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

Delta-Electronics-Ac-Servo-Drive-Asda-Ab-Users-Manual-338692 delta-electronics-ac-servo-drive-asda-ab-users-manual-338692

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Preface

Thank you very much for purchasing DELTA’s AC servo products.
This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and
motor. Before using the product, please read this user manual to ensure correct use.
You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before
proceeding with the installation, wiring and operation. If you do not understand please contact your local
Delta sales representative. Place this user manual in a safe location for future reference.
	

Using This Manual

 Contents of this manual
This manual is a user guide that provides the information on how to install, operate and maintain
ASDA-AB series AC servo drives and ECMA series AC servo motors. The contents of this manual
include the following topics:
z

Installation of AC servo drives and motors

z

Configuration and wiring

z

Trial run steps

z

Control functions and adjusting methods of AC servo drives

z

Parameter settings

z

Communication protocol

z

Inspection and maintenance

z

Troubleshooting

z

Application examples

 Who should use this manual
This manual is intended for the following users:
z

Those who are responsible for designing

z

Those who are responsible for installing or wiring

z

Those who are responsible for operating or programming

z

Those who are responsible for maintaining or troubleshooting

 Important precautions
Before using the product, please read this user manual thoroughly to ensure correct use. Store this
manual in a safe and handy place for quick reference whenever necessary. Always observe the
following precautions:
z

Do not use the product in a potentially explosive environment.

z

Install the product in a clean and dry location free from corrosive and inflammable gases
or liquids.

z

Do not connect commercial power to the U, V, W terminals. Failure to observe this
precaution will cause severe damage to the Servo drive.

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Preface|ASDA-AB Series
z

Ensure that the motor and drive are correctly connected to a ground. The grounding
method must comply with the electrical standard of the country (Please refer to NFPA 70:
National Electrical Code, 2005 Ed.).

z

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

z

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

z

Before starting the operation with a mechanical system connected, make sure the
emergency stop equipment can be energized and work at any time.

z

Do not touch the drive heat sink or the servo motor during operation, this may cause
serious personnel injury.

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.
Carefully note and observe the following safety precautions when receiving, inspecting, installing, operating,
maintaining and troubleshooting. The following words, DANGER, WARNING and STOP are used to mark
safety precautions when using the Delta’s servo product. Failure to observe these precautions may void
the warranty!
ASDA-AB series drives are open type servo drives and must be installed in an NEMA enclosure such as a
protection control panel during operation to comply with the requirements of the international safety
standards. They are provided with precise feedback control and high-speed calculation function
incorporating DSP (Digital Signal Processor) technology, and intended to drive three-phase permanent
magnet synchronous motors (PMSM) to achieve precise positioning by means of accurate current output
generated by IGBT (Insulated Gate Bipolar Transistor).
ASDA-AB series drives can be used in industrial applications and for installation in an end-use enclosure that
do not exceed the specifications defined in the ASDA-AB series user manual (Drives, cables and motors are
for use in a suitable enclosure with a minimum of a UL50 type 1 or NEMA 250 Type 1 rating).
The words, DANGER, WARNING and STOP, have the following meaning:
Indicates a potentially hazardous situation and if not avoided, may result in serious injury
or death.
Indicates a potentially hazardous situation and if not avoided, may result in minor to
moderate injury or serious damage to the product.
Indicates an improper action that it is not recommended. Doing so may cause damage or
malfunction.

Unpacking Check
¾ Please ensure that both the servo drive and motor are correctly matched for size (power rating). Failure to observe this
precaution may cause fire, seriously damage to the drive / motor or cause personal injury.

Installation
¾ Do not install the product in a location that is outside the stated specification for the drive and motor. Failure to observe this
caution may result in electric shock, fire, or personal injury.

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Preface|ASDA-AB Series
Wiring
¾ Connect the ground terminals to a class-3 ground (Ground resistance should not exceed 100 Ω). Improper grounding may result
in electric shock or fire.

¾ Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in serious injury,
damage to the drive or fire.

¾ Ensure that all screws, connectors and wire terminations are secure on the power supply, servo drive and motor. Failure to
observe this caution may result in damage, fire or personal injury.

Operation
¾ Before starting the operation with a mechanical system connected, change the drive parameters to match the user-defined
parameters of the mechanical system. Starting the operation without matching the correct parameters may result in servo drive
or motor damage, or damage to the mechanical system.

¾ Ensure that the emergency stop equipment or device is connected and working correctly before operating the motor that is
connected to a mechanical system.

¾ Do not approach or touch any rotating parts (e.g. shaft) while the motor is running. Failure to observe this precaution may
cause serious personal injury.

¾ In order to prevent accidents, the initial trial run for servo motor should be conducted under no load conditions (separate the
motor from its couplings and belts).

¾ For the initial trial run, do not operate the servo motor while it is connected to its mechanical system. Connecting the motor to
its mechanical system may cause damage or result in personal injury during the trail run. Connect the servo motor once it has
successfully completed a trail run.

¾ Caution: Please perform trial run without load first and then perform trial run with load connected. After the servo motor is
running normally and regularly without load, then run servo motor with load connected. Ensure to perform trial run in this order
to prevent unnecessary danger.

¾ Do not touch either the drive heat sink or the motor during operation as they may become hot and personal injury may result.

Maintenance and Inspection
¾ Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result.
¾ Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical shock may
result.

¾ Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or performing any wiring
and/or inspection as an electrical charge may still remain in the servo drive and servo motor with hazardous voltages even after
power has been removed.

¾ Do not disassemble the servo drive or motor as electric shock may result.
¾ Do not connect or disconnect wires or connectors while power is applied to the drive and motor.
¾ Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.

Main Circuit Wiring
¾ Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise. Separate the conduits by
30cm (11.8inches) or more.

¾ Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder (PG) feedback cables. The maximum
length of command input cable is 3m (9.84ft.) and the maximum length of encoder (PG) feedback cables is 20m (65.62ft.).

¾ As a charge may still remain in the drive with hazardous voltages even after power has been removed, be sure to wait at least 10
minutes after power has been removed before performing any wiring and/or inspection.

¾ It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more than once per minute as
high charging currents within the internal capacitors may cause damage.

Main Circuit Terminal Wiring
¾
¾
¾
¾
¾

Please perform the wiring after the terminal blocks are all removed from the drive.
Insert only one wire into one terminal on the terminal block.
When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires.
Ensure to double check the wiring before applying power to the drive.
If the wiring is in error, perform the wiring again with proper tools. Never use force to remove the terminals or wires. Otherwise,
it may result in malfunction or damage.

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Preface|ASDA-AB Series

NOTE

1) In this manual, actual measured values are in metric units. Dimensions in (imperial
units) are for reference only. Please use metric units for precise measurements.
2) The content of this manual may be revised without prior notice. Please consult our
distributors or download the most updated version at
http://www.delta.com.tw/industrialautomation.
.

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Table of Contents

Chapter 1

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

1.1

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

1.2

Model Explanation ....................................................................................................................... 1-2
1.2.1

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

1.2.2

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

1.3

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

1.4

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

1.5

Control Modes of Servo Drive ..................................................................................................... 1-8

Chapter 2

Installation and Storage......................................................................................... 2-1

2.1

Installation Notes ......................................................................................................................... 2-1

2.2

Storage Conditions ...................................................................................................................... 2-1

2.3

Installation Conditions ................................................................................................................. 2-2

2.4

Installation Procedure and Minimum Clearances........................................................................ 2-3

Chapter 3
3.1

Connections and Wiring ........................................................................................ 3-1

Connections................................................................................................................................. 3-1
3.1.1

Connecting to Peripheral Devices .................................................................................... 3-1

3.1.2

Servo Drive Connectors and Terminals ........................................................................... 3-3

3.1.3

Wiring Methods................................................................................................................. 3-5

3.1.4

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

3.1.5

Encoder Connector Specifications ................................................................................... 3-8

3.1.6

Cable Specifications for Servo Drive................................................................................ 3-9

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3.2

Basic Wiring................................................................................................................................. 3-11

3.3

Input / Output Interface Connector - CN1 ................................................................................... 3-14
3.3.1

CN1 Terminal Identification .............................................................................................. 3-14

3.3.2

Signals Explanation of Connector - CN1.......................................................................... 3-16

3.3.3

User-defined DI and DO signals....................................................................................... 3-26

3.3.4

Wiring Diagrams of I/O Signals - CN1 .............................................................................. 3-26

3.4

Encoder Connector - CN2 ........................................................................................................... 3-31

3.5

Serial Communication Connector - CN3 ..................................................................................... 3-32

3.6

3.5.1

Terminal Layout and Identification – CN3 ........................................................................ 3-32

3.5.2

Connection between PC and Connector - CN3................................................................ 3-33

Standard Connection Example.................................................................................................... 3-34
3.6.1

Position (Pt) Control Mode (220V models)....................................................................... 3-34

3.6.2

Position (Pt) Control Mode (110V models)....................................................................... 3-35

3.6.3

Position (Pr) Control Mode (220V models)....................................................................... 3-36

3.6.4

Position (Pr) Control Mode (110V models)....................................................................... 3-37

3.6.5

Speed Control Mode (220V models) ................................................................................ 3-38

3.6.6

Speed Control Mode (110V models) ................................................................................ 3-39

3.6.7

Torque Control Mode (220V models) ............................................................................... 3-40

3.6.8

Torque Control Mode (110V models) ............................................................................... 3-41

Chapter 4

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

4.1

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

4.2

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

4.3

Status Display.............................................................................................................................. 4-3
4.3.1

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

4.3.2

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

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4.4

4.3.3

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

4.3.4

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

4.3.5

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

General Function Operation ........................................................................................................ 4-6
4.4.1

Fault Code Display Operation .......................................................................................... 4-6

4.4.2

JOG Operation.................................................................................................................. 4-6

4.4.3

Position Learning Operation ............................................................................................. 4-7

4.4.4

DO Force Output Diagnosis Operation ............................................................................ 4-9

4.4.5

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

4.4.6

DO Diagnosis Operation................................................................................................... 4-10

Chapter 5

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

5.1

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

5.2

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

5.3

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

5.4

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

5.5

Position Trial Run without Load................................................................................................... 5-11

5.6

Tuning Procedure ........................................................................................................................ 5-14
5.6.1

Tuning Flowchart .............................................................................................................. 5-15

5.6.2

Load Inertia Estimation Flowchart .................................................................................... 5-16

5.6.3

AutoMode (PI) Tuning Flowchart...................................................................................... 5-17

5.6.4

AutoMode (PDFF) Tuning Flowchart................................................................................ 5-19

5.6.5

Manual Mode Tuning Flowchart ....................................................................................... 5-21

5.6.6

Limit of Load Inertia Estimation ........................................................................................ 5-22

5.6.7

Relationship between Tuning Modes and Parameters .................................................... 5-23

5.6.8

Gain Adjustment in Manual Mode .................................................................................... 5-23

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Chapter 6

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

6.1

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

6.2

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

6.3

6.4

6.2.1

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

6.2.2

Command Source of Position (Pr) Control Mode ............................................................. 6-3

6.2.3

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

6.2.4

P-curve Filter for Position Control..................................................................................... 6-5

6.2.5

Electronic Gear Ratio ....................................................................................................... 6-8

6.2.6

Low-pass Filter ................................................................................................................. 6-9

6.2.7

Timing Chart of Position (Pr) Control Mode ..................................................................... 6-10

6.2.8

Position Loop Gain Adjustment ........................................................................................ 6-10

Speed Control Mode.................................................................................................................... 6-13
6.3.1

Command Source of Speed Control Mode ...................................................................... 6-13

6.3.2

Structure of Speed Control Mode ..................................................................................... 6-14

6.3.3

Smoothing Strategy of Speed Control Mode.................................................................... 6-15

6.3.4

Analog Speed Input Scaling ............................................................................................. 6-18

6.3.5

Timing Chart of Speed Control Mode............................................................................... 6-19

6.3.6

Speed Loop Gain Adjustment........................................................................................... 6-19

6.3.7

Resonance Suppression .................................................................................................. 6-24

Torque Control Mode................................................................................................................... 6-28
6.4.1

Command Source of Torque Control Mode ..................................................................... 6-28

6.4.2

Structure of Torque Control Mode .................................................................................... 6-29

6.4.3

Smoothing Strategy of Torque Control Mode................................................................... 6-29

6.4.4

Analog Torque Input Scaling ............................................................................................ 6-30

6.4.5

Timing Chart of Torque Control Mode.............................................................................. 6-31

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6.5

6.6

Control Mode Selection ............................................................................................................... 6-32
6.5.1

Speed / Position Control Mode Selection......................................................................... 6-32

6.5.2

Speed / Torque Control Mode Selection .......................................................................... 6-33

6.5.3

Torque / Position Control Mode Selection........................................................................ 6-33

Others.......................................................................................................................................... 6-35
6.6.1

Speed Limit....................................................................................................................... 6-35

6.6.2

Torque Limit...................................................................................................................... 6-35

6.6.3

Regenerative Resistor ...................................................................................................... 6-36

6.6.4

Analog Monitor.................................................................................................................. 6-40

6.6.5

Electromagnetic Brake ..................................................................................................... 6-43

Chapter 7

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

7.1

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

7.2

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

7.3

7.2.1

Parameter List by Group .................................................................................................. 7-2

7.2.2

Parameter List by Function............................................................................................... 7-9

Detailed Parameter Listings ........................................................................................................ 7-20

Chapter 8

MODBUS Communications ................................................................................... 8-1

8.1

Communication Hardware Interface............................................................................................ 8-1

8.2

Communication Parameter Settings............................................................................................ 8-5

8.3

MODBUS Communication Protocol ............................................................................................ 8-9

8.4

Communication Parameter Write-in and Read-out ..................................................................... 8-17

Chapter 9

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

9.1

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

9.2

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

9.3

Life of Replacement Components ............................................................................................... 9-2

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Chapter 10 Troubleshooting..................................................................................................... 10-1
10.1 Fault Messages Table ................................................................................................................. 10-1
10.2 Potential Cause and Corrective Actions...................................................................................... 10-3
10.3 Clearing Faults ............................................................................................................................ 10-8

Chapter 11 Specifications ........................................................................................................ 11-1
11.1 Specifications of Servo Drive (ASDA-AB Series)........................................................................ 11-1
11.2 Specifications of Servo Motor (ECMA Series) ............................................................................ 11-4
11.3 Servo Motor Speed-Torque Curves ............................................................................................ 11-7
11.4 Overload Characteristics ............................................................................................................. 11-8
11.5 Dimensions of Servo Drive.......................................................................................................... 11-16
11.6 Dimensions of Servo Motor ......................................................................................................... 11-20

Chapter 12 Application Examples ............................................................................................ 12-1
12.1 Position Control (including homing function)............................................................................... 12-1
12.2 Roller Feeding ............................................................................................................................. 12-3
12.3 Connecting to Delta DVP-EH Series PLC ................................................................................... 12-4
12.4 Connecting to Delta TP04 Series ................................................................................................ 12-9
12.5 Position Control Mode (Pr Mode) ................................................................................................ 12-11
12.6 Feed Step Control ....................................................................................................................... 12-14
12.7 Internal Auto Run Mode .............................................................................................................. 12-25
12.8 Homing Function ......................................................................................................................... 12-30
12.9 External Controller Connection Examples................................................................................... 12-37

Appendix A Accessories ........................................................................................................... A-1
Appendix B Molded-case Circuit Breaker, Fuse Current and EMI Filters ................................. B-1

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Table of Contents|ASDA-AB Series
About this Manual…
User Information
Be sure to store this manual in a safe place.
Due to constantly growing product range, technical improvement, alteration or changed texts, figures and
diagrams, we reserve the right to make information changes within this manual without prior notice.
Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited.

Technical Support and Service
You are welcome to contact our Technical Support Team at the below numbers or visit our web site
(http://www.delta.com.tw/industrialautomation/) if you need technical support, service, information, or if you
have any questions in the use of this product. We look forward to serving your needs and are willing to offer
our best support and service to you.

ASIA

JAPAN

DELTA ELECTRONICS, INC.

DELTA ELECTRONICS (JAPAN), INC.

Taoyuan Plant 1

Tokyo Office

31-1, XINGBANG ROAD,

DELTA SHIBADAIMON BUILDING

GUISHAN INDUSTRIAL ZONE,

2-1-14 SHIBADAIMON, MINATO-KU,

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

TOKYO, 105-0012, JAPAN

TEL: 886-3-362-6301

TEL: 81-3-5733-1111

FAX: 886-3-362-7267

FAX: 81-3-5733-1211

NORTH/SOUTH AMERICA

EUROPE

DELTA PRODUCTS CORPORATION (USA)

DELTRONICS (THE NETHERLANDS) B.V.

Raleigh Office

Eindhoven Office

P.O. BOX 12173

DE WITBOGT 15, 5652 AG EINDHOVEN,

5101 DAVIS DRIVE,

THE NETHERLANDS

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

TEL: 31-40-259-2850

TEL: 1-919-767-3813

FAX: 31-40-259-2851

FAX: 1-919-767-3969

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Revision January 2009

Chapter 1 Unpacking Check and Model Explanation

1.1

Unpacking Check

After receiving the AC servo drive, please check for the following:

 Ensure that the product is what you have ordered.
Verify the part number indicated on the nameplate corresponds with the part number of your order
(Please refer to Section 1.2 for details about the model explanation).

 Ensure that the servo motor shaft rotates freely.
Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a servo motor
with an electromagnetic brake can not be rotated manually.

 Check for damage.
Inspect the unit to insure it was not damaged during shipment.

 Check for loose screws.
Ensure that all necessary screws are tight and secure.
If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or
your local Delta sales representative.
A complete and workable AC servo system should include the following parts:
Part I : Delta standard supplied parts
(1)

Servo drive

(2)

Servo motor

(3)

5 PIN Terminal Block (for L1, L2, R(L1M), S(L2M), T) (available for 100W ~ 1.5kW models)

(4)

3 PIN Terminal Block (for U, V, W) (available for 100W ~ 1.5kW models)

(5)

3 PIN Terminal Block (for P, D, C) (available for 100W ~ 1.5kW models)

(6)

One operating lever (for wire to terminal block insertion; available for 100W ~ 1.5kW models)

(7)

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

(8)

Quick Start

Part II : Optional parts (Refer to Appendix A)
(1)

One power cable, which is used to connect servo motor to U, V, W terminals of servo drive. This
power cable includes a green grounding cable. Please connect the green grounding cable to the
ground terminal of the servo drive.

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series
(2)

One encoder cable, which is used to connect the encoder of servo motor to the CN2 terminal of
servo drive.

(3)

CN1 Connector: 50 PIN Connector (3M type analog product)

(4)

CN2 Connector: 20 PIN Connector (3M type analog product)

(5)

CN3 Connector: 6 PIN Connector (IEEE1394 analog product)

1.2

Model Explanation
1.2.1 Nameplate Information
ASDA-AB Series Servo Drive


Nameplate Explanation



Serial Number Explanation

ASMT Series Servo Motor

1-2



Nameplate Explanation



Serial Number Explanation

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

1.2.2 Model Name Explanation

ASDA-AB Series Servo Drive

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1-3

Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series
ECMA Series Servo Motor

1-4

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

1.3

Servo Drive and Servo Motor Combinations

The table below shows the possible combination of Delta ASDA-AB series servo drives and ECMA series
servo motors. The boxes () in the model names are for optional configurations. (Please refer to Section 1.2
for model explanation)
Power

Servo Drive

Servo Motor

100W

ASD-A0111-AB
ASD-A0121-AB

ECMA-C30401S (S=8mm)

200W

ASD-A0211-AB
ASD-A0221-AB

ECMA-C30602S (S=14mm)

400W

ASD-A0411-AB
ASD-A0421-AB

ECMA-C30604S (S=14mm)
ECMA-C308047 (7=14mm)
ECMA-E31305S (S=22mm)
ECMA-G31303S (S=22mm)

750W

ASD-A0721-AB

ECMA-C30807S (S=19mm)
ECMA-G31306S (S=22mm)

1000W

ASD-A1021-AB

ECMA-C31010S (S=22mm)
ECMA-E31310S (S=22mm)
ECMA-G31309S (S=22mm)

1500W

ASD-A1521-AB

ECMA-E31315S (S=22mm)

2000W

ASD-A2023-AB

ECMA-C31020S (S=22mm)
ECMA-E31320S (S=22mm)
ECMA-E31820S (S=35mm)

The servo drives shown in the above table are designed for use in combination with the specific servo
motors. Check the specifications of the drives and motors you want to use.

Also, please ensure that both the servo drive and motor are correctly matched for size (power rating). If the
power of motor and drive is not within the specifications, the drive and motor may overheat and servo alarm
would be activated. For the detail specifications of servo drives and motors, please refer to Chapter 11
“Specifications”.
The drives shown in the above table are designed according to the three multiple of rated current of motors
shown in the above table. If the drives which are designed according to the six multiple of rated current of
motors are needed, please contact our distributors or your local Delta sales representative.

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1-5

Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

1.4

Servo Drive Features

220V models

1-6

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Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series
110V models

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1-7

Chapter 1 Unpacking Check and Model Explanation|ASDA-AB Series

1.5

Control Modes of Servo Drive

The Delta Servo provides six single and five dual modes of operation.
Their operation and description is listed in the following table.
Mode
External Position Control

Internal Position Control

Speed Control

Single
Mode

Internal Speed Control

Torque Control

Code
Pt

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

Pr

Internal Position control mode for the servo motor is
achieved via 8 internal position registers within the servo
controller. Execution of the 8 positions is via Digital Input
(DI) signals.

S

(External / Internal) Speed control mode for the servo motor
can be achieved via parameters set within the controller or
from an external analog -10 ~ +10 VDC command. Control
of the internal speed mode is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).

Sz

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

T

(External / Internal) Torque control mode for the servo
motor can be achieved via parameters set within the
controller or from an external analog -10 ~ +10 VDC
command. Control of the internal torque mode is via the
Digital Inputs (DI). (A maximum of three torque levels can
be stored internally).

Tz
Internal Torque Control

Dual Mode

Description

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

Pt-S

Either Pt or S control mode can be selected via the Digital
Inputs (DI)

Pt-T

Either Pt or T control mode can be selected via the Digital
Inputs (DI)

Pr-S

Either Pr or S control mode can be selected via the Digital
Inputs (DI)

Pr-T

Either Pr or T control mode can be selected via the Digital
Inputs (DI)

S-T

Either S or T control mode can be selected via the Digital
Inputs (DI)

The above control modes can be accessed and changed via parameter P1-01. Enter the new control mode
via P1-01 then switch the main power to the servo drive OFF then ON. The new control mode will only be
valid after the drives main power is switched OFF then ON. Please see safety precautions on page iii
(switching drive off/on multiple times).

1-8

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Chapter 2 Installation and Storage

2.1

Installation Notes

Please pay close attention to the following installation notes:

 Do not bend or strain the connection cables between servo drive and motor.
 When mounting the servo drive, make sure to tighten all screws to secure the drive in place.
 If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of
the servo motor, coupling, and device are followed. Failure to do so may cause unnecessary loads or
premature failure to the servo motor.

 If the length of cable connected between servo drive and motor is more than 20m, please increase the
wire gauge of the encoder cable and motor connection cable (connected to U, V, W terminals).

 Make sure to tighten the screws for securing motor.

2.2

Storage Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty coverage,
the AC servo drive should be stored properly when it is not to be used for an extended period of time. Some
storage suggestions are:

 Store in a clean and dry location free from direct sunlight.
 Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
 Store within a relative humidity range of 0% to 90% and non-condensing.
 Do not store in a place subjected to corrosive gases and liquids.
 Store in original packaging and placed on a solid surface.

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Chapter 2 Installation and Storage|ASDA-AB Series

2.3

Installation Conditions

Operating Temperature
ASDA-AB Series Servo Drive

:

0°C to 55°C (32°F to 131°F)

ECMA Series Servo Motor

:

0°C to 40°C (32°F to 104°F)

The ambient temperature of servo drive should be under 45°C (113°F) for long-term reliability.
If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a wellventilated location and do not obstruct the airflow for the cooling fan.
Caution
The servo drive and motor will generate heat. If they are installed in a control panel, please ensure sufficient
space around the units for heat dissipation.
Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in
the control panel. Please observe the following precautions when selecting a mounting location. Failure to
observe the following precautions may void the warranty!

 Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.
 Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, airborne dust
or metallic particles.

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

 Do not mount the servo drive or motor in a location where vibration and shock will exceed specification.
 Do not mount the servo drive or motor in a location where it will be subjected to high levels of
electromagnetic radiation.

2-2

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Chapter 2 Installation and Storage|ASDA-AB Series

2.4

Installation Procedure and Minimum Clearances

Installation Procedure
Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please
follow the guidelines in this manual when installing the servo drive and motor.
The ASDA-AB servo drive should be mounted perpendicular to the wall or in the control panel. In order to
ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and sufficient free
space is given to the servo drive. Do not install the drive in a horizontal position or malfunction and damage
will occur.

Drive Mounting
The ASDA-AB Servo drives must be back mounted vertically on a dry and solid surface such as a NEMA
enclosure. A minimum spacing of two inches must be maintained above and below the drive for ventilation
and heat dissipation. Additional space may be necessary for wiring and cable connections. Also, as the drive
conducts heat away via the mounting, the mounting plane or surface should not conduct heat into the drive
from external sources
Motor Mounting
The ECMA Servo motors should be mounted firmly to a dry and solid mounting surface to ensure maximum
heat transfer for maximum power output and to provide a good ground.
For the dimensions and weights specifications of servo drive or motor, please refer to Chapter 11
“Specifications".
Minimum Clearances
Install a fan to increase ventilation to avoid ambient temperatures that exceed the specification. When
installing two or more drives adjacent to each other please follow the clearances as shown in the following
diagram.

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Chapter 2 Installation and Storage|ASDA-AB Series

 Minimum Clearances

 Side by Side Installation

2-4

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Chapter 3 Connections and Wiring

This chapter provides information on wiring ASDA-AB series products, the descriptions of I/O signals and
gives typical examples of wiring diagrams.

3.1

Connections
3.1.1 Connecting to Peripheral Devices
Figure 3.1 220V Servo Drive

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Chapter 3 Connections and Wiring|ASDA-AB Series
Figure 3.2 110V Servo Drive

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.1.2 Servo Drive Connectors and Terminals
Terminal
Identification
L1, L2

Terminal
Description

Notes

Control circuit
terminal

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

Main circuit
terminal

Used to connect single-phase or three-phase AC main
circuit power depending on connecting servo drive model.
For single-phase 220V models, connect R and S terminals
to power. For single-phase 110V models, connect L1M and
L2M terminals to power. For three-phase models, connect
all three R, S, and T terminals to power. To provide control
circuit power, two jumpers can be added from R and S to
L1 and L2.

R, S, T
(for 220V models)

L1M, L2M
(for 110V models)

Used to connect servo motor

U, V, W
FG (

Servo motor output
)

Terminal Symbol

Wire Color

U

Red

V

White

W

Black

FG(

P, D, C

two places
CN1

Green

)

Internal resistor

Ensure the circuit is closed between P
and D, and the circuit is open between
P and C.

External resistor

Connect regenerative resistor to P and
C, and ensure an open circuit between
P and D.

Regenerative
resistor terminal

Ground terminal

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

I/O connector

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

Encoder connector

CN2

Communication
connector

CN3

Terminal Symbol

Wire Color

A

Black

/A

Black/Red

B

White

/B

White/Red

Z

Orange

/Z

Orange/Red

+5V

Brown & Brown/White

GND

Blue & Blue/White

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

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

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Chapter 3 Connections and Wiring|ASDA-AB Series
Wiring Notes
Please observe the following wiring notes while performing wiring and touching any electrical
connections on the servo drive or servo motor.
1.

Please note that the main circuit terminals of 110V models are L1M and L2M, and there is no
terminal T in 110V models. In other words, the terminal T in 220V models becomes no function
in 110V models.

2.

Ensure to check if the power supply and wiring of the "power" terminals (R(L1M), S(L2M), T, U,
V, & W) is correct.

3.

Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate
electrical noise and interference.

4.

As a residual hazardous voltage may remain inside the drive, please do not immediately touch
any of the "power" terminals (R(L1M), S(L2M), T, U, V, & W) and/or the cables connected to
them after the power has been turned off and the charge LED is lit. (Please refer to the Safety
Precautions on page ii).

5.

The cables connected to R(L1M), S(L2M), T and U, V, W terminals should be placed in separate
conduits from the encoder or other signal cables. Separate them by at least 30cm (11.8 inches).

6.

If the encoder cable is too short, please use a twisted-shield signal wire with grounding
conductor. The wire length should be 20m (65.62ft.) or less. For lengths greater than 20m
(65.62ft.), the wire gauge should be doubled in order to lessen any signal attenuation.

7.

As for motor cable selection, please use the 600V PTFE wire and the wire length should be less
than 98.4ft. (30m). If the wiring distance is longer than 30m (98.4ft.), please choose the
adequate wire size according to the voltage.

8.

The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal
marked

9.

3-4

) of the servo drive.

For the connectors and cables specifications, please refer to section 3.1.6 for details.

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.1.3 Wiring Methods
For servo drives from 100W to 1.5kW the input power can be either single or three-phase. For servo
drives 2kW and above only three-phase connections are available. But, 220V single-phase models are
available in 1.5kW and below only and 110V single-phase models are available in 400W and below only.
In the wiring diagram figures 3.3, 3.4 & 3.5:
Power ON : contact “a” (normally open)
Power OFF : contact “b” (normally closed)
MC : coil of electromagnetic contactor, self-holding power, contact of main circuit power

Figure 3.3 Single-Phase Power Supply (1.5kW and below, 220V models)

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Chapter 3 Connections and Wiring|ASDA-AB Series
Figure 3.4 Single-Phase Power Supply (400W and below, 110V models)

Figure 3.5 Three-Phase Power Supply (all 220V models)

3-6

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.1.4 Motor Power Cable Connector Specifications
The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)
Motor Model Name

U, V, W / Electromagnetic Brake Connector

ECMA-C30401S (100W)
ECMA-C30602S (200W)
ECMA-C30604S (400W)
ECMA-C308047 (400W)
ECMA-C30807S (750W)

Terminal
Identification

A

HOUSING: JOWLE (C4201H00-2*2PA)

ECMA-C30401S (100W)
ECMA-C30602S (200W)
ECMA-C30604S (400W)
ECMA-C308047 (400W)
ECMA-C30807S (750W)

B

HOUSING: JOWLE (C4201H00-2*3PA)

ECMA-C31010S (1000W)
ECMA-E31310S (1000W)
ECMA-E31315S (1500W)
ECMA-C31020S (2000W)

C

3106A-20-18S

ECMA-E31820S (2000W)

D

3106A-24-11S

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Chapter 3 Connections and Wiring|ASDA-AB Series
Terminal
Identification

U
(Red)

V
(White)

W
(Black)

CASE GROUND
(Green)

BRAKE1
(Blue)

BRAKE2
(Brown)

A

1

2

3

4

-

-

B

1

2

4

5

3

6

C

F

I

B

E

G

H

D

D

E

F

G

A

B

NOTE
1) The coil of brake has no polarity. The names of terminal identification are BRAKE1 (Blue) and
BRAKE2 (Brown).
2) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.

3.1.5 Encoder Connector Specifications
The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)
Motor Model Name

Encoder Connector

ECMA-C30401S (100W)
ECMA-C30602S (200W)
ECMA-C30604S (400W)
ECMA-C308047 (400W)
ECMA-C30807S (750W)

Terminal
Identification

A

HOUSING: AMP (1-172161-9)

ECMA-G31303S (300W)
ECMA-E31305S (500W)
ECMA-G31306S (600W)
ECMA-G31309S (900W)
ECMA-C31010S (1000W)
ECMA-E31310S (1000W)
ECMA-E31315S (1500W)
ECMA-C31020S (2000W)

B

3106A-20-29S

3-8

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Chapter 3 Connections and Wiring|ASDA-AB Series
Terminal
/A
/B
/Z
+5V
GND
Identification
A
B
Z
BRAID
(Black
(White
(Orange
(Brown &
(Blue &
AMP (1(Black)
(White)
(Orange)
SHELD
/Red)
/Red)
/Red) Brown/White) Blue/White)
172161-9)
A
1
4
2
5
3
6
7
8
9
Terminal
GND
/A
/B
/Z
+5V
Identification
A
B
Z
(Black & BRAID
(Blue
(Green
(Yellow (Red & Red
3106A-20- (Blue)
(Green)
(Yellow)
Black
SHELD
/Black)
/Black)
/Black)
/White)
29S
/White)
B
A
B
C
D
F
G
S
R
L

3.1.6 Cable Specifications for Servo Drive
The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model
explanation.)
Power Cable
2

Servo Drive and Servo Motor

Power Cable - Wire Gauge AWG (mm )
L1, L2

R, S, T

U, V, W

P, C

ASD-A0111-AB
ASD-A0121-AB

ECMA-C30401S

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ASD-A0211-AB
ASD-A0221-AB

ECMA-C30602S

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ECMA-C30604S

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ECMA-C308047

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ECMA-E31305S

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ECMA-G31303S

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ECMA-C30807S

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ECMA-G31306S

1.3 (AWG16)

2.1 (AWG14)

0.82 (AWG18) 2.1 (AWG14)

ECMA-C31010S

1.3 (AWG16)

2.1 (AWG14)

1.3 (AWG16)

2.1 (AWG14)

ECMA-E31310S

1.3 (AWG16)

2.1 (AWG14)

1.3 (AWG16)

2.1 (AWG14)

ECMA-G31309S

1.3 (AWG16)

2.1 (AWG14)

1.3 (AWG16)

2.1 (AWG14)

ECMA-E31315S

1.3 (AWG16)

2.1 (AWG14)

1.3 (AWG16)

2.1 (AWG14)

ECMA-C31020S

1.3 (AWG16)

2.1 (AWG14)

2.1 (AWG14)

2.1 (AWG14)

ECMA-E31320S

1.3 (AWG16)

2.1 (AWG14)

2.1 (AWG14)

2.1 (AWG14)

ECMA-E31820S

1.3 (AWG16)

2.1 (AWG14)

3.3 (AWG12)

2.1 (AWG14)

ASD-A0411-AB
ASD-A0421-AB

ASD-A0721-AB

ASD-A1021-AB
ASD-A1521-AB

ASD-A2023-AB

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Chapter 3 Connections and Wiring|ASDA-AB Series
Encoder Cable
2

Encoder Cable - Wire Gauge AWG (mm )

Servo Drive

Wire Size

Core Number

UL Rating

Standard Wire Length

ASD-A0111-AB
ASD-A0121-AB

0.13 (AWG26)

10 core (4 pair)

UL2464

3m (9.84ft.)

ASD-A0211-AB
ASD-A0221-AB

0.13 (AWG26)

10 core (4 pair)

UL2464

3m (9.84ft.)

ASD-A0411-AB
ASD-A0421-AB

0.13 (AWG26)

10 core (4 pair)

UL2464

3m (9.84ft.)

ASD-A0721-AB

0.13 (AWG26)

10 core (4 pair)

UL2464

3m (9.84ft.)

ASD-A1021-AB

0.13 (AWG26)

10 core (4 pair)

UL2464

3m (9.84ft.)

ASD-A1521-AB

0.13 (AWG26)

10 core (4 pair)

UL2464

3m (9.84ft.)

ASD-A2023-AB

0.13 (AWG26)

10 core (4 pair)

UL2464

3m (9.84ft.)

NOTE
1)

Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate
electrical noise and interference.

2)

The shield of shielded twisted-pair cables should be connected to the SHIELD end (terminal
marked

3-10

) of the servo drive.

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.2

Basic Wiring
Figure 3.6 Basic Wiring Schematic of 100W ~ 1.5kW, 220V models

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3-11

Chapter 3 Connections and Wiring|ASDA-AB Series
Figure 3.7 Basic Wiring Schematic of 2kW, 220V models

3-12

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Chapter 3 Connections and Wiring|ASDA-AB Series
Figure 3.8 Basic Wiring Schematic of 100W ~ 400W, 110V models

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3-13

Chapter 3 Connections and Wiring|ASDA-AB Series

3.3

Input / Output Interface Connector -CN1

The CN1 Interface Connector provides access to three signal groups:
i

General interface for the analog speed and torque control, encoder reference signal from the motor,
pulse / direction inputs, and reference voltages.

ii

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

iii

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

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

3.3.1 CN1 Terminal Identification
Figure 3.9 The Layout of CN1 Drive Connector

3-14

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Chapter 3 Connections and Wiring|ASDA-AB Series
CN1 Terminal Signal Identification

1
2

DO3-

DO2-

27 DO5-

DO1-

DI4-

DO2+

31 DI7DO1+

33 DI59

10 DI2-

DI1-

12 GND

14 NC

Analog input
signal ground

11 COM+ Power input
(12~24V)
13 GND

No Connection

16 MON1 Analog monitor
output 1

15 MON2 Analog monitor
output 2
17 VDD

18 T_REF Analog torque
Input
19 GND
20 VCC

22 /OA

24 /OZ

+12V power
output
(for analog
command)
Encoder
/A pulse output

Analog input
signal ground

21 OA

+24V power
output (for
external I/O)
Analog input
signal ground

35 PULL
HI

Pulse applied
power

37 /SIGN

Position sign ()

39 NC

Encoder /Z
pulse output
25 OB

Encoder B
pulse output

Digital input

32 DI6-

Digital input

34 DI3-

Digital input

36 SIGN

Position sign
(+)

38 NC

No Connection

40 NC

No Connection

No Connection

43 PULSE Pulse input (+)

45 COM-

Encoder
A pulse output

Encoder /B
pulse output

30 DI8-

41 /PULSE Pulse input (-)

47 COM23 /OB

Digital output

Digital input

Digital input

Digital input

28 DO5+

Digital input

Digital output

Digital input

Digital output

No Connection

Digital output

Digital output

26 DO4Digital output

Digital output
29 NC

7
8

DO3+

Digital output
5

6

Digital output

Digital output
3

4

DO4+

49 COM-

VDD(24V)
power
ground
VDD(24V)
power ground

42 V_REF Analog speed
input (+)
44 GND

Analog input
signal ground

46 NC

No Connection

48 OCZ

Encoder Z
pulse
Open-collector
output

50 OZ

Encoder Z
pulse
Line-driver
output

VDD(24V)
power ground

NOTE
1) The terminals marked "NC" must be left unconnected (No Connection). The NC terminals are used
within the servo drive. Any outside connection to the NC terminals will result in damage to the drive
and void the warranty!

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.3.2 Signals Explanation of Connector CN1
The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the
general signals. Table 3.B details the Digital Output (DO) signals and Table 3.C details the Digital Input
(DI) signals. The General Signals are set by the factory and can not be changed, reprogrammed or
adjusted. Both the Digital Input and Digital Output signals can be programmed by the users.
Table 3.A General Signals
Signal

Pin No

Details

Wiring Diagram
(Refer to 3-3-3)

V_REF

42

Motor speed command: -10V to +10V, corresponds
to the maximum speed programmed P1-55
Maximum Speed Limit (Factory default 3000 RPM).

C1

T_REF

18

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

C1

16
15

The MON1 and MON2 can be assigned drive and
motor parameters that can be monitored via an
analogue voltage.
Please reference parameter P0-03 for monitoring
commands and P1-04 / P1-05 for scaling factors.
Output voltage is reference to the power ground.

C2

PULSE
/PULSE
Position SIGN
Pulse
/SIGN
Input

41
43
37
36

The drive can accept two different types of pulse
inputs: Open Collector and Line Driver.
Three different pulse commands can be selected via
parameter P1-00. Quadrature , CW + CCW pulse &
Pulse / Direction.

C3/C4

PULL HI

35

Should an Open Collector type of pulse be used this
terminal must be lulled high to pin 17.

C3

OA
/OA

21
22

OB
/OB

25
23

The motor encoder signals are available through
these terminals. The encoder output pulse count can
be set via parameter P1-46.

C11/C12

OZ
/OZ

50
24

VDD

17

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

COM+
COM-

11
45
47
49

COM+ is the common voltage rail of the Digital Input
and Digital Output signals. Connect VDD to COM+
for source mode. For external applied power sink
mode (+12V to +24V), the positive terminal should
be connected to COM+ and the negative to COM-.

20

VCC is a +12V power rail provided by the drive. It
can be used for the input on an analog speed or
torque command. Maximum permissible current
100mA.

Analog
Signal
Input

Analog
Monitor
Output

Position
Pulse
Output

Power

MON1
MON2

VCC
Power
GND

3-16

12,13,
19,44

-

-

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

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Chapter 3 Connections and Wiring|ASDA-AB Series

Signal

Pin No

Details

Wiring Diagram
(Refer to 3-3-3)

14,29,
Other

NC

38,39,

See previous note for NC terminals CN1 connector

40,46,

on page 3-11.

