Page 1 Mail: Sales.IA.RU@deltaww.com TEL: +7 495 644 3240 Delta Electronics ( Americas ) Ltd. USA: Delta Greentech Elektronik San. Ltd. Sti. ( Turkey ) Turkey: 5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. Şerifali Mah. Hendem Cad. Kule Sok. No:16-A TEL: +1-919-767-3813 / FAX: +1-919-767-3969 34775 Ümraniye –...
Page 2 Preface Thank you for purchasing this product. This manual provides information about the ASDA-A3 series servo drives (A3) and the applicable servo motors. 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 the machine, change the servo parameter setting according to the ◼ application. If the parameters are not adjusted to the correct values, it may lead to malfunction of the machine or the operation might be out of control. ◼...
Page 5 Main circuit wiring Do not put the power cable and signal cable in the same channel or bond them together. ◼ Separate the power cable and signal cable by at least 30 centimeters (11.8 inches). ◼ Please use stranded wires and multi-core shielded-pair wires for signal cables and encoder feedback cables.
Page 6 Battery box Battery Refer to Section 10.1.1 ◼ When the part reaches the suggested replacement cycle, consult the distributor or Delta for replacement suggestions. ◼ Do not attempt to disassemble or repair the product yourself. Note: the content of this manual may be revised without prior notice. Refer to the latest information from Delta's website.
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Page 8: Table Of Contents
Table of Contents Before Operation Product Overview 1.1 Items to check after unpacking ············································································ 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 ········································································ 1-11 1.3.1 220V models ··························································································· 1-11 1.3.2 400V models ···························································································...
Page 9 2.10 The use of cable ··························································································· 2-35 Wiring 3.1 220V series servo system connection ··································································· 3-5 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) ····························································································· 3-5 3.1.2 Connectors and terminals ············································································ 3-7 3.1.3 Wiring for power supply ··············································································· 3-9 3.1.4 UVW power connector specifications ····························································...
Page 10 3.2.3 Wiring for power supply ············································································· 3-55 3.2.4 UVW power connector specifications ···························································· 3-56 3.2.4.1 F40 - F80 motors – Power connectors ···················································· 3-56 3.2.4.2 F100 - F130 motors – Power connectors ················································· 3-56 3.2.4.3 F180 4.5 kW (or below) motors – Power connectors ·································· 3-56 3.2.4.4 F180 5.5 kW (or above) &...
Page 11 3.10 220V models – STO (Safe Torque Off) function ················································· 3-114 3.10.1 CN10 STO connector ············································································ 3-114 3.10.2 Introduction to STO ··············································································· 3-115 3.10.3 Precautions for using STO function ·························································· 3-115 3.10.4 Specifications of STO ············································································ 3-116 3.10.5 How does the STO function work? ··························································· 3-116 3.10.5.1 Activation status ·············································································...
Page 12 3.13.3 Position (PR) control mode – internal position commands ····························· 3-152 3.13.4 Speed (S) control mode ········································································· 3-154 3.13.5 Torque (T) control mode ········································································· 3-156 3.13.6 Communication mode (CANopen) ···························································· 3-158 3.13.7 Communication mode (DMCNET) ···························································· 3-159 3.13.8 Communication mode (EtherCAT) ···························································· 3-160 Test Operation and Panel Display 4.1 Panel description ·····························································································...
Page 13 5.4.1 Precautions for auto tuning ········································································· 5-14 5.4.2 Flowchart of auto tuning ············································································ 5-15 5.4.3 Auto tuning through the drive panel ······························································ 5-16 5.4.4 Auto tuning with ASDA-Soft ········································································ 5-17 5.4.5 Parameters related to auto tuning ································································ 5-24 5.4.5.1 Automatic gain adjustment level 1 (P2.105) - stiffness adjustment················· 5-24 5.4.5.2 Automatic gain adjustment level 2 (P2.106) - response adjustment ···············...
Page 14 5.7.4.1 Function restriction ············································································· 5-52 5.7.4.2 Function description············································································ 5-52 5.7.4.3 Application example············································································ 5-54 5.7.5 Model-controlled vibration suppression filter ··················································· 5-55 5.7.5.1 Restrictions of the two degree of freedom control function ··························· 5-55 5.7.5.2 Function description of two degree of freedom control function ····················· 5-56 5.7.5.3 Application example of two degree of freedom control function ·····················...
Page 15 Operation and Motion Control Operation Mode 6.1 Selecting the operation mode ·············································································· 6-3 6.2 Position mode ································································································· 6-5 6.2.1 Position command in PT mode ······································································ 6-5 6.2.2 Position command in PR mode ····································································· 6-6 6.2.3 Control structure of Position mode ································································· 6-7 6.2.4 S-curve filter (Position) ················································································...
Page 16 6.7.3 Steps for setting the full-closed loop function ·················································· 6-43 6.7.4 Parameters for full-closed loop function ························································· 6-44 6.7.4.1 Auxiliary encoder direction setting ·························································· 6-44 6.7.4.2 Auxiliary encoder resolution setting ························································ 6-47 6.7.4.3 E-Gear settings ················································································· 6-50 6.7.4.4 Setting the protection range for the feedback position error between the main encoder and auxiliary encoder ··················································...
Page 17 7.3.2 Clutch engagement and disengagement ······················································· 7-81 7.3.3 E-Cam gears and curve scaling ··································································· 7-89 7.3.4 E-Cam curve ··························································································· 7-92 7.3.5 E-Cam curve and PR command overlapping ················································ 7-100 7.3.6 Troubleshooting for E-Cam ······································································· 7-102 7.3.7 Rotary Shear ························································································· 7-104 7.3.8 Flying Shear ·························································································...
Page 18 11.2.2 Configurations for linear motors and rotary motors ········································· 11-7 11.2.2.1 Peripheral configuration for pulse type motors ········································· 11-8 11.2.2.2 Peripheral configuration for pulse type and sine wave type motors ·············· 11-9 11.2.2.3 Peripheral configuration for Delta motors and third-party communication type motors ··················································································· 11-10 11.2.3 Communication type motors ···································································...
Page 19 11.3.2 Linear motor direction setting ·································································· 11-29 11.4 Linear encoder ························································································· 11-30 11.5 Hall sensor ······························································································ 11-31 11.5.1 Installing the Hall sensor ········································································ 11-32 11.5.2 Checking the Hall sensor phase sequence ················································· 11-33 11.6 Position signal converter box ······································································· 11-34 11.6.1 Specifications of position signal converter box ·············································...
Page 20 12.4.3.1 OD 1XXXh communication object group ·············································· 12-34 12.4.3.2 OD 2XXXh servo parameter group ····················································· 12-53 12.4.3.3 OD 6XXXh communication object group ·············································· 12-54 12.5 Diagnostics and troubleshooting ···································································· 12-96 EtherCAT Mode 13.1 Basic configuration ······················································································· 13-3 13.1.1 Hardware configuration ············································································ 13-3 13.1.2 ESI file import ························································································...
Page 21 Third-party communication type ······································································· 14-9 14.2 Causes and corrective actions ······································································· 14-10 Appendix Specifications A.1 ASDA-A3 series servo drive ·············································································· A-3 A.1.1 Specifications of the servo drive ··································································· A-3 A.1.1.1 220V series ······················································································· A-3 A.1.1.2 400V series ······················································································· A-6 A.1.2 Dimensions of the servo drive ······································································ A-9 A.1.2.1 220V series ·······················································································...
Page 22 Motor frame size: 80 mm and below ······················································ A-37 Motor frame size: 100 mm ··································································· A-39 Motor frame size: 130 mm ··································································· A-41 Motor frame size: 180 mm ··································································· A-43 Motor frame size: 220 mm ··································································· A-45 A.3.2 Torque features (T-N curves) of the B3 motors ··············································· A-47 A.3.2.1 220V series ······················································································...
Page 23 B.1.4 F180 5.5 kW (or above) and F220 models ······················································ B-6 B.1.5 Brake connector for B3 F100 - F220 models ··················································· B-7 B.2 Power cable ··································································································· B-8 B.2.1 F40 - F80 models ······················································································ B-8 B.2.2 F100 - F130 models ················································································· B-11 B.2.3 F180 4.5 kW (or below) models···································································...
Page 24 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. 1.1 Items to check after unpacking ······························································ 1-2 1.2 Model overview ··················································································...
Page 25: Items To Check After Unpacking
Product Overview ASDA-A3 1.1 Items to check after unpacking A complete servo drive set includes: A servo drive. An STO connector for CN10 (220V A3-M, A3-E models, and all 400V models). Pluggable terminal blocks (varies based on the models) and one plastic lever. 220V Models R, S, T 3-pin pluggable terminal block...
Page 26: Model Overview
ASDA-A3 Product Overview 1.2 Model overview 1.2.1 Nameplate information ASDA-A3 series servo drive  Nameplate information Note: application for TÜ V and UKCA certifications is in progress.  Serial number A30743E0 W 22 28 0006 (1) Model name (2) Manufacturing plant (T: Taoyuan; W: Wujiang)
Page 27 Product Overview ASDA-A3 ECM-A3 / ECM-B3 series servo motor  Nameplate information  Serial number Note: the rated voltage written in the servo motor specifications indicates the input voltage for the servo drive. The servo motor uses the certified voltage as the rated input voltage for operation, so the applicable power supply for 220V series servo motor is 110V, and the applicable power supply for 400V series servo motor is 220V.
Page 28: Model Explanation
ASDA-A3 Product Overview 1.2.2 Model explanation ASDA-A3 servo drive Product name ASD: AC Servo Drive Series A3: A3 Series Rated power output Code Specification Code Specification Code Specification 100 W 1.5 kW 7.5 kW 200 W 2.0 kW 11 kW 400 W 3.0 kW 15 kW...
Page 29 Product Overview ASDA-A3 ECM-A3 series servo motor ECM - A 06 04 R S (2) (3) (4) (5) (6) (7) (8) (10) (11) Product name ECM: Electronic Commutation Motor Servo type A: high-precision servo motor Series 3: A3 series Inertia H: high inertia L: low inertia Rated voltage and speed...
Page 30 ASDA-A3 Product Overview 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) Note: * indicates this model type is coming soon. (10) Shaft diameter and connector type S: standard shaft diameter and standard connectors...
Page 31 Product Overview ASDA-A3 ECM-B3 series servo motor Product name ECM: Electronic Commutation Motor Servo type B: general type servo motor Series 3: 3 series Inertia H: high inertia M: medium inertia L: low inertia Rated voltage and speed C: 220V and 3,000 rpm E: 220V and 2,000 rpm F: 220V and 1,500 rpm J: 400V and 3,000 rpm...
Page 32 ASDA-A3 Product Overview Rated power output Code Specification Code Specification 100 W 1.8 kW 200 W 2.0 kW 400 W 3.0 kW 750 W 4.5 kW 850 W 5.5 kW 1.0 kW 7.5 kW 1.3 kW 11 kW 1.5 kW 15 kW Shaft type and oil seal w/o brake...
Page 33 Product Overview ASDA-A3 ECMC series servo motor Product name ECM: Electronic Commutation Motor Servo type C: high-precision AC servo motor (recommended for CNC applications) Rated voltage and speed C: 220V and 3,000 rpm E: 220V and 2,000 rpm F: 220V and 1,500 rpm Encoder type W: 22-bit absolute encoder (resolution of single turn: 22-bit;...
Page 34: Asda-A3 Servo Drive And Motor
ASDA-A3 Product Overview 1.3 ASDA-A3 servo drive and motor 1.3.1 220V models ECM-A3 series servo motor Servo motor model Servo drive model Rated / Rated Max. Output Inertia Max. Power Model name torque torque Model name speed (N-m) (N-m) 0.159 0.557 ECM-A3L-C 040F ASD-A3-0121-...
Page 35 Product Overview ASDA-A3 ECM-B3 series servo motor Servo motor model Servo drive model Rated / Rated Max. Output Inertia Max. Power Model name torque torque Model name speed (N-m) (N-m) 0.32 1.12 ECM-B3L-C 0401 ASD-A3-0121- inertia 0.64 2.24 ECM-B3M-C 0602 ASD-A3-0221- 1.27 4.45...
Page 36 ASDA-A3 Product Overview ECMC series servo motor Servo motor model Servo drive model Rated / Rated Max. Output Inertia Max. Power Model name torque torque Model name speed (N-m) (N-m) 3000 / 1000 3.18 9.54 ECMC-C 1010 ASD-A3-1021- 5000 rpm Single- / three- 1000 1310 3...
Page 37: Models
Product Overview ASDA-A3 1.3.2 400V models ECM-B3 series servo motor Servo motor model Servo drive model Rated / Rated Max. Output Inertia Max. Power Model name torque torque Model name speed (N-m) (N-m) 1.27 4.45 ECM-B3M-J 0604 ASD-A3-0443- ECM-B3M-J 2 0807 3 4 5 ASD-A3-0743- 3000 / 1000...
Page 38: Description Of The Drive Interface
ASDA-A3 Product Overview 1.4 Description of the drive interface 1.4.1 220V models: A3-L A Top view (14) A Top view B Bottom view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. RS-485 connector: connects to the controller and communication ports. I/O signal interface: connects to PLC or controls I/O.
Page 39: Models: A3-M
Product Overview ASDA-A3 1.4.2 220V models: A3-M A Top view (15) B Bottom view A Top view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. RS-485 and CANopen connector: connects to the controller and CANopen communication ports.
Page 40: Models: A3-F
ASDA-A3 Product Overview 1.4.3 220V models: A3-F A Top view (14) A Top view B Bottom view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. DMCNET high-speed communication port connector. I/O signal interface: connects to PLC or controls I/O. Encoder connector: connects to the encoder.
Page 41: Models: A3-E
Product Overview ASDA-A3 1.4.4 220V models: A3-E A Top view (16) A Top view B Bottom view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. EtherCAT EtherCAT status indicators. indicators EtherCAT high-speed communication port connector. I/O signal interface: connects to PLC or controls I/O.
Page 42: Models: A3-L
ASDA-A3 Product Overview 1.4.5 400V models: A3-L A Top view A Top view B Bottom view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. RS-485 connector: connects to the controller and communication ports. I/O signal interface: connects to PLC or controls I/O.
Page 43: Models: A3-M
Product Overview ASDA-A3 1.4.6 400V models: A3-M A Top view A Top view B Bottom view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. RS-485 and CANopen connector: connects to the controller and CANopen communication ports.
Page 44: Models: A3-F
ASDA-A3 Product Overview 1.4.7 400V models: A3-F A Top view A Top view B Bottom view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. DMCNET high-speed communication port connector. I/O signal interface: connects to PLC or controls I/O. Encoder connector: connects to the encoder.
Page 45: Models: A3-E
Product Overview ASDA-A3 1.4.8 400V models: A3-E A Top view A Top view B Bottom view B Bottom view Name Description 7-segment display. CHARGE Power indicator. Mini USB connector: connects to PC. EtherCAT EtherCAT status indicators indicators EtherCAT high-speed communication port connector. I/O signal interface: connects to PLC or controls I/O.
Page 46: 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······························································ 2-2 2.3 Mounting direction and space ······························································· 2-5 2.4 Safety precautions for using motors ·······················································...
Page 47: Ambient Storage Conditions
Installation ASDA-A3 2.1 Ambient storage conditions Before installation, this product must be kept in the shipping carton. In order to retain the warranty coverage and for maintenance, follow these instructions for storage. While the product is temporarily not in use: ...
Page 48 ASDA-A3 Installation 220V Models The ambient temperature of the operating environment for the 220V servo drive is between 0°C (32°F) and 55°C (131°F). If the temperature is over 45°C (113°F), place the product in a well-ventilated environment. During long-term operation, the suggested temperature of the operating environment should be under 45°C (113°F) to ensure the servo drive’s performance.
Page 49 Installation ASDA-A3 400V Models The ambient temperature of the operating environment for the 400V servo drive is between 0°C (32°F) and 55°C (131°F). When operating the 3 kW models in an ambient temperature between 50°C (122°F) and 55°C (131°F), reduce the maximum load to 80%. If the temperature is over 45°C (113°F), place the product in a well-ventilated environment.
Page 50: Mounting Direction And Space
ASDA-A3 Installation 2.3 Mounting direction and space Important:  Mount the servo drive in the correct direction according to the following illustrations with the base of the heat sink vertically on the wall. Incorrect mounting direction may result in malfunction. ...
Page 51 Installation ASDA-A3 Heat dissipation requirements In order to have adequate air flow for ventilation, follow the suggested clearances when installing one or more servo drives. The servo drive generates heat, therefore be aware of the minimum distance (d) and the ambient temperature factor when installing multiple servo drives (refer to the following diagrams).
Page 52 ASDA-A3 Installation Operating temperature (Ta) corresponding to the minimum distance (d) Servo drive model Cooling method *Considering the assembly tolerances, the servo drive requires a minimum clearance of 1 mm ASD-A3-4523- ASD-A3-5523- Natural cooling plus ASD-A3-7523- forced cooling ASD-A3-1B23- ASD-A3-1F23- ASD-A3-0443-...
Page 53: 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 the 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 54 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 55: 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 cause Checking method Corrective action Check if there is any foreign Replace the connecting There is a source of vibration in object, damage, or deformation component (such as the the connecting component.
Page 56: 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 57: Precautions For Using Servo Motor With Oil Seal
Installation ASDA-A3 2.4.3 Precautions for using servo motor with oil seal This section defines the operating conditions for using the servo motor with an oil seal: 1. In the operating environment, keep the oil level lower than the oil seal lip. If the oil seal lip is lower than the oil level, the oil will enter the servo motor and cause damage to the motor.
Page 58: Precautions For Installing Servo Motor Accessories
ASDA-A3 Installation 2.4.4 Precautions for installing servo motor accessories Wipe off the rustproof coating or oil on the motor shaft.   If you use a servo motor with a keyway, install the attached key or a key matching the specified dimensions on the motor shaft.
Page 59 Installation ASDA-A3 Installation safety precautions for servo motor shaft  When connecting the shaft, make sure that the required centering precision is reached. If the shaft is not correctly centered, vibration may damage the bearings and encoder.  When installing the coupling, do not apply excessive force to the shaft or the area around the encoder, as the impact may damage the encoder.
Page 60: Oil And Water Prevention Measures For The Servo Motor
Do not submerge the cable in oil or water. (1) Servo motor; (2) Oil  If oil or water is unavoidable, use oil-resistant cables. Delta does not provide oil-resistant cables.  If the servo motor must be mounted with the shaft end up, do not use it in a machine, gearbox, or other environment where the servo motor may have contact with oil or water.
Page 61: Measures To Suppress Temperature Increase Of The Servo Motor
Installation ASDA-A3 2.4.6 Measures to suppress temperature increase of the servo motor When installing the servo motor, pay attention to the cooling conditions (such as size of the  heat sink) provided in the specifications of each servo motor type. ...
Page 62: Specifications For The Circuit Breaker, Magnetic Contactor And Fuse
ASDA-A3 Installation 2.5 Specifications for the circuit breaker, magnetic contactor and fuse 220V Models Servo drive model Circuit breaker Magnetic contactor (MC) Fuse (Class T) ASD-A3-0121- ASD-A3-0221- ASD-A3-0421- 10 A 10 A 10 A ASD-A3-0721- 10 A 10 A 20 A ASD-A3-1021-...
Page 63 Installation ASDA-A3 400V Models Servo drive model Circuit breaker Magnetic contactor (MC) Fuse (Class T) ASD-A3-0443- 10 A 10 A ASD-A3-0743- 15 A 10 A 15 A ASD-A3-1043- 15 A 10 A 15 A ASD-A3-1543- 20 A 15 A 20 A ASD-A3-2043-...
Page 64: Ferrite Ring
ASDA-A3 Installation 2.6 Ferrite ring The ferrite ring suppresses high-frequency noise, which can reduce high-frequency interference in the power cable, signal cable, and connectors. The ferrite ring is usually made of Mn-Zn ferrite. The impedance of the ferrite ring varies with frequency. Normally, its impedance is relatively small to low-frequency signals;...
Page 65 Installation ASDA-A3 Winding several turns of wire onto the ferrite ring can increase inductance and the ability to filter out high-frequency noise. The suggested winding methods are shown as follows: For 4.5 kW to 7.5 kW models For 11 kW to 15 kW models Note: Refer to Section 3.1.6.5 for the selection of the motor power cable.
Page 66: Installation Requirements For Emc
This section illustrates the installation requirements for passing the EMC test. Note that the EMC rating varies based on the installation structure or wiring. Delta servo products are designed in accordance with the specifications of the EMC test. Refer to the following diagram for the standard installation.
Page 67 Installation ASDA-A3 400V Models MCCB Shielding box U-shape saddle EMI Filter Servo Drive U, V, W Motor R, S, T DC 24V 24V, 0V Power Supply Encoder Safety Relay Controller Note: *1. Use shielded wires. 2-22...
Page 68: Emi Filters
With an EMI filter correctly installed and used, you can eliminate much of the interference. For optimized performance, it is recommended to use Delta’s EMI filter for suppressing the interference. 220V Models...
Page 69 Installation ASDA-A3 General precautions for installation To ensure the best performance of the EMI filter, apart from the instruction and wiring of the servo drive, refer to these precautions: The servo drive and EMI filter must be mounted on the same metal plate. The wiring should be as short as possible.
Page 70: Selecting The Regenerative Resistor
ASDA-A3 Installation 2.8 Selecting the regenerative resistor Some of our servo drive models has a built-in regenerative resistor, you can use an external regenerative resistor if needed. 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 71 Installation ASDA-A3 Specifications of the built-in regenerative resistor in the ASDA-A3 are as follows: 220V Models Specifications of the Minimum allowable built-in regenerative resistor Capacity of the built-in resistance value Servo drive (kW) regenerative resistor (reference for external (Watt) resistors) Resistance (Ohm) Capacity (Watt) (Ohm)
Page 72 ASDA-A3 Installation When the regenerative energy exceeds the capacity of the built-in regenerative resistor, use an external regenerative resistor. Pay special attention to the following when using a regenerative resistor: 1. Choose the correct resistance value (P1.052) and capacity (P1.053) settings for the regenerative resistor;...
Page 73 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 the previous page. For easy calculation of the required regenerative resistor capacity, regardless of the energy consumed by IGBT, select the capacity of the external regenerative resistor according to the selected rotary motor.
Page 74 ASDA-A3 Installation Regenerative energy Maximum Servo generated when the motor regenerative Rotor inertia Inertia drive Motor decelerates from 3000 rpm to energy of the (× 10 kg.m (kW) 0 without load Eo capacitance Ec (joule) (joule) 1.37 6.77 26.21 ECM-B3M-C 0810 2.78 13.75 26.21...
Page 75 Installation ASDA-A3 400V Models Regenerative energy Maximum Servo generated when the motor regenerative Rotor inertia Inertia drive Motor decelerates from 3000 rpm to energy of the (× 10 kg.m (kW) 0 without load Eo capacitance Ec (joule) (joule) 1.26 8.42 ECM-B3M-J 0604 0.254 0.75...
Page 76 ASDA-A3 Installation Assume that the load inertia is N times the motor inertia, when the motor decelerates from 3,000 rpm to 0, the regenerative energy is (N+1) × Eo and the regenerative resistor needs to consume (N+1) × Eo - Ec joules. Assume that the reciprocating motion cycle is T sec, then the required power of regenerative resistor = 2 ×...
Page 77 Installation ASDA-A3 Calculation of the regenerative energy when there is external torque and the motor does the negative work. (1) Moving direction of the object; (2) Direction of torque; (3) Regenerative energy Usually, when the motor does positive work, the motor’s torque direction is identical to the rotation direction.
Page 78: The Use Of Braking
ASDA-A3 Installation 2.9 The use of braking A brake is usually used for motions in the Z-axis direction because gravity causes the mechanism to fall. A brake can prevent the mechanism from falling and reduce the motor’s excessive resistance. The motor lifespan could be reduced due to the excessive heat generated by continuous resistance.
Page 79 Installation ASDA-A3 When the motor runs normally (Servo On), DO.BRKR should be set to On, it means the brake is operating and the motor can run freely. Use the emergency stop button in an emergency. Press the button to switch the motor to Off and set DI.EMGS (0x21) to On. Then AL013 is triggered, and the motor is immediately stopped.
Page 80: The Use Of Cable
ASDA-A3 Installation 2.10 The use of cable Precautions for using standard cable:  Do not use the standard cable when the cable is required for moving or bending. Please use a flexible cable instead. Precautions for using flexible cable:  Inappropriate installation and wrong usage shorten the cable lifetime.
Page 81 Installation ASDA-A3 (This page is intentionally left blank.) 2-36...
Page 82 ASDA-A3 220V and 400V series models. Refer to the detailed descriptions according to the model series. 3.1 220V series servo system connection ····················································· 3-5 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) ················································································ 3-5 3.1.2 Connectors and terminals ······························································· 3-7 3.1.3 Wiring for power supply ··································································...
Page 83 Wiring ASDA-A3 3.2.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) ·············································································· 3-51 3.2.2 Connectors and terminals ····························································· 3-53 3.2.3 Wiring for power supply ································································ 3-55 3.2.4 UVW power connector specifications ·············································· 3-56 3.2.4.1 F40 - F80 motors – Power connectors ·································· 3-56 3.2.4.2 F100 - F130 motors –...
Page 84 ASDA-A3 Wiring 3.8 220V and 400V models – Wiring for CN5 connector (applicable to full-closed loop)····························································· 3-106 3.9 220V and 400V models – Wiring for CN6 connector ································ 3-109 3.9.1 Wiring for the DMCNET communication connector ···························· 3-109 3.9.2 Wiring for the EtherCAT communication connector ···························· 3-111 3.10 220V models –...
Page 85 Wiring ASDA-A3 3.12.7 Communication mode (DMCNET) ················································ 3-148 3.12.8 Communication mode (EtherCAT) ················································ 3-149 3.13 400V series – Standard wiring example ·············································· 3-150 3.13.1 Position (PT) control mode – differential line driver signal input ·········· 3-150 3.13.2 Position (PT) control mode – open-collector signal input ··················· 3-151 3.13.3 Position (PR) control mode –...
Page 86: Series Servo System Connection
ASDA-A3 Wiring 3.1 220V series servo system connection 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) Power 100 W - 1.5 kW Single- / Three-phase 200 - 230V 2 kW - 15 kW Three-phase 200 - 230V...
Page 87 Wiring ASDA-A3 Encoder connector (CN2) Position feedback connector (CN5) Servo drive current output (UVW) Regenerative resistor connector (P3, D, C) Regenerative resistor (optional purchase) Installation precautions: 1. Make sure the power and wiring connections of the R, S, T, and L are correct.
Page 88: Connectors And Terminals
ASDA-A3 Wiring 3.1.2 Connectors and terminals Terminal Name Description Connect to single-phase AC power. Power input for the (Refer to the model specification for the proper input control circuit voltage.) P1, P2 Short-circuit P1 and P2. Connect to three-phase AC power. Power input for the main R, S, T (refer to the model specification for the proper input...
Page 89 Wiring ASDA-A3 Pay special attention to the following when wiring: 1. Do not touch R, S, T and U, V, W immediately after the power is off 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 90: 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. The single-phase wiring is only applicable to models of 1.5 kW or below. In the following diagram, Power 1 and ALRM_RY_A are normally open contacts, and Power 2 is a normally closed contact.
Page 91 Wiring ASDA-A3  Wiring method for three-phase power supply (for all series) MCCB Noise filter Power 1 Power 2 ALRM_RY_A Servo drive Motor Note: 24 V MCCB: molded case circuit breaker MC: magnetic contactor SPD: surge protection device ALRM_RY Power 1: power on Power 2: power off ALRM_RY: alarm relay ALRM_RY_A: normally open contact...
Page 92 ASDA-A3 Wiring  Connecting multiple servo drives (in parallel) Using a common DC Bus can make efficient use of the regenerative energy. For instance, while one of the axes is decelerating, the regenerative energy can be supplied to other axes. If you need to connect servo drives of different power levels, only models of similar power levels can be connected;...
Page 93: Uvw Power Connector Specifications
Wiring ASDA-A3 3.1.4 UVW power connector specifications In addition to the standard quick connectors, Delta also provides IP67 waterproof connectors for ECM-A3 and ECM-B3 220V F40 - F80 motors. ( ) 1 The (2) and (3) in the following figure show the difference between the military connectors of the ECM-B3 motors and those of the ECMA / ECMC (old series) motors.
Page 94: F40 - F80 Motors - Power Connectors
The brake coil has no polarity. Its pin symbols are BRAKE1 and BRAKE2. Brake cable colors for motors with the frame size of 40 - 86 mm: brown and blue. When selecting the wires, refer to Section 3.1.6 for details. Connector specifications: Brand Model name Delta ACS3-CAPW1000 39-01-2041 (case) Molex 39-00-0040 (terminal) Brand...
Page 95 Brand Model name IP rating Delta ACS3-CNPW2A00 IP67 UVW with brake 23006231-01 CHOGORI IP67 23006231-02 Note: refer to Section 3.1.7 for the diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-14...
Page 96: F100 - F130 Motors - Power Connectors
100 mm or above: red and black. When selecting the wires, refer to Section 3.1.6 for details. Connector specifications: UVW with brake Brand Model name IP rating Delta ASD-CAPW1000 IP65 SUNCHU CMS3106A-20-18SBI (connector) IP65 MIL 20-18...
Page 97 Brake Brand Model name IP rating Delta ACS3-CABRA000 IP67 CMV1-2S CM1V1-SP2S-M1 IP67 SUNCHU SC-CMV1-SP02C IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-16...
Page 98 IP67 Brake Brand Model name IP rating Delta ACS3-CRBRA000 IP67 CMV1-2S CMV1-AP2S-M1 IP67 SUNCHU SC-CMV1-AP02C IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-17...
Page 99: F180 4.5 Kw (Or Below) Motors - Power Connectors
IP65 SUNCHU CMS3106A24-11SBI (connector & compression ring) IP65 MIL 24-11S WPS3106A24-11S-R (connector) IP65 WPS3057-16A-R (cable clamp) Note: refer to Section 3.1.7. for the diameter specification of the IP65-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-18...
Page 100 IP67 Brake Brand Model name IP rating Delta ACS3-CABRA000 IP67 CMV1-2S CM1V1-SP2S-M1 IP67 SUNCHU SC-CMV1-SP02C IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-19...
Page 101 IP67 Brake Brand Model name IP rating Delta ACS3-CRBRA000 IP67 CMV1-2S CMV1-AP2S-M1 IP67 SUNCHU SC-CMV1-AP02C IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-20...
Page 102: F180 5.5 Kw (Or Above) & F220 Motors - Power Connectors
Model name IP rating Delta ACS3-CABRA000 IP67 CMV1-2S CM1V1-SP2S-M1 IP67 SUNCHU SC-CMV1-SP02C IP67 Note: refer to Section 3.1.7 for the diameter specification of the to IP67- and IP42-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-21...
Page 103 Brand Model name IP rating Delta ACS3-CRBRA000 IP67 CMV1-2S CMV1-AP2S-M1 IP67 SUNCHU SC-CMV1-AP02C IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67- and IP42-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-22...
Page 104: Encoder Connector Specifications
ASDA-A3 Wiring 3.1.5 Encoder connector specifications In addition to the standard quick connectors, Delta also provides IP67 waterproof connectors for ECM-A3 and ECM-B3 220V F40 - F80 motors. 3.1.5.1 F40 - F80 motors – Encoder connectors Encoder connection (Diagram 1): Quick connector CN2 connector;...
Page 105 Wiring ASDA-A3 Specifications and pin assignment of the quick connector for the A3 / B3 incremental encoder Model name inch 3000  50 118  2 ACS3-CAE 0103 5000  50 197  2 ACS3-CAE 0105 10000  100 394  4 ACS3-CAE 0110 20000 ...
Page 106 ASDA-A3 Wiring Specifications and pin assignment of the quick connector for the A3 / B3 absolute encoder Model name inch ACS3-CAE 0103 3000  50 118  2 5000  50 197  2 ACS3-CAE 0105 10000  100 394  4 ACS3-CAE 0110 20000 ...
