Page 1 TEL: +7 495 644 3240 P.O. Box 12173, 5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) TEL: 1-919-767-3813 / FAX: 1-919-767-3969 Şerifali Mah. Hendem Cad. Kule Sok. No:16-A 34775 Ümraniye – İstanbul Delta Greentech (Brasil) S/A Mail: Sales.IA.Turkey@deltaww.com...
Page 2 Preface Thank you for purchasing this product. This manual provides information about the ASDA-A3 series servo drive (A3) and the ECM-A3 series servo motor. This manual includes:  Installation and inspection of servo drive and servo motor  Servo structure and wiring diagram ...
Page 3 (PMSM) and to achieve precise positioning. The ASDA-A3 series are used in industrial applications and should be installed in the control box. Servo drives, wires, and motors should all be installed in an environment which complies with the minimum requirement of UL50 Type 1.
Page 4 Operation  Before operating, please change the parameter setting according to the application. If the parameters are not adjusted to the correct values, it may lead to malfunction of the machine or the operation might be out of control.  Before the machine starts to operate, please ensure that the emergency stop can be activated at any time.
Page 5 Failure to comply with the specifications may result in personnel injury. Before applying power, please inspect and ensure that the wiring is correct.  Note: the content of this manual may be revised without prior notice, please download the latest version from Delta's website (http://www.deltaww.com).
Page 6: Table Of Contents
Table of Contents Before Operation Product Overview 1.1 Components of the servo set ·············································································· 1-2 1.2 Model overview ································································································ 1-3 1.2.1 Nameplate information ·················································································· 1-3 1.2.2 Model explanation ························································································ 1-5 1.3 ASDA-A3 servo drive and motor ·········································································· 1-9 1.4 Description of the drive interface ········································································ 1-10 1.4.1 A3-L models ·····························································································...
Page 7 Wiring 3.1 System connection ··························································································· 3-3 3.1.1 Connecting to peripheral devices (connecting to Delta communication type of servo motor) ······························································································· 3-3 3.1.2 Connectors and terminal blocks ······································································ 3-5 3.1.3 Wiring for power supply ················································································· 3-7 3.1.4 UVW connectors for the ASDA-A3 servo drive ·················································· 3-10 3.1.5 Specification for the encoder connector ··························································...
Page 8 3.11.3 Speed control mode ·················································································· 3-61 3.11.4 Torque control mode ················································································· 3-62 3.11.5 Communication mode (CANopen) ································································ 3-63 3.11.6 Communication mode (DMCNET) ································································ 3-64 Trial Operation and Panel Display 4.1 Panel description ····························································································· 4-2 4.2 Parameter setting procedure··············································································· 4-3 4.3 Status display ·································································································· 4-6 4.3.1 Save the setting display ·················································································...
Page 9 5.3.1 Flowchart of Gain adjustment mode ······························································· 5-15 5.3.2 Gain adjustment mode 1 ·············································································· 5-16 5.3.3 Gain adjustment mode 2 ·············································································· 5-16 5.3.4 Gain adjustment mode 3 ·············································································· 5-17 5.3.5 Setting the bandwidth response level (stiffness) ················································ 5-18 5.3.6 Setting the command responsiveness gain (response) ······································· 5-19 5.4 Tuning in manual mode ···················································································...
Page 10 6.5.2 Speed / Torque dual mode ··········································································· 6-32 6.5.3 Torque / Position dual mode ········································································· 6-33 6.6 Others ········································································································· 6-34 6.6.1 Applying the speed limit ··············································································· 6-34 6.6.2 Applying the torque limit ·············································································· 6-34 6.6.3 Analog monitoring ······················································································ 6-35 Description of Motion Control 7.1 PR mode description ·························································································...
Page 11 Parameter Setting Parameter 8.1 Parameter definitions ························································································ 8-2 8.2 List of parameters ···························································································· 8-3 8.3 Parameter descriptions ···················································································· 8-12 P0.xxx Monitoring parameters ·············································································· 8-12 P1.xxx Basic parameters····················································································· 8-27 P2.xxx Extension parameters ··············································································· 8-67 P3.xxx Communication parameters ····································································· 8-102 P4.xxx Diagnosis parameters ············································································· 8-108 P5.xxx Motion control parameters ·······································································...
Page 12 10.3.4 Establish the absolute origin coordinates ····················································· 10-16 10.3.4.1 Establishing the absolute origin coordinates with DI/DO ····························· 10-16 10.3.4.2 Establishing the absolute origin coordinates with parameters ······················· 10-17 10.3.4.3 Establishing the absolute origin coordinates with the PR homing function ······· 10-17 10.3.5 Read the absolute position ·······································································...
Page 13 13.2 Causes and corrective actions ········································································· 13-7 Appendix Specifications A.1 ASDA-A3 series servo drive ·············································································· A-2 A.1.1 Specification of the ASDA-A3 servo drive ························································· A-2 A.1.2 Dimensions of the servo drive ······································································· A-5 A.2 ECM-A3 series servo motor ·············································································· A-7 A.2.1 ECM-A3L low inertia series servo motor ··························································...
Page 14 A.3.2 Torque features (T-N curves) ········································································ A-20 A.3.3 Overload features ······················································································ A-22 A.3.4 Dimensions of ECMC series servo motor ························································ A-24 Accessories B.1 Power connector ····························································································· B-2 B.2 Power cable ··································································································· B-3 B.3 Encoder connector ·························································································· B-6 B.4 Encoder cable (incremental type) ······································································· B-7 B.5 Encoder cable (absolute type) ···········································································...
Page 15 (This page is intentionally left blank.)
Page 16 Product Overview Before using the ASDA-A3 series servo drive, pay attention to the description of the inspection, nameplate, and model type. You can find a suitable motor model for your A3 servo drive in the table in Section 1.3. Components of the servo set ································································ 1-2 Model overview ·················································································...
Page 17: Components Of The Servo Set
Product Overview ASDA-A3 1.1 Components of the servo set A complete servo set includes: (1) A servo drive and a servo motor. (2) A UVW motor power cable: one end of the U, V, and W wires connects to the servo drive and the other end to the motor (optional purchase).
Page 18: Model Overview
ASDA-A3 Product Overview 1.2 Model overview 1.2.1 Nameplate information ASDA-A3 series servo drive  Nameplate information Model name Capacity specification Applicable power supply Rated power output Barcode Firmware version  Serial number...
Page 19 Product Overview ASDA-A3 ECM-A3 series servo motor  Nameplate information Model name Applicable power supply Rated power output Barcode  Serial number ECMC series servo motor  Nameplate information  Serial number (1) Model name CW1010RS 07 0001 (2) Manufacturing plant (T: Taoyuan; W: Wujiang) (2) (3) (3) Year of production (16: year 2016) (4) Week of production (from 1 to 52)
Page 20: Model Explanation
ASDA-A3 Product Overview 1.2.2 Model explanation ASDA-A3 servo drive (1) Product name AC Servo Drive (2) Series (3) Rated power output Code Specification Code Specification Code Specification 100 W 750 W 2.0 kW 200 W 1.0 kW 3.0 kW 400 W 1.5 kW (4) Input voltage and phase 21: 220V, single- / three-phase...
Page 21 Product Overview ASDA-A3 ECM-A3 series servo motor ECM - A 06 04 R (2) (3) (4) (5) (6) (7) (8) (10) (11) (1) Product name ECM: Electronic Communication Motor (2) Servo type A: High precision servo motor (3) Series 3: A3 series (4) Inertia H: high inertia L: low inertia...
Page 22 ASDA-A3 Product Overview (8) Rated power output Code Specification Code Specification 50 W 400 W 100 W 750 W 200 W (9) Shaft type and oil seal w/o brake with brake w/o brake with brake w/o oil seal w/o oil seal with oil seal with oil seal Round shaft...
Page 23 Product Overview ASDA-A3 ECMC series servo motor (1) Product name ECM: Electronic Communication Motor (2) Servo type C: high precision AC servo motor (suitable for CNC applications) (3) Rated voltage and speed C: 220V and 3,000 rpm E: 220V and 2,000 rpm F: 220V and 1,500 rpm (4) Encoder type W: 22-bit absolute encoder (resolution of single turn: 22-bit;...
Page 24: Asda-A3 Servo Drive And Motor
ASDA-A3 Product Overview 1.3 ASDA-A3 servo drive and motor Motor Servo drive Max. Conti- Max. instan- Rated nuous instan- Output Model taneous Series Power Model number current output taneous number output current (Arms) current current (Arms) (Arms) (Arms) □ ECM-A3L-C□ 040F□...
Page 25: Description Of The Drive Interface
Product Overview ASDA-A3 1.4 Description of the drive interface 1.4.1 A3-L models A Top view B Bottom view A Top view B Bottom view Description Description Ground terminal: connects to the ground wire 7-segment display. for the power and servo motor. RST main circuit terminal: connects to a CHARGE: power indicator.
Page 26: A3-M Models
ASDA-A3 Product Overview 1.4.2 A3-M models A Top view B Bottom view B Bottom view A Top view Description Description 7-segment display. CN10 - STO (Safe Torque Off). RST main circuit terminal: connects to a CHARGE: power indicator. three-phase power supply (200 - 230 V 50 / 60 Hz).
Page 27: A3-F Models
Product Overview ASDA-A3 1.4.3 A3-F models A Top view B Bottom view A Top view B Bottom view Description Description Ground terminal: connects to the ground wire 7-segment display. for the power and servo motor. RST main circuit terminal: connects to a CHARGE: power indicator.
Page 28: Installation
Installation Please follow the instructions in this chapter during installation. This chapter includes information about the circuit breaker, fuse, EMI filter selection, and the regenerative resistor. 2.1 Ambient storage conditions ·································································· 2-2 2.2 Ambient installation conditions ······························································ 2-3 2.3 Mounting direction and space ······························································· 2-4 2.4 Safety precautions for using motors ·······················································...
Page 29: Ambient Storage Conditions
Installation ASDA-A3 Precautions: If the connection between the servo drive and servo motor is over 20 meters (65.61 feet), increase the gauge of the UVW connecting wire and the encoder cable. Refer to Section 3.1.6 for the wire specification. 2.1 Ambient storage conditions Before installation, this product must be kept in the shipping carton.
Page 30: Ambient Installation Conditions
ASDA-A3 Installation 2.2 Ambient installation conditions A3 servo drive: the environment should be free of devices that generate excessive heat; no water, vapor, dust, and oily dust; no corrosive and inflammable gas or liquids; no airborne dust or metal particles; and the environment should be solid without vibration and interference of electromagnetic noise.
Page 31: Mounting Direction And Space
Installation ASDA-A3 2.3 Mounting direction and space Precautions:  Mount the servo drive in the correct direction according to the illustration below with the base of the heat sink vertically on the wall. Incorrect mounting direction may result in malfunction. ...
Page 32 ASDA-A3 Installation Heat dissipation requirements In order to have adequate air flow for ventilation, follow the suggested clearances when installing one or more servo drives (refer to the following diagrams). Avoid mounting one servo drive above one another. Keep the bottom of the servo drive clear because the generated heat rises and causes higher temperature for the drives mounted above.
Page 33: Safety Precautions For Using Motors
ASDA-A3 2.4 Safety precautions for using motors The Delta AC servo motor is designed for industrial applications. It is necessary that you fully understand the motor specifications and operation manual. For your safety and correct use, read the manual, specifications, and precautions for the motor carefully before connecting the motor to any equipment.
Page 34 If any odor, noise, smoke, heat, or abnormal vibration occurs during motor operation, stop the motor and turn off the power immediately. Others  Delta servo motors have no user-replaceable parts.  Do not disassemble the motor or change its parts, or it will void the warranty. ...
Page 35: Troubleshooting For The Motor Operation And Status
Installation ASDA-A3 2.4.1 Troubleshooting for the motor operation and status When the servo motor makes abnormal noises: Possible causes Checking methods Handling measures Check if there is any foreign Replace the connecting There is a source of vibration in object, damage, or deformation in component (such as the coupling) the connecting component.
Page 36: Mounting Directions And Precautions For The Servo Motor
ASDA-A3 Installation 2.4.2 Mounting directions and precautions for the servo motor You can install the servo motor horizontally or vertically. Mounting direction Precautions Horizontal If you are using a servo motor with an oil seal, refer to Section 2.4.5 for oil and water prevention measures for the servo motor. Vertical - shaft end up ...
Page 37: Precautions For Using Oil Seal Servo Motors
Installation ASDA-A3 2.4.3 Precautions for using oil seal servo motors This section defines the operating conditions for using the oil seal servo motor: In the operating environment, keep the oil level lower than the oil seal lip. (1) Servo motor; (2) Motor shaft; (3) Gear; (4) Oil; (5) Oil seal lip; (6) Oil seal The oil seal cannot be submerged in the liquid;...
Page 38: Oil And Water Prevention Measures For The Servo Motor
ASDA-A3 Installation (1) The distance is measured at four different positions on the circumference for the centering precision. The difference between the maximum and minimum measurements should be 0.03 mm or less; even within this range, you can make adjustments to increase the centering precision.
Page 39: Measures To Suppress Temperature Increase Of The Servo Motor
Installation ASDA-A3 If oil or water is unavoidable, use oil-resistant cables. Delta does not provide oil-resistant cables. If the motor must be mounted with the shaft end up, do not use it in a machine, gearbox, or other environments where the servo motor may have contact with oil or water.
Page 40: Specifications For The Circuit Breaker And Fuse
ASDA-A3 Installation 2.5 Specifications for the circuit breaker and fuse Servo drive model Circuit breaker Fuse (Class T) ASD-A3-0121- ASD-A3-0221- ASD-A3-0421- ASD-A3-0721- ASD-A3-1021- ASD-A3-1521- ASD-A3-2023- ASD-A3-3023- Note: In the servo drive model column,  represents the model code. Operation mode: general. If the servo drive is equipped with a residual-current device (RCD) for electricity leakage protection, select a circuit breaker with sensitivity of at least 200 mA and with minimum 0.1 sec working time to avoid incorrect operation of the RCD.
Page 41 Installation ASDA-A3 Installation precautions The ferrite ring is commonly used when peripheral devices (such as the controller) are affected by noise from conduction and radiation when the servo motor is in the Servo On state. The parasitic capacitance between the cables in the wiring panel and the ground is typically small, but as the frequency of the signal increases (Servo On state), the resistance of the parasitic capacitance becomes small enough for the common-mode current to flow through.
Page 42: Installation Requirements For Emc
This section illustrates the installation requirements for passing the EMC test. Please note that the EMC rating varies based on the installation structure or wiring. Delta servo products are designed in accordance with the specifications of the EMC test. Refer to the following diagram for the standard installation.
Page 43: Emi Filters
With an EMI filter correctly installed, you can eliminate much of the interference. For better performance, it is recommended to use Delta’s EMI filter for suppressing the interference. Recommended EMI filter...
Page 44 ASDA-A3 Installation Motor cable selection and installation precautions The selection of motor cable (refer to Appendix B Accessories) and installation accuracy determine the performance of the EMI filter. Follow the precautions below: Use a cable that has braided shielding (the effect of double shielding is better). The shield on both ends of the motor cable should be grounded with the shortest cable length and the largest contact area.
Page 45: Selecting The Regenerative Resistor
Installation ASDA-A3 2.8 Selecting the regenerative resistor When the direction of torque is opposite to the direction of rotation, the energy generated returns to the servo drive from the load. This energy is turned into electricity in the capacitance of the DC Bus and thus increases the voltage.
Page 46 ASDA-A3 Installation When the regenerative energy exceeds the capacity of the built-in regenerative resistor, you should use an external regenerative resistor. Pay special attention to the following when using a regenerative resistor: 1. Choose the correct resistance value (P1.052) and capacity (P1.053) for the regenerative resistor;...
Page 47 Installation ASDA-A3 When installing an external regenerative resistor, connect the resistor to P3 and C contacts, and P3 and D contacts are left open. It is recommended that you choose external regenerative resistors of the resistance values specified in the table on page 2-18. For easy calculation of the regenerative resistor capacity, except for the energy consumed by IGBT, there are two ways provided to calculate the capacity according to the selected rotary motor.
Page 48 ASDA-A3 Installation Regenerative energy Maximum generated when the regenerative Rotor inertia Servo drive (kW) Motor motor decelerates from energy of the (× 10 kg.m the rated speed to 0 capacitance without load Eo (joule) Ec (joule) ECMC-E □ 1830 □ □...
Page 49 Installation ASDA-A3 Example: For the motor ECM-A3L-CY0604RS1 (400 W), the reciprocating motion cycle is T = 0.4 sec. Its maximum rotation speed is 3,000 rpm and the load inertia is 15 times of the motor inertia. Regenerative energy Maximum generated when the motor regenerative Servo drive Rotor inertia...
Page 50: The Use Of Braking
ASDA-A3 Installation Example: For a 400 W motor (ECM-A3L-CY0604RS1), and the torque of the external load is +70% of the rated torque (1.27 N-m) with rotation speed up to 3,000 rpm, the required external regenerative 3000×2×π resistor is: 2 × (0.7 × 1.27) × ( ) = 558 W.
Page 51 Installation ASDA-A3 Wiring of the brake: Servo drive Ensure the polarity of diode is correct, or it DOX: (DOX+, DOX-) will damage the drive. X = 1, 2, 3, 4, 5, 6 It is open circuit when the Motor DO1: (7, 6) emergency stop signal is on.
Page 52 This chapter illustrates the power supply circuit, connectors, and wiring for each mode of the ASDA-A3. 配 3.1 System connection ············································································· 3-3 3.1.1 Connecting to peripheral devices (connecting to Delta communication type of servo motor) ······································································ 3-3 3.1.2 Connectors and terminal blocks ······················································· 3-5 3.1.3 Wiring for power supply ·································································· 3-7 3.1.4 UVW connectors for the ASDA-A3 servo drive ··································...
Page 53 Wiring ASDA-A3 3.10.5 Wiring for STO ·········································································· 3-57 3.10.5.1 Not using the STO function ··············································· 3-57 3.10.5.2 Single drive module ························································ 3-57 3.10.5.3 Multiple drive modules ····················································· 3-58 3.11 Standard wiring example ·································································· 3-59 3.11.1 Position (PT) control mode ·························································· 3-59 3.11.2 Position (PR) control mode ··························································...
Page 54: System Connection
ASDA-A3 Wiring 3.1 System connection 3.1.1 Connecting to peripheral devices (connecting to Delta communication type of servo motor) Power 100 W - 1.5 kW Single-/Three-phase 200 - 230V 2 kW - 3 kW Three-phase 200 - 230V No fuse breaker (NFB) It could prevent the instantaneous excessive current caused by short circuit or from damaging the servo drive when power is on / off.
Page 55 Wiring ASDA-A3 Encoder connector (CN2) Position feedback connector (CN5) Power output of motor (UVW) Regeneration resistor Braking resistor (P3 D C) (Optional purchase) Installation safety precautions: 1. Make sure the power and wiring connections between the R, S, T, and L are correct.
Page 56: Connectors And Terminal Blocks
ASDA-A3 Wiring 3.1.2 Connectors and terminal blocks Symbol Name Description Power input for the control Connect to single-phase AC power (refer to the model circuit specification for the proper input voltage). P1, P2 Short-circuit P1 and P2. Power input for the main Connect to three-phase AC power (refer to the model R, S, T circuit...
Page 57 Wiring ASDA-A3 Pay special attention to the following when wiring: 1. When the power is off, do not touch R, S, T and U, V, W since the capacitance inside the servo drive can still contain a dangerously large amount of electric charge. Wait until the charging light is off.
Page 58: Wiring For Power Supply
ASDA-A3 Wiring 3.1.3 Wiring for power supply There are two methods for wiring the power supply: single-phase and three-phase. In the following diagram, Power 1 is normally open, and Power 2 and ALRM_RY_B are normally closed. MC (magnetic contactor) is the power relay and the contact for the main power circuit. ...
Page 59 Wiring ASDA-A3  Wiring method for three-phase power supply (for all series) MCCB Noise filter Power 1 Power 2 ALRM_RY_B Servo drive Motor Note: 24 V MCCB: molded case circuit breaker DO5+ (28) MC: magnetic contactor SPD: surge protection device ALRM_RY Power1: power on Power2: power off...
Page 60 ASDA-A3 Wiring  Connecting multiple servo drives (in series) Using a common DC-BUS can increase the efficiency of the regenerative energy. For instance, while one of the axes is decelerating, the regenerative energy can supply other axes. If you need to connect servo drives of different power levels, only models of similar power levels can be connected;...
Page 61: Uvw Connectors For The Asda-A3 Servo Drive
Wiring ASDA-A3 3.1.4 UVW connectors for the ASDA-A3 servo drive Note: pin assignments of the A3 and A2 models are the same. For easier wiring, A3’s connector illustration (angle of viewing) is changed, which is different from that of A2. Refer to the following table for UVW connector specifications.
Page 62 ASDA-A3 Wiring Motor model UVW connector ECM-A3 □ □ 040F □ □ (50 W) ECM-A3 0401 (100 W) □ □ □ □ ECM-A3 0602 (200 W) □ □ □ □ ECM-A3 □ □ 0604 □ □ (400 W) ECM-A3 □ □...
Page 63: Specification For The Encoder Connector
Wiring ASDA-A3 3.1.5 Specification for the encoder connector Encoder connection (Diagram 1): Quick connector (1) CN2 connector (2) Quick connector (male) Note: the diagram shows the connection between the servo drive and the encoder, and it is not drawn to scale.
Page 64 ASDA-A3 Wiring Specifications and pin assignment for the incremental encoder connector Model name inch ACS3-CAEF1003 3000  50 118  2 ACS3-CAEF1005 5000  50 197  2 ACS3-CAEF1010 10000  100 394  4 ACS3-CAEF1020 20000  100 788  4 White White Reserved...
Page 65 Wiring ASDA-A3 Specification and pin assignment for the absolute encoder connector Model name inch ACS3-CAEB1003 3000  50 118  2 ACS3-CAEB1005 5000  50 197  2 ACS3-CAEB1010 10000  100 394  4 20000  100 788  4 ACS3-CAEB1020 Connection method: Caution Please wire as the following instructions.
Page 66 ASDA-A3 Wiring Encoder connection (Diagram 2): Military connector (1) CN2 connector (2) Military encoder Note: the diagram shows the connection between the servo drive and the encoder, and it is not drawn to scale. The specification is subject to change depending on the selected servo drive and motor models. Motor model Military connector ECMC-F...
Page 67 Wiring ASDA-A3 Connection method: Caution Please wire as the following instructions. Incorrect wiring may cause battery explosion. Battery box Military connector CN2 connector Connect to the Connect to servo drive the motor Pin No. Symbol Color White White / Red BAT+ BAT- Black...
Page 68: Wire Selection
When wiring, use the wires suggested in this section to avoid danger.  No doubling: single wire for one terminal Terminal illustration: Crimping tool (Delta part number: 3150165700): Power cable－wire diameter (AWG) Servo drive and corresponding , R, S, T, P1, P2...
Page 69 Wiring ASDA-A3  Doubling: two wires for one terminal Terminal illustration: Crimping tool (Delta part number: 3150165700): Power cable－wire diameter (AWG) Servo drive and corresponding , R, S, T, P1, P2 servo motor U, V, W P3, C Terminal type /...
Page 70 ASDA-A3 Wiring Encoder cable - wire diameter mm² (AWG) Servo drive model Size Number Specification Standard length ASD-A3-0121 ASD-A3-0221 ASD-A3-0421 L = 3 - 20 m L = 3 - 20 m ASD-A3-0721 (UL2464) (9.84 ft - 65.6 ft) Refer to Note 5. 2C+2P L = 21 - 50 m L = 21 - 50 m...
Page 71: Wiring Diagram For The Servo System
Wiring ASDA-A3 3.2 Wiring diagram for the servo system Models of 400 W and below Connect to the external regenerative resistor Power Single- / Three-phase 200 - 230V Servo motor Varistor Voltage detection Encoder GATE Dynamic Current Voltage DRIVE brake detection detection Control panel...
Page 72 ASDA-A3 Wiring Models of 750 W – 3 kW (with built-in regenerative resistor and fan) Connect to the external regenerative resistor Power 750 W - 1.5 kW models singl e- / three-pha se 200 - 230V 2 kW - 3 kW models three-pha se 200 - 230V Built-in +12V regenerative...
Page 73: Wiring For Cn1 (I/O Signal)
Wiring ASDA-A3 3.3 Wiring for CN1 (I/O signal) 3.3.1 CN1 I/O connector (for A3-L and A3-M series) The ASDA-A3 allows you to define 10 digital input (DI) points and 6 digital output (DO) points to provide highly flexible communication between the servo drive and the controller. For more information, refer to Section 3.3.5.
Page 74 ASDA-A3 Wiring Pin assignment: Signal Description Signal Description Signal Description PULL Analog torque External power DO4+ Digital output T_REF HI_S input input of Sign pulse (Sign) Ground for analog / DO3- Digital output differential output SIGN Position sign (+) signal DO3+ Digital output Not in use...
Page 75: Signal Explanation For Connector Cn1 (For A3-L And A3-M Series)
Wiring ASDA-A3 3.3.2 Signal explanation for connector CN1 (for A3-L and A3-M series) The following table details the signals listed in the previous section. General signals: Wiring method Signal Pin No. Description (refer to Section 3.3.3) (1) When the motor speed command is set to -10V to +10V, it means the rotation speed is -3000 to +3000 rpm (default).
Page 76 ASDA-A3 Wiring There are various operation modes available (refer to Section 6.1) and the I/O configuration differs for each mode. The ASDA-A3 provides user-defined I/O for you to set functions according to the application requirements. See Chapter 8 and refer to Table 8.1 Digital input (DI) descriptions and Table 8.2 Digital output (DO) descriptions.
Page 77 Wiring ASDA-A3 Signal Description Signal Description Signal Description Internal position CTRG TCM0 Torque command 0 TCM1 Torque command 1 command triggered TRQLM Torque limit SPD0 Speed selection 0 SPD1 Speed selection 1 SPDLM Speed limit POS0 Internal position selection 0 POS1 Internal position selection 1 Switch S and P mode...
Page 78: Cn1 I/O Connector (For A3-F Series)
ASDA-A3 Wiring 3.3.3 CN1 I/O connector (for A3-F series) The A3-F allows you to define 7 digital input (DI) points and 4 digital output (DO) points to provide highly flexible communication between the servo drive and the controller. For more information, refer to Section 3.3.5.
Page 79: Signal Explanation For Connector Cn1 (For A3-F Series)
Wiring ASDA-A3 3.3.4 Signal explanation for connector CN1 (for A3-F series) The following table details the signals listed in the previous section. General signals: Wiring method Signal Pin No. Description (refer to Section 3.3.5) Position pulse Encoder signal A, B, and Z output (Line Driver). C9/C10 (output) NPN: COM+ is for DI voltage input and requires...
Page 80 ASDA-A3 Wiring See the following table for the default DO signal of each control mode: DMCNET Wiring method (refer to Section 3.3.5) Signal Description SRDY Servo ready C5/C6 ALRM Alarm reset If the default DI/DO function cannot meet the application requirement, specify the DI/DO functions by setting DI or DO code to the corresponding parameters.
Page 81: Wiring Diagrams (Cn1)
Wiring ASDA-A3 3.3.5 Wiring diagrams (CN1) The valid voltage for the analog speed command and the analog torque command is between -10V and +10V. You can set the command value that corresponds to the voltage range with the relevant parameters. C1: input for speed / torque (force) analog command Controller Servo drive...
Page 82 ASDA-A3 Wiring You can input the Pulse command with the open collector or line driver. The maximum input pulse for the line driver is 4 Mpps and 200 kpps for the open collector. C3-1: the source for the pulse input is open collector NPN type equipment, which uses the external power supply.
Page 83 Wiring ASDA-A3 C4: pulse input (Line driver) can only be used with 2.8V – 3.6V power systems. Do not use it with 24V power. Controller Servo drive Max. pulse input frequency: 4 Mpps 51 Ω SIGN 51 Ω /SIGN Max. pulse input frequency: 4 Mpps 51 Ω...
Page 84 ASDA-A3 Wiring When the drive connects to an inductive load, you must install the diode (permissible current: below 40 mA; surge current: below 100 mA; maximum voltage: 30V). C5: DO wiring - the servo drive uses an external power supply and the resistor is for general load.
Page 85 Wiring ASDA-A3 DI wiring - Input signals by relay or open collector transistor. Conditions of DI On / Off: ON: 15V – 24V; condition: input current = 8 mA. OFF: below 5V; the input current must not be higher than 0.5 mA. C7: NPN transistor (SINK mode) C8: PNP transistor (SOURCE mode) 3-34...
Page 86 ASDA-A3 Wiring C9: output for encoder position signal (Line driver) Max. output current: 20 mA Servo drive Controller AM26C31 type OA (21) /OA (22) 120Ω OB (25) /OB (23) 120Ω OZ (50) /OZ (24) 120Ω Note: 1. A3-F pins: OA (17), /OA (18), OB (19), /OB (20), OZ (21), and /OZ (22). 2.
Page 87 Wiring ASDA-A3 C11: encoder OCZ output (open collector Z pulse output) Note: this is not supported by the A3-F. 3-36...
Page 88: Application: Using The Cn1 Quick Connector For Wiring
The CN1 quick connector (ACS3-IFSC5020) is designed for easy wiring. It can be used with the ASDA-A3 series servo drive and can satisfy the needs of different DI/O applications. It is a good choice if you do not want to solder the wires. Its spring terminal blocks prevent vibration from loosening the wire.
Page 89 Wiring ASDA-A3 Pin assignment for the CN1 quick connector (J2 and J1): 3-38...
Page 90 ASDA-A3 Wiring J2-PIN Signal J1-PIN PULL_HI_P COM+ 2, 4, 6, 26 DI1- DI2- DI3- DI4- DI7- DO1+ DO2+ PULL_HI_S /PULSE PULSE /SIGN SIGN 12, 13, 19, 44 DO4+ DO3+ CN_GND 51, 52 Note: NC represents “No connection”. Wiring example: DO2+ Internal circuit / PULSE DO1+...
Page 91 Wiring ASDA-A3 Wiring for CN1 quick connector and installation: Installation 3-40...
Page 92 ASDA-A3 Wiring Wiring The CN1 quick connector has multiple spring terminals. Determine which terminal is to be wired in advance. Use a flathead screwdriver to press the spring down to open the pin. Insert the stripped wire into the pin. Withdraw the screwdriver to complete the wiring.
Page 93: Wiring For The Cn2 Encoder Connector
Wiring ASDA-A3 3.4 Wiring for the CN2 encoder connector The CN2 encoder signal connector is shown as follows: (1) CN2 connector (female) (2) CN2 connector (male) Quick connector ends: Military connector ends: View from this side View from this side 3-42...
Page 94 ASDA-A3 Wiring CN2 pin assignment: The end that connects to the encoder The end that connects to the servo drive Military Quick Color Pin No. Signal Description connector connector White Serial communication signal (+) White / Red Serial communication signal (-) Brown +5V power supply Blue...
Page 95 Wiring ASDA-A3 (Continued) Step 4: Place the metal case to cover the exposed wire shielding. Make sure the shielding is completely covered to maintain the integrity of the shielding. Step 5: Fasten the other side of the metal case. Step 6: Tighten the screws of the metal case.
Page 96: Wiring For The Cn3 Connector (Rs-485 / High Speed Communication)
ASDA-A3 Wiring 3.5 Wiring for the CN3 connector (RS-485 / high-speed communication) When the servo drive is connected to the PC via CN3, you can operate the servo drive, PLC, or HMI through MODBUS using the assembly language. The CN3 connector supports two commonly used communication interfaces, RS-485 and CAN.
Page 97 Wiring ASDA-A3 Connecting multiple servo drives: (1) Connect to the controller / PLC (2) Modbus connector (3) Wiring for CAN / RS-485 terminal resistor Note: This supports up to 32 axes via RS-485 with the CANopen cable length up to 30 m (98.43 ft). The communication quality and the connectable axes are determined by the controller’s specifications, quality of wires, grounding, interference, and whether a shielded twisted-pair cable is used.
Page 98: Cn4 Serial Connector (Mini Usb)
This is a Type B Mini USB that is compatible with the USB 2.0 specification. Note: when there is high interference during operation, it is suggested that you install the USB isolator. (Delta part number: UC-ADP01-A) (1) USB connector (female) (2) USB connector (male)
Page 99: Cn5 Connector (For Machine Position Feedback, Applicable To Full-Closed Loop)
Wiring ASDA-A3 3.7 CN5 connector (for machine position feedback, applicable to full-closed loop) The CN5 connects to the external linear scale or the encoder (A, B, and Z) and forms a full-closed loop with the servo system. (1) CN5 connector (female) (2) CN5 connector (male) Pin assignment: Pin No.
Page 100: Cn6 Connector
Delta’s DMCNET system. You can set the station number of DMCNET with P3.000. Its maximum transmission rate is 20 Mbps.
Page 101 ASDA-A3 Connecting multiple servo drives: (1) Connection to the controller / motion control card (2) DMCNET terminal resistor (Delta part number: ASD-TR-DM0008) Note: This supports up to 12 axes with the cable length up to 30 m (98.43 ft). It is suggested to use a terminal resistor of 120Ω (Ohm) and 0.5 W (or more).
