Page 2: Revision June
Thank you very much for purchasing DELTA’s AC servo products. This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and motor. Before using the product, please read this user manual to ensure correct use.
Page 3 Carefully note and observe the following safety precautions when receiving, inspecting, installing, operating, maintaining and troubleshooting. The following words, DANGER, WARNING and STOP are used to mark safety precautions when using the Delta’s servo product. Failure to observe these precautions may void the warranty!
Page 4 Preface Unpacking Check Please ensure that both the servo drive and motor are correctly matched for size (power rating). Failure to observe this precaution may cause fire, seriously damage to the drive / motor or cause personal injury. Installation Do not install the product in a location that is outside the stated specification for the drive and motor.
Page 5 (imperial units) are for reference only. Please use metric units for precise measurements. 2) The content of this manual may be revised without prior notice. Please consult our distributors or download the most updated version at http://www.delta.com.tw/industrialautomation. Revision June 2010...
Page 6: Table Of Contents
Table of Contents Chapter 1 Unpacking Check and Model Explanation..........1-1 1.1 Unpacking Check ....................1-1 1.2 Model Explanation ....................1-2 1.2.1 Nameplate Information ................1-2 1.2.2 Model Name Explanation ................1-3 1.3 Servo Drive and Servo Motor Combinations ............1-5 1.4 Servo Drive Features ...................
Page 7: Table Of Contents
Table of Contents 3.1.4 Motor Power Cable Connector Specifications ..........3-7 3.1.5 Encoder Connector Specifications .............. 3-9 3.1.6 Cable Specifications for Servo Drive ............3-10 3.2 Basic Wiring ......................3-12 3.3 Input / Output Interface Connector - CN1 ............3-16 3.3.1 CN1 Terminal Identification ...............
Page 8: Table Of Contents
Table of Contents 4.3.3 Fault Message Display ................4-3 4.3.4 Polarity Setting Display ................4-3 4.3.5 Monitor Setting Display ................4-4 4.4 General Function Operation ................4-7 4.4.1 Fault Code Display Operation ..............4-7 4.4.2 JOG Operation ................... 4-8 4.4.3 Force Output Control Operation ..............
Page 9: Table Of Contents
Table of Contents Chapter 6 Control Modes of Operation ..............6-1 6.1 Control Modes of Operation................6-1 6.2 Position Control Mode ..................6-2 6.2.1 Command Source of Position (PT) Control Mode ........6-2 6.2.2 Structure of Position Control Mode ............6-4 6.2.3 Electronic Gear Ratio..................
Page 10: Table Of Contents
Table of Contents 6.5.1 Speed / Position Control Mode Selection............ 6-36 6.5.2 Speed / Torque Control Mode Selection............. 6-37 6.5.3 Torque / Position Control Mode Selection..........6-37 6.6 Others ........................ 6-38 6.6.1 Speed Limit....................6-38 6.6.2 Torque Limit....................6-38 6.6.3 Analog Monitor..................
Page 11: Table Of Contents
Table of Contents 10.2 Potential Cause and Corrective Actions ............. 10-3 10.3 Clearing Faults....................10-11 Chapter 11 Specifications..................11-1 11.1 Specifications of Servo Drive (ASDA-B2 Series)........... 11-1 11.2 Specifications of Servo Motor (ECMA Series) ............11-3 11.3 Servo Motor Speed-Torque Curves ..............11-8 11.4 Overload Characteristics ...................
Page 12 Due to constantly growing product range, technical improvement, alteration or changed texts, figures and diagrams, we reserve the right to make information changes within this manual without prior notice. Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited. Technical Support and Service You are welcome to contact our Technical Support Team at the below numbers or visit our web site (http://www.delta.com.tw/industrialautomation/) if you need technical support,...
Page 13 Table of Contents This page intentionally left blank. Revision June 2010...
Page 14: Chapter 1 Unpacking Check And Model Explanation
Ensure that all necessary screws are tight and secure. If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or your local Delta sales representative. A complete and workable AC servo system should include the following parts:...
Page 15: Model Explanation
Chapter 1 Unpacking Check and Model Explanation One encoder cable, which is used to connect the encoder of servo motor to the CN2 terminal of servo drive. CN1 Connector: 4 PIN Connector (3M type analog product) CN2 Connector: 9 PIN Connector (3M type analog product) CN3 Connector: 6 PIN Connector (IEEE1394 analog product) 1.2 Model Explanation 1.2.1 Nameplate Information...
Page 16: Model Name Explanation
Chapter 1 Unpacking Check and Model Explanation 1.2.2 Model Name Explanation ASDA-B2 Series Servo Drive Revision June 2010...
Page 17 Chapter 1 Unpacking Check and Model Explanation ECMA Series Servo Motor Revision June 2010...
Page 18: Servo Drive And Servo Motor Combinations
Chapter 1 Unpacking Check and Model Explanation 1.3 Servo Drive and Servo Motor Combinations The table below shows the possible combination of Delta ASDA-B2 series servo drives and ECMA series servo motors. The boxes ( ) in the model names are for optional configurations.
Page 19: Servo Drive Features
Chapter 1 Unpacking Check and Model Explanation 1.4 Servo Drive Features Revision June 2010...
Page 20: Control Modes Of Servo Drive
Chapter 1 Unpacking Check and Model Explanation 1.5 Control Modes of Servo Drive The Delta Servo provides six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code Description External Position control mode for the servo motor External Position Control is achieved via an external pulse command.
Page 21 Chapter 1 Unpacking Check and Model Explanation This page intentionally left blank. Revision June 2010...
Page 22: Chapter 2 Installation And Storage
Chapter 2 Installation and Storage 2.1 Installation Notes Please pay close attention to the following installation notes: Do not bend or strain the connection cables between servo drive and motor. When mounting the servo drive, make sure to tighten all screws to secure the drive in place.
Page 23: Installation Conditions
Chapter 2 Installation and Storage 2.3 Installation Conditions Operating Temperature ASDA-B2 Series Servo Drive : 0°C to 55°C (32°F to 131°F) ECMA Series Servo Motor 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive should be under 45°C (113°F) for long-term reliability.
Page 24: Installation Procedure And Minimum Clearances
Chapter 2 Installation and Storage Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual when installing the servo drive and motor. The ASDA-B2 servo drives should be mounted perpendicular to the wall or in the control panel.
Page 25 Chapter 2 Installation and Storage Minimum Clearances Side by Side Installation Revision June 2010...
Page 26: Molded-Case Circuit Breaker And Fuse Current Recommended Value
Caution: Please use molded-case circuit breaker and fuse which are recognized by and comply with the UL or CSA standards. Servo Drive Model Recommended Breaker Recommended Fuse (Class T) Operation Mode General General ASD-B2-0121-B ASD-B2-0221-B ASD-B2-0421-B ASD-B2-0721-B ASD-B2-1021-B ASD-B2-1521-B ASD-B2-2023-B ASD-B2-3023-B...
Page 27: Emi Filter Selection
By using an EMI filter with correct installation, much of the interference can be eliminated. It is recommended to use Delta’s EMI filter to have the best interference elimination performance.
Page 28 Chapter 2 Installation and Storage Choose Suitable Motor Cable and Precautions Improper installation and choice of motor cable will affect the performance of EMI filter. Be sure to observe the following precautions when selecting motor cable. Use the cable with shielding (double shielding is the best). The shielding on both ends of the motor cable should be grounded with the minimum length and maximum contact area.
Page 29 Chapter 2 Installation and Storage Dimensions Delta Part Number: 08TDT1W4S Delta Part Number: 20TDT1W4D Revision June 2010...
Page 30: Regenerative Resistor
Chapter 2 Installation and Storage Regenerative Resistor Built-in Regenerative Resistor When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that there is a regenerative power returned from the load to the servo drive. This power will be transmitted into the capacitance of DC Bus and result in rising voltage.
Page 31 Chapter 2 Installation and Storage increase to 120°C or higher (on condition that when the regeneration continuously occurred). For safety reasons, forced air cooling is good way that can be used to reduce the temperature of the regenerative resistors. We also recommend the users to use the regenerative resistors with thermal switches.
Page 32 Chapter 2 Installation and Storage Regenerative power Max. regenerative Rotor Inertia Servo Drive from empty load power of Servo Motor (kW) 3000r/min to stop capacitance J (× 10 kg.m Eo (joule) Ec(joule) 0.4 ECMA-G21303 8.17 40.40 High 0.75 ECMA-G21306 8.41 41.59 Inertia 1.0 ECMA-G21309...
Page 33 Chapter 2 Installation and Storage (2) With Load When there is an external load torque, servo motor is in reverse rotation when external load greater than motor torque. Servo motor is usually in forward rotation and the motor torque output direction is the same as the rotation direction. However, there is still some special condition.
Page 34 Chapter 2 Installation and Storage Simple Calculation Method The users can select the adequate regenerative resistors according to the allowable frequency required by actual operation and the allowable frequency when the servo motor runs without load. The allowable frequency when the servo motor run without load is the maximum frequency that can be operated during continuous operation when servo motor accelerate from 0r/min to rated speed and decelerate from rated speed down to 0r/min.
Page 35 Allowable Frequencies for Servo Motor Running Without Load (times/min) When Using External Regenerative Resistor ECMA Motor Capacity 400W 400W 100W 200W 750W 1.0kW 2.0kW Delta External (F60) (F80) Regenerative Resistor BR400W040 (400W 40Ω) 8608 3506 2110 BR1K0W020 (1kW 20Ω) 8765 5274...
Page 36 Chapter 2 Installation and Storage Dimensions Delta Part Number：BR400W040（400W 40Ω） MAX. WEIGHT(g) Delta Part Number：BR1K0W020（1kW 20Ω） MAX. WEIGHT(g) 2800 2-15 Revision June 2010...
Page 37 Chapter 2 Installation and Storage NOTE Regarding the selection of regenerative resistor, please refer to the table of regenerative resistor specifications described in Appendix A. 2-16 Revision June 2010...
Page 38: Chapter 3 Connections And Wiring
Chapter 3 Connections and Wiring This chapter provides information on wiring ASDA-B2 series products, the descriptions of I/O signals and gives typical examples of wiring diagrams. 3.1 Connections 3.1.1 Connecting to Peripheral Devices Revision June 2010...
Page 39: Servo Drive Connectors And Terminals
Chapter 3 Connections and Wiring 3.1.2 Servo Drive Connectors and Terminals Terminal Terminal Notes Identification Description Used to connect single-phase AC control circuit Control circuit power. (Control circuit uses the same voltage as the L1c, L2c terminal main circuit.) R, S, T Used to connect single-phase or three-phase AC Main circuit main circuit power depending on connecting servo...
Page 40 Chapter 3 Connections and Wiring Terminal Terminal Notes Identification Description Used to connect external controllers. Please refer to I/O connector section 3.3 for details. Used to connect encoder of servo motor. Please refer to section 3.4 for details. Terminal Wire Color PIN No.
Page 41 Chapter 3 Connections and Wiring Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor. Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, L1c, L2c, U, V, &...
Page 42: Wiring Methods
Chapter 3 Connections and Wiring 3.1.3 Wiring Methods For servo drives from 100W to 1.5kW the input power can be either single or three-phase. However, single -phase connections are for servo drives 1.5kW and below only. In the wiring diagram figures 3.2& 3.3: Power ON : contact “a”...
Page 43 Chapter 3 Connections and Wiring Figure 3.3 Three-Phase Power Supply (all models) Revision June 2010...
Page 44: Motor Power Cable Connector Specifications
Chapter 3 Connections and Wiring 3.1.4 Motor Power Cable Connector Specifications The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Terminal Motor Model Name U, V, W / Electromagnetic Brake Connector Identification ECMA-C20401 S (100W) ECMA-C20602 S (200W)
Page 45 Chapter 3 Connections and Wiring CASE GROUND BRAKE1 BRAKE2 Terminal Identification (Red) (White) (Black) (Green) (Blue) (Brown) NOTE 1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Blue) and BRAKE2 (Brown). 2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage. Revision June 2010...
