ASDA-B User Manual

ASDA-B User Manual
Preface
Thank you very much for purchasing DELTA’s AC servo products.
This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and
motor. Before using the product, please read this user manual to ensure correct use.
You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before
proceeding with the installation, wiring and operation. If you do not understand please contact your local
Delta sales representative. Place this user manual in a safe location for future reference.
Using This Manual
„ Contents of this manual
This manual is a user guide that provides the information on how to install, operate and maintain
ASDA-B series AC servo drives and ECMA series AC servo motors. The contents of this manual
are including the following topics:
z
Installation of AC servo drives and motors
z
Configuration and wiring
z
Trial run steps
z
Control functions and adjusting methods of AC servo drives
z
Parameter settings
z
Communication protocol
z
Inspection and maintenance
z
Troubleshooting
z
Application examples
„ Who should use this manual
This user manual is intended for the following users:
z
Those who are responsible for designing.
z
Those who are responsible for installing or wiring.
z
Those who are responsible for operating or programming.
z
Those who are responsible for maintaining or troubleshooting.
„ Important precautions
Before using the product, please read this user manual thoroughly to ensure correct use and store
this manual in a safe and handy place for quick reference whenever necessary. Besides, please
observe the following precautions:
z
Do not use the product in a potentially explosive environment.
z
Install the product in a clean and dry location free from corrosive and inflammable gases or
liquids.
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Preface|ASDA-B Series
z
Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to
observe this precaution will damage either the Servo motor or drive.
z
Ensure that the motor and drive are correctly connected to a ground. The grounding method
must comply with the electrical standard of the country (Please refer to NFPA 70: National
Electrical Code, 2005 Ed.).
z
Do not disconnect the AC servo drive and motor while the power is ON.
z
Do not attach, modify and remove wiring when power is applied to the AC servo drive and
motor.
z
Before starting the operation with a mechanical system connected, make sure the
emergency stop equipment can be energized and work at any time.
z
Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may result
in serious personnel injury.
PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.
ASDA-B series drives are open type servo drives and must be installed in an NEMA enclosure such as a
protection control panel during operation to comply with the requirements of the international safety
standards. They are provided with precise feedback control and high-speed calculation function
incorporating DSP (Digital Signal Processor) technology, and intended to drive three-phase permanent
magnet synchronous motors (PMSM) to achieve precise positioning by means of accurate current output
generated by IGBT (Insulated Gate Bipolar Transistor).
ASDA-B series drives can be used in industrial applications and for installation in an end-use enclosure that
do not exceed the specifications defined in the ASDA-B series user manual (Drives, cables and motors are
for use in a suitable enclosure with a minimum of a UL50 type 1 or NEMA 250 Type 1 rating).
Carefully notice and observe the following safety precautions when receiving, inspecting, installing, operating,
maintaining and troubleshooting. The following words, DANGER, WARNING and STOP are used to mark
safety precautions when using the Delta’s servo product. Failure to observe these precautions may void the
warranty!
The words, DANGER, WARNING and STOP, have the following meaning:
Indicates a potentially hazardous situation and if not avoided, may result in serious injury or
death.
Indicates a potentially hazardous situation and if not avoided, may result in minor to moderate
injury or serious damage to the product.
Indicates an improper action that it is not recommended to do and if doing it may cause
damage, malfunction and inability.
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Preface|ASDA-B Series
Unpacking Check
¾ Please ensure that both the servo drive and motor are correctly matched for size (power rating). Failure to
observe this precaution may cause fire, seriously damage the drive / motor or cause personal injury.
Installation
¾ Do not install the product in a location that is outside the stated specification for the drive and motor. Failure to
observe this caution may result in electric shock, fire, or personal injury.
Wiring
¾ Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100Ω). Improper
grounding may result in electric shock or fire.
¾ Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in
serious injury, damage to the drive or fire.
¾ Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive and motor.
Failure to observe this caution may result in damage, fire or personal injury.
Operation
¾ Before starting the operation with a mechanical system connected, change the drive parameters to match the userdefined parameters of the mechanical system. Starting the operation without matching the correct parameters may
result in servo drive or motor damage, or damage to the mechanical system.
¾ Ensure that the emergency stop equipment or device is connected and working correctly before operating the
motor that is connected to a mechanical system.
¾ Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. Failure to observe this
precaution may cause serious personal injury.
¾ In order to prevent accidents, the initial trial run for servo motor should be conducted under no load conditions
(separate the motor from its couplings and belts).
¾ For the initial trial run, do not operate the servo motor while it is connected to its mechanical system. Connecting
the motor to its mechanical system may cause damage or result in personal injury during the trail run. Connect the
servo motor once it has successfully completed a trail run.
¾ Caution: Please perform trial run without load first and then perform trial run with load connected. After the
servo motor is running normally and regularly without load, then run servo motor with load connected. Ensure to
perform trial run in this order to prevent unnecessary danger.
¾ Do not touch either the drive heat sink or the motor during operation as they may become hot and personal injury
may result.
Maintenance and Inspection
¾ Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result.
¾ Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical
shock may result.
¾ Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or
performing any wiring and/or inspection as an electrical charge may still remain in the servo drive and servo
motor with hazardous voltages even after power has been removed.
¾ Do not disassemble the servo drive or motor as electric shock may result.
¾ Do not connect or disconnect wires or connectors while power is applied to the drive and motor.
¾ Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.
Main Circuit Wiring
¾ Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise. Separate the
conduits by 30cm (11.8inches) above.
¾ Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder (PG) feedback cables.
The maximum length of command input cable is 3m (9.84ft.) and the maximum length of encoder (PG) feedback
cables is 20m (65.62ft.).
¾ As a charge may still remain in the drive with hazardous voltages even after power has been removed, be sure to
wait at least 10 minutes after power has been removed before performing any wiring and/or inspection.
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Preface|ASDA-B Series
¾ It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more than once
per minute as high charging currents within the internal capacitors may cause damage.
Main Circuit Terminal Wiring
¾
¾
¾
¾
Insert only one wire into one terminal on the terminal block.
When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires.
Please use Y-type terminals to tighten the ends of wires.
Ensure to double check the wiring before applying power to the drive.
NOTE
iv
1) In this manual, actual measured values are in metric units. Dimensions in (imperial
units) are for reference only. Please use metric for precise measurements.
2) The content of this manual may be revised without prior notice. Please consult our
distributors or download the most updated version at
http://www.delta.com.tw/industrialautomation.
Revision June, 2009
Table of Contents
Chapter 1
Unpacking Check and Model Explanation............................................................. 1-1
1.1
Unpacking Check ........................................................................................................................ 1-1
1.2
Model Explanation ....................................................................................................................... 1-3
1.2.1
Nameplate Information ..................................................................................................... 1-3
1.2.2
Model Name Explanation ................................................................................................. 1-4
1.3
Servo Drive and Servo Motor Combinations............................................................................... 1-6
1.4
Servo Drive Features................................................................................................................... 1-7
1.5
Control Modes of Servo Drive ..................................................................................................... 1-8
Chapter 2
Installation and Storage......................................................................................... 2-1
2.1
Installation Notes ......................................................................................................................... 2-1
2.2
Storage Conditions ...................................................................................................................... 2-1
2.3
Installation Conditions ................................................................................................................. 2-2
2.4
Installation Procedure and Minimum Clearances........................................................................ 2-3
Chapter 3
3.1
Connections and Wiring ........................................................................................ 3-1
Connections................................................................................................................................. 3-1
3.1.1
Connecting to Peripheral Devices .................................................................................... 3-1
3.1.2
Servo Drive Connectors and Terminals ........................................................................... 3-2
3.1.3
Wiring Methods................................................................................................................. 3-4
3.1.4
Motor Power Cable Connector Specifications.................................................................. 3-5
3.1.5
Encoder Connector Specifications ................................................................................... 3-7
3.1.6
Cable Specifications for Servo Drive and Servo Motor .................................................... 3-8
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3.2
Basic Wiring................................................................................................................................. 3-9
3.3
Input / Output Interface Connector -CN1..................................................................................... 3-12
3.3.1
CN1 Terminal Identification .............................................................................................. 3-12
3.3.2
Signals Explanation of Connector CN1 ............................................................................ 3-13
3.3.3
User-defined DI and DO signals....................................................................................... 3-18
3.3.4
Wiring Diagrams of I/O Signals (CN1).............................................................................. 3-20
3.4
Encoder Connector CN2 ............................................................................................................. 3-25
3.5
Serial Communication Connector CN3 ....................................................................................... 3-26
3.6
3.5.1
CN3 Terminal Layout and Identification ........................................................................... 3-26
3.5.2
Connection between PC/Keypad and Connector CN3 .................................................... 3-27
Standard Connection Example.................................................................................................... 3-28
3.6.1
Position Control Mode ...................................................................................................... 3-28
3.6.2
Speed Control Mode......................................................................................................... 3-29
3.6.3
Torque Control Mode........................................................................................................ 3-30
Chapter 4
4.1
Display and Operation........................................................................................... 4-1
ASD-PU-01A ............................................................................................................................... 4-1
4.1.1
Description of Digital Keypad ASD-PU-01A ..................................................................... 4-1
4.1.2
Display Flowchart ............................................................................................................. 4-3
4.1.3
Status Display................................................................................................................... 4-8
4.1.4
Fault Code Display Operation .......................................................................................... 4-11
4.1.5
JOG Operation.................................................................................................................. 4-12
4.1.6
DO Force Output Diagnosis Operation ............................................................................ 4-14
4.1.7
DI Diagnosis Operation .................................................................................................... 4-15
4.1.8
DO Diagnosis Operation................................................................................................... 4-15
4.1.9
Parameters Read and Write ............................................................................................. 4-16
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4.2
ASD-PU-01B ............................................................................................................................... 4-18
4.2.1
Description of Digital Keypad ASD-PU-01B ..................................................................... 4-18
4.2.2
Display Flowchart ............................................................................................................. 4-19
4.2.3
Status Display................................................................................................................... 4-28
4.2.4
Fault Code Display Operation .......................................................................................... 4-31
4.2.5
JOG Operation.................................................................................................................. 4-31
4.2.6
DO Force Output Diagnosis Operation ............................................................................ 4-33
4.2.7
DI Diagnosis Operation .................................................................................................... 4-34
4.2.8
DO Diagnosis Operation................................................................................................... 4-35
4.2.9
Parameters Read and Write ............................................................................................. 4-36
Chapter 5
Trial Run and Tuning Procedure ........................................................................... 5-1
5.1
Inspection without Load............................................................................................................... 5-1
5.2
Applying Power to the Drive ........................................................................................................ 5-3
5.3
JOG Trial Run without Load ........................................................................................................ 5-7
5.3.1
ASD-PU-01A Tuning Flowchart........................................................................................ 5-7
5.3.2
ASD-PU-01B Tuning Flowchart........................................................................................ 5-8
5.4
Speed Trial Run without Load ..................................................................................................... 5-9
5.5
Tuning Procedure ........................................................................................................................ 5-11
5.5.1
Tuning Flowchart .............................................................................................................. 5-13
5.5.2
Load Inertia Estimation Flowchart .................................................................................... 5-14
5.5.3
AutoMode (PI) Tuning Flowchart...................................................................................... 5-15
5.5.4
AutoMode (PDFF) Tuning Flowchart................................................................................ 5-17
5.5.5
Limit of Load Inertia Estimation ........................................................................................ 5-18
5.5.6
Relationship between Tuning Modes and Parameters .................................................... 5-19
5.5.7
Gain Adjustment in Manual Mode .................................................................................... 5-20
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Chapter 6
Control Modes of Operation .................................................................................. 6-1
6.1
Control Modes of Operation ........................................................................................................ 6-1
6.2
Position Control Mode ................................................................................................................. 6-2
6.3
6.4
6.5
6.2.1
Command Source of Position Control Mode .................................................................... 6-2
6.2.2
Structure of Position Control Mode .................................................................................. 6-3
6.2.3
Pulse Inhibit Input Function (INHIBIT).............................................................................. 6-4
6.2.4
Electronic Gear Ratio ....................................................................................................... 6-4
6.2.5
Low-pass Filter ................................................................................................................. 6-6
6.2.6
Position Loop Gain Adjustment ........................................................................................ 6-6
Speed Control Mode.................................................................................................................... 6-9
6.3.1
Command Source of Speed Control Mode ...................................................................... 6-9
6.3.2
Structure of Speed Control Mode ..................................................................................... 6-10
6.3.3
Smoothing Strategy of Speed Control Mode.................................................................... 6-11
6.3.4
Analog Speed Input Scaling ............................................................................................. 6-14
6.3.5
Timing Chart of Speed Control Mode............................................................................... 6-15
6.3.6
Speed Loop Gain Adjustment........................................................................................... 6-15
6.3.7
Resonance Suppression .................................................................................................. 6-23
Torque Control Mode................................................................................................................... 6-25
6.4.1
Command Source of Torque Control Mode ..................................................................... 6-25
6.4.2
Structure of Torque Control Mode .................................................................................... 6-26
6.4.3
Smoothing Strategy of Torque Control Mode................................................................... 6-27
6.4.4
Analog Torque Input Scaling ............................................................................................ 6-27
6.4.5
Timing Chart of Speed Control Mode............................................................................... 6-28
Control Modes Selection ............................................................................................................. 6-29
6.5.1
Speed / Position Control Mode Selection......................................................................... 6-29
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6.6
6.5.2
Speed / Torque Control Mode Selection .......................................................................... 6-30
6.5.3
Torque / Position Control Mode Selection........................................................................ 6-30
Others.......................................................................................................................................... 6-31
6.6.1
Speed Limit....................................................................................................................... 6-31
6.6.2
Torque Limit...................................................................................................................... 6-31
6.6.3
Regenerative Resistor ...................................................................................................... 6-32
6.6.4
Electromagnetic Brake ..................................................................................................... 6-36
Chapter 7
Servo Parameters ................................................................................................. 7-1
7.1
Definition...................................................................................................................................... 7-1
7.2
Parameter Summary ................................................................................................................... 7-2
7.3
7.2.1
Parameters List by Group................................................................................................. 7-2
7.2.2
Parameters List by Function............................................................................................. 7-10
Detailed Parameter Listings ........................................................................................................ 7-19
Chapter 8
MODBUS Communications ................................................................................... 8-1
8.1
Communication Hardware Interface............................................................................................ 8-1
8.2
Communication Parameter Settings............................................................................................ 8-4
8.3
MODBUS Communication Protocol ............................................................................................ 8-8
Chapter 9
Maintenance and Inspection ................................................................................. 9-1
9.1
Basic Inspection .......................................................................................................................... 9-1
9.2
Maintenance ................................................................................................................................ 9-2
9.3
Life of Replacement Components ............................................................................................... 9-2
Chapter 10 Troubleshooting..................................................................................................... 10-1
10.1 Fault Messages Table ................................................................................................................. 10-1
10.2 Potential Cause and Corrective Actions...................................................................................... 10-3
10.3 Clearing Faults ............................................................................................................................ 10-12
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Chapter 11 Specifications ........................................................................................................ 11-1
11.1 Specifications of Servo Drive (ASDA-B Series) .......................................................................... 11-1
11.2 Specifications of Servo Motor (ECMA Series) ............................................................................ 11-4
11.3 Dimensions of Servo Drive.......................................................................................................... 11-7
11.4 Servo Motor Speed-Torque Curves (T-N Curve) ........................................................................ 11-10
11.5 Overload Characteristics ............................................................................................................. 11-11
11.6 Dimensions of Servo Motor ......................................................................................................... 11-18
11.7 EMI Filters Selection.................................................................................................................... 11-22
Chapter 12 Application Examples ............................................................................................ 12-1
12.1 Connecting to DVP-EH PLC and DOP-A HMI ............................................................................ 12-1
12.2 Connecting to DVP-EH PLC and Delta TP04 Series .................................................................. 12-12
12.3 External Controller Connection Examples................................................................................... 12-15
Appendix A Accessories ........................................................................................................... A-1
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Table of Contents|ASDA-B Series
About this Manual…
User Information
Be sure to store this manual in a safe place.
Due to constantly growing product range, technical improvement and alteration or changed texts, figures and
diagrams, we reserve the right of this manual contained information change without prior notice.
Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited.
Technical Support and Service
Welcome to contact us or visit our web site (http://www.delta.com.tw/industrialautomation/) if you need any
technical support, service and information, or, if you have any question in using the product. We are looking
forward to serve you needs and willing to offer our best support and service to you. Reach us by the
following ways.
ASIA
JAPAN
DELTA ELECTRONICS, INC.
DELTA ELECTRONICS (JAPAN), INC.
Taoyuan Plant 1
Tokyo Office
31-1, XINGBANG ROAD,
DELTA SHIBADAIMON BUILDING
GUISHAN INDUSTRIAL ZONE,
2-1-14 SHIBADAIMON, MINATO-KU,
TAOYUAN COUNTY 33370, TAIWAN, R.O.C.
TOKYO, 105-0012, JAPAN
TEL: 886-3-362-6301
TEL: 81-3-5733-1111
FAX: 886-3-362-7267
FAX: 81-3-5733-1211
NORTH/SOUTH AMERICA
EUROPE
DELTA PRODUCTS CORPORATION (USA)
DELTRONICS (THE NETHERLANDS) B.V.
Raleigh Office
Eindhoven Office
P.O. BOX 12173
DE WITBOGT 15, 5652 AG EINDHOVEN,
5101 DAVIS DRIVE,
THE NETHERLANDS
RESEARCH TRIANGLE PARK, NC 27709, U.S.A.
TEL: 31-40-259-2850
TEL: 1-919-767-3813
FAX: 31-40-259-2851
FAX: 1-919-767-3969
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Chapter 1 Unpacking Check and Model Explanation
1.1
Unpacking Check
After receiving the AC servo drive, please check for the following:
„ Ensure that the product is what you have ordered.
Verify the part number indicated on the nameplate corresponds with the part number of your order
(Please refer to Section 1.2 for details about the model explanation).
„ Ensure that the servo motor shaft rotates freely.
Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a servo motor
with an electromagnetic brake can not be rotated manually.
„ Check for damage.
Inspect the unit to insure it was not damaged during shipment.
„ Check for loose screws.
Ensure that all necessary screws are tight and secure.
If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or
your local Delta sales representative.
A complete and workable AC servo system should be including the following parts:
Part I : Delta standard supplied parts
(1)
Servo drive
(2)
Servo motor
(3)
Quick Start
Part II : Optional parts, not Delta standard supplied part (Refer to Appendix A)
(1)
One power cable, which is used to connect servo motor and U, V, W terminals of servo drive. This
power cable is with one green grounding cable. Please connect the green grounding cable to the
ground terminal of the servo drive.
(2)
One encoder cable, which is used to connect the encoder of servo motor and CN2 terminal of servo
drive.
(3)
CN1 Connector: 25 PIN Connector (D-sub Connector)
(4)
CN2 Connector: 9 PIN Connector (D-sub Connector)
(5)
CN3 Connector: 8 PIN Connector (DIN Cable Mount Male)
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Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series
Delta AC Servo Drive and Motor
1-2
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Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series
1.2
Model Explanation
1.2.1 Nameplate Information
ASDA-B Series Servo Drive
„
Nameplate Explanation
„
Serial Number Explanation
ECMA Series Servo Motor
„
Nameplate Explanation
„
Serial Number Explanation
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Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series
1.2.2 Model Name Explanation
ASDA-B Series Servo Drive
1-4
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Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series
ECMA Series Servo Motor
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1-5
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series
1.3
Servo Drive and Servo Motor Combinations
The table below shows the possible combination of Delta ASDA-B series servo drives and ECMA series
servo motors. The boxes (…) in the model names are for optional configurations. (Please refer to Section 1.2
for model explanation)
Servo Drive
Servo Motor
100W
ASD-B0121-A
ECMA-C30401…S (S=8mm)
200W
ASD-B0221-A
ECMA-C30602…S (S=14mm)
ECMA-C30604…S (S=14mm)
400W
ASD-B0421-A
ECMA-C30804…7 (7=14mm)
ECMA-E31305…S (S=22mm)
ECMA-G31303…S (S=22mm)
750W
ASD-B0721-A
ECMA-C30807…S (S=19mm)
ECMA-G31306…S (S=22mm)
ECMA-C31010…S (S=22mm)
1000W
ASD-B1021-A
ECMA-E31310…S (S=22mm)
ECMA-G31309…S (S=22mm)
1500W
ASD-B1521-A
ECMA-E31315…S (S=22mm)
ECMA-C31020…S (S=22mm)
2000W
ASD-B2023-A
ECMA-E31320…S (S=22mm)
ECMA-E31820…S (S=35mm)
The drives shown in the above table are designed for use in combination with the specific servo motors.
Check the specifications of the drives and motors you want to use.
Also, please ensure that both the servo drive and motor are correctly matched for size (power rating). If the
power of motor and drive is not within the specifications, the drive and motor may overheat and servo alarm
would be activated. For the detail specifications of servo drives and motors, please refer to Chapter 11
“Specifications”.
The drives shown in the above table are designed according to the three multiple of rated current of motors
shown in the above table. If the drives which are designed according to the six multiple of rated current of
motors are needed, please contact our distributors or your local Delta sales representative.
1-6
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Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series
1.4
Servo Drive Features
NOTE
1) Only 750W and above servo drives are provided with built-in regenerative resistors. The servo drives
below 400W are not.
2) CMD LED: A lit CMD LED indicates that the servo drive is ON (Servo On) or the motor speed is equal to
or higher than the setting value of P1-38 (>=P1-38 (ZSPD)).
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Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series
1.5
Control Modes of Servo Drive
The Delta Servo can be programmed to provide five single and three dual modes of operation.
Their operation and description is listed in the following table.
Mode
External Position Control
Speed Control
Single
Mode
Internal Speed Control
Torque Control
Internal Torque Control
Dual Mode
Code
Description
P
Position control for the servo motor is achieved via an
external pulse command.
S
Speed control for the servo motor can be achieved via
parameters set within the servo drive or from an external
analog -10 ~ +10 Vdc command. Control of the internal
speed parameters is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).
Sz
Speed control for the servo motor is only achieved via
parameters set within the servo drive. Control of the
internal speed parameters is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).
T
Torque control for the servo motor can be achieved via
parameters set within the servo drive or from an external
analog -10 ~ +10 Vdc command. Control of the internal
torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).
Tz
Torque control for the servo motor is only achieved via
parameters set within the servo drive. Control of the
internal torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).
S-P
Either S or P control mode can be selected via the Digital
Inputs (DI). (Please refer to Chapter 7 for more detailed DI
setting.)
T-P
Either T or P control mode can be selected via the Digital
Inputs (DI). (Please refer to Chapter 7 for more detailed DI
setting.)
S-T
Either S or T control mode can be selected via the Digital
Inputs (DI). (Please refer to Chapter 7 for more detailed DI
setting.)
The above control modes can be accessed and changed via by parameter P1-01. If the control mode is
changed, switch the drive off and on after the new control mode has been entered. The new control mode
will only be valid after drive off/on action. Please see safety precautions on page iii (switching drive off/on
multiple times).
1-8
Revision June 2009
Chapter 2 Installation and Storage
2.1
Installation Notes
Pay close attention on the following installation notes:
„ Do not bend or strain the connection cables between servo drive and motor.
„ When mounting servo drive, make sure to tighten screws to secure the drive in place.
„ If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of
the servo motor, coupling, and device are followed. Failure to do so may cause unnecessary loads or
premature failure to the servo motor.
„ If the length of cable connected between servo drive and motor is more than 20m (65.62ft.), please
increase the wire gauge of the encoder cable and motor connection cable (connected to U, V, W
terminals).
„ Make sure to tighten the screws for securing motor.
2.2
Storage Conditions
The product should be kept in the shipping carton before installation. In order to retain the warranty coverage,
the AC servo drive should be stored properly when it is not to be used for an extended period of time. Some
storage suggestions are:
„ Store in a clean and dry location free from direct sunlight.
„ Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
„ Store within a relative humidity range of 0% to 90% and non-condensing.
„ Do not store in a place subjected to corrosive gases and liquids.
„ Correctly packaged and placed on a solid surface.
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Chapter 2 Installation and Storage|ASDA-B Series
2.3
Installation Conditions
Operating Temperature
ASDA-B Series Servo Drive
:
0°C to 45°C (32°F to 113°F)
ECMA Series Servo Motor
:
0°C to 40°C (32°F to 104°F)
The ambient temperature of servo drive for long-term reliability should be under 45°C (113°F).
If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a wellventilated location and do not obstruct the airflow for the cooling fan.
Caution
The servo drive and motor will generate heat. If they are installed in a control panel, please ensure sufficient
space around the units for heat dissipation.
Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in
the control panel. Please observe the following precautions when selecting a mounting location. Failure to
observe the following precautions may void the warranty!
„ Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.
„ Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, or airborne
dust or metallic particles.
„ Do not mount the servo drive or motor in a location where temperatures and humidity will exceed
specification.
„ Do not mount the servo drive or motor in a location where vibration and shock will exceed specification.
„ Do not mount the servo drive or motor in a location where it will be subjected to high levels of
electromagnetic radiation.
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Chapter 2 Installation and Storage|ASDA-B Series
2.4
Installation Procedure and Minimum Clearances
Installation Procedure
Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please
follow the guidelines in this manual when installing the servo drive and motor.
The ASDA-B servo drive should be mounted perpendicular to the wall or in the control panel. In order to
ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and sufficient free
space is given to the servo drive. Do not install the drive in a horizontal position or malfunction and damage
will occur.
Drive Mounting
The ASDA-B Servo drives must be back mounted vertically on a dry and solid surface such as a NEMA
enclosure. A minimum spacing of two inches must be maintained above and below the drive for ventilation
and heat dissipation. Additional space may be necessary for wiring and cable connections. Also, as the drive
conducts heat away via the mounting, the mounting plane or surface should be conductor away and not
conduct heat into the drive from external sources
Motor Mounting
The ECMA Servo motors should be mounted firmly to a dry and solid mounting surface to ensure maximum
heat transfer for maximum power output and to provide a good ground.
For the dimensions and weights specifications of servo drive or motor, please refer to Chapter 11
“Specifications".
Minimum Clearances
Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When
installing two or more drive adjacent to each other please follow the clearances as shown in the following
diagram.
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Chapter 2 Installation and Storage|ASDA-B Series
„ Minimum Clearances
2.0in
(50mm)
min.
0.8in
(20mm)
min.
0.8in
(20mm )
min.
2.0in
(50mm)
min.
„ Side by Side Installation
4.0in
(100mm )
min.
1.6in
(40mm)
min.
4.0in
(100mm )
min.
2-4
FAN
0.4in
(10mm )
min.
Air flow
FAN
0.4in
(10mm )
min.
0.4in
(10mm)
min.
Air flow
4.0in
(100mm)
min.
1.6in
(40mm)
min.
4.0in
(100mm)
min.
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Chapter 3 Connections and Wiring
This chapter provides information on wiring ASDA-B series products, the descriptions of I/O signals and
gives typical examples of wiring diagrams.
3.1
Connections
3.1.1 Connecting to Peripheral Devices
In Figure 3.1, it briefly explains how to connect each peripheral device.
Figure 3.1
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3-1
Chapter 3 Connections and Wiring|ASDA-B Series
3.1.2 Servo Drive Connectors and Terminals
Terminal
Identification
R, S, T
Terminal
Description
Notes
Main circuit terminal
The Main Circuit Terminal is used to supply the servo with
line power. If a single-phase supply, is used connect the R
and S terminals to power. If 3-phase, connect all three R, S,
& T terminals.
Used to connect servo motor
U, V, W
FG
Servo motor output
Regenerative
resistor terminal
P, D, C
Terminal Symbol
Wire Color
U
Red
V
White
W
Black
FG
Green
Internal resistor
Ensure the circuit is closed between P
and D, and the circuit is open between
P and C.
External resistor
Connect regenerative resistor to P and
C, and ensure an open circuit between
P and D.
Only 750W and above servo drives are provided with builtin regenerative resistors. Ensure to leave the circuit closed
between P and D when using a built-in (internal)
regenerative resistor.
two places
CN1
Ground terminal
Used to connect grounding wire of power supply and servo
motor.
I/O connector
Used to connect external controllers. Please refer to section
3.3 for details.
Used to connect encoder of servo motor. Please refer to
section 3.4 for details.
Encoder connector
CN2
Communication
connector
CN3
Terminal Symbol
Wire Color
A
Black
/A
Black/Red
B
White
/B
White/Red
Z
Orange
/Z
Orange/Red
+5V
Brown & Brown/White
GND
Blue & Blue/White
Used to connect PC or keypad. Please refer to section 3.5
for details.
NOTE
1) U, V ,W , CN1, CN2, CN3 terminals provide short circuit protection.
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Chapter 3 Connections and Wiring|ASDA-B Series
Wiring Notes
Please observe the following wiring notes while performing wiring and touching any electrical
connections on the servo drive or servo motor.
1.
Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, U, V, & W) is
correct.
2.
Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate
electrical noise and interference.
3.
As a residual hazardous voltage may remain inside the drive, please do not immediately touch
any of the "power" terminals (R, S, T, U, V, & W) and/or the cables connected to them after the
power has been turned off and the charge LED is lit. (Please refer to the Safety Precautions on
page iii).
4.
The cables connected to R, S, T and U, V, W terminals should be placed in separate conduits
from the encoder or other signal cables. Separate them by at least 30cm (11.8inches).
5.
If the encoder cable is too short, please use a twisted-shield signal wire with grounding
conductor. The wire length should be 20m (65.62ft.) or less. For lengths greater than 20m
(65.62ft.), the wire gauge should be doubled in order to lessen any signal attenuation.
6.
As for motor cable selection, please use the 600V PTFE wire and the wire length should be less
than 30m (98.4ft.). If the wiring distance is longer than 30m (98.4ft.), please choose the
adequate wire size according to the voltage.
7.
The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal
marked
) of the servo drive.
8.
For the connectors and cables specifications, please refer to section 3.1.6 for details.
9.
In this manual, actual measured values are in metric units. The recommended wire lengths in
(imperial units) are for reference only. Please use metric for precise measurements.
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Chapter 3 Connections and Wiring|ASDA-B Series
3.1.3 Wiring Methods
For servo drives 1.5kW and below the input power can be either single or three-phase. For drives 2kW
and above only three-phase connections are available.
In the wiring diagram figures 3.2 & 3.3:
Power ON : contact “a” (normally open)
Power OFF or Alarm Processing : contact “b” (normally closed)
1MC/x : coil of electromagnetic contactor
1MC/a : self-holding power
1MC : contact of main circuit power
Figure 3.2 Single-Phase Power Supply Connection
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Chapter 3 Connections and Wiring|ASDA-B Series
Figure 3.3 Three-Phase Power Supply Connection
3.1.4 Motor Power Cable Connector Specifications
The boxes (…) in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)
Motor Model Name
U, V, W / Electromagnetic Brake Connector
ECMA-C30401…S (100W)
ECMA-C30602…S (200W)
ECMA-C30604…S (400W)
ECMA-C30804…7 (400W)
ECMA-C30807…S (750W)
Terminal
Identification
A
HOUSING: JOWLE (C4201H00-2*2PA)
ECMA-C30602…S (200W)
ECMA-C30604…S (400W)
ECMA-C30804…7 (400W)
ECMA-C30807…S (750W)
B
HOUSING: JOWLE (C4201H00-2*3PA)
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Chapter 3 Connections and Wiring|ASDA-B Series
Motor Model Name
U, V, W / Electromagnetic Brake Connector
Terminal
Identification
ECMA-G31303…S (300W)
ECMA-E31305…S (500W)
ECMA-G31306…S (600W)
ECMA-G31309…S (900W)
ECMA-C31010…S (1000W)
ECMA-E31310…S (1000W)
ECMA-E31315…S (1500W)
ECMA-C31020…S (2000W)
ECMA-E31320…S (2000W)
C
3106A-20-18S
D
ECMA-E31820…S (2000W)
3106A-24-11S
Terminal
Identification
U
(Red)
V
(White)
W
(Black)
CASE GROUND
(Green)
BRAKE1
BRAKE2
A
1
2
3
4
-
-
B
1
2
4
5
3
6
C
F
I
B
E
G
H
D
D
E
F
G
A
B
NOTE
1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 and BRAKE2.
2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.
3-6
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Chapter 3 Connections and Wiring|ASDA-B Series
3.1.5 Encoder Connector Specifications
The boxes (…) in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)
Motor Model Name
Encoder Connector
ECMA-C30401…S (100W)
ECMA-C30602…S (200W)
ECMA-C30604…S (400W)
ECMA-C30804…7 (400W)
ECMA-C30807…S (750W)
Terminal
Identification
A
HOUSING: AMP (1-172161-9)
ECMA-G31303…S (300W)
ECMA-E31305…S (500W)
ECMA-G31306…S (600W)
ECMA-G31309…S (900W)
ECMA-C31010…S (1000W)
ECMA-E31310…S (1000W)
ECMA-E31315…S (1500W)
ECMA-C31020…S (2000W)
ECMA-E31320…S (2000W)
ECMA-E31820…S (2000W)
B
3106A-20-29S
Terminal
/A
/B
/Z
+5V
GND
Identification
A
B
Z
BRAID
(Black
(White
(Orange
(Brown &
(Blue &
AMP (1(Black)
(White)
(Orange)
SHELD
/Red)
/Red)
/Red) Brown/White) Blue/White)
172161-9)
A
1
4
2
5
3
6
7
8
9
Terminal
GND
/A
/B
/Z
+5V
Identification
(Black &
A
B
Z
BRAID
(Blue
(Green
(Yellow (Red & Red
3106A-20- (Blue)
(Green)
(Yellow)
Black
SHELD
/Black)
/Black)
/Black)
/White)
29S
/White)
B
A
B
C
D
F
G
S
R
L
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Chapter 3 Connections and Wiring|ASDA-B Series
3.1.6 Cable Specifications for Servo Drive and Servo Motor
Servo Drive and Servo Motor
Power Cable - Wire Gauge mm2 (AWG)
R,S,T
U,V,W
P,C
ASD-B0121-A
ECMA-C30401…S
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ASD-B0221-A
ECMA-C30602…S
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ECMA-C30604…S
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ECMA-C30804…7
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ECMA-E31305…S
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ECMA-G31303…S
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ECMA-C30807…S
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ECMA-G31306…S
2.1 (AWG14)
0.82 (AWG18)
2.1 (AWG14)
ECMA-C31010…S
2.1 (AWG14)
1.3 (AWG16)
2.1 (AWG14)
ECMA-E31310…S
2.1 (AWG14)
1.3 (AWG16)
2.1 (AWG14)
ECMA-G31309…S
2.1 (AWG14)
1.3 (AWG16)
2.1 (AWG14)
ECMA-E31315…S
2.1 (AWG14)
1.3 (AWG16)
2.1 (AWG14)
ECMA-C31020…S
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
ECMA-E31320…S
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
ECMA-E31820…S
2.1 (AWG14)
3.3 (AWG12)
2.1 (AWG14)
ASD-B0421-A
ASD-B0721-A
ASD-B1021-A
ASD-B1521-A
ASD-B2023-A
Encoder Cable - Wire Gauge mm2 (AWG)
Servo Drive and Servo Motor
Wire Size
Core Number
UL Rating
Standard
Wire Length
ASD-B0121-A
ECMA-C30401…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ASD-B0221-A
ECMA-C30602…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-C30604…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-C30804…7
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-E31305…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-G31303…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-C30807…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-G31306…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-C31010…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-E31310…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ASD-B1021-A
ECMA-G31309…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ASD-B1521-A
ECMA-E31315…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-C31020…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-E31320…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ECMA-E31820…S
0.13 (AWG26)
10 core (4 pair)
UL2464
3m (9.84ft.)
ASD-B0421-A
ASD-B0721-A
ASD-B1021-A
ASD-B2023-A
(Please refer to Section 1.2 for model explanation)
NOTE
1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate
electrical noise and interference.
2) The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal
marked
3-8
) of the servo drive.
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Chapter 3 Connections and Wiring|ASDA-B Series
3.2
Basic Wiring
Figure 3.4 Basic Wiring Schematic of 400W and below models
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Chapter 3 Connections and Wiring|ASDA-B Series
Figure 3.5 Basic Wiring Schematic of 750W models
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Chapter 3 Connections and Wiring|ASDA-B Series
Figure 3.6 Basic Wiring Schematic of 1kW and above models
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Chapter 3 Connections and Wiring|ASDA-B Series
3.3
Input / Output Interface Connector -CN1
The CN1 Interface Connector provides access to three signal groups:
i
General interface for the analog speed and torque control, encoder reference signal from the motor,
open collector and line driver inputs, and reference voltages.
ii
6 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-15
iii
3 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-20
A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B & 3.C.
3.3.1 CN1 Terminal Identification
25
13
14
1
Figure 3.7 The Layout of CN1 Drive Connector:
CN1 Terminal Signal Identification
1
D03+
Digital output
2
DO2+
Digital output
3
DI4-
Digital input
4
COM+
5
DI3-
6
T-REF
7
VDD
+24Vpower output (for external I/O)
8
GND
Analog input signal ground
9
V-REF
Analog speed input (+)
10
OA
Encoder A pulse output
11
/OB
Encoder /B pulse output
12
OB
Encoder B pulse output
13
COM-
VDD(24V) power ground
3-12
DI input common voltage rail
Digital input
Analog torque input (+)
14
DI6-
Digital input
15
DI5-
Digital input
16
DO1+
Digital output
17
DI1-
Digital input
18
DI2-
Digital input
19
/SIGN
Position sign (-)
20
SIGN
Position sign (+)
21
/PULSE
Pulse input (-)
22
PULSE
Pulse input (+)
23
/OA
Encoder /A pulse output
24
OZ
Encoder Z pulse output
25
/OZ
Encoder /Z pulse output
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Chapter 3 Connections and Wiring|ASDA-B Series
NOTE
1) GND (Pin 8) and COM- (Pin 13) of CN1 connector are independent respectively and do not have
connection with the ground terminal outside the servo drive.
3.3.2 Signals Explanation of Connector CN1
The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the
general signals. Table 3.B details the Digital Output (DO) signals and Table 3.C details the Digital Input
(DI) signals. The General Signals are set by the factory and can not be changed, reprogrammed or
adjusted. Both the Digital Input and Digital Output signals can be programmed by the users.
Table 3.A General Signals
Pin No
Details
Wiring Diagram
(Refer to 3.3.3)
V_REF
9
Motor speed command: -10V to +10V, corresponds to
the maximum speed programmed P1-55 Maximum
Speed Limit (Factory default 3000 RPM).
C1
T_REF
6
Motor torque command: -10V to +10V, corresponds
to -100% to +100% rated torque command.
C1
PULSE
Position /PULSE
Pulse
SIGN
Input
/SIGN
22
21
20
19
The drive can accept two different types of pulse
inputs: Open Collector and Line Driver.
Three different pulse commands can be selected via
parameter P1-00. Quadrature, CW + CCW pulse &
Pulse / Direction.
C2/C3
The motor encoder signals are available through
these terminals. The A, B, Z output signals can be
Line Driver type. The Z output signal can be Open
Collector type also, but the output maximum voltage
is 5V and the maximum permissible current is
200mA.
C10/C11
Signal
Analog
Signal
Input
OA
/OA
10
23
OB
/OB
12
11
OZ
/OZ
24
25
VDD
7
VDD is the +24V source voltage provided by the
drive. Maximum permissible current is 500mA.
COM+
COM-
4
13
COM+ is the common voltage rail of the Digital Input
and Digital Output signals. Connect VDD to COM+ for
source mode. For external applied power sink mode
(+12V to +24V), the positive terminal should be
connected to COM+ and the negative to COM-.
GND
8
Analog input signal ground.
Position
Pulse
Output
Power
Ground
-
-
The Digital Input (DI) and Digital Output (DO) have factory default settings which correspond to the
various servo drive control modes. (See section 1.5). However, both the DI's and DO's can be
programmed independently to meet the requirements of the users.
Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding signal name and
wiring schematic. The factory default settings of the DI and DO signals are detailed in Table 3.F.
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Chapter 3 Connections and Wiring|ASDA-B Series
All of the DI's and DO's and their corresponding pin numbers are factory set and nonchangeable,
however, all of the assigned signals and control modes are user changeable. For Example, the factory
default setting of DO1 (pin 16) is SRDY (servo ready) signal, but it can be assigned to SON (Servo On)
signal and vise versa.
The following Tables 3.B and 3.C detail the functions, applicable operational modes, signal name and
relevant wiring schematic of the default DI and DO signals.
Table 3.B DO Signals
DO
Signal
SRDY
SON
ALL
ALL
Details (*1)
SRDY is activated when the servo drive is
16
ready to run. All fault and alarm conditions, if
(DO1) present, have been cleared.
-
Wiring Diagram
(Refer to 3.3.3)
C4/C5/C6/C7
SON is activated when control power is
applied to the servo drive. The drive may or
may not be ready to run as a fault / alarm
condition may exist.
Servo ON (SON) is "ON" with control power
applied to the servo drive, there may be a fault
condition or not. The servo is not ready to run.
Servo ready (SRDY) is "ON" where the servo
is ready to run, NO fault / alarm exists.
ALL
ZSPD is activated when the drive senses the
motor is equal to or below the Zero Speed
Range setting as defined in parameter P1-38.
2
For Example, at default ZSPD will be activated
(DO2) when the drive detects the motor rotating at
speed at or below 10 rpm. ZSPD will remain
activated until the motor speed increases
above 10 RPM.
TSPD
ALL
-
TSPD is activated once the drive has detected
the motor has reached the Target Rotation
Speed setting as defined in parameter P1-39.
TSPD will remain activated until the motor
speed drops below the Target Rotation Speed.
TPOS
P
-
When the drive is in P mode, TPOS will be
activated when the position error is equal and
below the setting value of P1-54.
TQL
ALL
-
TQL is activated when the drive has detected
that the motor has reached the torques limits
set by either the parameters P1-12 ~ P1-14.
ZSPD
3-14
Pin No.
Assigned
Control Mode
+
ALRM is activated when the drive has
detected a fault condition. (However, when
1
Reverse limit error, Forward limit error,
(DO3) Emergency stop, Serial communication error,
and Undervoltage these fault occur, WARN is
activated first.)
ALRM
ALL
BRKR
ALL
-
BRKR is activated actuation of motor brake.
OLW
ALL
-
OLW is activated when the servo drive has
detected that the motor has reached the
output overload level set by parameter P2-37.
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Chapter 3 Connections and Wiring|ASDA-B Series
DO
Signal
WARN
Pin No.
Assigned
Control Mode
+
ALL
-
Details (*1)
Wiring Diagram
(Refer to 3.3.3)
Servo warning output. WARN is activated
when the drive has detected Reverse limit
error, Forward limit error, Emergency stop,
Serial communication error, and Undervoltage
these fault conditions.
Footnote *1: The "state" of the output function may be turned ON or OFF as it will be dependant on the
settings of P2-10~P2-15.
Table 3.C DI Signals
DI
Signal
SON
Assigned
Pin No.
Control Mode
ALL
Details (*2)
17
Servo On. Switch servo to "Servo Ready".
A number of Faults (Alarms) can be cleared by
activating ARST. Please see section 10.3 for
applicable faults that can be cleared with the
ARST command. However, please investigate
Fault or Alarm if it does not clear or the fault
description warrants closer inspection of the
drive system.
ARST
ALL
18
GAINUP
ALL
-
Gain switching in speed and position mode
CCLR
P
5
When CCLR is activated the setting is
parameter P2-48 Pulse Clear Mode is
executed.
-
When this signal is On and the motor speed
value is lower than the setting value of P1-38,
it is used to lock the motor in the instant
position while ZCLAMP is On.
The parameter P2-38 should be enabled first if
the users want to set the speed command that
has been accelerated and decelerated more
smoothly.
ZCLAMP
S,T
CMDINV
ALL
-
When this signal is On, the motor is in reverse
rotation.
INHP
P
-
Pulse inhibit input. When the drive is in
position mode, if INHP is activated, the
external pulse input command is not valid.
TRQLM
P , S , Sz
-
ON indicates the torque limit command is
valid.
SPDLM
T , Tz
-
ON indicates the speed limit command is
valid.
GNUM0
P
-
Electronic gear ratio (Numerator) selection 0
ALL
-
Select the source of speed command:
See Table 3.D.
SPD0
SPD1
Revision June 2009
Wiring Diagram
(Refer to 3.3.3)
C8/C9
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Chapter 3 Connections and Wiring|ASDA-B Series
DI
Signal
TCM0
Assigned
Pin No.
Control Mode
Wiring Diagram
(Refer to 3.3.3)
Details (*2)
ALL
-
Select the source of torque command:
See Table 3.E.
S-P
Sz , S , P
-
Speed / Position mode switching
OFF: Speed, ON: Position
S-T
Sz , S , Tz
-
Speed / Torque mode switching
OFF: Speed, ON: Torque
T-P
T , Tz , P
-
Torque / Position mode switching
OFF: Torque, ON: Position
EMGS
ALL
14
It should be contact “b” and normally ON or a
fault (ALE13) will display.
