Delta ASDA-B3 Series Manuals

Manuals and User Guides for Delta ASDA-B3 Series. We have 2 Delta ASDA-B3 Series manuals available for free PDF download: User Manual

Delta ASDA-B3 Series User Manual

Delta ASDA-B3 Series User Manual (985 pages)

Brand: Delta | Category: Servo Drives | Size: 20.6 MB

Table of Contents

Table of Contents
8
Components of the Servo Set
23
Model Overview
24
Nameplate Information
24
Model Explanation
26
ASDA-B3 Servo Drive and Motor
32
Models
32
Description of the Drive Interface
35
L Models
35
M / -F Models
36
E / B3A-P Models
37
Installation
38
Ambient Storage Conditions
39
Ambient Installation Conditions
39
Mounting Direction and Space
41
Safety Precautions for Using Motors
43
Troubleshooting for the Motor Operation and Status
45
Mounting Directions and Precautions for the Servo Motor
46
Precautions for Using Servo Motor with Oil Seal
47
Precautions for Installing Servo Motor Accessories
48
Oil and Water Prevention Measures for the Servo Motor
50
Measures to Suppress Temperature Increase of the Servo Motor
51
Specifications for the Circuit Breaker, Magnetic Contactor and Fuse
52
Ferrite Ring
53
Installation Requirements for EMC
55
EMI Filters
56
Selecting the Regenerative Resistor
58
The Use of Braking
65
The Use of Cable
67
System Connection
70
Connecting to Peripheral Devices
70
Connectors and Terminals
71
Wiring for Power Supply
72
UVW Power Connector Specifications
75
F40 - F80 Motors - Power Connectors
76
F100 - F130 Motors - Power Connectors
78
F180 4.5 Kw (or Below) Motors - Power Connectors
80
F180 5.5 Kw (or Above) Motors - Power Connectors
82
Specification for Encoder Cable and Connector
84
F40 - F80 Motors - Encoder Connectors
84
F100 - F180 Motors - Encoder Connectors
90
Wire Selection
97
Wire Diameters / Screw Terminal Block Dimensions / Screw and Tightening Torque
97
Series
97
Encoder Cable Specifications
100
Power Cable Specifications
101
Flexible Cable Specifications
105
Wiring for Waterproof Connectors
106
Waterproof Connector Installation and Wiring Specifications
106
F40 - F80 Models - Wiring the Waterproof Connector
107
F100 - F180 Models - Wiring the Waterproof Connector
108
Wiring Diagrams for the Servo System
109
Series
109
Wiring for the CN1 I/O Connector
112
Communication Type Models (-E, -F, and -M Models)
112
Communication Type Models - CN1 I/O Connector Pin Assignment
112
Communication Type Models - Wire with CN1 Quick Connector
117
Communication Type Models - CN1 Wiring Diagrams
119
Communication Type Models (B3A-P Model)
125
Communication Type Models - CN1 I/O Connector Pin Assignment
125
Communication Type Models - CN1 Wiring Diagrams
129
Pulse Type Models (-L Models)
132
Pulse Type Models - CN1 I/O Connector Pin Assignment
132
Pulse Type Models - Wire with CN1 Quick Connector
139
Pulse Type Models - CN1 Wiring Diagrams
141
Wiring for the CN2 Encoder Connector
147
Wiring for the CN3 Connector
151
Wiring for the Modbus Communication Connector
151
Wiring for the Canopen Communication Connector
153
CN4 Connector (Mini USB)
155
Wiring for the CN6 Connector
156
Wiring for the DMCNET Communication Connector
156
Wiring for the Ethercat Communication Connector
158
Wiring for the PROFINET Communication Connector
162
CN10 STO Connector (Safe Torque Off)
163
STO Function (Safe Torque Off)
164
Introduction to STO
164
Precautions for Using STO Function
164
Specifications of STO
165
How Does the STO Function Work
166
Activation Status
166
Deactivation Status
168
Wiring for STO
