Delta Ac Servo Drive Asda Ab Users Manual USER MANUAL(DELTA)CURVE

2015-01-21

• Cover
• Preface
• Safety Precautions
• Table of Contents
• Chapter 1 Unpacking Check and Model Explanation
  • 1.1 Unpacking Check
  • 1.2 Model Explanation
    • 1.2.1 Nameplate Information
    • 1.2.2 Model Name Explanation
  • 1.3 Servo Drive and Servo Motor Combinations
  • 1.4 Servo Drive Features
  • 1.5 Control Modes of Servo Drive
• Chapter 2 Installation and Storage
  • 2.1 Installation Notes
  • 2.2 Storage Conditions
  • 2.3 Installation Conditions
  • 2.4 Installation Procedure and Minimum Clearances
• Chapter 3 Connections and Wiring
  • 3.1 Connections
    • 3.1.1 Connecting to Peripheral Devices
    • 3.1.2 Servo Drive Connectors and Terminals
    • 3.1.3 Wiring Methods
    • 3.1.4 Motor Power Cable Connector Specifications
    • 3.1.5 Encoder Connector Specifications
    • 3.1.6 Cable Specifications for Servo Drive
  • 3.2 Basic Wiring
  • 3.3 Input / Output Interface Connector -CN1
    • 3.3.1 CN1 Terminal Identification
    • 3.3.2 Signals Explanation of Connector CN1
    • 3.3.3 User-defined DI and DO signals
    • 3.3.4 Wiring Diagrams of I/O Signals (CN1)
  • 3.4 Encoder Connector CN2
  • 3.5 Serial Communication Connector CN3
    • 3.5.1 CN3 Terminal Layout and Identification
    • 3.5.2 Connection between PC and Connector CN3
  • 3.6 Standard Connection Example
    • 3.6.1 Position (Pt) Control Mode (220V models)
    • 3.6.2 Position (Pt) Control Mode (110V models)
    • 3.6.3 Position (Pr) Control Mode (220V models)
    • 3.6.4 Position (Pr) Control Mode (110V models)
    • 3.6.5 Speed Control Mode (220V models)
    • 3.6.6 Speed Control Mode (110V models)
    • 3.6.7 Torque Control Mode (220V models)
    • 3.6.8 Torque Control Mode (110V models)
• Chapter 4 Display and Operation
  • 4.1 Description of the Digital Keypad
  • 4.2 Display Flowchart
  • 4.3 Status Display
    • 4.3.1 Save Setting Display
    • 4.3.2 Abort Setting Display
    • 4.3.3 Fault Message Display
    • 4.3.4 Polarity Setting Display
    • 4.3.5 Monitor Setting Display
  • 4.4 General Function Operation
    • 4.4.1 Fault Code Display Operation
    • 4.4.2 JOG Operation
    • 4.4.3 Position Learning Operation
    • 4.4.4 DO Force Output Diagnosis Operation
    • 4.4.5 DI Diagnosis Operation
    • 4.4.6 DO Diagnosis Operation
• Chapter 5 Trial Run and Tuning Procedure
  • 5.1 Inspection without Load
  • 5.2 Applying Power to the Drive
  • 5.3 JOG Trial Run without Load
  • 5.4 Speed Trial Run without Load
  • 5.5 Position Trial Run without Load
  • 5.6 Tuning Procedure
    • 5.6.1 Tuning Flowchart
    • 5.6.2 Load Inertia Estimation Flowchart
    • 5.6.3 AutoMode (PI) Tuning Flowchart
    • 5.6.4 AutoMode (PDFF) Tuning Flowchart
    • 5.6.5 Manual Mode Tuning Flowchart
    • 5.6.6 Limit of Load Inertia Estimation
    • 5.6.7 Relationship between Tuning Modes and Parameters
    • 5.6.8 Gain Adjustment in Manual Mode
• Chapter 6 Control Modes of Operation
  • 6.1 Control Modes of Operation
