Page 1 TEL: +7 495 644 3240 USA: Delta Electronics ( Americas ) Ltd. Turkey: Delta Greentech Elektronik San. Ltd. Sti. ( 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-B3 series servo drives (B3) and the ECM-B3 and ECM-A3 series servo motors. This manual includes:  Installation and inspection of servo drive and servo motor ...
Page 3 Safety precautions This product is a high-resolution open type servo drive. It should be installed in a shielded control cabinet during operation. This servo drive uses precise feedback control and a digital signal processor (DSP) with high-speed calculation functions to control the current output generated by IGBT to operate the three-phase permanent magnet synchronous motors (PMSM) and to achieve precise positioning.
Page 4 Operation  Before operating the machine, change the servo parameter setting according to the application. If the parameters are not adjusted to the correct values, it may lead to malfunction of the machine or the operation might be out of control. ...
Page 5 Main Circuit Wiring  Do not put the power cable and signal cable in the same channel or bond them together. Separate the power cable and signal cable by at least 30 centimeters (11.8 inches).  Use stranded wires and multi-core shielded-pair wires for signal cables and encoder 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. ST OP  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 Components of the servo set ·············································································· 1-2 1.2 Model overview ································································································ 1-3 1.2.1 Nameplate information ·················································································· 1-3 1.2.2 Model explanation ························································································ 1-5 1.3 ASDA-B3 servo drive and motor ········································································ 1-11 1.3.1 220V models ····························································································· 1-11 1.3.2 400V models ·····························································································...
Page 9 Wiring 3.1 System connection ··························································································· 3-3 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) ······························································································· 3-3 3.1.2 Connectors and terminals ·············································································· 3-4 3.1.3 Wiring for power supply ················································································· 3-5 3.1.4 UVW power connector specifications································································ 3-8 3.1.4.1 F40 - F80 motors – Power connectors ·························································· 3-9 3.1.4.2 F100 - F130 motors –...
Page 10 3.3.3 Pulse type models (-L models) ······································································ 3-65 3.3.3.1 Pulse type models – CN1 I/O connector pin assignment ································· 3-65 3.3.3.2 Pulse type models – Wire with CN1 quick connector ····································· 3-72 3.3.3.3 Pulse type models – CN1 wiring diagrams··················································· 3-74 3.4 Wiring for the CN2 encoder connector ································································...
Page 11 4.3.2 Decimal points ···························································································· 4-6 4.3.3 Alarm messages ·························································································· 4-7 4.3.4 Positive and negative value setting ·································································· 4-7 4.3.5 Monitoring display ························································································ 4-7 4.4 General functions ··························································································· 4-10 4.4.1 Operation of fault record display ···································································· 4-10 4.4.2 Force DO on ····························································································· 4-11 4.4.3 Digital input diagnosis ·················································································...
Page 12 5.5.4 Gain adjustment mode 2 ············································································· 5-30 5.5.5 Gain adjustment mode 3 ············································································· 5-31 5.5.6 Gain adjustment mode 4 ············································································· 5-32 5.5.7 Gain adjustment mode 5 ············································································· 5-33 5.5.8 Gain adjustment mode 6 ············································································· 5-33 5.5.9 Parameters related to gain adjustment modes ················································· 5-34 5.5.9.1 Bandwidth response level (P2.031) - stiffness adjustment ······························...
Page 13 5.7.6.2 Function description ·············································································· 5-59 5.7.6.3 Application example ·············································································· 5-60 5.7.7 Speed command filter ················································································ 5-61 5.7.7.1 Function restriction ··············································································· 5-61 5.7.7.2 Function description ·············································································· 5-61 5.7.7.3 Application example ·············································································· 5-61 5.7.8 Torque command filter ················································································ 5-62 5.7.8.1 Function restriction ··············································································· 5-62 5.7.8.2 Function description ··············································································...
Page 14 6.2.7 Timing diagram of PR mode ········································································· 6-10 6.2.8 Gain adjustment of the position loop ······························································ 6-11 6.2.9 Low-frequency vibration suppression in Position mode ······································· 6-12 6.3 Speed mode ································································································· 6-15 6.3.1 Selecting the Speed command source ···························································· 6-15 6.3.2 Control structure of Speed mode ··································································· 6-16 6.3.3 Smoothing the Speed command ···································································...
Page 15 7.1.6 PR procedure execution flow ········································································ 7-46 7.2 Application of motion control ············································································· 7-58 7.2.1 Data array ································································································ 7-58 7.2.2 High-speed position capture function (Capture) ················································ 7-62 Parameter Setting Parameters 8.1 Parameter definitions ························································································ 8-2 8.2 List of parameters ···························································································· 8-3 8.3 Parameter descriptions ····················································································...
Page 16 10.2.1 Installing the battery box in the servo system ················································ 10-11 10.2.2 Installing and replacing a battery ······························································· 10-13 10.3 System initialization and operating procedures ·················································· 10-15 10.3.1 System initialization ················································································ 10-15 10.3.2 Pulse number ························································································ 10-16 10.3.3 PUU number ························································································· 10-17 10.3.4 Establish the absolute origin position ··························································...
Page 17 11.4.3.2 OD 2XXXh servo parameter group ························································· 11-53 11.4.3.3 OD 6XXXh communication object group ·················································· 11-54 11.5 Diagnostics and troubleshooting ···································································· 11-96 EtherCAT Mode 12.1 Basic configuration ······················································································· 12-3 12.1.1 Hardware configuration ·············································································· 12-3 12.1.2 ESI file import ·························································································· 12-6 12.1.3 Parameter settings of EtherCAT mode ··························································...
Page 18 Communication type ····················································································· 13-6 13.2 Causes and corrective actions ········································································· 13-7 Appendix Specifications A.1 ASDA-B3 series servo drive ·············································································· A-3 A.1.1 Specifications of the ASDA-A3 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 19 Motor frame size: 80 mm and below ························································· A-30 Motor frame size: 100 mm ····································································· A-31 Motor frame size: 130 mm ····································································· A-32 Motor frame size: 180 mm ····································································· A-33 A.2.2.2 400V series ·························································································· A-34 Motor frame size: 80 mm and below ························································· A-34 Motor frame size: 100 mm ·····································································...
Page 20 B.2.2 F100 - F130 motors···················································································· B-11 B.2.3 F180 4.5 kW (or below) motors ····································································· B-13 B.2.4 F180 5.5 kW (or above) motors ···································································· B-15 B.2.5 Brake cable for B3 F100 - F180 motors ·························································· B-17 B.3 Encoder connector ························································································· B-18 B.3.1 F40 - F80 motors ·······················································································...
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Page 22 Product Overview Before using the servo drive, pay attention to the description for the components of the servo set, nameplate, and model type. You can find a suitable servo motor for your servo drive in the table in Section 1.3. 1.1 Components of the servo set ································································...
Page 23: Components Of The Servo Set
Product Overview ASDA-B3 1.1 Components of the servo set A complete servo set includes: A servo drive and a servo motor. A UVW motor power cable: one end (the U, V, and W wires) connects to the servo drive and the other end to the motor (optional purchase). A green ground wire: connects to the ground terminal of the servo drive (optional purchase).
Page 24: Model Overview
ASDA-B3 Product Overview 1.2 Model overview 1.2.1 Nameplate information ASDA-B3 series servo drive  Nameplate information Model name ASD-B3-0121-M Capacity specification 100W 2 0 0 ~ 2 3 0 V 3 P H 5 0 / 6 0 H z 0 .3 9 A Applicable power supply 2 0 0 ~ 2 3 0 V 1 P H 5 0 / 6 0 H z 0 .6 9 A...
Page 25 Product Overview ASDA-B3 ECM series servo motor  Nameplate information Model name ECM-A3H-CY0602RS0 Applicable power supply A1.45 Ins.A Rated output 0.64 kW 0.2 Taoyuan City 330477 QR code and serial number ABCYB1JBW14230024  Serial number Note: the rated voltage written in the servo motor specifications indicates the input voltage for the servo drive.
Page 26: Model Explanation
ASDA-B3 Product Overview 1.2.2 Model explanation ASDA-B3 servo drive (1) Product name ASD: AC Servo Drive (2) Series B3: B3 series B3A: B3A series (3) Rated power output Code Specification Code Specification Code Specification 100 W 1.0 kW 4.5 kW 200 W 1.5 kW 5.5 kW...
Page 27 Product Overview ASDA-B3 B3A series Connector Function Number of DIs / DOs 9 / 6 4 / 2 4 / 2 4 / 2 6 / 3 Analog voltage input / output 2 / 2 2 / 2 2 / 2 2 / 2 ✓...
Page 28 ASDA-B3 Product Overview ECM-B3 series servo motor (1) Product name ECM: electronically commutated motor (2) Servo type B: general type servo motor (3) Series 3: 3 series (4) Inertia H: high inertia M: medium inertia L: low inertia (5) Rated voltage and speed C: 220V and 3,000 rpm E: 220V and 2,000 rpm F: 220V and 1,500 rpm...
Page 29 Product Overview ASDA-B3 (7) Motor frame size Code Specification Code Specification 40 mm 100 mm 60 mm 130 mm 80 mm 180 mm (8) Rated power output Code Specification Code Specification 100 W 1.5 kW 200 W 1.8 kW 400 W 2.0 kW 750 W 3.0 kW...
Page 30 ASDA-B3 Product Overview ECM-A3 series servo motor (1) Product name ECM: electronically commutated motor (2) Servo type A: high-precision servo motor (3) Series 3: 3 series (4) Inertia H: high inertia L: low inertia (5) Rated voltage and speed C: 220V and 3,000 rpm (6) Encoder type Y: 24-bit absolute optical encoder (resolution of single turn: 24-bit;...
Page 31 Product Overview ASDA-B3 (7) Motor frame size Code Specification Code Specification 40 mm 80 mm 60 mm (8) Rated power output Code Specification Code Specification 50 W 400 W 100 W 750 W 200 W (9) Shaft type and oil seal w/o brake with brake w/o brake...
Page 32: Asda-B3 Servo Drive And Motor
ASDA-B3 Product Overview 1.3 ASDA-B3 servo drive and motor 1.3.1 220V models ECM-A3 series servo motor: Servo motor Servo drive Rated / Rated Max. Output Max. torque torque Inertia Power Model name Model name speed (N-m) (N-m) 0.159 0.557 ECM-A3L-C 040F 3 4 5 ASD-B3...
Page 33 Product Overview ASDA-B3 ECM-B3 series servo motor: Servo motor Servo drive 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 3 4 5 ASD-B3 -0121- inertia 0.64 2.24 ECM-B3M-C 0602 ASD-B3 -0221-...
Page 34 ASDA-B3 Product Overview 1.3.2 400V models ECM-B3 series servo motor: Servo motor Servo drive Rated / Rated Max. Output Inertia Max. Power Model name torque torque Model name speed (N-m) (N-m) 7.61 ASD-B3 -1043- ECM-B3M-J 0807 ASD-B3 -1543- 3.18 ASD-B3 -1043- 1000 ECM-B3M-J...
Page 35: Description Of The Drive Interface
Product Overview ASDA-B3 1.4 Description of the drive interface 1.4.1 -L models (10) (11) (12) Name Description 7-segment display. CHARGE Power indicator. Main circuit power input terminal. 220V models: connects to commercial power supply (200 - 230 V , 50/60 Hz); 400V models: connects to commercial power supply (380 - 400 V , 50/60 Hz).
Page 36: M / -F Models
ASDA-B3 Product Overview 1.4.2 -M / -F models (10) (11) (12) Name Description 7-segment display. CHARGE Power indicator. Main circuit power input terminal. 220V models: connects to commercial power supply (200 - 230 V , 50/60 Hz); 400V models: connects to commercial power supply (380 - 400 V , 50/60 Hz).
Page 37: E / B3A-P Models
Product Overview ASDA-B3 1.4.3 -E / B3A-P models (10) (11) (12) Name Description 7-segment display. CHARGE Power indicator. Main circuit power input terminal. 220V models: connects to commercial power supply (200 - 230 V , 50/60 Hz); 400V models: connects to commercial power supply (380 - 400 V , 50/60 Hz).
Page 38: Installation
Installation Follow the instructions in this chapter during installation. This chapter includes information about the circuit breaker, magnetic contactor, fuse, and the selection for EMI filter and regenerative resistor. 2.1 Ambient storage conditions ·································································· 2-2 2.2 Ambient installation conditions ······························································ 2-2 2.3 Mounting direction and space ·······························································...
Page 39: Ambient Storage Conditions
Installation ASDA-B3 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 40 ASDA-B3 Installation  For the 220V models, if the ambient temperature is over 45°C (113°F), place the product in a well-ventilated environment.  For the 400V models, if the ambient temperature is over 45°C (113°F), keep the average load rate at 80% or less, and place the product in a well-ventilated environment. ...
Page 41: Mounting Direction And Space
Installation ASDA-B3 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 installed on the wall. Incorrect mounting direction may result in malfunction.
Page 42 ASDA-B3 Installation Heat dissipation requirements  In order to have adequate air flow for ventilation, follow the suggested clearances when installing one or multiple servo drives.  Avoid mounting one servo drive above one another. Keep the bottom of the servo drive clear because the generated heat rises and causes higher temperature for the drives mounted above.
Page 43: Safety Precautions For Using Motors
ASDA-B3 2.4 Safety precautions for using motors The Delta AC servo motor is designed for industrial applications. It is necessary that you fully understand the motor specifications and the content of 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 44 Wiring  If the current exceeds the maximum current in the specifications, the internal parts of the motor may lose their magnetism. Contact the distributor or local Delta sales representative if this problem occurs.  Check if the motor wiring and the voltage of the motor brake are correct. Also, make sure that the wiring of the encoder power and signal cables is correct.
Page 45: Troubleshooting For The Motor Operation And Status
Installation ASDA-B3 2.4.1 Troubleshooting for the motor operation and status When the servo motor makes abnormal noises: Possible 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 46: Mounting Directions And Precautions For The Servo Motor
ASDA-B3 Installation 2.4.2 Mounting directions and precautions for the servo motor You can install the servo motor horizontally or vertically. Mounting direction Precautions Horizontal If you are using a servo motor with an oil seal, refer to Section 2.4.5 for oil and water prevention measures for the servo motor. Vertical - shaft end up ...
Page 47: Precautions For Using Servo Motor With Oil Seal
Installation ASDA-B3 2.4.3 Precautions for using servo motor with oil seal This section defines the operating conditions for using the servo motor with an oil seal:  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 48: Precautions For Installing Servo Motor Accessories
ASDA-B3 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 49 Installation ASDA-B3 Installation safety precautions for motor shaft accessories  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 50: Oil And Water Prevention Measures For The Servo Motor
(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 51: Measures To Suppress Temperature Increase Of The Servo Motor
Installation ASDA-B3 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 52: Specifications For The Circuit Breaker, Magnetic Contactor And Fuse
ASDA-B3 Installation 2.5 Specifications for the circuit breaker, magnetic contactor and fuse 220V models Servo drive model Circuit breaker Magnetic contactor Fuse (Class T) ASD-B3 -0121- 10 A ASD-B3 -0221- 10 A ASD-B3 -0421- 10 A 10 A 10 A ASD-B3 -0721- 10 A 10 A...
Page 53: Ferrite Ring
Installation ASDA-B3 2.6 Ferrite ring The ferrite ring suppresses high-frequency noise, reducing 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 54 ASDA-B3 Installation 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 400V models Note: Refer to Chapter 3 for the selection of the motor power cable. Only the motor power cable or servo drive power cable can run through the ferrite ring.
Page 55: 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 EMC standards. Refer to the following diagram for the standard installation, through which Delta servo products passed the EMC test.
Page 56: Emi Filters
With an EMI filter correctly installed and used, you can eliminate much of the interference. For optimized performance, it is recommended that you use Delta’s EMI filter for suppressing the interference. 220V models...
Page 57 Installation ASDA-B3 General precautions for installation To ensure the best performance of the EMI filter, apart from the installation and wiring instructions of the servo drive in the user manual, refer to these precautions: 1. The servo drive and EMI filter must be mounted on the same metal plate. 2.
Page 58: Selecting The Regenerative Resistor
Installation 2.8 Selecting the regenerative resistor Some of the Delta servo drive models have a built-in regenerative resistor, and 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 capacitor of the DC Bus and thus increases the voltage.
Page 59 Installation ASDA-B3 Specifications of the built-in regenerative resistor in the servo drive are as follows: 220V models Specifications of the Minimum allowable Capacity of the built-in built-in regenerative resistor resistance value Servo drive (kW) regenerative resistor (reference for external (Watt) Resistance (Ohm) Capacity (Watt) resistors) (Ohm)
Page 60 ASDA-B3 Installation 3. For general applications, you can connect more than one resistor in series. If the resistance value (from resistors connected in series) exceeds the rated range, you can reduce the value by connecting the resistors in parallel. If you want to connect the resistors in parallel to increase the power of the regenerative resistors, make sure the resistance value meets the requirements.
Page 61 Installation ASDA-B3 When installing an external regenerative resistor, connect the resistor to P and C contacts, and P and D contacts are left open. It is recommended that you choose external regenerative resistors of the resistance values specified in the table on page 22. 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 62 ASDA-B3 Installation Regenerative energy Maximum generated when the regenerative energy Rotor inertia Servo drive motor decelerates from Motor that can be absorbed (kW) the rated speed to a stop (× 10 kg.m by the capacitor without load Ec (joule) Eo (joule) ECM-B3M-C 0810 1.37...
Page 63 Installation ASDA-B3 Assuming that the load inertia is N times the motor inertia, when the motor decelerates from 3,000 rpm to a stop, the regenerative energy is (N+1) × Eo and the regenerative resistor needs to consume (N+1) × Eo - Ec joules. Assuming that the reciprocating motion cycle is T sec, then the required power of regenerative resistor = 2 ×...
Page 64 ASDA-B3 Installation (b) 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 65: The Use Of Braking
Installation ASDA-B3 2.9 The use of braking A brake is usually used for motions in the Z-axis direction because gravity causes the machine to fall. A brake can prevent the machine 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 66 ASDA-B3 Installation Wiring of the brake: Servo drive Ensure the polarity of diode is correct, or it will damage the drive. It is open circuit when the Motor emergency stop signal is on. Brake 1 Brake DOX+ For brake Relay DC24V Encoder DC24V...
Page 67: The Use Of Cable
Installation ASDA-B3 2.10 The use of cable Precautions for using standard cable:  Do not use the standard cable when the application requires the cable to move or bend. If required, use a flexible cable instead. Precautions for using flexible cable: ...
Page 68 This chapter illustrates the power supply circuit, connectors, and wiring for each control mode of the servo drive. 3.1 System connection ············································································ 3-3 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) ··············································································· 3-3 3.1.2 Connectors and terminals ······························································ 3-4 3.1.3 Wiring for power supply ································································...
Page 69 Wiring ASDA-B3 3.3.1.2 Communication type models – Wire with CN1 quick connector ······ 3-50 3.3.1.3 Communication type models – CN1 wiring diagrams ··················· 3-52 3.3.2 Communication type models (B3A-P model) ···································· 3-58 3.3.2.1 Communication type models – CN1 I/O connector pin assignment · 3-58 3.3.2.2 Communication type models –...
Page 70: System Connection
ASDA-B3 Wiring 3.1 System connection 3.1.1 Connecting to peripheral devices (connecting to Delta communication type servo motor) Power 100 W - 1.5 kW Single- / Three-phase 200 - 230V 2 kW - 3 kW Three-phase 200 - 230V 1 kW - 7.5 kW Three-phase 380 - 400V...
Page 71: Connectors And Terminals
Wiring ASDA-B3 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.) Connect to three-phase AC power. Power input for the R, S, T (Refer to the model specification for the proper input main circuit voltage.)
Page 72: Wiring For Power Supply
ASDA-B3 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 220V 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 73 Wiring ASDA-B3  Wiring method for three-phase power supply (for all series) MCCB Noise filter Power 1 Power 2 ALRM_RY_A Servo drive Motor Note: MCCB: molded case circuit breaker MC: magnetic contactor 24 V SPD: surge protection device Power 1: power on ALRM_RY Power 2: power off ALRM_RY: alarm relay...
Page 74 ASDA-B3 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 the other axes.
Page 75: Uvw Power Connector Specifications
ASDA-B3 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. Note: pin assignments of the B3 and B2 motor connectors are the same. For easier wiring, B3’s connector illustration (angle of viewing) is changed, which is different from that of B2.
Page 76: F40 - F80 Motors - Power Connectors
The brake coil has no polarity. Its pin symbols are BRAKE1 and BRAKE2. Color of brake wires for motors with the frame size of 40 - 80 mm: brown and blue. When selecting the wires, refer to Section 3.1.6 for details. Connector specifications: Brand Model number Delta ACS3-CAPW1000 39-01-2041 (case) Molex 39-00-0040 (terminal) Brand...
Page 77 Model number IP rating Delta ACS3-CNPW2A00 IP67 UVW with brake 23006231-01 CHOGORI IP67 23006231-02 Note: refer to Section 3.1.7 for the wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-10...
Page 78: F100 - F130 Motors - Power Connectors
Brand Model number 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 wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-11...
Page 79 Brand Model number 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 wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-12...
Page 80: F180 4.5 Kw (Or Below) Motors - Power Connectors
Brand Model number 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 wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-13...
Page 81 Brand Model number 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 wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-14...
Page 82: F180 5.5 Kw (Or Above) Motors - Power Connectors
Brand Model number 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 wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-15...
Page 83 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 wire diameter specification of the IP67 compliant and IP42 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-16...
Page 84: Specification For Encoder Cable And Connector
ASDA-B3 Wiring 3.1.5 Specification for encoder cable and connector 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 (1) CN2 connector;...
Page 85 Wiring ASDA-B3 Specifications and pin assignment of the quick connector for the incremental encoder of A3 / B3 motors Model number of incremental encoder cable inch 3000  50 118  2 ACS3-CAE 0103 5000  50 197  2 ACS3-CAE 0105 10000 ...
Page 86 ASDA-B3 Wiring Specifications and pin assignment of the quick connector for the absolute encoder of A3 / B3 motors Model number of absolute encoder cable inch 3000  50 118  2 ACS3-CAE 0103 5000  50 197  2 ACS3-CAE 0105 10000 ...
Page 87 Brand Model number IP rating Delta ACS3-CNEN2A00 IP67 IP67 waterproof connector CHOGORI 22008231-01 IP67 Note: refer to Section 3.1.7 for the wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-20...
Page 88 ASDA-B3 Wiring Specifications and pin assignment of the IP67 waterproof connector for the incremental encoder of A3 / B3 motors Model number of Model number of incremental encoder cable connector inch 3000  50 118  2 ACS3-CAE 1103 22008231-01 5000 ...
Page 89 Wiring ASDA-B3 Specifications and pin assignment of the IP67 waterproof connector for the absolute encoder of A3 / B3 motors Model number of Model number of absolute encoder cable connector inch 3000  50 118  2 ACS3-CAE 1103 22008231-01 5000 ...
Page 90: F100 - F180 Motors - Encoder Connectors
ASDA-B3 Wiring 3.1.5.2 F100 - F180 motors – Encoder connectors Encoder connection (Diagram 3): Military connector (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.
Page 91 Brand Model number 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 wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-24...
Page 92 Brand Model number 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 wire diameter specification of the IP67 compliant Delta connectors. For connector specification of other brands, contact the manufacturers. 3-25...
Page 93 Wiring ASDA-B3 Specifications and pin assignment of the IP67 waterproof military connector for the incremental encoder of B3 motors Model number of Model number of incremental encoder cable connector inch ACS3-CAE A103 CMV1-SP10S 3000  50 118  2 5000  50 197 ...
Page 94 ASDA-B3 Wiring Specifications and pin assignment of the IP67 waterproof military connector for the absolute encoder of B3 motors Model number of Model number of absolute encoder cable connector inch 3000  50 118  2 ACS3-CAE A103 CMV1-SP10S 5000  50 197 ...
Page 95 Wiring ASDA-B3 Specifications and pin assignment of the IP67 waterproof military connector for the incremental encoder of B3 motors Model number of Model number of incremental encoder cable connector inch 3000  50 118  2 ACS3-CRE A103 CMV1-AP10S 5000  50 197 ...
Page 96 ASDA-B3 Wiring Specifications and pin assignment of the IP67 waterproof military connector for the absolute encoder of B3 motors Model number of Model number of absolute encoder cable connector inch 3000  50 118  2 ACS3-CRE A103 CMV1-AP10S 5000  50 197 ...
Page 97: Wire Selection
Wiring ASDA-B3 3.1.6 Wire selection 3.1.6.1 Wire diameters / screw terminal block dimensions / screw and tightening torque specifications 3.1.6.1.1 220V series The recommended wires for connectors and signal wiring for the servo drive are listed in the following tables: 1.
Page 98 ASDA-B3 Wiring Wire K.S. Terminals Inc. Kise Terminal Kss Terminal diameter Servo drive model R, S, T Fork terminal Ring terminal Fork terminal Ring terminal Fork terminal Ring terminal ASD-B3 -0121- 22 AWG 0.32 mm ASD-B3 -0221- 20 AWG SVBL1-3.7 RVBM1-3.7 SV 1.25-3 RV 1.25-3...
Page 99 Wiring ASDA-B3 3.1.6.1.2 400V series The following table lists the recommended wires for connectors and signal wiring for the servo drive and the ring terminals of the suggested terminal brand K.S. Terminals Inc. 1. The shield should connect to the ground terminal 2.
Page 100: Encoder Cable Specifications
Standard length provided by L = 3 m, 5 m, 10 m, 20 m Delta Note: Use a shielded twisted-pair cable to reduce the noise interference. The shield should connect to the ground terminal When wiring, use the wires suggested in this section to avoid danger.
Page 101: Power Cable Specifications
Standard length provided by L = 3 m, 5 m, 10 m, 20 m Delta Note: Refer to Section 3.1.6.1 for detailed specifications for wire diameter, screw terminal block dimensions, screws, and tightening torque. Apart from these specifications, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 102 20 m wiring length Standard length L = 3 m, 5 m, 10 m, 20 m provided by Delta Note: Refer to Section 3.1.6.1 for detailed specifications for wire diameter, screw terminal block dimensions, screws, and tightening torque. Apart from these specifications, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 103 20 m wiring length Standard length L = 3 m, 5 m, 10 m, 20 m provided by Delta Note: Refer to Section 3.1.6.1 for detailed specifications for wire diameter, screw terminal block dimensions, screws, and tightening torque. Apart from these specifications, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 104 20 m wiring length Standard length L = 3 m, 5 m, 10 m, 20 m provided by Delta Note: Refer to Section 3.1.6.1 for detailed specifications for wire diameter, screw terminal block dimensions, screws, and tightening torque. Apart from these specifications, refer to Section 2.7.1 for the motor cable selection and installation precautions.
Page 105: Flexible Cable Specifications
Acceleration 15 m/s Note: 1. Delta provides both standard and flexible power and encoder cables. Refer to Appendix B for more details. 2. Bending the cable into a curve and then straightening it is considered as one time. 3. For precautions relevant to the use of cables, refer to Section 2.10.
Page 106: Wiring For Waterproof Connectors
ASDA-B3 Wiring 3.1.7 Wiring for waterproof connectors 3.1.7.1 Waterproof connector installation and wiring specifications When selecting the wires, refer to Section 3.1.6. IP67 waterproof connector installation and wiring specifications When mating, ensure the connector is fully locked and the diameter of the wire matches that of the rubber ring.
Page 107: F40 - F80 Models - Wiring The Waterproof Connector
Wiring ASDA-B3 3.1.7.2 F40 - F80 models – Wiring the waterproof connector Step 1: 8 - 12 mm Cut and strip the cable. The exposed wire length should be 8 - 12 mm (0.31 - 0.47 inches) 2 - 3 mm and the exposed tinned wire length should be 2 - 3 mm (0.08 - 0.12 inches).
Page 108: F100 - F180 Models - Wiring The Waterproof Connector
ASDA-B3 Wiring 3.1.7.3 F100 - F180 models – Wiring the waterproof connector Step 1: Cut and strip the cable. 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 right angle connectors, and the exposed tinned wire length (b) should be 3 - 5 mm (0.12 - 0.2 inches).
Page 109: Wiring Diagrams For The Servo System
Wiring ASDA-B3 3.2 Wiring diagrams for the servo system 3.2.1 220V series 750 W (and below) models Connect to the external regenerative resistor Power Single - / Three-phase 200 - 230V Built-in regenerative resistor Servo motor Varistor Phase failure detection Encoder Gate Current...
Page 110 ASDA-B3 Wiring Models of 1 kW - 3 kW (with built-in regenerative resistor and fan) Connect to the external regenerative resistor Power 1 kW - 1.5 kW model: single - / three-phase 200 - 230V 2 kW - 3 kW model: three-phase 200 - 230V Built-in regenerative resistor...
Page 111 Wiring ASDA-B3 3.2.2 400V series Models of 1 kW - 7.5 kW (with built-in regenerative resistor and fan) Connect to the external regenerative resistor Power Three-phase 380 to 440V Built-in regenerative resistor Servo motor Varistor Phase failure detection Encoder Gate Current Dynamic Voltage...
Page 112: Wiring For The Cn1 I/O Connector
ASDA-B3 Wiring 3.3 Wiring for the CN1 I/O connector Pin assignments of the CN1 terminal differ from model types. Refer to the corresponding wiring information based on the model. 3.3.1 Communication type models (-E, -F, and -M models) 3.3.1.1 Communication type models – CN1 I/O connector pin assignment On -E, -F, and -M models, the CN1 I/O connector includes 4 inputs and 2 outputs for you to define their functions.
Page 113 Wiring ASDA-B3 Pin assignment: Signal Description Signal Description Differential output for PULL HI_P External power input of Sign encoder A pulse (Pulse) pulse (24V ± 10%) Differential output for DO1+ Digital output encoder /A pulse Differential output for DO1- Digital output encoder Z pulse Differential output for DO2+...
Page 114 ASDA-B3 Wiring The following table details the signals listed in the previous page. General signals: Wiring method Signal Pin No. Description (refer to Section 3.3.1.3) (1) When the motor speed command is set to -10V to +10V, it means the rotation speed is -3000 rpm to +3000 rpm (default).
Page 115 Wiring ASDA-B3 There are various control modes available (refer to Section 6.1) and the I/O configuration differs for each mode. This servo drive provides user-defined I/O for you to set functions according to the application requirements. Refer to Section 8.3 for Table 8.1 Digital input (DI) descriptions and Table 8.2 Digital output (DO) descriptions.
Page 116 ASDA-B3 Wiring See the following tables for the default DO signals of each control mode: Control mode S/Sz T/Tz PT-S PT-T PR-S Default Default Default Default Default Default Default Symbol Symbol Symbol Symbol Symbol Symbol Symbol 0x01 0x01 0x01 0x01 0x01 0x01 0x01...
Page 117: Communication Type Models - Wire With Cn1 Quick Connector
Wiring ASDA-B3 3.3.1.2 Communication type models – Wire with CN1 quick connector The CN1 quick connector ACS3-IFSC2626 is applicable to the -E, -F, and -M models. You do not need to solder the wires; the spring-loaded terminals prevent the wires from loosening caused by vibration, which makes it a good choice for wiring.
Page 118 ASDA-B3 Wiring Installation and wiring for the CN1 quick connector (ACS3-IFSC2626): Installation Wiring (1) The CN1 quick connector (ACS3-IFSC2626) 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. (2) Insert the stripped wire into the pin.
Page 119: Communication Type Models - Cn1 Wiring Diagrams
Wiring ASDA-B3 3.3.1.3 Communication type models – CN1 wiring diagrams For the analog speed command and the analog torque (thrust) command of the -E, -F, and -M models, the valid voltage is between -10V and +10V. You can set the command value that corresponds to the voltage range with the relevant parameters.
