Delta ASD-A2-0121 Series User Manual
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Delta ASD-A2-0121 Series User Manual

Ac servo drive for network communication applications
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Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan District,
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TEL: 886-3-362-6301 / FAX: 886-3-371-6301
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Delta Energy System LLC
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TEL: +7 495 644 3240
Turkey:
Delta Greentech Elektronik San. Ltd. Sti. (Turkey)
Şerifali Mah. Hendem Cad. Kule Sok. No:16-A
34775 Ümraniye – İstanbul
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TEL: + 90 216 499 9910
GCC:
Delta Energy Systems AG (Dubai BR)
P.O. Box 185668, Gate 7, 3rd Floor, Hamarain Centre
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Delta Electronics
511 Cairo Business Plaza, North 90 street,
New Cairo, Cairo, Egypt
Mail: Sales.IA.MEA@deltaww.com
DELTA_IA-ASDA_A2_UM_EN_20190621
Delta High Resolution
AC Servo Drive for Network
Communication Applications
ASDA-A2 Series
User Manual
www.delta.com.tw/ia

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Summary of Contents for Delta ASD-A2-0121 Series

  • Page 1 TEL: +7 495 644 3240 Delta Electronics (Americas) Ltd. Raleigh Offi Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) P.O. Box 12173, 5101 Davis Drive, Şerifali Mah. Hendem Cad. Kule Sok. No:16-A Research Triangle Park, NC 27709, U.S.A. 34775 Ümraniye – İstanbul TEL: 1-919-767-3813 / FAX: 1-919-767-3969 Mail: Sales.IA.Turkey@deltaww.com...
  • Page 2  Be ensured that the emergency stop can be activated anytime before connecting to the power and operation.  Do not touch the heat sink to avoid scald before connecting to the power and operation. If you have any enquiry, please contact the distributors or Delta customer service center.
  • Page 3 Preface ASDA-A2 Safety Precautions ASDA-A2 series is the high resolution and open type servo drive. It should be installed in a shielded control box during operation. This servo drive uses precise feedback control and the digital signal processor with high-speed calculation function to control the current output generated by IGBT so as to operate three-phase permanent magnet synchronous motors (PMSM) and to achieve precise positioning.
  • Page 4 ASDA-A2 Preface Operation Before the operation, please change the parameter setting value according to the  needs. If it is not adjusted to the correct setting value, it is possible to lead to malfunction of the machine or the operation might be out of control. Before the machine starts to operate, please be ensured the emergency stop can be ...
  • Page 5 When inserting the electric wires, do not connect the conductor to the adjacent wire.  Before connecting to the power, please inspect and be ensured the wiring is correct.  Note: if there is any difference of each version, please refer to Delta’s website (http://www.delta.com.tw/industrialautomation/) for the latest information.

  • Page 6: Table Of Contents

    Table of Contents Chapter 1 Inspection and Model Explanation ························································ 1-1 Inspection ····························································································· 1-1 Product Model ························································································ 1-3 1.2.1 Nameplate Information····································································· 1-3 1.2.2 Model Explanation ·········································································· 1-5 Servo Drive and Corresponding Servo Motor ················································ 1-8 1.3.1 ASDA-A2 220V Series ····································································· 1-8 1.3.2 ASDA-A2 400V Series ····································································...
  • Page 7 ASDA-A2 Table of Contents EMI Filter Selection ················································································· 2-8 Selection of Regenerative Resistor ···························································· 2-11 The Use of Servo Motor ·········································································· 2-21 2.9.1 Troubleshooting for the Motor Operation and Status ······························ 2-21 2.9.2 Mounting Directions and Precautions for the Servo Motor ······················· 2-22 2.9.3 Precautions for Using Servo Motors with Oil Seal ·································...
  • Page 8 Table of Contents ASDA-A2 3.3.1 220V series ·················································································· 3-27 3.3.2 400V series ·················································································· 3-30 I/O Signal (CN1) Connection ···································································· 3-32 3.4.1 I/O Signal (CN1) Connector Terminal Layout ······································· 3-32 3.4.2 Signals Explanation of Connector CN1 ··············································· 3-34 3.4.3 Wiring Diagrams (CN1) ··································································· 3-44 3.4.4 DI and DO Signal Specified by Users ·················································...
  • Page 9 ASDA-A2 Table of Contents Standard Connection Example – 400V series ··············································· 3-76 3.13 3.13.1 Position (PT) Control Mode ······························································ 3-76 3.13.2 Position (PR) Control Mode ····························································· 3-77 3.13.3 Speed Control Mode ······································································ 3-78 3.13.4 Torque Control Mode ····································································· 3-79 3.13.5 Communication Mode ·····································································...
  • Page 10 Table of Contents ASDA-A2 Chapter 4 Panel Display and Operation ······························································· 4-1 Panel Description ···················································································· 4-1 Parameter Setting Procedure ···································································· 4-2 Status Display ························································································ 4-5 4.3.1 Save Setting Display ··········································································· 4-5 4.3.2 Decimal Point ···················································································· 4-5 4.3.3 Alarm Message ················································································· 4-5 4.3.4 Positive and Negative Sign Setting ························································...
  • Page 11 ASDA-A2 Table of Contents 5.6.4 Flowchart of Semi-Auto Tuning ···························································· 5-15 5.6.5 Limit of Inertia Ratio ··········································································· 5-16 5.6.6 Mechanical Resonance Suppression Method ·········································· 5-17 5.6.7 Tuning Mode and Parameters ······························································ 5-19 5.6.8 Tuning in Manual Mode ······································································ 5-20 Chapter 6 Control Mode of Operation ··································································...
  • Page 12 Table of Contents ASDA-A2 Torque Mode ························································································ 6-48 6.4.1 Selection of Torque Command ····························································· 6-48 6.4.2 Control Structure of Torque Mode ························································· 6-49 6.4.3 Smooth Torque Command ·································································· 6-50 6.4.4 The Scaling of Analog Command·························································· 6-51 6.4.5 Timing Diagram in Torque Mode··························································· 6-52 Dual Mode ···························································································...
  • Page 13 ASDA-A2 Table of Contents Homing Description of PR Mode ································································ 7-16 DI/DO Provided by PR Mode and Diagrams ················································· 7-16 7.10 Parameter Settings ················································································ 7-18 7.10.1 The Relation between the Previous Path and the Next Path ······················· 7-25 7.10.2 Programming the Path in PR Mode ······················································· 7-26 7.11 The Description of E-Cam Function ····························································...
  • Page 14 Table of Contents ASDA-A2 MODBUS Communication Protocol ····························································· 9-6 Write-in and Read-out Communication Parameters ······································· 9-18 Chapter 10 Troubleshooting ·············································································· 10-1 10.1 Alarm of Servo Drive ·············································································· 10-1 10.2 Alarm of CANopen Communication ···························································· 10-6 10.3 Alarm of Motion Control ··········································································· 10-8 10.4 Causes and Corrective Actions ·······························································...
  • Page 15 ASDA-A2 Table of Contents Chapter 12 Absolute System ············································································· 12-1 12.1 Battery Box (absolute type) and wiring ························································ 12-2 12.1.1 Specifications ················································································· 12-2 12.1.2 Battery Box Dimensions ···································································· 12-4 12.1.3 Connection Cables for Absolute Encoder ·············································· 12-5 12.1.4 Battery Box Cords ··········································································· 12-7 12.2 Installation ····························································································...
  • Page 16 Table of Contents ASDA-A2 Appendix A Accessories···················································································· A-1 Appendix B Maintenance and Inspection ····························································· B-1...
  • Page 17 ASDA-A2 Table of Contents (This page is intentionally left blank.)
  • Page 18 Chapter 1 Inspection and Model Explanation Inspection In order to prevent the negligence during purchasing and delivery, please inspect the following items carefully.  Please check if the product is what you have purchased: check the part number of the motor and the servo drive on the nameplate.

  • Page 19: Chapter 1 Inspection And Model Explanation

    ASDA-A2 Chapter 1 Inspection and Model Explanation (10) Servo drive power input: 220V: Control circuit power Main circuit power 100 W ~ 3 kW quick connector R, S, T quick connector 4.5 kW ~ 15 kW terminal block R, S, T terminal block 400V: Control circuit power Main circuit power...

  • Page 20: Product Model

    INPUT: VAC 110 A 1.55 Ins. A OUTPUT: r/min 3000 N.m 0.64 kW 0.2 Rated Speed and Rated Output Barcode C10602EST14330001 Delta Electronics, Inc. MADE IN XXXXXX  Serial Number C10602ES T 14 33 0001 Serial Number (Production sequence of a week, starting from 0001)
  • Page 21 ASDA-A2 Chapter 1 Inspection and Model Explanation ECMC Series Servo Motor  Nameplate information Delta Electronics, Inc. MADE IN TAIWAN  Serial Number EW1310RS T 14 09 0001 Serial Number (Production sequence of a week, starting from 0001) Week of Production (from 1 to 52) Year of Production (14: year 2014) Production Plant (T: Taoyuan;...

  • Page 22: Model Explanation

    Chapter 1 Inspection and Model Explanation ASDA-A2 1.2.2 Model Explanation ASDA-A2 Series Servo Drive A S D - A 2 - 0 7 4 3 - U Model Type Input Voltage and Phase 21: 220V 1 phase 23: 220V 3 phase 43: 400V 3 phase Rated Power Input 01: 100 W...
  • Page 23 ASDA-A2 Chapter 1 Inspection and Model Explanation Model Type Type Standard Network A2 Series RS-485 (CN3) Full-closed loop control (CN5)*1 DI expansion port (CN7) EtherCAT CANopen DMCNET Analog Voltage Control Pulse Input PR mode*2 E-Cam*3 Note: 1. In PR mode, only A2-F supports full-closed loop control function. 2.
  • Page 24 Chapter 1 Inspection and Model Explanation ASDA-A2 ECMA Series Servo Motor E C M A - C 1 0 6 0 2 E S Standard Shaft Diameter: S Specific Shaft Diameter: 3 = 42 mm, 7 = 14 mm with 特...

  • Page 25: Servo Drive And Corresponding Servo Motor

    ASDA-A2 Chapter 1 Inspection and Model Explanation Servo Drive and Corresponding Servo Motor 1.3.1 ASDA-A2 220V Series Motor Servo Drive Max. Continuous Max. Rated Motor Output Instantaneous Output Instantaneous Power Model Number Current Model Number series current Current output current (Arms) (Arms) (Arms)
  • Page 26 Chapter 1 Inspection and Model Explanation ASDA-A2 Motor Servo Drive Max. Continuous Max. Rated Motor Output Instantaneous Output Instantaneous Power Model Number Current Model Number series current Current output current (Arms) (Arms) (Arms) (Arms) ECMA-C△0604□H 2.60 7.80 ASD-A2-0421-□ 2.60 7.80 ECMA-C△0807□H 5.10 15.30...

  • Page 27: Asda-A2 400V Series

    ASDA-A2 Chapter 1 Inspection and Model Explanation 1.3.2 ASDA-A2 400V Series Motor Servo Drive Max. Continuous Max. Rated Output Instantaneous Output Instantaneous Motor series Power Model Number Current Model Number current Current output current (Arms) (Arms) (Arms) (Arms) ECMA-J△0604 S 1.62 4.85 ASD-A2-0743-□...

  • Page 28: Each Part Of The Servo Drive

    Chapter 1 Inspection and Model Explanation ASDA-A2 Each Part of the Servo Drive 1.4.1 ASDA-A2_220V Series 220V Series - Front View Please see the figure of top view. Front sliding lid Input voltage Model name CN5: full-closed loop interface CN1: I/O signal interface Connects to the linear scale.
  • Page 29 ASDA-A2 Chapter 1 Inspection and Model Explanation 220V Series - Top View 1-12...
  • Page 30 Chapter 1 Inspection and Model Explanation ASDA-A2 220V Series - Bottom View 1-13...
  • Page 31 ASDA-A2 Chapter 1 Inspection and Model Explanation 1.4.2 ASDA-A2_400V Series 400V Series - Front View Please refer to the figure of top view Front sliding lid Input voltage Model name CN5: full-closed loop interface CN1: I/O signal interface Connects to the linear scale. Connects to PLC and controls I/O.
  • Page 32 Chapter 1 Inspection and Model Explanation ASDA-A2 400V Series - Top View ASDA-A2_400V Series - Bottom View 1-15...

  • Page 33: Asda-A2 220V Series

    ASDA-A2 Chapter 1 Inspection and Model Explanation ASDA-A2-XN Series 1.5.1 Model Explanation ASDA-A2-*N Series Servo Drive A S D - A 2 - 0 4 2 1 -L N N = Supports Nikon absolute encoder Model Type Input Voltage and Phase 21: 220V 1-phase 23: 220V 3-phase Rated Power Input...
  • Page 34 Chapter 1 Inspection and Model Explanation ASDA-A2 Model type Type Standard Network 100 W ~ 3 kW Network 4.5 kW ~ 7.5 kW A2 series RS-485 (CN3) Full-closed loop control (CN5) DI expansion port (CN7) EtherCAT CANopen DMCNET Analog voltage control Pulse input CN1 number of DI/DO PR mode*...
  • Page 35 ASDA-A2 Chapter 1 Inspection and Model Explanation ECMC Series Servo Motor E C M C - C W 0 6 0 2 R S Standard Shaft Diameter: S Specific Shaft Diameter: H = High Inertia with Type of Shaft w/o Brake, Brake, Diameter and with Oil Seal...

  • Page 36: Asda-A2-Xn Series Servo Drive And Corresponding Motor

    Chapter 1 Inspection and Model Explanation ASDA-A2 1.5.2 ASDA-A2-XN Series Servo Drive and Corresponding Motor Servo Drive Corresponding Servo Motor 100 W ASD-A2-0121-N ECMC-C△0401S (S = 8 mm) 200 W ASD-A2-0221-N ECMC-C△0602S (S = 14 mm) ECMC-C△0604S (S = 14 mm) ECMC-C△08047 (7 = 14 mm) 400 W ASD-A2-0421-N...

  • Page 37: Each Part Of The Asda-A2-Xn Series Servo Drive

    ASDA-A2 Chapter 1 Inspection and Model Explanation 1.5.3 Each Part of the ASDA-A2-XN Series Servo Drive Servo drive models (front view) The last two codes in the end of the servo drive model name represent the model type. The product front views are as follows; the servo drive appearances are subject to change with models of different input power.
  • Page 38 Chapter 1 Inspection and Model Explanation ASDA-A2 Servo Drive (top view) Regenerative Resistor 1. For connecting to external regenerative resistor: P⊕ and C contacts connect to the resistor; P⊕ and D contacts are left open. 2. For connecting to internal regenerative resistor: P⊕...
  • Page 39 ASDA-A2 Chapter 1 Inspection and Model Explanation Servo Drive (bottom view) Absolute Encoder Servo Motor Output Battery Connector Connects to motor power connector (U,V,W). Do not connect Ground with the main power circuit; incorrect Connects to connection may cause power ground and servo drive malfunction.

  • Page 40: Installation

    Chapter 2 Installation 2.1 Notes Please pay special attention to the followings: If the connection between the servo drive and the servo motor is over 20 meters (65.62 feet),  please thicken the connecting wire, UVW, as well as the encoder cable. Please refer to Section 3.1.6 for further information.

  • Page 41: Installation Direction And Space

    ASDA-A2 Chapter 2 Installation 2.4 Installation Direction and Space Notes: Mount the servo drive according to the following illustration. Incorrect installation may result in  a drive malfunction or premature failure of the drive and motor. The ASDA-A2 servo drive should be mounted perpendicularly to the wall or in the control ...
  • Page 42 Chapter 2 Installation ASDA-A2 Scheme of Installation: In order to have smaller wind resistance of the fan and increase the ventilation, please follow the suggested clearance value when installing one or more than one servo drives. (Refer to the following diagram.) Note: The above diagrams are not in equal proportion.

  • Page 43: Specification Of Circuit Breaker And Fuse

    ASDA-A2 Chapter 2 Installation 2.5 Specification of Circuit Breaker and Fuse 220V Series Caution: Please use the fuse and circuit breaker that are recognized by UL / CSA. Servo Drive Model Circuit Breaker Fuse (Class T) Operation Mode General General ASD-A2-0121-...

  • Page 44: Ferrite Ring

    Chapter 2 Installation ASDA-A2 2.6 Ferrite Ring The movable or round-shaped ferrite ring is usually made of Mn-Zn ferrite. The impedance of the ferrite ring varies with frequency. Normally, its impedance is relatively small to a low-frequency signal; however, when the frequency of the signal increases, the impedance may increase dramatically.
  • Page 45 ASDA-A2 Chapter 2 Installation Installation precautions The ferrite ring is commonly used when peripheral devices (such as a controller) are affected by noise from conduction and radiation when the servo motor is in the Servo On state. The parasitic capacitance between the cables in the wiring panel and the ground is typically small. As the frequency of the signal increases (Servo On state), the resistance of the parasitic capacitance becomes small enough to let common-mode current flow through.
  • Page 46 Chapter 2 Installation ASDA-A2 For A2-220V model (11 kW ~ 15 kW) and A2-400V model (11 kW ~ 15 kW) Note: 1. Please refer to Section 3.1.4 for the selection of the motor power cable. 2. Only the motor power cable or power cable can run through the ferrite ring. If needed, please prepare extra ferrite rings for grounding.

  • Page 47: Emi Filter Selection

    ASDA-A2 Chapter 2 Installation 2.7 EMI Filter Selection 220V Series Recommended EMI Filter Item Power Servo Drive Model FootPrint 100 W ASD-A2-0121- RF007S21AA RF022B43AA 200 W ASD-A2-0221- RF007S21AA RF022B43AA 400 W ASD-A2-0421- RF007S21AA RF022B43AA 750 W ASD-A2-0721- RF007S21AA RF037B43BA 1.0 kW ASD-A2-1021-...

  • Page 48: Chapter 11 Specifications ·················································································

    With an EMI Filter and the correct installation, much interference can be eliminated. It is suggested to use Delta’s EMI Filter to suppress the interference better. When installing the servo drive and EMI Filter, please follow the instructions of the user manual and make sure it meets the following specifications: 1.
  • Page 49 ASDA-A2 Chapter 2 Installation Motor Cable Selection and Installation Precautions The selection of motor cables and installation affects the performance of EMI Filter. Please follow the precautions below. 1. Use the cable that has braid shielding. (The effect of double shielding is better.) 2.

  • Page 50: Selection Of Regenerative Resistor

    Chapter 2 Installation ASDA-A2 2.8 Selection of Regenerative Resistor When the direction of pull-out torque is different from the rotation, it means the electricity is sent back to the servo drive from the load-end. It becomes the capacitance of DC Bus and increases the voltage.
  • Page 51 ASDA-A2 Chapter 2 Installation When the regenerative energy exceeds the capacity of the built-in regenerative resistor, the external regenerative resistor should be applied. Please pay special attention to the followings when using the regenerative resistor. 1. Please correctly set up the resistance (P1-52) and capacity (P1-53) of regenerative resistor. Or it might influence the performance of this function.
  • Page 52 Chapter 2 Installation ASDA-A2 (1) Regenerative Power Selection (a) When the external load on torque does not exist If the motor operates back and forth, the energy generated by the brake will go into the capacitance of DC bus. When the voltage of the capacitance exceeds a specific value, the redundant energy will be consumed by the regenerative resistor.
  • Page 53 ASDA-A2 Chapter 2 Installation The maximum Regenerative power regenerative power of Rotor Inertia Servo Drive from empty load Motor capacitance (kW) 3000 r/min to stop J (× 10 kg.m2) Eo (joule) Ec (joule) Medium- 11.0 ECMA- F△221B 329.0 723.08 High Inertia 15.0 ECMA- F△221F...
  • Page 54 Chapter 2 Installation ASDA-A2 The maximum Regenerative power regenerative power of from empty load Rotor Inertia Servo Drive Motor capacitance (kW) 3000 r/min to stop (× 10 kg.m2) Eo (joule) Ec (joule) 0.75 ECMA-L△1305 13.1 16.20 42.43 ECMA-L△1313 23.6 29.18 42.43 54.95 67.93...
  • Page 55 ASDA-A2 Chapter 2 Installation (b) If the external load torque exists, the motor is in reverse rotation. Usually, the motor is in forward rotation, which means the torque output direction of the motor is the same as the rotation direction. However, in some applications, the direction of torque output is different from the rotation.
  • Page 56 Chapter 2 Installation ASDA-A2 (2) Simple Selection Choose the appropriate regenerative resistor according to the allowable frequency and empty load frequency in actual operation. The so-called empty allowable frequency is the frequency of continuous operation when the servo motor runs from 0 r/min to the rated speed and then decelerates from the rated speed to 0 r/min within the shortest time.
  • Page 57 ASDA-A2 Chapter 2 Installation ECMA  Motor Capacity 2.0 kW 2.0 kW 0.5 kW 1 kW 1.5 kw 3.0 kW (F130) (F180) Corresponding Motor BR400W040 (400 W 40Ω) BR1K0W020 (1 kW 20Ω) BR1K5W005 (3 kW 10Ω) ECMA  Motor Capacity 3.0 KW 4.5 KW 5.5 KW...
  • Page 58 Chapter 2 Installation ASDA-A2 Dimensions of Regenerative Resistor Delta Part Number: BR400W040 (400 W 40Ω) MAX. WEIGHT (g) Delta Part Number: BR1K0W020 (1 kW 20Ω) MAX. WEIGHT (g) 2800 2-19...
  • Page 59 ASDA-A2 Chapter 2 Installation Delta Part Number: BR1K5W005 (3 kW 10Ω) 2-20...

  • Page 60: The Use Of Servo Motor

    Chapter 2 Installation ASDA-A2 2.9 The Use of Servo Motor Please pay attention to the following when using servo motors with brake: Never apply the brake to dynamic braking.  2.9.1 Troubleshooting for the Motor Operation and Status Servo motor makes abnormal noises: Possible causes Confirmation Solutions...

  • Page 61: Mounting Directions And Precautions For The Servo Motor

    ASDA-A2 Chapter 2 Installation 2.9.2 Mounting Directions and Precautions for the Servo Motor You can install the servo motor horizontally or vertically. Orientation Precautions Horizontal If you are using a servo motor with oil seal, please refer to the precaution measures in section 2.9.5 for preventing oil / water from entering the servo motor.

  • Page 62: Precautions For Using Servo Motors With Oil Seal

    Chapter 2 Installation ASDA-A2 2.9.3 Precautions for Using Servo Motors with Oil Seal This section defines the operating conditions for using motors with oil seal: In the operating environment, the oil level must be lower than the oil seal lip. (1) Servo motor;...

  • Page 63: Oil And Water Prevention Measures For The Servo Motor

    Do not submerge the cable in oil or water. If oil or water is unavoidable, please use oil-resistant cables. Delta does not provide oil- resistant cable. If the servo motor must be mounted with the shaft end up, do not use it in a machine, gearbox, or other environments where the servo motor may have contact with oil or water.

  • Page 64: Measures To Suppress Temperature Increase Of The Servo Motor

    Chapter 2 Installation ASDA-A2 If you cannot avoid using the servo motor under the above conditions, please take prevention measures to avoid dirt and water for the machine. 2.9.6 Measures to Suppress Temperature Increase of the Servo Motor 1. When installing the servo motor, please pay attention to the cooling conditions (such as size of the heat sink) provided in the specifications of each servo motor type.
  • Page 65 ASDA-A2 Chapter 2 Installation (This page is intentionally left blank.) 2-26...

  • Page 66: Wiring

    When an alarm occurs, it outputs ALARM Host controller signal and disconnect the power of the servo drive. It can connect to Delta PLC controller or other brands of NC controllers. Regenerative resistor (Optional) Terminal block module The returned regenerative power...
  • Page 67 Chapter 3 Wiring ASDA-A2 Installation notes: 1. Check if the power and wiring among R, S, T and L are correct. Please refer to Chapter 11 for Specifications. Make sure the input voltage is correct, or it might damage the servo drive or danger may occur. 2.

  • Page 68: Connectors And Terminals Of Servo Drive

    ASDA-A2 Chapter 3 Wiring 3.1.2 Connectors and Terminals of Servo Drive Terminal Name Description Signal Connect to single-phase AC power (select the Power input of the control appropriate voltage specification according to the circuit product). Connect to three-phase AC power (select the Power input of the main R, S, T appropriate voltage specification according to the...
  • Page 69 Chapter 3 Wiring ASDA-A2 Terminal Name Description Signal Extension digital input Extension DI connector. Please refer to section connector (Optional) 3.10. Reserved connector Reserved. Pay special attention to the followings when wiring: 1. When the power is cutoff, do not touch R, S, T and U, V, W since the capacitance inside the servo drive still contains huge amount of electric charge.

  • Page 70: Wiring Method

    ASDA-A2 Chapter 3 Wiring 3.1.3 Wiring Method The wiring method of 220V servo drive is divided into single-phase and three-phase. In the diagram below, Power On is contact a, and Power Off and ALRM_RY are contact b. MC is the coil of magnetic contactor, self-remaining power, and the contact of main power circuit.
  • Page 71 Chapter 3 Wiring ASDA-A2 Wiring Method of Three-phase Power Supply (suitable for all series)  MCCB Power Power Noise Filter ALRM_RY Motor Servo Drive DC24V DO5+(28) ALRM_RY DO5-(27)

  • Page 72: Specification Of Motor Power Cable

    ASDA-A2 Chapter 3 Wiring 3.1.4 Specification of Motor Power Cable Terminal Motor Model U, V, W / Connector of Brake Definition ECMA-C1040FS (50 W) ECMA-C△0401S (100 W) ECMA-C△0602S (200 W) ECMA-C△0604S (400 W) ECMA-C△0604H (400 W) ECMA-C△08047 (400 W) ECMA-C△0807S (750 W) ECMA-C△0807H (750 W) ECMA-C△0907S (750 W) ECMA-C△0910S (1000 W)
  • Page 73 Chapter 3 Wiring ASDA-A2 Terminal Motor Model U, V, W / Connector of Brake Definition ECMA-E△1820S (2000 W) ECMA-C△1330R8LA (3000 W) ECMA-E△1830S (3000 W) ECMA-F△1830S (3000 W) ECMA-E△1835S (3500 W) MIL 24-11S ECMA-C△1340RPLA (4000 W) ECMA-F△1845S (4500 W) ECMA-C△1350R8LA (5000 W) ECMA-F△18553 (5500 W) ECMA-F△18753 (7500 W) MIL 32-17S...

  • Page 74: Specification Of Encoder Cable Connector

    ASDA-A2 Chapter 3 Wiring 3.1.5 Specification of Encoder Cable Connector Encoder Connection (Diagram 1) (1) CN2 connector; (2) Quick connector (connector of encoder cable) Note: this diagram shows the connection between the servo drive and the motor encoder. It is not drawn by the practical scale and specification will be different according to the selected servo drive and motor model.
  • Page 75 Chapter 3 Wiring ASDA-A2 Specification and Definition of Incremental Encoder Connector: Connector of Connector of Encoder Cable Motor Encoder Motor Servo Drive Encoder View from this side View from this side (Encoder type is 17bit, 20bit): White Reserved Reserved White Reserved White/Red Reserved Reserved...
  • Page 76 ASDA-A2 Chapter 3 Wiring Specification and Definition of Absolute Encoder Connector: Encoder Quick Connector Battery Connector Female Male Servo Drive Motor Note 1: Female Male Housing : AMP(1-172161-9) View from this side View from this side Black White White BAT+ BAT+ Reserved Reserved...
  • Page 77 Chapter 3 Wiring ASDA-A2 Encoder Connection (Diagram 2): (1) CN2 connector; (2) Military connector (connector of encoder cable) Note: his diagram shows the connection between the servo drive and the motor encoder. It is not drawn by the actual scale and specification will be different according to the selected servo drive and motor model. Please refer to Section 3.5, CN2 Connector.
  • Page 78 ASDA-A2 Chapter 3 Wiring Motor Model Connector of Encoder Cable ECMA-G△1303S (300 W) ECMA-E△1305S (500 W) ECMA-F△1305S (500 W) ECMA-G△1306S (600 W) ECMA-F△1308S (850 W) ECMA-G△1309S (900 W) ECMA-C△1010S (1000 W) ECMA-E△1310S (1000 W) ECMA-F△1313S (1300 W) ECMA-E△1315S (1500 W) Terminal Color Identification...
  • Page 79 Chapter 3 Wiring ASDA-A2 Battery Box Military Connector Connector Servo Drive Motor Note*1 Assignment Color White White/Red BAT+ BAT- Black DC+5V Brown Blue 3106A-20-29S BRAID Military Connector SHIELD 3-14...

  • Page 80: Selection Of Wiring Rod

    ASDA-A2 Chapter 3 Wiring 3.1.6 Selection of Wiring Rod The recommended wire rods are shown as the following table. Power Wiring - Wire Diameter mm (AWG) Servo Drive and corresponding Servo Motor R, S, T U, V, W P , C ECMA-C1040FS ASD-A2-0121-...
  • Page 81 Chapter 3 Wiring ASDA-A2 Power Wiring - Wire Diameter mm (AWG) Servo Drive and corresponding Servo Motor R, S, T U, V, W P , C 13.3 ASD-A2-1B23- ECMA-F1221B3 (AWG16) (AWG8) (AWG6) (AWG8) 13.3 21.2 13.3 ASD-A2-1F23- ECMA-F1221FS (AWG16) (AWG6) (AWG4) (AWG6) Encoder Wiring - Wire Diameter mm...

  • Page 82: Connections - 400V Series

    When an alarm occurs, it outputs ALARM Host controller signal and disconnect the power of the servo drive. It can connect to Delta PLC controller or other brands of NC controllers. Regenerative resistor (Optional) Terminal block module The returned regenerative power...

  • Page 83: Connectors And Terminals Of The Servo Drive

    Chapter 3 Wiring ASDA-A2 3.2.2 Connectors and Terminals of the Servo Drive Terminal Signal Name Description Connect to single-phase AC power (select the Power input of the appropriate voltage specification according to the DC24V, DC0V control circuit product ) Connect to three-phase AC power (select the Power input of the R, S, T appropriate voltage specification according to the...
  • Page 84 ASDA-A2 Chapter 3 Wiring Terminal Signal Name Description CANopen connector RJ45 connector. Please refer to Section 3.9 (Optional) Extension DI connector Extension DI connector. Please refer to 3.10. (Optional) Reserved Reserved. connector Communication extension port For other expansion cards (coming soon). (Optional) Pay special attention to the followings when wiring: 1.

  • Page 85: Wiring Method

    Chapter 3 Wiring ASDA-A2 3.2.3 Wiring Method The wiring method of 400V servo drive is divided into single-phase and three-phase. In the diagram below, Power On is contact a, and Power Off and ALRM_RY are contact b. MC is the coil of magnetic contactor, self-remaining power, and the contact of main power circuit.

  • Page 86: Specification Of Motor Power Cable

    ASDA-A2 Chapter 3 Wiring 3.2.4 Specification of Motor Power Cable Motor Model U, V, W / Connector of Brake Terminal Definition ECMA-J△0604S (400 W) ECMA-J△0807S (750 W) ECMA-J△0907S (750 W) ECMA-J△0910S (1000 W) ECMA-J△0604S (400 W) ECMA-J△0807S (750 W) ECMA-J△0907S (750 W) ECMA-J△0910S (1000 W) ECMA-K△1305S (500 W) ECMA-L△1305S (500 W)
  • Page 87 Chapter 3 Wiring ASDA-A2 Note: No polarity for brake coil. The wiring name is BRAKE1 & BRAKE2. Power for brake is DC24 V. Never share it with the power of control signal VDD. Box, (△) in servo motor model represents encoder type. △= 1: incremental, 20-bit; △= 2: incremental, 17-bit;...

