Page 1 DELTA_IA-ASDA-AB_UM_EN_20141106 PLC1.ir...
Page 2 Contents of this manual This manual is a user guide that provides the information on how to install, operate and maintain ASDA-AB series AC servo drives and ECMA series AC servo motors. The contents of this manual include the following topics: ...
Page 3 Delta’s servo product. Failure to observe these precautions may void the warranty! ASDA-AB series drives are open type servo drives and must be installed in an NEMA enclosure such as a protection control panel during operation to comply with the requirements of the international safety standards.
Page 4 PrefaceASDA-AB Series Wiring  Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω). Improper grounding may result in electric shock or fire.  Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in serious injury, damage to the drive or fire.
Page 5 PrefaceASDA-AB Series 1) In this manual, actual measured values are in metric units. Dimensions in (imperial NOTE units) are for reference only. Please use metric units for precise measurements. 2) The content of this manual may be revised without prior notice. Please consult our distributors or download the most updated version at http://www.delta.com.tw/industrialautomation.
Page 6: Table Of Contents
Table of ContentsASDA-AB Series Table of Contents Chapter 1 Unpacking Check and Model Explanation ............1-1 1.1 Unpacking Check ........................1-1 1.2 Model Explanation ........................1-2 1.2.1 Nameplate Information ....................1-2 1.2.2 Model Name Explanation ....................1-3 1.3 Servo Drive and Servo Motor Combinations ................1-5 1.4 Servo Drive Features ......................1-6...
Page 7 Table of ContentsASDA-AB Series 3.1.6 Cable Specifications for Servo Drive ................3-9 3.2 Basic Wiring ..........................3-14 3.3 Input / Output Interface Connector - CN1 .................3-17 3.3.1 CN1 Terminal Identification ...................3-14 3.3.2 Signals Explanation of Connector - CN1................3-19 3.3.3 User-defined DI and DO signals ..................3-29 3.3.4...
Page 8 Table of ContentsASDA-AB Series 4.3.2 Abort Setting Display ....................4-3 4.3.3 Fault Message Display ....................4-3 4.3.4 Polarity Setting Display ....................4-3 4.3.5 Monitor Setting Display ....................4-4 4.4 General Function Operation ....................4-6 4.4.1 Fault Code Display Operation ..................4-6 4.4.2 JOG Operation......................4-7 4.4.3 Position Learning Operation ..................4-8 4.4.4...
Page 9 Table of ContentsASDA-AB Series 5.6.8 Gain Adjustment in Manual Mode..................5-23 Chapter 6 Control Modes of Operation ................. 6-1 6.1 Control Modes of Operation .....................6-1 6.2 Position Control Mode ......................6-2 6.2.1 Command Source of Position (Pt) Control Mode ............6-2 6.2.2 Command Source of Position (Pr) Control Mode ............6-3 6.2.3...
Page 10 8.4 Communication Parameter Write-in and Read-out ..............8-17 Chapter 9 Troubleshooting ....................9-1 9.1 Fault Messages Table ......................9-1 9.2 Potential Cause and Corrective Actions ...................9-3 9.3 Clearing Faults ........................9-9 Chapter 10 Specifications ...................... 10-1 10.1 Specifications of Servo Drive (ASDA-AB Series) ..............10-1 Revision November 2014...
Page 11 Table of ContentsASDA-AB Series 10.2 Specifications of Servo Motor (ECMA Series) ................10-4 10.3 Servo Motor Speed-Torque Curves ..................10-8 10.4 Overload Characteristics ......................10-9 10.5 Dimensions of Servo Drive ......................10-11 10.6 Dimensions of Servo Motor .....................10-15 Chapter 11 Application Examples................... 11-1 11.1 Position Control (including homing function) ................11-1 11.2 Roller Feeding .........................11-3...
Page 12 Due to constantly growing product range, technical improvement, alteration or changed texts, figures and diagrams, we reserve the right to make information changes within this manual without prior notice. Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited. Technical Support and Service You are welcome to contact our Technical Support Team at the below numbers or visit our web site (http://www.delta.com.tw/industrialautomation/) if you need technical support, service, information, or if you...
Page 13 Table of ContentsASDA-AB Series This page intentionally left blank. Revision November 2014...
Page 14: Chapter 1 Unpacking Check And Model Explanation
Chapter 1 Unpacking Check and Model Explanation Unpacking Check After receiving the AC servo drive, please check for the following:  Ensure that the product is what you have ordered. Verify the part number indicated on the nameplate corresponds with the part number of your order (Please refer to Section 1.2 for details about the model explanation).
Page 15: Model Explanation
Chapter 1 Unpacking Check and Model ExplanationASDA-AB Series One encoder cable, which is used to connect the encoder of servo motor to the CN2 terminal of servo drive. CN1 Connector: 50 PIN Connector (3M type analog product) CN2 Connector: 20 PIN Connector (3M type analog product)
Page 16: Model Name Explanation
Chapter 1 Unpacking Check and Model ExplanationASDA-AB Series 1.2.2 Model Name Explanation ASDA-AB Series Servo Drive Revision November 2014...
Page 17 Chapter 1 Unpacking Check and Model ExplanationASDA-AB Series ECMA Series Servo Motor Revision November 2014...
Page 18: Servo Drive And Servo Motor Combinations
Servo Drive and Servo Motor Combinations The table below shows the possible combination of Delta ASDA-AB series servo drives and ECMA series servo motors. The boxes () in the model names are for optional configurations. (Please refer to Section 1.2...
Page 19: Servo Drive Features
Chapter 1 Unpacking Check and Model ExplanationASDA-AB Series Servo Drive Features 220V models Revision November 2014...
Page 20 Chapter 1 Unpacking Check and Model ExplanationASDA-AB Series 110V models Revision November 2014...
Page 21: Control Modes Of Servo Drive
Chapter 1 Unpacking Check and Model ExplanationASDA-AB Series Control Modes of Servo Drive The Delta Servo provides six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code Description External Position control mode for the servo motor is External Position Control achieved via an external pulse command.
Page 22: Chapter 2 Installation And Storage
Chapter 2 Installation and Storage Installation Notes Please pay close attention to the following installation notes:  Do not bend or strain the connection cables between servo drive and motor.  When mounting the servo drive, make sure to tighten all screws to secure the drive in place. ...
Page 23: Installation Conditions
Chapter 2 Installation and StorageASDA-AB Series Installation Conditions Operating Temperature ASDA-AB Series Servo Drive 0°C to 55°C (32°F to 131°F) ECMA Series Servo Motor 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive should be under 45°C (113°F) for long-term reliability.
Page 24: Installation Procedure And Minimum Clearances
Chapter 2 Installation and StorageASDA-AB Series Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual when installing the servo drive and motor.
Page 25 Chapter 2 Installation and StorageASDA-AB Series  Minimum Clearances  Side by Side Installation Revision November 2014...
Page 26: Molded-Case Circuit Breaker And Fuse Current Recommended Value
Chapter 2 Installation and StorageASDA-AB Series Molded-case Circuit Breaker and Fuse Current Recommended Value  Caution: Please use molded-case circuit breaker and fuse which are recognized by and comply with the UL or CSA standards. Servo Drive Model Recommended Breaker...
Page 27 Chapter 2 Installation and StorageASDA-AB Series Installation All electrical equipment, including AC servo drives, will generate high-frequency/low-frequency noise and will interfere with peripheral equipment by radiation or conduction when in operation. By using an EMI filter with correct installation, much of the interference can be eliminated. It is recommended to use Delta’s EMI filter to have the best interference elimination performance.
Page 28 Chapter 2 Installation and StorageASDA-AB Series Figure 1 Saddle on both ends Saddle on one end Figure 2 Revision November 2014...
Page 29 Chapter 2 Installation and StorageASDA-AB Series Dimensions Delta Part Number: 08TDT1W4S Delta Part Number: 20TDT1W4D Revision November 2014...
Page 30: Regenerative Resistor
DC Bus and result in rising voltage. When the voltage has risen to some high voltage, the servo system need to dissipate the extra energy by using a regenerative resistor. ASDA-AB series servo drive provides a built-in regenerative resistor and the users also can connect to external regenerative resistor if more regenerative capacity is needed.
Page 31 Chapter 2 Installation and StorageASDA-AB Series External Regenerative Resistor When using external regenerative resistor, connect it to P and C, and make sure the circuit between P and D is open. We recommend the users should use the external regenerative resistor that the resistance value following the above table (Built-in Regenerative Resistor Specifications).
Page 32 ( (7+1) × 1.68 - 8) / 0.4 = 27.2W. If the calculation result is smaller than regenerative power, we recommend the users to use the built-in 60W regenerative resistor. Usually the built-in regenerative resistor provided by ASDA-AB series can meet the requirement of general application when the external load inertia is not excessive.
Page 33 Chapter 2 Installation and StorageASDA-AB Series Motor Rotation Speed External Load Torque Motor Output Torque Reverse Reverse Forward Forward Rotation Rotation Rotation Rotation External load torque in reverse direction: TL x Wr TL : External load torque For the safety, we strongly recommend the users should select the proper resistance value according to the load.
Page 34 Chapter 2 Installation and StorageASDA-AB Series Allowable Frequencies for Servo Motor Running Without Load (times/min) When Using Built-in Regenerative Resistor 750W 900W 1.0kW 1.5kW 2.0kW 2.0kW 3.0kW Motor Capacity ECMA Series ECMAC (F100) ECMAE (F130) (F180) (F180) ECMAG ( ) : motor frame size, unit is in millimeters.
Page 35 Chapter 2 Installation and StorageASDA-AB Series When the regenerative resistor capacity is not enough, the users can connect to multiple the same capacity regenerative resistors in parallel to increase it. Dimensions of Recommended Regenerative Resistor Delta Part Number Max. Weight (g) BR400W040 （400W 40Ω）...
Page 36: Chapter 3 Connections And Wiring
Chapter 3 Connections and Wiring This chapter provides information on wiring ASDA-AB series products, the descriptions of I/O signals and gives typical examples of wiring diagrams. Connections 3.1.1 Connecting to Peripheral Devices Figure 3.1 220V Servo Drive Revision November 2014...
Page 37 Chapter 3 Connections and WiringASDA-AB Series Figure 3.2 110V Servo Drive Revision November 2014...
Page 38: Servo Drive Connectors And Terminals
Chapter 3 Connections and WiringASDA-AB Series 3.1.2 Servo Drive Connectors and Terminals Terminal Terminal Notes Identification Description Control circuit Used to connect single-phase AC control circuit power. L1, L2 terminal (Control circuit uses the same voltage as the main circuit.)
Page 39 Chapter 3 Connections and WiringASDA-AB Series Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor. Please note that the main circuit terminals of 110V models are L1M and L2M, and there is no terminal T in 110V models.
Page 40: Wiring Methods
Chapter 3 Connections and WiringASDA-AB Series 3.1.3 Wiring Methods For servo drives from 100W to 1.5kW the input power can be either single or three-phase. For servo drives 2kW and above only three-phase connections are available. But, 220V single-phase models are available in 1.5kW and below only and 110V single-phase models are available in 400W and below only.
Page 41 Chapter 3 Connections and WiringASDA-AB Series Figure 3.4 Single-Phase Power Supply (400W and below, 110V models) Figure 3.5 Three-Phase Power Supply (all 220V models) Revision November 2014...
Page 42: Motor Power Cable Connector Specifications
Chapter 3 Connections and WiringASDA-AB Series 3.1.4 Motor Power Cable Connector Specifications The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Terminal Motor Model Name U, V, W / Electromagnetic Brake Connector Identification ECMA-C30401S (100W)
Page 43: Encoder Connector Specifications
Chapter 3 Connections and WiringASDA-AB Series CASE GROUND BRAKE1 BRAKE2 Terminal Identification (Red) (White) (Black) (Green) (Yellow) (Blue) NOTE 1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Blue) and BRAKE2 (Brown). 2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.