TCM1
CWL
ALL
3
Reverse inhibit limit. It should be contact “b”
and normally ON or a fault (ALE14) will
display.
CCWL
ALL
15
Forward inhibit limit. It should be contact “b”
and normally ON or a fault (ALE15) will
display.
TLLM
P,S
-
TRLM
P,S
-
C8/C9
Torque limit - Reverse operation (Torque limit
function is valid only when P1-02 is enabled)
Torque limit - Forward operation (Torque limit
function is valid only when P1-02 is enabled)
Footnote *2: The "state" of the input function may be turned ON or OFF as it will be dependant on the
settings of P2-18~P2-20.
Table 3.D Source of Speed Command
SPD1
SPD0
OFF
OFF
OFF
ON
ON
ON
Parameter
Table 3.E Source of Torque Command
TCM1
TCM0
OFF
OFF
P1-09
OFF
ON
P1-12
OFF
P1-10
ON
OFF
P1-13
ON
P1-11
ON
ON
P1-14
S mode: analog input
Sz mode: 0
Parameter
T mode: analog input
Tz mode: 0
The user-defined DI and DO signals are defined via parameters P2-10 to P2-15 and P2-18 to P2-20.
Please refer to the following Table 3.F for the settings. Although the content of the Table 3.F does not
provide more information than the Table 3.B and Table 3.C above, as each control mode is separated
and listed in different row, it is easy for the users to view and can avoid confusion. However, the Pin
number of each signal can not be displayed in the Table 3.F.
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Chapter 3 Connections and Wiring|ASDA-B Series
Table 3.F Default DI Signals and DO Signals
The factory default settings of DI signals
Signal
DI Code
Function
Default Settings
SON
01
Servo On
DI1
ARST
02
Alarm Reset
DI2
GAINUP
03
Gain switching in speed and position mode
CCLR
04
Pulse clear
ZCLAMP
05
Zero speed CLAMP
CMDINV
06
Command input reverse control
INHP
07
Pulse inhibit input
TRQLM
09
Torque limit enabled
SPDLM
10
Speed limit enabled
GNUM0
11
Electronic gear ratio (Numerator) selection 0
SPD0
14
Speed command selection 0
SPD1
15
Speed command selection 1
TCM0
16
Torque command selection 0
TCM1
17
Torque command selection 1
S-P
18
Position / Speed mode switching (OFF: Speed, ON:
Position)
S-T
19
Speed / Torque mode switching (OFF: Speed, ON:
Torque)
T-P
20
Torque / Position mode switching (OFF: Torque,
ON: Position)
EMGS
21
Emergency stop (contact b)
DI6
CWL
22
Reverse inhibit limit (contact b)
DI4
CCWL
23
Forward inhibit limit (contact b)
DI5
TLLM
25
Torque limit - Reverse operation
TRLM
26
Torque limit - Forward operation
DI3
The factory default settings of DO signals
Signal
DO Code
SRDY
01
Servo ready
SON
02
Servo On
ZSPD
03
At Zero speed
TSPD
04
At Speed reached
TPOS
05
At Positioning completed
TQL
06
At Torques limit
ALRM
07
Servo alarm (Servo fault) activated
BRKR
08
Electromagnetic brake control
OLW
09
Output overload warning
WARN
10
Servo warning activated
Revision June 2009
Function
Default Settings
DO1
DO2
DO3
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Chapter 3 Connections and Wiring|ASDA-B Series
3.3.3 User-defined DI and DO signals
If the default DI and DO signals could not be able to fulfill the users’ requirements, there are still userdefined DI and DO signals. The setting method is easy and they are all defined via parameters. The
user-defined DI and DO signals are defined via parameters P2-10 to P2-15 and P2-18 to P2-20.
Please refer to the following Table 3.G for the settings.
Table 3.G User-defined DI and DO signals
Default Pin
No.
Parameter
DI1-
17
P2-10
DI2-
18
P2-11
DI3-
5
P2-12
DI4-
3
P2-13
DI5-
15
P2-14
DI6-
14
P2-15
Signal Name
DI
Default Pin
No.
Parameter
DO1+
16
P2-18
DO2+
2
P2-19
DO3+
1
P2-20
Signal Name
DO
DI signal:
For example: If the users want to set DI1 to be servo on, it only needs to set the value of parameter P210 to 101 (refer to chapter 7).
NOTE
1) 14~17: Single control mode;18~20: Dual control mode; 0: Input function disabled
Setting of parameter P2-10 to P2-15:
3-18
DI Code
Signal
Description
01
SON
Servo On
02
ARST
Alarm Reset
03
GAINUP
04
CCLR
05
ZCLAMP
Zero speed CLAMP
06
CMDINV
Command input reverse control
07
INHP
09
TRQLM
Torque limit enabled
10
SPDLM
Speed limit enabled
11
GNUM0
Electronic gear ratio (Numerator) selection 0
14
SPD0
Speed command selection 0
15
SPD1
Speed command selection 1
16
TCM0
Torque command selection 0
17
TCM1
Torque command selection 1
18
S-P
Gain switching in speed and position mode
Pulse clear
Pulse inhibit input
Position / Speed mode switching (OFF: Speed, ON: Position)
Revision June 2009
Chapter 3 Connections and Wiring|ASDA-B Series
Setting of parameter P2-10 to P2-15:
DI Code
Signal
Description
19
S-T
Speed / Torque mode switching (OFF: Speed, ON: Torque)
20
T-P
Torque / Position mode switching (OFF: Torque, ON: Position)
21
EMGS
22
CWL
Reverse inhibit limit (contact b)
23
CCWL
Forward inhibit limit (contact b)
25
TLLM
Torque limit - Reverse operation
26
TRLM
Torque limit - Forward operation
Emergency stop (contact b)
DO signal:
For example: If the users want to set DO1 to be servo ready, it only needs to set the value of parameter
P2-18 to 101 (refer to chapter 7).
NOTE
1) 0: Output function disabled
Setting of parameter P2-18 to P2-20:
DO Code
Signal
01
SRDY
02
SON
Servo On
03
ZSPD
At Zero speed
04
TSPD
At Speed reached
05
TPOS
At Positioning completed
06
TQL
07
ALRM
Servo alarm (Servo fault) activated
08
BRKR
Electromagnetic brake control
09
OLW
Output overload warning
10
WARN
Servo warning activated
Revision June 2009
Description
Servo ready
At Torques limit
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Chapter 3 Connections and Wiring|ASDA-B Series
3.3.4 Wiring Diagrams of I/O Signals (CN1)
The valid voltage range of analog input command in speed and torque mode is -10V ~+10V.
The command value can be set via relevant parameters.
C1: Speed / Torque analog signal input
There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse
frequency of Line driver input is 500kpps and max. input pulse frequency of Open-collector input is
200kpps.
NOTE
1) In order to protect the internal circuit, when using open collector input, please
ensure to connect one 1 ~ 2 KΩ current limit resistor before Pin 19(/SIGN) and
Pin 21(/PULSE) respectively (Please refer to the wiring diagram on next page).
2) For the specifications of connected current limit resistor, please refer to the
table below:
Vdc
Specifications
24V
1KΩ
12V
500Ω
Equation:
3-20
Vdc − 2
≅ 20mA
100 + R
Revision June 2009
Chapter 3 Connections and Wiring|ASDA-B Series
C2-1: Pulse input (Open collector – internal power)
Servo Drive
7
VDD
Approx.
1K
Please ensure to
connect the resistor
or the photocoupler
may be damaged due
to excessive current.
DC24V
Max. input pulse
frequency is 200kpps
19 /SIGN
50
20 SIGN
50
Approx.
1K
21 /PULSE
50
22 PULSE
50
13 COM-
C2-2: Pulse input (Open collector – external power)
Servo Drive
7
VDD
Approx.
1K
Please ensure to
connect the resistor
or the photocoupler
may be damaged
due to excessive
current.
DC24V
Max. input pulse
frequency is 200kpps
19 /SIGN
50
Vdc
20 SIGN
50
Approx.
1K
21 /PULSE
50
22 PULSE
50
13 COM-
Revision June 2009
3-21
Chapter 3 Connections and Wiring|ASDA-B Series
C3: Pulse input (Line Driver)
Because this
photocoupler is a
unidirectional
optocoupler, please pay
close attention on the
current direction of input
pulse command.
Be sure to connect a diode when the drive is applied to inductive load.
(Continuous maximum current: 40mA, Instantaneous peak current: max. 100mA)
C4: Wiring of DO signal, for the use of internal power supply, general load
C5: Wiring of DO signal, for the use of internal power supply, inductive load
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Chapter 3 Connections and Wiring|ASDA-B Series
C6: Wiring of DO signal, for the use of external
power supply, general load
C7: Wiring of DO signal, for the use of external
power supply, inductive load
Use a relay or open-collector transistor to input signal.
NPN transistor with multiple emitter fingers (SINK Mode)
C8: Wiring of DI signal, for the use of internal
power supply
C9: Wiring of DI signal, for the use of external
power supply
PNP transistor with multiple emitter fingers (SOURCE Mode)
C10: Wiring of DI signal, for the use of internal
power supply
Revision June 2009
C11: Wiring of DI signal, for the use of external
power supply
3-23
Chapter 3 Connections and Wiring|ASDA-B Series
C12: Encoder output signal (Line driver)
3-24
C13: Encoder output signal (Photocoupler)
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Chapter 3 Connections and Wiring|ASDA-B Series
3.4
Encoder Connector CN2
Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal.
When power is first applied to the servo drive, control algorithms detect the motor's rotor position through
imbedded sensors in the motor within 500msec approximately.
Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires. Following
rotor position sensing the amplifier automatically switches to encoding for commutation control.
The 2500PPR encoder is automatically multiplied to 10000PPR by X4 logic for increased control accuracy.
5
9
6
1
Figure 3.8 The layout of CN2 Drive Connector:
CN2 Terminal Signal Identification
Pin No
Signal Name
Terminal
Identification
4
A phase input
A
Encoder A phase
output
A
A1
Black
5
/A phase input
/A
Encoder /A phase
output
B
A4
Black / Red
3
B phase input
B
Encoder B phase
output
C
A2
White
2
/B phase input
/B
Encoder /B phase
output
D
A5
White / Red
9
Z phase input
Z
Encoder Z phase
output
F
A3
Orange
1
/Z phase input
/Z
Encoder /Z phase
output
G
A6
8
Encoder power
+5V
Encoder 5V power
S
A7
Brown &
Brown / White
6, 7
Encoder power
GND
Grounding
R
A8
Blue &
Blue / White
Shielding
Shielding
Shielding
L
A9
Shielding
Revision June 2009
Description
Military
Fast
Connector Connector
Wire Color
Orange / Red
3-25
Chapter 3 Connections and Wiring|ASDA-B Series
3.5
Serial Communication Connector CN3
3.5.1 CN3 Terminal Layout and Identification
The servo drive can be connected to a PC or controller via a serial communication connector. The users
can operate the servo drive through PC software supplied by Delta (contact to the dealer/distributor).
The communication connector/port of Delta servo drive can provide two common serial communication
interfaces: RS-232, and RS-485 connection. RS-232 is mostly be used but is somewhat limited. The
maximum cable length for an RS-232 connection is 15 meters (50 feet). Using RS-485 interface can
allow longer distance for transmission and support multiple drives to be connected simultaneously.
Figure 3.9 The layout of CN3 Drive Connector:
4
1
3
6
2
5
8
7
CN3 Drive Connector
CN3 Terminal Signal Identification
Pin No
Signal Name
Terminal
Identification
Description
For data transmission of the servo drive.
Connected to the RS-485- interface of PC.
1
RS-485-
RS-485-
2
Signal power
+5VD
3
RS-485+
RS-485+
For data transmission of the servo drive.
Connected to the RS-485+ interface of PC.
4
RS-232
receiving
RS-232-RX
For data receiving of the servo drive.
Connected to the RS-232 interface of PC.
5
RS-232
data
RS-232-TX
transmission
For data transmission of the servo drive.
Connected to the RS-232 interface of PC.
Please refer to section 3.5.2.
6
RS-232 / RS-485
data
format SEL232 / 485
selection
RS-232 & RS-485 data format selection
For RS-485 connection, connect SEL232/485(Pin6)
to GND(Pin8). For RS-232 connection, do not
connect SEL232/485(Pin6) to GND(Pin8).
7
Re-flash
selection
Boot_Load
Boot_Load terminal for DSP Reflash burn-in
selection (Do not connect this terminal).
8
Grounding
GND
data
NOTE
1) In order to avoid the communication error, if the users use their own communication connector,
ensure the circuit between the connector case and all pins is not closed.
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Chapter 3 Connections and Wiring|ASDA-B Series
2) When using RS-232 communication, the user can use the communication cable provided by Delta
PLC directly. (The PLC communication cable is compatible with all Delta Servo systems for the
users’ convenience)
3.5.2 Connection between PC/Keypad and Connector CN3
„
Connection between PC and CN3
4
2
5
3
4
5
8
1
3
6
2
5
8
7
CN3 Drive Connector
PC or
Notebook
„
Connection between Keypad and CN3
1
3
5
7
9
2
4
6
8
10
KEYPAD
Revision June 2009
5
8
8
2
2
5
3
4
4
1
3
6
2
5
8
7
CN3 Drive Connector
3-27
Chapter 3 Connections and Wiring|ASDA-B Series
3.6
Standard Connection Example
3.6.1 Position Control Mode
3-28
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Chapter 3 Connections and Wiring|ASDA-B Series
3.6.2 Speed Control Mode
Revision June 2009
3-29
Chapter 3 Connections and Wiring|ASDA-B Series
3.6.3 Torque Control Mode
3-30
Revision June 2009
Chapter 4 Display and Operation
This chapter describes the basic operation of the digital keypad and the features it offers.
There are several modes of operation:
Monitor, Parameter, Parameter Setting, Save, Write and Fast Edit Mode.
In Monitor mode, users can display the monitor status. In Parameter mode, users can display and view the
parameter name, unit and setting value, and also can navigate in parameter groups. In Parameter Setting
mode, users can edit and change the parameter setting value. In Save mode, it allows users to save the
parameters stored in PC or the servo drive into the digital keypad. In Write mode, it allows users to write the
parameters out of the digital keypad and restored in the servo drive. Please note that the status monitor
function of the servo drive is disabled and the LED indicators on the digital keypad are invalid at this time
when in Save mode and Write mode. In Fast Edit mode, users can edit the parameters more quickly. Also,
static and dynamic auto-tuning is also provided in this mode.
If users desire to upgrade the firmware version of the digital keypad, please open the rear case of the keypad
and turn the switch to BOOTLOAD. Then, execute the PC program and the firmware will be upgraded.
For the keypad parameters and fault messages (Alarm codes), please refer to Chapter 7 and Chapter 10.
4.1
ASD-PU-01A
4.1.1 Description of Digital Keypad ASD-PU-01A
The digital keypad includes the ASD-PU-01A display panel and function keys. The Figure 4.1 shows all
of the features of the ASD-PU-01A digital keypad and an overview of their functions.
Figure 4.1
LCD Display
Status Display
(LED Indication)
MODE Key
SHIFT Key
JOG Key
RESET Key
UP and DOWN Key
SET Key
Fast Edit Key
SAVE Key
WRITE Key
Revision June 2009
4-1
Chapter 4 Display and Operation|ASDA-B Series
Name
LCD Display
Status Display
(LED Indication)
Function
2 line × 16 character LCD display shows the monitor codes, parameter settings and
operation values of the AC servo drive.
SON LED (Servo On Indicator). A lit LED illuminates to indicate that the servo drive is
enabled.
ALRM LED (Alarm Output Indicator). A lit ALRM LED illuminates to indicates that a
alarm output is activated.
JOG LED (JOG Operation Indicator). A lit JOG LED illuminates to indicates that JOG
operation is enabled.
TSPD LED (Speed reached Indicator). A lit TSPD LED illuminates to indicates that the
target speed is reached and TSPD signal is activated.
TPOS LED (Positioning completed Indicator). A lit TPOS LED illuminates to indicates
that the target position is reached and TPOS signal is activated.
MODE
MODE Key. Pressing MODE key can enter or exit different parameter groups, and
switch between Parameter mode and Parameter Setting mode, SAVE mode and
WRITE mode.
SHIFT
SHIFT Key. In Parameter mode, pressing SHIFT key can scrolls through parameter
groups. In Parameter Setting mode and SAVE mode, after a parameter is selected and
its value displayed, pressing SHIFT key can move the cursor to the left and then
change parameter settings (blinking digits) by using arrow keys.
UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll through
and change monitor codes, parameter groups and various parameter settings.
In SAVE and WRITE mode, pressing UP and DOWN arrow key can scroll through and
change the memory blocks. In SAVE mode, pressing UP and DOWN arrow key can
select and change the memory file name also.
SET
SET Key. Pressing Set key can enter into the Parameter Setting mode, then display,
select and save parameter groups and various parameter settings. During diagnosis
operation, pressing SET key can execute the function in the last step.
(The parameter settings changes are not effective until the SET key is pressed.)
JOG
JOG Key. Pressing JOG key can enable JOG operation immediately. 1st pressing:
enter JOG operation. 2nd pressing: exit JOG operation. Please refer to Section 4.4.3
for operation.
ARST
Reset Key. Pressing ARST key can Used to clear a fault (Alarm).
This key is available in any modes.
SAVE
SAVE Key. Pressing SAVE key can save parameter settings to the digital keypad.
Please refer to Section 4.2.2 for operation.
WRITE
Fast Edit
WRITE Key. Pressing WRITE key can write out the parameter settings in the digital
keypad and send to the servo drive. Please refer to Section 4.2.3 for operation.
Fast Edit Key. Pressing Fast Edit key can use three special functions:
Fast Editing, Static Auto-tuning and Dynamic Auto-tuning.
Fast editing function:
1) 1st pressing: Enable the Fast Editing function. When Fast Editing function is
enabled, using UP and DOWN arrow key can browse, search and edit the
parameters that have been edited before directly and quickly. The parameter
setting method is the same as usual.
2) 2nd pressing: Disable the Fast Editing function.
Static Auto-tuning and Dynamic Auto-tuning function: Please refer to Section 4.2.4
for operation.
NOTE
1) The functions of MODE, SHIFT, UP and DOWN, and SET keys are the same as the function keys of
ASDA-A series servo drive.
4-2
Revision June 2009
Chapter 4 Display and Operation|ASDA-B Series
4.1.2 Display Flowchart
Monitor Mode, Parameter Mode and Parameter Setting Mode
1. When the power is applied to the AC servo drive, the digital keypad will execute communication
initial setup for approximately two seconds (9600bps & 7,N,2 Modbus ASCII) first, and then enter
into the monitor mode.
2. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code.
3. In monitor mode, pressing MODE key can enter into parameter mode, pressing the SHIFT key
can switch parameter group and pressing UP or DOWN arrow key can change parameter group
code.
4. In parameter mode, system will enter into the parameter setting mode immediately after the SET
key is pressed. The LCD display will display the corresponding setting value of this parameter
simultaneously. Then, users can use UP or DOWN arrow key to change parameter value or press
MODE key to exit and return back to the parameter mode.
5. In parameter setting mode, users can move the cursor to left by pressing the SHIFT key and
change the parameter settings (blinking digits) by pressing the UP or DOWN arrow key.
6. After the setting value change is completed, press SET key to save parameter settings or execute
command.
7. When the parameter setting is completed, LCD display will show the end code “-SET END-“ and
automatically return back to parameter mode.
Figure 4.2
Monitor Mode
STS01:Fb REV
0
rev
STS00:Fb PULSE
0
pulse
STS15:IGBT temp
33
degC
MODE
Parameter Mode
GROUP0
STS02:CMD PULSE
0
pulse
P0-00:VER
0.005
P0-01:ALE
0
P0-02:STS
0
P1-01:CTL
0
P1-02:PSTL
0
P2-01:PPR
100
%
P2-02:PFG
50
%
SHIFT
GROUP1
P1-00:PTT
2
SHIFT
GROUP2
P2-00:KPP
70
rad/s
GROUP3
SET
P3-01:BRT
3
bps
P3-02:PTL
0
10001
SHIFT
GROUP4
P4-00:ASH1
1
P4-01:ASH2
1
P4-02:ASH3
1
Revision June 2009
P8-00:VERSION
1.001
SET
SET END
SHIFT
GROUP8
Edit Setting Values
10000
SHIFT
P3-00:ADR
1
Parameter
Setting Mode
P8-01:MISC FUN
1
P8-05:KPD ID
255
Save Setting Values
4-3
Chapter 4 Display and Operation|ASDA-B Series
SAVE Mode (Save parameter settings from the Drive to the Keypad)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing SAVE key can switch to SAVE mode.
3. In SAVE mode, pressing SAVE key can execute the function the users select and save the new
parameter settings.
4. In SAVE mode, pressing UP and DOWN key can save the desired memory block that the users
want to save.
5. If the desired memory block has not been used, the LCD display will show the message
“xxxxxxxx”. If the desired memory block has been used and there are parameters data saved in
it, the LCD display will show the MCU version of the servo drive and the preset file name, such
as “BL001-XX”. The last two words “XX” can be modified by the users and its range is within 0 ~
9 or A ~Z. The users can select the words by using UP and DOWN keys and change the words
by using SHIFT key.
6. In SAVE mode, pressing MODE key once can return to the previous display and finally exit the
SAVE mode. However, if the users have pressed the SAVE key, i.e. the SAVE operation has
been executed, the MODE key will become disabled, the users cannot return to previous
display and only can move to the next step.
7. The users can save the parameters in some memory block repeatedly on the condition that the
version, inertia and models of the servo drives should be the same. If one of the parameters is
set by the servo drive in different condition, it cannot be saved into the same memory block with
other parameters and must be saved to other memory blocks. Before re-using the same
memory block, please perform the “Memory Block Clear” function first (Please see the
description of parameter P8-11).
Figure 4.3
SAVE
KPD SAVE
yes?
Press
MODE
key to return to previous display
SAVE
SAVE
KPD SAVE 0.000
ROM00:********
MODE
KPD SAVE 0.000
ROM01:********
KPD SAVE 0.000
ROM24:********
NO KPD SAVE 0.000
ROM00:saving
KPD SAVE 0.000
ROM00:********?
SAVE
YES
KPD SAVE 0.006
ROM00:BL003-00
SAVE
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Chapter 4 Display and Operation|ASDA-B Series
WRITE Mode (Parameter settings written out from Keypad to the Drive)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing WRITE key can switch to WRITE mode.
3. In WRITE mode, pressing WRITE key can execute the function the users select and save the
new parameter settings.
4. In WRITE mode, pressing UP and DOWN key can write out the desired memory block that the
users want to write out.
5. If the desired memory block has not been used, the LCD display will show the message
“xxxxxxxx”. If the desired memory block has been used and there are parameters data saved in
it, the LCD display will show the MCU version of the servo drive and the preset file name, such
as “BL001-XX”. The last two words “XX” can be modified by the users and its range is within 0 ~
9 or A ~Z. The users can select the words by using UP and DOWN keys and change the words
by using SHIFT key.
6. In WRITE mode, pressing MODE key once can return to the previous display and finally exit the
WRITE mode.
7. Only the parameters of the same version, the same inertia and the same model type of the
servo drives can be written out. If the servo drive version stored in the keypad is different than
the actual servo drive version, the users can make them the same via Delta Servo Drive PC
software, ASDAB_SW.
Figure 4.4
WRITE
KPD WRITE
yes?
Press
MODE
key to return to previous display
WRITE
WRITE
KPD WRITE 0.006
ROM00:BL003-00
KPD WRITE 0.006
ROM01:BL003-01
KPD WRITE 0.006
ROM24:BL003-24
Revision June 2009
MODE
KPD WRITE 0.006
ROM00:BL003-00?
ALARM 47
MODEL MATCH ERR
NO
KPD WRITE 0.006
ROM00:writing
YES
WRITE
4-5
Chapter 4 Display and Operation|ASDA-B Series
Fast Edit Mode (Fast Editing, Static & Dynamic Auto-tuning)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing Fast Edit key can switch to Fast Edit mode.
3. In Fast Edit mode, pressing Fast Edit key can execute the function the users select and save
the new parameter settings.
4. In Fast Edit mode, pressing UP and DOWN key can scroll through the functions freely.
5. In Fast Edit mode, the users can enable or disable the Fast Editing function and browse through
the parameters that have been edited before.
6. In Fast Edit mode, when Static Auto-tuning function is enabled, the users can input the value of
responsiveness (frequency width), motor load inertia and stiffness directly.
7. In Fast Edit mode, when Dynamic Auto-tuning function is enabled, the users can input the value
of motor rotation number, motor rotation frequency, motor rotation time and responsiveness
directly.
8. Static Auto-tuning function only can be enabled in Manual mode (P2-32 is set to 0). If it is
enabled in AutoMode, an error message may display.
9. Dynamic Auto-tuning function only can be enabled in AutoMode (P2-32 is set to 1 or 2). If the
users want to use the Dynamic Auto-tuning function in Manual mode, please press MODE key
to skip
FEDIT:AUTO D -L
6
this step (Please see Figure 4.5 on next page).
10. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit
the Fast Edit mode (Please see Figure 4.5 on next page).
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Chapter 4 Display and Operation|ASDA-B Series
Figure 4.5
Fast Editing
STS00:Fb PULSE
0
pulse
MODE
FEDIT:PR EDIT
PR ENABLE
FEDIT:PR EDIT
Fast Edit
FEDIT:PR EDIT
PR DISABLE
Dynamic Auto-tuning
FEDIT:AUTO D
MODE
FEDIT:AUTO D -R
3
HZ
MODE
FEDIT:AUTO S
Fast Edit
FEDIT:AUTO S -BW
100
HZ
FEDIT:AUTO S -BW
101
HZ
FEDIT:AUTO D -F
1.1
HZ
FEDIT:AUTO S -JR
1.1
HZ
Fast Edit
FEDIT:AUTO S -RH
1.000
HZ
FEDIT:AUTO S -RH
1.001
HZ
Fast Edit
FEDIT:AUTO S -RH
PR Dload
Fast Edit
FEDIT:AUTO D -T
15
s
FEDIT:AUTO S
FEDIT:AUTO S -JR
1.0
HZ
Fast Edit
FEDIT:AUTO D -F
1.0
HZ
MODE
Fast Edit
Fast Edit
FEDIT:AUTO D -R
2
rev
Static
Auto-tuning
靜態自動增益
Fast Edit
FEDIT:AUTO D -T
16
s
Fast Edit
FEDIT:AUTO D -L
6
MODE
FEDIT:AUTO D -L
7
Fast Edit
FEDIT:AUTO D -L
PR Dload
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Chapter 4 Display and Operation|ASDA-B Series
4.1.3 Status Display
Save Setting Display
After the SET key is pressed, LCD display will show the following display messages for approx. one
second according to different status.
Display Message
P1 - 0 0 : PTT
The setting value is saved correctly.
END
SET
P0 - 0 0 : VER
R E AD
This parameter is read only. Write-protected. (cannot be changed)
ONLY
P4 - 1 1 : SOF 1
Invalid password or no password was input.
P A S SWOR D
NO
P1 - 02 : PSTL
DATA
The setting value is error or input reserve setting value.
ERR
P1 - 01 : CTL
ERR
SET
AT
Description
SON
The servo module is enabled and this parameter cannot be
changed.
Abort Setting Display
Display Message
Description
In parameter mode, pressing MODE key can abort parameter
setting change and return to monitor mode. In parameter setting
mode, pressing MODE key can return back to parameter mode.
After returning back to parameter mode, pressing MODE key
again can abort parameter setting change.
P0 - 0 0 : VER
A BOR T
Fault Message Display
Display Message
When the AC servo drive has a fault, LCD display will display
“ALARMnn”. “ALARM” indicates the alarm and “nn” indicates the
drive fault code. The display range of alarm code “nn” is 1 to 48.
For the list of drive fault code, please refer to parameter P0-01 or
refer to Chapter 10 (Troubleshooting).
A L ARM 0 1
OVER
Description
CURRENT
Polarity Setting Display
Display Message
P1 - 09 : SP1
10 00
r pm
P1 - 09 : SP1
-
4-8
10 00
r pm
Description
Positive value display. When entering into parameter setting
mode, pressing UP or DOWN arrow key can increase or decrease
the display value. SHIFT key is used to change the selected digit
(The selected digit will blink).
Negative value display. When the parameter setting is greater
than five digits, after the display value is set, continuously press
SHIFT key for six times and then the negative sign will show up to
indicate a negative value.
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Chapter 4 Display and Operation|ASDA-B Series
Monitor Setting Display
In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or
change parameter P0-02 directly to specify the monitor status. When the power is applied, the monitor
status depends on the setting value of P0-02. For example, if the setting value of P0-02 is 2 when the
power is applied, the C.P monitor symbol will first display and then show the “Pulse counts of pulse
command [pulse]” monitor status.
P0-02
Setting
0
1
2
3
4
5
6
7
8
9
10
11
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Display Message
STS00 : Fb
PULSE
pu l se
0
STS01 : Fb
REV
r e v
0
S T S 0 2 : CMD
PULS E
pu l se
0
S T S 0 3 : CMD
REV
r e v
0
S TS0 4 : PULSE
ER R
0
pu l se
S T S 0 5 : Cm d P
FREQ
kHz
0
STS06 : SPEED
0
S T S 0 7 : C MD
0
S T S 0 8 : C MD
0
S T S 0 9 : CMD
0 . 0 0
S T S 1 0 : CMD
0
STS11 : AVG
0
r pm
SPD 1
vo l t
SPD 2
r pm
TQL 1
vo l t
TQL2
N t -m
L O AD
%
Description
Motor feedback pulse number
Unit
pulse
Motor feedback rotation number
rev
Pulse counts of pulse command
pulse
Rotation number of pulse command
Position error counts
rev
pulse
Input frequency of pulse command
kHz
Motor rotation speed
rpm
Speed input command
volt
Speed input command
rpm
Torque input command
volt
Torque input command
Nt-m
Average load
%
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Chapter 4 Display and Operation|ASDA-B Series
P0-02
Setting
12
13
14
15
Display Message
S TS1 2 : PE AK
0
Description
LOAD
%
STS13 : V bus
vo l t
0
STS14 : JL
t i me
0
S T S 1 5 : I GB T
T emp
de gC
0
Peak load
Unit
%
Main circuit voltage
volt
Ratio of load inertia to Motor inertia
time
IGBT Temperature of power supply
module
degC(°C)
The following table lists the display examples of monitor value:
Display Message
STS06 : SPEED
r pm
30 00
STS06 : SPEED
- 30 00
S T S 0 7 : C MD
5 . 0 0
4-10
Description
Positive value display.
Display value: +3000.
Negative value display.
r pm
SPD 1
vo l t
Display value: -3000。
Decimal point display.
Display value: 5.00.
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Chapter 4 Display and Operation|ASDA-B Series
4.1.4 Fault Code Display Operation
After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the
corresponding fault code history for the parameter or press UP arrow key to display the fault code of
ASH1 to ASH5 in order. ASH1 indicates the most recent occurred fault code, ASH2 is the previous
occurred fault code before ASH1 and so on.
Figure 4.8
Fault Code History
P 4 - 0 0 : ASH1
0
P 4 - 0 1 : ASH2
Current Display Fault Code History
SET
Status Display
SET
0
P 4 - 0 2 : ASH3
SET
0
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P 4 - 0 1 : ASH2
P 4 - 0 2 : ASH3
0
SET
0
P 4 - 0 4 : ASH5
0
0
0
P 4 - 0 3 : ASH4
P 4 - 0 0 : ASH1
P 4 - 0 3 : ASH4
0
SET
P 4 - 0 4 : ASH5
0
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Chapter 4 Display and Operation|ASDA-B Series
4.1.5 JOG Operation
After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation
or press JOG key on the digital keypad to enter into parameter setting mode of P4-05 directly.
Step 1. Press the SET key to display the JOG rpm speed. (The default value is 20 rpm).
Step 2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. (This also
can be undertaken by using the SHIFT key to move the cursor to the desired unit column (the
effected number will flash) then changed using the UP and DOWN arrow keys. The example
display in Figure 4.8 is adjusted as 100rpm.)
Step 3. Press the SET key when the desired JOG speed is set. The Servo Drive will display "JOG" and
JOG LED will light up.
Step 4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will only
rotate while the arrow key is activated.
Step 5. To change JOG speed again, press the MODE key. After JOG speed is changed, press the
SET key and the JOG operation will run again. Refer back to #2 and #3 to change speed.
NOTE
1) JOG operation is effective only when Servo On (when the servo drive is enabled).
2) Before pressing JOG key, please ensure to confirm that P2-10 (DI1) is set to 101 (Servo On).
Otherwise, the JOG operation cannot be enabled even if the JOG key has been pressed.
3) The users can set the acceleration and deceleration time in advance (the settings of parameter P134, P1-35 and P1-36).
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Chapter 4 Display and Operation|ASDA-B Series
Figure 4.9
P 4 - 0 5 : J OG
20
r pm
SET
P 4 - 0 5 : J OG
20
r pm
P 4 - 0 5 : J OG
21
r pm
P 4 - 0 5 : J OG
1 00
MODE
r pm
SET
P 4 - 0 5 : J OG
J OG
CCW
Revision June 2009
C
rcl
ounte
o ck w
r pm
is e
CW
Clock
wise
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Chapter 4 Display and Operation|ASDA-B Series
4.1.6 DO Force Output Diagnosis Operation
For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using
parameter P4-06. Follow the setting method in Figure 4.10 to enter into DO force output diagnosis
operation (OP x) mode (“x” indicates the parameter range from 0 to 7). Pressing UP or DOWN arrow
key can change “x” value from 0 to 7 (hexadecimal format) and force digital outputs DO1 to DO3 to be
activated (ON) or inactivated (OFF). The DO function and status is determined by P2-18 to P2-20. This
function is enabled only when Servo Off (the servo drive is disabled).
Figure 4.10
P4 - 0 6 : FOT
0
SET
Force DO1 to be activated
Force DO2 to be activated
P4 - 0 6 : FOT
OP
0
P4 - 0 6 : FOT
OP
1
P4 - 0 6 : FOT
Force DO3 to be activated
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OP
2
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Chapter 4 Display and Operation|ASDA-B Series
4.1.7 DI Diagnosis Operation
Following the setting method in Figure 4.11 can perform DI diagnosis operation (parameter P4-07).
According to the ON and OFF status of the digital inputs DI1 to DI6, the corresponding status will
display on the servo drive LCD display. When the segment lit and display on the screen, it means that
the corresponding digital input signal is ON.
Figure 4.11
P4 - 07 : I TST
5 7
SET
P4 - 07 : I TST
D I
DI6: ON
DI5: ON
DI4: ON
DI3: OFF
DI2: OFF
DI1: ON
4.1.8 DO Diagnosis Operation
Following the setting method in Figure 4.12 can perform DO diagnosis operation (parameter P4-09).
According to the ON and OFF status of the digital outputs DO1 to DO3, the corresponding status will
display on the servo drive LCD display. When the segment lit and display on the screen, it means that
the corresponding digital input signal is ON.
Figure 4.12
P 4 - 0 9 : MOT
6H
SET
P 4 - 0 9 : MOT
DO
DI3: ON
DI2: ON
DI1: OFF
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Chapter 4 Display and Operation|ASDA-B Series
4.1.9 Parameters Read and Write
Digital keypad provides the servo parameters read and write function not only for the servo drive but
also for PC side. The function of parameter read and write must be set via the PC software (Please see
Figure 4.6 & Figure 4.7). The users can use this software to read, write and manage all parameters.
When using this software to read and write parameters, the communication method of keypad
parameter P8-01 must be set to 0.
Figure 4.6
4-16
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Chapter 4 Display and Operation|ASDA-B Series
Figure 4.7
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Chapter 4 Display and Operation|ASDA-B Series
4.2
ASD-PU-01B
4.2.1 Description of Digital Keypad ASD-PU-01B
The digital keypad includes the ASD-PU-01B display panel and function keys. The Figure 4.8 shows all
of the features of the ASD-PU-01B digital keypad and an overview of their functions.
Figure 4.8
Name
Function
LED Display
5-digit LED display shows the monitor codes, parameter settings and operation values
of the AC servo drive.
Status Display
(LED Indication)
SON LED (Servo On Indicator). A lit LED illuminates to indicate that the servo drive is
enabled.
ALRM LED (Alarm Output Indicator). A lit ALRM LED illuminates to indicates that a
alarm output is activated.
JOG LED (JOG Operation Indicator). A lit JOG LED illuminates to indicates that JOG
operation is enabled.
TSPD LED (Speed reached Indicator). A lit TSPD LED illuminates to indicates that the
target speed is reached and TSPD signal is activated.
MODE Key. Pressing MODE key can enter or exit different parameter groups, and
switch between Parameter mode and Parameter Setting mode, SAVE (
mode and WRITE (
)
) mode.
SHIFT Key. In Parameter mode, pressing SHIFT key can scrolls through parameter
) mode, after a parameter is
groups. In Parameter Setting mode and SAVE (
selected and its value displayed, pressing SHIFT key can move the cursor to the left
and then change parameter settings (blinking digits) by using arrow keys.
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Chapter 4 Display and Operation|ASDA-B Series
Name
Function
UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll through
and change monitor codes, parameter groups and various parameter settings.
) mode and WRITE (
) mode, pressing UP and DOWN
In SAVE (
arrow key can scroll through and change the memory blocks. In SAVE mode, pressing
UP and DOWN arrow key can select and change the memory file name also.
SET Key. Pressing SET key can enter into the Parameter Setting mode, then display,
select and save parameter groups and various parameter settings. During diagnosis
operation, pressing SET key can execute the function in the last step.
(The parameter settings changes are not effective until the SET key is pressed.)
Function Key. Pressing Function key can enable JOG, Reset, Parameter Read &
Write, Fast Editing, Static Auto-tuning and Dynamic Auto-tuning these functions.
4.2.2 Display Flowchart
Monitor Mode, Parameter Mode and Parameter Setting Mode
1. When the power is applied to the AC servo drive, the digital keypad will execute communication
initial setup for approximately two seconds (9600bps & 7,N,2 Modbus ASCII) first, and then enter
into the monitor mode.
2. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code.
3. In monitor mode, pressing MODE key can enter into parameter mode, pressing the SHIFT key
can switch parameter group and pressing UP or DOWN arrow key can change parameter group
code.
4. In parameter mode, system will enter into the parameter setting mode immediately after the SET
key is pressed. The LED display will display the corresponding setting value of this parameter
simultaneously. Then, users can use UP or DOWN arrow key to change parameter value or press
MODE key to exit and return back to the parameter mode.
5. In parameter setting mode, users can move the cursor to left by pressing the SHIFT key and
change the parameter settings (blinking digits) by pressing the UP or DOWN arrow key.
6. After the setting value change is completed, press SET key to save parameter settings or execute
command.
7. When the parameter setting is completed, LED display will show the end code “-END-“ and
automatically return back to parameter mode.
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Chapter 4 Display and Operation|ASDA-B Series
Figure 4.9
4-20
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Chapter 4 Display and Operation|ASDA-B Series
SAVE Mode (
Save parameter settings from the Drive to the Keypad)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing FUNC key first. Then, pressing UP key four times or DOWN key
three times can switch to SAVE mode.
3. In SAVE mode, pressing UP and DOWN key can save the desired memory block that the users
want to save.
4. If the desired memory block has not been used, the LED display will show the message “00000”
or “10000” or “20000” or “30000”, etc. If the desired memory block has been used and there are
parameters data saved in it, the LED display will show the MCU version of the servo drive and
the preset file name. For example, if the MCU version is 1.014, the message “01014” or “11014”
or “21014” or “31014”, etc. will show on the LED display. The users can change the save
address (memory block) by using UP and DOWN keys.
5. After the save address (memory block) is selected, press FUNC key, the LED display will show
. At this time, pressing MODE key once can return to the previous display, pressing
FUNC key can record the address and save the data. When recording the address, the LED
display will show
. After the address is saved to the keypad, the LED display will
show “0XXXX” (such as “01012” shown in Figure 4.10 on next page).
6. In SAVE mode, pressing MODE key once can return to the previous display and finally exit the
SAVE mode. However, if the users have pressed the FUNC key and enter into SAVE mode, i.e.
the SAVE operation has been executed, the MODE key will become disabled, and the users
cannot return to previous display and only can move to the next step.
7. The users can save the parameters in some memory block repeatedly on the condition that the
version, inertia and models of the servo drives should be the same. If one of the parameters is
set by the servo drive in different condition, it cannot be saved into the same memory block with
other parameters and must be saved to other memory blocks. Before re-using the same
memory block, please perform the “Memory Block Clear” function first (Please see the
description of parameter P8-11).
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Chapter 4 Display and Operation|ASDA-B Series
Figure 4.10
4-22
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Chapter 4 Display and Operation|ASDA-B Series
WRITE Mode (
Parameter settings written out from Keypad to the Drive)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing FUNC key first. Then, pressing UP key five times or DOWN key two
times can switch to WRITE mode.
3. In WRITE mode, pressing UP and DOWN key can write out the desired memory block that the
users want to write out.
4. If the desired memory block has not been used, the LED display will show the message “00000”
or “10000” or “20000” or “30000”, etc. If the desired memory block has been used, the LED
display will show the MCU version of the servo drive and the preset file name. For example, if
the MCU version is 1.014, the message “01014” or “11014” or “21014” or “31014”, etc. will show
on the LED display. The users can change the write address (memory block) by using UP and
DOWN keys.
5. After the write address (memory block) is selected, press FUNC key, the LED display will show
. At this time, pressing MODE key once can return to the previous display, pressing
FUNC key can record the address and write out the data. When recording the address, the LED
display will show
. After the address is written, the LED display will show “0XXXX”
(such as “01012” shown in Figure 4.11 on next page).
6. In WRITE mode, pressing MODE key once can return to the previous display and finally exit the
WRITE mode.
7. Only the parameters of the same version, the same inertia and the same model type of the
servo drives can be written out. If the servo drive version stored in the keypad is different than
the actual servo drive version, the users can make them the same via Delta Servo Drive PC
software, ASDAB_SW.
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Chapter 4 Display and Operation|ASDA-B Series
Figure 4.11
4-24
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Chapter 4 Display and Operation|ASDA-B Series
Fast Edit Mode (
Fast Editing Function)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing FUNC key once can switch to Fast Edit mode.
3. In Fast Edit mode, pressing FUNC key can enable and disable Fast Editing function. When
display on the LED display, it indicates Fast Editing function is enabled. When
display on the LED display, it indicates Fast Editing function is disabled.
4. In Fast Edit mode, the users can enable or disable the Fast Editing function and browse through
the parameters that have been edited before.
5. In Fast Edit mode, when Static Auto-tuning function is enabled, the users can input the value of
responsiveness (frequency width), motor load inertia and stiffness directly.
6. In Fast Edit mode, when Dynamic Auto-tuning function is enabled, the users can input the value
of motor rotation number, motor rotation frequency, motor rotation time and responsiveness
directly.
7. Static Auto-tuning function only can be enabled in Manual mode (P2-32 is set to 0). If it is
enabled in AutoMode, an error message may display.
8. Dynamic Auto-tuning function only can be enabled in AutoMode (P2-32 is set to 1 or 2). If the
users want to use the Dynamic Auto-tuning function in Manual mode, please press MODE key
to skip the fourth step, which is the step used to specify the responsiveness.
9. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit
the Fast Edit mode (Please see Figure 4.12 below).
Figure 4.12
Revision June 2009
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Chapter 4 Display and Operation|ASDA-B Series
Dynamic Auto-tuning Mode (
Dynamic Auto-tuning Function)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing FUNC key first. Then, pressing UP key two times or DOWN key five
times can switch to Dynamic Auto-tuning mode.
3. In Dynamic Auto-tuning mode, the users can input the value of motor rotation number, motor
rotation frequency, motor rotation time and responsiveness directly.
4. Dynamic Auto-tuning function only can be enabled in AutoMode (P2-32 is set to 1 or 2). If the
users want to use the Dynamic Auto-tuning function in Manual mode, please press MODE key
to skip the fourth step, which is the step used to specify the responsiveness.
5. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit
the Fast Edit mode (Please see Figure 4.13 below).
Figure 4.13
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Chapter 4 Display and Operation|ASDA-B Series
Static Auto-tuning Mode (
Static Auto-tuning Function)
1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor
mode first.
2. In monitor mode, pressing FUNC key first. Then, pressing UP key two times or DOWN key five
times can switch to Static Auto-tuning mode.
3. In Static Auto-tuning mode, the users can input the value of responsiveness (frequency width),
motor load inertia and stiffness directly.
4. Static Auto-tuning function only can be enabled in Manual mode (P2-32 is set to 0). If it is
enabled in AutoMode, an error message may display.
5. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit
the Fast Edit mode (Please see Figure 4.14 below).