Page 102: Cn10 Sto Connector (Safe Torque Off )
ASDA-A3 Wiring 3.9 CN10 STO connector (Safe torque off ) This connector provides the STO function. More details are provided in the next section. Note: 1. The STO function is supported by the A3-M only. 2. STO certification application is in progress. (1) CN10 STO connector (female) (2) CN10 quick connector (male) Pin assignment: Pin No.
Page 103: Sto Function (Safe Torque Off)
After the STO function is enabled, the motor is no longer controlled by the servo motor. Thus, take all the potential danger resulted from enabling the STO function into consideration. Delta is not liable for mechanical damage and personnel injury if you fail to observe the following instructions: 1.
Page 104: Specifications Of Sto
ASDA-A3 Wiring 3.10.3 Specifications of STO The ASDA-A3 series servo drive conforms to the following safety specifications: Item Description Standard Safety data Channel1: 80.08% Safe failure fraction IEC61508 Channel2: 68.91% Hardware fault tolerance IEC61508 (Type A subsystem) IEC61508 SIL2 Safety integrity level...
Page 105: How Does The Sto Function Work
Wiring ASDA-A3 3.10.4 How does the STO function work? The STO function controls the motor current by two individual circuits. It cuts off the power supply to the motor when needed, after which the motor is free from torque force. When an STO alarm occurs, determine the alarm type according to the pin status of the feedback monitor signal (FDBK).
Page 106 ASDA-A3 Wiring AL500: see the following diagram. When the motor runs normally, but both STO_A and STO_B signals are low for 10 ms at the same time, the firmware disables the drive (Servo Off) and triggers AL500. STO_A STO_B 10 ms Firmware detection of STO not active...
Page 107: Deactivation Status
Wiring ASDA-A3 3.10.4.2 Deactivation status When both safety signal sources switch back to high, the alarm will not be cleared automatically. Of all the STO alarms, only AL500 can be cleared with DI_ARST. STO_A STO_B Max. 10 ms Close Open FDBK AL500 ARST...
Page 108: Wiring For Sto
ASDA-A3 Wiring 3.10.5 Wiring for STO 3.10.5.1 Not using the STO function You can short-circuit the connector or plug in the short-circuit connector that comes with the servo drive. Reserved Reserved STO_A / STO_A STO_B / STO_B FDBK+ FDBK- 3.10.5.2 Single drive module To use a safety relay to trigger the STO function, connect the wiring as shown in the following diagram: Reserved...
Page 109: Multiple Drive Modules
Wiring ASDA-A3 3.10.5.3 Multiple drive modules In the multiple drive modules system, after multiplying PFD and PFH by the number of drives, the value must not exceed the specified safety value. Reserved Reserved STO_A 24V DC / STO_A STO_B / STO_B FDBK+ ESTOP FDBK-...
Page 110: Standard Wiring Example
ASDA-A3 Wiring 3.11 Standard wiring example 3.11.1 Position (PT) control mode Servo drive MCCB ASDA -A3 series AC 200 / 230V ＊3 ＊ 6 Three-phase Regenerative 50 / 60 Hz resistor Power White supply Black BRKR EMGS Gre en Brake ＊4 Encoder /SIGN...
Page 111: Position (Pr) Control Mode
Wiring ASDA-A3 3.11.2 Position (PR) control mode Servo drive MCCB ASDA -A3 series AC 200 / 230V ＊2 ＊ 5 Three-phase Regenerative 50 / 60 Hz resistor Power White supply Black BRKR EMGS Gre en Bra ke ＊ 3 Encode r 1.2 KΩ...
Page 112: Speed Control Mode
ASDA-A3 Wiring 3.11.3 Speed control mode Servo drive MCCB ASDA -A3 series AC 200 / 230V ＊2 ＊ 5 Three-phase Regen erative resistor 50 / 60 Hz Power White supply Black BRKR EMGS Gre en Bra ke ＊ 3 Encode r 1.2 KΩ...
Page 113: Torque Control Mode
Wiring ASDA-A3 3.11.4 Torque control mode Servo drive MCCB ASDA -A3 series AC 200 / 230V ＊3 Three-phase 50 / 60 Hz Regenerative resistor Power White supply Black BRKR EMGS Gre en Bra ke ＊ 4 Encode r SIGN /SIGN SIGN SIGN Pulse input...
Page 114: Communication Mode (Canopen)
ASDA-A3 Wiring 3.11.5 Communication mode (CANopen) Servo drive MCCB ASDA -A3 series ＊2 AC 200 / 230 V ＊5 Three-phase Regenerative resistor 50 / 60Hz Power White supply Black BRKR EMGS Gre en Brake ＊3 Encoder COM+ ＊1 4.7 K Ω Reserved Reserved 4.7 KΩ...
Page 115: Communication Mode (Dmcnet)
Wiring ASDA-A3 3.11.6 Communication mode (DMCNET) Servo drive MCCB ASDA -A3 series AC 200/ 230 V ＊ 2 ＊ 5 Three-phase Regenerative resistor 50 / 60Hz Power White supply Black BRKR EMGS Gre en Brake ＊ 3 Encoder COM+ ＊ 1 Reserved 4.7 K Ω...
Page 116 Test Operation and Panel Display This chapter describes the panel display of ASDA-A3 series servo drive, as well as its operation and testing. 4.1 Panel description ··············································································· 4-2 4.2 Parameter setting procedure ································································ 4-3 4.3 Status display ··················································································· 4-6 4.3.1 Save the setting display ································································ 4-6 4.3.2 Display the decimal point ······························································...
Page 117: Panel Description
Test Operation and Panel Display ASDA-A3 4.1 Panel description Display: 5-digit, 7-segment LED displays the monitoring values, parameters, and setting values. MODE key: switches the display among Monitoring mode, Parameter mode, and Alarm mode. In Editing mode, press the MODE key to switch back to Parameter mode. UP key: changes monitoring code, parameter number, and value.
Page 118: Parameter Setting Procedure
ASDA-A3 Test Operation and Panel Display 4.2 Parameter setting procedure Switching modes: Power On Monitoring Refer to Chapter 8. mode Parameter Refer to Chapter 8 for parameters. mode 1. If no alarm occurs, Alarm mode is skipped. 2. When a new alarm occurs, it switches to Alarm mode from any other mode.
Page 119 Test Operation and Panel Display ASDA-A3 Parameter mode Parameter mode Monitoring parameter P0 Basic parameter Extension parameter P2 Communication parameter P3 Diagnosis parameter P4 Motion control parameter P5 PR parameter PR parameter Monitoring mode...
Page 120 ASDA-A3 Test Operation and Panel Display Editing mode Parameter mode Editing mode ‧‧‧ Display parameter After saving the setting value parameter setting value, it automatically returns to Parameter mode. ‧‧‧ After saving the parameter setting value, it automatically returns to Parameter mode. ‧‧‧...
Page 121: Status Display
Test Operation and Panel Display ASDA-A3 4.3 Status display 4.3.1 Save the setting display When you complete the parameter setting, press the SET key to save the parameters. The panel displays the status for one second. Displayed symbol Description Correctly saved the setting value (Saved). Read-only and write-protected parameter (Read-only).
Page 122: Alarm Messages
ASDA-A3 Test Operation and Panel Display 4.3.3 Alarm messages Displayed symbol Description When an alarm occurs, the servo drive shows ‘AL’ as the alarm symbol and ‘nnn’ as the alarm code. Refer to Chapter 8 Parameters for a detailed description of P0.001 or Chapter 13 Troubleshooting for alarm details.
Page 123 Test Operation and Panel Display ASDA-A3 P0.002 Monitoring displayed Description Unit setting value symbol Speed command [Volt] Speed command [rpm] Torque command [Volt] Torque command Average torque Peak torque Main circuit voltage [Volt] Load / motor inertia ratio [1 times] Note: if it shows 13.0, it means the actual inertia is 13.
Page 124 ASDA-A3 Test Operation and Panel Display P0.002 Monitoring displayed Description Unit setting value symbol Monitoring variable #3: shows the content of parameter P0.011 (specify the monitoring variable code by P0.019) Monitoring variable #4: shows the content of parameter P0.012 (specify the monitoring variable code by P0.020) The following table shows the panel display of 16-bit and 32-bit values: Example of Description...
Page 125: General Functions
Test Operation and Panel Display ASDA-A3 4.4 General functions 4.4.1 Operation of fault record display In Parameter mode, select P4.000 – P4.004 and press the SET key to show the corresponding fault record. The 1 recent error The 2 recent error The 3 recent...
Page 126: Force Do On
ASDA-A3 Test Operation and Panel Display 4.4.2 Force DO on You can switch to the Diagnosis mode by the following steps. Set P2.008 to 406 and enable the function to force DO on. Then, set the DO by binary method with P4.006. When the parameter value is 2, it forces DO2 on.
Page 127: Digital Input Diagnosis Operation
Test Operation and Panel Display ASDA-A3 4.4.3 Digital input diagnosis operation You can switch to the Diagnosis mode by the following steps. When DI1 – DI10 are triggered by the external signal, the panel shows the corresponding signal in bit. When it shows 1, it means the DI is on.
Page 128: Testing
Protect the encoder cable from excessive stress. When the motor is running, make sure the cable is not worn or stretched.  Contact Delta if the servo motor vibrates or makes unusual noise during operation.  Make sure the settings for the parameters are correct. Different machinery has different characteristics.
Page 129: Apply Power To A3 Servo Drive
Test Operation and Panel Display ASDA-A3 4.5.2 Apply power to A3 servo drive Follow the instructions below. 1. Make sure the wiring between the motor and servo drive is correct: (1) U, V, W, and FG have to connect to the red, white, black, and green wires respectively. If the wiring is incorrect, the motor cannot work properly.
Page 130 ASDA-A3 Test Operation and Panel Display  When the screen displays: Overvoltage warning: This means the voltage input from the main circuit is higher than the rated range or a power input error has occurred (incorrect power system). Corrective action: Use the voltmeter to measure the input voltage from the main circuit, and ensure it is within the rated range.
Page 131 Test Operation and Panel Display ASDA-A3  When the screen displays: Emergency stop warning: Check if any of the digital inputs DI1 – DI10 are set to emergency stop (EMGS). Corrective action: If you do not want to set the emergency stop (EMGS) as one of the digital inputs, make sure none of the digital inputs DI1 –...
Page 132 ASDA-A3 Test Operation and Panel Display  When the screen displays: Positive limit error warning: Check if any of the digital inputs DI1 – DI10 are set to positive limit (PL) and that DI is not Corrective action: If you do not want to set the positive limit (PL) as one of the digital inputs, make sure none of the digital inputs DI1 - DI10 are set to positive limit (PL) (make sure that none of the parameters, P2.010 –...
Page 133 Test Operation and Panel Display ASDA-A3  When the screen displays: Undervoltage warning. Corrective action: Check if the main circuit wiring is correct. Use a voltmeter to make sure that the main circuit voltage is normal. Use the voltmeter to measure if the power system complies with the specifications. Note: during power on or in the Servo On state (without issuing any commands), if an alarm occurs or any abnormal display appears, please contact the distributors.
Page 134: Jog Trial Run Without Load
ASDA-A3 Test Operation and Panel Display 4.5.3 JOG trial run without load It is easy to test the motor and servo drive using a JOG trial run without load since no extra wiring is needed. For safety reasons, it is recommended to set JOG at low speed. Follow the steps below: Step 1: JOG trial run is available only when the servo drive is in the Servo On state.
Page 135 Test Operation and Panel Display ASDA-A3 The following shows the JOG timing diagram: 4-20...
Page 136: Trial Run Without Load (Speed Mode)
(DI8) functions. Thus, parameters P2.015 – P2.017 and P2.036 – P2.040 are set to 0 (disabled); you can program the digital inputs of Delta’s servo drive. When programming the digital inputs for the servo drive, refer to the DI code descriptions.
Page 137 Test Operation and Panel Display ASDA-A3 The Speed command selection is determined by SPD0 and SPD1. See the table below. CN1 DI signal Speed command Command Content Range number source SPD1 SPD0 External Voltage difference between analog -10V to +10V V-REF and GND command P1.009...
Page 138: Trial Run Without Load (Position Mode)
(DI8) functions. Thus, parameters P2.015 – P2.017 and P2.036 – P2.040 are set to 0 (disabled); you can program the digital inputs of Delta’s servo drive. When programming the digital inputs for the servo drive, refer to the DI code descriptions.
Page 139 Test Operation and Panel Display ASDA-A3 Refer to Section 3.10.2 for the wiring for Position (PR) control mode. Please see the table below for the 99 sets for PR and the Position commands (POS0 – POS6): Position Corresponding POS6 POS5 POS4 POS3 POS2...
Page 140: Tuning
Tuning This chapter contains information about the auto tuning procedure and the three gain adjustment modes. Advanced users can also tune the servo system using the manual mode. 5.1 Tuning procedure and the applied mode ················································· 5-2 5.1.1 Flowchart of the tuning procedure ··················································· 5-2 5.1.2 Tuning modes ·············································································...
Page 141: Tuning Procedure And The Applied Mode
Tuning ASDA-A3 5.1 Tuning procedure and the applied mode 5.1.1 Flowchart of the tuning procedure You can tune the servo drive by following the flowchart below. First, start from the Auto Tuning mode. If you are not satisfied with the system’s performance, you can use Gain adjustment modes 1, 2, 3, or Manual mode for tuning the servo system.
Page 142: Tuning Modes
ASDA-A3 Tuning 5.1.2 Tuning modes P2.032 Parameter setting Adjustment mode Inertia estimation Manual Auto value P1.037, P2.000, P2.004, P2.006, P2.023, P2.024, Fixed set value of P2.025, P2.043, Manual P1.037 P2.044, P2.045, P2.046, P2.049, P2.089, P2.098, P2.099, P2.101, P2.102 P1.037, P2.000, P2.004, P2.006, P2.023, P2.024, P2.025, P2.043,...
Page 143: Auto Tuning
Tuning ASDA-A3 5.2 Auto tuning The Auto Tuning function provided by the ASDA-A3 enables the system to perform real-time machine inertia estimation and upload the corresponding tuning parameters to the servo drive. You can start auto tuning with ASDA-Soft (software) or with the drive panel. The following table lists the parameters that change according to the results of auto tuning.
Page 144: Flowchart Of Auto Tuning
ASDA-A3 Tuning 5.2.1 Flowchart of auto tuning You can complete auto tuning with the drive panel or ASDA-Soft. The Auto Tuning function in the A3 servo drive helps you to find the most suitable parameters for your system according to the machine characteristics.
Page 145: Auto Tuning Through The Drive Panel
Tuning ASDA-A3 5.2.2 Auto tuning through the drive panel With the tuning procedure below, you can complete auto tuning with the drive panel. Make sure the emergency stop, positive and negative limit switches work properly before you start to tune the system.
Page 146: Auto Tuning With Asda-Soft (Software)
Instead of using the drive panel, you can use ASDA-Soft to complete auto tuning. Please go to Delta’s website (http://www.deltaww.com/) to download ADSA-Soft for free. Install the software and open the executable file (.exe), then you can see the screen shown below.
Page 147 Tuning ASDA-A3 There are two types of auto-tuning procedure, one using the host controller and the other using the servo drive. Both procedures are described below. Auto-tuning with the host controller: the host controller sends the commands to drive the ...
Page 148 ASDA-A3 Tuning Step 2: Click Controller: Motion Command From Controller and make sure the motion / machining path is set correctly. Suggestions: you should set the motor to operate at least one cycle in both forward and backward directions. The delay time for reaching the positions in both forward and backward directions should not be less than 1,000 ms with the running speed no less than 500 rpm.
Page 149 Tuning ASDA-A3 Wait until the tuning progress bar reaches 100%, after which a window with “Auto tuning completed” appears. Click OK to continue. The screen shows a table comparing the parameters before and after being changed by auto tuning. Click Update to complete auto tuning. 5-10...
Page 150 ASDA-A3 Tuning  Auto-tuning with the servo drive: the servo drive sends the commands to drive the motor. Step 1: When the computer is connected to the servo drive, the program window appears as below. Click Auto Tuning from the Function List tree view. Step 2: Click Drive: Motion Command From Drive to start the Auto Tuning procedure.
Page 151 Tuning ASDA-A3 After you set the motor’s running path, you can use the Left or Right button to run the motor to Position 1 and Position 2. Then, click Start Moving to run between two positions. The motor moves to Position 1 and Position 2 in the forward and backward directions. Before running the motor, make sure no one is standing close to the machinery.
Page 152 ASDA-A3 Tuning The screen shows a table comparing the parameters before and after being changed by auto tuning. Click Update to complete auto tuning. 5-13...
Page 153: Alarms Related To Auto Tuning
Tuning ASDA-A3 5.2.4 Alarms related to auto tuning In Auto Tuning mode, it is vital that you program the command path, including the operation cycle (such as acceleration, constant speed, and deceleration) and dwell time. See the figure below. When any of the settings is incorrect, the servo drive stops and displays an alarm. Please check the alarm causes and take corrective actions.
Page 154: Tuning Mode
ASDA-A3 Tuning 5.3 Tuning mode Apart from the Auto Tuning function described above, there are three other tuning modes you can use to fine tune the system. You can then easily complete tuning by increasing or decreasing the bandwidth response level (P2.031). Follow the tuning procedure in Section 5.1. 5.3.1 Flowchart of Gain adjustment mode Start Adjustment mode 1...
Page 155: Gain Adjustment Mode 1
Tuning ASDA-A3 5.3.2 Gain adjustment mode 1 In this mode, the servo drive continues to estimate the machine inertia and updates the value of parameter P1.037. P2.032 Parameter setting Adjustment mode Inertia estimation Manual Auto value P1.037, P2.000, P2.004, P2.006, P2.023, P2.024, P2.025, P2.043, Gain adjustment...
Page 156: Gain Adjustment Mode 3
ASDA-A3 Tuning 5.3.4 Gain adjustment mode 3 If Gain adjustment modes 1 and 2 cannot meet your need, you can try Gain adjustment mode 3 to tune the servo system. Parameter P2.089 (Command response gain) is available in this mode. You can increase the gain value to shorten the response and settling time for the position command.
Page 157: Setting The Bandwidth Response Level (Stiffness)
Tuning ASDA-A3 5.3.5 Setting the bandwidth response level (stiffness) You can use parameter P2.031 to tune the servo system in an easier and user-friendly way. With the fixed inertia ratio, when you increase the bandwidth level (P2.031), the servo’s bandwidth increases as well. If resonance occurs, lower the parameter value by one or two bandwidth levels (you should adjust the bandwidth level according to the actual situation).
Page 158 ASDA-A3 Tuning 5.3.6 Setting the command response gain (response) You can use parameter P2.089 to adjust the response. Increasing the gain can minimize the deviation between the position command and command response in the intermittent duty zone. Before adjusting the value of P2.089, first enable the two dimensional control function (set P2.094 to 0x1000).
Page 159: Tuning In Manual Mode
Tuning ASDA-A3 5.4 Tuning in manual mode The selection of the position or speed response bandwidth should be determined by the machine stiffness and the application. Generally, for applications or machines that require high-speed positioning and high precision, higher response bandwidth is required. However, increasing the response bandwidth might cause mechanical resonance.
Page 160 ASDA-A3 Tuning  Low-pass filter for resonance suppression (NLP, parameter P2.025) A high inertia ratio reduces the response bandwidth of the speed loop. Therefore, you must increase the KVP value to maintain the response bandwidth. Increasing the KVP value might cause sound due to mechanical resonance. Please use this parameter to eliminate the noise from resonance.
Page 161: Mechanical Resonance Suppression
Tuning ASDA-A3 5.5 Mechanical resonance suppression Five sets of notch filters are provided to suppress mechanical resonances. You can set all five to auto resonance suppression with parameter P2.047 or manually set the resonance suppression with ASDA-Soft. See the following flowchart of manual adjustment. Use the analytic tool provided by ASDA-Soft to display the point of resonance.
Page 162: Operation Mode
Operation Mode This chapter describes the operation of each control mode, including gain adjustment and filters. For Position mode, you use the external pulse and commands from the internal registers. For Speed mode and Torque mode, apart from the commands from the internal registers, you can also control the servo drive by the analog voltage input.
Page 163 Operation Mode ASDA-A3 6.5.2 Speed / Torque dual mode ·························································· 6-32 6.5.3 Torque / Position dual mode ························································ 6-33 6.6 Others··························································································· 6-34 6.6.1 Applying the speed limit ····························································· 6-34 6.6.2 Applying the torque limit ····························································· 6-34 6.6.3 Analog monitoring ····································································· 6-35...
Page 164: Selecting The Operation Mode
ASDA-A3 Operation Mode 6.1 Selecting the operation mode This servo drive provides three basic operation modes: Position, Speed, and Torque. The available communication modes are CANopen, DMCNET, and EtherCAT. For the basic operation mode, you can choose from Single mode, Dual mode, and Multi-mode. The following table lists all the available modes.
Page 165 Operation Mode ASDA-A3 (Continued) Mode Short name Code Description PT-PR-S You can switch PT, PR, and S modes with DI signals. Multi-mode PT-PR-T You can switch PT, PR, and T modes with DI signals. Here are the steps to switch the operation mode: 1.
Page 166: Position Mode
ASDA-A3 Operation Mode 6.2 Position mode Two input modes for position control are available on the ASDA-A3: external pulse (PT mode) and internal register (PR mode). In PT mode, the ASDA-A3 servo drive receives the pulse command for direction (motor runs forward or reverse). You can control the rotation angle of the motor with the input pulse.
Page 167: Control Structure Of Position Mode
Operation Mode ASDA-A3 Status of POS0 – POS6: 0 means that DI is off (the circuit is open); 1 means that DI is on (the circuit is closed). CTRG : this indicates the moment that DI is switched from off to on. There are many applications for both absolute type and incremental type registers.
Page 168: S-Curve Filter (Position)
ASDA-A3 Operation Mode For better control, the pulse signals are processed by the Position command processing unit. The structure is shown in the diagram below. Position command processing unit Command selection GNUM0, GNUM1 P1.001 Command Acc. / Target Delay time POS0 - POS6 source Dec.
Page 169 Operation Mode ASDA-A3 Position Time (ms) Speed Rated speed Time (ms) Torque Time (ms) AC0 - 15 P1.036 P1.036 AC0 - 15 P1.036 P1.036 Position and S-curve speed and time setting (incremental position command) Position Time (ms) Speed Time (ms) Rated speed Torque...
Page 170: Electronic Gear Ratio (E-Gear Ratio)
ASDA-A3 Operation Mode 6.2.5 Electronic gear ratio (E-Gear ratio) The resolution of ASDA-A3 is 24 bits, which means that it generates 16777216 pulses per motor rotation. Regardless of the encoder resolution (17-bit, 20-bit, or 22-bit), the E-Gear ratio is set according to the 24-bit resolution of ASDA-A3 servo drive.
Page 171: Low-Pass Filter
Operation Mode ASDA-A3 6.2.6 Low-pass filter Refer to Chapter 8 for detailed descriptions of the relevant parameter. Parameter Function P1.008 Position command smoothing constant (low-pass filter) 6.2.7 Timing diagram of PR mode In PR mode, the Position command is issued with the DI signals (POS0 – POS6 and CTRG) for CN1.
Page 172: Gain Adjustment Of The Position Loop
ASDA-A3 Operation Mode 6.2.8 Gain adjustment of the position loop There are two types of gain adjustment for the position loop: auto and manual.  Auto adjustment: The ASDA-A3 servo drive provides an Auto Tuning function that allows you to easily complete the gain adjustment.
Page 173 Operation Mode ASDA-A3 Position control unit Position feed forward Position feed gain smoothing forward gain Differentiator constant P2.002 P2.003 Position Position Maximum control gain command speed limit P2.000 P1.055 Position control gain rate of change Gain switching P2.001 P2.027 Speed command Position Encoder...
Page 174: Low-Frequency Vibration Suppression In Position Mode
ASDA-A3 Operation Mode 6.2.9 Low-frequency vibration suppression in Position mode If the machine is too flexible, vibration persists even when the motor stops after executing the positioning command. The low-frequency vibration suppression function can reduce the machine vibration. The suppression range is between 1.0 Hz and 100.0 Hz. Both auto and manual functions are available.
Page 175 Operation Mode ASDA-A3 Note: 1. When the values of P1.026 and P1.028 are both 0, it means that the frequency cannot be found, probably because the detection level is set too high so that the low-frequency vibration is not detected. 2.
Page 176: Speed Mode
ASDA-A3 Operation Mode 6.3 Speed mode There are two kinds of command sources: analog input and internal register (parameters). The Analog command controls the motor speed by scaled external voltage input. The command register input controls the speed in two ways. The first is to set different speed values in three command registers and then switch the speed by using DI.SPD0 and DI.SPD1 for CN1.
Page 177: Control Structure Of Speed Mode
Operation Mode ASDA-A3  The parameter setting range (internal register) is -60000 to +60000. Rotation speed = setting value x unit (0.1 rpm). For example, if P1.009 = +30000, then rotation speed = +30000 x 0.1 rpm = +3000 rpm You can use the Speed command in Speed mode (S or Sz) as well as in Torque mode (T or Tz) to set the speed limit.
Page 178: Smooth Speed Command
ASDA-A3 Operation Mode 6.3.3 Smooth Speed command S-curve filter During the process of acceleration or deceleration, the S-curve filter uses the three-stage acceleration curve and creates a smoother motion trajectory. It avoids jerk (rapid change of acceleration), resonance, and noise caused by abrupt speed variation. You can use the S-curve acceleration constant (TACC) to adjust the slope of the change in acceleration;...
Page 179 Operation Mode ASDA-A3 Analog Speed command filter The Analog Speed command filter helps to stabilize the motor operation when the analog input signal (speed) changes rapidly. (1) Analog Speed command; (2) Motor speed The Analog Speed command filter smoothes the analog input signal. Its time program is the same as the S-curve filter at normal speed.
Page 180: Scaling Of The Analog Command
ASDA-A3 Operation Mode 6.3.4 Scaling of the analog command In Analog mode, you control the motor’s Speed command by the analog voltage difference between V_REF and VGND. Use parameter P1.040 (maximum rotation speed for Analog Speed command) to adjust the slope of the speed change and its range. Speed command 6000 rpm P1.040 = 6000...
Page 181: Timing Diagram Of Speed Mode
Operation Mode ASDA-A3 6.3.5 Timing diagram of Speed mode Internal register External analog voltage or 0 SPD 0 External SPD 1 Note: “off” means that DI is off (the circuit is open); “on” means that DI is on (the circuit is closed). When it is in Sz mode, the Speed command S1 = 0;...
Page 182: Gain Adjustment Of The Speed Loop
ASDA-A3 Operation Mode 6.3.6 Gain adjustment of the speed loop The structure of the speed control unit is shown in the following diagram: Speed control unit Speed feed forward gain Differentiator System inertia J P2.007 (1+P1.037)*JM Speed control gain P2.004 Integrator Gain Load inertia...
Page 183 Operation Mode ASDA-A3 Theoretically, a stepping response can be used to explain proportional gain (KVP), integral gain (KVI), and feed forward gain (KVF). Here, the time domain is used to illustrate the basic principle. Time domain The higher the KVP value, the larger the bandwidth.
Page 184: Resonance Suppression Unit
ASDA-A3 Operation Mode 6.3.7 Resonance suppression unit When resonance occurs, it is probably because the stiffness of the control system is too high or the response bandwidth is too great. Eliminating these two factors can improve the situation. In addition, you can use the low-pass filter (parameter P2.025) and Notch filter (parameters P2.023, P2.024, P2.043 –...
Page 185 Operation Mode ASDA-A3 The ASDA-A3 provides two types of resonance suppression: one is the Notch filter and the other is the low-pass filter. See the following diagrams for the results of using these filters. System open-loop gain with resonance:  Notch filter (1) Resonance point;...
Page 186 ASDA-A3 Operation Mode System open-loop gain with resonance: If you increase the value of P2.025 from 0, the bandwidth (BW) becomes smaller. Although it solves the problem of the resonance frequency, it also reduces the response bandwidth and phase margin. If you know the resonance frequency, the Notch filter can eliminate the resonance directly.
Page 187: Torque Mode
Operation Mode ASDA-A3 6.4 Torque mode Torque control mode (T or Tz) is suitable for torque control applications, such as printing machines and winding machines. There are two kinds of command sources: analog input and internal register (parameters). The analog command input uses scaled external voltage to control the torque of the motor while the register uses the internal parameters (P1.012 –...
Page 188: Control Structure Of Torque Mode
ASDA-A3 Operation Mode 6.4.2 Control structure of Torque mode The basic control structure is shown in the following flowchart: Output torque Torque Resonance Current control command Motor suppression unit unit processing unit Current sensor The Torque command processing unit selects the command source (see Section 6.4.1), including the scaling parameter (P1.041) for rotation speed and S-curve parameter for smoothing the torque.
Page 189: Smooth Torque Command
Operation Mode ASDA-A3 6.4.3 Smooth Torque command Refer to Chapter 8 for detailed descriptions of the relevant parameter. Parameter Function P1.007 Torque command smoothing constant (low-pass filter) 6.4.4 Scaling of the analog command The Torque command is controlled by the analog voltage difference between T_REF and GND. You can adjust the torque slope and its range with parameter P1.041.
Page 190: Timing Diagram Of Torque Mode
ASDA-A3 Operation Mode 6.4.5 Timing diagram of Torque mode Note: “off” means that DI is off (the circuit is open); “on” means that DI is off (the circuit is closed). When in Tz mode, the Torque command T1 = 0; when in T mode, the Torque command T1 is the external analog voltage input.
Page 191: Dual Mode
Operation Mode ASDA-A3 6.5 Dual mode Apart from the single mode for position, speed, and torque, there are also eight dual / multiple modes available for operation (see Section 6.1). Short Mode Code Description name PT-S PT and S can be switched with DI signal, S_P. PT-T PT and T can be switched with DI signal, T_P.
Page 192: Speed / Position Dual Mode
ASDA-A3 Operation Mode 6.5.1 Speed / Position dual mode PT-S and PR-S are available in Speed / Position dual mode. The command source for PT-S comes from the external pulse while the source for PR-S comes from the internal parameters (P6.000 –...
Page 193: Speed / Torque Dual Mode
Operation Mode ASDA-A3 6.5.2 Speed / Torque dual mode Speed / Torque dual mode includes only the S-T mode. You control the Speed command with the external analog voltage and the internal parameters (P1.009 – P1.011), which you select with DI.SPD0 –...
Page 194: Torque / Position Dual Mode
ASDA-A3 Operation Mode 6.5.3 Torque / Position dual mode Torque / Position dual mode includes PT-T and PR-T. The command source for PT-T comes from the external pulse while the source for PR-T comes from internal parameters (P6.000 – P7.027). You control the Torque command with the external analog voltage or the internal parameters (P1.012 –...
Page 195: Others
Operation Mode ASDA-A3 6.6 Others 6.6.1 Applying the speed limit The maximum speed in each mode (Position, Speed, Torque) is determined by the internal parameter (P1.055). You use the same method for the Speed Limit and Speed commands. You can use either the external analog voltage or the internal parameters (P1.009 – P1.011). Refer to Section 6.3.1 for descriptions.
Page 196: Analog Monitoring
ASDA-A3 Operation Mode 6.6.3 Analog monitoring You can find the required voltage signal with analog monitoring. Two analog channels are provided by the servo drive and located on terminals 15 and 16 of CN1. Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P0.003...
Page 197 Operation Mode ASDA-A3 Voltage drift: When voltage drift occurs, the voltage level defined as zero voltage is different from the set zero point. To fix this problem, you can use DOF1 (P4.020) and DOF2 (P4.021) to calibrate the offset voltage output. The voltage level for analog monitoring output is ±8V. If the output voltage exceeds the range, it is limited within ±8V.
Page 198 Motion Control This chapter introduces internal motion commands in the ASDA-A3 in PR mode. In this mode, commands are generated based on the internal command of the servo drive. Various motion commands are available, including Homing, Speed, Position, Write, arithmetic operation, and Jump. Other motion control functions such as high-speed position capture (Capture), high-speed position compare (Compare) and E-Cam are also available.
Page 199 Motion Control ASDA-A3 7.3.8 Flying Shear ············································································· 7-134 7.3.9 Macro ······················································································ 7-147 7.3.10 Auxiliary function ······································································ 7-157 7.3.11 Horizontal packing machine applications ······································· 7-159...
Page 200: Pr Mode Description
ASDA-A3 Motion Control 7.1 PR mode description In PR mode, the servo drive automatically generates the motion commands. Apart from the basic arithmetic operation commands, the ASDA-A3 saves all parameter settings in the parameter file in the servo drive. Thus changing parameter values simultaneously changes the PR commands.
Page 201 Motion Control ASDA-A3 In the ASDA-Soft software, when you select the PR to be edited in PR mode, the corresponding parameters appear at the top of the window. See Figure 7.1.2. If you select PR#1 , P6.002 and P6.003 appear at the top in the editing section (see P6.002 and P6.003 in Table 7.1.1 for example).
Page 202: Shared Pr Parameters
ASDA-A3 Motion Control ASDA-Soft version V6 provides an editing interface for PR diagrams. (see Figure 7.1.3). It is easier to set PR paths in ASDA-Soft, where you can set the options of command triggering, command types, and other properties. You must set the arithmetic operations and statements in the software.