-

48
The Digital Input (DI) and Digital Output (DO) have factory default settings which correspond to the
various servo drive control modes. (See section 1.5). However, both the DI's and DO's can be
programmed independently to meet the requirements of the users.
Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding signal name and
wiring schematic. The factory default settings of the DI and DO signals are detailed in Table 3.G and
3.H.
All of the DI's and DO's and their corresponding pin numbers are factory set and non-changeable,
however, all of the assigned signals and control modes are user changeable. For Example, the factory
default setting of DO5 (pins 28/27) can be assigned to DO1 (pins 7/6) and vise versa.
The following Tables 3.B and 3.C detail the functions, applicable operational modes, signal name and
relevant wiring schematic of the default DI and DO signals.
Table 3.B DO Signals
DO
Signal

DO
Code

Assigned
Control
Mode

SRDY

01

ALL

SON

ZSPD

02

03

Revision January 2009

Not
assigned

ALL

Pin No.
(Default)

Details (*1)

+

-

7

6

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

-

SON is activated when control power is
applied the servo drive. The drive may or
may not be ready to run as a fault / alarm
condition may exist.
Servo ON (SON) is "ON" with control power
applied to the servo drive, there may be a
fault condition or not. The servo is not ready
to run. Servo ready (SRDY) is "ON" where
the servo is ready to run, NO fault / alarm
exists. (P2-51 should turn servo ready SRDY
off / on)

-

5

4

Wiring Diagram
(Refer to 3-3-3)

C5/C6/C7/C8

ZSPD is activated when the drive senses the
motor is equal to or below the Zero Speed
Range setting as defined in parameter P138.
For Example, at factory default ZSPD will be
activated when the drive detects the motor
rotating at speed at or below 10 rpm. ZSPD
will remain activated until the motor speed
increases above 10 RPM.

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Chapter 3 Connections and Wiring|ASDA-AB Series

DO
Signal

TSPD

DO
Code

Assigned
Control
Mode

Pin No.
(Default)
+

04

ALL

3

TPOS

05

Pt, Pr, PtS,
Pt-T, Pr-S,
Pr-T

1

TQL

06

Not
assigned

-

Details (*1)

-

Wiring Diagram
(Refer to 3-3-3)

TSPD is activated once the drive has
detected the motor has reached the Target
Rotation Speed setting as defined in
2
parameter P1-39. TSPD will remain activated
until the motor speed drops below the Target
Rotation Speed.
1. When the drive is in Pt mode, TPOS will
be activated when the position error is
equal and below the setting value of P154.
2. When the drive is in Pr mode, TPOS will
be activated when the drive detects that
26
the position of the motor is in a -P1-54 to
+P1-54 band of the target position. For
Example, at factory default TPOS will
activate once the motor is in -99 pulses
range of the target position, then
deactivate after it reaches +99 pulses
range of the desired position.
TQL is activated when the drive has detected
that the motor has reached the torques limits
set by either the parameters P1-12 ~ P1-14
of via an external analog voltage.

ALRM

07

ALL

28

ALRM is activated when the drive has
detected a fault condition. (However, when
Reverse limit error, Forward limit error,
C5/C6/C7/C8
27
Emergency stop, Serial communication error,
and Undervoltage these fault occur, WARN
is activated first.)

BRKR

08

ALL

1

26 BRKR is activated actuation of motor brake.

3

2

HOME is activated when the servo drive has
detected that the "HOME" sensor (Digital
Input 24) has been detected and the home
conditions set in parameters P1-47, P1-50,
and P1-51 have been satisfied.

-

OLW is activated when the servo drive has
detected that the motor has reached the
output overload level set by the parameter
P1-56.

-

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

-

Internal position command completed output.
CMDOK is activated when the servo drive
has detected that the internal position
command has been completed or stopped
after the delay time which is set by the
parameter P1-62 has elapsed.

HOME

OLW

WARN

CMDOK

09

10

11

12

Pt, Pr

ALL

ALL

ALL

-

-

-

Footnote *1: The "state" of the output function may be turned ON or OFF as it will be dependant on the
settings of P2-18~P2-22.

3-18

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

NOTE
1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected.
2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS.

Table 3.C DI Signals
DI
Signal

DI
Code

Assigned
Control
Mode

Pin No.
(Default)

Details (*2)

SON

01

ALL

9

Servo On. Switch servo to "Servo Ready".
Check parameter P2-51.
A number of Faults (Alarms) can be
cleared by activating ARST. Please see
table 10-3 for applicable faults that can be
cleared with the ARST command.
However, please investigate Fault or
Alarm if it does not clear or the fault
description warrants closer inspection of
the drive system.

ARST

02

ALL

33

GAINUP

03

ALL

-

CCLR

04

Pt

10

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

ZCLAMP

05

ALL

-

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

CMDINV

06

Pr, T, S

-

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

07

Not
assigned

Internal position control command pause

HOLD

CTRG

08

Pr,
Pr-S, Pr-T

10

When the drive is in Pr mode and CTRG is
activated, the drive will command the
motor to move the stored position which
correspond the POS 0, POS 1, POS 2
settings. Activation is triggered on the
rising edge of the pulse.

TRQLM

09

S, Sz

10

ON indicates the torque limit command is
valid.

SPDLM

10

T, Tz

10

ON indicates the speed limit command is
valid.

POS0

11

Pr

34

POS1

12

Pr-S, Pr-T

8

POS2

13

-

-

SPD0

14

SPD1

15

Revision January 2009

S, Sz, Pt-S,
Pr-S, S-T

34
8

Wiring Diagram
(Refer to 3-3-3)

C9/C10

When the Pr Control Mode is selected the
8 stored positions are programmed via a
combination of the POS 0, POS 1, and
POS 2 commands. See table 3.D.
Select the source of speed command:
See table 3.E.

3-19

Chapter 3 Connections and Wiring|ASDA-AB Series

3-20

Assigned
Control
Mode

Pin No.
(Default)
34

17

Pt, T, Tz,
Pt-T, Pr-T,
S-T

S-P

18

Pt-S, Pr-S

31

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

S-T

19

S-T

31

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

T-P

20

Pt-T, Pr-T

31

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

EMGS

21

ALL

30

It should be contact “b” and normally ON
or a fault (ALE13) will display.

CWL

22

Pt, Pr, S, T
Sz, Tz

32

Reverse inhibit limit. It should be contact
“b” and normally ON or a fault (ALE14) will
display.

CCWL

23

Pt, Pr, S, T
Sz, Tz

31

Forward inhibit limit. It should be contact
“b” and normally ON or a fault (ALE15) will
display.

ORGP

24

Not
assigned

-

When ORGP is activated, the drive will
command the motor to start to search the
reference “Home” sensor.

TLLM

25

Not
assigned

-

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

TRLM

26

Not
assigned

-

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

SHOM

27

Not
assigned

-

When SHOM is activated, the drive will
command the motor to move to “Home”.

INDEX0

28

Not
assigned

-

Feed step selection input 0 (bit 0)

INDEX1

29

Not
assigned

-

Feed step selection input 1 (bit 1)

INDEX2

30

Not
assigned

-

Feed step selection input 2 (bit 2)

INDEX3

31

Not
assigned

-

Feed step selection input 3 (bit 3)

INDEX4

32

Not
assigned

-

Feed step selection input 4 (bit 4)

MD0

33

Not
assigned

-

Feed step mode input 0 (bit 0)

MD1

34

Not
assigned

-

Feed step mode input 1 (bit 1)

MDP0

35

Not
assigned

-

Manually continuous operation

MDP1

36

Not
assigned

-

Manually single step operation

DI
Signal

DI
Code

TCM0

16

TCM1

8

Details (*2)

Wiring Diagram
(Refer to 3-3-3)

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

C9/C10

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series
DI
Signal

DI
Code

Assigned
Control
Mode

Pin No.
(Default)

JOGU

37

Not
assigned

-

Forward JOG input. When JOGU is
activated, the motor will JOG in forward
direction. [see P4-05]

JOGD

38

Not
assigned

-

Reverse JOG input. When JOGD is
activated, the motor will JOG in reverse
direction. [see P4-05]

STEPU

39

Not
assigned

-

Step up input. When STEPU is activated,
the motor will run to next position.

STEPD

40

Not
assigned

-

Step down input. When STEPD is
activated, the motor will run to previous
position.

STEPB

41

Not
assigned

-

Step back input. When STEPB is
activated, the motor will return to first
position.

Details (*2)

AUTOR

42

Not
assigned

-

Auto run input. When AUTOR is activated,
the motor will run automatically according
to internal position command. For time
interval setting, please see P2-52 to P259.

GNUM0

43

Not
assigned

-

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

GNUM1

44

Not
assigned

-

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

INHP

45

Not
assigned

-

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

Wiring Diagram
(Refer to 3-3-3)

C9/C10

Footnote *2: The "state" of the input function may be turned ON or OFF as it will be dependant on the
settings of P2-10~P2-17.

Revision January 2009

3-21

Chapter 3 Connections and Wiring|ASDA-AB Series
Table 3.D Source of Position Command
POS2

POS1

POS0

Parameter

OFF

OFF

OFF

P1-15, P1-16

OFF

OFF

ON

P1-17, P1-18

OFF

ON

OFF

P1-19, P1-20

OFF

ON

ON

P1-21, P1-22

ON

OFF

OFF

P1-23, P1-24

ON

OFF

ON

P1-25, P1-26

ON

ON

OFF

P1-27, P1-28

ON

ON

ON

P1-29, P1-30

Table 3.E Source of Speed Command
SPD1

SPD0

Parameter

OFF

OFF

OFF

ON

P1-09

ON

OFF

P1-10

ON

ON

P1-11

S mode: analog input
Sz mode: 0

Table 3.F Source of Torque Command
TCM1

TCM0

Parameter

OFF

OFF

OFF

ON

P1-12

ON

OFF

P1-13

ON

ON

P1-14

T mode: analog input
Tz mode: 0

The default DI and DO signals in different control mode are listed in the following table 3.G and table
3.H. Although the content of the table 3.G and table 3.H do not provide more information than the table
3.B and table 3.C above, as each control mode is separated and listed in different row, it is easy for user
to view and can avoid confusion. However, the Pin number of each signal can not be displayed in the
table 3.G and table 3.H.

3-22

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series
Table 3.G Default DI signals and Control modes
Signal

DI
Code

SON

01

Servo On

DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1

ARST

02

Reset

DI5 DI5 DI5 DI5 DI5 DI5

GAINUP

03

Gain switching in speed
and position mode

CCLR

04

Pulse clear (see P2-50)

ZCLAMP

05

Low speed CLAMP

CMDINV

06

Command input reverse
control

HOLD

07

Internal position control
command pause

CTRG

08

Command triggered
(available in P mode
only)

TRQLM

09

Torque limit enabled

SPDLM

10

Speed limit enabled

POS0

11

Position command
selection (1~8)

DI3

DI3 DI3

POS1

12

Position command
selection (1~8)

DI4

DI4 DI4

POS2

13

Position command
selection (1~8)

SPD0

14

Speed command
selection (1~4)

DI3

DI3

DI3

DI5

DI3

SPD1

15

Speed command
selection (1~4)

DI4

DI4

DI4

DI6

DI4

TCM0

16

Torque command
selection (1~4)

DI3

DI3

DI3

DI3

DI5 DI5

TCM1

17

Torque command
selection (1~4)

DI4

DI4

DI4

DI4

DI6 DI6

S-P

18

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

S-T

19

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

T-P

20

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

EMGS

21

Emergency stop (contact
DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
b)

CWL

22

Reverse inhibit limit
(contact b)

DI6 DI6 DI6 DI6 DI6 DI6

CCWL

23

Forward inhibit limit
(contact b)

DI7 DI7 DI7 DI7 DI7 DI7

Revision January 2009

Function

Pt

Pr

S

T

Sz

Tz Pt-S Pt-T Pr-S Pr-T S-T

DI2

DI2 DI2

DI2

DI2 DI2
DI2

DI2
DI2

DI2

DI7

DI7

DI7

DI7

DI7

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Chapter 3 Connections and Wiring|ASDA-AB Series

Signal

DI
Code

ORGP

24

Reference “Home”
sensor

25

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

TRLM

26

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

SHOM

27

Move to “Home”

INDEX0

28

Feed step selection input
0 (bit 0)

INDEX1

29

Feed step selection input
1 (bit 1)

INDEX2

30

Feed step selection input
2 (bit 2)

INDEX3

31

Feed step selection input
3 (bit 3)

INDEX4

32

Feed step selection input
4 (bit 4)

MD0

33

Feed step mode input 0

MD1

34

Feed step mode input 1

MDP0

35

Manually continuous
operation

MDP1

36

Manually single step
operation

JOGU

37

Forward JOG input

JOGD

38

Reverse JOG input

STEPU

39

Step up input (available
in Pr mode only)

STEPD

40

Step down input
(available in Pr mode
only)

STEPB

41

Step back input.
(available in internal auto
running mode only)

AUTOR

42

Auto run input

GNUM0

43

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

GNUM1

44

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

INHP

45

Pulse inhibit input

TLLM

3-24

Function

Pt

Pr

S

T

Sz

Tz Pt-S Pt-T Pr-S Pr-T S-T

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

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

Table 3.H Default DO signals and Control modes
Signal

DO
Code

SRDY

01

Servo ready

SON

02

Servo On

ZSPD

03

Zero speed

TSPD

04

Speed reached

TPOS

05

Positioning completed

TQL

06

Reached torques limits

ALRM

07

Servo alarm output
(Servo fault)

BRKR

08

Electromagnetic brake

HOME

09

Home completed

OLW

10

Output overload warning

WARN

11

Servo warning output

Function

Pt

Pr

S

T

Sz

Tz Pt-S Pt-T Pr-S Pr-T S-T

DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1

DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
DO4 DO4

DO4 DO4 DO4 DO4 DO4

DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
DO4 DO4 DO4 DO4
DO3 DO3

NOTE
1) For Pin numbers of DO1~DO5 signals, please refer to section 3.3.1.

Revision January 2009

3-25

Chapter 3 Connections and Wiring|ASDA-AB Series

3.3.3 User-defined DI and DO signals
If the default DI and DO signals could not be able to fulfill users’ requirements, there are still userdefined DI and DO signals. The setting method is easy and they are all defined via parameters. The
user-defined DI and DO signals are defined via parameters P2-10 to P2-17 and P2-18 to P2-22.
Please refer to the following Table 3.I for the settings.
Table 3.I User-defined DI and DO signals
Signal Name

DI

Pin No.

Parameter

Signal Name

DI1-

9

P2-10

DO1+

7

DI2-

10

P2-11

DO1-

6

DI3-

34

P2-12

DO2+

5

DI4-

8

P2-13

DO2-

4

DI5-

33

P2-14

DO3+

3

DI6-

32

P2-15

DO3-

2

DI7-

31

P2-16

DO4+

1

DI8-

30

P2-17

DO4-

26

DO5+

28

DO5-

27

DO

Pin No.

Parameter
P2-18
P2-19
P2-20
P2-21
P2-22

3.3.4 Wiring Diagrams of I/O Signals (CN1)
The valid voltage range of analog input command in speed and torque mode is -10V ~+10V. The
command value can be set via relevant parameters.
C1: Speed / Torque analog signal input

3-26

C2: Analog monitor output (MON1, MON2)

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series
There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse
frequency of Line driver input is 500kpps and max. input pulse frequency of Open-collector input is
200kpps.

C3-1: Pulse input, for the use of internal power
supply (Open-collector input)

C3-2: Pulse input, for the use of external power
supply (Open-collector input)

¾ Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo drive
and servo motor.

C4: Pulse input (Line driver)

Because this
photocoupler is a
unidirectional
optocoupler, please pay
close attention on the
current direction of input
pulse command.

Revision January 2009

3-27

Chapter 3 Connections and Wiring|ASDA-AB Series
Be sure to connect a diode when the drive is applied to inductive load.
(Permissible current: 40mA, Instantaneous peak current: max. 100mA)
C5: Wiring of DO signal, for the use of internal
power supply, general load

C6: Wiring of DO signal, for the use of internal
power supply, inductive load

C7: Wiring of DO signal, for the use of external
power supply, general load

C8: Wiring of DO signal, for the use of external
power supply, inductive load

3-28

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series
Use a relay or open-collector transistor to input signal.
NPN transistor with multiple emitter fingers (SINK Mode)
C9: Wiring of DI signal, for the use of internal
power supply

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

PNP transistor with multiple emitter fingers (SOURCE Mode)
C11: Wiring of DI signal, for the use of internal
power supply

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

¾ Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo drive
and servo motor.

Revision January 2009

3-29

Chapter 3 Connections and Wiring|ASDA-AB Series
C13: Encoder output signal (Line driver)

3-30

C14: Encoder output signal (Photocoupler)

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.4

Encoder Connector CN2

Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal.
When power is first applied to the servo drive, control algorithms detect the motor's rotor position through
imbedded sensors in the motor within 500msec approximately.
Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires.
Following rotor position sensing the amplifier automatically switches to encoding for commutation control.
The 2500PPR encoder is automatically multiplied to 10000PPR by X4 logic for increased control accuracy.
Figure 3.10 The layout of CN2 Drive Connector

Quick Connector
HOUSING: AMP (1-172161-9)

Military Connector
3106A-20-29S

CN2 Terminal Signal Identification
Terminal
Military
Quick
Identification Connector Connector

PIN No.

Signal Name

Description

Color

2

/Z phase input

/Z

G

A6

Encoder /Z phase output

Orange/Red

4

/A phase input

/A

B

A2

Encoder /A phase output

Black/Red

5

A phase input

A

A

A1

Encoder A phase output

Black

7

B phase input

B

C

A3

Encoder B phase output

White

9

/B phase input

/B

D

A4

Encoder /B phase output

White/Red

10

Z phase input

Z

F

A5

Encoder Z phase output

Orange

14, 16

Encoder power

+5V

S

A7

Encoder 5V power

Brown &
Brown/White

13, 15

Encoder power

GND

R

A8

Grounding

Blue &
Blue/White

Shielding

Shielding

L

9

Revision January 2009

Shielding

Shielding

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.5

Serial Communication Connector CN3
3.5.1 CN3 Terminal Layout and Identification
The servo drive can be connected to a PC or controller via a serial communication connector. Users can
operate the servo drive through PC software supplied by Delta (contact to the dealer). The
communication connector/port of Delta servo drive can provide three common serial communication
interfaces: RS-232, RS-485, and RS-422 connection. RS-232 is mostly be used but is somewhat limited.
The maximum cable length for an RS-232 connection is 15 meters (50 feet). Using RS-485 or RS-422
interface can allow longer distance for transmission and support multiple drives to be connected
simultaneously.
Figure 3.11 The layout of CN3 Drive Connector

CN3 Terminal Signal Identification
PIN No.

Signal Name

Terminal
Identification
GND

Description

1

Grounding

2

RS-232 data transmission

3

RS-422 data receiving

RS-422-RX+

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

RS-232 data receiving

RS-232_RX

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

RS-422 data receiving

RS-422_RX-

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

5

RS-422 data transmission

RS-422-TX+

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

6

RS-422 data transmission

RS-422-TX-

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

RS-232-TX

4

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

NOTE
1)
2)

3-32

For the connection of RS-485, please refer to page 8.2 and 8.3.
There are two kinds of IEEE1394 communication cables available on the market. If the user uses
one kind of cable, which its GND terminal (Pin 1) and its shielding is short-circuited, the
communication may be damaged. Never connect the case of the terminal to the ground of this kind
of communication cable.
Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.5.2 Connection between PC and Connector CN3

Revision January 2009

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Chapter 3 Connections and Wiring|ASDA-AB Series

3.6

Standard Connection Example
3.6.1 Position (Pt) Control Mode (220V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3
wiring diagram on page 3-26.
3. Please refer to parameter P1-46 in Chapter 7.

3-34

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.2 Position (Pt) Control Mode (110V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3
wiring diagram on page 3-26.
3. Please refer to parameter P1-46 in Chapter 7.

Revision January 2009

3-35

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.3 Position (Pr) Control Mode (220V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to parameter P1-46 in Chapter 7.

3-36

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.4 Position (Pr) Control Mode (110V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to parameter P1-46 in Chapter 7.

Revision January 2009

3-37

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.5 Speed Control Mode (220V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to parameter P1-46 in Chapter 7.

3-38

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.6 Speed Control Mode (110V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to parameter P1-46 in Chapter 7.

Revision January 2009

3-39

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.7 Torque Control Mode (220V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to parameter P1-46 in Chapter 7.

3-40

Revision January 2009

Chapter 3 Connections and Wiring|ASDA-AB Series

3.6.8 Torque Control Mode (110V models)

Note:
1 The coil of brake has no polarity.
2. Please refer to parameter P1-46 in Chapter 7.

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Chapter 3 Connections and Wiring|ASDA-AB Series
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Revision January 2009

Chapter 4 Display and Operation

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

4.1

Description of the Digital Keypad

The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of
the digital keypad and an overview of their functions.

Figure 4.1

Name

Function

LCD Display

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

Charge LED

The Charge LED lights to indicate the power is applied to the circuit.
MODE Key. Pressing MODE key can enter or exit different parameter groups, and
switch between Monitor mode and Parameter mode.
SHIFT Key. Pressing SHIFT key can scrolls through parameter groups. After a
parameter is selected and its value displayed, pressing SHIFT key can move the
cursor to the left and then change parameter settings (blinking digits) by using arrow
keys.
UP and DOWN arrow Key. Pressing the UP and DOWN arrow key can scroll through
and change monitor codes, parameter groups and various parameter settings.
SET Key. Pressing the SET key can display and save the parameter groups, the
various parameter settings. During diagnosis operation, pressing SET key can execute
the function in the last step. (The parameter settings changes are not effective until the
SET key is pressed.)

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4.2

Display Flowchart

Figure 4.2

1.

Keypad Operation

When the power is applied to the AC servo drive, the LCD display will show the monitor function
codes for approximately one second, then enter into the monitor mode.

2.

In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. At this time,
monitor display symbol will display for approximately one second.

3.

In monitor mode, pressing MODE key can enter into parameter mode, pressing the SHIFT key can
switch parameter group and pressing UP or DOWN arrow key can change parameter group code.

4.

In parameter mode, the system will enter into the setting mode immediately after the Set key is
pressed. The LCD display will display the corresponding setting value of this parameter
simultaneously. Then, users can use UP or DOWN arrow key to change parameter value or press
MODE key to exit and return back to the parameter mode.

5.

In parameter setting mode, the users can move the cursor to left by pressing the SHIFT key and
change the parameter settings (blinking digits) by pressing the UP or DOWN arrow key.

6.

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

7.

When the parameter setting is completed, LCD display will show the end code “-END-“ and
automatically return back to parameter mode.

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4.3

Status Display
4.3.1 Save Setting Display
After the SET key is pressed, LCD display will show the following display messages for approx. one
second according to different status.
Display Message

Description
The setting value is saved correctly.

This parameter is read only. Write-protected. (cannot be changed)

Invalid password or no password was input.

The setting value is error or invalid.
The servo system is running and it is unable to accept this setting
value to be changed.
This parameter will not be stored in EEPROM.

This parameter is valid after restarting the drive.

4.3.2 Abort Setting Display
Display Message

Description
In parameter mode, pressing MODE key can abort parameter
setting change and return to monitor mode. In parameter setting
mode, pressing MODE key can return back to parameter mode.
After returning back to parameter mode, pressing MODE key
again can abort parameter setting change.

4.3.3 Fault Message Display
Display Message

Description
When the AC servo drive has a fault, LCD display will display
“ALEnn”. “ALE” indicates the alarm and “nn” indicates the drive
fault code. The display range of alarm code “nn” is 1 to 23. For the
list of drive fault code, please refer to parameter P0-01 or refer to
Chapter 10 (Troubleshooting).

4.3.4 Polarity Setting Display
Display Message

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

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Display Message

Description
Negative value display. When the parameter setting is greater
than four digits (for the setting value within the range of less than
five decimal places), after the display value is set, continuously
press SHIFT key for many times and then the lit decimal points
are used to indicate a negative value.
Negative value display. When the parameter setting is less than
five digits (for the setting value within the range of five decimal
places), after the display value is set, continuously press SHIFT
key for many times and then the negative sign will show up to
indicate a negative value.

4.3.5 Monitor Setting Display
When the AC servo drive is applied to power, the LCD display will show the monitor function codes for
approximately one second and then enter into the monitor mode. In monitor mode, in order to change
the monitor status, the users can press UP or DOWN arrow key or change parameter P0-02 directly to
specify the monitor status. When the power is applied, the monitor status depends on the setting value
of P0-02. For example, if the setting value of P0-02 is 2 when the power is applied, the monitor function
will be Pulse counts of pulse command, the C.P monitor codes will first display and then the pulse
number will display after.
P0-02
Setting

4-4

Display Message

Description

Unit

0

Motor feedback pulse number (absolute
value)

1

Motor feedback rotation number
(absolute value)

rev

2

Pulse counts of pulse command

pulse

3

Rotation number of pulse command

4

Position error counts

pulse

5

Input frequency of pulse command

r/min

6

Motor speed

r/min

7

Speed input command

Volt

8

Speed input command

r/min

pulse

rev

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Chapter 4 Display and Operation|ASDA-AB Series
P0-02
Setting

Display Message

Description

Unit

9

Torque input command

Volt

10

Torque input command

%

11

Average load

%

12

Peak load

%

13

Main circuit voltage

Volt

14

Ratio of load inertia to motor inertia

time

15

Motor feedback pulse number (relative
value) / Position latch pulse number

pulse

16

Motor feedback rotation number (relative
value) / Position latch rotation number

rev

The following table lists the display examples of monitor value:
Display Message

Description
Positive value display. No positive sign is displayed to indicate
it is a positive value.
Display value: +1234.
Negative value display (The decimal place is less than five).
The negative sign is displayed to indicate it is a negative value.
Display value: -1234.
Negative value display (The decimal place is greater than four).
The lit decimal points are used to indicate it is a negative value.
Display value: -12345.
Decimal value display.
Display value: 12.34.

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4.4

General Function Operation
4.4.1 Fault Code Display Operation
After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the
corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1
to H5 in order. H1 indicates the most recent occurred fault code, H2 is the previous occurred fault code
before H1 and so on. Please refer to the Figure 4.3. The recently occurred error code is 10.
Figure 4.3

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4.4.2 JOG Operation
After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation.
(Please also refer to Figure 4.4).
Step1. Press the SET key to display the JOG speed. (The default value is 20 r/min).
Step2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. (This also
can be undertaken by using the SHIFT key to move the cursor to the desired unit column (the
effected number will blink) then changed using the UP and DOWN arrow keys. The example
display in Figure 4.4 is adjusted as 100 r/min.)
Step3. Press the SET key when the desired JOG speed is set. The Servo Drive will display "JOG".
Step4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will only
rotate while the arrow key is activated.
Step5. To change JOG speed again, press the MODE key. The servo Drive will display "P4 - 05".
Press the SET key and the JOG speed will displayed again. Refer back to #2 and #3 to change
speed.

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

Figure 4.4

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4.4.3 Position Learning Operation
Follow the following steps to perform position learning operation (Please also refer to Figure 4.5).
1. Activate the internal position learning function (Set P2-30=4).
2. After enter into parameter mode P4-05, press Set key and the LED display will show learning
moving speed value. The default setting is 20 r/min.
3. Press UP or DOWN arrow key to set the desired moving speed value. In the example shown below,
the value is adjusted to 100 r/min.
4. Press Set key then JOG o1 will display and enter position learning mode.
5. In the position learning mode (display JOGox), pressing UP or DOWN arrow key at any time can
rotate Servo motor in forward or reverse rotation. Servo motor will immediately stop running if
releasing the UP or DOWN arrow key. This operation is only available during Servo system is On
(Servo On).
6. After position is selected, press Set key then the display JOGo1 will change to JOGo2. At the same
time, the absolute position of servo motor will be memorized inside of the memory. (P1-15 : 1st
Position Command for Rotation, P1-16 : 1st Position Command for Pulse)
7. In the position learning mode (display JOGox), pressing Shift key can directly change the “x” value
of the display “JOGox” so as to jump rapidly to the particular learning position where should be
modified. There is no position memorized at this time.

Figure 4.5

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Chapter 4 Display and Operation|ASDA-AB Series
The learning position and internal memorized position are listed as below:
Learning
Position

Internal Memorized Position

JOGo1

P1-15 (1st Position Command for Rotation), P1-16 (1st Position Command for Pulse)

JOGo2

P1-17 (2nd Position Command for Rotation), P1-18 (2nd Position Command for Pulse)

JOGo3

P1-19 (3rd Position Command for Rotation), P1-20 (3rd Position Command for Pulse)

JOGo4

P1-21 (4th Position Command for Rotation), P1-22 (4th Position Command for Pulse)

JOGo5

P1-23 (5th Position Command for Rotation), P1-24 (5th Position Command for Pulse)

JOGo6

P1-25 (6th Position Command for Rotation), P1-26 (6th Position Command for Pulse)

JOGo7

P1-27 (7th Position Command for Rotation), P1-28 (7th Position Command for Pulse)

JOGo8

P1-29 (8th Position Command for Rotation), P1-30 (8th Position Command for Pulse)

4.4.4 DO Force Output Diagnosis Operation
For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using
parameter P4-06. Follow the setting method in Figure 4.6 to enter into DO force output diagnosis
operation (OP xx) mode (“xx” indicates the parameter range from 00 to 1F). Pressing UP or DOWN
arrow key can change “xx” value from 00 to 1F (hexadecimal format) and force digital outputs DO1 to
DO3 to be activated (ON) or inactivated (OFF). The DO function and status is determined by P2-18 to
P2-22. This function is enabled only when Servo Off (the servo drive is disabled).
Figure 4.6

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4.4.5 DI Diagnosis Operation
Following the setting method in Figure 4.7 can perform DI diagnosis operation (parameter P4-07).
According to the ON and OFF status of the digital inputs DI1 to DI8, the corresponding status will
display on the servo drive LED display. When the segment lit and display on the screen, it means that
the corresponding digital input signal is ON. (Please also refer to Figure 4.7)
Figure 4.7

4.4.6 DO Diagnosis Operation
Following the setting method in Figure 4.8 can perform DO diagnosis operation (parameter P4-09).
According to the ON and OFF status of the digital outputs DO1 to DO5, the corresponding status will
display on the servo drive LED display. When the segment lit and display on the screen, it means that
the corresponding digital input signal is ON. (Please also refer to Figure 4.8)
Figure 4.8

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Chapter 5 Trial Run and Tuning Procedure

This chapter, which is divided into two parts, describes trial run for servo drive and motor. One part is to
introduce the trial run without load, and the other part is to introduce trial run with load. Ensure to complete
the trial run without load first before performing the trial run with load.

5.1

Inspection without Load

In order to prevent accidents and avoid damaging the servo drive and mechanical system, the trial run
should be performed under no load condition (no load connected, including disconnecting all couplings and
belts). Do not run servo motor while it is connected to load or mechanical system because the unassembled
parts on motor shaft may easily disassemble during running and it may damage mechanical system or even
result in personnel injury. After removing the load or mechanical system from the servo motor, if the servo
motor can runs normally following up the normal operation procedure (when trial run without load is
completed), then the users can connect to the load and mechanical system to run the servo motor.
¾ In order to prevent accidents, the initial trial run for servo motor should be conducted under no load conditions
(separate the motor from its couplings and belts).
¾ Caution: Please perform trial run without load first and then perform trial run with load connected. After the
servo motor is running normally and regularly without load, then run servo motor with load connected. Ensure
to perform trial run in this order to prevent unnecessary danger.

After power in connected to AC servo drive, the charge LED will light and it indicates that AC servo drive is
ready. Please check the followings before trial run:
Item

Content

z Inspect the servo drive and servo motor to insure they were not damaged.
z To avoid an electric shock, be sure to connect the ground terminal of servo drive to
the ground terminal of control panel.
z Before making any connection, wait 10 minutes for capacitors to discharge after
the power is disconnected, alternatively, use an appropriate discharge device to
discharge.
z Ensure that all wiring terminals are correctly insulated.
Inspection before z Ensure that all wiring is correct or damage and or malfunction may result.
operation
z Visually check to ensure that there are not any unused screws, metal strips, or any
(Control power is not
conductive or inflammable materials inside the drive.
applied)
z Never put inflammable objects on servo drive or close to the external regenerative
resistor.
z Make sure control switch is OFF.
z If the electromagnetic brake is being used, ensure that it is correctly wired.
z If required, use an appropriate electrical filter to eliminate noise to the servo drive.
z Ensure that the external applied voltage to the drive is correct and matched to the
controller.

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Item

Content

Inspection during
operation
(Control power is
applied)）

z Ensure that the cables are not damaged, stressed excessively or loaded heavily.
When the motor is running, pay close attention on the connection of the cables
and notice that if they are damaged, frayed or over extended.
z Check for abnormal vibrations and sounds during operation. If the servo motor is
vibrating or there are unusual noises while the motor is running, please contact the
dealer or manufacturer for assistance.
z Ensure that all user-defined parameters are set correctly. Since the characteristics
of various machinery equipment are different, in order to avoid accident or cause
damage, do not adjust the parameter abnormally and ensure the parameter setting
is not an excessive value.
z Ensure to reset some parameters when the servo drive is off (Please refer to
Chapter 7). Otherwise, it may result in malfunction.
z If there is no contact sound or there be any unusual noises when the relay of the
servo drive is operating, please contact your distributor for assistance or contact
with Delta.
z Check for abnormal conditions of the power indicators and LED display. If there is
any abnormal condition of the power indicators and LED display, please contact
your distributor for assistance or contact with Delta.

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5.2

Applying Power to the Drive

The users please observe the following steps when applying power supply to the servo drive.
1. Please check and confirm the wiring connection between the drive and motor is correct.
1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables
separately (U: Red, V: White, W: Black, FG: Green). If not connect to the specified cable and
terminal, then the drive cannot control motor. The motor grounding lead, FG must connect to
grounding terminal. For more information of cables, please refer to section 3.1.
2) Ensure to connect encoder cable to CN2 connector correctly. If the users only desire to execute
JOG operation, it is not necessary to make any connection to CN1 and CN3 connector. For more
information of the connection of CN2 connector, please refer to Section 3.1 and 3.4.
¾ Do not connect the AC input power (R, S, T (L1M, L2M)) to the (U, V, W) output terminals. This will damage
the AC servo drive.

2. Main circuit wiring
Connect power to the AC servo. For three-phase input power connection and single-phase input power
connection, please refer to Section 3.1.3.
3. Turn the Power On
The Power includes control circuit power (L1, L2) and main circuit power (R, S, T (L1M, L2M)). When the
power is on, the normal display should be shown as the following figure:

As the default settings of digital input signal, DI6, DI7 and DI8 are Reverse Inhibit Limit (CWL), Forward
Inhibit Limit (CCWL) and Emergency Stop (EMGS) respectively, if the users do not want to use the
default settings of DI6~DI8, the users can change their settings by using parameters P2-15 to P2-17
freely. When the setting value of parameters P2-15 to P2-17 is 0, it indicates the function of this DI signal
is disabled. For more information of parameters P2-15 to P2-17, please refer to Chapter 7 “Parameters”.
If the parameter P0-02 is set as motor speed (06), the normal display should be shown as the following
figure:

If there is no text or character displayed on the LED display, please check if the voltage of the control
circuit terminal (L1and L2) is over low.

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1) When display shows:

Over voltage:
The main circuit voltage has exceeded its maximum allowable value or input power is error (Incorrect
power input).
Corrective Actions:


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



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

2) When display shows:

Encoder error:
Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or incorrect.
Corrective Actions:


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



Examine the encoder connector and cable.



Inspect whether wire is loose or not.



Check if the encoder is damaged.

3) When display shows:

Emergency stop activated:
Please check if any of digital inputs DI1~DI8 signal is set to “Emergency Stop” (EMGS).
Corrective Actions:


If it does not need to use “Emergency Stop (EMGS)” as input signal, the users only need to
confirm that if all of the digital inputs DI1~DI8 are not set to “Emergency Stop (EMGS)”. (The
setting value of parameter P2-10 to P2-17 is not set to 21.)

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If it is necessary to use “Emergency Stop (EMGS)” as input signal, the users only need to
confirm that which of digital inputs DI1~DI8 is set to “Emergency Stop (EMGS)” and check if
the digital input signal is ON (It should be activated).

4) When display shows:

Reverse limit switch error:
Please check if any of digital inputs DI1~DI8 signal is set to “Reverse inhibit limit (CWL)” and check if
the signal is ON or not.
Corrective Actions:


If it does not need to use “Reverse inhibit limit (CWL)” as input signal, the users only need to
confirm that if all of the digital inputs DI1~DI8 are not set to “Reverse inhibit limit (CWL)”. (The
setting value of parameter P2-10 to P2-17 is not set to 22.)



If it is necessary to use “Reverse inhibit limit (CWL)” as input signal, the users only need to
confirm that which of digital inputs DI1~DI8 is set to “Reverse inhibit limit (CWL)” and check if
the digital input signal is ON (It should be activated).

5) When display shows:

Forward limit switch error:
Please check if any of digital inputs DI1~DI8 signal is set to “Forward inhibit limit (CCWL)” and check if
the signal is ON or not.
Corrective Actions:


If it is no need to use “Forward inhibit limit (CCWL)” as input signal, the users only need to
confirm that if all of the digital inputs DI1~DI8 are not set to “Forward inhibit limit (CCWL)”. (The
setting value of parameter P2-10 to P2-17 is not set to 23.)



If it is necessary to use “Forward inhibit limit (CCWL)” as input signal, the users only need to
confirm that which of digital inputs DI1~DI8 is set to “Forward inhibit limit (CCWL)” and check if
the digital input signal is ON (It should be activated).

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When “Digital Input 1 (DI1)” is set to Servo On (SON), if DI1 is set to ON (it indicates that Servo On
(SON) function is enabled) and the following fault message shows on the display:
6) When display shows:

Overcurrent:
Corrective Actions:


Check the wiring connections between the servo drive and motor.



Check if the circuit of the wiring is closed.



Remove the short-circuited condition and avoid metal conductor being exposed.

7) When display shows:

Undervoltage:
Corrective Actions:


Check whether the wiring of main circuit input voltage is normal.



Use voltmeter to check whether input voltage of main circuit is normal.



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

NOTE
1) If there are any unknown fault codes and abnormal display when applying power to the drive or servo on
is activated (without giving any command), please inform the distributor or contact with Delta for
assistance.

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5.3

JOG Trial Run without Load

It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the
wiring. The external wiring is not necessary and the users only need to connect the digital keypad to the
servo drive. For safety, it is recommended to set JOG speed at low speed. Please refer to the following steps
to perform JOG trial run without load.
STEP 1: Turn the drive ON through software. Ensure that the setting value of parameter P2-30 should be
set to 1 (Servo On).
STEP 2: Set parameter P4-05 as JOG speed (unit: r/min). After the desired JOG speed is set, and then
press SET key, the drive will enter into JOG operation mode automatically
STEP 3: The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust the
digit number of the displayed value.
STEP 4: Pressing SET key can determine the speed of JOG operation.
STEP 5: Pressing UP key and the servo motor will run in CCW direction. After releasing UP key, the motor
will stop running.
STEP 6: Pressing DOWN key and the servo motor will run in CW direction. After releasing DOWN key, the
motor will stop running.
CW and CCW Definition:
CCW (Counterclockwise): when facing the servo motor shaft, CCW is reverse running.
CW (Clockwise): when facing the servo motor shaft, CW is forward running.
STEP 7: When pressing MODE key, it can exit JOG operation mode.
In the example below, the JOG speed is adjusted from 20r/min (Default setting) to 100r/min.

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5.4

Speed Trial Run without Load

Before speed trial run, fix and secure the motor as possible to avoid the danger from the reacting
force when motor speed changes.
STEP 1:
Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After selecting the operation mode
as speed (S) control mode, please restart the drive as P1-01 is effective only after the servo drive is restarted
(after switching power off and on).
STEP 2:
In speed control mode, the necessary Digital Inputs are listed as follows:
Digital Input

Parameter Setting
Value

Sign

Function Description

CN1 PIN No.