Page 120 ASDA-B3 Wiring The B3A-E, B3A-F, and B3A-M models support the pulse input function. You can input the pulse command with the open collector or differential line driver. The maximum pulse input is 4 Mpps for the differential line driver and 200 Kpps for the open collector. Caution: when the source for the pulse input is open collector NPN type or PNP type equipment, you must connect the external power (24V ±...
Page 121 Wiring ASDA-B3 C4: pulse input (differential line driver input) can only be used with 2.8V - 3.6V power systems. Do not use it with 24V power. Pulse Type Maximum input frequency Pulse train + sign 4 Mpps Differential High speed pulse CW and CCW pulses signal A phase + B phase...
Page 122 ASDA-B3 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 (such as the 1N4005 diode). C5: DO wiring - the servo drive uses an external power supply and the resistor is for general load.
Page 123 Wiring ASDA-B3 DI wiring - input signals by relay or open collector transistor. Conditions of DI On / Off: ON: 15V - 24V; input current = 3 mA. OFF: 5V or below; the input current must not be higher than 0.5 mA. C7: NPN transistor (SINK mode) -E / -F / -M servo drive C8: PNP transistor (SOURCE mode)
Page 124 ASDA-B3 Wiring C9: output for encoder position signal (line driver) Max. current output: 20 mA Controller -E / -F / -M servo drive AM26C31 series 120 Ω 120 Ω 120 Ω Note: it is suggested that you connect the GND of the controller and the GND of the servo drive in parallel when the voltage difference between the two GND terminals is too great.
Page 125: Communication Type Models (B3A-P Model)
Wiring ASDA-B3 3.3.2 Communication type models (B3A-P model) 3.3.2.1 Communication type models – CN1 I/O connector pin assignment On B3A-P models*, the CN1 I/O connector includes 6 inputs and 3 outputs for you to define their functions. The differential output signals (OA, /OA, OB, /OB, OZ, and /OZ) for the encoder are provided.
Page 126 ASDA-B3 Wiring The following table details the signals listed in the previous page. General signals: Wiring method Signal Pin No. Description (refer to Section 3.3.2.2) Position Differential output (line driver) for the encoder pulse C9 / C10 signals A, B, and Z. (output) NPN: COM+ is the positive terminal of the voltage source for DI and requires an external power...
Page 127 Wiring ASDA-B3 There are various control modes available (refer to Section 6.1) and the I/O configuration differs for each mode. This servo drive provides user-defined I/O for you to set functions according to the application requirements. Refer to Section 8.3 for Table 8.1 Digital input (DI) descriptions and Table 8.2 Digital output (DO) descriptions.
Page 128 ASDA-B3 Wiring See the following tables for the default DO signals of each control mode: Control mode Communi- S/Sz T/Tz PR-S PR-T cation Default Default Default Default Default Default Default Symbol Symbol Symbol Symbol Symbol Symbol Symbol 0x01 0x01 0x01 0x01 0x01 0x01...
Page 129: Communication Type Models - Cn1 Wiring Diagrams
Wiring ASDA-B3 3.3.2.2 Communication type 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 (such as the 1N4005 diode).
Page 130 ASDA-B3 Wiring DI wiring - input signals by relay or open collector transistor. Conditions of DI On / Off: ON: 15V - 24V; input current = 3 mA. OFF: 5V or below; the input current must not be higher than 0.5 mA. C7: NPN transistor (SINK mode) B3A-P servo drive COM+...
Page 131 Wiring ASDA-B3 C9: output for encoder position signal (line driver) B3A-P servo drive Max. current output: 20 mA Controller AM26C31 series 120 Ω 120 Ω 120 Ω Note: it is suggested that you connect the GND of the controller and the GND of the servo drive in parallel when the voltage difference between the two GND terminals is too great.
Page 132: Pulse Type Models (-L Models)
ASDA-B3 Wiring 3.3.3 Pulse type models (-L models) 3.3.3.1 Pulse type models – CN1 I/O connector pin assignment On -L models, the CN1 I/O connector includes 9 inputs and 6 outputs for you to define their functions. The differential output signals (OA, /OA, OB, /OB, OZ, and /OZ) for the encoder are provided.
Page 133 Wiring ASDA-B3 Pin assignment: Signal Description Signal Description Differential output for encoder DO4+ Digital output /B pulse Differential output for encoder DO3- Digital output /Z pulse Differential output for encoder DO3+ Digital output B pulse DO2- Digital output DO4- Digital output DO2+ Digital output DO5-...
Page 134 ASDA-B3 Wiring The following table details the signals listed in the previous page. General signals: Wiring method Signal Pin No. Description (refer to Section 3.3.3.3) (1) When the motor speed command is set to -10V to +10V, it means the rotation speed is -3000 rpm to +3000 rpm (default).
Page 135 Wiring ASDA-B3 There are various control modes available (refer to Section 6.1) and the I/O configuration differs for each mode. This servo drive provides user-defined I/O for you to set functions according to the application requirements. Refer to Section 8.3 for Table 8.1 Digital input (DI) descriptions and Table 8.2 Digital output (DO) descriptions.
Page 136 ASDA-B3 Wiring Control mode PR-S PR-T PT-PR PT-PR-S PT-PR-T Default Default Default Default Default Default Symbol Symbol Symbol Symbol Symbol Symbol 0x01 0x01 0x01 0x01 0x01 0x01 0x08 0x08 0x00 0x04 0x04 0x04 CTRG CTRG CCLR CCLR CCLR 0x11 0x11 0x14 0x08 0x08...
Page 137 Wiring ASDA-B3 See the following tables for the default DO signals of each control mode: Control mode S/Sz T/Tz PT-S PT-T Default Default Default Default Default Default Symbol Symbol Symbol Symbol Symbol Symbol 0x01 0x01 0x01 0x01 0x01 0x01 SRDY SRDY SRDY SRDY...
Page 138 ASDA-B3 Wiring If the default DI/DO functions 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 CN1 Pin No. Signal CN1 Pin No.
Page 139: Pulse Type Models - Wire With Cn1 Quick Connector
Wiring ASDA-B3 3.3.3.2 Pulse type models – Wire with CN1 quick connector The CN1 quick connector ACS3-IFSC4444 is applicable to the -L models. You do not need to solder the wires; the spring-loaded terminals prevent the wires from loosening caused by vibration, which makes it a good choice for wiring.
Page 140 ASDA-B3 Wiring Installation and wiring for the CN1 quick connector (ACS3-IFSC4444): Installation Wiring (1) The CN1 quick connector (ACS3-IFSC4444) 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.
Page 141: Pulse Type Models - Cn1 Wiring Diagrams
Wiring ASDA-B3 3.3.3.3 Pulse type models – CN1 wiring diagrams For the analog speed command and the analog torque (thrust) command of the -L models, the valid voltage is between -10V and +10V. You can set the command value that corresponds to the voltage range with the relevant parameters.
Page 142 ASDA-B3 Wiring You can input the pulse command with the open collector or differential line driver. The maximum pulse input is 4 Mpps for the differential line driver and 200 Kpps for the open collector. Caution: when the source for the pulse input is open collector NPN type or PNP type equipment, you must connect the external power (24V ±...
Page 143 Wiring ASDA-B3 C4: pulse input (differential input) can only be used with 2.8V - 3.6V power systems. Do not use it with 24V power. Pulse Type Maximum input frequency Pulse train + sign 4 Mpps Differential High speed pulse CW and CCW pulses signal A phase + B phase 2 Mpps...
Page 144 ASDA-B3 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 (such as the 1N4005 diode). C5: DO wiring - the servo drive uses an external power supply and the resistor is for general load.
Page 145 Wiring ASDA-B3 DI wiring - input signals by relay or open collector transistor. Conditions of DI On / Off: ON: 15V - 24V; input current = 3 mA. OFF: 5V or below; the input current must not be higher than 0.5 mA. C7: NPN transistor (SINK mode) -L servo drive C8: PNP transistor (SOURCE mode)
Page 146 ASDA-B3 Wiring C10: output for encoder position signal (photocoupler) Max. current output: 20 mA -L servo drive Controller AM26C31 series 200 Ω High-speed photocoupler 200 Ω High-speed photocoupler 200 Ω High-speed photocoupler C11: output for encoder OCZ signal (open collector output for Z pulse) 3-79...
Page 147: Wiring For The Cn2 Encoder Connector
CN2 connector of the servo drive is not required. Recommended Illustration of connector Model number brand Delta ACS3-CNENC200 JAWS IES06G7AQB1 Connectors (quick connector / CN2 connector) of the encoder cable (for ECM-A3 / B3 220V F40 to F80 motors):...
Page 148 ASDA-B3 Wiring Connectors (IP67 waterproof connector / CN2 connector) of the encoder cable (for ECM-A3 / B3 220V F40 to F80 motors): View from this side View from this side 2 4 6 1 3 5 Connectors (military IP67 waterproof connector / CN2 connector) of the encoder cable (for ECM-B3 F100 to F180 motors): View from this...
Page 149 Wiring ASDA-B3 Pin assignment of CN2 connector: Encoder cable connector (female) CN2 of servo drive Quick IP67 B3 military Color Pin No. Signal Description connector connector connector Brown DC+5V +5V power supply Blue Power ground Do not connect this pin. For internal use only.
Page 150 ASDA-B3 Wiring Step 4: Place the big metal case to cover the exposed metal shield. Make sure the metal shield is completely covered to maintain the integrity of the shielding. Step 5: Fasten the small metal case on the other side.
Page 151: Wiring For The Cn3 Connector
Wiring ASDA-B3 3.5 Wiring for the CN3 connector 3.5.1 Wiring for the Modbus communication connector 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 RS-485 communication interface, allowing you to connect multiple servo drives simultaneously.
Page 152 ASDA-B3 Wiring Connecting multiple servo drives: Host controlle r 120 Ω (1) Connect to the controller / PLC; (2) Modbus connector; (3) Wiring for RS-485 terminal resistor Note: You can connect up to 32 axes through RS-485. The communication quality and the allowable number of connected axes are determined by the controller’s specifications, quality of wires, grounding, interference, and whether a shielded twisted-pair cable is used.
Page 153: Wiring For The Canopen Communication Connector
Wiring ASDA-B3 3.5.2 Wiring for the CANopen communication connector Conforming to the CANopen DS301 and DS402 standards, the CN3 connector use the standard CANopen communication interface to control the position, torque, and speed of the motor, and access or monitor the servo status, allowing you to connect multiple servo drives simultaneously.
Page 154 ASDA-B3 Wiring Connecting multiple servo drives: Configure the terminal resistor according to the communication interface in use. Host controlle r 120 Ω (CANopen) 120 Ω (RS-485) (1) Connect to the controller / PLC; (2) Wiring for CANopen / RS-485 terminal resistor Note: CANopen cable length can be up to 30 m (98.43 ft).
Page 155: Cn4 Connector (Mini Usb)
This is a Type B Mini USB connector that is compatible with the USB 2.0 specification, and installing the USB isolator (Delta model number: UC-ADP01-A) is required. (1) Mini USB connector (female); (2) Mini USB connector (male)
Page 156: Wiring For The Cn6 Connector
RJ45 connector and a shielded network cable, controlling the position, torque, and speed of the motor, as well as accessing or monitoring the servo status with Delta’s DMCNET system. You can set the address with P3.000 when using DMCNET communication. Its maximum transmission rate is 20 Mbps.
Page 157 Wiring ASDA-B3 Connecting multiple servo drives: Host controller (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 158: Wiring For The Ethercat Communication Connector
ASDA-B3 Wiring 3.7.2 Wiring for the EtherCAT communication connector The CN6 connector of the -E models 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 port Pin No.
Page 159 Wiring ASDA-B3 Description of each indicator for the CN6 connector:  LED indicator status description Indicator Description Blinking 200 ms 200 ms Single flash  Network status indicator (L/A) Indicator Status Description Network connection is established but no data Network is connected transmission.
Page 160 ASDA-B3 Wiring  EtherCAT connection status indicator (RUN) Indicator Status Description After power cycling and the initialization of the servo drive is complete, the communication has not yet Initial started, but the controller can access the servo drive’s register. SDO, TxPDO, and RxPDO data packets can be Operational transmitted.
Page 161 Wiring ASDA-B3 Connecting multiple servo drives: PL C Note: When multiple servo drives are connected, the maximum distance between each drive is 50 m (164.04 inches) Use CAT5e STP cable. It is suggested that you use a Beckhoff cable (model number: ZB9020). Ensure the wiring is correct.
Page 162: Wiring For The Profinet Communication Connector
ASDA-B3 Wiring 3.7.3 Wiring for the PROFINET communication connector The CN6 connector of the B3A-P models* allows you to connect the servo drive to the controller using a standard RJ45 connector and a shielded network cable, controlling the position and speed of the motor, as well as accessing or monitoring the servo status with Siemens’...
Page 163: Cn10 Sto Connector (Safe Torque Off)
Wiring ASDA-B3 3.8 CN10 STO connector (Safe torque off) This connector provides the STO function. More details are provided in the next section. Note: the STO function is supported by B3A series only. (1) CN10 STO connector (female); (2) CN10 quick connector (male) Pin assignment: Pin No.
Page 164: Sto Function (Safe Torque Off)
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 165: Specifications Of Sto
Wiring ASDA-B3 3.9.3 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% Hardware fault tolerance IEC 61508 (Type A subsystem) IEC 61508 SIL2 Safety integrity level...
Page 166: How Does The Sto Function Work
ASDA-B3 Wiring 3.9.4 How does the STO function work? The STO function controls the motor current by two individual circuits. The two circuits cut off the power supply to the motor when needed, making the motor free from torque force. When an STO alarm occurs, determine which alarm is triggered according to the EDM (External Device Monitoring) status.
Page 167 Wiring ASDA-B3 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” flag is on and the servo drive becomes off, triggering AL500. 10 ms STO not STO signal...
Page 168: Deactivation Status
ASDA-B3 Wiring 3.9.4.2 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 169: Wiring For Sto
Wiring ASDA-B3 3.9.5 Wiring for STO For STO wiring, the recommended wire gauge is 0.13 - 1.32 mm (AWG 24 - 16). 3.9.5.1 Not using the STO function You can short-circuit the connector or plug in the short-circuit connector that comes with the servo drive.
Page 170: Using The Sto Function For Multiple Drives
ASDA-B3 Wiring 3.9.5.3 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+ 24 V SF1-...
Page 171: Standard Wiring Example
Wiring ASDA-B3 3.10 Standard wiring example 3.10.1 Position (PT) control mode – differential line driver input Servo drive B3-L / B3A-L series AC 200 / 230V MCCB Three-phase 50 / 60 Hz Regenerative resistor AC 380 / 440V Three-phase Power 50 / 60 Hz White supply...
Page 172 ASDA-B3 Wiring Servo drive B3A-E / B3A-F / B3A-M series AC 200 / 230V MCCB Three-phase 50 / 60 Hz Regenerative resistor AC 380 / 440V Three-phase Power 50 / 60 Hz White supply Black EMGS BRKR Brake Yellow / Green Encoder The supply voltage is 2.8 - 3.6V.
Page 173: Position (Pt) Control Mode - Open Collector Input
Wiring ASDA-B3 3.10.2 Position (PT) control mode – open collector input Servo drive B3-L / B3A-L series AC 200 / 230V MCCB Three-phase 50 / 60 Hz Regenerative resistor AC 380 / 440V Three-phase Power 50 / 60 Hz White supply Black Open-collector for...
Page 174 ASDA-B3 Wiring Servo drive B3A-E / B3A-F / B3A-M series AC 200 / 230V MCCB Three-phase 50 / 60 Hz Regenerative resistor AC 380 / 440V Three-phase Power 50 / 60 Hz White supply Black Open-collector for EMGS BRKR Brake position pulse input*1 Yellow / Green...
Page 175: Position (Pr) Control Mode - Internal Position Commands
Wiring ASDA-B3 3.10.3 Position (PR) control mode – internal position commands Servo drive B3-L / B3A-L series Regenerative AC 200 / 230V MCCB resistor Three-phase 50 / 60 Hz Power AC 380 / 440V White supply Three-phase Black 50 / 60 Hz EMGS BRKR Brake...
Page 176 ASDA-B3 Wiring Servo drive B3-E / B3-F / B3-M / B3A-E / B3A-F / B3A-M series AC 200 / 230V MCCB Three-phase 50 / 60 Hz Regenerative resistor AC 380 / 440V Three-phase Power 50 / 60 Hz White supply Black EMGS BRKR...
Page 177: Speed (S) Control Mode
Wiring ASDA-B3 3.10.4 Speed (S) control mode Servo drive B3-L / B3A-L series AC 200 / 230V MCCB Regenerative Three-phase resistor 50 / 60 Hz AC 380 / 440V Power White supply Three-phase Black 50 / 60 Hz EMGS BRKR Brake Yellow / Green...
Page 178 ASDA-B3 Wiring Servo drive B3-E / B3-F / B3-M / B3A-E / B3A-F / B3A-M series AC 200 / 230V Three-phase 50 / 60 Hz Regenerative resistor AC 380 / 440V Three-phase Power 50 / 60 Hz White supply Black EMGS BRKR Brake...
Page 179: Torque (T) Control Mode
Wiring ASDA-B3 3.10.5 Torque (T) control mode Servo drive B3-L / B3A-L series AC 200 / 230V MCCB Regenerative Three-phase resistor 50 / 60 Hz AC 380 / 440V Power White supply Three-phase Black 50 / 60 Hz EMGS BRKR Brake Yellow / Green...
Page 180 ASDA-B3 Wiring Servo drive B3-E / B3-F / B3-M / B3A-E / B3A-F / B3A-M series AC 200 / 230V MCCB Three-phase 50 / 60 Hz Regenerative resistor AC 380 / 440V Three-phase Power 50 / 60 Hz White supply Black EMGS BRKR...
Page 181: Communication Mode - Canopen
Wiring ASDA-B3 3.10.6 Communication mode – CANopen Servo drive B3-M / B3A-M series Regenerative AC 200 / 230V MCCB resistor Three-phase 50 / 60 Hz Power White AC 380 / 440V supply Black Three-phase BRKR EMGS Brake Yellow / 50 / 60 Hz Green Encoder Do n ot con nect...
Page 182: Communication Mode - Dmcnet
ASDA-B3 Wiring 3.10.7 Communication mode – DMCNET Servo drive B3-F / B3A-F series Regenerative AC 200 / 230V MCCB resistor Three-phase 50 / 60 Hz Power White AC 380 / 440V supply Black Three-phase BRKR EMGS Brake Yellow / 50 / 60 Hz Green Encoder COM+...
Page 183: Communication Mode - Ethercat
Wiring ASDA-B3 3.10.8 Communication mode – EtherCAT Servo drive B3-E / B3A-E series AC 200 / 230V MCCB Three-phase 50 / 60 Hz AC 380 / 440V Three-phase Regenerative resistor 50 / 60 Hz Power White supply Black BRKR EMGS Brake Yellow / COM+...
Page 184 Test Operation and Panel Display This chapter describes the display and operation for the servo drive panel as well as the testing for the servo drive and motor. 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 ·········································································...
Page 185: Panel Description
Test Operation and Panel Display ASDA-B3 4.1 Panel description (1) Display: 5-digit, 7-segment LED displays the monitoring codes, parameter numbers, and setting values. (2) MODE key: switches the display among Monitoring mode, Parameter mode, and Alarm mode. In Editing mode, pressing the MODE key switches back to Parameter mode. (3) UP (▲) key: changes the monitoring codes, parameter numbers, and setting values.
Page 186: Parameter Setting Procedure
ASDA-B3 Test Operation and Panel Display 4.2 Parameter setting procedure Switching modes: Power On Monitoring Refer to Chapter 8. mode MODE Parameter Refer to Chapter 8. mode 1. If no alarm occurs, Alarm mode is skipped. MODE 2. When a new alarm occurs, the display switches to Alarm mode from any other mode.
Page 187 Test Operation and Panel Display ASDA-B3 Parameter mode Parameter mode Monitoring parameter P0 SHIFT Basic parameter SHIFT Extension parameter P2 SHIFT Communication parameter P3 SHIFT Diagnosis parameter P4 SHIFT Motion control parameter P5 SHIFT PR parameter SHIFT PR parameter SHIFT MODE Monitoring mode...
Page 188 ASDA-B3 Test Operation and Panel Display Editing mode Parameter mode MODE Editing mode After the parameter setting Display parameter value is saved, the display setting value automatically returns to SHIFT Parameter mode. After the parameter setting value is saved, the display SHIFT automatically returns to Parameter mode.
Page 189: Status Display
Test Operation and Panel Display ASDA-B3 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 symbol of the corresponding status for one second. Displayed symbol Description Correctly saved the setting value (Saved).
Page 190: Alarm Messages
ASDA-B3 Test Operation and Panel Display 4.3.3 Alarm messages Displayed symbol Description When an alarm occurs, the servo drive 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 13 Troubleshooting for alarm details.
Page 191 Monitoring variable #3: shows the content of parameter P0.011 (P0.019 specifies the monitoring variable) Monitoring variable #4: shows the content of parameter P0.012 (P0.020 specifies the monitoring variable) Offset value between motor position and Z phase. (Only available for Delta CNC controllers.)
Page 192 ASDA-B3 Test Operation and Panel Display P0.002 Monitoring displayed Description Unit setting value symbol 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. Position feedback from the auxiliary encoder.
Page 193: General Functions
Test Operation and Panel Display ASDA-B3 4.4 General functions 4.4.1 Operation of fault record display In Parameter mode, select P4.000 - P4.004 and press the SET key to show the corresponding fault record. The last fault record The 2 to the last fault record The 3 to the last...
Page 194: Force Do On
ASDA-B3 Test Operation and Panel Display 4.4.2 Force DO on You can switch to the Diagnosis mode by the following steps. Set P2.008 to 406 to enable the function of forcing DO on. Then, set the DO by binary method with P4.006. When the value of P4.006 is 0x0002, it forces DO2 on.
Page 195: Digital Input Diagnosis
Test Operation and Panel Display ASDA-B3 4.4.3 Digital input diagnosis You can switch to the Diagnosis mode by the following steps. When DI1 - DI9 are triggered by the external signal, the panel shows the corresponding signal. In binary format, when the bit shows 1, it means the DI is on.
Page 196: 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 ...
Page 197: Apply Power To The Servo Drive
Test Operation and Panel Display ASDA-B3 4.5.2 Apply power to the servo drive Follow these instructions. 1. Make sure the wiring between the motor and servo drive is correct: (1) Connect the red, white, black, and yellow/green wires to the U, V, W, and FG terminals respectively.
Page 198 ASDA-B3 Test Operation and Panel Display  When the display shows: Overvoltage warning: This means the input voltage of the main circuit is higher than the allowable rated value or an incorrect power input is applied (incorrect power system). Corrective action: 1.
Page 199 Test Operation and Panel Display ASDA-B3  When the display shows: Emergency stop warning: Check if any of the digital inputs DI1 - DI9 are set to emergency stop (EMGS). Corrective action: 1. If you do not want to set the emergency stop (EMGS) as one of the digital inputs, make sure none of the digital inputs DI1 - DI9 are set to emergency stop (EMGS) (make sure that none of the parameters, P2.010 - P2.017 and P2.036, are set to 21).
Page 200 ASDA-B3 Test Operation and Panel Display  When the display shows: Positive limit error warning: Check if any of the digital inputs DI1 - DI9 are set to positive limit (PL) and make sure that DI is off. Corrective action: 1.
Page 201: Jog Trial Run Without Load
Test Operation and Panel Display ASDA-B3 4.5.3 JOG trial run without load It is easy to test the motor and servo drive using a JOG trial run without load since no extra wiring is needed. For safety reasons, it is recommended that you set JOG at low speed. Follow these steps: Step 1: JOG trial run is available only when the servo drive is in the Servo On state.
Page 202 ASDA-B3 Test Operation and Panel Display The following shows the JOG timing diagram: 4-19...
Page 203: Trial Run Without Load (Speed Mode)
P2.015 - P2.017 and P2.036 - P2.040 are set to 0x000 (disabled). You can program the digital inputs of Delta’s servo drive by referring to Table 8.1 Digital input (DI) descriptions in Chapter 8. The default setting includes the negative limit, positive limit, and emergency stop functions.
Page 204 ASDA-B3 Test Operation and Panel Display The Speed command selection is determined by SPD0 and SPD1. See the following table. DI signal of CN1 Speed command Command source Content Range number SPD1 SPD0 Voltage difference External between V-REF -10V to +10V analog signal and GND Mode...
Page 205: Trial Run Without Load (Position Mode)
P2.015 - P2.017 and P2.036 - P2.040 are set to 0x000 (disabled). You can program the digital inputs of Delta’s servo drive by referring to Table 8.1 Digital input (DI) descriptions in Chapter 8. The default setting includes the negative limit, positive limit, and emergency stop functions.
Page 206 ASDA-B3 Test Operation and Panel Display Refer to Section 3.10.3 for the wiring for Position (PR) control mode. See the following table for the 100 sets of PR and the corresponding Position commands (POS0 - POS6) and parameters. Position Corresponding POS6 POS5 POS4...
Page 207 Test Operation and Panel Display ASDA-B3 (This page is intentionally left blank.) 4-24...
Page 208: 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 209 Tuning ASDA-B3 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 210 ASDA-B3 Tuning 5.7.8.1 Function restriction ································································ 5-62 5.7.8.2 Function description ······························································ 5-62 5.7.8.3 Application example ······························································ 5-62 5.8 Application function adjustment ··························································· 5-63 5.8.1 Adjusting position error in constant speed zone ································· 5-63 5.8.1.1 Function restriction ································································ 5-63 5.8.1.2 Function description ······························································ 5-63 5.8.1.3 Application example ······························································...
Page 211: Tuning Procedure
Tuning ASDA-B3 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 212: Inertia Estimation
ASDA-B3 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 213: 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 214 ASDA-B3 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 215 Tuning ASDA-B3 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 limited strokes, low speed movement reduces the risk of collision.
Page 216: One Touch Tuning
ASDA-B3 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 217: 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 218 ASDA-B3 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 219 Tuning ASDA-B3 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 220: Auto Tuning
ASDA-B3 Tuning 5.4 Auto tuning The auto tuning function enables the system to perform real-time machine inertia estimation and downloads 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 221: Precautions For Auto Tuning
Tuning ASDA-B3 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 traveling distance as the minimum distance for the motor to accelerate from zero speed to the constant speed zone, with the constant speed equal to the set jog speed.
Page 222: Flowchart Of Auto Tuning
ASDA-B3 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 223: Auto Tuning Through The Drive Panel
Tuning ASDA-B3 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 224: 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 225 Tuning ASDA-B3 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 226 ASDA-B3 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 227 Tuning ASDA-B3 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 228 ASDA-B3 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 229 Tuning ASDA-B3 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 230 ASDA-B3 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 231: Parameters Related To Auto Tuning
Tuning ASDA-B3 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 232: Automatic Gain Adjustment Level 2 (P2.106) - Response Adjustment
ASDA-B3 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 233: Alarms Related To Auto Tuning
Tuning ASDA-B3 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 as shown in the following figure. When any of the settings is incorrect, the servo drive stops tuning and displays an alarm.
Page 234: Gain Adjustment Modes
ASDA-B3 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 235 Tuning ASDA-B3 Parameter P2.032 Inertia Adjustment mode Mode name value 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 (Same as setting P2.044, P2.045, estimation Auto P2-32 = 1 for the P2.046, P2.049, A2 series) P2.089, P2.094,...
Page 236: Flowchart Of Gain Adjustment Mode
ASDA-B3 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 237: Gain Adjustment Mode 1
Tuning ASDA-B3 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).
Page 238: Gain Adjustment Mode 3
ASDA-B3 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 239: Gain Adjustment Mode 4
Tuning ASDA-B3 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).
Page 240: Gain Adjustment Mode 5
ASDA-B3 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 241: Parameters Related To Gain Adjustment Modes
Tuning ASDA-B3 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 242: Command Response Gain (P2.089) - Response Adjustment
ASDA-B3 Tuning 5.5.9.2 Command response gain (P2.089) - response adjustment P2.089 adjusts 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 243: Manual Tuning Of Gain Parameters
Tuning ASDA-B3 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 244 ASDA-B3 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 245: Flowchart Of Manual Tuning In Speed Mode
Tuning ASDA-B3 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 246: Flowchart Of Manual Tuning In Position Mode
ASDA-B3 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 247: Manual Tuning With Asda-Soft
Tuning ASDA-B3 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 248: Mechanical Resonance Suppression And Noise Elimination
ASDA-B3 Tuning 5.7 Mechanical resonance suppression and noise elimination When mechanical resonance occurs, it is probably because the stiffness of the servo drive control system is too high or the response bandwidth is too great. Eliminating these two factors can improve the situation. During the tuning process, when you gradually increase the servo response bandwidth, the frequency at the resonance point is likely to be reached, causing noise and vibration.
Page 249: Notch Filter
Tuning ASDA-B3 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 250: Parameter Descriptions
ASDA-B3 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 factor Attenuation level...
Page 251 Tuning ASDA-B3 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 252: Application Example
ASDA-B3 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 253 Tuning ASDA-B3 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 254 ASDA-B3 Tuning 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 255: Resonance Suppression Low-Pass Filter
Tuning ASDA-B3 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 256: Speed Detection Filter
ASDA-B3 Tuning 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 257: Application Example
Tuning ASDA-B3 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 258: Low-Frequency Vibration Suppression Filter
ASDA-B3 Tuning 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 259 Tuning ASDA-B3 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 260: Application Example
ASDA-B3 Tuning 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 in ASDA-Soft, use the low-frequency vibration suppression function to suppress the vibration caused by the specific frequency.
Page 261: Model-Controlled Vibration Suppression Filter
Tuning ASDA-B3 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 262: Function Description Of Two Degree Of Freedom Control Function
ASDA-B3 Tuning 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 263: Application Example Of Two Degree Of Freedom Control Function
Tuning ASDA-B3 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 264: Restrictions Of Vibration Elimination
ASDA-B3 Tuning 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 functions simultaneously for -E and -F models, while you can enable only one set of vibration elimination function for -M and -L models.
Page 265: Application Example Of Vibration Elimination
Tuning ASDA-B3 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 266: Position Command Filter
ASDA-B3 Tuning 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 267: Application Example
Tuning ASDA-B3 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 268: Speed Command Filter
ASDA-B3 Tuning 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 269: Torque Command Filter
Tuning ASDA-B3 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. 5.7.8.3 Application example When the servo is in analog Torque mode (T) to perform force control (such as tension or pressure control), the command value is usually a constant which changes slowly.
Page 270: Application Function Adjustment
ASDA-B3 Tuning 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 the control mode (P1.001.YX) to Position mode (PT, PR). 2. When using P2.007, set the control mode (P1.001.YX) to Position or Speed mode (PT, PR, S, Sz).
Page 271: Application Example
Tuning ASDA-B3 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 272: Position Overshoot Adjustment
ASDA-B3 Tuning 5.8.2 Position overshoot adjustment 5.8.2.1 Function restriction When using this function, set the control mode (P1.001.YX) to Position or Speed mode (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 273: Multi-Axis Contour Control
Tuning ASDA-B3 5.8.3 Multi-axis contour control 5.8.3.1 Function restriction 1. In the communication mode, settings for P1.034 - P1.036, P2.068, and P1.017 for each axis have to be consistent. 2. The settings of the two degree of freedom control function (P2.094 [Bit 12]) for each axis have to be consistent.
Page 274 ASDA-B3 Tuning 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 275: Application Example
Tuning ASDA-B3 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.
