Delta ASD-A3-1021 Servo Drive Manuals

Manuals and User Guides for Delta ASD-A3-1021 Servo Drive. We have 1 Delta ASD-A3-1021 Servo Drive manual available for free PDF download: User Manual

Delta ASD-A3-1021 User Manual

Delta ASD-A3-1021 User Manual (604 pages)

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

Table of Contents

Preface
2
Safety Precautions
3
Table of Contents
6
Product Overview
14
Components of the Servo Set
15
Model Overview
16
- Nameplate Information
  16
  - ASDA-A3 Series Servo Drive
    16
  - Serial Number
    16
  - ECM-A3 Series Servo Motor
    17
  - ECMC Series Servo Motor
    17
- Model Explanation
  18
- ASDA-A3 Servo Drive
  18
ASDA-A3 Servo Drive and Motor
22
Description of the Drive Interface
23
Installation

24
Trial Operation and Panel Display

107
- Panel Description
  107
- Parameter Setting Procedure
  108
  - Switching Modes
    108
  - Operating in each Mode
    108
  - Parameter Mode
    109
  - Editing Mode
    110
- Status Display
  111
  - Save the Setting Display
    111
  - Display the Decimal Point
    111
  - Alarm Messages
    112
  - Monitoring Display
    112
  - Positive and Negative Sign Setting
    112
  - The Following Table Shows the Panel Display of 16-Bit and 32-Bit Value
    115
- General Functions
  116
  - Operation of Fault Record Display
    116
  - Force DO on
    117
  - Digital Input Diagnosis Operation
    118
  - Digital Output Diagnosis Operation
    118
  - Testing Without Load
    119
  - Apply Power to A3 Servo Drive
    120
    
    When the Screen Displays
    121
    
    Overvoltage Warning
    121
    
    Encoder Error Warning
    121
    
    Emergency Stop Warning
    122
    
    Negative Limit Error Warning
    122
    
    Positive Limit Error Warning
    123
    
    Corrective Action
    123
  - JOG Trial Run Without Load
    124
  - The Following Shows the JOG Timing Diagram
    125
  - Trial Run Without Load (Speed Mode)
    126
  - Trial Run Without Load (Position Mode)
    128
Tuning

130
- Tuning Procedure and the Applied Mode
  131
  - Flow Chart for the Tuning Procedure
    131
  - Tuning Modes
    132
- Quick Mode
  133
- Auto Tuning
  133
  - Flow Chart for Auto Tuning
    134
  - Auto Tuning through the Drive Panel
    135
  - Auto Tuning with ASDA-Soft (Software)
    136
    
    Auto-Tuning with Host Controller
    137
    
    Click Controller
    138
    
    Click Drive
    140
    
    Auto-Tuning with Servo Drive
    140
  - Alarms Related to Auto Tuning
    143
- Tuning Mode
  144
  - Flow Chart of Tuning Mode
    144
  - Tuning Mode 1
    145
  - Tuning Mode 2
    145
  - Tuning Mode 3
    146
  - Adjust the Bandwidth Level
    147
  - Setting the Frequency Response Bandwidth (Stiffness)
    147
  - Gain Response
    148
  - Adjust the Gain Response
    148
- Tuning in Manual Mode
  149
  - Position Control Gain
    149
  - Speed Control Gain
    149
  - Speed Integral Compensation
    149
  - Low-Pass Filter for Resonance Suppression
    150
  - Anti-Interference Gain
    150
  - Position Feed Forward Gain
    150
- Mechanical Resonance Suppression
  151
Operation Mode

152
- Selecting the Operation Mode
  154
- Position Mode
  155
  - Position Command in PT Mode
    155
  - Position Command in PR Mode
    156
  - Control Structure of Position Mode
    156
  - The Pulse Command Input Inhibit Function
    157
  - S-Curve Filter (Position)
    158
  - Electronic Gear Ratio (E-Gear Ratio)
    159
  - Low-Pass Filter
    160
  - Timing Diagram of PR Mode
    160
  - Gain Adjustment for the Position Loop
    161
    
    Auto Adjustment
    161
    
    Manual Adjustment
    161
  - Low-Frequency Vibration Suppression in Position Mode
    163
    
    Auto Function
    163
    
    Manual Setting
    164
- Speed Mode
  165
  - Selecting the Speed Command Source
    165
  - Control Structure of Speed Mode
    166
  - Smooth Speed Command
    167
    
