Delta Electronics ASD-A0121-AB Manuals

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Delta Electronics ASD-A0121-AB User Manual (358 pages)

ASDA-AB Series Advanced AC Servo Drive for General Purpose Applocations

Brand: Delta Electronics | Category: DC Drives | Size: 9.65 MB

Installation
3
Unpacking Check
3
Main Circuit Wiring
4
Maintenance and Inspection
4
Operation
4
Wiring
4
Table of Contents
6
User Information
12
Chapter 1 Unpacking Check and Model Explanation

14
- Delta Standard Supplied Parts
  14
- Optional Parts
  14
- Unpacking Check
  14
- Model Explanation
  15
  - Nameplate Information
    15
    
    ASDA-AB Series Servo Drive
    15
    
    ASMT Series Servo Motor
    15
  - Model Name Explanation
    16
  - ECMA Series Servo Motor
    17
- Servo Drive and Servo Motor Combinations
  18
- Servo Drive Features
  19
- Control Modes of Servo Drive
  21
Chapter 2 Installation and Storage

22
- Installation Conditions
  23
- Operating Temperature
  23
- Installation Procedure and Minimum Clearances
  24
  - Drive Mounting
    24
  - Minimum Clearances
    24
  - Motor Mounting
    24
  - Side by Side Installation
    25
  - Connecting to Peripheral Devices
    26
  - V Servo Drive
    26
- Installation and Storage
  22
- Installation Notes
  22
- Storage Conditions
  22
Chapter 3 Connections and Wiring

26
Chapter 4 Display and Operation

68
- Display Flowchart
  69
- Keypad Operation
  69
- Status Display
  70
  - Save Setting Display
    70
  - Abort Setting Display
    70
  - Fault Message Display
    70
  - Monitor Setting Display
    71
- General Function Operation
  73
  - Fault Code Display Operation
    73
  - JOG Operation
    74
  - Position Learning Operation
    75
  - DO Force Output Diagnosis Operation
    76
  - DI Diagnosis Operation
    77
  - DO Diagnosis Operation
    77
- Inspection Without Load
  78
Chapter 5 Trial Run and Tuning Procedure

78
- Applying Power to the Drive
  80
  - Turn the Power on
    80
  - Over Voltage
    81
  - Encoder Error
    81
  - Emergency Stop Activated
    81
  - Reverse Limit Switch Error
    82
  - Forward Limit Switch Error
    82
  - Overcurrent
    83
  - Undervoltage
    83
- JOG Trial Run Without Load
  84
- Speed Trial Run Without Load
  86
- Position Trial Run Without Load
  88
- Tuning Procedure
  91
- Control Modes of Operation
  104
Chapter 6 Control Modes of Operation

104
- Position Control Mode
  105
- Speed Control Mode
  116
  - Command Source of Speed Control Mode
    116
  - Structure of Speed Control Mode
    117
  - Smoothing Strategy of Speed Control Mode
    118
  - S-Curve Filter
    118
  - Analog Speed Input Scaling
    121
  - Max. Analog Speed Command / Limit
    121
  - Timing Chart of Speed Control Mode
    122
  - Speed Loop Gain Adjustment
    122
    
    Tuning Mode Selection
    123
    
    Manual Mode
    123
    
    Proportional Speed Loop Gain
    124
    
    Speed Integral Compensation
    124
    
    Speed Feed Forward Gain
    124
    
    Frequency Domain
    125
    
    Time Domain
    126
    
    Auto Mode (Continuous Adjustment))
    127
  - Resonance Suppression
    127
    
    Notch Filter (Resonance Suppression)
    127
    
    Notch Filter Attenuation Rate
    128
    
    Low-Pass Filter Time Constant
    128
- Torque Control Mode
  131
- Others
  138
  - Speed Limit
    138
  - Torque Limit
    138
  - Command Source Selection of Speed Limit
    138
  - Regenerative Resistor
    139
    
