Delta Electronics AC Servo Drive ASDA-AB User Manual
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Delta Electronics AC Servo Drive ASDA-AB User Manual

Asda-ab series advanced ac servo drive for general purpose applocations
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Summary of Contents for Delta Electronics AC Servo Drive ASDA-AB

  • Page 2 Thank you very much for purchasing DELTA’s AC servo products. This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and motor. Before using the product, please read this user manual to ensure correct use. You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before proceeding with the installation, wiring and operation.
  • Page 3 Preface|ASDA-AB Series Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply with the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.). Do not disconnect the AC servo drive and motor while the power is ON. Do not attach, modify or remove wiring while power is applied to the AC servo drive.

  • Page 4: Maintenance And Inspection

    Wiring Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω). Improper grounding may result in electric shock or fire. Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in serious injury, damage to the drive or fire.
  • Page 5 Preface|ASDA-AB Series 1) In this manual, actual measured values are in metric units. Dimensions in (imperial NOTE units) are for reference only. Please use metric units for precise measurements. 2) The content of this manual may be revised without prior notice. Please consult our distributors or download the most updated version at http://www.delta.com.tw/industrialautomation.

  • Page 6: Table Of Contents

    Chapter 1 Unpacking Check and Model Explanation... 1-1 1.1 Unpacking Check ... 1-1 1.2 Model Explanation ... 1-2 1.2.1 Nameplate Information ... 1-2 1.2.2 Model Name Explanation ... 1-3 1.3 Servo Drive and Servo Motor Combinations... 1-5 1.4 Servo Drive Features... 1-6 1.5 Control Modes of Servo Drive ...

  • Page 7: Table Of Contents

    Table of Contents|ASDA-AB Series 3.2 Basic Wiring... 3-11 3.3 Input / Output Interface Connector - CN1 ... 3-14 3.3.1 CN1 Terminal Identification ... 3-14 3.3.2 Signals Explanation of Connector - CN1... 3-16 3.3.3 User-defined DI and DO signals... 3-26 3.3.4 Wiring Diagrams of I/O Signals - CN1 ...

  • Page 8: Table Of Contents

    4.3.3 Fault Message Display ... 4-3 4.3.4 Polarity Setting Display... 4-3 4.3.5 Monitor Setting Display... 4-4 4.4 General Function Operation ... 4-6 4.4.1 Fault Code Display Operation ... 4-6 4.4.2 JOG Operation... 4-6 4.4.3 Position Learning Operation ... 4-7 4.4.4 DO Force Output Diagnosis Operation ...

  • Page 9: Table Of Contents

    Table of Contents|ASDA-AB Series Chapter 6 Control Modes of Operation ... 6-1 6.1 Control Modes of Operation ... 6-1 6.2 Position Control Mode ... 6-2 6.2.1 Command Source of Position (Pt) Control Mode ... 6-2 6.2.2 Command Source of Position (Pr) Control Mode ... 6-3 6.2.3 Structure of Position Control Mode ...

  • Page 10: Table Of Contents

    6.5 Control Mode Selection ... 6-32 6.5.1 Speed / Position Control Mode Selection... 6-32 6.5.2 Speed / Torque Control Mode Selection ... 6-33 6.5.3 Torque / Position Control Mode Selection... 6-33 6.6 Others... 6-35 6.6.1 Speed Limit... 6-35 6.6.2 Torque Limit... 6-35 6.6.3 Regenerative Resistor ...

  • Page 11: Table Of Contents

    Table of Contents|ASDA-AB Series Chapter 10 Troubleshooting... 10-1 10.1 Fault Messages Table ... 10-1 10.2 Potential Cause and Corrective Actions... 10-3 10.3 Clearing Faults ... 10-8 Chapter 11 Specifications ... 11-1 11.1 Specifications of Servo Drive (ASDA-AB Series)... 11-1 11.2 Specifications of Servo Motor (ECMA Series) ... 11-4 11.3 Servo Motor Speed-Torque Curves ...
  • Page 12 Due to constantly growing product range, technical improvement, alteration or changed texts, figures and diagrams, we reserve the right to make information changes within this manual without prior notice. Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited. Technical Support and Service You are welcome to contact our Technical Support Team at the below numbers or visit our web site (http://www.delta.com.tw/industrialautomation/) if you need technical support, service, information, or if you...
  • Page 13 Table of Contents|ASDA-AB Series This page intentionally left blank. Revision January 2009...

  • Page 14: Chapter 1 Unpacking Check And Model Explanation

    Chapter 1 Unpacking Check and Model Explanation Unpacking Check After receiving the AC servo drive, please check for the following: Ensure that the product is what you have ordered. Verify the part number indicated on the nameplate corresponds with the part number of your order (Please refer to Section 1.2 for details about the model explanation).

  • Page 15: Model Explanation

    Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series One encoder cable, which is used to connect the encoder of servo motor to the CN2 terminal of servo drive. CN1 Connector: 50 PIN Connector (3M type analog product) CN2 Connector: 20 PIN Connector (3M type analog product) CN3 Connector: 6 PIN Connector (IEEE1394 analog product) Model Explanation 1.2.1 Nameplate Information...

  • Page 16: Model Name Explanation

    Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series 1.2.2 Model Name Explanation ASDA-AB Series Servo Drive Revision January 2009...
  • Page 17 Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series ECMA Series Servo Motor Revision January 2009...

  • Page 18: Servo Drive And Servo Motor Combinations

    Servo Drive and Servo Motor Combinations The table below shows the possible combination of Delta ASDA-AB series servo drives and ECMA series servo motors. The boxes ( ) in the model names are for optional configurations. (Please refer to Section 1.2 for model explanation) Power 100W...

  • Page 19: Servo Drive Features

    Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series Servo Drive Features 220V models Revision January 2009...
  • Page 20 Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series 110V models Revision January 2009...

  • Page 21: Control Modes Of Servo Drive

    Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series Control Modes of Servo Drive The Delta Servo provides six single and five dual modes of operation. Their operation and description is listed in the following table. Mode External Position Control Internal Position Control Speed Control Single Mode...

  • Page 22: Chapter 2 Installation And Storage

    Installation Notes Please pay close attention to the following installation notes: Do not bend or strain the connection cables between servo drive and motor. When mounting the servo drive, make sure to tighten all screws to secure the drive in place. If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of the servo motor, coupling, and device are followed.

  • Page 23: Installation Conditions

    Chapter 2 Installation and Storage|ASDA-AB Series Installation Conditions Operating Temperature ASDA-AB Series Servo Drive ECMA Series Servo Motor The ambient temperature of servo drive should be under 45°C (113°F) for long-term reliability. If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a well- ventilated location and do not obstruct the airflow for the cooling fan.

  • Page 24: Installation Procedure And Minimum Clearances

    Chapter 2 Installation and Storage|ASDA-AB Series Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual when installing the servo drive and motor. The ASDA-AB servo drive should be mounted perpendicular to the wall or in the control panel.
  • Page 25 Chapter 2 Installation and Storage|ASDA-AB Series Minimum Clearances Side by Side Installation Revision January 2009...

  • Page 26: Chapter 3 Connections And Wiring

    This chapter provides information on wiring ASDA-AB series products, the descriptions of I/O signals and gives typical examples of wiring diagrams. Connections 3.1.1 Connecting to Peripheral Devices Figure 3.1 220V Servo Drive Revision January 2009 Chapter 3 Connections and Wiring...
  • Page 27 Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.2 110V Servo Drive Revision January 2009...

  • Page 28: Servo Drive Connectors And Terminals

    3.1.2 Servo Drive Connectors and Terminals Terminal Terminal Identification Description Control circuit L1, L2 terminal R, S, T (for 220V models) Main circuit terminal L1M, L2M (for 110V models) U, V, W Servo motor output FG ( Regenerative P, D, C resistor terminal Ground terminal two places...
  • Page 29 Chapter 3 Connections and Wiring|ASDA-AB Series Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor. Please note that the main circuit terminals of 110V models are L1M and L2M, and there is no terminal T in 110V models.

  • Page 30: Wiring Methods

    Chapter 3 Connections and Wiring|ASDA-AB Series 3.1.3 Wiring Methods For servo drives from 100W to 1.5kW the input power can be either single or three-phase. For servo drives 2kW and above only three-phase connections are available. But, 220V single-phase models are available in 1.5kW and below only and 110V single-phase models are available in 400W and below only.
  • Page 31 Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.4 Single-Phase Power Supply (400W and below, 110V models) Figure 3.5 Three-Phase Power Supply (all 220V models) Revision January 2009...

  • Page 32: Motor Power Cable Connector Specifications

    3.1.4 Motor Power Cable Connector Specifications The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Motor Model Name ECMA-C30401 S (100W) ECMA-C30602 S (200W) ECMA-C30604 S (400W) ECMA-C30804 7 (400W) ECMA-C30807 S (750W) ECMA-C30401 S (100W) ECMA-C30602 S (200W)

  • Page 33: Encoder Connector Specifications

    Chapter 3 Connections and Wiring|ASDA-AB Series Terminal Identification (Red) NOTE 1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Blue) and BRAKE2 (Brown). 2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage. 3.1.5 Encoder Connector Specifications The boxes ( ) in the model names are for optional configurations.

  • Page 34: Cable Specifications For Servo Drive

    Terminal Identification (Black AMP (1- (Black) /Red) 172161-9) Terminal Identification (Blue 3106A-20- (Blue) /Black) 3.1.6 Cable Specifications for Servo Drive The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Power Cable Servo Drive and Servo Motor ASD-A0111-AB...
  • Page 35 Chapter 3 Connections and Wiring|ASDA-AB Series Encoder Cable Servo Drive Wire Size ASD-A0111-AB 0.13 (AWG26) ASD-A0121-AB ASD-A0211-AB 0.13 (AWG26) ASD-A0221-AB ASD-A0411-AB 0.13 (AWG26) ASD-A0421-AB ASD-A0721-AB 0.13 (AWG26) ASD-A1021-AB 0.13 (AWG26) ASD-A1521-AB 0.13 (AWG26) ASD-A2023-AB 0.13 (AWG26) NOTE Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interference.

  • Page 36: Basic Wiring

    Chapter 3 Connections and Wiring|ASDA-AB Series Basic Wiring Figure 3.6 Basic Wiring Schematic of 100W ~ 1.5kW, 220V models 3-11 Revision January 2009...
  • Page 37 Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.7 Basic Wiring Schematic of 2kW, 220V models 3-12 Revision January 2009...
  • Page 38 Chapter 3 Connections and Wiring|ASDA-AB Series Figure 3.8 Basic Wiring Schematic of 100W ~ 400W, 110V models 3-13 Revision January 2009...

  • Page 39: Input / Output Interface Connector - Cn1

    Chapter 3 Connections and Wiring|ASDA-AB Series Input / Output Interface Connector -CN1 The CN1 Interface Connector provides access to three signal groups: General interface for the analog speed and torque control, encoder reference signal from the motor, pulse / direction inputs, and reference voltages. 8 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-17 5 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-22 A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B &...
  • Page 40 DO4+ Digital output DO3- Digital output DO3+ Digital output DO2- Digital output DO2+ Digital output DO1- Digital output DO1+ Digital output DI4- Digital input DI1- 10 DI2- Digital input 11 COM+ 12 GND Analog input signal ground 13 GND 14 NC No Connection 15 MON2 16 MON1...

  • Page 41: Signals Explanation Of Connector - Cn1

    Chapter 3 Connections and Wiring|ASDA-AB Series 3.3.2 Signals Explanation of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the general signals. Table 3.B details the Digital Output (DO) signals and Table 3.C details the Digital Input (DI) signals.
  • Page 42 Signal Pin No 14,29, 38,39, Other 40,46, The Digital Input (DI) and Digital Output (DO) have factory default settings which correspond to the various servo drive control modes. (See section 1.5). However, both the DI's and DO's can be programmed independently to meet the requirements of the users. Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding signal name and wiring schematic.
  • Page 43 Chapter 3 Connections and Wiring|ASDA-AB Series Assigned Control Signal Code Mode TSPD Pt, Pr, Pt- TPOS Pt-T, Pr-S, Pr-T assigned ALRM BRKR HOME Pt, Pr WARN CMDOK Footnote *1: The "state" of the output function may be turned ON or OFF as it will be dependant on the settings of P2-18~P2-22.
  • Page 44 NOTE 1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected. 2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS. Table 3.C DI Signals Assigned Control Code Signal Mode ARST GAINUP...
  • Page 45 Chapter 3 Connections and Wiring|ASDA-AB Series Assigned Control Code Signal Mode Pt, T, Tz, TCM0 Pt-T, Pr-T, TCM1 Pt-S, Pr-S Pt-T, Pr-T EMGS Pt, Pr, S, T Sz, Tz Pt, Pr, S, T CCWL Sz, Tz ORGP assigned TLLM assigned TRLM assigned SHOM...
  • Page 46 Assigned Control Code Signal Mode JOGU assigned JOGD assigned STEPU assigned STEPD assigned STEPB assigned AUTOR assigned GNUM0 assigned GNUM1 assigned INHP assigned Footnote *2: The "state" of the input function may be turned ON or OFF as it will be dependant on the settings of P2-10~P2-17.
  • Page 47 Chapter 3 Connections and Wiring|ASDA-AB Series Table 3.D Source of Position Command POS2 POS1 POS0 Table 3.E Source of Speed Command SPD1 SPD0 Table 3.F Source of Torque Command TCM1 TCM0 The default DI and DO signals in different control mode are listed in the following table 3.G and table 3.H.
  • Page 48 Table 3.G Default DI signals and Control modes Signal Function Code 01 Servo On ARST 02 Reset Gain switching in speed GAINUP and position mode CCLR 04 Pulse clear (see P2-50) ZCLAMP 05 Low speed CLAMP Command input reverse CMDINV control Internal position control HOLD...
  • Page 49 Chapter 3 Connections and Wiring|ASDA-AB Series Signal Function Code Reference “Home” ORGP sensor Reverse operation torque limit (torque limit TLLM function is valid only when P1-02 is enabled) Forward operation torque limit (torque limit TRLM function is valid only when P1-02 is enabled) SHOM 27 Move to “Home”...
  • Page 50 NOTE 1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1. Table 3.H Default DO signals and Control modes Signal Function Code SRDY 01 Servo ready 02 Servo On ZSPD 03 Zero speed TSPD 04 Speed reached TPOS 05 Positioning completed 06 Reached torques limits Servo alarm output...