Page 203 Motion Control ASDA-A3 25 ms. The acceleration or deceleration time is a fixed slope, so the slope does not change when you change parameter values. PR path setting ACC:1 DEC:4 DLY:2 SPD:5 Acceleration / deceleration time Delay time (DLY) Target speed (SPD) (ACC / DEC) P5.020 P5.040...
Page 204: Monitoring Variables Of Pr Mode
ASDA-A3 Motion Control 7.1.2 Monitoring variables of PR mode The PR mode provides four monitoring variables for the servo command and feedback: command position (PUU), PR command end register, feedback position (PUU), and position error (PUU). These are described as follows: Command position (PUU): monitoring variable code 001.
Page 205 Motion Control ASDA-A3 The detailed command behavior of each stage is illustrated in Figure 7.1.2.2. Cmd_E is the endpoint specified by the command; it is set when the PR path is triggered. Fb_PUU is the feedback position, which is motor’s actual position. Divide this motion command into slices and take one of them as example.
Page 206 ASDA-A3 Motion Control Before issuing Command in Execution Motor completed positioned command execution Command trigger DI: CTRG Command Cmd PR position command completed DO: Cmd_OK Motor reaches target Cmd_O(Pulse) – Fb_Pulse < P1.054 position DO: TPOS Servo procedure completed DO: MC_OK Figure 7.1.2.3 Operation of DI/DO signals in PR mode Before issuing Command in...
Page 207: Motion Control Commands
Motion Control ASDA-A3 7.1.3 Motion Control commands The ASDA-A3 provides 100 path sets. Apart from the fixed homing command, you can respectively set the speed, position, path jumping, parameter writing, index position, and arithmetic operation commands. The following sections detail each command type. 7.1.3.1 Homing methods The ASDA-A3 provides 11 homing methods in the PR mode, including home sensor, limit, and hard stop as the reference origin.
Page 208 ASDA-A3 Motion Control X = 6: homing in forward direction, ORG: Y = 0: return to Z pulse ONOFF as homing origin Y = 1: go forward to Z pulse Y = 2: do not look for Z X = 7: homing in reverse pulse direction, ORG: ONOFF as homing...
Page 209 Motion Control ASDA-A3 The PR Homing mode includes the function for setting the origin offset. You can define any point on the coordinate axis as the reference origin, which does not have to be 0. Once you define the reference origin, the system can create the coordinate system for the motion axis. See Figure 7.1.3.1.1.
Page 210 ASDA-A3 Motion Control Address: 050AH P5.005 High speed homing (first speed setting) 050BH Operation Panel / software Communication Control mode: PR (set with P5.004) interface: Default: 100.0 1000 Data size: 32-bit 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: m/s (linear)* m/s (linear)* 0.1 - 6000.0 (rotary)* 1 - 60000 (rotary)*...
Page 211 Motion Control ASDA-A3 You can set the homing parameters in the PR mode homing screen in ASDA-Soft, including the homing methods, homing definition, and homing speed (see Figure 7.1.3.1.2). Figure 7.1.3.1.2 Homing screen in ASDA-Soft 7-14...
Page 212 ASDA-A3 Motion Control The following describes the homing methods supported by the ASDA-A3. They can be categorized into six types based on their reference points. Referencing the limit. This homing method uses the positive or negative limit as the reference point. When the limit is detected, you can choose to look for the Z pulse and use it as the reference origin.
Page 213 Motion Control ASDA-A3 If you set the motor to not look for the Z pulse, the servo motor first operates at high speed (first speed setting) and then decelerates to a stop once the rising-edge limit signal is triggered. Then the motor switches to low speed (second speed setting) to look for the rising-edge signal.
Page 214 ASDA-A3 Motion Control to low. Next, it starts to look for the Z pulse. When the motor finds the Z pulse, it decelerates to a stop, completing the homing. If the ORG signal at the start point is triggered (high, Start point 3), the servo motor reverses with low speed (second speed setting) and after the ORG signal switches to low, the motor returns to look for the Z pulse.
Page 215 Motion Control ASDA-A3 Referencing the falling-edge of the ORG signal. This method uses the falling-edge signal of the home sensor as the reference origin. You can choose whether or not to use Z pulse as the reference origin after the ORG signal is detected. Limit Motor Reverse to Z...
Page 216 ASDA-A3 Motion Control If you set the servo motor to look for the Z pulse in the forward direction or not to look for the Z pulse (this is similar to the first method mentioned above), going in the reverse direction or not to look for the pulse Z, refer to the timing diagram above.
Page 217 Motion Control ASDA-A3 external force once the motor touches the protector. When the motor torque reaches the torque detection level (P1.087) and the output duration is longer than the level reached timer setting (P1.088), the motor runs in the reverse direction to look for the Z pulse at low speed (second speed setting).
Page 218 ASDA-A3 Motion Control Address: 01B0H P1.088 Torque homing - level reached timer 01B1H Default: 2000 Control mode: PR Unit: ms Setting range: 2 to 2000 Format: DEC Data size: 16-bit Settings: The setting of the torque level reached timer for the torque homing mode. If the motor torque output continues to exceed the level set by P1.087 and the duration exceeds this setting, the homing is complete.
Page 219 Motion Control ASDA-A3 Err_PUU Before Fb_PUU command Cmd_O issued Cmd_E Err_PUU After Fb_PUU command Cmd_O issued Cmd_E Err_PUU Fb_PUU Command in execution Cmd_O Cmd_E Err_PUU Fb_PUU Command completed Cmd_O Cmd_E Err_PUU Fb_PUU Motor positioned Cmd_O Cmd_E Figure 7.1.3.1.3 Homing mode and monitoring variables 7-22...
Page 220: Speed Command
ASDA-A3 Motion Control 7.1.3.2 Speed command The PR mode includes a speed control function. The following parameters are available for PR speed setting: acceleration / deceleration time, delay time, and target speed. You can easily set the Speed command in the PR mode screen in ASDA-Soft. See Figure 7.1.3.2.1. INS is an interrupt command that interrupts the previous motion command.
Page 221 Motion Control ASDA-A3 Speed Delay time Target speed Feedback speed Command Time Acceleration time Speed Feedback speed Command Delay time Target speed Time Deceleration time Figure 7.1.3.2.2 Parameters for PR mode speed control Table 7.1.3.2.1 Bit function of PR speed control PR parameters Command type Data Content...
Page 222: Position Command
ASDA-A3 Motion Control 7.1.3.3 Position command The PR mode includes a position control function. There are two command types: Mode 2 and Mode 3. In Mode 2 the command signifies that it stops once the command is complete. In Mode 3 the command signifies that the next PR path is automatically executed.
Page 223 Motion Control ASDA-A3 Speed Target speed Position command Delay time Time Acceleration time Deceleration time Figure 7.1.3.3.2 Parameters for PR mode position setting There are four types of position commands for the PR mode. You can choose the position command according to the application requirements. The functions of each type are described in the following examples.
Page 224 ASDA-A3 Motion Control Motor’s current position Target position (Fb_PUU) Absolute command (ABS) 60000 PUU 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Motor’s current Target position 60000 position (Fb_PUU) Relative command (REL) 60000 PUU 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Endpoint of Motor’s current Target...
Page 225: Jump Command
Motion Control ASDA-A3 7.1.3.4 Jump command The PR mode includes a Jump command. It can call any PR paths or form PR paths into a loop, as shown in Figure 7.1.3.4.1. You can specify the PR path number to jump to in the PR mode screen in ASDA-Soft (see Figure 7.1.3.4.2).
Page 226 ASDA-A3 Motion Control Table 7.1.3.4.1 Bit function of PR Jump command PR parameters Command type Data Content Jump to target PR path (0 – 99) Note: 1. Y: OPT: option Command type INS: interrupt command that interrupts the previous motion command. 2.
Page 227: Write Command
Motion Control ASDA-A3 7.1.3.5 Write command The PR mode includes a Write command. It can write constants, parameters, data arrays, and monitoring variables to the specified parameters or to data arrays. You can write a parameter to a specified path in the PR mode screen in ASDA-Soft (see Figure 7.1.3.5.1). INS is an interrupt command that interrupts the previous motion command.
Page 228 ASDA-A3 Motion Control Table 7.1.3.5.1 Bit function of PR Write command PR parameters Command type SOUR_DEST DESTINATION Data Content SOURCE Note: 1. Y: OPT: option Command type AUTO INS: interrupt command that interrupts the previous motion command. AUTO: once the current PR is completed, automatically load the next command. ROM: write data to RAM and EEPROM at the same time.
Page 229: Index Position Command
Motion Control ASDA-A3 7.1.3.6 Index Position command The PR mode includes an Index Position command, which creates an indexing coordinate system. This command positions the motor within the indexing coordinates. Unlike other feedback positions in global coordinate system, the Index Position command is able to divide the total moving distance of one index into the number of paths required by the application (see Figure 7.1.3.6.1).
Page 230 ASDA-A3 Motion Control Position (PUU) Motor s feedback position Total index moving distance Motor s index position (P2.052)-1 Motor s running direction Indexing coordinates Total index moving distance Total index Path No. moving distance Indexing coordinates Motor s running direction Figure 7.1.3.6.1 PR mode indexing coordinates Figure 7.1.3.6.2 Index Coordinates Setting Wizard in PR mode 7-33...
Page 231 Motion Control ASDA-A3 Figure 7.1.3.6.3 PR mode Index Position screen in ASDA-Soft Always forward (Forward) Current Indexing Coordinate position Always backward (Backward) & Shortest Dist. Target position Indexing coordinates Total index moving Always forward distance 70000 PUU (Forward) 60000 PUU Current 50000 PUU position...
Page 232 ASDA-A3 Motion Control Table 7.1.3.6.1 Bit function of PR Index Position command PR parameters Command type OPT2 Data Content Index Position command [PUU](0 – P2.052-1) Note: 1. Y: OPT: option Description Command type OVLP Always goes forward (Forward) Always goes backward Data Content (Backward) Shortest distance...
Page 233: Arithmetic Operation (Statement)
Motion Control ASDA-A3 7.1.3.7 Arithmetic operation (Statement) The PR mode has arithmetic operations commands, including addition, subtraction, multiplication, division, AND, OR, MOD, and logic conditions. The available operands are user variables, parameters, data arrays, monitoring variables, and constants. Among them, the user variable is the register only for arithmetic operations.
Page 234 ASDA-A3 Motion Control Operation section: supports addition, subtraction, multiplication, division, AND, OR, and MOD operation as well as logical operations for multiple data. Table 7.1.3.7.1 shows the supported operators and calculation data with data format in DEC and HEX. Table 7.1.3.7.1 Description of each field in the Operation section Data to be Calculation Operator...
Page 235 Motion Control ASDA-A3 Statement section: this section includes statements and memory capacity. Statements save the data from the expression and procedure sections. Data in the expression and procedure sections of the same statement always remain identical and can be shared by multiple PR paths.
Page 236: Overview Of The Pr Procedure
ASDA-A3 Motion Control 7.1.4 Overview of the PR procedure In the PR mode, there are seven types of commands. To understand how the PR procedure works, ASDA-Soft presents the execution order and calling sequence of all PR procedures. First, symbols and contents in the PR figure are shown. This includes five parts: number, command execution type (property), command type, next procedure command, and command information.
Page 237 Motion Control ASDA-A3 Activation mode (Boot): to execute homing when the drive is in Servo On state, it displays (B); if homing is not required, then no information is displayed. Method selection: homing methods and Z pulse setting are shown in the following table. Characters in red indicate the motor’s position after homing;...
Page 238 ASDA-A3 Motion Control Speed command You can use the Speed command in any PR paths (PR#1 – PR#99). It is marked as “Speed”. See Figure 7.1.4.3. PR#1 (I) Speed DLY=[0] 0 ms 100 rpm Acc=[0] 6.67 ms Dec=[0] 6.67 ms Figure 7.1.4.3 Speed command display Command execution type (property): a Speed command can interrupt (INS) the previous PR path.
Page 239 Motion Control ASDA-A3 Position command You can use the Position command in any PR paths (PR#1 – PR#99). It is marked as “Position”, and includes the options to “Stop once position control completed” and “Load the next path once position control completed”. The only difference is that “Load the next path once position control completed”...
Page 240 ASDA-A3 Motion Control Jump command You can use the Jump command in any PR paths (PR#1 – PR#99). It is marked as “Jump” and followed by an arrow pointing to the next PR path. See Figure 7.1.4.5. PR#1 (I) Jump DLY=[0] 0 ms PR#2 Figure 7.1.4.5 Jump command display...
Page 241 Motion Control ASDA-A3 Indexing position command You can use the Indexing Position command in any PR paths (PR#1 – PR#99). The number of PR paths is determined by the index number. It is marked as “Index Position”. See Figure 7.1.4.7. Index Position List [100000] PR#1 (I)(O) PR#2 (I)(O)
Page 242 ASDA-A3 Motion Control Arithmetic operation You can use arithmetic operations and statements in any PR paths (PR#1 – PR#99). It is marked as “Statement”. When the condition is fulfilled, an arrow pointing to the next PR path appears with a solid line; if the condition is unfulfilled, an arrow pointing to the next PR appears with a dotted line;...
Page 243: Trigger Methods For The Pr Command
Motion Control ASDA-A3 7.1.5 Trigger methods for the PR command There are six types of PR trigger methods. They are DI-triggered, Event-triggered, P5.007- triggered, Capture-triggered (high-speed position capturing), Compare-triggered (high-speed position comparing), and E-Cam-triggered. You can choose the most suitable trigger method according to the applications and requirements.
Page 244 ASDA-A3 Motion Control Table 7.1.5.1 Use DI to select the PR path to be triggered Position Corresponding CTRG command Parameter P6.000 Homing P6.001 P6.002 PR#1 P6.003 … … P6.098 PR#50 P6.099 P7.000 PR#51 P7.001 … … P7.098 PR#99 P7.099 In addition, there are two sets of DI for special functions: [0x27] Enable homing and [0x46] Motor stops.
Page 245 Motion Control ASDA-A3 Event triggering You can use Event-triggered commands 1 – 4 to execute the specified PR path. You can select two types of Event triggering: rising-edge trigger and falling-edge trigger. The range of PR path numbers that you can specify is from 51 – 63 (see the example in Figure 7.1.5.3). Before using the Event-trigger for PR command, you must define the DI functions, which are [0x39] Event trigger command 1, [0x3A] Event trigger command 2, [0x3B] Event trigger command 3, and [0x3C] Event trigger command 4 (see Table 8.1).
Page 246 ASDA-A3 Motion Control You can set the rising-edge trigger of the PR path with P5.098 while you can set the falling-edge trigger with P5.099. Refer to Chapter 8 for more details. Users can use ASDA-Soft to set the event trigger of PR. See Figure 7.1.5.5. Figure 7.1.5.5 Event ON/OFF Setting screen in ASDA-Soft PR command trigger register (P5.007) You can write the PR number to be executed in P5.007 to make the servo drive execute the...
Page 247: Pr Procedure Execution Flow
Motion Control ASDA-A3 7.1.6 PR procedure execution flow The ASDA-A3 updates the command status every 1 ms. Figure 7.1.6.1 illustrates the PR procedure execution flow and how the servo drive deals with PR commands. Once a PR procedure is triggered, it goes through three units, which are PR queue, PR executor, and motion command generator.
Page 248 ASDA-A3 Motion Control  PR queue The triggered PR path is the lead PR. The PR group it leads goes into the PR queue to wait for prioritization. In each ms, the servo drive sends the lead PR and the PR group it leads to the PR executor with a first-in first-out method no matter whether a PR path is being executed.
Page 249 Motion Control ASDA-A3 Sequence command The configurable commands for PR paths are the motion commands, which are the Position and Speed commands. A sequence command is a motion command without an Overlap or Interrupt function. The following command starts to be executed only after the delay set in the previous command.
Page 250 ASDA-A3 Motion Control (1 ms command cycle) (1 ms command cycle) PR#1 PR#2 Position Position executor DLY=[1] 100 ms DLY=[0] 0 ms 10000 PUU 10000 PUU 200 rpm 500 rpm Speed Motion command generator Time 100 ms (b) Position command with delay Figure 7.1.6.2 Position sequence command 7-53...
Page 251 Motion Control ASDA-A3  Speed command followed by a Speed command When the PR executor receives two consecutive Speed commands, if they do not have Interrupt or Overlap functions, the PR executor issues the first Speed command to the motion command generator, and the generator starts the first part of speed control.
Page 252 ASDA-A3 Motion Control  Multiple commands The PR queue updates commands every 1 ms. For a motion command, the PR queue sends the next command to the generator only after the previous command completes. Jump or Write commands are executed in the PR queue immediately. As shown in Figure 7.1.6.4, in the first ms, the PR queue receives a Position command and it sends this command to the motion command generator, having the generator to execute the command.
Page 253 Motion Control ASDA-A3 Command interruption Interruption (INS) causes a command in execution to be replaced or integrated. The results of the interruption differ based on the command types. The next command replaces or combines with the previous command. There are two types of interruption: internal and external, as shown in Figure 7.1.6.5.
Page 254 ASDA-A3 Motion Control 1 ms Cmd cycle (1 ms Cmd cycle) PR#2 (I) PR#3 PR#1 Position Position Position executor DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms 1000 PUU 5000 PUU 10000 PUU 100 rpm 200 rpm 500 rpm Speed Motion command...
Page 255 Motion Control ASDA-A3  Speed command  Speed command (I)  Speed command When the PR executor receives three consecutive Speed commands with an interrupt in the second command, the executor treats the first and the second as one PR group. Since the first Speed command is not executed, the executor replaces the first command with the second.
Page 256 ASDA-A3 Motion Control  Multiple interrupt commands The PR queue updates commands every 1 ms. If all PR paths include an Interrupt function, the queue can read at least 20 PR paths in 1 ms, and these paths are called a PR group. If this PR group has multiple motion commands, the PR queue only sends the last command it receives to the motion command generator for execution.
Page 257 Motion Control ASDA-A3 External Interruption If an external interruption is encountered, it uses the PR Command trigger method to execute another PR path (refer to Section 7.1.5 for PR trigger methods). When the PR queue receives a PR path with an Interrupt function, it sends this path to the motion command generator immediately and changes the path in execution.
Page 258 ASDA-A3 Motion Control (1 ms command cycle) (1 ms command cycle) External PR#1 interruption PR#2 Speed Speed DLY=[1] 100 ms DLY=[0] 0 ms 100 rpm 500 rpm Acc=[11] 100 ms Acc=[11] 33.3 ms Dec=[11] 100 ms Dec=[11] 33.3 ms PR executor (1 ms command cycle) (1 ms command cycle) PR#10 (I)
Page 259 Motion Control ASDA-A3 Overlap command If the previous position command includes an Overlap function, it allows the next command to be executed while the previous motion is decelerating, thus achieving a continuous motion. When you use an Overlap command, the delay time is still effective. The delay time starts to count from the command’s start point;...
Page 260 ASDA-A3 Motion Control (1 ms command cycle) (1 ms command cycle) PR#1 (O) PR#2 Position Position DLY=[0] 0 ms DLY=[0] 0 ms 5000 PUU 10000 PUU executor 200 rpm 500 rpm Acc=[0] 6.67 ms Acc=[2] 6.67 ms Dec=[0] 6.67 ms Dec=[2] 6.67 ms Speed Motion...
Page 261 Motion Control ASDA-A3 Interpret PR path flow The PR paths mentioned above include commands such as Sequence, Interrupt, and Overlap. The replacement, integration, and overlapping for commands have different behavior depending on the settings. The suggested steps to interpret the PR path is as follows. 1.
Page 262 ASDA-A3 Motion Control (1 ms Cmd cycle) μs Execution time: 3.89 PR#10 (I) Write PR#1 true PR executor DLY=[0] 0 ms P5.045=200 Statement PR#20 (I) Exe.Time=3.89 μs Write false DLY=[0] 0 ms P5.045=300 Figure 7.1.6.13 Multiple commands with arithmetic operations (followed by a PR path with interrupt command) 7-65...
Page 263: Application Of Motion Control
Motion Control ASDA-A3 7.2 Application of motion control Applications of motion control in the ASDA-A3 include high-speed position capture (Capture), high-speed position compare (Compare), and E-Cam. High-speed position capture uses digital input (DI7) to instantly capture the motor’s feedback position and store this position in the data array.
Page 264 ASDA-A3 Motion Control You can use the panel, communication, or ASDA-Soft to read data from or write data to the data array. Regardless of the methods, they are completed by parameter settings. The first parameter group for reading and writing the data array is P5.011, P5.012, and P5.013. P5.011 specifies the address for reading and writing the data array.
Page 265 Motion Control ASDA-A3  Example: when using the drive panel or communication for reading from or writing to the data array, input values to the data array address in sequence as follows: Data array #11 = 100, Data array #12 = 200, Data array #13 = 300. Then the data is read in sequence. Read / write via panel: Write to data array Read from data array...
Page 266 ASDA-A3 Motion Control Read / write using communication To read from or write to the data array through Modbus, use the communication command 0x10 to write consecutively, 0x06 to write single data, and 0x03 to read consecutively. First, use a consecutive writing command to write 100 to Data array #11, 200 to Data array #12, and 300 to Data array #13.
Page 267: High-Speed Position Capture Function (Capture)
Motion Control ASDA-A3 7.2.2 High-speed position capture function (Capture) The high-speed position capture function (CAP) uses the external-triggered high speed digital input DI7 (with execution time of only 5 µs) to capture the position data of the motion axis and store it in the data array for further motion control.
Page 268 ASDA-A3 Motion Control CAP triggering logic CAP axis source Normally open P5.039.Z = 0 CAP switch CAP axis position CN5 P5.039.Y = 1 P5.039.X Bit 0 P5.037 CN1 P5.039.Y = 2 CN2 P5.039.Y = 3 7890 Normally closed P5.039.Z = 1 Data array Start address 1234...
Page 269 Motion Control ASDA-A3 It is suggested that you use the PR path programming to use the motion commands with the Capture function. You can use Write commands to set the high-speed position capture function, as well as to execute motion commands once capturing is complete. See the example in Figure 7.2.2.3.
Page 270 ASDA-A3 Motion Control PR#4 (I) PR#1 (I) PR#2 (I) PR#3 (I) Write Write Write Write DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms P5.076=0 P5.039=0x2030 P5.036=100 P5.038=3 PR#7 (I) PR#5 (I) PR#6 (I) Speed Write Write DLY=[0] 0 ms DLY=[10] 1 ms DLY=[0] 0 ms...
Page 271: High-Speed Position Compare Function (Compare)
Motion Control ASDA-A3 7.2.3 High-speed position compare function (Compare) The high-speed position compare function (CMP) compares the instant position feedback of the motion axis with the value saved in the data array. When the compare condition is fulfilled, a high-speed digital signal DO4 (with execution time of only 5 µs) is sent immediately for motion control.
Page 272 ASDA-A3 Motion Control CMP axis source Data array Start address CN5 P5.059.Y = 1 1234 P5.056 CMP axis CN1 P5.059.Y = 2 2345 position CN2 P5.059.Y = 3 CMP axis position amount 5678 P5.057 7890 6789 P5.058 CMP switch 7890 P5.059.X Bit0 CMP trigger logic Normally open...
Page 273 Motion Control ASDA-A3 sets the comparing amount to 3. PR#7 resets the compare axis position to 0 and sets a delay of 1 ms to ensure that the PR path using the Compare function can be executed. PR#8 enables the Compare function in Cycle mode which resets the comparing axis to 0 after the comparison is complete, and executes PR#45.
Page 274 ASDA-A3 Motion Control Data array CMP axis 20000 20000 20000 20000 20000 20000 position 30000 30000 30000 30000 30000 30000 (PUU) 40000 40000 40000 40000 40000 40000 40000 30000 20000 5000 Time DO4: CMP PR path #1 - 8 Figure 7.2.3.4 Timing of the Compare function 7-77...
Page 275: E-Cam
Motion Control ASDA-A3 7.3 E-Cam The E-Cam system uses the mathematical formula to plan the relative following motion path based on the master-slave operation, which can replace the actual mechanical cams and overcome the limitation of the mechanical cam shapes. You can use the E-Cam function as long as it is a master-slave application and their positions can translate into a mathematical formula.
Page 276: Source Signal For The Master Axis
ASDA-A3 Motion Control Master axis: P5.088.Y: command source for the master axis Clutch: P5.088.UZ, P5.087, and P5.089: engagement and disengagement timing control E-Gear of master axis: P5.083 and P5.084: command pulse resolution E-Cam curve: P5.081, P5.082, and P5.085: position correlations of master and slave axes; P5.019: scaling E-Gear of slave axis: P1.044 and P1.045: output signal resolution Figure 7.3.3 Use E-Cam servo parameters to simulate mechanical cams...
Page 277 Motion Control ASDA-A3 ASDA-A3 provides two sets of DO, [0x18] CAM_AREA1 and [0x1A] CAM_AREA2, which specify the current E-Cam operation position (in respect of the master axis). The first set is set by P5.090 and P5.091; the second set is set by P2.078 and P2.079, as shown in Figure 7.3.1.1. For detailed settings, refer to Chapter 8.
Page 278 ASDA-A3 Motion Control Pulse by-pass function When using the E-Cam and pulse by-pass functions, the servo drive can receive pulse signals and send these signals to the next servo axis, so multiple slave axes can refer to the same master axis signals. In addition, signals transmitted through the servo drives are not attenuated because the servo drive amplifies the signals to the strength they should have during output.
Page 279 Motion Control ASDA-A3 (1) Master axis; (2) Slave axes 1, 2, and 3. Figure 7.3.1.3 Pulse by-pass function: CN1 output / CN1 input 7-82...
Page 280: Clutch Engagement And Disengagement
ASDA-A3 Motion Control 7.3.2 Clutch engagement and disengagement When the E-Cam function is enabled, the E-Cam clutch status determines whether the slave axis operates based on the signals sent from the master axis. While cams are engaged, the slave axis operates according to the received master axis pulses and the E-Cam curve; when cams are disengaged, the slave axis does not operate according to the E-Cam curve even if it receives the master axis pulses.
Page 281 Motion Control ASDA-A3 In addition, you can use P5.087 to set the initial lead pulse of the master axis before engagement. That is, once the engagement condition is met, the master axis needs to reach the set lead pulse number first and then the clutch is engaged as shown in Figure 7.3.2.2. Slave axis position (PUU) Master axis...
Page 282 ASDA-A3 Motion Control Clutch disengagement condition When the E-Cam function is enabled and the clutch is engaged, the slave axis operates based on the E-Cam curve and master axis signals. When the slave axis completes the motion, you can directly disable the E-Cam function or disengage the clutch to stop the slave axis motion. While the clutch is disengaged, the slave remains stationary regardless of the master axis motion as shown in Figure 7.3.2.3.
Page 283 Motion Control ASDA-A3 You can use P5.088.U to select the disengagement condition depending on the applications. The ASDA-A3 provides five condition options for clutch disengagement timing. Remain engaged (P5.088.U = 0): the clutch remains engaged unless the E-Cam function is disabled. Disengagement control with DI (P5.088.U = 1): switch the DI.[0x36]CAM to off to have the clutch disengaged.
Page 284 ASDA-A3 Motion Control Enter cyclic mode after disengagement (P5.088.U = 4): when the clutch is engaged and the pulse number of the master axis reaches the value set in P5.089, the clutch disengages and the master and slave axes enter the cyclic mode. Then, the E-Cam system goes into the pre-engage state and waits for the master axis pulse to reach the number set in P5.092.
Page 285 Motion Control ASDA-A3 There are three available options for disengagement timing (choose one of the following): “Immediate stop after disengagement”, “Decelerate to stop after disengagement”, or “Enter cyclic mode after disengagement” (P5.088.U = 2, 6, or 4). If you select the disengagement options such as “Disengagement control with DI”, “Immediate stop after disengagement”, or “Decelerate to stop after disengagement”...
Page 286 ASDA-A3 Motion Control P5.088.U System status after Clutch disengagement condition value disengagement Condition 6 + Condition 8: disengages when the master axis 0: stop and disable pulse number reaches the setting value of P5.089, the slave axis the E-Cam function decelerates to stop, and the E-Cam function is disabled Condition 1 + Condition 6 + Condition 8: disengages when DI (DI: 0x36) is off or when the master axis pulse number reaches...
Page 287 Motion Control ASDA-A3 E-Cam system status The E-Cam system has three states, Stop, Engage, and Pre-engage. When the E-Cam function is enabled, you can use P5.088.D to promptly monitor the system’s current status. The following section explains each state, as shown in Figure 7.3.2.8. Stop state (P5.088.D = 0): the clutch is disengaged and the system continues to check the engagement condition (P5.088.Z).
Page 288: E-Cam Gears And Curve Scaling
ASDA-A3 Motion Control 7.3.3 E-Cam gears and curve scaling In the E-Cam system, two sets of E-Gears can determine the E-Cam motion, which are E-Gears of the master axis and E-Gears of the slave axis. The E-Gears of the slave axis is the same as that of the whole servo system.
Page 289 Motion Control ASDA-A3 The following example illustrates how the command resolution is adjusted: assume that the original master axis pulse number for one cycle is 10000 pulses as shown in Figure 7.3.3.2. If this master axis E-Gear ratio becomes larger (P5.084 increases or P5.083 decreases), then the master axis pulse unit corresponds to a narrower E-Cam phase, making the master axis pulse command resolution higher.
Page 290 ASDA-A3 Motion Control is effective immediately). Do not modify P5.088 during cutting, or the machine might be damaged. If you set P5.088.X Bit 2 to 0 to have the modified E-Cam curve scaling take effect upon the next engagement, then the cutting length changes upon the next clutch engagement. For details about flying shear applications, refer to Section 7.3.8.
Page 291: E-Cam Curve
Motion Control ASDA-A3 7.3.4 E-Cam curve E-Cam curve is created by the mathematic function based on positions of the master and slave axes. There are various ways to create the table. You can use mathematic tools (software) or use the tabulation interface for industry-specific applications provided in ASDA-Soft. Regardless of the tabulation methods, the software coverts the mathematic function into position data and stores them in the data array.
Page 292 ASDA-A3 Motion Control You can use ASDA-Soft to create the E-Cam curve. Click E-CAM in the software function list and the E-CAM Editor appears, as shown in Figure 7.3.4.2. In the first page of the editing window, select the method to create the E-Cam curve table. There are seven options, [Manual], [Speed Fitting], [Rotary Shear - W/O Sync.
Page 293 Motion Control ASDA-A3 to the table. When you set n points for the E-Cam segment number, the table has n+1 columns. Fill in the slave axis positions: fill in the corresponding position in PUU for each segment. Click Draw. The software automatically generates a simulated E-Cam curve and cam position, speed, and acceleration curve.
Page 294 ASDA-A3 Motion Control Right-click the table, and select Batch change the values, including increment, decrement, addition (+), deduction (-), multiplication (*), division (/), copy, and exchange functions for users to change the E-Cam curve quickly. There are also functions for inserting and deleting single position data on the right-click menu.
Page 295 Motion Control ASDA-A3 Speed Fitting When the application requires the motions of both the master and slave axes to keep the same speed or have the same correspondence relations, you can use the speed fitting method to create the E-Cam curve. With this method, the E-Cam cycle is divided into five zones, which are the waiting, acceleration, synchronous speed, deceleration, and stop zones as shown in Figure 7.3.4.5.
Page 296 ASDA-A3 Motion Control Figure 7.3.4.6 ASDA-Soft Speed fitting setting interface for creating E-Cam table 7-99...
Page 297 Motion Control ASDA-A3 Cubic Curve If the master and slave axes operate only based on the corresponding positions, such as the point-to-point relation, you can use the cubic curve method to create an E-Cam curve. If using the cubic curve method to create the table, simply enter the E-Cam phase and the corresponding slave axis positions to have the tabulation tool automatically connect the points and optimize the curve.
Page 298 ASDA-A3 Motion Control value is rounded off. Use P5.019, E-Cam curve scaling, to keep decimals in the table to reduce zigzags of the curve and generate an E-Cam with higher precision. Download E-Cam curve: make sure the E-Cam curve is correct and click Download Table to write the E-Cam curve to the data array.
Page 299: E-Cam Curve And Pr Command Overlapping
Motion Control ASDA-A3 7.3.5 E-Cam curve and PR command overlapping When the E-Cam curve is operating, if you trigger a PR path of incremental position command, the E-Cam command is overlapped with the PR command. As shown in the upper part of Figure 7.3.5.1, the moving direction of the slave axis is the same as that set in the incremental position command.
Page 300 ASDA-A3 Motion Control Take the triple-axis synchronous printing machine shown in Figure 7.3.5.2 for example. The material feeder is the master axis sending pulse signals to have the three slave axes operate based on the same E-Cam curve. Generally, the E-Cam phases of the three axes must be consistent.
Page 301: Troubleshooting For E-Cam
Motion Control ASDA-A3 7.3.6 Troubleshooting for E-Cam If the E-Cam cannot operate normally, follow these steps to troubleshoot: Servo drive control mode: make sure the control mode is PR mode and the system is in the Servo On state. Pulse source of master axis: check the setting of P5.088.Y for the source of the master axis.
Page 302 ASDA-A3 Motion Control If P5.088.D = 2, it means the clutch is in the pre-engage status. Check the setting for the initial lead pulse before engaged (P5.087). The clutch engages only when receiving the set number of pulses in the forward direction from the master axis. If the received pulses are in the reverse direction, modify the setting according to the master axis pulse source: Master axis pulse source: change the encoder output polarity for the servo drive (P1.003).
