DELTA ASDA-M service manual

ASDA-M_M_TC_20111115

ASDA-M ECMA

U V W

Nov, 2011

i

|ASDA-M

ASDA-M Open type Digital Signal Processor, DSP IGBTPMSM

ASDA-M UL 1

備故障。

否則可能會造成觸電或火災。

class-3 100Ω

U V W

ii	Nov , 2011

|ASDA-M

10

請使動力線和信號線相隔30 11.8

PG

3 9.84 PG 20

65.62

10

Nov, 2011

iii

|ASDA-M

CHARGE

NOTE

(http://www.delta.com.tw/industrialautomation/)

iv	Nov , 2011

1.1	........................................................................................................		1-1
1.2	................................................................................................		1-3
1.2.1		...............................................................................................	1-3
1.2.2		...............................................................................................	1-4
1.3	..........................................................		1-6
1.4	......................................................................................		1-7

2.1	........................................................................................................	2-1
2.2	.................................................................................................	2-1
2.3	.................................................................................................	2-1
2.4	.............................................................................................	2-2
2.5	............................................................................	2-4
2.6	EMI Filters ..............................................................	2-4
2.7	......................................................................................	2-6

3.1	............................................................................	3-1
3.1.1 .....................................................................................		3-1

Nov,2011

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	3.1.2	...........................................................................	3-3
	3.1.3	............................................................................................	3-5
	3.1.4 U V W ......................................................		3-7
	3.1.5	...................................................................	3-9
	3.1.6	............................................................................................	3-12
3.2	......................................................................................		3-14
3.3	CN1 I/O ..........................................................................................		3-16
	3.3.1	CN1 I/O Layout ..................................................................	3-17
	3.3.2	CN1 I/O .......................................................................	3-28
	3.3.3 CN1 .............................................................................		3-37
	3.3.4 DI DO .....................................................................		3-38
3.4	CN2 .....................................................................................		3-38
3.5	CN3 .....................................................................................		3-41
	3.5.1	CN3 Layout ........................................................................	3-41
	3.5.2	CN3 .......................................................	3-42
3.6	CN4 USB ..............................................................................		3-43
3.7	CN5 ............................................................		3-44
3.8	CN6 CANopen ......................................................................		3-45
3.9	.................................................................................................		3-47
	3.9.1 PT ...................................................................		3-47
	3.9.2 PR ...................................................................		3-48
	3.9.3	...............................................................................	3-49
	3.9.4	...............................................................................	3-50

NOV,2011

|ASDA-M

3.9.5 CANopen ........................................................

3-51

4.1	.................................................................................................		4-1
4.2	.................................................................................................		4-2
4.2.1		.......................................................................................	4-2
	4.2.2	................................................................................	4-3

4.3	........................................................................................................		4-4
	4.3.1	........................................................................................	4-4
	4.3.2	............................................................................................	4-4
	4.3.3	........................................................................................	4-4
	4.3.4	....................................................................................	4-4
	4.3.5	...............................................................................................	4-5
4.4	.................................................................................................		4-8
	4.4.1	..........................................................................	4-8
	4.4.2	........................................................................................	4-9
	4.4.3	.................................................................................	4-10
	4.4.4	.................................................................................	4-11
	4.4.5	.................................................................................	4-12

5.1 .....................................................................................................

5-1

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5.2	.....................................................................................................		5-2
5.3	JOG ...............................................................................................		5-6
5.4	.............................................................................................		5-7
5.5	.............................................................................................		5-9
5.6	........................................................................................................		5-11
	5.6.1	....................................................................................	5-12
	5.6.2	...........................................................	5-13
	5.6.3	.............................................................................	5-14
	5.6.4	...................................................................	5-15
	5.6.5	.............................................................................	5-16
	5.6.6	....................................................................................	5-18
	5.6.7	...................................................................	5-19
	5.6.8	.................................................................................	5-20

6.1	.................................................................................................		6-1
6.2	........................................................................................................		6-3
	6.2.1	PT ...................................................................................	6-3
	6.2.2	PR ..................................................................................	6-7
	6.2.3	.................................................................................	6-8
	6.2.4	S ....................................................................................	6-9
	6.2.5	............................................................................................	6-13
	6.2.6	............................................................................................	6-15

NOV,2011

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	6.2.7 PR ......................................................		.................. 6-16
	6.2.8	.................................................................................	6-17
	6.2.9	.................................................................................	6-19
6.3	........................................................................................................		6-25
	6.3.1	....................................................................................	6-25
	6.3.2	.................................................................................	6-26
	6.3.3	.............................................................................	6-27
	6.3.4	.................................................................................	6-31
	6.3.5	....................................................................................	6-32
	6.3.6	.................................................................................	6-33
	6.3.7	........................................................................................	6-39
6.4	........................................................................................................		6-47
	6.4.1	....................................................................................	6-47
	6.4.2	.................................................................................	6-48
	6.4.3	.............................................................................	6-49
	6.4.4	.................................................................................	6-50
	6.4.5	....................................................................................	6-51
6.5	........................................................................................................		6-52
	6.5.1	.............................................................................	6-53
	6.5.2	.............................................................................	6-53
	6.5.3	.............................................................................	6-54
6.6		...............................................................................................................	6-55
	6.6.1	....................................................................................	6-55