Page 276 ASDA-B3 Tuning Auto adjustment: The switch for automatic friction estimation 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 maintain the estimation performance. Once the estimation is complete, the servo automatically sets P2.065 [Bit 4] to 0.
Page 277: Gain Switching
Tuning ASDA-B3 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 278 ASDA-B3 Tuning 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 279 Tuning ASDA-B3 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 280: Control Mode
Control Mode This chapter describes the control structure of each 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 281 Control Mode ASDA-B3 6.5.2 Speed / Torque dual mode ··························································· 6-31 6.5.3 Torque / Position dual mode ························································· 6-32 6.6 Others ··························································································· 6-33 6.6.1 Applying the speed limit ······························································ 6-33 6.6.2 Applying the torque limit ······························································ 6-33 6.6.3 Analog monitoring ······································································ 6-34...
Page 282: Selecting The Control Mode
PR-T Switch PR and T modes with DI signals. Switch S and T modes with DI signals. PT-PR Switch PT and PR modes with DI signals. The dedicated communication mode for Delta’s CANopen DVP-15MC PLC controller. DMCNET DMCNET mode. Communication mode CANopen CANopen mode.
Page 283 Control Mode ASDA-B3 Here are the steps to switch the control modes: 1. Switch the servo drive to Servo Off status. You can do this by setting DI.SON to off. 2. Set P1.001 by referring to the codes listed in the preceding table to set the control mode. 3.
Page 284: Position Mode
ASDA-B3 Control 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 285: Position Command In Pr Mode
Control Mode ASDA-B3 6.2.2 Position command in PR mode The PR command source is the 100 sets of internal command registers (P6.000 - P7.099). Use DI (0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C, 0x1E) (POS0 - POS6 of CN1) to select one of the 100 sets as the Position command and then trigger the command with DI.CTRG (0x08).
Page 286: Control Structure Of Position Mode
ASDA-B3 Control Mode 6.2.3 Control structure of Position mode The following diagram shows the basic control structure of Position mode. For better control, the pulse signals are processed by the Position command processing unit. The structure is shown in the following diagram. Position command processing unit Command selection...
Page 287: S-Curve Filter For Position Commands
Control Mode ASDA-B3 6.2.4 S-curve filter for Position commands 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 in 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 288: Electronic Gear Ratio (E-Gear Ratio)
ASDA-B3 Control Mode 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 16,777,216 pulses are generated per motor 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 289: Low-Pass Filter
Control Mode ASDA-B3 6.2.6 Low-pass filter Target position P1.008 Refer to Chapter 8 for detailed descriptions of the relevant parameter. Parameter Function P1.008 Position command - smoothing constant (low-pass filter) 6.2.7 Timing diagram of PR mode In PR mode, the Position command is selected with the DI signals (POS0 - POS6 and CTRG) of CN1.
Page 290: Gain Adjustment Of The Position Loop
ASDA-B3 Control Mode 6.2.8 Gain adjustment of the position loop There are two types of gain adjustment for the position loop: auto and manual.  Auto The servo drive can complete the gain adjustment with the Auto Tuning function. Refer to Chapter 5 Tuning for a detailed description.
Page 291: Low-Frequency Vibration Suppression In Position Mode
Control Mode ASDA-B3 When you set the value of KPP (P2.000) too high, the bandwidth for the position loop is increased and the phase margin is reduced. Meanwhile, the rotor rotates and vibrates in the forward and reverse directions. Then, you have to decrease the KPP value until the rotor stops vibrating.
Page 292 ASDA-B3 Control 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. Is P1.029 P1.026 and P1.028 Vibration reduced? set to 0?
Page 293 Control Mode ASDA-B3 P1.030 sets the detection range for the peak-to-peak amplitude of low-frequency vibration. When the frequency is not detected, it is probably because you set the value of P1.030 too high and it exceeds the vibration range. If so, it is suggested that you decrease the value of P1.030. Note that if the value is too small, the system might detect noise as the low-frequency vibration.
Page 294: Speed Mode
ASDA-B3 Control 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 motor speed in two ways. Before operation, respectively set the speed values in three registers.
Page 295: Control Structure Of Speed Mode
Control Mode ASDA-B3 6.3.2 Control structure of Speed mode The following diagram shows the basic control structure of Speed mode. Speed command Speed command processing unit Speed observer Speed control Resonance Current Torque limit Motor unit suppression unit loop The Speed command processing unit selects the command source (see Section 6.3.1), including the scaling parameter (P1.040) for rotation speed corresponding to the analog voltage and the S-curve parameter (P1.036) for smoothing the speed.
Page 296: Smoothing The Speed Command
ASDA-B3 Control Mode 6.3.3 Smoothing the 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. Using the S-curve filter avoids jerk (rapid change of acceleration), resonance, and noise caused by abrupt changes in the speed input.
Page 297 Control Mode ASDA-B3 Analog Speed command filter The Analog Speed command filter provided by the servo drive 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 filter for smoothing the analog input commands is the same as the S-curve filter in terms of the time program as well as the continuous speed and acceleration curves.
Page 298: Scaling Of The Analog Command
ASDA-B3 Control 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 change and its range. Moreover, you can use P1.082 to change the time constant for switching between P1.040 and P1.081.
Page 299: Timing Diagram Of Speed Mode
Control Mode ASDA-B3 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 refers to the external analog voltage input.
Page 300: Gain Adjustment Of The Speed Loop
ASDA-B3 Control Mode 6.3.6 Gain adjustment of the speed loop The structure of the speed control unit is shown in the following diagram. Speed control unit Speed feed forward gain Differentiator System inertia J P2.007 (1+P1.037)*JM Speed control gain P2.004 Integrator Load inertia Gain...
Page 301 Control Mode ASDA-B3 Here, the step response is used to illustrate the basic principles for proportional gain (KVP), integral gain (KVI), and feed forward gain (KVF). Refer to the following examples. Time domain The higher the KVP value, the larger the bandwidth.
Page 302: Resonance Suppression Unit
ASDA-B3 Control Mode 6.3.7 Resonance suppression unit When resonance occurs, it is probably because the stiffness of the control system is too high or the response bandwidth is too great. Eliminating these two factors can improve the situation. In addition, you can use the low-pass filter (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 303 Control Mode ASDA-B3 The servo drive provides two methods to suppress 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 304: Torque Mode
ASDA-B3 Control Mode 6.4 Torque mode The Torque control mode (T or Tz) is suitable for torque control applications, such as printing machines and winding machines. There are two kinds of command sources: analog input and internal register (parameters). The analog command input uses scaled external voltage to control the torque of the motor while the register input uses the internal parameters (P1.012 - P1.014) for the Torque command.
Page 305: Control Structure Of Torque Mode
Control Mode ASDA-B3 6.4.2 Control structure of Torque mode The following diagram shows the basic control structure of Torque mode. Torque output Torque Torque command Resonance Current control Motor processing command suppression unit unit unit Current sensor The Torque command processing unit selects the command source (see Section 6.4.1), including the scaling parameter (P1.041) for the torque corresponding to the analog voltage and the low-pass filter (P1.007) for smoothing the torque.
Page 306: Scaling Of The Analog Command
ASDA-B3 Control Mode 6.4.4 Scaling of the analog command The Torque command is controlled by the analog voltage difference between T_REF and GND. Adjust the torque slope and its range with P1.041. 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 307: Timing Diagram Of Torque Mode
Control Mode ASDA-B3 6.4.5 Timing diagram of Torque 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 Tz mode, the Torque command T1 = 0; when the drive is in T mode, the Torque command T1 refers to the external analog voltage input.
Page 308: Dual Mode
ASDA-B3 Control Mode 6.5 Dual mode Apart from the single modes for controlling the position, speed, and torque of the motor, there are also dual modes and 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.
Page 309: Speed / Position Dual Mode
Control Mode ASDA-B3 6.5.1 Speed / Position dual mode Speed / Position dual mode includes PT-S and PR-S. The command source for PT-S comes from the external pulse while the source for PR-S comes from the internal parameters (P6.000 - P7.099).
Page 310: Speed / Torque Dual Mode
ASDA-B3 Control Mode 6.5.2 Speed / Torque dual mode Speed / Torque dual mode includes only S-T. The source of the Speed command can be the external analog voltage or the internal parameters (P1.009 - P1.011), which you select with DI.SPD0 and DI.SPD1.
Page 311: Torque / Position Dual Mode
Control Mode ASDA-B3 6.5.3 Torque / Position dual mode Torque / Position dual mode includes PT-T and PR-T. The command source for PT-T comes from the external pulse while the source for PR-T comes from the internal parameters (P6.000 - P7.099).
Page 312: Others
ASDA-B3 Control Mode 6.6 Others 6.6.1 Applying the speed limit The maximum motor speed in each mode (Position, Speed, and Torque) is determined by the internal parameter P1.055. The methods for using the Speed limit command and Speed command are the same. You can use either the external analog voltage or the internal parameters (P1.009 - P1.011).
Page 313: Analog Monitoring
Control Mode ASDA-B3 6.6.3 Analog monitoring You can find the required voltage signal with analog monitoring. The servo drive provides two analog channels. Refer to Chapter 3 for more information about wiring. Refer to Chapter 8 for detailed descriptions of the relevant parameters. Parameter Function P0.003...
Page 314: Motion Control
Motion Control This chapter introduces internal motion commands of the servo drive 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, Jump, Write, and high-speed position capture (Capture). This chapter contains detailed description of each command type.
Page 315: Pr Mode Description
Motion Control ASDA-B3 7.1 PR mode description In PR mode, the servo drive automatically generates the motion commands and saves all parameter settings in the servo drive parameter file. Thus changing parameter values simultaneously changes the PR commands. The servo drive provides 100 path setting sets, which include the homing method, Speed command, Position command, Jump command, Write command, and Rotary Axis Position command.
Page 316 ASDA-B3 Motion Control In the ASDA-Soft software, when you select the PR to be edited in PR mode, the corresponding parameters appear at the top of the window. See Figure 7.1.2. If you select PR#1, the settings of P6.002 and P6.003 appear at the top in the editing section. See P6.002 and P6.003 in Table 7.1.1 for example.
Page 317: Shared Pr Parameters
Motion Control ASDA-B3 ASDA-Soft version V6 provides a graphical interface for editing PR paths (see Figure 7.1.3). It is easier to set PR paths in ASDA-Soft, where you can set the options of command triggering, command types, and other properties. Figure 7.1.3 Graphical interface for PR paths in ASDA-Soft 7.1.1 Shared PR parameters The servo drive provides 16 acceleration or deceleration time settings (P5.020 - P5.035), 16...
Page 318 ASDA-B3 Motion Control ASDA-Soft also provides a user-friendly interface for setting the shared PR parameters (see Figure 7.1.1.2). Among the data, the acceleration or deceleration time is set based on the time duration required for the motor to accelerate from 0 to 3000 rpm or to decelerate from 3000 rpm to 0.
Page 319: Monitoring Variables Of Pr Mode
Motion Control ASDA-B3 7.1.2 Monitoring variables of PR mode The PR mode provides four monitoring variables for the servo commands and feedback status: command position (PUU), PR command end register, feedback position (PUU), and position error (PUU). These are described as follows: Command position (PUU): monitoring variable code 001, simplified as Cmd_O (Command Operation).
Page 320 ASDA-B3 Motion Control The detailed command behavior of each stage is illustrated in Figure 7.1.2.2. Cmd_E is the endpoint specified by the command; it is set when the PR path is triggered. Fb_PUU is the feedback position, which is motor’s actual position. Divide this motion command into slices and take one of them as example.
Page 321 Motion Control ASDA-B3 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 |Cmd_O(Pulse) – Fb_Pulse| > P1.054 position DO.TPOS Servo procedure completed DO.MC_OK Figure 7.1.2.3 Operation of DI/DO signals in PR mode Before issuing Command in Command...
Page 322: Motion Control Commands
ASDA-B3 Motion Control 7.1.3 Motion Control commands The servo drive provides 100 path setting sets, which include the Homing methods, Speed command, Position command, Jump command, Write command, and Rotary Axis Position command (Index Position). The following sections detail each command type. 7.1.3.1 Homing methods The servo drive provides 11 homing methods in the PR mode, including home sensor, limit, and hard stop as the reference origin.
Page 323 Motion Control ASDA-B3 Address: 0600H P6.000 Homing definition 0601H Default: 0x00000000 Control mode: PR Unit: Setting range: 0x00000000 - 0xFFFFFF6F Format: Data size: 32-bit Settings: High word Low word DEC2: deceleration time selection for PATH: path type second homing DLY: select 0 - F for delay time ACC: select 0 - F for acceleration time DEC1: deceleration time selection for Reserved...
Page 324 ASDA-B3 Motion Control The PR Homing mode includes the function for setting the origin offset. You can define any point in the position system as the reference origin, which does not have to be 0. Once you define the reference origin, the position system of the motion axis can be established. See Figure 7.1.3.1.1.
Page 325 Motion Control ASDA-B3 Address: 050AH P5.005 High speed homing (first speed setting) 050BH Operation Panel / software Communication Control mode: PR (set with P5.004) interface: Default: 100.0 1000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.1 - 2000.0 1 - 20000 Format: Example:...
Page 326 ASDA-B3 Motion Control Figure 7.1.3.1.2 Homing screen in ASDA-Soft The following describes the homing methods supported by the servo drive. They can be categorized into six types based on their reference points. Referencing the limit. This method uses the positive or negative limit as the reference point. When the limit is detected, you can choose whether or not to look for the Z pulse and use it as the reference origin.
Page 327 Motion Control ASDA-B3 If you set the servo to look for the Z pulse in the reverse direction, the servo operates at high speed (first speed setting) and then decelerates once it reaches the limit (rising-edge triggered). Then the servo switches to low speed (second speed setting) to look for the Z pulse in the reverse direction.
Page 328 ASDA-B3 Motion Control Referencing the rising edge of the ORG signal. This method uses the rising edge of the home sensor signal as the reference origin. You can choose whether or not to use the Z pulse as the reference origin after the ORG signal is detected.
Page 329 Motion Control ASDA-B3 If the ORG signal at the start point is triggered (high, Start point 3), the servo reverses with low speed (second speed setting) until the ORG signal switches to low. Next, the servo continues to look for the Z pulse. When the servo finds the Z pulse, it decelerates to a stop, completing the homing procedure.
Page 330 ASDA-B3 Motion Control Referencing the falling edge of the ORG signal. This method uses the falling edge of the home sensor signal as the reference origin. You can choose whether or not to use the Z pulse as the reference origin after the ORG signal is detected.
Page 331 Motion Control ASDA-B3 If the ORG signal at the start point is triggered (high, Start point 3), the servo operates at low speed (second speed setting) in the forward direction until the ORG signal switches to low. Next, the servo reverses to look for the Z pulse. When the servo finds the Z pulse, it decelerates to a stop, completing the homing procedure.
Page 332 ASDA-B3 Motion Control Referencing the torque limit. This method uses the motor’s stop position as the origin by referring to: the limit on the 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 reference origin. Motor Protector (a) Reverse to Z...
Page 333 Motion Control ASDA-B3 The following tables describe the settings for the torque level detection (P1.087) and the level reached timer (P1.088). Address: 01AEH P1.087 Torque homing - torque level detection 01AFH Control mode: PR Default: 1 Unit: % Setting range: 1 - 300 Format: DEC Data size: 16-bit Settings:...
Page 334 ASDA-B3 Motion Control As mentioned in Section 7.1.2, the PR mode provides four monitoring variables for you to monitor the servo commands and feedback status. These variables are Command position PUU (Cmd_O), PR command end register (Cmd_E), Feedback position PUU (Fb_PUU), and Position error PUU (Err_PUU).
Page 335: Speed Command
Motion Control ASDA-B3 7.1.3.2 Speed command The PR mode includes a speed control function. The following parameters are available for PR speed setting: acceleration / deceleration time, delay time, and target speed. You can easily set the Speed command by selecting [1]: Constant speed control for the TYPE settings in the PR mode screen in ASDA-Soft.
Page 336 ASDA-B3 Motion Control Speed Delay time Target speed Feedback speed Command Time Acceleration time Speed Feedback speed Command Delay time Target speed Time Deceleration time Figure 7.1.3.2.2 Parameters for PR mode speed control Table 7.1.3.2.1 Bit functions of PR speed control PR parameters Property Data content...
Page 337: Position Command
Motion Control ASDA-B3 7.1.3.3 Position command The PR mode includes a position control function. There are two types: Type 2 (The execution stops once the positioning is complete) and Type 3 (The next PR path is automatically loaded once the positioning is complete). The way to set these types of commands is the same. See Figure 7.1.3.3.1 for setting these commands in ASDA-Soft.
Page 338 ASDA-B3 Motion Control See Figure 7.1.3.3.2 for the effects of the parameters for the PR mode position control. Table 7.1.3.3.1 shows the bit functions when position control is in operation. Figure 7.1.3.3.1 PR mode Position control screen in ASDA-Soft Speed Target speed Position command...
Page 339 Motion Control ASDA-B3 There are four types of position commands for the PR mode. You can choose the position command according to the application requirements. The functions of each type are described in the following examples. Note that the condition in these examples is that a position command is still being executed and another type of command is inserted.
Page 340 ASDA-B3 Motion Control Motor’s current position Target position (Fb_PUU) Absolute command (ABS) 60000 PUU 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Motor’s current Target position 60000 position (Fb_PUU) Relative command (REL) 60000 PUU 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000 Endpoint of Motor’s current Target...
Page 341: Jump Command
Motion Control ASDA-B3 7.1.3.4 Jump command The PR mode includes a Jump command. It can call any PR paths or form PR paths into a loop, as shown in Figure 7.1.3.4.1. You can specify the target PR number in the PR mode screen in ASDA-Soft (see Figure 7.1.3.4.2).
Page 342 ASDA-B3 Motion Control Table 7.1.3.4.1 Bit functions of PR Jump command PR parameters Property Data content Jump to target PR path (0 - 99) Note: 1. X: 7: JUMP, jump to the specified path. 2. Y: OPT, option Property INS: interrupts the previous path when the current path is executed. 3.
Page 343: Write Command
Motion Control ASDA-B3 7.1.3.5 Write command The PR mode includes a Write command. It can write constants, parameters, data arrays, and monitoring variables to the specified parameters or data arrays. You can write a parameter to a specified path in the PR mode screen in ASDA-Soft (see Figure 7.1.3.5.1). ...
Page 344 ASDA-B3 Motion Control Table 7.1.3.5.1 Bit functions of PR Write command PR parameters Property SOUR_DEST DESTINATION Data content SOURCE Note: 1. X: 8: WRITE, write specified parameters to the specified path. 2. Y: OPT, option Property AUTO INS: interrupts the previous path when the current path is executed. AUTO: once current PR path is finished, automatically loads the next path.
Page 345: Rotary Axis Position Command (Index Position)
Motion Control ASDA-B3 7.1.3.6 Rotary Axis Position command (Index Position) 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 system. 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 346 ASDA-B3 Motion Control Table 7.1.3.6.1 shows the bit functions when a Rotary Axis Position command is in operation. If you use the rotary axis position function, execute homing first in order to create the position system so that the origin of the motor’s feedback position and that of the motor’s rotary axis position can be identical.
Page 347 Motion Control ASDA-B3 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 348 ASDA-B3 Motion Control Table 7.1.3.6.1 Bit functions of the PR Rotary Axis Position command PR parameters Property OPT2 Data content Rotary Axis Position command [PUU] (0 to P2.052 minus 1) Note: 1. X: A: INDEX, rotary axis position control (index position control) 2.
Page 349: Overview Of The Pr Procedure
Motion Control ASDA-B3 7.1.4 Overview of the PR procedure In the PR mode, there are six types of commands. To make users understand how the PR procedure works, ASDA-Soft presents the execution order and calling sequence of all PR procedures. The symbols and contents in the PR diagram are shown as follows. This includes five parts: number, command execution type (property), command type, next procedure command, and command information.
Page 350 ASDA-B3 Motion Control The following sections illustrate each command type and its representation. Homing methods In the display of homing methods, PR#0 always signifies the homing procedure, which is marked as “Homing”. See Figure 7.1.4.2. PR#0 (B) Homing 0:PLZ Offset = 0 PR#1 Speed1 = 100 Speed2 = 20...
Page 351 Motion Control ASDA-B3 Offset: origin offset, P6.001. Path: the next PR path to be executed after homing. Homing at high speed (Speed1): first homing speed, P5.005. Homing at low speed (Speed2): second homing speed, P5.006. 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.
Page 352 ASDA-B3 Motion Control Position command You can use the Position command in any PR paths (PR#1 - PR#99). It is marked as “Position”, and includes the options to “Stop once position control completed” and “Load the next path once position control completed”. The only difference is that “Load the next path once position control completed”...
Page 353 Motion Control ASDA-B3 Jump command You can use the Jump command in any PR paths (PR#1 - PR#99). It is marked as “Jump” and followed by an arrow pointing to the next PR path. See Figure 7.1.4.5. Figure 7.1.4.5 Jump command display Command execution type (property): a Jump command can interrupt (INS) the previous PR path.
Page 354 ASDA-B3 Motion Control 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 commands. It is marked as “Index Position”.
Page 355: Trigger Methods For The Pr Command
Motion Control ASDA-B3 7.1.5 Trigger methods for the PR command There are four types of PR trigger methods. They are Digital input (DI) triggering, Event triggering, PR command trigger register (P5.007), and High-speed position capture (Capture) triggering. Choose the most suitable trigger method according to the applications and requirements.
Page 356 ASDA-B3 Motion Control Select the PR number to be executed based on the on / off status of DI.POS0 - POS6 and use DI.CTRG to trigger the specified PR path. See the following table for an example. Correspon- Position CTRG ding command parameter...
Page 357 Motion Control ASDA-B3 Event triggering You can use Event trigger commands 1 - 4 to execute the specified PR path. There are two types of Event triggering: rising-edge trigger and falling-edge trigger. The PR path numbers that you can specify are PR#51 - 63 (see the example in Figure 7.1.5.3). Before using the event triggering for PR commands, you must define the functions of these DIs, which are DI.EV1 (0x39), DI.EV2 (0x3A), DI.EV3 (0x3B), and DI.EV4 (0x3C) (see Table 8.1).
Page 358 ASDA-B3 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. You can also use ASDA-Soft to set the event trigger of PR paths. See Figure 7.1.5.5. Figure 7.1.5.5 Event ON / OFF setting screen in ASDA-Soft PR command trigger register (P5.007) You can write the PR number to be executed in P5.007 to have the servo drive execute the...
Page 359: Pr Procedure Execution Flow
Motion Control ASDA-B3 7.1.6 PR procedure execution flow The servo drive updates the command status every millisecond. Figure 7.1.6.1 illustrates how the servo drive deals with the PR commands. Once a PR procedure is triggered, it goes through three processing units, which are PR queue, PR executor, and motion command generator. DI.CTRG P5.007 Event ( )
Page 360 ASDA-B3 Motion Control  PR queue The triggered PR path is the lead PR. The PR group it leads goes into the PR queue to wait for prioritization. In each ms, the servo drive sends the lead PR and the PR group it leads to the PR executor with a first-in first-out method no matter whether a PR path is being executed.
Page 361 Motion Control ASDA-B3 Position command  Position command  When the PR executor receives two consecutive Position commands without the 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. After the first Position command completes, if no delay time is set, the PR executor issues the second Position command for the generator to start the second part of position control (see Figure 7.1.6.2 (a)).
Page 362 ASDA-B3 Motion Control Speed command  Speed command  When the PR executor receives two consecutive Speed commands without the 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. After the first Speed command completes, if no delay time is set, the PR executor issues the second Speed command for the generator to start the second part of speed control (see Figure 7.1.6.3 (a)).
Page 363 Motion Control ASDA-B3  Multiple commands The PR queue updates commands every millisecond. 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 by the PR executor immediately. As shown in Figure 7.1.6.4, in the first ms, the PR queue receives a Position command and the PR executor sends this command to the motion command generator, having the generator to execute the command.
Page 364 ASDA-B3 Motion Control Command interruption Interruption (INS) causes a command in execution to be replaced or integrated by the next command. The results of the interruption differ based on the command types. There are two types of interruption: internal and external, as shown in Figure 7.1.6.5. Figure 7.1.6.5 Internal and external interruption Internal interruption For a series of PR paths, if one PR path includes an AUTO function (auto-execute the next...
Page 365 Motion Control ASDA-B3 (1 ms Cmd cycle) 1 ms Cmd cycle PR#1 PR#2 (I) PR#3 Position Position Position executor DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms 1000 PUU 5000 PUU 10000 PUU 100 rpm 200 rpm 500 rpm Speed Motion command...
Page 366 ASDA-B3 Motion Control Speed command  Speed command (I)  Speed command  When the PR executor receives three consecutive Speed commands with the second command set with an Interrupt function, the executor treats the first and the second as one PR group. Since the first Speed command is not executed by the executor, the executor replaces the first command with the second command and only sends the second command to the motion command generator for execution.
Page 367 Motion Control ASDA-B3  Multiple interrupt commands The PR queue updates commands every millisecond. If all PR paths are consecutive with Interrupt functions and without delay, the queue can read at least 20 PR paths in 1 ms, and these paths are regarded as a PR group. If this PR group includes multiple motion commands, the PR queue only sends the last command it receives to the motion command generator for execution.
Page 368 ASDA-B3 Motion Control External interruption When a PR path is being executed, if another PR path is forced to execute with any of the trigger methods for the PR command (refer to Section 7.1.5 for PR trigger methods), the PR queue receives a PR path with an Interrupt function and sends this path to the motion command generator immediately, and then changes the path in execution.
Page 369 Motion Control ASDA-B3 (1 ms command cycle) (1 ms command cycle) External PR#1 PR#2 interruption Speed Speed DLY=[1] 100 ms DLY=[0] 0 ms 100 rpm 500 rpm Acc=[11] 100 ms Acc=[11] 33.3 ms Dec=[11] 100 ms Dec=[11] 33.3 ms PR executor (1 ms command cycle) (1 ms command cycle) PR#10 (I)
Page 370 ASDA-B3 Motion Control (1 ms command cycle) (1 ms command cycle) PR#1 (O) PR#2 Position Position DLY=[0] 0 ms DLY=[0] 0 ms 5000 PUU 10000 PUU executor 200 rpm 500 rpm Acc=[0] 6.67 ms Acc=[0] 16.65 ms Dec=[0] 6.67 ms Dec=[0] 16.65 ms Speed Motion...
Page 371: Application Of Motion Control
Motion Control ASDA-B3 7.2 Application of motion control The servo drive motion control includes the high-speed position capture function (Capture). The Capture function uses the digital input DI3 (-F, -M, B3A-P models) or DI7 (-L models) to instantly capture the motor’s feedback position and store this position in the data array. Refer to the following sections for more details about the setting and how it works.
Page 372 ASDA-B3 Motion Control You can use the panel, communication, or ASDA-Soft to read data from or write data to the data array with parameter settings. The first group of parameters for reading and writing the data array are P5.011 - P5.013. P5.011 specifies the address of data array to be read and written. P5.012 and P5.013 read data from or write data to the data array address set by P5.011.
Page 373 Motion Control ASDA-B3 1. Read / write with panel: Write to data array Read from data array Set the address Set the address Write Write for writing the for reading the P5.011 = 11 P5.011 = 11 first data first data P5.013 Write Read...
Page 374 ASDA-B3 Motion Control Table 7.2.1.2 Group 2 parameters for reading and writing the data array Parameter Description Example 1 Example 2 P5.011 Specifies the data array address Address for for reading and writing reading and writing Example 1 Example 2 Window for Description reading and writing...
Page 375: High-Speed Position Capture Function (Capture)
Motion Control ASDA-B3 7.2.2 High-speed position capture function (Capture) The high-speed position capture function (Capture), abbreviated as CAP, uses the external signal to trigger the high-speed digital input DI3 (-F, -M, B3A-P models) or DI7 (-L models) (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 376 ASDA-B3 Motion Control CAP trigger logic Axis source of CAP Normally open P5.039.Z = 0 Activate CAP CAP axis position CN1 P5.039.Y = 2 P5.039.X [Bit 0] P5.037 CN2 P5.039.Y = 3 7890 Normally closed P5.039.Z = 1 Data array Start address 1234 P5.036...
Page 377 Motion Control ASDA-B3 It is suggested that you program the PR paths to execute the Capture function with the motion commands. By doing so, 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 378 ASDA-B3 Motion Control PR#4 (I) PR#1 (I) PR#2 (I) PR#3 (I) Write Write Write Write DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms DLY=[0] 0 ms P5.076=0 P5.039=0x2030 P5.036=1 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 379 Motion Control ASDA-B3 (This page is intentionally left blank.) 7-66...
Page 380 Parameters This chapter introduces the parameter settings of the servo drive, as well as the descriptions for digital input (DI), digital output (DO), and monitoring variables. You can control the drive functions with these parameters and DI/O. 8.1 Parameter definitions ········································································· 8-2 8.2 List of parameters ··············································································...
Page 381: Parameter Definitions
Parameters ASDA-B3 8.1 Parameter definitions The servo drive parameters are divided into eight groups. The first character after the start code P is the group 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 382: List Of Parameters
ASDA-B3 Parameters 8.2 List of parameters Monitoring and general output parameters Control mode Parameter Function Default value Unit Factory ✓ ✓ ✓ ✓ Firmware version P0.000★ setting Current drive alarm code (seven- ✓ ✓ ✓ ✓ P0.001■ segment display) ✓ ✓...
Page 383 Parameters ASDA-B3 Control mode Parameter Function Default value Unit Status monitoring register (for PC ✓ ✓ ✓ ✓ P0.044★■ software) Status monitoring register content ✓ ✓ ✓ ✓ P0.045■ selection (for PC software) ✓ ✓ ✓ ✓ Servo drive digital output (DO) status 0x0000 P0.046★■...
Page 384 ASDA-B3 Parameters Filter and resonance suppression parameters Control mode Parameter Function Default value Unit PT PR S Speed command - smoothing constant ✓ P1.006 (low-pass filter) Torque command - smoothing constant ✓ P1.007 (low-pass filter) Position command - smoothing constant ✓...
Page 385 Parameters ASDA-B3 Control mode Parameter Function Default value Unit PT PR S 1 ms (panel / software) Speed detection filter and jitter (panel / software) ✓ ✓ ✓ ✓ P2.049 suppression 0.1 ms (communication) (communication) ✓ ✓ ✓ ✓ P2.095 Notch filter 1 - Q factor ✓...
Page 386 ASDA-B3 Parameters Gain and switching parameters Control mode Parameter Function Default value Unit PT PR S 1 times 0.0 (-F) (panel / software) (panel / software) ✓ ✓ ✓ ✓ P1.037 Load inertia ratio or total weight 0.1 times 0 (-F) (communication) (communication) ✓...
Page 387 Parameters ASDA-B3 Control mode Parameter Function Default value Unit PT PR S ✓ ✓ ✓ P2.126 Bandwidth for speed loop response (★) 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. ( ●...
Page 388 ASDA-B3 Parameters Position control parameters Control mode Parameter Function Default value Unit PT PR 0x0000 (-M, -L) Input for control mode and control 0x000B (-F) ✓ ✓ ✓ ✓ P1.001● command 0x000C (-E, B3A-P) ✓ ✓ ✓ ✓ P1.002▲ Speed and torque limits 0x0000 ✓...
Page 389 Parameters ASDA-B3 Position control parameters - internal register control command (PR mode) Control mode Parameter Function Default value Unit PT PR ✓ P5.004 Homing methods 0x0000 1 rpm 100.0 ✓ (panel / High speed homing (panel / software) software) P5.005 (first speed setting) 1000 0.1 rpm...
