Delta ASDA-A2 Series User Manual
  1. Manuals
  2. Brands
  3. Delta Manuals
  4. Servo Drives
  5. ASDA-A2 Series
  6. User manual

Delta ASDA-A2 Series User Manual

High resolution ac servo drive for network communication applications
Hide thumbs Also See for ASDA-A2 Series:
1
2
3
4
5
Table Of Contents
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
Table of Contents

Advertisement

Quick Links

DELTA_ASDA-A2_M_EN_20120913

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ASDA-A2 Series and is the answer not in the manual?

Questions and answers

Related Manuals for Delta ASDA-A2 Series

Summary of Contents for Delta ASDA-A2 Series

  • Page 1 DELTA_ASDA-A2_M_EN_20120913...

  • Page 2: Revision September

    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 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! ASDA-A2 series drives are high-resolution, open type servo drives and must be installed in an NEMA enclosure such as a protection control panel during operation to comply with the requirements of the international safety standards.
  • Page 4 ASDA- 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 the drive / motor or cause personal injury. Installation ...
  • Page 5 NOTE (imperial units) are for reference only. Please use metric 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/ia. Revision September 2012...

  • Page 6: Table Of Contents

    Table of Contents Chapter 1 Unpacking Check and Model Explanation ..........1-1 Unpacking Check .................... 1-1 Model Explanation ..................1-3 1.2.1 Nameplate Information ................1-3 1.2.2 Model Name Explanation ................1-4 Servo Drive and Servo Motor Combinations ............. 1-6 1.3.1 220V Series ....................
  • Page 7 Table of Contents 3.1.3 Wiring Methods ..................3-4 3.1.4 Motor Power Cable Connector Specifications ..........3-6 3.1.5 Encoder Connector Specifications .............. 3-8 3.1.6 Cable Specifications for Servo Drive ............3-12 Connections – 400V series ................3-14 3.2.1 Connecting to Peripheral Devices ............... 3-14 3.2.2 Servo Drive Connectors and Terminals ............
  • Page 8 Table of Contents Position Feedback Signal Connector CN5 (for Full-closed Loop) ....... 3-66 CAN open Communication Connector CN6 ............3-67 3.10 Extension digital input connector CN7 ............3-69 3.11 Standard Connection Example – 220V series ........... 3-70 3.11.1 Position (PT) Control Mode ................ 3-70 3.11.2 Position (PR) Control Mode ................
  • Page 9 Table of Contents 4.4.1 Fault Code Display Operation ..............4-7 4.4.2 JOG Operation ................... 4-7 4.4.3 Force Output Control Operation ..............4-8 4.4.4 DI Diagnosis Operation ................4-9 4.4.5 DO Diagnosis Operation ................4-10 Chapter 5 Trial Run and Tuning Procedure ............... 5-1 Inspection without Load ..................
  • Page 10 Table of Contents 6.2.3 Structure of Position Control Mode ............6-9 6.2.4 S-curve Filter for Position Control .............. 6-10 6.2.5 Electronic Gear Ratio.................. 6-13 6.2.6 Low-pass Filter ................... 6-15 6.2.7 Timing Chart of Position (Pr) Control Mode ..........6-16 6.2.8 Position Loop Gain Adjustment ..............
  • Page 11 Table of Contents Others ......................6-57 6.6.1 Speed Limit ....................6-57 6.6.2 Torque Limit ....................6-57 6.6.3 Analog Monitor ..................6-58 6.6.4 Electromagnetic Brake ................6-62 Chapter 7 Motion Control Functions ................ 7-1 Motion Control Functions ................7-1 System Information ..................7-1 7.2.1 Monitoring Variables .................
  • Page 12 Table of Contents Parameter Summary ..................8-2 8.2.1 Parameters List by Group ................8-2 8.2.2 Parameters List by Function ............... 8-20 Detailed Parameter Listings ................8-33 Group 0: P0-xx Monitor Parameters ..............8-33 Group 1: P1-xx Basic Parameters ................8-60 Group 2: P2-xx Extension Parameters ..............
  • Page 13 10.6 Clearing Faults ....................10-32 Chapter 11 Specifications ..................11-1 11.1 Specifications of Servo Drive (ASDA-A2 Series) ..........11-1 11.1.1 ASDA-A2 220V Series ................11-1 11.1.2 ASDA-A2 400 Series ................. 11-4 11.2 Specifications of Servo Motors (ECMA Series) ..........11-7 11.2.1 ECMA 220V Series ..................
  • Page 14 Table of Contents 12.2.1 Connection Examples ................12-7 12.2.2 How To Install A Battery ................12-10 12.2.3 How to Replace A Battery ................. 12-11 12.3 System Initialization Procedure and Operation ..........12-14 12.3.1 System Initialization Procedure ..............12-14 12.3.2 Pulse Counting ..................12-15 12.3.3 PUU Counting ..................
  • Page 15 Due to constantly growing product range, technical improvement and alteration or changed texts, figures and diagrams, we reserve the right of this manual contained information change without prior notice. Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited. Technical Support and Service Welcome to contact us or visit our web site (http://www.delta.com.tw/ia/) if you need any...

  • Page 16: 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 17 ASDA- Chapter 1 Unpacking Check and Model Explanation 400V series Servo drive Servo motor 3 PIN Terminal Block (for R, S, T) 3 PIN Terminal Block (for DC24V, DC0V, Terminal Block (for DC24V, DC0V, R, S, T) 3 PIN Quick Connector (for U, V, W) 3 PIN Quick Connector (for P , D, C) One operating lever (for wire to terminal block insertion, available for 220V series 100W ~ 3kW models and 400V series 750W ~ 1.5kW models)
  • Page 18 ASDA- Chapter 1 Unpacking Check and Model Explanation  Power Input of Servo Drive 220V series Power of Control Circuit Power of Main Circuit 100W~3kW L1c, L2C, Quick Connector R, S, T Quick Connector 4.5kW~15kW L1c, L2C, Terminal Block R, S, T Terminal Block 400V series Power of Control Circuit Power of Main Circuit...

  • Page 19: Model Explanation

    ASDA- Chapter 1 Unpacking Check and Model Explanation 1.2 Model Explanation 1.2.1 Nameplate Information ASDA-A2 Series Servo Drive  Nameplate Explanation  Serial Number Explanation ECMA Series Servo Motor  Nameplate Explanation  Serial Number Explanation Revision September 2012...

  • Page 20: Model Name Explanation

    ASDA- Chapter 1 Unpacking Check and Model Explanation 1.2.2 Model Name Explanation ASDA-A2 Series Servo Drive Model Type Full-Closed Extension Port Electronic Type CANopen DMCNET Control for Digital Input Cam (E-Cam) Revision September 2012...
  • Page 21 ASDA- Chapter 1 Unpacking Check and Model Explanation ECMA Series Servo Motor Revision September 2012...

  • Page 22: 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-A2 series servo drives and ECMA series servo motors. (Please refer to Section 1.2 for model explanation) 1.3.1 220V Series...

  • Page 23: Series

    If the drives which are designed according to the six multiple of rated current of motors are needed, please contact our distributors or your local Delta sales representative. 1.3.2 400V Series Power...

  • Page 24: Servo Drive Features

    ASDA- Chapter 1 Unpacking Check and Model Explanation 1.4 Servo Drive Features 1.4.1 220V Series 220V Series - Front View Revision September 2012...
  • Page 25 ASDA- Chapter 1 Unpacking Check and Model Explanation 220V Series - Top View 1-10 Revision September 2012...
  • Page 26 ASDA- Chapter 1 Unpacking Check and Model Explanation 220V Series - Bottom View 1-11 Revision September 2012...

  • Page 27: Series

    ASDA- Chapter 1 Unpacking Check and Model Explanation 1.4.2 400V Series 400V Series - Front View 1-12 Revision September 2012...
  • Page 28 ASDA- Chapter 1 Unpacking Check and Model Explanation 400V Series - Top View 1-13 Revision September 2012...
  • Page 29 ASDA- Chapter 1 Unpacking Check and Model Explanation 400V Series - Bottom View 1-14 Revision September 2012...

  • Page 30: Chapter 2 Installation And Storage

    Chapter 2 Installation and Storage 2.1 Installation Notes Please pay close attention on 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 31: Installation Conditions

    ASDA- Chapter 2 Installation and Storage 2.3 Installation Conditions Operating Temperature ASDA-A2 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 for long-term reliability should be under 45°C (113°F).

  • Page 32: Installation Procedure And Minimum Clearances

    ASDA- Chapter 2 Installation and Storage 2.4 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-A2 servo drive should be mounted perpendicular to the wall or in the control panel.
  • Page 33 ASDA- Chapter 2 Installation and Storage Minimum Clearances Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When installing two or more drives adjacent to each other please follow the clearances as shown in the following diagram. ...
  • Page 34 ASDA- Chapter 2 Installation and Storage  Side by Side Installation 750W ~ 1.5kW models: NOTE The scale of the clearances does not match the dimensions as shown in the drawing above. In the event of any discrepancy between the clearances and the dimensions, the dimensions shall prevail. Revision September 2012...
  • Page 35 ASDA- Chapter 2 Installation and Storage 2kW ~ 5.5kW models: NOTE The scale of the clearances does not match the dimensions as shown in the drawing above. In the event of any discrepancy between the clearances and the dimensions, the dimensions shall prevail. Revision September 2012...

  • Page 36: Circuit Interrupter And Fuse Current Recommended Value

    ASDA- Chapter 2 Installation and Storage 2.5 Circuit Interrupter and Fuse Current Recommended Value  Caution: Please use circuit interrupter and fuse which are recognized by and comply with the UL or CSA standards. 220V Series Servo Drive Model Recommended Breaker Recommended Fuse (Class T) Operation Mode General...

  • Page 37: Emi Filter Selection

    ASDA- Chapter 2 Installation and Storage 2.6 EMI Filter Selection AC Servo Drive - EMI Filter Cross Reference 220V Series Recommended EMI Filter Item Power Servo Drive Model FootPrint RF007S21AA RF022B43AA 100W ASD-A2-0121- RF007S21AA RF022B43AA 200W ASD-A2-0221- RF007S21AA RF022B43AA 400W ASD-A2-0421-...
  • Page 38 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 39 ASDA- Chapter 2 Installation and Storage Figure 1 Saddle on both ends Saddle on one end Figure 2 2-10 Revision September 2012...
  • Page 40 ASDA- Chapter 2 Installation and Storage Dimensions Delta Part Number: 08TDT1W4S Delta Part Number: 11TDT1W4S 2-11 Revision September 2012...
  • Page 41 ASDA- Chapter 2 Installation and Storage Delta Part Number: 20TDT1W4D Delta Part Number: RF075M43BA 125.0 60.0 (4.92) (2.36) 30.0 85.0 (1.18) (3.35) 15.0 (0.52) (0.22) 30.0 (1.18) 2-12 Revision September 2012...

  • Page 42: Regenerative Resistors

    DC Bus and result in rising voltage. When the voltage rises too high, the servo system need to dissipate the extra energy by using a regenerative resistor. The ASDA-A2 series servo drive provides a built-in regenerative resistor which is equipped as standard (400W~5.5kW models only). Users can also connect an external regenerative resistor if more regenerative capacity is needed.
  • Page 43 ASDA- Chapter 2 Installation and Storage 400V Series Specifications of Built-in Regenerative Resistors Resistance (Ohm) Capacity (Watt) Min. Allowable Servo Drive (kW) (Parameter P1-52) (Parameter P1-53) Resistance (Ohm) 0.75 11.0 15.0 When the regenerative power exceeds the processing capacity of the servo drive, install an external regenerative resistor.
  • Page 44 ASDA- Chapter 2 Installation and Storage  External Regenerative Resistor When using an external regenerative resistor, connect it to P and C, and make sure the circuit between P and D is open. We recommend using external regenerative resistors with resistance values that follow the table above (Specifications of Built-in Regenerative Resistors).
  • Page 45 ASDA- Chapter 2 Installation and Storage Max. Regenerative power regenerative Rotor Inertia Servo Drive from empty load Servo Motor power of (kW) 3000r/min to stop Eo J (× 10 kg.m capacitance Ec (joule) (joule) Medium- 11.0 ECMA-F1221B 329.0 723.07 (2000r/min) High 15.0 ECMA-F1221F...
  • Page 46 ASDA- Chapter 2 Installation and Storage If the load inertia is N × motor inertia, the regenerative power will be (N+1) x E0 when servo motor brakes from 3000r/min to 0. Then, the regenerative resistor can dissipate: (N+1) x E0 - Ec (joule). If the time of repeat operation cycle is T sec, then the regenerative power = 2 x ((N+1) x E0 - Ec) / T.
  • Page 47 ASDA- Chapter 2 Installation and Storage Motor Rotation Speed External Load Torque Motor Output Torque Reverse Reverse Forward Forward Rotation Rotation Rotation Rotation External load torque in reverse direction: TL x Wr TL : External load torque For the safety, we strongly recommend the users should select the proper resistance value according to the load.
  • Page 48 ASDA- Chapter 2 Installation and Storage Allowable frequency when the servo motor runs without load (times/min) and uses a built-in regenerative resistor 11.0 15.0 Motor Capacity 600W 750W 900W Servo Motor ECMAF ECMAG ECMAJ ECMAK ECMAL When the servo motor runs with load, the allowable frequency will change according to the changes of the load inertia and rotation speed.
  • Page 49 ASDA- Chapter 2 Installation and Storage Allowable frequency when the servo motor run without load (times/min) and uses external regenerative resistor Motor Capacity ECMA  G 0.3kW 0.6kW 0.9kW Recommended Regenerative Resistor Specifications BR400W040 (400W 40Ω) BR1K0W020 (1kW 20Ω) ECMA  K Motor Capacity 1.0kW 1.5kW...
  • Page 50 ASDA- 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 2-21 Revision September 2012...
  • Page 51 ASDA- Chapter 2 Installation and Storage Delta Part Number：BR1K5W005（3kW 10Ω） 2-22 Revision September 2012...

  • Page 52: Chapter 3 Connections And Wiring

    Chapter 3 Connections and Wiring This chapter provides information on wiring ASDA-A2 series products, the descriptions of I/O signals and gives typical examples of wiring diagrams. 3.1 Connections - 220V series 3.1.1 Connecting to Peripheral Devices Figure 3.1 Configuration Power 100W~1.5kW...

  • Page 53: Servo Drive Connectors And Terminals

    ASDA- Chapter 3 Connections and Wiring 3.1.2 Servo Drive Connectors and Terminals Terminal Terminal Notes Identification Description Control circuit Used to connect single-phase AC control circuit terminal power depending on connecting servo drive model. Main circuit Used to connect three-phase AC main circuit power R, S, T terminal depending on connecting servo drive model.
  • Page 54 ASDA- Chapter 3 Connections and Wiring Terminal Terminal Notes Identification Description Communication Used for RS-485 or RS-232 communication connector connection. Please refer to section 3.6 for details. (Option) USB connector Used to connect personal computer (PC or (Type B) notebook). Please refer to section 3.7 for details. (Option) Position feedback signal connector...

  • Page 55: Wiring Methods

    ASDA- Chapter 3 Connections and Wiring attenuation. For the encoder cable specification, please use AWG26 wire size and the Metal braided shield twisted-pair cable which meets the UL2464 specification. When using CANopen communication, please use the shielded twisted-pair cables to ensure the communication quality. The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked ) of the servo drive.
  • Page 56 ASDA- Chapter 3 Connections and Wiring Figure 3.3 Three-Phase Power Supply Connection (for all models) MCCB Power Power Noise Filter ALRM_RY Motor Servo Drive DC24V DO5+(28) ALRM_RY DO5-(27) Revision September 2012...

  • Page 57: Motor Power Cable Connector Specifications

    ASDA- Chapter 3 Connections and Wiring 3.1.4 Motor Power Cable Connector Specifications The boxes (△) in the model names are for encoder resolution types (△=1: Incremental encoder, 20-bit; △=2: Incremental encoder, 17-bit). 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...
  • Page 58 ASDA- Chapter 3 Connections and Wiring Terminal Motor Model Name U, V, W / Electromagnetic Brake Connector Identification ECMA-E△1820S (2000W) ECMA-E△1830S (3000W) ECMA-F△1830S (3000W) ECMA-F△1845S (4500W) ECMA-F118553 (5500W) ECMA-F118553 (5500W) ECMA-F118753 (7500W) ECMA-F1221B3 (11kW) ECMA-F1221FS (15kW) Terminal Motor Model Name U, V, W / Electromagnetic Brake Connector Identification ECMA-F218553(5500W)

  • Page 59: Encoder Connector Specifications

    ASDA- Chapter 3 Connections and Wiring NOTE 1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Yellow) and BRAKE2 (Blue). 2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage. 3.1.5 Encoder Connector Specifications Encoder Cable Connection (Diagram 1) The scale of the objects does not match the dimensions as shown in the...
  • Page 60 ASDA- Chapter 3 Connections and Wiring The boxes (△) in the model names are for encoder resolution types (△=1: Incremental encoder, 20-bit; △=2: Incremental encoder, 17-bit). 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...
  • Page 61 ASDA- Chapter 3 Connections and Wiring If the users do not use the connector (without housing) and connect the cores from the cable for wiring, please follow the terminal identification and core number of encoder connector shown in the above table to complete the wiring. The users need to connect core #1 to core #1, core #2 to core #2 and so on.
  • Page 62 ASDA- Chapter 3 Connections and Wiring The boxes (△) in the model names are for encoder resolution types (△=1: Incremental encoder, 20-bit; △=2: Incremental encoder, 17-bit). The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Motor Model Name Encoder Connector ECMA-G△1303S (300W)

  • Page 63: Cable Specifications For Servo Drive

    ASDA- Chapter 3 Connections and Wiring 3.1.6 Cable Specifications for Servo Drive Power Cable Power Cable - Wire Gauge AWG (mm Servo Drive and Servo Motor L1c, L2c R, S, T U, V, W P , C ASD-A2-0121- ECMA-C△0401S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ASD-A2-0221-...
  • Page 64 The boxes () at the ends of the servo drive model names represent the model type of ASDA-A2 series. For the actual model name, please refer to the ordering information of the actual purchased product. The boxes ( △ ) in the servo motor model names are for encoder resolution types ( △ =1: Incremental encoder, 20-bit;...

  • Page 65: Connecting To Peripheral Devices

    If a fault occurs, using ALRM digital output can control electromagnetic DC24V±10% contactor and cut off the power of the servo drive. Host (External) Controller Connected to Delta DVP series controllers or other brands of Regenerative Resistor (Option) external PLCs. Terminal Block Module (ASD-BM-50A) (Option)

  • Page 66: Servo Drive Connectors And Terminals

    ASDA- Chapter 3 Connections and Wiring 3.2.2 Servo Drive Connectors and Terminals Terminal Terminal Notes Identification Description Control circuit Used to connect DC control circuit power DC24V, DC0V terminal depending on connecting servo drive model. Main circuit Used to connect three-phase AC main circuit power R, S, T terminal depending on connecting servo drive model.
  • Page 67 ASDA- Chapter 3 Connections and Wiring Terminal Terminal Notes Identification Description Communication Used for RS-485 or RS-232 communication connector connection. Please refer to section 3.6 for details. (Option) USB connector Used to connect personal computer (PC or (Type B) (Option) notebook).
  • Page 68 ASDA- 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, DC24V & DC0V) is correct.

  • Page 69: Wiring Methods

    ASDA- Chapter 3 Connections and Wiring 3.2.3 Wiring Methods For 400V series servo drives from 750W to 7.5kW the input power can be three-phase only. Single -phase connections are for 200V series servo drives 1.5kW and below only. In the wiring diagram figures 3.5: Power ON : contact “a”...

  • Page 70: Motor Power Cable Connector Specifications

    ASDA- Chapter 3 Connections and Wiring 3.2.4 Motor Power Cable Connector Specifications The boxes (△) in the model names are for encoder resolution types (△=1: Incremental encoder, 20-bit; △=2: Incremental encoder, 17-bit). 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...
  • Page 71 ASDA- Chapter 3 Connections and Wiring Terminal Motor Model Name U, V, W / Electromagnetic Brake Connector Identification ECMA-L1221B3(11kW) ECMA-L1221FS (15kW) CASE GROUND BRAKE1 BRAKE2 Terminal Identification (Red) (White) (Black) (Green) (Yellow) (Blue) Terminal BRAKE1 BRAKE2 Identification NOTE 1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Yellow) and BRAKE2 (Blue).

  • Page 72: Encoder Connector Specifications

    ASDA- Chapter 3 Connections and Wiring 3.2.5 Encoder Connector Specifications Encoder Cable Connection (Diagram 1) Servo Drive Quick Connector Connector of Connector of CN2 Connector Encoder Cable Encoder Cable (Drive Side) (Motor Side) Servo Motor The scale of the objects does not match the dimensions as shown in the NOTE drawing above.
  • Page 73 ASDA- Chapter 3 Connections and Wiring Encoder Cable Connection (Diagram 2) The scale of the objects does not match the dimensions as shown in the NOTE drawing above. For different models of AC servo drives and motors, the connection cables may differ. 1) Please refer to section 3.4 for the descriptions of “Encoder Connector CN2”.

  • Page 74: Cable Specifications For Servo Drive

    ASDA- Chapter 3 Connections and Wiring The boxes (△) in the model names are for encoder resolution types (△=1: Incremental encoder, 20-bit; △=2: Incremental encoder, 17-bit). The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Motor Model Name Encoder Connector Terminal...
  • Page 75 The boxes () at the ends of the servo drive model names represent the model type of ASDA-A2 series. For the actual model name, please refer to the ordering information of the actual purchased product. The boxes ( △ ) in the servo motor model names are for encoder resolution types ( △ =1: Incremental encoder, 20-bit;...

  • Page 76: Basic Wiring

    ASDA- Chapter 3 Connections and Wiring 3.3 Basic Wiring 3.3.1 220V series Figure 3.6 Basic Wiring Schematic of 400W and below models (Without built-in regenerative resistor) Connect to external regenerative resistor Power 1-phase/3-phase 200~230V Servo Drive Servo Motor Encoder ±15V +3.3V GATE +24V...
  • Page 77 ASDA- Chapter 3 Connections and Wiring Figure 3.7 Basic Wiring Schematic of 750W to 4.5kW models (With built-in regenerative resistor and fan) Connect to external regenerative resistor Power 750W~1kW 1-phase/3-phase 200~230V 2kW~4.5kW 3-phase 200~230V 750W~4.5kW models Servo Drive PRB 60W or 120W +12V Servo Motor...
  • Page 78 ASDA- Chapter 3 Connections and Wiring Figure 3.8 Basic Wiring Schematic of 5.5kW to 15kW models (With built-in fan but no regenerative resistor) Connect to external regenerative resistor Power 11kW and 15kW models 5.5kW~15kW 3-phase 200~230V do not have D contact 5.5kW~15kW models Servo Drive +12V...

  • Page 79: Series

    ASDA- Chapter 3 Connections and Wiring 3.3.2 400V series Figure 3.9 Basic Wiring Schematic of 750W to 1.5kW models (With built-in regenerative resistor and fan) Connect to external regenerative resistor Power 3-phase 380~480V + _ 10%, DC24V 10% 750W and above models Servo Drive PRB 60W +12V...
  • Page 80 ASDA- Chapter 3 Connections and Wiring Figure 3.10 Basic Wiring Schematic of 2kW to 15kW models (With built-in fan but no regenerative resistor) Connect to external regenerative resistor Power 3-phase 380~480V + _ 10%, DC24V 10% 750W and above models Servo Drive +12V Servo...

  • Page 81: Input / Output Interface Connector -Cn1

    ASDA- Chapter 3 Connections and Wiring 3.4 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 82 ASDA- Chapter 3 Connections and Wiring CN1 Terminal Signal Identification DO4+ Digital 26 DO4- Digital output output DO3- Digital output 27 DO5- Digital output DO3+ Digital 28 DO5+ Digital output output DO2- Digital output 29 /HPULSE High-speed DO2+ Digital position 30 DI8- Digital input output...

  • Page 83: Signals Explanation Of Connector Cn1

    ASDA- Chapter 3 Connections and Wiring 3.4.2 Signals Explanation of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the general signals. Table 3.B details the Digital Output (DO) signals and Table 3.C details the Digital Input (DI) signals.
  • Page 84 ASDA- Chapter 3 Connections and Wiring Wiring Diagram Signal Pin No Details (Refer to 3.4.4) Encoder signal output A, B, Z (Line-driver output). The motor encoder signals are C13/C14 Position available through these terminals. Pulse Output Encoder signal output Z (Open-collector output).
  • Page 85 ASDA- Chapter 3 Connections and Wiring The following Tables 3.B and 3.C detail the functions, applicable operational modes, signal name and relevant wiring schematic of the default DI and DO signals. Table 3.B DO Signals Pin No. Assigned Wiring Diagram (Default) DO Signal Control...
  • Page 86 ASDA- Chapter 3 Connections and Wiring Pin No. Assigned Wiring Diagram (Default) DO Signal Control Details (Refer to 3.4.4) Mode BRKR BRKR is activated actuation of motor brake. HOME is activated when the servo drive has HOME detected that the "HOME" sensor (ORGP, digital input 0x24) has been detected.
  • Page 87 ASDA- Chapter 3 Connections and Wiring Pin No. Assigned Wiring Diagram (Default) DO Signal Control Details (Refer to 3.4.4) Mode 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. SDO_7 Output the status of bit07 of P4-06.
  • Page 88 ASDA- Chapter 3 Connections and Wiring Table 3.C DI Signals Assigned Pin No. Wiring Diagram Control Details Signal (Default) (Refer to 3.4.4) Mode Servo On. Switch servo to "Servo Ready". A number of Faults (Alarms) can be cleared by activating ARST. Please see table 10-3 for applicable faults that can be cleared with the ARST ARST command.
  • Page 89 ASDA- Chapter 3 Connections and Wiring Assigned Pin No. Wiring Diagram Control Details Signal (Default) (Refer to 3.4.4) Mode PT, T, TCM0 Select the source of torque command: Tz, PT-T, See table 3.F. TCM1 PR-T, S-T PT-S, Speed / Position mode switching PR-S OFF: Speed, ON: Position Speed / Torque mode switching...
  • Page 90 ASDA- Chapter 3 Connections and Wiring Assigned Pin No. Wiring Diagram Control Details Signal (Default) (Refer to 3.4.4) Mode Reverse JOG input. When JOGD is activated, JOGD the motor will JOG in reverse direction. [see P4-05] Event trigger command 1. Event trigger command 2.
  • Page 91 ASDA- Chapter 3 Connections and Wiring Table 3.D Source of Position Command Position POS5 POS4 POS3 POS2 POS1 POS0 CTRG Parameters Command P6-00 P6-01 P6-02 P6-03 P6-98 P6-99 P7-00 P7-01 P7-26 P7-27 Table 3.E Source of Speed Command SPD1 SPD0 Parameters S mode: analog input Sz mode: 0...
  • Page 92 ASDA- Chapter 3 Connections and Wiring Table 3.G Default DI signals and Control modes Signal Function Tz PT-S PR-S Code 0x01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 ARST 0x02 Reset DI5 DI5 DI5 DI5 DI5 DI5 GAINUP 0x03 Gain switching CCLR...
  • Page 93 ASDA- Chapter 3 Connections and Wiring Signal Function Tz PT-S PR-S Code Internal position (PR) and external pulse (PT) PT-PR 0x2B mode switching (OFF: PT, ON: PR) External command source selection: pulse PTAS 0x2C and analog voltage switching (in PT mode only) External command source selection: high- PTCMS...
  • Page 94 ASDA- Chapter 3 Connections and Wiring NOTE 1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1. Table 3.H Default DO signals and Control modes Signal Function Tz PT-S PT-T PR-S PR-T S-T Code SRDY 0x01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 0x02 Servo On ZSPD...
  • Page 95 ASDA- Chapter 3 Connections and Wiring Signal Function Tz PT-S PT-T PR-S PR-T S-T Code Output the status of SDO_2 0x32 bit02 of P4-06. Output the status of SDO_3 0x33 bit03 of P4-06. Output the status of SDO_4 0x34 bit04 of P4-06. Output the status of SDO_5 0x35...

