User Manuals: Delta ASD-A2-0121 Series AC Servo Drive

Manuals and User Guides for Delta ASD-A2-0121 Series AC Servo Drive. We have 4 Delta ASD-A2-0121 Series AC Servo Drive manuals available for free PDF download: User Manual, Instruction Sheet

Delta ASD-A2-0121 Series User Manual (783 pages)

AC Servo Drive for Network Communication Applications

Brand: Delta | Category: Servo Drives | Size: 22 MB

Table of Contents
6
Chapter 1 Inspection and Model Explanation
19
Product Model
20
Nameplate Information
20
Model Explanation
22
Servo Drive and Corresponding Servo Motor
25
ASDA-A2 220V Series
25
ASDA-A2 400V Series
27
Each Part of the Servo Drive
28
ASDA-A2 220V Series
33
ASDA-A2-XN Series
33
Model Explanation
33
ASDA-A2-XN Series Servo Drive and Corresponding Motor
36
Each Part of the ASDA-A2-XN Series Servo Drive
37
Installation
40
Notes
40
Ambient Conditions of Storage
40
Ambient Conditions of Installation
40
Installation Direction and Space
41
Specification of Circuit Breaker and Fuse
43
Ferrite Ring
44
EMI Filter Selection
47
Chapter 11 Specifications ·················································································
48
Selection of Regenerative Resistor
50
The Use of Servo Motor
60
Troubleshooting for the Motor Operation and Status
60
Mounting Directions and Precautions for the Servo Motor
61
Precautions for Using Servo Motors with Oil Seal
62
Precautions for Using Couplings
62
Oil and Water Prevention Measures for the Servo Motor
63
Measures to Suppress Temperature Increase of the Servo Motor
64
Wiring
66
Connections - 220V Series
66
Connecting to Peripheral Devices
66
Connectors and Terminals of Servo Drive
68
Wiring Method
70
Specification of Motor Power Cable
72
Specification of Encoder Cable Connector
74
Selection of Wiring Rod
80
Connections - 400V Series
82
Connecting to Peripheral Devices
82
Connectors and Terminals of the Servo Drive
83
Wiring Method
85
Specification of Motor Power Cable
86
Specification of Encoder Connector
88
Selection of Wiring Rod
90
Basic Wiring
92
Series
92
Series
95
I/O Signal (CN1) Connection
97
I/O Signal (CN1) Connector Terminal Layout
97
Signals Explanation of Connector CN1
99
Wiring Diagrams (CN1)
109
DI and DO Signal Specified by Users
118
Application: Using CN1 Quick Connector for Wiring
118
CN2 Connector
123
Wiring of CN3 Connector
126
Layout of CN3 Connector
126
Connection between PC and Connector CN3
127
CN4 Serial Connector (USB)
128
CN5 Connector (Full-Closed Loop)
129
CN6 Connector (Canopen)
130
Canopen Communication
130
DMCNET Communication
132
Expansion Digital Input Connector of CN7
134
CN8 Connector of Battery Box
135
Standard Connection Example - 220V Series
136
Position (PT) Control Mode
136
Position (PR) Control Mode
137
Speed Control Mode
138
Torque Control Mode
139
Communication Mode
140
Standard Connection Example - 400V Series
141
Position (PT) Control Mode
141
Position (PR) Control Mode
142
Speed Control Mode
143
Torque Control Mode
144
Communication Mode
145
Differences between A2-XN and A2 Series Servo Drives
146
Connecting to Peripheral Devices (A2-EN Model as an Example)
146
Connectors of A2-XN Servo Drives
147
CN1 I/O 50-Pin Connector
147
CN1 I/O 26-Pin Connector
149
FN and -MN Series )
149
CN3 Communication Connector
150
Models of -FN and -MN Series)
150
Ethercat Communication Connector (Applicable to -EN Models)
151
CN-STO (Safe Torque Off)
154
How Does the STO Function Work
155
Related Parameter of the STO Function
156
Position (PT) Control Mode
159
Position (PR) Control Mode
160
Speed Control Mode
161
Torque Control Mode
162
Communication Mode
163
Chapter 4 Panel Display and Operation
164
Panel Description
164
Parameter Setting Procedure
165
Status Display
168
Save Setting Display
168
Decimal Point
168
Alarm Message
168
Positive and Negative Sign Setting
169
Monitor Display
169
General Function
172
Operation of Fault Record Display
172
JOG Mode
173
Force DO Output
174
Digital Input Diagnosis Operation
175
Digital Output Diagnosis Operation
175
Chapter 5 Trial Operation and Tuning
176
Inspection Without Load
176
Applying Power to the Servo Drive
177
JOG Trial Run Without Load
