Delta Electronics ASD-B0121-A Manuals

Manuals and User Guides for Delta Electronics ASD-B0121-A. We have 1 Delta Electronics ASD-B0121-A manual available for free PDF download: User Manual

Delta Electronics ASD-B0121-A User Manual (322 pages)

ASDA-B Series Standard AC Servo Drive for General Purpose Applications

Brand: Delta Electronics | Category: DC Drives | Size: 7.98 MB

Installation
4
Operation
4
Unpacking Check
4
Wiring
4
Main Circuit Terminal Wiring
5
Table of Contents
6
Technical Support and Service
12
User Information
12
Chapter 1 Unpacking Check and Model Explanation

14
- Unpacking Check
  14
- Delta AC Servo Drive and Motor
  15
- Model Explanation
  16
  - Nameplate Information
    16
  - Serial Number Explanation
    16
  - Model Name Explanation
    17
  - ECMA Series Servo Motor
    18
- Servo Drive and Servo Motor Combinations
  19
- Servo Drive Features
  20
- Control Modes of Servo Drive
  21
- Installation Notes
  22
- Storage Conditions
  22
Chapter 2 Installation and Storage

22
- Installation Conditions
  23
- Installation Procedure and Minimum Clearances
  24
  - Drive Mounting
    24
  - Minimum Clearances
    24
  - Motor Mounting
    24
  - Side by Side Installation
    25
  - Connecting to Peripheral Devices
    26
  - Connections and Wiring
    26
Chapter 3 Connections and Wiring

26
Chapter 4 Display and Operation

56
- Display Flowchart
  58
- Status Display
  63
  - Save Setting Display
    63
  - Abort Setting Display
    63
  - Fault Message Display
    63
  - Monitor Setting Display
    64
- Fault Code Display Operation
  66
  - Fault Code History
    66
  - Current Display Fault Code History
    66
- JOG Operation
  67
- DO Force Output Diagnosis Operation
  69
- DI Diagnosis Operation
  70
- DO Diagnosis Operation
  70
- Parameters Read and Write
  71
- Description of Digital Keypad ASD-PU-01B
  73
- Display Flowchart
  74
  - SAVE Mode
    76
  - WRITE Mode
    78
  - Fast Edit Mode
    80
  - Dynamic Auto-Tuning Mode
    81
  - Static Auto-Tuning Mode
    82
  - Polarity Setting Display
    83
- Status Display
  83
- Fault Code Display Operation
  86
- JOG Operation
  86
- DO Force Output Diagnosis Operation
  88
- DI Diagnosis Operation
  89
- DO Diagnosis Operation
  90
- Parameters Read and Write
  91
- Inspection Without Load
  94
Chapter 5 Trial Run and Tuning Procedure

94
- Applying Power to the Drive
  96
  - Main Circuit Wiring
    96
  - Turn the Power on
    96
  - Over Voltage
    96
  - Encoder Error
    97
  - Emergency Stop Activated
    97
  - Reverse Limit Switch Error
    97
  - Forward Limit Switch Error
    98
  - Overcurrent
    98
  - Undervoltage
    98
  - Magnetic Field Error
    99
  - Input Power Phase Loss
    99
- JOG Trial Run Without Load
  100
  - ASD-PU-01A Tuning Flowchart
    100
  - ASD-PU-01B Tuning Flowchart
    101
- Speed Trial Run Without Load
  102
- Tuning Procedure
  104
- Control Modes of Operation
  116
Chapter 6 Control Modes of Operation

116
- Command Source of Position Control Mode
  117
- External Pulse Input Type
  117
- Structure of Position Control Mode
  118
- Pulse Inhibit Input Function (INHP)
  119
- Electronic Gear Ratio
  119
- Low-Pass Filter
  121
- Position Loop Gain Adjustment
  121
  - Proportional Position Loop Gain
    122
  - Position Loop Gain Switching Rate
    122
  - Position Feed Forward Gain
    122
  - Position Control Block Diagram
    123
- Command Source of Speed Control Mode
  124
- Structure of Speed Control Mode
  125
- Speed Control Block Diagram
  125
- Smoothing Strategy of Speed Control Mode
  126
  - S-Curve Filter
    126
  - Acceleration Time
    126
  - S-Curve Characteristics and Time Relationship
    126
  - Deceleration Time
    127
  - Accel /Decel S-Curve
    127
  - Analog Speed Command S-Curve Filter
    128
- Analog Speed Input Scaling
  129
- Max. Analog Speed Command or Limit
  129
- Timing Chart of Speed Control Mode
  130
- Speed Loop Gain Adjustment
  130
  - PI Structure (P2-32)
    131
  - PDFF Structure (P2-32)
    132
  - Tuning Mode Selection
    132
  - Explanation of Auto-Tuning
    133
  - Manual Mode
    133
  - Ratio of Load Inertia to Servo Motor Inertia
    134
  - Proportional Speed Loop Gain
    134
  - Speed Integral Compensation
    134
  - Speed Feed Forward Gain
    135
  - Time Domain
    136
  - Auto Mode (Continuous Adjustment))
    137
  - Auto Mode (the Ratio of Load Inertia to Servo Motor Inertia Is Fixed)
    137
- Resonance Suppression
  138
- Command Source of Torque Control Mode
  140
- Torque Command Sources
  140
- Structure of Torque Control Mode
  141
- Torque Control Block Diagram
  141
- Smoothing Strategy of Torque Control Mode
  142
- Smooth Constant of Analog Torque Command
  142
- Analog Torque Input Scaling
  142
- Max. Analog Torque Command or Limit
  143
- Timing Chart of Speed Control Mode
  143
- Control Modes Selection
  144
- Others
  146
  - Speed Limit
    146
  - Torque Limit
    146
  - Regenerative Resistor
    147
    
