Delta A3-L Manuals

Manuals and User Guides for Delta A3-L. We have 1 Delta A3-L manual available for free PDF download: User Manual

Delta A3-L User Manual

Delta A3-L User Manual (1355 pages)

Brand: Delta | Category: Servo Drives | Size: 29.91 MB

Table of Contents

Table of Contents
8
Items to Check after Unpacking
25
Model Overview
26
Nameplate Information
26
Model Explanation
28
ASDA-A3 Servo Drive and Motor
34
Models
34
Models
37
Description of the Drive Interface
38
Models: A3-L
38
Models: A3-M
39
Models: A3-F
40
Models: A3-E
41
Models: A3-L
42
Models: A3-M
43
Models: A3-F
44
Models: A3-E
45
Installation
46
Ambient Storage Conditions
47
Ambient Installation Conditions
47
Mounting Direction and Space
50
Safety Precautions for Using Motors
53
Troubleshooting for the Motor Operation and Status
55
Mounting Directions and Precautions for the Servo Motor
56
Precautions for Using Servo Motor with Oil Seal
57
Precautions for Installing Servo Motor Accessories
58
Oil and Water Prevention Measures for the Servo Motor
60
Measures to Suppress Temperature Increase of the Servo Motor
61
Specifications for the Circuit Breaker, Magnetic Contactor and Fuse
62
Ferrite Ring
64
Installation Requirements for EMC
66
EMI Filters
68
Selecting the Regenerative Resistor
70
The Use of Braking
78
The Use of Cable
80
Series Servo System Connection
86
Connecting to Peripheral Devices
86
Connectors and Terminals
88
Wiring for Power Supply
90
UVW Power Connector Specifications
93
F40 - F80 Motors - Power Connectors
94
F100 - F130 Motors - Power Connectors
96
F180 4.5 Kw (or Below) Motors - Power Connectors
99
F180 5.5 Kw (or Above) & F220 Motors - Power Connectors
102
Encoder Connector Specifications
104
F40 - F80 Motors - Encoder Connectors
104
F100 - F180 ECMC Motors - Encoder Connectors
110
F100 - F220 ECM-B3 Motors - Encoder Connectors
113
Crimping the Wire Ferrules
120
Screw Terminal Block Dimensions / Screw and Tightening Torque
122
Specifications
122
Encoder Cable Specifications
123
Power Cable Specifications
124
Motor Frame and Power: F180 4.5 Kw (or Below)
126
Motor Frame and Power: F180 5.5 Kw (or Above) & F220
127
Flexible Cable Specifications
128
Waterproof Connector Wiring Instructions
129
F40 - F80 Models - Wiring the Waterproof Connector
129
F100 - F180 Models - Wiring the Waterproof Connector
130
Waterproof Connector Specifications
131
Series Servo System Connection
132
Connecting to Peripheral Devices
132
Connectors and Terminals
134
Wiring for Power Supply
136
UVW Power Connector Specifications
137
F40 - F80 Motors - Power Connectors
137
F100 - F130 Motors - Power Connectors
137
F180 4.5 Kw (or Below) Motors - Power Connectors
137
F180 5.5 Kw (or Above) & F220 Motors - Power Connectors
137
Encoder Connector Specifications
138
F40 - F80 Motors - Encoder Connectors
138
F100 - F220 ECM-B3 Motors - Encoder Connectors
139
Wire Selection
140
Wire Diameters and Terminals / Ferrules
140
Screw Terminal Block Dimensions / Screw and Tightening Torque
141
Specifications
141
Cable Specifications
142
Waterproof Connector Specifications
142
And 400V Series - Servo System Wiring Diagram
143
Series Models
143
And Below) Models
143
Kw Models
144
Kw - 15 Kw Models
145
Series Models
146
1.5 Kw Models
146
Kw - 15 Kw Models
147
And 400V Series - Wiring for CN1 I/O Connector
148
A3-L and A3-M Models - Wiring for CN1 I/O Connector
148
A3-L and A3-M Models - CN1 I/O Connector
148
A3-L and A3-M Models - Quick Connector
155
A3-L and A3-M Models - CN1 Wiring Diagrams
160
