Delta ASDA-A3 Series Manuals

Manuals and User Guides for Delta ASDA-A3 Series. We have 3 Delta ASDA-A3 Series manuals available for free PDF download: User Manual

Delta ASDA-A3 Series User Manual

Delta ASDA-A3 Series User Manual (1355 pages)

Brand: Delta | Category: Servo Drives | Size: 29.91 MB

Table of Contents

Table of Contents
8
Items to Check after Unpacking
25
Model Overview
26
Nameplate Information
26
Model Explanation
28
ASDA-A3 Servo Drive and Motor
34
Models
34
Models
37
Description of the Drive Interface
38
Models: A3-L
38
Models: A3-M
39
Models: A3-F
40
Models: A3-E
41
Models: A3-L
42
Models: A3-M
43
Models: A3-F
44
Models: A3-E
45
Installation
46
Ambient Storage Conditions
47
Ambient Installation Conditions
47
Mounting Direction and Space
50
Safety Precautions for Using Motors
53
Troubleshooting for the Motor Operation and Status
55
Mounting Directions and Precautions for the Servo Motor
56
Precautions for Using Servo Motor with Oil Seal
57
Precautions for Installing Servo Motor Accessories
58
Oil and Water Prevention Measures for the Servo Motor
60
Measures to Suppress Temperature Increase of the Servo Motor
61
Specifications for the Circuit Breaker, Magnetic Contactor and Fuse
62
Ferrite Ring
64
Installation Requirements for EMC
66
EMI Filters
68
Selecting the Regenerative Resistor
70
The Use of Braking
78
The Use of Cable
80
Series Servo System Connection
86
Connecting to Peripheral Devices
86
Connectors and Terminals
88
Wiring for Power Supply
90
UVW Power Connector Specifications
93
F40 - F80 Motors - Power Connectors
94
F100 - F130 Motors - Power Connectors
96
F180 4.5 Kw (or Below) Motors - Power Connectors
99
F180 5.5 Kw (or Above) & F220 Motors - Power Connectors
102
Encoder Connector Specifications
104
F40 - F80 Motors - Encoder Connectors
104
F100 - F180 ECMC Motors - Encoder Connectors
110
F100 - F220 ECM-B3 Motors - Encoder Connectors
113
Crimping the Wire Ferrules
120
Screw Terminal Block Dimensions / Screw and Tightening Torque
122
Specifications
122
Encoder Cable Specifications
123
Power Cable Specifications
124
Motor Frame and Power: F180 4.5 Kw (or Below)
126
Motor Frame and Power: F180 5.5 Kw (or Above) & F220
127
Flexible Cable Specifications
128
Waterproof Connector Wiring Instructions
129
F40 - F80 Models - Wiring the Waterproof Connector
129
F100 - F180 Models - Wiring the Waterproof Connector
130
Waterproof Connector Specifications
131
Series Servo System Connection
132
Connecting to Peripheral Devices
132
Connectors and Terminals
134
Wiring for Power Supply
136
UVW Power Connector Specifications
137
F40 - F80 Motors - Power Connectors
137
F100 - F130 Motors - Power Connectors
137
F180 4.5 Kw (or Below) Motors - Power Connectors
137
F180 5.5 Kw (or Above) & F220 Motors - Power Connectors
137
Encoder Connector Specifications
138
F40 - F80 Motors - Encoder Connectors
138
F100 - F220 ECM-B3 Motors - Encoder Connectors
139
Wire Selection
140
Wire Diameters and Terminals / Ferrules
140
Screw Terminal Block Dimensions / Screw and Tightening Torque
141
Specifications
141
Cable Specifications
142
Waterproof Connector Specifications
142
And 400V Series - Servo System Wiring Diagram
143
Series Models
143
And Below) Models
143
Kw Models
144
Kw - 15 Kw Models
145
Series Models
146
1.5 Kw Models
146
Kw - 15 Kw Models
147
And 400V Series - Wiring for CN1 I/O Connector
148
A3-L and A3-M Models - Wiring for CN1 I/O Connector
148
A3-L and A3-M Models - CN1 I/O Connector
148
A3-L and A3-M Models - Quick Connector
155
A3-L and A3-M Models - CN1 Wiring Diagrams
160
A3-E and A3-F Models - Wiring for CN1 I/O Connector
167
A3-E and A3-F Models - CN1 I/O Connector
167
A3-E and A3-F Models - Quick Connector
173
A3-E and A3-F Models - CN1 Wiring Diagrams
177
And 400V Models - Wiring for the CN2 Encoder Connector
180
And 400V Models - Wiring for the CN3 Connector
184
(RS-485 / High-Speed Communication)
184
And 400V Models - Wiring for CN4 Connector (Mini USB)
186
And 400V Models - Wiring for CN5 Connector (Applicable to Full-Closed Loop)
187
And 400V Models - Wiring for CN5 Connector
187
(Applicable to Full-Closed Loop)
187
And 400V Models - Wiring for CN6 Connector
190
Wiring for the DMCNET Communication Connector
190
Wiring for the Ethercat Communication Connector