Page 107 A3 / B3 encoder Brand Model name IP rating Delta ACS3-CNEN2A00 IP67 IP67 waterproof connector CHOGORI 22008231-01 IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-26...
Page 108 ASDA-A3 Wiring Specifications and pin assignment of the IP67 waterproof connector for the A3 / B3 incremental encoder Model name Connector inch 3000  50 118  2 22008231-01 ACS3-CAE 1103 5000  50 197  2 22008231-01 ACS3-CAE 1105 10000 ...
Page 109 Wiring ASDA-A3 Specifications and pin assignment of the IP67 waterproof connector for the A3 / B3 absolute encoder Model name Connector inch 3000  50 118  2 22008231-01 ACS3-CAE 1103 5000  50 197  2 22008231-01 ACS3-CAE 1105 10000 ...
Page 110: F100 - F180 Ecmc Motors - Encoder Connectors
ASDA-A3 Wiring 3.1.5.2 F100 - F180 ECMC motors – Encoder connectors (1) CN2 connector; (2) Military connector 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.
Page 111 Wiring ASDA-A3 Specifications and pin assignment of the military connector for the ECMC incremental encoder Model name Connector inch 3000  50 118  2 3106A-20-29S ACS3-CAE 3003 5000  50 197  2 3106A-20-29S ACS3-CAE 3005 10000  100 394 ...
Page 112 ASDA-A3 Wiring Specifications and pin assignment of the military connector for the ECMC absolute encoder Model name Connector inch 3106A-20-29S 3000  50 118  2 ACS3-CAE 3003 5000  50 197  2 3106A-20-29S ACS3-CAE 3005 10000  100 394 ...
Page 113: F100 - F220 Ecm-B3 Motors - Encoder Connectors
B3 encoder Brand Model name IP rating Delta ACS3-CAENA000 IP67 CMV1-SP10S CMV1-SP10S-M1 IP67 SUNCHU SC-CMV1-SP10C IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-32...
Page 114 B3 encoder Brand Model name IP rating Delta ACS3-CRENA000 IP67 CMV1-AP10S CMV1-AP10S-M1 IP67 SUNCHU SC-CMV1-AP10C IP67 Note: refer to Section 3.1.7 for the diameter specification of the IP67-compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-33...
Page 115 Wiring ASDA-A3 Specifications and pin assignment of the IP67 waterproof military connector for the B3 incremental encoder Model name Connector inch 3000  50 118  2 CMV1-SP10S ACS3-CAE A103 5000  50 197  2 CMV1-SP10S ACS3-CAE A105 10000  100 394 ...
Page 116 ASDA-A3 Wiring Specifications and pin assignment of the IP67 waterproof military connector for the B3 absolute encoder Model name Connector inch 3000  50 118  2 CMV1-SP10S ACS3-CAE A103 5000  50 197  2 CMV1-SP10S ACS3-CAE A105 10000  100 394 ...
Page 117 Wiring ASDA-A3 Specifications and pin assignment of the IP67 waterproof military connector for the B3 incremental encoder Model name Connector inch 3000  50 118  2 CMV1-AP10S ACS3-CRE A103 5000  50 197  2 CMV1-AP10S ACS3-CRE A105 10000  100 394 ...
Page 118 ASDA-A3 Wiring Specifications and pin assignment of the IP67 waterproof military connector for the B3 absolute encoder Model name Connector inch 3000  50 118  2 CMV1-AP10S ACS3-CRE A103 5000  50 197  2 CMV1-AP10S ACS3-CRE A105 10000  100 394 ...
Page 119 Wiring ASDA-A3 3.1.6 Wire selection 3.1.6.1 Wire diameters and terminals / ferrules The recommended wire for connectors and signal wiring for ASDA-A3 as listed in the following tables:  For the terminal blocks on 3 kW (or below) models, use wire ferrules (end cord insulated terminals).
Page 120: Crimping The Wire Ferrules
ASDA-A3 Wiring 3.1.6.2 Crimping the wire ferrules 100 W - 3 kW servo drives – Dimensions of wire ferrules Wire ferrules: Recommended crimping tool (Delta part number: 3150165700): Dimensions of wire ferrules: No doubling Doubling 3-39...
Page 121 Wiring ASDA-A3 100 W - 3 kW servo drives – Crimping for wire ferrules  Use a ferrule with the barrel length of 12 mm (0.47 inches) and the wires of corresponding specifications for the drives. If the barrel length is shorter than 12 mm, the wire may fall off and cause danger.
Page 122: Screw Terminal Block Dimensions / Screw And Tightening Torque
ASDA-A3 Wiring 3.1.6.3 Screw terminal block dimensions / screw and tightening torque specifications Screw terminal block dimensions X1 mm (inch) / X2 mm (inch) Servo drive P3, D, C, ㊀ R, S, T P1, P2 U, V, W ASD-A3-4523- 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43) ASD-A3-5523- 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43) 11 (0.43) / 12 (0.47) 10 (0.39) / 11 (0.43) ASD-A3-7523-...
Page 123: Encoder Cable Specifications
Max. wiring length 20 m Standard length L = 3 m, 5 m, 10 m, 20 m provided by Delta Note: Use a shielded twisted-pair cable to reduce the noise interference. The shield should connect to the phase of the ground terminal.
Page 124: Power Cable Specifications
Max. wiring length 20 m Standard length L = 3 m, 5 m, 10 m, 20 m provided by Delta Note: Refer to Section 3.1.6.1. Apart from the specifications mentioned above, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 125 20 m Standard length provided L = 3 m, 5 m, 10 m, 20 m by Delta Note: Refer to Sections 3.1.6.1 and 3.2.6.1. Apart from the specifications mentioned above, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 126: Motor Frame And Power: F180 4.5 Kw (Or Below)
20 m Standard length L = 3 m, 5 m, 10 m, 20 m provided by Delta Note: Refer to Sections 3.1.6.1 and 3.2.6.1. Apart from the specifications mentioned above, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 127: Motor Frame And Power: F180 5.5 Kw (Or Above) & F220
20 m Standard length L = 3 m, 5 m, 10 m, 20 m provided by Delta Note: Refer to Sections 3.1.6.1 and 3.2.6.1. Apart from the specifications mentioned above, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 128: Flexible Cable Specifications
ASDA-A3 Wiring 3.1.6.6 Flexible cable specifications Delta provides two types of power and encoder cables: standard cables and flexible cables. Use flexible cable when connecting to a moving machinery. Refer to the following table for flexible cable specifications. Item Specification...
Page 129: Waterproof Connector Wiring Instructions
Wiring ASDA-A3 3.1.7 Waterproof connector wiring instructions 3.1.7.1 F40 - F80 models – Wiring the waterproof connector Step 1: Cut through the cable and expose the shielding. The exposed wire length should be 8 - 12 mm (0.31 - 0.47 inches) and the tinned wire length should be 2 - 3 mm (0.08 - 0.12 inches).
Page 130: F100 - F180 Models - Wiring The Waterproof Connector
ASDA-A3 Wiring 3.1.7.2 F100 - F180 models – Wiring the waterproof connector Step 1: Cut through the cable and expose the shielding. The exposed wire length (a) should be 23 - 27 mm (0.9 - 1.06 inches) for straight connectors and 28 - 32 mm (1.1 - 1.26 inches) for angle connectors, and the tinned wire length (b) should be 3 - 5 mm (0.12 - 0.2 inches).
Page 131: Waterproof Connector Specifications
Wiring ASDA-A3 3.1.7.3 Waterproof connector specifications When mating, ensure the connector is fully locked and the diameter of the wire matches that of the rubber ring. If you choose a wire of smaller diameter and a rubber ring of larger diameter, the combination does not meet the IP67 standard.
Page 132: Series Servo System Connection
ASDA-A3 Wiring 3.2 400V series servo system connection 3.2.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) Power 400 W - 15 kW Three-phase 380 - 480V -10% to +10% Molded case circuit breaker (MCCB) For preventing the instantaneous excessive current caused by short circuit or by turning on / off the power from damaging the servo drive.
Page 133 Wiring ASDA-A3 Encoder connector (CN2) Position feedback connector (CN5) Servo drive current output (UVW) Regenerative resistor connector (P3, D, C, ϴ) Short-circuit P1 and P2 Regenerative resistor (optional purchase) 3-52...
Page 134: Connectors And Terminals
ASDA-A3 Wiring 3.2.2 Connectors and terminals Terminal Name Description DC24V, Power input for the Connect to DC 24V power. control circuit DC0V P1, P2 Short-circuit P1 and P2. Connect to three-phase AC power. Power input for the main R, S, T (Refer to the model specification for the proper input circuit voltage.)
Page 135 Wiring ASDA-A3 Pay special attention to the following when wiring: 1. Do not touch R, S, T and U, V, W immediately after the power is off 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 136: Wiring For Power Supply
ASDA-A3 Wiring 3.2.3 Wiring for power supply The power supply wiring for the 400V series servo drive is three-phase. In the following diagram, Power 1 and ALRM_RY_A are normally open contacts, and Power 2 is a normally closed contact. MC (magnetic contactor) is the power relay and the contact for the main power circuit.
Page 137: Uvw Power Connector Specifications
Wiring ASDA-A3 3.2.4 UVW power connector specifications Select the power connector based on your motor frame size. 3.2.4.1 F40 - F80 motors – Power connectors Specifications of power connectors for F40 - F80 motors are the same for both 400V and 220V servo drives.
Page 138: Encoder Connector Specifications
ASDA-A3 Wiring 3.2.5 Encoder connector specifications Select the encoder connector based on your motor frame size. 3.2.5.1 F40 - F80 motors – Encoder connectors Specifications of encoder connectors for F40 - F80 motors are the same for both 400V and 220V servo drives.
Page 139: F100 - F220 Ecm-B3 Motors - Encoder Connectors
Wiring ASDA-A3 3.2.5.2 F100 - F220 ECM-B3 motors – Encoder connectors Specifications of encoder connectors for F100 - F220 ECM-B3 motors are the same for both 400V and 220V servo drives. Refer to Section 3.1.5.3 for details. Motor model ECM-B3 1010 ECM-B3 -K 2 1310...
Page 140: Wire Selection
ASDA-A3 Wiring 3.2.6 Wire selection 3.2.6.1 Wire diameters and terminals / ferrules The recommended wire for connectors and signal wiring for ASDA-A3 as listed in the following tables:  For the pluggable terminal blocks on 1.5 kW (or below), use wire ferrules (end cord insulated terminals).
Page 141: Screw Terminal Block Dimensions / Screw And Tightening Torque
Wiring ASDA-A3 3.2.6.2 Screw terminal block dimensions / screw and tightening torque specifications Screw terminal block dimensions X1 mm (inch) / X2 mm (inch) Servo drive P3, C, ㊀ DC24V, DC0V R, S, T, P1, P2 U, V, W ASD-A3-2043- 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43) 10 (0.39) / 11 (0.43)
Page 142: Cable Specifications
ASDA-A3 Wiring 3.2.6.3 Cable specifications For the encoder cable specifications, refer to Section 3.1.6.4. For the power cable specifications, refer to Section 3.1.6.5. For the flexible cable specifications, refer to Section 3.1.6.6. 3.2.6.4 Waterproof connector specifications Models of 400V F40 - F80 do not support waterproof connectors. For the waterproof connectors for F100 - F220 models, refer to Section 3.1.7.
Page 143: And 400V Series - Servo System Wiring Diagram
Wiring ASDA-A3 3.3 220V and 400V series – Servo system wiring diagram 3.3.1 220V series models 400 W (and below) models Connect to external regenerative resistor Power 400 W (and below) models Single- / Three-phase 200 - 230V Built-in regenerative resistor Servo motor...
Page 144: Kw Models
ASDA-A3 Wiring 750 W - 3 kW models Power Connect to external regenerative resistor 750 W - 1.5 kW models Sing le- / Three-pha se 200 - 230V 2 kW - 3 kW models Three-pha se 200 - 230V Built-in regenerative resistor Servo motor...
Page 145: Kw - 15 Kw Models
Wiring ASDA-A3 4.5 kW - 15 kW models Conne ct to extern al regene rati ve resistor Power 4.5 kW - 15 kW models Three-pha se 200 - 230 V Built-in regenerative resistor *2 Servo motor Varistor Voltage detection Encoder Current Voltage Gate driver...
Page 146: Series Models
ASDA-A3 Wiring 3.3.2 400V series models 400 W - 1.5 kW models Conne ct to extern al regene rati ve resistor Power 400 W – 1.5 kW models Three-phase 380 - 480V Built-in regenerative resistor Servo motor Varistor Voltage detection Encoder Current Dynamic...
Page 147: Kw - 15 Kw Models
Wiring ASDA-A3 2 kW - 15 kW models Connect to external regenerative resistor Power 2 kW – 15 kW models Three-phase 380 - 480V Servo motor Varistor Voltage detection Encoder Dynamic Current Voltage DC24V Gate driver brake detection detection DC24V Control Power power...
Page 148: And 400V Series - Wiring For Cn1 I/O Connector
ASDA-A3 Wiring 3.4 220V and 400V series – Wiring for CN1 I/O connector Pin assignments of the CN1 terminal differ from model types, refer to the corresponding wiring information based on the model. – 3.4.1 A3-L and A3-M models Wiring for CN1 I/O connector 3.4.1.1 A3-L and A3-M models –...
Page 149 Wiring ASDA-A3 Pin assignment: Signal Description Signal Description DO4+ Digital output DO4- Digital output DO3- Digital output DO5- Digital output DO3+ Digital output DO5+ Digital output DO2- Digital output DI9- Digital input DO2+ Digital output DI8- Digital input DO1- Digital output DI7- Digital input DO1+...
Page 150 ASDA-A3 Wiring The following table details the signals listed in the previous page. General signals: Wiring method Signal Pin No. Description (refer to Section 3.4.1.3) (1) When the motor speed command is set to -10V to +10V, it means the rotation speed is -3000 to +3000 rpm (default).
Page 151 Wiring ASDA-A3 There are various operation modes available (refer to Section 6.1) and the I/O configuration differs for each mode. The A3-L and A3-M series models provide user-defined I/Os 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 152 ASDA-A3 Wiring Control mode PR-T CANopen PT-PR PT-PR-S PT-PR-T Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal 0x01 0x01 0x01 0x01 0x01 0x08 0x04 0x04 0x04 CTRG CCLR CCLR CCLR 0x11 0x14 0x08 0x08 0x08 POS0 SPD0 CTRG CTRG...
Page 153 Wiring ASDA-A3 See the following table for the default DO signal of each control mode: Control mode S / Sz T / Tz PT-S PT-T PR-S Default Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal Signal 0x01 0x01 0x01...
Page 154 ASDA-A3 Wiring If the default DI/DO functions cannot meet the application requirements, you can refer to the following tables and specify the DI/DO functions by setting the DI and DO codes to the corresponding parameters. Corresponding Corresponding Signal Signal Pin No. parameter Pin No.
Page 155: A3-L And A3-M Models - Quick Connector
Wiring ASDA-A3 3.4.1.2 A3-L and A3-M models – Quick connector The CN1 quick connector (ACS3-IFSC5020) applicable for the A3-L and A3-M series is designed for easy wiring. You do not need to solder the wires; the spring-loaded terminals prevent the wires from loosening caused by vibration. The connector includes five digital inputs, four digital outputs, differential pulse inputs, and Z phase open-collector pulse outputs.
Page 156 ASDA-A3 Wiring On A3-L and A3-M series models, pin assignments for J2 and J1 of the CN1 quick connector (ACS3-IFSC5020) are as follows: 3-75...
Page 157 Wiring ASDA-A3 J2-PIN Signal J1-PIN PULL HI_P COM+ DO- (DO1-, DO2-, DO3-, DO4-) 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: refer to Section 3.12 and 3.13 for standard wiring examples. 3-76...
Page 158 ASDA-A3 Wiring Wiring and installation for the CN1 quick connector (ACS3-IFSC5020): Installation 3-77...
Page 159 Wiring ASDA-A3 Wiring The CN1 quick connector (ACS3-IFSC5020) has multiple spring-loaded 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 160: A3-L And A3-M Models - Cn1 Wiring Diagrams
ASDA-A3 Wiring 3.4.1.3 A3-L and A3-M models – CN1 wiring diagrams On A3-L and A3-M models, 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.
Page 161 Wiring ASDA-A3 You can input the pulse command with the open collector or line driver. The maximum input pulse is 4 Mpps for the line driver and 200 kpps for the open collector. Caution: do not directly input the 24V power supply to the SIGN+, SIGN-, PULSE+, and PULSE- pins, or the circuit elements will be damaged.
Page 162 ASDA-A3 Wiring C3-2: the source for the pulse input is open-collector PNP-type device, which uses the external power supply. Controller without built-in resistor Controller A3-L / A3-M servo drive PULL HI_S Max. pulse input frequency: 1.5 kΩ 200 Kpps 51 Ω 51 Ω...
Page 163 Wiring ASDA-A3 C4: pulse input (differential input) can only be used with 2.8V - 3.6V power systems. Do not use it with 24V power. Maximum input Pulse Type frequency Pulse + symbol Differential Clockwise and 4 Mpps High speed pulse signal counterclockwise pulse AB phase pulse (4x)
Page 164 ASDA-A3 Wiring Caution: when the drive connects to an inductive load, you must install the diode. DO specification: Permissible current: below 40 mA; surge current: below 100 mA; maximum voltage: 30V. Diode specification: 1A or above, 500V or above (e.g., 1N4005). C5: DO wiring - the servo drive uses an external power supply and the resistor is for general load.
Page 165 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: 5V or below; the input current must not be higher than 0.5 mA. C7: NPN transistor (SINK mode) C8: PNP transistor (SOURCE mode) C9: output for encoder position signal (line driver)
Page 166 ASDA-A3 Wiring C10: output for encoder position signal (photocoupler) A3-L / A3-M servo drive Max. current output: 20 mA Controller AM26C31 series 200 Ω OA (21) /OA (22) High-speed photocoupler 200 Ω OB (25) /OB (23) High-speed photocoupler 200 Ω OZ (50) /OZ (24) High-speed...
Page 167: A3-E And A3-F Models - Wiring For Cn1 I/O Connector
Wiring ASDA-A3 3.4.2 A3-E and A3-F models – Wiring for CN1 I/O connector 3.4.2.1 A3-E and A3-F models – CN1 I/O connector On A3-E and A3-F models, the CN1 I/O connector includes 7 inputs and 4 outputs for you to define their functions.
Page 168 ASDA-A3 Wiring The following table details the signals listed in the previous page. General signals: Wiring method Signal Pin No. Description (refer to Section 3.4.2.3) Position Encoder signals A, B, and Z differential (line driver) pulse C9 / C10 output. (output) NPN: COM+ is for DI voltage input and requires an external power supply (24V ±...
Page 169 Wiring ASDA-A3 The A3-F and A3-E series models provide user-defined I/Os 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. The default DI/DO signal configuration for each operation mode includes the most commonly used functions and meets the requirements for general applications.
Page 170 ASDA-A3 Wiring Control mode PR-T Communication PT-PR PT-PR-S PT-PR-T Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal 0x01 0x01 0x01 0x01 0x01 0x08 0x04 0x04 0x04 CTRG CCLR CCLR CCLR 0x11 0x14 0x08 0x08 0x08 POS0 SPD0 CTRG CTRG...
Page 171 Wiring ASDA-A3 See the following table for the default DO signal of each control mode: Control mode S / Sz T / Tz PT-S PT-T PR-S Default Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal Signal 0x01 0x01 0x01...
Page 172 ASDA-A3 Wiring If the default DI/DO function cannot meet the application requirement, you can refer to the following tables and specify the DI/DO functions by setting the DI and DO codes to the corresponding parameters. Corresponding Corresponding Signal Signal Pin No. parameter Pin No.
Page 173: A3-E And A3-F Models - Quick Connector
Wiring ASDA-A3 3.4.2.2 A3-E and A3-F models – Quick connector The CN1 quick connector (ACS3-IFSC2616) applicable for the A3-E and A3-F series is designed for easy wiring. You do not need to solder the wires; the spring-loaded terminals prevent the wires from loosening caused by vibration. The connector includes five digital inputs, two digital outputs, and pulse inputs.
Page 174 ASDA-A3 Wiring On A3-E and A3-F series models, pin assignments for J2 and J1 of the CN1 quick connector (ACS3-IFSC2616) are as follows: CN_GND DO4- DO4+ DO1- DO1+ COM+ J2-PIN Signal J1-PIN COM+ CN_GND DO4- DO4+ DO1- DO1+ Note: refer to Section 3.12 and 3.13 for standard wiring examples. 3-93...
Page 175 Wiring ASDA-A3 Wiring and installation for the CN1 quick connector (ACS3-IFSC2616): Installation 3-94...
Page 176 ASDA-A3 Wiring Wiring The CN1 quick connector (ACS3-IFSC2616) has multiple spring-loaded 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 177: A3-E And A3-F Models - Cn1 Wiring Diagrams
Wiring ASDA-A3 3.4.2.3 A3-E and A3-F models – CN1 wiring diagrams Caution: when the drive connects to an inductive load, you must install the diode. DO specification: Permissible current: below 40 mA; surge current: below 100 mA; maximum voltage: 30V. Diode specification: 1A or above, 500V or above (e.g., 1N4005).
Page 178 ASDA-A3 Wiring DI wiring - input signals by relay or open collector transistor. Conditions of DI On / Off: ON: 15V - 24V; condition: input current = 8 mA. OFF: 5V or below; the input current must not be higher than 0.5 mA. C7: NPN transistor (SINK mode) C8: PNP transistor (SOURCE mode) 3-97...
Page 179 Wiring ASDA-A3 C9: output for encoder position signal (line driver) Max. output current: 20 mA A3-E / A3-F servo drive Controller AM26C31 series OA (17) 120 Ω /OA (18) OB (19) 120 Ω /OB (20) OZ (21) 120 Ω /OZ (22) Note: it is suggested that you connect the two GNDs for the controller and servo drive in parallel when the voltage deviation between the controller and the servo drive is too great.
Page 180: And 400V Models - Wiring For The Cn2 Encoder Connector
Note: if you are using a third-party motor supported by ASDA-A3, refer to CH11 Linear Motor and Third-Party Motor for wiring. Illustration of connector Recommended brand Model name Delta ACS3-CNENC200 JAWS IES06G7AQB1 Connectors (quick connector / CN2 connector) of the encoder cable...
Page 181 Wiring ASDA-A3 Connectors (military connector / CN2 connector) of the encoder cable (for ECMC F100 to F180 motors): View from this side View from this side Connectors (military IP67 waterproof connector / CN2 connector) of the encoder cable (for ECM-B3 F100 to F220 motors): Connectors (IP67 waterproof connector / CN2 connector) of the encoder cable (for ECM-A3 / B3 220V F40 to F80 motors): View from this side...
Page 182 ASDA-A3 Wiring Pin assignment of the connectors: Encoder cable connector (female) CN2 of servo drive ECMC Description B3 military IP67 Quick military Color Pin No. Signal connector connector connector connector Brown +5V power supply Blue Power ground CLOCK+ DO NOT connect these pins.
Page 183 Wiring ASDA-A3 Connect the shielded wires to the CN2 encoder connector as follows: Step 1: Strip the cable and expose the wires covered by the metal shield. The exposed wire length should be 20 - 30 mm (0.79 - 1.18 inches). Step 2: Spread the metal shield and fold it back.
Page 184: And 400V Models - Wiring For The Cn3 Connector
ASDA-A3 Wiring 3.6 220V and 400V models – Wiring for the CN3 connector (RS-485 / high-speed communication) When the servo drive is connected to the PC via the CN3 connector, 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, allowing you to connect multiple servo drives simultaneously.
Page 185 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: You can connect up to 32 axes through RS-485; CANopen cable length can be up to 30 m (98.43 ft). The communication quality and the number of connectable axes are determined by the controller’s specifications, quality of wires, grounding, interference, and whether a shielded twisted-pair cable is used.
Page 186: And 400V Models - Wiring For Cn4 Connector (Mini Usb)
ASDA-A3 Wiring 3.7 220V and 400V models – Wiring for CN4 connector (Mini USB) CN4 is a serial communication port that connects the servo drive to a PC, allowing you to operate the servo drive with the software. This is a Type B Mini-USB connector that is compatible with the USB 2.0 specification, and installing the USB isolator is required.
Page 187: And 400V Models - Wiring For Cn5 Connector (Applicable To Full-Closed Loop)
Wiring ASDA-A3 3.8 220V and 400V models – Wiring for CN5 connector (applicable to full-closed loop) The CN5 connector is for connecting to the external linear scale or the encoder (A, B, and Z), which forms a full-closed loop with the servo system. (1) CN5 connector (female);...
Page 188 ASDA-A3 Wiring Specifications and wiring descriptions for the CN5 signals: Signal type Hall sensor A, B, Z phase signal Operating voltage Signal format Single-ended Differential Encoder power (5V) output ≤ 300 mA ≤ 300 mA Pull-up resistor (R) ≤ 20 kΩ Max.
Page 189 Wiring ASDA-A3 Servo drive serial numbers after T1750 (inclusive) and W1750 (inclusive) Hall sensor – with built-in pull-up resistors Hall sensor – without built-in pull-up resistors Servo drive Hall sensor - with built-in pull-up resistors +5V 8 4.7 kΩ 100 Ω HALL_U 10 3.3nF +2.6V...
Page 190: And 400V Models - Wiring For Cn6 Connector
The servo drive uses a standard RJ45 connector with a shielded network cable to connect to the controller or motion control card. With Delta’s DMCNET system, you can control the position, torque, and speed of the motor, as well as accessing or monitoring the servo status.
Page 191 Wiring ASDA-A3 Connecting multiple servo drives: (1) Connect to the controller / motion control card; (2) Illustration of DMCNET terminal resistor Note: You can connect up to 12 axes through DMCNET communication with the cable length up to 30 m (98.43 ft).
Page 192: Wiring For The Ethercat Communication Connector
ASDA-A3 Wiring 3.9.2 Wiring for the EtherCAT communication connector The servo drive provides two EtherCAT ports for connecting multiple servo drives, with one way in and the other way out. (1) CN6 connector (female); (2) CN6 connector (male) Pin assignment: Transmission Pin No.
Page 193 Wiring ASDA-A3 Description of each indicator for the CN6 connector:  LED indicator status description Indicator Description Blinking 200 ms 200 ms Single flash 200 ms 1000 ms  Network status indicator (L/A) Indicator Status Description Network connection is established but no data Network is connected transmission.
Page 194 ASDA-A3 Wiring  EtherCAT error indicator (ERR) Indicator Status Description No error No error has occurred. Servo drive malfunction. Contact the distributor for PDI Watchdog timeout assistance. Parameter setting error causes the system unable Blinking State change error to switch the state. Refer to the following diagram. The synchronization between the controller and Synchronization error / Single flash...
Page 195: Models - Sto (Safe Torque Off) Function
Wiring ASDA-A3 3.10 220V models – STO (Safe Torque Off) function 3.10.1 CN10 STO connector The CN10 connector provides the STO function. More details are provided in the next section. Note: 1. The STO function is supported by the A3-M and A3-E series. 2.
Page 196: Introduction To Sto
After the STO function is activated, the servo drive can no longer control the motor. Hence, take all the potential danger resulted from activating 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 197: Specifications Of Sto
Wiring ASDA-A3 3.10.4 Specifications of STO The ASDA-A3 series servo drive conforms to the following safety specifications: Item Definition Standard Performance Channel 1: 80.08% Safe failure fraction IEC 61508 Channel 2: 68.91% (Type A Hardware fault tolerance IEC 61508 subsystem)
Page 198: Activation Status
ASDA-A3 Wiring 3.10.5.1 Activation status STO response time: When either SF1 or SF2 signal (safety signal source) is low, the circuit cuts off the motor current within 20 ms. SF1 / SF2 Max. 20 ms Motor current AL500 STO function is activated: see the following diagram. When the motor runs normally, but both SF1 and SF2 signals are low for 10 ms simultaneously, the “STO signal detected by firmware”...
Page 199 Wiring ASDA-A3 AL501 SF1 lost / AL502 SF2 lost (signal loss or signal error): see the following diagram. When the motor runs normally, but one of the safety signal source is low for 1 second, the “STO signal detected by firmware” flag is on, and the servo drive becomes off, triggering AL501 or AL502.
Page 200: Deactivation Status
ASDA-A3 Wiring 3.10.5.2 Deactivation status When the safety signal source (SF1 and SF2 signals) switches back to high, the alarm will not be cleared automatically. Of all the STO alarms, only AL500 can be cleared with DI.ARST. Max. 10 ms Close Open AL500...
Page 201: Wiring For Sto
Wiring ASDA-A3 3.10.6 Wiring for STO For STO wiring, the recommended wire gauge is 0.13 - 1.32 mm (AWG 24 - 16). 3.10.6.1 Not using the STO function You can short-circuit the connector or plug in the short-circuit connector that comes with the servo drive.
Page 202: Using The Sto Function For A Single Drive
ASDA-A3 Wiring 3.10.6.2 Using the STO function for a single drive To use a safety relay to trigger the STO function, follow the diagram for wiring. Reserved Reserved SF1+ 24V DC ESTOP SF1- Safety relay SF2+ SF2- EDM+ EDM- 3-121...
Page 203: Using The Sto Function For Multiple Drives
Wiring ASDA-A3 3.10.6.3 Using the STO function for multiple drives In the multi-drive system, the values of (PFD x number of drives) and (PFH x number of drives) must not exceed the safety values of the device specification. Reserved Reserved SF1+ 24V DC SF1-...
Page 204: Models - Sto (Safe Torque Off) Function
ASDA-A3 Wiring 3.11 400V models – STO (Safe Torque Off) function 3.11.1 Introduction to STO The STO function stops the current to the motor immediately. The dual-channel input signals (SF1 and SF2 signals) stop the servo drive from supplying power to the motor. Reserved Reserved SF1+...
Page 205: Potential Risks Of Sto
After the STO function is activated, the serov drive can no longer control the motor. Hence, you must evaluate all the potential risks that may result from the activation of the STO function to ensure safety. Delta is not liable for any mechanical damage and personnel injury caused by the potential risks.
Page 206: Safety Parameters
ASDA-A3 Wiring 3.11.4 Safety parameters To comply with the EN ISO 13849-1 PL e and IEC 61508 SIL3 standards, you have to monitor the EDM signals with the controller. If you do not monitor the EDM signals, the system only meets the IEC 61508 SIL2 standard.
Page 207: How Does The Sto Function Work
Wiring ASDA-A3 3.11.5 How does the STO function work? The STO function controls the motor current by two individual circuits. When the STO function is activated, it cuts off the power to the motor, so the motor is free from torque force. The following table details how this function works.
Page 208: Alarm Triggering
ASDA-A3 Wiring 3.11.5.2 Alarm triggering (1) AL500 (STO function is activated) When either SF1 signal or SF2 signal becomes OFF, the STO function is activated, the circuit cuts off the current to the motor within 10 ms, and the servo drive is Off, triggering AL500.
Page 209 Wiring ASDA-A3 (2) AL501(SF1 lost) / AL502 (SF2 lost) (signal loss or signal error) When either SF1 signal or SF2 signal becomes OFF, the STO function is activated, the circuit cuts off the current to the motor within 10 ms, and the servo drive is Off, triggering AL500.
Page 210: Sto Deactivation Settings
ASDA-A3 Wiring 3.11.5.3 STO deactivation settings Set P1.120 to choose the way to deactivate the STO function. P1.120 Function Switching on the servo drive is invalid / prohibited when the STO function is activated. To deactivate the STO function and restart the servo drive, send the Servo Off command to cancel the state (Servo On invalid / prohibited), and then send the Servo On command.
Page 211 Wiring ASDA-A3 (2) When P1.120 = 0 and the Servo On / Off command is sent through EtherCAT / CANopen communication OD 6040h DO.SRDY(0x01) Motor current Open Close Switched OD 6041h status Switch on disabled Ready to switch on Operation enabled Panel display -STO- N-RDY...
Page 212 ASDA-A3 Wiring (4) When P1.120 = 1 and the Servo On / Off command is sent through Ethercat / CANopen communication OD 6040h DO.SRDY(0x01) DI.ARST Motor current Open Close Ready to Operation OD 6041h status Fault Switch on disabled Switched on switch on enabled Panel display...