A3-E and A3-F Models - Wiring for CN1 I/O Connector
167
A3-E and A3-F Models - CN1 I/O Connector
167
A3-E and A3-F Models - Quick Connector
173
A3-E and A3-F Models - CN1 Wiring Diagrams
177
And 400V Models - Wiring for the CN2 Encoder Connector
180
And 400V Models - Wiring for the CN3 Connector
184
(RS-485 / High-Speed Communication)
184
And 400V Models - Wiring for CN4 Connector (Mini USB)
186
And 400V Models - Wiring for CN5 Connector (Applicable to Full-Closed Loop)
187
And 400V Models - Wiring for CN5 Connector
187
(Applicable to Full-Closed Loop)
187
And 400V Models - Wiring for CN6 Connector
190
Wiring for the DMCNET Communication Connector
190
Wiring for the Ethercat Communication Connector
192
Models - STO (Safe Torque Off) Function
195
CN10 STO Connector
195
Introduction to STO
196
Precautions for Using STO Function
196
Specifications of STO
197
How Does the STO Function Work
197
Activation Status
198
Deactivation Status
200
Wiring for STO
201
Not Using the STO Function
201
Using the STO Function for a Single Drive
202
Using the STO Function for Multiple Drives
203
Models - STO (Safe Torque Off) Function
204
Introduction to STO
204
Precautions for Using STO Function
204
Potential Risks of STO
205
Safety Parameters
206
How Does the STO Function Work
207
Response Time
207
Alarm Triggering
208
STO Deactivation Settings
210
Wiring for STO
215
CN10 STO Connector
215
Input / Output Signal Specification
216
Not Using the STO Function
217
Using the STO Function for a Single Drive
217
Using the STO Function for Multiple Drives
218
Validation Test
219
Series - Standard Wiring Example
220
Position (PT) Control Mode - Differential Line Driver Signal Input
220
Position (PT) Control Mode - Open-Collector Signal Input
221
Position (PR) Control Mode - Internal Position Commands
222
Speed (S) Control Mode
224
Torque (T) Control Mode
226
Communication Mode (Canopen)
228
Communication Mode (DMCNET)
229
Communication Mode (Ethercat)
230
Series - Standard Wiring Example
231
Position (PT) Control Mode - Differential Line Driver Signal Input
231
Position (PT) Control Mode - Open-Collector Signal Input
232
Position (PR) Control Mode - Internal Position Commands
233
Speed (S) Control Mode
235
Torque (T) Control Mode
237
Communication Mode (Canopen)
239
Communication Mode (DMCNET)
240
Communication Mode (Ethercat)
241
Test Operation and Panel Display
242
Panel Description
243
Parameter Setting Procedure
244
Status Display
247
Data Save Status
247
Decimal Points
247
Alarm Messages
248
Positive and Negative Sign Setting
248
Monitoring Display
248
General Functions
252
Operation of Fault Record Display
252
Force DO on
253
Digital Input Diagnosis Operation
254
Digital Output Diagnosis Operation
254
Testing
255
Testing Without Load
255
Apply Power to A3 Servo Drive
256
JOG Trial Run Without Load
261
Trial Run Without Load (Speed Mode)
263
Trial Run Without Load (Position Mode)
265
Tuning
268
Tuning Procedure
271
Inertia Estimation
272
Precautions for Inertia Estimation
272
Inertia Estimation with ASDA-Soft
273
One Touch Tuning
276
Precautions for One Touch Tuning
277
One Touch Tuning with ASDA-Soft
277
Auto Tuning
280
Precautions for Auto Tuning
281
Flowchart of Auto Tuning
282
Auto Tuning through the Drive Panel
283
Auto Tuning with ASDA-Soft
284
Parameters Related to Auto Tuning
291
Automatic Gain Adjustment Level 1 (P2.105) - Stiffness Adjustment
291
Automatic Gain Adjustment Level 2 (P2.106) - Response Adjustment
292
Alarms Related to Auto Tuning
293
Gain Adjustment Modes
