Instruction Sheet - Delta ASDA-A2 Series Instruction Sheet

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

Instruction Sheet

General Precautions
This instruction sheet will be helpful in the installation, wiring, inspection, and operation of Delta
ASDA-A2-E series AC servo drive and ECMA series servo motor. Before using the product, please read this
instruction sheet to ensure correct use. You should thoroughly understand all safety precautions before
proceeding with the installation, wiring and operation. If you do not understand please contact your local Delta
sales representative. Place this instruction sheet in a safe location for future reference. Please observe the
following precautions:
Do not use the product in a potentially explosive environment.
Install the product in a clean and dry location free from corrosive and inflammable gases or liquids.
Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to observe this precaution
will damage either the Servo motor or drive.
Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply
with the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.).
Do not disconnect the AC servo drive and motor while the power is ON.
Do not attach, modify or remove wiring when power is applied to the AC servo drive and motor.
Before starting the operation with a mechanical system connected, make sure the emergency stop
equipment can be energized and work at any time.
Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may result in serious
personnel injury.
Further information on the AC servo drive and motor can be obtained from the manual. You can download
the manual via the link http://www.delta.com.tw/industrialautomation/ above in PDF format.
The content of this instruction sheet may be revised without prior notice. Please consult our distributors or
download the most updated version at http://www.delta.com.tw/industrialautomation/.
Safety Precautions
Carefully note and observe the following safety precautions when receiving, inspecting, installing,
operating, maintaining and troubleshooting. The following words, DANGER, WARNING and STOP are used to
mark safety precautions when using the Delta's servo product. Failure to observe these precautions may void the
warranty!
ASDA-A2-E series drives are high-resolution, open type servo drives and must be installed in an NEMA
enclosure such as a protection control panel during operation to comply with the requirements of the international
safety standards. They are provided with precise feedback control and high-speed calculation function
incorporating DSP (Digital Signal Processor) technology, and intended to drive three-phase permanent magnet
synchronous motors (PMSM) to achieve precise positioning by means of accurate current output generated by
IGBT (Insulated Gate Bipolar Transistor).
ASDA-A2-E series drives can be used in industrial applications and for installation in an end-use
enclosure that do not exceed the specifications defined in the ASDA-A2-E series user manual (Drives, cables
and motors are for use in a suitable enclosure with a minimum of a UL50 type 1 or NEMA 250 Type 1 rating).
Unpacking Check
Please ensure that both the servo drive and motor are correctly matched for size (power rating).
Failure to observe this precaution may cause fire, seriously damage the drive / motor or cause
personal injury.
Installation
Do not install the product in a location that is outside the stated specification for the drive and motor.
Failure to observe this caution may result in electric shock, fire, or personal injury.
Wiring
Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100Ω).
Improper grounding may result in electric shock or fire.
Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may
result in serious injury, damage to the drive or fire.
Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive
and motor. Failure to observe this caution may result in damage, fire or personal injury.
In order to prevent fire hazard and accidents, please form the wiring by following the cable
specifications outlined in this quick start.
Operation
Before starting operation with a mechanical system connected, change the drive parameters to match
the user-defined parameters of the mechanical system. Starting the operation without matching the
correct parameters may result in servo drive or motor damage, or damage to the mechanical system.
Ensure that the emergency stop equipment or device is connected and working correctly before
operating the motor that is connected to a mechanical system.
Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. Failure to observe
this precaution may cause serious personal injury.
In order to prevent accidents, the initial trial run for servo motor should be conducted under no load
conditions (separate the motor from its couplings and belts).
For the initial trial run, do not operate the servo motor while it is connected to its mechanical system.
Connecting the motor to its mechanical system may cause damage or result in personal injury during
the trail run. Connect the servo motor once it has successfully completed a trail run.
Caution: Please perform trial run without load first and then perform trial run with load connected.
After the servo motor is running normally and regularly without load, then run servo motor with load
connected. Ensure to perform trial run in this order to prevent unnecessary danger.
