Delta ECM-A3 Series Manuals

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

Delta ECM-A3 Series User Manual (845 pages)

Brand: Delta | Category: Servo Drives | Size: 29.85 MB

Table of Contents
6
Components of the Servo Set
17
Model Overview
18
Nameplate Information
18
Model Explanation
20
ASDA-A3 Servo Drive and Motor
24
Description of the Drive Interface
25
A3-L Models
25
A3-M Models
26
A3-F Models
27
Installation
28
Ambient Storage Conditions
29
Ambient Installation Conditions
30
Mounting Direction and Space
31
Safety Precautions for Using Motors
33
Troubleshooting for the Motor Operation and Status
35
Mounting Directions and Precautions for the Servo Motor
36
Precautions for Using Oil Seal Servo Motors
37
Precautions for Using Couplings
37
Oil and Water Prevention Measures for the Servo Motor
38
Measures to Suppress Temperature Increase of the Servo Motor
39
Specifications for the Circuit Breaker and Fuse
40
Ferrite Ring
40
Installation Requirements for EMC
42
EMI Filters
43
Selecting the Regenerative Resistor
45
The Use of Braking
50
System Connection
54
Connecting to Peripheral Devices
54
Connectors and Terminal Blocks
56
Wiring for Power Supply
58
UVW Connectors for the ASDA-A3 Servo Drive
61
Specification for the Encoder Connector
63
Wire Selection
68
Wiring Diagram for the Servo System
71
Wiring for CN1 (I/O Signal)
73
CN1 I/O Connector (for A3-L and A3-M Series)
73
Signal Explanation for Connector CN1 (for A3-L and A3-M Series)
75
CN1 I/O Connector (for A3-F Series)
78
Signal Explanation for Connector CN1 (for A3-F Series)
79
Wiring Diagrams (CN1)
81
Application: Using the CN1 Quick Connector for Wiring
88
Wiring for the CN2 Encoder Connector
93
Wiring for the CN3 Connector (RS-485 / High Speed Communication)
96
CN4 Serial Connector (Mini USB)
98
CN5 Connector (for Machine Position Feedback, Applicable to Full-Closed Loop)
99
CN5 Connector
99
Full-Closed Loop)
99
CN6 Connector
100
DMCNET Communication Connector for Wiring
100
CN10 STO Connector (Safe Torque off )
102
STO Function (Safe Torque Off)
103
Introduction to STO
103
The Potential Danger of STO
103
Specifications of STO
104
How Does the STO Function Work
105
Activation Status
105
Deactivation Status
107
Wiring for STO
108
Not Using the STO Function
108
Single Drive Module
108
Multiple Drive Modules
109
Standard Wiring Example
110
Position (PT) Control Mode
110
Position (PR) Control Mode
111
Speed Control Mode
112
Torque Control Mode
113
Communication Mode (Canopen)
114
Communication Mode (DMCNET)
115
Panel Description
117
Parameter Setting Procedure
118
Status Display
121
Save the Setting Display
121
Display the Decimal Point
121
Alarm Messages
122
Positive and Negative Sign Setting
122
Monitoring Display
122
General Functions
125
Operation of Fault Record Display
125
Force DO on
126
Digital Input Diagnosis Operation
127
Digital Output Diagnosis Operation
127
Testing
128
Testing Without Load
128
Apply Power to A3 Servo Drive
129
JOG Trial Run Without Load
134
Trial Run Without Load (Speed Mode)
136
Trial Run Without Load (Position Mode)
138
Tuning
140
Tuning Procedure and the Applied Mode
141
Flowchart of the Tuning Procedure
141
Tuning Modes
142
Auto Tuning
143
Flowchart of Auto Tuning
144
Auto Tuning through the Drive Panel
145
Auto Tuning with ASDA-Soft (Software)
146
Alarms Related to Auto Tuning
153
Tuning Mode
154
Flowchart of Gain Adjustment Mode
154
Gain Adjustment Mode 1
155
Gain Adjustment Mode 2
155
Gain Adjustment Mode 3
156
Setting the Bandwidth Response Level (Stiffness)
157
Tuning in Manual Mode
159
Mechanical Resonance Suppression
161
Operation Mode
162
Selecting the Operation Mode
164
Position Mode
166
Position Command in PT Mode
166
Position Command in PR Mode
166
Control Structure of Position Mode
167
S-Curve Filter (Position)
168
Electronic Gear Ratio (E-Gear Ratio)
170
Low-Pass Filter
171
Timing Diagram of PR Mode
171
Gain Adjustment of the Position Loop
172
Low-Frequency Vibration Suppression in Position Mode
174
Speed Mode
176
Selecting the Speed Command Source
176
Control Structure of Speed Mode
177
Smooth Speed Command
178
Scaling of the Analog Command
180
Timing Diagram of Speed Mode
181
Gain Adjustment of the Speed Loop
182
Resonance Suppression Unit
184
Torque Mode
187
Selecting the Torque Command Source
187
Control Structure of Torque Mode
188
Smooth Torque Command
189
Scaling of the Analog Command
189
Timing Diagram of Torque Mode
190
Dual Mode
191
Speed / Position Dual Mode
192
Speed / Torque Dual Mode
193
Torque / Position Dual Mode
194
Others
195
Applying the Speed Limit
195
Applying the Torque Limit
195
Analog Monitoring
196
PR Mode Description