Page 46: Encoder Connector Specifications
Chapter 3 Connections and Wiring 3.1.5 Encoder Connector Specifications The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Terminal Motor Model Name Encoder Connector Identification ECMA-C20401 S (100W) ECMA-C20602 S (200W) ECMA-C20604 S (400W) ECMA-CM0604PS (400W) ECMA-C20804 7 (400W)
Page 47: Cable Specifications For Servo Drive
Chapter 3 Connections and Wiring 3.1.6 Cable Specifications for Servo Drive The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Power Cable Power Cable - Wire Gauge AWG (mm Servo Drive and Servo Motor L1c, L2c R, S, T...
Page 48 Chapter 3 Connections and Wiring Encoder Cable Encoder Cable - Wire Gauge AWG (mm Servo Drive Standard Wire Wire Size Core Number UL Rating Length ASD-B2-0121- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-B2-0221- 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.) ASD-B2-0421-...
Page 49: Basic Wiring
Chapter 3 Connections and Wiring 3.2 Basic Wiring Figure 3.4 Basic Wiring Schematic of 400W and below models (without built-in regenerative resistor and cooling fan) 3-12 Revision June 2010...
Page 50 Chapter 3 Connections and Wiring Figure 3.5 Basic Wiring Schematic of 750W model (with built-in regenerative resistor but without cooling fan) 3-13 Revision June 2010...
Page 51 Chapter 3 Connections and Wiring Figure 3.6 Basic Wiring Schematic of 1kW~1.5kW models (with built-in regenerative resistor and cooling fan) 3-14 Revision June 2010...
Page 52 Chapter 3 Connections and Wiring Figure 3.7 Basic Wiring Schematic of 2kW~3kW models (with built-in regenerative resistor and cooling fan) 3-15 Revision June 2010...
Page 53: Input / Output Interface Connector - Cn1
Chapter 3 Connections and Wiring 3.3 Input / Output Interface Connector - CN1 The CN1 Interface Connector provides access to three signal groups: General interface for the analog speed and torque control, encoder reference signal from the motor, pulse / direction inputs, and reference voltages. 8 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-17 iii 5 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-22 A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B &...
Page 54 Chapter 3 Connections and Wiring CN1 Terminal Signal Identification DO6+ Digital output DO4+ Digital output DI7- Digital input +24V power output (for external I/O) DO3- Digital output DI6- Digital input Analog torque T_REF Input DO3+ Digital output DI5- Digital input Analog input signal ground DO2-...
Page 55: Signals Explanation Of Connector - Cn1
Chapter 3 Connections and Wiring 3.3.2 Signals Explanation of Connector CN1 Table 3.A General Signals Wiring Diagram Signal Pin No Details (Refer to 3-3-3) 1. Motor speed command: -10V to +10V, corresponds to -3000 ~ +3000 r/min speed command (Factory default setting). V_REF Analog 2.
Page 56 Chapter 3 Connections and Wiring Wiring Diagram Signal Pin No Details (Refer to 3-3-3) The polarity of VCC is with respect to Ground Power (GND). Signals Explanation of Connector CN5 Wiring Diagram Signal Pin No Details (Refer to 3-3-3) Monitor operation status: Motor characteristics such as speed and current can be represented by analog voltages.
Page 57 Chapter 3 Connections and Wiring Table 3.B DO Signals Pin No. Wiring Diagram Assigned (Default) Details Signal Control Mode (Refer to 3-3-3) SRDY is activated when the servo drive is ready to run. All fault and alarm SRDY conditions, if present, have been cleared.
Page 58 Chapter 3 Connections and Wiring Pin No. Wiring Diagram Assigned (Default) Details Signal Control Mode (Refer to 3-3-3) SDO_3 Output the status of bit03 of P4-06. SDO_4 Output the status of bit04 of P4-06. SDO_5 Output the status of bit05 of P4-06. SDO_6 Output the status of bit06 of P4-06.
Page 59 Chapter 3 Connections and Wiring Assigned Pin No. Wiring Diagram Control Details Signal (Default) (Refer to 3-3-3) Mode When this signal is On, the motor is in CMDINV T, S reverse rotation. ON indicates the torque limit command is TRQLM S, Sz valid.
Page 60 Chapter 3 Connections and Wiring Assigned Pin No. Wiring Diagram Control Details Signal (Default) (Refer to 3-3-3) Mode Pulses inhibit input. When the drive is in C9/C10 position mode, if INHP is activated, the INHP PT, PT-S external pulse input command is not C11/C12 valid.
Page 61 Chapter 3 Connections and Wiring Table 3.F Default DI signals and Control modes Signal Function PT-S PT-T Code Servo On ARST Reset Gain switching in GAINUP speed and position mode CCLR Pulse clear ZCLAMP Low speed CLAMP Command input CMDINV reverse control Reserved Reserved...
Page 62 Chapter 3 Connections and Wiring Signal Function PT-S PT-T Code Forward operation TRLM torque limit Reserved Reserved Reserved Reserved JOGU Forward JOG input JOGD Reverse JOG input Electronic gear ratio GNUM0 (Numerator) selection Electronic gear ratio GNUM1 (Numerator) selection INHP Pulse inhibit input NOTE 1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1.
Page 63 Chapter 3 Connections and Wiring Signal Function PT-S PT-T Code Speed reached SP_OK output Output the status of SDO_0 bit00 of P4-06. Output the status of SDO_1 bit01 of P4-06. Output the status of SDO_2 bit02 of P4-06. Output the status of SDO_3 bit03 of P4-06.
Page 64 Chapter 3 Connections and Wiring 3.3.3 Wiring Diagrams of I/O Signals (CN1) The valid voltage range of analog input command in speed and torque mode is -10V ~+10V. The command value can be set via relevant parameters. C1: Speed / Torque analog signal input C2: Analog monitor output (MON1, MON2) There are two kinds of pulse inputs, Line driver input and Open-collector input.
Page 65 Chapter 3 Connections and Wiring C4-1: Pulse input (Line driver) It requires 5V power supply only. Never apply a 24V power supply. C4-2: High-speed pulse input (Line driver). It requires 5V power supply only. Never apply a 24V power supply. Caution: Ensure that the ground terminal of the controller and the servo drive should be connected to each other.
Page 66 Chapter 3 Connections and Wiring Be sure to connect a diode when the drive is applied to inductive load. (Permissible current: 40mA, Instantaneous peak current: max. 100mA) C5: Wiring of DO signal, for the use of C6: Wiring of DO signal, for the use of internal power supply, general load internal power supply, inductive load C7: Wiring of DO signal, for the use of...
Page 67 Chapter 3 Connections and Wiring Use a relay or open-collector transistor to input signal. NPN transistor with multiple emitter fingers (SINK Mode) C9: Wiring of DI signal, for the use of C10: Wiring of DI signal, for the use of external internal power supply power supply PNP transistor with multiple emitter fingers (SOURCE Mode)
Page 68 Chapter 3 Connections and Wiring C13: Encoder output signal (Line driver) C14: Encoder output signal (Photocoupler) C15: Encoder OCZ output (Open-collector Z-pulse output) 3-31 Revision June 2010...
Page 69: User-Defined Di And Do Signals
Chapter 3 Connections and Wiring 3.3.4 User-defined DI and DO signals If the default DI and DO signals could not be able to fulfill users’ requirements, there are still user-defined DI and DO signals. The setting method is easy and they are all defined via parameters.
Page 70: Encoder Connector - Cn2
Chapter 3 Connections and Wiring 3.4 Encoder Connector CN2 Figure 3.9 The layout of CN2 Drive Connector Figure 3.10 The layout of CN2 Motor Connector Quick Connector Military Connector HOUSING: AMP (1-172161-9) 3106A-20-29S CN2 Terminal Signal Identification Drive Connector Motor Connector Terminal Military Quick...
Page 71: Serial Communication Connector - Cn3
The servo drive can be connected to a PC or controller via a serial communication connector. Users can operate the servo drive through PC software supplied by Delta (contact to the dealer). The communication connector/port of Delta servo drive can provide three common serial communication interfaces: RS-232, RS-485, and RS-422 connection.
Page 72: Connection Between Pc And Connector - Cn3
Chapter 3 Connections and Wiring 3.5.2 Connection between PC and Connector CN3 3-35 Revision June 2010...
Page 73: Standard Connection Example
Chapter 3 Connections and Wiring 3.6 Standard Connection Example Please note: *1 Please refer to C3 ~ C4 wiring diagrams in section 3.3.3 (on page 3-24 and 3-25). *2 Please refer to C3 ~ C4 wiring diagrams in section 3.3.3 (on page 3-24 and 3-25). *3 Please refer to C9 ~ C12 wiring diagrams (SINK / SOURCE mode) in section 3.3.3 (on page 3-27).
Page 74: Speed Control Mode
Chapter 3 Connections and Wiring 3.6.2 Speed Control Mode Please note: *1 Please refer to C9 ~ C12 wiring diagrams (SINK / SOURCE mode) in section 3.3.3 (on page 3-27). *2 400W and below drives do not provide built-in regenerative resistor. *3 The coil of brake has no polarity.
Page 75: Torque Control Mode
Chapter 3 Connections and Wiring 3.6.3 Torque Control Mode Please note: *1 Please refer to C9 ~ C12 wiring diagrams (SINK / SOURCE mode) in section 3.3.3 (on page 3-27). *2 400W and below drives do not provide built-in regenerative resistor. *3 The coil of brake has no polarity.
Page 76: Chapter 4 Display And Operation
Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers. 4.1 Description of the Digital Keypad The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of the digital keypad and an overview of their functions.
Page 77: Display Flowchart
Chapter 4 Display and Operation 4.2 Display Flowchart Figure 4.2 Keypad Operation When the power is applied to the AC servo drive, the LCD display will show the monitor function codes for approximately one second, then enter into the monitor mode. In monitor mode, pressing MODE key can enter into parameter mode.
Page 78: Status Display
Chapter 4 Display and Operation 4.3 Status Display 4.3.1 Save Setting Display After the SET key is pressed, LCD display will show the following display messages for approx. one second according to different status. Display Message Description The setting value is saved correctly. [Saved) This parameter is read only.
Page 79: Monitor Setting Display
Chapter 4 Display and Operation Display Message Description Negative value display. Continuously press SHIFT key for two seconds and then the positive(+) or negative(-) sign can be switched. When the setting value exceeds its setting range, the positive(+) and negative(-) sign can not be switched.
Page 80 Chapter 4 Display and Operation P0-02 Display Message Description Unit Setting Torque input command [Volt] Torque input command Average load Peak load Main circuit voltage [Volt] Ratio of load inertia to Motor inertia (Please note that if the display is [0.1times] 130, it indicates that the actual inertia is 13.0)
Page 81 Chapter 4 Display and Operation NOTE 1) Dec. represents Decimal display and Hex. represents Hexadecimal display. 2) The above display methods are both available in monitor mode and parameter setting mode. 3) All monitor variables are 32-bit data. The users can switch to high byte or low byte and display format (Dec.
Page 82: General Function Operation
Chapter 4 Display and Operation 4.4 General Function Operation 4.4.1 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding fault code history for the parameter. Figure 4.3 Revision June 2010...
Page 83: Jog Operation
Chapter 4 Display and Operation 4.4.2 JOG Operation After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation. (Please also refer to Figure 4.4). Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min). Step2.
Page 84: Force Output Control Operation
Chapter 4 Display and Operation 4.4.3 Force Output Control Operation For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using parameter P2-08 and P4-06. First, set P2-08 to 406 to enable the force output control function and then using P4-06 to force the digital outputs to be activated.
