Delta Electronics ASDA-B User Manual

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Preface

Thank you very much for purchasing DELTA’s AC servo products.

This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and

motor. Before using the product, please read this user manual to ensure correct use.

You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before

proceeding with the installation, wiring and operation. If you do not understand please contact your local

Delta sales representative. Place this user manual in a safe location for future reference.

 Using This Manual

 Contents of this manual

This manual is a user guide that provides the information on how to install, operate and maintain

ASDA-B series AC servo drives and ECMA series AC servo motors. The contents of this manual

are including the following topics:

z Installation of AC servo drives and motors

z Configuration and wiring

z Trial run steps

z Control functions and adjusting methods of AC servo drives

z Parameter settings

z Communication protocol

z Inspection and maintenance

z Troubleshooting

z Application examples

 Who should use this manual

This user manual is intended for the following users:

z Those who are responsible for designing.

z Those who are responsible for installing or wiring.

z Those who are responsible for operating or programming.

z Those who are responsible for maintaining or troubleshooting.

 Important precautions

Before using the product, please read this user manual thoroughly to ensure correct use and store

this manual in a safe and handy place for quick reference whenever necessary. Besides, please

observe the following precautions:

z Do not use the product in a potentially explosive environment.

z Install the product in a clean and dry location free from corrosive and inflammable gases or

liquids.

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Preface|ASDA-B Series

z Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to

observe this precaution will damage either the Servo motor or drive.

z Ensure that the motor and drive are correctly connected to a ground. The grounding method

must comply with the electrical standard of the country (Please refer to NFPA 70: National

Electrical Code, 2005 Ed.).

z Do not disconnect the AC servo drive and motor while the power is ON.

z Do not attach, modify and remove wiring when power is applied to the AC servo drive and

motor.

z Before starting the operation with a mechanical system connected, make sure the

emergency stop equipment can be energized and work at any time.

z Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may result

in serious personnel injury.

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.

ASDA-B series drives are open type servo drives and must be installed in an NEMA enclosure such as a

protection control panel during operation to comply with the requirements of the international safety

standards. They are provided with precise feedback control and high-speed calculation function

incorporating DSP (Digital Signal Processor) technology, and intended to drive three-phase permanent

magnet synchronous motors (PMSM) to achieve precise positioning by means of accurate current output

generated by IGBT (Insulated Gate Bipolar Transistor).

ASDA-B series drives can be used in industrial applications and for installation in an end-use enclosure that

do not exceed the specifications defined in the ASDA-B series user manual (Drives, cables and motors are

for use in a suitable enclosure with a minimum of a UL50 type 1 or NEMA 250 Type 1 rating).

Carefully notice and observe the following safety precautions when receiving, inspecting, installing, operating,

maintaining and troubleshooting. The following words, DANGER, WARNING and STOP are used to mark

safety precautions when using the Delta’s servo product. Failure to observe these precautions may void the

warranty!

The words, DANGER, WARNING and STOP, have the following meaning:

Indicates a potentially hazardous situation and if not avoided, may result in serious injury or death.

Indicates a potentially hazardous situation and if not avoided, may result in minor to moderate injury or serious damage to the product.

Indicates an improper action that it is not recommended to do and if doing it may cause damage, malfunction and inability.

Revision January, 2009

Unpacking Check

¾ Please ensure that both the servo drive and motor are correctly matched for size (power rating). Failure to

observe this precaution may cause fire, seriously damage the drive / motor or cause personal injury.

Installation

¾ Do not install the product in a location that is outside the stated specification for the drive and motor. Failure to

observe this caution may result in electric shock, fire, or personal injury.

Wiring

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

grounding may result in electric shock or fire.

¾ Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in

serious injury, damage to the drive or fire.

¾ Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive and motor.

Failure to observe this caution may result in damage, fire or personal injury.

Operation

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

Preface|ASDA-B Series

¾ Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. Failure to observe this

precaution may cause serious personal injury.

¾ In order to prevent accidents, the initial trial run for servo motor should be conducted under no load conditions

(separate the motor from its couplings and belts).

¾ For the initial trial run, do not operate the servo motor while it is connected to its mechanical system. Connecting

the motor to its mechanical system may cause damage or result in personal injury during the trail run. Connect the servo motor once it has successfully completed a trail run.

¾ Caution: Please perform trial run without load first and then perform trial run with load connected. After the

servo motor is running normally and regularly without load, then run servo motor with load connected. Ensure to perform trial run in this order to prevent unnecessary danger.

¾ Do not touch either the drive heat sink or the motor during operation as they may become hot and personal injury

may result.

Maintenance and Inspection

¾ Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result. ¾ Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical

shock may result.

¾ Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or

performing any wiring and/or inspection as an electrical charge may still remain in the servo drive and servo motor with hazardous voltages even after power has been removed.

¾ Do not disassemble the servo drive or motor as electric shock may result. ¾ Do not connect or disconnect wires or connectors while power is applied to the drive and motor. ¾ Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.

Main Circuit Wiring

¾ Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise. Separate the

conduits by 30cm (11.8inches) above.

¾ Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder (PG) feedback cables.

The maximum length of command input cable is 3m (9.84ft.) and the maximum length of encoder (PG) feedback cables is 20m (65.62ft.).

¾ As a charge may still remain in the drive with hazardous voltages even after power has been removed, be sure to

wait at least 10 minutes after power has been removed before performing any wiring and/or inspection.

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Preface|ASDA-B Series

¾ It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more than once

per minute as high charging currents within the internal capacitors may cause damage.

Main Circuit Terminal Wiring

¾ 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 Please use Y-type terminals to tighten the ends of wires. ¾ Ensure to double check the wiring before applying power to the drive.

NOTE

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

2) The content of this manual may be revised without prior notice. Please consult our distributors or download the most updated version at http://www.delta.com.tw/industrialautomation

Revision January, 2009

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

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

1.2 Model Explanation ....................................................................................................................... 1-3

1.2.1 Nameplate Information .....................................................................................................1-3

1.2.2 Model Name Explanation ................................................................................................. 1-4

1.3 Servo Drive and Servo Motor Combinations............................................................................... 1-6

1.4 Servo Drive Features................................................................................................................... 1-7

1.5 Control Modes of Servo Drive ..................................................................................................... 1-8

Chapter 2 Installation and Storage......................................................................................... 2-1

2.1 Installation Notes ......................................................................................................................... 2-1

2.2 Storage Conditions ...................................................................................................................... 2-1

2.3 Installation Conditions ................................................................................................................. 2-2

2.4 Installation Procedure and Minimum Clearances........................................................................ 2-3

Chapter 3 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 ........................................................................... 3-2

3.1.3 Wiring Methods................................................................................................................. 3-4

3.1.4 Motor Power Cable Connector Specifications.................................................................. 3-5

3.1.5 Encoder Connector Specifications ................................................................................... 3-7

3.1.6 Cable Specifications for Servo Drive and Servo Motor .................................................... 3-8

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3.2 Basic Wiring................................................................................................................................. 3-9

3.3 Input / Output Interface Connector -CN1..................................................................................... 3-12

3.3.1 CN1 Terminal Identification .............................................................................................. 3-12

3.3.2 Signals Explanation of Connector CN1 ............................................................................ 3-13

3.3.3 User-defined DI and DO signals....................................................................................... 3-18

3.3.4 Wiring Diagrams of I/O Signals (CN1).............................................................................. 3-20

3.4 Encoder Connector CN2 ............................................................................................................. 3-24

3.5 Serial Communication Connector CN3 ....................................................................................... 3-25

3.5.1 CN3 Terminal Layout and Identification ........................................................................... 3-25

3.5.2 Connection between PC/Keypad and Connector CN3 .................................................... 3-26

3.6 Standard Connection Example.................................................................................................... 3-27

3.6.1 Position Control Mode ...................................................................................................... 3-27

3.6.2 Speed Control Mode......................................................................................................... 3-28

3.6.3 Torque Control Mode........................................................................................................ 3-29

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

4.1 ASD-PU-01A ............................................................................................................................... 4-1

4.1.1 Description of Digital Keypad ASD-PU-01A..................................................................... 4-1

4.1.2 Display Flowchart ............................................................................................................. 4-3

4.1.3 Status Display................................................................................................................... 4-8

4.1.4 Fault Code Display Operation .......................................................................................... 4-11

4.1.5 JOG Operation.................................................................................................................. 4-12

4.1.6 DO Force Output Diagnosis Operation ............................................................................ 4-14

4.1.7 DI Diagnosis Operation .................................................................................................... 4-15

4.1.8 DO Diagnosis Operation................................................................................................... 4-15

4.1.9 Parameters Read and Write ............................................................................................. 4-16

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4.2 ASD-PU-01B ............................................................................................................................... 4-18

4.2.1 Description of Digital Keypad ASD-PU-01B..................................................................... 4-18

4.2.2 Display Flowchart ............................................................................................................. 4-19

4.2.3 Status Display................................................................................................................... 4-28

4.2.4 Fault Code Display Operation .......................................................................................... 4-31

4.2.5 JOG Operation.................................................................................................................. 4-31

4.2.6 DO Force Output Diagnosis Operation ............................................................................ 4-33

4.2.7 DI Diagnosis Operation .................................................................................................... 4-34

4.2.8 DO Diagnosis Operation................................................................................................... 4-35

4.2.9 Parameters Read and Write ............................................................................................. 4-36

Chapter 5 Trial Run and Tuning Procedure ........................................................................... 5-1

5.1 Inspection without Load............................................................................................................... 5-1

5.2 Applying Power to the Drive ........................................................................................................ 5-3

5.3 JOG Trial Run without Load........................................................................................................ 5-7

5.3.1 ASD-PU-01A Tuning Flowchart........................................................................................ 5-7

5.3.2 ASD-PU-01B Tuning Flowchart........................................................................................ 5-8

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

5.5 Tuning Procedure ........................................................................................................................ 5-11

5.5.1 Tuning Flowchart .............................................................................................................. 5-13

5.5.2 Load Inertia Estimation Flowchart .................................................................................... 5-14

5.5.3 AutoMode (PI) Tuning Flowchart...................................................................................... 5-15

5.5.4 AutoMode (PDFF) Tuning Flowchart................................................................................ 5-17

5.5.5 Limit of Load Inertia Estimation ........................................................................................ 5-18

5.5.6 Relationship between Tuning Modes and Parameters .................................................... 5-19

5.5.7 Gain Adjustment in Manual Mode .................................................................................... 5-20

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Chapter 6 Control Modes of Operation .................................................................................. 6-1

6.1 Control Modes of Operation ........................................................................................................ 6-1

6.2 Position Control Mode ................................................................................................................. 6-2

6.2.1 Command Source of Position Control Mode .................................................................... 6-2

6.2.2 Structure of Position Control Mode .................................................................................. 6-3

6.2.3 Pulse Inhibit Input Function (INHIBIT).............................................................................. 6-4

6.2.4 Electronic Gear Ratio ....................................................................................................... 6-4

6.2.5 Low-pass Filter ................................................................................................................. 6-6

6.2.6 Position Loop Gain Adjustment ........................................................................................ 6-6

6.3 Speed Control Mode.................................................................................................................... 6-9

6.3.1 Command Source of Speed Control Mode ...................................................................... 6-9

6.3.2 Structure of Speed Control Mode..................................................................................... 6-10

6.3.3 Smoothing Strategy of Speed Control Mode.................................................................... 6-11

6.3.4 Analog Speed Input Scaling ............................................................................................. 6-14

6.3.5 Timing Chart of Speed Control Mode............................................................................... 6-15

6.3.6 Speed Loop Gain Adjustment........................................................................................... 6-15

6.3.7 Resonance Suppression .................................................................................................. 6-23

6.4 Torque Control Mode................................................................................................................... 6-25