  • Page 51: User-Defined Di And Do Signals

    Chapter 3 Connections and Wiring|ASDA-AB Series 3.3.3 User-defined DI and DO signals If the default DI and DO signals could not be able to fulfill users’ requirements, there are still user- defined DI and DO signals. The setting method is easy and they are all defined via parameters. The user-defined DI and DO signals are defined via parameters P2-10 to P2-17 and P2-18 to P2-22.
  • Page 52 There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse frequency of Line driver input is 500kpps and max. input pulse frequency of Open-collector input is 200kpps. C3-1: Pulse input, for the use of internal power supply (Open-collector input) Caution: Do not use dual power supply.
  • Page 53 Chapter 3 Connections and Wiring|ASDA-AB Series Be sure to connect a diode when the drive is applied to inductive load. (Permissible current: 40mA, Instantaneous peak current: max. 100mA) C5: Wiring of DO signal, for the use of internal power supply, general load C7: Wiring of DO signal, for the use of external power supply, general load 3-28...
  • Page 54 Use a relay or open-collector transistor to input signal. NPN transistor with multiple emitter fingers (SINK Mode) C9: Wiring of DI signal, for the use of internal power supply PNP transistor with multiple emitter fingers (SOURCE Mode) C11: Wiring of DI signal, for the use of internal power supply Caution: Do not use dual power supply.
  • Page 55 Chapter 3 Connections and Wiring|ASDA-AB Series C13: Encoder output signal (Line driver) C14: Encoder output signal (Photocoupler) 3-30 Revision January 2009...

  • Page 56: Encoder Connector - Cn2

    Encoder Connector CN2 Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal. When power is first applied to the servo drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor within 500msec approximately. Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires.

  • Page 57: Serial Communication Connector - Cn3

    Chapter 3 Connections and Wiring|ASDA-AB Series Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification The servo drive can be connected to a PC or controller via a serial communication connector. Users can operate the servo drive through PC software supplied by Delta (contact to the dealer). The communication connector/port of Delta servo drive can provide three common serial communication interfaces: RS-232, RS-485, and RS-422 connection.

  • Page 58: Connection Between Pc And Connector - Cn3

    Chapter 3 Connections and Wiring|ASDA-AB Series 3.5.2 Connection between PC and Connector CN3 3-33 Revision January 2009...

  • Page 59: Standard Connection Example

    Chapter 3 Connections and Wiring|ASDA-AB Series Standard Connection Example 3.6.1 Position (Pt) Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 wiring diagram on page 3-26.

  • Page 60: Position (Pt) Control Mode (110V Models)

    3.6.2 Position (Pt) Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 wiring diagram on page 3-26. Please refer to parameter P1-46 in Chapter 7. Revision January 2009 Chapter 3 Connections and Wiring|ASDA-AB Series 3-35...

  • Page 61: Position (Pr) Control Mode (220V Models)

    Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.3 Position (Pr) Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-36 Revision January 2009...

  • Page 62: Position (Pr) Control Mode (110V Models)

    3.6.4 Position (Pr) Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. Revision January 2009 Chapter 3 Connections and Wiring|ASDA-AB Series 3-37...

  • Page 63: Speed Control Mode (220V Models)

    Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.5 Speed Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-38 Revision January 2009...

  • Page 64: Speed Control Mode (110V Models)

    3.6.6 Speed Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. Revision January 2009 Chapter 3 Connections and Wiring|ASDA-AB Series 3-39...

  • Page 65: Torque Control Mode (220V Models)

    Chapter 3 Connections and Wiring|ASDA-AB Series 3.6.7 Torque Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-40 Revision January 2009...

  • Page 66: Torque Control Mode (110V Models)

    3.6.8 Torque Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. Revision January 2009 Chapter 3 Connections and Wiring|ASDA-AB Series 3-41...
  • Page 67 Chapter 3 Connections and Wiring|ASDA-AB Series This page intentionally left blank. 3-42 Revision January 2009...

  • Page 68: Chapter 4 Display And Operation

    This chapter describes the basic operation of the digital keypad and the features it offers. Description of the Digital Keypad The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of the digital keypad and an overview of their functions. Figure 4.1 Name The LCD Display (5-digit, 7-step display panel) shows the monitor codes, parameter...

  • Page 69: Display Flowchart

    Chapter 4 Display and Operation|ASDA-AB Series Display Flowchart Figure 4.2 Keypad Operation When the power is applied to the AC servo drive, the LCD display will show the monitor function codes for approximately one second, then enter into the monitor mode. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code.

  • Page 70: Status Display

    Status Display 4.3.1 Save Setting Display After the SET key is pressed, LCD display will show the following display messages for approx. one second according to different status. Display Message 4.3.2 Abort Setting Display Display Message 4.3.3 Fault Message Display Display Message 4.3.4 Polarity Setting Display Display Message...

  • Page 71: Monitor Setting Display

    Chapter 4 Display and Operation|ASDA-AB Series Display Message 4.3.5 Monitor Setting Display When the AC servo drive is applied to power, the LCD display will show the monitor function codes for approximately one second and then enter into the monitor mode. In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or change parameter P0-02 directly to specify the monitor status.
  • Page 72 P0-02 Display Message Setting The following table lists the display examples of monitor value: Display Message Revision January 2009 Chapter 4 Display and Operation|ASDA-AB Series Description Torque input command Torque input command Average load Peak load Main circuit voltage Ratio of load inertia to motor inertia Motor feedback pulse number (relative value) / Position latch pulse number Motor feedback rotation number (relative...

  • Page 73: General Function Operation

    Chapter 4 Display and Operation|ASDA-AB Series General Function Operation 4.4.1 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1 to H5 in order.

  • Page 74: Jog Operation

    4.4.2 JOG Operation After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation. (Please also refer to Figure 4.4). Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min). Step2.

  • Page 75: Position Learning Operation

    Chapter 4 Display and Operation|ASDA-AB Series 4.4.3 Position Learning Operation Follow the following steps to perform position learning operation (Please also refer to Figure 4.5). 1. Activate the internal position learning function (Set P2-30=4). 2. After enter into parameter mode P4-05, press Set key and the LED display will show learning moving speed value.

  • Page 76: Do Force Output Diagnosis Operation

    The learning position and internal memorized position are listed as below: Learning Position JOGo1 P1-15 (1st Position Command for Rotation), P1-16 (1st Position Command for Pulse) JOGo2 P1-17 (2nd Position Command for Rotation), P1-18 (2nd Position Command for Pulse) JOGo3 P1-19 (3rd Position Command for Rotation), P1-20 (3rd Position Command for Pulse) JOGo4 P1-21 (4th Position Command for Rotation), P1-22 (4th Position Command for Pulse)

  • Page 77: Di Diagnosis Operation

    Chapter 4 Display and Operation|ASDA-AB Series 4.4.5 DI Diagnosis Operation Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI8, the corresponding status will display on the servo drive LED display.

  • Page 78: Chapter 5 Trial Run And Tuning Procedure

    Chapter 5 Trial Run and Tuning Procedure This chapter, which is divided into two parts, describes trial run for servo drive and motor. One part is to introduce the trial run without load, and the other part is to introduce trial run with load. Ensure to complete the trial run without load first before performing the trial run with load.
  • Page 79 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Item Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended. Check for abnormal vibrations and sounds during operation.

  • Page 80: Applying Power To The Drive

    Applying Power to the Drive The users please observe the following steps when applying power supply to the servo drive. 1. Please check and confirm the wiring connection between the drive and motor is correct. 1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables separately (U: Red, V: White, W: Black, FG: Green).
  • Page 81 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 1) When display shows: Over voltage: The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect power input). Corrective Actions: Use voltmeter to check whether the input voltage falls within the rated input voltage. Use voltmeter to check whether the input voltage is within the specified limit.
  • Page 82 If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to confirm that which of digital inputs DI1~DI8 is set to “Emergency Stop (EMGS)” and check if the digital input signal is ON (It should be activated). 4) When display shows: Reverse limit switch error: Please check if any of digital inputs DI1~DI8 signal is set to “Reverse inhibit limit (CWL)”...
  • Page 83 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On (SON) function is enabled) and the following fault message shows on the display: 6) When display shows: Overcurrent: Corrective Actions:...

  • Page 84: Jog Trial Run Without Load

    JOG Trial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring. The external wiring is not necessary and the users only need to connect the digital keypad to the servo drive.
  • Page 85 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Revision January 2009...

  • Page 86: Speed Trial Run Without Load

    Speed Trial Run without Load Before speed trial run, fix and secure the motor as possible to avoid the danger from the reacting force when motor speed changes. STEP 1: Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After selecting the operation mode as speed (S) control mode, please restart the drive as P1-01 is effective only after the servo drive is restarted (after switching power off and on).
  • Page 87 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series The settings of speed command: P1-09 is set to 3000 P1-10 is set to 100 P1-11 is set to -3000 STEP 3: The users can use DI1 to enable the servo drive (Servo ON). If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected.

  • Page 88: Position Trial Run Without Load

    Position Trial Run without Load Before position trial run, fix and secure the motor as possible to avoid the danger from the reacting force when the motor speed changes. STEP 1: Set the value of parameter P1-01 to 01 and it is position (Pr) control mode. After selecting the operation mode as position (Pr) control mode, please restart the drive and the setting would be valid.
  • Page 89 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series The position command is selected by POS0 ~ POS2. Please refer to the following table: Position POS2 POS1 Command Internal Position 1 Internal Position 2 Internal Position 3 Internal Position 4 Internal Position 5 Internal Position 6...
  • Page 90 Set P1-25 to 0 (rotation number) Set P1-26 to 100 (pulse number) The command of internal position 6: P1-25 Rotation No. + P1-26 Pulse No. Set P1-27 to 0 (rotation number) Set P1-28 to 1000 (pulse number) The command of internal position 7: P1-27 Rotation No. + P1-28 Pulse No. Set P1-29 to -10 (rotation number) Set P1-30 to 2500 (pulse number) The command of internal position 8: P1-29 Rotation No.

  • Page 91: Tuning Procedure

    Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Tuning Procedure Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode After wiring is completed, when power in connected to the AC servo drive, the right side display will show on the LCD display.

  • Page 92: Tuning Flowchart

    21. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 operation. Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, execute JOG operation again, press MODE key once and press SET key twice to view the display on the keypad.

  • Page 93: Load Inertia Estimation Flowchart

    Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 5.6.2 Load Inertia Estimation Flowchart 5-16 Revision January 2009...

  • Page 94: Automode (Pi) Tuning Flowchart

    5.6.3 AutoMode (PI) Tuning Flowchart Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjustment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) not used Adjust P2-31: Increase the setting value of P2-31. Increase the value “B” to speed the responsiveness or reduce the noise.
  • Page 95 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Table 5.B P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25 P2-31 value “B” 9 and above 5-18 Speed Loop Responsive 20Hz 30Hz 40Hz 60Hz 85Hz 120Hz 160Hz 200Hz 250Hz 300Hz...

  • Page 96: Automode (Pdff) Tuning Flowchart

    5.6.4 AutoMode (PDFF) Tuning Flowchart Set P2-32 to 4 (4: AutoMode (PDFF) [Continuous adjustment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) not used Adjust P2-31: Increase the setting value of P2-31. Increase the value “B” to speed the responsiveness or reduce the noise.
  • Page 97 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Speed Loop Responsiveness. P2-31 value “B” Speed Loop Responsiveness 5-20 P2-31 value “B” 20HZ 30 HZ 40 HZ 50 HZ 60 HZ 70 Hz 80Hz 100Hz...

  • Page 98: Manual Mode Tuning Flowchart

    Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series 5.6.5 Manual Mode Tuning Flowchart Position Mode 5-21 Revision January 2009...

  • Page 99: Limit Of Load Inertia Estimation

    Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series Speed Mode 5.6.6 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be above 200r/min. The load inertia must be 100 multiple or less of motor inertia. The change of external force and the inertia ratio can not be too much.

  • Page 100: Relationship Between Tuning Modes And Parameters

    5.6.7 Relationship between Tuning Modes and Parameters Tuning Mode P2-32 0(Default Manual Mode setting) AutoMode (PI) [Continuous] AutoMode (PI) [Fixed Inertia] (The inertia ratio is determined by P1- AutoMode (PDFF) [Continuous] AutoMode (PDFF) [Fixed Inertia] (The inertia ratio is determined by P1- When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value that measured in #3 auto-tuning mode.
  • Page 101 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series KPP, Parameter P2-00 Proportional Position Loop Gain This parameter is used to determine the responsiveness of position loop (position loop gain). It could be used to increase stiffness, expedite position loop response and reduce position error. When the setting value of KPP is higher, the response to the position command is quicker, the position error is less and the settling time is also shorter.
  • Page 102 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series DST, Parameter P2-26 External Anti-Interference Gain This parameter is used to enhance the anti-interference capability and reduce the occurrence of overshoot. The default setting is 0 (Disabled). It is not recommended to use it in manual mode only when performing a few tuning on the value gotten through P2-32 AutoMode (PDFF) (setting value is 5, mode 5) automatically (The setting value of P2-26 will change to the value that measured in mode 5 (AutoMode (PDFF)) when switching mode 5 ((AutoMode (PDFF)) to mode 0...
  • Page 103 Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series This page intentionally left blank. 5-26 Revision January 2009...