Page 85: Di Diagnosis Operation
Chapter 4 Display and Operation 4.4.4 DI Diagnosis Operation Following the setting method in Figure 4.6 can perform DI diagnosis operation (parameter P4-07, Input Status). According to the ON and OFF status of the digital inputs DI1 to DI9, the corresponding status will display on the servo drive LED display. When the Bit is set to “1”, it means that the corresponding digital input signal is ON.
Page 86: Do Diagnosis Operation
Chapter 4 Display and Operation 4.4.5 DO Diagnosis Operation Following the setting method in Figure 4.7 can perform DO diagnosis operation (parameter P4-09, Output Status Display). According to the ON and OFF status of the digital outputs DO1 to DO6, the corresponding status will display on the servo drive LED display.
Page 87 Chapter 4 Display and Operation This page intentionally left blank. 4-12 Revision June 2010...
Page 88: Chapter 5 Trial Run And Tuning Procedure
Chapter 5 Trial Run and Tuning Procedure This chapter, which is divided into two parts, describes trial run for servo drive and motor. One part is to introduce the trial run without load, and the other part is to introduce trial run with load.
Page 89 If there is no contact sound or there be any unusual noises when the relay of the servo drive is operating, please contact your distributor for assistance or contact with Delta. Check for abnormal conditions of the power indicators and LED display.
Page 90: Applying Power To The Drive
Chapter 5 Trial Run and Tuning Procedure 5.2 Applying Power to the Drive The users please observe the following steps when applying power supply to the servo drive. 1. Please check and confirm the wiring connection between the drive and motor is correct. 1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables separately (U: Red, V: White, W: Black, FG: Green).
Page 91 Chapter 5 Trial Run and Tuning Procedure 1) When display shows: Over voltage: The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect power input). Corrective Actions: Use voltmeter to check whether the input voltage falls within the rated input voltage.
Page 92 Chapter 5 Trial Run and Tuning Procedure Stop (EMGS)”. (The setting value of parameter P2-10 to P2-17 and P2-36 is not set to 21.) If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to confirm that which of digital inputs DI1~DI9 is set to “Emergency Stop (EMGS)”...
Page 93 NOTE 1) If there are any unknown fault codes and abnormal display when applying power to the drive or servo on is activated (without giving any command), please inform the distributor or contact with Delta for assistance. Revision June 2010...
Page 94: Jog Trial Run Without Load
Chapter 5 Trial Run and Tuning Procedure 5.3 JOG Trial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring. The external wiring is not necessary and the users only need to connect the digital keypad to the servo drive.
Page 95 Chapter 5 Trial Run and Tuning Procedure In the example below, the JOG speed is adjusted from 20r/min (Default setting) to 100r/min. Revision June 2010...
Page 96: Speed Trial Run Without Load
P2-15 to P2-17 and P2-36 to 0 (Disabled) in advance. All the digital inputs of Delta ASDA-B2 series are user-defined, and the users can set the DI signals freely. Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please refer to Table 7.A in Chapter 7).
Page 97 Chapter 5 Trial Run and Tuning Procedure The speed command is selected by SPD0, SPD1. Please refer to the following table: DI signal of CN1 Speed Command Source Content Range Command No. SPD1 SPD0 External analog Voltage between V-REF -10V ~ +10V command and GND P1-09...
Page 98: Tuning Procedure
Chapter 5 Trial Run and Tuning Procedure 5.5 Tuning Procedure Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode Tuning Procedure Display After wiring is completed, when power in connected to the AC servo drive, the right side display will show on the LCD display. Press MODE key to enter into parameter mode.
Page 99: Tuning Flowchart
Chapter 5 Trial Run and Tuning Procedure Tuning Procedure Display 20. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 operation. Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor).
Page 100: Load Inertia Estimation Flowchart
Chapter 5 Trial Run and Tuning Procedure 5.5.2 Load Inertia Estimation Flowchart 5-13 Revision June 2010...
Page 101: Auto Mode Tuning Flowchart
Chapter 5 Trial Run and Tuning Procedure 5.5.3 Auto Mode Tuning Flowchart Set P2-32 to 1 (1: Auto Mode [Continuous adjustment] ) The servo drive will continuously estimate the system inertia, save the measured load inertia value automatically and memorized in P1-37 every 30 minutes by referring to the frequency response settings of P2-31.
Page 102: Semi-Auto Mode Tuning Flowchart
Chapter 5 Trial Run and Tuning Procedure 5.5.4 Semi-Auto Mode Tuning Flowchart Set P2-32 to 2 (2: Semi-Auto Mode [Non-continuous adjustment] ) The servo drive will continuously perform the adjustment for a period of time. After the system inertia becomes stable, it will stop estimating the system inertia, save the measured load inertia value automatically, and memorized in P1-37.
Page 103 Chapter 5 Trial Run and Tuning Procedure NOTE 1) When bit0 of P2-33 is set to 1, it indicates that the system inertia estimation of semi-auto mode has been completed and the measured load inertia value is saved and memorized in P1-37 automatically. 2) If reset bit0 of P2-33 to 0, it will start estimating the system inertia again.
Page 104: Limit Of Load Inertia Estimation
Chapter 5 Trial Run and Tuning Procedure 5.5.5 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be above 200r/min. The load inertia must be 100 multiple or less of motor inertia. The change of external force and the inertia ratio can not be too much.
Page 105 Chapter 5 Trial Run and Tuning Procedure NOTE 1) Parameters P2-44 and P2-46 are used to set notch filter attenuation rate. If the resonance can not be suppressed when the setting values of P2-44 and P2-46 are set to 32bB (the maximum value), please decrease the speed loop frequency response.
Page 106: Mechanical Resonance Suppression Method
Chapter 5 Trial Run and Tuning Procedure 5.5.6 Mechanical Resonance Suppression Method In order to suppress the high frequency resonance of the mechanical system, ASDA-B2 series servo drive provides three notch filters (resonance suppression parameters) for resonance suppression. Two notch filters can be set to suppress the resonance automatically.
Page 107: Relationship Between Tuning Modes And Parameters
Chapter 5 Trial Run and Tuning Procedure 5.5.7 Relationship between Tuning Modes and Parameters AutoSet Tuning Mode P2-32 User-defined Parameter Gain Value Parameter P1-37 (Ratio of Load Inertia to Servo Motor Inertia [J_load / J_motor]) P2-00 (Proportional Position Loop Gain) 0(Default P2-04 (Proportional Speed Loop Gain) Manual Mode...
Page 108: Gain Adjustment In Manual Mode
Chapter 5 Trial Run and Tuning Procedure 5.5.8 Gain Adjustment in Manual Mode The position and speed responsiveness selection is depending on and determined by the the control stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process system.
Page 109 Chapter 5 Trial Run and Tuning Procedure KVI, Parameter P2-06 Speed Integral Compensation If the setting value of KVI is higher, the capability of decreasing the speed control deviation is better. However, if the setting value is over high, it may easily result in the vibration of machinery system.
Page 110: Chapter 6 Control Modes Of Operation
Chapter 6 Control Modes of Operation 6.1 Control Modes of Operation The Delta ASDA-B2 series can be programmed to provide six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code...
Page 111: Position (Pt) Control Mode
(Manual/Auto modes) to perform gain adjustment. This Section 6.2 mainly describes the applicability of loop gain adjustment and feed forward compensation of Delta servo system. 6.2.1 Command Source of Position (PT) Control Mode The command source of P mode is external pulse train input form terminals. There are three types of pulse input and each pulse type is with·logic type (positive (+), negative (-)).
Page 112 Chapter 6 Control Modes of Operation • Value C: Logic type Logic Pulse Type Forward Reverse AB phase pulse Positive CW + CCW Logic pulse Pulse + Direction AB phase pulse Negativ CW + CCW e Logic pulse Pulse + Direction Max.
Page 113: Structure Of Position Control Mode
Chapter 6 Control Modes of Operation The source of pulse command can also be determined by digital input, PTCMS. When the digital input function is used, the source of pulse command is from digital input. Position pulse can be input from these terminals, PULSE (41), /PULSE (43), HPULSE (38), /HPULSE (36), SIGN (37), /SIGN (39) and HSIGN (42), /HSIGN (40).
Page 114: Electronic Gear Ratio
Chapter 6 Control Modes of Operation Pulse Inhibit Input Function (INHP) INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-17，P2-36 and DI INHP(07) in Table 7.1).When the drive is in position mode, if INHP is activated, the external pulse input command is not valid and the motor will stop.
Page 115: Low-Pass Filter
Chapter 6 Control Modes of Operation The electronic gear ratio setting range must be within: 1/50<N/M<25600. Please note: In PT mode, the setting value of P1-45 can’t be changed when the servo drive is enabled (Servo On). The electronic gear function provides easy travel distance ratio change. However, the over high electronic gear ratio will command the motor to move not smoothly.
Page 116: Position Loop Gain Adjustment
Chapter 6 Control Modes of Operation 6.2.4 Low-pass Filter Relevant parameters: Smooth Constant of Position Command Communication Addr.: P1 - 08 PFLT (Low-pass Filter) 0110H, 0111H Default: 0 Related Section: Applicable Control Mode: PT Section 6.2.6 Unit: 10ms Range: 0 ~ 1000 (0: Disabled) Data Size: 16-bit Display Format: DEC Position...
Page 117 Chapter 6 Control Modes of Operation For example, the desired position loop responsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/s. Relevant parameters: Communication Addr.: P2 - 00 Proportional Position Loop Gain 0200H, 0201H Default: 35 Related Section: Applicable Control Mode: PT...
Page 118 Chapter 6 Control Modes of Operation When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate. At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating.
Page 119 Chapter 6 Control Modes of Operation 6.3 Speed Control Mode The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as CNC machine, etc. ASDA-B2 series servo drive supports two kinds of command sources in speed control mode.
Page 120: Structure Of Speed Control Mode
Chapter 6 Control Modes of Operation State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed) When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then the speed command is 0. Therefore, if the users do not use analog voltage as speed command, the users can choose Sz mode and avoid the zero point drift problem of analog voltage signal.
Page 121: Smoothing Strategy Of Speed Control Mode
Chapter 6 Control Modes of Operation SPD0,SPD1 signal of CN1 Internal S-curve filter parameter (Command source: P1-34, Internal parameter) P1-09 P1-35, ~P1-11 P1-36 Analog command Proportion Low-pass Command filter (Command source: Gain filter selection P1-34, External analog signal) P1-35, P1-01 P1-40 P1-06 P1-36...
Page 122 Chapter 6 Control Modes of Operation Relevant parameters: Communication Addr.: P1 - 34 TACC Acceleration Time 00144H, 0145H Default: 200 Related Section: Applicable Control Mode: S Section 6.3.3 Unit: ms Range: 1 ~ 20000 Data Size: 16-bit Display Format: DEC Settings: This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
Page 123 Chapter 6 Control Modes of Operation Communication Addr.: P1 - 35 TDEC Deceleration Time 0146H, 0147H Default: 200 Related Section: Applicable Control Mode: P/S P1-34, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Data Size: 16-bit Display Format: DEC Settings: This parameter is used to determine the deceleration time to decelerate from its rated rotation speed to 0.
Page 124 Chapter 6 Control Modes of Operation Total acceleration time = TACC + TSL Total deceleration time = TDEC + TSL The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1- 36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-34 and P1-35 will not become disabled even when P1-36 is disabled.
Page 125: Analog Speed Input Scaling
Chapter 6 Control Modes of Operation Relevant parameters: Accel / Decel Smooth Constant of Communication Addr.: P1 - 06 SFLT Analog Speed Command (Low-pass 010CH, 010DH Filter) Default: 0 Related Section: Applicable Control Mode: S Section 6.3.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) Data Size: 16-bit Display Format: DEC NOTE...