6.4.1 Command Source of Torque Control Mode ..................................................................... 6-25

6.4.2 Structure of Torque Control Mode.................................................................................... 6-26

6.4.3 Smoothing Strategy of Torque Control Mode................................................................... 6-27

6.4.4 Analog Torque Input Scaling ............................................................................................ 6-27

6.4.5 Timing Chart of Speed Control Mode............................................................................... 6-28

6.5 Control Modes Selection ............................................................................................................. 6-29

6.5.1 Speed / Position Control Mode Selection......................................................................... 6-29

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6.5.2 Speed / Torque Control Mode Selection .......................................................................... 6-30

6.5.3 Torque / Position Control Mode Selection........................................................................ 6-30

6.6 Others.......................................................................................................................................... 6-31

6.6.1 Speed Limit....................................................................................................................... 6-31

6.6.2 Torque Limit...................................................................................................................... 6-31

6.6.3 Regenerative Resistor ...................................................................................................... 6-32

6.6.4 Electromagnetic Brake ..................................................................................................... 6-36

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

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

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

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

7.2.2 Parameters List by Function............................................................................................. 7-10

7.3 Detailed Parameter Listings ........................................................................................................ 7-19

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

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

8.2 Communication Parameter Settings............................................................................................8-4

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

Chapter 9 Maintenance and Inspection ................................................................................. 9-1

9.1 Basic Inspection .......................................................................................................................... 9-1

9.2 Maintenance ................................................................................................................................ 9-2

9.3 Life of Replacement Components............................................................................................... 9-2

Chapter 10 Troubleshooting..................................................................................................... 10-1

10.1 Fault Messages Table ................................................................................................................. 10-1

10.2 Potential Cause and Corrective Actions ...................................................................................... 10-3

10.3 Clearing Faults ............................................................................................................................ 10-12

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

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

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

11.3 Dimensions of Servo Drive.......................................................................................................... 11-7

11.4 Servo Motor Speed-Torque Curves (T-N Curve) ........................................................................ 11-10

11.5 Overload Characteristics ............................................................................................................. 11-11

11.6 Dimensions of Servo Motor ......................................................................................................... 11-18

11.7 EMI Filters Selection.................................................................................................................... 11-22

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

12.1 Connecting to DVP-EH PLC and DOP-A HMI ............................................................................ 12-1

12.2 Connecting to DVP-EH PLC and Delta TP04 Series .................................................................. 12-12

12.3 External Controller Connection Examples................................................................................... 12-15

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

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Table of Contents|ASDA-B Series

About this Manual…

User Information

Be sure to store this manual in a safe place.

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

diagrams, we reserve the right of this manual contained information change without prior notice.

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

Technical Support and Service

Welcome to contact us or visit our web site (http://www.delta.com.tw/industrialautomation/) if you need any

technical support, service and information, or, if you have any question in using the product. We are looking

forward to serve you needs and willing to offer our best support and service to you. Reach us by the

following ways.

ASIA

DELTA ELECTRONICS, INC.

Taoyuan Plant 1

31-1, XINGBANG ROAD,

GUISHAN INDUSTRIAL ZONE,

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

TEL: 886-3-362-6301

FAX: 886-3-362-7267

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: 1-919-767-3813

FAX: 1-919-767-3969

JAPAN

DELTA ELECTRONICS (JAPAN), INC.

Tokyo Office

DELTA SHIBADAIMON BUILDING

2-1-14 SHIBADAIMON, MINATO-KU,

TOKYO, 105-0012, JAPAN

TEL: 81-3-5733-1111

FAX: 81-3-5733-1211

EUROPE

DELTRONICS (THE NETHERLANDS) B.V.

Eindhoven Office

DE WITBOGT 15, 5652 AG EINDHOVEN,

THE NETHERLANDS

TEL: 31-40-259-2850

FAX: 31-40-259-2851

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Chapter 1 Unpacking Check and Model Explanation

1.1 Unpacking Check

After receiving the AC servo drive, please check for the following:

 Ensure that the product is what you have ordered.

Verify the part number indicated on the nameplate corresponds with the part number of your order

(Please refer to Section 1.2 for details about the model explanation).

 Ensure that the servo motor shaft rotates freely.

Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a servo motor

with an electromagnetic brake can not be rotated manually.

 Check for damage.

Inspect the unit to insure it was not damaged during shipment.

 Check for loose screws.

Ensure that all necessary screws are tight and secure.

If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or

your local Delta sales representative.

A complete and workable AC servo system should be including the following parts:

Part I : Delta standard supplied parts

(1) Servo drive

(2) Servo motor

(3) Quick Start

Part II : Optional parts, not Delta standard supplied part (Refer to Appendix A)

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

power cable is with one green grounding cable. Please connect the green grounding cable to the

ground terminal of the servo drive.

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

drive.

(3) CN1 Connector: 25 PIN Connector (D-sub Connector)

(4) CN2 Connector: 9 PIN Connector (D-sub Connector)

(5) CN3 Connector: 8 PIN Connector (DIN Cable Mount Male)

Revision January 2009 1-1

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

Delta AC Servo Drive and Motor

1-2 Revision January 2009

1.2 Model Explanation

1.2.1 Nameplate Information

ASDA-B Series Servo Drive

 Nameplate Explanation

 Serial Number Explanation

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

ECMA Series Servo Motor

 Nameplate Explanation

 Serial Number Explanation

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

1.2.2 Model Name Explanation

ASDA-B Series Servo Drive

1-4 Revision January 2009

ECMA Series Servo Motor

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

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

1.3 Servo Drive and Servo Motor Combinations

The table below shows the possible combination of Delta ASDA-B series servo drives and ECMA series

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

for model explanation)

Servo Drive Servo Motor

100W ASD-B0121-A

200W ASD-B0221-A

400W ASD-B0421-A

750W ASD-B0721-A

1000W ASD-B1021-A

1500W ASD-B1521-A

2000W ASD-B2023-A

ECMA-C30401S (S=8mm)

ECMA-C30602S (S=14mm)

ECMA-C30604S (S=14mm)

ECMA-C308047 (7=14mm)

ECMA-E31305S (S=22mm)

ECMA-G31303S (S=22mm)

ECMA-C30807S (S=19mm)

ECMA-G31306S (S=22mm)

ECMA-C31010S (S=22mm)

ECMA-E31310S (S=22mm)

ECMA-G31309S (S=22mm)

ECMA-E31315S (S=22mm)

ECMA-C31020S (S=22mm)

ECMA-E31320S (S=22mm)

ECMA-E31820S (S=35mm)

The drives shown in the above table are designed for use in combination with the specific servo motors.

Check the specifications of the drives and motors you want to use.

Also, please ensure that both the servo drive and motor are correctly matched for size (power rating). If the

power of motor and drive is not within the specifications, the drive and motor may overheat and servo alarm

would be activated. For the detail specifications of servo drives and motors, please refer to Chapter 11

“Specifications”.

The drives shown in the above table are designed according to the three multiple of rated current of motors

shown in the above table. If the drives which are designed according to the six multiple of rated current of

motors are needed, please contact our distributors or your local Delta sales representative.

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1.4 Servo Drive Features

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

NOTE

1) Only 750W and above servo drives are provided with built-in regenerative resistors. The servo drives

below 400W are not.

2) CMD LED: A lit CMD LED indicates that the servo drive is ON (Servo On) or the motor speed is equal to

or higher than the setting value of P1-38 (>=P1-38 (ZSPD)).

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

1.5 Control Modes of Servo Drive

The Delta Servo can be programmed to provide five single and three dual modes of operation.

Their operation and description is listed in the following table.

Mode Code Description

Single

Mode

External Position Control P

Speed Control S

Internal Speed Control Sz

Torque Control T

Internal Torque Control Tz

S-P

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

Speed control for the servo motor can be achieved via parameters set within the servo drive or from an external analog -10 ~ +10 Vdc command. Control of the internal speed parameters is via the Digital Inputs (DI). (A maximum of three speeds can be stored internally).

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

Torque control for the servo motor can be achieved via parameters set within the servo drive or from an external analog -10 ~ +10 Vdc command. Control of the internal torque parameters is via the Digital Inputs (DI). (A maximum of three torque levels can be stored internally).

Torque control for the servo motor is only achieved via parameters set within the servo drive. Control of the internal torque parameters is via the Digital Inputs (DI). (A maximum of three torque levels can be stored internally).

Either S or P control mode can be selected via the Digital Inputs (DI). (Please refer to Chapter 7 for more detailed DI setting.)

Either T or P control mode can be selected via the Digital

Dual Mode

The above control modes can be accessed and changed via by parameter P1-01. If the control mode is

changed, switch the drive off and on after the new control mode has been entered. The new control mode

will only be valid after drive off/on action. Please see safety precautions on page iii (switching drive off/on

multiple times).

T-P

S-T

Inputs (DI). (Please refer to Chapter 7 for more detailed DI setting.)

Either S or T control mode can be selected via the Digital Inputs (DI). (Please refer to Chapter 7 for more detailed DI setting.)

1-8 Revision January 2009

Chapter 2 Installation and Storage

2.1 Installation Notes

Pay close attention on the following installation notes:

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

 When mounting servo drive, make sure to tighten screws to secure the drive in place.

 If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of

the servo motor, coupling, and device are followed. Failure to do so may cause unnecessary loads or

premature failure to the servo motor.

 If the length of cable connected between servo drive and motor is more than 20m (65.62ft.), please

increase the wire gauge of the encoder cable and motor connection cable (connected to U, V, W

terminals).

 Make sure to tighten the screws for securing motor.

2.2 Storage Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty coverage,

the AC servo drive should be stored properly when it is not to be used for an extended period of time. Some

storage suggestions are:

 Store in a clean and dry location free from direct sunlight.

 Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).

 Store within a relative humidity range of 0% to 90% and non-condensing.

 Do not store in a place subjected to corrosive gases and liquids.

 Correctly packaged and placed on a solid surface.

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Chapter 2 Installation and Storage|ASDA-B Series

2.3 Installation Conditions

Operating Temperature

ASDA-B Series Servo Drive : 0°C to 45°C (32°F to 113°F)

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

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

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

dust or metallic particles.

 Do not mount the servo drive or motor in a location where temperatures and humidity will exceed

specification.

 Do not mount the servo drive or motor in a location where vibration and shock will exceed specification.

 Do not mount the servo drive or motor in a location where it will be subjected to high levels of

electromagnetic radiation.

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Chapter 2 Installation and Storage|ASDA-B Series

2.4 Installation Procedure and Minimum Clearances

Installation Procedure

Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please

follow the guidelines in this manual when installing the servo drive and motor.

The ASDA-B servo drive should be mounted perpendicular to the wall or in the control panel. In order to

ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and sufficient free

space is given to the servo drive. Do not install the drive in a horizontal position or malfunction and damage

will occur.

Drive Mounting

The ASDA-B Servo drives must be back mounted vertically on a dry and solid surface such as a NEMA

enclosure. A minimum spacing of two inches must be maintained above and below the drive for ventilation

and heat dissipation. Additional space may be necessary for wiring and cable connections. Also, as the drive

conducts heat away via the mounting, the mounting plane or surface should be conductor away and not

conduct heat into the drive from external sources

Motor Mounting

The ECMA Servo motors should be mounted firmly to a dry and solid mounting surface to ensure maximum

heat transfer for maximum power output and to provide a good ground.

For the dimensions and weights specifications of servo drive or motor, please refer to Chapter 11

“Specifications".

Minimum Clearances

Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When

installing two or more drive adjacent to each other please follow the clearances as shown in the following

diagram.

Revision January 2009 2-3

Chapter 2 Installation and Storage|ASDA-B Series

 Minimum Clearances

2.0in

50mm()

min.

 Side by Side Installation

4.0in

100mm

()

min.