  • Page 96: User-Defined Di And Do Signals

    ASDA- Chapter 3 Connections and Wiring 3.4.3 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 97: Wiring Diagrams Of I/O Signals (Cn1)

    ASDA- Chapter 3 Connections and Wiring 3.4.4 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. The value of input impedance is 10k.
  • Page 98 ASDA- Chapter 3 Connections and Wiring There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse frequency of Line-driver input is 500kpps and max. input pulse frequency of Open-collector input is 200kpps. C3-1: The source of pulse input is from the open collector NPN equipment and use the internal power of the drive.
  • Page 99 ASDA- Chapter 3 Connections and Wiring C3-2: The source of pulse input is from the open collector NPN equipment and use the external power. Controller Servo Drive Pull-hi_S 35 Approx. Max. input pulse 1KΩ DC24V frequency is 200Kpps 51Ω 51Ω /SIGN Max.
  • Page 100 ASDA- Chapter 3 Connections and Wiring C4-1: Pulse input (Line driver input). It requires 5V power supply only. Never apply a 24V power supply. Controller Servo Drive Max. input pulse frequency is 500Kpps 51Ω SIGN 51Ω /SIGN Max. input pulse frequency is 500Kpps 51Ω...
  • Page 101 ASDA- Chapter 3 Connections and Wiring 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 102 ASDA- Chapter 3 Connections and Wiring C6: Wiring of DO signal, for the use of internal power supply, inductive load Servo Drive Ensure the polarity (+, -) of Diode is DC24V correct or it may damage the drive. DOX (DOX+,DOX-) X=1,2,3,4,5 DO1 (7,6) DO2 (5,4)
  • Page 103 ASDA- Chapter 3 Connections and Wiring C8: Wiring of DO signal, for the use of external power supply, inductive load Do not connect Servo Drive VDD and COM+ Ensure the polarity (+, -) DOX (DOX+,DOX-) of Diode is correct or it X=1,2,3,4,5 may damage the drive.
  • Page 104 ASDA- Chapter 3 Connections and Wiring C10: Wiring of DI signal, for the use of external power supply PNP transistor with multiple emitter fingers (SOURCE Mode) C11: Wiring of DI signal, for the use of internal power supply 3-53 Revision September 2012...
  • Page 105 ASDA- Chapter 3 Connections and Wiring C12: Wiring of DI signal, for the use of external power supply  Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo drive and servo motor. C13: Encoder output signal (Line driver) Max.
  • Page 106 ASDA- Chapter 3 Connections and Wiring C14: Encoder output signal (Photocoupler) C15: Encoder OCZ output Open-collector Z-pulse output） 3-55 Revision September 2012...

  • Page 107: Application: Using Cn1 Convenient Connector For Wiring

    ASDA- Chapter 3 Connections and Wiring 3.4.5 Application: Using CN1 Convenient Connector for Wiring The CN1 convenient connector (ASD-IF-SC5020) is designed for quick and easy wiring, and especially suitable for the applications with limited DI/O requests. It’s applicable to ASDA-A2, ASDA-A2R and similar series AC servo drives. Its spring clamp terminals are convenient for wiring because that users do not need to solder a wire to the connector and the spring can hold a wire tightly even due to vibration.
  • Page 108 ASDA- Chapter 3 Connections and Wiring Description Description COM+ COM+ COM- 2,4,6,26,45,47 COM- DI1- DI1- DI2- DI2- DI3- DI3- DI4- DI4- DI7- DI7- DO1+ DO1+ DO2+ DO2+ PULL_HI_PS PULL_HI_PS /PULSE /PULSE PULSE PULSE /SIGN /SIGN SIGN SIGN 12,13,19,44 DO4+ DO4+ DO3+ DO3+ CN_GND...
  • Page 109 ASDA- Chapter 3 Connections and Wiring PLC Example Sink mode PULL_HI_PS DO2+ /PULSE DO1+ PULSE DI7- Open Collector Pulse Input /SIGN DI4- Max. SIGN 200KHz DI3- +24V DI2- DI1- DO4+ COM- DO3+ COM+ Shield CN_GND cable Use Flat-Head screw driver to press down the spring clamp, and then insert the wire. Wiring Method Installation Method...

  • Page 110: Encoder Connector Cn2

    ASDA- Chapter 3 Connections and Wiring 3.5 Encoder Connector CN2 Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires. Following rotor position sensing the amplifier automatically switches to encoding for commutation control. The 20-bit encoder is automatically multiplied to 1280000ppr for increased control accuracy.
  • Page 111 ASDA- Chapter 3 Connections and Wiring CN2 Terminal Signal Identification Drive Connector Motor Connector Terminal Military Quick PIN No. Description Color Identification Connector Connector Serial communication Blue signal input / output (+) Serial communication Blue & Black signal input / output (-) Reserved Reserved Red / Red &...
  • Page 112 ASDA- Chapter 3 Connections and Wiring Using the encoder cable with shielding (double shielding is the best) is able to prevent voltage coupling and eliminate the noise and interference from other electrical sources. Be sure to observe the following steps to complete the shielding surrounding the encoder cable. (1) Cut through the cable with the scissors and make the metal core wires with shielding exposed to a normal magnetic field.
  • Page 113 ASDA- Chapter 3 Connections and Wiring (5) Install the connector with shielding into the plastic case as shown in the figure. (6) Tighten the screws to complete a shielded CN2 connector. 3-62 Revision September 2012...

  • Page 114: Serial Communication Connector Cn3

    The servo drive can be connected to a PC or controller via this serial communication connector CN3. Users can operate the servo drive through PC software supplied by Delta. The communication connector/port of Delta servo drive can provide two common serial communication interfaces: RS-232 and RS-485 connection.

  • Page 115: Connection Between Pc/Keypad And Connector Cn3

    ASDA- Chapter 3 Connections and Wiring CN3 Terminal Signal Identification Terminal PIN No. Signal Name Description Identification Grounding Ground For data transmission of the servo RS-232 data RS-232_TX drive. Connected to the RS-232 transmission interface of PC. Reserved For data receiving of the servo drive. RS-232 data receiving RS-232_RX Connected to the RS-232 interface of...

  • Page 116: Serial Communication Connector Cn4 (Usb)

    The servo drive can be connected to a PC via this serial communication connector CN4. Users can operate the servo drive through PC software supplied by Delta. The USB transmission speed can reach up to 1MB. Therefore, the users can easily monitor the servo drive data in real time by using Data Scope function provided by Delta PC software.

  • Page 117: Position Feedback Signal Connector Cn5 (For Full-Closed Loop)

    ASDA- Chapter 3 Connections and Wiring 3.8 Position Feedback Signal Connector CN5 (for Full-closed Control) The servo drive can be connected to a linear scale or external encoder to constitute a full- closed loop via this position feedback signal connector CN5. In position mode, the pulse position commands given by the external controller just refer to the control loop structure of the external linear scale.

  • Page 118: Canopen Communication Connector Cn6

    ASDA- Chapter 3 Connections and Wiring 3.9 CANopen Communication Connector CN6 CANopen Communication Connector CN6 is designed in accordance with CANopen DS301 and DS402 implementation. With this connector CN6, the servo drive can be connected to a CAN device so as to perform position, speed and torque control, or read and monitor the status of the servo drive through CANopen communication.
  • Page 119 ASDA- Chapter 3 Connections and Wiring Figure 3.18 Connecting more than one servo drives via CANopen communication 1） It is recommended to use a terminal resistor of 120Ω (Ohm), 0.25W and NOTE above. 2） The multiple servo drives are connected in serial by connector CN6 via CANopen communication.

  • Page 120: Extension Digital Input Connector Cn7

    Chapter 3 Connections and Wiring 3.10 Extension digital input connector CN7 ASDA-A2 series provides single-axis point-to-point position control function and the position numbers can be up to 64 points. When internal 8 programmable Digital Inputs (DI) which can be set via parameters P2-10 ~ P2-17 can not satisfied, the users can use this extension digital input connector CN7 to increase more digital inputs.

  • Page 121: Position (Pt) Control Mode

    Z phase pulse CAN H Output 2,10 CAN L connections (CN7 is a optional 3,11 CAN GND part, not Delta standard Z phase open 4,12 supplied part.). collector 5,13 *7 For USB connection. It is used to Max. output 6,14...

  • Page 122: Position (Pr) Control Mode

    CAN L *4 For extension digital inputs 3,11 CAN GND Z phase open (DI) connections (CN7 is a 4,12 collector optional part, not Delta 5,13 Max. output 6,14 standard supplied part.). current 50mA 7,15 CAN GND *5 For USB connection. It is...

  • Page 123: Speed Control Mode

    CAN H *4 For extension digital inputs Output 2,10 CAN L (DI) connections (CN7 is a 3,11 CAN GND optional part, not Delta Z phase open 4,12 collector standard supplied part.). 5,13 *5 For USB connection. It is used Max. output...

  • Page 124: Torque Control Mode

    *3 The coil of brake has no polarity. *4 For extension digital inputs (DI) connections (CN7 is a optional part, not Delta standard supplied part.). *5 For USB connection. It is used to connect to personal computer or notebook.

  • Page 125: Canopen Communication Mode

    ASDA- Chapter 3 Connections and Wiring 3.11.5 CANopen Communication Mode Servo Drive MCCB ASDA-A2 series AC 200/230 V ＊2 ♁ Three-phase ＊5 Regenerative 50/60Hz Resistor Power Supply White Black EMGS BRKR Green Brake ＊3 Encoder Blue DC 24V Blue/Black Green...

  • Page 126: Standard Connection Example

    Max. output 6,14 connections (CN7 is a optional current 50mA 7,15 CAN GND Voltage 30V part, not Delta standard 8,16 supplied part.). *7 For USB connection. It is used to connect to personal computer or notebook. 3-75 Revision September 2012...

  • Page 127: Position (Pr) Control Mode

    *4 For extension digital inputs (DI) current 50mA 7,15 CAN GND connections (CN7 is a optional Voltage 30V 8,16 part, not Delta standard supplied part.). *5 For USB connection. It is used to connect to personal computer or notebook. 3-76 Revision September 2012...

  • Page 128: Speed Control Mode

    *4 For extension digital inputs (DI) 5,13 Max. output connections (CN7 is a optional 6,14 current 50mA 7,15 CAN GND part, not Delta standard Voltage 30V 8,16 supplied part.). *5 For USB connection. It is used to connect to personal computer or notebook. 3-77...

  • Page 129: Torque Control Mode

    *3 The coil of brake has no polarity. *4 For extension digital inputs (DI) connections (CN7 is a optional part, not Delta standard supplied part.). *5 For USB connection. It is used to connect to personal computer or notebook.

  • Page 130: Canopen Communication Mode

    ASDA- Chapter 3 Connections and Wiring 3.12.5 CANopen Communication Mode Servo Drive MCCB ASDA-A2 series ＊2 AC 380/480 V ♁ Regenerative Three-phase Resistor DC 24V White Power Supply Power Black Supply Green EMGS BRKR Brake ＊3 Encoder Blue DC 24V...
  • Page 131 ASDA- Chapter 3 Connections and Wiring This page intentionally left blank. 3-80 Revision September 2012...

  • Page 132: 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 133: Display Flowchart

    ASDA- 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 134: Status Display

    ASDA- 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 135: Monitor Setting Display

    ASDA- 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 136 ASDA- Chapter 4 Display and Operation P0-02 Display Message Description Unit Setting 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 [1times] 13.0, it indicates that the actual inertia is 13) IGBT temperature Resonance frequency (The low byte...
  • Page 137 ASDA- Chapter 4 Display and Operation P0-02 Display Message Description Unit Setting Status Monitor 3: Display the content of parameter P0-11 (the monitor status is specified by parameter P0-19) Status Monitor 4: Display the content of parameter P0-12 (the monitor status is specified by parameter P0-20) The following table lists the display examples of monitor value: Display Message...

  • Page 138: General Function Operation

    ASDA- 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. Please refer to the Figure 4.3. Figure 4.3 4.4.2 JOG Operation After entering parameter mode P4-05, the users can follow the following steps to perform...

  • Page 139: Force Output Control Operation

    ASDA- Chapter 4 Display and Operation Figure 4.4 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 140: Di Diagnosis Operation

    ASDA- Chapter 4 Display and Operation Figure 4.6 NOTE 1) As the display of P4-06 is hexadecimal, 0(zero) of the fifth digit will not show on the LED display. 4.4.4 DI Diagnosis Operation Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07, Input Status).

  • Page 141: Do Diagnosis Operation

    ASDA- Chapter 4 Display and Operation Figure 4.7 4.4.5 DO Diagnosis Operation Following the setting method in Figure 4.8 can perform DO diagnosis operation (parameter P4-09, Output Status Display). According to the ON and OFF status of the digital outputs DO1 to DO5, the corresponding status will display on the servo drive LED display.

  • Page 142: 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 143  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. If there is any abnormal condition of the power indicators and LED display, please contact your distributor for assistance or contact with Delta.

  • Page 144: Applying Power To The Drive

    ASDA- 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 145 ASDA- Chapter 5 Trial Run and Tuning Procedure 1) When display shows: Overvoltage: 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 main circuit input voltage falls within the ...
  • Page 146 ASDA- Chapter 5 Trial Run and Tuning Procedure If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only  need to confirm that which of digital inputs DI1 ~ DI8 is set to “Emergency Stop (EMGS)”...
  • Page 147 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 September 2012...

  • Page 148: Jog Trial Run Without Load

    ASDA- 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 149 ASDA- 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 September 2012...

  • Page 150: Speed Trial Run Without Load

    P2-15 to P2-17 and P2-36 to P2-41 to 0 (Disabled) in advance. All the digital inputs of Delta ASDA-A2 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 8.A in Chapter 8).
  • Page 151 ASDA- 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...

  • Page 152: Position Trial Run Without Load

    P2-15 to P2-17 and P2-36 to P2-41 to 0 (Disabled) in advance. All the digital inputs of Delta ASDA-A2 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 8.A in Chapter 8).
  • Page 153 ASDA- Chapter 5 Trial Run and Tuning Procedure Please refer to the following table for 64 groups of position commands and position command selection from POS0 to POS5. Position POS5 POS4 POS3 POS2 POS1 POS0 CTRG Parameters Command P6-00 P6-01 P6-02 P6-03 P6-98...

  • Page 154: Tuning Procedure

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6 Tuning Procedure Table 5.A 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.

  • Page 155: Tuning Flowchart

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.1 Tuning Flowchart 5-14 Revision September 2012...

  • Page 156: Load Inertia Estimation Flowchart

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.2 Load Inertia Estimation Flowchart 5-15 Revision September 2012...

  • Page 157: Auto Mode Tuning Flowchart

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.3 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 158 ASDA- Chapter 5 Trial Run and Tuning Procedure 5-17 Revision September 2012...

  • Page 159: Semi-Auto Mode Tuning Flowchart

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.4 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 160 ASDA- 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.

  • Page 161: Limit Of Load Inertia Estimation

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.5 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be above 200 r/min. The load inertia must be 100 multiple or less of motor inertia.
  • Page 162 ASDA- 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 163: Mechanical Resonance Suppression Method

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.6 Mechanical Resonance Suppression Method In order to suppress the high frequency resonance of the mechanical system, ASDA-A2 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 164: Relationship Between Tuning Modes And Parameters

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.7 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) P2-04 (Proportional Speed Loop Gain) Manual Mode...

  • Page 165: Gain Adjustment In Manual Mode

    ASDA- Chapter 5 Trial Run and Tuning Procedure 5.6.8 Gain Adjustment in Manual Mode The position and speed frequency response 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 166 ASDA- Chapter 5 Trial Run and Tuning Procedure When the value of P1-37 (no matter it is the measured load inertia value or the set load inertia value) is equal to the actual load inertia value, the actual speed loop frequency response will be: K VP KVI, Parameter P2-06 Speed Integral Compensation...
  • Page 167 ASDA- Chapter 5 Trial Run and Tuning Procedure This page intentionally left blank. 5-26 Revision September 2012...

  • Page 168: Chapter 6 Control Modes Of Operation

    Chapter 6 Control Modes of Operation 6.1 Control Modes of Operation The Delta ASDA-A2 series can be programmed to provide six single, eight dual modes and two multiple modes of operation. Their operation and description is listed in the following table.
  • Page 169 Chapter 6 Control Modes of Operation Mode Mode Code Description Either PT or S control mode can be selected PT-S via the Digital Inputs (DI) Either PT or T control mode can be selected PT-T via the Digital Inputs (DI). Either PR or S control mode can be selected PR-S via the Digital Inputs (DI).

  • Page 170: Position Control Mode

    The other setting method is to use serial communication to change the setting value of these eight internal parameters. To make the servo motor and load operate more smoothly, Delta servo drive also provide complete Position Spine Line (P-curve) profile for position control mode. For the closed-loop positioning, speed control loop is the principal part and the auxiliary parameters are position loop gain and feed forward compensation.

  • Page 171: Command Source Of Position (Pt) Control Mode

    Chapter 6 Control Modes of Operation 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 172 Chapter 6 Control Modes of Operation Please note: 1. When the source of pulse command is the high-speed linear driver signal and the setting value B is set to 0 (High-speed Filter Frequency is 3.33Mpps): If an input pulse of 2~4MHz is used, it is recommended to change the setting value B (Input pulse filter) and set this setting value to 4.
  • Page 173 Chapter 6 Control Modes of Operation C: Input polarity High-speed pulse and Low-speed pulse Pulse Logic Forward Reverse Type Pulse Phase-Lead Pulse Phase-Lag phase pulse Positive Logic (38) Pulse CW + (29) T2 T2 T2 T2 T2 T2 T2 T2 T2 T2 (46) pulse Sign...
  • Page 174 Chapter 6 Control Modes of Operation Max. Min. time width input Pulse specification pulse frequency High-speed Line 4Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns pulse driver Line 500Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs driver Low-speed pulse Open 200Kpps 1.25μs 2.5μs 5μs 5μs...

  • Page 175: Command Source Of Position (Pr) Control Mode

    Chapter 6 Control Modes of Operation 6.2.2 Command Source of Position (PR) Control Mode The command sources of PR mode are (P6-00, P6-01) ~ (P7-26, P7-27) these 64 built-in parameters. Using with external I/O signals (CN1, POS 0 to POS 5 and CTRG) can select one of the 64 built-in parameters to be position command.

  • Page 176: Structure Of Position Control Mode

    Using parameter can select PR mode and PT mode. Electronic gear ratio can be set in both two modes to set proper position revolution. ASDA-A2 series servo drives also provide S- curve and low-pass filter, which are used whenever the motor and load need to be operated more smoothly.

  • Page 177: S-Curve Filter For Position Control

    Chapter 6 Control Modes of Operation Pulse Inhibit Input Function (INHIBIT) This function is activated via digital inputs (Please refer to parameter P2-10 ~ P2-17 and DI INHP in Table 8.A).When the drive is in position mode, if INHP is activated, the external pulse input command is not valid and the motor will stop (Please note that only DI8 supports this function).
  • Page 178 Chapter 6 Control Modes of Operation Relevant Parameters: Address: 0144H P1-34 TACC Acceleration Time 0145H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.3 Default: 200 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
  • Page 179 Chapter 6 Control Modes of Operation 2. When the source of speed command is analog command, the maximum setting value of P1-34 is limited to 20000 automatically. Address: 0146H P1-35 TDEC Deceleration Time 0147H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.3 Default: 200 Control...
  • Page 180 Chapter 6 Control Modes of Operation TACC: P1-34, Acceleration time TDEC: P1-35, Deceleration time TSL: P1-36, Accel /Decel S-curve 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.
  • Page 181 Chapter 6 Control Modes of Operation Settings: This parameter is used to set the numerator of the electronic gear ratio. The denominator of the electronic gear ratio is set by P1-45. P2-60 ~ P2-62 are used to set the additional numberators. 1) Please note: 1.

  • Page 182: Electronic Gear Ratio

    Chapter 6 Control Modes of Operation 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. At this time, the users can use low-pass filter parameter to improve this kind of situation. For example, assume that the electronic gear ratio is equal to 1 and the encoder pulse per revolution is 10000ppr, if the electronic gear ratio is changed to 0.5, then the motor will rotate one pulse when the command from external controller is two pulses.

  • Page 183: Timing Chart Of Position (Pr) Control Mode

    Chapter 6 Control Modes of Operation Position Tar get pos ition Time (ms) PF LT 6.2.7 Timing Chart of Position (PR) Control Mode In PR mode, position command source is DI signal from CN1, i.e. selected by POS0~POS5 and CTRG. Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is shown the timing chart of PR mode: 6-16 Revision September 2012...

  • Page 184: Position Loop Gain Adjustment

    Chapter 6 Control Modes of Operation 6.2.8 Position Loop Gain Adjustment Before performing position control (setting position control block diagram), the users should complete the speed control setting by using Manual mode (parameter P-32) since the position loop contains speed loop. Then, adjust the Proportional Position Loop Gain, KPP (parameter P2-00) and Position Feed Forward Gain, PFG (parameter P2-02).
  • Page 185 Chapter 6 Control Modes of Operation Address: 0204H P2-02 Position Feed Forward Gain 0205H Operation Related Section: Keypad/Software Communication Interface: Section 6.2.8 Default: 50 Control PT, PR Mode: Unit: % Range: 0 ~ 100 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set the feed forward gain when executing position control command.

  • Page 186: Low-Frequency Vibration Suppression

    Chapter 6 Control Modes of Operation 6.2.9 Low-frequency Vibration Suppression If the stiffness of the mechanical system is not sufficient, after the positioning command has completed, continuous vibration of the mechanical system may occur still even when the motor has almost stopped. At this time, using low-frequency vibration suppression function can suppress the low-frequency vibration of mechanical system.
  • Page 187 Chapter 6 Control Modes of Operation Please note: 1. When P1-26 and P1-28 are both set to 0, it indicates that the system could not find the frequency. Please check the setting value of P1-30 because when the setting value of P1-30 is too high, it may causes that the frequency becomes difficult to be found.
  • Page 188 Chapter 6 Control Modes of Operation Relevant parameters: Address: 013AH Auto Low-frequency Vibration Suppression P1-29 AVSM Mode Selection 013BH Operation Related Section: Keypad/Software Communication Interface: Section 6.2.9 Default: 0 Control PT, PR Mode: Unit: - Range: 0 ~ 1 Data Size: 16-bit Display Decimal Format:...
  • Page 189 Chapter 6 Control Modes of Operation Manual Mode  There area two groups of low-frequency vibration suppression parameters. The first group is P1-25 and P1-26 and the second group is P1-27 and P1-28. Using these two groups of parameters can improve the vibration condition of two different low frequencies.
  • Page 190 Chapter 6 Control Modes of Operation Settings: This parameter is used to set the vibration suppression gain for P1-25. When the setting value is higher, the position response is quicker. However, if the setting value is over high, it may affect the normal operation of servo motor. It is recommended to set P1-26 as 1.
  • Page 191 Chapter 6 Control Modes of Operation Please note: 1. After the low-frequency vibration is suppressed, the changes of the response may become excessive. Therefore, please ensure that the machine is able to stop any time and ensure the safety of personnel working with the machine when execute low- frequency vibration suppression function.

  • Page 192: 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-A2 series servo drives support two kinds of command sources in speed control mode. One is external analog signal and the other is internal parameter.

  • Page 193: 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 194: Smoothing Strategy Of Speed Control Mode

    (TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and the users can use these three parameters to improve the motor performance during acceleration, deceleration and operation. ASDA-A2 series servo drives also support the time calculation of completing speed command. T (ms) is the operation (running) time. S (r/min) is absolute speed command, i.e.
  • Page 195 Chapter 6 Control Modes of Operation Relevant parameters: Address: 0144H P1-34 TACC Acceleration Time 0145H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.3 Default: 200 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
  • Page 196 Chapter 6 Control Modes of Operation Address: 0146H P1-35 TDEC Deceleration Time 0147H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.3 Default: 200 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
  • Page 197 2. When the source of speed command is analog command, the maximum setting value of P1-36 is limited to 10000 automatically. Analog Speed Command S-curve Filter ASDA-A2 series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in response to a sudden analog input signal. Speed (rpm)
  • Page 198 Chapter 6 Control Modes of Operation Analog Speed Command Low-pass Filter Analog Speed Command Low-pass Filter is used to eliminate high frequency response and electrical interference from an analog speed command and it is also with smoothing function. Relevant parameters: Accel / Decel Smooth Constant of Analog Address: 010CH P1-06...