192
Models - STO (Safe Torque Off) Function
195
CN10 STO Connector
195
Introduction to STO
196
Precautions for Using STO Function
196
Specifications of STO
197
How Does the STO Function Work
197
Activation Status
198
Deactivation Status
200
Wiring for STO
201
Not Using the STO Function
201
Using the STO Function for a Single Drive
202
Using the STO Function for Multiple Drives
203
Models - STO (Safe Torque Off) Function
204
Introduction to STO
204
Precautions for Using STO Function
204
Potential Risks of STO
205
Safety Parameters
206
How Does the STO Function Work
207
Response Time
207
Alarm Triggering
208
STO Deactivation Settings
210
Wiring for STO
215
CN10 STO Connector
215
Input / Output Signal Specification
216
Not Using the STO Function
217
Using the STO Function for a Single Drive
217
Using the STO Function for Multiple Drives
218
Validation Test
219
Series - Standard Wiring Example
220
Position (PT) Control Mode - Differential Line Driver Signal Input
220
Position (PT) Control Mode - Open-Collector Signal Input
221
Position (PR) Control Mode - Internal Position Commands
222
Speed (S) Control Mode
224
Torque (T) Control Mode
226
Communication Mode (Canopen)
228
Communication Mode (DMCNET)
229
Communication Mode (Ethercat)
230
Series - Standard Wiring Example
231
Position (PT) Control Mode - Differential Line Driver Signal Input
231
Position (PT) Control Mode - Open-Collector Signal Input
232
Position (PR) Control Mode - Internal Position Commands
233
Speed (S) Control Mode
235
Torque (T) Control Mode
237
Communication Mode (Canopen)
239
Communication Mode (DMCNET)
240
Communication Mode (Ethercat)
241
Test Operation and Panel Display
242
Panel Description
243
Parameter Setting Procedure
244
Status Display
247
Data Save Status
247
Decimal Points
247
Alarm Messages
248
Positive and Negative Sign Setting
248
Monitoring Display
248
General Functions
252
Operation of Fault Record Display
252
Force DO on
253
Digital Input Diagnosis Operation
254
Digital Output Diagnosis Operation
254
Testing
255
Testing Without Load
255
Apply Power to A3 Servo Drive
256
JOG Trial Run Without Load
261
Trial Run Without Load (Speed Mode)
263
Trial Run Without Load (Position Mode)
265
Tuning
268
Tuning Procedure
271
Inertia Estimation
272
Precautions for Inertia Estimation
272
Inertia Estimation with ASDA-Soft
273
One Touch Tuning
276
Precautions for One Touch Tuning
277
One Touch Tuning with ASDA-Soft
277
Auto Tuning
280
Precautions for Auto Tuning
281
Flowchart of Auto Tuning
282
Auto Tuning through the Drive Panel
283
Auto Tuning with ASDA-Soft
284
Parameters Related to Auto Tuning
291
Automatic Gain Adjustment Level 1 (P2.105) - Stiffness Adjustment
291
Automatic Gain Adjustment Level 2 (P2.106) - Response Adjustment
292
Alarms Related to Auto Tuning
293
Gain Adjustment Modes
294
Differences between Gain Adjustment Modes
294
Flowchart of Gain Adjustment Mode
296
Gain Adjustment Mode 1
297
Gain Adjustment Mode 2
297
Gain Adjustment Mode 3
298
Gain Adjustment Mode 4
299
Gain Adjustment Mode 5
300
Gain Adjustment Mode 6
300
Parameters Related to Gain Adjustment Modes
301
Bandwidth Response Level (P2.031) - Stiffness Adjustment
301
Command Response Gain (P2.089) - Response Adjustment
302
Bandwidth for Speed Loop Response (P2.126) - Bandwidth Adjustment
302
Manual Tuning of Gain Parameters
303
Flowchart of Manual Tuning in Speed Mode
305
Flowchart of Manual Tuning in Position Mode
306
Manual Tuning with ASDA-Soft
307
Mechanical Resonance Suppression and Noise Elimination
308
Notch Filter
309
Function Restriction
309
Function Description
309
Parameter Descriptions
310
Application Example
312
Resonance Suppression Low-Pass Filter
316
Function Restriction
316
Function Description
316
Application Example
316
Speed Detection Filter
317
Function Restriction
317
Function Description
317
Application Example
318
Low-Frequency Vibration Suppression Filter
319
Function Restriction
319
Function Description
319
Application Example
321
Model-Controlled Vibration Suppression Filter
322
Restrictions of the Two Degree of Freedom Control Function
322
Function Description of Two Degree of Freedom Control Function
323
Application Example of Two Degree of Freedom Control Function
324
Restrictions of Vibration Elimination