294
Differences between Gain Adjustment Modes
294
Flowchart of Gain Adjustment Mode
296
Gain Adjustment Mode 1
297
Gain Adjustment Mode 2
297
Gain Adjustment Mode 3
298
Gain Adjustment Mode 4
299
Gain Adjustment Mode 5
300
Gain Adjustment Mode 6
300
Parameters Related to Gain Adjustment Modes
301
Bandwidth Response Level (P2.031) - Stiffness Adjustment
301
Command Response Gain (P2.089) - Response Adjustment
302
Bandwidth for Speed Loop Response (P2.126) - Bandwidth Adjustment
302
Manual Tuning of Gain Parameters
303
Flowchart of Manual Tuning in Speed Mode
305
Flowchart of Manual Tuning in Position Mode
306
Manual Tuning with ASDA-Soft
307
Mechanical Resonance Suppression and Noise Elimination
308
Notch Filter
309
Function Restriction
309
Function Description
309
Parameter Descriptions
310
Application Example
312
Resonance Suppression Low-Pass Filter
316
Function Restriction
316
Function Description
316
Application Example
316
Speed Detection Filter
317
Function Restriction
317
Function Description
317
Application Example
318
Low-Frequency Vibration Suppression Filter
319
Function Restriction
319
Function Description
319
Application Example
321
Model-Controlled Vibration Suppression Filter
322
Restrictions of the Two Degree of Freedom Control Function
322
Function Description of Two Degree of Freedom Control Function
323
Application Example of Two Degree of Freedom Control Function
324
Restrictions of Vibration Elimination
325
Function Description of Vibration Elimination
325
Application Example of Vibration Elimination
326
Position Command Filter
327
Function Restriction
327
Function Description
327
Application Example
328
Speed Command Filter
329
Function Restriction
329
Function Description
329
Application Example
329
Torque Command Filter
330
Function Restriction
330
Function Description
330
Application Example
330
Application Function Adjustment
331
Adjusting Position Error in Constant Speed Zone
331
Function Restriction
331
Function Description
331
Application Example
332
Position Overshoot Adjustment
333
Function Restriction
333
Function Description
333
Application Example
333
Multi-Axis Contour Control
334
Function Restriction
334
Function Description
334
Application Example
336
Gain Switching
338
Function Restriction
338
Function Description
338
Application Example
338
Selecting the Operation Mode
344
Position Mode
346
Position Command in PT Mode
346
Position Command in PR Mode
347
Control Structure of Position Mode
348
S-Curve Filter (Position)
349
Electronic Gear Ratio (E-Gear Ratio)
351
Low-Pass Filter
352
Timing Diagram of PR Mode
352
Gain Adjustment of the Position Loop
353
Low-Frequency Vibration Suppression in Position Mode
355
Speed Mode
358
Selecting the Speed Command Source
358
Control Structure of Speed Mode
359
Smooth Speed Command
360
Scaling of the Analog Command
362
Timing Diagram of Speed Mode
363
Gain Adjustment of the Speed Loop
364
Resonance Suppression Unit
366
Torque Mode
369
Selecting the Torque Command Source
369
Control Structure of Torque Mode
370
Smooth Torque Command
370
Scaling of the Analog Command
371
Timing Diagram of Torque Mode
372
Dual Mode / Multi-Mode
373
Speed / Position Dual Mode
374
Speed / Torque Dual Mode
375
Torque / Position Dual Mode
376
Others
377
Applying the Speed Limit
377
Applying the Torque Limit
377
Analog Monitoring
378
Full-Closed Loop Control System
379
Hardware Configuration
380
Control Structure
382
Steps for Setting the Full-Closed Loop Function
384
Parameters for Full-Closed Loop Function
