Delta Electronics ASDA-AB 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-AB series AC servo drives and ECMA series AC servo motors. The contents of this manual

include 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 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. Store this

manual in a safe and handy place for quick reference whenever necessary. Always 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.

z Do not connect commercial power to the U, V, W terminals. Failure to observe this

precaution will cause severe damage to the Servo drive.

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Preface|ASDA-AB Series

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 or remove wiring while power is applied to the AC servo drive.

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, this may cause

serious personnel injury.

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.

Carefully note 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!

ASDA-AB 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-AB 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-AB 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).

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. Doing so may cause damage or
malfunction.

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 to 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.

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Wiring

Operation

Preface|ASDA-AB Series

¾ Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω). 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.

¾ Before starting the operation with a mechanical system connected, change the drive parameters to match the user-defined

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) or more.

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.

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 Please perform the wiring after the terminal blocks are all removed from the drive.
¾ Insert only one wire into one terminal on the terminal block.
¾ When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires.
¾ Ensure to double check the wiring before applying power to the drive.
¾ If the wiring is in error, perform the wiring again with proper tools. Never use force to remove the terminals or wires. Otherwise,

it may result in malfunction or damage.

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NOTE

1) In this manual, actual measured values are in metric units. Dimensions in (imperial
units) are for reference only. Please use metric units 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

.

.

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Revision January 2009

Table of Contents

Chapter 1 Unpacking Check and Model Explanation............................................................. 1-1

1.1 Unpacking Check ........................................................................................................................ 1-1

1.2 Model Explanation....................................................................................................................... 1-2

1.2.1 Nameplate Information .....................................................................................................1-2

1.2.2 Model Name Explanation ................................................................................................. 1-3

1.3 Servo Drive and Servo Motor Combinations............................................................................... 1-5

1.4 Servo Drive Features................................................................................................................... 1-6

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 Connections and Wiring ........................................................................................ 3-1

3.1 Connections................................................................................................................................. 3-1

3.1.1 Connecting to Peripheral Devices .................................................................................... 3-1

3.1.2 Servo Drive Connectors and Terminals ........................................................................... 3-3

3.1.3 Wiring Methods................................................................................................................. 3-5

3.1.4 Motor Power Cable Connector Specifications.................................................................. 3-7

3.1.5 Encoder Connector Specifications ................................................................................... 3-8

3.1.6 Cable Specifications for Servo Drive................................................................................ 3-9

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3.2 Basic Wiring................................................................................................................................. 3-11

3.3 Input / Output Interface Connector - CN1 ................................................................................... 3-14

3.3.1 CN1 Terminal Identification .............................................................................................. 3-14

3.3.2 Signals Explanation of Connector - CN1.......................................................................... 3-16

3.3.3 User-defined DI and DO signals....................................................................................... 3-26

3.3.4 Wiring Diagrams of I/O Signals - CN1.............................................................................. 3-26

3.4 Encoder Connector - CN2 ........................................................................................................... 3-31

3.5 Serial Communication Connector - CN3 ..................................................................................... 3-32

3.5.1 Terminal Layout and Identification – CN3 ........................................................................ 3-32

3.5.2 Connection between PC and Connector - CN3................................................................ 3-33

3.6 Standard Connection Example.................................................................................................... 3-34

3.6.1 Position (Pt) Control Mode (220V models)....................................................................... 3-34

3.6.2 Position (Pt) Control Mode (110V models)....................................................................... 3-35

3.6.3 Position (Pr) Control Mode (220V models)....................................................................... 3-36

3.6.4 Position (Pr) Control Mode (110V models)....................................................................... 3-37

3.6.5 Speed Control Mode (220V models) ................................................................................ 3-38

3.6.6 Speed Control Mode (110V models) ................................................................................ 3-39

3.6.7 Torque Control Mode (220V models) ............................................................................... 3-40

3.6.8 Torque Control Mode (110V models) ............................................................................... 3-41

Chapter 4 Display and Operation........................................................................................... 4-1

4.1 Description of Digital Keypad ...................................................................................................... 4-1

4.2 Display Flowchart ........................................................................................................................ 4-2

4.3 Status Display.............................................................................................................................. 4-3

4.3.1 Save Setting Display ........................................................................................................ 4-3

4.3.2 Abort Setting Display ........................................................................................................ 4-3

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4.3.3 Fault Message Display .....................................................................................................4-3

4.3.4 Polarity Setting Display..................................................................................................... 4-3

4.3.5 Monitor Setting Display..................................................................................................... 4-4

4.4 General Function Operation ........................................................................................................ 4-6

4.4.1 Fault Code Display Operation .......................................................................................... 4-6

4.4.2 JOG Operation.................................................................................................................. 4-6

4.4.3 Position Learning Operation ............................................................................................. 4-7

4.4.4 DO Force Output Diagnosis Operation ............................................................................ 4-9

4.4.5 DI Diagnosis Operation .................................................................................................... 4-10

4.4.6 DO Diagnosis Operation................................................................................................... 4-10

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

5.4 Speed Trial Run without Load ..................................................................................................... 5-9

5.5 Position Trial Run without Load................................................................................................... 5-11

5.6 Tuning Procedure........................................................................................................................ 5-14

5.6.1 Tuning Flowchart .............................................................................................................. 5-15

5.6.2 Load Inertia Estimation Flowchart .................................................................................... 5-16

5.6.3 AutoMode (PI) Tuning Flowchart...................................................................................... 5-17

5.6.4 AutoMode (PDFF) Tuning Flowchart................................................................................ 5-19

5.6.5 Manual Mode Tuning Flowchart ....................................................................................... 5-21

5.6.6 Limit of Load Inertia Estimation ........................................................................................ 5-22

5.6.7 Relationship between Tuning Modes and Parameters .................................................... 5-23

5.6.8 Gain Adjustment in Manual Mode .................................................................................... 5-23

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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

6.2.1 Command Source of Position (Pt) Control Mode ............................................................. 6-2

6.2.2 Command Source of Position (Pr) Control Mode............................................................. 6-3

6.2.3 Structure of Position Control Mode .................................................................................. 6-4

6.2.4 P-curve Filter for Position Control..................................................................................... 6-5

6.2.5 Electronic Gear Ratio ....................................................................................................... 6-8

6.2.6 Low-pass Filter ................................................................................................................. 6-9

6.2.7 Timing Chart of Position (Pr) Control Mode ..................................................................... 6-10

6.2.8 Position Loop Gain Adjustment ........................................................................................ 6-10

6.3 Speed Control Mode.................................................................................................................... 6-13

6.3.1 Command Source of Speed Control Mode ...................................................................... 6-13

6.3.2 Structure of Speed Control Mode..................................................................................... 6-14

6.3.3 Smoothing Strategy of Speed Control Mode.................................................................... 6-15

6.3.4 Analog Speed Input Scaling ............................................................................................. 6-18

6.3.5 Timing Chart of Speed Control Mode............................................................................... 6-19

6.3.6 Speed Loop Gain Adjustment........................................................................................... 6-19

6.3.7 Resonance Suppression .................................................................................................. 6-24

6.4 Torque Control Mode................................................................................................................... 6-28

6.4.1 Command Source of Torque Control Mode ..................................................................... 6-28

6.4.2 Structure of Torque Control Mode.................................................................................... 6-29

6.4.3 Smoothing Strategy of Torque Control Mode................................................................... 6-29

6.4.4 Analog Torque Input Scaling ............................................................................................ 6-30

6.4.5 Timing Chart of Torque Control Mode.............................................................................. 6-31

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6.5 Control Mode Selection ............................................................................................................... 6-32

6.5.1 Speed / Position Control Mode Selection......................................................................... 6-32

6.5.2 Speed / Torque Control Mode Selection .......................................................................... 6-33

6.5.3 Torque / Position Control Mode Selection........................................................................ 6-33

6.6 Others.......................................................................................................................................... 6-35

6.6.1 Speed Limit....................................................................................................................... 6-35

6.6.2 Torque Limit...................................................................................................................... 6-35

6.6.3 Regenerative Resistor ...................................................................................................... 6-36

6.6.4 Analog Monitor.................................................................................................................. 6-40

6.6.5 Electromagnetic Brake ..................................................................................................... 6-43

Chapter 7 Parameters............................................................................................................7-1

7.1 Definition...................................................................................................................................... 7-1

7.2 Parameter Summary ................................................................................................................... 7-2

7.2.1 Parameter List by Group .................................................................................................. 7-2

7.2.2 Parameter List by Function............................................................................................... 7-9

7.3 Detailed Parameter Listings ........................................................................................................ 7-20

Chapter 8 MODBUS Communications................................................................................... 8-1

8.1 Communication Hardware Interface............................................................................................8-1

8.2 Communication Parameter Settings............................................................................................8-5

8.3 MODBUS Communication Protocol ............................................................................................ 8-9

8.4 Communication Parameter Write-in and Read-out ..................................................................... 8-17

