Delta Electronics ASD-B2-0121-B, ASD-B2-0221-B, ASD-B2-1521-B, ASD-B2-2023-B, ASD-B2-3023-B User Manual

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Revision June 2010 i

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-B2 series AC servo drives and ECMA series AC servo motors. The

contents of this manual include the following topics:

z Installation of AC servo drives and motors

z Configuration and wiring

z Trial run steps

z Control functions and adjusting methods of AC servo drives

z Parameter settings

z Communication protocol

z Inspection and maintenance

z Troubleshooting

z Application examples

 Who should use this manual

This manual is intended for the following users:

z Those who are responsible for designing

z Those who are responsible for installing or wiring

z Those who are responsible for operating or programming

z Those who are responsible for maintaining or troubleshooting

 Important precautions

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

use. Store this manual in a safe and handy place for quick reference whenever

necessary. Always observe the following precautions:

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

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

inflammable gases or liquids.

Preface

ii Revision June 2010

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

this precaution will cause severe damage to the Servo drive.

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

grounding method must comply with the electrical standard of the country

(Please refer to NFPA 70: National Electrical Code, 2005 Ed.).

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

z Do not attach, modify or remove wiring while power is applied to the AC servo

drive.

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

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

z Do not touch the drive heat sink or the servo motor during operation, this

may cause serious personnel injury.

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.

Carefully note and observe the following safety precautions when receiving, inspecting,

installing, operating, maintaining and troubleshooting. The following words, DANGER,

WARNING and STOP are used to mark safety precautions when using the Delta’s servo product.

Failure to observe these precautions may void the warranty!

ASDA-B2 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-B2 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-B2 series user manual

(Drives, cables and motors are for use in a suitable enclosure with a minimum of a UL50 type

1 or NEMA 250 Type 1 rating).

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

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

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

Indicates an improper action that it is not recommended. Doing so may cause damage or malfunction.

Preface

Revision June 2010 iii

Unpacking Check

¾ Please ensure that both the servo drive and motor are correctly matched for size (power

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

Installation

¾ Do not install the product in a location that is outside the stated specification for the

drive and motor. Failure to observe this caution may result in electric shock, fire, or personal injury.

Wiring

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

100 Ω). Improper grounding may result in electric shock or fire.

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

precaution may result in serious injury, damage to the drive or fire.

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

servo drive and motor. Failure to observe this caution may result in damage, fire or personal injury.

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.

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.

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iv Revision June 2010

Main Circuit Wiring

¾ Install the encoder cables in a separate conduit from the motor power cables to avoid

signal noise. Separate the conduits by 30cm (11.8inches) or more.

¾ Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal,

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

¾ As a charge may still remain in the drive with hazardous voltages even after power has

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

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

and on more than once per minute as high charging currents within the internal capacitors may cause damage.

Main Circuit Terminal Wiring

¾ Please perform the wiring after the terminal blocks are all removed from the drive. ¾ Insert only one wire into one terminal on the terminal block. ¾ When inserting wires, please ensure that the conductors are not shorted to adjacent

terminals or wires.

¾ Ensure to double check the wiring before applying power to the drive. ¾ If the wiring is in error, perform the wiring again with proper tools. Never use force to

remove the terminals or wires. Otherwise, it may result in malfunction or damage.

NOTE

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

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

Revision June 2010 v

Table of Contents

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

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

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

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

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

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

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

1.5 Control Modes of Servo Drive ............................................................................. 1-7

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

2.5 Molded-case Circuit Breaker and Fuse Current Recommended Value................... 2-5

2.6 EMI Filter Selection.............................................................................................. 2-6

2.7 Regenerative Resistor ......................................................................................... 2-9

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 ......................................................................................... 3-5

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

3.1.5 Encoder Connector Specifications .............................................................. 3-9

3.1.6 Cable Specifications for Servo Drive ........................................................... 3-10

3.2 Basic Wiring ........................................................................................................ 3-12

3.3 Input / Output Interface Connector - CN1 ........................................................... 3-16

3.3.1 CN1 Terminal Identification ....................................................................... 3-16

3.3.2 Signals Explanation of Connector - CN1..................................................... 3-18

3.3.3 User-defined DI and DO signals ................................................................. 3-27

3.3.4 Wiring Diagrams of I/O Signals - CN1 ........................................................ 3-32

3.4 Encoder Connector - CN2.................................................................................... 3-33

3.5 Serial Communication Connector - CN3 ..............................................................3-34

3.5.1 Terminal Layout and Identification – CN3 .................................................. 3-34

3.5.2 Connection between PC and Connector - CN3............................................ 3-35

3.6 Standard Connection Example ............................................................................ 3-36

3.6.1 Position (PT) Control Mode ........................................................................ 3-36

3.6.2 Speed Control Mode ..................................................................................3-37

3.6.3 Torque Control Mode................................................................................. 3-38

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

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

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

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

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

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

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

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

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

4.4 General Function Operation ................................................................................ 4-7

4.4.1 Fault Code Display Operation .................................................................... 4-7

4.4.2 JOG Operation ........................................................................................... 4-8

4.4.3 Force Output Control Operation ................................................................ 4-9

4.4.4 DI Diagnosis Operation.............................................................................. 4-10

4.4.5 DO Diagnosis Operation ............................................................................ 4-11

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

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

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

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

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

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

5.5.1 Tuning Flowchart....................................................................................... 5-12

5.5.2 Load Inertia Estimation Flowchart .............................................................. 5-13

5.5.3 Auto Mode Tuning Flowchart ..................................................................... 5-14

5.5.4 Semi-Auto Mode Tuning Flowchart............................................................. 5-15

5.5.5 Limit of Load Inertia Estimation ................................................................. 5-17

5.5.6 Mechanical Resonance Suppression Method .............................................. 5-19

5.5.7 Relationship between Tuning Modes and Parameters................................. 5-20

5.5.8 Gain Adjustment in Manual Mode .............................................................. 5-21

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

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

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

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

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

6.2.3 Electronic Gear Ratio.................................................................................. 6-5

6.2.4 Low-pass Filter........................................................................................... 6-5

6.2.5 Position Loop Gain Adjustment .................................................................. 6-7

6.3 Speed Control Mode ...........................................................................................6-10

6.3.1 Command Source of Speed Control Mode .................................................. 6-10

6.3.2 Structure of Speed Control Mode ............................................................... 6-11

6.3.3 Smoothing Strategy of Speed Control Mode ............................................... 6-12

6.3.4 Analog Speed Input Scaling ....................................................................... 6-16

6.3.5 Timing Chart of Speed Control Mode ......................................................... 6-17

6.3.6 Speed Loop Gain Adjustment ..................................................................... 6-18

6.3.7 Resonance Suppression ............................................................................. 6-25

6.4 Torque Control Mode.......................................................................................... 6-32

6.4.1 Command Source of Torque Control Mode ................................................ 6-32

6.4.2 Structure of Torque Control Mode ............................................................. 6-33

6.4.3 Smoothing Strategy of Torque Control Mode ............................................. 6-34

6.4.4 Analog Torque Input Scaling...................................................................... 6-34

6.4.5 Timing Chart of Torque Control Mode ....................................................... 6-35

6.5 Control Mode Selection....................................................................................... 6-36

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6.5.1 Speed / Position Control Mode Selection.................................................... 6-36

6.5.2 Speed / Torque Control Mode Selection ..................................................... 6-37

6.5.3 Torque / Position Control Mode Selection.................................................. 6-37

6.6 Others ................................................................................................................6-38

6.6.1 Speed Limit................................................................................................ 6-38

6.6.2 Torque Limit.............................................................................................. 6-38

6.6.3 Analog Monitor.......................................................................................... 6-39

6.6.4 Electromagnetic Brake ...............................................................................6-42

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

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

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

7.3 Detailed Parameter Listings ................................................................................ 7-11

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

8.4 Communication Parameter Write-in and Read-out ............................................... 8-16

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

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

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

9.3 Life of Replacement Components........................................................................ 9-3

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

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

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

10.3 Clearing Faults.................................................................................................. 10-11

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

11.1 Specifications of Servo Drive (ASDA-B2 Series)................................................... 11-1

11.2 Specifications of Servo Motor (ECMA Series) ...................................................... 11-3

11.3 Servo Motor Speed-Torque Curves .................................................................... 11-8

11.4 Overload Characteristics ................................................................................... 11-9

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

11.6 Dimensions of Servo Motor ............................................................................... 11-15

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

Table of Contents

Revision June 2010 xi

About this Manual…

User Information

Be sure to store this manual in a safe place.

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

figures and diagrams, we reserve the right to make information changes within this manual

without prior notice.

Coping or reproducing any part of this manual, without written consent of Delta Electronics

Inc. is prohibited.

Technical Support and Service

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

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

) if you need technical support,

service, information, or if you have any questions in the use of this product. We look forward

to serving your needs and are willing to offer our best support and service to you.

ASIA

DELTA ELECTRONICS, INC.

Taoyuan Plant 1

31-1, XINGBANG ROAD,

GUISHAN INDUSTRIAL ZONE,

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

TEL: 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 include the following parts:

Part I : Delta standard supplied parts

(1) Servo drive

(2) Servo motor

(3) 5 PIN Terminal Block (for L1c, L2c, R, S, T)

(4) 3 PIN Terminal Block (for U, V, W)

(5) 4 PIN Terminal Block (for P

, D, C, )

(6) One operating lever (for wire to terminal block insertion)

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

(8) Instruction Sheets

Part II : Optional parts (Refer to Appendix A)

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

drive. This power cable includes a green grounding cable. Please connect the green

grounding cable to the ground terminal of the servo drive.

Chapter 1 Unpacking Check and Model Explanation

1-2 Revision June 2010

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

terminal of servo drive.