Figure 4.14
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Chapter 4 Display and Operation|ASDA-B Series
4.2.3 Status Display
Save Setting Display
After the SET key is pressed, LED display will show the following display messages for approx. one
second according to different status.
Display Message
Description
The setting value is saved correctly.
This parameter is read only. Write-protected. (cannot be changed)
Invalid password or no password was input.
The setting value is error or input reserve setting value.
The servo module is enabled and this parameter cannot be
changed.
Abort Setting Display
Display Message
Description
In parameter mode, pressing MODE key can abort parameter
setting change and return to monitor mode. In parameter setting
mode, pressing MODE key can return back to parameter mode.
After returning back to parameter mode, pressing MODE key
again can abort parameter setting change.
Fault Message Display
Display Message
Description
When the AC servo drive has a fault, LED display will display
“ALEnn”. “ALE” indicates the alarm and “nn” indicates the drive
fault code. The display range of alarm code “nn” is 1 to 48. For the
list of drive fault code, please refer to parameter P0-01 or refer to
Chapter 10 (Troubleshooting).
Polarity Setting Display
Display Message
Description
Positive value display. When entering into parameter setting
mode, pressing UP or DOWN arrow key can increase or decrease
the display value. SHIFT key is used to change the selected digit
(The selected digit will blink).
Negative value display. When the parameter setting is greater
than five digits, after the display value is set, continuously press
SHIFT key for six times and then the negative sign will show up to
indicate a negative value.
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Chapter 4 Display and Operation|ASDA-B Series
Monitor Setting Display
In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or
change parameter P0-02 directly to specify the monitor status. When the power is applied, the monitor
status depends on the setting value of P0-02. For example, if the setting value of P0-02 is 2 when the
power is applied, the monitor function will be “Pulse counts of pulse command”, the C.P monitor codes
will first display and then the pulse number will display after.
P0-02
Setting
Display Message
Description
Unit
0
Motor feedback pulse number
1
Motor feedback rotation number
rev
2
Pulse counts of pulse command
pulse
3
Rotation number of pulse command
4
Position error counts
5
Input frequency of pulse command
kHz
6
Motor rotation speed
rpm
7
Speed input command
volt
8
Speed input command
rpm
9
Torque input command
volt
10
Torque input command
Nt-m
11
Average load
%
12
Peak load
%
13
Main circuit voltage
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pulse
rev
pulse
volt
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Chapter 4 Display and Operation|ASDA-B Series
P0-02
Setting
Display Message
Description
Unit
14
Ratio of load inertia to Motor inertia
time
15
IGBT Temperature of power supply
module
degC(°C)
The following table lists the display examples of monitor value:
Display Message
Description
Positive value display.
Display value: +3000.
Negative value display.
Display value: -3000。
Decimal point display.
Display value: 5.00.
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Chapter 4 Display and Operation|ASDA-B Series
4.2.4 Fault Code Display Operation
After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the
corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1
to H5 in order. H1 indicates the most recent occurred fault code, H2 is the previous occurred fault code
before H1 and so on.
Figure 4.15
4.2.5 JOG Operation
After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation
or press FUNC key on the digital keypad to enter into JOG mode (parameter setting mode of P4-05)
directly.
Step 1 Press the FUNC key to display the JOG rpm speed. (The default value is 20 rpm).
Step 2 Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. (This also
can be undertaken by using the SHIFT key to move the cursor to the desired unit column (the
effected number will flash) then changed using the UP and DOWN arrow keys. The example
display in Figure 4.16 is adjusted as 21rpm.)
Step 3 Press the SET key when the desired JOG speed is set. The Servo Drive will display
and JOG LED will light up.
Step 4 Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will only
rotate while the arrow key is activated.
Step 5 To change JOG speed again, press the MODE key. After JOG speed is changed, press the
SET key and the JOG operation will run again. Refer back to #2 and #3 to change speed.
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NOTE
1) JOG operation is effective only when Servo On (when the servo drive is enabled).
2) Before using JOG function, please ensure to confirm that P2-10 (DI1) is set to 101 (Servo On).
Otherwise, the JOG operation cannot be enabled even if the FUNC key has been pressed.
3) The users can set the acceleration and deceleration time in advance (the settings of parameter P134, P1-35 and P1-36).
Figure 4.16
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4.2.6 DO Force Output Diagnosis Operation
For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using
parameter P4-06. Follow the setting method in Figure 4.17 to enter into DO force output diagnosis
operation (OP x) mode (“x” indicates the parameter range from 0 to 7). Pressing UP or DOWN arrow
key can change “x” value from 0 to 7 (hexadecimal format) and force digital outputs DO1 to DO3 to be
activated (ON) or inactivated (OFF). The DO function and status is determined by P2-18 to P2-20. This
function is enabled only when Servo Off (the servo drive is disabled).
Figure 4.17
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4.2.7 DI Diagnosis Operation
Following the setting method in Figure 4.18 can perform DI diagnosis operation (parameter P4-07).
According to the ON and OFF status of the digital inputs DI1 to DI6, the corresponding status will
display on the servo drive LED display. When the segment lit and display on the screen, it means that
the corresponding digital input signal is ON.
Figure 4.18
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4.2.8 DO Diagnosis Operation
Following the setting method in Figure 4.19 can perform DO diagnosis operation (parameter P4-09).
According to the ON and OFF status of the digital outputs DO1 to DO3, the corresponding status will
display on the servo drive LED display. When the segment lit and display on the screen, it means that
the corresponding digital input signal is ON.
Figure 4.19
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Chapter 4 Display and Operation|ASDA-B Series
4.2.9 Parameters Read and Write
Digital keypad provides the servo parameters read and write function not only for the servo drive but
also for PC side. The function of parameter read and write must be set via the PC software (Please see
Figure 4.20 & Figure 4.21). The users can use this software to read, write and manage all parameters.
When using this software to read and write parameters, the communication method of keypad
parameter P8-01 must be set to 0.
Figure 4.20
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Figure 4.21
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Chapter 5 Trial Run and Tuning Procedure
This chapter describes trial run and tuning procedure for servo drive and motor. Trial run, which is divided
into two parts, one part is to introduce the trial run without load, and the other part is to introduce trial run with
load. Ensure to complete the trial run without load first before performing the trial run with load. Tuning
procedure includes the tuning process, flowchart, and the relevant parameters of AutoMode (PI & PDFF)
mode and Manual mode
5.1
Inspection without Load
In order to prevent accidents and avoid damaging the servo drive and mechanical system, the trial run
should be performed under no load condition (no load connected, including disconnecting all couplings and
belts). Do not run servo motor while it is connected to load or mechanical system because the unassembled
parts on motor shaft may easily disassemble during running and it may damage mechanical system or even
result in personnel injury. After removing the load or mechanical system from the servo motor, if the servo
motor can runs normally following up the normal operation procedure (when trial run without load is
completed), then user can connect to the load and mechanical system to run the servo motor.
¾ In order to prevent accidents, the initial trial run for servo motor should be conducted under no load conditions
(separate the motor from its couplings and belts).
¾ Caution: Please perform trial run without load first and then perform trial run with load connected. After the
servo motor is running normally and regularly without load, then run servo motor with load connected. Ensure
to perform trial run in this order to prevent unnecessary danger.
After power in connected to AC servo drive, the charge LED will light and it indicates that AC servo drive is
ready. Please check the followings before trial run in order to find the problem and correct it in advance.
Doing this can avoid the damage to the servo drive and servo motor.
Item
Content
z
z
z
z
Inspection before
z
operation
z
(Control power is not
applied)
z
z
z
z
z
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Inspect the servo drive and servo motor to insure they were not damaged.
To avoid an electric shock, be sure to connect the ground terminal of servo drive
to the ground terminal of control panel.
Before making any connection, wait 10 minutes for capacitors to discharge after
the power is disconnected, alternatively, use an appropriate discharge device to
discharge.
Ensure that all wiring terminals are correctly insulated.
Ensure that all wiring is correct or damage and or malfunction may result.
Visually check to ensure that there are not any unused screws, metal strips, or
any conductive or inflammable materials inside the drive.
Never put inflammable objects on servo drive or close to the external
regenerative resistor.
Make sure control switch is OFF.
If the electromagnetic brake is being used, ensure that it is correctly wired.
If required, use an appropriate electrical filter to eliminate noise to the servo drive.
Ensure that the external applied voltage to the drive is correct and matched to the
controller.
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Item
Content
z
z
Inspection during
operation
(Control power is
applied))
z
z
z
z
5-2
Ensure that the cables are not damaged, stressed excessively or loaded heavily.
When the motor is running, pay close attention on the connection of the cables
and notice that if they are damaged, frayed or over extended.
Check for abnormal vibrations and sounds during operation. If the servo motor is
vibrating or there are unusual noises while the motor is running, please contact
the dealer or manufacturer for assistance.
Ensure that all user-defined parameters are set correctly. Since the
characteristics of various machinery are different, in order to avoid accident or
cause damage, do not adjust the parameter abnormally and ensure the
parameter setting is not an excessive value.
Ensure to reset some parameters when the servo drive is off (Please refer to
Chapter 7). Otherwise, it may result in malfunction.
If there is no contact sound or there be any unusual noises when the relay of the
servo drive is operating, please contact your distributor for assistance or contact
with Delta.
Check for abnormal conditions of the power indicators and LED display. If there is
any abnormal condition of the power indicators and LED display, please contact
your distributor for assistance or contact with Delta.
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5.2
Applying Power to the Drive
Users please observe the following steps when applying power supply to the servo drive.
1. Please check and confirm the wiring connection between the drive and motor is correct.
1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables
separately (U: Red, V: White, W: Black, FG: Green). If not connect to the specified cable and
terminal, then the drive cannot control motor. The motor grounding lead, FG must connect to
grounding terminal. For more information of cables, please refer to section 3.1.
2) Ensure to connect encoder cable to CN2 connector correctly. If users only desire to execute JOG
operation, it is not necessary to make any connection to CN1 and CN3 connector. For more
information of the connection of CN2 connector, please refer to Section 3.1 and 3.4.
¾ Do not connect the AC input power (R, S, T) to the (U, V, W) output terminals. This will damage the AC servo
drive.
2. Main circuit wiring
Connect power to the AC servo. For three-phase input power connection and single-phase input power
connection, please refer to Section 3.1.3.
3. Turn the Power On
The servo power is main circuit power (R, S, T). When the power is on, the AC servo drive will start many
items of self-test. After the test, if
displays and blinks on the LCD display, it indicates that the testing
result is normal. If there is any text or value displayed on the display, please refer to parameter P0-01
(Drive Fault Code) to know the fault message and refer to Chapter 10 (Troubleshooting) to clear or
remove the fault.
1) When display shows:
Over voltage:
The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect
power input).
Corrective Actions:
„
Use voltmeter to check whether the input voltage falls within the rated input voltage.
„
Use voltmeter to check whether the input voltage is within the specified limit.
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2) When display shows:
Encoder error:
Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or incorrect.
Corrective Actions:
„
Check if the user performs wiring recommended in the user manual.
„
Examine the encoder connector and cable.
„
Inspect whether wire is loose or not.
„
Check if the encoder is damaged.
3) When display shows:
Emergency stop activated:
Please check if any of digital inputs DI1~DI6 signal is set to “Emergency Stop” (EMGS).
Corrective Actions:
„
If it does not need to use “Emergency Stop (EMGS)” as input signal, the users only need to
confirm that if all of the digital inputs DI1~DI6 are not set to “Emergency Stop (EMGS)”. (The
setting value of parameter P2-10 to P2-15 is not set to 21.)
„
If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to
confirm that which of digital inputs DI1~DI6 is set to “Emergency Stop (EMGS)” and check if
the digital input signal is ON (It should be activated).
4) When display shows:
Reverse limit switch error:
Please check if any of digital inputs DI1~DI6 signal is set to “Reverse inhibit limit (CWL)” and check if
the signal is ON or not.
Corrective Actions:
„
If it does not need to use “Reverse inhibit limit (CWL)” as input signal, the users only need to
confirm that if all of the digital inputs DI1~DI6 are not set to “Reverse inhibit limit (CWL)”. (The
setting value of parameter P2-10 to P2-15 is not set to 22.)
„
If it is necessary to use “Reverse inhibit limit (CWL)” as input signal, the users only need to
confirm that which of digital inputs DI1~DI6 is set to “Reverse inhibit limit (CWL)” and check if
the digital input signal is ON (It should be activated).
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5) When display shows:
Forward limit switch error:
Please check if any of digital inputs DI1~DI6 signal is set to “Forward inhibit limit (CCWL)” and check if
the signal is ON or not.
Corrective Actions:
„
If it is no need to use “Forward inhibit limit (CCWL)” as input signal, the users only need to
confirm that if all of the digital inputs DI1~DI8 are not set to “Forward inhibit limit (CCWL)”. (The
setting value of parameter P2-10 to P2-15 is not set to 23.)
„
If it is necessary to use “Forward inhibit limit (CCWL)” as input signal, the users only need to
confirm that which of digital inputs DI1~DI6 is set to “Forward inhibit limit (CCWL)” and check if
the digital input signal is ON (It should be activated).
When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On
(SON) function is enabled) and the following fault message shows on the display:
6) When display shows:
Overcurrent:
Corrective Actions:
„
Check the wiring connections between the servo drive and motor.
„
Check if the circuit of the wiring is closed.
„
Remove the short-circuited condition and avoid metal conductor being exposed.
7) When display shows:
Undervoltage:
Corrective Actions:
„
Check whether the wiring of main circuit input voltage is normal.
„
Use voltmeter to check whether input voltage of main circuit is normal.
„
Use voltmeter to check whether the input voltage is within the specified specification.
8) When display shows:
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Magnetic field error:
Corrective Actions:
„
Check if the encoder is abnormal.
„
Verify the encoder connector.
9) When display shows:
Input power phase loss:
Corrective Actions:
„
Verify the main circuit power R, S, T. Check for possible poor connection on the power cable.
„
Check if one phase of the input power is lost.
NOTE
1) If there are any unknown fault codes and abnormal display when applying power to the drive or servo on
is activated (without giving any command), please inform the distributor or contact with Delta for
assistance.
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5.3
JOG Trial Run without Load
It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the
wiring. The external wiring is not necessary and the users only need to connect the digital keypad (ASD-PU01A or ASD-PU-01B) to the servo drive. For safety, it is recommended to set JOG speed at low speed.
Please refer to the following steps to perform JOG trial run without load.
5.3.1 ASD-PU-01A Tuning Flowchart
STEP 1: Turn the drive ON through software. Ensure that there is no fault message display on the LCD
display and the servo drive is normal.
STEP 2: Press JOG key on the keypad and the drive will enter into JOG operation mode automatically.
(At this time, the servo drive is enabled (Servo On).)
STEP 3: The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust
the digit number of the displayed value.
STEP 4: Pressing SET key can determine the speed of JOG operation.
STEP 5: Pressing UP key and the servo motor will run in CCW direction. After releasing UP key, the
motor will stop running.
STEP 6: Pressing DOWN key and the servo motor will run in CW direction. After releasing DOWN key,
the motor will stop running.
CW and CCW Definition:
CCW (Counterclockwise): when facing the servo motor shaft, CCW is reverse running.
CW (Clockwise): when facing the servo motor shaft, CW is forward running.
STEP 7: When pressing MODE key, it can exit JOG operation mode.
NOTE
Please note that JOG operation cannot be used when EMGS occurs (ALE13, Emergency stop activated).
However, if CWL (ALE14, Reverse inhibit limit) or CCWL (ALE15, Forward inhibit limit) occurs during
JOG operation, the users can still use JOG operation without problem.
Please refer to the description of Section 4.1.5 in Chapter 4.
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5.3.2 ASD-PU-01B Tuning Flowchart
STEP 1: Turn the drive ON through software. Ensure that there is no fault message display on the LED
display and the servo drive is normal.
STEP 2: Press FUNC key on the keypad first. Then, press UP key three times or DOWN key four times
can enter into JOG operation mode automatically. (At this time, the servo drive is enabled
(Servo On).)
STEP 3: Pressing FUNC key can enter into change JOG speed mode.
STEP 4: The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust
the digit number of the displayed value.
STEP 5: Pressing SET key can determine the speed of JOG operation. After the JOG speed is
determined,
will show on the LED display.
STEP 5: Pressing UP key and the servo motor will run in CCW direction. After releasing UP key, the
motor will stop running.
STEP 6: Pressing DOWN key and the servo motor will run in CW direction. After releasing DOWN key,
the motor will stop running.
CW and CCW Definition:
CCW (Counterclockwise): when facing the servo motor shaft, CCW is reverse running.
CW (Clockwise): when facing the servo motor shaft, CW is forward running.
STEP 7: When pressing MODE key, it can exit JOG operation mode. (
will show on the LED
display after exiting JOG operation mode. At this time, if the users press MODE key once, the
servo drive will enter into monitor mode again.)
NOTE
1) Please note that JOG operation cannot be used when EMGS occurs (ALE13, Emergency stop activated).
However, if CWL (ALE14, Reverse inhibit limit) or CCWL (ALE15, Forward inhibit limit) occurs during
JOG operation, the users can still use JOG operation without problem.
2) Please refer to the description of Section 4.2.5 in Chapter 4.
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5.4
Speed Trial Run without Load
Before speed trial run, fix and secure the motor as possible to avoid the danger from the reacting
force when motor speed changes.
STEP 1:
Set the value of parameter P1-01 to 4 and it is speed (Sz) control mode. Please ensure to set P1-01 when
the servo drive is Off (Servo Off). After selecting the operation mode as speed (Sz) control mode, please
restart the drive as P1-01 is effective only after the servo drive is restarted (after switching power off and on).
STEP 2:
In speed control mode, the necessary Digital Inputs are listed as follows:
Digital Input
Parameter Setting
Value
Sign
Function Description
CN1 PIN No.
DI1
P2-10=101
SON
Servo On
DI1-=17
DI2
P2-11=109
TRQLM
Torque limit enabled
DI2-=18
DI3
P2-12=114
SPD0
Speed command selection 0
DI3-=5
DI4
P2-13=115
SPD1
Speed command selection 1
DI4-=3
DI5
P2-14=102
ARST
Alarm Reset
DI5-=15
DI6
P2-15=0
Disabled
This DI function is disabled
DI6-=14
By default, DI4 is the function of reverse inhibit limit, DI5 is the function of forward inhibit limit and DI6 is the
function of emergency stop (DI6), if the users do not set the setting value of parameters P2-13 to P2-15 to 0
(Disabled), the faults (ALE13, 14 and 15) will occur (For the information of fault messages, please refer to
Chapter 10). Therefore, if the users do not need to use these three digit inputs, please set the setting value
of parameters P2-13 to P2-15 to 0 (Disabled) in advance. Now, we need to use DI4 and D5 (please refer to
the above table), so it only needs to disable the DI6, i.e. set the setting value of parameter P2-15 to 0.
All the digital inputs of Delta ASDA-B series are user-defined, and the user can set the DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please
refer to Table 7.A in Chapter 7).
The speed command is selected by SPD0, SPD1. Please refer to the following table:
Speed
Command No.
DI signal of CN1
SPD1
SPD0
S1
0
0
S2
0
1
S3
1
0
S4
1
1
Command Source
Content
Range
N/A
Speed command is
0(zero)
N/A
P1-09
-5000 ~ 5000rpm
P1-10
-5000 ~ 5000rpm
P1-11
-5000 ~ 5000rpm
Internal parameter
0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
If any alarm code displays after the setting is completed, the users can restart the drive or set DI5 to be
activated to clear the fault. Please refer to section 5.2.
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Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series
The settings of speed command:
P1-09 is set to 3000
Input value command
Rotation direction
P1-10 is set to 100
+
CCW
P1-11 is set to -3000
-
CW
STEP 3:
1.
The users can use DI1 to enable the servo drive (Servo ON).
2.
If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At this time, the
motor speed command is 0(zero).
3.
If only DI3 is ON (SPD0), it indicates S2 command (P1-09 is set to 3000) is selected, and the motor
speed should be 3000rpm at this time.
4.
If only DI4 is ON (SPD1), it indicates S3 command (P1-10 is set to 100) is selected, and the motor
speed should be 100rpm at this time.
5.
If DI3 (SPD0) and DI4 (SPD1) are ON both, it indicates S4 command (P1-11 is set to -3000) is
selected, and the motor speed should be -3000rpm at this time.
6.
Repeat the action of (3), (4), (5) freely.
7.
When the users want to stop the speed trial run, use DI1 to disable the servo drive (Servo OFF).
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5.5
„
Tuning Procedure
ASD-PU-01A
Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode
Tuning Procedure
1. After wiring is completed, when power in connected to the AC servo
drive, the right side display will show on the LCD display.
2. Press MODE key to enter into parameter mode.
3. Press SHIFT key twice to select parameter group.
4. Press UP key to view each parameter and select parameter P2-13.
5. Use UP and DOWN key to cycle through the available settings.
Then, press SET key to set the setting value of parameter P2-13 as
shown on the right side display (Set DI Enabled Status to “Normally
open” status).
Display Message
A L ARM
CCW
F
L I M I T
P0 - 0 0 : VER
1 . 00 8
P 2 - 0 0 : KPP
50
22
P2 - 13 : DI 4
122
P2 - 14 : DI 5
7. Repeat the action of item 4 and 5. Set the setting value of parameter
P2-15 as shown on the right side display.
P2 - 15 : DI 6
123
121
STS00 : Fb
0
9. Press DOWN key twice to select the ratio of Load Inertia to Servo
Motor Inertia (J_load /J_motor).
STS14 : JL
10. Press JOG key on the keypad and the right side display will show on
the LCD display (The default JOG speed value is 20rpm.)
P 4 - 0 5 : J OG
11. Press UP and DOWN key to increase and decrease JOG speed.
Press SHIFT key one time can add one digit number. Adjust JOG
speed as 200rpm shown on the right side display.
P 4 - 0 5 : J OG
12. After select desired JOG speed, press SET key and the right side
display show on the LCD display.
P 4 - 0 5 : J OG
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r a d / s
P2 - 13 : DI 4
6. Repeat the action of item 4 and 5. Set the setting value of parameter
P2-14 as shown on the right side display.
8. Press MODE key to enter into Monitor mode.
ERR
0 . 3
20
2 00
J OG
PULSE
pu l se
t i me
r pm
r pm
r pm
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Tuning Procedure
13. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation.
14. Execute JOG operation in low speed first. After the machine is running smoothly, then execute JOG
operation in high speed.
15. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of
JOG parameter P4-05 operation. Please press MODE key twice continuously and the users can see
the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, execute JOG operation again,
press MODE key once and press SET key twice to view the display on the keypad. Check if the value
of J_load /J_motor is adjusted to a fixed value and displayed on the keypad after acceleration and
deceleration repeatedly.
„
ASD-PU-01B
Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode
Tuning Procedure
Display Message
1. After wiring is completed, when power in connected to the AC servo
drive, the right side display will show on the LED display.
2. Press MODE key to enter into parameter mode.
3. Press SHIFT key twice to select parameter group.
4. Press UP key to view each parameter and select parameter P2-13.
5. Use UP and DOWN key to cycle through the available settings.
Then, press SET key to set the setting value of parameter P2-13 as
shown on the right side display (Set DI Enabled Status to “Normally
open” status).
6. Repeat the action of 4 and 5. Set the setting value of parameter P214 as shown on the right side display.
7. Repeat the action of 4 and 5. Set the setting value of parameter P215 as shown on the right side display.
8. Press MODE key to enter into Monitor mode.
9. Press DOWN key twice to select the ratio of Load Inertia to Servo
Motor Inertia (J_load /J_motor).
10. Press FUNC key on the keypad to enter into JOG mode, and the
right side display will show on the LED display
11. The default JOG speed value is 20rpm. The users can press UP and
DOWN key to increase and decrease JOG speed. Press SHIFT key
one time can add one digit number. Adjust JOG speed as 200rpm
shown on the right side display.
12. After select desired JOG speed, press SET key and the right side
display show on the LCD display.
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Tuning Procedure
13. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation.
14. Execute JOG operation in low speed first. After the machine is running smoothly, then execute JOG
operation in high speed.
15. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of
JOG parameter P4-05 operation. Please press MODE key twice continuously and the users can see
the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, execute JOG operation again,
press MODE key once and press SET key twice to view the display on the keypad. Check if the value
of J_load /J_motor is adjusted to a fixed value and displayed on the keypad after acceleration and
deceleration repeatedly.
5.5.1 Tuning Flowchart
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5.5.2 Load Inertia Estimation Flowchart
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5.5.3 AutoMode (PI) Tuning Flowchart
P2-31 Auto Stiffness and Responsiveness Level (Default setting: 6)
Function:
This parameter allows user to set the stiffness and responsiveness level automatically. Users can
control the stiffness and responsiveness according to application condition. When the setting value is
higher, the stiffness and responsiveness is higher.
Adjust P2-31: Increase the setting value of P2-31 to speed the responsiveness or reduce the noise.
Continuously adjust until the satisfactory performance is achieved, and then the tuning is completed.
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Table 5.A P2-31 Value in AutoMode(PI) and the setting of Speed Loop Responsiveness and P2-25.
Setting Value of P2-31
Speed Loop Responsiveness
Low-pass Filter Time Constant of
Resonance Suppression (P2-25)
0
10 Hz
125
1
15 Hz
83
2
20 Hz
62
3
25 Hz
50
4
30 Hz
41
5
35 Hz
35
6
45 Hz
27
7
55 Hz
22
8
65 Hz
19
9
80 Hz
15
A
100 Hz
12
B
120 Hz
10
C
145 Hz
8
D
170 Hz
7
E
205 Hz
6
F
250 Hz
5
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5.5.4 AutoMode (PDFF) Tuning Flowchart
P2-31 Auto Stiffness and Responsiveness Level (Default setting: 6)
Function:
This parameter allows user to set the stiffness and responsiveness level automatically. Users can
control the stiffness and responsiveness according to application condition. When the setting value is
higher, the stiffness and responsiveness is higher.
Adjust P2-31: Increase the setting value of P2-31 to speed the responsiveness or reduce the noise.
Adjust P2-26: Increase and adjust the setting value of P2-26 according to the setting value of P2-31.
Continuously adjust until the satisfactory performance is achieved, and then the tuning is completed.
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Table 5.B P2-31 Value in AutoMode(PDFF) and the setting of Speed Loop Responsiveness.
Setting Value of
P2-31
Speed Loop Responsiveness
Setting Value of
P2-31
Speed Loop Responsiveness
0
10 Hz
8
65 Hz
1
15 Hz
9
80 Hz
2
20 Hz
A
100 Hz
3
25 Hz
B
120 Hz
4
30 Hz
C
145 Hz
5
35 Hz
D
170 Hz
6
45 Hz
E
260 Hz
7
55 Hz
F
300 Hz
5.5.5 Limit of Load Inertia Estimation
1. The accel. / decel. time for reaching 2000RPM must be below 1 second. The rotation speed must
be above 200RPM. The load inertia must be 100 multiple or less of motor inertia. The change of
external force and the inertia ratio can not be too much.
2. The measured load inertia value will not be saved when the power is cut off. When re-apply the
power to the drive every time, the setting value of P1-37 is equal to the initial value of load inertia
value. But, when the Tuning Mode Settings of P2-32 is set from AutoMode #1 to AutoMode #2, the
measured inertia value will be memorized in P1-37 automatically.
5-18
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Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series
5.5.6 Relationship between Tuning Modes and Parameters
Tuning Mode
Manual Mode
AutoMode (PI)
[Continuous]
AutoMode (PI)
[Fixed Inertia]
(The inertia ratio
is determined by
P1-37)
AutoMode (PDFF)
[Continuous]
AutoMode (PDFF)
[Fixed Inertia]
(The inertia ratio
is determined by
P1-37)
Revision June 2009
P2-32
AutoSet
Parameter
User-defined Parameter
Gain Value
0(Default
setting)
None
P2-00 (Proportional Position Loop Gain)
P2-04 (Proportional Speed Loop Gain)
P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant
(Resonance Suppression))
P2-26 (External Anti-Interference Gain)
11
P2-00
P2-04
P2-06
P2-25
P2-31 (Auto Stiffness and Responsiveness
Level)
P2-26 (External Anti-Interference Gain)
Continuous
Adjusting
12
P2-00
P2-04
P2-06
P2-25
P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 (Auto Stiffness and Responsiveness
Level)
P2-26 (External Anti-Interference Gain)
Fixed
1
P2-00
P2-02
P2-04
P2-06
P2-25
P2-26
2
P2-00
P2-02
P2-04
P2-06
P2-25
P2-26
P2-31 (Auto Stiffness and Responsiveness
Level)
P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 (Auto Stiffness and Responsiveness
Level)
Fixed
Continuous
Adjusting
Fixed
5-19
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series
5.5.7 Gain Adjustment in Manual Mode
The position and speed responsiveness selection is depending on and determined by the the control
stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the
high frequency positioning control of mechanical facilities and the applications of high precision process
system. However, the higher responsiveness may easily result in the resonance of machinery system.
Therefore, for the applications of high responsiveness, the machinery system with control stiffness is
needed to avoid the resonance. Especially when adjusting the responsiveness of unfamiliar machinery
system, the users can gradually increase the gain setting value to improve responsiveness untill the
resonance occurs, and then decrease the gain setting value. The relevant parameters and gain
adjusting methods are described as follows:
„
KPP, Parameter P2-00 Proportional Position Loop Gain
This parameter is used to determine the responsiveness of position loop (position loop gain). It
could be used to increase stiffness, expedite position loop response and reduce position error.
When the setting value of KPP is higher, the response to the position command is quicker, the
position error is less and the settling time is also shorter. However, if the setting value is over high,
the machinery system may generate vibration or noise, or even overshoot during positioning. The
position loop responsiveness is calculated as follows:
Position Loop Responsiveness (Hz)=
„
KPP
2
KVP, Parameter P2-04 Proportional Speed Loop Gain
This parameter is used to determine the responsiveness of speed loop (speed loop gain). It could
be used to expedite speed loop response. When the setting value of KVP is higher, the response
to the speed command is quicker. However, if the setting value is over high, it may result in the
resonance of machinery system. The responsiveness of speed loop must be higher than the 4~6
times of the responsiveness of position loop. If responsiveness of position loop is higher than the
responsiveness of speed loop, the machinery system may generate vibration or noise, or even
overshoot during positioning. The speed loop responsiveness is calculated as follows:
S pee d Loop Responsiveness f v( Hz) = (
„
(1 + P1-37 / 10)
KV P
)x [
]x 2
2
(1 + (J L / J M))
JM: Motor inert ia
JL: Load inertia
P1-37: 0. 1 t imes
KVI, Parameter P2-06 Speed Integral Compensation
If the setting value of KVI is higher, the capability of decreasing the speed control deviation is
better. However, if the setting value is over high, it may easily result in the vibration of machinery
system. The recommended setting value is as follows:
KVI (Parameter P2-06)
5-20
1.5 x Speed Loop Responsiveness
Revision June 2009
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series
„
NLP, Parameter P2-25 Low-pass Filter Time Constant (Resonance Suppression)
When the value of (J_load / J_motor) is high, the responsiveness of speed loop may decrease. At
this time, the users can increase the setting value of KVP (P2-04) to keep the responsiveness of
speed loop. However, when increasing the setting value of KVP (P2-04), it may easily result in the
vibration of machinery system. Please use this parameter to suppress or eliminate the noise of
resonance. If the setting value of NLP is higher, the capability of improving the noise of resonance
is better. However, if the setting value is over high, it may easily lead to the instability of speed
loop and overshoot of machinery system.
The recommended setting value is as follows:
NLP (Parameter P2-25)
„
1000
4 x Speed Loop Responsiveness (Hz)
DST, Parameter P2-26 External Anti-Interference Gain
This parameter is used to enhance the anti-interference capability and reduce the occurrence of
overshoot. The default setting is 0 (Disabled). It is not recommended to use it in manual mode
only when performing a few tuning in AutoMode (Please refer to P2-32).
„
PFG, Parameter P2-02 Position Feed Forward Gain
This parameter is used to reduce position error and shorten the positioning settling time. However,
if the setting value is over high, it may easily lead to the overshoot of machinery system. If the
value of electronic gear ratio (1-44 /1-45) is over than 10, the machinery system may also easily
generate vibration or noise.
Revision June 2009
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Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series
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5-22
Revision June 2009
Chapter 6 Control Modes of Operation
6.1
Control Modes of Operation
The Delta ASDA-B series Servo can be programmed to provide five single and three dual modes of
operation. Their operation and description is listed in the following Table 6.A.
Mode
External Position
Control
Code
P
Description
00
Position control for the servo motor is achieved via an external
pulse command.
Speed control for the servo motor can be achieved via
Speed Control
S
02
parameters set within the controller or from an external analog 10 ~ +10 Vdc command. Control of the internal speed
parameters is via the Digital Inputs (DI). (A maximum of three
speeds can be stored internally).
Speed control for the servo motor is only achieved via
Internal Speed
Single
Mode
Control
Torque Control
Internal Torque
Control
Dual Mode
Sz
04
parameters set within the controller. Control of the internal
speed parameters is via the Digital Inputs (DI). (A maximum of
three speeds can be stored internally).
03
Torque control for the servo motor can be achieved via
parameters set within the controller or from an external analog 10 ~ +10 Vdc command. Control of the internal torque
parameters is via the Digital Inputs (DI). (A maximum of three
torque levels can be stored internally).
Tz
05
Torque control for the servo motor is only achieved via
parameters set within the controller. Control of the internal
torque parameters is via the Digital Inputs (DI). (A maximum of
three torque levels can be stored internally).
S-P
06
Either S or P control mode can be selected via the Digital Inputs
(DI). (Please refer to Chapter 7 for more detailed DI setting.)
T-P
07
Either T or P control mode can be selected via the Digital Inputs
(DI). (Please refer to Chapter 7 for more detailed DI setting.)
S-T
10
T
Either S or T control mode can be selected via the Digital Inputs
(DI). (Please refer to Chapter 7 for more detailed DI setting.)
Table 6.A
The steps of changing mode:
(1)
Switching the servo drive to Servo Off status. Turning SON signal of Digit input to be off can complete
this action.
(2)
Using parameter P1-01. (Refer to chapter 7).
(3)
After the setting is completed, cut the power off and restart the drive again.
Revision June, 2009
6-1
Chapter 6 Control Modes of Operation|ASDA-B Series
The following sections describe the operation of each control mode, including control structure, command
source and loop gain adjustment, etc.
6.2
Position Control Mode
The position control mode (P mode) is usually used for the applications requiring precision positioning, such
as industry positioning machine, indexing table etc. Delta ASDA-B series servo drive supports one kind of
command source in position control mode. That is external pulse train with direction which can control the
rotation angle of servo motor. The max. input frequency for the external pulse command is 500Kpps (Line
Driver) or 200Kpps (Open Collector) and it is equal to rotation speed of 3000rpm.
For the closed-loop positioning, speed control loop is the principal part and the auxiliary parameters are
position loop gain and feed forward compensation. The users can also select two kinds of tuning mode
(Manual/Auto modes) to perform gain adjustment. This Section 6.2 mainly describes the applicability of loop
gain adjustment and feed forward compensation of Delta servo system.
6.2.1 Command Source of Position Control Mode
The command source of P mode is external pulse train input form terminals. There are three types of
pulse input and each pulse type is with·logic type (positive (+), negative (-)). They all can be set in
parameter P1-00. Please refer to the following:
Position pulse can be input from these terminals, PULSE (22), /PULSE (21) and SIGN (20), /SIGN (19).
It can be an open-collector circuit or line driver circuit. For the detail wiring, please refer to section 3.6.1.
Relevant parameters:
P1 - 00▲ PTT
External Pulse Input Type
Communication Addr.: 0100H
Default: 2
Related Section:
Applicable Control Mode: P
Section 3.3.3, Section 3.6.1,
Unit: N/A
Section 6.2.1
Range: 0 ~ 142
Settings:
ASD-PU-01A
ASD-PU-01B
P1 - 00 : PTT
2
Pulse type
Reserved
Logic type
Not used
• Pulse type
0: AB phase pulse (4x)
1: CW + CCW pulse
2: Pulse + Direction
6-2
Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
Other setting: Reversed
Input pulse interface
Max. input pulse frequency
Line driver
500kpps
Open collector
200kpps
• Logic type
Pulse Type
0=Positive Logic
Forward
Reverse
1=Negative Logic
Forward
Reverse
AB phase pulse
CW + CCW pulse
Pulse + Direction
6.2.2 Structure of Position Control Mode
Basic Structure:
Position Command
Position Command
Processing
Position Control
Block Diagram
Speed
Loop
Current
Loop
Output Position
In order to pursue the goal of perfection in position control, the pulse signal should be modified through
position command processing and the structure is shown as the figure below:
Pulse type
selection
P1-00
Pulse
Signal
INHIBIT
Revision June, 2009
Electronic
gear ratio (1)
P1-44, P1-45
Electronic
gear ratio (2)
P1-15, P1-45
Low-pass
Filter P1-08
GNUM0
6-3
Chapter 6 Control Modes of Operation|ASDA-B Series
6.2.3 Pulse Inhibit Input Function (INHP)
INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-15 and DI INHP(07) in Table
7.A).When the drive is in position mode, if INHP is activated, the external pulse input command is not
valid and the motor will stop.
INHP
ON
ON
OFF
Pulse
command
6.2.4 Electronic Gear Ratio
Relevant parameters:
P1 - 15▲ GR4
Electronic Gear Ratio (2nd Numerator) (N2)
Communication Addr.: 010FH
Default: 1
Related Section:
Applicable Control Mode: P
Section 6.2.4, P1-44, P1-45
Unit: pulse
DI GNUM0(11) in Table 7.A
Range: 1 ~ 32767
Settings:
The electronic gear numerator value can be set via external DI signal (refer to Table 7.A).
DI Name
DI Status
Selected Electronic Gear
Not select (Note 1)
P1-44, P1-45
0
P1-44, P1-45
1
P1-44, P1-45
GNUM0
NOTE
1) DI signal can be selected by parameter P2-10 to P2-15 and Table 7.A. If uses only need to
use one group of electronic gear, it allows users not to select GNUM0.
P1 - 44▲ GR1
Electronic Gear Ratio (1st Numerator) (N1)
Communication Addr.: 012CH
Default: 1
Related Section:
Applicable Control Mode: P
Section 6.2.4, P1-15, P1-45
Unit: pulse
DI GNUM0(11) in Table 7.A
Range: 1 ~ 32767
Settings:
The electronic gear numerator value can be set via external DI signal (refer to Table 7.A).
6-4
Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
DI Name
DI Status
Selected Electronic Gear
Not select (Note 1)
P1-44, P1-45
0
P1-44, P1-45
1
P1-44, P1-45
GNUM0
NOTE
1) DI signal can be selected by parameter P2-10 to P2-15 and Table 7.A. If uses only need to
use one group of electronic gear, it allows users not to select GNUM0.
P1 - 45▲ GR2
Electronic Gear Ratio (Denominator)
Communication Addr.: 012DH
Default: 1
Related Section:
Applicable Control Mode: P
Section 6.2.4, P1-15, P1-44
Unit: pulse
DI GNUM0(11) in Table 7.A
Range: 1 ~ 32767
Settings:
Please set electronic gear ratio when the servo drive is Off (Servo Off). As the wrong setting can
cause motor to run chaotically (out of control) and it may lead to personnel injury, therefore,
ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio settings:
Pulse input
f1
N
M
Position
command
N
f2 = f1 x M
f1: Pulse input
f2: Position command
N: Numerator, the setting value of P1-15 or P1-44
M: Denominator, the setting value of P1-45
The electronic gear ratio setting range must be within: 1/50<N/M<200.
In terms of the servo drive which the firmware version is V1.018 or above, the electronic gear
ratio can be set when the servo drive is On (Servo On).
The electronic gear function provides easy travel distance ratio change. However, the over high
electronic gear ratio will command the motor to move not smoothly. At this time, the users can use lowpass filter parameter to improve this kind of situation. For example, assume that the electronic gear ratio
is equal to 1 and the encoder pulse per revolution is 10000ppr, if the electronic gear ratio is changed to
0.5, then the motor will rotate one pulse when the command from external controller is two pulses.
For example, after the proper electronic gear ratio is set, the reference travel distance is 1 μm/pulse, the
machinery will become easier to be used.
Travel distance per pulse = T
Wor kpiece (Table or Load)
Ball Scr ew Pitch: 3mm
Motor ( encoder signal output: A/B, Z )
Encoder PPR: 2500 puls e
Revision June, 2009
6-5
Chapter 6 Control Modes of Operation|ASDA-B Series
Electronic Gear Ratio
When the electronic
gear ratio is not used
=
When the electronic
gear ratio is not used
=
1
1
Corresponding travel distance per pulse
=
1000 0
300 0
3x 100 0
300 0
=
4x 250 0 100 00
m
=1 m
Table 6.B
6.2.5 Low-pass Filter
Relevant parameters:
P1 - 08
PFLT
Smooth Constant of Position Command (Lowpass Filter)
Communication Addr.: 0108H
Default: 0
Related Section:
Applicable Control Mode: P
Section 6.2.5
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)
Position
Tar get pos ition
Time (ms)
PF LT
6.2.6 Position Loop Gain Adjustment
Before performing position control (setting position control block diagram), the users should complete
the speed control setting by using Manual mode (parameter P-32) since the position loop contains
speed loop. Then, adjust the Proportional Position Loop Gain, KPP (parameter P2-00) and Position
Feed Forward Gain, PFG (parameter P2-02). Or use Auto mode to adjust the gain of speed and position
control block diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position loop
responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track error during
operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is
recommended that the speed loop responsiveness should be at least four times faster than the position
loop responsiveness. This also means that the setting value of Proportional Speed Loop Gain, KVP
should be at least four times faster than Proportional Position Loop Gain, KPP.
6-6
Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
The equation is shown as follows:
fp < fv
4 , fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
KPP = 2 × π × fp.
For example, the desired position loop responsiveness is equal to 20 Hz.
Then, KPP = 2 × π × 20= 125 rad/s.
Relevant parameters:
P2 - 00
KPP
Proportional Position Loop Gain
Communication Addr.: 0200H
Default: 50
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-27
Unit: rad/s
Range: 0 ~ 1023
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite position
loop response and reduce position error. However, if the setting value is over high, it may
generate vibration or noise. In AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
P2 - 01
PPR
Position Loop Gain Switching Rate
Communication Addr.: 0201H
Default: 100
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-27, P2-29
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the position gain switching rate when the gain switching condition
is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29
for gain switching condition settings.
P2 - 02
PFG
Position Feed Forward Gain
Communication Addr.: 0202H
Default: 0
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-03
Unit: %
Range: 0 ~ 100
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
Revision June, 2009
6-7
Chapter 6 Control Modes of Operation|ASDA-B Series
of mechanical system. In PDFF control AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
P2 - 03
PFF
Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H
Default: 5
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-02
Unit: ms
Range: 2 ~ 100
Settings:
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system.
Position Control Block Diagram
Differentiator
Position
Command
Proportional
Position Loop
Gain P2-00
+
Smooth Constant of
Position Feed
Forward Gain P2-03
Position Feed
Forward Gain
P2-02
+
Maximum Speed
Limit P1-55
+
Position Loop
Gain Switching
RateP2-01
Gain Switching
Control Selection
P2-27
Speed Command
Encoder
Position
Counter
When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness
will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate.
At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating. When
there is an external torque command interrupted, over low KPP value will let the motor cannot overcome
the external strength and fail to meet the requirement of reasonable position track error demand. Adjust
feed forward gain, KPF (P2-02) to efficiently reduce the dynamic position track error.
Position
Position
KPP
(3)
Position
Command
KPF
(1)
Actual position curve
will change from (1)
to (3) following the
increasing KPP value
Time
6-8
Time
Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
6.3
Speed Control Mode
The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as
CNC machine, etc. ASDA-B series servo drive supports two kinds of command sources in speed control
mode. One is external analog signal and the other is internal parameter. The external analog signal is from
external voltage input and it can control the speed of servo motor. There are two usage of internal parameter,
one is set different speed command in three speed control parameters before operation and then using SP0
and SP1 of CN1 DI signal perform switching. The other usage is using serial communication to change the
setting value of parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-B series servo drive also
provides complete S-curve profile for speed control mode. For the closed-loop speed control, ASDA-B series
servo drive provides gain adjustment function and an integrated PI or PDFF controller. Besides, two modes
of tuning technology (Manual/Auto) are also provided for the users to select (parameter P2-32).
6.3.1 Command Source of Speed Control Mode
Speed command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-09 to P1-11
Speed
Command
S1
CN1 DI signal
SPD1
0
SPD0
0
S2
0
1
S3
1
0
S4
1
1
Command Source
Content
S
External analog Voltage between Vsignal
REF-GND
Sz
N/A
Mode
Internal parameter
Range
+/-10 V
Speed command is
0
0
P1-09
+/-5000 rpm
P1-10
+/-5000 rpm
P1-11
+/-5000 rpm
Table 6.C
„
State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
„
When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then the
speed command is 0. Therefore, if the users do not use analog voltage as speed command, the
users can choose Sz mode and avoid the zero point drift problem
(Note1)
of analog voltage signal.