    Built-In Regenerative Resistor
    139
    
    Built-In Regenerative Resistor Specifications
    139
    
    External Regenerative Resistor
    140
    
    Regenerative Power Calculation Method
    140
    
    Simple Calculation Method
    142
  - Analog Monitor
    143
    
    Analog Monitor Output
    143
    
    Pulse Output Polarity Setting
    144
    
    Analog Monitor Output Proportion 1 (CH1)
    144
    
    Analog Monitor Output Proportion 2 (CH2)
    144
    
    Analog Monitor Output Drift Adjustment (CH1)
    144
    
    Analog Monitor Output Drift Adjustment (CH2)
    145
  - Electromagnetic Brake
    146
    
    BRKR Output Timing Explanation
    146
    
    Electromagnetic Brake Wiring Diagram
    147
    
    Servo Parameters
    150
- Definition
  150
  - Abbreviation of Control Modes
    150
  - Explanation of Symbols (Marked after Parameter)
    150
Chapter 7 Parameters

150
- Monitor Parameters
  151
- Parameters List by Group
  151
- Parameters Summary
  151
- Basic Parameters
  152
- Extension Parameters
  154
- Diagnosis Parameters
  157
- Monitor and General Use
  158
- Parameters List by Function
  158
- Smooth Filter and Resonance Suppression
  159
- Gain and Switch
  160
- Position Control
  161
- Digital I/O
  165
- Communication
  166
- Detailed Parameter Listings
  169
  - Drive Fault Code
    169
  - Firmware Version
    169
  - Drive Status
    170
  - Status Monitor 1
    171
  - Block Data Read / Write Register 0
    173
  - Block Data Read / Write Register 1
    173
  - Servo Output Status Display
    175
  - Control Mode and Output Direction
    177
  - Speed and Torque Limit
    178
  - 1St Torque Command or Limit
    181
  - 3Rd Speed Command or Limit
    181
  - 1St Position Command for Rotation
    182
  - 2Nd Torque Command or Limit
    182
  - 1St Position Command for Pulse
    183
  - 2Nd Position Command for Pulse
    183
  - 2Nd Position Command for Rotation
    183
  - 3Rd Position Command for Pulse
    184
  - 4Th Position Command for Pulse
    184
  - 4Th Position Command for Rotation
    184
  - 5Th Position Command for Rotation
    184
  - 5Th Position Command for Pulse
    185
  - 6Th Position Command for Pulse
    185
  - 6Th Position Command for Rotation
    185
  - 7Th Position Command for Rotation
    185
  - 7Th Position Command for Pulse
    186
  - 8Th Position Command for Pulse
    186
  - 8Th Position Command for Rotation
    186
  - Motor Type Selection
    186
  - Motor Stop Mode Selection
    187
  - Position Control Mode (Pr)
    187
  - Acceleration Time
    188
  - Target Motor Speed
    190
  - Zero Speed Range Setting
    190
  - Max. Analog Speed Command or Limit
    191
  - Max. Analog Torque Command or Limit
    191
  - On Delay Time of Electromagnetic Brake
    191
  - OFF Delay Time of Electromagnetic Brake
    192
  - Encoder Output Pulse Number
    194
  - Homing Mode
    195
  - 1St Speed Setting of High Speed Homing
    196
  - 2Nd Speed Setting of Low Speed Homing
    196
  - Homing Offset Pulse Number
    196
  - Homing Offset Rotation Number
    196
  - Maximum Speed Limit
    197
  - Positioning Completed Width
    197
  - Regenerative Resistor Capacity
    197
  - Regenerative Resistor Value
    197
  - Output Overload Warning Level
    198
  - Position Loop Gain Switching Rate
    200
  - Smooth Constant of Position Feed Forward Gain
    201
  - Speed Loop Gain Switching Rate
    201
  - Digital Input Terminal 1 (DI1)