169
Not Using the STO Function
169
Using the STO Function for a Single Drive
169
Using the STO Function for Multiple Drives
170
Standard Wiring Example
171
Position (PT) Control Mode - Differential Line Driver Input
171
Position (PT) Control Mode - Open Collector Input
173
Position (PR) Control Mode - Internal Position Commands
175
Speed (S) Control Mode
177
Torque (T) Control Mode
179
Communication Mode - Canopen
181
Communication Mode - DMCNET
182
Communication Mode - Ethercat
183
Panel Description
185
Parameter Setting Procedure
186
Status Display
189
Data Save Status
189
Decimal Points
189
Alarm Messages
190
Positive and Negative Value Setting
190
Monitoring Display
190
General Functions
193
Operation of Fault Record Display
193
Force DO on
194
Digital Input Diagnosis
195
Digital Output Diagnosis
195
Testing
196
Initial Testing
196
Apply Power to the Servo Drive
197
JOG Trial Run Without Load
201
Trial Run Without Load (Speed Mode)
203
Trial Run Without Load (Position Mode)
205
Tuning
208
Tuning Procedure
211
Inertia Estimation
212
Precautions for Inertia Estimation
212
Inertia Estimation with ASDA-Soft
213
One Touch Tuning
216
Precautions for One Touch Tuning
217
One Touch Tuning with ASDA-Soft
217
Auto Tuning
220
Precautions for Auto Tuning
221
Flowchart of Auto Tuning
222
Auto Tuning through the Drive Panel
223
Auto Tuning with ASDA-Soft
224
Parameters Related to Auto Tuning
231
Automatic Gain Adjustment Level 1 (P2.105) - Stiffness Adjustment
231
Automatic Gain Adjustment Level 2 (P2.106) - Response Adjustment
232
Alarms Related to Auto Tuning
233
Gain Adjustment Modes
234
Differences between Gain Adjustment Modes
234
Flowchart of Gain Adjustment Mode
236
Gain Adjustment Mode 1
237
Gain Adjustment Mode 2
237
Gain Adjustment Mode 3
238
Gain Adjustment Mode 4
239
Gain Adjustment Mode 5
240
Gain Adjustment Mode 6
240
Parameters Related to Gain Adjustment Modes
241
Bandwidth Response Level (P2.031) - Stiffness Adjustment
241
Command Response Gain (P2.089) - Response Adjustment
242
Bandwidth for Speed Loop Response (P2.126) - Bandwidth Adjustment
242
Manual Tuning of Gain Parameters
243
Flowchart of Manual Tuning in Speed Mode
245
Flowchart of Manual Tuning in Position Mode
246
Manual Tuning with ASDA-Soft
247
Mechanical Resonance Suppression and Noise Elimination
248
Notch Filter
249
Function Restriction
249
Function Description
249
Parameter Descriptions
250
Application Example
252
Resonance Suppression Low-Pass Filter
255
Function Restriction
255
Function Description
255
Application Example
255
Speed Detection Filter
256
Function Restriction
256
Function Description
256
Application Example
257
Low-Frequency Vibration Suppression Filter
258
Function Restriction
258
Function Description
258
Application Example
260
Model-Controlled Vibration Suppression Filter
261
Restrictions of the Two Degree of Freedom Control Function
261
Function Description of Two Degree of Freedom Control Function
262
Application Example of Two Degree of Freedom Control Function
263
Restrictions of Vibration Elimination
264
Function Description of Vibration Elimination
264
Application Example of Vibration Elimination
265
Position Command Filter
266
Function Restriction
266
Function Description
266
Application Example
267
Speed Command Filter
268
Function Restriction
268
Function Description
268
Application Example
268
Torque Command Filter
269
Function Restriction
269
Function Description
269
Application Example
269
Application Function Adjustment
