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Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int'l (S) Pte Ltd
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
Raleigh Office
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A
Sao Paulo Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Office
De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: 31-40-2592850 / FAX: 31-40-2592851
*We reserve the right to change the information in this catalogue without prior notice.
V2.0
DELTA_IA-ASDA_M_UM_EN_20141219
Delta Ultimate Integrated
AC Servo Drive with
Excellent Performance
ASDA-M Series
User Manual
Via Polesine, 1/4
10020 Cambiano ( TO ) Italy
+39 011 9454523
www.e-comtech.it
info@e-comtech.it
www.delta.com.tw/ia
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Table of Contents
Related Manuals for Delta ASD-M-1521 Series
Summarization of Contents
Safety Precautions
Inspection
Instructions for inspecting servo drive and servo motor to prevent issues like fire or malfunction.
Installation
Prohibition of exposing the product to environments with water, corrosive gas, or inflammable gas to prevent electric shock or fire.
Wiring
Guidelines for proper grounding, connecting three-phase source, and tightening terminal screws to prevent hazards.
Chapter 1 Inspection and Model Explanation
1.1 Inspection
Procedure to inspect purchased products for part numbers, smooth motor shaft rotation, appearance, and loose screws.
1.2 Product Model
Explanation of model naming conventions for ASDA-M Series Servo Drive and ECMA Series Servo Motor.
1.3 Servo Drive and Corresponding Servo Motor
Details on matching servo drives with corresponding servo motors based on power ratings.
1.4 Features of Servo Drive
Overview of the key features of the ASDA-M Series Servo Drive, including displays, connectors, and grounding.
Chapter 2 Installation
2.1 Notes
Important notes regarding cable strain, screw tightening, shaft parallelism, wire thickening, and motor screws.
2.2 Ambient Conditions of Storage
Instructions for storing the product in a dry, dust-free location within specified temperature and humidity ranges.
2.3 Ambient Conditions of Installation
Recommended installation environment for servo drives and motors, focusing on temperature, dust, gas, and vibration.
2.4 Installation Direction and Space
Guidelines for proper installation direction and ensuring adequate space for cooling and circulation effects.
2.5 Specification of Circuit Breaker and Fuse
Specifications for circuit breakers and fuses, cautioning to use UL/CSA recognized components.
2.6 EMI Filters Selection
Information on selecting EMI filters and installation precautions to minimize noise interference.
2.7 Selection of Regenerative Resistor
Guidance on selecting regenerative resistors, including built-in and external options, and their specifications.
Chapter 3 Wiring
3.1 Connection between Peripheral Devices and Main Power Circuit
Details the wiring methods for connecting peripheral devices to the main power circuit.
3.1.2 Connectors and Terminals of the Servo Drive
Provides a description of each terminal signal, its name, and its function for the servo drive.
3.1.3 Wiring Method
Details wiring methods for single-phase and three-phase power supply, including diagrams.
3.1.4 Specification of Motor U, V, W Power Cable
Specifies the U, V, W power cable and mechanical brake connector terminal definitions for different motor models.
3.1.5 Specification of Connector of Encoder Cable
Provides connection diagrams and definitions for encoder cables, including quick and military connectors.
3.1.6 Selection of Wire Rod
Recommends wire rod selection based on power wiring and encoder wiring specifications, including AWG sizes.
3.2 Schematic Diagram of Servo System
Illustrates the schematic diagram of the servo system, including power input, control circuit, and motor connections.
3.3 I/O Signal (CN1) Connection
Details the I/O signal connections via CN1, including programmable digital outputs and inputs.
Chapter 4 Panel Display and Operation
4.1 Panel Description
Describes the function of each key and display element on the servo drive panel.
4.2 Parameter Setting Procedure
Explains the procedure for setting parameters, including axis switching and detailed parameter setting steps.
4.3 Status Display
Details various status displays including setting saved, decimal point, alarm messages, and positive/negative sign settings.
4.4 General Function
Covers general functions like fault record display, JOG mode operation, force DO output, and digital input/output diagnosis.