  • Page 104: Chapter 6 Control Modes Of Operation

    Control Modes of Operation The Delta ASDA-AB series can be programmed to provide six single and five dual modes of operation. Their operation and description is listed in the following table. Mode External Position Control Internal Position Control Speed Control Single Mode Internal Speed Control...

  • Page 105: Position Control Mode

    Chapter 6 Control Modes of Operation|ASDA-AB Series The following sections describe the operation of each control mode, including control structure, command source and loop gain adjustment, etc. Position Control Mode The position control mode (Pt or Pr mode) is usually used for the applications requiring precision positioning, such as industry positioning machine, indexing table etc.

  • Page 106: Command Source Of Position (Pr) Control Mode

    • Value B: Input pulse filter B=0: 500Kpps B=1: 200Kpps B=2: 150Kpps B=3: 80Kpps • Value C: Logic type Pulse Type AB phase pulse CW + CCW pulse Pulse + Direction • Other setting: Reversed Position pulse can be input from these terminals, PULSE (41), /PULSE (43) and SIGN (37), /SIGN (36). It can be an open-collector circuit or line driver circuit.

  • Page 107: Structure Of Position Control Mode

    Chapter 6 Control Modes of Operation|ASDA-AB Series Position POS2 POS1 Command State of POS0~2: 0 indicates the contact is OFF (Normally Open) 1 indicates the contact is ON (Normally Closed) CTRG : the instant time when the contact changes from 0 (open) to 1 (closed). The application of absolute and incremental position control is various and multiple.

  • Page 108: P-Curve Filter For Position Control

    Chapter 6 Control Modes of Operation|ASDA-AB Series In order to pursue the goal of perfection in position control, the pulse signal should be modified through position command processing and the structure is shown as the figure below: Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set in both two modes to set proper position revolution.
  • Page 109 Chapter 6 Control Modes of Operation|ASDA-AB Series Position Speed Rated speed Torque TSL/2 P-curve characteristics and Time relationship (Acceleration) Position Speed Rated speed Torque TSL/2 P-curve characteristics and Time relationship (Deceleration) Relevant parameters: P1 - 34 TACC Acceleration Time Default: 200 Applicable Control Mode: P/S Unit: ms Range: 1 ~ 20000...
  • Page 110 1st to 3rd step Acceleration time. It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.) P1 - 35 TDEC Deceleration Time Default: 200...

  • Page 111: Electronic Gear Ratio

    Chapter 6 Control Modes of Operation|ASDA-AB Series 2) So if user change the control mode to Pr mode and switching power off and on, the servo drive of parameter P1-36 will auto set the value to 20. 6.2.5 Electronic Gear Ratio Relevant parameters: P1 - 44▲...

  • Page 112: Low-Pass Filter

    When the electronic gear ratio is not used When the electronic gear ratio is not used 6.2.6 Low-pass Filter Relevant parameters: Smooth Constant of Position Command (Low- P1 - 08 PFLT pass Filter) Default: 0 Applicable Control Mode: P Unit: 10ms Range: 0 ~ 1000 (0: Disabled) Tar get pos ition Revision January 2009...

  • Page 113: Timing Chart Of Position (Pr) Control Mode

    Chapter 6 Control Modes of Operation|ASDA-AB Series 6.2.7 Timing Chart of Position (Pr) Control Mode In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG. Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is shown the timing chart of Pr mode: Internal position command...
  • Page 114 For example, the desired position loop responsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/s. Relevant parameters: P2 - 00 Proportional Position Loop Gain Default: 35 Applicable Control Mode: P Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is used to set the position loop gain.
  • Page 115 Chapter 6 Control Modes of Operation|ASDA-AB Series When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate. At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating.

  • Page 116: Speed Control Mode

    Speed Control Mode The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as CNC machine, etc. ASDA-AB series servo drive supports two kinds of command sources in speed control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the speed of servo motor.

  • Page 117: Structure Of Speed Control Mode

    Chapter 6 Control Modes of Operation|ASDA-AB Series GND. The setting range of the input voltage is from -10V to +10V and the corresponding motor speed is adjustable (Please see parameter P1-40). When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter (P1-09 to P1-11).

  • Page 118: Smoothing Strategy Of Speed Control Mode

    6.3.3 Smoothing Strategy of Speed Control Mode S-curve Filter The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to smooth the speed command change of the motor during acceleration and deceleration. Using S-curve filter can let the servo motor run more smoothly in response to a sudden speed command change.
  • Page 119 Chapter 6 Control Modes of Operation|ASDA-AB Series P1 - 35 TDEC Deceleration Time Default: 200 Applicable Control Mode: P/S Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step Deceleration time. It is used to determine the deceleration time to decelerate from its rated rotation speed to 0. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e.
  • Page 120 Analog Speed Command S-curve Filter ASDA-AB series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in response to a sudden analog input signal. Speed (rpm) 3000 -3000 The analog speed command S-curve filter is for the smoothing of analog input signal and its function is the same as the S-curve filter.

  • Page 121: Analog Speed Input Scaling

    Chapter 6 Control Modes of Operation|ASDA-AB Series 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF and GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range. 5000rpm 3000rpm Relevant parameters:...

  • Page 122: Timing Chart Of Speed Control Mode

    6.3.5 Timing Chart of Speed Control Mode S4 (P1-11) Internal speed S3 (P1-10) command S2 (P1-09) External analog voltage or zero (0) External I/O signal NOTE 1) OFF indicates normally open and ON indicates normally closed. 2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the speed command S1 is external analog voltage input (Please refer to P1-01).
  • Page 123 Chapter 6 Control Modes of Operation|ASDA-AB Series Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will be disabled. Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of system bandwidth. The parameter set by user is default value. The mode of gain adjustment can be selected by parameter P2-32: P2 - 32▲...
  • Page 124 Proportional gain: Adjust this gain can increase the position loop responsiveness. Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will result in the unstable servo system.
  • Page 125 Chapter 6 Control Modes of Operation|ASDA-AB Series In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic. Frequency Domain 6-22 Revision January 2009...
  • Page 126 Chapter 6 Control Modes of Operation|ASDA-AB Series Time Domain In general, the equipment, such as spectrum analyzer is needed and used to analyze when using frequency domain method and the users also should have this kind of analysis technology. However, when using time domain method, the users only need to prepare an oscilloscope.

  • Page 127: Resonance Suppression

    Chapter 6 Control Modes of Operation|ASDA-AB Series users usually use time domain method with the analog DI/DO terminal provided by the servo drive to adjust what is called as PI (Proportional and Integral) type controller. As for the performance of torque shaft load, input command tracking and torque shaft load have the same responsiveness when using frequency domain method and time domain method.
  • Page 128 Notch Filter Attenuation Rate P2 - 24 (Resonance Suppression) Default: 0 Applicable Control Mode: P/S/T Unit: dB Range: 0 ~ 32 Settings: 0: Disabled Low-pass Filter Time Constant P2 - 25 (Resonance Suppression) Default: 2 (1kW and below models) or 5 (above 1kW models) Applicable Control Mode: P/S/T Unit: ms...
  • Page 129 Chapter 6 Control Modes of Operation|ASDA-AB Series Low-pass filter Please use parameter P2-25. The figure below shows the resonant open-loop gain. Gain When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass frequency (BW) will become smaller (see the figure below). The resonant condition is improved and the frequency response and phase margin will also decrease.
  • Page 130 Use Low-pass Filter to suppress resonance Resonance Gain Point Low-pass Frequency Frequency Resonance Frequency When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass frequency will become smaller (see the figure on page 6-26). The resonant condition is improved but the frequency response and phase margin will also decrease and the system may become unstable.

  • Page 131: Torque Control Mode

    Chapter 6 Control Modes of Operation|ASDA-AB Series Torque Control Mode The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machine, twister, etc. Delta ASDA-AB series servo drive supports two kinds of command sources in torque control mode.

  • Page 132: Structure Of Torque Control Mode

    6.4.2 Structure of Torque Control Mode Basic Structure: The toque command processing is used to select the command source of torque control according to chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of torque control mode. The current control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously.

  • Page 133: Analog Torque Input Scaling

    Chapter 6 Control Modes of Operation|ASDA-AB Series NOTE 1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled and the command is just By-Pass. 6.4.4 Analog Torque Input Scaling The analog voltage between T_REF and GND controls the motor torque command.

  • Page 134: Timing Chart Of Torque Control Mode

    For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V, then the torque command is changed to 50% rated torque. Torque command / limit = Input voltage x setting/10 (%) 6.4.5 Timing Chart of Torque Control Mode T4 (P1-14)

  • Page 135: Control Mode Selection

    Chapter 6 Control Modes of Operation|ASDA-AB Series Control Modes Selection Except signal control mode operation, ASDA-AB series AC drive also provide Pt-S, Pr-S, S-T, Pt-T, Pr-T these five multiple modes for the users to select. 1） Speed / Position mode selection: Pt-S, Pr-S 2）...

  • Page 136: Speed / Torque Control Mode Selection

    Chapter 6 Control Modes of Operation|ASDA-AB Series In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time. When switching to the position mode (when S-P is OFF), the position command is not determined (it needs to wait that CTRG is on the rising edge), so the motor stop running.
  • Page 137 Chapter 6 Control Modes of Operation|ASDA-AB Series The timing chart of speed / position control mode selection is shown as the figure below: In position mode (when T-P is ON), the motor will start to count pulse and operate following the external pulse command.

  • Page 138: Others

    Others 6.6.1 Speed Limit The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or torque control mode. The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11).

  • Page 139: Regenerative Resistor

    Chapter 6 Control Modes of Operation|ASDA-AB Series 6.6.3 Regenerative Resistor Built-in Regenerative Resistor When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that there is a regenerative power returned from the load to the servo drive. This power will be transmitted into the capacitance of DC Bus and result in rising voltage.
  • Page 140 External Regenerative Resistor When using external regenerative resistor, connect it to P and C, and make sure the circuit between P and D is open. We recommend the users should use the external regenerative resistor that the resistance value following the above table (Built-in Regenerative Resistor Specifications). We ignore the dissipative power of IGBT (Insulated Gate Bipolar Transistor) in order to let the users easily calculate the capacity of regenerative resistor.
  • Page 141 Chapter 6 Control Modes of Operation|ASDA-AB Series For example: If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. motor speed is 3000r/min, the load inertia = 7 × motor inertia, then the necessary the power of regenerative resistor = 2 x ( (7+1) ×...
  • Page 142 For example: When external load torque is a +70% rated torque and rotation speed reaches 3000r/min, if using 400W servo drive (rated torque: 1.27Nt-m), then the users need to connect a external regenerative resistor which power is 2 x (0.7 x 1.27) x (3000 x 2 x π/ 60) = 560W, 40Ω. Simple Calculation Method The users can select the adequate regenerative resistors according to the allowable frequency required by actual operation and the allowable frequency when the servo motor runs without load.

  • Page 143: Analog Monitor

    Chapter 6 Control Modes of Operation|ASDA-AB Series Allowable frequency when the servo motor run without load (times/min) ECMA Series Regenerative Resistors BR400W040 BR1K0W020 ECMA Series Regenerative Resistors BR400W040 BR1K0W020 ( ) : motor frame size, unit is in millimeters. 6.6.4 Analog Monitor User can use analog monitor to observe the required analog voltage signals.
  • Page 144 Example: P0-03 = 01(CH1 is speed analog output) Motor rotation speed = (Max. rotation speed × V1/8) × P1-04/100, when the output voltage value of CH1 is V1. P1 - 03 AOUT Pulse Output Polarity Setting Default: 0 Applicable Control Mode: P/S/T Unit: N/A Range: 0 ~ 1 Settings:...
  • Page 145 Chapter 6 Control Modes of Operation|ASDA-AB Series P4 - 21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Default: Factory setting Applicable Control Mode: P/S/T Unit: mV Range: -800~800 This parameter cannot be reset. For example, when the users want to observe the analog voltage signal of channel 1, if the monitor output setting range is 8V per 325Kpps, then it is needed to change the setting value of parameter P1- 04 (Analog Monitor Output Proportion 1) to 50 (=325Kpps/Max.

  • Page 146: Electromagnetic Brake

    6.6.5 Electromagnetic Brake When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the electromagnetic brake is disabled and motor is stop running and locked. If the digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run freely. There are two parameters that affect the electromagnetic brake.
  • Page 147 Chapter 6 Control Modes of Operation|ASDA-AB Series Electromagnetic Brake Wiring Diagram NOTE Please refer to Chapter 3 Connections and Wiring for more wiring information. The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the servo drive can be used to power the relay coil (Relay).
  • Page 148 The timing charts of control circuit power and main circuit power: L1, L2 Control Circuit Power Control Circuit Power R, S, T Main Circuit Power BUS Voltage READY SERVO READY SERVO ON (DI Input) SERVO ON (DO Output) Position \ Speed \ Torque Command Input Revision January 2009...
  • Page 149 Chapter 6 Control Modes of Operation|ASDA-AB Series This page intentionally left blank 6-46 Revision January 2009...