Page 390 ASDA-B3 Parameters Speed control parameters Control mode Parameter Function Default value Unit PT PR S 0x0000 (-M, -L) Input for control mode and control 0x000B (-F) ✓ ✓ ✓ ✓ P1.001● command 0x000C (-E, B3A-P) ✓ ✓ ✓ ✓ P1.002▲ Speed and torque limits 0x0000 ✓...
Page 391 Parameters ASDA-B3 Torque control parameters Control mode Parameter Function Default value Unit PT PR S 0x0000 (-M, -L) Input for control mode and control ✓ ✓ ✓ ✓ P1.001● 0x000B (-F) command 0x000C (-E, B3A-P) ✓ ✓ ✓ ✓ P1.002▲ Speed and torque limits 0x0000 ✓...
Page 392 ASDA-B3 Parameters Digital input / Digital output functional planning parameters Control mode Parameter Function Default value Unit PT PR S General range compare digital output - ✓ ✓ ✓ ✓ P0.053 0x0000 filter time General range compare digital output ✓ ✓...
Page 393 Parameters ASDA-B3 Control mode Parameter Function Default value Unit PT PR S 0x0022 (-L) ✓ ✓ ✓ ✓ P2.015 DI6 functional planning 0x0100 (-F, -E, -M) 0x0023 (-L) ✓ ✓ ✓ ✓ P2.016 DI7 functional planning 0x0100 (-F, -E, -M) 0x0021 (-L) ✓...
Page 394 ASDA-B3 Parameters Communication parameters Control mode Parameter Function Default value Unit PT PR ✓ ✓ ✓ ✓ P3.000● Address 0x007F 0x0203 ✓ ✓ ✓ ✓ P3.001● Transmission speed (-L, -M, -E) 0x3203 (-F) ✓ ✓ ✓ ✓ P3.002 Modbus communication protocol 0x0006 ✓...
Page 395 Parameters ASDA-B3 Diagnosis parameters Control mode Parameter Function Default value Unit PT PR ✓ ✓ ✓ ✓ P4.000 Fault record (last) 0x00000000 ✓ ✓ ✓ ✓ P4.001★ Fault record (second to the last) 0x00000000 ✓ ✓ ✓ ✓ Fault record (third to the last) 0x00000000 P4.002★...
Page 396 ASDA-B3 Parameters 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 pulse or PUU ✓...
Page 397: Parameter Descriptions
Parameters ASDA-B3 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 398 ASDA-B3 Parameters Address: 0006H P0.003 Analog output monitoring 0007H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 0x0077 Format: HEX Data size: 16-bit Settings: MON2 value Reserved MON1 value Reserved MON1 and MON2 MON1 and MON2 Description Description set value set value...
Page 399 Parameters ASDA-B3 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 (refer to P0.002). To get the status, read the communication address through the communication port or monitor the value from the panel (set P0.002 to 23, and the panel displays “VAR-1”...
Page 400 ASDA-B3 Parameters Address: 001AH Status monitoring register 5 P0.013★■ 001BH Default: - Control mode: All Unit: - Setting range: - Format: DEC Data size: 32-bit Settings: Set the value to be monitored in P0.021 through the drive panel or communication (refer to P0.002). To get the status, read the communication address through the communication port.
Page 401 Parameters ASDA-B3 Address: 002AH P0.021 Select content displayed by status monitoring register 5 002BH 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. P0.022 - Reserved P0.024...
Page 402 ASDA-B3 Parameters Address: 0038H P0.028■ Mapping parameter 4 0039H Default: - Control mode: All Determined by the corresponding Unit: - Setting range: parameter P0.038 Format: HEX Data size: 32-bit Settings: This setting is the same as P0.025, except its mapping target is set in P0.038. Address: 003AH P0.029■...
Page 403 Parameters ASDA-B3 P0.033 - Reserved P0.034 Address: 0046H P0.035 Target setting for mapping parameter P0.025 0047H Default: - Control mode: All Determined by the communication Unit: - Setting range: address of the parameter group Format: HEX Data size: 32-bit Settings: The formats of the parameter high word (PH) and parameter low word (PL) are: High word Low word...
Page 404 ASDA-B3 Parameters When PH = PL = P, it indicates that the content of P0.025 includes one 32-bit parameter. Example: Target: set P6.010 to 0x00050064 through the mapping parameter. Setting: set both the high word and low word of P0.035 to 060A (P6.010). Thus, P0.035 = 0x060A060A.
Page 405 Parameters ASDA-B3 Address: 004CH P0.038 Target setting for mapping parameter P0.028 004DH Default: - Control mode: All Determined by the communication Unit: - Setting range: address of the parameter group Format: HEX Data size: 32-bit Settings: Par ame ter to b e Par ame ter to b e mappe d mappe d...
Page 406 ASDA-B3 Parameters Address: 0052H P0.041 Target setting for mapping parameter P0.031 0053H Default: - Control mode: All Determined by the communication Unit: - Setting range: address of the parameter group Format: HEX Data size: 32-bit Settings: Parameter to be Par ameter to be mappe d mappe d Content of...
Page 407 Parameters ASDA-B3 Address: 005CH Servo drive digital output (DO) status P0.046★■ 005DH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 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 408 ASDA-B3 Parameters Address: 0064H Absolute position system status P0.050★■ 0065H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 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 409 Parameters ASDA-B3 Address: 006AH P0.053 General range compare digital output - filter time 006BH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 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 410 ASDA-B3 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 411 Parameters ASDA-B3 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 412: P1.Xxx Basic Parameters
ASDA-B3 Parameters P1.xxx Basic parameters Address: 0100H P1.000▲ External pulse input type 0101H Default: 0x1042 Control mode: PT Unit: - Setting range: 0x0000 to 0x31F2 Format: HEX Data size: 16-bit Settings: Pulse type Logic type Filter width Filter width  X: pulse type 0: AB phase pulse (4x) 1: clockwise and counterclockwise pulses...
Page 413 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. 8-34...
Page 414 ASDA-B3 Parameters  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 415 ▲ ▲ ▲ Dual mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ CANopen mode (for Delta’s DVP-15MC PLC controller) DMCNET mode CANopen mode EtherCAT mode Profinet mode ▲ ▲ Multi-mode ▲ ▲ ▲ ▲ ▲ ▲ PT: Position control mode; the command source is from the external pulse and the external analog voltage (coming soon).
Page 416 ASDA-B3 Parameters 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 417 Parameters ASDA-B3 Address: 0104H P1.002▲ Speed and torque limits 0105H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 0x0011 Format: HEX Data size: 16-bit Settings: Disable / enable Speed Limit function Reserved Disable / enable Torque Limit function Reserved ...
Page 418 ASDA-B3 Parameters 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 419 Parameters ASDA-B3 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 P1.006 Speed command - smoothing constant (low-pass filter) 010DH...
Page 420 ASDA-B3 Parameters 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 Unit: 0.1 rpm Setting range: -75000 to +75000 Format: DEC Data size: 32-bit Internal Speed command: 120 = 12 rpm...
Page 421 Parameters ASDA-B3 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 Unit: 0.1 rpm Setting range: -75000 to +75000 Format: DEC Data size: 32-bit Internal Speed command: 120 = 12 rpm...
Page 422 ASDA-B3 Parameters Address: 011AH P1.013 Internal Torque command 2 / internal torque limit 2 011BH T / Tz: internal Torque command 2 Default: 100 Control mode: PT / PR / S / Sz: internal torque limit 2 Unit: % Setting range: -5000 to +5000 Format: DEC Data size: 16-bit Settings:...
Page 423 Parameters ASDA-B3 When P2.112 [Bit 14] = 1 Internal Torque command: 35 = 3.5% Internal torque limit: positive and negative values are identical. Refer to the following descriptions. Example of internal torque limit: Torque limit in forward Torque limit in reverse Torque limit value of P1.014 Valid torque range direction...
Page 424 ASDA-B3 Parameters Address: 0128H P1.020 Capture: masking range 0129H Default: 0 Control mode: All Unit: Pulse unit of capture source Setting range: 0 to 100000000 Format: DEC Data size: 32-bit Settings: When the Capture function is enabled and set to capture multiple points (P5.038 > 1), use this parameter to set the range within which the system stops receiving the DI captured signal once the data is captured.
Page 425 Parameters ASDA-B3 Example: Set YX to 12 and the acceleration / deceleration time limit as 180 ms (data format is HEX and unit is 10 ms). If the acceleration / deceleration time of the PR command is shorter than 180 ms, the filter takes effect.
Page 426 ASDA-B3 Parameters Address: 0132H P1.025 Low-frequency vibration suppression frequency 1 0133H Default: 1000 Control mode: PT / PR Unit: 0.1 Hz Setting range: 10 to 1000 Format: DEC Data size: 16-bit Example: 150 = 15 Hz Settings: The frequency of the first low-frequency vibration suppression filter. When you set P1.026 to 0, the first low-frequency vibration suppression filter is disabled.
Page 427 Parameters ASDA-B3 Address: 013AH P1.029 Auto low-frequency vibration suppression mode 013BH Default: 0 Control mode: PT / PR Unit: - Setting range: 0 to 1 Format: DEC Data size: 16-bit Settings: Setting value Description Disable the automatic low-frequency vibration detection function. Vibration suppression is in automatic mode.
Page 428 ASDA-B3 Parameters  Y: motor stop mode Function Description Options for stopping the motor when the servo is in the Servo Off state or an alarm (including EMGS) occurs Bit 5 = 0 and Bit 4 = 0: use dynamic brake Dynamic brake Bit 5, Bit 4 Bit 5 = 0 and Bit 4 = 1: motor runs freely...
Page 429 Parameters ASDA-B3 Address: 0148H P1.036 S-curve acceleration / deceleration smoothing constant 0149H Default: 0 Control mode: PR / S / Sz Unit: ms Setting range: 0 to 65500 Format: DEC Data size: 16-bit Settings: 0: disable this function Speed Time (ms) P1.036 P1.036...
Page 430 ASDA-B3 Parameters Address: 014CH P1.038 Zero speed range 014DH Operation Panel / software Communication Control mode: All interface: Default: 10.0 Data size: 16-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 200.0 0 to 2000 Format: One decimal Example: 1.5 = 1.5 rpm 15 = 1.5 rpm Settings: Sets the range for the zero-speed signal (ZSPD).
Page 431 Parameters ASDA-B3 Address: 0152H P1.041▲ Maximum output for analog Torque command 0153H Default: 100 Control mode: All Unit: % Setting range: -1000 to +1000 Format: DEC Data size: 16-bit Settings: In Torque mode: Sets the torque corresponding to 10V (maximum voltage) for the analog Torque command. Input voltage ×...
Page 432 ASDA-B3 Parameters Address: 0156H P1.043 Delay time for disabling the magnetic brake 0157H Default: 0 Control mode: All Unit: ms Setting range: -1000 to +1000 Format: DEC Data size: 16-bit Settings: Sets the delay time from Servo Off status to the deactivation of the magnetic brake signal (DO: 0x08, BRKR).
Page 433 Parameters ASDA-B3 Address: 015CH P1.046▲ Encoder pulse number output (OA, OB) 015DH Default: 2500 Control mode: All Unit: pulse Setting range: 1 to 536870912 Format: DEC Data size: 32-bit Settings: The number of single-phase pulse outputs per revolution. The maximum output frequency of the hardware is 19.8 MHz.
Page 434 ASDA-B3 Parameters Address: 0160H P1.048 Motion reached (DO.MC_OK) operation selection 0161H Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 to 0x0011 Format: HEX Data size: 16-bit Settings: Options for controlling the behavior of the digital output DO.MC_OK (0x17). DO output retaining option Reserved Position deviation alarm (AL380) option...
Page 435 Parameters ASDA-B3 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. 9.
Page 436 ASDA-B3 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 220V 400 W to 1.5 kW 2 kW to 3 kW...
Page 437 Parameters ASDA-B3 Address: 016EH P1.055 Maximum speed limit 016FH Default: Rated speed Control mode: All Unit: rpm Setting range: 0 to maximum speed Format: DEC Data size: 16-bit Settings: Sets the maximum speed of the servo motor. Address: 0170H P1.056 Motor output overload warning level 0171H Default: 120...
Page 438 ASDA-B3 Parameters Address: 0176H P1.059 Speed command - moving filter 0177H Operation Panel / software Communication Control mode: S interface: Default: 0.0 Data size: 16-bit Unit: 1 ms 0.1 ms Format: One decimal Setting range: 0.0 to 4.0 0 to 40 Example: 1.5 = 1.5 ms 15 = 1.5 ms Settings:...
Page 439 Parameters ASDA-B3 Address: 017AH P1.061 Viscous friction compensation 017BH Default: 0 Control mode: PT / PR / S / Sz Unit: 0.1%/1000 rpm Setting range: 0 to 1000 Format: DEC Data size: 16-bit Settings: Because kinetic friction corresponds with the speed, you can use this parameter to compensate the motor torque according to the speed to improve the position error during acceleration and deceleration.
Page 440 ASDA-B3 Parameters Address: 0180H P1.064 Analog position command - activation control 0181H Default: 0x0000 Control mode: PT Unit: - Setting range: 0x0000 to 0x0011 Format: HEX Data size: 16-bit Settings: Setting for position command issued by Reserved the analog signal Initial position setting Reserved ...
Page 441 Parameters ASDA-B3 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 442 ASDA-B3 Parameters Address: 0194H P1.074 Output source of OA / OB / OZ 0195H Default: 0x0000 Control mode: PT Unit: - Setting range: 0x0000 to 0x0030 Format: HEX Data size: 16-bit Settings: Reserved Reserved Selection of OA / OB / OZ output source Reserved ...
Page 443 Parameters ASDA-B3 Address: 019EH P1.079 Rate of change for gain values during gain switching delay 019FH Default: 100 Control mode: P / S Unit: % Setting range: 0 to 500 Format: DEC Data size: 16-bit Settings: Sets the rate of change for the gain values during gain switching delay. If P1.078 is 0, this function is disabled.
Page 444 ASDA-B3 Parameters Address: 01A6H P1.083 Abnormal analog input voltage level 01A7H Default: 0 Control mode: S Unit: mV Setting range: 0 to 12000 (0: disable this function) Format: DEC Data size: 16-bit Settings: When the absolute value of the analog input voltage is higher than the set value of this parameter for more than 50 ms, AL042 occurs.
Page 445 Parameters ASDA-B3 Address: 01B0H P1.088 Torque homing - level reached timer 01B1H Default: 2000 Control mode: PR Unit: ms Setting range: 2 to 2000 Format: DEC Data size: 16-bit Settings: The setting of the torque level reached timer for the torque homing mode. If the motor torque output continues to exceed the level set by P1.087 and the duration exceeds this setting, the homing is complete.
Page 446 ASDA-B3 Parameters Address: 01B6H P1.091 Vibration elimination 1 - resonance difference 01B7H 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 first set of low frequency vibration elimination. Address: 01B8H P1.092 Vibration elimination 2 - anti-resonance frequency...
Page 447 Parameters ASDA-B3 Address: 01C2H P1.097▲ Encoder output denominator (OA, OB) 01C3H Default: 0 Control mode: All Unit: - Setting range: 0 to 160000 Format: DEC Data size: 32-bit Settings: When P1.074.Y = 0 (output source is from the encoder connected to CN2): ...
Page 448 ASDA-B3 Parameters Address: 01CAH ■ Analog monitor output voltage 1 P1.101 01CBH Default: 0 Control mode: All Unit: mV Setting range: -10000 to +10000 Format: DEC Data size: 16-bit Settings: When you set P0.003 (Analog output monitoring) to 0x0006, then the analog monitor output voltage refers to the voltage value of P1.101.
Page 449 Parameters ASDA-B3 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 450: P2.Xxx Extension Parameters
ASDA-B3 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 451 Parameters ASDA-B3 Address: 0208H P2.004 Speed control gain 0209H Default: 500 Control mode: All 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 452 ASDA-B3 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: Code Function Reset parameter groups P0 - P7 (cycle the power after reset). P4.010 is writable.
Page 453 Parameters ASDA-B3 or the communication parameter P4.007. Address: 0216H P2.011 DI2 functional planning 0217H 0x0104 (-L) Default: Control mode: All 0x0022 (-F, -E, -M) 0x0000 to 0x015F Unit: - Setting range: (last two codes are DI codes) Format: HEX Data size: 16-bit Settings: Refer to the description of P2.010.
Page 454 ASDA-B3 Parameters Address: 021EH P2.015 DI6 functional planning 021FH 0x0022 (-L) Default: Control mode: All 0x0100 (-F, -E, -M) 0x0000 to 0x015F Unit: - Setting range: (last two codes are DI codes) Format: HEX Data size: 16-bit Settings: Refer to the description of P2.010. There is no physical pin for DI6 on -F, -E, and -M models. DI6 is a virtual digital input which you can use when the number of physical DI points is insufficient and trigger through communication.
Page 455 Parameters ASDA-B3 Address: 0224H P2.018 DO1 functional planning 0225H Default: 0x0101 (-L, -F, -E, -M) Control mode: All 0x0000 to 0x014F Unit: - Setting range: (last two codes are DO codes) Format: HEX Data size: 16-bit Settings: Output function selection Output contact: A or B contact Reserved ...
Page 456 ASDA-B3 Parameters Address: 022AH P2.021 DO4 functional planning 022BH Default: 0x0105 (-L) Control mode: 0x0100 (-F, -E, -M) 0x0000 to 0x014F Unit: - Setting range: (last two codes 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 457 Parameters ASDA-B3 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 458 ASDA-B3 Parameters  X: gain switching condition P1.078 Control (Gain switching Condition mode delay time) Disable gain switching function. Signal of gain switching (DI.GAINUP: 0x03) is on. In Position control mode, position error is larger than P2.029. Frequency of Position command is larger than P2.029. Supported Speed of servo motor is faster than P2.029.
Page 459 Parameters ASDA-B3 When P2.027.X is set to 0, 1, 2, 4, 5, 6, or 8, P1.078 (Gain switching delay time) is not supported. P2.027.X = 4 is taken as the example in the following figure. P2.027.X = 4 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.
Page 460 ASDA-B3 Parameters Address: 023AH P2.029 Gain switching condition 023BH Refer to P2.027.X: gain switching Default: 16777216 Control mode: condition Unit: pulse; Kpps; rpm Setting range: 0 to 50331648 Format: DEC Data size: 32-bit Settings: The unit of this setting value is determined by the selection of gain switching condition (P2.027.X). Address: 023CH ■...
Page 461 Parameters ASDA-B3 Address: 0240H P2.032 Gain adjustment mode 0241H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 0x0006 Format: HEX Data size: 16-bit 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).
Page 462 ASDA-B3 Parameters Address: 0244H P2.034 Excessive deviation warning condition of Speed command 0245H Default: 5000 Control mode: S / Sz Unit: rpm Setting range: 1 to 30000 Format: DEC Data size: 16-bit Settings: In Speed mode, this parameter sets the acceptable difference between the command speed and the feedback speed.
Page 463 Parameters ASDA-B3 Address: 024CH P2.038 DI11 functional planning 024DH Default: 0x0100 Control mode: All 0x0000 to 0x015F Unit: - Setting range: (last two codes are DI codes) Format: HEX Data size: 16-bit Settings: Refer to the description of P2.010. If there is no physical pin for DI11 on the model, use DI11 as a virtual digital input when the number of physical DI points is insufficient or a trigger through communication.
Page 464 ASDA-B3 Parameters P2.042 Reserved Address: 0256H P2.043 Notch filter 2 - frequency 0257H Default: 1000 Control mode: All Unit: Hz Setting range: 50 to 5000 Format: DEC Data size: 16-bit Settings: The resonance frequency of the second Notch filter. This function is disabled if P2.044 is 0. P2.043, P2.044, and P2.096 are the second set of Notch filter parameters.
Page 465 Parameters ASDA-B3 Address: 025EH P2.047 Auto resonance suppression mode 025FH Default: 0x0001 Control mode: All Unit: - Setting range: 0x0000 to 0x01F2 Format: HEX Data size: 16-bit Settings: Auto resonance suppression function Fixed resonance suppression parameter Fixed resonance suppression parameter Reserved ...
Page 466 ASDA-B3 Parameters  Y: fixed resonance suppression parameter In auto resonance suppression mode, you can set the resonance suppression parameters manually by setting P2.047.Y. Function Description 0: auto resonance suppression Notch 1 auto / manual setting 1: manually set the first set of resonance suppression parameters 0: auto resonance suppression Notch 2 auto / manual setting...
Page 467 Parameters ASDA-B3 Address: 0262H P2.049 Speed detection filter and jitter suppression 0263H 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 468 ASDA-B3 Parameters Address: 026AH P2.053 Position integral compensation 026BH Default: 0 Control mode: All Unit: rad/s Setting range: 0 to 1023 Format: DEC Data size: 16-bit Settings: Increase the position control integral compensation to reduce the position steady-state errors. If the value is too high, it may cause position overshoot and noise.
Page 469 Parameters ASDA-B3 Address: 027CH P2.062 E-Gear ratio - numerator N4 027DH Default: 16777216 Control mode: All Unit: pulse Setting range: 1 to (2 Format: DEC Data size: 32-bit Settings: Refer to the description of P2.060. P2.063 - Reserved P2.064 Address: 0282H P2.065 Special bit register 1 0283H...
Page 470 ASDA-B3 Parameters Function Description 1: enable the detection. 0: disable the detection. Switch for motor power cable Bit 9 disconnection detection (ALC31) 1: enable the detection. The ZCLAMP function is enabled when all the following conditions are met. Condition 1: Speed mode Bit 10 ZCLAMP function selection Condition 2: DI.ZCLAMP is on...
Page 471 Parameters ASDA-B3 Bit 10 description 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 472 ASDA-B3 Parameters Address: 0284H P2.066 Special bit register 2 0285H Default: 0x0030 Control mode: PT / PR / S / Sz Unit: - Setting range: 0x0000 to 0x187F Format: HEX Data size: 16-bit Settings: Function Description Bit 0 - Bit 1 Reserved 0: latch enabled;...
Page 473 Parameters ASDA-B3  X: following error compensation switch (functions under the condition of P1.036 > 1) 0: disable following error compensation 1: enable following error compensation  Z: DI.STP triggering method 0: rising-edge triggered 1: level triggered  U: CANopen PV mode unit selection 0: 0.1 rpm 1: 0.01 rpm Note: when you change the setting of P2.068.U, the units of OD 606Bh, OD 606Ch, OD 60FFh, and P5.003...
Page 474 ASDA-B3 Parameters Address: 028CH P2.070 Read data selection 028DH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 0x0007 Format: HEX Data size: 16-bit Settings: Function Description 0: PUU Bit 0 DI/DO data unit setting 1: pulse 0: PUU Communication data Bit 1 unit setting...
Page 475 Parameters ASDA-B3 Address: 02B4H P2.090 Two degree of freedom mode - anti-interference gain 02B5H Default: 850 Control mode: PT / PR Unit: 0.001 Setting range: 500 to 1999 Format: DEC Data size: 16-bit Settings: This parameter improves the command response and fine tunes the overshoot when the command is settling.
Page 476 ASDA-B3 Parameters Address: 02BCH P2.094▲ Special bit register 3 02BDH Default: 0x0090 Control mode: PT / PR / S / Sz Unit: - Setting range: 0x0000 to 0xF3F6 Format: HEX Data size: 16-bit Settings: Function Description Bit 0 - Bit 3 Reserved 0: disable new dynamic brake.
Page 477 Parameters ASDA-B3 Address: 02C0H P2.096 Notch filter 2 - Q factor 02C1H Default: 5 Control mode: All Unit: - Setting range: 1 to 10 Format: DEC Data size: 16-bit Settings: The resonance Q factor of the second Notch filter. This function is disabled if P2.044 is 0. P2.043, P2.044, and P2.096 are the second set of Notch filter parameters.
Page 478 ASDA-B3 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 479 Parameters ASDA-B3 Address: 02D2H P2.105 Automatic gain adjustment level 1 02D3H Default: 11 Control mode: PT / PR 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 480 ASDA-B3 Parameters Address: 02D6H P2.107 Rate of change for resonance suppression low-pass filter 02D7H Default: 100 Control mode: P / S Unit: % Setting range: 0 to 100 Format: DEC Data size: 16-bit Settings: Adjusts the rate of change for the resonance suppression low-pass filter (P2.025) according to the gain switching condition.
Page 481 Parameters ASDA-B3 Address: 02E2H P2.113 Bandwidth of disturbance attenuation 02E3H Default: 50 Control mode: T Unit: Hz Setting range: 0 to 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 482 ASDA-B3 Parameters Address: 02E0H P2.121 Special bit register 6 02E1H Default: 0x00000000 Control mode: All Unit: - Setting range: 0x00000000 - 0x000001FF Format: HEX Data size: 32-bit Settings: Function Description Bit 0 Reserved 0: after homing, execute absolute positioning to the Behavior after homing in position with the offset distance set in OD 607Ch.
Page 483 Parameters ASDA-B3 Address: 02FAH P2.125 Special bit register 7 02FBH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 0xFFFF Format: HEX Data size: 16-bit Settings: Function Description 0: 15 Hz Filter frequency for the motor speed of Bit 0 the monitoring variable (P0.002 = 7) 1: 1 Hz...
Page 484: P3.Xxx Communication Parameters
ASDA-B3 Parameters P3.xxx Communication parameters Address: 0300H P3.000● Address 0301H Default: 0x007F Control mode: All 0x0001 - 0x007F (-L, -M, -F) Unit: - Setting range: 0x0001 - 0xFFFF (-E) Format: HEX Data size: 16-bit Settings: Reserved Communication address setting 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 485 4: 1.0 Mbps  U: DMCNET motion card 0: when using Delta’s controller, such as PLC or HMI 3: when using Delta’s motion card Note: 1. The transmission speed of USB is set at 1.0 Mbps and cannot be changed.
Page 486 ASDA-B3 Parameters Address: 030AH P3.005 Modbus communication 030BH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 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 word data.
Page 487 Parameters ASDA-B3 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 488 ASDA-B3 Parameters Address: 0314H P3.010 CANopen / DMCNET protocol 0315H Default: 0x1011 Control mode: CANopen / DMCNET Unit: - Setting range: 0x0000 to 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 489 Parameters ASDA-B3 Address: 0318H P3.012 Communication support setting 0319H Default: 0x0000 Control mode: CANopen / DMCNET / EtherCAT Unit: - Setting range: 0x0000 to 0x1111 Format: HEX Data size: 16-bit Settings: Load in the CANopen / DMCNET / EtherCAT parameter Reserved values Reserved...
Page 490 ASDA-B3 Parameters 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. P3.011.X = 1 indicates when written through PDOs, parameters are stored in EEPROM. P3.011.X = 0 indicates when written through PDOs, parameters are not stored in EEPROM.
Page 491 Parameters ASDA-B3 Unit selection for the maximum speed of AL185 communication disconnection OD 607Fh and OD 6080h detection setting Reserved Reserved  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.
Page 492 ASDA-B3 Parameters Address: 032CH P3.022 EtherCAT PDO timeout setting 032DH Default: 0xFF04 Control mode: EtherCAT Unit: - Setting range: 0x0002 to 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 493: P4.Xxx Diagnosis Parameters
Parameters ASDA-B3 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 494 ASDA-B3 Parameters Address: 0408H Fault record (fifth to the last) P4.004★ 0409H Default: 0x00000000 Control mode: All Unit: - Setting range: - Format: HEX Data size: 32-bit Settings: The fifth to last abnormal status record. Refer to the description of high / low word in P4.000. Address: 040AH P4.005 Servo motor JOG control...
Page 495 Parameters ASDA-B3 Address: 040CH ■ Software digital output register (readable and writable) P4.006 040DH Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 0xFFFF Format: HEX Data size: 16-bit Settings: bit 00: corresponds to DO code = 0x30 bit 08: corresponds to DO code = 0x38 bit 01: corresponds to DO code = 0x31 bit 09: corresponds to DO code = 0x39...
Page 496 ASDA-B3 Parameters Address: 0410H Input status of servo drive panel (read-only) P4.008★ 0411H Default: - Control mode: All Unit: - Setting range: Read-only Format: HEX Data size: 16-bit Settings: Read this parameter through communication and check if the five keys (MODE, UP, DOWN, SHIFT, and SET) can function normally.
Page 497 Parameters ASDA-B3 Address: 0418H P4.012 Analog speed input 2 - hardware offset calibration 0419H Default: Factory setting Control mode: All Unit: - Setting range: 13926 to 18842 Format: DEC Data size: 16-bit Settings: Refer to the description of P4.011. Address: 041AH P4.013 Analog torque input 1 - hardware offset calibration 041BH...
Page 498 ASDA-B3 Parameters Address: 0422H P4.017 Current detector (W1 phase) - hardware offset calibration 0423H Default: Factory setting Control mode: All Unit: - Setting range: 13926 to 18842 Format: DEC Data size: 16-bit Settings: Refer to the description of P4.011. Address: 0424H P4.018 Current detector (W2 phase) - hardware offset calibration 0425H...
Page 499 Parameters ASDA-B3 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 500 ASDA-B3 Parameters Address: 0458H P4.044 Special bit register 5 0459H Default: 0x0000 Control mode: All Unit: - Setting range: 0x0000 to 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 501 Parameters ASDA-B3 P4.044.X P1.012 P1.112 Operating range ≥ 0 > |P1.112| < 0 min. max. -|P1.012| |P1.012| P1.112 ≥ 0 Disable P1.012 (P1.002.Y = 0) < 0 ≥ 0 < |P1.112| < 0 min. max. P1.112 -|P1.012| |P1.012| ≥ 0 >...
Page 502: P5.Xxx Motion Control Parameters
ASDA-B3 Parameters 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 503 Parameters ASDA-B3 Address: 0508H P5.004 Homing methods 0509H Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 to 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 504 ASDA-B3 Parameters Address: 050AH P5.005 High speed homing (first speed setting) 050BH Operation Panel / software Communication Control mode: PR (set with P5.004) interface: Default: 100.0 1000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.1 to 2000.0 1 to 20000 Format: DEC Example: 1.5 = 1.5 rpm...
Page 505 Parameters ASDA-B3 When reading P5.007, if the command is incomplete and DO.TPOS is off (the motor does not reach the target position), the drive reads the current command (1 - 99). If the command is complete, the drive reads the current command +10000. If the command is complete and DO.TPOS is on (the motor reaches the target position), the drive reads the current command +20000.
Page 506 ASDA-B3 Parameters Address: 0516H ■ Data array: address for reading and writing P5.011 0517H Default: 0 Control mode: All Unit: - Setting range: 0 to (value set by P5.010 minus 1) Format: DEC Data size: 16-bit Settings: Specify the address to read or write the data array. Refer to Chapter 7 for detailed instructions. Address: 0518H ■...
Page 507 Parameters ASDA-B3 Address: 051EH ■ PATH 1 - PATH 2 volatile setting P5.015 051FH Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 to 0x0011 Format: HEX Data size: 16-bit Settings: This parameter allows you to write data to the target continuously through communication. PATH 1 volatile setting Reserved PATH 2 volatile setting...
Page 508 ASDA-B3 Parameters Address: 0528H P5.020 Acceleration / deceleration time #0 0529H Default: 200 Control mode: PR Unit: ms Setting range: 1 to 65500 Format: DEC Data size: 16-bit Settings: The time setting for acceleration or deceleration in PR mode, which is the time duration required for the motor to accelerate from 0 to 3,000 rpm or decelerate from 3,000 rpm to 0.