0.8in

20mm()

min.

2.0in

50mm()

min.

0.8in

20mm()

min.

FAN FAN

4.0in

100mm

()

min.

1.6in

40mm()

min.

4.0in

100mm

()

min.

0.4in

10mm()

min.

0.4in

10mm()

min.

0.4in

10mm()

min.

ir flowAir flow

()

4.0in

100mm

min.

1.6in

40mm()

min.

2-4 Revision January 2009

Chapter 3 Connections and Wiring

This chapter provides information on wiring ASDA-B series products, the descriptions of I/O signals and

gives typical examples of wiring diagrams.

3.1 Connections

3.1.1 Connecting to Peripheral Devices

In Figure 3.1, it briefly explains how to connect each peripheral device.

Figure 3.1

Revision January 2009 3-1

Chapter 3 Connections and Wiring|ASDA-B Series

3.1.2 Servo Drive Connectors and Terminals

Terminal

Identification

R, S, T

U, V, W FG

P, D, C

Terminal

Description

Main circuit terminal

Servo motor output

Regenerative resistor terminal

Notes

The Main Circuit Terminal is used to supply the servo with line power. If a single-phase supply, is used connect the R and S terminals to power. If 3-phase, connect all three R, S, & T terminals.

Used to connect servo motor

Terminal Symbol Wire Color

U Red

V White

W Black

FG Green

Ensure the circuit is closed between P

Internal resistor

External resistor

Only 750W and above servo drives are provided with builtin regenerative resistors. Ensure to leave the circuit closed between P and D when using a built-in (internal) regenerative resistor.

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.

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-B Series

Wiring Notes

Please observe the following wiring notes while performing wiring and touching any electrical

connections on the servo drive or servo motor.

1. Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, U, V, & W) is

correct.

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

electrical noise and interference.

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

any of the "power" terminals (R, S, T, U, V, & W) and/or the cables connected to them after the

power has been turned off and the charge LED is lit. (Please refer to the Safety Precautions on

page iii).

4. The cables connected to R, S, T and U, V, W terminals should be placed in separate conduits

from the encoder or other signal cables. Separate them by at least 30cm (11.8inches).

5. If the encoder cable is too short, please use a twisted-shield signal wire with grounding

conductor. The wire length should be 20m (65.62ft.) or less. For lengths greater than 20m

(65.62ft.), the wire gauge should be doubled in order to lessen any signal attenuation.

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

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

adequate wire size according to the voltage.

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

marked

) of the servo drive.

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

9. In this manual, actual measured values are in metric units. The recommended wire lengths in

(imperial units) are for reference only. Please use metric for precise measurements.

Revision January 2009 3-3

Chapter 3 Connections and Wiring|ASDA-B Series

3.1.3 Wiring Methods

For servo drives 1.5kW and below the input power can be either single or three-phase. For drives 2kW

and above only three-phase connections are available.

In the wiring diagram figures 3.2 & 3.3:

Power ON : contact “a” (normally open)

Power OFF or Alarm Processing : contact “b” (normally closed)

1MC/x : coil of electromagnetic contactor

1MC/a : self-holding power

1MC : contact of main circuit power

Figure 3.2 Single-Phase Power Supply Connection

3-4 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-B Series

Figure 3.3 Three-Phase Power Supply Connection

3.1.4 Motor Power Cable Connector Specifications

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

explanation.)

Motor Model Name U, V, W / Electromagnetic Brake Connector

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

HOUSING: JOWLE (C4201H00-2*2PA)

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

Terminal

Identification

HOUSING: JOWLE (C4201H00-2*3PA)

Revision January 2009 3-5

Chapter 3 Connections and Wiring|ASDA-B Series

Motor Model Name U, V, W / Electromagnetic Brake Connector

ECMA-G31303S (300W) ECMA-E31305S (500W) ECMA-G31306S (600W) ECMA-G31309S (900W) ECMA-C31010S (1000W) ECMA-E31310S (1000W) ECMA-E31315S (1500W) ECMA-C31020S (2000W) ECMA-E31320S (2000W)

3106A-20-18S

ECMA-E31820S (2000W)

Terminal

Identification

3106A-24-11S

(Red)

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

NOTE

1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 and BRAKE2.

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

(White)

(Black)

CASE GROUND

(Green)

BRAKE1 BRAKE2

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Chapter 3 Connections and Wiring|ASDA-B Series

3.1.5 Encoder Connector Specifications

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

explanation.)

Motor Model Name Encoder Connector

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

HOUSING: AMP (1-172161-9)

3106A-20-29S

Terminal

Identification

Terminal

Identification

AMP (1-

172161-9)

(Black)

(Black

/Red)

(White)

(White

/Red)

(Orange)

(Orange

/Red)

+5V

(Brown &

Brown/White)

GND

(Blue &

Blue/White)

BRAID

SHELD

A 1 4 2 5 3 6 7 8 9

Terminal

Identification

3106A-20-

29S

(Blue)

(Blue

/Black)

(Green)

/B (Green /Black)

(Yellow)

(Yellow

/Black)

+5V

(Red & Red

/White)

GND

(Black &

Black

/White)

BRAID

SHELD

B A B C D F G S R L

Revision January 2009 3-7

Chapter 3 Connections and Wiring|ASDA-B Series

3.1.6 Cable Specifications for Servo Drive and Servo Motor

Servo Drive and Servo Motor

ASD-B0121-A ECMA-C30401S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ASD-B0221-A ECMA-C30602S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

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

ASD-B0421-A

ASD-B0721-A

ASD-B1021-A

ASD-B1521-A ECMA-E31315S 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ASD-B2023-A

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

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

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

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

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

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

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

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

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

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

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

Power Cable - Wire Gauge mm2 (AWG)

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

Encoder Cable - Wire Gauge mm2 (AWG)

Servo Drive and Servo Motor

ASD-B0121-A ECMA-C30401S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-B0221-A ECMA-C30602S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-C30604S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-B0421-A

ASD-B0721-A

ASD-B1021-A

ASD-B1021-A ECMA-G31309S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-B1521-A ECMA-E31315S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ASD-B2023-A

ECMA-C308047 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-E31305S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-G31303S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-C30807S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-G31306S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-C31010S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-E31310S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-C31020S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-E31320S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

ECMA-E31820S 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

Wire Size Core Number UL Rating

Standard

Wire Length

(Please refer to Section 1.2 for model explanation)

NOTE

1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate

electrical noise and interference.

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

marked

3-8 Revision January 2009

) of the servo drive.

Chapter 3 Connections and Wiring|ASDA-B Series

3.2 Basic Wiring

Figure 3.4 Basic Wiring Schematic of 400W and below models

Revision January 2009 3-9

Chapter 3 Connections and Wiring|ASDA-B Series

Figure 3.5 Basic Wiring Schematic of 750W models

3-10 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-B Series

Figure 3.6 Basic Wiring Schematic of 1kW and above models

Revision January 2009 3-11

Chapter 3 Connections and Wiring|ASDA-B Series

3.3 Input / Output Interface Connector -CN1

The CN1 Interface Connector provides access to three signal groups:

i General interface for the analog speed and torque control, encoder reference signal from the motor,

open collector and line driver inputs, and reference voltages.

ii 6 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-15

iii 3 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-20

A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B & 3.C.

3.3.1 CN1 Terminal Identification

Figure 3.7 The Layout of CN1 Drive Connector:

CN1 Terminal Signal Identification

1 D03+

2 DO2+

3 DI4- Digital input

4 COM+ DI input common voltage rail

5 DI3- Digital input

6 T-REF Analog torque input (+)

7 VDD +24Vpower output (for external I/O)

8 GND Analog input signal ground

9 V-REF Analog speed input (+)

10 OA Encoder A pulse output

11 /OB Encoder /B pulse output

12 OB Encoder B pulse output

13 COM- VDD(24V) power ground

Digital output

14 DI6- Digital input

15 DI5- Digital input

16 DO1+

17 DI1- Digital input

18 DI2- Digital input

19 /SIGN Position sign (-)

20 SIGN Position sign (+)

21 /PULSE Pulse input (-)

22 PULSE Pulse input (+)

23 /OA Encoder /A pulse output

24 OZ Encoder Z pulse output

25 /OZ Encoder /Z pulse output

Digital output

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Chapter 3 Connections and Wiring|ASDA-B Series

NOTE

1) GND (Pin 8) and COM- (Pin 13) of CN1 connector are independent respectively and do not have

connection with the ground terminal outside the servo drive.

3.3.2 Signals Explanation of Connector CN1

The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the

general signals. Table 3.B details the Digital Output (DO) signals and Table 3.C details the Digital Input

(DI) signals. The General Signals are set by the factory and can not be changed, reprogrammed or

adjusted. Both the Digital Input and Digital Output signals can be programmed by the users.

Table 3.A General Signals

Signal Pin No Details

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

Analog

Signal

Input

V_REF 9

T_REF 6

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.

Wiring Diagram

(Refer to 3.3.3)

PULSE

Position

Pulse

Input

Position

Pulse

Output

Power

Ground

The Digital Input (DI) and Digital Output (DO) have factory default settings which correspond to the

/PULSE

SIGN

/SIGN

/OA

/OB

/OZ

VDD 7

COM+ COM-

GND 8 Analog input signal ground.

22 21 20 19

10 23

12 11

24 25

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.

The motor encoder signals are available through these terminals. The A, B, Z output signals can be Line Driver type. The Z output signal can be Open Collector type also, but the output maximum voltage is 5V and the maximum permissible current is 200mA.

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

C2/C3

C10/C11

various servo drive control modes. (See section 1.5). However, both the DI's and DO's can be

programmed independently to meet the requirements of the users.

Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding signal name and

wiring schematic. The factory default settings of the DI and DO signals are detailed in Table 3.F.

Revision January 2009 3-13

Chapter 3 Connections and Wiring|ASDA-B Series

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

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

default setting of DO1 (pin 16) is SRDY (servo ready) signal, but it can be assigned to SON (Servo On)

signal and vise versa.

The following Tables 3.B and 3.C detail the functions, applicable operational modes, signal name and

relevant wiring schematic of the default DI and DO signals.

Table 3.B DO Signals

Signal

Assigned

Control Mode

Pin No.

SRDY is activated when the servo drive is

SRDY ALL

(DO1)

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

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

SON ALL -

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.

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 ALL

(DO2)

For Example, at default ZSPD will be activated when the drive detects the motor rotating at speed at or below 10 rpm. ZSPD will remain activated until the motor speed increases above 10 RPM.

Details

(*1)

Wiring Diagram

(Refer to 3.3.3)

C4/C5/C6/C7

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

TSPD ALL -

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

When the drive is in P mode, TPOS will be

TPOS P -

activated when the position error is equal and below the setting value of P1-54.

TQL is activated when the drive has detected

TQL ALL -

that the motor has reached the torques limits set by either the parameters P1-12 ~ P1-14.

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

ALRM ALL

(DO3)

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

BRKR ALL - BRKR is activated actuation of motor brake.

OLW is activated when the servo drive has

OLW ALL -

detected that the motor has reached the output overload level set by parameter P2-37.

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Chapter 3 Connections and Wiring|ASDA-B Series

Signal

Assigned

Control Mode

Pin No.

Details

(*1)

Wiring Diagram

(Refer to 3.3.3)

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

WARN ALL -

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

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

settings of P2-10~P2-15.

Table 3.C DI Signals

Signal

SON

Assigned

Control Mode

Pin No. Details

(*2)

ALL 17 Servo On. Switch servo to "Servo Ready".

Wiring Diagram

(Refer to 3.3.3)

A number of Faults (Alarms) can be cleared by activating ARST. Please see section 10.3 for applicable faults that can be cleared with the

ARST

ALL 18

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

CCLR

ZCLAMP

CMDINV

INHP

TRQLM

SPDLM

ALL - Gain switching in speed and position mode

When CCLR is activated the setting is

P 5

parameter P2-48 Pulse Clear Mode is executed.