181
Trial Run Without Load (Speed Mode)
182
Trial Run Without Load (Position Mode)
184
Tuning Procedure
186
Flowchart of Tuning Procedure
187
Inertia Estimation Flowchart (with Mechanism)
188
Flowchart of Auto Tuning
189
Flowchart of Semi-Auto Tuning
190
Limit of Inertia Ratio
191
Mechanical Resonance Suppression Method
192
Tuning Mode and Parameters
194
Tuning in Manual Mode
195
Chapter 6 Control Mode of Operation
198
Selection of Operation Mode
198
Position Mode
200
Position Command in PT Mode
200
Position Command in PR Mode
204
Control Structure of Position Mode
205
S-Curve Filter (Position)
206
Electronic Gear Ratio
209
Low-Pass Filter
212
Timing Diagram in Position Mode (PR)
213
Gain Adjustment of Position Loop
214
Low-Frequency Vibration Suppression in Position Mode
217
Speed Mode
222
Selection of Speed Mode
222
Control Structure of Speed Mode
223
Smooth Speed Command
224
The Scaling of Analog Command
228
Timing Diagram in Speed Mode
229
Gain Adjustment of Speed Loop
230
Resonance Suppression
237
Torque Mode
245
Selection of Torque Command
245
Control Structure of Torque Mode
246
Smooth Torque Command
247
The Scaling of Analog Command
248
Timing Diagram in Torque Mode
249
Dual Mode
250
Speed / Position Dual Mode
251
Speed / Torque Dual Mode
251
Torque / Position Dual Mode
252
Others
253
The Use of Speed Limit
253
The Use of Torque Limit
254
Analog Monitor
255
The Use of Brake
259
Chapter 7 Motion Control
262
Motion Control Functions of ASDA-A2
262
System Information
262
Description of Monitoring Variables
263
Description of Data Array
270
Description of Motion Axes
273
Description of PR Mode
274
The Difference between General PR Mode and the One in ASDA-A2
274
The Position Unit of PR Mode
275
Description of Register in PR Mode
275
Homing Description of PR Mode
277
DI/DO Provided by PR Mode and Diagrams
277
Parameter Settings
279
The Relation between the Previous Path and the Next Path
286
Programming the Path in PR Mode
287
The Description of E-Cam Function
288
Function Description of CAPTURE (Data Capture)
295
Function Description of COMPARE (Data Compare)
297
Parameters
300
Parameter Definition
300
List of Parameters
301
Parameter Description
313
P0-XX Monitor Parameters
313
P1-XX Basic Parameters
336
P2-XX Extension Parameters
390
P3-XX Communication Parameters
435
P4-XX Diagnosis Parameters
445
P5-XX Motion Setting Parameters
459
P6-XX PR Parameters
524
P7-XX PR Parameters
566
Chapter 9 Communications
596
RS-232 Communication Hardware Interface
596
RS-232 Communication Parameters Setting
598
MODBUS Communication Protocol
601
Write-In and Read-Out Communication Parameters
613
Chapter 10 Troubleshooting
616
Alarm of Servo Drive
616
Alarm of Canopen Communication
621
Alarm of Motion Control
623
Causes and Corrective Actions
627
Corrective Actions after the Alarm Occurs
653
Specifications
660
Specifications of Servo Drives (ASDA-A2 Series)
660
ASDA-A2 220V Series
660
ASDA-A2 400V Series
663
Specifications of Servo Motors (ECMA Series)
666
ECMA 220V Series
666
ECMA 400V Series
676
Torque Features (T-N Curves)
684
Series
684
Overload Features
688
Dimensions of Servo Drive
690
Series
690
Series
697
Dimensions of Servo Motor (ECMA Series)
700
Series
700
Series
707
Chapter 12 Absolute System
712
Battery Box (Absolute Type) and Wiring
713
Battery Box Dimensions
715
Connection Cables for Absolute Encoder
716
Battery Box Cords
718
Installation
719
Connection Examples
719
How to Install a Battery
723
How to Replace a Battery
725
System Initialization Procedure and Operation
727
System Initialization Procedure
727
Pulse Counting
728
PUU Counting
729
Use Digital Inputs/Outputs to Create the Absolute Origin Coordinate
730
Use Parameters to Create the Absolute Origin Coordinate
730
Use Digital Inputs/Outputs to Read the Absolute Coordinate Data
731
Use Parameter to Read the Absolute Coordinate Data
734
Related Parameters for Absolute System
735
Digital Input (DI) Function Definition (for Absolute System)
740
Digital Output (DO) Function Definition (for Absolute System)
741
Alarms for Absolute System
742
Causes and Corrective Actions
743
Related Monitoring Variables
745