(3) CN1 Connector: 4 PIN Connector (3M type analog product)

(4) CN2 Connector: 9 PIN Connector (3M type analog product)

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

1.2 Model Explanation

1.2.1 Nameplate Information

ASDA-B2 Series Servo Drive

 Nameplate Explanation

 Serial Number Explanation

ASMT Series Servo Motor

 Nameplate Explanation

 Serial Number Explanation

Chapter 1 Unpacking Check and Model Explanation

Revision June 2010 1-3

1.2.2 Model Name Explanation

ASDA-B2 Series Servo Drive

Chapter 1 Unpacking Check and Model Explanation

1-4 Revision June 2010

ECMA Series Servo Motor

Chapter 1 Unpacking Check and Model Explanation

Revision June 2010 1-5

1.3 Servo Drive and Servo Motor Combinations

The table below shows the possible combination of Delta ASDA-B2 series servo drives and

ECMA series servo motors. The boxes () in the model names are for optional configurations.

(Please refer to Section 1.2 for model explanation)

Power Servo Drive Servo Motor

100W ASD-B2-0121-B

ECMA-C20401S（S=8mm）

200W ASD-B2-0221-B

ECMA-C20602S（S=14mm）

400W ASD-B2-0421-B

ECMA-C20604S (S=14mm) ECMA-CM0604S (S=14mm) ECMA-C208047 (7=14mm) ECMA-E21305S (S=22mm) ECMA-G21303S (S=22mm)

750W ASD-B2-0721-B

ECMA-C20807S (S=19mm) ECMA-C20907S (S=16mm) ECMA-G21306S (S=22mm) ECMA-GM1306S (S=22mm)

1000W ASD-B2-1021-B

ECMA-C21010S (S=22mm) ECMA-C20910S (S=16mm) ECMA-E21310S (S=22mm) ECMA-G21309S (S=22mm) ECMA-GM1309S (S=22mm)

1500W ASD-B2-1521-B ECMA-E21315S (S=22mm)

2000W ASD-B2-2023-B

ECMA-C21020S (S=22mm) ECMA-E21320S (S=22mm) ECMA-E21820S (S=35mm)

3000W ASD-B2-3023-B

ECMA-E21830S (S=35mm) ECMA-F21830S (S=35mm)

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

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

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

rating). If the power of motor and drive is not within the specifications, the drive and motor

may overheat and servo alarm would be activated. For the detail specifications of servo drives

and motors, please refer to Chapter 11 “Specifications”.

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

current of motors shown in the above table. If the drives which are designed according to the

six multiple of rated current of motors are needed, please contact our distributors or your

local Delta sales representative.

Chapter 1 Unpacking Check and Model Explanation

1-6 Revision June 2010

1.4 Servo Drive Features

Chapter 1 Unpacking Check and Model Explanation

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1.5 Control Modes of Servo Drive

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

Their operation and description is listed in the following table.

Mode Code

Description

External Position Control P

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

Speed Control S

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

DC command. Control of the internal speed

mode is via the Digital Inputs (DI). (A maximum of three speeds can be stored internally).

Internal Speed Control Sz

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

Torque Control T

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

DC command. Control of the internal torque

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

Single

Mode

Internal Torque Control

Tz Internal Torque control mode for the servo motor is

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

S-P Either S or P control mode can be selected via the

Digital Inputs (DI)

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

Digital Inputs (DI)

Dual Mode

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

Digital Inputs (DI)

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

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

control mode will only be valid after the drives main power is switched OFF then ON. Please

see safety precautions on page iii (switching drive off/on multiple times).

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Chapter 2 Installation and Storage

2.1 Installation Notes

Please pay close attention to the following installation notes:

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

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

place.

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

specifications of the servo motor, coupling, and device are followed. Failure to do so may

cause unnecessary loads or premature failure to the servo motor.

 If the length of cable connected between servo drive and motor is more than 20m, please

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

V, W terminals).

 Make sure to tighten the screws for securing motor.

2.2 Storage Conditions

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

warranty coverage, the AC servo drive should be stored properly when it is not to be used for

an extended period of time. Some storage suggestions are:

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

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

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

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

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

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2-2 Revision June 2010

2.3 Installation Conditions

Operating Temperature

ASDA-B2 Series Servo Drive : 0°C to 55°C (32°F to 131°F)

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

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

reliability.

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

in a well-ventilated location and do not obstruct the airflow for the cooling fan.

Caution

The servo drive and motor will generate heat. If they are installed in a control panel, please

ensure sufficient space around the units for heat dissipation.

Pay particular attention to vibration of the units and check if the vibration has impacted the

electric devices in the control panel. Please observe the following precautions when selecting

a mounting location. Failure to observe the following precautions may void the warranty!

 Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct

sunlight.

 Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids,

airborne dust or metallic particles.

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

exceed specification.

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

specification.

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

levels of electromagnetic radiation.

Chapter 2 Installation and Storage

Revision June 2010 2-3

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-B2 servo drives 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-B2 servo drives must be back mounted vertically on a dry and solid surface such as

a NEMA enclosure. A minimum spacing of two inches must be maintained above and below

the drive for ventilation and heat dissipation. Additional space may be necessary for wiring

and cable connections. Also, as the drive conducts heat away via the mounting, the mounting

plane or surface should not conduct heat into the drive from external sources

Motor Mounting

The ECMA servo motors should be mounted firmly to a dry and solid mounting surface to

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

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

11 “Specifications".

Minimum Clearances

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

specification. When installing two or more drives adjacent to each other please follow the

clearances as shown in the following diagram.

Chapter 2 Installation and Storage

2-4 Revision June 2010

 Minimum Clearances

 Side by Side Installation

Chapter 2 Installation and Storage

Revision June 2010 2-5

2.5 Molded-case Circuit Breaker and Fuse Current Recommended Value

¾ Caution: Please use molded-case circuit breaker and fuse which are recognized by and

comply with the UL or CSA standards.

Servo Drive Model Recommended Breaker Recommended Fuse (Class T)

Operation Mode General General

ASD-B2-0121-B 5A 5A

ASD-B2-0221-B 5A 6A

ASD-B2-0421-B 10A 10A

ASD-B2-0721-B 10A 20A

ASD-B2-1021-B 15A 25A

ASD-B2-1521-B 20A 40A

ASD-B2-2023-B 30A 50A

ASD-B2-3023-B 30A 70A

Chapter 2 Installation and Storage

2-6 Revision June 2010

2.6 EMI Filter Selection

AC Servo Drive - EMI Filter Cross Reference

Item Power Servo Drive Model Recommended EMI Filter FootPrint

1 100W ASD-B2-0121-B 08TDT1W4S N

2 200W ASD-B2-0221-B 08TDT1W4S N

3 400W ASD-B2-0421-B 08TDT1W4S N

4 750W ASD-B2-0721-B 20TDT1W4D N

5 1000W ASD-B2-1021-B 20TDT1W4D N

6 1500W ASD-B2-1521-B 20TDT1W4D N

7 2000W ASD-B2-2023-B 20TDT1W4D N

8 3000W ASD-B2-3023-B 20TDT1W4D N

Installation

All electrical equipment, including AC servo drives, will generate high-frequency/low-

frequency noise and will interfere with peripheral equipment by radiation or conduction when

in operation. By using an EMI filter with correct installation, much of the interference can be

eliminated. It is recommended to use Delta’s EMI filter to have the best interference

elimination performance.

We assure that it can comply with following rules when AC servo drive and EMI filter are

installed and wired according to user manual:

 EN61000-6-4 (2001)

 EN61800-3 (2004) PDS of category C2

 EN55011+A2 (2007) Class A Group 1

General Precaution

To ensure the best interference elimination performance when using Delta’s EMI filter, please

follow the guidelines in this user manual to perform wiring and/or installation. In addition,

please also observe the following precautions:

 EMI filter and AC servo drive should be installed on the same metal plate.

 Please install AC servo drive on same footprint with EMI filter or install EMI filter as close

as possible to the AC servo drive.

 All wiring should be as short as possible.

 Metal plate should be grounded.

 The cover of EMI filter and AC servo drive or grounding should be fixed on the metal plate

and the contact area should be as large as possible.

Chapter 2 Installation and Storage

Revision June 2010 2-7

Choose Suitable Motor Cable and Precautions

Improper installation and choice of motor cable will affect the performance of EMI filter. Be

sure to observe the following precautions when selecting motor cable.

 Use the cable with shielding (double shielding is the best).

 The shielding on both ends of the motor cable should be grounded with the minimum

length and maximum contact area.

 Remove any paint on metal saddle for good ground contact with the plate and shielding

(Please refer to Figure 1 below).

 The connection between the metal saddle and the shielding on both ends of the motor

cable should be correct and well installed. Please refer to Figure 2 on next page for

correct wiring method.

Figure 1

Saddle on both ends

Saddle on one end

Figure 2

Chapter 2 Installation and Storage

2-8 Revision June 2010

Dimensions

Delta Part Number: 08TDT1W4S

Delta Part Number: 20TDT1W4D

Chapter 2 Installation and Storage

Revision June 2010 2-9

2.7 Regenerative Resistor

Built-in Regenerative Resistor

When the output torque of servo motor in reverse direction of motor rotation speed, it

indicates that there is a regenerative power returned from the load to the servo drive. This

power will be transmitted into the capacitance of DC Bus and result in rising voltage. When

the voltage has risen to some high voltage, the servo system need to dissipate the extra

energy by using a regenerative resistor. ASDA-B2 series servo drive provides a built-in

regenerative resistor and the users also can connect to external regenerative resistor if more

regenerative capacity is needed.

The following table shows the specifications of the servo drive’s built-in regenerative resistor

and the amount of regenerative power (average value) that it can process.

Built-in Regenerative Resistor Specifications

Servo Drive

(kW)

Resistance (Ohm)

(parameter P1-52)

Capacity (Watt)

(parameter P1-53)

Regenerative Power

processed by built-in

regenerative resistor

(Watt) *1

Min. Allowable

Resistance

(Ohm)

0.1 -- -- -- 60

0.2 -- -- -- 60

0.4 -- -- -- 60

0.75 100 60 30 60

1.0 40 60 30 30

1.5 40 60 30 30

2.0 40 60 60 15

3.0 40 60 60 15

*1 Regenerative Power Calculation: The amount of regenerative power (average value) that can be processed is rated at 50% of the capacity of the servo drive's built-in regenerative resistor. The regenerative power calculation method of external regenerative resistor is the same.