When this signal is On and the motor speed value is lower than the setting value of P1-38, it is used to lock the motor in the instant

S , T -

position while ZCLAMP is On. The parameter P2-38 should be enabled first if

the users want to set the speed command that has been accelerated and decelerated more smoothly.

ALL -

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

Pulse inhibit input. When the drive is in

P -

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

P , S , Sz -

T , Tz -

ON indicates the torque limit command is valid.

ON indicates the speed limit command is valid.

C8/C9

GNUM0

SPD0

SPD1

Revision January 2009 3-15

P - Electronic gear ratio (Numerator) selection 0

ALL -

Select the source of speed command: See Table 3.D.

Chapter 3 Connections and Wiring|ASDA-B Series

Signal

TCM0

TCM1

S-P

S-T

T-P

EMGS

CWL

CCWL

Assigned

Control Mode

Pin No. Details

ALL -

Sz , S , P -

Sz , S , Tz -

T , Tz , P -

ALL 14

ALL 3

ALL 15

(*2)

Select the source of torque command: See Table 3.E.

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)

C8/C9

TLLM

P , S -

Torque limit - Reverse operation (Torque limit

function is valid only when P1-02 is enabled)

TRLM

P , S -

Torque limit - Forward operation (Torque limit

function is valid only when P1-02 is enabled)

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

settings of P2-18~P2-20.

Table 3.D Source of Speed Command Table 3.E Source of Torque Command

SPD1 SPD0 Parameter TCM1 TCM0 Parameter

OFF OFF

S mode: analog input Sz mode: 0

OFF OFF

T mode: analog input Tz mode: 0

OFF ON P1-09 OFF ON P1-12

ON OFF P1-10 ON OFF P1-13

ON ON P1-11 ON ON P1-14

The user-defined DI and DO signals are defined via parameters P2-10 to P2-15 and P2-18 to P2-20.

Please refer to the following Table 3.F for the settings. Although the content of the Table 3.F does not

provide more information than the Table 3.B and Table 3.C above, as each control mode is separated

and listed in different row, it is easy for the users to view and can avoid confusion. However, the Pin

number of each signal can not be displayed in the Table 3.F.

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Chapter 3 Connections and Wiring|ASDA-B Series

Table 3.F Default DI Signals and DO Signals

The factory default settings of DI signals

Signal DI Code Function Default Settings

SON 01 Servo On DI1

ARST 02 Alarm Reset DI2

GAINUP 03 Gain switching in speed and position mode

CCLR 04 Pulse clear DI3

ZCLAMP 05 Zero speed CLAMP

CMDINV 06 Command input reverse control

INHP 07 Pulse inhibit input

TRQLM 09 Torque limit enabled

SPDLM 10 Speed limit enabled

GNUM0 11 Electronic gear ratio (Numerator) selection 0

SPD0 14 Speed command selection 0

SPD1 15 Speed command selection 1

TCM0 16 Torque command selection 0

TCM1 17 Torque command selection 1

S-P 18

S-T 19

T-P 20

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

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

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

EMGS 21 Emergency stop (contact b) DI6

CWL 22 Reverse inhibit limit (contact b) DI4

CCWL 23 Forward inhibit limit (contact b) DI5

TLLM 25 Torque limit - Reverse operation

TRLM 26 Torque limit - Forward operation

The factory default settings of DO signals

Signal DO Code Function Default Settings

SRDY 01 Servo ready DO1

SON 02 Servo On

ZSPD 03 At Zero speed DO2

TSPD 04 At Speed reached

TPOS 05 At Positioning completed

TQL 06 At Torques limit

ALRM 07 Servo alarm (Servo fault) activated DO3

BRKR 08 Electromagnetic brake control

OLW 09 Output overload warning

WARN 10 Servo warning activated

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Chapter 3 Connections and Wiring|ASDA-B Series

3.3.3 User-defined DI and DO signals

If the default DI and DO signals could not be able to fulfill the users’ requirements, there are still 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 P2-15 and P2-18 to P2-20.

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

Table 3.G User-defined DI and DO signals

Signal Name

DI1- 17 P2-10 DO1+ 16 P2-18

DI2- 18 P2-11 DO2+ 2 P2-19

DI3- 5 P2-12

DI4- 3 P2-13

DI5- 15 P2-14

DI6- 14 P2-15

Default Pin

No.

Parameter Signal Name

DO3+ 1 P2-20

Default Pin

No.

Parameter

DI signal:

For example: If the users want to set DI1 to be servo on, it only needs to set the value of parameter P2-

10 to 101 (refer to chapter 7).

NOTE

1) 14~17: Single control mode;18~20: Dual control mode; 0: Input function disabled

Setting of parameter P2-10 to P2-15:

DI Code Signal Description

01 SON Servo On

02 ARST Alarm Reset

03 GAINUP Gain switching in speed and position mode

04 CCLR Pulse clear

05 ZCLAMP Zero speed CLAMP

06 CMDINV Command input reverse control

07 INHP Pulse inhibit input

09 TRQLM Torque limit enabled

10 SPDLM Speed limit enabled

11 GNUM0 Electronic gear ratio (Numerator) selection 0

14 SPD0 Speed command selection 0

15 SPD1 Speed command selection 1

16 TCM0 Torque command selection 0

17 TCM1 Torque command selection 1

18 S-P Position / Speed mode switching (OFF: Speed, ON: Position)

3-18 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-B Series

Setting of parameter P2-10 to P2-15:

DI Code Signal Description

19 S-T Speed / Torque mode switching (OFF: Speed, ON: Torque)

20 T-P Torque / Position mode switching (OFF: Torque, ON: Position)

21 EMGS Emergency stop (contact b)

22 CWL Reverse inhibit limit (contact b)

23 CCWL Forward inhibit limit (contact b)

25 TLLM Torque limit - Reverse operation

26 TRLM Torque limit - Forward operation

DO signal:

For example: If the users want to set DO1 to be servo ready, it only needs to set the value of parameter

P2-18 to 101 (refer to chapter 7).

NOTE

1) 0: Output function disabled

DO Code Signal Description

01 SRDY Servo ready

02 SON Servo On

03 ZSPD At Zero speed

04 TSPD At Speed reached

05 TPOS At Positioning completed

06 TQL At Torques limit

07 ALRM Servo alarm (Servo fault) activated

08 BRKR Electromagnetic brake control

09 OLW Output overload warning

10 WARN Servo warning activated

Setting of parameter P2-18 to P2-20:

Revision January 2009 3-19

Chapter 3 Connections and Wiring|ASDA-B Series

3.3.4 Wiring Diagrams of I/O Signals (CN1)

The valid voltage range of analog input command in speed and torque mode is -10V ~+10V.

The command value can be set via relevant parameters.

C1: Speed / Torque analog signal input

There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse

frequency of Line driver input is 500kpps and max. input pulse frequency of Open-collector input is

200kpps.

NOTE

1) In order to protect the internal circuit, when using open collector input, please

ensure to connect one 1 ~ 2 KΩ current limit resistor before Pin 19(/SIGN) and

Pin 21(/PULSE) respectively (Please refer to the wiring diagram on next page).

2) For the specifications of connected current limit resistor, please refer to the

table below:

Vdc Specifications

24V 1KΩ

12V 500Ω

−

2Vdc

Equation: mA

100

≅

3-20 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-B Series

C2-1: Pulse input (Open collector – internal power)

ervo Drive

Please ensure to connect the resistor or the photocoupler

may be damaged due

to excessive current.

C2-2: Pulse input (Open collector – external power)

Approx. 1K

VDD

19 /SIGN

20 SIGN

21 /PULSE

22 PULSE

COM-

DC24V Max. input pulse frequency is 200kpps

ervo Drive

Please ensure to connect the resistor or the photocoupler

may be damaged

due to excessive

current.

Vdc

Approx. 1K

VDD

19 /SIGN

20 SIGN

21 /PULSE

DC24V Ma x. in put p ulse frequency is 200kpps

22 PULSE

COM-

Revision January 2009 3-21

Chapter 3 Connections and Wiring|ASDA-B Series

C3: Pulse input (Line Driver)

Because this

photocoupler is a

unidirectional

optocoupler, please pay

close attention on the

current direction of input

pulse command.

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

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

C4: Wiring of DO signal, for the use of internal power supply, general load

C5: Wiring of DO signal, for the use of internal power supply, inductive load

3-22 Revision January 2009

Chapter 3 Connections and Wiring|ASDA-B Series

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

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

power supply, general load

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

C8: Wiring of DI signal, for the use of internal

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

power supply

power supply, inductive load

power supply

C10: Encoder output signal (Line driver) C11: Encoder output signal (Photocoupler)

Revision January 2009 3-23

Chapter 3 Connections and Wiring|ASDA-B Series

3.4 Encoder Connector CN2

Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal.

When power is first applied to the servo drive, control algorithms detect the motor's rotor position through

imbedded sensors in the motor within 500msec approximately.

Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires. Following

rotor position sensing the amplifier automatically switches to encoding for commutation control.

The 2500PPR encoder is automatically multiplied to 10000PPR by X4 logic for increased control accuracy.

Figure 3.8 The layout of CN2 Drive Connector:

Pin No Signal Name

4 A phase input A

5 /A phase input /A

3 B phase input B

2 /B phase input /B

Identification

CN2 Terminal Signal Identification

Terminal

Description

Encoder A phase output

Encoder /A phase output

Encoder B phase output

Encoder /B phase output

Connector

Military

A A1 Black

B A4 Black / Red

C A2 White

D A5 White / Red

Fast

Connector

Wire Color

9 Z phase input Z

1 /Z phase input /Z

8 Encoder power +5V Encoder 5V power S A7

6, 7 Encoder power GND Grounding R A8

Shielding Shielding Shielding L A9 Shielding

3-24 Revision January 2009

Encoder Z phase output

Encoder /Z phase output

F A3 Orange

G A6

Orange / Red

Brown &

Brown / White

Blue &

Blue / White

Chapter 3 Connections and Wiring|ASDA-B Series

3.5 Serial Communication Connector CN3

3.5.1 CN3 Terminal Layout and Identification

The servo drive can be connected to a PC or controller via a serial communication connector. The users

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

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

interfaces: RS-232, and RS-485 connection. RS-232 is mostly be used but is somewhat limited. The

maximum cable length for an RS-232 connection is 15 meters (50 feet). Using RS-485 interface can

allow longer distance for transmission and support multiple drives to be connected simultaneously.

Figure 3.9 The layout of CN3 Drive Connector:

CN3 Drive Connector

CN3 Terminal Signal Identification

Pin No Signal Name

1 RS-485- RS-485-

2 Signal power +5VD

3 RS-485+ RS-485+

RS-232 data receiving

RS-232 data transmission

Terminal

Identification

RS-232-RX

RS-232-TX

Description

For data transmission of the servo drive. Connected to the RS-485- interface of PC.

For data transmission of the servo drive. Connected to the RS-485+ interface of PC.

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

For data transmission of the servo drive. Connected to the RS-232 interface of PC. Please refer to section 3.5.2.

RS-232 / RS-485

8 Grounding GND

1) In order to avoid the communication error, if the users use their own communication connector,

Revision January 2009 3-25

data format selection

Re-flash selection

NOTE

ensure the circuit between the connector case and all pins is not closed.

SEL232 / 485

Boot_Load

RS-232 & RS-485 data format selection For RS-485 connection, connect SEL232/485(Pin6)

to GND(Pin8). For RS-232 connection, do not connect SEL232/485(Pin6) to GND(Pin8).

Boot_Load terminal for DSP Reflash burn-in selection (Do not connect this terminal).