Nov,2011

|ASDA-M
6.6.2	....................................................................................	6-55
6.6.3	...............................................................................................	6-56
6.6.4	....................................................................................	6-61

7.1	ASDA-M ........................................................................		7-1
7.2	.............................................................................................		7-1
7.2.1		........................................................................................	7-3
7.2.2		........................................................................................	7-8
7.3	.....................................................................................................		7-11
7.4	PR ..................................................................................................		7-12
7.5	PR ...........................................................................................		7-12
7.6	PR .......................................................................................		7-12
7.7	PR ....................................................................................		7-14
7.8	PR DI DO ......................................................................		7-14
7.9	PR ...........................................................................................		7-16
7.9.1		......................................................................................	7-27
7.9.2		PR ................................................................................	7-27
7.10	E-CAM .......................................................................		7-29
7.10.1 CAPTURE .......................................................			7-37
7.10.2 COMPARE ......................................................			7-39

NOV,2011

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8.1	........................................................................................................	8-1
8.2	.....................................................................................................	8-2
8.3	........................................................................................................	8-14
	P0-xx ...............................................................................................	8-14
	P1-xx ...............................................................................................	8-37
	P2-xx ...............................................................................................	8-76
	P3-xx ...............................................................................................	8-108
	P4-xx ...............................................................................................	8-115
	P5-xx Motion ...................................................................................	8-127
	P6-xx PR ..................................................................................	8-176
	P7-xx PR ..................................................................................	8-219
	8.1 DI ...................................................................	8-259
	8.2 DO .................................................................	8-266

9.1	RS-485 RS-232 ....................................................................	9-1
9.2	RS-485 RS-232 ....................................................................	9-4
9.3	MODBUS ........................................................................................	9-7
9.4	...................................................................................	9-18

10.1 ..........................................................................................

10-1

Nov,2011

|ASDA-M
10.2	CANopen .............................................................................	10-4
10.3	......................................................................................	10-6
10.4	.............................................................................................	10-9
10.5	............................................................................	10-26

11.1	ASDA-M .........................................................		11-1
11.2	ECMA ................................................................		11-4
11.3	T-N ...................................................................................		11-12
11.4	.................................................................................................		11-14
11.5	......................................................................................		11-16
11.6	..........................................................................................		11-18

A

B

NOV,2011

1.1

的型號說明。

(2)UVW U V W

(3)CN2

(4)CN1 50-PIN 3M

(5)CN2 20-PIN 3M

(6)CN3 6-PIN IEEE1394 RS485

(7)CN4 4-PIN USB Type B

(8)CN6 RJ45 CANopen

(a)750W 1.5kW 2 PIN L1c L2c

(b)750W 1.5kW 3 PIN R S T

(10)3-PIN U V W 3

(11)4-PIN P D C

Nov, 2011

1-1

|ASDA-M

1-2

Nov, 2011

|ASDA-M

ASDA-M

ECMA

Nov, 2011

1-3

|ASDA-M

1.2.2

ASDA-M

A S D - M - 0 7 2 1 - L

21: 220V 1 phase 23: 220V 3 phase

07: 750W 15: 1.5kW 20: 2.0kW

M

AC SERVO Drive

		CANopen	DMCNET	DI
L	○	×	×	×	×
M	○	○	×	×	×
F	○	×	○	×	×
*R	○	×	○	○	○

NOTE * R

1-4

Nov, 2011

|ASDA-M

ECMA

E C M A - C 1 0 6 0 2 E S

S

3=42mm, 7=14mm

		A	B	C	D
	( )
		E	F	G	H
		P	Q	R	S
	( )

01:100W 05:500W 10:1.0kW 02:200W 06:600W 15:1.5kW 03:300W 07:700W 20:2.0kW

04:400W 09:900W

04: 40mm 09: 86mm 18:180mm 06: 60mm 10:100mm

08: 80mm 13:130mm

C = 220V/3,000 rpm; E = 220V/2,000 rpm; G = 220V/1,000 rpm;

1: 20-bit ( 3kW )

2: 17-bit A:

A:

ECM:

