Table Of Contents - Delta ASDA-A3 Series User Manual

Table of Contents

Preface2
Safety Precautions3
Table Of Contents6
Product Overview14
Components Of The Servo Set15
Model Overview16
Nameplate Information16
Asda-A3 Series Servo Drive16
Serial Number16
Ecm-A3 Series Servo Motor17
Ecmc Series Servo Motor17
Model Explanation18
Asda-A3 Servo Drive18
Asda-A3 Servo Drive And Motor22
Description Of The Drive Interface23
Installation24
Ambient Storage Conditions25
Ambient Installation Conditions26
Mounting Direction And Space27
Heat Dissipation Requirements28
Safety Precautions For Using Motors29
Handling, Mounting, And Storage29
Wiring29
Operation30
Others30
Specifications For The Circuit Breaker And Fuse31
Ferrite Ring31
Installation Precautions32
The Suggested Winding Methods32
Installation Requirements For Emc33
Emi Filters34
General Precautions For Installation34
Motor Cable Selection And Installation Precautions35
Selecting The Regenerative Resistor36
The Built-In Regenerative Resistor In The Asda-A336
Rotary Motor38
Calculation Of The Regenerative Power When There Is No External Torque38
Calculation When There Is External Torque And Motor Does Negative Work40
The Use Of Braking41
Timing Diagram Of Brake Control41
Output Timing Of The Brkr Signal41
Wiring Of The Brake42
Timing Diagram Of Control Power And Main Power42
Wiring Contents44
System Connection46
Connecting To Peripheral Devices46
Installation Safety Precautions47
Motor47
Servo Motor)47
Connectors And Terminal Blocks48
Wiring For Power Supply50
Wiring Method For Single-Phase Power Supply50
Wiring Method For Three-Phase Power Supply51
Connecting Multiple Servo Drives52
Uvw Connectors For The Asda-A3 Servo Drive53
Table For Uvw Connector Specifications53
Specification For The Encoder Connector55
Encoder Connection: Quick Connector55
Specifications And Pin Assignment For Incremental Encoder Connector56
Specification And Pin Assignment For The Absolute Encoder Connector56
Connection Method57
Encoder Connection: Military Connector58
Wire Selection60
Wiring Diagram For The Servo System63
Models Of 400 W And Below63
Models Of 750 W – 3 Kw64
Wiring For Cn1 (I/O Signal)65
Cn1 I/O Connector (For A3-L And A3-M Series)65
Pin Assignment66
Signal Explanation For Connector Cn1 (For A3-L And A3-M Series)67
General Signals67
Default Di Signal Of Each Control Mode68
The Default Do Signal69
Cn1 I/O Connector (For A3-F Series)70
Signal Explanation For Connector Cn1 (For A3-F Series)71
Default Di Signal For Each Control Mode71
Wiring Diagrams (Cn1)73
C1: Input For Speed/Torque Analog Command73
C2: Output For Analog Monitoring Command73
C3-1: Source For Pulse Input Is Open-Collector Npn Type Equipment74
C3-2: Source For Pulse Input Is Open-Collector Pnp Type Equipment74
C4: Pulse Input Can Only Be Used With 2.8 V – 3.6 V Power Systems75
C5: Do Wiring - Servo Drive Uses An External Power Supply And Resistor76
C7: Npn Transistor77
C8: Pnp Transistor77
C9: Output For Encoder Position Signal (Line Driver)78
C10: Output For Encoder Position Signal (Opto-Isolator)78
C11: Encoder Ocz Output (Open-Collector Z Pulse Output)79
Application: Using The Cn1 Quick Connector For Wiring80
Pin Assignment For The Cn1 Quick Connector81
Wiring Example82
Wiring For Cn1 Quick Connector And Installation82
Wiring For The Cn2 Encoder Connector84
The Cn2 Encoder Signal Connector84
Quick Connector Ends84
Military Connector Ends84
Cn2 Pin Assignment85
Connecting Shielded Wire To The Cn2 Encoder Connector85
Wiring For The Cn3 Connector (Rs-485 / High Speed Communication)87
Cn4 Serial Connector (Mini Usb)89
Cn5 Connector (For Machine Position Feedback, Applicable To Full-Closed Loop)90
Cn6 Connector91