Page 126: Timing Chart Of Speed Control Mode
Chapter 6 Control Modes of Operation Relevant parameters: Communication Addr.: P1 - 40▲ Max. Analog Speed Command / Limit 0150H, 0151H Default: rated speed Related Section: Applicable Control Mode: S/T Section 6.3.4 Unit: r/min Range: 0 ~ 10000 Data Size: 16-bit Display Format: DEC Settings: In Speed mode, this parameter is used to set the speed at the maximum input...
Page 127: Speed Loop Gain Adjustment
Chapter 6 Control Modes of Operation 6.3.6 Speed Loop Gain Adjustment The function and structure of speed control mode is shown as the figure below: There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-B2 series servo drives can be adjusted by using any one of three tuning modes.
Page 128 Chapter 6 Control Modes of Operation Explanation of manual mode: 1. When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26 can be user-defined. When switching mode #1 or #2 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26 will change to the value that measured in #1 auto-tuning mode or #2 semi-auto tuning mode.
Page 129 Chapter 6 Control Modes of Operation Relevant parameters: Communication Addr.: P2 - 04 Proportional Speed Loop Gain 0208H, 0209H Default: 500 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: rad/s Range: 0 ~ 8191 Data Size: 16-bit Display Format: DEC Settings: This parameter is used to set the speed loop gain.
Page 130 Chapter 6 Control Modes of Operation When using speed smooth command, increase gain can improve speed track deviation. When not using speed smooth command, decrease gain can improve the resonance condition of mechanical system. In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed forward gain (KVF).
Page 131 Chapter 6 Control Modes of Operation Time Domain 6-22 Revision June 2010...
Page 132 Chapter 6 Control Modes of Operation In general, the equipment, such as spectrum analyzer is needed and used to analyze when using frequency domain method and the users also should have this kind of analysis technology. However, when using time domain method, the users only need to prepare an oscilloscope.
Page 133 Chapter 6 Control Modes of Operation 6.3.7 Resonance Suppression The resonance of mechanical system may occur due to excessive system stiffness or frequency response. However, this kind of resonance condition can be improved, suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and notch filter (parameter P2-23, P2-24) without changing control parameter.
Page 134: Resonance Suppression
Chapter 6 Control Modes of Operation Communication Addr.: P2 - 43 NCF2 Notch Filter 2 (Resonance Suppression) 0256H, 0257H Default: 1000 Related Section: Applicable Control Mode: ALL Section 6.3.7 Unit: Hz Range: 50 ~ 2000 Data Size: 16-bit Display Format: DEC Settings: 0: Disabled This parameter is used to set second resonance frequency of mechanical system.
Page 135 Chapter 6 Control Modes of Operation vibration of mechanical system. If P2-45 is set to 0, this parameter is disabled. Notch Filter Attenuation Rate 3 Communication Addr.: P2 - 46 DPH3 025CH, 025DH (Resonance Suppression) Default: 0 Related Section: Applicable Control Mode: ALL Section 6.3.7 Unit: dB Range: 0 ~ 32...
Page 136 Chapter 6 Control Modes of Operation There are two groups of notch filters provided by ASDA-A2 series. The first group of notch filter is P2-43 and P2-44, and the second group of notch filter is P2-45 and P2-46. When there is resonance, please set P2-47 to 1 or 2 (Auto mode), and then the servo drive will find resonance frequency and suppress the resonance automatically.
Page 137 Chapter 6 Control Modes of Operation Settings of P2-47 Current Value Desired Value Function Do not clear the setting value of P2-43 ~ P2-46 and enable auto resonance suppression function continuously. Flowchart of auto resonance suppression operation: 6-28 Revision June 2010...
Page 138 Chapter 6 Control Modes of Operation Low-pass filter Please use parameter P2-25. The figure below shows the resonant open-loop gain. Gain Frequency When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass frequency (BW) will become smaller (see the figure below). The resonant condition is improved and the frequency response and phase margin will also decrease.
Page 139 Chapter 6 Control Modes of Operation Use Notch Filter to suppress resonance Resonance Resonance conditions Gain Point Gain Gain is suppressed Notch Filter Low-pass Low-pass Attenuation Frequency Frequency Rate P2-24 Frequency Frequency Resonance Resonance Resonance Frequency Frequency Frequency . Frequency P2-23 Use Low-pass Filter to suppress resonance Resonance...
Page 140 The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machine, twister, etc. Delta ASDA-B2 series servo drive supports two kinds of command sources in torque control mode. One is external analog signal and the other is internal parameter.
Page 141 Chapter 6 Control Modes of Operation 6.4.2 Structure of Torque Control Mode Basic Structure: The toque command processing is used to select the command source of torque control according to chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of torque control mode. The current control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously.
Page 142: Smoothing Strategy Of Torque Control Mode
Chapter 6 Control Modes of Operation 6.4.3 Smoothing Strategy of Torque Control Mode Relevant parameters: Smooth Constant of Analog Torque Communication Addr.: P1 - 07 TFLT Command (Low-pass Filter) 010EH, 010FH Default: 0 Related Section: Applicable Control Mode: T Section 6.4.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) Data Size: 16-bit...
Page 143: Timing Chart Of Torque Control Mode
Chapter 6 Control Modes of Operation Relevant parameters: Communication Addr.: P1 - 41▲ Max. Analog Torque Command / Limit 0152H, 0153H Default: 100 Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: % Range: 0 ~ 1000 Data Size: 16-bit Display Format: DEC Settings: In Torque mode, this parameter is used to set the output torque at maximum...
Page 144 Chapter 6 Control Modes of Operation 6.5 Control Modes Selection Except signal control mode operation, ASDA-B2 series AC drive also provide PT-S, S-T, PT-T, these three multiple modes for the users to select. 1） Speed / Position mode selection: PT-S 2）...
Page 145: Control Mode Selection
Chapter 6 Control Modes of Operation 6.5.2 Speed / Torque Control Mode Selection S-T Mode: The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and SPD0~1 is used to select speed command. The same as speed command, the torque command can be the external analog voltage or internal parameters (P1-12 to P1- 14) and TCM0~1 is used to select torque command.
Page 146: Others
Chapter 6 Control Modes of Operation 6.6 Others 6.6.1 Speed Limit The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or torque control mode. The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11).
Page 147 Chapter 6 Control Modes of Operation 6.6.3 Analog Monitor User can use analog monitor to observe the required analog voltage signals. ASDA-B2 series provide two analog channels, they are PIN No. 1 and 3 of CN5 connector. The parameters relative to analog monitor are shown below. Relevant parameters: Communication Addr.: P0 - 03...
Page 148: Analog Monitor
Chapter 6 Control Modes of Operation Communication Addr.: P1 - 03 AOUT Pulse Output Polarity Setting 0106H, 0107H Default: 0 Related Section: Applicable Control Mode: ALL Section 3.3.3 Unit: N/A Range: 0 ~ 3 Data Size: 16-bit Display Format: HEX Settings: Monitor analog output polarity •...
Page 149 Chapter 6 Control Modes of Operation Analog Monitor Output Drift Adjustment Communication Addr.: P4 - 20 DOF1 (CH1) 0428H, 0429H Default: Factory setting Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: mV Range: -800~800 Data Size: 16-bit Display Format: DEC This parameter cannot be reset.
Page 150 Chapter 6 Control Modes of Operation 6.6.4 Electromagnetic Brake When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the electromagnetic brake is disabled and motor is stop running and locked. If the digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run freely.
Page 151: Electromagnetic Brake
Chapter 6 Control Modes of Operation Timing chart for using servo motor with electromagnetic brake: (DI Input) BRKR (DO Output) MBT2(P1-43) MBT1(P1-42) ZSPD(P1-38) Motor Speed BRKR output timing explanation: 1. When SERVO OFF (when DI SON is not activated), the BRKR output goes Off (electromagnetic brake is locked) after the delay time set by P1-43 is reached and the motor speed is still higher than the setting value of P1-38.
Page 152 Chapter 6 Control Modes of Operation The timing charts of control circuit power and main circuit power: L1, L2 Control Circuit Power 1 sec Control Circuit Power > 0msec R, S, T Main Circuit Power 800ms BUS Voltage READY 2 sec SERVO READY SERVO ON...
Page 153 Chapter 6 Control Modes of Operation This page intentionally left blank 6-44 Revision June 2010...
Page 154 Chapter 7 Servo Parameters Definition There are following five groups for drive parameters: Group 0: Monitor parameters (example: P0-xx) Group 1: Basic parameters (example: P1-xx) Group 2: Extension parameters (example: P2-xx) Group 3: Communication parameters (example: P3-xx) Group 4: Diagnosis parameters (example: P4-xx) Abbreviation of control modes: PT: Position control mode (command from external signal)
Page 155: Parameter Summary
Chapter 7 Servo Parameters Parameters Summary Monitor and General Use Control Mode Related Parameter Name Function Default Unit Section Factory P0-00★ Firmware Version Setting 11.1 P0-01 Drive Fault Code 11.2 11.3 Drive Status (Front Panel P0-02 Display) P0-03 Analog Monitor Output 4.3.5 P0-08★...
Page 156 Chapter 7 Servo Parameters Smooth Filter and Resonance Suppression Control Mode Related Parameter Name Function Default Unit Section Accel / Decel Smooth Constant P1-06 SFLT of Analog Speed Command 6.3.3 (Low-pass Filter) Smooth Constant of Analog P1-07 TFLT Torque Command (Low-pass 6.4.3 Filter) Smooth Constant of Position...
Page 157 Chapter 7 Servo Parameters Gain and Switch Control Mode Related Parameter Name Function Default Unit Section P2-00 Proportional Position Loop Gain rad/s 6.2.8 Position Loop Gain Switching P2-01 6.2.8 Rate P2-02 Position Feed Forward Gain 6.2.8 Smooth Constant of Position P2-03 Feed Forward Gain P2-04...
Page 158 Chapter 7 Servo Parameters Position Control Control Mode Related Parameter Name Function Default Unit Section pulse Control Mode Output P1-01 r/min Direction P1-02▲ PSTL Speed and Torque Limit P1-12 ~ TQ1 ~ 3 1st ~ 3rd Torque Limit 6.4.1 P1-14 P1-46▲...
Page 159 Chapter 7 Servo Parameters Speed Control Control Mode Related Parameter Name Function Default Unit Section pulse Control Mode and Output P1-01 r/min Direction P1-02▲ PSTL Speed and Torque Limit P1-46▲ Encoder Output Pulse Number pulse P1-55 MSPD Maximum Speed Limit rated r/min 1000...
Page 160 Chapter 7 Servo Parameters Torque Control Control Mode Related Parameter Name Function Default Unit Section pulse Control Mode and Output P1-01 r/min Direction P1-02▲ PSTL Speed and Torque Limit P1-46▲ Encoder Output Pulse Number pulse P1-55 MSPD Maximum Speed Limit rated r/min P1-09...
Page 161 Chapter 7 Servo Parameters Digital I/O and Relative Input Output Setting Control Mode Related Parameter Name Function Default Unit Section P2-09 Bounce Filter P2-10 Digital Input Terminal 1 (DI1) Table 7.A P2-11 Digital Input Terminal 2 (DI2) Table 7.A P2-12 Digital Input Terminal 3 (DI3) Table 7.A P2-13...
Page 162 Chapter 7 Servo Parameters Communication Control Mode Related Parameter Name Function Default Unit Section P3-00 Communication Address Setting 0x7F P3-01 Transmission Speed 0x0203 P3-02 Communication Protocol P3-03 Transmission Fault Treatment Communication Time Out P3-04 Detection P3-05 Communication Selection Digital Input Communication P3-06 Function Communication Response Delay...
Page 163 Chapter 7 Servo Parameters Diagnosis Control Mode Related Parameter Name Function Default Unit Section P4-00★ ASH1 Fault Record (N) 4.4.1 4.4.1 P4-01★ ASH2 Fault Record (N-1) 4.4.1 P4-02★ ASH3 Fault Record (N-2) 4.4.1 P4-03★ ASH4 Fault Record (N-3) 4.4.1 P4-04★ ASH5 Fault Record (N-4) P4-05...