  • Page 88: Specification Of Encoder Connector

    ASDA-A2 Chapter 3 Wiring 3.2.5 Specification of Encoder Connector Encoder Connection (Diagram 1): (1) CN2 connector; (2) Quick connector (connector of encoder cable) Note: This diagram shows the connection between the servo drive and the motor encoder. It is not drawn by the practical scale and specification will be different according to the selected servo drive and motor model.
  • Page 89 Chapter 3 Wiring ASDA-A2 Encoder Connection (Diagram 2): (1) CN2 connector; (2) Military connector (connector of encoder cable) Note: This diagram shows the connection between the servo drive and the motor encoder. It is not drawn by the practical scale and specification will be different according to the selected servo drive and motor model.

  • Page 90: Selection Of Wiring Rod

    ASDA-A2 Chapter 3 Wiring 3.2.6 Selection of Wiring Rod The following table lists the recommended wire for connectors and signal wiring for the ASDA-A2 servo drive. Power Wiring - Wire Diameter mm (AWG) Servo Drive and corresponding Servo Motor DC24V, DC0V R, S, T U, V, W P , C...
  • Page 91 Chapter 3 Wiring ASDA-A2 Encoder Wiring - Wire Diameter mm (AWG) Servo Drive Model Size Number Specification Standard Length ASD-A2-0743- ASD-A2-1043- ASD-A2-1543- ASD-A2-2043- L = 3 to 20 m L = 3 to 20 m ASD-A2-3043- (UL2464) (9.84 ft to 65.6 ft) Note*7 2C+2P L = 21 to 50 m...

  • Page 92: Basic Wiring

    ASDA-A2 Chapter 3 Wiring Basic Wiring 3.3.1 220V series 200 W (included) or models below (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 Protection DRIVE Circuit Position Speed Current...
  • Page 93 Chapter 3 Wiring ASDA-A2 400 W ~ 4.5 kW models (with built-in regenerative resistor)  Connect to external regenerative resistor Power 400W~1kW single-/3-phase 200~230V 2kW~4.5kW 3-phase 200~230V 750W~4.5kW models Servo drive PRB 60W or 120W +12V Servo Motor Encoder ±15V +3.3V GATE +24V...
  • Page 94 ASDA-A2 Chapter 3 Wiring 5.5 kW ~ 15 kW 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 Servo Motor...

  • Page 95: Series

    Chapter 3 Wiring ASDA-A2 3.3.2 400V series 750 W ~ 1.5 kW 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 Servo Motor...
  • Page 96 ASDA-A2 Chapter 3 Wiring 2 kW ~ 7.5 kW 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 Motor Encoder DC24V ±15V...

  • Page 97: I/O Signal (Cn1) Connection

    Chapter 3 Wiring ASDA-A2 I/O Signal (CN1) Connection 3.4.1 I/O Signal (CN1) Connector Terminal Layout In order to have a more flexible communication with the controller, 5 programmable Digital Outputs (DO) and 8 programmable Digital Inputs (DI) are provided. The setting of 8 digital inputs and 5 digital outputs of each axis are parameters P2-10 ~ P2-17 and parameters P2-18 ~ P2-22 respectively.
  • Page 98 ASDA-A2 Chapter 3 Wiring Pin assignment: DO4+ Digital output 26 DO4- Digital output DO3- Digital output 27 DO5- Digital output DO3+ Digital output 28 DO5+ Digital output DO2- Digital output 29 /HPULSE High-speed DO2+ Digital output position pulse 30 DI8- Digital input DO1- Digital output...

  • Page 99: Signals Explanation Of Connector Cn1

    Chapter 3 Wiring ASDA-A2 3.4.2 Signals Explanation of Connector CN1 The following details the signals listed in the previous section: General Signals Wiring Method Signal Function (Refer to section 3.4.3) (1) The speed command of the motor is -10V ~ +10V which means the speed command is -3000 ~ +3000 r/min (default).
  • Page 100 ASDA-A2 Chapter 3 Wiring Wiring Method Signal Function (Refer to section 3.4.3) COM+ is the common input of Digital Input (DI) and Digital Output (DO) voltage. When using VDD, VDD should be connected to COM+. If not COM+ using, it needs to apply the external power COM- (+12V ~ + 24V).
  • Page 101 Chapter 3 Wiring ASDA-A2 The explanation of DO signal default setting is as the followings. Wiring Method DO Signal Operation Details (Refer to Name Mode section 3.4.3) When the servo drive applies to the power and no SRDY alarm (ALRM) occurs in control circuit and motor power circuit, this DO is ON.
  • Page 102 ASDA-A2 Chapter 3 Wiring Wiring Method DO Signal Operating Details (Refer to Name Mode section 3.4.3) When the deviation between the speed command and the feedback speed of the motor is smaller S_CMP S, Sz than the setting value of parameter P1-47, this DO is ON.
  • Page 103 Chapter 3 Wiring ASDA-A2 Wiring Method DI Signal Operation Function (Refer to Name Mode section 3.4.3) 10 It is for clearing the deviation counter. CCLR PT, PR When this DI is ON and the motor speed is slower than the ZCLAMP setting of P1-38, the motor position will be locked when the signal is triggered.
  • Page 104 ASDA-A2 Chapter 3 Wiring Wiring Method DI Signal Operation Function (Refer to Name Mode section 3.4.3) PT-T, TCM1 TCM0 Command source PR-T, S-T T mode is analog input; Tz mode is 0 TCM1 P1-12 P1-13 P1-14 PT-S, 31 Mode switching. OFF: Speed; ON: Position PR-S 31 Mode switching.
  • Page 105 Chapter 3 Wiring ASDA-A2 Wiring Method DI Signal Operation Function (Refer to Name Mode section 3.4.3) PT, PR, Electronic gear ratio (numerator) selection 1 (Please refer PT-S, GNUM1 to P2-60 ~ P2-62 for gear ratio selection (numerator).) PR-S Pulse input is prohibited. In position mode, when this DI is INHP PT, PT-S ON, the external pulse input command is not working.
  • Page 106 ASDA-A2 Chapter 3 Wiring Symbol Input Function PT PR Sz Tz Code STOP 0x46 Motor stops Speed command SPD0 0x14 selection 0 Speed command SPD1 0x15 selection 1 Torque command TCM0 0x16 DI5 DI5 selection 0 Torque command TCM1 0x17 DI6 DI6 selection 1 Mode switch between...
  • Page 107 Chapter 3 Wiring ASDA-A2 Symbol Input Function PT PR Sz Tz Code V1.008 sub04 will be provided afterwards) Electronic gear ratio GNUM0 0x43 (numerator) selection 0 Electronic gear ratio GNUM1 0x44 (numerator) selection 1 INHP 0x45 Pulse input inhibit Note: refer to section 3.4.1 for corresponding pins of DI1 ~ 8. Table 3.2 Default Value of DO Output Function Symbol Output Function...
  • Page 108 ASDA-A2 Chapter 3 Wiring Symbol Output Function PT PR Code Master position area CAM_AREA 0x18 of E-CAM 0x19 Target speed reached SP_OK Output the status of SDO_0 0x30 bit00 of P4-06 Output the status of SDO_1 0x31 bit01 of P4-06 Output the status of SDO_2 0x32...

  • Page 109: Wiring Diagrams (Cn1)

    Chapter 3 Wiring ASDA-A2 3.4.3 Wiring Diagrams (CN1) The valid voltage of speed analog command and torque analog command is between -10V and +10V. The command value can be set via relevant parameters. The input impedance is 10 k. C1: Speed, Input of Torque Analog Command Controller Servo drive 10kΩ...
  • Page 110 ASDA-A2 Chapter 3 Wiring Pulse command can be input by the way of open-collector or Line driver. The maximum input pulse of Line driver is 500 kpps and 200 kpps for open-collector. C3-1: The source of pulse input is open-collector NPN equipment which applies the internal power of the servo drive.
  • Page 111 Chapter 3 Wiring ASDA-A2  Caution: Do not apply to dual power or it may damage the servo drive. C3-3: The source of pulse input is open-collector NPN equipment and applies the external power. Controller Servo Drive Pull-hi_S 35 Approx. The max.
  • Page 112 ASDA-A2 Chapter 3 Wiring C4-1: Pulse input (Line driver) can only apply to 5V power. Do not apply to 24V power. Controller Servo Drive Max. input pulse frequency is 500 kpps 51Ω SIGN 51Ω /SIGN Max. input pulse frequency is 500 kpps 51Ω...
  • Page 113 Chapter 3 Wiring ASDA-A2 When the drive connects to inductive load, the diode has to be installed. (The permissible current is under 40 mA. The surge current is under 100 mA; the maximum voltage is 30V.) C5: Wiring of DO signal. The servo drive applies to the internal power and the resistor is general load.
  • Page 114 ASDA-A2 Chapter 3 Wiring C7: Wiring of DO signal. The servo drive applies to the external power and the resistor is general load. Servo Drive Do not connect DOX: (DOX+,DOX-) VDD and COM+ X=1,2,3,4,5 DO1: (7,6) DC24V DO2: (5,4) DOX+ DO3: (3,2) DO4: (1,26) DOX-...
  • Page 115 Chapter 3 Wiring ASDA-A2 DI wiring — Input signals by relay or open-collector transistor. Conditions of DI On/Off: ON: 15V – 24V; condition: input current = 3 mA. OFF: 5V or below; input current must not be higher than 0.5 mA. NPN transistor, common emitter (E) mode (SINK mode) C9: The wiring of DI.
  • Page 116 ASDA-A2 Chapter 3 Wiring C13: Encoder signal output (Line driver) Max. output Servo Drive Controller current is 20mA AM26CS31 Type OA 21 /OA 22 125Ω OB 25 /OB 23 125Ω OZ 50 /OZ 24 125Ω C14: Encoder signal output (Opto-isolator) Max.
  • Page 117 Chapter 3 Wiring ASDA-A2 C15: Encoder OCZ output (open-collector Z pulse output) Servo Drive Max. Spec. 100mA OCZ48 GND 13 3-52...

  • Page 118: Di And Do Signal Specified By Users

    ASDA-A2 Chapter 3 Wiring 3.4.4 DI and DO Signal Specified by Users If the default setting of DI/DO signal cannot satisfy the need, self-set the DI/DO signal will do and be easy. The signal function of DI1 ~ 8, DI9 ~ DI13, and DO1 ~ 5 is determined by parameters P2-10 ~ P2-17 and parameters P2-18 ~ P2-22 respectively.
  • Page 119 Chapter 3 Wiring ASDA-A2 CN_GND PULL_HI_PS DO2+ DO1+ / PULSE COM- DI7- PULSE COM- DI4- / SIGN DI3- SIGN PULSE DI2- /PULSE DI1- COM- DO4+ COM+ DO3+ /SIGN COM+ SIGN CN_GND DI2- PULL_HI_PS DI1- DI3- DI4- DO1+ COM- DI7- DO2+ COM- DO3+ COM-...
  • Page 120 ASDA-A2 Chapter 3 Wiring Wiring example: Internal Wiring PULL_HI_PS DO2+ DC24V DO1+ /PULSE External power PULSE DI7- Pulse Input supply (Line Driver) /SIGN DI4- Max. output SIGN DI3- current 3A voltage 50V DI2- Z phase Open Collector Signal DI1- DO4+ COM- Internal DO3+...
  • Page 121 Chapter 3 Wiring ASDA-A2 Wiring and installation of CN1 quick connector: Installation 3-56...
  • Page 122 ASDA-A2 Chapter 3 Wiring Wiring (1) The CN1 quick connector has multiple spring terminals. Please determine which terminal is to be wired in advance. (2) Use a flathead screwdriver to press the spring down to open the pin. (3) Insert the stripped wire into the pin. (4) Withdraw the screwdriver to complete the wiring.

  • Page 123: Cn2 Connector

    Chapter 3 Wiring ASDA-A2 CN2 Connector The terminal block of the connector and pin number are as follows: (1) CN2 connector (Female); (2) CN2 connector (Male) CN2 connector ends: View from this side View from this side View from this side View from this side 3-58...
  • Page 124 ASDA-A2 Chapter 3 Wiring The definition of each signal is as follows: Drive Connector Encoder Connector Terminal Military Quick Pin No. Function and Description Color Symbol Connector Connector Serial communication signal Blue input / output (+) Serial communication signal Blue & Black input / output (-) Red / Red &...
  • Page 125 Chapter 3 Wiring ASDA-A2 (3) Leave a length of 5 - 10 mm (0.2 - 0.39 inches) metal core wires with shielding outside of the cable. The length is about the width of the metal saddle. The other unexposed wires of the cable should be protected by heat shrink tube for good ground contact.

  • Page 126: Wiring Of Cn3 Connector

    ASDA-A2 Chapter 3 Wiring Wiring of CN3 Connector 3.6.1 Layout of CN3 Connector The servo drive connects to the personal computer via communication connector. The user can operate the servo drive, PLC, or HMI through MODBUS using the assembly language. There are two commonly used communication interfaces, RS-232 and RS-485.

  • Page 127: Connection Between Pc And Connector Cn3

    Chapter 3 Wiring ASDA-A2 3.6.2 Connection between PC and Connector CN3 Drive PC or Notebook 3-62...

  • Page 128: Cn4 Serial Connector (Usb)

    ASDA-A2 Chapter 3 Wiring CN4 Serial Connector (USB) CN4 is a serial connector which is used to connect PC software and increase the efficiency. The transmission speed of USB can be up to 1 MB, that is to say, PC Data Scope can obtain the correct data in real time.

  • Page 129: Cn5 Connector (Full-Closed Loop)

    Chapter 3 Wiring ASDA-A2 CN5 Connector (Full-closed loop) Connect to the external linear scale or encoder (A, B, Z) and form a full-closed loop with the servo. In position mode, the pulse position command issued by the controller is based on the control loop of the external linear scale.

  • Page 130: Cn6 Connector (Canopen)

    ASDA-A2 Chapter 3 Wiring CN6 Connector (CANopen) 3.9.1 CANopen communication Based on the standard of CANopen DS301 and DS402, CN6 uses the standard CAN interface to implement position, torque, and speed mode. It also can read or monitor the drive status. The station number of CANopen is the same as RS-232 / RS-485.
  • Page 131 Chapter 3 Wiring ASDA-A2 Note: It is suggested to use a terminal resistor of 120Ω (Ohm) and 0.25 W or above. The wiring method of concatenating more than one drives is based on two ports of CANopen. One is for receiving and another one is for transmission.

  • Page 132: Dmcnet Communication

    The CN6 connector is a standard RJ45 connector with shielded cable. You can use it to connect to the host controller or motion control card. With Delta’s DMCNET system, you can control position, torque, and speed, and access or monitor the servo status.
  • Page 133 Chapter 3 Wiring ASDA-A2 3-68...

  • Page 134: Expansion Digital Input Connector Of Cn7

    ASDA-A2 Chapter 3 Wiring 3.10 Expansion Digital Input Connector of CN7 (1) CN7 connector (Female); (2) CN7 connector (Male) The A2 series servo drive provides single-axis point-to-point controls with up to 64 points. When using the external DI to perform point-to-point motion controls and the internal DI (8 sets) are all occupied, you can use this optional expansion DI (6 sets) to meet the requirements.

  • Page 135: Cn8 Connector Of Battery Box

    Chapter 3 Wiring ASDA-A2 3.11 CN8 Connector of Battery Box CN8 connector on servo drive is the power supply for absolute battery box. Please refer to Chapter 12 for further information. (1) CN8 connector (Female); (2) CN8 connector (Male) Pin definition: Pin No.

  • Page 136: Standard Connection Example - 220V Series

    *5 The coil of brake has no polarity. *6 For expansion digital inputs (DI) B phase pulse connections (CN7 is an optional CN6 CANopen Encoder Pulse part, not Delta standard supplied Z phase pulse CAN H Output 2,10 CAN L part.).

  • Page 137: Position (Pr) Control Mode

    *3 The coil of brake has no polarity. Opt /Z A phase pulse *4 For expansion digital inputs (DI) connections (CN7 is an optional B phase pulse CN6 CANopen part, not Delta standard supplied Encoder Pulse CAN H Z phase pulse part.). Output...

  • Page 138: Speed Control Mode

    *4 For expansion digital inputs (DI) Encoder CN6 CANopen connections (CN7 is an optional Pulse Z phase pulse CAN H Output part, not Delta standard supplied 2,10 CAN L part.). 3,11 CAN GND *5 For USB connection. It is used to Z phase open...

  • Page 139: Torque Control Mode

    *4 For expansion digital inputs (DI) B phase pulse connections (CN7 is an optional part, Encoder CN6 CANopen Pulse not Delta standard supplied part.). Z phase pulse CAN H Output *5 For USB connection. It is used to 2,10 CAN L...

  • Page 140: Communication Mode

    ASDA-A2 Chapter 3 Wiring 3.12.5 Communication Mode Servo Drive MCCB ASDA-A2 series AC 200/230 V ＊2 ⊕ ＊5 3-phase Regenerative 50/60Hz Resistor Power supply White Black EMGS BRKR Green Brake ＊3 Encoder Blue DC 24V Blue/Black Twisted-pair or twisted-shield COM+ cable COM- ＊1...

  • Page 141: Standard Connection Example - 400V Series

    *6 For expansion digital inputs (DI) Max. output 6,14 current 50mA connections (CN7 is an optional part, 7,15 CAN GND voltage 30V not Delta standard supplied part.). 8,16 *7 For USB connection. It is used to connect to personal computer or notebook. 3-76...

  • Page 142: Position (Pr) Control Mode

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

  • Page 143: Speed Control Mode

    *4 For expansion digital inputs (DI) Max. output 6,14 connections (CN7 is an optional part, current 50mA 7,15 CAN GND voltage 30V not Delta standard supplied part.). 8,16 *5 For USB connection. It is used to connect to personal computer or notebook. 3-78...

  • Page 144: Torque Control Mode

    *4 For expansion digital inputs (DI) Max. output 6,14 connections (CN7 is an optional part, current 50mA 7,15 CAN GND Voltage 30V not Delta standard supplied part.). 8,16 *5 For USB connection. It is used to connect to personal computer or notebook. 3-79...

  • Page 145: Communication Mode

    Chapter 3 Wiring ASDA-A2 3.13.5 Communication Mode Servo Drive MCCB ASDA-A2 series ＊2 AC 380/480 V ⊕ Regenerative 3-phase resistor DC 24V Power supply White Power Supply Black EMGS BRKR Brake Green ＊3 Encoder Blue DC 24V Blue/ Twisted-pair or Black twisted-shield cable...

  • Page 146: Differences Between A2-Xn And A2 Series Servo Drives

    Electromagnetic contractor (MC) Host controller It can connect to Delta PLC controller or other When an alarm occurs, it outputs ALARM brands of NC controllers. signal and disconnect the power of the servo drive.

  • Page 147: Connectors Of A2-Xn Servo Drives

    3.14.3 models of -FN and -MN series) Delta provides 8 user-defined digital input (DI) points and 5 digital output (DO) points to provide highly flexible communication between the servo drive and the controller. The corresponding parameters for the 8 DI points and 5 DO points are P2-10 ~ P2-17 and P2-18 ~ P2-22. In addition,...
  • Page 148 ASDA-A2 Chapter 3 Wiring Pin assignment: Digital Digital 1 DO4+ 26 DO4- output output Digital Digital 2 DO3- 27 DO5- output output Digital Digital 3 DO3+ 28 DO5+ output High speed output position Digital 4 DO2- 29 /HPULSE command output Digital 5 DO2+ 30 DI8-...

  • Page 149: Cn1 I/O 26-Pin Connector

    CN1 I/O 26-pin Connector (applicable to -EN series and 3 kW models or below of -FN and -MN Series) Delta provides 7 user-defined digital input (DI) points and 4 digital output (DO) points to provide highly flexible communication between the servo drive and the controller. The corresponding parameters for the 7 DI points and 4 DO points are P2-10 ~ P2-16 and P2-18 ~ P2-21.

  • Page 150: Cn3 Communication Connector

    ASDA-A2 Chapter 3 Wiring 3.14.5 CN3 Communication Connector (applicable to -LN series and 4.5 kW ~ 7.5 kW models of -FN and -MN series) When the servo drive is connected to the PC via CN3, you can operate the servo drive, PLC, or HMI through MODBUS using the assembly language.

  • Page 151: Ethercat Communication Connector (Applicable To -En Models)

    Chapter 3 Wiring ASDA-A2 3.14.6 EtherCAT Communication Connector (applicable to -EN models) A2-XN provides two ports (input and output) for servo drives connected in series. (1) CN6 connector (Female); (2) CN6 connector (Male) (a) Network status indicator CN6 pin assignment: Pin No.
  • Page 152 ASDA-A2 Chapter 3 Wiring EtherCAT connection status indicator (RUN)  Indicator Definition Description Status After powering on, the EtherCAT device is initialized and the communication is not Initial established, but the controller can still access the register of the device. Transmitting SDO, TxPDO, and RxPDO data Operational packets is allowed.
  • Page 153 Chapter 3 Wiring ASDA-A2 Connect to multiple servo drives: Note: When connecting multiple servo drives in serial, the maximum distance between each servo drive is 50 m (164.04 feet). Please use CAT5e STP shielded cable. Beckhoff cable is recommended (model type: ZB9020). 3-88...

  • Page 154: Cn-Sto (Safe Torque Off)

    ASDA-A2 Chapter 3 Wiring 3.14.7 CN-STO (Safe Torque Off) (1) CN-STO connector (Female); (2) CN-STO connector (Male) Note: STO certification application is in progress. Pin No Signal Function VDD(24V) power, which is identical to Pin 5 on COM+ STO_A STO input A+ /STO_A STO input A- STO_B...

  • Page 155: How Does The Sto Function Work

    Chapter 3 Wiring ASDA-A2 3.14.8 How does the STO Function Work? The STO function is controlled by the motor current from two individual circuits. It cuts off the power supply to the motor when needed, after which the motor is free from torque force. The table below details how this function works.

  • Page 156: Related Parameter Of The Sto Function

    ASDA-A2 Chapter 3 Wiring When the motor runs normally (Servo On), but one of the safety signal source is lost for 1 s, AL501 or AL502 occurs. Then the servo drive is in the Servo Off state. STO_A STO_B S_ON Servo status Servo on...
  • Page 157 Chapter 3 Wiring ASDA-A2 STO function description: See the table below. Four logic conditions (Logic A, B, C, and D) are available to standardize the FDBK status when different STO alarms occur. You can select the corresponding logic according to the needs of the application. In this table, “Open” means FDBK+ and FDBK- of CN8 are an open circuit.
  • Page 158 ASDA-A2 Chapter 3 Wiring Example of not latching:  If Logic C P2-93 is set to XX12, the FDBK status is closed when the safety signal is lost and AL500 occurs. 1. Since FDBK is selected as No Latch, when the safety signals return to normal, the FDBK status automatically changes from short-circuited to normal when AL500 occurs.

  • Page 159: Position (Pt) Control Mode

    Chapter 3 Wiring ASDA-A2 3.14.10 Position (PT) Control Mode Servo Drive Applicable model: ASDA-A2-LN MCCB ＊4 AC 200/230 V ＊1 ⊕ Three-phase 50/60Hz Power White Black EMGS BRKR Brake Green ＊2 /SIGN /SIGN ＊5 Encoder SIGN SIGN Pulse command input Blue (Line Driver) /PULSE...

  • Page 160: Position (Pr) Control Mode

    ASDA-A2 Chapter 3 Wiring 3.14.11 Position (PR) Control Mode Servo Drive MCCB Applicable model: ASDA-A2-LN ＊1 AC 200/230 V ⊕ Three-phase ＊4 50/60Hz Power White Black EMGS BRKR Brake Green ＊2 Encoder Blue Blue/ Black BAT+ Red/ 14,16 Red&White Black/ 13,15 10KΩ...

  • Page 161: Speed Control Mode

    Chapter 3 Wiring ASDA-A2 3.14.12 Speed Control Mode Servo Drive MCCB Applicable model: ASDA-A2-LN ＊4 ＊1 AC 200/230 V ⊕ Three-phase 50/60Hz Power White Black EMGS BRKR Brake Green ＊2 Encoder Blue Blue/ Black BAT+ 10KΩ Red/ 14,16 Red&White V-REF ±...

  • Page 162: Torque Control Mode

    ASDA-A2 Chapter 3 Wiring 3.14.13 Torque Control Mode Servo Drive MCCB Applicable model: ASDA-A2-LN ＊4 AC 200/230 V ＊1 ⊕ Three-phase 50/60Hz White Power Black EMGS BRKR Brake Green ＊2 Encoder Blue Blue/ Black BAT+ 10KΩ Red/ 14,16 Red&White V-REF ±...

  • Page 163: Communication Mode

    Chapter 3 Wiring ASDA-A2 3.14.14 Communication Mode Servo Drive ASDA-A2-FN, ASDA-A2-NN, MCCB ASDA-A2-MN, ASDA-A2-EN ＊4 ＊1 AC 200/230 V ⊕ Three-phase CN6 EtherCAT 50/60Hz (for ASDA-A2-EN) Connects to a White Power controller or a CN6A servo drive Black EMGS BRKR No connection or 剎車...

  • Page 164: Chapter 4 Panel Display And Operation

    Chapter 4 Panel Display and Operation This chapter details the panel status and operation of ADSA-A2 series servo drive. Panel Description Display MODE Key SHIFT Key ▲ MODE SHIFT UP Key SET Key Charge LED ▼ CHARGE DOWN Key Name Function Five-/Seven-segment display is for displaying the monitoring values, Display...

  • Page 165: Parameter Setting Procedure

    ASDA-A2 Chapter 4 Panel Display and Operation Parameter Setting Procedure Switch the mode: Power On Monitoring Please refer to section 7.2.1 Mode MODE Parameter Please refer to Chapter 8 for parameters Mode 1. If no alarm occurs, then the Alarm Mode will be skipped. MODE 2.
  • Page 166 Chapter 4 Panel Display and Operation ASDA-A2 Parameter Mode Parameter Mode Monitor ‧‧‧ Parameter P0 SHIFT Basic Parameter ‧‧‧ SHIFT Extension ‧‧‧ Parameter P2 SHIFT Communication ‧‧‧ Parameter P3 SHIFT Diagnosis ‧‧‧ Parameter P4 SHIFT Motion Control ‧‧‧ Parameter P5 SHIFT PR Parameter ‧‧‧...
  • Page 167 ASDA-A2 Chapter 4 Panel Display and Operation Edit Setting Mode Parameter Mode MODE Editing Setting Mode ‧‧‧ Save the parameter Display parameter setting value setting value. Then, return to Parameter Mode. SHIFT ‧‧‧ Save the parameter setting value. Then, SHIFT return to Parameter Mode.

  • Page 168: Status Display

    Chapter 4 Panel Display and Operation ASDA-A2 Status Display 4.3.1 Save Setting Display When finishing editing parameter, press the SET key to save the setting. The panel will display the setting status according to the setting for a second. Displayed Symbol Description The setting value is saved correctly.

  • Page 169: Positive And Negative Sign Setting

    ASDA-A2 Chapter 4 Panel Display and Operation 4.3.4 Positive and Negative Sign Setting Displayed Symbol Description When entering the Editing Setting Mode, pressing the UP / DOWN keys can increase or decrease the displayed content. The SHIFT key can change the desired adjusted carry value.
  • Page 170 Chapter 4 Panel Display and Operation ASDA-A2 P0-02 Monitor Displayed Description Unit Setting Value Symbol Torque input command Average torque Peak torque Main circuit voltage [Volt] Load / Motor inertia ratio [1 times] (Note: If it shows 13.0, it means the actual inertia is 13) IGBT temperature [°C] Resonance frequency (Low byte is the first...
  • Page 171 ASDA-A2 Chapter 4 Panel Display and Operation Example of the Status Description displayed value If the value is 1234, it displays 01234 (shows in decimal format). (Dec) 16 bits If the value is 0x1234, it displays 1234 (shows in hexadecimal format; the first digit does not show any). (Hex) If the value is 1234567890, the display of the high byte is (Dec high)

  • Page 172: General Function

    Chapter 4 Panel Display and Operation ASDA-A2 General Function 4.4.1 Operation of Fault Record Display When it is in Parameter Mode, select P4-00 ~ P4-04 and press the SET key, the corresponding fault record will be shown The 1 recent error The 2 recent error The 3...

  • Page 173: Jog Mode

    ASDA-A2 Chapter 4 Panel Display and Operation 4.4.2 JOG Mode When it is in Parameter Mode, select P4-05 and follow the setting method below for JOG operation (The communication mode does not support using the panel to set the JOG mode). (1) Press the SET key to display the speed value of JOG.

  • Page 174: Force Do Output

    Chapter 4 Panel Display and Operation ASDA-A2 4.4.3 Force DO Output Enter the Digital Output Mode by the following settings. Set P2-08 to 406 and enable the function of force DO mode. Then, set the force DO output by binary method via P4-06. When the setting value is 2, DO2 will be forced to enable.

  • Page 175: Digital Input Diagnosis Operation

    ASDA-A2 Chapter 4 Panel Display and Operation 4.4.4 Digital Input Diagnosis Operation Enter the Digital Input Diagnosis Mode by the following setting methods. When the external output signals DI1 ~ DI8 are ON, the corresponding signals will be shown on the panel. It is displayed by bit.

  • Page 176: Chapter 5 Trial Operation And Tuning

    Chapter 5 Trial Operation and Tuning This chapter is divided into two parts to describe the trial operation. The first one is the inspection without load and the other one is the inspection with load. For safety reasons, please conduct the first inspection.

  • Page 177: Applying Power To The Servo Drive

    The encoder cable should avoid excessive stress. When the motor is running, make sure the  cable is not worn or stretched. Please contact Delta if there is any vibration of the servo motor or unusual noise during the  operation.
  • Page 178 ASDA-A2 Chapter 5 Trial operation and Tuning The digital inputs (DI6 ~ DI8) of the default value are the signals of negative limit error (NL), positive limit error (PL), and emergency stop (EMGS), if not using the default setting of DI6 ~ DI8, adjusting the setting of P2-15 ~ P2-17 is a must.
  • Page 179 Chapter 5 Trial operation and Tuning ASDA-A2 3) When the screen displays: Warning of emergency stop: Please check if any of the digital inputs DI1 ~ DI8 is set to emergency stop (EMGS). Corrective action:  If not desiring to set emergency stop (EMGS) as one of the digital input, make sure no digital input is set to emergency stop (EMGS) among DI1 ~ DI8.
  • Page 180 ASDA-A2 Chapter 5 Trial operation and Tuning please set this DI as normally open (function code: 0x0123). 6) When the screen displays: Warning of overcurrent: Corrective Action: Check the connection between the motor and servo drive.  Check if the conducting wire is short-circuited. Exclude short circuit and avoid metal ...

  • Page 181: Jog Trial Run Without Load

    Chapter 5 Trial operation and Tuning ASDA-A2 JOG Trial Run without Load It is very convenient to test the motor and servo drive with the method of JOG trial run without load since the extra wiring is unnecessary. For safety reasons, it is recommended to set JOG at low speed.

  • Page 182: Trial Run Without Load (Speed Mode)

    (DI8). Thus, the values of parameters P2-15 ~ P2-17 and P2-36 ~ P2-41 are set to 0 (Disabled). The digital input of Delta’s servo drive can be programmed by users. When programming digital input, please refer to the description of DI code.
  • Page 183 Chapter 5 Trial operation and Tuning ASDA-A2 The speed command selection is determined by SPD0 and SPD1. See the table below. Speed DI signal of CN1 Command Command Source Content Range SPD1 SPD0 Voltage difference External analog between V-REF and -10V ~ +10V command P1-09...

  • Page 184: Trial Run Without Load (Position Mode)

    The above table disables the functions of negative limit (DI6), positive limit (DI7), and emergency stop (DI8), thus, set P2-15 ~ P2-17 and P2-36 ~ P2-41 to 0 (Disabled). The digital input of Delta’s servo drive can be programmed by users. When programming digital input, please refer to the description of DI code.
  • Page 185 Chapter 5 Trial operation and Tuning ASDA-A2 Please refer to section 3.12.2, Position (PR) Mode Standard Wiring for wiring diagram. However, since POS2 is not the default digital input, set P2-14 to 113. Please refer to the table below for 64 sets of register command, POS0 ~ POS5, and the relative parameters.