325
Function Description of Vibration Elimination
325
Application Example of Vibration Elimination
326
Position Command Filter
327
Function Restriction
327
Function Description
327
Application Example
328
Speed Command Filter
329
Function Restriction
329
Function Description
329
Application Example
329
Torque Command Filter
330
Function Restriction
330
Function Description
330
Application Example
330
Application Function Adjustment
331
Adjusting Position Error in Constant Speed Zone
331
Function Restriction
331
Function Description
331
Application Example
332
Position Overshoot Adjustment
333
Function Restriction
333
Function Description
333
Application Example
333
Multi-Axis Contour Control
334
Function Restriction
334
Function Description
334
Application Example
336
Gain Switching
338
Function Restriction
338
Function Description
338
Application Example
338
Selecting the Operation Mode
344
Position Mode
346
Position Command in PT Mode
346
Position Command in PR Mode
347
Control Structure of Position Mode
348
S-Curve Filter (Position)
349
Electronic Gear Ratio (E-Gear Ratio)
351
Low-Pass Filter
352
Timing Diagram of PR Mode
352
Gain Adjustment of the Position Loop
353
Low-Frequency Vibration Suppression in Position Mode
355
Speed Mode
358
Selecting the Speed Command Source
358
Control Structure of Speed Mode
359
Smooth Speed Command
360
Scaling of the Analog Command
362
Timing Diagram of Speed Mode
363
Gain Adjustment of the Speed Loop
364
Resonance Suppression Unit
366
Torque Mode
369
Selecting the Torque Command Source
369
Control Structure of Torque Mode
370
Smooth Torque Command
370
Scaling of the Analog Command
371
Timing Diagram of Torque Mode
372
Dual Mode / Multi-Mode
373
Speed / Position Dual Mode
374
Speed / Torque Dual Mode
375
Torque / Position Dual Mode
376
Others
377
Applying the Speed Limit
377
Applying the Torque Limit
377
Analog Monitoring
378
Full-Closed Loop Control System
379
Hardware Configuration
380
Control Structure
382
Steps for Setting the Full-Closed Loop Function
384
Parameters for Full-Closed Loop Function
385
Auxiliary Encoder Direction Setting
385
Auxiliary Encoder Resolution Setting
388
E-Gear Settings
391
Setting the Protection Range for the Feedback Position Error between
391
Setting the Low-Pass Filter Time Constant for Full- / Semi-Closed Loop Control
392
Setting the Error Clearing Function When Switching between Full- and
393
Semi-Closed Loops
393
Auto Clearing of the Feedback Position Error between the Main
396
Set DI [0X0B] to Switch between Full- and Semi-Closed Loop Modes
397
Z Phase Source of Homing
398
Encoder Output Settings
399
Full-Closed Loop Feedback Source for the Controller
401
Troubleshooting Full-Closed Loop Alarms
402
Motion Control
404
PR Mode Description
406
Shared PR Parameters
408
Monitoring Variables of PR Mode
410
Motion Control Commands
413
Homing Methods
413
Speed Command
426
Position Command
428
Jump Command
431
Write Command
433
Rotary Axis Position Command (Index)
435
Arithmetic Operation (Statement)
439
Overview of the PR Procedure
442
Trigger Methods for the PR Command
449
PR Procedure Execution Flow
453
Application of Motion Control
467
Data Array
467
High-Speed Position Capture Function (Capture)
471
High-Speed Position Compare Function (Compare)
475
E-Cam
479
Source Signal for the Master Axis
480
Clutch Engagement and Disengagement
484
E-Cam Gears and Curve Scaling
492
E-Cam Curve
495
E-Cam Curve and PR Command Overlapping
503
Troubleshooting for E-Cam
505
Rotary Shear
507
Flying Shear
534
Macro
547
Auxiliary Function
557
Horizontal Packing Machine Applications
560
Parameter Definitions
579
List of Parameters
580
Parameter Descriptions
602
P0.XXX Monitoring Parameters
602
P1.XXX Basic Parameters
619
P2.XXX Extension Parameters
670
P3.XXX Communication Parameters
717
P4.XXX Diagnosis Parameters
727
P5.XXX Motion Control Parameters
737
P6.XXX PR Parameters
780
P7.XXX PR Parameters
804
Pm.XXX Motor Parameters
824
Modbus Communication
864
Communication Interface (Hardware)
865
Communication Parameter Settings
866
Modbus Communication Protocol
867
Setting and Accessing Communication Parameters
878
Communication Specification
879
Battery Box and Absolute Encoder Cable
884
Battery Specifications
884

