Instruction Sheet - Delta ASDA-A2 Series Instruction Sheet

High Performance Precise
Position Control High
Resolution AC Servo Drive for
Communication Network
Applications

Instruction Sheet

General Precautions
This instruction sheet will be helpful in the installation, wiring, inspection, and operation of Delta ASDA-A2-E series AC
servo drive and ECMA series servo motor. Before using the product, please read this instruction sheet to ensure correct
use. You should thoroughly understand all safety precautions before proceeding with the installation, wiring and
operation. If you do not understand please contact your local Delta sales representative. Place this instruction sheet in a
safe location for future reference. Please observe the following precautions:
Do not use the product in a potentially explosive environment.
Install the product in a clean and dry location free from corrosive and inflammable gases or liquids.
Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to observe this precaution
will damage either the Servo motor or drive.
Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply with
the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.).
Do not disconnect the AC servo drive and motor while the power is ON.
Do not attach, modify or remove wiring when power is applied to the AC servo drive and motor.
Before starting the operation with a mechanical system connected, make sure the emergency stop equipment
can be energized and work at any time.
Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may result in serious
personnel injury.
Further information on the AC servo drive and motor can be obtained from the manual. You can download the manual via
the link http://www.delta.com.tw/industrialautomation/ above in PDF format.
The content of this instruction sheet may be revised without prior notice. Please consult our distributors or download the
most updated version at http://www.delta.com.tw/industrialautomation/.
Safety Precautions
Carefully note and observe the following safety precautions when receiving, inspecting, installing, operating, maintaining
and troubleshooting. The following words, DANGER, WARNING and STOP are used to mark safety precautions when
using the Delta's servo product. Failure to observe these precautions may void the warranty!
ASDA-A2-E 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. They
are provided with precise feedback control and high-speed calculation function incorporating DSP (Digital Signal
Processor) technology, and intended to drive three-phase permanent magnet synchronous motors (PMSM) to achieve
precise positioning by means of accurate current output generated by IGBT (Insulated Gate Bipolar Transistor).
ASDA-A2-E series drives can be used in industrial applications and for installation in an end-use enclosure that do not
exceed the specifications defined in the ASDA-A2-E series user manual (Drives, cables and motors are for use in a
suitable enclosure with a minimum of a UL50 type 1 or NEMA 250 Type 1 rating).
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
Do not install the product in a location that is outside the stated specification for the drive and motor.
Failure to observe this caution may result in electric shock, fire, or personal injury.
Wiring
Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100Ω).
Improper grounding may result in electric shock or fire.
Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may
result in serious injury, damage to the drive or fire.
Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive
and motor. Failure to observe this caution may result in damage, fire or personal injury.
In order to prevent fire hazard and accidents, please form the wiring by following the cable
specifications outlined in this quick start.
Operation
Before starting operation with a mechanical system connected, change the drive parameters to match
the user-defined parameters of the mechanical system. Starting the operation without matching the
correct parameters may result in servo drive or motor damage, or damage to the mechanical system.
Ensure that the emergency stop equipment or device is connected and working correctly before
operating the motor that is connected to a mechanical system.
Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. Failure to observe
this precaution may cause serious personal injury.
In order to prevent accidents, the initial trial run for servo motor should be conducted under no load
conditions (separate the motor from its couplings and belts).
For the initial trial run, do not operate the servo motor while it is connected to its mechanical system.
Connecting the motor to its mechanical system may cause damage or result in personal injury during
the trail run. Connect the servo motor once it has successfully completed a trail run.
Caution: Please perform trial run without load first and then perform trial run with load connected. After
the servo motor is running normally and regularly without load, then run servo motor with load
connected. Ensure to perform trial run in this order to prevent unnecessary danger.
Do not touch either the drive heat sink or the motor during operation as they may become hot and
personal injury may result.
Maintenance and Inspection
Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may
result.
Do not remove the operation panel while the drive is connected to an electrical power source otherwise
electrical shock may result.
Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or
performing any wiring and/or inspection as an electrical charge may still remain in the servo drive and
servo motor with hazardous voltages even after power has been removed.