Page 509 Parameters ASDA-B3 Address: 0532H P5.025 Acceleration / deceleration time #5 0533H Default: 900 Control mode: PR Unit: ms Setting range: 1 to 65500 Format: DEC Data size: 16-bit Settings: The time setting for acceleration or deceleration in PR mode. Refer to P5.020 for details. Address: 0534H P5.026 Acceleration / deceleration time #6...
Page 510 ASDA-B3 Parameters Address: 053CH P5.030 Acceleration / deceleration time #10 053DH Default: 2500 Control mode: PR Unit: ms Setting range: 1 to 65500 Format: DEC Data size: 16-bit Settings: The time setting for acceleration or deceleration in PR mode. Refer to P5.020 for details. Address: 053EH P5.031 Acceleration / deceleration time #11...
Page 511 Parameters ASDA-B3 Address: 0546H P5.035 Acceleration / deceleration time #15 0547H Default: 30 Control mode: PR Unit: ms Setting range: 1 to 1200 Format: DEC Data size: 16-bit Settings: The deceleration time setting for auto-protection. The default value is small for faster deceleration. Address: 0548H P5.036 Capture: start address of data array...
Page 512 ASDA-B3 Parameters Address: 054EH ■ Capture: activate CAP control P5.039 054FH Default: 0x2020 Control mode: All Unit: - Setting range: 0x0000 to 0xF23F Format: HEX Data size: 16-bit Settings: Capture setting Trigger logic Axis source of Capture Minimum interval between each trigger ...
Page 513 Parameters ASDA-B3 Address: 0552H P5.041 Delay time #1 after position reached 0553H Default: 100 Control mode: PR Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings: Delay time #1 in PR mode. Address: 0554H P5.042 Delay time #2 after position reached 0555H Default: 200 Control mode: PR...
Page 514 ASDA-B3 Parameters Address: 055CH P5.046 Delay time #6 after position reached 055DH Default: 1000 Control mode: PR Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings: Delay time #6 in PR mode. Address: 055EH P5.047 Delay time #7 after position reached 055FH Default: 1500 Control mode: PR...
Page 515 Parameters ASDA-B3 Address: 0566H P5.051 Delay time #11 after position reached 0567H Default: 3500 Control mode: PR Unit: ms Setting range: 0 to 32767 Format: DEC Data size: 16-bit Settings: Delay time #11 in PR mode. Address: 0568H P5.052 Delay time #12 after position reached 0569H Default: 4000 Control mode: PR...
Page 516 ASDA-B3 Parameters Address: 0578H P5.060 Target speed setting #0 0579H Operation Panel / software Communication Control mode: PR interface: Default: 20.0 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 7500.0 0 to 75000 Format: DEC Example: 15 = 15 rpm 150 = 15 rpm Settings: Target speed #0 of PR mode.
Page 517 Parameters ASDA-B3 Address: 0580H P5.064 Target speed setting #4 0581H Operation Panel / software Communication Control mode: PR interface: Default: 300.0 3000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 7500.0 0 to 75000 Format: DEC Example: 15 = 15 rpm 150 = 15 rpm Settings:...
Page 518 ASDA-B3 Parameters Address: 0588H P5.068 Target speed setting #8 0589H Operation Panel / software Communication Control mode: PR interface: Default: 1000.0 10000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 7500.0 0 to 75000 Format: DEC Example: 15 = 15 rpm 150 = 15 rpm Settings:...
Page 519 Parameters ASDA-B3 Address: 0590H P5.072 Target speed setting #12 0591H Operation Panel / software Communication Control mode: PR interface: Default: 2000.0 20000 Data size: 32-bit Unit: 1 rpm 0.1 rpm Setting range: 0.0 to 7500.0 0 to 75000 Format: DEC Example: 15 = 15 rpm 150 = 15 rpm Settings:...
Page 520 ASDA-B3 Parameters Address: 0598H P5.076 Capture: reset position after first data captured 0599H Default: 0 Control mode: All Unit: Pulse unit of capture source Setting range: -1073741824 to +1073741823 Format: DEC Data size: 32-bit Settings: If the position reset function is enabled (P5.039.X [Bit 1] = 1), after the first position data is captured, the servo resets the position of the first point, and the position of the reset point is defined by this parameter.
Page 521 Parameters ASDA-B3 Address: 05C0H P5.096 Motion control macro command: command parameter #1 05C1H 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 macro command.
Page 522 ASDA-B3 Parameters Parameter and data array protection: unlock protection This function can only be executed when the protection function is activated. When the protection function is unlocked, the failure code is returned if this function is Command code executed repeatedly. If the wrong password is entered, failure code 0xEnnn is 0x0004 returned.
Page 523 Parameters ASDA-B3 Address: 05C6H P5.099 PR number triggered by event falling-edge 05C7H Default: 0x0000 Control mode: PR Unit: - Setting range: 0x0000 to 0xDDDD Format: HEX Data size: 16-bit Settings: The action when PR is EV1 falling-edge The action when PR is EV3 falling-edge triggered triggered The action when PR is EV2 falling-edge...
Page 524 ASDA-B3 Parameters Address: 05CAH ■ Data array: window #4 for reading and writing P5.101 05CBH Default: 0 Control mode: All Unit: - Setting range: -2147483648 to +2147483647 Format: DEC Data size: 32-bit Settings: Window #4: 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 525: P6.Xxx Pr Parameters
Parameters ASDA-B3 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: High word Low word DEC2: deceleration time selection for PATH: path type second homing DLY: select 0 - F for delay time ACC: select 0 - F for acceleration time...
Page 526 ASDA-B3 Parameters Example: When P6.000 = 0x0001, the servo automatically executes Path 1 after homing is complete. Set the route of Path 1 (setting P6.002 & P6.003) as moving to the absolute position of 0. If the origin is found (sensor or Z) and you want the servo to move an offset S and define the position after moving as P, then set PATH = non-zero and set ORG_DEF = P - S, and this absolute Position command = P.
Page 527 Parameters ASDA-B3  Corresponding U: DEC, Deceleration time Z: ACC, Acceleration time Default value (ms) parameter P5.020 P5.021 P5.022 P5.023 P5.024 P5.025 P5.026 1000 P5.027 1200 P5.028 1500 P5.029 2000 P5.030 2500 P5.031 3000 P5.032 5000 P5.033 8000 P5.034 P5.035 ...
Page 528 ASDA-B3 Parameters  B: DLY, delay time Corresponding parameter Default value (ms) P5.040 P5.041 P5.042 P5.043 P5.044 P5.045 P5.046 1000 P5.047 1500 P5.048 2000 P5.049 2500 P5.050 3000 P5.051 3500 P5.052 4000 P5.053 4500 P5.054 5000 P5.055 5500  C: AUTO: once current PR path is finished, automatically load the next path. This function is enabled only when P6.002.X = A (rotary axis position control).
Page 529 Parameters ASDA-B3 Address: 060AH P6.005 PATH 2 data 060BH 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: 060CH P6.006 PATH 3 definition 060DH Default: 0x00000000 Control mode: PR Unit: -...
Page 530 ASDA-B3 Parameters Address: 0614H P6.010 PATH 5 definition 0615H 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: 0616H P6.011 PATH 5 data 0617H Default: 0 Control mode: PR Unit: -...
Page 531 Parameters ASDA-B3 Address: 061EH P6.015 PATH 7 data 061FH 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: 0620H P6.016 PATH 8 definition 0621H Default: 0x00000000 Control mode: PR Unit: -...
Page 532 ASDA-B3 Parameters Address: 0628H P6.020 PATH 10 definition 0629H 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: 062AH P6.021 PATH 10 data 062BH Default: 0 Control mode: PR Unit: -...
Page 533 Parameters ASDA-B3 Address: 0632H P6.025 PATH 12 data 0633H 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: 0634H P6.026 PATH 13 definition 0635H Default: 0x00000000 Control mode: PR Unit: -...
Page 534 ASDA-B3 Parameters Address: 063CH P6.030 PATH 15 definition 063DH 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: 063EH P6.031 PATH 15 data 063FH Default: 0 Control mode: PR Unit: -...
Page 535 Parameters ASDA-B3 Address: 0646H P6.035 PATH 17 data 0647H 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: 0648H P6.036 PATH 18 definition 0649H Default: 0x00000000 Control mode: PR Unit: -...
Page 536 ASDA-B3 Parameters Address: 0650H P6.040 PATH 20 definition 0651H 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: 0652H P6.041 PATH 20 data 0653H Default: 0 Control mode: PR Unit: -...
Page 537 Parameters ASDA-B3 Address: 065AH P6.045 PATH 22 data 065BH 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: 065CH P6.046 PATH 23 definition 065DH Default: 0x00000000 Control mode: PR Unit: -...
Page 538 ASDA-B3 Parameters Address: 0664H P6.050 PATH 25 definition 0665H 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: 0666H P6.051 PATH 25 data 0667H Default: 0 Control mode: PR Unit: -...
Page 539 Parameters ASDA-B3 Address: 066EH P6.055 PATH 27 data 066FH 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: 0670H P6.056 PATH 28 definition 0671H Default: 0x00000000 Control mode: PR Unit: -...
Page 540 ASDA-B3 Parameters Address: 0678H P6.060 PATH 30 definition 0679H 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: 067AH P6.061 PATH 30 data 067BH Default: 0 Control mode: PR Unit: -...
Page 541 Parameters ASDA-B3 Address: 0682H P6.065 PATH 32 data 0683H 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: 0684H P6.066 PATH 33 definition 0685H Default: 0x00000000 Control mode: PR Unit: -...
Page 542 ASDA-B3 Parameters Address: 068CH P6.070 PATH 35 definition 068CH 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: 068EH P6.071 PATH 35 data 068FH Default: 0 Control mode: PR Unit: -...
Page 543 Parameters ASDA-B3 Address: 0696H P6.075 PATH 37 data 0697H 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: 0698H P6.076 PATH 38 definition 0699H Default: 0x00000000 Control mode: PR Unit: -...
Page 544 ASDA-B3 Parameters Address: 06A0H P6.080 PATH 40 definition 06A1H 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: 06A2H P6.081 PATH 40 data 06A3H Default: 0 Control mode: PR Unit: -...
Page 545 Parameters ASDA-B3 Address: 06AAH P6.085 PATH 42 data 06ABH 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: 06ACH P6.086 PATH 43 definition 06ADH Default: 0x00000000 Control mode: PR Unit: -...
Page 546 ASDA-B3 Parameters Address: 06B4H P6.090 PATH 45 definition 06B5H 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: 06B6H P6.091 PATH 45 data 06B7H Default: 0 Control mode: PR Unit: -...
Page 547 Parameters ASDA-B3 Address: 06BEH P6.095 PATH 47 data 06BFH 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: 06C0H P6.096 PATH 48 definition 06C1H Default: 0x00000000 Control mode: PR Unit: -...
Page 548: P7.Xxx Pr Parameters
ASDA-B3 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 549 Parameters ASDA-B3 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 550 ASDA-B3 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 551 Parameters ASDA-B3 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 552 ASDA-B3 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 553 Parameters ASDA-B3 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 554 ASDA-B3 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 555 Parameters ASDA-B3 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 556 ASDA-B3 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 557 Parameters ASDA-B3 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 558 ASDA-B3 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 559 Parameters ASDA-B3 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 560 ASDA-B3 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 561 Parameters ASDA-B3 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 562 ASDA-B3 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 563 Parameters ASDA-B3 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 564 ASDA-B3 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 565 Parameters ASDA-B3 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 566 ASDA-B3 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 567 Parameters ASDA-B3 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 568 ASDA-B3 Parameters Table 8.1 Digital input (DI) descriptions Value: 0x01 Triggering Control DI name Description method mode Level When this DI is on, servo is activated (Servo On). triggered Value: 0x02 Triggering Control DI name Description method mode Rising- After you troubleshoot the alarm, this DI is on and the error signal ARST edge displayed by the servo drive is cleared.
Page 569 Parameters ASDA-B3 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 edge DI is on. triggered Value: 0x09 Triggering...
Page 570 ASDA-B3 Parameters Value: 0x0D Triggering Control DI name Description method mode Clear function of analog Position command. When 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 571 Parameters ASDA-B3 Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C, 0x1E Triggering Control DI name Description method mode PR command selection (0 - 99) Corres- Position ponding command para- meter P6.000 Homing POS0 P6.001 POS1 P6.002 POS2 PR#1 Level P6.003 POS3 triggered POS4 P6.098...
Page 572 ASDA-B3 Parameters Value: 0x14, 0x15 Triggering Control DI name Description method mode Register Speed command selection (1 - 4) Speed DI signal of CN1 command Command source Content Range SPD1 SPD0 number Voltage difference External -10V to between V_REF analog signal +10V and GND SPD0...
Page 573 Parameters ASDA-B3 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). triggered (CWL) Value: 0x23 Triggering...
Page 574 ASDA-B3 Parameters Value: 0x39 Triggering Control DI name Description method mode Rising- Event trigger command 1. Refer to the setting of P5.098 and P5.099. falling- edge triggered Value: 0x3A Triggering Control DI name Description method mode Rising- Event trigger command 2. Refer to the setting of P5.098 and P5.099. falling- edge triggered...
Page 575 Parameters ASDA-B3 Value: 0x45 Triggering Control DI name Description method mode In Position mode, the external pulse input command has no function when this DI is on. Level INHP triggered Important: this function has to be set to DI4 to ensure immediate pulse inhibition.
Page 576 ASDA-B3 Parameters Table 8.2 Digital output (DO) descriptions Value: 0x01 Triggering Control DO name Description method mode When the control and main circuit power is applied to the drive, this Level SRDY DO is on if no alarm occurs. triggered Value: 0x02 Triggering Control...
Page 577 Parameters ASDA-B3 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 578 ASDA-B3 Parameters Value: 0x10 Triggering Control DO name Description method mode This DO is on when the overload accumulative time exceeds t However, if the overload accumulative time exceeds the overload allowable time of the servo, the servo sends the overload alarms AL006 and AL023.
Page 579 Parameters ASDA-B3 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 on; Level MC_OK otherwise, it is off.
Page 580 ASDA-B3 Parameters Value: 0x31 Triggering Control DO name Description method mode Level SPO_1 Output bit 01 of P4.006. triggered Value: 0x32 Triggering Control DO name Description method mode Level SPO_2 Output bit 02 of P4.006. triggered Value: 0x33 Triggering Control DO name Description method...
Page 581 Parameters ASDA-B3 Value: 0x3A Triggering Control DO name Description method mode Level SPO_A Output bit 10 of P4.006. triggered Value: 0x3B Triggering Control DO name Description method mode Level SPO_B Output bit 11 of P4.006. triggered Value: 0x3C Triggering Control DO name Description method...
Page 582 ASDA-B3 Parameters Table 8.3 Monitoring variables descriptions Description of monitoring variables: Item Description Monitoring Each monitoring variable has a code, and you can use P0.002 to set the code for code monitoring the variable. Format Each monitoring variable is stored in the 32-bit format (long integer) in the servo drive. Basic variables / extension variables: Basic variables: the variables (P0.002 = 0 to 28) within the loop of pressing the UP / Category...
Page 583 Parameters ASDA-B3 The 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. (PUU) 000 (00h) Unit: Pulse of User Unit (PUU). Current position of the Position command. Unit: Pulse of User Unit (PUU).
Page 584 Returns the value of P0.012 which is mapped by P0.020. Z phase offset Offset value between motor position and Z phase. 027 (1Bh) (Only available for Delta CNC controllers.) The alarm code (in decimal). The value being converted to the Alarm code 028 (1Ch)
Page 585 Parameters ASDA-B3 Variable name / Code Description property Integrated DI status of the drive. Each bit corresponds to one DI status (integrated) DI channel. 039 (27h) Source includes hardware channel or P4.007, which is determined by P3.006. DO status (hardware) Actual status from the DO hardware.
Page 586 ASDA-B3 Parameters Variable name / Code Description property Error code of the Error code from the servo drive: control loop of the servo only, 111 (6Fh) servo drive not including the motion controller. The time (time stamp) the servo drive receives the SYNC CANopen SYNC TS signal.
Page 587 Parameters ASDA-B3 (This page is intentionally left blank.) 8-208...
Page 588: Modbus Communication
Modbus Communication This chapter describes the Modbus communication which you use for reading and writing general parameters. For the motion control network, refer to the related DMCNET, CANopen, and EtherCAT documentation. The details of ASCII and RTU modes are also provided in this chapter. 9.1 RS-485 communication interface (hardware) ···········································...
Page 589: Communication Interface (Hardware)
Modbus Communication ASDA-B3 9.1 RS-485 communication interface (hardware) The 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. If the required transmission speed is over 38,400 bps, a 15-meter cable is recommended to ensure data transmission accuracy.
Page 590: Communication Parameter Settings
ASDA-B3 Modbus Communication 9.2 RS-485 communication parameter settings The required parameters for a single servo drive connection are: P3.000 (Address), P3.001 (Transmission speed), and P3.002 (Modbus communication protocol). P3.003 (Modbus communication error handling), P3.004 (Modbus communication timeout), P3.005 (Modbus communication), P3.006 (Digital input (DI) control switch), and P3.007 (Modbus communication response delay time) are optional settings.
Page 591 Modbus Communication ASDA-B3 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) Start Stop Stop 7-data bits 10-bit character frame Start Even Stop...
Page 592 ASDA-B3 Modbus Communication Communication data structure Definitions for the data frames in the two modes are as follows: ASCII mode: Start Start character ‘:’ (3AH) Slave Address Communication address: 1 byte, consists of 2 ASCII codes (ADR) Function Function code: 1 byte, consists of 2 ASCII codes (CMD) Data (n-1) …….
Page 593 Modbus Communication ASDA-B3 Example 1: function code 03H, reading multiple words In the following example, the master issues a read command to the first slave. The slave reads two continuous words starting from the start data address 0200H. In the response message from the slave, the content of the start data address 0200H is 00B1H and the content of the second data address 0201H is 1F40H.
Page 594 ASDA-B3 Modbus Communication 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 the start data address 0200H and sends a response message to the master after the writing is complete.
Page 595 Modbus Communication ASDA-B3 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 two words 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 596 ASDA-B3 Modbus Communication RTU mode: Command Message (Master): Response Message (Slave): Slave Address Slave Address Function Function 01H (High) 01H (High) Start Data Address Start Data Address 12H (Low) 12H (Low) 00H (High) 00H (High) Data Quantity Data Quantity (in words) (in words) 02H (Low) 02H (Low)
Page 597 Modbus Communication ASDA-B3 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 (Cyclic Redundancy Check). See the following details. LRC (ASCII mode): Start ‘:’...
Page 598 ASDA-B3 Modbus Communication CRC (RTU mode): To calculate the CRC value: Step 1: load a 16-bit register with the content of FFFFH, which is called the CRC register. Step 2: perform (The low byte of the CRC register) XOR (The first byte of the command), and save the result in the CRC register.
Page 599 Modbus Communication ASDA-B3 Example of a PC communication program: #include<stdio.h> #include<dos.h> #include<conio.h> #include<process.h> #define PORT 0x03F8 /* the address of COM 1 */ #define THR 0x0000 #define RDR 0x0000 #define BRDL 0x0000 #define IER 0x0001 #define BRDH 0x0001 #define LCR 0x0003 #define MCR 0x0004 #define LSR 0x0005 #define MSR 0x0006...
Page 600: Writing And Reading Communication Parameters
ASDA-B3 Modbus Communication 9.4 Writing and reading communication parameters Refer to Chapter 8 for the descriptions of the parameters that you can write or read through communication. The servo drive parameters are divided into eight groups: Group 0 (Monitoring parameters), Group 1 (Basic parameters), Group 2 (Extension parameters), Group 3 (Communication parameters), Group 4 (Diagnosis parameters), Group 5 (Motion control parameters), and Group 6 and Group 7 (PR parameters).
Page 601: Communication Specification
Modbus Communication ASDA-B3 9.5 RS-485 communication specification Compared with RS-232, the RS-485 communication can carry out one-to-many transmission and has better anti-interference ability. RS-485 uses a balanced transmission line for signal reception and transmission. The transmitter converts the TTL signal into a differential signal and then sends it to the receiver.
Page 602 ASDA-B3 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 603 Modbus Communication ASDA-B3 (This page is intentionally left blank.) 9-16...
Page 604: Absolute System
Absolute System This chapter introduces the absolute servo system, including the wiring and installation of the absolute encoder, the steps to set up the system, and the procedures for initializing and operating the system for the first time. 10.1 Battery box and absolute encoder cable ············································· 10-3 10.1.1 Battery specifications ································································...
Page 605 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 606: Battery Box And Absolute Encoder Cable
 The batteries are non-rechargeable. Do not charge the batteries as this may result in an explosion.  Do not directly weld on the surface of the battery. Battery specifications Item Li/SOCl2 Cylindrical Battery Type ER14505 Delta model number ASD-CLBT0100 International standard size Standard voltage 3.6V Standard capacity 2700 mAh Maximum continuous...
Page 607 Absolute System ASDA-B3 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 battery voltage keeps at 3V or higher, the expected battery life is as shown in the following table.
Page 608: Battery Box Dimensions
ASDA-B3 Absolute System 10.1.2 Battery box dimensions Single battery box Delta model number: ASD-MDBT0100 35 (1.38) 22 (0.87) Unit: mm (inch) Weight: 44 g R3.25 Dual battery box Delta model number: ASD-MDBT0200 45 (1.77) 26 (1.02) 64.5 (2.54) Unit: mm (inch) Weight: 79.23 g...
Page 609: Connection Cable For The Absolute Encoder
Absolute System ASDA-B3 10.1.3 Connection cable for the absolute encoder A. Quick connector Model number 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 610 ASDA-B3 Absolute System B. Military connector (IP67 waterproof) Model number of absolute Model number of encoder cable connector inch 3000  50 118  2 CMV1-SP10S ACS3-CAE A103 5000  50 197  2 CMV1-SP10S ACS3-CAE A105 10000  100 394 ...
Page 611 Absolute System ASDA-B3 Model number of absolute Model number of encoder cable connector inch 3000  50 118  2 CMV1-AP10S ACS3-CRE A103 5000  50 197  2 CMV1-AP10S ACS3-CRE A105 10000  100 394  4 CMV1-AP10S ACS3-CRE A110 20000 ...
Page 612 ASDA-B3 Absolute System C. IP67 waterproof connector (220V series F80 models and below) Model number of absolute Model number of encoder cable connector inch 3000  50 118  2 22008231-01 ACS3-CAE 1103 5000  50 197  2 22008231-01 ACS3-CAE 1105 10000 ...
Page 613: Battery Box Cable
Absolute System ASDA-B3 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) 1 (RED) 2 (BLACK) 200 ± 10 (7.87 ± 0.39) Unit: mm (inch)
Page 614: Installation
ASDA-B3 Absolute System 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 internal use only. Wiring them will cause damage to the internal circuit.
Page 615 Absolute System ASDA-B3 Pin assignment of CN2 connector: Encoder cable connector (female) CN2 of servo drive B3 military Quick IP67 Color Pin No. Signal Description connector connector connector Brown DC+5V +5V power supply Blue Power ground Do not connect this pin. For internal use only.
Page 616: Installing And Replacing A Battery
ASDA-B3 Absolute System 10.2.2 Installing and replacing a battery Single battery box Step 1: Release the snap-fit tabs on both sides and remove the battery box cover. Step 2: Position the cable clamp to the encoder cable. Note that the cable clamp should be placed close to the heat shrink.
Page 617 Absolute System ASDA-B3 continued) Step 5: Place the battery connection wire into the box and fit the cover. Note: To avoid data loss, replace the battery when any of the following circumstances occurs: The servo drive shows AL061 which means the voltage is too low. Refer to Chapter 13 for more information.
Page 618: System Initialization And Operating Procedures
10.3.1 System initialization After the servo system resumes operation, the controller can acquire the motor’s current absolute position either with communication (such as RS-485) or DI/DO. Delta’s absolute system provides two types of position value for the controller: pulse and PUU.
Page 619: Pulse Number
Absolute System ASDA-B3 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 -32768 and +32767.
Page 620: Puu Number
ASDA-B3 Absolute System 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 running in the forward direction, the PUU number increases; when the motor is running in the reverse direction, the PUU number decreases. The motor operation direction is defined by P1.001.Z;...
Page 621: Establish The Absolute Origin Position
Absolute System ASDA-B3 10.3.4 Establish the absolute origin position When the absolute position is lost, the 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, you can establish the absolute origin position with DI/DO.
Page 622: Establishing The Absolute Origin Position With Parameters
ASDA-B3 Absolute System 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 to 1, and then set P2.071 to 1.
Page 623 Absolute System ASDA-B3 You can set P2.070 to read the position value in units of pulse or PUU with DI/DO. See the following timing diagram. Continue to (15) in the following figure Continue to (14) in (14) (15) the following figure ABSE (DIx) Communication enabled (12)
Page 624 ASDA-B3 Absolute System 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 625 Absolute System ASDA-B3 (16) If no error occurs, the controller completes 80 bits (0 - 79) of the handshake communication with the servo drive. DI4, DO2, and DO3 then resume their original functions. Note: if ABSE is set to low level first and then changed to high level, but ABSW does not resume to high level and the alarm remains on, it means some other errors exist.
Page 626: Reading The Absolute Position With Communication
ASDA-B3 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 627: Parameters, Di/Do, And Alarms Related To Absolute Function
Absolute System ASDA-B3 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 Encoder absolute position - P0.052 pulse number or PUU within single turn...
Page 628 ASDA-B3 Absolute System Relevant alarms (refer to Chapter 13 for detailed information): Display Alarm name AL060 Absolute position is lost AL061 Encoder undervoltage Number of revolutions of the absolute encoder overflows (issued by AL062 encoder) AL069 Wrong motor type AL072 Encoder overspeed AL073 Encoder memory error...
Page 629 Absolute System ASDA-B3 (This page is intentionally left blank.) 10-26...
Page 630: Canopen Mode
CANopen Mode This chapter provides details for the required parameter settings when the servo communicates with the controller through the CANopen communication function. 11.1 Basic configuration ·········································································· 11-2 11.1.1 Supported functions ··································································· 11-2 11.1.2 Hardware configuration ······························································· 11-3 11.1.3 Parameter settings in CANopen mode ··········································· 11-4 11.2 Communication specification ·····························································...
Page 631: Basic Configuration
SDO transmission: acyclic data exchange for reading / writing parameters and communication related settings.  PDO transmission / reception: time-triggered, event-triggered, synchronous transmission (cyclic), and asynchronous transmission (acyclic).  Node guarding. Heartbeat.  CANopen function not supported by Delta servo drives:  Time stamp. 11-2...
Page 632: Hardware Configuration
ASDA-B3 CANopen Mode 11.1.2 Hardware configuration Pin assignment (RJ-45) for CAN bus wiring (1) CN3 connector (female); (2) CN3 connector (male) Pin assignment: Pin No. Signal Description 1, 9 CAN_H CAN_H bus line (dominant high) 2, 10 CAN_L CAN_L bus line (dominant low) 3, 11 GND_ISO Signal GND...
Page 633: Parameter Settings Of Canopen Mode
CANopen Mode ASDA-B3 11.1.3 Parameter settings in CANopen mode Follow these instructions to connect the CANopen controller and the 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 634: Communication Specification
ASDA-B3 CANopen Mode 11.2 Communication specification 11.2.1 Servo communication architecture The CANopen architecture of the servo drive is as follows: CAN network DS301 Application layer and communication profile DS402 State machine controlled by servo drive Modes of operation Inter- Profile Profile Profile Homing...
Page 635: Communication Objects
CANopen Mode ASDA-B3 11.2.2 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 636: Process Data Object (Pdo)
ASDA-B3 CANopen Mode 11.2.2.1 Process data object (PDO) Real-time data transmission can be achieved with Process data objects (PDOs). There are two types of PDOs: 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 637: Service Data Object (Sdo)
CANopen Mode ASDA-B3 11.2.2.2 Service data object (SDO) With Service data objects (SDOs), you can write or read objects. The SDO message format is mainly composed of COB-ID and SDO packets. SDO packets can transmit up to 4 bytes. Byte Function Byte 0 Command code...
Page 638 ASDA-B3 CANopen Mode The following figure shows the packet format returned by the servo drive when the controller sends the SDO for writing data: Object Command Object index sub- Data code Description index Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6...
Page 639 CANopen Mode ASDA-B3  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 640: Sdo Abort Codes
ASDA-B3 CANopen Mode 11.2.2.3 SDO abort codes The abort codes are as follows: SDO abort code Description 05040001h Client / server command is invalid or does not exist. 06010002h Attempt to write a read-only object. 06020000h Object does not exist in the object dictionary. 06040041h Unable to map the object to the PDO.
Page 641: Synchronization Object (Sync)
CANopen Mode ASDA-B3 11.2.2.4 Synchronization object (SYNC) The Synchronization objects (SYNCs) are periodically broadcast by the SYNC producer. There is no data in the SYNC packet (L = 0). The SYNC protocol is as follows: SYNC producer SYNC consumer (controller) (servo drive) Write SYNC Indication...
Page 642: Emergency Object (Emcy)
ASDA-B3 CANopen Mode The following figure shows the timing sequence between the servo drive TxPDO transmission and the controller SYNC transmission. The servo drive transmits the TxPDO data to the controller as soon as it receives the SYNC. SYNC SYNC Communication message message...
Page 643: Nmt Services
CANopen Mode ASDA-B3 11.2.2.6 NMT services  State machine The NMT state machine is shown as follows. After the servo drive completes the initialization, 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 644 ASDA-B3 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 645 CANopen Mode ASDA-B3  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 646: Canopen Operation Modes
ASDA-B3 CANopen Mode 11.3 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. 11.3.1 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 647 CANopen Mode ASDA-B3 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 648 ASDA-B3 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 649 CANopen Mode ASDA-B3  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 650 ASDA-B3 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 11.4.3 Details of objects. 11-21...
Page 651 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 652: Interpolation Position Mode
ASDA-B3 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 653 CANopen Mode ASDA-B3 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 smoothing constant) or P1.068 (Position command - moving filter) to smooth the position difference.
Page 654: 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 servo drive offers 39 homing methods, including homing on the home switch, positive or negative limit, motor Z pulse, and hard stop.
Page 655 CANopen Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6064h to obtain the actual value of the motor position at present. Relevant object list Index Name Data type Access 6040h Controlword...
Page 656: Profile Velocity Mode
ASDA-B3 CANopen Mode 11.3.4 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 657 CANopen Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 606Ch to obtain the current speed feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 658: Profile Torque Mode
ASDA-B3 CANopen Mode 11.3.5 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 659 CANopen Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6077h to obtain the current torque feedback. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h...
Page 660: Object Dictionary
ASDA-B3 CANopen Mode 11.4 Object dictionary This section details the CANopen objects supported by the servo. The contents include object index, name, data type, data length, and read / write permissions (access). 11.4.1 Specifications for objects Object code Object code Description A single value, such as an UNSIGNED8, Boolean, float, and INTEGER16.
Page 661: List Of Objects
CANopen Mode ASDA-B3 11.4.2 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 662 ASDA-B3 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 663: Details Of Objects
CANopen Mode ASDA-B3 11.4.3 Details of objects 11.4.3.1 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 664 ASDA-B3 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 665 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 666 ASDA-B3 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, which is the interval between two SYNCs. If you are not using SYNC, set this object to 0.
Page 667 CANopen Mode ASDA-B3 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 (guard time) multiplied by OD 100Dh (multiplying factor) gives the life time for the Life Guarding Protocol.
Page 668 ASDA-B3 CANopen Mode Sub-index Description Store communication parameters Data type UNSIGNED32 Access PDO mapping Setting range 0x65766173 (save) Default Object function: You can only write 0x65766173 (save) to OD 1010h sub1, writing all current OD setting values to the EEPROM. Object 1011h: Restore parameters Index 1011h...