Do not touch either the drive heat sink or the motor during operation as they may become hot and
personal injury may result.
Maintenance and Inspection
Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may
result.
Do not remove the operation panel while the drive is connected to an electrical power source
otherwise electrical shock may result.
Wait at least 10 minutes after power has been removed before touching any drive or motor terminals
or performing any wiring and/or inspection as an electrical charge may still remain in the servo drive
and servo motor with hazardous voltages even after power has been removed.
Do not disassemble the servo drive or motor as electric shock may result.
Do not connect or disconnect wires or connectors while power is applied to the drive and motor.
Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.
Ensure that the "Charge" indicator ceases when performing any maintenance, inspection or repairing.
Main Circuit Wiring
Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise.
Separate the conduits by 30cm (11.8inches) above.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder (PG)
feedback cables. The maximum length of command input cable is 3m (9.84ft.) and the maximum
length of encoder (PG) feedback cables is 20m (65.62ft.).
As a charge may still remain in the drive with hazardous voltages even after power has been
removed, be sure to wait at least 10 minutes after power has been removed before performing any
wiring and/or inspection.
It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more
than once per minute as high charging currents within the internal capacitors may cause damage.
Main Circuit Terminal Wiring
Please perform the wiring after the terminal blocks are all removed from the drive.
Insert only one wire into one terminal on the terminal block.
When inserting wires, please ensure that the conductors are not shorted to adjacent terminals
or wires.
Ensure to double check the wiring before applying power to the drive.
Servo Drive and Servo Motor Combinations
Power Servo Drive
400W ASD-A2-0443-E
750W ASD-A2-0743-E
1000W ASD-A2-1043-E
1500W ASD-A2-1543-E
2000W ASD-A2-2043-E
3000W ASD-A2-3043-E
4500W ASD-A2-4543-E
5500W ASD-A2-5543-E
1) The boxes ( ) in the servo motor model names are for optional configurations (keyway,
NOTE
brake and oil seal).
2) The triangle (△) in the servo motor model names are for encoder type. △=1, incremental,
20-bit. △=2, incremental, 17-bit.
Cable Specifications for Servo Drive
Power Cable - Wire Gauge mm2 (AWG)
Servo Drive and Servo Motor
DC24V, DC0V R, S, T
ASD-A2-0443-E ECMA-J10604 S
1.3（AWG16） 2.1（AWG14） 0.82（AWG18） 2.1（AWG14）
ASD-A2-0743-E ECMA-J10807 S 1.3（AWG16） 2.1（AWG14） 0.82（AWG18） 2.1（AWG14）
ASD-A2-1043-E ECMA-K11310 S 1.3（AWG16） 2.1（AWG14） 1.3（AWG16） 2.1（AWG14）
ASD-A2-1543-E ECMA-K11315 S
1.3（AWG16） 2.1（AWG14） 1.3（AWG16） 2.1（AWG14）
ASD-A2-2043-E ECMA-K11320 S 1.3（AWG16） 2.1（AWG14） 2.1（AWG14） 2.1（AWG14）
ASD-A2-3043-E ECMA-L△1830 S 1.3（AWG16） 2.1（AWG14） 3.3（AWG12） 2.1（AWG14）
ASD-A2-4543-E ECMA-L11845 S 1.3（AWG16） 2.1（AWG14）
ASD-A2-5543-E ECMA-L11855 3
1.3（AWG16） 3.3（AWG12）
Encoder Cable - Wire Gauge mm2 (AWG)
Servo Drive
Wire Size Core Number
ASD-A2-0443-E 0.13 (AWG26) 10 core (4 pair)
ASD-A2-0743-E 0.13 (AWG26) 10 core (4 pair)
ASD-A2-1043-E 0.13 (AWG26) 10 core (4 pair)
ASD-A2-1543-E 0.13 (AWG26) 10 core (4 pair)
ASD-A2-2043-E 0.13 (AWG26) 10 core (4 pair)
ASD-A2-3043-E 0.13 (AWG26) 10 core (4 pair)
ASD-A2-4543-E 0.13 (AWG26) 10 core (4 pair)
ASD-A2-5543-E 0.13 (AWG26) 10 core (4 pair)
1) The boxes ( ) in the servo motor model names are for optional configurations (keyway,
NOTE
brake and oil seal).