DI1

P2-10=101

SON

Servo On

DI1-=9

DI2

P2-11=109

TRQLM

Torque limit enabled

DI2-=10

DI3

P2-12=114

SPD0

Speed command selection

DI3-=34

DI4

P2-13=115

SPD1

Speed command selection

DI4-=8

DI5

P2-14=102

ARST

Reset

DI5-=33

DI6

P2-15=0

Disabled

This DI function is disabled

-

DI7

P2-16=0

Disabled

This DI function is disabled

-

DI8

P2-17=0

Disabled

This DI function is disabled

-

By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward inhibit limit and DI6 is the
function of emergency stop (DI8), if the users do not set the setting value of parameters P2-15 to P2-17 to 0
(Disabled), the faults (ALE13, 14 and 15) will occur (For the information of fault messages, please refer to
Chapter 10). Therefore, if the users do not need to use these three digit inputs, please set the setting value
of parameters P2-15 to P2-17 to 0 (Disabled) in advance.
All the digital inputs of Delta ASDA-AB series are user-defined, and the users can set the DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please
refer to Table 7.A in Chapter 7). If any alarm code displays after the setting is completed, the users can
restart the drive or set DI5 to be activated to clear the fault. Please refer to section 5.2.
The speed command is selected by SPD0, SPD1. Please refer to the following table:
Speed
Command No.

DI signal of CN1
SPD1

SPD0

S1

0

0

S2

0

1

S3

1

0

S4

1

1

Command Source

Content

Range

External analog
command

Voltage between V-REF
and GND

+/-10V

P1-09

0 ~ 5000r/min

P1-10

0 ~ 5000r/min

P1-11

0 ~ 5000r/min

Internal parameter

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

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The settings of speed command:
P1-09 is set to 3000

Input value command

Rotation direction

P1-10 is set to 100

+

CW

P1-11 is set to -3000

-

CCW

STEP 3:
1.

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

2.

If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At this time, the
motor is operating according to external analog command.

3.

If only DI3 is ON (SPD0), it indicates S2 command (P1-09 is set to 3000) is selected, and the motor
speed is 3000r/min at this time.

4.

If only DI4 is ON (SPD1), it indicates S3 command (P1-10 is set to 100) is selected, and the motor
speed is 100r/min at this time.

5.

If DI3 (SPD0) and DI4 (SPD1) are ON both, it indicates S4 command (P1-11 is set to -3000) is
selected, and the motor speed is -3000r/min at this time.

6.

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

7.

When the users want to stop the speed trial run, use DI1 to disable the servo drive (Servo OFF).

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5.5

Position Trial Run without Load

Before position trial run, fix and secure the motor as possible to avoid the danger from the reacting
force when the motor speed changes.
STEP 1:
Set the value of parameter P1-01 to 01 and it is position (Pr) control mode. After selecting the operation
mode as position (Pr) control mode, please restart the drive and the setting would be valid.
STEP 2:
In position control mode, the necessary DI setting is listed as follows:
Digital Input

Parameter Setting
Value

Sign

Function Description

CN1 PIN No.

DI1

P2-10=101

SON

Servo On

DI1-=9

DI2

P2-11=108

CTRG

Command trigged

DI2-=10

DI3

P2-12=111

POS0

Position command selection

DI3-=34

DI4

P2-13=112

POS1

Position command selection

DI4-=8

DI5

P2-14=102

ARST

Reset

DI5-=33

DI6

P2-15=0

Disabled

This DI function is disabled

-

DI7

P2-16=0

Disabled

This DI function is disabled

-

DI8

P2-17=0

Disabled

This DI function is disabled

-

By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward inhibit limit and DI6 is the
function of emergency stop (DI8), if the users do not set the setting value of parameters P2-15 to P2-17 to 0
(Disabled), the faults (ALE13, 14 and 15) will occur (For the information of fault messages, please refer to
Chapter 10). Therefore, if the users do not need to use these three digit inputs, please set the setting value
of parameters P2-15 to P2-17 to 0 (Disabled) in advance.
All the digital inputs of Delta ASDA-AB series are user-defined, and the users can set the DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the description of DI signals, please
refer to Table 7.A in Chapter 7). If any alarm code displays after the setting is completed, the users can
restart the drive or set DI5 to be activated to clear the fault. Please refer to section 5.2.
For the information of wiring diagram, please refer to Section 3.6.2 (Wiring of position (Pr) control mode).
Because POS2 is not the default DI, the users need to change the value of parameter P2-14 to 113.

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The position command is selected by POS0 ~ POS2. Please refer to the following table:
Position
Command

POS2

POS1

POS0

Internal
Position 1

0

0

0

Internal
Position 2

0

0

1

Internal
Position 3

0

1

0

Internal
Position 4

0

1

1

Internal
Position 5

1

0

0

Internal
Position 6

1

0

1

Internal
Position 7

1

1

0

Internal
Position 8

1

1

1

CTRG

Parameters
P1-15
P1-16
P1-17
P1-18
P1-19
P1-20
P1-21
P1-22
P1-23
P1-24
P1-25
P1-26
P1-27
P1-28
P1-29
P1-30

Moving Speed
Register
P2-36 (V1)
P2-37 (V2)
P2-38 (V3)
P2-39 (V4)
P2-40 (V5)
P2-41 (V6)
P2-42 (V7)
P2-43 (V8)

Description
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)
Rotation No. (+/- 30000)
Pulse No. (+/- max cnt)

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
The users can set the value of these 8 groups of commands (P1-15 ~ P1-30) freely. The command can be
absolute position command (P1-33 =0) or relative position command (P1-33 =1).
For example:
Set P1-33 to 1 (Absolute position command)
(The new setting will be effective after the servo drive is restarted (after switching power
off and on))
Set P1-15 to 1 (rotation number)
Set P1-16 to 0 (pulse number)
The command of internal position 1: P1-15 Rotation No. + P1-16 Pulse No.
Set P1-17 to 10 (rotation number)
Set P1-18 to 0 (pulse number)
The command of internal position 2: P1-17 Rotation No. + P1-18 Pulse No.
Set P1-19 to -10 (rotation number)
Set P1-20 to 0 (pulse number)
The command of internal position 3: P1-19 Rotation No. + P1-20 Pulse No.
Set P1-21 to 100 (rotation number)
Set P1-22 to 0 (pulse number)
The command of internal position 4: P1-21 Rotation No. + P1-22 Pulse No.
Set P1-23 to -1000 (rotation number)
Set P1-24 to 0 (pulse number)
The command of internal position 5: P1-23 Rotation No. + P1-24 Pulse No.

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Set P1-25 to 0 (rotation number)
Set P1-26 to 100 (pulse number)
The command of internal position 6: P1-25 Rotation No. + P1-26 Pulse No.
Set P1-27 to 0 (rotation number)
Set P1-28 to 1000 (pulse number)
The command of internal position 7: P1-27 Rotation No. + P1-28 Pulse No.
Set P1-29 to -10 (rotation number)
Set P1-30 to 2500 (pulse number)
The command of internal position 8: P1-29 Rotation No. + P1-30 Pulse No.

Input command

Rotation direction

+

CW

-

CCW

STEP 3：
1.

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

2.

Set DI2 (CTRG) to be ON, it indicates the command of internal position 1 (P1-15 Rotation No. + P116 Pulse No.) 1 turn is selected, and the motor has rotated one turn at this time.

3.

Set DI3 (POS0) to be ON first and then enable DI2 (CTRG) to be ON, it indicates the command of
internal position 2 (P1-17 Rotation No. + P1-18 Pulse No.)10 turn is selected, and the motor has
rotated ten turns.

4.

Set DI3 (POS0), DI4 (POS1) and DI5 (POS2) to be ON first and then enable DI2 (CTRG) to be ON, it
indicates the command of internal position 8 (P1-29 Rotation No. + P1-30 Pulse No.)10.25turn is
selected, and the motor has rotated 10.25 turns.

5.

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

6.

When the users want to stop the speed trial run, use DI1 to disable the servo drive (Servo OFF).

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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

5.6

Tuning Procedure

Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode
Tuning Procedure

Display

1.

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

2.

Press MODE key to enter into parameter mode.

3.

Press SHIFT key twice to select parameter group.

4.

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

5.

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

6.

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

7.

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

8.

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

9.

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

10.

Press SET key to write parameter value to the drive, and the right side display
will show on the LCD display.

11.

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

12.

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

13.

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

14.

Press MODE key to select parameter mode.

15.

Press SHIFT key twice to select parameter group.

16.

Press UP key to select user parameter P4-05.

17.

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

18.

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

19.

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

20.

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

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21.

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

5.6.1 Tuning Flowchart

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5.6.2 Load Inertia Estimation Flowchart

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5.6.3 AutoMode (PI) Tuning Flowchart
Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjustment] )
P2-31 Auto Mode Responsiveness Level (Default setting: B=4)
A: No function
B: Responsiveness level of auto-tuning mode
A
B
not used

In AutoMode (PI), the value “B” indicates the
responsiveness setting. When the setting value is
higher, the responsiveness is faster.

Adjust P2-31: Increase the setting value of P2-31. Increase the value “B” to speed the responsiveness
or reduce the noise.
Adjust P2-25: According to the setting value of P2-31 speed and adjust the responsiveness.
Continuously adjust until the satisfactory performance is achieved, and then set P2-32 to 3 (3:
AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be adjusted] )
to finish the tuning procedure.

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Table 5.B P2-31 Value “B” Setting in AutoMode (PI) and the setting of P2-00, P2-25

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P2-31 value “B”

Speed Loop Responsive

Recommended Setting Value of P2-25

0

20Hz

13

1

30Hz

9

2

40Hz

6

3

60Hz

4

4

85Hz

3

5

120Hz

3

6

160Hz

2

7

200Hz

1

8

250Hz

1

9 and above

300Hz

0

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5.6.4 AutoMode (PDFF) Tuning Flowchart
Set P2-32 to 4 (4: AutoMode (PDFF) [Continuous adjustment] )
P2-31 Auto Mode Responsiveness Level (Default setting: B=4)
A: No function
B: Responsiveness level of auto-tuning mode
A
B
not used

In AutoMode (PDFF), the value “B” indicates the
responsiveness setting. When the setting value is
higher, the responsiveness is faster.

Adjust P2-31: Increase the setting value of P2-31. Increase the value “B” to speed the responsiveness
or reduce the noise.
Continuously adjust until the satisfactory performance is achieved, and then set P2-32 to 5 (5:
AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can be
adjusted] ) to finish the tuning procedure.

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Table 5.C P2-31 Value “B” Setting in AutoMode (PDFF) and the Speed Loop Responsiveness.

P2-31 value “B”

Speed Loop Responsiveness

P2-31 value “B”

Speed Loop Responsiveness

0

20HZ

8

120Hz

1

30 HZ

9

140HZ

2

40 HZ

A

160HZ

3

50 HZ

B

180HZ

4

60 HZ

C

200Hz

5

70 Hz

D

220Hz

6

80Hz

E

260Hz

7

100Hz

F

300HZ

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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series

5.6.5 Manual Mode Tuning Flowchart
Position Mode

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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series
Speed Mode

5.6.6 Limit of Load Inertia Estimation
The accel. / decel. time for reaching 2000r/min must be below 1 second. The rotation speed must be
above 200r/min. The load inertia must be 100 multiple or less of motor inertia. The change of external
force and the inertia ratio can not be too much. In AutoMode (P2-32 is set to 3 or 5), it will stop
estimating the load inertia. The measured load inertia value will not be saved when the power is cut off.
When re-apply the power to the drive every time, the setting value of P1-37 is equal to the initial value of
load inertia value. But, the measured inertia value will be memorized in P1-37 automatically when:

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(1)

Switching AutoMode #2 to AutoMode #3

(2)

Switching AutoMode #4 to AutoMode #5

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5.6.7 Relationship between Tuning Modes and Parameters
Tuning Mode

Manual Mode

AutoMode (PI)
[Continuous]
AutoMode (PI)
[Fixed Inertia] (The
inertia ratio is
determined by P137)

AutoMode (PDFF)
[Continuous]

AutoMode (PDFF)
[Fixed Inertia] (The
inertia ratio is
determined by P137)

P2-32

AutoSet
Parameter

User-defined Parameter

0(Default
setting)

None

P2-00 (Proportional Position Loop Gain)
P2-04 (Proportional Speed Loop Gain)
P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)

2

P2-00
P2-04
P2-06

P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)

3

P2-00
P2-04
P2-06

P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)

4

P2-00
P2-04
P2-06
P2-25
P2-26

P2-31 Value B (Level of Responsiveness)

5

P2-00
P2-04
P2-06
P2-25
P2-26

P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 Value B (Level of Responsiveness)

Gain Value

Fixed

Continuous
Adjusting

Fixed

Continuous
Adjusting

Fixed

When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value
that measured in #3 auto-tuning mode.
When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26 will change
to the value that measured in #5 auto-tuning mode

5.6.8 Gain Adjustment in Manual Mode
The position and speed responsiveness selection is depending on and determined by the the control
stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the
high frequency positioning control of mechanical facilities and the applications of high precision process
system. However, the higher responsiveness may easily result in the resonance of machinery system.
Therefore, for the applications of high responsiveness, the machinery system with control stiffness is
needed to avoid the resonance. Especially when adjusting the responsiveness of unfamiliar machinery
system, the users can gradually increase the gain setting value to improve responsiveness untill the
resonance occurs, and then decrease the gain setting value. The relevant parameters and gain
adjusting methods are described as follows:

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KPP, Parameter P2-00 Proportional Position Loop Gain
This parameter is used to determine the responsiveness of position loop (position loop gain). It
could be used to increase stiffness, expedite position loop response and reduce position error.
When the setting value of KPP is higher, the response to the position command is quicker, the
position error is less and the settling time is also shorter. However, if the setting value is over high,
the machinery system may generate vibration or noise, or even overshoot during positioning. The
position loop responsiveness is calculated as follows:
Position Loop Responsiveness (Hz)=



KPP
2

KVP, Parameter P2-04 Proportional Speed Loop Gain
This parameter is used to determine the responsiveness of speed loop (speed loop gain). It could
be used to expedite speed loop response. When the setting value of KVP is higher, the response
to the speed command is quicker. However, if the setting value is over high, it may result in the
resonance of machinery system. The responsiveness of speed loop must be higher than the 4~6
times of the responsiveness of position loop. If responsiveness of position loop is higher than the
responsiveness of speed loop, the machinery system may generate vibration or noise, or even
overshoot during positioning. The speed loop responsiveness is calculated as follows:
Speed Loop Responsiveness (Hz)=



KVP
(1+ (J_load / J_motor)) X2

KVI, Parameter P2-06 Speed Integral Compensation
If the setting value of KVI is higher, the capability of decreasing the speed control deviation is
better. However, if the setting value is over high, it may easily result in the vibration of machinery
system. The recommended setting value is as follows:
KVI (Parameter P2-06)



1.5 x Speed Loop Responsiveness

NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression
When the value of (J_load / J_motor) is high, the responsiveness of speed loop may decrease. At
this time, the users can increase the setting value of KVP (P2-04) to keep the responsiveness of
speed loop. However, when increasing the setting value of KVP (P2-04), it may easily result in the
vibration of machinery system. Please use this parameter to suppress or eliminate the noise of
resonance. If the setting value of NLP is higher, the capability of improving the noise of resonance
is better. However, if the setting value is over high, it may easily lead to the instability of speed
loop and overshoot of machinery system.
The recommended setting value is as follows:
NLP (Parameter P2-25)

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1000
4 x Speed Loop Responsiveness (Hz)

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DST, Parameter P2-26 External Anti-Interference Gain
This parameter is used to enhance the anti-interference capability and reduce the occurrence of
overshoot. The default setting is 0 (Disabled). It is not recommended to use it in manual mode
only when performing a few tuning on the value gotten through P2-32 AutoMode (PDFF) (setting
value is 5, mode 5) automatically (The setting value of P2-26 will change to the value that
measured in mode 5 (AutoMode (PDFF)) when switching mode 5 ((AutoMode (PDFF)) to mode 0
(Manual mode)).



PFG, Parameter P2-02 Position Feed Forward Gain
This parameter is used to reduce position error and shorten the positioning settling time. However,
if the setting value is over high, it may easily lead to the overshoot of machinery system. If the
value of electronic gear ratio (1-44/1-45) is over than 10, the machinery system may also easily
generate vibration or noise.

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Chapter 6 Control Modes of Operation

6.1

Control Modes of Operation

The Delta ASDA-AB series can be programmed to provide six single and five dual modes of operation. Their
operation and description is listed in the following table.
Mode

Description

External Position Control

Pt

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

Internal Position Control

Pr

Position control for the servo motor is achieved via by 8
commands stored within the servo controller. Execution of
the 8 positions is via Digital Input (DI) signals.

S

Speed control for the servo motor can be achieved via
parameters set within the controller or from an external
analog -10 ~ +10 VDC command. Control of the internal
speed parameters is via the Digital Inputs (DI). (A maximum
of three speeds can be stored internally).

Sz

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

T

Torque control for the servo motor can be achieved via
parameters set within the controller or from an external
analog -10 ~ +10 VDC command. Control of the internal
torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).

Speed Control

Single
Mode

Code

Internal Speed Control

Torque Control

Tz

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

Pt-S

Either Pt or S control mode can be selected via the Digital
Inputs (DI)

Pt-T

Either Pt or T control mode can be selected via the Digital
Inputs (DI)

Pr-S

Either Pr or S control mode can be selected via the Digital
Inputs (DI)

Pr-T

Either Pr or T control mode can be selected via the Digital
Inputs (DI)

S-T

Either S or T control mode can be selected via the Digital
Inputs (DI)

Internal Torque Control

Dual Mode

The steps of changing mode:
(1)

Switching the servo drive to Servo Off status. Turning SON signal of Digit input to be off can complete
this action.

(2)

Using parameter P1-01. (Refer to chapter 7).

(3)

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

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Chapter 6 Control Modes of Operation|ASDA-AB Series
The following sections describe the operation of each control mode, including control structure, command
source and loop gain adjustment, etc.

6.2

Position Control Mode

The position control mode (Pt or Pr mode) is usually used for the applications requiring precision positioning,
such as industry positioning machine, indexing table etc. Delta ASDA-AB series servo drive supports two
kinds of command sources in position control mode. One is an external pulse train (Pt: Position Terminals,
External Position Control) and the other is internal parameter (Pr: Position Register, i.e. internal parameters
P1-15 to P1-30, Internal Position Control). The external pulse train with direction which can control the
rotation angle of servo motor. The max. input frequency for the external pulse command is 500Kpps (Line
Driver) or 200Kpps (Open Collector) and it is equal to rotation speed of 3000r/min.
In order to provide a convenient position control function, Delta servo drive provides eight internal preset
parameters for position control. There are two setting methods of internal parameters, one is to set different
position command into these eight internal parameters before operation and then use POS0~POS2 of DI
signals of CN1 to perform positioning control. The other setting method is to use serial communication to
change the setting value of these eight internal parameters.
To make the servo motor and load operate more smoothly, Delta servo drive also provide complete Position
Spine Line (P-curve) profile for position control mode. For the closed-loop positioning, speed control loop is
the principal part and the auxiliary parameters are position loop gain and feed forward compensation. The
users can also select two kinds of tuning mode (Manual/Auto modes) to perform gain adjustment. This
Section 6.2 mainly describes the applicability of loop gain adjustment and feed forward compensation of
Delta servo system.

6.2.1 Command Source of Position (Pt) Control Mode
The command source of P mode is external pulse train input form terminals. There are three types of
pulse input and each pulse type is with·logic type (positive (+), negative (-)). They all can be set in
parameter P1-00. Please refer to the following relevant parameters:
P1 - 00▲ PTT

External Pulse Input Type

Communication Addr.: 0100H

Default: 2

Related Section:

Applicable Control Mode: Pt

Section 6.2.1

Unit: N/A
Range: 0 ~ 132
Settings:
• Value A: Pulse type
A=0: AB phase pulse (4x)

A
B
C
not used
6-2

A=1: CW + CCW pulse
A=2: Pulse + Direction

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Chapter 6 Control Modes of Operation|ASDA-AB Series
• Value B: Input pulse filter

This setting is used to suppress or reduce the
chatter caused by the noise, etc. However, if

B=0: 500Kpps

the instant input pulse filter frequency is over

B=1: 200Kpps

high, the frequency that exceeds the setting

B=2: 150Kpps

value will be regarded as noise and filtered.

B=3: 80Kpps
• Value C: Logic type
0=Positive Logic

Pulse Type

Forward

1=Negative Logic

Reverse

Forward

Reverse

AB phase pulse

CW + CCW pulse

Pulse + Direction

Input pulse interface

Max. input pulse frequency

Line driver

500kpps

Open collector

200kpps

• Other setting: Reversed
Position pulse can be input from these terminals, PULSE (41), /PULSE (43) and SIGN (37), /SIGN (36).
It can be an open-collector circuit or line driver circuit. For the detail wiring, please refer to 3.6.1.

6.2.2 Command Source of Position (Pr) Control Mode
The command sources of Pr mode are P1-15, P1-16 to P1-29, P1-30 these eight built-in parameters.
According to parameter P1-33, users can select: a) Absolute or b) Incremental position control. Using
with external I/O signals (CN1, POS0 to POS 2 and CTRG) can select one of the eight built-in
parameters to be position command. Please refer to the table below:
Position
Command

POS2

POS1

POS0

P1

0

0

0

P2

0

0

1

P3

0

1

0

P4

0

1

1

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CTRG

Parameters

Description

P1-15

Rotation number (+/- 30000)

P1-16

Pulses (+/- max cnt)

P1-17

Rotation number (+/- 30000)

P1-18

Pulses (+/- max cnt)

P1-19

Rotation number (+/- 30000)

P1-20

Pulses (+/- max cnt)

P1-21

Rotation number (+/- 30000)

P1-22

Pulses (+/- max cnt)

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Chapter 6 Control Modes of Operation|ASDA-AB Series
Position
Command

POS2

POS1

POS0

P5

1

0

0

P6

1

0

1

P7

1

1

0

P8

1

1

1

CTRG

Parameters

Description

P1-23

Rotation number (+/- 30000)

P1-24

Pulses (+/- max cnt)

P1-25

Rotation number (+/- 30000)

P1-26

Pulses (+/- max cnt)

P1-27

Rotation number (+/- 30000)

P1-28

Pulses (+/- max cnt)

P1-29

Rotation number (+/- 30000)

P1-30

Pulses (+/- max cnt)

State of POS0~2: 0 indicates the contact is OFF (Normally Open)
1 indicates the contact is ON (Normally Closed)
CTRG : the instant time when the contact changes from 0 (open) to 1 (closed).
The application of absolute and incremental position control is various and multiple. This kind of position
control is equal to a simple sequence control. User can easily complete the cycle running by using the
above table. For example, the position command, P1 is 10 running and P2 is 20 running. Give the
position command P1 first and then give the position command P2. The difference between absolute
and incremental position control is shown as the figure below:
Absolute Type

Incremental Type

20 turns
20 turns
10 turns

10 turns

6.2.3 Structure of Position Control Mode
Basic Structure:

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In order to pursue the goal of perfection in position control, the pulse signal should be modified through
position command processing and the structure is shown as the figure below:

Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set in both two modes to
set proper position revolution. ASDA-AB series servo drive also provides P-curve and low-pass filter,
which are used whenever the motor and load need to be operated more smoothly. As for the information
of electronic gear ratio, P-curve and low-pass filter, please refer to the following sections 6.2.4, 6.2.5
and 6.2.6.
Pulse Inhibit Input Function (INHP)
INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-15 and DI INHP(07) in Table
7.A).When the drive is in position mode, if INHP is activated, the external pulse input command is not
valid and the motor will stop.

INHP

ON

OFF

ON

Pulse
command

6.2.4 P-curve Filter for Position Control
The P-curve filter is for the position smoothing of motion command. Using P-curve filter can run the
servo motor more smoothly in response to a sudden position command. Since the speed and
acceleration curve are both continuous and the time for the servo motor to accelerate is short, using Pcurve filter not only can improve the performance when servo motor accelerate or decelerate but also
can make motor to operate more smoothly (from mechanical view). When the load is change, the motor
usually run not smoothly when starts to run and stop due to the friction and inertia change. At this
moment, users can increase Accel/Decel P-curve constant (TSL), Accel time constant (TACC) and
Decel time constant (TDEC) to improve the performance. Because the speed and angle acceleration
are continuous when position command is changed to pulse signal input, so it is not needed to use Pcurve filter.

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Chapter 6 Control Modes of Operation|ASDA-AB Series
Position

Time (ms)

Speed
Rated speed

Time (ms)

Torque

Time (ms)

TSL/2

TACC

TSL/2
TSL/2

TACC

TSL/2

P-curve characteristics and Time relationship (Acceleration)

Position

Time (ms)

Speed
Rated speed

Time (ms)
Torque

TSL/2

TDEC

TSL/2
TSL/2

TDEC

TSL/2

P-curve characteristics and Time relationship (Deceleration)

Relevant parameters:
P1 - 34

TACC

Acceleration Time

Communication Addr.: 0122H

Default: 200

Related Section:

Applicable Control Mode: P/S

P1-35, P1-36, Section 6.3.3

Unit: ms
Range: 1 ~ 20000
Settings:

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1st to 3rd step Acceleration time.
It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

P1 - 35

TDEC

Deceleration Time

Communication Addr.: 0123H

Default: 200

Related Section:

Applicable Control Mode: P/S

P1-34, P1-36, Section 6.3.3

Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step Deceleration time.
It is used to determine the deceleration time to decelerate from its rated rotation speed to 0.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

P1 - 36

TSL

Accel /Decel S-curve

Communication Addr.: 0124H

Pr mode Default: 20 (See Note 2)

Related Section:

Other mode Default: 0

P1-34, P1-35, Section 6.3.3

Unit: ms
Range: 0 ~ 10000 (0: Disabled)
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.

1/2TSL

1/2TSL

1/2TSL

1/2TSL

TACC

TDEC

TSL: P1-36, Accel /Decel S-curve
TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL

NOTE
1) If the control of the servo motor is achieved via internal parameters, the command curve
should be defined by the users. Therefore, when the command source is internal parameter,
ensure that the setting value of P1-36 is not set to 0 or the servo motor will not accelerate or
decelerate during operation.

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Chapter 6 Control Modes of Operation|ASDA-AB Series
2) So if user change the control mode to Pr mode and switching power off and on, the servo
drive of parameter P1-36 will auto set the value to 20.

6.2.5 Electronic Gear Ratio
Relevant parameters:
P1 - 44▲ GR1

Electronic Gear Ratio (1st Numerator) (N1)

Communication Addr.: 012CH

Default: 1

Related Section:

Applicable Control Mode: P

Section 6.2.5

Unit: Pulse
Range: 1 ~ 32767
Settings:
Multiple-step electronic gear numerator setting. Please refer to P2-60~P2-62.

P1 - 45▲ GR2

Electronic Gear Ratio (Denominator)

Communication Addr.: 012DH

Default: 1

Related Section:

Applicable Control Mode: P

Section 6.3.6

Unit: Pulse
Range: 1 ~ 32767
Settings:
Electronic gear denominator setting.
It is recommended to set electronic gear ratio when the servo drive is Off. As the wrong setting
can cause motor to run chaotically (out of control) and it may lead to personnel injury, therefore,
ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio setting (Please also see P1-44, P2-60~P2-62):

Pulse input
f1

N
M

Position
command
N
f2 = f1 x M

f1: Pulse input

f2: Position command

N: Numerator 1, 2, 3, 4, the setting value of P1-44 or
P2-60 ~ P2-63
M: Denominator, the setting value of P1-45

The electronic gear ratio setting range must be within: 1/502ms, can be set by P2-09

6.2.8 Position Loop Gain Adjustment
Before performing position control (setting position control block diagram), the users should complete
the speed control setting by using Manual mode (parameter P-32) since the position loop contains
speed loop. Then, adjust the Proportional Position Loop Gain, KPP (parameter P2-00) and Position
Feed Forward Gain, PFG (parameter P2-02). Or use Auto mode to adjust the gain of speed and position
control block diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position loop
responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track error during
operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and it is
recommended that the speed loop responsiveness should be at least four times faster than the position
loop responsiveness. This also means that the setting value of Proportional Speed Loop Gain, KVP
should be at least four times faster than Proportional Position Loop Gain, KPP.
The equation is shown as follows:

fp < fv
4 , fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
KPP = 2 × π × fp.

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For example, the desired position loop responsiveness is equal to 20 Hz.
Then, KPP = 2 × π × 20= 125 rad/s.
Relevant parameters:
P2 - 00

KPP

Proportional Position Loop Gain

Communication Addr.: 0200H

Default: 35

Related Section:

Applicable Control Mode: P

Section 6.2.8

Unit: rad/s
Range: 0 ~ 1023
Settings:
This parameter is used to set the position loop gain. It can increase stiffness, expedite position
loop response and reduce position error. However, if the setting value is over high, it may
generate vibration or noise.

P2 - 02

PFG

Position Feed Forward Gain

Communication Addr.: 0202H

Default: 5000

Related Section:

Applicable Control Mode: P

Section 6.2.8

Unit: 0.0001
Range: 10 ~ 20000
This parameter is used to set the feed forward gain when executing position control command.
When using position smooth command, increase gain can improve position track deviation.
When not using position smooth command, decrease gain can improve the resonance condition
of mechanical system. However, if the setting value is over high, it may generate vibration or
noise.

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Chapter 6 Control Modes of Operation|ASDA-AB Series
When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness
will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate.
At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating. When
there is an external torque command interrupted, over low KPP value will let the motor cannot overcome
the external strength and fail to meet the requirement of reasonable position track error demand. Adjust
feed forward gain, PFG (P2-02) to efficiently reduce the dynamic position track error.

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6.3

Speed Control Mode

The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as
CNC machine, etc. ASDA-AB series servo drive supports two kinds of command sources in speed control
mode. One is external analog signal and the other is internal parameter. The external analog signal is from
external voltage input and it can control the speed of servo motor. There are two usage of internal parameter,
one is set different speed command in three speed control parameters before operation and then using
SPD0 and SPD1 of CN1 DI signal perform switching. The other usage is using serial communication to
change the setting value of parameter.
Beside, in order to make the speed command switch more smoothly, ASDA-AB series servo drive also
provides complete S-curve profile for speed control mode. For the closed-loop speed control, ASDA-AB
series servo drive provides gain adjustment function and an integrated PI or PDFF controller. Besides, two
modes of tuning technology (Manual/Auto) are also provided for the users to select (parameter P2-32).
There are two turning modes for gain adjustment: Manual and Auto modes.


Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
function will be disabled.



Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of
system bandwidth. The parameter set by user is default value.

6.3.1 Command Source of Speed Control Mode
Speed command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-09 to P1-11
Speed
Command

S1

CN1 DI signal
SPD1

0

SPD0

0

S2

0

1

S3

1

0

S4

1

1

Command Source

Content

Range

S

External
analog signal

Voltage between VREF-GND

+/-10 V

Sz

N/A

Speed command is
0

0

Mode

Internal parameter

P1-09

0~5000r/min

P1-10

0~5000r/min

P1-11

0~5000r/min



State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)



When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then the
speed command is 0. Therefore, if the users do not use analog voltage as speed command, the
users can choose Sz mode and avoid the zero point drift problem of analog voltage signal. If the
speed control mode is S mode, then the command is the analog voltage between V-REF and

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Chapter 6 Control Modes of Operation|ASDA-AB Series
GND. The setting range of the input voltage is from -10V to +10V and the corresponding motor
speed is adjustable (Please see parameter P1-40).


When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter
(P1-09 to P1-11). The command is valid (enabled) after either SPD0 or SPD1 is changed.

The speed command that is described in this section not only can be taken as speed command in
speed control mode (S or Sz mode) but also can be the speed limit input command in torque control
mode (T or Tz mode).

6.3.2 Structure of Speed Control Mode
Basic Structure:

In the figure above, the speed command processing is used to select the command source of speed
control according to chapter 6.3.1, including proportional gain (P1-40) and S-curve filter smoothing
strategy of speed control. The speed control block diagram is used to manage the gain parameters of
the servo drive and calculate the current input provided to motor instantaneously. The resonance
suppression block diagram is used to suppress the resonance of mechanical system.
The function and structure of speed command processing is shown as the figure below:
SPD0,SPD1 signal of CN1
Internal
parameter

(Command source:
Internal parameter)

P1-09
~P1-11

(Command source:
External analog signal)

A/D

Proportion
Gain
P1-40

S-curve filter
P1-34,
P1-35,
P1-36

Analog command
filter
P1-34,
P1-35,
P1-36

Command
selection
P1-01

Low-pass
filter
P1-06

Analog signal

The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz).
Whenever the command signal needs to be more smoothly, we recommend the users to use S-curve
and low-pass filter.

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6.3.3 Smoothing Strategy of Speed Control Mode
S-curve Filter
The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to
smooth the speed command change of the motor during acceleration and deceleration. Using S-curve
filter can let the servo motor run more smoothly in response to a sudden speed command change.
Since the speed and acceleration curve are both continuous, in order to avoid the mechanical
resonance and noise may occur due to a sudden speed command (differentiation of acceleration), using
S-curve filter not only can improve the performance when servo motor accelerate or decelerate but also
can make the motor run more smoothly. S-curve filter parameters include P1-34 Acceleration Time
(TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and the users can use these
three parameters to improve the motor performance during acceleration, deceleration and operation.
ASDA-AB series servo drives also support the time calculation of completing speed command. T (ms) is
the operation (running) time. S (r/min) is absolute speed command, i.e. the absolute value (the result)
after starting speed subtracts the final speed.

Relevant parameters:
P1 - 34

TACC

Acceleration Time

Communication Addr.: 0122H

Default: 200

Related Section:

Applicable Control Mode: P/S

P1-35, P1-36, Section 6.3.3

Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step Acceleration time.
It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

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Chapter 6 Control Modes of Operation|ASDA-AB Series
P1 - 35

TDEC

Deceleration Time

Communication Addr.: 0123H

Default: 200

Related Section:

Applicable Control Mode: P/S

P1-34, P1-36, Section 6.3.3

Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step Deceleration time.
It is used to determine the deceleration time to decelerate from its rated rotation speed to 0.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

P1 - 36

TSL

Accel /Decel S-curve

Communication Addr.: 0124H

Pr mode Default: 20 (See Note 2)

Related Section:

Other mode Default: 0

P1-34, P1-35, Section 6.3.3

Unit: ms
Range: 0 ~ 10000 (0: Disabled)
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.

1/2TSL

1/2TSL

1/2TSL

1/2TSL

TACC

TDEC

TSL: P1-36, Accel /Decel S-curve
TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL

NOTE
1) If the control of the servo motor is achieved via internal parameters, the command curve
should be defined by the users. Therefore, when the command source is internal parameter,
ensure that the setting value of P1-36 is not set to 0 or the servo motor will not accelerate or
decelerate during operation.
2) So if user change the control mode to Pr mode and switching power off and on, the servo
drive of parameter P1-36 will auto set the value to 20.

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Chapter 6 Control Modes of Operation|ASDA-AB Series
Analog Speed Command S-curve Filter
ASDA-AB series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in
response to a sudden analog input signal.
Speed (rpm)

Analog speed command

Motor Torque

3000

0
1

2

3

4

5

6

7

8

9

Time (sec)

-3000

The analog speed command S-curve filter is for the smoothing of analog input signal and its function is
the same as the S-curve filter. The speed and acceleration curve of analog speed command S-curve
filter are both continuous. The above figure shows the curve of analog speed command S-curve filter
and the users can see the ramp of speed command is different during acceleration and deceleration.
Also, the users can see the difference of input command tracking and can adjust time setting by using
parameter P1-34, P1-35, P1-36 to improve the actual motor performance according to actual condition.

Analog Speed Command Low-pass Filter
Analog Speed Command Low-pass Filter is used to eliminate high frequency response and electrical
interference from an analog speed command and it is also with smoothing function.
Relevant parameters:
P1 - 06

Accel / Decel Smooth Constant of Analog Speed
Communication Addr.: 0106H
Command (Low-pass Filter)

SFLT
Default: 0

Related Section:

Applicable Control Mode: S

Section 6.3.3

Unit: ms
Range: 0 ~ 1000 (0: Disabled)

NOTE
1) If the setting value of parameter P1-06 is set to 0, it indicates the function of this parameter
is disabled and the command is just By-Pass.
Target Speed

SFLT
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Chapter 6 Control Modes of Operation|ASDA-AB Series

6.3.4 Analog Speed Input Scaling
The analog voltage between V_REF and GND determines the motor speed command. Using with
parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range.
5000rpm

The speed control ramp is
determined by parameter P1-40

3000rpm

-10

-5
5

10

Analog Input Voltage (V)

-3000rpm

-5000rpm

Relevant parameters:
P1 - 40▲ VCM

Max. Analog Speed Command / Limit

Communication Addr.: 0128H

Default: rated speed

Related Section:

Applicable Control Mode: S/T

Section 6.3.4

Unit: r/min
Range: 0 ~ 10000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates that
the speed command is 3000r/min. If P1-40 is set to 3000, but the input voltage is changed to 5V,
then the speed command is changed to 1500r/min.
Speed command / limit = Input voltage x setting/10

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6.3.5 Timing Chart of Speed Control Mode
S4 (P1-11)
Internal speed
command

S3 (P1-10)
S2 (P1-09)

External analog
voltage or zero (0)

External I/O signal

S1
SPD0

OFF

SPD1

OFF

SON

ON

OFF

ON

ON

ON

NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the
speed command S1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of SPD0~1.

6.3.6 Speed Loop Gain Adjustment
The function and structure of speed control mode is shown as the figure below:

There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-AB series
servo drives can be adjusted by using any one of three tuning modes.

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Chapter 6 Control Modes of Operation|ASDA-AB Series


Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary
function will be disabled.



Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels
of system bandwidth. The parameter set by user is default value.

The mode of gain adjustment can be selected by parameter P2-32:
P2 - 32▲ AUT2

Tuning Mode Selection

Communication Addr.: 0220H

Default: 0

Related Section:

Applicable Control Mode: P/S/T

Section 5.6, Section 6.3.6

Unit: N/A
Range: 0 ~ 5
Settings:
0: Manual mode
2: AutoMode (PI) [Continuous adjustment]
3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be
adjusted]
4: AutoMode (PDFF) [Continuous adjustment]
5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can
be adjusted]
PI : Proportional - Integral control
PDFF : Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching mode #2 or #4 to #3, the system will save the measured load inertia value
automatically and memorized in P1-37. Then, set the corresponding parameters according
to this measured load inertia value.
2. When switching mode #2 or #4 to #0, it indicates all automatically measured load inertia
value will be aborted, and all setting of parameters will be returned to original setting value in
#0 manual mode.
3. When switching mode #0 to #3 or #5, enter the appropriate load inertia value in P1-37.
4. When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to
the value that measured in #3 auto-tuning mode.
5. When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26
will change to the value that measured in #5 auto-tuning mode.

Manual Mode
When·Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional speed loop gain
(P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio of load inertia to servo motor
Inertia (1-37). Please refer to the following description:

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Proportional gain: Adjust this gain can increase the position loop responsiveness.



Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and
eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will
result in the unstable servo system.



Feed forward gain: Adjust this gain can decrease the phase delay error

Relevant parameters:
P2 - 04

KVP

Proportional Speed Loop Gain

Communication Addr.: 0204H

Default: 500

Related Section:

Applicable Control Mode: P/S

Section 6.3.6

Unit: rad/s
Range: 0 ~ 20000
Settings:
This parameter is used to set the speed loop gain. When the value of proportional speed loop
gain is increased, it can expedite speed loop response. However, if the setting value is over high,
it may generate vibration or noise.

P2 - 06

KVI

Speed Integral Compensation

Communication Addr.: 0206H

Default: 100

Related Section:

Applicable Control Mode: P/S

Section 6.3.6

Unit: N/A
Range: 0 ~ 4095
Settings:
This parameter is used to set the integral time of speed loop. When the value of speed integral
compensation is increased, it can improve the speed response ability and decrease the speed
control deviation. However, if the setting value is over high, it may generate vibration or noise.

P2 - 07

KVF

Speed Feed Forward Gain

Communication Addr.: 0207H

Default: 0

Related Section:

Applicable Control Mode: S

Section 6.3.6

Unit: 0.0001
Range: 0 ~ 20000
Settings:
This parameter is used to set the feed forward gain when executing speed control command.
When using speed smooth command, increase gain can improve speed track deviation.
When not using speed smooth command, decrease gain can improve the resonance condition of
mechanical system.