Dmcnet Communication Connector For Wiring91
Cn10 Sto Connector (Safe Torque Off )93
Sto Function (Safe Torque Off)94
Introduction To Sto94
The Potential Danger Of Sto94
Wiring For Sto95
How Does The Sto Function Work96
Actions Description (On = 24V; Off = 0V)96
Description Of The Sto Alarm96
Related Parameter Of The Sto Function97
Sto Function Description97
Fdbk Behavior98
Example Of Latching98
Example Of Not Latching98
Standard Wiring Example99
Position (Pt) Control Mode99
Position (Pr) Control Mode100
Speed Control Mode101
Torque Control Mode102
Communication Mode (Canopen)103
Communication Mode (Dmcnet)104
Test Operation And Panel Display106
Panel Description107
Parameter Setting Procedure108
Switching Modes108
Operating In Each Mode108
Parameter Mode109
Editing Mode110
Status Display111
Save The Setting Display111
Display The Decimal Point111
Alarm Messages112
Monitoring Display112
Positive And Negative Sign Setting112
The Following Table Shows The Panel Display Of 16-Bit And 32-Bit Value115
General Functions116
Operation Of Fault Record Display116
Force Do On117
Digital Input Diagnosis Operation118
Digital Output Diagnosis Operation118
Testing Without Load119
Apply Power To A3 Servo Drive120
When The Screen Displays121
Overvoltage Warning121
Encoder Error Warning121
Emergency Stop Warning122
Negative Limit Error Warning122
Positive Limit Error Warning123
Corrective Action123
Jog Trial Run Without Load124
The Following Shows The Jog Timing Diagram125
Trial Run Without Load (Speed Mode)126
Trial Run Without Load (Position Mode)128
Tuning130
Tuning Procedure And The Applied Mode131
Flow Chart For The Tuning Procedure131
Tuning Modes132
Quick Mode133
Auto Tuning133
Flow Chart For Auto Tuning134
Auto Tuning Through The Drive Panel135
Auto Tuning With Asda-Soft (Software)136
Auto-Tuning With Host Controller137
Click Controller138
Click Drive140
Auto-Tuning With Servo Drive140
Alarms Related To Auto Tuning143
Tuning Mode144
Flow Chart Of Tuning Mode144
Tuning Mode 1145
Tuning Mode 2145
Tuning Mode 3146
Adjust The Bandwidth Level147
Setting The Frequency Response Bandwidth (Stiffness)147
Gain Response148
Adjust The Gain Response148
Tuning In Manual Mode149
Position Control Gain149
Speed Control Gain149
Speed Integral Compensation149
Low-Pass Filter For Resonance Suppression150
Anti-Interference Gain150
Position Feed Forward Gain150
Mechanical Resonance Suppression151
Operation Mode152
Selecting The Operation Mode154
Position Mode155
Position Command In Pt Mode155
Position Command In Pr Mode156
Control Structure Of Position Mode156
The Pulse Command Input Inhibit Function157
S-Curve Filter (Position)158
Electronic Gear Ratio (E-Gear Ratio)159
Low-Pass Filter160
Timing Diagram Of Pr Mode160
Gain Adjustment For The Position Loop161
Auto Adjustment161
Manual Adjustment161
Low-Frequency Vibration Suppression In Position Mode163
Auto Function163
Manual Setting164
Speed Mode165
Selecting The Speed Command Source165
Control Structure Of Speed Mode166
Smooth Speed Command167
S-Curve And Time Setting167
Analog Speed Command Filter168
Low-Pass Filter For Commands168
Scaling Of The Analog Command169
Timing Diagram For Speed Mode170
Gain Adjustment Of The Speed Loop171
Manual Mode171
Frequency Domain172
Resonance Suppression Unit173
Speed Control Unit173
System Open-Loop Gain With Resonance174
Notch Filter174
Torque Mode176
Selecting The Torque Command Source176
Control Structure Of Torque Mode177
Smooth Torque Command178
Timing Diagram In Torque Mode179
Dual Mode180
Speed / Position Dual Mode181
Speed / Torque Dual Mode182
Torque / Position Dual Mode183
Applying The Speed Limit184
Command Source Selection Of Speed Limit184
Applying The Torque Limit185