Page 303: Rotary Shear
Motion Control ASDA-A3 7.3.7 Rotary Shear The rotary shear system is a system that combines the material feeder and cutter; the cutter cuts simultaneously when materials are fed as shown in Figure 7.3.7.1. Similar systems are widely used in different applications, such as cutting machines, printing machines, and packing machines.
Page 304 ASDA-A3 Motion Control E-Cam curve In the E-Cam curve for the rotary shear system, apart from the requirement that the cutter cuts at the right position, it is important that the master axis and slave axis run at the same speed, which means the relative speed is zero, so the the materials are not over-stretched when cutting.
Page 305 Motion Control ASDA-A3 For E-Cam curves used in the rotary shear applications, apart from the requirements of synchronous speed and fixed length, the speed has to be stable. The arc length between cutter ends (Figure 7.3.7.8) and the cutting length proportion will determine the speed variation. The larger the value, the greater the variation.
Page 306 ASDA-A3 Motion Control To avoid drastic speed change during operation, when plotting the system, take the arc length between cutter ends, cutting length, and the synchronous speed zone into consideration. The synchronous speed zone is fixed based on the machining requirements for the materials; whereas the cutting length is determined by the acceleration and deceleration zones.
Page 307 Motion Control ASDA-A3  Create E-Cam curves without synchronous speed zone This kind of E-Cam curve is only suitable for applications using pointed cutters and can only be created by ASDA-Soft. The setting interface is shown in Figure 7.3.7.8. The specification settings for the rotary shear are as follows: Gear teeth ratio: set the gear teeth number of the motor (A) and gear teeth number of the cutter (B).
Page 308 ASDA-A3 Motion Control Speed compensation (V ): in some rotary shear applications, the speeds of the master and cutter axis are different during cutting; so you can use speed compensation to change the speed of the cutter axis. In the cutting zone, if the speed compensation value is positive, the cutter axis speed is faster than the master axis;...
Page 309 Motion Control ASDA-A3  Create E-Cam curve with fixed synchronous speed zone This method allows you to create a rotary shear curve with fixed synchronous speed zone, which range is fixed to 51°. You can use ASDA-Soft to create the table, which parameter setting is similar to the curve for rotary shears without synchronous speed zone, as shown in Figure 7.3.7.10.
Page 310 ASDA-A3 Motion Control Set parameters for creating the E-Cam curve table: P5.094 = Motor gear teeth number (A) × Cutter number (C) P5.095 = Cutter gear teeth number (B) Cutting length ��(��) P5.096 = × Cutter number �� × Speed compensation �� ×...
Page 311 Motion Control ASDA-A3  Create E-Cam curve with adjustable synchronous speed zone This table creation method is for generating an E-Cam curve with adjustable synchronous speed zone. You can use ASDA-Soft to create the table. The parameter setting for the rotary shear curve is similar to the setting of that without the synchronous speed zone, as shown in Figure 7.3.7.11.
Page 312 ASDA-A3 Motion Control You can use Macro #7 of the servo drive to create the table with the same method. The advantage of using the macro to create an E-Cam curve is that when changing the cutting length is required, you can create a new curve simply by modifying the parameters. It is very friendly for those applications that require frequent modification of the cutting length.
Page 313 Motion Control ASDA-A3 If the waiting zone (W) < minimum waiting zone (�� ̂ ), the error 0xF07A occurs, and you must increase the waiting zone or decrease the synchronous speed zone. If the waiting zone (W) = minimum waiting zone (�� ̂ ), the cutter speed is 0 at the waiting zone. If the waiting zone (W) >...
Page 314 ASDA-A3 Motion Control Enable Macro #7: write 0x0007 to P5.097 to enable Macro #7. Read P5.097 and if it returns 0x1007, it means using macro for table creation is successful. If any of the following failure codes shows, modify the setting according to the description. Failure code Description 0xF071...
Page 315 Motion Control ASDA-A3 Write the corresponding parameters: P5.093.DCBA = S-curve level (S); P5.093.UZYX = Angle of the waiting zone (W) set in hexadecimal; P5.094 = Synchronous speed zone (Y); other parameter settings for curve table creation are the same as Step 5 mentioned above.
Page 316 ASDA-A3 Motion Control Taking adjusting the cutter speed as the priority, set the required maximum speed compensation and use this compensation value to re-calculate the Sync zone (Y ) and the Waiting zone (W ). Taking the Sync zone size as the priority, set the Sync zone (Y and use the size of this Sync zone to re-calculate the speed compensation value and the Waiting zone (W ).
Page 317 Motion Control ASDA-A3 Change the cutting Cutting length ratio length ratio or use other methods to create the E-Cam table Set the S-curve level P5.093.DCBA = 1 - 4 Reduce the S-curve level Sync. zone size Y = P5.094 - 5  (3 + 2 Waiting zone size P5.093.UZYX = W (Hex) ...
Page 318 ASDA-A3 Motion Control  Create E-Cam curve for periodic intermittent printer Use this type of E-Cam curve when the printing material length is limited and full print cannot be carried out. This type of curve helps to save the material, decreasing the interval between each print pattern by retracting the material when the printing plate detaches from the material.
Page 319 Motion Control ASDA-A3 You can create the E-Cam curve table for intermittent printer by using the ASDA-Soft software. Figure 7.3.7.14 shows the user setting interface. The printer specification settings are as follows. Gear ratio: set the number of motor gear teeth (A) and number of material feeder gear teeth (B).
Page 320 ASDA-A3 Motion Control Figure 7.3.7.14 ASDA-Soft rotary shear - intermittent printing machine setting interface 7-123...
Page 321 In rotary shear applications, the system needs to automatically compensate the mechanical or material differences in order to ensure the cutting spot is correct. Delta servo drive provides 2 types of compensation functions, synchronous Capture axis and E-Cam phase alignment. The introduction of the synchronous Capture axis is as follows.
Page 322 ASDA-A3 Motion Control Mark Mark sensor CAP axis position Deviation in pulse Figure 7.3.7.15 Synchronous Capture axis compensation 7-125...
Page 323 Motion Control ASDA-A3 The formula for the synchronous Capture axis correction rate is as follows. You can use P5.080 to modify the correction rate. Sync CAP axis output pulse ( 100 − ��5.080 ) % < Correction rate = < ( 100 + ��5.080 ) % Sync CAP axis input pulse The synchronous Capture axis is for correcting the accumulated deviation.
Page 324 ASDA-A3 Motion Control  Settings for synchronous Capture axis Before using the synchronous Capture axis, set the parameters for E-Cam, E-Cam curves, and the synchronous Capture axis. Next, use PR commands to enable the Capture and E-Cam functions. The settings are as follows. Create and download the E-Cam curve to the servo drive.
Page 325 Motion Control ASDA-A3 E-Cam phase alignment The E-Cam phase alignment function is another compensation method provided by the servo drive. You need to first set the phase for the E-Cam phase alignment and the compensation detection position for the external sensor. In each cycle, everytime the E-Cam operates to the detection position of the external sensor, the servo drive starts comparing the actual phase with the correct phase and then calculates the deviation of the slave axis.
Page 326 ASDA-A3 Motion Control The formula is as follows: P5.084 Masking zone (pulse) = × P2.073. DC(%) P5.083 E-Cam phase alignment setting: P2.075 sets the alignment position for E-Cam phase alignment. The unit is the pulse number of the master axis, which corresponds to the specified E-Cam phase after conversion.
Page 327 Motion Control ASDA-A3 PR path setting: the compensation amount for the slave axis is stored in the PR number specified by P2.073.BA. When the slave axis requires compensation, the system can trigger this PR path at the proper timing. When using the E-Cam phase alignment function, set the following for the specified PR: [Point-to-Point Command], [INC Incremental position], [OVLP: allow the next PR command to overlap the command that is currently executed when decelerating], and the appropriate speed and acceleration.
Page 328 ASDA-A3 Motion Control If the mark is on the non-compensation motion axis and when E-Cam phase alignment is operating, the following mark position is unchanged. If the mark is on the compensation motion axis and when E-Cam phase alignment is operating, the following mark position is changed, as shown in Figure 7.3.7.19.
Page 329 Motion Control ASDA-A3 P2.073.DC Masking range (%) Slave axis position Masking (PUU) zone Position when E-Cam the servo phase P2.075 0° 360° receives the DI P2.074 DI delay time Alignment target compensation position (pulse) Actual mark position Slave axis actual position (Mon 063) P2.076.Y Filter intensity...
Page 330 ASDA-A3 Motion Control Differences between positioning with synchronous Capture axis and E-Cam phase alignment The synchronous Capture axis and E-Cam phase alignment are both commonly used compensation approaches for the rotary shear system. In real applications, you can use these two together.
Page 331: Flying Shear
Motion Control ASDA-A3 7.3.8 Flying Shear The flying shear system is a dynamic cutting system of which feeder continues to operate. Therefore, the cutting and feeding axes have to be synchronous during cutting. The synchronous speed duration should allow the cutter to finish cutting and return to the right position to avoid damaging the cutter or materials, as shown in Figure 7.3.8.1.
Page 332 ASDA-A3 Motion Control The application of flying shear is divided into two types according to the clutch engagement time. The first type is fully engaged. Its E-Cam curve includes the acceleration zone, synchronous speed zone, deceleration zone, and reset zone. The slave axis is completely controlled by the E-Cam system.
Page 333 Motion Control ASDA-A3 You can use the “Speed Fitting Creation” in ASDA-Soft to create the E-Cam curve. However, this method can only generate E-Cam curves with single operation direction. You need to create the curves for the cutting zone and reset zone respectively. Then, combine the two curves with the “Manually create a table”...
Page 334 ASDA-A3 Motion Control Plan and create the first section of the E-Cam curve: this section has a total of 300 position points including the cutting zone and stop zone, so set the E-Cam segment number N (P5.082) to 300. This example sets the cutting zone to 95% (including acceleration zone of 5%, synchronous speed zone of 85%, and deceleration zone of 5%) which is 285 position points.
Page 335 Motion Control ASDA-A3 Export the curve data of the first section: right-click on the table, select Export points and a window appears. Select the check box for All points and specify the saving location, then click OK to save. Plan and create the second section of the E-Cam curve: the reset zone has 100 position points in total.
Page 336 ASDA-A3 Motion Control After creating the forward direction E-Cam curve, right-click on the table, select Quick Input Edit, and fill in 0 to 200 in the pop-up window. Select “*” (multiplication), fill in “-1”, and select the check box for Don’t close, continue the next operation, then the curve direction reverses from forward to backward.
Page 337 Motion Control ASDA-A3 Export the curve data of the second section: right-click on the table, select Export points and a window appears. Select the check box for All points and specify the save location, then click OK to save. 7-140...
Page 338 ASDA-A3 Motion Control Combine E-Cam curves: use "Manually create a table". The E-cam curve has a total of 400 position points, so you need to set the E-Cam segment number N (P5.082) to 400. Click Create Table and a table of 400 position points is generated. Right-click on the table, select Import points, fill in “1”...
Page 339 Motion Control ASDA-A3 The operation of the fully engaged mode is based on the E-Cam curve. The E-Cam curve is more complex and more difficult to create, so if the cutting length changes, you can only modify the cutting length by setting the pre-engaged pulse number for each cycle (P5.092) or adjust the E-Cam gear ratio (P5.084 / P5.083) and curve scaling (P5.019).
Page 340 ASDA-A3 Motion Control  Cutting length is less than the E-Cam curve operating length Reduce the E-Cam master axis pulse number and slave axis moving distance proportionally. For example, if you reduce the master axis pulse number for each cycle (P5.084 / P5.083) to 0.8 times of the original, the moving distance of the slave axis should also reduce 0.8 times.
Page 341 Motion Control ASDA-A3 Partially engaged This is applicable for cutting operations with or without marks. For the cutting operation with marks, use the Capture function to have the E-Cam engaged. For the cutting without marks, use the Compare function to generate virtual marks for the Capture function to capture the position data.
Page 342 ASDA-A3 Motion Control After creating an E-Cam curve based on the maximum moving distance of the cutting axis, set the master pulse number of disengaging time (P5.089) according to the cutting length. After reaching the disengaging pulse number or receving the cutting complete signal, the clutch disengages and continues with a zero-speed PR speed command to stop the cutter.
Page 343 Motion Control ASDA-A3 Maximum moving distance of the cutter Cutter (Slave axis) Initial lead pulse number (P5.087) Master pulse number of disengaging time (P5.089) PR#B Speed curve PR#A Figure 7.3.8.5 Operation of partially engaged cutting axis 7-146...
Page 344: Macro
ASDA-A3 Motion Control 7.3.9 Macro In real applications, the macro commands cater to different needs during E-Cam operation, such as the requirements for stopping and resuming the operation after an alarm occurs, the phase alignment at the initial operation stage, or phase modification and pausing the cycle during operation.
Page 345 Motion Control ASDA-A3 Macro #C - change the engagement position and operate in forward direction until the disengagement condition is met When the clutch is engaged, this macro immediately changes the master axis position and automatically calculates the remaining pulse number in the cycle. When the E-Cam cycle is complete, the clutch disengages based on the set disengagement condition (P5.088.U).
Page 346 ASDA-A3 Motion Control Enable Macro #C: set P5.097 = 0x000C to enable Macro #C. Read P5.097 and if it returns 0x100C, it means the macro execution is successful. If any of the following failure codes shows, modify the setting according to the description. Failure code Description When executing this macro command, the clutch is not in the...
Page 347 Motion Control ASDA-A3 Set the initial engagement position: align the start point of 0 degree in the E-Cam curve table with the index coordinate origin. Set the PR number to save the deviation: specify PR#1 - 99 in hexadecimal. Set P5.093.YX = 0x01 - 0x63, and set this PR as an incremental position command. Select the direction control type: set P5.093.BA = 00 to use the dodge point for controlling the forward and reverse directions.
Page 348 ASDA-A3 Motion Control Macro #E - PR positioning using E-Cam correction amount When the clutch engages, this macro sets the master axis engagement position (pulse) and calculates the required correction amount for the slave axis to complete positioning for one time. Next, it writes this correction amount to the PR incremental position command to execute.
Page 349 Motion Control ASDA-A3 Set the compensation for the DI time delay: set P5.094 as -25000 to 25000 (µs) to compensate the delay time for the sensor and the signal transmission. Set the allowable forward rate: set P5.095 to 0 - 100% to specify the allowable forward rotation rate.
Page 350 ASDA-A3 Motion Control Macro #F - use the deviation between the current slave axis position and the target position for PR positioning When the master axis stops but the E-Cams remain engaged, this macro can move the slave axis to the specified position and then return it to the original position. The specified position is specified with the master axis pulse number.
Page 351 Motion Control ASDA-A3 Set the allowable forward rate: set P5.095 to 0 - 100% to specify the allowable forward rotation rate. Slave axis position Reverse Forward operation operation Always reverse 100% P5.095 = 0 P5.095 = 25 Operate with P5.095 = 50 shortest path P5.095 = 75 P5.095 = 100...
Page 352 ASDA-A3 Motion Control Macro #10 - the slave axis immediately pauses for one cycle When the clutch is engaged and the slave axis operates in forward direction, this macro can stop one cycle of the slave axis operation and then the operation resumes. To stop for multiple cycles, consecutively trigger Macro #10 for a number of times.
Page 353 Motion Control ASDA-A3 Setting steps: Engage the clutch. Set P1.022.YX the acceleration time limit. If the reverse inhibit is required, set P1.022.U. Enable Macro #10: set P5.097 = 0x0010 to enable Macro #10. Read P5.097 and if it returns 0x1010, it means the macro execution is successful. If any of the following failure codes shows, modify the setting according to the description.
Page 354: Auxiliary Function
ASDA-A3 Motion Control 7.3.10 Auxiliary function Following error compensation There are two factors causing the following error. The first is the servo error, which is generated by the position loop and can be eliminated by the position integral compensation (P2.053). The second is the command processing delay, which is the delay caused by the filter or command.
Page 355 Motion Control ASDA-A3 Use P2.077 to set the virtual master axis function. P2.077.X can mask the actual master axis pulses and determine how the virtual master axis pulses are generated, as shown in the following table. Actual Virtual Function master master Description axis pulse...
Page 356: Horizontal Packing Machine Applications
ASDA-A3 Motion Control 7.3.11 Horizontal packing machine applications Horizontal packing machine mainly uses the rotary shear applications and phase compensation in the E-Cam system to have the cutter cut the wrap at the right spot. The rotary shear system can generate suitable E-Cam curves based on the initial mark position, cutter width, and cutting length and time so it can cut precisely.
Page 357 Motion Control ASDA-A3  Controller (master axis) The controller controls the operation mechanism for the horizontal packing machine and judges the logic for the auxiliary function. In addition, the controller is the pulse source for the master axis and it sends stable pulse signals to the slave axes, and the slave axes operate based on these pulse signals.
Page 358 ASDA-A3 Motion Control Servo system setting  Framework The controller outputs the pulse signals to the chain conveyor. When the chain conveyor delivers the packing contents, it uses the pulse by-pass function built in the servo drive to transmit the pulses to other slave axes at the same time, so the master axis can send pulses to other slave axes with the slave servos.
Page 359 Motion Control ASDA-A3 You can install a sensor on the packing machine to avoid empty packs or miscutting the content when the content is in the wrong position. In the empty pack prevention mechanism, the empty pack detection sensor is installed on the chain conveyor and sends signals to the controller. Next, the controller counts and calculates the timings for triggering the empty pack PR path of the two slave axes and enabling Macro #10, thus avoiding generating empty packs.
Page 360 ASDA-A3 Motion Control  E-Cam curve plotting On the horizontal packing machine, the chain conveyor, wrap feeder, and cutter all require E-Cam curve settings. Both the chain conveyor and wrap feeder follow the master axis pulses for constant speed motion, which makes the E-Cam curve a slope. You can complete the setting with ASDA-Soft.
Page 361 Motion Control ASDA-A3  Synchronous Capture axis The slave axis of the horizontal packing machine operates based on the received pulses from the master axis. If the slave axis does not receive the pulses as it is set, then the slave axis is not able to cut and pack correctly.
Page 362 ASDA-A3 Motion Control  Empty pack prevention mechanism In packing machine applications, when the slave axes (wrap feeder and cutter) operate one cycle, the master axis (chain conveyor) travels one fixed packing distance. Use the two sets of E-Cam DO, [0x18]CAM_AREA1 and [0x1A]CAM_AREA2, to set the empty pack detection position and the slave axis pausing position.
Page 363 Motion Control ASDA-A3 For the empty pack prevention mechanism, it uses the controller to call the PR command for the two slave axes, which executes Macro #10. When executed, these two slave axes pause for one E-Cam cycle and then resume the operation in the next cycle. If there are two consecutive empty packs, the mechanism can trigger Macro #10 for two consecutive times.
Page 364 ASDA-A3 Motion Control  Miscutting prevention mechanism Sometimes the position of the packing content shifts on the chain conveyor, so the cutter might cut the content, causing damage to the cutter or machine. To avoid this issue, install a sensor for preventing miscutting.
Page 365 Motion Control ASDA-A3  Reset mechanism after alarm stops When the packing machine stops because of the alarm, the E-Cam phase might shift because of the external force or other factors. Correct the E-Cam phase before restarting the machine so it can cut and pack correctly.
Page 366 ASDA-A3 Motion Control Setting for synchronous Capture axis and E-Cam phase alignment: The steps for enabling the E-Cam have to include settings for the synchronous Capture axis and E-Cam phase alignment. See the following figure. PR#20 - 25 set the synchronous Capture axis and enable the E-Cam.
Page 367 Motion Control ASDA-A3 Enables the E-Cam function. Sets the synchronous Capture axis as the source for the master axis. Regards the capturing action as the clutch engagement PR#25 timing. Sets the clutch to remain engaged when an alarm occurs or the servo is off and enter the cyclic mode after the clutch disengages.
Page 368 ASDA-A3 Motion Control Empty pack prevention: When the empty pack sensor does not detect the packing content, it uses the DI event trigger to enable the function to avoid empty packs. PR#60 (I) PR#61 (I) PR#62 (I) Write Write Write Event 1 On DLY=[0] 0 ms DLY=[0] 0 ms...
Page 369 Motion Control ASDA-A3  Heat sealer with cutter EV1 empty-pack prevention EV2 miscutting prevention EV3 position reset after alarm occurrence Mark sensor for synchronous Capture axis Settings for synchronous Capture axis: Enable the synchronous Capture axis when enabling the E-Cam. PR#20 (I) PR#21 (I) PR#22 (I)
Page 370 ASDA-A3 Motion Control Function for manually adjusting the cutter positioning: The manual positioning function allows adjustments in both forward and reverse directions. PR#34 (I) Write DLY=[0] 0 ms P2.077=0x0070 PR#36 (I) PR#37 (I) Write Write DLY=[0] 0 ms DLY=[0] 0 ms P2.077=0x0000 P2.077=0x0102 PR#39 (I)
Page 371 Motion Control ASDA-A3 Miscutting prevention: When the sensor for preventing miscutting does not detect the packing contentcontents in the package, it uses the DI event trigger to enable the miscutting prevention function. PR#51 (I) PR#6 (I) PR#7 (I) PR#8 (I) Write Write Write...
Page 372 ASDA-A3 Motion Control PR#53 Rising-edge triggers Event 3 to trigger the jump procedure to jump to PR#43. Writes the deviation between the position before the alarm occurrence and the PR#43 current position to PR#46. Sets to inhibit the reverse operation. PR#44 Sets the allowable forward rate to 0%.
Page 373 Motion Control ASDA-A3 (This page is intentionally left blank.) 7-176...
Page 374 Parameters This chapter introduces the parameter settings of the servo drive, as well as the descriptions for digital input (DI) and digital output (DO). You can control the drive functions with these parameters and DI/O. 8.1 Parameter definitions ········································································· 8-2 8.2 List of parameters ··············································································...
Page 375: Parameter Definitions
Parameters ASDA-A3 8.1 Parameter definitions The servo drive parameters are divided into nine groups. The first character after the start code P is the group character and the following three characters are the parameter indicator. The communication address is the combination of the group number and the three-digit number, expressed in hexadecimal.
Page 376: List Of Parameters
ASDA-A3 Parameters 8.2 List of parameters Monitor and general output parameters Control mode Parameter Function Default value Unit PT PR P0.000★ Firmware version Factory setting Current drive alarm code P0.001■ (seven-segment display) P0.002 Drive status P0.003 Analog output monitoring 0x0000 P0.008★...
Page 377 Parameters ASDA-A3 Monitor and general output parameters (continued) Control mode Parameter Function Default value Unit PT PR P1.101■ Analog monitor output voltage 1 P1.102■ Analog monitor output voltage 2 (★) Read-only parameter. Can only read the value of the parameter. For example, P0.000, P0.010, P4.000, etc. (▲) Parameter cannot be changed when servo is in Servo On status.
Page 378 ASDA-A3 Parameters Filter and resonance suppression parameters (continued) Control mode Parameter Function Default value Unit PT PR S T P2.043 Notch filter frequency (2) 1000 P2.044 Notch filter attenuation level (2) P2.045 Notch filter frequency (3) 1000 P2.046 Notch filter attenuation level (3) P2.047 Auto resonance suppression mode 0x0001...
Page 379 Parameters ASDA-A3 Gain and switching parameters (continued) Control mode Parameter Function Default value Unit PT PR S pulse P2.029 Gain switching condition 16777216 kpps P2.031 Bandwidth response level P2.032 Gain adjustment mode 0x0001 P2.053 Position integral compensation rad/s P2.089 Command response gain rad/s P2.094▲...
Page 380 ASDA-A3 Parameters Position control parameters - internal register control command (PR mode) Control mode Parameter Function Default value Unit PT PR S P5.008 Forward software limit 2147483647 P5.009 Reverse software limit -2147483648 P6.002 - Internal Position commands 1 - 99 P7.099 1 rpm (rotary) 20 - 3000...
Page 381 Parameters ASDA-A3 Speed control parameters Control mode Parameter Function Default value Unit PT PR S 0x0000 Input for control mode and control P1.001● command 0x000B P1.002▲ Speed and torque limits 0x0000 P1.003 Encoder pulse output polarity 0x0000 P1.046▲ Encoder pulse number output (OA, OB) 2500 pulse rpm (rotary)
Page 382 ASDA-A3 Parameters Planning of digital input / output pin and output parameters (continued) Control mode Parameter Function Default value Unit PT PR S General range compare digital output - P0.056 second lower limit General range compare digital output - P0.057 second upper limit General range compare digital output - P0.058...
Page 383 Parameters ASDA-A3 Communication parameters Control mode Parameter No. Function Default value Unit PT PR P3.000● Address 0x007F P3.001● Transmission speed 0x0203 P3.002 Communication protocol 0x0006 P3.003 Communication error handling 0x0000 P3.004 Communication timeout P3.006■ Digital input (DI) control switch 0x0000 P3.007 Communication response delay time 0.5 ms...
Page 384 ASDA-A3 Parameters Diagnosis parameters (continued) Control mode Parameter Function Default value Unit PT PR Offset adjustment for analog monitor P4.020 output (Ch1) Offset adjustment for analog monitor P4.021 output (Ch2) P4.022 Analog speed input offset P4.023 Analog torque input offset (★) Read-only parameter.
Page 385: Parameter Descriptions
Parameters ASDA-A3 8.3 Parameter descriptions P0.xxx Monitoring parameters Address: 0000H P0.000★ Firmware version 0001H Default: Factory setting Control mode: All Unit: Setting range: - Format: Data size: 16-bit Settings: Displays the firmware version of the servo drive. Address: 0002H P0.001■ Current drive alarm code (seven-segment display) 0003H Default:...
Page 386 ASDA-A3 Parameters  X: MON2  Y: MON1  UZ: reserved MON1 and MON2 MON1 and MON2 Description Description value value Motor speed (+/- 8 volts / Torque command (+/- 8 volts / Maximum speed) Maximum Torque command) Motor torque (+/- 8 volts / VBUS voltage (+/- 8 volts / 450V) Maximum torque) Pulse command frequency...
Page 387 Parameters ASDA-A3 Settings: Set the value for monitoring in P0.017 with the drive panel or communication. Refer to P0.002. The communication port reads the communication address to get the status. For example, if you set P0.017 to 3 to access P0.009, the panel displays the total number of feedback pulses of the motor encoder.
Page 388 ASDA-A3 Parameters Address: 001AH P0.013★■ Status monitoring register 5 001BH Default: Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: Set the value to be monitored in P0.021 through the drive panel or communication. Please refer to P0.002. The communication port reads the communication address to get the status.
Page 389 Parameters ASDA-A3 Address: 0028H P0.020 Select content displayed by status monitoring register 4 0029H Default: Control mode: All Unit: Setting range: 0 - 127 Format: Data size: 16-bit Settings: Refer to Table 8.3 for the available values. Address: 002AH P0.021 Select content displayed by status monitoring register 5 002BH Default:...
Page 390 ASDA-A3 Parameters Address: 0036H P0.027■ Mapping parameter #3 0037H Default: Control mode: All Setting range: Determined by the corresponding Unit: parameter P0.037 Format: Data size: 32-bit Settings: This setting is the same as P0.025, except its mapping target is set in P0.037. Address: 0038H P0.028■...
Page 391 Parameters ASDA-A3 Address: 0040H P0.032■ Mapping parameter #8 0041H Default: Control mode: All Setting range: Determined by the corresponding Unit: parameter P0.042 Format: Data size: 32-bit Settings: This setting is the same as P0.025, except its mapping target is set in P0.042. P0.033 - Reserved P0.034...
Page 392 ASDA-A3 Parameters Write: in the mapping content, set P0.025 to 0x00050064, and the values of P2.003 and P2.005 are: 0005 0064 P0.025 P2.003 P2.005 0005 0064 When PH = PL = P, it indicates that the content of P0.025 includes one 32-bit parameter. Example: Target: set P6.010 to 0x00050064 in the mapping parameter.
Page 393 Parameters ASDA-A3 Address: 004CH P0.038 Target setting for mapping parameter P0.028 004DH Default: Control mode: All Setting range: Determined by the communication Unit: address of the parameter group Format: Data size: 32-bit Settings: Position of Position of mapping p arameter mapping p arameter Content of Content of...
Page 394 ASDA-A3 Parameters Address: 0052H P0.041 Target setting for mapping parameter P0.031 0053H Default: Control mode: All Setting range: Determined by the communication Unit: address of the parameter group Format: Data size: 32-bit Settings: Position of Position of mapping p arameter mapping p arameter Content of Content of...
Page 395 Parameters ASDA-A3 Status monitoring register content selection Address: 005AH P0.045■ (for PC software) 005BH Default: Control mode: All Unit: Setting range: 0 - 127 Format: Data size: 16-bit Settings: This setting is the same as P0.017. Address: 005CH P0.046★■ Servo drive digital output (DO) status 005DH Default: 0x0000...
Page 396 ASDA-A3 Parameters Address: 0064H P0.050★■ Absolute coordinate system status 0065H Default: 0x0000 Control mode: All Unit: Setting range: 0x00 - 0x1F Format: Data size: 16-bit Settings: Bit 0: 1 means the absolute position is lost; 0 means normal. Bit 1: 1 means the battery is undervoltage; 0 means normal. Bit 2: 1 means the absolute multiple turns is overflowing;...
Page 397 Parameters ASDA-A3 Address: 006AH P0.053 General range compare digital output - filter time 006BH Default: 0x0000 Control mode: All Unit: Setting range: 0x0000 - 0xFFFF Format: Data size: 16-bit Settings:  X: first filter time Y: second filter time  ...
Page 398 ASDA-A3 Parameters Address: 006EH P0.055 General range compare digital output - first upper limit 006FH Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P0.054. Address: 0071H P0.056 General range compare digital output - second lower limit 0072H Default: Control mode: All...
Page 399 Parameters ASDA-A3 Address: 0077H P0.059 General range compare digital output - third upper limit 0078H Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P0.058. Address: 0079H P0.060 General range compare digital output - fourth lower limit 007AH Default: Control mode: All...
Page 400: P1.Xxx Basic Parameters
ASDA-A3 Parameters P1.xxx Basic parameters Address: 0100H P1.000▲ External pulse input type 0101H Default: 0x1042 Control mode: PT Unit: Setting range: 0x0000 - 0x11F2 Format: Data size: 16-bit Settings: Command source Logic type Filter width  X: command source 0: AB phase pulse (4x) 1: clockwise and counterclockwise pulse 2: pulse + symbol Others: reserved...
Page 401 Parameters ASDA-A3 Pulse input Logic Pulse type type Forward Reverse Sign = low Sign = high (43) Pulse (41) Z = 0 X = 2 (36) Sign (37) Minimum allowed time width Maximum input Pulse specification frequency Differential signal 4 Mpps 62.5 ns 125 ns 250 ns...
Page 402 ASDA-A3 Parameters Example: When U is set to 1 and Y is set to 1 (and filter width is therefore 0.2 μs), and when the high and low duty width of the command pulse are both larger than 0.8 μs (and filter width is 4 times 0.2 μs), then the pulse command is not filtered out.
Page 403 Parameters ASDA-A3  YX: control mode setting Mode ▲ ▲ ▲ ▲ ▲ ▲ Dual mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ DMCNET mode CANopen mode ▲ ▲ Multi-mode ▲ ▲ ▲ ▲ ▲ ▲ PT: Position control mode; the command source is from the external pulse and the external analog voltage (*coming soon).
Page 404 ASDA-A3 Parameters  Z: direction control Z = 0 Z = 1 Forward direction P(CCW) Reverse direction  U: DIO value control (volatile) 0: when switching modes, DIO settings (P2.010 - P2.022) remain the same. 1: when switching modes, DIO settings (P2.010 - P2.022) are reset to the default for each mode. Address: 0104H P1.002▲...
Page 405 Parameters ASDA-A3  Y: disable / enable Torque Limit function 0: disable Torque Limit function 1: enable Torque Limit function See the following diagram for Torque Limit setting: When using the Torque Limit function, set this parameter to 1 to limit the torque permanently without occupying a DI setting.
Page 406 ASDA-A3 Parameters Address: 0108H P1.004 MON1 analog monitor output proportion 0109H Default: Control mode: All Unit: % (full scale) Setting range: 0 - 100 Format: Data size: 16-bit Settings: Refer to P0.003 for the analog output setting. Example 1: If the requirement is for the motor to run at 1,000 rpm, which corresponds to 8V, and its maximum speed is 5,000 rpm, then the setting is: Required speed 1000 rpm...
Page 407 Parameters ASDA-A3 Address: 0110H P1.008 Position command smoothing constant (low-pass filter) 0111H Default: Control mode: PT / PR Unit: 10 ms Setting range: 0 - 1000 Format: Data size: 16-bit Example: 11 = 110 ms Settings: 0: disable this function. Address: 0112H P1.009 Internal Speed command 1 / internal speed limit 1...
Page 408 ASDA-A3 Parameters Example of internal speed limit: Speed limit value of Speed limit in forward Speed limit in reverse Valid speed range P1.010 direction direction 1000 -100 to +100 rpm 100 rpm -100 rpm -1000 Note: rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet synchronous linear motor.