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Delta ASDA-A3 Series User Manual

Delta ASDA-A3 Series User Manual (845 pages)

Brand: Delta | Category: Servo Drives | Size: 29.85 MB

Table of Contents

Table of Contents
6
Components of the Servo Set
17
Model Overview
18
Nameplate Information
18
Model Explanation
20
ASDA-A3 Servo Drive and Motor
24
Description of the Drive Interface
25
A3-L Models
25
A3-M Models
26
A3-F Models
27
Installation
28
Ambient Storage Conditions
29
Ambient Installation Conditions
30
Mounting Direction and Space
31
Safety Precautions for Using Motors
33
Troubleshooting for the Motor Operation and Status
35
Mounting Directions and Precautions for the Servo Motor
36
Precautions for Using Oil Seal Servo Motors
37
Precautions for Using Couplings
37
Oil and Water Prevention Measures for the Servo Motor
38
Measures to Suppress Temperature Increase of the Servo Motor
39
Specifications for the Circuit Breaker and Fuse
40
Ferrite Ring
40
Installation Requirements for EMC
42
EMI Filters
43
Selecting the Regenerative Resistor
45
The Use of Braking
50
System Connection
54
Connecting to Peripheral Devices
54
Connectors and Terminal Blocks
56
Wiring for Power Supply
58
UVW Connectors for the ASDA-A3 Servo Drive
61
Specification for the Encoder Connector
63
Wire Selection
68
Wiring Diagram for the Servo System
71
Wiring for CN1 (I/O Signal)
73
CN1 I/O Connector (for A3-L and A3-M Series)
73
Signal Explanation for Connector CN1 (for A3-L and A3-M Series)
75
CN1 I/O Connector (for A3-F Series)
78
Signal Explanation for Connector CN1 (for A3-F Series)
79
Wiring Diagrams (CN1)
81
Application: Using the CN1 Quick Connector for Wiring
88
Wiring for the CN2 Encoder Connector
93
Wiring for the CN3 Connector (RS-485 / High Speed Communication)
96
CN4 Serial Connector (Mini USB)
98
CN5 Connector (for Machine Position Feedback, Applicable to Full-Closed Loop)
99
CN5 Connector
99
Full-Closed Loop)
99
CN6 Connector
100
DMCNET Communication Connector for Wiring
100
CN10 STO Connector (Safe Torque off )
102
STO Function (Safe Torque Off)
103
Introduction to STO
103
The Potential Danger of STO
103
Specifications of STO
104
How Does the STO Function Work
105
Activation Status
105
Deactivation Status
107
Wiring for STO
108
Not Using the STO Function
108
Single Drive Module
108
Multiple Drive Modules
109
Standard Wiring Example
110
Position (PT) Control Mode
110
Position (PR) Control Mode
111
Speed Control Mode
112
Torque Control Mode
113
Communication Mode (Canopen)
114
Communication Mode (DMCNET)
115
Panel Description
117
Parameter Setting Procedure
118
Status Display
121
Save the Setting Display
121
Display the Decimal Point
121
Alarm Messages
122
Positive and Negative Sign Setting
122
Monitoring Display
122
General Functions
125
Operation of Fault Record Display
125
Force DO on
126
Digital Input Diagnosis Operation
127
Digital Output Diagnosis Operation
127
Testing
128
Testing Without Load
128
Apply Power to A3 Servo Drive
129
JOG Trial Run Without Load
134
Trial Run Without Load (Speed Mode)
136
Trial Run Without Load (Position Mode)
138
Tuning
140
Tuning Procedure and the Applied Mode
141
Flowchart of the Tuning Procedure
141
Tuning Modes
142
Auto Tuning
143
Flowchart of Auto Tuning
144
Auto Tuning through the Drive Panel
145
Auto Tuning with ASDA-Soft (Software)
146
Alarms Related to Auto Tuning
153
Tuning Mode
154