Chapter 5 Trial Operation and Tuning
5.1 Inspection without Load
Procedure for inspecting the servo motor and drive without load, focusing on safety and proper connections.
5.2 Apply Power to the Servo Drive
Instructions for applying power to the servo drive, including wiring checks and potential warnings.
5.3 JOG Trial Run without Load
Describes the convenient JOG trial run method without load, recommending low speed for safety.
5.4 Trial Run without Load (Speed Mode)
Details the digital input settings for trial run in speed control mode.
5.5 Trial Run without Load (Position Mode)
Explains the digital input settings for trial run in position mode, including parameter settings.
5.6 Tuning Procedure
Provides procedures for tuning, including inertia ratio estimation via JOG mode and various tuning modes.
Chapter 6 Control Mode of Operation
6.1 Selection of Operation Mode
Lists and describes the three basic operation modes: position, speed, and torque, including single and dual modes.
6.2 Position Mode
Describes related information and settings for position mode, including PT and PR modes.
6.3 Speed Mode
Covers speed control modes applicable in precision speed control, such as CNC machine tools.
6.4 Torque Mode
Explains torque control modes suitable for printing machines, winding machines, etc.
6.5 Dual Mode
Describes dual modes for operation, including speed/position, speed/torque, and torque/position dual modes.
6.6 Others
Covers other functions like speed limit, torque limit, and analog monitor.
Chapter 7 Motion Control
7.1 Motion Control Functions of ASDA-M
Details the motion control functions of ASDA-M, including single-axis motion controller, CAPTURE, COMPARE, and E-Cam.
7.2 Information of the Servo Drive
Provides information on system parameters, monitor variables, and data array.
7.3 Description of Motion Axes
Describes the internal counter functions for motion axes: Main Encoder, Auxiliary Encoder, Pulse Command, Capture Axis, etc.
7.4 Description of PR Mode
Explains the PR Procedure, its triggering methods (DI.CTRG, communication), and E-Cam function enablement.
7.5 The Position Unit of PR Mode
Defines the position data in PR mode, represented by PUU (Pulse of User Unit) and its relation to electronic gear ratio.
7.6 Description of Register in PR Mode
Details the position register, command register (Cmd_E), and command output register (Cmd_O) in PR mode.
7.7 Description of Homing in PR Mode
Explains the aim of homing and how to connect the Z pulse position to the servo drive's internal coordinate.
7.8 DI/DO Provided by PR Mode and Diagrams
Lists DI and DO signals provided by PR mode and illustrates system frames.
7.9 Parameter Settings in PR Mode
Details parameter settings for PR mode, including target speed, acceleration/deceleration, pause time, and PR definitions.
Chapter 8 Parameters
8.1 Parameter Definition
Defines parameter groups and provides explanations for special symbols used in parameter descriptions.
8.2 Parameters
Lists and describes monitor and general output parameters, including their default values and related sections.
Filter and Resonance Suppression Parameter
Details parameters related to filters and resonance suppression, including low-pass filters and notch filters.
Gain and Switch Parameter
Lists parameters related to gain adjustment and switching, such as position loop gain and speed loop gain.
Position Control Parameter
Details parameters for position control mode, including external pulse input type and gear ratio settings.
Speed Control Parameter
Lists parameters for speed control mode, including input settings for control mode and control command.
Torque Control Parameter
Details parameters for torque control mode, including input settings for control mode and control command.
Planning of Digital Input / Output Pin and Output Setting Parameter
Provides planning for digital input/output pins and output setting parameters, including DI and DO functional planning.
Diagnosis Parameter
Details parameters for diagnosis, including fault records, JOG control, and adjustment selections.
Chapter 9 Communication
9.1 RS-485 / RS-232 Communication Hardware Interface
Describes the serial communication hardware interface for RS-485 and RS-232, including configuration and wiring.
9.2 RS-485 / RS-232 Communication Parameters Setting
Details essential communication parameters like address, transmission speed, protocol, and mechanism settings.
9.3 MODBUS Communication Protocol
Explains MODBUS communication protocols, ASCII and RTU modes, and character structures.