Page 669 CANopen Mode ASDA-B3 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: enabled (servo drive sends the EMCY...
Page 670 ASDA-B3 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 671 CANopen Mode ASDA-B3 Object 1017h: Producer heartbeat time Index 1017h Name Producer heartbeat time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: Producer heartbeat time is defined as the cycle time of the heartbeat. When this value is set to 0, this function is invalid.
Page 672 ASDA-B3 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 673 CANopen Mode ASDA-B3 Sub-index Description Communication error Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Object function: Generally, when a serious fault is detected in the Operational state, the servo drive automatically switches 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 674 ASDA-B3 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 675 CANopen Mode ASDA-B3 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 676 ASDA-B3 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 677 CANopen Mode ASDA-B3 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 678 ASDA-B3 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 679 CANopen Mode ASDA-B3 Sub-index Description COB-ID used by PDO Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Node-ID: 0 OD 1800h: 180h + Node-ID Default OD 1801h: 280h + Node-ID OD 1802h: 380h + Node-ID OD 1803h: 480h + Node-ID Object function: Function Description...
Page 680 ASDA-B3 CANopen Mode Sub-index Description Inhibit time Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Sub-index Description Reserved Data type UNSIGNED8 Access PDO mapping Setting range UNSIGNED8 Default Sub-index Description Event timer Data type UNSIGNED16 Access PDO mapping 0: not in use Setting range UNSIGNED16...
Page 681 CANopen Mode ASDA-B3 Objects 1A00h - 1A03h: Transmit PDO mapping parameter Index 1A00h, 1A01h, 1A02h, 1A03h Name Transmit PDO mapping parameter Object code RECORD Data type PDO mapping Access The total length of objects in a group of PDO cannot Note exceed 64 bits.
Page 682: Od 2Xxxh Servo Parameter Group
ASDA-B3 CANopen Mode 11.4.3.2 OD 2XXXh servo parameter group Object 2XXXh: Parameter mapping Index 2XXXh Name Parameter mapping Object code Data type INTEGER16 / INTEGER32 Access PDO mapping Setting range INTEGER16 / INTEGER32 Default Object function: Access the corresponding servo parameters with the OD 2XXXh group. The conversion between the parameter number and object index is as follows: Object index Servo parameter...
Page 683: Od 6Xxxh Communication Object Group
CANopen Mode ASDA-B3 Example 2: Object 212Ch: Electronic gear [P1.044] Index 212Ch Name Electronic gear Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default 11.4.3.3 OD 6XXXh communication object group Object 603Fh: Error code (CANopen-defined) Index 603Fh Name Error code Object code...
Page 684 ASDA-B3 CANopen Mode Object function: The Controlword contains many functions, such as Servo On, command triggering, fault reset, and quick stop. The state machine architecture is as follows: Function Description Bit 0 Switch on Ready for Servo On. Bit 1 Enable voltage Bit 2 Quick stop (B contact (NC))
Page 685 CANopen Mode ASDA-B3 Finite state machine (as shown in the following diagram) defines the behavior of a servo drive system. Each state represents an internal or external behavior. For example, the servo drive can execute point-to-point motion only in the Operation enabled state. Start 0, 1 Switch On...
Page 686 ASDA-B3 CANopen Mode State transition can be achieved by issuing commands with the Controlword (OD 6040h). The settings of OD 6040h for different commands are as follows: OD 6040h Command Transition Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 2, 6, 8 Switch on...
Page 687 CANopen Mode ASDA-B3 Status Description These bits are individually defined according to the Bit 12 - Bit 13 operation mode, as shown in the following table. Bit 14 Positive limit Positive limit Bit 15 Negative limit Negative limit Bit 0 - Bit 6: current status of the servo drive. Bit 6 Bit 5 Bit 4...
Page 688 ASDA-B3 CANopen Mode Object 6060h: Modes of operation Index 6060h Name Modes of operation Object code Data type INTEGER8 Access PDO mapping Setting range INTEGER8 Default Object function: This object sets the mode for operation. Setting value Mode Reserved Profile Position mode Reserved Profile Velocity mode Profile Torque mode...
Page 689 CANopen Mode ASDA-B3 Object 6062h: Position demand value (PUU) Index 6062h Name Position demand value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: This position demand value is the interpolation command calculated by the servo internal interpolator.
Page 690 ASDA-B3 CANopen Mode Object 6064h: Position actual value (PUU) Index 6064h Name Position actual value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object 6065h: Following error window Index 6065h Name Following error window Object code Data type UNSIGNED32 Access...
Page 691 CANopen Mode ASDA-B3 Object 6067h: Position window Index 6067h Name Position window Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: When the difference (absolute value) between the position command (PP mode: OD 607Ah; IP mode: OD 60C1h) and the position actual value (OD 6064h) is within the range set in OD 6067h (Position window), and the duration of this condition is longer than the time set in OD 6068h (Position window time), OD 6041h [Bit 10] (Target reached) is output.
Page 692 ASDA-B3 CANopen Mode Object 6068h: Position window time Index 6068h Name Position window time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Unit Object function: When the difference (absolute value) between the position command (PP mode: OD 607Ah; IP mode: OD 60C1h) and the position actual value (OD 6064h) is within the range set in OD 6067h (Position window), and the duration of this condition is longer than the time set in OD 6068h (Position window time), OD 6041h [Bit 10] (Target reached) is output.
Page 693 CANopen Mode ASDA-B3 Object 606Ch: Velocity actual value Index 606Ch Name Velocity actual value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default 0.1 rpm Object function: Returns the motor speed at present for monitoring. Object 606Dh: Velocity window Index 606Dh Name...
Page 694 ASDA-B3 CANopen Mode Object 606Eh: Velocity window time Index 606Eh Name Velocity window time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Unit Object function: Refer to OD 606Dh for the description of the object. Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled. Object 606Fh: Velocity threshold Index 606Fh...
Page 695 CANopen Mode ASDA-B3 Object 6071h: Target torque Index 6071h Name Target torque Object code Data type INTEGER16 Access PDO mapping Setting range -3500 to +3500 Default Unit 0.1% Object function: This object sets the target torque in Profile Torque mode. If OD 6071h = 1000 (100.0%), it corresponds to the motor rated torque.
Page 696 ASDA-B3 CANopen Mode Object 6074h: Torque demand value Index 6074h Name Torque demand value Object code Data type INTEGER16 Access PDO mapping Setting range INTEGER16 Default Unit 0.1% Object function: The torque demand value is the command generated by the speed trajectory generator and filtered by the command filter of the drive.
Page 697 CANopen Mode ASDA-B3 Object 6076h: Motor rated torque Index 6076h Name Motor rated torque Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit 0.001 N-m Object function: This object displays the rated torque specified on the motor nameplate. Object 6077h: Torque actual value Index 6077h...
Page 698 ASDA-B3 CANopen Mode Object 6078h: Current actual value Index 6078h Name Current actual value Object code Data type INTEGER16 Access PDO mapping Setting range INTEGER16 Default Unit 0.1% Object function: This object is the motor current feedback in percentage at present. Object 607Ah: Target position Index 607Ah...
Page 699 CANopen Mode ASDA-B3 Object 607Ch: Home offset Index 607Ch Name Home offset Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: The origin reference point which the system looks for during the homing procedure is Home position, such as the origin sensor and Z pulse.
Page 700 ASDA-B3 CANopen Mode Sub-index Description Min position limit Data type INTEGER32 Access PDO mapping Setting range -2147483648 to +2147483647 Default -2147483648 Unit Sub-index Description Max position limit Data type INTEGER32 Access PDO mapping Setting range -2147483648 to +2147483647 Default +2147483647 Unit Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
Page 701 CANopen Mode ASDA-B3 Object 6080h: Max motor speed Index 6080h Name Max motor speed Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Varies depending on the motor model Corresponding P1.055 servo parameter Unit Object function: OD 6080h is equivalent to P1.055 (Maximum speed limit). Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
Page 702 ASDA-B3 CANopen Mode Object 6083h: Profile acceleration Index 6083h Name Profile acceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required for the motor to accelerate from 0 rpm to 3,000 rpm.
Page 703 CANopen Mode ASDA-B3 Object 6085h: Quick stop deceleration Index 6085h Name Quick stop deceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required for the motor to decelerate from 3,000 rpm to 0 rpm using the quick stop function.
Page 704 ASDA-B3 CANopen Mode Object 6093h: Position factor Index 6093h Name Position factor Object code ARRAY Data type UNSIGNED32 Access PDO mapping Corresponding P1.044 and P1.045 servo parameter Note Position factor = Numerator / Feed_constant Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping...
Page 705 CANopen Mode ASDA-B3 Object 6098h: Homing method Index 6098h Name Homing method Object code Data type INTEGER8 Access PDO mapping Setting range -4 to 35 Default Object function: The homing methods include looking for the Z pulse (Methods 1 - 14, 33, 34, 36, 37), not looking for the Z pulse (Methods 17 - 30), defining the current position as the origin (Method 35), and looking for the hard stop (Methods 36 - 39).
Page 706 ASDA-B3 CANopen Mode Methods 3 and 4: homing on the home switch and Z pulse Starting point Starting point Starting point Starting point Z pulse Home switch Methods 5 and 6: homing on the home switch and Z pulse Starting point Starting point Starting point...
Page 707 CANopen Mode ASDA-B3 Method 7: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 8: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point...
Page 708 ASDA-B3 CANopen Mode Method 9: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 10: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point...
Page 709 CANopen Mode ASDA-B3 Method 11: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Method 12: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point...
Page 710 ASDA-B3 CANopen Mode Method 13: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Method 14: homing on the negative limit switch, home switch, and Z pulse Starting point Starting...
Page 711 CANopen Mode ASDA-B3 Method 18: homing on the positive limit switch Starting point Positive limit switch Methods 19 and 20: homing on the home switch Starting point Starting point Home switch Methods 21 and 22: homing on the home switch Starting point Starting...
Page 712 ASDA-B3 CANopen Mode Methods 23 and 24: homing on the positive limit switch and home switch Starting point Starting point Starting point Home switch Positive limit switch Methods 25 and 26: homing on the positive limit switch and home switch Starting point Starting point Starting point...
Page 713 CANopen Mode ASDA-B3 Methods 27 and 28: homing on the negative limit switch and home switch Starting point Starting point Starting point Home switch Negative limit switch Methods 29 and 30: homing on the negative limit switch and home switch Starting point Starting point...
Page 714 ASDA-B3 CANopen Mode Method 35: defines the current feedback position as the origin Methods 36 and 37: When OD 6098h is set to -1 or -2: homing on the hard stop and Z pulse. Set the servo parameters P1.087 (torque level detection) and P1.088 (level reached timer) when using these homing methods.
Page 715 CANopen Mode ASDA-B3 Object 6099h: Homing speeds Index 6099h Name Homing speeds Object code ARRAY Data type UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Speed during search for switch Data type UNSIGNED32 Access...
Page 716 ASDA-B3 CANopen Mode Object 609Ah: Homing acceleration Index 609Ah Name Homing acceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: The time slope set by this object is the time required for the motor to accelerate from 0 rpm to 3,000 rpm and decelerate from 3,000 rpm to 0 rpm.
Page 717 CANopen Mode ASDA-B3 Object 60C1h: Interpolation data record Index 60C1h Name Interpolation data record Object code ARRAY Data type INTEGER32 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Command position Pos_Cmd Data type INTEGER32 Access...
Page 718 ASDA-B3 CANopen Mode Object 60C2h: Interpolation time period Index 60C2h Name Interpolation time period Object code RECORD Data type UNSIGNED8 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Interpolation time units Data type UNSIGNED8 Access...
Page 719 CANopen Mode ASDA-B3 Object 60C5h: Max acceleration Index 60C5h Name Max acceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required for the motor to accelerate from 0 rpm to 3,000 rpm.
Page 720 ASDA-B3 CANopen Mode Object 60F4h: Following error actual value Index 60F4h Name Following error actual value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: The following error actual value is the difference between the position demand value (OD 6062h) and position actual value (OD 6064h).
Page 721 CANopen Mode ASDA-B3 Object 60FDh: Digital inputs Index 60FDh Name Digital inputs Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: Function Bit 0 Negative limit signal Bit 1 Positive limit signal Bit 2 Homing signal Bit 3 - Bit 15 Reserved...
Page 722 ASDA-B3 CANopen Mode Sub-Index Description Physical outputs Data type UNSIGNED32 Access PDO mapping Setting range 0x00000000 to 0xFFFFFFFF Default Sub-Index Description Bit mask Data type UNSIGNED32 Access PDO mapping Setting range 0x00000000 to 0xFFFFFFFF Default Object function: OD 60FEh sub1 (Physical outputs) Description 0 - 15 Reserved...
Page 723 CANopen Mode ASDA-B3  To use the software to control the DO output, you must first set the corresponding DO function code. When P2.018 = 0x0130, the output of DO1 is controlled by the software. When P2.019 = 0x0131, the output of DO2 is controlled by the software. When P2.020 = 0x0132, the output of DO3 is controlled by the software.
Page 724 Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Object function: This object is read-only and provides the operation modes supported by Delta servo drives in CANopen mode. Function Bit 0 Profile Position mode Bit 1 Reserved Bit 2...
Page 725: Diagnostics And Troubleshooting
CANopen Mode ASDA-B3 11.5 Diagnostics and troubleshooting This section provides diagnostics and troubleshooting information related to communication with the controller or interference elimination. For information about the servo drive alarms, refer to Chapter 13 Troubleshooting. 1. The SYNC communication cycle of the controller and servo drive is different Since the jitter of each controller is different, the time the servo drive receives the SYNC differs from the SYNC communication cycle time.
Page 726: Ethercat Mode
EtherCAT Mode This chapter provides details for the required parameter settings when the servo communicates with the controller through the EtherCAT communication function. 12.1 Basic configuration ········································································· 12-3 12.1.1 Hardware configuration ····························································· 12-3 12.1.2 ESI file import ········································································· 12-6 12.1.3 Parameter settings of EtherCAT mode ·········································· 12-7 12.2 Communication function ·································································...
Page 727 EtherCAT Mode ASDA-B3 12.4.3.3 OD 6XXXh communication object group ································ 12-54 12.5 Diagnostics and troubleshooting ······················································· 12-94 12.5.1 EtherCAT Diagnosis ································································ 12-94 12.5.2 Alarm list ··············································································· 12-95 12-2...
Page 728: Basic Configuration
ASDA-B3 EtherCAT Mode 12.1 Basic configuration 12.1.1 Hardware configuration The pin assignments of the two ports of the EtherCAT connector (CN6) are the same. Note that the IN port is for connecting the controller or the previous servo drive, and the OUT port is for connecting the next servo drive or not connecting to other devices.
Page 729 EtherCAT Mode ASDA-B3 Description of each indicator for the CN6 connector: LED indicator status description ◼ Indicator Description Blinking Single flash ◼ Network status indicator (L/A) Indicator Status Description Network connection is established but no data Network is connected transmission. Network connection is Blinking established and data is in...
Page 730 ASDA-B3 EtherCAT Mode ◼ 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 Figure 12.1.1.1. The synchronization between the controller and Synchronization error / Single flash...
Page 731: Esi File Import
ESI file. An ESI file may contain data of multiple devices. Delta's A3-E and B3-E servo drives share the same ESI file. To import ESI files to non-Delta controllers, refer to the manufacturer’s instruction manual.
Page 732: Parameter Settings Of Ethercat Mode
ASDA-B3 EtherCAT Mode 12.1.3 Parameter settings of EtherCAT mode Follow these instructions to connect the EtherCAT controller and the servo drive: 1. Set to EtherCAT mode: set P1.001.YX to 0C. 2. Set the slave address: set P3.000 to 0x0001 - 0x007F. 3.
Page 733 EtherCAT Mode ASDA-B3 Address: 0312H P3.009 Communication synchronization 0313H Default: 0x5055 Control mode: CANopen / EtherCAT 0x1001 - 0x9FFF (-L, -M, -F) Unit: - Setting range: 0x1001 - 0x9AFF (-E) Format: HEX Data size: 16-bit Settings: Digit Target value Function (EtherCAT) -M, -F, -L models: 0 to F Range...
Page 734 ASDA-B3 EtherCAT Mode ◼ 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 address set with servo parameter P3.000.
Page 735 EtherCAT Mode ASDA-B3 ◼ UZ: AL180 trigger condition (allowable duration for elapsed time); applicable to all operation modes. AL180 occurs when the servo drive does not receive the PDO within the set duration (unit: ms). For example, when you set P3.022.UZ to 0x01, the duration is 1 ms; when you set P3.022.UZ to 0x02, the duration is 2 ms;...
Page 736: Communication Function
ASDA-B3 EtherCAT Mode 12.2 Communication function 12.2.1 Specifications Physical layer 100BASE-TX Communication RJ45 × 2 connector Network topology Line connection Baud rate 2 x 100 Mbps (full duplex) Data frame length Maximum 1,484 bytes SM0: mailbox output SM1: mailbox input SyncManager SM2: process data output SM3: process data input...
Page 737 EtherCAT Mode ASDA-B3 The EtherCAT architecture of the servo drive is as follows: EtherCAT network EtherCAT node Communication profile DS402 Modes of operation Profile Profile Profile Cyclic Cyclic Cyclic Homing Position Velocity Torque Synchronous Synchronous Synchronous mode mode mode mode Position mode Velocity mode Torque mode...
Page 738: Synchronization Mode
ASDA-B3 EtherCAT Mode 12.2.2 Synchronization mode 12.2.2.1 Synchronization modes of the servo drive The servo drive supports two synchronization modes: Free Run mode and DC-Synchronous mode. Note that the Free Run mode is defined as a synchronous mode in the EtherCAT specification established by the EtherCAT Technology Group (ETG).
Page 739: Select Synchronization Mode
EtherCAT Mode ASDA-B3 12.2.2.2 Select Synchronization mode Follow these steps to select DC-Synchronous or Free Run mode. Select Drive 3 (ASDA-B3-E CoE Drive) in the left column of the TwinCAT System Manager window. Under the DC tab in the right column, select DC-Synchronous or Free Run as the Operation Mode.
Page 740: Ethercat State Machine
ASDA-B3 EtherCAT Mode 12.2.3 EtherCAT state machine In EtherCAT communication, the servo drive’s state machine can be in the following states. The controller (master) controls the servo (slave) based on the actual state. The controller needs to configure the servo drive according to the designated flow in the following figure. After the controller completes the initialization of the communication, the servo (slave) is in the Operational state and waits for the user's command to perform motion control.
Page 741 EtherCAT Mode ASDA-B3 The controller (master) issues corresponding commands to the servo (slave) according to the state transition. State Description transition ◼ The master confirms the VendorID, ProductCode and RevisionNumber of the slave. ◼ The master calibrates the distributed clocks of the slave (DC-Synchronous mode). ◼...
Page 742: Pdo Mapping Configuration
PDO mapping configuration according to the requirements. The fourth group of RxPDO and TxPDO is the suggested configuration for Omron controllers. In Delta ASDA-x3-E rev0.04.xml, the first to fourth groups of PDO configuration are shown as follows: First group of RxPDO mapping...
Page 743 EtherCAT Mode ASDA-B3 Third group of RxPDO mapping Third group of TxPDO mapping Fourth group of RxPDO mapping (for Omron controllers) Fourth group of TxPDO mapping (for Omron controllers) 12-18...
Page 744: Set Pdo Mapping
ASDA-B3 EtherCAT Mode 12.2.4.2 Set PDO mapping Take the second group of PDO configuration OD 1601h and OD 1A01h as an example, and the settings are as follows: 1. Disable the PDO configuration: set OD 1C12h sub0 to 0 (RxPDO) and OD 1C13h sub0 to 0 (TxPDO).
Page 745: Pdo Mapping Object
EtherCAT Mode ASDA-B3 12.2.4.3 PDO mapping object Real-time data transmission can be achieved with Process data objects (PDOs). There are two types of PDOs: 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 746: Sdo Abort Codes
ASDA-B3 EtherCAT Mode 12.2.4.4 SDO abort codes The abort codes are as follows: Abort code Description 05040001h Client / server command is invalid or does not exist. 06010002h Attempt to write a read-only object. 06020000h Object does not exist in the object dictionary. 06040041h Unable to map the object to the PDO.
Page 747: Ethercat Operation Modes
EtherCAT Mode ASDA-B3 12.3 EtherCAT operation modes This section describes the modes of operation specified by CiA DS402 when the servo is in the EtherCAT mode. The content includes basic operation settings and related object descriptions. 12.3.1 Profile Position mode After receiving the position command transmitted from the controller, the servo drive controls the servo motor to reach the target position.
Page 748 ASDA-B3 EtherCAT Mode 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 749 EtherCAT Mode ASDA-B3 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 750 ASDA-B3 EtherCAT Mode ◼ Set OD 6040h [Bit 5] to 1 to enable the command to take immediate effect is enabled (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 751 EtherCAT Mode ASDA-B3 Index Name Data type Access 60C5h Max acceleration UNSIGNED32 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. 12-26...
Page 752: Profile Velocity Mode
ASDA-B3 EtherCAT Mode 12.3.2 Profile Velocity mode In Profile Velocity (PV) mode, the controller specifies the speed command and acceleration / deceleration conditions, and then the trajectory generator of the servo drive plans the motion path according to these conditions. Target velocity (60FFh) Positive Speed...
Page 753 EtherCAT Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 606Ch to obtain the current velocity actual value. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16...
Page 754: Profile Torque Mode
ASDA-B3 EtherCAT Mode 12.3.3 Profile Torque mode In Profile Torque (PT) mode, the controller specifies the torque command and filtering conditions, and 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 755 EtherCAT Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6077h to obtain the current torque actual value. Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16...
Page 756: 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 servo drive offers 39 homing methods, including homing on the home switch, positive or negative limit, motor Z pulse, and hard stop.
Page 757 EtherCAT Mode ASDA-B3 Read the servo drive information: 1. Read OD 6041h to obtain the servo drive status. 2. Read OD 6064h to obtain the actual value of the motor position at present. Relevant object list Index Name Data type Access 6040h Controlword...
Page 758: Cyclic Synchronous Position Mode
ASDA-B3 EtherCAT Mode 12.3.5 Cyclic Synchronous Position mode The controller plans the path in Cyclic Synchronous Position (CSP) mode and transmits PDOs to the servo drive periodically. In this mode, when the controller transmits each PDO, it simultaneously transmits the target position and controlword data to the servo drive. The velocity offset and torque offset can be used as the velocity and torque feed forward control setting.
Page 759 EtherCAT Mode ASDA-B3 Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Modes of operation INTEGER8 6061h Modes of operation display INTEGER8 6062h Position demand value [PUU] INTEGER32 6064h Position actual value [PUU] INTEGER32 6065h Following error window UNSIGNED32...
Page 760: Cyclic Synchronous Velocity Mode
ASDA-B3 EtherCAT Mode 12.3.6 Cyclic Synchronous Velocity mode The controller plans the speed in Cyclic Synchronous Velocity (CSV) mode and transmits PDOs to the servo drive periodically. In this mode, when the controller transmits each PDO, it simultaneously transmits the target velocity and controlword data to the servo drive. The velocity offset and torque offset can be used as the velocity and torque feed forward control setting.
Page 761 EtherCAT Mode ASDA-B3 Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Modes of operation INTEGER8 6061h Modes of operation display INTEGER8 6064h Position actual value [PUU] INTEGER32 606Bh Velocity demand value INTEGER32 606Ch Velocity actual value INTEGER32 6072h...
Page 762: Cyclic Synchronous Torque Mode
ASDA-B3 EtherCAT Mode 12.3.7 Cyclic Synchronous Torque mode The controller plans the torque in Cyclic Synchronous Torque (CST) mode and transmits PDOs to the servo drive periodically. In this mode, when the controller transmits each PDO, it simultaneously transmits the target torque and controlword data to the servo drive. The torque offset can be used as the torque feed forward control setting.
Page 763 EtherCAT Mode ASDA-B3 Relevant object list Index Name Data type Access 6040h Controlword UNSIGNED16 6041h Statusword UNSIGNED16 6060h Modes of operation INTEGER8 6061h Modes of operation display INTEGER8 6064h Position actual value [PUU] INTEGER32 606Ch Velocity actual value INTEGER32 6071h Target torque INTEGER16 6074h...
Page 764: Touch Probe Function And Touch Probe Status
ASDA-B3 EtherCAT Mode 12.3.8 Touch Probe function and Touch Probe status The Touch Probe function can be triggered by high-speed digital inputs (only DI1 and DI2) or by the motor Z pulse. This function is used for high-speed measurement or packaging applications. If the capture source is the motor Z pulse or DI of CN1, note the following: 1.
Page 765 EtherCAT Mode ASDA-B3 Function Description 0: N/A Falling-edge trigger action 1: start capturing when the Touch Probe Bit 13 of Touch Probe 2 2 signal is falling-edge triggered and store the data in OD 60BDh. Bit 14 - Bit 15 Reserved You can access the Touch Probe status with OD 60B9h.
Page 766 ASDA-B3 EtherCAT Mode Example 1: the following is the timing diagram for the Touch Probe 1 function. In this example, the Touch Probe 1 function is triggered by the external DI. When OD 60B8h [Bit 1] is set to 0 and OD 60B8h [Bit 4] & [Bit 5] are set to 1, the Touch Probe 1 signal is both rising-edge and falling-edge triggered, and the data is captured once for each triggering.
Page 767 EtherCAT Mode ASDA-B3 Status Function Description (10) OD 60BAh Data at the rising-edge remains the same. (11) Touch Probe 1 is rising-edge triggered by external signal. Touch Probe status: Touch Probe 1 signal is rising-edge (12) OD 60B9h [Bit 1] = 1 triggered and the data is successfully captured.
Page 768 ASDA-B3 EtherCAT Mode Example 3: the following is the timing diagram for the Touch Probe 1 function. In this example, the Touch Probe 1 function is triggered by the motor Z pulse. The data is captured multiple times when the Touch Probe 1 signal is rising-edge triggered. Bit 0 Touch Probe 1 switch Bit 1...
Page 769: Object Dictionary
EtherCAT Mode ASDA-B3 12.4 Object dictionary This section details the EtherCAT objects supported by the servo. The contents include object index, name, data type, data length, and 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 770: List Of Objects
ASDA-B3 EtherCAT Mode 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 1006h Communication cycle period UNSIGNED32 1600h - RECORD Receive PDO mapping parameter UNSIGNED32...
Page 771 EtherCAT Mode ASDA-B3 Index Object code Name Data type Access Mappable 607Dh ARRAY Software position limit INTEGER32 607Fh Max profile velocity UNSIGNED32 6080h Max motor speed UNSIGNED32 6081h Profile velocity UNSIGNED32 6083h Profile acceleration UNSIGNED32 6084h Profile deceleration UNSIGNED32 6085h Quick stop deceleration UNSIGNED32 6086h...
Page 772: Details Of Objects
ASDA-B3 EtherCAT Mode 12.4.3 Details of objects 12.4.3.1 OD 1XXXh communication object group Object 1000h: Device type Index 1000h Name Device type Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Format of this object: (High word h) DCBA; (Low word L) UZYX Bit 16 - Bit 31 Bit 0 - Bit 15 Model type...
Page 773 EtherCAT Mode ASDA-B3 Object function: The bits and corresponding functions are as follows: Function Bit 0 Generic error Bit 1 Current Bit 2 Voltage Bit 3 Temperature Bit 4 Communication error Bit 5 - Bit 7 Reserved Object 1003h: Pre-defined error field Index 1003h Name...
Page 774 Delta servo alarm (UINT16) Error code (UINT16) 0x0011 0x7305 AL011 is defined as “CN2 communication failed” based on the Delta servo alarm. Error code: 0x7305 is defined as “Incremental sensor 1 fault” according to DS402. Object 1006h: Communication cycle period Index...
Page 775 EtherCAT Mode ASDA-B3 Objects 1600h - 1603h: Receive PDO mapping parameter Index 1600h, 1601h, 1602h, 1603h Name Receive PDO mapping parameter Object code RECORD Data type PDO mapping Access The total length of objects in a group of PDO cannot Note exceed 64 bits.
Page 776 ASDA-B3 EtherCAT Mode 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 setting Data Description for RxPDO OD 1600h sub0 Set 3 PDO mappings. Mapping the Controlword (OD 6040h);...
Page 777 EtherCAT Mode ASDA-B3 Object 1C12h: RxPDO assign Index 1C12h Name RxPDO assign Object code ARRAY Data type UNSIGNED16 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range 0 - 1 Default Sub-index Description Specify the RxPDO index to be used Data type UNSIGNED16...
Page 778: Od 2Xxxh Servo Parameter Group
ASDA-B3 EtherCAT Mode 12.4.3.2 OD 2XXXh servo parameter group Object 2XXXh: Parameter mapping Index 2XXXh Name Parameter mapping Object code Data type INTEGER16 / INTEGER32 Access PDO mapping Setting range INTEGER16 / INTEGER32 Default Object function: Access the corresponding servo parameters with the OD 2XXXh group. The conversion between the parameter number and object index is as follows: Object index Servo parameter...
Page 779: Od 6Xxxh Communication Object Group
EtherCAT Mode ASDA-B3 12.4.3.3 OD 6XXXh communication object group Object 603Fh: Error code (CANopen defined) Index 603Fh Name Error code Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object 6040h: Controlword Index 6040h Name Controlword Object code Data type UNSIGNED16 Access...
Page 780 ASDA-B3 EtherCAT Mode Function Description These bits are individually defined Bit 4 - Bit 6 Defined in each operation mode according to the operation mode, as shown in the following table. Bit 7 Fault reset Bit 8 Halt Bit 9 - Bit 15 Reserved Bits 4 - 6 are individually defined according to the operation mode, as shown in the following table:...
Page 781 EtherCAT Mode ASDA-B3 The state transition is defined as follows: Transition Event Action 0, 1 Automatic transition after power-on Device boot and initialization Shutdown command Switch on command Servo is ready for Servo On Servo switches to Servo On and enters the mode in which the Enable operation command controller is allowed to issue a...
Page 782 ASDA-B3 EtherCAT Mode Object 6041h: Statusword Index 6041h Name Statusword Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Object function: The Statusword contains many statuses, such as Servo On, command statuses, fault signal, and quick stop. The state machine architecture is as follows: Status Description Bit 0...
Page 783 EtherCAT Mode ASDA-B3 Bit 12 - Bit 13: current status of the servo drive. Definition in each operation mode Homing Set-point acknowledge Zero Homing is Mode is in Mode is in Mode is in Bit 12 (servo received speed complete effect effect effect...
Page 784 ASDA-B3 EtherCAT Mode Object function: This object sets the mode for operation. Setting value Mode Reserved Profile Position mode Reserved Profile Velocity mode Profile Torque mode Reserved Homing mode Reserved Cyclic Synchronous Position mode Cyclic Synchronous Velocity mode Cyclic Synchronous Torque mode Object 6061h: Modes of operation display Index 6061h...
Page 785 EtherCAT Mode ASDA-B3 Object 6063h: Position actual internal value (Pulse) Index 6063h Name Position actual internal value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Pulse (unit for encoder pulse resolution) The ASDA-A2 servo drive generates 1,280,000 Unit pulses per motor revolution.
Page 786 ASDA-B3 EtherCAT Mode Object 6067h: Position window Index 6067h Name Position window Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: When the difference (absolute value) between the target position (PP mode: OD 607Ah) and the position actual value (OD 6064h) is within the range set in OD 6067h (Position window), and the duration of this condition is longer than the time set in OD 6068h (Position window time), OD 6041h [Bit 10] (Target reached) is output.