When the regenerative power exceeds the processing capacity of the servo drive, install an

external regenerative resistor. Please pay close attention on the following notes when using a

regenerative resistor.

Make sure that the settings of resistance (parameter P1-52) and capacity (parameter P1-

53) is set correctly.

When the users want to install an external regenerative resistor, ensure that its

resistance value is the same as the resistance of built-in regenerative resistor. If

combining multiple small-capacity regenerative resistors in parallel to increase the

regenerative resistor capacity, make sure that the resistance value of the regenerative

resistor should comply with the specifications listed in the above table.

In general, when the amount of regenerative power (average value) that can be

processed is used at or below the rated load ratio, the resistance temperature will

Chapter 2 Installation and Storage

2-10 Revision June 2010

increase to 120°C or higher (on condition that when the regeneration continuously

occurred). For safety reasons, forced air cooling is good way that can be used to reduce

the temperature of the regenerative resistors. We also recommend the users to use the

regenerative resistors with thermal switches. As for the load characteristics of the

regenerative resistors, please check with the manufacturer.

External Regenerative Resistor

When using external regenerative resistor, connect it to P and C, and make sure the circuit

between P and D is open. We recommend the users should use the external regenerative

resistor that the resistance value following the above table (Built-in Regenerative Resistor

Specifications). We ignore the dissipative power of IGBT (Insulated Gate Bipolar Transistor) in

order to let the users easily calculate the capacity of regenerative resistor. In the following

sections, we will describe Regenerative Power Calculation Method and Simple Calculation

Method for calculating the regenerative power capacity of external regenerative resistors.

Regenerative Power Calculation Method

(1) Without Load

When there is no external load torque, if the servo motor repeats operation, the returned

regenerative power generated when braking will transmitted into the capacitance of DC

bus. After the capacitance voltage exceeds some high value, regenerative resistor can

dissipate the remained regenerative power. Use the table and procedure described below

to calculate the regenerative power.

Servo Drive

(kW)

Servo Motor

Rotor Inertia

J (× 10-4kg.m2)

Regenerative power

from empty load

3000r/min to stop

Eo (joule)

Max. regenerative

power of

capacitance

Ec(joule)

0.1

ECMA-C20401

0.037

0.18 3

0.2

ECMA-C20602

0.177 0.87 4

0.4

ECMA-C20604 ECMA-C20804

0.277

0.68

1.37

3.36

0.75

ECMA-C20807

1.13 5.59 14

1.0

ECMA-C21010

2.65 13.1 18

Low

Inertia

2.0

ECMA-C21020

4.45 22.0 21

0.4

ECMA-E21305

8.17 40.40 8

1.0

ECMA-E21310

8.41 41.59 18

1.5

ECMA-E21315

11.18 55.28 18

2.0

ECMA-E21320 ECMA-E21820

14.59

34.68

72.15

171.50

Medium

Inertia

3.0

ECMA-E21830

54.95 271.73 28

Chapter 2 Installation and Storage

Revision June 2010 2-11

Servo Drive

(kW)

Servo Motor

Rotor Inertia

J (× 10-4kg.m2)

Regenerative power

from empty load

3000r/min to stop

Eo (joule)

Max. regenerative

power of

capacitance

Ec(joule)

0.4

ECMA-G21303

8.17 40.40 8

0.75

ECMA-G21306

8.41 41.59 14

High

Inertia

1.0

ECMA-G21309

11.18 55.29 18

Eo = J x wr2/182 (joule) , Wr : r/min

If the load inertia is N × motor inertia, the regenerative power will be (N+1) x E0 when

servo motor brakes from 3000r/min to 0. Then, the regenerative resistor can dissipate:

(N+1) x E0 - Ec (joule). If the time of repeat operation cycle is T sec, then the regenerative

power = 2 x ((N+1) x E0 - Ec) / T.

The calculating procedure is as follows:

Step Procedure Equation and Setting Method

Set the capacity of regenerative resistor to the maximum

Change the value of P1-53 to maximum

2 Set the operation cycle T Input by the users

3 Set motor speed wr

Input by the users or read via P0-02 Drive State Display

4 Set load/motor inertia ratio N

Input by the users or read via P0-02 Drive State Display

Calculate the max. regenerative power Eo

Eo = J x wr

/182

Set the regenerative power Ec that can be absorbed

Refer to the table above

Calculate the required regenerative power capacity

2 x (N+1) x Eo－Ec）/ T

For example:

If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. motor

speed is 3000r/min, the load inertia = 7 × motor inertia, then the necessary the power of

regenerative resistor = 2 x ( (7+1) × 1.68 - 8) / 0.4 = 27.2W. If the calculation result is

smaller than regenerative power, we recommend the users to use the built-in 60W

regenerative resistor. Usually the built-in regenerative resistor provided by ASDA-B2 series

can meet the requirement of general application when the external load inertia is not

excessive.

The users can see when the capacity of regenerative resistor is too small, the accumulated

power will be larger and the temperature will also increase. The fault, ALE05 may occur if

the temperature is over high. The following figure shows the actual operation of

regenerative resistor.

Chapter 2 Installation and Storage

2-12 Revision June 2010

(2) With Load

When there is an external load torque, servo motor is in reverse rotation when external

load greater than motor torque. Servo motor is usually in forward rotation and the motor

torque output direction is the same as the rotation direction. However, there is still some

special condition. If the motor output torque is in the reverse direction of rotation, the

servo motor is also in the reverse direction of rotation. The external power is input into

the servo drive through servo motor. The figure below is an example. The users can see

the motor is in forward rotation at constant speed when a sudden external load torque

change and great power is transmitted to regenerative resistor rapidly.

Motor Rotation Speed

External Load Torque

Motor Output Torque

Reverse Rotation

Forward Rotation

External load torque in reverse direction: TL x Wr TL : External load torque

For the safety, we strongly recommend the users should select the proper resistance value

according to the load.

For example:

When external load torque is a +70% rated torque and rotation speed reaches 3000r/min,

if using 400W servo drive (rated torque: 1.27Nt-m), then the users need to connect a

external regenerative resistor which power is 2 x (0.7 x 1.27) x (3000 x 2 x π/ 60) = 560W,

40Ω.

Chapter 2 Installation and Storage

Revision June 2010 2-13

Simple Calculation Method

The users can select the adequate regenerative resistors according to the allowable frequency

required by actual operation and the allowable frequency when the servo motor runs without

load. The allowable frequency when the servo motor run without load is the maximum

frequency that can be operated during continuous operation when servo motor accelerate

from 0r/min to rated speed and decelerate from rated speed down to 0r/min. The allowable

frequencies when the servo

motor run without load are summarized in the following table.

Allowable Frequencies for Servo Motor Running Without Load (times/min)

When Using Built-in Regenerative Resistor

600W 750W 900W 1.0kW 1.5kW 2.0kW 2.0kW 3.0kW

Motor Capacity

ECMA Series

06 07 09 10 15 20 20 30

ECMA□□C

- 312 - 137 -

(F100)

ECMA□□E

- - - 42 32

(F130)

(F180)

ECMA□□G

42 - 31 - - - - -

( ) : motor frame size, unit is in millimeters.

When the servo motor runs with load, the allowable frequency will change according to

the changes of the load inertia and rotation speed. Use the following equation to calculate

the allowable frequency.

Al lowable f r equ e n cy =

Allowable frequency when servo motor run without load

m + 1

Rated s pe e d

Operating speed

times

min.

m = load/motor inertia ratio

Chapter 2 Installation and Storage

2-14 Revision June 2010

The users can select the adequate regenerative resistors according to the allowable

frequency by referring to the table below:

Allowable Frequencies for Servo Motor Running Without Load (times/min)

When Using External Regenerative Resistor

ECMAC

100W 200W

400W

(F60)

400W

(F80)

750W 1.0kW 2.0kW

Motor Capacity

Delta External Regenerative Resistor

01 02 04 04 07 10 20

BR400W040 (400W 40Ω)

- - 8608

3506 2110 925 562

BR1K0W020 (1kW 20Ω)

- - - 8765

5274 2312 1406

ECMAE

0.5kW 1kW 1.5kW 2.0kW 2.0kW 3.0kW

Motor Capacity

Delta External Regenerative Resistor

05 1.0 15 20 20 30

BR400W040 (400W 40Ω)

291 283 213

163

(F130)

(F180)

BR1K0W020 (1kW 20Ω)

729 708 533 408 171 -

BR3K0W010 (1kW 10Ω)

- - - - - 331

ECMAG

0.3kW 0.6kW 0.9kW

Motor Capacity

Delta External Regenerative Resistor

03 06 09

BR400W040 (400W 40Ω)

292 283 213

BR1K0W020 (1kW 20Ω)

729 708 533

( ) : motor frame size, unit is in millimeters.

When the regenerative resistor capacity is not enough, the users can connect to multiple

the same capacity regenerative resistors in parallel to increase it.

Chapter 2 Installation and Storage

Revision June 2010 2-15

Dimensions

Delta Part Number：BR400W040（400W 40Ω）

L1 L2 H D W MAX. WEIGHT(g)

265 250 30 5.3 60 930

Delta Part Number：BR1K0W020（1kW 20Ω）

L1 L2 H D W MAX. WEIGHT(g)

400 385 50 5.3 100 2800

Chapter 2 Installation and Storage

2-16 Revision June 2010

NOTE

Regarding the selection of regenerative resistor, please refer to the table of regenerative

resistor specifications described in Appendix A.