  • Page 150: Chapter 7 Parameters

    Definition There are following five groups for drive parameters: Group 0: Monitor parameter Group 1: Basic parameter Group 2: Extension parameter Group 3: Communication parameter Group 4: Diagnosis parameter Abbreviation of control modes: Position control mode (command from external signal) Position control mode (command from internal signal) Speed control mode Torque control mode...

  • Page 151: Parameter Summary

    Chapter 7 Servo Parameters|ASDA-AB Series Parameters Summary 7.2.1 Parameters List by Group Group 0: P0-xx Parameter Name P0-00★ Firmware Version P0-01★ Drive Fault Code P0-02 Drive Status P0-03 Analog Monitor Output P0-04 Status Monitor 1 P0-05 Status Monitor 2 P0-06 Status Monitor 3 P0-07 Status Monitor 4...
  • Page 152 Group 1: P1-xx Parameter Name P1-00▲ External Pulse Input Type P1-01● Control Mode and Output Direction P1-02▲ PSTL Speed and Torque Limit P1-03 AOUT Pulse Output Polarity Setting Analog Monitor Output Proportion 1 P1-04 MON1 (CH1) Analog Monitor Output Proportion 2 P1-05 MON2 (CH2)
  • Page 153 Chapter 7 Servo Parameters|ASDA-AB Series Parameter Name OFF Delay Time of Electromagnetic P1-43 MBT2 Brake Electronic Gear Ratio (1st Numerator) P1-44▲ (N1) P1-45▲ Electronic Gear Ratio (Denominator) P1-46▲ Encoder Output Pulse Number P1-47 HMOV Homing Mode 1st Speed Setting of High Speed P1-48 HSPD1 Homing...
  • Page 154 Group 2: P2-xx Parameter Name P2-00 Proportional Position Loop Gain P2-01 Position Loop Gain Switching Rate P2-02 Position Feed Forward Gain Smooth Constant of Position Feed P2-03 Forward Gain P2-04 Proportional Speed Loop Gain P2-05 Speed Loop Gain Switching Rate P2-06 Speed Integral Compensation P2-07...
  • Page 155 Chapter 7 Servo Parameters|ASDA-AB Series Parameter Name Auto Mode Responsiveness Level P2-31■ AUT1 Tuning Mode Selection P2-32▲ AUT2 P2-33▲ Easy Setting of Input Filter P2-34 SDEV Overspeed Warning Condition P2-35 PDEV Excessive Error Warning Condition P2-36 POV1 Moving Speed Setting of 1st ~ 8th Position ~ P2-43 ~ POV8...
  • Page 156 Group 3: P3-xx Parameter Name P3-00 Communication Address Setting P3-01 Transmission Speed P3-02 Communication Protocol P3-03 Transmission Fault Treatment P3-04 Communication Time Out Detection P3-05 Communication Selection P3-06■ Digital Input Communication Function P3-07 Communication Response Delay Time Explanation of symbols (marked after parameter) (★) Read-only register.
  • Page 157 Chapter 7 Servo Parameters|ASDA-AB Series Group 4: P4-xx Parameter Name P4-00★ ASH1 Fault Record (N) P4-01★ ASH2 Fault Record (N-1) P4-02★ ASH3 Fault Record (N-2) P4-03★ ASH4 Fault Record (N-3) P4-04★ ASH5 Fault Record (N-4) P4-05 JOG Operation P4-06▲■ Force Output Control P4-07■...

  • Page 158: Parameter List By Function

    7.2.2 Parameters List by Function Parameter Name P0-00★ Firmware Version P0-01★ Drive Fault Code P0-02 Drive Status P0-03 Analog Monitor Output P0-04 Status Monitor 1 P0-05 Status Monitor 2 P0-06 Status Monitor 3 P0-07 Status Monitor 4 P0-08 Status Monitor 5 P0-09 MAP0 Block Data Read / Write Register 0...
  • Page 159 Chapter 7 Servo Parameters|ASDA-AB Series Smooth Filter and Resonance Suppression Parameter Name Accel / Decel Smooth Constant of P1-06 SFLT Analog Speed Command (Low- pass Filter) Smooth Constant of Analog Torque P1-07 TFLT Command (Low-pass Filter) Smooth Constant of Position P1-08 PFLT Command (Low-pass Filter)
  • Page 160 Parameter Name P2-00 Proportional Position Loop Gain P2-01 Position Loop Gain Switching Rate P2-02 Position Feed Forward Gain Smooth Constant of Position Feed P2-03 Forward Gain P2-04 Proportional Speed Loop Gain P2-05 Speed Loop Gain Switching Rate P2-06 Speed Integral Compensation P2-07 Speed Feed Forward Gain P2-26...
  • Page 161 Chapter 7 Servo Parameters|ASDA-AB Series Parameter Name P1-01● Control Mode and Output Direction P1-02▲ PSTL Speed and Torque Limit P1-46▲ Encoder Output Pulse Number P1-55 MSPD Maximum Speed Limit 1st ~ 3rd Torque Command P1-12 TQ1 ~ ~ P1-14 1st ~ 3rd Torque Limit P2-50 DCLR Pulse Deviation Clear Mode...
  • Page 162 Parameter Name Combination Output Signal Delay P2-45 Time P2-46 Feed Step Number Position Deviation Clear Delay P2-47 Time Backlash Compensation of Feed P2-48 BLAS Step Control P2-52 ATM0 Timer 0 of Auto Mode P2-53 ATM1 Timer 1 of Auto Mode P2-54 ATM2 Timer 2 of Auto Mode...
  • Page 163 Chapter 7 Servo Parameters|ASDA-AB Series Parameter Name P1-01● Control Mode and Output Direction P1-02▲ PSTL Speed and Torque Limit P1-46▲ Encoder Output Pulse Number P1-55 MSPD Maximum Speed Limit 1st ~ 3rd Speed Command P1-09 SP1 ~ ~ P1-11 1st ~ 3rd Speed Limit 1st ~ 3rd Torque Command P1-12 TQ1 ~...
  • Page 164 Parameter Name P1-01● Control Mode and Output Direction P1-02▲ PSTL Speed and Torque Limit P1-46▲ Encoder Output Pulse Number P1-55 MSPD Maximum Speed Limit 1st ~ 3rd Speed Command P1-09 SP1 ~ ~ P1-11 1st ~ 3rd Speed Limit 1st ~ 3rd Torque Command P1-12 TQ1 ~ ~ P1-14...
  • Page 165 Chapter 7 Servo Parameters|ASDA-AB Series Digital I/O and relative input output setting Parameter Name P2-09 Bounce Filter P2-10 Digital Input Terminal 1 (DI1) P2-11 Digital Input Terminal 2 (DI2) P2-12 Digital Input Terminal 3 (DI3) P2-13 Digital Input Terminal 4 (DI4) P2-14 Digital Input Terminal 5 (DI5) P2-15...
  • Page 166 Parameter Name P3-00 Communication Address Setting P3-01 Transmission Speed P3-02 Communication Protocol P3-03 Transmission Fault Treatment P3-04 Communication Time Out Detection P3-05 Communication Selection Digital Input Communication P3-06■ Function Communication Response Delay P3-07 Time Explanation of symbols (marked after parameter) (★) Read-only register.
  • Page 167 Chapter 7 Servo Parameters|ASDA-AB Series Parameter Name P4-00★ ASH1 Fault Record (N) P4-01★ ASH2 Fault Record (N-1) P4-02★ ASH3 Fault Record (N-2) P4-03★ ASH4 Fault Record (N-3) P4-04★ ASH5 Fault Record (N-4) P4-05 JOG Operation P4-06▲■ Force Output Control Input Status or Force P4-07■...
  • Page 168 Parameter Name P1-31 Motor Type Selection P1-32 LSTP Motor Stop Mode Selection Ratio of Load Inertia to Servo Motor P1-37 Inertia P1-52 RES1 Regenerative Resistor Value P1-53 RES2 Regenerative Resistor Capacity P1-57 Reserved P1-58 Reserved P1-59 Reserved P1-60 Reserved P1-61 Reserved P2-08■...