    Built-In Regenerative Resistor
    147
    
    Built-In Regenerative Resistor Specifications
    147
    
    External Regenerative Resistor
    148
    
    Regenerative Power Calculation Method
    148
    
    Simple Calculation Method
    150
  - Electromagnetic Brake
    151
- Definition
  154
Chapter 7 Servo Parameters

154
- Monitor Parameters
  155
- Parameters List by Group
  155
  - Parameters Summary
    155
  - Basic Parameters
    156
  - Extension Parameters
    158
  - Diagnosis Parameters
    161
  - Keypad Parameters
    162
  - Monitor and General Use
    163
- Parameters List by Function
  163
  - Smooth Filter and Resonance Suppression
    163
  - Gain and Switch
    164
  - Position Control
    165
- Detailed Parameter Listings
  172
  - Drive Fault Code
    172
  - Firmware Version
    172
  - Drive Status
    174
  - Reserved
    174
  - Status Monitor 1
    174
  - Servo Output Status Display
    175
  - Status Monitor 2
    175
  - Status Monitor 3
    175
  - Control Mode and Output Direction
    178
  - Speed and Torque Limit
    178
  - Disable / Enable Speed Limit Function Setting
    179
  - Pulse Output Polarity Setting
    180
  - 1St Speed Command or Limit
    181
  - 2Nd Speed Command or Limit
    181
  - 3Rd Speed Command or Limit
    181
  - 1St Torque Command or Limit
    182
  - 2Nd Torque Command or Limit
    182
  - 3Rd Torque Command or Limit
    182
  - Motor Stop Mode Selection
    184
  - Target Rotation Speed
    186
  - Zero Speed Range Setting
    186
  - OFF Delay Time of Electromagnetic Brake
    188
  - Encoder Output Pulse Number
    190
  - Regenerative Resistor Capacity
    190
  - Regenerative Resistor Value
    190
  - Maximum Speed Limit
    191
  - Positioning Completed Width
    191
  - Smooth Constant of Position Feed Forward Gain Communication
    193
  - Speed Loop Gain Switching Rate
    193
  - Bounce Filter
    195
  - Digital Input Terminal 1 (DI1)
    195
  - Digital Input Terminal 2 (DI2)
    196
  - Digital Input Terminal 3 (DI3)
    196
  - Digital Input Terminal 5 (DI5)
    196
  - Digital Input Terminal 6 (DI6)
    197
  - Digital Output Terminal 1 (DO1)
    197
  - Digital Output Terminal 2 (DO2)
    198
  - Digital Output Terminal 3 (DO3)
    198
  - Gain Switching Control Selection
    200
  - Gain Switching Time Constant
    200
  - Auto Stiffness and Responsiveness Level
    201
  - Auxiliary Function
    201
  - Gain Switching Condition
    201
  - Excessive Error Warning Condition
    203
  - Overspeed Warning Condition
    203
  - Output Overload Warning Level
    204
  - Overload Protection Level
    204
  - Special Function
    205
  - Auto-Tuning Start Function
    206
  - Motor Rotation Frequency
    206
  - Motor Rotation Number
    206
  - Motor Rotation Time
    206
  - Pulse Deviation Clear Mode
    207
  - Speed Detection Filter and Jitter Suppression
    208
  - Communication Address Setting
    209
  - Transmission Speed
    209
  - Communication Protocol
    210
  - Communication Time out Detection
    210
  - Transmission Fault Treatment
    210
  - Communication Response Delay Time
    211
  - Digital Input Communication Function
    211
  - Fault Record (N)
    212
  - Fault Record (N-1)
    212
  - Fault Record (N-2)
    212
  - Fault Record (N-3)
    212
  - Force Output Control
    213
  - Input Status or Force Input Control
    214
  - Output Status Display
    214
  - Adjustment Function
    215
  - Analog Speed Input Drift Adjustment 1
    216
  - Analog Speed Input Drift Adjustment 2
    216
  - Analog Torque Drift Adjustment 1
    216
  - Current Detector Drift Adjustment (V1 Phase)
    217
  - Current Detector Drift Adjustment (V2 Phase)
    217
  - Current Detector Drift Adjustment (W1 Phase)
    218
  - Current Detector Drift Adjustment (W2 Phase)
    218
  - IGBT NTC Calibration
    218
  - Analog Speed Input Offset
    219
  - Analog Torque Input Offset
    219
  - Keypad Communication and Reset Setting
    221
  - Keypad Firmware Version
    221
  - Communication Address Setting (Drive)
    222
  - Transmission Speed (Keypad)
    222
  - Communication Protocol (Keypad)
    223
  - Communication Selection (Keypad)
    223
  - Keypad Hardware Testing
    223
  - LCD Backlight Display
    224
  - Memory Block Clear
    224
  - Memory Block Position Number (Romx)
    225
  - Status of Memory Block (Romx)
    225
  - Firmware Version of Memory Block (Romx)
    226
  - Input Function Definition
    227
  - DI Function Description
    228
  - Speed Command Number: S3
    230
  - Speed Command Number: S4
    230
  - Speed / Position Mode Switching
    231
  - Cable Connection
    236
- Communication Hardware Interface
  236
Chapter 8 MODBUS Communications