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Chapter 6 Control Modes of Operation|ASDA-AB Series
In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and
feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic.
Frequency Domain

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Time Domain

In general, the equipment, such as spectrum analyzer is needed and used to analyze when using
frequency domain method and the users also should have this kind of analysis technology. However,
when using time domain method, the users only need to prepare an oscilloscope. Therefore, the general

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Chapter 6 Control Modes of Operation|ASDA-AB Series
users usually use time domain method with the analog DI/DO terminal provided by the servo drive to
adjust what is called as PI (Proportional and Integral) type controller. As for the performance of torque
shaft load, input command tracking and torque shaft load have the same responsiveness when using
frequency domain method and time domain method. The users can reduce the responsiveness of input
command tracking by using input command low-pass filter.
Auto Mode (Continuous adjustment))
This Auto Mode provides continuous adjustment of loop gains according to measured inertia
automatically. It is suitable when the load inertia is fixed or the load inertia change is small and is not
suitable for wide range of load inertia change. The period of adjustment time is different depending on
the acceleration and deceleration of servo motor. To change the stiffness and responsiveness, please
use parameter P2-31.
Motor Speed

W

Inertia Measurement

J

6.3.7 Resonance Suppression
The resonance of mechanical system may occur due to excessive system stiffness or frequency
response. However, this kind of resonance condition can be improved, suppressed, even can be
eliminated by using low-pass filter (parameter P2-25) and notch filter (parameter P2-23, P2-24) without
changing control parameter.
Relevant parameters:
P2 - 23

NCF

Notch Filter (Resonance Suppression)

Communication Addr.: 0217H

Default: 1000

Related Section:

Applicable Control Mode: P/S/T

Section 6.3.7

Unit: Hz
Range: 50 ~ 1000
Settings:
This parameter is used to set resonance frequency of mechanical system. It can be used to
suppress the resonance of mechanical system. If P2-24 is set to 0, this parameter is disabled.

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P2 - 24

Notch Filter Attenuation Rate
(Resonance Suppression)

DPH

Communication Addr.: 0218H

Default: 0

Related Section:

Applicable Control Mode: P/S/T

Section 6.3.7

Unit: dB
Range: 0 ~ 32
Settings: 0: Disabled

P2 - 25

Low-pass Filter Time Constant
(Resonance Suppression)

NLP

Communication Addr.: 0219H

Default: 2 (1kW and below models) or

Related Section:

5 (above 1kW models)

Section 6.3.7

Applicable Control Mode: P/S/T
Unit: ms
Range: 0 ~ 1000
Settings:
This parameter is used to set low-pass filter time constant of resonance suppression.
0: Disabled
Speed Control Block Diagram

differentiator

Feed forward
Gain
P2-07

Current Sensor

PI Controller
(Proportional and
Integral Controller)
P2-04,2-06

Current Controller

Low-pass
Filter
P2-25

Notch Filter

PWM

P2-23,P2-24
Torque
Load

Speed estimator

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Encoder

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Chapter 6 Control Modes of Operation|ASDA-AB Series
Low-pass filter
Please use parameter P2-25. The figure below shows the resonant open-loop gain.
Gain

Frequency

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass
frequency (BW) will become smaller (see the figure below). The resonant condition is improved and the
frequency response and phase margin will also decrease.

Gain

0dB

Frequency

BW

Notch Filter
Usually, if the users know the resonance frequency, we recommend the users can eliminate the
resonance conditions directly by using notch filter (parameter P2-23, P2-24). However, the range of
frequency setting is from 50 to 1000Hz only and the range of resonant attenuation is 0~32 dB only.
Therefore, if the resonant frequency is out of this range, we recommend the users to use low-pass filter
(parameter P2-25) to improve resonant condition.
Please refer to the following figures and explanation to know how to use notch filter and low-pass filter
to improve resonant condition.
Use Notch Filter to suppress resonance

Resonance
Point

Gain

Low-pass
Frequency

Resonance
Frequency .

6-26

Frequency

Gain

Notch Filter

Gain

Resonance
conditions
is suppressed

0db

Low-pass
Frequency

Attenuation
Rate P2-24
Resonance
Frequency
P2-23

Frequency

Resonance
Frequency .

Frequency

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Chapter 6 Control Modes of Operation|ASDA-AB Series
Use Low-pass Filter to suppress resonance
.
Resonance
Point

Gain

Low-pass
Frequency
Resonance
Frequency

Frequency

Gain
0db

Attenuation
Rate -3db

Low-pass Filter
Cut-off Frequency
of Low-pass Filter
= 10000 / P2-25
Hz

Frequency

Gain

Resonance
conditions
is suppressed
Low-pass
Frequency

Resonance
Frequency .

Frequency

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass
frequency will become smaller (see the figure on page 6-26). The resonant condition is improved but the
frequency response and phase margin will also decrease and the system may become unstable.
Therefore, if the users know the resonance frequency, the users can eliminate the resonance conditions
directly by using notch filter (parameter P2-23, P2-24). Usually, if the resonant frequency can be
recognized, we recommend the users can directly use notch filter (parameter P2-23, P2-24) to eliminate
the resonance. However, if the resonant frequency will drift or drift out of the notch filter range, we
recommend the users not to use notch filter and use low-pass filter to improve resonant conditions.

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Chapter 6 Control Modes of Operation|ASDA-AB Series

6.4

Torque Control Mode

The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing
machine, spinning machine, twister, etc. Delta ASDA-AB series servo drive supports two kinds of command
sources in torque control mode. One is external analog signal and the other is internal parameter. The
external analog signal is from external voltage input and it can control the torque of servo motor. The internal
parameters are from P1-12 to P1-14 which are used to be the torque command in torque control mode.

6.4.1 Command Source of Torque Control Mode
Torque command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-12 to P1-14
The command source selection is determined by the DI signal of CN1 connector.
DI signal of CN1
Torque
Command TCM1 TCM0
T1

0

0

T2

0

1

T3

1

0

T4

1

1

Command Source

Mode

T

External analog signal

Tz

None

Internal parameter

Content

Range

Voltage between
T-REF-GND

+/- 10 V

Torque command is 0

0

P1-12

+/- 300 %

P1-13

+/- 300 %

P1-14

+/- 300 %



State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)



When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz, then the
command is 0. Therefore, if the users do not use analog voltage as torque command, the users
can choose Tz mode to operation torque control to avoid the zero point drift problem of analog
voltage. If the control mode of operation is T, then the command is the analog voltage between
T-REF and GND. The setting range of the input voltage is from -10V to +10V and the
corresponding torque is adjustable (see parameter P1-41).



When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is internal
parameter. The command is valid (enabled) after either TCM0 or TCM1 is changed.

The torque command that is described in this section not only can be taken as torque command in
torque control mode (T or Tz mode) but also can be the torque limit input command in position mode (P
mode) and speed control mode (S or Sz mode).

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6.4.2 Structure of Torque Control Mode
Basic Structure:

The toque command processing is used to select the command source of torque control according to
chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of
torque control mode. The current control block diagram is used to manage the gain parameters of the
servo drive and calculate the current input provided to motor instantaneously. As the current control
block diagram is too complicated, setting the parameters of current control block diagram is not allowed.
The function and structure of torque command processing is shown as the figure below:
TCM0,TCM1 signal of CN1
Internal
parameter

(Command source:
Internal parameter)

P1-12
~1-14

(Command source:
External analog signal)

A/D

Proportion
Gain
P1-41

Command
selection
P1-01

Low-pass
filter
P1-07

Analog signal

The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or Tz).
Whenever the command signal needs to be more smoothly, we recommend the users to use
proportional gain (scalar) and low-pass filter to adjust torque.

6.4.3 Smoothing Strategy of Torque Control Mode
Relevant parameters:
P1 - 07

TFLT

Smooth Constant of Analog Torque Command
(Low-pass Filter)

Communication Addr.: 0107H

Default: 0

Related Section:

Applicable Control Mode: T

Section 6.4.3

Unit: ms
Range: 0 ~ 1000 (0: Disabled)

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Chapter 6 Control Modes of Operation|ASDA-AB Series

NOTE
1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter
is disabled and the command is just By-Pass.
Target Speed

TFLT

6.4.4 Analog Torque Input Scaling
The analog voltage between T_REF and GND controls the motor torque command. Using with
parameter P1-41 can adjust the torque control ramp and its range.
300%
The torque control ramp is
determined by parameter P1-41

100%

Torque command

-10

-5
5

10

Analog Input Voltage (V)

-100%

-300%

Relevant parameters:
P1 - 41▲ TCM

Max. Analog Torque Command / Limit

Communication Addr.: 0129H

Default: 100

Related Section:

Applicable Control Mode: P/S/T

Section 6.4.4

Unit: %
Range: 0 ~ 1000
Settings:
In Torque mode, this parameter is used to set the output torque at maximum input voltage (10V)
of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at maximum input
voltage (10V) of analog torque limit

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For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that
the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is
changed to 5V, then the torque command is changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)

6.4.5 Timing Chart of Torque Control Mode
T4 (P1-14)
Internal speed
command

T3 (P1-13)
T2 (P1-12)

External analog
voltage or zero (0)

External I/O signal

T1

TCM0

OFF

TCM1

OFF

SON

ON

OFF

ON

ON

ON

NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When torque control mode is Tz, the torque command T1=0; when torque control mode is T, the
speed command T1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of TCM0~1.

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Chapter 6 Control Modes of Operation|ASDA-AB Series

6.5

Control Modes Selection

Except signal control mode operation, ASDA-AB series AC drive also provide Pt-S, Pr-S, S-T, Pt-T, Pr-T
these five multiple modes for the users to select.
1）

Speed / Position mode selection: Pt-S, Pr-S

2）

Speed / Torque mode selection: S-T

3）

Torque / Position mode selection: Pt-T, Pr-T
Mode

Dual Mode

Name

Code

Description

Pt-S

06

Either Pt or S control mode can be selected via the Digital Inputs (DI)

Pt-T

07

Either Pt or T control mode can be selected via the Digital Inputs (DI)

Pr-S

08

Either Pr or S control mode can be selected via the Digital Inputs (DI)

Pr-T

09

Either Pr or T control mode can be selected via the Digital Inputs (DI)

S-T

10

Either S or T control mode can be selected via the Digital Inputs (DI)

Sz and Tz mode selection is not provided. In order to avoid using too much DI inputs, we recommend that
the users can use external analog signal as input command in speed and torque mode to reduce the use of
DI inputs (SPD0~1 or TCM0~1). In position mode, we recommend that the users can use Pt mode to input
pulse to reduce the use of DI inputs (POS0~2).
Please refer to table 3.B and table 3.C in section 3.3.2 to see the default pin number of DI/DO signal.

6.5.1 Speed / Position Control Mode Selection
Pt-S Mode / Pr-S Mode:
The command source of Pt-S mode is from external input pulse. The command source of Pr-S mode is
from internal parameters (P1-15 to P1-30). The speed command can be the external analog voltage or
internal parameters (P1-09 to P1-11). The speed and position mode switching is controlled by the S-P
signal. The selection will be more complicated when the position of Pr-S mode and speed command are
both selected through DI signal.
The timing chart of speed / position control mode selection is shown as the figure below:
CTRG

S-P
POS0-2 NOT CARE
SPD0-1 VALID
Speed control mode

POS0-2 VALID

POS0-2 NOT CARE

SPD0~1 NOT CARE
Position control mode

SPD0-1 VALID
Speed control mode

Figure 1. : Speed / Position Control Mode Selection

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In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this
time. When switching to the position mode (when S-P is OFF), the position command is not determined
(it needs to wait that CTRG is on the rising edge), so the motor stop running. Once CTRG is on the
rising edge, position command will be selected according to POS0~2 and the motor will immediately
move to the determined position. After S-P is ON, it will immediately return to speed mode.
For the relationship between DI signal and selected command in each mode, please refer to the
introduction of single mode.

6.5.2 Speed / Torque Control Mode Selection
S-T Mode:
The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and
SPD0~1 is used to select speed command. The same as speed command, the torque command can be
the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select
torque command. The speed and torque mode switching is controlled by the S-T signal.
The timing chart of speed / torque control mode selection is shown as the figure below:
S-T
NOT CARE

SPD0-1 VALID
NOT CARE

TCM0-1 VALID
Torque control mode

Speed control mode

NOT CARE
TCM0-1 VALID
Torque control mode

Figure 2. : Speed / Torque Control Mode Selection

In torque mode (when S-T is ON), torque command is selected by TCM0~1. When switching to the
speed mode (when S-T is OFF), the speed command is selected by SPD0~1, and then the motor will
immediately rotate following the command. After S-T is ON again, it will immediately return to torque
mode.

6.5.3 Torque / Position Control Mode Selection
Pt-T Mode / Pr-T Mode:
The command source of Pt-T mode is from external input pulse. The command source of Pr-T mode is
from internal parameters (P1-15 to P1-30). The torque command can be the external input pulse or
internal parameters (P1-12 to P1-14). The torque and position mode switching is controlled by T-P
signal. The selection will be more complicated when the position of Pr-T mode and torque command are
both selected through DI signal.

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Chapter 6 Control Modes of Operation|ASDA-AB Series
The timing chart of speed / position control mode selection is shown as the figure below:

In position mode (when T-P is ON), the motor will start to count pulse and operate following the external
pulse command. When switching to the torque mode (when T-P is OFF), it will stop counting pulse even
if the pulse command is continuously sent out. The torque command is determined by TCM0~1 and the
motor will rotate following the command. After T-P is ON again, it will immediately return to position
mode.
For the relationship between DI signal and selected command in each mode, please refer to the
introduction of single mode.

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6.6

Others
6.6.1 Speed Limit
The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or
torque control mode.
The command source of speed limit command is the same as speed command. It can be the external
analog voltage but also can be internal parameters (P1-09 to P1-11). For more information of speed
command source, please refer to chapter 6.3.1.
The speed limit only can be used in torque mode (T mode) to limit the servo motor speed. When the
torque command is the external analog voltage, there should be surplus DI signal that can be treated as
SPD0~1 and be used to select speed limit command (internal parameter). If there is not enough DI
signal, the external voltage input can be used as speed limit command. When the Disable / Enable
Speed Limit Function Settings in parameter P1-02 is set to 1, the speed limit function is activated.
The timing chart of speed limit is shown as the figure below:

Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 0
SPD0~1 INVALID

Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 1

SPD0~1 VALID

Command Source Selection of Speed Limit

6.6.2 Torque Limit
The command source of torque limit command is the same as torque command. It can be the external
analog voltage but also can be internal parameters (P1-12 to P1-14). For more information of torque
command source, please refer to chapter 6.4.1.
The torque limit only can be used in position mode (Pt and Pr mode) and speed mode (S mode) to limit
the output torque of servo motor. When the position command is the external pulse and speed
command is the external analog voltage, there should be surplus DI signal that can be treated as
TCM0~1 used to select torque limit command (internal parameter). If there is not enough DI signal, the
external voltage input can be used as torque limit command. When the Disable / Enable Torque Limit
Function Settings in parameter P1-02 is set to 1, the torque limit function is activated.
The timing chart of torque limit is shown as the figure below:

Disable / Enable Torque Limit Function
Settings in parameter P1-02 is set to 0
TCM0~1 INVALID

Disable / Enable Torque Limit Function
Settings in parameter P1-02 is set to 1

TCM0~1 VALID

Command Source Selection of Torque Limit

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Chapter 6 Control Modes of Operation|ASDA-AB Series

6.6.3 Regenerative Resistor


Built-in Regenerative Resistor

When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that
there is a regenerative power returned from the load to the servo drive. This power will be transmitted
into the capacitance of DC Bus and result in rising voltage. When the voltage has risen to some high
voltage, the servo system need to dissipate the extra energy by using a regenerative resistor. ASDA-AB
series servo drive provides a built-in regenerative resistor and the users also can connect to external
regenerative resistor if more regenerative capacity is needed.
The following table shows the specifications of the servo drive’s built-in regenerative resistor and the
amount of regenerative power (average value) that it can process.
Built-in Regenerative Resistor Specifications
Servo Drive Resistance (Ohm)
Capacity (Watt)
(kW)
(parameter P1-52) (parameter P1-53)

Regenerative Power
Min. Allowable
processed by built-in
Resistance
(Ohm)
regenerative resistor (Watt) *1

0.1

40

60

30

40

0.2

40

60

30

40

0.4

40

60

30

20

0.75

40

60

30

20

1.0

40

60

30

20

1.5

40

60

30

20

2.0

20

120

60

10

When the regenerative power exceeds the processing capacity of the servo drive, install an external
regenerative resistor. Please pay close attention on the following notes when using a regenerative
resistor.
1. Make sure that the settings of resistance (parameter P1-52) and capacity (parameter P1-53) is set
correctly.
2. When the users want to install an external regenerative resistor, ensure that its resistance value is
the same as the resistance of built-in regenerative resistor. If combining multiple small-capacity
regenerative resistors in parallel to increase the regenerative resistor capacity, make sure that the
resistance value of the regenerative resistor should comply with the specifications listed in the
above table.
3. In general, when the amount of regenerative power (average value) that can be processed is used
at or below the rated load ratio, the resistance temperature will increase to 120°C or higher (on
condition that when the regeneration continuously occurred). For safety reasons, forced air cooling
is good way that can be used to reduce the temperature of the regenerative resistors. We also
recommend the users to use the regenerative resistors with thermal switches. As for the load
characteristics of the regenerative resistors, please check with the manufacturer.

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Chapter 6 Control Modes of Operation|ASDA-AB Series


External Regenerative Resistor

When using external regenerative resistor, connect it to P and C, and make sure the circuit between P
and D is open. We recommend the users should use the external regenerative resistor that the
resistance value following the above table (Built-in Regenerative Resistor Specifications). We ignore the
dissipative power of IGBT (Insulated Gate Bipolar Transistor) in order to let the users easily calculate
the capacity of regenerative resistor. In the following sections, we will describe Regenerative Power
Calculation Method and Simple Calculation Method for calculating the regenerative power capacity of
external regenerative resistors.



Regenerative Power Calculation Method

(1) Without Load
When there is no external load torque, if the servo motor repeats operation, the returned regenerative
power generated when braking will transmitted into the capacitance of DC bus. After the capacitance
voltage exceeds some high value, regenerative resistor can dissipate the remained regenerative power.
Use the table and procedure described below to calculate the regenerative power.
Servo Drive
(kW)

Rotor Inertia
J (kg. m2)

Regenerative power from empty load
3000r/min to stop Eo (joule)

Max. regenerative power
of capacitance Ec(joule)

0.1

0.03E-4

0.15

3

0.2

0.18E-4

0.89

4

0.4

0.34E-4

1.68

8

0.75

1.08E-4

5.34

14

1.0

2.60E-4

12.86

18

1.5

3.60E-4

17.80

18

2.0

4.70E-4

23.24

21

Eo = J x wr2/182 (joule)

, Wr : r/min

If the load inertia is N × motor inertia, the regenerative power will be (N+1) x E0 when servo motor
brakes from 3000r/min to 0. Then, the regenerative resistor can dissipate: (N+1) x E0 - Ec (joule). If the
time of repeat operation cycle is T sec, then the regenerative power = 2 x ((N+1) x E0 - Ec) / T. The
calculating procedure is as follows:
Step
1

Procedure
Set the capacity of regenerative
resistor to the maximum

Equation and Setting Method
Change the value of P1-53 to maximum

2

Set the operation cycle T

Input by the users

3

Set motor speed wr

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

4

Set load/motor inertia ratio N

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

5

Calculate the max. regenerative
power Eo

Eo = J x wr2/182

6

Set the regenerative power Ec that
Refer to the table above
can be absorbed

7

Calculate the required
regenerative power capacity

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Chapter 6 Control Modes of Operation|ASDA-AB Series
For example:
If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max. motor speed is
3000r/min, the load inertia = 7 × motor inertia, then the necessary the power of regenerative resistor =
2 x ( (7+1) × 1.68 - 8) / 0.4 = 27.2W. If the calculation result is smaller than regenerative power, we
recommend the users to use the built-in 60W regenerative resistor. Usually the built-in regenerative
resistor provided by ASDA-AB series can meet the requirement of general application when the external
load inertia is not excessive.
The users can see when the capacity of regenerative resistor is too small, the accumulated power will
be larger and the temperature will also increase. The fault, ALE05 may occur if the temperature is over
high. The following figure shows the actual operation of regenerative resistor.
(2) With Load
When there is an external load torque, servo motor is in reverse rotation when external load greater
than motor torque. Servo motor is usually in forward rotation and the motor torque output direction is the
same as the rotation direction. However, there is still some special condition. If the motor output torque
is in the reverse direction of rotation, the servo motor is also in the reverse direction of rotation. The
external power is input into the servo drive through servo motor. The Figure 6.21 below is an example.
The users can see the motor is in forward rotation at constant speed when a sudden external load
torque change and great power is transmitted to regenerative resistor rapidly.
Motor Rotation Speed

External Load Torque

Motor Output Torque

Reverse
Rotation

Forward
Rotation

External load torque in reverse direction: TL x Wr

Reverse
Rotation

Forward
Rotation

TL : External load torque

For the safety, we strongly recommend the users should select the proper resistance value according to
the load.

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For example:
When external load torque is a +70% rated torque and rotation speed reaches 3000r/min, if using 400W
servo drive (rated torque: 1.27Nt-m), then the users need to connect a external regenerative resistor
which power is 2 x (0.7 x 1.27) x (3000 x 2 x π/ 60) = 560W, 40Ω.


Simple Calculation Method

The users can select the adequate regenerative resistors according to the allowable frequency required
by actual operation and the allowable frequency when the servo motor runs without load. The allowable
frequency when the servo motor run without load is the maximum frequency that can be operated during
continuous operation when servo motor accelerate from 0r/min to rated speed and decelerate from
rated speed down to 0r/min. The allowable frequencies when the servo motor run without load are
summarized in the following table.
Allowable frequency when the servo motor run without load (times/min)
ECMA Series

100W

200W

300W

400W
(60mm)

400W
(80mm)

500W

600W

750W

01

02

03

04

04

05

06

07

-

-

-

1275

519

43

41

319

Allowable Frequency
(times/min)

900W

ECMA Series
Allowable Frequency
(times/min)

1.0kW
1.0kW
(100mm) (130mm)

1.5kW

2.0kW
2.0kW
2.0kW
(100mm) (130mm) (180mm)

09

10

10

15

20

20

20

31

137

42

31

82

24

10

( ) : motor frame size, unit is in millimeters.
When the servo motor runs with load, the allowable frequency will change according to the changes of
the load inertia and rotation speed. Use the following equation to calculate the allowable frequency.
Allowable fr equency =

Allowable frequency when serv o motor run without load
m+1

x

Rated s peed
Operating speed

2

times
mi n.

m = load/motor inertia ratio

The users can select the adequate regenerative resistors according to the allowable frequency by
referring to the table below:
Allowable frequency when the servo motor run without load (times/min)
ECMA Series

100W

200W

300W

400W
(60mm)

400W
(80mm)

01

02

03

04

04

BR400W040

-

-

-

8608

3279

BR1K0W020

-

-

-

21517

8765

Regenerative
Resistors

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

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Chapter 6 Control Modes of Operation|ASDA-AB Series
Allowable frequency when the servo motor run without load (times/min)
ECMA Series

500W

600W

750W

900W

1.0kW
(100 mm)

05

06

07

09

10

BR400W040

291

283

2128

213

925

BR1K0W020

729

708

5274

533

2312

1.0kW
(130mm)

1.5kW

2.0kW
(100mm)

2.0kW
(130mm)

2.0kW
(180mm)

10

15

20

20

20

BR400W040

283

213

562

163

68

BR1K0W020

708

533

1363

408

171

Regenerative
Resistors

ECMA Series
Regenerative
Resistors

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

6.6.4 Analog Monitor
User can use analog monitor to observe the required analog voltage signals. ASDA-AB series provide
two analog channels, they are PIN No. 15 and 16 of CN1 connector. The parameters relative to analog
monitor are shown below.
Relevant parameters:
P0 - 03

MON

Analog Monitor Output

Communication Addr.: 0003H

Default: 01

Related Section:

Applicable Control Mode: P/S/T

Section 4.3.5

Unit: N/A
Range: 00 ~ 55
Settings:

A: CH1
B: CH2
not used
AB: (A: CH1; B: CH2)
0: Motor speed (+/-8 V/maximum rotation speed)
1: Motor torque (+/-8 V/maximum torque)
2: Pulse command frequency (+8 Volts /650Kpps)
3: Speed command (+/-8 Volts /maximum speed command)
4: Torque command (+/-8 Volts /maximum torque command)
5: V_BUS voltage (+/-8 Volts /450V)
Note: For the setting of analog output voltage proportion, refer to the P1-04 and P1-05

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Example: P0-03 = 01(CH1 is speed analog output)
Motor rotation speed = (Max. rotation speed × V1/8) × P1-04/100, when the output voltage value
of CH1 is V1.

P1 - 03

AOUT

Pulse Output Polarity Setting

Communication Addr.: 0103H

Default: 0

Related Section:

Applicable Control Mode: P/S/T

Section 3.3.3

Unit: N/A
Range: 0 ~ 1
Settings:
Monitor analog output polarity
• A=0: MON1(+), MON2(+)

A
B

• A=1: MON1(+), MON2(-)
• A=2: MON1(-), MON2(+)
• A=3: MON1(-), MON2(-)

not used
Pulse output polarity
• B=0: Forward output
• B=1: Reverse output

P1 - 04

Analog Monitor Output Proportion 1 (CH1)

Communication Addr.: 0104H

Default: 100

Related Section:

Applicable Control Mode: P/S/T

Section 6.4.4

Unit: % (full scale)
Range: 0 ~ 100

P1 - 05

Analog Monitor Output Proportion 2 (CH2)

Communication Addr.: 0105H

Default: 100

Related Section:

Applicable Control Mode: P/S/T

Section 6.4.4

Unit: % (full scale)
Range: 0~100

P4 - 20

DOF1

Analog Monitor Output Drift Adjustment (CH1)

Communication Addr.: 0414H

Default: Factory setting

Related Section:

Applicable Control Mode: P/S/T

Section 6.4.4

Unit: mV
Range: -800~800
This parameter cannot be reset.

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Chapter 6 Control Modes of Operation|ASDA-AB Series
P4 - 21

DOF2

Analog Monitor Output Drift Adjustment (CH2)

Communication Addr.: 0415H

Default: Factory setting

Related Section: N/A

Applicable Control Mode: P/S/T

Section 6.4.4

Unit: mV
Range: -800~800
This parameter cannot be reset.
For example, when the users want to observe the analog voltage signal of channel 1, if the monitor
output setting range is 8V per 325Kpps, then it is needed to change the setting value of parameter P104 (Analog Monitor Output Proportion 1) to 50 (=325Kpps/Max. input frequency). Other related
parameters setting include parameter P0-03 (A=3) and P1-03 (A=0~3, output polarity setting). In
general, when output voltage value of Ch1 is V1, the pulse command frequency is equal to (Max. input
frequency × V1/8) × P1-04/100.
Because there is an offset value of analog monitor output voltage, the zero voltage level of analog
monitor output does not match to the zero point of setting value. We recommend the users can use
Analog Monitor Output Drift Adjustment, DOF1 (parameter P4-20) and DOF2 (parameter P4-21) to
improve this condition. The maximum output voltage range of analog monitor output is ±8V. If the output
voltage exceed its limit, it is still limited within the range of ±8V. The revolution provided by ASDA-AB
series is 10bit, approximated to 13mv/LSB.

8V
DOF

-8V

6-42

Revision January 2009

Chapter 6 Control Modes of Operation|ASDA-AB Series

6.6.5 Electromagnetic Brake
When the servo drive is operating, if the digital output BRKR is set to Off, it indicates the
electromagnetic brake is disabled and motor is stop running and locked. If the digital output BRKR is set
to ON, it indicates electromagnetic brake is enabled and motor can run freely.
There are two parameters that affect the electromagnetic brake. One is parameter P1-42 (MBT1) and
the other is parameter P1-43 (MBT2). The users can use these two parameters to set the On and Off
delay time of electromagnetic brake. The electromagnetic brake is usually used in perpendicular axis (Zaxis) direction to reduce the large energy generated from servo motor. Using electromagnetic brake can
avoid the load may slip since there is no motor holding torque when power is off. Without using
electromagnetic brake may reduce the life of servo motor. To avoid malfunction, the electromagnetic
brake should be activated after servo system is off (Servo Off).
If the users desire to control electromagnetic brake via external controller, not by the servo drive, the
users must execute the function of electromagnetic brake during the period of time when servo motor is
braking. The braking strength of motor and electromagnetic brake must be in the same direction when
servo motor is braking. Then, the servo drive will operate normally. However, the servo drive may
generate larger current during acceleration or at constant speed and it may the cause of overload (servo
fault).
Timing chart for using servo motor with electromagnetic brake:

ON
SON
(DI Input)

OFF

OFF
ON

BRKR
(DO Output)

OFF

MBT1(P1-42)

OFF

MBT2(P1-43)
ZSPD(P1-38)

Motor Speed

BRKR output timing explanation:
1. When SERVO OFF (when DI SON is not activated), the BRKR output goes Off (electromagnetic
brake is locked) after the delay time set by P1-43 is reached and the motor speed is still higher
than the setting value of P1-38.
2. When SERVO OFF (when DI SON is not activated), the BRKR output goes Off (electromagnetic
brake is locked) if the delay time set by P1-43 is not reached and the motor speed is still lower
than the setting value of P1-38.

Revision January 2009

6-43

Chapter 6 Control Modes of Operation|ASDA-AB Series
Electromagnetic Brake Wiring Diagram

NOTE
1)

Please refer to Chapter 3 Connections and Wiring for more wiring information.

2)

The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the
servo drive can be used to power the relay coil (Relay). When BRKR signal is ON, the motor
brake will be activated.

6-44

3)

Please note that the coil of brake has no polarity.

4)

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

Revision January 2009

Chapter 6 Control Modes of Operation|ASDA-AB Series
The timing charts of control circuit power and main circuit power:
L1, L2
Control Circuit
Power

1 sec

5V
Control Circuit
Power
> 0msec
R, S, T
Main Circuit
Power

800ms

BUS Voltage
READY
2 sec
SERVO
READY
SERVO ON
(DI Input)

1 msec (min)+ Response Filter Time of Digital Input ( P2-09)

SERVO ON
(DO Output)
Position \ Speed \
Torque Command
Input

Revision January 2009

Input available

6-45

Chapter 6 Control Modes of Operation|ASDA-AB Series
This page intentionally left blank

6-46

Revision January 2009

Chapter 7 Servo Parameters

7.1

Definition

There are following five groups for drive parameters:
Group 0: Monitor parameter

(example: P0-xx)

Group 1: Basic parameter

(example: P1-xx)

Group 2: Extension parameter

(example: P2-xx)

Group 3: Communication parameter

(example: P3-xx)

Group 4: Diagnosis parameter

(example: P4-xx)

Abbreviation of control modes:
Pt

:

Position control mode (command from external signal)

Pr

:

Position control mode (command from internal signal)

S

:

Speed control mode

T

:

Torque control mode

Explanation of symbols (marked after parameter)
(★)

Read-only register, such as P0-00, P0-01, P4-00.

(▲)

Parameter cannot be set when Servo On (when the servo drive is enabled), such as P1-00, P2-32.

(●)

Parameter is effective only after the servo drive is restarted (after switching power off and on), such
as P1-01, P1-33.

(■)

Parameter setting values are not retained when power is off, such as P3-06.

Revision January 2009

7-1

Chapter 7 Servo Parameters|ASDA-AB Series

7.2

Parameters Summary
7.2.1 Parameters List by Group
Group 0: P0-xx

Monitor Parameters
Parameter

Name

P0-00★

VER

P0-01★

Function

Control Mode

Default

Unit

Firmware Version

Factory
setting

N/A

{ { { {

ALE

Drive Fault Code

N/A

N/A

{ { { {

P0-02

STS

Drive Status

00

N/A

{ { { {

P0-03

MON

Analog Monitor Output

01

N/A

{ { { {

P0-04

CM1

Status Monitor 1

0

N/A

{ { { {

P0-05

CM2

Status Monitor 2

0

N/A

{ { { {

P0-06

CM3

Status Monitor 3

0

N/A

{ { { {

P0-07

CM4

Status Monitor 4

0

N/A

{ { { {

P0-08

CM5

Status Monitor 5

0

N/A

{ { { {

P0-09

MAP0

Block Data Read / Write Register 0

407H

N/A

{ { { {

P0-10

MAP1

Block Data Read / Write Register 1

10FH

N/A

{ { { {

P0-11

MAP2

Block Data Read / Write Register 2

110H

N/A

{ { { {

P0-12

MAP3

Block Data Read / Write Register 3

224H

N/A

{ { { {

P0-13

MAP4

Block Data Read / Write Register 4

111H

N/A

{ { { {

P0-14

MAP5

Block Data Read / Write Register 5

112H

N/A

{ { { {

P0-15

MAP6

Block Data Read / Write Register 6

225H

N/A

{ { { {

P0-16

MAP7

Block Data Read / Write Register 7

109H

N/A

{ { { {

P0-17

SVSTS

Servo Output Status Display

N/A

N/A

{ { { {

Pt Pr S

T

Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)

7-2

Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series
Group 1: P1-xx

Basic Parameters
Parameter

Name

Function

Default

Control
Mode

Unit

Pt Pr S

T

P1-00▲

PTT

External Pulse Input Type

2

P1-01●

CTL

Control Mode and Output Direction

0

P1-02▲

PSTL

Speed and Torque Limit

0

N/A

{ { { {

P1-03

AOUT

Pulse Output Polarity Setting

0

N/A

{ { { {

P1-04

MON1

Analog Monitor Output Proportion 1
(CH1)

100

%

{ { { {

P1-05

MON2

Analog Monitor Output Proportion 2
(CH2)

100

%

{ { { {

P1-06

SFLT

Accel / Decel Smooth Constant of
Analog Speed Command (Low-pass
Filter)

0

ms

P1-07

TFLT

Smooth Constant of Analog Torque
Command (Low-pass Filter)

0

ms

P1-08

PFLT

Smooth Constant of Position Command
(Low-pass Filter)

0

ms

P1-09
~ P1-11

SP1 ~ 3

100 ~ 300

r/min

P1-12
~ P1-14

TQ1 ~ 3

100

%

P1-15 ~
P1-30

1st ~ 3rd Speed Command
1st ~ 3rd Speed Limit
1st ~ 3rd Torque Command
1st ~ 3rd Torque Limit

N/A

{

pulse
r/min { { { {
N.M

{
{
{
{ {
{

{ {

PO1H ~
PO8H

1st ~ 8th Position command for
Rotation

0

N/A

{

PO1L ~
PO8L

1st ~ 8th Position command for Pulse

0

N/A

{

P1-31

MSE

Motor Type Selection

0

N/A

{ { { {

P1-32

LSTP

Motor Stop Mode Selection

0

N/A

{ { { {

P1-33●

POSS

Position Control Mode (Pr)

0

N/A

{

P1-34

TACC

Acceleration Time

200

ms

{ {

P1-35

TDEC

Deceleration Time

200

ms

{ {

P1-36

TSL

Accel /Decel S-curve

0

ms

{ {

P1-37

GDR

Ratio of Load Inertia to Servo Motor
Inertia

5.0

times { { { {

P1-38

ZSPD

Zero Speed Range Setting

10

r/min

{ { { {

P1-39

SSPD

Target Motor Speed

3000

r/min

{ { { {

P1-40▲

VCM

Max. Analog Speed Command or Limit

rated speed

r/min

{ {

P1-41▲

TCM

Max. Analog Torque Command or Limit

100

%

{ { { {

P1-42

MBT1

On Delay Time of Electromagnetic
Brake

0

ms

{ { { {

Revision January 2009

7-3

Chapter 7 Servo Parameters|ASDA-AB Series

Basic Parameters
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

T

OFF Delay Time of Electromagnetic
Brake

0

GR1

Electronic Gear Ratio (1st Numerator)
(N1)

1

pulse { {

P1-45▲

GR2

Electronic Gear Ratio (Denominator)

1

pulse { {

P1-46▲

GR3

Encoder Output Pulse Number

1

pulse { { { {

P1-47

HMOV

Homing Mode

00

N/A

{ { { {

P1-48

HSPD1

1st Speed Setting of High Speed
Homing

1000

r/min

{ { { {

P1-49

HSPD2

2nd Speed Setting of Low Speed
Homing

50

r/min

{ { { {

P1-50

HOF1

Homing Offset Rotation Number

0

rev

{ { { {

P1-51

HOF2

Homing Offset Pulse Number

0

P1-52

RES1

Regenerative Resistor Value

N/A

Ohm

{ { { {

P1-53

RES2

Regenerative Resistor Capacity

N/A

Watt

{ { { {

P1-54

PER

Positioning Completed Width

100

pulse { {

P1-55

MSPD

Maximum Speed Limit

P1-56

OVW

Output Overload Warning Level

P1-57

Reserved

P1-58

Reserved

P1-59

Reserved

P1-60

Reserved

P1-61

Reserved

P1-62

COKT

P1-43

MBT2

P1-44▲

Delay Time of Internal Position
Command Completed Output Signal

ms

{ { { {

pulse { { { {

rated speed

r/min

{ { { {

120

%

{ { { {

0

ms

{

Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)

7-4

Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series
Group 2: P2-xx

Extension Parameters
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

P2-00

KPP

Proportional Position Loop Gain

35

rad/s

{ {

P2-01

PPR

Position Loop Gain Switching Rate

100

%

{ {

P2-02

PFG

Position Feed Forward Gain

5000

P2-03

PFF

Smooth Constant of Position Feed
Forward Gain

P2-04

KVP

P2-05

T

0.0001 { {

5

ms

Proportional Speed Loop Gain

500

rad/s

{ { { {

SPR

Speed Loop Gain Switching Rate

100

%

{ { { {

P2-06

KVI

Speed Integral Compensation

100

N/A

{ { { {

P2-07

SFG

Speed Feed Forward Gain

0

P2-08■

PCTL

Special Factory Setting

0

N/A

{ { { {

P2-09

DRT

Bounce Filter

2

2ms

{ { { {

P2-10

DI1

Digital Input Terminal 1 (DI1)

101

N/A

{ { { {

P2-11

DI2

Digital Input Terminal 2 (DI2)

104

N/A

{ { { {

P2-12

DI3

Digital Input Terminal 3 (DI3)

116

N/A

{ { { {

P2-13

DI4

Digital Input Terminal 4 (DI4)

117

N/A

{ { { {

P2-14

DI5

Digital Input Terminal 5 (DI5)

102

N/A

{ { { {

P2-15

DI6

Digital Input Terminal 6 (DI6)

22

N/A

{ { { {

P2-16

DI7

Digital Input Terminal 7 (DI7)

23

N/A

{ { { {

P2-17

DI8

Digital Input Terminal 8 (DI8)

21

N/A

{ { { {

P2-18

DO1

Digital Output Terminal 1 (DO1)

101

N/A

{ { { {

P2-19

DO2

Digital Output Terminal 2 (DO2)

103

N/A

{ { { {

P2-20

DO3

Digital Output Terminal 3 (DO3)

109

N/A

{ { { {

P2-21

DO4

Digital Output Terminal 4 (DO4)

105

N/A

{ { { {

P2-22

DO5

Digital Output Terminal 5 (DO5)

7

N/A

{ { { {

P2-23

NCF

Notch Filter (Resonance Suppression)

1000

Hz

{ { { {

P2-24

DPH

Notch Filter Attenuation Rate
(Resonance Suppression)

0

dB

{ { { {

P2-25

NLP

Low-pass Filter Time Constant
(Resonance Suppression)

2 or 5

ms

{ { { {

P2-26

DST

External Anti-Interference Gain

0

P2-27

GCC

Gain Switching Control Selection

0

N/A

{ { { {

P2-28

GUT

Gain Switching Time Constant

10

10ms

{ { { {

P2-29

GPE

Gain Switching Condition

P2-30■

INH

Auxiliary Function

Revision January 2009

10000
0

{ {

0.0001 { { { {

0.001 { { { {

pulse
Kpps { { { {
r/min
N/A

{ { { {

7-5

Chapter 7 Servo Parameters|ASDA-AB Series

Extension Parameters
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

7-6

T

P2-31■

AUT1

Auto Mode Responsiveness Level

44

N/A

{ { { {

P2-32▲

AUT2

Tuning Mode Selection

0

N/A

{ { { {

P2-33▲

INF

Easy Setting of Input Filter

0

N/A

{ { { {

P2-34

SDEV

Overspeed Warning Condition

5000

r/min

P2-35

PDEV

Excessive Error Warning Condition

30000

pulse { {

P2-36
~ P2-43

POV1
~ POV8

Moving Speed Setting of 1st ~ 8th
Position

1000

r/min

{

P2-44

DOM

Digital Output Mode Setting

0

N/A

{

P2-45

DOD

Combination Output Signal Delay Time

1

4ms

{

P2-46

FSN

Feed Step Number

6

N/A

{

P2-47

PED

Position Deviation Clear Delay Time

0

20ms

{

P2-48

BLAS

Backlash Compensation of Feed Step
Control

0

pulse

{

P2-49

SJIT

Speed Detection Filter and Jitter
Suppression

0

sec

{ { { {

P2-50

DCLR

Pulse Deviation Clear Mode

0

N/A

{ {

P2-51

SRON

Servo ON

0

N/A

{ { { {

P2-52

ATM0

Timer 0 of Auto Mode

0

sec

{

P2-53

ATM1

Timer 1 of Auto Mode

0

sec

{

P2-54

ATM2

Timer 2 of Auto Mode

0

sec

{

P2-55

ATM3

Timer 3 of Auto Mode

0

sec

{

P2-56

ATM4

Timer 4 of Auto Mode

0

sec

{

P2-57

ATM5

Timer 5 of Auto Mode

0

sec

{

P2-58

ATM6

Timer 6 of Auto Mode

0

sec

{

P2-59

ATM7

Timer 7 of Auto Mode

0

sec

{

P2-60

GR4

Electronic Gear Ratio (2nd Numerator)
(N2)

1

pulse { {

P2-61

GR5

Electronic Gear Ratio (3rd Numerator)
(N3)

1

pulse { {

P2-62

GR6

Electronic Gear Ratio (4th Numerator)
(N4)

1

pulse { {

P2-63

TSCA

Proportion Value Setting

0

times { { {

P2-64

TLMOD

Torque Limit Mixed Mode

0

N/A

{ { {

P2-65

GBIT

Special Function

0

N/A

{ { {

{

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series
Group 3: P3-xx

Communication Parameters
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

T

P3-00

ADR

Communication Address Setting

1

N/A

{ { { {

P3-01

BRT

Transmission Speed

1

bps

{ { { {

P3-02

PTL

Communication Protocol

0

N/A

{ { { {

P3-03

FLT

Transmission Fault Treatment

0

N/A

{ { { {

P3-04

CWD

Communication Time Out Detection

0

sec

{ { { {

P3-05

CMM

Communication Selection

0

N/A

{ { { {

P3-06■

SDI

Digital Input Communication Function

0

N/A

{ { { {

P3-07

CDT

Communication Response Delay Time

0

0.5ms { { { {

Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)

Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.