  • Page 186: Tuning Procedure

    ASDA-A2 Chapter 5 Trial operation and Tuning Tuning Procedure Estimate the inertia ratio: JOG Mode Tuning Procedure Display After completing wiring, when applying to the power, the servo drive will display: Press the MODE Key to select the mode of parameter function. Press the SHIFT Key twice to select the mode of parameter group.

  • Page 187: Flowchart Of Tuning Procedure

    Chapter 5 Trial operation and Tuning ASDA-A2 5.6.1 Flowchart of Tuning Procedure Trial run without load is OK. New model? Exit the control of master. If the estimation of inertia ratio is Use the servo drive to perform trial incorrect, it cannot obtain the best run and estimate the inertia ratio* performance of tuning.

  • Page 188: Inertia Estimation Flowchart (With Mechanism)

    ASDA-A2 Chapter 5 Trial operation and Tuning 5.6.2 Inertia Estimation Flowchart (with Mechanism) Turn Off the power of servo drive. Connect the motor to the mechanism. Turn On the power of servo drive. Set P0-02 to 15. The panel will display inertia ratio*.

  • Page 189: Flowchart Of Auto Tuning

    Chapter 5 Trial operation and Tuning ASDA-A2 5.6.3 Flowchart of Auto Tuning Set P2-32 to 1 (auto mode, continuous tuning) Continue to estimate the system inertia. Automatically save the value in P1-37 every 30 minutes and refer the stiffness and bandwidth setting of P2-31. P2-31 Stiffness setting in auto tuning mode (The default value is 80) In auto and semi-auto modes, the bandwidth setting of speed circuit is: 1 ~ 50 Hz: low-stiffness, low-response...

  • Page 190: Flowchart Of Semi-Auto Tuning

    ASDA-A2 Chapter 5 Trial operation and Tuning 5.6.4 Flowchart of Semi-Auto Tuning Set P2-32 to 2 (semi-auto mode, non-continuous tuning) After tuning for a while and wait until the system inertia is stable, it stops estimating. The estimated inertia ratio will be saved to P1-37. When switching the mode from manual or auto to semi auto, the system starts tuning again.

  • Page 191: Limit Of Inertia Ratio

    Chapter 5 Trial operation and Tuning ASDA-A2 5.6.5 Limit of Inertia Ratio Acceleration / Deceleration time of reaching 2000 r/min should be less than 1 second. The speed in forward and reverse directions should be higher than 200 r/min. The load inertia should be under 100 times of motor inertia. The change of external force of inertia ratio cannot be too severe.

  • Page 192: Mechanical Resonance Suppression Method

    ASDA-A2 Chapter 5 Trial operation and Tuning 5.6.6 Mechanical Resonance Suppression Method Three groups of Notch filter are provided to suppress mechanical resonance. Two of them can be set to the auto resonance suppression and manual adjustment. The procedure of manually suppressing the resonance is as the followings: Use the analytic tool provided by PC Software to display the point of resonance.
  • Page 193 Chapter 5 Trial operation and Tuning ASDA-A2 The procedure of the auto resonance suppression is as the followings: Motor alternately accelerates and decelerates High-frequency Complete resonance? Set P2-47 to 1 Repeatedly set P2-47 to No resonance? 1 for over 3 times Note 1 Set P2-47 to 0 P2-47 is set to 0...

  • Page 194: Tuning Mode And Parameters

    ASDA-A2 Chapter 5 Trial operation and Tuning 5.6.7 Tuning Mode and Parameters Auto-set Tuning mode P2-32 User-defined parameters Inertia adjustment parameters P1-37 (Inertia ratio of the motor) P2-00 (Position control gain) P2-04 (Speed control gain) P2-06 (Speed integral Manual mode The value remains (default compensation)

  • Page 195: Tuning In Manual Mode

    Chapter 5 Trial operation and Tuning ASDA-A2 5.6.8 Tuning in Manual Mode The selection of position or speed response bandwidth should be determined by the machinary stiffness and applications. Generally speaking, machines that requrie high-frequency positioning or high precision need higher response bandwidth. However, it might easily cause the resonance. And the machinary with higher sitffness is needed to avoid the resonance.
  • Page 196 ASDA-A2 Chapter 5 Trial operation and Tuning Speed integral compensation (KVI, parameter P2-06)  The higher the KVI value is, the better the capability of eliminating the deviation will be. However, if the value is set too big, it might easily cause the vibration of machinery. It is suggested to set the value as the following: KVI ≤...
  • Page 197 Chapter 5 Trial operation and Tuning ASDA-A2 (This page is intentionally left blank.) 5-22...

  • Page 198: Chapter 6 Control Mode Of Operation

    Chapter 6 Control Mode of Operation 6.1 Selection of Operation Mode Three basic operation modes are provided in this servo drive, position, speed, and torque. Users can use single mode (only in one-mode control) or dual mode to control. The following table lists all operation modes and description.
  • Page 199 Switch the mode of PT and PR via DI signal. PT-PR-S Switch the mode of PT, PR, and S via DI signal. Multi-mode PT-PR-T Switch the mode of PT, PR, and T via DI signal. CANopen mode (use with Delta PLC) CANopen DMCNET mode Communication Mode CANopen mode CANopen...

  • Page 200: Position Mode

    ASDA-A2 Chapter 6 Control Mode of Operation 6.2 Position Mode Position control mode is applicable in precise positioning, such as industrial machinery. The ASDA- A2 servo drive has two command input modes: pulse and internal register. The servo drive receives the pulse command for motor running direction and pulse input of up to 4 Mpps. For better position control, the ASDA-A2 provides 64 sets of position command registers with two input applications.
  • Page 201 Chapter 6 Control Mode of Operation ASDA-A2 Settings： Pulse Type  0: AB phase pulse (4x) 1: Clockwise (CW) and Counterclockwise (CCW) pulse 2: Pulse + symbol Other settings: reserved Filter Width  If the received frequency is much higher than the setting, it will be regarded as the noise and filtered out.
  • Page 202 ASDA-A2 Chapter 6 Control Mode of Operation Logic Type  High-speed and Low-speed Pulse Input Logic Pulse Type Forward Reverse A Pulse Phase Lead A Pulse Phase Lag (43) (43) AB phase Pulse Pulse (41) (41) pulse (36) (36) Sign Sign (37) (37)
  • Page 203 Chapter 6 Control Mode of Operation ASDA-A2 For digital circuit, it uses 0 and 1 to represent two status, high voltage and low voltage. In Positive Logic, 1 represents high voltage and 0 represents low voltage and vice versa in Negative Logic.

  • Page 204: Position Command In Pr Mode

    ASDA-A2 Chapter 6 Control Mode of Operation 6.2.2 Position Command in PR Mode PR position command source of each axis is from the 64 sets of register which are constituted by parameters (P6-00, P6-01) ~ (P7-26, P7-27). When going with the external DI/DO (CN1, POS0 ~ POS5 and CTRG), one of the previous 64 sets of register can be selected as the position command.

  • Page 205: Control Structure Of Position Mode

    Chapter 6 Control Mode of Operation ASDA-A2 6.2.3 Control Structure of Position Mode The basic control structure is as the following diagram: Position Command Position Command Processing Unit Speed Current Position Control Motor Loop Loop Unit For a better control, the pulse signal should be processed and modified through position command processing unit.

  • Page 206: S-Curve Filter (Position)

    ASDA-A2 Chapter 6 Control Mode of Operation Pulse Command Inhibit Input Function (INHP) Use DI to select INHP (Refer to P2-10 to P2-17 and Table 8.1 INHP (45)) before using this function. If not, this function will be unable to use. When DI (INHP) is ON, the pulse command will be cleared in position control mode and the motor will stop running.
  • Page 207 Chapter 6 Control Mode of Operation ASDA-A2 position time (ms) speed time (ms) rated speed torque time (ms) AC0 ~ 15 AC0 ~ 15 P1-36 P1-36 P1-36 P1-36 Position and speed S-curve and time setting (deceleration for position command) Related Parameters: Address: 0144H P1-34 TACC Acceleration Constant of S-Curve...
  • Page 208 ASDA-A2 Chapter 6 Control Mode of Operation Address: 0146H P1-35 TDEC Deceleration Constant of S-Curve 0147H Operational Related Section: Panel / Software Communication 6.3.3 Interface： Default： 200 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings：...

  • Page 209: Electronic Gear Ratio

    Chapter 6 Control Mode of Operation ASDA-A2 Settings： Acceleration / Deceleration Constant of S-Curve: P1-34: Set the acceleration time of acceleration / deceleration of trapezoid-curve P1-35: Set the deceleration time of acceleration / deceleration of trapezoid-curve P1-36: Set the smoothing time of S-curve acceleration and deceleration P1-34, P1-35, and P1-36 can be set individually.
  • Page 210 ASDA-A2 Chapter 6 Control Mode of Operation Format： Decimal Settings： Please refer to P2-60 to P2-62 for the setting of multiple gear ratio (numerator). Note: 1）In PT mode, the setting value can be changed when Servo ON. 2）In PR mode, the setting value can be changed when Servo OFF. 3）In communication mode (DMCNET / CANopen / EtherCAT), if you cycle power to the drive, the E-Gear ratio is set to the default value of the communication protocol.
  • Page 211 Chapter 6 Control Mode of Operation ASDA-A2 Electronic gear provides simple ratio change of travel distance. The high electronic gear ratio would cause the position command to be the stepped command. S-curve or low-pass filter can be used to improve the situation. When electronic gear ratio is set to 1, the motor will turn one cycle for every 10000 pulse/rev.

  • Page 212: Low-Pass Filter

    ASDA-A2 Chapter 6 Control Mode of Operation 6.2.6 Low-pass Filter Related parameter: Address: 0110H Smooth Constant of Position Command (Low- P1-08 PFLT pass Filter) 0111H Operational Related Section: Panel / Software Communication 6.2.6 Interface： Default： 0 Control PT / PR Mode：...

  • Page 213: Timing Diagram In Position Mode (Pr)

    Chapter 6 Control Mode of Operation ASDA-A2 6.2.7 Timing Diagram in Position Mode (PR) In PR mode, the position command is selected by DI signal (POS0 ~ POS5 and CTRG) of CN1. Please refer to Section 6.2.2 for the information about DI signal and its selected register. Followings are the timing diagrams.

  • Page 214: Gain Adjustment Of Position Loop

    ASDA-A2 Chapter 6 Control Mode of Operation 6.2.8 Gain Adjustment of Position Loop Before setting the position control unit, users have to manually (P2-32) complete the setting of speed control unit since the speed loop is included in position loop. Then, set the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of position loop.
  • Page 215 Chapter 6 Control Mode of Operation ASDA-A2 Address: 0204H P2-02 Position Feed Forward Gain 0205H Operational Related Section: Panel / Software Communication 6.2.8 Interface： Default： 50 Control PT / PR Mode： Unit： % Range： 0 ~ 100 Data Size： 16-bit Format：...
  • Page 216 ASDA-A2 Chapter 6 Control Mode of Operation When the value of proportional gain, KPP, is set too big, the bandwidth of position loop will be increased and diminish the phase margin. And the motor rotor rotates vibrantly in forward and reverse directions at the moment.

  • Page 217: Low-Frequency Vibration Suppression In Position Mode

    Chapter 6 Control Mode of Operation ASDA-A2 6.2.9 Low-frequency Vibration Suppression in Position Mode If the stiffness is not enough, the mechanical transmission will continue to vibrate even when the motor stops after completing the positioning command. The function of low-frequency vibration suppression can eliminate the vibration of mechanical transmission.
  • Page 218 ASDA-A2 Chapter 6 Control Mode of Operation Note 1: When the values of P1-26 and P1-28 are both 0, it means it is unable to search the frequency. It is probably because the detection level is set too high and is unable to detect the low-frequency vibration.
  • Page 219 Chapter 6 Control Mode of Operation ASDA-A2 Address: 013CH P1-30 Low-frequency Vibration Detection 013DH Operational Related Section: Panel / Software Communication 6.2.9 Interface： Default： 500 Control PT / PR Mode： Unit： Pulse Range： 1 ~ 8000 Data Size： 16-bit Format： Decimal Settings：...
  • Page 220 ASDA-A2 Chapter 6 Control Mode of Operation Address: 0132H P1-25 VSF1 Low-frequency Vibration Suppression (1) 0133H Operational Related Section: Panel / Software Communication 6.2.9 Interface： Default： 1000 Control PT / PR Mode： Unit： 0.1 Hz Range： 10 ~ 1000 Data Size： 16-bit Format：...
  • Page 221 Chapter 6 Control Mode of Operation ASDA-A2 Address: 0136H P1-27 VSF2 Low-frequency Vibration Suppression (2) 0137H Operational Related Section: Panel / Software Communication 6.2.9 Interface： Default： 1000 Control PT / PR Mode： Unit： 0.1 Hz Range： 10 ~ 1000 Data Size： 16-bit Format：...

  • Page 222: Speed Mode

    ASDA-A2 Chapter 6 Control Mode of Operation Speed Mode Speed control mode (S or Sz) is applicable in precision speed control, such as CNC machine tools. This servo drive includes two types of command input, analog and register. Analog command input can use external voltage to control the motor speed.

  • Page 223: Control Structure Of Speed Mode

    Chapter 6 Control Mode of Operation ASDA-A2 use CTRG for triggering. The setting range of internal parameters is between -60000 and 60000.  Setting value = setting range x unit (0.1 r/min). For example: P1-09 = +30000, setting value = +30000 x 0.1 r/min = +3000 r/min The speed command not only can be issued in speed mode (S or Sz), but also in torque mode (T or Tz) as the speed limit.

  • Page 224: Smooth Speed Command

    ASDA-A2 Chapter 6 Control Mode of Operation The upper path is the command from register while the lower one is external analog command. The command is selected according to the status of SPD0, SPD1, and P1-01(S or Sz). Usually, S-curve and low-pass filter are applied for having a smooth resonance of command. 6.3.3 Smooth Speed Command S-curve Filter During the process of acceleration or deceleration, S-curve filter applies the program of three-stage...
  • Page 225 Chapter 6 Control Mode of Operation ASDA-A2 Related parameters: Address: 0144H P1-34 TACC Acceleration Constant of S-Curve 0145H Operational Related Section: Panel / Software Communication 6.3.3 Interface： Default： 200 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16-bit Format：...
  • Page 226 ASDA-A2 Chapter 6 Control Mode of Operation Note: 1）When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function. 2）When the source of speed command is analog, the max. range of P1-35 will be set within 20000 automatically. Address: 0148H Acceleration / Deceleration Constant of S- P1-36...
  • Page 227 Chapter 6 Control Mode of Operation ASDA-A2 Note: 1）When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function. 2）When the source of speed command is analog, the max. range of P1-36 will be set within 10000 automatically. Analog Speed Command Filter Analog speed command filter is provided especially for ASDA-A2 series users.

  • Page 228: The Scaling Of Analog Command

    ASDA-A2 Chapter 6 Control Mode of Operation Format： Decimal Settings： 0: Disabled 6.3.4 The Scaling of Analog Command The motor speed command is controlled by the analog voltage difference between V_REF and VGND. Use parameter P1-40 to adjust the speed-control slope and its range. 5000rpm The speed control ramp is determined by parameter P1-40...

  • Page 229: Timing Diagram In Speed Mode

    Chapter 6 Control Mode of Operation ASDA-A2 Settings： Maximum Speed of Analog Speed Command: In speed mode, the analog speed command inputs the swing speed setting of the max. voltage (10V). For example, if the setting is 3000, when the external voltage input is 10V, it means the speed control command is 3000 r/min.

  • Page 230: Gain Adjustment Of Speed Loop

    ASDA-A2 Chapter 6 Control Mode of Operation 6.3.6 Gain Adjustment of Speed Loop Here introduces the function of speed control unit. The following shows its structure. Speed Control Unit Speed Feed Differentiator Forward Gain System Inertia J P2-07 (1+P1-37)*JM Propotional Gain P2-04 Integrator...
  • Page 231 Chapter 6 Control Mode of Operation ASDA-A2 Data Size： 16-bit Format： Hexadecimal Settings: 0: Manual Mode 1: Auto Mode (continuous adjustment) 2: Semi-auto Mode (non-continuous adjustment) Relevant description of manual mode setting: When P2-32 is set to 0, parameters related to gain control, such as P2-00, P2-04, P2-06, P2-07, P2-25, and P2-26, all can be set by the user.
  • Page 232 ASDA-A2 Chapter 6 Control Mode of Operation Related parameters: Address: 0208H P2-04 Speed Loop Gain 0209H Operational Related Section: Panel / Software Communication 6.3.6 Interface： Default： 500 Control Mode： Unit： rad/s Range： 0 ~ 8191 Data Size： 16-bit Format： Decimal Settings：...
  • Page 233 Chapter 6 Control Mode of Operation ASDA-A2 Address: 020EH P2-07 Speed Feed Forward Gain 020FH Operational Related Section: Panel / Software Communication 6.3.6 Interface： Default： 0 Control Mode： Unit： % Range： 0 ~ 100 Data Size： 16-bit Format： Decimal Settings： When the speed control command runs smoothly, increasing the gain value can reduce the speed following error.
  • Page 234 ASDA-A2 Chapter 6 Control Mode of Operation Frequency Domain 6-37...
  • Page 235 Chapter 6 Control Mode of Operation ASDA-A2 Time Domain The bigger KVP value causes higher bandwidth and shortens the rising time. However, if the value is set too big, the phase margin will be too small. To steady-state error, the result is not as good as KVI.
  • Page 236 ASDA-A2 Chapter 6 Control Mode of Operation Generally, instrument is needed when applying frequency domain for measurement. Users are required to adopt the measurement techniques; while time domain only needs a scope and goes with the analog input/output terminal provided by the servo drive. Thus, time domain is frequently used to adjust PI controller.

  • Page 237: Resonance Suppression

    Chapter 6 Control Mode of Operation ASDA-A2 6.3.7 Resonance Suppression When resonance occurs, it is probably because the stiffness of the control system is too strong or the response bandwidth is too fast. Eliminating these two factors might improve the situation. In addition, low-pass filter (parameter P2-25) and notch filter (parameter P2-23 and P2-24) are provided to suppress the resonance if not changing the control parameters.
  • Page 238 ASDA-A2 Chapter 6 Control Mode of Operation Address: 0256H P2-43 NCF2 Resonance Suppression (Notch filter) (2) 0257H Operational Related Section: Panel / Software Communication 6.3.7 Interface： Default： 1000 Control Mode： Unit： Hz Range： 50 ~ 2000 Data Size： 16-bit Format： Decimal Settings：...
  • Page 239 Chapter 6 Control Mode of Operation ASDA-A2 Unit： Hz Range： 50 ~ 2000 Data Size： 16-bit Format： DEC Settings： The third setting value of resonance frequency. If P2-46 is set to 0, this function is disabled. P2-23 and P2-24 are the first Notch filter. Address: 025CH Resonance Suppression (Notch filter) P2-46...
  • Page 240 ASDA-A2 Chapter 6 Control Mode of Operation Settings： Set the low-pass filter of resonance suppression. When the value is set to 0, the function of low-pass filter is disabled. Feed Forward Gain Differentiator Speed Control Unit P2-07 Low-pass Filter P2-25 PI Controller P2-04, P2-06 Current...
  • Page 241 Chapter 6 Control Mode of Operation ASDA-A2 Settings of P2-47 Current Value Desired Value Function Clear the setting value of P2-43 ~ P2-46 and enable auto resonance suppression function. Clear the setting value of P2-43 ~ P2-46 and enable auto resonance suppression function. Save the setting value of P2-43 ~ P2-46 and disable auto resonance suppression function.
  • Page 242 ASDA-A2 Chapter 6 Control Mode of Operation Flowchart of Auto Resonance Suppression: Drive the machine by servo system Check if vibration occurs Set P2-47 = 1 Check if vibration occurs Set P2-47 = 1 for three times P2-44 = 32 Decrease bandwidth or P2-46 = 32 Set P2-47 = 0...
  • Page 243 Chapter 6 Control Mode of Operation ASDA-A2 Here illustrates the effect via low-pass filter (parameter P2-25). The following diagram is the system open-loop gain with resonance. Gain Frequency When the value of P2-25 is increased from 0, BW becomes smaller (See as the following diagram). Although it solves the problem of resonance frequency, the response bandwidth and phase margin is reduced.
  • Page 244 ASDA-A2 Chapter 6 Control Mode of Operation Resonance suppression with low-pass filter Resonance Resonance conditions Low-pass Filter Gain Gain Gain Point is suppressed Attenuation Rate -3db Cut-off Frequency of Low-pass Filter Low-pass Low-pass = 10000 / P2-25 Hz Frequency Frequency Frequency Resonance Frequency...

  • Page 245: Torque Mode

    Chapter 6 Control Mode of Operation ASDA-A2 Torque Mode Torque control mode (T or Tz) is appropriate in torque control applications, such as printing machine, winding machine, etc. There are two kinds of command source, analog input and register. Analog command input uses external voltage to control the torque of the motor while register uses the internal parameters (P1-12 ~ P1-14) as the torque command.

  • Page 246: Control Structure Of Torque Mode

    ASDA-A2 Chapter 6 Control Mode of Operation 6.4.2 Control Structure of Torque Mode The basic control structure is as the following diagram: Output Torque Torque Torque Current Resonance Command Motor Command Control Unit Suppression Unit Processing Unit Current Sensor The torque command processing unit is to select torque command source according to Section 6.4.1, including the scaling (P1-41) setting and S-curve setting.

  • Page 247: Smooth Torque Command

    Chapter 6 Control Mode of Operation ASDA-A2 6.4.3 Smooth Torque Command Related parameter: Address: 010EH P1-07 TFLT Analog Torque Command (Low-pass Filter) 010FH Operational Related Section: Panel / Software Communication 6.4.3 Interface： Default： 0 Control T / Tz Mode： Unit： ms Range：...

  • Page 248: The Scaling Of Analog Command

    ASDA-A2 Chapter 6 Control Mode of Operation 6.4.4 The Scaling of Analog Command The motor torque command is controlled by the analog voltage difference between T_REF and GND and goes with parameter P1-41 to adjust the torque slope and its range. Related parameter: Address: 0152H P1-41▲...

  • Page 249: Timing Diagram In Torque Mode

    Chapter 6 Control Mode of Operation ASDA-A2 6.4.5 Timing Diagram in Torque Mode Internal register External analog voltage or zero (0) External I/O Note: 1）OFF means the contact point is open while ON means the contact point is close. 2）When it is in Tz mode, the torque command T1 = 0; when it is in T mode, the torque command T1 is the external analog voltage input.

  • Page 250: Dual Mode

    ASDA-A2 Chapter 6 Control Mode of Operation Dual Mode Apart from single mode, dual mode is also provided for operation. According to Section 6.1, dual modes are as followings: Speed / position dual mode (PT-S, PR-S, PT-PR) Speed / torque dual mode (S-T) Torque / position dual mode (PT-T, PR-T) Position speed multiple mode (PT-PR-S) Position torque multiple mode (PT-PR-T)

  • Page 251: Speed / Position Dual Mode

    Chapter 6 Control Mode of Operation ASDA-A2 6.5.1 Speed / Position Dual Mode There are PT-S and PR-S in speed/position dual mode. The command source of the former one comes from external pulse while the latter one comes from internal parameters (P6-00 ~ P7-27). Speed command could be issued by external analog voltage or internal parameters (P1-09 ~ P1-11).

  • Page 252: Torque / Position Dual Mode

    ASDA-A2 Chapter 6 Control Mode of Operation In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and SPD1. The motor operates according to the speed command. When S-T is ON, it goes back to the torque mode again.

  • Page 253: Others

    Chapter 6 Control Mode of Operation ASDA-A2 Others 6.6.1 The Use of Speed Limit The maximum speed in each mode is limited by internal parameter (P1-55), not matter it is in position, speed, or torque mode. The issuing method of speed limit command and speed command is the same. The command source could be external analog voltage or internal parameters (P1-09 ~ P1-11).

  • Page 254: The Use Of Torque Limit

    ASDA-A2 Chapter 6 Control Mode of Operation 6.6.2 The Use of Torque Limit The issuing method of torque limit command and torque command is the same. The command source could be external analog voltage or internal parameters (P1-12 ~ P1-14). Please refer to section 6.4.1 for descriptions.

  • Page 255: Analog Monitor

    Chapter 6 Control Mode of Operation ASDA-A2 6.6.3 Analog Monitor Users could observe the needed voltage signal via analog monitor. Two analog channels are provided by the servo drive and located in terminal 15 and 16 of CN1. The related parameter settings are as the followings.
  • Page 256 ASDA-A2 Chapter 6 Control Mode of Operation Note: Please refer to parameter P1-04 and P1-05 for proportional setting of analog output voltage. For example: P0-03 = 01 (MON1 is the analog output of motor speed; MON2 is the analog output of motor torque (force)) Motor speed (unit: Volts) MON1 output voltage = 8 ×...
  • Page 257 Chapter 6 Control Mode of Operation ASDA-A2 Control Mode： Unit： % (full scale) Range： 0 ~ 100 Data Size： 16-bit Format： Decimal Settings： Please refer to parameter P0-03 for the setting of analog output selection. For example: P0-03 = 0x0 (MON1 is the speed analog output) When the output voltage value of MON1 is V1: Motor speed = (Max.
  • Page 258 ASDA-A2 Chapter 6 Control Mode of Operation Unit： mV Range： -800 ~ 800 Data Size： 16-bit Format： Decimal Offset adjustment value (cannot reset). The calibration function needs Settings： to be enabled by P2-08. Address: 042AH Offset Adjustment Value of Analog Monitor P4-21 DOF2 Output (Ch2)

  • Page 259: The Use Of Brake

    Chapter 6 Control Mode of Operation ASDA-A2 6.6.4 The Use of Brake When operating brake via servo drive, if the DO signal, BRKR, is set to OFF, it means the brake is not working and the motor will be locked. If BRKR is set to ON, it means the brake is working and the motor can operate.
  • Page 260 ASDA-A2 Chapter 6 Control Mode of Operation The wiring diagram of using magnetic brake: Servo Drive Do not connect VDD-COM+ DOX：(DOX+,DOX-) Ensure the polarity of Diode is correct, or it When emergency stop signal X=1,2,3,4,5 might damage the drive is activated, this circuit Motor breaker will be enabled.
  • Page 261 Chapter 6 Control Mode of Operation ASDA-A2 (This page is intentionally left blank.) 6-64...

  • Page 262: Chapter 7 Motion Control

    Chapter 7 Motion Control Motion Control Functions of ASDA-A2 1) Single-axis motion controller of PR (Procedure) control 2) Function of Capture (data capture) / Compare (data compare) 3) Electronic Cam (E-Cam) function (ASDA-A2 series L type models do not support this function.) System Information The information of the servo drive can be divided into three parts: System parameters, Monitoring variables, and Data array.

  • Page 263: Description Of Monitoring Variables

    ASDA-A2 Chapter 7 Motion Control System Parameters Monitoring variables In Monitoring Mode, pressing the UP / DOWN keys on the panel to switch the Note commonly used monitoring variables (code 0 ~ 26); however, it cannot display all (about 150 in total). 7.2.1 Description of Monitoring Variables Description of monitoring variables: Item...
  • Page 264 Chapter 7 Motion Control ASDA-A2 The descriptions of monitoring variables attribute are as follows. Attribute Descriptions BASE: basic variables. Variables that can be viewed by UP/DOWN Key on the panel. When the panel displays, the position of the decimal point will be which means it only shows one decimal point;...
  • Page 265 ASDA-A2 Chapter 7 Motion Control Name of Variables / Code Descriptions Attribute Torque command The torque command is issued from analog channel. (analog) (0Ah) The unit is 0.01 Volt. B D2 Dec The integrated torque command. Torque command The unit is percentage (%). (0Bh) (processed) The source might be analog, register, or speed loop.
  • Page 266 Chapter 7 Motion Control ASDA-A2 Name of Variables / Code Descriptions Attribute Mapping monitoring Return the value of parameter P0-12 which is the (1Ah) variable # 4 monitoring variables mapped by P0-20. Alarm codes of DMCNET mode (applicable to A2-F, A2-N, Alarm codes and A2-M/U/L) (1Ch)
  • Page 267 ASDA-A2 Chapter 7 Motion Control Name of Variables / Code Descriptions Attribute The integrated torque command. Torque command The unit is 0.1 percent (%). (integrated) (35h) The source might be analog, register, or speed loop. D1 Dec Torque feedback Current actual torque (force) of the motor. (36h) The unit is 0.1 percent (%).
  • Page 268 Chapter 7 Motion Control ASDA-A2 Name of Variables / Code Descriptions Attribute The output commands of S-curve filter which is used to smooth the output command. S-curve filter (output) It is effective in PR mode, E-Cam and speed command. (45h) A2-L does not support this function.
  • Page 269 ASDA-A2 Chapter 7 Motion Control Name of Variables / Code Descriptions Attribute The differential The differential between the current position and Z phase between position and position of auxiliary encoder Z phase of auxiliary (74h) (applicable to A2-F) encoder (pulse) DMCNET connection DMCNET connection status (applicable to A2-F and A2-N) status...

  • Page 270: Description Of Data Array

    Chapter 7 Motion Control ASDA-A2 7.2.2 Description of Data Array Many functions of motion control, such as CAPTURE, COMPARE, and E-Cam (A2-L does not support E-Cam function), are the data that needs to be saved in large amount of memory space. Therefore, the servo drive reserves a continuous internal space to satisfy the need.
  • Page 271 ASDA-A2 Chapter 7 Motion Control Description of Related Parameter about Data Array Parameter Name Description Read via panel: After reading the content of P5-11, the value of P5-11 will increase 1 automatically. Write via panel: It cannot be written via panel. ------------------------------------------------------------------------------ Reading / Read via communication: After reading the content of P5-11,...
  • Page 272 Chapter 7 Motion Control ASDA-A2 If users desire to read / write the data array via communication, the operation procedure is similar to that of the panel. Moreover, the functions of P5-12 and P5-13 are the same. If users desire to write 6 data, 100, 200, 300, 400, 500, and 600 into the address of data array via Modbus communication command 0x10 (continuous writing), the content of the issued command is as the followings:...

  • Page 273: Description Of Motion Axes

    ASDA-A2 Chapter 7 Motion Control Description of Motion Axes The motion axis is an internal counter of the servo drive. It is used for counting the absolute position of the axis (32-bit integer). The following motion axes are included in this servo drive: Name of the Axis Description Access...

  • Page 274: Description Of Pr Mode

    Chapter 7 Motion Control ASDA-A2 Description of PR Mode PR Procedure: It is the smallest unit of command. Command could be one or many procedures to constitute. Procedure is triggered by DI.CTRG. POS0 ~ POS5 are used to specify the triggered procedure number.

  • Page 275: The Position Unit Of Pr Mode

    ASDA-A2 Chapter 7 Motion Control General PR Mode PR Mode in A2 Software limit protection The Position Unit of PR Mode The position data of PR mode is represented by PUU (Pulse of User Unit). It is also the proportion between the controller position unit and the internal position unit of the servo drive, which is the so- called electronic gear ratio of the servo drive.
  • Page 276 Chapter 7 Motion Control ASDA-A2 When issuing the command ＝＞When command is Type of ＝＞ Command is Command ＝＞ completed executing＝＞ Cmd_E does not Cmd_E+= command data change. Cmd_E does not change. Incremental (incremental) Positioning Cmd_O continuously Cmd_O = Cmd_E Cmd_O does not change.