  • Page 169: Detailed Parameter Listings

    Chapter 7 Servo Parameters|ASDA-AB Series Detailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00★ Firmware Version Default: Factory setting Applicable Control Mode: ALL Unit: N/A Range: N/A P0 - 01★ Drive Fault Code Default: Factory setting Applicable Control Mode: ALL Unit: N/A Range: 00 ~ 23 Settings:...
  • Page 170 P0 - 02 Drive Status Default: 00 Applicable Control Mode: ALL Unit: N/A Range: 00 ~ 16 Settings: 00: Motor feedback pulse number (absolute value) [pulse] 01: Motor feedback rotation number (absolute value) [rev] 02: Pulse counts of pulse command [pulse] 03: Rotation number of pulse command [rev] 04: Position error counts [pulse] 05: Input frequency of pulse command [Kpps]...
  • Page 171 Chapter 7 Servo Parameters|ASDA-AB Series P0 - 03 Analog Monitor Output Default: 01 Applicable Control Mode: ALL Unit: N/A Range: 00 ~ 55 Settings: AB: (A: CH1; B: CH2) 0: Motor speed (+/-8V / maximum motor speed) 1: Motor torque (+/-8V / maximum torque) 2: Pulse command frequency (+8Volts / 650Kpps) 3: Speed command (+/-8Volts / maximum speed command) 4: Torque command (+/-8Volts / maximum torque command)
  • Page 172 P0 - 05 Status Monitor 2 Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 16 Settings: See P0-04 for explanation. P0 - 06 Status Monitor 3 Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 16 Settings: See P0-04 for explanation.
  • Page 173 Chapter 7 Servo Parameters|ASDA-AB Series P0 - 09 MAP0 Block Data Read / Write Register 0 Default: 407H Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: Set the register address in HEX that users want to read and write by using the keypad. Users can enter the desired register address (0100H ~ 0417H) into P0-09 to P0-16 (0009H ~ 0010H).
  • Page 174 P0 - 13 MAP4 Block Data Read / Write Register 4 Default: 111H Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: See P0-09 for explanation. P0 - 14 MAP5 Block Data Read / Write Register 5 Default: 112H Applicable Control Mode: ALL Unit: N/A Range: 100H ~ 417H...
  • Page 175 Chapter 7 Servo Parameters|ASDA-AB Series P0 - 17 SVSTS Servo Output Status Display Default: N/A Applicable Control Mode: ALL Unit: N/A Range: N/A Settings: This parameter is used to display the digital output signal of the servo drive. The servo output status display will show in hexadecimal format.
  • Page 176 Group 1: P1-xx Basic Parameters P1 - 00▲ External Pulse Input Type Default: 2 Applicable Control Mode: Pt Unit: N/A Range: 0 ~ 132 Settings: • Value C: Logic type Pulse Type AB phase pulse CW + CCW pulse Pulse + Direction •...
  • Page 177 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 01● Control Mode and Output Direction Default: 00 Applicable Control Mode: ALL Unit: pulse (P mode), r/min (S mode), N.M (T mode) Range: 0 ~ 1110 Settings: • A: Control mode settings • B: Torque output direction settings •...
  • Page 178 P1 - 02▲ PSTL Speed and Torque Limit Default: 00 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 11 Settings: • A=0: Disable speed limit function A=1: Enable speed limit function (It is available in torque mode) Other: Reserved Vref P1-09(1) P1-10(2)
  • Page 179 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 03 AOUT Pulse Output Polarity Setting Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 1 Settings: A: Monitor analog output polarity A=0: MON1(+), MON2(+) A=1: MON1(+), MON2(-) A=2: MON1(-), MON2(+) A=3: MON1(-), MON2(-) P1 - 04 MON1...
  • Page 180 Smooth Constant of Analog Torque Command P1 - 07 TFLT (Low-pass Filter) Default: 0 Applicable Control Mode: T Unit: ms Range: 0 ~ 1000 (0: Disabled) Smooth Constant of Position Command (Low- P1 - 08 PFLT pass Filter) Default: 0 Applicable Control Mode: Pt Unit: 10ms Range: 0 ~ 1000 (0: Disabled)
  • Page 181 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 11 3rd Speed Command or Limit Default: 300 Applicable Control Mode: S, T Unit: r/min Range: -5000 ~ +5000 Settings: 3rd Speed Command In Speed mode, this parameter is used to set speed 3 of internal speed command. For the decimal place setting of internal speed command, please refer to P2-63.
  • Page 182 P1 - 13 2nd Torque Command or Limit Default: 100 Applicable Control Mode: T, P/S Unit: % Range: -300 ~ +300 Settings: 2nd Torque Command In Torque mode, this parameter is used to set torque 2 of internal torque command. 2nd Torque Limit In Position and Speed mode, this parameter is used to set torque limit 2 of internal torque command.
  • Page 183 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 16 PO1L 1st Position Command for Pulse Default: 0 Applicable Control Mode: Pr Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 1. Stroke1 = PO1H × (cnt/rev) + PO1L P1 - 17 PO2H 2nd Position Command for Rotation...
  • Page 184 P1 - 20 PO3L 3rd Position Command for Pulse Default: 0 Applicable Control Mode: Pr Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 3. Stroke3 = PO3H × (cnt/rev) + PO3L P1 - 21 PO4H 4th Position Command for Rotation...
  • Page 185 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 24 PO5L 5th Position Command for Pulse Default: 0 Applicable Control Mode: Pr Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 5. Stroke5 = PO5H × (cnt/rev) + PO5L P1 - 25 PO6H 6th Position Command for Rotation...
  • Page 186 P1 - 28 PO7L 7th Position Command for Pulse Default: 0 Applicable Control Mode: Pr Unit: pulse Range: +/-max. cnt/rev Settings: This parameter is used to set rotation pulse number of internal position 7. Stroke7 = PO7H × (cnt/rev) + PO7L P1 - 29 PO8H 8th Position Command for Rotation...
  • Page 187 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 32 LSTP Motor Stop Mode Selection Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 11 Settings: This parameter is used to select servo motor stop mode. When a fault occurs (except for CWL, CCWL, EMGS and serial communication error), it is used to set servo motor stop mode.
  • Page 188 P1 - 34 TACC Acceleration Time Default: 200 Applicable Control Mode: Pr, S Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step acceleration time. It is used to determine the acceleration time to accelerate from 0 to its rated motor speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e.
  • Page 189 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 36 Accel /Decel S-curve Pr mode Default: 20 (See Note 2) Other mode Default: 0 Unit: ms Range: 0 ~ 10000 (0: Disabled) Settings: This parameter is used to make the motor run more smoothly when startup and windup. Using this parameter can improve the motor running stability.
  • Page 190 P1 - 38 ZSPD Zero Speed Range Setting Default: 10 Applicable Control Mode: ALL Unit: r/min Range: 0 ~ 200 Settings: This parameter is used to set output range of zero speed signal (ZSPD). ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1-38.
  • Page 191 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 40▲ Max. Analog Speed Command or Limit Default: rated speed Applicable Control Mode: S/T Unit: r/min Range: 0 ~ 10000 Settings: In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V) of the analog speed command.
  • Page 192 P1 - 43 MBT2 OFF Delay Time of Electromagnetic Brake Default: 0 Applicable Control Mode: ALL Unit: ms Range: 0 ~ 1000 Settings: Used to set the period of time between when the servo drive is Off (Servo Off) and when electromagnetic brake output signal (BRKR) is inactivated.
  • Page 193 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 45▲ Electronic Gear Ratio (Denominator) Default: 1 Applicable Control Mode: Pt, Pr Unit: Pulse Range: 1 ~ 32767 Settings: Electronic gear denominator setting. It is recommended to set electronic gear ratio when the servo drive is Off. As the wrong setting may cause motor to run chaotically (out of control) and it may lead to personnel injury, therefore, ensure to observe the following rule when setting P1-44, P1-45.
  • Page 194 P1 - 46▲ Encoder Output Pulse Number Default: 1 Applicable Control Mode: ALL Unit: Pulse Range: 10020 ~ 12500 Settings: This parameter is used to set the pulse number of encoder outputs which directly represents the encoder output pulse number per motor revolution. A: Range of the pulse numbers of encoder outputs •...
  • Page 195 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 47 HMOV Homing Mode Default: 00 Applicable Control Mode: ALL Unit: N/A Range: 00 ~ 1225 Settings: • B=0: Return to find Z-phase pulse during homing • B=1: Do not return and go forward to find Z-phase pulse during homing •...
  • Page 196 P1 - 48 HSPD1 1st Speed Setting of High Speed Homing Default: 1000 Applicable Control Mode: ALL Unit: r/min Range: 1 ~ 2000 Settings: HSP1 HSP2 Z pulse P1 - 49 HSPD2 2nd Speed Setting of Low Speed Homing Default: 50 Applicable Control Mode: ALL Unit: r/min Range: 1 ~ 500...
  • Page 197 Chapter 7 Servo Parameters|ASDA-AB Series P1 - 52 RES1 Regenerative Resistor Value Default: 40 (1kW and below), 20 (above 1kW) Applicable Control Mode: ALL Unit: Ohm Range: 10 ~ 750 P1 - 53 RES2 Regenerative Resistor Capacity Default: 60 (1.5kW and below), 120 (above 1.5kW) Applicable Control Mode: ALL Unit: Watt Range: 30 ~ 1000...
  • Page 198 P1 - 56 Output Overload Warning Level Default: 120 Applicable Control Mode: ALL Unit: % Range: 0 ~ 120 Settings: This parameter is used to set output overload level. When the motor has reached the output overload level set by parameter P1-56, the motor will send a warning to the drive. After the drive has detected the warning, the DO signal OLW will be activated.
  • Page 199 Chapter 7 Servo Parameters|ASDA-AB Series Delay Time of Internal Position Command P1 - 62 COKT Completed Output Signal Default: 0 Applicable Control Mode: Pr Unit: ms Range: 0 ~ 200 Settings: This parameter is used to delay the output time of digital output, CMDOK (Internal position command completed output) when the servo drive has detected the internal position command has been completed.
  • Page 200 Group 2: P2-xx Extension Parameters P2 - 00 Proportional Position Loop Gain Default: 35 Applicable Control Mode: Pt, Pr Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is used to set the position loop gain. It can increase stiffness, expedite position loop response and reduce position error.
  • Page 201 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 03 Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H Default: 5 Applicable Control Mode: Pt, Pr Unit: ms Range: 2 ~ 100 Settings: When using position smooth command, increase gain can improve position track deviation. When not using position smooth command, decrease gain can improve the resonance condition of mechanical system.
  • Page 202 P2 - 06 Speed Integral Compensation Default: 100 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 4095 Settings: This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation.
  • Page 203 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 08■ PCTL Special Factory Setting Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 65536 This parameter can be used to reset all parameters to their original factory settings and enable some parameters functions.
  • Page 204 P2 - 10 Digital Input Terminal 1 (DI1) Default: 101 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 147 Settings: This parameter is used to determine the function and status of DI1. • A: DI Function Settings: For the setting value of P2- 10 ~ P2-17, please refer to Table 7.A. •...
  • Page 205 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 13 Digital Input Terminal 4 (DI4) Default: 117 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation. P2 - 14 Digital Input Terminal 5 (DI5) Default: 102 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 147...
  • Page 206 P2 - 18 Digital Output Terminal 1 (DO1) Default: 101 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 112 Settings: This parameter is used to determine the function and status of DO1. • A: DO Function Settings: For the setting value of P2- 18 ~ P2-22, please refer to Table 7.A. •...
  • Page 207 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 21 Digital Output Terminal 4 (DO4) Default: 105 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 112 Settings: See P2-18 for explanation. P2 - 22 Digital Output Terminal 5 (DO5) Default: 7 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 112...
  • Page 208 Low-pass Filter Time Constant P2 - 25 (Resonance Suppression) Default: 2 (1kW and below models) or 5 (above 1kW models) Applicable Control Mode: ALL Unit: ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is used to set low-pass filter time constant of resonance suppression. P2 - 26 External Anti-Interference Gain Default: 0...
  • Page 209 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 28 Gain Switching Time Constant Default: 10 Applicable Control Mode: ALL Unit: 10ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is used to set the time constant when switching the smooth gain. P2 - 29 Gain Switching Condition Default: 10000...
  • Page 210 P2 - 31 AUT1 Auto Mode Responsiveness Level Default: 44 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ FF Settings: This parameter allows the users to set the responsiveness level setting of auto-tuning mode. Users can control the responsiveness according to application condition. When the setting value is higher, the responsiveness is higher.
  • Page 211 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 32▲ AUT2 Tuning Mode Selection Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 5 Settings: 0: Manual mode 2: AutoMode (PI) [Continuous adjustment] 3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be adjusted] 4: AutoMode (PDFF) [Continuous adjustment] 5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can...
  • Page 212 P2 - 33▲ Easy Setting of Input Filter Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 00 ~ 19 Settings: • A: Speed selection Low speed High speed • B=1: Enable this function P2 - 34 SDEV Overspeed Warning Condition Default: 5000 Applicable Control Mode: S Unit: r/min...
  • Page 213 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 36 POV1 Moving Speed Setting of 1st Position Default: 1000 Applicable Control Mode: Pr Unit: r/min Range: 1 ~ 5000 Settings: When setting value of P2-36 to P2-43 is higher than 3000 r/min, please set the setting value of P1-55 to its max.
  • Page 214 P2 - 40 POV5 Moving Speed Setting of 5th Position Default: 1000 Applicable Control Mode: Pr Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36. P2 - 41 POV6 Moving Speed Setting of 6th Position Default: 1000 Applicable Control Mode: Pr Unit: r/min Range: 1 ~ 5000 Settings:...
  • Page 215 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 44 Digital Output Mode Setting Default: 0 Applicable Control Mode: Pr Unit: N/A Range: 0 ~ 1 Settings: This parameter determines that the digital output equals the setting value of P2-18 ~ P2-22 or INDEX positions when using feed step control function and in internal auto running mode (See Chapter 12 for explanation).
  • Page 216 P2 - 47 Position Deviation Clear Delay Time Default: 0 Applicable Control Mode: Pr Unit: 20ms Range: 0 ~ 250 Settings: This function is disabled when its setting value is set to 0. P2 - 48 BLAS Backlash Compensation of Feed Step Control Default: 0 Applicable Control Mode: Pr Unit: pulse...
  • Page 217 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Default: 0 Applicable Control Mode: ALL Unit: sec Range: 0 ~ 119 Settings: • A: Speed Detection Filter Constant Setting Value A • B: Enable/Disable Jitter Suppression Function B=0: Disable Jitter Suppression function B=1: Enable Jitter Suppression function When this function is enabled, it can suppress the jitter created when the motor stops at a...
  • Page 218 P2 - 50 DCLR Pulse Deviation Clear Mode Default: 0 Applicable Control Mode: Pt, Pr Unit: N/A Range: 0 ~ 3 Settings: For digital input function (DI function), please refer to Table 7.A. This pulse deviation clear function is enabled when a digital input is set to pulse clear function (CCLR mode, DI function is set to 4).
  • Page 219 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 51 SRON Servo ON Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 1 Settings: 0: Servo ON (SON) is activated via Digital Input signal 1: Servo ON (SON) is activated when control power is applied the servo drive (not via Digital Input signal) Servo ON (SON) is "ON"...
  • Page 220 P2 - 56 ATM4 Timer 4 of Auto Mode Default: 0 Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 57 ATM5 Timer 5 of Auto Mode Default: 0 Applicable Control Mode: Pr Unit: sec Range: 0 ~ 120.00 P2 - 58 ATM6 Timer 6 of Auto Mode...
  • Page 221 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 61 Electronic Gear Ratio (3rd Numerator) (N3) Default: 1 Applicable Control Mode: Pt, Pr Unit: pulse Range: 1 ~ 32767 Settings: Please refer to P2-60. P2 - 62 Electronic Gear Ratio (4th Numerator) (N4) Default: 1 Applicable Control Mode: Pt, Pr Unit: pulse...
  • Page 222 P2 - 63 TSCA Proportion Value Setting Default: 0 Applicable Control Mode: Pt, S Unit: times Range: 0 ~ 11 Settings: Value A: decimal place setting of internal speed command. 0: When value A is set to 0, the unit of P1-09~P1-11 is 1 r/min (No decimal place setting) 1: When value A is set to 1, the unit of P1-09~P1-11 is 0.1 r/min (One decimal place setting) If P1-09 is set to 1234, and value A is set to 0, and then the internal speed is 1234 r/min.
  • Page 223 Chapter 7 Servo Parameters|ASDA-AB Series P2 - 64 TLMOD Torque Limit Mixed Mode Default: 0 Applicable Control Mode: Pt, Pr, S Unit: N/A Range: 0 ~ 3 Settings: 0: Disabled 1: Torque limit mixed mode (No polarity) If |Tref|<PL, Tpl = |Tref| If |Tref|>PL, Tpl = PL If |Tref|<NL, Tnl = |Tref| If |Tref|>NL, Tnl = NL...
  • Page 224 P2 - 65 GBIT Special Function Default: 0 Applicable Control Mode: Pr, Pt, S Unit: N/A Range: 0 ~ 3 Settings: Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit1 Bit0 Bit0: DI SPD0/SPD1 speed command trigger mode 0: by level 1: by rising edge Bit1: DI TCM0/TCM1 torque command trigger mode...
  • Page 225 Chapter 7 Servo Parameters|ASDA-AB Series Bit5: Reserved. Must be set to 0. Bit6 Bit6: Abnormal pulse command detection 0: enable abnormal pulse command detection 1: disable abnormal pulse command detection, If the detection function is disabled, the ALE08 will not come out when the pulse frequency is higher than 570Kpps.
  • Page 226 Group 3: P3-xx Communication Parameters P3 - 00 Communication Address Setting Default: 1 Applicable Control Mode: ALL Unit: N/A Range: 1~254 Settings: If the AC servo drive is controlled by RS-232/485/422 communication, each drive (or device) must be uniquely identified and addressed between 1 and 254. Access to program this number is via parameter P3-00.
  • Page 227 Chapter 7 Servo Parameters|ASDA-AB Series P3 - 02 Communication Protocol Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0~8 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1> 3: Modbus ASCII mode, <8,N,2 > 4: Modbus ASCII mode, <8,E,1>...
  • Page 228 P3 - 04 Communication Time Out Detection Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0~20 Settings: 0: Disabled This parameter is used to set the maximum permissible time before detecting a fault due to communication time out. When this parameter is set to a value over than 0, it indicates this function is enabled.
  • Page 229 Chapter 7 Servo Parameters|ASDA-AB Series P3 - 06■ Digital Input Communication Function Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0~FFFF Settings: The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals. If the Digital Input Contact Control parameter for the DI 1 ~ DI 8 is set to "0", command is external, and via CN1;...
  • Page 230 Group 4: P4-xx Diagnosis Parameters P4 - 00★ ASH1 Fault Record (N) Default: 0 Applicable Control Mode: ALL Unit: N/A Range: N/A Settings: The latest fault record. P4 - 01★ ASH2 Fault Record (N-1) Default: 0 Applicable Control Mode: ALL Unit: N/A Range: N/A P4 - 02★...
  • Page 231 Chapter 7 Servo Parameters|ASDA-AB Series P4 - 05 JOG Operation Default: 20 Applicable Control Mode: ALL Unit: r/min Range: 0~5000 Settings: JOG operation command: 1. Operation Test (1) Press the SET key to display the JOG speed. (The default value is 20 r/min). (2) Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed.
  • Page 232 P4 - 06 Force Output Control ▲ ■ Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0~0x1F Settings: Settings: 0: Disabled. When the value of P4-06 is a non-zero value, it indicates this function is enabled. This parameter is used to check if there is any damage DO terminal. This parameter is not effective when the servo drive is enabled (Servo ON).
  • Page 233 Chapter 7 Servo Parameters|ASDA-AB Series P4 - 09★ Output Status Display Default: 0 Applicable Control Mode: ALL Unit: N/A Range: 0~0x1F Settings: External Control: Display the status of DO output signal Communication Control: Read the status of output signal The status of DO signal, please refer to P2-18 ~ P2-22. P4 - 10▲...
  • Page 234 P4 - 12 SOF2 Analog Speed Input Drift Adjustment 2 Default: Factory setting Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-11 for explanation. P4 - 13 TOF1 Analog Torque Drift Adjustment 1 Default: Factory setting Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings:...
  • Page 235 Chapter 7 Servo Parameters|ASDA-AB Series P4 - 16 COF2 Current Detector Drift Adjustment (V2 phase) Default: Factory setting Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: Please see P4-15 for explanation. P4 - 17 COF3 Current Detector Drift Adjustment (W1 phase) Default: Factory setting Applicable Control Mode: ALL Unit: N/A...
  • Page 236 P4 - 20 DOF1 Analog Monitor Output Drift Adjustment (CH1) Default: Factory setting Applicable Control Mode: ALL Unit: mV Range: -800~800 Settings: This parameter cannot be reset. P4 - 21 DOF2 Analog Monitor Output Drift Adjustment (CH2) Default: Factory setting Applicable Control Mode: ALL Unit: mV Range: -800~800...
  • Page 237 Chapter 7 Servo Parameters|ASDA-AB Series P4 - 24 Reserved P4 - 25 Reserved P4 - 26 Reserved 7-88 Communication Addr.: 0418H Communication Addr.: 0419H Communication Addr.: 041AH Revision January 2009...
  • Page 238 Table 7.A Input Function Definition Setting Sign Value Servo On. Switch servo to "Servo Ready". Check parameter P2-51. ARST Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST. Gain switching in speed and position mode. When GAINUP is activated (P2-27 is set GAINUP to 1), the gain is switched to the gain multiplied by fluctuation Pulse clear (see P2-50).
  • Page 239 Chapter 7 Servo Parameters|ASDA-AB Series Setting Sign Value Position command selection 0 ~ 2 When the Pr mode is selected, the 8 stored positions are programmed via a combination of the POS 0, POS 1, and POS 2 commands. Command No. POS0 POS1 POS2...
  • Page 240 Setting Sign Value Speed / Position mode switching (OFF: Speed, ON: Position) Speed / Torque mode switching (OFF: Speed, ON: Torque) Torque / Position mode switching (OFF: Torque, ON: Position) Emergency stop. It should be contact “b” and normally ON or a fault (ALE13) will EMGS display.
  • Page 241 Chapter 7 Servo Parameters|ASDA-AB Series Setting Sign Value Step down input. When STEPD is activated, STEPD the motor will run to previous position. Step back input. When STEPB is activated, STEPB the motor will return to first position. Auto run input. When AUTOR is activated, the motor will run automatically according to internal position command.
  • Page 242 Table 7.B Output Function Definition Setting Sign Value Servo ready. SRDY is activated when the servo drive is ready to run. All fault and SRDY alarm conditions, if present, have been cleared. Servo On. SON is activated when control power is applied the servo drive. The drive may or may not be ready to run as a fault / alarm condition may exist.
  • Page 243 Chapter 7 Servo Parameters|ASDA-AB Series Setting Sign Value Output overload warning. OLW is activated when the servo drive has detected that the motor has reached the output overload level set by parameter P1-56. t OL = Permissible Time for Overload x setting value of P1-56 When overload accumulated time (continuously overload time) exceeds the value of t OL, the overload warning signal will output, i.e.