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

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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 ............................................................................................................................ 10-8

Chapter 11 Specifications ........................................................................................................ 11-1

11.1 Specifications of Servo Drive (ASDA-AB Series)........................................................................ 11-1

11.2 Specifications of Servo Motor (ECMA Series) ............................................................................ 11-4

11.3 Servo Motor Speed-Torque Curves ............................................................................................ 11-7

11.4 Overload Characteristics ............................................................................................................. 11-8

11.5 Dimensions of Servo Drive .......................................................................................................... 11-16

11.6 Dimensions of Servo Motor ......................................................................................................... 11-20

Chapter 12 Application Examples ............................................................................................ 12-1

12.1 Position Control (including homing function)............................................................................... 12-1

12.2 Roller Feeding ............................................................................................................................. 12-3

12.3 Connecting to Delta DVP-EH Series PLC................................................................................... 12-4

12.4 Connecting to Delta TP04 Series ................................................................................................ 12-9

12.5 Position Control Mode (Pr Mode) ................................................................................................ 12-11

12.6 Feed Step Control ....................................................................................................................... 12-14

12.7 Internal Auto Run Mode .............................................................................................................. 12-25

12.8 Homing Function ......................................................................................................................... 12-30

12.9 External Controller Connection Examples................................................................................... 12-37

Appendix A Accessories ........................................................................................................... A-1

Appendix B Molded-case Circuit Breaker, Fuse Current and EMI Filters................................. B-1

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About this Manual…

User Information

Be sure to store this manual in a safe place.

Due to constantly growing product range, technical improvement, alteration or changed texts, figures and

diagrams, we reserve the right to make information changes within this manual without prior notice.

Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited.

Technical Support and Service

You are welcome to contact our Technical Support Team at the below numbers or visit our web site

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

) if you need technical support, service, information, or if you

have any questions in the use of this product. We look forward to serving your needs and are willing to offer

our best support and service to you.

ASIA

DELTA ELECTRONICS, INC.

Taoyuan Plant 1

31-1, XINGBANG ROAD,

GUISHAN INDUSTRIAL ZONE,

TAOYUAN COUNTY 33370, TAIWAN, R.O.C.

TEL: [phone]

FAX: [phone]

NORTH/SOUTH AMERICA

DELTA PRODUCTS CORPORATION (USA)

Raleigh Office

P.O. BOX 12173

5101 DAVIS DRIVE,

RESEARCH TRIANGLE PARK, NC 27709, U.S.A.

TEL: [phone]

FAX: [phone]

JAPAN

DELTA ELECTRONICS (JAPAN), INC.

Tokyo Office

DELTA SHIBADAIMON BUILDING

2-1-14 SHIBADAIMON, MINATO-KU,

TOKYO, 105-0012, JAPAN

TEL: [phone]

FAX: [phone]

EUROPE

DELTRONICS (THE NETHERLANDS) B.V.

Eindhoven Office

DE WITBOGT 15, 5652 AG EINDHOVEN,

THE NETHERLANDS

TEL: [phone]

FAX: [phone]

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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 include the following parts:

Part I : Delta standard supplied parts

(1) Servo drive

(2) Servo motor

(3) 5 PIN Terminal Block (for L1, L2, R(L1M), S(L2M), T) (available for 100W ~ 1.5kW models)

(4) 3 PIN Terminal Block (for U, V, W) (available for 100W ~ 1.5kW models)

(5) 3 PIN Terminal Block (for P, D, C) (available for 100W ~ 1.5kW models)

(6) One operating lever (for wire to terminal block insertion; available for 100W ~ 1.5kW models)

(7) One jumper bar (installed at pins P and D of the 3 PIN Terminal Block for P, D, C)

(8) Quick Start

Part II : Optional parts (Refer to Appendix A)

(1) One power cable, which is used to connect servo motor to U, V, W terminals of servo drive. This

power cable includes a green grounding cable. Please connect the green grounding cable to the

ground terminal of the servo drive.

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

(2) One encoder cable, which is used to connect the encoder of servo motor to the CN2 terminal of

servo drive.

(3) CN1 Connector: 50 PIN Connector (3M type analog product)

(4) CN2 Connector: 20 PIN Connector (3M type analog product)

(5) CN3 Connector: 6 PIN Connector (IEEE1394 analog product)

1.2 Model Explanation

1.2.1 Nameplate Information

ASDA-AB Series Servo Drive

 Nameplate Explanation

 Serial Number Explanation

ASMT Series Servo Motor

 Nameplate Explanation

 Serial Number Explanation

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

1.2.2 Model Name Explanation

ASDA-AB Series Servo Drive

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

ECMA Series Servo Motor

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

1.3 Servo Drive and Servo Motor Combinations

The table below shows the possible combination of Delta ASDA-AB 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)

Power Servo Drive Servo Motor

100W

ASD-A0111-AB
ASD-A0121-AB

ECMA-C30401S (S=8mm)

200W

ASD-A0211-AB
ASD-A0221-AB

ECMA-C30602S (S=14mm)

ECMA-C30604S (S=14mm)

400W

ASD-A0411-AB
ASD-A0421-AB

ECMA-C308047 (7=14mm)
ECMA-E31305S (S=22mm)
ECMA-G31303S (S=22mm)

750W ASD-A0721-AB

ECMA-C30807S (S=19mm)
ECMA-G31306S (S=22mm)

ECMA-C31010S (S=22mm)

1000W ASD-A1021-AB

ECMA-E31310S (S=22mm)
ECMA-G31309S (S=22mm)

1500W ASD-A1521-AB ECMA-E31315S (S=22mm)

ECMA-C31020S (S=22mm)

2000W ASD-A2023-AB

ECMA-E31320S (S=22mm)
ECMA-E31820S (S=35mm)

The servo 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.

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1.4 Servo Drive Features

220V models

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110V models

Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

1.5 Control Modes of Servo Drive

The Delta Servo provides six single and five dual modes of operation.

Their operation and description is listed in the following table.

Mode Code Description

Single

Mode

External Position Control Pt

Internal Position Control Pr

Speed Control S

Internal Speed Control Sz

Torque Control T

Tz Internal Torque control mode for the servo motor is only

Internal Torque Control

External Position control mode for the servo motor is
achieved via an external pulse command.

Internal Position control mode for the servo motor is
achieved via 8 internal position registers within the servo
controller. Execution of the 8 positions is via Digital Input
(DI) signals.

(External / Internal) Speed control mode 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 speed mode is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).

Internal Speed control mode for the servo motor is only
achieved via parameters set within the controller. Control of
the internal speed mode is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).

(External / Internal) Torque control mode for the servo
motor can be achieved via parameters set within the
controller or from an external analog -10 ~ +10 V

DC

command. Control of the internal torque mode is via the
Digital Inputs (DI). (A maximum of three torque levels can
be stored internally).

achieved via parameters set within the controller. Control of
the internal torque mode is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).

Pt-S Either Pt or S control mode can be selected via the Digital

Inputs (DI)

Pt-T Either Pt or T control mode can be selected via the Digital

Inputs (DI)

Dual Mode

Pr-S Either Pr or S control mode can be selected via the Digital

Inputs (DI)

Pr-T Either Pr or T control mode can be selected via the Digital

Inputs (DI)

S-T Either S or T control mode can be selected via the Digital

Inputs (DI)

The above control modes can be accessed and changed via parameter P1-01. Enter the new control mode

via P1-01 then switch the main power to the servo drive OFF then ON. The new control mode will only be

valid after the drives main power is switched OFF then ON. Please see safety precautions on page iii

(switching drive off/on multiple times).

1-8 Revision January 2009

Chapter 2 Installation and Storage

2.1 Installation Notes

Please pay close attention to the following installation notes:

 Do not bend or strain the connection cables between servo drive and motor.

 When mounting the servo drive, make sure to tighten all 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, 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.

 Store in original packaging and placed on a solid surface.

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Chapter 2 Installation and Storage|ASDA-AB Series

2.3 Installation Conditions

Operating Temperature

ASDA-AB Series Servo Drive : 0°C to 55°C (32°F to 131°F)

ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F)

The ambient temperature of servo drive should be under 45°C (113°F) for long-term reliability.

If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a well-

ventilated 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, 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.

2-2 Revision January 2009

Chapter 2 Installation and Storage|ASDA-AB 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-AB 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-AB 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 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 drives adjacent to each other please follow the clearances as shown in the following

diagram.

Revision January 2009 2-3

Chapter 2 Installation and Storage|ASDA-AB Series

 Minimum Clearances

 Side by Side Installation

2-4 Revision January 2009

Chapter 3 Connections and Wiring

This chapter provides information on wiring ASDA-AB 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

Figure 3.1 220V Servo Drive

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Chapter 3 Connections and Wiring|ASDA-AB Series

Figure 3.2 110V Servo Drive

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.1.2 Servo Drive Connectors and Terminals

Terminal

Identification

L1, L2

R, S, T

(for 220V models)

L1M, L2M

(for 110V models)

U, V, W

FG (

P, D, C

)

Terminal

Description

Control circuit
terminal

Main circuit
terminal

Servo motor output

Regenerative
resistor terminal

Notes

Used to connect single-phase AC control circuit power.
(Control circuit uses the same voltage as the main circuit.)