  • Page 277: Homing Description Of Pr Mode

    ASDA-A2 Chapter 7 Motion Control Homing Description of PR Mode The purpose of homing is to connect the Z pulse position of motor encoder to the internal coordinate of the servo drive. The coordinate value corresponded by Z pulse can be specified. After homing is completed, the stopped position will not be the Z pulse.
  • Page 278 Chapter 7 Motion Control ASDA-A2 Description of command triggered method in PR mode: 64 command procedures are in each axis of PR mode. Procedure #0 is homing and the others (#1 ~ #63) are the procedures that users can self-define. The command triggered method is concluded as the followings: Command Source Description...

  • Page 279: Parameter Settings

    ASDA-A2 Chapter 7 Motion Control 7.10 Parameter Settings 1) Target speed: P5-60 ~ P5-75, 16 PR in total 15 ~ 0 TARGET_SPEED: 0.1 ~ 6000.0 (r/min) 2) Accel / Decel time: P5-20 ~ P5-35, 16 PR in total 15 ~ 0 T_ACC / T_DEC: 1 ~ 65500 (msec) Note: The deceleration time used by DI: STP/EMS/NL(CWL)PL(CCWL) is defined via P5-07.
  • Page 280 Chapter 7 Motion Control ASDA-A2 6) SPEED, 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 this command is executing, the motor accelerates or decelerates from the current speed until it reaches the target speed.
  • Page 281 ASDA-A2 Chapter 7 Motion Control 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 282 Chapter 7 Motion Control ASDA-A2 S_D: Specified data source and written target. Bit 27 Bit 26 Bit 25 Bit 24 Explanation SOUR Rsvd DEST Data Source Write Destination Constant Parameter Px-xx Parameter Px-xx Parameter Px-xx Data Array Parameter Px-xx Monitoring variable Parameter Px-xx Constant Data Array Parameter Px-xx...
  • Page 283 ASDA-A2 Chapter 7 Motion Control SOURCE: Settings of data source SOURCE 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 SOUR = 00 means Para_Data constant SOUR = 01 means Rsvd (0x0000 0)
  • Page 284 Chapter 7 Motion Control ASDA-A2 OPT: Bit 7 Bit 6 Bit 5 Bit 4 00: Always move forward (Forward Rotation) 01: Always move reverse (Reverse Rotation) 10: Shortest distance (Judging by the current position and target position) 11: Reserved Shortest Indexing distance Coordinate...
  • Page 285 ASDA-A2 Chapter 7 Motion Control 11) Homing Definition: P6-00 ~ P6-01, (64 bits) one set of PR. 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 6 5 ~ 0 BOOT DEC2 DEC1...

  • Page 286: The Relation Between The Previous Path And The Next Path

    Chapter 7 Motion Control ASDA-A2 ORG_DEF= P – S, and setup that PR: absolute positioning command = P (incremental positioning command = S will do as well) 7.10.1 The Relation between the Previous Path and the Next Path 1) Interrupt (the previous path) and overlap (the next path) can be set in every path OVLP OVLP Path 1...

  • Page 287: Programming The Path In Pr Mode

    ASDA-A2 Chapter 7 Motion Control 7.10.2 Programming the Path in PR Mode 1) Sequence command Speed Path 1: is AUTO and has set DLY Path 2: does not set INS (DLY starts to count after completing Path 1 Path 2 the command) Time DLY 1...

  • Page 288: The Description Of E-Cam Function

    Chapter 7 Motion Control ASDA-A2 7.11 The Description of E-Cam Function (A2-L does not support this function) E-Cam is a virtual cam which is implemented by software. It includes Master axis and Slave axis. The illustration is as the following: In PT mode, the position command (slave) is issued by the external pulse input (master).
  • Page 289 ASDA-A2 Chapter 7 Motion Control Machine Cam E-Cam Machine will wear and the Maintenance No need to maintain. maintenance is necessary. The master axis needs space and Save the space and energy which Others it consumes energy as well. protects the environment. The main feature of E-Cam is as the followings: Features of E-Cam Operation...
  • Page 290 Chapter 7 Motion Control ASDA-A2 E-Cam provided by this servo drive and below is its functional diagram: P5-84: Pulse number sent by master axis Master Gear Clutch P5-83: E-Cam rotation cycle axis Box#1 P5-88.ZU engaged P5-88.Y method E-Cam axis setting value P5-87 lead pulse P5-89 engaged distance Source...
  • Page 291 ASDA-A2 Chapter 7 Motion Control Status Description: Stop: It is the initial status of the cam. The E-cam will not operate  with the master pulse. When E-cam function is disabled (P5-88.X=0), it returns to this status. Pre-engage: When the engaged condition (path 1) is established, ...
  • Page 292 Chapter 7 Motion Control ASDA-A2 In pre-engaged status, the lead pulse is the moving distance of  master axis before the E-cam is engaged (path 3). It can be observed through the monitoring variable (061). Its value decreases when inputting the master pulse. When the value is 0, it enters Engaged status.
  • Page 293 ASDA-A2 Chapter 7 Motion Control Gear＃1, the description is as follows:  Set the relativity of master axis and E-cam axis.  Function E.g. The master axis operates one cycle; the E-cam axis has no need to operate one cycle. E-cam axis is a virtual axis.
  • Page 294 Chapter 7 Motion Control ASDA-A2  The start and final position is the same, it means after the E- cam operates a cycle, the slave axis returns to the origin position. E-Cam operates a cycle The position of slave axis The position of E-Cam The start and final position is different, it means after the E- cam operates a cycle, the slave axis does not return to the...

  • Page 295: Function Description Of Capture (Data Capture)

    ASDA-A2 Chapter 7 Motion Control If the pulse number of slave axis is L, the motor axis operates  Setting Method R cycle. P1-44:numerator Then, the setting of gear ratio is P1-44/P1-45＝1280000 x R/L P1-45:denominator The gear ratio of PT and PR is the same. ...
  • Page 296 Chapter 7 Motion Control ASDA-A2 CAPTURE Features Edge trigger can select contact A/B  It is able to continuously capture more than one point.  Trigger method It can set the trigger interval.  (The interval between this trigger and the next one.) Data storage Data array.

  • Page 297: Function Description Of Compare (Data Compare)

    ASDA-A2 Chapter 7 Motion Control The diagram of CAP: Data Array Enable Compare function The first axis …… POS 1 The first point is saved in P5-36 position can be POS 2 reset to the value POS 3 as P5-76 The second point is saved in P5-36 + 1 POS N The third point is saved in P5-36 + 2...
  • Page 298 Chapter 7 Motion Control ASDA-A2 COMPARE Features Compare Number It is set via P5-58 and will not exceed the limit of data array.  Compare Format 32-bit (It has positive and negative signs.)  It will be triggered when the source of compare axis pass ...
  • Page 299 ASDA-A2 Chapter 7 Motion Control (This page is intentionally left blank.) 7-38...

  • Page 300: Parameters

    Chapter 8 Parameters Parameter Definition Parameters are divided into eight groups which are shown as follows. The first character after the start code P is the group character and the second character is the parameter character. As for the communication address, it is the combination of group number along with two-digit number in hexadecimal.

  • Page 301: List Of Parameters

    Chapter 8 Parameters ASDA-A2 List of Parameters Monitor and General Output Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Factory Firmware Version P0-00★ Setting 10.1 Alarm Code Display of Drive P0-01■ 10.2 (Seven-segment Display) 10.3 P0-02 Drive Status P0-03...
  • Page 302 ASDA-A2 Chapter 8 Parameters Monitor and General Output Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Target Setting of Mapping P0-35 MAP1A 4.3.5 Parameter P0-25 Target Setting of Mapping P0-36 MAP2A 4.3.5 Parameter P0-26 Target Setting of Mapping P0-37 MAP3A 4.3.5...
  • Page 303 Chapter 8 Parameters ASDA-A2 Filter and Resonance Suppression Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Analog Speed Command P1-06 SFLT 6.3.3 (Low-pass Filter) Analog Torque Command P1-07 TFLT 6.4.3 (Low-pass Filter) Smooth Constant of P1-08 PFLT Position Command...
  • Page 304 ASDA-A2 Chapter 8 Parameters Filter and Resonance Suppression Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Resonance Suppression P2-46 DPH3 (Notch filter) Attenuation 6.3.7 Rate (3) Auto Resonance P2-47 ANCF Suppression Mode Setting Resonance Suppression P2-48 ANCL Detection Level...
  • Page 305 Chapter 8 Parameters ASDA-A2 Gain and Switch Parameter Related Parameter Abbr. Function Default Unit Control Mode Section pulse P2-29 Gain Switching 1280000 Kpps r/min Speed Loop Frequency P2-31■ AUT1 Response Setting in Auto 6.3.6 and Semi-auto Mode P2-32▲ AUT2 Tuning Mode Selection 6.3.6 (★) Read-only register.
  • Page 306 ASDA-A2 Chapter 8 Parameters Position Control Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S External Pulse Command (PT mode) P1-00▲ External Pulse Input Type 6.2.1 P1-44▲ Gear Ratio (Numerator) (N1) pulse 6.2.5 Gear Ratio (Denominator) P1-45▲...
  • Page 307 Chapter 8 Parameters ASDA-A2 Speed Control Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S pulse Input Setting of Control Mode P1-01● r/min and Control Command P1-02▲ PSTL Speed and Torque Limit Setting Output Pulse Counts Per One P1-46▲...
  • Page 308 ASDA-A2 Chapter 8 Parameters Torque Control Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S pulse Input Setting of Control Mode and P1-01● r/min Control Command P1-02▲ PSTL Speed and Torque Limit Setting Output Pulse Counts Per One P1-46▲...
  • Page 309 Chapter 8 Parameters ASDA-A2 Planning of Digital Input / Output Pin and Output Setting Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Table P2-12 DI3 Functional Planning 0x0116 Table P2-13 DI4 Functional Planning 0x0117 Table P2-14 DI5 Functional Planning 0x0102...
  • Page 310 ASDA-A2 Chapter 8 Parameters Planning of Digital Input / Output Pin and Output Setting Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S Table P1-54 Position Completed Range 12800 pulse O Table P1-56 Output Overload Warning Level (★) Read-only register.
  • Page 311 Chapter 8 Parameters ASDA-A2 Diagnosis Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S ASH1 Fault Record (N) 4.4.1 P4-00★ 4.4.1 ASH2 Fault Record (N-1) P4-01★ 4.4.1 ASH3 Fault Record (N-2) P4-02★ 4.4.1 ASH4 Fault Record (N-3) P4-03★...
  • Page 312 ASDA-A2 Chapter 8 Parameters () Not effective until re-power on or off the servo drive, e.g. parameters P1-01 and P3-00. () Parameters of no data retained setting, e.g. parameters P2-31 and P3-06. 8-13...

  • Page 313: Parameter Description

    Chapter 8 Parameters ASDA-A2 Parameter Description P0-xx Monitor Parameters Address: 0000H Firmware Version P0-00★ 0001H Operational Related Section: - Panel / Software Communication Interface： Default： Factory Setting Control Mode： Unit： - Range： - Data Size： 16-bit Format： Decimal Settings： This parameter shows the firmware version of the servo drive. Address: 0002H Alarm Code Display of Drive (Seven-segment P0-01■...
  • Page 314 ASDA-A2 Chapter 8 Parameters Address: 0004H P0-02 Drive Status 0005H Operational Related Section: Panel / Software Communication Interface： Default： 00 Control Mode： Unit： - Range： 0 ~ 127 Data Size： 16-bit Format： Decimal Displays the parameter setting. You can set the monitoring variable for Settings：...
  • Page 315 Chapter 8 Parameters ASDA-A2 MON1, MON2 Description Setting Value Motor speed (+/-8 Volts/Max. speed) Motor torque (+/-8 Volts/Max. torque) Pulse command frequency (+8 Volts／4.5 Mpps) Speed command (+/-8 Volts/ Max. speed command) Torque command (+/-8 Volts/Max. torque command) VBUS voltage (+/-8 Volts／450V) Reserved Reserved Note: Please refer to parameter P1-04 and P1-05 for proportional setting...
  • Page 316 ASDA-A2 Chapter 8 Parameters Settings： It shows the total startup time of the servo drive. Address: 0012H Status Monitor Register 1 P0-09★ 0013H Operational Related Section: Panel / Software Communication 4.3.5 Interface： Default： - Control Mode： Unit： - Range： - Data Size：...
  • Page 317 Chapter 8 Parameters ASDA-A2 Settings： Set the value to be monitored in P0-18 through the drive panel or communication. (Please refer to section 7.2.1, Description of Monitoring variable for the setting value.) To get the status, the communication port must read the communication address. Set P0-02 to 24, the panel displays VAR-2 first, and then shows the content of P0-10.
  • Page 318 ASDA-A2 Chapter 8 Parameters Settings： Set the value to be monitored in P0-20 through the drive panel or communication. (Please refer to section 7.2.1, Description of Monitoring Variable for the setting value.) To get the status, the communication port must read the communication address. Set P0-02 to 26, the panel displays VAR-4 first, and then shows the content of P0-12.
  • Page 319 Chapter 8 Parameters ASDA-A2 Address: 0022H P0-17 CM1A Status Monitor Register 1 Selection 0023H Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 127 Data Size： 16-bit Format： Decimal Settings： Please refer to section 7.2.1, Description of Monitoring Variable for the setting value.
  • Page 320 ASDA-A2 Chapter 8 Parameters Address:0026H P0-19 CM3A Status Monitor Register 3 Selection 0027H Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 127 Data Size： 16-bit Format： Decimal Settings： Please refer to section 7.2.1, Description of Monitoring Variable for the setting value.
  • Page 321 Chapter 8 Parameters ASDA-A2 Range： 0 ~ 127 Data Size： 16-bit Format： Decimal Settings： Please refer to section 7.2.1, Description of Monitoring Variable for the setting value. P0-22 ~ Reserved P0-24 Address: 0032H P0-25 MAP1 Mapping Parameter # 1 0033H Operational Related Section: Panel / Software...
  • Page 322 ASDA-A2 Chapter 8 Parameters Format： Hexadecimal Settings： The using method is the same as P0-25. The mapping target is set by parameter P0-36. Address: 0036H P0-27 MAP3 Mapping Parameter # 3 0037H Operational Related Section: Panel / Software Communication 4.3.5 Interface：...
  • Page 323 Chapter 8 Parameters ASDA-A2 Address: 003AH P0-29 MAP5 Mapping Parameter # 5 003BH Operational Related Section: Panel / Software Communication 4.3.5 Interface： Default： No need to initialize Control Mode： Unit： - Range： determined by the corresponding parameter of P0-39 Data Size： 32-bit Format：...
  • Page 324 ASDA-A2 Chapter 8 Parameters Unit： - Range： determined by the corresponding parameter of P0-41 Data Size： 32-bit Format： Hexadecimal Settings： The using method is the same as P0-25. The mapping target is set by parameter P0-41. Address: 0040H P0-32 MAP8 Mapping Parameter # 8 0041H Operational Related Section:...
  • Page 325 Chapter 8 Parameters ASDA-A2 Settings： Select the data block to access the parameter corresponded by register 1. The mapping content is 32 bits wide and can map to two 16-bit parameters or one 32-bit parameter. P0-35: Mapping parameter: P0-35; Mapping content: P0-25. When PH≠PL, it means the content of P0-25 includes two 16-bit parameters.
  • Page 326 ASDA-A2 Chapter 8 Parameters Address: 0048H P0-36 MAP2A Target Setting of Mapping Parameter P0-26 0049H Operational Related Section: Panel / Software Communication 4.3.5 Interface： Default： 0x00000000 Control Mode： Unit： - Range： determined by the communication address of the parameter group Data Size：...
  • Page 327 Chapter 8 Parameters ASDA-A2 Address: 004CH P0-38 MAP4A Target Setting of Mapping Parameter P0-28 004DH Operational Related Section: Panel / Software Communication 4.3.5 Interface： Default： 0x00000000 Control Mode： Unit： - Range： determined by the communication address of the parameter group Data Size：...
  • Page 328 ASDA-A2 Chapter 8 Parameters Address: 0050H P0-40 MAP6A Target Setting of Mapping Parameter P0-30 0051H Operational Related Section: Panel / Software Communication 4.3.5 Interface： Default： 0x00000000 Control Mode： Unit： - Range： determined by the communication address of the parameter group Data Size：...
  • Page 329 Chapter 8 Parameters ASDA-A2 Address: 0054H P0-42 MAP8A Target Setting of Mapping Parameter P0-32 0055H Operational Related Section: Panel / Software Communication 4.3.5 Interface： Default： 0x00000000 Control Mode： Unit： - Range： determined by the communication address of the parameter group Data Size：...
  • Page 330 ASDA-A2 Chapter 8 Parameters Status Monitor Register Selection Address: 005AH P0-45■ PCMNA (for PC software) 005BH Operational Related Section: Panel / Software Communication 4.3.5 Interface： Default： 0 Control Mode： Unit： - Range： 0~127 Data Size： 16-bit Format： Decimal Settings： Same as parameter P0-17 Address: 005CH SVSTS Servo Digital Output Status Display P0-46★...
  • Page 331 Chapter 8 Parameters ASDA-A2 Address: 0062H P0-49■ Renew Encoder Absolute Position 0063H Operational Related Section: N/A Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： N/A Range： 0x0000~0x0002 Data Size： 16-bit Format： Hexadecimaladecimal Settings：This parameter is used to renew the absolute position data of the encoder.
  • Page 332 ASDA-A2 Chapter 8 Parameters Bit 0: Absolute position status 0: Normal 1: Absolute position is lost Bit 1: Voltage level of battery 0: Normal 1: Low battery Bit 2: Status of encoder multiturn 0: Normal 1: Overflow Bit 3: Status of PUU 0: Normal 1: Overflow Bit 4: Absolute coordinate system status...
  • Page 333 Chapter 8 Parameters ASDA-A2 Default： 0x0 Control Mode： Unit： Pulse or PUU Range： - Data Size： 32-bit Format： Decimal Settings：While the Bit 1 of P2-70 is set to 1 to read the pulse number, this parameter represents the pulse number of encoder absolute position. While the Bit 1 of P2-70 is set to 0 to read the PUU number, this parameter represents the PUU number of motor absolute position.
  • Page 334 ASDA-A2 Chapter 8 Parameters For example: when P0-09 is used General Range Compare Digital Output – Address: 006CH P0-54 ZON1L Lower Limit of 1st Monitoring Variable 006DH Operational Related Section: N/A Panel / Software Communication Interface： Default： 0 Control Mode： Unit：...
  • Page 335 Chapter 8 Parameters ASDA-A2 General Range Compare Digital Output – Address: 006EH P0-55 ZON1H Upper Limit of 1st Monitoring Variable 006FH Operational Related Section: N/A Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size：...

  • Page 336: P1-Xx Basic Parameters

    ASDA-A2 Chapter 8 Parameters P1-xx Basic Parameters Address: 0100H P1-00▲ The Type of External Pulse Input 0101H Operational Related Section: Panel / Software Communication 6.2.1 Interface： Default： 0x0002 Control Mode： Unit： - Range： 0x0000 ~ 0x1142 Data Size： 16-bit Format： Hexadecimal Settings：...
  • Page 337 Chapter 8 Parameters ASDA-A2 Note: When the source of external pulse is from the high-speed differential signal and the setting value is 0 (the high-speed filter frequency is 3.33 Mpps at the moment), then: <150ns <150ns 150ns 150ns Pulse Input Pulse Input filtered signal filtered signal...
  • Page 338 ASDA-A2 Chapter 8 Parameters High-speed Pulse Input Pulse Logic Type Forward Reverse HSign = high HSign = low (38) (38) Pulse + HPulse HPulse (29) (29) Symbol (46) (46) HSign HSign (40) (40) Low-speed Pulse Input Pulse Logic Type Forward Reverse Sign = low Sign = high...
  • Page 339 Chapter 8 Parameters ASDA-A2 Max. Input Voltage Pulse Specification Forward Current Frequency Specification High-speed Differential 4 Mpps < 25 mA pulse Signal Differential 500 Kpps 2.8V ~ 3.7V < 25 mA Low-speed Signal pulse Open-collector 200 Kpps 24V (Max.) < 25 mA The Source of External Pulse: ...
  • Page 340 ▲ ▲ ▲ ▲ ▲ Dual Mode ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ ▲ CANopen Mode (work with Delta’s PLC) DMCNET Mode CANopen Mode EtherCAT Mode ▲ ▲ Multiple Mode ▲ ▲ ▲ ▲ ▲ ▲ 8-41...
  • Page 341 Chapter 8 Parameters ASDA-A2 PT: Position control mode; the command source is from the external pulse and the external analog voltage. PR: Position control mode; the command source is from the 64 sets of internal registers which you can select with DI.POS0 –...
  • Page 342 ASDA-A2 Chapter 8 Parameters Address: 0104H P1-02▲ PSTL Speed and Torque Limit Setting 0105H Operational Related Section: Panel / Software Communication Section 6.6 Interface： Table 8.1 Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x0011 Data Size： 16-bit Format： Hexadecimal Settings：...
  • Page 343 Chapter 8 Parameters ASDA-A2 When desiring to use the torque limit function, users could use parameter to set this value to 1 and limit the torque for good. Thus, the user can save one DI setting. Also, users could enable or disable the limit function via DI.TRQLM, which is a more flexible way but would need to take one DI setting.
  • Page 344 ASDA-A2 Chapter 8 Parameters Unit： % (full scale) Range： 0 ~ 100 Data Size： 16-bit Format： Decimal Settings： Please refer to parameter P0-03 for the setting of analog output selection. For example: P0-03 = 0x0 (MON1 is the speed analog output) When the output voltage value of MON1 is V1: Motor speed = (Max.
  • Page 345 Chapter 8 Parameters ASDA-A2 Data Size： 16-bit Format： Decimal Settings： 0: Disabled Address: 010EH P1-07 TFLT Analog Torque Command (Low-pass Filter) 010FH Operational Related Section: Panel / Software Communication 6.4.3 Interface： Default： 0 Control T / Tz Mode： Unit： ms Range：...
  • Page 346 ASDA-A2 Chapter 8 Parameters Address: 0112H Internal Speed Command 1／Internal Speed P1-09 0113H Limit 1 Operational Related Section: Panel / Software Communication 6.3.1 Interface： Default： 1000 Control S / T Mode： Unit： 0.1 r/min Range： -60000 ~ +60000 Data Size： 32-bit Format：...
  • Page 347 Chapter 8 Parameters ASDA-A2 Example： Internal speed command: 120 = 12 r/min Internal Speed limit: Positive value and negative value is the same. Please refer to the following description. Settings： Internal Speed Command 2: The setting of the 2 internal speed command Internal Speed Limit 2: The setting of the second internal speed limit Example of inputting internal speed limit:...
  • Page 348 ASDA-A2 Chapter 8 Parameters Address: 0118H Internal Torque Command 1／Internal Torque P1-12 0119H Limit 1 Operational Related Section: Panel / Software Communication 6.4.1 Interface： Default： 100 Control T / P, S Mode： Unit： % Range： -380 ~ +380 * Data Size： 16-bit Format：...
  • Page 349 Chapter 8 Parameters ASDA-A2 Format： Decimal Example： Internal Torque Command: 30 = 30% Internal Torque Limit: Positive value and negative value is the same. Please refer to the following description. Settings： Internal Torque Command 2: The setting of the second internal torque command Internal Torque Limit 2: The setting of the second internal torque limit Example of inputting internal torque limit:...
  • Page 350 ASDA-A2 Chapter 8 Parameters Note: please refer to the motor specification for the actual motor torque. If the actual maximum motor torque is 300%, the actual torque output will be 300% even when this parameter is set to 380%. Capture Synchronous Axis – Threshold of Address: 011EH P1-15 CXFT...
  • Page 351 Chapter 8 Parameters ASDA-A2 1 ~ F Function Disabled Average of 2 : Enabled Z: The setting of filter intensity (Bigger value brings less severe change and better filter effect) U: Value Definition (read-only): 0: Filter function is disabled. It means the error is greater than Y & X Range.
  • Page 352 ASDA-A2 Chapter 8 Parameters Address: 0122H Compensation of Following Error－Additional P1-17 TEET 0123H Time Setting Operational Related Section: Panel / Software Communication Interface： Default： 0 Control Mode： Unit： ms; the smallest unit is usec Range： -20.000 ~ +20.000 (three decimal places) Data Size：...
  • Page 353 Chapter 8 Parameters ASDA-A2 parameter with P1-21. Compensated Pulse Phase (pls) = P1-18 x (Pulse Frequency of E-Cam Master Axis (Kpps) – P1-21) Note: 1. The setting value of this parameter is proportioned to the value of the pulse frequency of E-Cam master axis. 2.
  • Page 354 ASDA-A2 Chapter 8 Parameters version V1.038 sub19 and later models only) Y: Reserved Z: Bit settings of Compare additional function settings: Function Automatically set P1-24 to 0. When Bit0 is set to 1, P1-24 will only be effective once and reset to 0 automatically. Otherwise, the value of P1-24 will remain Explanation unchanged.
  • Page 355 Chapter 8 Parameters ASDA-A2 Address: 012AH E-Cam Pulse Phase Compensation – Min. P1-21 CPCL 012BH Frequency Setting of Master Axis Operational Related Section: N/A Panel / Software Communication Interface： Default： 0 Control Mode： Unit： Kpps (Kpulse/sec) Range： 0 ~ 30000 Data 16-bit Size：...
  • Page 356 ASDA-A2 Chapter 8 Parameters Address: 012CH P1-22 SPF1 PR Special Filter Settings 012DH Operational Related Section: Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x107F Data 16-bit (format = UZYX) Size： Format： Hexadecimal Settings：YX: Acceleration time limit (0: Disabled, [1~127] x 10 ms). Units: 10 ms Z: Reserved U: Reverse inhibit (0: Disabled;...
  • Page 357 Chapter 8 Parameters ASDA-A2 Original Command Filtered Command Speed Command (PUU/ms) Time Normal Commands Overexcited Two commands are Commands overlapped. Filter function is enabled. Note: When this filter function is enabled, it may cause the motor goes beyond the original position. Usually, the motor will return to the original position after the command becomes stable.
  • Page 358 ASDA-A2 Chapter 8 Parameters Address: 012EH P1-23 CMOF COMPARE－Offset Data of CMP (non-volatile) 012FH Operational Related Section： Panel / Software Communication Interface： Default： 0 Control Mode： Unit： Pulse unit of compare source Range： -10000000 ~ +10000000 Data Size： 32-bit Format： Decimal Settings：...
  • Page 359 Chapter 8 Parameters ASDA-A2 Note: 1）P1-24: volatile parameter. 2）After setting, if P1-19.Z0 = 1, the value will be 0 automatically. 3）CMP_DATA can be monitored via monitoring variable V25h(037). Address: 0132H P1-25 VSF1 Low-frequency Vibration Suppression (1) 0133H Operational Related Section: Panel / Software Communication 6.2.9...
  • Page 360 ASDA-A2 Chapter 8 Parameters Address: 0136H P1-27 VSF2 Low-frequency Vibration Suppression (2) 0137H Operational Related Section: Panel / Software Communication 6.2.9 Interface： Default： 1000 Control PT / PR Mode： Unit： 0.1 Hz Range： 10 ~ 1000 Data Size： 16-bit Format： Decimal Example：...
  • Page 361 Chapter 8 Parameters ASDA-A2 Address: 013AH Auto Low-frequency Vibration Supression P1-29 AVSM Setting 013BH Operational Related Section: Panel / Software Communication 6.2.9 Interface： Default： 0 Control PT / PR Mode： Unit： - Range： 0 ~ 1 Data Size： 16-bit Format： DEC Settings：...
  • Page 362 ASDA-A2 Chapter 8 Parameters P1-31 Reserved Address: 0140H P1-32 LSTP Motor Stop Mode 0141H Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 0x20 Data Size： 16-bit Format： Hexadecimal Settings： Not in use Selection of executing dynamic brake Not in use Selection of executing dynamic brake: Stop Mode when Servo Off or...
  • Page 363 Chapter 8 Parameters ASDA-A2 Unit： ms Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings： Acceleration Constant of Speed: P1-34, P1-35 and P1-36, the acceleration time of speed command from zero to the rated speed, all can be set individually. Even when P1-36 is set to 0, it still has acceleration / deceleration of trapezoid- curve.
  • Page 364 ASDA-A2 Chapter 8 Parameters Address: 0148H Acceleration / Deceleration Constant of S- P1-36 Curve 0149H Operational Related Section: Panel / Software Communication 6.3.3 Interface： Default： 0 Control S, PR Mode： Unit： ms Range： 0 ~ 65500 (0: disable this function) Data Size：...
  • Page 365 Chapter 8 Parameters ASDA-A2 Address: 014AH Inertia Ratio and Load Weight Ratio to Servo P1-37 Motor 014BH Operational Related Section: - Panel / Software Communication Interface： Default： 1.0 Control Mode： Unit： 1 times 0.1 times Range： 0.0 ~ 200.0 0 ~ 2000 Data Size：...
  • Page 366 ASDA-A2 Chapter 8 Parameters Address: 014EH P1-39 SSPD Target Motor Detection Level 014FH Operational Related Section: Panel / Software Communication Table 8.2 Interface： Default： 3000 Control Mode： Unit： r/min Range： 0 ~ 5000 Data Size： 16-bit Format： Decimal Settings： When the target speed is reached, DO (TSPD) is enabled. It means when the motor speed in forward / reverse direction is higher than the setting value, the target speed is reached and enables DO.
  • Page 367 Chapter 8 Parameters ASDA-A2 Address: 0152H P1-41▲ Maximum Output of Analog Torque Speed 0153H Operational Related Section: Panel / Software Communication 6.4.4 Interface： Default： 100 Control Mode： Unit： % Range： 0 ~ 1000 Data Size： 16-bit Format： Decimal Settings： Maximum Output of Analog Torque Speed: In torque mode, the analog torque command inputs the torque setting of the max.
  • Page 368 ASDA-A2 Chapter 8 Parameters Address: 0156H P1-43 MBT2 Disable Delay Time of Brake 0157H Operational Related Section: Panel / Software Communication 6.5.5 Interface： Default： 0 Control Mode： Unit： ms Range： -1000 ~ 1000 Data Size： 16-bit Format： Decimal Settings： Set the delay time from servo OFF to switch off the signal of brake (BRKR).
  • Page 369 Chapter 8 Parameters ASDA-A2 Settings： Please refer to P2-60 ~ P2-62 for the setting of multiple gear ratio (numerator). Note: 1） In PT mode, the setting value can be changed when Servo ON. 2） In PR mode, the setting value can be changed when Servo OFF. 3）...
  • Page 370 ASDA-A2 Chapter 8 Parameters Address: 015CH P1-46▲ Pulse Number of Encoder Output 015DH Operational Related Section: - Panel / Software Communication Interface： Default： 2500 Control Mode： Unit： Pulse Range： 20 ~ 320000 Data Size： 32-bit Format： Decimal Settings： The number of single-phase pulse output per revolution. Setting range: 20 –...
  • Page 371 Chapter 8 Parameters ASDA-A2 Block diagram: 1. Speed command: It is the command issued by the user (without acceleration / deceleration), not the one of front end speed circuit. Source: Analog voltage and register 2. Feedback speed: The actual speed of the motor and have gone through the filter.
  • Page 372 ASDA-A2 Chapter 8 Parameters Block diagram: Description: 1. Command triggered: It means the new PR command is effective. Position command starts to output and clear signal 2, 4, 5, 6 at the same time. Command triggering source: DI.CTRG, DI.EV1/EV2, P5-07 (triggered through software), etc.
  • Page 373 Chapter 8 Parameters ASDA-A2 Address: 0162H P1-49 SPOKWT Accumulative Time of Speed Reached 0163H Operational Related Section: Panel / Software Communication Table 8.2 Interface： Default： 0 Control S / Sz Mode： Unit： ms Range： 0 ~ 65535 Data Size： 16-bit Format：...
  • Page 374 ASDA-A2 Chapter 8 Parameters Range： 220V Setting Model Range 400 W (included) or 30 ~ 750 below 750 W ~ 1.5 kW 20 ~ 750 2 kW ~ 4.5 kW 10 ~ 750 5.5 kW 8 ~ 750 7.5 kW 5 ~ 750 11 kW 8 ~ 750...
  • Page 375 Chapter 8 Parameters ASDA-A2 Control Mode： Unit： Watt Range： 0 ~ 6000 (for 11 kW and 15 kW, the setting range is from 0 to 15000) Data Size： 16-bit Format： Decimal Settings： 220V Model Default 200 W (included) or below 400 W 40 W 750 W ~ 1.5 kW...
  • Page 376 ASDA-A2 Chapter 8 Parameters External Regenerative Resistor (parallel connection) Setting: P1-52=5 (Ω) 1kW, 10Ω 1kW, 10Ω P1-53=2000 (W) Address: 016CH P1-54 Position Completed Range 016DH Operational Related Section: Panel / Software Communication Table 8.2 Interface： Default： 12800 Control PT / PR Mode：...
  • Page 377 Chapter 8 Parameters ASDA-A2 Address: 0170H P1-56 Output Overload Warning Level 0171H Operational Related Section: - Panel / Software Communication Interface： Default： 120 Control Mode： Unit： % Range： 0 ~ 120 Data Size： 16-bit Format： Decimal Settings： The setting value is 0 ~ 100, if the servo motor continuously outputs the load and is higher than the setting proportion (P1-56), the early warning for overload (DO is set to 10, OLW) will occur.
  • Page 378 ASDA-A2 Chapter 8 Parameters Address: 0174H P1-58 CRSHT Motor Crash Protection Time 0175H Operational Related Section: - Panel / Software Communication Interface： Default： 1 Control Mode： Unit： ms Range： 1 ~ 1000 Data Size： 16-bit Format： Decimal Settings： Setup the protection time: When it reaches the level, AL030 occurs after exceeding the protection time.
  • Page 379 Chapter 8 Parameters ASDA-A2 Original step analog speed command Holding Time Command that has gone through moving filter P1-60 ~ Reserved P1-61 Address: 017CH P1-62 FRCL Friction Compensation 017DH Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control PT / PR / S Mode：...
  • Page 380 ASDA-A2 Chapter 8 Parameters Address: 017EH P1-63 FRCT Friction Compensation 017FH Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control PT / PR / S Mode： Unit： ms Range： 1 ~ 1000 Data Size： 16-bit Format： Decimal Settings：...
  • Page 381 Chapter 8 Parameters ASDA-A2 Y: Initial position setting 0: After the servo is on, the motor will regard the current position as the position when the voltage is 0. Then the motor will operate to the position according to the analog input command. Motor position (Turn) When executing...
  • Page 382 ASDA-A2 Chapter 8 Parameters Range： 0 ~ 1000 Data Size： 16-bit Format： Decimal Settings： The smooth constant of analog position command is only effective to analog position command. Note: This function is available for firmware version v1.031 sub8 and above. Address: 0184H Max.
  • Page 383 Chapter 8 Parameters ASDA-A2 Range： 0 ~ 100 Data Size： 16-bit Format： Decimal Settings： 0: Disabled Moving Filter can activate smooth function in the beginning and the end of step command, but it will delay the command. P1-69 ~ Reserved P1-71 Address: 0190H Resolution of Linear Scale for Full-closed...
  • Page 384 ASDA-A2 Chapter 8 Parameters Address: 0192H Error Protection Range for Full-closed Loop P1-73 FERR Control 0193H Operational Related Section: Panel / Software Communication P2-34 Interface： Default： 30000 Control Mode： Unit： Pulse (based on the feedback of full-closed loop) Range： 1 ~ (2 Data Size：...
  • Page 385 Chapter 8 Parameters ASDA-A2 Switch of full-closed loop control  0: Function of full-closed loop is not used 1: Function of full-closed loop is used 2: Use the function of synchronous control Selection of OA/OB/OZ output source  0: Motor encoder is the output source 1: Encoder of linear scale is the output source Firmware version DSP V1.016 + CPLD 0.07(or the later version) will provide:...
  • Page 386 ASDA-A2 Chapter 8 Parameters Address: 0198H Maximum Rotation of Encoder Output Setting P1-76 AMSPD (OA, OB) 0199H Operational Related Section: Panel / Software Communication P1-46 Interface： Default： 5500 Control Mode： Unit： r/min Range： 0 ~ 6000 Data Size： 16-bit Format： Decimal Settings：...
  • Page 387 Chapter 8 Parameters ASDA-A2 Address: 01A4H Filter Switching Time between P1-40 and P1- P1-82 VCMLPF 01A5H Operational Related Section: Panel / Software Communication Interface： Default： 0 Control Mode： Unit： msec Range： 0 ~ 1000 (0: disable this function) Data Size： 16-bit Format：...
  • Page 388 ASDA-A2 Chapter 8 Parameters Address: 01A8H P1-87 HMTQL Torque Limit Setting 01A9H Operational Related Section: Panel / Software Communication Interface： Default： 1 Control Mode： Unit： % Range： 0 ~ 300 Data 16-bit Size： Format： Decimal Settings： The Torque limit setting is only for torque limit homing mode. As shown in the following diagram, when the homing command is triggered, the motor runs in one direction until it reaches the Hard Stop protector.
  • Page 389 Chapter 8 Parameters ASDA-A2 Address: 01AAH P1-88 HMTQT Torque Limit Time Setting 01ABH Operational Related Section: Panel / Software Communication Interface： Default： 2000 Control Mode： Unit： ms Range： 0 ~ 2000 Data Size： 16-bit Format： Decimal Settings： Torque limit time setting in torque limit homing mode. Address: 01CAH Disconnection detection protection (UVW) P1-98...