Page 44 Chapter 3 Connections and WiringASDA-AB Series Motor Model Name Encoder Connector ECMA-C30401S (100W) ECMA-C30602S (200W) View from View from ECMA-C30604S (400W) this side this side ECMA-C308047 (400W) HOUSING：AMP (1-172161-9) ECMA-C30807S (750W) Encoder Connector Specifications and Definition: Connector of Encoder Connector of Motor...
Page 45 Chapter 3 Connections and WiringASDA-AB Series Encoder Connection (Diagram 2): Servo Drive ASDA -AB CN2 Connector Connector of Military Encoder Cable Connector Servo Motor This diagram shows the connection between the servo drive and the motor encoder. It NOTE is not drawn by practical scale. The specifications vary with different models of servo drives and motors selected.
Page 46 Chapter 3 Connections and WiringASDA-AB Series Motor Model Encoder Connector Terminal Color Identification Blue ECMA-G31303S (300W) Blue/ ECMA-E31305S (500W) Black ECMA-G31306S (600W) Green ECMA-G31309S (900W) Green/ ECMA-C31010S (1000W) Black Yellow ECMA-E31310S (1000W) Yellow/ ECMA-E31315S (1500W) Black ECMA-C31020S (2000W) Red/Red ECMA-E31320S (2000W) DC+5V &White...
Page 47: Cable Specifications For Servo Drive
Chapter 3 Connections and WiringASDA-AB Series 3.1.6 Cable Specifications for Servo Drive The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.) Power Cable Power Cable - Wire Gauge AWG (mm...
Page 48 Chapter 3 Connections and WiringASDA-AB Series NOTE Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interference. The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal marked ) of the servo drive.
Page 49: Basic Wiring
Chapter 3 Connections and WiringASDA-AB Series Basic Wiring Figure 3.6 Basic Wiring Schematic of 100W ~ 1.5kW, 220V models 3-14 Revision November 2014...
Page 50 Chapter 3 Connections and WiringASDA-AB Series Figure 3.7 Basic Wiring Schematic of 2kW, 220V models 3-15 Revision November 2014...
Page 51 Chapter 3 Connections and WiringASDA-AB Series Figure 3.8 Basic Wiring Schematic of 100W ~ 400W, 110V models 3-16 Revision November 2014 PLC1.ir...
Page 52: Cn1 Terminal Identification
Chapter 3 Connections and WiringASDA-AB Series I/O Signal (CN1) Connection 3.3.1 I/O Signal (CN1) Connector Terminal Layout In order to have more flexible communication with the master, 5 programmable Digital Output (DO) and 8 programmable Digital Inputs (DI) are provided. The setting of 8 digital inputs and 5 digital outputs of each axis are parameter P2-10~P2-17 and parameter P2-18~P2-22 respectively.
Page 53 Chapter 3 Connections and WiringASDA-AB Series 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 NC Connection DO2+ Digital output 30 DI8- Digital input...
Page 54: Signals Explanation Of Connector Cn1
Chapter 3 Connections and WiringASDA-AB Series 3.3.2 Signals Explanation of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the general signals. Table 3.B details the Digital Output (DO) signals and Table 3.C details the Digital Input (DI) signals.
Page 55 Chapter 3 Connections and WiringASDA-AB Series Wiring Diagram Signal Pin No Details (Refer to 3-3-3) 14,29, 38,39, See previous note for NC terminals CN1 connector Other 40,46, on page 3-11. The Digital Input (DI) and Digital Output (DO) have factory default settings which correspond to the various servo drive control modes.
Page 56 Chapter 3 Connections and WiringASDA-AB Series Mode TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed setting as defined in TSPD parameter P1-39. TSPD will remain activated until the motor speed drops below the Target Rotation Speed.
Page 57 Chapter 3 Connections and WiringASDA-AB Series 1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected. 2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS. Table 3.C DI Signals Assigned Pin No.
Page 58 Chapter 3 Connections and WiringASDA-AB Series Assigned Pin No. Wiring Diagram (*2) Details Control Code Signal (Default) (Refer to 3-3-3) Mode PT, T, Tz, TCM0 Select the source of torque command: PT-T, PR-T, See table 3.F. TCM1 Speed / Position mode switching...
Page 59 Chapter 3 Connections and WiringASDA-AB Series Assigned Pin No. Wiring Diagram (*2) Details Control Code Signal (Default) (Refer to 3-3-3) Mode Forward JOG input. When JOGU is JOGU activated, the motor will JOG in forward assigned direction. [see P4-05] Reverse JOG input. When JOGD is...
Page 60 Chapter 3 Connections and WiringASDA-AB Series Table 3.E Source of Speed Command SPD1 SPD0 Parameter S mode: analog input Sz mode: 0 P1-09 P1-10 P1-11 Table 3.F Source of Torque Command TCM1 TCM0 Parameter T mode: analog input Tz mode: 0...
Page 61 Chapter 3 Connections and WiringASDA-AB Series Table 3.G Default DI signals and Control modes Signal Function Tz Pt-S Pt-T Pr-S Pr-T S-T Code Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 ARST Reset DI5 DI5 DI5 DI5 DI5 DI5...
Page 62 Chapter 3 Connections and WiringASDA-AB Series Signal Function Tz Pt-S Pt-T Pr-S Pr-T S-T Code Forward inhibit limit CCWL DI7 DI7 DI7 DI7 DI7 DI7 (contact b) Reference “Home” ORGP sensor Reverse operation torque limit (torque TLLM limit function is valid...
Page 63 Chapter 3 Connections and WiringASDA-AB Series Signal Function Tz Pt-S Pt-T Pr-S Pr-T S-T Code 0 [see P2-60~P2-62] Electronic gear ratio GNUM1 (Numerator) selection 1 [see P2-60~P2-62] INHP Pulse inhibit input NOTE 1) For Pin numbers of DI1~DI8 signal, please refer to section 3.3.1.
Page 64: Wiring Diagrams Of I/O Signals - Cn1
Chapter 3 Connections and WiringASDA-AB Series 3.3.3 Wiring Diagrams of I/O Signals (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 10KΩ.
Page 65 Chapter 3 Connections and WiringASDA-AB Series C4: Pulse input (Line driver) Because this photocoupler is a unidirectional optocoupler, please pay close attention on the current direction of input pulse command. Be sure to connect a diode when the drive is applied to inductive load.
Page 66 Chapter 3 Connections and WiringASDA-AB Series C7: Wiring of DO signal, for the use of external C8: Wiring of DO signal, for the use of external power supply, general load power supply, inductive load Use a relay or open-collector transistor to input signal.
Page 67 Chapter 3 Connections and WiringASDA-AB Series PNP transistor with multiple emitter fingers (SOURCE Mode) C11: Wiring of DI signal, for the use of internal C12: Wiring of DI signal, for the use of external power power supply supply  Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo drive and servo motor.
Page 68 Chapter 3 Connections and WiringASDA-AB Series 3.3.4 DI and DO Signal Specified by Users If the default DI/DO signals cannot satisfy the need, self-set the DI/DO will do and is easy. The signal function of DI1~8, DI9~DI13 and DO1~5 is determined by parameter P2-10~P2-17 and P2-18~P2-22.
Page 69: Encoder Connector Cn2
Chapter 3 Connections and WiringASDA-AB Series Encoder Connector CN2 Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal. When power is first applied to the servo drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor within 500msec approximately.
Page 70 Chapter 3 Connections and WiringASDA-AB Series CN2 Terminal Signal Identification Terminal Military Quick PIN No. Signal Name Description Color Identification Connector Connector /Z phase input Encoder /Z phase output Yellow/Black /A phase input Encoder /A phase output Blue/Black A phase input...
Page 71: Serial Communication Connector Cn3
Chapter 3 Connections and WiringASDA-AB Series Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification The servo drive can be connected to a PC or controller via a serial communication connector. Users can operate the servo drive through PC software supplied by Delta (contact to the dealer). The communication connector/port of Delta servo drive can provide three common serial communication interfaces: RS-232, RS-485, and RS-422 connection.
Page 72: Connection Between Pc And Connector Cn3
Chapter 3 Connections and WiringASDA-AB Series 3.5.2 Connection between PC and Connector CN3 3-37 Revision November 2014...
Page 73: Standard Connection Example
Chapter 3 Connections and WiringASDA-AB Series Standard Connection Example 3.6.1 Position (Pt) Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 wiring diagram on page 3-26.
Page 74: Position (Pt) Control Mode (110V Models)
Chapter 3 Connections and WiringASDA-AB Series 3.6.2 Position (Pt) Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 wiring diagram on page 3-26.
Page 75: Position (Pr) Control Mode (220V Models)
Chapter 3 Connections and WiringASDA-AB Series 3.6.3 Position (Pr) Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-40 Revision November 2014...
Page 76: Position (Pr) Control Mode (110V Models)
Chapter 3 Connections and WiringASDA-AB Series 3.6.4 Position (Pr) Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-41 Revision November 2014...
Page 77: Speed Control Mode (220V Models)
Chapter 3 Connections and WiringASDA-AB Series 3.6.5 Speed Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-42 Revision November 2014...
Page 78: Speed Control Mode (110V Models)
Chapter 3 Connections and WiringASDA-AB Series 3.6.6 Speed Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-43 Revision November 2014...
Page 79: Torque Control Mode (220V Models)
Chapter 3 Connections and WiringASDA-AB Series 3.6.7 Torque Control Mode (220V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-44 Revision November 2014...
Page 80: Torque Control Mode (110V Models)
Chapter 3 Connections and WiringASDA-AB Series 3.6.8 Torque Control Mode (110V models) Note: The coil of brake has no polarity. Please refer to parameter P1-46 in Chapter 7. 3-45 Revision November 2014...
Page 81 Chapter 3 Connections and WiringASDA-AB Series (This page is intentionally left blank.) 3-46 Revision November 2014...
Page 82: Chapter 4 Display And Operation
Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers. Description of the Digital Keypad The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of the digital keypad and an overview of their functions.
Page 83: Display Flowchart
Chapter 4 Display and OperationASDA-AB Series Display Flowchart Figure 4.2 Keypad Operation When the power is applied to the AC servo drive, the LCD display will show the monitor function codes for approximately one second, then enter into the monitor mode.
Page 84: Status Display
Chapter 4 Display and OperationASDA-AB Series Status Display 4.3.1 Save Setting Display After the SET key is pressed, LCD display will show the following display messages for approx. one second according to different status. Display Message Description The setting value is saved correctly.
Page 85: Monitor Setting Display
Chapter 4 Display and OperationASDA-AB Series Display Message Description Negative value display. When the parameter setting is greater than four digits (for the setting value within the range of less than five decimal places), after the display value is set, continuously press SHIFT key for many times and then the lit decimal points are used to indicate a negative value.
Page 86 Chapter 4 Display and OperationASDA-AB Series P0-02 Display Message Description Unit Setting Torque input command Volt Torque input command Average load Peak load Main circuit voltage Volt Ratio of load inertia to motor inertia time Motor feedback pulse number (relative...
Page 87: General Function Operation
Chapter 4 Display and OperationASDA-AB Series General Function Operation 4.4.1 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1 to H5 in order.
Page 88: Jog Operation
Chapter 4 Display and OperationASDA-AB Series 4.4.2 JOG Operation After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation. (Please also refer to Figure 4.4). Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min).
Page 89: Position Learning Operation
Chapter 4 Display and OperationASDA-AB Series 4.4.3 Position Learning Operation Follow the following steps to perform position learning operation (Please also refer to Figure 4.5). 1. Activate the internal position learning function (Set P2-30=4). 2. After enter into parameter mode P4-05, press Set key and the LED display will show learning moving speed value.