    204
  - Digital Input Terminal 2 (DI2)
    204
  - Digital Input Terminal 3 (DI3)
    204
  - Digital Input Terminal 4 (DI4)
    205
  - Digital Input Terminal 5 (DI5)
    205
  - Digital Input Terminal 6 (DI6)
    205
  - Digital Input Terminal 7 (DI7)
    205
  - Digital Output Terminal 1 (DO1)
    206
  - Digital Output Terminal 2 (DO2)
    206
  - Digital Output Terminal 3 (DO3)
    206
  - External Anti-Interference Gain
    208
  - Gain Switching Control Selection
    208
  - Auxiliary Function
    209
  - Gain Switching Condition
    209
  - Gain Switching Time Constant
    209
  - Easy Setting of Input Filter
    212
  - Excessive Error Warning Condition
    212
  - Overspeed Warning Condition
    212
  - Moving Speed Setting of 1St Position
    213
  - Moving Speed Setting of 2Nd Position
    213
  - Moving Speed Setting of 3Rd Position
    213
  - Moving Speed Setting of 4Th Position
    213
  - Moving Speed Setting of 5Th Position
    214
  - Moving Speed Setting of 6Th Position
    214
  - Combination Output Signal Delay Time
    215
  - Digital Output Mode Setting
    215
  - Feed Step Number
    215
  - Backlash Compensation of Feed Step Control
    216
  - Position Deviation Clear Delay Time
    216
  - Enable/Disable Jitter Suppression Function
    217
  - Speed Detection Filter and Jitter Suppression
    217
  - Speed Detection Filter Constant
    217
  - Pulse Deviation Clear Mode
    218
  - Servo on
    219
  - Timer 0 of Auto Mode
    219
  - Timer 1 of Auto Mode
    219
  - Timer 2 of Auto Mode
    219
  - Electronic Gear Ratio (3Rd Numerator) (N3)
    221
  - Electronic Gear Ratio (4Th Numerator) (N4)
    221
  - Proportion Value Setting
    222
  - Torque Limit Mixed Mode
    223
  - Bit2: Fast DI Contact Type
    224
  - Bit3 ~ Bit4: Fast DI Function Definition
    224
  - Special Function
    224
  - Bit10: DI ZCLAMP Function Selection
    225
  - Bit6: Abnormal Pulse Command Detection
    225
  - Communication Address Setting
    226
  - Transmission Speed
    226
  - Communication Protocol
    227
  - Transmission Fault Treatment
    227
  - Communication Selection
    228
  - Communication Time out Detection
    228
  - Communication Response Delay Time
    229
  - Digital Input Communication Function
    229
  - Fault Record (N)
    230
  - Fault Record (N-1)
    230
  - Digital Keypad Input of Servo Drive
    232
  - Force Output Control
    232
  - Input Status or Force Input Control
    232
  - Adjustment Function
    233
  - Analog Speed Input Drift Adjustment 1
    233
  - Output Status Display
    233
  - Analog Speed Input Drift Adjustment 2
    234
  - Analog Torque Drift Adjustment 1
    234
  - Current Detector Drift Adjustment (V1 Phase)
    234
  - Current Detector Drift Adjustment (V2 Phase)
    235
  - Current Detector Drift Adjustment (W1 Phase)
    235
  - Current Detector Drift Adjustment (W2 Phase)
    235
  - IGBT NTC Calibration
    235
  - Input Function Definition
    238
  - Cable Connection
    244
- Communication Hardware Interface
  244
Chapter 8 MODBUS Communications

244
- Communication Parameter Settings
  248
- MODBUS Communication Protocol
  252
  - Code Description
    252
  - ASCII Mode
    252
  - Data Format
    252
  - 11-Bit Character Frame (for 8-Bit Character)
    253
  - RTU Mode
    253
  - CRC (RTU Mode)
    257
- Communication Parameter Write-In and Read-Out
  260
- Basic Inspection
  262
Chapter 9 Maintenance and Inspection