Page 213 Wiring ASDA-A3 (6) When P1.120 = 2 and the Servo On / Off command is sent through EtherCAT / CANopen communication OD 6040h DO.SRDY(0x01) Motor current Open Close Ready to Switched Operation OD 6041h status Switch on disabled switch on enabled Panel display -STO-...
Page 214 ASDA-A3 Wiring (8) When P1.120 = 3 and the Servo On / Off command is sent through EtherCAT / CANopen communication OD 6040h DO.SRDY(0x01) DI.ARST Motor current Open Close Switch on Ready to Switched Operation OD 6041h status Fault disabled switch on enabled Panel display...
Page 215: Wiring For Sto
Wiring ASDA-A3 3.11.6 Wiring for STO For STO wiring, the recommended wire gauge is 0.11 - 0.52 mm (AWG 30 - 20). 3.11.6.1 CN10 STO connector This connector provides the STO function. (1) CN10 STO connector (female); (2) CN10 STO connector (male) Pin assignment: Pin No.
Page 216: Input / Output Signal Specification
ASDA-A3 Wiring 3.11.6.2 Input / output signal specification (1) Safety input signals (SF1+, SF1-, SF2+, SF2-) Item Specification Note Internal impedance 5.6 kΩ Operable voltage DC24V ± 20% Use the SELV power source. The time duration from STO signal Off to Maximum delay time 10 ms STO function activated.
Page 217: Not Using The Sto Function
Wiring ASDA-A3 3.11.6.3 Not using the STO function Follow the diagram for wiring or plug in the short-circuit connector that comes with the servo drive. Reserved Reserved SF1+ Isolation SF1- SF2+ Isolation SF2- EDM+ EDM- 3.11.6.4 Using the STO function for a single drive To use a safety relay to trigger the STO function, follow the diagram for wiring.
Page 218: Using The Sto Function For Multiple Drives
ASDA-A3 Wiring 3.11.6.5 Using the STO function for multiple drives Follow the diagram for wiring if using multiple servo drives. However, ensure the value of multiplying PFH and the number of servo drives is within the intended safety value for the multi-axis servo system.
Page 219: Validation Test
Wiring ASDA-A3 3.11.7 Validation test When installing, maintaining, or changing the servo drive, ensure to perform the following validation tests. (It is suggested that you keep a record of the test results.) 1. With EDM diagnosis (SIL3 system) (1) When either SF1 or SF2 signal is off, the servo motor cannot be operated. (2) When you switch the SF1 and SF2 signals to ON or OFF, the input / output logic has to be in accordance with the following table.
Page 220: Series - Standard Wiring Example
*5. Connects to the Mini-USB connector (for PC communication). *6. Models of 1.5 kW and below can use single-phase power supply. *7. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 221: Position (Pt) Control Mode - Open-Collector Signal Input
*5. Connects to the Mini-USB connector (for PC communication). *6. Models of 1.5 kW and below can use single-phase power supply. *7. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 222: Position (Pr) Control Mode - Internal Position Commands
*4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 223 *4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 224: Speed (S) Control Mode
*4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 225 *4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 226: Torque (T) Control Mode
*4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 227 *4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 228: Communication Mode (Canopen)
*4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 229: Communication Mode (Dmcnet)
*4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 230: Communication Mode (Ethercat)
*4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 231: Series - Standard Wiring Example
*4. The brake coil has no polarity. *5. Connects to the Mini-USB connector (for PC communication). *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 232: Position (Pt) Control Mode - Open-Collector Signal Input
*4. The brake coil has no polarity. *5. Connects to the Mini-USB connector (for PC communication). *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 233: Position (Pr) Control Mode - Internal Position Commands
*3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 234 *3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 235: Speed (S) Control Mode
*3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 236 *4. Connects to the Mini-USB connector (for PC communication). *5. Models of 1.5 kW and below can use single-phase power supply. *6. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 237: Torque (T) Control Mode
*3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 238 *3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 239: Communication Mode (Canopen)
*3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 240: Communication Mode (Dmcnet)
*3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 241: Communication Mode (Ethercat)
*3. The brake coil has no polarity. *4. Connects to the Mini-USB connector (for PC communication). *5. The CN2 wiring in the figure is for a Delta communication type motor. Refer to Chapter 11 for the wiring instructions of third-party motors.
Page 242: Test Operation And Panel Display
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 Data save status ········································································· 4-6 4.3.2 Decimal points ············································································...
Page 243: Panel Description
Test Operation and Panel Display ASDA-A3 4.1 Panel description Display: 5-digit, 7-segment LED displays the monitoring values, parameter numbers, and setting values. MODE key (M): 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 setting value.
Page 244: 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 245 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 246 ASDA-A3 Test Operation and Panel Display Editing mode Parameter mode Editing mode Displays 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. After saving the parameter setting value, it automatically returns...
Page 247: Status Display
Test Operation and Panel Display ASDA-A3 4.3 Status display 4.3.1 Data save status 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 248: Alarm Messages
ASDA-A3 Test Operation and Panel Display 4.3.3 Alarm messages Displayed symbol Description When an alarm occurs, the panel displays ‘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 14 Troubleshooting for alarm details.
Page 249 Test Operation and Panel Display ASDA-A3 P0.002 Monitoring symbol Description Unit setting value Motor speed [rpm] 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 load inertia ratio is 13.
Page 250 P0.012 (Specify the monitoring variable code by P0.020) Offset value between motor position and Z phase. (Only available for Delta CNC controllers.) The alarm code (in decimal). The value being converted to the hexadecimal notation is identical to the alarm code displayed in P0.001 and the error code of communication models.
Page 251 Test Operation and Panel Display ASDA-A3 The following table shows the panel display for the negative sign. Example of Description the displayed value If the value is -12345, it displays as 1.2.345 (only in decimal format; there is no positive or negative sign for hexadecimal format display). Note: Dec means the value is displayed in decimal format;...
Page 252: General Functions
ASDA-A3 Test Operation and Panel Display 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 records. The 1 recent error The 2 recent error The 3 recent...
Page 253: Force Do On
Test Operation and Panel Display ASDA-A3 4.4.2 Force DO on You can switch to the Diagnosis mode by the following steps. Set P2.008 to 406 to force enable the DO mode. Then, set the DO by binary method with P4.006. When the parameter value is 2, it forces DO2 on.
Page 254: Digital Input Diagnosis Operation
ASDA-A3 Test Operation and Panel Display 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 255: 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 256: Apply Power To A3 Servo Drive
ASDA-A3 Test Operation and Panel Display 4.5.2 Apply power to A3 servo drive Follow the steps. 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 257 Test Operation and Panel Display ASDA-A3 ◼ 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 a voltmeter to measure the input voltage from the main circuit and ensure it is within the rated range.
Page 258 ASDA-A3 Test Operation and Panel Display ◼ 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 - DI10 are set to emergency stop (EMGS) (make sure that none of the parameters, P2.010 - P2.017, P2.036, and P2.037, are set to 21).
Page 259 Test Operation and Panel Display ASDA-A3 ◼ 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 on. 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 - P2.017, P2.036, and P2.037, are set to 23).
Page 260 ASDA-A3 Test Operation and Panel Display ◼ When the screen displays: Undervoltage warning. Corrective action: Check if the main circuit wiring is correct. Use a voltmeter to measure if the main circuit voltage is normal. Use a voltmeter to measure if the power system complies with the specifications. Note: during power on or in the Servo On state (without any commands issued), if an alarm occurs or any abnormal display appears, please contact the distributors.
Page 261: Jog Trial Run Without Load
Test Operation and Panel Display ASDA-A3 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 that you set JOG at low speed. Follow these steps.
Page 262 ASDA-A3 Test Operation and Panel Display The following shows the JOG timing diagram. 4-21...
Page 263: Trial Run Without Load (Speed Mode)
DI13 P2.040 = 0 DI disabled You can program the digital inputs of Delta’s servo drive by referring to Section 8.1 Digital input (DI) descriptions. The default setting includes the negative limit, positive limit, and emergency stop functions; therefore, if any alarm occurs after you complete the settings, cycle the power to the servo drive or set DI5 to on to clear the alarm.
Page 264 ASDA-A3 Test Operation and Panel Display The Speed command selection is determined by SPD0 and SPD1. See the following table. Speed DI signal of CN1 command Command source Content Range SPD1 SPD0 number Voltage difference External between V_REF and -10V to +10V analog signal Mode Speed command is 0...
Page 265: Trial Run Without Load (Position Mode)
DI13 P2.040 = 0 DI disabled You can program the digital inputs of Delta’s servo drive by referring to Section 8.1 Digital input (DI) descriptions. The default setting includes the negative limit, positive limit, and emergency stop functions; therefore, if any alarm occurs after you complete the settings, cycle the power to the servo drive or set DI5 to on to clear the alarm.
Page 266 ASDA-A3 Test Operation and Panel Display Refer to Sections 3.12.3 and 3.13.3 for the wiring for Position (PR) control mode. See the following table for the 99 sets of PR and the Position commands (POS0 - POS6). Position Corresponding POS6 POS5 POS4 POS3...
Page 267 Test Operation and Panel Display ASDA-A3 (This page is intentionally left blank.) 4-26...
Page 268: Tuning
Tuning This chapter contains information about One Touch tuning, Auto tuning, and gain adjustment modes. Advanced users can also tune the servo system in Manual mode. In addition, this chapter also describes how to deal with the mechanical resonance and noise and the adjustments for application functions.
Page 269 Tuning ASDA-A3 5.5.9.3 Bandwidth for speed loop response (P2.126) - bandwidth adjustment ···························································· 5-35 5.6 Manual tuning of gain parameters ························································ 5-36 5.6.1 Flowchart of manual tuning in Speed mode ······································ 5-38 5.6.2 Flowchart of manual tuning in Position mode ···································· 5-39 5.6.3 Manual tuning with ASDA-Soft ·······················································...
Page 270 ASDA-A3 Tuning 5.7.8.1 Function restriction ································································ 5-63 5.7.8.2 Function description ······························································ 5-63 5.7.8.3 Application example ······························································ 5-63 5.8 Application function adjustment ··························································· 5-64 5.8.1 Adjusting position error in constant speed zone ································· 5-64 5.8.1.1 Function restriction ································································ 5-64 5.8.1.2 Function description ······························································ 5-64 5.8.1.3 Application example ······························································...
Page 271: Tuning Procedure
Tuning ASDA-A3 5.1 Tuning procedure You can tune the servo drive by following this flowchart. First, start from One Touch Tuning. If you are not satisfied with the tuning results, then use Auto Tuning, Gain Tuning, and Manual mode in sequence to meet the requirements. Motor runs smoothly without load One Touch Tuning...
Page 272: Inertia Estimation
ASDA-A3 Tuning 5.2 Inertia estimation Whether the load inertia ratio (P1.037) is correctly set affects the speed loop bandwidth of the servo drive. If set incorrectly, the system’s performance cannot be optimized after tuning. When you use the functions of One Touch Tuning, Auto Tuning, or Gain adjustment mode 1 (Level adjustment - Auto) with ASDA-Soft, the servo drive automatically estimates the load inertia during the tuning process.
Page 273: Inertia Estimation With Asda-Soft
Make sure your servo drive, servo motor, and power are all properly connected. Click Search, and the software automatically selects the corresponding communication port (USB Driver for Delta AC Servo Drive). Then, click Add for the ASDA-Soft to be in online mode.
Page 274 ASDA-A3 Tuning When ASDA-Soft is in online mode, the program window appears as follows. Click Inertia (Weight) Estimation in the Function List tree view.
Page 275 Tuning ASDA-A3 Perform the inertia estimation according to the following descriptions. Set the system to the Servo ON state. The default jog speed is 20 rpm and the default acceleration / deceleration time is 200 ms. For mechanical parts with finite traveling range, low speed movement reduces the risk of collision.
Page 276: One Touch Tuning
ASDA-A3 Tuning 5.3 One Touch Tuning You must use the One Touch Tuning function with ASDA-Soft. During the tuning process, the motor slightly moves and makes high-frequency noise. The following table lists the parameters which settings change according to the results of one touch tuning. In One Touch Tuning mode, the vibration elimination function is enabled and the low-frequency vibration suppression function is disabled.
Page 277: Precautions For One Touch Tuning
Make sure your servo drive, servo motor, and power are all properly connected. Click Search, and the software automatically selects the corresponding communication port (USB Driver for Delta AC Servo Drive). Then, click Add for the ASDA-Soft to be in online mode. 5-10...
Page 278 ASDA-A3 Tuning When ASDA-Soft is in online mode, the program window appears as follows. Click One Touch Tuning in the Function List tree view. Click Start. 5-11...
Page 279 Tuning ASDA-A3 Carefully read the content in the warning window and make sure you have checked all the items one by one. Select the check box for I have read the warning above and click Yes. The screen shows a table comparing the parameter values before and after tuning. In the screen, you can fine-tune the gain level, and the adjustments affect the settings of other relevant parameters.
Page 280: Auto Tuning
ASDA-A3 Tuning 5.4 Auto tuning The auto tuning function enables the system to perform real-time machine inertia estimation and uploads the optimized parameters to the servo drive. You can start auto tuning with ASDA-Soft (software) or through the drive panel. The following table lists the parameters that change according to the results of auto tuning.
Page 281: Precautions For Auto Tuning
Tuning ASDA-A3 5.4.1 Precautions for auto tuning Recommended settings for auto tuning Jog speed: 500 rpm or above. Acceleration time from 0 rpm to 3000 rpm or deceleration time from 3,000 rpm to 0 rpm: within 200 ms. Traveling distance: 1 revolution or above. Description: it is advisable to set the minimum distance for the motor to accelerate from zero speed to the constant speed zone as the traveling distance, and the constant speed is equal to the set jog speed.
Page 282: Flowchart Of Auto Tuning
ASDA-A3 Tuning 5.4.2 Flowchart of auto tuning You can complete auto tuning through the drive panel or with ASDA-Soft. The Auto Tuning function helps you to find the most suitable parameters for your system according to the machine characteristics. Note: when the path is configured by the controller, make sure the delay time is added to the operation cycle.
Page 283: Auto Tuning Through The Drive Panel
Tuning ASDA-A3 5.4.3 Auto tuning through the drive panel You can use the drive panel to start auto tuning. Make sure the emergency stop and positive and negative limit switches work properly before you start to tune the system. Flowchart of auto tuning Press and hold the M key (Mode) and Shift key ( ) for 4 seconds to enter the...
Page 284: Auto Tuning With Asda-Soft
5.4.4 Auto tuning with ASDA-Soft In addition to executing auto tuning through the drive panel, you can go to Delta’s website download ADSA-Soft for free to tune the servo drive. After installing ASDA-Soft, start the executable file and the screen is as follows.
Page 285 Tuning ASDA-A3 When ASDA-Soft is in online mode, start auto tuning according to the following steps. The following describes two auto tuning procedures, one using the controller and the other using the servo drive. ◼ Auto-tuning with the controller: the controller sends the commands to drive the motor. Step 1: When ASDA-Soft is in online mode, the program window appears as follows.
Page 286 ASDA-A3 Tuning Step 2: Click Controller: Motion Command from Controller and check for the motion / machining path. Suggestions: set the motor to operate at least one cycle in both forward and reverse directions. The delay time for reaching the positioning points in both forward and reverse directions should be no less than 1000 ms with the running speed no less than 500 rpm.
Page 287 Tuning ASDA-A3 Wait until the tuning progress bar reaches 100%, and a window with “Auto tuning completed.” appears as follows. Then click OK. The screen shows a table comparing the parameter values before and after tuning. Click Update to complete auto tuning. 5-20...
Page 288 ASDA-A3 Tuning ◼ Auto-tuning with the servo drive: the servo drive sends the commands to drive the motor. Step 1: When ASDA-Soft is in online mode, the program window appears as follows. Click Auto Tuning in the Function List tree view. Step 2: Click Drive: Motion Command from Drive to enter the setting screen of motion profile.
Page 289 Tuning ASDA-A3 Follow these steps to set the motor running path: 1. Set P2.015 and P2.016 based on the application condition. Refer to Section 5.4.5 for details. ◼ P2.105: the higher the setting value, the higher the bandwidth after auto tuning, which is applicable to devices with high stiffness or high response.
Page 290 ASDA-A3 Tuning Step 3: Wait until the tuning progress bar reaches 100%, and a window with “Auto tuning completed.” appears as follows. Then click OK. The screen shows a table comparing the parameter values before and after tuning. Click Update to complete auto tuning. 5-23...
Page 291: Parameters Related To Auto Tuning
Tuning ASDA-A3 5.4.5 Parameters related to auto tuning Before the auto gain adjustment starts, first set the automatic gain adjustment level 1 (P2.105) and automatic gain adjustment level 2 (P2.106), which are only available for Auto Tuning. 5.4.5.1 Automatic gain adjustment level 1 (P2.105) - stiffness adjustment P2.105 defines the servo stiffness after auto tuning.
Page 292: Automatic Gain Adjustment Level 2 (P2.106) - Response Adjustment
ASDA-A3 Tuning 5.4.5.2 Automatic gain adjustment level 2 (P2.106) - response adjustment P2.106 sets the maximum overshoot. A proper setting of the amount of overshoot increases the system response. The higher the setting value, the greater the allowable amount of overshoot. For mechanical parts with higher stiffness, the setting of P2.106 affects the position loop parameters P2.000 and P2.089 instead of the parameters related to speed loop gain and filters.
Page 293: Alarms Related To Auto Tuning
Tuning ASDA-A3 5.4.6 Alarms related to auto tuning In Auto Tuning mode, it is vital that you program the command path. The path must contain the operation cycle (including acceleration, constant speed, and deceleration) and dwell time. See the following figure. When any of the settings is incorrect, the servo drive stops tuning and displays an alarm.
Page 294: Gain Adjustment Modes
ASDA-A3 Tuning 5.5 Gain adjustment modes In addition to the Auto Tuning function, the servo drive also provides the following gain adjustment modes. You can easily complete tuning by increasing or decreasing the bandwidth response level (P2.031) or the bandwidth for speed loop response (P2.126). Follow the tuning procedure in Section 5.1.
Page 295 Tuning ASDA-A3 Parameter Inertia P2.032 Adjustment mode Mode name estimation Manual Auto P1.037, P2.000, P2.004, P2.006, Gain adjustment P2.023, P2.024, mode 5 Bandwidth P2.025, P2.043, Real-time adjustment - P2.126 P2.044, P2.045, (Same as setting estimation Auto P2.046, P2.049, P2-32 = 1 for the P2.089, P2.094, A2 series) P2.098, P2.099,...
Page 296: Flowchart Of Gain Adjustment Mode
ASDA-A3 Tuning 5.5.2 Flowchart of gain adjustment mode Start Inertia is known? Adjustment Adjustment mode 1 mode 2 Set the inertia Set the motor to perform point-to- point motion and adjust the bandwidth response level (P2.031) Requires Adjustment synchronous mode 3 operation? Consistently set the command response...
Page 297: Gain Adjustment Mode 1
Tuning ASDA-A3 5.5.3 Gain adjustment mode 1 You can use this mode when the load inertia is unknown or the inertia changes during machine operation. The servo drive continually estimates the machine inertia and updates the value of P1.037. To reach the expected response, simply adjust the bandwidth response level (P2.031). Parameter Adjustment Inertia...
Page 298: Gain Adjustment Mode 3
ASDA-A3 Tuning 5.5.5 Gain adjustment mode 3 When Gain adjustment modes 1 and 2 cannot meet the requirements, try Gain adjustment mode 3 to tune the servo system. P2.089 (Command response gain) is available for manual adjustment in this mode. You can increase the gain value to shorten the response and settling time for the position command.
Page 299: Gain Adjustment Mode 4
Tuning ASDA-A3 5.5.6 Gain adjustment mode 4 When P2.032 is set to 4, the setting value of P2.032 is restored to the value set before initialization other than the default value after parameter reset (P2.008 = 10). For example, if P2.032 is 1, P2.032 is still 1 after gain initialization (P2.032 = 4). Original setting value of P2.032 Setting value of P2.032 after parameter reset (P2.008 = 10)
Page 300: Gain Adjustment Mode 5
ASDA-A3 Tuning 5.5.7 Gain adjustment mode 5 You can use this mode when the load inertia is unknown or the inertia changes during machine operation. The servo drive continually estimates the machine inertia and updates the value of P1.037. To reach the expected response, simply set the bandwidth for speed loop response (P2.126) to adjust the servo stiffness or reduce the noise.
Page 301: Parameters Related To Gain Adjustment Modes
Tuning ASDA-A3 5.5.9 Parameters related to gain adjustment modes 5.5.9.1 Bandwidth response level (P2.031) - stiffness adjustment This parameter enables you to tune the servo drive in a simple and instinctive way. When the inertia is fixed and you increase the bandwidth response level (P2.031), the servo’s bandwidth increases as well.
Page 302: Command Response Gain (P2.089) - Response Adjustment
ASDA-A3 Tuning 5.5.9.2 Command response gain (P2.089) - response adjustment Use P2.089 to adjust the command response gain to improve the response to the servo command. Increasing the gain can reduce the transient error between the position command and command response (in acceleration and deceleration zones). That is, the setting is effective only when the commands are changing.
Page 303: Manual Tuning Of Gain Parameters
Tuning ASDA-A3 5.6 Manual tuning of gain parameters The position or speed response bandwidth is determined by the mechanical 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 is likely to cause mechanical resonance.
Page 304 ASDA-A3 Tuning When P1.037 (auto estimation or manually set value) is equal to the actual load inertia ratio (JL / JM), the actual speed loop bandwidth is: Speed loop bandwidth (Hz) = ( 2π ◼ Speed integral compensation (KVI, P2.006) The higher the KVI value, the better the elimination of the deviation.
Page 305: Flowchart Of Manual Tuning In Speed Mode
Tuning ASDA-A3 5.6.1 Flowchart of manual tuning in Speed mode Start Inertia estimation Increase speed loop bandwidth Resonance Satisfied with the response? occurs? Refer to Sections 5.7.1 and 5.7.2 for resonance suppression Resonance eliminated? Decrease the bandwidth until no resonance occurs Adjust parameters based on application needs Reduce...
Page 306: Flowchart Of Manual Tuning In Position Mode
ASDA-A3 Tuning 5.6.2 Flowchart of manual tuning in Position mode Start Inertia estimation Increase speed loop bandwidth Resonance Satisfied with the response? occurs? Refer to Sections 5.7.1 and 5.7.2 for resonance suppression Resonance eliminated? Decrease the bandwidth until no resonance occurs Set P2.000 = P2.089 = P2.004 / 4 Low-frequency vibration during...
Page 307: Manual Tuning With Asda-Soft
Tuning ASDA-A3 5.6.3 Manual tuning with ASDA-Soft Select [Mode 0] Manual Mode. Click Inertia estimation. Set the bandwidth, click Gain Calculation, and the Calculation Result field on the right shows the corresponding parameter settings according to the set speed loop bandwidth. Fine-tune the values in the Calculation Result field.
Page 308: Mechanical Resonance Suppression And Noise Elimination
ASDA-A3 Tuning 5.7 Mechanical resonance suppression and noise elimination When mechanical 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.
Page 309: Notch Filter
Tuning ASDA-A3 5.7.1 Notch filter 5.7.1.1 Function restriction 1. The Notch filter frequency settings (P2.023, P2.043, P2.045, P2.098, and P2.101) must be 2 times (or more) the speed loop bandwidth (P2.004 / 2π), or it might lead to system divergence. 2.
Page 310: Parameter Descriptions
ASDA-A3 Tuning 5.7.1.3 Parameter descriptions A notch filter is used to remove frequencies within a specific range. You can set the three parameters, including frequency, attenuation level, and Q factor, for each set of notch filter. The following describes the parameters of attenuation level (notch depth) and Q factor. Q value Attenuation level...
Page 311 Tuning ASDA-A3 Q factor of notch filter The Q factor of the notch filter determines the frequency range (amount of signal) around the specific frequency to be filtered. The higher the Q factor, the narrower the filtered frequency band, and thus the phase margin of the system is less affected. In general, for systems with higher inertia or lower stiffness, the Q factor at the resonance point is relatively high.
Page 312: Application Example
ASDA-A3 Tuning 5.7.1.4 Application example It is advisable to perform domain-frequency analysis and time-domain analysis alternately for comparing and monitoring the results. Frequency-domain analysis Draw Bode plots by setting the Analysis Type to Speed Open-loop in the System Analysis of ASDA-Soft.
Page 313 Tuning ASDA-A3 Time-domain analysis 1. Execute the Scope function in ASDA-Soft and select Motor Current: Percentage [%] for the channel. 2. Click Run, and the scope collects the current data when the motor is operating. 3. Click Stop, and the operation status of the motor is displayed in the software interface. 4.
Page 314 ASDA-A3 Tuning According to the spectrum, we can find two resonance points at the frequencies of 1015 Hz and 2890 Hz. In the following figure, P2.047.X is set to 1 or 2 for the servo to automatically fill in the resonance suppression parameters.
Page 315 Tuning ASDA-A3 Relevant parameter Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P2.023 Notch filter 1 - frequency P2.024 Notch filter 1 - attenuation level P2.043 Notch filter 2 - frequency P2.044 Notch filter 2 - attenuation level P2.045 Notch filter 3 - frequency P2.046...
Page 316: Resonance Suppression Low-Pass Filter
ASDA-A3 Tuning 5.7.2 Resonance suppression low-pass filter 5.7.2.1 Function restriction It is recommended that the filter bandwidth (1000 / P2.025) should be 8 times (or more) the speed loop bandwidth (P2.004 / 2π). Note: it is recommended that you set the Analysis Type to Speed Open-loop in the System Analysis of ASDA-Soft;...
Page 317: Speed Detection Filter
Tuning ASDA-A3 5.7.3 Speed detection filter 5.7.3.1 Function restriction It is recommended that the filter bandwidth (1000 / P2.049) should be 8 times (or more) the speed loop bandwidth (P2.004 / 2π). Note: it is recommended that you set the Analysis Type to Speed Open-loop in the System Analysis of ASDA-Soft;...
Page 318: Application Example
ASDA-A3 Tuning 5.7.3.3 Application example The following figure illustrates the difference between setting P2.049 to 0.8 and 10.8 when the speed observer 1 is used (P2.084.U = 0). You need to select a suitable speed observer for different installation methods for mechanical parts or different motors and then verify if the results meet the requirements.
Page 319: Low-Frequency Vibration Suppression Filter
Tuning ASDA-A3 5.7.4 Low-frequency vibration suppression filter 5.7.4.1 Function restriction 1. Set the control mode (P1.001.YX) to Position mode (PT or PR). 2. Frequency range: 1.0 Hz to 100.0 Hz. 3. If the low-frequency vibration suppression function and the vibration elimination function are enabled simultaneously, the system response becomes slower.
Page 320 ASDA-A3 Tuning Flowchart of auto low-frequency vibration suppression: Repeatedly execute positioning Vibration occurs during positioning? Set P1.029 to 1 Decrease the Increase the value of P1.030 value of P1.030 Is P1.029 Vibration Are P1.026 and set to 0? reduced? P1.028 set to 0? Set P1.029 to 0 Complete Note:...
Page 321: Application Example
Tuning ASDA-A3 5.7.4.3 Application example During position settling, if a vibration with the frequency lower than 100 Hz (not the high-frequency noise when the motor is moving) occurs and it is difficult to identify the frequency with the System Analysis function, use the low-frequency vibration suppression function to suppress the vibration caused by the specific frequency.
Page 322: Model-Controlled Vibration Suppression Filter
ASDA-A3 Tuning 5.7.5 Model-controlled vibration suppression filter The idea of model-following control is to build a virtual model of the real physical system in the servo drive in digital format. The virtual model processes the position command planned by the user and generates an optimized position command.
Page 323: Function Description Of Two Degree Of Freedom Control Function
Tuning ASDA-A3 5.7.5.2 Function description of two degree of freedom control function When the two degree of freedom control function is enabled (P2.094 [Bit 12] = 1), set P2.000 and P2.089 for better position response. Set P2.089 to adjust how well the command response follows the command. Setting P2.089 higher can reduce the transient error between the position command and command response, but the error between the command response and feedback does not change.
Page 324: Application Example Of Two Degree Of Freedom Control Function
ASDA-A3 Tuning 5.7.5.3 Application example of two degree of freedom control function This section describes the parameter settings when the two degree of freedom control function is used in Manual Mode (P2.032 = 0). Refer to the following steps. Switch the servo status to Servo ON and then start tuning. Change the parameter settings and at the same time use the Scope function to verify if the settings meet the requirements.
Page 325: Restrictions Of Vibration Elimination
Tuning ASDA-A3 5.7.5.4 Restrictions of vibration elimination 1. The two degree of freedom control function must be enabled (P2.094 [Bit 12] = 1). 2. Frequency range: 1.0 Hz to 400.0 Hz. 3. You can enable two sets of vibration elimination function simultaneously for A3-E and A3-F models, while you can enable only one set of vibration elimination function for A3-M and A3-L models.
Page 326: Application Example Of Vibration Elimination
ASDA-A3 Tuning 5.7.5.6 Application example of vibration elimination 1. Start ASDA-Soft and enter the System Analysis function window. 2. Select the check box for Enable Low Frequency Analysis and select [2]: System Module for the Analysis Type, and then click Run to start analyzing. 3.
Page 327: Position Command Filter
Tuning ASDA-A3 5.7.6 Position command filter 5.7.6.1 Function restriction Set the control mode (P1.001.YX) to Position mode (PT or PR). 5.7.6.2 Function description If the position command changes too drastically, the speed command or current command may become saturated, causing the machine unable to operate according to the expected response. If the resolution of a pulse command is low, it may cause unexpected machine vibration.
Page 328: Application Example
ASDA-A3 Tuning 5.7.6.3 Application example When the resolution of the position command is low (for example, the command resolution is lower than 10000 pulse/rev), using the position command filter reduces the jitter in the command feedback caused by low resolution. Original position command Position command after filtered by P1.008 and P1.068...
Page 329: Speed Command Filter
Tuning ASDA-A3 5.7.7 Speed command filter 5.7.7.1 Function restriction Set the control mode (P1.001.YX) to Speed mode (S or Sz). 5.7.7.2 Function description After the speed command is processed with the first-order low-pass filter, the unwanted high-frequency response or noise is attenuated, and the command becomes smoother. 5.7.7.3 Application example When the position control circuit of the machine is built in the controller, the servo is in analog Speed mode (S) and receives the external analog voltage speed command issued by the...
Page 330: Torque Command Filter
ASDA-A3 Tuning 5.7.8 Torque command filter 5.7.8.1 Function restriction Set the control mode (P1.001.YX) to Torque mode (T or Tz). 5.7.8.2 Function description After the torque command is processed with the first-order low-pass filter, the unwanted high-frequency response or noise is attenuated, and the command becomes smoother. Torque command before filtering Torque...
Page 331: Application Function Adjustment
Tuning ASDA-A3 5.8 Application function adjustment 5.8.1 Adjusting position error in constant speed zone 5.8.1.1 Function restriction 1. When using P2.002 and P2.003, set P1.001.YX control mode to Position (PT, PR). 2. When using P2.007, you must set P1.001.YX control mode to Position or Speed (PT, PR, S, Sz).
Page 332: Application Example
ASDA-A3 Tuning Position feed forward gain smoothing constant (P2.003) The ideal speed is calculated by the position command with a differentiator, so the discontinued noise of the position command is also magnified. The lower the position command resolution, the more severe the noise. In this case, you can set a higher constant value to reduce the interference from the noise.
Page 333: Position Overshoot Adjustment
Tuning ASDA-A3 5.8.2 Position overshoot adjustment 5.8.2.1 Function restriction When using this function, you must set P1.001.YX (control mode) to Position or Speed (PT, PR, S, or Sz). 5.8.2.2 Function description The position overshoot occurred during positioning may be caused by the high value of P2.002 or a great change in the system friction.
Page 334: Multi-Axis Contour Control
ASDA-A3 Tuning 5.8.3 Multi-axis contour control 5.8.3.1 Function restriction In the communication mode, settings for P1.034 - P1.036, P2.068, and P1.017 for each axis have to be consistent. The two degree of freedom control function settings (P2.094 [Bit 12]) for each axis have to be consistent.