Page 787 EtherCAT Mode ASDA-B3 Object 6068h: Position window time Index 6068h Name Position window time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Unit Object function: When the difference (absolute value) between the target position (PP mode: OD 607Ah) and the position actual value (OD 6064h) is within the range set in OD 6067h (Position window), and the duration of this condition is longer than the time set in OD 6068h (Position window time), OD 6041h [Bit 10] (Target reached) is output.
Page 788 ASDA-B3 EtherCAT Mode Object 606Ch: Velocity actual value Index 606Ch Name Velocity actual value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Unit 0.1 rpm Object function: Returns the motor speed at present for monitoring. Object 606Dh: Velocity window Index 606Dh Name...
Page 789 EtherCAT Mode ASDA-B3 Object 606Eh: Velocity window time Index 606Eh Name Velocity window time Object code Data type UNSIGNED16 Access PDO mapping Setting range UNSIGNED16 Default Unit Object function: Refer to OD 606Dh for the description of the object. Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled. Object 606Fh: Velocity threshold Index 606Fh...
Page 790 ASDA-B3 EtherCAT Mode Object 6072h: Max torque Index 6072h Name Max torque Object code Data type UNSIGNED16 Access PDO mapping Setting range 0 - 3500 Default 3500 Unit 0.1% Object function: This object sets the maximum torque in Profile Torque mode and Cyclic Synchronous Torque mode.
Page 791 EtherCAT Mode ASDA-B3 Object 6076h: Motor rated torque Index 6076h Name Motor rated torque Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit 0.001 N-m Object function: This object displays the rated torque specified on the motor nameplate. Object 6077h: Torque actual value Index 6077h...
Page 792 ASDA-B3 EtherCAT Mode Object 607Ah: Target position Index 607Ah Name Target position Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: This object only works in Profile Position mode and Cyclic Synchronous Position mode. For more details, refer to Sections 12.3.1 and 12.3.5.
Page 793 EtherCAT Mode ASDA-B3 Sub-index Description Number of entries Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Min position limit Data type INTEGER32 Access PDO mapping Setting range -2147483648 to +2147483647 Default -2147483648 Unit Sub-index Description Max position limit Data type INTEGER32 Access...
Page 794 ASDA-B3 EtherCAT Mode Object 6080h: Max motor speed Index 6080h Name Max motor speed Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Varies depending on the motor model Corresponding P1.055 servo parameter Unit Object function: OD 6080h is equivalent to P1.055 (Maximum speed limit). Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
Page 795 EtherCAT Mode ASDA-B3 Object 6084h: Profile deceleration Index 6084h Name Profile deceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required for the motor to decelerate from 3,000 rpm to 0 rpm.
Page 796 ASDA-B3 EtherCAT Mode Object 6087h: Torque slope Index 6087h Name Torque slope Object code Data type UNSIGNED32 Access PDO mapping Setting range 0 - 65500 Default Unit Object function: The time slope set by this object is the time required for the motor to change from 0% to 100% of the rated torque.
Page 797 EtherCAT Mode ASDA-B3 Sub-index Description E-Gear ratio denominator Data type UNSIGNED32 Access PDO mapping Default Corresponding P1.045 servo parameter Note For the E-Gear ratio setting, refer to Section 6.2.5. Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled. Object 6098h: Homing method Index 6098h...
Page 798 ASDA-B3 EtherCAT Mode Method 2: homing on the positive limit switch and Z pulse Methods 3 and 4: homing on the home switch and Z pulse Starting point Starting point Starting point Starting point Z pulse Home switch Methods 5 and 6: homing on the home switch and Z pulse Starting point Starting point...
Page 799 EtherCAT Mode ASDA-B3 Method 7: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Positive limit switch Method 8: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point...
Page 800 ASDA-B3 EtherCAT Mode Method 9: homing on the positive limit switch, home switch, and Z pulse St arting point Starting point St arting point Z pulse Home switch Positive limit switch Method 10: homing on the positive limit switch, home switch, and Z pulse Starting point Starting point Starting point...
Page 801 EtherCAT Mode ASDA-B3 Method 11: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home sw itch Nega tive limit switch Method 12: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point...
Page 802 ASDA-B3 EtherCAT Mode Method 13: homing on the negative limit switch, home switch, and Z pulse Starting point Starting point Starting point Z pulse Home switch Negative limit switch Method 14: homing on the negative limit switch, home switch, and Z pulse St arting point St arting point...
Page 803 EtherCAT Mode ASDA-B3 Method 18: homing on the positive limit switch Starting point Positive limit switch Methods 19 and 20: homing on the home switch Starting point Starting point Home switch Methods 21 and 22: homing on the home switch 12-78...
Page 804 ASDA-B3 EtherCAT Mode Methods 23 and 24: homing on the positive limit switch and home switch Starting point Starting point Starting point Home switch Positive limit switch Methods 25 and 26: homing on the positive limit switch and home switch Starting point Starting point Starting point...
Page 805 EtherCAT Mode ASDA-B3 Methods 27 and 28: homing on the negative limit switch and home switch Starting point Starting point Starting point Home switch Negative limit switch Methods 29 and 30: homing on the negative limit switch and home switch Starting point Starting point...
Page 806 ASDA-B3 EtherCAT Mode Methods 36 and 37: When OD 6098h is set to -1 or -2: homing on the hard stop and Z pulse. Set the servo parameters P1.087 (torque level detection) and P1.088 level reached timer) when using these homing methods. Methods 38 and 39: When OD 6098h is set to -3 or -4: homing on the hard stop.
Page 807 EtherCAT Mode ASDA-B3 Object 6099h: Homing speeds Index 6099h Name Homing speeds Object code ARRAY Data type UNSIGNED32 Access PDO mapping Sub-index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-index Description Speed during search for switch Data type UNSIGNED32 Access...
Page 808 ASDA-B3 EtherCAT Mode Object 609Ah: Homing acceleration Index 609Ah Name Homing acceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: The time slope set by this object is the time required for the motor to accelerate from 0 rpm to 3,000 rpm and decelerate from 3,000 rpm to 0 rpm.
Page 809 EtherCAT Mode ASDA-B3 Object 60B2h: Torque offset Index 60B2h Name Torque offset Object code Data type INTEGER16 Access PDO mapping Setting range -3500 to +3500 Default Unit 0.1% Object function: This object sets the torque offset. For more details, refer to Section 12.3.7 Cyclic Synchronous Torque mode.
Page 810 ASDA-B3 EtherCAT Mode Function Description Bit 6 - Bit 7 Reserved 0: disable Touch Probe 2. Bit 8 Touch Probe 2 switch 1: enable Touch Probe 2. 0: capture one time. If the Touch Probe 2 signal is set to be both rising-edge and falling-edge triggered, the data is Bit 9 Touch Probe 2 number of capturing times...
Page 811 EtherCAT Mode ASDA-B3 Function Description Touch Probe 1 signal for capturing multiple times The status is reversed once the capturing Bit 7 succeeds. Refer to Section 12.3.8 for the (Available when the function of timing diagram in Example 3. OD 60B8h [Bit 1] Number of capturing times is enabled) 0: Touch Probe 2 disabled.
Page 812 ASDA-B3 EtherCAT Mode Object 60BCh: Touch probe pos2 pos value Index 60BCh Name Touch probe pos2 pos value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Object function: For the function of this object, refer to Section 12.3.8 for the description of Touch Probe. Object 60BDh: Touch probe pos2 neg value Index 60BDh...
Page 813 EtherCAT Mode ASDA-B3 Object 60C6h: Max deceleration Index 60C6h Name Max deceleration Object code Data type UNSIGNED32 Access PDO mapping Setting range 1 - 65500 Default Unit Object function: The time slope set by this object is the time required for the motor to decelerate from 3,000 rpm to 0 rpm.
Page 814 ASDA-B3 EtherCAT Mode Object 60F4h: Following error actual value Index 60F4h Name Following error actual value Object code Data type INTEGER32 Access PDO mapping Setting range INTEGER32 Default Unit Object function: The following error actual value is the difference between the position demand value (OD 6062h) and position actual value (OD 6064h).
Page 815 EtherCAT Mode ASDA-B3 Object 60FDh: Digital inputs Index 60FDh Name Digital inputs Object code Data type UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default Unit Object function: Function Bit 0 Negative limit signal Bit 1 Positive limit signal Bit 2 Homing signal Bit 3 - Bit 15 Reserved...
Page 816 ASDA-B3 EtherCAT Mode Object 60FEh: Digital outputs Index 60FEh Name Digital outputs Object code ARRAY Data type UNSIGNED32 Access Sub-Index Description Number of sub-index Data type UNSIGNED8 Access PDO mapping Setting range Default Sub-Index Description Physical outputs Data type UNSIGNED32 Access PDO mapping Setting range...
Page 817 EtherCAT Mode ASDA-B3 OD 60FEh sub2 (Bit mask) Description 0 - 15 Reserved 0: disable physical outputs; 1: enable 0: disable physical outputs; 1: enable 0: disable physical outputs; 1: enable 0: disable physical outputs; 1: enable 20 - 31 Reserved ◼...
Page 818 UNSIGNED32 Access PDO mapping Setting range UNSIGNED32 Default 03ADh Object function: This object is read-only and provides the operation modes supported by Delta servo drives in EtherCAT mode. Function Bit 0 Profile Position mode Bit 1 Reserved Bit 2 Profile Velocity mode...
Page 819: Diagnostics And Troubleshooting
EtherCAT Mode ASDA-B3 12.5 Diagnostics and troubleshooting This section provides diagnostics and troubleshooting information related to communication with the controller or interference elimination. For information about the servo drive alarms, refer to Chapter 13 Troubleshooting. 1. The SYNC communication cycle of the controller and servo drive is different Since the jitter of each controller is different, the time the servo drive receives the SYNC differs from the SYNC communication cycle time.
Page 820: Alarm List
ASDA-B3 EtherCAT Mode 12.5.2 Alarm list Display Alarm name 16-bit error code AL001 Overcurrent 2310h AL002 Overvoltage 3110h AL003 Undervoltage 3120h AL004 Motor combination error 7122h AL005 Regeneration error 3210h AL006 Overload 3230h AL007 Excessive deviation of Speed command 8400h AL008 Abnormal pulse command 8600h...
Page 821 EtherCAT Mode ASDA-B3 Display Alarm name 16-bit error code AL061 Encoder undervoltage 7305h Number of revolutions of the absolute encoder overflows AL062 7305h (issued by encoder) AL064 Encoder vibration warning 7305h Number of revolutions of the absolute encoder overflows AL066 7305h (issued by servo drive) AL067...
Page 822 ASDA-B3 EtherCAT Mode Display Alarm name 16-bit error code AL123 Data length error occurs when PDO is accessed 8200h AL124 Data range error occurs when PDO is accessed 8200h AL125 PDO object is read-only and write-protected 8200h AL126 Specified object does not support PDO mapping 8200h AL127 PDO object is write-protected when servo drive is on...
Page 823 EtherCAT Mode ASDA-B3 Display Alarm name 16-bit error code AL422 Write-in failed caused by power supply cut-off 0000h AL500 STO function is enabled 9000h AL501 SF1 lost (signal loss or signal error) 9000h AL502 SF2 lost (signal loss or signal error) 9000h AL503 STO self-diagnostic error...
Page 824: Troubleshooting
Troubleshooting This chapter provides alarm descriptions and the corrective actions you can use for troubleshooting. 本 13.1 Alarm list ······················································································ 13-3 General type ················································································· 13-3 Motion control type ········································································· 13-5 STO type ······················································································ 13-5 Communication type ······································································· 13-6 13.2 Causes and corrective actions ·························································· 13-7 13-1...
Page 825 Troubleshooting ASDA-B3 There are four types of alarms: General, Motion control, STO, and Communication. The detailed information is as follows. General type: alarms caused by hardware or encoder signal errors. Motion control type: alarms caused by motion control command (in PR mode) errors. STO type: alarms caused by STO errors.
Page 826: Alarm List
ASDA-B3 Troubleshooting 13.1 Alarm list General type Error type Servo state Display Alarm name WARN AL001 Overcurrent ○ ○ AL002 Overvoltage ○ ○ AL003 Undervoltage ○ ○ AL004 Motor combination error ○ ○ AL005 Regeneration error ○ ○ AL006 Overload ○...
Page 827 Troubleshooting ASDA-B3 Error type Servo state Display Alarm name WARN AL05C Motor position feedback error ○ ○ AL060 Absolute position is lost ○ ○ AL061 Encoder undervoltage ○ ○ Number of revolutions of the absolute encoder AL062 ○ ○ overflows (issued by encoder) AL064 Encoder vibration warning ○...
Page 828: Motion Control Type
ASDA-B3 Troubleshooting Error type Servo state Display Alarm name WARN AL521 Vibration elimination parameter error ○ ○ ALC31 Motor power cable disconnection ○ ○ ALCDB Servo drive model type error ○ ○ Note: if the servo drive shows an alarm that is not in this table, contact the local distributor or technician. Motion control type Error type Servo state...
Page 829: Communication Type
Troubleshooting ASDA-B3 Communication type Error type Servo state Display Alarm name WARN AL111 Buffer overflow occurs when SDO is received ○ ○ AL112 Buffer overflow occurs when PDO is received ○ ○ AL113 TxPDO transmission failed ○ ○ Object’s index does not exist when PDO is AL121 ○...
Page 830: Causes And Corrective Actions
If the temperature of the heat sink is abnormal, send your servo drive back to the distributor or contact Delta. Check if the set value of the parameter is much greater than the default. It is recommended that you reset the parameter to the factory default setting and then modify the setting gradually.
Page 831 Troubleshooting ASDA-B3 AL002 Overvoltage Check the connection for the regenerative resistor, re-calculate the resistance value of the regenerative resistor, and correctly set the values of P1.052 and P1.053. How to clear the DI.ARST alarm? AL003 Undervoltage Condition: Main circuit voltage is below the rated value. The error type of AL003 is a warning by default.
Page 832 Check the connection for the regenerative resistor, re-calculate the resistance value of the regenerative resistor, and correctly set the values of P1.052 and P1.053. If the issue persists, send your servo drive back to Delta. Checking method and corrective action Set P1.053 to 0 if not using a regenerative resistor.
Page 833 Troubleshooting ASDA-B3 AL007 Excessive deviation of Speed command Condition: difference between the command speed and the feedback speed exceeds the allowable range set by P2.034. Cause: Trigger condition A drastic change in the input Speed command. and cause Improper setting of P2.034 (Excessive deviation warning condition of Speed command).
Page 834 P1.052 and Checking method and corrective action P1.053. If the issue persists, send your servo drive back to Delta. Set P1.053 to 0 if not using a regenerative resistor. How to clear the DI.ARST...
Page 835 Cycle power and execute the calibration again. If the issue persists after power cycling, send your servo drive back to the distributor or contact Delta. How to clear the Remove the connection cable for CN1 and then execute auto calibration.
Page 836 ASDA-B3 Troubleshooting AL013 Emergency stop Trigger condition The emergency stop button is pressed. and cause Checking method Make sure the emergency stop button is off. and corrective action How to clear the Set DI.EMGS to off to clear the alarm. alarm? AL014 Negative limit error Condition: negative limit switch is triggered.
Page 837 ROM is damaged or there is no data in ROM. Send your servo drive back to the distributor or contact Delta. If this alarm occurs when the drive is started, reset the parameters and then cycle...
Page 838 ASDA-B3 Troubleshooting AL018 OA and OB output error Check the communication error rate by setting P0.002 to -80. If this value increases continuously, it means there is interference. Check the following items: (a) Check if the motor is properly grounded. Make sure the ground end (green) of the power cable is grounded to the servo drive heat sink.
Page 839 Use shielded cable for the encoder cable. Pull out the wire mesh and have it correctly grounded. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 840 If the value is greater than 0 and increases continuously, check the previous three items again. If the value is 0, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 841 If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 842 Cause: the internal signal of the encoder is abnormal causing error in the number and cause of revolutions. Checking method Send your servo motor back to the distributor or contact Delta. and corrective action How to clear the alarm? AL02B Motor data error Trigger condition Accessing the internal data of the motor is in error.
Page 843 Check if the mechanical part connected to the motor is working normally. and corrective action Check if the wiring of the motor power cable and encoder cable is correct. Send your servo motor back to the distributor or contact Delta. How to clear the DI.ARST...
Page 844 How to clear the If the issue persists, send your servo motor back to the distributor or contact Delta. alarm? 13-21...
Page 845 Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the DI.ARST or cycle power on the servo drive.
Page 846 ASDA-B3 Troubleshooting AL042 Voltage input for analog Speed command is too high Voltage input for the analog Speed command is higher than the level specified by Trigger condition and cause P1.083. Check and make sure the voltage source for the analog Speed command is Checking method and corrective action correct.
Page 847 Troubleshooting ASDA-B3 AL048 OA and OB output error Correctly set the parameters. The settings of P1.076 and P1.046 should follow these requirements: Motor speed P1.076 > motor speed and ×P1.046×4 < 19.8×10 Check the communication error rate by setting P0.002 to -80. If this value increases continuously, it means there is interference.
Page 848 ASDA-B3 Troubleshooting AL056 Excessive motor speed Condition: when the filtered motor speed exceeds the setting of P1.111, the servo drive immediately switches to the Servo Off state and displays this alarm. Trigger condition and cause Cause: this alarm is to remind the user that the motor speed has reached the upper limit of the current setting (P1.111).
Page 849 Troubleshooting ASDA-B3 AL060 Absolute position is lost Check if the battery voltage is below 2.9V. Re-establish the absolute origin position after replacing the battery. Do not replace or remove the battery when the servo drive’s control power is off. Follow these instructions: Checking method and corrective action (a) Install the battery.
Page 850 Checking method and corrective action decrease the operating temperature. If the temperature difference between the encoder and motor is over 30°C (86°F), send your servo motor back to Delta. How to clear the Cycle power on the servo drive. alarm?
Page 851 Troubleshooting ASDA-B3 AL068 Absolute data transmitted by I/O is in error Condition: the time sequence is wrong when the absolute position is read by DI/O. Cause: Trigger condition and cause Time sequence is wrong. Reading timeout. Correct the time sequence for reading the data with DI/O: (a) DI.ABSQ switches to off after DO.ABSR is off.
Page 852 ASDA-B3 Troubleshooting AL06A Absolute position is lost Cause: The servo drive is used for the first time, so the absolute origin position is not established. Retaining the absolute position requires power supply, so when the battery is drained and the power supply of the servo drive is cut off, the absolute position of the servo is lost.
Page 853 Check if the wiring is correct and firmly connected. If not, correctly connect the wire Checking method and corrective action again. Contact Delta if this error persists. How to clear the Cycle power on the servo drive. alarm?
Page 854 Measure the battery voltage to see if it is below 3.1V. Check if the battery wiring has poor contact. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 855 Troubleshooting ASDA-B3 AL073 Encoder memory error If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive. alarm? AL074 Encoder single-turn absolute position is in error Trigger condition The single-turn position in the encoder is in error.
Page 856 Check the motor speed and make sure it is within the rated range. If the issue persists, send your servo motor back to the distributor or contact Delta. How to clear the Cycle power on the servo drive.
Page 857 Troubleshooting ASDA-B3 AL07C Command to clear the absolute position is issued when the motor speed is over 200 rpm The command to clear the absolute position is issued when the motor speed is Trigger condition and cause over 200 rpm. Check if a command to clear the absolute position is issued when the motor speed is over 200 rpm.
Page 858 UVW can short-circuit. In this case, replace the power cable to avoid a short circuit. Refer to Chapter 3 Wiring and check the following items: (a) If you do not use the Delta standard power cable, make sure the UVW wiring sequence is correct. Checking method...
Page 859 DC Bus voltage when you enter the monitoring code 14 to P0.002, the servo drive may be malfunctioning. Send your servo drive back to the distributor or contact Delta. If you took the preceding actions and the issue persists, use a scope with a differential probe to measure whether the input voltage has high-frequency signal interference.
Page 860 Set P2.112 [Bit 1] to 0 to disable AL089. alarm? If the issue persists, send your servo drive back to the distributor or contact Delta. AL08A Auto tuning function - command error Condition: no command is issued within 15 seconds after the servo drive starts the auto tuning procedure.
Page 861 Checking method and corrective action If not using the regenerative resistor, set P1.053 (Regenerative resistor capacity) to 0. If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the DI.ARST alarm? 13-38...
Page 862 Check if the firmware is updated. If so, set P2.008 to 30 and then 28. Cycle power Checking method and corrective action on the servo drive. Contact Delta if this error persists. How to clear the Set P2.008 to 30 and then 28. Cycle power on the servo drive.
Page 863 Troubleshooting ASDA-B3 AL0A6 Absolute positions of the servo drive and motor do not match Condition: suppose there are servo drive A, servo motor A, servo drive B, and servo motor B. Servo drive A and servo drive B have established the absolute Trigger condition origin coordinates with servo motor A and servo motor B respectively.
Page 864 ASDA-B3 Troubleshooting AL121 Object’s index does not exist when PDO is accessed When the servo drive receives the PDO from the controller, the specified object’s Trigger condition and cause index number is incorrect, so the servo drive cannot identify it. Check if the object’s index number for PDO mapping of the controller is correct.
Page 865 Troubleshooting ASDA-B3 AL125 PDO object is read-only and write-protected Trigger condition The specified object in the message is read-only and write-protected. and cause Checking method Check if the object for PDO mapping is read-only. and corrective action How to clear the NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
Page 866 ASDA-B3 Troubleshooting AL130 Accessing address of EEPROM is out of range The amount of data in the ROM is greater than the allowable space specified by Trigger condition the firmware. It is probably because the firmware has been updated, but the data and cause in the ROM was stored by the previous firmware version.
Page 867 Troubleshooting ASDA-B3 AL180 Bus communication timeout The servo drive does not receive any PDO data within the set communication Trigger condition and cause cycle time. Check if the communication is normal. Checking method and corrective action Check if the wiring is correctly connected. How to clear the NMT: reset node, OD 6040h [Bit 7] (Fault reset), or DI.ARST.
Page 868 ASDA-B3 Troubleshooting AL201 Initialization error of object dictionary data Condition: an error has occurred when the servo drive loads data from EEPROM. Trigger condition and cause Cause: initialization error of CANopen data. If the alarm is cleared after power cycling of the servo drive, it means the error occurred at the moment when the servo drive reads the data.
Page 869 Troubleshooting ASDA-B3 AL211 Parameter format setting of Type [8] PR is in error Condition: parameter format setting of Type [8] PR command is in error. Cause: Trigger condition and cause Incorrect parameter format. The ASDA-Soft software version and the firmware version are not compatible. Check if the parameter format is correct.
Page 870 ASDA-B3 Troubleshooting AL219 Parameter written by Type [8] PR is write-protected Condition: the parameter written by Type [8] PR command is write-protected. Trigger condition and cause Cause: the parameter write-protected function is enabled. Checking method Check if the parameter and data array protection function (P5.097) is enabled. and corrective action How to clear the Disable the parameter and data array protection function or reset the parameters.
Page 871 Troubleshooting ASDA-B3 AL235 Position counter overflow warning When AL060 and AL062 occur, use the scope to check if the feedback position has overflowed. Check whether the preceding conditions have occurred and then establish the absolute origin position. Incremental system: perform homing procedure after using DI.ARST to clear the How to clear the alarm.
Page 872 ASDA-B3 Troubleshooting AL283 Software positive limit Condition: the target position specified by the command exceeds the software Trigger condition positive limit. and cause Cause: the software positive limit is triggered. The software positive limit is determined by the Position command instead of the actual feedback position because the command is sent before the feedback is Checking method received.
Page 873 Troubleshooting ASDA-B3 AL301 CANopen synchronization failure Condition: the synchronization with the controller fails when you use the CANopen Trigger condition IP mode (B mode). and cause Cause: communication fails to synchronize. Make sure the communication between the servo drive and controller is good. After eliminating any problems that you find, allow the controller to re-send the Checking method and corrective action...
Page 874 ASDA-B3 Troubleshooting AL303 CANopen synchronization signal timeout How to clear the NMT: reset node or OD 6040h [Bit 7] (Fault reset). alarm? AL304 Invalid interpolation mode command Condition: the servo drive cannot send the command when in IP mode (except the Trigger condition CANopen B mode).
Page 875 Troubleshooting ASDA-B3 AL3CF Emergency stop Trigger condition After AL35F is triggered and the motor has decelerated to 0, this alarm occurs. and cause Check if the DI is set to 0x47 with any of the parameters, P2.010 - P2.017 and Checking method and corrective action P2.036 - P2.040, and is triggered.
Page 876 ASDA-B3 Troubleshooting AL3E3 Communication synchronization signal timeout Modify the setting of IP command timeout (P3.022.YX). (For -E models.) Ensure the correct time sequence of sending packets from the controller. A drift or delay in packet sending time causes synchronization failure. How to clear the NMT: reset node or OD 6040h [Bit 7] (Fault reset).
Page 877 Checking method Appendix A for Graph of load and operating time. and corrective action If the issue persists, send your servo drive back to the distributor or contact Delta. How to clear the Cycle power on the servo drive. alarm?
Page 878 ASDA-B3 Troubleshooting AL501 SF1 lost (signal loss or signal error) Loss of SF1 signal, or SF1 and SF2 signals are not synchronized for more than Trigger condition and cause 1 second. Checking method and corrective Make sure the wiring of SF1 is correct. action How to clear the Cycle power on the servo drive.
Page 879 [Bit 9] of P2.094 to 0. AL555 System failure Trigger condition Servo drive DSP is in error. and cause If this alarm occurs, send your servo drive directly back to Delta without making Checking method and corrective action any modification. How to clear the...
Page 880 1. Update the firmware again. Checking method 2. If the issue persists after the firmware is updated, send your servo drive back and corrective action to Delta. How to clear the Cycle power on the servo drive. alarm? 13-57...
Page 881 Troubleshooting ASDA-B3 (This page is intentionally left blank.) 13-58...
Page 882: Appendix
Specifications Appendix A.1 ASDA-B3 series servo drive ····································································· A-3 A.1.1 Specifications of the ASDA-A3 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 ················································································ A-9 A.1.2.2 400V series ··············································································...
Page 883: Motor Frame Size: 130 Mm
Specifications ASDA-B3 A.2.5.1 220V series ·············································································· A-40 Motor frame size: 80 mm and below (with cables) ····························· A-40 Motor frame size: 80 mm and below (with bulkhead connectors) ·········· A-41 Motor frame size: 100 mm ··························································· A-42 Motor frame size: 130 mm ··························································· A-43 Motor frame size: 180 mm ···························································...
Page 884 ASDA-B3 Specifications A.1 ASDA-B3 series servo drive A.1.1 Specifications of the ASDA-A3 servo drive A.1.1.1 220V series 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW ASDA-B3 Three-phase Phase / Voltage Single- / Three-phase 220 V...
Page 885 Specifications ASDA-B3 Specification table Item Specification Servo drive resolution 24-bit (16777216 p/rev) Main circuit control SVPWM control Tuning mode Manual / Auto Pulse type Pulse + symbol, CCW pulse + CW pulse, A phase + B phase Pulse + symbol: 4 Mpps CCW pulse + CW pulse: 4 Mpps Max.
Page 886 Use a single-phase three-wire power system for models using a single-phase power supply. Only the B3A series has received the TÜ V Functional Safety certification. Scan the QR code or go to Delta's website for the CE certificate.
Page 887 Specifications ASDA-B3 A.1.1.2 400V series 1 kW 1.5 kW 2 kW 3 kW 4.5 kW 5.5 kW 7.5 kW ASDA-B3 Phase / Voltage Three-phase 400 V Permissible voltage Three-phase 380 - 440 V , -10% to +10% Input current (400V) 2.91 3.52 5.06...
Page 888 ASDA-B3 Specifications Specification table Item Specification Servo drive resolution 24-bit (16777216 p/rev) Main circuit control SVPWM control Tuning mode Manual / Auto Pulse type Pulse + symbol, CCW pulse + CW pulse, A phase + B phase Pulse + symbol: 4 Mpps CCW pulse + CW pulse: 4 Mpps Max.
Page 889 TÜ V certification application is in progress. TÜ V Functional Safety certification application for the B3A series is in progress. Scan the QR code or go to Delta's website for the CE certificate.
Page 890 ASDA-B3 Specifications A.1.2 Dimensions of the servo drive A.1.2.1 220V series 100 W / 200 W / 400 W 60 (2.36) 155.85 (6.14) 60 (2.36) 70 (2.76) 49 (1.93 ) 6.3 (0.25) M5*0.8 SCREW: M4 x 0.7 TIGHTENING TORQUE: 12 to 14 (kgf-cm) Unit: mm (inch) Weight 0.9 kg (1.98 lb)
Page 891 Specifications ASDA-B3 1 kW / 1.5 kW 80.2 (3.16) 194.15 (7.64) 70 (2.76) 80.2 (3.16) 67 (2.64) 7.7 (0.3) M5*0.8 SCREW: M4 x 0.7 TIGHTENING TORQUE: 12 to 14 (kgf-cm) Unit: mm (inch) Weight 1.8 kg (3.96 lb) 2 kW / 3 kW 90 (3.54) 75 (2.95) 90 (3.54)
Page 892 ASDA-B3 Specifications A.1.2.2 400V series 1 kW / 1.5 kW / 2 kW / 3 kW 87.25 (3.44) 87.25 (3.44) 5.75 (0.23) 70 (2.76) 194.15 (7.64) M5 * 0.8 12 5 (0.49) SCREW: M4 x 0.7 TIGHTENING TORQUE: 12 to 14 (kgf-cm) Unit: mm (inch) 1.6 kg (3.53 lb) 1 kW / 1.5 kW...
Page 893 Specifications ASDA-B3 A.2 ECM-B3 series servo motor ECM-B3 series servo motor (1) Product name ECM: electronically commutated motor (2) Servo type B: general type servo motor (3) Series 3: 3 series (4) Inertia H: high inertia M: medium inertia L: low inertia (5) Rated voltage and speed C: 220V and 3,000 rpm E: 220V and 2,000 rpm...
Page 894 ASDA-B3 Specifications (7) Motor frame size Code Specification Code Specification 40 mm 100 mm 60 mm 130 mm 80 mm 180 mm (8) Rated power output Code Specification Code Specification 100 W 1.5 kW 200 W 1.8 kW 400 W 2.0 kW 750 W 3.0 kW...
Page 895 Specifications ASDA-B3 A.2.1 ECM-B3 series servo motor A.2.1.1 220V series Motor frame size: 80 mm and below B3L- B3M- B3M- B3M- B3M- B3M- ECM- C 2 0401 C 2 0602 C 2 0604 C 2 0804 C 2 0807 C 2 0810 0.75 Rated power (kW) 0.32...
Page 896 ASDA-B3 Specifications B3L- B3M- B3M- B3M- B3M- B3M- ECM- C 2 0401 C 2 0804 C 2 0807 C 2 0810 0602 0604 Vibration capacity 2.5 G IP rating IP67 (for models using waterproof connectors and shaft seals or oil seals) Approvals Note: The rated torque is the continuous permissible torque between 0˚C - 40˚C (32˚F - 104˚F) operating...
Page 897 Specifications ASDA-B3 Motor frame size: 100 mm ECM- B3M-C 1010 B3M-C 1015 B3M-C 1020 Rated power (kW) Rated torque (N-m) 3.18 4.77 6.37 Max. torque (N-m) 9.54 14.3 19.1 Rated speed (rpm) 3000 Max. speed (rpm) 6000 Rated current (Arms) 6.05 7.48 9.96...
Page 898 ASDA-B3 Specifications Note: 1. The rated torque is the continuous permissible torque between 0˚C and 40˚C (32˚F and 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F100: 300 mm x 300 mm x 12 mm Material: aluminum 2.