Revision June 2010 3-1

Chapter 3 Connections and Wiring

This chapter provides information on wiring ASDA-B2 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

Chapter 3 Connections and Wiring

3-2 Revision June 2010

3.1.2 Servo Drive Connectors and Terminals

Terminal

Identification

Terminal

Description

Notes

L1c, L2c

Control circuit terminal

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

R, S, T

(for 220V models)

Main circuit terminal

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

Used to connect servo motor

Terminal

Symbol

Wire Color Description

U Red

V White

W Black

Connecting to three-phase motor main circuit cable.

U, V, W

FG ( )

Servo motor output

FG(

)

Green

Connecting to ground terminal

(

) of the

servo drive.

Internal resistor

Ensure the circuit is closed between P

and D, and the circuit

is open between P

and C.

External resistor

Connect regenerative resistor to P

and C, and ensure an open

circuit between P

and D.

P , D, C,

Regenerative resistor terminal or braking unit

External braking unit

Connect braking unit to P

and , and ensure an open circuit between P

and D, and P and C.

(N terminal is built in L1c, L2c, , and R, S, T.)

: Connecting to (+) terminal of

V_BUS voltage.

: Connecting to (-) terminal of

V_BUS voltage.

two places

Ground terminal

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

Chapter 3 Connections and Wiring

Revision June 2010 3-3

Terminal

Identification

Terminal

Description

Notes

CN1

I/O connector

Used to connect external controllers. Please refer to section 3.3 for details.

Used to connect encoder of servo motor. Please refer to section 3.4 for details.

Terminal

Symbol

Wire Color PIN No.

T+ Blue 4

T- Blue/Black 5

Reserved - 3

Reserved - 2

Reserved - 1

Reserved - 9

+5V Red & Bed/White 8

CN2

Encoder connector

GND Black & Black/White 6,7

CN3

Communication connector

Used to connect PC or keypad. Please refer to section 3.5 for details.

CN4

Reserved connector

Reserved

CN5

Analog voltage output terminal

Used to monitor the operation status. The drive provides two channels, MON1 and MON2 to output the analog voltage data. Output voltage is reference to the power ground (GND).

NOTE

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

Chapter 3 Connections and Wiring

3-4 Revision June 2010

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,

L1c, L2c, 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, L1c, L2c, U, V, & W) and/or

the cables connected to them after the power has been turned off and the charge

LED is lit. (Please refer to the Safety Precautions on page ii).

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

(11.8 inches).

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. Regarding the specifications of 20m (65.62ft.) encoder

cable, please choose wire gauge AWG26, UL2464 metal braided shield twisted-pair

cable.

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

should be less than 98.4ft. (30m). If the wiring distance is longer than 30m

(98.4ft.), please choose the adequate wire size according to the voltage.

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.

Chapter 3 Connections and Wiring

Revision June 2010 3-5

3.1.3 Wiring Methods

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

However, single -phase connections are for servo drives 1.5kW and below only.

In the wiring diagram figures 3.2& 3.3:

Power ON : contact “a” (normally open)

Power OFF : contact “b” (normally closed)

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

Figure 3.2 Single-Phase Power Supply (1.5kW and below)

Chapter 3 Connections and Wiring

3-6 Revision June 2010

Figure 3.3 Three-Phase Power Supply (all models)

Chapter 3 Connections and Wiring

Revision June 2010 3-7

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

Terminal

Identification

ECMA-C20401S (100W) ECMA-C20602S (200W) ECMA-C20604S (400W) ECMA-CM0604PS (400W) ECMA-C208047 (400W) ECMA-C20807S (750W) ECMA-C20907S (750W)

HOUSING: JOWLE (C4201H00-2*2PA)

ECMA-C20602S (200W) ECMA-C20604S (400W) ECMA-CM0604PS (400W) ECMA-C208047 (400W) ECMA-C20807S (750W) ECMA-C20907S (750W)

HOUSING: JOWLE (C4201H00-2*3PA)

ECMA-G21303S (300W) ECMA-E21305S (500W) ECMA-G21306S (600W) ECMA-GM1306PS (600W) ECMA-G21309S (900W)

ECMA-GM1309PS (900W) ECMA-C21010S (1000W) ECMA-C20910S (1000W)

ECMA-E21310S (1000W) ECMA-E21315S (1500W)

ECMA-C21020S (2000W)

ECMA-E21320S (2000W)

3106A-20-18S

ECMA-E31820S (2000W) ECMA-E31830S (3000W) ECMA-F21830S (3000W)

3106A-24-11S

Chapter 3 Connections and Wiring

3-8 Revision June 2010

Terminal

Identification

(Red)

(White) W (Black)

CASE GROUND

(Green)

BRAKE1

(Blue)

BRAKE2 (Brown)

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 (Blue)

and BRAKE2 (Brown).

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

Chapter 3 Connections and Wiring

Revision June 2010 3-9

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

Terminal

Identification

ECMA-C20401S (100W) ECMA-C20602S (200W) ECMA-C20604S (400W)

ECMA-CM0604PS (400W)

ECMA-C208047 (400W) ECMA-C20807S (750W) ECMA-C20907S (750W)

HOUSING: AMP (1-172161-9)

ECMA-G21303S (300W)

ECMA-E21305S (500W)

ECMA-G21306S (600W)

ECMA-GM1306PS (600W)

ECMA-G21309S (900W)

ECMA-GM1309PS (900W) ECMA-C21010S (1000W) ECMA-C20910S (1000W)

ECMA-E21310S (1000W) ECMA-E21315S (1500W)

ECMA-C21020S (2000W)

ECMA-E21320S (2000W) ECMA-E21820S (2000W) ECMA-E21830S (3000W) ECMA-F21830S (3000W)

3106A-20-29S

Terminal

Identificati

T+ T-

Reserved Reserved Reserved Reserve

+5V GND

BRAID

SHELD

(Blue)

(Blue

/Black)

- - - -

(Red &

Red/White)

(Black &

Black/White)

B A B C D F G S R L

Chapter 3 Connections and Wiring

3-10 Revision June 2010

3.1.6 Cable Specifications for Servo Drive

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

1.2 for model explanation.)

Power Cable

Power Cable - Wire Gauge AWG (mm2)

Servo Drive and Servo Motor

L1c, L2c R, S, T U, V, W P , C

ASD-B2-0121- ECMA-C20401S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ASD-B2-0221- ECMA-C20602S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-C20604S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-CM0604PS

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-C208047

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-E21305S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ASD-B2-0421-

ECMA-G21303S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-C20807S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-C20907S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-G21306S

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ASD-B2-0721-

ECMA-GM1306PS

1.3

（AWG16）

2.1

（AWG14）

0.82

（AWG18）

2.1

（AWG14）

ECMA-C21010S

1.3

（AWG16）

2.1

（AWG14）

1.3

（AWG16）

2.1

（AWG14）

ECMA-C20910S

1.3

（AWG16）

2.1

（AWG14）

1.3

（AWG16）

2.1

（AWG14）

ECMA-E21310S

1.3

（AWG16）

2.1

（AWG14）

1.3

（AWG16）

2.1

（AWG14）

ECMA-G21309S

1.3

（AWG16）

2.1

（AWG14）

1.3

（AWG16）

2.1

（AWG14）

ASD-B2-1021-

ECMA-GM1309PS

1.3

（AWG16）

2.1

（AWG14）

1.3

（AWG16）

2.1

（AWG14）

ASD-B2-1521- ECMA-E21315S

1.3

（AWG16）

2.1

（AWG14）

1.3

（AWG16）

2.1

（AWG14）

ECMA-C21020S

1.3

（AWG16）

2.1

（AWG14）

2.1

（AWG14）

2.1

（AWG14）

ECMA-E21320S

1.3

（AWG16）

2.1

（AWG14）

2.1

（AWG14）

2.1

（AWG14）

ASD-B2-2023-

ECMA-E21820S

1.3

（AWG16）

2.1

（AWG14）

3.3

（AWG12）

2.1

（AWG14）

ECMA-E21830S

1.3

（AWG16）

2.1

（AWG14）

3.3

（AWG12）

2.1

（AWG14）

ASD-B2-3023-

ECMA-F21830S

1.3

（AWG16）

2.1

（AWG14）

3.3

（AWG12）

2.1

（AWG14）

Chapter 3 Connections and Wiring

Revision June 2010 3-11

Encoder Cable

Encoder Cable - Wire Gauge AWG (mm2)

Servo Drive

Wire Size Core Number UL Rating

Standard Wire

Length

ASD-B2-0121-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

ASD-B2-0221-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

ASD-B2-0421-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

ASD-B2-0721-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

ASD-B2-1021-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

ASD-B2-1521-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

ASD-B2-2023-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

ASD-B2-3023-

0.13 (AWG26) 10 core (4 pair)

UL2464 3m (9.84ft.)

NOTE

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

eliminate electrical noise and interference.

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

(terminal marked

) of the servo drive.

3) In order to prevent fire hazard and accidents, please form the wiring by following the

cable specifications outlined above.

4) The boxes () at the ends of the servo drive model names represent the model type of

ASDA-B2 series. For the actual model name, please refer to the ordering information of

the actual purchased product.

5) The boxes () in the servo motor model names are for optional configurations (keyway,

brake and oil sea).

Chapter 3 Connections and Wiring

3-12 Revision June 2010

3.2 Basic Wiring

Figure 3.4 Basic Wiring Schematic of 400W and below models (without built-in

regenerative resistor and cooling fan)

Chapter 3 Connections and Wiring

Revision June 2010 3-13

Figure 3.5 Basic Wiring Schematic of 750W model (with built-in regenerative resistor

but without cooling fan)

Chapter 3 Connections and Wiring

3-14 Revision June 2010

Figure 3.6 Basic Wiring Schematic of 1kW~1.5kW models (with built-in regenerative

resistor and cooling fan)

Chapter 3 Connections and Wiring

Revision June 2010 3-15

Figure 3.7 Basic Wiring Schematic of 2kW~3kW models (with built-in regenerative

resistor and cooling fan)

Chapter 3 Connections and Wiring

3-16 Revision June 2010

3.3 Input / Output Interface Connector - CN1

The CN1 Interface Connector provides access to three signal groups:

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

the motor, pulse / direction inputs, and reference voltages.