Flowchart of Gain Adjustment Mode
154
Gain Adjustment Mode 1
155
Gain Adjustment Mode 2
155
Gain Adjustment Mode 3
156
Setting the Bandwidth Response Level (Stiffness)
157
Tuning in Manual Mode
159
Mechanical Resonance Suppression
161
Operation Mode
162
Selecting the Operation Mode
164
Position Mode
166
Position Command in PT Mode
166
Position Command in PR Mode
166
Control Structure of Position Mode
167
S-Curve Filter (Position)
168
Electronic Gear Ratio (E-Gear Ratio)
170
Low-Pass Filter
171
Timing Diagram of PR Mode
171
Gain Adjustment of the Position Loop
172
Low-Frequency Vibration Suppression in Position Mode
174
Speed Mode
176
Selecting the Speed Command Source
176
Control Structure of Speed Mode
177
Smooth Speed Command
178
Scaling of the Analog Command
180
Timing Diagram of Speed Mode
181
Gain Adjustment of the Speed Loop
182
Resonance Suppression Unit
184
Torque Mode
187
Selecting the Torque Command Source
187
Control Structure of Torque Mode
188
Smooth Torque Command
189
Scaling of the Analog Command
189
Timing Diagram of Torque Mode
190
Dual Mode
191
Speed / Position Dual Mode
192
Speed / Torque Dual Mode
193
Torque / Position Dual Mode
194
Others
195
Applying the Speed Limit
195
Applying the Torque Limit
195
Analog Monitoring
196
PR Mode Description
200
Shared PR Parameters
202
Monitoring Variables of PR Mode
204
Motion Control Commands
207
Homing Methods
207
Speed Command
220
Position Command
222
Jump Command
225
Write Command
227
Index Position Command
229
Arithmetic Operation (Statement)
233
Overview of the PR Procedure
236
Trigger Methods for the PR Command
243
PR Procedure Execution Flow
247
Application of Motion Control
263
Data Array
263
High-Speed Position Capture Function (Capture)
267
High-Speed Position Compare Function (Compare)
271
E-Cam
275
Source Signal for the Master Axis
276
Clutch Engagement and Disengagement
280
E-Cam Gears and Curve Scaling
288
E-Cam Curve
291
E-Cam Curve and PR Command Overlapping
299
Troubleshooting for E-Cam
301
Rotary Shear
303
Flying Shear
331
Macro
344
Auxiliary Function
354
Horizontal Packing Machine Applications
356
Parameter Definitions
375
List of Parameters
376
Parameter Descriptions
385
P0.XXX Monitoring Parameters
385
P1.XXX Basic Parameters
400
P2.XXX Extension Parameters
440
P3.XXX Communication Parameters
475
P4.XXX Diagnosis Parameters
481
P5.XXX Motion Control Parameters
488
P6.XXX PR Parameters
528
P7.XXX PR Parameters
552
Pm.XXX Motor Parameters
572
MODBUS Communication
606
Communication Interface (Hardware)
607
Communication Parameter Settings
608
MODBUS Communication Protocol
609
Setting and Accessing Communication Parameters
620
Communication Specification
621
Absolute System
624
Battery Box (Absolute Type) and Wiring
626
Specifications
626
Battery Box Dimensions
627
Connection Cable for the Absolute Encoder
628
Battery Box Cable
630
Installation
631
Installing the Battery Box in the Servo System
631
Installing and Replacing a Battery
633
System Initialization and Operating Procedures
636
System Initialization
636
Pulse Number
637
PUU Number
638
Establish the Absolute Origin Coordinates
639
Establishing the Absolute Origin Coordinates with DI/DO
639
Establishing the Absolute Origin Coordinates with Parameters
640
Establishing the Absolute Origin Coordinates with the PR Homing Function
640
Read the Absolute Position
640
Reading the Absolute Position with DI/DO
640