  • Page 390: P2-Xx Extension Parameters

    ASDA-A2 Chapter 8 Parameters P2-xx Extension Parameters Address: 0200H P2-00 Position Loop Gain 0201H Operational Related Section: Panel / Software Communication 6.2.8 Interface： Default： 35 Control PT / PR Mode： Unit： rad/s Range： 0 ~ 2047 Data Size： 16-bit Format： Decimal Settings：...
  • Page 391 Chapter 8 Parameters ASDA-A2 Address: 0204H P2-02 Position Feed Forward Gain 0205H Operational Related Section: Panel / Software Communication 6.2.8 Interface： Default： 50 Control PT / PR Mode： Unit： % Range： 0 ~ 100 Data Size： 16-bit Format： Decimal Settings： If the position control command is changed smoothly, increasing the gain value can reduce the position error.
  • Page 392 ASDA-A2 Chapter 8 Parameters Address: 0208H P2-04 Speed Loop Gain 0209H Operational Related Section: Panel / Software Communication 6.3.6 Interface： Default： 500 Control Mode： Unit： rad/s Range： 0 ~ 8191 Data Size： 16-bit Format： Decimal Settings： Increase the value of speed control gain can enhance the speed response.
  • Page 393 Chapter 8 Parameters ASDA-A2 Address: 020CH P2-06 Speed Integral Compensation 020DH Operational Related Section: Panel / Software Communication 6.3.6 Interface： Default： 100 Control Mode： Unit： rad/s Range： 0 ~ 1023 Data Size： 16-bit Format： Decimal Settings： Increasing the value of speed control integral compensation can enhance speed response and diminish the deviation of speed control.
  • Page 394 ASDA-A2 Chapter 8 Parameters Address: 0210H P2-08■ PCTL Special Parameter Write-in 0211H Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ 501 Data Size： 16-bit Format： Decimal Settings： Special parameter write-in: Parameter Function code...
  • Page 395 Chapter 8 Parameters ASDA-A2 Settings： When the environmental noise is big, increasing the setting value can enhance the control stability. However, if the value is set too big, the response time will be influenced. Address: 0214H P2-10 DI1 Functional Planning 0215H Operational Related Section:...
  • Page 396 ASDA-A2 Chapter 8 Parameters Range： 0x0000 ~ 0x015F (the last two codes are DI codes) Data Size： 16-bit Format： Hexadecimal Settings： Please refer to the description of P2-10. Address: 0218H P2-12 DI3 Functional Planning 0219H Operational Related Section: Panel / Software Communication Table 8.1 Interface：...
  • Page 397 Chapter 8 Parameters ASDA-A2 Address: 021CH P2-14 DI5 Functional Planning 021DH Operational Related Section: Panel / Software Communication Table 8.1 Interface： Default： 0x0102 Control Mode： Unit： - Range： 0x0000 ~ 0x015F (the last two codes are DI codes) Data Size： 16-bit Format：...
  • Page 398 ASDA-A2 Chapter 8 Parameters Range： 0x0000 ~ 0x015F (the last two codes are DI codes) Data Size： 16-bit Format： Hexadecimal Settings： Please refer to the description of P2-10. Address: 0222H P2-17 DI8 Functional Planning 0223H Operational Related Section: Panel / Software Communication Table 8.1 Interface：...
  • Page 399 Chapter 8 Parameters ASDA-A2 Settings： Output function selection Output contact Not in use Output function selection: Please refer to Table 8.2  Output contact: a or b contact  0: Set the output contact as normally closed (b contact) 1: Set the output contact as normally opened (a contact) (P2-18 ~ P2-22) The setting value of function programmed When parameters are modified, please re-start the servo drive to ensure it can work normally.
  • Page 400 ASDA-A2 Chapter 8 Parameters Format： Hexadecimal Settings： Please refer to the description of P2-18. Address: 022AH P2-21 DO4 Functional Planning 022BH Operational Related Section: Panel / Software Communication Table 8.2 Interface： Default： 0x0105 Control Mode： Unit： - Range： 0x0000 ~ 0x013F (the last two codes are DO codes) Data Size：...
  • Page 401 Chapter 8 Parameters ASDA-A2 Address: 022EH P2-23 NCF1 Resonance Suppression (Notch filter) (1) 022FH Operational Related Section: Panel / Software Communication 6.3.7 Interface： Default： 1000 Control Mode： Unit： Hz Range： 50 ~ 1000 Data Size： 16-bit Format： Decimal Settings： The first setting value of resonance frequency. If P2-24 is set to 0, this function is disabled.
  • Page 402 ASDA-A2 Chapter 8 Parameters Unit： 1 ms 0.1 ms Range： 0.0 ~ 100.0 0 ~ 1000 Data Size： 16-bit Format： One decimal Example： 1.5 = 1.5 ms 15 = 1.5 ms Settings： Set the low-pass filter of resonance suppression. When the value is set to 0, the function of low-pass filter is disabled.
  • Page 403 Chapter 8 Parameters ASDA-A2 Unit： - Range： 0x0000 ~ 0x0018 Data Size： 16-bit Format： Hexadecimal Settings： Gain switching conditon Gain switching method Not in use Gain switching condition:  0: Disable gain switching function. 1: The signal of gain switching (GAINUP) is ON. 2: In position control mode, the position error is bigger than the value of P2-29.
  • Page 404 ASDA-A2 Chapter 8 Parameters Address: 0238H P2-28 Gain Switching Time Constant 0239H Operational Related Section: - Panel / Software Communication Interface： Default： 10 Control Mode： Unit： 10 ms Range： 0 ~ 1000 Data Size： 16-bit Format： Decimal Example： 15 = 150 ms Settings：...
  • Page 405 Chapter 8 Parameters ASDA-A2 Address: 023CH P2-30■ Auxiliary Function 023DH Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -8 ~ +8 Data Size： 16-bit Format： Decimal Settings： 0: Disable all functions described below 1: Force to Servo On the software 2 ~ 4: (reserved) 5: This setting allows the written parameters not retain after power off.
  • Page 406 ASDA-A2 Chapter 8 Parameters Address: 023EH Speed Loop Frequency Response Setting in P2-31 AUT1 Auto and Semi-auto Mode 023FH Operational Related Section: Panel / Software Communication 5.6 and 6.3.6 Interface： Default： 40 Control Mode： Unit： Hz Range： 1 ~ 1000 Data Size：...
  • Page 407 Chapter 8 Parameters ASDA-A2 Relevant description of manual mode setting: When P2-32 is set to 0, parameters related to gain control, such as P2-00, P2-04, P2-06, P2-25 and P2-26, all can be set by the user. When switching mode from auto or semi-auto to manual, parameters about gain will be updated automatically.
  • Page 408 ASDA-A2 Chapter 8 Parameters Settings： Semi-auto setting Reserved Not in use Semi-auto Setting:  1: It means the inertia estimation in semi-auto mode is completed. The inertia value can be accessed via P1-37. 0: When the display is 0, it means the inertia adjustment is not completed and the adjustment is in progress.
  • Page 409 Chapter 8 Parameters ASDA-A2 Settings： The setting of excessive position control deviation warning in servo drive error display (P0-01) Address: 0248H P2-36 EDI9 Extended EDI9 Functional Planning 0249H Operational Related Section: Panel / Software Communication Table 8.1 Interface： Default： 0x0000 Control Mode：...
  • Page 410 ASDA-A2 Chapter 8 Parameters Format： Hexadecimal Settings： Please refer to the description of P2-36. Address: 024CH P2-38 EDI11 Extended EDI11 Functional Planning 024DH Operational Related Section: Panel / Software Communication Table 8.1 Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x015F (the last two codes are EDI codes) Data Size：...
  • Page 411 Chapter 8 Parameters ASDA-A2 Address: 0250H P2-40 EDI13 Extended EDI13 Functional Planning 0251H Operational Related Section: Panel / Software Communication Table 8.1 Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x015F (the last two codes are EDI codes) Data Size：...
  • Page 412 ASDA-A2 Chapter 8 Parameters Address: 0256H P2-43 NCF2 Resonance Suppression (Notch filter) (2) 0257H Operational Related Section: Panel / Software Communication 6.3.7 Interface： Default： 1000 Control Mode： Unit： Hz Range： 50 ~ 2000 Data Size： 16-bit Format： Decimal Settings： The second setting value of resonance frequency. If P2-44 is set to 0, this function is disabled.
  • Page 413 Chapter 8 Parameters ASDA-A2 Address: 025AH P2-45 NCF3 Resonance Suppression (Notch filter) (3) 025BH Operational Related Section: Panel / Software Communication 6.3.7 Interface： Default： 1000 Control Mode： Unit： Hz Range： 50 ~ 2000 Data Size： 16-bit Format： Decimal Settings： The third group of mechanism resonance frequency setting value. If P2-46 is set to 0, this function will be disabled.
  • Page 414 ASDA-A2 Chapter 8 Parameters Control Mode： Unit： - Range： 0 ~ 2 Data Size： 16-bit Format： Decimal Settings： 0: The value of P2-43, P2-44 and P2-45, P2-46 will retain. 1: The value of P2-43, P2-44 and P2-45, P2-46 will retain after resonance suppression.
  • Page 415 Chapter 8 Parameters ASDA-A2 Address: 0262H P2-49 SJIT Speed Detection Filter 0263H Operational Related Section: - Panel / Software Communication Interface： Default： 0x000B Control Mode： Unit： - Range： 0x0000 ~ 0x001F Data Size： 16-bit Format： Hexadecimal Settings：The filter of speed estimation Setting Value Speed Estimation Bandwidth (Hz) 2500...
  • Page 416 ASDA-A2 Chapter 8 Parameters Setting Value Speed Estimation Bandwidth (Hz) Address: 0264H P2-50 CCLR Pulse Clear Mode 0265H Operational Related Section: - Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x0001 Data Size： 16-bit Format：...
  • Page 417 Chapter 8 Parameters ASDA-A2 Address: 0268H P2-52▲ IDXS Indexing Coordinates Scale 0269H Operational Related Section: Panel / Software Communication Interface： Default： 1000000000 Control Mode： Unit： PUU Range： 0 ~ 1000000000 Data Size： 32-bit Format： Decimal Settings：This parameter is used to set the scale of the indexing coordinates, indexing command position and indexing feedback position.
  • Page 418 ASDA-A2 Chapter 8 Parameters Address: 026CH ▲ The Gain of Synchronous Speed Control P2-54 026DH Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： rad/s Range： 0 ~ 8191 Data Size： 16-bit Format： Decimal Settings： When increasing the value of synchronous speed control, it can enhance the speed following of two motors.
  • Page 419 Chapter 8 Parameters ASDA-A2 Settings： When increasing integral compensation to synchronous position, two motors speed following can be enhanced and the speed error between two motors can be reduced. However, if the value is set too big, it may easily cause vibration and noise It is suggested to set the value the same as P2-06.
  • Page 420 ASDA-A2 Chapter 8 Parameters P2-59 Reserved Address: 0278H P2-60 Gear Ratio (Numerator) (N2) 0279H Operational Related Section: - Panel / Software Communication Interface： Default： 128 Control Mode： Unit： pulse Range： 1 ~ (2 Data Size： 32-bit Format： Decimal Settings： The numerator of electronic gear ratio can be selected via DI.GNUM0 and DI.GNUM1 (Please refer to Table 8.1).
  • Page 421 Chapter 8 Parameters ASDA-A2 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P2-60. Address: 027CH P2-62 Gear Ratio (Numerator) (N4) 027DH Operational Related Section: - Panel / Software Communication Interface： Default： 128 Control Mode： Unit： pulse Range：...
  • Page 422 ASDA-A2 Chapter 8 Parameters Settings： Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8  Bit 4, Bit 7, and Bit14: Reserved, please set to 0.  Bit 0 ~ Bit1 Bit 0: SPD0/SPD1 speed trigger mode (0: action-level triggered;...
  • Page 423 Chapter 8 Parameters ASDA-A2 0: The command source is analog, ZCLAMP function will use the analog speed command without acceleration / deceleration processing to judge if this function should be enabled. The motor will be locked at the position where ZCALMP conditions are established.
  • Page 424 ASDA-A2 Chapter 8 Parameters  Bit 11: Pulse inhibit function 0: Disable NL / PL pulse input inhibit function. In PT mode, the external position pulse command will be input into the servo drive in any condition. 1: Enable NL / PL pulse input inhibit function. In PT mode, if NL exists, the external NL pulse will be inhibited to input to the servo.
  • Page 425 Chapter 8 Parameters ASDA-A2 Settings： Special-bit Register 2: Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit0 ~ Bit1: Reserved Bit2: Cancel latch function of low-voltage error 0: Latch function of low-voltage error: the error will not be cleared automatically.
  • Page 426 ASDA-A2 Chapter 8 Parameters Settings： In semi-auto mode, if the value of inertia estimation is smaller than P2- 67 and the status remains for a while, the system will regard the inertia estimation as completed. Address: 0288H P2-68 Switch of Following Error Compensation 0289H Operational Related Section: -...
  • Page 427 Chapter 8 Parameters ASDA-A2 Format： Hexadecimal Settings： Format: U Z Y X X: Setup the operation mode 0: Incremental mode. Servo motor with absolute encoder can be operated as incremental motor. 1: Absolute mode. (This setting is only available for the servo motor with absolute encoder.
  • Page 428 ASDA-A2 Chapter 8 Parameters Bit 3 ~ Bit15: Reserved. Must be set to 0 . Address: 028EH P2-71■ Absolute Position Homing 028FH Operational Related Section: - Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： - Range： 0 ~ 1 Data Size：...
  • Page 429 Chapter 8 Parameters ASDA-A2 YX: Range of filter (%) 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.
  • Page 430 ASDA-A2 Chapter 8 Parameters Unit： ms with fraction down to usec Range： -25.000 ~ +25.000, with 3 fraction digits Data Size： 16-bit Format： Decimal Settings： (This function is available in firmware version V1.038 sub26 and later models) This parameter is used to set for the compensation of delay time from digital input.
  • Page 431 Chapter 8 Parameters ASDA-A2 Range： 0x0000 ~ 0x6FF7 Data Size： 16-bit Format： Hexadecimal Settings：(This function is available in firmware version V1.038 sub26 and later models) Format＝UZYX. The functions are listed below. X: E-CAM Alignment Control Bit 3 Bit 2 Bit 1 Bit 0 Phase Alignment in Trigger PR...
  • Page 432 ASDA-A2 Chapter 8 Parameters Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0xFF7D Data Size： 16-bit (format = U Z Y X) Format： Hexadecimal Settings：(This function is available in firmware version V1.038 sub54 and later models) X: Pulse masking function of master axis / JOG function of master axis / INCH function of master axis Y: Correction of lead command length for pulse masking UZ: Pulse data when the master axis performs JOG or INCH function...
  • Page 433 Chapter 8 Parameters ASDA-A2 Complete and correct lead pulse  UZYX = 0x0020 (Write into EEPROM) Disable this function  UZYX = 0x0000 (This step can be ignored) E-Cam: Area Number #2 + (Polarity is Address: 029CH P2-78 CMAP Positive) 029DH Operational Related Section: N/A...
  • Page 434 ASDA-A2 Chapter 8 Parameters Data Size： 16-bit Format： Decimal Settings：The relationship between DO:CAM_Area2 and parameter values is shown below: P2-78 <= P2-79: E-Cam degree 0° ～ P2-78 ～ P2-79 ～ 360° DO:CAM_AREA2 P2-78 > P2-79: E-Cam degree 0° ～ P2-79 ～...

  • Page 435: P3-Xx Communication Parameters

    Chapter 8 Parameters ASDA-A2 P3-xx Communication Parameters Address: 0300H P3-00● Address Setting 0301H Operational Related Section: Panel / Software Communication Interface： Default： 0x007F Control Mode： Unit： - Range： 0x0001 ~ 0x007F Data Size： 16-bit Format： Hexadecimal Settings： The communication address setting is divided into Y, X (hexadecimal): Range 0 ~ 7 0 ~ F...
  • Page 436 4: 1.0 Mbit/s Definition of U setting value  0: Use Delta’s controller, such as PLC and HMI 3: Use Delta’s motion card Note: 1）If this parameter is set via CAN, only Z can be set and the others remain.
  • Page 437 Chapter 8 Parameters ASDA-A2 Address: 0304H P3-02 Communication Protocol 0305H Operational Related Section: Panel / Software Communication Interface： Default： 0x0006 Control Mode： Unit： - Range： 0x0000 ~ 0x0008 Data Size： 16-bit Format： Hexadecimal Settings： The definition of the setting value is as the followings: 0: 7, N, 2 (MODBUS, ASCII) 1: 7, E, 1 (MODBUS, ASCII) 2: 7, O,1 (MODBUS, ASCII)
  • Page 438 ASDA-A2 Chapter 8 Parameters Address: 0308H P3-04 Communication Timeout 0309H Operational Related Section: Panel / Software Communication Interface： Default： 0 Control Mode： Unit： sec Range： 0 ~ 20 Data Size： 16-bit Format： DEC Settings： If the setting value is not 0, enable communication timeout immediately.
  • Page 439 Chapter 8 Parameters ASDA-A2 Address: 030CH P3-06■ Control Switch of Digital Input (DI) 030DH Operational Related Section: Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x3FFF Data Size： 16-bit Format： Hexadecimal Settings： The source of DI controls the switch. Each bit of this parameter decides one input source of DI signal: Bit0 ~ Bit7 correspond to DI1 ~ DI8.
  • Page 440 ASDA-A2 Chapter 8 Parameters P3-08 Reserved Address: 0312H P3-09 CANopen / DMCNET Synchronize Setting 0313H Operational Related Section: Panel / Software Communication Interface： Default： 0x3511 (for DMCNET models) 0x5055 (for other models) Control CANopen / DMC Mode： Unit： - Range： Shown as below Data Size：...
  • Page 441 Chapter 8 Parameters ASDA-A2 Address: 0314H P3-10 CANEN CANopen / DMCNET Protocol Setting 0315H Operational Related Section: Panel / Software Communication Section 9.2 Interface： Default： 0x0001 (for DMCNET models) 0x0000 (for other models) Control CANopen / DMC Mode： Unit： - Range：...
  • Page 442 ASDA-A2 Chapter 8 Parameters Address: 0318H P3-12 QSTPO CANopen / DMCNET Support Setting 0319H Operational Related Section: Panel / Software Communication Section 9.2 Interface： Default： 0x0000 Control CANopen / DMC Mode： Unit： - Range： 0x0000 ~ 0x0111 Data Size： 16-bit Format：...
  • Page 443 Chapter 8 Parameters ASDA-A2 CANopen OD or DMCNET parameter. The setting of Z (Hexadecimal) can determine if it should be modified. This function is applicable in CAN mode: 0xB or 0xC (P1-01 = b or c) or DMC mode: 0xB (P1-01 = Z: Determine if the value of default parameters will overlap parameters from P groups.
  • Page 444 ASDA-A2 Chapter 8 Parameters Methods that save parameters in EEPROM (even when the power is off): SDO: When setting parmeters, parameters will be stored in EEPROM. Note: In CANopen mode, when using the function of OD 1010 Store Parameter and P3-12.Z = 0, the default value will be different from the value shown above.

  • Page 445: P4-Xx Diagnosis Parameters

    Chapter 8 Parameters ASDA-A2 P4-xx Diagnosis Parameters Address: 0400H ASH1 Fault Record (N) P4-00★ 0401H Operational Related Section: Panel / Software Communication 4.4.1 Interface： Default： 0x00000000 Control Mode： Unit： - Range： - Data Size： 32-bit Format： Hexadecimal Settings： The last abnormal status record Low word: LXXXX: display ALM number High word: hYYYY: display the corresponding CANopen / DMCNET error code.
  • Page 446 ASDA-A2 Chapter 8 Parameters Address: 0404H ASH3 Fault Record (N-2) P4-02★ 0405H Operational Related Section: Panel / Software Communication 4.4.1 Interface： Default： 0x00000000 Control Mode： Unit： - Range： - Data Size： 32-bit Format： Hexadecimal Settings： The last third abnormal status record Low word: LXXXX: display ALM number High word: hYYYY: display the corresponding CANopen / DMCNET error code...
  • Page 447 Chapter 8 Parameters ASDA-A2 Address: 0408H ASH5 Fault Record (N-4) P4-04★ 0409H Operational Related Section: Panel / Software Communication 4.4.1 Interface： Default： 0x00000000 Control Mode： Unit： - Range： - Data Size： 32-bit Format： Hexadecimal Settings： The last fifth abnormal status record Low word: LXXXX: display ALM number High word: hYYYY: display the corresponding CANopen / DMCNET error code...
  • Page 448 ASDA-A2 Chapter 8 Parameters 3. Communication Control 1 ~ 5000: JOG speed 4998: JOG operation in positive direction 4999: JOG operation in negative direction 0: Stop operation Note: When writing via communication, if the frequency is high, please set P2-30 to 5. Address: 040CH Digital Output Register (Readable and P4-06■...
  • Page 449 Chapter 8 Parameters ASDA-A2 Address: 040EH P4-07■ ITST Multi-function of Digital Input 040FH Operational Related Section: Panel / Software Communication Section 4.4.4 Interface： Section 9.2 Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x3FFF Data Size： 16-bit Format： Hexadecimal Settings：...
  • Page 450 ASDA-A2 Chapter 8 Parameters Address: 0410H PKEY Input Status of the Drive Keypad (Read-only) P4-08★ 0411H Operational Related Section: - Panel / Software Communication Interface： Default： - Control Mode： Unit： - Range： (read-only) Data Size： 16-bit Format： Hexadecimal Settings： The aim is to check if the five keys, MODE, UP, DOWN, SHIFT, and SET, can work normally.
  • Page 451 Chapter 8 Parameters ASDA-A2 Range： 0 ~ 6 Data Size： 16-bit Format： Decimal Settings： 0: reserved 1: Execute the calibration of analog speed input offset 2: Execute the calibration of analog torque input offset 3: Execute the calibration of current detector (V phase) hardware offset 4: Execute the calibration of current detector (W phase) hardware offset 5: Execute the calibration of 1 ~ 4 hardware offset...
  • Page 452 ASDA-A2 Chapter 8 Parameters Address: 0418H P4-12 SOF2 Analog Speed Input Offset Adjustment 2 0419H Operational Related Section: - Panel / Software Communication Interface： Default： Factory default Control Mode： Unit： - Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings：...
  • Page 453 Chapter 8 Parameters ASDA-A2 Address: 041CH P4-14 TOF2 Analog Torque Input Offset Adjustment 2 041DH Operational Related Section: - Panel / Software Communication Interface： Default： Factory default Control Mode： Unit： - Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings：...
  • Page 454 ASDA-A2 Chapter 8 Parameters Address: 0420H Current Detector (V2 Phase) Offset P4-16 COF2 Adjustment 0421H Operational Related Section: - Panel / Software Communication Interface： Default： Factory default Control Mode： Unit： - Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings：...
  • Page 455 Chapter 8 Parameters ASDA-A2 Address: 0424H Current Detector (W2 Phase) Offset P4-18 COF4 Adjustment 0425H Operational Related Section: - Panel / Software Communication Interface： Default： Factory default Control Mode： Unit： - Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings：...
  • Page 456 ASDA-A2 Chapter 8 Parameters Address: 0428H Offset Adjustment Value of Analog Monitor P4-20 DOF1 Output (Ch1) 0429H Operational Related Section: Panel / Software Communication 6.4.4 Interface： Default： 0 Control Mode： Unit： mV Range： -800 ~ 800 Data Size： 16-bit Format： Decimal Settings：...
  • Page 457 Chapter 8 Parameters ASDA-A2 Range： -5000 ~ 5000 Data Size： 16-bit Format： Decimal Settings： Users manually adjust the offset value. Address: 042EH P4-23 Analog Torque Input OFFSET 042FH Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode：...
  • Page 458 ASDA-A2 Chapter 8 Parameters 400V Series Address: 0430H P4-24 Level of Under voltage Error 0431H Operational Related Section: - Panel / Software Communication Interface： Default： 320 Control Mode： Unit： V (rms) Range： 140 ~ 380 Data Size： 16-bit Format： Decimal Settings：...