  • Page 199: Analog Speed Input Scaling

    Chapter 6 Control Modes of Operation 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF and GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range. 5000rpm The speed control ramp is determined by parameter P1-40...

  • Page 200: Timing Chart Of Speed Control Mode

    Chapter 6 Control Modes of Operation 6.3.5 Timing Chart of Speed Control Mode S4 (P1-11) Internal speed S3 (P1-10) command S2 (P1-09) External analog voltage or zero (0) SPD0 SPD1 External I/O signal NOTE 1) OFF indicates normally open and ON indicates normally closed. 2) When speed control mode is Sz, the speed command S1=0;...
  • Page 201 There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-A2 series servo drives can be adjusted by using any one of two tuning modes. Manual Mode: User-defined loop gain adjustment. When using this mode, all auto ...
  • Page 202 Chapter 6 Control Modes of Operation Explanation of semi-auto tuning mode: 1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2- 25 and P2-26 will change to the value that measured in #1 auto-tuning mode. 2.
  • Page 203 Chapter 6 Control Modes of Operation Address: 020CH P2-06 Speed Integral Compensation 020DH Operation Related Section: Keypad/Software Communication Interface: Section 6.3.6 Default: 100 Control Mode: Unit: rad/s Range: 0 ~ 1023 Data Size: 16-bit Display Decimal Format: 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 204 Chapter 6 Control Modes of Operation In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic. Frequency Domain 6-37 Revision September 2012...
  • Page 205 Chapter 6 Control Modes of Operation Time Domain 6-38 Revision September 2012...
  • Page 206 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 207: Resonance Suppression

    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 208 Chapter 6 Control Modes of Operation The parameters P2-23 and P2-24 are the first group of notch filter parameters and the parameters P2-43 and P2-44 are the second group of notch filter parameters. Address: 0256H P2-43 NCF2 Notch Filter 2 (Resonance Suppression) 0257H Operation Related Section:...
  • Page 209 Chapter 6 Control Modes of Operation Address: 025AH P2-45 NCF3 Notch Filter 3 (Resonance Suppression) 025BH Operation Related Section: Keypad/Software Communication Interface: Section 6.3.7 Default: 1000 Control Mode: Unit: Hz Range: 50 ~ 2000 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set third resonance frequency of mechanical system.
  • Page 210 If P2-25 is set to 0, this parameter is disabled. 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 211 Chapter 6 Control Modes of Operation When P2-47 is set to 1 or 2, if the resonance conditions can not be eliminated, we recommend the users to check the settings of P2-44 and P2-46. If either of the setting value of P2-44 and P2-46 is set to 32, please decrease the speed frequency response and estimate the resonance point again.
  • Page 212 Chapter 6 Control Modes of Operation 6-45 Revision September 2012...
  • Page 213 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 214 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 215: Torque Control Mode

    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-A2 series servo drives support two kinds of command sources in torque control mode. One is external analog signal and the other is internal parameter.

  • Page 216: Structure Of Torque Control Mode

    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 217: 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 Address: 010EH P1-07 TFLT Command (Low-pass Filter) 010FH Operation Related Section: Keypad/Software Communication Interface: Section 6.4.3 Default: 0 Control Mode: Unit: ms Range: 0 ~ 1000 (0: Disabled) Data Size: 16-bit...

  • Page 218: Analog Torque Input Scaling

    Chapter 6 Control Modes of Operation 6.4.4 Analog Torque Input Scaling The analog voltage between T_REF and GND controls the motor torque command. Using with parameter P1-41 can adjust the torque control ramp and its range. 300% The torque control ramp is determined by parameter P1-41 100% Torque command...
  • Page 219 Chapter 6 Control Modes of Operation 6.4.5 Timing Chart of Torque Control Mode T4 (P1-14) Internal speed T3 (P1-13) command T2 (P1-12) External analog voltage or zero (0) TCM0 TCM1 External I/O signal NOTE 1) OFF indicates normally open and ON indicates normally closed. 2) When torque control mode is Tz, the torque command T1=0;...

  • Page 220: Control Modes Selection

    Chapter 6 Control Modes of Operation 6.5 Control Modes Selection Except signal control mode operation, ASDA-A2 series servo drives also provide many dual and multiple modes for the users to select. 1） Speed / Position mode selection: PT-S, PR-S, PT-PR 2）...

  • Page 221: Speed / Position Control Mode Selection

    Chapter 6 Control Modes of Operation 6.5.1 Speed / Position Control Mode Selection PT-S Mode / PR-S Mode: The command source of PT-S mode is from external input pulse. The command source of PR-S mode is from internal parameters (P6-00 to P7-27). The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11).

  • Page 222: Speed / Torque 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 223: Torque / Position Control Mode Selection

    Chapter 6 Control Modes of Operation 6.5.3 Torque / Position Control Mode Selection PT-T Mode / PR-T Mode: The command source of PT-T mode is from external input pulse. The command source of PR-T mode is from internal parameters (P6-00 to P7-27). The torque command can be the external input pulse or internal parameters (P1-12 to P1-14).

  • Page 224: 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 225: Analog Monitor

    Chapter 6 Control Modes of Operation 6.6.3 Analog Monitor Users can use analog monitor to observe the required analog voltage signals. ASDA-A2 series servo drives provide two analog channels, they are PIN No. 15 and 16 of CN1 connector. The parameters relative to analog monitor are shown below. Relevant parameters: Address: 0006H P0-03...
  • Page 226 Chapter 6 Control Modes of Operation Motor toque MON2 output voltage= 8 × (unit: Volts) P1-05 (Max. motor torque × Address: 0106H P1-03 AOUT Pulse Output Polarity Setting 0107H Operation Related Section: Keypad/Software Communication Interface: Section 3.3.3 Default: 0 Control Mode: Unit: - Range: 0 ~ 13...
  • Page 227 Chapter 6 Control Modes of Operation Example: P0-03 = 01 (MON1 is motor speed analog output, MON2 is motor torque analog output) Motor speed MON1 output voltage= 8 × (unit: Volts) P1-04 (Max. motor speed × Motor toque MON2 output voltage= 8 × (unit: Volts) P1-05 (Max.
  • Page 228 Chapter 6 Control Modes of Operation Analog Monitor Output Drift Adjustment Address: 0428H P4-20 DOF1 (MON1) 0429H Operation Related Section: Keypad / Software Communication Interface: Section 6.4.4 Default: Factory setting Control Mode: Unit: mV Range: -800 ~ 800 Data Size: 16-bit Display Decimal Format:...

  • Page 229: Electromagnetic Brake

    Chapter 6 Control Modes of Operation still limited within the range of ±8V. The revolution provided by ASDA-A2 series servo drives is 10bit, approximated to 13mv/LSB. 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.
  • Page 230 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 231 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 232: Chapter 7 Motion Control Functions

    ASDA-A2 series provides the following motion control functions: 1) Innovative PR mode 2) Capture (Position Latch) / Compare (Position Detection) functions 3) Electronic Cam (E-Cam) function (ASDA-A2 series L type models do not provide this function.) 7.2 System Information The system information of the servo drive includes: 1.

  • Page 233: Monitoring Variables

    ASDA- Chapter 7 Motion Control Functions System Parameters Monitor Parameters In monitor mode, users can press UP or DOWN arrow key to change the monitoring variables (monitor item settings) in common use (code 0 ~ 26). Remark Please note that not all monitoring variables can be displayed (total 150 kinds of monitor parameters).
  • Page 234 ASDA- Chapter 7 Motion Control Functions Attribute of monitoring variables: Attribute Explanation Basic monitoring variable. Pressing UP/DOWN keys can change the status shown on LED display. Decimal place display. indicates one decimal place, indicates two decimal places. Decimal display only. When pressing SET key on the keypad, the system can not switch to hexadecimal display.
  • Page 235 ASDA- Chapter 7 Motion Control Functions Monitoring Variables / Code Explanation Attribute Torque command (Analog) Analog torque input command. Unit is 0.01Volt. (0Ah) B D2 Dec Integrated torque input command. Unit is Percent (%). Torque command The command source may be from analog command / (0Bh) (Integrated) internal parameter / position loop.
  • Page 236 Main circuit voltage after rectification. Unit is 0.1Volt. (38h) D1 Dec Pulse number of The accumulated pulse numbers of master axis of E-Cam master axis electronic cam. Please refer to P5-86. (ASDA-A2 series L (3Bh) (Accumulated) type models do not provide this function.) Revision September 2012...
  • Page 237 (Lead Pulse Number) Lead pulse number is determined by P5-89. The electronic cam disengaged when the setting value is (ASDA-A2 series L type models do not provide this function.) The position of E-Cam axis. The input of E-Cam curve. Unit: It is the same as the pulse number of master axis.
  • Page 238 ASDA- Chapter 7 Motion Control Functions Monitoring Variables / Code Explanation Attribute Synchronous Capture When Synchronous Capture Axis is enabled, it is the Axis – Pulse input received pulses between two capture operation and it (51h) increment can be used to measure the actual mark distance. When Synchronous Capture Axis is enabled, it is the Synchronous Capture accumulated errors between actual output pulse and...

  • Page 239: Data Array

    Chapter 7 Motion Control Functions 7.2.2 Data Array ASDA-A2 series provides many motion control functions, such as E-Cam (ASDA-A2 series L type models do not provide this function.), Capture function, and Compare function. The data array can keep data for E-Cam, Capture function, and Compare function with maximum to 800 records (all together to max.
  • Page 240 ASDA- Chapter 7 Motion Control Functions Relevant Parameters for Data Array Parameter Name Explanation Panel Read: P5-11 unchanged Panel Write: P5-11=P5-11+1 When reading data through the panel (keypad): Read the content specified by P5-11. After read operation is completed, the address of P5-11 will not change. When writing data through the panel (keypad): Write the content specified by P5-11.
  • Page 241 ASDA- Chapter 7 Motion Control Functions 1. When writing data through the keypad: Use P5-12 because P5-13 does not provide this function. 1) Set first address: Set P5-11=11 (the first address) 2) Write data: Set P5-12=100. (This is the first written data, 100th data and it will be saved in address 11, i.e.
  • Page 242 ASDA- Chapter 7 Motion Control Functions The operation steps for reading or writing data through the communication are similar to the steps when using keypad. The functions of P5-12 and P5-13 are also the same. For example, suppose that users want to write 6 consecutive data (100th, 200th, 300th, 400th, 500th, 600th data) through Modbus communication continuously, set the communication command by referring to the table below.

  • Page 243: Motion Axes

    6. E-Cam Master Output axis and PR command axis. Position offset Axis (P5-86) Axis exists between output axis and physical axis. (ASDA-A2 series L type models do not provide this function.) 7. PR Command Virtual Command position defined by PR. Axis Axis 8.

  • Page 244: Pr Mode

    ASDA- Chapter 7 Motion Control Functions 3. Virtual axis: It is the axis generated by the servo firmware, e.g. PR command axis. It is unable to command in real time so it could not be regarded as the command axis for Capture and Compare function.

  • Page 245: Pulse Of User Unit

    ASDA- Chapter 7 Motion Control Functions Old PR mode PR Mode of ASDA-A2  Execute homing function automatically when power is applied to the servo drive (Servo On at the first time)  Execute homing function  automatically when power DI signal, SHOM is applied to the servo Homing...
  • Page 246 ASDA- Chapter 7 Motion Control Functions Position Commands and Position Registers: Five different types of position commands: Absolute, Incremental, Stop, Homing and Speed commands. ＝＞When position ＝＞ When position After position command Type command being accepted ＝＞ command is completed executed ＝＞...

  • Page 247: Homing Function

    Z pulse, just set absolute position command to 100 or incremental position command to 0. In PR mode of ASDA-A2 series, after homing operation, it can execute the specified path and command the motor to return to the position of Z pulse automatically.

  • Page 248: Triggering Prs

    ASDA- Chapter 7 Motion Control Functions 7.9 Triggering PRs There are several methods to call a PR. Standard CTRG: Trigger the PR selected by DIs (POS0 ~ POS5). Special STP: Terminate the running PR. SHOM: Start to run homing procedure (PR0). Event EV1 ~ 4 (rising edge): Event can be used to call a PR.
  • Page 249 After the electronic cam is disengaged, it will return to PR Capture operation. Others mode and trigger the specified PR designated by BA Trigger the setting of P5-88. command after E- (ASDA-A2 series L type models do not provide this Cam is disengaged. function.) 7-18 Revision September 2012...

  • Page 250: Parameter Settings

    ASDA- Chapter 7 Motion Control Functions 7.10 Parameter Settings 1) Target speed: P5-60 ~ P5-75 (Moving Speed Setting of Position 0 ~ 15), total 16 groups 15 ~ 0 TARGET_SPEED：0.1 ~ 6000.0(r/min) 2) Accel / Decel time: P5-20 ~ P5-35 (Accel / Decel Time 0 ~ 15), total 16 parameters 15 ~ 0 T_ACC / T_DEC：1 ~ 65500(msec) Note: The acceleration time is used for DO signals, STP/EMS/NL(CWL)/PL(CCWL) when users...
  • Page 251 ASDA- Chapter 7 Motion Control Functions 6) Constant Speed Control: TYPE = 1 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 DATA (32 bit): Target speed. Unit: Defined by OPT.UNIT When executing this command, the motor will accelerate or decelerate from current speed (the value does not necessarily have to be 0.).
  • Page 252 ASDA- Chapter 7 Motion Control Functions OPT: Bit 7 Bit 6 Bit 5 Bit 4 Explanation OVLP Absolute position command: Cmd_E = DATA (Note 1) Incremental position command: Cmd_E = Cmd_E + DATA (Note 2) Relative position command: Cmd_E = Current feedback position + DATA (Note 3) Capture position command: Cmd_E = Capture position + DATA (Note 4)
  • Page 253 ASDA- Chapter 7 Motion Control Functions FUN_CODE: Reserved DLY: Delay time after jump 9) Special Function: TYPE = 8, Write the specified parameter. 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 DESTINATION...
  • Page 254 ASDA- Chapter 7 Motion Control Functions DESTINATION: Write destination DESTINATION Bit 19 ~ 16 Bit 15 ~ 12 Bit 11 ~ 8 When DEST = 0, the write destination is Parameter P_Grp P_Idx Px-xx When DEST = 1, the write Array_Addr destination is data array.
  • Page 255 But this is not convenient for users to use. In order to solve this problem, ASDA-A2 series adds this function. 3. If the operation of writing parameter to the dedicated PR is failed, the fault AL213 ~ AL219 will occur (see Chapter 11 Troubleshooting).
  • Page 256 ASDA- Chapter 7 Motion Control Functions 10) Special Function: TYPE = 0xA, Indexing command. 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 OPT2 DATA (32 bit): Indexing Coordinate Command, Unit: Pulse of User Unit OPT: Bit 7 Bit 6...
  • Page 257 0. 1) ASDA-A2 series does not provide the functions that find Z pulse and regard Z pulse as “Home”. Therefore, it needs to decide if the motor return to Z pulse position when homing operation is completed.

  • Page 258: Motion Commands

    ASDA- Chapter 7 Motion Control Functions Do not return to Z pulse: Set PR=0 Return to Z pulse: Set PR=a non-zero value and set absolute position command= ORG_DEF. CMD_O：Command Output Position CMD_E：Command End Position 2) Position offset values are not defined when performing homing operation. After homing operation, the position offset values can be set as a dedicated PR.

  • Page 259: Sequence

    ASDA- Chapter 7 Motion Control Functions 7.10.2 Sequence 1) Sequential Command on PR A command will be executed only when the previous command completed. P_Command 1: DLY is set P_Command 2: INS is not set (DLY: Delay time is calculated from the time when the position command is completed) V_Command 1: Speed command.
  • Page 260 ASDA- Chapter 7 Motion Control Functions P_Command 1: OVLP is set, DLY can not be set. P_Command 2: INS is not set 3) Internal Insertion Command The second command will insert the first command to be a new command. The final result depends on the types of commands.
  • Page 261 ASDA- Chapter 7 Motion Control Functions 4) External Insertion Command The external insertion will change the command being executed at the moment it inserted. The delay time is not a matter for external insertion. OVLP OVLP SPEED The final destination : Absolute : Cmd_E = command P_Command 1 Relative : Cmd_E = Fb_PUU + command...

  • Page 262: Electronic Cam (E-Cam)

    ASDA- Chapter 7 Motion Control Functions 7.11 Electronic Cam (E-Cam) (ASDA-A2 series L type models do not provide this function) From Machine Cam to Electronic Cam The concept of electronic cam (E-Cam) is to use the software settings to determine the position relationship between master axis (Master) and slave axis (Slave), almost like a virtual electronic cam exists between both of them.
  • Page 263 ASDA- Chapter 7 Motion Control Functions Please refer to the table below to know the differences between a machine cam (physical cam) and an electronic cam (virtual cam). Machine Cam (Physical Cam) Electronic Cam After E-Cam rotates 360 degrees (one Return to the original position revolution), it can return to the original Structure...
  • Page 264 ASDA- Chapter 7 Motion Control Functions  Characteristics of E-Cam: Characteristics of E-Cam Control Mode E-Cam function is available only in PR mode. X=0: Disable E-Cam function (Default). If E-Cam has been engaged Enable E-Cam Function already, setting X=0 will force E-Cam to be disengaged. (P5-88 X Settings) X=1：Enable E-Cam function.
  • Page 265 ASDA- Chapter 7 Motion Control Functions The function block diagram of E-Cam is shown as the figure below: Master E-Gear: Master Gear Clutch The scaling of command pulse Axis P5-83, P5-84 Clutch: Master Axis: Sources of Control the timing that slave starts to main axis E-Cam Axis P5-88 Y Settings...
  • Page 266 ASDA- Chapter 7 Motion Control Functions  Function of Clutch Function of Clutch This function is used to determine the engaging and disengaging state of the master axis and gear box # 1. Descriptions After E-Cam is engaged, then the movement of the master axis is able to rotate E-Cam of the servo drive.
  • Page 267 ASDA- Chapter 7 Motion Control Functions Function of Clutch Path 2  When E-Cam function is disabled (P5-88 X=0), the status of E- Cam will return to Stop. Path 3  When the lead pulse number set in P5-87 or P5-92 reached, , the status of E-Cam will change from Lead Pulse to Engaged.
  • Page 268 ASDA- Chapter 7 Motion Control Functions Function of Clutch When the direction of lead pulse is not set correctly, it will cause Lead Pulse Number that the value of the monitoring variable 061 becomes higher and higher and finally lead to overflow. At this time, E-Cam (Monitoring Variable function will be disabled (P5-88 X=0) and the status of E-Cam will 061)
  • Page 269 ASDA- Chapter 7 Motion Control Functions  Function of Gear Box #1 (Master E-Gear) Function of Gear Box #1 (Master E-Gear)  This function defines the relationship of the master axis and E-Cam axis. When the master axis rotates one revolution, it does not mean that E-Cam must rotate one revolution as well.
  • Page 270 ASDA- Chapter 7 Motion Control Functions Function of E-Cam Curve  E-Cam curve saves the position data of slave axis (user unit is PUU).  If E-Cam is divided into N parts, it means that total N+1 points are recorded in the data array. This is because the position of the first point (0°) and the position of the last point (360°) are not the same.
  • Page 271 ASDA- Chapter 7 Motion Control Functions Function of E-Cam Curve  Slave axis is a virtual axis (user unit is PUU).  P5-85 is the first point where the E-Cam engaged. When E- Cam engaged, the position of E-Cam axis will move to the point set by P5-85.

  • Page 272: Capture Function

    ASDA- Chapter 7 Motion Control Functions Table 1 P5-90 <= P5-91: E-Cam Degree 0° P5-90 P5-91 360° DO:CAM_AREA Table 2 P5-90 > P5-91: E-Cam Angle 0° P5-91 P5-90 360° DO:CAM_AREA 7.11.1 Capture Function The Capture function can be applied to latch a reference position which could be the signal of main encoder, linear encoder, or pulse train.
  • Page 273 ASDA- Chapter 7 Motion Control Functions Characteristics of Capture function Data Storage  Data array. The starting point is set in P5-36. Location  The amount is determined by P5-38. But, the total amount can Amount not exceed the limit of data array. Data Format ...

  • Page 274: Compare Function

    ASDA- Chapter 7 Motion Control Functions Capture Operation: Data Array First point captured Enable Compare function ….. P5-76 POS 1 The first point is saved in P5-36 POS 2 POS 3 The second point is saved in P5-36+1 The third point is saved in P5-36+2 POS N Capture axis (P5-37)
  • Page 275 ASDA- Chapter 7 Motion Control Functions Characteristics of Compare function  It is output by DO4 and the response time is 5 usec. Please note: DO4 signal is a physical signal used to control Compare function directly. No matter what the setting value of P2-21 is, when DO4 is triggered, Compare function will be enabled always.
  • Page 276 ASDA- Chapter 7 Motion Control Functions Compare Operation: Data Array ….. POS 1 The first point is saved in P5-56 POS 2 POS 3 The second point is saved in P5-56+1 The third point is saved in P5-56+2 POS N Compare axis (P5-57) Compare signal...
  • Page 277 ASDA- Chapter 7 Motion Control Functions This page intentionally left blank. 7-46 Revision September 2012...

  • Page 278: Definition

    Chapter 8 Servo Parameters 8.1 Definition There are following eight 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) Group 5: Motion control parameters (example: P5-xx) Group 6: PR path definition parameters...

  • Page 279: Parameter Summary

    ASDA- Chapter 8 Servo Parameters 8.2 Parameters Summary 8.2.1 Parameters List by Group Group 0: P0-xx Monitor Parameters Control Mode Parameter Name Function Default Unit PT PR S T Factory Firmware Version P0-00 ★     setting Drive Fault Code P0-01 ...
  • Page 280 ASDA- Chapter 8 Servo Parameters Monitor Parameters Control Mode Parameter Name Function Default Unit PT PR S T P0-33 ~ Reserved (Do Not Use) P0-34 Block Data Read / Write Register 1 P0-35 MAP1A     (for P0-25) Block Data Read / Write Register 2 P0-36 MAP2A...
  • Page 281 ASDA- Chapter 8 Servo Parameters Monitor Parameters Control Mode Parameter Name Function Default Unit PT PR S T General Range Compare Digital Output – Upper Limit of 1st P0-55 ZON1H     Monitoring Variable P0-56 ~ Reserved (Do Not Use) P0-61 Explanation of symbols (marked after parameter) ( ★...
  • Page 282 ASDA- Chapter 8 Servo Parameters Group 1: P1-xx Basic Parameters Control Mode Parameter Name Function Default Unit PT PR S T P1-00 ▲ External Pulse Input Type  pulse P1-01  Control Mode and Output Direction r/min     Speed and Torque Limit P1-02 ▲...
  • Page 283 ASDA- Chapter 8 Servo Parameters Basic Parameters Control Mode Parameter Name Function Default Unit PT PR S T Electronoic Cam (E-Cam) Pulse P1-21 CPCL Phase Compensation – Min. Kpps  Frequency Setting of Master Axis PR Special Filter Settings P1-22 SPF1 0000h ...
  • Page 284 ASDA- Chapter 8 Servo Parameters Basic Parameters Control Mode Parameter Name Function Default Unit PT PR S T Electronic Gear Ratio (1st P1-44 ▲ pulse   Numerator) (N1) Electronic Gear Ratio (Denominator) P1-45 pulse   P1-46 ▲ Encoder Output Pulse Number 2500 pulse ...
  • Page 285 ASDA- Chapter 8 Servo Parameters Basic Parameters Control Mode Parameter Name Function Default Unit PT PR S T Full-closed Loop Low-pass Filter P1-75 FELP   Time Constant Max. Rotation Speed of Encoder P1-76 AMSPD 5500 r/min     Output Explanation of symbols (marked after parameter) ( ★...
  • Page 286 ASDA- Chapter 8 Servo Parameters Group 2: P2-xx Extension Parameters Control Mode Parameter Name Function Default Unit PT PR S T P2-00 Proportional Position Loop Gain rad/s   P2-01 Position Loop Gain Switching Rate   P2-02 Position Feed Forward Gain ...
  • Page 287 ASDA- Chapter 8 Servo Parameters Extension Parameters Control Mode Parameter Name Function Default Unit PT PR S T P2-30  Auxiliary Function     Speed Frequency Response Level in P2-31 AUT1     Auto and Semi-Auto Mode P2-32 ▲...
  • Page 288 ASDA- Chapter 8 Servo Parameters Extension Parameters Control Mode Parameter Name Function Default Unit PT PR S T Synchronous Speed Integral P2-55 rad/s     Compensation Synchronous Position Integral P2-56 rad/s     Compensation Synchronous Speed Frequency P2-57 ...
  • Page 289 ASDA- Chapter 8 Servo Parameters Explanation of symbols (marked after parameter) ( ★ ) Read-only register. ( ▲ ) Parameter cannot be set when Servo On (when the servo drive is enabled). (  ) Parameter is effective only after the servo drive is restarted (after switching power off and on).
  • Page 290 ASDA- Chapter 8 Servo Parameters Group 3: P3-xx Communication Parameters Control Mode Parameter Name Function Default Unit PT PR S T P3-00  Communication Address Setting 0x7F     P3-01 Transmission Speed 0x0203     P3-02 Communication Protocol ...
  • Page 291 ASDA- Chapter 8 Servo Parameters Group 4: P4-xx Diagnosis Parameters Control Mode Parameter Name Function Default Unit PT PR S T P4-00 ★ ASH1 Fault Record (N)     P4-01 ★ ASH2 Fault Record (N-1)     P4-02 ★...
  • Page 292 ASDA- Chapter 8 Servo Parameters Group 5: P5-xx Motion Control Parameters Control Mode Parameter Name Function Default Unit PT PR S T P5-00 ~ Reserved (Do Not Use) P5-02 Deceleration Time of Protectin P5-03 PDEC 0XE0EFEEFF     Function P5-04 HMOV...
  • Page 293 ASDA- Chapter 8 Servo Parameters Motion Control Parameters Control Mode Parameter Name Function Default Unit PT PR S T P5-40 ~ DLY0 ~ Delay Time 0 ~ 15 0 ~ 5500  P5-55 DLY15 COMPARE: Start Address of Data P5-56 CMST ...
  • Page 294 ASDA- Chapter 8 Servo Parameters Motion Control Parameters Control Mode Parameter Name Function Default Unit PT PR S T Motion Control: Macro Parameter P5-95 CSDS  Motion Control: Macro Parameter P5-96 CSDS  P5-97  CSDS Motion Control: Macro Command pulse ...
  • Page 295 ASDA- Chapter 8 Servo Parameters Group 6: P6-xx PR Path Definition Parameters Control Mode Parameter Name Function Default Unit PT PR S T P6-00 PDEC Homing Definition 0x00000000  P6-01 ODAT Homing Definition Value  P6-02 ~ PDEF1 ~ Definition of Path 1 ~ 49 0x00000000 ...
  • Page 296 ASDA- Chapter 8 Servo Parameters Group 7: P7-xx PR Path Definition Parameters Control Mode Parameter Name Function Default Unit PT PR S T PDEF50 P7-00 ~ Definition of Path 50 ~ 63 0x00000000  P7-26 PDEF63 PDAT50 P7-01 ~ Data of Path 50 ~ 49 ...