If the speed control mode is S mode, then the command is the analog voltage between V-REF
and GND. The setting range of the input voltage is from -10V to +10V and the corresponding
motor speed is adjustable (Please see parameter P1-40).
„
When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter
(P1-09 to P1-11). The command is valid (enabled) after either SPD0 or SPD1 is changed.
The speed command that is described in this section not only can be taken as speed command in
speed control mode (S or Sz mode) but also can be the speed limit input command in torque control
mode (T or Tz mode).
Revision June, 2009
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Chapter 6 Control Modes of Operation|ASDA-B Series
NOTE
1) In speed control mode, if the users want to adjust analog speed input offset value, please refer to
parameter 4-22 for the operation.
6.3.2 Structure of Speed Control Mode
Basic Structure:
Speed Command
Speed Command
Processing
Speed
Estimator
Speed Control
Block Diagram
Resonant Suppression
Block Diagram
Torque Limiter
Current Loop
In the figure above, the speed command processing is used to select the command source of speed
control according to chapter 6.3.1, including proportional gain (P1-40) and S-curve filter smoothing
strategy of speed control. The speed control block diagram is used to manage the gain parameters of
the servo drive and calculate the current input provided to motor instantaneously. The resonance
suppression block diagram is used to suppress the resonance of mechanical system.
The function and structure of speed command processing is shown as the figure below:
Speed Control Block Diagram
Control Mode Selection:
S mode / Sz mode P1-01
Low-pass
Filter P1-06
Analog
Command
6-10
A/D
Converter
Proportional
Gain P1-40
Internal
Parameter
P1-09
P1-10
P1-11
S-curve
Filter
P1-34
P1-35
P1-36
SPD0,
SPD1
Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz).
Whenever the command signal needs to be more smoothly, we recommend the users to use S-curve
and low-pass filter.
6.3.3 Smoothing Strategy of Speed Control Mode
S-curve Filter
The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to
smooth the speed command change of the motor during acceleration and deceleration. Using S-curve
filter can let the servo motor run more smoothly in response to a sudden speed command change.
Since the speed and acceleration curve are both continuous, in order to avoid the mechanical
resonance and noise may occur due to a sudden speed command (differentiation of acceleration), using
S-curve filter not only can improve the performance when servo motor accelerate or decelerate but also
can make the motor run more smoothly. S-curve filter parameters include P1-34 Acceleration Time
(TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and the users can use these
three parameters to improve the motor performance during acceleration, deceleration and operation.
ASDA-B series servo drives also support the time calculation of completing speed command. T (ms) is
the operation (running) time. S (rpm) is absolute speed command, i.e. the absolute value (the result)
after starting speed subtracts the final speed.
Speed
Acceleration
Deceleration
Rated Speed
0
Torque
0
TSL/2
TACC
TSL/2
TSL/2
TDEC
TSL/2
S-curve characteristics and Time relationship
Relevant parameters:
P1 - 34
TACC
Acceleration Time
Communication Addr.: 0122H
Default: 200
Related Section:
Applicable Control Mode: S
P1-35, P1-36, Section 6.3.3
Unit: ms
Range: 1 ~ 20000
Revision June, 2009
6-11
Chapter 6 Control Modes of Operation|ASDA-B Series
Settings:
It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled)
P1 - 35
TDEC
Deceleration Time
Communication Addr.: 0123H
Default: 200
Related Section:
Applicable Control Mode: S
P1-34, P1-36, Section 6.3.3
Unit: ms
Range: 1 ~ 20000
Settings:
It is used to determine the deceleration time to decelerate from its rated rotation speed to 0.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled)
P1 - 36
TSL
Accel /Decel S-curve
Communication Addr.: 0124H
Default: 0
Related Section:
Applicable Control Mode: S
P1-34, P1-35, Section 6.3.3
Unit: ms
Range: 0 ~ 10000 (0: Disabled)
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.
Speed
Time
(ms)
TSL/2
TACC
TSL/2
TSL/2
TDEC
TSL/2
TSL: P1-36, Accel /Decel S-curve
Total acceleration time = TACC + TSL
TACC: P1-34, Acceleration time
Total deceleration time = TDEC + TSL
TDEC: P1-35, Deceleration time
NOTE
1) If the setting value of parameter P1-36 is set to 0, it indicates Accel / Decel S-curve function
is disabled and the command is just By-Pass.
6-12
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Chapter 6 Control Modes of Operation|ASDA-B Series
Analog Speed Command S-curve Filter
ASDA-B series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in
response to a sudden analog input signal.
Speed (rpm)
Analog speed command
Motor Torque
3000
0
1
2
3
4
5
6
7
8
9
Time (sec)
-3000
The analog speed command S-curve filter is for the smoothing of analog input signal and its function is
the same as the S-curve filter. The speed and acceleration curve of analog speed command S-curve
filter are both continuous. The above figure shows the curve of analog speed command S-curve filter
and the users can see the ramp of speed command is different during acceleration and deceleration.
Also, the users can see the difference of input command tracking and can adjust time setting by using
parameter P1-34, P1-35, P1-36 to improve the actual motor performance according to actual condition.
Analog Speed Command Low-pass Filter
Analog Speed Command Low-pass Filter is used to eliminate high frequency response and electrical
interference from an analog speed command and it is also with smoothing function.
Relevant parameters:
P1 - 06
Accel / Decel Smooth Constant of Analog Speed
Communication Addr.: 0106H
Command (Low-pass Filter)
SFLT
Default: 0
Related Section:
Applicable Control Mode: S
Section 6.3.3
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
NOTE
1) If the setting value of parameter P1-06 is set to 0, it indicates the function of this parameter
is disabled and the command is just By-Pass.
Target Speed
SFLT
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.3.4 Analog Speed Input Scaling
The analog voltage between V_REF and GND determines the motor speed command. Using with
parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range.
5000rpm
The speed control ramp is
determined by parameter P1-40
3000rpm
-10
-5
5
10
Analog Input Voltage (V)
-3000rpm
-5000rpm
Relevant parameters:
P1 - 40▲ VCM
Max. Analog Speed Command or Limit
Communication Addr.: 0128H
Default: rated speed
Related Section:
Applicable Control Mode: S/T
Section 6.3.4, P1-55
Unit: rpm
Range: 0 ~ 5000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates that
the speed command is 3000rpm. If P1-40 is set to 3000, but the input voltage is changed to 5V,
then the speed command is changed to 1500rpm.
Speed command / limit = Input voltage x setting/10
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.3.5 Timing Chart of Speed Control Mode
S4 (P1-11)
Internal speed
command
S3 (P1-10)
S2 (P1-09)
External analog
voltage or zero (0)
External I/O signal
S1
SPD0
OFF
SPD1
OFF
ON
OFF
ON
ON
ON
SON
NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the
speed command S1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of SPD0~1.
6.3.6 Speed Loop Gain Adjustment
The function and structure of speed control mode is shown as the figure shown below:
Speed Control Block Diagram
Differentiator
+
+
Integrator
System inertia J
(1+P1-37)*JM
Feed Forward
Gain P2-07
+
Proportional
Gain P2-04
Switching
Rate P2-05
+
+
+
P2-27
Proportional
Gain P2-04
Gain Switching
Control Selection
P2-27
Current
Command
Low-pass
Filter P2-49
Revision June, 2009
+
J_load /J_motor
P1-37
Motor
Inertia JM
Torque constant
reciprocal 1/KT
Torque
Command
Speed Estimator
Encoder
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Chapter 6 Control Modes of Operation|ASDA-B Series
There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-B series
servo drives can be adjusted by using any one of two tuning modes.
„
Manual Mode:
User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will be
disabled.
„
Auto Mode:
Continuous adjustment of loop gains according to measured inertia automatically.
In Auto mode, if the users change the setting value of P2-31, the setting value of the parameters listed
in the Table 6.4 and 6.5 will also be changed.
PI Structure (P2-32)
Low-pass
Filter Time
Speed Integral
Constant
Compensation (Resonance
P2-06
Suppression)
P2-25
Stiffness
Setting
P2-31
Speed Loop
Responsiveness (Hz)
Proportional
Position Loop
Gain P2-00
Proportional
Speed Loop
Gain P2-04
0
10
10
62
10
125
0
1
5
15
94
15
83
0
2
20
20
125
20
62
0
3
25
25
157
25
50
0
4
30
30
188
30
41
0
5
35
35
219
35
35
0
6
45
45
282
45
27
0
7
55
55
345
55
22
0
8
65
65
408
65
19
0
9
80
80
502
80
15
0
A
100
100
628
100
12
0
B
120
120
753
120
10
0
C
145
145
911
145
8
0
D
170
170
1068
170
7
0
E
205
205
1288
205
6
0
F
250
250
1570
250
5
0
External AntiInterference
Gain P2-26
Table 6.D
6-16
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Chapter 6 Control Modes of Operation|ASDA-B Series
PDFF Structure (P2-32)
Stiffness Speed Loop Proportional
Setting Responsive- Position
Loop Gain
ness (Hz)
P2-31
P2-00
Position
Feed
Forward
Gain (%)
P2-02
Low-pass
Filter Time
Speed
External
Proportional
Constant
Integral
AntiSpeed Loop
Compensation (Resonance Interference
Gain P2-04
Suppression) Gain P2-26
P2-06
P2-25
0
10
15
50
62
10
166
10
1
5
23
50
94
15
111
15
2
20
31
50
125
20
83
20
3
25
39
50
157
25
66
25
4
30
47
50
188
30
55
30
5
35
54
50
219
35
47
35
6
45
70
50
282
45
37
45
7
55
86
50
345
55
30
55
8
65
102
50
408
65
25
65
9
80
125
50
502
80
20
80
A
100
157
50
628
100
16
100
B
120
188
50
753
120
13
120
C
145
227
50
911
145
11
145
D
170
267
50
1068
170
9
170
E
205
322
50
1288
205
8
205
F
250
392
50
1570
250
6
250
Table 6.E
The mode of gain adjustment can be selected by parameter P2-32:
P2 - 32▲ AUT2
Tuning Mode Selection
Communication Addr.: 0220H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.6, P2-31
Unit: N/A
Range: 0 ~ 12
Settings:
ASD-PU-01A
Revision June, 2009
ASD-PU-01B
6-17
Chapter 6 Control Modes of Operation|ASDA-B Series
• Tuning Mode Settings:
0: Manual mode
1: AutoMode (Continuous adjustment)
The ratio of Load Inertia to servo motor inertia can be continuously adjusted.
The level of stiffness and responsiveness are adjusted by parameter P2-31.
2: AutoMode (The ratio of Load Inertia to servo motor inertia is fixed)
The ratio of Load Inertia to servo motor inertia is set by parameter P1-37.
The level of stiffness and responsiveness are adjusted by parameter P2-31.
• Control Loop Structure Settings:
0: PDFF Control. PDFF : Pseudo-Derivative Feedback and Feedforward
1: PI Control. PI : Proportional - Integral control
Explanation of Auto-tuning:
1. When switching mode #1 to #2 or #0, the system will save the measured load inertia value
automatically and memorized in P1-37 and related gain parameters.
2. In AutoMode #1, the system will save the measured load inertia value every 30 minutes
automatically and memorized in P1-37.
3. In AutoMode #2, if the setting value of P2-31 changes, the related gain parameters will also
change. However, the setting value of P1-37 will retain its value.
4. When switching mode #2 to #0, it indicates the setting of P1-37 and all settings of related
gain parameters will be returned to original setting value in #0 manual mode.
5. No matter in Manual mode #0 or in AutoMode #2, the users should enter the appropriate
load inertia value in P1-37.
6. If the users use the servo dynamic auto-tuning function of ASDA-B software (Tools Æ Servo
Tuning Æ Dynamic Auto tuning), it will save the measured load inertia value and memorized
in P1-37 and related gain parameters.
Manual Mode
When·Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional speed loop gain
(P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio of load inertia to servo motor
Inertia (1-37). Please refer to the following description:
„
Proportional gain: Adjust this gain can increase the position loop responsiveness.
„
Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and
eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will
result in the unstable servo system.
„
Feed forward gain: Adjust this gain can decrease the phase delay error
NOTE
1) Before adjusting the gain manually, ensure to set P1-37 in advance. If the setting value of P1-37 is
quite different than the actual load inertia ratio, the responsiveness that represented by P2-04 has
no meaning.
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Chapter 6 Control Modes of Operation|ASDA-B Series
Relevant parameters:
P1 - 37
GDR
Ratio of Load Inertia to Servo Motor Inertia
Communication Addr.: 0125H
Default: 10
Related Section:
Applicable Control Mode: P/S/T
P2-31, P2-32, Section 6.3.6
Unit: 0.1times
Range: 0 ~ 2000
Settings:
Ratio of load inertia to servo motor inertia: (J_load /J_motor)
P2 - 04
KVP
Proportional Speed Loop Gain
Communication Addr.: 0204H
Default: 300
Related Section:
Applicable Control Mode: P/S
Section 6.3.6, P2-27
Unit: rad/s
Range: 0 ~ 4095
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop
gain is increased, it can expedite speed loop response. However, if the setting value is over high,
it may generate vibration or noise. In AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
(1+P1-37/10)
=( KVP)X[
]Hz JM: Motor inertia
(1+JL/JM)
2
JL: Load inertia
P1-37: 0.1 times
When the setting value of P1-37(no matter it is a measured value or set by
the users) is equal to the actual ratio of load inertia to servo motor inertia,
then the actual responsiveness will be equal to: = KVP Hz
2
Speed Loop Responsiveness
For example, assume that the desired speed loop responsiveness is 60 Hz =>
KVP (P2-04, Proportional Speed Loop Gain) = 2 × π × 60 = 376 rad/s
P2 - 06
KVI
Speed Integral Compensation
Communication Addr.: 0206H
Default: 50
Related Section:
Applicable Control Mode: P/S
Section 6.3.6
Unit: rad/s
Range: 0 ~ 1023
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed integral
compensation is increased, it can improve the speed response ability and decrease the speed
control deviation. However, if the setting value is over high, it may generate vibration or noise. In
Revision June, 2009
6-19
Chapter 6 Control Modes of Operation|ASDA-B Series
AutoMode, the value of this parameter will be changed in accordance with the setting value of
parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6).
Time constant of speed integral compensation: (1000/KVI) ms
P2 - 07
SFG
Speed Feed Forward Gain
Communication Addr.: 0207H
Default: 0
Related Section:
Applicable Control Mode: S
Section 6.3.6
Unit: %
Range: 0 ~ 100
Settings:
This parameter is used to set the feed forward gain when executing speed control command.
When using speed smooth command, increase gain can improve speed track deviation.
When not using speed smooth command, decrease gain can improve the resonance condition of
mechanical system.
In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and
feed forward gain (SFG). Now we use frequency area and time area respectively to explain the logic.
Frequency Domain
STEP 1: Set the value of KVI=0, the value of
KVF=0 and adjust the value of KVP.
Gain
STEP 2:Fix the value of KVP and adjust the
value of KVI.
Gain
KVI
KVP
Frequency
Frequency
Frequency
Frequency
KVP
KVI
Phase
6-20
Phase
Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
STEP 3:Select the value of KVI, if the value of
Gain
phase margin is too small, re-adjust
the value of KVP again to obtain the
value, 45deg of phase margin.
Frequency
Frequency
Phase
Time Domain
Speed
KVP
When the value of KVP is greater , the value of the
responsiveness is also greater and the raising time
is shorter.
However, when the value of phase margin is over low,
it is not helpful to steady error.
But it is helpful to dynamic tracking error.
Time
Speed
When the value of KVI is greater, the value of
KVI
low-frequency gain is also greater and the value
of steady error is nearly zero (0).
However, the value of phase margin will reduce
quite substantially.
It is helpful to steady error. But it is not helpful to
dynamic tracking error.
Time
Revision June, 2009
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Chapter 6 Control Modes of Operation|ASDA-B Series
Speed
When the value of SFG is nearly to 1and
the forward compensation is more complete,
then the value of dynamic tracking error will
SFG
become very small. However, when the value
of SFG is too great, it may cause vibration.
Time
Auto Mode (Continuous adjustment))
When Tuning Mode Settings of P2-32 is set to 1, the ratio of Load Inertia to servo motor inertia can be
continuously adjusted. This Auto Mode provides continuous adjustment of loop gains according to
measured inertia automatically. It is suitable when the load inertia is fixed or the load inertia change is
small and is not suitable for wide range of load inertia change. The period of adjustment time is different
depending on the acceleration and deceleration of servo motor. To change the stiffness and
responsiveness, please use parameter P2-31.
Motor Speed
W
Inertia Measurement
J
Auto Mode (The ratio of Load Inertia to servo motor inertia is fixed)
When Tuning Mode Settings of P2-32 is changed from 1 to 2, the measured load inertia value will be
saved and memorized in P1-37 automatically. Otherwise, the users should set the ratio of load inertia to
servo motor inertia via parameter P1-37 in advance. To change the stiffness and responsiveness,
please use parameter P2-31.
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Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
6.3.7 Resonance Suppression
The resonance of mechanical system may occur due to excessive system stiffness or frequency
response. However, this kind of resonance condition can be improved, suppressed, even can be
eliminated by using low-pass filter (parameter P2-25) and notch filter (parameter P2-23, P2-24) without
changing control parameter.
Resonance Suppression Block Diagram
Torque Control
Block Diagram
P1-40
Speed Control
Block Diagram
Low-pass
Filter P1-06
Notch Filter
P2-23, P2-24
Control Mode
Selection P1-01
Relevant parameters:
P2 - 23
NCF
Notch Filter (Resonance Suppression)
Communication Addr.: 0217H
Default: 1000
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.7, P2-24
Unit: Hz
Range: 50 ~ 1000
Settings:
This parameter is used to set resonance frequency of mechanical system. It can be used to
suppress the resonance of mechanical system. If P2-24 is set to 0, this parameter is disabled.
Gain (db)
P2-24
Frequency (Hz)
P2-23
P2 - 24
DPH
Notch Filter Attenuation Rate
(Resonance Suppression)
Communication Addr.: 0218H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.7, P2-23
Unit: dB
Unit: Hz
Range: 0 ~ 32
Settings:
0: Disabled
Revision June, 2009
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Chapter 6 Control Modes of Operation|ASDA-B Series
P2 - 25
NLP
Low-pass Filter Time Constant
(Resonance Suppression)
Communication Addr.: 0219H
Default: 20
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.7, P2-32
Unit: 0.1ms
Range: 0 ~ 10000
Settings:
This parameter is used to set low-pass filter time constant of resonance suppression.
0: Disabled
Use Notch Filter to suppress resonance
Resonance
Point
Gain
Gain
Notch Filter
Resonance
conditions
is suppressed
0db
Low-pass
Frequency
Resonance
Frequency .
Gain
Low-pass
Frequency
Attenuation
Rate P2-24
Frequency
Resonance
Frequency .
Frequency
Resonance
Frequency
P2-23
Frequency
Use Low-pass Filter to suppress resonance
.
Resonance
Point
Gain
Low-pass
Frequency
Resonance
Frequency
Frequency
Gain
0db
Attenuation
Rate -3db
Low-pass Filter
Cut-off Frequency
of Low-pass Filter
= 10000 / P2-25
Hz
Frequency
Gain
Resonance
conditions
is suppressed
Low-pass
Frequency
Resonance
Frequency .
Frequency
When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass
frequency will become smaller (see the figures above). The resonant condition is improved but the
frequency response and phase margin will also decrease and the system may become unstable.
Therefore, if the users know the resonance frequency, the users can eliminate the resonance conditions
directly by using notch filter (parameter P2-23, P2-24). Usually, if the resonant frequency can be
recognized, we recommend the users can directly use notch filter (parameter P2-23, P2-24) to eliminate
the resonance. However, if the resonant frequency will drift or drift out of the notch filter range, we
recommend the users not to use notch filter and use low-pass filter to improve resonant conditions.
6-24
Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
6.4
Torque Control Mode
The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing
machine, spinning machine, twister, etc. Delta ASDA-B series servo drive supports two kinds of command
sources in torque control mode. One is external analog signal and the other is internal parameter. The
external analog signal is from external voltage input and it can control the torque of servo motor. The internal
parameters are from P1-12 to P1-14 which are used to be the torque command in torque control mode.
6.4.1 Command Source of Torque Control Mode
Torque command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-12 to P1-14
The command source selection is determined by the DI signal of CN1 connector. Please refer to the
Table 6.F below:
DI signal of CN1
Torque
Command TCM1 TCM0
T1
0
0
T2
0
1
T3
1
0
T4
1
1
Command Source
Mode
T
External analog signal
Tz
None
Internal parameter
Content
Range
Voltage between TREF-GND
+/- 10 V
Torque command is 0
0
P1-12
+/- 300 %
P1-13
+/- 300 %
P1-14
+/- 300 %
Table 6.F
„
State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
„
When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz, then the
command is 0. Therefore, if the users do not use analog voltage as torque command, the users
can choose Tz mode to operation torque control to avoid the zero point drift problem
(Note1)
of
analog voltage. If the control mode of operation is T, then the command is the analog voltage
between T-REF and GND. The setting range of the input voltage is from -10V to +10V and the
corresponding torque is adjustable (see parameter P1-41).
„
When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is internal
parameter. The command is valid (enabled) after either TCM0 or TCM1 is changed.
The torque command that is described in this section not only can be taken as torque command in
torque control mode (T or Tz mode) but also can be the torque limit input command in position mode (P
mode) and speed control mode (S or Sz mode).
NOTE
1) In torque control mode, if the users want to adjust analog torque input offset value, please refer to
parameter 4-23 for the operation.
Revision June, 2009
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.4.2 Structure of Torque Control Mode
Basic Structure:
Torque
command
Torque Command
Processing
Resonant Suppression
Block Diagram
Output Torque
+
-
Current Control
Block Diagram
Current Sensor
In the above figure, the toque command processing is used to select the command source of torque
control according to chapter 6.4.1, including max. analog torque command (parameter P1-41) and
smoothing strategy of torque control mode. The current control block diagram is used to manage the
gain parameters of the servo drive and calculate the current input provided to motor instantaneously. As
current control block diagram is too complicated, setting the parameters of current control block diagram
is not allowed. The function and structure of torque command processing is shown as the figure below:
Torque Control Block Diagram
Control Mode Selection:
T mode / Tz mode P1-01
Analog
Command
A/D
Converter
Proportional
Gain P1-41
Internal
Parameter
P1-12
P 1-13
P1-14
Low-pass
Filter P1-07
TCM0,
TCM1
The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or Tz).
Whenever the command signal needs to be more smoothly, we recommend the users to use
proportional gain (scalar) and low-pass filter to adjust torque.
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.4.3 Smoothing Strategy of Torque Control Mode
Relevant parameters:
P1 - 07
Smooth Constant of Analog Torque Command
(Low-pass Filter)
TFLT
Communication Addr.: 0107H
Default: 0
Related Section:
Applicable Control Mode: T
Section 6.4.3
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
NOTE
1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter
is disabled and the command is just By-Pass.
Target Speed
TFLT
6.4.4 Analog Torque Input Scaling
The analog voltage between T_REF and GND controls the motor torque command. Using with
parameter P1-41 can adjust the torque control ramp and its range.
300%
The torque control ramp is
determined by parameter P1-41
100%
Torque command
-10
-5
5
10
Analog Input Voltage (V)
-100%
-300%
Revision June, 2009
6-27
Chapter 6 Control Modes of Operation|ASDA-B Series
Relevant parameters:
P1 - 41▲ TCM
Max. Analog Torque Command or Limit
Communication Addr.: 0129H
Default: 100
Related Section:
Applicable Control Mode: T / S, P
Section 6.4.4, P1-55
Unit: %
Range: 0 ~ 300
Settings:
In Torque mode, this parameter is used to set the output torque at maximum input voltage (10V)
of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at maximum input
voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that
the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is
changed to 5V, then the torque command is changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)
6.4.5 Timing Chart of Speed Control Mode
T4 (P1-14)
Internal speed
command
T3 (P1-13)
T2 (P1-12)
External analog
voltage or zero (0)
External I/O signal
T1
TCM0
OFF
TCM1
OFF
SON
ON
OFF
ON
ON
ON
NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When torque control mode is Tz, the torque command T1=0; when torque control mode is T, the
speed command T1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of TCM0~1.
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.5
Control Modes Selection
Except signal control mode operation, ASDA-B series AC drive also provide S-P, S-T, T-P these three
multiple modes for the users to select.
1)
Speed / Position mode selection: S-P
2)
Speed / Torque mode selection: S-T
3)
Torque / Position mode selection: T-P
Mode
Name
Code
S-P
06
Either S or P control mode can be selected via the Digital Inputs (DI)
S-T
10
Either S or T control mode can be selected via the Digital Inputs (DI)
T-P
07
Either T or P control mode can be selected via the Digital Inputs (DI)
Dual Mode
Description
Table 6.G
Sz and Tz mode selection is not provided. In order to avoid using too much DI inputs, we recommend that
the users can use external analog signal as input command in speed and torque mode to reduce the use of
DI inputs (SPD0~1 or TCM0~1).
Please refer to table 3.B and table 3.C in section 3.3.2 to see the default pin number of DI/DO signal.
6.5.1 Speed / Position Control Mode Selection
S-P Mode:
The command source of S-P mode is from external input pulse. The speed command can be the
external analog voltage or internal parameters (P1-09 to P1-11). The speed and position mode
switching is controlled by the S-P signal.
The timing chart of speed / position control mode selection is shown as the figure below:
S-P
ON
NOT CARE
Counting Pulse
Position Mode
OFF
Speed source is determined
by SPD0~1
Stop Counting Pulse
Speed Mode
ON
NOT CARE
Counting Pulse
Position Mode
In position mode (when S-P is ON), the motor will start to count pulse and operate following the external
pulse command. When switching to the speed mode (when S-P is OFF), it will stop counting pulse even
if the pulse command is continuously sent out. The speed command is determined by SPD0~1 and the
motor will rotate following the command. After S-P is ON again, it will immediately return to position
mode.
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.5.2 Speed / Torque Control Mode Selection
S-T Mode:
The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and
SPD0~1 is used to select speed command. The same as speed command, the torque command can be
the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select
torque command. The speed and torque mode switching is controlled by the S-T signal.
The timing chart of speed / torque control mode selection is shown as the figure below:
S-T
OFF
ON
ON
Speed source is determined
by SPD0~1
NOT CARE
Torque source is determined
by TCM0~1
Torque Mode
NOT CARE
Speed Mode
NOT CARE
Torque source is determined
by TCM0~1
Torque Mode
In torque mode (when S-T is ON), torque command is selected by TCM0~1. When switching to the
speed mode (when S-T is OFF), the speed command is selected by SPD0~1, and then the motor will
immediately rotate following the command. After S-T is ON again, it will immediately return to torque
mode.
6.5.3 Torque / Position Control Mode Selection
T-P Mode:
The command source of T-P mode is from external input pulse. The torque command can be the
external analog voltage or internal parameters (P1-12 to P1-14). The torque and position mode
switching is controlled by the T-P signal.
The timing chart of speed / position control mode selection is shown as the figure below:
T-P
ON
NOT CARE
Counting Pulse
Position Mode
OFF
Torque source is determined
by TCM0~1
Stop Counting Pulse
Torque Mode
ON
NOT CARE
Counting Pulse
Position Mode
In position mode (when T-P is ON), the motor will start to count pulse and operate following the external
pulse command. When switching to the torque mode (when T-P is OFF), it will stop counting pulse even
if the pulse command is continuously sent out. The torque command is determined by TCM0~1 and the
motor will rotate following the command. After T-P is ON again, it will immediately return to position
mode.
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.6
Others
6.6.1 Speed Limit
The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or
torque control mode.
The command source of speed limit command is the same as speed command. It can be the external
analog voltage but also can be internal parameters (P1-09 to P1-11). For more information of speed
command source, please refer to chapter 6.3.1.
The speed limit only can be used in torque mode (T mode) to limit the servo motor speed. When the
torque command is the external analog voltage, there should be surplus DI signal that can be treated as
SPD0~1 and be used to select speed limit command (internal parameter). If there is not enough DI
signal, the external voltage input can be used as speed limit command. When the Disable / Enable
Speed Limit Function Settings in parameter P1-02 is set to 1, the speed limit function is activated.
The timing chart of speed limit is shown as the figure below:
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 0
SPD0~1 INVALID
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 1
SPD0~1 VALID
Command Source Selection of Speed Limit
6.6.2 Torque Limit
The command source of torque limit command is the same as torque command. It can be the external
analog voltage but also can be internal parameters (P1-12 to P1-14). For more information of torque
command source, please refer to chapter 6.4.1.
The torque limit only can be used in position mode (P mode) and speed mode (S mode) to limit the
output torque of servo motor. When the position command is the external pulse and speed command is
the external analog voltage, there should be surplus DI signal that can be treated as TCM0~1 used to
select torque limit command (internal parameter). If there is not enough DI signal, the external voltage
input can be used as torque limit command. When the Disable / Enable Torque Limit Function Settings
in parameter P1-02 is set to 1, the torque limit function is activated.
The timing chart of torque limit is shown as the figure below:
Disable / Enable Torque Limit Function
Settings in parameter P1-02 is set to 0
TCM0~1 INVALID
Disable / Enable Torque Limit Function
Settings in parameter P1-02 is set to 1
TCM0~1 VALID
Command Source Selection of Torque Limit
Revision June, 2009
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Chapter 6 Control Modes of Operation|ASDA-B Series
6.6.3 Regenerative Resistor
„
Built-in Regenerative Resistor
When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that
there is a regenerative power returned from the load to the servo drive. This power will be transmitted
into the capacitance of DC Bus and result in rising voltage. When the voltage has risen to some high
voltage, the servo system need to dissipate the extra energy by using a regenerative resistor. ASDA-B
series servo drive provides a built-in regenerative resistor and the users also can connect to external
regenerative resistor if more regenerative capacity is needed.
The following table 6.H shows the specifications of the servo drive’s built-in regenerative resistor and
the amount of regenerative power (average value) that it can process.
Built-in Regenerative Resistor Specifications
Servo Drive Resistance (Ohm)
Capacity (Watt)
(kW)
(parameter P1-52) (parameter P1-53)
Regenerative Power
Min. Allowable
processed by built-in
1 Resistance (Ohm)
regenerative resistor (Watt) *
0.1
No built-in regenerative resistor
-
40
0.2
No built-in regenerative resistor
-
40
0.4
No built-in regenerative resistor
-
20
0.75
40
60
30
20
1.0
40
60
30
20
1.5
40
60
30
20
2.0
40
60
30
10
*1: Regenerative power calculation: The amount of regenerative power (average value) that can be
processed is rated at 50% of the capacity of the servo drive’s built-in regenerative resistor. The
regenerative power calculation method of external regenerative resistor is the same.
Table 6.H
When the regenerative power exceeds the processing capacity of the servo drive, install an external
regenerative resistor. Please pay close attention on the following notes when using a regenerative
resistor.
1. Make sure that the settings of resistance (parameter P1-52) and capacity (parameter P1-53) is set
correctly.
2. When the users want to install an external regenerative resistor, ensure that its resistance value is
the same as the resistance of built-in regenerative resistor. If combining multiple small-capacity
regenerative resistors in parallel to increase the regenerative resistor capacity, make sure that the
resistance value of the regenerative resistor should comply with the specifications listed in the
above table.
3. In general, when the amount of regenerative power (average value) that can be processed is used
at or below the rated load ratio, the resistance temperature will increase to 120°C or higher (on
condition that when the regeneration continuously occurred). For safety reasons, forced air cooling
is good way that can be used to reduce the temperature of the regenerative resistors. We also
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Chapter 6 Control Modes of Operation|ASDA-B Series
recommend the users to use the regenerative resistors with thermal switches. As for the load
characteristics of the regenerative resistors, please check with the manufacturer.
„
External Regenerative Resistor
When using external regenerative resistor, connect it to P and C, and make sure the circuit between P
and D is open. We recommend the users should use the external regenerative resistor that the
resistance value following the above table 6.H. We ignore the dissipative power of IGBT in order to let
the users easily calculate the capacity of regenerative resistor. In the following sections, we will describe
Regenerative Power Calculation Method and Simple Calculation Method for calculating the regenerative
power capacity of external regenerative resistors.
„
Regenerative Power Calculation Method
(1) Without Load
When there is no external load torque, if the servo motor repeats operation, the returned regenerative
power generated when braking will transmitted into the capacitance of DC bus. After the capacitance
voltage exceeds some high value, regenerative resistor can dissipate the remained regenerative power.
Use the table and procedure described below to calculate the regenerative power.
Regenerative power from
Max. regenerative
empty load 3000rpm to stop power of capacitance
Eo (joule)
Ec (joule)
Servo Drive
(kW)
Servo Motor (kW)
(Frame Size)
Rotor Inertia
J (kg. m2)
0.1
0.1
0.037 E-4
0.179
3.11
0.2
0.2
0.169 E-4
0.818
4.5
0.3
8.17 E-4
39.5
0.4 (60 mm)
0.277 E-4
1.34
0.4 ( 80 mm)
0.68 E-4
3.29
0.5
8.17 E-4
39.5
0.6
8.41 E-4
40.7
0.75
1.13 E-4
5.47
0.9
11.18 E-4
54.1
1 (100 mm)
2.578 E-4
12.5
1 (130 mm)
8.41 E-4
40.7
1.5
11.18 E-4
54.1
2 (100 mm)
4.239 E-4
20.5
2 (130 mm)
14.59 E-4
70.6
2 (180 mm)
34.68 E-4
168
0.4
0.75
1.0
1.5
2.0
6.22
11.07
13.5
18.18
22.5
Table 6.I
Eo= J * wr2/182 (joule)
Revision June, 2009
, wr : rpm
6-33
Chapter 6 Control Modes of Operation|ASDA-B Series
If the load inertia is N × motor inertia, the regenerative power will be (N+1) × E0 when servo motor
brakes from 3000rpm to 0. Then, the regenerative resistor can dissipate: (N+1) × E0 - Ec (joule). If the
time of repeat operation cycle is T sec, then the regenerative power = 2 × ((N+1) × E0 - Ec) / T. The
calculating procedure is as follows:
Step
Procedure
Equation and Setting Method
1
Set the capacity of regenerative
resistor to the maximum
Change the value of P1-53 to maximum
2
Set the operation cycle T
Input by the users
3
Set motor speed wr
Input by the users or read via P0-02 Drive State Display
4
Set load/motor inertia ratio N
Input by the users or read via P0-02 Drive State Display
5
Calculate the max. regenerative
power Eo
Eo= J * wr2/182
6
Set the regenerative power Ec that
Refer to the table 6.I above
can be absorbed
7
Calculate the required regenerative
2 × (N+1) × Eo-Ec)/ T
power capacity
Table 6.J
For example:
If we use 750W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. motor speed is
3000rpm, the load inertia = 4 × motor inertia, then the necessary the power of regenerative resistor = 2
× ( (4+1) × 5.36 – 11.07) / 0.75 = 41.9W. If the calculation result is smaller than regenerative power, we
recommend the users to use the built-in 60W regenerative resistor. Usually the built-in regenerative
resistor provided by ASDA-B series can meet the requirement of general application when the external
load inertia is not excessive.
The users can see when the capacity of regenerative resistor is too small, the accumulated power will
be larger and the temperature will also increase. The fault, ALE05 may occur if the temperature is over
high. The figure on next page shows the actual operation of regenerative resistor.
(2) With Load
When there is an external load torque, servo motor is in reverse rotation when external load greater
than motor torque. Servo motor is usually in forward rotation and the motor torque output direction is the
same as the rotation direction. However, there is still some special condition. If the motor output torque
is in the reverse direction of rotation, the servo motor is also in the reverse direction of rotation. The
external power is input into the servo drive through servo motor. The figure on next page is an example.
The users can see the motor is in forward rotation at constant speed when a sudden external load
torque change and great power is transmitted to regenerative resistor rapidly.
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Chapter 6 Control Modes of Operation|ASDA-B Series
Motor Rotation Speed
External Load Torque
Motor Output Torque
Reverse
Rotation
Reverse
Rotation
Forward
Rotation
External load torque in reverse direction: TL* Wr
Forward
Rotation
TL : External load torque
For the safety, we strongly recommend the users should select the proper resistance value according to
the load.
For example, when external load torque is a +70% rated torque and rotation speed reaches 3000 rpm, if
using 400W servo drive (rated torque: 1.27Nt-m), then the users need to connect a external
regenerative resistor which power is 2 × (0.7 × 1.27) × (3000 × 2 × π/ 60) = 560W, 40Ω.
„
Simple Calculation Method
The users can select the adequate regenerative resistors according to the allowable frequency required
by actual operation and the allowable frequency when the servo motor run without load. The allowable
frequency when the servo motor run without load is the maximum frequency that can be operated during
continuous operation when servo motor accelerate from 0rpm to rated speed and decelerate from rated
speed down to 0rpm. The allowable frequencies when the servo motor run without load are summarized
in the following table.
Allowable frequency when the servo motor run without load (times/min)
ECMA Series Power
Range
(Frame Size)
Allowable Frequency
(times/min)
ECMA Series Power
Range
(Frame Size)
Allowable Frequency
(times/min)
100W
200W
300W
400W
(60mm)
400W
(80mm)
500W
600W
750W
01
02
03
04
04
05
06
07
-
-
-
1275
519
43
41
319
900W
1.0kW
1.0KW
2.0kW
2.0KW 2.0KW
1.5KW
(100mm) (130mm)
(100mm) (130mm) (180mm)
09
10
10
15
20
20
20
31
137
42
31
82
24
10
Table 6.K
Revision June, 2009
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Chapter 6 Control Modes of Operation|ASDA-B Series
When the servo motor runs with load, the allowable frequencies will change according to the changes of
the load inertia and rotation speed. Use the following equation to calculate the allowable frequency.
Allowable fr equency =
Allowable frequency when serv o motor run without load
m+1
2
Rated s peed
Operating speed
x
times
mi n.
m = load/motor inertia ratio
The users can select the adequate regenerative resistors according to the allowable frequencies by
referring to the table below:
Allowable frequency when the servo motor run without load (times/min)
ECMA Series
100W
200W
300W
400W
(60mm)
400W
(80mm)
01
02
03
04
04
BR400W040
-
-
-
8608
3279
BR1K0W020
-
-
-
21517
8765
500W
600W
750W
900W
1.0kW
(100 mm)
05
06
07
09
10
BR400W040
291
283
2128
213
925
BR1K0W020
729
708
5274
533
2312
1.0KW
(130mm)
1.5KW
2.0kW
(100mm)
2.0KW
(130mm)
2.0KW
(180mm)
10
15
20
20
20
BR400W040
283
213
562
163
68
BR1K0W020
708
533
1363
408
171
Regenerative
Resistors
ECMA Series
Regenerative
Resistors
ECMA Series
Regenerative
Resistors
( ) : motor frame size, unit is in millimeters.
Table 6.L
6.6.4 Electromagnetic Brake
When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the
electromagnetic brake is disabled and motor is stop running and locked. If the digital output BRKR is set
to ON, it indicates electromagnetic brake is enabled and motor can run freely.
There are two parameters that affect the electromagnetic brake. One is parameter P1-42 (MBT1) and
the other is parameter P1-43 (MBT2). The users can use these two parameters to set the On and Off
delay time of electromagnetic brake. The electromagnetic brake is usually used in perpendicular axis (Zaxis) direction to reduce the large energy generated from servo motor. Using electromagnetic brake can
avoid the load may slip since there is no motor holding torque when power is off. Without using
electromagnetic brake may reduce the life of servo motor. To avoid malfunction, the electromagnetic
brake should be activated after servo system is off (Servo Off).
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Revision June, 2009
Chapter 6 Control Modes of Operation|ASDA-B Series
If the users desire to control electromagnetic brake via external controller, not by the servo drive, the
users must execute the function of electromagnetic brake during the period of time when servo motor is
braking. The braking strength of motor and electromagnetic brake must be in the same direction when
servo motor is braking. Then, the servo drive will operate normally. However, the servo drive may
generate larger current during acceleration or at constant speed and it may the cause of overload (servo
fault).
Timing chart for using servo motor with electromagnetic brake:
1. When the setting value of P1-43 is greater than or equal to 0 (zero)
ON
SON
(Digital Input)
OFF
OFF
ON
BRKR
(Digital Output)
OFF
OFF
MBT1
(P1-42)
MBT2
(P1-43)
When SERVO OFF (when DI SON is not activated), the BRKR output goes Off (electromagnetic
brake is locked) after the delay time set by P1-43 is reached.
2. When the setting value of P1-43 is greater than or equal to 0 (zero)
SON
(Digital Input)
SON
(Digital Output)
BRKR
(Digital Output)
ON
OFF
OFF
ON
OFF
OFF
ON
MBT2(P1-43)
OFF
OFF
MBT1(P1-42)
When SERVO OFF (when DI SON is not activated), if the BRKR output goes Off
(electromagnetic brake is locked), the servo motor goes Off after the delay time set by P1-43 is
reached.
Revision June, 2009
6-37
Chapter 6 Control Modes of Operation|ASDA-B Series
Electromagnetic Brake Wiring Diagram
NOTE
6-38
1)
Please refer to Chapter 3 Connections and Wiring for more wiring information.
2)
Please note that the coil of brake has no polarity.
3)
The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.
Revision June, 2009
Chapter 7 Servo Parameters
7.1
Definition
There are following five groups for drive parameters:
Group 0: Monitor parameter
(example: P0-xx)
Group 1: Basic parameter
(example: P1-xx)
Group 2: Extension parameter
(example: P2-xx)
Group 3: Communication parameter
(example: P3-xx)
Group 4: Diagnosis parameter
(example: P4-xx)
There is following one group for keypad parameters:
Group 8: Keypad parameter
(example: P8-xx)
Abbreviation of control modes:
P
: Position control mode
S
: Speed control mode
T
: Torque control mode
Explanation of symbols (marked after parameter)
(★)
Read-only register, such as P0-00, P0-01, P4-00.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on), such
as P1-01.
(■)
Parameter setting values are not retained when power is off.