    S-Curve and Time Setting
    167
    
    Analog Speed Command Filter
    168
    
    Low-Pass Filter for Commands
    168
  - Scaling of the Analog Command
    169
  - Timing Diagram for Speed Mode
    170
  - Gain Adjustment of the Speed Loop
    171
    
    Manual Mode
    171
    
    Frequency Domain
    172
  - Resonance Suppression Unit
    173
    
    Speed Control Unit
    173
    
    System Open-Loop Gain with Resonance
    174
    
    Notch Filter
    174
- Torque Mode
  176
  - Selecting the Torque Command Source
    176
  - Control Structure of Torque Mode
    177
  - Smooth Torque Command
    178
  - Scaling of the Analog Command
    178
  - Timing Diagram in Torque Mode
    179
- Dual Mode
  180
  - Speed / Position Dual Mode
    181
  - Speed / Torque Dual Mode
    182
  - Torque / Position Dual Mode
    183
  - Applying the Speed Limit
    184
  - Command Source Selection of Speed Limit
    184
- Others
  184
  - Applying the Torque Limit
    185
  - Analog Monitoring
    185
    
    Command Source Selection of Torque / Speed Limit
    185
    
    Voltage Drift
    186
    
    Motion Control
    188
Description of Motion Control

189
- PR Mode Description
  189
  - Setting Parameters for each PR Path
    189
  - Example of PR#1 Property and Data Content
    190
  - PR Mode Interface in ASDA-Soft
    190
  - PR Diagram Display in ASDA-Soft
    191
  - Shared PR Parameters
    191
    
    ASDA-Soft Interface for Shared PR Parameter Data
    192
    
    Shared Parameter Data for PR Paths
    192
  - Monitoring Variables of PR Mode
    193
    