Page 335 Tuning ASDA-A3 The contours in black indicate that the response settings of each axis are consistent. The distorted contours in red and blue are generated due to the inconsistent response settings. X axis is ahead X axis is ahead Operating direction 2 Operating direction 1 of Y axis of Y axis...
Page 336: Application Example
ASDA-A3 Tuning 5.8.3.3 Application example Adjusting the contour errors: If the contour becomes unsmooth when transiting from one quadrant to another, it is caused by insufficient friction compensation of the servo. Descriptions for manually and automatically adjusting the friction compensation are as follows. Manual adjustment: Take the circular motion for example, you can gradually increase the value of P1.062 until the quadrant protrusion disappears and the quadrant becomes concave, and then start adjusting...
Page 337 Tuning ASDA-A3 Auto adjustment: The parameter for automatic friction estimation switch is P2.065 [Bit 4]. Set P2.065 [Bit 4] to 1 to enable the automatic friction estimation. Use the controller or PR command and set a continuous point-to-point motion (do not set the delay time) to keep the estimation performance. Once the estimation is complete, the servo automatically sets P2.065 [Bit 4] to 0.
Page 338: Gain Switching
ASDA-A3 Tuning 5.8.4 Gain switching 5.8.4.1 Function restriction 1. When P2.027.X is set to 0, 1, 2, 4, 5, 6, or 8, P1.078 Gain switching delay time is not supported. 2. When P2.027.X is set to 3 or 7, P1.078 Gain switching delay time is supported. 5.8.4.2 Function description Increasing the gain during operation can achieve a better command following and shorter settling time.
Page 339 Tuning ASDA-A3 P2.027.Y: gain switching method 0: gain rate switching 1: integrator switching (switch from P controller to PI controller) PT / PR Y = 0 Y = 1 Before switching After switching Before switching After switching P2.000 x 100% P2.000 x P2.001 P2.000 x 100% P2.000 x P2.001...
Page 340 ASDA-A3 Tuning When P2.027.X is set to 3 or 7 and P1.078 Gain switching delay time is set, the gain parameter during the delay time is adjusted as follows. P2.027.X = 3 P2.029 P0.002 = 6 Pulse command frequency P1.078 P2.027.Y = 0 P2.027.Y = 1 Refer to the After...
Page 341 Tuning ASDA-A3 (This page is intentionally left blank.) 5-74...
Page 342 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 343 Operation Mode ASDA-A3 6.5.3 Torque / Position dual mode ························································· 6-35 6.6 Others ··························································································· 6-36 6.6.1 Applying the speed limit ······························································ 6-36 6.6.2 Applying the torque limit ······························································ 6-36 6.6.3 Analog monitoring ······································································ 6-37 6.7 Full-closed loop control system ··························································· 6-38 6.7.1 Hardware configuration ·······························································...
Page 344: 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, and communication modes. For basic operations, you can choose from Single mode, Dual mode, and Multi-mode. The following table lists the available modes and corresponding descriptions. Mode Short name Code...
Page 345 Operation Mode ASDA-A3 (Continued) Mode Short name Code Description PT-S Switch PT and S modes with DI signals. PT-T Switch PT and T modes with DI signals. PR-S Switch PR and S modes with DI signals. PR-T Switch PR and T modes with DI signals. Switch S and T modes with DI signals.
Page 346: Position Mode
ASDA-A3 Operation Mode 6.2 Position mode The servo drive provides two input modes for position control: external pulse (PT mode) and internal register (PR mode). In PT mode, the 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 347: Position Command In Pr Mode
Operation Mode ASDA-A3 6.2.2 Position command in PR mode The PR command source is the 100 built-in command registers, (P6.000, P6.001) - (P7.098, P7.099). You can use DI (0x11) - DI (0x13), DI (0x1A) - DI (0x1C), and (0x1E) (POS0 - POS6 of CN1) to select one of the 100 sets as the Position command and trigger the command with DI.CTRG (0x08).
Page 348: Control Structure Of Position Mode
ASDA-A3 Operation Mode 6.2.3 Control structure of Position mode The following diagram shows the basic control structure of Position mode. Position command Position command processing unit Position control unit Speed loop Current loop Motor For better control, the pulse signals are processed by the Position command processing unit. The structure is shown in the following diagram.
Page 349: S-Curve Filter (Position)
Operation Mode ASDA-A3 6.2.4 S-curve filter (Position) The S-curve filter for Position commands smoothes the motion command in PR mode. The filter makes the speed and acceleration continuous and reduces jerking, resulting a smoother mechanical operation. If the load inertia increases, the motor operation is influenced by friction and inertia when the motor starts or stops rotating.
Page 350 ASDA-A3 Operation Mode Position Time (ms) Speed Time (ms) Rated speed Torque Time (ms) AC0 - 15 AC0 - 15 P1.036 P1.036 P1.036 P1.036 S-curve position and speed profiles and time setting (decremental position command) Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P1.036...
Page 351: Electronic Gear Ratio (E-Gear Ratio)
Operation Mode ASDA-A3 6.2.5 Electronic gear ratio (E-Gear ratio) The electronic gear provides easy settings for the resolution. The resolution of the servo drive is 24-bit, which means the motor generates 16,777,216 pulses per revolution. 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 the servo drive.
Page 352: Low-Pass Filter
ASDA-A3 Operation Mode 6.2.6 Low-pass filter Target position P1.008 Refer to Chapter 8 for detailed descriptions of the relevant parameter. Parameter Function P1.008 Position command - smoothing constant (low-pass filter) 6.2.7 Timing diagram of PR mode In PR mode, the Position command is issued with the DI signals (POS0 - POS6 and CTRG) for CN1.
Page 353: Gain Adjustment Of The Position Loop
Operation Mode ASDA-A3 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 servo drive can complete the gain adjustment with the Auto Tuning function. Refer to Chapter 5 Tuning for a detailed description.
Page 354 ASDA-A3 Operation Mode Position control unit Position feed forward Position feed gain smoothing Differentiator forward gain constant P2.002 P2.003 Position control Position Maximum gain command speed limit P2.000 P1.055 Position control gain rate of Gain switching change P2.027 P2.001 Speed command Position counter Encoder...
Page 355: Low-Frequency Vibration Suppression In Position Mode
Operation Mode ASDA-A3 6.2.9 Low-frequency vibration suppression in Position mode If the machine is too flexible, vibration persists even when the motor stops after the positioning command is complete. The low-frequency vibration suppression function can reduce the machine vibration. The suppression range is between 1.0 Hz and 100.0 Hz. You can use this function with either auto or manual setting.
Page 356 ASDA-A3 Operation Mode The process of automatically searching for the vibration frequency is shown in the following flowchart. Repeat executing positioning Vibration occurs during positioning? Set P1.029 to 1 Decrease the Increase the value value of P1.030 of P1.030 Are P1.026 & Is P1.029 set to 0? Vibration reduced? P1.028 set to 0?
Page 357 Operation Mode ASDA-A3 “Position error (pulse)” to observe the peak-to-peak amplitude of the signal during positioning for setting P1.030. Manual settings There are two sets of low-frequency vibration suppression parameters: one is parameters P1.025 - P1.026 and the other is parameters P1.027 - P1.028. You can use these two sets of parameters to reduce two different low-frequency vibrations.
Page 358: 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. Set different speed values in three command registers before operation.
Page 359: Control Structure Of Speed Mode
Operation Mode ASDA-A3 ◼ The parameter setting range (internal register) is -75000 to +75000. 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 360: 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 profile. It avoids jerk (rapid change of acceleration), resonance, and noise caused by abrupt speed variation. You can use the following parameters for adjustment.
Page 361 Operation Mode ASDA-A3 S-curve filter for analog commands The Analog Speed command filter helps to stabilize the motor operation when the analog input signal (speed) changes rapidly. Speed (rpm) 3000 Time (sec) -3000 (1) Analog Speed command; (2) Motor speed The Analog Speed command filter smoothes the analog input signal.
Page 362: Scaling Of The Analog Command
ASDA-A3 Operation Mode 6.3.4 Scaling of the analog command The Speed command is controlled by the analog voltage difference between V_REF and GND. Use P1.040 and P1.081 to adjust the slope of the speed and its range. Moreover, you can use P1.082 to modify the filter switching time between P1.040 and P1.081.
Page 363: Timing Diagram Of Speed Mode
Operation Mode ASDA-A3 6.3.5 Timing diagram of Speed mode Note: “off” means that DI is off (the circuit is open); “on” means that DI is on (the circuit is closed). When the drive is in Sz mode, the Speed command S1 = 0; when the drive is in S mode, the Speed command S1 is the external analog voltage input.
Page 364: 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 Load inertia Gain Integrator...
Page 365 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 366: 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, use the low-pass filter (P2.025) and Notch filter (P2.023, P2.024, P2.043 - P2.046, and P2.095 - P2.103) to suppress the resonance if you want the control parameters to remain unchanged.
Page 367 Operation Mode ASDA-A3 The servo drive provides two methods for suppressing the resonance: 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: ◼...
Page 368 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 (shown as follows). Although it solves the problem of the resonance frequency, it also reduces the response bandwidth and phase margin, making the system unstable. If knowing the resonance frequency, you can suppress the resonance by using the Notch filter.
Page 369: 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 input uses the internal parameters (P1.012 - P1.014) as the Torque command.
Page 370: Control Structure Of Torque Mode
ASDA-A3 Operation Mode 6.4.2 Control structure of Torque mode The following diagram shows the basic control structure of Torque mode. Torque output Torque Torque Resonance Current control command Motor command 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 torque and S-curve parameter for smoothing the torque.
Page 371: Scaling Of The Analog Command
Operation Mode ASDA-A3 6.4.4 Scaling of the analog command The Torque command is controlled by the analog voltage difference between T_REF and GND. Use P1.041 to adjust the slope of the torque and its range. For example: 1. If you set P1.041 to 100 and the external input voltage is 10V, the Torque command is 100% of the rated torque.
Page 372: Timing Diagram Of Torque Mode
ASDA-A3 Operation Mode 6.4.5 Timing diagram of Torque mode Internal register External analog voltage or 0 TCM0 External TCM1 Note: “off” means that DI is off (the circuit is open); “on” means that DI is on (the circuit is closed). When the drive is in Tz mode, the Torque command T1 = 0;...
Page 373: Dual Mode / Multi-Mode
Operation Mode ASDA-A3 6.5 Dual mode / Multi-mode Apart from the single modes for position, speed, and torque, there are also eight dual / multi-modes available for operation (see Section 6.1). Mode Short name Code Description PT-S Switch PT and S modes with DI.S-P. PT-T Switch PT and T modes with DI.T-P.
Page 374: 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 - P7).
Page 375: Speed / Torque Dual Mode
Operation Mode ASDA-A3 6.5.2 Speed / Torque dual mode Speed / Torque dual mode includes only S-T mode. The command source for Speed command can be the external analog voltage or the internal parameters (P1.009 - P1.011), which you can select with DI.SPD0 and DI.SPD1.
Page 376: 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 the Position command of PT-T comes from the external pulse while the source for the Position command of PR-T comes from internal parameters (P6 - P7).
Page 377: Others
Operation Mode ASDA-A3 6.6 Others 6.6.1 Applying the speed limit No matter the servo drive is in Position, Speed, or Torque mode, the maximum motor speed is determined by the internal parameter (P1.055). The methods for using the Speed Limit command and Speed command are the same.
Page 378: Analog Monitoring
ASDA-A3 Operation Mode 6.6.3 Analog monitoring You can find the required voltage signal with analog monitoring. The servo drive provides two analog channels, which wiring information is detailed in Chapter 3 Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P0.003...
Page 379: Full-Closed Loop Control System
Operation Mode ASDA-A3 6.7 Full-closed loop control system The auxiliary encoder returns the actual position of the machine end to the servo drive in the full-closed loop system, which improves the conditions of lead screw backlash, flexibility of couplings or belts, and thermal expansion, linearity, and sliding end of the transmission system, achieving high-precision positioning.
Page 380: Hardware Configuration
ASDA-A3 Operation Mode 6.7.1 Hardware configuration The CN5 connector is for connecting to the auxiliary encoder (A, B, and Z phase signals) and forms a full-closed loop with the servo system. (1) CN5 connector (female); (2) CN5 connector (male) Pin assignment: Pin No.
Page 381 Operation Mode ASDA-A3 Specifications and wiring descriptions for the CN5 signals: Signal type Hall sensor A, B, Z phase signals Operating voltage Signal format Single-ended Differential Encoder power (5V) ≤ 300 mA ≤ 300 mA output Pull-up resistor (R) ≤ 20 kΩ Max.
Page 382: Control Structure
ASDA-A3 Operation Mode 6.7.2 Control structure Full-closed loop control structure in PT mode When the servo is in full-closed loop control in PT mode, if the E-Gear ratio is set to one pulse from the command corresponds to one quadruple-frequency pulse from the auxiliary encoder.
Page 383 Operation Mode ASDA-A3 Full-closed loop control structure in PR mode The servo is in full-closed loop control in PR mode when you enable the full-closed loop function in the communication mode (with P1.001 set to B or C). When the servo is in full-closed loop control in PR mode, if the E-Gear ratio is set to , one PUU from the command corresponds to one quadruple-frequency pulse from the auxiliary encoder.
Page 384: Steps For Setting The Full-Closed Loop Function
ASDA-A3 Operation Mode 6.7.3 Steps for setting the full-closed loop function Check the wiring P1.074.Z Direction setting of auxiliary encoder feedback P1.072 Auxiliary encoder resolution setting P1.044, P1.045 E-Gear ratio setting P1.073 Protection range for the feedback position deviation between the main encoder and auxiliary encoder P1.075 Low-pass filter time constant for full- / semi-closed...
Page 385: Parameters For Full-Closed Loop Function
Operation Mode ASDA-A3 When setting the full-closed loop function for the first time, do not set the value of P1.073 too great to prevent the auxiliary encoder from disconnection or prevent the motor from continuous operation caused by inverse direction. This parameter is not available in PR mode.
Page 386 ASDA-A3 Operation Mode Here are the steps for checking the directions. Step 1: disable the full-closed loop function by setting P1.074.X to 0. Step 2: open the software scope, select Feedback pulse [Pulse] for CH1 and Auxiliary encoder feedback [Pulse] for CH2, and then click Start to start the scope. CH1 32 bit CH2 32 bit [IDX] Normal...
Page 387 Operation Mode ASDA-A3 Step 3: the two pulse signals are in inverse directions due to the previous setting of P1.074.Z. Switch P1.074.Z to the other setting. Step 4: go back to Step 2 to ensure the feedback pulses of the main encoder and auxiliary encoder increase or decrease in the same direction.
Page 388: Auxiliary Encoder Resolution Setting
ASDA-A3 Operation Mode 6.7.4.2 Auxiliary encoder resolution setting Address: 0190H P1.072 Resolution of auxiliary encoder for full-closed loop control 0191H Default: 5000 Control mode: PT / PR* (full-closed loop) Unit: pulse/rev Setting range: 200 - 1280000 Format: DEC Data size: 32-bit Settings: The number of A/B pulses corresponding to a full-closed loop when the motor runs a cycle (after quadruple frequency).
Page 389 Operation Mode ASDA-A3 2. Calculating the actual value Calculating theoretical values is infeasible if the system does not use screws for transmission or the system consists of complex mechanical parts. In this case, use the JOG function to operate the motor in a single direction at low speed in the non full-closed loop mode, and calculate the value of P1.072 by using the software scope to monitor the feedback pulse number of the motor encoder and auxiliary encoder.
Page 390 ASDA-A3 Operation Mode Use the JOG function to operate the motor in a single direction at low speed, and observe the feedback pulse number from the two channels as shown in the following figure. 12727015 7587 You can find the relative values (Rel. val.) of the two channels, with the motor encoder feedback pulse number as 12,727,015 and the auxiliary encoder feedback pulse number as 7,587.
Page 391: E-Gear Settings
Operation Mode ASDA-A3 6.7.4.3 E-Gear settings When the servo is in full-closed loop control, set both P1.044 and P1.045 to 1 and set the E-Gear ratio to the controller parameter. 6.7.4.4 Setting the protection range for the feedback position error between the main encoder and auxiliary encoder Address: 0192H Protection range for feedback position error between...
Page 392: Setting The Low-Pass Filter Time Constant For Full- / Semi-Closed Loop Control
ASDA-A3 Operation Mode 6.7.4.5 Setting the low-pass filter time constant for full- / semi-closed loop control Address: 0196H Low-pass filter time constant for full- / semi-closed loop P1.075 control 0197H Default: 100 Control mode: PT / PR* (full-closed loop) Unit: ms Setting range: 0 - 1000 Format: DEC Data size: 16-bit...
Page 393: Setting The Error Clearing Function When Switching Between Full- And
Operation Mode ASDA-A3 6.7.4.6 Setting the error clearing function when switching between full- and semi-closed loops Address: 01A8H Error clearing function when switching between full- and P1.084 semi-closed loops 01A9H Default: 0x0000 Control mode: PT / PR* (full-closed loop) Unit: - Setting range: 0x0000 - 0x0001 Format: HEX Data size: 16-bit...
Page 394 ASDA-A3 Operation Mode Example: ◼ Error clearing enabled (P1.084.X = 0) Diagram of error clearing when the system switches between full- and semi-closed loop modes Auxiliary encoder Feedback P1.084.X = 0 position Motor encoder 21000 19000 After the system switches from the semi-closed loop to full-closed loop 11000...
Page 395 Operation Mode ASDA-A3 ◼ Error clearing disabled (P1.084.X = 1) Diagram of error clearing when the system switches between full- and semi-closed loop modes Auxiliary encoder P1.084.X = 1 Feedback Motor encoder position 22000 21000 20000 19000 After the system switches from the semi-closed loop to 11000...
Page 396: Auto Clearing Of The Feedback Position Error Between The Main
ASDA-A3 Operation Mode 6.7.4.7 Auto clearing of the feedback position error between the main encoder and auxiliary encoder Address: 01AAH Auto clearing of the feedback position error between the P1.085 main encoder and auxiliary encoder 01ABH Default: 0 Control mode: PT / PR* (full-closed loop) Unit: rev Setting range: 0 - 32768 (0: disable this function) Format: DEC...
Page 397: Set Di [0X0B] To Switch Between Full- And Semi-Closed Loop Modes
Operation Mode ASDA-A3 6.7.4.8 Set DI [0x0B] to switch between full- and semi-closed loop modes DI [0x0B] is effective only when the full-closed loop function is enabled (P1.074.X = 1). When the full-closed loop function is disabled, the setting of P1.072 is ignored. Example 1 illustrates the semi-closed loop function in full-closed loop mode and Example 2 illustrates the semi-closed loop function which you usually use.
Page 398: Z Phase Source Of Homing
ASDA-A3 Operation Mode 6.7.4.9 Z phase source of homing Address: 02A0H P2.080 Z phase source of homing 02A1H Default: 0x0000 Control mode: PR* (full-closed loop) Unit: - Setting range: 0x0000 - 0x0011 Format: HEX Data size: 16-bit Settings: The full-closed loop control is realized by connecting the auxiliary encoder to CN5. When you execute homing and have the servo look for the Z phase, use this parameter to set either the Z phase of the motor or the Z phase of the auxiliary encoder as the homing origin.
Page 399: Encoder Output Settings
Operation Mode ASDA-A3 6.7.4.10 Encoder output settings Address: 0106H P1.003 Encoder pulse output polarity 0107H Control mode: All Default: 0x0000 Setting range: 0x0000 – 0x0013 Unit: - Data size: 16-bit Format: HEX Settings: Polarity of monitor analog output Reserved Direction of encoder pulse output Reserved ◼...
Page 400 ASDA-A3 Operation Mode Address: 0198H P1.076▲ Maximum speed for encoder output (OA, OB) 0199H Default: 5500 Control mode: All 1 rpm (rotary)* 0 - 7500 (rotary)* Setting range: Unit: 10 mm/s (linear)* 0 - 15999 (linear)* Format: DEC Data size: 16-bit Settings: Please set a value which is slightly higher than the required maximum speed of motor.
Page 401: Full-Closed Loop Feedback Source For The Controller
Operation Mode ASDA-A3 6.7.4.11 Full-closed loop feedback source for the controller Address: 031AH P3.013 Controller’s full-closed loop feedback 031BH Default: 0x0000 Control mode: PR* (full-closed loop) Unit: - Setting range: 0x0000 - 0x0022 Format: HEX Data size: 16-bit Settings: Encoder feedback source in full-closed loop Z phase offset source in full-closed loop control mode...
Page 402: Troubleshooting Full-Closed Loop Alarms
ASDA-A3 Operation Mode 6.7.5 Troubleshooting full-closed loop alarms AL040 Excessive position error of full-closed loop control Condition: excessive position error of full-closed loop control. Cause: The setting value of P1.073 is too low. The encoder connector may be loose or there is a problem with the Trigger condition connection between the motor and the mechanical parts.
Page 403 Operation Mode ASDA-A3 (This page is intentionally left blank.) 6-62...
Page 404: Motion Control
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 405 Motion Control ASDA-A3 7.3.9 Macro ······················································································ 7-144 7.3.10 Auxiliary function ······································································ 7-154 7.3.11 Horizontal packing machine applications ······································· 7-157...
Page 406: 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 407 Motion Control ASDA-A3 In the ASDA-Soft software, when you select the PR to be edited in PR Mode Setting, the corresponding parameters appear at the top of the window. For example, in Figure 7.1.2, if you select PR#1 , P6.002 and P6.003 appear at the top in the editing section. Table 7.1.1 takes P6.002 and P6.003 for example.
Page 408: 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 409 Motion Control ASDA-A3 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 P5.060...
Page 410: 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 411 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 412 ASDA-A3 Motion Control Before issuing Command in Execution Motor completed positioned command execution Command trigger DI.CTRG Command PR position command completed DO.Cmd_OK Motor reaches target position |Cmd_O(Pulse) – Fb_Pulse| > P1.054 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 Command...
Page 413: 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, rotary axis 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 414 ASDA-A3 Motion Control X = 6: homing in forward direction, ORG: Y = 0: return to Z pulse ONOFF as the Y = 1: go forward to Z homing origin pulse X = 7: homing in reverse Y = 2: do not look for Z direction, ORG: pulse ONOFF as the...
Page 415 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 416 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: 100.0 (rotary)* Default: 1000 Data size: 32-bit 1000 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 μm/s (linear)* 1 μm/s (linear)*...
Page 417 Motion Control ASDA-A3 In PR mode homing screen in ASDA-Soft, you can set the homing parameters, 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 The following describes the homing methods supported by the ASDA-A3. They can be categorized into six types based on their reference points.
Page 418 ASDA-A3 Motion Control Referencing the limit. This homing method uses the positive or negative limit as the reference point. When the limit is detected, you can choose whether to look for the Z pulse and use it as the reference origin. The searching result is the same regarless of where the start point is. The ASDA-A3 always looks for the reference point according to the setting to correctly reset the coordinates.
Page 419 Motion Control ASDA-A3 If you set the servo to not look for the Z pulse, the servo first operates at high speed (first speed setting) and then decelerates to a stop once the rising-edge limit signal is triggered. Then the servo switches to low speed (second speed setting) to look for the rising-edge signal.
Page 420 ASDA-A3 Motion Control If the ORG signal at the start point is un-triggered and the current position is relatively closer to the limit switch (Start point 2), the servo operates at high speed (first speed setting) until reaching the limit switch. You can set whether to show an error or reverse the operating direction when it reaches the limit switch.
Page 421 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 to use the Z pulse as the reference origin after the ORG signal is detected.
Page 422 ASDA-A3 Motion Control If the ORG signal at the start point is un-triggered and the current position is relatively closer to the limit switch (Start point 2), the servo operates at high speed (first speed setting) until reaching the limit switch. You can set whether to show an error or reverse the operating direction when it reaches the limit switch.
Page 423 Motion Control ASDA-A3 Referencing the torque limit. This method uses the motor’s stop position as the origin by referring to: the limit on the mechanical parts, the torque level detection (P1.087), and the level reached timer (P1.088). You can also choose whether to use the Z pulse as the origin. Motor Protector (a) Reverse to Z...
Page 424 ASDA-A3 Motion Control The settings and descriptions for the torque level detection (P1.087) and level reached timer (P1.088) are as follows. Address: 01AEH P1.087 Torque homing - torque level detection 01AFH Default: 1 Control mode: PR Unit: % Setting range: 1 - 300 Format: DEC Data size: 16-bit Settings:...
Page 425 Motion Control ASDA-A3 As mentioned in Section 7.1.2, the PR mode provides four monitoring variables for you to monitor the servo commands and feedback status. These are Command position PUU (Cmd_O), PR command end register (Cmd_E), Feedback position PUU (Fb_PUU), and Position error PUU (Err_PUU).
Page 426: 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. ...
Page 427 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 428: 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 429 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 430 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 431: 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 432 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 433: 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). ...
Page 434 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 435: Rotary Axis Position Command (Index)
Motion Control ASDA-A3 7.1.3.6 Rotary Axis Position command (Index) The PR mode includes a Rotary Axis Position command, which creates a rotary axis position system. This command positions the motor within the rotary axis position sytstem. Unlike other feedback positions in global coordinate system, the Rotary Axis Position command is able to divide the rotary axis position scale into the number of paths required by the application (see Figure 7.1.3.6.1).
Page 436 ASDA-A3 Motion Control Position (PUU) Motor s feedback position Rotary axis position Motor s rotary axis scale position (P2.052)-1 Motor s running direction Rotary axis position Rotary axis position scale Path No. Rotary axis position scale Rotary axis position Motor s running direction Figure 7.1.3.6.1 Rotary axis position in PR mode...
Page 437 Motion Control ASDA-A3 Figure 7.1.3.6.3 PR mode Rotary Axis Position control (Index Position control) screen in ASDA-Soft Always forward (Forward) Current Rotary axis position position Always backward (Backward) & Shortest Dist. Target position Rotary axis position Rotary axis position Always forward scale 70000 PUU (Forward)
Page 438 ASDA-A3 Motion Control Table 7.1.3.6.1 Bit function of PR Rotary Axis Position command PR parameters Command type OPT2 Data Content Rotary Axis Position command [PUU] (0 to P2.052-1) Note: 1. Y: OPT: option Description Command type OVLP Always goes forward (Forward) Always goes backward (Backward) Data Content...
Page 439: 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 440 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 441 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 442: 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 443 Motion Control ASDA-A3 Activation mode (Boot): to execute homing when the drive is in Servo On state after powered on, 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 444 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. Figure 7.1.4.3 Speed command display Command execution type (property): a Speed command can interrupt (INS) the previous PR path.
Page 445 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 446 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. Figure 7.1.4.5 Jump command display Command execution type (property): a Jump command can interrupt (INS) the previous PR path.
Page 447 Motion Control ASDA-A3 Rotary Axis Position command (Index Position) You can use the Rotary Axis Position command in any PR paths (PR#1 - PR#99). The number of PR paths is determined by the number of Rotary Axis Position commands. It is marked as “Index Position”.
Page 448 ASDA-A3 Motion Control Arithmetic operation (Statement) 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 449: 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 450 ASDA-A3 Motion Control Table 7.1.5.1 Use DI to select the PR path to be triggered Position Corresponding POS6 POS5 POS4 POS3 POS2 POS1 POS0 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 …...
Page 451 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 452 ASDA-A3 Motion Control You can set the rising-edge trigger of the PR path with P5.098 and 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 453: 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 454 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 455 Motion Control ASDA-A3  Position command followed by a Position command When the PR executor receives two consecutive Position commands, if they do not have Interrupt or Overlap functions, the PR executor issues the first Position command to the motion command generator, and the generator starts the first part of position control.
Page 456 ASDA-A3 Motion Control  Speed command followed by a Speed command When the PR executor receives two consecutive Speed commands, if they do not have Interrupt or Overlap functions, the PR executor issues the first Speed command to the motion command generator, and the generator starts the first part of speed control.
Page 457 Motion Control ASDA-A3  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 458 ASDA-A3 Motion Control Command interruption Interruption (INS) causes a command in execution to be replaced or integrated. The results of the interruption differ based on the command types. The next command replaces or combines with the previous command. There are two types of interruption: internal and external, as shown in Figure 7.1.6.5.
Page 459 Motion Control ASDA-A3 1 ms Cmd cycle (1 ms Cmd cycle) PR#1 PR#2 (I) PR#3 Position Position Position executor DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms 1000 PUU 5000 PUU 10000 PUU 100 rpm 200 rpm 500 rpm Speed Motion command...
Page 460 ASDA-A3 Motion Control  Speed command  Speed command (I)  Speed command When the PR executor receives three consecutive Speed commands with an interrupt in the second command, the executor treats the first and the second as one PR group. Since the first Speed command is not executed, the executor replaces the first command with the second.
Page 461 Motion Control ASDA-A3  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 462 ASDA-A3 Motion Control External Interruption If an external interruption is encountered, it uses the PR Command trigger method to execute another PR path (refer to Section 7.1.5 for PR trigger methods). When the PR queue receives a PR path with an Interrupt function, it sends this path to the motion command generator immediately and changes the path in execution.
Page 463 Motion Control ASDA-A3 (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 464 ASDA-A3 Motion Control Command overlapping 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 a command with an Overlap function, the delay time is still effective. The delay time starts to count from the command’s start point;...
Page 465 Motion Control ASDA-A3 (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 466 ASDA-A3 Motion Control true false Figure 7.1.6.12 Multiple commands with arithmetic operations (followed by a PR path without interrupt command) true false Figure 7.1.6.13 Multiple commands with arithmetic operations (followed by a PR path with interrupt command) 7-63...
Page 467: 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 stores this position in the data array.
Page 468 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 469 Motion Control ASDA-A3  Example: when using the drive panel or communication for reading from or writing to the data array, write 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 with panel: Write to data array Read from data array...
Page 470 ASDA-A3 Motion Control Read / write with 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 471: 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 472 ASDA-A3 Motion Control CAP trigger 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 473 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 474 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 475: 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 output signal DO4 (with execution time of only 5 µs) is sent immediately for motion control.
Page 476 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 477 Motion Control ASDA-A3 It is suggested that you use PR path programming to use motion commands with the Compare function. You can use Write commands to edit the contents of the data array and set the high-speed position Compare function, as well as executing the motion command. As shown in Figure 7.2.3.3, you set the numerator (P1.046) and denominator (P1.097) for the encoder’s pulse output (the default is based on the comparing axis running 10000 pulses per motor revolution).
Page 478 ASDA-A3 Motion Control PR#4 (I) PR#1 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 P5.059= Arr[51]=30000 Arr[52]=40000 Arr[50]=20000 0x00640030 PR#9 (I) PR#8 (I) PR#5 (I) PR#6 (I) PR#7 (I) Speed Write Write...
Page 479: 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 mechanical cams instead of being limited to 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 480: 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 481 Motion Control ASDA-A3 Analog speed channel: when P5.088.Y = 6, the servo drive uses the analog speed command as the master axis signal source; 10V corresponds to the frequency of 1 M pulse/s. ASDA-A3 provides two DOs, [0x18] CAM_AREA1 and [0x1A] CAM_AREA2, which specify the current E-Cam operation position (in respect of the master axis).
Page 482 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 483 Motion Control ASDA-A3 PULSE+ PULSE- SIGN+ SIGN- (1) Master axis; (2) Slave axes 1, 2, and 3. Figure 7.3.1.3 Pulse by-pass function: CN1 output / CN1 input 7-80...
Page 484: 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 the clutch is engaged, the slave axis operates according to the received master axis pulses and the E-Cam curve; when the clutch is disengaged, the slave axis does not operate according to the E-Cam curve even if it receives the master axis pulses.
Page 485 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 486 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 487 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 488 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 489 Motion Control ASDA-A3 You can choose one of the three conditions for disengagement timing: “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 490 ASDA-A3 Motion Control P5.088.U Clutch disengagement condition Status after disengaged 6 + 8: disengages when master axis pulse number reaches the 0: stop and disable E- setting value of P5.089, slave axis decelerates to stop, and the Cam. E-Cam function is disabled. 1 + 6 + 8: disengages when DI.CAM (DI: 0x36) is off or when master axis pulse number reaches the setting value of P5.089, 0: stop and disable E-...