Page 90: Do Force Output Diagnosis Operation
Chapter 4 Display and OperationASDA-AB Series The learning position and internal memorized position are listed as below: Learning Internal Memorized Position Position JOGo1 P1-15 (1st Position Command for Rotation), P1-16 (1st Position Command for Pulse) JOGo2 P1-17 (2nd Position Command for Rotation), P1-18 (2nd Position Command for Pulse)
Page 91: Di Diagnosis Operation
Chapter 4 Display and OperationASDA-AB Series 4.4.5 DI Diagnosis Operation Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI8, the corresponding status will display on the servo drive LED display.
Page 92: Chapter 5 Trial Run And Tuning Procedure
Chapter 5 Trial Run and Tuning Procedure This chapter, which is divided into two parts, describes trial run for servo drive and motor. One part is to introduce the trial run without load, and the other part is to introduce trial run with load. Ensure to complete the trial run without load first before performing the trial run with load.
Page 93 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Item Content  Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended.
Page 94: Applying Power To The Drive
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Applying Power to the Drive The users please observe the following steps when applying power supply to the servo drive. 1. Please check and confirm the wiring connection between the drive and motor is correct.
Page 95 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series 1) When display shows: Over voltage: The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect power input). Corrective Actions:  Use voltmeter to check whether the input voltage falls within the rated input voltage.
Page 96 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series  If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to confirm that which of digital inputs DI1~DI8 is set to “Emergency Stop (EMGS)” and check if the digital input signal is ON (It should be activated).
Page 97 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On (SON) function is enabled) and the following fault message shows on the display:...
Page 98: Jog Trial Run Without Load
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series JOG Trial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring. The external wiring is not necessary and the users only need to connect the digital keypad to the servo drive.
Page 99 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Revision November 2014...
Page 100: Speed Trial Run Without Load
P2-15 to P2-17 to 0 (Disabled) in advance. All the digital inputs of Delta ASDA-AB series are user-defined, and the users can set the DI signals freely. Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please refer to Table 7.A in Chapter 7).
Page 101 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series The settings of speed command: P1-09 is set to 3000 Input value command Rotation direction P1-10 is set to 100 P1-11 is set to -3000 STEP 3: The users can use DI1 to enable the servo drive (Servo ON).
Page 102: Position Trial Run Without Load
P2-15 to P2-17 to 0 (Disabled) in advance. All the digital inputs of Delta ASDA-AB series are user-defined, and the users can set the DI signals freely. Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please refer to Table 7.A in Chapter 7).
Page 103 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series The position command is selected by POS0 ~ POS2. Please refer to the following table: Position Moving Speed POS2 POS1 POS0 CTRG Parameters Description Command Register P1-15 Rotation No. (+/- 30000) Internal...
Page 104 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Set P1-25 to 0 (rotation number) Set P1-26 to 100 (pulse number) The command of internal position 6: P1-25 Rotation No. + P1-26 Pulse No. Set P1-27 to 0 (rotation number) Set P1-28 to 1000 (pulse number) The command of internal position 7: P1-27 Rotation No.
Page 105: Tuning Procedure
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Tuning Procedure Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode Tuning Procedure Display After wiring is completed, when power in connected to the AC servo drive, the right side display will show on the LCD display.
Page 106: Tuning Flowchart
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series 21. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 operation. Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor).
Page 107: Load Inertia Estimation Flowchart
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series 5.6.2 Load Inertia Estimation Flowchart 5-16 Revision November 2014...
Page 108: Automode (Pi) Tuning Flowchart
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series 5.6.3 AutoMode (PI) Tuning Flowchart Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjustment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) A: No function B: Responsiveness level of auto-tuning mode In AutoMode (PI), the value “B”...
Page 109 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Table 5.B P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25 P2-31 value “B” Speed Loop Responsive Recommended Setting Value of P2-25 20Hz 30Hz 40Hz 60Hz 85Hz 120Hz...
Page 110: Automode (Pdff) Tuning Flowchart
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series 5.6.4 AutoMode (PDFF) Tuning Flowchart Set P2-32 to 4 (4: AutoMode (PDFF) [Continuous adjustment] ) P2-31 Auto Mode Responsiveness Level (Default setting: B=4) A: No function B: Responsiveness level of auto-tuning mode In AutoMode (PDFF), the value “B”...
Page 111 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Speed Loop Responsiveness. P2-31 value “B” Speed Loop Responsiveness P2-31 value “B” Speed Loop Responsiveness 20HZ 120Hz 30 HZ 140HZ 40 HZ...
Page 112: Manual Mode Tuning Flowchart
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series 5.6.5 Manual Mode Tuning Flowchart Position Mode 5-21 Revision November 2014...
Page 113: Limit Of Load Inertia Estimation
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series Speed Mode 5.6.6 Limit of Load Inertia Estimation The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be above 200r/min. The load inertia must be 100 multiple or less of motor inertia. The change of external force and the inertia ratio can not be too much.
Page 114: Relationship Between Tuning Modes And Parameters
Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series 5.6.7 Relationship between Tuning Modes and Parameters AutoSet Tuning Mode P2-32 User-defined Parameter Gain Value Parameter P2-00 (Proportional Position Loop Gain) P2-04 (Proportional Speed Loop Gain) 0(Default Manual Mode None Fixed P2-06 (Speed Integral Compensation)
Page 115 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series  KPP, Parameter P2-00 Proportional Position Loop Gain This parameter is used to determine the responsiveness of position loop (position loop gain). It could be used to increase stiffness, expedite position loop response and reduce position error.
Page 116 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series  DST, Parameter P2-26 External Anti-Interference Gain This parameter is used to enhance the anti-interference capability and reduce the occurrence of overshoot. The default setting is 0 (Disabled). It is not recommended to use it in manual mode...
Page 117 Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series (This page intentionally left blank.) 5-26 Revision November 2014...
Page 118: Chapter 6 Control Modes Of Operation
Chapter 6 Control Modes of Operation Control Modes of Operation The Delta ASDA-AB series can be programmed to provide six single and five dual modes of operation. Their operation and description is listed in the following table. Mode Code Description...
Page 119: Position Control Mode
The position control mode (PT or PR mode) is usually used for the applications requiring precision positioning, such as industry positioning machine, indexing table etc. Delta ASDA-AB series servo drive supports two kinds of command sources in position control mode. One is an external pulse train (PT: Position Terminals, External Position Control) and the other is internal parameter (PR: Position Register, i.e.
Page 120: Command Source Of Position (Pr) Control Mode
Chapter 6 Control Modes of OperationASDA-AB Series • Value B: Input pulse filter This setting is used to suppress or reduce the chatter caused by the noise, etc. However, if B=0: 500Kpps the instant input pulse filter frequency is over...
Page 121: Structure Of Position Control Mode
Chapter 6 Control Modes of OperationASDA-AB Series Position POS2 POS1 POS0 CTRG Parameters Description Command P1-23 Rotation number (+/- 30000) P1-24 Pulses (+/- max cnt) P1-25 Rotation number (+/- 30000) P1-26 Pulses (+/- max cnt) P1-27 Rotation number (+/- 30000)
Page 122: P-Curve Filter For Position Control
Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set in both two modes to set proper position revolution. ASDA-AB series servo drive also provides P-curve and low-pass filter, which are used whenever the motor and load need to be operated more smoothly. As for the information of electronic gear ratio, P-curve and low-pass filter, please refer to the following sections 6.2.4, 6.2.5...
Page 123 Chapter 6 Control Modes of OperationASDA-AB Series Position Time (ms) Speed Rated speed Time (ms) Torque Time (ms) TSL/2 TACC TSL/2 TSL/2 TACC TSL/2 P-curve characteristics and Time relationship (Acceleration) Position Time (ms) Speed Rated speed Time (ms) Torque TDEC...
Page 124 Chapter 6 Control Modes of OperationASDA-AB Series 1st to 3rd step Acceleration time. It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)
Page 125: Electronic Gear Ratio
Chapter 6 Control Modes of OperationASDA-AB Series 2) So if user change the control mode to PR mode and switching power off and on, the servo drive of parameter P1-36 will auto set the value to 20. 6.2.5 Electronic Gear Ratio Relevant parameters: P1 - 44▲...
Page 126: Low-Pass Filter
Chapter 6 Control Modes of OperationASDA-AB Series Electronic Gear Ratio Corresponding travel distance per pulse When the electronic 3x 100 0 300 0 4x 250 0 100 00 gear ratio is not used When the electronic 1000 0 = 1 m...
Page 127: Timing Chart Of Position (Pr) Control Mode
Chapter 6 Control Modes of OperationASDA-AB Series 6.2.7 Timing Chart of Position (PR) Control Mode In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG. Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is...
Page 128 Chapter 6 Control Modes of OperationASDA-AB Series For example, the desired position loop responsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/s. Relevant parameters: P2 - 00 Proportional Position Loop Gain Communication Addr.: 0200H...
Page 129 Chapter 6 Control Modes of OperationASDA-AB Series When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate.
Page 130: Speed Control Mode
The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as CNC machine, etc. ASDA-AB series servo drive supports two kinds of command sources in speed control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the speed of servo motor.
Page 131: Structure Of Speed Control Mode
Chapter 6 Control Modes of OperationASDA-AB Series GND. The setting range of the input voltage is from -10V to +10V and the corresponding motor speed is adjustable (Please see parameter P1-40).  When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter (P1-09 to P1-11).
Page 132: Smoothing Strategy Of Speed Control Mode
ASDA-AB series servo drives also support the time calculation of completing speed command. T (ms) is the operation (running) time. S (r/min) is absolute speed command, i.e. the absolute value (the result) after starting speed subtracts the final speed.
Page 133 Chapter 6 Control Modes of OperationASDA-AB Series P1 - 35 TDEC Deceleration Time Communication Addr.: 0123H Default: 200 Related Section: Applicable Control Mode: P/S P1-34, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: 1st to 3rd step Deceleration time.
Page 134 Chapter 6 Control Modes of OperationASDA-AB Series Analog Speed Command S-curve Filter ASDA-AB series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in response to a sudden analog input signal. Speed (rpm) Analog speed command Motor Torque...
Page 135: Analog Speed Input Scaling
Chapter 6 Control Modes of OperationASDA-AB Series 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF and GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range.
Page 136: Timing Chart Of Speed Control Mode
The function and structure of speed control mode is shown as the figure below: There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-AB series servo drives can be adjusted by using any one of three tuning modes.
Page 137 Chapter 6 Control Modes of OperationASDA-AB Series  Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will be disabled.  Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of system bandwidth.
Page 138 Chapter 6 Control Modes of OperationASDA-AB Series  Proportional gain: Adjust this gain can increase the position loop responsiveness.  Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will result in the unstable servo system.
Page 139 Chapter 6 Control Modes of OperationASDA-AB Series Frequency Domain Time Domain 6-22 Revision November 2014...
Page 140 Chapter 6 Control Modes of OperationASDA-AB Series In general, the equipment, such as spectrum analyzer is needed and used to analyze when using frequency domain method and the users also should have this kind of analysis technology. However, when using time domain method, the users only need to prepare an oscilloscope. Therefore, the general...
Page 141: Resonance Suppression
Chapter 6 Control Modes of OperationASDA-AB Series adjust what is called as PI (Proportional and Integral) type controller. As for the performance of torque shaft load, input command tracking and torque shaft load have the same responsiveness when using frequency domain method and time domain method. The users can reduce the responsiveness of input command tracking by using input command low-pass filter.
Page 142 Chapter 6 Control Modes of OperationASDA-AB Series Notch Filter Attenuation Rate P2 - 24 Communication Addr.: 0218H (Resonance Suppression) Default: 0 Related Section: Applicable Control Mode: P/S/T Section 6.3.7 Unit: dB Range: 0 ~ 32 Settings: 0: Disabled Low-pass Filter Time Constant P2 - 25 Communication Addr.: 0219H...