Revision June, 2009
7-1
Chapter 7 Servo Parameters|ASDA-B Series
7.2
Parameters Summary
7.2.1 Parameters List by Group
Group 0: P0-xx
Monitor Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P0-00★
VER
Firmware Version
Factory
setting
N/A
{
{
{
P0-01★
ALE
Drive Fault Code
N/A
N/A
{
{
{
P0-02
STS
Drive Status
0
N/A
{
{
{
P0-03
Reserved
P0-04
CM1
Status Monitor 1
0
N/A
{
{
{
P0-05
CM2
Status Monitor 2
0
N/A
{
{
{
P0-06
CM3
Status Monitor 3
0
N/A
{
{
{
P0-07
Reserved
P0-08
Reserved
P0-09★
SVSTS
N/A
N/A
{
{
{
Servo Output Status Display
Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)
7-2
Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Group 1: P1-xx
Basic Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P1-00▲
PTT
External Pulse Input Type
2
N/A
{
P1-01●
CTL
Control Mode and Output Direction
0
pulse
Rpm
N.M
{
{
{
P1-02▲
PSTL
Speed and Torque Limit
0
N/A
{
{
{
P1-03
AOUT
Pulse Output Polarity Setting
0
N/A
{
{
{
P1-04
Reserved
P1-05
Reserved
P1-06
SFLT
Accel / Decel Smooth Constant of
Analog Speed Command (Low-pass
Filter)
0
ms
P1-07
TFLT
Smooth Constant of Analog Torque
Command (Low-pass Filter)
0
ms
P1-08
PFLT
Smooth Constant of Position Command
(Low-pass Filter)
0
10ms
100 ~ 300
rpm
100
%
{
Electronic Gear Ratio (2nd Numerator)
(N2)
1
pulse
{
Motor Stop Mode Selection
0
N/A
{
P1-09
~ P1-11
SPD1 ~ 3 1st ~ 3rd Speed Command or Limit
{
{
{
{
{
{
{
{
{
P1-12
~ P1-14
TQ1 ~ 3
P1-15▲
GR4
P1-16
~ P1-31
Reserved
P1-32
LSTP
P1-33
Reserved
P1-34
TACC
Acceleration Time
200
ms
{
P1-35
TDEC
Deceleration Time
200
ms
{
P1-36
TSL
Accel / Decel S-curve
0
ms
{
P1-37
GDR
Ratio of Load Inertia to Servo Motor
Inertia
10
0.1
times
{
{
{
P1-38
ZSPD
Zero Speed Range Setting
10
rpm
{
{
{
P1-39
SSPD
Target Rotation Speed
3000
rpm
{
{
{
P1-40▲
VCM
Max. Analog Speed Command or Limit
rated speed
rpm
{
{
P1-41▲
TCM
Max. Analog Torque Command or Limit
100
%
{
{
{
P1-42
MBT1
On Delay Time of Electromagnetic
Brake
100
ms
{
{
{
P1-43
MBT2
OFF Delay Time of Electromagnetic
Brake
100
ms
{
{
{
Revision June, 2009
1st ~ 3rd Torque Command or Limit
7-3
Chapter 7 Servo Parameters|ASDA-B Series
Basic Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P1-44▲
GR1
Electronic Gear Ratio (1st Numerator)
(N1)
1
pulse
{
P1-45▲
GR2
Electronic Gear Ratio (Denominator)
1
pulse
{
P1-46▲
GR3
Encoder Output Pulse Number
2500
pulse
{
{
{
P1-47
~ P1-51
Reserved
P1-52
RES1
Regenerative Resistor Value
40
Ohm
{
{
{
P1-53
RES2
Regenerative Resistor Capacity
60
Watt
{
{
{
P1-54
PER
Positioning Completed Width
100
pulse
{
P1-55
MSPD
rated speed
rpm
{
{
{
Maximum Speed Limit
Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)
7-4
Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Group 2: P2-xx
Extension Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P2-00
KPP
Proportional Position Loop Gain
50
rad/s
{
P2-01
PPR
Position Loop Gain Switching Rate
100
%
{
P2-02
PFG
Position Feed Forward Gain
0
%
{
P2-03
PFF
Smooth Constant of Position Feed
Forward Gain
5
ms
{
P2-04
KVP
Proportional Speed Loop Gain
300
rad/s
{
{
P2-05
SPR
Speed Loop Gain Switching Rate
100
%
{
{
P2-06
KVI
Speed Integral Compensation
50
rad/s
{
{
P2-07
SFG
Speed Feed Forward Gain
0
%
P2-08■
PCTL
Special Factory Setting
0
N/A
{
{
{
P2-09
DRT
Bounce Filter
2
2ms
{
{
{
P2-10
DI1
Digital Input Terminal 1 (DI1)
101
N/A
{
{
{
P2-11
DI2
Digital Input Terminal 2 (DI2)
102
N/A
{
{
{
P2-12
DI3
Digital Input Terminal 3 (DI3)
104
N/A
{
{
{
P2-13
DI4
Digital Input Terminal 4 (DI4)
22
N/A
{
{
{
P2-14
DI5
Digital Input Terminal 5 (DI5)
23
N/A
{
{
{
P2-15
DI6
Digital Input Terminal 6 (DI6)
21
N/A
{
{
{
P2-16
~ P2-17
Reserved
P2-18
DO1
Digital Output Terminal 1 (DO1)
101
N/A
{
{
{
P2-19
DO2
Digital Output Terminal 2 (DO2)
103
N/A
{
{
{
P2-20
DO3
Digital Output Terminal 3 (DO3)
7
N/A
{
{
{
P2-21
~ P2-22
Reserved
P2-23
NCF
Notch Filter (Resonance Suppression)
1000
Hz
{
{
{
P2-24
DPH
Notch Filter Attenuation Rate
(Resonance Suppression)
0
dB
{
{
{
P2-25
NLP
Low-pass Filter Time Constant
(Resonance Suppression)
20
0.1ms
{
{
{
P2-26
DST
External Anti-Interference Gain
0
N/A
{
{
{
P2-27
GCC
Gain Switching Control Selection
0
N/A
{
{
P2-28
GUT
Gain Switching Time Constant
10
10ms
{
{
10000
pulse
Kpps
rpm
{
{
0
N/A
{
{
P2-29
GPE
Gain Switching Condition
P2-30■
INH
Auxiliary Function
Revision June, 2009
{
{
7-5
Chapter 7 Servo Parameters|ASDA-B Series
Extension Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P2-31■
AUT1
Auto Stiffness and Responsiveness
Level
6
N/A
{
{
{
P2-32▲
AUT2
Tuning Mode Selection
0
N/A
{
{
{
P2-33
Reserved
P2-34
SDEV
Overspeed Warning Condition
5000
rpm
P2-35
PDEV
Excessive Error Warning Condition
3000
10pls
{
P2-36
OVL
Overload Protection Level
100
%
{
{
{
P2-37
OVW
Output Overload Warning Level
50%
N/A
{
{
{
P2-38
GBIT
Special Function
0
N/A
{
{
{
P2-39
~ P2-43
Reserved
P2-44
ATUR
Motor Rotation Number
2
turn
{
{
{
P2-45
AFRQ
Motor Rotation Frequency
10
0.1Hz
{
{
{
P2-46
ATME
Motor Rotation Time
15
sec
{
{
{
P2-47■
ASTR
Auto-Tuning Start Function
0
N/A
{
{
{
P2-48
CLRT
Pulse Deviation Clear Mode
0
N/A
{
P2-49
SJIT
Speed Detection Filter and Jitter
Suppression
110
N/A
{
{
{
Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)
7-6
Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Group 3: P3-xx
Communication Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P3-00
ADR
Communication Address Setting
1
N/A
{
{
{
P3-01
BRT
Transmission Speed
3
bps
{
{
{
P3-02
PTL
Communication Protocol
0
N/A
{
{
{
P3-03
FLT
Transmission Fault Treatment
0
N/A
{
{
{
P3-04
CWD
Communication Time Out Detection
0
sec
{
{
{
P3-05
Reserved
P3-06■
SDI
Digital Input Communication Function
0
N/A
{
{
{
P3-07
CDT
Communication Response Delay Time
0
ms
{
{
{
Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)
Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.
Revision June, 2009
7-7
Chapter 7 Servo Parameters|ASDA-B Series
Group 4: P4-xx
Diagnosis Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P4-00★
ASH1
Fault Record (N)
0
N/A
{
{
{
P4-01★
ASH2
Fault Record (N-1)
0
N/A
{
{
{
P4-02★
ASH3
Fault Record (N-2)
0
N/A
{
{
{
P4-03★
ASH4
Fault Record (N-3)
0
N/A
{
{
{
P4-04★
ASH5
Fault Record (N-4)
0
N/A
{
{
{
P4-05
JOG
JOG Operation
20
rpm
{
{
{
P4-06▲■
FOT
Force Output Control
0
N/A
{
{
{
P4-07■
ITST
Input Status or Force Input Control
N/A
N/A
{
{
{
P4-08
Reserved
P4-09★
MOT
Output Status Display
N/A
N/A
{
{
{
P4-10▲
CEN
Adjustment Function
0
N/A
{
{
{
P4-11
SOF1
Analog Speed Input Drift Adjustment 1
Factory
setting
N/A
{
{
{
P4-12
SOF2
Analog Speed Input Drift Adjustment 2
Factory
setting
N/A
{
{
{
P4-13
TOF1
Analog Torque Drift Adjustment 1
Factory
setting
N/A
{
{
{
P4-14
Reserved
P4-15
COF1
Current Detector Drift Adjustment (V1
phase)
Factory
setting
N/A
{
{
{
P4-16
COF2
Current Detector Drift Adjustment (V2
phase)
Factory
setting
N/A
{
{
{
P4-17
COF3
Current Detector Drift Adjustment (W1
phase)
Factory
setting
N/A
{
{
{
P4-18
COF4
Current Detector Drift Adjustment (W2
phase)
Factory
setting
N/A
{
{
{
P4-19
TIGB
IGBT NTC Calibration
Factory
setting
N/A
{
{
{
P4-20
Reserved
P4-21
Reserved
P4-22
SAO
Analog Speed Input Offset
0
mV
P4-23
TAO
Analog Torque Input Offset
0
mV
{
{
Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)
7-8
Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Group 8: P8-xx
Keypad Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
Factory
setting
N/A
{
{
{
1
N/A
{
{
{
255
N/A
{
{
{
Transmission Speed (Keypad)
1
bps
{
{
{
KPTL
Communication Protocol (Keypad)
0
N/A
{
{
{
P8-08
KCMM
Communication Selection (Keypad)
0
N/A
{
{
{
P8-09
KTST
Keypad Hardware Testing
0
N/A
{
{
{
P8-10
KBLT
LCD Backlight Display
0
N/A
{
{
{
P8-11
KCLR
Memory Block Clear
0
N/A
{
{
{
P8-12
KRNO
Memory Block Position Number
(ROMx)
0
N/A
{
{
{
P8-13★
KBL0
Status of Memory Block (ROMx)
0
N/A
{
{
{
P8-14★
KBL1
Firmware Version of Memory Block
(ROMx)
0
N/A
{
{
{
P8-00★
KVER
Keypad Firmware Version
P8-01
KFUN
Keypad Communication and Reset
Setting
P8-02
Reserved
P8-03
Reserved
P8-04
Reserved
P8-05
KADR
Communication Address Setting (Drive)
P8-06
KBRT
P8-07
Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)
Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.
Revision June, 2009
7-9
Chapter 7 Servo Parameters|ASDA-B Series
7.2.2 Parameters List by Function
Monitor and General Use
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P0-00★
VER
Firmware Version
Factory
setting
N/A
{
{
{
P0-01★
ALE
Drive Fault Code
N/A
N/A
{
{
{
P0-02
STS
Drive Status
0
N/A
{
{
{
P0-04
CM1
Status Monitor 1
0
N/A
{
{
{
P0-05
CM2
Status Monitor 2
0
N/A
{
{
{
P0-06
CM3
Status Monitor 3
0
N/A
{
{
{
P1-03
AOUT
Pulse Output Polarity Setting
0
N/A
{
{
{
Smooth Filter and Resonance Suppression
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P1-06
SFLT
Accel / Decel Smooth Constant of
Analog Speed Command (Low-pass
Filter)
0
ms
P1-07
TFLT
Smooth Constant of Analog Torque
Command (Low-pass Filter)
0
ms
P1-08
PFLT
Smooth Constant of Position Command
(Low-pass Filter)
0
10ms
P1-34
TACC
Acceleration Time
200
ms
{
P1-35
TDEC
Deceleration Time
200
ms
{
P1-36
TSL
Accel / Decel S-curve
0
ms
{
P2-23
NCF
Notch Filter (Resonance Suppression)
1000
Hz
{
{
{
P2-24
DPH
Notch Filter Attenuation Rate
(Resonance Suppression)
0
dB
{
{
{
P2-25
NLP
Low-pass Filter Time Constant
(Resonance Suppression)
20
0.1ms
{
{
{
P2-49
SJIT
Speed Detection Filter and Jitter
Suppression
110
N/A
{
{
{
{
{
Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)
7-10
Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Gain and Switch
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P2-00
KPP
Proportional Position Loop Gain
50
rad/s
{
P2-01
PPR
Position Loop Gain Switching Rate
100
%
{
P2-02
PFG
Position Feed Forward Gain
0
%
{
P2-03
PFF
Smooth Constant of Position Feed
Forward Gain
5
ms
{
P2-04
KVP
Proportional Speed Loop Gain
300
rad/s
{
{
P2-05
SPR
Speed Loop Gain Switching Rate
100
%
{
{
P2-06
KVI
Speed Integral Compensation
50
rad/s
{
{
P2-07
SFG
Speed Feed Forward Gain
0
%
P2-26
DST
External Anti-Interference Gain
0
N/A
{
{
P2-27
GCC
Gain Switching Control Selection
0
N/A
{
{
P2-28
GUT
Gain Switching Time Constant
10
10ms
{
{
P2-29
GPE
Gain Switching Condition
10000
pulse
Kpps
rpm
{
{
P2-31■
AUT1
Auto Stiffness and Responsiveness
Level
6
N/A
{
{
{
P2-32▲
AUT2
Tuning Mode Selection
0
N/A
{
{
{
{
{
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
Revision June, 2009
7-11
Chapter 7 Servo Parameters|ASDA-B Series
Position Control
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
Control Mode and Output Direction
0
pulse
rpm
N.M
{
{
{
PSTL
Speed and Torque Limit
0
N/A
{
{
{
P1-55
MSPD
Maximum Speed Limit
rated speed
rpm
{
{
{
P1-12
~ P1-14
TQ1 ~ 3
1st ~ 3rd Torque Limit
100
%
{
{
{
P1-46▲
GR3
Encoder Output Pulse Number
2500
pulse
{
{
{
P1-01●
CTL
P1-02▲
External pulse control command (P mode)
P1-00▲
PTT
External Pulse Input Type
2
---
{
P1-41▲
TCM
Max. Analog Torque Limit
100
%
{
P1-44▲
GR1
Electronic Gear Ratio (1st Numerator)
(N1)
1
pulse
{
P1-45▲
GR2
Electronic Gear Ratio (Denominator)
1
pulse
{
P1-15▲
GR4
Electronic Gear Ratio (2nd Numerator)
(N2)
1
pulse
{
{
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
7-12
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Speed Control
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P1-01●
CTL
Control Mode and Output Direction
0
pulse
rpm
N.M
{
{
{
P1-02▲
PSTL
Speed and Torque Limit
0
N/A
{
{
{
P1-46▲
GR3
Encoder Output Pulse Number
2500
pulse
{
{
{
P1-55
MSPD
rated speed
rpm
{
{
{
100 ~300
rpm
{
{
100
%
{
{
rated speed
rpm
100
%
P1-09
~ P1-11
Maximum Speed Limit
SPD1 ~ 3 1st ~ 3rd Speed Command
P1-12
~ P1-14
TQ1 ~ 3
P1-40▲
VCM
Max. Analog Speed Command
P1-41▲
TCM
Max. Analog Torque Limit
1st ~ 3rd Torque Limit
{
{
{
{
Torque Control
Parameter
Name
Default
Unit
P
S
T
Control Mode and Output Direction
0
pulse
rpm
N.M
{
{
{
PSTL
Speed and Torque Limit
0
N/A
{
{
{
MSPD
Maximum Speed Limit
rated speed
rpm
{
{
{
100 ~ 300
rpm
{
{
100
%
{
{
rated speed
rpm
{
100
%
{
P1-01●
CTL
P1-02▲
P1-55
P1-09
~ P1-11
Function
Control
Mode
SPD1 ~ 3 1st ~ 3rd Speed Limit
P1-12
~ P1-14
TQ1 ~ 3
P1-40▲
VCM
Max. Analog Speed Limit
P1-41▲
TCM
Max. Analog Torque Command
1st ~ 3rd Torque Command
{
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
Revision June, 2009
7-13
Chapter 7 Servo Parameters|ASDA-B Series
Digital I/O and relative input output setting
Digital I/O
Parameter
Name
Function
P2-09
DRT
Bounce Filter
P2-10
DI1
P2-11
Default
Control
Mode
Unit
P
S
T
2
2ms
{
{
{
Digital Input Terminal 1 (DI1)
101
N/A
{
{
{
DI2
Digital Input Terminal 2 (DI2)
102
N/A
{
{
{
P2-12
DI3
Digital Input Terminal 3 (DI3)
104
N/A
{
{
{
P2-13
DI4
Digital Input Terminal 4 (DI4)
22
N/A
{
{
{
P2-14
DI5
Digital Input Terminal 5 (DI5)
23
N/A
{
{
{
P2-15
DI6
Digital Input Terminal 6 (DI6)
21
N/A
{
{
{
P2-18
DO1
Digital Output Terminal 1 (DO1)
101
N/A
{
{
{
P2-19
DO2
Digital Output Terminal 2 (DO2)
103
N/A
{
{
{
P2-20
DO3
Digital Output Terminal 3 (DO3)
7
N/A
{
{
{
P1-38
ZSPD
Zero Speed Range Setting
10
rpm
{
{
{
P1-39
SSPD
Target Rotation Speed
3000
rpm
{
{
{
P1-42
MBT1
On Delay Time of Electromagnetic
Brake
100
ms
{
{
{
P1-43
MBT2
OFF Delay Time of Electromagnetic
Brake
100
ms
{
{
{
P1-54
PER
Positioning Completed Width
100
pulse
{
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
7-14
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Communication
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P3-00
ADR
Communication Address Setting
1
N/A
{
{
{
P3-01
BRT
Transmission Speed
3
bps
{
{
{
P3-02
PTL
Communication Protocol
0
N/A
{
{
{
P3-03
FLT
Transmission Fault Treatment
0
N/A
{
{
{
P3-04
CWD
Communication Time Out Detection
0
sec
{
{
{
P3-06■
SDI
Digital Input Communication Function
0
N/A
{
{
{
P3-07
CDT
Communication Response Delay Time
0
ms
{
{
{
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
Revision June, 2009
7-15
Chapter 7 Servo Parameters|ASDA-B Series
Diagnosis Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P4-00★
ASH1
Fault Record (N)
0
N/A
{
{
{
P4-01★
ASH2
Fault Record (N-1)
0
N/A
{
{
{
P4-02★
ASH3
Fault Record (N-2)
0
N/A
{
{
{
P4-03★
ASH4
Fault Record (N-3)
0
N/A
{
{
{
P4-04★
ASH5
Fault Record (N-4)
0
N/A
{
{
{
P4-05
JOG
JOG Operation
20
rpm
{
{
{
P4-06▲■
FOT
Force Output Control
0
N/A
{
{
{
P4-07■
ITST
Input Status or Force Input Control
N/A
N/A
{
{
{
P4-09★
MOT
Output Status Display
N/A
N/A
{
{
{
P4-10▲
CEN
Adjustment Function
0
N/A
{
{
{
P4-11
SOF1
Analog Speed Input Drift Adjustment 1
Factory
setting
N/A
{
{
{
P4-12
SOF2
Analog Speed Input Drift Adjustment 2
Factory
setting
N/A
{
{
{
P4-13
TOF1
Analog Torque Drift Adjustment 1
Factory
setting
N/A
{
{
{
P4-15
COF1
Current Detector Drift Adjustment (V1
phase)
Factory
setting
N/A
{
{
{
P4-16
COF2
Current Detector Drift Adjustment (V2
phase)
Factory
setting
N/A
{
{
{
P4-17
COF3
Current Detector Drift Adjustment (W1
phase)
Factory
setting
N/A
{
{
{
P4-18
COF4
Current Detector Drift Adjustment (W2
phase)
Factory
setting
N/A
{
{
{
P4-19
TIGB
IGBT NTC Calibration
Factory
setting
N/A
{
{
{
P4-22
SAO
Analog Speed Input Offset
0
mV
P4-23
TAO
Analog Torque Input Offset
0
mV
{
{
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
7-16
Revision June, 2009
Chapter 7 Servo Parameters|ASDA-B Series
Others
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
P1-32
LSTP
Motor Stop Mode Selection
0
N/A
{
{
{
P1-37
GDR
Ratio of Load Inertia to Servo Motor
Inertia
10
0.1
times
{
{
{
P1-52
RES1
Regenerative Resistor Value
40
Ohm
{
{
{
P1-53
RES2
Regenerative Resistor Capacity
60
Watt
{
{
{
P2-08■
PCTL
Special Factory Setting
0
N/A
{
{
{
P2-30■
INH
Auxiliary Function
0
N/A
{
{
{
P2-34
SDEV
Overspeed Warning Condition
5000
rpm
P2-35
PDEV
Excessive Error Warning Condition
3000
10pls
{
P2-36
OVL
Overload Protection Level
100
%
{
{
{
P2-37
OVW
Output Overload Warning Level
50%
N/A
{
{
{
P2-38
GBIT
Special Function
0
N/A
{
{
{
{
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
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Chapter 7 Servo Parameters|ASDA-B Series
Keypad Parameters
Parameter
Name
Function
Default
Control
Mode
Unit
P
S
T
Factory
setting
N/A
{
{
{
1
N/A
{
{
{
255
N/A
{
{
{
Transmission Speed (Keypad)
1
bps
{
{
{
KPTL
Communication Protocol (Keypad)
0
N/A
{
{
{
P8-08
KCMM
Communication Selection (Keypad)
0
N/A
{
{
{
P8-09
KTST
Keypad Hardware Testing
0
N/A
{
{
{
P8-10
KBLT
LCD Backlight Display
0
N/A
{
{
{
P8-11
KCLR
Memory Block Clear
0
N/A
{
{
{
P8-12
KRNO
Memory Block Position Number
(ROMx)
0
N/A
{
{
{
P8-13★
KBL0
Status of Memory Block (ROMx)
0
N/A
{
{
{
P8-14★
KBL1
Firmware Version of Memory Block
(ROMx)
0
N/A
{
{
{
P8-00★
KVER
Keypad Firmware Version
P8-01
KFUN
Keypad Communication and Reset
Setting
P8-05
KADR
Communication Address Setting (Drive)
P8-06
KBRT
P8-07
Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.
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Chapter 7 Servo Parameters|ASDA-B Series
7.3
Detailed Parameter Listings
Group 0: P0-xx
Monitor Parameters
P0 - 00★ VER
Firmware Version
Default: Factory setting
Communication Addr.: 0000H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
P0 - 01★ ALE
Drive Fault Code
Communication Addr.: 0001H
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
Chapter 10
Unit: N/A
Range: 1 ~ 20
Settings:
: Overcurrent (Note 1)
: Overvoltage (Note 2)
: Undervoltage (Note 2)
: Z Pulse shift (Note 3)
: Regeneration error (Note 1)
: Overload (Note 1)
: Overspeed (Note 1)
: Abnormal pulse control command (Note 1)
: Excessive deviation (Note 1)
: Serial communication error (Note 2)
: Encoder error (Position detector fault) (Note 3)
: Adjustment error (Note 1)
: Emergency stop (Note 2)
: Reverse (CWL) limit error (Note 2)
: Forward (CCWL) limit error (Note 2)
: IGBT temperature error (Note 2)
: Memory error (Note 4)
: Serial communication time out (Note 2)
: Motor type error (Note 2)
: Input power phase loss (Note 2)
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Chapter 7 Servo Parameters|ASDA-B Series
NOTE
1) When this fault occurs, users can use ARST signal to clear the fault message.
2) This fault can be cleared automatically when users eliminate the error source. Using ARST
signal can not clear this fault message.
3) This fault can not be cleared even if users eliminate the error source. Users must restart the
servo drive (after switching power off and on) and then the fault can be cleared.
4) When this fault occurs, it indicates the internal EEPROM may be damaged and using ARST
signal can not clear this fault message.
The fault display shown on PC-Based communication software and Keypad:
Settings:
1 : Overcurrent
2 : Overvoltage
3 : Undervoltage
4 : Z Pulse shift
5 : Regeneration error
6 : Overload
7 : Overspeed
8 : Abnormal pulse control command
9 : Excessive deviation
10 : Serial communication error
11 : Encoder error (Position detector fault)
12 : Adjustment error
13 : Emergency stop
14 : Reverse (CWL) limit error
15 : Forward (CCWL) limit error
16 : IGBT temperature error
17 : Memory error
18 : Serial communication time out
19 : Motor type error
20 : Input power phase loss
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Chapter 7 Servo Parameters|ASDA-B Series
P0 - 02
STS
Drive Status
Communication Addr.: 0002H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 4.3.5
Unit: N/A
Range: 0 ~ 15
Settings:
0 : Motor feedback pulse number [pulse]
1 : Motor feedback rotation number [rev]
2 : Pulse counts of pulse command [pulse]
3 : Rotation number of pulse command [rev]
4 : Position error counts [pulse]
5 : Input frequency of pulse command [kHz]
6 : Motor rotation speed [rpm]
7 : Speed input command [volt]
8 : Speed input command [rpm]
9 : Torque input command [volt]
10 : Torque input command [Nt-M]
11 : Average load [%]
12 : Peak load [%]
13 : Main circuit voltage [volt]
14 : Ratio of load inertia to Motor inertia [time]
15 : IGBT Temperature of power supply module [°C]
P0 - 03
Reserved
P0 - 04
CM1
Communication Addr.: 0003H
Status Monitor 1
Communication Addr.: 0004H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P0-02
Unit: N/A
Range: Write: 0 ~ 15, Read: N/A
Settings:
Select the desired drive status through communication setting or the keypad (please refer to P002). The drive status can be read from the communication address of this parameter via
communication port.
For example:
Set P0-04 to 1 and then all consequent reads of P0-04 will return the motor feedback rotation
number in turn.
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Chapter 7 Servo Parameters|ASDA-B Series
P0 - 05
CM2
Status Monitor 2
Communication Addr.: 0005H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P0-02
Unit: N/A
Range: 0 ~ 15
Settings:
See P0-04 for explanation.
P0 - 06
CM3
Status Monitor 3
Communication Addr.: 0006H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P0-02
Unit: N/A
Range: 0 ~ 15
Settings:
See P0-04 for explanation.
P0 - 07
Reserved
Communication Addr.: 0007H
P0 - 08
Reserved
Communication Addr.: 0008H
P0 - 09★ SVSTS
Servo Output Status Display
Communication Addr.: 0009H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Table 7.B
Unit: N/A
Range: N/A
Settings:
Bit0: SRDY (Servo ready)
Bit1: SON (Servo On)
Bit2: ZSPD (Zero speed)
Bit3: TSPD (Speed reached)
Bit4: TPOS (Positioning completed)
Bit5: TQL (Reached torques limits)
Bit6: OLW (Overload warning)
Bit7: ALRM (Servo alarm output)
Bit8: BRKR (Electromagnetic brake)
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Chapter 7 Servo Parameters|ASDA-B Series
Bit9: WARN (Servo warning output. WARN is activated when the drive has detected Reverse
limit error, Forward limit error, Emergency stop, Serial communication error, and Undervoltage
these fault conditions.)
Bit10 ~ 15 : Reserved
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Chapter 7 Servo Parameters|ASDA-B Series
Group 1: P1-xx Basic Parameters
P1 - 00▲ PTT
External Pulse Input Type
Communication Addr.: 0100H
Default: 2
Related Section:
Applicable Control Mode: P
Section 3.3.3, Section 3.6.1,
Unit: N/A
Section 6.2.1
Range: 0 ~ 142
Settings:
ASD-PU-01A
ASD-PU-01B
P1 - 00 : PTT
2
Pulse type
Reserved
Logic type
Not used
• Pulse type
0: AB phase pulse (4x)
1: CW + CCW pulse
2: Pulse + Direction
Other setting: Reversed
Input pulse interface
Max. input pulse frequency
Line driver
500kpps
Open collector
200kpps
• Logic type
Pulse Type
0=Positive Logic
Forward
Reverse
1=Negative Logic
Forward
Reverse
AB phase pulse
CW + CCW pulse
Pulse + Direction
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 01● CTL
Control Mode and Output Direction
Communication Addr.: 0101H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P mode: See Section 6.2.1
Unit: pulse (P mode), rpm (S mode), N.M (T mode)
S, Sz mode: See Section 6.3.1
Range: 0 ~ 110
T, Tz mode: See Section 6.4.1
Settings:
ASD-PU-01A
ASD-PU-01B
• Control Mode Settings:
• Torque Output Direction Settings:
P
00
S
T
Sz
Tz
0
1
▲
02
▲
03
Forward
▲
04
▲
05
▲
06
▲
07
▲
10
Reverse
▲
▲
▲
▲
P: Position control mode (command from external signal)
S: Speed control mode (external command / internal command)
T: Torque control mode (external command / internal command)
Sz: Zero speed control mode (internal speed command)
Tz: Zero torque control mode (internal torque command)
P1 - 02▲ PSTL
Speed and Torque Limit
Communication Addr.: 0102H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 6.1.1, Section 6.6.2
Unit: N/A
Table 7.A
Range: 0 ~ 11
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Chapter 7 Servo Parameters|ASDA-B Series
Settings:
ASD-PU-01A
ASD-PU-01B
• Disable / Enable Speed Limit Function Settings
0: Disable Speed Limit Function
1: Enable Speed Limit Function (It is valid only in Torque mode)
The source of speed limit is determined by the speed command (SPD1, SPD0) of DI signal.
DI Name
SPD1, SPD0
DI Status
Command Source
Not select (Note 1)
00
External analog
command
01
P1-09
10
P1-10
11
P1-11
• Disable / Enable Torque Limit Function Settings
0: Disable Torque Limit Function
1: Enable Torque Limit Function (It is valid only in Position and Speed mode)
The source of torque limit is determined by the torque command (TCM1, TCM0) of DI signal.
DI Name
TCM1, TCM0
DI Status
Command Source
Not select (Note 1)
00
External analog
command
01
P1-09
10
P1-10
11
P1-11
NOTE
1) DI signal can be selected by parameter P2-11 to P2-15 and Table 7.A.
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 03
AOUT
Pulse Output Polarity Setting
Communication Addr.: 0103H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P1-46
Unit: N/A
Range: 0 ~ 1
Settings:
• Pulse Output Polarity Settings (A/B phase deviation from 90 degrees (Quadrature))
0: Forward output
1: Reverser output
P1 - 04
Reserved
Communication Addr.: 0104H
P1 - 05
Reserved
Communication Addr.: 0105H
P1 - 06
SFLT
Accel / Decel Smooth Constant of Analog Speed
Communication Addr.: 0106H
Command (Low-pass Filter)
Default: 0
Related Section:
Applicable Control Mode: S
Section 6.3.3
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
P1 - 07
TFLT
Smooth Constant of Analog Torque Command
(Low-pass Filter)
Communication Addr.: 0107H
Default: 0
Related Section:
Applicable Control Mode: T
Section 6.4.3
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
P1 - 08
PFLT
Smooth Constant of Position Command (Lowpass Filter)
Communication Addr.: 0108H
Default: 0
Related Section:
Applicable Control Mode: P
Section 6.2.5
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 09
SPD1
1st Speed Command or Limit
Communication Addr.: 0109H
Default: 100
Related Section:
Applicable Control Mode: S/T
S mode: Section 6.3.5
Unit: rpm
T mode: P1-02
Range: -5000 ~ +5000
Settings:
1st Speed Command
In Speed mode, this parameter is used to set speed 1 of internal speed command.
1st Speed Limit
In Torque mode, this parameter is used to set speed limit 1 of internal speed command.
P1 - 10
SPD2
2nd Speed Command or Limit
Communication Addr.: 010AH
Default: 200
Related Section:
Applicable Control Mode: S/T
S mode: Section 6.3.5
Unit: rpm
T mode: P1-02
Range: -5000 ~ +5000
Settings:
2nd Speed Command
In Speed mode, this parameter is used to set speed 2 of internal speed command.
2nd Speed Limit
In Torque mode, this parameter is used to set speed limit 2 of internal speed command.
P1 - 11
SPD3
3rd Speed Command or Limit
Communication Addr.: 010BH
Default: 300
Related Section:
Applicable Control Mode: S/T
S mode: Section 6.3.5
Unit: rpm
T mode: P1-02
Range: -5000 ~ +5000
Settings:
3rd Speed Command
In Speed mode, this parameter is used to set speed 3 of internal speed command.
3rd Speed Limit
In Torque mode, this parameter is used to set speed limit 3 of internal speed command.
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P1 - 12
TQ1
1st Torque Command or Limit
Communication Addr.: 010CH
Default: 100
Related Section:
Applicable Control Mode: T / P, S
T mode: Section 6.4.5
Unit: %
P, S mode: P1-02
Range: -300 ~ +300
Settings:
1st Torque Command
In Torque mode, this parameter is used to set torque 1 of internal torque command.
1st Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 1 of internal torque
command.
P1 - 13
TQ2
2nd Torque Command or Limit
Communication Addr.: 010DH
Default: 100
Related Section:
Applicable Control Mode: T / P, S
T mode: Section 6.4.5
Unit: %
P, S mode: P1-02
Range: -300 ~ +300
Settings:
2nd Torque Command
In Torque mode, this parameter is used to set torque 2 of internal torque command.
2nd Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 2 of internal torque
command.
P1 - 14
SPD3
3rd Torque Command or Limit
Communication Addr.: 010EH
Default: 100
Related Section:
Applicable Control Mode: T / P, S
T mode: Section 6.4.5
Unit: rpm
P, S mode: P1-02
Range: -300 ~ +300
Settings:
3rd Speed Command
In Torque mode, this parameter is used to set torque 3 of internal torque command.
3rd Speed Limit
In Position and Speed mode, this parameter is used to set torque limit 3 of internal torque
command.
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 15▲ GR4
Electronic Gear Ratio (2nd Numerator) (N2)
Communication Addr.: 010FH
Default: 1
Related Section:
Applicable Control Mode: P
Section 6.2.4, P1-44, P1-45
Unit: pulse
DI GNUM0(11) in Table 7.A
Range: 1 ~ 32767
Settings:
The electronic gear numerator value can be set via external DI signal (refer to Table 7.A).
DI Name
GNUM0
DI Status
Selected Electronic Gear
Not select (Note 1)
P1-44, P1-45
0
P1-44, P1-45
1
P1-44, P1-45
NOTE
1) DI signal can be selected by parameter P2-10 to P2-15 and Table 7.A. If uses only need to
use one group of electronic gear, it allows users not to select GNUM0.
P1 - 16
Reserved
Communication Addr.: 0110H
P1 - 17
Reserved
Communication Addr.: 0111H
P1 - 18
Reserved
Communication Addr.: 0112H
P1 - 19
Reserved
Communication Addr.: 0113H
P1 - 20
Reserved
Communication Addr.: 0114H
P1 - 21
Reserved
Communication Addr.: 0115H
P1 - 22
Reserved
Communication Addr.: 0116H
P1 - 23
Reserved
Communication Addr.: 0117H
P1 - 24
Reserved
Communication Addr.: 0118H
P1 - 25
Reserved
Communication Addr.: 0119H
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 26
Reserved
Communication Addr.: 011AH
P1 - 27
Reserved
Communication Addr.: 011BH
P1 - 28
Reserved
Communication Addr.: 011CH
P1 - 29
Reserved
Communication Addr.: 011DH
P1 - 30
Reserved
Communication Addr.: 011EH
P1 - 31
Reserved
Communication Addr.: 011FH
P1 - 32
LSTP
Motor Stop Mode Selection
Communication Addr.: 0120H
Default: 0
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 11
Settings: This parameter is used to select servo motor stop mode.
ASD-PU-01A
ASD-PU-01B
• Fault Stop Function Settings:
When a fault occurs (except for CWL, CCWL, EMGS and serial communication error), it is
used to set servo motor stop mode.
0: Stop instantly
1: Decelerate to stop
• Dynamic Brake Activation Settings:
When a fault occurs (except for CWL, CCWL, EMGS and serial communication error), the
servo drive will turn on (Servo On) and then off (Servo Off) automatically.
0: Use dynamic brake when Servo Off (the servo drive is disabled).
1: Allow servo motor to coast to stop when Servo Off (the servo drive is disabled).
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 33
Reserved
P1 - 34
TACC
Communication Addr.: 0121H
Acceleration Time
Communication Addr.: 0122H
Default: 200
Related Section:
Applicable Control Mode: S
P1-35, P1-36, Section 6.3.3
Unit: ms
Range: 1 ~ 20000
Settings:
It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled)
P1 - 35
TDEC
Deceleration Time
Communication Addr.: 0123H
Default: 200
Related Section:
Applicable Control Mode: S
P1-34, P1-36, Section 6.3.3
Unit: ms
Range: 1 ~ 20000
Settings:
It is used to determine the deceleration time to decelerate from its rated rotation speed to 0.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled)
P1 - 36
TSL
Accel /Decel S-curve
Communication Addr.: 0124H
Default: 0
Related Section:
Applicable Control Mode: S
P1-34, P1-35, Section 6.3.3
Unit: ms
Range: 0 ~ 10000 (0: Disabled)
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.
Speed
Time
(ms)
TSL/2
TACC
TSL/2
TSL/2
TDEC
TSL/2
TSL: P1-36, Accel /Decel S-curve
Total acceleration time = TACC + TSL
TACC: P1-34, Acceleration time
Total deceleration time = TDEC + TSL
TDEC: P1-35, Deceleration time
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 37
GDR
Ratio of Load Inertia to Servo Motor Inertia
Communication Addr.: 0125H
Default: 10
Related Section:
Applicable Control Mode: P/S/T
P2-31, P2-32, Section 6.3.6
Unit: 0.1times
Range: 0 ~ 2000
Settings:
Ratio of load inertia to servo motor inertia: (J_load /J_motor)
P1 - 38
ZSPD
Zero Speed Range Setting
Communication Addr.: 0126H
Default: 10
Related Section:
Applicable Control Mode: P/S/T
DO ZSPD(03) in Table 7.B
Unit: rpm
Range: 0 ~ 200
Settings:
This parameter is used to set output range of zero speed signal (ZSPD).
ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range
setting as defined in parameter P1-38.
For Example, at default ZSPD will be activated when the drive detects the motor rotating at
speed at or below 10 rpm. ZSPD will remain activated until the motor speed increases above 10
RPM.
P1 - 39
SSPD
Target Rotation Speed
Communication Addr.: 0127H
Default: 3000
Related Section:
Applicable Control Mode: P/S/T
DO TSPD(04) in Table 7.B
Unit: rpm
Range: 0 ~ 5000
Settings:
When target rotation speed reaches its preset value, digital output (TSPD) is enabled. When the
forward and reverse speed of servo motor is equal and higher than the setting value, the motor
will reach the target rotation speed, and then TSPD signal will output.
TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed
setting as defined in parameter P1-39. TSPD will remain activated until the motor speed drops
below the Target Rotation Speed.
Revision June, 2009
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 40▲ VCM
Max. Analog Speed Command or Limit
Communication Addr.: 0128H
Default: rated speed
Related Section:
Applicable Control Mode: S/T
Section 6.3.4, P1-55
Unit: rpm
Range: 0 ~ 5000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates that
the speed command is 3000rpm. If P1-40 is set to 3000, but the input voltage is changed to 5V,
then the speed command is changed to 1500rpm.
Speed command / limit = Input voltage x setting/10
P1 - 41▲ TCM
Max. Analog Torque Command or Limit
Communication Addr.: 0129H
Default: 100
Related Section:
Applicable Control Mode: T / S, P
Section 6.4.4, P1-55
Unit: %
Range: 0 ~ 300
Settings:
In Torque mode, this parameter is used to set the output torque at maximum input voltage (10V)
of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at maximum input
voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that
the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is
changed to 5V, then the torque command is changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)
P1 - 42
MBT1
On Delay Time of Electromagnetic Brake
Communication Addr.: 012AH
Default: 100
Related Section:
Applicable Control Mode: P/S/T
DO BRKR(08) in Table 7.B
Unit: ms
P1-43, Section 6.6.4
Range: 0 ~ 1000
Settings:
Used to set the period of time between when the servo drive is On (Servo On) and when
electromagnetic brake output signal (BRKR) is activated.
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 43
MBT2
OFF Delay Time of Electromagnetic Brake
Communication Addr.: 012BH
Default: 100
Related Section:
Applicable Control Mode: P/S/T
DO BRKR(08) in Table 7.B
Unit: ms
P1-42, Section 6.6.4
Range: -1000 ~ 1000
Settings:
Used to set the period of time between when the servo drive is Off (Servo Off) and when
electromagnetic brake output signal (BRKR) is unactivated.
NOTE
1) When the setting value of P1-43 is higher than or equal to 0(zero)
ON
SON
(DI Input)
OFF
OFF
ON
BRKR
(DO Output)
OFF
OFF
MBT2
(P1-43)
MBT1
(P1-42)
When Servo Off (the servo motor is disabled), the BRKR output will be Off after the Off delay
time set by P1-43.
2) When the setting value of P1-43 is lower than 0(zero)
ON
SON
(DI Input)
SON
(DO Output)
BRKR
(DO Output)
OFF
OFF
ON
OFF
OFF
ON
MBT2(P1-43)
OFF
OFF
MBT1(P1-42)
When Servo Off (the servo motor is disabled) and the BRKR output is also Off, the servo
drive will be Off after the Off delay time set by P1-43.
Revision June, 2009
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 44▲ GR1
Electronic Gear Ratio (1st Numerator) (N1)
Communication Addr.: 012CH
Default: 1
Related Section:
Applicable Control Mode: P
Section 6.2.4, P1-15, P1-45
Unit: pulse
DI GNUM0(11) in Table 7.A
Range: 1 ~ 32767
Settings:
The electronic gear numerator value can be set via external DI signal (refer to Table 7.A).
DI Name
DI Status
Selected Electronic Gear
Not select (Note 1)
P1-44, P1-45
0
P1-44, P1-45
1
P1-44, P1-45
GNUM0
NOTE
1) DI signal can be selected by parameter P2-10 to P2-15 and Table 7.A. If uses only need to
use one group of electronic gear, it allows users not to select GNUM0.
P1 - 45▲ GR2
Electronic Gear Ratio (Denominator)
Communication Addr.: 012DH
Default: 1
Related Section:
Applicable Control Mode: P
Section 6.2.4, P1-15, P1-44
Unit: pulse
DI GNUM0(11) in Table 7.A
Range: 1 ~ 32767
Settings:
Please set electronic gear ratio when the servo drive is Off (Servo Off). As the wrong setting can
cause motor to run chaotically (out of control) and it may lead to personnel injury, therefore,
ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio settings:
Pulse input
f1
N
M
Position
command
N
f2 = f1 x M
f1: Pulse input
f2: Position command
N: Numerator, the setting value of P1-15 or P1-44
M: Denominator, the setting value of P1-45
The electronic gear ratio setting range must be within: 1/50<N/M<200.
In terms of the servo drive which the firmware version is V1.018 or above, the electronic gear
ratio can be set when the servo drive is On (Servo On).
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 46▲ GR3
Encoder Output Pulse Number
Communication Addr.: 012EH
Default: 2500
Related Section:
Applicable Control Mode: P/S/T
P1-03
Unit: pulse
Range: 1 ~ 2500 (0 = By pass)
Settings:
This parameter is used to set the pulse number of encoder outputs.
Encoder output pulse number (A/B phase deviation from 90 degrees (Quadrature))
=
2500ppr
x setting value of P1-46
2500
P1 - 47
Reserved
Communication Addr.: 012FH
P1 - 48
Reserved
Communication Addr.: 0130H
P1 - 49
Reserved
Communication Addr.: 0131H
P1 - 50
Reserved
Communication Addr.: 0132H
P1 - 51
Reserved
Communication Addr.: 0133H
P1 - 52
RES1
Regenerative Resistor Value
Communication Addr.: 0134H
Default: 40
Related Section:
Applicable Control Mode: P/S/T
Section 6.6.3
Unit: Ohm
Range: 10 ~ 750
P1 - 53
RES2
Regenerative Resistor Capacity
Communication Addr.: 0135H
Default: 60
Related Section:
Applicable Control Mode: P/S/T
Section 6.6.3
Unit: Watt
Range: 30 ~ 1000
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Chapter 7 Servo Parameters|ASDA-B Series
P1 - 54
PER
Positioning Completed Width
Communication Addr.: 0136H
Default: 100
Related Section:
Applicable Control Mode: P
DO TPOS(05) in Table 7.B
Unit: pulse
Range: 0 ~ 10000
Settings:
This parameter is used to set the width of pulse output range in which TPOS (positioning
completed signal) will activate. TPOS will be activated when the position error is below the
setting value of P1-54.
P1 - 55
MSPD
Maximum Speed Limit
Communication Addr.: 0137H
Default: rated speed
Related Section:
Applicable Control Mode: P/S/T
Section 6.2.6
Unit: rpm
Range: 0 ~ Max. speed
Settings:
This parameter is used to set maximum motor speed. The default setting is rated speed.
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Group 2: P2-xx Extension Parameters
P2 - 00
KPP
Proportional Position Loop Gain
Communication Addr.: 0200H
Default: 50
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-27
Unit: rad/s
Range: 0 ~ 1023
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite position
loop response and reduce position error. However, if the setting value is over high, it may
generate vibration or noise. In AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
P2 - 01
PPR
Position Loop Gain Switching Rate
Communication Addr.: 0201H
Default: 100
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-27, P2-29
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the position gain switching rate when the gain switching condition
is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29
for gain switching condition settings.
P2 - 02
PFG
Position Feed Forward Gain
Communication Addr.: 0202H
Default: 0
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-03
Unit: %
Range: 0 ~ 100
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system. In PDFF control AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
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Chapter 7 Servo Parameters|ASDA-B Series
P2 - 03
PFF
Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H
Default: 5
Related Section:
Applicable Control Mode: P
Section 6.2.6, P2-02
Unit: ms
Range: 2 ~ 100
Settings:
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system.
P2 - 04
KVP
Proportional Speed Loop Gain
Communication Addr.: 0204H
Default: 300
Related Section:
Applicable Control Mode: P/S
Section 6.3.6, P2-27
Unit: rad/s
Range: 0 ~ 4095
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop
gain is increased, it can expedite speed loop response. However, if the setting value is over high,
it may generate vibration or noise. In AutoMode, the value of this parameter will be changed in
accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D &
6.E in Chapter 6).
P2 - 05
SPR
Speed Loop Gain Switching Rate
Communication Addr.: 0205H
Default: 100
Related Section:
Applicable Control Mode: P/S
Section 6.3.6, P2-27, P2-29
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the speed gain switching rate when the gain switching condition is
satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29 for
gain switching condition settings.
