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ASD-A2-1543 Series
Delta ASD-A2-1543 Series Manuals
Manuals and User Guides for Delta ASD-A2-1543 Series. We have
4
Delta ASD-A2-1543 Series manuals available for free PDF download: User Manual, Instruction Sheet
Delta ASD-A2-1543 Series User Manual (783 pages)
AC Servo Drive for Network Communication Applications
Brand:
Delta
| Category:
Servo Drives
| Size: 22.55 MB
Table of Contents
Table of Contents
6
Chapter 1 Inspection and Model Explanation
19
Product Model
20
Nameplate Information
20
Model Explanation
22
Servo Drive and Corresponding Servo Motor
25
ASDA-A2 220V Series
25
ASDA-A2 400V Series
27
Each Part of the Servo Drive
28
ASDA-A2 220V Series
33
ASDA-A2-XN Series
33
Model Explanation
33
ASDA-A2-XN Series Servo Drive and Corresponding Motor
36
Each Part of the ASDA-A2-XN Series Servo Drive
37
Installation
40
Notes
40
Ambient Conditions of Storage
40
Ambient Conditions of Installation
40
Installation Direction and Space
41
Specification of Circuit Breaker and Fuse
43
Ferrite Ring
44
EMI Filter Selection
47
Chapter 11 Specifications ·················································································
48
Selection of Regenerative Resistor
50
The Use of Servo Motor
60
Troubleshooting for the Motor Operation and Status
60
Mounting Directions and Precautions for the Servo Motor
61
Precautions for Using Servo Motors with Oil Seal
62
Precautions for Using Couplings
62
Oil and Water Prevention Measures for the Servo Motor
63
Measures to Suppress Temperature Increase of the Servo Motor
64
Wiring
66
Connections - 220V Series
66
Connecting to Peripheral Devices
66
Connectors and Terminals of Servo Drive
68
Wiring Method
70
Specification of Motor Power Cable
72
Specification of Encoder Cable Connector
74
Selection of Wiring Rod
80
Connections - 400V Series
82
Connecting to Peripheral Devices
82
Connectors and Terminals of the Servo Drive
83
Wiring Method
85
Specification of Motor Power Cable
86
Specification of Encoder Connector
88
Selection of Wiring Rod
90
Basic Wiring
92
Series
92
Series
95
I/O Signal (CN1) Connection
97
I/O Signal (CN1) Connector Terminal Layout
97
Signals Explanation of Connector CN1
99
Wiring Diagrams (CN1)
109
DI and DO Signal Specified by Users
118
Application: Using CN1 Quick Connector for Wiring
118
CN2 Connector
123
Wiring of CN3 Connector
126
Layout of CN3 Connector
126
Connection between PC and Connector CN3
127
CN4 Serial Connector (USB)
128
CN5 Connector (Full-Closed Loop)
129
CN6 Connector (Canopen)
130
Canopen Communication
130
DMCNET Communication
132
Expansion Digital Input Connector of CN7
134
CN8 Connector of Battery Box
135
Standard Connection Example - 220V Series
136
Position (PT) Control Mode
136
Position (PR) Control Mode
137
Speed Control Mode
138
Torque Control Mode
139
Communication Mode
140
Standard Connection Example - 400V Series
141
Position (PT) Control Mode
141
Position (PR) Control Mode
142
Speed Control Mode
143
Torque Control Mode
144
Communication Mode
145
Differences between A2-XN and A2 Series Servo Drives
146
Connecting to Peripheral Devices (A2-EN Model as an Example)
146
Connectors of A2-XN Servo Drives
147
CN1 I/O 50-Pin Connector
147
CN1 I/O 26-Pin Connector
149
FN and -MN Series )
149
CN3 Communication Connector
150
Models of -FN and -MN Series)
150
Ethercat Communication Connector (Applicable to -EN Models)
151
CN-STO (Safe Torque Off)
154
How Does the STO Function Work
155
Related Parameter of the STO Function
156
Position (PT) Control Mode
159
Position (PR) Control Mode
160
Speed Control Mode
161
Torque Control Mode
162
Communication Mode
163
Chapter 4 Panel Display and Operation
164
Panel Description
164
Parameter Setting Procedure
165