Page 409 Parameters ASDA-A3 Example of internal torque limit: Torque limit value of Torque limit in forward Torque limit in reverse Valid torque range P1.012 direction direction -30% to +30% -30% Address: 011AH P1.013 Internal Torque command 2 / internal torque limit 2 011BH T / Tz: internal Torque command 2 Default:...
Page 410 ASDA-A3 Parameters E-Cam: correction filter setting for synchronous Capture Address: 011EH P1.015 axis 011FH Default: 0x0000 Control mode: PR Unit: Setting range: 0x0000 - 0x1F5F Format: Data size: 16-bit Settings: Range of filter (0 - 95%) Filter intensity (0 - F) Filter function status ...
Page 411 Parameters ASDA-A3 E-Cam: error offset compensation for synchronous Address: 0120H P1.016■ Capture axis 0121H Default: Control mode: PR Unit: Pulse unit of master axis Setting range: -32768 to +32767 Format: Data size: 16-bit Settings: When the synchronous Capture axis is enabled and you want to change the error pulse amount (P5.079), use this parameter to write the offset value.
Page 412 ASDA-A3 Parameters Address: 0126H P1.019 Capture / Compare additional function settings 0127H Default: 0x0000 Control mode: All Unit: Setting range: 0x0000 - 0x0101 Format: Data size: 16-bit Settings: Additional function for Capture Additional function for Compare Reserved Reserved  X: additional function for Capture Function Description Set this bit to 0 to disable this function.
Page 413 Parameters ASDA-A3 E-Cam: minimum frequency of pulse compensation for the Address: 012AH P1.021 E-Cam master axis 012BH Default: Control mode: PR Unit: Kpps Setting range: 0 to +30000 Format: Data size: 16-bit Settings: During the operation of the E-Cam, if the mechanical factor is excluded, but the following error still exists, which may be error caused by the electrical delay.
Page 414 ASDA-A3 Parameters the smooth command is automatically compensated after the command is smoothed, so the final position is not deviated. Example: Set YX to 12 and the acceleration / deceleration time limit as 180 ms (data format is HEX and unit is 10 ms).
Page 415 Parameters ASDA-A3 Address: 012EH P1.023 Compare - data translation (non-volatile) 012FH Default: Control mode: All Unit: Pulse unit of compare source Setting range: -10000000 to +100000000 Format: Data size: 32-bit Settings: When using the Compare function, add the translation value to the data array to be used as the actual comparison data: CMP_DATA = DATA_ARRAY[*] + P1.023 + P1.024 Example:...
Page 416 ASDA-A3 Parameters Address: 0134H P1.026 Low-frequency vibration suppression gain (1) 0135H Default: Control mode: PT / PR Unit: Setting range: 0 - 9 Format: Data size: 16-bit Settings: To set the gain of the first low-frequency vibration suppression, increase the value to improve the position response.
Page 417 Parameters ASDA-A3 Auto mode setting description: When the value is 1, vibration suppression is in automatic mode. When the vibration cannot be detected or the vibration frequency is stable, the system resets the parameter to 0 and automatically saves the vibration suppression frequency to P1.025.
Page 418 ASDA-A3 Parameters Address: 0144H P1.034 S-curve acceleration constant 0145H Default: Control mode: S / Sz Unit: Setting range: 1 - 65500 Format: Data size: 16-bit Settings: Acceleration constant: P1.034, P1.035, and P1.036 represent the acceleration time for the Speed command from zero to the rated speed.
Page 419 Parameters ASDA-A3 P1.034: set the acceleration time for the trapezoid-curve. P1.035: set the deceleration time for the trapezoid-curve. P1.036: set the smoothing time for the S-curve acceleration and deceleration. You can set P1.034, P1.035, and P1.036 individually. Even if you set P1.036 to 0, the acceleration and deceleration still follow a trapezoid-curve.
Page 420 ASDA-A3 Parameters Settings: Sets the range for the zero-speed signal (ZSPD). When the forward / reverse speed of the motor is slower than this value, the zero-speed signal is triggered and the digital output is enabled. Address: 014EH P1.039 Target speed detection level 014FH Default: 3000...
Page 421 Parameters ASDA-A3 Settings: Maximum output for analog Torque command: Torque mode: Input voltage×P1.041 Torque control command = (Unit: %) Set the torque corresponding to 10V (maximum voltage) for the analog Torque command. If the default value is 100 and the external voltage input is 10V, then the torque control command is 100% of the rated torque.
Page 422 ASDA-A3 Parameters Settings: Sets the delay time from Servo Off status to the deactivation of the magnetic brake signal (DO: 0x08, BRKR). For the detailed diagram, refer to P1.042. Note: If the delay time specified in P1.038 has not passed yet and the motor speed is slower than the value of P1.038, the magnetic brake signal (BRKR) is deactivated.
Page 423 Parameters ASDA-A3 Note: Do not change the setting in the Servo On state. In communication mode (DMCNET / CANopen / EtherCAT), if you cycle the power to the drive, the E-Gear ratio is set to the default value of the communication protocol. Resetting to the default value results in the re-establishment of the absolute coordinate system, so you must re-do the homing procedure.
Page 424 ASDA-A3 Parameters Diagram: 1. Speed command: command that you input without acceleration / deceleration, not the command from the front end speed circuit. Its source is from the register. 2. Feedback speed: the actual speed of the motor which has been filtered out. 3.
Page 425 Parameters ASDA-A3 Diagram: Description: 1. Command triggered: new PR command is effective. Command 3 starts and clears signals 2, 4, 5, and 6 simultaneously. Command triggering source: DI.CTRG, DI.EV1/EV2, P5.007 (triggered through software), etc. 2. DO.CMD_OK: command 3 is complete and it can set the delay time (DLY). 3.
Page 426 ASDA-A3 Parameters Address: 0168H P1.052 Regenerative resistor value 0169H Determined by the model. Default: Control mode: All Refer to the following table. Unit: Setting range: Refer to the following note. Format: Data size: 16-bit Settings: Model Default (Ω) Model Default (Ω) 1.5 kW or below 2 - 3 kW (included) Refer to the instructions for P1.053 for the setting to use when connecting the regenerative resistor...
Page 427 Parameters ASDA-A3 Address: 016CH P1.054 Pulse range for position reached 016DH Default: 167772 Control mode: PT / PR Unit: pulse Setting range: 0 - 16777216 Format: Data size: 32-bit Settings: In Position (PT) mode, when the deviation pulse number is smaller than the range of P1.054, DO.TPOS is on.
Page 428 ASDA-A3 Parameters Settings: Set the protection level. For the percentage of rated torque, set the value to 0 to disable the function. Set the value to 1 or above to enable the function. Address: 0174H P1.058 Motor hard stop (protection time) 0175H Default: Control mode: All...
Page 429 Parameters ASDA-A3 P1.060 - Reserved P1.061 Address: 017CH P1.062 Percentage of friction compensation 017DH Default: Control mode: PT / PR / S / Sz Unit: Setting range: 0 - 100 Format: Data size: 16-bit Settings: The level of friction compensation. For the percentage of rated torque, set the value to 0 to disable the function;...
Page 430 ASDA-A3 Parameters Motor position (Turn) When executing this function, the motor operates to the position corresponding to the current voltage command Current position is regarded as the Current command position when 0V Analog input command (V) level 1: after the servo is on, if the command level is not changed, the motor does not operate. The position the motor stops at is the position corresponding to the current command level.
Page 431 Parameters ASDA-A3 P1.067 Reserved Address: 0188H P1.068 Position command - moving filter 0189H Default: Control mode: PT / PR Unit: Setting range: 0 - 100 Format: Data size: 16-bit Settings: 0: disable this function. The moving filter smooths the beginning and end of the step command, but it also delays the command. P1.069 - Reserved P1.071...
Page 432 ASDA-A3 Parameters Address: 0194H P1.074 Full-closed loop control for linear scale 0195H Default: Control mode: PT 0x0000 Unit: Setting range: 0000h - F132h Format: Data size: 16-bit Settings: Full-closed loop / Gantry function Positive / negative direction selection switch of linear scale feedback Selection of OA / OB / OZ output Linear scale filter function source...
Page 433 Parameters ASDA-A3 Low-pass filter time constant for full- / half-closed loop Address: 0196H P1.075 control 0197H Default: Control mode: PT Unit: Setting range: 0 - 1000 Format: Data size: 16-bit Settings: When the stiffness of the mechanical system between full- and half-closed loops is insufficient, set the proper time constant to enhance the stability of the system.
Page 434 ASDA-A3 Parameters Address: 01A4H P1.082 Filter switching time between P1.040 and P1.081 01A5H Default: Control mode: S Unit: Setting range: 0 - 1000 (0: disable this function) Format: Data size: 16-bit Settings: 0: disable filter switching time Address: 01A6H P1.083 Abnormal analog input voltage level 01A7H Default:...
Page 435 Parameters ASDA-A3 Protector Level reached timer P1.088 Maximum torque output Torque level detection P1.087 Torque curve when searching for the Starting point collision point Torque curve when searching for Z pulse Z pulse Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087). For example: set P1.087 to 50%, then the maximum torque output of the motor is 60%.
Page 436 ASDA-A3 Parameters Example: Set P2.094 = 0x11 to enable the first set. Set P2.094 = 0x12 to enable the second set. Set P2.094 = 0x13 to enable the first and second sets simultaneously. Address: 01B4H P1.090 First set of vibration elimination - resonance frequency 01B5H Default: Control mode: PT / PR...
Page 437 Parameters ASDA-A3 Address: 01BCH P1.094 Second set of vibration elimination - resonance difference 01BDH Default: Control mode: PT / PR Unit: 0.1 dB Setting range: 10 - 4000 Format: Data size: 16-bit Settings: Attenuation rate for the second set of low frequency vibration elimination. P1.095 - Reserved P1.096...
Page 438 ASDA-A3 Parameters Address: 01C4H P1.098 Disconnection detection protection (UVW) response time 01C5H Default: Control mode: All Unit: Setting range: 0, 100 - 800 Format: Data size: 16-bit Settings: When the disconnection detection protection (UVW) function is enabled (P2.065 [Bit 9] = 1), select the response time of the detection mode with this parameter.
Page 439 Parameters ASDA-A3 Address: 01DEH P1.111 Overspeed protection level 01DFH Default: Maximum motor speed x 1.1 Control mode: All Rotary motor: rpm Unit: Setting range: 0 - 66000 Linear motor: mm/s Format: Data size: 32-bit Settings: This function is to protect the motor from overspeeding, which can be applied to all control modes. When the filtered motor speed exceeds this set speed, AL056 is triggered.
Page 440: P2.Xxx Extension Parameters
ASDA-A3 Parameters P2.xxx Extension parameters Address: 0200H P2.000 Position control gain 0201H Default: Control mode: PT / PR Unit: rad/s Setting range: 0 - 2047 Format: Data size: 16-bit Settings: Increasing the position control gain can enhance the position response and reduce the position errors. If you set the value too high, it may cause vibration and noise.
Page 441 Parameters ASDA-A3 Address: 0208H P2.004 Speed control gain 0209H Default: Control mode: All Unit: rad/s Setting range: 0 - 8191 Format: Data size: 16-bit Settings: Increasing the speed control gain can enhance the speed response. If you set the value too high, it may cause vibration and noise.
Page 442 ASDA-A3 Parameters Settings: Special parameter write-in function: Code Function Reset parameter (cycle the power after reset). P4.010 is writable. P4.011 - P4.021 are writable. 30, 35 Save Compare, Capture, and E-Cam data. Enable forced DO mode. When forced DO mode is enabled, switch back to the normal DO mode. Address: 0212H P2.009 DI response filter time...
Page 443 Parameters ASDA-A3 Address: 0216H P2.011 DI2 functional planning 0217H Default: 0x0104 Control mode: All Setting range: 0 - 0x015F (last two codes are Unit: DI codes) Format: Data size: 16-bit Settings: Refer to the description of P2.010. Address: 0218H P2.012 DI3 functional planning 0219H Default:...
Page 444 ASDA-A3 Parameters Address: 0220H P2.016 DI7 functional planning 0221H Default: 0x0023 Control mode: All Setting range: 0 - 0x015F (last two codes are Unit: DI codes) Format: Data size: 16-bit Settings: Refer to the description of P2.010. Address: 0222H P2.017 DI8 functional planning 0223H Default:...
Page 445 Parameters ASDA-A3 Address: 0226H P2.019 DO2 functional planning 0227H Default: 0x0103 Control mode: All Setting range: 0 - 0x013F (last two codes are Unit: DO codes) Format: Data size: 16-bit Settings: Refer to the description of P2.018. Address: 0228H P2.020 DO3 functional planning 0229H Default:...
Page 446 ASDA-A3 Parameters Address: 0230H P2.024 Notch filter attenuation level (1) 0231H Default: Control mode: All Unit: Setting range: 0 - 40 Format: Data size: 16-bit Settings: The first Notch filter attenuation level. Set this parameter to 0 to disable the Notch filter. For example, an attenuation level of 5 indicates -5 dB.
Page 447 Parameters ASDA-A3 Settings: Gain switching condition Gain switching method Reserved  X: gain switching condition Function Control mode Disable gain switching function Signal of gain switching (DI.GAINUP) is on In position control mode, position error is larger than P2.029 Frequency of Position command is larger than P2.029 Rotation speed of servo motor is faster than P2.029 Signal of gain switching (DI.GAINUP) is off In position control mode, position error is smaller than P2.029...
Page 448 ASDA-A3 Parameters Address: 023AH P2.029 Gain switching condition 023BH Default: 16777216 Control mode: All Unit: pulse; Kpps; rpm Setting range: 0 - 50331648 Format: Data size: 32-bit Settings: You determine the gain switching (pulse error, Kpps, rpm) by the selection of gain switching condition (P2.027).
Page 449 Parameters ASDA-A3 Address: 0240H P2.032 Gain adjustment mode 0241H Default: 0x0001 Control mode: All Unit: Setting range: 0 - 4 Format: Data size: 16-bit Settings: The servo drive provides three gain adjustment modes for fine tuning. You can then easily complete tuning by increasing or decreasing the bandwidth response level (P2.031).
Page 450 ASDA-A3 Parameters Address: 0244H P2.034 Speed command error warning 0245H Default: 5000 Control mode: S / Sz 1 - 30000 (rotary motor) Unit: Setting range: 1 - 15999 (linear motor) Format: Data size: 16-bit Settings: In Speed mode, this parameter sets the acceptable difference between the command speed and the feedback speed.
Page 451 Parameters ASDA-A3 Address: 024CH P2.038 VDI11 functional planning 024DH Default: 0x0000 Control mode: All Setting range: 0 - 0x015F (last two codes are Unit: DI codes) Format: Data size: 16-bit Settings: Refer to the description of P2.010. Virtual digital input is useful when triggering communication or when DI points are insufficient.
Page 452 ASDA-A3 Parameters Address: 0256H P2.043 Notch filter frequency (2) 0257H Default: 1000 Control mode: All Unit: Setting range: 50 - 5000 Format: Data size: 16-bit Settings: The second setting for resonance frequency. This function is disabled if P2.044 is 0. Address: 0258H P2.044 Notch filter attenuation level (2)
Page 453 Parameters ASDA-A3 Address: 025EH P2.047 Auto resonance suppression mode 025FH Default: 0x0001 Control mode: All Unit: Setting range: 0x0000 - 0x01F2 Format: Data size: 16-bit Settings: Auto resonance suppression function Fixed resonance suppression parameter Fixed resonance suppression parameter Reserved  X: auto resonance suppression function 0: disable auto resonance suppression.
Page 454 ASDA-A3 Parameters Note: If you switch the setting of X from 0 to 1 or 2, the unfixed Notch filter is automatically cleared, the frequency is set to 1,000 Hz, and the suppression level is set to 0 dB. The servo determines it is stable according to the following conditions: resonances have been suppressed, no other interference that affects the operation is found, and the motor speed is maintained at above 10 rpm for 3 minutes.
Page 455 Parameters ASDA-A3 Address: 0262H P2.049 Speed detection filter and jitter suppression 0263H Operation Panel / software Communication Control mode: All interface: Default: Data size: 16-bit Unit: 1 ms 0.1 ms Setting range: 0.0 - 100.0 0 - 1000 Format: One decimal Example: 1.5 = 1.5 ms 15 = 1.5 ms...
Page 456 ASDA-A3 Parameters Address: 026AH P2.053 Position integral compensation 026BH Default: Control mode: All Unit: rad/s Setting range: 0 - 1023 Format: Data size: 16-bit Settings: Increase the position control integral compensation to reduce the position steady-state errors. If the value is too high, it may cause position overshoot and noise.
Page 457 Parameters ASDA-A3 Address: 0272H P2.057▲ Synchronous control bandwidth 0273H Default: Control mode: All Unit: Setting range: 0 - 1023 Format: Data size: 16-bit Settings: If you are unsure about setting P2.054 - P2.056, set the value of synchronous control bandwidth instead so that the value corresponds to P2.054 - P2.056.
Page 458 ASDA-A3 Parameters Address: 027AH P2.061 E-Gear ratio (numerator) (N3) 027BH Default: 16777216 Control mode: PT Unit: pulse Setting range: 1 to (2 Format: Data size: 32-bit Settings: Refer to the description of P2.060. Address: 027CH P2.062 E-Gear ratio (numerator) (N4) 027DH Default: 16777216...
Page 459 Parameters ASDA-A3 Bit 3: set the method for regenerative energy consumption. 0: determined by the servo’s internal algorithm. 1: determined by the DC bus voltage. Bit 6: in PT mode, set the pulse error (pulse frequency is too high) protection function. 0: enable the pulse error protection function.
Page 460 ASDA-A3 Parameters 1: command source is the analog voltage. The ZCLAMP function uses the analog Speed command without acceleration / deceleration to determine if this function should be enabled. When ZCLAMP conditions are met, the motor speed decelerates to 0 rpm by S-curve deceleration. If ZCLAMP conditions are not met, the motor follows the analog Speed command through the S-curve.
Page 461 Parameters ASDA-A3 Note: in DMCNET mode, if both PL and NL exist, neither pulse command is input to the servo drive. Bit 12: loss phase detection function. 0: enable loss phase (AL022) detection. 1: disable loss phase (AL022) detection. Bit 13: encoder output error detection function. 0: enable encoder output error (AL018) detection function.
Page 462 ASDA-A3 Parameters Address: 0288H P2.068 Following error compensation switch 0289H Default: 0x00000000 Control mode: All Unit: Setting range: 0x00000000 - 0x00002101 Format: Data size: 32-bit Settings: Following error compensation Reserved switch Reserved Reserved Reserved DI.STP triggering method Reserved Reserved High bit Low bit ...
Page 463 Parameters ASDA-A3 incremental type motor, AL069 occurs.  Y: pulse command setting when absolute position is lost 0: when AL060 or AL06A occurs, the system cannot accept a pulse command. 1: when AL060 or AL06A occurs, the system can accept a pulse command. ...
Page 464 ASDA-A3 Parameters Address: 028EH P2.071■ Absolute position homing 028FH Default: Control mode: All Unit: Setting range: 0 - 1 Format: Data size: 16-bit Settings: When P2.071 is 1, the current absolute position of the encoder is the home position. Clearing this function is enabled by setting P2.008 to 271 and P2.069.X to 1. P2.072 Reserved Address: 0292H...
Page 465 Parameters ASDA-A3  BA: PR number (PR#0 - PR#99) After each alignment, any shortage of pulse numbers from the slave axis is stored in a specified PR. This PR can compensate for the slave position at the appropriate timing point. If BA is set to 0, any shortage of pulse numbers is not stored in PR.
Page 466 ASDA-A3 Parameters Pulse data when master axis performs E-Cam alignment control continuous forward / reverse running or JOG function Filter intensity (0 - F)  X: E-Cam alignment control Function Description Set this bit to 0 to disable this function. Enable Set this bit to 1 to enable this function.
Page 467 Parameters ASDA-A3 Settings: Pulse data when master axis performs Pulse masking function of master axis / pulse continuous forward / reverse running input method of master axis or JOG function Masking pulse adjusting lead  X: pulse masking function of master axis / pulse input method of master axis Actual Virtual master axis...
Page 468 ASDA-A3 Parameters  Y: masking pulse / virtual pulse adjusting initial lead setting Function Description Function Virtual pulse number is not written to P5.087 (initial lead). disabled 01 Write the lead Write the virtual pulse number to P5.087 (initial lead). 02 Write the virtual pulse number to P5.087 (initial lead) and also write to Write to ROM...
Page 469 Parameters ASDA-A3 Address: 029EH P2.079 E-Cam: DO.CAM_AREA#2 falling-edge phase 029FH Default: Control mode: PR Unit: degree Setting range: 0 - 360 Format: Data size: 16-bit Settings: Refer to P2.078 for the correlation between DO.CAM_AREA 2 and the parameters. P2.080 - Reserved P2.087 Address: 02B0H...
Page 470 ASDA-A3 Parameters Address: 02B2H P2.089 Command response gain 02B3H Default: Control mode: PT / PR Unit: rad/s Setting range: 1 - 2000 Format: Data size: 16-bit Settings: Increasing this gain speeds up the responsiveness of the Position command and shortens the tuning time, but when the gain is too large, it causes position overshoot which leads to machine jitter.
Page 471 Parameters ASDA-A3 Address: 02BEH P2.095 Notch filter bandwidth (1) 02BFH Default: Control mode: All Unit: Setting range: 1 - 10 Format: Data size: 16-bit Settings: The first value of resonance width. This function is disabled if P2.024 is 0. P2.023, P2.024, and P2.095 are the first set of Notch filter parameters.
Page 472 ASDA-A3 Parameters Settings: The fourth Notch filter attenuation level. Set this parameter to 0 to disable the Notch filter. For example, if you set the attenuation level to 5, then the value is -5 dB. Address: 02C8H P2.100 Notch filter bandwidth (4) 02C9H Default: Control mode: All...
Page 473 Parameters ASDA-A3 Address: 02D0H P2.104 P/PI torque switching command condition 02D1H Default: Control mode: PT / PR / S / Sz Unit: Setting range: 1 - 800 Format: Data size: 16-bit Settings: When the Torque command exceeds P2.104, the speed controller gain is switched from PI to P in order to reduce response overshoot.
Page 474 ASDA-A3 Parameters Feedback Command P2.107 - Reserved P2.111 Address: 02E0H P2.112▲ Special bit register 4 02E1H Default: 0x0008 Control mode: PT / PR / S / Sz Unit: Setting range: 0x0000 - 0x001F Format: Data size: 16-bit Settings: Function Description Bit 15 - 4 Reserved 0: reserved...
Page 475: P3.Xxx Communication Parameters
Parameters ASDA-A3 P3.xxx Communication parameters Address: 0300H P3.000● Address 0301H Default: 0x007F Control mode: All Unit: Setting range: 0x0001 - 0x007F Format: Data size: 16-bit Settings: Communication address Reserved setting When using RS-485 to communicate, one servo drive can set only one address. Setting more than one addresses causes abnormal communications.
Page 476 ASDA-A3 Parameters  Definition of U value 0: use Delta’s controller, such as PLC or HMI 3: use Delta’s motion card Note: If this parameter is set through CANopen, only Z can be set and the others remain unchanged. The communication speed of USB is set at 1.0 M bps and cannot be changed.
Page 477 Parameters ASDA-A3 Address: 030CH ■ Digital input (DI) control switch P3.006 030DH Default: 0x0000 Control mode: All Unit: Setting range: 0x0000 - 0x1FFF Format: Data size: 16-bit Settings: Source of the DI controls the switch. Each bit of this parameter determines one input source of DI signal: Bit 0 - Bit 9 correspond to DI1 - DI10.
Page 478 ASDA-A3 Parameters The slave synchronizes with the master via SYNC. The definition is as follows: M: reserved. D: set the size of deadband (unit: usec). If the deviation between the SYNC arrival time and the target value does not exceed the deadband, a correction is not needed. T: target value of SYNC arrival time.
Page 479 Parameters ASDA-A3 Communication setting is divided into X, Y, Z, and U (hexadecimal): Digit Parameter is stored in Function Undefined Undefined Undefined EEPROM or not Range 0 - 1 0 - F 0 - F 0 - 1 Definition is as follows: X: 1: when writing parameters through CANopen / DMCNET PDO, parameters are stored in EEPROM.
Page 480 ASDA-A3 Parameters CANopen mode: Variables during initialization P3.012.Z = 0 P3.012.Z = 1 Note P1.032 0x0010 EEPROM P2.035 50331648 EEPROM P1.047 EEPROM P1.049 EEPROM P1.038 EEPROM Home offset EEPROM Used in HM mode P1.044 EEPROM P1.045 EEPROM DMCNET mode: Variables during initialization P3.012.Z = 0 P3.012.Z = 1 Note...
Page 481: P4.Xxx Diagnosis Parameters
Parameters ASDA-A3 P4.xxx Diagnosis parameters Address: 0400H P4.000★ Fault record (N) 0401H Default: 0x00000000 Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: The last abnormal status record. Low word (LXXXX): the alarm number. High word (hYYYY): the error code corresponding to CANopen / DMCNET. Address: 0402H P4.001★...
Page 482 ASDA-A3 Parameters Address: 0408H P4.004★ Fault record (N-4) 0409H Default: 0x00000000 Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: The fifth to last abnormal status record. Low word (LXXXX): the alarm number. High word (hYYYY): the error code corresponding to CANopen / DMCNET. Address: 040AH P4.005 Servo motor JOG control...
Page 483 Parameters ASDA-A3 Settings: bit 00: corresponds to DO code = 0x30 bit 08: corresponds to DO code = 0x38 bit 01: corresponds to DO code = 0x31 bit 09: corresponds to DO code = 0x39 bit 02: corresponds to DO code = 0x32 bit 10: corresponds to DO code = 0x3A bit 03: corresponds to DO code = 0x33 bit 11: corresponds to DO code = 0x3B...
Page 484 ASDA-A3 Parameters Settings: Use this communication parameter to read and check if the five keys (MODE, UP, DOWN, SHIFT, and SET) can function normally. Address: 0412H P4.009★ Digital output status (read-only) 0413H Default: Control mode: All Unit: Setting range: 0 - 0x1F Format: Data size: 16-bit...
Page 485 Parameters ASDA-A3 Address: 0418H P4.012 Analog speed input (2) offset adjustment 0419H Default: Factory setting Control mode: All Unit: Setting range: 0 - 32767 Format: Data size: 16-bit Settings: Manually adjust the offset. The function must be enabled by setting P2.008. Do not change the auxiliary adjustment as this parameter cannot be reset.
Page 486 ASDA-A3 Parameters Settings: Manually adjust the offset. The function must be enabled by setting P2.008. Do not change the auxiliary adjustment as this parameter cannot be reset. Address: 0422H P4.017 Current encoder (W1 phase) offset adjustment 0423H Default: Factory setting Control mode: All Unit: Setting range: 0 - 32767...
Page 487 Parameters ASDA-A3 Address: 042AH P4.021 Offset adjustment for analog monitor output (Ch2) 042BH Default: Control mode: All Unit: Setting range: -800 to 800 Format: Data size: 16-bit Settings: Offset adjustment value (cannot reset). The function must be enabled by setting P2.008. Address: 042CH P4.022 Analog speed input offset...
Page 488: P5.Xxx Motion Control Parameters
ASDA-A3 Parameters P5.xxx Motion control parameters Address: 0500H P5.000★■ Firmware subversion 0501H Default: Factory setting Control mode: All Unit: Setting range: - Format: Data size: 32-bit Settings: The low bit is the subversion of the firmware. P5.001 - Reserved P5.002 Address: 0506H P5.003 Deceleration time for auto-protection...
Page 489 Parameters ASDA-A3 Definition of each setting value: Reserved Limit setting Z pulse setting Homing method 0 - 1 0 - 2 0 - 8 X = 0: homing in forward direction and define the positive limit as the homing origin X = 1: homing in reverse Y = 0: return to Z pulse direction and define the...
Page 490 ASDA-A3 Parameters Settings: The first speed setting for high speed homing. First high speed homing First high speed homing Second low speed homing Second low speed homing Z pulse Z pulse Note: rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet synchronous linear motor.
Page 491 Parameters ASDA-A3 Write 1000 to execute stop command, which is the same as DI.STP. When reading P5.007, if the command is incomplete, the drive reads the current command (1 - 99). If the command is complete, the drive reads the current command +10000. If the command is complete, DO.TPOS is on, and motor position is reached, the drive reads the current command +20000.
Page 492 ASDA-A3 Parameters Address: 0516H P5.011■ Data array - address for reading and writing 0517H Default: Control mode: All Unit: Setting range: 0 to (value set by P5.010 minus 1) Format: Data size: 16-bit Settings: Specify the address in the data array when reading and writing data. Refer to Chapter 7 for detailed instructions.
Page 493 Parameters ASDA-A3 PATH#1 volatile setting Reserved PATH#2 volatile setting  X: PATH#1 volatile setting 0: non-volatile 1: volatile  Y: PATH#2 volatile setting 0: non-volatile 1: volatile Address: 0520H P5.016■ Axis position - CN2 0521H Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size:...
Page 494 ASDA-A3 Parameters Address: 0526H P5.019 E-Cam curve scaling 0527H Default: 1.000000 Control mode: PR Unit: 0.000001 times, which is 1 / (10^6) Setting range: -2147.000000 to +2147.000000 Format: Data size: 32-bit Example: 1100000 = 1.1 times Settings: Use this parameter to magnify or reduce the E-Cam table without changing its value. Example: the data in the table is 0, 10, 20, 30, 40, 20, magnification x 2.000000 equals the data: 0, 20, 40, 60, 80, 40, magnification x 1.000000.
Page 495 Parameters ASDA-A3 Address: 052EH P5.023 Acceleration / deceleration time (Number #3) 052FH Default: Control mode: PR Unit: Setting range: 1 - 65500 Format: Data size: 16-bit Settings: Refer to P5.020 for the acceleration / deceleration time in PR mode. Address: 0530H P5.024 Acceleration / deceleration time (Number #4) 0531H...
Page 496 ASDA-A3 Parameters Address: 0538H P5.028 Acceleration / deceleration time (Number #8) 0539H Default: 1500 Control mode: PR Unit: Setting range: 1 - 65500 Format: Data size: 16-bit Settings: Refer to P5.020 for the acceleration / deceleration time in PR mode. Address: 053AH P5.029 Acceleration / deceleration time (Number #9)
Page 497 Parameters ASDA-A3 Address: 0542H P5.033 Acceleration / deceleration time (Number #13) 0543H Default: 8000 Control mode: PR Unit: Setting range: 1 - 65500 Format: Data size: 16-bit Settings: Refer to P5.020 for the acceleration / deceleration time in PR mode. Address: 0544H P5.034 Acceleration / deceleration time (Number #14)
Page 498 ASDA-A3 Parameters Settings: Displays the axis position of Capture pulse source. Note that this parameter is only writable when Capture stops (refer to P5.039). If the axis source of Capture is CN2, this parameter is write-protected and the Capture axis position is the feedback position of the motor (monitoring variable 00h). Address: 054CH P5.038■...
Page 499 Parameters ASDA-A3 3: CN2 Note: when the source of Compare is the Capture axis, the source of Capture (P5.039.Y) cannot be changed.  Z: trigger logic 0: NO (normally open) 1: NC (normally closed)  U: trigger minimum interval (unit: ms) Note: refer to Chapter 7 for detailed instructions for Capture.
Page 500 ASDA-A3 Parameters Address: 0558H P5.044 Delay time after position reached (Number #4) 0559H Default: Control mode: PR Unit: Setting range: 0 - 32767 Format: Data size: 16-bit Settings: The fifth delay time of PR mode. Address: 055AH P5.045 Delay time after position reached (Number #5) 055BH Default: Control mode: PR...
Page 501 Parameters ASDA-A3 Address: 0562H P5.049 Delay time after position reached (Number #9) 0563H Default: 2500 Control mode: PR Unit: Setting range: 0 - 32767 Format: Data size: 16-bit Settings: The tenth delay time of PR mode. Address: 0564H P5.050 Delay time after position reached (Number #10) 0565H Default: 3000...
Page 502 ASDA-A3 Parameters Address: 056CH P5.054 Delay time after position reached (Number #14) 056DH Default: 5000 Control mode: PR Unit: Setting range: 0 - 32767 Format: Data size: 16-bit Settings: The fifteenth delay time of PR mode. Address: 056EH P5.055 Delay time after position reached (Number #15) 056FH Default: 5500...
Page 503 Parameters ASDA-A3 Address: 0574H P5.058■ Compare - number of comparing times 0575H Default: Control mode: All 1 to (value set by P5.010 minus Unit: Setting range: value set by P5.056) Format: Data size: 16-bit Settings: When Compare is not in operation, the parameter indicates the number of data expected to be compared (readable and writable).
Page 504 ASDA-A3 Parameters  Z: trigger logic 0: NO (normally open) 1: NC (normally closed)  U: trigger PR Function Description Execute PR Execute PR#45 after comparing is complete 1 - 3 Reserved  CBA: duration of pulse output (unit: 1 ms) Note: refer to Chapter 7 for detailed instructions for Compare.
Page 505 Parameters ASDA-A3 Address: 057CH P5.062 Target speed setting #2 057DH Operation Panel / software Communication Control mode: PR interface: Default: 100.0 1000 Data size: 32-bit 1 rpm (rotary motor)* 0.1 rpm (rotary motor)* Unit: m/s (linear motor)* m/s (linear motor)* 0.0 - 6000.0 (rotary motor)* 0 - 60000 (rotary motor)* Setting range:...