Delta ASD-A2-0121 Series User Manual (753 pages)

High Resolution AC Servo Drive for Network Communication Applications

Brand: Delta | Category: Servo Drives | Size: 13 MB

Revision September
2
Table of Contents
6
Chapter 1 Unpacking Check and Model Explanation

16
- Unpacking Check
  16
- Model Explanation
  19
  - Nameplate Information
    19
  - Model Name Explanation
    20
- Servo Drive and Servo Motor Combinations
  22
  - Series
    22
  - Series
    23
- Servo Drive Features
  24
  - Series
    24
  - Series
    27
Chapter 2 Installation and Storage

30
Chapter 3 Connections and Wiring

52
- Connecting to Peripheral Devices
  52
- Servo Drive Connectors and Terminals
  53
- Wiring Methods
  55
- Motor Power Cable Connector Specifications
  57
- Encoder Connector Specifications
  59
- Cable Specifications for Servo Drive
  63
- Connecting to Peripheral Devices
  65
- Servo Drive Connectors and Terminals
  66
- Wiring Methods
  69
- Motor Power Cable Connector Specifications
  70
- Encoder Connector Specifications
  72
- Cable Specifications for Servo Drive
  74
- Basic Wiring
  76
  - Series
    76
  - Series
    79
- Input / Output Interface Connector -CN1
  81
- Encoder Connector CN2
  110
- Serial Communication Connector CN3
  114
  - CN3 Terminal Layout and Identification
    114
  - Connection between Pc/Keypad and Connector CN3
    115
- Serial Communication Connector CN4 (USB)
  116
- Position Feedback Signal Connector CN5 (for Full-Closed Loop)
  117
- Canopen Communication Connector CN6
  118
- Extension Digital Input Connector CN7
  120
  - Position (PT) Control Mode
    121
  - Position (PR) Control Mode
    122
  - Speed Control Mode
    123
  - Torque Control Mode
    124
  - Canopen Communication Mode
    125
- Standard Connection Example
  126
  - Position (PT) Control Mode
    126
  - Position (PR) Control Mode
    127
  - Speed Control Mode
    128
  - Torque Control Mode
    129
  - Canopen Communication Mode
    130
Chapter 4 Display and Operation

132
- Description of the Digital Keypad
  132
- Display Flowchart
  133
- Status Display
  134
  - Save Setting Display
    134
  - Decimal Point Display
    134
  - Fault Message Display
    134
  - Polarity Setting Display
    134
  - Monitor Setting Display
    135
- General Function Operation
  138
  - Fault Code Display Operation
    138
  - JOG Operation
    138
  - Force Output Control Operation
    139
  - DI Diagnosis Operation
    140
  - DO Diagnosis Operation
    141
Chapter 5 Trial Run and Tuning Procedure