P2 - 06
KVI
Speed Integral Compensation
Communication Addr.: 0206H
Default: 50
Related Section:
Applicable Control Mode: P/S
Section 6.3.6
Unit: rad/s
Range: 0 ~ 1023
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Chapter 7 Servo Parameters|ASDA-B Series
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed integral
compensation is increased, it can improve the speed response ability and decrease the speed
control deviation. However, if the setting value is over high, it may generate vibration or noise. In
AutoMode, the value of this parameter will be changed in accordance with the setting value of
parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6).
Time constant of speed integral compensation: (1000/KVI) ms
P2 - 07
SFG
Speed Feed Forward Gain
Communication Addr.: 0207H
Default: 0
Related Section:
Applicable Control Mode: S
Section 6.3.6
Unit: %
Range: 0 ~ 100
Settings:
This parameter is used to set the feed forward gain when executing speed control command.
When using speed smooth command, increase gain can improve speed track deviation.
When not using speed smooth command, decrease gain can improve the resonance condition of
mechanical system.
P2 - 08■ PCTLC
Special Factory Setting
Default: 0
Communication Addr.: 0208H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 32767
Settings:
This parameter can be used to reset all parameters to their original factory settings and enable
some parameters functions.
• Reset parameters settings:
10: Users can reset all parameter values to factory defaults. All parameter values will be
reset after re-power the servo drive.
• Enable parameters functions:
20: If P2-08 is set to 20, then the parameter P4-10 is enabled.
22: If P2-08 is set to 22, then the parameters P4-11 ~ P4-19 are enabled.
26: If P2-08 is set to 26, then the parameter P2-27 is enabled.
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Chapter 7 Servo Parameters|ASDA-B Series
P2 - 09
DRT
Bounce Filter
Communication Addr.: 0209H
Default: 2
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.6
Unit: 2ms
Range: 0 ~ 20
Settings:
For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=10ms.
When there are too much vibration or noises around environment, increasing this setting value
(bounce filter time) can improve reliability. However, if the time is too long, it may affect the
response time.
P2 - 10
DI1
Digital Input Terminal 1 (DI1)
Communication Addr.: 020AH
Default: 101
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.A
Unit: N/A
Range: 0 ~ 126
Settings:
ASD-PU-01A
ASD-PU-01B
This parameter is used to determine the function and status of DI1.
• DI Function Settings:
For the setting value of P2-10 ~ P2-15, please refer to Table 7.A.
• DI Enabled Status Settings:
0: Normally closed (contact b)
1: Normally open (contact a)
Please re-start the servo drive after parameters have been changed.
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P2 - 11
DI2
Digital Input Terminal 2 (DI2)
Communication Addr.: 020BH
Default: 102
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.A
Unit: N/A
Range: 0 ~ 126
Settings:
See P2-10 for explanation.
P2 - 12
DI3
Digital Input Terminal 3 (DI3)
Communication Addr.: 020CH
Default: 104
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.A
Unit: N/A
Range: 0 ~ 126
Settings:
See P2-10 for explanation.
P2 - 13
DI4
Digital Input Terminal 4 (DI4)
Communication Addr.: 020DH
Default: 22
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.A
Unit: N/A
Range: 0 ~ 126
Settings:
See P2-10 for explanation.
P2 - 14
DI5
Digital Input Terminal 5 (DI5)
Communication Addr.: 020EH
Default: 23
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.A
Unit: N/A
Range: 0 ~ 126
Settings:
See P2-10 for explanation.
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Chapter 7 Servo Parameters|ASDA-B Series
P2 - 15
DI6
Digital Input Terminal 6 (DI6)
Communication Addr.: 020EH
Default: 21
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.A
Unit: N/A
Range: 0 ~ 126
Settings:
See P2-10 for explanation.
P2 - 16
Reserved
Communication Addr.: 0210H
P2 - 17
Reserved
Communication Addr.: 0211H
P2 - 18
DO1
Digital Output Terminal 1 (DO1)
Communication Addr.: 0212H
Default: 101
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.B
Unit: N/A
Range: 0 ~ 110
Settings:
ASD-PU-01A
ASD-PU-01B
This parameter is used to determine the function and status of DO1.
• DO Function Settings:
For the setting value of P2-18 ~ P2-20, please refer to Table 7.B.
• DO Enabled Status Settings:
0: Normally closed (contact b)
1: Normally open (contact a)
Please re-start the servo drive after parameters have been changed.
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P2 - 19
DO2
Digital Output Terminal 2 (DO2)
Communication Addr.: 0213H
Default: 103
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.B
Unit: N/A
Range: 0 ~ 110
Settings:
See P2-18 for explanation.
P2 - 20
DO3
Digital Output Terminal 3 (DO3)
Communication Addr.: 0214H
Default: 7
Related Section:
Applicable Control Mode: P/S/T
Section 3.3.4, Table 7.B
Unit: N/A
Range: 0 ~ 110
Settings:
See P2-18 for explanation.
P2 - 21
Reserved
Communication Addr.: 0215H
P2 - 22
Reserved
Communication Addr.: 0216H
P2 - 23
NCF
Notch Filter (Resonance Suppression)
Communication Addr.: 0217H
Default: 1000
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.7, P2-24
Unit: Hz
Range: 50 ~ 1000
Settings:
This parameter is used to set resonance frequency of mechanical system. It can be used to
suppress the resonance of mechanical system. If P2-24 is set to 0, this parameter is disabled.
Gain (db)
P2-24
Frequency (Hz)
P2-23
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Chapter 7 Servo Parameters|ASDA-B Series
P2 - 24
DPH
Notch Filter Attenuation Rate
(Resonance Suppression)
Communication Addr.: 0218H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.7, P2-23
Unit: dB
Unit: Hz
Range: 0 ~ 32
Settings:
0: Disabled
P2 - 25
NLP
Low-pass Filter Time Constant
(Resonance Suppression)
Communication Addr.: 0219H
Default: 20
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.7, P2-32
Unit: 0.1ms
Range: 0 ~ 10000
Settings:
This parameter is used to set low-pass filter time constant of resonance suppression.
0: Disabled
P2 - 26
DST
External Anti-Interference Gain
Communication Addr.: 021AH
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.7, P2-32
Unit: N/A
Range: 0 ~ 511
Settings:
0: Disabled
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P2 - 27
GCC
Gain Switching Control Selection
Communication Addr.: 021BH
Default: 0
Related Section:
Applicable Control Mode: P/S
P2-01, P2-05, P2-28, P2-29
Unit: N/A
Range: 0 ~ 14
Settings:
ASD-PU-01A
ASD-PU-01B
• Gain Switching Condition Settings:
0: Disabled
1: Gain switching DI signal (GAINUP) is On. (see Table 7.A)
2: In position mode, position deviation is higher than the setting value of P2-29.
3: Position command frequency is higher than the setting value of P2-29.
4: Servo motor speed is higher than the setting value of P2-29.
• Gain Switching Control Settings:
0: Gain multiple switching
1: P Æ PI switching
Setting
0
P mode
P, S mode
Status
P2-00 x 100%
P2-04 x 100%
Before switching
P2-00 x P2-01
P2-04 x P2-05
After switching
1
P2 - 28
GUT
P2-06 x 0%
Before switching
P2-06 x 100%
After switching
Gain Switching Time Constant
Communication Addr.: 021CH
Default: 10
Related Section:
Applicable Control Mode: P/S
P2-27, P2-29
Unit: 10ms
Range: 0 ~ 1000
Settings:
0: Disabled
This parameter is used to set the time constant when switching the smooth gain.
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Chapter 7 Servo Parameters|ASDA-B Series
P2 - 29
GPE
Gain Switching Condition
Communication Addr.: 021DH
Default: 10000
Related Section:
Applicable Control Mode: P/S
P2-27, P2-28
Unit: pulse, Kpps, rpm
Range: 0 ~ 30000
Settings:
0: Disabled
This parameter is used to set the value of gain switching condition (pulse error, Kpps, rpm)
selected in P2-27. The setting value will be different depending on the different gain switching
condition.
P2 - 30■ INH
Auxiliary Function
Default: 0
Communication Addr.: 021EH
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 5
Settings:
0: Normal operation of Digital Inputs SON, CW, and CCW.
1: Force the servo drive to be Servo On (ignore CW and CCW signal)
2: Ignore CW digital input signal
3: Ignore CCW digital input signal
4: Reserved
5: After setting P2-30 to 5, the setting values of all parameters will lost (not remain in memory) at
power-down. When the parameters data are no more needed, using this mode can allows users
not to save parameters data into memory without damaging the EEPROM.
NOTE
1) Please set P2-30 to 0 during normal operation. The setting value of P2-30 will return to 0
automatically after re-power the servo drive.
P2 - 31■ AUT1
Auto Stiffness and Responsiveness Level
Communication Addr.: 021FH
Default: 6
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.6, P1-37, P2-32
Unit: N/A
Range: 0 ~ F
Settings:
This parameter allows user to set the stiffness and responsiveness level automatically.
Users can control the stiffness and responsiveness according to application condition.
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Chapter 7 Servo Parameters|ASDA-B Series
When the setting value is higher, the stiffness and responsiveness is higher.
Setting Value
of P2-31
Speed Loop Responsiveness (Hz)
Stiffness and Responsiveness
0
10
Low Stiffness
1
15
Low Responsiveness
2
20
3
25
4
30
5
35
6
45
7
55
Medium Stiffness
8
65
Medium Responsiveness
9
80
A
100
B
120
C
145
D
170
E
205
High Stiffness
F
250
High Responsiveness
NOTE
1) This parameter is activated by P2-32.
P2 - 32▲ AUT2
Tuning Mode Selection
Communication Addr.: 0220H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 6.3.6, P2-31
Unit: N/A
Range: 0 ~ 12
Settings:
ASD-PU-01A
ASD-PU-01B
• Tuning Mode Settings:
0: Manual mode
1: AutoMode (Continuous adjustment)
The ratio of Load Inertia to servo motor inertia can be continuously adjusted.
The level of stiffness and responsiveness are adjusted by parameter P2-31.
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Chapter 7 Servo Parameters|ASDA-B Series
2: AutoMode (The ratio of Load Inertia to servo motor inertia is fixed)
The ratio of Load Inertia to servo motor inertia is set by parameter P1-37.
The level of stiffness and responsiveness are adjusted by parameter P2-31.
• Control Loop Structure Settings:
0: PDFF Control. PDFF : Pseudo-Derivative Feedback and Feedforward
1: PI Control. PI : Proportional - Integral control
Explanation of Auto-tuning:
1. When switching mode #1 to #2 or #0, the system will save the measured load inertia value
automatically and memorized in P1-37 and related gain parameters.
2. In AutoMode #1, the system will save the measured load inertia value every 30 minutes
automatically and memorized in P1-37.
3. In AutoMode #2, if the setting value of P2-31 changes, the related gain parameters will also
change. However, the setting value of P1-37 will retain its value.
4. When switching mode #2 to #0, it indicates the setting of P1-37 and all settings of related
gain parameters will be returned to original setting value in #0 manual mode.
5. No matter in Manual mode #0 or in AutoMode #2, the users should enter the appropriate
load inertia value in P1-37.
6. If the users use the servo dynamic auto-tuning function of ASDA-B software (Tools Æ Servo
Tuning Æ Dynamic Auto tuning), it will save the measured load inertia value and memorized
in P1-37 and related gain parameters.
P2 - 33
Reserved
P2 - 34
SDEV
Communication Addr.: 0221H
Overspeed Warning Condition
Communication Addr.: 0222H
Default: 5000
Related Section:
Applicable Control Mode: S
Fault Code 07 in P0-01
Unit: rpm
Range: 1 ~ 6000
Settings:
This parameter is used to set the over speed condition of the drive fault code. (See P0-01)
P2 - 35
PDEV
Excessive Error Warning Condition
Communication Addr.: 0223H
Default: 3000
Related Section:
Applicable Control Mode: P
Fault Code 09 in P0-01
Unit: 10 pulse (10pls)
Range: 1 ~ 30000
Settings:
This parameter is used to set the excessive error condition of the drive fault code. (See P0-01)
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Chapter 7 Servo Parameters|ASDA-B Series
P2 - 36
OVL
Overload Protection Level
Communication Addr.: 0224H
Default: 100
Related Section:
Applicable Control Mode: P/S/T
Fault Code 06 in P0-01, P2-37
Unit: %
Range: 70 ~ 100
Settings:
100: The overload time will not be extended.
70: The overload time will be extended. The extended overload time is equal to the original
overload time multiply by P2-37/70.
This parameter is used to set the overload protection level that is used to determine the overload
fault condition (ALE06). However, when using this parameter, the operating temperature of the
servo motor should be lower, the ventilation should be adequate for heat dissipation or the motor
should be provided with fans to ensure the surface temperature of the motor will not exceed the
specification.
For example, suppose that ECMA-C30807S servo motor is used, the normal current is 200%
and the overload time is 8 seconds, if P2-36 is set to 100% and P2-37 is set 100% also, the
servo fault message, overload (ALE06) will occur when the overload time, 8 x (100%/100%) = 8
seconds has been reached. However, if P2-36 is set to 70% and P2-37 is set to 100%, the servo
fault message, overload (ALE06) will occur when the overload time, 8 x (100%/70%) = 11.43
seconds has been reached.
P2 - 37
OVW
Output Overload Warning Level
Communication Addr.: 0225H
Default: 50%
Related Section:
Applicable Control Mode: P/S/T
P2-36
Unit: N/A
DO OLW(09) in Table 7.B
Range: 0 ~ 100%
Settings:
This parameter is used to set the output overload warning level that is used to activate the DO
signal OLW. (See Table 7.B). When the motor has reached the output overload level set by
parameter P2-37, the motor will send a warning to the drive. After the drive has detected the
warning, the DI signal OLW will be activated.
For example, suppose that ECMA-C30807S servo motor is used, when the normal current is
200%, and the overload time is 8 seconds, if P2-36 is set to 100% and P2-37 is set 100% also,
the servo fault message, overload (ALE06) will be detected and show on the LED display when
the overload time, 8 x (100%/100%) = 8 seconds has been reached. However, if P2-36 is set to
100% and P2-37 is set to 50%, the servo fault message, overload (ALE06) will be detected and
show on the LED display when the overload time, 8 x (50%/100%) = 4 seconds has been
reached.
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Chapter 7 Servo Parameters|ASDA-B Series
P2 - 38
GBIT
Special Function
Communication Addr.: 0226H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P1-34, P1-35, P1-36
Unit: N/A
Range: 0H ~ FFFFH
Settings:
0
0
0
0
0
Bit10
0
0
0
0
0
0
0
0
0
0
Bit0 ~ Bit9 and Bit11 ~ Bit15: Reserved. Must be set to 0.
Bit10: DI ZCLAMP function selection (The users should set Bit10 to 400H directly.)
When the following conditions are all met, ZCLAMP function will be activated.
Condition1: Speed mode
Condition2: DI ZCLAMP is activated.
Condition3: External analog speed command or internal registers speed command is less than
parameter P1-38.
Bit10 = 0: Locked at the position when ZCLAMP conditions are satisfied.
Bit10 = 1: Speed command is forced to 0 RPM when ZCLAMP conditions are satisfied.
How to select these two functions?
If the users want to use the edge of a D1 signal to stop the motor at the desired position and do
not care the speed deceleration curve, then set Bit10 of P2-38 to 0.
If the users want to eliminate the analog voltage offset to stop the motor at low voltage and they
want to keep the acceleration and deceleration speed curve, then set Bit10 of P2-38 to 1.
P2 - 39
Reserved
Communication Addr.: 0227H
P2 - 40
Reserved
Communication Addr.: 0228H
P2 - 41
Reserved
Communication Addr.: 0229H
P2 - 42
Reserved
Communication Addr.: 022AH
P2 - 43
Reserved
Communication Addr.: 022BH
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P2 - 44
ATUR
Motor Rotation Number
Communication Addr.: 022CH
Default: 2
Related Section:
Applicable Control Mode: P/S/T
P2-45, P2-46, P2-47
Unit: turn
Range: 1 ~ 3
Settings:
This parameter is used to set the motor rotation number when auto-tuning parameters.
P2 - 45
AFRQ
Motor Rotation Frequency
Communication Addr.: 022DH
Default: 10
Related Section:
Applicable Control Mode: P/S/T
P2-44, P2-46, P2-47
Unit: 0.1Hz
Range: 1 ~ 100
Settings:
This parameter is used to set the motor rotation frequency when auto-tuning parameters.
P2 - 46
ATME
Motor Rotation Time
Communication Addr.: 022EH
Default: 15
Related Section:
Applicable Control Mode: P/S/T
P2-44, P2-45, P2-47
Unit: sec
Range: 1 ~ 60
Settings:
This parameter is used to set the motor rotation time when auto-tuning parameters.
P2 - 47■ ASTR
Auto-Tuning Start Function
Communication Addr.: 022FH
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P2-44, P2-45, P2-46
Unit: N/A
Range: 0 ~ 11
Settings:
This parameter is used to set the motor startup operation when auto-tuning parameters.
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Chapter 7 Servo Parameters|ASDA-B Series
ASD-PU-01A
ASD-PU-01B
• Motor Startup Operation Settings:
0: No operation. The motor does not run.
1: Motor startup operation. The motor starts to run.
• Responsiveness Selection Settings:
0: Auto-select the appropriate responsiveness according to the measured load inertia value
1: Select the responsiveness set by parameter P2-31
P2 - 48
CCLR
Pulse Deviation Clear Mode
Communication Addr.: 0230H
Default: 0
Related Section:
Applicable Control Mode: P
DI CCLR(04) in Table 7.A
Unit: N/A
Range: 0 ~ 1
Settings:
When the servo drive is set to CCLR mode, the pulse deviation clear function is enabled.
0: When the input terminal is rising-edge triggered, the position accumulated pulse number will
be cleared.
CCLR
1: After CCLR is activated (ON), the position accumulated pulse number will be cleared
continuously.
CCLR
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The position accumulated pulse number
will be cleared continuously after CCLR
is activated (ON).
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P2 - 49
SJIT
Speed Detection Filter and Jitter Suppression
Communication Addr.: 0231H
Default: 10
Related Section:
Applicable Control Mode: P/S
Section 6.3.6
Unit: N/A
Range: 0 ~ 119
Settings:
ASD-PU-01A
ASD-PU-01B
• Speed Detection Filter Constant Settings:
Setting Value Speed Detection Frequency of Low-pass Filter (Hz)
Filter Time (ms)
0
500
2.0
1
450
2.2
2
400
2.5
3
350
2.8
4
300
3.3
5
250
4.0
6
200
5.0
7
150
6.6
8
100
10.0
9
80
12.5
• Enable Jitter Suppression Function Settings:
0: Disable Jitter Suppression function
1: Enable Jitter Suppression function
• Enable Speed Estimation Smooth Function:
0: Disable Speed Estimation Smooth function
1: Enable Speed Estimation Smooth function
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Group 3: P3-xx Communication Parameters
P3 - 00
ADR
Communication Address Setting
Communication Addr.: 0300H
Default: 1
Related Section:
Applicable Control Mode: P/S/T
Section 3.5.1, Section 8.2
Unit: N/A
Range: 1 ~ 254
Settings:
If the AC servo drive is controlled by RS-232/485 communication, each drive (or device) must be
uniquely identified and addressed between 1 and 254. Access to program this number is via
parameter P3-00.
One servo drive only can set one address. If the address is duplicate, there will be a
communication fault.
NOTE
1) When the address of host (external) controller is set to 0, it is with broadcast function. Then,
the servo drive will receive from host (external) controller only and will not respond to host
(external) controller no matter the address is matching or not.
2) When the address of host (external) controller is set to 255, it is with auto-respond function.
Then, the servo drive will receive from and respond to host (external) controller both no
matter the address is matching or not.
P3 - 01
BRT
Transmission Speed
Communication Addr.: 0301H
Default: 1
Related Section:
Applicable Control Mode: P/S/T
Section 8.2
Unit: bps
Range: 0 ~ 5
Settings:
0: Baud rate 4800 (data transmission speed: bits / second)
1: Baud rate 9600 (data transmission speed: bits / second)
2: Baud rate 19200 (data transmission speed: bits / second)
3: Baud rate 38400 (data transmission speed: bits / second)
4: Baud rate 57600 (data transmission speed: bits / second)
5: Baud rate 115200 (data transmission speed: bits / second)
This parameter is used to set the desired transmission speed between the computer and AC
servo drive. Users can set this parameter and control transmission speed to reach the maximum
baud rate of 115200 bps.
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P3 - 02
PTL
Communication Protocol
Communication Addr.: 0302H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 8.2
Unit: N/A
Range: 0 ~ 8
Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
5: Modbus ASCII mode, <8,O,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
This parameter is used to set the communication protocol. The alphanumeric characters
represent the following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non,
Even or Odd; the 1 or 2 is the numbers of stop bits.
P3 - 03
FLT
Transmission Fault Treatment
Communication Addr.: 0303H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 8.2
Unit: N/A
Range: 0 ~ 1
Settings:
0: Display fault and continue operating
1: Display fault and stop operating
This parameter is used to determine the operating sequence once a communication fault has
been detected. If '1' is selected the drive will stop operating upon detection the communication
fault. The mode of stopping is set by parameter P1-32.
P3 - 04
CWD
Communication Time Out Detection
Communication Addr.: 0304H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 8.2
Unit: N/A
Range: 0 ~ 20
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Settings:
0: Disabled
This parameter is used to set the maximum permissible time before detecting a fault due to
communication time out. When this parameter is set to a value over than 0, it indicates this
function is enabled. However, if not communicating with the servo in this period of time, the
servo drive will assume the communication has failed and show the communication error fault
message.
P3 - 05
Reserved
P3 - 06■ SDI
Communication Addr.: 0305H
Digital Input Communication Function
Communication Addr.: 0306H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P4-07, Section 8.2
Unit: N/A
Range: 0 ~ 3F
Settings:
The setting of this parameter determines how the Digital Inputs (DI) accept commands and
signals.
If the Digital Input Contact Control parameter for the DI 1 ~ DI 6 is set to "0", command is
external, and via CN1; if it is set to "1" the DI signal is via communication.
The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi
Function Digital Input parameter P4-07 which has several functions. Please see section 8.2 for
details.
For example, when P3-06 is set to 3, it indicates that DI 1 and DI 2 are both ON and they can be
controlled via P4-07. Then, DI 3 ~ DI 6 are activated via external command, i.e. through CN1.
P3 - 07
CDT
Communication Response Delay Time
Default: 0
Communication Addr.: 0307H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: ms
Range: 0 ~ 255
Settings:
This parameter is used to delay the communication time that servo drive respond to host
controller (external controller).
NOTE
1) When the communication address of the host (external) controller is set to 255, the
communication response delay time will be 0 (zero) no matter what the setting value of P307 is.
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Group 4: P4-xx Diagnosis Parameters
P4 - 00★ ASH1
Fault Record (N)
Default: 0
Communication Addr.: 0400H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
Settings:
The latest fault record.
P4 - 01★ ASH2
Fault Record (N-1)
Default: 0
Communication Addr.: 0401H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
P4 - 02★ ASH3
Fault Record (N-2)
Default: 0
Communication Addr.: 0402H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
P4 - 03★ ASH4
Fault Record (N-3)
Default: 0
Communication Addr.: 0403H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
P4 - 04★ ASH5
Fault Record (N-4)
Default: 0
Communication Addr.: 0404H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
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P4 - 05
JOG
JOG Operation
Communication Addr.: 0405H
Default: 20
Related Section:
Applicable Control Mode: P/S/T
Section 4.4.3
Unit: rpm
Range: 0 ~ 5000
Settings:
JOG operation command:
To perform a JOG Operation via communication command, use communication address 0405H
Enter 0 ~ 4997 for the desired JOG rpm. The setting value will be written into P4-05.
If the setting value exceeds the motor rated speed, this parameter is not be effective and the
motor will stop.
Enter 4998 to JOG in the CCW direction
Enter 4999 to JOG in the CW direction
Enter 5000 to stop the JOG operation
If change the speed during JOG operation, the new setting value is effective only after the servo
drive is restarted (after switching power off and on).
NOTE
1) If the communication write-in frequency is too high, please set P2-30 to 5.
P4 - 06
▲■
FOT
Force Output Control
Communication Addr.: 0406H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 4.4.4
Unit: N/A
Range: 0 ~ 7
Settings:
0: Disabled
This parameter is used to check if there is any damage DO terminal. This parameter is not
effective when the servo drive is enabled (Servo ON).
When the value of P4-06 is a non-zero value, it indicates this function is enabled.
For example:
When P4-06 is set to 3, it indicates that DI 1 and DI 2 are both ON.
NOTE
1) When users select P4-06 and press the Set key, the display will show “OP x”. “x” stands for
the parameter range from 0 to 7 (For the example display, refer to Section 4.4.4).
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P4 - 07■ ITST
Input Status or Force Input Control
Communication Addr.: 0407H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P3-06, Section 4.4.5,
Unit: N/A
Section 8.2
Range: 0 ~ 63
Settings:
Please see P3-06 and Section 8.2 for setting method.
External Control: Display the status of DI input signal
Communication Control: Read the status of input signal (upon software)
For the status of DI input signal, please refer to P2-10 ~ P2-15.
The contents of P4-07 is "read only" via the drive keypad or the communication software and will
display the state on or off of the six Digital Inputs which have been set in accordance to P3-06.
The least significant bit (Bit 0) stands for Digital Inputs 1 (DI 1) and the most significant bit (Bit5)
stands for Digital Inputs 1 (DI 6).
For example:
If the content of P4-07 is being read as 3, it indicates that the Digital Inputs 1, 2 are "ON" and
Digital Inputs 3, 4, 5, & 6 are "OFF".
If P3-06 has been set to 1 and the written value of Bit 0 of P4-07 is 1, it indicates the status of DI
1 is “ON”. On the contrary, if the written value of Bit 0 of P4-07 is 0, then the status of DI 1 is
“OFF”.
NOTE
1) When the written value of Bit is 1, the corresponding DI is activated (ON). When the written
value of Bit is 0, the corresponding DI is inactivated (OFF).
2) Please pay close attention on the property of Digital Inputs. When the Digital Input is a
contact “a”, if the input signal is ON, it indicates that this is a conductive circuit. When the
Digital Input is a contact “b”, even if the input signal is ON, it indicates that this is a nonconductive circuit.
P4 - 08
Reserved
P4 - 09
MOT
Communication Addr.: 0408H
Output Status Display
Communication Addr.: 0409H
Default: 0
Related Section:
Applicable Control Mode: P/S/T
Section 4.4.6
Unit: N/A
Range: 0 ~ 7
Settings:
External Control: Display the status of DO output signal
Communication Control: Read the status of output signal
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The status of DO signal, please refer to P2-18 ~ P2-20.
For example:
If P4-09 is set to 3, it indicates that the Digital Outputs 1, 2 are "ON" and Digital Output 3 is
"OFF".
NOTE
1) Please pay close attention on the property of Digital Outputs. When the Digital Output is a
contact “a”, if the output signal is ON, it indicates that this is a conductive circuit. When the
Digital Output is a contact “b”, even if the output signal is ON, it indicates that this is a nonconductive circuit.
P4 - 10▲ CEN
Adjustment Function
Communication Addr.: 040AH
Default: 0
Related Section:
Applicable Control Mode: P/S/T
P2-08, P4-11, P4-15, P4-19
Unit: N/A
P4-22, P4-23
Range: 0 ~ 8
Settings:
0: Reserved
1: Execute analog speed input drift adjustment
2: Execute analog torque input drift adjustment
3: Execute current detector (V phase) drift adjustment
4: Execute current detector (W phase) drift adjustment
5: Execute drift adjustment of the above 1 ~ 4
6: Execute IGBT NTC calibration
7: Auto-adjust P4-22 (Analog Speed Input Offset)
8: Auto-adjust P4-23 (Analog Torque Input Offset)
This adjustment function is enabled after parameter P2-08 is set to 20.
When setting P4-10 to 1 (executing analog speed input drift adjustment), please refer to P4-11
and P4-12. When setting P4-10 to 2 (executing analog torque input drift adjustment), please
refer to P4-13 and vise versa.
When executing any adjustment, the external wiring connected to analog speed or torque must
be removed and the servo system should be off (Servo off).
NOTE
1) When using this parameter, the setting value of the display will not be written (not retained).
After the adjustment is done, the setting value on the display will return to the default (0).
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P4 - 11
SOF1
Analog Speed Input Drift Adjustment 1
Communication Addr.: 040BH
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
P4-10
Unit: N/A
Range: 0 ~ 32767
Settings:
Manual Adjustment Operation:
Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary adjusting
function, although this parameter allows the users can execute manual adjustment, we still do
not recommend users to change the default setting manually.
Auto Adjustment Operation:
Set parameter P2-08 to 20 first and then set parameter P4-10 to 1.
When executing this auto adjustment, ensure that the external wiring connected to analog speed
must be removed or an external zero voltage power is applied to the servo drive from the host
controller and the servo system should be off (Servo off).
NOTE
1) When P2-08 is set to 10, users cannot reset this parameter.
P4 - 12
SOF2
Analog Speed Input Drift Adjustment 2
Communication Addr.: 040CH
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
P4-10
Unit: N/A
Range: 0 ~ 32767
Settings:
Please see P4-11 for explanation.
NOTE
1) When P2-08 is set to 10, users cannot reset this parameter.
P4 - 13
TOF1
Analog Torque Drift Adjustment 1
Communication Addr.: 040DH
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
P4-10
Unit: N/A
Range: 0 ~ 32767
Settings:
Manual Adjustment Operation:
Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary adjusting
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function, although this parameter allows the users can execute manual adjustment, we still do
not recommend users to change the default setting manually.
Auto Adjustment Operation:
Set parameter P2-08 to 20 first and then set parameter P4-10 to 2.
When executing this auto adjustment, ensure that the external wiring connected to analog speed
must be removed or an external zero voltage power is applied to the servo drive from the host
controller and the servo system should be off (Servo off).
NOTE
1) When P2-08 is set to 10, users cannot reset this parameter.
P4 - 14
Reserved
P4 - 15
COF1
Communication Addr.: 040EH
Current Detector Drift Adjustment (V1 phase)
Communication Addr.: 040FH
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
P4-10
Unit: N/A
Range: 0 ~ 32767
Settings:
Manual Adjustment Operation:
Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary adjusting
function, although this parameter allows the users can execute manual adjustment, we still do
not recommend users to change the default setting manually.
Auto Adjustment Operation:
Set parameter P2-08 to 20 first and then set parameter P4-10 to 3.
When executing this auto adjustment, ensure that the servo system should be off (Servo off) and
the servo motor has stopped.
NOTE
1) When P2-08 is set to 10, users can not reset this parameter.
P4 - 16
COF2
Current Detector Drift Adjustment (V2 phase)
Communication Addr.: 0410H
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
P4-10
Unit: N/A
Range: 0 ~ 32767
Settings:
Please see P4-15 for explanation.
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NOTE
1) When P2-08 is set to 10, users cannot reset this parameter.
P4 - 17
COF3
Current Detector Drift Adjustment (W1 phase)
Communication Addr.: 0411H
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
P4-10
Unit: N/A
Range: 0 ~ 32767
Settings:
Manual Adjustment Operation:
Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary adjusting
function, although this parameter allows the users can execute manual adjustment, we still do
not recommend users to change the default setting manually.
Auto Adjustment Operation:
Set parameter P2-08 to 20 first and then set parameter P4-10 to 4.
When executing this auto adjustment, ensure that the servo system should be off (Servo off) and
the servo motor has stopped.
NOTE
1) When P2-08 is set to 10, users cannot reset this parameter.
P4 - 18
COF4
Current Detector Drift Adjustment (W2 phase)
Communication Addr.: 0412H
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
P4-10
Unit: N/A
Range: 0 ~ 32767
Settings:
Please see P4-17 for explanation.
NOTE
1) When P2-08 is set to 10, users cannot reset this parameter.
P4 - 19
TIGB
IGBT NTC Calibration
Communication Addr.: 0413H
Default: Factory setting
Related Section:
Applicable Control Mode: P/S/T
Parameter P4-10
Unit: N/A
Range: 1 ~ 3
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Settings:
Manual Adjustment Operation:
Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary adjusting
function, although this parameter allows the users can execute manual adjustment, we still do
not recommend users to change the default setting manually.
Auto Adjustment Operation:
Set parameter P2-08 to 20 first and then set parameter P4-10 to 6.
o
When executing this auto adjustment, ensure to cool the servo drive to 25 C.
NOTE
1) When P2-08 is set to 10, users cannot reset this parameter.
P4 - 20
Reserved
Communication Addr.: 0414H
P4 - 21
Reserved
Communication Addr.: 0415H
P4 - 22
SAO
Analog Speed Input Offset
Communication Addr.: 0416H
Default: 0
Related Section:
Applicable Control Mode: S
Parameter P4-10
Unit: mV
Range: -5000 ~ 5000
Settings:
Users can use this parameter to adjust analog speed input offset value manually.
NOTE
1) Before using this function, please short the internal circuit first or connecting to a 0V output
of the external controller in advance (Please refer to the figure below).
Internal Connection
V-REF
GND
External Connection
V-REF
9
8
TAO
CN1
CN1
0 volt.
P4 - 23
9
Controller
Analog Torque Input Offset
Communication Addr.: 0417H
Default: 0
Related Section:
Applicable Control Mode: T
Parameter P4-10
Unit: mV
Range: -5000 ~ 5000
Settings:
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Users can use this parameter to adjust analog torque input offset value manually.
NOTE
1) Before using this function, please short the internal circuit first or connecting to a 0V output
of the external controller in advance (Please refer to the figure below).
Internal Connection
V-REF
GND
External Connection
V-REF
9
8
CN1
CN1
0 volt.
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Controller
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Group 8: P8-xx
Keypad Parameters
NOTE
All the keypad parameters cannot be download to PC or the servo drive via communication. Users only can
edit and change the keypad parameters through the keypad.
P8 - 00★ KVER
Keypad Firmware Version
Default: Factory setting
Communication Addr.: 0800H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
P8 - 01
KFUN
Keypad Communication and Reset Setting
Default: 1
Communication Addr.: 0801H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 011
Settings:
ASD-PU-01A
ASD-PU-01B
• Communication Method Settings:
0: If 0 is set, it indicates the keypad is the slave side during communication. 0 must be set
when communicating with PC, or there will be a communication fault.
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1: If 1 is set, it indicates the keypad is the master side during communication. 1 must be set
when communicating with servo drive, or there will be a communication fault.
• Keypad Parameter Reset Function Settings:
0: Disable keypad parameter reset function.
1: Enable keypad parameter reset function. All keypad parameter settings will be reset to
default setting if this function is selected. (All keypad parameter settings will be cleared after
this function is executing.)
After parameter P8-01 is set, users must restart the servo drive (switching power off and on).
P8 - 02
Reserved
Communication Addr.: 0802H
P8 - 03
Reserved
Communication Addr.: 0803H
P8 - 04
Reserved
Communication Addr.: 0804H
P8 - 05
KADR
Communication Address Setting (Drive)
Default: 255
Communication Addr.: 0805H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 1 ~ 255
Settings:
If the AC servo drive is controlled by RS-232/485 communication, each drive (or device) must be
uniquely identified and addressed between 1 and 255.
One servo drive only can set one communication address.
If the address is duplicated, there will be a communication fault.
When the address is set to 255, it is with auto communication function.
P8 - 06
KBRT
Transmission Speed (Keypad)
Default: 1
Communication Addr.: 0806H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: bps
Range: 0 ~ 5
Settings:
0: Baud rate 4800 (data transmission speed: bits / second)
1: Baud rate 9600 (data transmission speed: bits / second)
2: Baud rate 19200 (data transmission speed: bits / second)
3: Baud rate 38400 (data transmission speed: bits / second)
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4: Baud rate 57600 (data transmission speed: bits / second)
5: Baud rate 115200 (data transmission speed: bits / second)
P8 - 07
KPTL
Communication Protocol (Keypad)
Default: 0
Communication Addr.: 0807H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 8
Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
5: Modbus ASCII mode, <8,O,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
P8 - 08
KCMM
Communication Selection (Keypad)
Default: 0
Communication Addr.: 0808H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 1
Settings:
0: RS-232
1: RS-485
Multiple communication modes RS-232, RS-485 cannot be used within one communication ring.
P8 - 09
KTST
Keypad Hardware Testing
Default: 0
Communication Addr.: 0809H
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 4
Settings:
0: Disabled.
1: Function key testing. Pressing MODE key can exit this testing mode.
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2: LED testing.
3: Dynamical memory testing (RAM). The testing time is approx. 18 seconds.
4: Data memory testing (EEPROM). The testing time is approx. 140 seconds.
This parameter is used to test the hardware of the keypad. Since the life of the data memory is
limited and using this parameter will consumed the life of data memory, it is not recommended to
use this parameter and change the factory default setting if not necessary.
P8 - 10
KBLT
LCD Backlight Display
Default: 0
Communication Addr.: 080AH
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 1
Settings:
0: OFF. LCD backlight is going off.
1: ON. LCD backlight is going on.
P8 - 11
KCLR
Memory Block Clear
Default: 0
Communication Addr.: 080BH
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 124
Settings:
ASD-PU-01A
ASD-PU-01B
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• Reserve / Clear Memory Block Function Settings
0: Reserve memory block
1: Clear memory block
When the clear memory block function is selected, the memory block will be cleared.
This parameter setting will return to its default setting after clear function is executed successfully.
P8 - 12
KRNO
Memory Block Position Number (ROMx)
Default: 0
Communication Addr.: 080CH
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 24
This parameter is used to determine the memory block number (ROMx) shown on the keypad
display.
P8 - 13★ KBL0
Status of Memory Block (ROMx)
Communication Addr.: 080DH
Default: 0
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: 0 ~ 23999
Settings:
ASD-PU-01A
ASD-PU-01B
• Drive Rated Power Settings:
002: 200W
003: 400W (F604)
004: 750W
005: 1kW
006: 1.5kW
007: 2kW
103: 400W(F804)
• Motor Inertia Settings:
1: Low inertia
2: Medium inertia
3: High inertia
• Drive Series Settings:
1: ASDA-A series
2: ASDA-B series
This parameter displays the status of memory block number (ROMx) by referring the setting of
parameter P8-12.
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P8 - 14★ KBL1
Firmware Version of Memory Block (ROMx)
Default: 0
Communication Addr.: 080EH
Related Section: N/A
Applicable Control Mode: P/S/T
Unit: N/A
Range: N/A
This parameter displays the firmware version of parameter memory number (ROMx) by referring
the setting of parameter P8-12.
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Table 7.A Input Function Definition
Setting value of P2-10 ~ P2-15: 01
DI Name
SON
DI Function Description
Servo On. When this DI is activated, it indicates the servo
drive is enabled.
Trigger Method
Control
Mode
Level
Triggered
P, S, T
Setting value of P2-10 ~ P2-15: 02
DI Name
DI Function Description
Trigger Method
Control
Mode
ARST
Alarm Reset. A number of Faults (Alarms) can be cleared by
activating ARST.
Rising-edge
Triggered
P, S, T
Setting value of P2-10 ~ P2-15: 03
DI Name
DI Function Description
Trigger Method
Control
Mode
GAINUP
Gain switching in speed and position mode. When GAINUP
is activated (P2-27 is set to 1), the gain is switched to the
gain multiplied by gain switching rate.
Level Triggered
P, S, T
Trigger Method
Control
Mode
Rising-edge
Triggered,
Level Triggered
P
Setting value of P2-10 ~ P2-15: 04
DI Name
DI Function Description
Pulse clear (see P2-48). When CCLR is activated, the
setting is parameter P2-48 Pulse Deviation Clear Mode is
executed and the position accumulated pulse deviation
CCLR
number will be cleared to 0.
0: When the input terminal is rising-edge triggered, the
position accumulated pulse number will be cleared.
1: After CCLR is activated (ON), the position accumulated
pulse number will be cleared continuously.
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Setting value of P2-10 ~ P2-15: 05
DI Name
DI Function Description
Trigger Method
Control
Mode
Level Triggered
S
Trigger Method
Control
Mode
Level
Triggered
S, T
Trigger Method
Control
Mode
Level
Triggered
P
Trigger Method
Control
Mode
Trigger Method
Control
Mode
Level
Triggered
P, S
Zero speed CLAMP. When ZCLAMP is activated (ON) and
the motor speed value is below the setting value of P1-38, it
is used to lock the motor in the instant position.
Speed
Command
Setting value of
P1-38 (Zero speed)
ZCLAMP
ZCLAMP
input signal
OFF
ON
Motor Speed
Setting value of
P1-38 (Zero speed)
Time
Setting value of P2-10 ~ P2-15: 06
DI Name
CMDINV
DI Function Description
Command input reverse control. When the drive is in the
Position, Speed and Torque mode, and CMDINV is
activated, the motor is in reverse rotation.
Setting value of P2-10 ~ P2-15: 07
DI Name
INHP
DI Function Description
Pulse inhibit input. When the drive is in position mode, if
INHP is activated, the external pulse input command is not
valid.
Setting value of P2-10 ~ P2-15: 08
DI Name
DI Function Description
Reserved
Setting value of P2-10 ~ P2-15: 09
DI Name
TRQLM
Revision June, 2009
DI Function Description
Torque limit enabled. When the drive is in speed and
position mode, and TRQLM is activated, it indicates the
torque limit command is valid. The torque limit command
source is internal parameter or analog voltage.
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Setting value of P2-10 ~ P2-15: 10
DI Name
DI Function Description
Trigger Method
Control
Mode
SPDLM
Speed limit enabled. When the drive is in torque mode and
SPDLM is activated, it indicates the speed limit command is
valid. The speed limit command source is internal parameter
or analog voltage.
Level
Triggered
T
Setting value of P2-10 ~ P2-15: 11
DI Name
DI Function Description
Trigger Method
Control
Mode
GNUM0
Electronic gear ratio (Numerator) selection. When users use
two groups of electronic gear ratio, this DI signal can be
used to switch the Numerator. When GNUM0 is not
activated, it indicates the first Numerator (N1, see P1-44) is
used. When GNUM0 is activated, it indicates the second
Numerator (N2, see P1-15) is used.
Level
Triggered
P
Trigger Method
Control
Mode
Trigger Method
Control
Mode
Level
Triggered
S
Setting value of P2-10 ~ P2-15: 12 ~ 13
DI Name
DI Function Description
Reserved
Setting value of P2-10 ~ P2-15: 14 ~ 15
DI Name
DI Function Description
Speed command selection (1 ~ 4)
Speed command number: S1
SPD1 SPD0
SPD0
SPD1
0
0
Command Source
Mode
CN1 DI signal
S
Sz
External
analog
command
None
Content
Range
Voltage between
+/-10 V
V-REF and GND
Speed command
is 0 (zero)
0
Content
Range
Speed command number: S2
CN1 DI signal
SPD1 SPD0
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Command Source
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DI Name
DI Function Description
Trigger Method
Control
Mode
Level
Triggered
S
Trigger Method
Control
Mode
Level
Triggered
T
Speed command number: S3
CN1 DI signal
SPD1 SPD0
1
SPD0
SPD1
0
Command Source
Content
Range
Internal parameter
P1-10
+/5000
rpm
Speed command number: S4
CN1 DI signal
SPD1 SPD0
1
1
Command Source
Content
Range
Internal parameter
P1-11
+/5000
rpm
Setting value of P2-10 ~ P2-15: 16 ~ 17
DI Name
DI Function Description
Torque command selection (1 ~ 4)
Torque command number: T1
CN1 DI signal
TCM1 TCM0
Command Source
0
0
Mode
T
Tz
Content
Range
External
Voltage between
+/analog
V-REF and GND 300%
command
None
Torque
command is 0
(zero)
0
Content
Range
Torque command number: T2
CN1 DI signal
TCM0
TCM1
TCM1 TCM0
0
1
Command Source
P1-12
+/300%
Command Source
Content
Range
Internal parameter
P1-13
+/300%
Command Source
Content
Range
Internal parameter
P1-14
+/300%
Internal parameter
Torque command number: T3
CN1 DI signal
TCM1 TCM0
1
0
Torque command number: T4
CN1 DI signal
TCM1 TCM0
1
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Setting value of P2-10 ~ P2-15: 18
DI Name
S-P
DI Function Description
Speed / Position mode switching.
OFF: Speed mode, ON: Position mode
Trigger Method
Control
Mode
Level
Triggered
P, S
Trigger Method
Control
Mode
Level
Triggered
S, T
Trigger Method
Control
Mode
Level
Triggered
P, T
Trigger Method
Control
Mode
Level
Triggered
P, S, T
Trigger Method
Control
Mode
Level
Triggered
P, S, T
Trigger Method
Control
Mode
Level
Triggered
P, S, T
Setting value of P2-10 ~ P2-15: 19
DI Name
S-T
DI Function Description
Speed / Torque mode switching.
OFF: Speed mode, ON: Torque mode
Setting value of P2-10 ~ P2-15: 20
DI Name
T-P
DI Function Description
Torque / Position mode switching.