Page 899 Specifications ASDA-B3 Motor frame size: 130 mm B3H- B3H- B3H- B3M- B3M- B3M- ECM- 1308 1313 1318 1310 1315 1320 0.85 Rated power (kW) 4.77 7.16 9.55 5.39 8.34 11.5 Rated torque (N-m) 14.3 21.48 28.65 16.17 25.02 34.5 Max. torque (N-m) 2000 1500 Rated speed (rpm)
Page 900 ASDA-B3 Specifications Note: 1. The rated torque is the continuous permissible torque between 0˚C - 40˚C (32˚F - 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F130: 400 mm x 400 mm x 20 mm Material: aluminum 2.
Page 901 Specifications ASDA-B3 Motor frame size: 180 mm ECM- B3M-E 1820 B3M-F 1830 Rated power (kW) Rated torque (N-m) 9.55 19.1 Max. torque (N-m) 28.65 57.29 Rated speed (rpm) 2000 1500 Max. speed (rpm) 3000 3000 Rated current (Arms) 11.43 18.21 Max.
Page 902 ASDA-B3 Specifications Note: 1. The rated torque is the continuous permissible torque between 0˚C and 40˚C (32˚F and 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F180: 550 mm x 550 mm x 30 mm Material: aluminum 2.
Page 903 Specifications ASDA-B3 A.2.1.2 400V series Motor frame size: 80 mm and below ECM- B3M-J 0807 Rated power (kW) 0.75 Rated torque (N-m) Max. torque (N-m) Rated speed (rpm) 3000 Max. speed (rpm) 6000 Rated current (Arms) 2.15 Max. instantaneous current (Arms) 7.90 Change of rated power (kW/s) 53.83...
Page 904 ASDA-B3 Specifications Note: The rated torque is the continuous permissible torque between 0˚C and 40˚C (32˚F and 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F06 and F08: 250 mm x 250 mm x 6 mm Material: aluminum The built-in servo motor brake is only for keeping the object in a stopped state.
Page 905 Specifications ASDA-B3 Motor frame size: 100 mm ECM- B3M-J 1010 B3M-J 1015 B3M-J 1020 Rated power (kW) Rated torque (N-m) 3.18 4.77 6.37 Max. torque (N-m) 9.54 14.3 19.1 Rated speed (rpm) 3000 Max. speed (rpm) 6000 Rated current (Arms) 3.03 3.73 5.00...
Page 906 ASDA-B3 Specifications Note: The rated torque is the continuous permissible torque between 0˚C and 40˚C (32˚F and 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F10: 300 mm x 300 mm x 12 mm Material: aluminum The built-in servo motor brake is only for keeping the object in a stopped state.
Page 907 Specifications ASDA-B3 Motor frame size: 130 mm B3M- B3M- B3M- B3H- B3H- B3H- ECM- 1310 K 1315 K 1320 L 1308 L 1313 L 1318 Rated power (kW) 0.85 Rated torque (N-m) 4.77 7.16 9.55 5.39 8.34 11.5 Max. torque (N-m) 14.3 21.48 28.65...
Page 908 ASDA-B3 Specifications Note: 1. The rated torque is the continuous permissible torque between 0˚C and 40˚C (32˚F and 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F130: 400 mm x 400 mm x 20 mm Material: aluminum 2.
Page 909 Specifications ASDA-B3 Motor frame size: 180 mm B3M- B3M- B3M- B3M- B3M- ECM- K 1820 L 1830 L 1845 L 1855 L 1875 Rated power (kW) Rated torque (N-m) 9.55 19.1 28.65 35.01 47.75 Max. torque (N-m) 28.65 57.29 71.6 Rated speed (rpm) 2000 1500...
Page 910 ASDA-B3 Specifications Note: 1. The rated torque is the continuous permissible torque between 0˚C and 40˚C (32˚F and 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F180: 550 mm x 550 mm x 30 mm Material: aluminum 2.
Page 911 Specifications ASDA-B3 A.2.2 Torque features (T-N curves) of the B3 motors A.2.2.1 220V series Motor frame size: 80 mm and below Torque (N-m) 1.12 (350%) Intermittent duty zone 0.52 (162%) 0.32 (100%) Continuous duty zone 0.16 (50%) Speed (rpm) 3000 3300 6000 ECM-B3L-C0401...
Page 912 ASDA-B3 Specifications Motor frame size: 100 mm Torque (N-m) 9.54 (300%) 8.7 (274%) Intermittent duty zone 3.18 (100%) 1.59 (50%) Continuous duty zone Speed (rpm) 4400 6000 3000 ECM-B3M-C1010 3 4 5 Torque (N-m) 19.11 (300%) 15.2 (239%) Intermittent duty zone 6.37 (100%) 3.19 (50%) Continuous duty zone...
Page 913 Specifications ASDA-B3 Motor frame size: 130 mm ASD-B3-2023- Torque (N-m) Torque (N-m) ASD-B3-1521- 21.48 (300%) 14.3 (300%) 20.47 (286%) 13.81 (290%) 19.93 (278%) 19.6 (274%) Intermittent duty zone Intermittent duty zone 7.16 (100%) 4.77 (100%) 4.77 (67%) 3.18 (67%) Continuous duty zone Continuous duty zone Speed (rpm) Speed (rpm)
Page 914 ASDA-B3 Specifications Motor frame size: 180 mm ASD-B3-3023- Torque (N-m) Torque (N-m) 28.65 (300%) 52.3 (274%) 25.8 (270%) 44.4 (232%) Intermittent duty zone Intermittent duty zone 9.55 (100%) 19.1 (100%) 6.37 (67%) Continuous duty zone 9.55 (50%) Continuous duty zone Speed (rpm) Speed (rpm) 2000...
Page 915 Specifications ASDA-B3 A.2.2.2 400V series Motor frame size: 80 mm and below ASD-B3-1543- Torque (N-m) ASD-B3-1043- 8.4 (350%) 7.61 (317%) 6 (250%) 5.66 (236%) Intermittent duty zone 2.4 (100%) 1.2 (50%) Continuous duty zone Speed (rpm) 3000 3700 3900 6000 ECM-B3M-J0807...
Page 916 ASDA-B3 Specifications Motor frame size: 130 mm ASD-B3-1543- Torque (N-m) ASD-B3-1043- 14.3 (300%) 13.81 (290%) 11.08 (232%) 11 (230%) Intermittent duty zone 4.77 (100%) 3.18 (67%) Continuous duty zone Speed (rpm) 2500 3000 2000 2700 ECM-B3M-K1310 3 4 5 Torque (N-m) 28.65 (300%) 26.75 (280%) Intermittent duty zone...
Page 917 Specifications ASDA-B3 Motor frame size: 180 mm ASD-B3-4543- Torque (N-m) Torque (N-m) ASD-B3-3043- 28.65 (300%) 57.29 (300%) 53.9 (282%) 25.8 (270%) 46.1 (241%) 44.6 (234%) Intermittent duty zone Intermittent duty zone 9.55 (100%) 19.1 (100%) 6.37 (67%) Continuous duty zone 9.55 (50%) Continuous duty zone Speed (rpm)
Page 918 ASDA-B3 Specifications A.2.3 Power derating curves of the B3 motors Operating temperature (°C) Operating temperature (°C) Operating temperature (°C) F100 B3M F130 B3H F130 Operating temperature (°C) Operating temperature (°C) Operating temperature (°C) F180 < 5.5 kW F180 5.5 & 7.5 kW Operating temperature (°C) Operating temperature (°C) Note: the preceding specifications are applicable to 220V and 400V models.
Page 919 Specifications ASDA-B3 A.2.4 Overload features Definition of overload protection The overload protection prevents the motor from overheating. Causes of overload 1. The motor’s operating torque exceeds the rated range and the operating time is too long. 2. The inertia ratio is too high and the motor frequently accelerates and decelerates. 3.
Page 920 ASDA-B3 Specifications 220V series: medium inertia (ECM-B3M-E / -F series), high inertia (ECM-B3H-F series) 400V series: medium inertia (ECM-B3M-K / -L series), high inertia (ECM-B3H-L series) Load ratio 120% 140% 160% 180% 200% 220% 240% Operating time 527.6 s 70.4 s 35.2 s 22.4 s 16 s...
Page 921 Specifications ASDA-B3 A.2.5 Dimensions of ECM-B3 series servo motor A.2.5.1 220V series Motor frame size: 80 mm and below (with cables) Unit: mm Model C 0401 C 0602 0604 C 0804 C 0807 C 0810 +0.000 +0.000 +0.000 +0.000 +0.000 +0.000 -0.009 -0.011...
Page 922 ASDA-B3 Specifications Motor frame size: 80 mm and below (with bulkhead connectors) The motor is shipped without cables. Unit: mm Model B3L-C 0401 B B3M-C 0602 B B3M-C 0604 B B3M-C 0807 B +0.000 +0.000 +0.000 +0.000 -0.009 -0.011 -0.011 -0.013 +0.000 +0.000...
Page 923 Specifications ASDA-B3 Motor frame size: 100 mm SHAFT END DETAILS KEY DETAILS OIL_SEAL(TC TYPE) ONLY FOR OIL-SEAL MODEL Unit: mm Model C 1010 C 1015 C 1020 +0.000 +0.000 +0.000 -0.013 -0.013 -0.013 +0.000 +0.000 +0.000 -0.03 -0.03 -0.03 141.8 156.8 171.8 (w/o brake)
Page 924 ASDA-B3 Specifications Motor frame size: 130 mm Unit: mm Model E 1310 E 1315 E 1320 F 1308 1313 F 1318 +0.000 +0.000 +0.000 +0.000 +0.000 +0.000 -0.013 -0.013 -0.013 -0.013 -0.013 -0.013 +0.000 +0.000 +0.000 +0.000 +0.000 +0.000 110( 110( 110( 110(...
Page 925 Specifications ASDA-B3 Motor frame size: 180 mm Unit: mm Model E 1820 F 1830 13.5 13.5 +0.000 +0.000 -0.016 -0.016 +0.000 +0.000 114.3( 114.3( -0.035 -0.035 137.5 160.5 (w/o brake) 189.5 212.5 (with brake) M12 Depth25 M12 Depth25 Note: in the servo motor model name, represents the encoder type;...
Page 926 ASDA-B3 Specifications A.2.5.2 400V series Motor frame size: 80 mm and below Unit: mm Model J 2 0604 3 J 2 0807 3 +0.000 +0.000 -0.011 -0.013 +0.000 +0.000 -0.025 -0.030 105.2 (w/o brake) 127.9 144.8 (with brake) 48.5 58.5 15.5 M4 Depth15 M6 Depth20...
Page 927 Specifications ASDA-B3 Motor frame size: 100 mm SHAFT END DETAILS KEY DETAILS OIL_SEAL(TC TYPE) ONLY FOR OIL-SEAL MODEL Unit: mm Model J 2 1010 3 4 5 J 2 1015 3 4 5 J 2 1020 3 4 5 +0.000 +0.000 +0.000 -0.013...
Page 928 ASDA-B3 Specifications Motor frame size: 130 mm Unit: mm K 1310 3 K 1315 K 2 1320 3 L 1308 Model L 1313 L 1318 +0.000 +0.000 +0.000 +0.000 +0.000 +0.000 -0.013 -0.013 -0.013 -0.013 -0.013 -0.013 +0.000 +0.000 +0.000 +0.000 +0.000 +0.000...
Page 929 Specifications ASDA-B3 Motor frame size: 180 mm Unit: mm Model K 1820 L 1830 L 1845 L 1855 L 1875 13.5 13.5 13.5 13.5 13.5 +0.000 +0.000 +0.000 +0.000 +0.000 -0.016 -0.016 -0.016 -0.016 -0.016 +0.000 +0.000 +0.000 +0.000 +0.000 114.3( 114.3( 114.3(...
Page 930 ASDA-B3 Specifications A.3 ECM-A3 series servo motor ECM-A3 series servo motor ECM - A 2 06 04 R (2) (3) (4) (5) (6) (7) (8) (10) (11) (1) Product name ECM: electronically commutated motor (2) Servo type A: high-precision servo motor (3) Series 3: 3 series...
Page 931 Specifications ASDA-B3 (7) Motor frame size Code Specification Code Specification 40 mm 80 mm 60 mm (8) Rated power output Code Specification Code Specification 50 W 400 W 100 W 750 W 200 W (9) Shaft type and oil seal w/o brake with brake w/o brake...
Page 932 ASDA-B3 Specifications A.3.1 ECM-A3L low inertia series servo motor ECM-A3L- C 040F C 0401 C 0602 C 0604 C 0804 C 0807 0.05 0.75 Rated power (kW) 0.159 0.32 0.64 1.27 1.27 2.39 Rated torque (N-m) 0.557 1.12 2.24 4.45 4.44 8.36 Max.
Page 933 Specifications ASDA-B3 Note: 1. The rated torque is the continuous permissible torque between 0˚C - 40˚C (32˚F - 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F40, F60, and F80: 250 mm x 250 mm x 6 mm Material: aluminum 2.
Page 934: Ecm-A3H High Inertia Series Servo Motor
ASDA-B3 Specifications A.3.2 ECM-A3H high inertia series servo motor ECM-A3H- C 040F C 0401 C 0602 C 0604 C 0804 C 0807 0.05 0.75 Rated power (kW) 0.159 0.32 0.64 1.27 1.27 2.39 Rated torque (N-m) 0.557 1.12 2.24 4.45 4.44 8.36 Max.
Page 935 Specifications ASDA-B3 Note: The rated torque is the continuous permissible torque between 0˚C - 40˚C (32˚F - 104˚F) operating temperature which is suitable for the servo motor mounted with the heat sink of the following dimensions. F40, F60, and F80: 250 mm x 250 mm x 6 mm Material: aluminum The built-in servo motor brake is only for keeping the object in a stopped state.
Page 936: Torque Features (T-N Curves) Of The A3 Motors
ASDA-B3 Specifications A.3.3 Torque features (T-N curves) of the A3 motors Torque (N-m) 0.557 (350%) 0.4 (251%) Intermittent duty zone 0.159 (100%) 0.0795 (50%) Continuous duty zone Speed (rpm) 3000 4400 6000 ECM-A3L-C040F 3 4 5 Torque (N-m) Torque (N-m) 2.24 (350%) 4.45 (350%) Intermittent duty zone...
Page 937 Specifications ASDA-B3 Torque (N-m) Torque (N-m) 0.557 (350%) 1.12 (350%) 0.4 (251%) 0.9 (281%) Intermittent duty zone Intermittent duty zone 0.159 (100%) 0.32 (100%) 0.0795 (50%) 0.16 (50%) Continuous duty zone Continuous duty zone Speed (rpm) Speed (rpm) 5500 6000 3000 3000 4300...
Page 938 ASDA-B3 Specifications A.3.4 Overload features Definition of overload protection The overload protection prevents the motor from overheating. Causes of overload 1. The motor’s operating torque exceeds the rated range and the operating time is too long. 2. The inertia ratio is too high and the motor frequently accelerates and decelerates. 3.
Page 939: Dimensions Of Ecm-A3L / A3H Series Servo Motor
Specifications ASDA-B3 A.3.5 Dimensions of ECM-A3L / A3H series servo motor Motor frame size: 80 mm and below Unit: mm Model C 040F C 0401 C 0602 C 0604 C 0804 C 0807 +0.000 +0.000 +0.000 +0.000 +0.000 +0..000 -0.009 -0.009 -0.011 -0.011...
Page 940: Power Connector
Accessories Appendix This chapter only provides model numbers or part numbers of the accessories, refer to the servo drive catalog for choosing the suitable models. B.1 Power connector ··············································································· B-3 B.1.1 F40 - F80 motors ········································································ B-3 B.1.2 F100 - F130 motors ····································································· B-4 B.1.3 F180 4.5 kW (or below) motors ······················································...
Page 941 Accessories ASDA-B3 B.16 CN3 RS-485 / CANopen terminal resistor ··········································· B-32 B.17 CN4 Mini USB communication module ··············································· B-33 B.18 Optional accessories ······································································ B-34 B.18.1 220V models ·········································································· B-34 F40 - F80 motors ············································································· B-34 F100 - F130 motors ········································································· B-35 F180 motors ···················································································...
Page 942 B.1 Power connector B.1.1 F40 - F80 motors For A3 / B3 non-brake motors (applicable to 220V and 400V models) Delta model number: ACS3-CAPW1000 For A3 / B3 non-brake motors (IP67 waterproof connector; applicable to 220V models) Delta model number: ACS3-CNPW1A00 Note: refer to Section 3.1.7 Wiring for waterproof connectors for more information.
Page 943 B.1.2 F100 - F130 motors For B3 non-brake motors (straight IP67 waterproof connector; applicable to 220V and 400V models) Delta model number: ACS3-CAPWA000 Note: 1. Refer to Section 3.1.7 Wiring for waterproof connectors for more information. 2. For the B3 series brake motors, you need to purchase this connector and the brake connector for B3 F100 - F180 motors listed in Section B.1.5.
Page 944: F180 4.5 Kw (Or Below) Motors
B.1.3 F180 4.5 kW (or below) motors For B3 non-brake motors (straight IP67 waterproof connector; applicable to 220V and 400V models) Delta model number: ACS3-CAPWC000 Note: 1. Refer to Section 3.1.7 Wiring for waterproof connectors for more information. 2. For the B3 series brake motors, you need to purchase this connector and the brake connector for B3 F100 - F180 motors listed in Section B.1.5.
Page 945: F180 5.5 Kw (Or Above) Motors
ASDA-B3 B.1.4 F180 5.5 kW (or above) motors For B3 non-brake motors (straight IP42 connector; applicable to 220V and 400V models) Delta model number: ACS3-CAPWE000 Note: 1. Refer to Section 3.1.7 Wiring for waterproof connectors for more information. 2. For the B3 series brake motors, you need to purchase this connector and the brake connector for B3 F100 - F180 motors listed in Section B.1.5.
Page 946: Brake Connector For B3 F100 - F180 Motors
B.1.5 Brake connector for B3 F100 - F180 motors Straight IP67 waterproof connector (applicable to 220V and 400V models) Delta model number: ACS3-CABRA000 Note: refer to Section 3.1.7 Wiring for waterproof connectors for more information. Right angle IP67 waterproof connector (applicable to 220V and 400V models) Delta model number: ACS3-CRBRA000 Note: refer to Section 3.1.7 Wiring for waterproof connectors for more information.
Page 947: Power Cable
Accessories ASDA-B3 B.2 Power cable B.2.1 F40 - F80 motors For A3 / B3 non-brake motors (applicable to 220V models) UVW wire Cable diameter Model number type AWG (mm inch 18 (0.82) 3000  50 118  2 ACS3-CAPW1103 18 (0.82) 5000 ...
Page 948 ASDA-B3 Accessories For A3 / B3 non-brake motors (IP67 waterproof connector; applicable to 220V models) UVW wire Cable diameter Model number type AWG (mm inch 3000  50 118  2 ACS3-CAPW5103 18 (0.82) 5000  50 197  2 ACS3-CAPW5105 18 (0.82) Standard...
Page 949 Accessories ASDA-B3 For A3 / B3 brake motors (IP67 waterproof connector; applicable to 220V models) BR - (100 mm) (3.94 inch) UVW wire Brake wire Cable diameter diameter Model number type AWG (mm inch ACS3-CAPW6103 3000  50 118  2 18 (0.82) 22 (0.3) ACS3-CAPW6105...
Page 950: F100 - F130 Motors
ASDA-B3 Accessories B.2.2 F100 - F130 motors For B3 non-brake motors (straight connector; applicable to 220V and 400V models) Wire diameter Cable Model number Connector type AWG (mm inch 3000  50 118  2 ACS3-CAPWA203 3106A-18-10S 16 (1.3) 5000  50 197 ...
Page 951 Accessories ASDA-B3 For B3 non-brake motors (right angle connector; applicable to 220V and 400V models) Wire diameter Cable Model number Connector type AWG (mm inch 3000  50 118  2 ACS3-CRPWA203 3108A-18-10S 16 (1.3) ACS3-CRPWA205 3108A-18-10S 16 (1.3) 5000  50 197 ...
Page 952: F180 4.5 Kw (Or Below) Motors
ASDA-B3 Accessories B.2.3 F180 4.5 kW (or below) motors For B3 non-brake motors (straight connector; applicable to 220V and 400V models) Wire diameter Cable Model number Connector type AWG (mm inch 3000  50 118  2 ACS3-CAPWC303 3106A-22-22S 14 (2.1) 5000 ...
Page 953 Accessories ASDA-B3 For B3 non-brake motors (right angle connector; applicable to 220V and 400V models) Wire diameter Cable Model number Connector type AWG (mm inch 3000  50 118  2 ACS3-CRPWC303 3108A-22-22S 14 (2.1) ACS3-CRPWC305 3108A-22-22S 14 (2.1) 5000  50 197 ...
Page 954: F180 5.5 Kw (Or Above) Motors
ASDA-B3 Accessories B.2.4 F180 5.5 kW (or above) motors For B3 non-brake motors (straight connector; applicable to 220V and 400V models) Wire Cable diameter Model number Connector type AWG (mm inch 3000  50 118  2 ACS3-CAPWE603 3106A-32-17S 8 (8.4) 5000 ...
Page 955 Accessories ASDA-B3 For B3 non-brake motors (right angle connector; applicable to 220V and 400V models) (100 mm) (3.94 inch) Wire Cable diameter Model number Connector type AWG (mm inch 3000  50 118  2 ACS3-CRPWE603 3108A-32-17S 8 (8.4) 5000  50 197 ...
Page 956: Brake Cable For B3 F100 - F180 Motors
ASDA-B3 Accessories B.2.5 Brake cable for B3 F100 - F180 motors Straight connector (applicable to 220V and 400V models) Wire diameter Cable Model number Connector type AWG (mm inch 3000  100 118  4 ACS3-CABRA103 CMV1-SP2S 20 (0.5) 5000  100 197 ...
Page 957: Encoder Connector
Accessories ASDA-B3 B.3 Encoder connector Servo drive end Delta model number: ACS3-CNENC200 B.3.1 F40 - F80 motors The following are connectors for the motor end, which need to be used with the connector for the servo drive end (ACS3-CNENC200). 9-pin connector...
Page 958: F100 - F180 Motors
The following are connectors for the motor end, which need to be used with the connector for the servo drive end (ACS3-CNENC200). Straight IP67 waterproof connector for B3 motors Delta model number: ACS3-CAENA000 Note: refer to Section 3.1.7 Wiring for waterproof connectors for more information. Right angle IP67 waterproof connector for B3 motors Delta model number: ACS3-CRENA000 Note: refer to Section 3.1.7 Wiring for waterproof connectors for more information.
Page 959: Encoder Cable (Incremental Type
Accessories ASDA-B3 B.4 Encoder cable (incremental type) B.4.1 F40 - F80 motors Cable with 9-pin connector for A3 / B3 motors Cable type Model number inch 3000  50 118  2 ACS3-CAEN0103 5000  50 197  2 ACS3-CAEN0105 Standard 10000 ...
Page 960: F100 - F180 Motors
ASDA-B3 Accessories B.4.2 F100 - F180 motors Cable with straight IP67 waterproof connector for B3 motors Cable Model number Connector type inch CMV1-SP10S 3000  50 118  2 ACS3-CAENA103 ACS3-CAENA105 CMV1-SP10S 5000  50 197  2 Standard 10000  100 394 ...
Page 961: Encoder Cable (Absolute Type
Accessories ASDA-B3 B.5 Encoder cable (absolute type) B.5.1 F40 - F80 motors Cable with 9-pin connector for A3 / B3 motors Cable type Model number inch 3000  50 118  2 ACS3-CAEA0103 5000  50 197  2 ACS3-CAEA0105 Standard 10000 ...
Page 962: F100 - F180 Motors
ASDA-B3 Accessories B.5.2 F100 - F180 motors Cable with straight IP67 waterproof connector for B3 motors Cable Model number Connector type inch 3000  50 118  2 ACS3-CAEAA103 CMV1-SP10S 5000  50 197  2 ACS3-CAEAA105 CMV1-SP10S Standard 10000  100 394 ...
Page 963: Battery Box Cable
Accessories ASDA-B3 B.6 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 (male to male) Delta part number: 3864811901 15 ±...
Page 964: Battery Box (Absolute Type
ASDA-B3 Accessories B.7 Battery box (absolute type) Single battery box Delta model number: ASD-MDBT0100 22 (0.87) 35 (1.38) Unit: mm (inch) R3.25 Weight: 44 g Dual battery box Delta model number: ASD-MDBT0200 45 (1.77) 26 (1.02) 64.5 (2.54) Unit: mm (inch) R2.5...
Page 965: Cn1 Connector
Accessories ASDA-B3 B.8 CN1 connector Delta model number: ACS3-CNTB0400 (for -L servo drives) Delta model number: ACS3-CNTB0500 (for -M, -F and -E servo drives) B-26...
Page 966: Cn1 Quick Connector
Delta model number: ACS3-IFSC4444 (for -L servo drives) 50 (1.97 ) 27.85 (1.1) 12 (0.47 ) 67.44 (2 6 . 6) Unit: mm (inch) Delta model number: ACS3-IFSC2626 (for -M, -F and -E servo drives) 46.85 (1.84) 46.94 (1.85) 27.5 (1.08) 19.74 (0.78)
Page 967: Cn1 Terminal Block Module
Accessories ASDA-B3 B.10 CN1 terminal block module Delta model number: ACS3-MDTB4400 (for -L servo drives) 145.5 (5.73) 500 (19.69) Unit: mm (inch) B-28...
Page 968 ASDA-B3 Accessories Delta model number: ACS3-MDTD2600 (for -M, -F and -E servo drives) 61.5 (2.42) 62 (2.44) 500 (19.69) Unit: mm (inch) B-29...
Page 969: Canopen Communication Cable
11  0.4 UC-CMC030-01A 500  10 19  0.4 UC-CMC050-01A Note: for cables of other lengths, refer to the Delta PLC / HMI Cable Selection Guide. B.12 CANopen distribution box Delta model number: TAP-CN03 66.5 (2.62) Unit: mm (inch)
Page 970: Ferrite Ring
44.0 ± 0.6 (1.73 ± 0.02) 13.5 ± 0.5 (0.53 ± 0.02) B.14 B3 / B2 conversion cable CN1 conversion cable (for -L servo drives) Delta model number: ACS3-CABDC1 500±50 (19.69±1.97) Unit: mm (inch) CN2 conversion cable Delta model number: ACS3-CABDC2 150 (5.91)
Page 971: Cn3 Rs-485 Splitter
B.16 CN3 RS-485 / CANopen terminal resistor Delta model number: ACS3-CNADC3TR Note: this terminal resistor is applicable to both ASDA-A3 and ASDA-B3 series servo drives even though there is a marking of “ASDA-A3” printed on the terminal resistor’s surface. B-32...
Page 972: Cn4 Mini Usb Communication Module
Model number inch 1500  100 59  4 UC-PRG015-01B 3000  100 118  4 UC-PRG030-01B USB isolator Delta model number: UC-ADP01-A 80.45 ± 5 (3.17 ± 0.2) USB cable (0.47) Model number inch 1500  100 59  4 UC-PRG015-01A 3000 ...
Page 973: Optional Accessories
Accessories ASDA-B3 B.18 Optional accessories B.18.1 220V models F40 - F80 motors Servo drive 100 W 200 W 400 W 750 W 1 kW Cable Connector Servo motor 50 W 750 W type 200 W 400 W 750 W (ECM-A3 / ECM-B3) 100 W 1 kW Power connector...
Page 974: F100 - F130 Motors
ASDA-B3 Accessories F100 - F130 motors Servo drive 1 kW 1.5 kW 2 kW Cable Connector type 1.5 kW type Servo motor 850 W 1.3 kW 1.8 kW (ECM-A3 / ECM-B3) 1 kW 1.5 kW 2 kW Non- Encoder connector Straight ACS3-CNENC200 waterproof...
Page 975: F180 Motors
Accessories ASDA-B3 F180 motors Servo drive 2 kW 3 kW Cable Connector type type Servo motor 2 kW 3 kW (ECM-A3 / ECM-B3) Non- Encoder connector Straight ACS3-CNENC200 waterproof (servo drive end) Power connector ACS3-CAPWC000 (without brake) Straight Brake connector ACS3-CABRA000 Encoder connector ACS3-CAENA000...
Page 976: Models
ASDA-B3 Accessories B.18.2 400V models F40 - F80 motors Servo drive 1 kW 1.5 kW Cable Connector type Servo motor type 750 W 750 W (ECM-B3) Power connector ACS3-CAPW1000 (without brake) Power connector ACS3-CAPW2000 (with brake) Non- Straight waterproof Encoder connector ACS3-CNENC200 (servo drive end) Encoder connector...
Page 977: F100 - F130 Motors
Accessories ASDA-B3 F100 - F130 motors Servo drive 1 kW 1.5 kW 2 kW Cable 850 W 1.3 kW Connector type type Servo motor 850 W 1 kW 1.5 kW (ECM-B3) 1 kW 1.3 kW 1.8 kW 1.5 kW 2 kW Non- Encoder connector Straight...
Page 978: F180 4.5 Kw (Or Below) Motors
ASDA-B3 Accessories F180 4.5 kW (or below) motors Servo drive 2 kW 3 kW 4.5 kW Cable Connector type type Servo motor 3 kW 2 kW 3 kW (ECM-B3) 4.5 kW Non- Encoder connector Straight ACS3-CNENC200 waterproof (servo drive end) Power connector ACS3-CAPWC000 (without brake)
Page 979: F180 5.5 Kw (Or Above) Motors
Accessories ASDA-B3 F180 5.5 kW (or above) motors Servo drive 5.5 kW 7.5 kW Cable Connector type type Servo motor 5.5 kW 7.5 kW (ECM-B3) Non- Encoder connector Straight ACS3-CNENC200 waterproof (servo drive end) Power connector ACS3-CAPWE000 (without brake) Straight Brake connector ACS3-CABRA000 Encoder connector...
Page 980 Revision History Release date Version Chapter Revision contents April, 2023 V8.0 Added descriptions for the B3A-P model. (Eighth edition) Modified the terms: The term “brake resistor” is changed to ”regenerative resistor”. The term “brake unit” is changed to “power regenerative unit”. STO_A is changed to SF1.
Page 981 Revision History ASDA-B3 Release date Version Chapter Revision contents April, 2023 V8.0 Modified the values of example 2 in Table 7.2.1 (Eighth edition) 7.2.1.2. Modified the control mode for P2.104. Modified the names for parameters: P2.105, P2.106, P3.000, P5.076. Modified the description for parameters: P0.009, P0.025, P0.035, P1.001, P1.038, P1.039, P1.045, P1.049, P1.057, P1.063, P1.076, P1.097, P1.098, P2.027, P2.028,...
Page 982 Release date Version Chapter Revision contents April, 2023 V8.0 Updated the description for the parameters 12.1.3 (Eighth edition) according to Chapter 8. Updated the descriptions according to Chapter 12.5.2 Deleted error code for AL087. Added error codes for AL095, AL09F, ALC31 and ALCDB.
Page 983 Revision History ASDA-B3 Release date Version Chapter Revision contents August, 2021 V5.0 Added the information of 750W motor (Fifth edition) corresponding to the 1 kW servo drive Added the maximum input pulse frequency specifications for differential signals Added the diode specification when an 3.3.7 inductive load is connected to the drive for DO wirings.
Page 984 Release date Version Chapter Revision contents August, 2021 V5.0 Added the descriptions for encoder types and (Fifth edition) special codes. Added the operating voltage for the brake. Modified the operating and storage A.2.1 temperatures of the B3 motors. Added the torque feature (T-N curves) for using ECM-B3M-C 0807 with ASD-...
Page 985 Revision History ASDA-B3 (This page is intentionally left blank.)

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