  • Page 459: P5-Xx Motion Setting Parameters

    Chapter 8 Parameters ASDA-A2 P5-xx Motion Setting Parameters P5-00 ~ Reserved P5-02 Address: 0506H P5-03 PDEC Deceleration Time of Auto Protection 0507H Operational Related Section: - Panel / Software Communication Interface： Default： 0XEEFEEFF Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size：...
  • Page 460 ASDA-A2 Chapter 8 Parameters Address: 0508H P5-04 HMOV Homing Mode 0509H Operational Related Section: - Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000 ~ 0x0128 Data Size： 16-bit Format： Hexadecimal Settings： X: Homing method Y: Z pulse setting Z: Limit setting W: Reserved Not in use...
  • Page 461 Chapter 8 Parameters ASDA-A2 The definition of the setting value is as the followings: Reserved Limit Setting Z pulse Setting Homing Method 0 ~ 1 0 ~ 2 0 ~ 8 Y = 0: Stop and X = 0: Homing in forward return to Z direction and regard pulse...
  • Page 462 ASDA-A2 Chapter 8 Parameters Reserved Limit Setting Z pulse Setting Homing Method 0 ~ 1 0 ~ 2 0 ~ 8 When Y = 0: Stop and X = 7: Homing in reverse encounter limit: return to Z direction pulse Z = 0: shows ORGP: ON >...
  • Page 463 Chapter 8 Parameters ASDA-A2 Address: 050CH P5-06 HSPD2 2 Speed Setting of Low Speed Homing 050DH Operational Related Section: - Panel / Software Communication Interface： Default： 20.0 Control PR (This has to be set with P5-04) Mode： Unit： 1 r/min 0.1 r/min Range：...
  • Page 464 ASDA-A2 Chapter 8 Parameters When PR is triggered by DI, the reading value is the same For example: Set P5-07 to 3, PR#3 will be triggered. If the reading value is 3, it means PR #3 is incomplete. If the reading value is 10003, it means PR#3 is issued completely, but the motor has not reached the target position yet.
  • Page 465 Chapter 8 Parameters ASDA-A2 Address: 0514H AYSZ P5-10★ Data Array－Data Size 0515H Operational Related Section: Panel / Software Communication Interface： Default： - Control Mode： Unit： - Range： Read-only Data Size： 16-bit Format： Decimal Settings： Data size (N x 32 bits) means size N of data array. Address: 0516H P5-11■...
  • Page 466 ASDA-A2 Chapter 8 Parameters Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Window #1 (Array[P5-11++]) When reading the parameter via panel, the value set by P5-11 will not add 1, but the others will. Address: 051AH P5-13■ AYD1 Data Array - Window #2 for Reading / Writing 051BH Operational...
  • Page 467 Chapter 8 Parameters ASDA-A2 Address: 051EH P5-15■ PMEM PATH#1 ~ PATH#2 No Data Retained Setting 051FH Operational Related Section: - Panel / Software Communication Interface： Default： 0x00000 Control Mode： Unit： - Range： 0x0000 ~ 0x0011 Data Size： 16-bit Format： Hexadecimal Settings：...
  • Page 468 ASDA-A2 Chapter 8 Parameters Address: 0522H P5-17 AXAU Axis Position - Auxiliary Encoder 0523H Operational Related Section: Panel / Software Communication Interface： Default： 0 Control Mode： Unit： Pulse number Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Sends back: pulse counts of the auxiliary encoder (linear scale) Address: 0524H P5-18 AXPC Axis Position - Pulse Command...
  • Page 469 Chapter 8 Parameters ASDA-A2 Address: 0526H P5-19 E-Cam Curve Scaling 0527H Operational Related Section: - Panel / Software Communication Interface： Default： 1.000000 Control Mode： Unit： 0.000001 times, which is 1 / (10^6) Range： -2147.000000 ~ +2147.000000 Data Size： 32-bit Format： DEC Example：...
  • Page 470 ASDA-A2 Chapter 8 Parameters Address: 052AH P5-21 Acceleration/Deceleration Time (Number #1) 052BH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 300 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode.
  • Page 471 Chapter 8 Parameters ASDA-A2 Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode. Address: 0530H P5-24 Acceleration/Deceleration Time (Number #4) 0531H Operational Related Section: Panel / Software Communication 7.10 Interface：...
  • Page 472 ASDA-A2 Chapter 8 Parameters Address: 0534H P5-26 Acceleration/Deceleration Time (Number #6) 0535H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 1000 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode.
  • Page 473 Chapter 8 Parameters ASDA-A2 Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode. Address: 053AH P5-29 Acceleration/Deceleration Time (Number #9) 053BH Operational Related Section: Panel / Software Communication 7.10 Interface：...
  • Page 474 ASDA-A2 Chapter 8 Parameters Address: 053EH P5-31 AC11 Acceleration/Deceleration Time (Number #11) 053FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 3000 Control Mode： Unit： ms Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode.
  • Page 475 Chapter 8 Parameters ASDA-A2 Range： 1 ~ 65500 Data Size： 16-bit Format： Decimal Settings： Please refer to P5-20 for the setting of acceleration/deceleration time in PR mode. Address: 0544H P5-34 AC14 Acceleration/Deceleration Time (Number #14) 0545H Operational Related Section: Panel / Software Communication 7.10 Interface：...
  • Page 476 ASDA-A2 Chapter 8 Parameters Address: 0548H P5-36 CAST CAPTURE - Start Address of Data Array 0549H Operational Related Section: Panel / Software Communication 7.11.1 Interface： Default： 0 Control Mode： Unit： - Range： 0 ~ (value set by P5-10 minus 1) Data Size：...
  • Page 477 Chapter 8 Parameters ASDA-A2 Address: 054CH P5-38■ CANO CAPTURE－The Number of Capturing Times 054DH Operational Related Section: Panel / Software Communication 7.11.1 Interface： Default： 1 Control Mode： Unit： - Range： 1 ~ (the value set by P5-10 minus the value set by P5-36) Data Size：...
  • Page 478 ASDA-A2 Chapter 8 Parameters Settings： Low word X: See the following table After Execute PR Reset the capturing the when position of X function first data, Activate CAP finishing the first CMP is capturing data activated. Starts to After capture when capturing Execute PR It is invalid...
  • Page 479 Chapter 8 Parameters ASDA-A2 Address: 0550H Delay Time After Position Completed (Number P5-40 DLY0 0551H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： ms Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings： The 1 Delay Time of PR mode Address: 0552H Delay Time After Position Completed (Number...
  • Page 480 ASDA-A2 Chapter 8 Parameters Address: 0554H Delay Time After Position Completed (Number P5-42 DLY2 0555H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 200 Control Mode： Unit： ms Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings： The 3 Delay Time of PR mode Address: 0556H Delay Time After Position Completed (Number...
  • Page 481 Chapter 8 Parameters ASDA-A2 Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings： The 5 Delay Time of PR mode Address: 055AH Delay Time After Position Completed (Number P5-45 DLY5 055BH Operational Related Section: Panel / Software Communication 7.10 Interface：...
  • Page 482 ASDA-A2 Chapter 8 Parameters Address: 055EH Delay Time After Position Completed (Number P5-47 DLY7 055FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 1500 Control Mode： Unit： ms Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings： The 8 Delay Time of PR mode Address: 0560H Delay Time After Position Completed (Number...
  • Page 483 Chapter 8 Parameters ASDA-A2 Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings： The10 Delay Time of PR mode Address: 0564H Delay Time After Position Completed (Number P5-50 DLY10 #10) 0565H Operational Related Section: Panel / Software Communication 7.10 Interface：...
  • Page 484 ASDA-A2 Chapter 8 Parameters Address: 0568H Delay Time After Position Completed (Number P5-52 DLY12 #12) 0569H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 4000 Control Mode： Unit： ms Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings：...
  • Page 485 Chapter 8 Parameters ASDA-A2 Range： 0 ~ 32767 Data Size： 16-bit Format： Decimal Settings： The 15 Delay Time of PR mode Address: 056EH Delay Time After Position Completed (Number P5-55 DLY15 #15) 056FH Operational Related Section: Panel / Software Communication 7.10 Interface：...
  • Page 486 ASDA-A2 Chapter 8 Parameters Address: 0572H P5-57■ CMAX COMPARE－Axis Position 0573H Operational Related Section: Panel / Software Communication 7.11.2 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： The axis position of COMPARE pulse source is displayed here. It is writable only when COMPARE stops (please refer to P5-59).
  • Page 487 Chapter 8 Parameters ASDA-A2 Settings： When COMPARE stops, it means the number of data that expect to compare (readable and writable). When COMPARE activates, it means the number of data that has not been compared (read-only); every time, when it compares one data, the value of P5-38 will subtract one.
  • Page 488 ASDA-A2 Chapter 8 Parameters Settings： CBA: duration of pulse output Reserved Low bit High bit X: See the following table. After When finishing finishing CMP is X function comparing, comparing, Cycle mode activated the counter CAP is returns to 0. activated.
  • Page 489 Chapter 8 Parameters ASDA-A2 bit 0: When the value of P5-58 is more than 0, setting bit 0 to 1 will activate CMP. When comparing one data, the value of P5-58 will subtract 1. When P5-58 is set to 0, the comparing is completed and returns to 0.
  • Page 490 ASDA-A2 Chapter 8 Parameters Address: 057AH P5-61 POV1 Target Speed Setting #1 057BH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 50.0 Control Mode： 0.1 r/min Unit： 1 r/min Range： 0.1 ~ 6000.0 1 ~ 60000 Data Size： 16-bit Format：...
  • Page 491 Chapter 8 Parameters ASDA-A2 Address: 057EH P5-63 POV3 Target Speed Setting #3 057FH Operational Related Section: Panel / Software Communication 7.10 Interface： 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 Format：...
  • Page 492 ASDA-A2 Chapter 8 Parameters Address: 0582H P5-65 POV5 Target Speed Setting #5 0583H Operational Related Section: Panel / Software Communication 7.10 Interface： 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 Format：...
  • Page 493 Chapter 8 Parameters ASDA-A2 Address: 0586H P5-67 POV7 Target Speed Setting #7 0587H Operational Related Section: Panel / Software Communication 7.10 Interface： 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 Format：...
  • Page 494 ASDA-A2 Chapter 8 Parameters Address: 058AH P5-69 POV9 Target Speed Setting #9 058BH Operational Related Section: Panel / Software Communication 7.10 Interface： 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 Format：...
  • Page 495 Chapter 8 Parameters ASDA-A2 Address: 058EH P5-71 POV11 Target Speed Setting #11 058FH Operational Related Section: Panel / Software Communication 7.10 Interface： 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 Format：...
  • Page 496 ASDA-A2 Chapter 8 Parameters Address: 0592H P5-73 POV13 Target Speed Setting #13 0593H Operational Related Section: Panel / Software Communication 7.10 Interface： 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 Format：...
  • Page 497 Chapter 8 Parameters ASDA-A2 Address: 0596H P5-75 POV15 Target Speed Setting #15 0597H Operational Related Section: Panel / Software Communication 7.10 Interface： 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 Format：...
  • Page 498 ASDA-A2 Chapter 8 Parameters Address: 059AH The Position of Synchronous Capture Axis P5-77■ CSAX (CAP SYNC AXES) 059BH Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format：...
  • Page 499 Chapter 8 Parameters ASDA-A2 Address: 059EH Error Pulse Number of Synchronous Capture P5-79■ CSDS Axis 059FH Operational Related Section: - Panel / Software Communication Interface： Default： 0 Control Mode： Unit： Pulse unit of capture axis Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format：...
  • Page 500 ASDA-A2 Chapter 8 Parameters Settings： This parameter limits the percentage (%) of synchronous adjustment. Correction rate = pulse number output by synchronous axis /pulse number input by synchronous axis ( 100 − P5 − 80 ) % < ���������������������������� < (100 + ��5 − 80)% The bigger correction rate, the faster the synchronous error becomes 0.
  • Page 501 Chapter 8 Parameters ASDA-A2 Unit： - Range： 5 ~ 720, must < = (P5-10－P5-81) And P5-82 x P5-84 ＜＝ 2147483647 Data Size： 16-bit Format： Decimal Settings： It means the E-Cam curve is divided into N area, and the table should include N+1 data.
  • Page 502 ASDA-A2 Chapter 8 Parameters Range： 10 ~ 1073741823, and P5-82 x P5-83 ＜＝ P5-84 and P5-82 x P5-84 ＜＝ 2147483647 Data Size： 32-bit Format： Decimal Settings： When receiving pulse number P of the Master, E-Cam will rotate M circle, which means the M cycle of the E-Cam table. Note: 1.
  • Page 503 Chapter 8 Parameters ASDA-A2 Data Size： 32-bit Format： Decimal Settings： The position counter of the E-Cam Master Note: 1. This parameter can be written when E-Cam stops (Please refer to P5-88, X=0). 2. A2-L does not support E-Cam function. Address: 05AEH P5-87 PLED E-CAM: Lead Pulse...
  • Page 504 ASDA-A2 Chapter 8 Parameters Unit： - Range： 0x00000000 ~ 0x203FF257 Data 32-bit Size： Format： Hexadecimal Settings： The format of this parameter: (High word h) S0BA：(Low word L) UZYX Definition of each column is as follows: X: E-Cam command  Description of each bit: P5-19 is It is available after V1.038 sub48: effective...
  • Page 505 Chapter 8 Parameters ASDA-A2 U: Disengaging Condition (2, 4 and 6 cannot be selected at the  same time) Action after Disengaged Condition disengaged Never disengaged － Disengage after DI.CAM is OFF In STOP status Master axis receives the pulse number which is set by P5-89 and stops immediately.
  • Page 506 ASDA-A2 Chapter 8 Parameters Address: 05B2H P5-89 ECRD E-CAM: Information of Disengaging Time 05B3H Operational Related Section: Panel / Software Communication 7.11 Interface： Default： 0 Control Mode： Unit： - Range： -1073741824 ~ +1073741823 Data Size： 32-bit Format： Decimal Settings： (Please refer to the definition of P5-88 U setting value 2) Note: A2-L does not support E-Cam function.
  • Page 507 Chapter 8 Parameters ASDA-A2 Address: 05B6H P5-91 CMAN E-CAM: AREA No. - The Point of DO OFF 05B7H Operational Related Section: Panel / Software Communication 7.11 Interface： Default： 360 Control Mode： Unit： Degree (It was changed after firmware V1.009) Range： 0 ~ 360 Data Size：...
  • Page 508 ASDA-A2 Chapter 8 Parameters The pulse number sent by the Master must exceed the setting value of this parameter so that E-cam will engage again. In other words, E-cam will engage not until the lead pulse is ignored. If the symbol of this parameter is ＋, it means the received positive pulse will be regarded as the lead pulse.
  • Page 509 Chapter 8 Parameters ASDA-A2 Settings： Before issuing the macro command, the relevant parameters # 3 must be set in advance. The function of the parameter is determined by the macro command. Not every macro command has its relevant parameters. Address: 05BEH Motion Control Macro Command: Command P5-95 CSDS...
  • Page 510 ASDA-A2 Chapter 8 Parameters Address: 05C2H Motion Control Macro Command: Issue P5-97■ CSDS Command / Executing Result 05C3H Operational Related Section: - Panel / Software Communication Interface： Default： 0x0000 Control Mode： Unit： - Range： 0x0000~0x099F Data Size： 16-bit Format： Hexadecimal Settings：...
  • Page 511 Chapter 8 Parameters ASDA-A2 0xF031 repeat. Failure code Wrong password setting: P5-95 is not equal to P5-96. 0xF032 Failure code Password setting exceeds the allowable range (1 ~ 0xF033 16777215). Failure code The protection level, P5-94 exceeds the allowable range (-1 0xF034 ~ 7).
  • Page 512 ASDA-A2 Chapter 8 Parameters P5-95= B (Deceleration ratio: denominator) P5-96= 1000000 x R x V Among them: R (cutting ratio) = L (cutting length)／ℓ (Girth of cutter) Allowable cutting ratio: (0.3 ~ 2.5) times Ｖ(Speed factor) = target cutting speed／speed of delivered product V=1.0: When cutting, the speed of cutter is the same as the product...
  • Page 513 Chapter 8 Parameters ASDA-A2 Command code Create E-Cam table: Flying cut (multi-degree of freedom) 0x0007 General P5-81 = Address of table (data array) parameters P5-82 = N (30~72) (Area number of E-Cam) P1-44, P1-45 = E-gear ration (has to be setup first) Macro parameters P5-93.H16 (high 16-bit) = S P5-93.L16 (low 16-bit) = W...
  • Page 514 ASDA-A2 Chapter 8 Parameters it when E-Cam is in engaged status. In E-Cam application, parameters, such as P5-83 and P5-84 that are not related to this macro are not listed here. Users could setup parameters according to the real application. Please refer to Chapter 7, sections about After executing this macro, E-Cam table will not be saved to EEPROM automatically.
  • Page 515 Chapter 8 Parameters ASDA-A2 In application, two ways can change the setting of E-Cam curve scaling. 1. P5-88.X2 = 1: When E-Cam is engaged, setup this bit at the same time. Function of P5-19 will be enabled immediately. 2. Use macro#8: Every time when this macro command is triggered, function of P5-19 will be enabled.
  • Page 516 ASDA-A2 Chapter 8 Parameters engaged. Failure code The setting value of P5-93 is in error. The value cannot less 0xF0C2 than 0. It should > = 0. Failure code The setting value of P5-93 is in error. The value has to less 0xF0C3 than the value of (P5-84 / P5-83) The following macros are available from version V1.038 sub48 (included):...
  • Page 517 Chapter 8 Parameters ASDA-A2 A cycle of indexing A cycle of E-Cam Slave axis position (Y) 0° 0° 360° Indexing coordinates E-Cam table Note 1: ECAM_H (height of E-Cam table) = E-Cam table (last point - first points) Note 2: Indexing coordinate = (absolute coordinates／P2-52) take remainder. Note 3: Use PR command for incremental positioning control.
  • Page 518 ASDA-A2 Chapter 8 Parameters 0xF0DA range: 0 ~ 1 Failure code The function of reverse inhibit has failed. Do not use macro 0xF0DB command #D, #10h consecutively. The following macros are provided after version V1.038 sub26 (included): Command code Perform E-Cam alignment immediately and write the 0x000E correction value into the specified PR.
  • Page 519 Chapter 8 Parameters ASDA-A2 by different speed of motion. When E-Cam moves from current position to the target one, it can rotate at forward or reverse position. Due to the cyclic operation, it can reach the target position either at forward or reverse direction. However, the moving distance between both is usually different.
  • Page 520 ASDA-A2 Chapter 8 Parameters The following macros are available from version V1.038 sub26 (included): Command code Calculate the moving distance between current and target 0x000F position of E-Cam for PR positioning. General parameters Macro parameters P5-93.Low_Word = UZYX (4 digits, HEXADECIMAL) YX (PR number of going trip) = 0~0x3F, it is invalid if the value is set to 0.
  • Page 521 Chapter 8 Parameters ASDA-A2 E-Cam current position Max. forward rotation limit. Counterclockwise represents forward direction in the figure Target position is within the range; going trip is at forward direction Target position is within the range; going trip is at reverse direction Available forward Available forward rate rate = 0% (0°),...
  • Page 522 ASDA-A2 Chapter 8 Parameters Refer to the figure below, triggering this macro command, E-Cam will stop for one cycle regardless the degree (X) where E-Cam is. E-Cam operates one cycle ECAM_H Slave axis position E-Cam E-Cam stops (PUU) continues one cycle ECAM_H its operation X+360°...
  • Page 523 Chapter 8 Parameters ASDA-A2 Settings： Four items: UZYX When EVx is set to ON, the PR# will be executed. X=0: When EV1 is ON, PR will not be triggered. X=1 ~ D: When EV1 is ON, execute PR # 51 ~ 63. Y=0: When EV2 is ON, PR will not be triggered.

  • Page 524: P6-Xx Pr Parameters

    ASDA-A2 Chapter 8 Parameters P6-xx PR Parameters (Please refer to Chapter 7 for detailed setting) Address: 0600H P6-00 ODEF Homing Definition 0601H Operational Related Section; Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0x10FFFF3F Data Size：...
  • Page 525 Chapter 8 Parameters ASDA-A2 origin for a short distance. If it does not return to the origin, set PATH to 0. If it needs to return to the origin, set PATH to non-zero value and set PABS = ORG_DEF. B. If the origin is found (Sensor or Z), desire to move an offset S and define the coordinate as P after moving, then PATH = non-zero and set ORG_DEF = P-S.
  • Page 526 ASDA-A2 Chapter 8 Parameters Settings： Properties of PATH# 1: .31 ~ .27 ~ .23 ~ .19 ~ .15 ~ 7 ~ 4 3 ~ 0 P6-02 TYPE P6-03 DATA (32-bit) TYPE, OPT: TYPE 4 BIT 3 ~ 0 BIT UNIT AUTO 1: SPEED, Speed setting control 2: SINGLE, Positioning control.
  • Page 527 Chapter 8 Parameters ASDA-A2 Settings： PATH# 1 Data .31 ~ .27 ~ .19 ~ .15 ~ 11 ~ 8 7 ~ 4 3 ~ 0 DATA (32 bit) Property of P6-02; P6-03 corresponds to the target position of P6-02 or jump to PATH_NO.
  • Page 528 ASDA-A2 Chapter 8 Parameters Address: 060CH P6-06 PDEF3 PATH# 3 Definition 060DH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 060EH P6-07 PDAT3 PATH# 3 Data...
  • Page 529 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0612H P6-09 PDAT4 PATH# 4 Data 0613H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 530 ASDA-A2 Chapter 8 Parameters Address: 0616H P6-11 PDAT5 PATH# 5 Data 0617H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0618H P6-12 PDEF6 PATH# 6 Definition...
  • Page 531 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 061CH P6-14 PDEF7 PATH# 7 Definition 061DH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 532 ASDA-A2 Chapter 8 Parameters Address: 0620H P6-16 PDEF8 PATH# 8 Definition 0621H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0622H P6-17 PDAT8 PATH# 8 Data...
  • Page 533 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0626H P6-19 PDAT9 PATH# 9 Data 0627H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 534 ASDA-A2 Chapter 8 Parameters Address: 062AH P6-21 PDAT10 PATH# 10 Data 062BH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 062CH P6-22 PDEF11 PATH# 11 Definition...
  • Page 535 Chapter 8 Parameters ASDA-A2 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0630H P6-24 PDEF12 PATH# 12 Definition 0631H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range：...
  • Page 536 ASDA-A2 Chapter 8 Parameters Address: 0634H P6-26 PDEF13 PATH# 13 Definition 0635H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0636H P6-27 PDAT13 PATH# 13 Data...
  • Page 537 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 063AH P6-29 PDAT14 PATH# 14 Data 063BH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 538 ASDA-A2 Chapter 8 Parameters Address: 063EH P6-31 PDAT15 PATH# 15 Data 063FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0640H P6-32 PDEF16 PATH# 16 Definition...
  • Page 539 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0644H P6-34 PDEF17 PATH# 17 Definition 0645H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 540 ASDA-A2 Chapter 8 Parameters Address: 0648H P6-36 PDEF18 PATH# 18 Definition 0649H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 064AH P6-37 PDAT18 PATH# 18 Data...
  • Page 541 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 064EH P6-39 PDAT19 PATH# 19 Data 064FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 542 ASDA-A2 Chapter 8 Parameters Address: 0652H P6-41 PDAT20 PATH# 20 Data 0653H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0654H P6-42 PDEF21 PATH# 21 Definition...
  • Page 543 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0658H P6-44 PDEF22 PATH# 22 Definition 0659H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 544 ASDA-A2 Chapter 8 Parameters Address: 065CH P6-46 PDEF23 PATH# 23 Definition 065DH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 065EH P6-47 PDAT23 PATH# 23 Data...
  • Page 545 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0662H P6-49 PDAT24 PATH# 24 Data 0663H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 546 ASDA-A2 Chapter 8 Parameters Address: 0666H P6-51 PDAT25 PATH# 25 Data 0667H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0668H P6-52 PDEF26 PATH# 26 Definition...
  • Page 547 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 066CH P6-54 PDEF27 PATH# 27 Definition 066DH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 548 ASDA-A2 Chapter 8 Parameters Address: 0670H P6-56 PDEF28 PATH# 28 Definition 0671H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0672H P6-57 PDAT28 PATH# 28 Data...
  • Page 549 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0676H P6-59 PDAT29 PATH# 29 Data 0677H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 550 ASDA-A2 Chapter 8 Parameters Address: 067AH P6-61 PDAT30 PATH# 30 Data 067BH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 067CH P6-62 PDEF31 PATH# 31 Definition...
  • Page 551 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0680H P6-64 PDEF32 PATH# 32 Definition 0681H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 552 ASDA-A2 Chapter 8 Parameters Address: 0684H P6-66 PDEF33 PATH# 33 Definition 0685H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0686H P6-67 PDAT33 PATH# 33 Data...
  • Page 553 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 068AH P6-69 PDAT34 PATH# 34 Data 068BH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 554 ASDA-A2 Chapter 8 Parameters Address: 068EH P6-71 PDAT35 PATH# 35 Data 068FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0690H P6-72 PDEF36 PATH# 36 Definition...
  • Page 555 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0694H P6-74 PDEF37 PATH# 37 Definition 0695H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 556 ASDA-A2 Chapter 8 Parameters Address: 0698H P6-76 PDEF38 PATH# 38 Definition 0699H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 069AH P6-77 PDAT38 PATH# 38 Data...
  • Page 557 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 069EH P6-79 PDAT39 PATH# 39 Data 069FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 558 ASDA-A2 Chapter 8 Parameters Address: 06A2H P6-81 PDAT40 PATH# 40 Data 06A3H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 06A4H P6-82 PDEF41 PATH# 41 Definition...
  • Page 559 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 06A8H P6-84 PDEF42 PATH# 42 Definition 06A9H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 560 ASDA-A2 Chapter 8 Parameters Address: 06ACH P6-86 PDEF43 PATH# 43 Definition 06ADH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 06AEH P6-87 PDAT43 PATH# 43 Data...
  • Page 561 Chapter 8 Parameters ASDA-A2 Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 06B2H P6-89 PDAT44 PATH# 44 Data 06B3H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 562 ASDA-A2 Chapter 8 Parameters Address: 06B6H P6-91 PDAT45 PATH# 45 Data 06B7H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 06B8H P6-92 PDEF46 PATH# 46 Definition...
  • Page 563 Chapter 8 Parameters ASDA-A2 Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 06BCH P6-94 PDEF47 PATH# 47 Definition 06BDH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 564 ASDA-A2 Chapter 8 Parameters Address: 06C0H P6-96 PDEF48 PATH# 48 Definition 06C1H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 06C2H P6-97 PDAT48 PATH# 48 Data...
  • Page 565 Chapter 8 Parameters ASDA-A2 Address: 06C4H P6-98 PDEF49 PATH# 49 Definition 06C5H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 06C6H P6-99 PDAT49 PATH# 49 Data...

  • Page 566: P7-Xx Pr Parameters

    ASDA-A2 Chapter 8 Parameters P7-xx PR Parameters (Please refer to Chapter 7 for detailed setting) Address: 0700H P7-00 PDEF50 PATH# 50 Definition 0701H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size：...
  • Page 567 Chapter 8 Parameters ASDA-A2 Address: 0704H P7-02 PDEF51 PATH# 51 Definition 0705H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0706H P7-03 PDAT51 PATH# 51 Data...
  • Page 568 ASDA-A2 Chapter 8 Parameters Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： HEXADECIMAL Settings： Please refer to the description of P6-02. Address: 070AH P7-05 PDAT52 PATH# 52 Data 070BH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 569 Chapter 8 Parameters ASDA-A2 Address: 070EH P7-07 PDAT53 PATH# 53 Data 070FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0710H P7-08 PDEF54 PATH# 54 Definition...
  • Page 570 ASDA-A2 Chapter 8 Parameters Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0714H P7-10 PDEF55 PATH# 55 Definition 0715H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 571 Chapter 8 Parameters ASDA-A2 Address: 0718H P7-12 PDEF56 PATH# 56 Definition 0719H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 071AH P7-13 PDAT56 PATH# 56 Data...
  • Page 572 ASDA-A2 Chapter 8 Parameters Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 071EH P7-15 PDAT57 PATH# 57 Data 071FH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 573 Chapter 8 Parameters ASDA-A2 Address: 0722H P7-17 PDAT58 PATH# 58 Data 0723H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0724H P7-18 PDEF59 PATH# 59 Definition...
  • Page 574 ASDA-A2 Chapter 8 Parameters Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. Address: 0728H P7-20 PDEF60 PATH# 60 Definition 0729H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode：...
  • Page 575 Chapter 8 Parameters ASDA-A2 Address: 072CH P7-22 PDEF61 PATH# 61 Definition 072DH Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0x00000000 Control Mode： Unit： - Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 072EH P7-23 PDAT61 PATH# 61 Data...
  • Page 576 ASDA-A2 Chapter 8 Parameters Range： 0x00000000 ~ 0xFFFFFFFF Data Size： 32-bit Format： Hexadecimal Settings： Please refer to the description of P6-02. Address: 0732H P7-25 PDAT62 PATH# 62 Data 0733H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode：...
  • Page 577 Chapter 8 Parameters ASDA-A2 Address: 0736H P7-27 PDAT63 PATH# 63 Data 0737H Operational Related Section: Panel / Software Communication 7.10 Interface： Default： 0 Control Mode： Unit： - Range： -2147483648 ~ +2147483647 Data Size： 32-bit Format： Decimal Settings： Please refer to the description of P6-03. 8-278...
  • Page 578 ASDA-A2 Chapter 8 Parameters Table 8.1 Function Description of Digital Input (DI) Setting Value: 0x01 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Level When this DI is On, servo is activated (Servo On) triggered Setting Value: 0x02 Trigger Control DI Name...
  • Page 579 Chapter 8 Parameters ASDA-A2 Setting Value: 0x06 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode In speed and torque modes, when the DI is ON, the input Level command will be in reverse direction. CMDINV S, Sz, T triggered Note: when you use this function in the torque mode, it is only applicable to analog commands.
  • Page 580 ASDA-A2 Chapter 8 Parameters Setting Value: 0x0C Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Latch function of analog position command. When this DI is ON, the motor will be held on the current position. During the time of DI ON, the motor will not operate even when there is any change of analog command.
  • Page 581 Chapter 8 Parameters ASDA-A2 Setting Value: 0x0D Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Motor position ( Turn ) position when DI triggered When DI is ON, all input Analog input command is invalid. command The voltage when DI is Analog input...
  • Page 582 ASDA-A2 Chapter 8 Parameters Setting Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C Trigger Control Function Description of Digital Input (DI) Name Method Mode PR Command Selection (1 ~ 64) Position Corresponding POS5 POS4 POS3 POS2 POS1 POS0 CTRG Command Parameter P6-00 Homing POS0...
  • Page 583 Chapter 8 Parameters ASDA-A2 Setting Value: 0x14, 0x15 Trigger Control Function Description of Digital Input (DI) Name Method Mode Internal Speed Command Selection (1 ~ 4) signal Speed Command Command Content Range Number Level SPD0 External Voltage deviation triggere analog between V-REF +/- 10V SPD1...
  • Page 584 ASDA-A2 Chapter 8 Parameters Setting Value: 0x18 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode In position and speed mode, if the DI is OFF, it is in speed mode. Level Dual And it is in position mode when the DI is ON. (P selects PT or PR triggered Mode via DI.PT-PR (0x2B).)
  • Page 585 Chapter 8 Parameters ASDA-A2 Setting Value: 0x23 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Level Forward inhibit limit (contact b) (CCWL) triggered Setting Value: 0x24 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Rising /...
  • Page 586 ASDA-A2 Chapter 8 Parameters Setting Value: 0x37 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Level JOGU When this DI is ON, the motor will JOG in forward direction. triggered Setting Value: 0x38 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode...
  • Page 587 Chapter 8 Parameters ASDA-A2 Setting Value: 0x43, 0x44 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode Gear Ratio Selection 0 (Numerator) Gear Ratio Selection 1 (Numerator) GNUM0 Level triggered GNUM1 Setting Value: 0x45 Trigger Control DI Name Function Description of Digital Input (DI) Method Mode...
  • Page 588 ASDA-A2 Chapter 8 Parameters Table 8.2 Function Description of Digital Output (DO) Setting Value: 0x01 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode When the controlled and main circuit power is applied to the drive, Level SRDY this DO is ON if no alarm occurs.
  • Page 589 Chapter 8 Parameters ASDA-A2 Setting Value: 0x06 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode ALL , Level When it is in torque limit, this DO is ON. except T, triggered Setting Value: 0x07 Trigger Control DO Name Function Description of Digital Output (DO) Method...
  • Page 590 ASDA-A2 Chapter 8 Parameters Setting Value: 0x0E DO Name Function Description of Digital Output (DO) Control Mode IDXD Indexing coordinates is valid. Setting Value: 0x10 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode When reaching the overload setting, this DO is ON. = Overload allowable time of the servo x Setting value of P1-56, when the overload accumulative time exceeds t it will...
  • Page 591 Chapter 8 Parameters ASDA-A2 Setting Value: 0x14 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode Level Software limit (Forward limit) triggered (SCCWL) Setting Value: 0x15 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode Complete PR command and enter into PR mode, this DO is ON.
  • Page 592 ASDA-A2 Chapter 8 Parameters Setting Value: 0x1A Trigger Control DO Name Function Description of Digital Output (DO) Method Mode CAM_AREA2: Master position of the E-Cam is between P2-78 Level and P2-79. CAM_AREA2 triggered A2-L does not support E-Cam function. Setting Value: 0x2C DO Name Function Description of Digital Output (DO) Control Mode...
  • Page 593 Chapter 8 Parameters ASDA-A2 Setting Value: 0x32 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode Level SDO_2 Output the status of bit 02 of P4-06 triggered Setting Value: 0x33 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode Level...
  • Page 594 ASDA-A2 Chapter 8 Parameters Setting Value: 0x39 Trigger Control DO Name Function Description of Digital Output (DO) Method Mode Level SDO_9 Output the status of bit 09 of P4-06 triggered Setting Value: 0x3A Trigger Control DO Name Function Description of Digital Output (DO) Method Mode Level...
  • Page 595 Chapter 8 Parameters ASDA-A2 (This page is intentionally left blank,) 8-296...