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

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

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

3.3.1 CN1 Terminal Identification

Figure 3.8 The Layout of CN1 Drive Connector

Chapter 3 Connections and Wiring

Revision June 2010 3-17

CN1 Terminal Signal Identification

16 DO6+ Digital output

1 DO4+ Digital output

31 DI7- Digital input

17 VDD

+24V power output (for

external I/O)

2 DO3- Digital output

32 DI6- Digital input

18 T_REF

Analog torque Input

3 DO3+ Digital output

33 DI5- Digital input

19 GND

Analog input signal ground

4 DO2- Digital output

34 DI3- Digital input

20 V_REF

Analog speed input (+)

5 DO2+ Digital output

35 PULL HI

Pulse applied power

21 OA

Encoder A pulse output

6 DO1- Digital output

36 /HPULSE

High-speed position pulse

(-)

22 /OA

Encoder /A pulse output

7 DO1+ Digital output

37 SIGN

Position sign (+)

23 /OB

Encoder /B pulse output

8 DI4- Digital input

38 HPULSE

High-speed position pulse

(+)

24 /OZ

Encoder /Z pulse output

9 DI1- Digital input

39 /SIGN Position sign (-)

25 OB

Encoder B pulse output

10 DI2- Digital input

40 /HSIGN

High-speed position sign (-)

26 DO4- Digital output

11 COM+

Power input (12~24V)

41 PULSE Pulse input (+)

27 DO5- Digital output

12 DI9- Digital input

42 HSIGN

High-speed position sign

(+)

28 DO5+ Digital output

13 OZ

Encoder Z pulse

Line-driver output

43 /PULSE Pulse input (-)

29 GND

Analog input signal ground

14 COM-

VDD(24V) power

ground

44 OCZ

Encoder Z pulse

Line-driver output

30 DI8- Digital input

15 DO6- Digital output

Chapter 3 Connections and Wiring

3-18 Revision June 2010

3.3.2 Signals Explanation of Connector CN1

Table 3.A General Signals

Signal Pin No Details

Wiring Diagram

(Refer to 3-3-3)

V_REF 20

1. Motor speed command: -10V to +10V, corresponds to -3000 ~ +3000 r/min speed command (Factory default setting).

2. Motor speed command: -10V to +10V, corresponds to -3 ~ +3 rotations position command (Factory default setting).

Analog

Signal

Input

T_REF 18

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

PULSE

/PULSE

SIGN

/SIGN

41 43 37 39

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.

C3/C4

Position

Pulse Input

PULL HI 35

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

17.

High-

speed

Position

Pulse Input

HPULSE

/HPULSE

HSIGN

/HSIGN

38 36 42 40

The drive can accept two different types of high-speed pulse inputs: +5V input and Linedriver input. The max. input frequency is 4MHz.

Three different pulse commands can be selected via parameter P1-00. They are A phase + B phase (Quadrature), CW pulse + CCW pulse, and Pulse + Direction.

C4-2

/OA

21 22

/OB

25 23

/OZ

13 24

Encoder signal output A, B, Z (Line-driver output). The motor encoder signals are available through these terminals.

C13/C14

Position

Pulse

Output

OCZ 44

Encoder signal output Z (Open-collector output).

VDD 17

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

Power

COM+

COM-

11 14

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-.

Chapter 3 Connections and Wiring

Revision June 2010 3-19

Signal Pin No Details

Wiring Diagram

(Refer to 3-3-3)

Power GND 19

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

Signals Explanation of Connector CN5

Signal Pin No Details

Wiring Diagram

(Refer to 3-3-3)

Analog Monito

Output

MON1 MON2

1 3

Monitor operation status: Motor characteristics such as speed and current can be represented by analog voltages. The drive provides two channels (MON1 and MON2) which can be configured with the parameter P0-03 to output the desired characteristics.

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

Output voltage is reference to the power ground.

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

correspond to the various servo drive control modes. (See section 1.5). However, both the

DI's and DO's can be programmed independently to meet the requirements of the users.

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

signal name and wiring schematic. The factory default settings of the DI and DO signals

are detailed in Table 3.F and 3.G.

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

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

For Example, the factory default setting of DO5 (pins 28/27) can be assigned to DO1

(pins 7/6) and vise versa.

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

signal name and relevant wiring schematic of the default DI and DO signals.

Chapter 3 Connections and Wiring

3-20 Revision June 2010

Table 3.B DO Signals

Pin No.

(Default)

Signal

Assigned

Control Mode

+ -

Details

Wiring Diagram

(Refer to 3-3-3)

SRDY ALL 7 6

SRDY is activated when the servo drive is ready to run. All fault and alarm conditions, if present, have been cleared.

SON Not assigned - -

Servo ready (SRDY) is "ON" where the servo is ready to run, NO fault / alarm exists.

ZSPD ALL 5 4

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.

TSPD

ALL

(except PT)

- -

TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed setting as defined in parameter P1-39.

TPOS PT, PT-S, PT-T 1 26

1. When the drive is in PT

mode, TPOS will be activated when the position error is equal and below the setting value of P1-54.

TQL Not assigned - -

TQL is activated when the drive has detected that the motor has reached the torques limits.

ALRM ALL 28 27

ALRM is activated when the drive has detected a fault condition. (However, when Reverse limit error, Forward limit error, Emergency stop, Serial communication error, and Undervoltage these fault occur, WARN is activated first.)

BRKR ALL - -

BRKR is the control terminal of motor brake.

OLW ALL - -

OLW is activated when the servo drive has detected that the motor has reached the output overload level .

WARN ALL - -

Servo warning output. WARN is activated when the drive has detected Reverse limit error, Forward limit error, Emergency stop, Serial communication error, and Undervoltage these fault conditions.

S_CMP S, Sz - -

SP_CMP will be activated when the speed error is equal and below the setting value of P1-47.

SDO_0 ALL - - Output the status of bit00 of P4-06.

SDO_1 ALL - - Output the status of bit01 of P4-06.

SDO_2 ALL - - Output the status of bit02 of P4-06.

C5/C6/C7/C8

Chapter 3 Connections and Wiring

Revision June 2010 3-21

Pin No.

(Default)

Signal

Assigned

Control Mode

+ -

Details

Wiring Diagram

(Refer to 3-3-3)

SDO_3 ALL - - Output the status of bit03 of P4-06.

SDO_4 ALL - - Output the status of bit04 of P4-06.

SDO_5 ALL - - Output the status of bit05 of P4-06.

SDO_6 ALL - - Output the status of bit06 of P4-06.

SDO_7 ALL - - Output the status of bit07 of P4-06.

SDO_8 ALL - - Output the status of bit08 of P4-06.

SDO_9 ALL - - Output the status of bit09 of P4-06.

SDO_A ALL - - Output the status of bit10 of P4-06.

SDO_B ALL - - Output the status of bit11 of P4-06.

SDO_C ALL - - Output the status of bit12 of P4-06.

SDO_D ALL - - Output the status of bit13 of P4-06.

SDO_E ALL - - Output the status of bit14 of P4-06.

SDO_F ALL - - Output the status of bit15 of P4-06.

C5/C6/C7/C8

NOTE

1) PINS 3 & 2 can TSPD when control mode S is selected.

2) The DO signals that do not have pin numbers in Tables 3.B are not default DO signals. If

the users want to use these non-default DO signals, the users need to change the settings

of parameters P2-18 ~ P2-22. The “state” of the output function may be turned ON or OFF

as it will be dependant on the settings of parameters P2-18 ~ P2-22. Please refer to section

3.3.3 for details.

Table 3.C DI Signals

Signal

Assigned

Control

Mode

Pin No.

(Default)

Details

Wiring Diagram

(Refer to 3-3-3)

SON ALL 9 Servo On. Switch servo to "Servo Ready".

ARST ALL 33

A number of Faults (Alarms) can be cleared by activating ARST.

GAINUP ALL - Gain switching

CCLR PT 10

When CCLR is activated the setting is parameter P2-50 Pulse Clear Mode is executed.

ZCLAMP ALL -

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

C9/C10

C11/C12

Chapter 3 Connections and Wiring

3-22 Revision June 2010

Signal

Assigned

Control

Mode

Pin No.

(Default)

Details

Wiring Diagram

(Refer to 3-3-3)

CMDINV T, S -

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

TRQLM S, Sz 10

ON indicates the torque limit command is valid.

SPDLM T, Tz 10

ON indicates the speed limit command is valid.

STOP - - Motor stop.

SPD0 34

SPD1

S, Sz,

PT-S, S-T

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

TCM0

PT, T, Tz,

PT-T

TCM1 S-T 8

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

S-P PT-S 31

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

S-T S-T 31

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

T-P PT-T 31

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

EMGS ALL 30

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

NL(CWL)

PT, S, T

Sz, Tz

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

PL(CCWL)

PT, S, T

Sz, Tz

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

TLLM

Not

assigned

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

TRLM

Not

assigned

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

JOGU ALL -

Forward JOG input. When JOGU is activated, the motor will JOG in forward direction.

JOGD ALL -

Reverse JOG input. When JOGD is activated, the motor will JOG in reverse direction.

GNUM0 PT, PT-S

Electronic gear ratio (Numerator) selection 0 [See P2-60~P2-62]

GNUM1 PT, PT-S

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

C9/C10

C11/C12

Chapter 3 Connections and Wiring

Revision June 2010 3-23

Signal

Assigned

Control

Mode

Pin No.

(Default)

Details

Wiring Diagram

(Refer to 3-3-3)

INHP PT, PT-S

Pulses inhibit input. When the drive is in position mode, if INHP is activated, the external pulse input command is not valid.

C9/C10

C11/C12

NOTE

1) The DI signals that do not have pin numbers in Tables 3.C are not default DI signals. If the

users want to use these non-default DI signals, the users need to change the settings of

parameters P2-10 ~ P2-17. The “state” of the output function may be turned ON or OFF as it

will be dependant on the settings of parameters P2-10 ~ P2-17. Please refer to section

3.3.3 for details.

