Delta ASD-A2-4543 Series Manuals

Manuals and User Guides for Delta ASD-A2-4543 Series. We have 3 Delta ASD-A2-4543 Series manuals available for free PDF download: User Manual, Instruction Sheet

Delta ASD-A2-4543 Series User Manual (753 pages)

High Resolution AC Servo Drive for Network Communication Applications

Brand: Delta | Category: Servo Drives | Size: 13.25 MB

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
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
- 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
- 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
- Control Modes Selection
  220
- 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
Chapter 9 Communications

576
Chapter 10 Troubleshooting

596
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
- 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-A2-4543 Series User Manual (721 pages)

Brand: Delta | Category: Servo Drives | Size: 20.22 MB

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
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
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
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

Delta ASD-A2-4543 Series Instruction Sheet (11 pages)

Brand: Delta | Category: Servo Drives | Size: 11.25 MB

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Delta ASD-A2-4543 Series Manuals

Delta ASD-A2-4543 Series User Manual (753 pages)

Table of Contents

Chapter 1 Unpacking Check and Model Explanation

Chapter 2 Installation and Storage

Chapter 3 Connections and Wiring

Chapter 4 Display and Operation

Chapter 5 Trial Run and Tuning Procedure

Chapter 6 Control Modes of Operation

Chapter 7 Motion Control Functions

Chapter 8 Servo Parameters

Chapter 9 Communications

Chapter 10 Troubleshooting

Chapter 11 Specifications

Chapter 12 Absolute System

Appendix A Accessories

Appendix B Maintenance and Inspection

Delta ASD-A2-4543 Series User Manual (721 pages)

Table of Contents

Chapter 1 Inspection and Model Explanation

Chapter 2 Installation

Chapter 3 Wiring

Chapter 4 Panel Display and Operation

Chapter 5 Trial Operation and Tuning

Chapter 6 Control Mode of Operation

Chapter 7 Motion Control

Chapter 8 Parameters