Delta Electronics ASDA-B2-F, ASD-B2-1021-F, ASD-B2-0121-F, ASD-B2-0421-F, ASD-B2-0721-F User Manual

Asia

Delta Electronics (Jiangsu) Ltd.

Zhangjiagang Haina Automation Equipment Co., Ltd.

Sales office

No. 11, Yuefeng Road, Economic Development Zone,

Zhangjiagang, Jiangsu, China (Mainland)

TEL:0086-0512-56322086 008615262314665

EMAIL:samzhang@haina-auto.com

Delta Economic AC Servo Drive with DMCNET Communication

*We reserve the right to change the information in this manual without prior notice.

Delta Economic AC Servo Drive with DMCNET

ASDA-B2-F

Communication

ASDA-B2-F

Series User Manual

Preface

Thank you for purchasing ASDA-B2-F. This user manual provides related information of ASDA-B2-F series servo drive and ECMA series servo motors. This manual includes:

 Installation and inspection of the servo drive and se  Configuration of the servo drive  Procedures of trial run  Control functions and adjustment methods of the servo drive



Parameter settings

 Comm  Maintenance and inspection  Troubleshooting

Features

B2-F is a cost-effective servo drive for application which requires multi-axis motion control an d can be operated via DMCNET high-speed network. Besides hig h response, B2-F also supports absolute functions and multi-axis operation.

How to use this manual

Users can refer to this user manual during installation, setting, operation and maintenance. Before tuning and setting, please read through Chapter 1 to 5. This user manual provides specific table of contents and index for searching. If the requiring information is not available in the table of contents, please refer to the index.

Technical Supports

If you have any question, please contact local distributors or Delta’s service center.

unication protocol

rvo motor

September, 2015



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September, 2015

7.3 Parameter Description ················································································· 7-10 P0-xx Monitor Parameters ······································································ 7-10

P1-xx Basic Parameters ········································································· 7-22 P2-xx Extension Parameters ··································································· 7-37 P3-xx Communication Parameters ··························································· 7-50

P4-xx Diagnosis Parameters ··································································· 7-55 P5-xx Motion Setting Parameters ····························································· 7-59

September, 2015 III

Table 7.1 Function Description of Digital Input (DI) ········································· 7-63 Table 7.2 Function Description of Digital Output (DO) ····································· 7-65

Communications

8.1 RS-232 Communication Hardware Interface ···················································· 8-2

8.2 RS-232 Communication Parameters Setting ···················································· 8-3

8.3 MODBUS Communication Protocol ································································ 8-4

8.4 Setting and Accessing Communication Parameters ··········································· 8-15

Troubleshooting

9.1 Alarm of Servo Drive ··················································································· 9-2

9.2 Alarm of DMCNET Communication ································································ 9-3

9.3 Alarm of Motion Control ··············································································· 9-4

9.4 Causes and Corrective Actions ····································································· 9-5

Absolute System

10.1 Absolute Type of Battery Box and Wiring Rods ················································· 10-3

10.1.1 Specifications ··················································································· 10-3

10.1.2 Battery Box Dimensions ..................................................................................... 10-5

10.1.3 Connection Cable for Absolute Encoder ............................................................ 10-6

10.1.4 Battery Box Cable ............................................................................................... 10-8

10.2 Installation ································································································ 10-9

10.2.1 Install Battery Box in Servo System ................................................................... 10-9

10.2.2 How to Install the Battery .................................................................................... 10-13

10.2.3 How to Replace a Battery ................................................................................... 10-14

10.3 Parameters Related to Absolute Servo System ················································· 10-16

10.4 Servo Drive Alarm List for Absolute Function and Monitoring Variables ·················· 10-17

10.5 System Initialization and Operation Procedures ················································ 10-18

10.5.1 System Initialization ............................................................................................ 10-18

10.5.2 Pulse Number ..................................................................................................... 10-19

10.5.3 PUU Number ...................................................................................................... 10-20

10.5.4 To Initialize the Absolute Coordinate via Parameters ......................................... 10-21

10.5.5 Use Communication to Access Absolute Position .............................................. 10-21

IV September, 2015

Appendix

Specifications

Specifications of ASD

Specifications of Servo Motors (ECMA Series) ···························································· A-4 Torque Features (T-N Curves) ·················································································· A-13 Overload Features ································································································· A-15 Dimensions of Servo Drive ······················································································ A-17 Dimensions of Servo Motor ······················································································ A-21

A-B2-F Servo Drive ··································································· A-2

Accessories

Power Co Power Cable ······································································································· B-3

Encoder Connector ································································································ B-5 Encoder Cable ······································································································ B-5 Encoder Cable (Absolute Type) ················································································ B-6 Battery Box Cable AW ··························································································· B-7 Battery Box Cable IW ···························································································· B-7

nnector ··································································································· B-2

Battery Box (Absolute Type) ··················································································· B-8

I/O Connector Terminal ··························································································· B-9

CN1 Convenient Connector ····················································································· B-9 PC Connection Cable ····························································································· B-10 Terminal Block Module ···························································································· B-10 Optional Accessories ······························································································ B-11

Maintenance and Inspection

Basic Inspe

Maintenance ········································································································· C-3

The Lifetime of Machinery Parts ················································································ C-3

ction ···································································································· C-2

September, 2015 V

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VI September, 2015

Inspection and Model Explanation

Before using ASDA-B2-F, please pay attention to the description about the inspection, nameplate, and model type. Suitable motor model for your servo drive can be found in the table of Chapter 1.3.

111111111111111111111111111111111111111 11111

1.1 Inspection ........................................................................................................ 1-2

1.2 Product Model ··············································································· 1-3

1.2.1 Nameplate Information ································································ 1-3

1.2.2 Model Explanation ······································································ 1-4

1.3 Servo Drive and Corresponding Servo Motor ········································ 1-6

1.4 Each Part of the Servo Drive ····························································· 1-7

September, 2015 1-1

Inspection and Model Explanation ASDA-B2-F

1.1 Inspection

In order to prevent the negligence during purchasing and delivery, please inspect the following items carefully.

Item Description

1

Please check if the product is what you have purchased.

Check the part number of the motor and the servo drive on the nameplate. Refer to the next page for the model explanation.

Check if the motor shaft can rotate smoothly.

Check if there is any damage shown on its appearance.

Check if there is any loose screw.

If any of the above situations happens, please contact the distributors to solve the problems. A complete and workable servo set should include:

(1) One servo drive and one servo motor. (2) One UVW motor power cable, the U, V and W wires can connect to the socket attached by

the servo drive and another side is the plug which could connect to the socket of the motor. And a green ground wire which should be connected to the ground terminal of the servo drive. (selective purchase)

(3) An encoder cable which connects to the socket of the encoder. One side of it connects to

CN2 servo drive and another side is the plug. (selective purchase) (4) 15-PIN connector which is used in CN1 (selective purchase) (5) 9-PIN connector which is used in CN2. (selective purchase) (6) 6-PIN connector which is used in CN3. (selective purchase)

Rotate the motor shaft by hand. If it can be rotated smoothly, it means the motor shaft is normal. However, it cannot be rotated by hand if the motor has an electromagnetic brake.

Visually check if there is any damage or scrape of the appearance.

Make sure no screw is un-tightened or fall off.

(7) RJ-45 connector which is used in CN6.

1-2 September, 2015

ASDA-B2-F Inspection and Model Explanation

1.2 Product Model

1.2.1 Nameplate Information

ASDA-B2-F Series Servo Drive 0

 Nameplate Information

Model Name

Capacity Specificat ion

Applicable Power Supply

Rated Current Output

Barcode

Firmwa re V ersion

 Serial Number

B21521F W 14 17 0001

    

MODEL : ASD-B2-1521-F POWER : 1.5kW INPUT : 200~230V 3PH 50/60Hz 5.9A 200~230V 1PH 50/60Hz 10.3A

OUTPUT : 110V 0~250Hz 8.3A

B21521FW14170001

01.74

DELTA ELECTRONICS, INC.

LISTED

19XK

IND. CONT. E Q.

MADE IN TAIWAN

 Model Name  Production Factory (T: Taoyuan; W: Wujiang)  Year of Production (3: year 2013 or 14: year 2014)  Week of Production (from 1to 52)  Serial Number

(Production sequence of a week, starting from 0001)

1

ECMA Series Servo Motor 0

 Nameplate Information

AC SER VO MOTOR

Model Name

Input Power

Rated Speed and Rated Output

Barcode

 Serial Number

C10602ES T 14 33 0001     

 Model Name



Production Factory (T: Taoyuan; W: Wujiang) Year of Production (14: year 2014)

 

Week of Production (from 1 to 52)

 Serial Number

(Production sequence of a week, starting from 0001)

MODEL: ECMA-C10602ES INPUT: VAC 110 A 1.55 Ins. A OUTPUT: r/min 3000 N.m 0.64 kW 0.2

C10602EST14330001

Delta Electronics, Inc. MADE IN XXXXXX

September, 2015 1-3

Inspection and Model Explanation ASDA-B2-F

1.2.2 Model Explanation

ASDA-B2-F Series Servo Drive 0

1

ASD-B2-0421- F

    

Product Name

AC Servo Drive

Series

B2

 Rate Output Power

 Input Voltage and Phase

 Model Type

Code Spec. Code Spec.

01 100 W 10 1 kW 02 200 W 15 1.5 kW 04 400 W 20 2 kW 07 750 W 30 3 kW

Code Voltage / Phase

21 220V 1 phase 23 220V 3 phase

Type

F × × × ○ × ×

Full-Closed

Control

EtherCAT CANopen DMCNET E-CAM

Extension Port for

Digital Input

1-4 September, 2015

ASDA-B2-F Inspection and Model Explanation

ECMA Series Servo Motor 0

ECMA-C10602ES

      

 Product Name ECM: Electronic Commutation Motor  Motor Type A: AC Servo Motor  Name of the Series

Rated Voltage and Rated Speed

Code Spec.

C 220 V / 3,000 rpm E 220 V / 2,000 rpm F 220 V / 1,500 rpm G 220 V / 1,000 rpm

Code Spec.

1 Incremental type, 20-bit 2 Incremental type, 17-bit 3 2500 ppr

M Magnet type, 13-bit

Motor Frame Size

code Spec. code Spec.

04 40 mm 10 100 mm 06 60 mm 13 130 mm 08 80 mm 18 180 mm 09 86 mm - -

Rated Power Output

1

Encoder Type

code Spec. code Spec. code Spec.

01 100 W 05 500 W 10 1.0 kW 02 200 W 06 600 W 15 1.5 kW 03 300 W 07 700 W 20 2.0 kW 04 400 W 09 900 W 30 3.0 kW

Type of Shaft Diameter and Oil Seal

Round Shaft

(with fixed screw holes)

Keyway E F - -

Keyway

(with fixed screw holes)

w/o Brake,

w/o Oil Seal

 Shaft Diameter

Standard S

Specific

3 42 mm 7 14 mm

- - C D

P Q R S

with Brake, w/o

Oil Seal

w/o Brake, with

Oil Seal

With Brake,

with Oil Seal

September, 2015 1-5

Inspection and Model Explanation ASDA-B2-F

M

di hi

h

1.3 Servo Drive and Corresponding Servo Motor

Motor Servo Drive

1

Motor series

Low Inertia

Medium Inertia

g

um-

inertia

e

High Inertia

Power

Single/Three-

phase

ECMA-C 3000 r/min

Single/Three-

phase

ECMA-E 2000 r/min

Single/Three-

phase

ECMA-F

1500 r/min

Single/Three-

r/min

phase

ECMA-C/G 3000

Output

(W)

50 100 200 400 400 750 750

1000 1000 2000 3000

500

1000 1500 2000 2000 3000

850

1300 3000

400 750 300 600 900

Model Number

ECMA-C1040F□S 0.69 2.05 ECMA-C󰅿0401□S ECMA-C󰅿0602□S ECMA-C󰅿0604□S ECMA-C󰅿0804□7 ECMA-C󰅿0807□S ECMA-C󰅿0907□S ECMA-C󰅿0910□S ECMA-C󰅿1010□S ECMA-C󰅿1020□S ECMA-C󰅿1330□4 ECMA-E󰅿1305□S ECMA-E󰅿1310□S ECMA-E󰅿1315□S ECMA-E󰅿1320□S ECMA-E󰅿1820□S ECMA-E󰅿1830□S ECMA-F󰅿1308□S ECMA-F󰅿1313□S

ECMA-F󰅿1830□S ECMA-C󰅿0604□H ECMA-C󰅿0807□H ECMA-G󰅿1303□S ECMA-G󰅿1306□S ECMA-G󰅿1309□S

Rated

Current

(Arms)

0.90 2.70

1.55 4.65

2.60 7.80

5.10 15.30

3.66 11.00

4.25 12.37

7.30 21.90

12.05 36.15

17.2 47.5

2.90 8.70

5.60 16.80

8.30 24.90

11.01 33.03

11.22 33.66

16.10 48.30

7.10 19.40

12.60 38.60

19.40 58.20

2.60 7.80

5.10 15.30

2.50 7.50

4.80 14.40

7.50 22.50

Max.

Instantaneous

current

(A)

Continuous

Model Number

ASD-B2-0121-F 0.90 2.70

ASD-B2-0221-F 1.55 4.65

ASD-B2-0421-F 2.60 7.80

ASD-B2-0721-F 5.10 15.30

ASD-B2-1021-F 7.30 21.90

ASD-B2-2023-F 13.40 40.20 ASD-B2-3023-F 19.40 58.20 ASD-B2-0421-F 2.60 7.80 ASD-B2-1021-F 7.30 21.90 ASD-B2-1521-F 8.30 24.90

ASD-B2-2023-F 13.40 40.20

ASD-B2-3023-F 19.40 58.20 ASD-B2-1021-F 7.30 21.90 ASD-B2-2023-F 13.40 40.20 ASD-B2-3023-F 19.40 58.20 ASD-B2-0421-F 2.60 7.80 ASD-B2-0721-F 5.10 15.30 ASD-B2-0421-F 2.60 7.80 ASD-B2-0721-F 5.10 15.30 ASD-B2-1021-F 7.30 21.90

Output

Current

(Arms)

Max. Instantaneous

output

current

(A)

Note:

1. () at the ends of the servo drive model names are for optional configurations. For the actual model name, please refer to the ordering information of the actual purchased product.

2. (󰅿) in the model names are for encoder resolution types. 󰅿= 1: Incremental type, 20-bit;

󰅿= 2: Incremental type, 17-bit; 󰅿= 3: 2500 ppr; 󰅿= M: Magnet type. The listed motor model name is for information searching, please contact to your local distributors for actual purchased product.

3. () in the model names represents brake or keyway oil seal. The above table shows the specification of servo drive which has triple rated current. For detailed specification of the servo motor and servo drive, please refer to Appendix A.

1-6 September, 2015

ASDA-B2-F Inspection and Model Explanation

1.4 Each Part of the Servo Drive

1

 Heat sink:

Used to secure servo drive and for heat dissipation.

 Control Circuit Terminal (L1c、L2c):

Used to connect 200 ~ 230 V

Ac, 50 / 60 Hz 1-phase / 3-phase VAC supply.

 Main Circuit Terminal (R, S, T):

Used to connect 200 ~ 230 V, 50 / 60 Hz commercial power supply.

 Servo Motor Output (U, V, W):

Used to connect servo motor. Never connect the output terminal to main circuit power.

The AC servo drive may be destroyed beyond repair if incorrect cables are connected to the output terminals.

 Regenerative Resistor:

(1) When using an external regenerative resistor, connect P⊕ and C to the regenerative

resistor and ensure that the circuit between P⊕ and C is open.

(2) When using the internal regenerative resistor, ensure that the circuit between P⊕ and D

is closed and the circuit between P⊕ and C is open

 CN6: DMCNET Connector: Communication port for DMCNET communi cation.  CN1: I/O Interface: Used to connect external controller (PLC) or control I/O signal.



CN2: Encoder Interface: Used to connect encoder of servo motor.