Page 164: Detailed Parameter Listings
Chapter 7 Servo Parameters 7.3 Detailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00★ Firmware Version Address: 0000H, 0001H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: N/A Data Size: 16-bit Display Format: Decimal P0 - 01■...
Page 165 Chapter 7 Servo Parameters 011: Encoder error (The wiring of the encoder is in error and this causes the communication error between the servo drive and the encoder.) 012: Adjustment error 013: Emergency stop activated 014: Reverse limit switch error 015: Forward limit switch error 016: IGBT temperature error 017: Memory error...
Page 166 Chapter 7 Servo Parameters 05: Position error counts [pulse] 06: Input frequency of pulse command [Kpps] 07: Motor rotation speed [r/min] 08: Speed input command [Volt] 09: Speed input command [r/min] 10: Torque input command [Volt] 11: Torque input command [%] 12: Average load [%] 13: Peak load [%] 14: Main circuit voltage [Volt]...
Page 167 Chapter 7 Servo Parameters 5: V_BUS voltage (+/-8Volts / 450V) 6: Reserved 7: Reserved Please note: For the setting of analog output voltage proportion, refer to the P1-04 and P1-05. Example: P0-03 = 01(CH1 is speed analog output) Motor speed = (Max. motor speed × V1/8) × P1-04/100, when the output voltage value of CH1 is V1.
Page 168 Chapter 7 Servo Parameters pulse number in pulse. When reading the drive status through Modbus communication, the system should read two 16-bit data stored in the addresses of 0012H and 0013H to form a 32-bit data. (0013H : 0012H) = (high byte : low byte) When reading the drive ststus through the keypad, if P0-02 is set to 23, VAR-1 will quickly show for about two seconds and then the value of P0-09 will display on the display.
Page 169 Chapter 7 Servo Parameters P0 - 12★ Status Monitor 4 Address: 0018H, 0019H Default: N/A Related Section: Applicable Control Mode: ALL Section 4.3.5 Unit: N/A Range: N/A Data Size: 32-bit Display Format: Decimal Settings: This parameter is used to provide the value of one of the status monitoring functions found in P0-02.
Page 170 Chapter 7 Servo Parameters Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to determine the drive status found in P0-02. The selected drive status will be displayed by P0-09. For example: Set P0-17 to 7, then all consequent reads of P0-09 will return the motor rotation speed in r/min.
Page 171 Chapter 7 Servo Parameters P0 - 21 CM5A Status Monitor Selection 5 Address: 002AH, 002BH Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 18 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to determine the drive status found in P0-02. P0 - 22 Reserved (Do Not Use) P0 - 23...
Page 172 Chapter 7 Servo Parameters P0 - 46★ SVSTS Servo Output Status Display Address: 005CH, 005DH Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0x00 ~ 0xFF Data Size: 16-bit Display Format: Hexadecimal Settings: This parameter is used to display the digital output signal of the servo drive. The servo output status display will show in hexadecimal format.
Page 173 Chapter 7 Servo Parameters Group 1: P1-xx Basic Parameters P1 - 00▲ External Pulse Input Type Address: 0100H, 0101H Default: 0x2 Related Section: Applicable Control Mode: PT Section 6.2.1 Unit: N/A Range: 0 ~ 1132 Data Size: 16-bit Display Format: Hexadecimal Settings: A: Input pulse type 0: AB phase pulse (4x) (Quadrature Input)
Page 174 Chapter 7 Servo Parameters C: Input polarity Logic Pulse Type Forward Reverse AB phase pulse Positive CW + CCW Logic pulse Pulse + Direction AB phase pulse Negative CW + CCW Logic pulse Pulse + Direction Max. Min. time width input Pulse specification pulse...
Page 175 Chapter 7 Servo Parameters P0 - 01 Control Mode and Output Direction Address: 0102H, 0103H Default: 0 Related Section: Applicable Control Mode: ALL Section 6.1, Table 7.A Unit: pulse (P mode), r/min (S mode), N-m (T mode) Range: 00 ~ 110F Data Size: 16-bit Display Format: Hexadecimal Settings:...
Page 176 Chapter 7 Servo Parameters Sz: Zero speed / internal speed command Tz: Zero torque / internal torque command Multiple Mode: Control of the mode selection is via DI signals. For example, either PT or S control mode can be selected via DI signals, S-P (see Table 7.A).
Page 177 Chapter 7 Servo Parameters This parameter is used to determine that the speed and torque limit functions are enabled or disabled. If P1-02 is set to 11, it indicates that the speed and torque limit functions are enabled always. The users can also use DI signals, SPDLM and TRQLM to enable the speed and torque limit functions.
Page 178 Chapter 7 Servo Parameters Analog Monitor Output Proportion 2 P1 - 05 MON2 Address: 010AH, 010BH (CH2) Default: 100 Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: % (full scale) Range: 0 ~ 100 Data Size: 16-bit Display Format: Decimal Accel / Decel Smooth Constant of Analog P1 - 06 SFLT...
Page 179 Chapter 7 Servo Parameters P1 - 09 1st Speed Command or Limit Address: 0112H, 0113H Default: 1000 Related Section: Applicable Control Mode: S, T Section 6.3.1 Unit: 0.1 r/min Range: -50000 ~ +50000 Data Size: 32-bit Display Format: Decimal Settings: 1st Speed Command In Speed mode, this parameter is used to set speed 1 of internal speed command.
Page 180 Chapter 7 Servo Parameters 3rd Speed Limit In Torque mode, this parameter is used to set speed limit 3 of internal speed command. P1 - 12 1st Torque Command or Limit Address: 0118H, 0119H Default: 100 Related Section: Applicable Control Mode: T, P&S Section 6.4.1 Unit: % Range: -300 ~ +300...
Page 181 Chapter 7 Servo Parameters P1 - 14 3rd Torque Command or Limit Address: 011CH, 011DH Default: 100 Related Section: Applicable Control Mode: T, P&S Section6.4.1 Unit: % Range: -300 ~ +300 Data Size: 16-bit Display Format: Decimal Settings: 3rd Speed Command In Torque mode, this parameter is used to set torque 3 of internal torque command.
Page 182 Chapter 7 Servo Parameters Settings: A: Fault Stop Mode 0: Stop instantly 1: Decelerate to stop When a fault occurs (except for CWL, CCWL, EMGS and serial communication error), it is used to set servo motor stop mode. B: Dynamic Brake Option 0: Use dynamic brake 1: Allow servo motor to coast to stop 2: Use dynamic brake first, after the motor speed is below than P1-38, allow servo...
Page 183 Chapter 7 Servo Parameters P1 - 35 TDEC Deceleration Time Address: 0146H, 0147H Default: 200 Related Section: Applicable Control Mode: S Section 6.3.3 Unit: msec Range: 1 ~ 20000 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
Page 184 Chapter 7 Servo Parameters The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the parameters P1-34 and P1-35 will not become disabled even when P1-36 is disabled.
Page 185 Chapter 7 Servo Parameters For Example, at default ZSPD will be activated when the drive detects the motor rotating at speed at or below 100 r/min. ZSPD will remain activated until the motor speed increases above 100 r/min. P1 - 39 SSPD Target Motor Speed Address: 014EH, 014FH...
Page 186 Chapter 7 Servo Parameters P1 - 41▲ Max. Analog Torque Command or Limit Address: 0152H, 0153H Default: 100 Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: % Range: 0 ~ 1000 Data Size: 16-bit Display Format: Decimal Settings: In Torque mode, this parameter is used to set the maximum analog torque command based on the maximum input voltage (10V).
Page 187 Chapter 7 Servo Parameters Please note: 1. When servo is commanded off and the off delay time set by P1-43 has not elapsed, if the motor speed is lower than the setting value of P1-38, the electromagnetic brake will be engaged regardless of the off delay time set by P1-43.
Page 188 Chapter 7 Servo Parameters Display Format: Decimal Settings: This parameter is used to set the denominator of the electronic gear ratio. The numerator of the electronic gear ratio is set by P1-44. P2-60 ~ P2-62 are used to set the additional numberators. As the wrong setting may cause motor to run chaotically (out of control) and it may lead to personnel injury, therefore, ensure to observe the following rule when setting P1-44, P1-45.
Page 189 Chapter 7 Servo Parameters P1 - 47 SPOK Speed Reached Output Range Address: 015EH, 015FH Default: 10 Related Section: N/A Applicable Control Mode: S, Sz Unit: r/min Range: 0 ~ 300 Data Size: 32-bit Display Format: Decimal Settings: This parameter is used to set the speed reached output range. The DO signal, SP_OK will be activated when the speed error is equal and below the setting value of P1-47.
Page 190 Chapter 7 Servo Parameters P1 - 52 RES1 Regenerative Resistor Value Address: 0168H, 0169H Default: - Related Section: Applicable Control Mode: ALL Section 6.6.3 Unit: Ohm Range: 10 ~ 750 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to set the resistance of the applicable regenerative resistor. Model Default For 750W models...
Page 191 Chapter 7 Servo Parameters P1 - 55 MSPD Maximum Speed Limit Address: 016EH, 016FH Default: rated speed Related Section: N/A Applicable Control Mode: ALL Unit: r/min Range: 0 ~ Max. speed Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to set maximum motor speed. The default setting is rated speed.
Page 192 Chapter 7 Servo Parameters the overload alarm will be detected and shown on the LED display (AL006). Then, Servo Fault signal will be ON (DO signal ALRM will be activated). P1 - 57 CRSHA Motor Protection Percentage Address: 0172H, 0173H Default: 0 Related Section: N/A Applicable Control Mode: ALL...
Page 193 Chapter 7 Servo Parameters This parameter is used to eliminate the noise generated during the operation when the host (external) controller sends the step analog voltage speed command. The parameter P1-06 is Low-pass Filter and parameter P1-59 is Moving Filter. The differences are that Low-pass Filter is usually used to smooth the end of the command but Moving Filter can be used to smooth the start and the end of step analog voltage speed command.
Page 194 Chapter 7 Servo Parameters P1 - 63 FRCT Friction Compensation Smooth Constant Address: 017EH, 017FH Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: msec Range: 0 ~ 1000 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to set the smooth constant of friction compensation. P1 - 64 Reserved (Do Not Use) P1 - 65...
Page 195 Chapter 7 Servo Parameters P1 - 76 AMSPD Max. Rotation Speed of Encoder Output Address: 0198H, 0199H Default: 5500 Related Section: P1-46 Applicable Control Mode: ALL Unit: r/min Range: 0 ~ 6000 (0: Disabled) Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to optimize the encoder outputs (OA, OB).
Page 196 Chapter 7 Servo Parameters Group 2: P2-xx Extension Parameters P2 - 00 Proportional Position Loop Gain Address: 0200H, 0201H Default: 35 Related Section: Applicable Control Mode: PT Section 6.2.8 Unit: rad/s Range: 0 ~ 2047 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to set the position loop gain.
Page 197 Chapter 7 Servo Parameters Smooth Constant of Position Feed P2 - 03 Address: 0206H, 0207H Forward Gain Default: 5 Related Section: N/A Applicable Control Mode: PT Unit: msec Range: 2 ~ 100 Data Size: 16-bit Display Format: Decimal Settings: When using position smooth command, increase gain can improve position track deviation.
Page 198 Chapter 7 Servo Parameters P2 - 06 Speed Integral Compensation Address: 020CH, 020DH Default: 100 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: rad/s Range: 0 ~ 1023 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation.
Page 199 Chapter 7 Servo Parameters 10: Users can reset all parameter values to factory defaults. All parameter values will be reset after re-power the servo drive. (Before perform this settings, ensure that the status of the servo drive is “Servo Off”.) Enable parameters functions: 20: If P2-08 is set to 20, then the parameter P4-10 is enabled.
