limit191
Smooth Constant Of Position Feed Forward Gain Communication193
Speed Loop Gain Switching Rate193
Bounce Filter195
Digital Input Terminal 1 (Di1)195
Digital Input Terminal 2 (Di2)196
Digital Input Terminal 3 (Di3)196
Digital Input Terminal 5 (Di5)196
Digital Input Terminal 6 (Di6)197
Digital Output Terminal 1 (Do1)197
Digital Output Terminal 2 (Do2)198
Digital Output Terminal 3 (Do3)198
Gain Switching Control Selection200
Gain Switching Time Constant200
Gain Switching Condition201
Auxiliary Function201
Auto Stiffness And Responsiveness Level201
Overspeed Warning Condition203
Excessive Error Warning Condition203
Overload Protection Level204
Output Overload Warning Level204
Special Function205
Motor Rotation Number206
Motor Rotation Frequency206
Motor Rotation Time206
Auto-Tuning Start Function206
Pulse Deviation Clear Mode207
Speed Detection Filter And Jitter Suppression208
Communication Address Setting209
Transmission Speed209
Communication Protocol210
Transmission Fault Treatment210
Communication Time Out Detection210
Digital Input Communication Function211
Communication Response Delay Time211
Fault Record (N)212
Fault Record (N-1)212
Fault Record (N-2)212
Fault Record (N-3)212
Force Output Control213
Input Status Or Force Input Control214
Output Status Display214
Adjustment Function215
Analog Speed Input Drift Adjustment 1216
Analog Speed Input Drift Adjustment 2216
Analog Torque Drift Adjustment 1216
Current Detector Drift Adjustment (V1 Phase)217
Current Detector Drift Adjustment (V2 Phase)217
Current Detector Drift Adjustment (W1 Phase)218
Current Detector Drift Adjustment (W2 Phase)218
Igbt Ntc Calibration218
Analog Speed Input Offset219
Analog Torque Input Offset219
Keypad Firmware Version221
Keypad Communication And Reset Setting221
Communication Address Setting (Drive)222
Transmission Speed (Keypad)222
Communication Protocol (Keypad)223
Communication Selection (Keypad)223
Keypad Hardware Testing223
Lcd Backlight Display224
Memory Block Clear224
Memory Block Position Number (Romx)225
Status Of Memory Block (Romx)225
Firmware Version Of Memory Block (Romx)226
Input Function Definition227
Di Function Description228
Speed Command Number: S3230
Speed Command Number: S4230
Speed / Position Mode Switching231
Communication Hardware Interface236
Cable Connection236
Chapter 8 Modbus Communications236
Communication Parameter Settings239
Watch Dog Timer240
Digital Input Contact Control240
Modbus Communication Protocol243
Code Description243
Ascii Mode243
Data Format243
11-Bit Character Frame (For 8-Bit Character)244
Rtu Mode244
Basic Inspection252
Chapter 9 Maintenance And Inspection252
Maintenance253
Life Of Replacement Components253
Smooth Capacitor253
Relay253
Cooling Fan254
Servo Drive Fault Messages256
Fault Messages Table256
Chapter 10 Troubleshooting256
Keypad Fault Messages257
Potential Cause And Corrective Actions258
When Servo Off, But The Power Is On258
Abnormal Pulse Control Command261
When The Motor Is Running261
Serial Communication Error261
Igbt Temperature Error263
Serial Communication Time Out263
Motor Type Error263
Lcm Hardware Error264
Led Hardware Error264
Ram Hardware Error264
Comm Hardware Error265
Initial Setup Error265
Communication Receive Time Out265
Communication Receive Error265
Ale 43 : Error Communication Response Address266
Ale 44 : Error Communication Response Command266
Ale 45 : Communication Parameter Address Error266
Ale 47 : Drive Specification Error266
Clearing Servo Drive Faults267
Specifications Of Servo Drive (Asda-B Series)268
Chapter 11 Specifications268
Specifications Of Servo Motor (Ecma Series)271
Low Inertia Servo Motor271
Medium / High Inertia Servo Motor272
Dimensions Of Servo Drive274
Order P/N: Asd-B0721-A (750W)275
Servo Motor Speed-Torque Curves (T-N Curve)277
Overload Characteristics278
Overload Protection Function278
Occasion Of Overload278
Chart Of Load And Operating Time (Ecmac30602 S)279
Chart Of Load And Operating Time (Ecmac30604 S)279
Chart Of Load And Operating Time (Ecmac30804 7)280
Chart Of Load And Operating Time (Ecmac30807 S)280
Chart Of Load And Operating Time (Ecmac31010 S)281
Chart Of Load And Operating Time (Ecmac31020 S)281
Chart Of Load And Operating Time (Ecmac31303 S)282
Chart Of Load And Operating Time (Ecmac31305 S)282
Chart Of Load And Operating Time (Ecmac31306 S)283
Chart Of Load And Operating Time (Ecmac31309 S)283
Chart Of Load And Operating Time (Ecmac31310 S)284
Chart Of Load And Operating Time (Ecmac31315 S)284
Chart Of Load And Operating Time (Ecmac31320 S)285
Chart Of Load And Operating Time (Ecmac31820 S)285
Dimensions Of Servo Motor286
Emi Filters Selection289
Connecting To Dvp-Eh Plc And Dop-A Hmi290
Programmable Logic Controller (Hereinafter "PLC")290
Chapter 12 Application Examples290
Plc Program291
Asda-B Series Servo Drive294
Connections Between Dvp-Eh Series Plc And Asda-B Series Servo Drive295
Hmi Dop-A Hmi296
Program Screen (Homing Operation)296
Connecting To Dvp-Eh Plc And Delta Tp04 Series301
Application Example: Homing Operation301
Communication Settings303
External Controller Connection Examples304
Connecting To Delta Dvp-Eh Plc304
Connecting To Delta Dvp-01Pu305
Connecting To Mitsubishi Fx1Pg306
Connecting To Mitsubishi Fx2N1Pg307
Connecting To Mitsubishi Ad75308
Power Connectors310
Delta Part Number: Asdbcapw0000310
Appendix A Accessories310
Power Cables311
Delta Part Number: Asdbcapw0203/0205311
Encoder Connectors313
Delta Part Number: Asdbcaen0000313
Delta Part Number: Asdbcaen1000313
I/O Signal Connector314
Communication Cables314
Keypad315
Servo Drive, Servo Motor And Accessories Combinations317
100W Servo Drive And 100W Low Inertia Servo Motor317
200W Servo Drive And 200W Low Inertia Servo Motor317
400W Servo Drive And 400W Low Inertia Servo Motor317
400W Servo Drive And 500W Medium Inertia Servo Motor318
400W Servo Drive And 300W High Inertia Servo Motor318
750W Servo Drive And 750W Low Inertia Servo Motor318
750W Servo Drive And 600W High Inertia Servo Motor319
1Kw Servo Drive And 1Kw Low Inertia Servo Motor319
1Kw Servo Drive And 1Kw Medium Inertia Servo Motor319
1Kw Servo Drive And 900W High Inertia Servo Motor320
1.5Kw Servo Drive And 1.5Kw Medium Inertia Servo Motor320
2Kw Servo Drive And 2Kw Low Inertia Servo Motor320
2Kw Servo Drive And 2Kw Medium Inertia Servo Motor321