Analog Monitoring185
Command Source Selection Of Torque / Speed Limit185
Voltage Drift186
Motion Control188
Pr Mode Description189
Setting Parameters For Each Pr Path189
Pr Mode Interface In Asda-Soft190
Example Of Pr#1 Property And Data Content190
Shared Pr Parameters191
Pr Diagram Display In Asda-Soft191
Shared Parameter Data For Pr Paths192
Asda-Soft Interface For Shared Pr Parameter Data192
Monitoring Variables Of Pr Mode193
Timing Diagram For Pr Mode Monitoring Variables193
Monitoring Variables Status When Executing A Command In Pr Mode194
Operation Of Di/Do Signals In Pr Mode194
Motion Control Commands195
Homing Methods195
Origin Definition197
Homing Screen In Asda-Soft199
Speed Command206
Homing Mode And Monitoring Variables206
Pr Mode Speed Screen In Asda-Soft207
Parameters For Pr Mode Speed Control207
Position Command208
Bit Function Of Pr Speed Control208
Pr Mode Position Interface Of Asda-Soft209
Parameters For Pr Mode Position Setting209
Four Types Of Position Command211
Bit Functions Of Parameters Of Pr Mode Position Control211
Jump Command In Pr Mode212
Using Pr Mode Jump Command In Asda-Soft212
Write Command213
Bit Function Of Pr Jump Command213
Using Pr Write Command In Asda-Soft214
Bit Function For Pr Write Command214
Index Position Command215
Pr Mode Indexing Coordinates216
Indexing Coordinates Setting Wizard In Pr Mode217
Pr Mode Index Position Screen In Asda-Soft217
Motor‟S Operation Direction And Indexing Coordinates218
Bit Function For The Index Position Command218
Arithmetic Operations219
Pr Arithmetic Operations Screen In Asda-Soft219
Description Of Each Field In The Operation Section220
Field Description For The Procedure Setting Section220
Statements Tab In Asda-Soft221
Overview Of The Pr Procedure222
Pr Display222
Homing Methods Display223
Speed Command Display224
Position Command Display224
Jump Command225
Write Command Display226
Indexing Position Command Display227
Arithmetic Operation228
Trigger Methods For The Pr Command229
Digital Input (Di) Triggering229
I/O Screen In Asda-Soft229
Use Di To Select The Pr Path To Be Triggered230
Event Triggering231
Example Of Event Triggering Timing Diagram231
Pr Command Trigger Register (P5.007)232
Special Trigger Method232
Event On/Off Screen In Asda-Soft232
Pr Procedure Execution Flow233
Trigger Mechanism233
Pr Execution Flow In The Asda-A3233
Sequence Command234
Pr Queue234
Pr Executor234
Motion Command Generator234
Position Command Followed By A Position Command235
Sequence Position Command235
Speed Command Followed By A Speed Command236
Speed Sequence Command236
Multiple Commands237
Sequence Command – Multiple Commands237
Command Interruption238
Internal Interruption238
Internal And External Interruption238
Internal Interruption - Position Command239
Relative And Incremental Position Command For Internal Interruption239
Internal Interruption – Speed Command240
Multiple Interrupt Commands241
Internal Interruption – Multiple Commands241
External Interruption242
Overlap Command243
Multiple Commands With Arithmetic Operations245
Writing Trigger Command In Statement Section245
Application Of Motion Control246
Data Array Screen In Asda-Soft246
Channel 1 – Reading / Writing The Data Array247
Read / Write Via Panel247
Read And Write Using Communication248
Channel 1 – Reading And Writing The Data Array248
High-Speed Position Capturing Function (Capture)249
Flow Chart For High-Speed Position Capturing250
Capture Function Screen In Asda-Soft250
Pr Path With Application Of High-Speed Capture Function252
Application Example For High-Speed Capturing Function252
High-Speed Position Comparing Function (Compare)253
Flow Chart For The High-Speed Position Compare Function254