Page 143 Chapter 6 Control Modes of OperationASDA-AB Series Low-pass filter Please use parameter P2-25. The figure below shows the resonant open-loop gain. Gain Frequency When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass frequency (BW) will become smaller (see the figure below).
Page 144 Chapter 6 Control Modes of OperationASDA-AB Series Use Low-pass Filter to suppress resonance 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...
Page 145: Torque Control Mode
The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machine, twister, etc. Delta ASDA-AB series servo drive supports two kinds of command sources in torque control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the torque of servo motor.
Page 146: Structure Of Torque Control Mode
Chapter 6 Control Modes of OperationASDA-AB Series 6.4.2 Structure of Torque Control Mode Basic Structure: The toque command processing is used to select the command source of torque control according to chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of torque control mode.
Page 147: Analog Torque Input Scaling
Chapter 6 Control Modes of OperationASDA-AB Series NOTE 1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled and the command is just By-Pass. Target Speed TFLT 6.4.4 Analog Torque Input Scaling The analog voltage between T_REF and GND controls the motor torque command.
Page 148: Timing Chart Of Torque Control Mode
Chapter 6 Control Modes of OperationASDA-AB Series For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V, then the torque command is changed to 50% rated torque.
Page 149: Control Mode Selection
Chapter 6 Control Modes of OperationASDA-AB Series Control Modes Selection Except signal control mode operation, ASDA-AB series AC drive also provide PT-S, PR-S, S-T, PT-T, PR-T these five multiple modes for the users to select. 1） Speed / Position mode selection: PT-S, PR-S 2）...
Page 150: Speed / Torque Control Mode Selection
Chapter 6 Control Modes of OperationASDA-AB Series In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time. When switching to the position mode (when S-P is OFF), the position command is not determined (it needs to wait that CTRG is on the rising edge), so the motor stop running.
Page 151 Chapter 6 Control Modes of OperationASDA-AB Series The timing chart of speed / position control mode selection is shown as the figure below: In position mode (when T-P is ON), the motor will start to count pulse and operate following the external pulse command.
Page 152: Others
Chapter 6 Control Modes of OperationASDA-AB Series Others 6.6.1 Speed Limit The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or torque control mode. The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11).
Page 153: Analog Monitor
Chapter 6 Control Modes of OperationASDA-AB Series 6.6.3 Analog Monitor User can use analog monitor to observe the required analog voltage signals. ASDA-AB series provide two analog channels, they are PIN No. 15 and 16 of CN1 connector. The parameters relative to analog monitor are shown below.
Page 154 Chapter 6 Control Modes of OperationASDA-AB Series Monitor analog output polarity • A=0: MON1(+), MON2(+) • A=1: MON1(+), MON2(-) • A=2: MON1(-), MON2(+) • A=3: MON1(-), MON2(-) not used Pulse output polarity • B=0: Forward output • B=1: Reverse output...
Page 155 Chapter 6 Control Modes of OperationASDA-AB Series Because there is an offset value of analog monitor output voltage, the zero voltage level of analog monitor output does not match to the zero point of setting value. We recommend the users can use Analog Monitor Output Drift Adjustment, DOF1 (parameter P4-20) and DOF2 (parameter P4-21) to improve this condition.
Page 156: Electromagnetic Brake
Chapter 6 Control Modes of OperationASDA-AB Series 6.6.4 Electromagnetic Brake When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the electromagnetic brake is disabled and motor is stop running and locked. If the digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run freely.
Page 157 Chapter 6 Control Modes of OperationASDA-AB Series Electromagnetic Brake Wiring Diagram NOTE Please refer to Chapter 3 Connections and Wiring for more wiring information. The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the servo drive can be used to power the relay coil (Relay).
Page 158 Chapter 6 Control Modes of OperationASDA-AB Series The timing charts of control circuit power and main circuit power: L1, L2 Control Circuit Power 1 sec Control Circuit Power > 0msec R, S, T Main Circuit Power 800ms BUS Voltage READY...
Page 159 Chapter 6 Control Modes of OperationASDA-AB Series (This page intentionally left blank) 6-42 Revision November 2014...
Page 160: Chapter 7 Servo Parameters
Chapter 7 Servo Parameters Definition There are following five groups for drive parameters: Group 0: Monitor parameter (example: P0-xx) Group 1: Basic parameter (example: P1-xx) Group 2: Extension parameter (example: P2-xx) Group 3: Communication parameter (example: P3-xx) Group 4: Diagnosis parameter (example: P4-xx) Abbreviation of control modes: PT: Position control mode (command from external signal)
Page 161: List Of Parameters
Chapter 7 Servo ParametersASDA-AB Series List of Parameters Monitor and General Output Parameter Control Mode Related Parameter Name Function Default Unit Section PT PR S Factory ★ Firmware Version     P0-00 setting Alarm Code Display of Drive ★...
Page 162 Chapter 7 Servo ParametersASDA-AB Series 6.2.4 Acceleration / Deceleration Constant of P1-36 msec S-Curve 6.3.3 Resonance suppression P2-23 1000 6.3.7 (Notch filter) Resonance Suppression (Notch filter) P2-24 6.3.7 Attenuation Rate Low-pass Filter of Resonance P2-25 2 or 5 msec 6.3.7 Suppression P2-33▲...
Page 163 Chapter 7 Servo ParametersASDA-AB Series Position Control Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR P1-46▲ Pulse Number of Encoder Output pulse P2-50 DCLR Pulse Clear Mode Table 7.A External Pulse Command (PT mode) P1-00▲ External Pulse Input Type 6.2.1...
Page 164 Chapter 7 Servo ParametersASDA-AB Series Speed Control Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR pulse Input Setting of Control Mode and P1-01● r/min Control Command P1-02▲ PSTL Speed and Torque Limit Setting P1-46▲ GR3 Pulse Number of Encoder Output...
Page 165 Chapter 7 Servo ParametersASDA-AB Series Planning of Digital Input / Output Pin and Output Setting Parameter Control Mode Related Parameter Abbr. Function Value Unit Section PT PR P2-09 DI Debouncing Time 2 msec O P2-10 DI1 Functional Planning P2-11 DI2 Functional Planning...
Page 166 Chapter 7 Servo ParametersASDA-AB Series Diagnosis Parameter Control Mode Related Parameter Abbr. Function Default Unit Section PT PR ★ ASH1 Fault Record (N) P4-00 ★ ASH2 Fault Record (N-1) P4-01 ★ ASH3 Fault Record (N-2) 4.4.1 P4-02 ★ ASH4 Fault Record (N-3) P4-03 ★...
Page 167 Chapter 7 Servo ParametersASDA-AB Series Others Control Mode Related Parameter Abbr. Function Default Unit Section PT PR S P1-31 Motor Type P1-32 LSTP Motor Stop Mode P1-37 Load Inertia Ratio to Servo Motor times 6.3.6 P1-52 RES1 Regenerative Resistor Value...
Page 168: Parameter Description
Chapter 7 Servo ParametersASDA-AB Series Parameter Description Group 0: P0-xx Monitor Parameters Firmware Version Address: 0000H P0 - 00★ Default: Factory setting Related Section: N/A Control Mode: ALL Unit: N/A Range: N/A Alarm Code Display of Drive (Seven-Segment Address: 0001H P0 - 01★...
Page 169 Chapter 7 Servo ParametersASDA-AB Series P0 - 02 Drive Status Address: 0002H Default: 00 Related Section: Control Mode: ALL Section 4.3.5 Unit: N/A Range: 00 ~ 16 Settings: 00: Motor feedback pulse number (absolute value) [pulse] 01: Motor feedback rotation number (absolute value) [rev]...
Page 170 Chapter 7 Servo ParametersASDA-AB Series P0 - 03 Analog Monitor Output Address: 0003H Default: 01 Related Section: Control Mode: ALL Section 4.3.5 Unit: N/A Range: 00 ~ 55 Settings: Not in use YX: (Y: Ch1; X: Ch2) 0: Motor speed (+/-8V / maximum motor speed)
Page 171 Chapter 7 Servo ParametersASDA-AB Series P0 - 05 Status Monitor Register 2 Address: 0005H Default: 0 Related Section: Control Mode: ALL Section 4.3.5 Unit: N/A Range: 0 ~ 16 Settings: See P0-04 for explanation. P0 - 06 Status Monitor Register 3...
Page 172 Chapter 7 Servo ParametersASDA-AB Series P0 - 09 MAP0 Block Data Read / Write Register 0 Address: 0009H Default: 407H Related Section: N/A Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: Set the register address in HEX that users wish to read and write by using the panel. Upon accessing data from address 0009H, users access its content and regard it as the address data.
Page 173 Chapter 7 Servo ParametersASDA-AB Series P0 - 13 MAP4 Block Data Read / Write Register 4 Address: 000DH Default: 111H Related Section: N/A Control Mode: ALL Unit: N/A Range: 100H ~ 417H Settings: Set the register address in HEX that users wish to read and write by using the panel.
Page 174 Chapter 7 Servo ParametersASDA-AB Series SVSTS Servo Digital Output Status Display Address: 0011H P0 - 17★ Default: N/A Related Section: Control Mode: ALL Table 7.2 Unit: N/A Range: N/A Settings: This parameter is used to display the digital output signal of the servo drive. The servo output status display will show in hexadecimal format.
Page 175 Chapter 7 Servo ParametersASDA-AB Series TPON Time Control of Power On Address: 0013H P0 - 19★ Default: 0 Related Section: N/A Control Mode: ALL Unit: hour Range: N/A Settings: This parameter records the total accumulated time of power on every hour. When repower on, previous time of power on less than an hour will not be included.
Page 176 Chapter 7 Servo ParametersASDA-AB Series Group 1: P1-xx Basic Parameters P1 -00▲ External Pulse Input Type Address: 0100H Default: 2 Related Section: Control Mode: PT Section 6.2.1 Unit: N/A Range: 0 ~ 132 Settings:  Pulse type 0: AB phase pulse (4x)
Page 177 Chapter 7 Servo ParametersASDA-AB Series Input Setting of Control Mode and Control P1 - 01● Address: 0101H Command Default: 00 Related Section: Control Mode: ALL Section 6.1 Unit: pulse (P mode), r/min (S mode), N-m (T mode) Range: 0 ~ 1110...
Page 178 Chapter 7 Servo ParametersASDA-AB Series operational mode automatically. P1 -02▲ PSTL Speed and Torque Limit Setting Address: 0102H Default: 00 Related Section: Control Mode: ALL Section 6.6 Unit: N/A Range: 0 ~ 11 Settings: Disable / enable speed limit function...
Page 179 Chapter 7 Servo ParametersASDA-AB Series P1 - 03 AOUT Polarity Setting of Encoder Pulse Output Address: 0103H Default: 0 Related Section: Control Mode: ALL Section 3.3.3 Unit: N/A Range: 0 ~ 1 Settings: Polarity of monitor analog output Polarity of encoder pulse output Not in use ...
Page 180 Chapter 7 Servo ParametersASDA-AB Series Analog Torque Command (Low-pass Filter) P1 - 07 TFLT Address: 0107H Default: 0 Related Section: Control Mode: T Section 6.4.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) Smooth Constant of Position Command (Low- P1 - 08...
Page 181 Chapter 7 Servo ParametersASDA-AB Series Internal Speed Command 3 / Internal Speed Limit P1 - 11 Address: 010BH Default: 300 Related Section: Control Mode: S / T Section 6.3.1 Unit: r/min Range: -5000 ~ +5000 Settings: Internal Speed Command 3: The setting of the third internal speed command.
Page 182 Chapter 7 Servo ParametersASDA-AB Series Internal Torque Command 3 / Internal Torque P1 - 14 Address: 010EH Limit 3 Default: 100 Related Section: Control Mode: T, P/S Section 6.4.1 Unit: % Range: -300 ~ +300 Settings: Internal Torque Command 3: The setting of the third internal torque command.