  • Page 297: Parameters List By Function

    ASDA- Chapter 8 Servo Parameters 8.2.2 Parameters List by Function Monitor and General Use Control Mode Related Parameter Name Function Default Unit Section PT PR Factory Firmware Version P0-00 ★ Setting 11.1 P0-01  Drive Fault Code 11.2 11.3 Drive Status (Front Panel P0-02 Display) P0-03...
  • Page 298 ASDA- Chapter 8 Servo Parameters Monitor and General Use Control Mode Related Parameter Name Function Default Unit Section PT PR Block Data Read / Write P0-39 MAP5A 4.3.5 Register 5 (for P0-29) Block Data Read / Write P0-40 MAP6A 4.3.5 Register 6 (for P0-30) Block Data Read / Write P0-41...
  • Page 299 ASDA- Chapter 8 Servo Parameters Smooth Filter and Resonance Suppression Control Mode Related Parameter Name Function Default Unit Section PT PR 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...
  • Page 300 ASDA- Chapter 8 Servo Parameters Smooth Filter and Resonance Suppression Control Mode Related Parameter Name Function Default Unit Section PT PR Notch Filter 3 (Resonance P2-45 NCF3 1000 6.3.7 Suppression) Notch Filter Attenuation Rate 3 P2-46 DPH3 6.3.7 (Resonance Suppression) Auto Resonance Suppression P2-47 ANCF...
  • Page 301 ASDA- Chapter 8 Servo Parameters Gain and Switch Control Mode Related Parameter Name Function Default Unit Section PT PR 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 302 ASDA- Chapter 8 Servo Parameters Position Control Control Mode Related Parameter Name Function Default Unit Section PT PR pulse Control Mode and 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 303 ASDA- Chapter 8 Servo Parameters Position Control Control Mode Related Parameter Name Function Default Unit Section PT PR P5-20 ~ AC0 ~ 200 ~ Accel / Decel Time 0 ~ 13 7.10 P5-35 AC15 P5-40 ~ DLY0 ~ Delay Time 0 ~ 15 7.10 P5-55 DLY15...
  • Page 304 ASDA- Chapter 8 Servo Parameters Speed Control Control Mode Related Parameter Name Function Default Unit Section PT PR 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...
  • Page 305 ASDA- Chapter 8 Servo Parameters Torque Control Control Mode Related Parameter Name Function Default Unit Section PT PR 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...
  • Page 306 ASDA- Chapter 8 Servo Parameters Digital I/O and Relative Input Output Setting Control Mode Related Parameter Name Function Default Unit Section PT PR P2-09 Bounce Filter Table P2-10 Digital Input Terminal 1 (DI1) Table P2-11 Digital Input Terminal 2 (DI2) Table P2-12 Digital Input Terminal 3 (DI3)
  • Page 307 ASDA- Chapter 8 Servo Parameters Digital I/O and Relative Input Output Setting Control Mode Related Parameter Name Function Default Unit Section PT PR OFF Delay Time of P1-43 MBT2 6.5.5 Electromagnetic Brake Table P1-47 SCPD Speed Reached Output Range r/min Table P1-54 Positioning Completed Width...
  • Page 308 ASDA- Chapter 8 Servo Parameters Diagnosis Control Mode Related Parameter Name Function Default Unit Section PT PR 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...
  • Page 309 ASDA- Chapter 8 Servo Parameters E-Cam Function Control Mode Related Parameter Name Function Default Unit Section PT PR E-Cam: Start Address of Data P5-81 ECHD 7.10 Array E-Cam: E-Cam Area Number N P5-82 ECMN 7.10 (at least >=5) E-Cam: E-Cam Cycle Number P5-83 ECMM 7.10...

  • Page 310: Detailed Parameter Listings

    ASDA- Chapter 8 Servo Parameters 8.3 Detailed Parameter Listings Group 0: P0-xx Monitor Parameters Address: 0000H P0-00★ Firmware Version 0001H Operation Related Section: N/A Keypad/Software Communication Interface: Default: Factory setting Control Mode: Unit: - Range: - Data Size: 16-bit Display Decimal Format: Settings:...
  • Page 311 ASDA- Chapter 8 Servo Parameters 005: Regeneration error 006: Overload 007: Overspeed 008: Abnormal pulse control command 009: Excessive deviation 010: Reserved 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...
  • Page 312 ASDA- Chapter 8 Servo Parameters 129: Error occurs when writing CANopen PDO object into EE-PROM. 130: EE-PROM invalid address range 131: EE-PROM checksum error 132: Password error Motion Control Fault Codes: 201: CANopen data initial error 213: Write parameter error: exceeds the limit of normal range 215: Write parameter error: read only 217: Write parameter error: parameter lock 219: Write parameter error: parameter lock...
  • Page 313 ASDA- Chapter 8 Servo Parameters 061: Voltage level below specification 062: Overflow warning of absolute position 068: I/O data transmission error of absolute position 069: Motor type error 289: Position counter overflow Address: 0004H P0-02 Drive Status (Front Panel Display) 0005H Operation Related Section:...
  • Page 314 ASDA- Chapter 8 Servo Parameters The interval of two Z phase pulse command is 10000 pulses. 19: Mapping Parameter 1: Display the content of parameter P0-25 (mapping target is specified by parameter P0-35) 20: Mapping Parameter 2: Display the content of parameter P0-26 (mapping target is specified by parameter P0-36) 21: Mapping Parameter 3: Display the content of parameter P0-27 (mapping target is specified by parameter P0-37)
  • Page 315 ASDA- Chapter 8 Servo Parameters MON1, MON2 Settings: 0: Motor speed (+/-8V / maximum motor speed) 1: Motor torque (+/-8V / maximum torque) 2: Pulse command frequency (+8Volts / 4.5Mpps) 3: Speed command (+/-8Volts / maximum speed command) 4: Torque command (+/-8Volts / maximum torque command) 5: V_BUS voltage (+/-8Volts / 450V) 6: Reserved 7: Reserved...
  • Page 316 ASDA- Chapter 8 Servo Parameters Address: 0010H P0-08★ TSON Servo Startup Time 0011H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: Hour Range: 0 ~ 65535 Data Size: 16-bit Display Decimal Format: Settings: This parameter shows the total startup time of the servo drive. Address: 0012H P0-09★...
  • Page 317 ASDA- Chapter 8 Servo Parameters Address: 0014H P0-10★ Status Monitor 2 0015H Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: - Control Mode: Unit: - Range: - Data Size: 32-bit Display Decimal Format: Settings: This parameter is used to provide the value of one of the status monitoring functions found in P0-02.
  • Page 318 ASDA- Chapter 8 Servo Parameters Address: 0018H P0-12★ Status Monitor 4 0019H Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: - Control Mode: Unit: - Range: - Data Size: 32-bit Display Decimal Format: Settings: This parameter is used to provide the value of one of the status monitoring functions found in P0-02.
  • Page 319 ASDA- Chapter 8 Servo Parameters Address: 001CH P0-14 Reserved (Do Not Use) 001DH Address: 001EH P0-15 Reserved (Do Not Use) 001FH Address: 0020H P0-16 Reserved (Do Not Use) 0021H Address: 0022H P0-17 CM1A Status Monitor Selection 1 0023H Operation Related Section: N/A Keypad/Software Communication Interface:...
  • Page 320 ASDA- Chapter 8 Servo Parameters Address: 0026H P0-19 CM3A Status Monitor Selection 3 0027H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: - Range: 0 ~ 127 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to determine the drive status found in P0-02. For the setting values, please refer to section 7.2.1 Monitoring Variables.
  • Page 321 ASDA- Chapter 8 Servo Parameters Settings: This parameter is used to determine the drive status found in P0-02. For the setting values, please refer to section 7.2.1 Monitoring Variables. The selected drive status will be displayed by P0-13. Refer to P0-17 for explanation. Address: 002CH P0-22 Reserved (Do Not Use)
  • Page 322 ASDA- Chapter 8 Servo Parameters Address: 0034H P0-26 MAP2 Mapping Parameter 2 0035H Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: N/A, initialization is not required Control Mode: Unit: - Range: determined by the parameter specified by P0-36 Data Size: 32-bit Display Hexadecimal Format:...
  • Page 323 ASDA- Chapter 8 Servo Parameters Address: 003AH P0-29 MAP5 Mapping Parameter 5 003BH Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: N/A, initialization is not required Control Mode: Unit: - Range: determined by the parameter specified by P0-39 Data Size: 32-bit Display Hexadecimal Format:...
  • Page 324 ASDA- Chapter 8 Servo Parameters Address: 0040H P0-32 MAP8 Mapping Parameter 8 0041H Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: N/A, initialization is not required Control Mode: Unit: - Range: determined by the parameter specified by P0-42 Data Size: 32-bit Display Hexadecimal Format:...
  • Page 325 ASDA- Chapter 8 Servo Parameters The operation of parameter P0-35 is described as follows: When PH ≠ PL, it indicates that P0-25 includes two 16-bit parameters. VH = *(PH), VL = *(PL) When PH = PL = P, it indicates that the content of P0-25 is one 32-bit parameter. V32 = *(P).
  • Page 326 ASDA- Chapter 8 Servo Parameters Block Data Read / Write Register 2 Address: 0048H P0-36 MAP2A (for P0-26) 0049H Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: 0x0 Control Mode: Unit: - Range: determined by the communication address of the designated parameter Data Size: 32-bit Display Hexadecimal...
  • Page 327 ASDA- Chapter 8 Servo Parameters Block Data Read / Write Register 4 Address: 004CH P0-38 MAP4A (for P0-28) 004DH Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: 0x0 Control Mode: Unit: - Range: determined by the communication address of the designated parameter Data Size: 32-bit Display Hexadecimal...
  • Page 328 ASDA- Chapter 8 Servo Parameters Block Data Read / Write Register 6 Address: 0050H P0-40 MAP6A (for P0-30) 0051H Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: 0x0 Control Mode: Unit: - Range: determined by the communication address of the designated parameter Data Size: 32-bit Display Hexadecimal...
  • Page 329 ASDA- Chapter 8 Servo Parameters Block Data Read / Write Register 8 Address: 0054H P0-42 MAP8A (for P0-32) 0055H Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: 0x0 Control Mode: Unit: - Range: determined by the communication address of the designated parameter Data Size: 32-bit Display Hexadecimal...
  • Page 330 ASDA- Chapter 8 Servo Parameters Status Monitor Register Selection Address: 005AH P0-45 PCMNA ■ (PC Software Setting) 005BH Operation Related Section: Keypad/Software Communication Interface: Section 4.3.5 Default: 0x0 Control Mode: Unit: - Range: 0~127 Data Size: 16-bit Display Decimal Format: Settings: The function of this parameter is the same as P0-17 (Please refer to P0-17).
  • Page 331 ASDA- Chapter 8 Servo Parameters Bit11: Reserved Bit12: Reserved Bit13: Reserved Bit14: Reserved Bit15: Reserved The servo output status display can be monitored through communication also. Address: 005EH P0-47 Reserved (Do Not Use) 005FH Address: 0060H P0-48 Reserved (Do Not Use) 0061H Address: 0062H P0-49...
  • Page 332 ASDA- Chapter 8 Servo Parameters Address: 0064H P0-50★ APSTS Absolute Coordinate System Status 0065H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0x0 Control Mode: Unit: N/A Range: 0x00 ~ 0x1F Data Size: 16-bit Display Hexadecimal Format: Settings: Bit7 Bit6 Bit5...
  • Page 333 ASDA- Chapter 8 Servo Parameters Address: 0066H P0-51★ Encoder Absolute Position (Multiturn) 0067H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0x0 Control Mode: Unit: rev Range: -32768 ~ +32767 Data Size: 32-bit Display Decimal Format: Settings: While the Bit 1 of P2-70 is set to read the encoder pulse number, this parameter represents the turns of encoder absolute position.
  • Page 334 ASDA- Chapter 8 Servo Parameters General Range Compare Digital Output – Address: 006AH P0-53 ZDRT Filtering Time 006BH Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0x0000 Control Mode: Unit: ms Range: 0x0000 ~ 0x000F Data Size: 16-bit Display Hexadecimal Format:...
  • Page 335 ASDA- Chapter 8 Servo Parameters General Range Compare Digital Output – Address: 006CH P0-54 ZON1L Lower Limit of 1st Monitoring Variable 006DH Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0 Control Mode: Unit: ms Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal...
  • Page 336 ASDA- Chapter 8 Servo Parameters Address: 0070H P0-56 Reserved (Do Not Use) 0071H Address: 0072H P0-57 Reserved (Do Not Use) 0073H Address: 0074H P0-58 Reserved (Do Not Use) 0075H Address: 0076H P0-59 Reserved (Do Not Use) 0077H Address: 0078H P0-60 Reserved (Do Not Use) 0079H Address: 007AH...

  • Page 337: Group 1: P1-Xx Basic Parameters

    ASDA- Chapter 8 Servo Parameters Group 1: P1-xx Basic Parameters Address: 0100H P1-00▲ External Pulse Input Type 0101H Operation Related Section: Keypad/Software Communication Interface: Section 6.2.1 Default: 0x2 Control Mode: Unit: - Range: 0 ~ 1132 Data Size: 16-bit Display Hexadecimal Format: Settings:...
  • Page 338 ASDA- Chapter 8 Servo Parameters Please note: 1. When the source of pulse command is the high-speed linear driver signal and the setting value B is set to 0 (High-speed Filter Frequency is 3.33Mpps): If an input pulse of 2~4MHz is used, it is recommended to change the setting value B (Input pulse filter) and set this setting value to 4.
  • Page 339 ASDA- Chapter 8 Servo Parameters C: Input polarity High-speed pulse and Low-speed pulse Pulse Logic Forward Reverse Type Pulse Phase-Lead Pulse Phase-Lag phase pulse Positive Logic (38) Pulse CW + (29) T2 T2 T2 T2 T2 T2 T2 T2 T2 T2 (46) pulse Sign...
  • Page 340 ASDA- Chapter 8 Servo Parameters Max. Min. time width input Pulse specification pulse frequency High-speed Line 4Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns pulse driver Line 500Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs driver Low-speed pulse Open 200Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs...
  • Page 341 ASDA- Chapter 8 Servo Parameters A: Control mode settings PT PR Sz Tz Single Mode Dual Mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ CANopen Mode Multiple Mode Reserved ▲ ▲ ▲...
  • Page 342 ASDA- Chapter 8 Servo Parameters Address: 0104H P1-02▲ PSTL Speed and Torque Limit 0105H Operation Related Section: Keypad/Software Communication Interface: Section 6.6, Default: 0 Table 8.A Control Mode: Unit: - Range: 00 ~ 11 Data Size: 16-bit Display Hexadecimal Format: Settings: A: Disable or Enable speed limit function 0: Disable speed limit function...
  • Page 343 ASDA- Chapter 8 Servo Parameters Address: 0106H P1-03 AOUT Pulse Output Polarity Setting 0107H Operation Related Section: Keypad/Software Communication Interface: Section 3.3.3 Default: 0 Control Mode: Unit: - Range: 0 ~ 13 Data Size: 16-bit Display Hexadecimal Format: Settings: A: Analog monitor outputs polarity B: Position pulse outputs polarity 0: MON1(+), MON2(+) 0: Forward output...
  • Page 344 ASDA- Chapter 8 Servo Parameters Motor speed MON1 output voltage= 8 × (unit: Volts) P1-04 (Max. motor speed × Motor toque MON2 output voltage= 8 × (unit: Volts) P1-05 (Max. motor torque × Address: 010AH P1-05 MON2 Analog Monitor Output Proportion 2 (MON2) 010BH Operation Related Section:...
  • Page 345 ASDA- Chapter 8 Servo Parameters Accel / Decel Smooth Constant of Analog Address: 010CH P1-06 SFLT Speed Command (Low-pass Filter) 010DH Operation Related Section: Keypad/Software Communication Interface: Section 6.3.3 Default: 0 Control Mode: Unit: ms Range: 0 ~ 1000 (0: Disabled) Data Size: 16-bit Display Decimal...
  • Page 346 ASDA- Chapter 8 Servo Parameters Address: 0112H P1-09 1st Speed Command or Limit 0113H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.1 Default: 1000 Control S, T Mode: Unit: 0.1r/min Range: -60000 ~ +60000 Data Size: 32-bit Display Decimal Format: Input Value Speed Command: 120=12 r/min Example...
  • Page 347 ASDA- Chapter 8 Servo Parameters 2nd Speed Limit In Torque mode, this parameter is used to set speed limit 2 of internal speed command. Speed Limit Setting Allowable Speed Speed Limit of Speed Limit of Value of P1-10 Range Forward Direction Reverse Direction 1000 -100 ~ 100...
  • Page 348 ASDA- Chapter 8 Servo Parameters Address: 0118H P1-12 1st Torque Command or Limit 0119H Operation Related Section: Keypad/Software Communication Interface: Section 6.4.1 Default: 100 Control T, P&S Mode: Unit: % Range: -300 ~ +300 Data Size: 16-bit Display Decimal Format: Input Value Torque Command: 30=30% Example...
  • Page 349 ASDA- Chapter 8 Servo Parameters Settings: 2nd Torque Command In Torque mode, this parameter is used to set torque 2 of internal torque command. 2nd Torque Limit In Position and Speed mode, this parameter is used to set torque limit 2 of internal torque command.
  • Page 350 ASDA- Chapter 8 Servo Parameters CAPTURE SYNC AXIS – Threshold of Address: 011EH P1-15 CXFT Correction 011FH Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0000h Control Mode: Unit: N/A Range: 0000h ~ 1F5Fh Data Size: 16-bit Display Hexadecimal Format: Settings: This parameter is used to set the threshold of correction of CAPTURE SYNC AXIS operation.
  • Page 351 ASDA- Chapter 8 Servo Parameters Address: 0120H P1-16 CSOF CAPTURE SYNC AXIS – Offset Compensation 0121H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: The Pulse Unit of Capture Axis Range: -32768 ~ +32767 Data Size: 16-bit Display Decimal Format:...
  • Page 352 ASDA- Chapter 8 Servo Parameters When the function of tracking error compensation is enable (P1-36=1), the system will calculate the compensation value according to the input command automatically and make the position error (PUU) to be close to 0. However, as the time delay caused by other reasons cannot be predicted in advance.
  • Page 353 ASDA- Chapter 8 Servo Parameters CAPTURE / COMPARE – Additional Function Address: 0126H P1-19 CPEX Settings 0127H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: N/A Range: 0x0000 ~ 0x0101 Data Size: 16-bit Display Hexadecimal Format: Settings: X: Bit settings of Capture additional function settings Y: Reserved.
  • Page 354 ASDA- Chapter 8 Servo Parameters Address: 0128H P1-20 CPMK CAPTURE – Masking Range Setting 0129H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: The Pulse Unit of Capture Axis Range: 0 ~ +100000000 Data Size: 32-bit Display Decimal Format:...
  • Page 355 ASDA- Chapter 8 Servo Parameters 2. The pulse phase compensation function is enabled only when the setting value of parameter P1-18 is higher than 0. 3. The pulse phase compensation function is enabled only when the value of the pulse frequency of E-Cam master axis (monitoring variable is 060 (3Ch) Pulse number of E-Cam master axis (Incremental)) is higher than the setting value of parameter P1-21.
  • Page 356 ASDA- Chapter 8 Servo Parameters Please note: 1. The unit of acceleration time limit is 10ms. For example, if YX=12h, the acceleration time limit is 180ms. It means the filter function is enabled when the acceleration or deceleration time is faster than 180ms. Otherwise, the command will remain unchanged.
  • Page 357 ASDA- Chapter 8 Servo Parameters Reverse Command Reverse inhibit function is disabled Position Command (PUU) Time Reverse inhibit function is enabled Position Command After reverse inhibit (PUU) function is emnabled Time Compare data offset (Value of P1-23 are Address: 012EH P1-23 CMOF remain unchanged)
  • Page 358 ASDA- Chapter 8 Servo Parameters COMPARE – Compare data offset Address: 0130H P1-24 CMOF 0131H (Automatically set P1-24 to 0) Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: The Pulse Unit of Capture Axis Range: -32768 ~ +32767 Data Size: 16-bit format Display Decimal...
  • Page 359 ASDA- Chapter 8 Servo Parameters Address: 0134H P1-26 VSG1 Low-frequency Vibration Suppression Gain (1) 0135H Operation Related Section: Keypad/Software Communication Interface: Section 6.2.9 Default: 0 Control PT, PR Mode: Unit: - Range: 0 ~ 9 (0: Disable the function of P1-25) Data Size: 16-bit Display Decimal...
  • Page 360 ASDA- Chapter 8 Servo Parameters Address: 0138H P1-28 VSG2 Low-frequency Vibration Suppression Gain (2) 0139H Operation Related Section: Keypad/Software Communication Interface: Section 6.2.9 Default: 0 Control PT, PR Mode: Unit: - Range: 0 ~ 9 (0: Disable the function of P1-27) Data Size: 16-bit Display Decimal...
  • Page 361 ASDA- Chapter 8 Servo Parameters Address: 013CH P1-30 Low-frequency Vibration Detection Level 013DH Operation Related Section: Keypad/Software Communication Interface: Section 6.2.9 Default: 500 Control PT, PR Mode: Unit: pulse Range: 0 ~ 8000 Data Size: 16-bit Display Decimal Format: Settings: When P1-29 is set to 1, the system will find this detection level automatically.
  • Page 362 ASDA- Chapter 8 Servo Parameters Fault Stop Mode 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 motor to coast to stop When the fault NL(CWL) or PL(CCWL) occurs, please refer to the settings of parameter P5-03 to determine the deceleration time.
  • Page 363 ASDA- Chapter 8 Servo Parameters Address: 0146H P1-35 TDEC Deceleration Time 0147H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.3 Default: 200 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to determine the acceleration time to accelerate from 0 to its rated motor speed.
  • Page 364 ASDA- Chapter 8 Servo Parameters TACC: P1-34, Acceleration time TDEC: P1-35, Deceleration time TSL: P1-36, Accel /Decel S-curve 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.
  • Page 365 ASDA- Chapter 8 Servo Parameters Address: 014CH P1-38 ZSPD Zero Speed Range Setting 014DH Operation Related Section: Keypad/Software Communication Interface: Table 8.A Default: 10 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.0 ~ 200.0 0 ~ 2000 Data Size: 16-bit Display One-digit Decimal...
  • Page 366 ASDA- Chapter 8 Servo Parameters Address: 0150H P1- 40 ▲ Max. Analog Speed Command or Limit 1 0151H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.4 Default: rated speed of connected model Control S, T Mode: Unit: r/min Range: 0 ~ 50000 Data Size: 16-bit Display Decimal...
  • Page 367 ASDA- Chapter 8 Servo Parameters Address: 0154H P1- 42 MBT1 On Delay Time of Electromagnetic Brake 0155H Operation Related Section: Keypad/Software Communication Interface: Section 6.5.5, Default: 0 Table 8.B Control Mode: Unit: ms Range: 0 ~ 1000 Data Size: 16-bit Display Decimal Format:...
  • Page 368 ASDA- Chapter 8 Servo Parameters 2. When servo is commanded off and the off delay time set by P1-43 has elapsed, if the motor speed is higher than the setting value of P1-38, electromagnetic brake will be engaged regardless of the current motor speed. 3.
  • Page 369 ASDA- Chapter 8 Servo Parameters 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 370 ASDA- Chapter 8 Servo Parameters Address: 015EH P1-47 SPOK Speed Reached Output Range 015FH Operation Related Section: N/A Keypad/Software Communication Interface: Default: 10 Control S, Sz Mode: Unit: r/min Range: 0 ~ 300 Data Size: 32-bit Display Decimal Format: Settings: This parameter is used to set the speed reached output range.
  • Page 371 ASDA- Chapter 8 Servo Parameters Address: 0160H P1-48 SPOK Speed Reached Output Range 0161H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0x0000 Control Mode: Unit: N/A Range: 0x0000 ~ 0x0011 Data Size: 16-bit Display Hexadecimal Format: Settings: Settings: (for firmware version V1.003 sub08 and later models only) This parameter is used to determine the operation after digital output signal, MC_OK (DO code is 0x17) is activated.
  • Page 372 ASDA- Chapter 8 Servo Parameters 4. TPOS: It is activated when the position error is equal and below the setting value of P1-54. 5. MC_OK (P1-48 X=0): It is activated when the position command has output and the positioning is completed also, i.e. CMD_OK and TPOS are both ON. However, once TPOS becomes OFF, it will become OFF as well.
  • Page 373 ASDA- Chapter 8 Servo Parameters Address: 016AH P1-53 RES2 Regenerative Resistor Capacity 016BH Operation Related Section: Keypad/Software Communication Interface: Section 2.7 Default: See the table below Control Mode: Unit: Watt Range: 0 ~ 3000 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set the capacity of the applicable regenerative resistor.
  • Page 374 ASDA- Chapter 8 Servo Parameters Address: 016EH P1-55 MSPD Maximum Speed Limit 016FH Operation Related Section: N/A Keypad/Software Communication Interface: Default: Rated speed of connected model Control Mode: Unit: r/min Range: 0 ~ Max. speed Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set maximum motor speed.
  • Page 375 ASDA- Chapter 8 Servo Parameters Result: When the drive output is at 200% rated output and the drive is continuously overloaded for 4.8 seconds, the overload warning signal will be ON, 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).
  • Page 376 ASDA- Chapter 8 Servo Parameters Address: 0176H P1-59 MFLT Analog Speed Linear Filter (Moving Filter) 0177H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0.0 Control Mode: Unit: 1 ms 0.1 ms Range: 0.0 ~ 4.0 0 ~ 40 Data Size: 16-bit Display One-digit Decimal...
  • Page 377 ASDA- Chapter 8 Servo Parameters Address: 017CH P1-62 FRCL Friction Compensation Percentage 017DH Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control PT, PR, S Mode: Unit: % Range: 0 ~ 100 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set the torque percentage for friction compensation.
  • Page 378 ASDA- Chapter 8 Servo Parameters Address: 0184H Max. Rotation Number of Analog Position P1-66 Command 0185H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 1.0 Control Mode: Unit: 1 rotation 0.1 rotation Range: 0.0 ~ 200.0 0 ~ 2000 Data Size: 16-bit Display One-digit Decimal...
  • Page 379 ASDA- Chapter 8 Servo Parameters Address: 018AH P1-69 Reserved (Do Not Use) 018BH Address: 018CH P1-70 Reserved (Do Not Use) 018DH Address: 018EH P1-71 Reserved (Do Not Use) 018FH Address: 0190H P1-72 FRES Full-closed Control Resolution of Linear Scale 0191H Operation Related Section: N/A Keypad/Software...
  • Page 380 ASDA- Chapter 8 Servo Parameters Address: 0192H Full-closed Loop Excessive Position Error P1-73 FERR Range 0193H Operation Related Section: P2-34 Keypad/Software Communication Interface: Default: 30000 Control PT, PR Mode: Unit: pulse (based on full-closed loop) Range: 1 ~ (2 Data Size: 32-bit Display Decimal Format:...
  • Page 381 ASDA- Chapter 8 Servo Parameters 2: The source of OA/OB/OZ outputs is the pulse command of CN1 (only provided by the firmware DSP V1.016 + CPLD 0.07 and later models.). C: Polarity setting of linear scale Forward Reverse Forward Reverse Address: 0196H Full-closed Loop Low-pass Filter Time P1-75...
  • Page 382 ASDA- Chapter 8 Servo Parameters Settings: This parameter is used to optimize the encoder outputs (OA, OB). When the users set the actual reached maximum motor speed, the servo drive will equalize the encoder outputs automatically. When P1-76 is set to 0, it indicates that equalizing function is not available.
  • Page 383 ASDA- Chapter 8 Servo Parameters Address: 01A6H P1-83 VCMLPF Abnormal Analog Input Voltage Level 01A7H Operation Related Section: P1-40 Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: mV Range: 0 ~ 12000 Data Size: 16-bit Display Decimal Format: Settings: (0: Disabled) When analog input voltage is higher than the value of P1-83 over 50ms, the fault, AL042 (Analog input voltage error) will occur.