9.4 Write-in and Read-out in Communication Parameters
Provides instructions on writing and reading parameters via communication, including parameter groups and notes.
Chapter 10 Troubleshooting
10.1 Alarm of Servo Drive
Lists servo drive alarms, their descriptions, corresponding DO signals, and servo status.
10.2 Alarm of CANopen Communication
Details CANopen communication alarms, their descriptions, and corrective actions.
10.3 Alarm of Motion Control
Lists alarms related to motion control, their descriptions, and corrective actions.
10.4 Causes and Corrective Actions
Provides causes and corrective actions for various alarms like Overcurrent, Overvoltage, Undervoltage, and Motor Combination Error.
10.5 Corrective Actions after the Alarm Occurs
Lists corrective actions for various alarms, including Overcurrent, Overvoltage, Undervoltage, and Encoder errors.
Chapter 11 Specifications
11.1 Specifications of Servo Drive (ASDA-M Series)
Details the specifications for the ASDA-M Series Servo Drive, including power, input/output, cooling, and control modes.
11.2 Specifications of Servo Motor (ECMA Series)
Provides specifications for ECMA Series Servo Motors, covering rated power, torque, speed, current, and inertia.
11.3 Torque Features (T-N curve)
Illustrates the torque features (T-N curve) for various ECMA servo motor models, showing continuous and acceleration/deceleration areas.
11.4 Overload Features
Explains the definition and causes of overload protection for the servo motor.
11.5 Dimensions of the Servo Drive
Provides dimensional drawings and weight information for the ASD-M-0721 (750W) and ASD-M-1521 (1.5kW) servo drives.
11.6 Dimensions of the Servo Motor
Details the dimensions of ECMA Series Servo Motors, categorized by motor frame size and inertia.
Appendix A Accessories
Power Connector
Lists Delta Part Numbers for power connectors, including housing and terminal details.
Power Cable
Provides Delta Part Numbers for power cables, detailing housing, terminal, and length specifications.
Encoder Connector
Details part numbers and manufacturers for encoder connectors (Motor Side and Drive Side).
Software Communication Cable
Lists Delta Part Number and specifications (length) for software communication cables.
CANopen Communication Connector
Provides Delta Part Numbers and specifications (length) for CANopen communication connectors.
CANopen Distribution Box
Lists Delta Part Number for CANopen distribution boxes.
RS-485 Connector
Provides Delta Part Number for RS-485 connectors.
Appendix A Accessories
750W servo drive and 50W low-inertia motor
Lists optional accessories for 750W servo drive and 50W low-inertia motor.
750W servo drive and 100W low-inertia motor
Lists optional accessories for 750W servo drive and 100W low-inertia motor.
750W servo drive and 200W low-inertia motor
Lists optional accessories for 750W servo drive and 200W low-inertia motor.
2kW servo drive and 2kW medium-inertia motor
Lists optional accessories for 2kW servo drive and 2kW medium-inertia motor.
2kW servo drive and 2kW medium-inertia motor
Lists optional accessories for 2kW servo drive and 2kW medium-inertia motor.
Appendix B Maintenance and Inspection
Basic Inspection
Covers general inspection procedures for servo drives, motor shafts, connections, and environment.
Inspection before operation (has not applied to the power yet)
Checks for damage, wiring correctness, conductivity objects, control switch status, and flammable objects.
Inspection before running the servo drive (has already applied to the power)
Ensures encoder cable is not stressed, checks for motor vibration/noise, parameter settings, and relay operation.
Maintenance
Provides maintenance guidelines: proper site usage, periodic cleaning, no disassembly, and ventilation port cleaning.
The lifetime of machinery parts
Dc Bus Capacitor
Discusses DC Bus Capacitor deterioration due to ripple current and its lifetime based on operating conditions.
Relay
Explains relay contact wear and its influence on lifetime based on power supply capacity and cumulative switching times.
Cooling Fan
States the typical lifetime of cooling fans and advises replacement if unusual noise or vibration occurs.
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