Page 183 Chapter 7 Servo ParametersASDA-AB Series P1 - 18 PO2L Pulse Number of Internal Position Command 2 Address: 0112H Default: 0 Related Section: Control Mode: PR Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: Internal Position Command 2 = 2 internal rotation setting value + 2...
Page 184 Chapter 7 Servo ParametersASDA-AB Series Control Mode: PR Section 6.2.2 Unit: pulse Range: +/-max. cnt/rev Settings: Internal Position Command 4 = 4 internal rotation setting value + 4 internal pulse number setting value P1 - 23 PO5H Rotation of Internal Position Command 5...
Page 185 Chapter 7 Servo ParametersASDA-AB Series Range: +/-max. cnt/rev Settings: Internal Position Command 6 = 6 internal rotation setting value + 6 internal pulse number setting value P1 - 27 PO7H Rotation of Internal Position Command 7 Address: 011BH Default: 0...
Page 186 Chapter 7 Servo ParametersASDA-AB Series Internal Position Command 8= 8 internal rotation setting value + 8 internal pulse number setting value P1 - 31 Motor Type Address: 011FH Default: 0 Related Section:- Control Mode: ALL Unit: N/A Range: 0 ~ 1 Settings: This parameter is used to select the type of the servo motor that matches the servo drive.
Page 187 Chapter 7 Servo ParametersASDA-AB Series P1 -33● POSS Internal Position Control Mode (PR) Address: 0121H Default: 0 Related Section: Control Mode: PR Section 6.2.2 Unit: N/A Range: 0 ~ 8 Settings: 0: Absolute positioning command 1: Incremental positioning command 2: Look for indexing position in forward direction...
Page 188 Chapter 7 Servo ParametersASDA-AB Series P1 - 36 Acceleration / Deceleration Constant of S-curve Address: 0124H Default: 0 Related Section: Unit: ms Section 6.2.4 (PR mode) Range: 0 ~ 10000 (0: Disable this function) Section 6.3.3 (S mode) Settings: If the control of the servo motor is achieved via internal parameters, the command curve should be defined by the users.
Page 189 Chapter 7 Servo ParametersASDA-AB Series P1 - 39 SSPD Target Motor Speed Address: 0127H Default: 3000 Related Section: Applicable Control Mode: ALL Table 7.B ZSPD (04) Unit: r/min Range: 0 ~ 5000 Settings: When target motor speed reaches its preset value, digital output (TSPD) is enabled. When the forward and reverse speed of servo motor is equal and higher than the setting value, the motor will reach the target motor speed, and then TSPD signal will output.
Page 190 Chapter 7 Servo ParametersASDA-AB Series For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V, then the torque command is changed to 50% rated torque.
Page 191 Chapter 7 Servo ParametersASDA-AB Series P1 - 44▲ Electronic Gear Ratio (1st Numerator) (N1) Address: 012CH Default: 1 Related Section: Applicable Control Mode: PT, PR Section 6.2.5 Unit: Pulse Range: 1 ~ 32767 Settings: Multiple-step electronic gear numerator setting. Please refer to P2-60~P2-62.
Page 192 Chapter 7 Servo ParametersASDA-AB Series This parameter is used to set the pulse number of encoder outputs which directly represents the encoder output pulse number per motor revolution. A: Range of the pulse numbers of encoder outputs  Range of the setting value: 20 ~ 2500 (with B=1) B: Must be set to 1 ...
Page 193 Chapter 7 Servo ParametersASDA-AB Series  B=0: Return to find Z-phase pulse during homing  B=1: Do not return and go forward to find Z-phase pulse during homing  B=2: Positioning at home sensor position or Z-phase pulse during homing (it only can be used when A=2, 3, 4 or 5) ...
Page 194 Chapter 7 Servo ParametersASDA-AB Series HSP1 HSP2 Z pulse P1 - 49 HSPD2 2nd Speed Setting of Low Speed Homing Address: 0131H Default: 50 Related Section: Applicable Control Mode: ALL Section 12.8 Unit: r/min Range: 1 ~ 500 Settings: Please refer to P1-48.
Page 195 Chapter 7 Servo ParametersASDA-AB Series P1 - 52 RES1 Regenerative Resistor Value Address: 0134H Default: 40 (1.5kW and below), 20 (above 1.5kW) Related Section: Applicable Control Mode: ALL Section 2.7 Unit: Ohm Range: 10 ~ 750 Settings: This parameter is used to set the resistance of the applicable regenerative resistor.
Page 196 Chapter 7 Servo ParametersASDA-AB Series Unit: r/min Range: 0 ~ Max. speed Settings: This parameter is used to set maximum motor speed. The default setting is rated speed. P1 - 56 Output Overload Warning Level Address: 0138H Default: 120 Related Section: N/A...
Page 197 Chapter 7 Servo ParametersASDA-AB Series P1 - 60 Reserved Address: 013CH P1 - 61 Reserved Address: 013DH Delay Time of Internal Position Command P1 - 62 COKT Address: 013EH Completed Output Signal Default: 0 Related Section: Applicable Control Mode: Unit: ms...
Page 198 Chapter 7 Servo ParametersASDA-AB Series Group 2: P2-xx Extension Parameters P2 - 00 Position Loop Gain Address: 0200H Default: 35 Related Section: Applicable Control Mode: PT, PR Section 6.2.8 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is used to set the position loop gain. It can increase stiffness, expedite position loop response and reduce position error.
Page 199 Chapter 7 Servo ParametersASDA-AB Series P2 - 03 Smooth Constant of Position Feed Forward Gain Address: 0203H Default: 5 Related Section: N/A Applicable Control Mode: PT, PR Unit: ms Range: 2 ~ 100 Settings: When using position smooth command, increase gain can improve position track deviation.
Page 200 Chapter 7 Servo ParametersASDA-AB Series compensation is increased, it can improve the speed response ability and decrease the speed control deviation. However, if the setting value is over high, it may generate vibration or noise. P2 - 07 Speed Feed Forward Gain...
Page 201 Chapter 7 Servo ParametersASDA-AB Series P2 - 09 DI Debouncing Time Address: 0209H Default: 2 Related Section: Applicable Control Mode: ALL Section 6.3.6 Unit: 2ms Range: 0 ~ 20 Settings: For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=10ms.
Page 202 Chapter 7 Servo ParametersASDA-AB Series P2 - 12 DI3 Functional Planning Address: 020CH Default: 116 Related Section: Applicable Control Mode: ALL Table 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation. P2 - 13 DI4 Functional Planning...
Page 203 Chapter 7 Servo ParametersASDA-AB Series P2 - 17 DI8 Functional Planning Address: 0211H Default: 21 Related Section: Applicable Control Mode: ALL Table 7.A Unit: N/A Range: 0 ~ 147 Settings: See P2-10 for explanation. P2 - 18 DO1 Functional Planning...
Page 204 Chapter 7 Servo ParametersASDA-AB Series P2 - 20 DO3 Functional Planning Address: 0214H Default: 109 Related Section: Applicable Control Mode: ALL Table 7.B Unit: N/A Range: 0 ~ 112 Settings: See P2-18 for explanation. P2 - 21 DO4 Functional Planning...
Page 205 Chapter 7 Servo ParametersASDA-AB Series Settings: 0: Disabled Low-pass Filter of Resonance Suppression P2 - 25 Address: 0219H Default: 2 (1kW and below models) or Related Section: 5 (above 1kW models) Section 6.3.7 Applicable Control Mode: ALL Unit: ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is used to set low-pass filter time constant of resonance suppression.
Page 206 Chapter 7 Servo ParametersASDA-AB Series P2 - 28 Gain Switching Time Constant Address: 021CH Default: 10 Related Section: N/A Applicable Control Mode: ALL Unit: 10ms Range: 0 ~ 1000 Settings: 0: Disabled This parameter is used to set the time constant when switching the smooth gain.
Page 207 Chapter 7 Servo ParametersASDA-AB Series P2 - 31 AUT1 Auto Mode Responsiveness Level Address: 021FH Default: 44 Related Section: Applicable Control Mode: ALL Section 5.6, Section 6.3.6 Unit: N/A Range: 0 ~ FF Settings: This parameter allows the users to set the responsiveness level setting of auto-tuning mode.
Page 208 Chapter 7 Servo ParametersASDA-AB Series Explanation of Auto-tuning: 1. When switching mode #2 or #4 to #3, the system will save the measured load inertia value automatically and memorized in P1-37. Then, set the corresponding parameters according to this measured load inertia value.
Page 209 Chapter 7 Servo ParametersASDA-AB Series P2 - 35 PDEV Excessive Error Warning Condition Address: 0223H Default: 30000 Related Section: N/A Applicable Control Mode: PT, PR Unit: pulse Range: 1 ~ 30000 Settings: This parameter is used to set the excessive error condition of the drive fault code (See P0-01) .
Page 210 Chapter 7 Servo ParametersASDA-AB Series P2 - 39 POV4 Moving Speed Setting of 4th Position Address: 0227H Default: 1000 Related Section: Applicable Control Mode: PR Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36. P2 - 40...
Page 211 Chapter 7 Servo ParametersASDA-AB Series P2 - 43 POV8 Moving Speed Setting of 8th Position Address: 022BH Default: 1000 Related Section: Applicable Control Mode: PR Section 6.2.2 Unit: r/min Range: 1 ~ 5000 Settings: Please refer to P2-36. P2 - 44...
Page 212 Chapter 7 Servo ParametersASDA-AB Series Unit: sec Range: 2 ~ 32 P2 - 47 Position Deviation Clear Delay Time Address: 022FH Default: 0 Related Section: Applicable Control Mode: PR Section 12.6 Unit: 20ms Range: 0 ~ 250 Settings: This function is disabled when its setting value is set to 0.
Page 213 Chapter 7 Servo ParametersASDA-AB Series P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Address: 0231H Default: 0 Related Section: N/A Applicable Control Mode: ALL Unit: sec Range: 0 ~ 119 Settings: not used  A: Speed Detection Filter Constant...
Page 214 Chapter 7 Servo ParametersASDA-AB Series Range: 0 ~ 3 Settings: For digital input function (DI function), please refer to Table 7.A. This pulse deviation clear function is enabled when a digital input is set to pulse clear function (CCLR mode, DI function is set to 4).
Page 215 Chapter 7 Servo ParametersASDA-AB Series Input signal) Servo ON (SON) is "ON" with control power applied to the servo drive, there may be a fault condition or not. The servo is not ready to run. Servo ready (SRDY) is "ON" where the servo is ready to run, NO fault / alarm exists.
Page 216 Chapter 7 Servo ParametersASDA-AB Series P2 - 57 ATM5 Timer 5 of Auto Mode Address: 0239H Default: 0 Related Section: N/A Applicable Control Mode: PR Unit: sec Range: 0 ~ 120.00 P2 - 58 ATM6 Timer 6 of Auto Mode...
Page 217 Chapter 7 Servo ParametersASDA-AB Series P2 - 61 Gear Ratio (3rd Numerator) (N3) Address: 023DH Default: 1 Related Section: N/A Applicable Control Mode: PT, PR Unit: pulse Range: 1 ~ 32767 Settings: Please refer to P2-60. P2 - 62 Gear Ratio (4th Numerator) (N4)
Page 218 Chapter 7 Servo ParametersASDA-AB Series If P2-35 is set to 1000, and value B is set to 0, the position excessive error warning pulse is 1000 pulses. If P2-35 is set to 1000, and value B is set to 1, the position excessive error warning pulse is 100,000 pulses.
Page 219 Chapter 7 Servo ParametersASDA-AB Series If the users use TLLM or TRLM to activate torque limit function, the torque limit command source can be parameter P1-12 (NL) or P1-13 (PL). P2 - 65 GBIT Special Function Address: 0241H Default: 0...