  • Page 384: Group 2: P2-Xx Extension Parameters

    ASDA- Chapter 8 Servo Parameters Group 2: P2-xx Extension Parameters Address: 0200H P2-00 Proportional Position Loop Gain 0201H Operation Related Section: Keypad/Software Communication Interface: Section 6.2.8 Default: 35 Control PT, PR Mode: Unit: rad/s Range: 0 ~ 2047 Data Size: 16-bit Display Decimal Format:...
  • Page 385 ASDA- Chapter 8 Servo Parameters Address: 0204H P2-02 Position Feed Forward Gain 0205H Operation Related Section: Keypad/Software Communication Interface: Section 6.2.8 Default: 50 Control PT, PR Mode: Unit: % Range: 0 ~ 100 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set the feed forward gain when executing position control command.
  • Page 386 ASDA- Chapter 8 Servo Parameters Address: 0208H P2-04 Proportional Speed Loop Gain 0209H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.6 Default: 500 Control Mode: Unit: rad/s Range: 0 ~ 8191 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is increased, it can expedite speed loop response.
  • Page 387 ASDA- Chapter 8 Servo Parameters 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. However, if the setting value is over high, it may generate vibration or noise.
  • Page 388 400: If P2-08 is set to 400, it can switch the Force Output Control operation mode to normal Digital Output (DO) Control operation mode. Please note: ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 0212H P2-09...
  • Page 389 ASDA- Chapter 8 Servo Parameters Settings: The parameters from P2-10 to P2-17 and P2-36 are used to determine the functions and statuses of DI1 ~ DI8. A: DI (Digital Input) Function Settings: For the setting value of P2- 10 ~ P2-17 and P2-36, please refer to Table 8.A. B: DI (Digital Input) Enabled Status Settings: 0: Normally closed (contact b) 1: Normally open (contact a)
  • Page 390 ASDA- Chapter 8 Servo Parameters Address: 0218H P2-12 Digital Input Terminal 3 (DI3) 0219H Operation Related Section: Keypad/Software Communication Interface: Table 8.A Default: 116 Control Mode: Unit: N/A Range: 0 ~ 015Fh Data Size: 16-bit Display Hexadecimal Format: Settings: Refer to P2-10 for explanation. Address: 021AH P2-13 Digital Input Terminal 4 (DI4)
  • Page 391 ASDA- Chapter 8 Servo Parameters Address: 021EH P2-15 Digital Input Terminal 6 (DI6) 021FH Operation Related Section: Keypad/Software Communication Interface: Table 8.A Default: 22 Control Mode: Unit: N/A Range: 0 ~ 015Fh Data Size: 16-bit Display Hexadecimal Format: Settings: Refer to P2-10 for explanation. Address: 0220H P2-16 Digital Input Terminal 7 (DI7)
  • Page 392 ASDA- Chapter 8 Servo Parameters Address: 0224H P2-18 Digital Output Terminal 1 (DO1) 0225H Operation Related Section: Keypad/Software Communication Interface: Table 8.B Default: 101 Control Mode: Unit: N/A Range: 0 ~ 013Fh Data Size: 16-bit Display Hexadecimal Format: Settings: The parameters from P2-18 to P2-22 and P2-37 are used to determine the functions and statuses of DO1 ~ DO5.
  • Page 393 ASDA- Chapter 8 Servo Parameters Address: 0228H P2-20 Digital Output Terminal 3 (DO3) 0229H Operation Related Section: Keypad/Software Communication Interface: Table 8.B Default: 109 Control Mode: Unit: N/A Range: 0 ~ 013Fh Data Size: 16-bit Display Hexadecimal Format: Settings: Refer to P2-18 for explanation. Address: 022AH P2-21 Digital Output Terminal 4 (DO4)
  • Page 394 ASDA- Chapter 8 Servo Parameters Address: 022EH P2-23 NCF1 Notch Filter 1 (Resonance Suppression) 022FH Operation Related Section: Keypad/Software Communication Interface: Section 6.3.7 Default: 1000 Control Mode: Unit: Hz Range: 50 ~ 1000 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set first resonance frequency of mechanical system.
  • Page 395 ASDA- Chapter 8 Servo Parameters Low-pass Filter Time Constant Address: 0232H P2-25 0233H (Resonance Suppression) Operation Related Section: Keypad/Software Communication Interface: Section 6.3.7 Default: 0.2 (1kW and below 2 (1kW and below models) or 0.5 (other models) or 5 (other models) models) Control...
  • Page 396 ASDA- Chapter 8 Servo Parameters Address: 0236H P2-27 Gain Switching Control Selection 0237H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: N/A Range: 0 ~ 4 Data Size: 16-bit Display Hexadecimal Format: Settings: Gain Switching Condition Settings: A: Gain Switching Condition Settings: 0: Disabled 1: Gain switching DI (Digital Input) signal (GAINUP) is On.
  • Page 397 ASDA- Chapter 8 Servo Parameters Address: 0238H P2-28 Gain Switching Time Constant 0239H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 10 Control Mode: Unit: 10ms Range: 0 ~ 1000 (0: Disabled) Data Size: 16-bit Display Decimal Format: Input Value 15 = 150 ms Example: Settings:...
  • Page 398 ASDA- Chapter 8 Servo Parameters Settings: 0: Disabled all functions described below. 1: Force the servo drive to be Servo On (upon software) 2~4: Reserved 5: After setting P2-30 to 5, the setting values of all parameters will lost (not remain in the EEPROM) at power-down.
  • Page 399 ASDA- Chapter 8 Servo Parameters Speed Frequency Response Level in Auto Address: 023EH P2-31 AUT1 and Semi-Auto Mode 023FH Operation Related Section: Keypad/Software Communication Interface: Section 5.6, Default: 80 Section 6.3.6 Control Mode: Unit: Hz Range: 1 ~ 1000 Data Size: 16-bit Display Hexadecimal Format:...
  • Page 400 ASDA- Chapter 8 Servo Parameters 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 401 ASDA- Chapter 8 Servo Parameters 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. When the setting value of A is set to 1, it indicates that the load inertia estimation of semi-auto tuning mode has been completed.
  • Page 402 ASDA- Chapter 8 Servo Parameters Address: 0246H P2-35 PDEV Excessive Error Warning Condition 0247H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 480000 Control Mode: Unit: pulse Range: 1 ~ 16000000 Data Size: 32-bit Display Decimal Format: Settings: This parameter is used to set the position deviation excessive error threshold that is used to determine the escessive deviation fault condition.
  • Page 403 ASDA- Chapter 8 Servo Parameters For example, when P2-36 is set to 101, it indicates that the function of EDI9 is SON (Servo On, setting value is 0x01) and it requires a normally open contact to be connected to it. Please re-start the servo drive after parameters have been changed.
  • Page 404 ASDA- Chapter 8 Servo Parameters Address: 024EH P2-39 EDI12 External Digital Input Terminal 12 (EDI12) 024FH Operation Related Section: Keypad/Software Communication Interface: Table 8.A Default: N/A Control Mode: Unit: N/A Range: 0 ~ 015Fh Data Size: 16-bit Display Hexadecimal Format: Settings: Refer to P2-36 for explanation.
  • Page 405 ASDA- Chapter 8 Servo Parameters Address: 0254H P2-42 Reserved (Do Not Use) 0255H Address: 0256H P2-43 NCF2 Notch Filter 2 (Resonance Suppression) 0257H Operation Related Section: Keypad/Software Communication Interface: Section 6.3.7 Default: 1000 Control Mode: Unit: Hz Range: 50 ~ 2000 Data Size: 16-bit Display Decimal...
  • Page 406 ASDA- Chapter 8 Servo Parameters Address: 025AH P2-45 NCF3 Notch Filter 3 (Resonance Suppression) 025BH Operation Related Section: Keypad/Software Communication Interface: Section 6.3.7 Default: 1000 Control Mode: Unit: Hz Range: 50 ~ 2000 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set third resonance frequency of mechanical system.
  • Page 407 ASDA- Chapter 8 Servo Parameters Auto Resonance Suppression Mode Address: 025EH P2-47 ANCF Selection 025FH Operation Related Section: N/A Keypad/Software Communication Interface: Default: 1 Control Mode: Unit: N/A Range: 0 ~ 2 Data Size: 16-bit Display Decimal Format: 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.
  • Page 408 ASDA- Chapter 8 Servo Parameters Auto Resonance Suppression Detection Address: 0260H P2-48 ANCL Level 0261H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 100 Control Mode: Unit: N/A Range: 1 ~ 300% Data Size: 16-bit Display Decimal Format: Settings: When the setting value is smaller, the system will become more sensitive to detect and find the resonance.
  • Page 409 ASDA- Chapter 8 Servo Parameters Setting Value of P2-49 Cutoff Frequency of Speed Loop Feedback (Hz) 1200 1100 1000 Address: 0264H P2-50 DCLR Pulse Deviation Clear Mode 0265H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control PT, PR Mode: Unit: N/A Range: 0 ~ 2...
  • Page 410 ASDA- Chapter 8 Servo Parameters 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). When this input is triggered, the position accumulated pulse number will be clear to 0. (available in PT and PR mode only) 0: CCLR is triggered by rising-edge 1: CCLR is triggered bu level...
  • Page 411 ASDA- Chapter 8 Servo Parameters Settings: This parameter is used to set the integral time of position loop. When the value of position integral compensation is increased, it can decrease the position control deviation. However, if the setting value is over high, it may generate position overshoot or noise.
  • Page 412 ASDA- Chapter 8 Servo Parameters Synchronous Position Integral Address: 0270H P2-56 Compensation 0271H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: rad/s Range: 0 ~ 1023 Data Size: 16-bit Display Decimal Format: Settings: This parameter is used to set the synchronous integral time of position loop. When the value of synchronous position integral compensation is increased, it can improve the position response ability and decrease the position control deviation of two motors.
  • Page 413 ASDA- Chapter 8 Servo Parameters Low-pass Filter Time Constant of Address: 0274H P2-58 Synchronous Speed Error 0275H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control Mode: Unit: 0.1ms Range: 0 ~ 1000 Data Size: 16-bit Display Decimal Format: Input Value 15 = 1.5 ms Example:...
  • Page 414 ASDA- Chapter 8 Servo Parameters Address: 027AH P2-61 Electronic Gear Ratio (3rd Numerator) (N3) 027BH Operation Related Section: N/A Keypad/Software Communication Interface: Default: 16 Control Mode: Unit: pulse Range: 1 ~ (2 Data Size: 32-bit Display Decimal Format: Settings: Refer to P2-60 for explanation. Address: 027CH P2-62 Electronic Gear Ratio (4th Numerator) (N4)
  • Page 415 ASDA- Chapter 8 Servo Parameters Address: 0282H P2-65 GBIT Special Function 1 0283H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control PT, PR, S Mode: Unit: N/A Range: 0 ~ 0xFFFF Data Size: N/A Display Format: Settings: Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit5 Bit4 Bit3...
  • Page 416 ASDA- Chapter 8 Servo Parameters 0: 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 the acceleration and deceleration speed curve of the internal speed command. The motor will be locked at the position when ZCLAMP conditions are satisfied.
  • Page 417 ASDA- Chapter 8 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 418 ASDA- Chapter 8 Servo Parameters Address: 0284H P2-66 GBIT2 Special Function 2 0285H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0 Control PT, PR, S Mode: Unit: N/A Range: 0 ~ 0xFFFF Data Size: 16-bit Display Hexadecimal Format: Settings: Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit1 Bit0 Bit0 ~ Bit1: Reserved.
  • Page 419 ASDA- Chapter 8 Servo Parameters Address: 0286H P2-67 Stable Inertia Estimating Time 0287H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 1.5 Control Mode: Unit: 1 times 0.1 times Range: 0 ~ 200.0 0 ~ 2000 Data Size: 16-bit Display One-digit Decimal Format:...
  • Page 420 ASDA- Chapter 8 Servo Parameters Address: 028AH ● Absolute Encoder Setting P2-69 028BH Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0x0 Control Mode: Unit: N/A Range: 0 ~ 1 Data Size: 16-bit Display Hexadecimal Format: Settings: This parameter should be set when the servo motor with absolute encoder need to be operated as an incremental motor.
  • Page 421 ASDA- Chapter 8 Servo Parameters Bit1: Communication data unit setting Bit0=0: PUU Bit0=1: Pulse Bit2: Overflow warning Bit0=0: Without overflow warning Bit0=1: With overflow warning AL289 (for PUU counting), AL062 (for Pulse counting) Bit3 ~ Bit15: Reserved. Must be set to 0. Address: 028EH P2-71 Absolute Position Homing...
  • Page 422 ASDA- Chapter 8 Servo Parameters BA: PR number (0 ~ 63) DC: Masking range setting (0 ~ 95%) YX: Range of filter (0 ~ 95%) When digital input, ALGN is triggered, E-Cam alignment function is enabled. The system will detect the current E-Cam position. When the error between current E-Cam position and the last alignment position is less than this setting range (%), filter function is enabled and the system will average the errors before correction to avoid noise.
  • Page 423 ASDA- Chapter 8 Servo Parameters E-Cam Alignment - DI Delay Time Address: 0294H P2-74 ALDY Compensation 0295H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0.000 Control Mode: Unit: ms with fraction down to usec Range: -25.000 ~ +25.000, with 3 fraction digits Data Size: 16-bit Display Decimal...
  • Page 424 ASDA- Chapter 8 Servo Parameters Address: 0298H P2-76 ALCT E-Cam Alignment - Source Setting ■ 0299H Operation Related Section: N/A Keypad/Software Communication Interface: Default: 0000h Control Mode: Unit: N/A Range: 0000h ~ 6FF7h Data Size: 16-bit Display Hexadecimal Format: Settings: (This function is available in firmware version V1.038 sub26 and later models only) Format＝UZYX.
  • Page 425 ASDA- Chapter 8 Servo Parameters UZ: Alignment path definition. Forward direction as setting reference here (0 ~ 100%) 0 : Backward alignment only 30 : Forward 30%, Backward 70% 50 : Alignment with the shortest distance 80 : Forward 80%, Backward 20% >=100 : Forward alignment only Address: 029AH P2-77...
  • Page 426 ASDA- Chapter 8 Servo Parameters Y=0  7: Calculate the value of P5-87 correctly according to actual maksing pulse number and additional virtual pulse number. But, the revised value of P5- 87 will plus a value of (P5-84/P5-83) to make lead pulse wait for an E-Cam cycle. UZ: Pulse data when the master axis performs JOG or INCH function For example: Start masking...
  • Page 427 ASDA- Chapter 8 Servo Parameters Address: 029EH P2-79 CMAP E-Cam: Area Number #2 - (Polarity is Negative) 029FH Operation Related Section: N/A Keypad/Software Communication Interface: Default: 360 Control Mode: Unit: degree (it becomes degree in firmware version V1.038 sub25 and later models) Range: 0 ~ 360 Data Size: 16-bit Display...

  • Page 428: Group 3: P3-Xx Communication Parameters

    ASDA- Chapter 8 Servo Parameters Group 3: P3-xx Communication Parameters Address: 0300H ● Communication Address Setting P3-00 0301H Operation Related Section: Keypad / Software Communication Interface: Section 9.2 Default: 0x7F Control Mode: Unit: N/A Range: 0x01 ~ 0x7F Data Size: 16-bit Display Hexadecimal Format:...
  • Page 429 ASDA- Chapter 8 Servo Parameters Address: 0302H P3-01 Transmission Speed 0303H Operation Related Section: Keypad / Software Communication Interface: Section 9.2 Default: 0x0203 Control Mode: Unit: bps Range: 0x0000 ~ 0x0405 Data Size: 16-bit Display Hexadecimal Format: Settings: This parameter is used to set the baud rate and data transmission speed of the communications.
  • Page 430 ASDA- Chapter 8 Servo Parameters Address: 0304H P3-02 Communication Protocol 0305H Operation Related Section: Keypad / Software Communication Interface: Section 9.2 Default: 6 Control Mode: Unit: N/A Range: 0 ~ 8 Data Size: 16-bit Display Hexadecimal Format: Settings: This parameter is used to set the communication protocol. The alphanumeric characters represent the following: 7 or 8 is the number of data bits;...
  • Page 431 ASDA- Chapter 8 Servo Parameters 0: Display fault and continue operating 1: Display fault and decelerate to stop operating (deceleration time is determined by parameter P5-03) Address: 0308H P3-04 Communication Time Out Detection 0309H Operation Related Section: Keypad / Software Communication Interface: Section 9.2...
  • Page 432 ASDA- Chapter 8 Servo Parameters Address: 030CH P3-06 Digital Input Communication Function ■ 030DH Operation Related Section: Keypad / Software Communication Interface: Section 9.2 Default: 0 Control Mode: Unit: N/A Range: 0x0000 ~ 0x3FFF Data Size: 16-bit Display Hexadecimal Format: Settings: The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.
  • Page 433 ASDA- Chapter 8 Servo Parameters Address: 0310H P3-08 Monitor Mode ■ 0311H Operation Related Section: Keypad / Software Communication Interface: Section 9.2 Default: 0000 Control Mode: Unit: N/A Range: refer to the description of Settings Data Size: 16-bit Display Hexadecimal Format: Settings: This parameter is used to monitor the data of the servo drive via communication.
  • Page 434 ASDA- Chapter 8 Servo Parameters Address: 0312H P3-09 CANopen Synchronization Setting 0313H Operation Related Section: Keypad / Software Communication Interface: Section 9.2 Default: 0x57A1 Control Mode: Unit: N/A Range: refer to the description of Settings Data Size: 16-bit Display Hexadecimal Format: Settings: This parameter is used to set the CANopen slave to be synchronized with the...
  • Page 435 ASDA- Chapter 8 Servo Parameters Address: 0314H P3-10 Reserved (Do Not Use) 0315H Address: 0316H P3-11 Reserved (Do Not Use) 0317H 8-158 Revision September 2012...

  • Page 436: Group 4: P4-Xx Diagnosis Parameters

    ASDA- Chapter 8 Servo Parameters Group 4: P4-xx Diagnosis Parameters Address: 0400H P4-00★ ASH1 Fault Record (N) 0401H Operation Related Section: Keypad / Software Communication Interface: Section 4.4.1 Default: 0 Control Mode: Unit: N/A Range: N/A Data Size: 32-bit Display Hexadecimal Format: Settings:...
  • Page 437 ASDA- Chapter 8 Servo Parameters Address: 0404H P4-02★ ASH3 Fault Record (N-2) 0405H Operation Related Section: Keypad / Software Communication Interface: Section 4.4.1 Default: 0 Control Mode: Unit: N/A Range: N/A Data Size: 32-bit Display Hexadecimal Format: Settings: This parameter is used to set the third most recent fault record. Display of Low Word: LXXXX: It indicates the fault code, i.e.
  • Page 438 ASDA- Chapter 8 Servo Parameters Address: 0408H P4-04★ ASH5 Fault Record (N-4) 0409H Operation Related Section: Keypad / Software Communication Interface: Section 4.4.1 Default: 0 Control Mode: Unit: N/A Range: N/A Data Size: 32-bit Display Hexadecimal Format: Settings: This parameter is used to set the fifth most recent fault record. Display of Low Word: LXXXX: It indicates the fault code, i.e.
  • Page 439 ASDA- Chapter 8 Servo Parameters (6) In JOG operation mode, if any fault occurs, the motor will stop running. The maximum JOG speed is the rated speed of the servo motor. 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.
  • Page 440 ASDA- Chapter 8 Servo Parameters Bit12 corresponds with DO setting value 0x3C Bit13 corresponds with DO setting value 0x3D 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.
  • Page 441 ASDA- Chapter 8 Servo Parameters For example: When the write value of P4-07 is 0x0011, it indicates that software digital inputs SDI1 and SDI5 are ON. Bit0 ~ Bit7 corresponds with DI1 ~ DI8. Bit8 ~ Bit14 corresponds with EDI9 ~ EDI14.
  • Page 442 ASDA- Chapter 8 Servo Parameters Address: 0414H P4-10 Adjustment Function ■ 0415H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0 Control Mode: Unit: N/A Range: 0 ~ 6 Data Size: 16-bit Display Decimal Format: Settings: 0: Reserved 1: Execute analog speed input drift adjustment 2: Execute analog torque input drift adjustment 3: Execute current detector (V phase) drift adjustment...
  • Page 443 ASDA- Chapter 8 Servo Parameters Address: 0418H P4-12 SOF2 Analog Speed Input Drift Adjustment 2 0419H Operation Related Section: N/A Keypad / Software Communication Interface: Default: Factory setting Control Mode: Unit: N/A Range: 0 ~ 32767 Data Size: 16-bit Display Decimal Format: Settings:...
  • Page 444 ASDA- Chapter 8 Servo Parameters Settings: Refer to P4-11 for explanation. Please note that when P2-08 is set to 10, the users cannot reset this parameter. Current Detector Drift Adjustment Address: 041EH P4-15 COF1 (V1 phase) 041FH Operation Related Section: N/A Keypad / Software Communication Interface:...
  • Page 445 ASDA- Chapter 8 Servo Parameters Current Detector Drift Adjustment Address: 0422H P4-17 COF3 (W1 phase) 0423H Operation Related Section: N/A Keypad / Software Communication Interface: Default: Factory setting Control Mode: Unit: N/A Range: 0 ~ 32767 Data Size: 16-bit Display Decimal Format: Settings:...
  • Page 446 ASDA- Chapter 8 Servo Parameters Settings: Refer to P4-11 for explanation. When executing this auto adjustment, please ensure to cool the servo drive to Analog Monitor Output Drift Adjustment Address: 0428H P4-20 DOF1 (MON1) 0429H Operation Related Section: Keypad / Software Communication Interface: Section 6.4.4...
  • Page 447 ASDA- Chapter 8 Servo Parameters Address: 042CH P4-22 Analog Speed Input Offset 042DH Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0 Control Mode: Unit: mV Range: -5000 ~ 5000 Data Size: 16-bit Display Decimal Format: Settings: In speed mode, the users can use this parameter to add an offset value to analog speed input.
  • Page 448 ASDA- Chapter 8 Servo Parameters 220V Series Address: 0430H P4-24 Undervoltage Error Level 0431H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 160 Control Mode: Unit: V (rms) Range: 140 ~ 190 Data Size: 16-bit Display Decimal Format: Settings: When DC Bus voltage is lower than the value of P4-24 x , the fault,...