Used to connect single-phase or three-phase AC main
circuit power depending on connecting servo drive model.

For single-phase 220V models, connect R and S terminals
to power. For single-phase 110V models, connect L1M and
L2M terminals to power. For three-phase models, connect
all three R, S, and T terminals to power. To provide control
circuit power, two jumpers can be added from R and S to
L1 and L2.

Used to connect servo motor

Terminal Symbol Wire Color

U Red

V White

W Black

FG(

Internal resistor

External resistor

)

Ensure the circuit is closed between P
and D, and the circuit is open between
P and C.

Connect regenerative resistor to P and
C, and ensure an open circuit between
P and D.

Green

two places

CN1

CN2

CN3

NOTE

Ground terminal

I/O connector

Encoder connector

Communication
connector

Used to connect grounding wire of power supply and servo
motor.

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.

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.

1) U, V ,W , CN1, CN2, CN3 terminals provide short circuit protection.

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Chapter 3 Connections and Wiring|ASDA-AB 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. Please note that the main circuit terminals of 110V models are L1M and L2M, and there is no

terminal T in 110V models. In other words, the terminal T in 220V models becomes no function

in 110V models.

2. Ensure to check if the power supply and wiring of the "power" terminals (R(L1M), S(L2M), T, U,

V, & W) is correct.

3. Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate

electrical noise and interference.

4. As a residual hazardous voltage may remain inside the drive, please do not immediately touch

any of the "power" terminals (R(L1M), S(L2M), 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 ii).

5. The cables connected to R(L1M), S(L2M), 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 (11.8 inches).

6. 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.

7. As for motor cable selection, please use the 600V PTFE wire and the wire length should be less

than 98.4ft. (30m). If the wiring distance is longer than 30m (98.4ft.), please choose the

adequate wire size according to the voltage.

8. The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal

marked

9. For the connectors and cables specifications, please refer to section 3.1.6 for details.

) of the servo drive.

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.1.3 Wiring Methods

For servo drives from 100W to 1.5kW the input power can be either single or three-phase. For servo

drives 2kW and above only three-phase connections are available. But, 220V single-phase models are

available in 1.5kW and below only and 110V single-phase models are available in 400W and below only.

In the wiring diagram figures 3.3, 3.4 & 3.5:

Power ON : contact “a” (normally open)

Power OFF : contact “b” (normally closed)

MC : coil of electromagnetic contactor, self-holding power, contact of main circuit power

Figure 3.3 Single-Phase Power Supply (1.5kW and below, 220V models)

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Chapter 3 Connections and Wiring|ASDA-AB Series

Figure 3.4 Single-Phase Power Supply (400W and below, 110V models)

Figure 3.5 Three-Phase Power Supply (all 220V models)

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Chapter 3 Connections and Wiring|ASDA-AB Series

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)

HOUSING: JOWLE (C4201H00-2*2PA)

ECMA-C30401S (100W)
ECMA-C30602S (200W)
ECMA-C30604S (400W)
ECMA-C308047 (400W)
ECMA-C30807S (750W)

HOUSING: JOWLE (C4201H00-2*3PA)

Terminal

Identification

A

B

ECMA-C31010S (1000W)
ECMA-E31310S (1000W)
ECMA-E31315S (1500W)
ECMA-C31020S (2000W)

ECMA-E31820S (2000W)

C

3106A-20-18S

D

3106A-24-11S

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Chapter 3 Connections and Wiring|ASDA-AB Series

Terminal

Identification

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

U

(Red)

V

(White)

W

(Black)

CASE GROUND

(Green)

BRAKE1

(Blue)

BRAKE2

(Brown)

NOTE

1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Blue) and

BRAKE2 (Brown).

2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.

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)

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)

3106A-20-29S

Terminal

Identification

A

B

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Chapter 3 Connections and Wiring|ASDA-AB Series

Terminal

Identification

AMP (1-

172161-9)

A 1 4 2 5 3 6 7 8 9

Terminal

Identification

3106A-20-

29S

B A B C D F G S R L

A

(Black)

A

(Blue)

/A

(Black

/Red)

/A

(Blue

/Black)

B

(White)

B

(Green)

/B

(White

/Red)

/B
(Green
/Black)

Z

(Orange)

Z

(Yellow)

/Z

(Orange

/Red)

/Z

(Yellow

/Black)

+5V

(Brown &

Brown/White)

+5V

(Red & Red

/White)

GND

(Blue &

Blue/White)

GND

(Black &

Black

/White)

BRAID

SHELD

BRAID

SHELD

3.1.6 Cable Specifications for Servo Drive

The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model

explanation.)

Power Cable

Servo Drive and Servo Motor

ASD-A0111-AB
ASD-A0121-AB

ECMA-C30401S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

L1, L2 R, S, T U, V, W P, C

Power Cable - Wire Gauge AWG (mm2)

ASD-A0211-AB
ASD-A0221-AB

ASD-A0411-AB
ASD-A0421-AB

ASD-A0721-AB

ASD-A1021-AB

ASD-A1521-AB ECMA-E31315S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ASD-A2023-AB

ECMA-C30602S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C30604S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C308047 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-E31305S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-G31303S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C30807S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-G31306S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C31010S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ECMA-E31310S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ECMA-G31309S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ECMA-C31020S 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)

ECMA-E31320S 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)

ECMA-E31820S 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)

Revision January 2009 3-9

Chapter 3 Connections and Wiring|ASDA-AB Series

Encoder Cable

Servo Drive

Wire Size Core Number UL Rating Standard Wire Length

ASD-A0111-AB
ASD-A0121-AB

ASD-A0211-AB
ASD-A0221-AB

ASD-A0411-AB
ASD-A0421-AB

ASD-A0721-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-A1021-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-A1521-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-A2023-AB 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

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

0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

) of the servo drive.

Encoder Cable - Wire Gauge AWG (mm2)

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.2 Basic Wiring

Figure 3.6 Basic Wiring Schematic of 100W ~ 1.5kW, 220V models

Revision January 2009 3-11

Chapter 3 Connections and Wiring|ASDA-AB Series

Figure 3.7 Basic Wiring Schematic of 2kW, 220V models

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Chapter 3 Connections and Wiring|ASDA-AB Series

Figure 3.8 Basic Wiring Schematic of 100W ~ 400W, 110V models

Revision January 2009 3-13

Chapter 3 Connections and Wiring|ASDA-AB 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,

pulse / direction inputs, and reference voltages.

ii 8 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-17

iii 5 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-22

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

Figure 3.9 The Layout of CN1 Drive Connector

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Chapter 3 Connections and Wiring|ASDA-AB Series

CN1 Terminal Signal Identification

1 DO4+ Digital output 26 DO4- Digital output

2 DO3- Digital output 27 DO5- Digital output

3 DO3+ Digital output 28 DO5+ Digital output

4 DO2- Digital output 29 NC No Connection

5 DO2+ Digital output 30 DI8- Digital input

6 DO1- Digital output 31 DI7- Digital input

7 DO1+ Digital output 32 DI6- Digital input

8 DI4- Digital input 33 DI5- Digital input

9 DI1- Digital input 34 DI3- Digital input

10 DI2- Digital input 35

11 COM+

12 GND

14 NC No Connection

15 MON2 40 NC No Connection

16 MON1

18 T_REF

20 VCC

22 /OA

24 /OZ

Analog input
signal ground

Analog monitor

output 1

Analog torque

Input

+12V power
output

(for analog
command)

Encoder

/A pulse output

Encoder /Z
pulse output

13 GND

17 VDD 42 V_REF

19 GND 44 GND

21 OA

23 /OB

25 OB 50 OZ

Power input
(12~24V)

Analog input

signal ground

Analog monitor

output 2

+24V power

output (for
external I/O)

Analog input

signal ground

Encoder

A pulse output

Encoder /B
pulse output

Encoder B
pulse output

PULL

HI

37 /SIGN

39 NC No Connection

41 /PULSE Pulse input (-)

43 PULSE Pulse input (+)

45 COM-

47 COM-

49 COM- VDD(24V)

Pulse applied

power

Position sign (­)

VDD(24V)
power

ground

VDD(24V)

power ground

power ground

36 SIGN

38 NC No Connection

46 NC No Connection

48 OCZ

Position sign

(+)

Analog speed

input (+)

Analog input

signal ground

Encoder Z
pulse

Open-collector
output

Encoder Z
pulse

Line-driver
output

NOTE

1) The terminals marked "NC" must be left unconnected (No Connection). The NC terminals are used

within the servo drive. Any outside connection to the NC terminals will result in damage to the drive

and void the warranty!