CN3: Serial Communication Interface: It is controlled by MODBUS and supports RS-232.

It can be connected to controllers.

 Ground Terminal: Used to connect grounding wire of power supply and servo motor.

Please connect it properly to avoid electric shock.

September, 2015 1-7

Inspection and Model Explanation ASDA-B2-F

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1

1-8 September, 2015

Installation

This chapter allows you to properly install the device. Please follow the instruction mentioned in this chapter during installation. Information about specification of circuit breaker, fuse, EMI filter selection, and selection of regenerative resistor are also included.

11111111111111111111111111111111111111111111 1111111

2.1 Notes ······························································································ 2-2

2.2 Ambient Conditions of Storage ····························································· 2-2

2.3 Ambient Conditions of Installation ························································· 2-2

2.4 Installation Direction and Space ···························································· 2-3

2.5 Specification of Circuit Breaker and Fuse ················································ 2-5

2.6 EMI Filter Selection ············································································ 2-5

2.7 Selection of Regenerative Resistor ························································ 2-7

September, 2015 2-1

Installation ASDA-B2-F

2.1 Notes

Please pay special attention to the following:

 Do not strain the cable connection between the servo drive and the servo motor.

2

 Make sure each screw is tightened when fixing the servo drive.  The motor shaft and the ball screw should be pa rallel.  If the connection between the servo drive and the servo motor is over 20 meters, please

thicken the connecting wire, UVW as well as the encoder cable.

 Tighten the four screws that fix the motor.

2.2 Ambient Conditions of Storage

Before the installation, this product has to be kept in the shipping carton. In order to retain the warranty coverage and for the maintenance, please follow the instructions below when storage, if the product is not in use temporally:

 Store the product in a dry and dust-free location.  Store the product within an ambient temperature range of -20°C to +65°C.  S t ore the product within a relative humidity range of 0% to 90% and a non-condensing

environment.

 Avoid storing the product in the environment of corrosive gas and liquid.

 It is better to store the product in the shipping carton and put it on the shelf or working

platform.

2.3 Ambient Conditions of Installation

The most appropriate temperature of this servo drive is between 0°C and 55°C. If it is over 45°C, please place the product in a well-ventilated environment so as to ensure it s pe rform anc e. If the product is installed in an electric box, make sure the size of the electric box and its ventilation condition will not overheat and endanger the internal electronic device. Also, pay attention to the vibration of the machine. Check if the vibration will influence the electro nic device of the electric box. Besides, the ambient conditions should be:

 No over-heat device.  No water drop, vapor, dust or oily dust.  No corrosive and inflammable gas or liquid.  No airborne dust or metal p articles.  With solid foundation and no vibration.  No interference of electromagnetic noise.

2-2 September, 2015

ASDA-B2-F Installation

The ambient temperature of the motor is between 0°C and 40°C and the ambient conditions should be:

 No over-heat device.  No water drop, vapor, dust or oily dust.  No corrosive and inflammable gas or liquid.  No airborne dust or metal particles.

2.4 Installation Direction and Space

Notes:

 Incorrect installation may result in a drive malfunction or premature failure of the drive and

or motor.

 In order to ensure the drive can be well-cooled and the environment is well circulated,

sufficient space between adjacent object and the baffle is needed.

 Ensure all ventilation holes are not obstructed. Do not install the drive in a horizontal

direction or malfunction and damage will occur.

C N 6

2

CN3

C N 1

C N 2

C N 3

CN6

CN1

CN2

Correct Incorrect

Installing servo drives:

ASDA-B2-F series servo drive should be mounted perpendicular to a dry and solid surface that conforms to NEMA st a ndards. To ensure a well-ventilated environment, sufficient space between adjacent object and the baffle is required. 50 mm (approx. 2 inch.) of clearance is suggested. If wiring is needed, please leave the space for it. Please note that the rack or the surface shall conduct heat well, so as to avoid the overheating of servo drive.

September, 2015 2-3

Installation ASDA-B2-F

Installing motors:

ECMA series motors shall be mounted to the mounting surface which is dry and stable. Please make sure the environment is well-ventilated and the motor is properly grounded . For the dimensions and specifications of the servo drive and servo motor, please refer to

2

Appendix A -Specifications.

Mounting distances and ventilation:

20 mm

(0.8 inches)

min.

50 mm

(2.0 inches) min.

C N 6

20 mm

C

(0.8 inches)

N 1

C N 2

C N 3

50 mm

(2.0 inches) min.

min.

40 mm

(1.6 inches)

min.

(4.0 inches)

100 mm

(4.0 inches)

min.

100 mm

min.

FAN FAN

Air Flow

C N 6

C N

10 mm

1

(0.4

inches)

C N

min.

2

C N 3

C N 6

C N 1

C N 2

C N 3

10 mm

(0.4

inches)

min.

Air Flow

C N 6

C N

10 mm

1

(0.4

inches)

C N

min.

2

C N 3

100 mm

(4.0 inches)

min.

C N 6

C N

40 mm

1

(1.6 inches)

C N 2

C N 3

100 mm

(4.0 inches)

min.

To lower the air resistance and ensure the drive is well ventilated, please follow the instructions during installation and leaving suf f icient space as suggested.

Note: The above diagrams are not in equal proportion. Please refer to the annotation

2-4 September, 2015

ASDA-B2-F Installation

2.5 Specification of Circuit Breaker and Fuse

Caution: Please use the fuse and circuit breaker that is recognized by UL/CSA.

Servo Drive Model Circuit Breaker Fuse (Class T)

Operation Mode General General ASD-B2-0121-F 5A 5A ASD-B2-0221-F 5A 6A ASD-B2-0421-F 10A 10A ASD-B2-0721-F 10A 20A ASD-B2-1021-F 15A 25A ASD-B2-1521-F 20A 40A ASD-B2-2023-F 30A 50A ASD-B2-3023-F 30A 70A

Note： If the servo drive equips with earth leakage circuit breaker for avoiding electric leakage, please choose the

current sensitivity which is over 200 mA and can continue up to 0.1 seconds.

2.6 EMI Filter Selection

2

Item Power Servo Drive Model

1 100 W ASD-B2-0121-F RF007S21AA RF022M43AA N 2 200 W ASD-B2-0221-F RF007S21AA RF022M43AA N 3 400 W ASD-B2-0421-F RF007S21AA RF022M43AA N 4 750 W ASD-B2-0721-F RF007S21AA RF022M43AA N 5 1000 W ASD-B2-1021-F RF015B21AA RF075M43BA N 6 1500 W ASD-B2-1521-F RF015B21AA RF075M43BA N 7 2000 W ASD-B2-2023-F - RF037B43BA N 8 3000 W ASD-B2-3023-F - RF037B43BA N

Recommended EMI Filter

1PH 3PH

Foot Print

EMI Filter Installation

All electronic equipment (including servo drive) generates high or low frequency noise during operation and interfere the peripheral equipment via conduction or radiation. With EMI Filter and the correct installation, much interference can be eliminated. It is suggested to use Delta’s EMI Filter to suppress the interference better. When installing servo drive and EMI Filter, please follow the instructions of the user manual and make sure it meets the following specifications.

1. EN61000-6-4 (2001)

2. EN61800-3 (2004) PDS of category C2

3. EN55011+A2 (2007) Class A Group 1

September, 2015 2-5

2

Installation ASDA-B2-F

General Precaution

In order to ensure the best performance of EMI Filter, apart from the instructions of servo drive installation and wiring, please follow the precautions mentioned below:

1. The servo drive and EMI Filter should be installed on the same metal plate.

2. When installing servo drive and EMI Filter , t he servo drive should be installed above the EMI

Filter.

3. The wiring should be as short as possible.

4. The metal plate should be well grounded.

5. The servo drive and the metal cover of EMI Filter or grounding should be firmly fixed on the

metal plate. Also, the contact area should be as large as possible.

Motor Cable Selection and Installation Precautions

The selection of motor cables and installation affect the performance of EMI Filter. Please follow the precautions mentioned below.

1. Use the cable that has braided shielding (The effect of double shielding is better)

2. The shield on both sides of the motor cable should be grounded in the shortest distance and

the largest contact area.

3. The protective paint of the U-shape saddle and metal plate should be removed in order to

ensure the good contact. Please see Fig. 1.

4. It should have correct connection between the braided shielding of the motor cable and the

metal plate. The braided shielding on both sides of the motor cable should be fixed by the U-shape saddle and metal plate. Please see Fig. 2 for the correct connection.

Fig.1 Fig. 2

2-6 September, 2015

ASDA-B2-F Installation

2.7 Selection of Regenerative Resistor

When the direction of pull-out torque is different from the rotation, it means the electricity is sent back to the servo drive from the load-end. It becomes the capacitance of DC Bus and increases the voltage. When the voltage increases to a specific value, the come-back eletricity can only be consumed by regenerative resistor. There is a built-in regenerative resistor in the servo drive. Users can also use the external regenerative resistor if needed.

Specification of built-in regenerative resistor provided by ASDA-B2-F Series

Specification of built-in regenerative

Servo Drive

(KW)

0.1 -- -- -- 60

0.2 -- -- -- 60

0.4 100 60 30 60

0.75 100 60 30 60

1.0 40 60 30 30

1.5 40 60 30 30

2.0 20 100 50 15

3.0 20 100 50 15

Resistance

(P1-52) (Ohm)

resistor

Capacity

(P1-53) (Watt)

*1The capacity of

built-in regenerative

resistor (Wat t)

Minimum allowable

resistance (Ohm)

2

*1The capacity of built-in regenerative resistor (average value) is 50% of the rated capacity of the built-in

regenerative resistor. The capacity of the external regenerative resistor is the same as the built-in one.

When the regenerative resistor exceeds the capacity of built-in regenerative resistor, the external regenerative resistor should be applied. Please pay special attention to the following when using the regenerative resistor.

1. Please correctly set up the resistance (P1-52) and capacity (P1-53) of regenerative resistor.

Or it might influence the performance of this function.

2. If users desire to use the external regenerative resistor, please make sure the applied value

should not be smaller than the value of built-in regenerative resistor. In general application, more than one resistor will be serial connected. If the value (from serial connected resistors) exceeds the setting range, users can reduce the value by parallel connecting the resistor. If users desire to connect it in parallel to increase the power of regenerative resistor, please make sure the capacitance meets the requirements.

3. In natural environment, if the capacity of regenerative resistor (the average value) is within

the rated capacity, the temperature of the capacitance will increase to 120℃ or even higher (under the condition of regenerative energy keeps existing). For safety concerns, please

apply the method of forced cooling in order to reduce the temperature of rege nerative resistor. Or, it is suggested to use the regenerative resistor which is equipped with thermal switches. Please contact the distributors for load characteristics of the regenerative resistor.

When using the external regenerative resistor, the resistor should connect to P, C terminal and the contact of P, D terminal should be opened. It is recommended to choose the above mentioned capacitance. For easy calculation of regenerative resistor capacity, except the energy consumed by IGBT, two ways are provided to select the capacity of external regenerative resistor according to the selected linear motor or rotary motor.

September, 2015 2-7

2

Installation ASDA-B2-F

(1) Regenerative Power Selection

(a) When the external load on torque does not exist If the motor operates back and forth, the energy generated by the brake will go into the

capacitance of DC bus. When the voltage of the capacitance exceeds a specific value, the redundant energy will be consumed by regenerative resistor. Two ways of selecting regenerative resistor are provided here. The table below provides the energy calculation method. Users can refer to it and calculate the selected regenerative resisto r.

Servo Drive

(kW)

Low Inertia

Medium

Inertia

Medium -

High Inertia

0.1

0.2

0.4

0.75

1.0

2.0

3.0

0.4

1.0

1.5

2.0

3.0

1.0

2.0

3.0

0.4

0.75

1.0

Motor

ECMA-Cᇞ040F□□ ECMA-Cᇞ0401□□ ECMA-Cᇞ0602□□ ECMA-Cᇞ0604□□ ECMA-Cᇞ0804□□ ECMA-Cᇞ0807□□ ECMA-Cᇞ0907□□ ECMA-Cᇞ0910□□ ECMA-Cᇞ1010□□ ECMA-Cᇞ1020□□ ECMA-Cᇞ1330□□ ECMA-Eᇞ1305□□ ECMA-Eᇞ1310□□ ECMA-Eᇞ1315□□ ECMA-Eᇞ1320□□ ECMA-Eᇞ1820□□ ECMA-Eᇞ1830□□

ECMA-Fᇞ1308□□ ECMA-Fᇞ1313□□

ECMA-Fᇞ1830□□ ECMA-Gᇞ1303□□ ECMA-Gᇞ1306□□ ECMA-Gᇞ1309□□

Rotor Inertia

J (× 10-4kg.m2)

0.021 0.10 4.21

0.037 0.18 4.21

0.177 0.87 5.62

0.277 1.37 8.42

0.68 3.36 8.42

1.13 5.59 17.47

1.93 9.54 17.47

2.62 12.96 21.22

2.65 13.1 21.22

4.45 22.0 25.58

12.7 62.80 25.58

8.17 40.40 8.42

8.41 41.59 21.22

11.18 55.29 25.58

14.59 72.15 25.58

34.68 171.49 25.58

54.95 217.73 31.20

13.6 67.25 21.22

20.0 98.90 25.58

54.95 217.73 28

8.17 17.96 8.42

8.41 18.48 17.47

11.18 24.57 21.22

Regenerative power

from empty load

3000r/min to stop Eo

(joule)

The maximum

regenerative power

of capacitance

Ec (joule)

Eo = J * Wr2/182 (joule), Wr: r/min Assume that the load inertia is N times to the motor inertia and the motor decelerates from 3000 r/min to 0, its regenerative energy is (N+1) x Eo. The consumed regenerative resistor is (N+1) × Eo - Ec joule. If the cycle of back and forth operation is T sec, then the power of regenerative resistor it needs is 2× ((N+1) x Eo - Ec) / T.

Steps Item Calculation and Setting Method

1 Set the capacity of regenerative resistor to the maximum Set P1-53 to the maximum value 2 Set T cycle of back and forth operation Enter by the user 3 Set the rotational speed wr Enter by the user or read via P0-02 4 Set the load/motor inertia ratio N Enter by the user or read via P0-02 5 Calculate the maximum regenerative energy Eo Eo= J * wr2/182 6 Set the absorbable regenerative energy Ec Refer to the above table 7 Calculate the needful capacitance of regenerative resistor

2 ×（(N+1) × Eo－Ec）/ T

2-8 September, 2015

ASDA-B2-F Installation

Take the motor (400 W with frame size 60) as the example, the cycle of back and forth operation is T = 0.4 sec, the maximum speed is 3000 r/min and the load inertia is 7 times to the motor inertia. Then, the needful power of regenerative resistor is 2 × ((7+1) × 1.37 – 8) / 0.4 = 14.8 W. If it is smaller than the built-in capacity of regenerative resistor, the built-in 60W regenerative resistor will do. Generally speaking, when the need of the external load inertia is not much, the built-in regenerative is enough. The diagram below describes the actual operation. The smaller power of the regenerative resistor it is, the more energy it accumulates and the higher temperature it will be. When the temperature is higher than a specific value, AL005 occurs.

(b) If the external load torque exists, the motor is in reverse rotation.

Usually, the motor is in forward rotation, which means the torque output direction of the motor is the same as the rotation direction. However, in some applications, the direction of torque output is different from the rotation. In this situation, the motor is in reverse rotation. The external energy goes into the servo drive through the motor. The diagram below is one example. When the external force direction is the same as the moving direction, the servo system has to use the force of the opposite direction to keep the speed and sta bility. Huge amount of energy will return to the servo drive at the moment. When DC-BUS is full and unable to store the regenerative energy, the energy will be leaded to regenerative resistor and consumed.