Page 506 ASDA-A3 Parameters Settings: Fifth target speed of PR mode. Note: rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet synchronous linear motor. Address: 0582H P5.065 Target speed setting #5 0583H Operation Panel / software Communication Control mode: PR interface: Default: 500.0...
Page 507 Parameters ASDA-A3 Address: 0586H P5.067 Target speed setting #7 0587H Operation Panel / software Communication Control mode: PR interface: Default: 800.0 8000 Data size: 32-bit 1 rpm (rotary motor)* 0.1 rpm (rotary motor)* Unit: m/s (linear motor)* m/s (linear motor)* 0.0 - 6000.0 (rotary motor)* 0 - 60000 (rotary motor)* Setting range:...
Page 508 ASDA-A3 Parameters Settings: Tenth target speed of PR mode. Note: rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet synchronous linear motor. Address: 058CH P5.070 Target speed setting #10 058DH Operation Panel / software Communication Control mode: PR interface: Default: 1500.0...
Page 509 Parameters ASDA-A3 Address: 0590H P5.072 Target speed setting #12 0591H Operation Panel / software Communication Control mode: PR interface: Default: 2000.0 20000 Data size: 32-bit 1 rpm (rotary motor)* 0.1 rpm (rotary motor)* Unit: m/s (linear motor)* m/s (linear motor)* 0.0 - 6000.0 (rotary motor)* 0 - 60000 (rotary motor)* Setting range:...
Page 510 ASDA-A3 Parameters Settings: Fifteenth target speed of PR mode. Note: rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet synchronous linear motor. Address: 0596H P5.075 Target speed setting #15 0597H Operation Panel / software Communication Control mode: PR interface: Default: 3000.0...
Page 511 Parameters ASDA-A3 Address: 059CH P5.078 E-Cam: interval between each synchronous Capture action 059DH Default: Control mode: All Unit: Pulse unit of master axis Setting range: 10 - 100000000 Format: Data size: 32-bit Settings: Sets the moving pulse amount of the synchronous Capture axis between two capturing actions. The new value can only be written to the parameter when Capture is not in operation (P5.039.X [Bit 0] = 0).
Page 512 ASDA-A3 Parameters Address: 05A2H P5.081 E-Cam: start address for data array 05A3H Default: Control mode: PR Unit: Setting range: 0 to (800 minus value set by P5.082) Format: Data size: 16-bit Settings: The first data in the E-Cam curve table is saved at this address in the data array. This parameter can be set at any time, but will be effective only when the status changes from pre-engaged to engaged.
Page 513 Parameters ASDA-A3 Address: 05AAH P5.085 E-Cam: engaged segment number 05ABH Default: Control mode: PR Unit: Setting range: 0 to (value set by P5.082 minus 1) Format: Data size: 16-bit Settings: Set the segment number in the curve table when E-Cam engages. Address: 05ACH P5.086■...
Page 514 ASDA-A3 Parameters Definitions are as follows:  X: E-Cam command Function Description 0: E-Cam is disabled E-Cam activation 1: E-Cam is enabled (relevant parameters cannot be modified once E-Cam is enabled) 0: when the servo is stopped by alarm or because servo is off, the clutch disengages E-Cam does not 1: when the servo is stopped by alarm or because servo is off, the clutch...
Page 515 Parameters ASDA-A3 Disengagement condition Status after disengaged 8: set other disengagement conditions first, and the E-Cam function is disabled after the clutch disengages 1 + 8: disengages when DI (DI: 0x36) is off and the E-Cam function 0: stop and disable E-Cam is disabled 2 + 8: disengages when master axis pulse number reaches the setting value of P5.089, slave axis stops immediately, and the...
Page 516 ASDA-A3 Parameters Address: 05B4H P5.090 E-Cam: DO.CAM_AREA#1 rising-edge phase 05B5H Default: Control mode: PR Unit: degree Setting range: 0 - 360 Format: Data size: 16-bit Settings: See the correlation between DO.CAM_AREA 1 and the parameters in the following figure. When E-Cam is not engaged, this signal is always off.
Page 517 Parameters ASDA-A3 Address: 05BAH P5.093 Motion control macro command: command parameter #4 05BBH Default: Control mode: All Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Before executing the macro command, set the relevant parameters in advance. The function of the parameter is determined by the macro command.
Page 518 ASDA-A3 Parameters Motion control macro command: issue command / Address: 05C2H P5.097■ execution result 05C3H Default: Control mode: All Unit: Setting range: 0 - 0x099F Format: Data size: 16-bit Settings: Write to this parameter to issue a macro command; read this parameter to examine the execution result of a macro command.
Page 519 Parameters ASDA-A3 Failure code 0xF041: protection function is unlocked and cannot be unlocked repeatedly 0xF043: password value exceeds the allowable range (1 - 16777215) 0xF044: the maximum number of failed password attempts has been reached and Read the return value of it is locked.
Page 520 ASDA-A3 Parameters Create E-Cam table: rotary shear (adjustable synchronous speed zone) This macro automatically calculates the data for the E-Cam table according to the macro parameters, and stores them in the data array specified by P5.081. After this macro is executed, if the above parameters have been modified, the E-Cam table must be recreated and you must execute this macro again.
Page 521 Parameters ASDA-A3 E-Cam curve scaling (P5.019) is effective immediately This macro can be executed when the clutch is engaged, and the E-Cam scaling (P5.019) becomes effective immediately. If it is necessary to change the E-Cam scaling immediately in the application, set P5.088.X [Bit 2] to 1 or execute this macro.
Page 522 ASDA-A3 Parameters Calculate the error between the current position of the slave axis and indexing coordinates for PR positioning When the clutch is engaged and the motor is stopped due to Servo Off or an alarm, position error occurs between the actual position and the E-Cam position. After the servo switches to on again, use this macro command to automatically calculate the displacement value and write the value to the specified PR for incremental positioning.
Page 523 Parameters ASDA-A3 Target position is within this range; E-Cam current position onward trip is in forward direction Maximum forward rotation limit. Counterclockwise Target position is within this range; direction forward direction return trip is in reverse direction in the figure Allowable forward rate = Allowable forward rate = 0%, reverse direction...
Page 524 ASDA-A3 Parameters P5.093 = DCBA UZYX (HEX) YX: PR number (0x01 - 0x63); invalid when value is 0 UZ: maximum allowable alignment correction rate (0x00 - 0x64%) ｜Alignment target position - Current position｜/ Pulse number of master axis when E-Cam rotates one cycle A: PR triggering method.
Page 525 Parameters ASDA-A3 Success code 0x100F Failure code 0xF0F1: when executing this macro command, E-Cam is not in engaged status Read the return value of 0xF0F2: PR number of onward trip specified by P5.093.YX exceeds the range (0x01 - P5.097 after executing 0x63) the macro 0xF0F3: PR number of return trip specified by P5.093.UZ exceeds the range (0x01 -...
Page 526 ASDA-A3 Parameters PR triggered by EV1 rising-edge PR triggered by EV3 rising-edge PR triggered by EV2 rising-edge PR triggered by EV4 rising-edge  X: PR triggered when EV1 is on 0: no action 1 - D: execute PR# 51 - 63 ...
Page 527 Parameters ASDA-A3  U: PR triggered when EV4 is off 0: no action 1 - D: execute PR# 51 - 63 Address: 05C8H P5.100■ Data array - window #3 for reading and writing 05C9H Default: Control mode: All Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit...
Page 528: P6.Xxx Pr Parameters
ASDA-A3 Parameters P6.xxx PR parameters Address: 0600H P6.000 Homing definition 0601H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFF6F Format: Data size: 32-bit Settings: Homing definition: DEC2: deceleration time selection for PATH: path type second homing DLY: select 0 - F for delay time ACC: select 0 - F for acceleration time DEC1: deceleration time selection for first homing...
Page 529 Parameters ASDA-A3 Note: 1. After the origin is found (sensor or Z), it has to decelerate to a stop. The stop position exceeds the origin by a short distance: If returning to the origin is not needed, set PATH to 0. If returning to the origin is needed, set PATH to a non-zero value and set PABS = ORG_DEF.
Page 530 ASDA-A3 Parameters Y: OPT, Option X: TYPE, Path type Bit 3 Bit 2 Bit 1 Bit 0 7: JUMP, jump to the specified path. AUTO 8: write specified parameter to specified path. OVLP A: indexing position control. B: statement / arithmetic operation. TYPE path type: when executing 1 - 3, it can be interrupted and stopped by DI.STP and software limits.
Page 531 Parameters ASDA-A3 Corresponding parameter Default value (ms) P5.071 1800 P5.072 2000 P5.073 2300 P5.074 2500 P5.075 3000  B: DLY, delay time index Corresponding parameter Default value (ms) P5.040 P5.041 P5.042 P5.043 P5.044 P5.045 P5.046 1000 P5.047 1500 P5.048 2000 P5.049 2500 P5.050...
Page 532 ASDA-A3 Parameters Address: 0608H P6.004 PATH#2 definition 0609H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 060AH P6.005 PATH#2 data 060BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 533 Parameters ASDA-A3 Address: 0612H P6.009 PATH#4 data 0613H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0614H P6.010 PATH#5 definition 0615H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 534 ASDA-A3 Parameters Address: 061CH P6.014 PATH#7 definition 061DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 061DH P6.015 PATH#7 data 061FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 535 Parameters ASDA-A3 Address: 0626H P6.019 PATH#9 data 0627H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0628H P6.020 PATH#10 definition 0629H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 536 ASDA-A3 Parameters Address: 0630H P6.024 PATH#12 definition 0631H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0632H P6.025 PATH#12 data 0633H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 537 Parameters ASDA-A3 Address: 063AH P6.029 PATH#14 data 063BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 063CH P6.030 PATH#15 definition 063DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 538 ASDA-A3 Parameters Address: 0644H P6.034 PATH#17 definition 0645H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0646H P6.035 PATH#17 data 0647H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 539 Parameters ASDA-A3 Address: 064EH P6.039 PATH#19 data 064FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0650H P6.040 PATH#20 definition 0651H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 540 ASDA-A3 Parameters Address: 0658H P6.044 PATH#22 definition 0659H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 065AH P6.045 PATH#22 data 065BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 541 Parameters ASDA-A3 Address: 0662H P6.049 PATH#24 data 0663H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0664H P6.050 PATH#25 definition 0665H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 542 ASDA-A3 Parameters Address: 066CH P6.054 PATH#27 definition 066DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 066EH P6.055 PATH#27 data 066FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 543 Parameters ASDA-A3 Address: 0676H P6.059 PATH#29 data 0677H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0678H P6.060 PATH#30 definition 0679H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 544 ASDA-A3 Parameters Address: 0680H P6.064 PATH#32 definition 0681H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0682H P6.065 PATH#32 data 0683H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 545 Parameters ASDA-A3 Address: 068AH P6.069 PATH#34 data 068BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 068CH P6.070 PATH#35 definition 068CH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 546 ASDA-A3 Parameters Address: 0694H P6.074 PATH#37 definition 0695H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0696H P6.075 PATH#37 data 0697H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 547 Parameters ASDA-A3 Address: 069EH P6.079 PATH#39 data 069FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 06A0H P6.080 PATH#40 definition 06A1H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 548 ASDA-A3 Parameters Address: 06A8H P6.084 PATH#42 definition 06A9H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 06AAH P6.085 PATH#42 data 06ABH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 549 Parameters ASDA-A3 Address: 06B2H P6.089 PATH#44 data 06B3H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 06B4H P6.090 PATH#45 definition 06B5H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 550 ASDA-A3 Parameters Address: 06BCH P6.094 PATH#47 definition 06BDH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 06BEH P6.095 PATH#47 data 06BFH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 551 Parameters ASDA-A3 Address: 0602H P6.099 PATH#49 data 0603H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. 8-178...
Page 552: P7.Xxx Pr Parameters
ASDA-A3 Parameters P7.xxx PR parameters Address: 0700H P7.000 PATH#50 definition 0701H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0702H P7.001 PATH#50 data 0703H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647...
Page 553 Parameters ASDA-A3 Address: 070AH P7.005 PATH#52 data 070BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 070CH P7.006 PATH#53 definition 070DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 554 ASDA-A3 Parameters Address: 0714H P7.010 PATH#55 definition 0715H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0716H P7.011 PATH#55 data 0717H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 555 Parameters ASDA-A3 Address: 071EH P7.015 PATH#57 data 071FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0720H P7.016 PATH#58 definition 0721H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 556 ASDA-A3 Parameters Address: 0728H P7.020 PATH#60 definition 0729H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 072AH P7.021 PATH#60 data 072BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 557 Parameters ASDA-A3 Address: 0732H P7.025 PATH#62 data 0733H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0734H P7.026 PATH#63 definition 0735H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 558 ASDA-A3 Parameters Address: 073CH P7.030 PATH#65 definition 073DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 073EH P7.031 PATH#65 data 073FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 559 Parameters ASDA-A3 Address: 0746H P7.035 PATH#67 data 0747H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0748H P7.036 PATH#68 definition 0749H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 560 ASDA-A3 Parameters Address: 0750H P7.040 PATH#70 definition 0751H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0752H P7.041 PATH#70 data 0753H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 561 Parameters ASDA-A3 Address: 075AH P7.045 PATH#72 data 075BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 075CH P7.046 PATH#73 definition 075DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 562 ASDA-A3 Parameters Address: 0764H P7.050 PATH#75 definition 0765H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0766H P7.051 PATH#75 data 0767H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 563 Parameters ASDA-A3 Address: 076EH P7.055 PATH#77 data 076FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0770H P7.056 PATH#78 definition 0771H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 564 ASDA-A3 Parameters Address: 0778H P7.060 PATH#80 definition 0779H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 077AH P7.061 PATH#80 data 077BH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 565 Parameters ASDA-A3 Address: 0782H P7.065 PATH#82 data 0783H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0784H P7.066 PATH#83 definition 0785H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 566 ASDA-A3 Parameters Address: 078CH P7.070 PATH#85 definition 078DH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 078EH P7.071 PATH#85 data 078FH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 567 Parameters ASDA-A3 Address: 0796H P7.075 PATH#87 data 0797H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0798H P7.076 PATH#88 definition 0799H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 568 ASDA-A3 Parameters Address: 07A0H P7.080 PATH#90 definition 07A1H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 07A2H P7.081 PATH#90 data 07A3H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 569 Parameters ASDA-A3 Address: 07AAH P7.085 PATH#92 data 07ABH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 07ACH P7.086 PATH#93 definition 07ADH Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 570 ASDA-A3 Parameters Address: 07B4H P7.090 PATH#95 definition 07B5H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format: Data size: 32-bit Settings: Refer to the description of P6.002. Address: 07B6H P7.091 PATH#95 data 07B7H Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format:...
Page 571 Parameters ASDA-A3 Address: 07BEH P7.095 PATH#97 data 07BFH Default: Control mode: PR Unit: Setting range: -2147483648 to +2147483647 Format: Data size: 32-bit Settings: Refer to the description of P6.003. Address: 07C0H P7.096 PATH#98 definition 07C1H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFFFF Format:...
Page 572: Pm.xxx Motor Parameters
16-bit Settings: 0: disable 1: enable Note: This parameter is invalid if you are using a Delta rotary motor. Rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet synchronous linear motor. Address: FD04H PM.002▲● Motor parameter identification status...
Page 573 U: signal source 0: CN2 1: CN5 Note: Do not set this parameter if you are using a Delta rotary motor. This function is coming soon. Rotary motor means a permanent-magnet synchronous rotary motor; linear motor means a permanent-magnet synchronous linear motor.
Page 574 ASDA-A3 Parameters Address: FD08H PM.004▲● Encoder resolution FD09H Default: Applicable motor: Linear motor, third-party rotary motor Third-party rotary motor: Square wave digital signal: pulse/rev Sine wave analog signal periods/rev Third-party rotary motor: Unit: Setting range: 128 - 268435456 (2 Linear motor: Linear motor: 1 - 30000 Square wave digital signal: ...
Page 575 Parameters ASDA-A3 Function Description Bit 0 - Bit 3 Reserved If the deviation between the magnetic field detected by the Hall Use the Hall sensor and the actual magnetic field of the motor is too large, AL055 sensor to occurs. Bit 4 determine whether the motor magnetic...
Page 576 Parameters Settings: When you are using a Delta motor, set this parameter to 0. (This parameter is automatically set to 0 when the Delta motor is connected to CN2 and the communication is successful.) When you are using a third-party motor, set this parameter to 1. (This parameter is automatically set to 1 when you execute the Motor Parameter Identification Wizard with a third-party motor.)
Page 577 Parameters ASDA-A3 Address: FD26H PM.019▲ Load increase gain FD27H Default: Applicable motor: All Unit: Setting range: 15 - 600 Format: Data size: 16-bit Settings: Load ratio Operating time Load ratio Operating time 12 sec × PM.020 260% 3.9 sec × PM.019 12.3 sec ×...
Page 578 ASDA-A3 Parameters When the load ratio is 160%, the overload (AL006) protection counter continues to increase. When the load ratio is 100%, the operating level is leveled off. When the load ratio is 40%, the overload (AL006) protection counter continues to decrease. Example 2: Overload (AL006) Load ratio...
Page 579 ASDA-A3 Settings: 0: not connected to a motor temperature sensor 1: Delta linear motor NTC thermistor 2: PTC level thermistor 3: NTC level thermistor Note: the connection method for the CN5 temperature sensor is to connect the two pins of the temperature sensor to Pin 13 and Pin 14 (see Section 3.7).
Page 580 ASDA-A3 Parameters Address: FD3AH PM.029▲● Permanent-magnet rotary motor rated current FD3BH Operation Applicable Panel / software Communication Permanent-magnet rotary motor interface: motor: Default: Data size: 16-bit Unit: Arms 0.01 Arms Setting 0.00 to servo drive rated 0 to servo drive rated current x 100 range: current Format:...
Page 581 Parameters ASDA-A3 Address: FD40H PM.032▲ Permanent-magnet rotary motor maximum speed FD41H Default: Applicable motor: Permanent-magnet rotary motor Unit: Setting range: 0 - 6000 Format: Data size: 16-bit Settings: Input the correct information according to the specifications of the third-party permanent-magnet rotary motor.
Page 582 ASDA-A3 Parameters Address: FD46H PM.035▲ Permanent-magnet rotary motor phase resistance FD47H Operation Applicable Panel / software Communication Permanent-magnet rotary motor interface: motor: Default: Data size: 32-bit Unit: 0.001 ohm Setting range: 0.000 - 65.535 0 - 65535 Format: Two decimals Example: 1500 = 1.5 ohm 1.5 = 1.5 ohm...
Page 583 Parameters ASDA-A3 PM.039 - Reserved PM.044 Address: FD5AH PM.045▲● Linear motor pole pitch FD5BH Operation Applicable Panel / software Communication Linear motor interface: motor: Default: Data size: 32-bit Unit: mm/360° 0.001 mm/360° Setting range: 1.000 - 500.000 1000 - 500000 Format: Three decimals Example:...
Page 584 ASDA-A3 Parameters Address: FD60H PM.048▲ Linear motor maximum speed FD61H Default: Applicable motor: Linear motor Unit: mm/s Setting range: 0 - 15999 Format: Data size: 16-bit Settings: Input the correct information according to the specifications of the linear motor. Address: FD62H PM.049▲...
Page 585 Parameters ASDA-A3 Settings: Input the correct information according to the specifications of the linear motor. PM.052 Reserved Address: FD6AH PM.053▲ Linear motor back electromotive force constant FD6BH Operation Applicable Panel / software Communication Linear motor interface: motor: Default: Data size: 16-bit Unit: Vrms/(m/s)
Page 586 ASDA-A3 Parameters Table 8.1 Digital input (DI) descriptions Value: 0x01 Triggering Control DI name Description method mode Level When this DI is on, servo is activated (Servo On). triggered Value: 0x02 Triggering Control DI name Description method mode After the alarm is cleared, the drive shows that the alarm is cleared Rising-edge ARST when this DI is on.
Page 587 Parameters ASDA-A3 Value: 0x08 Triggering Control DI name Description method mode In PR mode, after selecting the PR command (POS0 - 6), the motor Rising-edge CTRG operates according to the command issued by the register when this DI triggered is on. Value: 0x09 Triggering Control...
Page 588 ASDA-A3 Parameters Value: 0x0D Triggering Control DI name Description method mode Clear function of analog Position command. If this DI is on, the position of the motor is held at the current position when DI is triggered. Despite the change in the analog command during DI is on, the motor remains at the current position even when the DI is off.
Page 589 Parameters ASDA-A3 Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C, 0x1E Triggering Control DI name Description method mode PR command selection (1 - 99) Corres- Position ponding CTRG command para- meter P6.000 Homing POS0 P6.001 POS1 P6.002 POS2 PR 1 P6.003 Level POS3 triggered...
Page 590 ASDA-A3 Parameters Value: 0x14, 0x15 Triggering Control DI name Description method mode Register Speed command selection (1 - 4) Speed DI signal of CN1 command Command source Content Range SPD1 SPD0 number Speed Mode Sz command is 0 +/- 6000 rpm (rotary) P1.009 +/- 15999999...
Page 591 Parameters ASDA-A3 Value: 0x21 Triggering Control DI name Description method mode Level EMGS When this DI is on, the motor stops immediately. triggered Value: 0x22 Triggering Control DI name Description method mode Level NL (CWL) Reverse inhibit limit (contact B). triggered Value: 0x23 Triggering...
Page 592 ASDA-A3 Parameters Value: 0x37 Triggering Control DI name Description method mode Level JOGU When this DI is on, motor jogs in the forward direction. triggered Value: 0x38 Triggering Control DI name Description method mode Level JOGD When this DI is on, motor jogs in the reverse direction. triggered Value: 0x39 Triggering...
Page 593 Parameters ASDA-A3 Value: 0x43, 0x44 Triggering Control DI name Description method mode E-Gear ratio (numerator) selection 0 E-Gear ratio (numerator) selection 1 GNUM0, GNUM1 numerator (P1.044) Position numerator (P2.060) command GNUM0 moving filter Level numerator (P2.061) Pulse (P1.068) triggered GNUM1 numerator (P2.062) ---------------------------- Denominator (P1.045)
Page 594 ASDA-A3 Parameters Table 8.2 Digital output (DO) descriptions Value: 0x01 Triggering Control DO name Description method mode When the control and main circuit power is applied to the drive, Level SRDY this DO is on if no alarm occurs. triggered Value: 0x02 Triggering Control...
Page 595 Parameters ASDA-A3 Value: 0x08 Triggering Control DO name Description method mode When the magnetic brake control signal is detected, adjust the settings of P1.042 and P1.043. [1*] Level BRKR triggered [1*] Value: 0x09 Triggering Control DO name Description method mode When homing is complete, it means the position coordinate system and position counter are defined and this DO is on.
Page 596 ASDA-A3 Parameters Value: 0x11 Triggering Control DO name Description method mode Warning outputs (forward / reverse limit, communication error, Level WARN undervoltage, and fan error). triggered Value: 0x12 Triggering Control DO name Description method mode Level Position command / feedback overflows. PT, PR triggered Value: 0x13...
Page 597 Parameters ASDA-A3 Value: 0x19 Triggering Control DO name Description method mode Motor speed reaches the target speed: in Speed mode, when the Level SP_OK deviation between the speed feedback and the command is smaller S, Sz triggered than the value of P1.047, this DO is on. Value: 0x1A Triggering Control...
Page 598 ASDA-A3 Parameters Value: 0x32 Triggering Control DO name Description method mode Level SPO_2 Output bit 02 of P4.006. triggered Value: 0x33 Triggering Control DO name Description method mode Level SPO_3 Output bit 03 of P4.006. triggered Value: 0x34 Triggering Control DO name Description method...
Page 599 Parameters ASDA-A3 Value: 0x3B Triggering Control DO name Description method mode Level SPO_B Output bit 11 of P4.006. triggered Value: 0x3C Triggering Control DO name Description method mode Level SPO_C Output bit 12 of P4.006. triggered Value: 0x3D Triggering Control DO name Description method...
Page 600 ASDA-A3 Parameters Table 8.3 Monitoring variables descriptions Description of monitoring variables: Item Description Monitoring Each monitoring variable has a code, and you can use P0.002 to set the code and code monitor the variable. Format Each monitoring variable is stored in the 32-bit format (long integer) of the servo drive. Basic variables / expansion variables: 1.
Page 601 Parameters ASDA-A3 Monitoring variables are described in the following table by the code sequence: Variable name / Code Description property Feedback position Current feedback position of the motor encoder. 000 (00h) (PUU) B Unit: Pulse of User Unit (PUU). Current coordinate of the Position command. Unit: Pulse of User Unit (PUU).
Page 602 ASDA-A3 Parameters Variable name / Code Description property Mapping parameter content #1 019 (13h) Returns the value of P0.025 which is mapped by P0.035. Mapping parameter content #2 020 (14h) Returns the value of P0.026 which is mapped by P0.036. Mapping parameter content #3 021 (15h)
Page 603 Parameters ASDA-A3 Variable name / Code Description property Speed feedback (immediate) 051 (33h) Current actual motor speed. Unit: 0.1 rpm. D1 Dec Torque command Integrated Torque command. Unit: 0.1%. (integrated) 053 (35h) Source includes analog, register, or speed loop. D1 Dec Torque feedback 054 (36h) Current actual motor torque.
Page 604 ASDA-A3 Parameters Variable name / Code Description property Indexing coordinate Immediate feedback position of the indexing coordinates. 091 (5Bh) feedback Unit: Pulse of User Unit (PUU). Includes 2 versions: DSP and CPLD. When monitoring from the panel, press the SHF key to switch between DSP and CPLD: Drive firmware DSP displays zero decimal places;...
Page 605 Parameters ASDA-A3 (This page is intentionally left blank.) 8-232...
Page 606: Modbus Communication
MODBUS Communication This chapter describes the MODBUS communication which you use for setting, reading, and writing general parameters. For the motion control network, refer to the related DMCNET, CANopen, and EtherCAT documentation. The details of ASCII, RTU, and TCP modes are also provided in this chapter. 9.1 RS-485 communication interface (hardware) ···········································...
Page 607: Communication Interface (Hardware)
MODBUS Communication ASDA-A3 9.1 RS-485 communication interface (hardware) The ASDA-A3 series servo drive supports RS-485 serial communication that you can use to access and change the parameters of the servo system. See the following description of the wiring: Note: The cable length can be up to 100 meters when the servo drive is installed in a quiet environment.
Page 608: Communication Parameter Settings
ASDA-A3 MODBUS Communication 9.2 RS-485 communication parameter settings The required parameters for a single servo drive connection are: P3.000 (Address), P3.001 (Transmission speed), and P3.002 (Communication protocol). P3.003 (Communication error handling), P3.004 (Communication timeout), P3.006 (Digital input (DI) control switch), and P3.007 (Communication response delay time) are optional settings.
Page 609: Modbus Communication Protocol
MODBUS Communication ASDA-A3 9.3 MODBUS communication protocol There are two modes of MODBUS network communication: ASCII (American Standard Code for Information Interchange) and RTU (Remote Terminal Unit). You can set both communication protocols (ASCII and RTU) with P3.002. The ASDA-A3 servo drive also supports these functions: accessing data (03H), writing one character (06H), and writing multiple characters (10H).
Page 610 ASDA-A3 MODBUS Communication 11-bit character frame (for 8-bit character) Start Stop Stop 8-data bits 11-bit character frame...
Page 611 MODBUS Communication ASDA-A3 Communication data structure Definitions for the data frames in the two modes are as follows: ASCII mode: Start Start character ‟:” (3AH) Slave Address Communication address: 1 byte consists of 2 ASCII codes Function Function code: 1 byte consists of 2 ASCII codes Data (n-1) …….
Page 612 ASDA-A3 MODBUS Communication Example 1: function code 03H, accessing multiple words: The master issues a command to the first slave and reads two continuous words starting from the start data address 0200H. In the response message from the slave, the content of the start data address 0200H is 00B1H, and the content of the second data address 0201H is 1F40H.
Page 613 MODBUS Communication ASDA-A3 Example 2: function code 06H, writing single word: The master issues a command to the first slave and writes data 0064H to address 0200H. The slave sends a response message to the master after writing is complete. The calculation of LRC and CRC is described as follows.
Page 614 ASDA-A3 MODBUS Communication Example 3: function code 10H, writing multiple words: The master issues a command to the first slave and writes data 0BB8H and 0000H to the start data address 0112H. In other words, 0BB8H is written into 0112H and 0000H is written into 0113H. The maximum allowable data in one single access is 8.
Page 615 MODBUS Communication ASDA-A3 RTU mode: Command Message (Master): Response Message (Slave): Slave Address Slave Address Function Function 01H (High) 01H (High) Start Data Address Start Data Address 12H (Low) 12H (Low) 00H (High) 00H (High) Data Number Data Number (in words) (in words) 02H (Low) 02H (Low)
Page 616 ASDA-A3 MODBUS Communication LRC and CRC transmission error check The error check in ASCII mode is LRC (Longitudinal Redundancy Check) and in RTU mode, it is CRC (Cyclical Redundancy Check). See the following details. LRC (ASCII mode): Start ‘:’ ‘7’ Slave Address ‘F’...
Page 617 MODBUS Communication ASDA-A3 CRC (RTU mode): To calculate the CRC value: Step 1: load a 16-bit register with the content of FFFFH, which is called the ‟CRC” register. Step 2: (The low byte of the CRC register) XOR (The first byte of the command), and save the result in the CRC register.
Page 618 ASDA-A3 MODBUS Communication CRC program example: This function calculates the CRC value in the C language. It needs two parameters: unsigned char* data; unsigned char length //The function returns the CRC value as a type of unsigned integer. unsigned int crc_chk(unsigned char* data, unsigned char length) { int j;...
Page 619 MODBUS Communication ASDA-A3 outportb(PORT+BRDH,0x00); outportb(PORT+LCR,0x06); /* set prorocol <7,E,1> = 1AH, <7,O,1> = 0AH <8,N,2> = 07H <8,E,1> = 1BH <8,O,1> = 0BH for( I = 0; I<=16; I++ ) { while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */ outportb(PORT+THR,tdat[I]);...
Page 620: Setting And Accessing Communication Parameters
ASDA-A3 MODBUS Communication 9.4 Setting and accessing communication parameters Refer to Chapter 8 for the descriptions of the parameters that you can write or read through the communication interface. The ASDA-A3 servo drive parameters are divided into nine groups: Group 0 (Monitoring parameters), Group 1 (Basic parameters), Group 2 (Extension parameters), Group 3 (Communication parameters), Group 4 (Diagnosis parameters), Group 5 (Motion control parameters), Group 6 and Group 7 (PR parameters), and Group M (Motor parameters).
Page 621: Communication Specification
MODBUS Communication ASDA-A3 9.5 RS-485 communication specification Compared with RS-232, the RS-485 communication can carry out one-to-many transmission and has better anti-interference ability. RS-485 mainly uses a balanced transmission line for signal reception and transmission. After the transmitter converts the TTL signal into a differential signal, the receiver receives the differential signal and then converts it back to the TTL signal.
Page 622 ASDA-A3 MODBUS Communication  Anti-interference methods In the signal transmission process, if there is interference, it may result in signal distortion. Therefore, it is important to eliminate interference. The elimination methods are as follows: Add a terminal resistor. Check if the servo drive is installed in a high magnetic field environment. If so, keep it as far away as possible.
Page 623 MODBUS Communication ASDA-A3 (This page is intentionally left blank.) 9-18...
Page 624: Absolute System
Absolute System This chapter introduces the absolute servo system, including the wiring and installation of the absolute encoder, the steps to set up the system, and the procedures for initializing and operating the system for the first time. 10.1 Battery box (absolute type) and wiring ················································ 10-3 10.1.1 Specifications··········································································...
Page 625 Install the battery correctly on the encoder. One servo drive uses one single battery box; two servo drives can share one dual battery box. Use Delta’s encoder cable to connect to the battery box. See the following section for the specifications of the battery box and its accessories.
Page 626: Battery Box (Absolute Type) And Wiring
 Do not directly weld on the surface of the battery. Battery specifications Item Li/SOCl2 Cylindrical Battery Type ER14505 Delta part number ASD-CLBT0100 International standard size Standard voltage 3.6V Standard capacity 2700 mAh Maximum continuous 100 mA...
Page 627: Battery Box Dimensions
Absolute System ASDA-A3 10.1.2 Battery box dimensions Single battery box Delta part number: ASD-MDBT0100 Dual battery box Delta part number: ASD-MDBT0200 10-4...
Page 628: Connection Cable For The Absolute Encoder
ASDA-A3 Absolute System 10.1.3 Connection cable for the absolute encoder Quick connector Delta part number: ACS3-CAEB1003, ACS3-CAEB1005, ACS3-CAEB1010, ACS3-CAEB1020 Title Model name inch 3000  100 118  4 ACS3-CAEB1003 5000  100 197  4 ACS3-CAEB1005 10000  100 394 ...
Page 629 Absolute System ASDA-A3 Military connector Delta part number: ACS3-CAEB3003, ACS3-CAEB3005, ACS3-CAEB3010, ACS3-CAEB3020 Title Model name inch 3000  100 118  4 ACS3-CAEB3003 5000  100 197  4 ACS3-CAEB3005 10000  100 394  4 ACS3-CAEB3010 20000  100 788 ...