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Chapter 3 Connections and Wiring|ASDA-AB Series

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

Signal Pin No Details

Motor speed command: -10V to +10V, corresponds

Analog

Signal

Input

Analog

Monitor

Output

Position

Pulse

Input

Position

Pulse

Output

V_REF 42

T_REF 18

MON1
MON2

PULSE

/PULSE

SIGN

/SIGN

PULL HI 35

OA

/OA

OB

/OB

OZ

/OZ

16
15

41
43
37
36

21
22

25
23

50
24

to the maximum speed programmed P1-55
Maximum Speed Limit (Factory default 3000 RPM).

Motor torque command: -10V to +10V, corresponds
to -100% to +100% rated torque command.

The MON1 and MON2 can be assigned drive and
motor parameters that can be monitored via an
analogue voltage.

Please reference parameter P0-03 for monitoring
commands and P1-04 / P1-05 for scaling factors.

Output voltage is reference to the power ground.

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.

Should an Open Collector type of pulse be used this
terminal must be lulled high to pin 17.

The motor encoder signals are available through
these terminals. The encoder output pulse count can
be set via parameter P1-46.

Wiring Diagram

(Refer to 3-3-3)

C1

C1

C2

C3/C4

C3

C11/C12

VDD is the +24V source voltage provided by the
drive. Maximum permissible current 500mA.

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-.

VCC is a +12V power rail provided by the drive. It
can be used for the input on an analog speed or
torque command. Maximum permissible current
100mA.

The polarity of VCC is with respect to Ground (GND).

-

-

Power

Power

VDD 17

11

COM+

COM-

VCC 20

GND

45
47
49

12,13,

19,44

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Chapter 3 Connections and Wiring|ASDA-AB Series

Signal Pin No Details

Wiring Diagram
(Refer to 3-3-3)

14,29,

Other NC

38,39,

40,46,

See previous note for NC terminals CN1 connector

on page 3-11.

-

48

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.G and

3.H.

All of the DI's and DO's and their corresponding pin numbers are factory set and non-changeable,

however, all of the assigned signals and control modes are user changeable. For Example, the factory

default setting of DO5 (pins 28/27) can be assigned to DO1 (pins 7/6) 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

DO

Code

Assigned

Control

Mode

Pin No.

(Default)

+ -

SRDY is activated when the servo drive is

SRDY 01 ALL 7 6

ready to run. All fault and alarm conditions, if
present, have been cleared.

SON is activated when control power is
applied the servo drive. The drive may or
may not be ready to run as a fault / alarm
condition may exist.

SON 02

Not

assigned

- -

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)

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.

ZSPD 03 ALL 5 4

For Example, at factory 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.

Details

(*1)

Wiring Diagram
(Refer to 3-3-3)

C5/C6/C7/C8

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Chapter 3 Connections and Wiring|ASDA-AB Series

DO

Signal

DO

Code

Assigned

Control

Mode

Pin No.

(Default)

+ -

TSPD is activated once the drive has
detected the motor has reached the Target

TSPD 04 ALL 3 2

Rotation Speed setting as defined in
parameter P1-39. TSPD will remain activated
until the motor speed drops below the Target
Rotation Speed.

1. When the drive is in Pt mode, TPOS will

2. When the drive is in Pr mode, TPOS will

TPOS 05

Pt, Pr, Pt-

S,

Pt-T, Pr-S,

1 26

Pr-T

TQL is activated when the drive has detected

TQL 06

Not

assigned

- -

that the motor has reached the torques limits
set by either the parameters P1-12 ~ P1-14
of via an external analog voltage.

Details

(*1)

be activated when the position error is
equal and below the setting value of P1-

54.

be activated when the drive detects that
the position of the motor is in a -P1-54 to
+P1-54 band of the target position. For
Example, at factory default TPOS will
activate once the motor is in -99 pulses
range of the target position, then
deactivate after it reaches +99 pulses
range of the desired position.

Wiring Diagram
(Refer to 3-3-3)

ALRM is activated when the drive has
detected a fault condition. (However, when

ALRM 07 ALL 28 27

Reverse limit error, Forward limit error,
Emergency stop, Serial communication error,
and Undervoltage these fault occur, WARN
is activated first.)

BRKR 08 ALL 1 26 BRKR is activated actuation of motor brake.

HOME is activated when the servo drive has
detected that the "HOME" sensor (Digital

HOME 09 Pt, Pr 3 2

Input 24) has been detected and the home
conditions set in parameters P1-47, P1-50,
and P1-51 have been satisfied.

OLW is activated when the servo drive has

OLW 10 ALL - -

detected that the motor has reached the
output overload level set by the parameter
P1-56.

Servo warning output. WARN is activated
when the drive has detected Reverse limit

WARN 11 ALL - -

error, Forward limit error, Emergency stop,
Serial communication error, and
Undervoltage these fault conditions.

Internal position command completed output.
CMDOK is activated when the servo drive

CMDOK 12 ALL - -

has detected that the internal position
command has been completed or stopped
after the delay time which is set by the
parameter P1-62 has elapsed.

C5/C6/C7/C8

Footnote *1: The "state" of the output function may be turned ON or OFF as it will be dependant on the

settings of P2-18~P2-22.

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Chapter 3 Connections and Wiring|ASDA-AB Series

NOTE

1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected.

2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS.

Table 3.C DI Signals

DI

Signal

DI

Code

SON 01 ALL 9

Assigned

Control

Mode

Pin No.

(Default)

Details

(*2)

Servo On. Switch servo to "Servo Ready".
Check parameter P2-51.

A number of Faults (Alarms) can be
cleared by activating ARST. Please see
table 10-3 for applicable faults that can be

ARST 02 ALL 33

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.

GAINUP 03 ALL - Gain switching

Wiring Diagram
(Refer to 3-3-3)

CCLR 04 Pt 10

ZCLAMP 05 ALL -

CMDINV 06 Pr, T, S -

HOLD 07

CTRG 08

Not

assigned

Pr,

Pr-S, Pr-T

Internal position control command pause

10

TRQLM 09 S, Sz 10

SPDLM 10 T, Tz 10

When CCLR is activated the setting is
parameter P2-50 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.

When this signal is On, the motor is in
reverse rotation.

C9/C10

When the drive is in Pr mode and CTRG is
activated, the drive will command the
motor to move the stored position which
correspond the POS 0, POS 1, POS 2
settings. Activation is triggered on the
rising edge of the pulse.

ON indicates the torque limit command is
valid.

ON indicates the speed limit command is
valid.

POS0 11 Pr 34

POS1 12 Pr-S, Pr-T 8

POS2 13 - -

SPD0 14 34

SPD1 15

S, Sz, Pt-S,

Pr-S, S-T

When the Pr Control Mode is selected the
8 stored positions are programmed via a
combination of the POS 0, POS 1, and
POS 2 commands. See table 3.D.

Select the source of speed command:
See table 3.E.

8

Revision January 2009 3-19

Chapter 3 Connections and Wiring|ASDA-AB Series

DI

Signal

DI

Code

TCM0 16 34

Assigned

Control

Mode

Pt, T, Tz,

Pin No.

(Default)

Pt-T, Pr-T,

TCM1 17

S-T

8

S-P 18 Pt-S, Pr-S 31

S-T 19 S-T 31

T-P 20 Pt-T, Pr-T 31

EMGS 21 ALL 30

CWL 22

CCWL 23

Pt, Pr, S, T

Sz, Tz

Pt, Pr, S, T

Sz, Tz

32

31

Details

(*2)

Select the source of torque command:
See table 3.F.

Speed / Position mode switching
OFF: Speed, ON: Position

Speed / Torque mode switching
OFF: Speed, ON: Torque

Torque / Position mode switching
OFF: Torque, ON: Position

It should be contact “b” and normally ON
or a fault (ALE13) will display.

Reverse inhibit limit. It should be contact
“b” and normally ON or a fault (ALE14) will
display.

Forward inhibit limit. It should be contact
“b” and normally ON or a fault (ALE15) will
display.

Wiring Diagram
(Refer to 3-3-3)

ORGP 24

TLLM 25

TRLM 26

SHOM 27

INDEX0 28

INDEX1 29

INDEX2 30

INDEX3 31

INDEX4 32

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Not

assigned

When ORGP is activated, the drive will

-

command the motor to start to search the
reference “Home” sensor.

Reverse operation torque limit (Torque

-

limit function is valid only when P1-02 is
enabled)

Forward operation torque limit (Torque

-

limit function is valid only when P1-02 is
enabled)

When SHOM is activated, the drive will

­command the motor to move to “Home”.