Motor Speed

External Load Torque

2

Motor Output Torque

Negative

Torque

Negative torque: TL × Wr TL: external load torque For safety reasons, please calculate it by considering the safest situation. For example, when the external load torque is +70% rated torque and the rotation rea ches

3000 r/min, then take 400W (the rated torque is 1.27 Nt-m) as the example, users have to connect the regenerative resistor which is 2 × (0.7× 1.27) × (3000 × 2 × π／60) = 560 W, 60 .

Positive

Torque

Negative Tor que

Positive

Torque

September, 2015 2-9

2

(

)

(

)

Installation ASDA-B2-F

(2) Simple Selection Choose the appropriate regenerative resistor according to the allowable frequency and empty

load frequency in actual operation. The so-called empty allowable frequency is the frequency of continuous operation when the servo motor runs from 0 r/min to the rated speed and then decelerates from the rated speed to 0r/min within the shortest time. The following table lists the allowable frequency when the servo drive runs without load (times/min).

Allowable frequency when the servo drive runs without load (times/min)

and uses a built-in regenerative resistor

Motor Capacity

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

Servo Motor

ECMA□□C

ECMA□□E ECMA□□G

06 07 09 10 15 20 20 30

- 312 - 137 - 83 (F100) -

- - - 42 32

42 - 31 - - - - -

24

(F130)

10

(F180)

11

When the servo motor runs with load, the allowable frequency will be different according to different load inertia or speed. The following is the calculation method.

“m” represents load / motor inertia ratio.

2

Allowable frequen cy =

Allo wable frequency when s e rvo mo tor run without load

m + 1

Rated speed

x

Operating sp eed

times

min.

The comparison table of external regenerative resistor is provided below. Please choose the appropriate regenerative resistor according to the allowable frequency.

The table below describes the suggested allowable frequency (times/min) of regenerative resistor when the servo drive runs without load.

Allowable frequency of regenerative resistor when the servo drive runs without load (times/min)

Motor Capacity

Suggested Regenerative Resistor

100 W 200 W

01 02 04 04 07 10 20

400 W

F60

ECMA□□C

400 W

F80

750 W 1.0 kW 2.0 kW

200 W 80 Ω 32793 6855 4380 1784 1074 458 273 400 W 40 Ω - - - - - 916 545

1 kW 30 Ω - - - - - - 1363

Allowable frequency of regenerative resistor when the servo drive runs without load (times/min)

Motor Capacity

Suggested Regenerative Resistor

200 W 80 Ω 149 144 109 83 35 22 400 W 40 Ω - 289 217 166 70 44

1k W 30 Ω - - - 416 175 110

0.5 kW 1 kW 1.5 kW 2.0 kW 2.0 kW 3.0 kW 05 1.0 15 20 20 30

ECMA□□E

2-10 September, 2015

ASDA-B2-F Installation

Allowable frequency of regenerative resistor when the servo drive runs without load (times/min)

Motor Capacity

Suggested Regenerative Resistor

200 W 80 Ω 149 144 109 400 W 40 Ω - - 217

If watt is not enough when using regenerative resistor , connecting the same regen erative resistor in parallel can increase the power.

0.3 kW 0.6 kW 0.9 kW 03 06 09

ECMA□□G

Dimensions of Regenerative Resistor

Delta Part Number: BR400W040 (400 W 40 Ω)

L1 L2 H D W MAX. WEIGHT (g)

265 250 30 5.3 60 930

2

Delta Part Number: BR1K0W020 (1 kW 20 Ω)

L1 L2 H D W MAX. WEIGHT(g)

400 385 50 5.3 100 2800

Note: Please refer to Appendix B for selection of regenerative resistor.

September, 2015 2-11

2

Installation ASDA-B2-F

(This page is intentionally left blank.)

2-12 September, 2015

Wiring

This chapter explains the wiring methods of the power circuit and connector definitions.

The standard wiring diagrams for each control mo de are also provided.

3.1 Connections ····················································································· 3-2

3.1.1 Connecting to Peripheral Devices ··················································· 3-2

3.1.2 Connectors and Terminals of Servo Drive ········································· 3-3

3.1.3 Wiring Method ············································································ 3-4

3.1.4 Specification of Motor Power Cab l e ················································· 3-5

3.1.5 Specification of Encoder Cable Connector ········································ 3-7

3.1.6 Selection of Wiring Rod ······························································ 3-10

3.2 Basic Wiring ··················································································· 3-11

3.2.1 200 W or models below (withtout built-in regenerative resistor nor fan) ·· 3-11

3.2.2 400 W ~ 750 W models (with built-in regenerative resistor but no fan) ··· 3-12

3.2.3 1 kW ~ 1.5 kW models (with built-in regenerative resistor and fan) ······· 3-13

3.2.4 2 kW ~ 3 kW models (with built-in regenerative resistor and fan) ·········· 3-14

3.3 I / O Signal (CN1) Connection ···························································· 3-15

3.3.1 I / O Signal (CN1) Connector T erminal Layout ·································· 3-15

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

3.3.3 Wiring Diagrams (CN1) ······························································· 3-18

3.3.4 DI and DO Signal Specified by Users ············································· 3-20

3.4 CN2 Connector ··············································································· 3-21

3.5 Wiring of CN3 Connector ·································································· 3-23

3.6 CN6 Connector (DMCNET) ································································ 3-24

3.7 Standard Connection Example ··························································· 3-26

September, 2015 3-1

3

Wiring ASDA-B2-F

3.1 Connections

3.1.1 Connecting to Peripheral Devices

Power

100 W ~ 1.5 kW Single-/Three-phase 200 ~ 230 V 2 kW ~ 3 kW Three-phase 200 ~ 230 V

No Fuse Breaker (NFB)

It could prevent the instantaneous excessive current caused by short-circuit or fr om dam aging the s er vo drive when power i s on / off.

Ma gnetic Contact or (MC)

When an alarm occurs, it outputs

Regenerative

Resistor (Option)

EMI Filter

P+

C

ALRM signal and disconnect the power of the servo dr ive.

L1c L2c

R S T

U

V

W

P+

D C

Θ

C N 6

C N 1

C N 2

C N 3

CN6 Conn ec tor

(DMCNET)

CN1 I/O Connector

CN2 Conn ector

CN3 Conn ector

Host Controller

It can connect to Delta’s PLC controller

or other brands of NC controllers.

1. For MODBUS communication and

To prevent the energy from flowing back caused by motor brake and result in error, please connect the P and C end of the s er v o drive to external regenerative res istor, an d the contact of P and D end sh ould be opened. If usi ng the internal regenerative resistor, please make sure the contact of P and D end sho uld be short-circu ited and the con tact of P and C end should be opened.

+

Motor p ower

output U, V, W

Servo Motor

supports RS-232

2. Use AS DA-Soft to conduct tuning, parameters setting and control.

Installation notes:

1. Check if the power and wiring among R, S, T and L

1c, L2c are correct.

2. Please check if the output terminal U, V, W of the servo motor is correctly wired. Incorrect wiring may disable the operation of the motor or cause malfunction, triggering AL031 (Incorrect wiring of the motor power line U, V, W, GND).

3. When applying to the external regenerative resistor, the contact between P should be opened and the external regenerative resistor should connect to terminal P and C. When applying to the internal regenerative resistor, the contact between P should be short-circuited and the contact between P

and C should be opened.

and D

4. When an alarm occurs or the system is i n emergency stop st atus, use ALA RM or W ARN to

output and disconnect the power of magnetic contactor in order to disconnect the power of servo drive.

3-2 September, 2015

ASDA-B2-F Wiring

3.1.2 Connectors and Terminals of Servo Drive

Terminal

Signal

L1c, L2c

R, S, T

U, V, W

FG

P , D, C,

CN1 I/O connector (Option) Connect to the host controller. Please refer to section 3.3. CN2

CN3 CN6 DMCNET Connector RJ45 connector. Please refer to section 3.6.

Power input of the control circuit

Power input of the main circuit

Motor cable

Regenerative resistor terminal, braking unit, or

P

Ground terminal Connect to the ground wire of the power and servo motor.

Connector for encoder (Option) Connector for communication (Option)

Name Description

Connect to single-phase AC power (Select the appropriate voltage specification according to the product.)

Connect to three-phase AC power (Select the appropriate voltage specification according to the product.)

Connect to the servo motor

Terminal

Symbol

U Red V White

W Black

FG Green

Use internal resistor

Use external resistor

and .

Use external braking unit

Connect to the encoder of the motor. Please refer to section 3.4. Connect to RS-232. Please refer to section 3.5.

Wire

Color

Description

Three-phase main power cable of the motor.

Connect to ground terminal ( of the servo drive.

The contact between P and D end should be short-circuited; contact between P and C end should be opened.

Connect P , C ends to the resistor and the contact between P D end should be opened.

P and P of the brake unit should connect to the resistor. The contact between P P and C should be opened. P connects to the positive end of

V_BUS voltage; the negative end of V_BUS voltage.

3

)

and

and D and

connects to

Pay special attention to the followings when wiring:

1. When the power is cut off, do not touch R, S, T and U , V, W since the capacitance inside

the servo drive still contains huge amount of electric ch arge . Wait un til the char ging ligh t is off.

2. Separate R, S, T and U, V, W from the other wires. The interval should be at least 30 cm

(11.8 inches).

3. If the wire of CN2 is not long enough, please use shielded twisted-pair cable which cannot

exceed 20 meters (65.62 inches). If it exceeds 20 meters , please choose the bigger wire diameter of signal cable to ensure it will not cause signal fading.

4. When selecting the wire rod, please refer to Section 3.1.6.

September, 2015 3-3

3

Wiring ASDA-B2-F

3.1.3 Wiring Method

There are two types of wiring method, single-phase and three-phase. In the diagram below, Power On is contact a, Power Off and ALRM_RY are contact b. MC is the coil of magnetic contactor and self-remaining power and is the contact of main power circuit.

 Wiring Method of Single-phase Supply (suitable for 1.5 kW and models below 1.5 kW)

RS

MCCB

Noise Filter

Power

on

off

MC

ALRM_RY

MC

R S

T

L

1C

L

2C

SUP

U

V

W

Servo Drive

 Wiring Method of Three-phase Power Supply (suitable for all series)

TS

R

MCCB

Noise Filter

Power onPower

off

MC

ALRM_RY

Motor

MC

R S T

L1C L2C

MC

Servo Drive

SUP

U

V

W

Motor

3-4 September, 2015

ASDA-B2-F Wiring

3.1.4 Specification of Motor Power Cable

Motor Model U, V, W / Connector of Brake

ECMA-C1040FS (50 W) ECMA-Cᇞ0401S (100 W) ECMA-Cᇞ0602S (200 W) ECMA-Cᇞ0604S (400 W) ECMA-Cᇞ0604H (400 W) ECMA-Cᇞ08047 (400 W) ECMA-Cᇞ0807S (750 W) ECMA-Cᇞ0807H (750 W) ECMA-Cᇞ0907S (750 W) ECMA-Cᇞ0910S (1000 W)

*：with brake

Terminal

Definition

3

A

B

ECMA-Gᇞ1303S (300 W) ECMA-Eᇞ1305S (500 W) ECMA-Gᇞ1306S (600 W) ECMA-Fᇞ1308S (850 W) ECMA-Gᇞ1309S (900 W) ECMA-Cᇞ1010S (1000 W) ECMA-Eᇞ1310S (1000 W) ECMA-Fᇞ1313S (1300 W) ECMA-Eᇞ1315S (1500 W) ECMA-Fᇞ1318S (1800 W) ECMA-Cᇞ1020S (2000 W) ECMA-Eᇞ1320S (2000 W) ECMA-Cᇞ13304 (3000 W)

ECMA-Eᇞ1820S (2000 W) ECMA-Eᇞ1830S (3000 W) ECMA-Fᇞ1830S (000 W)

C

D

September, 2015 3-5

Wiring ASDA-B2-F

3

Wiring Name

Terminal

Definition A

Terminal

Definition B

Terminal

Definition C

Terminal

Definition D

When selecting the wire rod, please choose 600 V PVC cable and the length should be no lon ger than 30 m. If the length exceeds 30 m, please take the received voltage into consideration wh en selecting the wire size. Please refer to Section 3.1.6 for wire rod selection.

U

(Red)

1 2 3 4 - -

1 2 4 5 3 6

F I B E G H

D E F G A B

V

(White)

W

(Black)

CASE

GROUND

(Green)

BRAKE1

(Yellow)

BRAKE2

(Blue)

Note:

1. No polarity for brake coil, the wiring name is BRAKE1 & BRAKE2.

2. Power for brake is 24 V

3. Box, () in servo motor model represents brake or keyway / oil seal.

4. Triangle, (

△)

in servo motor model represents encoder type. Please see Chapter 1 for detail.

. Never share it with the power of control signal VDD.

DC

3-6 September, 2015

ASDA-B2-F Wiring

3.1.5 Specification of Encoder Cable Connector

Encoder Connection (Diagram 1):

Servo Drive

3

C N 6

C N 1

C N 2

C N 3

CN2 Connector

*2

Encoder Cable

Quick Connec tor

Connector of

(Drive Si de)

*1

Connecto r of

Encoder Cable

(Motor Side)

Servo Motor

Note: This diagram shows the connection between the servo drive and the motor encoder, which is not drawn by the practical scale. The specification will change subject to the selected servo drive and motor model.

1. Please refer to the Section of Specification and Definition of Encoder Connector.

2. Please refer to Section 3.4 CN2 Connector.

Motor Model Connector of Encoder Cable

ECMA-C1040FS (50 W) ECMA-C△0401S (100 W)

ECMA-C△0602S (200 W) ECMA-C△0604S (400 W) ECMA-C△0604H (400 W) ECMA-C△08047 (400 W)

3

6

9

2

5

8 7

4

1

View from

this sid e

View from

this sid e

3

6

9

2

5

8

1

4

7

ECMA-C△0807S (750 W) ECMA-C△0807H (750 W) ECMA-C△0907S (750 W) ECMA-C△0910S (1000 W)

September, 2015 3-7

Wiring ASDA-B2-F

Specification and Definition of Encoder Connector:

Connector of

Enco d er Ca b le

Connector of

Motor Encoder

3

Servo Drive

CN2

View from

this sid e

View from

this sid e

Motor

Encoder

(Encoder types are 17-bit and 20-bi t):

123

Blue

T+T-Reserved

Reserved

456

Blue/Black

Reserved Reserved

789

white

Black/Black

& white

Shield

Red/Red &

DC+5V GND

Reserved

6

Reserved

9

Shield

23

-

5

-

Blue Brown

1

White

T+

4

White/Red

T-

78

DC+5VGND

(Encoder type is 2500 ppr, 33 bits):

Th e wire co l or of the servo drive is for ref erenc e only. Please refer to the real objec t .

Reserved Reserved

6

Reserved Reserve d

23

5

9

Shield

1

2

Servo Drive

CN2

If not using housing and directly wire the cores, please follow the corresponding core number for wiring. For example, core number 1 from the servo drive CN2 should connect to core number 1 from the motor encoder; core number 2 from the servo drive CN2 should connect to core number 2 from the motor encoder and so on. Please number the cores from the servo drive in order and then connect it to the encoder.

33 44

‧ ‧ ‧

1

2

‧ ‧ ‧

Blue

1

White

T+

4

White/Red

T-

78

Brown

DC+5VGND

Motor

Encoder

3-8 September, 2015

ASDA-B2-F Wiring

Encoder Connection (Diagram 2):

Servo Drive

C N 6

＊1

CN2 Connector

C N

1

C N

2

C N 3

Military

Connector

Connector of

Encoder Cable

3

Servo Motor

Note: This diagram shows the connection between the servo drive and the motor encoder, which is not drawn by the practical scale. The specification will change subject to the selected servo drive and motor model.

1. Please refer to Section 3.4, CN2 Connector.

Motor Model

ECMA-G△1303S (300 W) ECMA-E△1305S (500 W) ECMA-G△1306S (600 W) ECMA-F△1308S (850 W) ECMA-G△1309S (900 W) ECMA-C△1010S (1000 W) ECMA-E△1310S (1000 W) ECMA-F△1313S (1300 W) ECMA-E△1315S (1500 W) ECMA-F△1318S (1800 W) ECMA-C△1020S (2000 W) ECMA-E△1320S (2000 W) ECMA-C△13304 (3000 W) ECMA-E△1820S (2000 W)

A

B

C

N

P

D

RS

E

G

Military Connector

Connector of Encoder Cable

M

L

T

K

J

HF

Pin No.