142
- Inspection Without Load
  142
- Applying Power to the Drive
  144
- JOG Trial Run Without Load
  148
- Speed Trial Run Without Load
  150
- Position Trial Run Without Load
  152
- Tuning Procedure
  154
  - Tuning Flowchart
    155
  - Load Inertia Estimation Flowchart
    156
  - Auto Mode Tuning Flowchart
    157
  - Semi-Auto Mode Tuning Flowchart
    159
  - Limit of Load Inertia Estimation
    161
  - Mechanical Resonance Suppression Method
    163
  - Relationship between Tuning Modes and Parameters
    164
  - Gain Adjustment in Manual Mode
    165
Chapter 6 Control Modes of Operation

168
- Control Modes of Operation
  168
- Position Control Mode
  170
- Speed Control Mode
  192
  - Command Source of Speed Control Mode
    192
  - Structure of Speed Control Mode
    193
  - Smoothing Strategy of Speed Control Mode
    194
  - Analog Speed Input Scaling
    199
  - Timing Chart of Speed Control Mode
    200
  - Speed Loop Gain Adjustment
    200
  - Resonance Suppression
    207
- Torque Control Mode
  215
- Control Modes Selection
  220
- Others
  224
  - Speed Limit
    224
  - Torque Limit
    224
  - Analog Monitor
    225
  - Electromagnetic Brake
    229
Chapter 7 Motion Control Functions

232
- Motion Control Functions
  232
- System Information
  232
  - Monitoring Variables
    233
  - Data Array
    239
- Motion Axes
  243
- PR Mode
  244
- Comparison
  244
- Pulse of User Unit
  245
- Position Registers
  245
- Homing Function
  247
- Triggering Prs
  248
- Parameter Settings
  250
  - Motion Commands
    258
  - Sequence
    259
- Electronic Cam (E-Cam)
  262
  - Capture Function
    272
  - Compare Function
    274
- Definition
  278
Chapter 8 Servo Parameters

278
- Parameter Summary
  279
  - Parameters List by Group
    279
  - Parameters List by Function
    297
- Detailed Parameter Listings
  310
Chapter 9 Communications

576
Chapter 10 Troubleshooting

596
Chapter 11 Specifications

636
- Specifications of Servo Drive (ASDA-A2 Series)
  636
  - ASDA-A2 220V Series
    636
  - ASDA-A2 400 Series
    639
- Specifications of Servo Motors (ECMA Series)
  642
  - ECMA 220V Series
    642
  - ECMA 400 Series
    648
- Servo Motor Speed-Torque Curves (T-N Curves)
  652
  - Series
    652
- Overload Characteristics
  654
- Dimensions of Servo Drive
  656
  - Series
    656
  - Series
    663
- Dimensions of Servo Motor (ECMA Series)
  667
  - Series
    667
  - Series
    673
Chapter 12 Absolute System

678
- Backup Battery Boxes
  679
  - Specifications
    679
  - Battery Box Dimensions
    681
  - Connection Cables for Absolute Encoder
    682
  - Battery Box Cords
    683
- Installation
  684
  - Connection Examples
    684
  - How to Install a Battery
    687
  - How to Replace a Battery
    688
- System Initialization Procedure and Operation
  691
- Related Parameters for Absolute System
  701
- Digital Input (DI) Function Definition (for Absolute System)
  707
- Digital Output (DO) Function Definition (for Absolute System)
  708
- Fault Messages for Absolute System
  709
  - Potential Cause and Corrective Actions
    710
- Related Monitoring Variables
  712
Appendix A Accessories

714
Appendix B Maintenance and Inspection

750

Delta ASD-A2-0121 Series User Manual (721 pages)

Brand: Delta | Category: Servo Drives | Size: 20 MB

Table of Contents
6
Chapter 1 Inspection and Model Explanation

17
- Product Model
  18
- Nameplate Information
  18
- Model Explanation
  19
- Servo Drive and Corresponding Servo Motor
  21
- Series
  21
- Series
  23
- Each Part of the Servo Drive
  24
- Series
  24
- Series
  27
Chapter 2 Installation