Table 3.D Source of Speed Command

SPD1 SPD0 Parameter

OFF OFF

S mode: analog input

Sz mode: 0

OFF ON P1-09

ON OFF P1-10

ON ON P1-11

Table 3.E Source of Torque Command

TCM1 TCM0 Parameter

OFF OFF

T mode: analog input

Tz mode: 0

OFF ON P1-12

ON OFF P1-13

ON ON P1-14

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

3.F and table 3.G. Although the content of the table 3.F and table 3.G do not provide

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

separated and listed in different row, it is easy for user to view and can avoid confusion.

However, the Pin number of each signal can not be displayed in the table 3.F and table

3.G.

Chapter 3 Connections and Wiring

3-24 Revision June 2010

Table 3.F Default DI signals and Control modes

Signal

Code

Function PT S T Sz Tz PT-S PT-T S-T

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

ARST 02 Reset DI5 DI5 DI5 DI5 DI5

GAINUP 03

Gain switching in speed and position mode

CCLR 04 Pulse clear DI2

DI2 DI2

ZCLAMP 05 Low speed CLAMP

CMDINV 06

Command input reverse control

Reserved 07 Reserved

Reserved 08 Reserved

TRQLM 09 Torque limit enabled

DI2

SPDLM 10 Speed limit enabled DI2

DI2

STOP 46 Motor stop

SPD0 14

Speed command selection 0

DI3

DI3 DI3

SPD1 15

Speed command selection 1

DI4

DI4 DI4

TCM0 16

Torque command selection 0

DI3

DI3 DI3 DI5

TCM1 17

Torque command selection 1

DI4

DI4 DI4 DI6

S-P 18

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

DI7

S-T 19

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

DI7

T-P 20

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

DI7

Reserved 2C Reserved

Reserved 2D Reserved

EMGS 21 Emergency stop DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8

NL(CWL) 22 Reverse inhibit limit DI6 DI6 DI6 DI6 DI6

PL(CCWL) 23 Forward inhibit limit DI7 DI7 DI7 DI7 DI7

Reserved 24 Reserved

TLLM 25

Reverse operation torque limit

Chapter 3 Connections and Wiring

Revision June 2010 3-25

Signal

Code

Function PT S T Sz Tz PT-S PT-T S-T

TRLM 26

Forward operation torque limit

Reserved 27 Reserved

Reserved 36 Reserved

JOGU 37 Forward JOG input

JOGD 38 Reverse JOG input

GNUM0 43

Electronic gear ratio (Numerator) selection 0

GNUM1 44

Electronic gear ratio (Numerator) selection 1

INHP 45 Pulse inhibit input

NOTE

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

Table 3.G Default DO signals and Control modes

Signal

Code

Function PT S T Sz Tz PT-S PT-T S-T

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

SON 02 Servo On

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

TSPD 04 Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3

TPOS 05

Positioning completed

DO4 DO4 DO4

TQL 06

Reached torques limits

ALRM 07

Servo alarm output (Servo fault)

DO5

DO5 DO5 DO5 DO5 DO5 DO5 DO5

BRKR 08

Electromagnetic brake

DO4

DO4 DO4 DO4

OLW 10

Output overload warning

WARN 11

Servo warning output

SNL(SCWL) 13

Reverse software limit

SPL(SCCWL) 14

Forward software limit

Chapter 3 Connections and Wiring

3-26 Revision June 2010

Signal

Code

Function PT S T Sz Tz PT-S PT-T S-T

SP_OK 19

Speed reached output

SDO_0 30

Output the status of bit00 of P4-06.

SDO_1 31

Output the status of bit01 of P4-06.

SDO_2 32

Output the status of bit02 of P4-06.

SDO_3 33

Output the status of bit03 of P4-06.

SDO_4 34

Output the status of bit04 of P4-06.

SDO_5 35

Output the status of bit05 of P4-06.

SDO_6 36

Output the status of bit06 of P4-06.

SDO_7 37

Output the status of bit07 of P4-06.

SDO_8 38

Output the status of bit08 of P4-06.

SDO_9 39

Output the status of bit09 of P4-06.

SDO_A 3A

Output the status of bit10 of P4-06.

SDO_B 3B

Output the status of bit11 of P4-06.

SDO_C 3C

Output the status of bit12 of P4-06.

SDO_D 3D

Output the status of bit13 of P4-06.

SDO_E 3E

Output the status of bit14 of P4-06.

SDO_F 3F

Output the status of bit15 of P4-06.

NOTE

1) For Pin numbers of DO1~DO6 signals, please refer to section 3.3.1.

Chapter 3 Connections and Wiring

Revision June 2010 3-27

3.3.3 Wiring Diagrams of I/O Signals (CN1)

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

~+10V. The command value can be set via relevant parameters.

C1: Speed / Torque analog signal input C2: Analog monitor output (MON1, MON2)

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

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

Open-collector input is 200kpps.

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

power supply (Open-collector input)

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

power supply (Open-collector input)

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

damage to the servo drive and servo motor.

Chapter 3 Connections and Wiring

3-28 Revision June 2010

C4-1: Pulse input (Line driver) It requires 5V power supply only. Never apply a 24V power

supply.

C4-2: High-speed pulse input (Line driver). It requires 5V power supply only. Never apply

a 24V power supply.

¾ Caution: Ensure that the ground terminal of the controller and the servo drive should be

connected to each other.

Chapter 3 Connections and Wiring

Revision June 2010 3-29

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

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

C5: Wiring of DO signal, for the use of

internal power supply, general load

C6: Wiring of DO signal, for the use of

internal power supply, inductive load

C7: Wiring of DO signal, for the use of

external power supply, general load

C8: Wiring of DO signal, for the use of

external power supply, inductive load

Chapter 3 Connections and Wiring

3-30 Revision June 2010

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

NPN transistor with multiple emitter fingers (SINK Mode)

C9: Wiring of DI signal, for the use of

internal power supply

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

power supply

PNP transistor with multiple emitter fingers (SOURCE Mode)

C11: Wiring of DI signal, for the use of

internal power supply

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

power supply

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

damage to the servo drive and servo motor.

Chapter 3 Connections and Wiring

Revision June 2010 3-31

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

C15: Encoder OCZ output (Open-collector Z-pulse output)

Chapter 3 Connections and Wiring

3-32 Revision June 2010

3.3.4 User-defined DI and DO signals

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

still user-defined DI and DO signals. The setting method is easy and they are all defined

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

P2-17 P2-36 and P2-18 to P2-22 and P-37. Please refer to the following Table 3.H for the

settings.

Table 3.H User-defined DI and DO signals

Signal Name Pin No. Parameter

DI1-

CN1-9

P2-10

DO1+ CN1-7

DI2-

CN1-10

P2-11

DO1- CN1-6

P2-18

DI3-

CN1-34

P2-12

DO2+ CN1-5

DI4-

CN1-8

P2-13

DO2- CN1-4

P2-19

DI5-

CN1-33

P2-14

DO3+ CN1-3

DI6-

CN1-32

P2-15

DO3- CN1-2

P2-20

DI7-

CN1-31

P2-16

DO4+ CN1-1

DI8-

CN1-30

P2-17

DO4- CN1-26

P2-21

DI9 CN1-12 P2-36

DO5+ CN1-28

DO5- CN1-27

P2-22

DO6+ CN1-16

DO6- CN1-15

P2-37

Chapter 3 Connections and Wiring

Revision June 2010 3-33

3.4 Encoder Connector CN2

Figure 3.9 The layout of CN2 Drive Connector

Figure 3.10 The layout of CN2 Motor Connector

Quick Connector

HOUSING: AMP (1-172161-9)

Military Connector

3106A-20-29S

CN2 Terminal Signal Identification

Drive Connector Motor Connector

PIN No.

Terminal

Identification

Description

Military

Connector

Quick

Connector

Color

4 T+

Serial communication

signal input / output (+)

A 1 Blue

5 T-

Serial communication

signal input / output (-)

B 4 Blue/Black

- - Reserved - - -

14,16 +5V +5V power supply S 7

Red &

Red/White

13,15 GND Ground R 8

Black &

Black/White

- - Shielding L 9 -

Chapter 3 Connections and Wiring

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3.5 Serial Communication Connector CN3

3.5.1 CN3 Terminal Layout and Identification

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

connector. Users can operate the servo drive through PC software supplied by Delta

(contact to the dealer). The communication connector/port of Delta servo drive can

provide three common serial communication interfaces: RS-232, RS-485, and RS-422

connection. RS-232 is mostly be used but is somewhat limited. The maximum cable

length for an RS-232 connection is 15 meters (50 feet). Using RS-485 or RS-422 interface

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

simultaneously.

CN3 Drive Connector

CN3 Terminal Signal Identification

PIN No. Signal Name

Terminal

Identification

Description

1 Grounding GND Ground

RS-232 data transmission

RS-232-TX

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

3 - - Reserved

4 RS-232 data receiving RS-232_RX

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

RS-485 data transmission

RS-485(+)

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

RS-485 data transmission

RS-485(-)

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

NOTE

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

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

Chapter 3 Connections and Wiring

Revision June 2010 3-35

3.5.2 Connection between PC and Connector CN3

Chapter 3 Connections and Wiring

3-36 Revision June 2010

3.6 Standard Connection Example

Please note: *1 Please refer to C3 ~ C4 wiring diagrams in

section 3.3.3 (on page 3-24 and 3-25).

*2 Please refer to C3 ~ C4 wiring diagrams in

section 3.3.3 (on page 3-24 and 3-25).

*3 Please refer to C9 ~ C12 wiring diagrams

(SINK / SOURCE mode) in section 3.3.3 (on page 3-27).

*4 400W and below drives do not provide

built-in regenerative resistor.

*5 The coil of brake has no polarity.