Do not disassemble the servo drive or motor as electric shock may result.
Do not connect or disconnect wires or connectors while power is applied to the drive and motor.
Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.
Ensure that the "Charge" indicator ceases when performing any maintenance, inspection or repairing.
Main Circuit Wiring
Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise.
Separate the conduits by 30cm (11.8inches) above.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder (PG)
feedback cables. The maximum length of command input cable is 3m (9.84ft.) and the maximum length
of encoder (PG) feedback cables is 20m (65.62ft.).
As a charge may still remain in the drive with hazardous voltages even after power has been removed,
be sure to wait at least 10 minutes after power has been removed before performing any wiring and/or
‧ ‧ ‧ ‧
inspection.
‧ ‧ ‧ ‧
It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more
than once per minute as high charging currents within the internal capacitors may cause damage.
Main Circuit Terminal Wiring
Please perform the wiring after the terminal blocks are all removed from the drive.
Insert only one wire into one terminal on the terminal block.
When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires.
Ensure to double check the wiring before applying power to the drive.
Servo Drive and Servo Motor Combinations
Power
100W
200W
400W
750W
1000W
1500W
2000W
3000W
1) The triangle (△) in the servo motor model names are for encoder type. △=1, incremental, 20-bit. △=2,
NOTE
incremental, 17-bit.
2) The boxes ( ) in the servo motor model names are for optional configurations (keyway, brake and oil seal).
Cable Specifications for Servo Drive
Servo Drive and Servo Motor
ASD-A2-0121-E ECMA-C△0401 S
ECMA-C△0602 S
ASD-A2-0221-E
ECMA-C△0604 S
ECMA-C△0804 7
ASD-A2-0421-E
ECMA-E△1305 S
ECMA-G△1303 S
ECMA-C△0807 S
ASD-A2-0721-E ECMA-C△0907 S
ECMA-G△1306 S
ECMA-C△0910 S
ECMA-C△1010 S
ASD-A2-1021-E
ECMA-E△1310 S
ECMA-G△1309 S
ASD-A2-1521-E ECMA-E△1315 S
ECMA-C△1020 S
ASD-A2-2023-E ECMA-E△1320 S
ECMA-E△1820 S
ECMA-E△1830 S
ASD-A2-3023-E
ECMA-F△1830 S
Servo Drive
Wire Size
ASD-A2-0121-E 0.13 (AWG26)
ASD-A2-0221-E 0.13 (AWG26)
ASD-A2-0421-E 0.13 (AWG26)
ASD-A2-0721-E 0.13 (AWG26)
ASD-A2-1021-E 0.13 (AWG26)
ASD-A2-1521-E 0.13 (AWG26)
ASD-A2-2023-E 0.13 (AWG26)
ASD-A2-3023-E 0.13 (AWG26)
1) The boxes ( ) in the servo motor model names are for optional configurations (keyway, brake and oil seal).
NOTE
2) The triangle (△) in the servo motor model names are for encoder type. △=1, incremental, 20-bit. △=2,
incremental, 17-bit.
3) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical noise and
interference.
4) The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked
servo drive.
5) In order to prevent fire hazard and accidents, please form the wiring by following the cable specifications
outlined above.