  • Page 449: Group 5: P5-Xx Motion Control Parameters

    ASDA- Chapter 8 Servo Parameters Group 5: P5-xx Motion Control Parameters Address: 0500H P5-00 Reserved (Do Not Use) 0501H Address: 0502H P5-01 Reserved (Do Not Use) 0503H Address: 0504H P5-02 Reserved (Do Not Use) 0505H Address: 0506H P5-03 PDEC Deceleration Time of Protectin Function 0507H Operation Related Section: N/A...
  • Page 450 ASDA- Chapter 8 Servo Parameters Address: 0508H P5-04 HMOV Homing Mode 0509H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0 Control Mode: Unit: N/A Range: 0 ~ 0x128 Data Size: 16-bit Display Hexadecimal Format: Settings: This parameter is used to determine the homing characteristics of the servo motor.
  • Page 451 ASDA- Chapter 8 Servo Parameters Display Function Reserved Limit setting Z pulse setting Homing direction setting Range 0 ~ 1 0 ~ 2 0 ~ 8 X=5: Move reverse and regard Z pulse as home sensor. Y=0: Stop and return X=6: Move forward to to Z pulse.
  • Page 452 ASDA- Chapter 8 Servo Parameters Address: 050CH P5-06 HSPD2 2nd Speed Setting of Low Speed Homing 050DH Operation Related Section: N/A Keypad / Software Communication Interface: Default: 20.0 Control Mode: Unit: 1 r/min 0.1 r/min Range: 1 ~ 500.0 10 ~ 5000 Data Size: 16-bit Display Decimal...
  • Page 453 ASDA- Chapter 8 Servo Parameters 0: Start homing function. When entering P5-07, the default setting value 0 will display. Pressing SET key on the drive keypad, the servo motor will start homing operation. 1 ~ 63: Trigger Position Command (This function is equivalent to the function of DI CTRG signal + POSn signal).
  • Page 454 ASDA- Chapter 8 Servo Parameters Address: 0510H P5-08 SWLP Forward Software Limit 0511H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 2147483647 Control Mode: Unit: PUU Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: In PR mode, this parameter is used to set the threshold of forward software limit. When the motor operates in forward direction, if the position command is equal to or more than this parameter, i.e.
  • Page 455 ASDA- Chapter 8 Servo Parameters Address: 0514H P5-10★ AYSZ Data Array: Data Amount (N x 32 bits) 0515H Operation Related Section: Keypad / Software Communication Interface: Section 7.2 Default: N/A Control Mode: Unit: N/A Range: Read only Data Size: 16-bit Display Decimal Format:...
  • Page 456 ASDA- Chapter 8 Servo Parameters Settings: This parameter is used to read the data block 0 of data arrady (Array[P5-11++]). For example, when P5-11 is set to 100, the first read data displayed by P5-12 is the 100th data, the secondary read data is 101+1=102th data, the third read data is 102+1 = 103th data and vise versa.
  • Page 457 ASDA- Chapter 8 Servo Parameters Settings: This parameter is designed for the users who need to change the positioning point frequently via communication. Display Range 0 ~ 1 0 ~ 1 X=0: The data of PATH 1 (P6-02 ~P6-03) will be retained (memorized) when the power goes off.
  • Page 458 ASDA- Chapter 8 Servo Parameters Axis Position: Auxiliary Encoder Address: 0522H P5-17 AXAU (Pulse Command Feedback) 0523H Operation Related Section: Keypad / Software Communication Interface: Section 7.3 Default: N/A Control Mode: Unit: pulse Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format:...
  • Page 459 Please note: 1. This parameter can be set any time. However, it is effective only when the electronic gear is engaged. 2. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 0528H P5-20...
  • Page 460 ASDA- Chapter 8 Servo Parameters Address: 052CH P5-22 Accel / Decel Time 2 052DH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 500 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: Refer to P5-20 for explanation.
  • Page 461 ASDA- Chapter 8 Servo Parameters Address: 0532H P5-25 Accel / Decel Time 5 0533H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 900 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: Refer to P5-20 for explanation.
  • Page 462 ASDA- Chapter 8 Servo Parameters Address: 0538H P5-28 Accel / Decel Time 8 0539H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 1500 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: Refer to P5-20 for explanation.
  • Page 463 ASDA- Chapter 8 Servo Parameters Address: 053EH P5-31 AC11 Accel / Decel Time 11 053FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 3000 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: Refer to P5-20 for explanation.
  • Page 464 ASDA- Chapter 8 Servo Parameters Address: 0544H P5-34 AC14 Accel / Decel Time 14 0545H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 50 Control Mode: Unit: ms Range: 1 ~ 65500 Data Size: 16-bit Display Decimal Format: Settings: Refer to P5-20 for explanation.
  • Page 465 ASDA- Chapter 8 Servo Parameters Settings: This parameter is used to specify the start address which captures the first point data and save it into data array. Please note: This parameter can be set only when capture operation is stopped (Refer to P5- 39).
  • Page 466 Chapter 8 Servo Parameters Please note: 1. The total amount of COMPARE, CAPTURE and E-Cam data can not exceed the number of 800. 2. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 054EH P5-39 CACT...
  • Page 467 ASDA- Chapter 8 Servo Parameters Bit0: When the value of P5-38 is higher than 0, setting Bit0 to 1 will enable the capture function and the DO signal, CAP_OK is inactivated. Once the capture function is enabled, everytime when one position is captured, the setting value of P5-38 will decrease 1.
  • Page 468 ASDA- Chapter 8 Servo Parameters Address: 0552H P5-41 DLY1 Delay Time 1 0553H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 100 Control Mode: Unit: ms Range: 0 ~ 32767 Data Size: 16-bit Display Decimal Format: Settings: In PR mode, this parameter is used to set the delay time for the second position.
  • Page 469 ASDA- Chapter 8 Servo Parameters Address: 0558H P5-44 DLY4 Delay Time 4 0559H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 500 Control Mode: Unit: ms Range: 0 ~ 32767 Data Size: 16-bit Display Decimal Format: Settings: In PR mode, this parameter is used to set the delay time for the fifth position.
  • Page 470 ASDA- Chapter 8 Servo Parameters Address: 055EH P5-47 DLY7 Delay Time 7 055FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 1500 Control Mode: Unit: ms Range: 0 ~ 32767 Data Size: 16-bit Display Decimal Format: Settings: In PR mode, this parameter is used to set the delay time for the eighth position.
  • Page 471 ASDA- Chapter 8 Servo Parameters Address: 0564H P5-50 DLY10 Delay Time 10 0565H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 3000 Control Mode: Unit: ms Range: 0 ~ 32767 Data Size: 16-bit Display Decimal Format: Settings: In PR mode, this parameter is used to set the delay time for the eleventh position.
  • Page 472 ASDA- Chapter 8 Servo Parameters Address: 056AH P5-53 DLY13 Delay Time 13 056BH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 4500 Control Mode: Unit: ms Range: 0 ~ 32767 Data Size: 16-bit Display Decimal Format: Settings: In PR mode, this parameter is used to set the delay time for the fourteenth position.
  • Page 473 ASDA- Chapter 8 Servo Parameters Settings: In PR mode, this parameter is used to set the delay time for the sixteenth position. Address: 0570H P5-56 CMST COMPARE: Start Address of Data Array 0571H Operation Related Section: Keypad / Software Communication Interface: Section 7.11.2 Default: 0...
  • Page 474 ASDA- Chapter 8 Servo Parameters feedback position is different from this parameter because homing operation is enabled or the capture function setting is changed, the users can set the setting value Y of P5-59 to 3 to make this parameter to be equivalent to the motor encoder feedback position.
  • Page 475 ASDA- Chapter 8 Servo Parameters X: Compare function settings: After the last Cycle mode Start compare position is function Function compared, the system will enable the capture function The capture function The compare Setting Bit0 to 1 will is enabled already, operation enable the compare and this setting will...
  • Page 476 ASDA- Chapter 8 Servo Parameters Y: Compare source settings 0: Capture axis. 1: Auxiliary encoder (linear scale). 2: Pulse command. 3: Motor encoder Z: Activate state settings 0: Normally open (use N.O. contact) 1: Normally closed (use N.C. contact) U: Please refer to the table below Function Folow capture operation Trigger PR command...
  • Page 477 ASDA- Chapter 8 Servo Parameters Address: 057AH P5-61 POV1 Moving Speed Setting of Position 1 057BH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 50.0 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display Decimal...
  • Page 478 ASDA- Chapter 8 Servo Parameters Address: 057EH P5-63 POV3 Moving Speed Setting of Position 3 057FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 200.0 2000 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display...
  • Page 479 ASDA- Chapter 8 Servo Parameters Address: 0582H P5-65 POV5 Moving Speed Setting of Position 5 0583H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 500.0 5000 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display...
  • Page 480 ASDA- Chapter 8 Servo Parameters Address: 0586H P5-67 POV7 Moving Speed Setting of Position 7 0587H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 800.0 8000 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display...
  • Page 481 ASDA- Chapter 8 Servo Parameters Address: 058AH P5-69 POV9 Moving Speed Setting of Position 9 058BH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 1300.0 13000 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display...
  • Page 482 ASDA- Chapter 8 Servo Parameters Address: 058EH P5-71 POV11 Moving Speed Setting of Position 11 058FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 1800.0 18000 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display...
  • Page 483 ASDA- Chapter 8 Servo Parameters Address: 0592H P5-73 POV13 Moving Speed Setting of Position 13 0593H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 2300.0 23000 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display...
  • Page 484 ASDA- Chapter 8 Servo Parameters Address: 0596H P5-75 POV15 Moving Speed Setting of Position 15 0597H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 3000.0 30000 Control Mode: Unit: 1 r/min 0.1 r/min Range: 0.1 ~ 6000.0 1 ~ 60000 Data Size: 16-bit Display...
  • Page 485 P5-78 (no accumulation errors, for single direction operation only). This parameter can be used as the position source of E-Cam master axis. Please note: ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Interval Pulse Number of CAPTURE SYNC Address: 059CH P5-78...
  • Page 486 Please note: 1. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 05A0H P5-80 CSDS Max.
  • Page 487 2. The firmware version V1.015 and later models: This parameter can be set any time. However, it is effective only when the electronic gear is engaged. 3. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 05A4H P5-82 ECHN E-Cam: E-Cam Area Number N (at least >=5)
  • Page 488 It indicates that there are M cycles of the E-Cam table. Please note: 1. This parameter can be set only when E-Cam function is stopped (Refer to P5-88). 2. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 05A8H P5-84...
  • Page 489 This parameter is used to set the position of E-Cam master axis. Please note: 1. This parameter can be set only when E-Cam function is stopped (Refer to P5-88). 2. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. 8-212 Revision September 2012...
  • Page 490 1. If this parameter is a positive value, it indicates that the forward pulses are regarded as lead command. If this parameter is a negative value, it indicates that the reverse pulses are regarded as lead command. 2. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 05B0H P5-88...
  • Page 491 ASDA- Chapter 8 Servo Parameters S: Engage status display (read-only) 0: Stop state 1: Engaged state 2: Lead state (before the electronic gear is engaged) X: Disable or Enable E-Cam Function. Please see the table below P5-19 is effective E-Cam does not Enable E-Cam immediately disengage while...
  • Page 492 When Servo Off, if a servo fault occurs, or there is a forward/reverse limit, or PR command is moving to home, the electronic gear will be disengaged (X=0 of P5-88). Please note: ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 05B2H P5-89...
  • Page 493 ASDA- Chapter 8 Servo Parameters Please note: ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 05B4H P5-90 CMAP E-Cam: Area Number + (Polarity is Positive) 05B5H Operation Related Section: Keypad / Software Communication Interface: Section 7.11...
  • Page 494 1. If this parameter is a positive value, it indicates that the forward pulses are regarded as lead command. If this parameter is a negative value, it indicates that the reverse pulses are regarded as lead command. 2. ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Address: 05BAH P5-93...
  • Page 495 ASDA- Chapter 8 Servo Parameters Address: 05BCH P5-94 CSDS Motion Control: Macro Parameter 3 05BDH Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: The definition of this parmater is determined by macro command P5-97.
  • Page 496 ASDA- Chapter 8 Servo Parameters Settings: The definition of this parmater is determined by macro command P5-97. Please refer to P5-97 for explanation. Address: 05C2H P5-97 CSDS Motion Control: Macro Command 05C3H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 100 Control...
  • Page 497 ASDA- Chapter 8 Servo Parameters Command code: Motion parameter protection function: 0003h Set password. Enable parameter protection function. Success code: 1003h  The firmware version V1.026 and later models provide the following macro command: Command code: Motion parameter protection function: 0004h Disable parameter protection function.
  • Page 498 ASDA- Chapter 8 Servo Parameters Using this macro command is able to calculate the data of E-Cam table automatically and saved the settings in the data array specified by P5-81. The above parameters are all essential for E-Cam table. Please complete the settings of these parameters first correctly before executing this macro command.
  • Page 499 ASDA- Chapter 8 Servo Parameters Command code: Create E-Cam table: for rotary cutoff application (free degree) 0007h P5-96= 1000000 x R x V R (Cut Ratio) = L (Cut Length) / ℓ (Knife Circumference) The normal cut ratio is the multiple of 0.05 ~ 5.0. V (Speed Compensation) = (Target Cut Speed) / (Product Speed) When V=1.0, the speed of knife is the same as the product...
  • Page 500 ASDA- Chapter 8 Servo Parameters Command code: Create E-Cam table: for rotary cutoff application (free degree) 0007h Failure code: F079h Acceleration degree is not enough. Please decrease the setting value of W (Waiting Area Degree), Y (Sealing Zone Degree), or S (Curve Level). Failure code: F07Ah Waiting area is too small.
  • Page 501 ASDA- Chapter 8 Servo Parameters  The firmware version V1.035 sub00 and later models provide the following macro command: Command code: Change E-Cam engaged X position: disengage after one 000Ch forward rotation. General Parameters Macro Parameters P5-53= New engaged position X. Unit is pulse number of master axis.
  • Page 502 ASDA- Chapter 8 Servo Parameters  The firmware version V1.038 sub48 and later models provide the following macro command: Command code: Calculate the errors between E-Cam and indexing coordinates 000Dh for positioning control of PR command. General Parameters Macro Parameters P5-93 Low_Word = DCBA : UZYX (8 digits, Hexadecimal) YX: PR number = 0 ~0X3F (0: Disabled) UZ: Must be set to 0.
  • Page 503 ASDA- Chapter 8 Servo Parameters When the servo motor moves from current position to target position, two kinds of rotations, forward and reverse are available for selection. However, the rotation of the E-Cam is a kind of cyclic motion movement. No matter forward or reverse rotation is selected, the motor will reach the target position.
  • Page 504 ASDA- Chapter 8 Servo Parameters  The firmware version V1.038 sub26 and later models provide the following macro command: Command code: Perform E-Cam alignment immediately and write the 000Eh correction value into the specified PR. General Parameters Macro Parameters P5-93 = DCBA : UZYX (8 digits, Hexadecimal) YX: PR number = 0 ~0X3F (0: Disabled) UZ: Max.
  • Page 505 ASDA- Chapter 8 Servo Parameters ｜ Alignment Target Position ★ - Current Engaged Position｜/ L <= P5-93.UZ % * P5-94 is able to set the DI time delay compensation to overcome the error occurred in different speed operation. When the servo motor moves from current position to target position, two kinds of rotations, forward and reverse are available for selection.
  • Page 506 ASDA- Chapter 8 Servo Parameters Failure code: F0E2h The setting value of P5-93. YX (PR number) is not within its allowable range. It should be within the range of 1 ~ 0x3F. Failure code: F0E3h The setting value of P5-93. UZ (Max. alignment correction rate) is not within its allowable range.
  • Page 507 ASDA- Chapter 8 Servo Parameters Please note: When using PR command, no matter Go trip or Return trip, it must be an incremental command. * Forward rotation allowable rate: Max. allowable moving percentage when go distance is in forward rotation. Please refer to the following explanation. : E-Cam Current Position : Max.
  • Page 508 ASDA- Chapter 8 Servo Parameters Failure code: F0F5h The setting value of P5-95 (forward rotation allowable rate) is not within its allowable range. It should be within the range of 0 ~ 100%. Failure code: F0F6h The setting value of P5-96 (target position) is not within its allowable range.
  • Page 509 If accumulated pause distance >2^31, this macro command will become disabled. Do not execute this macro command continuously. Please note: ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. Event Rising-edge Trigger Command Address: 05C4H P5-98 EVON 05C5H (OFF ...
  • Page 510 ASDA- Chapter 8 Servo Parameters U: EV4 settings 0: When EV4 is ON, no position command is triggered. 1 ~ D: When EV4 is ON, position command P51 ~ P63 is triggered. Event Falling-edge Trigger Command Address: 05C6H P5-99 EVOF 05C7H (ON ...

  • Page 511: Group 6: P6-Xx Pr Path Definition Parameters

    The coordinate value could be a non-zero value. In ASDA-A2 series, after detecting “Home” (home sensor or Z pulse), the motor will decelerate to stop the operation.
  • Page 512 ASDA- Chapter 8 Servo Parameters Address: 0602H P6-01 ODAT Homing Definition Value 0603H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Homing definition value: 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8...
  • Page 513 ASDA- Chapter 8 Servo Parameters TYPE 8: Write the specified parameter to the dedicated AUTO path. When the TYPE is set to 1 ~ 3, it can accept DO signals, STP (Motor Stop), ※ SNL(SCWL, Reverse Software Limit), SPL(SCCWL, Forward Software Limit). INS: Insertion command on PR.
  • Page 514 ASDA- Chapter 8 Servo Parameters Address: 0608H P6-04 PDEF2 Definition of Path 2 0609H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 515 ASDA- Chapter 8 Servo Parameters Address: 060EH P6-07 PDAT3 Data of Path 3 060FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 516 ASDA- Chapter 8 Servo Parameters Address: 0614H P6-10 PDEF5 Definition of Path 5 0615H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 517 ASDA- Chapter 8 Servo Parameters Address: 061AH P6-13 PDAT6 Data of Path 6 061BH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 518 ASDA- Chapter 8 Servo Parameters Address: 0620H P6-16 PDEF8 Definition of Path 8 0621H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 519 ASDA- Chapter 8 Servo Parameters Address: 0626H P6-19 PDAT9 Data of Path 9 0627H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 520 ASDA- Chapter 8 Servo Parameters Address: 062CH P6-22 PDEF11 Definition of Path 11 062DH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 521 ASDA- Chapter 8 Servo Parameters Address: 062EH P6-23 PDAT11 Data of Path 11 062FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 522 ASDA- Chapter 8 Servo Parameters Address: 0630H P6-24 PDEF12 Definition of Path 12 0631H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 523 ASDA- Chapter 8 Servo Parameters Address: 0636H P6-27 PDAT13 Data of Path 13 0637H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 524 ASDA- Chapter 8 Servo Parameters Address: 063CH P6-30 PDEF15 Definition of Path 15 063DH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 525 ASDA- Chapter 8 Servo Parameters Address: 0642H P6-33 PDAT16 Data of Path 16 0643H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 526 ASDA- Chapter 8 Servo Parameters Address: 0648H P6-36 PDEF18 Definition of Path 18 0649H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 527 ASDA- Chapter 8 Servo Parameters Address: 064EH P6-39 PDAT19 Data of Path 19 064FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 528 ASDA- Chapter 8 Servo Parameters Address: 0654H P6-42 PDEF21 Definition of Path 21 0655H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 529 ASDA- Chapter 8 Servo Parameters Address: 065AH P6-45 PDAT22 Data of Path 22 065BH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 530 ASDA- Chapter 8 Servo Parameters Address: 0660H P6-48 PDEF24 Definition of Path 24 0661H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 531 ASDA- Chapter 8 Servo Parameters Address: 0666H P6-51 PDAT25 Data of Path 25 0667H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 532 ASDA- Chapter 8 Servo Parameters Address: 066CH P6-54 PDEF27 Definition of Path 27 066DH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 533 ASDA- Chapter 8 Servo Parameters Address: 0672H P6-57 PDAT28 Data of Path 28 0673H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 534 ASDA- Chapter 8 Servo Parameters Address: 0678H P6-60 PDEF30 Definition of Path 30 0679H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 535 ASDA- Chapter 8 Servo Parameters Address: 067EH P6-63 PDAT31 Data of Path 31 067FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 536 ASDA- Chapter 8 Servo Parameters Address: 0684H P6-66 PDEF33 Definition of Path 33 0685H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 537 ASDA- Chapter 8 Servo Parameters Address: 068AH P6-69 PDAT34 Data of Path 34 068BH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 538 ASDA- Chapter 8 Servo Parameters Address: 0690H P6-72 PDEF36 Definition of Path 36 0691H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 539 ASDA- Chapter 8 Servo Parameters Address: 0696H P6-75 PDAT37 Data of Path 37 0697H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 540 ASDA- Chapter 8 Servo Parameters Address: 069CH P6-78 PDEF39 Definition of Path 39 069DH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 541 ASDA- Chapter 8 Servo Parameters Address: 06A2H P6-81 PDAT40 Data of Path 40 06A3H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 542 ASDA- Chapter 8 Servo Parameters Address: 06A8H P6-84 PDEF42 Definition of Path 42 06A9H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 543 ASDA- Chapter 8 Servo Parameters Address: 06AEH P6-87 PDAT43 Data of Path 43 06AFH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 544 ASDA- Chapter 8 Servo Parameters Address: 06B4H P6-90 PDEF45 Definition of Path 45 06B5H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 545 ASDA- Chapter 8 Servo Parameters Address: 06BAH P6-93 PDAT46 Data of Path 46 06BBH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 546 ASDA- Chapter 8 Servo Parameters Address: 06C0H P6-96 PDEF48 Definition of Path 48 06C1H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 547 ASDA- Chapter 8 Servo Parameters Address: 06C6H P6-99 PDAT49 Data of Path 49 06C7H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.

  • Page 548: Group 7: P7-Xx Pr Path Definition Parameters

    ASDA- Chapter 8 Servo Parameters Group 7: P7-xx PR Path Definition Parameters Address: 0700H P7-00 PDEF50 Definition of Path 50 0701H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal...
  • Page 549 ASDA- Chapter 8 Servo Parameters Address: 0706H P7-03 PDAT51 Data of Path 51 0707H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 550 ASDA- Chapter 8 Servo Parameters Address: 070CH P7-06 PDEF53 Definition of Path 53 070DH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 551 ASDA- Chapter 8 Servo Parameters Address: 0712H P7-09 PDAT54 Data of Path 54 0713H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 552 ASDA- Chapter 8 Servo Parameters Address: 0718H P7-12 PDEF56 Definition of Path 56 0719H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 553 ASDA- Chapter 8 Servo Parameters Address: 071EH P7-15 PDAT57 Data of Path 57 071FH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 554 ASDA- Chapter 8 Servo Parameters Address: 0724H P7-18 PDEF59 Definition of Path 59 0725H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 555 ASDA- Chapter 8 Servo Parameters Address: 072AH P7-21 PDAT60 Data of Path 60 072BH Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.
  • Page 556 ASDA- Chapter 8 Servo Parameters Address: 0730H P7-24 PDEF62 Definition of Path 62 0731H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0x00000000 Control Mode: Unit: N/A Range: 0x00000000 ~ 0xFFFFFFFF Data Size: 32-bit Display Hexadecimal Format: Settings: Refer to P6-02 for explanation.
  • Page 557 ASDA- Chapter 8 Servo Parameters Address: 0736H P7-27 PDAT63 Data of Path 63 0737H Operation Related Section: Keypad / Software Communication Interface: Section 7.10 Default: 0 Control Mode: Unit: N/A Range: -2147483648 ~ +2147483647 Data Size: 32-bit Display Decimal Format: Settings: Refer to P6-03 for explanation.

  • Page 558: Table 8.A Input Function Definition

    ASDA- Chapter 8 Servo Parameters Table 8.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 559 ASDA- Chapter 8 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.
  • Page 560 ASDA- Chapter 8 Servo Parameters Setting value: 0x09 Trigger Control DI Name DI Function Description Method Mode Torque limit enabled. When the drive is in speed and position mode, and TRQLM is activated, it Level TRQLM indicates the torque limit command is valid. The PT, PR, S Triggered torque limit command source is internal parameter...
  • Page 561 ASDA- Chapter 8 Servo Parameters Setting value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C Trigger Control DI Function Description Name Method Mode Position command selection POS0 ~ POS5 (64 positions) When the PR Control Mode is selected, the 64 stored positions are programmed via a combination of the POS 0 ~ POS 5 commands.
  • Page 562 ASDA- Chapter 8 Servo Parameters Setting value: 0x1F Trigger Control DI Name DI Function Description Method Mode When ABSC is activated (ON), the pulse number of absolute encoder will be reset to zero, and PUU Rising-edge ABSC number will be reset to the setting value of P6-01. Triggered ABSC is effective only when the digital input, ABSE is ON.
  • Page 563 ASDA- Chapter 8 Servo Parameters Setting value: 0x16 ~ 0x17 Trigger Control DI Function Description Name Method Mode Torque command selection 0 ~ 1 (Command T1 ~ T4) DI signal of Command Command Source Content Range TCM1 TCM0 Voltage Analog between V- +/-10 command...
  • Page 564 Triggered Setting value: 0x36 Trigger Control DI Name DI Function Description Method Mode Electronic CAM function control [see P5-88] Rising-edge/ Please note: Falling-edge ASDA-A2 series L type models do not provide Triggered Electronic Cam (E-Cam) function. 8-287 Revision September 2012...
  • Page 565 ASDA- Chapter 8 Servo Parameters Setting value: 0x37 Trigger Control DI Name DI Function Description Method Mode Forward JOG input. When JOGU is activated, the Level JOGU motor will JOG in forward direction. [see P4-05] Triggered Setting value: 0x38 Trigger Control DI Name DI Function Description...
  • Page 566 ASDA- Chapter 8 Servo Parameters Setting value: 0x43, 0x44 Trigger Control DI Name DI Function Description Method Mode Electronic gear ratio (Numerator) selection 0 ~ 1 [see P2-60 ~ P2-62] GNUM0 Level Triggered GNUM1 Setting value: 0x45 Trigger Control DI Name DI Function Description Method Mode...

  • Page 567: Table 8.B Output Function Definition

    ASDA- Chapter 8 Servo Parameters Table 8.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 Level SRDY is ready to run. All fault and alarm conditions, if Triggered present, have been cleared.
  • Page 568 ASDA- Chapter 8 Servo Parameters Setting value: 0x05 Trigger Control DO Name DO Function Description Method Mode 1. When the drive is in PT mode, TPOS will be activated when the position error is equal and below the setting value of P1-54. Level TPOS PT, PR...
  • Page 569 ASDA- Chapter 8 Servo Parameters Setting value: 0x09 Trigger Control DO Name DO Function Description Method Mode Homing completed. HOME is activated when the servo drive has detected that the "HOME" sensor (ORGP, digital input 0x24) has been detected. When power to the servo drive at the first time, this DO signal is OFF.
  • Page 570 ASDA- Chapter 8 Servo Parameters Trigger Control DO Name DO Function Description Method Mode At this time, t OL = 8 x 60% = 4.8 seconds Result: When the drive output is at 200% rated output and the drive is continuously overloaded for 4.8 seconds, the overload warning signal will be ON (DO code is 0x10, i.e.
  • Page 571 CAM_AREA is activated when the servo drive has detected the master position of E-Cam (electronic CAM) is within the setting area. Level CAM_AREA Please note: Triggered ASDA-A2 series L type models do not provide Electronic Cam (E-Cam) function. 8-294 Revision September 2012...
  • Page 572 ASDA- Chapter 8 Servo Parameters Setting value: 0x19 Trigger Control DO Name DO Function Description Method Mode Speed reached output. SP_OK will be activated when Level SP_OK the speed error is equal and below the setting value S, Sz Triggered of P1-47.
  • Page 573 ASDA- Chapter 8 Servo Parameters Setting value: 0x31 Trigger Control DO Name DO Function Description Method Mode Level SDO_1 Output the status of bit01 of P4-06. Triggered Setting value: 0x32 Trigger Control DO Name DO Function Description Method Mode Level SDO_2 Output the status of bit02 of P4-06.
  • Page 574 ASDA- Chapter 8 Servo Parameters Setting value: 0x38 Trigger Control DO Name DO Function Description Method Mode Level SDO_8 Output the status of bit08 of P4-06. Triggered Setting value: 0x39 Trigger Control DO Name DO Function Description Method Mode Level SDO_9 Output the status of bit09 of P4-06.
  • Page 575 ASDA- Chapter 8 Servo Parameters Setting value: 0x3F Trigger Control DO Name DO Function Description Method Mode Level SDO_F Output the status of bit15 of P4-06. Triggered NOTE 1) When P2-18 to P2-22 is set to 0, it indicates output function is disabled. 8-298 Revision September 2012...