Chapter 3 Connections and Wiring

Revision June 2010 3-37

3.6.2 Speed Control Mode

Please note: *1 Please refer to C9 ~ C12 wiring diagrams

(SINK / SOURCE mode) in section 3.3.3 (on page 3-27).

*2 400W and below drives do not provide

built-in regenerative resistor.

*3 The coil of brake has no polarity.

Chapter 3 Connections and Wiring

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3.6.3 Torque Control Mode

Please note: *1 Please refer to C9 ~ C12 wiring

diagrams (SINK / SOURCE mode) in section 3.3.3 (on page 3-27).

*2 400W and below drives do not provide

built-in regenerative resistor.

*3 The coil of brake has no polarity.

Revision June 2010 4-1

Chapter 4 Display and Operation

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

4.1 Description of the Digital Keypad

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

the features of the digital keypad and an overview of their functions.

Figure 4.1

Name Function

LCD Display

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

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

MODE Key

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

SHIFT Key

SHIFT Key. Pressing SHIFT key can scrolls through parameter groups. After a parameter is selected and its value displayed, pressing SHIFT key can move the cursor to the left and then change parameter settings (blinking digits) by using arrow keys.

UP and DOWN

Key

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

SET Key

SET Key. Pressing the SET key can display and save the parameter groups, the various parameter settings. In monitor mode, pressing SET key can switch decimal or hexadecimal display. In parameter mode, pressing SET key can enter into parameter setting mode. 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.)

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4.2 Display Flowchart

Figure 4.2 Keypad Operation

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

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

2. In monitor mode, pressing MODE key can enter into parameter mode. In parameter

mode, pressing MODE key can return to monitor mode.

3. No matter working in which mode, when an alarm occurs, the system will enter into

fault mode immediately. In fault mode, pressing MODE key can switch to other modes.

In other modes, if no key is pressed for over 20 seconds, the system will return to fault

mode automatically.

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

At this time, monitor display symbol will display for approximately one second.

5. 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.

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

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

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

parameter value or press MODE key to exit and return back to the parameter mode.

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

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

arrow key.

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

or execute command.

9. When the parameter setting is completed, LCD display will show the end code

“SAVED“ and automatically return back to parameter mode.

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Revision June 2010 4-3

4.3 Status Display

4.3.1 Save Setting Display

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

approx. one second according to different status.

Display Message Description

The setting value is saved correctly. [Saved)

This parameter is read only. Write-protected. (Read-Only)

Invalid password or no password was input. (Locked)

The setting value is error or invalid. (Out of Range)

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

This parameter is valid after restarting the drive. (Power On)

4.3.2 Decimal Point Display

Display Message Description

High/Low byte display. When the data is a decimal 32-bit data, these two digits are used to show if the display is high byte or low byte.

Negative value display. When the data is displayed in decimal format, the most left two digits represent negative sign no matter it is a 16-bit or 32-bit data. If the data is displayed in hexadecimal format, it is a positive value always and no negative sign is displayed.

4.3.3 Fault Message Display

Display Message Description

When the AC servo drive has a fault, LCD display will display “ALnnn”. “AL” indicates the alarm and “nnn” indicates the drive fault code. For the list of drive fault code, please refer to parameter P0-01 or refer to Chapter 11 (Troubleshooting).

4.3.4 Polarity Setting Display

Display Message Description

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

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Display Message Description

Negative value display. Continuously press SHIFT key for two seconds and then the positive(+) or negative(-) sign can be switched. When the setting value exceeds its setting range, the positive(+) and negative(-) sign can not be switched. (The negative value display is for a decimal negative value only. There is no negative value display for a hexadecimal negative value.)

4.3.5 Monitor Setting Display

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

function codes for approximately one second and then enter into the monitor mode. In

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

arrow key or change parameter P0-02 directly to specify the monitor status. When the

power is applied, the LCD display will show ASDB2 first and then display the monitor

status depending on the setting value of P0-02. For example, if the setting value of P0-02

is 4 when the power is applied, the monitor function will be input pulse number of pulse

command. After ASDB2 shows on the LCD display, the C-PLS monitor codes will display

next and then the pulse number will display after.

P0-02

Setting

Display Message Description Unit

Motor feedback pulse number (after electronic gear ratio is set)

[user unit]

Input pulse number of pulse command (after electronic gear ratio is set)

[user unit]

Position error counts between control command pulse and feedback pulse

[user unit]

Motor feedback pulse number (encoder unit, 1600000 pulse/rev)

[pulse]

Input pulse number of pulse command (before electronic gear ratio is set) (encoder unit)

[pulse]

Position error counts (after electronic gear ratio is set) (encoder unit)

[pulse]

Input frequency of pulse command [Kpps]

Motor rotation speed [r/min]

Speed input command [Volt]

Speed input command [r/min]

Chapter 4 Display and Operation

Revision June 2010 4-5

P0-02

Setting

Display Message Description Unit

Torque input command [Volt]

Torque input command [%]

Average load [%]

Peak load [%]

Main circuit voltage [Volt]

Ratio of load inertia to Motor inertia (Please note that if the display is

130, it indicates that the actual inertia is 13.0)

[0.1times]

IGBT temperature

[

Resonance frequency (The low byte is the first resonance point and the high byte is the second resonance point.)

[Hz]

Absolute pulse number relative to encoder (use Z phase as home). The value of Z phase home point is 0, and it can be the value from -5000 to +5000 pulses.

The following table lists the display examples of monitor value:

Display Message Description

(Dec.)

Decimal display. When the actual value is 1234, the display is 01234.

(Hex.)

16-bit Data

Hexadecimal display. When the actual value is 0x1234, the display is 1234.

(Dec. High Byte)

(Dec. Low Byte)

Decimal display. When the actual value is 1234567890, the display of high byte is

1234.5 and the display of low byte is 67890.

(Hex. High Byte)

(Hex. Low Byte)

32-bit Data

Hexadecimal display. When the actual value is 0x12345678, the display of high byte is h1234 and the display of low byte is L5678.

Negative value display. When the actual value is 12345, the display is 1.2.345. (The negative value display is displayed to indicate a decimal negative value. There is no negative value display for a hexadecimal negative value.)

Chapter 4 Display and Operation

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NOTE

1) Dec. represents Decimal display and Hex. represents Hexadecimal display.

2) The above display methods are both available in monitor mode and parameter setting mode.

3) All monitor variables are 32-bit data. The users can switch to high byte or low byte and display format (Dec. or Hex.) freely. Regarding the parameters listed in Chapter 8, for each parameter, only one kind of display format is available and cannot be changed.

Chapter 4 Display and Operation

Revision June 2010 4-7

4.4 General Function Operation

4.4.1 Fault Code Display Operation

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

the corresponding fault code history for the parameter.

Figure 4.3

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4-8 Revision June 2010

4.4.2 JOG Operation

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

JOG operation. (Please also refer to Figure 4.4).

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

Step2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed.

(This also can be undertaken by using the SHIFT key to move the cursor to the

desired unit column (the effected number will blink) then changed using the UP

and DOWN arrow keys. The example display in Figure 4.4 is adjusted as 100

r/min.)

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

"JOG".

Step4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor

will only rotate while the arrow key is activated.

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

05". Press the SET key and the JOG speed will displayed again. Refer back to #2

and #3 to change speed.

NOTE

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

Figure 4.4

Chapter 4 Display and Operation

Revision June 2010 4-9

4.4.3 Force Output Control Operation

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

using parameter P2-08 and P4-06. First, set P2-08 to 406 to enable the force output

control function and then using P4-06 to force the digital outputs to be activated. Follow

the setting method in Figure 4.5 to enter into Force Output Control operation mode.

When P4-06 is set to 2, the digital output, DO2 is activated. When P4-06 is set to 7, the

digital outputs, DO1, DO2 and DO3 are both activated. The parameter setting value of P4-

06 is not retained when power is off. After re-power the servo drive, all digital outputs will

return to the normal status. If P2-08 is set to 400, it also can switch the Force Output

Control operation mode to normal Digital Output (DO) Control operation mode.

The DO function and status is determined by P2-18 to P2-22. This function is enabled

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

Figure 4.5

NOTE

1) As the display of P4-06 is hexadecimal, 0(zero) of the fifth digit will not show on the LED

display.

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4-10 Revision June 2010

4.4.4 DI Diagnosis Operation

Following the setting method in Figure 4.6 can perform DI diagnosis operation (parameter

P4-07, Input Status). According to the ON and OFF status of the digital inputs DI1 to DI9,

the corresponding status will display on the servo drive LED display. When the Bit is set to

“1”, it means that the corresponding digital input signal is ON. (Please also refer to Figure

4.6)

For example:

Suppose that the servo drive LED display is “1E1”.

“E” is hexadecimal, which is equal to “1110” in binary system, and it means that the

digital inputs DI6 ~ DI8 are ON.

Figure 4.6

(Hexadecimal Display)

Chapter 4 Display and Operation

Revision June 2010 4-11

4.4.5 DO Diagnosis Operation

Following the setting method in Figure 4.7 can perform DO diagnosis operation

(parameter P4-09, Output Status Display). According to the ON and OFF status of the

digital outputs DO1 to DO6, the corresponding status will display on the servo drive LED

display. When the Bit is set to “1”, it means that the corresponding digital output signal is

ON. (Please also refer to Figure 4.7)

For example:

Suppose that the servo drive LED display is “3F”.

“F” is hexadecimal, which is equal to “1111” in binary system, and it means that the

digital outputs DO1 ~ DO4 are ON.

Figure 4.7

(Hexadecimal Display)

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Revision June 2010 5-1

Chapter 5 Trial Run and Tuning Procedure

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

One part is to introduce the trial run without load, and the other part is to introduce trial run

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

with load.

5.1 Inspection without Load

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

trial run should be performed under no load condition (no load connected, including

disconnecting all couplings and belts). Do not run servo motor while it is connected to load or

mechanical system because the unassembled parts on motor shaft may easily disassemble

during running and it may damage mechanical system or even result in personnel injury. After

removing the load or mechanical system from the servo motor, if the servo motor can runs

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

completed), then the users can connect to the load and mechanical system to run the servo

motor.