- Feed step selection input 0 (bit 0)

- Feed step selection input 1 (bit 1)

- Feed step selection input 2 (bit 2)

- Feed step selection input 3 (bit 3)

- Feed step selection input 4 (bit 4)

C9/C10

MD0 33

MD1 34

MDP0 35

MDP1 36

Not

assigned

Not

assigned

Not

assigned

Not

assigned

- Feed step mode input 0 (bit 0)

- Feed step mode input 1 (bit 1)

- Manually continuous operation

- Manually single step operation

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Chapter 3 Connections and Wiring|ASDA-AB Series

DI

Signal

DI

Code

JOGU 37

JOGD 38

STEPU 39

STEPD 40

STEPB 41

AUTOR 42

Assigned

Control

Mode

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Not

assigned

Pin No.

(Default)

-

-

-

-

-

-

Details

(*2)

Forward JOG input. When JOGU is
activated, the motor will JOG in forward
direction. [see P4-05]

Reverse JOG input. When JOGD is
activated, the motor will JOG in reverse
direction. [see P4-05]

Step up input. When STEPU is activated,
the motor will run to next position.

Step down input. When STEPD is
activated, the motor will run to previous
position.

Step back input. When STEPB is
activated, the motor will return to first
position.

Auto run input. When AUTOR is activated,
the motor will run automatically according
to internal position command. For time
interval setting, please see P2-52 to P2-

59.

Wiring Diagram
(Refer to 3-3-3)

C9/C10

GNUM0 43

GNUM1 44

INHP 45

Not

assigned

Not

assigned

Not

assigned

Electronic gear ratio (Numerator) selection

­0 [See P2-60~P2-62]

Electronic gear ratio (Numerator) selection

­1 [See P2-60~P2-62]

Pulse inhibit input. When the drive is in

-

position mode, if INHP is activated, the
external pulse input command is not valid.

Footnote *2: The "state" of the input function may be turned ON or OFF as it will be dependant on the

settings of P2-10~P2-17.

Revision January 2009 3-21

Chapter 3 Connections and Wiring|ASDA-AB Series

Table 3.D Source of Position Command

POS2 POS1 POS0 Parameter

OFF OFF OFF P1-15, P1-16

OFF OFF ON P1-17, P1-18

OFF ON OFF P1-19, P1-20

OFF ON ON P1-21, P1-22

ON OFF OFF P1-23, P1-24

ON OFF ON P1-25, P1-26

ON ON OFF P1-27, P1-28

ON ON ON P1-29, P1-30

Table 3.E Source of Speed Command

SPD1 SPD0 Parameter

OFF OFF

S mode: analog input

Sz mode: 0

OFF ON P1-09

ON OFF P1-10

ON ON P1-11

Table 3.F Source of Torque Command

TCM1 TCM0 Parameter

T mode: analog input

OFF OFF

Tz mode: 0

OFF ON P1-12

ON OFF P1-13

ON ON P1-14

The default DI and DO signals in different control mode are listed in the following table 3.G and table

3.H. Although the content of the table 3.G and table 3.H do 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 user

to view and can avoid confusion. However, the Pin number of each signal can not be displayed in the

table 3.G and table 3.H.

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Chapter 3 Connections and Wiring|ASDA-AB Series

Table 3.G Default DI signals and Control modes

Signal

DI

Code

Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T

SON 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1

ARST 02 Reset DI5 DI5 DI5 DI5 DI5 DI5

GAINUP 03

Gain switching in speed
and position mode

CCLR 04 Pulse clear (see P2-50) DI2 DI2 DI2

ZCLAMP 05 Low speed CLAMP

CMDINV 06

HOLD 07

Command input reverse
control

Internal position control
command pause

Command triggered

CTRG 08

(available in P mode

DI2 DI2 DI2

only)

TRQLM 09 Torque limit enabled DI2 DI2

SPDLM 10 Speed limit enabled DI2 DI2

POS0 11

Position command
selection (1~8)

DI3 DI3 DI3

POS1 12

POS2 13

SPD0 14

SPD1 15

TCM0 16

TCM1 17

S-P 18

S-T 19

T-P 20

Position command
selection (1~8)

Position command
selection (1~8)

Speed command
selection (1~4)

Speed command
selection (1~4)

Torque command
selection (1~4)

Torque command
selection (1~4)

Position / Speed mode
switching (OFF: Speed,
ON: Position)

Speed / Torque mode
switching (OFF: Speed,
ON: Torque)

Torque / Position mode
switching (OFF: Torque,
ON: Position)

DI4 DI4 DI4

DI3 DI3 DI3 DI5 DI3

DI4 DI4 DI4 DI6 DI4

DI3 DI3 DI3 DI3 DI5 DI5

DI4 DI4 DI4 DI4 DI6 DI6

DI7 DI7

DI7

DI7 DI7

EMGS 21

CWL 22

CCWL 23

Revision January 2009 3-23

Emergency stop (contact
b)

Reverse inhibit limit
(contact b)

Forward inhibit limit
(contact b)

DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8

DI6 DI6 DI6 DI6 DI6 DI6

DI7 DI7 DI7 DI7 DI7 DI7

Chapter 3 Connections and Wiring|ASDA-AB Series

Signal

ORGP 24

TLLM 25

TRLM 26

SHOM 27 Move to “Home”

INDEX0 28

INDEX1 29

INDEX2 30

INDEX3 31

DI

Code

Reference “Home”
sensor

Reverse operation
torque limit (torque limit
function is valid only
when P1-02 is enabled)

Forward operation
torque limit (torque limit
function is valid only
when P1-02 is enabled)

Feed step selection input
0 (bit 0)

Feed step selection input
1 (bit 1)

Feed step selection input
2 (bit 2)

Feed step selection input
3 (bit 3)

Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T

INDEX4 32

MD0 33 Feed step mode input 0

MD1 34 Feed step mode input 1

MDP0 35

MDP1 36

JOGU 37 Forward JOG input

JOGD 38 Reverse JOG input

STEPU 39

STEPD 40

STEPB 41

AUTOR 42 Auto run input

Feed step selection input
4 (bit 4)

Manually continuous
operation

Manually single step
operation

Step up input (available
in Pr mode only)

Step down input
(available in Pr mode
only)

Step back input.
(available in internal auto
running mode only)

Electronic gear ratio

GNUM0 43

GNUM1 44

INHP 45 Pulse inhibit input

(Numerator) selection 0
[see P2-60~P2-62]

Electronic gear ratio
(Numerator) selection 1
[see P2-60~P2-62]

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Chapter 3 Connections and Wiring|ASDA-AB Series

NOTE

1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1.

Table 3.H Default DO signals and Control modes

Signal

SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1

SON 02 Servo On

ZSPD 03 Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2

TSPD 04 Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3

TPOS 05 Positioning completed DO4 DO4 DO4 DO4 DO4 DO4 DO4

TQL 06 Reached torques limits

ALRM 07

BRKR 08 Electromagnetic brake DO4 DO4 DO4 DO4

DO

Code

Servo alarm output
(Servo fault)

Function Pt Pr S T Sz Tz Pt-S Pt-T Pr-S Pr-T S-T

DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5

HOME 09 Home completed DO3DO3

OLW 10 Output overload warning

WARN 11 Servo warning output

NOTE

1) For Pin numbers of DO1~DO5 signals, please refer to section 3.3.1.

Revision January 2009 3-25

Chapter 3 Connections and Wiring|ASDA-AB Series

3.3.3 User-defined DI and DO signals

If the default DI and DO signals could not be able to fulfill users’ requirements, there are still user-

defined 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 P2-17 and P2-18 to P2-22.

Please refer to the following Table 3.I for the settings.

Table 3.I User-defined DI and DO signals

Signal Name Pin No. Parameter Signal Name Pin No. Parameter

DI1- 9 P2-10 DO1+ 7

DI2- 10 P2-11 DO1- 6

DI3- 34 P2-12 DO2+ 5

DI

DO5+ 28

DI4- 8 P2-13 DO2- 4

DI5- 33 P2-14 DO3+ 3

DO

DI6- 32 P2-15 DO3- 2

DI7- 31 P2-16 DO4+ 1

DI8- 30 P2-17 DO4- 26

DO5- 27

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 C2: Analog monitor output (MON1, MON2)

P2-18

P2-19

P2-20

P2-21

P2-22

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Chapter 3 Connections and Wiring|ASDA-AB Series

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.

C3-1: Pulse input, for the use of internal power

supply (Open-collector input)

¾ Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo drive

and servo motor.

C3-2: Pulse input, for the use of external power

supply (Open-collector input)

C4: Pulse input (Line driver)

Because this

photocoupler is a

unidirectional

optocoupler, please pay

close attention on the

current direction of input

pulse command.

Revision January 2009 3-27

Chapter 3 Connections and Wiring|ASDA-AB Series

Be sure to connect a diode when the drive is applied to inductive load.

(Permissible current: 40mA, Instantaneous peak current: max. 100mA)

C5: Wiring of DO signal, for the use of internal

power supply, general load

C7: Wiring of DO signal, for the use of external

power supply, general load

C6: Wiring of DO signal, for the use of internal

power supply, inductive load

C8: Wiring of DO signal, for the use of external

power supply, inductive load

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Chapter 3 Connections and Wiring|ASDA-AB Series

Use a relay or open-collector transistor to input signal.