  • Page 596: Chapter 9 Communications

    Chapter 9 Communications RS-485 & RS-232 Communication Hardware Interface This servo drive supports the serial communication of RS-485 and RS-232. Communication function enables the servo drive to access and change parameters inside the system. However, RS-485 and RS-232 cannot be used at the same time. Parameter P3-05 can use RS-485 or RS-232 as the communication protocol.
  • Page 597 ASDA-A2 Chapter 9 Communications RS-485  Configuration D-Sub 9-Pin Connector 1394 Connector 485(+) 485 (+) 485(-) Servo 1 485 (-) Servo 2 Note: 1) The cable length can be up to 100 meters (32.81 feet) when the servo drive is installed in a quiet environment.

  • Page 598: Rs-232 Communication Parameters Setting

    Chapter 9 Communications ASDA-A2 RS-485 / RS-232 Communication Parameters Setting The following four parameters, P3-00 (Address Setting), P3-01 (Transmission Speed), P3-02 (Communication Protocol), and P3-05 (Communication Mechanism), are essential and must be set for the communication of the servo drive. The rest, such as P3-03 (Communication Error Disposal), P3-04 (Communication Timeout), P3-06 (Control Switch of Digital Input), and P3-07 (Communication Response Delay Time), are optional.
  • Page 599 4: 1.0 Mbit/s Definition of U setting value  0: Use Delta’s controller, such as PLC and HMI 3: Use Delta’s motion card Note: 1）If this parameter is set via CAN, only Z can be set and the others remain.
  • Page 600 Chapter 9 Communications ASDA-A2 Address: 0304H P3-02 Communication Protocol 0305H Operational Related Section: Panel / Software Communication Interface： Default： 0x0006 Control Mode： Unit： - Range： 0x0000 ~ 0x0008 Data Size： 16-bit Format： Hexadecimal Settings： The definition of the setting value is as the followings: 0: 7, N, 2 (MODBUS, ASCII) 1: 7, E, 1 (MODBUS, ASCII) 2: 7, O,1 (MODBUS, ASCII)

  • Page 601: Modbus Communication Protocol

    ASDA-A2 Chapter 9 Communications MODBUS Communication Protocol There are two modes of MODBUS networks communication, ASCII (American Standard Code for information interchange) mode and RTU (Remote Terminal Unit) mode. Users could set the needed communication protocol via parameter P3-02. Apart from these two communication modes, this servo drive also supports functions of 03H to access more than one data, 06H to write one character, and 10H to write multiple characters.
  • Page 602 Chapter 9 Communications ASDA-A2  Character Structure Characters will be encoded into the following framing and transmitted in serial. The checking method of different bits is as the following. 10-bit character frame (For 7-bit character) Start Stop Stop 7-data bits 10-bits character frame Start Even...
  • Page 603 ASDA-A2 Chapter 9 Communications  Communication Data Structure Definitions for the data frames in the two modes are as follows: ASCII Mode: Start Start character ’: ’ (3AH) Slave Address Communication address: 1-byte consists of 2 ASCII codes Function Function code: 1-byte consists of 2 ASCII codes Data (n-1) …….
  • Page 604 Chapter 9 Communications ASDA-A2 Example 1: function code 03H, access multiple words: The Master issues the command to the 1 Slave and reads the continuous 2 words starting from the start address 0200H. In response message from the Slave, the content of starting address 0200H is 00B1H and the content of the 2 data address 0201H is 1F40H.
  • Page 605 ASDA-A2 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 606 Chapter 9 Communications ASDA-A2 Example 2: function code 06H, write single word: The Master issues command to the 1 Slave and writes data 0064H to address 0200H. The Slave sends the response message to the Master after the writing is completed. The calculation of LRC and CRC will be described in the following sections.
  • Page 607 ASDA-A2 Chapter 9 Communications Example 3: function code 10H, write multiple words: The Master issues command to the 1 Slave and writes 0BB8H and 0000H to the starting address 0112H. That is to say, 0112H is written into 0BB8H and 0113H is written into 0000H. The maximum allowable data in one single access is 10.
  • Page 608 Chapter 9 Communications ASDA-A2 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 609 ASDA-A2 Chapter 9 Communications  LRC and CRC transmission Error Checking The error checking in ASCII communication mode is LRC (Longitudinal Redundancy Check); CRC (Cyclical Redundancy Check) is for RTU communication mode. The algorithm of both is as the following. LRC (ASCII mode): Start ‘:’...
  • Page 610 Chapter 9 Communications ASDA-A2 CRC (RTU Mode): The description of CRC is as the followings: Step 1: Load a 16-bits register of FFFFH, which is called CRC register. Step 2: (The low byte of CRC register) XOR (The first byte of command), and save the result in CRC register.
  • Page 611 ASDA-A2 Chapter 9 Communications Example of CRC program: Produce CRC in C language. This function needs two parameters: 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 612 Chapter 9 Communications ASDA-A2 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); outportb(PORT+BRDH,0x00); outportb(PORT+LCR,0x06);...

  • Page 613: Write-In And Read-Out Communication Parameters

    ASDA-A2 Chapter 9 Communications Write-in and Read-out Communication Parameters Please refer to Chapter 8, Parameters, for all parameter details. And the descriptions of parameters which can be wrote or read through communication are as follows. Parameters are divided into 8 groups, Group 0: Monitor Parameters, Group 1: Basic Parameters, Group 2: Expansion Parameters, Group 3: Communication Parameters, Group 4: Diagnosis Parameters, Group 5: Motion Setting, Group 6 and Group 7: PR Definition.
  • Page 614 Chapter 9 Communications ASDA-A2 Read parameters through communication: Parameters can be read through communication include: Group 0 (P0-00 ~ P0-46) Group 4 (P4-00 ~ P4-23) Group 1 (P1-00 ~ P1-76) Group 5 (P5-00 ~ P5-99) Group 2 (P2-00 ~ P2-67) Group 6 (P6-00 ~ P6-99) Group 3 (P3-00 ~ P3-11) Group 7 (P7-00 ~ P7-27)
  • Page 615 ASDA-A2 Chapter 9 Communications (This page is intentionally left blank.) 9-20...

  • Page 616: Chapter 10 Troubleshooting

    Chapter 10 Troubleshooting 10.1 Alarm of Servo Drive Corresponding Servo Display Alarm Name Alarm Description Status The current of the main circuit is 1.5 Servo times more than the instantaneous Over current AL001 current of the servo drive. Servo The voltage of the main circuit is higher Over voltage AL002 than the standard voltage.
  • Page 617 ASDA-A2 Chapter 10 Troubleshooting Corresponding Servo Display Alarm Name Alarm Description Status Servo IGBT Overheat The temperature of IGBT is too high AL016 Servo Abnormal An error occurs when the DSP AL017 EEPROM accesses EEPROM. Servo Abnormal signal The encoder output exceeds the rated AL018 output output frequency.
  • Page 618 Chapter 10 Troubleshooting ASDA-A2 Corresponding Servo Display Alarm Name Alarm Description Status 1. Internal communication error of the Internal absolute encoder Servo communication AL034 of the encoder is 2. Internal error of other type of in error encoder Encoder temperature Encoder temperature exceeds the Servo AL035...
  • Page 619 ASDA-A2 Chapter 10 Troubleshooting Corresponding Servo Display Alarm Name Alarm Description Status The absolute origin coordinate has not been created. The possible causes The absolute might be: coordinate has Servo 1. The motor is used for the first time. WARN AL06A not been 2.
  • Page 620 Chapter 10 Troubleshooting ASDA-A2 Corresponding Servo Display Alarm Name Alarm Description Status Encoder clearing Number of attempts to clear the encoder Servo AL07E procedure error exceeds the maximum. When the output current from servo Servo drive drive exceeds the setting level, AL083 outputs Servo will be triggered to protect IGBT.

  • Page 621: Alarm Of Canopen Communication

    ASDA-A2 Chapter 10 Troubleshooting 10.2 Alarm of CANopen Communication Corrective Servo Corresponding Display Alarm Name Alarm Description Actions Status SDO Rx Buffer overflow NMT: Reset CANopen SDO (receives more than two node or Servo receives buffer AL111 SDOs within 1 0x6040.Fault overflow millisecond)
  • Page 622 Chapter 10 Troubleshooting ASDA-A2 Corrective Servo Corresponding Display Alarm Name Alarm Description Actions Status Error occurs An error occurs when when writing Same as Servo saving the current value AL129 CANopen PDO above into ROM. via EEPROM The quantity of the data inside ROM is over the The accessing planned space.

  • Page 623: Alarm Of Motion Control

    ASDA-A2 Chapter 10 Troubleshooting 10.3 Alarm of Motion Control Corrective Servo Corresponding Display Alarm Name Alarm Description Actions Status DI.ARST, CANopen An error occurs An error occurs when 0x1011 Servo when loading loading data via WARN AL201 Restore CANopen data EEPROM.
  • Page 624 Chapter 10 Troubleshooting ASDA-A2 Corrective Servo Corresponding Display Alarm Name Alarm Description Actions Status When executing indexing function, if the index positioning Indexing command is directly DI.Alm Reset Servo or write 0 into coordinate is executing before WARN AL237 P0-01 undefined defining the start point of index coordinate, the...
  • Page 625 ASDA-A2 Chapter 10 Troubleshooting Corrective Servo Corresponding Display Alarm Name Alarm Description Actions Status The synchronized synchronized signal, SYNC of Same as Servo signal of WARN AL303 CANopen has not been above CANopen is sent received in time. too slow CANopen IP Command cannot be Same as...
  • Page 626 Chapter 10 Troubleshooting ASDA-A2 Re-adjust the Value of PR The setting value of P1- value of P1-22 special filter 22 causes inner position AL404 until it is setting is too big error to overflow. appropriate. Do not System Failure DSP processing error AL555 Switch Note:...

  • Page 627: Causes And Corrective Actions

    Delta. The input voltage of the Use the voltmeter to see if the input main circuit is higher voltage of the main circuit is within...
  • Page 628 Wrong wiring of the Check the wiring of U, V, and W Correct the wiring. motor and the encoder. and the encoder. The encoder of the motor Send the drive back to the distributors or contact Delta. is defective. 10-13...
  • Page 629 ASDA-A2 Chapter 10 Troubleshooting AL007：Overspeed Causes Checking Method Corrective Actions A dramatic change in Use the scope to check if the signal Adjust the signal changing rate or speed of analog voltage is abnormal. enable the filter function Check if the setting of parameter Inappropriate parameter Correctly set parameter P2-34 (the P2-34 is too small (the condition of...
  • Page 630 If the error still occurs after reset, The detection device is Reset the power supply. send the drive back to the damaged. distributors or contact Delta. AL013：Emergency Stop Causes Checking Method Corrective Actions The emergency stop Check if the emergency stop button Activate emergency stop.
  • Page 631 ROM is damaged or there is no damaged. and it shows E0001. data in ROM. Please send the drive back to the distributors or contact Delta. AL018：Abnormal Signal Output Causes Checking Method Corrective Actions Check the fault records (P4-00 ~ The encoder is in error P4-05).
  • Page 632 For abnormal. drive back to the distributors or 2 kW (or above) A2 servo drives, contact Delta. the alarm occurs when one single phase is not connected to the power supply. AL023：Early warning for overload...
  • Page 633 3. Check if the operation 3. If the situation is not improving, temperature is over 95°C please send the drive back to the distributors or contact Delta. (203°F). AL028：Encoder voltage error or the internal of the encoder is in error Causes...
  • Page 634 Chapter 10 Troubleshooting ASDA-A2 AL030：Motor Crash Error Causes Checking Method Corrective Actions 1. If it is enabled by mistake, please set P1-57 to zero. 1. Check if P1-57 is enabled. 2. According to the actual torque 2. Check if P1-57 is set too small setting, if the value is set too Motor Crash Error and the time of P1-58 is set too...
  • Page 635 ASDA-A2 Chapter 10 Troubleshooting AL040：Excessive deviation of full closed-loop position control Causes Checking Method Corrective Actions 1. Check if P1-73 is set too small. 1. Increase the value of P1-73. Excessive deviation of 2. Check if the connector is loose full closed-loop position 2.
  • Page 636 Chapter 10 Troubleshooting ASDA-A2 AL060：The absolute position is lost Causes Checking Method Corrective Actions After changing the battery, conduct homing procedure again. Please Check if the voltage of the battery Battery under voltage refer to the description of creating is lower than 2.8V. the absolute origin coordinate in Chapter 12.
  • Page 637 ASDA-A2 Chapter 10 Troubleshooting AL067：Encoder temperature warning Causes Checking Method Corrective Actions 1. Improve heat dissipation or reduce the loading of operation. Encoder temperature The temperature should be exceeds the warning lower than 100°C (212°F). Check the setting: Set the value of level.
  • Page 638 4×10 rad/s moved, it results in motor 6. If the issue persists, please overspeed. send your servo drive back to the distributor or contact Delta. AL073：Encoder memory error Causes Checking Method Corrective Actions 1. Make sure the UVW connector is grounded to the heat sink of the servo drive.
  • Page 639 4. Check the motor speed. 5. If the issue persists, please send your servo drive back to the distributor or contact Delta. AL075：Absolute encoder position error Causes Checking Method Corrective Actions 1. Make sure the UVW connector is grounded to the heat sink of the servo drive.
  • Page 640 3. Check if the encoder uses shielded cable. 4. If the issue persists, please send your servo drive back to the distributor or contact Delta. AL07B：Encoder memory busy Causes Checking Method Corrective Actions 1. Make sure the UVW connector is grounded to the heat sink of the servo drive.
  • Page 641 AWG is worn and causes short short circuit. circuit of UVW cable. 1. If applying non-standard power cable recommended by Delta, please check if the wiring sequence of UVW cable is Please refer to the description of correct.
  • Page 642 P1-53. If the issue persists, external regenerative please send the drive back to the resistor. distributors or contact Delta. Parameter P1-53 is not Set parameter P1-53 of set to zero when the Check if parameter P1-53 of...
  • Page 643 ASDA-A2 Chapter 10 Troubleshooting AL099：DSP firmware upgrade Causes Checking Method Corrective Actions Firstly set P2-08 to 30. Then set Upgrade DSP firmware. Check if the firmware is upgraded. P2-08 to 28, the alarm will be cleared when cycling power on. AL111：CANopen SDO receives overflow Causes Checking Method...
  • Page 644 Chapter 10 Troubleshooting ASDA-A2 AL125：CANopen PDO is read-only and write-protected Causes Checking Method Corrective Actions The specified object in Check if the specified object is read- NMT: Reset node or 0x6040.Fault the message is write- only when PDO is receiving or Reset protected.
  • Page 645 ASDA-A2 Chapter 10 Troubleshooting AL131：CRC of EEPROM calculation error occurs when using CANopen PDO Causes Checking Method Corrective Actions It means the data stored Check if the specified object would in ROM is damaged. All cause CRC calculation error in NMT: Reset node or 0x6040.Fault CANopen objects EEPROM when PDO is receiving or...
  • Page 646 Chapter 10 Troubleshooting ASDA-A2 AL201：An error occurs when loading CANopen data Causes Checking Method Corrective Actions 1. If the alarm is cleared when cycling power on the servo drive, it means the data error occurs instantaneously when accessing in the previous time. 2.
  • Page 647 ASDA-A2 Chapter 10 Troubleshooting AL231：The setting of monitor item of PR#8 is out of the range Causes Checking Method Corrective Actions Writing parameter via PR The monitor item of the procedure: The monitor item command source DI.Alm Reset or write 0 into P0-01 number of command source exceeds the range.
  • Page 648 Chapter 10 Troubleshooting ASDA-A2 AL245：PR Positioning Timeout Causes Checking Method Corrective Actions PR positioning command Check the causes of not completing When the alarm occurs, please use is triggered and the the PR command, such as the DI:Alm Reset or write 0 into P0-01 execution time for waiting conditions are not set or not to clear the alarm.
  • Page 649 ASDA-A2 Chapter 10 Troubleshooting AL289：Feedback position counter overflows Causes Checking Method Corrective Actions 1. Set the gear ratio properly according to the total traveling distance of the absolute motor and the actual application requirements to avoid the Feedback position NMT: Reset node or 0x6040.Fault feedback position counter counter overflows.
  • Page 650 Chapter 10 Troubleshooting ASDA-A2 AL303：The synchronized signal of CANopen is sent too slow Causes Checking Method Corrective Actions 1. Check if the communication quality of the circuit is bad. 2. Check if synchronized cycle 0x1006 is the same as the setting of controller.
  • Page 651 ASDA-A2 Chapter 10 Troubleshooting AL3CF： Emergency Stop Causes Checking Method Corrective Actions Check if the DI (0x47) is accidently After AL35F occurs, the triggered because of the parameter Cycle power on the servo drive. motor decelerates to 0. setting. AL3F1： Absolute index coordinate undefined Causes Checking Method Corrective Actions...
  • Page 652 It might be that the STO circuit is An error occurs during causing the error. Please contact STO self-diagnosis. the distributor. AL555：System failure Causes Checking Method Corrective Actions If AL555 occurs, do not do anything DSP processing error and send the drive back to Delta. 10-37...

  • Page 653: Corrective Actions After The Alarm Occurs

    ASDA-A2 Chapter 10 Troubleshooting 10.5 Corrective Actions after the Alarm Occurs ：Over current Turn DI.ARST on to clear the alarm. AL001 ：Over voltage Turn DI.ARST on to clear the alarm. AL002 Cycle power on the servo drive to clear the alarm. ：Undervoltage AL003 For the alarm to clear automatically...
  • Page 654 Chapter 10 Troubleshooting ASDA-A2 ：Serial communication timeout Turn DI.ARST on to clear the alarm. AL020 ：Main circuit power leak phase Turn DI.ARST on to clear the alarm. AL022 ：Early warning for overload Turn DI.ARST on to clear the alarm. AL023 The alarm can be cleared after ：Encoder initial magnetic field error AL024...
  • Page 655 ASDA-A2 Chapter 10 Troubleshooting The alarm can be cleared after ：Absolute data transmitted via I/O is in error AL068 power cycling. Set P2-69 to 0 and then cycle power ：Wrong motor type AL069 on the servo drive. The alarm can be cleared after ：The absolute coordinate has not been AL06A creating the absolute origin coordinate.
  • Page 656 Chapter 10 Troubleshooting ASDA-A2 NMT: Reset node or 0x6040.Fault ：Sub-Index error occurs when accessing AL122 Reset CANopen PDO NMT: Reset node or 0x6040.Fault ：Data Size error occurs when accessing AL123 Reset CANopen PDO NMT: Reset node or 0x6040.Fault ：Data range error occurs when accessing AL124 Reset CANopen PDO...
  • Page 657 ASDA-A2 Chapter 10 Troubleshooting ：An error occurs when writing parameter via Turn DI.ARST on to clear the alarm or AL215 set P0-01 to 0. PR：read-only ：An error occurs when writing parameter via Re-adjust PR command and AL217 parameter. PR：parameter locked Turn DI.ARST on to clear the alarm or ：The setting of monitor item of PR#8 is out AL231...
  • Page 658 Chapter 10 Troubleshooting ASDA-A2 Use DI.ARST or 0x6040.Fault Reset, ：STO function is enabled AL500 or set P0-01 to 0. Use DI.ARST or 0x6040.Fault Reset, ： STO_A loss (signal loss or signal error) AL501 or set P0-01 to 0. Use DI.ARST or 0x6040.Fault Reset, ：STO_B lost (signal loss or signal error) AL502 or set P0-01 to 0.
  • Page 659 ASDA-A2 Chapter 10 Troubleshooting (This page is intentionally left blank.) 10-44...

  • Page 660: Specifications

    Chapter 11 Specifications 11.1 Specifications of Servo Drives (ASDA-A2 Series) 11.1.1 ASDA-A2 220V Series 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3k W 4.5 kW 5.5 kW 7.5 kW 11 kW 15 kW ASDA-A2 Series Phase / Voltage Single-phase / Three-phase 220 V...
  • Page 661 ASDA-A2 Chapter 11 Specifications 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3k W 4.5 kW 5.5 kW 7.5 kW 11 kW 15 kW ASDA-A2 Series 0.01% or less at 0 to 100% load fluctuation Speed Accuracy 0.01% or less at ±10% power fluctuation 0.01% or less at 0°C...
  • Page 662 Chapter 11 Specifications ASDA-A2 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3k W 4.5 kW 5.5 kW 7.5 kW 11 kW 15 kW ASDA-A2 Series IEC/EN 61800-5-1, UL 508C, C-tick Approvals Note: *1 Within the rated load, the speed ratio is: the minimum speed (smooth operation) / rated speed. *2 When the command is the rated speed, the velocity correction ratio is: (rotational speed with no load –...

  • Page 663: Asda-A2 400V Series

    ASDA-A2 Chapter 11 Specifications 11.1.2 ASDA-A2 400V Series 750 W 1 kW 1.5 kW 2 kW 3 kW 4.5 kW 5.5 kW 7.5 kW 11kW 15kW ASDA-A2 Series Input Voltage 24 V , ±10% Input Current 0.89 A 1.18 A 1.66 A Input Power 21.4 W...
  • Page 664 Chapter 11 Specifications ASDA-A2 750 W 1 kW 1.5 kW 2 kW 3 kW 4.5 kW 5.5 kW 7.5 kW 11kW 15kW ASDA-A2 Series 0.01% or less at 0 to 100% load fluctuation 0.01% or less at ±10% power fluctuation Speed Accuracy 0.01% or less at 0°C to 50°C (35°F to 122°F)
  • Page 665 ASDA-A2 Chapter 11 Specifications 750 W 1 kW 1.5 kW 2 kW 3 kW 4.5 kW 5.5 kW 7.5 kW 11kW 15kW ASDA-A2 Series IP Rating IP20 Power System TN System IEC/EN 61800-5-1, UL 508C, C-tick Approvals Note: *1 Within the rated load, the speed ratio is: the minimum speed (smooth operation) / rated speed. *2 When the command is the rated speed, the velocity correction ratio is: (rotational speed with no load –...

  • Page 666: Specifications Of Servo Motors (Ecma Series)

    Chapter 11 Specifications ASDA-A2 11.2 Specifications of Servo Motors (ECMA Series) 11.2.1 ECMA 220V Series Low Inertia Series C104 C△04 C△06 C△08 C△09 ECMA Series 04□S Rated power (kW) 0.05 0.75 0.75 Rated torque (N-m) 0.159 0.32 0.64 1.27 1.27 2.39 2.39 3.18...
  • Page 667 ASDA-A2 Chapter 11 Specifications C104 C△04 C△06 C△08 C△09 ECMA Series 04□S Brake release time [ms (Max)] Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature (°C ) 0°C to 40°C (32°F to 104°F) Storage temperature (°C ) -10°C to 80°C (14°F to 170°F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity...
  • Page 668 Chapter 11 Specifications ASDA-A2 Low Inertia Series C△10 C△13 ECMA Series Rated power (kW) Rated torque (N-m) 3.18 6.37 9.55 Max. torque (N-m) 9.54 19.11 28.65 Rated speed (r/min) 3000 Max. speed (r/min) 5000 4500 Rated current (Arms) 7.30 12.05 17.2 Max.
  • Page 669 ASDA-A2 Chapter 11 Specifications C△10 C△13 ECMA Series Storage temperature (°C ) -10°C to 80°C (14°F to 176°F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity 2.5 G IP65 (use the waterproof connector IP Rating and shaft seal installation (or oil seal) model)
  • Page 670 Chapter 11 Specifications ASDA-A2 Medium / High Inertia Series E△13 E△18 G△13 ECMA Series Rated power (kW) Rated torque (N-m) 2.39 4.77 7.16 9.55 9.55 14.32 16.71 2.86 5.73 8.59 Max. torque (N-m) 7.16 14.3 21.48 28.65 28.65 42.97 50.13 8.59 17.19 21.48...
  • Page 671 ASDA-A2 Chapter 11 Specifications E△13 E△18 G△13 ECMA Series Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature (°C ) 0°C to 40°C (32°F to 104°F) Storage temperature (°C ) -10°C to 80°C (14°F to 176°F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity...
  • Page 672 Chapter 11 Specifications ASDA-A2 Medium-High / High Inertia Series F122 F△13 F△18 ECMA Series 0.85 Rated power (kW) 3.18 5.41 8.34 11.48 19.10 28.65 35.01 47.74 Rated torque (N-m) 95.4 8.92 13.8 23.3 28.7 57.29 71.62 87.53 119.36 Max. torque (N-m) 224.0 Rated speed (r/min) 1500...
  • Page 673 ASDA-A2 Chapter 11 Specifications F122 F△13 F△18 ECMA Series Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature (°C) 0°C to 40°C (32°F to 104°F) Storage temperature (°C) -10°C to 80°C (14°F to 176°F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity...
  • Page 674 Chapter 11 Specifications ASDA-A2 High Inertia Series C△06 C△08 ECMA 04□H 07□H 0.75 Rated power (kW) 1.27 2.39 Rated torque (N-m) 3.82 7.16 Max. torque (N-m) 3000 3000 Rated speed (r/min) 5000 5000 Max. speed (r/min) Rated current (Arms) 15.3 Max.
  • Page 675 ASDA-A2 Chapter 11 Specifications C△06 C△08 ECMA 04□H 07□H Operating humidity 20 to 90% RH (non-condensing) Storage humidity 20 to 90% RH (non-condensing) Vibration capacity 2.5 G IP65 (use the waterproof connector and shaft IP Rating seal installation (or oil seal) Approvals Note: *1 The rated torque is the continuous permissible torque between 0 to 40˚C (32°F to 104°F) operating...

  • Page 676: Ecma 400V Series

    Chapter 11 Specifications ASDA-A2 11.2.2 ECMA 400V Series Low Inertia Series J△06 J△08 J△09 J△10 J△13 ECMA Series Rated power (kW) 0.75 0.75 Rated torque (N-m) 1.27 2.39 2.39 3.18 3.18 6.37 9.55 Max. torque (N-m) 3.82 7.16 7.14 8.78 9.54 19.1 28.65...
  • Page 677 ASDA-A2 Chapter 11 Specifications J△06 J△08 J△09 J△10 J△13 ECMA Series Brake pull-in time [ms (Max)] Vibration grade (μm) Operating temperature (°C) 0°C to 40°C (32°F to 104°F) Storage temperature (°C) -10°C to 80°C (14°F to 176°F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity...
  • Page 678 Chapter 11 Specifications ASDA-A2 Medium Inertia Series K△13 K△18 ECMA Series Rated power (kW) Rated torque (N-m) 2.39 4.77 7.16 9.55 9.55 Max. torque (N-m) 7.16 14.32 21.48 28.65 28.65 Rated speed (r/min) 2000 Maximum speed (r/min) 3000 Rated current (Arms) 3.52 5.02 6.66...
  • Page 679 ASDA-A2 Chapter 11 Specifications K△13 K△18 ECMA Series Vibration grade (μm) Operating temperature ( °C ) 0°C to 40°C (32°F to 104°F) Storage temperature (°C ) -10°C to 80°C (14°F to 176°F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity 2.5 G...
  • Page 680 Chapter 11 Specifications ASDA-A2 Medium-High Inertia Series L△18 L122 ECMA Series Rated power (kW) 19.10 28.65 35.0 47.74 95.4 Rated torque (N-m) 57.29 71.62 87.53 119.36 Max. torque (N-m) Rated speed (r/min) 1500 1500 Max. speed (r/min) 3000 2000 Rated current (Arms) 11.53 20.8 22.37...
  • Page 681 ASDA-A2 Chapter 11 Specifications L△18 L122 ECMA Series Operating temperature (°C ) °C to 40 °C (32°F to 104°F) Storage temperature (°C ) °C to 80°C (14°F to 176°F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity 2.5 G IP Rating...
  • Page 682 Chapter 11 Specifications ASDA-A2 High Inertia Series L△13 M△13 ECMA Series Rated power (kW) 0.85 Rated torque (N-m) 3.18 5.39 8.34 11.5 8.59 Max. torque (N-m) 8.92 13.8 23.3 28.7 21.48 Rated speed (r/min) 1500 1500 1500 1500 1000 Max. speed (r/min) 3000 3000 3000...
  • Page 683 ASDA-A2 Chapter 11 Specifications L△13 M△13 ECMA Series Operating humidity 20 to 90% RH (non-condensing) Storage humidity 20 to 90% RH (non-condensing) Vibration capacity 2.5 G IP65 (use the waterproof connector and shaft seal installation (or oil IP Rating seal) model) Approvals Note: *1 The rated torque is the continuous permissible torque between 0 to 40˚C (32°F to 104°F) operating...

  • Page 684: Torque Features (T-N Curves)

    Chapter 11 Specifications ASDA-A2 11.3 Torque Features (T-N Curves) 11.3.1 220V Series Torque (N-m) Torque(N-m) Torque (N-m) 0.477 1.92 0.96 (300%) (300%) (300%) Intermittent Duty Intermittent Intermittent Duty Zone Duty Zone Zone 0.159 0.64 0.32 (100%) (100%) (100%) 0.095 0.19 0.38 Continuous Duty Zone Continuous Duty zone...
  • Page 685 ASDA-A2 Chapter 11 Specifications Torque (N-m) Torque (N-m) Torque (N-m) 50.13 8.92 (300%) 42.97 (280%) (300%) Intermittent Intermittent Duty Zone Intermittent Duty Zone Duty Zone (160%) 16.71 3.18 (100%) 14.32 (100%) (100%) 11.20 1.59 Continuous Duty Zone 9.59 Continuous Duty Zone (67%) (50%) Continuous Duty zone...
  • Page 686 Chapter 11 Specifications ASDA-A2 11.3.2 400V Series Torque (N-m) Torque (N-m) Torque (N-m) 3.82 7.14 7.16 (300%) (298%) (300%) 6.00 (251%) Intermittent Intermittent Intermittent Duty Zone Duty Zone Duty Zone 1.27 2.39 2.38 (100%) (100%) (100%) Continuous 0.762 1.43 Continuous Duty Zone Duty Zone Continuous Duty Zone (60%)
  • Page 687 ASDA-A2 Chapter 11 Specifications Torque (N-m) Torque (N-m) Torque (N-m) 28.7 71.62 57.29 (250%) (300%) (300%) Intermittent Intermittent Intermittent Duty Zone Duty Zone Duty Zone 11.48 28.65 19.10 (100%) (100%) (100%) Continuous 5.74 14.33 9.55 Duty Zone (50%) (50%) (50%) Continuous Duty Zone Continuous Duty Zone Speed (r/min)

  • Page 688: Overload Features

    Chapter 11 Specifications ASDA-A2 11.4 Overload Features Definition of overload protection The overload protection is to prevent the motor from overheating. Cause of overload 1) When the motor operates over the rated torque, the operation time is too long 2) The inertia ratio is set too big and the motor accelerates / decelerates too often 3) Connection error between the power cable and encoder wiring 4) The servo gain setting error causes resonance of the motor 5) The motor with brake operates without releasing the brake...
  • Page 689 ASDA-A2 Chapter 11 Specifications Medium and Medium-High Inertia Series (ECMA E1, F1, K1 and L1 Series) High Inertia Series (ECMA G1 Series) 11-30...