Page 630: Battery Box Cable
ASDA-A3 Absolute System 10.1.4 Battery box cable Battery box cable AW (battery connection cable to the encoder; unit: mm) Delta part number: 3864573700 10-7...
Page 631: Installation
Absolute System ASDA-A3 10.2 Installation 10.2.1 Installing the battery box in the servo system Single battery box (standard wiring) (1) Encoder cable; (2) Single battery box (absolute type); (3) CN2 connector; (4) Battery box wiring Pin assignment of CN2 connector: The end that connects to the encoder The end that connects to the servo drive Military...
Page 632 ASDA-A3 Absolute System Dual battery box (connects to CN2) (1) Encoder cable; (2) Battery box cable AW; (3) Dual battery box (absolute type); (4) CN2 connector 10-9...
Page 633: Installing And Replacing A Battery
Absolute System ASDA-A3 10.2.2 Installing and replacing a battery Single battery box Step 1: Loosen the hooks on both sides to open the lid of the battery box. Step 2: Attach the metal clip to the connection cable. Note that the metal clip should be placed close to the heat shrink.
Page 634 ASDA-A3 Absolute System Dual battery box Step 1: Loosen the hooks on both sides to open the lid of the battery box. (A) Replace the batteries only when the main power to the servo drive is on. Do not remove the power cables, or else the system may lose data.
Page 635 Absolute System ASDA-A3 Step 5: Pull the clips at the bottom of the battery box outwards. Step 6: Tighten the screws to secure the battery box. Note: To avoid data loss, replace the battery when any of the following circumstances occurs: 1. The servo drive shows AL061 which means the voltage is too low.
Page 636: System Initialization And Operating Procedures
-32768 to 32767, AL062 occurs. When the PUU position value goes outside the range -2147483648 to 2147483647, AL289 occurs. Except for the alarms mentioned above, you can use P2.070 to set up Delta’s absolute servo system. You can choose not to show AL062 and AL289 if the absolute coordinate system overflows when the number of rotations exceeds the range -32768 to 32767 or when the PUU exceeds the range -2147483648 to 2147483647.
Page 637: Pulse Number
Absolute System ASDA-A3 10.3.2 Pulse number When the motor is running in the clockwise direction, the cycle number is expressed as a negative value. When the motor runs in the counterclockwise direction, the cycle number is expressed as a positive value. The range of the number of rotations is between -32768 and +32767, and AL062 occurs once the number exceeds the range.
Page 638: Puu Number
ASDA-A3 Absolute System 10.3.3 PUU number The PUU number is a 32-bit absolute value with a positive or negative sign. When the motor is running in the forward direction, the PUU number increases; when it is running in the reverse direction, the PUU number decreases.
Page 639: Establish The Absolute Origin Coordinates
Absolute System ASDA-A3 10.3.4 Establish the absolute origin coordinates When the absolute coordinates are lost, the ASDA-A3 servo drive provides three ways to establish the absolute origin coordinates: DI/DO, parameter setting, or the PR homing function. The following provides more details for each operation mode. 10.3.4.1 Establishing the absolute origin coordinates with DI/DO When the servo system is controlled by the controller, you can establish the absolute origin coordinates with DI/DO.
Page 640: Establishing The Absolute Origin Coordinates With Parameters
ASDA-A3 Absolute System 10.3.4.2 Establishing the absolute origin coordinates with parameters Set P2.071 to 1 to establish the absolute origin coordinates through the panel or with communication. As soon as P2.071 is set to 1, the absolute coordinate system resets. Since the write-protect function of P2.071 is protected by P2.008, you must set P2.008 to 271 first.
Page 641 Absolute System ASDA-A3 You can read the pulse number or PUU number with DI/DO and P2.070. See the following timing diagram. Continue to (14) Continue to (15) in below figure in below figure (14) (15) ABSE (DIx) Communication enabled (12) (Changeable DI) ABSQ (DI4) Signal request...
Page 642 ASDA-A3 Absolute System Descriptions: When the handshake communication starts, the ABSE signal is triggered. After the T delay time (make sure the signal is on), the functions for DI4, DO2, and DO3 are switched to ABSQ, ABSR, and ABSD, respectively. If DI4 was in the high-level state before, it remains in the high-level state when switched to ABSQ (logic high-level signal).
Page 643: Reading The Absolute Position With Communication
Absolute System ASDA-A3 10.3.5.2 Reading the absolute position with communication You can access the data of the absolute encoder through two communication methods: instant access or parameter access. Instant access refers to reading the motor’s feedback position as soon as power is supplied to the servo. When you set the status monitoring register 1 to the motor's feedback pulse number (P0.017 = 0), you can access the motor’s current position by reading P0.009.
Page 644: List Of Absolute Parameters, Di/Do, And Alarms
ASDA-A3 Absolute System 10.4 List of absolute parameters, DI/DO, and alarms Relevant parameters (refer to Chapter 8 for detailed information): Parameter Function P0.002 Drive status P0.049 Update encoder absolute position P0.050 Absolute coordinate system status P0.051 Encoder absolute position - Multiple turns Encoder absolute position - Pulse number or PUU within P0.052 single turn...
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Page 646: Linear Motor
Linear Motor This chapter provides the usage and setting details for the linear motor. 11.1 Linear motor overview ····································································· 11-2 11.2 Linear motor software operation ························································ 11-3 11.2.1 Motor parameter identification ···················································· 11-4 11.2.2 Linear motor direction setting ···················································· 11-10 11.3 Linear encoder ·············································································...
Page 647: Linear Motor Overview
Linear Motor ASDA-A3 11.1 Linear motor overview Linear motor can directly convert electrical energy into linear energy, and its mover and stator structures are different from those of a permanent magnet rotary motor. The use of a linear motor reduces the number of parts used in the machine. The direct drive method not only eliminates backlash, but also reduces the complexity of the machine and improves reliability.
Page 648: Linear Motor Software Operation
ASDA-A3 Linear Motor 11.2 Linear motor software operation Connect the servo drive first and activate ASDA-Soft. When the New Device window pops up, select “Linear” for Motor Type. If you do not select the correct corresponding motor, a unit error occurs when setting the parameters.
Page 649: Motor Parameter Identification
Linear Motor ASDA-A3 11.2.1 Motor parameter identification After activating ASDA-Soft, check the current control mode of the servo drive. If it is in communication mode, first set the servo drive to a general mode (i.e. Position, Speed, and Torque modes) and then cycle power on the servo drive before executing the motor parameter identification process (see the path in the following figure).
Page 650 ASDA-A3 Linear Motor Step 1: Select Motor Type Enter the Motor Parameter Identification Wizard and select “Linear Motor”. 11-5...
Page 651 Select the source of the parameter first: Database or Manual Setting. For Database, you only need to confirm the Delta motor model and the software automatically fills in the motor specifications according to the content in the database. For Manual Setting, input all linear motor related specifications and correctly set the motor current parameters (PM.046 and...
Page 652 Linear Motor Step 3: Set Feedback Signal Currently, the ASDA-A3 series only support pulse type (square wave) linear encoders, which receive pulse signals from the linear encoder through the CN5 position signal feedback connector. The ASDA-A3 that supports sine wave linear encoder is coming soon, but the servo drive must be equipped with a position signal converter box*.
Page 653 Magnetic Pole Pitch, you can find the value in the linear motor catalogue. If you select a linear motor from the database, this section is automatically filled in; if it is not a Delta linear motor or the linear motor is not yet created in the database, you must input the value. If the set value is incorrect, AL051 is triggered.
Page 654 ASDA-A3 Linear Motor Step 4: Start Motor Identification Manually move the linear motor to the center of the platform or move it back and forth to a position which leaves a minimum clearance of a magnetic pole pitch. To avoid damage to the machine and personnel injury, make sure there is no personnel nearby because the platform moves slightly when executing the motor identification process.
Page 655: Linear Motor Direction Setting
Linear Motor ASDA-A3 11.2.2 Linear motor direction setting After the setting for the Motor Parameter Identification Wizard is done, set the direction for the linear motor. Incorrect direction setting results in incorrect direction of movement, making the limit switch invalid and increasing the risk of collision. Use the JOG mode to set the linear motor direction with the jog speed unit as 0.01 mm/s.
Page 656: Linear Encoder
ASDA-A3 Linear Motor 11.3 Linear encoder The linear encoder generally refers to a linear scale or a magnetic scale, which is mainly used to monitor the linear motor position and return the position data to the servo drive for the purpose of servo control.
Page 657: Hall Sensor
Linear Motor ASDA-A3 11.4 Hall sensor The magnetic pole sensor, also known as the Hall sensor, can be used to detect the motor pole. The servo drive must know the position of the motor magnetic field to efficiently actuate the motor and move the motor in the right direction.
Page 658: Hall Sensor Phase Sequence Checking
The position signal converter box is a feedback signal conversion product developed by Delta. The feedback signals of OA/OB pulses or sine wave can be converted into Delta's communication format without external power supply. Then the feedback signal is returned to the servo drive through CN2.
Page 659: Parameter Setting
Linear Motor ASDA-A3 11.6 Parameter setting Linear motors and rotary motors are incompatible with specific parameter settings. The following sections describe the definitions and precautions for linear motor parameter settings. Before setting the parameters, refer to Chapter 8 Parameters for more information. Some settings and units of the parameters for the linear motor are different from those of the rotary motor, which are further explained in this section.
Page 660: Initial Magnetic Field Current Detection
ASDA-A3 Linear Motor 11.6.4 Initial magnetic field current detection PM.011 (Initial magnetic field current detection) is a parameter used for the linear motor without a Hall sensor. When the linear motor without a Hall sensor is powered on and the servo is switched on for the first time, the servo drive outputs the current set in PM.011 and automatically detects the motor initial magnetic field by the vibration of the motor to obtain the current magnetic field data of the motor.
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Page 662: Canopen Mode
CANopen Mode This chapter provides details for the required parameter settings when the servo communicates with the controller through the CANopen communication function. 12.1 Basic configuration ·········································································· 12-2 12.1.1 Supported functions ································································· 12-2 12.1.2 Hardware configuration ···························································· 12-3 12.1.3 Parameter settings of CANopen mode ········································· 12-4 12.2 Communication specification ·····························································...
Page 663: Basic Configuration
SDO transmission: acyclic data exchange for reading / writing parameters and communication related settings.  PDO transmission / reception: time-triggered, event-triggered, synchronous transmission (cyclic), and asynchronous transmission (acyclic).  Node guarding.  Heartbeat. CANopen functions not supported by Delta servo drives:  Time stamp. 12-2...
Page 664: Hardware Configuration
ASDA-A3 CANopen Mode 12.1.2 Hardware configuration Pin assignment (RJ-45) for CAN bus wiring (1) CN3 connector (female) (2) CN3 connector (male) Pin assignment: Pin No. Signal Description CAN_H CAN_H bus line (dominant high) CAN_L CAN_L bus line (dominant low) 3, 7 GND_ISO Signal GND RS-485-...
Page 665: Parameter Settings Of Canopen Mode
CANopen Mode ASDA-A3 12.1.3 Parameter settings of CANopen mode Follow these instructions to connect the CANopen controller and the ASDA-A3 servo drive: 1. Set CANopen mode: set P1.001 to 0x0C. 2. Set node ID: set the range of P3.000 to 01h - 7Fh. 3.
Page 666: Communication Specification
ASDA-A3 CANopen Mode 12.2 Communication specification 12.2.1 Servo communication architecture CAN network CAN node DS 301 application layer and communication profile Drive Profile 402 Servo drive controls the state machine Modes of operation Inter- Profile Profile Profile Homing polated position velocity torque mode...
Page 667: Communication Objects
CANopen Mode ASDA-A3 12.2.2 Communication objects The default of the Delta servo drive complies with the DS301 protocol. All CANopen data contains an 11-bit identifier, generally referred to as "COB-ID". The COB-ID data format is as follows: Function Description Bit 6 - Bit 0 Node-ID The data size is 7-bit and the setting range is 0 - 127.
Page 668: Process Data Object (Pdo)
ASDA-A3 CANopen Mode 12.2.2.1 Process data object (PDO) Real-time data transmission can be achieved with Process data objects (PDOs). There are two types of PDOs: the sent TxPDO and the received RxPDO. This definition is from the perspective of the servo drive, for example, the sent TxPDO refers to the object that the servo drive sends to the controller.
Page 669 CANopen Mode ASDA-A3 12.2.2.2 Service data object (SDO) With Service data objects (SDOs), you can write or read objects. The SDO message format is mainly composed of COB-ID and SDO data. SDO data can transmit up to 4 bytes. COB-ID Packet (8 bytes in total) 600h+ Controller...
Page 670 ASDA-A3 CANopen Mode The following figure shows the packet format returned by the servo drive when the controller sends the SDO for writing data: COB-ID Packet (8 bytes in total) 580h+ Controller Servo drive Node-ID Function Object Object index Data code sub-index Description...
Page 671 CANopen Mode ASDA-A3  Read data with SDO To use an SDO to read data with the controller, you need to write the request code and index according to the SDO format. The servo drive then returns the object's data based on the object to be read.
Page 672: Sdo Abort Codes
ASDA-A3 CANopen Mode 12.2.2.3 SDO abort codes The abort codes are as follows: Abort code Description 05040001h Client / server command is invalid or does not exist. 06010002h Attempt to write a read-only object. 06020000h Object does not exist in the object dictionary. 06040041h Unable to map the object to the PDO.
Page 673: Synchronization Object (Sync)
CANopen Mode ASDA-A3 12.2.2.4 Synchronization object (SYNC) The Synchronization objects (SYNCs) are periodically broadcast by the SYNC producer. There is no data in the SYNC packet (L = 0). The SYNC protocol is as follows: SYNC producer SYNC consumer (controller) (servo drive) Write SYNC Indication...
Page 674: Emergency Object (Emcy)
ASDA-A3 CANopen Mode The following figure shows the timing sequence between the servo drive TxPDO transmission and the controller SYNC transmission. The servo drive transmits the TxPDO data to the controller as soon as it receives the SYNC. SYNC SYNC Communication cycle Message Message...
Page 675: Nmt Services
CANopen Mode ASDA-A3 12.2.2.6 NMT services State machine  The NMT state machine is shown as follows. After the servo drive completes the Initialization mode, it enters the Pre-Operational mode. The NMT state machine determines the behavior of the communication function, such as PDO functions only in the Operational mode. Power On or Hardware Reset Initialization (11)
Page 676 ASDA-A3 CANopen Mode  Heartbeat The Heartbeat mechanism is mainly to enable the producer to periodically send packets to the consumer. The producer can be a controller or servo drive; on the other hand, a controller or servo drive can also be the consumer. If you use the servo drive as the consumer and the controller to send the heartbeat, you need to set the heartbeat receiving time (OD 1016h) of the servo drive.
Page 677 CANopen Mode ASDA-A3 The servo drive can play two roles simultaneously, the consumer and producer, but you need to set OD 1016h and OD 1017h at the same time. And the controller must also be set as the producer and consumer. ...
Page 678: Canopen Operation Mode
ASDA-A3 CANopen Mode 12.3 CANopen operation mode This section describes the servo motion mode (Mode of Operation) specified by CiA402 in CANopen mode. The content includes basic operation settings and related object descriptions. 12.3.1 Profile Position Mode After the servo drive receives the position command transmitted by the controller, the servo drive controls the servo motor to reach the target position.
Page 679 CANopen Mode ASDA-A3 Operation steps: 1. Set OD 6060h to 01h to set the mode as the position control mode. 2. Set OD 607Ah for the target position (unit: PUU). 3. Set OD 6081h for the speed command (unit: PUU/sec). 4.
Page 680 ASDA-A3 CANopen Mode Command to take immediate effect In the position control mode, set the command to take effect immediately or not with Bit 5.  When Bit 5 is set to 0, the command to take immediate effect is disabled. If the command to take immediate effect is not enabled, when the current motion command is in execution (not yet complete), the servo continues to execute the current motion command even if a new command is triggered.
Page 681 CANopen Mode ASDA-A3  When Bit 5 is set to 1, the command to take immediate effect is enabled (only valid in Profile Position Mode). If the command to take immediate effect is enabled, when the current motion command is in execution (not yet complete), the servo immediately interrupts the current command and executes the new command once the servo receives a new triggered command.
Page 682: Interpolation Position Mode
IP mode are issued by the controller. The servo drive only follows each position that the controller issues and finally completes a motion command. Delta servo drives only support synchronous operation which is the controller periodically sends the SYNC object (COB-ID = 0x80).
Page 683 CANopen Mode ASDA-A3 Operation steps: 1. Set OD 6060h to 07h to set the mode as Interpolation Position Mode. 2. Set OD 60C2h for the interpolation cycle. The setting must be the same as the communication cycle of OD 1006h. 3.
Page 684 ASDA-A3 CANopen Mode Adjustment method: It is suggested to set the SYNC communication cycle (OD 1006h) between 1 ms and 10 ms. Since the cycle time is too long, the position error also increases. If the position change is big, it causes speed fluctuations.
Page 685: Homing Mode
After homing is complete, the coordinate system of the servo drive is established and the drive can start executing the position command issued by the controller. Delta servo drives offer 35 homing modes, including finding the home switch, positive and negative limits, and motor Z pulse.
Page 686 ASDA-A3 CANopen Mode Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6064h to obtain the current motor feedback position. Relevant object list Index Name Type Attr. 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 687: Profile Velocity Mode
CANopen Mode ASDA-A3 12.3.4 Profile Velocity Mode In PV (Profile Velocity) mode, the controller specifies the speed command and acceleration / deceleration conditions, and the motion command generator of the servo drive plans the motion path according to these conditions. Target velocity (60FFh) Speed [RPM]...
Page 688 ASDA-A3 CANopen Mode Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 606Ch to obtain the current speed feedback. Relevant object list Index Name Type Attr. 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Modes of operation...
Page 689: Profile Torque Mode
CANopen Mode ASDA-A3 12.3.5 Profile Torque Mode In PT (Profile Torque) mode, the controller specifies the torque command and filtering conditions, and the motion command generator of the servo drive plans the torque slope according to these conditions. Target torque (6071h) Torque command Torque slope (6087h)
Page 690 ASDA-A3 CANopen Mode Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6077h to obtain the current torque feedback. Relevant object list Index Name Data type Attr. 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 691: Object Dictionary
CANopen Mode ASDA-A3 12.4 Object dictionary This section details the CANopen objects supported by the servo. The contents include object index, name, data type, data length, and access properties. 12.4.1 Specifications for objects Object type Object name Comments A single value, such as an UNSIGNED8, Boolean, float, and INTEGER16. An object of multiple data fields consisting of multiple variables of the same data ARRAY type, such as an UNSIGNED16 array.
Page 692: List Of Objects
UNSIGNED32 Note: only 1001h can be mapped to PDO. OD 2XXXh servo parameter group Index Object type Name Data type Access Mappable Delta parameter definition 2xxx Parameter mapping INTEGER16/32 OD 6XXXh communication object group Index Object type Name Data type...
Page 693 CANopen Mode ASDA-A3 Index Object type Name Data type Access Mappable 6074h Torque demand value INTEGER16 6075h Motor rated current UNSIGNED32 6076h Motor rated torque UNSIGNED32 6077h Torque actual value UNSIGNED16 6078h Current actual value INTEGER16 607Ah Target position INTEGER32 607Ch Home offset INTEGER32...
Page 694: Details Of Objects
ASDA-A3 CANopen Mode 12.4.3 Details of objects 12.4.3.1 OD 1XXXh communication object group Object 1000h: Device type Index 1000h Name Device type Object code Data format UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Corresponding servo parameter Format of this object: (High word h) DCBA : (Low word L) UZYX Bit 16 - Bit 31 Bit 0 - Bit 15 Model number...
Page 695 CANopen Mode ASDA-A3 Object function: The codes and corresponding functions are as follows: Function Bit 0 Generic error Bit 1 Current Bit 2 Voltage Bit 3 Temperature Bit 4 Communication error Bit 5 Reserved Object 1003h: Pre-defined error field Index 1003h Name Pre-defined error field...
Page 696 Delta servo alarm (UINT16) Error code (UINT16) 0x0011 0x7305 AL011 is defined as encoder error based on the Delta servo alarm. Error code: 0x7305 is defined as an Incremental Sensor 1 fault according to DS 402. Object 1005h: COB-ID SYNC message Index...
Page 697 CANopen Mode ASDA-A3 Object 1006h: Communication cycle period Index 1006h Name Communication cycle period Object code Data format UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit μs Settings: This object function is to set the communication cycle (unit: μs). The communication cycle is the interval between two SYNCs.
Page 698 ASDA-A3 CANopen Mode Object 100Dh: Life time factor Index 100Dh Name Life time factor Object code Data format UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Object function: The Life Guarding Protocol includes OD 100Ch and 100Dh. OD 100Ch is the guard time in milliseconds and OD 100Dh is the multiplying factor.
Page 699 CANopen Mode ASDA-A3 Node ID and corresponding COB-ID Node ID COB-ID 129 (81h) 130 (82h) 255 (FFh) Object 1016h: Consumer heartbeat time Index 1016h Name Consumer heartbeat time Object code ARRAY Data format UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data format UNSIGNED8 Access...
Page 700 ASDA-A3 CANopen Mode Object 1017h: Producer heartbeat time Index 1017h Name Producer heartbeat time Object code Data format UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: Producer heartbeat time is defined as the cycle time of the heartbeat. When this value is set to 0, this function is invalid.
Page 701 CANopen Mode ASDA-A3 Sub-index Description Version Data format UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Object function: This object includes the servo drive information. Object 1029h: Error behavior Index 1029h Name Error behavior Object code ARRAY Data format UNSIGNED8 Access PDO mapping Sub-index...
Page 702 ASDA-A3 CANopen Mode Object 1200h: Server SDO parameter Index 1200 Name Server SDO parameter Object code RECORD Data format SDO parameter Access PDO mapping Sub-index Description Number of sub-index Data format UNSIGNED8 Access PDO mapping Setting range Default Sub-index Controller sends to servo drive Description COB-ID Client->Server (rx) Data format...
Page 703 CANopen Mode ASDA-A3 Object 1400h - 1403h: RPDO communication parameter Index 1400h - 1403h Name Receive PDO parameter Object code RECORD Data format PDO CommPar Access Sub-index Description Maximum number of sub-index supported Data format UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description...
Page 704 ASDA-A3 CANopen Mode Sub-index Description Reception type Data format UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Object function: The type setting is as follows Setting value Transmission type Cyclic Acyclic Synchronous Asynchronous RTR only 00h (0) 01h - F0h (1 - 240) F1h - FBh (241 - 251) Reserved FCh (252)
Page 705 CANopen Mode ASDA-A3 Object 1600h - 1603h: RPDO mapping parameter Index 1600h - 1603h Name Receive PDO mapping Object code RECORD Data format PDO mapping Access Note The total length of objects in a group of PDO cannot exceed 64 bits. Sub-index Description Number of PDO mappings...
Page 706 ASDA-A3 CANopen Mode Example: To set three PDOs (OD 6040h, OD 607Ah, and OD 6060h) in the first group of PDO, the setting is as follows: Receive PDO mapping Data Description parameter setting OD 1600 sub0 Set 3 PDO mappings. Mapping control command (6040h), OD 1600 sub1 6040h...
Page 707 CANopen Mode ASDA-A3 Object function: Function Description Bit 10 - Bit 0 COB-ID The data size is 10-bit. Bit 30 - Bit 11 0: enable PDO function. PDO function 1: disable PDO function. Bit 31 switch Enable / disable the PDO function to determine if PDO is used in the operational state.
Page 708 ASDA-A3 CANopen Mode Sub-index Description Event timer Data format UNSIGNED16 Access PDO mapping 0: not in use Setting range UNSIGNED16 Default Object 1A00h - 1A03h: TPDO mapping parameter Index 1A00h - 1A03h Name Transmit PDO mapping Object code RECORD Data format PDO mapping Access The total length of objects in a group of PDO cannot...
Page 709: Od 2Xxxh Servo Parameter Group
CANopen Mode ASDA-A3 12.4.3.2 OD 2XXXh servo parameter group Object 2xxxh: Manufacturer parameter Index 2xxxh Name Manufacturer parameter Object code Data format INTEGER16 / INTEGER32 Access PDO mapping Setting range INTEGER16 / INTEGER32 Default Object function: Access the servo parameters with the OD 2XXXh group. The parameter number and index are converted as follows: Pa-bc <= = >...
Page 710: Od 6Xxxh Communication Object Group
ASDA-A3 CANopen Mode 12.4.3.3 OD 6XXXh communication object group Object 603Fh: Error code (error code of CANopen defined) Index 603Fh Name Error code Object code Data format UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Corresponding servo parameter Default Object 6040h: Controlword Index 6040h Name...
Page 711 CANopen Mode ASDA-A3 Function Description Bit 0 Switch on Bit 1 Enable voltage Bit 2 Quick stop (B-connect) Bit 3 Enable operation This bit is individually defined Bit 4 - Bit 6 Operation mode definition according to the control mode, as shown in the following table.
Page 712 ASDA-A3 CANopen Mode The state transition is defined as follows: Transition Event Action 0, 1 Automatic transition after power-on Device boot and initialization Command shutdown Command switch on Servo is ready for servo on Command enable operation Servo on and executes motion mode Command disable voltage Servo off Command shutdown...
Page 713 CANopen Mode ASDA-A3 Object 6041h: Statusword Index 6041h Name Statusword Object code Data format UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Corresponding servo parameter Default Object function: The control command contains many functions, such as Servo on, command triggering, fault reset, and emergency stop. The state machine architecture is as follows: Function Description Bit 0...
Page 714 ASDA-A3 CANopen Mode Bit 12 - Bit 15: current status of the servo drive. Operation mode definition Profile Position Interpolated Profile Velocity Profile Torque Homing Mode Mode Position Mode Mode Mode Set-point Homing is Interpolation mode Bit 12 Zero speed acknowledge complete in motion...
Page 715 CANopen Mode ASDA-A3 Object 6061h: Modes of operation display Index 6061h Name Modes of operation display Object code Data format INTEGER8 Access PDO mapping Setting range INTEGER8 Default Object function: This object displays the current operation mode. Object 6062h: Position demand value Index 6062h Name...
Page 716 ASDA-A3 CANopen Mode Object 6064h: Position actual value Index 6064h Name Position actual value Object code Data format INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object 6065h: Following error window Index 6065h Name Following error window Object code Data format UNSIGNED32 Access...
Page 717 CANopen Mode ASDA-A3 Object function: When the error value between the command (PP mode: OD 607Ah; IP mode: OD 60C1h) and the position actual value (OD 6064h) is smaller than this object, and the time is greater than OD 6068h (position window time), Bit10 (target reached) of 6041h Statusword is output. Accepted position range Position Position window...
Page 718 ASDA-A3 CANopen Mode PP mode Target position (607Ah) Position window (6067h) IP mode Interpolation data record (60C1h) Position window time (6068h) Statusword target reached (6041h) Position Window window comparator comparator Position actual value (6064h) Object 606Bh: Velocity demand value Index 606Bh Name Velocity demand value...
Page 719 CANopen Mode ASDA-A3 Object 606Dh: Velocity window Index 606Dh Name Velocity window Object code Data format INTEGER16 Access PDO mapping Setting range 0 - 3000 Default Unit 0.1 rpm Object function: The speed comparator compares the speed error with OD 606Dh (velocity window). When the error is less than the velocity window and the retaining time is greater than OD 606Eh (velocity window time), then OD 6041h Bit10 (target reached) is output.
Page 720 ASDA-A3 CANopen Mode Object 606Fh: Velocity threshold Index 606Fh Name Velocity threshold Object code Data format UNSIGNED16 Access PDO mapping Setting range 0 - 2000 Default Unit 0.1 rpm Object 6071h: Target torque Index 6071h Name Target torque Object code Data format INTEGER16 Access...
Page 721 CANopen Mode ASDA-A3 Object 6075h: Motor rated current Index 6075h Name Motor rated current Object code Data format UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit 0.1 mA Object function: This object displays the rated current of the motor nameplate. Object 6076h: Motor rated torque Index 6076h...
Page 722 ASDA-A3 CANopen Mode Object 6078h: Current actual value Index 6078h Name Current actual value Object code Data format INTEGER16 Access PDO mapping Setting range INTEGER16 Default Unit 0.1% Object function: This object is the current motor current feedback percentage. Object 607Ah: Target position Index 607Ah Name...
Page 723 CANopen Mode ASDA-A3 Object 607Fh: Max profile velocity Index 607Fh Name Max profile velocity Object code Data format UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Varies depending on the motor model Corresponding servo P1.055 (rpm) * 10 parameter Unit 0.1 rpm Object function: The unit of this object is 0.1 rpm, so it is equivalent to P1.055 (maximum speed limit,...
Page 724 ASDA-A3 CANopen Mode Object 6083h: Profile acceleration Index 6083h Name Profile acceleration Object code Data format UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required to accelerate from 0 rpm to 3,000 rpm. This object is only available in Profile Position Mode and Profile Velocity Mode.
Page 725 CANopen Mode ASDA-A3 Object 6087h: Torque slope Index 6087h Name Torque slope Object code Data format UNSIGNED32 Access PDO mapping Setting range 0 - 65500 Default Unit Object function: The time slope set by this object is the time required from 0% to 100% of the rated torque. Object 6093h: Position factor Index 6093h...
Page 726 ASDA-A3 CANopen Mode Sub-index Description E-Gear ratio denominator Data format UNSIGNED32 Access PDO mapping Default Corresponding servo P1.045 parameter Note For the E-Gear ratio setting, refer to Section 6.2.5. Object 6098h: Homing method Index 6098h Name Homing method Object code Data format INTEGER8 Access...
Page 727 CANopen Mode ASDA-A3 Methods 3 and 4: homing on the rising edge of home switch and Z pulse Starting point Starting point Starting point Starting point Z pulse Home switch Methods 5 and 6: homing on the falling edge of home switch and Z pulse Starting point Starting point...
Page 728 ASDA-A3 CANopen Mode Method 7: homing on the positive limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 8: homing on the positive limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point...
Page 729 CANopen Mode ASDA-A3 Method 9: homing on the positive limit switch, falling edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 10: homing on the positive limit switch, falling edge of home switch, and Z pulse Starting point Starting point Starting point...
Page 730 ASDA-A3 CANopen Mode Method 11: homing on the negative limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Method 12: homing on the negative limit switch, falling edge of home switch, and Z pulse Starting point Starting point...
Page 731 CANopen Mode ASDA-A3 Method 13: homing on the negative limit switch, rising edge of home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Method 14: homing on the negative limit switch, rising edge of home switch, and Z pulse Starting point Starting point...
Page 732 ASDA-A3 CANopen Mode Method 17: homing on the negative limit switch and Z pulse Starting point Negative limit switch Method 18: homing on the positive limit switch Starting point Positive limit switch Methods 19 and 20: homing on the rising edge of home switch Starting point Starting point...
Page 733 CANopen Mode ASDA-A3 Methods 21 and 22: homing on the falling edge of home switch Starting point Starting point Starting point Starting point Home switch Method 23: homing on the positive limit switch and rising edge of home switch Starting point Starting point Starting point Home switch...
Page 734 ASDA-A3 CANopen Mode Method 24: homing on the positive limit switch and rising edge of home switch Starting point Starting point Starting point Home switch Positive limit switch Method 25: homing on the positive limit switch and falling edge of home switch Starting point Starting point Starting point...
Page 735 CANopen Mode ASDA-A3 Method 26: homing on the positive limit switch and falling edge of home switch Starting point Starting point Starting point Home switch Positive limit switch Method 27: homing on the negative limit switch and falling edge of home switch Starting point Starting point Starting point...
Page 736 ASDA-A3 CANopen Mode Method 28: homing on the negative limit switch and falling edge of home switch Starting point Starting point Starting point Home switch Negative limit switch Method 29: homing on the negative limit switch and rising edge of home switch Starting point Starting point...
Page 737 CANopen Mode ASDA-A3 Method 30: homing on the negative limit switch and rising edge of home switch Starting point Starting point Starting point Home switch Negative limit switch Methods 31 and 32: reserved Methods 33 and 34: homing on the Z pulse Starting point Starting point Z pulse...
Page 738 ASDA-A3 CANopen Mode Object 6099h: Homing speeds Index 6099h Name Homing speeds Object code ARRAY Data format UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data format UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Speed during search for switch Data format UNSIGNED32 Access...
Page 739 CANopen Mode ASDA-A3 Object 609Ah: Homing acceleration Index 609Ah Name Homing acceleration Object code Data format UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: The time slope set by this object is the time required to accelerate from 0 rpm to 3,000 rpm and decelerate from 3,000 rpm to 0 rpm.
Page 740 ASDA-A3 CANopen Mode Sub-index Description Command position Pos_Cmd Data format INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: This object only works in IP Mode. For more details, refer to Section 12.3.2 Interpolation Position Mode. Object 60C2h: Interpolation time period Index 60C2h Name...
Page 741 CANopen Mode ASDA-A3 Object function: This object only works in IP Mode. The interpolation cycle time is calculated by two objects, OD 60C2h sub1 and OD 60C2h sub2. The calculation is as follows: 60C2h sub2 Interpolation cycle time 60��2ℎ sub1 × 10 Example: if you want to set the interpolation cycle time to 2 ms, set OD 60C2h sub1 to 2 and OD 60C2h sub2 to -3.