Page 200 Chapter 7 Servo Parameters A: DI (Digital Input) Function Settings: For the setting value of P2- 10 ~ P2-17 and P2-36, please refer to Table 7.A. B: DI (Digital Input) Enabled Status Settings: 0: Normally closed (contact b) 1: Normally open (contact a) For example, when P2-10 is set to 101, it indicates that the function of DI1 is SON (Servo On, setting value is 0x01) and it requires a normally open contact to be connected to it.
Page 201 Chapter 7 Servo Parameters Settings: Refer to P2-10 for explanation. P2 - 14 Digital Input Terminal 5 (DI5) Address: 021CH, 021DH Default: 102 Related Section: Table 7.A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 015Fh Data Size: 16-bit Display Format: Hexadecimal Settings: Refer to P2-10 for explanation.
Page 202 Chapter 7 Servo Parameters P2 - 18 Digital Output Terminal 1 (DO1) Address: 0224H, 0225H Default: 101 Related Section: Table 7.B Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 013Fh Data Size: 16-bit Display Format: Hexadecimal Settings: The parameters from P2-18 to P2-22 and P2-37 are used to determine the functions and statuses of DO1 ~ DO5.
Page 203 Chapter 7 Servo Parameters Data Size: 16-bit Display Format: Hexadecimal Settings: Refer to P2-18 for explanation. P2 - 21 Digital Output Terminal 4 (DO4) Address: 022AH, 022BH Default: 105 Related Section: Table 7.B Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 013Fh Data Size: 16-bit Display Format: Hexadecimal Settings: Refer to P2-18 for explanation.
Page 204 Chapter 7 Servo Parameters Notch Filter Attenuation Rate 1 P2 - 24 DPH1 Address: 0230H, 0231H (Resonance Suppression) Default: 0 Related Section: Applicable Control Mode: ALL Section 6.3.7 Unit: dB Range: 0 ~ 32 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to set magnitude of the resonance suppression that is set by parameter P2-23.
Page 205 Chapter 7 Servo Parameters P2 - 27 Gain Switching Control Selection Address: 0236H, 0237H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 4 Data Size: 16-bit Display Format: Hexadecimal Settings: Gain Switching Condition Settings: A: Gain Switching Condition Settings: 0: Disabled 1: Gain switching DI (Digital Input) signal (GAINUP) is On.
Page 206 Chapter 7 Servo Parameters P2 - 28 Gain Switching Time Constant Address: 0238H, 0239H Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: 10msec Range: 0 ~ 1000 Data Size: 16-bit Display Format: Decimal Settings: This parameter is used to set the time constant when switching the smooth gain. P2 - 29 Gain Switching Condition Address: 023AH, 023BH...
Page 207 Chapter 7 Servo Parameters damaging the EEPROM. P2-30 should be set to 5 when using communication control function. 6: After setting P2-30 to 6, the servo drive will enter into Simulation mode. At this time, DO signal SRDY (Servo ready) will be activated. The servo drive can accept commands in each mode and monitor the commands via Data Scope function provided by ASDA-Soft software program.
Page 208 Chapter 7 Servo Parameters P2 - 32▲ AUT2 Tuning Mode Selection Address: 0240H, 0241H Default: 0 Related Section: Applicable Control Mode: ALL Section 5.6, Section 6.3.6 Unit: N/A Range: 0 ~ 2 Data Size: 16-bit Display Format: Hexadecimal Settings: 0: Manual mode 1: Auto Mode [Continuous adjustment] 2: Semi-Auto Mode [Non-continuous adjustment] Explanation of manual mode:...
Page 209 Chapter 7 Servo Parameters Semi-Auto Mode Inertia Adjustment P2 - 33▲ AUT3 Address: 0242H, 0243H Selection Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 1 Data Size: 16-bit Display Format: Decimal Settings: When the setting value of A is set to 0 or display is 0, it indicates that the load inertia estimation of semi-auto tuning mode has been executed but not been completed yet.
Page 210 Chapter 7 Servo Parameters P2 - 35 PDEV Excessive Error Warning Condition Address: 0246H, 0247H Default: 480000 Related Section: N/A Applicable Control Mode: PT Unit: pulse Range: 1 ~ 16000000 Data Size: 32-bit Display Format: Decimal Settings: This parameter is used to set the position deviation excessive error threshold that is used to determine the escessive deviation fault condition.
Page 211 Chapter 7 Servo Parameters P2 - 37 Digital Output Terminal 6 (DO6) Address: 024AH, 024BH Default: 7 Related Section: Table 7.B Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 013Fh Data Size: 16-bit Display Format: Hexadecimal Settings: Refer to P2-18 for explanation. P2 - 38 Reserved (Do Not Use) P2 - 39...
Page 212 Chapter 7 Servo Parameters Display Format: Decimal Settings: This parameter is used to set magnitude of the resonance suppression that is set by parameter P2-43. If P2-44 is set to 0, the parameters P2-43 and P2-44 are both disabled. P2 - 45 NCF3 Notch Filter 3 (Resonance Suppression) Address: 025AH, 025BH...
Page 213 Chapter 7 Servo Parameters Settings: 0: Disable Auto Resonance Suppression Mode. The setting value of P2-23~P2-24 and P2-43~P2-46 will be fixed and will not be changed. 1: Auto Resonance Suppression Mode 1 [Non-continuous adjustment] After the resonance is suppressed, the setting value of P2-23, P2-24, P2-43, P2-44, P2-45 and P2-46 will be fixed and will not be changed.
Page 214 Chapter 7 Servo Parameters Speed Detection Filter and Jitter P2 - 49 SJIT Address: 0262H, 0263H Suppression Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: sec Range: 0 ~ 1F Data Size: 16-bit Display Format: Decimal Settings: Setting Value of P2-49 Cutoff Frequency of Speed Loop Feedback (Hz) 2500 2250...
Page 215 Chapter 7 Servo Parameters P2 - 50 DCLR Pulse Deviation Clear Mode Address: 0264H, 0265H Default: 0 Related Section: N/A Applicable Control Mode: PT Unit: N/A Range: 0 ~ 2 Data Size: 16-bit Display Format: Hexadecimal Settings: For digital input function (DI function), please refer to Table 7.A. This pulse deviation clear function is enabled when a digital input is set to pulse clear function (CCLR mode, DI (Digital Input) setting value is 0x04).
Page 216 Chapter 7 Servo Parameters P2 - 59 Reserved (Do Not Use) Electronic Gear Ratio (2nd Numerator) P2 - 60 Address: 0278H, 0279H (N2) Default: 16 Related Section: N/A Applicable Control Mode: PT Unit: pulse Range: 1 ~ (2 Data Size: 32-bit Display Format: Decimal Settings: The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to Table...
Page 217 Chapter 7 Servo Parameters P2 - 62 Electronic Gear Ratio (4th Numerator) (N4) Address: 027CH, 027DH Default: 16 Related Section: N/A Applicable Control Mode: PT Unit: pulse Range: 1 ~ (2 Data Size: 32-bit Display Format: Decimal Settings: Refer to P2-60 for explanation. P2 - 63 Reserved (Do Not Use) P2 - 64...
Page 218 Chapter 7 Servo Parameters Bit10 Bit10: DI ZCLAMP function selection When the following conditions are all met, ZCLAMP function will be activated. Condition1: Speed mode Condition2: DI ZCLAMP is activated. Condition3: External analog speed command or internal registers speed command is less than parameter P1-38. 0: When the command source is an analog speed command, the users can use ZCLAMP DI signal to stop the motor at the desire position and do not care the acceleration and deceleration speed curve of the analog speed command.
Page 219 Chapter 7 Servo Parameters 1: When the command source is an internal speed command, the users can use ZCLAMP DI signal to stop the motor at the desire position and keep the acceleration and deceleration speed curve of the analog speed command. When ZCLAMP conditions are satisfied, the speed command is forced to 0 r/min directly.
Page 220 Chapter 7 Servo Parameters Bit12 Bit12: Input power phase loss detection function 0: Enable Input power phase loss (AL022) detection function 1: Disable Input power phase loss (AL022) detection function Bit13 Bit13: Encoder output error detection function 0: Enable encoder output error (AL018) detection function 1: Disable encoder output error (AL018) detection function Bit15 Bit14 Bit14 ~ Bit15: Reserved.
Page 221 Chapter 7 Servo Parameters P2 - 67 Stable Inertia Estimating Time Address: 0286H, 0287H Default: 1.5 Related Section: N/A Applicable Control Mode: ALL Unit: 0.1times Range: 0 ~ 200.0 Data Size: 16-bit Display Format: Decimal Settings: In semi-auto tuning mode, after the servo drive continuously perform the adjustment for a period of time which is determined by P2-67, the system will consider that the system inertia has become stable and finish the operation of system inertia estimation.
Page 222 Chapter 7 Servo Parameters Group 3: P3-xx Communication Parameters P3 - 00 Communication Address Setting Address: 0300H, 0301H Default: 0x7F Related Section: Section 8.2 Applicable Control Mode: ALL Unit: N/A Range: 0x01 ~ 0x7F Data Size: 16-bit Display Format: Hexadecimal Settings: This parameter is used to set the communication slave address in hexadecimal format.
Page 223 Chapter 7 Servo Parameters Display COM Port RS-485 RS-232 Range 0 ~ 5 0 ~ 5 X: Baud rate setting 0: Baud rate 4800 1: Baud rate 9600 2: Baud rate 19200 3: Baud rate 38400 4: Baud rate 57600 5: Baud rate 115200 P3 - 02 Communication Protocol...
Page 224 Chapter 7 Servo Parameters Display Format: Hexadecimal Settings: 0: Display fault and continue operating 1: Display fault and decelerate to stop operating This parameter is used to determine the operating sequence once a communication fault has been detected. If '1' is selected, the drive will stop operating upon detection the communication fault.
Page 225 Chapter 7 Servo Parameters P3 - 06■ Digital Input Communication Function Address: 030CH, 030DH Default: 0 Related Section: Section 8.2 Applicable Control Mode: ALL Unit: N/A Range: 0x0000 ~ 0x1FFF Data Size: 16-bit Display Format: Hexadecimal The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.
Page 226 Chapter 7 Servo Parameters The monitor data can be displayed on PC upon the data scope function provided by ASDA-Soft software. Byte High Function Monitor mode Range 0 ~ 3 H: Monitor mode, the value must be within the range from 0 through 3. 0: Disabled, i.e.
Page 227 Chapter 7 Servo Parameters Group 4: P4-xx Diagnosis Parameters P4 - 00★ ASH1 Fault Record (N) Address: 0400H, 0401H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A Data Size: 32-bit Display Format: Hexadecimal Settings: This parameter is used to set the most recent fault record.
Page 228 Chapter 7 Servo Parameters Data Size: 32-bit Display Format: Hexadecimal Settings: This parameter is used to set the fourth most recent fault record. P4 - 04★ ASH5 Fault Record (N-4) Address: 0408H, 0409H Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A...
Page 229 Chapter 7 Servo Parameters 2. DI Signal Control Set the value of DI signal as JOGU and JOGD (refer to Table 8.A). Users can perform JOG run forward and run reverse control. 3. Communication Control To perform a JOG Operation via communication command, use communication addresses 040AH and 040BH.
Page 230 Chapter 7 Servo Parameters Bit14 corresponds with DO setting value 0x3E Bit15 corresponds with DO setting value 0x3F For example: When P2-18 is set to 0x0130, it indicates that the state of DO1 is the Bit00 state of P4-06. This parameter can also be used to force the state of DO signal. Please refer to P2-18 ~ P2-22 to assign the functions of digital outouts (DO signals) and section 4.4.3 for the Force Outputs Operation.
Page 231 Chapter 7 Servo Parameters P4 - 08★ PKEY Digital Keypad Input of Servo Drive Address: 0410H, 0411H Default: N/A Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: Read only Data Size: 16-bit Display Format: Hexadecimal Settings: This parameter is used to check if MODE, UP, DOWN, SHIFT, and SET keys on the drive keypad being pressed or not.