Status Display
168
Save Setting Display
168
Decimal Point
168
Alarm Message
168
Positive and Negative Sign Setting
169
Monitor Display
169
General Function
172
Operation of Fault Record Display
172
JOG Mode
173
Force DO Output
174
Digital Input Diagnosis Operation
175
Digital Output Diagnosis Operation
175
Chapter 5 Trial Operation and Tuning
176
Inspection Without Load
176
Applying Power to the Servo Drive
177
JOG Trial Run Without Load
181
Trial Run Without Load (Speed Mode)
182
Trial Run Without Load (Position Mode)
184
Tuning Procedure
186
Flowchart of Tuning Procedure
187
Inertia Estimation Flowchart (with Mechanism)
188
Flowchart of Auto Tuning
189
Flowchart of Semi-Auto Tuning
190
Limit of Inertia Ratio
191
Mechanical Resonance Suppression Method
192
Tuning Mode and Parameters
194
Tuning in Manual Mode
195
Chapter 6 Control Mode of Operation
198
Selection of Operation Mode
198
Position Mode
200
Position Command in PT Mode
200
Position Command in PR Mode
204
Control Structure of Position Mode
205
S-Curve Filter (Position)
206
Electronic Gear Ratio
209
Low-Pass Filter
212
Timing Diagram in Position Mode (PR)
213
Gain Adjustment of Position Loop
214
Low-Frequency Vibration Suppression in Position Mode
217
Speed Mode
222
Selection of Speed Mode
222
Control Structure of Speed Mode
223
Smooth Speed Command
224
The Scaling of Analog Command
228
Timing Diagram in Speed Mode
229
Gain Adjustment of Speed Loop
230
Resonance Suppression
237
Torque Mode
245
Selection of Torque Command
245
Control Structure of Torque Mode
246
Smooth Torque Command
247
The Scaling of Analog Command
248
Timing Diagram in Torque Mode
249
Dual Mode
250
Speed / Position Dual Mode
251
Speed / Torque Dual Mode
251
Torque / Position Dual Mode
252
Others
253
The Use of Speed Limit
253
The Use of Torque Limit
254
Analog Monitor
255
The Use of Brake
259
Chapter 7 Motion Control
262
Motion Control Functions of ASDA-A2
262
System Information
262
Description of Monitoring Variables
263
Description of Data Array
270
Description of Motion Axes
273
Description of PR Mode
274
The Difference between General PR Mode and the One in ASDA-A2
274
The Position Unit of PR Mode
275
Description of Register in PR Mode
275
Homing Description of PR Mode
277
DI/DO Provided by PR Mode and Diagrams
277
Parameter Settings
279
The Relation between the Previous Path and the Next Path
286
Programming the Path in PR Mode
287
The Description of E-Cam Function
288
Function Description of CAPTURE (Data Capture)
295
Function Description of COMPARE (Data Compare)
297
Parameters
300
Parameter Definition
300
List of Parameters
301
Parameter Description
313
P0-XX Monitor Parameters
313
P1-XX Basic Parameters
336
P2-XX Extension Parameters
390
P3-XX Communication Parameters
435
P4-XX Diagnosis Parameters
445
P5-XX Motion Setting Parameters
459
P6-XX PR Parameters
524
P7-XX PR Parameters
566
Chapter 9 Communications
596
RS-232 Communication Hardware Interface
596
RS-232 Communication Parameters Setting
598
MODBUS Communication Protocol
601
Write-In and Read-Out Communication Parameters
613
Chapter 10 Troubleshooting
616
Alarm of Servo Drive
616
Alarm of Canopen Communication
621
Alarm of Motion Control
623
Causes and Corrective Actions
627
Corrective Actions after the Alarm Occurs
653
Specifications
660
Specifications of Servo Drives (ASDA-A2 Series)
660
ASDA-A2 220V Series
660
ASDA-A2 400V Series
663
Specifications of Servo Motors (ECMA Series)
666
ECMA 220V Series
666
ECMA 400V Series
676
Torque Features (T-N Curves)
684
Series
684
Overload Features
688
Dimensions of Servo Drive
690
Series
690
Series
697
Dimensions of Servo Motor (ECMA Series)
700
Series
700
Series
707
Chapter 12 Absolute System
712
Battery Box (Absolute Type) and Wiring
713