385
Auxiliary Encoder Direction Setting
385
Auxiliary Encoder Resolution Setting
388
E-Gear Settings
391
Setting the Protection Range for the Feedback Position Error between
391
Setting the Low-Pass Filter Time Constant for Full- / Semi-Closed Loop Control
392
Setting the Error Clearing Function When Switching between Full- and
393
Semi-Closed Loops
393
Auto Clearing of the Feedback Position Error between the Main
396
Set DI [0X0B] to Switch between Full- and Semi-Closed Loop Modes
397
Z Phase Source of Homing
398
Encoder Output Settings
399
Full-Closed Loop Feedback Source for the Controller
401
Troubleshooting Full-Closed Loop Alarms
402
Motion Control
404
PR Mode Description
406
Shared PR Parameters
408
Monitoring Variables of PR Mode
410
Motion Control Commands
413
Homing Methods
413
Speed Command
426
Position Command
428
Jump Command
431
Write Command
433
Rotary Axis Position Command (Index)
435
Arithmetic Operation (Statement)
439
Overview of the PR Procedure
442
Trigger Methods for the PR Command
449
PR Procedure Execution Flow
453
Application of Motion Control
467
Data Array
467
High-Speed Position Capture Function (Capture)
471
High-Speed Position Compare Function (Compare)
475
E-Cam
479
Source Signal for the Master Axis
480
Clutch Engagement and Disengagement
484
E-Cam Gears and Curve Scaling
492
E-Cam Curve
495
E-Cam Curve and PR Command Overlapping
503
Troubleshooting for E-Cam
505
Rotary Shear
507
Flying Shear
534
Macro
547
Auxiliary Function
557
Horizontal Packing Machine Applications
560
Parameter Definitions
579
List of Parameters
580
Parameter Descriptions
602
P0.XXX Monitoring Parameters
602
P1.XXX Basic Parameters
619
P2.XXX Extension Parameters
670
P3.XXX Communication Parameters
717
P4.XXX Diagnosis Parameters
727
P5.XXX Motion Control Parameters
737
P6.XXX PR Parameters
780
P7.XXX PR Parameters
804
Pm.XXX Motor Parameters
824
Modbus Communication
864
Communication Interface (Hardware)
865
Communication Parameter Settings
866
Modbus Communication Protocol
867
Setting and Accessing Communication Parameters
878
Communication Specification
879
Battery Box and Absolute Encoder Cable
884
Battery Specifications
884
Battery Box Dimensions
886
Connection Cable for the Absolute Encoder
887
Battery Box Cable
892
Installation
893
Installing the Battery Box in the Servo System
893
Installing and Replacing Batteries
896
System Initialization and Operating Procedures
899
System Initialization
899
Pulse Number
900
PUU Number
901
Establishing the Absolute Origin Position
902
Establishing the Absolute Origin Position with DI/DO
902
Establishing the Absolute Origin Position with Parameters
903
Establishing the Absolute Origin Position with the PR Homing Function
903
Reading the Absolute Position
903
Reading the Absolute Position with DI/DO
903
Reading the Absolute Position with Communication
906
Parameters, DI/DO, and Alarms Related to Absolute Function
908
Linear Motor and Third-Party Motor
910
Linear Motor Overview
912
Installation and Configuration
913
Precautions for Installing Linear Motors
913
Configurations for Linear Motors and Rotary Motors
916
Peripheral Configuration for Pulse Type Motors
917
Peripheral Configuration for Pulse Type and Sine Wave Type Motors
918
Peripheral Configuration for Delta Motors and Third-Party Communication
919
Communication Type Motors
919
Third-Party Communication Type Motors
920
Supported Communication Format for the Motors
921
Pin Assignment of Communication Type Motors
921