  • Page 244: Chapter 8 Modbus Communications

    Communication Hardware Interface The ASDA-AB series servo drive has three modes of communication: RS-232, RS-485, and RS-422. All aspects of control, operation and monitoring as well as programming of the controller can be achieved via communication. However, only one communication mode can be used at a time. Users can select the desired communication mode via parameter P3-05.
  • Page 245 Chapter 8 MODBUS Communications|ASDA-AB Series NOTE 1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or greater is required, the maximum length of the communication cable is 3m (9.84ft.) which will ensure the correct and desired baud rate.
  • Page 246 Chapter 8 MODBUS Communications|ASDA-AB Series Cable Connection Revision January 2009...
  • Page 247 Chapter 8 MODBUS Communications|ASDA-AB Series NOTE 1) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a location where there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires.

  • Page 248: Communication Parameter Settings

    Communication Parameter Settings The following describes the communication addresses for the communication parameters. For communication parameters, please refer to the Chapter 7. Communication Addresses 0301, 0302, and 0305 have to be set identically for all the drives and devices to communicate correctly. 0300H Default: 1 Communication...
  • Page 249 Chapter 8 MODBUS Communications|ASDA-AB Series 0302H Default: 0 Communication Range: 0~8 Protocol Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1> 3: Modbus ASCII mode, <8,N,2 > 4: Modbus ASCII mode, <8,E,1> 5: Modbus ASCII mode, <8,O,1>...
  • Page 250 0306H Digital Input Contact Control: Digital Input Default: 0 Communication Range: 0~FFFF (hexadecimal number) Function The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals. Input commands or signals through the DI can be either from an external source, through the CN 1 interface connector, or via communication, (RS-232, RS-485, RS-422).
  • Page 251 Chapter 8 MODBUS Communications|ASDA-AB Series If the contents of P4-07 is being read via communication the output will be a decimal number that will represent the "binary" display. Therefore in the previous example the decimal number being read would be 113. However, in the communication mode the user can write to P4-07 to turn the Digital Inputs either "on"...

  • Page 252: Modbus Communication Protocol

    MODBUS Communication Protocol When using RS-232/485/422 serial communication interface, each ASDA-AB series AC servo drive has a pre-assigned communication address specified by parameter “P3-00”. The computer then controls each AC servo drive according to its communication address. ASDA-AB series AC servo drive can be set up to communicate on a MODBUS networks using on of the following modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal Unit).
  • Page 253 Chapter 8 MODBUS Communications|ASDA-AB Series 11-bit character frame (For 8-bit character) Start Start Start Communication Protocol: ASCII Mode: Start character’: ’ (3AH) Communication address: 1-byte consists of 2 ASCII codes Command code: 1-byte consists of 2 ASCII codes DATA(n-1) ……. Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, n≤12 DATA(0) Command code: 1-byte consists of 2 ASCII codes...
  • Page 254 STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address) The valid communication addresses are in the range of 1 to 254. For example, communication to AC servo drive with address 16 decimal: ASCII Mode: ADR=’1’,’0’...
  • Page 255 Chapter 8 MODBUS Communications|ASDA-AB Series RTU Mode: Command message: 02H (Upper bytes) Starting data address 00H (Lower bytes) Number of data (Count by word) CRC Check Low C5H (Lower bytes) CRC Check High B3H (Upper bytes) Command code: 06H, write 1 word For example, writing 100 (0064H) to starting data address 0200H of ASDA-AB series with address 01H.
  • Page 256 RTU Mode: Command message: 02H (Upper bytes) Starting data address 00H (Lower bytes) 00H (Upper bytes) Content of data 64H (Lower bytes) CRC Check Low 89H (Lower bytes) CRC Check High 99H (Upper bytes) LRC (ASCII Mode): LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the values of the bytes from ADR to last data character then calculating the hexadecimal representation of the 2’s-complement negation of the sum.
  • Page 257 Chapter 8 MODBUS Communications|ASDA-AB Series CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (called CRC register) with FFFFH. Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register.
  • Page 258 The following is an example of CRC generation using C language. The function takes two arguments: unsigned char* data; unsigned char length The function returns the CRC value as a type of unsigned integer. unsigned int crc_chk(unsigned char* data, unsigned char length) { int j;...
  • Page 259 Chapter 8 MODBUS Communications|ASDA-AB Series int I; outportb(PORT+MCR,0x08); outportb(PORT+IER,0x01); outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) ); /* the BRDL/BRDH can be access as LCR.b7 == 1 */ outportb(PORT+BRDL,12); outportb(PORT+BRDH,0x00); outportb(PORT+LCR,0x06); for( I = 0; I<=16; I++ ) { while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */ outportb(PORT+THR,tdat[I]);...

  • Page 260: Communication Parameter Write-In And Read-Out

    Communication Parameter Write-in and Read-out There are following five groups for parameters: Group 0: Monitor parameter Group 1: Basic parameter Group 2: Extension parameter Group 3: Communication parameter Group 4: Diagnosis parameter For a complete listing and description of all parameters, refer to Chapter 7. Communication write-in parameters for ASDA-AB series are including: Group 0: P0-02 ~ P0-17 (0002H to 0011H) Group 1: P1-00 ~ P1-62 (0100H to 013EH)
  • Page 261 Chapter 8 MODBUS Communications|ASDA-AB Series Communication read-out parameters for ASDA-AB series are including: Group 0: P0-00 ~ P0-17 (0000H to 0011H) Group 1: P1-00 ~ P1-62 (0100H to 013EH) Group 2: P2-00 ~ P2-65 (0200H to 0241H) Group 3: P3-00 ~ P3-07 (0300H to 0307H) Group 4: P4-00 ~ P4-23 (0400H to 0417H) 8-18 Revision January 2009...

  • Page 262: Chapter 9 Maintenance And Inspection

    Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is required to operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform a periodic maintenance and inspection of the AC servo drive by a qualified technician. Before any maintenance and inspection, always turn off the AC input power to the unit.

  • Page 263: Maintenance

    Chapter 9 Maintenance and Inspection|ASDA-AB Series Item Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended. Check for abnormal vibrations and sounds during operation.
  • Page 264 Chapter 9 Maintenance and Inspection|ASDA-AB Series Cooling fan The cooling fan life is limited and should be changed periodically. The cooling fan will reach the end of its life in 2~3 years when it is in continuous operation. However, it also must be replaced if the cooling fan is vibrating or there are unusual noises.
  • Page 265 Chapter 9 Maintenance and Inspection|ASDA-AB Series This page intentionally left blank. Revision January 2009...

  • Page 266: Chapter 10 Troubleshooting

    If a fault is detected on the servo drive or motor a corresponding fault code will be shown on the drive's LED display. Fault codes can also be transmitted via communication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI.
  • Page 267 Chapter 10 Troubleshooting|ASDA-AB Series Display Fault Name IGBT temperature error The temperature of IGBT is over high. Memory error DSP communication error Serial communication error Serial communication time out Command write-in error Control command write-in error. Input power phase loss Pre-overload warning Internal command execution time out...

  • Page 268: Potential Cause And Corrective Actions

    10.2 Potential Cause and Corrective Actions Servo Drive Fault Messages : Overcurrent Potential Cause 1. Check the wiring connections between drive Short-circuit at drive and motor. output (U, V, W) 2. Check if the wire is short-circuited. Check if the wiring steps are all correct when Motor wiring error connecting motor to drive.
  • Page 269 Chapter 10 Troubleshooting|ASDA-AB Series : Regeneration error Potential Cause Regenerative resistor is Check the wiring connection of regenerative not connected. resistor. Regenerative switch Check if regenerative switch transistor is short- transistor fault circuited. Parameter setting is in Confirm the parameter setting and error specifications of regenerative resistor.
  • Page 270 : Watch dog execution time out Potential Cause Watch dog execution Check and reset the power supply. error. : Encoder error (Position detector fault) Potential Cause 1. Check if all wiring is correct. The wiring of encoder is 2. Check if the users conduct the wiring by in error.
  • Page 271 Chapter 10 Troubleshooting|ASDA-AB Series : IGBT temperature error Potential Cause The drive has exceeded its rated load Check if there is overload or the motor current during continuous is too high. operation. Short-circuit at drive Check the drive input wiring. output.
  • Page 272 : Command write-in error Potential Cause Control power is in Check and reset control power error. : Input power phase loss Potential Cause Check the power cable and connections of R, Control power supply is S, T. Check whether the power cable is loose in error.

  • Page 273: Clearing Faults

    Chapter 10 Troubleshooting|ASDA-AB Series 10.3 Clearing Faults Display Overcurrent Overvoltage Undervoltage Z Pulse shift Regeneration error Overload Overspeed Abnormal pulse control command Excessive deviation Watch dog execution time Encoder error Adjustment error Emergency stop activated Reverse limit switch error Forward limit switch error IGBT temperature error Memory error DSP communication error...
  • Page 274 Display Command write-in error Input power phase loss Pre-overload warning Internal command execution time out DSP communication error DSP communication error Revision January 2009 Chapter 10 Troubleshooting|ASDA-AB Series Fault Name Turn ARST (DI signal) ON to clear the fault or restart the servo drive.
  • Page 275 Chapter 10 Troubleshooting|ASDA-AB Series This page intentionally left blank. 10-10 Revision January 2009...