Compare Function Screen In Asda-Soft255
Pr Path Using The Compare Function256
Timing Of The Compare Function257
Parameters258
Parameter Definitions259
Control Mode Description259
Special Symbol Description259
List Of Parameters260
Monitor And General Output Parameters260
Filter And Resonance Suppression Parameters261
Gain And Switching Parameters263
Position Control Parameters264
External Pulse Control Command (Pt Mode)264
Internal Register Control Command (Pr Mode)265
Speed Control Parameters266
Torque Control Parameters266
Planning Of Digital Input / Output Pin And Output Parameters266
Communication Parameters268
Diagnosis Parameters268
Parameter Descriptions270
P0.Xxx Monitoring Parameters270
P1.Xxx Basic Parameters285
P2.Xxx Extension Parameters318
P3.Xxx Communication Parameters353
P4.Xxx Diagnosis Parameters359
P5.Xxx Motion Control Parameters366
P6.Xxx Pr Parameters407
P7.Xxx Pr Parameters431
Digital Input (Di) Descriptions451
Digital Output (Do) Descriptions458
Monitoring Variables Descriptions463
Modbus Communication468
Rs-485 Communication Interface (Hardware)469
Rs-485 Communication Parameter Settings470
Modbus Communication Protocol471
Code Description471
Ascii Mode471
Rtu Mode471
11-Bit Character Frame (For 8-Bit Character)472
Communication Data Structure473
Example 1: Function Code 03H, Accessing Multiple Words474
Example 2: Function Code 06H, Writing Single Word475
Example 3: Function Code 10H, Writing Multiple Words476
Lrc And Crc Transmission Error Check478
Setting And Accessing Communication Parameters482
Absolute System484
Note485
Battery Box (Absolute Type) And Wiring486
Precautions486
Battery Specifications486
Battery Box Dimensions487
Connection Cable For The Absolute Encoder488
Quick Connector488
Military Connector489
Battery Box Cable490
Installing The Battery Box In The Servo System491
Single Battery Box491
Double Battery Box492
Installing And Replacing A Battery493
P2.070 Setting496
System Initialization And Operating Procedures496
Pulse Number497
Absolute Position For Puu Number497
Puu Number498
Initializing The Absolute Coordinates With Di/Do499
Timing Diagram For Initializing Absolute Coordinate System With Di/Do499
Reading The Absolute Position With Di/Do500
Timing Diagram - Use Di/Do To Read The Absolute Position501
Reading The Absolute Position With Communication503
List Of Absolute Parameters, Di/Do, And Alarms504
Relevant Parameters504
Relevant Di/Do504
Relevant Alarms505
Troubleshooting506
Alarm List508
General Type508
Sto Type510
Communication Type510
Motion Control Type511
Causes And Corrective Actions512
Appendix550
Specification Of The Asda-A3 Servo Drive551
Dimensions Of The Servo Drive554
Ecm-A3L Low Inertia Series Servo Motor558
Ecm-A3H High Inertia Series Servo Motor560
Torque Features (T-N Curves)562
Overload Features564
Definition Of Overload Protection564
Causes Of Overloading564
Graph Of Load And Operating Time564
Dimensions Of Ecm-A3L/A3H Series Servo Motor566
Motor Frame Size: 80 Mm And Below566
Ecmc Series Servo Motor With Frame Size 100 – 180569
Torque Features (T-N Curves571
Low Inertia (Ecmc C Series)573
Medium And Medium-High Inertia (Ecmc E, F Series)574
Dimensions Of Ecmc Series Servo Motor575
Motor Frame Size: 100 Mm / 130 Mm / 180 Mm575
Accessories578
Power Connector579
Power Cable580
Encoder Cable (Incremental Type)584
Encoder Cable (Absolute Type)585
Battery Box Cable Aw586
Battery Box (Absolute Type)586
I/O Signal Connector587
Terminal Block Module588
Canopen Communication Cable588
Canopen Distribution Box589
A3 / A2 Conversion Cable590
A3 Cn3 Rs-485 / Canopen Terminal Resistor591
Cn4 Mini Usb Module592
Optional Accessories593
Revision History598
Index600