30
Chapter 3 Wiring

48
- Connections - 220V Series
  48
- Connecting to Peripheral Devices
  48
- Connectors and Terminals of Servo Drive
  49
- Wiring Method
  51
- Specification of Motor Power Cable
  53
- Specification of Encoder Cable Connector
  55
- Selection of Wiring Rod
  59
- Connections - 400V Series
  61
- Connecting to Peripheral Devices
  61
- Connectors and Terminals of the Servo Drive
  63
- Wiring Method
  65
- Specification of Motor Power Cable
  66
- Specification of Encoder Connector
  68
- Selection of Wiring Rod
  70
- Basic Wiring
  72
- Series
  72
- Series
  75
- I/O Signal (CN1) Connection
  77
- I/O Signal (CN1) Connector Terminal Layout
  77
- Signals Explanation of Connector CN1
  79
- Wiring Diagrams (CN1)
  89
- DI and DO Signal Specified by Users
  97
- Application: Using CN1 Quick Connector for Wiring
  97
- CN2 Connector
  101
- Wiring of CN3 Connector
  104
- Layout of CN3 Connector
  104
- Connection between PC and Connector CN3
  105
- CN4 Serial Connector (USB)
  106
- CN5 Connector (Full-Closed Loop)
  107
- CN6 Connector (Canopen)
  108
- Extension Digital Input Connector of CN7
  110
- CN8 Connector of Battery Box
  111
- Standard Connection Example - 220V Series
  112
- Position (PT) Control Mode
  112
- Position (PR) Control Mode
  113
- Speed Control Mode
  114
- Torque Control Mode
  115
- Communication Mode
  116
- Standard Connection Example - 400V Series
  117
- Position (PT) Control Mode
  117
- Position (PR) Control Mode
  118
- Speed Control Mode
  119
- Torque Control Mode
  120
- Communication Mode
  121
Chapter 4 Panel Display and Operation

122
- Panel Description
  122
- Parameter Setting Procedure
  123
- Status Display
  126
- Save Setting Display
  126
- Decimal Point
  126
- Alarm Message
  126
- Positive and Negative Sign Setting
  126
- Monitor Display
  127
- General Function
  130
- Operation of Fault Record Display
  130
- JOG Mode
  131
- Force DO Output
  132
- Digital Input Diagnosis Operation
  133
- Digital Output Diagnosis Operation
  133
Chapter 5 Trial Operation and Tuning

134
- Inspection Without Load
  134
- Applying Power to the Servo Drive
  135
- JOG Trial Run Without Load
  139
- Trial Run Without Load (Speed Mode)
  140
- Trial Run Without Load (Position Mode)
  142
- Tuning Procedure
  144
- Flowchart of Tuning Procedure
  145
- Inertia Estimation Flowchart (with Mechanism)
  146
- Flowchart of Auto Tuning
  147
- Flowchart of Semi-Auto Tuning
  148
- Limit of Inertia Ratio
  149
- Mechanical Resonance Suppression Method
  151
- Tuning Mode and Parameters
  152
- Tuning in Manual Mode
  153
Chapter 6 Control Mode of Operation

156
- Selection of Operation Mode
  156
- Position Mode
  158
- Position Command in PT Mode
  158
- Position Command in PR Mode
  162
- Control Structure of Position Mode
  163
- S-Curve Filter (Position)
  164
- Electronic Gear Ratio
  167
- Low-Pass Filter
  170
- Timing Diagram in Position Mode (PR)
  171
- Gain Adjustment of Position Loop
  172
- Low-Frequency Vibration Suppression in Position Mode
  174
- Speed Mode
  179
- Selection of Speed Mode
  179
- Control Structure of Speed Mode
  180
- Smooth Speed Command
  181
- The Scaling of Analog Command
  185
- Timing Diagram in Speed Mode
  186
- Gain Adjustment of Speed Loop
  186
- Resonance Suppression
  193
- Torque Mode
  200
- Selection of Torque Command
  200
- Control Structure of Torque Mode
  201
- Smooth Torque Command
  202
- The Scaling of Analog Command
  202
- Timing Diagram in Torque Mode
  203
- Dual Mode
  204
- Speed / Position Dual Mode
  205
- Speed / Torque Dual Mode
  205
- Torque / Position Dual Mode
  206
- Others
  207
- The Use of Speed Limit
  207
- The Use of Torque Limit
  207
- Analog Monitor
  208
- The Use of Brake
  212
Chapter 7 Motion Control