Chapter 3 Connections and Wiring|ASDA-B Series

2) When using RS-232 communication, the user can use the communication cable provided by Delta

PLC directly. (The PLC communication cable is compatible with all Delta Servo systems for the

users’ convenience)

3.5.2 Connection between PC/Keypad and Connector CN3

Connection between PC and CN3



PC or

Notebook

Connection between Keypad and CN3



1 3 5 7 9

KEYPAD

2 4

CN3 Dr i ve Co nnec tor

CN3 Drive Connector

3-26 Revision January 2009

3.6 Standard Connection Example

3.6.1 Position Control Mode

Chapter 3 Connections and Wiring|ASDA-B Series

Revision January 2009 3-27

Chapter 3 Connections and Wiring|ASDA-B Series

3.6.2 Speed Control Mode

3-28 Revision January 2009

3.6.3 Torque Control Mode

Chapter 3 Connections and Wiring|ASDA-B Series

Revision January 2009 3-29

Chapter 3 Connections and Wiring|ASDA-B Series

This page intentionally left blank.

3-30 Revision January 2009

Chapter 4 Display and Operation

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

There are several modes of operation:

Monitor, Parameter, Parameter Setting, Save, Write and Fast Edit Mode.

In Monitor mode, users can display the monitor status. In Parameter mode, users can display and view the

parameter name, unit and setting value, and also can navigate in parameter groups. In Parameter Setting

mode, users can edit and change the parameter setting value. In Save mode, it allows users to save the

parameters stored in PC or the servo drive into the digital keypad. In Write mode, it allows users to write the

parameters out of the digital keypad and restored in the servo drive. Please note that the status monitor

function of the servo drive is disabled and the LED indicators on the digital keypad are invalid at this time

when in Save mode and Write mode. In Fast Edit mode, users can edit the parameters more quickly. Also,

static and dynamic auto-tuning is also provided in this mode.

If users desire to upgrade the firmware version of the digital keypad, please open the rear case of the keypad

and turn the switch to BOOTLOAD. Then, execute the PC program and the firmware will be upgraded.

For the keypad parameters and fault messages (Alarm codes), please refer to Chapter 7 and Chapter 10.

4.1 ASD-PU-01A

4.1.1 Description of Digital Keypad ASD-PU-01A

The digital keypad includes the ASD-PU-01A display panel and function keys. The Figure 4.1 shows all

of the features of the ASD-PU-01A digital keypad and an overview of their functions.

Figure 4.1

LCD Display

Status Display (LED Indication)

MODE Key

UP and DOWN Key

SHIFT Key

JOG Key

RESET Key

WRITE Key

Revision January 2009 4-1

SET Key

Fast Edit Key

SAVE Key

Chapter 4 Display and Operation|ASDA-B Series

Name Function

LCD Display

2 line × 16 character LCD display shows the monitor codes, parameter settings and operation values of the AC servo drive.

SON LED (Servo On Indicator). A lit LED illuminates to indicate that the servo drive is enabled.

ALRM LED (Alarm Output Indicator). A lit ALRM LED illuminates to indicates that a alarm output is activated.

Status Display

(LED Indication)

JOG LED (JOG Operation Indicator). A lit JOG LED illuminates to indicates that JOG operation is enabled.

TSPD LED (Speed reached Indicator). A lit TSPD LED illuminates to indicates that the target speed is reached and TSPD signal is activated.

TPOS LED (Positioning completed Indicator). A lit TPOS LED illuminates to indicates that the target position is reached and TPOS signal is activated.

MODE Key. Pressing MODE key can enter or exit different parameter groups, and

MODE

switch between Parameter mode and Parameter Setting mode, SAVE mode and WRITE mode.

SHIFT Key. In Parameter mode, pressing SHIFT key can scrolls through parameter

SHIFT

groups. In Parameter Setting mode and SAVE mode, after a parameter is selected and its value displayed, pressing SHIFT key can move the cursor to the left and then change parameter settings (blinking digits) by using arrow keys.

UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll through and change monitor codes, parameter groups and various parameter settings.

In SAVE and WRITE mode, pressing UP and DOWN arrow key can scroll through and change the memory blocks. In SAVE mode, pressing UP and DOWN arrow key can select and change the memory file name also.

SET Key. Pressing Set key can enter into the Parameter Setting mode, then display,

SET

select and save parameter groups and various parameter settings. During diagnosis operation, pressing SET key can execute the function in the last step.

(The parameter settings changes are not effective until the SET key is pressed.)

JOG Key. Pressing JOG key can enable JOG operation immediately. 1st pressing:

JOG

enter JOG operation. 2nd pressing: exit JOG operation. Please refer to Section 4.4.3 for operation.

ARST

SAVE

WRITE

Reset Key. Pressing ARST key can Used to clear a fault (Alarm). This key is available in any modes.

SAVE Key. Pressing SAVE key can save parameter settings to the digital keypad. Please refer to Section 4.2.2 for operation.

WRITE Key. Pressing WRITE key can write out the parameter settings in the digital keypad and send to the servo drive. Please refer to Section 4.2.3 for operation.

Fast Edit Key. Pressing Fast Edit key can use three special functions: Fast Editing, Static Auto-tuning and Dynamic Auto-tuning. Fast editing function:

1) 1st pressing: Enable the Fast Editing function. When Fast Editing function is

Fast Edit

enabled, using UP and DOWN arrow key can browse, search and edit the parameters that have been edited before directly and quickly. The parameter setting method is the same as usual.

2) 2nd pressing: Disable the Fast Editing function. Static Auto-tuning and Dynamic Auto-tuning function: Please refer to Section 4.2.4

for operation.

NOTE

1) The functions of MODE, SHIFT, UP and DOWN, and SET keys are the same as the function keys of

ASDA-A series servo drive.

4-2 Revision January 2009

Chapter 4 Display and Operation|ASDA-B Series

4.1.2 Display Flowchart

Monitor Mode, Parameter Mode and Parameter Setting Mode

1. When the power is applied to the AC servo drive, the digital keypad will execute communication

initial setup for approximately two seconds (9600bps & 7,N,2 Modbus ASCII) first, and then enter

into the monitor mode.

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

3. In monitor mode, pressing MODE key can enter into parameter mode, pressing the SHIFT key

can switch parameter group and pressing UP or DOWN arrow key can change parameter group

code.

4. In parameter mode, system will enter into the parameter setting mode immediately after the SET

key is pressed. The LCD display will display the corresponding setting value of this parameter

simultaneously. Then, users can use UP or DOWN arrow key to change parameter value or press

MODE key to exit and return back to the parameter mode.

5. In parameter setting mode, users can move the cursor to left by pressing the SHIFT key and

change the parameter settings (blinking digits) by pressing the UP or DOWN arrow key.

6. After the setting value change is completed, press SET key to save parameter settings or execute

command.

7. When the parameter setting is completed, LCD display will show the end code “-SET END-“ and

automatically return back to parameter mode.

Figure 4.2

Monitor Mode

STS00:Fb PULSE 0 p ulse

Parameter Mode

GROUP0

GROUP1

GROUP2

GROUP3

P0-00:VER

0.005

P1-00:PTT 2

P2-00:KPP 70 rad/s

P3-00:ADR 1

STS01:Fb REV 0 rev

MODE

SHIFT

P0-01:ALE 0

P1-01:CTL 0

P2-01:PPR 100 %

P3-01:BRT 3 bps

STS02:CMD PULSE

0 pulse

P0-02:STS 0

P1-02:PSTL 0

P2-02:PFG 50 %

P3-02:PTL 0

STS15:IGBT temp 3 3 d eg C

Parameter

Setting Mode

Edit Setting Values

10000

10001

SET

GROUP4

GROUP8

Revision January 2009 4-3

P4-00:ASH1 1

SHIFT

P8-00:VERSION

1.001

P4-01:ASH2 1

P8-01:MISC FUN 1

P4-02:ASH3 1

P8-05:KPD ID 255

SET

SET END

Save Setting Values

Chapter 4 Display and Operation|ASDA-B Series

SAVE Mode (Save parameter settings from the Drive to the Keypad)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing SAVE key can switch to SAVE mode.

3. In SAVE mode, pressing SAVE key can execute the function the users select and save the new

parameter settings.

4. In SAVE mode, pressing UP and DOWN key can save the desired memory block that the users

want to save.

5. If the desired memory block has not been used, the LCD display will show the message

“xxxxxxxx”. If the desired memory block has been used and there are parameters data saved in

it, the LCD display will show the MCU version of the servo drive and the preset file name, such

as “BL001-XX”. The last two words “XX” can be modified by the users and its range is within 0 ~

9 or A ~Z. The users can select the words by using UP and DOWN keys and change the words

by using SHIFT key.

6. In SAVE mode, pressing MODE key once can return to the previous display and finally exit the

SAVE mode. However, if the users have pressed the SAVE key, i.e. the SAVE operation has

been executed, the MODE key will become disabled, the users cannot return to previous

display and only can move to the next step.

7. The users can save the parameters in some memory block repeatedly on the condition that the

version, inertia and models of the servo drives should be the same. If one of the parameters is

set by the servo drive in different condition, it cannot be saved into the same memory block with

other parameters and must be saved to other memory blocks. Before re-using the same

memory block, please perform the “Memory Block Clear” function first (Please see the

description of parameter P8-11).

Figure 4.3

SAVE

KPD SAVE yes?

SAVE

KPD SAVE 0.000 ROM00:********

KPD SAVE 0.000 ROM01:********

KPD SAVE 0.000 ROM24:********

Press key to return to previous display

MODE

KPD SAVE 0.000 ROM00:saving

KPD SAVE 0.006 ROM00:BL003-00

YES

SAVE

MODE

KPD SAVE 0.000 ROM00:********?

SAVE

4-4 Revision January 2009

Chapter 4 Display and Operation|ASDA-B Series

WRITE Mode (Parameter settings written out from Keypad to the Drive)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing WRITE key can switch to WRITE mode.

3. In WRITE mode, pressing WRITE key can execute the function the users select and save the

new parameter settings.

4. In WRITE mode, pressing UP and DOWN key can write out the desired memory block that the

users want to write out.

5. If the desired memory block has not been used, the LCD display will show the message

“xxxxxxxx”. If the desired memory block has been used and there are parameters data saved in

it, the LCD display will show the MCU version of the servo drive and the preset file name, such

as “BL001-XX”. The last two words “XX” can be modified by the users and its range is within 0 ~

9 or A ~Z. The users can select the words by using UP and DOWN keys and change the words

by using SHIFT key.

6. In WRITE mode, pressing MODE key once can return to the previous display and finally exit the

WRITE mode.

7. Only the parameters of the same version, the same inertia and the same model type of the

servo drives can be written out. If the servo drive version stored in the keypad is different than

the actual servo drive version, the users can make them the same via Delta Servo Drive PC

software, ASDAB_SW.

Figure 4.4

WRITE

KPD WRITE yes?

WRITE

KPD WRITE 0.006 ROM00:BL003-00

KPD WRITE 0.006 ROM01:BL003-01

Press key to return to previous displ ay

MODE

ALARM 47 MODEL MATCH ERR

MODE

WRITE

KPD WR ITE 0.006 ROM00:BL003-00?

WRITE

KPD WRITE 0.006 ROM24:BL003-24

KPD WRITE 0.006 ROM00:writing

YES

Revision January 2009 4-5

Chapter 4 Display and Operation|ASDA-B Series

Fast Edit Mode (Fast Editing, Static & Dynamic Auto-tuning)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing Fast Edit key can switch to Fast Edit mode.

3. In Fast Edit mode, pressing Fast Edit key can execute the function the users select and save

the new parameter settings.