236
- Communication Parameter Settings
  239
  - Watch Dog Timer
    240
  - Digital Input Contact Control
    240
- MODBUS Communication Protocol
  243
  - Code Description
    243
  - ASCII Mode
    243
  - Data Format
    243
  - 11-Bit Character Frame (for 8-Bit Character)
    244
  - RTU Mode
    244
- Basic Inspection
  252
Chapter 9 Maintenance and Inspection

252
- Maintenance
  253
- Life of Replacement Components
  253
  - Smooth Capacitor
    253
  - Relay
    253
  - Cooling Fan
    254
  - Servo Drive Fault Messages
    256
- Fault Messages Table
  256
Chapter 10 Troubleshooting

256
- Keypad Fault Messages
  257
- Potential Cause and Corrective Actions
  258
  - When SERVO OFF, but the Power Is on
    258
  - Abnormal Pulse Control Command
    261
  - Serial Communication Error
    261
  - When the Motor Is Running
    261
  - IGBT Temperature Error
    263
  - Motor Type Error
    263
  - Serial Communication Time out
    263
  - LCM Hardware Error
    264
  - LED Hardware Error
    264
  - RAM Hardware Error
    264
  - COMM Hardware Error
    265
  - Communication Receive Error
    265
  - Communication Receive Time out
    265
  - Initial Setup Error
    265
  - ALE 43 : Error Communication Response Address
    266
  - ALE 44 : Error Communication Response Command
    266
  - ALE 45 : Communication Parameter Address Error
    266
  - ALE 47 : Drive Specification Error
    266
  - Clearing Servo Drive Faults
    267
- Specifications of Servo Drive (ASDA-B Series)
  268
Chapter 11 Specifications

268
Chapter 12 Application Examples

290
- PLC Program
  291
- ASDA-B Series Servo Drive
  294
- Connections between DVP-EH Series PLC and ASDA-B Series Servo Drive
  295
- Hmi Dop-A Hmi
  296
- Program Screen (Homing Operation)
  296
- Application Example: Homing Operation
  301
- Connecting to DVP-EH PLC and Delta TP04 Series
  301
  - Communication Settings
    303
  - Connecting to Delta DVP-EH PLC
    304
- External Controller Connection Examples
  304
  - Connecting to Delta DVP-01PU
    305
  - Connecting to Mitsubishi FX1PG
    306
  - Connecting to Mitsubishi FX2N1PG
    307
  - Connecting to Mitsubishi AD75
    308
  - Delta Part Number: ASDBCAPW0000
    310
  - Power Connectors
    310
Appendix A Accessories

310

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Delta Electronics ASD-B0121-A Manuals

Delta Electronics ASD-B0121-A User Manual (322 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 Servo Parameters

Chapter 8 MODBUS Communications

Chapter 9 Maintenance and Inspection

Chapter 10 Troubleshooting

Chapter 11 Specifications

Chapter 12 Application Examples

Appendix A Accessories

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