OFF: Torque mode, ON: Position mode
Setting value of P2-10 ~ P2-15: 21
DI Name
EMGS
DI Function Description
Emergency stop. It should be contact “b” and normally ON
or a fault (ALE13) will display.
Setting value of P2-10 ~ P2-15: 22
DI Name
CWL
DI Function Description
Reverse inhibit limit. It should be contact “b” and normally
ON or a fault (ALE14) will display.
Setting value of P2-10 ~ P2-15: 23
DI Name
CCWL
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DI Function Description
Forward inhibit limit. It should be contact “b” and normally
ON or a fault (ALE15) will display.
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Setting value of P2-10 ~ P2-15: 24
DI Name
DI Function Description
Trigger Method
Control
Mode
Trigger Method
Control
Mode
Level
Triggered
P, S
Trigger Method
Control
Mode
Level
Triggered
P, S
Reserved
Setting value of P2-10 ~ P2-15: 25
DI Name
TLLM
DI Function Description
Torque limit - Reverse operation (Torque limit function is
valid only when P1-02 is enabled)
Setting value of P2-10 ~ P2-15: 26
DI Name
TRLM
DI Function Description
Torque limit - Forward operation (Torque limit function is
valid only when P1-02 is enabled)
NOTE
1) 14 ~ 17: Single control mode, 18 ~ 20: Dual control mode
2) When P2-10 to P2-15 is set to 0, it indicates output function is disabled.
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Table 7.B Output Function Definition
Setting value of P2-18 ~ P2-20: 01
DO Name
DO Function Description
Control Mode
SRDY
Servo ready. SRDY is activated when the servo drive is ready to run. All
fault and alarm conditions, if present, have been cleared.
P, S, T
Setting value of P2-18 ~ P2-20: 02
DO Name
DO Function Description
Control Mode
SON
Servo On. SON is activated when control power is applied to the servo
drive. The drive may or may not be ready to run as a fault / alarm
condition may exist. Servo ON (SON) is "ON" with control power applied
to the servo drive, there may be a fault condition or not. The servo is not
ready to run. Servo ready (SRDY) is "ON" where the servo is ready to
run, NO fault / alarm exists. (P2-51 should turn servo ready SRDY off /
on)
P, S, T
Setting value of P2-18 ~ P2-20: 03
DO Name
DO Function Description
Control Mode
ZSPD
At Zero speed. ZSPD is activated when the drive senses the motor is
equal to or below the Zero Speed Range setting as defined in parameter
P1-38. For Example, at default ZSPD will be activated when the drive
detects the motor rotating at speed at or below 10 rpm. ZSPD will
remain activated until the motor speed increases above 10 RPM.
P, S, T
Setting value of P2-18 ~ P2-20: 04
DO Name
TSPD
DO Function Description
At Speed reached. TSPD is activated once the drive has detected the
motor has reached the Target Rotation Speed setting as defined in
parameter P1-39. TSPD will remain activated until the motor speed
drops below the Target Rotation Speed.
Control Mode
S
Setting value of P2-18 ~ P2-20: 05
DO Name
DO Function Description
Control Mode
TPOS
At Positioning completed. When the drive is in position mode, TPOS will
be activated when the position error is equal and below the setting value
of P1-54.
P
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Setting value of P2-18 ~ P2-20: 06
DO Name
DO Function Description
Control Mode
TQL
At Torques limit. TQL is activated when the drive has detected that the
motor has reached the torques limits set by either the parameters P1-12
~ P1-14.
P, S
Setting value of P2-18 ~ P2-20: 07
DO Name
ALRM
DO Function Description
Control Mode
Servo alarm (Servo fault) activated. ALRM is activated when the drive
has detected a fault condition.
P, S, T
Setting value of P2-18 ~ P2-20: 08
DO Name
DO Function Description
Control Mode
Electromagnetic brake control. BRKR is activated actuation of motor
brake. (Please refer to parameters P1-42 ~ P1-43)
SON OFF
BRKR
BRKR
OFF
ON
OFF
ON
MBT1(P1-42)
OFF
P, S, T
MBT2(P1-43)
ZSPD
(P1-38)
Motor
Speed
Setting value of P2-18 ~ P2-20: 09
DO Name
DO Function Description
Control Mode
OLW
Output overload warning. OLW is activated when the servo drive has
detected that the motor has reached the output overload level set by
parameter P2-37.
This parameter is used to set output overload level. When the motor has
reached the output overload level set by parameter P2-37, the motor will
send a warning to the drive. After the drive has detected the warning,
the DI signal OLW will be activated.
tOL = Permissible Time for Overload x setting value of P2-37
When overload accumulated time (continuously overload time) exceeds
the value of tOL, the overload warning signal will output, i.e. DO signal,
OLW will be ON. However, if the overload accumulated time
(continuously overload time) exceeds the permissible time for overload,
the overload alarm (ALE06) will output.
For example:
If the setting value of parameter P2-37 (Overload Warning Level) is
60%, when the permissible time for overload exceeds 8 seconds at
200% rated output, the overload fault (ALE06) will be detected and
shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
P, S, T
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DO Name
DO Function Description
Control Mode
OLW
Result:
When the drive output is at 200% rated output and the drive is
continuously overloaded for 4.8 seconds, and the overload warning
signal will be ON (DO code is 10, i.e. DO signal OLW will be activated).
If the drive is continuously overloaded for 8 seconds, the overload alarm
will be detected and shown on the LED display (ALE06). Then, Servo
Fault signal will be ON (DO signal ALRM will be activated)
P, S, T
Setting value of P2-18 ~ P2-20: 10
DO Name
DO Function Description
Control Mode
WARN
Servo warning activated. WARN is activated when the drive has
detected Reverse limit error, Forward limit error, Emergency stop, Serial
communication error, and Undervoltage these fault conditions.
P, S, T
NOTE
1) When P2-18 to P2-20 is set to 0, it indicates output function is disabled.
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8.1
Communication Hardware Interface
The ASDA-B series servo drive has two modes of communication: RS-232, and RS-485. All aspects of
control, operation and monitoring as well as programming of the controller can be achieved via
communication. However, only one communication mode can be used at a time. Users can select the
desired communication mode via SEL232/485 (pin6) of CN3 connector (Refer to Section 3.5.1).
Please refer to the following sections for connections and limitations.
RS-232
„ Configuration
„ Cable Connection
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NOTE
1) For RS-232 connection, the recommended maximum cable length is 15m (50ft.). Please note, RFI / EME
noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a
transmission speed of 38400 bps or greater is required, the maximum length of the communication cable
is 3m (9.84ft.) which will ensure the correct and desired baud rate.
2) The number shown in the pervious figure indicates the terminal number of each connector.
RS-485, RS-422
„ Configuration
„ Cable Connection
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NOTE
1) For RS-485 and RS-422 connections, the recommended maximum cable length is 100m (300ft.). Please
note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high
voltage wires. If a transmission speed of 38400 bps or greater is required the maximum length of the
communication cable is 15m (50ft.) which will ensure the correct and desired baud rate.
2) The number shown in the pervious figure indicates the terminal number of each connector.
3) The power supply should provide a +12V and higher DC voltage.
4) Please use a REPEATER if more than 32 synchronous axes are required.
5) For the terminal identification of CN3, please refer to Section 3.5.
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8.2
Communication Parameter Settings
The following describes the communication addresses for the communication parameters.
For communication parameters, please refer to the Chapter 7.
0300H
Address Setting
Default: 1
Range: 1 ~ 254
If the AC servo drive is controlled by RS-485 communication, each drive (or device) must be uniquely
identified and addressed between 1 and 254. Access to program this number is via parameter P3-00.
0301H
Transmission Speed
Default: 3
Settings:
0: Baud rate 4800 (data transmission speed: bits / second)
1: Baud rate 9600 (data transmission speed: bits / second)
2: Baud rate 19200 (data transmission speed: bits / second)
3: Baud rate 38400 (data transmission speed: bits / second)
4: Baud rate 57600 (data transmission speed: bits / second)
5: Baud rate 115200 (data transmission speed: bits / second)
This parameter is used to set the desired transmission speed between the computer and AC servo drive.
Users can set this parameter and control transmission speed to reach the maximum baud rate of
115200 bps.
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0302H
Communication
Protocol
Default: 0
Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
5: Modbus ASCII mode, <8,O,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
This parameter is used to set the communication protocol. The alphanumeric characters represent the
following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non, Even or Odd; the 1 or 2
is the numbers of stop bits.
0303H
Transmission Fault
Treatment
Default: 0
Settings:
0: Display fault and continue operating
1: Display fault and stop operating
This parameter is used to determine the operating sequence once a communication fault has been
detected. If '1' is selected the drive will stop operating upon detection the communication fault. The
mode of stopping is set by parameter P1-32.
0304H
Watch Dog Timer (It is not recommended to change the factory default setting if
Communication Time not necessary)
Out Detection
Default: 0
Range: 0 ~ 20 sec.
The factory default setting is set to 0 and it indicates this function is disabled.
When this parameter is set to any value over 0, it indicates that the timer is enabled. The value set in
this parameter is the communication time and the communication time out detection should be
completed within the time. Otherwise, a communication error will occur. For example, if the value set in
this parameter is 5, it indicates that the communication time out detection will be activated once in five
seconds or a communication error will occur.
0306H
Digital Input
Communication
Function
Digital Input Contact Control:
Default: 0
Settings: 0 ~ 3F (hexadecimal number)
The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.
Input commands or signals through the DI can be either from an external source, through the CN 1
interface connector, or via communication, (RS-232, RS-485). If the Digital Input Contact Control
parameter for the DI 1 ~ 6 is set to "0", command is external, and via CN1; if it is set to "1" (decimal
number) the DI signal is via communication. Each of the six Digital Inputs are accessed individually and
can be set independently of each other. They can be programmed either via the drive's keypad or via
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communication and computer UI. If they are programmed via the keypad a hexadecimal number is
entered; if programmed via communication or UI a decimal or hexadecimal number can be used. In both
methods of programming, a single number is used for all six Digital Inputs. The following example
shows how each DI is addressed and converted to a single decimal or hexadecimal number.
The six Digital Inputs are noted from the right, DI 1 to left, DI 6 with their desired input command or
signal method, 0 or 1. Once all six Digital Inputs have been noted this binary number is converted to a
decimal or hexadecimal number and entered into P3-06.
Bit
5
4
3
2
1
0
Decimal value
32
16
8
4
2
1
Input
DI6 DI5 DI4 DI3 DI2 DI1
State
0
1
0
1
0
1
= D6 Hex
(Keypad, Communication or UI)
(External CN1
or = 63 Dec (Communication or UI only)
Communication)
Please see Chapter 4.4.5 DI Signal Display Diagnosis Operation for display layout of the Digital Signal
selection.
The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi Function
Digital Input parameter P4-07 which has several functions.
The contents of P4-07 is "read only" via the drive keypad and will display the state on or off ("blank" or
"|") of the six Digital Inputs which have been set in accordance to P3-06. For example; if P3-06 has
been set to 0 (All DI is external and via the CN 1 interface) and the P4-07 display is indicating the
following:
_||__|
(for the manual this picture should be similar to the one shown on page 4-8
(Ch 4.4.5))
The Digital Inputs 1, 4, & 5 are "on" (high) and Digital Inputs 2, 3, & 6 are "off" (low).
If the contents of P4-07 is being read via communication the output will be a decimal number that will
represent the "binary" display. Therefore in the previous example the decimal number being read would
be 25.
However, in the communication mode the user can write to P4-07 to turn the Digital Inputs either "on" or
"off". Again this achieved by sending a decimal or hexadecimal number that corresponds to the binary
representation of the Digital Inputs being addressed. Therefore in the previous example 25 or 19 hex
would be sent to 407H to switch on Digital Inputs 1, 4, & 5. Remember, previous to this P3-06 would
have been set to either 63 / 3F or 25 / 19 (This sets the Digital Inputs 1, 4, & 5 to communication).
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0307H
Communication
Response Delay
Time
Default: 0
Range: 0~255
This parameter is used to delay the communication time that servo drive respond to host controller
(external controller)
When the communication address is set to 255, the communication response delay time will be 0 (zero)
no matter what the setting value of P3-07 is.
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8.3
MODBUS Communication Protocol
When using RS-232/485 serial communication interface, each ASDA-B series AC servo drive has a preassigned communication address specified by parameter “P3-00”. The computer then controls each AC
servo drive according to its communication address. ASDA-B series AC servo drive can be set up to
communicate on a MODBUS networks using on of the following modes: ASCII (American Standard Code for
Information Interchange) or RTU (Remote Terminal Unit). Users can select the desired mode along with the
serial port communication protocol in parameter “P3-02”.
„ Code Description:
ASCII Mode:
Each 8-bit data is the combination of two ASCII characters. For example, a 1-byte data: 64 Hex, shown as
‘64’ in ASCII, consists of ‘6’ (36Hex) and ‘4’ (34Hex).
The following table shows the available hexadecimal characters and their corresponding ASCII codes.
Character
ASCII code
Character
ASCII code
‘0’
‘1’
‘2’
‘3’
‘4’
‘5’
‘6’
‘7’
30H
31H
32H
33H
34H
35H
36H
37H
‘8’
‘9’
‘A’
‘B’
‘C’
‘D’
‘E’
‘F’
38H
39H
41H
42H
43H
44H
45H
46H
RTU Mode:
Each 8-bit data is the combination of two 4-bit hexadecimal characters. For example, a 1-byte data: 64 Hex.
„ Data Format:
10-bit character frame (For 7-bit character)
7N2
Start
bit
0
1
2
3
4
5
6
Stop
bit
Stop
bit
5
6
Even
parity
Stop
bit
5
6
Odd
parity
Stop
bit
7-data bits
10-bits character frame
7E1
Start
bit
0
1
2
3
4
7-data bits
10-bits character frame
7O1
Start
bit
0
1
2
3
4
7-data bits
10-bits character frame
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11-bit character frame (For 8-bit character)
8N2
Start
bit
0
1
2
3
4
5
6
7
Stop
bit
Stop
bit
6
7
Even
parity
Stop
bit
6
7
Odd
parity
Stop
bit
8-data bits
11-bits character frame
8E1
Start
bit
0
1
2
3
4
5
8-data bits
11-bits character frame
8O1
Start
bit
0
1
2
3
4
5
8-data bits
11-bits character frame
„ Communication Protocol:
ASCII Mode:
STX
Start character’: ’ (3AH)
ADR
Communication address: 1-byte consists of 2 ASCII codes
CMD
Command code: 1-byte consists of 2 ASCII codes
DATA(n-1)
…….
Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, n≤12
DATA(0)
LRC
Command code: 1-byte consists of 2 ASCII codes
End 1
End code 1: (0DH)(CR)
End 0
End code 0: (0AH)(LF)
RTU Mode:
STX
A silent interval of more than 10ms
ADR
Communication address: 1-byte
CMD
Command code: 1-byte
DATA(n-1)
…….
Contents of data: n word = n x 2-byte, n≤12
DATA(0)
CRC
Command code: 1-byte
End 1
A silent interval of more than 10ms
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STX (Communication Start)
ASCII Mode: ’:’ character
RTU Mode: A silent interval of more than 10ms
ADR (Communication Address)
The valid communication addresses are in the range of 1 to 254.
For example, communication to AC servo drive with address 16 decimal:
ASCII Mode: ADR=’1’,’0’ => ‘1’=31H,’0’=30H
RTU Mode: ADR = 10H
CMD (Command Codes) and DATA (Data Characters)
The format of data characters depends on the command code. The available command codes and examples
for AC servo drive are described as follows:
Command code: 03H, read N words. The maximum value of N is 10.
For example, reading continuous 2 words from starting address 0200H of AC servo drive with address 01H.
ASCII Mode:
Command message:
STX
ADR
CMD
Response message:
‘:’
‘0’
‘1’
‘0’
‘3’
‘0’
Starting data
address
‘2’
‘0’
8-10
CMD
Number of data
(Count by byte)
‘:’
‘0’
‘1’
‘0’
‘3’
‘0’
‘4'
‘0’
Contents of starting
data address
0200H
‘0’
‘B’
‘0’
‘1’
‘0’
‘1’
‘2’
LRC Check
ADR
‘0’
‘0’
Number of data
STX
‘F’
Contents of second
data address
0201H
‘8’
End 1
(0DH)(CR)
End 0
(0AH)(LF)
‘F’
‘4’
‘0’
LRC Check
‘E’
‘8’
End 1
(0DH)(CR)
End 0
(0AH)(LF)
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Chapter 8 MODBUS Communications|ASDA-B Series
RTU Mode:
Command message:
Response message:
ADR
01H
ADR
01H
CMD
03H
CMD
03H
Starting data
address
02H (Upper bytes)
Number of data
(Count by byte)
04H
Number of data
(Count by word)
00H
CRC Check Low
C5H (Lower bytes)
CRC Check High
B3H (Upper bytes)
00H (Lower bytes)
02H
Contents of starting
data address
0200H
00H (Upper bytes)
B1H (Lower bytes)
Contents of second
data address
0201H
1FH (Upper bytes)
CRC Check Low
A3H (Lower bytes)
CRC Check High
D4H (Upper bytes)
40H (Lower bytes)
Command code: 06H, write 1 word
For example, writing 100 (0064H) to starting data address 0200H of ASDA-B series with address 01H.
ASCII Mode:
Command message:
STX
ADR
CMD
Response message:
‘:’
‘0’
‘1’
‘0’
‘6’
STX
ADR
CMD
‘0’
Starting data
address
Content of data
‘2’
‘0’
‘0’
‘1’
‘0’
‘6’
‘0’
Starting data
address
‘2'
‘0’
‘0’
‘0’
‘0’
‘0’
‘0’
‘6’
Content of data
‘4’
LRC Check
‘:’
‘9’
‘3’
‘0’
‘6’
‘4’
LRC Check
‘9’
‘3’
End 1
(0DH)(CR)
End 1
(0DH)(CR)
End 0
(0AH)(LF)
End 0
(0AH)(LF)
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Chapter 8 MODBUS Communications|ASDA-B Series
RTU Mode:
Command message:
Response message:
ADR
01H
ADR
01H
CMD
06H
CMD
06H
Starting data
address
02H (Upper bytes)
Starting data
address
02H (Upper bytes)
Content of data
00H (Lower bytes)
00H (Upper bytes)
64H (Lower bytes)
Content of data
00H (Lower bytes)
00H (Upper bytes)
64H (Lower bytes)
CRC Check Low
89H (Lower bytes)
CRC Check Low
89H (Lower bytes)
CRC Check High
99H (Upper bytes)
CRC Check High
99H (Upper bytes)
LRC (ASCII Mode):
LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the values of the bytes
from ADR to last data character then calculating the hexadecimal representation of the 2’s-complement
negation of the sum.
For example, reading 1 word from address 0201H of the ASDA-B series AC servo drive with address 01H.
STX
ADR
CMD
‘:’
‘0’
‘1’
‘0’
‘3’
‘0’
Starting data address
‘2’
‘0’
‘1’
‘0’
Number of data
‘0’
‘0’
‘1’
LRC Check
‘F’
‘8’
End 1
(0DH)(CR)
End 0
(0AH)(LF)
01H+03H+02H+01H+00H+01H = 08H, the 2’s complement negation of 08H is F8H.
Hence, we can know that LRC CHK is ’F’,’8’.
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Chapter 8 MODBUS Communications|ASDA-B Series
CRC (RTU Mode):
CRC (Cyclical Redundancy Check) is calculated by the following steps:
Step 1: Load a 16-bit register (called CRC register) with FFFFH.
Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC
register, putting the result in the CRC register.
Step 3: Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC register one bit to the
right. If the LSB of CRC register is 1, shift the CRC register one bit to the right, then Exclusive OR
the CRC register with the polynomial value A001H.
Step 4: Repeat step 3 until eight shifts have been performed. When this is done, a complete 8-bit byte will
have been processed, then perform step 5.
Step 5: Repeat step 2 to step 4 for the next 8-bit byte of the command message.
Continue doing this until all bytes have been processed. The final contents of the CRC register are
the CRC value.
NOTE
1) When transmitting the CRC value in the message, the upper and lower bytes of the CRC value must be
swapped, i.e. the lower order byte will be transmitted first.
2) For example, reading 2 words from address 0101H of the AC servo drive with address 01H. The final
content of the CRC register from ADR to last data character is 3794H, then the command message is
shown as follows. What should be noticed is that 94H have to be transmitted before 37H.
Command Message
ADR
01H
CMD
03H
Starting data address
01H (Upper byte)
01H (Lower bytes)
Number of data
(Count by word)
00H (Upper bytes)
CRC Check Low
94H (Lower bytes)
CRC Check High
37H (Upper bytes)
02H (Lower bytes)
End1, End0 (Communication End)
ASCII Mode:
In ASCII mode, (0DH) stands for character ’\r’ (carriage return) and (0AH) stands for character ’\n’ (new
line), they indicate communication end.
RTU Mode:
In RTU mode, a silent interval of more than 10ms indicates communication end.
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Chapter 8 MODBUS Communications|ASDA-B Series
„ Communication Related Error Code
If one communication error occurs during communication, the AC servo drive will respond the corresponding
error value and command code plus 80H back to the external controller.
For example,
ASCII Mode
RTU Mode
STX
ADR
CMD
‘:’
ADR
01H
‘0’
CMD
86H
‘1’
Error Code
02H
‘8’
CRC Check Low
C3H
‘6’
CRC Check High
A1H
‘0’
Error Code
‘2’
‘7’
LRC Check
‘7’
End 1
CR
End 0
LF
Error Code
Error Code
Error Code
0x01
GRP_ERR
Group Error: Read/Write unexisted parameter group
0x02
IDX_ERR
Parameter Error: Read/Write unexisted parameter
0x03
VAL_ERR
Value Error: Setting value is not within the setting range.
(Higher than the maximum setting value or lower than the
minimum setting value)
0x04
OV_PT
Numbers of Data Error: Numbers of read and write data
exceed the maximum. (9 numbers)
0x05
ZO_PT
0 Number Error: Number of read and write data is 0.
0x06
WRITE_ERR
0x27
OUT_OF_RANGE
Illegal Value: Although the setting value is within the setting
range, it is not a legal value for this parameter.
0x28
PASSWORD_FAIL
Password error: For security, password is needed for
reading and writing some parameters. For example, before
enabling P4-10, users have to set P2-08 to 20 first.
0x29
SRVON_WR_DISABLE
8-14
Description
Write Error: Write the read-only and reserved parameters.
SON Protection: Some parameters cannot be enabled
when Servo On. (SON signal is activated.)
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Chapter 8 MODBUS Communications|ASDA-B Series
The following is an example of CRC generation using C language. The function takes two arguments:
unsigned char* data;
unsigned char length
The function returns the CRC value as a type of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}
PC communication program example:
#include<stdio.h>
#include<dos.h>
#include<conio.h>
#include<process.h>
#define PORT 0x03F8
/* the address of COM 1 */
#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of ASD with address 1 */
unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’};
void main() {
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Chapter 8 MODBUS Communications|ASDA-B Series
int I;
outportb(PORT+MCR,0x08);
outportb(PORT+IER,0x01);
/* interrupt enable */
/* interrupt as data in */
outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06);
/* set prorocol
<7,E,1> = 1AH,
<7,O,1> = 0AH
<8,N,2> = 07H
<8,E,1> = 1BH
<8,O,1> = 0BH
*/
for( I = 0; I<=16; I++ ) {
while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]);
/* send data to THR */
}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}
}
}
8-16
Revision June 2009
Chapter 9 Maintenance and Inspection
Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is required to
operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform
a periodic maintenance and inspection of the AC servo drive by a qualified technician. Before any
maintenance and inspection, always turn off the AC input power to the unit.
¾ Be sure to disconnect AC power and ensure that the internal capacitors have fully discharged before performing
the maintenance and inspection!
9.1
Basic Inspection
After power is in connected to the AC servo drive, the charge LED will be lit which indicates that the AC
servo drive is ready.
Item
Content
General Inspection
z Periodically inspect the screws of the servo drive, motor shaft, terminal block
and the connection to mechanical system. Tighten screws as necessary as they
may loosen due to vibration and varying temperatures.
z Ensure that oil, water, metallic particles or any foreign objects do not fall inside
the servo drive, motor, control panel or ventilation slots and holes. As these will
cause damage.
z Ensure the correct installation and the control panel. It should be free from
airborne dust, harmful gases or liquids.
z Ensure that all wiring instructions and recommendations are followed; otherwise
damage to the drive and or motor may result.
Inspection before
operation
(Control power is not
applied)
z Inspect the servo drive and servo motor to insure they were not damaged.
z To avoid an electric shock, be sure to connect the ground terminal of servo
drive to the ground terminal of control panel.
z Before making any connection, wait 10 minutes for capacitors to discharge after
the power is disconnected, alternatively, use an appropriate discharge device to
discharge.
z Ensure that all wiring terminals are correctly insulated.
z Ensure that all wiring is correct or damage and or malfunction may result.
z Visually check to ensure that there are not any unused screws, metal strips, or
any conductive or inflammable materials inside the drive.
z Never put inflammable objects on servo drive or close to the external
regenerative resistor.
z Make sure control switch is OFF.
z If the electromagnetic brake is being used, ensure that it is correctly wired.
z If required, use an appropriate electrical filter to eliminate noise to the servo
drive.
z Ensure that the external applied voltage to the drive is correct and matched to
the controller.
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Chapter 9 Maintenance and Inspection|ASDA-B Series
Item
Content
Inspection during
operation
(Control power is
applied))
z Ensure that the cables are not damaged, stressed excessively or loaded
heavily. When the motor is running, pay close attention on the connection of the
cables and notice that if they are damaged, frayed or over extended.
z Check for abnormal vibrations and sounds during operation. If the servo motor
is vibrating or there are unusual noises while the motor is running, please
contact the dealer or manufacturer for assistance.
z Ensure that all user-defined parameters are set correctly. Since the
characteristics of various machinery are different, in order to avoid accident or
cause damage, do not adjust the parameter abnormally and ensure the
parameter setting is not an excessive value.
z Ensure to reset some parameters when the servo drive is off (Please refer to
Chapter 7). Otherwise, it may result in malfunction.
z If there is no contact sound or there be any unusual noises when the relay of
the servo drive is operating, please contact your distributor for assistance or
contact with Delta.
z Check for abnormal conditions of the power indicators and LED display. If there
is any abnormal condition of the power indicators and LED display, please
contact your distributor for assistance or contact with Delta.
9.2
Maintenance
„ Use and store the product in a proper and normal environment.
„ Periodically clean the surface and panel of servo drive and motor.
„ Make sure the conductors or insulators are corroded and/or damaged.
„ Do not disassemble or damage any mechanical part when performing maintenance.
„ Clean off any dust and dirt with a vacuum cleaner. Place special emphasis on cleaning the ventilation
ports and PCBs. Always keep these areas clean, as accumulation of dust and dirt can cause unforeseen
failures.
9.3
Life of Replacement Components
„ Smooth capacitor
The characteristics of smooth capacitor would be deteriorated by ripple current affection. The life of
smooth capacitor varies according to ambient temperature and operating conditions. The common
guaranteed life of smooth capacitor is ten years when it is properly used in normal air-conditioned
environment.
„ Relay
The contacts will wear and result in malfunction due to switching current. The life of relay varies
according to power supply capacity. Therefore, the common guaranteed life of relay is cumulative
100,000 times of power on and power off.
9-2
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Chapter 9 Maintenance and Inspection|ASDA-B Series
„ Cooling fan
The cooling fan life is limited and should be changed periodically. The cooling fan will reach the end of
its life in 2~3 years when it is in continuous operation. However, it also must be replaced if the cooling
fan is vibrating or there are unusual noises.
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9-4
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Chapter 10 Troubleshooting
If a fault is detected on the servo drive or motor, a corresponding alarm will be activated and the fault
message will be displayed on the LCD display of the digital keypad and the fault code will be shown on the
1-digit 7-segment LED display of the servo drive.
10.1 Fault Messages Table
Servo Drive Fault Messages
Fault Messages
Display
Fault Name
Fault Description
ALE
Overcurrent
Main circuit current is higher than 1.5 multiple of motor’s
instantaneous maximum current value.
ALE
Overvoltage
Main circuit voltage has exceeded its maximum allowable
value.
ALE
Undervoltage
Main circuit voltage is below its minimum specified value.
ALE
Z Pulse shift
The corresponding angle of magnetic field of Z phase is error.
ALE
Regeneration error
Regeneration control operation is in error.
ALE
Overload
Servo motor and drive is overload.
ALE
Overspeed
Motor’s control speed exceeds the limit of normal speed.
ALE
Abnormal pulse control Input frequency of pulse command exceeds the limit of its
command
allowable setting value.
ALE
Excessive deviation
Position control deviation value exceeds the limit of its
allowable setting value.
ALE 10/ALE
Serial communication
error
RS-232/485 serial communication is in error.
ALE 11/ALE
Encoder error (Position
Pulse signal is in error.
detector fault)
ALE 12/ALE
Adjustment error
Adjusted value exceeds the limit of its allowable setting value
when perform electrical adjustment.
ALE 13/ALE
Emergency stop
activated
Emergency stop is activated.
ALE 14/ALE
Reverse limit switch
error
Reverse limit switch is activated.
ALE 15/ALE
Forward limit switch
error
Forward limit switch is activated.
ALE 16/ALE
IGBT temperature
error
The temperature of IGBT is over high.
ALE 17/ALE
Memory error
EE-PROM write-in and read-out is in error.
ALE 18/ALE
Serial communication
time out
RS-232/485 serial communication time out
ALE 19/ALE
Motor type error
The motor capacity does not match the servo drive setting
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Chapter 10 Troubleshooting|ASDA-B Series
Fault Messages
Display
ALE 20/ALE
Fault Name
Fault Description
Input power phase loss One phase of the input power is loss.
Keypad Fault Messages
Fault Messages
Display
Fault Name
Fault Description
ALE 30
LCM hardware error
The character display on LCM is in error.
ALE 31
LED hardware error
When parameter P8-09 is enabled, LED indicator is
abnormal.
ALE 32
KEY hardware error
When parameter P8-09 is enabled, the function key is
disabled.
ALE 33
RAM hardware error
When parameter P8-09 is enabled, the dynamical memory
(RAM) is abnormal.
ALE 34
EEPROM hardware
error
The data memory (EEPROM) is abnormal.
ALE 35
COMM hardware error
Communication is in error during communication initial setup.
ALE 36
Reserved
ALE 37
Reserved
ALE 38
Reserved
ALE 39
Reserved
ALE 40
Initial setup error
Communication initial setup has not completed yet.
ALE 41
Communication
receive time out
Communication time out when receiving data (continuously
communicate over three times)
ALE 42
Communication
receive error
Checksum error when receiving data during communication.
ALE 43
Error communication
response address
Respond the error communication address.
ALE 44
Error communication
response command
Respond the error communication command.
ALE 45
Communication
parameter address
error
Respond the error parameter communication address.
ALE 46
Communication
parameter content
error
Respond the error parameter content.
ALE 47
Drive specification
error
The servo drive specification does not match when save and
write out parameter.
ALE 48
Fast editing function
error
The function of static and dynamic auto-tuning is in error.
10-2
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Chapter 10 Troubleshooting|ASDA-B Series
10.2 Potential Cause and Corrective Actions
Servo Drive Fault Messages
ALE 1 / ALE
„
: Overcurrent
When SERVO OFF, but the power is on:
Potential Cause
Short-circuit at drive
output (U, V, W).
„
Checking Method
1. Check the wiring connections between
drive and motor.
2. Check if the wire is short-circuited.
Repair the short-circuited and
avoid metal conductor being
exposed.
When SERVO ON and the cable connected to U, V, W terminal is removed:
Potential Cause
Motor wiring error.
„
Corrective Actions
Checking Method
Check if the wiring steps are all correct when
connecting motor to drive.
Corrective Actions
Follow the wiring steps in the user
manual to reconnect wiring.
When SERVO ON and the cable connected to U, V, W terminal is not removed or the servo motor is
running:
Potential Cause
Checking Method
Corrective Actions
Short-circuit at drive
output (U, V, W).
1. Check the wiring connections between
drive and motor.
2. Check if the wire is short-circuited.
Repair the short-circuited and
avoid metal conductor being
exposed.
Motor wiring error.
Check if the wiring steps are all correct when
connecting motor to drive.
Follow the wiring steps in the user
manual to reconnect wiring.
IGBT error or servo
hardware is damaged.
Heat sink overheated.
Please contact your distributor for
assistance or contact with Delta.
ALE 2 / ALE
: Overvoltage
„
When SERVO OFF, but the power is on:
„
When SERVO ON:
Potential Cause
The main circuit voltage
has exceeded its
maximum allowable
value.
Checking Method
Use voltmeter to check whether the input
voltage falls within the rated input voltage. (For Use correct power supply or
voltage specification, please refer to section
stabilizing power.
11.1 in Chapter 11).
Power input error.
Use voltmeter to check whether the input
(Incorrect power input) voltage is within the specified limit.
Servo drive hardware
may be damaged.
Revision June 2009
Corrective Actions
The servo drive hardware may be damaged
after the users have used voltmeter to check
the input voltage falls within the rated input
voltage.
Use correct power supply or
stabilizing power.
Please contact your distributor for
assistance or contact with Delta.
10-3
Chapter 10 Troubleshooting|ASDA-B Series
ALE 3 / ALE
: Undervoltage
Potential Cause
Checking Method
The main circuit voltage
Check whether the wiring of main circuit input
is below its minimum
voltage is correct.
specified value.
No input voltage at
main circuit.
Corrective Actions
Reconfirm voltage wiring. Correct
input wiring is needed.
Use voltmeter to check whether input voltage at Reconfirm power supply, including
main circuit is normal.
switches.
Power input error.
Use voltmeter to check whether the input
(Incorrect power input) voltage is within the specified limit.
Use correct power supply or
stabilizing power.
The servo drive hardware is damaged after the
Servo drive hardware is
Please contact your distributor for
users have used voltmeter to check the input
damaged.
assistance or contact with Delta.
voltage falls within the rated input voltage.
ALE 4 / ALE
: Z Pulse shift
Potential Cause
Checking Method
Corrective Actions
Encoder is damage.
Check Encoder for the damage.
Repair or replace the motor.
Encoder is loose.
Examine the Encoder connector.
Install the motor again.
ALE 5 / ALE
: Regeneration error
When the power is on:
„
Potential Cause
Checking Method
Corrective Actions
Servo drive hardware is
Please contact your distributor for assistance or contact with Delta.
damaged.
When the motor is running:
„
Potential Cause
Checking Method
Regenerative resistor is Check the wiring connection of regenerative
not connected.
resistor.
The transistor for
regeneration is
disabled.
Corrective Actions
Reconnect regenerative resistor.
Check if the transistor for regeneration is short- Please contact your distributor for
circuited.
assistance or contact with Delta.
Parameter setting is in Confirm the parameter setting and
error.
specifications of regenerative resistor.
Correctly reset parameter again.
Servo drive hardware is
Please contact your distributor for assistance or contact with Delta.
damaged.
10-4
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Chapter 10 Troubleshooting|ASDA-B Series
ALE 6 / ALE
„
: Overload
When the motor is started within 30 minutes:
Potential Cause
Checking Method
The drive has exceeded
its rated load during
Check if the drive is overloaded.
continuous operation.
Control system
parameter setting is
incorrect.
Corrective Actions
Increase motor capacity or reduce
load.
Check if there is mechanical vibration
Adjust gain value of control circuit.
Accel/Decel time setting is too fast.
Decrease Accel/Decel time setting.
The wiring of drive and
encoder is in error.
Check the wiring of U, V, W and encoder.
Ensure all wiring is correct.
The encoder of the
motor is damaged.
Please contact your distributor for assistance or contact with Delta.
The connection of U, V,
W is incorrect.
Ensure the U, V, W of the motor is connected
to the U, V, W of the drive correctly.
„
When the motor start running for 3 minutes above:
Potential Cause
Checking Method
The drive has exceeded
Check if the drive is overloaded.
its rated load during
continuous operation.
Control system
parameter setting is
incorrect.
The wiring of drive and
encoder is in error.
ALE 7 / ALE
„
Ensure all wiring is correct.
Corrective Actions
Increase motor capacity or reduce
load.
Check if there is mechanical vibration
Adjust gain value of control circuit.
Accel/Decel time setting is too fast.
Decrease Accel/Decel time setting.
Check the wiring of U, V, W and encoder.
Ensure all wiring is correct.
: Overspeed
When SERVO ON:
Potential Cause
Checking Method
Corrective Actions
The wiring of motor is
incorrect.
Check the wiring of U, V, W and encoder.
The encoder of the
motor is damaged.
Please contact your distributor for assistance or contact with Delta.
„
Ensure all wiring is correct.
When the motor Accel/Decel in high-speed:
Potential Cause
Checking Method
Speed input command
Use signal detector to detect if input signal is
is not stable (too much
abnormal.
fluctuation).
Corrective Actions
Ensure that input command
frequency is stable (not fluctuate
too much) and activate filter
function (P1-06, P1-07 and P1-08).
Over-speed parameter Check if over-speed parameter setting value is Correctly set over-speed parameter
setting is defective.
too low.
setting (P2-34).
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Chapter 10 Troubleshooting|ASDA-B Series
ALE 8 / ALE
: Abnormal pulse control command
Potential Cause
Pulse command
frequency is higher
than rated input
frequency.
ALE 9 / ALE
Checking Method
Corrective Actions
Use pulse frequency detector to measure input Correctly set the input pulse
frequency.
frequency.
: Excessive deviation
When the motor is running:
„
Potential Cause
Checking Method
Corrective Actions
Maximum deviation
Check the maximum deviation parameter
parameter setting is too setting and observe the position error value
small.
when the motor is running.
Increases the parameter setting
value of P2-35.
Torque limit is too low.
Check torque limit value.
Correctly adjust torque limit value.
There is an overload.
Check for overload condition.
Reduce external applied load or reestimate the motor capacity.
When pulse command is input but the motor does not run or the moving is very slow:
„
Potential Cause
Checking Method
Corrective Actions
Gain value is too small. Check for proper gain value.
Correctly adjust gain value.
Torque limit is too low.
Check torque limit value.
Correctly adjust torque limit value.
There is an overload.
Check for overload condition.
Reduce external applied load or reestimate the motor capacity.
The excessive deviation fault occurs immediately when the pulse command is given:
„
Potential Cause
Checking Method
Corrective Actions
Maximum deviation
Check the maximum deviation parameter
parameter setting is too setting and observe the position error value
small.
when the motor is running.
Increases the parameter setting
value of P2-35.
Too much fluctuation of
Check the pulse frequency.
pulse command.
Adjust pulse frequency and
activate filter function (P1-06, P107 and P1-08).
ALE 10 / ALE
: Serial communication error
Please refer to section 8.3.4 in Chapter 8 for the related error codes.
„
Potential Cause
Checking Method
Corrective Actions
Communication
parameter setting is
defective.
Check the communication parameter setting.
Correctly set parameter setting.
Communication
address is incorrect.
Check the communication address.
Correctly set communication
address.
Communication value is
Check the communication value.
incorrect.
10-6
Correctly set communication value.
Revision June 2009
Chapter 10 Troubleshooting|ASDA-B Series
ALE 11 / ALE
: Encoder error (Position detector fault)
Potential Cause
Checking Method
Corrective Actions
1. Check if all wiring is correct.
The wiring of encoder is
2. Check if the users conduct the wiring by
in error.
the wiring information in the user manual.
Ensure all wiring is correct.
Encoder is loose
Install the motor again.
Examine the encoder connector.
The wiring of encoder is
Check if all connections are tight.
defective.
Conduct the wiring again.
Encoder is damage
Repair or replace the motor.
ALE 12 / ALE
Check the encoder for the damage.
: Adjustment error
Potential Cause
Checking Method
Corrective Actions
The motor is running.
Check if the motor is running.
Turn off the motor.
Analog input contact
does not correctly
return to zero.
Measure and check if the voltage level of
analog input contact is the same as the
electrical potential of grounding.
Correctly ground analog input
contact.
Detection device may
be damaged.
Check and reset the power supply.
Please contact your distributor for
assistance or contact with Delta.
ALE 13 / ALE
: Emergency stop activated
Potential Cause
Checking Method
Emergency stop switch
Check if emergency stop switch is On or Off.
is activated.
ALE 14 / ALE
Corrective Actions
Activate emergency stop switch.
: Reverse (CWL) limit switch error
Potential Cause
Checking Method
Corrective Actions
Reverse limit switch is
activated.
Check if reverse limit switch is On or Off.
Activate reverse limit switch.
Servo system is not
stable.
Check the value of control parameter setting
and load inertia.
Modify parameter setting and reestimate motor capacity.
ALE 15 / ALE
: Forward (CCWL) limit switch error
Potential Cause
Checking Method
Corrective Actions
Forward limit switch is
activated.
Check if forward limit switch is On or Off.
Activate forward limit switch.
Servo system is not
stable.
Check the value of control parameter setting
and load inertia.
Modify parameter setting and reestimate motor capacity.
Revision June 2009
10-7
Chapter 10 Troubleshooting|ASDA-B Series
ALE 16 / ALE
: IGBT temperature error
Potential Cause
Checking Method
Corrective Actions
The drive has
exceeded its rated load Check if there is overload or the motor current
during continuous
is too high.
operation.
Increase motor capacity or reduce
load.
Short-circuit at drive
output.
Ensure all wiring is correct.
ALE 17 / ALE
Check the drive input wiring.
: Memory error
Potential Cause
Checking Method
Data error in Memory
Reset parameter or power supply.
read-out / write-in.
ALE 18 / ALE
Corrective Actions
Please contact your distributor for
assistance or contact with Delta.
: Serial communication time out
Potential Cause
Checking Method
Corrective Actions
Setting value in time
out parameter is not
correct.
Check communication time out parameter
setting.
Correctly set P3-07.
Not receiving
communication
command for a long
time.
Check whether communication cable is loose
or broken.
Tighten the communication cable,
make sure the communication
cable is not damaged and ensure
all wiring is correct.
ALE 19 / ALE
: Motor type error
Potential Cause
Servo drive and servo
motor do not match.
ALE 20 / ALE
Checking Method
Check the type of servo drive and servo motor Replace the servo drive or replace
and their combination.
the servo motor.
: Input power phase loss
Potential Cause
Checking Method
Check the power cable and connections of R,
Control power supply is
S, T. Check whether the power cable is loose
in error.
or the possible loss of phase on input power.
10-8
Corrective Actions
Corrective Actions
If the fault does not clear even
when the three-phase power is
connected correctly, please contact
your distributor for assistance or
contact with Delta.
Revision June 2009
Chapter 10 Troubleshooting|ASDA-B Series
Keypad Fault Messages
ALE 30 : LCM hardware error
Potential Cause
Checking Method
Corrective Actions
No display
Check if the 4th Pin of LCM is normal.
Please contact your distributor for
assistance or contact with Delta.
Error characters
display.
Check if the related Pins is short-circuited and
check if IC operation is normal.
Please contact your distributor for
assistance or contact with Delta.
ALE 31 : LED hardware error
Potential Cause
LED indicator is
abnormal.
Checking Method
Check if LED is normal.
Corrective Actions
Please contact your distributor for
assistance or contact with Delta.
Check if the transistor is abnormal and check if Please contact your distributor for
IC operation is normal by setting P8-09 to 2.
assistance or contact with Delta.
ALE 32 : KEY hardware error
Potential Cause
The function key is
disabled.
Checking Method
Check if IC operation is normal by setting P809 to 1.
Corrective Actions
1. Activate P8-09 to perform the
testing.
2. Please contact your distributor
for assistance or contact with
Delta.
ALE 33 : RAM hardware error
Potential Cause
Checking Method
Corrective Actions
LCM display is
abnormal.
1. Activate P8-09 to perform the
testing.
In regular condition, disorganized display or
abnormal display shows on LCM. Please check 2. Please contact your distributor
if the working voltage of RAM is normal.
for assistance or contact with
Delta.
Function key is
abnormal.
1. Activate P8-09 to perform the
testing.
Check if the transistor is abnormal and check if
2.
Please contact your distributor
IC operation is normal by setting P8-09 to 3.
for assistance or contact with
Delta.
ALE 34 : EEPROM hardware error
Potential Cause
Store data error
Revision June 2009
Checking Method
Check if the operation of MCU or EEPROM is
normal by setting P8-09 to 4.
Corrective Actions
1. Activate P8-09 to perform the
testing.
2. Please contact your distributor
for assistance or contact with
Delta.
10-9
Chapter 10 Troubleshooting|ASDA-B Series
ALE 35 : COMM hardware error
Potential Cause
Checking Method
Corrective Actions
Hardware error
Check if the serial communication signal is
normal.
1. Activate P8-09 to perform the
testing.
2. Please contact your distributor
for assistance or contact with
Delta.
Communication
parameter setting is
defective.