262
- Life of Replacement Components
  263
  - Smooth Capacitor
    263
  - Relay
    263
- Maintenance
  263
- Cooling Fan
  264
- Fault Messages Table
  266
- Servo Drive Fault Messages
  266
Chapter 10 Troubleshooting

266
- Potential Cause and Corrective Actions
  268
  - Overvoltage
    268
  - Regeneration Error
    269
  - Overload
    269
  - Overspeed
    269
  - Abnormal Pulse Control Command
    269
  - Watch Dog Execution Time out
    270
  - Adjustment Error
    270
  - Reverse (CWL) Limit Switch Error
    270
  - IGBT Temperature Error
    271
  - Memory Error
    271
  - DSP Communication Error
    271
  - Serial Communication Error
    271
  - Command Write-In Error
    272
  - Input Power Phase Loss
    272
  - Pre-Overload Warning
    272
  - Internal Command Execution Time out
    272
- Clearing Faults
  273
Chapter 11 Specifications

276
- Specifications of Servo Drive (ASDA-AB Series)
  276
- Low Inertia Servo Motor
  279
- Specifications of Servo Motor (ECMA Series)
  279
- Medium / High Inertia Servo Motor
  280
- Servo Motor Speed-Torque Curves
  282
- Overload Characteristics
  283
  - Overload Protection Function
    283
  - Occasion of Overload
    283
  - Chart of Load and Operating Time
    283
- Dimensions of Servo Drive
  291
- Dimensions of Servo Motor
  295
- Parameters Setting
  298
Chapter 12 Application Examples

298
- Position Control (Including Homing Function)
  298
- Roller Feeding
  300
- Connecting to Delta DVP-EH Series PLC
  301
- Connecting to Delta TP04 Series
  306
- Position Control Mode (Pr Mode)
  308
  - Trigger Timing Charts
    309
  - Timing Chart of Internal Position Register Selection
    309
  - HOLD Timing Chart
    309
  - Command Abort Timing Chart
    310
- Feed Step Control
  311
  - Relevant Parameters Description
    311
  - Digital I/O Signal Setting
    312
  - Mode Functions
    313
  - Timing Charts of DI/DO Signals Operation
    316
  - Feed Step Control Mode
    317
  - Manually Single Step Control Mode 1
    318
  - Manually Single Step Control Mode 2
    319
  - Manually Continuous Step Control Mode
    320
  - Communication Control Example Explanation
    321
  - Internal Auto Running Mode
    322
  - Definitions of DO Signals (ON:1, OFF:0)
    324
- Homing Function
  327
  - A: Home Sensor Type and Homing Direction
    327
  - Homing Moving Method
    328
  - Homing Enable Setting
    328
  - Homing Stop Setting
    329
  - Recommended Homing Modes
    329
  - Homing Timing Charts
    329
  - Timing Charts of Enable Homing Mode
    329
- External Controller Connection Examples
  334
  - Connecting to Delta DVP-EH PLC
    334
  - Connecting to Delta DVP-01PU
    335
  - Connecting to Mitsubishi FX1PG
    336
  - Connecting to Mitsubishi FX2N1PG
    337
  - Connecting to Mitsubishi AD75
    338
  - Power Connectors
    340
Appendix A Accessories

340
Appendix B Molded-Case Circuit Breaker, Fuse Current and EMI Filters

354
- Circuit Breaker and Fuse Current Values
  354
- Dimensions
  357

Delta Electronics ASD-A0121-AB User Manual (343 pages)

Advanced AC Servo Drive for General Purpose Applications

Brand: Delta Electronics | Category: Servo Drives | Size: 14.13 MB

Table of Contents
6
Chapter 1 Unpacking Check and Model Explanation

14
- Unpacking Check
  14
- Model Explanation
  15
- Nameplate Information
  15
- Model Name Explanation
  16
- Servo Drive and Servo Motor Combinations
  18
- Servo Drive Features
  19
- Control Modes of Servo Drive
  21
Chapter 2 Installation and Storage

