Delta Series Manuals

Manuals and User Guides for Delta Series. We have 3 Delta Series manuals available for free PDF download: User Manual, Installation Instructions Manual, Installation Manual

Delta Series User Manual (783 pages)

AC Servo Drive for Network Communication Applications

Brand: Delta | Category: Servo Drives | Size: 22.55 MB

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

Delta Series Installation Instructions Manual (66 pages)

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