Page 232 Chapter 7 Servo Parameters Please note: 1. This adjustment function is enabled after parameter P2-08 is set to 20. 2. When executing any adjustment, the external wiring connected to analog speed or torque must be removed and the servo system should be off (Servo off).
Page 233 Chapter 7 Servo Parameters Refer to P4-11 for explanation. Please note that when P2-08 is set to 10, the users cannot reset this parameter. P4 - 14 TOF2 Analog Torque Drift Adjustment 2 Address: 041AH, 041BH Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 32767...
Page 234 Chapter 7 Servo Parameters Current Detector Drift Adjustment (W1 P4 - 17 COF3 Address: 0422H, 0423H phase) Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0 ~ 32767 Data Size: 16-bit Display Format: Decimal Settings: Refer to P4-11 for explanation.
Page 235 Chapter 7 Servo Parameters Analog Monitor Output Drift Adjustment P4 - 20 DOF1 Address: 0428H, 0429H (CH1) Default: Factory setting Related Section: Applicable Control Mode: ALL Section 6.4.4 Unit: mV Range: -800 ~ 800 Data Size: 16-bit Display Format: Decimal Settings: Please note that when P2-08 is set to 10, the users cannot reset this parameter.
Page 236 Chapter 7 Servo Parameters Display Format: Decimal Settings: In speed mode, the users can use this parameter to add an offset value to analog speed input. P4 - 24 Undervoltage Error Level Address: 0430H, 0431H Default: 160 Related Section: N/A Applicable Control Mode: ALL Unit: V (rms) Range: 140 ~ 190...
Page 237 Chapter 7 Servo Parameters Table 7.A Input Function Definition Setting value: 0x01 Trigger Control DI Name DI Function Description Method Mode Servo On. When this DI is activated, it indicates the Level servo drive is enabled. Triggered Setting value: 0x02 Trigger Control DI Name...
Page 238 Chapter 7 Servo Parameters Setting value: 0x05 Trigger Control DI Name DI Function Description Method Mode When this signal is On and the motor speed value is lower than the setting value of P1-38, it is used to lock the motor in the instant position while ZCLAMP is On. Speed Command Setting value of...
Page 239 Chapter 7 Servo Parameters Setting value: 0x10 Trigger Control DI Name DI Function Description Method Mode Speed limit enabled. When the drive is in torque mode and SPDLM is activated, it indicates the speed Level SPDLM limit command is valid. The speed limit command Triggered source is internal parameter or analog voltage.
Page 240 Chapter 7 Servo Parameters Setting value: 0x18 Trigger Control DI Name DI Function Description Method Mode Speed / Position mode switching. Level P, S Triggered OFF: Speed mode, ON: Position mode Setting value: 0x19 Trigger Control DI Name DI Function Description Method Mode Speed / Torque mode switching.
Page 241 Chapter 7 Servo Parameters Setting value: 0x25 Trigger Control DI Name DI Function Description Method Mode Torque limit - Reverse operation (Torque limit Level TLLM PT, S function is valid only when P1-02 is enabled) Triggered Setting value: 0x26 Trigger Control DI Name DI Function Description...
Page 242 Chapter 7 Servo Parameters Setting value: 0x45 Trigger Control DI Name DI Function Description Method Mode Pulse inhibit input. When the drive is in position Level INHP mode, if INHP is activated, the external pulse input Triggered command is not valid. NOTE 1) 11 ~ 17: Single control mode, 18 ~ 20: Dual control mode 2) When P2-10 to P2-17 and P2-36 is set to 0, it indicates input function is disabled.
Page 243 Chapter 7 Servo Parameters Table 7.B Output Function Definition Setting value: 0x01 Trigger Control DO Name DO Function Description Method Mode Servo ready. SRDY is activated when the servo drive is Level SRDY ready to run. All fault and alarm conditions, if Triggered present, have been cleared.
Page 244 Chapter 7 Servo Parameters Setting value: 0x04 Trigger Control DO Name DO Function Description Method Mode TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed setting Level TSPD as defined in parameter P1-39. TSPD will remain Triggered activated until the motor speed drops below the Target Rotation Speed.
Page 245 Chapter 7 Servo Parameters Setting value: 0x08 Trigger Control DO Name DO Function Description Method Mode Electromagnetic brake control. BRKR is activated (Actuation of motor brake). (Please refer to parameters P1-42 ~ P1-43) Level BRKR Triggered Setting value: 0x10 Trigger Control DO Name DO Function Description...
Page 246 Chapter 7 Servo Parameters i.e. DO signal OLW will be activated). If the drive is continuously overloaded for 8 seconds, the overload alarm will be detected and shown on the LED display (AL006). Then, Servo Fault signal will be ON (DO signal ALRM will be activated).
Page 247 Chapter 7 Servo Parameters Setting value: 0x30 Trigger Control DO Name DO Function Description Method Mode Level SDO_0 Output the status of bit00 of P4-06. Triggered Setting value: 0x31 Trigger Control DO Name DO Function Description Method Mode Level SDO_1 Output the status of bit01 of P4-06.
Page 248 Chapter 7 Servo Parameters Setting value: 0x36 Trigger Control DO Name DO Function Description Method Mode Level SDO_6 Output the status of bit06 of P4-06. Triggered Setting value: 0x37 Trigger Control DO Name DO Function Description Method Mode Level SDO_7 Output the status of bit07 of P4-06.
Page 249 Chapter 7 Servo Parameters Setting value: 0x3C Trigger Control DO Name DO Function Description Method Mode Level SDO_C Output the status of bit12 of P4-06. Triggered Setting value: 0x3D Trigger Control DO Name DO Function Description Method Mode Level SDO_D Output the status of bit13 of P4-06.
Page 250: Chapter 8 Modbus Communications
Chapter 8 MODBUS Communications 8.1 Communication Hardware Interface The ASDA-B2 series servo drive has three modes of communication: RS-232 and RS-485. All aspects of control, operation and monitoring as well as programming of the controller can be achieved via communication. The two communication modes can be used at a time. Please refer to the following sections for connections and limitations.
Page 251 Chapter 8 MODBUS Communications NOTE 1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or greater is required, the maximum length of the communication cable is 3m (9.84ft.) which will ensure the correct and desired baud rate.
Page 252 Chapter 8 MODBUS Communications Cable Connection NOTE 3) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a location where there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires.
Page 253: Communication Parameter Settings
Chapter 8 MODBUS Communications 8.2 Communication Parameter Settings The following describes the communication addresses for the communication parameters. For communication parameters, please refer to the Chapter 7. Range: 0x01 ~ 0x7F Default: 0x7F 0300H Settings (Hexadecimal): 0301H Communication Address Setting Range 0 ~ 7 0 ~ F...
Page 254 Chapter 8 MODBUS Communications This parameter is used to set the desired transmission speed between the computer and AC servo drive. Users can set this parameter and control transmission speed to reach the maximum baud rate of 115200 bps. 0304H Default: 0x0066 0305H Settings:...
Page 255 Chapter 8 MODBUS Communications Settings: 0: RS-232 1: RS-485 Multiple communication modes RS232 and RS-485 cannot be used within one communication ring. Digital Input Control: Range:0x0000 ~ 0x01FF Default: 0 Bit0 ~ Bit 7 corresponds with DI1 ~ DI8. The least significant bit 030CH (Bit0) shows DI1 status and the most significant bit (Bit7) shows DI8 status.
Page 256 Chapter 8 MODBUS Communications This parameter is used to delay the communication time that servo drive responds to host controller (external controller). When this parameter is set to 0, it indicates that the communication time that servo drive responds to host controller (external controller) will no be delayed. Default: 0000 Range: 0~1000 Byte...
Page 257: Modbus Communication Protocol
Chapter 8 MODBUS Communications 8.3 MODBUS Communication Protocol When using RS-232/485 serial communication interface, each ASDA-B2 series AC servo drive has a pre-assigned communication address specified by parameter “P3-00”. The computer then controls each AC servo drive according to its communication address. ASDA-B2 series AC servo drive can be set up to communicate on a MODBUS networks using on of the following modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal Unit).
Page 258 Chapter 8 MODBUS Communications 11-bit character frame (For 8-bit character) Start Stop Stop 8-data bits 11-bits character frame Start Even Stop parity 8-data bits 11-bits character frame Start Stop parity 8-data bits 11-bits character frame Communication Protocol: ASCII Mode: Start character’: ’ (3AH) Communication address: 1-byte consists of 2 ASCII codes Command code: 1-byte consists of 2 ASCII codes DATA(n-1)
Page 259 Chapter 8 MODBUS Communications STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address) The valid communication addresses are in the range of 1 to 254. For example, communication to AC servo drive with address 16 decimal: ASCII Mode: ADR=’1’,’0’...
Page 260 Chapter 8 MODBUS Communications RTU Mode: Command message: Response message: 02H (Upper bytes) Number of data Starting data address (Count by byte) 00H (Lower bytes) Contents of 00H (Upper bytes) Number of data starting data (Count by word) B1H (Lower bytes) address 0200H Contents of CRC Check Low...
Page 261 Chapter 8 MODBUS Communications RTU Mode: Command message: Response message: 02H (Upper bytes) 02H (Upper bytes) Starting data Starting data address address 00H (Lower bytes) 00H (Lower bytes) 00H (Upper bytes) 00H (Upper bytes) Content of data Content of data 64H (Lower bytes) 64H (Lower bytes) CRC Check Low...
Page 262 Chapter 8 MODBUS Communications CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (called CRC register) with FFFFH. Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register.
Page 263 Chapter 8 MODBUS Communications RTU Mode: In RTU mode, a silent interval of more than 10ms indicates communication end. The following is an example of CRC generation using C language. The function takes two arguments: unsigned char* data; unsigned char length The function returns the CRC value as a type of unsigned integer.
Page 264 Chapter 8 MODBUS Communications unsigned char rdat[60]; /* read 2 data from address 0200H of ASD with address 1 */ unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’}; void main() { int I; outportb(PORT+MCR,0x08); /* interrupt enable */ outportb(PORT+IER,0x01); /* interrupt as data in */ outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );...
Page 265: Communication Parameter Write-In And Read-Out
Chapter 8 MODBUS Communications 8.4 Communication Parameter Write-in and Read-out There are following five groups for parameters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communication parameter (example: P3-xx) Group 4: Diagnosis parameter (example: P4-xx) For a complete listing and description of all parameters, refer to Chapter 7.
Page 266 Chapter 8 MODBUS Communications Communication read-out parameters for ASDA-B2 series are including: Group 0: P0-00 ~ P0-46 Group 1: P1-00 ~ P1-76 Group 2: P2-00 ~ P2-67 Group 3: P3-00 ~ P3-11 Group 4: P4-00 ~ P4-24 8-17 Revision June 2010...
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Page 268: Chapter 9 Maintenance And Inspection
Chapter 9 Maintenance and Inspection Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is required to operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform a periodic maintenance and inspection of the AC servo drive by a qualified technician.
Page 269: Maintenance
If there is no contact sound or there be any unusual noises when the relay of the servo drive is operating, please contact your distributor for assistance or contact with Delta. Check for abnormal conditions of the power indicators and LED display.
Page 270: Life Of Replacement Components
Chapter 9 Maintenance and Inspection 9.3 Life of Replacement Components Smooth capacitor The characteristics of smooth capacitor would be deteriorated by ripple current affection. The life of smooth capacitor varies according to ambient temperature and operating conditions. The common guaranteed life of smooth capacitor is ten years when it is properly used in normal air-conditioned environment.
Page 271 Chapter 9 Maintenance and Inspection This page intentionally left blank. Revision June 2010...