270
Adjusting Position Error in Constant Speed Zone
270
Function Restriction
270
Function Description
270
Application Example
271
Position Overshoot Adjustment
272
Function Restriction
272
Function Description
272
Application Example
272
Multi-Axis Contour Control
273
Function Restriction
273
Function Description
273
Application Example
275
Gain Switching
277
Function Restriction
277
Function Description
277
Application Example
277
Control Mode
280
Selecting the Control Mode
282
Position Mode
284
Position Command in PT Mode
284
Position Command in PR Mode
285
Control Structure of Position Mode
286
S-Curve Filter for Position Commands
287
Electronic Gear Ratio (E-Gear Ratio)
288
Low-Pass Filter
289
Timing Diagram of PR Mode
289
Gain Adjustment of the Position Loop
290
Low-Frequency Vibration Suppression in Position Mode
291
Speed Mode
294
Selecting the Speed Command Source
294
Control Structure of Speed Mode
295
Smoothing the Speed Command
296
Scaling of the Analog Command
298
Timing Diagram of Speed Mode
299
Gain Adjustment of the Speed Loop
300
Resonance Suppression Unit
302
Torque Mode
304
Selecting the Torque Command Source
304
Control Structure of Torque Mode
305
Smoothing the Torque Command
305
Scaling of the Analog Command
306
Timing Diagram of Torque Mode
307
Dual Mode
308
Speed / Position Dual Mode
309
Speed / Torque Dual Mode
310
Torque / Position Dual Mode
311
Others
312
Applying the Speed Limit
312
Applying the Torque Limit
312
Analog Monitoring
313
Motion Control
314
PR Mode Description
315
Shared PR Parameters
317
Monitoring Variables of PR Mode
319
Motion Control Commands
322
Homing Methods
322
Speed Command
335
Position Command
337
Jump Command
341
Write Command
343
Rotary Axis Position Command (Index Position)
345
Overview of the PR Procedure
349
Trigger Methods for the PR Command
355
PR Procedure Execution Flow
359
Application of Motion Control
371
Data Array
371
High-Speed Position Capture Function (Capture)
375
Parameter Definitions
381
List of Parameters
382
Parameter Descriptions
397
P0.XXX Monitoring Parameters
397
P1.XXX Basic Parameters
412
P2.XXX Extension Parameters
450
P3.XXX Communication Parameters
484
P4.XXX Diagnosis Parameters
493
P5.XXX Motion Control Parameters
502
P6.XXX PR Parameters
525
P7.XXX PR Parameters
548
Modbus Communication
588
Communication Interface (Hardware)
589
Communication Parameter Settings
590
Modbus Communication Protocol
590
Writing and Reading Communication Parameters
600
Communication Specification
601
Absolute System
604
Battery Box and Absolute Encoder Cable
606
Battery Specifications
606
Battery Box Dimensions
608
Connection Cable for the Absolute Encoder
609
Battery Box Cable
613
Installation
614
Installing the Battery Box in the Servo System
614
Installing and Replacing a Battery
616
System Initialization and Operating Procedures
618
System Initialization
618
Pulse Number
619
PUU Number
620
Establish the Absolute Origin Position
621
Establishing the Absolute Origin Position with DI/DO
621
Establishing the Absolute Origin Position with Parameters
622
Establishing the Absolute Origin Position with the PR Homing Function
622
Reading the Absolute Position
622
Establishing the Absolute Origin Position with DI/DO
622
Reading the Absolute Position with Communication
626
Parameters, DI/DO, and Alarms Related to Absolute Function
627
Canopen Mode
630
Basic Configuration
631
Supported Functions
631
Hardware Configuration
632
Parameter Settings of Canopen Mode