Battery Box Dimensions
715
Connection Cables for Absolute Encoder
716
Battery Box Cords
718
Installation
719
Connection Examples
719
How to Install a Battery
723
How to Replace a Battery
725
System Initialization Procedure and Operation
727
System Initialization Procedure
727
Pulse Counting
728
PUU Counting
729
Use Digital Inputs/Outputs to Create the Absolute Origin Coordinate
730
Use Parameters to Create the Absolute Origin Coordinate
730
Use Digital Inputs/Outputs to Read the Absolute Coordinate Data
731
Use Parameter to Read the Absolute Coordinate Data
734
Related Parameters for Absolute System
735
Digital Input (DI) Function Definition (for Absolute System)
740
Digital Output (DO) Function Definition (for Absolute System)
741
Alarms for Absolute System
742
Causes and Corrective Actions
743
Related Monitoring Variables
745
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Delta ASD-A2-1543 Series User Manual (753 pages)
High Resolution AC Servo Drive for Network Communication Applications
Brand:
Delta
| Category:
Servo Drives
| Size: 13.25 MB
Table of Contents
Revision September
2
Table of Contents
6
Chapter 1 Unpacking Check and Model Explanation
16
Unpacking Check
16
Model Explanation
19
Nameplate Information
19
Model Name Explanation
20
Servo Drive and Servo Motor Combinations
22
Series
22
Series
23
Servo Drive Features
24
Series
24
Series
27
Chapter 2 Installation and Storage
30
Installation Notes
30
Storage Conditions
30
Installation Conditions
31
Installation Procedure and Minimum Clearances
32
Circuit Interrupter and Fuse Current Recommended Value
36
EMI Filter Selection
37
Regenerative Resistors
42
Chapter 3 Connections and Wiring
52
Connecting to Peripheral Devices
52
Servo Drive Connectors and Terminals
53
Wiring Methods
55
Motor Power Cable Connector Specifications
57
Encoder Connector Specifications
59
Cable Specifications for Servo Drive
63
Connecting to Peripheral Devices
65
Servo Drive Connectors and Terminals
66
Wiring Methods
69
Motor Power Cable Connector Specifications
70
Encoder Connector Specifications
72
Cable Specifications for Servo Drive
74
Basic Wiring
76
Series
76
Series
79
Input / Output Interface Connector -CN1
81
CN1 Terminal Identification
81
Signals Explanation of Connector CN1
83
User-Defined DI and DO Signals
96
Wiring Diagrams of I/O Signals (CN1)
97
Application: Using CN1 Convenient Connector for Wiring
107
Encoder Connector CN2
110
Serial Communication Connector CN3
114
CN3 Terminal Layout and Identification
114
Connection between Pc/Keypad and Connector CN3
115
Serial Communication Connector CN4 (USB)
116
Position Feedback Signal Connector CN5 (for Full-Closed Loop)
117
Canopen Communication Connector CN6
118
Extension Digital Input Connector CN7
120
Position (PT) Control Mode
121
Position (PR) Control Mode
122
Speed Control Mode
123
Torque Control Mode
124
Canopen Communication Mode
125
Standard Connection Example
126
Position (PT) Control Mode
126
Position (PR) Control Mode
127
Speed Control Mode
128
Torque Control Mode
129
Canopen Communication Mode
130
Chapter 4 Display and Operation
132
Description of the Digital Keypad
132
Display Flowchart
133
Status Display
134
Save Setting Display
134
Decimal Point Display
134
Fault Message Display
134
Polarity Setting Display
134
Monitor Setting Display
135
General Function Operation
138
Fault Code Display Operation
138
JOG Operation
138
Force Output Control Operation
139
DI Diagnosis Operation
140
DO Diagnosis Operation
141
Chapter 5 Trial Run and Tuning Procedure
142
Inspection Without Load
142
Applying Power to the Drive
144
JOG Trial Run Without Load
148
Speed Trial Run Without Load
150
Position Trial Run Without Load
152
Tuning Procedure
154
Tuning Flowchart
155