Servo Drive Servo Motor
ASD-A2-0121-E
ECMA-C△0401 S（S=8mm）
ASD-A2-0221-E
ECMA-C△0602 S（S=14mm）
ECMA-C△0604 S（S=14mm）
ECMA-C△0804 7（7=14mm）
ASD-A2-0421-E
ECMA-E△1305 S（S=22mm）
ECMA-G△1303 S（S=22mm）
ECMA-C△0807 S（S=19mm）
ASD-A2-0721-E ECMA-C△0907 S（S=16mm）
ECMA-G△1306 S（S=22mm）
ECMA-C△0910 S（S=16mm）
ECMA-C△1010 S（S=22mm）
ASD-A2-1021-E
ECMA-E△1310 S（S=22mm）
ECMA-G△1309 S（S=22mm）
ASD-A2-1521-E
ECMA-E△1315 S（S=22mm）
ECMA-C△1020 S（S=22mm）
ASD-A2-2023-E ECMA-E△1320 S（S=22mm）
ECMA-E△1820 S（S=35mm）
ECMA-E△1830 S（S=35mm）
ASD-A2-3023-E
ECMA-F△1830 S（S=35mm）
2
Power Cable - Wire Gauge mm (AWG)
L1C, L2C R, S, T U, V, W P , C
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 2.1(AWG14) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 2.1(AWG14) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 3.3(AWG12) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 3.3(AWG12) 2.1 (AWG14)
1.3 (AWG16) 2.1 (AWG14) 3.3(AWG12) 2.1 (AWG14)
2
Encoder Cable - Wire Gauge mm (AWG)
Core Number UL Rating Standard Wire Length
10 core (4 pair) UL2464 3m (9.84ft.)
10 core (4 pair) UL2464 3m (9.84ft.)
10 core (4 pair) UL2464 3m (9.84ft.)
10 core (4 pair) UL2464 3m (9.84ft.)
10 core (4 pair) UL2464 3m (9.84ft.)
10 core (4 pair) UL2464 3m (9.84ft.)
10 core (4 pair) UL2464 3m (9.84ft.)
10 core (4 pair) UL2464 3m (9.84ft.)
) of the
Installation and Storage Conditions
The product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the AC
drive should be stored properly when it is not to be used for an extended period of time. Some storage suggestions are:
Store in a clean and dry location free from direct sunlight.
Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
Store within a relative humidity range of 0% to 90% and non-condensing.
Do not store in a place subjected to corrosive gases and liquids.
Correctly packaged and placed on a solid surface.
Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.
Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or airborne dust or
metallic particles.
Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification.
Do not mount the servo drive or motor in a location where vibration and shock will exceed specification.
Do not mount the servo drive or motor in a location where it will be subjected to high levels of electromagnetic
radiation.
Installation Note and Minimum Clearances
Installation Note:
Incorrect installation may result in a drive malfunction or
premature failure of the drive and or motor. Please follow
the guidelines in this instruction when installing the servo
drive and motor.
The AC servo drive should be mounted perpendicular to
the wall or in the control panel.
In order to ensure the drive is well ventilated, ensure that
the all ventilation holes are not obstructed and sufficient
free space is given to the servo drive.
Do not install the drive in a horizontal position or
malfunction and damage will occur.
Minimum Clearances: Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification.
When installing two or more drive adjacent to each other please follow the clearances as shown in the following diagram.
FAN
100mm
(4.0in)
min.
Air Flow
2mm
5mm
(0.08in)
(0.2in)
min.
min.
80mm 80mm
(3.2in) (3.2in)
min.
2mm
5mm
(0.08in)
(0.2in)
min.
min.
Air Flow
100mm
(4.0in)
min.
The scale of the clearances does not match the dimensions as shown in the drawing above. In the event of any
NOTE
discrepancy between the clearances and the dimensions, the dimensions shall prevail.
Basic Inspection
After power in connected to the AC servo drive, the charge LED will be lit which indicates that the AC servo drive is ready.
Item Content
Periodically inspect the screws of the servo drive, motor shaft, terminal block and the connection
to mechanical system. Tighten screws as necessary as they may loosen due to vibration and
varying temperatures.
Ensure that oil, water, metallic particles or any foreign objects do not fall inside the servo drive,
General Inspection motor, control panel or ventilation slots and holes. As these will cause damage.
Ensure the correct installation and the control panel. It should be free from airborne dust, harmful
gases or liquids.
Ensure that all wiring instructions and recommendations are followed; otherwise damage to the
drive and or motor may result.
FAN
100mm
(4.0in)
min.
Air Flow
2mm
5mm
(0.08in)
(0.2in)
min.
min.
80mm
(3.2in)
min. min.
2mm 5mm
(0.08in)
(0.2in)
min.
min.
Air Flow
100mm
(4.0in)
min.