  • Page 576: Chapter 9 Communications

    Chapter 9 Communications 9.1 RS-485 & RS-232 Communication Hardware Interface The ASDA-A2 series servo drives support RS-485 and RS-232 serial communication. All aspects of control, operation and monitoring as well as programming of the controller can be achieved via communication. However, only one communication mode can be used at a time.
  • Page 577 ASDA- Chapter 9 Communications RS-485  Configuration NOTE 1) 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 578: Communication Parameters

    ASDA- Chapter 9 Communications 9.2 Communication Parameters The following four communication parameters, P3-00 (Communication Address Setting), P3- 01 (Transmission Speed), P3-02 (Communication Protocol) and P3-05 (Communication Mode) are essential and must be set for the communication between the master (PC, etc.) and the AC servo drive.
  • Page 579 ASDA- Chapter 9 Communications Please note: 1. When the address of host (external) controller is set to 0xFF, it is with auto-respond function. Then, the servo drive will receive from and respond to host (external) controller both no matter the address is matching or not. However, the parameter P3-00 cannot be set to 0xFF.
  • Page 580 ASDA- Chapter 9 Communications Please note: 1. When setting this parameter via CANopen communication, only the setting of Z (data transmission speed setting) can be configured and other settings. 2. The communication transmission speed for USB can be set to 1.0M bits / second only and cannot be changed.
  • Page 581 ASDA- Chapter 9 Communications Address: 030AH P3-05 Communication Selection 030BH Operation Related Section: Keypad / Software Communication Interface: Section 9.2 Default: 0 Control Mode: Unit: N/A Range: 0x00 ~ 0x01 Data Size: 16-bit Display Hexadecimal Format: Settings: Communication interface selection 0: RS-232 1: RS-485 Multiple communication modes RS232 and RS-485 cannot be used...

  • Page 582: Modbus Communication Protocol

    “P3-00”. The computer then controls each AC servo drive according to its communication address. ASDA-A2 series AC servo drives can be set up to communicate on a MODBUS network using on of the following modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal Unit).
  • Page 583 ASDA- Chapter 9 Communications Start Stop parity 7-data bits 10-bits character frame 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 ...
  • Page 584 ASDA- Chapter 9 Communications RTU Mode: Start A silent interval of more than 10ms Slave Address Communication address: 1-byte Function Function code: 1-byte Data (n-1) ……. Contents of data: n word = n x 2-byte, n12 Data (0) Error checking: 1-byte End 1 A silent interval of more than 10ms The communication protocol of RTU mode starts from a signal of silent interval and ends at a...
  • Page 585 ASDA- Chapter 9 Communications The format of data characters depends on the function code. The available function codes and examples for AC servo drive are described as follows: Example 1: Function code: 03H, read N words (The maximum value of N is 10) For example, reading continuous 2 words from starting address 0200H of AC servo drive.
  • Page 586 ASDA- Chapter 9 Communications RTU Mode: Command message (Master): Response message (Slave): Slave Address Slave Address Function Function 02H (High) Number of data Starting data address (In Byte) 00H (Low) Content of 00H (High) Number of data starting data (In Word) B1H (Low) address 0200H Content of...
  • Page 587 ASDA- Chapter 9 Communications Example 2: Function code: 06H, write 1 word For example, writing 100 (0064H) to starting data address 0200H. The slave will send the response message to the master after writing operation is completed. ASCII Mode: Command message (Master): Response message (Slave): Start ‘:’...
  • Page 588 ASDA- Chapter 9 Communications Example 3: Function code: 10H, write N words (The maximum value of N is 10) For example, writing continuous 2 words into starting address 0112H of AC servo drive. The content of first data address is 0BB8H and the content of second data address is 0000H. ASCII Mode: Command message (Master): Response message (Slave):...
  • Page 589 ASDA- Chapter 9 Communications RTU Mode: Command message (Master): Response message (Slave): Slave Address Slave Address Function Function 01H (High) 01H (High) Starting data Starting data address address 12H (Low) 12H (Low) 00H (High) 00H (High) Number of data Number of data (In Word) (In Word) 02H (Low)
  • Page 590 ASDA- Chapter 9 Communications  LRC and CRC Error Checking ASCII mode adopts LRC (Longitudinal Redundancy Check) and RTU mode adopts CRC (Cyclical Redundancy Check) LRC (ASCII Mode): LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the values of the bytes from Slave address to last data character then calculating the hexadecimal representation of the 2’s-complement negation of the sum.
  • Page 591 ASDA- Chapter 9 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 592 ASDA- Chapter 9 Communications Example 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. unsigned int crc_chk(unsigned char* data, unsigned char length) { int j;...
  • Page 593 ASDA- Chapter 9 Communications 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 ) ); /* the BRDL/BRDH can be access as LCR.b7 == 1 */ outportb(PORT+BRDL,12);...

  • Page 594: Communication Parameter Write-In And Read-Out

    (example: P7-xx) For a complete listing and description of all parameters, refer to Chapter 8. Communication write-in parameters for ASDA-A2 series are including: Group 0: All parameters except P0-00 ~ P0-01, P0-08 ~ P0-13 and P0-46 Group 1: P1-00 ~ P1-76...
  • Page 595 P2-08 to 22 (hexadecimal: 16H) first and then restart. After restarting, the settings of parameters P4-11 to P4-21 can become modified. Communication read-out parameters for ASDA-A2 series are including: Group 0: P0-00 ~ P0-46 Group 1: P1-00 ~ P1-76...

  • Page 596: Chapter 10 Troubleshooting

    Chapter 10 Troubleshooting If a fault is detected on the servo motor or drive, 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 Servo Drive Fault Messages Table Fault Messages Corresponding...
  • Page 597 ASDA- Chapter 10 Troubleshooting Fault Messages Corresponding Servo Display Fault Name Fault Description Digital Output Status Emergency stop Emergency stop switch is WARN Servo Off activated activated. (DO code: 0x11) Reverse limit WARN Reverse limit switch is activated. Servo On switch error (DO code: 0x11) Forward limit...
  • Page 598 ASDA- Chapter 10 Troubleshooting Fault Messages Corresponding Servo Display Fault Name Fault Description Digital Output Status In order to protect the motor, this alarm will be activated when the Motor ALRM setting value of P1-57 is reached Servo Off protection error (DO code: 0x07) after a period of time set by P1- The wiring connections of U, V, W...

  • Page 599: Canopen Communication Fault Messages Table

    ASDA- Chapter 10 Troubleshooting 10.2 CANopen Communication Fault Messages Table Fault Messages Corresponding Servo Display Fault Name Fault Description Digital Output Status CANbus off or Error Rx/Tx ALRM CANbus error Servo On Counter exceeds 128. (DO code: 0x07) CANopen SDO SDO Rx buffer overrun is detected ALRM receive buffer...
  • Page 600 ASDA- Chapter 10 Troubleshooting Fault Messages Corresponding Servo Display Fault Name Fault Description Digital Output Status Error occurs An error occurs when loading the when reading default settings from EE-PROM at ALRM CANopen PDO start-up. All CANopen objects Servo On (DO code: 0x07) object from EE- return to their default settings...

  • Page 601: Motion Control Fault Messages Table

    ASDA- Chapter 10 Troubleshooting 10.3 Motion Control Fault Messages Table Fault Messages Corresponding Servo Display Fault Name Fault Description Digital Output Status CANopen data An error occurs when loading data WARN Servo On (DO code: 0x11) initial error from EE-PROM. Write parameter Write parameter error occurs in PR WARN...
  • Page 602 ASDA- Chapter 10 Troubleshooting Fault Messages Corresponding Servo Display Fault Name Fault Description Digital Output Status Data type (size) error occurs The data length in the message WARN when accessing does not match the specified Servo On (DO code: 0x11) CANopen object.
  • Page 603 ASDA- Chapter 10 Troubleshooting Fault Messages Corresponding Servo Display Fault Name Fault Description Digital Output Status The parameter is password protected when using CANopen communication to access the WARN Password error Servo On parameter. The users must enter (DO code: 0x11) the valid password to unlock the parameter.

  • Page 604: Absolute System Fault Messages Table

    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. 2) For more information about the CANopen objects, please refer to CANopen Instruction Manual.

  • Page 605: Potential Cause And Corrective Actions

    The hardware of the Use voltmeter to ensure that the main voltage falls within the servo drive is circuit input voltage falls within the specified limit, please contact damaged. specified limit, your distributor for assistance or contact with Delta. 10-10 Revision September 2012...
  • Page 606 ASDA- Chapter 10 Troubleshooting : Undervoltage Potential Cause Checking Method Corrective Actions The main circuit voltage is below its Check whether the wiring of main circuit Reconfirm voltage wiring. minimum specified input voltage is normal. value. No input voltage at Use voltmeter to check whether input Reconfirm power switch.
  • Page 607 Check the wiring of U, V, W and and encoder is in Ensure all wiring is correct. encoder. error. The encoder of the Please contact your distributor for assistance or contact with Delta. motor is damaged. : Overspeed Potential Cause Checking Method Corrective Actions...
  • Page 608 The detection device Reset the power supply. please contact your distributor is damaged. for assistance or contact with Delta. : Emergency stop activated Potential Cause Checking Method Corrective Actions Emergency stop Check if emergency stop switch is On or Activate emergency stop switch is activated.
  • Page 609 Press SHIFT key on the drive keypad and Data in EE-PROM is RPM is damaged or there is no examine if E0001 is displayed on LED damaged. data in EE-PROM. Please display. contact your distributor for assistance or contact with Delta. 10-14 Revision September 2012...
  • Page 610 R, S, T. Check whether the power connected correctly, please supply is in error. cable is loose or the possible loss of contact your distributor for phase on input power. assistance or contact with Delta. 10-15 Revision September 2012...
  • Page 611 R, S, T and U, V, W W signal is in error. assistance or contact with terminals to prevent the interference. Delta. 3. Check if the shielded cables are used when performing encoder wiring. : Encoder internal error...
  • Page 612 4. If the error does not clear after all the above actions are done, please contact your distributor for assistance or contact with Delta. : Motor protection error Potential Cause Checking Method Corrective Actions 1. Set P1-57 to 0.
  • Page 613 ASDA- Chapter 10 Troubleshooting : Full closed-loop excessive deviation Potential Cause Checking Method Corrective Actions The position control deviation value of 1. Check if the setting value of P1-73 is 1. Increases the parameter full-closed loop too small. setting value of P1-73. exceeds the 2.
  • Page 614 ASDA- Chapter 10 Troubleshooting CANopen Communication Fault Messages : CANbus error Potential Cause Checking Method Corrective Actions 1. Examine CANbus communication cable. CANbus off or Error NMT Maser send “Reset 2. Check if the communication quality is Rx/Tx Counter node“ command to its slave or good quality state.
  • Page 615 ASDA- Chapter 10 Troubleshooting : Sub-index error occurs when accessing PDO object Potential Cause Checking Method Corrective Actions NMT Maser send “Reset node“ command to its slave or The specified Sub- Check if the Entry Sub-index value in reset the fault by sending the index in the PDO mapping is changed when control word (0x6040) through...
  • Page 616 ASDA- Chapter 10 Troubleshooting : CANopen PDO object does not support PDO Potential Cause Checking Method Corrective Actions NMT Maser send “Reset node“ command to its slave or The specified object Check if the specified object cannot reset the fault by sending the in the message support PDO when accessing PDO control word (0x6040) through...
  • Page 617 ASDA- Chapter 10 Troubleshooting : EE-PROM invalid address range Potential Cause Checking Method Corrective Actions The amount of the data saved in EE- PROM has exceeded the space NMT Maser send “Reset determined by the node“ command to its slave or firmware.
  • Page 618 ASDA- Chapter 10 Troubleshooting Motion Control Fault Messages : CANopen data initial error Potential Cause Checking Method Corrective Actions 1. Restart the servo drive to check if the error can be cleared. 2. If the error cannot be cleared after restarting the servo drive, it indicates that the data in EE-PROM is damaged and the users must do the following...
  • Page 619 If this fault occurs, please contact your reset the fault by sending the positioning distributor for assistance or contact with control word (0x6040) through command exceeds Delta. CAN communication (the value its time limit. of CANopen object 0x6040 should be reset) : Invalid PR path number...
  • Page 620 (0x6040) through not match the Delta. CAN communication (the value specified object. of CANopen object 0x6040 should be reset) : Data range error occurs when accessing CANopen object...
  • Page 621 (0x6040) through (cannot be changed) Delta. CAN communication (the value when Servo On. of CANopen object 0x6040 should be reset) : Error occurs when reading CANopen object from EE-PROM...
  • Page 622 If this fault occurs, please contact your reset the fault by sending the CANopen objects distributor for assistance or contact with control word (0x6040) through return to their Delta. CAN communication (the value default settings of CANopen object 0x6040 automatically. should be reset)
  • Page 623 If this fault occurs, please contact your reset the fault by sending the Position counter distributor for assistance or contact with control word (0x6040) through overflow occurs. Delta. CAN communication (the value of CANopen object 0x6040 should be reset) : Servo Off error Potential Cause...
  • Page 624 ASDA- Chapter 10 Troubleshooting : CANopen SYNC time out Potential Cause Checking Method Corrective Actions 1. Check if the communication quality is good quality state. 2. Check if the setting of 0x1006 NMT Maser send “Reset (communication cycle period) is the node“...
  • Page 625 ASDA- Chapter 10 Troubleshooting Absolute System Fault Messages : Voltage level above specification Potential Cause Checking Method Corrective Actions The voltage level of 1. Check if an electrical charge still This fault message can be the battery is higher remains in the servo drive. removed automatically after than the specified 2.
  • Page 626 If this fault occurs, please contact your reset the fault by sending the Position counter distributor for assistance or contact with control word (0x6040) through overflow occurs. Delta. CAN communication (the value of CANopen object 0x6040 should be reset) 10-31 Revision September 2012...

  • Page 627: Clearing Faults

    ASDA- Chapter 10 Troubleshooting 10.6 Clearing Faults Servo Drive Fault Messages Display Fault Name Clearing Method Turn ARST (DI signal) ON to clear the fault. Overcurrent Overvoltage Turn ARST (DI signal) ON to clear the fault. This fault message can be removed automatically after the voltage has Undervoltage returned within its specification.
  • Page 628 ASDA- Chapter 10 Troubleshooting Display Fault Name Clearing Method 1. If this fault occurs when power is applied to the drive, correct the setting value of the parameter to clear the fault and restart the servo drive. Memory error 2. If this fault occurs during normal operation, turn ARST (DI signal) ON to clear the fault.
  • Page 629 ASDA- Chapter 10 Troubleshooting CANopen Communication Fault Messages Display Fault Name Clearing Method NMT Maser send “Reset node“ command to CANbus error its slave or restart the servo drive. NMT Maser send “Reset node“ command to its slave or reset the fault by sending the CANopen SDO receive control word (0x6040) through CAN buffer overrun...
  • Page 630 ASDA- Chapter 10 Troubleshooting Display Fault Name Clearing Method NMT Maser send “Reset node“ command to Error occurs when its slave or reset the fault by sending the reading CANopen PDO control word (0x6040) through CAN communication (the value of CANopen object object from EE-PROM.
  • Page 631 ASDA- Chapter 10 Troubleshooting Motion Control Fault Messages Display Fault Name Clearing Method 1. Turn ARST (DI signal) ON to clear the fault. CANopen Data Initial Error 2. Use CANopen “0x1011” object to restore default parameters. 1. Turn ARST (DI signal) ON to clear the Write parameter error: fault.
  • Page 632 ASDA- Chapter 10 Troubleshooting Display Fault Name Clearing Method NMT Maser send “Reset node“ command to Data range error occurs its slave or reset the fault by sending the when accessing CANopen control word (0x6040) through CAN communication (the value of CANopen object object.
  • Page 633 ASDA- Chapter 10 Troubleshooting Display Fault Name Clearing Method When the servo drive does not reach the limit, i.e. the position command is more Reverse software limit than reverse software limit, this fault message can be removed automatically NMT Maser send “Reset node“ command to its slave or reset the fault by sending the Position counter overflow control word (0x6040) through CAN...
  • Page 634 2. If this fault message cannot be removed Absolute position lost after all the corrective actions are done, please contact your distributor for assistance or contact with Delta. 1. This fault message can be removed after all the corrective actions are done. Voltage level below 2.
  • Page 635 ASDA- Chapter 10 Troubleshooting This page intentionally left blank. 10-40 Revision September 2012...

  • Page 636: Chapter 11 Specifications

    Chapter 11 Specifications 11.1 Specifications of Servo Drives (ASDA-A2 Series) 11.1.1 ASDA-A2 220V Series 100W 200W 400W 750W 1kW 1.5kW 2kW 3kW 4.5kW 5.5kW 7.5kW 11kW 15kW ASDA-A2 Series Phase / Voltage Three-phase / Single-phase 220VAC Three-phase 220VAC Permissible Voltage...
  • Page 637 ASDA- Chapter 11 Specifications 100W 200W 400W 750W 1kW 1.5kW 2kW 3kW 4.5kW 5.5kW 7.5kW 11kW 15kW ASDA-A2 Series Voltage 0 ~ ±10 V Range Analog Input Input 10K Resistance Command Time 2.2 us Constant Command Source External analog signal / Internal parameters...
  • Page 638 ASDA- 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 639: Asda-A2 400 Series

    ASDA- Chapter 11 Specifications 11.1.2 ASDA-A2 400V Series 750W 1.5kW 4.5kW 5.5kW 7.5kW 11kW 15kW ASDA-A2 Series Input Voltage 24VDC, ±10% Input Current 0.89A 1.18A 1.66A Input Power 21.4W 28.2W 39.85W Main Circuit Power Three-phase, 380 ~ 480VAC, ±10% 3.07 3.52...
  • Page 640 ASDA- Chapter 11 Specifications 750W 1.5kW 4.5kW 5.5kW 7.5kW 11kW 15kW ASDA-A2 Series Voltage 0 ~ ±10 V Range Analog Input Input Resistan 10K Command Time 2.2 us Constant Command Source External analog signal / Internal parameters Smoothing Strategy Low-pass filter...
  • Page 641 ASDA- 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 642: Specifications Of Servo Motors (Ecma Series)

    ASDA- Chapter 11 Specifications 11.2 Specifications of Servo Motors (ECMA Series) 11.2.1 ECMA 220V Series Low Inertia Series - 220V series C△04 C△06 C△08 C△09 C△10 ECMA Series Rated output power (kW) 0.75 0.75 Rated torque (N-m) 0.32 0.64 1.27 1.27 2.39 2.39...
  • Page 643 ASDA- Chapter 11 Specifications C△04 C△06 C△08 C△09 C△10 ECMA Series Brake power consumption 19.4 19.4 (at 20 C) [W] Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature C to 40 C (32 F to 104 Storage temperature C to 80...
  • Page 644 ASDA- Chapter 11 Specifications Medium / High Inertia Series - 220V series E△13 E△18 G△13 ECMA Series Rated output power (kW) Rated torque (N-m) 2.39 4.77 7.16 9.55 9.55 14.32 2.86 5.73 8.59 Maximum torque (N-m) 7.16 14.3 21.48 28.65 28.65 42.97 8.59...
  • Page 645 ASDA- Chapter 11 Specifications E△13 E△18 G△13 ECMA Series Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature C to 40 C (32 F to 104 Storage temperature C to 80 C (-14 F to 176 Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity...
  • Page 646 ASDA- Chapter 11 Specifications Medium / Medium-High Inertia Series - 220V series F△18 F122 ECMA Series Rated output power (kW) 19.10 28.65 35.01 47.74 Rated torque (N-m) 95.4 57.29 71.62 87.53 119.36 Maximum torque (N-m) 224.0 Rated speed (r/min) 1500 Maximum speed (r/min) 3000 2000...
  • Page 647 ASDA- Chapter 11 Specifications F△18 F122 ECMA Series Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature C to 40 C (32 F to 104 Storage temperature C to 80 C (-14 F to 176 Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity...

  • Page 648: Ecma 400 Series

    ASDA- Chapter 11 Specifications 11.2.2 ECMA 400V Series Low / Medium Inertia Series - 400V series J108 K113 ECMA Series Rated output power (kW) 0.75 Rated torque (N-m) 2.39 4.77 7.16 9.55 Maximum torque (N-m) 7.16 14.32 21.48 28.65 Rated speed (r/min) 3000 2000 Maximum speed (r/min)
  • Page 649 ASDA- Chapter 11 Specifications J108 K113 ECMA Series Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature C to 40 C (32 F to 104 Storage temperature C to 80 C (-14 F to 176 Operating humidity 20% to 90% RH (non-condensing) Storage humidity...
  • Page 650 ASDA- Chapter 11 Specifications Medium-High Inertia Series - 400V series L△18 L118 L122 ECMA Series Rated output power (kW) 19.10 28.65 35.0 47.74 Rated torque (N-m) 95.4 57.29 71.62 87.53 119.36 Maximum torque (N-m) Rated speed (r/min) 1500 Maximum speed (r/min) 3000 2000 Rated current (A)
  • Page 651 ASDA- Chapter 11 Specifications L△18 L118 L122 ECMA Series Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature C to 40 C (32 F to 104 Storage temperature C to 80 C (-14 F to 176 Operating humidity 20% to 90% RH (non-condensing) Storage humidity...

  • Page 652: Servo Motor Speed-Torque Curves (T-N Curves)

    ASDA- Chapter 11 Specifications 11.3 Servo Motor Speed-Torque Curves (T-N Curves) 11.3.1 220V Series 11-17 Revision September 2012...
  • Page 653 ASDA- Chapter 11 Specifications 11.3.2 400V Series 11-18 Revision September 2012...

  • Page 654: Overload Characteristics

    ASDA- 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.
  • Page 655 ASDA- Chapter 11 Specifications Medium and Medium-High Inertia Series (ECMA E1, F1, K1 and L1 Series) High Inertia Series (ECMA G1 Series) 11-20 Revision September 2012...

  • Page 656: Dimensions Of Servo Drive

    ASDA- Chapter 11 Specifications 11.5 Dimensions of Servo Drive 11.5.1 220V Series Order P/N: ASD-A2-0121; ASD-A2-0221; ASD-A2-0421 (100W ~ 400W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 657 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-0721; ASD-A2-1021; ASD-A2-1521 (750W ~ 1.5kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 658 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-2023; ASD-A2-3023 (2kW ~ 3kW) WEIGHT 2.89 (6.36) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 659 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-4523 (4.5kW) WEIGHT 4.4 (10.0) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 660 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-5523 (5.5kW) WEIGHT 5.5 (12.1) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 661 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-7523 (7.5kW) WEIGHT 5.9 (13) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 662 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-1B23; ASD-A2-1F23 (11kW ~ 15kW) WEIGHT 20 (44) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.

  • Page 663: Series

    ASDA- Chapter 11 Specifications 11.5.2 400V Series Order P/N: ASD-A2-0743; ASD-A2-1043; ASD-A2-1543 (750W ~ 1.5kW) WEIGHT 2.89 (6.36) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 664 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-2043; ASD-A2-3043, ASD-A2-4543; ASD-A2-5543 (2kW ~ 5.5kW) WEIGHT 5.5 (12.1) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 665 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-7543 (7.5kW) WEIGHT 5.5 (12.1) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.
  • Page 666 ASDA- Chapter 11 Specifications Order P/N: ASD-A2-1B43; ASD-A2-1F43 (11kW ~ 15kW) WEIGHT 8.5 (18.7) NOTE 1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)). 2) Actual measured values are in metric units. Dimensions and weights in (imperial units) are for reference only.

  • Page 667: Dimensions Of Servo Motor (Ecma Series)

    ASDA- Chapter 11 Specifications 11.6 Dimensions of Servo Motors (ECMA Series) 11.6.1 220V Series Motor Frame Size: 80mm and below Models (Units: mm) - 220V series Model C△0401 S C△0602 S □ C△0604 S C△0804 S C△0807 S C△0907 S C△0910 S □...
  • Page 668 ASDA- Chapter 11 Specifications Motor Frame Size: 100mm~130mm Models (Units: mm) - 220V series Model G△1303 S E△1305 S G△1306 S G△1309 S C△1010ES □ □ □ □             ...
  • Page 669 ASDA- Chapter 11 Specifications Motor Frame Size: 100mm~130mm Models (Units: mm) - 220V series Model E△1310 S E△1315 S C△1020 S E△1320 S □ □ □ □              ...
  • Page 670 ASDA- Chapter 11 Specifications Motor Frame Size: 180mm and above Models (Units: mm) - 220V series Model E△1820 S E△1830 S F△1830 S □ □ □ 13.5 13.5 13.5            ...
  • Page 671 ASDA- Chapter 11 Specifications Motor Frame Size: 180mm and above Models (Units: mm) - 220V series Model F△1845 S F△1855 3 F△1875 3 □ □ □ 13.5 13.5 13.5         114.3   LL (without brake) 235.3 279.7...
  • Page 672 ASDA- Chapter 11 Specifications Motor Frame Size: 220mm and above Models (Units: mm) - 220V series Model F1221B 3 F1221F S □ □ 13.5 13.5         LL (without brake) LL (with brake) Depth 32 Depth 40 NOTE 1) Dimensions are in millimeters.