214
Chapter 8 Parameters

252
- Parameter Definition
  252
- List of Parameters
  253
- Parameter Description
  264
- P0-XX Monitor Parameters
  264
- P1-XX Basic Parameters
  291
- P2-XX Extension Parameters
  342
- P3-XX Communication Parameters
  387
- P4-XX Diagnosis Parameters
  398
- P5-XX Motion Setting Parameters
  412
- P6-XX PR Parameters
  476
- P7-XX PR Parameters
  518
Chapter 9 Communications

546
Chapter 10 Troubleshooting

564
- Alarm of Servo Drive
  564
- Alarm of Canopen Communication
  568
- Alarm of Motion Control
  570
- Causes and Corrective Actions
  573
- Corrective Actions after the Alarm Occurs
  592
Chapter 11 Specifications

598
- Specifications of Servo Drives
  598
- ASDA-A2 220V Series
  598
- ASDA-A2 400V Series
  601
- Specifications of Servo Motors (ECMA Series)
  604
- ECMA 220V Series
  604
- ECMA 400V Series
  614
- Torque Features (T-N Curves)
  622
- Series
  622
- Series
  624
- Overload Features
  626
- Dimensions of Servo Drive
  628
- Series
  628
- Series
  635
- Dimensions of Servo Motor (ECMA Series)
  638
- Series
  638
- Series
  645
Chapter 12 Absolute System

650
- Backup Battery Boxes
  651
- Specifications
  651
- Battery Box Dimensions
  653
- Connection Cables for Absolute Encoder
  654
- Battery Box Cords
  656
- Installation
  657
- Connection Examples
  657
- How to Install a Battery
  661
- How to Replace a Battery
  662
- System Initialization Procedure and Operation
  664
- System Initialization Procedure
  664
- Pulse Counting
  665
- PUU Counting
  666
- Use Digital Inputs/Outputs to Initialize an Absolute System
  667
- Use Parameters to Initialize an Absolute System
  667
- Use Digital Inputs/Outputs to Read the Absolute Coordinate Data
  668
- Use Parameter to Read the Absolute Coordinate Data
  672
- Related Parameters for Absolute System
  673
- Digital Input (DI) Function Definition (for Absolute System)
  679
- Digital Output (DO) Function Definition (for Absolute System)
  680
- Alarms for Absolute System
  681
- Causes and Corrective Actions
  682
- Related Monitoring Variables
  684
Appendix A Accessories

686
Appendix B Maintenance and Inspection

721

Delta ASD-A2-0121 Series Instruction Sheet (12 pages)

Brand: Delta | Category: Servo Drives | Size: 8 MB

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User Manuals: Delta ASD-A2-0121 Series AC Servo Drive

Delta ASD-A2-0121 Series User Manual (783 pages)

Table of Contents

Delta ASD-A2-0121 Series User Manual (753 pages)

Table of Contents

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 Motion Control Functions

Chapter 8 Servo Parameters

Chapter 9 Communications

Chapter 10 Troubleshooting

Chapter 11 Specifications

Chapter 12 Absolute System

Appendix A Accessories

Appendix B Maintenance and Inspection

Delta ASD-A2-0121 Series User Manual (721 pages)

Table of Contents

Chapter 1 Inspection and Model Explanation

Chapter 2 Installation

Chapter 3 Wiring

Chapter 4 Panel Display and Operation

Chapter 5 Trial Operation and Tuning

Chapter 6 Control Mode of Operation

Chapter 7 Motion Control

Chapter 8 Parameters

Chapter 9 Communications

Chapter 10 Troubleshooting

Chapter 11 Specifications

Chapter 12 Absolute System

Appendix A Accessories

Appendix B Maintenance and Inspection

Delta ASD-A2-0121 Series Instruction Sheet (12 pages)

Table of Contents

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