Delta ASDA-A3 Series User Manual

Delta ASDA-A3 Series User Manual (604 pages)

Brand: Delta | Category: Servo Drives | Size: 20.71 MB

Table of Contents

Preface
2
Safety Precautions
3
Table of Contents
6
Product Overview
14
Components of the Servo Set
15
Model Overview
16
- Nameplate Information
  16
  - ASDA-A3 Series Servo Drive
    16
  - Serial Number
    16
  - ECM-A3 Series Servo Motor
    17
  - ECMC Series Servo Motor
    17
- Model Explanation
  18
- ASDA-A3 Servo Drive
  18
ASDA-A3 Servo Drive and Motor
22
Description of the Drive Interface
23
Installation

24
Trial Operation and Panel Display

107
- Panel Description
  107
- Parameter Setting Procedure
  108
  - Switching Modes
    108
  - Operating in each Mode
    108
  - Parameter Mode
    109
  - Editing Mode
    110
- Status Display
  111
  - Save the Setting Display
    111
  - Display the Decimal Point
    111
  - Alarm Messages
    112
  - Monitoring Display
    112
  - Positive and Negative Sign Setting
    112
  - The Following Table Shows the Panel Display of 16-Bit and 32-Bit Value
    115
- General Functions
  116
  - Operation of Fault Record Display
    116
  - Force DO on
    117
  - Digital Input Diagnosis Operation
    118
  - Digital Output Diagnosis Operation
    118
  - Testing Without Load
    119
  - Apply Power to A3 Servo Drive
    120
    