  • Page 673: Series

    ASDA- Chapter 11 Specifications 11.6.2 400V Series Motor Frame Size: 80mm and below Models (Units: mm) - 400V series Model J10807S     LL (Without Brake) 138.3 LL (With Brake) LS (Without Oil Seal) LS (With Oil Seal) 29.5 15.5 Depth 20...
  • Page 674 ASDA- Chapter 11 Specifications Motor Frame Size: 130mm Models (Units: mm) - 400V series Model K11310S K11315S K11320S             LL (Without Brake) 147.5 167.5 187.5 LL (With Brake) 183.5 11.5 11.5 11.5...
  • Page 675 ASDA- Chapter 11 Specifications Motor Frame Size: 180mm and above Models (Units: mm) - 400V series Model L△1830 S L11845 S L11855 S L11875 S □ □ □ □ 13.5 13.5 13.5 13.5        ...
  • Page 676 ASDA- Chapter 11 Specifications Motor Frame Size: 220mm and above Models (Units: mm) - 400V series Model F1221B 3 F1221F S □ □ 13.5 13.5         LL (without brake) LL (with brake) Depth 32 Depth 40 NOTE 1) Dimensions are in millimeters.
  • Page 677 ASDA- Chapter 11 Specifications This page intentionally left blank. 11-42 Revision September 2012...

  • Page 678: Chapter 12 Absolute System

    An ECMA series servo motor with an absolute encoder is essential and must be connected with an ASDA-A2 series servo drive for a Delta’s absolute system. When an ECMA series servo motor with an incremental encoder is connected to an ASDA-A2 series servo drive, if the users enable the servo parameters for absolute system, a fault code, AL069 will be shown on the drive’s LCD display to alert that an error occurs.

  • Page 679: Backup Battery Boxes

     The batteries are non-rechargeable. Do not charge the batteries or explosion may result.  Do not directly solder the battery surface. Battery Specifications Items Li/SOCl2 Cylindrical Battery Model Number ER14505 Delta Model Number ASD-CLBT0100 International Standard Size Nominal Voltage 3.6V Nominal Capacity 2700mAh...
  • Page 680 ASDA- Chapter 12 Absolute System Battery Life (1) The battery life changes depending on many factors. The graph above shows how the performance of the battery deteriorates on different current at the same temperature. The graph above illustrates four discharge curves on different current and the effects. According to the testing result shown on the graph above, when the power consumption of an absolute encoder is 65uA or lower, if the voltage of the battery keeps 3V or higher, the expected battery life is about 21900hr, approximately 2.5 years...

  • Page 681: Battery Box Dimensions

    ASDA- Chapter 12 Absolute System 12.1.2 Battery Box Dimensions Single Battery Box Delta Model Number: ASD-MDBT0100 Weight 44 g Units: mm Dual Battery Box Delta Model Number: ASD-MDBT0200 Weight 80 g Units: mm 12-4 Revision September 2012...

  • Page 682: Connection Cables For Absolute Encoder

    ASDA- Chapter 12 Absolute System 12.1.3 Connection Cables for Absolute Encoder Quick Connector Type Delta Part Number: ASD-A2EB0003, ASD-A2EB0005 Title Model Name inch ASD-A2EB0003 3000  100 118  4 ASD-A2EB0005 5000  100 197  4 Military Connector Type...

  • Page 683: Battery Box Cords

    ASDA- Chapter 12 Absolute System 12.1.4 Battery Box Cords Battery Box Cord AW Delta Part Number: 3864573700 Detail A Title Part No. Manufacturer Housing A2004H00-2P Terminal A2004WV0-2P Detail B Title Part No. Manufacturer Housing A2004H00-2P Terminal A2004TOP-2 Battery Box Cord IW...

  • Page 684: Installation

    ASDA- Chapter 12 Absolute System 12.2 Installation 12.2.1 Connection Examples Single Battery Box This is the wiring diagram for connecting to a single battery box. The scale of NOTE the objects does not match the dimensions as shown in the drawing above. For different models of AC servo drives and motors, the connection cables may differ.
  • Page 685 ASDA- Chapter 12 Absolute System Dual Battery Box (Using Absolute Type Encoder Cables) Servo Drive # 1 Servo Drive # 2 There are two connection ports on the front and rear sides of the battery box CN2 Connector CN2 Connector for connecting to two servo drives.
  • Page 686 ASDA- Chapter 12 Absolute System Dual Battery Box (Using Incremental Type Encoder Cables) This is the wiring diagram for connecting to a dual battery box. The scale of NOTE the objects does not match the dimensions as shown in the drawing above. For different models of AC servo drives and motors, the connection cables may differ.

  • Page 687: How To Install A Battery

    ASDA- Chapter 12 Absolute System 12.2.2 How To Install A Battery Single Battery Box 12-10 Revision September 2012...

  • Page 688: How To Replace A Battery

    ASDA- Chapter 12 Absolute System Dual Battery Box 12.2.3 How to Replace A Battery When the following conditions occur, in order to prevent data loss, we recommend the users to replace with a new battery: 1) When the fault code, AL061 is shown on the drive’s LCD display, it indicates that the voltage level of battery has fallen below its minimum allowable value (see section 12.7.1 for explanation).
  • Page 689 ASDA- Chapter 12 Absolute System  Caution: Please replace the battery while power is applied to the drive to prevent the absolute position data loss. Single Battery Box 12-12 Revision September 2012...
  • Page 690 ASDA- Chapter 12 Absolute System  Caution: Please replace the battery while power is applied to the drive to prevent the absolute position data loss. Dual Battery Box 12-13 Revision September 2012...

  • Page 691: System Initialization Procedure And Operation

    ASDA- Chapter 12 Absolute System 12.3 System Initialization Procedure and Operation 12.3.1 System Initialization Procedure When the servo system is power on, the host controller can get the motor coordinate position via communication with RS-485 or DI/O. There are two data in different units can be read, and they are in PULSE and PUU.

  • Page 692: Pulse Counting

    ASDA- Chapter 12 Absolute System 12.3.2 Pulse Counting When the motor is running in clockwise direction, the counting number of turns will be minus where the counter clockwise rotating is plus. The number range for turns is from - 32768 to 32767. The fault code, AL062 will appear when exceeding this counting range and it can be cleared by resetting the coordinate system.

  • Page 693: Puu Counting

    ASDA- Chapter 12 Absolute System 12.3.3 PUU Counting A 32 bits number with sign is used to denote PUU number in an absolute system. The PUU number is increasing when motor is in positive rotating direction and decreasing for a negative running direction.
  • Page 694 ASDA- Chapter 12 Absolute System .... 2147483647 -2147483648 ~ 2147483647 -2147483648 2147483647 .... -2147483648 AL289 AL289 Figure 12.2 PUU counting in absolute coordinate system When an absolute system has been initialized, if the parameter P1-01 Z setting, NOTE P1-44, and P1-45 be changed, the absolute coordinate system will be destroyed.

  • Page 695: Use Digital Inputs/Outputs To Initialize An Absolute System

    ASDA- Chapter 12 Absolute System 12.3.4 Use Digital Inputs/Outputs to Initialize an Absolute System Except PR mode, the digital inputs and outputs can be used for a driver to do homing when other modes are selected. Move the motor to home place, enable digital input, ABSE, then enable digital input, ABSC from OFF to ON, and the system will start to initialization.

  • Page 696: Use Parameters To Initialize An Absolute System

    ASDA- Chapter 12 Absolute System 12.3.5 Use Parameters to Initialize an Absolute System When the parameter P2-71 is set to 1(one) via digital keypad or communication, the system starts to initialization. In order to protect from accidentally writing on P2-71 to reset an absolute system, the number 271 should be written to P2-08 to unlock the writing of 1(one) to P2-71.
  • Page 697 ASDA- Chapter 12 Absolute System The setting in P2-70 with digital inputs/outputs communication can be used to read PULSE number or PUU data with below signal communication sequence. R(ms) S(ms) Q(ms) N(ms) B(ms) P2-09+2 P2-09+10 Figure 12.4 Timing of using digital inputs/outputs to read absolute data 12-20 Revision September 2012...
  • Page 698 ASDA- Chapter 12 Absolute System The step explanation for the communication: ① At the very beginning of communication, the host controller must enable ABSE and all the communication starts from here. ② A threshold time Ts for confirming the signal ABSE is necessary. After the signal has been recognized, the DI4, DO2, and DO3 (no matter what their functions are), will be switched to the function of ABSQ, ABSR, and ABSD respectively.
  • Page 699 ASDA- Chapter 12 Absolute System ⑬ The communication error flag on servo drive side will be reset after detecting a low signal ABSE from the host controller. ⑭ A new communication cycle on host controller will be restarted after the buffering time ⑮...

  • Page 700: Use Parameter To Read The Absolute Coordinate Data

    ASDA- Chapter 12 Absolute System 12.3.7 Use Parameter to Read the Absolute Coordinate Data The servo drive will update its encoder status to P0-50 and encoder position to P0-51 and P0-52 when the parameter P0-49 is set. The Bit 1 of P2-70 is used to select which type of the data will be read, PULSE or PUU.

  • Page 701: Related Parameters For Absolute System

    ASDA- Chapter 12 Absolute System 12.4 Related Parameters for Absolute System Address: 028AH P2-69● Absolute Encoder Setting 028BH Operation Related Section: N/A Keypad / Software Communication Interface: Default: 0x0 Control Mode: Unit: N/A Range: 0 ~ 1 Data Size: 16-bit Display Hexadecimal Format:...
  • Page 702 ASDA- Chapter 12 Absolute System Bit0: Data unit setting of digital input/output (DI/DO) Bit0=0: PUU Bit0=1: Pulse Bit1: Communication data unit setting Bit0=0: PUU Bit0=1: Pulse Bit2: Overflow warning Bit0=0: Without overflow warning Bit0=1: With overflow warning AL289 (for PUU counting), AL062 (for Pulse counting) Bit3 ~ Bit15: Reserved.
  • Page 703 ASDA- Chapter 12 Absolute System Settings: This parameter is used to renew the absolute position data of the encoder. Parameter Renew Setting: 1: Renew the encoder data to parameters P0-50~P0-52 only. 2: Renew the parameters P0-50~P0-52, and clear the position error as well. While this setting is activated, the current position of the motor will be reset as the target position of position command (same function as CCLR).
  • Page 704 ASDA- Chapter 12 Absolute System Bit4: Absolute coordinate system status Bit0=0: Normal Bit0=1: Absolute coordinate system has not been set Bit5 ~ Bit15: Reserved. Must be set to 0. Address: 0066H P0-51★ Encoder Absolute Position (Multiturn) 0067H Operation Related Section: N/A Keypad / Software Communication Interface:...
  • Page 705 ASDA- Chapter 12 Absolute System Address: 0004H P0-02 Drive Status (Front Keypad Display) 0005H Operation Related Section: N/A Keypad / Software Communication Interface: Default: 00 Control Mode: Unit: N/A Range: 0 ~ 127 Data Size: 16-bit Display Decimal Format: Settings: This parameter shows the servo drive status.
  • Page 706 ASDA- Chapter 12 Absolute System 19: Mapping Parameter 1: Display the content of parameter P0-25 (mapping target is specified by parameter P0-35) 20: Mapping Parameter 2: Display the content of parameter P0-26 (mapping target is specified by parameter P0-36) 21: Mapping Parameter 3: Display the content of parameter P0-27 (mapping target is specified by parameter P0-37) 22: Mapping Parameter 4: Display the content of parameter P0-28 (mapping target is specified by parameter P0-38)

  • Page 707: Digital Input (Di) Function Definition (For Absolute System)

    ASDA- Chapter 12 Absolute System 12.5 Digital Input (DI) Function Definition (for Absolute System) Setting Value: 0x1D Trigger Control DI Name DI Function Definition Method Mode When ABSE is activated (ON), it can initialize an Absolute Level ABSE System and enable ABSQ, ABSC, ABSR, and ABSD as well. Triggered Please refer to Figure 12.3 and 12.4 for timing diagram.

  • Page 708: Digital Output (Do) Function Definition (For Absolute System)

    ASDA- Chapter 12 Absolute System 12.6 Digital Output (DO) Function Definition (for Absolute System) Setting Value: When ABSE is activated (ON), DO2 is switched to the function of ABSR to replace the DO function set by parameter P2-19. Trigger Control DO Name DO Function Definition Method...

  • Page 709: Fault Messages For Absolute System

    ASDA- Chapter 12 Absolute System 12.7 Fault Messages for Absolute System Display Fault Name Description The voltage level of the battery is higher than the Voltage Level Above specified voltage ( > 3.8V). Maybe an electrical Specification charge still remains in the servo drive. Gray Code Error An absolute position error within one turn.

  • Page 710: Potential Cause And Corrective Actions

    ASDA- Chapter 12 Absolute System 12.7.1 Potential Cause and Corrective Actions : Voltage Level Above Specification Potential Cause Checking Method Corrective Actions 1. Check if an electrical charge still This fault message can be The voltage level of remains in the servo drive. the battery is higher removed automatically after 2.
  • Page 711 ASDA- Chapter 12 Absolute System : Overflow Warning of Absolute Position Potential Cause Checking Method Corrective Actions The motor traveling Check if the motor turn numbers are Execute the homing procedure distance is out of the within the range of -32768 to +32767. again.

  • Page 712: Related Monitoring Variables

    If this fault occurs, please contact your reset the fault by sending the Position counter distributor for assistance or contact with control word (0x6040) through overflow occurs. Delta. CAN communication (the value of CANopen object 0x6040 should be reset) 12.8 Related Monitoring Variables Code...
  • Page 713 ASDA- Chapter 12 Absolute System This page intentionally left blank 12-36 Revision September 2012...

  • Page 714: 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-CAPW5400 Title Part No.
  • Page 715 ASDA- Appendix A Accessories Delta Part Number: ASD-CAPW5100 Title Part No. Manufacturer Housing 39-01-2061 MOLEX Terminal 39-00-0040 MOLEX Delta Part Number: ASD-CAPW1000 Delta Part Number: ASD-CAPW2000 Delta Part Number: ASD-CAPW4000 CLAMP: WPS3057-20A Revision September 2012...
  • Page 716 ASDA- Appendix A Accessories Motor Brake Connector: ASD-CNBR1000 CLAMP: WPS3106A 10SL-4S-R 10S L-4S Power Cables  Delta Part Number: ASD-ABPW0003, ASD-ABPW0005 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No. inch ASD-ABPW0003 3000  100 118  4 ASD-ABPW0005 5000 ...
  • Page 717 ASDA- Appendix A Accessories Delta Part Number: ASD-ABPW0103, ASD-ABPW0105 Title Part No. Manufacturer Housing C4201H00-2*3PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No. inch ASD-ABPW0103 3000  100 118  4 ASD-ABPW0105 5000  100 197  4 Delta Part Number: ASD-CAPW5103, ASD-CAPW5105 Title Part No.
  • Page 718 ASDA- Appendix A Accessories Delta Part Number: ASD-CAPW1103, ASD-CAPW1105 (50mm) (1.97 inch) (80 mm) (3.15 inch) Title Part No. Straight inch ASD-CAPW1103 3106A-20-18S 3000  100 118  4 5000  100 197  4 ASD-CAPW1105 3106A-20-18S Delta Part Number: ASD-CAPW1203, ASD-CAPW1205 Title Part No.
  • Page 719 ASDA- Appendix A Accessories Delta Part Number: ASD-CAPW1303, ASD-CAPW1305 Title Part No. Straight inch ASD-CAPW1303 3106A-20-18S 3000  100 118  4 5000  100 197  4 ASD-CAPW1305 3106A-20-18S Delta Part Number: ASD-A2PW2003, ASD-A2PW2005 Title Part No. Manufacturer Housing...
  • Page 720 ASDA- Appendix A Accessories Delta Part Number: ASD-A2PW1003, ASD-A2PW1005 (50mm) (1.97 inch) (80 mm) (3.15 inch) Title Part No. Straight inch ASD-A2PW1003 3106A-20-18S 3000  100 118  4 ASD-A2PW1005 3106A-20-18S 5000  100 197  4 Delta Part Number: ASD-A2PW1103, ASD-A2PW1105 (50mm) (1.97 inch)
  • Page 721 Part No. Straight inch ASD-CAPW2003 3106A-24-11S 3000  100 118  4 5000  100 197  4 ASD-CAPW2005 3106A-24-11S Delta Part Number: ASD-CAPW2103, ASD-CAPW2105 Title Part No. Straight inch ASD-CAPW2103 3106A-24-11S 3000  100 118  4 ASD-CAPW2105 3106A-24-11S 5000 100...
  • Page 722 Straight inch ASD-CAPW2203 3106A-24-11S 3000  100 118  4 ASD-CAPW2205 3106A-24-11S 5000 100 197  4 Delta Part Number: ASD-CAPW2303, ASD-CAPW2305 (for motors with brake) (80mm) (3.15 inch) (100 mm) (3.94 inch) Title Part No. Straight inch ASD-CAPW2303 3106A-24-11S 3000 ...
  • Page 723 3100  100 122  4 ASD-CAPW3205 MS 3106-24-11S 5000  100 197  4 5100  100 201  4 Delta Part Number: ASD-CAPW3303, ASD-CAPW3305 (for motors with brake) (for 4.5kW models) Item Part No. Straight inch inch ASD-CAPW3303 MS 3106-24-11S 3000 ...
  • Page 724 ASDA- Appendix A Accessories Encoder Connectors  Delta Part Number: ASD-ABEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) MOTOR SIDE Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE DRIVE SIDE SHELL 3M 10320-52A0-008 Delta Part Number: ASD-CAEN1000 Title Part No.
  • Page 725 ASDA- Appendix A Accessories Incremental Type Encoder Cables  Delta Part Number: ASD-ABEN0003, ASD-ABEN0005 Title Part No. Manufacturer Housing AMP (1-172161-9) MOTOR SIDE Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE DRIVE SIDE SHELL 3M 10320-52A0-008 Title Part No.
  • Page 726 ASDA- Appendix A Accessories Absolute Type Encoder Cables  Delta Part Number: ASD-A2EB0003, ASD-A2EB0005 Title Part No. Manufacturer Housing AMP (1-172161-9) MOTOR SIDE Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE DRIVE SIDE SHELL 3M 10320-52A0-008 Title Part No.
  • Page 727 ASDA- Appendix A Accessories Battery Box Cord AW  Delta Part Number: 3864573700 Detail A Title Part No. Manufacturer Housing A2004H00-2P Terminal A2004WV0-2P Detail B Title Part No. Manufacturer Housing A2004H00-2P Terminal A2004TOP-2 A-14 Revision September 2012...
  • Page 728 ASDA- Appendix A Accessories Battery Box Cord IW  Delta Part Number: 3864811900 Detail A, B Title Part No. Manufacturer Housing A2004H00-2P Terminal A2004TOP-2 Battery Boxes  Single Battery Box Dual Battery Box Delta Part Number: ASD-MDBT0100 Delta Part Number: ASD-MDBT0200...
  • Page 729 ASDA- Appendix A Accessories I/O Signal Connector (CN1)  Delta Part Number: ASD-CNSC0050 Vendor Name Vendor P/N 3M TAIWAN LTD 10150-3000PE 3M TAIWAN LTD 10350-52A0-008 Terminal Block Module  Delta Part Number: ASD-BM-50A RS-232 Communication Cable  Delta Part Number: ASD-CARS0003 Title Part No.
  • Page 730 Delta Part Number: DOP-CAUSBAB Title Part No. inch DOP-CAUSBAB 1400  30 55 1.2 CANopen Communication Cable  Delta Part Number: TAP-CB03, TAP-CB04 Title Part No. inch TAP-CB03 500  10 19  0.4 TAP-CB04 39  0.4 1000 10 CANopen Distribution Box ...
  • Page 731 ASDA- Appendix A Accessories RS-485 Connector  Delta Part Number: ASD-CNIE0B06 CN1 Convenient Connector  Delta Part Number: ASD-IF-SC5020 15.28 37.2 A-18 Revision September 2012...
  • Page 732 ASDA- Appendix A Accessories Servo Drive, Servo Motor and Accessories Combinations - 220V Series  100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive ASD-A2-0121- ECMA-C△0401S Low Inertia Servo Motor Motor Power Cable ASD-ABPW000X (Without Brake) Power Connector ASDBCAPW0000 (Without Brake) Motor Power Cable...
  • Page 733 ASDA- Appendix A Accessories 400W Servo Drive and 400W Low Inertia Servo Motor Servo Drive ASD-A2-0421- ECMA-C△0604S Low Inertia Servo Motor ECMA-C△08047 Motor Power Cable ASD-ABPW000X (Without Brake) Power Connector ASDBCAPW0000 (Without Brake) Motor Power Cable ASD-ABPW010X (With Brake) Power Connector ASDBCAPW0100 (With Brake) Incremental Type...
  • Page 734 ASDA- Appendix A Accessories 400W Servo Drive and 300W High Inertia Servo Motor Servo Drive ASD-A2-0421- High Inertia ECMA-G△1303S Servo Motor Motor Power Cable ASD-CAPW100X (Without Brake) Motor Power Cable ASD-CAPW110X (With Brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 735 ASDA- Appendix A Accessories 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive ASD-A2-0721- High Inertia ECMA-G△1306S Servo Motor Motor Power Cable ASD-CAPW100X (Without Brake) Motor Power Cable ASD-CAPW110X (With Brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 736 ASDA- Appendix A Accessories Motor Power Cable ASD-ABPW010X (With Brake) Power Connector ASDBCAPW0100 (With Brake) Incremental Type ASD-ABEN000X Encoder Cable Absolute Type ASD-A2EB000X Encoder Cable Encoder Connector ASD-ABEN0000 (X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m) 1kW Servo Drive and 1kW Medium Inertia Servo Motor Servo Drive ASD-A2-1021-...
  • Page 737 ASDA- Appendix A Accessories 1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor Servo Drive ASD-A2-1521- Medium Inertia ECMA-E△1315S Servo Motor Motor Power Cable ASD-CAPW100X (Without Brake) Motor Power Cable ASD-CAPW110X (With Brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 738 ASDA- Appendix A Accessories 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-A2-2023- Medium Inertia ECMA-E△1320S Servo Motor Motor Power Cable ASD-A2PW100X (Without Brake) Motor Power Cable ASD-A2PW110X (With Brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 739 ASDA- Appendix A Accessories 3kW Servo Drive and 3kW Medium Inertia Servo Motor Servo Drive ASD-A2-3023- Medium Inertia ECMA-E△1830S Servo Motor Motor Power Cable ASD-CAPW200X (Without Brake) Motor Power Cable ASD-CAPW210X (With Brake) Power Connector ASD-CAPW2000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 740 ASDA- Appendix A Accessories 4.5kW Servo Drive and 4.5kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-4523- Medium-High Inertia ECMA-F△1845S Servo Motor Motor Power Cable ASD-CAPW320X (Without Brake) Motor Power Cable ASD-CAPW330X (With Brake) Power Connector ASD-CAPW2000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 741 ASDA- Appendix A Accessories 7.5kW Servo Drive and 7.5kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-7523- Medium-High Inertia ECMA-F△18753 Servo Motor Motor Power Cable (Without Brake) Motor Power Cable (With Brake) Power Connector ASD-CAPW4000 Brake Connector ASD-CNBR1000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X...
  • Page 742 ASDA- Appendix A Accessories 15kW Servo Drive and 15kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-1F23- Medium-High Inertia ECMA-L1221FS Servo Motor Motor Power Cable (Without Brake) Motor Power Cable (With Brake) Power Connector ASD-CAPW4000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable Encoder Connector...
  • Page 743 ASDA- Appendix A Accessories Servo Drive, Servo Motor and Accessories Combinations - 400V Series  750W Servo Drive and 750W Low Inertia Servo Motor Servo Drive ASD-A2-0743- Low Inertia ECMA-J10807S Servo Motor Motor Power Cable ASD-CAPW540X (Without Brake) Power Connector ASD-CAPW5400 (Without Brake) Motor Power Cable...
  • Page 744 ASDA- Appendix A Accessories 1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor Servo Drive ASD-A2-1543- Medium Inertia ECMA-K11315S Servo Motor Motor Power Cable ASD-CAPW100X (Without Brake) Motor Power Cable ASD-CAPW110X (With Brake) Power Connector ASD-CAPW1000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 745 ASDA- Appendix A Accessories 3kW Servo Drive and 3kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-3043- Medium-High Inertia ECMA-L△11830S Servo Motor Motor Power Cable ASD-CAPW220X (Without Brake) Motor Power Cable ASD-CAPW230X (With Brake) Power Connector ASD-CAPW2000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 746 ASDA- Appendix A Accessories 5.5kW Servo Drive and 5.5kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-5543- Medium-High Inertia ECMA-L118553 Servo Motor Motor Power Cable ASD-CAPW220X (Without Brake) Motor Power Cable ASD-CAPW230X (With Brake) Power Connector ASD-CAPW2000 Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable...
  • Page 747 ASDA- Appendix A Accessories 11kW Servo Drive and 11kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-1B43- Medium-High Inertia ECMA-L1221B3 Servo Motor Motor Power Cable (Without Brake) Motor Power Cable (With Brake) Power Connector Incremental Type ASD-CAEN100X Encoder Cable Absolute Type ASD-A2EB100X Encoder Cable Encoder Connector...
  • Page 748 ASDA- Appendix A Accessories Other Accessories Other Accessories (for ASDA-A2 series all models) Description Delta Part Number 50Pin I/O signal connector (CN1) ASD-CNSC0050 Terminal Block Module ASD-BM-50A RS-232 Communication Cable ASD-CARS0003 Communication Cable between Drive and DOP-CAUSBAB Computer (for PC)
  • Page 749 ASDA- Appendix A Accessories This page intentionally left blank A-36 Revision September 2012...

  • Page 750: Appendix B Maintenance And Inspection

    Appendix B 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 751  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 752 ASDA- Appendix B Maintenance and Inspection 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 753 ASDA- Appendix B Maintenance and Inspection This page intentionally left blank. Revision September 2012...

This manual is also suitable for:

Asd-a2-1021 seriesAsd-a2-1521 seriesAsd-a2-0121 seriesAsd-a2-2023 seriesAsd-a2-0221 seriesAsd-a2-3023 series ... Show all

Table of Contents

Save PDF