Load Inertia Estimation Flowchart
156
Auto Mode Tuning Flowchart
157
Semi-Auto Mode Tuning Flowchart
159
Limit of Load Inertia Estimation
161
Mechanical Resonance Suppression Method
163
Relationship between Tuning Modes and Parameters
164
Gain Adjustment in Manual Mode
165
Chapter 6 Control Modes of Operation
168
Control Modes of Operation
168
Position Control Mode
170
Command Source of Position (Pt) Control Mode
171
Command Source of Position (Pr) Control Mode
175
Structure of Position Control Mode
176
S-Curve Filter for Position Control
177
Electronic Gear Ratio
182
Low-Pass Filter
182
Timing Chart of Position (Pr) Control Mode
183
Position Loop Gain Adjustment
184
Low-Frequency Vibration Suppression
186
Speed Control Mode
192
Command Source of Speed Control Mode
192
Structure of Speed Control Mode
193
Smoothing Strategy of Speed Control Mode
194
Analog Speed Input Scaling
199
Timing Chart of Speed Control Mode
200
Speed Loop Gain Adjustment
200
Resonance Suppression
207
Torque Control Mode
215
Command Source of Torque Control Mode
215
Structure of Torque Control Mode
216
Smoothing Strategy of Torque Control Mode
217
Analog Torque Input Scaling
218
Control Modes Selection
220
Speed / Position Control Mode Selection
221
Speed / Torque Control Mode Selection
222
Torque / Position Control Mode Selection
223
Others
224
Speed Limit
224
Torque Limit
224
Analog Monitor
225
Electromagnetic Brake
229
Chapter 7 Motion Control Functions
232
Motion Control Functions
232
System Information
232
Monitoring Variables
233
Data Array
239
Motion Axes
243
PR Mode
244
Comparison
244
Pulse of User Unit
245
Position Registers
245
Homing Function
247
Triggering Prs
248
Parameter Settings
250
Motion Commands
258
Sequence
259
Electronic Cam (E-Cam)
262
Capture Function
272
Compare Function
274
Definition
278
Chapter 8 Servo Parameters
278
Parameter Summary
279
Parameters List by Group
279
Parameters List by Function
297
Detailed Parameter Listings
310
Group 0: P0-XX Monitor Parameters
310
Group 1: P1-XX Basic Parameters
337
Group 2: P2-XX Extension Parameters
384
Group 3: P3-XX Communication Parameters
428
Group 4: P4-XX Diagnosis Parameters
436
Group 5: P5-XX Motion Control Parameters
449
Group 6: P6-XX Pr Path Definition Parameters
511
Group 7: P7-XX Pr Path Definition Parameters
548
Table 8.A Input Function Definition
558
Table 8.B Output Function Definition
567
Chapter 9 Communications
576
RS-232 Communication Hardware Interface
576
Communication Parameters
578
MODBUS Communication Protocol
582
Communication Parameter Write-In and Read-Out
594
Chapter 10 Troubleshooting
596
Servo Drive Fault Messages Table
596
Canopen Communication Fault Messages Table
599
Motion Control Fault Messages Table
601
Absolute System Fault Messages Table
604
Potential Cause and Corrective Actions
605
Clearing Faults
627
Chapter 11 Specifications
636
Specifications of Servo Drive (ASDA-A2 Series)
636
ASDA-A2 220V Series
636
ASDA-A2 400 Series
639
Specifications of Servo Motors (ECMA Series)
642
ECMA 220V Series
642
ECMA 400 Series
648
Servo Motor Speed-Torque Curves (T-N Curves)
652
Series
652
Overload Characteristics
654
Dimensions of Servo Drive
656
Series
656
Series
663
Dimensions of Servo Motor (ECMA Series)
667
Series
667
Series
673
Chapter 12 Absolute System
678
Backup Battery Boxes
679
Specifications
679
Battery Box Dimensions
681
Connection Cables for Absolute Encoder
682
Battery Box Cords
683
Installation
684
Connection Examples
684
How to Install a Battery
687
How to Replace a Battery
688
System Initialization Procedure and Operation
691
System Initialization Procedure
691
Pulse Counting
692
PUU Counting
693
Use Digital Inputs/Outputs to Initialize an Absolute System
695
Use Parameters to Initialize an Absolute System