Page 220 Chapter 7 Servo ParametersASDA-AB Series Bit3 ~ Bit4: Fast DI function definition Bit4 Bit3 Function Disable fast DI function Fast position latch for DI8 : When fast position latch function is enabled, the users can get latch position from LED panel by setting P0-02=15 (latch pulses) or setting P0-02=16 (latch turns).
Page 221 Chapter 7 Servo ParametersASDA-AB Series Bit15： Enable/Disable ALE04. (Aiming for problem of missing pulse count, motor type matching will not be influenced.) Bit15= 0：Enabled Bit15= 1：Disabled In PT mode, if NL and PL both exist, both of them will be inhibited to input to the servo.
Page 222 Chapter 7 Servo ParametersASDA-AB Series Group 3: P3-xx Communication Parameters P3 - 00 Communication Address Setting Address: 0300H Default: 1 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 1~254 Settings: When using RS232/RS485 to communicate, one servo drive can only set one address. The duplicate address setting will cause abnormal communication.
Page 223 Chapter 7 Servo ParametersASDA-AB Series P3 - 02 Communication Protocol Address: 0302H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~8 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1>...
Page 224 Chapter 7 Servo ParametersASDA-AB Series P3 - 04 Communication Timeout Address: 0304H Default: 0 Related Section: Applicable Control Mode: ALL Section 8.2 Unit: N/A Range: 0~20 Settings: 0: Disabled This parameter is used to set the maximum permissible time before detecting a fault due to communication timeout.
Page 225 Chapter 7 Servo ParametersASDA-AB Series P3 - 06■ Control Switch of Digital Input (DI) Address: 0306H Default: 0 Related Section: Applicable Control Mode: ALL P4-07, Section 8.2 Unit: N/A Range: 0~FFFF Settings: The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.
Page 226 Chapter 7 Servo ParametersASDA-AB Series Group 4: P4-xx Diagnosis Parameters ASH1 Fault Record (N) Address: 0400H P4 - 00★ Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.1 Unit: N/A Range: N/A Settings: The latest fault record. ASH2 Fault Record (N-1) Address: 0401H P4 - 01★...
Page 227 Chapter 7 Servo ParametersASDA-AB Series P4 - 05 Servo Motor JOG Control Address: 0405H Default: 20 Related Section: Applicable Control Mode: ALL Section 4.4.2 Unit: r/min Range: 0~5000 Settings: JOG operation command: 1. Operation Test (1) Press the SET key to display the JOG speed. (The default value is 20 r/min).
Page 228 Chapter 7 Servo ParametersASDA-AB Series P4 - 06 Force Digital Output Control Address: 0406H ▲ ■ Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.4 Unit: N/A Range: 0~0x1F Settings: Settings: 0: Disabled. When the value of P4-06 is a non-zero value, it indicates this function is enabled.
Page 229 Chapter 7 Servo ParametersASDA-AB Series Digital Output Status Address: 0409H P4 - 09★ Default: 0 Related Section: Applicable Control Mode: ALL Section 4.4.6 Unit: N/A Range: 0~0x1F Settings: External Control: Display the status of DO output signal Communication Control: Read the status of output signal The status of DO signal, please refer to P2-18 ~ P2-22.
Page 230 Chapter 7 Servo ParametersASDA-AB Series When executing any adjustment, the external wiring connected to analog speed or torque must be removed and the servo system should be off (Servo off). Note: When P2-08 is set to 10, this parameter cannot be reset.
Page 231 Chapter 7 Servo ParametersASDA-AB Series P4 - 15 COF1 Current Detector (V1 phase) Offset Adjustment Address: 040FH Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A Range: 0~32767 Settings: This adjustment function is enabled after parameter P2-08 is set to 22. This is an auxiliary adjusting function, although this parameter allows the users to execute manual adjustment, changing the default setting manually is not recommended.
Page 232 Chapter 7 Servo ParametersASDA-AB Series Note: When P2-08 is set to 10, this parameter cannot be reset. P4 - 19 TIGB IGBT NTC Adjustment Detection Level Address: 0413H Default: Factory setting Related Section: N/A Applicable Control Mode: ALL Unit: N/A...
Page 233 Chapter 7 Servo ParametersASDA-AB Series P4 - 23 Analog Torque Input Offset Address: 0417H Default: 0 Related Section: N/A Applicable Control Mode: T Unit: mV Range: -5000~5000 Settings: The users can use this parameter to adjust analog torque input offset value manually in torque mode.
Page 234 Chapter 7 Servo ParametersASDA-AB Series Table 7.A Input Function Definition Setting Sign Digital Input Function Description Value Servo On. Switch servo to "Servo Ready". Check parameter P2-51. ARST Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST.
Page 235 Chapter 7 Servo ParametersASDA-AB Series Setting Sign Digital Input Function Description Value Position command selection 0 ~ 2 When the PR mode is selected, the 8 stored positions are programmed via a combination of the POS 0, POS 1, and POS 2 commands.
Page 236 Chapter 7 Servo ParametersASDA-AB Series Setting Sign Digital Input Function Description Value Speed / Position mode switching (OFF: Speed, ON: Position) Speed / Torque mode switching (OFF: Speed, ON: Torque) Torque / Position mode switching (OFF: Torque, ON: Position) Emergency stop. It should be contact “b” and normally ON or a fault (ALE13) will EMGS display.
Page 237 Chapter 7 Servo ParametersASDA-AB Series Setting Sign Digital Input Function Description Value Step down input. When STEPD is activated, STEPD the motor will run to previous position. Step back input. When STEPB is activated, STEPB the motor will return to first position.
Page 238 Chapter 7 Servo ParametersASDA-AB Series Table 7.B Output Function Definition Setting Sign Digital Output Function Description Value Servo ready. SRDY is activated when the servo drive is ready to run. All fault and SRDY alarm conditions, if present, have been cleared.
Page 239 Chapter 7 Servo ParametersASDA-AB Series Setting Sign Digital Output Function Description Value Output overload warning. OLW is activated when the servo drive has detected that the motor has reached the output overload level set by parameter P1-56. t OL = Permissible Time for Overload x setting value of P1-56 When overload accumulated time (continuously overload time) exceeds the value of t OL, the overload warning signal will output, i.e.
Page 240 Chapter 8 MODBUS Communications Communication Hardware Interface The ASDA-AB series servo drive has three modes of communication: RS-232, RS-485, and RS-422. All aspects of control, operation and monitoring as well as programming of the controller can be achieved via communication. However, only one communication mode can be used at a time. Users can select the desired communication mode via parameter P3-05.
Page 241 Chapter 8 MODBUS CommunicationsASDA-AB Series NOTE 1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or greater is required, the maximum length of the communication cable is 3m (9.84ft.) which...
Page 242 Chapter 8 MODBUS CommunicationsASDA-AB Series  Cable Connection Revision November 2014...
Page 243 Chapter 8 MODBUS CommunicationsASDA-AB Series NOTE 1) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a location where there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires.
Page 244 Chapter 8 MODBUS CommunicationsASDA-AB Series Communication Parameter Settings The following describes the communication addresses for the communication parameters. For communication parameters, please refer to the Chapter 7. Communication Addresses 0301, 0302, and 0305 have to be set identically for all the drives and devices to communicate correctly.
Page 245 Chapter 8 MODBUS CommunicationsASDA-AB Series 0302H Default: 0 Communication Range: 0~8 Protocol Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1> 3: Modbus ASCII mode, <8,N,2 > 4: Modbus ASCII mode, <8,E,1>...
Page 246 Chapter 8 MODBUS CommunicationsASDA-AB Series 0306H Digital Input Contact Control: Digital Input Default: 0 Communication Range: 0~FFFF (hexadecimal number) Function  The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.  Input commands or signals through the DI can be either from an external source, through the CN 1 interface connector, or via communication, (RS-232, RS-485, RS-422).
Page 247 Chapter 8 MODBUS CommunicationsASDA-AB Series If the contents of P4-07 is being read via communication the output will be a decimal number that will represent the "binary" display. Therefore in the previous example the decimal number being read would be 113.
Page 248 “P3-00”. The computer then controls each AC servo drive according to its communication address. ASDA-AB series AC servo drive can be set up to communicate on a MODBUS networks using on of the following modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal Unit).
Page 249 Chapter 8 MODBUS CommunicationsASDA-AB Series 11-bit character frame (For 8-bit character) Start Stop Stop 8-data bits 11-bits character frame Start Even Stop parity 8-data bits 11-bits character frame Start Stop parity 8-data bits 11-bits character frame  Communication Protocol: ASCII Mode: Start character’: ’...
Page 250 Chapter 8 MODBUS CommunicationsASDA-AB Series STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address) The valid communication addresses are in the range of 1 to 254. For example, communication to AC servo drive with address 16 decimal: ASCII Mode: ADR=’1’,’0’...
Page 251 CRC Check Low A3H (Lower bytes) CRC Check High D4H (Upper bytes) Command code: 06H, write 1 word For example, writing 100 (0064H) to starting data address 0200H of ASDA-AB series with address 01H. ASCII Mode: Command message: Response message: ‘:’...
Page 252 LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the values of the bytes from ADR to last data character then calculating the hexadecimal representation of the 2’s-complement negation of the sum. For example, reading 1 word from address 0201H of the ASDA-AB series AC servo drive with address 01H. ‘:’ ‘0’...
Page 253 Chapter 8 MODBUS CommunicationsASDA-AB Series CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (called CRC register) with FFFFH. Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register.
Page 254 Chapter 8 MODBUS CommunicationsASDA-AB Series The following is an example of CRC generation using C language. The function takes two arguments: unsigned char* data; unsigned char length The function returns the CRC value as a type of unsigned integer. unsigned int crc_chk(unsigned char* data, unsigned char length) { int j;...
Page 255 Chapter 8 MODBUS CommunicationsASDA-AB Series 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); /* set prorocol <7,E,1>...
Page 256 Group 4: Diagnosis parameter (example: P4-xx) For a complete listing and description of all parameters, refer to Chapter 7. Communication write-in parameters for ASDA-AB series are including: Group 0: P0-02 ~ P0-17 (0002H to 0011H) Group 1: P1-00 ~ P1-62 (0100H to 013EH)
Page 257 Chapter 8 MODBUS CommunicationsASDA-AB Series Communication read-out parameters for ASDA-AB series are including: Group 0: P0-00 ~ P0-17 (0000H to 0011H) Group 1: P1-00 ~ P1-62 (0100H to 013EH) Group 2: P2-00 ~ P2-65 (0200H to 0241H) Group 3: P3-00 ~ P3-07 (0300H to 0307H)
Page 258 Chapter 9 Troubleshooting If a fault is detected on the servo drive or motor a corresponding fault code will be shown on the drive's LED display. Fault codes can also be transmitted via communication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI.
Page 259 Chapter 9 TroubleshootingASDA-AB Series Fault Messages Display Fault Name Fault Description IGBT temperature error The temperature of IGBT is over high. Memory error EE-PROM write-in and read-out is in error. DSP communication The communication between DSP and MCU is in error. DSP do error not respond to MCU command.
Page 260 Chapter 9 TroubleshootingASDA-AB Series Potential Cause and Corrective Actions Servo Drive Fault Messages : Overcurrent Potential Cause Checking Method Corrective Actions 1. Check the wiring connections between drive Short-circuit at drive Repair the short-circuited and avoid and motor. output (U, V, W) metal conductor being exposed.
Page 261 Chapter 9 TroubleshootingASDA-AB Series : Regeneration error Potential Cause Checking Method Corrective Actions Regenerative resistor is Check the wiring connection of regenerative Reconnect regenerative resistor. not connected. resistor. Regenerative switch Check if regenerative switch transistor is short- Please contact your distributor for transistor fault circuited.
Page 262 Chapter 9 TroubleshootingASDA-AB Series : Watch dog execution time out Potential Cause Checking Method Corrective Actions If there are any abnormal conditions after resetting the power Watch dog execution Check and reset the power supply. supply, please contact your error.