Page 272: Chapter 10 Troubleshooting
Chapter 10 Troubleshooting If a fault is detected on the servo drive or motor a corresponding fault code will be shown on the drive's LED display. Fault codes can also be transmitted via communication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI. 10.1 Fault Messages Table Servo Drive Fault Messages Fault Messages...
Page 273 P2-08 to 28 next and restarting the servo drive. NOTE 1) If there is any unknown fault code that is not listed on the above table, please inform the distributor or contact with Delta for assistance. 10-2 Revision June 2010...
Page 274: Potential Cause And Corrective Actions
Please contact your distributor IGBT error Heat sink overheated for assistance or contact with Delta. Set the setting back to factory Control parameter Check if the setting value exceeds the default setting and then reset setting error factory default setting.
Page 275 Please contact your distributor Regenerative switch Check if regenerative switch transistor is for assistance or contact with transistor fault short-circuited. Delta. Parameter setting is Confirm the parameter setting and Correctly reset parameter in error specifications of regenerative resistor. again.
Page 276 2. Execute the drift adjustment again. exceeded its maximum contact your distributor for (Set P2-08 to 20 first, and then set allowable value. assistance or contact with P4-10 to 5.) Delta. 10-5 Revision June 2010...
Page 277 Chapter 10 Troubleshooting : Emergency stop activated Potential Cause Checking Method Corrective Actions Emergency stop switch Check if emergency stop switch is On Activate emergency stop is activated. or Off. switch. : Reverse (CWL) limit switch error Potential Cause Checking Method Corrective Actions Reverse limit switch is Check if reverse limit switch is On or...
Page 278 E0001 is displayed on damaged. data in EE-PROM. Please LED display. contact your distributor for assistance or contact with Delta. : Encoder output error Potential Cause Checking Method Corrective Actions Check if the recent fault records (P4-...
Page 279 Delta. : Pre-overload warning Potential Cause Checking Method Corrective Actions 1. Please refer to the 1.
Page 280 4. If the error does not clear when performing encoder wiring. after all the above actions are done, please contact your distributor for assistance or contact with Delta. : Encoder data error Potential Cause Checking Method Corrective Actions 1. Please connect the...
Page 281 Chapter 10 Troubleshooting : Motor protection error Potential Cause Checking Method Corrective Actions 1. Set P1-57 to 0. 2. Correctly set P1-57 and P1- The setting value of 58. Please note that the 1. Check if P1-57 is enabled. parameter P1-57 is over-low setting may results reached after a period 2.
Page 282: Clearing Faults
Chapter 10 Troubleshooting 10.3 Clearing Faults Display Fault Name Clearing Method Turn ARST (DI signal) ON to clear the fault Overcurrent or restart the servo drive. Turn ARST (DI signal) ON to clear the fault Overvoltage or restart the servo drive. This fault message can be removed Undervoltage automatically after the voltage has...
Page 283 Chapter 10 Troubleshooting Display Fault Name Clearing Method Turn ARST (DI signal) ON to clear the fault. Serial communication This fault message can also be removed error automatically after the communication is normal. Serial communication Turn ARST (DI signal) ON to clear the fault time out or restart the servo drive.
Page 284: Chapter 11 Specifications
Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-B2 Series) 100W 200W 400W 750W 1.5kW Model: ASD-B2 Series Three-phase: Three-phase: 170 ~ 255VAC, 50／60Hz ±5% 170 ~ 255VAC, Phase / Voltage Single-phase: 200 ~ 255VAC, 50／60Hz ±5% 50／60Hz ±5% 1.55 13.4 19.4 Continuous output current...
Page 285 Chapter 11 Specifications 100W 200W 400W 750W 1.5kW Model: ASD-B2 Series Voltage Range 0 ~ ±10 V Analog Input Input 10KΩ Command Resistance Time Constant 2.2 us Command Source External analog signal / Internal parameters Smoothing Strategy Low-pass filter Speed Limit Operation Parameter Setting or via Analog input Analog Monitor Output Monitor signal can set by parameters (Output voltage range: ±8V)
Page 286 Chapter 11 Specifications Footnote: Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause). When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotation speed TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.
Page 287: Specifications Of Servo Motor (Ecma Series)
Chapter 11 Specifications 11.2 Specifications of Servo Motor (ECMA Series) Low Inertia Servo Motor C204 C206 C208 C209 C210 Model: ECMA Series Rated output power (kW) 0.75 0.75 Rated torque (N-m) 0.32 0.64 1.27 1.27 2.39 2.38 3.18 3.18 6.37 Maximum torque (N-m) 0.96 1.92...
Page 288 Chapter 11 Specifications C204 C206 C208 C209 C210 Model: ECMA Series Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (um) Operating temperature 0 ~ 40 Storage temperature -10 ~ 80 Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity...
Page 289 Chapter 11 Specifications Medium / High Inertia Servo Motor E213 E218 F218 G213 Model: ECMA Series Rated output power (kW) Rated torque (N-m) 2.39 4.77 7.16 9.55 9.55 14.32 19.10 2.86 5.73 8.59 Maximum torque (N-m) 7.16 14.32 21.48 28.65 28.65 42.97 57.29 8.59 17.19 21.48 Rated speed (r/min) 2000 1500...
Page 290 Chapter 11 Specifications E213 E218 F218 G213 Model: ECMA Series Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (um) Operating temperature 0 ~ 40 Storage temperature -10 ~ 80 Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity...
Page 291: Servo Motor Speed-Torque Curves
Chapter 11 Specifications 11.3 Servo Motor Speed-Torque Curves 11-8 Revision June 2010...
Page 292: Overload Characteristics
Chapter 11 Specifications 11.4 Overload Characteristics Overload Protection Function Overload protection is a built-in protective function to prevent a motor from overheating. Occasion of Overload 1. Motor was operated for several seconds under a torque exceeding 100% torque. 2. Motor had driven high inertia machine and had accelerated and decelerated at high frequency.
Page 293 Chapter 11 Specifications Medium and Medium-High Inertia Series (ECMA E2, F2 Series) High Inertia Series (ECMA G2/GM Series) 11-10 Revision June 2010...
Page 294: Dimensions Of Servo Drive
Chapter 11 Specifications 11.5 Dimensions of Servo Drive Order P/N: ASD-B2-0121;ASD-B2-0221;ASD-B2-0421（100W ~ 400W） WEIGHT 1.07 (2.36) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
Page 295 Chapter 11 Specifications Order P/N:ASD-B2-0721（750W） WEIGHT 1.54 (3.40) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements. 11-12 Revision June 2010...
Page 296 Chapter 11 Specifications Order P/N: ASD-B2-1021;ASD-B2-1521（1kW ~ 1.5kW） WEIGHT 1.72 (3.79) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
Page 297 Chapter 11 Specifications Order P/N: ASD-B2-2023;ASD-B2-3023（2kW ~ 3kW） WEIGHT 2.67 (5.88) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
Page 298: Dimensions Of Servo Motor
Chapter 11 Specifications 11.6 Dimensions of Servo Motor Motor Frame Size: 86mm and below Models C20401 S C20602 S C20604 S C20804 S C20807 S C20907 S C20910 Model □ □ □ □ □ □ □ − − − − −...
Page 299 Chapter 11 Specifications Motor Frame Size: 100mm ~ 130mm Models G21303 E21305 G21306 G21309 C21010 Model □ □ □ □ □ − − − − − − − − − − LL (without brake) 147.5 147.5 147.5 163.5 153.3 LL (with brake) 183.5 183.5 183.5...
Page 300 Chapter 11 Specifications Motor Frame Size: 100mm ~ 130mm Models E21310 E21315 C21020 E21320 Model □ □ □ □ − − − − − − − − LL (without brake) 147.5 167.5 187.5 LL (with brake) 183.5 11.5 11.5 11.5 Depth 20 Depth 20 Depth 20...
Page 301 Chapter 11 Specifications Motor Frame Size: 180mm Models Model E21820 E21830 F21830 □ □ □ 13.5 13.5 13.5 − − − − − − LL (without brake) 202.1 202.1 LL (with brake) 203.1 235.3 235.3 Depth 25 Depth 25 Depth 25 NOTE 1) Dimensions are in millimeters.
Page 302: Appendix A Accessories
Appendix A Accessories Power Connectors Delta Part Number: ASDBCAPW0000 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number:ASDBCAPW0100 Title Part No. Manufacturer Housing C4201H00-2*3PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASD-CAPW1000 Delta Part Number: ASD-CAPW2000...
Page 303 Appendix A Accessories Power Cables Delta Part Number: ASDBCAPW0203／0205 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No. inch 3000 ± 50 118 ± 2 ASDBCAPW0203 ASDBCAPW0205 5000 ± 50 197 ± 2 Delta Part Number: ASDBCAPW0303／0305 Title Part No.
Page 304 Appendix A Accessories Power Cables, cont. Delta Part Number: ASD-CAPW1203／1205 Title Part No. Straight inch 3000 ± 50 118 ± 2 ASD-CAPW1203 3106A-20-18S ASD-CAPW1205 3106A-20-18S 5000 ± 50 197 ± 2 Delta Part Number: ASD-CAPW1303／1305 Title Part No. Straight inch 3000 ±...
Page 305 Appendix A Accessories Delta Part Number: ASD-CAPW2303／2305 Title Part No. Straight inch ASD-CAPW2303 3106A-24-11S 3000 ± 50 118 ± 2 5000 ± 50 197 ± 2 ASD-CAPW2305 3106A-24-11S Encoder Connectors Delta Part Number: ASDBCAEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9)
Page 306 Appendix A Accessories Encoder Cables Delta Part Number: ASDBCAEN0003／0005 Title Part No. Manufacturer Housing AMP (1-172161-9) Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA Title Part No. inch 3000 ± 50 118 ±2 ASDBCAEN0003 5000 ± 50 197 ± 2 ASDBCAEN0005 Delta Part Number: ASDBCAEN1003／1005...
Page 307 Appendix A Accessories I/O Signal Connector (CN1) Delta Part Number: ASDBCNDS0044 Communication Cable between Drive and Computer (for PC) Delta Part Number: ASD-CARS0003 Title Part No. inch ASD-CARS0003 3000 ± 100 118 ±4 Servo Drive, Servo Motor and Accessories Combinations...
Page 308 Appendix A Accessories 200W Servo Drive and 200W Low Inertia Servo Motor Servo Drive ASD-B2-0221-B Low inertia ECMA-C20602□S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305 Encoder Cable Encoder Cable...
Page 309 Appendix A Accessories 400W Servo Drive and 300W High Inertia Servo Motor Servo Drive ASD-B2-0421-B High inertia ECMA-G21303□S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 Encoder Cable Encoder Cable...
Page 310 Appendix A Accessories 1kW Servo Drive and 1kW Low Inertia Servo Motor Servo Drive ASD-B2-1021-B ECMA-C21010□S Low inertia ECMA-C20910□S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 Encoder Cable...
Page 311 Appendix A Accessories 1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor Servo Drive ASD-B2-1521-B Medium inertia ECMA-E21315□S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 Encoder Cable Encoder Cable...
Page 312 Appendix A Accessories 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-B2-2023-B Medium inertia ECMA-E21820□S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW2203 ASD-CAPW2205 ASD-CAPW2303 ASD-CAPW2305 Encoder Cable Encoder Cable...
Page 313 Appendix A Accessories Other Accessories (for ASDA-B2 series all models) Description Delta Part Number Communication Cable between Drive and ASD-CARS0003 Computer (for PC) 　Regenerative Resistor 400W 100Ω BR400W040 Regenerative Resistor 3kW 10Ω BR1K0W020 NOTE 1) The boxes ( ) at the ends of the servo drive model names are for optional configurations (Full closed-loop, CANopen and extension DI port).

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Asd-b2-0221-b Asd-b2-1521-b Asd-b2-2023-b Asd-b2-3023-b Asd-b2-0421-b Asd-b2-0721-b ... Show all

Delta ASD-B2-0121-B User Manual

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 Parameters

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