4. In Fast Edit mode, pressing UP and DOWN key can scroll through the functions freely.

5. In Fast Edit mode, the users can enable or disable the Fast Editing function and browse through

the parameters that have been edited before.

6. In Fast Edit mode, when Static Auto-tuning function is enabled, the users can input the value of

responsiveness (frequency width), motor load inertia and stiffness directly.

7. In Fast Edit mode, when Dynamic Auto-tuning function is enabled, the users can input the value

of motor rotation number, motor rotation frequency, motor rotation time and responsiveness

directly.

8. Static Auto-tuning function only can be enabled in Manual mode (P2-32 is set to 0). If it is

enabled in AutoMode, an error message may display.

9. Dynamic Auto-tuning function only can be enabled in AutoMode (P2-32 is set to 1 or 2). If the

users want to use the Dynamic Auto-tuning function in Manual mode, please press MODE key

FEDIT:AUTO D -L

to skip

this step (Please see Figure 4.5 on next page).

10. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit

the Fast Edit mode (Please see Figure 4.5 on next page).

4-6 Revision January 2009

Figure 4.5

Chapter 4 Display and Operation|ASDA-B Series

Fast Editing

FEDIT:PR EDIT PR ENABLE

Dynamic Auto-tuning

FEDIT:AUTO D

MODE

FEDIT:AUTO D -R 2 rev

FEDIT:AUTO D -F

1.0 HZ

Fast Edit

STS00:Fb PULSE 0 pu lse

MODE

FEDIT:PR EDIT

FEDIT:PR EDIT PR DISABLE

FEDIT:AUTO D -R 3 HZ

FEDIT:AUTO D -F

1.1 HZ

Fast Edit

FEDIT:AUTO S

MODE

FEDIT:AUTO S -BW 100 HZ

FEDIT:AUTO S -JR

1.0 HZ

FEDIT:AUTO S -RH

1.0 00 HZ

FEDIT:AUTO S -RH PR Dload

Static Auto-tuning

靜態自動增益

Fast Edit

MODE

FEDIT:AUTO S

FEDIT:AUTO S -BW 101 HZ

FEDIT:AUTO S -JR

1.1 HZ

FEDIT:AUTO S -RH

1. 001 H Z

MODE

FEDIT:AUTO D -T 15 s

Fast Edit

FEDIT:AUTO D -L 6

Fast Edit

FEDIT:AUTO D -L PR Dload

FEDIT:AUTO D -T 16 s

FEDIT:AUTO D -L 7

Revision January 2009 4-7

Chapter 4 Display and Operation|ASDA-B Series

4.1.3 Status Display

Save Setting Display

After the SET key is pressed, LCD display will show the following display messages for approx. one

second according to different status.

Display Message Description

EEN

0-0

A L

EON

1-1

OSS

P W

0-2

T R

AER

EVP

The setting value is saved correctly.

This parameter is read only. Write-protected. (cannot be changed)

OSP

R D

SPP

Invalid password or no password was input.

The setting value is error or input reserve setting value.

0-1

T R

EER

ALT N

Abort Setting Display

Display Message Description

0-0

EVP

Fault Message Display

Display Message Description

1A0RAM

VCLRRRE N T

E U

Polarity Setting Display

The servo module is enabled and this parameter cannot be changed.

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 “ALARMnn”. “ALARM” indicates the alarm and “nn” indicates the drive fault code. The display range of alarm code “nn” is 1 to 48. For the list of drive fault code, please refer to parameter P0-01 or refer to Chapter 10 (Troubleshooting).

Display Message Description

1000 mpr

1000 mpr-

4-8 Revision January 2009

PSP

Positive value display. When entering into parameter setting mode, pressing UP or DOWN arrow key can increase or decrease the display value. SHIFT key is used to change the selected digit (The selected digit will blink).

Negative value display. When the parameter setting is greater than five digits, after the display value is set, continuously press SHIFT key for six times and then the negative sign will show up to indicate a negative value.

Chapter 4 Display and Operation|ASDA-B Series

Monitor Setting Display

In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or

change parameter P0-02 directly to specify the monitor status. When the power is applied, the monitor

status depends on the setting value of P0-02. For example, if the setting value of P0-02 is 2 when the

power is applied, the C.P monitor symbol will first display and then show the “Pulse counts of pulse

command [pulse]” monitor status.

P0-02

Setting

Display Message Description Unit

0TS0

bFS

LPUS

Motor feedback pulse number pulse

lpu

0TS1

bFS

VRE

Motor feedback rotation number rev

0TS2

MCS

vre

LPUS

Pulse counts of pulse command pulse

lpu

0TS3

MCS

DVR

Rotation number of pulse command rev

0TS4

LPUS

vre

RES

Position error counts pulse

0TS5

lpu

Input frequency of pulse command kHz

zkH

S:TS1

0TS6

0TS7

0TS8

0TS9

00. lotv

ESP E

DCM D

DCM L

GAV ADLO

Speed input command volt

Motor rotation speed rpm

Speed input command rpm

Torque input command volt

Torque input command Nt-m

Average load %

Revision January 2009 4-9

Chapter 4 Display and Operation|ASDA-B Series

P0-02

Setting

The following table lists the display examples of monitor value:

Display Message Description

Display Message Description Unit

TS1

S:TS10JL4

APE A

uVb3

TTS1

BIG mpTe5

otv

iet

eCd

Peak load %

Main circuit voltage volt

Ratio of load inertia to Motor inertia time

IGBT Temperature of power supply module

degC(°C)

0TS6

0TS7

003

003-

0.5

ESP E

DCM D

Positive value display.

Display value: +3000.

Negative value display.

Display value: -3000。

Decimal point display. Display value: 5.00.

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Chapter 4 Display and Operation|ASDA-B Series

4.1.4 Fault Code Display Operation

After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the

corresponding fault code history for the parameter or press UP arrow key to display the fault code of

ASH1 to ASH5 in order. ASH1 indicates the most recent occurred fault code, ASH2 is the previous

occurred fault code before ASH1 and so on.

Figure 4.8

Fault Code History Current Display Fault Code History

SAP

Status Display

SET

P:04

SAP

SET

P:04

SAP

SET

P:04

SET

Revision January 2009 4-11

Chapter 4 Display and Operation|ASDA-B Series

4.1.5 JOG Operation

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

or press JOG key on the digital keypad to enter into parameter setting mode of P4-05 directly.

Step 1. Press the SET key to display the JOG rpm speed. (The default value is 20 rpm).

Step 2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. (This also

can be undertaken by using the SHIFT key to move the cursor to the desired unit column (the

effected number will flash) then changed using the UP and DOWN arrow keys. The example

display in Figure 4.8 is adjusted as 100rpm.)

Step 3. Press the SET key when the desired JOG speed is set. The Servo Drive will display "JOG" and

JOG LED will light up.

Step 4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will only

rotate while the arrow key is activated.

Step 5. To change JOG speed again, press the MODE key. After JOG speed is changed, press the

SET key and the JOG operation will run again. Refer back to #2 and #3 to change speed.

NOTE

1) JOG operation is effective only when Servo On (when the servo drive is enabled).

2) Before pressing JOG key, please ensure to confirm that P2-10 (DI1) is set to 101 (Servo On).

Otherwise, the JOG operation cannot be enabled even if the JOG key has been pressed.

3) The users can set the acceleration and deceleration time in advance (the settings of parameter P1-

34, P1-35 and P1-36).

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Figure 4.9

Chapter 4 Display and Operation|ASDA-B Series

SET

r02pm

r12pm

MODE

CCW

r00pm

rpm

SET

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Chapter 4 Display and Operation|ASDA-B Series

4.1.6 DO Force Output Diagnosis Operation

For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using

parameter P4-06. Follow the setting method in Figure 4.10 to enter into DO force output diagnosis

operation (OP x) mode (“x” indicates the parameter range from 0 to 7). Pressing UP or DOWN arrow

key can change “x” value from 0 to 7 (hexadecimal format) and force digital outputs DO1 to DO3 to be

activated (ON) or inactivated (OFF). The DO function and status is determined by P2-18 to P2-20. This

function is enabled only when Servo Off (the servo drive is disabled).

Figure 4.10

Force DO1 to be activated

06 T

SET

Force DO2 to be activated

Force DO3 to be activated

06 T

2OP

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Chapter 4 Display and Operation|ASDA-B Series

4.1.7 DI Diagnosis Operation

Following the setting method in Figure 4.11 can perform DI diagnosis operation (parameter P4-07).

According to the ON and OFF status of the digital inputs DI1 to DI6, the corresponding status will

display on the servo drive LCD display. When the segment lit and display on the screen, it means that

the corresponding digital input signal is ON.

Figure 4.11

04-7

04-7ST

SET

TIP

DI6: ON DI5: ON DI4: ON DI3: OFF DI2: OFF DI1: ON

4.1.8 DO Diagnosis Operation

Following the setting method in Figure 4.12 can perform DO diagnosis operation (parameter P4-09).

According to the ON and OFF status of the digital outputs DO1 to DO3, the corresponding status will

display on the servo drive LCD display. When the segment lit and display on the screen, it means that

the corresponding digital input signal is ON.

Figure 4.12

SET

OMT

DI3: ON DI2: ON DI1: OFF

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Chapter 4 Display and Operation|ASDA-B Series

4.1.9 Parameters Read and Write

Digital keypad provides the servo parameters read and write function not only for the servo drive but

also for PC side. The function of parameter read and write must be set via the PC software (Please see

Figure 4.6 & Figure 4.7). The users can use this software to read, write and manage all parameters.

When using this software to read and write parameters, the communication method of keypad

parameter P8-01 must be set to 0.

Figure 4.6

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Figure 4.7

Chapter 4 Display and Operation|ASDA-B Series

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Chapter 4 Display and Operation|ASDA-B Series

4.2 ASD-PU-01B

4.2.1 Description of Digital Keypad ASD-PU-01B

The digital keypad includes the ASD-PU-01B display panel and function keys. The Figure 4.8 shows all

of the features of the ASD-PU-01B digital keypad and an overview of their functions.

Figure 4.8

Name Function

LED Display

Status Display

(LED Indication)

5-digit LED display shows the monitor codes, parameter settings and operation values of the AC servo drive.

SON LED (Servo On Indicator). A lit LED illuminates to indicate that the servo drive is enabled.

ALRM LED (Alarm Output Indicator). A lit ALRM LED illuminates to indicates that a alarm output is activated.

JOG LED (JOG Operation Indicator). A lit JOG LED illuminates to indicates that JOG operation is enabled.

TSPD LED (Speed reached Indicator). A lit TSPD LED illuminates to indicates that the target speed is reached and TSPD signal is activated.

MODE Key. Pressing MODE key can enter or exit different parameter groups, and

switch between Parameter mode and Parameter Setting mode, SAVE (

mode and WRITE (

SHIFT Key. In Parameter mode, pressing SHIFT key can scrolls through parameter

groups. In Parameter Setting mode and SAVE ( selected and its value displayed, pressing SHIFT key can move the cursor to the left and then change parameter settings (blinking digits) by using arrow keys.

) mode.

)

) mode, after a parameter is

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Chapter 4 Display and Operation|ASDA-B Series

Name Function

UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll through and change monitor codes, parameter groups and various parameter settings.

In SAVE ( arrow key can scroll through and change the memory blocks. In SAVE mode, pressing UP and DOWN arrow key can select and change the memory file name also.

SET Key. Pressing SET key can enter into the Parameter Setting mode, then display, select and save parameter groups and various parameter settings. During diagnosis operation, pressing SET key can execute the function in the last step.

(The parameter settings changes are not effective until the SET key is pressed.)

Function Key. Pressing Function key can enable JOG, Reset, Parameter Read & Write, Fast Editing, Static Auto-tuning and Dynamic Auto-tuning these functions.