A

Terminal

Identification

T+ Blue

B T -

S DC+5V

R GND

L

BRAID

SHIELD

Color

Blue& Black

Red/Red&

White

Black/

Black&

White

–

Please select shielded multi-core and the shielded ca ble should connect to the SHIELD end. Please refer to the description of Section 3.1.6.

Note:

1. Box, () in servo motor model represents brake or keyway / oil seal.

2. Triangle, (△) in servo motor model represents encoder type. Please refer to Chapter 1 for detail.

September, 2015 3-9

Wiring ASDA-B2-F

3.1.6 Selection of Wiring Rod

The recommended wire rods are shown as the following table.

3

Servo Drive and corresponding

Servo Motor

ASD-B2-0121-F ASD-B2-0221-F

ASD-B2-0421-F

ASD-B2-0721-F

ASD-B2-1021-F

ASD-B2-1521-F

ASD-B2-2023-F

ASD-B2-3023-F

ECMA-C1040FS

ECMA-C△0401S ECMA-C△0602S ECMA-C△0604S ECMA-C△0604H ECMA-C△08047 ECMA-E△1305S ECMA-G△1303S

ECMA-F11305S

ECMA-C△0807S ECMA-C△0807H ECMA-C△0907S ECMA-G△1306S ECMA-C△0910S ECMA-C△1010S ECMA-E△1310S ECMA-F△1308S ECMA-G△1309S ECMA-E△1315S ECMA-C△1020S ECMA-E△1320S ECMA-E△1820S

ECMA-F11313S

ECMA-F11318S ECMA-C△13304 ECMA-E△1830S ECMA-E△1835S ECMA-F△1830S

1.3 (AWG16) 2.1(AWG14) 0.82(AWG18) 2.1(AWG14)

1.3(AWG16) 2.1(AWG14) 1.3(AWG16) 2.1(AWG14)

1.3(AWG16) 2.1(AWG14) 2.1 (AWG14) 2.1(AWG14)

1.3(AWG16) 2.1(AWG14) 3.3 (AWG12) 2.1(AWG14)

Power Wiring - Wire Diameter mm2 (AWG)

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

P , C

Servo Drive Model

ASD-B2-0121-F ASD-B2-0221-F ASD-B2-0421-F ASD-B2-0721-F ASD-B2-1021-F ASD-B2-1521-F ASD-B2-2023-F ASD-B2-3023-F

Size Number Specification Standard Length

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

Encoder Wiring - Wire Diameter mm2 (AWG)

Note:

1. Pleas e use shielded twisted-pair cable for encoder wiring so as to reduce the interference of the noise.

2. The shield should connect to the

3. Pleas e follow the Selection of Wire Rod when wiring in order to avoid the danger it may occur.

4. Box, () at the end of the servo drive model represents the model code of ASDA B2-F. Please refer to the model information of the product you purchased.

5. Box, () in servo motor model represents brake or keyway / oil seal.

6. Triangle, (

△) in servo motor model represents encoder type. Please refer to Chapter 1 for detail.

phase of SHIELD.

3-10 September, 2015

ASDA-B2-F Wiring

3.2 Basic Wiring

3.2.1 200 W or models below (without regenerative resistor nor fan)

Connect to external

Power

1-phase/3-phase

200 ~ 230 V, 200 W and below

R S

T

Detection

Phase Loss

regenerative resistor

P

Circuit

Rectifier

C

D

Servo Drive

IPM Module

Servo

U

Motor

V

Circuit

Regeneration

M

W

3

Digital Intput

A & B Output

Digital Output

Serial

Communication

RS-232

L1

C

L2

C

CN1

CN3

CN4Battery

±15V +5V +3.3V

Control Pow er

+24V

Protection

Circuit

GATE

DRIVE

Data Processing Unit

Display

MODE SHIFT

SETCHARGE

CN2

CN6

Encoder

DMCNET

September, 2015 3-11

3

Wiring ASDA-B2-F

3.2.2 400 W ~ 750 W models (with built-in regenerative resistor but no fan)

Connect to external

Power

1-phase/3-phase

200 ~ 230 V, 400 W ~ 750 W

R S

T

Detection

Phase Loss

regenerative resistor

P

Circuit

Rectifier

C

D

Regeneration

Circuit

Servo Drive

IPM Module

Servo

U

Motor

V

M

W

Digital Intput

A & B Output

Digital Output

Serial

Communication

RS-232

L1

C

L2

C

CN1

CN3

CN4Battery

±15 V +5 V +3.3 V

Control Power

+24 V

Protection

Circuit

Data Processing Unit

GATE

DRIVE

Display

MODE SHIFT

SETCHARGE

CN6

Encoder

CN2

DMCNET

3-12 September, 2015

ASDA-B2-F Wiring

3.2.3 1 kW ~ 1.5 kW models (with built-in regenerative resistor and fan)

Connect to external

Power

1-phase/3-phase

200 ~ 230 V, 1 kW ~ 1.5 kW

regenerative resisto r

P

D

C

Servo Drive

Models of 1 kW or above

Digital Input A & B Output

Digital Output

Serial

Communication

RS-232

IPM Module

R S

T

Phase Loss

L1

C

L2

C

CN1

CN3

CN4Battery

Circuit

Rectifier

Detection

Circuit

Regeneration

±15 V

+5 V

+3.3 V

Control Pow er

+24 V

Protection

Circuit

GATE

DRIVE

Data Processing Unit

Displ ay

MODE SHIFT

+12 V

Servo

U

Motor

V

M

W

Encoder

CN2

SETCHARGE

3

CN6

DMCNET

September, 2015 3-13

Wiring ASDA-B2-F

3.2.4 2 kW ~ 3 kW models (with built-in regenerative resistor and fan)

Connect to external

Power

3-phase

200 ~ 230 V, 2 kW ~ 3 kW

regenerative resistor

P

D

C

Servo Drive

Models of 1 kW or above

3

Digital Input A, B Output Digital Output

Serial

Communication

RS-232

L1 L2

IPM Module

R S

T

Phase Loss

C

CN1

CN3

CN4Battery

Circuit

Rectifier

Detection

Circuit

Regeneration

±15 V

+5 V

+3.3 V

Protection

+24 V

Control Power

Circuit

GATE DRIVE

Data Processing Unit

Display

MODE SHIFT

+12V

Servo

U

Motor

V

M

W

Encoder

CN2

SETCHARGE

CN6

DMCNET

3-14 September, 2015

ASDA-B2-F Wiring

3.3 I / O Signal (CN1) Connection

3.3.1 I / O Signal (CN1) Connector Terminal Layout

In order to have a more flexible communication with the master (the host controller), 2 programmable Digital Outputs (DO) and 5 programmable digital inputs (DI) are provided. The setting of 5 digital inputs and 2 digital outputs of each axis are parameter P2-10 ~ P2-14 and parameter P2-18 ~ P2-19 respectively. In addition, the differential output encoder signal, A+, A-, B+, and B- are also provided. The followings are the pin diagrams.

3

CN1 Connector (female)

Front View Rear View

5 10 15 11

Name Function

No

1 DI1- Digital input 6 GND

2 DI2- Digital input 7 OA

3 DI3- Digital input 8 /OA

4 DI4- Digital input 9 OB

DO2+ DO1+

Pin No

DO1-DO2-

Name Function

Connector (male)

DI2-DI3-DI4- DI1-DI5-

Control Panel

Power 0 V Encoder A

pulse output

Encoder /A

pulse output

Encoder B

pulse output

1

GND/OB OA/OAOB

COM+

No

11 COM+

12 DO1+ Digital output

13 DO1- Digital output

14 DO2+ Digital output

6

Name Function

Power ground

(12 ~ 24 V)

5 DI5- Digital input 10 /OB

Encoder /B

pulse output

15 DO2- Digital output

September, 2015 3-15

Wiring ASDA-B2-F

3.3.2 Signals Explanation of Connector CN1

The following details the signals listed in previous section:

3

General Signals

Position Pulse

(Output)

Signal Pin No Function

OA

/OA

OB

/OB

7 8

Encoder signal output A and B (Line Drive output)

9

10

Wiring Method

(Refer to 3.3.3)

C5/C6

Signal Pin No Function

The positive end of the external power

COM+ 11

Power

GND 6 Power of Control Panel 0 V

There are various operation modes available in this servo drive (please refer to Chapter 6.1 ) and each mode requires different I/O signal configuration. Thus, programmable I/O signals are provided. That is, users are able to choose DI and DO signals to meet different application

(+12 V ~ +24 V) must be connected to COM+. COM+ is the common input of digital input.

Wiring Method

(Refer to 3.3.3)

-

requirements. Basically, default setting of DI/DO signal has already have the appropriate function which can satisfy the demand of general application.

Refer to the following DI/DO table to know the corresponding default setting of DI/DO signal and Pin No of the selected mode in order to conduct the wiring.

The explanation of DO signal default setting is as follows.

Do Signal

Name

SRDY ALL - -

ZSPD ALL - -

Operation

Mode

Pin No

＋－

Function

When the servo drive applies to the power and no alarm (ALRM) occurs in control circuit and motor power circuit, this DO is ON.

When the motor speed is slower than the setting value of parameter P1-38, this DO is ON.

Wiring Method

(Refer to 3.3.3)

C1,C2

Note:

1. For example, if Sz mode is selected, pin 3 and 2 are defined as DO.TSPD.

2. The unlisted Pin No means the signal is not the preset one. If users want to use it, parameters need to be changed and set as the desired ones. Please refer to Section 3.3.4 for further detail.

3-16 September, 2015

ASDA-B2-F Wiring

The explanation of DI signal default setting is as the following.

DI Signal

Name

ARST ALL -

EMGS ALL 5

NL

(CWL)

PL

(CCWL)

Operation

Mode

ALL 3

ALL 4

Pin No Function

When the alarm (ALRM) occurs, this signal is used to reset the servo drive and enable DI.SRDY again.

It is contact B and always has to be ON; otherwise the alarm (ALRM) will occur.

Reverse inhibit limit (contact B) and always has to be ON; or the alarm (ALRM) will occur.

Forward inhibit limit (contact B) and always has to be ON; or the alarm (ALRM) will occur.

Wiring Method

(Refer to 3.3.3)

C3,C4

The default setting of DI and DO in each operation mode is shown as the followings. The table below is presented in a different way and the corresponding operation mode is put in the table in order to avoid confusion.

Table 3.1

Default Value of DI Input Function

Symbol DI code Input Function DMC Sz Tz

3

ARST 0x02 Alarm reset DI5 DI5 DI5 EMGS 0x21 Emergency stop DI5 DI5 DI5

NL(CWL) 0x22 Reverse inhibit limit DI3 DI3 DI3

PL(CCWL) 0x23 Forward inhibit limit DI4 DI4 DI4

Note: Please refer to Section 3.3.1 for corresponding pin from DI 1 ~ 5.

Table 3.2 Default Value of DO Input Function

Symbol DO code Input Function DMC Sz Tz

SRDY 0x01 Servo ready DO1 DO1 DO1 ZSPD 0x03 Zero-speed reached DO2 DO2 DO2

Note: Please refer to Section 3.3.1 for corresponding pin from DO1 ~ 2.

September, 2015 3-17

Wiring ASDA-B2-F

3.3.3 Wiring Diagrams (CN1)

When the drive connects to inductive loa d, the diode has to be inst alled. (The pe rmissible current is under 40 mA. The surge current is under 100 mA.)

3

C1: Wiring of DO signal. The servo drive applies to the external power and the resistor is general load.

C2: Wiring of DO signal. The servo drive applies to the external power and the resistor is inductive load.

Servo Drive

DOX: (DOX+,DOX-) X = 1,2

DO1: (12,13) DO2: (14,15)

24 V

DC

50 mA

DOX+

DOX-

R

24 V

DC

Servo Dr ive

DOX: (DO X + , DO X- ) X = 1,2

DO1: (1 2, 1 3) DO2: (1 4, 1 5)

Input signal via relay or open-collector transistor NPN transistor, common emitter (E) mode (SINK mode)

C3：The wiring of DI. The servo drive applies to the external power.

Servo Drive

DOX+

DOX-

Ensu r e th e polarity (+, -)

of dio de is cor r ect or it

may damage the dri v e .

24 V

DC

COM+

Approx. 4.7 KΩ

24 V

DC

SON

3-18 September, 2015

ASDA-B2-F Wiring

PNP transistor, common emitter (E) mode (SOURCE mode)

C4: The wiring of DI. The servo drive applies to the external power.

Servo Drive

SON

24 V

DC

COM+

Approx. 4.7 KΩ

3

Caution: Do not apply to dual power or it may damage the servo drive.

C5: Encoder signal output (Line driver) C6: Encoder signal output (Opto-isolator)

Servo Dr iv e

AM26CS31Type

Max. output current is 20 mA

OA 7

/OA 8

OB 9

/OB 10

125 Ω

SG

Controller

Servo Dr ive

AM26CS31Type

Max. O utput current is 20 mA

OA 7

/OA 8

OB 9

/OB 10

Controller

200 Ω

SG

High spe ed

photocoupler

High spe ed

photocoupler

September, 2015 3-19

Wiring ASDA-B2-F

3.3.4 DI and DO Signal Specified by Users

If the default setting of DI/DO does not fulfill the requirement for the application, users can manually define the DI/DO signal. The signal function of DI 1 ~ 5, and DO1 ~ 2 is determined by

3

parameter P2-10 ~ P2-14 and parameter P2-18 ~ P2-19 respectively. Please refer to the following table. Enter DI or DO code in the corresponding parameter to set up DI/DO.

Signal Name Pin No

DI1- CN1-1 P2-10 DI2- CN1-2 P2-11 DO1- CN1-13

Standard

DI

DI3- CN1-3 P2-12 DO2+ CN1-14 DI4- CN1-4 P2-13 DO2- CN1-15 DI5- CN1-5 P2-14 - - -

Corresponding

Parameter

Signal Name Pin No

DO1+ CN1-12

Standard

DO

Corresponding

Parameter

P2-18

P2-19

3-20 September, 2015

ASDA-B2-F Wiring

3.4 CN2 Connector

CN2 encoder connector can be connected in two ways:

CN2 on drive side

CN2 Connector

Connect to the servo drive

The terminal block of the connector and pin number are as follows: (A) CN2 Connector

View from

this side

Rear view of the terminal block

Encoder Conn e ct or

Connect to the motor

快速接頭

軍規接頭

6789

12345

3

(B) Encoder Connector

Quick Connector

Military Connector

123 4

56

789

View from

this side

B

C

D

E

A

M

N

P

T

RS

HF

G

2

1

3 6

5

4 7

9

View from

this side

L

K

J

8

September, 2015 3-21

3

Wiring ASDA-B2-F

The definition of each signal is as follows:

Drive Connector Encoder Connector

Pin No

4 T+

5 T-

8 +5V +5 V power supply S 7

6, 7 GND Power ground R 8

Shell Shielding Shielding L 9 -

The shielding procedures of CN2 encoder con nector are as followings:

Terminal

Symbol

Function and Description

Serial communication signal

input / output (+)

Serial communication signal input

/ output (-)

(1) Weld the metal core wires with shielding outside with

the metal part of the connector in order to have it fully shielded.

Military

Connector

A 1 Blue

B 4 Blue & Black

Quick

Connector

Color

Red / Red &

White

Black / Black

& White

(2) Install the connector with shielding into the plasti c

case as shown in the figure.

(3) Tighten the screws to complete a shielded CN2

connector.

3-22 September, 2015

ASDA-B2-F Wiring

3.5 Wiring of CN3 Connector

Layout of CN3 Connector

The servo drive can be connected to the personal computer via communication connector. Users can operate the servo drive via MODBUS, PLC or HMI. The common communication inte rface, RS-232, is provided and its communication distance is about 15 meters.