633
Communication Specification
634
Servo Communication Architecture
634
Communication Objects
635
Process Data Object (PDO)
636
Service Data Object (SDO)
637
SDO Abort Codes
640
Synchronization Object (SYNC)
641
Emergency Object (EMCY)
642
NMT Services
643
Canopen Operation Modes
646
Profile Position Mode
646
Interpolation Position Mode
652
Homing Mode
654
Profile Velocity Mode
656
Profile Torque Mode
658
Object Dictionary
660
Specifications for Objects
660
List of Objects
661
Details of Objects
663
OD 1Xxxh Communication Object Group
663
OD 2Xxxh Servo Parameter Group
682
OD 6Xxxh Communication Object Group
683
Diagnostics and Troubleshooting
725
Ethercat Mode
726
Basic Configuration
728
Hardware Configuration
728
ESI File Import
731
Parameter Settings of Ethercat Mode
732
Communication Function
736
Specifications
736
Synchronization Mode
738
Synchronization Modes of the Servo Drive
738
Select Synchronization Mode
739
Distributed Clocks Setting
739
Ethercat State Machine
740
PDO Mapping Configuration
742
Default PDO Mapping Configuration
742
Set PDO Mapping
744
PDO Mapping Object
745
SDO Abort Codes
746
Ethercat Operation Modes
747
Profile Position Mode
747
Profile Velocity Mode
752
Profile Torque Mode
754
Homing Mode
756
Cyclic Synchronous Position Mode
758
Cyclic Synchronous Velocity Mode
760
Cyclic Synchronous Torque Mode
762
Touch Probe Function and Touch Probe Status
764
Object Dictionary
769
Specifications for Objects
769
List of Objects
770
Details of Objects
772
OD 1Xxxh Communication Object Group
772
OD 2Xxxh Servo Parameter Group
778
OD 6Xxxh Communication Object Group
779
Diagnostics and Troubleshooting
819
Ethercat Diagnosis
819
Alarm List
820
Troubleshooting
824
Alarm List
826
General Type
826
Motion Control Type
828
STO Type
828
Communication Type
829
Causes and Corrective Actions
830
Appendix
882
ASDA-B3 Series Servo Drive
882
Series
882
Motor Frame Size: 180 MM
882
Motor Frame Size: 80 MM and below
882
Motor Frame Size: 100 MM
882
Motor Frame Size: 130 MM
882
Overload Features
882
Motor Frame Size: 130 MM
883
Motor Frame Size: 180 MM
883
Series
883
Motor Frame Size: 80 MM and below
883
Motor Frame Size: 100 MM
883
ECM-A3L Low Inertia Series Servo Motor
883
ECM-A3H High Inertia Series Servo Motor
934
Torque Features (T-N Curves) of the A3 Motors
936
Dimensions of ECM-A3L / A3H Series Servo Motor
939
Power Connector
940
F40 - F80 Motors
940
F100 - F130 Motors
940
F180 4.5 Kw (or Below) Motors
944
F180 5.5 Kw (or Above) Motors
945
Brake Connector for B3 F100 - F180 Motors
946
Power Cable
947
F40 - F80 Motors
947
F100 - F130 Motors
950
F180 4.5 Kw (or Below) Motors
952
F180 5.5 Kw (or Above) Motors
954
Brake Cable for B3 F100 - F180 Motors
956
Encoder Connector
957
F40 - F80 Motors
957
F100 - F180 Motors
958
Encoder Cable (Incremental Type
959
F40 - F80 Motors
959
F100 - F180 Motors
960
Encoder Cable (Absolute Type
961
F40 - F80 Motors
961
F100 - F180 Motors
962
Battery Box Cable
963
Battery Box (Absolute Type
964
CN1 Connector
965
CN1 Quick Connector
966
CN1 Terminal Block Module
967
Canopen Communication Cable
969
Canopen Distribution Box
969
Ferrite Ring
970
B3 / B2 Conversion Cable
970
CN3 RS-485 Splitter
971
CN3 RS-485 / Canopen Terminal Resistor
971
CN4 Mini USB Communication Module
972
Optional Accessories
973
Models
973
F40 - F80 Motors
973
F100 - F130 Motors
974
F180 Motors
975
Models
976
F40 - F80 Motors
976
F100 - F130 Motors
977
F180 4.5 Kw (or Below) Motors
978
F180 5.5 Kw (or Above) Motors
979