) mode and WRITE ( ) mode, pressing UP and DOWN

4.2.2 Display Flowchart

Monitor Mode, Parameter Mode and Parameter Setting Mode

1. When the power is applied to the AC servo drive, the digital keypad will execute communication

initial setup for approximately two seconds (9600bps & 7,N,2 Modbus ASCII) first, and then enter

into the monitor mode.

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

3. In monitor mode, pressing MODE key can enter into parameter mode, pressing the SHIFT key

can switch parameter group and pressing UP or DOWN arrow key can change parameter group

code.

4. In parameter mode, system will enter into the parameter setting mode immediately after the SET

key is pressed. The LED display will display the corresponding setting value of this parameter

simultaneously. Then, users can use UP or DOWN arrow key to change parameter value or press

MODE key to exit and return back to the parameter mode.

5. In parameter setting mode, users can move the cursor to left by pressing the SHIFT key and

change the parameter settings (blinking digits) by pressing the UP or DOWN arrow key.

6. After the setting value change is completed, press SET key to save parameter settings or execute

command.

7. When the parameter setting is completed, LED display will show the end code “-END-“ and

automatically return back to parameter mode.

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Chapter 4 Display and Operation|ASDA-B Series

Figure 4.9

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Chapter 4 Display and Operation|ASDA-B Series

SAVE Mode ( Save parameter settings from the Drive to the Keypad)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing FUNC key first. Then, pressing UP key four times or DOWN key

three times can switch to SAVE mode.

3. In SAVE mode, pressing UP and DOWN key can save the desired memory block that the users

want to save.

4. If the desired memory block has not been used, the LED display will show the message “00000”

or “10000” or “20000” or “30000”, etc. If the desired memory block has been used and there are

parameters data saved in it, the LED display will show the MCU version of the servo drive and

the preset file name. For example, if the MCU version is 1.014, the message “01014” or “11014”

or “21014” or “31014”, etc. will show on the LED display. The users can change the save

address (memory block) by using UP and DOWN keys.

5. After the save address (memory block) is selected, press FUNC key, the LED display will show

. At this time, pressing MODE key once can return to the previous display, pressing

FUNC key can record the address and save the data. When recording the address, the LED

display will show

. After the address is saved to the keypad, the LED display will

show “0XXXX” (such as “01012” shown in Figure 4.10 on next page).

6. In SAVE mode, pressing MODE key once can return to the previous display and finally exit the

SAVE mode. However, if the users have pressed the FUNC key and enter into SAVE mode, i.e.

the SAVE operation has been executed, the MODE key will become disabled, and the users

cannot return to previous display and only can move to the next step.

7. The users can save the parameters in some memory block repeatedly on the condition that the

version, inertia and models of the servo drives should be the same. If one of the parameters is

set by the servo drive in different condition, it cannot be saved into the same memory block with

other parameters and must be saved to other memory blocks. Before re-using the same

memory block, please perform the “Memory Block Clear” function first (Please see the

description of parameter P8-11).

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Chapter 4 Display and Operation|ASDA-B Series

Figure 4.10

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Chapter 4 Display and Operation|ASDA-B Series

WRITE Mode ( Parameter settings written out from Keypad to the Drive)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing FUNC key first. Then, pressing UP key five times or DOWN key two

times can switch to WRITE mode.

3. In WRITE mode, pressing UP and DOWN key can write out the desired memory block that the

users want to write out.

4. If the desired memory block has not been used, the LED display will show the message “00000”

or “10000” or “20000” or “30000”, etc. If the desired memory block has been used, the LED

display will show the MCU version of the servo drive and the preset file name. For example, if

the MCU version is 1.014, the message “01014” or “11014” or “21014” or “31014”, etc. will show

on the LED display. The users can change the write address (memory block) by using UP and

DOWN keys.

5. After the write address (memory block) is selected, press FUNC key, the LED display will show

. At this time, pressing MODE key once can return to the previous display, pressing

FUNC key can record the address and write out the data. When recording the address, the LED

display will show

. After the address is written, the LED display will show “0XXXX”

(such as “01012” shown in Figure 4.11 on next page).

6. In WRITE mode, pressing MODE key once can return to the previous display and finally exit the

WRITE mode.

7. Only the parameters of the same version, the same inertia and the same model type of the

servo drives can be written out. If the servo drive version stored in the keypad is different than

the actual servo drive version, the users can make them the same via Delta Servo Drive PC

software, ASDAB_SW.

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Chapter 4 Display and Operation|ASDA-B Series

Figure 4.11

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Chapter 4 Display and Operation|ASDA-B Series

Fast Edit Mode ( Fast Editing Function)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing FUNC key once can switch to Fast Edit mode.

3. In Fast Edit mode, pressing FUNC key can enable and disable Fast Editing function. When

display on the LED display, it indicates Fast Editing function is enabled. When

display on the LED display, it indicates Fast Editing function is disabled.

4. In Fast Edit mode, the users can enable or disable the Fast Editing function and browse through

the parameters that have been edited before.

5. In Fast Edit mode, when Static Auto-tuning function is enabled, the users can input the value of

responsiveness (frequency width), motor load inertia and stiffness directly.

6. In Fast Edit mode, when Dynamic Auto-tuning function is enabled, the users can input the value

of motor rotation number, motor rotation frequency, motor rotation time and responsiveness

directly.

7. Static Auto-tuning function only can be enabled in Manual mode (P2-32 is set to 0). If it is

enabled in AutoMode, an error message may display.

8. Dynamic Auto-tuning function only can be enabled in AutoMode (P2-32 is set to 1 or 2). If the

users want to use the Dynamic Auto-tuning function in Manual mode, please press MODE key

to skip the fourth step, which is the step used to specify the responsiveness.

9. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit

the Fast Edit mode (Please see Figure 4.12 below).

Figure 4.12

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Chapter 4 Display and Operation|ASDA-B Series

Dynamic Auto-tuning Mode ( Dynamic Auto-tuning Function)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing FUNC key first. Then, pressing UP key two times or DOWN key five

times can switch to Dynamic Auto-tuning mode.

3. In Dynamic Auto-tuning mode, the users can input the value of motor rotation number, motor

rotation frequency, motor rotation time and responsiveness directly.

4. Dynamic Auto-tuning function only can be enabled in AutoMode (P2-32 is set to 1 or 2). If the

users want to use the Dynamic Auto-tuning function in Manual mode, please press MODE key

to skip the fourth step, which is the step used to specify the responsiveness.

5. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit

the Fast Edit mode (Please see Figure 4.13 below).

Figure 4.13

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Static Auto-tuning Mode ( Static Auto-tuning Function)

1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor

mode first.

2. In monitor mode, pressing FUNC key first. Then, pressing UP key two times or DOWN key five

times can switch to Static Auto-tuning mode.

3. In Static Auto-tuning mode, the users can input the value of responsiveness (frequency width),

motor load inertia and stiffness directly.

4. Static Auto-tuning function only can be enabled in Manual mode (P2-32 is set to 0). If it is

enabled in AutoMode, an error message may display.

5. In Fast Edit mode, pressing MODE key once can return to the previous display and finally exit

the Fast Edit mode (Please see Figure 4.14 below).

Figure 4.14

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Chapter 4 Display and Operation|ASDA-B Series

4.2.3 Status Display

Save Setting Display

After the SET key is pressed, LED display will show the following display messages for approx. one

second according to different status.

Display Message Description

The setting value is saved correctly.

This parameter is read only. Write-protected. (cannot be changed)

Invalid password or no password was input.

The setting value is error or input reserve setting value.

Abort Setting Display

Display Message Description

Fault Message Display

Display Message Description

Polarity Setting Display

Display Message Description

The servo module is enabled and this parameter cannot be changed.

When the AC servo drive has a fault, LED display will display “ALEnn”. “ALE” indicates the alarm and “nn” indicates the drive fault code. The display range of alarm code “nn” is 1 to 48. For the list of drive fault code, please refer to parameter P0-01 or refer to Chapter 10 (Troubleshooting).

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Chapter 4 Display and Operation|ASDA-B Series

Monitor Setting Display

In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or

change parameter P0-02 directly to specify the monitor status. When the power is applied, the monitor

status depends on the setting value of P0-02. For example, if the setting value of P0-02 is 2 when the

power is applied, the monitor function will be “Pulse counts of pulse command”, the C.P monitor codes

will first display and then the pulse number will display after.

P0-02

Setting

Display Message Description Unit

Motor feedback pulse number pulse

Motor feedback rotation number rev

Pulse counts of pulse command pulse

Rotation number of pulse command rev

Position error counts pulse

Input frequency of pulse command kHz

Motor rotation speed rpm

Speed input command volt

Speed input command rpm

Torque input command volt

Torque input command Nt-m

Average load %

Peak load %

Main circuit voltage volt

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Chapter 4 Display and Operation|ASDA-B Series

P0-02

Setting

Display Message Description Unit

Ratio of load inertia to Motor inertia time

IGBT Temperature of power supply module

The following table lists the display examples of monitor value:

Display Message Description

Positive value display. Display value: +3000.

Negative value display.

Display value: -3000。

Decimal point display. Display value: 5.00.

degC(°C)

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Chapter 4 Display and Operation|ASDA-B Series

4.2.4 Fault Code Display Operation

After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the

corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1

to H5 in order. H1 indicates the most recent occurred fault code, H2 is the previous occurred fault code

before H1 and so on.

Figure 4.15

4.2.5 JOG Operation

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

or press FUNC key on the digital keypad to enter into JOG mode (parameter setting mode of P4-05)

directly.

Step 1 Press the FUNC key to display the JOG rpm speed. (The default value is 20 rpm).

Step 2 Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. (This also

can be undertaken by using the SHIFT key to move the cursor to the desired unit column (the

effected number will flash) then changed using the UP and DOWN arrow keys. The example

display in Figure 4.16 is adjusted as 21rpm.)

Step 3 Press the SET key when the desired JOG speed is set. The Servo Drive will display

and JOG LED will light up.

Step 4 Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will only

rotate while the arrow key is activated.

Step 5 To change JOG speed again, press the MODE key. After JOG speed is changed, press the

SET key and the JOG operation will run again. Refer back to #2 and #3 to change speed.

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Chapter 4 Display and Operation|ASDA-B Series

NOTE

1) JOG operation is effective only when Servo On (when the servo drive is enabled).

2) Before using JOG function, please ensure to confirm that P2-10 (DI1) is set to 101 (Servo On).

Otherwise, the JOG operation cannot be enabled even if the FUNC key has been pressed.

3) The users can set the acceleration and deceleration time in advance (the settings of parameter P1-

34, P1-35 and P1-36).

Figure 4.16

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Chapter 4 Display and Operation|ASDA-B Series

4.2.6 DO Force Output Diagnosis Operation

For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using

parameter P4-06. Follow the setting method in Figure 4.17 to enter into DO force output diagnosis

operation (OP x) mode (“x” indicates the parameter range from 0 to 7). Pressing UP or DOWN arrow

key can change “x” value from 0 to 7 (hexadecimal format) and force digital outputs DO1 to DO3 to be

activated (ON) or inactivated (OFF). The DO function and status is determined by P2-18 to P2-20. This

function is enabled only when Servo Off (the servo drive is disabled).

Figure 4.17

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Chapter 4 Display and Operation|ASDA-B Series

4.2.7 DI Diagnosis Operation

Following the setting method in Figure 4.18 can perform DI diagnosis operation (parameter P4-07).

According to the ON and OFF status of the digital inputs DI1 to DI6, the corresponding status will

display on the servo drive LED display. When the segment lit and display on the screen, it means that

the corresponding digital input signal is ON.

Figure 4.18

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Chapter 4 Display and Operation|ASDA-B Series

4.2.8 DO Diagnosis Operation

Following the setting method in Figure 4.19 can perform DO diagnosis operation (parameter P4-09).