NPN transistor with multiple emitter fingers (SINK Mode)

C9: Wiring of DI signal, for the use of internal

power supply

C10: Wiring of DI signal, for the use of external power

PNP transistor with multiple emitter fingers (SOURCE Mode)

C11: Wiring of DI signal, for the use of internal

power supply

C12: Wiring of DI signal, for the use of external power

supply

supply

¾ Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo drive

and servo motor.

Revision January 2009 3-29

Chapter 3 Connections and Wiring|ASDA-AB Series

C13: Encoder output signal (Line driver) C14: Encoder output signal (Photocoupler)

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Chapter 3 Connections and Wiring|ASDA-AB 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.

Figure 3.10 The layout of CN2 Drive Connector

Quick Connector

HOUSING: AMP (1-172161-9)

Military Connector

3106A-20-29S

CN2 Terminal Signal Identification

PIN No. Signal Name

Terminal

Identification

Military

Connector

Quick

Connector

Description Color

2 /Z phase input /Z G A6 Encoder /Z phase output Orange/Red

4 /A phase input /A B A2 Encoder /A phase output Black/Red

5 A phase input A A A1 Encoder A phase output Black

7 B phase input B C A3 Encoder B phase output White

9 /B phase input /B D A4 Encoder /B phase output White/Red

10 Z phase input Z F A5 Encoder Z phase output Orange

14, 16 Encoder power +5V S A7 Encoder 5V power

13, 15 Encoder power GND R A8 Grounding

Brown &

Brown/White

Blue &

Blue/White

Shielding Shielding L 9 Shielding Shielding

Revision January 2009 3-31

Chapter 3 Connections and Wiring|ASDA-AB 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. Users can

operate the servo drive through PC software supplied by Delta (contact to the dealer). The

communication connector/port of Delta servo drive can provide three common serial communication

interfaces: RS-232, RS-485, and RS-422 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 or RS-422

interface can allow longer distance for transmission and support multiple drives to be connected

simultaneously.

Figure 3.11 The layout of CN3 Drive Connector

CN3 Terminal Signal Identification

PIN No. Signal Name

1 Grounding GND -

2 RS-232 data transmission RS-232-TX

3 RS-422 data receiving RS-422-RX+

RS-232 data receiving RS-232_RX

4

RS-422 data receiving RS-422_RX-

5 RS-422 data transmission RS-422-TX+

6 RS-422 data transmission RS-422-TX-

Terminal

Identification

Description

For data transmission of the servo drive.
Connected to the RS-232 interface of PC.

For data receiving of the servo drive
(differential line driver + end)

For data receiving of the servo drive.
Connected to the RS-232 interface of PC.

For data receiving of the servo drive
(differential line driver - end)

For data transmission of the servo drive
(differential line driver + end)

For data transmission of the servo drive
(differential line driver - end)

NOTE

1) For the connection of RS-485, please refer to page 8.2 and 8.3.

2) There are two kinds of IEEE1394 communication cables available on the market. If the user uses
one kind of cable, which its GND terminal (Pin 1) and its shielding is short-circuited, the
communication may be damaged. Never connect the case of the terminal to the ground of this kind
of communication cable.

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.5.2 Connection between PC and Connector CN3

Revision January 2009 3-33

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6 Standard Connection Example

3.6.1 Position (Pt) Control Mode (220V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3
wiring diagram on page 3-26.

3. Please refer to parameter P1-46 in Chapter 7.

3-34 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.2 Position (Pt) Control Mode (110V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3
wiring diagram on page 3-26.

3. Please refer to parameter P1-46 in Chapter 7.

Revision January 2009 3-35

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.3 Position (Pr) Control Mode (220V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to parameter P1-46 in Chapter 7.

3-36 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.4 Position (Pr) Control Mode (110V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to parameter P1-46 in Chapter 7.

Revision January 2009 3-37

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.5 Speed Control Mode (220V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to parameter P1-46 in Chapter 7.

3-38 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.6 Speed Control Mode (110V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to parameter P1-46 in Chapter 7.

Revision January 2009 3-39

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.7 Torque Control Mode (220V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to parameter P1-46 in Chapter 7.

3-40 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.8 Torque Control Mode (110V models)

Note:
1 The coil of brake has no polarity.

2. Please refer to parameter P1-46 in Chapter 7.

Revision January 2009 3-41

Chapter 3 Connections and Wiring|ASDA-AB Series

This page intentionally left blank.

3-42 Revision January 2009

Chapter 4 Display and Operation

This chapter describes the basic operation of the digital keypad and the features it offers.

4.1 Description of the Digital Keypad

The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of

the digital keypad and an overview of their functions.

Figure 4.1

Name Function

LCD Display

Charge LED The Charge LED lights to indicate the power is applied to the circuit.

The LCD Display (5-digit, 7-step display panel) shows the monitor codes, parameter
settings and operation values of the AC servo drive.

MODE Key. Pressing MODE key can enter or exit different parameter groups, and
switch between Monitor mode and Parameter mode.

SHIFT Key. Pressing SHIFT key can scrolls through parameter groups. 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.

SET Key. Pressing the SET key can display and save the parameter groups, the
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.)

Revision January 2009 4-1

Chapter 4 Display and Operation|ASDA-AB Series

4.2 Display Flowchart

Figure 4.2 Keypad Operation

1. When the power is applied to the AC servo drive, the LCD display will show the monitor function

codes for approximately one second, then enter into the monitor mode.

2. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. At this time,

monitor display symbol will display for approximately one second.

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, the system will enter into the 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, the 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 “-END-“ and

automatically return back to parameter mode.

4-2 Revision January 2009

Chapter 4 Display and Operation|ASDA-AB Series

4.3 Status Display

4.3.1 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 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 invalid.

4.3.2 Abort Setting Display

Display Message Description

4.3.3 Fault Message Display

Display Message Description

The servo system is running and it is unable to accept this setting
value to be changed.

This parameter will not be stored in EEPROM.

This parameter is valid after restarting the drive.

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.

When the AC servo drive has a fault, LCD 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 23. For the
list of drive fault code, please refer to parameter P0-01 or refer to
Chapter 10 (Troubleshooting).

4.3.4 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).

Revision January 2009 4-3

Chapter 4 Display and Operation|ASDA-AB Series

Display Message Description

Negative value display. When the parameter setting is greater
than four digits (for the setting value within the range of less than
five decimal places), after the display value is set, continuously
press SHIFT key for many times and then the lit decimal points
are used to indicate a negative value.

Negative value display. When the parameter setting is less than
five digits (for the setting value within the range of five decimal
places), after the display value is set, continuously press SHIFT
key for many times and then the negative sign will show up to
indicate a negative value.

4.3.5 Monitor Setting Display

When the AC servo drive is applied to power, the LCD display will show the monitor function codes for

approximately one second and then enter into the monitor mode. 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

0

1

2

Display Message Description Unit

Motor feedback pulse number (absolute
value)

Motor feedback rotation number
(absolute value)

Pulse counts of pulse command pulse

pulse

rev

3

Rotation number of pulse command rev

4

Position error counts pulse

5

Input frequency of pulse command r/min

6

Motor speed r/min

7

Speed input command Volt

8

Speed input command r/min

4-4 Revision January 2009

Chapter 4 Display and Operation|ASDA-AB Series

P0-02

Setting

9

10

11

12

13

14

15

Display Message Description Unit

Torque input command Volt

Torque input command %

Average load %

Peak load %

Main circuit voltage Volt

Ratio of load inertia to motor inertia time

Motor feedback pulse number (relative
value) / Position latch pulse number

pulse

16

The following table lists the display examples of monitor value:

Display Message Description

Motor feedback rotation number (relative
value) / Position latch rotation number

Positive value display. No positive sign is displayed to indicate
it is a positive value.

Display value: +1234.

Negative value display (The decimal place is less than five).
The negative sign is displayed to indicate it is a negative value.

Display value: -1234.

Negative value display (The decimal place is greater than four).
The lit decimal points are used to indicate it is a negative value.

Display value: -12345.

Decimal value display.
Display value: 12.34.

rev

Revision January 2009 4-5

Chapter 4 Display and Operation|ASDA-AB Series

4.4 General Function Operation

4.4.1 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. Please refer to the Figure 4.3. The recently occurred error code is 10.

Figure 4.3

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Chapter 4 Display and Operation|ASDA-AB Series

4.4.2 JOG Operation

After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation.

(Please also refer to Figure 4.4).

Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min).

Step2. 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 blink) then changed using the UP and DOWN arrow keys. The example

display in Figure 4.4 is adjusted as 100 r/min.)

Step3. Press the SET key when the desired JOG speed is set. The Servo Drive will display "JOG".

Step4. 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.

Step5. To change JOG speed again, press the MODE key. The servo Drive will display "P4 - 05".

Press the SET key and the JOG speed will displayed 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).

