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

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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Revision June 2010 ix

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

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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: [phone]

FAX: [phone]

NORTH/SOUTH AMERICA

DELTA PRODUCTS CORPORATION (USA)

Raleigh Office

P.O. BOX 12173

5101 DAVIS DRIVE,

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

TEL: [phone]

FAX: [phone]

JAPAN

DELTA ELECTRONICS (JAPAN), INC.

Tokyo Office

DELTA SHIBADAIMON BUILDING

2-1-14 SHIBADAIMON, MINATO-KU,

TOKYO, 105-0012, JAPAN

TEL: [phone]

FAX: [phone]

EUROPE

DELTRONICS (THE NETHERLANDS) B.V.

Eindhoven Office

DE WITBOGT 15, 5652 AG EINDHOVEN,

THE NETHERLANDS

TEL: [phone]

FAX: [phone]

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xii Revision June 2010

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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.

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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.

Chapter 2 Installation and Storage

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.

1.

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

53) is set correctly.

2.

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

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

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

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

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

3.

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

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