Page 491 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 492: 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 493 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 494 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 495: 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 496 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 497 Motion Control ASDA-A3 Create curve table: after setting the E-Cam segment number, click Create Table, and the software equally segments the 360-degree E-Cam and automatically fills in the angle data to the table. When you set n points for the E-Cam segment number, the table has n+1 columns.
Page 498 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 499 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 500 ASDA-A3 Motion Control Figure 7.3.4.6 ASDA-Soft Speed Fitting setting interface for creating E-Cam table 7-97...
Page 501 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 502 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 503: 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 504 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 505: 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 506 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 507: 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 508 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 during cutting.
Page 509 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 510 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 511 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 512 ASDA-A3 Motion Control Speed compensation (V ): in some rotary shear applications, the speeds of the master and cutter axes 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 513 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 514 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 515 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 516 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 517 Motion Control ASDA-A3 If the waiting zone (W) < minimum waiting zone (�� ̂ ), the error code 0xF07A returns, 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 518 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 519 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 earlier.
Page 520 ASDA-A3 Motion Control If 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 ). If taking the Sync zone size as the priority, set the Sync zone ) and use the size of this Sync zone to re-calculate the speed compensation value and the Waiting zone (W ).
Page 521 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 522 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 523 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 524 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 525 Motion Control ASDA-A3 Mark Mark sensor CAP axis position Deviation in pulse Figure 7.3.7.15 Synchronous Capture axis compensation 7-122...
Page 526 ASDA-A3 Motion Control 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 527 Motion Control ASDA-A3  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 528 ASDA-A3 Motion Control 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 529 Motion Control ASDA-A3 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 530 ASDA-A3 Motion Control 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: select [Point-to-Point Command], set NO for [INS: Interrupt the previous PR path when executing the current PR path], set NO for [OVLP: allow the next PR command to overlap the command that is currently executed when...
Page 531 Motion Control ASDA-A3 If the mark is on the non-compensation motion axis and when E-Cam phase alignment compensation is operating, the following mark position is unchanged. If the mark is on the compensation motion axis and when E-Cam phase alignment compensation is operating, the following mark position is changed, as shown in Figure 7.3.7.19.
Page 532 ASDA-A3 Motion Control 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 533 Motion Control ASDA-A3 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 534: Flying Shear
ASDA-A3 Motion Control 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 535 Motion Control ASDA-A3 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 536 ASDA-A3 Motion Control 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 537 Motion Control ASDA-A3 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 538 ASDA-A3 Motion Control 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 save 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 539 Motion Control ASDA-A3 After creating the forward direction E-Cam curve, right-click on the table, select Batch change the values, and fill in 0 to 200 in the appearing window. Select “*” (multiplication), fill in “-1”, and select the check box for Don’t close the window, go on the next operation, and then the curve direction reverses from forward to backward.
Page 540 ASDA-A3 Motion Control 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, and then click OK to save. 7-137...
Page 541 Motion Control ASDA-A3 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 “0”...
Page 542 ASDA-A3 Motion Control 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 543 Motion Control ASDA-A3  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 544 ASDA-A3 Motion Control 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 545 Motion Control ASDA-A3 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 the disengaging pulse number is reached or the cutting complete signal is received, the clutch disengages and continues with a zero-speed PR speed command to stop the cutter.
Page 546 ASDA-A3 Motion Control 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 7-143...
Page 547: Macro
Motion Control ASDA-A3 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 548 ASDA-A3 Motion Control 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 549 Motion Control ASDA-A3 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 this macro command is executed, the clutch is not in the...
Page 550 ASDA-A3 Motion Control Set the initial engagement position: align the start point of 0 degree in the E-Cam curve table with the origin of the rotary axis position. 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.
Page 551 Motion Control ASDA-A3 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 552 ASDA-A3 Motion Control 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 553 Motion Control ASDA-A3 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 set with the master axis pulse number.
Page 554 ASDA-A3 Motion Control Set the allowable forward rate: set P5.095 to 0 - 100% to specify the allowable forward rotation rate. Set the target pulse number: use P5.096 to specify the master axis pulse number of the target position, which range is as follows: P5.084 0 ≤...
Page 555 Motion Control ASDA-A3 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 556 ASDA-A3 Motion Control 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 557: Auxiliary Function
Motion Control ASDA-A3 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 558 ASDA-A3 Motion Control Virtual master axis During E-Cam operation, if there is a phase lead or phase leg in the slave axis, use the virtual master axis to correct the cam phase. Virtual master axis operation is as shown in Figure 7.3.10.1.
Page 559 Motion Control ASDA-A3 P2.077.Y sets whether to write the pulse number of the virtual master axis to P5.087 (Initial lead pulse before engaged).  When the setting of P2.077.Y is changed from 0 to 1, the pulse number of the virtual master axis is written to P5.087.
Page 560: 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 561 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 functions. 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 562 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 drives.
Page 563 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 564 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 565 Motion Control ASDA-A3  Synchronous Capture axis The slave axis of the horizontal packing machine operates based on the pulses received 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 566 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 pause position.
Page 567 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 the macro is 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 568 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 569 Motion Control ASDA-A3  Reset mechanism after alarm stops When the packing machine stops because of an 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 570 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 571 Motion Control ASDA-A3 The function for each PR command is as follows. Specifies DI6 as the mark reading signal (input to the servo drive) for E-Cam PR#19 phase alignment. Disables the Capture and E-Cam functions. Disable the capturing and E-Cam PR#20 functions before using the PR commands to set the parameters for high-speed PR#21...
Page 572 ASDA-A3 Motion Control Function for manually adjusting the wrap: This function allows you to manually adjust the wrap in both forward and reverse directions. PR#35 (I) Write DLY=[0] 0 ms P2.077=0x0020 PR#28 (I) PR#29 (I) Write Write DLY=[0] 0 ms DLY=[0] 0 ms P2.077=0x0000 P2.077=0x020A...
Page 573 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. Disables the Capture and E-Cam functions.
Page 574 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 575 Motion Control ASDA-A3 Miscutting prevention: When the sensor for preventing miscutting does not detect the packing content 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 Jump Write...
Page 576 ASDA-A3 Motion Control Reset after alarm: After the alarm is cleared, the cutter has to return to where it was before the alarm occurrence. Use the DI event trigger to enable Macro #D, set the rotary axis position scale (P2.052) as the moving amount of the cutter in a cycle, and set E-Cam curve scaling (P5.019) to 1.
Page 577 Motion Control ASDA-A3 (This page is intentionally left blank.) 7-174...
Page 578 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. 章 8.1 Parameter definitions ········································································· 8-2 8.2 List of parameters ··············································································...
Page 579: 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 580: List Of Parameters
ASDA-A3 Parameters 8.2 List of parameters Monitoring and general output parameters Control mode Parameter Function Default value Unit PT PR P0.000★ Firmware version Factory setting Current drive alarm code P0.001■ (seven-segment display) P0.002 Drive status P0.003 Analog output monitoring 0x0000 P0.008★...
Page 581 Parameters ASDA-A3 Control mode Parameter Function Default value Unit PT PR Status monitoring register content P0.045■ selection (for PC software) Servo drive digital output (DO) status 0x0000 P0.046★■ P0.050★■ Absolute position system status 0x0000 Total duration of DC Bus voltage P0.063★...
Page 582 ASDA-A3 Parameters Filter and resonance suppression parameters Control mode Parameter Function Default value Unit PT PR S Speed command - smoothing P1.006 constant (low-pass filter) Torque command - smoothing P1.007 constant (low-pass filter) Position command - smoothing P1.008 10 ms constant (low-pass filter) Low-frequency vibration suppression P1.025...
Page 583 Parameters ASDA-A3 Control mode Parameter Function Default value Unit PT PR S 1 ms (panel / software) (panel / software) Resonance suppression low-pass P2.025 filter 0.1 ms (communication) (communication) 1 ms (panel / software) (panel / software) Speed detection filter and jitter P2.049 suppression 0.1 ms...
Page 584 ASDA-A3 Parameters Gain and switching parameters Control mode Parameter Function Default value Unit PT PR S 1 times (rotary) (panel / 1 kg (linear) software) (panel / software) P1.037 Load inertia ratio or total weight O O O 0.1 times (rotary) 0.1 kg (linear) (communication) (communication)
Page 585 Parameters ASDA-A3 (★) Read-only parameter. Can only read the value of the parameter. For example, P0.000, P0.010, and P4.001. (▲) Parameter cannot be changed when servo is in Servo On status. For example, P1.000 and P1.046. ( ● ) Parameter changes become valid after power cycling. For example, P1.001 and P3.000. ( ■...
Page 586 ASDA-A3 Parameters Position control parameters Control mode Parameter Function Default value Unit PT PR 0x0000 (A3-M, A3-L) Input for control mode and control P1.001● 0x000B (A3-F) command 0x000C (A3-E) P1.002▲ Speed and torque limits 0x0000 P1.003 Encoder pulse output polarity 0x0000 P1.012 - Internal Torque command / internal...
Page 587 Parameters ASDA-A3 Position control parameters - external pulse control command (PT mode) Control mode Parameter Function Default value Unit PT PR P1.000▲ External pulse input type 0x1042 P2.060 E-Gear ratio - numerator N2 16777216 pulse P2.061 E-Gear ratio - numerator N3 16777216 pulse P2.062...
Page 588 ASDA-A3 Parameters Position control parameters - internal register control command (PR mode) Control mode Parameter Function Default value Unit PT PR S T P5.004 Homing methods 0x0000 100.0 (rotary) 1 rpm (rotary) 1000 (linear) 1 μm/s (linear) (panel / (panel / software) software) P5.005 High speed homing (first speed setting)
Page 589 Parameters ASDA-A3 Speed control parameters Control mode Parameter Function Default value Unit PT PR 0x0000 (A3-M, A3-L) Input for control mode and control P1.001● command 0x000B (A3-F) 0x000C (A3-E) P1.002▲ Speed and torque limits 0x0000 P1.003 Encoder pulse output polarity 0x0000 Encoder pulse number output P1.046▲...
Page 590 ASDA-A3 Parameters Torque control parameters Control mode Parameter Function Default value Unit PT PR S 0x0000 (A3-M, A3-L) Input for control mode and control P1.001● command 0x000B (A3-F) 0x000C (A3-E) P1.002▲ Speed and torque limits 0x0000 P1.003 Encoder pulse output polarity 0x0000 Encoder pulse number output (OA, P1.046▲...
Page 591 Parameters ASDA-A3 Digital input / Digital output functional planning parameters Control mode Parameter Function Default value Unit PT PR General range compare digital P0.053 0x0000 output - filter time General range compare digital P0.054 output 1 - lower limit General range compare digital P0.055 output 1 - upper limit General range compare digital...
Page 592 ASDA-A3 Parameters Control mode Parameter Function Default value Unit PT PR 0x0109 (A3-L, A3-M) P2.020 DO3 functional planning 0x0100 (A3-F, A3-E) 0x0105 (A3-L, A3-M) P2.021 DO4 functional planning 0x0007 (A3-F, A3-E) 0x0007 (A3-L, A3-M) P2.022 DO5 functional planning 0x0100 (A3-F, A3-E) P2.036 DI9 functional planning 0x0100...
Page 593 Parameters ASDA-A3 Communication parameters Control mode Parameter Function Default value Unit PT PR S T P3.000● Address 0x007F 0x0203 (A3-M, P3.001● A3-L, A3-E) Transmission speed 0x3203 (A3-F) P3.002 Modbus communication protocol 0x0006 P3.003 Modbus communication error handling 0x0000 P3.004 Modbus communication timeout P3.006■...
Page 594 ASDA-A3 Parameters Diagnosis parameters Control mode Parameter Function Default value Unit PT PR P4.000 Fault record (last) 0x00000000 Fault record (second to the last) 0x00000000 P4.001★ Fault record (third to the last) 0x00000000 P4.002★ Fault record (fourth to the last) 0x00000000 P4.003★...
Page 595 Parameters ASDA-A3 Encoder parameters Control mode Parameter Function Default value Unit PT PR P0.049■ Update encoder absolute position 0x0000 Encoder absolute position - number of P0.051★■ revolutions Encoder absolute position - pulse P0.052★■ pulse or PUU O number or PUU within single turn P2.069●...
Page 596 ASDA-A3 Parameters E-Cam parameters Control mode Parameter Function Default value Unit PT PR E-Cam: filter setting for synchronous P1.015 0x0000 Capture axis correction E-Cam: error offset compensation for Pulse unit of P1.016■ synchronous Capture axis master axis E-Cam: compensation time for the pulse P1.018 of E-Cam master axis E-Cam: minimum frequency of pulse...
Page 597 Parameters ASDA-A3 Control mode Parameter Function Default value Unit PT PR E-Cam: DO.CAM_AREA1 falling-edge P5.091 Degree phase E-Cam: pre-engaged pulse number for Pulse unit of P5.092 each cycle master axis Motion control macro command: P5.093 0x00000000 command parameter #4 Motion control macro command: P5.094 command parameter #3 Motion control macro command:...
Page 598 ASDA-A3 Parameters Special function parameters Control mode Parameter Function Default value Unit PT PR P1.060 Motor hard stop 1 - level offset P1.105 Motor hard stop 2 - torque upper limit P1.106 Motor hard stop 2 - torque lower limit P1.120 STO deactivation settings (400V models) P2.081...
Page 599 Parameters ASDA-A3 Motor parameters Applicable motor Parameter Function Default value Unit Linear Rotary motor motor PM.000▲● Motor type Motor parameter automatic PM.001▲■ identification function Motor parameter identification PM.002▲● status PM.003▲● Encoder type 0x0010 Refer to the PM.004▲● Main encoder resolution description of PM.004.
Page 600 ASDA-A3 Parameters Applicable motor Parameter Function Default value Unit Linear Rotary motor motor Nm/Arms (panel / (panel / Permanent-magnet rotary motor software) software) PM.033▲ torque constant 0.001 Nm/Arms (communication) (communication) −4 kg ∙ �� (panel / (panel / Permanent-magnet rotary motor software) software) PM.034▲...
Page 601 Parameters ASDA-A3 Applicable motor Parameter Function Default value Unit Linear Rotary motor motor (panel / (panel / software) software) PM.051▲ Linear motor phase inductance 0.01 mH (communication) (communication) Vrms/(m/s) (panel / (panel / Linear motor back electromotive software) software) PM.053▲ force constant 0.1 Vrms/(m/s) (communication)
Page 602: Parameter Descriptions
ASDA-A3 Parameters 8.3 Parameter descriptions P0.xxx Monitoring parameters Address: 0000H Firmware version P0.000★ 0001H Default: Factory setting Control mode: All Unit: - Setting range: - Format: DEC Data size: 16-bit Settings: Displays the firmware version of the servo drive. Address: 0002H P0.001■...
Page 603 Parameters ASDA-A3 MON2 Reserved MON1 MON1 and MON2 MON1 and MON2 Description Description set value set value Torque command Motor speed (+/- 8 volts / Maximum Torque (+/- 8 volts / Maximum speed) command) Motor torque VBUS voltage (+/- 8 volts / Maximum torque) (+/- 8 volts / 450V) Pulse command frequency Analog output voltage is the set...
Page 604 ASDA-A3 Parameters Address: 0012H Status monitoring register 1 P0.009★■ 0013H Default: - Control mode: All Unit: - Setting range: - Format: DEC Data size: 32-bit Settings: Set the value to be monitored in P0.017 through the drive panel or communication. Please refer to P0.002.
Page 605 Parameters ASDA-A3 Address: 0018H Status monitoring register 4 P0.012★■ 0019H Default: - Control mode: All Unit: - Setting range: - Format: DEC Data size: 32-bit Settings: Set the value to be monitored in P0.020 through the drive panel or communication. Please refer to P0.002.
Page 606 ASDA-A3 Parameters Address: 0026H P0.019 Select content displayed by status monitoring register 3 0027H Default: 0 Control mode: All Unit: - Setting range: -300 to +127 Format: DEC Data size: 16-bit Settings: Refer to Table 8.3 for the available values. Address: 0028H P0.020 Select content displayed by status monitoring register 4...
Page 607 Parameters ASDA-A3 Address: 0034H P0.026■ Mapping parameter 2 0035H Default: - Control mode: All Setting range: Determined by the corresponding Unit: - parameter P0.036 Format: HEX Data size: 32-bit Settings: This setting is the same as P0.025, except its mapping target is set in P0.036. Address: 0036H P0.027■...
Page 608 ASDA-A3 Parameters Address: 003EH P0.031■ Mapping parameter 7 003FH Default: - Control mode: All Determined by the corresponding Unit: - Setting range: parameter P0.041 Format: HEX Data size: 32-bit Settings: This setting is the same as P0.025, except its mapping target is set in P0.041. Address: 0040H P0.032■...
Page 609 Parameters ASDA-A3 Select the corresponding parameter(s) for the data block access register 1 (P0.035). The mapping value is 32 bits and can map to two 16-bit parameters or one 32-bit parameter. P0.035: (Parameter to be mapped: P0.035; Content of mapping parameter: P0.025) When PH ≠...
Page 610 ASDA-A3 Parameters Address: 0048H P0.036 Target setting for mapping parameter P0.026 0049H Default: - Control mode: All Setting range: Determined by the communication Unit: - address of the parameter group Format: HEX Data size: 32-bit Settings: High word Low word Par ame ter to b e Par ame ter to b e P0.036...
Page 611 Parameters ASDA-A3 Address: 004EH P0.039 Target setting for mapping parameter P0.029 004FH Default: - Control mode: All Setting range: Determined by the communication Unit: - address of the parameter group Format: HEX Data size: 32-bit Settings: High word Low word Par ame ter to b e Par ame ter to b e P0.039...
Page 612 ASDA-A3 Parameters Address: 0054H P0.042 Target setting for mapping parameter P0.032 0055H Default: - Control mode: All Determined by the communication Unit: - Setting range: address of the parameter group Format: HEX Data size: 32-bit Settings: High word Low word Par ame ter to b e Par ame ter to b e P0.042...
Page 613 Parameters ASDA-A3 Address: 005CH Servo drive digital output (DO) status P0.046★■ 005DH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 - 0x00FF Format: HEX Data size: 16-bit Settings: Function Function SRDY (servo ready) HOME (homing complete) SON (Servo On) OLW (early warning for motor overload) WARN (Servo warning, CW, CCW, EMGS, ZSPD (zero speed detection)
Page 614 ASDA-A3 Parameters Address: 0064H Absolute position system status P0.050★■ 0065H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 - 0x001F Format: HEX Data size: 16-bit Settings: Function Description 0: normal. Bit 0 Absolute position status 1: lost. 0: normal. Bit 1 Battery voltage status 1: undervoltage.
Page 615 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: HEX Data size: 16-bit Settings: First filter time Third filter time Second filter time Fourth filter time Note: the minimum filter time is 1 ms (set value 0 = 1 ms;...
Page 616 ASDA-A3 Parameters Address: 0071H P0.056 General range compare digital output 2 - lower limit 0072H Default: 0 Control mode: All Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Before using this function, set the digital output function to 0x2D (second set of general range comparison) and the monitoring item of P0.018.
Page 617 Parameters ASDA-A3 Address: 0079H P0.060 General range compare digital output 4 - lower limit 007AH Default: 0 Control mode: All Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Before using this function, set the digital output function to 0x2F (fourth set of general range comparison) and the monitoring item of P0.020.
Page 618 ASDA-A3 Parameters Address: 009EH P0.079★ IGBT highest temperature 009FH Default: 0 Control mode: All Unit: °C Setting range: 0 - 2147483647 Format: DEC Data size: 32-bit Settings: Records the highest IGBT temperature. P0.080 - Reserved P0.100 8-41...
Page 619: P1.Xxx Basic Parameters
Parameters ASDA-A3 P1.xxx Basic parameters Address: 0100H P1.000▲ External pulse input type 0101H Default: 0x1042 Control mode: PT Unit: - Setting range: 0x0000 - 0x11F2 Format: HEX Data size: 16-bit Settings: Pulse type Logic type Filter width Filter width  X: pulse type 0: A phase + B phase 1: clockwise and counterclockwise pulses...
Page 620 When the low speed pulse is used (U = 2), parameter Y has to be 0 (no filter function). It is suggested that you use the low speed pulse function when there is high frequency interference. Contact Delta for the week for introducing the low speed pulse function to the servo drive. 8-43...
Page 621 Parameters ASDA-A3  U, Y: filter width If the pulse frequency is suddenly too high, causing a pulse width smaller than the set filter width, then this pulse gets filtered out as noise. Therefore, set the filter width smaller than the actual pulse width.
Page 622 ASDA-A3 Parameters Address: 0102H P1.001● Input for control mode and control command 0103H 0x0000 (A3-M, A3-L) Default: 0x000B (A3-F) Control mode: All 0x000C (A3-E) Unit: - Setting range: 0x0000 - 0x112F Format: HEX Data size: 16-bit Settings: Control mode setting Direction control DIO value control ...
Page 623 Parameters ASDA-A3 Sz: Speed control mode; the speed command is zero or the command source is from the internal speed registers, which you can select with DI.SPD0 and DI.SPD1. Tz: Torque control mode; the torque command is zero or the command source is from the internal torque registers, which you can select with DI.TCM0 and DI.TCM1.
Page 624 ASDA-A3 Parameters Address: 0104H P1.002▲ Speed and torque limits 0105H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 - 0x0011 Format: HEX Data size: 16-bit Settings: Disable / enable Speed Limit function Reserved Disable / enable Torque Limit function ...
Page 625 Parameters ASDA-A3 Address: 0106H P1.003 Encoder pulse output polarity 0107H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 0x0013 Format: HEX Data size: 16-bit Settings: Polarity of monitor analog output Reserved Direction of encoder pulse output Reserved ...
Page 626 ASDA-A3 Parameters Address: 010AH P1.005 MON2 analog monitor output proportion 010BH Default: 100 Control mode: All Unit: % (full scale) Setting range: 0 to 100 Format: DEC Data size: 16-bit Settings: Refer to P0.003 for the analog output setting. Address: 010CH Speed command - smoothing constant (low-pass filter) P1.006 010DH...
Page 627 Parameters ASDA-A3 Address: 0112H P1.009 Internal Speed command 1 / internal speed limit 1 0113H S / Sz: internal Speed command 1 Default: 1000 Control mode: T / Tz: internal speed limit 1 -75000 to +75000 (rotary)* 0.1 rpm (rotary)* Unit: Setting range: 1 μm/s (linear)*...
Page 628 ASDA-A3 Parameters Address: 0116H P1.011 Internal Speed command 3 / internal speed limit 3 0117H S / Sz: internal Speed command 3 Default: 3000 Control mode: T / Tz: internal speed limit 3 -75000 to +75000 (rotary)* 0.1 rpm (rotary)* Unit: Setting range: 1 μm/s (linear)*...
Page 629 Parameters ASDA-A3 Example of internal torque limit: Torque limit value Torque limit in forward Torque limit in reverse Valid torque range of P1.012 direction direction -3.5% to +3.5% 3.5% -3.5% Address: 011AH P1.013 Internal Torque command 2 / internal torque limit 2 011BH T / Tz: internal Torque command 2 Default: 100...
Page 630 ASDA-A3 Parameters Address: 011CH P1.014 Internal Torque command 3 / internal torque limit 3 011DH T / Tz: internal Torque command 3 Default: 100 Control mode: PT / PR / S / Sz: internal torque limit 3 Unit: % Setting range: -5000 to +5000 Format: DEC Data size: 16-bit Settings:...
Page 631 Parameters ASDA-A3  YX: range of filter (0 - 95%) The new correction rate is calculated after the synchronous Capture axis captures the signal. The filter function is enabled when both the new and previous correction rates are less than the range (%) set in this parameter.
Page 632 ASDA-A3 Parameters Address: 0122H P1.017 Additional compensation time for the following error 0123H Default: 0 Control mode: PR -25.000 to +25.000 (includes 3 Unit: ms (minimum scale is μs) Setting range: decimal places) Format: DEC Data size: 16-bit Settings: When the following error compensation function is enabled (P1.036 = 1), the servo calculates the compensation amount according to the command and adjusts the position error (PUU) close to 0.
Page 633 Parameters ASDA-A3  X: additional function for Capture Function Description Set this bit to 0 to disable this function. When the number of capturing times (P5.038) is 0, capturing is complete. Cycle Set this bit to 1 to enable this function. When the number of capturing times mode (P5.038) is 0, the servo drive automatically resets the number of capturing times to the default setting.
Page 634 ASDA-A3 Parameters E-Cam: minimum frequency of pulse compensation for Address: 012AH P1.021 the E-Cam master axis 012BH Default: 0 Control mode: PR Unit: Kpps Setting range: 0 to +30000 Format: DEC 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 635 Parameters ASDA-A3 Note: If you are using a linear motor, this function sets the time required for the linear motor to accelerate from 0 to 5 m/s or to decelerate from 5 m/s to 0. If the command keeps changing drastically, the following error of the internal position exceeds the allowable range and then triggers AL404.
Page 636 ASDA-A3 Parameters Address: 012EH P1.023 Compare: data shift (non-volatile) 012FH Default: 0 Control mode: All Unit: Pulse unit of compare source Setting range: -10000000 to +100000000 Format: DEC Data size: 32-bit Settings: This parameter sets the shifting amount for the data array to be compared. And the result is the actual data array for comparison when you use the Compare function.
Page 637 Parameters ASDA-A3 Address: 0134H P1.026 Low-frequency vibration suppression gain 1 0135H Default: 0 Control mode: PT / PR Unit: - Setting range: 0 to 9 Format: DEC Data size: 16-bit Settings: The gain of the first low-frequency vibration suppression filter. Increase the value to improve the position response.
Page 638 ASDA-A3 Parameters Address: 013CH P1.030 Low-frequency vibration detection 013DH Default: 8000 Control mode: PT / PR Unit: pulse Setting range: 1 to 128000 Format: DEC Data size: 32-bit Settings: Sets the detection level when automatic vibration suppression is enabled (P1.029 = 1). The lower the value, the more sensitive the detection, but the system may also misjudge noise or treat other low- frequency vibrations as frequencies to be suppressed.
Page 639 Parameters ASDA-A3 When the motor reaches PL (CCWL) or NL (CWL), refer to P5.003 for setting the deceleration time. If you set the deceleration time to 1 ms, the motor stops instantly. Note: this function is only available in Position and Speed (PT, PR, S, and Sz) modes and is effective only when P1.043 (Delay time for disabling the magnetic brake) is a negative value.
Page 640 ASDA-A3 Parameters Speed Time (ms) P1.036 P1.036 P1.036 P1.036 P1.034 P1.035 P1.034: sets the acceleration time for the trapezoid-curve. P1.035: sets the deceleration time for the trapezoid-curve. P1.036: sets 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 641 Parameters ASDA-A3 Address: 014CH P1.038 Zero speed range 014DH Operation Panel / software Communication Control mode: All interface: Default: 10.0 Data size: 16-bit 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 mm/s (linear)* 0.1 mm/s (linear)* Setting range: 0.0 to 200.0 0 to 2000 Format: One decimal 1.5 = 1.5 rpm...
Page 642 ASDA-A3 Parameters In Torque mode: Sets the motor speed limit corresponding to 10V (maximum voltage) for the analog speed limit. Input voltage×P1.040 Speed limit command = 5V×2000 If the value is 2000 and the external voltage input is 5V, then the speed limit command = 10��...
Page 643 Parameters ASDA-A3 Note: If the delay time specified in P1.042 has not passed yet and the motor speed is slower than the value of P1.038, the magnetic brake signal (BRKR) is disabled. If the delay time specified in P1.042 has passed and the motor speed is faster than the value of P1.038, the magnetic brake signal (BRKR) is disabled.
Page 644 ASDA-A3 Parameters Address: 015AH P1.045▲ E-Gear ratio - denominator M 015BH Default: 100000 Control mode: PT / PR Unit: pulse Setting range: 1 to (2 Format: DEC Data size: 32-bit Settings: If the setting is incorrect, the servo motor is prone to sudden unintended acceleration. Follow these instructions.
Page 645 Parameters ASDA-A3 Address: 015EH P1.047 Speed reached (DO.SP_OK) range 015FH Default: 10 Control mode: S / Sz 1 rpm (rotary)* Unit: Setting range: 0 to 300 1 mm/s (linear)* Format: DEC Data size: 16-bit Settings: In Speed mode, when the absolute value of the difference between the Speed command and the motor feedback speed is less than this parameter and this status is kept for the time duration set in P1.049, the digital output DO.SP_OK (DO: 0x19) is on.
Page 646 ASDA-A3 Parameters Address: 0160H P1.048 Motion reached (DO.MC_OK) operation selection 0161H Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 - 0x0011 Format: HEX Data size: 16-bit Settings: Control selection of digital output DO.MC_OK (DO: 0x17). DO output retaining option Reserved Position deviation alarm (AL380) option Reserved...
Page 647 Parameters ASDA-A3 7. Either signal 5 or signal 6 can be output, and this is determined by P1.048.X. 8. Position deviation: when event 7 occurs, if signal 4 (or 5) is off, it means the position has deviated and AL380 can be triggered. Set whether to enable AL380 with P1.048.Y. Address: 0162H P1.049 Accumulated time to reach desired speed...
Page 648 ASDA-A3 Parameters Address: 016AH P1.053 Regenerative resistor capacity 016BH Determined by the model. Refer to Default: Control mode: All the following table. Unit: Watt Setting range: 0 to 15000 Format: DEC Data size: 16-bit Settings: Model Default (Watt) 200 W or below 400 W - 1.5 kW 2 kW - 3 kW 220V...
Page 649 Parameters ASDA-A3 Address: 016CH P1.054 Pulse range for position reached 016DH Default: 167772 Control mode: PT / PR Unit: pulse Setting range: 0 to 16777216 Format: DEC Data size: 32-bit Settings: In Position (PT) mode, when the pulse number error is smaller than the range set by P1.054, DO.TPOS is on.
Page 650 ASDA-A3 Parameters Address: 0172H P1.057 Motor hard stop 1 - torque percentage 0173H Default: 0 Control mode: All Unit: % Setting range: 0 to 300 Format: DEC Data size: 16-bit Settings: Sets the protection level which is the percentage of rated torque. Set the value to 0 to disable the function and set the value to 1 or above to enable the function.
Page 651 Parameters ASDA-A3 Original step analog Speed command Holding time Command that has gone through analog speed linear filtering Address: 0178H P1.060 Motor hard stop 1 - level offset 0179H Default: 0 Control mode: All Unit: % Setting range: -300 to +300 Format: DEC Data size: 16-bit Settings:...
Page 652 ASDA-A3 Parameters Address: 017CH P1.062 Percentage of friction compensation 017DH Default: 0 Control mode: PT / PR / S / Sz Unit: % Setting range: 0 to 100 Format: DEC Data size: 16-bit Settings: Sets the level of friction compensation, which is the percentage of the rated torque. Set the value to 0 to disable the friction compensation function.
Page 653 Parameters ASDA-A3  X: setting for position command issued by the analog signal 0: disable 1: enable  Y: initial position setting 0: after the servo is on, the motor regards the current position as the position when the voltage is 0V.
Page 654 ASDA-A3 Parameters Address: 0184H P1.066 Analog Position command - maximum cycle number 0185H Operation Panel / software Communication Control mode: PT interface: Default: 0.0 Data size: 16-bit Unit: 1 cycle 0.1 cycle Format: One decimal Setting range: 0.0 to 200.0 0 to 2000 Example: 1.5 = 1.5 cycles 15 = 1.5 cycles...
Page 655 Parameters ASDA-A3 Address: 0190H P1.072 Resolution of auxiliary encoder for full-closed loop control 0191H Default: 5000 Control mode: PT/PR* (full-closed loop) Unit: pulse/rev Setting range: 200 to 1280000 Format: DEC Data size: 32-bit Settings: The number of A/B pulses corresponding to a full-closed loop when the motor runs a cycle (after quadruple frequency).