696
Use Digital Inputs/Outputs to Read the Absolute Coordinate Data
696
Use Parameter to Read the Absolute Coordinate Data
700
Related Parameters for Absolute System
701
Digital Input (DI) Function Definition (for Absolute System)
707
Digital Output (DO) Function Definition (for Absolute System)
708
Fault Messages for Absolute System
709
Potential Cause and Corrective Actions
710
Related Monitoring Variables
712
Appendix A Accessories
714
Appendix B Maintenance and Inspection
750
Delta ASD-A2-1543 Series User Manual (721 pages)
Brand:
Delta
| Category:
Servo Drives
| Size: 20.22 MB
Table of Contents
Table of Contents
6
Chapter 1 Inspection and Model Explanation
17
Product Model
18
Nameplate Information
18
Model Explanation
19
Servo Drive and Corresponding Servo Motor
21
Series
21
Series
23
Each Part of the Servo Drive
24
Series
24
Series
27
Chapter 2 Installation
30
Notes
30
Ambient Conditions of Storage
30
Ambient Conditions of Installation
30
Installation Direction and Space
31
Specification of Circuit Breaker and Fuse
34
EMI Filter Selection
35
Selection of Regenerative Resistor
38
Chapter 3 Wiring
48
Connections - 220V Series
48
Connecting to Peripheral Devices
48
Connectors and Terminals of Servo Drive
49
Wiring Method
51
Specification of Motor Power Cable
53
Specification of Encoder Cable Connector
55
Selection of Wiring Rod
59
Connections - 400V Series
61
Connecting to Peripheral Devices
61
Connectors and Terminals of the Servo Drive
63
Wiring Method
65
Specification of Motor Power Cable
66
Specification of Encoder Connector
68
Selection of Wiring Rod
70
Basic Wiring
72
Series
72
Series
75
I/O Signal (CN1) Connection
77
I/O Signal (CN1) Connector Terminal Layout
77
Signals Explanation of Connector CN1
79
Wiring Diagrams (CN1)
89
DI and DO Signal Specified by Users
97
Application: Using CN1 Quick Connector for Wiring
97
CN2 Connector
101
Wiring of CN3 Connector
104
Layout of CN3 Connector
104
Connection between PC and Connector CN3
105
CN4 Serial Connector (USB)
106
CN5 Connector (Full-Closed Loop)
107
CN6 Connector (Canopen)
108
Extension Digital Input Connector of CN7
110
CN8 Connector of Battery Box
111
Standard Connection Example - 220V Series
112
Position (PT) Control Mode
112
Position (PR) Control Mode
113
Speed Control Mode
114
Torque Control Mode
115
Communication Mode
116
Standard Connection Example - 400V Series
117
Position (PT) Control Mode
117
Position (PR) Control Mode
118
Speed Control Mode
119
Torque Control Mode
120
Communication Mode
121
Chapter 4 Panel Display and Operation
122
Panel Description
122
Parameter Setting Procedure
123
Status Display
126
Save Setting Display
126
Decimal Point
126
Alarm Message
126
Positive and Negative Sign Setting
126
Monitor Display
127
General Function
130
Operation of Fault Record Display
130
JOG Mode
131
Force DO Output
132
Digital Input Diagnosis Operation
133
Digital Output Diagnosis Operation
133
Chapter 5 Trial Operation and Tuning
134
Inspection Without Load
134
Applying Power to the Servo Drive
135
JOG Trial Run Without Load
139
Trial Run Without Load (Speed Mode)
140
Trial Run Without Load (Position Mode)
142
Tuning Procedure
144
Flowchart of Tuning Procedure
145
Inertia Estimation Flowchart (with Mechanism)
146
Flowchart of Auto Tuning
147
Flowchart of Semi-Auto Tuning
148
Limit of Inertia Ratio
149
Mechanical Resonance Suppression Method
151
Tuning Mode and Parameters
152
Tuning in Manual Mode
153
Chapter 6 Control Mode of Operation
156
Selection of Operation Mode
156
Position Mode
158
Position Command in PT Mode
158
Position Command in PR Mode
162
Control Structure of Position Mode
163
S-Curve Filter (Position)
164
Electronic Gear Ratio
167
Low-Pass Filter
170
Timing Diagram in Position Mode (PR)