200
Shared PR Parameters
202
Monitoring Variables of PR Mode
204
Motion Control Commands
207
Homing Methods
207
Speed Command
220
Position Command
222
Jump Command
225
Write Command
227
Index Position Command
229
Arithmetic Operation (Statement)
233
Overview of the PR Procedure
236
Trigger Methods for the PR Command
243
PR Procedure Execution Flow
247
Application of Motion Control
263
Data Array
263
High-Speed Position Capture Function (Capture)
267
High-Speed Position Compare Function (Compare)
271
E-Cam
275
Source Signal for the Master Axis
276
Clutch Engagement and Disengagement
280
E-Cam Gears and Curve Scaling
288
E-Cam Curve
291
E-Cam Curve and PR Command Overlapping
299
Troubleshooting for E-Cam
301
Rotary Shear
303
Flying Shear
331
Macro
344
Auxiliary Function
354
Horizontal Packing Machine Applications
356
Parameter Definitions
375
List of Parameters
376
Parameter Descriptions
385
P0.XXX Monitoring Parameters
385
P1.XXX Basic Parameters
400
P2.XXX Extension Parameters
440
P3.XXX Communication Parameters
475
P4.XXX Diagnosis Parameters
481
P5.XXX Motion Control Parameters
488
P6.XXX PR Parameters
528
P7.XXX PR Parameters
552
Pm.XXX Motor Parameters
572
MODBUS Communication
606
Communication Interface (Hardware)
607
Communication Parameter Settings
608
MODBUS Communication Protocol
609
Setting and Accessing Communication Parameters
620
Communication Specification
621
Absolute System
624
Battery Box (Absolute Type) and Wiring
626
Specifications
626
Battery Box Dimensions
627
Connection Cable for the Absolute Encoder
628
Battery Box Cable
630
Installation
631
Installing the Battery Box in the Servo System
631
Installing and Replacing a Battery
633
System Initialization and Operating Procedures
636
System Initialization
636
Pulse Number
637
PUU Number
638
Establish the Absolute Origin Coordinates
639
Establishing the Absolute Origin Coordinates with DI/DO
639
Establishing the Absolute Origin Coordinates with Parameters
640
Establishing the Absolute Origin Coordinates with the PR Homing Function
640
Read the Absolute Position
640
Reading the Absolute Position with DI/DO
640
Reading the Absolute Position with Communication
643
List of Absolute Parameters, DI/DO, and Alarms
644
Linear Motor
646
Linear Motor Overview
647
Linear Motor Software Operation
648
Motor Parameter Identification
649
Linear Motor Direction Setting
655
Linear Encoder
656
Hall Sensor
657
Hall Sensor Phase Sequence Checking
658
Position Signal Converter Box
658
Parameter Setting
659
Total Weight (Mover + Load)
659
E-Gear Ratio
659
Limit Setting
659
Initial Magnetic Field Current Detection
660
Overload Gain
660
Canopen Mode
662
Basic Configuration
663
Supported Functions
663
Hardware Configuration
664
Parameter Settings of Canopen Mode
665
Communication Specification
666
Servo Communication Architecture
666
Communication Objects
667
Process Data Object (PDO)
668
SDO Abort Codes
672
Synchronization Object (SYNC)
673
Emergency Object (EMCY)
674
NMT Services
675
Canopen Operation Mode
678
Profile Position Mode
678
Interpolation Position Mode
682
Homing Mode
685
Profile Velocity Mode
687
Profile Torque Mode
689
Object Dictionary
691
Specifications for Objects
691
List of Objects
692
Details of Objects
694
OD 1Xxxh Communication Object Group
694
OD 2Xxxh Servo Parameter Group
709
OD 6Xxxh Communication Object Group
710
Diagnostics and Troubleshooting
745
Troubleshooting
746
Alarm List
748
General Type
748
STO Type
750
Communication Type
750
Motion Control Type
751
Causes and Corrective Actions
752
Specifications
794
ASDA-A3 Series Servo Drive
795
Specification of the ASDA-A3 Servo Drive
795
Dimensions of the Servo Drive
798
ECM-A3 Series Servo Motor
800
ECM-A3L Low Inertia Series Servo Motor
802
ECM-A3H High Inertia Series Servo Motor
804
Torque Features (T-N Curves
806
Overload Features
808
Dimensions of ECM-A3L/A3H Series Servo Motor
809
ECMC Series Servo Motor
810
Torque Features (T-N Curves
813
Overload Features
815
Dimensions of ECMC Series Servo Motor
817
Power Connector
821
Power Cable
822
Encoder Connector
825
Encoder Cable (Incremental Type
826
Encoder Cable (Absolute Type
827
Battery Box Cable AW
828
Battery Box (Absolute Type
828
I/O Connector
829
Terminal Block Module
830
Canopen Communication Cable
830
Canopen Distribution Box
831
Ferrite Ring
831
A3 / A2 Conversion Cable
832
A3 Cn3
833
A3 CN3 RS-485 / Canopen Terminal Resistor
833
A3 CN6 DMCNET Terminal Resistor
834
CN4 Mini USB Module
835
Optional Accessories
836

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Delta ECM-A3 Series User Manual (845 pages)

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