Check the communication parameter setting.
Correctly set parameter setting.
ALE 40 : Initial setup error
Potential Cause
Communication error
occurs when initial
setup.
Checking Method
Corrective Actions
1.
Communication initial setup has not completed
yet. Please check if the communication serial 2.
signal is normal.
Correctly set communication
parameter setting.
Please contact your distributor
for assistance or contact with
Delta.
Parameter read error
when initial setup.
1. Activate P8-09 to perform the
testing.
EEPROM cannot read normally. Set P8-09 to 4
to test EEPROM and check if EEPROM is
2. Please contact your distributor
normal.
for assistance or contact with
Delta.
Communication mode
is error.
Check if using ASDA series servo drive.
Please use ASDA series servo
drive.
ALE 41 : Communication receive time out
Potential Cause
Checking Method
Corrective Actions
Not receiving
Check if the communication cable is loose or
communication data for
broken.
a long time.
Ensure all wiring is correct.
Please contact your distributor for
assistance or contact with Delta.
Data receiving is not
completed.
Please contact your distributor for
assistance or contact with Delta.
Check if the serial communication signal is
normal.
ALE 42 : Communication receive error
Potential Cause
Checking Method
Corrective Actions
Checksum error
Check if the checksum of the receiving data is
correct.
Verify the sending and receiving
data format.
Please contact your distributor for
assistance or contact with Delta.
Checksum error
Check the communication quality.
Please contact your distributor for
assistance or contact with Delta.
10-10
Revision June 2009
Chapter 10 Troubleshooting|ASDA-B Series
ALE 43 : Error communication response address
Potential Cause
Receive the error
communication
response address
Checking Method
Check if the sending and receiving
communication address are the same.
Corrective Actions
Check if the communication setting
is correct by using P8-05.
Verify the sending and receiving
data format.
ALE 44 : Error communication response command
Potential Cause
Respond the error
communication
command.
Checking Method
Respond the error Modbus command
Corrective Actions
Verify the sending and receiving
data format.
ALE 45 : Communication parameter address error
Potential Cause
Respond the error
parameter address
Checking Method
Check if the sending and receiving
communication code are the same.
Corrective Actions
Verify the sending and receiving
data format.
ALE 46 : Communication parameter content error
Potential Cause
Checking Method
Corrective Actions
Respond error
parameter content
when reading
parameter.
The data length of the content is error.
Verify the sending and receiving
data format.
Respond error
parameter content
when writing
parameter.
The data content is in error.
Verify the sending and receiving
data format.
ALE 47 : Drive specification error
Potential Cause
Checking Method
Corrective Actions
Parameter SAVE
operation is in error.
Use P8-13 to check if the specification stored in 1. Select the unused memory
the memory block match the actual servo drive
block to save the parameter.
specification when executing SAVE function
2. Delete the memory block.
(Save parameter settings to the Keypad).
Parameter WRITE
operation is in error.
Use P8-13 to check if the specification stored in
the memory block match the actual servo drive
Select the correct memory block.
specification when executing WRITE function
(Parameter settings written out to the Drive).
ALE 48 : Fast editing function error
Potential Cause
The function of static
and auto-tuning is in
error.
Checking Method
Corrective Actions
The setting of P2-32 is incorrect.
Set P2-32 to Manual mode.
The function of dynamic Execution time out or the function is not
auto-tuning is in error. executed completely.
Revision June 2009
Please contact your distributor for
assistance or contact with Delta.
10-11
Chapter 10 Troubleshooting|ASDA-B Series
10.3 Clearing Servo Drive Faults
Display
Fault Name
Clearing Method
ALE
Overcurrent
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE
Overvoltage
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
Undervoltage
This fault message can be removed automatically
after the voltage has returned within its
specification.
ALE
Z Pulse shift
Restart the servo drive.
ALE
Regeneration error
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE
Overload
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE
Overspeed
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE
Abnormal pulse control
command
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE
Excessive deviation
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
Serial communication error
Turn ARST (DI signal) ON to clear the fault. This
fault message can also be removed automatically
after the communication is normal.
ALE
ALE 10/ALE
ALE 11/ALE
Encoder error (Position
detector fault)
Restart the servo drive.
Adjustment error
This fault message can be removed after the
wiring of CN1 connector (I/O signal connector) is
removed and auto adjustment function is
executed.
ALE 13/ALE
Emergency stop activated
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE 14/ALE
Reverse limit switch error
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE 15/ALE
Forward limit switch error
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE 16/ALE
IGBT temperature error
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE 17/ALE
Memory error
Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
ALE 18/ALE
Serial communication time
out
Turn ARST (DI signal) ON to clear the fault. This
fault message can also be removed automatically
after the communication is normal.
ALE 19/ALE
Motor type error
Restart the servo drive.
ALE 20/ALE
Input power phase loss
This fault message can be removed automatically
after input power phase lost problem is solved.
ALE 12/ALE
10-12
Revision June 2009
Chapter 11 Specifications
11.1 Specifications of Servo Drive (ASDA-B Series)
Power Supply
Model: ASDA-B Series
400W
750W
1kW
1.5kW
2kW
01
02
04
07
10
15
20
Three-phase or Single-phase 220VAC
Three-phase
220VAC
Permissible Voltage Range
Three-phase or Single-phase 200 ~ 230VAC,
-15% ~ 10%
Three-phase
200 ~ 230VAC,
-15% ~ 10%
Permissible Frequency
Range
50/60Hz ±5%
Natural Air Circulation
Fan Cooling
Encoder Resolution /
Feedback Resolution
2500ppr/10000ppr
Control of Main Circuit
SVPWM (Space Vector Pulse Width Modulation) Control
Tuning Modes
Auto / Manual
Regenerative Resistor
Position Control Mode
200W
Voltage / Frequency
Cooling System
None
Built-in
Max. Input Pulse Frequency
Max. 500KPPS (Line driver) /
Max. 200KPPS (Open collector)
Pulse Type
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Command Source
External pulse train
Smoothing Strategy
Low-pass smoothing filter
Electronic Gear
Electronic gear N/M multiple
N: 1~32767, M: 1:32767(1/50<N/M<200)
Torque Limit Operation
Set by parameters
Feed Forward
Compensation
Set by parameters
Analog Input
Command
Speed Control Mode
100W
Voltage
Range
0 ~ ±10 VDC
Input
Resistance
10KΩ
Time
Constant
2.2 μs
Speed Control Range (Note 1)
1:5000
Command Source
External analog signal / Internal parameters
Smoothing Strategy
Low-pass and S-curve filter
Torque Limit Operation
Set by parameters
Frequency Response
Characteristic
Maximum 250Hz
Speed Accuracy (Note 2)
(at rated rotation speed)
0.01% or less at 0 to 100% load fluctuation
0.01% or less at ±10% power fluctuation
o
o
0.01% or less at 0 C to 50 C ambient temperature fluctuation
Revision June 2009
11-1
Chapter 11 Specifications|ASDA-B Series
Digital Input/Output
Torque Control Mode
Model: ASDA-B Series
Analog Input
Command
100W
200W
400W
750W
1kW
1.5kW
2kW
01
02
04
07
10
15
20
Voltage
Range
0 ~ ±10 VDC
Input
Resistance
10KΩ
Time
Constant
2.2 us
Command Source
External analog signal / Internal parameters
Smoothing Strategy
Low-pass smoothing filter
Speed Limit Operation
Set by parameters
Servo On, Reset, Gain switching, Pulse clear, Emergency stop,
Forward / Reverse inhibit limit
Input
Torque limit activation, Speed limit activation, Internal parameter
selection, Torque limit activation, Speed limit activation, Control mode
selection (Position / Speed mode selection, Speed / Torque mode
selection, Position / Torque mode selection)
Encoder signal output (A, B, Z Line Driver / Z Open collector)
Servo ready, Servo On, Zero speed, Speed reached, Positioning
completed, At torque limit, Servo alarm output (Servo fault),
Electromagnetic brake, Home completed
Output
Protective Functions
Overcurrent, Overvoltage, Undervoltage, Z Pulse shift, Regeneration
error, Overload, Overspeed, Excessive deviation, Encoder error,
Emergency stop activated, Memory error, Serial communication error
Communication Interface
RS-232 / RS-485
Installation Site
Indoor location (free from direct sunlight), no corrosive liquid and gas
(far away from oil mist, flammable gas, dust)
Altitude
Altitude 1000m or lower above sea level
Atmospheric pressure
86kPa to 106kPa
Environment
o
o
Operating Temperature
0 C to 45 C (If operating temperature is above specified range, forced
cooling will be required)
Storage Temperature
-20 C to 65 C (-4°F to 149°F)
Humidity
0 to 90% (non-condensing)
Vibration
10Hz ≦ F ≦ 57Hz 0.075mm
57Hz < F ≦ 150Hz 1G
IP rating
IP20
Power System
o
o
TN / TT System
(Note 3)
Approvals
11-2
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
NOTE
1) Rated rotation speed: When full load, speed ratio is defined as the minimum
speed (the motor will not pause).
2) When command is rated rotation speed, the speed fluctuation rate is defined as:
(Empty load rotation speed – Full load rotation speed) / Rated rotation speed
3) TN system: A power distribution system having one point directly earthed, the
exposed conductive parts of the installation being connected to that points by
protective earth conductor.
TT system: A power distribution system having one point directly earthed, the
exposed conductive parts of the installation being connected to earth independent
of the power system.
4) Please refer to “Chart of load and operating time” in section 11.5 “Overload
Characteristics”.
Revision June 2009
11-3
Chapter 11 Specifications|ASDA-B Series
11.2 Specifications of Servo Motor (ECMA Series)
Low Inertia Servo Motor
C304
Model: ECMA Series
Rated output power (kW)
Rated torque (N-m)
(Note 1)
Maximum torque (N-m)
C306
C308
C310
100W
200W
400W
400W
750W
1kW
2kW
01
02
04
04
07
10
20
0.1
0.2
0.4
0.4
0.75
1.0
2.0
0.32
0.64
1.27
1.27
2.39
3.18
6.37
0.96
1.92
3.82
3.82
7.16
9.54
19.11
Rated speed (rpm)
3000
Maximum speed (rpm)
5000
Rated current (A)
0.9
1.55
2.6
2.6
5.1
7.3
12.05
Maximum current (A)
2.7
4.65
7.8
7.8
15.3
21.9
36.15
Power rating (kW/s)
(without brake)
27.7
22.4
57.6
24.0
50.4
38.1
90.6
0.68E-4
1.13E-4
2.65E-4
4.45E-4
Rotor moment of inertia
2
(Kg.m ) (without brake)
0.037E-4 0.177E-4 0.277E-4
Mechanical time constant
(ms) (without brake)
0.75
0.80
0.53
0.74
0.63
0.74
0.61
Torque constant-KT (N-m/A)
0.36
0.41
0.49
0.49
0.47
0.44
0.53
Voltage constant-KE
(mV/rpm)
13.6
16
17.4
18.5
17.2
16.8
19.2
Armature resistance (Ohm)
9.3
2.79
1.55
0.93
0.42
0.20
0.13
Armature inductance (mH)
24
12.07
6.71
7.39
3.53
1.81
1.50
Electrical time constant (ms)
2.58
4.3
4.3
7.96
8.37
9.3
11.4
Insulation class
Class A (UL), Class B (CE)
Insulation resistance
100MΩ, DC 500V
Insulation strength
AC 1500V, 60 seconds
Weight (kg) (without brake)
0.5
1.2
1.6
2.1
3.0
4.3
6.2
Weight (kg) (with brake)
-
1.5
2.0
2.9
3.8
4.7
7.2
Max. radial shaft load (N)
78.4
196
196
245
245
490
490
Max. thrust shaft load (N)
39.2
68
68
98
98
98
98
Power rating (kW/s)
(with brake)
-
21.3
53.8
22.1
48.4
30.4
82
Rotor moment of inertia
(Kg.m2) (with brake)
-
0.192E-4
0.30E-4
0.73E-4
1.18E-4
3.33E-4
4.953E-4
Mechanical time constant
(ms) (with brake)
-
0.85
0.57
0.78
0.65
0.93
0.66
Brake holding torque
[Nt-m (min)]
-
1.3
1.3
2.5
2.5
12
12
o
-
7.2
7.2
8.5
8.5
19.4
19.4
Brake release time [ms (Max)]
-
10
10
10
10
10
10
Brake pull-in time [ms (Max)]
-
70
70
70
70
70
70
Brake power consumption
(at 20 C) [W]
11-4
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
C304
Model: ECMA Series
C306
C308
C310
100W
200W
400W
400W
750W
1kW
2kW
01
02
04
04
07
10
20
15
Vibration grade (um)
o
o
o
o
Operating temperature
0 C to 40 C (32 F to 104 F)
Storage temperature
-10 C to 80 C (-14 F to 176 F)
Operating humidity
20% to 90% RH (non-condensing)
Storage humidity
20% to 90% RH (non-condensing)
Vibration capacity
2.5G
IP rating
IP65 (using waterproof connectors and shaft seal installation
(or using oil seal models))
o
o
o
o
Approvals
Footnote:
*1 Rated torque is the continuous permissible torque under the following installation conditions:
Ambient temperature: 0~40˚C
Heat sink dimensions: ECMA-__04 / 06 / 08: 250mm x 250mm x 6mm
ECMA-__10: 300mm x 300mm x 12mm
Material type: Aluminum – F40, F60, F80, F100, F130, F180
Medium / High Inertia Servo Motor
E313
Model: ECMA Series
Rated output power (kW)
Rated torque (N-m)
(Note 1)
Maximum torque (N-m)
E318
G313
500W
1kW
1.5kW
2kW
2kW
300W
600W
900W
05
10
15
20
20
03
06
09
0.5
1.0
1.5
2.0
2.0
0.3
0.6
0.9
2.39
4.77
7.16
9.55
9.55
2.86
5.73
8.59
7.16
14.3
21.48
28.65
28.65
8.59
17.19
21.48
Rated speed (rpm)
2000
1000
Maximum speed (rpm)
3000
2000
Rated current (A)
2.9
5.6
8.3
11.01
11.22
2.5
4.8
7.5
Maximum current (A)
8.7
16.8
24.9
33.03
33.66
7.5
14.4
22.5
Power rating (kW/s)
(without brake)
7
27.1
45.9
62.5
26.3
10.0
39.0
66.0
Rotor moment of inertia
2
(Kg.m ) (without brake)
8.17E-4 8.41E-4 11.18E-4 14.59E-4 34.68E-4 8.17E-4 8.41E-4 11.18E-4
Mechanical time constant
(ms) (without brake)
1.91
1.51
1.10
0.96
1.62
1.84
1.40
1.06
Torque constant-KT (N-m/A)
0.83
0.85
0.87
0.87
0.85
1.15
1.19
1.15
Voltage constant-KE
(mV/rpm)
30.9
31.9
31.8
31.8
31.4
42.5
43.8
41.6
Armature resistance (Ohm)
0.57
0.47
0.26
0.174
0.119
1.06
0.82
0.43
Armature inductance (mH)
7.39
5.99
4.01
2.76
2.84
14.29
11.12
6.97
Revision June 2009
11-5
Chapter 11 Specifications|ASDA-B Series
E313
Model: ECMA Series
Electrical time constant (ms)
E318
G313
500W
1kW
1.5kW
2kW
2kW
300W
600W
900W
05
10
15
20
20
03
06
09
12.96
12.88
15.31
15.86
23.87
13.55
13.50
16.06
Insulation class
Class A (UL), Class B (CE)
Insulation resistance
100MΩ, DC 500V
Insulation strength
AC 1500V, 60 seconds
Weight (kg) (without brake)
6.8
7
7.5
7.8
13.5
6.8
7
7.5
Weight (kg) (with brake)
8.2
8.4
8.9
9.2
17.5
8.2
8.4
8.9
Max. radial shaft load (N)
490
490
490
490
1176
490
490
490
Max. thrust shaft load (N)
98
98
98
98
490
98
98
98
Power rating (kW/s)
(with brake)
6.4
24.9
43.1
59.7
24.1
9.2
35.9
62.1
Rotor moment of inertia
(Kg.m2) (with brake)
8.94E-4 9.14E-4 11.90E-4 15.88E-4 37.86E-4 8.94E-4 9.14E-4 11.9E-4
Mechanical time constant
(ms) (with brake)
2.07
1.64
1.19
1.05
1.77
2.0
1.51
1.13
Brake holding torque
[Nt-m (min)]
16.5
16.5
16.5
16.5
25
16.5
16.5
16.5
o
21.0
21.0
21.0
21.0
31.1
21.0
21.0
21.0
Brake release time [ms (Max)]
5.0
5.0
5.0
5.0
5.0
5.0
5.0
5.0
Brake pull-in time [ms (Max)]
25.0
25.0
25.0
25.0
25.0
25.0
25.0
25.0
Brake power consumption
(at 20 C) [W]
15
Vibration grade (um)
o
o
o
o
Operating temperature
0 C to 40 C (32 F to 104 F)
Storage temperature
-10 C to 80 C (-14 F to 176 F)
Operating humidity
20% to 90% RH (non-condensing)
Storage humidity
20% to 90% RH (non-condensing)
Vibration capacity
2.5G
IP rating
IP65 (using waterproof connectors and shaft seal installation
(or using oil seal models))
o
o
o
o
Approvals
Footnote:
*1 Rated torque is the continuous permissible torque under the following installation conditions:
Ambient temperature: 0~40˚C
Heat sink dimensions: ECMA-__13:400mm x 400mm x 20mm
ECMA-__18: 550mm x 550mm x 30mm
Material type: Aluminum – F40, F60, F80, F100, F130, F180
NOTE
11-6
1) Please refer to Section 1.2 for details about the model explanation.
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
11.3 Dimensions of Servo Drive
Order P/N: ASD-B0121-A, ASD-B0221-A, ASD-B0421-A (100W to 400W)
WEIGHT
1.2 (2.64)
NOTE
1) Dimensions are in millimeters (inches).
2) Weights are in kilograms (kg) and (pounds (lbs))
3) In this manual, actual measured values are in metric units. Dimensions in (imperial
units) are for reference only. Please use metric for precise measurements.
Revision June 2009
11-7
Chapter 11 Specifications|ASDA-B Series
Order P/N: ASD-B0721-A (750W)
WEIGHT
NOTE
1.5 (3.3)
1) Dimensions are in millimeters (inches).
2) Weights are in kilograms (kg) and (pounds (lbs))
3) In this manual, actual measured values are in metric units. Dimensions in (imperial
units) are for reference only. Please use metric for precise measurements.
11-8
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
Order P/N: ASD-B1021-A, ASD-B1521-A, ASD-B2023-A (1kW to 2kW)
WEIGHT
NOTE
2.0 (4.4)
1) Dimensions are in millimeters (inches).
2) Weights are in kilograms (kg) and (pounds (lbs))
3) In this manual, actual measured values are in metric units. Dimensions in (imperial
units) are for reference only. Please use metric for precise measurements.
Revision June 2009
11-9
Chapter 11 Specifications|ASDA-B Series
11.4 Servo Motor Speed-Torque Curves (T-N Curve)
11-10
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
11.5 Overload Characteristics
„ Overload Protection Function
Overload protection is a built-in protective function to prevent a motor from overheating.
„ Occasion of Overload
1. Motor was operated for several seconds under a torque exceeding 100% torque.
2. Motor had driven high inertia machine and had accelerated and decelerated at high frequency.
3. Motor UVW cable or encoder cable was not connected correctly.
4. Servo gain was not set properly and caused motor hunting.
5. Motor holding brake was not released.
„ Chart of load and operating time (ECMAC30401…S)
Operating Time (seconds)
1000
Load
100
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
139.335s
27.585s
14.235s
8.9625s
6s
4.4925s
3.2925s
2.58s
2.07s
1.6125s
0.1
0
50
100
150
200
250
300
Load (%) rated torque
Revision June 2009
11-11
Chapter 11 Specifications|ASDA-B Series
„ Chart of load and operating time (ECMAC30602…S)
10000
Operating Time (seconds)
1000
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
100
10
1
Operating
Time
213.6s
42.3s
21.8s
13.7s
9.2s
6.9s
5.0s
3.9s
3.2s
2.5s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
„ Chart of load and operating time (ECMAC30604…S)
1000
Operating Time (seconds)
100
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
65.0s
12.9s
6.6s
4.2s
2.8s
2.1s
1.5s
1.2s
1.0s
0.8s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
11-12
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
„ Chart of load and operating time (ECMAC30804…7)
10000
Operating Time (seconds)
1000
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
100
10
1
Operating
Time
254.5s
50.4s
26.0s
16.4s
11.0s
8.2s
6.0s
4.7s
3.8s
2.9s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
„ Chart of load and operating time (ECMAC30807…S)
Operating Time (seconds)
1000
Load
100
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
Revision June 2009
11-13
Chapter 11 Specifications|ASDA-B Series
„ Chart of load and operating time (ECMAC31010…S)
Operating Time (seconds)
1000
100
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
„ Chart of load and operating time (ECMAC31020…S)
Operating Time (seconds)
1000
Load
100
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
11-14
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
„ Chart of load and operating time (ECMAC31303…S)
10000
Operating Time (seconds)
1000
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
100
10
1
Operating
Time
613.1s
121.4s
62.6s
39.4s
26.4s
19.8s
14.5s
11.4s
9.1s
7.1s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
„ Chart of load and operating time (ECMAC31305…S)
1000
Operating Time (seconds)
100
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
Revision June 2009
11-15
Chapter 11 Specifications|ASDA-B Series
„ Chart of load and operating time (ECMAC31306…S)
Operating Time (seconds)
1000
100
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
167.2s
33.1s
17.1s
10.8s
7.2s
5.4s
4.0s
3.1s
2.5s
1.9s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
„ Chart of load and operating time (ECMAC31309…S)
Operating Time (seconds)
1000
100
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
11-16
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
„ Chart of load and operating time (ECMAC31310…S)
Operating Time (seconds)
1000
Load
100
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
130.0s
25.7s
13.3s
8.4s
5.6s
4.2s
3.1s
2.4s
1.9s
1.5s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
„ Chart of load and operating time (ECMAC31315…S)
Operating Time (seconds)
1000
Load
100
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
167.2s
33.1s
17.1s
10.8s
7.2s
5.4s
4.0s
3.1s
2.5s
1.9s
0.1
0
50
100
150
200
250
300
Load (% rated torque)
Revision June 2009
11-17
Chapter 11 Specifications|ASDA-B Series
„ Chart of load and operating time (ECMAC31320…S)
Operating Time (seconds)
1000
100
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
10
1
Operating
Time
185.78s
36.78s
18.98s
11.95s
8s
5.99s
4.39s
3.44s
2.76s
2.15s
0.1
0
50
100
150
200
250
300
Load (%) rated torque
„ Chart of load and operating time (ECMAC31820…S)
10000
Operating Time (seconds)
1000
Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%
100
10
1
Operating
Time
278.67s
55.17s
28.47s
17.925s
12s
8.985s
6.585s
5.16s
4.14s
3.225s
0.1
0
50
100
150
200
250
300
Load (%) rated torque
11-18
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
11.6 Dimensions of Servo Motor
ECMA Series Motor Frame Size: 80mm and below Models
Model
C30401□S
C30602□S
C30604□S
C30804□7
C30807□S
LC
40
60
60
80
80
LZ
4.5
5.5
5.5
6.6
6.6
LA
46
70
70
90
90
S
8
14
14
14
19
LB
30
50
50
70
70
LL (without brake)
100.6
105.5
130.7
112.3
138.3
LL (with brake)
136.6
141.6
166.8
152.8
178
LS (without oil seal)
20
27
27
27
32
LS (with oil seal)
20
24
24
24.5
29.5
LR
25
30
30
30
35
LE
3
3
3
3
3
LG
5
7.5
7.5
8
8
LW
16
20
20
20
25
RH
6.2
11
11
11
15.5
WK
3
5
5
5
6
W
3
5
5
5
6
T
3
5
5
5
6
TP
M3xP0.5
Depth: 8mm
M4xP0.7
Depth: 15mm
M4xP0.7
Depth: 15mm
M4xP0.7
Depth: 15mm
M6xP1
Depth: 20mm
NOTE 1) Dimensions are in millimeters. Actual measured values are in metric units. Please
use metric for precise measurements.
2) The boxes (…) in the model names are for optional configurations (brake, shaft type,
oil seal). Please refer to Section 1.2 for model explanation.
Revision June 2009
11-19
Chapter 11 Specifications|ASDA-B Series
ECMA Series Motor Frame Size: 100mm and above Models
Model
G31303□S
E31305□S
G31306□S
G31309□S
C31010□S
LC
130
130
130
130
100
LZ
9
9
9
9
9
LA
145
145
145
145
115
S
22
22
22
22
22
LB
110
110
110
110
95
LL (without brake)
147.5
147.5
147.5
163.5
153.25
LL (with brake)
183.5
183.5
183.5
198
192.5
LS
47
47
47
47
37
LR
55
55
55
55
45
LE
6
6
6
6
5
LG
11.5
11.5
11.5
11.5
12
LW
36
36
36
36
32
RH
18
18
18
18
18
WK
8
8
8
8
8
W
8
8
8
8
8
T
7
7
7
7
7
TP
M3xP0.5
Depth: 8mm
M4xP0.7
Depth: 15mm
M4xP0.7
Depth: 15mm
M4xP0.7
Depth: 15mm
M6xP1
Depth: 20mm
NOTE 1) Dimensions are in millimeters. Actual measured values are in metric units. Please
use metric for precise measurements.
2) The boxes (…) in the model names are for optional configurations (brake, shaft type,
oil seal). Please refer to Section 1.2 for model explanation.
11-20
Revision June 2009
Chapter 11 Specifications|ASDA-B Series
ECMA Series Motor Frame Size: 100mm and above Models
Model
E31310□S
E31315□S
C31020□S
E31320□S
E31820□S
LC
130
130
100
130
180
LZ
9
9
9
9
13.5
LA
145
145
115
145
200
S
22
22
22
22
35
LB
110
110
95
110
114.3
LL (without brake)
147.5
167.5
199
187.5
169
LL (with brake)
183.5
202
226
216
203.1
LS
47
47
37
47
73
LR
55
55
45
55
79
LE
6
6
5
6
4
LG
11.5
11.5
12
11.5
20
LW
36
36
32
36
63
RH
18
18
18
18
30
WK
8
8
8
8
10
W
8
8
8
8
10
T
7
7
7
7
8
TP
M3xP0.5
Depth: 8mm
M4xP0.7
Depth: 15mm
M4xP0.7
Depth: 15mm
M4xP0.7
Depth: 15mm
M6xP1
Depth: 20mm
NOTE 1) Dimensions are in millimeters. Actual measured values are in metric units. Please
use metric for precise measurements.
2) The boxes (…) in the model names are for optional configurations (brake, shaft type,
oil seal). Please refer to Section 1.2 for model explanation.
Revision June 2009
11-21
Chapter 11 Specifications|ASDA-B Series
11.7 EMI Filters Selection
Item
Power
Servo Drive Model
1
200W
ASD-B0221-A
2
400W
ASD-B0421-A
3
750W
ASD-B0721-A
4
1000W
ASD-B1021-A
5
1500W
ASD-B1521-A
6
2000W
ASD-B2023-A
11-22
EMI Filter Model
16DRT1W3S (1-phase)
10TDT1W4C (3-phase)
16DRT1W3S (1-phase)
10TDT1W4C (3-phase)
16DRT1W3S (1-phase)
10TDT1W4C (3-phase)
16DRT1W3S (1-phase)
10TDT1W4C (3-phase)
16DRT1W3S (1-phase)
10TDT1W4C (3-phase)
26TDT1W4C (3-phase)
Revision June 2009
Chapter 12 Application Examples
12.1 Connecting to DVP-EH PLC and DOP-A HMI
Application Example: Dual Mode (S-P Mode)
Purpose
Use Delta DVP-EH series PLC to output pulse command (Homing operation, JOG operation, forward and
reverse operation, and speed control mode switching) and enable ASDA-B servo drive. Also, use Delta
DOP-A series HMI to control ASDA-B servo drive and let the servo drive follow the commands from PLC to
complete the positioning.
Explanation:
Programmable Logic Controller (hereinafter “PLC”)
1.
Delta DVP-EH series PLC is “Transistor Output” Model. The definition of output contacts is as follows:
Y0: Pulse
Y1: SIGN
Y2: In speed control mode, parameter P1-09 is used to set speed 1 of internal speed command.
Y3: In speed control mode, parameter P1-10 is used to set speed 2 of internal speed command.
Y4: S-P dual mode: When S-P signal is Off, it is speed mode. When S-P signal is On, it is position mode.
Y5: Servo ON
2.
Pulse command is open-collector signal.
Revision June 2009
12-1
Chapter 12 Application Examples|ASDA-B Series
PLC Program
12-2
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
Revision June 2009
12-3
Chapter 12 Application Examples|ASDA-B Series
12-4
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
ASDA-B series Servo Drive
1.
When using open-collector input, the max. allowable input pulse frequency is 200Kpps.
2.
Parameter Settings:
3.
„
Set P1-01=06 (S-T dual mode)
„
Set P1-09 ~ P1-11 (Internal speed command)
„
Set P1-36=1 (Accel /Decel S-curve)
„
Set P2-10=101 (DI1=Servo On)
„
Set P2-11=104 (DI2=CCLR)
„
Set P2-12=114 (DI3=SPD0)
„
Set P2-13=115 (DI4=SPD1)
„
Set P2-14=118 (DI5=S-P dual mode switching)
„
Set P2-32=1 (PDFF, the ratio of load inertia to servo motor inertia can be continuously adjusted.)
Communication format: Both DVP-EH series PLC and ASDA-B series servo drive have to use the
same communication protocol setting.
Revision June 2009
12-5
Chapter 12 Application Examples|ASDA-B Series
Connections between DVP-EH series PLC and ASDA-B series Servo Drive
DVP-EH
Y0
Y1
Y2
C0
ASDA-B
CN1
1
2
C1
3
C2
4
Y3
14
Y3
5
Y4
C3
6
Y5
Y6
C4
7
8
C5
9
Y7
C6
C7
10 11 12 13
Y2
15 16
17
Y4
Y5
18 19
1k
20
21 22
Y1
Y0
23 24
25
1k
Connections:
DVP-EH
Y0
Y1
Y2
Y3
Y4
Y5
12-6
ASDA-B CN1
22
20
5
3
15
17
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
HMI DOP-A HMI
Program Screen (Homing Operation)
Revision June 2009
12-7
Chapter 12 Application Examples|ASDA-B Series
(Position Control 1)
12-8
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
(Position Control 2)
Revision June 2009
12-9
Chapter 12 Application Examples|ASDA-B Series
(JOG Operation)
12-10
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
(Speed Control)
Operation
Ensure all wiring is connected correctly.
„
Restart the servo drive (Apply the power to servo drive again).
„
At this time, the SON LED (Servo On Indicator) will be lit to indicate that the servo drive is enabled, and
normal display will show on the LCD display. If ALRM LED (Alarm Output Indicator) is lit or any fault
message show on the LCD display, please refer to Chapter 10 “Troubleshooting” to remove the fault
code and fault message.
„
If there is no fault, press “Servo On” key on HMI screen and CMD LED will be red to indicate that the
servo drive is enabled (Servo On status).
„
Then, the users can use various functions on different HMI screens to control the servo drive and
execute the functions of servo drive.
„
Before operating in speed mode, the users need to switch to speed control mode on the first HMI
screen.
Revision June 2009
12-11
Chapter 12 Application Examples|ASDA-B Series
12.2 Connecting to DVP-EH PLC and Delta TP04 Series
Application Example: Homing Operation
Purpose
Use Delta TP04 series operation panel interface as host (external) controller to control ASDA-B servo drive
and let the servo drive follow the commands from PLC to complete the positioning.
Delta TP04 Series
The editing screens by using TPEditor software is shown as follows:
Download the editing screens to TP04 series by using TP communication cable
Communication format: Both TP04 series operation panel interface and ASDA-B series servo drive have to
adopt the same communication protocol setting.
Please notice that the users still have to use PLC ZRN (Zero-point return) command when executing this
homing operation.
12-12
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
Revision June 2009
12-13
Chapter 12 Application Examples|ASDA-B Series
ASDA-B series Servo Drive
Parameter Settings:
„
P1-00 =0 (Position mode)
„
P2-10 =101 (SON Servo ON, the default is DI1)
„
P2-12 =104 (CCLR)
„
P2-32 =1 (PDFF, the ratio of load inertia to servo motor inertia can be continuously adjusted.)
Communication Settings:
„
Use RS-485 communication
Operation
Ensure all wiring is connected correctly.
„
Restart the servo drive (Apply the power to servo drive again).
„
At this time, the SON LED (Servo On Indicator) will be lit to indicate that the servo drive is enabled, and
normal display will show on the LCD display. If ALRM LED (Alarm Output Indicator) is lit or any fault
message show on the LCD display, please refer to Chapter 10 “Troubleshooting” to remove the fault
code and fault message.
„
If there is no fault, set the speed of homing operation and the setting value of speed 2 on the first TP04
screen.
„
Press “Servo On” key on the second TP04 screen and CMD LED will be red to indicate that the servo
drive is enabled (Servo On status).
„
Then, the users can use homing function on the third TP04 screen to control the servo drive.
„
Finally, the users can observe the servo operation on the forth TP04 screen.
12-14
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
12.3 External Controller Connection Examples
„ Connecting to Delta DVP-EH PLC
Revision June 2009
12-15
Chapter 12 Application Examples|ASDA-B Series
„ Connecting to Delta DVP-01PU
12-16
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
„ Connecting to Mitsubishi FX1PG
Revision June 2009
12-17
Chapter 12 Application Examples|ASDA-B Series
„ Connecting to Mitsubishi FX2N1PG
12-18
Revision June 2009
Chapter 12 Application Examples |ASDA-B Series
„ Connecting to Mitsubishi AD75
Revision June 2009
12-19
Chapter 12 Application Examples|ASDA-B Series
This page intentionally left blank.
12-20
Revision June 2009
Appendix A Accessories
„ Power Connectors
Delta Part Number: ASDBCAPW0000
Title
Part No.
Manufacturer
Housing
C4201H00-2*2PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Delta Part Number: ASDBCAPW0100
Title
Part No.
Manufacturer
Housing
C4201H00-2*3PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Delta Part Number: ASD-CAPW1000
Delta Part Number: ASD-CAPW2000
Revision June 2009
A-1
Appendix A Accessories|ASDA-B Series
„ Power Cables
Delta Part Number: ASDBCAPW0203/0205
Title
Part No.
Manufacturer
Housing
C4201H00-2*2PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Title
Part No.
1
2
L
mm
inch
ASDBCAPW0203
3000 ± 50
118 ± 2
ASDBCAPW0205
5000 ± 50
197 ± 2
Delta Part Number: ASDBCAPW0303/0305
A-2
Title
Part No.
Manufacturer
Housing
C4201H00-2*3PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Title
Part No.
1
2
L
mm
inch
ASDBCAPW0303
3000 ± 50
118 ± 2
ASDBCAPW0305
5000 ± 50
197 ± 2
Revision June 2009
Appendix A Accessories|ASDA-B Series
„ Power Cables, cont.
Delta Part Number: ASD-CAPW1203/1205
Title
Part No.
Straight
1
ASD-CAPW1203
2
ASD-CAPW1205
L
mm
inch
3106A-20-18S
3000 ± 50
118 ± 2
3106A-20-18S
5000 ± 50
197 ± 2
Delta Part Number: ASD-CAPW2203/2205
Title
Part No.
Straight
1
ASD-CAPW2203
2
ASD-CAPW2205
L
mm
inch
3106A-24-18S
3000 ± 50
118 ± 2
3106A-24-18S
5000 ± 50
197 ± 2
Delta Part Number: ASD-CAPW2303/2305
(80mm)
(3.15 inch)
(100 mm)
(3.94 inch)
L
Title
Part No.
Straight
1
ASD-CAPW2303
2
ASD-CAPW2305
Revision June 2009
L
mm
inch
3106A-24-11S
3000 ± 50
118 ± 2
3106A-24-11S
5000 ± 50
197 ± 2
A-3
Appendix A Accessories|ASDA-B Series
„ Encoder Connectors
Delta Part Number: ASDBCAEN0000
Title
Part No.
Manufacturer
Housing
AMP (1-172161-9)
AMP
Terminal
AMP (170359-3)
AMP
CLAMP
DELTA (34703237XX)
DELTA
Delta Part Number: ASDBCAEN1000
„ Encoder Cables
Delta Part Number: ASDBCAEN0003/0005
A-4
Title
Part No.
Manufacturer
Housing
AMP (1-172161-9)
AMP
Terminal
AMP (170359-3)
AMP
CLAMP
DELTA (34703237XX)
DELTA
Title
Part No.
1
2
L
mm
inch
ASDBCAEN0003
3000 ± 50
118 ± 2
ASDBCAEN0005
5000 ± 50
197 ± 2
Revision June 2009
Appendix A Accessories|ASDA-B Series
„ Encoder Cables, cont.
Delta Part Number: ASDBCAEN1003/1005
Title
Part No.
Straight
1
ASDBCAEN1003
2
ASDBCAEN1005
L
mm
inch
3106A-20-29S
3000 ± 50
118 ± 2
3106A-20-29S
5000 ± 50
197 ± 2
„ I/O Signal Connector
Delta Part Number: ASDBCNDS0025
„ Communication Cables
Delta Part Number: ASDBCADK0001 (for Keypad, connecting a ASDA-B servo drive to a Keypad)
Revision June 2009
Title
Part No.
Manufacturer
Box Header
3071420300
DELTA
Cover
3140311100
DELTA
Housing
2541-K-14PD
JAWS
Terminal
2541-T-G
JAWS
A-5
Appendix A Accessories|ASDA-B Series
„ Communication Cables, cont.
Delta Part Number: DVPACAB2A30 (for PC, connecting a ASDA-B servo drive to a PC)
Delta Part Number: ASDBCACK0001 (for Keypad, connecting a PC to a Keypad)
Title
Part No.
Manufacturer
Box Header
3071420300
DELTA
Cover
3140311100
DELTA
Housing
2541-K-14PD
JAWS
Terminal
2541-T-G
JAWS
„ Keypad
Delta Part Number: ASD-PU-01A (including communication cable)
A-6
Revision June 2009
Appendix A Accessories|ASDA-B Series
Delta Part Number: ASD-PU-01B (including communication cable)
Revision June 2009
Title
Part No.
Manufacturer
Box Header
3071420300
DELTA
Cover
3140311100
DELTA
Housing
2541-K-14PD
JAWS
Terminal
2541-T-G
JAWS
A-7
Appendix A Accessories|ASDA-B Series
„ Servo Drive, Servo Motor and Accessories Combinations
100W Servo Drive and 100W Low Inertia Servo Motor
Servo Drive
ASD-A0121-AB
Low inertia
Servo Motor
ECMA-C30401†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASDBCAPW0203
Motor Power Cable
ASDBCAPW0205
-
-
Encoder Cable
ASDBCAEN0003
Encoder Cable
ASDBCAEN0005
-
-
Power Connector ASDBCAPW0000
Connector
Encoder Connector ASDCAEN0000
200W Servo Drive and 200W Low Inertia Servo Motor
Servo Drive
ASD-B0221-A
Low inertia
Servo Motor
ECMA-C30602†S
Without Brake
3M
Cable
Connector
With Brake
5M
3M
5M
Motor Power Cable
ASDBCAPW0203
Motor Power Cable
ASDBCAPW0205
Motor Power Cable
ASDBCAPW0303
Motor Power Cable
ASDBCAPW0305
Encoder Cable
ASDBCAEN0003
Encoder Cable
ASDBCAEN0005
Encoder Cable
ASDBCAEN0003
Encoder Cable
ASDBCAEN0005
Power Connector ASDBCAPW0000
Power Connector ASDBCAPW0100
Encoder Connector ASDBCAEN0000
400W Servo Drive and 400W Low Inertia Servo Motor
Servo Drive
ASD-B0421-A
Low inertia
Servo Motor
ECMA-C30604†S
ECMA-C30804†7
Without Brake
3M
Cable
Connector
A-8
With Brake
5M
3M
5M
Motor Power Cable
ASDBCAPW0203
Motor Power Cable
ASDBCAPW0205
Motor Power Cable
ASDBCAPW0303
Motor Power Cable
ASDBCAPW0305
Encoder Cable
ASDBCAEN0003
Encoder Cable
ASDBCAEN0005
Encoder Cable
ASDBCAEN0003
Encoder Cable
ASDBCAEN0005
Power Connector ASDBCAPW0000
Power Connector ASDBCAPW0100
Encoder Connector ASDBCAEN0000
Revision June 2009
Appendix A Accessories|ASDA-B Series
400W Servo Drive and 500W Medium Inertia Servo Motor
Medium inertia
Servo Motor
ECMA-E31305†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Connector
Encoder Connector ASDBCAEN1000
400W Servo Drive and 300W High Inertia Servo Motor
Servo Drive
ASD-B0421-A
High inertia
Servo Motor
ECMA-G31303†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Connector
Encoder Connector ASDBCAEN1000
750W Servo Drive and 750W Low Inertia Servo Motor
Servo Drive
ASD-B0721-A
Low inertia
Servo Motor
ECMA-C30807†S
Without Brake
3M
Cable
Connector
Revision June 2009
With Brake
5M
3M
5M
Motor Power Cable
ASDBCAPW0203
Motor Power Cable
ASDBCAPW0205
Motor Power Cable
ASDBCAPW0303
Motor Power Cable
ASDBCAPW0305
Encoder Cable
ASDBCAEN0003
Encoder Cable
ASDBCAEN0005
Encoder Cable
ASDBCAEN0003
Encoder Cable
ASDBCAEN0005
Power Connector ASDBCAPW0000
Power Connector ASDBCAPW0100
Encoder Connector ASDBCAEN0000
A-9
Appendix A Accessories|ASDA-B Series
750W Servo Drive and 600W High Inertia Servo Motor
Servo Drive
ASD-B0721-A
High inertia
Servo Motor
ECMA-G31306†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Connector
Encoder Connector ASDBCAEN1000
1kW Servo Drive and 1kW Low Inertia Servo Motor
Servo Drive
ASD-B1021-A
Low inertia
Servo Motor
ECMA-C31010†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASDBCAPW1000
Connector
Encoder Connector ASDBCAEN1000
1kW Servo Drive and 1kW Medium Inertia Servo Motor
Servo Drive
ASD-B1021-A
Medium inertia
Servo Motor
ECMA-E31310†S
Without Brake
3M
Cable
Connector
A-10
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Encoder Connector ASDBCAEN1000
Revision June 2009
Appendix A Accessories|ASDA-B Series
1kW Servo Drive and 900W High Inertia Servo Motor
Servo Drive
ASD-B1021-A
High inertia
Servo Motor
ECMA-G31309†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Connector
Encoder Connector ASDBCAEN1000
1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor
Servo Drive
ASD-B1521-A
Medium inertia
Servo Motor
ECMA-E31315†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Connector
Encoder Connector ASDBCAEN1000
2kW Servo Drive and 2kW Low Inertia Servo Motor
Servo Drive
ASD-B2023-A
Low inertia
Servo Motor
ECMA-C31020†S
Without Brake
3M
Cable
Connector
Revision June 2009
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Encoder Connector ASDBCAEN1000
A-11
Appendix A Accessories|ASDA-B Series
2kW Servo Drive and 2kW Medium Inertia Servo Motor
Servo Drive
ASD-B2023-A
Medium inertia
Servo Motor
ECMA-E31320†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW1203
Motor Power Cable
ASD-CAPW1205
Motor Power Cable
ASD-CAPW1303
Motor Power Cable
ASD-CAPW1305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW1000
Connector
Encoder Connector ASDBCAEN1000
2kW Servo Drive and 2kW Medium Inertia Servo Motor
Servo Drive
ASD-B2023-A
Medium inertia
Servo Motor
ECMA-E31820†S
Without Brake
3M
Cable
With Brake
5M
3M
5M
Motor Power Cable
ASD-CAPW2203
Motor Power Cable
ASD-CAPW2205
Motor Power Cable
ASD-CAPW2303
Motor Power Cable
ASD-CAPW2305
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Encoder Cable
ASDBCAEN1003
Encoder Cable
ASDBCAEN1005
Power Connector ASD-CAPW2000
Connector
Encoder Connector ASDBCAEN1000
Other Accessories (Applicable for ASDA-B series all models)
Description
25Pin I/O signal connector (CN1)
Model Name
ASDBCNDS0025
Communication cable, for Keypad, connecting a
ASDBCADK0001
ASDA-B servo drive to a Keypad
Communication cable, for PC, connecting a
ASDA-B servo drive to a PC
DVPACAB2A30
Communication cable, for Keypad, connecting a
ASDBCACK0001
PC to a Keypad
Keypad
A-12
ASD-PU-01A
ASD-PU-01B
Revision June 2009
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