Revision January 2009

7-7

Chapter 7 Servo Parameters|ASDA-AB Series
Group 4: P4-xx

Diagnosis Parameters
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

7-8

T

P4-00★

ASH1

Fault Record (N)

0

N/A

{ { { {

P4-01★

ASH2

Fault Record (N-1)

0

N/A

{ { { {

P4-02★

ASH3

Fault Record (N-2)

0

N/A

{ { { {

P4-03★

ASH4

Fault Record (N-3)

0

N/A

{ { { {

P4-04★

ASH5

Fault Record (N-4)

0

N/A

{ { { {

P4-05

JOG

JOG Operation

20

r/min

{ { { {

P4-06▲■

FOT

Force Output Control

0

N/A

{ { { {

P4-07■

ITST

Input Status or Force Input Control

N/A

N/A

{ { { {

P4-08

PKEY

Digital Keypad Input of Servo Drive

N/A

N/A

{ { { {

P4-09★

MOT

Output Status Display

N/A

N/A

{ { { {

P4-10▲

CEN

Adjustment Function

0

N/A

{ { { {

P4-11

SOF1

Analog Speed Input Drift Adjustment 1

Factory
setting

N/A

{ { { {

P4-12

SOF2

Analog Speed Input Drift Adjustment 2

Factory
setting

N/A

{ { { {

P4-13

TOF1

Analog Torque Drift Adjustment 1

Factory
setting

N/A

{ { { {

P4-14

TOF2

Analog Torque Drift Adjustment 2

Factory
setting

N/A

{ { { {

P4-15

COF1

Current Detector Drift Adjustment (V1
phase)

Factory
setting

N/A

{ { { {

P4-16

COF2

Current Detector Drift Adjustment (V2
phase)

Factory
setting

N/A

{ { { {

P4-17

COF3

Current Detector Drift Adjustment (W1
phase)

Factory
setting

N/A

{ { { {

P4-18

COF4

Current Detector Drift Adjustment (W2
phase)

Factory
setting

N/A

{ { { {

P4-19

TIGB

IGBT NTC Calibration

Factory
setting

N/A

{ { { {

P4-20

DOF1

Analog Monitor Output Drift Adjustment
(CH1)

0

mV

{ { { {

P4-21

DOF2

Analog Monitor Output Drift Adjustment
(CH2)

0

mV

{ { { {

P4-22

SAO

Analog Speed Input Offset

0

mV

P4-23

TAO

Analog Torque Input Offset

0

mV

{
{

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series

7.2.2 Parameters List by Function
Monitor and General Use
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

T

Related
Section of
User
Manual

P0-00★

VER

Firmware Version

Factory
setting

N/A

{ {` { {

---

P0-01★

ALE

Drive Fault Code

N/A

N/A

{ { { {

10.1

P0-02

STS

Drive Status

00

N/A

{ { { {

4.3.5

P0-03

MON

Analog Monitor Output

01

N/A

{ { { {

4.3.5

P0-04

CM1

Status Monitor 1

0

N/A

{ { { {

4.3.5

P0-05

CM2

Status Monitor 2

0

N/A

{ { { {

4.3.5

P0-06

CM3

Status Monitor 3

0

N/A

{ { { {

4.3.5

P0-07

CM4

Status Monitor 4

0

N/A

{ { { {

4.3.5

P0-08

CM5

Status Monitor 5

0

N/A

{ { { {

4.3.5

P0-09

MAP0

Block Data Read / Write Register 0

407H

N/A

{ { { {

---

P0-10

MAP1

Block Data Read / Write Register 1

10FH

N/A

{ { { {

---

P0-11

MAP2

Block Data Read / Write Register 2

110H

N/A

{ { { {

---

P0-12

MAP3

Block Data Read / Write Register 3

224H

N/A

{ { { {

---

P0-13

MAP4

Block Data Read / Write Register 4

111H

N/A

{ { { {

---

P0-14

MAP5

Block Data Read / Write Register 5

112H

N/A

{ { { {

---

P0-15

MAP6

Block Data Read / Write Register 6

225H

N/A

{ { { {

---

P0-16

MAP7

Block Data Read / Write Register 7

109H

N/A

{ { { {

---

P0-17

SVSTS Servo Output Status Display

N/A

N/A

{ { { {

---

P1-03

AOUT

Pulse Output Polarity Setting

0

N/A

{ { { {

3.3.3

P1-04

MON1

Analog Monitor Output Proportion 1
(CH1)

100

%

{ { { {

6.4.4

P1-05

MON2

Analog Monitor Output Proportion 2
(CH2)

100

%

{ { { {

6.4.4

Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)

Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.

Revision January 2009

7-9

Chapter 7 Servo Parameters|ASDA-AB Series

Smooth Filter and Resonance Suppression
Parameter

Name

Function

Default

Control
Mode

Unit

Pt Pr S

T

Related
Section of
User
Manual

{

6.3.3

P1-06

SFLT

Accel / Decel Smooth Constant of
Analog Speed Command (Lowpass Filter)

0

ms

P1-07

TFLT

Smooth Constant of Analog Torque
Command (Low-pass Filter)

0

ms

P1-08

PFLT

Smooth Constant of Position
Command (Low-pass Filter)

0

ms

P1-34

TACC

Acceleration Time

200

ms

{ {

6.3.3

P1-35

TDEC

Deceleration Time

200

ms

{ {

6.3.3

P1-36

TSL

Accel /Decel S-curve

0

ms

{ {

6.3.3

P2-23

NCF

Notch Filter (Resonance
Suppression)

1000

Hz

{ { { {

6.3.7

P2-24

DPH

Notch Filter Attenuation Rate
(Resonance Suppression)

0

dB

{ { { {

6.3.7

P2-25

NLP

Low-pass Filter Time Constant
(Resonance Suppression)

2 or 5

ms

{ { { {

6.3.7

P2-33▲

INF

Easy Setting of Input Filter

0

N/A

{ { { {

6.3.6

P2-49

SJIT

Speed Detection Filter and Jitter
Suppression

0

sec

{ { { {

---

{

6.4.3
6.2.6

{

Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)

7-10

Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series

Gain and Switch
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

T

rad/s { {

Related
Section of
User
Manual

P2-00

KPP

Proportional Position Loop Gain

35

P2-01

PPR

Position Loop Gain Switching Rate

100

%

{ {

---

P2-02

PFG

Position Feed Forward Gain

5000

0.0001

{ {

6.2.8

P2-03

PFF

Smooth Constant of Position Feed
Forward Gain

5

ms

{ {

---

P2-04

KVP

Proportional Speed Loop Gain

500

rad/s { { { {

6.3.6

P2-05

SPR

Speed Loop Gain Switching Rate

100

%

{ { { {

---

P2-06

KVI

Speed Integral Compensation

100

N/A

{ { { {

6.3.6

P2-07

SFG

Speed Feed Forward Gain

0

0.0001

{ { {

6.3.6

P2-26

DST

External Anti-Interference Gain

0

0.001 { { { {

P2-27

GCC

Gain Switching Control Selection

0

P2-28

GUT

Gain Switching Time Constant

P2-29

GPE

Gain Switching Condition

P2-31■

AUT1

Auto Mode Responsiveness Level

44

N/A

{ { { {

6.3.6

P2-32▲

AUT2

Tuning Mode Selection

0

N/A

{ { { {

6.3.6

N/A

6.2.8

---

{ { { {

---

10

10ms { { { {

---

10000

pulse
Kpps { { { {
r/min

---

Explanation of symbols (marked after parameter)
(★)
(▲)
(●)
(■)

Read-only register.
Parameter cannot be set when Servo On (when the servo drive is enabled).
Parameter is effective only after the servo drive is restarted (after switching power off and on).
Parameter setting values are not retained when power is off.

Revision January 2009

7-11

Chapter 7 Servo Parameters|ASDA-AB Series

Position Control
Parameter

Name

Function

Default

Control
Mode

Unit

Pt Pr S
P1-01●

CTL

P1-02▲
P1-46▲
P1-55

Control Mode and Output Direction

0

PSTL

Speed and Torque Limit

0

GR3

Encoder Output Pulse Number

MSPD Maximum Speed Limit

P1-12
~ P1-14

TQ1 ~
3

1st ~ 3rd Torque Command

P2-50

DCLR

Pulse Deviation Clear Mode

1st ~ 3rd Torque Limit

T

pulse
r/min { { { {
N.M
N/A

Related
Section of
User
Manual
6.1

{ { { {

6.6

1

pulse { { { {

---

rated
speed

r/min { { { {

---

100

%

0

N/A

{ {

N/A

{

{ { { {

6.4.1
---

External pulse control command (Pt mode)
P1-00▲

PTT

External Pulse Input Type

2

P1-44▲

GR1

Electronic Gear Ratio (1st
Numerator) (N1)

1

pulse { {

6.2.5

P1-45▲

GR2

Electronic Gear Ratio
(Denominator)

1

pulse { {

6.3.6

P2-60

GR4

Electronic Gear Ratio (2nd
Numerator) (N2)

1

pulse { {

---

P2-61

GR5

Electronic Gear Ratio (3rd
Numerator) (N3)

1

pulse { {

---

P2-62

GR6

Electronic Gear Ratio (4th
Numerator) (N4)

1

pulse { {

---

6.2.1

Internal pulse control command (Pr mode)

P1-15
~ P1-30

P2-36
~ P2-43
P1-33●

7-12

PO1H
~
PO8H

1st ~ 8th Position command for
Rotation

0

N/A

{

6.2.2

1000

r/min

{

6.2.2

0

N/A

{

6.2.2

00

N/A

PO1L ~ 1st ~ 8th Position command for
PO8L Pulse
POV1 Moving Speed Setting of 1st ~ 8th
~ POV8 Position
POSS

Position Control Mode (Pr)

P1-47

HMOV Homing Mode

{ { { {

12.8

P1-48

HSPD1

1st Speed Setting of High Speed
Homing

1000

r/min { { { {

12.8

P1-49

HSPD2

2nd Speed Setting of Low Speed
Homing

50

r/min { { { {

12.8

P1-50

HOF1

Homing Offset Rotation Number

0

P1-51

HOF2

Homing Offset Pulse Number

0

P1-62

COKT

Delay Time of Internal Position
Command Completed Output
Signal

0

rev

{ { { {

---

pulse { { { {

---

ms

{

---

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series

Position Control
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

T

Related
Section of
User
Manual

P2-45

DOD

Combination Output Signal Delay
Time

1

4ms

{

12.6

P2-46

FSN

Feed Step Number

6

N/A

{

12.6

P2-47

PED

Position Deviation Clear Delay
Time

0

20ms

{

12.6

P2-48

BLAS

Backlash Compensation of Feed
Step Control

0

pulse

{

12.6

P2-52

ATM0

Timer 0 of Auto Mode

0

sec

{

12.6

P2-53

ATM1

Timer 1 of Auto Mode

0

sec

{

---

P2-54

ATM2

Timer 2 of Auto Mode

0

sec

{

---

P2-55

ATM3

Timer 3 of Auto Mode

0

sec

{

---

P2-56

ATM4

Timer 4 of Auto Mode

0

sec

{

---

P2-57

ATM5

Timer 5 of Auto Mode

0

sec

{

---

P2-58

ATM6

Timer 6 of Auto Mode

0

sec

{

---

P2-59

ATM7

Timer 7 of Auto Mode

0

sec

{

---

Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.

Revision January 2009

7-13

Chapter 7 Servo Parameters|ASDA-AB Series

Speed Control
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

P1-01●

CTL

P1-02▲
P1-46▲
P1-55

Control Mode and Output Direction

0

PSTL

Speed and Torque Limit

0

GR3

Encoder Output Pulse Number

MSPD Maximum Speed Limit

pulse
r/min { { { {
N.M
N/A

6.6

1

pulse { { { {

---

rated
speed

r/min { { { {

---

100 ~
300

r/min

100

%

SP1 ~
3

1st ~ 3rd Speed Command

P1-12
~ P1-14

TQ1 ~
3

1st ~ 3rd Torque Command

P1-40▲

VCM

Max. Analog Speed Command or
Limit

rated
speed

r/min

P1-41▲

TCM

Max. Analog Torque Command or
Limit

100

%

P2-63

TSCA

Proportion Value Setting

P2-64

1st ~ 3rd Torque Limit

TLMOD Torque Limit Mixed Mode

6.1

{ { { {

P1-09
~ P1-11

1st ~ 3rd Speed Limit

T

Related
Section of
User
Manual

0
0

{ {

6.3.1

{ { { {

6.6.2

{ {

6.3.4

{ { { {

times { { {
N/A

{ { {

-------

Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.

7-14

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series

Torque Control
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

P1-01●

CTL

P1-02▲
P1-46▲
P1-55

Control Mode and Output Direction

0

PSTL

Speed and Torque Limit

0

GR3

Encoder Output Pulse Number

MSPD Maximum Speed Limit

pulse
r/min { { { {
N.M
N/A

6.6

1

pulse { { { {

---

rated
speed

r/min { { { {

---

100 ~
300

r/min

100

%

SP1 ~
3

1st ~ 3rd Speed Command

P1-12
~ P1-14

TQ1 ~
3

1st ~ 3rd Torque Command

P1-40▲

VCM

Max. Analog Speed Command or
Limit

rated
speed

r/min

P1-41▲

TCM

Max. Analog Torque Command or
Limit

100

%

1st ~ 3rd Torque Limit

6.1

{ { { {

P1-09
~ P1-11

1st ~ 3rd Speed Limit

T

Related
Section of
User
Manual

{ {

6.6.1

{ { { {

6.4.1

{ {
{ { { {

--6.4.4

Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.

Revision January 2009

7-15

Chapter 7 Servo Parameters|ASDA-AB Series

Digital I/O and relative input output setting
Digital I/O
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

2

T

Related
Section of
User
Manual

P2-09

DRT

Bounce Filter

2ms { { { {

P2-10

DI1

Digital Input Terminal 1 (DI1)

101

N/A

{ { { {

P2-11

DI2

Digital Input Terminal 2 (DI2)

104

N/A

{ { { {

P2-12

DI3

Digital Input Terminal 3 (DI3)

116

N/A

{ { { {

P2-13

DI4

Digital Input Terminal 4 (DI4)

117

N/A

{ { { {

P2-14

DI5

Digital Input Terminal 5 (DI5)

102

N/A

{ { { {

P2-15

DI6

Digital Input Terminal 6 (DI6)

22

N/A

{ { { {

P2-16

DI7

Digital Input Terminal 7 (DI7)

23

N/A

{ { { {

P2-17

DI8

Digital Input Terminal 8 (DI8)

21

N/A

{ { { {

P2-18

DO1

Digital Output Terminal 1 (DO1)

101

N/A

{ { { {

P2-19

DO2

Digital Output Terminal 2 (DO2)

103

N/A

{ { { {

P2-20

DO3

Digital Output Terminal 3 (DO3)

109

N/A

{ { { {

P2-21

DO4

Digital Output Terminal 4 (DO4)

105

N/A

{ { { {

P2-22

DO5

Digital Output Terminal 5 (DO5)

7

N/A

{ { { {

P1-38

ZSPD

Zero Speed Range Setting

10

r/min { { { {

---

P1-39

SSPD

Target Motor Speed

3000

r/min { { { {

---

P1-42

MBT1

On Delay Time of Electromagnetic
Brake

0

ms

{ { { {

6.5.5

P1-43

MBT2

OFF Delay Time of Electromagnetic
Brake

0

ms

{ { { {

6.5.5

P1-54

PER

Positioning Completed Width

100

P1-56

OVW

Output Overload Warning Level

120

pulse { {
%

Table 7.A

Table 7.B

---

{ { { {

---

Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.

7-16

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series

Communication
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

T

Related
Section of
User
Manual

P3-00

ADR

Communication Address Setting

1

N/A

{ { { {

8.2

P3-01

BRT

Transmission Speed

1

bps

{ { { {

8.2

P3-02

PTL

Communication Protocol

0

N/A

{ { { {

8.2

P3-03

FLT

Transmission Fault Treatment

0

N/A

{ { { {

8.2

P3-04

CWD

Communication Time Out Detection

0

sec

{ { { {

8.2

P3-05

CMM

Communication Selection

0

N/A

{ { { {

8.2

P3-06■

SDI

Digital Input Communication
Function

0

N/A

{ { { {

8.2

P3-07

CDT

Communication Response Delay
Time

0

0.5ms { { { {

---

Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.

Revision January 2009

7-17

Chapter 7 Servo Parameters|ASDA-AB Series

Diagnosis
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

7-18

T

Related
Section of
User
Manual

P4-00★

ASH1

Fault Record (N)

0

N/A

{ { { {

4.4.1

P4-01★

ASH2

Fault Record (N-1)

0

N/A

{ { { {

4.4.1

P4-02★

ASH3

Fault Record (N-2)

0

N/A

{ { { {

4.4.1

P4-03★

ASH4

Fault Record (N-3)

0

N/A

{ { { {

4.4.1

P4-04★

ASH5

Fault Record (N-4)

0

N/A

{ { { {

4.4.1

P4-05

JOG

JOG Operation

20

r/min { { { {

4.4.2

P4-06▲■

FOT

Force Output Control

0

N/A

{ { { {

4.4.4

P4-07■

ITST

N/A

N/A

{ { { {

4.4.5

P4-08

PKEY

Digital Keypad Input of Servo Drive

N/A

N/A

{ { { {

---

P4-09★

MOT

Output Status Display

N/A

N/A

{ { { {

4.4.6

P4-10▲

CEN

Adjustment Function

0

N/A

{ { { {

---

P4-11

SOF1

Analog Speed Input Drift
Adjustment 1

Factory
setting

N/A

{ { { {

---

P4-12

SOF2

Analog Speed Input Drift
Adjustment 2

Factory
setting

N/A

{ { { {

---

P4-13

TOF1

Analog Torque Drift Adjustment 1

Factory
setting

N/A

{ { { {

---

P4-14

TOF2

Analog Torque Drift Adjustment 2

Factory
setting

N/A

{ { { {

---

P4-15

COF1

Current Detector Drift Adjustment
(V1 phase)

Factory
setting

N/A

{ { { {

---

P4-16

COF2

Current Detector Drift Adjustment
(V2 phase)

Factory
setting

N/A

{ { { {

---

P4-17

COF3

Current Detector Drift Adjustment
(W1 phase)

Factory
setting

N/A

{ { { {

---

P4-18

COF4

Current Detector Drift Adjustment
(W2 phase)

Factory
setting

N/A

{ { { {

---

P4-19

TIGB

IGBT NTC Calibration

Factory
setting

N/A

{ { { {

---

P4-20

DOF1

Analog Monitor Output Drift
Adjustment (CH1)

0

mV

{ { { {

6.4.4

P4-21

DOF2

Analog Monitor Output Drift
Adjustment (CH2)

0

mV

{ { { {

6.4.4

P4-22

SAO

Analog Speed Input Offset

0

mV

P4-23

TAO

Analog Torque Input Offset

0

mV

Input Status or Force Input

Control

---

{
{

---

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series

Others
Parameter

Name

Function

Default

Unit

Control
Mode
Pt Pr S

T

Related
Section of
User
Manual

P1-31

MSE

Motor Type Selection

0

N/A

{ { { {

---

P1-32

LSTP

Motor Stop Mode Selection

0

N/A

{ { { {

---

P1-37

GDR

Ratio of Load Inertia to Servo Motor
Inertia

5.0

times { { { {

6.3.6

P1-52

RES1

Regenerative Resistor Value

N/A

Ohm { { { {

6.6.3

P1-53

RES2

Regenerative Resistor Capacity

N/A

Watt { { { {

6.6.3

P1-57

Reserved

---

P1-58

Reserved

---

P1-59

Reserved

---

P1-60

Reserved

---

P1-61

Reserved

---

Special Factory Setting

0

N/A

{ { { {

---

Auxiliary Function

0

N/A

{ { { {

---

Overspeed Warning Condition

5000

r/min

Excessive Error Warning Condition

30000

pulse { {

P2-08■

PCTL

P2-30■

INH

P2-34

SDEV

P2-35

PDEV

P2-51

SRON Servo ON

0

P2-63

TSCA

Proportion Value Setting

0

P2-65

GBIT

Special Function

0

N/A

{
{ { { {

times { { {
N/A

{ { {

----12.6
-----

Explanation of symbols (marked after parameter)
(★)
Read-only register.
(▲)
Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)
Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)
Parameter setting values are not retained when power is off.

Revision January 2009

7-19

Chapter 7 Servo Parameters|ASDA-AB Series

7.3

Detailed Parameter Listings

Group 0: P0-xx Monitor Parameters
P0 - 00★ VER

Firmware Version

Default: Factory setting

Communication Addr.: 0000H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: N/A

P0 - 01★ ALE

Drive Fault Code

Communication Addr.: 0001H

Default: Factory setting

Related Section:

Applicable Control Mode: ALL

Chapter 10

Unit: N/A
Range: 00 ~ 23
Settings:
01: Overcurrent

21: DSP to MCU command write-in error

02: Overvoltage

22: Input power phase loss

03: Undervoltage

23: Pre-overload warning

04: Z Pulse shift
05: Regeneration error
06: Overload
07: Overspeed
08: Abnormal pulse control command
09: Excessive deviation
10: Watch dog fault
11: Position detector fault
12: Adjustment error
13: Emergency stop
14: Reverse limit error
15: Forward limit error
16: IGBT temperature error
17: Memory error
18: DSP communication error
19: Serial communication error
20: Serial communication time out

7-20

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series
P0 - 02

STS

Drive Status

Communication Addr.: 0002H

Default: 00

Related Section:

Applicable Control Mode: ALL

Section 4.3.5

Unit: N/A
Range: 00 ~ 16
Settings:
00: Motor feedback pulse number (absolute value) [pulse]
01: Motor feedback rotation number (absolute value) [rev]
02: Pulse counts of pulse command [pulse]
03: Rotation number of pulse command [rev]
04: Position error counts [pulse]
05: Input frequency of pulse command [Kpps]
06: Motor speed [r/min]
07: Speed input command [Volt]
08: Speed input command [r/min]
09: Torque input command [Volt]
10: Torque input command [%]
11: Average load [%]
12: Peak load [%]
13: Main circuit voltage [Volt]
14: Ratio of load inertia to motor inertia [time]
15: Motor feedback pulse number (relative value) / Position latch pulse number [pulse]
16: Motor feedback rotation number (relative value) / Position latch rotation number [rev]

Revision January 2009

7-21

Chapter 7 Servo Parameters|ASDA-AB Series
P0 - 03

MON

Analog Monitor Output

Communication Addr.: 0003H

Default: 01

Related Section:

Applicable Control Mode: ALL

Section 4.3.5

Unit: N/A
Range: 00 ~ 55
Settings:

A: CH1
B: CH2
not used
AB: (A: CH1; B: CH2)
0: Motor speed (+/-8V / maximum motor speed)
1: Motor torque (+/-8V / maximum torque)
2: Pulse command frequency (+8Volts / 650Kpps)
3: Speed command (+/-8Volts / maximum speed command)
4: Torque command (+/-8Volts / maximum torque command)
5: V_BUS voltage (+/-8Volts / 450V)
Note: For the setting of analog output voltage proportion, refer to the P1-04 and P1-05.
Example:
P0-03 = 01(CH1 is speed analog output)
Motor speed = (Max. motor speed × V1/8) × P1-04/100, when the output voltage value of CH1 is
V1.

P0 - 04

CM1

Status Monitor 1

Communication Addr.: 0004H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.3.5

Unit: N/A
Range: 0 ~ 16
Settings:
Select the desired drive status through communication setting or the keypad (please refer to P002). The drive status can be read from the communication address of this parameter via
communication port.
For example:
Set P0-04 to 1 and then all consequent reads of P0-04 will return the motor feedback rotation
number in revolution.

7-22

Revision January 2009

Chapter 7 Servo Parameters|ASDA-AB Series
P0 - 05

CM2

Status Monitor 2

Communication Addr.: 0005H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.3.5

Unit: N/A
Range: 0 ~ 16
Settings: See P0-04 for explanation.

P0 - 06

CM3

Status Monitor 3

Communication Addr.: 0006H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.3.5

Unit: N/A
Range: 0 ~ 16
Settings: See P0-04 for explanation.

P0 - 07

CM4

Status Monitor 4

Communication Addr.: 0007H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.3.5

Unit: N/A
Range: 0 ~ 17
Settings:
Select the desired drive status through communication setting or the keypad (please refer to P002). The drive status can be read from the communication address of this parameter via
communication port. If users set this parameter to 17, the status of DI signal can be read.

P0 - 08

CM5

Status Monitor 5

Communication Addr.: 0008H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.3.5

Unit: N/A
Range: 0 ~ 17
Settings:
Select the desired drive status through communication setting or the keypad (please refer to P002). The drive status can be read from the communication address of this parameter via
communication port. If users set this parameter to 17, the status of DO signal can be read.

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Chapter 7 Servo Parameters|ASDA-AB Series
P0 - 09

MAP0

Block Data Read / Write Register 0

Default: 407H

Communication Addr.: 0009H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings:
Set the register address in HEX that users want to read and write by using the keypad.
Users can enter the desired register address (0100H ~ 0417H) into P0-09 to P0-16 (0009H ~
0010H). Then, users can read and write up to 8 continuous specified block data from the
communication address 0009H to 0010H through the communication port.
For example, if setting P0-09 to 407 by using the keypad, when the users read and write the
data from communication address 0009H, it means that the read and write value is the setting
value of parameter P4-07.

P0 - 10

MAP1

Block Data Read / Write Register 1

Default: 10FH

Communication Addr.: 000AH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings: See P0-09 for explanation.

P0 - 11

MAP2

Block Data Read / Write Register 2

Default: 110H

Communication Addr.: 000BH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings: See P0-09 for explanation.

P0 - 12

MAP3

Block Data Read / Write Register 3

Default: 224H

Communication Addr.: 000CH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings: See P0-09 for explanation.

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P0 - 13

MAP4

Block Data Read / Write Register 4

Default: 111H

Communication Addr.: 000DH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings: See P0-09 for explanation.

P0 - 14

MAP5

Block Data Read / Write Register 5

Default: 112H

Communication Addr.: 000EH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings: See P0-09 for explanation.

P0 - 15

MAP6

Block Data Read / Write Register 6

Default: 225H

Communication Addr.: 000FH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings: See P0-09 for explanation.

P0 - 16

MAP7

Block Data Read / Write Register 7

Default: 109H

Communication Addr.: 0010H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 100H ~ 417H
Settings: See P0-09 for explanation.

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Chapter 7 Servo Parameters|ASDA-AB Series
P0 - 17

SVSTS

Servo Output Status Display

Communication Addr.: 0011H

Default: N/A

Related Section:

Applicable Control Mode: ALL

Table 7.B

Unit: N/A
Range: N/A
Settings:
This parameter is used to display the digital output signal of the servo drive. The servo output
status display will show in hexadecimal format.
Bit0: SRDY (Servo ready)
Bit1: SON (Servo On)
Bit2: ZSPD (At Zero speed)
Bit3: TSPD (At Speed reached)
Bit4: TPOS (At Positioning completed)
Bit5: TQL (At Torque limit)
Bit6: Reserved
Bit7: Reserved
Bit8: OLW (Output overload warning)
Bit9: WARN (Servo warning activated)
Bit10: CMDOK (Internal position command completed)
Bit11: Reserved
Bit12: Reserved
Bit13: ALRM (Servo alarm activated)
Bit14: BRKR (Electromagnetic brake control)
Bit15: HOME (Homing completed)
The servo output status display can be monitored through communication also.

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Chapter 7 Servo Parameters|ASDA-AB Series
Group 1: P1-xx Basic Parameters
P1 - 00▲ PTT

External Pulse Input Type

Communication Addr.: 0100H

Default: 2

Related Section:

Applicable Control Mode: Pt

Section 6.2.1

Unit: N/A
Range: 0 ~ 132
Settings:
• Value A: Pulse type
A=0: AB phase pulse (4x)

A
B
C
not used

A=1: CW + CCW pulse
A=2: Pulse + Direction
• Value B: Input pulse filter
B=0: 500Kpps
B=1: 200Kpps
B=2: 150Kpps
B=3: 80Kpps
This setting is used to suppress or reduce the chatter
caused by the noise, etc. However, if the instant input
pulse filter frequency is over high, the frequency that
exceeds the setting value will be regarded as noise and
filtered.

• Value C: Logic type
0=Positive Logic

Pulse Type

Forward

1=Negative Logic

Reverse

Forward

Reverse

AB phase pulse

CW + CCW pulse

Pulse + Direction

Input pulse interface

Max. input pulse frequency

Line driver

500Kpps

Open collector

200Kpps

• Other setting: Reversed

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 01● CTL

Control Mode and Output Direction

Communication Addr.: 0101H

Default: 00

Related Section:

Applicable Control Mode: ALL

Section 6.1

Unit: pulse (P mode), r/min (S mode), N.M (T mode)
Range: 0 ~ 1110
Settings:

A
B
C
not used
•

A: Control mode settings

•

B: Torque output direction settings

•

C=1: When switching to different mode, DIO (P2-10 ~ P2-22) can be reset to be the default
value of the mode you switch to.
C=0: When switching to different mode, the setting value of DIO (P2-10 ~ P2-22) will remain
the same and will not be changed.

• Control Mode Settings:
Pt
00

Pr

S

• Torque Output Direction Settings:
T

Tz

0

1

▲

01

▲

02

Forward
▲

03

▲

04

▲

05

▲

06

▲

07

▲

Reverse

▲
▲

08

▲

09

▲

10

Sz

▲
▲
▲

▲

Pt: Position control mode (command from external signal)
Pr: Position control mode (command from internal signal)
S: Speed control mode (external signal / internal signal)
T: Torque control mode (external signal / internal signal)
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command

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P1 - 02▲ PSTL

Speed and Torque Limit

Communication Addr.: 0102H

Default: 00

Related Section:

Applicable Control Mode: ALL

Section 6.6

Unit: N/A
Range: 0 ~ 11
Settings:

A
B
not used
•

A=0: Disable speed limit function
A=1: Enable speed limit function (It is available in torque mode)
Other: Reserved
Vref

(0)
P1-09(1)
P1-10(2)
P1-11(3)

Speed Limit
Command

SPD0
SPD1

•

B=0: Disable torque limit function
B=1: Enable torque limit function (It is available in position and speed mode)
Other: Reserved

Tref

(0)
P1-12(1)
P1-13(2)
P1-14(3)

Torque Limit
Command

TCM0
TCM1

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 03

AOUT

Pulse Output Polarity Setting

Communication Addr.: 0103H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 3.3.3

Unit: N/A
Range: 0 ~ 1
Settings:

A
B
not used
A: Monitor analog output polarity

B: Position pulse output polarity

A=0: MON1(+), MON2(+)

B=0: Forward output

A=1: MON1(+), MON2(-)

B=1: Reverse output

A=2: MON1(-), MON2(+)
A=3: MON1(-), MON2(-)

P1 - 04

MON1

Analog Monitor Output Proportion 1 (CH1)

Communication Addr.: 0104H

Default: 100

Related Section:

Applicable Control Mode: ALL

Section 6.4.4

Unit: % (full scale)
Range: 0 ~ 100

P1 - 05

MON2

Analog Monitor Output Proportion 2 (CH2)

Communication Addr.: 0105H

Default: 100

Related Section:

Applicable Control Mode: ALL

Section 6.4.4

Unit: % (full scale)
Range: 0 ~ 100

P1 - 06

SFLT

Accel / Decel Smooth Constant of Analog Speed
Communication Addr.: 0106H
Command (Low-pass Filter)

Default: 0

Related Section:

Applicable Control Mode: S

Section 6.3.3

Unit: ms
Range: 0 ~ 1000 (0: Disabled)

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P1 - 07

TFLT

Smooth Constant of Analog Torque Command
(Low-pass Filter)

Communication Addr.: 0107H

Default: 0

Related Section:

Applicable Control Mode: T

Section 6.4.3

Unit: ms
Range: 0 ~ 1000 (0: Disabled)

P1 - 08

PFLT

Smooth Constant of Position Command (Lowpass Filter)

Communication Addr.: 0108H

Default: 0

Related Section:

Applicable Control Mode: Pt

Section 6.2.6

Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)

P1 - 09

SP1

1st Speed Command or Limit

Communication Addr.: 0109H

Default: 100

Related Section:

Applicable Control Mode: S, T

Section 6.3.1

Unit: r/min
Range: -5000 ~ +5000
Settings:
1st Speed Command
In Speed mode, this parameter is used to set speed 1 of internal speed command. For the
decimal place setting of internal speed command, please refer to P2-63.
1st Speed Limit
In Torque mode, this parameter is used to set speed limit 1 of internal speed command.

P1 - 10

SP2

2nd Speed Command or Limit

Communication Addr.: 010AH

Default: 200

Related Section:

Applicable Control Mode: S, T

Section 6.3.1

Unit: r/min
Range: -5000 ~ +5000
Settings:
2nd Speed Command
In Speed mode, this parameter is used to set speed 2 of internal speed command. For the
decimal place setting of internal speed command, please refer to P2-63.
2nd Speed Limit
In Torque mode, this parameter is used to set speed limit 2 of internal speed command.

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 11

SP3

3rd Speed Command or Limit

Communication Addr.: 010BH

Default: 300

Related Section:

Applicable Control Mode: S, T

Section 6.3.1

Unit: r/min
Range: -5000 ~ +5000
Settings:
3rd Speed Command
In Speed mode, this parameter is used to set speed 3 of internal speed command. For the
decimal place setting of internal speed command, please refer to P2-63.
3rd Speed Limit
In Torque mode, this parameter is used to set speed limit 3 of internal speed command.

P1 - 12

TQ1

1st Torque Command or Limit

Communication Addr.: 010CH

Default: 100

Related Section:

Applicable Control Mode: T, P/S

Section 6.4.1

Unit: %
Range: -300 ~ +300
Settings:
1st Torque Command
In Torque mode, this parameter is used to set torque 1 of internal torque command.
1st Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 1 of internal torque
command.
Digital output signal TQL is activated when the drive has detected that the motor has reached
the torques limits set by either the parameters P1-12 ~ P1-14 of via an external analog voltage.

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P1 - 13

TQ2

2nd Torque Command or Limit

Communication Addr.: 010DH

Default: 100

Related Section:

Applicable Control Mode: T, P/S

Section 6.4.1

Unit: %
Range: -300 ~ +300
Settings:
2nd Torque Command
In Torque mode, this parameter is used to set torque 2 of internal torque command.
2nd Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 2 of internal torque
command.
Digital output signal TQL is activated when the drive has detected that the motor has reached
the torques limits set by either the parameters P1-12 ~ P1-14 of via an external analog voltage.

P1 - 14

TQ3

3rd Torque Command or Limit

Communication Addr.: 010EH

Default: 100

Related Section:

Applicable Control Mode: T, P/S

Section 6.4.1

Unit: %
Range: -300 ~ +300
Settings:
3rd Speed Command
In Torque mode, this parameter is used to set torque 3 of internal torque command.
3rd Speed Limit
In Position and Speed mode, this parameter is used to set torque limit 3 of internal torque
command.
Digital output signal TQL is activated when the drive has detected that the motor has reached
the torques limits set by either the parameters P1-12 ~ P1-14 of via an external analog voltage.

P1 - 15

PO1H

1st Position Command for Rotation

Communication Addr.: 010FH

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 1.

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P1 - 16

PO1L

1st Position Command for Pulse

Communication Addr.: 0110H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 1.
Stroke1 = PO1H × (cnt/rev) + PO1L

P1 - 17

PO2H

2nd Position Command for Rotation

Communication Addr.: 0111H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 2.

P1 - 18

PO2L

2nd Position Command for Pulse

Communication Addr.: 0112H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 2.
Stroke2 = PO2H × (cnt/rev) + PO2L

P1 - 19

PO3H

3rd Position Command for Rotation

Communication Addr.: 0113H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 3.

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P1 - 20

PO3L

3rd Position Command for Pulse

Communication Addr.: 0114H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 3.
Stroke3 = PO3H × (cnt/rev) + PO3L

P1 - 21

PO4H

4th Position Command for Rotation

Communication Addr.: 0115H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 4.

P1 - 22

PO4L

4th Position Command for Pulse

Communication Addr.: 0116H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 4.
Stroke4 = PO4H × (cnt/rev) + PO4L

P1 - 23

PO5H

5th Position Command for Rotation

Communication Addr.: 0117H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 5.

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 24

PO5L

5th Position Command for Pulse

Communication Addr.: 0118H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 5.
Stroke5 = PO5H × (cnt/rev) + PO5L

P1 - 25

PO6H

6th Position Command for Rotation

Communication Addr.: 0119H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 6.

P1 - 26

PO6L

6th Position Command for Pulse

Communication Addr.: 011AH

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 6.
Stroke6 = PO6H × (cnt/rev) + PO6L

P1 - 27

PO7H

7th Position Command for Rotation

Communication Addr.: 011BH

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 7.

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 28

PO7L

7th Position Command for Pulse

Communication Addr.: 011CH

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 7.
Stroke7 = PO7H × (cnt/rev) + PO7L

P1 - 29

PO8H

8th Position Command for Rotation

Communication Addr.: 011DH

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 8.

P1 - 30

PO8L

8th Position Command for Pulse

Communication Addr.: 011EH

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 8.
Stroke8 = PO8H × (cnt/rev) + PO8L

P1 - 31

MSE

Motor Type Selection

Default: 0

Communication Addr.: 011FH
Related Section:-

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 1
Settings:
This parameter is used to select the type of the servo motor controlled by the servo drive.
0: ECMA series servo motor or ASMT series low inertia servo motor
1: ASMT series medium servo motor

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 32

LSTP

Motor Stop Mode Selection

Communication Addr.: 0120H

Default: 0

Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 11
Settings:
This parameter is used to select servo motor stop mode.
When a fault occurs (except for CWL, CCWL, EMGS and serial communication error), it is used
to set servo motor stop mode.
• A=0: Stop instantly
• A=1: Decelerate to stop

A
B
not used

• B=0: Use dynamic brake when Servo Off (when the
servo drive is Off).
• B=1: Allow servo motor to coast to stop when Servo
Off (when the servo drive is Off).