Page 656 ASDA-A3 Parameters Address: 0194H P1.074 Full-closed loop control switch 0195H Default: 0x0000 Control mode: PT/PR* (full-closed loop) Unit: - Setting range: 0000h to F132h Format: HEX Data size: 16-bit Settings: Feedback direction (positive / negative) Full-closed loop / Gantry function switch of auxiliary encoder Filter width setting for CN5 feedback Selection of OA / OB / OZ output source...
Page 657 Parameters ASDA-A3 You should set the filter width as 4 times smaller than the actual pulse width. Filter width (pulse frequency) Filter width (pulse frequency) U value U value Unit: μs (kHz) Unit: μs (kHz) Bypass 0.9 (555) 0.2 (2500) 1.0 (500) 0.3 (1666) 1.1 (454)
Page 658 ASDA-A3 Parameters Address: 019CH P1.078 Gain switching delay time 019DH Default: 0 Control mode: PT / PR / S / Sz Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings: When using the gain switching function (P2.027.X = 3 or 7), you can use this parameter to set the delay time after the switching condition is met.
Page 659 Parameters ASDA-A3 Address: 01A4H P1.082 Time constant for switching between P1.040 and P1.081 01A5H Default: 0 Control mode: S / T Unit: ms Setting range: 0 to 1000 (0: disable this function) Format: DEC Data size: 16-bit Settings: 0: disable this function. Address: 01A6H P1.083 Abnormal analog input voltage level...
Page 660 ASDA-A3 Parameters Example:  Error clearing enabled (P1.084.X = 0) Diagram of error clearing when the system switches Auxiliary encoder between full- and semi-closed loop modes Feedback P1.084.X = 0 position Motor encoder 21000 19000 After the system switches from the semi-closed loop to full-closed loop 11000...
Page 661 Parameters ASDA-A3  Error clearing disabled (P1.084.X = 1) Diagram of error clearing when the system switches Auxiliary encoder between full- and semi-closed loop modes P1.084.X = 1 Feedback Motor encoder position 22000 21000 20000 19000 After the system switches from the semi-closed loop to 11000 full-closed loop mode,...
Page 662 ASDA-A3 Parameters Auto clearing of the feedback position error between the Address: 01AAH P1.085 main encoder and auxiliary encoder 01ABH Default: 0 Control mode: PT / PR* (full-closed loop) Unit: rev Setting range: 0 to 32768 (0: disable this function) Format: DEC Data size: 16-bit Settings:...
Page 663 Parameters ASDA-A3 Protector Level reached timer P1.088 Maximum torque output Torque level detection P1.087 Torque curve when the servo searches for the hard stop Starting point Torque curve when the servo searches for Z pulse Z pulse Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087). For example: set P1.087 to 50%, and then the maximum torque output of the motor is 60%.
Page 664 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 Vibration elimination 1 - resonance frequency 01B5H Default: 4000 Control mode: PT / PR...
Page 665 Parameters ASDA-A3 Address: 01BCH P1.094 Vibration elimination 2 - resonance difference 01BDH Default: 10 Control mode: PT / PR Unit: 0.1 dB Setting range: 10 to 4000 Format: DEC Data size: 16-bit Settings: Attenuation rate for the second set of low frequency vibration elimination. P1.095 - Reserved P1.096...
Page 666 ASDA-A3 Parameters Example 1 (the value must be multiplied by 4 times the frequency): When P1.097 = 0 and P1.046 = 2500, Rotary motor: P1.046*4 = 10,000 pulses, indicating OA / OB outputs 10,000 pulses when the rotary motor rotates 1 cycle. Linear motor: P1.046*4 = 10,000 pulses, indicating OA / OB outputs 10,000 pulses when the linear motor runs 1 meter.
Page 667 Parameters ASDA-A3 Address: 01CAH P1.101■ Analog monitor output voltage 1 01CBH Default: 0 Control mode: All Unit: mV Setting range: -10000 to +10000 Format: DEC Data size: 16-bit Settings: When you set 6 for the monitor source of P0.003 [YX], then the analog monitor output voltage refers to the voltage value of P1.101.
Page 668 ASDA-A3 Parameters Address: 01D4H P1.106 Motor hard stop 2 - torque lower limit 01D5H Default: 0 Control mode: All Unit: % Setting range: -300 to +300 Format: DEC Data size: 16-bit Settings: When Motor hard stop 2 is enabled (P2.112 [Bit 8] = 1), the settings of torque percentage (P1.057) and level offset (P1.060) for Motor hard stop 1 are invalid.
Page 669 Parameters ASDA-A3 Address: 01F0H P1.120 STO deactivation settings (400V models) 01F1H Default: 3 Control mode: All Unit: - Setting range: 0 to 3 Format: DEC Data size: 16-bit Settings: Set P1.120 to deactivate the STO function according to the usage requirements. Refer to Section 3.11.5.3 for details of the timing diagram.
Page 670: P2.Xxx Extension Parameters
ASDA-A3 Parameters P2.xxx Extension parameters Address: 0200H P2.000 Position control gain 0201H Default: 35 Control mode: PT / PR Unit: rad/s Setting range: 0 to 2047 Format: DEC 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 671 Parameters ASDA-A3 Address: 0208H P2.004 Speed control gain 0209H Default: 500 Control mode: PT / PR / S / Sz Unit: rad/s Setting range: 0 to 8191 Format: DEC 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 672 ASDA-A3 Parameters Address: 0210H P2.008■ Special parameter write-in function 0211H Default: 0 Control mode: All Unit: - Setting range: 0 to 501 Format: DEC Data size: 16-bit Settings: Special parameter write-in function: Setting value Function Reset parameter groups P0 - P7 (cycle the power after reset). Reset parameter group PM (cycle the power after reset).
Page 673 Parameters ASDA-A3  Z: input contact: A or B contact 0: set this input contact to be normally closed (B contact) 1: set this input contact to be normally open (A contact) When these parameters are modified, re-start the servo drive to ensure it functions normally. Use P3.006 to change the source for the digital input signal, which can be either an external terminal block or the communication parameter P4.007.
Page 674 ASDA-A3 Parameters Address: 021EH P2.015 DI6 functional planning 021FH 0x0022 (A3-L, A3-M) Default: Control mode: All 0x0023 (A3-F, A3-E) Setting range: 0x0000 - 0x015F (last two codes Unit: - are DI codes) Format: HEX Data size: 16-bit Settings: Refer to the description of P2.010. Address: 0220H P2.016 DI7 functional planning...
Page 675 Parameters ASDA-A3 Address: 0224H P2.018 DO1 functional planning 0225H Default: 0x0101 Control mode: All Setting range: 0x0000 - 0x014F (last two codes Unit: - are DO codes) Format: HEX Data size: 16-bit Settings: Output function selection Output contact: A or B contact Reserved ...
Page 676 ASDA-A3 Parameters Address: 022AH P2.021 DO4 functional planning 022BH 0x0105 (A3-L, A3-M) Default: Control mode: All 0x0007 (A3-F, A3-E) Setting range: 0x0000 - 0x014F (last two codes Unit: - are DO codes) Format: HEX Data size: 16-bit Settings: Refer to the description of P2.018. Address: 022CH P2.022 DO5 functional planning...
Page 677 Parameters ASDA-A3 Address: 0232H P2.025 Resonance suppression low-pass filter 0233H Operation Panel / software Communication Control mode: All interface: Default: 1.0 Data size: 16-bit Unit: 1 ms 0.1 ms Setting range: 0.0 to 100.0 0 to 1000 Format: One decimal Example: 1.5 = 1.5 ms 15 = 1.5 ms Settings:...
Page 678 ASDA-A3 Parameters Address: 0236H P2.027 Gain switching condition and method selection 0237H Default: 0x0000 Control mode: Refer to X: gain switching condition Unit: - Setting range: 0x0000 - 0x0018 Format: HEX Data size: 16-bit Settings: Gain switching condition Reserved Gain switching method Reserved ...
Page 679 Parameters ASDA-A3 When P2.027.X is set to 3 or 7 and P1.078 (Gain switching delay time) is set, the gain parameter during the delay time is shown as follows. P2.027.X = 3 P2.029 P0.002 = 6 Pulse command frequency P1.078 P2.027.Y = 0 P2.027.Y = 1 Refer to the After...
Page 680 ASDA-A3 Parameters Address: 023CH P2.030■ Auxiliary function 023DH Default: 0 Control mode: All Unit: - Setting range: -8 to +8 Format: DEC Data size: 16-bit Settings: Value Function Disable all functions described as follows. Switch servo to Servo On state. This setting makes all parameter settings volatile.
Page 681 Parameters ASDA-A3 Settings: The servo drive provides the following gain adjustment modes for fine tuning. You can then easily complete tuning by increasing or decreasing the bandwidth response level (P2.031). Recommendations for tuning the machine are in Section 5.1. Parameter Value Adjustment mode Inertia estimation...
Page 682 ASDA-A3 Parameters P2.033 Reserved Address: 0244H P2.034 Excessive deviation warning condition of Speed command 0245H Default: 5000 Control mode: S / Sz 1 rpm (rotary)* 1 to 30000 (rotary)* Unit: Setting range: 1 mm/s (linear)* 1 to 15999 (linear)* Format: DEC Data size: 16-bit Settings: In Speed mode, this parameter sets the acceptable difference between the command speed and the...
Page 683 Parameters ASDA-A3 Address: 024AH P2.037 DI10 functional planning 024BH Default: 0x0100 Control mode: All 0x0000 - 0x015F (last two codes Unit: - Setting range: are DI codes) Format: HEX Data size: 16-bit Settings: Refer to the description of P2.010. If there is no physical pin for DI10 on the model, use DI10 as a virtual digital input when the number of physical DI points is insufficient or a trigger through communication.
Page 684 ASDA-A3 Parameters Address: 0250H P2.040 DI13 functional planning 0251H Default: 0x0100 Control mode: All 0x0000 - 0x015F (last two codes Unit: - Setting range: are DI codes) Format: HEX Data size: 16-bit Settings: Refer to the description of P2.010. If there is no physical pin for DI13 on the model, use DI13 as a virtual digital input when the number of physical DI points is insufficient or a trigger through communication.
Page 685 Parameters ASDA-A3 Address: 025AH P2.045 Notch filter 3 - frequency 025BH Default: 1000 Control mode: All Unit: Hz Setting range: 50 to 5000 Format: DEC Data size: 16-bit Settings: The resonance frequency of the third Notch filter. This function is disabled if P2.046 is 0. P2.045, P2.046, and P2.097 are the third set of Notch filter parameters.
Page 686 ASDA-A3 Parameters (3) If you keep the setting of X as 1, the known resonance suppression points will not be cleared, but they are not written to EEPROM yet. They are written to EEPROM when the servo determines it is stable. 2: auto resonance suppression mode 2;...
Page 687 Parameters ASDA-A3  Z: fixed resonance suppression parameter In auto resonance suppression mode, you can set the resonance suppression parameters manually by setting P2.047.Z. Function Description 0: auto resonance suppression Notch 5 auto / manual setting 1: manually set the fifth set of resonance suppression parameters 1 to 3 Reserved...
Page 688 ASDA-A3 Parameters Address: 0264H P2.050 Position error clear setting 0265H Default: 0x0000 Control mode: PT, PR Unit: - Setting range: 0x0000 - 0x0001 Format: HEX Data size: 16-bit Settings: Refer to Table 8.1 for digital input descriptions. Set the digital input (DI: 0x04) as CCLR to enable this function.
Page 689 Parameters ASDA-A3 Address: 026CH P2.054▲ Synchronous speed control gain 026DH Default: 0 Control mode: PT Unit: rad/s Setting range: 0 to 8191 Format: DEC Data size: 16-bit Settings: Increase the synchronous speed control gain to enhance the speed following between two motors. If the value is too high, it may cause vibration and noise.
Page 690 ASDA-A3 Parameters Address: 0272H P2.057▲ Synchronous control bandwidth 0273H Default: 0 Control mode: PT Unit: Hz Setting range: 0 to 1023 Format: DEC 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 691 Parameters ASDA-A3 Address: 0278H P2.060 E-Gear ratio - numerator N2 0279H Default: 16777216 Control mode: PT Unit: pulse Setting range: 1 to (2 Format: DEC Data size: 32-bit Settings: The numerator of the E-Gear ratio can be selected with DI.GNUM0 and DI.GNUM1 (refer to Table 8.1). If both DI.GNUM0 and DI.GNUM1 are not defined, P1.044 is the default numerator of the E-Gear ratio.
Page 692 ASDA-A3 Parameters Address: 0282H P2.065 Special bit register 1 0283H Default: 0x0300 Control mode: All Unit: - Setting range: 0x0000 - 0xFFFF Format: HEX Data size: - Settings: Function Description Bit 0 - Bit 3 Reserved After enabling this function, you must conduct the continuous point-to-point motion to automatically write the estimated values to P1.062 and P1.063.
Page 693 Parameters ASDA-A3 Bit 10 Bit 10 = 0 and command source is the analog voltage. The ZCLAMP function uses the analog Speed command without acceleration or deceleration to determine if this function should be enabled. The motor is clamped at the position where ZCLAMP conditions are met. Motor speed (Before conditions for switching Analog Speed command...
Page 694 ASDA-A3 Parameters Bit 10 Motor speed (Before conditions for switching ZCLAMP to on are met) Analog Speed command Motor speed P1.038 (After conditions for switching ZCLAMP to on are met) Bit 10 = 1 and command source is the internal register. The ZCLAMP function uses the register Speed command with acceleration or deceleration to determine if this function should be enabled.
Page 695 Parameters ASDA-A3 Address: 0284H P2.066 Special bit register 2 0285H Default: 0x0030 Control mode: All Unit: - Setting range: 0x0000 - 0x187F Format: HEX Data size: 16-bit Settings: Function Description Bit 0, Bit 1 Reserved 0: latch enabled; the undervoltage error is not cleared automatically.
Page 696 ASDA-A3 Parameters Address: 0288H P2.068 Following error compensation switch 0289H PR / CANopen / EtherCAT / Default: 0x00000000 Control mode: DMCNET Unit: - Setting range: 0x00000000 - 0x00002101 Format: HEX Data size: 32-bit Settings: High word Low word Reserved Following error compensation switch Reserved Reserved Reserved...
Page 697 Parameters ASDA-A3  X: operation mode setting 0: incremental mode. An absolute type motor can be operated as an incremental type motor. 1: absolute mode. This setting is only applicable to an absolute type motor. If it is used for an incremental type motor, AL069 occurs.
Page 698 ASDA-A3 Parameters Address: 028EH P2.071■ Absolute position reset 028FH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 - 0x0001 Format: HEX Data size: 16-bit Settings: Set P2.071 to 0x0001 to reset the current absolute position of the encoder. The clearing function is enabled by setting P2.008 to 271 and P2.069.X to 1.
Page 699 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 00, any shortage of pulse numbers is not stored in PR.
Page 700 ASDA-A3 Parameters Address: 0298H P2.076■ E-Cam: phase alignment control switch 0299H Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 - 0x6FF7 Format: HEX Data size: 16-bit Settings: Alignment forward direction allowable rate E-Cam alignment control Filter intensity (0 - F) ...
Page 701 Parameters ASDA-A3 Address: 029AH P2.077■ E-Cam: pulse masking and virtual pulse for master axis 029BH Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 - 0xFF7D Format: HEX Data size: 16-bit Settings: Pulse data when master axis performs continuous Pulse masking function of master axis / pulse forward / reverse running or JOG operation input method of master axis...
Page 702 ASDA-A3 Parameters  Y: masking pulse / virtual pulse for initial lead adjustment Function Description Function disabled Virtual pulse number is not written to P5.087 (initial lead). 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 703 Parameters ASDA-A3 Address: 029CH P2.078 E-Cam: DO.CAM_AREA2 rising-edge phase 029DH Default: 270 Control mode: PR Unit: Degree Setting range: 0 to 360 Format: DEC Data size: 16-bit Settings: See the correlation between DO.CAM_AREA2 (DO: 0x1A) and the parameters in the following figure. When E-Cam is not engaged, this signal is always off.
Page 704 ASDA-A3 Parameters After the full-closed loop function is enabled (P1.074.X = 1), restart and set the Capture function. Z phase source of full-closed loop homing Reserved Z phase source of semi-closed loop homing Reserved  X: Z phase source of full-closed loop homing 0: auxiliary encoder 1: motor ...
Page 705 Parameters ASDA-A3 Address: 02A6H P2.083 Exceed Z signal detection 02A7H Default: 2000 Control mode: All Unit: pulse Setting range: 0 to 2 Format: DEC Data size: 32-bit Settings: This parameter detects if the motor encounters a new Z signal when operating. It is suggested that you set this parameter as half the number of pulses between two Z signals.
Page 706 ASDA-A3 Parameters Address: 02B0H P2.088 Motor special bit register 02B1H Default: 0x0000 Control mode: PT / PR / S / Sz Unit: - Setting range: 0x0000 to 0xFFFF Format: HEX Data size: 16-bit Settings: Function Description Bit 0 - Bit 2 Reserved 0: do not adjust the strength of the speed loop integrator.
Page 707 Parameters ASDA-A3 Address: 02B6H P2.091 Two degree of freedom mode - position feed forward gain 02B7H Default: 1000 Control mode: PT / PR Unit: 0.1% Setting range: 0 to 3000 Format: DEC Data size: 16-bit Settings: This parameter reduces the following error of the motor. If the value is set too high, it may cause overshoot during positioning.
Page 708 ASDA-A3 Parameters Function Description Switch for AL007 detection in Position mode (PT and PR) Switch for AL007 Bit 6 detection in Position 0: disable AL007 detection (default). mode 1: enable AL007 detection. Switch for the brake resistor temperature protection when the input voltage is too high Bit 7 Switch for AL086...
Page 709 Parameters ASDA-A3 Address: 02C2H P2.097 Notch filter 3 - Q factor 02C3H Default: 5 Control mode: All Unit: - Setting range: 1 to 10 Format: DEC Data size: 16-bit Settings: The resonance Q factor of the third Notch filter. This function is disabled if P2.046 is 0. P2.045, P2.046, and P2.097 are the third set of Notch filter parameters.
Page 710 ASDA-A3 Parameters Address: 02CAH P2.101 Notch filter 5 - frequency 02CBH Default: 1000 Control mode: All Unit: Hz Setting range: 50 to 5000 Format: DEC Data size: 16-bit Settings: The resonance frequency of the fifth Notch filter. This function is disabled if P2.102 is 0. P2.101, P2.102, and P2.103 are the fifth set of Notch filter parameters.
Page 711 Parameters ASDA-A3 Address: 02D2H P2.105 Automatic gain adjustment level 1 02D3H Default: 11 Control mode: All Unit: - Setting range: 1 to 21 Format: DEC Data size: 16-bit Settings: Use this parameter to adjust the bandwidth when auto-tuning. The higher the value, the higher the bandwidth after auto-tuning.
Page 712 ASDA-A3 Parameters Address: 02D4H P2.106 Automatic gain adjustment level 2 02D5H Default: 2000 Control mode: All Unit: pulse Setting range: 1 to 50331648 Format: DEC Data size: 32-bit Settings: Use this parameter to adjust the maximum allowable overshoot when auto-tuning. The overshoot range is set according to either the user’s requirement or the machine characteristics.
Page 713 Parameters ASDA-A3 Address: 02E0H P2.112▲ Special bit register 4 02E1H Default: 0x0018 Control mode: All Unit: - Setting range: 0x0000 to 0x153F Format: HEX Data size: 16-bit Settings: Function Description Bit 0 Reserved 0: disable AL089 Bit 1 Enable AL089 1: enable AL089 Bit 2 - Bit 7 Reserved...
Page 714 ASDA-A3 Parameters Address: 02E2H P2.113 Bandwidth of disturbance attenuation 02E3H Default: 50 Control mode: T Unit: Hz Setting range: 0 - 3000 Format: DEC Data size: 16-bit Settings: The disturbance attenuation function is disabled when P2.114 is 0. It is recommended that you set P2.113 to the default of 50.
Page 715 Parameters ASDA-A3 Address: 02E0H P2.121 Special bit register 6 02E1H Default: 0x00000000 Control mode: All Unit: - Setting range: 0x00000000 to 0x000001FF Format: HEX Data size: 32-bit Settings: Function Description Bit 0 Reserved 0: after homing, execute absolute postioning to the Behavior after homing in position with the offset distance set in OD 607Ch Bit 1...
Page 716 Bit 8 - Bit 10 Reserved The setting takes effect after power cycling of the Detection switch for monitoring servo drive. Bit 11 variable -213 (Delta linear scale signal 0: on strength) 1: off Bit 12 - Bit 15 Reserved Address: 02FCH P2.126...
Page 717: P3.Xxx Communication Parameters
Parameters ASDA-A3 P3.xxx Communication parameters Address: 0300H P3.000● Address 0301H Default: 0x007F Control mode: All 0x0001 - 0x007F (A3-M, A3-L, A3-F) Unit: - Setting range: 0x0001 - 0xFFFF (A3-E) Format: HEX Data size: 16-bit Settings: Communication address setting Reserved The address setting required for using RS-485, CANopen, and DMCNET communication. Make sure there are no duplicate addresses in the same communication circuit, or it may cause communication failure.
Page 718 ASDA-A3 Parameters  U: DMCNET motion card 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 transmission speed of USB is set at 1.0 Mbit/s and cannot be changed.
Page 719 Parameters ASDA-A3 Address: 030AH P3.005 Modbus communication 030BH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 - 0x0112 Format: HEX Data size: 16-bit Settings: During Modbus communication, when the function code is 03H or 10H (read or write multiple words), Reserved the system gives priority to read or write high-byte data.
Page 720 ASDA-A3 Parameters Address: 030EH P3.007 Modbus communication response delay time 030FH Default: 1 Control mode: All Unit: 0.5 ms Setting range: 0 to 1000 Format: DEC Data size: 16-bit Settings: Delays the time of communication response from servo drive to controller. P3.008 Reserved Address: 0312H...
Page 721 Parameters ASDA-A3 Address: 0314H P3.010 CANopen / DMCNET protocol 0315H Default: 0x1011 Control mode: CANopen / DMCNET Unit: - Setting range: 0x0000 - 0xFFFF Format: HEX Data size: 16-bit Settings: Reserved Source of torque limit Motor status when communication error occurs Auto clearing of PDO alarm ...
Page 722 ASDA-A3 Parameters Address: 0318H P3.012 Communication support setting 0319H Default: 0x0000 Control mode: CANopen / DMCNET / EtherCAT Unit: - Setting range: 0x0000 - 0x1111 Format: HEX Data size: 16-bit Settings: Reserved Load in CANopen / DMCNET / EtherCAT parameter values Reserved Error clearing when the limit alarm occurs ...
Page 723 Parameters ASDA-A3 Methods to write parameters to EEPROM (non-volatile): SDO: parameters are stored in EEPROM when written. PDO: refer to the setting of P3.011.X. (X = 1: when written through PDOs, parameters are stored in EEPROM; X = 0: when written through PDOs, parameters are not stored in EEPROM.) Note: When the function of OD 1010h (Store parameters) is enabled, the CANopen OD value is stored in non-volatile memory.
Page 724 ASDA-A3 Parameters  Y: Z phase offset source in full-closed loop mode 0: motor 1: auxiliary encoder 2: in semi-closed loop control, it is the motor’s Z phase offset; in full-closed loop control, it is the auxiliary encoder’s Z phase offset. Note: This parameter setting is different from P1.074.Y (switch between motor encoder and auxiliary encoder).
Page 725 Parameters ASDA-A3  A: source setting for the content loaded to the EtherCAT Station Alias Register 0x0012 after the servo drive is powered on. 0: determined by the EtherCAT EEPROM station number field (ADR 0x0004) setting, which needs to be set via the controller interface. 1: determined by the station number set with servo parameter P3.000.
Page 726 ASDA-A3 Parameters Address: 032CH P3.022 EtherCAT PDO timeout setting 032DH Default: 0xFF04 Control mode: EtherCAT Unit: - Setting range: 0x0002 - 0xFF14 Format: HEX Data size: 16-bit Settings: When using the PDO to transmit data periodically, use this parameter to set the timeout setting. The following two sets of digits specify the trigger conditions for AL180 and AL3E3 respectively to ensure that the servo drive receives the PDO.
Page 727: P4.Xxx Diagnosis Parameters
Parameters ASDA-A3 P4.xxx Diagnosis parameters Address: 0400H P4.000 Fault record (last) 0401H Default: 0x00000000 Control mode: All Unit: - Setting range: - Format: HEX 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 / EtherCAT. For example, when the low word displays ALF21, the high word displays the error code of ALF21.
Page 728 ASDA-A3 Parameters Address: 0406H Fault record (fourth to the last) P4.003★ 0407H Default: 0x00000000 Control mode: All Unit: - Setting range: - Format: HEX Data size: 32-bit Settings: The fourth to last abnormal status record. Low word (LXXXX): the alarm number. High word (hYYYY): the error code corresponding to CANopen / DMCNET / EtherCAT.
Page 729 Parameters ASDA-A3 3. USB / RS-485 communication control: Set the JOG speed (1 - 4997, 5000) for operation to P4.005, and then set P4.005 to 4999 or 4998 for positive or negative direction. To stop the motor operation, set P4.005 to 0. 0: stop operation 1 - 4997, 5000: JOG speed 4998*...
Page 730 ASDA-A3 Parameters Address: 040EH P4.007■ Multi-function for digital input 040FH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 - 0x3FFF Format: HEX Data size: 16-bit Settings: The source of the DI input signal can be the external terminal (DI1 - DI5) or the software (SDI1 - SDI5 corresponding to Bits 0 - 4 of P4.007), which is determined by P3.006.
Page 731 Parameters ASDA-A3 Address: 0414H P4.010▲■ Hardware calibration options 0415H Default: 0 Control mode: All Unit: - Setting range: 0 to 14 Format: DEC Data size: 16-bit Settings: 4: calibrate the offset of the current detector (W 0: reserved phase) 1: calibrate the offset of the analog speed input 5: calibrate the offset of options 1 - 4 hardware 2: calibrate the offset of the analog torque input...
Page 732 ASDA-A3 Parameters Address: 041CH P4.014 Analog torque input 2 - hardware offset calibration 041DH Default: Factory setting Control mode: All Unit: - Setting range: 13926 to 18842 Format: DEC Data size: 16-bit Settings: Manually calibrate the hardware offset. The function must be enabled by setting P2.008. Do not change the auxiliary calibration as this parameter cannot be reset.
Page 733 Parameters ASDA-A3 Address: 0424H P4.018 Current detector (W2 phase) - hardware offset calibration 0425H Default: Factory setting Control mode: All Unit: - Setting range: 13926 to 18842 Format: DEC Data size: 16-bit Settings: Manually calibrate the hardware offset. The function must be enabled by setting P2.008. Do not change the auxiliary calibration as this parameter cannot be reset.
Page 734 ASDA-A3 Parameters Address: 042CH P4.022 Analog speed input - offset compensation value 042DH Default: 0 Control mode: S Unit: mV Setting range: -5000 to +5000 Format: DEC Data size: 16-bit Settings: Manually adjust the compensation value for the offset. Address: 042EH P4.023 Analog torque input - offset compensation value 042FH...
Page 735 Parameters ASDA-A3 Address: 0458H P4.044 Special bit register 5 0459H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 - 0x0003 Format: HEX Data size: 16-bit Settings: Single-direction torque limit setting Reserved Reserved Reserved X: this parameter limits the torque of the motor. The area with the background color is the torque limit area.
Page 736 ASDA-A3 Parameters P4.044.X P1.012 P1.112 Operating range ≥ 0 > |P1.112| < 0 ≥ 0 Disable P1.012 (P1.002.Y = 0) < 0 ≥ 0 < |P1.112| min. max. < 0 P1.112 -|P1.012| |P1.012| ≥ 0 > |P1.112| < 0 ≥ 0 Disable P1.012 (P1.002.Y = 0) <...
Page 737: P5.Xxx Motion Control Parameters
Parameters ASDA-A3 P5.xxx Motion control parameters Address: 0500H Firmware subversion P5.000★■ 0501H Default: Factory setting Control mode: All Unit: - Setting range: - Format: DEC Data size: 32-bit Settings: The low word is the subversion of the firmware. P5.001 - Reserved P5.002 Address: 0506H...
Page 738 ASDA-A3 Parameters Address: 0508H P5.004 Homing methods 0509H Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 - 0x012A Format: HEX Data size: 16-bit Settings: Homing method Limit setting Z pulse setting Reserved Definition of each setting value: Reserved Limit setting Z pulse setting Homing method...
Page 739 Parameters ASDA-A3 Address: 050AH P5.005 High speed homing (first speed setting) 050BH Operation Panel / software Communication Control mode: PR (set with P5.004) interface: 100.0 (rotary)* Default: 1000 Data size: 32-bit 1000 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 μm/s (linear)* 1 μm/s (linear)* 0.1 to 2000.0 (rotary)*...
Page 740 ASDA-A3 Parameters Address: 050EH P5.007■ Trigger Position command (PR mode only) 050FH Default: 0 Control mode: PR Unit: - Setting range: 0 to 1000 Format: DEC Data size: 16-bit Settings: Set P5.007 to 0 to start homing. Set P5.007 to 1 - 99 to execute the specified PR procedure, which is the same as using DI.CTRG+POSn.
Page 741 Parameters ASDA-A3 Address: 0512H P5.009 Negative software limit 0513H Default: -2147483648 Control mode: PR Unit: PUU Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: In PR mode, if the motor moves in the negative direction and its feedback position exceeds the value of P5.009, AL285 occurs.
Page 742 ASDA-A3 Parameters Address: 051AH P5.013■ Data array: window #2 for reading and writing 051BH Default: 0 Control mode: All Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Window #2: when read with the panel or read and written through communication, the value set by P5.011 adds 1, but this parameter is not writable with the panel.
Page 743 Parameters ASDA-A3 Address: 0520H P5.016■ Axis position - main encoder 0521H Default: 0 Control mode: All Unit: PUU Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Read: feedback position of the main encoder, which is the monitoring variable 000 (00h) + offset value (value written in P5.016).
Page 744 ASDA-A3 Parameters Address: 0528H P5.020 Acceleration / deceleration time #0 0529H Default: 200 Control mode: PR ms (P2.068.U = 0) Unit: Setting range: 1 to 65500 10 ms (P2.068.U = 1) Format: DEC Data size: 16-bit Settings: The time setting for acceleration / deceleration in PR mode. Rotary motor: the duration to accelerate from 0 to 3,000 rpm.
Page 745 Parameters ASDA-A3 Address: 0530H P5.024 Acceleration / deceleration time #4 0531H Default: 800 Control mode: PR ms (P2.068.U = 0) Unit: Setting range: 1 to 65500 10 ms (P2.068.U = 1) Format: DEC Data size: 16-bit Settings: The time setting for acceleration and deceleration in PR mode. Refer to P5.020 for details. Address: 0532H P5.025 Acceleration / deceleration time #5...
Page 746 ASDA-A3 Parameters Address: 053AH P5.029 Acceleration / deceleration time #9 053BH Default: 2000 Control mode: PR ms (P2.068.U = 0) Unit: Setting range: 1 to 65500 10 ms (P2.068.U = 1) Format: DEC Data size: 16-bit Settings: The time setting for acceleration and deceleration in PR mode. Refer to P5.020 for details. Address: 053CH P5.030 Acceleration / deceleration time #10...
Page 747 Parameters ASDA-A3 Address: 0544H P5.034 Acceleration / deceleration time #14 0545H Default: 50 Control mode: PR ms (P2.068.U = 0) Unit: Setting range: 1 to 1500 10 ms (P2.068.U = 1) Format: DEC Data size: 16-bit Settings: The deceleration time setting for auto-protection. The default value is small for faster deceleration. Address: 0546H P5.035 Acceleration / deceleration time #15...
Page 748 ASDA-A3 Parameters Address: 054CH P5.038■ Capture: number of capturing times 054DH Default: 1 Control mode: All 1 to (value set by P5.010 minus Unit: - Setting range: value set by P5.036) Format: DEC Data size: 16-bit Settings: When Capture is not in operation, this parameter indicates the number of data sets expected to be captured (readable and writable).