    Timing Diagram for PR Mode Monitoring Variables
    193
    
    Monitoring Variables Status When Executing a Command in PR Mode
    194
    
    Operation of DI/DO Signals in PR Mode
    194
    
    Homing Methods
    195
  - Motion Control Commands
    195
    
    Origin Definition
    197
    
    Homing Screen in ASDA-Soft
    199
    
    Homing Mode and Monitoring Variables
    206
    
    Speed Command
    206
    
    Parameters for PR Mode Speed Control
    207
    
    PR Mode Speed Screen in ASDA-Soft
    207
    
    Bit Function of PR Speed Control
    208
    
    Position Command
    208
    
    Parameters for PR Mode Position Setting
    209
    
    PR Mode Position Interface of ASDA-Soft
    209
    
    Bit Functions of Parameters of PR Mode Position Control
    211
    
    Four Types of Position Command
    211
    
    Jump Command in PR Mode
    212
    
    Using PR Mode Jump Command in ASDA-Soft
    212
    
    Bit Function of PR Jump Command
    213
    
    Write Command
    213
    
    Bit Function for PR Write Command
    214
    
    Using PR Write Command in ASDA-Soft
    214
    
    Index Position Command
    215
    
    PR Mode Indexing Coordinates
    216
    
    Indexing Coordinates Setting Wizard in PR Mode
    217
    
    PR Mode Index Position Screen in ASDA-Soft
    217
    
    Bit Function for the Index Position Command
    218
    
    Motor‟S Operation Direction and Indexing Coordinates
    218
    
    Arithmetic Operations
    219
    
    PR Arithmetic Operations Screen in ASDA-Soft
    219
    
    Description of each Field in the Operation Section
    220
    
    Field Description for the Procedure Setting Section
    220
    
    Statements Tab in ASDA-Soft
    221
  - Overview of the PR Procedure
    222
    
    PR Display
    222
    
    Homing Methods Display
    223
    
    Position Command Display
    224
    
    Speed Command Display
    224
    
    Jump Command
    225
    
    Write Command Display
    226
    
    Indexing Position Command Display
    227
    
    Arithmetic Operation
    228
    
    Digital Input (DI) Triggering
    229
    
    I/O Screen in ASDA-Soft
    229
  - Trigger Methods for the PR Command
    229
    
    Use DI to Select the PR Path to be Triggered
    230
    
    Event Triggering
    231
    
    Example of Event Triggering Timing Diagram
    231
    
    Event On/Off Screen in ASDA-Soft
    232
    
    PR Command Trigger Register (P5.007)
    232
    
    Special Trigger Method
    232
    
    PR Execution Flow in the ASDA-A3
    233
  - PR Procedure Execution Flow
    233
    
    Trigger Mechanism
    233
    
    Motion Command Generator
    234
    
    PR Executor
    234
    
    PR Queue
    234
    
    Sequence Command
    234
    
    Position Command Followed by a Position Command
    235
    
    Sequence Position Command
    235
    
    Speed Command Followed by a Speed Command
    236
    
    Speed Sequence Command
    236
    
    Multiple Commands
    237
    
    Sequence Command – Multiple Commands
    237
    
    Command Interruption
    238
    
    Internal and External Interruption
    238
    
    Internal Interruption
    238
    
    Internal Interruption - Position Command
    239
    
    Relative and Incremental Position Command for Internal Interruption
    239
    
    Internal Interruption – Speed Command
    240
    
    Internal Interruption – Multiple Commands
    241
    
    Multiple Interrupt Commands
    241
    
    External Interruption
    242
    
    Overlap Command
    243
    
    Multiple Commands with Arithmetic Operations
    245
    
    Writing Trigger Command in Statement Section
    245
- Application of Motion Control
  246
Parameter

259
- Parameter Definitions
  259
  - Control Mode Description
    259
  - Special Symbol Description
    259
- List of Parameters
  260
- Parameter Descriptions
  270
  - P0.XXX Monitoring Parameters
    270
  - P1.XXX Basic Parameters
    285
  - P2.XXX Extension Parameters
    318
  - P3.XXX Communication Parameters
    353
  - P4.XXX Diagnosis Parameters
    359
  - P5.XXX Motion Control Parameters
    366
  - P6.XXX PR Parameters
    407
  - P7.XXX PR Parameters
    431
    
    Digital Input (DI) Descriptions
    451
    
    Digital Output (DO) Descriptions
    458
    
    Monitoring Variables Descriptions
    463
MODBUS Communication

468
Absolute System

484
- Note
  485
- Battery Box (Absolute Type) and Wiring
  486
  - Battery Specifications
    486
  - Precautions
    486
  - Battery Box Dimensions
    487
  - Connection Cable for the Absolute Encoder
    488
    
    Quick Connector
    488
    
    Military Connector
    489
  - Battery Box Cable
    490
  - Installation
    491
    
    Double Battery Box
    492
    
    Installing and Replacing a Battery
    493
    
    P2.070 Setting
    496
  - Installing the Battery Box in the Servo System
    491
  - Single Battery Box
    491
  - System Initialization and Operating Procedures
    496
    
    Pulse Number
    497
    
    Absolute Position for PUU Number
    497
    
    PUU Number
    498
    
    Initializing the Absolute Coordinates with DI/DO
    499
    
    Timing Diagram for Initializing Absolute Coordinate System with DI/DO
    499
    
    Reading the Absolute Position with DI/DO
    500
    
    Timing Diagram - Use DI/DO to Read the Absolute Position
    501
    
    Reading the Absolute Position with Communication
    503
  - List of Absolute Parameters, DI/DO, and Alarms
    504
    
    Relevant DI/DO
    504
    
    Relevant Parameters
    504
    
    Relevant Alarms
    505
Troubleshooting

506
- Alarm List
  508
  - General Type
    508
  - STO Type
    510
  - Communication Type
    510
  - Motion Control Type
    511
  - Causes and Corrective Actions
    512
    
    General Type
    512
    
    STO Type
    537
    
    Communication Type
    538
    
    Motion Control Type
    544
Appendix

550
- Specification of the ASDA-A3 Servo Drive
  551
- ASDA-A3 Series Servo Drive
  551
  - Dimensions of the Servo Drive
    554
- ECM-A3 Series Servo Motor
  556
  - ECM-A3L Low Inertia Series Servo Motor
    558
  - ECM-A3H High Inertia Series Servo Motor
    560
  - Torque Features (T-N Curves)
    562
  - Overload Features
    564
    
    Definition of Overload Protection
    564
    
    Causes of Overloading
    564
    
    Graph of Load and Operating Time
    564
  - Dimensions of ECM-A3L/A3H Series Servo Motor
    566
  - Motor Frame Size: 80 MM and below
    566
- ECMC Series Servo Motor
  567
Accessories

579
- Power Connector
  579
- Power Cable
  580
  - Encoder Cable (Incremental Type)
    584
  - Encoder Cable (Absolute Type)
    585
- Battery Box Cable AW
  586
- Battery Box (Absolute Type)
  586
- I/O Signal Connector
  587
- Terminal Block Module
  588
- Canopen Communication Cable
  588
- Canopen Distribution Box
  589
- Ferrite Ring
  589
- A3 / A2 Conversion Cable
  590
- A3 CN3 RS-485 / Canopen Terminal Resistor
  591
- CN4 Mini USB Module
  592
- Optional Accessories
  593
  - Revision History
    598
  - Index
    600

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