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Delta ASDA-B3 Series User Manual

Delta ASDA-B3 Series User Manual (815 pages)

Brand: Delta | Category: Servo Drives | Size: 22.03 MB

Table of Contents

Table of Contents
6
Product Overview

17
- Components of the Servo Set
  17
- Model Overview
  18
  - Nameplate Information
    18
  - Model Explanation
    20
- ASDA-B3 Servo Drive and Motor
  26
- Description of the Drive Interface
  27
  - B3□-L Models
    27
  - B3□-M / B3□-F Models
    28
  - B3□-E Models
    29
Installation

30
Trial Operation and Panel Display

139
- Panel Description
  139
- Parameter Setting Procedure
  140
- Status Display
  143
  - Save the Setting Display
    143
  - Display the Decimal Point
    143
  - Alarm Messages
    144
  - Positive and Negative Sign Setting
    144
  - Monitoring Display
    144
- General Functions
  147
  - Operation of Fault Record Display
    147
  - Force DO on
    148
  - Digital Input Diagnosis Operation
    149
  - Digital Output Diagnosis Operation
    149
- Testing
  150
  - Testing Without Load
    150
  - Apply Power to B3 Servo Drive
    151
  - JOG Trial Run Without Load
    155
  - Trial Run Without Load (Speed Mode)
    157
  - Trial Run Without Load (Position Mode)
    159
Tuning

162
- Tuning Procedure and the Applied Mode
  163
  - Flowchart of the Tuning Procedure
    163
  - Differences between Gain Adjustment Modes
    164
- Auto Tuning
  165
  - Flowchart of Auto Tuning
    166
  - Auto Tuning
    166
  - Auto Tuning with the Drive Panel
    167
  - Auto Tuning with ASDA-Soft (Software)
    168
  - Alarms Related to Auto Tuning
    175
- Gain Adjustment Modes
  176
  - Flowchart of Gain Adjustment Mode
    176
  - Gain Adjustment Mode 1
    177
  - Gain Adjustment Mode 2
    177
  - Gain Adjustment Mode 3
    178
  - Setting the Bandwidth Response Level (Stiffness)
    179
  - Setting the Command Response Gain (Response)
    180
- Tuning in Manual Mode
  181
- Mechanical Resonance Suppression
  183
Operation Mode

184
- Selecting the Operation Mode
  186
- Position Mode
  186
  - Position Command in PT Mode
    188
  - Position Command in PR Mode
    188
  - Position Mode
    188
  - Control Structure of Position Mode
    189
  - S-Curve Filter for Position Commands
    190
  - Electronic Gear Ratio (E-Gear Ratio)
    192
  - Low-Pass Filter
    193
  - Timing Diagram of PR Mode
    193
  - Gain Adjustment of the Position Loop
    194
  - Low-Frequency Vibration Suppression in Position Mode
    195
- Speed Mode
  198
  - Selecting the Speed Command Source
    198
  - Control Structure of Speed Mode
    199
  - Smooth Speed Command
    200
  - Scaling of the Analog Command
    202
  - Timing Diagram of Speed Mode
    203
  - Gain Adjustment of the Speed Loop
    204
  - Resonance Suppression Unit
    206
- Torque Mode
  209
  - Selecting the Torque Command Source
    209
  - Control Structure of Torque Mode
    210
  - Smooth Torque Command
    211
  - Scaling of the Analog Command
    211
  - Timing Diagram of Torque Mode
    212
- Dual Mode
  213
  - Speed / Position Dual Mode
    214
  - Speed / Torque Dual Mode
    215
  - Torque / Position Dual Mode
    216
- Others
  217
  - Applying the Speed Limit
    217
  - Applying the Torque Limit
    217
  - Analog Monitoring
    218
Motion Control

220
- PR Mode Description
  221
  - Shared PR Parameters
    223
  - Monitoring Variables of PR Mode
    225
  - Motion Control Commands
    228
    
    Homing Methods
    228
    
    Speed Command
    241
    
    Position Command
    243
    
    Jump Command
    247
    
    Write Command
    249
    
    Index Position Command
    251
  - Overview of the PR Procedure
    255
  - Trigger Methods for the PR Command
    261
  - PR Procedure Execution Flow
    265
- Application of Motion Control
  277
  - Data Array
    277
  - High-Speed Position Capture Function (Capture)
    281
Parameters