Page 749 Parameters ASDA-A3  U: minimum interval between each trigger (unit: ms) Note: refer to Chapter 7 for detailed instructions for Capture. Address: 0550H P5.040 Delay time #0 after position reached 0551H Default: 0 Control mode: PR Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings:...
Page 750 ASDA-A3 Parameters Address: 0558H P5.044 Delay time #4 after position reached 0559H Default: 500 Control mode: PR Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings: Delay time #4 in PR mode. Address: 055AH P5.045 Delay time #5 after position reached 055BH Default: 800 Control mode: PR...
Page 751 Parameters ASDA-A3 Address: 0562H P5.049 Delay time #9 after position reached 0563H Default: 2500 Control mode: PR Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings: Delay time #9 in PR mode. Address: 0564H P5.050 Delay time #10 after position reached 0565H Default: 3000 Control mode: PR...
Page 752 ASDA-A3 Parameters Address: 056CH P5.054 Delay time #14 after position reached 056DH Default: 5000 Control mode: PR Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings: Delay time #14 in PR mode. Address: 056EH P5.055 Delay time #15 after position reached 056FH Default: 5500 Control mode: PR...
Page 753 Parameters ASDA-A3 Address: 0574H P5.058■ Compare: number of comparing times 0575H Default: 1 Control mode: All 1 to (value set by P5.010 minus Unit: - Setting range: value set by P5.056) Format: DEC Data size: 16-bit Settings: When Compare is not in operation, this parameter indicates the number of data sets expected to be compared (readable and writable).
Page 754 ASDA-A3 Parameters  Z: trigger logic 0: NO (normally open) 1: NC (normally closed)  U: trigger PR Function Description Execute PR Execute PR#45 automatically after comparing is complete. 1 to 3 Reserved  CBA: duration of pulse output (unit: 1 ms) Note: refer to Chapter 7 for detailed instructions for Compare.
Page 755 Parameters ASDA-A3 Address: 057CH P5.062 Target speed setting #2 057DH Operation Panel / software Communication Control mode: PR interface: 100.0 (rotary)* Default: 1000 Data size: 32-bit 100 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 μm/s (linear)* 1 μm/s (linear)* 0.0 to 7500.0 (rotary)* 0 to 75000 (rotary)* Setting range:...
Page 756 ASDA-A3 Parameters Address: 0580H P5.064 Target speed setting #4 0581H Operation Panel / software Communication Control mode: PR interface: 300.0 (rotary)* Default: 3000 Data size: 32-bit 300 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 μm/s (linear)* 1 μm/s (linear)* 0.0 to 7500.0 (rotary)* 0 to 75000 (rotary)* Setting range:...
Page 757 Parameters ASDA-A3 Address: 0584H P5.066 Target speed setting #6 0585H Operation Panel / software Communication Control mode: PR interface: 600.0 (rotary)* Default: 6000 Data size: 32-bit 600 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 μm/s (linear)* 1 μm/s (linear)* 0.0 to 7500.0 (rotary)* 0 to 75000 (rotary)* Setting range:...
Page 758 ASDA-A3 Parameters Address: 0588H P5.068 Target speed setting #8 0589H Operation Panel / software Communication Control mode: PR interface: 1000.0 (rotary)* Default: 10000 Data size: 32-bit 1000 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 μm/s (linear)* 1 μm/s (linear)* 0.0 to 7500.0 (rotary)* 0 to 75000 (rotary)* Setting range:...
Page 759 Parameters ASDA-A3 Address: 058EH P5.071 Target speed setting #11 058FH Operation Panel / software Communication Control mode: PR interface: 1800.0 (rotary)* Default: 18000 Data size: 32-bit 1800 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 10 μm/s (linear)* 10 μm/s (linear)* 0.0 to 7500.0 (rotary)* 0 to 75000 (rotary)* Setting range:...
Page 760 ASDA-A3 Parameters Address: 0594H P5.074 Target speed setting #14 0595H Operation Panel / software Communication Control mode: PR interface: 2500.0 (rotary)* Default: 25000 Data size: 32-bit 2500 (linear)* 1 rpm (rotary)* 0.1 rpm (rotary)* Unit: 1 μm/s (linear)* 1 μm/s (linear)* 0.0 to 7500.0 (rotary)* 0 to 75000 (rotary)* Setting range:...
Page 761 Parameters ASDA-A3 Address: 059AH P5.077■ E-Cam: position for synchronous Capture axis 059BH Default: 0 Control mode: PR Unit: Pulse unit of master axis Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: This parameter indicates the position for the synchronous Capture axis, which can be used as the command source for the E-Cam master axis (P5.088.Y = 5).
Page 762 ASDA-A3 Parameters E-Cam: maximum correction rate for synchronous Address: 05A0H P5.080 Capture axis 05A1H Default: 10 Control mode: PR Unit: % Setting range: 0 to 90 Format: DEC Data size: 16-bit Settings: This parameter limits the correction rate (%) of the synchronous Capture axis. Correction rate = Pulse number output by the synchronous axis / Pulse number input by the synchronous axis.
Page 763 Parameters ASDA-A3 Address: 05A6H P5.083 E-Cam: master gear ratio setting - cycle number (M) 05A7H Default: 1 Control mode: PR Unit: - Setting range: 1 to 32767 Format: DEC Data size: 16-bit Settings: When the slave axis receives the pulse number of the master axis defined by P5.084, E-Cam rotates the number of cycles defined by P5.083 (one cycle of E-Cam = rotate from 0°...
Page 764 ASDA-A3 Parameters Address: 05AEH P5.087 E-Cam: initial lead pulse before engaged 05AFH Default: 0 Control mode: PR Unit: Pulse unit of master axis Setting range: -1073741824 to +1073741823 Format: DEC Data size: 32-bit Settings: When the E-Cam engagement condition (P5.088.Z) is met, the pulse number from the master axis has to exceed the value of this parameter for the E-Cam to fully engage.
Page 765 Parameters ASDA-A3 4: time axis (1 ms) 5: synchronous Capture axis (P5.077) 6: analog voltage command (unit: 1M pulse/s per 10V)  Z: engagement condition 0: immediately 1: trigger DI.CAM 2: any position data is captured  U: disengagement condition (+ indicates multiple conditions, but 2, 4, and 6 cannot be selected at the same time) Clutch disengagement condition Status after disengaged...
Page 766 ASDA-A3 Parameters  BA: auto execute the specified PR path Set the PR path number for auto execution when the disengagement condition (P5.088.U = 2, 4, 6) is met. Use hexadecimal notation to specify PR#1 - 99 (01 - 63h) and 00 indicates not to continue with a PR command.
Page 767 Parameters ASDA-A3 Address: 05B6H P5.091 E-Cam: DO.CAM_AREA1 falling-edge phase 05B7H Default: 360 Control mode: PR Unit: Degree Setting range: 0 to 360 Format: DEC Data size: 16-bit Settings: Refer to P5.090 for the correlation between DO.CAM_AREA1 and the parameters. Address: 05B8H P5.092 E-Cam: pre-engaged pulse number for each cycle 05B9H...
Page 768 ASDA-A3 Parameters Address: 05BEH P5.095 Motion control macro command: command parameter #2 05BFH Default: 0 Control mode: All Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Before issuing the macro command, set the relevant parameters in advance. The function of the parameter is determined by the command code of the macro command.
Page 769 Parameters ASDA-A3 The command codes are listed in the following tables: Parameter and data array protection: password setting, protection activation Command code This function can only be executed prior to activating the parameter protection 0x0003 function. When the protection function is activated, the failure code is returned if this function is executed repeatedly.
Page 770 ASDA-A3 Parameters E-Cam disengages after engaged for one cycle Set the pulse number of master gear ratio (P5.084) and pulse number upon Command code disengagement (P5.089) as the same value. With the disengagement condition 0x0005 (P5.088.U = 2, 4, 6) and the cycle number of master gear ratio as 1 (P5.083 = 1), E- Cam disengages after being engaged for one cycle.
Page 771 Parameters ASDA-A3 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 macro parameters have been modified, the E-Cam table must be recreated and you must execute this macro again.
Page 772 ASDA-A3 Parameters 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 773 Parameters ASDA-A3 Calculate the error between the current position of the slave axis and rotary axis position 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 774 ASDA-A3 Parameters Target position is within this range; E-Cam current position onward trip is in forward direction Maximum forward rotation Target position is within this range; limit. Counterclockwise onward trip is in reverse direction direction forward direction in the figure Allowable forward rate = Allowable forward rate = 0%;...
Page 775 Parameters ASDA-A3 E-Cam displacement value for PR positioning When the clutch is engaged, set the E-Cam engaging position with this macro command and calculate the displacement value for the slave axis alignment, and then write the displacement value to the specified PR for incremental positioning. Trigger this PR when needed to move the slave axis to the corresponding target position.
Page 776 ASDA-A3 Parameters Calculate the moving distance between the current and target position of the slave axis for PR positioning When the clutch is engaged, this macro command calculates the moving distance between the current and target position of the slave axis and writes the value to the PR incremental position command.
Page 777 Parameters ASDA-A3 Slave axis immediately pauses for one cycle After the clutch is engaged, this macro command can immediately pause the slave axis for one cycle regardless of the current E-Cam position. To use this macro command to pause the slave axis, the E-Cam curve must be in forward operation (including straight line).
Page 778 ASDA-A3 Parameters  Z: the action when EV3 is on 0: no action 1 - D: execute PR# 51 - 63  U: the action when EV4 is on 0: no action 1 - D: execute PR# 51 - 63 Address: 05C6H P5.099 PR number triggered by event falling-edge...
Page 779 Parameters ASDA-A3 Address: 05C8H P5.100■ Data array: window #3 for reading and writing 05C9H Default: 0 Control mode: All Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Window #3: when read or written by any method, the value set by P5.011 does not add 1. Refer to Section 7.2.1 Data array for detailed instructions.
Page 780: 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: HEX Data size: 32-bit Settings: Homing definition: High word Low word DEC2: deceleration time selection for PATH: path type second homing DLY: select 0 - F for delay time...
Page 781 Parameters ASDA-A3 Note: 1. After finding the origin (sensor or Z), the servo 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 0x00. If returning to the origin is needed, set PATH to a 0x01 - 0x63 and set the route as PABS = 0.
Page 782 ASDA-A3 Parameters Definitions are as follows:  Y: OPT, Option X: TYPE, Path type Bit 3 Bit 2 Bit 1 Bit 0 UNIT AUTO 1: SPEED, constant speed control. 2: SINGLE, positioning control. It stops when finished. OVLP 3: AUTO, positioning control. It automatically loads the next path when finished.
Page 783 Parameters ASDA-A3  A: SPD, target speed Corresponding parameter Default value (ms) P5.060 P5.061 P5.062 P5.063 P5.064 P5.065 P5.066 P5.067 P5.068 1000 P5.069 1300 P5.070 1500 P5.071 1800 P5.072 2000 P5.073 2300 P5.074 2500 P5.075 3000  B: DLY, delay time Corresponding parameter Default value (ms) P5.040...
Page 784 ASDA-A3 Parameters Address: 0606H P6.003 PATH 1 data 0607H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: P6.002 defines the property of the target point and P6.003 defines the target position of P6.002 or the target path for the Jump command.
Page 785 Parameters ASDA-A3 Address: 0610H P6.008 PATH 4 definition 0611H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0612H P6.009 PATH 4 data 0613H Default: 0 Control mode: PR Unit: -...
Page 786 ASDA-A3 Parameters Address: 061AH P6.013 PATH 6 data 061BH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 061CH P6.014 PATH 7 definition 061DH Default: 0x00000000 Control mode: PR Unit: -...
Page 787 Parameters ASDA-A3 Address: 0624H P6.018 PATH 9 definition 0625H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0626H P6.019 PATH 9 data 0627H Default: 0 Control mode: PR Unit: -...
Page 788 ASDA-A3 Parameters Address: 062EH P6.023 PATH 11 data 062FH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0630H P6.024 PATH 12 definition 0631H Default: 0x00000000 Control mode: PR Unit: -...
Page 789 Parameters ASDA-A3 Address: 0638H P6.028 PATH 14 definition 0639H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 063AH P6.029 PATH 14 data 063BH Default: 0 Control mode: PR Unit: -...
Page 790 ASDA-A3 Parameters Address: 0642H P6.033 PATH 16 data 0643H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0644H P6.034 PATH 17 definition 0645H Default: 0x00000000 Control mode: PR Unit: -...
Page 791 Parameters ASDA-A3 Address: 064CH P6.038 PATH 19 definition 064DH Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 064EH P6.039 PATH 19 data 064FH Default: 0 Control mode: PR Unit: -...
Page 792 ASDA-A3 Parameters Address: 0656H P6.043 PATH 21 data 0657H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0658H P6.044 PATH 22 definition 0659H Default: 0x00000000 Control mode: PR Unit: -...
Page 793 Parameters ASDA-A3 Address: 0660H P6.048 PATH 24 definition 0661H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0662H P6.049 PATH 24 data 0663H Default: 0 Control mode: PR Unit: -...
Page 794 ASDA-A3 Parameters Address: 066AH P6.053 PATH 26 data 066BH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 066CH P6.054 PATH 27 definition 066DH Default: 0x00000000 Control mode: PR Unit: -...
Page 795 Parameters ASDA-A3 Address: 0674H P6.058 PATH 29 definition 0675H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0676H P6.059 PATH 29 data 0677H Default: 0 Control mode: PR Unit: -...
Page 796 ASDA-A3 Parameters Address: 067EH P6.063 PATH 31 data 067FH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0680H P6.064 PATH 32 definition 0681H Default: 0x00000000 Control mode: PR Unit: -...
Page 797 Parameters ASDA-A3 Address: 0688H P6.068 PATH 34 definition 0689H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 068AH P6.069 PATH 34 data 068BH Default: 0 Control mode: PR Unit: -...
Page 798 ASDA-A3 Parameters Address: 0692H P6.073 PATH 36 data 0693H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 0694H P6.074 PATH 37 definition 0695H Default: 0x00000000 Control mode: PR Unit: -...
Page 799 Parameters ASDA-A3 Address: 069CH P6.078 PATH 39 definition 069DH Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 069EH P6.079 PATH 39 data 069FH Default: 0 Control mode: PR Unit: -...
Page 800 ASDA-A3 Parameters Address: 06A6H P6.083 PATH 41 data 06A7H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 06A8H P6.084 PATH 42 definition 06A9H Default: 0x00000000 Control mode: PR Unit: -...
Page 801 Parameters ASDA-A3 Address: 06B0H P6.088 PATH 44 definition 06B1H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 06B2H P6.089 PATH 44 data 06B3H Default: 0 Control mode: PR Unit: -...
Page 802 ASDA-A3 Parameters Address: 06BAH P6.093 PATH 46 data 06BBH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Refer to the description of P6.003. Address: 06BCH P6.094 PATH 47 definition 06BDH Default: 0x00000000 Control mode: PR Unit: -...
Page 803 Parameters ASDA-A3 Address: 06C4H P6.098 PATH 49 definition 06C5H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0602H P6.099 PATH 49 data 0603H Default: 0 Control mode: PR Unit: -...
Page 804: 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: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0702H P7.001 PATH 50 data 0703H Default: 0 Control mode: PR...
Page 805 Parameters ASDA-A3 Address: 070AH P7.005 PATH 52 data 070BH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 806 ASDA-A3 Parameters Address: 0714H P7.010 PATH 55 definition 0715H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0716H P7.011 PATH 55 data 0717H Default: 0 Control mode: PR Unit: -...
Page 807 Parameters ASDA-A3 Address: 071EH P7.015 PATH 57 data 071FH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 808 ASDA-A3 Parameters Address: 0728H P7.020 PATH 60 definition 0729H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 072AH P7.021 PATH 60 data 072BH Default: 0 Control mode: PR Unit: -...
Page 809 Parameters ASDA-A3 Address: 0732H P7.025 PATH 62 data 0733H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 810 ASDA-A3 Parameters Address: 073CH P7.030 PATH 65 definition 073DH Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 073EH P7.031 PATH 65 data 073FH Default: 0 Control mode: PR Unit: -...
Page 811 Parameters ASDA-A3 Address: 0746H P7.035 PATH 67 data 0747H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 812 ASDA-A3 Parameters Address: 0750H P7.040 PATH 70 definition 0751H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0752H P7.041 PATH 70 data 0753H Default: 0 Control mode: PR Unit: -...
Page 813 Parameters ASDA-A3 Address: 075AH P7.045 PATH 72 data 075BH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 814 ASDA-A3 Parameters Address: 0764H P7.050 PATH 75 definition 0765H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 0766H P7.051 PATH 75 data 0767H Default: 0 Control mode: PR Unit: -...
Page 815 Parameters ASDA-A3 Address: 076EH P7.055 PATH 77 data 076FH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 816 ASDA-A3 Parameters Address: 0778H P7.060 PATH 80 definition 0779H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 077AH P7.061 PATH 80 data 077BH Default: 0 Control mode: PR Unit: -...
Page 817 Parameters ASDA-A3 Address: 0782H P7.065 PATH 82 data 0783H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 818 ASDA-A3 Parameters Address: 078CH P7.070 PATH 85 definition 078DH Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 078EH P7.071 PATH 85 data 078FH Default: 0 Control mode: PR Unit: -...
Page 819 Parameters ASDA-A3 Address: 0796H P7.075 PATH 87 data 0797H Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 820 ASDA-A3 Parameters Address: 07A0H P7.080 PATH 90 definition 07A1H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 07A2H P7.081 PATH 90 data 07A3H Default: 0 Control mode: PR Unit: -...
Page 821 Parameters ASDA-A3 Address: 07AAH P7.085 PATH 92 data 07ABH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 822 ASDA-A3 Parameters Address: 07B4H P7.090 PATH 95 definition 07B5H Default: 0x00000000 Control mode: PR Unit: - Setting range: 0x00000000 - 0xFFFFFFFF Format: HEX Data size: 32-bit Settings: Refer to the description of P6.002. Address: 07B6H P7.091 PATH 95 data 07B7H Default: 0 Control mode: PR Unit: -...
Page 823 Parameters ASDA-A3 Address: 07BEH P7.095 PATH 97 data 07BFH Default: 0 Control mode: PR Unit: - Setting range: -2147483648 to +2147483647 Format: DEC 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: -...
Page 824: Pm.xxx Motor Parameters
Setting range: 0 to 1 Format: DEC Data size: 16-bit Settings: 0: disable 1: enable Note: this parameter is invalid if you are using a Delta communication type rotary motor. Address: FD04H PM.002▲● Motor parameter identification status FD05H Default: 0...
Page 825 ASDA-A3 The servo drive automatically detects the identification status and inputs this parameter after executing the motor parameter identification process. Note: this parameter value is always 1 and unchangeable if you are using a Delta rotary motor. Address: FD06H PM.003▲●...
Page 826 To receive pulses or sine wave signals with CN2, use the Delta position signal converter box (ASD-IF-EN0A20). When the Delta motor with magnetic encoder (ECMA-C8) is connected to the CN5 connector, there is not need to execute motor parameter identification. Simply set this parameter to 0x1002 and cycle the power.
Page 827 Parameters ASDA-A3 Address: FD0AH PM.005 Position signal converter box interpolation magnification FD0BH Default: 11 Applicable motor: Linear motor, third-party rotary motor Unit: - Setting range: 2 - 11 Format: DEC Data size: 16-bit Settings: This parameter improves the motor resolution with interpolation magnification. It is applicable to sine wave encoders and not applicable to pulse encoders.
Page 828 ASDA-A3 Parameters  Y: motor UVW phase sequence and Hall sensor UVW direction 0: when the Hall sensor phase sequence is U, V, and W, the motor phase sequence is U, V, and W. 1: when the Hall sensor phase sequence is U, V, and W, the motor phase sequence is U, W, and V.
Page 829 Parameters ASDA-A3 Address: FD10H PM.008▲● Hall sensor hysteresis width FD11H Default: 0.0 Applicable motor: All Unit: Degree Setting range: 0 to 360.0 Format: DEC Data size: 16-bit Settings: During the motor parameter identification process, the servo drive automatically detects the hysteresis width of the Hall sensor.
Page 830 ASDA-A3 Parameters Function Description Use the Hall sensor to determine whether the motor magnetic field is deviated Use the Hall 0: disable sensor to Bit 4 determine whether 1: enable the motor magnetic If the deviation between the magnetic field detected by the Hall field is deviated sensor and the actual magnetic field of the motor is too large, AL055 Motor magnetic field error occurs.
Page 831 Parameters ASDA-A3 Note: It is suggested that you do not use the initial magnetic field detection for Z axis. Install a Hall sensor to Z axis for magnetic field detection. The gantry application requires a Hall sensor for magnetic field detection. Thus, using this function is not suggested.
Page 832 ASDA-A3 Parameters U: special function Function Description  Before using this function, first set the initial magnetic field detection when power is on (Bit 14 and Bit 15) to quick mode.  When executing parameter identification for the Z axis, place the translation stage under the mechanical part at a balanced position.
Page 833 1. This parameter is automatically set to 0 when the Delta communication type motor is connected to CN2 and the communication is successful. 2. When you are not using a Delta communication type motor, set this parameter to 1. This parameter is automatically set to 1 when you execute the Motor Parameter Identification Wizard.
Page 834 Data size: 16-bit Settings: You do not need to set this parameter when using a Delta communication type motor. Increasing the current control integral can enhance the current response and reduce the current control errors. If you set the value too high, it may cause vibration and noise. It is suggested that general users do not adjust this parameter.
Page 835 Parameters ASDA-A3 Example 1: Overload (AL006) Load ratio protection counter Load ratio 100% Operating level 160% 100% Time 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.
Page 836 Sets the type of motor temperature sensor connected to the servo drive CN5 Pin 13 and Pin 14 (see Section 3.8). 0: a motor temperature sensor is not connected 1: Delta linear motor NTC thermistor 2: NTC level thermistor 3: PTC level thermistor Note: when PM.022 = 1, you can check the temperature by setting the monitoring variable P0.002 to -145.
Page 837 Parameters ASDA-A3 Address: FD38H PM.028▲● Permanent-magnet rotary motor pole number FD39H Default: 10 Applicable motor: Permanent-magnet rotary motor Unit: pole Setting range: 2 to 100 Format: DEC Data size: 16-bit Settings: Input the correct value according to the specifications of the third-party permanent-magnet rotary motor. Note: pole number = pole pair x 2 Address: FD3AH PM.029▲●...
Page 838 ASDA-A3 Parameters Address: FD3EH PM.031▲ Permanent-magnet rotary motor rated speed FD3FH Default: - Applicable motor: Permanent-magnet rotary motor Unit: rpm Setting range: 0 to 4000 Format: DEC Data size: 16-bit Settings: Input the correct value according to the specifications of the third-party permanent-magnet rotary motor. Address: FD40H PM.032▲...
Page 839 Parameters ASDA-A3 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: ohm 0.001 ohm Setting range: 0.000 to 2000.000 0 to 2000000 Format: Three decimals Example: 1.5 = 1.5 ohm 1500 = 1.5 ohm Settings:...
Page 840 ASDA-A3 Parameters 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 to 500.000 1000 to 500000 Format: Three decimals Example: 1.5 = 1.5 mm/360°...
Page 841 Parameters ASDA-A3 Address: FD60H PM.048▲ Linear motor maximum speed FD61H Applicable Default: - Linear motor motor: Unit: mm/s Setting range: 0 to 15999 Format: DEC Data size: 16-bit Settings: Input the correct value according to the specifications of the linear motor. Address: FD62H PM.049▲...
Page 842 ASDA-A3 Parameters Address: FD66H PM.051▲ Linear motor phase inductance FD67H Operation Applicable Panel / software Communication Linear motor interface: motor: Default: - Data size: 32-bit Unit: mH 0.01 mH Setting range: 0.00 to 1000.00 0 to 100000 Format: Two decimals Example: 1.5 = 1.5 mH 150 = 1.5 mH Settings:...
Page 843 Parameters ASDA-A3 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 Rising- After you troubleshoot the alarm, this DI is on and the error signal edge ARST displayed by the servo drive is cleared.
Page 844 ASDA-A3 Parameters Value: 0x08 Triggering Control DI name Description method mode In PR mode, after the PR command (POS0 - 6) is selected, the motor Rising- CTRG operates according to the command issued by the register when this DI edge is on.
Page 845 Parameters ASDA-A3 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 846 ASDA-A3 Parameters 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 PR#1 POS2 P6.003 Level POS3 …...
Page 847 Parameters ASDA-A3 Value: 0x14, 0x15 Triggering Control DI name Description method mode Register Speed command selection (1 - 4) Speed DI signal of CN1 Command command Content Range source SPD1 SPD0 number Voltage External difference analog -10V to +10V between V_REF signal and GND Speed command...
Page 848 ASDA-A3 Parameters 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 Negative inhibit limit (normally closed contact). (CWL) triggered Value: 0x23 Triggering...
Page 849 Parameters ASDA-A3 Value: 0x37 Triggering Control DI name Description method mode Level JOGU When this DI is on, the motor jogs in the positive direction. triggered Value: 0x38 Triggering Control DI name Description method mode Level JOGD When this DI is on, the motor jogs in the negative direction. triggered Value: 0x39 Triggering...
Page 850 ASDA-A3 Parameters Value: 0x43, 0x44 Triggering Control DI name Description method mode E-Gear ratio (numerator) selection 0 E-Gear ratio (numerator) selection 1 GNUM0 Level triggered GNUM1 Value: 0x45 Triggering Control DI name Description method mode In Position mode, the external pulse input command has no function Level INHP when this DI is on.
Page 851 Parameters ASDA-A3 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 852 ASDA-A3 Parameters Value: 0x07 Triggering Control DO name Description method mode When a servo alarm occurs, this DO is on. (Except for positive / Level ALRM negative limit, communication error, and undervoltage.) triggered Value: 0x08 Triggering Control DO name Description method mode Output signal of the magnetic brake control.
Page 853 Parameters ASDA-A3 Value: 0x10 Triggering Control DO name Description method mode This DO is on when the overload level setting is reached. = Overload allowable time of the servo x Value for the overload warning level (P1.056). When the overload accumulative time exceeds t , the servo sends the overload pre-warning (DO.OLW).
Page 854 ASDA-A3 Parameters Value: 0x16 Triggering Control DO name Description method mode Level CAP_OK Capture procedure is complete. triggered Value: 0x17 Triggering Control DO name Description method mode When DO.Cmd_OK and DO.TPOS are both on, then this DO is Level MC_OK on;...
Page 855 Parameters ASDA-A3 Value: 0x2F Triggering Control DO name Description method mode Fourth set of general range comparison: when the value of the Zon4 item monitored by P0.012 ranges between the values of P0.060 and P0.061, then this DO is on. Value: 0x30 Triggering Control...
Page 856 ASDA-A3 Parameters Value: 0x38 Triggering Control DO name Description method mode Level SPO_8 Output bit 08 of P4.006. triggered Value: 0x39 Triggering Control DO name Description method mode Level SPO_9 Output bit 09 of P4.006. triggered Value: 0x3A Triggering Control DO name Description method...
Page 857 Parameters ASDA-A3 Value: 0x41 Triggering Control DO name Description method mode Level MAG_OK Initial magnetic field detection is complete. triggered Value: when DI.ABSE is on, DO.ABSR triggered by DO2 will replace the DO2 assigned by P2.019 Triggering Control DO name Description method mode...
Page 858 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 set the code to P0.002 and monitor code the variable. Format Each monitoring variable is stored in the 32-bit format (long integer) in the servo drive. Basic variables / extension variables: 1.
Page 859 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. Unit: Pulse 000 (00h) (PUU) B of User Unit (PUU). Current position of the Position command. Unit: Pulse of User Unit (PUU).
Page 860 Z phase offset Offset value between motor position and Z phase. (Only 027 (1Bh) available for Delta CNC controllers.) The alarm code (in decimal). The value being converted to Alarm code the hexadecimal notation is identical to the alarm code...
Page 861 Parameters ASDA-A3 Variable name / Code Description property Voltage level of the battery in an absolute encoder. To Voltage level of the display the voltage level, enable the absolute encoder setting 038 (26h) battery (P2.069). Integrated DI status of the drive. Each bit corresponds to one DI status (integrated) DI channel.
Page 862 ASDA-A3 Parameters Variable name / Code Description property Speed command (analog) 072 (48h) Speed command from the analog channel. Unit: 0.1 rpm. B D1 Dec Synchronous Capture When the synchronous Capture axis is enabled, the actual 081 (51h) axis distance between two marks can be measured by the Incremental pulse input received pulse number between two captures.
Page 863 When PM.022 = 1, you can check the NTC thermistor Delta linear motor NTC -145 temperature of Delta linear motor. (When PM.022 = 2 or 3, thermistor temperature this function is not available.) The average power consumption (unit: %) of the...
Page 864: Modbus Communication
Modbus Communication This chapter describes the Modbus communication which you use for setting and accessing general parameters. For the motion control network, refer to the related DMCNET, CANopen, and EtherCAT documentation. The details of ASCII and RTU modes are also provided in this chapter. 9.1 RS-485 communication interface (hardware) ···········································...
Page 865: 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 866: 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 (Modbus communication protocol). P3.003 (Modbus communication error handling), P3.004 (Modbus communication timeout), P3.006 (Digital input (DI) control switch), and P3.007 (Modbus communication response delay time) are optional settings.
Page 867: 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 the communication protocol (ASCII or RTU) with P3.002 according to your requirements. The ASDA-A3 servo drive also supports these functions: accessing multiple words (03H), writing single word (06H), and writing multiple words (10H).
Page 868 ASDA-A3 Modbus Communication Characters are encoded into the following frames and transmitted in series. The methods for checking each type of frame are as follows. ASCII mode: 10-bit character frame (for 7-bit character) RTU mode: 11-bit character frame (for 8-bit character) Start Even Stop...
Page 869 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 (ADR) Function Function code: 1 byte consists of 2 ASCII codes (CMD) Data (n-1) …….
Page 870 ASDA-A3 Modbus Communication Example 1: function code 03H, accessing multiple words. In the following example, the master issues a read command to the first slave. The slave accesses 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 871 Modbus Communication ASDA-A3 Example 2: function code 06H, writing single word. In the following example, the master issues a write command to the first slave. The slave writes data 0064H to address 0200H. The slave sends a response message to the master after the writing is complete.
Page 872 ASDA-A3 Modbus Communication Example 3: function code 10H, writing multiple words. In the following example, the master issues a write command to the first slave. The slave writes data 0BB8H and 0000H starting from the start data address 0112H. In other words, 0BB8H is written into 0112H and 0000H is written into 0113H.
Page 873 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 Quantity Data Quantity (in words) (in words) 02H (Low) 02H (Low)
Page 874 ASDA-A3 Modbus Communication LRC and CRC transmission error checking In ASCII mode, the error checking method is LRC (Longitudinal Redundancy Check). In RTU mode, the error checking method is CRC (Cyclical Redundancy Check). See the following details. LRC (ASCII mode): Start ‘:’...
Page 875 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 876 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 877 Modbus Communication ASDA-A3 outportb(PORT+BRDH,0x00); outportb(PORT+LCR,0x06); /* set protocol <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 878: 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 set or access through communication. 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 879: 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. The transmitter converts the TTL signal into a differential signal and then sends it to the receiver.
Page 880 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: 1. Add a terminal resistor. 2. Check if the servo drive is installed in a high magnetic field environment. If so, keep it as far away as possible.
Page 881 Modbus Communication ASDA-A3 (This page is intentionally left blank.) 9-18...
Page 882 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 and absolute encoder cable ············································· 10-3 10.1.1 Battery specifications ································································...
Page 883 Install the battery correctly on the encoder. One servo drive uses one single battery box; two servo drives can share one dual battery box. Use Delta’s encoder cable to connect to the battery box. See the following sections for the specifications of the battery box and its accessories.
Page 884: Battery Box And Absolute Encoder Cable
◼ 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 885 Absolute System ASDA-A3 Battery life Source: EVE Energy Co. ER14505 Discharge Characteristics (1) The preceding figure illustrates the discharge current curves measured in the constant current test. According to the five curves shown in the preceding figure, if the voltage of the battery keeps at 3V or higher, the expected battery life is as shown in the following table.