2) The triangle (△) in the servo motor model names are for encoder type. △=1, incremental,
20-bit. △=2, incremental, 17-bit.
3) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and
eliminate electrical noise and interference.
4) The shield of shielded twisted-pair cables should be connected to the SHIELD end
(terminal marked ) of the servo drive.
5) In order to prevent fire hazard and accidents, please form the wiring by following the
cable specifications outlined above.
Installation and Storage Conditions
The product should be kept in the shipping carton before installation. In order to retain the warranty
coverage, the AC drive should be stored properly when it is not to be used for an extended period of time. Some
storage suggestions are:
Store in a clean and dry location free from direct sunlight.
Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
Store within a relative humidity range of 0% to 90% and non-condensing.
Do not store in a place subjected to corrosive gases and liquids.
Correctly packaged and placed on a solid surface.
Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.
Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or airborne dust
or metallic particles.
Do not mount the servo drive or motor in a location where temperatures and humidity will exceed
specification.
Do not mount the servo drive or motor in a location where vibration and shock will exceed specification.
Do not mount the servo drive or motor in a location where it will be subjected to high levels of
electromagnetic radiation.
Installation Note and Minimum Clearances
Installation Note:
Incorrect installation may result in a drive malfunction
or premature failure of the drive and or motor. Please
follow the guidelines in this instruction when installing
the servo drive and motor.
The AC servo drive should be mounted perpendicular
to the wall or in the control panel.
In order to ensure the drive is well ventilated, ensure
that the all ventilation holes are not obstructed and
sufficient free space is given to the servo drive.
Do not install the drive in a horizontal position or
malfunction and damage will occur.
Minimum Clearances: Install a fan to increase ventilation to avoid ambient temperatures that exceed the
specification. When installing two or more drive adjacent to each other please follow the clearances as shown in
Servo Motor
the following diagram.
ECMA-J10604 S（S=14mm）
ECMA-J10807 S（S=19mm）
ECMA-K11310 S（S=22mm）
ECMA-K11315 S（S=22mm）
ECMA-K11320 S（S=22mm）
ECMA-L△1830 S（S=35mm）
ECMA-L11845 S（S=35mm）
ECMA-L11855 3（3=42mm）
U, V, W P , C
8.4（AWG8） 3.3（AWG12）
8.4（AWG8） 3.3（AWG12）
The scale of the clearances does not match the dimensions as shown in the drawing above.
NOTE
In the event of any discrepancy between the clearances and the dimensions, the dimensions
shall prevail.
UL Rating Standard Wire Length
UL2464 3m (9.84ft.)
Basic Inspection
UL2464 3m (9.84ft.)
After power in connected to the AC servo drive, the charge LED will be lit which indicates that the AC servo drive
UL2464 3m (9.84ft.)
is ready.
UL2464 3m (9.84ft.)
Item
UL2464 3m (9.84ft.)
UL2464 3m (9.84ft.)
UL2464 3m (9.84ft.)
UL2464 3m (9.84ft.)
General Inspection
Content
Periodically inspect the screws of the servo drive, motor shaft, terminal block and the
connection to mechanical system. Tighten screws as necessary as they may loosen
due to vibration and varying temperatures.
Ensure that oil, water, metallic particles or any foreign objects do not fall inside the
servo drive, motor, control panel or ventilation slots and holes. As these will cause
damage.
Ensure the correct installation and the control panel. It should be free from airborne
dust, harmful gases or liquids.
Ensure that all wiring instructions and recommendations are followed; otherwise
damage to the drive and or motor may result.