According to the ON and OFF status of the digital outputs DO1 to DO3, the corresponding status will

display on the servo drive LED display. When the segment lit and display on the screen, it means that

the corresponding digital input signal is ON.

Figure 4.19

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Chapter 4 Display and Operation|ASDA-B Series

4.2.9 Parameters Read and Write

Digital keypad provides the servo parameters read and write function not only for the servo drive but

also for PC side. The function of parameter read and write must be set via the PC software (Please see

Figure 4.20 & Figure 4.21). The users can use this software to read, write and manage all parameters.

When using this software to read and write parameters, the communication method of keypad

parameter P8-01 must be set to 0.

Figure 4.20

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Figure 4.21

Chapter 4 Display and Operation|ASDA-B Series

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Chapter 5 Trial Run and Tuning Procedure

This chapter describes trial run and tuning procedure for servo drive and motor. Trial run, which is divided

into two parts, one part is to introduce the trial run without load, and the other part is to introduce trial run with

load. Ensure to complete the trial run without load first before performing the trial run with load. Tuning

procedure includes the tuning process, flowchart, and the relevant parameters of AutoMode (PI & PDFF)

mode and Manual mode

5.1 Inspection without Load

In order to prevent accidents and avoid damaging the servo drive and mechanical system, the trial run

should be performed under no load condition (no load connected, including disconnecting all couplings and

belts). Do not run servo motor while it is connected to load or mechanical system because the unassembled

parts on motor shaft may easily disassemble during running and it may damage mechanical system or even

result in personnel injury. After removing the load or mechanical system from the servo motor, if the servo

motor can runs normally following up the normal operation procedure (when trial run without load is

completed), then user can connect to the load and mechanical system to run the servo motor.

¾ In order to prevent accidents, the initial trial run for servo motor should be conducted under no load conditions

(separate the motor from its couplings and belts).

¾ Caution: Please perform trial run without load first and then perform trial run with load connected. After the

servo motor is running normally and regularly without load, then run servo motor with load connected. Ensure to perform trial run in this order to prevent unnecessary danger.

After power in connected to AC servo drive, the charge LED will light and it indicates that AC servo drive is

ready. Please check the followings before trial run in order to find the problem and correct it in advance.

Doing this can avoid the damage to the servo drive and servo motor.

Item Content

z 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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Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series

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

Inspection during

operation

(Control power is

applied)）

characteristics of various machinery are different, in order to avoid accident or cause damage, do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value.

z Ensure to reset some parameters when the servo drive is off (Please refer to

Chapter 7). Otherwise, it may result in malfunction.

z If there is no contact sound or there be any unusual noises when the relay of the

servo drive is operating, please contact your distributor for assistance or contact with Delta.

z Check for abnormal conditions of the power indicators and LED display. If there is

any abnormal condition of the power indicators and LED display, please contact your distributor for assistance or contact with Delta.

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5.2 Applying Power to the Drive

Users please observe the following steps when applying power supply to the servo drive.

1. Please check and confirm the wiring connection between the drive and motor is correct.

1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables

separately (U: Red, V: White, W: Black, FG: Green). If not connect to the specified cable and

terminal, then the drive cannot control motor. The motor grounding lead, FG must connect to

grounding terminal. For more information of cables, please refer to section 3.1.

2) Ensure to connect encoder cable to CN2 connector correctly. If users only desire to execute JOG

operation, it is not necessary to make any connection to CN1 and CN3 connector. For more

information of the connection of CN2 connector, please refer to Section 3.1 and 3.4.

¾ Do not connect the AC input power (R, S, T) to the (U, V, W) output terminals. This will damage the AC servo

drive.

2. Main circuit wiring

Connect power to the AC servo. For three-phase input power connection and single-phase input power

connection, please refer to Section 3.1.3.

3. Turn the Power On

The servo power is main circuit power (R, S, T). When the power is on, the AC servo drive will start many

items of self-test. After the test, if

result is normal. If there is any text or value displayed on the display, please refer to parameter P0-01

(Drive Fault Code) to know the fault message and refer to Chapter 10 (Troubleshooting) to clear or

remove the fault.

1) When display shows:

displays and blinks on the LCD display, it indicates that the testing

Over voltage:

The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect

power input).

Corrective Actions:

 Use voltmeter to check whether the input voltage falls within the rated input voltage.

 Use voltmeter to check whether the input voltage is within the specified limit.

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2) When display shows:

Encoder error:

Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or incorrect.

Corrective Actions:

 Check if the user performs wiring recommended in the user manual.

 Examine the encoder connector and cable.

 Inspect whether wire is loose or not.

 Check if the encoder is damaged.

3) When display shows:

Emergency stop activated:

Please check if any of digital inputs DI1~DI6 signal is set to “Emergency Stop” (EMGS).

Corrective Actions:

 If it does not need to use “Emergency Stop (EMGS)” as input signal, the users only need to

confirm that if all of the digital inputs DI1~DI6 are not set to “Emergency Stop (EMGS)”. (The

setting value of parameter P2-10 to P2-15 is not set to 21.)

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

confirm that which of digital inputs DI1~DI6 is set to “Emergency Stop (EMGS)” and check if

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

4) When display shows:

Reverse limit switch error:

Please check if any of digital inputs DI1~DI6 signal is set to “Reverse inhibit limit (CWL)” and check if

the signal is ON or not.

Corrective Actions:

 If it does not need to use “Reverse inhibit limit (CWL)” as input signal, the users only need to

confirm that if all of the digital inputs DI1~DI6 are not set to “Reverse inhibit limit (CWL)”. (The

setting value of parameter P2-10 to P2-15 is not set to 22.)

 If it is necessary to use “Reverse inhibit limit (CWL)” as input signal, the users only need to

confirm that which of digital inputs DI1~DI6 is set to “Reverse inhibit limit (CWL)” and check if

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

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5) When display shows:

Forward limit switch error:

Please check if any of digital inputs DI1~DI6 signal is set to “Forward inhibit limit (CCWL)” and check if

the signal is ON or not.

Corrective Actions:

 If it is no need to use “Forward inhibit limit (CCWL)” as input signal, the users only need to

confirm that if all of the digital inputs DI1~DI8 are not set to “Forward inhibit limit (CCWL)”. (The

setting value of parameter P2-10 to P2-15 is not set to 23.)

 If it is necessary to use “Forward inhibit limit (CCWL)” as input signal, the users only need to

confirm that which of digital inputs DI1~DI6 is set to “Forward inhibit limit (CCWL)” and check if

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

When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On

(SON) function is enabled) and the following fault message shows on the display:

6) When display shows:

Overcurrent:

Corrective Actions:

 Check the wiring connections between the servo drive and motor.

 Check if the circuit of the wiring is closed.

 Remove the short-circuited condition and avoid metal conductor being exposed.

7) When display shows:

Undervoltage:

Corrective Actions:

 Check whether the wiring of main circuit input voltage is normal.

 Use voltmeter to check whether input voltage of main circuit is normal.

 Use voltmeter to check whether the input voltage is within the specified specification.

8) When display shows:

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Magnetic field error:

Corrective Actions:

 Check if the encoder is abnormal.

 Verify the encoder connector.

9) When display shows:

Input power phase loss:

Corrective Actions:

 Verify the main circuit power R, S, T. Check for possible poor connection on the power cable.

 Check if one phase of the input power is lost.

NOTE

1) If there are any unknown fault codes and abnormal display when applying power to the drive or servo on

is activated (without giving any command), please inform the distributor or contact with Delta for

assistance.

5-6 Revision January 2009

Chapter 5 Trial Run and Tuning Procedure|ASDA-B 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 (ASD-PU-

01A or ASD-PU-01B) to the servo drive. For safety, it is recommended to set JOG speed at low speed.

Please refer to the following steps to perform JOG trial run without load.

5.3.1 ASD-PU-01A Tuning Flowchart

STEP 1: Turn the drive ON through software. Ensure that there is no fault message display on the LCD

display and the servo drive is normal.

STEP 2: Press JOG key on the keypad and the drive will enter into JOG operation mode automatically.

(At this time, the servo drive is enabled (Servo On).)

STEP 3: The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust

the digit number of the displayed value.

STEP 4: Pressing SET key can determine the speed of JOG operation.

STEP 5: Pressing UP key and the servo motor will run in CCW direction. After releasing UP key, the

motor will stop running.

STEP 6: Pressing DOWN key and the servo motor will run in CW direction. After releasing DOWN key,

the motor will stop running.

CW and CCW Definition:

CCW (Counterclockwise): when facing the servo motor shaft, CCW is reverse running.

CW (Clockwise): when facing the servo motor shaft, CW is forward running.

STEP 7: When pressing MODE key, it can exit JOG operation mode.

NOTE

Please note that JOG operation cannot be used when EMGS occurs (ALE13, Emergency stop activated).

However, if CWL (ALE14, Reverse inhibit limit) or CCWL (ALE15, Forward inhibit limit) occurs during

JOG operation, the users can still use JOG operation without problem.

Please refer to the description of Section 4.1.5 in Chapter 4.

Revision January 2009 5-7

Delta Electronics ASDA-B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Preface

Table of Contents

Chapter 1 Unpacking Check and Model Explanation

1.1 Unpacking Check

1.2 Model Explanation

1.2.1 Nameplate Information

1.2.2 Model Name Explanation

1.3 Servo Drive and Servo Motor Combinations

1.4 Servo Drive Features

1.5 Control Modes of Servo Drive

Chapter 2 Installation and Storage

2.1 Installation Notes

2.2 Storage Conditions

2.3 Installation Conditions

2.4 Installation Procedure and Minimum Clearances

Chapter 3 Connections and Wiring

3.1 Connections

3.1.1 Connecting to Peripheral Devices

3.1.2 Servo Drive Connectors and Terminals

3.1.3 Wiring Methods

3.1.4 Motor Power Cable Connector Specifications

3.1.5 Encoder Connector Specifications

3.1.6 Cable Specifications for Servo Drive and Servo Motor

3.2 Basic Wiring

3.3 Input / Output Interface Connector -CN1

3.3.1 CN1 Terminal Identification

3.3.2 Signals Explanation of Connector CN1

3.3.3 User-defined DI and DO signals

3.3.4 Wiring Diagrams of I/O Signals (CN1)

3.4 Encoder Connector CN2

3.5 Serial Communication Connector CN3

3.5.1 CN3 Terminal Layout and Identification

3.5.2 Connection between PC/Keypad and Connector CN3

3.6 Standard Connection Example

3.6.1 Position Control Mode

3.6.2 Speed Control Mode

3.6.3 Torque Control Mode

Chapter 4 Display and Operation

4.1 ASD-PU-01A

4.1.1 Description of Digital Keypad ASD-PU-01A

4.1.2 Display Flowchart

4.1.3 Status Display

4.1.4 Fault Code Display Operation

4.1.5 JOG Operation

4.1.6 DO Force Output Diagnosis Operation

4.1.7 DI Diagnosis Operation

4.1.8 DO Diagnosis Operation

4.1.9 Parameters Read and Write

4.2 ASD-PU-01B

4.2.1 Description of Digital Keypad ASD-PU-01B

4.2.2 Display Flowchart

4.2.3 Status Display

4.2.4 Fault Code Display Operation

4.2.5 JOG Operation

4.2.6 DO Force Output Diagnosis Operation

4.2.7 DI Diagnosis Operation

4.2.8 DO Diagnosis Operation

4.2.9 Parameters Read and Write

Chapter 5 Trial Run and Tuning Procedure

5.1 Inspection without Load

5.2 Applying Power to the Drive

5.3 JOG Trial Run without Load

5.3.1 ASD-PU-01A Tuning Flowchart