Figure 4.4

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Chapter 4 Display and Operation|ASDA-AB Series

4.4.3 Position Learning Operation

Follow the following steps to perform position learning operation (Please also refer to Figure 4.5).

1. Activate the internal position learning function (Set P2-30=4).

2. After enter into parameter mode P4-05, press Set key and the LED display will show learning

moving speed value. The default setting is 20 r/min.

3. Press UP or DOWN arrow key to set the desired moving speed value. In the example shown below,

the value is adjusted to 100 r/min.

4. Press Set key then JOG o1 will display and enter position learning mode.

5. In the position learning mode (display JOGox), pressing UP or DOWN arrow key at any time can

rotate Servo motor in forward or reverse rotation. Servo motor will immediately stop running if

releasing the UP or DOWN arrow key. This operation is only available during Servo system is On

(Servo On).

6. After position is selected, press Set key then the display JOGo1 will change to JOGo2. At the same

time, the absolute position of servo motor will be memorized inside of the memory. (P1-15 : 1st

Position Command for Rotation, P1-16 : 1st Position Command for Pulse)

7. In the position learning mode (display JOGox), pressing Shift key can directly change the “x” value

of the display “JOGox” so as to jump rapidly to the particular learning position where should be

modified. There is no position memorized at this time.

Figure 4.5

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Chapter 4 Display and Operation|ASDA-AB Series

The learning position and internal memorized position are listed as below:

Learning

Position

JOGo1 P1-15 (1st Position Command for Rotation), P1-16 (1st Position Command for Pulse)

JOGo2 P1-17 (2nd Position Command for Rotation), P1-18 (2nd Position Command for Pulse)

JOGo3 P1-19 (3rd Position Command for Rotation), P1-20 (3rd Position Command for Pulse)

JOGo4 P1-21 (4th Position Command for Rotation), P1-22 (4th Position Command for Pulse)

JOGo5 P1-23 (5th Position Command for Rotation), P1-24 (5th Position Command for Pulse)

JOGo6 P1-25 (6th Position Command for Rotation), P1-26 (6th Position Command for Pulse)

JOGo7 P1-27 (7th Position Command for Rotation), P1-28 (7th Position Command for Pulse)

JOGo8 P1-29 (8th Position Command for Rotation), P1-30 (8th Position Command for Pulse)

Internal Memorized Position

4.4.4 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 4.6 to enter into DO force output diagnosis

operation (OP xx) mode (“xx” indicates the parameter range from 00 to 1F). Pressing UP or DOWN

arrow key can change “xx” value from 00 to 1F (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

P2-22. This function is enabled only when Servo Off (the servo drive is disabled).

Figure 4.6

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4.4.5 DI Diagnosis Operation

Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07).

According to the ON and OFF status of the digital inputs DI1 to DI8, 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. (Please also refer to Figure 4.7)

Figure 4.7

4.4.6 DO Diagnosis Operation

Following the setting method in Figure 4.8 can perform DO diagnosis operation (parameter P4-09).

According to the ON and OFF status of the digital outputs DO1 to DO5, 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. (Please also refer to Figure 4.8)

Figure 4.8

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Chapter 5 Trial Run and Tuning Procedure

This chapter, which is divided into two parts, describes trial run for servo drive and motor. 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.

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 the users 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:

Item Content

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.

Inspection before

operation

(Control power is not

applied)

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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Item Content

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

Inspection during

operation

(Control power is

applied)）

of various machinery equipment 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.

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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

5.2 Applying Power to the Drive

The 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 the 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 (L1M, L2M)) 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 Power includes control circuit power (L1, L2) and main circuit power (R, S, T (L1M, L2M)). When the

power is on, the normal display should be shown as the following figure:

As the default settings of digital input signal, DI6, DI7 and DI8 are Reverse Inhibit Limit (CWL), Forward

Inhibit Limit (CCWL) and Emergency Stop (EMGS) respectively, if the users do not want to use the

default settings of DI6~DI8, the users can change their settings by using parameters P2-15 to P2-17

freely. When the setting value of parameters P2-15 to P2-17 is 0, it indicates the function of this DI signal

is disabled. For more information of parameters P2-15 to P2-17, please refer to Chapter 7 “Parameters”.

If the parameter P0-02 is set as motor speed (06), the normal display should be shown as the following

figure:

If there is no text or character displayed on the LED display, please check if the voltage of the control

circuit terminal (L1and L2) is over low.

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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.

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 users perform 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~DI8 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~DI8 are not set to “Emergency Stop (EMGS)”. (The

setting value of parameter P2-10 to P2-17 is not set to 21.)

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 If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to

confirm that which of digital inputs DI1~DI8 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~DI8 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~DI8 are not set to “Reverse inhibit limit (CWL)”. (The

setting value of parameter P2-10 to P2-17 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~DI8 is set to “Reverse inhibit limit (CWL)” and check if

the digital input signal is ON (It should be activated).

5) When display shows:

Forward limit switch error:

Please check if any of digital inputs DI1~DI8 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 P2-17 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~DI8 is set to “Forward inhibit limit (CCWL)” and check if

the digital input signal is ON (It should be activated).

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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

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.

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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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

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 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.

STEP 1: Turn the drive ON through software. Ensure that the setting value of parameter P2-30 should be

set to 1 (Servo On).

STEP 2: Set parameter P4-05 as JOG speed (unit: r/min). After the desired JOG speed is set, and then

press SET key, the drive will enter into JOG operation mode automatically

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.

In the example below, the JOG speed is adjusted from 20r/min (Default setting) to 100r/min.

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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

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 02 and it is speed (S) control mode. After selecting the operation mode

as speed (S) 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-=9

DI2 P2-11=109 TRQLM Torque limit enabled DI2-=10

DI3 P2-12=114 SPD0 Speed command selection DI3-=34

DI4 P2-13=115 SPD1 Speed command selection DI4-=8

DI5 P2-14=102 ARST Reset DI5-=33

DI6 P2-15=0 Disabled This DI function is disabled -

DI7 P2-16=0 Disabled This DI function is disabled -

DI8 P2-17=0 Disabled This DI function is disabled -

By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward inhibit limit and DI6 is the

function of emergency stop (DI8), if the users do not set the setting value of parameters P2-15 to P2-17 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 P2-15 to P2-17 to 0 (Disabled) in advance.

All the digital inputs of Delta ASDA-AB series are user-defined, and the users 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). 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.

The speed command is selected by SPD0, SPD1. Please refer to the following table:

Speed

Command No.

S1 0 0

DI signal of CN1

SPD1 SPD0

Command Source Content Range

External analog

command

Voltage between V-REF

and GND

+/-10V

S2 0 1 P1-09 0 ~ 5000r/min

S3 1 0 P1-10 0 ~ 5000r/min

S4 1 1

Internal parameter

P1-11 0 ~ 5000r/min

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)

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The settings of speed command:

P1-09 is set to 3000

Input value command Rotation direction

P1-10 is set to 100 + CW

P1-11 is set to -3000 - CCW

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 is operating according to external analog command.

3. If only DI3 is ON (SPD0), it indicates S2 command (P1-09 is set to 3000) is selected, and the motor

speed is 3000r/min 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 is 100r/min 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 is -3000r/min 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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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

5.5 Position Trial Run without Load

Before position trial run, fix and secure the motor as possible to avoid the danger from the reacting

force when the motor speed changes.

STEP 1:

Set the value of parameter P1-01 to 01 and it is position (Pr) control mode. After selecting the operation

mode as position (Pr) control mode, please restart the drive and the setting would be valid.

STEP 2:

In position control mode, the necessary DI setting is listed as follows:

Digital Input

Parameter Setting

Value

Sign Function Description CN1 PIN No.

DI1 P2-10=101 SON Servo On DI1-=9

DI2 P2-11=108 CTRG Command trigged DI2-=10

DI3 P2-12=111 POS0 Position command selection DI3-=34

DI4 P2-13=112 POS1 Position command selection DI4-=8

DI5 P2-14=102 ARST Reset DI5-=33

DI6 P2-15=0 Disabled This DI function is disabled -

DI7 P2-16=0 Disabled This DI function is disabled -

DI8 P2-17=0 Disabled This DI function is disabled -

By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward inhibit limit and DI6 is the

function of emergency stop (DI8), if the users do not set the setting value of parameters P2-15 to P2-17 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 P2-15 to P2-17 to 0 (Disabled) in advance.

All the digital inputs of Delta ASDA-AB series are user-defined, and the users 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). 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.

For the information of wiring diagram, please refer to Section 3.6.2 (Wiring of position (Pr) control mode).

Because POS2 is not the default DI, the users need to change the value of parameter P2-14 to 113.