    When the Screen Displays
    121
    
    Overvoltage Warning
    121
    
    Encoder Error Warning
    121
    
    Emergency Stop Warning
    122
    
    Negative Limit Error Warning
    122
    
    Positive Limit Error Warning
    123
    
    Corrective Action
    123
  - JOG Trial Run Without Load
    124
  - The Following Shows the JOG Timing Diagram
    125
  - Trial Run Without Load (Speed Mode)
    126
  - Trial Run Without Load (Position Mode)
    128
Tuning

130
- Tuning Procedure and the Applied Mode
  131
  - Flow Chart for the Tuning Procedure
    131
  - Tuning Modes
    132
- Quick Mode
  133
- Auto Tuning
  133
  - Flow Chart for Auto Tuning
    134
  - Auto Tuning through the Drive Panel
    135
  - Auto Tuning with ASDA-Soft (Software)
    136
    
    Auto-Tuning with Host Controller
    137
    
    Click Controller
    138
    
    Click Drive
    140
    
    Auto-Tuning with Servo Drive
    140
  - Alarms Related to Auto Tuning
    143
- Tuning Mode
  144
  - Flow Chart of Tuning Mode
    144
  - Tuning Mode 1
    145
  - Tuning Mode 2
    145
  - Tuning Mode 3
    146
  - Adjust the Bandwidth Level
    147
  - Setting the Frequency Response Bandwidth (Stiffness)
    147
  - Gain Response
    148
  - Adjust the Gain Response
    148
- Tuning in Manual Mode
  149
  - Position Control Gain
    149
  - Speed Control Gain
    149
  - Speed Integral Compensation
    149
  - Low-Pass Filter for Resonance Suppression
    150
  - Anti-Interference Gain
    150
  - Position Feed Forward Gain
    150
- Mechanical Resonance Suppression
  151
Operation Mode

152
- Selecting the Operation Mode
  154
- Position Mode
  155
  - Position Command in PT Mode
    155
  - Position Command in PR Mode
    156
  - Control Structure of Position Mode
    156
  - The Pulse Command Input Inhibit Function
    157
  - S-Curve Filter (Position)
    158
  - Electronic Gear Ratio (E-Gear Ratio)
    159
  - Low-Pass Filter
    160
  - Timing Diagram of PR Mode
    160
  - Gain Adjustment for the Position Loop
    161
    
    Auto Adjustment
    161
    
    Manual Adjustment
    161
  - Low-Frequency Vibration Suppression in Position Mode
    163
    
    Auto Function
    163
    
    Manual Setting
    164
- Speed Mode
  165
  - Selecting the Speed Command Source
    165
  - Control Structure of Speed Mode
    166
  - Smooth Speed Command
    167
    
    S-Curve and Time Setting
    167
    
    Analog Speed Command Filter
    168
    
    Low-Pass Filter for Commands
    168
  - Scaling of the Analog Command
    169
  - Timing Diagram for Speed Mode
    170
  - Gain Adjustment of the Speed Loop
    171
    
    Manual Mode
    171
    
    Frequency Domain
    172
  - Resonance Suppression Unit
    173
    
    Speed Control Unit
    173
    
    System Open-Loop Gain with Resonance
    174
    
    Notch Filter
    174
- Torque Mode
  176
  - Selecting the Torque Command Source
    176
  - Control Structure of Torque Mode
    177
  - Smooth Torque Command
    178
  - Scaling of the Analog Command
    178
  - Timing Diagram in Torque Mode
    179
- Dual Mode
  180
  - Speed / Position Dual Mode
    181
  - Speed / Torque Dual Mode
    182
  - Torque / Position Dual Mode
    183
  - Applying the Speed Limit
    184
  - Command Source Selection of Speed Limit
    184
- Others
  184
  - Applying the Torque Limit
    185
  - Analog Monitoring
    185
    
    Command Source Selection of Torque / Speed Limit
    185
    
    Voltage Drift
    186
    
    Motion Control
    188
Description of Motion Control

189
- PR Mode Description
  189
  - Setting Parameters for each PR Path
    189
  - Example of PR#1 Property and Data Content
    190
  - PR Mode Interface in ASDA-Soft
    190
  - PR Diagram Display in ASDA-Soft
    191
  - Shared PR Parameters
    191
    