22
Chapter 3 Connections and Wiring

36
Chapter 4 Display and Operation

82
- Description of Digital Keypad
  82
- Display Flowchart
  83
- Status Display
  84
- Save Setting Display
  84
- Abort Setting Display
  84
- Fault Message Display
  84
- Polarity Setting Display
  84
- Monitor Setting Display
  85
- General Function Operation
  87
- Fault Code Display Operation
  87
- JOG Operation
  88
- Position Learning Operation
  89
- DO Force Output Diagnosis Operation
  90
- DI Diagnosis Operation
  91
- DO Diagnosis Operation
  91
Chapter 5 Trial Run and Tuning Procedure

92
- Inspection Without Load
  92
- Applying Power to the Drive
  94
- JOG Trial Run Without Load
  98
- Speed Trial Run Without Load
  100
- Position Trial Run Without Load
  102
- Tuning Procedure
  105
- Tuning Flowchart
  106
- Load Inertia Estimation Flowchart
  107
- Automode (PI) Tuning Flowchart
  108
- Automode (PDFF) Tuning Flowchart
  110
- Manual Mode Tuning Flowchart
  112
- Limit of Load Inertia Estimation
  113
- Relationship between Tuning Modes and Parameters
  114
- Gain Adjustment in Manual Mode
  114
Chapter 6 Control Modes of Operation

118
- Control Modes of Operation
  118
- Position Control Mode
  119
- Command Source of Position (Pt) Control Mode
  119
- Command Source of Position (Pr) Control Mode
  120
- Structure of Position Control Mode
  121
- P-Curve Filter for Position Control
  122
- Electronic Gear Ratio
  125
- Low-Pass Filter
  126
- Timing Chart of Position (Pr) Control Mode
  127
- Position Loop Gain Adjustment
  127
- Speed Control Mode
  130
- Command Source of Speed Control Mode
  130
- Structure of Speed Control Mode
  131
- Smoothing Strategy of Speed Control Mode
  132
- Analog Speed Input Scaling
  135
- Timing Chart of Speed Control Mode
  136
- Speed Loop Gain Adjustment
  136
- Resonance Suppression
  141
- Torque Control Mode
  145
- Command Source of Torque Control Mode
  145
- Structure of Torque Control Mode
  146
- Smoothing Strategy of Torque Control Mode
  146
- Analog Torque Input Scaling
  147
- Timing Chart of Torque Control Mode
  148
- Control Mode Selection
  149
- Speed / Position Control Mode Selection
  149
- Speed / Torque Control Mode Selection
  150
- Torque / Position Control Mode Selection
  150
- Others
  152
- Speed Limit
  152
- Torque Limit
  152
- Analog Monitor
  153
- Electromagnetic Brake
  156
Chapter 7 Servo Parameters

160
- Definition
  160
- List of Parameters
  161
- Parameter Description
  168
- Specifications of Servo Motor (ECMA Series)
  271
- Servo Motor Speed-Torque Curves
  275
- Overload Characteristics
  276
- Dimensions of Servo Drive
  278
- Dimensions of Servo Motor
  282
Chapter 11 Application Examples

286
- Position Control (Including Homing Function)
  286
- Roller Feeding
  288
- Connecting to Delta DVP-EH Series PLC
  289
- Connecting to Delta TP04 Series
  294
- Position Control Mode (Pr Mode)
  296
- Feed Step Control
  299
- Homing Function
  315
- External Controller Connection Examples
  322
Appendix A Accessories

328
Appendix B Maintenance and Inspection

342

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Delta Electronics ASD-A0121-AB Manuals

Delta Electronics ASD-A0121-AB User Manual (358 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 Parameters

Chapter 8 MODBUS Communications

Chapter 9 Maintenance and Inspection

Chapter 10 Troubleshooting

Chapter 11 Specifications

Chapter 12 Application Examples

Appendix A Accessories

Appendix B Molded-Case Circuit Breaker, Fuse Current and EMI Filters