Nov, 2011

1-5

|ASDA-M

1.3

ASDA-M

		ECMA-C10401 S S=8mm
		ECMA-C10602 S S=14mm	ECMA-C20401 S S=8mm
		ECMA-C10604 S S=14mm	ECMA-C20602 S S=14mm
		ECMA-C10804 7 7=14mm	ECMA-C20604 S S=14mm
750W	ASD-M-0721-	ECMA-C10807 S S=19mm	ECMA-C20804 7 7=14mm
		ECMA-C10907 S S=16mm	ECMA-C20807 S S=19mm
		ECMA-E11305 S S=22mm	ECMA-C20907 S S=16mm
		ECMA-G11303 S S=22mm	ECMA-E21305 S S=22mm
		ECMA-G11306 S S=22mm
		ECMA-C10910 S S=16mm	ECMA-C20910 S S=16mm
		ECMA-C11010 S S=22mm
1500W	ASD-M-1521-	ECMA-E11310 S S=22mm	ECMA-C21010 S S=22mm
		ECMA-G11309 S S=22mm	ECMA-E21310 S S=22mm
		ECMA-E11315 S S=22mm	ECMA-E21315 S S=22mm
		ECMA-C11020 S S=22mm	ECMA-C21020 S S=22mm
*2000W	ASD-M-2023-	ECMA-E11320 S S=22mm	ECMA-E21320 S S=22mm
		ECMA-E11820 S S=35mm	ECMA-E21820 S S=35mm

NOTE 1) ASDA-M

* 2.0kW

1-6

Nov, 2011

|ASDA-M

1.4

ASDA-M

1-7

Nov, 2011

|ASDA-M

ASDA-M

1-8

Nov, 2011

|ASDA-M

ASDA-M

Nov, 2011

1-9

|ASDA-M

( )

1-10

Nov, 2011

2.1

4)20 UVW

2.2

-20 +65

0% 90%

2.3

0 ~ 55 4545

Nov, 2011

2-1

|ASDA-M

0 ~ 40

2.4

2-2

Nov, 2011

|ASDA-M

NOTE

Nov, 2011

2-3

|ASDA-M

2.5

UL CSA

		Class T
ASD-M-0721-	30A	50A
ASD-M-1521-	70A	140A
ASD-M-2023-	70A	140A

NOTE 200mA 0.1

2.6	EMI Filters
			Servo Drive	EMI Filter	FootPrint
1		750W	ASD-M-0721-	20TDT1W4D	N
2		1500W	ASD-M-1521-	20TDT1W4D	N
3		2000W	ASD-M-2023-	20TDT1W4D	N

EMI EMI Filter

由傳導或輻射的方式干擾週邊設備。如果可以搭配適當的EMI EMI FilterEMI EMI Filter

EMI EMI Filter

1.EN61000-6-4 2001

2.EN61800-3 2004 PDS of category C2

3. EN55011+A2 2007 Class A Group 1

EMI EMI Filter

1. EMI EMI Filter

2-4

Nov, 2011

|ASDA-M

2.EMI EMI Filter EMIEMI Filter

5.EMI EMI Filter

EMI EMI Filter

3.U 1

4.U2

1

2

Nov, 2011

2-5

|ASDA-M

EMI EMI Filter

20TDT1W4D

2.7

DC Bus

ASDA-M

				*1
	kW	P1-52 P1-53
					Ohm
		Ohm	Watt	Watt
	0.75	40	60	30	30
	1.5	20	100	50	20
	2.0	20	100	50	20

*1 50

注意以下幾點

1.P1-52 P1-53

2-6

Nov, 2011

|ASDA-M

3. 阻的溫度將上升至120

P C P D IGBT

(a)

DC bus

						3000r/min
	(kW)				J (× 10-4kg.m2)	Eo (joule)	Ec (joule)
		0.1	ECMA-C10401□□		0.037	0.18	3
		0.2	ECMA-C10602□□		0.177	0.87	4
		0.4	ECMA-C10604□□		0.277	1.37	8
			ECMA-C10804□□		0.68	3.36
		0.75	ECMA-C10807□□		1.13	5.59	14
			ECMA-C11010□□		2.65	13.1	18
		1.0
		2.0	ECMA-C11020□□		4.45	22.0	21
		0.4	ECMA-E11305□□		8.17	40.40	8
		1.0	ECMA-E11310□□		8.41	41.59	18
		1.5	ECMA-E11315□□		11.18	55.28	18
		2.0	ECMA-E11320□□		14.59	72.15	21
			ECMA-E11820□□		34.68	171.50
						3000r/min
	(kW)				J (× 10-4kg.m2)	Eo (joule)	Ec (joule)
		0.4	ECMA-G11303□□		8.17	40.40	8
		0.75	ECMA-G11306□□		8.41	41.59	14
		1.0	ECMA-G11309□□		11.18	55.29	18
Eo= J *wr2/182 joule				, Wr : r/min

Nov, 2011

2-7