CN3 Connector (female)

Please carefully read through the

description below to avoid damage or

Side View

Pin No Signal Name Terminal Symbol Function and Description

1 Grounding GND + 5 V connects to the signal terminal 2 3 - - Reserved 4 RS-232 data receiving RS-232_RX

5 - -

RS-232 data transmission

Rear View

RS-232_TX

danger caused by incorrect wiring!

The connector connects to RS-232 of PC

The drive transmits the data

The drive receives the data

Reserved

3

6 - - Reserved

Note: Two kinds of communication wire of IEEE1394 are commercially available. One of the internal ground terminals (Pin 1) will short circuit with the shielding and will damage the drive. Do not connect GND to the shielding.

September, 2015 3-23

Wiring ASDA-B2-F

3.6 CN6 Connector (DMCNET)

CN6 uses the standard RJ45 connector, shielded communication cable, and connects to a host controller or motion card. DMCNET system is used to implement position, torque and speed

3

mode. It also can read or monitor the drive status.

The station number of DMCNET is the same as RS-232. All are set via parameter P3-00 and the transmission rate is up to 20 Mbps. For connecting more than one drives, it provides two sets of communication connectors, one is for receiving and another is for transmission. The last servo drive connects to a 120-Ω termination resistor.

CN6 Connector (female)

Pin No Signal Name Function and Description

1, 9 DMCNET_1A DMCNET Channel 1 bus line (+) 2, 10 DMCNET_1B DMCNET Channel 1 bus line (-) 3, 11 DMCNET_2A DMCNET Channel 2 bus line (+) 4, 12 - Reserved 5, 13 - Reserved 6, 14 DMCNET_2B DMCNET Channel 2 bus line (-) 7, 15 - Reserved 8, 16

Reserved Reserved

3-24 September, 2015

ASDA-B2-F Wiring

Host Co ntroll er or

Motio n Card

…

Max. axes: 12

Max. cable length: 30 m

Note:

1. The terminating resistor is suggested to use 120 Ω (Ohm) 0.25 W or above.

2. The wiring method of concatenate more than one drives is based on two terminals of DMCNET . One is for receiving and another one is for transmission. And the last servo drive conn ects to the termination resistor. The wiring diagram of the termination resistor is shown as the followings:

Connect to the

terminal resisto r

3

September, 2015 3-25

3

Wiring ASDA-B2-F

3.7 Standard Connection Example

Communication Mode

Servo Dr ive

ASDA-B2-F series

＊1

4.7KΩ

＊2

⊕

P

D C

red

U

White

V

black

W

Green

Regenerative

Resistor

24V

BRKREMGS

＊3

CN2

blue

T+

4

Blue/ black

Red/

Red&White

Black/ Black&

White

SG

6,7

T-

5 8

+5V

GND

CN6 DMCNET

1

DMCNET_1A

2

DMCNET_1B

3

DMCNET_2A 4 5 6 7 8

9

10 11 12 13 14 15 16

-

DMCNET_2B

-

DMCNET_1A

DMCNET_1B

DMCNET_2A

-

DMCNET_2B

-

Note: *1 Please refe r t o Ch apter 3. 3. 3 for C 3 ~ C6 wirin g diagrams ( SINK/ SOURCE mode). *2 Models below 200 W have no built- i n braki ng resi stor. *3 The c oi l of brake has no pol arity. *4 Single- phas e con necti ons ar e for

servo drives 1. 5 kW an d below onl y .

Power Supply

Brake

Encoder

Twisted- pair

or twisted-

shield cable

Data Input

Data Output

24V

Encoder

output

AC 200/230 V

Three-phase

50/60 Hz

24V_GND

differential signal

pulse

differential signal

Reserved

ORGP

EMGS

SRDY

ZSPD

A phase

B Phase

＊4

24V

NL PL

1.5 KΩ

MCCB

MC

COM+

DI1 DI2 DI3 DI4 DI5

DO1+

DO1-

DO2+

DO2-

OA /OA OB /OB

-

RS232_RX

-

RS232_TX

GND

R S

T

L1c L2c

CN1

11

1 2

3 4 5

12 13 14 15

7 8 9

10

CN3

6 5 4 3 2 1

3-26 September, 2015

ASDA-B2-F Panel Display and Operation

Panel Display and Operation

This chapter explains the panel display of ASDA-B2-F and its operation. Users may check the operation status and see whether any alarm occurs via the panel.

4.1 Panel Description ·············································································· 4-2

4.2

Parameter Setting Procedure ································································ 4-3

4.3

Status Display ··················································································· 4-6

4.3.1 Save Setting Display ···································································· 4-6

4.3.2 Decimal Point ············································································· 4-6

4

4.3.3 Alarm Message ··········································································· 4-6

4.3.4 Positive and Negative Sign Setting ·················································· 4-7

4.3.5 Monitor Display ··········································································· 4-7

4.4

General Function ············································································· 4-10

4.4.1 Operation of Fault Record Display ················································· 4-10

4.4.2 JOG Mode ··············································································· 4-11

4.4.3 Force DO Output ······································································· 4-12

4.4.4 Digital Input Diagnosis Operation ·················································· 4-13

4.4.5 Digital Output Diagnosis Operation ················································ 4-14

September, 2015 4-1

Panel Display and Operation ASDA-B2-F

4

4.1 Panel Description

Display

MODE Key

UP Key

Charge LED

Name Function

Display

SHIFT Key

SET Key

DOWN Key

Five-/Seven-segment display is for displaying the monitoring values, parameter values and setting values.

The group code can be changed in Parameter Mode. When in Editing Mode, moving the flashing bit to the left can adjust the higher setting bit. The display of high/low digit can be switched in Monitor Mode.

Pressing the SET key can display and save the setting value. In monitor mode, pressing the SET key can switch decimal or hexadecimal display. In parameter mode, pressing the SET key can enter parameter setting mode.

Pressing the DOWN key can scroll through and change monitoring codes, parameter groups and various parameter settings.

MODE

CHARGE

▲

▼

SHIFT

SET

DOWN Key

SHIFT Key

SET Key

UP key

Charge LED

MODE Key

Pressing the UP key can scroll through and change monitoring codes, parameter groups and various parameter settings.

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

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

4-2 September, 2015

ASDA-B2-F Panel Display and Operation

4.2 Parameter Setting Procedure

Switching the mode:

Power On

Monitoring

Mode

MODE

4

Parameter

Mode

MODE

Alarm Mode

MODE

Operating in each mode: Monitoring mode

Monitoring

Mode

Please refer to Chapter 7 for parameters

1. If no alarm oc c urs, the Alarm Mode will be ski pped.

2. When new alarm occurs, it will switch to Alarm Mode in any condition.

3. When sw itching to the oth er m ode , if no key is being se lected within 20 seconds, it will return to Alarm Mode automatically.

(Please refer to Chapter 9 for detailed alarm description.)

1. Pressing Keys can select monitoring variables. (Please refer to section 4.3.5 for further detail.)

2. U sers can directly enter th e code of mo nitoring variables via P0-02. (please refer to Chapter 7 for detailed descriptio n.)

‧‧‧‧

SET

Sw itch H i gh- / Lo w -di git

Switc h Hex. / Dec. for mat

SHIFT

September, 2015 4-3

Panel Display and Operation ASDA-B2-F

Parameter Mode

4

Monitoring

Parameter P0

SHIFT

Basic

Paramete r P1

SHIFT

Extension

Parameter P2

SHIFT

Communication

Parameter P3

SHIFT

Diagnosis

Parameter P4

SHIFT

Motion Cont rol

Paramete r P5

‧‧‧

MODE

Monitoring Mode

4-4 September, 2015

ASDA-B2-F Panel Display and Operation

Edit Setting Mode

Parameter Mode

MODE SET

Editing Setti ng

Mode

SET

‧‧‧

4

Display pa rameter setting va lue

SHIFT

‧‧‧

MODE

Monitor ing /

Alar m Mode

If no alarm occurs, the Alarm Mode will be skipped.

Save the parame ter se tting value.

Then, r etur n to Paramete r Mode.

SET

‧‧‧

Save the parame ter se tting value.

Then, r etur n to Paramete r Mode.

SET

‧‧‧

Save the parame ter se tting value.

Then, r etur n to Paramete r Mode.

September, 2015 4-5

Panel Display and Operation ASDA-B2-F

4.3 Status Display

4.3.1 Save Setting Display

When finishing editing parameter, press the SET Key to save the setting. The panel will display

4

the setting status according to the setting for a second.

Displayed Symbol Description

The setting value is saved correctly. (Saved)

Read-only parameter. Write-protected. (Read-Only)

Enter the wrong password or no password has been entered. (Locked)

Incorrect setting value or enter the reserved setting value. (Out of Range)

No entering is allowed when it is Servo ON. (Servo On)

Parameter will be effective after the servo drive is re-powered on. (Power On)

4.3.2 Decimal Point

Displayed Symbol Description

High byte / low byte indication: When the data is displayed in decimal 32 bits, it is

Negative Sign

Low Byte

High Byte

No Function

for indicating the current high or low byte. Negative sign: When the data is displayed in decimal format, the two decimal

points in the left represents the negative sign, no matter it is showed in 16 or 32 bits. When it is showed in hexadecimal format, it only shows positive sign.

4.3.3 Alarm Message

Displayed Symbol Description

When alarm occurs, the servo drive will show ‘AL’ as the alarm sign and ‘nnn’ as the alarm code. For further explanation, please refer to Chapter 7, P0-01, parameter description, or Chapter 9, Troubleshooting.

4-6 September, 2015

ASDA-B2-F Panel Display and Operation

4.3.4 Positive and Negative Sign Setting

Displayed Symbol Description

When entering the Editing Setting Mode, pressing the UP / DOWN Key can change the displayed value. The SHIFT Key can change the carry val ue users wish to alter. (The carry value is flashing at the moment.)

Pressing the SHIFT Key for two seconds can switch the positive (+) and negative (-) sign. If the parameter value is over the range after switching the positive or negative sign, then it cannot be switched.

4.3.5 Monitor Display

When the drive is applied to the power, the display will show the monitor displayed symbol for a second, and then enter Monitoring Mode. In Monitoring Mode, the UP / DOWN Key can change the monitoring variable. Or, the user can directly change parameter setting of P0-02 to set the monitoring code. When applying to the power, the system will pre-set the monitoring code according to the setting value of P0-02. For example, the setting value of P0-02 is 4. Every time when applying to the power, it will display C-PLS monitor sign first, and then shows the input

4

pulse number of pulse command.

P0-02

Setting

Value

0

1

2

3

4

5

6

7

Monitor Displayed

Symbol

Description Unit

Motor feedback pulse number (after the scaling of electronic gear ratio) (User unit)

Input pulse number of pulse command (after the scaling of electronic gear ratio) (User unit)

The difference of error pulse number between control command pulse and feedback pulse number (User unit)

Motor feedback pulse number (encoder unit) (1.28 million Pulse/rev)

Input pulse number of pulse command (before the scaling of electronic gear ratio) (encoder unit)

Error pulse number (after the scaling of electronic gear ratio) (encoder unit)

Input frequency of pulse command [Kpps]

Motor speed [r/min]

[user unit]

[pulse]

8

9

10

11

12

September, 2015 4-7

Speed input command [Volt]

Speed input command [r/min]

Torque input command [Volt]

Torque input command [%]

Average torque [%]

Panel Display and Operation ASDA-B2-F

4

P0-02

Setting

Value

13

14

15

16

17

18

19

20

21

22

23

24

25

26

Monitor Displayed

Symbol

0

+5000,

0

Z

+5000,

Z

Description Unit

Peak torque [%]

Main circuit voltage [Volt]

Load / Motor inertia ratio (Note: If it shows 13.0, it means the actual inertia is 13)

IGBT temperature

Resonance frequency (Low byte is the first resonance and high byte is the second one).

The absolute pulse number of encoder Z phase equals

0

the homing value, 0. It will be +5000 or -5000 pulse when rotating in forward or reverse direction.

Z

Mapping parameter #1: shows the content of parameter P0-25 (specify the mapping target by P0-35)

Mapping parameter #2: shows the content of parameter P0-26 (specify the mapping target by P0-36)

Mapping parameter #3: shows the content of parameter P0-27 (specify the mapping target by P0-37)

Monitor variable #4: shows the content of parameter P0-28 (specify the monitor variable code by P0-38)

Monitor variable #1: shows the content of parameter P0-09 (specify the monitor variable code by P0-17)

Monitor variable #2: shows the content of parameter P0-10 (specify the monitor variable code by P0-18)

Monitor variable #3: shows the content of parameter P0-11 (specify the monitor variable code by P0-19)

Monitor variable #4: shows the content of parameter P0-12 (specify the monitor variable code by P0-20)

[1 times]

[°C]

[Hz]

-

4-8 September, 2015

ASDA-B2-F Panel Display and Operation

Example of the

displayed value

If the value is 1234, it displays 01234 (shows in decimal

(Dec)

(Hex)

(Dec high)

(Dec low)

(Hex high)

(Hex low)

Note:

1. Dec means it is displayed in decimal format. Hex means it is displayed in hexadecimal format.

2. The above display methods can be applied in Monitoring Mode and Editing Setting Mode.

3. When all monitoring variables is 32 bits, high / low bit and the display (Dec/Hex) can be switched.

According to the definition in Chapter 7, each parameter only supports one displaying method and cannot be switched.

16 bits

32 bits

Negative display. If the value is -12345, it displays 1.2.345 (only shows in decimal format; there is no positive or negative sign for hexadecimal format display).

format). If the value is 0x1234, it displays 1234 (shows in

hexadecimal format; the first digit does not show any).

If the value is 1234567890, the display of the high byte is

1234.5 and displays 67890 as the low byte (shows in decimal format).

If the value is 0x12345678, the display of the high byte is h1234 and displays L5678 as the low byte (shows in hexadecimal format).

Status Description

4

September, 2015 4-9

Panel Display and Operation ASDA-B2-F

4.4 General Function

4.4.1 Operation of Fault Record Display

When it is in Parameter Mode, select P4-00 ~ P4-04 and press the SET Key, the corresponding

4

fault record will be shown.

SET

The 1st recent error

The 2nd recent error

rd

recent error

The 3

th

recent error

The 4

The 5th recent error

4-10 September, 2015

ASDA-B2-F Panel Display and Operation

4.4.2 JOG Mode

When it is in Parameter Mode, select P4-05 and follow the setting method below for JOG operation.

1. Press the SET Key to display the speed of JOG. The default value is 20 r/min.

2. Press the UP or DOWN Key to adjust the desired speed of JOG. It is adjusted to 100 r/min in the example.

3. Press the SET Key to display JOG and enter JOG mode.

4. When it is in JOG Mode, press the UP or DOWN Key to enable the servo motor in forward or reverse direction. The servo motor stops running as soon as the user stops pressing the key. JOG operation is working only when it is Servo ON.

SET

Display JOG speed. Its defa ul t value is 20 r/m i n .

Press Up / Do wn K e y to a dj ust JOG speed.

4

…

Adjust to 100 r/mi n .

SET

Dis pla y JO G and ent e r JOG Mode .

JOG Mode

P(CCW) N(CW)

MODE

Exit

September, 2015 4-11

Panel Display and Operation ASDA-B2-F

4

4.4.3 Force DO On

Enter the Diagnosis Mode by the following settings. Set P2-08 to 406 and enable the function of force DO on. Then, set the forced DO by binary method via P4-06. When the set ting value i s 2, it will force to enable DO2. When the setting value is 5, it will force to enable DO1 and DO3. No data is retained in this mode. It returns to the normal DO mode when re-power on the drive or set P2-08 to 400.

SET

Force to enable

DO mod e

SET

Force to enable DO1

Fo rce to enabl e D O2

Fo rce to enabl e D O1 and DO2

Note:

P4-06 is displayed in hexadecimal format. Therefore, it will not show the fifth 0.