  • Page 276: Chapter 11 Specifications

    11.1 Specifications of Servo Drive (ASDA-AB Series) 100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW Model: ASD-A Phase / Voltage Permissible Voltage Range Permissible Frequency Range Cooling System Encoder Resolution / Feedback Resolution Control of Main Circuit Tuning Modes Dynamic Brake Max.
  • Page 277 Chapter 11 Specifications|ASDA-AB Series 100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW Model: ASD-A Voltage Range Analog Input Input Resistance Command Time Constant Command Source Smoothing Strategy Speed Limit Operation Analog Monitor Output Speed/Torque limit enabled, Emergency stop, Forward / Reverse inhibit limit, Input Digital Input/Output...
  • Page 278 Footnote: Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause). When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotation speed TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.

  • Page 279: Specifications Of Servo Motor (Ecma Series)

    Chapter 11 Specifications|ASDA-AB Series 11.2 Specifications of Servo Motor (ECMA Series) Low Inertia Servo Motor Model: ECMA Series Rated output power (kW) Rated torque (N.m) Maximum torque (N.m) Rated speed (r/min) Maximum speed (r/min) Rated current (A) Maximum current (A) Power rating (kW/s) (without brake) Rotor moment of inertia...
  • Page 280 Model: ECMA Series Vibration grade (um) Operating temperature Storage temperature Operating humidity Storage humidity Vibration capacity IP rating Approvals Medium / High Inertia Servo Motor Model: ECMA Series Rated output power (kW) Rated torque (N.m) Maximum torque (N.m) Rated speed (r/min) Maximum speed (r/min) Rated current (A) Maximum current (A)
  • Page 281 Chapter 11 Specifications|ASDA-AB Series Model: ECMA Series Weight (kg) (with brake) Max. radial shaft load (N) Max. thrust shaft load (N) Power rating (kW/s) (with brake) Rotor moment of inertia 8.94E-4 9.14E-4 11.90E-4 15.88E-4 37.86E-4 8.94E-4 9.14E-4 11.9E-4 (Kg.m ) (with brake) Mechanical time constant (ms) (with brake) Brake holding torque...

  • Page 282: Servo Motor Speed-Torque Curves

    Chapter 11 Specifications|ASDA-AB Series 11.3 Servo Motor Speed-Torque Curves 11-7 Revision January 2009...

  • Page 283: Overload Characteristics

    Chapter 11 Specifications|ASDA-AB Series 11.4 Overload Characteristics Overload Protection Function Overload protection is a built-in protective function to prevent a motor from overheating. Occasion of Overload 1. Motor was operated for several seconds under a torque exceeding 100% torque. 2. Motor had driven high inertia machine and had accelerated and decelerated at high frequency. 3.
  • Page 284 Chart of load and operating time (ECMA-C30602 10000 1000 Load (% rated torque) Chart of load and operating time (ECMA-C30604 1000 Load (% rated torque) Revision January 2009 Chapter 11 Specifications|ASDA-AB Series Operating Load Time 120% 213.6s 140% 42.3s 160% 21.8s 180% 13.7s...
  • Page 285 Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-C30804 10000 1000 Load (% rated torque) Chart of load and operating time (ECMA-C30807 1000 Load (% rated torque) 11-10 Operating Load Time 120% 254.5s 140% 50.4s 160% 26.0s 180% 16.4s 200% 11.0s...
  • Page 286 Chart of load and operating time (ECMA-C31010 1000 Load (% rated torque) Chart of load and operating time (ECMA-C31020 1000 Load (% rated torque) Revision January 2009 Chapter 11 Specifications|ASDA-AB Series Operating Load Time 120% 185.8s 140% 36.8s 160% 19.0s 180% 12.0s 200%...
  • Page 287 Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-G31303 10000 1000 Load (% rated torque) Chart of load and operating time (ECMA-E31305 1000 Load (% rated torque) 11-12 Operating Load Time 120% 613.1s 140% 121.4s 160% 62.6s 180% 39.4s 200% 26.4s...
  • Page 288 Chart of load and operating time (ECMA-G31306 1000 Load (% rated torque) Chart of load and operating time (ECMA-G31309 1000 Load (% rated torque) Revision January 2009 Chapter 11 Specifications|ASDA-AB Series Operating Load Time 120% 167.2s 140% 33.1s 160% 17.1s 180% 10.8s 200%...
  • Page 289 Chapter 11 Specifications|ASDA-AB Series Chart of load and operating time (ECMA-E31310 1000 Load (% rated torque) Chart of load and operating time (ECMA-E31315 1000 Load (% rated torque) 11-14 Operating Load Time 120% 130.0s 140% 25.7s 160% 13.3s 180% 8.4s 200% 5.6s 220%...
  • Page 290 Chart of load and operating time (ECMA-E31320 1000 Load (%) rated torque Chart of load and operating time (ECMA-E31820 10000 1000 Load (%) rated torque Revision January 2009 Chapter 11 Specifications|ASDA-AB Series Operating Load Time 120% 185.78s 140% 36.78s 160% 18.98s 180% 11.95s...

  • Page 291: Dimensions Of Servo Drive

    Chapter 11 Specifications|ASDA-AB Series 11.5 Dimensions of Servo Drive Order P/N: ASD-A0111-AB, ASD-A0211-AB, ASD-A0411-AB (100W ~ 400W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
  • Page 292 Order P/N: ASD-A0121-AB, ASD-A0221-AB, ASD-A0421-AB (100W ~ 400W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
  • Page 293 Chapter 11 Specifications|ASDA-AB Series Order P/N: ASD-A0721-AB, ASD-A1021-AB, ASD-A1521-AB (750W ~ 1.5kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
  • Page 294 Order P/N: ASD-A2023-AB (2kW) WEIGHT 3.0 (6.6) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.

  • Page 295: Dimensions Of Servo Motor

    Chapter 11 Specifications|ASDA-AB Series 11.6 Dimensions of Servo Motor Motor Frame Size: 80mm and below Models Model C30401 S LL (without brake) 100.6 LL (with brake) LS (without oil seal) LS (with oil seal) M3, Depth 8 1) Dimensions are in millimeters. Actual measured values are in metric units. Please NOTE use metric for precise measurements.
  • Page 296 Motor Frame Size: 100mm and above Models Model G31303 S LL (without brake) 147.5 LL (with brake) 183.5 11.5 M6, Depth 20 1) Dimensions are in millimeters. Actual measured values are in metric units. Please NOTE use metric for precise measurements. 2) The boxes ( ) in the model names are for optional configurations.
  • Page 297 Chapter 11 Specifications|ASDA-AB Series Motor Frame Size: 100mm and above Models Model E31310 S LL (without brake) 147.5 LL (with brake) 183.5 11.5 M6, Depth 20 1) Dimensions are in millimeters. Actual measured values are in metric units. Please NOTE use metric for precise measurements.

  • Page 298: Chapter 12 Application Examples

    12.1 Position Control (including homing function) Suppose that the machine will move to limit switch (CCWL), L.S.1 when motor is in forward rotation (from motor shaft view) and the machine will move to limit switch (CWL), L.S.2 when motor is in reverse rotation, if limit switch is set, L.S.1 as “Home”, the machine will be positioned between P1 and P2 according to working procedure.
  • Page 299 Chapter 12 Application Examples|ASDA-AB Series P1-50=0, P1-51=0 (Homing offset rotation / pulse number) Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting); P1-48, P1-49 (Speed setting of high/low speed Homing) Operation Re-start the power to be ON again. After Servo ready is completed, activate the drive to be Servo ON. Then, the system will automatically complete home operation.

  • Page 300: Roller Feeding

    12.2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered every time (10000/4=2500Pulse). Parameters Setting P1-01=1 (Position control (Pr) mode setting) P2-10=101 (Servo On (SON), default: DI1) P2-11=108 (Command triggered (CTRG), default: DI2) P1-15=0 (Position rotation number is 0(zero)) P1-16=2500 (Position rotation pulse number) P1-33=1 (Incremental position command) P2-18=101 (Servo ready (SRDY), default: DO1)

  • Page 301: Connecting To Delta Dvp-Eh Series Plc

    Chapter 12 Application Examples|ASDA-AB Series 12.3 Connecting to Delta DVP-EH Series PLC Delta servo drives can be connected to Delta DVP-EH series PLC and provide functions including: home, JOG operation, acceleration/deceleration setting, relative position control, absolute position control and pulse numbers monitor.
  • Page 302 STOP M 1000 N ormally on contact (a contact) D P OS Z ERO J OG+ JOG- M 1002 O n only for 1 sc an a fter RUN D POS Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series M1334 REV POS St op cho...
  • Page 303 Chapter 12 Application Examples|ASDA-AB Series REV POS JOG+ JOG- M 50 ZERO PLSY Y0 instru ction exec ution completed flag M 50 M1 336 Ch 0 pulse se nd flag M1 000 N ormally on contact (a contac t) 12-6 D ZRN K50000 K5 000...
  • Page 304 S1 0 JOG+ JOG- M1 336 Ch 0 pulse s end fl a g M1000 N ormally on contact (a contac t) M1 029 P LSY Y0 in structi o n exec ution comple ted flag JOG- JOG- M1 336 Ch 0 pulse s end fl a g M1000 N ormally on contact (a contac t)
  • Page 305 Chapter 12 Application Examples|ASDA-AB Series S1 3 RE V POS M1029 P LSY Y0 in structi o n exec ution comple ted flag M101 M1 336 Ch 0 pulse s end fl a g M1 000 Normally on cont act (a contact) M 1001 Normally on contact (a contact) 12-8...

  • Page 306: Connecting To Delta Tp04 Series

    12.4 Connecting to Delta TP04 Series Delta servo drives can be connected to Delta TP04 Series Operation Interface Panel and provide functions including: Home, JOG operation, Position learning function, Relative position control, Absolute position control, Monitor and parameter settings. Parameters Setting P1-01=1 (Position control (Pr) mode setting) P1-47=202 (SHOM drive ORGP to perform forward homing) P2-15=124 (Home detection position, contact: DI6)
  • Page 307 Chapter 12 Application Examples|ASDA-AB Series 12-10 Revision January 2009...

  • Page 308: Position Control Mode Parameters

    12.5 Position Control Mode (Pr Mode) Relevant Parameters Description Communication Parameter Address P1-01 0101H P1-33 0121H P1-34 0122H P1-35 0123H P1-36 0124H P1-44 012CH P1-45 012DH P1-47 012FH P1-50 0132H P1-51 0133H The following table indicates the position command registers and the corresponding moving speed registers. Positioning Point Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series...
  • Page 309 Chapter 12 Application Examples|ASDA-AB Series Trigger Timing Charts Timing Chart of Internal Position Register Selection Inter nal pos i tion Inter nal pos i tion c omman d c omman d Ex ter nal I/O signal Ex ter nal I/O signal CTR G CTR G HOLD Timing Chart:...
  • Page 310 Chapter 12 Application Examples |ASDA-AB Series Command Abort Timing Chart: To use command abort function, set parameter P2-50 to 2. At this time, if CCLR signal is ON when the motor is running, the motor will decelerate first and stop according to the deceleration time which is set by parameter P1-34 ~ P1-36 and the remaining pulses will be aborted.