287
- Parameter Definitions
  287
- List of Parameters
  288
- Parameter Descriptions
  298
  - P0.XXX Monitoring Parameters
    298
  - P3.XXX Communication Parameters
    378
  - P4.XXX Diagnosis Parameters
    385
  - P5.XXX Motion Control Parameters
    392
  - P6.XXX PR Parameters
    416
  - P7.XXX PR Parameters
    440
MODBUS Communication

478
Absolute System

494
Canopen Mode

516
- Basic Configuration
  517
  - Supported Functions
    517
  - Hardware Configuration
    518
  - Parameter Settings of Canopen Mode
    519
- Communication Specification
  520
  - Servo Communication Architecture
    520
  - Communication Objects
    521
    
    Process Data Object (PDO)
    522
    
    SDO Abort Codes
    526
    
    Synchronization Object (SYNC)
    527
    
    Emergency Object (EMCY)
    528
    
    NMT Services
    529
- Canopen Operation Mode
  532
  - Profile Position Mode
    532
  - Interpolation Position Mode
    536
  - Homing Mode
    539
  - Profile Velocity Mode
    541
  - Profile Torque Mode
    543
- Object Dictionary
  545
  - Specifications for Objects
    545
  - List of Objects
    546
  - Details of Objects
    548
    
    OD 1Xxxh Communication Object Group
    548
    
    OD 2Xxxh Servo Parameter Group
    564
    
    OD 6Xxxh Communication Object Group
    565
- Diagnostics and Troubleshooting
  597
Ethercat Mode

598
- Basic Configuration
  600
  - Hardware Configuration
    600
  - ESI File Import
    604
  - Parameter Settings of Ethercat Mode
    605
- Communication Function
  609
  - Specifications
    609
  - DC-Synchronous Mode
    611
    
    Synchronization Modes of the Servo Drive
    611
    
    Select Synchronization Mode
    612
    
    Synchronous Clock Setting
    613
  - Ethercat State Machine
    614
  - PDO Mapping Configuration
    616
    
    Default PDO Mapping Configuration
    616
    
    Set PDO Mapping
    618
    
    PDO Mapping Object
    619
    
    SDO Abort Codes
    620
- Ethercat Operation Mode
  621
  - Profile Position Mode
    621
  - Profile Velocity Mode
    626
  - Profile Torque Mode
    628
  - Homing Mode
    630
  - Cyclic Synchronous Position Mode
    632
  - Cyclic Synchronous Velocity Mode
    634
  - Cyclic Synchronous Torque Mode
    636
  - Touch Probe Function (Position Capture Function and Position Capture Status)
    638
- Object Dictionary
  643
  - Specifications for Objects
    643
  - List of Objects
    644
  - Details of Objects
    646
    
    OD 1Xxxh Communication Object Group
    646
    
    OD 2Xxxh Servo Parameter Group
    652
    
    OD 6Xxxh Communication Object Group
    653
- Diagnostics and Troubleshooting
  689
  - Ethercat Diagnostic System
    689
  - Alarm List
    690
Troubleshooting

694
- Alarm List
  696
  - General Type
    696
  - Motion Control Type
    699
  - STO Type
    699
  - Communication Type
    700
- Causes and Corrective Actions
  701
Appendix

748
Appendix Specifications

748
- ASDA-B3 Series Servo Drive
  749
  - Specifications of the ASDA-B3 Servo Drive
    749
  - Dimensions of the Servo Drive
    752
- ECM Series Servo Motor
  754
Accessories

779
- Power Connector
  779
- Power Cable
  781
- Encoder Connector
  785
- Encoder Cable (Incremental Type
  786
- Encoder Cable (Absolute Type
  788
- Battery Box Cable
  790
- Battery Box (Absolute Type
  791
- CN1 Connector
  792
- CN1 Quick Connector
  793
- Terminal Block Module
  794
- B3 / B2 Conversion Cables
  796
- CN3 RS-485 Tap
  796
- CN3 RS-485 / Canopen Terminal Resistor
  797
- CN6 DMCNET Terminal Resistor
  797
- CN4 Mini USB Communication Module
  798
- Canopen Communication Cable
  800
- Canopen Distribution Box
  800
- Optional Accessories
  801

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