  • Page 690: Dimensions Of Servo Drive

    Chapter 11 Specifications ASDA-A2 11.5 Dimensions of Servo Drive 11.5.1 220V Series ASD-A2-0121; ASD-A2-0221; ASD-A2-0421 (100 W ~ 400 W) Weight 1.5 (3.3) Note: 1. Dimensions are in millimeters (inches); weights are in kilograms (kg) and (pounds (lbs)). 2. Dimensions and weights of the servo drive may be revised without prior notice. 11-31...
  • Page 691 ASDA-A2 Chapter 11 Specifications ASD-A2-0721; ASD-A2-1021; ASD-A2-1521 (750 W ~ 1.5 kW) Weight 2.0 (4.4) Note: 1. Dimensions are in millimeters (inches); weights are in kilograms (kg) and (pounds (lbs)). 2. Dimensions and weights of the servo drive may be revised without prior notice. 11-32...
  • Page 692 Chapter 11 Specifications ASDA-A2 ASD-A2-2023; ASD-A2-3023 (2 kW ~ 3 kW) Weight 2.89 (6.36) Note: 1. Dimensions are in millimeters (inches); weights are in kilograms (kg) and (pounds (lbs)). 2. Dimensions and weights of the servo drive may be revised without prior notice. 11-33...
  • Page 693 ASDA-A2 Chapter 11 Specifications ASD-A2-4523 (4.5 kW) Weight 4.4 (10.0) Note: 1. Dimensions are in millimeters (inches); weights are in kilograms (kg) and (pounds (lbs)). 2. Dimensions and weights of the servo drive may be revised without prior notice. 11-34...
  • Page 694 Chapter 11 Specifications ASDA-A2 ASD-A2-5523 (5.5 kW) Weight 5.5 (12.1) Note: 1. Dimensions are in millimeters (inches); weights are in kilograms (kg) and (pounds (lbs)). 2. Dimensions and weights of the servo drive may be revised without prior notice. 11-35...
  • Page 695 ASDA-A2 Chapter 11 Specifications ASD-A2-7523 (7.5 kW) Weight 5.9 (13) Note: 1. Dimensions are in millimeters (inches); weights are in kilograms (kg) and (pounds (lbs)). 2. Dimensions and weights of the servo drive may be revised without prior notice. 11-36...
  • Page 696 Chapter 11 Specifications ASDA-A2 ASD-A2-1B23 (11 kW); ASD-A2-1F23 (15 kW) Weight 20 (44) Note: 1. Dimensions are in millimeters (inches); weights are in kilograms (kg) and (pounds (lbs)). 2. Dimensions and weights of the servo drive may be revised without prior notice. 11-37...

  • Page 697: Series

    ASDA-A2 Chapter 11 Specifications 11.5.2 400V Series ASD-A2-0743; ASD-A2-1043; ASD-A2-1543 (750 W ~ 1.5 kW) 11-38...
  • Page 698 Chapter 11 Specifications ASDA-A2 ASD-A2-2043; ASD-A2-3043, ASD-A2-4543; ASD-A2-5543 (2 kW ~ 5.5 kW) Power Weight 750 W~ 1.5 kW 216 (8.50) 203 (7.99) 82 (3.23) 62 (2.44) 203 (7.99) 2.89 (6.36) 2 kW ~ 5.5 kW 245 (9.65) 205.4 (8.09) 123 (4.88) 107 (4.21) 230 (9.06)
  • Page 699 ASDA-A2 Chapter 11 Specifications ASD-A2-7543 (7.5 kW) Power Weight 7.5 kW 254.2 (10.01) 205.5 (8.09) 136 (5.35) 107 (4.21) 247 (9.72) 5.5 (12.1) Note: 1. Dimensions are in millimeters (inches). 2. Weights are in kilograms (kg) and (pounds (lbs)). 3. The servo drive images shown here may differ from actual product appearance. Please refer to actual product appearance.

  • Page 700: Dimensions Of Servo Motor (Ecma Series)

    Chapter 11 Specifications ASDA-A2 11.6 Dimensions of Servo Motors (ECMA Series) 11.6.1 220V Series Motor Frame Size: 86 mm and below Models (Units: mm) 300±50 KEY DETAILS SHAFT END DETAILS Model C1040F□S C△0401□S C△0602□S C△0604□S C△0604□H     ...
  • Page 701 ASDA-A2 Chapter 11 Specifications Motor frame size: 86 mm and below Models (Units: mm) 300±50 KEY DETAILS SHAFT END DETAILS Model C△0804□7 C△0807□S C△0807□H C△0907□S C△0910□S               ...
  • Page 702 Chapter 11 Specifications ASDA-A2 Motor Frame Size: 100 mm ~ 130 mm Models (Units: mm) Model C△1010□S C△1020□S C△1330□4 E△1305□S E△1310□S E△1315□S E△1320□S                  ...
  • Page 703 ASDA-A2 Chapter 11 Specifications Motor Frame Size: 100 mm ~ 130 mm Models (Units: mm) Model F△1305□S F△1308□S F△1313□S F△1318□S G△1303□S G△1306□S G△1309□S                  ...
  • Page 704 Chapter 11 Specifications ASDA-A2 Motor Frame Size: 180 mm and above Models (Units: mm) Model E△1820□S E△1830□S E△1835□S F△1830□S 13.5 13.5 13.5 13.5                 LL (without brake) 169.0 202.1 202.1...
  • Page 705 ASDA-A2 Chapter 11 Specifications Motor Frame Size: 180 mm Models (Units: mm) Model F△1845□S F△1855□3 F△1875□3 13.5 13.5 13.5             LL (without brake) 235.3 279.7 342.0 376.1 LL (with brake) 279.3 311.7 108.5...
  • Page 706 Chapter 11 Specifications ASDA-A2 Motor Frame Size: 220 mm and above Models (Units: mm) Model F1221B□3 F1221F□S 13.5 13.5         LL (without brake) 371.4 453.4 LL (with brake) 434.4 513.4 Depth 32 Depth 40 Note: 1.

  • Page 707: Series

    ASDA-A2 Chapter 11 Specifications 11.6.2 400V Series Motor Frame Size: 86 mm and below Models (Units: mm) Model J△0907□S J△0910□S 0604□S 0807□S △ △ 14 0 011         50 0 025   ...
  • Page 708 Chapter 11 Specifications ASDA-A2 Motor Frame Size: 100 mm Models (Units: mm) Model 1010□S 1020□S △ △         LL (without brake) 153.3 199.0 LL (with brake) 192.5 226.0 Depth 20 Depth 20 Note: 1.
  • Page 709 ASDA-A2 Chapter 11 Specifications Motor Frame Size: 130 mm Models (Units: mm) Model K△1305□S 1330□4 1310□S 1315□S 1320□S △ △ △ △ 24 0 013                ...
  • Page 710 Chapter 11 Specifications ASDA-A2 Motor Frame Size: 130 mm Models (Units: mm) Model L△1305□S L△1313□S 1308□S 1309□S L△1318□S △ △                     LL (without brake) 147.5 194.5...
  • Page 711 ASDA-A2 Chapter 11 Specifications Motor Frame Size: 180 mm and above Models (Units: mm) Model L△1830□S L△1845□S L△1855□S L△1875□S K△1820□S 13.5 13.5 13.5 13.5 13.5                ...

  • Page 712: 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...

  • Page 713: Battery Box (Absolute Type) And Wiring

     occur. Do not directly solder the battery surface.  Battery Specifications Items Li/SOCl2 Cylindrical Battery Type ER14505 Delta Model Number ASD-CLBT0100 International Standard Size Standard Voltage 3.6V Standard Capacity 2700 mAh Maximum Continuous Discharge Current 100 mA Maximum Pulse Current...
  • Page 714 Chapter 12 Absolute System ASDA-A2 Battery Life The above figure comes from EVE Energy Co. ER14505 Discharge Characteristics (1) The above figure illustrates the discharge current curve generated by constant current test. According to the testing result shown on the graph above, when the power consumption of an absolute encoder is 190 uA or lower, if the voltage of the battery keeps 3V or higher, the expected battery life is about 19.7 months (Note)

  • Page 715: Battery Box Dimensions

    ASDA-A2 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 64.5 Weight 80 g Units: mm 12-4...

  • Page 716: Connection Cables For Absolute Encoder

    Chapter 12 Absolute System ASDA-A2 12.1.3 Connection Cables for Absolute Encoder A. Quick Connector Delta part number: ASD-A2EB0003, ASD-A2EB0005 Title Model Name inch ASD-A2EB0003 3000  100 118  4 ASD-A2EB0005 5000  100 197  4 Connection method: Please conduct the wiring according to the following instructions. Wrong wiring might cause battery explosion.
  • Page 717 ASDA-A2 Chapter 12 Absolute System B. Military Connector Delta part number: ASD-A2EB1003, ASD-A2EB1005 Title Model Name inch ASD-A2EB1003 3000  100 118  4 ASD-A2EB1005 5000  100 197  4 Connection method: Please conduct the wiring according to the following instructions. Wrong wiring might cause battery explosion.

  • Page 718: Battery Box Cords

    Chapter 12 Absolute System ASDA-A2 12.1.4 Battery Box Cords Battery Box Cord AW Delta Part Number: 3864573700 15±5 25±5 See detail A See detail B 200±10 detail A detail B (RED)1 1(RED) (BLACK)2 2(BLACK) Battery Box Cord IW Delta Part Number: 3864811900 15 ±...

  • Page 719: Installation

    ASDA-A2 Chapter 12 Absolute System 12.2 Installation 12.2.1 Connection Examples Single Battery Box (Standard wiring) Servo Drive CN2 Connector Absolute type encoder cable ASD-A2EB0003, ASD-A2EB0005, ASD-A2EB1003, ASD-A2EB1005 Single battery box for absolute type encoder Motor Note: This is the wiring diagram for connecting to a single battery box. The scale of the objects does not match the dimensions as shown in the drawing above.
  • Page 720 Chapter 12 Absolute System ASDA-A2 Single Battery Box (Connect to CN8) Servo Drive CN2 Connector Incremental type encoder cable ASD-ABEN0003, ASD-ABEN0005, ASD-CAEN1003, ASD-CAEN1005 Single battery box for absolute type encoder Battery Box Cord Motor Note: This is the wiring diagram for connecting to a single battery box. The scale of the objects does not match the dimensions as shown in the drawing above.
  • Page 721 ASDA-A2 Chapter 12 Absolute System Dual Battery Box (Connect to CN2) Servo Drive # 1 Servo Drive #2 Two connection ports are on the front and rear sides of the battery box for CN2 Connector CN2 Connector connecting to two servo drives Absolute type Absolute type...
  • Page 722 Chapter 12 Absolute System ASDA-A2 Dual Battery Box (Connect to CN8) Servo Drive # 1 Servo Drive #2 Two connection ports are on the front and rear sides of the CN2 Connector CN2 Connector battery box for connecting to two servo drives Incremental type Incremental type...

  • Page 723: How To Install A Battery

    ASDA-A2 Chapter 12 Absolute System 12.2.2 How to Install a Battery Single Battery Box Put on the clip on the cable. Loosen the latches of both Please note that the position of sides to open the top cover. the clip should be very close to the heat shrink tube.
  • Page 724 Chapter 12 Absolute System ASDA-A2 Dual Battery Box Pull the latches located on Tighten the mounting screws the bottom side as shown to secure the battery box. in the figure below. 12-13...

  • Page 725: How To Replace A Battery

    ASDA-A2 Chapter 12 Absolute System 12.2.3 How to Replace a Battery Please replace with a new battery if AL061 occurs, it means the battery is under voltage (refer to section 12.7.1 for detailed description). Or when accessing P0-02 for showing the battery power and it displays 31, which means the voltage is under 3.1V, so as to avoid data loss.
  • Page 726 Chapter 12 Absolute System ASDA-A2 Dual Battery Box Lifting the top cover to pull Please replace the out the batteries. battery while power is applied to the drive. Press the latches Do not remove the located on both sides power connection, or to open the top cover.

  • Page 727: System Initialization Procedure And Operation

    -2147483648 to 2147483647 to avoid triggering the fault AL289. Except for the alarms mentioned above, you can use P2-70 to set up Delta’s absolute servo system. You can choose not to show AL062 and AL289 if overflow occurs in the absolute coordinate system when the number of rotations exceeds the range -2147483648 to 2147483647.

  • Page 728: Pulse Counting

    Chapter 12 Absolute System ASDA-A2 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 729: Puu Counting

    ASDA-A2 Chapter 12 Absolute System 12.3.3 PUU Counting A 32-bit number with sign is used to denote PUU number in an absolute system. The PUU number is increasing when the motor is in positive rotating direction and decreasing for a negative running direction.

  • Page 730: Use Digital Inputs/Outputs To Create The Absolute Origin Coordinate

    Chapter 12 Absolute System ASDA-A2 12.3.4 Use Digital Inputs/Outputs to Create the Absolute Origin Coordinate When the servo drive is in PR mode, initialize the system with PR homing. Except for 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 731: Use Digital Inputs/Outputs To Read The Absolute Coordinate Data

    ASDA-A2 Chapter 12 Absolute System 12.3.6 Use Digital Inputs/Outputs to Read the Absolute Coordinate Data When Bit 0 is 0 in P2-70, the PUU number can be read by using digital inputs and outputs. The frame is as below. Bit 79 ~ Bit 64 Bit 63 ~ Bit 32 Bit 31 ~ Bit 16 Bit 15 ~ Bit 0...
  • Page 732 Chapter 12 Absolute System ASDA-A2 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. See 14 and 15 on the next picture below ABSE (DIx) Communication Enable (any DI) ABSQ (DI4) Request Signal...
  • Page 733 ASDA-A2 Chapter 12 Absolute System The step explanation for the communication: At the very beginning of communication, the host controller must enable ABSE and all the communication starts from here. After the signal has been recognized, the DI4, DO2, and DO3 (no matter what their functions are), will be switched to the functions of ABSQ, ABSR, and ABSD respectively.

  • Page 734: Use Parameter To Read The Absolute Coordinate Data

    Chapter 12 Absolute System ASDA-A2 bit 0 to bit 79 (80 bits in total), the functions of DI4, DO2, and DO3 resume their original functions after the communication is complete. Note: If ABSW does not go back to high level signal after the changing of ABSE for signal low to high that is a sign of error occurring, there must be some other errors existing.

  • Page 735: Related Parameters For Absolute System

    ASDA-A2 Chapter 12 Absolute System 12.4 Related Parameters for Absolute System Address: 028AH P2-69● Absolute Encoder Setting 028BH Operational Related Section: N/A Panel / Software Communication Interface： Default： 0x0 Control Mode： Unit： N/A Range： 0x0 ~ 0x1 Data Size： 16-bit Format：...
  • Page 736 Chapter 12 Absolute System ASDA-A2 Bit 2: Overflow warning; 1: No overflow warning, 0: Overflow warning, AL289 (PUU), AL062 (pulse). Bit 3 ~ Bit 15: Reserved. Must be set to 0. Address: 028EH P2-71■ Absolute Position Homing 028FH Operational Related Section: N/A Panel / Software Communication Interface：...
  • Page 737 ASDA-A2 Chapter 12 Absolute System 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 738 Chapter 12 Absolute System ASDA-A2 Address: 0066H P0-51★ Encoder Absolute Position (Multiturn) 0067H Operational Related Section: N/A Panel / Software Communication Interface： Default： 0x0 Control Mode： Unit： rev Range： -32768 ~ +32767 Data Size： 32-bit Format： Decimal Settings： While the Bit 1 of P2-70 is set to 1 to read the encoder pulse number, this parameter represents the turns of encoder absolute position.
  • Page 739 ASDA-A2 Chapter 12 Absolute System Address: 0004H P0-02 Drive Status 0005H Operational Related Section: Panel / Software Communication Interface： Default： 00 Control Mode： Unit： - Range： 00 ~ 127 Data Size： 16-bit Format： Decimal Please refer to section 7.2.1 for the description of monitoring variables. Settings：...

  • Page 740: Digital Input (Di) Function Definition (For Absolute System)

    Chapter 12 Absolute System ASDA-A2 12.5 Digital Input (DI) Function Definition (for Absolute System) Setting Value: 0x1D Trigger Control DI Name Function Description of Digital Input (DI) Method Mode When DI.ABSE is ON, it is in ABS mode. DI.ABSQ, DI.ABSC, DI.ABSR, DI.ABSD and DI.ABSC are enabled.

  • Page 741: Digital Output (Do) Function Definition (For Absolute System)

    ASDA-A2 Chapter 12 Absolute System 12.6 Digital Output (DO) Function Definition (for Absolute System) Setting Value: When DI.ABSE is ON, DO2 outputs ABSR signal, function set by P2-19 is disabled. Trigger Control DO Name Function Description of Digital Output (DO) Method Mode DO.ABSR is OFF means the Request sent by ABSQ has been...

  • Page 742: Alarms For Absolute System

    Chapter 12 Absolute System ASDA-A2 12.7 Alarms for Absolute System Display Alarm Name Alarm Description Encoder voltage error or Charging circuit of the servo drive is not removed and the internal of the the battery voltage is higher than the specification AL028 encoder is in error (>3.8 V) or the encoder signal is in error.

  • Page 743: Causes And Corrective Actions

    1. If the situation is not improving, please send the drive back to the distributors or contact with Delta. 2. Please connect the UVW 1. Check if it is the absolute type encoder. connector (color green) to the 2. Check if the servo is properly grounded.
  • Page 744 Chapter 12 Absolute System ASDA-A2 Causes Checking Method Corrective Actions Conduct the homing procedure Change the battery Do not change or remove the battery when again. Refer to Chapter 12 for when the drives’ main the drive’s main power is OFF. the description of creating power is OFF.

  • Page 745: Related Monitoring Variables

    ASDA-A2 Chapter 12 Absolute System AL069: Wong motor type Causes Checking Method Corrective Actions If the user desires to use Incremental motor is 1. Check if the motor is incremental or absolute function, please not allowed to absolute encoder. choose absolute motor. If not, activate the absolute please set parameter P2-69 to 2.
  • Page 746  Delta Part Number: ASDBCAPW0000 (for 220V series servo drive) Delta Part Number: ASDBCAPW0100 (for 220V series servo drive, with brake contact) Delta Part Number: ASD-CAPW5400 (for 400V series servo drive) Delta Part Number: ASD-CAPW5100 (for 400V series servo drive, with brake contact)
  • Page 747 Appendix A Accessories ASDA-A2 Delta Part Number: ASD-CAPW1000 Delta Part Number: ASD-CAPW2000 Delta Part Number: ASD-CAPW4000 CLAMP: WPS3057-20A Motor Brake Connector: ASD-CNBR1000 CLAMP: WPS3106A 10SL-4S-R 10S L-4S...
  • Page 748 ASDA-A2 Appendix A Accessories  Power Cables Delta Part Number: ASD-ABPW0003, ASD-ABPW0005 (for 220V series servo drive) Title Part No. inch 3000  100 118  4 ASD-ABPW0003 5000  100 197  4 ASD-ABPW0005 Delta Part Number: ASD-CAPW5403, ASD-CAPW5405 (for 400V series servo drive) Title Part No.
  • Page 749 Appendix A Accessories ASDA-A2 Delta Part Number: ASD-ABPW0103, ASD-ABPW0105 (for 220V series servo drive, with brake cable) Title Part No. inch 3000  100 118  4 ASD- ABPW0103 5000  100 197  4 ASD- ABPW0105 Delta Part Number: ASD-CAPW5103, ASD-CAPW5105...
  • Page 750 ASDA-A2 Appendix A Accessories Delta Part Number: ASD-CAPW1003, ASD-CAPW1005 (50mm) (1.97 inch) (80 mm) (3.15 inch) Item Part No. Straight plug inch 3000±10 118±0.4 MS 3106-20-18S ASD-CAPW1003 Title Part No. Straight 5000±10 197±0.4 ASD-CAPW1005 MS 3106-20-18S inch 3000  100 118 ...
  • Page 751 Appendix A Accessories ASDA-A2 Delta Part Number: ASDB-CAPW1203, ASDB-CAPW1205 Title Part No. Straight inch 3000  100 118  4 ASDB-CAPW1203 3106A-20-18S 5000  100 197  4 ASDB-CAPW1205 3106A-20-18S Delta Part Number: ASD-CAPW1303, ASD-CAPW1305 Title Part No. Straight inch 3000 ...
  • Page 752 ASDA-A2 Appendix A Accessories Delta Part Number: ASD-A2PW1003, ASD-A2PW1005 (50mm) (1.97 inch) (80 mm) (3.15 inch) Item Part No. Straight plug inch Title Part No. Straight inch MS 3106-20-18S 3000±10 118±0.4 ASD-CAPW1003 3000  100 118  4 ASD-A2PW1003 3106A-20-18S 5000±10...
  • Page 753 Appendix A Accessories ASDA-A2 Delta Part Number: ASD-CAPW2103, ASD-CAPW2105 Title Part No. Straight inch 3000  100 118  4 ASD-CAPW2103 3106A-24-11S 5000  100 197  4 ASD-CAPW2105 3106A-24-11S Delta Part Number: ASD-CAPW2203, ASD-CAPW2205 (80mm) (3.15 inch) (100 mm) (3.94 inch)
  • Page 754 ASDA-A2 Appendix A Accessories Delta Part Number: ASD-CAPW2303, ASD-CAPW2305 (for motors with brake) (80mm) (3.15 inch) (100 mm) (3.94 inch) Item Part No. Straight plug Title Part No. Straight inch inch MS 3106-24-11S 3000±10 118±0.4 ASD-CAPW2303 3000  100 118  4...
  • Page 755 Appendix A Accessories ASDA-A2 Delta Part Number: ASD-CAPW3303, ASD-CAPW3305 (for motors with brake) Item Part No. Straight inch inch ASD-CAPW3303 MS 3106-24-11S 3000100 118  4 3100100 122  4 ASD-CAPW3305 MS 3106-24-11S 5000100 197  4 5100100 201  4 ...
  • Page 756 ASDA-A2 Appendix A Accessories  Incremental Type Encoder Cables Delta Part Number: ASD-ABEN0003, ASD-ABEN0005 Title Part No. inch ASD-ABEN0003 3000  100 118  4 ASD-ABEN0005 5000  100 197  4 Delta Part Number: ASD-CAEN1003, ASD-CAEN1005 Title Part No.
  • Page 757 Appendix A Accessories ASDA-A2  Absolute Type Encoder Cables Delta Part Number: ASD-A2EB0003, ASD-A2EB0005 Title Part No. inch ASD-A2EB0003 3000  100 118  4 ASD-A2EB0005 5000  100 197  4 Delta Part Number: ASD-A2EB1003, ASD-A2EB1005 Title Model Name...
  • Page 758 ASDA-A2 Appendix A Accessories  Battery Box Cord AW (connects to the battery on the encoder cable) Delta Part Number: 3864573700 15±5 25±5 200±10 1( RED) 2(BLACK) Unit: mm  Battery Box Cord IW (connects to CN8) Delta Part Number: 3864811900 15 ±...
  • Page 759 Appendix A Accessories ASDA-A2  Battery Boxes Single Battery Box Dual Battery Box Delta Part Number: ASD-MDBT0100 Delta Part Number: ASD-MDBT0200 64.5 Unit: mm Unit: mm  I/O Signal Connector Delta Part Number: ASD-CNSC0050 A-14...
  • Page 760 ASDA-A2 Appendix A Accessories  I/O Terminal Block Module Delta Part Number: ASD-BM-50A  RS-232 Communication Cable Delta Part Number: ASD-CARS0003 Title Part No. inch ASD-CARS0003 3000  100 118  4  Communication Cable between Drive and Computer (for PC)
  • Page 761 Appendix A Accessories ASDA-A2  CANopen Communication Cable Delta Part Number: TAP-CB03, TAP-CB05 Title Part No. inch TAP-CB03 300  10 11  0.4 TAP-CB05 500  10 19  0.4  CANopen Distribution Box Delta Part Number: TAP-CN03 Unit: mm [inch] ...
  • Page 762 ASDA-A2 Appendix A Accessories  CN1 Convenient Connector Delta Part Number: ASD-IF-SC5020 15.28 PIN11:PULL_HI_PS PIN10:DO2+ PIN12:/PULSE PIN9:DO1+ PIN13:PULSE PIN8:DI7- PIN14:/SIGN PIN7:DI4- PIN15:SIGN PIN6:DI3- PIN16:OCZ PIN5:DI2- PIN17:GND PIN4:DI1- PIN18:DO4+ PIN3:COM- PIN19:DO3+ PIN2:COM+ PIN20:CN_GND PIN1:VDD ASD-IF-SC5020 22.83 22.83 PIN11:PULL_HI_PS PIN10:DO2+ PIN12:/PULSE PIN9:DO1+...
  • Page 763 Appendix A Accessories ASDA-A2 Optional Accessories – 220V Series 100 W Servo Drive and 50 W Low Inertia Servo Motor Servo Drive ASD-A2-0121- Low Inertia Servo Motor ECMA-C1040FS Motor Power Cable (Without Brake) ASD-ABPW000X Power Connector (Without Brake) ASDBCAPW0000 Motor Power Cable (With Brake) ASD-ABPW010X Power Connector (With Brake) ASDBCAPW0100...
  • Page 764 ASDA-A2 Appendix A Accessories 200 W Servo Drive and 200 W Low Inertia Servo Motor Servo Drive ASD-A2-0221- Low Inertia Servo Motor ECMA-C△0602S Motor Power Cable (Without Brake) ASD-ABPW000X Power Connector (Without Brake) ASDBCAPW0000 Motor Power Cable (With Brake) ASD-ABPW010X Power Connector (With Brake) ASDBCAPW0100 Incremental Type Encoder Cable...
  • Page 765 Appendix A Accessories ASDA-A2 400 W Servo Drive and 300 W High Inertia Servo Motor Servo Drive ASD-A2-0421- High Inertia Servo Motor ECMA-G△1303S Motor Power Cable (Without Brake) ASD-CAPW100X Motor Power Cable (With Brake) ASD-CAPW110X Power Connector ASD-CAPW1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 766 ASDA-A2 Appendix A Accessories 750 W Servo Drive and 600 W High Inertia Servo Motor Servo Drive ASD-A2-0721- High Inertia Servo Motor ECMA-G△1306S Motor Power Cable (Without Brake) ASD-CAPW100X Motor Power Cable (With Brake) ASD-CAPW110X Power Connector ASD-CAPW1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 767 Appendix A Accessories ASDA-A2 1 kW Servo Drive and 1 kW Medium Inertia Servo Motor Servo Drive ASD-A2-1021- Medium Inertia Servo Motor ECMA-E△1310S Motor Power Cable (Without Brake) ASD-CAPW100X Motor Power Cable (With Brake) ASD-CAPW110X Power Connector ASD-CAPW1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 768 ASDA-A2 Appendix A Accessories 1.5 kW Servo Drive and 1.5 kW Medium Inertia Servo Motor Servo Drive ASD-A2-1521- Medium Inertia Servo Motor ECMA-E△1315S Motor Power Cable (Without Brake) ASD-CAPW100X Motor Power Cable (With Brake) ASD-CAPW110X Power Connector ASD-CAPW1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 769 Appendix A Accessories ASDA-A2 2 kW Servo Drive and 2 kW Medium Inertia Servo Motor Servo Drive ASD-A2-2023- Medium Inertia Servo Motor ECMA-E△1820S Motor Power Cable (Without Brake) ASD-CAPW200X Motor Power Cable (With Brake) ASD-CAPW210X Power Connector ASD-CAPW2000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 770 ASDA-A2 Appendix A Accessories 3 kW Servo Drive and 3 kW Low Inertia Servo Motor Servo Drive ASD-A2-3023- Low Inertia Servo Motor ECMA-C△13304 Motor Power Cable (Without Brake) ASD-A2PW100X Motor Power Cable (With Brake) ASD-A2PW110X Power Connector ASD-CAPW1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 771 Appendix A Accessories ASDA-A2 3 kW Servo Drive and 3 kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-3023- Medium-High Inertia Servo Motor ECMA-F△1830S Motor Power Cable (Without Brake) ASD-CAPW200X Motor Power Cable (With Brake) ASD-CAPW210X Power Connector ASD-CAPW2000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 772 ASDA-A2 Appendix A Accessories 7.5 kW Servo Drive and 7.5 kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-7523- Medium-High Inertia Servo Motor ECMA-F△18753 Motor Power Cable (Without Brake) Motor Power Cable (With Brake) Power Connector ASD-CAPW4000 Brake Connector ASD-CNBR1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 773 Appendix A Accessories ASDA-A2 Note: 1. The boxes () at the ends of the servo drive model names are for optional configurations. Please refer to the ordering information of the actual purchased product. 2. The boxes (△) in the model names are for encoder resolution types. Please refer to Chapter 1 for further information.
  • Page 774 ASDA-A2 Appendix A Accessories 750 W Servo Drive and 750 W Low Inertia Servo Motor Servo Drive ASD-A2-0743- Low Inertia Servo Motor ECMA-J△0907S Motor Power Cable (Without Brake) ASD-CAPW540X Power Connector (Without Brake) ASD-CAPW5400 Motor Power Cable (With Brake) ASD-CAPW510X Power Connector (With Brake) ASD-CAPW5100 Incremental Type Encoder Cable...
  • Page 775 Appendix A Accessories ASDA-A2 1 kW Servo Drive and 1 kW Low Inertia Servo Motor Servo Drive ASD-A2-1043- Low Inertia Servo Motor ECMA-J△0910S Motor Power Cable (Without Brake) ASD-CAPW540X Power Connector (Without Brake) ASD-CAPW5400 Motor Power Cable (With Brake) ASD-CAPW510X Power Connector (With Brake) ASD-CAPW5100 Incremental Type Encoder Cable...
  • Page 776 ASDA-A2 Appendix A Accessories 1.5 kW Servo Drive and 900 W High Inertia Servo Motor Servo Drive ASD-A2-1543- High Inertia Servo Motor ECMA-M△1309S Motor Power Cable (Without Brake) ASD-CAPW100X Motor Power Cable (With Brake) ASD-CAPW110X Power Connector ASD-CAPW1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 777 Appendix A Accessories ASDA-A2 1.5 kW Servo Drive and 1.5 kW Medium Inertia Servo Motor Servo Drive ASD-A2-1543- Medium Inertia Servo Motor ECMA-K△1315S Motor Power Cable (Without Brake) ASD-CAPW100X Motor Power Cable (With Brake) ASD-CAPW110X Power Connector ASD-CAPW1000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 778 ASDA-A2 Appendix A Accessories 2 kW Servo Drive and 2 kW Medium Inertia Servo Motor Servo Drive ASD-A2-2043- Medium Inertia Servo Motor ECMA-K△1820S Motor Power Cable (Without Brake) ASD-CAPW220X Motor Power Cable (With Brake) ASD-CAPW230X Power Connector ASD-CAPW2000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 779 Appendix A Accessories ASDA-A2 4.5 kW Servo Drive and 4.5 kW Medium-High Inertia Servo Motor Servo Drive ASD-A2-4543- Medium-High Inertia Servo Motor ECMA-L△1845S Motor Power Cable (Without Brake) ASD-CAPW220X Motor Power Cable (With Brake) ASD-CAPW230X Power Connector ASD-CAPW2000 Incremental Type Encoder Cable ASD-CAEN100X Absolute Type Encoder Cable ASD-A2EB100X...
  • Page 780 3. The boxes () in the model names represent brake or keyway / oil seal.  Other Accessories (for all ASDA-A2 series models) Description Delta Part Number 50-pin I/O Signal Connector (CN1) ASD-CNSC0050 I/O Terminal Block Module ASD-BM-50A RS-232 Communication Cable...
  • Page 781 Appendix A Accessories ASDA-A2 (This page is intentionally left blank.) A-36...
  • Page 782 Appendix B Maintenance and Inspection Basic Inspection Item Content Periodically check if the screws of the servo drive, the connection between the motor shaft, and the mechanical system as well as the connection of terminal block and mechanical system are securely tightened.
  • Page 783 Please reset the parameter when the servo drive is in the status of SERVO OFF, or it may cause malfunction. When the relay is operating, contact Delta if there is no contact noise or there is other abnormal noise. Check if the power indicator and LED display work normally.

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