    ASDA-Soft Interface for Shared PR Parameter Data
    192
    
    Shared Parameter Data for PR Paths
    192
  - Monitoring Variables of PR Mode
    193
    
    Timing Diagram for PR Mode Monitoring Variables
    193
    
    Monitoring Variables Status When Executing a Command in PR Mode
    194
    
    Operation of DI/DO Signals in PR Mode
    194
    
    Homing Methods
    195
  - Motion Control Commands
    195
    
    Origin Definition
    197
    
    Homing Screen in ASDA-Soft
    199
    
    Homing Mode and Monitoring Variables
    206
    
    Speed Command
    206
    
    Parameters for PR Mode Speed Control
    207
    
    PR Mode Speed Screen in ASDA-Soft
    207
    
    Bit Function of PR Speed Control
    208
    
    Position Command
    208
    
    Parameters for PR Mode Position Setting
    209
    
    PR Mode Position Interface of ASDA-Soft
    209
    
    Bit Functions of Parameters of PR Mode Position Control
    211
    
    Four Types of Position Command
    211
    
    Jump Command in PR Mode
    212
    
    Using PR Mode Jump Command in ASDA-Soft
    212
    
    Bit Function of PR Jump Command
    213
    
    Write Command
    213
    
    Bit Function for PR Write Command
    214
    
    Using PR Write Command in ASDA-Soft
    214
    
    Index Position Command
    215
    
    PR Mode Indexing Coordinates
    216
    
    Indexing Coordinates Setting Wizard in PR Mode
    217
    
    PR Mode Index Position Screen in ASDA-Soft
    217
    
    Bit Function for the Index Position Command
    218
    
    Motor‟S Operation Direction and Indexing Coordinates
    218
    
    Arithmetic Operations
    219
    
    PR Arithmetic Operations Screen in ASDA-Soft
    219
    
    Description of each Field in the Operation Section
    220
    
    Field Description for the Procedure Setting Section
    220
    
    Statements Tab in ASDA-Soft
    221
  - Overview of the PR Procedure
    222
    
    PR Display
    222
    
    Homing Methods Display
    223
    
    Position Command Display
    224
    
    Speed Command Display
    224
    
    Jump Command
    225
    
    Write Command Display
    226
    
    Indexing Position Command Display
    227
    
    Arithmetic Operation
    228
    
    Digital Input (DI) Triggering
    229
    
    I/O Screen in ASDA-Soft
    229
  - Trigger Methods for the PR Command
    229
    
    Use DI to Select the PR Path to be Triggered
    230
    
    Event Triggering
    231
    
    Example of Event Triggering Timing Diagram
    231
    
    Event On/Off Screen in ASDA-Soft
    232
    
    PR Command Trigger Register (P5.007)
    232
    
    Special Trigger Method
    232
    
    PR Execution Flow in the ASDA-A3
    233
  - PR Procedure Execution Flow
    233
    
    Trigger Mechanism
    233
    
    Motion Command Generator
    234
    
    PR Executor
    234
    
    PR Queue
    234
    
    Sequence Command
    234
    
    Position Command Followed by a Position Command
    235
    
    Sequence Position Command
    235
    
    Speed Command Followed by a Speed Command
    236
    
    Speed Sequence Command
    236
    
    Multiple Commands
    237
    
    Sequence Command – Multiple Commands
    237
    
    Command Interruption
    238
    
    Internal and External Interruption
    238
    
    Internal Interruption
    238
    
    Internal Interruption - Position Command
    239
    
    Relative and Incremental Position Command for Internal Interruption
    239
    
    Internal Interruption – Speed Command
    240
    
    Internal Interruption – Multiple Commands
    241
    
    Multiple Interrupt Commands
    241
    
    External Interruption
    242
    
    Overlap Command
    243
    
    Multiple Commands with Arithmetic Operations
    245
    
    Writing Trigger Command in Statement Section
    245
- Application of Motion Control
  246

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