  • 6.2 Position Control Mode
    • 6.2.1 Command Source of Position (Pt) Control Mode
    • 6.2.2 Command Source of Position (Pr) Control Mode
    • 6.2.3 Structure of Position Control Mode
    • 6.2.4 P-curve Filter for Position Control
    • 6.2.5 Electronic Gear Ratio
    • 6.2.6 Low-pass Filter
    • 6.2.7 Timing Chart of Position (Pr) Control Mode
    • 6.2.8 Position Loop Gain Adjustment
  • 6.3 Speed Control Mode
    • 6.3.1 Command Source of Speed Control Mode
    • 6.3.2 Structure of Speed Control Mode
    • 6.3.3 Smoothing Strategy of Speed Control Mode
    • 6.3.4 Analog Speed Input Scaling
    • 6.3.5 Timing Chart of Speed Control Mode
    • 6.3.6 Speed Loop Gain Adjustment
    • 6.3.7 Resonance Suppression
  • 6.4 Torque Control Mode
    • 6.4.1 Command Source of Torque Control Mode
    • 6.4.2 Structure of Torque Control Mode
    • 6.4.3 Smoothing Strategy of Torque Control Mode
    • 6.4.4 Analog Torque Input Scaling
    • 6.4.5 Timing Chart of Torque Control Mode
  • 6.5 Control Modes Selection
    • 6.5.1 Speed / Position Control Mode Selection
    • 6.5.2 Speed / Torque Control Mode Selection
    • 6.5.3 Torque / Position Control Mode Selection
  • 6.6 Others
    • 6.6.1 Speed Limit
    • 6.6.2 Torque Limit
    • 6.6.3 Regenerative Resistor
    • 6.6.4 Analog Monitor
    • 6.6.5 Electromagnetic Brake
• Chapter 7 Servo Parameters
  • 7.1 Definition
  • 7.2 Parameters Summary
    • 7.2.1 Parameters List by Group
    • 7.2.2 Parameters List by Function
  • 7.3 Detailed Parameter Listings
    • Group 0: P0-xx Monitor Parameters
    • Group 1: P1-xx Basic Parameters
    • Group 2: P2-xx Extension Parameters
    • Group 3: P3-xx Communication Parameters
    • Group 4: P4-xx Diagnosis Parameters
  • Table 7.A Input Function Definition
  • Table 7.B Output Function Definition
• Chapter 8 MODBUS Communications
  • 8.1 Communication Hardware Interface
  • 8.2 Communication Parameter Settings
  • 8.3 MODBUS Communication Protocol
  • 8.4 Communication Parameter Write-in and Read-out
• Chapter 9 Maintenance and Inspection
  • 9.1 Basic Inspection
  • 9.2 Maintenance
  • 9.3 Life of Replacement Components
• Chapter 10 Troubleshooting
  • 10.1 Fault Messages Table
  • 10.2 Potential Cause and Corrective Actions
  • 10.3 Clearing Faults
• Chapter 11 Specifications
  • 11.1 Specifications of Servo Drive (ASDA-AB Series)
  • 11.2 Specifications of Servo Motor (ECMA Series)
  • 11.3 Servo Motor Speed-Torque Curves
  • 11.4 Overload Characteristics
  • 11.5 Dimensions of Servo Drive
  • 11.6 Dimensions of Servo Motor
• Chapter 12 Application Examples
  • 12.1 Position Control (including homing function)
  • 12.2 Roller Feeding
  • 12.3 Connecting to Delta DVP-EH Series PLC
  • 12.4 Connecting to Delta TP04 Series
  • 12.5 Position Control Mode (Pr Mode)
  • 12.6 Feed Step Control
  • 12.7 Internal Auto Running Mode
  • 12.8 Homing Function
  • 12.9 External Controller Connection Examples
• Appendix A Accessories
• Appendix B Molded-case Circuit Breaker, Fuse Currentand EMI Filters