Page 886: Battery Box Dimensions
ASDA-A3 Absolute System 10.1.2 Battery box dimensions Single battery box part number: ASD-MDBT0100 22 (0.87) 35 (1.38) Unit mm (inch) R3.25 W eight: 44 g Dual battery box part number: ASD-MDBT0200 45 (1.77) 26 (1.02) 64.5 (2.54) Unit mm (inch) R2.5 Weight: 79.23 g 10-5...
Page 887: Connection Cable For The Absolute Encoder
Absolute System ASDA-A3 10.1.3 Connection cable for the absolute encoder A. Quick connector Model name of absolute encoder cable inch 3000  50 118  2 ACS3-CAE 0103 5000  50 197  2 ACS3-CAE 0105 10000  100 394  4 ACS3-CAE 0110 20000 ...
Page 888 ASDA-A3 Absolute System B. Military connector (ECMC motor) Model name of Model name of absolute encoder cable connector inch 3000  50 118  2 ACS3-CAE 3003 3106A-20-29S 5000  50 197  2 ACS3-CAE 3005 3106A-20-29S 10000  100 394 ...
Page 889 Absolute System ASDA-A3 C. Military connector (B3 motor) Model name of Model name of absolute encoder cable connector inch 3000  50 118  2 ACS3-CAE A103 CMV1-SP10S 5000  50 197  2 ACS3-CAE A105 CMV1-SP10S 10000  100 394 ...
Page 890 ASDA-A3 Absolute System Model name of absolute Model name of encoder cable connector inch 3000  50 118  2 ACS3-CRE A103 CMV1-AP10S 5000  50 197  2 ACS3-CRE A105 CMV1-AP10S 10000  100 394  4 ACS3-CRE A110 CMV1-AP10S 20000 ...
Page 891 Absolute System ASDA-A3 D. IP67 waterproof connector (220V series F80 models and below) Model name of Model name of absolute encoder cable connector inch 3000  50 118  2 ACS3-CAE 1103 22008231-01 5000  50 197  2 ACS3-CAE 1105 22008231-01 10000 ...
Page 892: Battery Box Cable
ASDA-A3 Absolute System 10.1.4 Battery box cable Battery box cable for customized wiring Delta part number: 3864850600 5 ± 1 (0.2 ± 0.04) 15 ± 5 (0.59 ± 0.2) 200 ± 10 (7.87 ± 0.39) Unit: mm (inch) Battery box cable that connects to the encoder cable (both ends are male) Delta part number: 3864811901 15 ±...
Page 893: Installation
Absolute System ASDA-A3 10.2 Installation 10.2.1 Installing the battery box in the servo system DO NOT connect battery wires to Pin 3 and Pin 4 of the servo drive CN2 ◼ connector. These pins are for third-party motors and internal use only*. Wiring them will cause damage to the internal circuit.
Page 894 ASDA-A3 Absolute System Pin assignment of the connectors: Encoder cable connector (female) CN2 of servo drive ECMC Description B3 military IP67 Quick military Color Pin No. Signal connector connector connector connector Brown +5V power supply Blue Power ground CLOCK+ DO NOT connect these pins.
Page 895 Absolute System ASDA-A3 Dual battery box (connects to CN2) (1) Absolute encoder cable; (2) Battery box cable AW; (3) Dual battery box; (4) CN2 connector 10-14...
Page 896: Installing And Replacing Batteries
ASDA-A3 Absolute System 10.2.2 Installing and replacing batteries Single battery box Step 1: Release the snap-fit tabs on both sides and remove the battery box cover. Step 2: Position the cable clamp to the encoder cable. Note that the cable clamp should be placed close to the heat shrink.
Page 897 Absolute System ASDA-A3 Dual battery box Step 1: Release the snap-fit tabs on both sides and remove the battery box lid. (A) Replace the batteries only when the main power to the servo drive is on. Do not remove the battery box cables which connect to the servo drive, or else the system may lose data.
Page 898 ASDA-A3 Absolute System 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.
Page 899: System Initialization And Operating Procedures
Absolute System ASDA-A3 10.3 System initialization and operating procedures 10.3.1 System initialization AL06A occurs when you initialize the absolute system for the first time because the position system has not been established. Clear the alarm by setting up the position system. When insufficient battery power or interruption of battery power causes loss of the position system, AL060 occurs.
Page 900: Pulse Number
ASDA-A3 Absolute System 10.3.2 Pulse number When the motor is running in the clockwise direction, the number of revolutions is defined as a negative value. When the motor runs in the counterclockwise direction, the number of revolutions is defined as a positive value. The range of the countable number of revolutions is between -32,768 and +32,767.
Page 901: Puu Number
Absolute System ASDA-A3 10.3.3 PUU number The PUU number is a 32-bit absolute position data with a positive or negative sign. When the motor is operating in the positive direction, the PUU number increases; when the motor is operating in the negative direction, the PUU number decreases. The motor operation direction is defined by P1.001.Z;...
Page 902: Establishing The Absolute Origin Position
ASDA-A3 Absolute System 10.3.4 Establishing the absolute origin position When the absolute position is lost, the ASDA-A3 servo drive provides three methods to establish the absolute origin position: DI/DO, parameter setting, or the PR homing function. The following provides more details for each method. 10.3.4.1 Establishing the absolute origin position with DI/DO When the servo system is controlled by the controller, establish the absolute origin position with DI/DO.
Page 903: Establishing The Absolute Origin Position With Parameters
Absolute System ASDA-A3 10.3.4.2 Establishing the absolute origin position with parameters Set P2.071 to 1 to establish the absolute origin position through the panel or with communication. Since P2.071 is write-protected by P2.008, you must set P2.008 to 271 first. In other words, the sequence is: set P2.008 to 271, and then set P2.071 to 1.
Page 904 ASDA-A3 Absolute System You can set P2.070 to read the position value in the unit of pulse or PUU with DI/DO. See the following timing diagram. Continue to (15) in Continue to (14) in the following figure the following figure (14) (15) ABSE (DIx)
Page 905 Absolute System ASDA-A3 Descriptions: When the handshake communication starts, the ABSE signal is triggered. After the T delay time (make sure the ABSE 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 906: Reading The Absolute Position With Communication
ASDA-A3 Absolute System 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 register access. Instant access Instant access refers to reading the motor’s feedback position as soon as power is supplied to the servo.
Page 907 Absolute System ASDA-A3 ◼ After all position data is updated in P0.050 - P0.052, P0.049 is automatically reset to 0. At that point, the controller can access the values of P0.050 - P0.052. P0.050 shows the status of the absolute encoder. When the status shows “absolute ◼...
Page 908: Parameters, Di/Do, And Alarms Related To Absolute Function
ASDA-A3 Absolute System 10.4 Parameters, DI/DO, and alarms related to absolute function Relevant parameters (refer to Chapter 8 for detailed information): Parameter Function P0.002 Drive status P0.049 Update encoder absolute position P0.050 Absolute position system status P0.051 Encoder absolute position - number of revolutions P0.052 Encoder absolute position - pulse number or PUU within single turn P2.069...
Page 909 Absolute System ASDA-A3 (This page is intentionally left blank.) 10-28...
Page 910: Linear Motor And Third-Party Motor
11.2.2.1 Peripheral configuration for pulse type motors ·························· 11-8 11.2.2.2 Peripheral configuration for pulse type and sine wave type motors ······································································ 11-9 11.2.2.3 Peripheral configuration for Delta motors and third-party communication type motors ················································ 11-10 11.2.3 Communication type motors ···················································· 11-11 11.2.3.1 Third-party communication type motors ·································...
Page 911 Linear Motor and Third-Party Motor ASDA-A3 11.7.3 Limit setting ·········································································· 11-37 11.7.4 Current setting for initial magnetic field detection ··························· 11-38 11.7.5 Overload gain ········································································ 11-39 11-2...
Page 912: Linear Motor Overview
ASDA-A3 Linear Motor and Third-Party Motor 11.1 Linear motor overview Linear motor can directly convert electrical energy into linear kinetic 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.
Page 913: Installation And Configuration
11.2 Installation and configuration 11.2.1 Precautions for installing linear motors The Delta linear motor is designed for industrial applications. It is necessary that you fully read the motor specifications and operation manual. For your safety and correct use of the linear motor, read the precautions carefully before connecting the motor to any equipment.
Page 914 ASDA-A3 Linear Motor and Third-Party Motor  When the magnet shaft is fixed on two sides, the magnet shaft might be bent due to gravitational force or the magnetic attraction caused by the base, especially during long distance operation. Refer to the following figure. (1) Magnet shaft;...
Page 915 Wiring If the current exceeds the maximum current in the specifications, the coil assembly of the  linear motor may overheat, and thus be damaged. Contact the distributor or local Delta sales representative if this problem occurs.  Make sure the wiring of the linear motor is correct. Incorrect wiring will lead to abnormal operation, malfunction, or damage of the linear motor.
Page 916: Configurations For Linear Motors And Rotary Motors
Whether to All motors except C8 execute motor require motor parameter parameter identification identification. Note: when using a Delta ECMA-C8 motor, set PM.003 to 0x1002 and cycle the power before use. Linear motor Feedback signal source Delta Third-party Supported communication...
Page 917: Peripheral Configuration For Pulse Type Motors
Linear Motor and Third-Party Motor ASDA-A3 11.2.2.1 Peripheral configuration for pulse type motors Position feedback signal connector (CN5) Hall sensor Servo drive current output (UVW) Linear scale Magnetic scale Linear motor 11-8...
Page 918: Peripheral Configuration For Pulse Type And Sine Wave Type Motors
ASDA-A3 Linear Motor and Third-Party Motor 11.2.2.2 Peripheral configuration for pulse type and sine wave type motors Signal source Servo drive connector connector (CN20) (CN26) Encoder connector (CN2) Hall sensor Servo drive current output (UVW) Linear scale Magnetic scale Linear motor Note: refer to Section 11.6 for the wiring of the position signal converter box.
Page 919: Peripheral Configuration For Delta Motors And Third-Party Communication
Linear Motor and Third-Party Motor ASDA-A3 11.2.2.3 Peripheral configuration for Delta motors and third-party communication type motors Encoder connector (CN2) Supports the communication formats of Delta, BiSS C, Mitutoyo, Endat2.2, Fagor, Tamagawa, and Nikon. Linear scale Magnetic scale Servo drive current output (UVW) Linear motor Note: refer to Section 11.2.3.3 for the pin assignments of the third-party communication type motors.
Page 920: Third-Party Communication Type Motors
Changing the motor: if you need to change to a different motor (a Delta linear motor or a third-party motor of different communication formats), re-configure the Motor Parameter Identification Wizard.
Page 921: Supported Communication Format For The Motors
 Due to the control IC shortage, the following functions marked with an asterisk (*) are temporarily affected for all A3 servo drives manufactured in week 23 of year 2022 or later. Contact Delta FAEs or sales representatives if needed. Communication format...
Page 922: Complete The Settings For Linear Motors And Third-Party Motors With Asda-Soft
ASDA-A3 Linear Motor and Third-Party Motor 11.3 Complete the settings for linear motors and third-party motors with ASDA-Soft Connect the motor to the servo drive first and then start ASDA-Soft. When the New Device window appears, select the correct Motor Type: “Linear” is for linear motors and “Rotary” is for rotary motors.
Page 923: Motor Parameter Identification
During the identification, the motor moves by 1 pole pair distance or 1 pole pitch. It is suggested that you execute the motor parameter identification before installing the mechanical parts; otherwise there is a risk of collision when the mechanical parts are moving. Note: Delta C3 pulse type motors require the motor parameter identification. 11-14...
Page 924: Motor Parameter Identification For Linear Motors
ASDA-A3 Linear Motor and Third-Party Motor 11.3.1.1 Motor parameter identification for linear motors As shown in the following figure, there are four steps in the motor parameter identification procedure for the linear motors, “Select Motor Type”, “Set Motor Parameters”, “Set Feedback Signal”, and “Start Motor Identification”.
Page 925 ASDA-A3 Step 2: Set Motor Parameters Parameter source: there are two options. For “Database”, you only need to confirm the Delta linear 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 specifications manually.
Page 926 ASDA-A3 Linear Motor and Third-Party Motor Step 3: Set Feedback Signal PM.003.U Feedback Signal Source: ASDA-A3 supports pulse type (square wave), sine wave type, and some of the third-party communication type linear encoders. The CN5 position feedback signal connector can directly receive the pulse signals from the linear encoder. If you select CN2 encoder signal connector for receiving pulses or sine waves, it has to work with the position signal converter box.
Page 927 Delta’s database, you must input the value manually. If the set value is incorrect, AL051 is triggered.
Page 928 ASDA-A3 Linear Motor and Third-Party Motor  Encoder / Linear Scale Setting (sine wave type) PM.004 Main encoder resolution: input the corresponding distance for the motor single-phase sine wave (unit: 0.001 µm/period). PM.005 Position signal converter box interpolation magnification: it is suggested that you set it to the default value of 11.
Page 929 Linear Motor and Third-Party Motor ASDA-A3  Encoder / Linear Scale Setting (communication type) Input the values of PM.004 (Main encoder resolution) and PM.045 (Linear motor pole pitch). When the settings are complete, click Write and then click Next. Note: the grayed-out field is read-only and cannot be edited. 11-20...
Page 930 ASDA-A3 Linear Motor and Third-Party Motor Step 4: Start Motor Identification Manually move the linear motor to the center of the platform or move it back and forth for one pole pitch. To avoid damage to the machine and personnel injury, before executing the motor identification, make sure there is no person nearby because the platform moves slightly when the motor identification process is executed.
Page 931: Motor Parameter Identification For Rotary Motors
Linear Motor and Third-Party Motor ASDA-A3 11.3.1.2 Motor parameter identification for rotary motors As shown in the following figure, there are four steps in the motor parameter identification procedure for the rotary motors, “Select Motor Type”, “Set Motor Parameters”, “Set Feedback Signal”, and “Start Motor Identification”.
Page 932 Step 2: Set Motor Parameters Parameter source: Delta C3 pulse type rotary motors and third-party communication type motors only support “Manual Setting”. Delta communication type motors do not require the identification. PM.022 Motor temperature sensor: if the third-party motor is equipped with a temperature sensor, select the type of the temperature sensor and then set PM.024 (Motor temperature...
Page 933 Linear Motor and Third-Party Motor ASDA-A3 Step 3: Set Feedback Signal PM.003.U Feedback Signal Source: ASDA-A3 supports pulse type (square wave), sine wave type, and some of the third-party communication type encoders. The CN5 position feedback signal connector can directly receive the pulse signals from the encoder. If you select CN2 encoder signal connector for receiving pulses or sine waves, it has to work with the position signal converter box.
Page 934 ASDA-A3 Linear Motor and Third-Party Motor The encoder / linear scale settings include pulse type, sine wave type, and communication type. Refer to the following for more details.  Encoder / Linear Scale Setting (pulse type) PM.004 Main encoder resolution: input the single-phase pulse number of one revolution (unit: pulse/rev) When the settings are complete, click Write and then click Next.
Page 935 Linear Motor and Third-Party Motor ASDA-A3  Encoder / Linear Scale Setting (sine wave type) PM.004 Main encoder resolution: input the single-phase sine wave pulse number of one revolution (unit: period/rev). PM.005 Position signal converter box interpolation magnification: it is suggested that you set it to the default value of 11.
Page 936 ASDA-A3 Linear Motor and Third-Party Motor  Encoder / Linear Scale Setting (communication type) Input the value of PM.004 Main encoder resolution (unit: bits). When the settings are complete, click Write and then click Next. 11-27...
Page 937 Linear Motor and Third-Party Motor ASDA-A3 Step 4: Start Motor Identification If an alarm occurs during the identification process, refer to Chapter 14 Troubleshooting to clear the alarm. The software continues with the identification process only when the alarm is cleared. Cycle power to the servo drive after the identification process is complete.
Page 938: Linear Motor Direction Setting
ASDA-A3 Linear Motor and Third-Party Motor 11.3.2 Linear motor direction setting After completing the setting for the Motor Parameter Identification Wizard, set the movement direction for the linear motor. Incorrect direction setting results in incorrect direction of movement, causing the limit switch invalid and increasing the risk of collision. Use the JOG mode to set the linear motor direction with the jog speed in units of 0.01 mm/s.
Page 939: Linear Encoder
Linear Motor and Third-Party Motor ASDA-A3 11.4 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 940: Hall Sensor
ASDA-A3 Linear Motor and Third-Party Motor 11.5 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 941: Installing The Hall Sensor
Linear Motor and Third-Party Motor ASDA-A3 11.5.1 Installing the Hall sensor Follow these instructions when installing the Hall sensor. (1) The screw hole side up; (2) Mover; (3) M3 screw; (4) Stator (A) Hall sensor 11-32...
Page 942: Checking The Hall Sensor Phase Sequence
ASDA-A3 Linear Motor and Third-Party Motor 11.5.2 Checking the Hall sensor phase sequence To check the phase sequence of the Hall sensor, set P0.017 to the monitoring variable -177 and observe the change of phase sequence with P0.009. The bits of this monitoring variable are (bit 3, bit 2, bit 1) = (W, V, U).
Page 943: Position Signal Converter Box
ASDA-A3 11.6 Position signal converter box The position signal converter box is developed by Delta to convert the feedback signals of the third-party encoders. With this product, the feedback signals of pulses or sine waves can be converted into Delta's communication format and returned to the servo drive through CN2 without an external power supply.
Page 944: Interface Of Position Signal Converter Box
ASDA-A3 Linear Motor and Third-Party Motor 11.6.2 Interface of position signal converter box ERROR WARNING X1:A,B P ulse X2:A-Sin B-Cos Reserve Reserve Reserve X6:Reserve X7:Reserve Drive Mode Switch Mode Hall S ensor W/O Hall S ensor Reserve Reserve Drive Mode Hall Sensor W O Hall Sensor Switch Mode...
Page 945: Pin Assignment Of Position Signal Converter Box
Linear Motor and Third-Party Motor ASDA-A3 11.6.3 Pin assignment of position signal converter box CN26 pin assignment Assignment Description Assignment Description Analog signal ground QEA_IN+ A phase pulse (+) input AGND (motor temperature) For internal use only. QEA_IN- A phase pulse (-) input DO NOT connect this pin.
Page 946: Linear Motor Parameter Setting
Positive inhibit limit (0x23) and Negative inhibit limit (0x22) by the digital inputs of Delta servo drives. When the forward or reverse direction changes, change the positive and negative limit settings as well; otherwise the protection is lost.
Page 947: Current Setting For Initial Magnetic Field Detection
Linear Motor and Third-Party Motor ASDA-A3 11.7.4 Current setting for initial magnetic field detection PM.011 (Current setting for initial magnetic field detection) is a parameter used for the linear motor without a Hall sensor (PM.003.Y = 0). 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 to drive the motor and can obtain the motor’s present magnetic field information by automatically detecting the initial magnetic field when the motor slightly moves.
Page 948: Overload Gain
ASDA-A3 Linear Motor and Third-Party Motor 11.7.5 Overload gain The overload gain setting is for protecting the motor from overheating. Under normal circumstances, set PM.019 and PM.020 to 100% (default) or adjust the values according to the following table. These parameters do not affect the motor performance. You can monitor the motor load (overload counter) with the monitoring variable -91, which value range is from 0 to 100.
Page 949 Linear Motor and Third-Party Motor ASDA-A3 (This page is intentionally left blank.) 11-40...
Page 950: 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 in CANopen mode ··········································· 12-4 12.2 Communication specification ·····························································...
Page 951: Basic Configuration
SDO transmission: acyclic data exchange for reading / writing parameters and communication related settings.  PDO transmission / reception: time-triggered, event-triggered, synchronous transmission (cyclic), and asynchronous transmission (acyclic).  Node guarding.  Heartbeat. CANopen function not supported by Delta servo drives:  Time stamp. 12-2...
Page 952: 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 953: Parameter Settings In Canopen Mode
CANopen Mode ASDA-A3 12.1.3 Parameter settings in CANopen mode Follow these instructions to connect the CANopen controller and the ASDA-A3 servo drive: Set to CANopen mode: set P1.001.YX to 0C. Set the node ID: set P3.000 to 0x0001 - 0x007F. Set the transmission rate (baud rate): set P3.001.Z to 4 (Z = 0: 125 Kbps;...
Page 954: Communication Specification
ASDA-A3 CANopen Mode 12.2 Communication specification 12.2.1 Servo communication architecture CAN network DS301 Application layer and communication profile Drive Profile 402 State machine controlled by servo drive Modes of operation Inter- Profile Profile Profile Homing polated Position Velocity Torque mode Position mode mode...
Page 955 CANopen Mode ASDA-A3 12.2.2 Communication objects The default values of the Delta servo drive object dictionary comply 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:...
Page 956: 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: transmit PDOs (TxPDOs) and receive PDOs (RxPDOs). This definition is from the perspective of the servo drive, for example, the TxPDO refers to the object that the servo drive sends to the controller.
Page 957: Service Data Object (Sdo)
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 packets. SDO packets can transmit up to 4 bytes. Byte Function Byte 0 Command code...
Page 958 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: Object Command Object index sub- Data code Description index Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6...
Page 959 CANopen Mode ASDA-A3  Read data with SDO To use an SDO to read data with the controller, you need to write the command code and indexes according to the SDO format. The servo drive then returns the object's data based on the object to be read.
Page 960: Sdo Abort Codes
ASDA-A3 CANopen Mode 12.2.2.3 SDO abort codes The abort codes are as follows: SDO abort code Description 05040001h Client / Server command is invalid or unknown. 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 961: 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 962: 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 message message...
Page 963: 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, it enters the Pre-Operational state. The NMT state machine determines the behavior of the communication objects, such as PDO functions only in the Operational state. (11) (14) (10)
Page 964 ASDA-A3 CANopen Mode  Heartbeat The Heartbeat mechanism is mainly to enable the producer to send packets to the consumer periodically. 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 controller to send the heartbeat and the servo drive as the consumer, you need to set the consumer heartbeat time (OD 1016h) for the servo drive.
Page 965 CANopen Mode ASDA-A3  Node/Life guarding The Node/Life guarding mechanism is similar to the Heartbeat mechanism. The main difference between the two is that Heartbeat only uses the consumer but not the producer to judge whether there are packets or not. The mechanism of Node/Life guarding is mainly based on the two-way relationship between the master and slave.
Page 966: Canopen Operation Modes
ASDA-A3 CANopen Mode 12.3 CANopen operation modes This section describes the modes of operation specified by CiA DS402 when the servo is in the CANopen mode. The content includes basic operation settings and related object descriptions. 12.3.1 Profile Position mode After receiving the position command transmitted from the controller, the servo drive controls the servo motor to reach the target position.
Page 967 CANopen Mode ASDA-A3 Operation steps: 1. Set OD 6060h to 01h to set the mode as Profile Position mode. 2. Set OD 607Ah for the target position (unit: PUU). 3. Set OD 6081h for the profile velocity (unit: PUU/sec). 4. Set OD 6083h for the profile acceleration (unit: ms). 5.
Page 968 ASDA-A3 CANopen Mode Function for the command to take immediate effect In Profile Position mode, set the command to take effect immediately or not with OD 6040h [Bit 5].  Set OD 6040h [Bit 5] to 0 to disable the command from taking immediate effect If the command is not enabled to take immediate effect, when the current motion command is in execution (not yet complete), the servo continues to execute the current motion command even if a new command is triggered.
Page 969 CANopen Mode ASDA-A3  Set OD 6040h [Bit 5] to 1 to enable the command to take immediate effect (only valid in Profile Position mode) If the command is enabled to take immediate effect, when the current motion command is in execution (not yet complete), the servo immediately interrupts the current command and executes the new command once receiving the new triggered command.
Page 970 ASDA-A3 CANopen Mode Index Name Data type Access 60C6h Max deceleration UNSIGNED32 60F4h Following error actual value INTEGER32 60FCh Position demand value INTEGER32 Note: for more details, refer to Section 12.4.3 Details of objects. 12-21...
Page 971: Interpolated Position Mode
The servo drive only follows each position that the controller issues and finally completes a motion command. Delta servo drives only support synchronous operation in which the controller periodically sends the SYNC object (COB-ID = 0x80). The interpolation time period can be set with OD 60C2h.
Page 972 ASDA-A3 CANopen Mode Operation steps: 1. Set OD 6060h to 07h to set the mode as Interpolated Position mode. 2. Set OD 60C2h for the interpolation time period. The setting must be the same as the communication cycle period (OD 1006h). 3.
Page 973 CANopen Mode ASDA-A3 Adjustment method: It is suggested that you set the SYNC communication cycle period (OD 1006h) between 1 ms and 10 ms. If the cycle period is too long, the interval between cycles also increases. If the position change is big, it causes speed fluctuations. In this case, use P1.036 (S-curve acceleration / deceleration constant) or P1.068 (Position command - moving filter) to smooth the position difference.
Page 974: Homing Mode
After homing is complete, the position system of the servo drive is established and the drive can start executing the position command issued by the controller. The Delta A3 servo drive offers 39 homing methods, including homing on the home switch, positive or negative limit, motor Z pulse, and hard stop.
Page 975 CANopen Mode ASDA-A3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6064h to obtain the actual value of the motor position at present. Relevant object list Index Name Data type Access 6040h Controlword...
Page 976: Profile Velocity Mode
ASDA-A3 CANopen Mode 12.3.4 Profile Velocity mode In Profile Velocity (PV) mode, the controller specifies the speed command and acceleration / deceleration settings, and then the trajectory generator of the servo drive plans the motion path according to these conditions. Target velocity (60FFh) Speed command and...
Page 977 CANopen Mode ASDA-A3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 606Ch to obtain the current speed feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 978: Profile Torque Mode
ASDA-A3 CANopen Mode 12.3.5 Profile Torque mode In Profile Torque (PT) mode, the controller specifies the torque command and filtering conditions, and then the trajectory generator of the servo drive plans the torque slope according to these conditions. Target torque (6071h) Torque command Torque slope (6087h)
Page 979 CANopen Mode ASDA-A3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6077h to obtain the current torque feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 980: Object Dictionary
ASDA-A3 CANopen Mode 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 read / write permissions (access). 12.4.1 Specifications for objects Object code Object code Description A single value, such as an UNSIGNED8, Boolean, float, and INTEGER16.
Page 981: List Of Objects
CANopen Mode ASDA-A3 12.4.2 List of objects OD 1XXXh communication object group Index Object code Name Data type Access 1000h Device type UNSIGNED32 1001h Error register UNSIGNED8 1003h ARRAY Pre-defined error field UNSIGNED32 1005h COB-ID SYNC message UNSIGNED32 1006h Communication cycle period UNSIGNED32 100Ch Guard time...
Page 982 ASDA-A3 CANopen Mode Index Object code Name Data type Access Mappable 606Fh Velocity threshold UNSIGNED16 6071h Target torque INTEGER16 6072h Max torque UNSIGNED16 6074h Torque demand value INTEGER16 6075h Motor rated current UNSIGNED32 6076h Motor rated torque UNSIGNED32 6077h Torque actual value INTEGER16 6078h Current actual value...
Page 983: Details Of Objects
CANopen Mode ASDA-A3 12.4.3 Details of objects 12.4.3.1 OD 1XXXh communication object group Object 1000h: Device type Index 1000h Name Device type Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Format of this object: (High word h) DCBA; (Low word L) UZYX Bit 16 - Bit 31 Bit 0 - Bit 15 Model type...
Page 984 ASDA-A3 CANopen Mode Object function: The bits and corresponding functions are as follows: Function Bit 0 Generic error Bit 1 Current Bit 2 Voltage Bit 3 Temperature Bit 4 Communication error Bit 5 - Bit 7 Reserved Object 1003h: Pre-defined error field Index 1003h Name...
Page 985 Delta servo alarm (UINT16) Error code (UINT16) 0x0011 0x7305 AL011 is defined as “CN2 communication failed” according to the Delta servo alarm. Error code: 0x7305 is defined as “Incremental sensor 1 fault” according to DS402. Object 1005h: COB-ID SYNC message Index...
Page 986 ASDA-A3 CANopen Mode Object 1006h: Communication cycle period Index 1006h Name Communication cycle period Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit μs Object function: This object is to set the communication cycle (unit: μs). The communication cycle is the interval between two SYNCs.
Page 987 CANopen Mode ASDA-A3 Object 100Dh: Life time factor Index 100Dh Name Life time factor Object code Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Object function: OD 100Ch and OD 100Dh work for the Life Guarding Protocol. OD 100Ch is the guard time in milliseconds and OD 100Dh is the multiplying factor.
Page 988 ASDA-A3 CANopen Mode Sub-index Description Store communication parameters Data type UNSIGNED32 Access PDO mapping Setting range Default Object function: You can only write 0x65766173 (save) to sub-index 1, writing all current OD values to the EEPROM. Object 1011h: Restore parameters Index 1011h Name...
Page 989 CANopen Mode ASDA-A3 Object 1014h: COB-ID emergency message Index 1014h Name COB-ID emergency message Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default 80h + Node-ID Object function: Function Description Bit 0 - Bit 10 COB-ID 80h + Node-ID. The data size is 11-bit. Bit 11 - Bit 30 Reserved 0: the emergency (EMCY) function is enabled...
Page 990 ASDA-A3 CANopen Mode Object 1016h: Consumer heartbeat time Index 1016h Name Consumer heartbeat time Object code ARRAY Data type UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Consumer heartbeat time Data type UNSIGNED32 Access...
Page 991 CANopen Mode ASDA-A3 Object 1017h: Producer heartbeat time Index 1017h Name Producer heartbeat time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: Producer heartbeat time is defined as the cycle time of the heartbeat. When this value is set to 0, this function is invalid.
Page 992 ASDA-A3 CANopen Mode Sub-index Description Product code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 6000h: A2 series 6010h: A3 series Default 6030h: M series 6080h: B3 series Sub-index Description Version Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Object function:...
Page 993 CANopen Mode ASDA-A3 Sub-index Description Communication error Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Object function: Generally, when the servo drive detects a serious fault in the Operational state, the state is automatically switched to the Pre-Operational state. Use this object setting to switch the state to the Pre-Operational state, keep the original state, or switch to the Stopped state.
Page 994 ASDA-A3 CANopen Mode Sub-index Controller sends to servo drive Description COB-ID Client->Server (rx) Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Index 1200h: 600h + Node-ID Sub-index Servo drive returns to controller Description COB-ID Server->Client (tx) Data type UNSIGNED32 Access PDO mapping...
Page 995 CANopen Mode ASDA-A3 Objects 1400h - 1403h: Receive PDO communication parameter Index 1400h, 1401h, 1402h, 1403h Name Receive PDO communication parameter Object code RECORD Data type PDO CommPar Access Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index...
Page 996 ASDA-A3 CANopen Mode Sub-index Description Transmission type Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Object function: The transmission type setting is as follows. Transmission type Setting value Cyclic Acyclic Synchronous Asynchronous RTR only 00h (0) 01h - F0h (1 - 240) F1h - FBh (241 - 251) Reserved FCh (252)
Page 997 CANopen Mode ASDA-A3 Sub-index Description Event timer (not used for RxPDO) Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Objects 1600h - 1603h: Receive PDO mapping parameter Index 1600h, 1601h, 1602h, 1603h Name Receive PDO mapping parameter Object code RECORD Data type PDO mapping...
Page 998 ASDA-A3 CANopen Mode The format of this object is as follows: Function Bit 0 - Bit 7 Object data length Bit 8 - Bit 15 Object sub-index Bit 16 - Bit 31 Object index Example: To set the three PDOs, OD 6040h, OD 607Ah, and OD 6060h, in the first group of PDO, the setting is as follows: Mapping parameter...
Page 999 CANopen Mode ASDA-A3 Sub-index Description COB-ID used by PDO Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Node-ID: 0 Index 1800h: 180h + Node-ID Default Index 1801h: 280h + Node-ID Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID Object function: Function Description...
Page 1000 ASDA-A3 CANopen Mode Object function: The transmission type setting is as follows: Transmission type Setting value Cyclic Acyclic Synchronous Asynchronous RTR only 00h (0) 01h - F0h (1 - 240) F1h - FBh (241 - 251) Reserved FCh (252) FDh (253) FEh (254) FFh (255) Sub-index...

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