171
Gain Adjustment of Position Loop
172
Low-Frequency Vibration Suppression in Position Mode
174
Speed Mode
179
Selection of Speed Mode
179
Control Structure of Speed Mode
180
Smooth Speed Command
181
The Scaling of Analog Command
185
Timing Diagram in Speed Mode
186
Gain Adjustment of Speed Loop
186
Resonance Suppression
193
Torque Mode
200
Selection of Torque Command
200
Control Structure of Torque Mode
201
Smooth Torque Command
202
The Scaling of Analog Command
202
Timing Diagram in Torque Mode
203
Dual Mode
204
Speed / Position Dual Mode
205
Speed / Torque Dual Mode
205
Torque / Position Dual Mode
206
Others
207
The Use of Speed Limit
207
The Use of Torque Limit
207
Analog Monitor
208
The Use of Brake
212
Chapter 7 Motion Control
214
Motion Control Functions of ASDA-A2
214
System Information
214
Description of Monitoring Variables
215
Description of Data Array
221
Description of Motion Axes
224
Description of PR Mode
225
The Difference between General PR Mode and the One in ASDA-A2
225
The Position Unit of PR Mode
226
Description of Register in PR Mode
226
Homing Description of PR Mode
228
DI/DO Provided by PR Mode and Diagrams
229
Parameter Settings
231
The Relation between the Previous Path and the Next Path
238
Programming the Path in PR Mode
239
The Description of E-Cam Function
240
Function Description of CAPTURE (Data Capture)
247
Function Description of COMPARE (Data Compare)
249
Chapter 8 Parameters
252
Parameter Definition
252
List of Parameters
253
Parameter Description
264
P0-XX Monitor Parameters
264
P1-XX Basic Parameters
291
P2-XX Extension Parameters
342
P3-XX Communication Parameters
387
P4-XX Diagnosis Parameters
398
P5-XX Motion Setting Parameters
412
P6-XX PR Parameters
476
P7-XX PR Parameters
518
Chapter 9 Communications
546
RS-232 Communication Hardware Interface
546
RS-232 Communication Parameters Setting
548
MODBUS Communication Protocol
551
Write-In and Read-Out Communication Parameters
563
Chapter 10 Troubleshooting
564
Alarm of Servo Drive
564
Alarm of Canopen Communication
568
Alarm of Motion Control
570
Causes and Corrective Actions
573
Corrective Actions after the Alarm Occurs
592
Chapter 11 Specifications
598
Specifications of Servo Drives
598
ASDA-A2 220V Series
598
ASDA-A2 400V Series
601
Specifications of Servo Motors (ECMA Series)
604
ECMA 220V Series
604
ECMA 400V Series
614
Torque Features (T-N Curves)
622
Series
622
Series
624
Overload Features
626
Dimensions of Servo Drive
628
Series
628
Series
635
Dimensions of Servo Motor (ECMA Series)
638
Series
638
Series
645
Chapter 12 Absolute System
650
Backup Battery Boxes
651
Specifications
651
Battery Box Dimensions
653
Connection Cables for Absolute Encoder
654
Battery Box Cords
656
Installation
657
Connection Examples
657
How to Install a Battery
661
How to Replace a Battery
662
System Initialization Procedure and Operation
664
System Initialization Procedure
664
Pulse Counting
665
PUU Counting
666
Use Digital Inputs/Outputs to Initialize an Absolute System
667
Use Parameters to Initialize an Absolute System
667
Use Digital Inputs/Outputs to Read the Absolute Coordinate Data
668
Use Parameter to Read the Absolute Coordinate Data
672
Related Parameters for Absolute System
673
Digital Input (DI) Function Definition (for Absolute System)
679
Digital Output (DO) Function Definition (for Absolute System)
680
Alarms for Absolute System
681
Causes and Corrective Actions
682
Related Monitoring Variables
684
Appendix A Accessories
686
Appendix B Maintenance and Inspection
721
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Delta ASD-A2-1543 Series Instruction Sheet (11 pages)
Brand:
Delta
| Category:
Servo Drives
| Size: 11.25 MB
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