4-12 September, 2015

ASDA-B2-F Panel Display and Operation

4.4.4 Digital Input Diagnosis Operation

Enter the Diagnosis Mode – DI by the following setting methods. When the external output signal DI1 ~ DI5 is ON, the corresponding signal will be shown on the panel. It is displayed by bit. When it shows bit, it means the DI is ON.

For example, if it shows 001E, E is in hexadecimal format, it will be 1110 when it transfers to binary format. Then, DI2 ~ DI4 is ON.

SET

The panel di s pl ays in

hexad ecim al for mat.

4

00 0000 0001 1110

DI14DI13DI12DI11DI10DI9DI8DI7DI6DI5DI4DI3DI2DI

1

(Display in hexadecimal format)

Binary code Corres ponding

DI Status

September, 2015 4-13

Panel Display and Operation ASDA-B2-F

4

4.4.5 Digital Output Diagnosis Operation

Enter the Diagnosis Mode – DO by the following setting methods. The output signal DO1 ~ DO2 is ON and the corresponding signal will be shown on the panel. It is displayed by bit. When it shows 1, it means the DO is ON.

For example, if it shows 03, 3 is in hexadecimal format, it will be 0011 when it transfers to binary format. Then, DO1~DO2 is ON.

0000 0011

(Displ ay in he x a decim a l form at )

SET

Th e panel displays in

hexad ecimal format.

Binar y Code

DO2DO

1

Corresponding

DO Status

4-14 September, 2015

Trial Operation and Tuning

This chapter illustrates how to do trial operation and the basic procedure of tuning. For your safety, please conduct the first inspection (without load) and then carry out further trial with load.

5.1 Inspection without Load ······································································ 5-2

5.2 Apply Power to the Servo Drive ···························································· 5-3

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

5.4 Trial Run without Load (Speed Mode) ···················································· 5-8

5.5 Tuning Procedure ············································································ 5-10

5.5.1 Flowchart of Tuning Procedure ······················································5-11

5.5.2 Inertia Estimation Flowchart (with Mechanism) ································· 5-12

5.5.3 Flowchart of Auto T uning ····························································· 5-13

5.5.4 Flowchart of Semi-Auto Tuning ····················································· 5-14

5.5.5 Limit of Inertia Ratio ··································································· 5-15

5.5.6 Mechanical Resonance Suppression Method ·································· 5-17

5.5.7 Tuning Mode and Parameters ······················································ 5-18

5.5.8 Tuning in Manual Mode ······························································· 5-19

September, 2015 5-1

Trial Operation and Tuning ASDA-B2-F

5.1 Inspection without Load

Please remove the load from the servo motor , in cluding couplin g on the shaft and accessorie s so as to avoid any damage to servo drive or mechanism. This is for avoiding the falling off of the

5

disassembled parts of the motor shaft and indirectly causing the personnel injury or equipment damage during operation. Running the motor without load, if the servo motor can run during normal operation, then it can operate with load.

Caution: To avoid danger, please operate the servo motor without load first and ensure it runs normally. Then, operate the motor with load.

Please carefully check the following items before operation to avoid any damage to the motor.

Inspection before operation (not applied to the power )

 Check if there is any obvious damage shown on its appearance.  The splicing parts of the wiring terminal should be isolated.  Make sure the wiring is correct so as to avoid the damage or any abnormity.  Make sure electric conductivity objects including sheetmetal (such as screws) or inflammable objects

are not in the servo drive.

 Make sure the control switch is OFF.  Do not place the servo drive or external regenerative resistor on inflammable objects.  To avoid the electromagnetic brake losing efficacy, please check if stop function and circuit break

function can work normally.

 If the peripheral devices are interfered by the electronic instruments, please reduce electromagnetic

interference with devices.

 Please make sure the external voltage level of the servo drive is correct.

Inspection when running the servo drive (already applied to the power)

 The encoder cable should avoid excessive stress. When the motor is running, make sure the cable is

not frayed or over extended.

 Please contact with Delta if there is any vibration of the servo motor or unusual noise during the

operation.

 Make sure the setting of the parameters is correct. Different machinery has different characteristic,

please adjust the parameter according to the characteristic of each machinery.

 Please reset the parameter when the servo drive is in Servo Off status, or it may cause malfunction.  When the relay is operating, make sure it can work properly.

 Check if the power indicator and LED display works normally.

5-2 September, 2015

ASDA-B2-F Trial Operation and Tuning

5.2 Apply Power to the Servo Drive

Please follow the instructions below. A. Make sure the wiring between the motor and servo drive is correct:

 U, V, W and FG have to connect to cable red, white, black and green respectively. If the

wiring is incorrect, the motor cannot work normally. The ground wire FG of the motor must be connected to the ground terminal of the servo drive. Please refer to Chapter 3.1 for wiring.

 The encoder cable of the motor has correctly connected to CN2: If users only desire to

carry out JOG function, connecting CN1 and CN3 is not needed (Please refer to Chapter

5.3). Refer to Chapter 3.1 and 3.4 for the wiring of CN2.

Caution: Do not connect the power (R, S, T) to the output terminal (U, V, W) of the servo drive. Or it might damage the servo drive.

B. Power circuit of the servo drive: Apply power to the servo drive. Please refer to Chapter 3.1.3 for power wiring.

C. Power on: Power of the servo drive: including control circuit (L1c, L2c) and main circuit (R, S, T) power.

When the power is on, the display of the servo drive will be:

5

The default of digital input (DI3 ~ DI5) are the signal of reverse inhibit limit (NL), forward inhibit limit (PL), and emergency stop (EMGS), if DI3 ~ DI5 is not used, adjusting the setting of P2-12 ~ P2-14 is a must, which can be set to 0 (disable this DI function) or modified to another function.

From the last setting, if the servo drive status displays parameter P0-02 setting as the motor speed (07), then the screen display will be:

When the panel displays no text, please check if the power of control circuit is undervoltage.

September, 2015 5-3

Trial Operation and Tuning ASDA-B2-F

5

(1) When the screen displays

Warning of overvoltage: It means the voltage input by the main circuit is higher than the rated range or a power input error has occurred (incorrect power system).

Corrective action:

 Use the voltmeter to measure if the input voltage from the main circuit is within the range of

rated voltage.

 Use the voltmeter to measure if the power system complies with the specifications.

(2) When the screen displays

Warning of encoder error: Check if the motor encoder is securely connected and the wiring is correct. Corrective action:

 Make sure the wiring is the same as the instruction of the user manual.  Check the encoder connector.  Check if the wiring is loose.  Check if the encoder is damaged. If yes, please change a new one.

5-4 September, 2015

ASDA-B2-F Trial Operation and Tuning

(3) When screen displays

Warning of emergency stop: Please check if any of the digital input DI1 ~ DI5 is set to emergency stop (EMGS). Corrective action:

 If not desire to set emergency stop (EMGS) as one of the digital input, make sure no digital

input is set to emergency stop (EMGS) among DI1 ~ DI5. (That is to say none of the parameters, P2-10 ~ P2-14 is set to 21.)

 If the function of emergency stop (EMGS) is needed and this DI is set as normally close

(function code: 0x0021), please make sure this DI is always normally close. If not, please set this DI as normally open (function code: 0x0121).

(4) When screen displays

Warning of negative limit error: Please check if any of the digital input DI1 ~ DI5 is set to negative limit (NL) and that DI is ON.

5

Corrective action:

 If not desire to set negative limit (NL) as one of the digital input, make sure no digital input is

set to negative limit (NL) among DI1 ~ DI5. (That is to say none of the parameters, P2-10 ~ P2-14 is set to 22.)

 If the function of negative limit (NL) is needed and this DI is set as normally close (function

code: 0x0022), please make sure this DI is always normally close. If not, please set this DI as normally open (function code: 0x0122).

(5) When screen displays

Warning of positive limit error： Please check if any of the digital input DI1 ~ DI5 is set to positive limit (PL) and that DI is ON. Corrective action:

 If not desire to set positive limit (PL) as one of the digital input, make sure no digital input is

set to positive limit (PL) among DI1 ~ DI5 (That is to say none of the parameters, P2-10 ~ P2-14 is set to 23.)

September, 2015 5-5

Trial Operation and Tuning ASDA-B2-F

5

 If the function of positive limit (PL) is needed and this DI is set as normally close (function

code: 0x0023), please make sure this DI is always normally close. If not, please set this DI as normally open (function code: 0x0123).

(6) When screen displays

Warning of overcurrent: Corrective action:

 Check the connection between the motor and servo drive.  Check if the conducting wire is short circuited.

Exclude short circuit and avoid metal conductors being exposed.

(7) When screen displays

Warning of undervoltage: Corrective action:

 Check if the wiring of main circuit input voltage is correct.  Use voltmeter to measure if the main circuit voltage is normal.  Use voltmeter to measure if the power system complies with the specification.

Note: During power on or servo on (without issuing any command), if an alarm occurs or any abnormal display is shown, please contact the distributors.

5-6 September, 2015

ASDA-B2-F Trial Operation and Tuning

5.3 JOG Trial Run without Load

It is very convenient to test the motor and servo drive with the method of JOG trial run without load since the extra wiring is unnecessary. For safety reasons, it is recommended to set JOG at low speed. Please see the following descriptions.

Step 1: Use software setting to Servo On the drive. Set parameter P2-30 to 1. This setting is to

force servo on the drive through software.

Step 2: Set P4-05 to JOG speed (Unit: r/min). After setting the desired JOG speed, press the

SET key, the servo drive will enter JOG mode.

Step 3: Press the MODE key to exist JOG mode.

5

Moto r runs in

forward direction

Motor runs in

reverse di rect ion

Release PressPress

If the mo tor d oes not ru n, ple ase c heck if the w i ri ng betw een UV W and enc oder ca bl e i s cor rect . If the mo tor r uns abnor m a l ly, pleas e chec k if t he UV W phase s equence is correc t.

Motor stopsSpeed 0

September, 2015 5-7

Trial Operation and Tuning ASDA-B2-F

5.4 Trial Run without Load (Speed Mode)

Before starting trial run without load, firmly secure the motor base so as to avoid the danger caused by the reacting force generated during speed change.

5

Step 1: Set the control mode of the servo drive to speed mode. Set P1-01 to 2 as speed mode.

Then, re-power on the servo drive.

Step 2: In speed mode, the digital input settings of trial run are as follows:

Digital Input

DI1 P2-10 = 101

DI2 P2-11 = 104 CCLR Pulse Clear DI2- = 2

DI3 P2-12 = 114 SPD0 Speed Selection DI3- = 3

DI4 P2-13 = 115 SPD1 Speed Selection DI4- = 4

DI5 P2-14 = 0 Disabled DI disabled DI5- = 5

The above table shows the settings that disable the function of negative limit (DI3), positive limit (DI4) and emergency stop (DI5). Thus, parameter P2-14 is set to 0 (Disabled); DI3 and DI4 are set to Speed Selection (SPD0) and Speed Selection (SPD1) respectively. The digital input of

Parameter Setting

Value

Symbol Function Description CN1 Pin No

SON

Servo ON

DI1- = 1

Delta’s servo drive can be programmed by users. When programming digital input, please refer to the description of DI code.

The default setting includes the function of negative limit, positive limit and emergency stop; therefore, if any alarm occurs after setting completed, please re-power on the servo drive or set DI.ARST to On to clear the alarm. Please refer to Chapter 5.2.

5-8 September, 2015

ASDA-B2-F Trial Operation and Tuning

The speed command selection is determined by SPD0 and SPD1. See the table below.

Speed

Command No.

S1 0 0 N/A S2 0 1

S3 1 0 P1-10 -60000 ~ 60000 S4 1 1 P1-11 -60000 ~ 60000

0 means DI is Off; 1 means DI is On

DI signal of CN1

SPD1 SPD0

Command Source

Register

parameter

Content Range

Speed command

is zero

P1-09 -60000 ~ 60000

0

Register parameter The parameter setting range is from -60000 to 60000. Setting speed = Setting range x unit (0.1

r/min). For example: P1-09 = +30000; Setting speed = +30000 x 0.1 r/min = +3000 r/min

Command setting of speed register Set parameter P1-09 to 30000

Input command Rotation direction

5

Set parameter P1-10 to 1000 Set parameter P1-11 to -30000.

Step 3:

(1) Switch ON DI 1 and Servo On. (2) Both DI 3 (SPD0) and DI 4 (SPD1), the speed command, are OFF, which means it

currently executes S1 command. The motor rotates according to analog voltage command.

(3) When DI3 (SPD0) is ON, it means it currently executes S2 command (3000 r/min). The

rotation speed is 3000 r/min for rotary motor.

(4) When DI4 (SPD1) is ON, it means it currently executes S3 command (100 r/min). The

rotation speed is 100 r/min.

(5) When both DI3(SPD1) are ON, it means S4 command (-3000 r/min) is executed at the

moment. The rotation speed is -3000 r/min. (6) Step (3), (4) and (5) can be repeatedly executed. (7) If users desire to stop the motor, switch off DI1 (Servo Off).

+ CCW

- CW

September, 2015 5-9

Trial Operation and Tuning ASDA-B2-F

5.5 Tuning Procedure

Estimate the inertia ratio: JOG Mode

1. After completing wiring, when applying to the power, the servo drive will

display:

AL013

5

2. Press the MODE key to select the mode of parameter function.

3. Press the SHIFT key to select the mode of parameter group.

4. Press the UP key to select parameter P2-17.

5. Press the SET key to display parameter value, which is shown as the content

on the right.

6. Press the SHIFT key t wice, then press the UP key and then press the SET

key.

7. Press the UP key to select parameter P2-30.

8. Press the SET key to display the parameter value.

9. Press the UP key and select the parameter value 1.

10. Then, the servo drive is ON and will show:

11. Press the DOWN key to select the estimated inertia ratio.

12. The panel displays the current value of inertia ratio (default value).

P0-00

P2-00

P2-14

21

121

P2-30

0

1

00000

J-L

1.0

13. Press the MODE key to select the mode of parameter function.

14. Press the SHIFT key to select the mode of parameter group.

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

16. Press the SET ke y to show the content, which is 20 r/min at JOG speed.

Press the UP and DOWN key to raise or reduce the JOG speed. Press the SHIFT key to move to the next digit of the left.

17. Set the desired JOG speed and press the SET key. Then, the figure

displays as shown on the right.

18. Press the UP key to rotate the motor in forward direction or press the DOWN key the motor will rotate in

reverse direction.

19. Carry out JOG operation at low speed first. With the constant speed, if the motor operates smoothly in forward and reverse direction, users can carry out JOG operation at higher speed.

20. In P4-05, the servo drive cannot display inertia ratio. Please press the MODE key twice to view the value of inertia ratio. If users desire to start JOG operation again, press the MODE key, and then press the SET key twice. Observe the panel display to see if the load inertia ratio remains at the same value after acceleration and deceleration.

P2-30

P4-00

P4-05

20

200

-JOg-

5-10 September, 2015

ASDA-B2-F Trial Operation and Tuning

5.5.1 Flowchart of Tuning Procedure

Trial run without load

is OK.

No

Exit the control of the host controller.

Use the servo drive to perform trial

run and estimate the inertia ratio*

Manual mode Semi-auto mode Auto mode

Connect to the host controller. Pay

attention to the wiring of CN1. Perform

Use the selected gain tuning mode

New model?

Yes

trial run by P4-07 and P4-09.

to enhance the performance.

OK

Note: The value o f inertia ratio is used for rotary motors.

Figure 5-1 Tuning procedure

5

If the estimation of inertia ratio is incorrect, it cannot obtain the best performance of tuning.

Resonance can be suppressed by P2-23 and P2-24.

September, 2015 5-11

Trial Operation and Tuning ASDA-B2-F

5.5.2 Inertia Estimation Flowchart (with Mechanism)

Tu rn Off the po wer of servo d rive .

5

Decre ase the value of P2-00. Set

the valu e of P 2 - 06 an d P 2 - 00 to

the same.

Connect th e motor to the

mechanism.

Tu rn On th e power of serv o drive.

Set P0-02 to 15. The panel will

display inerti a rat io .

Set P2 - 32 to 0 i n m anual m od e.

Set P2-30 to 1.

No

Yes

Mechanical

sys t em v i brat es ?

Enter P4-05, JOG mo de.

Set JOG sp eed at 20 r/m i n .

Press the Up (f o rward) or Down

(reve r se ) key to perf or m JOG.

If it operates

smoothly at constan t

speed?

Yes

Inc reas e JOG spee d which is >

200 r / m i n .

Alt ernat el y acce lerat e and

decelerate the mechanical

system.

View th e panel display to see if th e i nert i a rat i o remai ns t he same after

alternately acceleration and deceleration. Then, select the tuning

me thod a ccor di ng to the inerti a ratio *.

Note: Users cannot view inertia ratio in JOG mode. Please press the

MODE Key twice. If users desi r e to perform JOG opera tion, press th e

MOD E Key , and t h en pre ss the SET Key tw ice.

No

Check the

mechanism.

Note: The value o f inertia ratio is used for rotary motors.

Figure 5-2 Inertia estimation

5-12 September, 2015

ASDA-B2-F Trial Operation and Tuning

5.5.3 Flowchart of Auto Tuning

Please refer to the figure below to start the auto tuning procedure.

Servo off. Set P2-32 to 1. Then, Servo on.

Set P0-02 to 15. The panel

will display th e inertia ra tio*.

Alternately accelerate and

decelerate.

1. Decrease the value of P2-31 to reduce the noise.

2. If not decrease the value of P2-31, then adjust the value of P2-23 and P2-24 to suppress the resonance. (Please refer to Chapter 5.6.6)

Yes

Any resonance?

No

5

Satisfactory

performance?

No

Increase the value of P2-31 to increase the

response and stiffness.

Note: The value of inertia ratio is used for rotary motors.

Figure 5-3 Tuning procedure in auto mode

Yes

Tuning

completed.

Set P2-32 to 1 (auto mode, continuous tuning):

The servo will continue to estimate the system inertia. Then, it will automatically store the value in P1-37 every 30 minutes and refer the stiffness and band width setting of P2-31.

Adjust the value of P2-31, Stiffness setting in auto tuning mode (The default value is 40):

Increase the value of P2-31 to increase stiffness or decrease to reduce noise. Please note that the higher the value is, the higher the stiffness will be. Continu e to tune the system until the performance is satisfied. Then, tuning is completed.

In auto and semi-auto mode, the bandwidth setting of speed circuit is as follows. 1 ~ 50 Hz: low-stiffness, low-response

51 ~ 250 Hz: medium-stiffness, medium-response 251 ~ 850 Hz: high-stiffness, high-response

September, 2015 5-13

Trial Operation and Tuning ASDA-B2-F

5.5.4 Flowchart of Semi-Auto Tuning

Please refer to the figure below to start the semi-auto tuning procedure.

5

1. Lower the value of P2-31 to reduce the noise.

2. If not desire to lower the value of P2-31, value of P2-23 and P2-24 can be used to suppress the resonance as well. (Please refer to Chapter 5.6.6)

Servo off an d s et P2 -3 2 to 2 . Then , serv o on

Set P0-02 to 15. The panel

displ ay s t he ine rt i a rat i o*.

Th e se rv o drive i ss ues the

command and make motor

Yes

Th e i nerti a ratio shown on t he

panel is stable. Check if bit 0 of

again.

al t ernately accel erate /

decelerate.

Any

resonance?

No

P2-33 is 1*

Yes

No

Increase the valu e of P2-31

Satisfactory

perf ormance?

Yes

Complete

Figure 5-4 Procedure of tuning in semi-auto mode

No

to increase resp onse and

stiffness.

Set P2-32 to 2. (semi-auto mode, non-continuous tuning)

After tuning for a while and wait until the system inertia is stable, it stops estimating. The estimated inertia ratio will be saved to P1-37. When switching mode from manual or auto to semi auto, the system starts tuning again. During the process of estimation, the system will refer to the stiffness and bandwidth setting of P2-31.

Adjust the value of P2-31, Response setting in auto mode (The default value is 40)

Increase the value of P2-31 to increase the response or decrease to reduce the noise. Continue to tune the system until the performance is satisfied. Response setting in semi-auto tuning mode: the higher the value is, the better the response will be. Then, tuning is completed.

In auto and semi-auto mode, the bandwidth setting of speed circuit is: 1 ~ 50 Hz: low-stiffness, low-response 51 ~ 250 Hz: medium-stiffness, medium-response 251 ~ 850 Hz: high-stiffness, high-response

Note:

1. If P2-33 bit 0 is set to 1, it means the inertia estimation in semi-auto mode is completed. The result can be accessed by P1-37.

2. If the value of P2-33 bit 0 is cleared to 0, the system will start to estimate again.

5-14 September, 2015

ASDA-B2-F Trial Operation and Tuning

5.5.5 Limit of Inertia Ratio

Please see the limit of inertia ratio below during the estimation.

 Acceleration / Deceleration time of reaching 2000 r/min should be less than 1 second.  The speed in forward and reverse direction should be higher than 200 r/min.  The load inertia should be under 100 times of motor inertia.  The change of external force of inertia ratio cannot be too severe.

In auto mode, the inertia value will be saved to P1-37 every 30 minutes; while in semi-auto mo de, the inertia value will be saved to P1-37 only until the system inertia is stable and stops the estimation of load inertia.

5

1. Lower the value of P2-31 to reduce the noise.

2. If not desire to lower the value of P2-31, value of P2-23 and P2-24 can be used to suppress the resona nce as well. (Please refer to Chapter 5.6.6)

Servo off an d s et P2 - 32 t o 2 . Then , S ervo o n

Set P0-02 to 15. The panel

dis pla ys The inertia ratio*.

Th e se rvo dr i ve i ss ues the

command and to make motor

Yes

again.

al t ernately accelerate /

decelerate.

Any

resonance?

No

Th e inert i a ratio shown on

the panel is stable.

Yes

Satisfactory

performance?

Incre ase the value of P2-31

No

to increase response and

No

stiffness.

Yes

If the value of inertia ratio

remains almost the same, then

ser v o off an d s et P2 - 32 to 0.

Yes

Complete

Figure 5-5 Estimation of load inertia

September, 2015 5-15

Trial Operation and Tuning ASDA-B2-F

Moto r al ternately accel erate s

and dece l erat es

5

High-frequency

resonance?

Yes

Set P2-47 to 1

Resonance

elimminated?

Yes

Set P2-47 to 0

Complete

No

Comp lete

No

Repeat edly s et P 2 -47

to 1 for over 3 times

Note 1

P2-44 = 32 (max);

P2-46 = 32 (max)

Note 2

It is suggeste d to reduce the

speed ba ndwidth .

No

Yes

No

P2-47 is s et to 0

Remain the value of P2-43

and P2-45

Sup press resona nce by P2 -

44 and P2-46.

Motor alternately accelerates

and dece l erat es

Yes

No

High-frequency

resonance?

Figure 5-6 Procedure of auto suppressing the resonance

Note:

1. Resonance suppression is determined by parameter P2-44 and P2-46. If the value has been set to the maximum (32 dB), and still cannot suppress the resonance, please reduce the speed bandwidth. After setting P2-47, users can check the value of P2-44 and P2-46. If the value of P2-44 is not 0, it means the resonance frequency exists in the system. Then, users can access P2-43 to see the resonance frequency (Hz). When there is another resonance fre qu enc y, the information will be shown in P2-45 and P2-46.

2. If resonance still exists, repeatedly set P2-47 to 1 for more than 3 times and manually adjust the setting of resonance.

5-16 September, 2015

ASDA-B2-F Trial Operation and Tuning

5.5.6 Mechanical Resonance Suppression Method

Three groups of Notch filter are provided to suppress mechanical resonance. Both two of them can be set to the auto resonance suppression and manual adjustment.

Use the anal y tic to ol prov i ded by PC

software to display the point of

resonance.

Th e serv o i ssu es the co m m a nd t o

make motor accel era te / dec ele rate

alternatively

High-frequency

resonance?

Yes

Sav e t he value of reso nanc e fr equenc y t o P2 - 23

and set P2- 24 to 4.

Resonance eliminated?

No

Complete

No

5

Incre ase the value of

P2-24

Yes

Tuning completed

Figure 5-7 Procedure of manual suppressing the resonance

September, 2015 5-17

Trial Operation and Tuning ASDA-B2-F

5.5.7 Tuning Mode and Parameters

5

Tuning mode P2-32

Manual mode 0 (default) N/A

Auto mode

(continuous

estimation)

Semi-auto mode

(non-continuous

estimation)

1

2

Auto-set

parameters

P1-37 P2-00 P2-04 P2-06 P2-25 P2-26 P2-49

User-defined parameters Inertia adjustment

P1-37(Inertia ratio of the motor) P2-00 (Position control gain) P2-04 (Speed control gain) P2-06(Speed integral

compensation) P2-25(Low-pass filter of

resonance suppression) P2-26 (Anti-interference gain)

P2-31 Frequency response of speed loop setting in auto mode (response level)

P2-31 Frequency response of

speed loop setting in semi-auto mode (response level)

The value remains

Continuous tuning

(update the inertia

every 30 minutes)

Non-continuous

tuning (stop

updating the

inertia after

operating for a

while)

When switching mode from auto mode 1 to manual mode 0, the value of P2-00, P2-04, P2-06, P2-25, P2-26 and P2-49 will be modified to the one in auto mode. When switching mode from semi-auto mode 2 to manual mode 0, the value of P2-00, P2-04, P2-06, P2-25, P2-26 and P2-49 will be modified to the one in semi-auto mode.

5-18 September, 2015

ASDA-B2-F Trial Operation and Tuning

5.5.8 Tuning in Manual Mode

The selection of position / speed response frequency should be determined by the machinary stiffness and application. Generally, the high-frequency machinary or the one requries precise processing needs the higher response frequency. Ho wever, it might cause the resonance. Thus, use machinery with higher stiffness is needed so as to avoid resonance. When the permitted resonace frequnecy is unknown, users could gradually increase the gain setting value to increase the resonse frequency. Then, decrease the gain setting value until the resonance exists. The following are the descriptions about gain adjustment.

 Position Loop gain (KPP, parameter P2-00)

This parameter determines the response of position loop. Higher KPP value will make higher response frequency of position loop. And it will have better following, smaller position error, and shorter settling time. However, if the value is set too high, the machinery will vibrate or overshoot when positioning might occur. The calculation of position loop

5

frequency response is as follows:

PositionLoopFrequencyResponse󰇛Hz󰇜





 Speed Loop gain (KVP, parameter P2-04)

This parameter determines the response of speed loop. Higher KVP value will make higher response frequency of speed loop and better following. However, if the value is set too high, it would cause machinery resonance. The response frequency of speed loop must be 4 ~ 6 times higher than the response frequency of position loop. Otherwise, the machinery might vibrate or overshoot when positioning might occur. The calculation of speed loop frequency response is as follows.

󰇛

󰇢󰇣

/

󰇛

/









Hz

SpeedLoopFrequencyResponsefv 󰇡

JL: Load Inertia; P1-37: 0.1 times

When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real speed loop frequency response will be:fv 

󰇜

󰇤Hz; JM: Motor Inertia;

󰇜

September, 2015 5-19

Trial Operation and Tuning ASDA-B2-F

 Speed integral compensation (KVI, parameter P2-06)

The higher the KVI value is, the better capability of eliminating the deviation will be. However, if the value is set too high, it might easily cause vibration of machinery. It is suggested to set the value as follows.

5

KVI󰇛P2 06󰇜 1.5  SpeedLoopFrequencyResponse

 Low-pass filter of resonance suppression (NLP, parameter P2-25)

High value of intertia ratio will reduce the frquency response of speed loop. Therefore, the KVP value must be increased to maintain the response frequency. During the process of increasing KVP value, it might cause machinary resonance. Please use this parameter to elimiate the noise of resonance. The higher the value is, the better the capability of reducing high-frequency noise will be. However, if the value is set too big, it would cause the unstability of speed loop and overshoot. It is suggested to set the value as the following:

NLP󰇛P2 25󰇜

󰇛󰇜



 Anti-interference gain (DST, parameter P2-26)

This parameter is used to strengthen the ability of resisting external force and gradually eliminate overshoot during acceleration / deceleration. Its default value is 0. It is suggested not to adjust the value in manual mode, unless it is for fine-tuning.

 Position feed forward gain (PFG, parameter P2-02)

It can reduce the position error and shorten the settling time. However, if the value is set too high, it might cause overshoot. If the setting value of e-gear ratio is higher than 10, it might cause the noise as well.

5-20 September, 2015

Control Mode of Operation

This chapter describes operation structure of each control mode, including information about gain adjustment and filters. The operation of ASDA-B2-F is based on communication. Its position mode is controlled via DMCNET network and the speed mode and torque mode only accept commands from internal regist ers.

123

6.1 Selection of Operation Mode ································································ 6-2

6.2 Position Mode ··················································································· 6-3

6.2.1 Control Structure of Position Mode ·················································· 6-3

6.2.2 S-curve Filter (Position) ································································ 6-4

6.2.3 Electronic Gear Ratio ··································································· 6-5

6.2.4 Low-pass Filter ··········································································· 6-6

6.2.5 Gain Adjustment of Position Loop···················································· 6-6

6.2.6 Low-frequency Vibration Suppression in Position Mode ······················· 6-7

6.3 Speed Mode ··················································································· 6-10

6.3.1 Selection of Speed Command ······················································ 6-10

6.3.2 Control Structure of Speed Mode ·················································· 6-1 1

6.3.3 Smooth Speed Command ··························································· 6-12

6.3.4 Timing Diagram of Speed Mode ···················································· 6-13

6.3.5 Gain Adjustment of Speed Loop···················································· 6-14

6.3.6 Resonance Suppression ····························································· 6-18

6.4 Torque Mode ·················································································· 6-23

6.4.1 Selection of Torque Command ······················································ 6-23

6.4.2 Control Structure of Torque Mode ·················································· 6-24

6.4.3 Smooth Torque Command ··························································· 6-25

6.4.4 Timing Diagram of Torque Mode ··················································· 6-25

6.5 The Use of Brake ············································································ 6-26

September, 2015 6-1

Control Mode of Operation ASDA-B2-F

6

6.1 Selection of Operation Mode

Three basic operation modes are provided in B2-F series servo drive, position, speed an d torque. The following table lists all the operation modes and the related descriptions.

Mode Name

Position

Mode

Short

Name

DMC b

Setting

Code

Description

The servo drive receives position command from the controller and commands the motor to run to the target position.

Speed Mode

Single

Mode

Steps of changing mode:

1. Set DI.SON to OFF to switch the servo drive to Servo Off status.

2. Set the above setting code in the control mode setting of P1-01. Please refer to Chapter 7 for

further description.

3. After the setting is completed, turn off the power and restart the drive again.

The following sections describe the operation of each mode, including mode stru cture, command source, selection and process of command and gain adjustment.

(No analog

input)

Torque Mode

(No analog

input)

Sz 04

Tz 05

The servo drive receives speed command and commands the motor to run at target speed.

Speed command can only be issued by register (3 sets of register in total) and uses DI signal to select the register.

The servo drive receives torque command and commands the motor to target torque.

Torque command can only be issued by register (3 sets of register in total) and uses DI signal to select the register.

6-2 September, 2015

ASDA-B2-F Control Mode of Operation

6.2 Position Mode

Position mode can be used in the application which requires precise positioning function, such as machinery industry. ASDA-B2-F only provides position mode which can be controlled via communication network DMCNET.

6.2.1 Control Structure of Position Mode

Position Co m m and

Position

Command

Processing Unit

6

Position Co n trol

Unit

MotorSpe ed Loop Current Loop

Figure 6-1 Basic Control Structure of Position Mode

For better control, the position command should be processed and modified through position command processing unit. The structure is shown as the figure below.

GNUM0, GNUM1

1st Numerator(P1-44)

nd

Numerator(P2-60)

Computer

Counter

2

rd

Numerator(P2-61)

3

th

Numerator(P2-62)

4

Denominator(P1-45)

S-curve

Filter

P1-36

Command

Selection

P1-01

Moving

Filter

P1-01

Figure 6-2 Position Command Processing Unit

Low-pass

Filter

P1-08

Notch

Filter

P1-25

∣

P1-26

Notch Filter

P1-27

P1-28

E-Gear ratio can be set for proper positioning resolution. Moreover, either S-curve filter or low-pass filter can be used to smooth the command. See the description in later parts.

∣

September, 2015 6-3

Control Mode of Operation ASDA-B2-F

6

6.2.2 S-curve Filter (Position)

S-curve filter smoothes the motion command. With S-curve filter, the speed and the process of acceleration become more continuous and the jerk will be smaller. It not only improves the performance when motor acce lerate s/dec elera tes, but also smoothes the mechanical operation. If the load inertia increases, the operation of the motor will be influenced by friction and inertia when it starts or stops the rotation. The situation can be improved by increasing the value of acceleration/deceleration constant of S-curve (TSL), acceleration constant of S-curve (TACC) and deceleration constant of S-curve (TDEC).

Position

Time (ms)

Speed

Rated Speed

Time (ms)

Torque

Position

Speed

Rated

Speed

Torque

TACC

Th e rela tion am ong S- cur ve , posi tion and sp eed

TACC

Th e rela tion am ong S- curve, posi t i on an d sp eed

TSL/2TSL/2

TSL/2 TSL/2

(acceleration of position command)

TSL/2TSL/2

(deceleration of position command)

TSL/2 TSL/2

TDEC

Time (ms)

6-4 September, 2015

ASDA-B2-F Control Mode of Operation





Relevant Parameters (Please refer to Chapter 7 for detailed description):

Parameter Abbr. Function

P1-34 TACC Acceleration Constant of S-Curve

P1-35 TDEC Deceleration Constant of S-Curve

P1-36 TSL Acceleration/Deceleration Constant of S-Curve

6.2.3 Electronic Gear Ratio

Relevant Parameters (Please refer to Chapter 7 for detailed description):

Parameter Abbr. Function

P1-44 GR1 Gear Ratio (Numerator) (N1)

P1-45 GR2 Gear Ratio (Denominator) (M)

6

ElectronicGearRatio  󰇛



󰇜



has to match











 5000





Electronic gear provides simple ratio change of travel distance. The high ele ctro nic gear ratio would cause the position command to be stepped command. S-curve or low-pass filter can be used to improve the situation. When electronic gear ratio is set to 1, the motor will run one turn every 10000 PPR. When electronic gear ratio is changed to 0.5, then every two pulses from the command will be referred to one PUU of the motor encoder.

For example, after setting the electronic gear ratio properly, the moving distance of the object is 1 μm/pulse, which is easier to use.

Motor (Encoder resolution: A/B, Z) Encoder PPR: 2500 pulse

WL: Working Load WT: Work Piece

Ball Screw Pitch: 3 mm

- Gear Ratio

Electronic gear

is not applied.

Electronic gear

is applied.



10000



1 1

3000

Moving Distance of Each Pulse Command

10003



25004

m1

3000

10000

m





September, 2015 6-5

Control Mode of Operation ASDA-B2-F

6

6.2.4 Low-pass Filter

Relevant Parameters (Please refer to Chapter 7 for detailed description):

Parameter Abbr. Function

P1-08 PRLT Smooth Constant of Position Command (Low-pass Filter)

P1-45 GR2 Gear Ratio (Denominator) (M)

Target Position

6.2.5 Gain Adjustment of Position Loop

Before setting the position control unit, users have to manually complete the setting of tuning mode selection (P2-32) since the speed loop is included in position loop. Then, set the position loop gain (P2-00) and position feed forward gain (P2-02). Users also can u se th e auto mode to automatically set the gain of speed and position control unit.

1. Proportional gain: Increase the gain so as to enhance the response bandwidth of position

loop.

2. Feed forward gain: Minimize the deviation of phase delay.

The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that:

fv

fp 

KPP = 2 ×  × fp. fp: response bandwidth of position loop (Hz).

For example: the desired position bandwidth is 20 Hz  KPP = 2 ×  × 20= 125. Relevant Parameters (Please refer to Chapter 7 for detailed description):

Parameter Abbr. Function

P2-00 KPP Position Loop Gain

. fv: response bandwidth of speed loop (Hz).

4

P2-02 PF G Position Feed Forward Gain

6-6 September, 2015

ASDA-B2-F Control Mode of Operation

Position Contr ol Unit

Position Feed

Differentiator

Position Loop

+

-

When the value of KPP is set to be too large, the bandwidth of position loop will be incre ased and diminish the phase margin. And the motor rotor rotates vibrantly in forward and reverse direction at the moment. Thus, KPP has to be decreased until the rotor stops vibrating. When the external torque interrupts, the over-low KPP cannot meet the demand of reducing position error. In this situation, parameter P2-02 may help which can effectively reduce the position error.

Forward Gain

P2-02

Gain

P2-00

of P os i tion Lo op

Position Counter

Figure 6-3 Position Control Unit

Smoot h Constant of

Position Feed Forward Gain

Switching Rate

Gain

P2-01

P2-03

+

Gain Sw it ching

and Switching

Selection

P2-27

+

Max. Speed

Limit

P1-55

Speed

Command

Encoder

6

6.2.6 Low-frequency Vibration Suppression in Position Mode

If the system stiffness is not enough, the mechanical transmission will continue vibrating even when the motor stops and the positioning command is completed. The fun ction of low-frequ ency vibration suppression can eliminate the vibration of mechanical transmi ssion. The range of low-frequency vibration suppression is from 1.0Hz to 100.0HZ. Manual setting and auto setting are provided for this function.

Auto setting: If the frequency is hard to find, user can enable the function of auto low-frequency vibration

suppression. This function automatically searches the frequency of low-frequency vibration. If P1-29 is set to 1, the system will disable the function of low-frequency vibration suppression automatically and starts to search for the vibration frequency. When the detected frequency remains at the same level, P1-29 will be set to 0 automatically and set the first frequency to P1-25 and set P1-26 to 1. The second frequency will be set to P1-27 and then set P1-28 to 1. If P1-29 is automatically set back to 0 and low-frequency vibration still exists, please check if the function of P1-26 or P1-28 is enabled. If the value of P1-26 and P1-28 are 0, it means no

September, 2015 6-7

Control Mode of Operation ASDA-B2-F

6

frequency has been detected. Please decrease the value of P1-30 and set P1-29 to 1 so as to search for the vibration frequency again. Please note that when the detection level is set to be too small, the noise may be regarded as the frequency of low-frequency vibration.

Repeat position

con trol function

Check if

vi br ation oc c u r s

when

positioning

Yes

Set P1-29 to 1

No

Chec k if vi bration

becomes less

and s table

Yes

Set P1-29 to 0

Operation is

completed

Figure 6-4 Procedure of Auto Low-frequency Vibration Suppression

Note:

1. When the value of P1-26 and P1-28 are both 0, it means it is unable to search for the frequency. It is

probably because the detection level is set to be too high and is unable to detect the frequency of low-frequency vibration.

2. When the value of P1-26 or P1-28 is not 0 and the vibration still cannot be diminished, it is probabl y

because the detection level is set to be too low, the system regards the noise or other non-primary frequency as the frequency of low-frequency vibration.

3. When the process of auto vibration suppression is completed and the vibration still cannot be diminished,

P1-25 or P1-27 can be manually set to suppress the vibration if the frequency of the low-frequency vibration is identified.

No

Chec k if P1-29 is

set to 0

Yes

Dec r eas e the v al ue of

Ch eck i f P1-26 and

Note 1

P1-30

Yes

P1-28 are set to 0

Incr ease the v alue of

No

P1-30

Note2

6-8 September, 2015

ASDA-B2-F Control Mode of Operation

Relevant Parameters of Auto Vibration Suppression (Please refer to Chapter 7 for detailed description):

Parameter Abbr. Function

P1-29 AVSM Auto Low-frequency Vibration Suppression Setting

P1-30 VCL Low-frequency Vibration Detection

P1-30 is to set the range to detect the magnitude of low-frequency vibration. When the frequency is not being detected, it is probably because the value of P1-30 is set to be too large which exceeds the range of vibration. It is suggested to decrease the value of P1-30. Please note th at if the value is too small, the system might regard the noise as the vibration frequency. If the scope is available, it can be used to observe the range of position error (pulse) between upper and lower magnitude in order to set up the appropriate value of P1-30.

Manual Setting: There are two sets of low-frequency vibration suppression. One is parameter P1-25 and P1-26

and the other one is parameter P1-27 and P1-28. These two sets of low-frequency vibration suppression can be used to eliminate low-frequency vibration with two different frequencies. Parameter P1-25 and P1-27 are used to set the frequency of low-frequency vibration. The function is working only when the parameter setting value of low-frequency vibration suppression is close to the real vibration frequency. Parameter P1-26 and P1-28 are used to set the response after being processed by the filter. The bigger the setting value of P1-26 and P1-28 is, the better the response will be. However, if the value is set to be too large, the motor might not operate smoothly. The default value of parameter P1-26 and P1-28 are 0, which means the function is disabled.

Relevant Parameters (Please refer to Chapter 7 for detailed description):

Parameter Abbr. Function

6

P1-25 VSF1 Low-frequency Vibration Suppression (1)

P1-26 VSG1 Low-frequency Vibration Suppression Gain (1)

P1-27 VSF2 Low-frequency Vibration Suppression (2)

P1-28 VSG2 Low-frequency Vibration Suppression Gain (2)

September, 2015 6-9

Control Mode of Operation ASDA-B2-F

6

6.3 Speed Mode

Speed control mode is applicable in situation which requires precise speed control , such as CNC machine tools. The command input of ASDA-B2-F is register. Two ways are provided to use register input. One is to set different values of speed command to the three registers before operation, and use DI.SP0 and SP1 in CN1 for switching. The other one is to change the value of register by communication. In order to deal with the problem of non-continuous speed command when switching between registers, a complete S-curve is provided. In closed-loop system, this servo drive adopts gain adjustment and integrated PI controller. Two operation modes (manual and auto) are also available.

Users can set all the parameters in manual mode and all the auto or auxiliary functions will be disabled. In auto mode, it provides functions of load in ertia estimation and param eter adjustment. In auto mode, parameters set by users will be regarded as default values.

6.3.1 Selection of Speed Command

The source of speed command is from internal parameters. The selection is determined by DI signal of CN1. See as the followings:

Speed

Command

S1 0 0 Mode Sz N/A Speed command is 0 0 S2 0 1 S3 1 0 S4 1 1

CN1 DI Signal

SPD1 SPD0

Command Source

Parameter of internal register

Content Range

P1-09 P1-10

P1-11

-60000 ~ 60000

 Status of SPD0 ~ SPD1: 0 means DI is OFF, 1 means DI is ON.  When SPD0 = SPD1 = 0, speed command is 0.  When one of SPD0 and SPD1 is not 0, the speed command source is the internal

parameter. The command is activated right after changing the status of SPD0 ~ SPD1. There is no need to use CTRG as trigger.

 The setting range of the internal parameters is between -60000 to 60000. Setting value =

Setting range x Unit (0.1r/min). For example: P1-09 = +30000. Setting value = +30000 x 0.1r/min = +3000r/min

The speed command not only can be issued in speed mode, but also in torque mode as the speed limit.

6-10 September, 2015

ASDA-B2-F Control Mode of Operation

6.3.2 Control Structure of Speed Mode

Speed Command

Speed

Command

Processing Unit

Speed

Estimator

6

Spe ed Control Unit

Resonance

Sup pr es sion Unit

Figure 6-5 Basic Control Structure of Speed Mode

Torque Limit

Current

Loop

Motor

The speed command processing unit is to select speed comm and source according to Section

6.3.1, including the S-curve setting for smoothing speed command. The speed control unit

manages the gain parameters of the servo drive and calculates the current command for serv o motor in time. The resonance suppression unit is to suppress the resonan ce of the mechanism.

Here firstly introduce the function of speed command processing unit. Its structure is as the following figure:

SPD0 and SPD1 Signal of

CN1

Register

P1-09

~ P1-11

S-curve Filter

P1-36

Figure 6-6 Structure of Speed Command

Command

Selection

P1-01

Lo w- pass Fi l t er

P1-06

Usually, S-curve and low-pass filters are applied for having a smooth response of command.

September, 2015 6-11

Delta Electronics ASDA-B2-F, ASD-B2-1021-F, ASD-B2-0121-F, ASD-B2-0421-F, ASD-B2-0721-F User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Preface

Table of Contents

1.1 Inspection

1.2 Product Model

1.2.1 Nameplate Information

1.2.2 Model Explanation

1.3 Servo Drive and Corresponding Servo Motor

1.4 Each Part of the Servo Drive

2.1 Notes

2.2 Ambient Conditions of Storage

2.3 Ambient Conditions of Installation

2.4 Installation Direction and Space

2.5 Specification of Circuit Breaker and Fuse

2.6 EMI Filter Selection

2.7 Selection of Regenerative Resistor

3.1 Connections

3.1.1 Connecting to Peripheral Devices

3.1.2 Connectors and Terminals of Servo Drive

3.1.3 Wiring Method

3.1.4 Specification of Motor Power Cable

3.1.5 Specification of Encoder Cable Connector

3.1.6 Selection of Wiring Rod

3.2 Basic Wiring

3.2.1 200 W or models below (without regenerative resistor nor fan)

3.2.2 400 W ~ 750 W models (with built-in regenerative resistor but no fan)

3.2.3 1 kW ~ 1.5 kW models (with built-in regenerative resistor and fan)

3.2.4 2 kW ~ 3 kW models (with built-in regenerative resistor and fan)

3.3 I / O Signal (CN1) Connection

3.3.1 I / O Signal (CN1) Connector Terminal Layout

3.3.2 Signals Explanation of Connector CN1

3.3.3 Wiring Diagrams (CN1)

3.3.4 DI and DO Signal Specified by Users

3.4 CN2 Connector

3.5 Wiring of CN3 Connector

3.6 CN6 Connector (DMCNET)

3.7 Standard Connection Example

4.1 Panel Description

4.2 Parameter Setting Procedure

4.3 Status Display

4.3.1 Save Setting Display

4.3.2 Decimal Point

4.3.3 Alarm Message

4.3.4 Positive and Negative Sign Setting

4.3.5 Monitor Display

4.4 General Function

4.4.1 Operation of Fault Record Display

4.4.2 JOG Mode

4.4.3 Force DO On

4.4.4 Digital Input Diagnosis Operation

4.4.5 Digital Output Diagnosis Operation

5.1 Inspection without Load

5.2 Apply Power to the Servo Drive

5.3 JOG Trial Run without Load

5.4 Trial Run without Load (Speed Mode)

5.5 Tuning Procedure

5.5.1 Flowchart of Tuning Procedure

5.5.2 Inertia Estimation Flowchart (with Mechanism)

5.5.3 Flowchart of Auto Tuning

5.5.4 Flowchart of Semi-Auto Tuning

5.5.5 Limit of Inertia Ratio

5.5.6 Mechanical Resonance Suppression Method

5.5.7 Tuning Mode and Parameters

5.5.8 Tuning in Manual Mode

6.1 Selection of Operation Mode

6.2 Position Mode

6.2.1 Control Structure of Position Mode

6.2.2 S-curve Filter (Position)

6.2.3 Electronic Gear Ratio

6.2.4 Low-pass Filter

6.2.5 Gain Adjustment of Position Loop

6.2.6 Low-frequency Vibration Suppression in Position Mode

6.3 Speed Mode

6.3.1 Selection of Speed Command

6.3.2 Control Structure of Speed Mode