  • Page 311: Feed Step Control

    Chapter 12 Application Examples|ASDA-AB Series 12.6 Feed Step Control Relevant Parameters Description Communication Parameter Address P1-01 0101H P1-12 010CH P1-33 0121H P1-34 0122H P1-35 0123H P1-36 0124H P1-44 012CH P1-45 012DH P1-47 012FH 12-14 Parameter Description Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode Torque Limit Setting...
  • Page 312 Communication Parameter Address P1-50 0132H P1-51 0133H P1-55 0137H P2-36 0224H P2-44 022CH Relevant Parameters Description, cont. Communication Parameter Address P2-45 022DH P2-46 022EH P2-47 022FH P2-51 0233H Digital I/O Signal Setting DI Signal Parameter Setting DI1 (INDEX0) P2-10 = 128 DI2 (INDEX1) P2-11 = 129 DI3 (INDEX2)
  • Page 313 Chapter 12 Application Examples|ASDA-AB Series DO Signal Parameter Setting NOTE 1) Please set parameter P2-08 to 12 before changing the setting value of DI and DO signals. Mode Functions MDP0, MDP1 Status NOTE 1) The emergency stop warning message will appear if MD0 and MD1 are ON after power suppliers to AC servo drive.
  • Page 314 Definitions of INDEX0~4 (ON=1, OFF=0) Item INDEX4 INDEX3 Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series INDEX2 INDEX1 INDEX0 INDEX NUMBER INDEX 1 INDEX 2 INDEX 3 INDEX 4 INDEX 5 INDEX 6 INDEX 7 INDEX 8 INDEX 9 INDEX 10 INDEX 11 INDEX 12...
  • Page 315 Chapter 12 Application Examples|ASDA-AB Series Definitions of DO Signals (ON=1, OFF=0) Item NOTE 1) When alarm occurs, DO=0 (all OFF). 2) When the servo drive is ready, DO=1 12-18 Description ALRAM SERVO READY HOMING (under operation) HOME Completed CHANGE INDEX (under operation) INDEX 1 (In position) INDEX 2 (In position)
  • Page 316 3) When return back to “Home” (Homing), DO=2 4) When returning back to “Home” is completed, DO=3 5) When feed step function is undergoing, DO=4 6) When feed step function is completed (In position), the corresponding INDEX NUMBER will display, and DO=nn 7) Feed step output position = DO value - 4 (Example: if DO=7, the feed step output position =7 - 4 = 3) 8) When returning to HOME, if DO=1 (SERVO READY) after any abnormal conditions are removed, it is...
  • Page 317 Chapter 12 Application Examples|ASDA-AB Series Feed Step Control Mode Power Supply DO VALUE Motor Speed Servo ON Torque Limit IDX Value 10 Step No. 2 CCLR NOTE 1) The maximum value of P2-45 = 125 x T min. 2) T min. is the minimum time from A to B, i.e. the time between when start running at A and when start running at B (please refer to the figure below).
  • Page 318 Manually Single Step Control Mode 1 Power Supply DO VALUE INDEX4 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 STEPU auto running NOTE 1) When manually feed forward operation occurs, please set MD1 to be ON first (The feed step selection input should be kept unchanged to avoid returning to INDEX1 when manually feed forward operation occurs).
  • Page 319 Chapter 12 Application Examples|ASDA-AB Series Manually Single Step Control Mode 2 Power Supply DO VALUE INDEX4 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 MDP0 auto running NOTE 1) After manually feed forward operation is completed, please set MD1 and MD0 to be OFF and then turn MDP1 from ON to OFF (ready to enter torque decrease status) to avoid any abnormal condition.
  • Page 320 Manually Continuous Step Control Mode Power Supply DO VALUE INDEX4 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 MDP1 auto running NOTE 1) After manually feed forward operation is completed, please set MD1 and MD0 to be OFF and then turn MDP0 from ON to OFF (ready to enter torque decrease status) to avoid any abnormal condition.
  • Page 321 Chapter 12 Application Examples|ASDA-AB Series Communication Control Example Explanation Communication Address H306 H407 H407 H407 H407 H407 H407 H407 H407 H407 H407 H407 12-24 Communication Content H0FF Set to software control H020 SERVO ON H060 HOMING H070 HOME SENSOR ON H060 HOME SENSOR OFF H020...
  • Page 322 12.7 Internal Auto Running Mode Relevant Parameters Description Communication Parameter Address P1-01 0101H P1-33 0121H P1-34 0122H P1-35 0123H P1-36 0124H P1-44 012CH P1-45 012DH P1-47 012FH P1-50 0132H P1-51 0133H P2-44 022CH P2-45 022DH P2-51 0233H Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series Parameter Description Control Mode and Output Direction...
  • Page 323 Chapter 12 Application Examples|ASDA-AB Series When the setting value of the time listed below is set to zero(0), the relative position will be ignored. Positioning Point Position Command Register INDEX1 ( P1-15, P1-16 ) INDEX2 ( P1-17, P1-18 ) INDEX3 ( P1-19, P1-20 ) INDEX4 ( P1-21, P1-22 )
  • Page 324 Definitions of DO Signals (ON:1, OFF:0) Item Timing charts of DI/DO Signals Operation Homing Mode Power Supply DO VALUE SERVO READY (01) Motor Speed ORGP Z PULSE Output Signal Servo ON Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series (CHANGE INDEX hereinafter called “CI”) HOMING (02) Function...
  • Page 325 Chapter 12 Application Examples|ASDA-AB Series (2) Auto Running Mode Power Supply DO VALUE HOME (3) INDEX4 Motor Speed Servo ON AUTOR OFF Manual Control Mode 1 Power Supply DO VALUE HOME (3) INDEX4 Motor Speed Servo ON STEPU STEPD 12-28 IDX1 IDX2 IDX1...
  • Page 326 Manual Control Mode 2 Power Supply DO VALUE INDEX4 Motor Speed Servo ON AUTOR STEPB Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series IDX1 IDX2 IDX1 12-29...

  • Page 327: Homing Function

    Chapter 12 Application Examples|ASDA-AB Series 12.8 Homing Function Relevant Parameters Description Communication Parameter Address P1-47 012FH P1-48 0130H P1-49 0131H P1-50 0132H P1-51 0133H Relevant Parameters Description, cont. Communication Parameter Address P1-34 0122H P1-35 0123H P1-36 0124H Explanation of Homing Mode A: Home Sensor Type and Homing Direction Left or right limit switch can be used as a reference “Home”...
  • Page 328 A=2: Forward homing and ORGP (Reference “Home” sensor) is regarded as a reference “Home”. At this time, users can set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as a precise mechanical “Home” or set B=1, i.e. do not return and go forward to find Z-phase pulse and regard Z-phase pulse as a precise mechanical “Home”.
  • Page 329 Chapter 12 Application Examples|ASDA-AB Series D: Homing Stop Setting D=0: After detecting “Home”, the motor will decelerate and return to “Home”. After get the home sensor signal in 2nd step speed operation, the motor will decelerate and stop. After the servo motor stops, the then move to the position of mechanical “Home”.
  • Page 330 2. Enable homing function by input contact (SHOM) (C=2) POWER SERVO READY SERVO HOME TRIGGER HOMING HOMING COMPLETED Homing Timing Charts 1. B/A = 0/0 or B/A = 0/2 SPEED Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series refer to homing timing chart Position Z pulse CCWL / ORGP...
  • Page 331 Chapter 12 Application Examples|ASDA-AB Series 2. B/A = 0/1 or B/A = 0/3 SPEED 3. B/A = 1/2 SPEED 4. B/A = 1/3 SPEED 12-34 Position Z pulse CWL / ORGP Position Z pulse ORGP Position Z pulse ORGP Revision January 2009...
  • Page 332 5. B/A = 2/2 SPEED 6. B/A = 2/3 SPEED 7. B/A = 2/4 SPEED Revision January 2009 Chapter 12 Application Examples |ASDA-AB Series Position ORGP Position ORGP Position Z pulse 12-35...
  • Page 333 Chapter 12 Application Examples|ASDA-AB Series 8. B/A = 2/5 SPEED Position Z pulse 12-36 Revision January 2009...

  • Page 334: External Controller Connection Examples

    Chapter 12 Application Examples |ASDA-AB Series 12.9 External Controller Connection Examples Connecting to Delta DVP-EH PLC 12-37 Revision January 2009...
  • Page 335 Chapter 12 Application Examples|ASDA-AB Series Connecting to Delta DVP-01PU 12-38 Revision January 2009...
  • Page 336 Chapter 12 Application Examples |ASDA-AB Series Connecting to Mitsubishi FX1PG 12-39 Revision January 2009...
  • Page 337 Chapter 12 Application Examples|ASDA-AB Series Connecting to Mitsubishi FX2N1PG 12-40 Revision January 2009...
  • Page 338 Chapter 12 Application Examples |ASDA-AB Series Connecting to Mitsubishi AD75 12-41 Revision January 2009...
  • Page 339 Chapter 12 Application Examples|ASDA-AB Series This page intentionally left blank. 12-42 Revision January 2009...

  • Page 340: Appendix A Accessories

    Power Connectors Delta Part Number: ASDBCAPW0000 Title Housing Terminal Delta Part Number: ASDBCAPW0100 Title Housing Terminal Delta Part Number: ASD-CAPW1000 Delta Part Number: ASD-CAPW2000 Revision January 2009 Appendix A Accessories Part No. Manufacturer C4201H00-2*2PA JOWLE C4201TOP-2 JOWLE Part No. Manufacturer C4201H00-2*3PA JOWLE C4201TOP-2...
  • Page 341 Appendix A Accessories|ASDA-AB Series Power Cables Delta Part Number: ASD-ABPW0003, ASD-ABPW0005 Title Housing Terminal Title Delta Part Number: ASD-ABPW0103, ASD-ABPW0105 Title Housing Terminal Title Part No. Manufacturer C4201H00-2*2PA JOWLE C4201TOP-2 JOWLE Part No. 3000 ± 100 ASD-ABPW0003 5000 ± 100 ASD-ABPW0005 Part No.
  • Page 342 Power Cables, cont. Delta Part Number: ASD-CAPW1003, ASD-CAPW1005 Title Part No. ASD-CAPW1003 ASD-CAPW1005 Delta Part Number: ASD-CAPW1103, ASD-CAPW1105 Title Part No. ASD-CAPW1103 ASD-CAPW1105 Revision January 2009 Appendix A Accessories|ASDA-AB Series (50mm) (1.97 inch) Straight 3106A-20-18S 3000 ± 100 3106A-20-18S 5000 ±100 Straight 3106A-20-18S 3000 ±...
  • Page 343 Appendix A Accessories|ASDA-AB Series Power Cables, cont. Delta Part Number: ASD-CAPW1203, ASD-CAPW1205 Title Part No. ASD-CAPW1203 ASD-CAPW1205 Delta Part Number: ASD-CAPW1303, ASD-CAPW1305 Title Part No. ASD-CAPW1303 ASD-CAPW1305 Straight 3000 ± 100 3106A-20-18S 5000 ±100 3106A-20-18S Straight 3000 ± 100 3106A-20-18S 5000 ±100 3106A-20-18S (80mm)
  • Page 344 Power Cables, cont. Delta Part Number: ASD-CAPW2203, ASD-CAPW2205 Title Part No. ASD-CAPW2203 ASD-CAPW2205 Delta Part Number: ASD-CAPW2303, ASD-CAPW2305 Title Part No. ASD-CAPW2303 ASD-CAPW2305 Revision January 2009 Appendix A Accessories|ASDA-AB Series Straight 3106A-24-11S 3000 ± 100 3106A-24-11S 5000 ±100 Straight 3000 ± 100 3106A-24-11S 3106A-24-11S 5000 ±100...
  • Page 345 Appendix A Accessories|ASDA-AB Series Encoder Connectors Delta Part Number: ASD-ABEN0000 Title MOTOR SIDE DRIVE SIDE Delta Part Number: ASD-CAEN1000 Title MOTOR SIDE DRIVE SIDE Part No. Housing AMP (1-172161-9) Terminal AMP (170359-3) CLAMP DELTA (34703237XX) PLUG 3M 10120-3000PE SHELL 3M 10320-52A0-008 Part No.
  • Page 346 Encoder Cables Delta Part Number: ASD-ABEN0003, ASD-ABEN0005 Title MOTOR SIDE DRIVE SIDE Title Delta Part Number: ASD-CAEN1003, ASD-CAEN1005 Title MOTOR SIDE DRIVE SIDE Title ASD-CAEN1003 ASD-CAEN1005 Revision January 2009 Appendix A Accessories|ASDA-AB Series Part No. Housing AMP (1-172161-9) Terminal AMP (170359-3) CLAMP DELTA (34703237XX) PLUG...
  • Page 347 Appendix A Accessories|ASDA-AB Series I/O Signal Connector (CN1) Delta Part Number: ASD-CNSC0050 Vendor Name 3M TAIWAN LTD 3M TAIWAN LTD Communication Cable between Drive and Computer (for PC) Delta Part Number: ASD-CARS0003 Terminal Block Module Delta Part Number: ASD-BM-50A Vendor P/N 10150-3000PE 10350-52A0-008 Item...
  • Page 348 Servo Drive, Servo Motor and Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive Low inertia Servo Motor Motor Power Cable Cable ASD-ABPW0003 Encoder Cable ASD-ABEN0003 Connector 200W Servo Drive and 200W Low Inertia Servo Motor Servo Drive Low inertia Servo Motor...
  • Page 349 Appendix A Accessories|ASDA-AB Series 400W Servo Drive and 500W Medium Inertia Servo Motor Servo Drive Medium inertia Servo Motor Motor Power Cable Cable ASD-CAPW1003 Encoder Cable ASD-CAEN1003 Connector 400W Servo Drive and 300W High Inertia Servo Motor Servo Drive High inertia Servo Motor Motor Power Cable Cable...
  • Page 350 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive High inertia Servo Motor Motor Power Cable Cable ASD-CAPW1003 Encoder Cable ASD-CAEN1003 Connector 1kW Servo Drive and 1kW Low Inertia Servo Motor Servo Drive Low inertia Servo Motor Motor Power Cable Cable ASD-CAPW1003 Encoder Cable...
  • Page 351 Appendix A Accessories|ASDA-AB Series 1kW Servo Drive and 900W High Inertia Servo Motor Servo Drive High inertia Servo Motor Motor Power Cable Cable ASD-CAPW1003 Encoder Cable ASD-CAEN1003 Connector 1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor Servo Drive Medium inertia Servo Motor Motor Power Cable Cable...
  • Page 352 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive Medium inertia Servo Motor Motor Power Cable Cable ASD-CAPW1203 Encoder Cable ASD-CAEN1003 Connector Servo Drive Medium inertia Servo Motor Motor Power Cable Cable ASD-CAPW2203 Encoder Cable ASD-CAEN1003 Connector Other Accessories Other Accessories (for ASDA-AB series all models) Description 50Pin I/O signal connector (CN1)
  • Page 353 Appendix A Accessories|ASDA-AB Series This page intentionally left blank. A-14 Revision January 2009...

  • Page 354: Circuit Breaker And Fuse Current Values

    Appendix B Molded-case Circuit Breaker, Fuse Current Molded-case Circuit Breaker and Fuse Current Recommended Value Caution: Please use molded-case circuit breaker and fuse which are recognized by and comply with the UL or CSA standards. Servo Drive Model Operation Mode ASD-A0111-AB ASD-A0211-AB ASD-A0411-AB...
  • Page 355 Appendix A Accessories|ASDA-AB Series Installation All electrical equipment, including AC servo drives, will generate high-frequency/low-frequency noise and will interfere with peripheral equipment by radiation or conduction when in operation. By using an EMI filter with correct installation, much of the interference can be eliminated. It is recommended to use Delta’s EMI filter to have the best interference elimination performance.
  • Page 356 Appendix A Accessories|ASDA-AB Series Figure 1 Saddle on both ends Saddle on one end Figure 2 Revision January 2009...
  • Page 357 Appendix A Accessories|ASDA-AB Series Dimensions Delta Part Number: 08TDT1W4S Delta Part Number: 20TDT1W4D Revision January 2009...

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