Complete the Settings for Linear Motors and Third-Party Motors with ASDA-Soft
922
Motor Parameter Identification
923
Motor Parameter Identification for Linear Motors
924
Motor Parameter Identification for Rotary Motors
931
Linear Motor Direction Setting
938
Linear Encoder
939
Hall Sensor
940
Installing the Hall Sensor
941
Checking the Hall Sensor Phase Sequence
942
Position Signal Converter Box
943
Specifications of Position Signal Converter Box
943
Interface of Position Signal Converter Box
944
Pin Assignment of Position Signal Converter Box
945
Linear Motor Parameter Setting
946
Total Weight (Mover + Load)
946
E-Gear Ratio
946
Limit Setting
946
Current Setting for Initial Magnetic Field Detection
947
Overload Gain
948
Canopen Mode
950
Basic Configuration
951
Supported Functions
951
Hardware Configuration
952
Parameter Settings in Canopen Mode
953
Communication Specification
954
Servo Communication Architecture
954
Process Data Object (PDO)
956
Service Data Object (SDO)
957
SDO Abort Codes
960
Synchronization Object (SYNC)
961
Emergency Object (EMCY)
962
NMT Services
963
Canopen Operation Modes
966
Profile Position Mode
966
Interpolated Position Mode
971
Homing Mode
974
Profile Velocity Mode
976
Profile Torque Mode
978
Object Dictionary
980
Specifications for Objects
980
List of Objects
981
Details of Objects
983
OD 1Xxxh Communication Object Group
983
OD 2Xxxh Servo Parameter Group
1002
OD 6Xxxh Communication Object Group
1003
Diagnostics and Troubleshooting
1045
Ethercat Mode
1046
Basic Configuration
1048
Hardware Configuration
1048
ESI File Import
1052
Parameter Settings of Ethercat Mode
1053
Communication Function
1057
Specifications
1057
Synchronization Mode
1059
Synchronization Modes of the Servo Drive
1059
Select Synchronization Mode
1060
Distributed Clocks Setting
1060
Ethercat State Machine
1061
PDO Mapping Configuration
1063
Default PDO Mapping Configuration
1063
Set PDO Mapping
1065
PDO Mapping Object
1066
SDO Abort Codes
1067
Ethercat Operation Modes
1068
Profile Position Mode
1068
Profile Velocity Mode
1073
Profile Torque Mode
1075
Homing Mode
1077
Cyclic Synchronous Position Mode
1079
Cyclic Synchronous Velocity Mode
1081
Cyclic Synchronous Torque Mode
1083
Touch Probe Function and Touch Probe Status
1085
Object Dictionary
1090
Specifications for Objects
1090
List of Objects
1091
Details of Objects
1093
OD 1Xxxh Communication Object Group
1093
OD 2Xxxh Servo Parameter Group
1099
OD 6Xxxh Communication Object Group
1100
Diagnostics and Troubleshooting
1141
Ethercat Diagnosis
1141
Alarm List
1142
Troubleshooting
1148
Alarm List
1150
General Type
1150
STO Type
1152
Communication Type
1153
Motion Control Type
1154
Third-Party Communication Type
1156
Causes and Corrective Actions
1157
Appendix
1238
Specifications
1240
ASDA-A3 Series Servo Drive
1240
Specifications of the Servo Drive
1240
Series
1240
Series
1243
Dimensions of the Servo Drive
1246
Series
1246
Series
1250
ECM-A3 Series Servo Motor
1252
Specifications of ECM-A3L Low Inertia Series Servo Motor
1254
Specifications of ECM-A3H High Inertia Series Servo Motor
1256
Torque Features (T-N Curves) of the A3 Motors
1258
Overload Features
1260
Dimensions of ECM-A3L/A3H Series Servo Motor
1261
ECM-B3 Series Servo Motor
1262
Specifications of ECM-B3 Series Servo Motor
1264
Series
1264
Motor Frame Size: 80 MM and below
1264
Motor Frame Size: 100 MM
1266
Motor Frame Size: 130 MM
1268
Motor Frame Size: 180 MM
1270
Motor Frame Size: 220 MM
1272
Series
1274

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