Page 263 Chapter 9 TroubleshootingASDA-AB Series : IGBT temperature error Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load Check if there is overload or the motor current Increase motor capacity or reduce during continuous is too high.
Page 264 Chapter 9 TroubleshootingASDA-AB Series : Command write-in error Potential Cause Checking Method Corrective Actions If the error does not clear after Control power is in resetting the power supply, please Check and reset control power error. contact your distributor for assistance or contact with Delta.
Page 265 Chapter 9 TroubleshootingASDA-AB Series : DSP communication error Potential Cause Checking Method Corrective Actions If the error does not clear after Maybe the hardware is resetting the power supply, please Check and reset control power damaged. contact your distributor for assistance or contact with Delta.
Page 266 Chapter 9 TroubleshootingASDA-AB Series Clearing Faults Display Fault Name Clearing Method Turn ARST (DI signal) ON to clear the fault or Overcurrent restart the servo drive. Turn ARST (DI signal) ON to clear the fault or Overvoltage restart the servo drive.
Page 267 Chapter 9 TroubleshootingASDA-AB Series Display Fault Name Clearing Method Turn ARST (DI signal) ON to clear the fault or Command write-in error restart the servo drive. Turn ARST (DI signal) ON to clear the fault. This Input power phase loss fault message can be removed automatically after input power phase lost problem is solved.
Page 268 Chapter 10 Specifications 10.1 Specifications of Servo Drive (ASDA-AB Series) 100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A Three-phase: 170~255VAC, None 50 / 60Hz ±5% Three-phase Single-phase: 170~255VAC, Phase / Voltage 100 -10% ~ 115 Single-phase: 200~255VAC, 50 / 60Hz ±5%...
Page 269 Chapter 10 SpecificationsASDA-AB Series 100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW Model: ASD-A Voltage 0 ~ ±10 V Range Analog Input Input 10KΩ Resistance Command Time 2.2 µs Constant Command Source External analog signal / Internal parameters...
Page 270 Chapter 10 SpecificationsASDA-AB Series Footnote: Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause). When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotation speed TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.
Page 271: Specifications Of Servo Motor (Ecma Series)
Chapter 10 SpecificationsASDA-AB Series 10.2 Specifications of Servo Motor (ECMA Series) Low Inertia Servo Motor C304 C306 C308 C310 C313 Model: ECMA Series 100W 200W 400W 400W 750W Rated output power (kW) 0.75 0.32 0.64 1.27 1.27 2.39 3.18 6.37 9.55...
Page 272 Chapter 10 SpecificationsASDA-AB Series C304 C306 C308 C310 C313 Model: ECMA Series 100W 200W 400W 400W 750W Mechanical time constant (ms) (with 0.81 0.85 0.57 0.78 0.65 0.93 0.66 1.22 brake) Brake holding torque 10.0 [Nt-m (min)] Brake power consumption 19.4...
Page 273 Chapter 10 SpecificationsASDA-AB Series Medium / High Inertia Servo Motor E313 E318 G313 Model: ECMA Series 500W 1.5kW 300W 600W 900W Rated output power (kW) 14.32 2.39 4.77 7.16 9.55 9.55 2.86 5.73 8.59 Rated torque (N-m) Maximum torque (N-m) 7.16...
Page 274 Chapter 10 SpecificationsASDA-AB Series E313 E318 G313 Model: ECMA Series 500W 1.5kW 300W 600W 900W Brake pull-in time [ms (Max)] Vibration grade (um) Operating temperature C to 40 C (32 F to 104 Storage temperature C to 80 C (-14...
Page 275: Servo Motor Speed-Torque Curves
Chapter 10 SpecificationsASDA-AB Series 10.3 Servo Motor Speed-Torque Curves 10-8 Revision November 2014...
Page 276: Overload Characteristics
Chapter 10 SpecificationsASDA-AB Series 10.4 Overload Characteristics  Overload Protection Function Overload protection is a built-in protective function to prevent a motor from overheating.  Occasion of Overload 1. Motor was operated for several seconds under a torque exceeding 100% torque.
Page 277 Chapter 10 SpecificationsASDA-AB Series Medium and Medium-High Inertia Series (ECMA E3 Series) High Inertia Series (ECMA G3 Series) 10-10 Revision November 2014...
Page 278: Dimensions Of Servo Drive
Chapter 10 SpecificationsASDA-AB Series 10.5 Dimensions of Servo Drive Order P/N: ASD-A0111-AB, ASD-A0211-AB, ASD-A0411-AB (100W ~ 400W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
Page 279 Chapter 10 SpecificationsASDA-AB Series Order P/N: ASD-A0121-AB, ASD-A0221-AB, ASD-A0421-AB (100W ~ 400W) WEIGHT 1.5 (3.3) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
Page 280 Chapter 10 SpecificationsASDA-AB Series Order P/N: ASD-A0721-AB, ASD-A1021-AB, ASD-A1521-AB (750W ~ 1.5kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
Page 281 Chapter 10 SpecificationsASDA-AB Series Order P/N: ASD-A2023-AB, ASD-A3023-AB (2kW ~ 3kW) WEIGHT 3.0 (6.6) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)). 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only.
Page 282: Dimensions Of Servo Motor
Chapter 10 SpecificationsASDA-AB Series 10.6 Dimensions of Servo Motor Motor Frame Size: 80mm and below Models C30401□S C30602□S C30604□S C30804□S C30807□S Model − − − − − − − − − − LL (without brake) 100.6 105.5 130.7 112.3 138.3 LL (with brake) 136.6...
Page 283 Chapter 10 SpecificationsASDA-AB Series Motor Frame Size: 100mm ~ 130mm Models G31330□S G31303□S E31305□S G31306□S G31309□S Model C31010ES − − − − − − − − − − − − 147.5 LL (without brake) 147.5 147.5 147.5 163.5 153.3 183.5 LL (with brake) 183.5...
Page 284 Chapter 10 SpecificationsASDA-AB Series Motor Frame Size: 100mm ~ 130mm Models E31310□S E31315□S C31020□S E31320□S Model − − − − − − − − LL (without brake) 147.5 167.5 187.5 LL (with brake) 183.5 11.5 11.5 11.5 Depth 20 Depth 20...
Page 285 Chapter 10 SpecificationsASDA-AB Series Motor Frame Size: 180mm and above Models E31820□S E31830□S Model 13.5 13.5 − − − − LL (without brake) 202.1 LL (with brake) 203.1 235.3 Depth 25 Depth 25 NOTE 1) Dimensions are in millimeters. 2) Dimensions and weights of the servo motor may be revised without prior notice.
Page 286: Chapter 11 Application Examples
Chapter 11 Application Examples 11.1 Position Control (including homing function) Suppose that the machine will move to limit switch (CCWL), L.S.1 when motor is in forward rotation (from motor shaft view) and the machine will move to limit switch (CWL), L.S.2 when motor is in reverse rotation, if limit switch is set, L.S.1 as “Home”, the machine will be positioned between P1 and P2 according to working procedure.
Page 287 Chapter 11 Application ExamplesASDA-AB Series  P1-50=0, P1-51=0 (Homing offset rotation / pulse number)  Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting); P1-48, P1-49 (Speed setting of high/low speed Homing) Operation  Re-start the power to be ON again.
Page 288: Roller Feeding
Chapter 11 Application Examples ASDA-AB Series 11.2 Roller Feeding Suppose that the motor rotate 1/4 rev. while it is triggered every time (10000/4=2500Pulse). Parameters Setting  P1-01=1 (Position control (Pr) mode setting)  P2-10=101 (Servo On (SON), default: DI1) ...
Page 289: Connecting To Delta Dvp-Eh Series Plc
Chapter 11 Application ExamplesASDA-AB Series 11.3 Connecting to Delta DVP-EH Series PLC Delta servo drives can be connected to Delta DVP-EH series PLC and provide functions including: home, JOG operation, acceleration/deceleration setting, relative position control, absolute position control and pulse numbers monitor.
Page 290 Chapter 11 Application Examples ASDA-AB Series absolute coordinate position will be 0.  Repeat this position control operation. R ST R ST R ST S ET ZE RO ( M1334 ) STOP Stop ch0 pulse output M 1000 ( M1346 )
Page 291 Chapter 11 Application ExamplesASDA-AB Series M1 2 REV POS M1 3 REV POS M1 2 JOG+ M1 3 JOG+ M1 2 JOG- M1 3 JOG- M 50 D ZRN K50000 K5 000 ZERO M1 0 PLSY Y0 instru ction exec ution completed flag...
Page 292 Chapter 11 Application Examples ASDA-AB Series S1 0 D DRVI K9 99999 K3 0000 JOG+ JOG- M1 336 S 10 Ch 0 pulse s end fl a g J OG+ M1000 ( M 51 ) N ormally on contact (a contac t)
Page 293 Chapter 11 Application ExamplesASDA-AB Series S1 3 D DRVA K1000 00 K1 0000 RE V POS M1029 M 13 P LSY Y0 in structi o n exec ution comple ted flag M101 M1 336 S 13 Ch 0 pulse s end fl a g...
Page 294: Connecting To Delta Tp04 Series
Chapter 11 Application Examples ASDA-AB Series 11.4 Connecting to Delta TP04 Series Delta servo drives can be connected to Delta TP04 Series Operation Interface Panel and provide functions including: Home, JOG operation, Position learning function, Relative position control, Absolute position control, Monitor and parameter settings.
Page 295 Chapter 11 Application ExamplesASDA-AB Series 11-10 Revision November 2014...
Page 296: Position Control Mode (Pr Mode)
Chapter 11 Application Examples ASDA-AB Series 11.5 Position Control Mode (PR Mode)  Relevant Parameters Description Communication Parameter Parameter Description Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode...
Page 297 Chapter 11 Application ExamplesASDA-AB Series  Trigger Timing Charts (1) Timing Chart of Internal Position Register Selection Inter nal pos i tion Inter nal pos i tion c omman d c omman d POS0 POS0 O FF O FF PO S1...
Page 298 Chapter 11 Application Examples ASDA-AB Series (3) Command Abort Timing Chart: To use command abort function, set parameter P2-50 to 2. At this time, if CCLR signal is ON when the motor is running, the motor will decelerate first and stop according to the deceleration time which is set by parameter P1-34 ~ P1-36 and the remaining pulses will be aborted.
Page 299: Feed Step Control
Chapter 11 Application ExamplesASDA-AB Series 11.6 Feed Step Control  Relevant Parameters Description Communication Parameter Parameter Description Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-12 010CH Torque Limit Setting Torque decrease value is represented by a percentage of rated torque.
Page 300 Chapter 11 Application Examples ASDA-AB Series Communication Parameter Parameter Description Address P1-50 0132H Homing Offset Rotation Number P1-51 0133H Homing Offset Pulse Number Total homing offset pulse number =P1-50 x 10000 + P1-51 P1-55 0137H Maximum Speed Limit P2-36 0224H...
Page 301 Chapter 11 Application ExamplesASDA-AB Series DO Signal Parameter Setting Explanation P2-18 = 101 P2-19 = 103 Please refer to “Definition of DO Signals” in the P2-20 = 109 following section. P2-21 = 105 P2-22 = 107 NOTE 1) Please set parameter P2-08 to 12 before changing the setting value of DI and DO signals.
Page 302 Chapter 11 Application Examples ASDA-AB Series  Definitions of INDEX0~4 (ON=1, OFF=0) Item INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 INDEX NUMBER INDEX 1 INDEX 2 INDEX 3 INDEX 4 INDEX 5 INDEX 6 INDEX 7 INDEX 8 INDEX 9 INDEX 10...