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The position command is selected by POS0 ~ POS2. Please refer to the following table:

Position

Command

Internal

Position 1

Internal

Position 2

Internal

Position 3

Internal

Position 4

Internal

Position 5

Internal

Position 6

Internal

Position 7

Internal

Position 8

POS2 POS1 POS0 CTRG Parameters

P1-15 Rotation No. (+/- 30000)

0 0 0

P1-16

P1-17 Rotation No. (+/- 30000)

0 0 1

P1-18

P1-19 Rotation No. (+/- 30000)

0 1 0

P1-20

P1-21 Rotation No. (+/- 30000)

0 1 1

P1-22

P1-23 Rotation No. (+/- 30000)

1 0 0

P1-24

P1-25 Rotation No. (+/- 30000)

1 0 1

P1-26

P1-27 Rotation No. (+/- 30000)

1 1 0

P1-28

P1-29 Rotation No. (+/- 30000)

1 1 1

P1-30

Moving Speed

Register

P2-36 (V1)

P2-37 (V2)

P2-38 (V3)

P2-39 (V4)

P2-40 (V5)

P2-41 (V6)

P2-42 (V7)

P2-43 (V8)

Description

Pulse No. (+/- max cnt)

Pulse No. (+/- max cnt)

Pulse No. (+/- max cnt)

Pulse No. (+/- max cnt)

Pulse No. (+/- max cnt)

Pulse No. (+/- max cnt)

Pulse No. (+/- max cnt)

Pulse No. (+/- max cnt)

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)

The users can set the value of these 8 groups of commands (P1-15 ~ P1-30) freely. The command can be

absolute position command (P1-33 =0) or relative position command (P1-33 =1).

For example:

Set P1-33 to 1 (Absolute position command)

(The new setting will be effective after the servo drive is restarted (after switching power
off and on))

Set P1-15 to 1 (rotation number)
Set P1-16 to 0 (pulse number)
The command of internal position 1: P1-15 Rotation No. + P1-16 Pulse No.

Set P1-17 to 10 (rotation number)
Set P1-18 to 0 (pulse number)
The command of internal position 2: P1-17 Rotation No. + P1-18 Pulse No.

Set P1-19 to -10 (rotation number)
Set P1-20 to 0 (pulse number)
The command of internal position 3: P1-19 Rotation No. + P1-20 Pulse No.

Set P1-21 to 100 (rotation number)
Set P1-22 to 0 (pulse number)
The command of internal position 4: P1-21 Rotation No. + P1-22 Pulse No.

Set P1-23 to -1000 (rotation number)
Set P1-24 to 0 (pulse number)
The command of internal position 5: P1-23 Rotation No. + P1-24 Pulse No.

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Set P1-25 to 0 (rotation number)
Set P1-26 to 100 (pulse number)
The command of internal position 6: P1-25 Rotation No. + P1-26 Pulse No.

Set P1-27 to 0 (rotation number)
Set P1-28 to 1000 (pulse number)
The command of internal position 7: P1-27 Rotation No. + P1-28 Pulse No.

Set P1-29 to -10 (rotation number)
Set P1-30 to 2500 (pulse number)
The command of internal position 8: P1-29 Rotation No. + P1-30 Pulse No.

Input command Rotation direction

+ CW

- CCW

STEP 3：

1. The users can use DI1 to enable the servo drive (Servo ON).

2. Set DI2 (CTRG) to be ON, it indicates the command of internal position 1 (P1-15 Rotation No. + P1-

16 Pulse No.) 1 turn is selected, and the motor has rotated one turn at this time.

3. Set DI3 (POS0) to be ON first and then enable DI2 (CTRG) to be ON, it indicates the command of

internal position 2 (P1-17 Rotation No. + P1-18 Pulse No.)10 turn is selected, and the motor has

rotated ten turns.

4. Set DI3 (POS0), DI4 (POS1) and DI5 (POS2) to be ON first and then enable DI2 (CTRG) to be ON, it

indicates the command of internal position 8 (P1-29 Rotation No. + P1-30 Pulse No.)10.25turn is

selected, and the motor has rotated 10.25 turns.

5. Repeat the action of (3), (4), (5) freely.

6. When the users want to stop the speed trial run, use DI1 to disable the servo drive (Servo OFF).

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5.6 Tuning Procedure

Table 5.A 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 P2-17.

5. Press SET key to display the parameter value as shown on the right side.

6. Press SHIFT key twice to change the parameter values. Use UP key to cycle
through the available settings and then press SET key to determine the
parameter settings.

7. Press UP key to view each parameter and select parameter P2-30.

8. Press SET key to display the parameter value as shown on the right side.

9. Select parameter value 1. Use UP key to cycle through the available settings.

10. Press SET key to write parameter value to the drive, and the right side display
will show on the LCD display.

11. At this time, the servo drive is ON and the right side display will appear next.

12. Press DOWN key three times to select the ratio of Load Inertia to Servo Motor
Inertia (J_load /J_motor).

13. Display the current ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor).
(5.0 is default setting.)

14. Press MODE key to select parameter mode.

15. Press SHIFT key twice to select parameter group.

16. Press UP key to select user parameter P4-05.

17. Press SET key and JOG speed 20r/min will be displayed. Press UP and DOWN
key to increase and decrease JOG speed. To press SHIFT key one time can
add one digit number.

Display

18. Select desired JOG speed, press SET key and it will show the right side display.

19. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation.

20. Execute JOG operation in low speed first. After the machine is running smoothly, then execute JOG
operation in high speed.

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21. 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.

5.6.1 Tuning Flowchart

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5.6.2 Load Inertia Estimation Flowchart

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5.6.3 AutoMode (PI) Tuning Flowchart

Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjustment] )

P2-31 Auto Mode Responsiveness Level (Default setting: B=4)

A: No function

B: Responsiveness level of auto-tuning mode

A

B

not used

Adjust P2-31: Increase the setting value of P2-31. Increase the value “B” to speed the responsiveness

or reduce the noise.

Adjust P2-25: According to the setting value of P2-31 speed and adjust the responsiveness.

Continuously adjust until the satisfactory performance is achieved, and then set P2-32 to 3 (3:

AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be adjusted] )

In AutoMode (PI), the value “B” indicates the

responsiveness setting. When the setting value is

higher, the responsiveness is faster.

to finish the tuning procedure.

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Table 5.B P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25

P2-31 value “B” Speed Loop Responsive Recommended Setting Value of P2-25

0 20Hz 13

1 30Hz 9

2 40Hz 6

3 60Hz 4

4 85Hz 3

5 120Hz 3

6 160Hz 2

7 200Hz 1

8 250Hz 1

9 and above 300Hz 0

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5.6.4 AutoMode (PDFF) Tuning Flowchart

Set P2-32 to 4 (4: AutoMode (PDFF) [Continuous adjustment] )

P2-31 Auto Mode Responsiveness Level (Default setting: B=4)

A: No function

B: Responsiveness level of auto-tuning mode

A

B

not used

Adjust P2-31: Increase the setting value of P2-31. Increase the value “B” to speed the responsiveness

or reduce the noise.

Continuously adjust until the satisfactory performance is achieved, and then set P2-32 to 5 (5:

AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can be

adjusted] ) to finish the tuning procedure.

In AutoMode (PDFF), the value “B” indicates the

responsiveness setting. When the setting value is

higher, the responsiveness is faster.

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Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Speed Loop Responsiveness.

P2-31 value “B” Speed Loop Responsiveness P2-31 value “B” Speed Loop Responsiveness

0 20HZ 8 120Hz

1 30 HZ 9 140HZ

2 40 HZ A 160HZ

3 50 HZ B 180HZ

4 60 HZ C 200Hz

5 70 Hz D 220Hz

6 80Hz E 260Hz

7 100Hz F 300HZ

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5.6.5 Manual Mode Tuning Flowchart

Position Mode

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Speed Mode

5.6.6 Limit of Load Inertia Estimation

The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be

above 200r/min. 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. In AutoMode (P2-32 is set to 3 or 5), it will stop

estimating the load inertia. 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, the measured inertia value will be memorized in P1-37 automatically when:

(1) Switching AutoMode #2 to AutoMode #3

(2) Switching AutoMode #4 to AutoMode #5

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5.6.7 Relationship between Tuning Modes and Parameters

Tuning Mode P2-32

Manual Mode

0(Default

setting)

AutoSet

Parameter

None

User-defined Parameter Gain Value

P2-00 (Proportional Position Loop Gain)
P2-04 (Proportional Speed Loop Gain)
P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant of

Resonance Suppression)

Fixed

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)

When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value

2

3

4

5

P2-00
P2-04
P2-06

P2-00
P2-04
P2-06

P2-00
P2-04
P2-06
P2-25
P2-26

P2-00
P2-04
P2-06
P2-25
P2-26

P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of

Resonance Suppression)

P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])

P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of

Resonance Suppression)

P2-31 Value B (Level of Responsiveness)

P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])

P2-31 Value B (Level of Responsiveness)

Continuous

Adjusting

Fixed

Continuous

Adjusting

Fixed

that measured in #3 auto-tuning mode.

When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26 will change

to the value that measured in #5 auto-tuning mode

5.6.8 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:

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