P1 - 33●

POSS

Position Control Mode (Pr)

Communication Addr.: 0121H

Default: 0

Related Section:

Applicable Control Mode: Pr

Section 6.2.2

Unit: N/A
Range: 0 ~ 6
Settings:
This parameter determines the specific type of position control for Pr mode with the internal
INDEX number. (Please refer to Chapter 6 and Chapter 12 for explanation and examples.)
0: Absolute positioning mode
1: Incremental positioning mode
2: Forward operation feed step mode
3: Reverse operation feed step mode
4: Shortest path feed step mode
5: Continuous auto-running positioning mode (Absolute)
6: Continuous auto-running positioning mode (Incremental)
7: One-cycle auto-running positioning mode (Absolute)
8: One-cycle auto-running positioning mode (Incremental)
This function when changed from absolute to incremental or incremental to absolute only gets
registered in the drive after switching power off and on.

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P1 - 34

TACC

Acceleration Time

Communication Addr.: 0122H

Default: 200

Related Section:

Applicable Control Mode: Pr, S

P1-35, P1-36, Section 6.3.3

Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step acceleration time.
It is used to determine the acceleration time to accelerate from 0 to its rated motor speed. (When
P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

P1 - 35

TDEC

Deceleration Time

Communication Addr.: 0123H

Default: 200

Related Section:

Applicable Control Mode: Pr, S

P1-34, P1-36, Section 6.3.3

Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step deceleration time.
It is used to determine the deceleration time to decelerate from its rated motor speed to 0.
(When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled.)

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 36

TSL

Accel /Decel S-curve

Communication Addr.: 0124H

Pr mode Default: 20 (See Note 2)

Related Section:

Other mode Default: 0

P1-34, P1-35,

Unit: ms

Section 6.2.4 (Pr mode),

Range: 0 ~ 10000 (0: Disabled)

Section 6.3.3 (S mode)

Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.

TSL: P1-36, Accel /Decel S-curve
TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL

NOTE
1) If the control of the servo motor is achieved via internal parameters, the command curve
should be defined by the users. Therefore, when the command source is internal parameter,
ensure that the setting value of P1-36 is not set to 0 or the servo motor will not accelerate or
decelerate during operation.
2) So if users change the control mode to Pr mode and switching power off and on, the servo
drive of parameter P1-36 will auto set the value to 20.

P1 - 37

GDR

Ratio of Load Inertia to Servo Motor Inertia

Communication Addr.: 0125H

Default: 5.0

Related Section:

Applicable Control Mode: ALL

Section 6.3.6

Unit: times
Range: 0 ~ 200.0
Settings:
Ratio of load inertia to servo motor inertia: (J_load /J_motor)

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 38

ZSPD

Zero Speed Range Setting

Default: 10

Communication Addr.: 0126H
Related Section: N/A

Applicable Control Mode: ALL
Unit: r/min
Range: 0 ~ 200
Settings:
This parameter is used to set output range of zero speed signal (ZSPD).
ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range
setting as defined in parameter P1-38.
For Example, at default ZSPD will be activated when the drive detects the motor rotating at
speed at or below 10 r/min. ZSPD will remain activated until the motor speed increases above
10 r/min.

P1 - 39

SSPD

Target Motor Speed

Default: 3000

Communication Addr.: 0127H
Related Section: N/A

Applicable Control Mode: ALL
Unit: r/min
Range: 0 ~ 5000
Settings:
When target motor speed reaches its preset value, digital output (TSPD) is enabled. When the
forward and reverse speed of servo motor is equal and higher than the setting value, the motor
will reach the target motor speed, and then TSPD signal will output.
TSPD is activated once the drive has detected the motor has reached the Target Motor Speed
setting as defined in parameter P1-39. TSPD will remain activated until the motor speed drops
below the Target Motor Speed.

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Chapter 7 Servo Parameters|ASDA-AB Series
P1 - 40▲ VCM

Max. Analog Speed Command or Limit

Communication Addr.: 0128H

Default: rated speed

Related Section:

Applicable Control Mode: S/T

Section 6.3.4, P1-55

Unit: r/min
Range: 0 ~ 10000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V) of
the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it indicates that
the speed command is 3000 r/min. If P1-40 is set to 3000, but the input voltage is changed to 5V,
then the speed command is changed to 1500 r/min.
Speed command / limit = Input voltage x setting/10

P1 - 41▲ TCM

Max. Analog Torque Command or Limit

Communication Addr.: 0129H

Default: 100

Related Section:

Applicable Control Mode: ALL

Section 6.4.4

Unit: %
Range: 0 ~ 1000
Settings:
In Torque mode, this parameter is used to set the output torque at maximum input voltage (10V)
of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at maximum input
voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that
the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is
changed to 5V, then the torque command is changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)

P1 - 42

MBT1

On Delay Time of Electromagnetic Brake

Communication Addr.: 012AH

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 6.5.5

Unit: ms
Range: 0 ~ 1000
Settings:
Used to set the period of time between when the servo drive is On (Servo On) and when
electromagnetic brake output signal (BRKR) is activated.

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P1 - 43

MBT2

OFF Delay Time of Electromagnetic Brake

Communication Addr.: 012BH

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 6.5.5

Unit: ms
Range: 0 ~ 1000
Settings:
Used to set the period of time between when the servo drive is Off (Servo Off) and when
electromagnetic brake output signal (BRKR) is inactivated.

NOTE
1) When MBT2 delay time has not finished and motor speed is lower than the setting value of
P1-38, electromagnetic brake interlock signal (BRKR) is closed.
2) When MBT2 delay time has finished and motor speed is still higher than the setting value of
P1-38, electromagnetic brake interlock signal (BRKR) is closed.

P1 - 44▲ GR1

Electronic Gear Ratio (1st Numerator) (N1)

Communication Addr.: 012CH

Default: 1

Related Section:

Applicable Control Mode: Pt, Pr

Section 6.2.5

Unit: Pulse
Range: 1 ~ 32767
Settings:
Multiple-step electronic gear numerator setting. Please refer to P2-60~P2-62.

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P1 - 45▲ GR2

Electronic Gear Ratio (Denominator)

Communication Addr.: 012DH

Default: 1

Related Section:

Applicable Control Mode: Pt, Pr

Section 6.3.6

Unit: Pulse
Range: 1 ~ 32767
Settings:
Electronic gear denominator setting.
It is recommended to set electronic gear ratio when the servo drive is Off. As the wrong setting
may cause motor to run chaotically (out of control) and it may lead to personnel injury, therefore,
ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62):

Pulse input
f1

N
M

Position
command
N
f2 = f1 x M

f1: Pulse input
f2: Position command
N: Numerator 1, 2, 3, 4, the setting value of P1-44 or P2-60 ~ P2-63
M: Denominator, the setting value of P1-45
The electronic gear ratio setting range must be within: 1/50PL, Tpl = PL
If |Tref|NL, Tnl = NL
2: Torque limit mixed mode (Positive)
If 0PL, Tpl = PL
If Tref<0, Tpl,Tnl = 0
3: Torque limit mixed mode (Negative)
If Tref>0, Tpl,Tnl = 0
If -NL
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
5: Modbus ASCII mode, <8,O,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
This parameter is used to set the communication protocol. The alphanumeric characters
represent the following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non,
Even or Odd; the 1 or 2 is the numbers of stop bits.

P3 - 03

FLT

Transmission Fault Treatment

Communication Addr.: 0303H

Default: 0

Related Section:

Applicable Control Mode: P, S, T

Section 8.2

Unit: N/A
Range: 0~1
Settings:
0: Display fault and continue operating
1: Display fault and stop operating
This parameter is used to determine the operating sequence once a communication fault has
been detected. If '1' is selected, the drive will stop operating upon detection the communication
fault. The mode of stopping is set by parameter P1-32.

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P3 - 04

CWD

Communication Time Out Detection

Communication Addr.: 0304H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 8.2

Unit: N/A
Range: 0~20
Settings:
0: Disabled
This parameter is used to set the maximum permissible time before detecting a fault due to
communication time out. When this parameter is set to a value over than 0, it indicates this
function is enabled. However, if not communicating with the servo in this period of time, the
servo drive will assume the communication has failed and show the communication error fault
message.

P3 - 05

CMM

Communication Selection

Communication Addr.: 0305H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 8.2

Unit: N/A
Range: 0~2
Settings:
0: RS-232
1: RS-422
2: RS-485
Multiple communication modes RS232, RS-485, RS-422 cannot be used within one
communication ring.

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P3 - 06■ SDI

Digital Input Communication Function

Communication Addr.: 0306H

Default: 0

Related Section:

Applicable Control Mode: ALL

P4-07, Section 8.2

Unit: N/A
Range: 0~FFFF
Settings:
The setting of this parameter determines how the Digital Inputs (DI) accept commands and
signals. If the Digital Input Contact Control parameter for the DI 1 ~ DI 8 is set to "0", command
is external, and via CN1; if it is set to "1" the DI signal is via communication.
Bit0 ~ Bit 7 corresponds with DI1 ~ DI8. The least significant bit (Bit0) shows DI1 status and the
most significant bit (Bit7) shows DI8 status. The new DI9 ~ DI16 for software communication
corresponds with CTRG / POS0 / POS1 / POS2 / ARST / SHOM / JOGU / JOGD these signals.
The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi
Function Digital Input parameter P4-07 which has several functions. Please see section 8.2 for
details.

P3 - 07

CDT

Communication Response Delay Time

Default: 0

Communication Addr.: 0307H
Related Section: N/A

Applicable Control Mode: ALL
Unit: 0.5ms
Range: 0~255
Settings:
This parameter is used to delay the communication time that servo drive responds to host
controller (external controller).

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Group 4: P4-xx Diagnosis Parameters
P4 - 00★ ASH1

Fault Record (N)

Communication Addr.: 0400H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.4.1

Unit: N/A
Range: N/A
Settings:
The latest fault record.

P4 - 01★ ASH2

Fault Record (N-1)

Communication Addr.: 0401H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.4.1

Unit: N/A
Range: N/A

P4 - 02★ ASH3

Fault Record (N-2)

Communication Addr.: 0402H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.4.1

Unit: N/A
Range: N/A

P4 - 03★ ASH4

Fault Record (N-3)

Communication Addr.: 0403H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.4.1

Unit: N/A
Range: N/A

P4 - 04★ ASH5

Fault Record (N-4)

Communication Addr.: 0404H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.4.1

Unit: N/A
Range: N/A

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P4 - 05

JOG

JOG Operation

Communication Addr.: 0405H

Default: 20

Related Section:

Applicable Control Mode: ALL

Section 4.4.2

Unit: r/min
Range: 0~5000
Settings:
JOG operation command:
1. Operation Test
(1) Press the SET key to display the JOG speed. (The default value is 20 r/min).
(2) Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed. (This
also can be undertaken by using the SHIFT key to move the cursor to the desired unit
column (the effected number will flash) then changed using the UP and DOWN arrow
keys).
(3) Press the SET when the desired JOG speed is displayed. The Servo Drive will display
"JOG".
(4) Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will
only rotation while the arrow key is activated.
(5) To change JOG speed again, press the MODE key. The servo Drive will display "P4 - 05".
Press the SET key and the JOG speed will displayed again. Refer back to #(2) and #(3) to
change speed.
2. DI Signal Control
Set the value of DI signal as JOGU and JOGD (refer to Table 7.A).
Users can perform JOG run forward and run reverse control.
3. Communication Control
To perform a JOG Operation via communication command, use communication address
0405H
(1) Enter 0 ~ 3000 for the desired JOG speed
(2) Enter 4998 to JOG in the CCW direction
(3) Enter 4999 to JOG in the CW direction
(4) Enter 5000 to stop the JOG operation

NOTE
1) If the communication write-in frequency is too high, please set P2-30 to 5.

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P4 - 06
▲■

FOT

Force Output Control

Communication Addr.: 0406H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.4.4

Unit: N/A
Range: 0~0x1F
Settings:
Settings:
0: Disabled.
When the value of P4-06 is a non-zero value, it indicates this function is enabled.
This parameter is used to check if there is any damage DO terminal. This parameter is not
effective when the servo drive is enabled (Servo ON).

NOTE
1) When users select P4-06 and press the Set key, the display will show “OP xx”. “xx” stands
for the parameter range from 00 to 1F (For the example display, refer to Section 4.4.4).

P4 - 07■ ITST

Input Status or Force Input Control

Communication Addr.: 0407H

Default: 0

Related Section:

Applicable Control Mode: ALL

P3-06, Section 4.4.5,

Unit: N/A

Section 8.2

Range: 0~FFFF
Settings:
Please see P3-06 and Section 8.2 for setting method.
External Control: Display the status of DI input signal
Communication Control: Read the status of input signal (upon software)
For the status of DI input signal, please refer to P2-10 ~ P2-17.
The contents of P4-07 is "read only" via the drive keypad or the communication software and will
display the state on or off of the six Digital Inputs which have been set in accordance to P3-06.
The least significant bit (Bit 0) stands for Digital Inputs 1 (DI 1) and the most significant bit (Bit7)
stands for Digital Inputs 8 (DI 8).

P4 - 08

PKEY

Digital Keypad Input of Servo Drive

Default: N/A

Communication Addr.: 0408H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: N/A

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P4 - 09★ MOT

Output Status Display

Communication Addr.: 0409H

Default: 0

Related Section:

Applicable Control Mode: ALL

Section 4.4.6

Unit: N/A
Range: 0~0x1F
Settings:
External Control: Display the status of DO output signal
Communication Control: Read the status of output signal
The status of DO signal, please refer to P2-18 ~ P2-22.

P4 - 10▲ CEN

Adjustment Function

Default: 0

Communication Addr.: 040AH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~6
Settings:
0: Reserved
1: Execute analog speed input drift adjustment
2: Execute analog torque input drift adjustment
3: Execute current detector (V phase) drift adjustment
4: Execute current detector (W phase) drift adjustment
5: Execute drift adjustment of the above 1~4
6: Execute IGBT NTC calibration
This adjustment function is enabled after parameter P2-08 is set to 20.
When executing any adjustment, the external wiring connected to analog speed or torque must
be removed and the servo system should be off (Servo off).

P4 - 11

SOF1

Analog Speed Input Drift Adjustment 1

Default: Factory setting

Communication Addr.: 040BH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
This adjustment function is enabled after parameter P2-08 is set to 22. This is an auxiliary
adjusting function, although this parameter allows the users can execute manual adjustment, we
still do not recommend the users to change the default setting manually.
This parameter cannot be reset.

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P4 - 12

SOF2

Analog Speed Input Drift Adjustment 2

Default: Factory setting

Communication Addr.: 040CH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
Please see P4-11 for explanation.

P4 - 13

TOF1

Analog Torque Drift Adjustment 1

Default: Factory setting

Communication Addr.: 040DH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
This adjustment function is enabled after parameter P2-08 is set to 22. This is an auxiliary
adjusting function, although this parameter allows the users can execute manual adjustment, we
still do not recommend the users to change the default setting manually.
This parameter cannot be reset.

P4 - 14

TOF2

Analog Torque Drift Adjustment 2

Default: Factory setting

Communication Addr.: 040EH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
Please see P4-13 for explanation.

P4 - 15

COF1

Current Detector Drift Adjustment (V1 phase)

Default: Factory setting

Communication Addr.: 040FH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
This adjustment function is enabled after parameter P2-08 is set to 22. This is an auxiliary
adjusting function, although this parameter allows the users can execute manual adjustment, we
still do not recommend the users to change the default setting manually.
This parameter cannot be reset.

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P4 - 16

COF2

Current Detector Drift Adjustment (V2 phase)

Default: Factory setting

Communication Addr.: 0410H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
Please see P4-15 for explanation.

P4 - 17

COF3

Current Detector Drift Adjustment (W1 phase)

Default: Factory setting

Communication Addr.: 0411H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
Please see P4-15 for explanation.

P4 - 18

COF4

Current Detector Drift Adjustment (W2 phase)

Default: Factory setting

Communication Addr.: 0412H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0~32767
Settings:
Please see P4-15 for explanation.

P4 - 19

TIGB

IGBT NTC Calibration

Default: Factory setting

Communication Addr.: 0413H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 1~7
Settings:
This parameter cannot be reset.
o

When executing this auto adjustment, ensure to cool the servo drive to 25 C.

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P4 - 20

DOF1

Analog Monitor Output Drift Adjustment (CH1)

Communication Addr.: 0414H

Default: Factory setting

Related Section:

Applicable Control Mode: ALL

Section 6.4.4

Unit: mV
Range: -800~800
Settings:
This parameter cannot be reset.

P4 - 21

DOF2

Analog Monitor Output Drift Adjustment (CH2)

Communication Addr.: 0415H

Default: Factory setting

Related Section: N/A

Applicable Control Mode: ALL

Section 6.4.4

Unit: mV
Range: -800~800
Settings:
This parameter cannot be reset.

P4 - 22

SAO

Analog Speed Input Offset

Default: 0

Communication Addr.: 0416H
Related Section: N/A

Applicable Control Mode: S
Unit: mV
Range: -5000~5000
Settings:
The users can use this parameter to adjust analog speed input offset value manually.

P4 - 23

TAO

Analog Torque Input Offset

Default: 0

Communication Addr.: 0417H
Related Section: N/A

Applicable Control Mode: T
Unit: mV
Range: -5000~5000
Settings:
The users can use this parameter to adjust analog torque input offset value manually.

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P4 - 24

Reserved

Communication Addr.: 0418H

P4 - 25

Reserved

Communication Addr.: 0419H

P4 - 26

Reserved

Communication Addr.: 041AH

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Chapter 7 Servo Parameters|ASDA-AB Series
Table 7.A Input Function Definition
Sign

Setting
Value

SON

01

Servo On. Switch servo to "Servo Ready". Check parameter P2-51.

ARST

02

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

GAINUP

03

Gain switching in speed and position mode. When GAINUP is activated (P2-27 is set
to 1), the gain is switched to the gain multiplied by fluctuation

04

Pulse clear (see P2-50). When CCLR is activated, the parameter P2-50 Pulse
Deviation Clear Mode is executed.
0: Clear position pulse deviation number (available in Pt and Pr mode only)
1: Clear motor feedback pulse and rotation number (available in Pt and Pr mode only)
2: Clear remaining position pulses and interrupt the motor operation (available Pr
mode only).
3: Clear remaining position pulses and interrupt the motor operation. After the motor is
stopped, activate TPOS signal (available Pr mode only).

CCLR

Digital Input Function Description

Zero speed CLAMP. When this signal is On and the motor speed value is below the
setting value of P1-38, it is used to lock the motor in the instant position while ZCLAMP
is On.
Speed
Command
Setting value of
P1-38 (Zero speed)

ZCLAMP

05
ZCLAMP
input signal

OFF

ON

Motor Speed
Setting value of
P1-38 (Zero speed)
Time

CMDINV

06

Command input reverse control. When the drive is in Pr, Speed and Torque mode, and
CMDINV is activated, the motor is in reverse rotation.

HOLD

07

Position command pause (Internal position control only). When the drive is in Pr mode
and HOLD is activated, the motor will pause.

CTRG

08

Command triggered (available in Pr mode only). When the drive is in Pr mode and
CTRG is activated, the drive will command the motor to move the stored position
which correspond the POS 0, POS 1, POS 2 settings. Activation is triggered on the
rising edge of the pulse.

TRQLM

09

Torque limit enabled. When the drive is in speed and position mode, and TRQLM is
activated, it indicates the torque limit command is valid. The torque limit command
source is internal parameter or analog voltage.

SPDLM

10

Speed limit enabled. When the drive is in torque mode and TRQLM is activated, it
indicates the speed limit command is valid. The speed limit command source is
internal parameter or analog voltage.

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Sign

Setting
Value

Digital Input Function Description
Position command selection 0 ~ 2
When the Pr mode is selected, the 8 stored positions are programmed via a
combination of the POS 0, POS 1, and POS 2 commands.

POS0

POS1

POS2

11

Command No.

POS2

POS1

POS0

P1

OFF

OFF

OFF

P2

OFF

OFF

ON

P3

OFF

ON

OFF

P4

OFF

ON

ON

P5

ON

OFF

OFF

P6

ON

OFF

ON

CTRG

Parameter
P1-15
P1-16
P1-17
P1-18
P1-19
P1-20

12

13

P1-21
P1-22
P1-23
P1-24
P1-25
P1-26

P7

ON

ON

OFF

P8

ON

ON

ON

P1-27
P1-28
P1-29
P1-30

Speed command selection 0 ~ 1

14

S1

OFF

OFF

Mode

SPD0

Command DI signal of CN1
Command Source
No.
SPD1 SPD0
S

External
analog
command

Sz None
SPD1

15

S2

OFF

ON

S3

ON

OFF

S4

ON

ON

Internal parameter

Content

Range

Voltage between
V-REF and GND

+/-10 V

Speed command
is 0

0

P1-09

0~5000 r/min

P1-10

0~5000 r/min

P1-11

0~5000 r/min

Content

Range

Torque command selection 0 ~ 1
16

T1

TCM1

7-90

17

OFF

OFF

T2

OFF

ON

T3

ON

OFF

T4

ON

ON

Command Source

Mode

TCM0

Command DI signal of CN1
No.
TCM1 TCM0

T

Analog
Voltage between
command V-REF and GND

Tz None

Internal parameter

+/-10 V

Torque command
is 0

0

P1-12

0 ~ 300 %

P1-13

0 ~ 300 %

P1-14

0 ~ 300 %

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Chapter 7 Servo Parameters|ASDA-AB Series
Sign

Setting
Value

S-P

18

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

S-T

19

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

T-P

20

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

EMGS

21

Emergency stop. It should be contact “b” and normally ON or a fault (ALE13) will
display.

CWL

22

Reverse inhibit limit. It should be contact “b” and normally ON or a fault (ALE14) will
display.

CCWL

23

Forward inhibit limit. It should be contact “b” and normally ON or a fault (ALE15) will
display.

ORGP

24

Reference “Home” sensor. When ORGP is activated, the drive will command the motor
to start to search the reference “Home” sensor. [see P1-47]

TLLM

25

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

TRLM

26

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

SHOM

27

Move to “Home”. When SHOM is activated, the drive will command the motor to move
to “Home”. [see P1-47]

INDEX0

28

Feed step selection input 0 (bit 0)

INDEX1

29

Feed step selection input 1 (bit 1)

INDEX2

30

Feed step selection input 2 (bit 2)

INDEX3

31

Feed step selection input 3 (bit 3)

INDEX4

32

Feed step selection input 4 (bit 4)

Digital Input Function Description

When the drive is in Pr mode, if users set P1-33 to
2, 3 and 4 (Feed step control mode), feed step
control function are provided (1~32 steps). [see
section 12.6 Feed Step Control]
Mode function:

MD0

MD1

MDP0

33

34

35

Feed step mode input 0 (bit 0)

Feed step mode input 1 (bit 1)

MDPn

OFF

Manually continuous operation

Status

MD1

MD0

1

OFF

OFF

Torque
decrease

2

OFF

ON

Feed step
position mode

3

ON

OFF Homing mode

4

ON

ON

Emergency
stop

X

X

Don’t care

OFF

ON

CW manual
operation

ON

OFF

CCW manual
operation

X

X

ON
MDP1

36

Manually single step operation

Explanation

Don’t care

JOGU

37

Forward JOG input. When JOGU is activated, the motor will JOG in forward direction.
[see P4-05]

JOGD

38

Reverse JOG input. When JOGD is activated, the motor will JOG in reverse direction.
[see P4-05]

39

Step up input. When STEPU is activated,
the motor will run to next position.

STEPU

Revision January 2009

Available when the drive is in Pr mode
and users must set P1-33 to 5 and 6.
(Internal auto running mode) [see section
12-7 Internal Auto Running Mode]
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Sign

Setting
Value

STEPD

40

Step down input. When STEPD is activated,
the motor will run to previous position.

STEPB

41

Step back input. When STEPB is activated,
the motor will return to first position.

AUTOR

42

Auto run input. When AUTOR is activated,
the motor will run automatically according to
internal position command. For interval time
setting (Timer 0 ~ 7), please see parameter
P2-52 to P2-59. If the timer is not set, the
internal position command without setting
timer will be passed over and not executed.
The motor will run according to the next
internal position command.

GNUM0

43

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

Digital Input Function Description

Available when the drive is in Pr mode
and users must set P1-33 to 5 and 6.
(Internal auto running mode) [see section
12-7 Internal Auto Running Mode]

Electronic gear ratio (Numerator) selection 1 [see P2-60 ~ P2-62]
GNUM0, GNUM1

1st Numerator (N1) (P1-44)

GNUM1

44
Pulse

2nd Numerator (N2) (P2-60)
3rd Numerator (N3) (P2-61)

Smooth Filter
(P1-08)

Pulse
Error

4th Numerator (N4) (P2-62)

Feed Back Pulse

Denominator (P1-45)

INHP

45

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

STF

46

Enable motor forward operation. In speed mode, it is used to enable the motor forward
operation.
Enable motor reverse operation. In speed mode, it is used to enable the motor reverse
operation.

STB

47

STF

STB

Explanation

1

0

Forward operation of speed command (CCWL)

1

1

Stop

0

0

Stop

0

1

Reverse operation of speed command (CWL)

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
Please note that never use DI STF and STB with DI SPD0 and SPD1 simultaneously.

NOTE
1) 11~17: Single control mode, 18~20: Dual control mode
2) When P2-10 to P2-17 is set to 0, it indicates input function is disabled.

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Table 7.B Output Function Definition
Sign

Setting
Value

SRDY

01

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

02

Servo On. SON is activated when control power is applied the servo drive. The drive
may or may not be ready to run as a fault / alarm condition may exist.
Servo ON (SON) is “ON” with control power applied to the servo drive, there may be a
fault condition or not. The servo is not ready to run. Servo ready (SRDY) is “ON”
where the servo is ready to run, NO fault / alarm exists. (P2-51 should turn servo
ready SRDY off / on)

ZSPD

03

At Zero speed. ZSPD is activated when the drive senses the motor is equal to or
below the Zero Speed Range setting as defined in parameter P1-38. For Example, at
default ZSPD will be activated when the drive detects the motor rotating at speed at or
below 10 r/min. ZSPD will remain activated until the motor speed increases above 10
r/min.

TSPD

04

At Speed reached. TSPD is activated once the drive has detected the motor has
reached the Target Motor Speed setting as defined in parameter P1-39. TSPD will
remain activated until the motor speed drops below the Target Motor Speed.

TPOS

05

At Positioning completed.
When the drive is in Pt mode, TPOS will be activated when the position error is equal
and below the setting value of P1-54.
When the drive is in Pr mode, TPOS will be activated when the drive detects that the
position of the motor is in a –P1-54 to +P1-54 band of the target position.
For Example, at factory default TPOS will activate once the motor is in -99 pulses
range of the target position, then deactivate after it reaches +99 pulses range of the
desired position.

TQL

06

At Torques limit. TQL is activated when the drive has detected that the motor has
reached the torques limits set by either the parameters P1-12 ~ P1-14 of via an
external analog voltage.

07

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

SON

ALRM

Digital Output Function Description

Electromagnetic brake control. BRKR is activated (Actuation of motor brake). (Please
refer to parameters P1-42 ~ P1-43)

BRKR

08

HOME

09

Revision January 2009

Homing completed. HOME is activated when the servo drive has detected that the
“HOME” sensor (Digital Input 24) has been detected and the home conditions set in
parameters P1-47, P1-50, and P1-51 have been satisfied.

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Chapter 7 Servo Parameters|ASDA-AB Series
Sign

Setting
Value

Digital Output Function Description
Output overload warning. OLW is activated when the servo drive has detected that the
motor has reached the output overload level set by parameter P1-56.
tOL = Permissible Time for Overload x setting value of P1-56
When overload accumulated time (continuously overload time) exceeds the value of
tOL, the overload warning signal will output, i.e. DO signal, OLW will be ON. However,
if the overload accumulated time (continuously overload time) exceeds the permissible
time for overload, the overload alarm (ALE06) will output.

OLW

10

For example:
If the setting value of parameter P1-56 (Output Overload Warning Level) is 60%, when
the permissible time for overload exceeds 8 seconds at 200% rated output, the
overload fault (ALE06) will be detected and shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
Result:
When the drive output is at 200% rated output and the drive is continuously
overloaded for 4.8 seconds, and the overload warning signal will be ON (DO code is
10, i.e. DO signal OLW will be activated). If the drive is continuously overloaded for 8
seconds, the overload alarm will be detected and shown on the LED display (ALE06).
Then, Servo Fault signal will be ON (DO signal ALRM will be activated).

WARN

11

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

CMDOK

12

Internal position command completed. CMDOK is activated when the servo drive has
detected that the internal position command has been completed or stopped after the
delay time which is set by the parameter P1-62 has elapsed.

NOTE
1) When P2-18 to P2-22 is set to 0, it indicates output function is disabled.

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8.1

Communication Hardware Interface

The ASDA-AB series servo drive has three modes of communication: RS-232, RS-485, and RS-422. All
aspects of control, operation and monitoring as well as programming of the controller can be achieved via
communication. However, only one communication mode can be used at a time. Users can select the
desired communication mode via parameter P3-05.
Please refer to the following sections for connections and limitations.
RS-232

 Configuration

 Cable Connection

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Chapter 8 MODBUS Communications|ASDA-AB Series

NOTE
1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be kept to a
minimum, communication cable should kept apart from high voltage wires. If a transmission speed of
38400 bps or greater is required, the maximum length of the communication cable is 3m (9.84ft.) which
will ensure the correct and desired baud rate.
2) The number shown in the pervious figure indicates the terminal number of each connector.

RS-485, RS-422

 Configuration

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Chapter 8 MODBUS Communications|ASDA-AB Series

 Cable Connection

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Chapter 8 MODBUS Communications|ASDA-AB Series

NOTE
1) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a location where
there are only a few interferences. Please note, RFI / EME noise should be kept to a minimum,
communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or
greater is required, the maximum length of the communication cable is 15m (50ft.) which will ensure the
correct and desired baud rate.
2) The number shown in the pervious figure indicates the terminal number of each connector.
3) The power supply should provide a +12V and higher DC voltage.
4) Please use a REPEATER if more than 32 synchronous axes are required.
5) For the terminal identification of CN3, please refer to Section 3.5.

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Chapter 8 MODBUS Communications|ASDA-AB Series

8.2

Communication Parameter Settings

The following describes the communication addresses for the communication parameters.
For communication parameters, please refer to the Chapter 7. Communication Addresses 0301, 0302, and
0305 have to be set identically for all the drives and devices to communicate correctly.
0300H
Communication
Address Setting

Default: 1
Range: 1~254

	 If the AC servo drive is controlled by RS-232/485/422 communication, each drive (or device) must be
uniquely identified and addressed between 1 and 254. Access to program this number is via parameter
P3-00.

0301H
Transmission
Speed

Default: 1
Range: 0~5
Settings:
0: Baud rate 4800 (data transmission speed: bits / second)
1: Baud rate 9600 (data transmission speed: bits / second)
2: Baud rate 19200 (data transmission speed: bits / second)
3: Baud rate 38400 (data transmission speed: bits / second)
4: Baud rate 57600 (data transmission speed: bits / second)
5: Baud rate 115200 (data transmission speed: bits / second)

	 This parameter is used to set the desired transmission speed between the computer and AC servo drive.
Users can set this parameter and control transmission speed to reach the maximum baud rate of
115200 bps.

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0302H
Communication
Protocol

Default: 0
Range: 0~8
Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
5: Modbus ASCII mode, <8,O,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>

	 This parameter is used to set the communication protocol. The alphanumeric characters represent the
following: 7 or 8 is the number of data bits; N, E or O refer to the parity bit, Non, Even or Odd; the 1 or 2
is the numbers of stop bits.
0303H
Transmission Fault
Treatment

Default: 0
Range: 0~1
Settings:
0: Display fault and continue operating
1: Display fault and stop operating

	 This parameter is used to determine the operating sequence once a communication fault has been
detected. If '1' is selected the drive will stop operating upon detection the communication fault. The
mode of stopping is set by parameter P1-32.
0304H
Watch Dog Timer (It is not recommended to change the factory default setting if
Communication Time not necessary)
Out Detection
Default: 0
Range: 0~20 sec.
The factory default setting is set to 0 and it indicates this function is disabled.
	 When this parameter is set to any value over 0, it indicates that the timer is enabled. The value set in
this parameter is the communication time and the communication time out detection should be
completed within the time. Otherwise, a communication error will occur.
	 For example, if the value set in this parameter is 5, it indicates that the communication time out
detection will be activated once in five seconds or a communication error will occur.
0305H
Communication
Mode

Communication selection:
Default: 0
Range: 0~2
Settings:
0: RS-232
1: RS-422
2: RS-485

	 Multiple communication modes RS232, RS-485, RS-422 cannot be used within one communication ring.

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0306H
Digital Input
Communication
Function

Digital Input Contact Control:
Default: 0
Range: 0~FFFF (hexadecimal number)

	 The setting of this parameter determines how the Digital Inputs (DI) accept commands and signals.
	 Input commands or signals through the DI can be either from an external source, through the CN 1
interface connector, or via communication, (RS-232, RS-485, RS-422). If the Digital Input Contact
Control parameter for the DI 1 ~ 8 is set to "0", command is external, and via CN1; if it is set to "1"
(decimal number) the DI signal is via communication. Each of the eight Digital Inputs are accessed
individually and can be set independently of each other. They can be programmed either via the drive's
keypad or via communication and computer UI. If they are programmed via the keypad a hexadecimal
number is entered; if programmed via communication or UI a decimal or hexadecimal number can be
used. In both methods of programming, a single number is used for all eight Digital Inputs. The following
example shows how each DI is addressed and converted to a single decimal or hexadecimal number.
	 The eight Digital Inputs are noted from the right, DI 1 to left, DI 8 with their desired input command or
signal method, 0 or 1. Once all eight Digital Inputs have been noted this binary number is converted to a
decimal or hexadecimal number and entered into P3-06.
Bit

8

7

6

5

4

3

2

1

Decimal value

128 64

32

16

8

4

2

1

Input

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1

State

1

1

0

1

1

0

0

0

= D8 Hex
(Keypad, Communication or UI)

(External CN1

or = 216 Dec (Communication or UI only)

Communication)
	 Please see Chapter 4.4.5 DI Signal Display Diagnosis Operation for display layout of the Digital Signal
selection.
	 The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi Function
Digital Input parameter P4-07 which has several functions.
	 The contents of P4-07 is "read only" via the drive keypad and will display the state on or off ("blank" or
"|") of the eight Digital Inputs which have been set in accordance to P3-06. For Example; if P3-06 has
been set to 0 (All DI is external and via the CN 1 interface) and the P4-07 display is indicating the
following:
_ | | | _ _ _ | (for the manual this picture should be similar to the one shown on page 4-8
(Ch 4.4.5))
The Digital Inputs 1, 5, 6, & 7 are "on" (high) and Digital Inputs 2, 3, 4, & 8 are "off" (low).

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If the contents of P4-07 is being read via communication the output will be a decimal number that will
represent the "binary" display. Therefore in the previous example the decimal number being read would
be 113.
However, in the communication mode the user can write to P4-07 to turn the Digital Inputs either "on" or
"off". Again this achieved by sending a decimal or hexadecimal number that corresponds to the binary
representation of the Digital Inputs being addressed. Therefore in the previous example 113 or 71 hex
would be sent to 407H to switch on Digital Inputs 1, 5, 6, & 7. Remember, previous to this P3-06 would
have been set to either 255 / FF or 113 / 71 (This sets the Digital Inputs 1, 5, 6, & 7 to communication).
0307H
Communication
Response Delay
Time

Default: 0
Range: 0~255

	 This parameter is used to delay the communication time that servo drive respond to host controller
(external controller)

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8.3

MODBUS Communication Protocol

When using RS-232/485/422 serial communication interface, each ASDA-AB series AC servo drive has a
pre-assigned communication address specified by parameter “P3-00”. The computer then controls each AC
servo drive according to its communication address. ASDA-AB series AC servo drive can be set up to
communicate on a MODBUS networks using on of the following modes: ASCII (American Standard Code for
Information Interchange) or RTU (Remote Terminal Unit). Users can select the desired mode along with the
serial port communication protocol in parameter “P3-02”.

 Code Description:
ASCII Mode:
Each 8-bit data is the combination of two ASCII characters. For example, a 1-byte data: 64 Hex, shown as
‘64’ in ASCII, consists of ‘6’ (36Hex) and ‘4’ (34Hex).
The following table shows the available hexadecimal characters and their corresponding ASCII codes.
Character
ASCII code
Character
ASCII code

‘0’

‘1’

‘2’

‘3’

‘4’

‘5’

‘6’

‘7’

30H

31H

32H

33H

34H

35H

36H

37H

‘8’

‘9’

‘A’

‘B’

‘C’

‘D’

‘E’

‘F’

38H

39H

41H

42H

43H

44H

45H

46H

RTU Mode:
Each 8-bit data is the combination of two 4-bit hexadecimal characters. For example, a 1-byte data: 64 Hex.

 Data Format:
10-bit character frame (For 7-bit character)
7N2

Start
bit

0

1

2

3

4

5

6

Stop
bit

Stop
bit

5

6

Even
parity

Stop
bit

5

6

Odd
parity

Stop
bit

7-data bits
10-bits character frame
7E1

Start
bit

0

1

2

3

4

7-data bits
10-bits character frame
7O1

Start
bit

0

1

2

3

4

7-data bits
10-bits character frame

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11-bit character frame (For 8-bit character)
8N2

Start
bit

0

1

2

3

4

5

6

7

Stop
bit

Stop
bit

6

7

Even
parity

Stop
bit

6

7

Odd
parity

Stop
bit

8-data bits
11-bits character frame
8E1

Start
bit

0

1

2

3

4

5

8-data bits
11-bits character frame
8O1

Start
bit

0

1

2

3

4

5

8-data bits
11-bits character frame

 Communication Protocol:
ASCII Mode:
STX

Start character’: ’ (3AH)

ADR

Communication address: 1-byte consists of 2 ASCII codes

CMD

Command code: 1-byte consists of 2 ASCII codes

DATA(n-1)
…….

Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, n≤12

DATA(0)
LRC

Command code: 1-byte consists of 2 ASCII codes

End 1

End code 1: (0DH)(CR)

End 0

End code 0: (0AH)(LF)

RTU Mode:
STX

A silent interval of more than 10ms

ADR

Communication address: 1-byte

CMD

Command code: 1-byte

DATA(n-1)
…….

Contents of data: n word = n x 2-byte, n≤12

DATA(0)

8-10

CRC

Command code: 1-byte

End 1

A silent interval of more than 10ms

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Chapter 8 MODBUS Communications|ASDA-AB Series
STX (Communication Start)
ASCII Mode: ’:’ character
RTU Mode: A silent interval of more than 10ms
ADR (Communication Address)
The valid communication addresses are in the range of 1 to 254.
For example, communication to AC servo drive with address 16 decimal:
ASCII Mode: ADR=’1’,’0’ => ‘1’=31H，’0’=30H
RTU Mode: ADR = 10H
CMD (Command Codes) and DATA (Data Characters)
The format of data characters depends on the command code. The available command codes and examples
for AC servo drive are described as follows:
Command code: 03H, read N words. The maximum value of N is 10.
For example, reading continuous 2 words from starting address 0200H of AC servo drive with address 01H.
ASCII Mode:
Command message:
STX
ADR
CMD

Response message:
‘:’
‘0’
‘1’
‘0’
‘3’
‘0’

Starting data
address

‘2’

‘0’

Number of data
(Count by byte)

‘0’
‘1’
‘0’
‘3’
‘0’
‘4'
‘0’

Contents of starting
data address
0200H

‘0’
‘B’
‘1’

‘0’

‘1’

‘F’

Contents of second
data address
0201H

‘8’

End 1

(0DH)(CR)

End 0

(0AH)(LF)

Revision January 2009

CMD

‘:’

‘0’
‘2’

LRC Check

ADR

‘0’
‘0’

Number of data

STX

‘F’
‘4’
‘0’

LRC Check

‘E’
‘8’

End 1

(0DH)(CR)

End 0

(0AH)(LF)

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Chapter 8 MODBUS Communications|ASDA-AB Series
RTU Mode:
Command message:

Response message:

ADR

01H

ADR

01H

CMD

03H

CMD

03H

Starting data
address

02H (Upper bytes)

Number of data
(Count by byte)

04H

Number of data
(Count by word)

00H
02H

CRC Check Low

C5H (Lower bytes)

CRC Check High

B3H (Upper bytes)

00H (Lower bytes)

Contents of starting
data address
0200H

00H (Upper bytes)
B1H (Lower bytes)

Contents of second
data address
0201H

1FH (Upper bytes)

CRC Check Low

A3H (Lower bytes)

CRC Check High

D4H (Upper bytes)

40H (Lower bytes)

Command code: 06H, write 1 word
For example, writing 100 (0064H) to starting data address 0200H of ASDA-AB series with address 01H.
ASCII Mode:
Command message:
STX
ADR
CMD

Response message:
‘:’
‘0’
‘1’
‘0’
‘6’

STX
ADR
CMD

‘0’
Starting data
address

Content of data

‘2’
‘0’

8-12

‘0’
‘1’
‘0’
‘6’
‘0’

Starting data
address

‘2'
‘0’

‘0’

‘0’

‘0’

‘0’

‘0’
‘6’

Content of data

‘4’
LRC Check

‘:’

‘9’
‘3’

‘0’
‘6’
‘4’

LRC Check

‘9’
‘3’

End 1

(0DH)(CR)

End 1

(0DH)(CR)

End 0

(0AH)(LF)

End 0

(0AH)(LF)

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Chapter 8 MODBUS Communications|ASDA-AB Series
RTU Mode:
Command message:

Response message:

ADR

01H

ADR

01H

CMD

06H

CMD

06H

Starting data
address

02H (Upper bytes)

Starting data
address

02H (Upper bytes)

Content of data

00H (Lower bytes)
00H (Upper bytes)
64H (Lower bytes)

Content of data

00H (Lower bytes)
00H (Upper bytes)
64H (Lower bytes)

CRC Check Low

89H (Lower bytes)

CRC Check Low

89H (Lower bytes)

CRC Check High

99H (Upper bytes)

CRC Check High

99H (Upper bytes)

LRC (ASCII Mode):
LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the values of the bytes
from ADR to last data character then calculating the hexadecimal representation of the 2’s-complement
negation of the sum.
For example, reading 1 word from address 0201H of the ASDA-AB series AC servo drive with address 01H.
STX
ADR
CMD

‘:’
‘0’
‘1’
‘0’
‘3’
‘0’

Starting data address

‘2’
‘0’
‘1’
‘0’

Number of data

‘0’
‘0’
‘1’

LRC Check

‘F’
‘8’

End 1

(0DH)(CR)

End 0

(0AH)(LF)

01H+03H+02H+01H+00H+01H = 08H, the 2’s complement negation of 08H is F8H.
Hence, we can know that LRC CHK is ’F’,’8’.