Page 742 ASDA-A3 CANopen Mode Object 60E0h: Positive torque limit Index 60E0h Name Positive torque limit Object code Data format UNSIGNED16 Access PDO mapping Setting range 0 - 3000 Default 3000 Unit 0.1% Object function: This object sets the positive torque limit. Object 60E1h: Negative torque limit Index 60E1h...
Page 743 CANopen Mode ASDA-A3 Object 60FCh: Position demand value Index 60FCh Name Position demand value Object code Data format INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit pulse Object function: This command is generated after being processed by the servo drive filter. For more details, refer to the architecture diagram in Section 12.3.
Page 744 Access PDO mapping Setting range UNSIGNED32 Default Object function: This object is read-only and provides the control modes supported by Delta servo drives in CANopen mode (OD 6502h = 6Dh). Function Bit 0 Profile Position Mode Bit 1 Bit 2...
Page 745: Diagnostics And Troubleshooting
CANopen Mode ASDA-A3 12.5 Diagnostics and troubleshooting This section provides diagnostics and troubleshooting information related to communication or interference with the controller. For information about the servo drive alarms, refer to Chapter 13. 1. The SYNC communication cycle of the controller and servo drive is different Since the jitter of each controller is different, the communication cycle time between the servo drive receiving the Sync and Sync synchronization action is different.
Page 746: Troubleshooting
Troubleshooting This chapter provides alarm descriptions and the corrective actions you can use for troubleshooting. 本 13.1 Alarm list ······················································································ 13-3 General type ····················································································· 13-3 STO type ·························································································· 13-5 Communication type ··········································································· 13-5 Motion control type ············································································· 13-6 13.2 Causes and corrective actions ··························································· 13-7 13-1...
Page 747 Troubleshooting ASDA-A3 There are four types of alarms: General, STO, Communication, and Motion control. See detailed information below: General type: alarms caused by hardware or encoder signal errors. STO type: alarms caused by STO errors. Communication type: alarms caused by CANopen or DMCNET errors. Motion control type: alarms caused by motion control command (in PR mode) errors.
Page 748: Alarm List
ASDA-A3 Troubleshooting 13.1 Alarm list General type Error type Servo state Display Alarm name WARN AL001 Overcurrent ○ ○ AL002 Overvoltage ○ ○ AL003 Undervoltage ○ ○ AL004 Motor combination error ○ ○ AL005 Regeneration error ○ ○ AL006 Overload ○...
Page 749 Troubleshooting ASDA-A3 General type (continued) Error type Servo state Display Alarm name WARN AL056 Excessive motor speed ○ ○ Initial magnetic field detects excessive position AL058 ○ ○ deviation AL05B Motor type setting does not match ○ ○ AL05C Motor position feedback error ○...
Page 750: Sto Type
ASDA-A3 Troubleshooting STO type Error type Servo state Display Alarm name WARN AL500 STO function is enabled ○ ○ AL501 STO_A lost (signal loss or signal error) ○ ○ AL502 STO_B lost (signal loss or signal error) ○ ○ AL503 STO_self-diagnostic error ○...
Page 751: Motion Control Type
Troubleshooting ASDA-A3 Motion control type Error type Servo state Display Alarm name WARN AL207 Parameter group of PR#8 is out of range ○ ○ AL209 Parameter number of PR#8 is out of range ○ ○ AL213 Parameter setting of PR#8 is in error ○...
Page 752: Causes And Corrective Actions
Checking method and corrective action the distributor or contact Delta. Check if the setting value is much greater than the default. It is suggested that you reset the servo drive to the factory default settings and then modify the settings one by one.
Page 753 ASDA-A3 AL002 Overvoltage Check if the input voltage of the main circuit is within the rated range. If the issue persists, send your servo drive back to the distributor or contact Delta. Checking method and corrective action Check the connection for the regenerative resistor, re-calculate the value for the regenerative resistor, and reset the value of P1.052 and P1.053.
Page 754 Check the connection for the regenerative resistor, re-calculate the value for the regenerative resistor, and reset the value of P1.052 and P1.053. If you cannot clear the alarm, send your servo drive back to Delta. Checking method and corrective action Set P1.053 to 0 if not using a regenerative resistor.
Page 755 Troubleshooting ASDA-A3 AL007 Excessive deviation of Speed command Condition: deviation between the Speed command and the feedback speed exceeds the allowable range (P2.034). Trigger condition Cause: and cause A drastic change in speed. Incorrect setting for P2.034. Use the signal detector to check if the input analog voltage signal is normal. If not, adjust the signal changing rate or enable the filter function.
Page 756 ASDA-A3 Troubleshooting AL009 Excessive deviation of Position command Check if the settings for P1.044 and P1.045 are appropriate for the application Checking method and corrective action and set the correct values. How to clear the DI.ARST alarm? AL011 Encoder error Condition: the encoder produces abnormal pulses.
Page 757 Checking method and corrective action Reset the power supply. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Remove the connection cable for CN1 and then execute auto calibration. alarm?
Page 758 2. Data in ROM is damaged or there is no data in ROM. This occurs when the system is in Servo On status. If this alarm occurs, send your servo drive back to the distributor or contact Delta. Press the SHIFT key on the panel and “EXGAB” is displayed.
Page 759 Troubleshooting ASDA-A3 AL017 Abnormal EEPROM If this alarm occurs when the drive is started, reset the parameters and then cycle How to clear the alarm? the power. If the alarm occurs during operation, reset the alarm. AL018 Abnormal encoder signal output Condition: output pulse frequency of the encoder is higher than the maximum output frequency of the hardware.
Page 760 Correctly connect the power to the servo drive. If the issue persists, send your ASDA-A3 servo drive back to the distributor or contact Delta. How to clear the DI.ARST...
Page 761 Check the Hall sensor wiring of the linear motor and monitor the Hall sensor phase sequence by inputting 0x1B42F to the scope address. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 762 4. Set P0.002 to -80 by using the panel to monitor the communication error status. If the value is greater than 0 and the value increases continuously, check steps 1 - 3 again. If the value is 0, send your motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 763 Make sure the encoder signal cable is separated from the power supply or any high-current cables to avoid interference. Use shielded cable for the encoder. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 764 ASDA-A3 Troubleshooting AL030 Motor crash error Condition: when the motor hits the device, the torque reaches the value of P1.057 and lasts for the time set by P1.058. Cause: Check if the function of motor crash protection (P1.057) is enabled. Trigger condition and cause If so, set P1.057 to 0.
Page 765 Troubleshooting ASDA-A3 AL035 Encoder temperature exceeds the protective range Condition: encoder temperature is over the maximum of 100˚C. Trigger condition and cause Cause: encoder temperature is over 100˚C. Set P0.002 to -124d to read the temperature and check if it is below 100˚C. Checking method If the encoder temperature is higher than 100˚C, improve the heat dissipation to and corrective...
Page 766 ASDA-A3 Troubleshooting AL044 Servo function overload warning Disable the filter if it is not required, such as the low-pass filter (P1.006 - P1.008), moving filter (P1.068), low-frequency vibration suppression (P1.025 - How to clear the alarm? P1.028), vibration elimination (P1.089 - P1.094), or Notch filter (1 to 5 sets).
Page 767 Troubleshooting ASDA-A3 AL051 Motor parameter automatic identification error If there is interference, check the following: Make sure the servo motor is properly grounded and connect the ground of the UVW connector (green) to the servo drive heat sink. Checking method and corrective action Use shielded cable for the feedback signal cable.
Page 768 ASDA-A3 Troubleshooting AL053 Motor parameters are not confirmed Condition: the Motor Parameter Identification Wizard function has not been executed or the identification failed, and once the servo is on, this alarm is triggered. Trigger condition and cause Cause: a third-party motor has not executed the Motor Parameter Identification Wizard function or failed to execute it.
Page 769 How to clear the DI.ARST alarm? AL05B Motor type setting does not match Condition: a Delta motor is connected to CN2 as the main encoder, but PM.000 is Trigger condition not set to 0. and cause Cause: incorrect setting of PM.000.
Page 770 ASDA-A3 Troubleshooting AL05C Motor position feedback error Condition: sudden jumps occur to the motor position feedback. Cause: Trigger condition and cause Encoder feedback is abnormal or the encoder is damaged. Encoder feedback is interfered. Check if the feedback signal is abnormal. With the software scope, select Feedback position [PUU] as the channel type and sampling at 16 kHz or 20 kHz, then operate the motor manually to monitor whether the feedback value has discontinuous sudden jumps.
Page 771 Troubleshooting ASDA-A3 AL060 Absolute position is lost Connect or correct the wiring so that the battery power is supplied to the encoder and then re-establish the absolute origin coordinates. Checking method and corrective action (a) Check the encoder wiring. (b) Check the connection between the battery box and servo drive. Connect or correct the wiring so that the battery power is supplied to the encoder How to clear the and then re-establish the absolute origin coordinates.
Page 772 ASDA-A3 Troubleshooting AL068 Absolute data transmitted by I/O is in error Condition: the sequence is wrong when reading the absolute position with DIO. Cause: Trigger condition and cause Time sequence is wrong. Reading timeout. Correct the time sequence for reading the data with DIO: (A) DI.ABSQ switches to off after DO.ABSR is off.
Page 773 Troubleshooting ASDA-A3 AL06A Absolute position is lost Cause: Servo drive in use for the first time, so the absolute coordinate system has not been created. Retaining the absolute position requires power supply, so when the battery is drained and the power supply of the servo drive is cut off, the absolute position of the servo is lost.
Page 774 Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 775 Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 776 Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 777 In this case, replace the UVW cable and prevent the metal conductor from being exposed. Refer to Chapter 3 Wiring and check the following: (a) If you do not use the Delta standard power cable, make sure the UVW Checking method wiring sequence is correct.
Page 778 Use the correct voltage source or connect the voltage regulator in series. How to clear the alarm? Send your servo drive back to the distributor or contact Delta. AL088 Servo function overload warning Condition: too many motor control functions on the servo drive are enabled.
Page 779 Set P2.112 [Bit 1] to 0 to disable AL089. How to clear the alarm? If the issue persists, send your servo drive back to the distributor or contact Delta. AL08A Auto-tuning function - Command error Condition: no command is issued when the servo drive starts the auto-tuning procedure.
Page 780 Checking method If not using the regenerative brake, set P1.053 (regenerative resistor capacity) and corrective action to 0. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the DI.ARST alarm? AL099 DSP firmware update Trigger condition EEPROM is not reset after DSP firmware is updated.
Page 781 Troubleshooting ASDA-A3 AL111 Buffer overflow occurs when receiving CANopen SDO Trigger condition SDO Rx Buffer overflows (receives more than two SDOs within 1 ms). and cause Checking method Check if the servo drive (master) receives or sends more than one SDO within 1 ms. and corrective action How to clear the NMT: reset node or 0x6040 fault reset.
Page 782 ASDA-A3 Troubleshooting AL123 Data size error occurs when accessing CANopen PDO Trigger condition Data length in the message does not match the length of the specified object. and cause Check if the data length for PDO mapping is changed when the servo drive Checking method and corrective action receives or sends PDO.
Page 783 Troubleshooting ASDA-A3 AL129 Error occurs when writing CANopen PDO to EEPROM Trigger condition An error occurs when saving the current parameter value to ROM. and cause When PDO is receiving or sending, check if the error occurs because the specified Checking method and corrective action object is written to EEPROM.
Page 784 ASDA-A3 Troubleshooting AL185 CAN Bus hardware error Condition: CAN Bus is cut off or Rx/Tx Counter error occurs more than 128 times. Trigger condition and cause Cause: CAN Bus hardware error. Check if the communication cable for CAN Bus is connected. Checking method Check the communication quality.
Page 785 Troubleshooting ASDA-A3 AL207 Parameter group of PR#8 is out of range Condition: parameter group of PR#8, P_Group, is out of range. Trigger condition and cause Cause: the group of PR#8 command source exceeds the range. Write parameter using PR procedure: when the parameter group of command Checking method and corrective action source exceeds the range, check the group setting of the written parameters.
Page 786 ASDA-A3 Troubleshooting AL217 Write parameters: parameter locked How to clear the Modify the PR command and the parameter. alarm? AL219 Write parameters: parameter locked Condition: this parameter is write-protected. Trigger condition and cause Cause: the parameter write-protected function is enabled. Checking method Check if the parameter and data array protection function (P5.097) is enabled.
Page 787 Troubleshooting ASDA-A3 AL235 Position counter overflow warning When AL060 and AL062 occur, use the scope to check if the feedback Checking method position has overflowed. And check whether the above situations have and corrective action occurred, then establish the absolute origin coordinates. Incremental system: perform homing procedure.
Page 788 ASDA-A3 Troubleshooting AL285 Software negative limit Condition: the target position specified by the command exceeds the software Trigger condition negative limit. and cause Cause: the software negative limit is triggered. The software negative limit is determined by the Position command instead of the actual feedback position because the command is sent before the feedback is Checking method received.
Page 789 Troubleshooting ASDA-A3 AL305 SYNC period error Condition: CANopen 301 Obj 0x1006 Data Error. Trigger condition and cause Cause: SYNC period is in error. Checking method Check the value of 0x1006. If it is smaller than or equal to 0, this alarm occurs. and corrective action How to clear the NMT: reset node or 0x6040 fault reset.
Page 790 ASDA-A3 Troubleshooting AL3E3 CANopen synchronization signal timeout Condition: in CANopen IP mode, the synchronization with the controller failed. Trigger condition and cause Cause: timeout of CANopen synchronization signal. 1. Make sure the communication quality is good. 2. Make sure the setting of synchronization cycle (0x1006) is identical to that of the controller.
Page 791 Troubleshooting ASDA-A3 AL404 Value of PR special filter setting is too high Condition: the value of the PR special filter (P1.022) is set too high causing the Trigger condition internal following error exceeding the allowable range. and cause Cause: the following error of the internal position exceeds the allowable range. Check the setting of P1.022.
Page 792 [Bit 9]. AL555 System failure Trigger condition Servo drive DSP is in error. and cause If this alarm occurs, send your servo drive directly back to Delta without making Checking method and corrective action any modification. How to clear the...
Page 793 Troubleshooting ASDA-A3 (This page is intentionally left blank.) 13-48...
Page 794: Specifications
Specifications A.1 ASDA-A3 series servo drive ································································ A-2 A.1.1 Specification of the ASDA-A3 servo drive ········································· A-2 A.1.2 Dimensions of the servo drive ······················································· A-5 A.2 ECM-A3 series servo motor ································································· A-7 A.2.1 ECM-A3L low inertia series servo motor ·········································· A-9 A.2.2 ECM-A3H high inertia series servo motor·······································...
Page 795: Asda-A3 Series Servo Drive
Specifications ASDA-A3 A.1 ASDA-A3 series servo drive A.1.1 Specification of the ASDA-A3 servo drive 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW ASDA-A3 Three-phase Phase / Voltage Single-phase / Three-phase 220 V...
Page 796 ASDA-A3 Specifications 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW ASDA-A3 Speed control range 1 : 6000 Command source External analog command (except DMCNET mode) / Register Smoothing method Low-pass and S-curve filter Speed Torque limit Parameter settings / Analog input (except DMCNET mode)
Page 797 Specifications ASDA-A3 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW ASDA-A3 Indoors (avoid direct sunlight), no corrosive vapor Installation site (avoid fumes, flammable gases, and dust) Altitude Altitude 1000 m or lower above sea level Atmospheric pressure 86 kPa - 106 kPa Operating...
Page 798: Dimensions Of The Servo Drive
ASDA-A3 Specifications A.1.2 Dimensions of the servo drive 100 W / 200 W Weight 0.84 kgf (1.85 Ibf) 400 W Weight 0.92 kgf (2.03 Ibf)
Page 799 Specifications ASDA-A3 750 W / 1 kW / 1.5 kW Weight 1.3 kgf (2.87 Ibf) 2 kW / 3 kW Weight 2.7 kgf (5.95 Ibf) Note: dimensions and weights of the servo drive may be updated without prior notice.
Page 800: Ecm-A3 Series Servo Motor
ASDA-A3 Specifications A.2 ECM-A3 series servo motor ECM-A3 series servo motor (1) Product name ECM: Electronic Commutation Motor (2) Servo type A: High-Precision Servo Motor (3) Series 3: A3 series (4) Inertia H: high inertia L: low inertia (5) Rated voltage and speed C: 220V and 3,000 rpm (6) Encoder type Y: 24-bit absolute optical encoder (resolution of single turn: 24-bit;...
Page 801 Specifications ASDA-A3 (9) Shaft type and oil seal w/o brake with brake w/o brake with brake w/o oil seal w/o oil seal with oil seal with oil seal Round shaft (with fixed screw holes) Keyway (with fixed screw holes) (10) Shaft diameter S: standard 7: specific (14 mm) (11) Special code...
Page 802: Ecm-A3L Low Inertia Series Servo Motor
ASDA-A3 Specifications A.2.1 ECM-A3L low inertia series servo motor ECM-A3L 040F 0401 0602 0604 0804 0807 0.05 0.75 Rated power (kW) 0.159 0.32 0.64 1.27 1.27 2.39 Rated torque (N-m) 0.557 1.12 2.24 4.45 4.44 8.36 Max. torque (N-m) 3000 Rated speed (rpm) 6000 Max.
Page 803 Specifications ASDA-A3 ECM-A3L 040F 0401 0602 0604 0804 0807 Storage temperature (˚C) -10˚C to 80˚C Operating humidity 20 - 90% RH (non-condensing) Storage humidity 20 - 90% RH (non-condensing) Vibration capacity 2.5 G IP67 (when using waterproof connectors and when an oil seal is fitted to the IP rating rotating shaft (for an oil seal model)) Approvals...
Page 804: Ecm-A3H High Inertia Series Servo Motor
ASDA-A3 Specifications A.2.2 ECM-A3H high inertia series servo motor ECM-A3H 040F 0401 0602 0604 0804 0807 0.05 0.75 Rated power (kW) 0.159 0.32 0.64 1.27 1.27 2.39 Rated torque (N-m) 0.557 1.12 2.24 4.45 4.44 8.36 Max. torque (N-m) 3000 Rated speed (rpm) 6000 Max.
Page 805 Specifications ASDA-A3 ECM-A3H 040F 0401 0602 0604 0804 0807 Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature 0˚C - 40˚C (˚C) Storage temperature -10˚C to 80˚C (˚C) Operating humidity 20 - 90% RH (non-condensing) Storage humidity 20 - 90% RH (non-condensing) Vibration capacity 2.5 G IP67 (when using waterproof connectors and when an oil seal is fitted to the...
Page 806: Torque Features (T-N Curves
ASDA-A3 Specifications A.2.3 Torque features (T-N curves) Torque (N-m) 0.557 (350%) Intermittent duty zone 0.4 (251%) 0.159 (100%) Continuous duty zone 0.0795 (50%) Speed (rpm) 3000 4400 6000 ECM-A3L-Cr040FS1 Torque (N-m) 2.24 (350%) Intermittent duty zone 0.79 (123%) 0.64 (100%) 0.32 (50%) Continuous duty zone Speed (rpm)
Page 807 Specifications ASDA-A3 Torque (N-m) 0.557 (350%) 0.4 (251%) Intermittent duty zone 0.159 (100%) 0.0795 (50%) Continuous duty zone Speed (rpm) 5500 6000 3000 ECM-A3H-Cr040FS1 Torque (N-m) 2.24 (350%) 1.9 (306%) Intermittent duty zone 0.64 (100%) 0.32 (50%) Continuous duty zone Speed (rpm) 4300 6000...
Page 808: Overload Features
ASDA-A3 Specifications A.2.4 Overload features Definition of overload protection The overload protection prevents the motor from overheating. Causes of overloading 1. The motor’s rated torque exceeds the rated range and the operation time is too long. 2. The inertia ratio is too high and the motor frequently accelerates and decelerates. 3.
Page 809: Dimensions Of Ecm-A3L/A3H Series Servo Motor
Specifications ASDA-A3 A.2.5 Dimensions of ECM-A3L/A3H series servo motor Motor frame size: 80 mm and below Model C□ 040F□ S□ C□ 0401□ S□ C□ 0602□ S□ C□ 0604□ S□ C□ 0804□ 7□ C□ 0807□ S□      ...
Page 810: Ecmc Series Servo Motor
ASDA-A3 Specifications A.3 ECMC series servo motor ECMC series servo motor ECM C – C W 10 10 R S (1) (2) (3) (4) (5) (6) (7) (8) (1) Product name ECM: Electronic Commutation Motor (2) Motor type C: High-Precision AC Servo Motor (recommended for CNC applications) (3) Rated voltage and speed C: 220V and 3,000 rpm E: 220V and 2,000 rpm...
Page 811 Specifications ASDA-A3 A.3.1 ECMC series servo motor with frame size 100 - 180 C□ E□ F□ E□ F□ ECMC Medium inertia High inertia Medium inertia 0.85 Rated power (kW) Rated torque 3.18 4.77 7.16 9.55 5.41 8.34 11.48 9.55 14.32 19.10 (N-m) 9.54...
Page 812 ASDA-A3 Specifications C□ E□ F□ E□ F□ ECMC Medium inertia High inertia Medium inertia Brake holding torque [Nt-m (min)] Brake power consumption 18.7 20.4 (at 20˚C)[W] Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (μm) Operating 0˚C - 40˚C (32˚F - 104˚F) temperature (˚C) Storage...
Page 813: Torque Features (T-N Curves
Specifications ASDA-A3 A.3.2 Torque features (T-N curves) Torque (N-m) 9.54 (300%) Intermittent duty zone 3.18 (100%) 1.91 Continuous duty zone (60%) Speed (rpm) 5000 3000 ECMC-Cr1010S Torque (N-m) 21.5 (300%) Intermittent duty zone 7.16 (100%) Continuous duty zone (67%) Speed (rpm) 2000 3000 ECMC-Er1315S...
Page 814 ASDA-A3 Specifications Torque (N-m) 28.7 (250%) Intermittent duty zone 11.48 (100%) 5.74 Continuous duty zone (50%) Speed (rpm) 3000 1500 2200 ECMC-Fr1318S Torque (N-m) 42.97 (300%) Intermittent duty zone 14.32 (100%) 9.59 Continuous duty zone (67%) Speed (rpm) 2000 3000 ECMC-Er1830S Note: r in the motor model name represents the encoder type;...
Page 815: Overload Features
Specifications ASDA-A3 A.3.3 Overload features Definition of overload protection The overload protection prevents the motor from overheating. Causes of overloading 1. The motor’s rated torque exceeds the rated range and the operation time is too long. 2. The inertia ratio is too high and the motor frequently accelerates and decelerates. 3.
Page 816 ASDA-A3 Specifications Medium and medium-high inertia (ECMC-E, F series) Load Operating time 120% 527.6 s 140% 70.4 s 160% 35.2 s 180% 22.4 s 200% 16 s 220% 12.2 s 240% 9.6 s 260% 7.8 s 280% 6.6 s 300% 5.6 s A-23...
Page 817: Dimensions Of Ecmc Series Servo Motor
Specifications ASDA-A3 A.3.4 Dimensions of ECMC series servo motor Motor frame size: 100 mm / 130 mm / 180 mm Model C□ 1010□ S E□ 1310□ S E□ 1315□ S E□ 1320□ S F□ 1308□ S F□ 1313□ S F□ 1318□...
Page 818 ASDA-A3 Specifications E□ 1820□ E□ 1830□ F□ 1830□ Model □ □ □ 13.5 13.5 13.5 202.1 202.1 (w/o brake) 203.1 235.3 235.3 (with brake) M12 Depth 25 M12 Depth 25 M12 Depth 25 Note: □ in the motor model name represents the encoder type; □ represents the shaft type and oil seal;...
Page 819 Specifications ASDA-A3 (This page is intentionally left blank.) A-26...
Page 820 Accessories B.1 Power connector ··············································································· B-2 B.2 Power cable ····················································································· B-3 B.3 Encoder connector ············································································ B-6 B.4 Encoder cable (incremental type) ·························································· B-7 B.5 Encoder cable (absolute type) ······························································ B-8 B.6 Battery box cable AW ········································································· B-9 B.7 Battery box (absolute type) ·································································· B-9 B.8 I/O connector ·················································································...
Page 821: Power Connector
Accessories ASDA-A3 B.1 Power connector Delta part number: ASDBCAPW0000 (for 220V servo drives) Delta part number: ASDBCAPW0100 (for 220V servo drives with brake contact) Delta part number: ASD-CAPW1000 Delta part number: ASD-CAPW2000...
Page 822: Power Cable
ASDA-A3 Accessories B.2 Power cable Delta part number: ACS3-CAPW1103, ACS3-CAPW1105, ACS3-CAPW1110, ACS3-CAPW1120, ACS3-CAPF1103, ACS3-CAPF1105, ACS3-CAPF1110, ACS3-CAPF1120 (for 220V servo drives) Cable Part No. type inch 3000  50 118  2 ACS3-CAPW1103 ACS3-CAPW1105 5000  50 197  2 General 10000 ...
Page 823 3000  100 118  4 ACS3-CAPW1203 3106A-20-18S General 5000  100 197  4 ACS3-CAPW1205 3106A-20-18S Delta part number: ACS3-CAPW2203, ACS3-CAPW2205 (with brake cable) Cable Part No. Straight type inch 3000  100 118  4 ACS3-CAPW2203 3106A-20-18S General 5000 ...
Page 824 ASDA-A3 Accessories Delta part number: ACS3-CAPW2303, ACS3-CAPW2305 (with brake cable) Cable Part No. Straight type inch 3000  100 118  4 ACS3-CAPW2303 3106A-20-18S General 5000  100 197  4 ACS3-CAPW2305 3106A-20-18S Delta part number: ACS3-CAPW1403, ACS3-CAPW1405 Cable Part No.
Page 825: Encoder Connector
Accessories ASDA-A3 B.3 Encoder connector Delta part number: ACS3-CNEN1100 Delta part number: ACS3-CNEN3100 Delta part number: ACS3-CNENC200...
Page 826: Encoder Cable (Incremental Type
ASDA-A3 Accessories B.4 Encoder cable (incremental type) Delta part number: ACS3-CAEF1003, ACS3-CAEF1005, ACS3-CAEF1010, ACS3-CAEF1020 Cable Part No. type inch 3000  50 118  2 ACS3-CAEF1003 5000  50 197  2 ACS3-CAEF1005 Torsion- resistant 10000  100 394  4 ACS3-CAEF1010 20000 ...
Page 827: Encoder Cable (Absolute Type
Accessories ASDA-A3 B.5 Encoder cable (absolute type) Delta part number: ACS3-CAEB1003, ACS3-CAEB1005, ACS3-CAEB1005, ACS3-CAEB1010, ACS3-CAEB1020 Cable type Model name inch 3000  50 118  2 ACS3-CAEB1003 5000  50 197  2 ACS3-CAEB1005 Torsion- resistant 10000  100 394  4 ACS3-CAEB1010 20000 ...
Page 828: Battery Box Cable Aw
ASDA-A3 Accessories B.6 Battery box cable AW Battery box cable that connects to the encoder Delta part number: 3864573700 B.7 Battery box (absolute type) Single battery box Delta part number: ASD-MDBT0100 Unit: mm R3.25 Weight: 44 g...
Page 829: I/O Connector
Accessories ASDA-A3 Double battery box Delta part number: ASD-MDBT0200 B.8 I/O connector Delta part number: ACS3-CNADC150 B-10...
Page 830: Terminal Block Module
B.10 CANopen communication cable Delta part number: UC-CMC030-01A, UC-CMC050-01A Part No. inch 300  10 11  0.4 UC-CMC030-01A 500  10 19  0.4 UC-CMC050-01A Note: for cables of other length, refer to the Delta PLC/HMI Cable Selection Guide. B-11...
Page 831: Canopen Distribution Box
Accessories ASDA-A3 B.11 CANopen distribution box Delta part number: TAP-CN03 B.12 Ferrite ring Delta part number: ASD-ACFC7K00 Model name Outer diameter Inner diameter Height ASD-ACFC7K00 68.0 ± 0.6 44.0 ± 0.6 13.5 ± 0.5 B-12...
Page 832: A3 / A2 Conversion Cable
ASDA-A3 Accessories B.13 A3 / A2 conversion cable A3 / A2_CN1_conversion cable Delta part number: ACS3-CAADC1 A3 / A2_CN2_conversion cable Delta part number: ACS3-CAADC2 A3 / A2_CN5_conversion cable Delta part number: ACS3-CAADC5 B-13...
Page 833: A3 Cn3
Accessories ASDA-A3 B.14 A3 CN3 RS-485 Delta part number: ACS3-CNADC3RC 7 3 . 25.8(1.01) 43.04(1.69) Unit: mm (inch) B.15 A3 CN3 RS-485 / CANOpen terminal resistor Delta part number: ACS3-CNADC3TR Unit: mm (inch) B-14...
Page 834: A3 Cn6 Dmcnet Terminal Resistor
ASDA-A3 Accessories B.16 A3 CN6 DMCNET terminal resistor Delta part number: ASD-TR-DM0008 B-15...
Page 835: Cn4 Mini Usb Module
Accessories ASDA-A3 B.17 CN4 Mini USB module Delta part number: UC-PRG015-01B, UC-PRG030-01B 12 0 5 . 80.45 5 64 5 0 5 (3 3 0 2) (0 59 0 02) (2 54 0 02) (0.27) (0.48) USB A MALE MINI USB B MALE Part No.
Page 836: Optional Accessories
ASDA-A3 Accessories B.18 Optional accessories 100 W servo drive and 50 W / 100 W low / high inertia servo motor Servo drive ASD-A3-0121- ECM-A3L-C△040FS1, ECM-A3L-C△0401S1, Motor model ECM-A3H-C△040FS1, ECM-A3H-C△0401S1 Motor power cable ACS3-CAPW11XX (without brake) Power connector ASDBCAPW0000 (without brake) Motor power cable ACS3-CAPW21XX (with brake)
Page 837 Accessories ASDA-A3 400 W servo drive and 400 W low / high inertia servo motor Servo drive ASD-A3-0421- ECM-A3L-C△0604S1, ECM-A3L-C△0804S1, Motor model ECM-A3H-C△0604S1, ECM-A3H-C△0804S1 Motor power cable ACS3-CAPW110XX (without brake) Power connector ASDBCAPW0000 (without brake) Motor power cable ACS3-CAPW21XX (with brake) Power connector ASDBCAPW0100 (with brake)
Page 838 ASDA-A3 Accessories 1 kW servo drive and 1 kW medium inertia / 850 W high inertia servo motor Servo drive ASD-A3-1021- Motor model ECMC-CW1010S, ECMC-EW1310S, ECMC-FW1308S Motor power cable ACS3-CAPW12XX (without brake) Motor power cable ACS3-CAPW22XX (with brake) Power connector ASD-CAPW1000 Motor power cable (without brake)
Page 839 Accessories ASDA-A3 2 kW servo drive and 2 kW medium inertia and 1.3 kW / 1.8 kW high inertia servo motor Servo drive ASD-A3-2023- Motor model ECMC-EW1320S, ECMC-FW1313S, ECMC-FW1318S Motor power cable ACS3-CAPW13XX* (without brake) Motor power cable ACS3-CAPW23XX* (with brake) Power connector ASD-CAPW1000 Motor power cable...
Page 840 ASDA-A3 Accessories 3 kW servo drive and 3 kW medium inertia servo motor Servo drive ASD-A3-3023- Motor model ECMC-EW1830S, ECMC-FW1830S Motor power cable ACS3-CAPW14XX* (without brake) Motor power cable ACS3-CAPW24XX* (with brake) Power connector ASD-CAPW2000 Motor power cable (without brake) Motor power cable (with brake) Encoder cable...
Page 841 Accessories ASDA-A3 (This page is intentionally left blank.) B-22...
Page 842 Revision History Release date Version Chapter Revision contents April, 2017 V1.0 (First edition) December, 2017 V2.0 (Second edition) Change the parameter default value of P1.000, P1.030, P2.031, and P2.047. Change the parameter format of P2.031. Add notes for the UVW connector illustration (angle 3.1.4 of viewing).
Page 843 Revision History ASDA-A3 Release date Version Chapter Revision contents Add the voltage specification. Modify the maximum single-phase frequency of the encoder. 3.8.1 Modify the resistor value. 3.10 Add the STO function descriptions. Modify the corrective actions for AL013. 4.5.2 Modify the control circuit name. 4.5.3 Add the description for Step 5.
Page 844 Release date Version Chapter Revision contents Add the interpreting method of the PR path procedure. Modify the description of the Capture axis source 7.2.2 setting table. Modify Figure 7.2.2.1 and Figure 7.2.2.2. Modify the description of the Compare axis source setting table.
Page 845 Revision History ASDA-A3 Release date Version Chapter Revision contents Add the Linear Motor chapter. Add the CANopen Mode chapter. Modify the alarm description for AL503. Add alarms AL050, AL054, AL05B, AL05C, AL219, 13.1 AL249, AL35F, AL3CF, AL3E2, and AL3E3. Delete alarms AL302 and AL303. Modify the alarm descriptions for AL001, AL006, AL014, AL015, AL018, AL024, AL034, AL035, AL041, AL045, AL052, AL058, AL060, AL067,...

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