¾ In order to prevent accidents, the initial trial run for servo motor should be conducted

under no load conditions (separate the motor from its couplings and belts).

¾ Caution: Please perform trial run without load first and then perform trial run with load

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

Chapter 5 Trial Run and Tuning Procedure

5-2 Revision June 2010

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

servo drive is ready. Please check the followings before trial run:

Item Content

Inspection before

operation

(Control power is

not applied)

z Inspect the servo drive and servo motor to insure they were not

damaged.

z To avoid an electric shock, be sure to connect the ground terminal of

servo drive to the ground terminal of control panel.

z Before making any connection, wait 10 minutes for capacitors to

discharge after the power is disconnected, alternatively, use an appropriate discharge device to discharge.

z Ensure that all wiring terminals are correctly insulated. z Ensure that all wiring is correct or damage and or malfunction may

result.

z Visually check to ensure that there are not any unused screws, metal

strips, or any conductive or inflammable materials inside the drive.

z Never put inflammable objects on servo drive or close to the external

regenerative resistor.

z Make sure control switch is OFF. z If the electromagnetic brake is being used, ensure that it is correctly

wired.

z If required, use an appropriate electrical filter to eliminate noise to the

servo drive.

z Ensure that the external applied voltage to the drive is correct and

matched to the controller.

Inspection during

operation

(Control power is

applied)）

z Ensure that the cables are not damaged, stressed excessively or loaded

heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended.

z Check for abnormal vibrations and sounds during operation. If the

servo motor is vibrating or there are unusual noises while the motor is running, please contact the dealer or manufacturer for assistance.

z Ensure that all user-defined parameters are set correctly. Since the

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

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

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

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

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

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

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

Chapter 5 Trial Run and Tuning Procedure

Revision June 2010 5-3

5.2 Applying Power to the Drive

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

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

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

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

specified cable and terminal, then the drive cannot control motor. The motor

grounding lead, FG must connect to grounding terminal. For more information of

cables, please refer to section 3.1.

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

to execute JOG operation, it is not necessary to make any connection to CN1 and CN3

connector. For more information of the connection of CN2 connector, please refer to

Section 3.1 and 3.4.

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

damage the AC servo drive.

2. Main circuit wiring

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

input power connection, please refer to Section 3.1.3.

3. Turn the Power On

The Power includes control circuit power (L1c, L2c) and main circuit power (R, S, T). When

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

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

(NL), Forward Inhibit Limit (PL) and Emergency Stop (EMGS) respectively, if the users do not

want to use the default settings of DI6~DI8, the users can change their settings by using

parameters P2-15 to P2-17 freely. When the setting value of parameters P2-15 to P2-17 is

0, it indicates the function of this DI signal is disabled. For more information of

parameters P2-15 to P2-17, please refer to Chapter 7 “Parameters”.

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

the following figure:

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

the control circuit terminal (L1c and L2c) is over low.

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5-4 Revision June 2010

1) When display shows:

Over voltage:

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

error (Incorrect power input).

Corrective Actions:

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

voltage.

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

2) When display shows:

Encoder error:

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

or incorrect.

Corrective Actions:

 Check if the users perform wiring recommended in the user manual.

 Examine the encoder connector and cable.

 Inspect whether wire is loose or not.

 Check if the encoder is damaged.

3) When display shows:

Emergency stop activated:

Please check if any of digital inputs DI1~DI9 signal is set to “Emergency Stop” (EMGS).

Corrective Actions:

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

need to confirm that if all of the digital inputs DI1~DI8 are not set to “Emergency

Chapter 5 Trial Run and Tuning Procedure

Revision June 2010 5-5

Stop (EMGS)”. (The setting value of parameter P2-10 to P2-17 and P2-36 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~DI9 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~DI9 signal is set to “Reverse inhibit limit (NL)”

and check if the signal is ON or not.

Corrective Actions:

 If it does not need to use “Reverse inhibit limit (NL)” as input signal, the users only

need to confirm that if all of the digital inputs DI1~DI9 are not set to “Reverse

inhibit limit (NL)”. (The setting value of parameter P2-10 to P2-17 and P2-36 is not

set to 22.)

 If it is necessary to use “Reverse inhibit limit (NL)” as input signal, the users only

need to confirm that which of digital inputs DI1~DI9 is set to “Reverse inhibit limit

(NL)” and check if the digital input signal is ON (It should be activated).

5) When display shows:

Forward limit switch error:

Please check if any of digital inputs DI1~DI9 signal is set to “Forward inhibit limit (PL)”

and check if the signal is ON or not.

Corrective Actions:

 If it is no need to use “Forward inhibit limit (PL)” as input signal, the users only

need to confirm that if all of the digital inputs DI1~DI9 are not set to “Forward

inhibit limit (PL)”. (The setting value of parameter P2-10 to P2-17 and P2-36 is not

set to 23.)

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 If it is necessary to use “Forward inhibit limit (PL)” as input signal, the users only

need to confirm that which of digital inputs DI1~DI9 is set to “Forward inhibit limit

(PL)” 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.

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.

Chapter 5 Trial Run and Tuning Procedure

Revision June 2010 5-7

5.3 JOG Trial Run without Load

It is very convenient to use JOG trial run without load to test the servo drive and motor as it

can save the wiring. The external wiring is not necessary and the users only need to connect

the digital keypad to the servo drive. For safety, it is recommended to set JOG speed at low

speed. Please refer to the following steps to perform JOG trial run without load.

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

30 should be set to 1 (Servo On).

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

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

STEP 3: The users can press UP and DOWN key to change JOG speed and press SHIFT key to

adjust the digit number of the displayed value.

STEP 4: Pressing SET key can determine the speed of JOG operation.

STEP 5: Pressing UP key and the servo motor will run in CCW direction. After releasing UP key,

the motor will stop running.

STEP 6: Pressing DOWN key and the servo motor will run in CW direction. After releasing

DOWN key, the motor will stop running.

N(CW) and P(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.

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5-8 Revision June 2010

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

Chapter 5 Trial Run and Tuning Procedure

Revision June 2010 5-9

5.4 Speed Trial Run without Load

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

reacting force when motor speed changes.

STEP 1:

Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After selecting the

operation mode as speed (S) control mode, please restart the drive as P1-01 is effective only

after the servo drive is restarted (after switching power off and on).

STEP 2:

In speed control mode, the necessary Digital Inputs are listed as follows:

Digital Input

Parameter Setting

Value

Sign Function Description CN1 PIN No.

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

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

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

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

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

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

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

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

DI9 P2-36=0 Disabled This DI function is disabled -

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

limit and DI6 is the function of emergency stop (DI8), if the users do not set the setting value

of parameters P2-15 to P2-17 and P2-36 to 0 (Disabled), the faults (ALE13, 14 and 15) will

occur (For the information of fault messages, please refer to Chapter 10). Therefore, if the

users do not need to use these three digit inputs, please set the setting value of parameters

P2-15 to P2-17 and P2-36 to 0 (Disabled) in advance.

All the digital inputs of Delta ASDA-B2 series are user-defined, and the users can set the DI

signals freely. Ensure to refer to the definitions of DI signals before defining them (For the

description of DI signals, please refer to Table 7.A in Chapter 7). If any alarm code displays

after the setting is completed, the users can restart the drive or set DI5 to be activated to

clear the fault. Please refer to section 5.2.

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

DI signal of CN1

Speed

Command No.

SPD1 SPD0

Command Source

Content Range

S1 0 0

External analog

command

Voltage between V-REF

and GND

-10V ~ +10V

S2 0 1 P1-09

-50000 ~ 50000

S3 1 0 P1-10

-50000 ~ 50000

S4 1 1

Internal parameter

P1-11

-50000 ~ 50000

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

The range of internal parameter is from -50000 to 50000.

Setting value of speed command = Setting range x unit (0.1 r/min).

For example:

If P1-09 is set to +30000, the setting value of speed command = +30000 x 0.1 r/min = +3000

r/min.

The settings of speed command:

P1-09 is set to 30000

Input value

command

Rotation direction

P1-10 is set to 1000 + CW

P1-11 is set to -30000 - CCW

STEP 3:

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

2. If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At this

time, the motor is operating according to external analog command.

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

the motor speed is 3000r/min at this time.

4. If only DI4 is ON (SPD1), it indicates S3 command (P1-10 is set to 100) is selected, and

the motor speed is 100r/min at this time.

5. If DI3 (SPD0) and DI4 (SPD1) are ON both, it indicates S4 command (P1-11 is set to -

3000) is selected, and the motor speed is -3000r/min at this time.

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

7. When the users want to stop the speed trial run, use DI1 to disable the servo drive

(Servo OFF).

Chapter 5 Trial Run and Tuning Procedure

Revision June 2010 5-11

5.5 Tuning Procedure

Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode

Tuning Procedure

Display

1. After wiring is completed, when power in connected to the AC servo drive, the right side display will show on the LCD display.

2. Press MODE key to enter into parameter mode.

3. Press SHIFT key twice to select parameter group.

4. Press UP key to view each parameter and select parameter P2-17.

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

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

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

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

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

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

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

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

13. Press MODE key to select parameter mode.

14. Press SHIFT key twice to select parameter group.

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

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

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

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

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

Chapter 5 Trial Run and Tuning Procedure

5-12 Revision June 2010

Tuning Procedure

Display

20. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 operation. Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, execute JOG operation again, press MODE key once and press SET key twice to view the display on the keypad. Check if the value of J_load /J_motor is adjusted to a fixed value and displayed on the keypad after acceleration and deceleration repeatedly.

5.5.1 Tuning Flowchart

Chapter 5 Trial Run and Tuning Procedure

Revision June 2010 5-13

5.5.2 Load Inertia Estimation Flowchart

Delta Electronics ASD-B2-0121-B, ASD-B2-0221-B, ASD-B2-1521-B, ASD-B2-2023-B, ASD-B2-3023-B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual