Delta Products ASDA-B2-F Series Users Manual
Delta Economic AC Servo Drive with DMCNET Communication
Delta Economic AC Servo
Drive with DMCNET
ASDA-B2-F
Communication
ASDA-B2-F
Series User Manual
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 servo motor
Configuration of the servo drive
Procedures of trial run
Control functions and adjustment methods of the servo drive
Parameter settings
Communication protocol
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 high 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.
September, 2015
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September, 2015
Table of Contents
Before Operation
Inspection and Model Explanation
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
Installation
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
Wiring
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 Cable ·························································· 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 (without 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
September, 2015 I
3.3.1 I / O Signal (CN1) Connector Terminal 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
Panel Display and Operation
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
4.3.3 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
Tuning
Trial Operation and Tuning
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 unin g ······································································· 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
II September, 2015
5.5.7 Tuning Mode and Parameters ································································· 5-18
5.5.8 Tuning in Manual Mode ········································································· 5-19
Control Mode of Operation
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 ···························································· 6-11
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
Parameter Setting
Parameters
7.1 Parameter Definition ··················································································· 7-2
7.2 List of Parameters ······················································································ 7-3
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
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 ASDA-B2-F Se
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
rvo Drive ··································································· A-2
Accessories
Power Conne
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
ctor ··································································································· 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 Inspect
Maintenance ········································································································· C-3
The Lifetime of Machinery Parts ················································································ C-3
ion ···································································································· 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-C0401□S
ECMA-C0602□S
ECMA-C0604□S
ECMA-C0804□7
ECMA-C0807□S
ECMA-C0907□S
ECMA-C0910□S
ECMA-C1010□S
ECMA-C1020□S
ECMA-C1330□4
ECMA-E1305□S
ECMA-E1310□S
ECMA-E1315□S
ECMA-E1320□S
ECMA-E1820□S
ECMA-E1830□S
ECMA-F1308□S
ECMA-F1313□S
ECMA-F1830□S
ECMA-C0604□H
ECMA-C0807□H
ECMA-G1303□S
ECMA-G1306□S
ECMA-G1309□S
Rated
Current
(Arms)
0.90 2.70
1.55 4.65
2.60 7.80
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
(This page is intentionally left blank.)
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 parallel.
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 an ce.
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 particles.
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 standards. 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.
min.
To lower the air resistance and ensure the drive is well ventilated, please follow the instructions
during installation and leaving sufficient 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 mentione d below:
1. The servo drive and EMI Filter should be installed on the same metal plate.
2. When installing servo drive and EMI Filter, the servo drive should be install ed 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 distan ce 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 (Watt)
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 capacitanc e 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 resistor.
Servo Drive
(kW)
Low Inertia
Medium
Inertia
Medium -
High Inertia
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 vi a 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 reach es
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 s peed
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
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2-12 September, 2015
Wiring
This chapter explains the wiring methods of the power circuit an d connector definitions.
The standard wiring diagrams for each control mode 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 Cabl 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
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