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Chapter 8 MODBUS Communications|ASDA-AB Series
CRC (RTU Mode):
CRC (Cyclical Redundancy Check) is calculated by the following steps:
Step 1: Load a 16-bit register (called CRC register) with FFFFH.
Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC
register, putting the result in the CRC register.
Step 3: Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC register one bit to the
right. If the LSB of CRC register is 1, shift the CRC register one bit to the right, then Exclusive OR
the CRC register with the polynomial value A001H.
Step 4: Repeat step 3 until eight shifts have been performed. When this is done, a complete 8-bit byte will
have been processed, then perform step 5.
Step 5: Repeat step 2 to step 4 for the next 8-bit byte of the command message.
Continue doing this until all bytes have been processed. The final contents of the CRC register are
the CRC value.

NOTE
1) When transmitting the CRC value in the message, the upper and lower bytes of the CRC value must be
swapped, i.e. the lower order byte will be transmitted first.
2) For example, reading 2 words from address 0101H of the AC servo drive with address 01H. The final
content of the CRC register from ADR to last data character is 3794H, then the command message is
shown as follows. What should be noticed is that 94H have to be transmitted before 37H.

Command Message
ADR

01H

CMD

03H

Starting data address

01H (Upper byte)
01H (Lower bytes)

Number of data
(Count by word)

00H (Upper bytes)

CRC Check Low

94H (Lower bytes)

CRC Check High

37H (Upper bytes)

02H (Lower bytes)

End1, End0 (Communication End)
ASCII Mode:
In ASCII mode, (0DH) stands for character ’\r’ (carriage return) and (0AH) stands for character ’\n’ (new line),
they indicate communication end.
RTU Mode:
In RTU mode, a silent interval of more than 10ms indicates communication end.

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The following is an example of CRC generation using C language. The function takes two arguments:
unsigned char* data;
unsigned char length
The function returns the CRC value as a type of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}
PC communication program example:
#include
#include
#include
#include
#define PORT 0x03F8

/* the address of COM 1 */

#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of ASD with address 1 */
unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’};
void main() {

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int I;
outportb(PORT+MCR,0x08);
outportb(PORT+IER,0x01);

/* interrupt enable */
/* interrupt as data in */

outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06);

/* set prorocol
<7,E,1> = 1AH,

<7,O,1> = 0AH

<8,N,2> = 07H

<8,E,1> = 1BH

<8,O,1> = 0BH

*/

for( I = 0; I<=16; I++ ) {
while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]);

/* send data to THR */

}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}
}
}

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8.4

Communication Parameter Write-in and Read-out

There are following five groups for parameters:
Group 0: Monitor parameter

(example: P0-xx)

Group 1: Basic parameter

(example: P1-xx)

Group 2: Extension parameter

(example: P2-xx)

Group 3: Communication parameter

(example: P3-xx)

Group 4: Diagnosis parameter

(example: P4-xx)

For a complete listing and description of all parameters, refer to Chapter 7.
Communication write-in parameters for ASDA-AB series are including:
Group 0: P0-02 ~ P0-17 (0002H to 0011H)
Group 1: P1-00 ~ P1-62 (0100H to 013EH)
Group 2: P2-00 ~ P2-65 (0200H to 0241H)
Group 3: P3-00 ~ P3-07 (0300H to 0307H)
Group 4: P4-05 ~ P4-23 (0405H to 0417H)

NOTE
1) P3-01

After the new transmission speed is set, the next data will be written in new
transmission speed.

2) P3-02

After the new communication protocol is set, the next data will be written in new
communication protocol.

3) P4-05

JOG control of servo motor. For the description, refer to Chapter 7.

4) P4-06

Force output contact control. This parameter is for the users to test if DO (Digit output) is
normal. User can set 1, 2, 3, 4, 5 to test DO0, DO1, DO2, DO3, DO4, respectively. After the
test has been completed, please set this parameter to 0 to inform the drive that the test has
been completed.

5) P4-10

Adjustment function selection. If user desires to change the settings of this parameter, user
has to set the value of the parameter P2-08 to 20 (hexadecimal: 14H) first and then restart.
After restarting, the settings of parameter P4-10 can become modified.

6) P4-11 ~ P4-21

These parameters are for offset adjustment. Do not change the factory default setting
if not necessary. If the user desires to change the settings of these parameters, the
user has to set the value of the parameter P2-08 to 22 (hexadecimal: 16H) first and
then restart. After restarting, the settings of parameters P4-11 to P4-21 can become
modified.

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Communication read-out parameters for ASDA-AB series are including:
Group 0: P0-00 ~ P0-17 (0000H to 0011H)
Group 1: P1-00 ~ P1-62 (0100H to 013EH)
Group 2: P2-00 ~ P2-65 (0200H to 0241H)
Group 3: P3-00 ~ P3-07 (0300H to 0307H)
Group 4: P4-00 ~ P4-23 (0400H to 0417H)

8-18

Revision January 2009

Chapter 9 Maintenance and Inspection

Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is required to
operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform
a periodic maintenance and inspection of the AC servo drive by a qualified technician. Before any
maintenance and inspection, always turn off the AC input power to the unit.

¾ Be sure to disconnect AC power and ensure that the internal capacitors have fully discharged before performing
the maintenance and inspection!

9.1

Basic Inspection

After power is in connected to the AC servo drive, the charge LED will be lit which indicates that the AC
servo drive is ready.
Item

Content

General Inspection

z Periodically inspect the screws of the servo drive, motor shaft, terminal block and
the connection to mechanical system. Tighten screws as necessary as they may
loosen due to vibration and varying temperatures.
z Ensure that oil, water, metallic particles or any foreign objects do not fall inside
the servo drive, motor, control panel or ventilation slots and holes. As these will
cause damage.
z Ensure the correct installation and the control panel. It should be free from
airborne dust, harmful gases or liquids.
z Ensure that all wiring instructions and recommendations are followed; otherwise
damage to the drive and or motor may result.

z Inspect the servo drive and servo motor to insure they were not damaged.
z To avoid an electric shock, be sure to connect the ground terminal of servo drive
to the ground terminal of control panel.
z Before making any connection, wait 10 minutes for capacitors to discharge after
the power is disconnected, alternatively, use an appropriate discharge device to
discharge.
z Ensure that all wiring terminals are correctly insulated.
Inspection before z Ensure that all wiring is correct or damage and or malfunction may result.
operation
z Visually check to ensure that there are not any unused screws, metal strips, or
(Control power is not
any conductive or inflammable materials inside the drive.
applied)
z Never put inflammable objects on servo drive or close to the external
regenerative resistor.
z Make sure control switch is OFF.
z If the electromagnetic brake is being used, ensure that it is correctly wired.
z If required, use an appropriate electrical filter to eliminate noise to the servo drive.
z Ensure that the external applied voltage to the drive is correct and matched to the
controller.

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9-1

Chapter 9 Maintenance and Inspection|ASDA-AB Series
Item

Content

Inspection during
operation
(Control power is
applied)）

z Ensure that the cables are not damaged, stressed excessively or loaded heavily.
When the motor is running, pay close attention on the connection of the cables
and notice that if they are damaged, frayed or over extended.
z Check for abnormal vibrations and sounds during operation. If the servo motor is
vibrating or there are unusual noises while the motor is running, please contact
the dealer or manufacturer for assistance.
z Ensure that all user-defined parameters are set correctly. Since the
characteristics of various machinery are different, in order to avoid accident or
cause damage, do not adjust the parameter abnormally and ensure the
parameter setting is not an excessive value.
z Ensure to reset some parameters when the servo drive is off (Please refer to
Chapter 7). Otherwise, it may result in malfunction.
z If there is no contact sound or there be any unusual noises when the relay of the
servo drive is operating, please contact your distributor for assistance or contact
with Delta.
z Check for abnormal conditions of the power indicators and LED display. If there is
any abnormal condition of the power indicators and LED display, please contact
your distributor for assistance or contact with Delta.

9.2

Maintenance

 Use and store the product in a proper and normal environment.
 Periodically clean the surface and panel of servo drive and motor.
 Make sure the conductors or insulators are corroded and/or damaged.
 Do not disassemble or damage any mechanical part when performing maintenance.
 Clean off any dust and dirt with a vacuum cleaner. Place special emphasis on cleaning the ventilation
ports and PCBs. Always keep these areas clean, as accumulation of dust and dirt can cause unforeseen
failures.

9.3

Life of Replacement Components

 Smooth capacitor
The characteristics of smooth capacitor would be deteriorated by ripple current affection. The life of
smooth capacitor varies according to ambient temperature and operating conditions. The common
guaranteed life of smooth capacitor is ten years when it is properly used in normal air-conditioned
environment.

 Relay
The contacts will wear and result in malfunction due to switching current. The life of relay varies
according to power supply capacity. Therefore, the common guaranteed life of relay is cumulative
100,000 times of power on and power off.

9-2

Revision January 2009

Chapter 9 Maintenance and Inspection|ASDA-AB Series

 Cooling fan
The cooling fan life is limited and should be changed periodically. The cooling fan will reach the end of
its life in 2~3 years when it is in continuous operation. However, it also must be replaced if the cooling
fan is vibrating or there are unusual noises.

Revision January 2009

9-3

Chapter 9 Maintenance and Inspection|ASDA-AB Series
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9-4

Revision January 2009

Chapter 10 Troubleshooting

If a fault is detected on the servo drive or motor a corresponding fault code will be shown on the drive's LED
display. Fault codes can also be transmitted via communication, see P0-01 and P4-00 ~ P4-04 for display on
controller or HMI.

10.1 Fault Messages Table
Servo Drive Fault Messages
Fault Messages
Display

Fault Name

Fault Description

Overcurrent

Main circuit current is higher than 1.5 multiple of motor’s
instantaneous maximum current value.

Overvoltage

Main circuit voltage has exceeded its maximum allowable value.

Undervoltage

Main circuit voltage is below its minimum specified value.

Z Pulse shift

The corresponding angle of magnetic field of Z phase is error.

Regeneration error

Regeneration control operation is in error.

Overload

Servo motor and drive is overload.

Overspeed

Motor’s control speed exceeds the limit of normal speed.

Abnormal pulse control
command

Input frequency of pulse command exceeds the limit of its
allowable setting value.

Excessive deviation

Position control deviation value exceeds the limit of its allowable
setting value.

Watch dog execution
time out

Watch dog execution time out.

Encoder error

Pulse signal is in error.

Adjustment error

Adjusted value exceeds the limit of its allowable setting value
when perform electrical adjustment.

Emergency stop
activated

Emergency stop switch is activated.

Reverse limit switch
error

Reverse limit switch is activated.

Forward limit switch
error

Forward limit switch is activated.

Revision January 2009

10-1

Chapter 10 Troubleshooting|ASDA-AB Series
Fault Messages
Display

Fault Name

Fault Description

IGBT temperature error

The temperature of IGBT is over high.

Memory error

EE-PROM write-in and read-out is in error.

DSP communication
error

The communication between DSP and MCU is in error. DSP do
not respond to MCU command. The problem is on DSP side.

Serial communication
error

RS232/485 communication is in error.

Serial communication
time out

RS232/485 communication time out.

Command write-in error Control command write-in error.
Input power phase loss

One phase of the input power is loss.

Pre-overload warning

To warn that the servo motor and drive is going to overload. This
alarm will display before ALM06. When the servo motor reach
the setting value of P1-56, the motor will send a warning to the
drive. After the drive has detected the warning, the DO signal
OLW will be activated and this fault message will display.

Internal command
execution time out

An error occurs when internal command is executing.

DSP communication
error

DSP communication
error

1. DSP do not respond to MCU command.
2. DSP has responded to MCU command but there is error in
response message. Maybe the hardware is damaged.
1. DSP do not respond to MCU command.
2. DSP has responded to MCU command but there is error in
response message. Maybe the hardware is damaged.

NOTE
1) If there is any unknown fault code that is not listed on the above table, please inform the distributor or
contact with Delta for assistance.

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Revision January 2009

Chapter 10 Troubleshooting|ASDA-AB Series

10.2 Potential Cause and Corrective Actions
Servo Drive Fault Messages
: Overcurrent
Potential Cause

Checking Method

Corrective Actions

Short-circuit at drive
output (U, V, W)

1. Check the wiring connections between drive
Repair the short-circuited and avoid
and motor.
metal conductor being exposed.
2. Check if the wire is short-circuited.

Motor wiring error

Check if the wiring steps are all correct when
connecting motor to drive.

Follow the wiring steps in the user
manual to reconnect wiring.

IGBT error

Heat sink overheated

Please contact your distributor for
assistance or contact with Delta.

Control parameter
setting error

Check if the setting value exceeds the factory
default setting.

Set the setting back to factory
default setting and then reset and
adjust the parameter setting again.

Control command
setting error

Check if the control input command is unstable
(too much fluctuation).

1. Ensure that input command
frequency is stable (too much
fluctuation).
2. Activate filter function.

: Overvoltage
Potential Cause
The main circuit voltage
has exceeded its
maximum allowable
value.

Checking Method

Corrective Actions

Use voltmeter to check whether the input
voltage falls within the rated input voltage. (For Use correct power supply or
voltage specification, please refer to section
stabilizing power.
11.1 in Chapter11.)

Input power error
Use voltmeter to check whether the input
(Incorrect power input) voltage is within the specified limit.

Use correct power supply or
stabilizing power.

: Undervoltage
Potential Cause

Checking Method

The main circuit voltage
Check whether the wiring of main circuit input
is below its minimum
voltage is normal.
specified value.
No input voltage at
main circuit.

Corrective Actions
Reconfirm voltage wiring.

Use voltmeter to check whether input voltage at
Reconfirm power switch.
main circuit is normal.

Input power error
Use voltmeter to check whether the input
(Incorrect power input) voltage is within the specified limit.

Use correct power supply or serial
stabilizing power.

: Z Pulse shift
Potential Cause

Checking Method

Corrective Actions

Encoder is damage.

Check Encoder for the damage.

Repair or replace the motor.

Encoder is loose.

Examine the Encoder connector.

Install the motor again.

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Chapter 10 Troubleshooting|ASDA-AB Series

: Regeneration error
Potential Cause

Checking Method

Regenerative resistor is Check the wiring connection of regenerative
not connected.
resistor.
Regenerative switch
transistor fault

Corrective Actions
Reconnect regenerative resistor.

Check if regenerative switch transistor is short- Please contact your distributor for
circuited.
assistance or contact with Delta.

Parameter setting is in Confirm the parameter setting and
error
specifications of regenerative resistor.

Correctly reset parameter again.

: Overload
Potential Cause

Checking Method

The drive has exceeded
Check if the drive is overloaded.
its rated load during
continuous operation.
Control system
parameter setting is
incorrect.
The wiring of drive and
encoder is in error.

Corrective Actions
Increase motor capacity or reduce
load.

Check if there is mechanical vibration

Adjust gain value of control circuit.

Accel/Decel time setting is too fast.

Decrease Accel/Decel time setting.

Check the wiring of U, V, W and encoder.

Ensure all wiring is correct.

: Overspeed
Potential Cause

Checking Method

Speed input command
Use signal detector to detect if input signal is
is not stable (too much
abnormal.
fluctuation).

Corrective Actions
Ensure that input command
frequency is stable (not fluctuate
too much) and activate filter
function (P1-06, P1-07 and P1-08).

Over-speed parameter Check if over-speed parameter setting value is Correctly set over-speed parameter
setting is defective.
too low.
setting (P2-34).
: Abnormal pulse control command
Potential Cause
Pulse command
frequency is higher
than rated input
frequency.

Checking Method

Corrective Actions

Use pulse frequency detector to measure input Correctly set the input pulse
frequency.
frequency.

: Excessive deviation
Potential Cause

Checking Method

Corrective Actions

Maximum deviation
Check the maximum deviation parameter
parameter setting is too setting and observe the position error value
small.
when the motor is running.

Increases the parameter setting
value of P2-35.

Gain value is too small. Check for proper gain value.

Correctly adjust gain value.

Torque limit is too low.

Check torque limit value.

Correctly adjust torque limit value.

There is an overload.

Check for overload condition.

Reduce external applied load or reestimate the motor capacity.

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Chapter 10 Troubleshooting|ASDA-AB Series

: Watch dog execution time out
Potential Cause
Watch dog execution
error.

Checking Method

Check and reset the power supply.

Corrective Actions
If there are any abnormal
conditions after resetting the power
supply, please contact your
distributor for assistance or contact
with Delta.

: Encoder error (Position detector fault)
Potential Cause

Checking Method

Corrective Actions

1. Check if all wiring is correct.
The wiring of encoder is
2. Check if the users conduct the wiring by
in error.
the wiring information in the user manual.

Ensure all wiring is correct.

Encoder is loose

Install the motor again.

Examine the encoder connector.

The wiring of encoder is
Check if all connections are tight.
defective.

Conduct the wiring again.

Encoder is damage

Repair or replace the motor.

Check the encoder for the damage.

: Adjustment error
Potential Cause

Checking Method

Corrective Actions

If the error does not clear after
The setting value of
1. Remove CN1 wiring.
executing the drift adjustment
drift adjustment has
again, please contact your
2.
Execute
the
drift
adjustment
again.
(Set
exceeded its maximum
P2-08 to 20 first, and then set P4-10 to 5.) distributor for assistance or contact
allowable value.
with Delta.
: Emergency stop activated
Potential Cause

Checking Method

Emergency stop switch
Check if emergency stop switch is On or Off.
is activated.

Corrective Actions
Activate emergency stop switch.

: Reverse (CWL) limit switch error
Potential Cause

Checking Method

Corrective Actions

Reverse limit switch is
activated.

Check if reverse limit switch is On or Off.

Activate reverse limit switch.

Servo system is not
stable.

Check the value of control parameter setting
and load inertia.

Modify parameter setting and reestimate motor capacity.

: Forward (CCWL) limit switch error
Potential Cause

Checking Method

Corrective Actions

Forward limit switch is
activated.

Check if forward limit switch is On or Off.

Activate forward limit switch.

Servo system is not
stable.

Check the value of control parameter setting
and load inertia.

Modify parameter setting and reestimate motor capacity.

Revision January 2009

10-5

Chapter 10 Troubleshooting|ASDA-AB Series

: IGBT temperature error
Potential Cause

Checking Method

Corrective Actions

The drive has
exceeded its rated load Check if there is overload or the motor current
during continuous
is too high.
operation.

Increase motor capacity or reduce
load.

Short-circuit at drive
output.

Ensure all wiring is correct.

Check the drive input wiring.

: Memory error
Potential Cause
Data error in Memory
read-out / write-in.

Checking Method
Reset parameter or power supply.

Corrective Actions
If the error does not clear after
resetting the power supply, please
contact your distributor for
assistance or contact with Delta.

: DSP communication error
Potential Cause
Control power is in
error.

Checking Method
Check and reset control power

Corrective Actions
If the error does not clear after
resetting the power supply, please
contact your distributor for
assistance or contact with Delta.

: Serial communication error
Potential Cause

Checking Method

Corrective Actions

Communication
parameter setting is
defective.

Check the communication parameter setting.

Correctly set parameter setting.

Communication
address is incorrect.

Check the communication address.

Correctly set communication
address.

Communication value is
Check the communication value.
incorrect.

Correctly set communication value.

: Serial communication time out
Potential Cause

Checking Method

Corrective Actions

Setting value in time
out parameter is not
correct.

Check communication time out parameter
setting.

Correctly set P3-07.

Not receiving
communication
command for a long
time.

Check whether communication cable is loose
or broken.

Tighten the communication cable,
make sure the communication
cable is not damaged and ensure
all wiring is correct.

10-6

Revision January 2009

Chapter 10 Troubleshooting|ASDA-AB Series

: Command write-in error
Potential Cause
Control power is in
error.

Checking Method
Check and reset control power

Corrective Actions
If the error does not clear after
resetting the power supply, please
contact your distributor for
assistance or contact with Delta.

: Input power phase loss
Potential Cause

Checking Method

Check the power cable and connections of R,
Control power supply is
S, T. Check whether the power cable is loose
in error.
or the possible loss of phase on input power.

Corrective Actions
If the fault does not clear even
when the three-phase power is
connected correctly, please contact
your distributor for assistance or
contact with Delta.

: Pre-overload warning
Potential Cause

The drive is going to
overload.

Checking Method

Corrective Actions

1. Check the load condition of the servo motor 1.
and drive.
2. Check the setting value of P1-56. Check
2.
whether the setting value of P1-56 is to
small.

Please refer to the correction
actions of ALE06.
Increase the setting value of
P1-56 or set P1-56 to 100 and
above.

: Internal command execution time out
Potential Cause
An error occurs when
internal command is
executing.

Checking Method
Check and reset control power

Corrective Actions
If the error does not clear after
resetting the power supply, please
contact your distributor for
assistance or contact with Delta.

: DSP communication error
Potential Cause

Checking Method

Maybe the hardware is
Check and reset control power
damaged.

Corrective Actions
If the error does not clear after
resetting the power supply, please
contact your distributor for
assistance or contact with Delta.

: DSP communication error
Potential Cause

Checking Method

Maybe the hardware is
Check and reset control power
damaged.

Revision January 2009

Corrective Actions
If the error does not clear after
resetting the power supply, please
contact your distributor for
assistance or contact with Delta.

10-7

Chapter 10 Troubleshooting|ASDA-AB Series

10.3 Clearing Faults
Display

10-8

Fault Name

Clearing Method

Overcurrent

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Overvoltage

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Undervoltage

This fault message can be removed automatically
after the voltage has returned within its
specification.

Z Pulse shift

Restart the servo drive.

Regeneration error

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Overload

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Overspeed

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Abnormal pulse control
command

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Excessive deviation

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Watch dog execution time
out

This fault message cannot be cleared.

Encoder error

This fault message can be removed by restarting
the servo drive.

Adjustment error

This fault message can be removed after the
wiring of CN1 connector (I/O signal connector) is
removed and auto adjustment function is
executed.

Emergency stop activated

This fault message can be removed automatically
by turning off EMGS (DI signal).

Reverse limit switch error

Turn ARST (DI signal) ON to clear the fault. This
fault message can be removed when the servo
drive is Off (Servo Off)

Forward limit switch error

Turn ARST (DI signal) ON to clear the fault. This
fault message can be removed when the servo
drive is Off (Servo Off)

IGBT temperature error

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Memory error

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

DSP communication error

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Serial communication error

Turn ARST (DI signal) ON to clear the fault. This
fault message can also be removed automatically
after the communication is normal.

Serial communication time
out

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Revision January 2009

Chapter 10 Troubleshooting|ASDA-AB Series
Display

Fault Name

Clearing Method

Command write-in error

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Input power phase loss

Turn ARST (DI signal) ON to clear the fault. This
fault message can be removed automatically after
input power phase lost problem is solved.

Pre-overload warning

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

Internal command execution Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.
time out

Revision January 2009

DSP communication error

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

DSP communication error

Turn ARST (DI signal) ON to clear the fault or
restart the servo drive.

10-9

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10-10

Revision January 2009

Chapter 11 Specifications

11.1 Specifications of Servo Drive (ASDA-AB Series)

Power supply

Model: ASD-A

Position Control Mode

01

02

04

01

02

04

07

10

2kW

15

20

Phase / Voltage

Single-phase
110VAC

Three-phase or Single-phase 220VAC

Three-phase
220VAC

Permissible Voltage
Range

Single-phase:
100 -10% ~ 115
+10% VAC

Three-phase: 170~255VAC
Single-phase: 200~255VAC

Three-phase
170~255VAC

Permissible Frequency
Range
Cooling System

50 / 60Hz ±5%
Natural Air Circulation

Fan Cooling

Encoder Resolution /
Feedback Resolution

2500ppr / 10000ppr

Control of Main Circuit

SVPWM Control

Tuning Modes

Auto / Manual

Dynamic Brake

Built-in

Max. Input Pulse
Frequency

Max. 500Kpps (Line driver) / Max. 200Kpps (Open collector)

Pulse Type

Pulse + Direction, A phase + B phase, CCW pulse + CW pulse

Command Source

External pulse train / Internal parameters

Smoothing Strategy

Low-pass and P-curve filter

Electronic Gear

Electronic gear N/M multiple N: 1~32767, M: 1:32767(1/50100MΩ, DC 500V

Insulation strength

1500V AC, 60 seconds

Weight (kg) (without brake)

0.5

1.2

1.6

2.1

3.0

4.3

6.2

Weight (kg) (with brake)

-

1.5

2.0

2.9

3.8

4.7

7.2

Max. radial shaft load (N)

78.4

196

196

245

245

490

490

Max. thrust shaft load (N)

39.2

68

68

98

98

98

98

Power rating (kW/s)
(with brake)

-

21.3

53.8

22.1

48.4

30.4

82

Rotor moment of inertia
(Kg.m2) (with brake)

-

0.192E-4

0.30E-4

0.73E-4

1.18E-4

3.33E-4

4.953E-4

Mechanical time constant
(ms) (with brake)

-

0.85

0.57

0.78

0.65

0.93

0.66

Brake holding torque
[Nt-m (min)]

-

1.3

1.3

2.5

2.5

12

12

o

-

7.2

7.2

8.5

8.5

19.4

19.4

Brake release time [ms (Max)]

-

10

10

10

10

10

10

Brake pull-in time [ms (Max)]

-

70

70

70

70

70

70

Brake power consumption
(at 20 C) [W]

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Revision January 2009

Chapter 11 Specifications|ASDA-AB Series
C304
Model: ECMA Series

C306

C308

C310

100W

200W

400W

400W

750W

1kW

2kW

01

02

04

04

07

10

20

15

Vibration grade (um)
o

o

o

o

Operating temperature

0 C to 40 C (32 F to 104 F)

Storage temperature

-10 C to 80 C (-14 F to 176 F)

Operating humidity

20% to 90% RH (non-condensing)

Storage humidity

20% to 90% RH (non-condensing)

Vibration capacity

2.5G

IP rating

IP65 (when both waterproof connectors and shaft seal installation (or
selecting oil seal models, an oil seal is used to be fitted to the rotating shaft,
making the connectors waterproof (IP65 applicable)) are used.

o

o

o

o

Approvals

Medium / High Inertia Servo Motor
E313
Model: ECMA Series

E318

G313

500W

1kW

1.5kW

2kW

2kW

300W

600W

900W

05

10

15

20

20

03

06

09

Rated output power (kW)

0.5

1.0

1.5

2.0

2.0

0.3

0.6

0.9

Rated torque (N.m)

2.39

4.77

7.16

9.55

9.55

2.86

5.73

8.59

Maximum torque (N.m)

7.16

14.3

21.48

28.65

28.65

8.59

17.19

21.48

Rated speed (r/min)

2000

1000

Maximum speed (r/min)

3000

2000

Rated current (A)

2.9

5.6

8.3

11.01

11.22

2.5

4.8

7.5

Maximum current (A)

8.7

16.8

24.9

33.03

33.66

7.5

14.4

22.5

Power rating (kW/s)
(without brake)

7

27.1

45.9

62.5

26.3

10.0

39.0

66.0

Rotor moment of inertia
2
(Kg.m ) (without brake)

8.17E-4 8.41E-4 11.18E-4 14.59E-4 34.68E-4 8.17E-4 8.41E-4 11.18E-4

Mechanical time constant
(ms) (without brake)

1.91

1.51

1.10

0.96

1.62

1.84

1.40

1.06

Torque constant-KT (N.m/A)

0.83

0.85

0.87

0.87

0.85

1.15

1.19

1.15

Voltage constant-KE
(mV/(r/min))

30.9

31.9

31.8

31.8

31.4

42.5

43.8

41.6

Armature resistance (Ohm)

0.57

0.47

0.26

0.174

0.119

1.06

0.82

0.43

Armature inductance (mH)

7.39

5.99

4.01

2.76

2.84

14.29

11.12

6.97

Electrical time constant (ms)

12.96

12.88

15.31

15.86

23.87

13.55

13.50

16.06

7

7.5

Insulation class

Class A (UL), Class B (CE)

Insulation resistance

>100MΩ, DC 500V

Insulation strength

1500V AC, 60 seconds

Weight (kg) (without brake)

Revision January 2009

6.8

7

7.5

7.8

13.5

6.8

11-5

Chapter 11 Specifications|ASDA-AB Series
E313
Model: ECMA Series

E318

G313

500W

1kW

1.5kW

2kW

2kW

300W

600W

900W

05

10

15

20

20

03

06

09

Weight (kg) (with brake)

8.2

8.4

8.9

9.2

17.5

8.2

8.4

8.9

Max. radial shaft load (N)

490

490

490

490

1176

490

490

490

Max. thrust shaft load (N)

98

98

98

98

490

98

98

98

Power rating (kW/s)
(with brake)

6.4

24.9

43.1

59.7

24.1

9.2

35.9

62.1

Rotor moment of inertia
(Kg.m2) (with brake)

8.94E-4 9.14E-4 11.90E-4 15.88E-4 37.86E-4 8.94E-4 9.14E-4 11.9E-4

Mechanical time constant
(ms) (with brake)

2.07

1.64

1.19

1.05

1.77

2.0

1.51

1.13

Brake holding torque
[Nt-m (min)]

16.5

16.5

16.5

16.5

25

16.5

16.5

16.5

o

21.0

21.0

21.0

21.0

31.1

21.0

21.0

21.0

Brake release time [ms (Max)]

5.0

5.0

5.0

5.0

5.0

5.0

5.0

5.0

Brake pull-in time [ms (Max)]

25.0

25.0

25.0

25.0

25.0

25.0

25.0

25.0

Brake power consumption
(at 20 C) [W]

15

Vibration grade (um)
o

o

o

o

Operating temperature

0 C to 40 C (32 F to 104 F)

Storage temperature

-10 C to 80 C (-14 F to 176 F)

Operating humidity

20% to 90% RH (non-condensing)

Storage humidity

20% to 90% RH (non-condensing)

Vibration capacity

2.5G

IP rating

IP65 (when both waterproof connectors and shaft seal installation (or
selecting oil seal models, an oil seal is used to be fitted to the rotating shaft,
making the connectors waterproof (IP65 applicable)) are used.

o

o

o

o

Approvals

NOTE
1) Please refer to Section 1.2 for details about the model explanation.

11-6

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series

11.3 Servo Motor Speed-Torque Curves

Revision January 2009

11-7

Chapter 11 Specifications|ASDA-AB Series

11.4 Overload Characteristics
 Overload Protection Function
Overload protection is a built-in protective function to prevent a motor from overheating.

 Occasion of Overload
1. Motor was operated for several seconds under a torque exceeding 100% torque.
2. Motor had driven high inertia machine and had accelerated and decelerated at high frequency.
3. Motor UVW cable or encoder cable was not connected correctly.
4. Servo gain was not set properly and caused motor hunting.
5. Motor holding brake was not released.

 Chart of load and operating time (ECMA-C30401)

Operating Time (seconds)

1000

Load

100

120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
139.335s
27.585s
14.235s
8.9625s
6s
4.4925s
3.2925s
2.58s
2.07s
1.6125s

0.1
0

50

100

150

200

250

300

Load (%) rated torque

11-8

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series

 Chart of load and operating time (ECMA-C30602)

10000

Operating Time (seconds)

1000

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

100

10

1

Operating
Time
213.6s
42.3s
21.8s
13.7s
9.2s
6.9s
5.0s
3.9s
3.2s
2.5s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

 Chart of load and operating time (ECMA-C30604)
1000

Operating Time (seconds)

100

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
65.0s
12.9s
6.6s
4.2s
2.8s
2.1s
1.5s
1.2s
1.0s
0.8s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

Revision January 2009

11-9

Chapter 11 Specifications|ASDA-AB Series

 Chart of load and operating time (ECMA-C30804)

10000

Operating Time (seconds)

1000

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

100

10

1

Operating
Time
254.5s
50.4s
26.0s
16.4s
11.0s
8.2s
6.0s
4.7s
3.8s
2.9s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

 Chart of load and operating time (ECMA-C30807)

Operating Time (seconds)

1000

Load

100

120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

11-10

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series

 Chart of load and operating time (ECMA-C31010)

Operating Time (seconds)

1000

100

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

 Chart of load and operating time (ECMA-C31020)

Operating Time (seconds)

1000

Load

100

120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

Revision January 2009

11-11

Chapter 11 Specifications|ASDA-AB Series

 Chart of load and operating time (ECMA-G31303)

10000

Operating Time (seconds)

1000

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

100

10

1

Operating
Time
613.1s
121.4s
62.6s
39.4s
26.4s
19.8s
14.5s
11.4s
9.1s
7.1s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

 Chart of load and operating time (ECMA-E31305)
1000

Operating Time (seconds)

100

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

11-12

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series

 Chart of load and operating time (ECMA-G31306)

Operating Time (seconds)

1000

100

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
167.2s
33.1s
17.1s
10.8s
7.2s
5.4s
4.0s
3.1s
2.5s
1.9s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

 Chart of load and operating time (ECMA-G31309)

Operating Time (seconds)

1000

100

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
185.8s
36.8s
19.0s
12.0s
8.0s
6.0s
4.4s
3.4s
2.8s
2.2s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

Revision January 2009

11-13

Chapter 11 Specifications|ASDA-AB Series

 Chart of load and operating time (ECMA-E31310)

Operating Time (seconds)

1000

Load

100

120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
130.0s
25.7s
13.3s
8.4s
5.6s
4.2s
3.1s
2.4s
1.9s
1.5s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

 Chart of load and operating time (ECMA-E31315)

Operating Time (seconds)

1000

Load

100

120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
167.2s
33.1s
17.1s
10.8s
7.2s
5.4s
4.0s
3.1s
2.5s
1.9s

0.1
0

50

100

150

200

250

300

Load (% rated torque)

11-14

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series

 Chart of load and operating time (ECMA-E31320)

Operating Time (seconds)

1000

100

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

10

1

Operating
Time
185.78s
36.78s
18.98s
11.95s
8s
5.99s
4.39s
3.44s
2.76s
2.15s

0.1
0

50

100

150

200

250

300

Load (%) rated torque

 Chart of load and operating time (ECMA-E31820)

10000

Operating Time (seconds)

1000

Load
120%
140%
160%
180%
200%
220%
240%
260%
280%
300%

100

10

1

Operating
Time
278.67s
55.17s
28.47s
17.925s
12s
8.985s
6.585s
5.16s
4.14s
3.225s

0.1
0

50

100

150

200

250

300

Load (%) rated torque

Revision January 2009

11-15

Chapter 11 Specifications|ASDA-AB Series

11.5 Dimensions of Servo Drive
Order P/N: ASD-A0111-AB, ASD-A0211-AB, ASD-A0411-AB (100W ~ 400W)

WEIGHT
1.5 (3.3)

NOTE
1) Dimensions are in millimeters (inches).
2) Weights are in kilograms (kg) and (pounds (lbs)).
3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for
reference only. Please use metric for precise measurements.

11-16

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series
Order P/N: ASD-A0121-AB, ASD-A0221-AB, ASD-A0421-AB (100W ~ 400W)

WEIGHT
1.5 (3.3)

NOTE
1) Dimensions are in millimeters (inches).
2) Weights are in kilograms (kg) and (pounds (lbs)).
3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for
reference only. Please use metric for precise measurements.

Revision January 2009

11-17

Chapter 11 Specifications|ASDA-AB Series
Order P/N: ASD-A0721-AB, ASD-A1021-AB, ASD-A1521-AB (750W ~ 1.5kW)

WEIGHT
2.0 (4.4)

NOTE
1) Dimensions are in millimeters (inches).
2) Weights are in kilograms (kg) and (pounds (lbs)).
3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for
reference only. Please use metric for precise measurements.

11-18

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series
Order P/N: ASD-A2023-AB (2kW)

WEIGHT
3.0 (6.6)

NOTE
1) Dimensions are in millimeters (inches).
2) Weights are in kilograms (kg) and (pounds (lbs)).
3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for
reference only. Please use metric for precise measurements.

Revision January 2009

11-19

Chapter 11 Specifications|ASDA-AB Series

11.6 Dimensions of Servo Motor
Motor Frame Size: 80mm and below Models

Model
LC
LZ
LA
S
LB
LL (without brake)
LL (with brake)
LR
LE
LG
LW
LS (without oil seal)
LS (with oil seal)
RH
WK
W
T
TP

NOTE

C30401S
40
4.5
46
8
30
100.6
25
2.5
5
16
20
20
6.2
3
3
3
M3, Depth 8

C30602S
60
5.5
70
14
50
105.5
141.6
30
3
7.5
20
27
24
11
5
5
5
M4, Depth 15

C30604S
60
5.5
70
14
50
130.7
166.8
30
3
7.5
20
27
24
11
5
5
5
M4, Depth 15

C308047
80
6.6
90
14
70
112.3
152.8
30
3
8
20
27
24.5
11
5
5
5
M4, Depth 15

C30807S
80
6.6
90
19
70
138.3
178
35
3
8
25
32
29.5
15.5
6
6
6
M6, Depth 20

1) Dimensions are in millimeters. Actual measured values are in metric units. Please
use metric for precise measurements.
2) The boxes () in the model names are for optional configurations. (Please refer
to Section 1.2 for model explanation)

11-20

Revision January 2009

Chapter 11 Specifications|ASDA-AB Series
Motor Frame Size: 100mm and above Models

Model
LC
LZ
LA
S
LB
LL (without brake)
LL (with brake)
LR
LE
LG
LW
LS
RH
WK
W
T
TP

NOTE

G31303S
130
9
145
22
110
147.5
183.5
55
6
11.5
36
47
18
8
8
7
M6, Depth 20

E31305S
130
9
145
22
110
147.5
183.5
55
6
11.5
36
47
18
8
8
7
M6, Depth 20

G31306S
130
9
145
22
110
147.5
183.5
55
6
11.5
36
47
18
8
8
7
M6, Depth 20

G31309S
130
9
145
22
110
163.5
198
55
6
11.5
36
47
18
8
8
7
M6, Depth 20

C31010S
100
9
115
22
95
153.5
192.5
45
5
12
32
37
18
8
8
7
M6, Depth 20

1) Dimensions are in millimeters. Actual measured values are in metric units. Please
use metric for precise measurements.
2) The boxes () in the model names are for optional configurations. (Please refer
to Section 1.2 for model explanation)

Revision January 2009

11-21

Chapter 11 Specifications|ASDA-AB Series
Motor Frame Size: 100mm and above Models

Model
LC
LZ
LA
S
LB
LL (without brake)
LL (with brake)
LR
LE
LG
LW
LS
RH
WK
W
T
TP

NOTE

E31310S
130
9
145
22
110
147.5
183.5
55
6
11.5
36

E31315S
130
9
145
22
110
167.5
202
55
6
11.5
36

C31020S
100
9
115
22
95
199
226
45
5
12
32

G31320S
130
9
145
22
110
187.5
216
55
6
11.5
36

E31820S
180
13.5
200
35
114.3
169
203.1
79
4
20
63

47

47

37

47

73

18
8
8
7
M6, Depth 20

18
8
8
7
M6, Depth 20

18
8
8
7
M6, Depth 20

18
8
8
7
M6, Depth 20

30
10
10
8
M12, Depth 25

1) Dimensions are in millimeters. Actual measured values are in metric units. Please
use metric for precise measurements.
2) The boxes () in the model names are for optional configurations. (Please refer to
Section 1.2 for model explanation)

11-22

Revision January 2009

Chapter 12 Application Examples

12.1 Position Control (including homing function)

Suppose that the machine will move to limit switch (CCWL), L.S.1 when motor is in forward rotation (from
motor shaft view) and the machine will move to limit switch (CWL), L.S.2 when motor is in reverse rotation, if
limit switch is set, L.S.1 as “Home”, the machine will be positioned between P1 and P2 according to working
procedure.