Page 303 Chapter 11 Application ExamplesASDA-AB Series  Definitions of DO Signals (ON=1, OFF=0) Item Description ALRAM SERVO READY HOMING (under operation) HOME Completed CHANGE INDEX (under operation) INDEX 1 (In position) INDEX 2 (In position) INDEX 3 (In position) INDEX 4 (In position)
Page 304 Chapter 11 Application Examples ASDA-AB Series 3) When return back to “Home” (Homing), DO=2 4) When returning back to “Home” is completed, DO=3 5) When feed step function is undergoing, DO=4 6) When feed step function is completed (In position), the corresponding INDEX NUMBER will display, and...
Page 305 Chapter 11 Application ExamplesASDA-AB Series Feed Step Control Mode Power Supply DO VALUE INDEX 2 (06) INDEX 6 (0A) P2-45 Motor Speed Servo ON Torque Limit IDX Value 10 Step No. 2 Step No. 6 Step No. P2-47 CCLR NOTE 1) The maximum value of P2-45 = 125 x T min.
Page 306 Chapter 11 Application Examples ASDA-AB Series Manually Single Step Control Mode 1 Power Supply DO VALUE INDEX 2 INDEX 3 INDEX4 P2-45 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 manually feed manually feed forward forward STEPU auto...
Page 307 Chapter 11 Application ExamplesASDA-AB Series Manually Single Step Control Mode 2 Power Supply DO VALUE INDEX 2 INDEX 3 INDEX 4 INDEX 3 INDEX4 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 manually feed forward MDP0 auto running...
Page 308 Chapter 11 Application Examples ASDA-AB Series Manually Continuous Step Control Mode Power Supply DO VALUE INDEX 2 INDEX 3 INDEX 4 INDEX 5 INDEX4 Motor Speed Servo ON Torque Limit IDX Value INDEX 2 manually feed forward MDP1 auto running...
Page 309 Chapter 11 Application ExamplesASDA-AB Series  Communication Control Example Explanation Communication Address Communication Content Explanation H306 H0FF Set to software control H407 H020 SERVO ON H407 H060 HOMING H407 H070 HOME SENSOR ON H407 H060 HOME SENSOR OFF H407 H020...
Page 310 Chapter 11 Application Examples ASDA-AB Series 11.7 Internal Auto Running Mode  Relevant Parameters Description Communication Parameter Parameter Description Address P1-01 0101H Control Mode and Output Direction 001: Forward torque in Pr mode 101: Reverse torque in Pr mode P1-33...
Page 311 Chapter 11 Application ExamplesASDA-AB Series When the setting value of the time listed below is set to zero(0), the relative position will be ignored. Positioning Point Position Command Register Moving Speed Register Dwell Time Register INDEX1 ( P1-15, P1-16 )
Page 312 Chapter 11 Application Examples ASDA-AB Series  Definitions of DO Signals (ON:1, OFF:0) Item Function ALARM SERVO READY HOMEING (under operation) HOME Completed CHANGE INDEX (under operation) (CHANGE INDEX hereinafter called “CI”) INDEX 1 (In position) INDEX 2 (In position)
Page 313 Chapter 11 Application ExamplesASDA-AB Series (2) Auto Running Mode Power Supply IDX1 IDX2 IDX8 DO VALUE HOME (3) INDEX4 Motor Speed Servo ON AUTOR OFF Manual Control Mode 1 Power Supply DO VALUE HOME (3) IDX1 IDX2 IDX2 IDX3 INDEX4...
Page 314 Chapter 11 Application Examples ASDA-AB Series Manual Control Mode 2 Power Supply DO VALUE IDX1 IDX2 IDX1 INDEX4 Motor Speed Servo ON AUTOR STEPB 11-29 Revision November 2014...
Page 315: Homing Function
Chapter 11 Application ExamplesASDA-AB Series 11.8 Homing Function  Relevant Parameters Description Communication Parameter Parameter Description Address P1-47 012FH Homing Mode A: Home Sensor Type and Homing Direction B: Homing Moving Method C: Homing Enable Setting D: Homing Stop Setting...
Page 316 Chapter 11 Application Examples ASDA-AB Series A=2: Forward homing and ORGP (Reference “Home” sensor) is regarded as a reference “Home”. At this time, users can set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as a precise mechanical “Home”...
Page 317 Chapter 11 Application ExamplesASDA-AB Series D: Homing Stop Setting D=0: After detecting “Home”, the motor will decelerate and return to “Home”. After get the home sensor signal in 2nd step speed operation, the motor will decelerate and stop. After the servo motor stops, the then move to the position of mechanical “Home”.
Page 318 Chapter 11 Application Examples ASDA-AB Series 2. Enable homing function by input contact (SHOM) (C=2) POWER SERVO READY SERVO HOME TRIGGER refer to homing timing chart HOMING HOMING COMPLETED time Homing Timing Charts 1. B/A = 0/0 or B/A = 0/2...
Page 319 Chapter 11 Application ExamplesASDA-AB Series 2. B/A = 0/1 or B/A = 0/3 SPEED Position Z pulse CWL / ORGP 3. B/A = 1/2 SPEED Position Z pulse ORGP 4. B/A = 1/3 SPEED Position Z pulse ORGP 11-34 Revision November 2014...
Page 320 Chapter 11 Application Examples ASDA-AB Series 5. B/A = 2/2 SPEED Position ORGP 6. B/A = 2/3 SPEED Position ORGP 7. B/A = 2/4 SPEED Position Z pulse 11-35 Revision November 2014...
Page 321 Chapter 11 Application ExamplesASDA-AB Series 8. B/A = 2/5 SPEED Position Z pulse 11-36 Revision November 2014...
Page 322: External Controller Connection Examples
Chapter 11 Application Examples ASDA-AB Series 11.9 External Controller Connection Examples  Connecting to Delta DVP-EH PLC 11-37 Revision November 2014...
Page 323 Chapter 11 Application ExamplesASDA-AB Series  Connecting to Delta DVP-01PU 11-38 Revision November 2014...
Page 324 Chapter 11 Application Examples ASDA-AB Series  Connecting to Mitsubishi FX1PG 11-39 Revision November 2014...
Page 325 Chapter 11 Application ExamplesASDA-AB Series  Connecting to Mitsubishi FX2N1PG 11-40 Revision November 2014...
Page 326 Chapter 11 Application Examples ASDA-AB Series  Connecting to Mitsubishi AD75 11-41 Revision November 2014...
Page 327 Chapter 11 Application ExamplesASDA-AB Series This page intentionally left blank. 11-42 Revision November 2014...
Page 328: Appendix A Accessories
Appendix A Accessories  Power Connectors Delta Part Number: ASDBCAPW0000 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASDBCAPW0100 Title Part No. Manufacturer Housing C4201H00-2*3PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASD-CAPW1000 Delta Part Number: ASD-CAPW2000 Revision November 2014...
Page 329 Appendix A AccessoriesASDA-AB Series  Power Cables Delta Part Number: ASD-ABPW0003, ASD-ABPW0005 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No. inch 3000 ± 100 118 ± 4 ASD-ABPW0003 5000 ± 100 197 ± 4 ASD-ABPW0005...
Page 330 Appendix A AccessoriesASDA-AB Series  Power Cables, cont. Delta Part Number: ASD-CAPW1003, ASD-CAPW1005 (50mm) (1.97 inch) (80 mm) (3.15 inch) Title Part No. Straight inch 3000 ± 100 118 ± 4 ASD-CAPW1003 3106A-20-18S 5000 ±100 197 ± 4 ASD-CAPW1005 3106A-20-18S...
Page 331 Appendix A AccessoriesASDA-AB Series  Power Cables, cont. Delta Part Number: ASD-CAPW1203, ASD-CAPW1205 (80mm) (3.15 inch) (100 mm) (3.94 inch) Title Part No. Straight inch 3000 ± 100 118 ± 4 ASD-CAPW1203 3106A-20-18S 5000 ±100 197 ± 4 ASD-CAPW1205 3106A-20-18S...
Page 332 Appendix A AccessoriesASDA-AB Series  Power Cables, cont. Delta Part Number: ASD-CAPW2203, ASD-CAPW2205 (80mm) (3.15 inch) (100 mm) (3.94 inch) Title Part No. Straight inch 3000 ± 100 118 ± 4 ASD-CAPW2203 3106A-24-11S 5000 ±100 197 ± 4 ASD-CAPW2205 3106A-24-11S...
Page 333 Appendix A AccessoriesASDA-AB Series  Encoder Connectors Delta Part Number: ASD-ABEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) MOTOR SIDE Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE DRIVE SIDE SHELL 3M 10320-52A0-008 Delta Part Number: ASD-CAEN1000 Title Part No.
Page 334 Appendix A AccessoriesASDA-AB Series  Encoder Cables Delta Part Number: ASD-ABEN0003, ASD-ABEN0005 Title Part No. Manufacturer Housing AMP (1-172161-9) MOTOR SIDE Terminal AMP (170359-3) CLAMP DELTA (34703237XX) DELTA PLUG 3M 10120-3000PE DRIVE SIDE SHELL 3M 10320-52A0-008 Title Part No. inch 3000 ±...
Page 335 Appendix A AccessoriesASDA-AB Series  I/O Signal Connector (CN1) Delta Part Number: ASD-CNSC0050 Vendor Name Vendor P/N 3M TAIWAN LTD 10150-3000PE 3M TAIWAN LTD 10350-52A0-008  Communication Cable between Drive and Computer (for PC) Delta Part Number: ASD-CARS0003 Item Part No.
Page 336 Appendix A AccessoriesASDA-AB Series  Servo Drive, Servo Motor and Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive ASD-A0121-AB Low inertia ECMA-C30401S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Cable...
Page 337 Appendix A AccessoriesASDA-AB Series 400W Servo Drive and 500W Medium Inertia Servo Motor Servo Drive ASD-A0421-AB Medium inertia ECMA-E31305S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1003 ASD-CAPW1005...
Page 338 Appendix A AccessoriesASDA-AB Series 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive ASD-A0721-AB High inertia ECMA-G31306S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1003 ASD-CAPW1005...
Page 339 Appendix A AccessoriesASDA-AB Series 1kW Servo Drive and 900W High Inertia Servo Motor Servo Drive ASD-A1021-AB High inertia ECMA-G31309S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1003 ASD-CAPW1005...
Page 340 Appendix A AccessoriesASDA-AB Series 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-A2023-AB Medium inertia ECMA-E31320S Servo Motor Without Brake With Brake Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable Cable ASD-CAPW1203 ASD-CAPW1205...
Page 341 Appendix A AccessoriesASDA-AB Series Other Accessories Other Accessories (for ASDA-AB series all models) Description Delta Part Number 50Pin I/O signal connector (CN1) ASD-CNSC0050 Communication cable, for PC, connecting a ASDA-AB ASD-CARS0003 servo drive to a PC Terminal Block Module ASD-BM-50A...
Page 342: Appendix B Maintenance And Inspection
Appendix B Maintenance and Inspection Basic Inspection Item Content  Periodically inspect the screws of the servo drive, motor shaft, terminal block and the connection to mechanical system. Tighten screws as necessary as they may loosen due to vibration and varying temperatures. ...
Page 343 Appendix B Maintenance and InspectionASDA-AB Series  Maintenance  Use and store the product in a proper and normal environment.  Periodically clean the surface and panel of servo drive and motor.  Make sure the conductors or insulators are corroded and/or damaged.

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Delta Electronics ASDA-AB Series User Manual

Chapter 1 Unpacking Check and Model Explanation

Chapter 2 Installation and Storage

Chapter 3 Connections and Wiring

Chapter 4 Display and Operation

Chapter 5 Trial Run and Tuning Procedure

Chapter 6 Control Modes of Operation

Chapter 7 Servo Parameters

Chapter 11 Application Examples

Appendix A Accessories

Appendix B Maintenance and Inspection

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Summary of Contents for Delta Electronics ASDA-AB Series

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Table of Contents