Parameters Setting


P1-01=1 (Position control (Pr) mode setting)



P1-47=100 (Activate forward homing)



P2-15=022 (Reverse inhibit limit (CWL). Then, connect contact “b” of L.S.1 to DI6)



P2-16=023 (Forward inhibit limit (CCWL). Then, connect contact "b” of L.S.2 to DI7)



P2-10=101 (Servo On (SON), default: DI1)



P2-11=108 (Command triggered (CTRG), default: DI2)



P2-12=111 (Position command selection (POS0), default: DI3)



P1-33=0 (Absolute position command)



Set P1-15, P1-16 as position P1 (Internal position command 1)



Set P1-17, P1-18 as position P2 (Internal position command 2)



P2-18=101 (Servo ready (SRDY), default: DO1)



P2-21=105 (Positioning completed (TPOS), default: DO4)



P2-20=109 (Home completed (HOME), default: DO3)

Revision January 2009

12-1

Chapter 12 Application Examples|ASDA-AB Series


P1-50=0, P1-51=0 (Homing offset rotation / pulse number)



Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting); P1-48, P1-49
(Speed setting of high/low speed Homing)

Operation


Re-start the power to be ON again.



After Servo ready is completed, activate the drive to be Servo ON. Then, the system will automatically
complete home operation.



When home operation is completed (Home ready), then can perform the position control function.

SR DY

DO1

H OME

DO4
DO 2
DI1

SON

C TRG (r i sing edg e)

D I2
D I3

P OS=0

PO S=1
P1

12-2

P2

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

12.2 Roller Feeding
Suppose that the motor rotate 1/4 rev. while it is triggered every time (10000/4=2500Pulse).

Parameters Setting


P1-01=1 (Position control (Pr) mode setting)



P2-10=101 (Servo On (SON), default: DI1)



P2-11=108 (Command triggered (CTRG), default: DI2)



P1-15=0 (Position rotation number is 0(zero))



P1-16=2500 (Position rotation pulse number)



P1-33=1 (Incremental position command)



P2-18=101 (Servo ready (SRDY), default: DO1)



P2-21=105 (Positioning completed (TPOS), default: DO4)



Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting)

Operation


Re-start the power to be ON again.



After Servo ready is completed, press the Servo ON key and activate the drive to be Servo ON.



After DI2 is triggered, the motor will rotate 1/4rev automatically.

SR DY

DO1
DO 3
DI1
D I2

SON
C TRG

1/4 rev

Revision January 2009

2/4r ev

12-3

Chapter 12 Application Examples|ASDA-AB Series

12.3 Connecting to Delta DVP-EH Series PLC
Delta servo drives can be connected to Delta DVP-EH series PLC and provide functions including: home,
JOG operation, acceleration/deceleration setting, relative position control, absolute position control and pulse
numbers monitor.

Parameters Setting


P1-00=2 (Input type setting of external pulse, 2: pulse input + direction)



P1-01=0 (Position control (Pt) mode setting)



P2-10=101 (Servo On (SON), default: DI1)



P2-11=104 (Pulse count clear function, contact: DI2)



P2-15=102(Fault reset, contact: DI5)



Other relevant parameters: P1-34, P1-35, P1-36 (Acceleration/Deceleration time setting)

Operation


Re-start the power to be ON again.



After Servo ready is completed, activate the drive to be Servo ON.



Connect contact X1 of PLC (drive X1 to be ON) to perform home operation. When contact X10 is ON,
home operation is completed.



PLC X2 : JOG forward operation ; PLC X3 : JOG reverse operation.



After home operation is completed, connect contact X5 of PLC (drive X5 to be ON) and the absolute
coordinate position will be 10000. Then, connect contact X4 of PLC (drive X4 to be ON) and the
absolute coordinate position will be 0.


12-4

Repeat this position control operation.
Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

X1

M5
R ST

M10

R ST

M12

R ST

M13

S ET

S0
ZE R O

X0

( M1334 )
Stop ch0
pulse output

STOP
M 1000

( M1346 )
ZRN CL EAR
output signal
enable

N ormally on contact (a contact)
S0

S10

S11

S12

S13

M1334

( M5
Z ERO

J OG+

JOG- F WD P OS REV POS

)

St op cho
pulse output

M 1002
D MO V
O n only for
1 sc an
a fter RUN

K 10000

D13 41

M aximum output frequency
D MO V

K 10000

D13 41

Accel eration/decelerat ion on tim e
X4

M5

M10
R ST

M12

R ST

M13

S ET

S12

FW D POS

FWD POS

Revision January 2009

12-5

Chapter 12 Application Examples|ASDA-AB Series

X5

M5

M10
RST

M1 2

RST

M1 3

SET

S13

REV POS

REV POS
X2

M5
RST

M1 2

RST

M1 3

SET

S10

JOG+

JOG+
X3

M5
RST

M1 2

RST

M1 3

SET

S11

JOG-

JOGS0

M 50

S
ZERO

D ZRN

K50000

K5 000

Y0

X10

M5
SET

M1 0

RST

S0

PLSY Y0 instru ction exec ution completed flag
M1 336

M 50

Ch 0 pulse se nd flag

ZER O

M1 000
( M50 )
N ormally on contact (a contac t)

12-6

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

S1 0

X2

M51
D DRVI

S
JOG+

K9 99999

K3 0000

Y0

Y1

JOGM1 336

M51
RST

S 10

Ch 0 pulse s end fla g

J OG+

M1000
( M 51 )
N ormally on contact (a contac t)
M1 029
RST

PLS Y Y0 inst ruction ex ecution
com pleted flag

P LSY Y0 in structio n exec ution comple ted flag
S11

X3

M52
D DRVI

S
JOG-

M1029

K-9 99999

K3 0000

Y0

Y1

JOGM1 336

M52
RST

S 11

Ch 0 pulse s end fla g

J OG-

M1000
( M 52 )
N ormally on contact (a contac t)
M1 029
RST
M1029
PLSY Y0 ins truction e xecution
com pleted fl ag

P LSY Y0 in structio n exec ution comple ted flag

S1 2

M53
D DRVA

S
FW D POS

K0

K 200000

Y0

Y1

M1029
SET

M 12

RST

S 12

P LSY Y0 in structio n exec ution comple ted flag
M1 336

M100

Ch 0 pulse s end fla g

FWD P OS

M53
( M100 )
M1 000
( M 53 )
Normally on cont act (a contact)

Revision January 2009

12-7

Chapter 12 Application Examples|ASDA-AB Series
S1 3

M54

S

D DRVA

K1000 00

K1 0000

Y0

Y1

RE V POS
M1029
SET

M 13

RST

S 13

P LSY Y0 in structio n exec ution comple ted flag
M1 336

M101

Ch 0 pulse s end fla g

REV POS

M54
( M101 )
M1 000
( M 54 )
Normally on cont act (a contact)

RET
M 1001
DMOV
Normally on contact (a contact)

D1336
Presen t value
of ch0 pulse (lo w

D200
Watch dog timer
(WDT) value
END

12-8

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

12.4 Connecting to Delta TP04 Series
Delta servo drives can be connected to Delta TP04 Series Operation Interface Panel and provide functions
including: Home, JOG operation, Position learning function, Relative position control, Absolute position
control, Monitor and parameter settings.

Parameters Setting


P1-01=1 (Position control (Pr) mode setting)



P1-47=202 (SHOM drive ORGP to perform forward homing)



P2-15=124 (Home detection position, contact: DI6)



P2-16=127 (Activate signal of home, contact: DI7)



P2-10=101 (Servo On (SON), default: DI1)



P2-11=108 (Command triggered (CTRG), default: DI2)



P2-12=111 (Position command selection (POS0), default: DI3)



P2-13=112 (Position command selection (POS1), default: DI4)



P3-02=1 (Communication protocol 7,E,1)



P3-05=2 (RS-485 serial communication)

Operation


Re-start the power to be ON again.



After Servo ready is completed, press the Servo ON key and activate the drive to be Servo ON.

Revision January 2009

12-9

Chapter 12 Application Examples|ASDA-AB Series

12-10

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

12.5 Position Control Mode (Pr Mode)
 Relevant Parameters Description
Parameter

Communication
Address

P1-01

0101H

Control Mode and Output Direction
001: Forward torque in Pr mode
101: Reverse torque in Pr mode

P1-33

0121H

Position Control Mode (Pr)
0: Absolute position command
1: Incremental position command

P1-34

0122H

Acceleration Time
1st to 3rd step Acceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)

P1-35

0123H

Deceleration Time
1st to 3rd step Deceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)

P1-36

0124H

Accel /Decel S-curve
When parameter P1-36 is set to 0, accel / decel function is disabled,
i.e. P1-34, P1-35 is disabled.

P1-44

012CH

Electronic Gear Ratio (1st Numerator) (N1)
If the electronic gear deceleration ratio is 1/75, set numerator to 75

P1-45

012DH

Electronic Gear Ratio (Denominator)

P1-47

012FH

Homing Mode
202: When (MD1, MD0)=(OFF, ON), Forward Homing
203: When (MD1, MD0)=(OFF, ON), Reverse Homing

P1-50

0132H

Homing Offset Rotation Number

P1-51

0133H

Homing Offset Pulse Number
Total homing offset pulse number =P1-50 x 10000 + P1-51

Parameter Description

The following table indicates the position command registers and the corresponding moving speed registers.
Positioning Point

Position Command Register

Moving Speed Register

P1

( P1-15, P1-16 )

P2-36 (V1)

P2

( P1-17, P1-18 )

P2-37 (V2)

P3

( P1-19, P1-20 )

P2-38 (V3)

P4

( P1-21, P1-22 )

P2-39 (V4)

P5

( P1-23, P1-24 )

P2-40 (V5)

P6

( P1-25, P1-26 )

P2-41 (V6)

P7

( P1-27, P1-28 )

P2-42 (V7)

P8

( P1-29, P1-30 )

P2-43 (V8)

Revision January 2009

12-11

Chapter 12 Application Examples|ASDA-AB Series

 Trigger Timing Charts
(1)

Timing Chart of Internal Position Register Selection
P8
P3
Inter nal pos i tion
c omman d

P2
P1

Ex ter nal I/O signal

1ms

POS0

OFF

PO S1

O FF

PO S2

OFF

ON

OFF

ON

ON
ON

CTR G
SO N

ON
>2ms, can be set by P2-0 9

(2)

HOLD Timing Chart:

If HOLD signal is ON when the motor is running, the motor will decelerate first and stop according to the
deceleration time which is set by parameter P1-34 ~ P1-36. When TRIG signal is ON again, the motor will
continue to move across the remaining pulses. Then, reach the target position that is set last time.

Remain ing
pulses
Spee d

Move across
r emaining
pulses

P
Position

DI=T RIG

DI=H OLD

12-12

Time

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
(3)

Command Abort Timing Chart:

To use command abort function, set parameter P2-50 to 2. At this time, if CCLR signal is ON when the motor
is running, the motor will decelerate first and stop according to the deceleration time which is set by
parameter P1-34 ~ P1-36 and the remaining pulses will be aborted. When TRIG signal is ON again, the
motor will continue to move forward and reach the target position that is set currently.

Cle ar
r emai ning
puls es

Next movin g
co mmand

Speed
P2
P1
Posi tion

DI=T RI G

DI=CCLR

Revision January 2009

Time

12-13

Chapter 12 Application Examples|ASDA-AB Series

12.6 Feed Step Control

 Relevant Parameters Description
Parameter

Communication
Address

P1-01

0101H

Control Mode and Output Direction
001: Forward torque in Pr mode
101: Reverse torque in Pr mode

P1-12

010CH

Torque Limit Setting
Torque decrease value is represented by a percentage of rated
torque.

P1-33

0121H

Position Control Mode (Pr)
2: Forward operation search feed step
3: Reverse operation search feed step
4: Short-pass search feed step

P1-34

0122H

Acceleration Time
1st to 3rd step Acceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)

P1-35

0123H

Deceleration Time
1st to 3rd step Deceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)

P1-36

0124H

Accel /Decel S-curve
When parameter P1-36 is set to 0, accel / decel function is disabled,
i.e. P1-34, P1-35 is disabled.

P1-44

012CH

Electronic Gear Ratio (1st Numerator) (N1)
If the electronic gear deceleration ratio is 1/75, set numerator to 75

P1-45

012DH

Electronic Gear Ratio (Denominator)

P1-47

012FH

Homing Mode
202: When (MD1, MD0)=(OFF, ON), Forward Homing
203: When (MD1, MD0)=(OFF, ON), Reverse Homing

12-14

Parameter Description

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
Parameter

Communication
Address

P1-50

0132H

Homing Offset Rotation Number

P1-51

0133H

Homing Offset Pulse Number
Total homing offset pulse number =P1-50 x 10000 + P1-51

P1-55

0137H

Maximum Speed Limit

P2-36

0224H

Moving Speed Setting of 1st Position
Maximum feed step speed
(When speed is above 3000r/min, please set P1-55 to a proper
value)

P2-44

022CH

Digital Output Mode Setting
0: General output mode
1: Combination output mode

Parameter Description

 Relevant Parameters Description, cont.
Parameter

Communication
Address

P2-45

022DH

Combination Output Signal Delay Time [UNIT: 4msec]
Output signal will hold delay time when position command is
completed.

P2-46

022EH

Feed Step Number
Range: 2~32

P2-47

022FH

Position Deviation Clear Delay Time [UNIT: 20msec]
This function is disabled when its setting value is set to 0.

P2-51

0233H

Internal Servo ON setting

Parameter Description

 Digital I/O Signal Setting
DI Signal

Parameter Setting

Explanation

DI1 (INDEX0)

P2-10 = 128

Feed step selection input 0

DI2 (INDEX1)

P2-11 = 129

Feed step selection input 1

DI3 (INDEX2)

P2-12 = 130

Feed step selection input 2

DI4 (INDEX3)

P2-13 = 131

Feed step selection input 3

DI5 (ORGP)

P2-14 = 124

Reference “Home” sensor

DI6 (SON)

P2-15 = 101

Servo ON (when the setting value is 137, it is
manual operation function.)

(MDP0)

P2-15 = 35 (contact “b”)

Manually continuous operation

(MDP1)

P2-15 = 36 (contact “b”)

Manually single step operation

DI7 (MD0)

P2-16 = 33 (contact “b”)

Feed step mode input 0

DI8 (MD1)

P2-17 = 34 (contact “b”)

Feed step mode input 1

Revision January 2009

12-15

Chapter 12 Application Examples|ASDA-AB Series
DO Signal

Parameter Setting

DO1

P2-18 = 101

DO2

P2-19 = 103

DO3

P2-20 = 109

DO4

P2-21 = 105

DO5

P2-22 = 107

Explanation

Please refer to “Definition of DO Signals” in the
following section.

NOTE
1) Please set parameter P2-08 to 12 before changing the setting value of DI and DO signals.

 Mode Functions
MDP0, MDP1

OFF

ON

Status

MD1

MD0

Explanation

1

OFF

OFF

Torque decrease

2

OFF

ON

Feed step position mode

3

ON

OFF

Homing mode

4

ON

ON

Emergency stop

-

-

-

-

OFF

ON

CW manual operation

-

ON

OFF

CCW manual operation

-

-

-

Don’t care

Don’t care

NOTE
1) The emergency stop warning message will appear if MD0 and MD1 are ON after power suppliers to AC
servo drive. If turn MD0 and MD1 to be OFF, the emergency stop warning message will disappear
automatically.
2) When the status is switched from 2 (MD1=OFF, MD0=ON) to 3 (MD1=ON, MD0=OFF), the emergency
stop warning message will appear. On the other hand, the emergency stop warning message will also
appear when the status is switched from 3 to 2. Therefore, no matter what status you want to switch to, it
is needed to switch to status 1 first to perform torque decrease (for example, switch from 2 Æ 1Æ 3 or 3
Æ 1 Æ 2).
3) Ensure that MD0 and MD1 are set to ON state to enforce an emergency stop.

12-16

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

 Definitions of INDEX0~4 (ON=1, OFF=0)
Item

INDEX4

INDEX3

INDEX2

INDEX1

INDEX0

INDEX NUMBER

1

0

0

0

0

0

INDEX 1

2

0

0

0

0

1

INDEX 2

3

0

0

0

1

0

INDEX 3

4

0

0

0

1

1

INDEX 4

5

0

0

1

0

0

INDEX 5

6

0

0

1

0

1

INDEX 6

7

0

0

1

1

0

INDEX 7

8

0

0

1

1

1

INDEX 8

9

0

1

0

0

0

INDEX 9

10

0

1

0

0

1

INDEX 10

11

0

1

0

1

0

INDEX 11

12

0

1

0

1

1

INDEX 12

13

0

1

1

0

0

INDEX 13

14

0

1

1

0

1

INDEX 14

15

0

1

1

1

0

INDEX 15

16

0

1

1

1

1

INDEX 16

17

1

0

0

0

0

INDEX 17

18

1

0

0

0

1

INDEX 18

19

1

0

0

1

0

INDEX 19

20

1

0

0

1

1

INDEX 20

21

1

0

1

0

0

INDEX 21

22

1

0

1

0

1

INDEX 22

23

1

0

1

1

0

INDEX 23

24

1

0

1

1

1

INDEX 24

25

1

1

0

0

0

INDEX 25

26

1

1

0

0

1

INDEX 26

27

1

1

0

1

0

INDEX 27

Revision January 2009

12-17

Chapter 12 Application Examples|ASDA-AB Series

 Definitions of DO Signals (ON=1, OFF=0)
Item

DO5

DO4

DO3

DO2

D01

Description

1

0

0

0

0

0

ALRAM

2

0

0

0

0

1

SERVO READY

3

0

0

0

1

0

HOMING (under operation)

4

0

0

0

1

1

HOME Completed

5

0

0

1

0

0

CHANGE INDEX
(under operation)

6

0

0

1

0

1

INDEX 1 (In position)

7

0

0

1

1

0

INDEX 2 (In position)

8

0

0

1

1

1

INDEX 3 (In position)

9

0

1

0

0

0

INDEX 4 (In position)

10

0

1

0

0

1

INDEX 5 (In position)

11

0

1

0

1

0

INDEX 6 (In position)

12

0

1

0

1

1

INDEX 7 (In position)

13

0

1

1

0

0

INDEX 8 (In position)

14

0

1

1

0

1

INDEX 9 (In position)

15

0

1

1

1

0

INDEX 10 (In position)

16

0

1

1

1

1

INDEX 11 (In position)

17

1

0

0

0

0

INDEX 12 (In position)

18

1

0

0

0

1

INDEX 13 (In position)

19

1

0

0

1

0

INDEX 14 (In position)

20

1

0

0

1

1

INDEX 15 (In position)

21

1

0

1

0

0

INDEX 16 (In position)

22

1

0

1

0

1

INDEX 17 (In position)

23

1

0

1

1

0

INDEX 18 (In position)

24

1

0

1

1

1

INDEX 19 (In position)

25

1

1

0

0

0

INDEX 20 (In position)

26

1

1

0

0

1

INDEX 21 (In position)

27

1

1

0

1

0

INDEX 22 (In position)

28

1

1

0

1

1

INDEX 23 (In position)

29

1

1

1

0

0

INDEX 24 (In position)

30

1

1

1

0

1

INDEX 25 (In position)

31

1

1

1

1

0

INDEX 26 (In position)

32

1

1

1

1

1

INDEX 27 (In position)

NOTE
1) When alarm occurs, DO=0 (all OFF).
2) When the servo drive is ready, DO=1

12-18

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
3) When return back to “Home” (Homing), DO=2
4) When returning back to “Home” is completed, DO=3
5) When feed step function is undergoing, DO=4
6) When feed step function is completed (In position), the corresponding INDEX NUMBER will display, and
DO=nn
7) Feed step output position = DO value - 4 (Example: if DO=7, the feed step output position =7 - 4 = 3)
8) When returning to HOME, if DO=1 (SERVO READY) after any abnormal conditions are removed, it is
needed to return to HOME again to ensure that the “Home” is correct.

 Timing charts of DI/DO Signals Operation
(1)

Homing Mode

Power
Supply

ON
OFF

DO VALUE

Motor
Speed

SERVO READY (01)

HOME (02)

INDEX1 (5)

ON
OFF

ORGP

Z PULSE
Output Signal

Servo ON
Torque
Limit

ON
OFF

MD1

ON
OFF

MD0

ON
OFF

Revision January 2009

P1-12 setting

P1-12 setting

12-19

Chapter 12 Application Examples|ASDA-AB Series
(2)

Feed Step Control Mode

Power
Supply

ON
OFF

DO VALUE

CI

INDEX 2 (06)

CI

INDEX 6 (0A)

CI

P2-45
Motor Speed

Servo ON

Torque
Limit

ON
OFF

IDX Value 10

Step No. 2

Step No. 6

Step No.

P2-47
CCLR

ON
OFF

MD1

ON
OFF

MD0

ON
OFF

NOTE
1) The maximum value of P2-45 = 125 x T min.
2) T min. is the minimum time from A to B, i.e. the time between when start running at A and when start
running at B (please refer to the figure below). Time unit is 1 second.

A

B
T min.

12-20

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
(3)

Manually Single Step Control Mode 1

Power
Supply

ON
OFF

DO VALUE
INDEX4

CI

INDEX 2

CI

CI

INDEX 3

P2-45
Motor Speed

Servo ON

Torque ON
OFF
Limit

IDX Value

INDEX 2
manually feed
forward

manually feed
forward

STEPU
auto
running
MD1

ON
OFF

MD0

ON
OFF

NOTE
1) When manually feed forward operation occurs, please set MD1 to be ON first (The feed step selection
input should be kept unchanged to avoid returning to INDEX1 when manually feed forward operation
occurs).
2) For manually single step operation speed, please refer to parameter P2-36.

Revision January 2009

12-21

Chapter 12 Application Examples|ASDA-AB Series
(4)

Manually Single Step Control Mode 2

Power
Supply

ON
OFF

DO VALUE
INDEX4

CI

INDEX 2

CI

INDEX 3

CI

INDEX 4

CI

INDEX 3

Motor Speed

Servo ON

Torque ON
OFF
Limit

IDX Value

INDEX 2
manually feed
forward

MDP0 ON
OFF
auto
running
MD1

ON
OFF

MD0

ON
OFF

NOTE
1) After manually feed forward operation is completed, please set MD1 and MD0 to be OFF and then turn
MDP1 from ON to OFF (ready to enter torque decrease status) to avoid any abnormal condition.
2) In manually feed forward mode (MDP1 is ON), if the rising-edge of MD0 is ON, then the servo motor will
single step feed forward and if the rising-edge of MD1 is ON, then the servo motor will single step feed
reverse.
3) For manually single step operation speed, please refer to parameter P2-37.

12-22

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
(5)

Manually Continuous Step Control Mode

Power
Supply

ON
OFF

DO VALUE
INDEX4

CI

INDEX 2

CI

INDEX 3

CI

INDEX 4

CI

INDEX 5

Motor Speed

Servo ON

Torque ON
OFF
Limit

IDX Value

INDEX 2
manually feed
forward

MDP1 ON
OFF
auto
running
MD1

ON
OFF

MD0

ON
OFF

NOTE
1) After manually feed forward operation is completed, please set MD1 and MD0 to be OFF and then turn
MDP0 from ON to OFF (ready to enter torque decrease status) to avoid any abnormal condition.
2) In manually feed forward mode (MDP0 is ON), if MD0 is ON, then the servo motor will continuous step
feed forward and if MD1 is ON, then the servo motor will continuous step feed reverse.
3) For manually single step operation speed, please refer to parameter P2-37.

Revision January 2009

12-23

Chapter 12 Application Examples|ASDA-AB Series

 Communication Control Example Explanation
Communication Address

Communication Content

H306

H0FF

Set to software control

H407

H020

SERVO ON

H407

H060

HOMING

H407

H070

HOME SENSOR ON

H407

H060

HOME SENSOR OFF

H407

H020

Torque decrease

H407

H0A3

Index 3

H407

H023 (H020)

H407

H0A5

H407

H025 (H020)

H407

H0An

H407

H02n (H020)

12-24

Explanation

Torque decrease
Index 5
Torque decrease
Index n
Torque decrease

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

12.7 Internal Auto Running Mode
 Relevant Parameters Description
Parameter

Communication
Address

P1-01

0101H

Control Mode and Output Direction
001: Forward torque in Pr mode
101: Reverse torque in Pr mode

P1-33

0121H

Position Control Mode (Pr)
5: Continuous auto-running position command (Absolute)
6: Continuous auto position command (Incremental)

P1-34

0122H

Acceleration Time
1st to 3rd step Acceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)

P1-35

0123H

Deceleration Time
1st to 3rd step Deceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)

P1-36

0124H

Accel /Decel S-curve
When parameter P1-36 is set to 0, accel / decel function is disabled,
i.e. P1-34, P1-35 is disabled.

P1-44

012CH

Electronic Gear Ratio (1st Numerator) (N1)
If the electronic gear deceleration ratio is 1/75, set numerator to 75

P1-45

012DH

Electronic Gear Ratio (Denominator)

P1-47

012FH

Homing Mode
202: When (MD1, MD0)=(OFF, ON), Forward Homing
203: When (MD1, MD0)=(OFF, ON), Reverse Homing

P1-50

0132H

Homing Offset Rotation Number

P1-51

0133H

Homing Offset Pulse Number
Total homing offset pulse number =P1-50 x 10000 + P1-51

P2-44

022CH

Digital Output Mode Setting
0: General output mode
1: Combination output mode

P2-45

022DH

Combination Output Signal Delay Time [UNIT: 4msec]
Output signal will hold delay time when position command is
completed.

P2-51

0233H

Internal Servo ON setting

Revision January 2009

Parameter Description

12-25

Chapter 12 Application Examples|ASDA-AB Series
When the setting value of the time listed below is set to zero(0), the relative position will be ignored.
Positioning Point

Position Command Register

Moving Speed Register

Dwell Time Register

INDEX1

( P1-15, P1-16 )

P2-36 (V1)

P2-52 (T1)

INDEX2

( P1-17, P1-18 )

P2-37 (V2)

P2-53 (T2)

INDEX3

( P1-19, P1-20 )

P2-38 (V3)

P2-54 (T3)

INDEX4

( P1-21, P1-22 )

P2-39 (V4)

P2-55 (T4)

INDEX5

( P1-23, P1-24 )

P2-40 (V5)

P2-56 (T5)

INDEX6

( P1-25, P1-26 )

P2-41 (V6)

P2-57 (T6)

INDEX7

( P1-27, P1-28 )

P2-42 (V7)

P2-58 (T7)

INDEX8

( P1-29, P1-30 )

P2-43 (V8)

P2-59 (T8)

 Digital I/O Signal Setting
DI Signal

Parameter Setting

Explanation

DI1 (SON)

P2-10 = 101

Servo ON

DI2 (AUTOR)

P2-11 = 142

Auto run input

DI3 (STEPD)

P2-12 = 140

Step down input

(STEPU)

P2-12 = 139

Step up input

(STEPB)

P2-12 = 141

Step back input.

DI4 (SHOM)

P2-13 = 127

Move to “Home”

DI5 (ORGP)

P2-14 = 124

Reference “Home” sensor

DI6 (CWL)

P2-15 = 22 (contact “b”)

Reverse Inhibit limit

DI7 (CCWL)

P2-16 = 23 (contact “b”)

Forward Inhibit limit

DI8 (EMGS)

P2-17 = 21 (contact “b”)

Emergency stop

12-26

DO Signal

Parameter Setting

DO1

P2-18 = 101

DO2

P2-19 = 103

DO3

P2-20 = 109

DO4

P2-21 = 105

DO5

P2-22 = 107

Explanation

Please refer to “Definition of DO Signals” in the
following section.

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

 Definitions of DO Signals (ON:1, OFF:0)
Item

DO5

DO4

DO3

DO2

DO1

Function

1

0

0

0

0

0

ALARM

2

0

0

0

0

1

SERVO READY

3

0

0

0

1

0

HOMEING (under operation)

4

0

0

0

1

1

HOME Completed

5

0

0

1

0

0

CHANGE INDEX (under operation)
(CHANGE INDEX hereinafter called “CI”)

6

0

0

1

0

1

INDEX 1 (In position)

7

0

0

1

1

0

INDEX 2 (In position)

8

0

0

1

1

1

INDEX 3 (In position)

9

0

1

0

0

0

INDEX 4 (In position)

10

0

1

0

0

1

INDEX 5 (In position)

11

0

1

0

1

0

INDEX 6 (In position)

12

0

1

0

1

1

INDEX 7 (In position)

13

0

1

1

0

0

INDEX 8 (In position)

 Timing charts of DI/DO Signals Operation
(1)

Homing Mode

Power ON
Supply OFF
DO VALUE

SERVO READY (01)

HOMING (02)

HOME (3)

Motor Speed

ORGP

ON
OFF

Z PULSE
Output Signal

Servo ON

Revision January 2009

12-27

Chapter 12 Application Examples|ASDA-AB Series
(2) Auto Running Mode
Power ON
Supply OFF
IDX1
DO VALUE
INDEX4

HOME (3)

CI

T1

IDX2
CI

V1

IDX8
CI

T2

T8

CI

T1

V2

Motor Speed

Servo ON

AUTOR OFF

(3)

Manual Control Mode 1

Power ON
Supply OFF

DO VALUE
INDEX4

HOME (3)

CI

IDX1

V1

CI

IDX2

CI

IDX3

CI

IDX2

V2

Motor Speed

Servo ON
ON
STEPU OFF

ON
STEPD OFF

12-28

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
(4)

Manual Control Mode 2

Power ON
Supply OFF

DO VALUE
INDEX4

CI

IDX1

V1

CI

IDX2

CI

IDX1

V2

Motor Speed

Servo ON

ON
AUTOR OFF

ON
STEPB OFF

Revision January 2009

12-29

Chapter 12 Application Examples|ASDA-AB Series

12.8 Homing Function
 Relevant Parameters Description
Parameter

Communication
Address

P1-47

012FH

Parameter Description
Homing Mode

A: Home Sensor Type and Homing Direction
B: Homing Moving Method
C: Homing Enable Setting
D: Homing Stop Setting
No use
P1-48

0130H

1st Speed Setting of High Speed Homing

P1-49

0131H

2nd Speed Setting of Low Speed Homing

P1-50

0132H

Homing Offset Rotation Number

P1-51

0133H

Homing Offset Pulse Number

 Relevant Parameters Description, cont.
Parameter

Communication
Address

P1-34

0122H

Acceleration Time

P1-35

0123H

Deceleration Time

P1-36

0124H

Accel /Decel S-curve

Parameter Description

 Explanation of Homing Mode
A: Home Sensor Type and Homing Direction
Left or right limit switch can be used as a reference “Home” for homing function. It also can use extra sensor,
such as proximity switch or photo switch as reference “Home”. When the servo motor runs within one
revolution only, users also can set Z-phase pulse as a reference “Home”.
A=0: Forward homing and CCWL limit input point is regarded as a rough reference “Home”. When home is in
position, CCWL will turn into limit input function. If trigger CCWL afterward, the limit alarm will occur.
When use limit input point as a rough reference “Home”, we recommend users to set B=0, i.e. return to
find Z-phase pulse during homing and regard Z-phase pulse as a precise mechanical “Home”.
A=1: Reverse homing and CWL limit input point is regarded as a rough reference “Home”. When home is in
position, CWL will turn into limit input function. If trigger CWL afterward, the limit alarm will occur. When
use limit input point as a rough reference “Home”, we recommend users to set B=0, i.e. return to find Zphase pulse during homing and regard Z-phase pulse as a precise mechanical “Home”.
12-30

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
A=2: Forward homing and ORGP (Reference “Home” sensor) is regarded as a reference “Home”. At this
time, users can set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as a
precise mechanical “Home” or set B=1, i.e. do not return and go forward to find Z-phase pulse and
regard Z-phase pulse as a precise mechanical “Home”. If users do not use Z-phase pulse as
mechanical “Home”, users can set the rising-edge of ORGP as the mechanical “Home” (B=2).
A=3: Reverse homing and ORGP (Reference “Home” sensor) is regarded as a reference “Home”. At this
time, users can set B=0, i.e. return to find Z-phase pulse during homing and regard Z-phase pulse as a
precise mechanical “Home” or set B=1, i.e. do not return and go forward to find Z-phase pulse and
regard Z-phase pulse as a precise mechanical “Home”. If users do not use Z-phase pulse as
mechanical “Home”, users can set the rising-edge of ORGP as the mechanical “Home” (B=2).
A=4: Forward-finding Z-phase pulse “Home”. This function is usually used when the servo motor runs within
one revolution. The servo motor can not be connected to any external sensor switch at this time.
A=5: Reverse-finding Z-phase pulse “Home”. This function is usually used when the servo motor runs within
one revolution. The servo motor can not be connected to any external sensor switch at this time.
B: Homing Moving Method
B=0: After find reference “Home” (after homing completed), the servo motor returns in 2nd step speed to find
the nearest Z-phase pulse as the mechanical “Home”.
B=1: After find reference “Home” (after homing completed), the servo motor does not return and continue to
go forward in 2nd step speed to find the nearest Z-phase pulse as the mechanical “Home”.
B=2: When A=2 and A=3, find the rising-edge of sensor ORGP as the mechanical “Home” and stop
according to deceleration time. When A=4 and A=5, stop according to deceleration time after find Zphase pulse.
C: Homing Enable Setting
There are two settings for enabling homing function. One is automatically enable homing function and the
other is to enable homing function by input contact (SHOM).
C=0: Disable homing function. When C is set to 0, it indicates that homing function is disabled no matter
what other parameter values are.
C=1: Enable homing function automatically after power in connected to the servo drive. This function is valid
only when power on and servo on. It is used on condition that it doesn’t need to repeat the execution of
homing function when the servo drive is operating. Use this function can save an input contact which is
used for executing homing function.
C=2: Enable homing function by SHOM input contact. To use this function, set any one register of parameter
P2-10 ~ P2-17 (Digital Input Terminal 1 ~ 8) to SHOM. The setting value of parameter P2-10 ~ P2-17
should be 127(contact “a”) or 27(contact “b”). Then, user can enable the homing function by triggering
SHOM input contact at any time when the servo drive is operating.

Revision January 2009

12-31

Chapter 12 Application Examples|ASDA-AB Series
D: Homing Stop Setting
D=0: After detecting “Home”, the motor will decelerate and return to “Home”. After get the home sensor
signal in 2nd step speed operation, the motor will decelerate and stop. After the servo motor stops, the
then move to the position of mechanical “Home”.
D=1: After detecting “Home”, the motor will decelerate and stop in the forward direction.
After get the home sensor signal in 2nd step speed operation, the motor will decelerate and stop. After the
servo motor stops, the over distance will not be corrected. The position of mechanical “Home” will not
change by the difference of the over distance.

 Recommended Homing Modes
According to various use requirements and corresponds to difference setting values of C and D, the
recommended setting values of A and B are shown as below:
A

0

1

2

3

4

5

0

Y

Y

Y

Y

N

N

1

N

N

Y

Y

N

N

2

N

N

Y

Y

Y

Y

B

(Y=Yes, N=No)

 Homing Timing Charts
Timing Charts of Enable Homing Mode
1. Automatically enable homing function when power on (C=1)
After homing is completed, if any one of output function definition (DO) of parameter P2-18 ~ P2-22 is
HOME (setting value is 09 or 109), the corresponding output terminal will generate output signal
immediately (Active). If servo on input signal is canceled or any alarm occurs in the process of homing,
the homing function will terminate and do not output homing completed signal.

POWER
ON
SERVO
READY
SERVO
ON
HOMING
HOMING
COMPLETED

12-32

refer to homing timing chart

time

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
2. Enable homing function by input contact (SHOM) (C=2)
POWER
ON
SERVO
READY
SERVO
ON
HOME
TRIGGER
HOMING

refer to homing timing chart

HOMING
COMPLETED

time

Homing Timing Charts
1. B/A = 0/0 or B/A = 0/2

SPEED

Position

Z pulse

CCWL / ORGP

Revision January 2009

12-33

Chapter 12 Application Examples|ASDA-AB Series
2. B/A = 0/1 or B/A = 0/3

SPEED

Position

Z pulse

CWL / ORGP

3. B/A = 1/2

SPEED

Position

Z pulse

ORGP

4. B/A = 1/3

SPEED

Position

Z pulse

ORGP

12-34

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series
5. B/A = 2/2

SPEED

Position

ORGP

6. B/A = 2/3

SPEED

Position

ORGP

7. B/A = 2/4

SPEED

Position

Z pulse

Revision January 2009

12-35

Chapter 12 Application Examples|ASDA-AB Series
8. B/A = 2/5

SPEED

Position

Z pulse

12-36

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

12.9 External Controller Connection Examples
 Connecting to Delta DVP-EH PLC

Revision January 2009

12-37

Chapter 12 Application Examples|ASDA-AB Series

 Connecting to Delta DVP-01PU

12-38

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

 Connecting to Mitsubishi FX1PG

Revision January 2009

12-39

Chapter 12 Application Examples|ASDA-AB Series

 Connecting to Mitsubishi FX2N1PG

12-40

Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

 Connecting to Mitsubishi AD75

Revision January 2009

12-41

Chapter 12 Application Examples|ASDA-AB Series
This page intentionally left blank.

12-42

Revision January 2009

Appendix A Accessories



Power Connectors
Delta Part Number: ASDBCAPW0000

Title

Part No.

Manufacturer

Housing

C4201H00-2*2PA

JOWLE

Terminal

C4201TOP-2

JOWLE

Title

Part No.

Manufacturer

Housing

C4201H00-2*3PA

JOWLE

Terminal

C4201TOP-2

JOWLE

Delta Part Number: ASDBCAPW0100

Delta Part Number: ASD-CAPW1000

Delta Part Number: ASD-CAPW2000

Revision January 2009

A-1

Appendix A Accessories|ASDA-AB Series


Power Cables
Delta Part Number: ASD-ABPW0003, ASD-ABPW0005

Title

Part No.

Manufacturer

Housing

C4201H00-2*2PA

JOWLE

Terminal

C4201TOP-2

JOWLE

Title

Part No.

1
2

L
mm

inch

ASD-ABPW0003

3000 ± 100

118 ± 4

ASD-ABPW0005

5000 ± 100

197 ± 4

Delta Part Number: ASD-ABPW0103, ASD-ABPW0105

A-2

Title

Part No.

Manufacturer

Housing

C4201H00-2*3PA

JOWLE

Terminal

C4201TOP-2

JOWLE

Title

Part No.

1
2

L
mm

inch

ASD-ABPW0103

3000 ± 100

118 ± 4

ASD-ABPW0105

5000 ± 100

197 ± 4

Revision January 2009

Appendix A Accessories|ASDA-AB Series


Power Cables, cont.
Delta Part Number: ASD-CAPW1003, ASD-CAPW1005
(50mm)
(1.97 inch)

(80 mm)

L

(3.15 inch)

Title

Part No.

Straight

1

ASD-CAPW1003

2

ASD-CAPW1005

L
mm

inch

3106A-20-18S

3000 ± 100

118 ± 4

3106A-20-18S

5000 ±100

197 ± 4

Delta Part Number: ASD-CAPW1103, ASD-CAPW1105

(50mm)
(1.97 inch)

(80 mm)

L

(3.15 inch)

Title

Part No.

Straight

1

ASD-CAPW1103

2

ASD-CAPW1105

Revision January 2009

L
mm

inch

3106A-20-18S

3000 ± 100

118 ± 4

3106A-20-18S

5000 ±100

197 ± 4

A-3

Appendix A Accessories|ASDA-AB Series


Power Cables, cont.
Delta Part Number: ASD-CAPW1203, ASD-CAPW1205
(80mm)
(3.15 inch)

(100 mm)
(3.94 inch)

L

Title

Part No.

Straight

1

ASD-CAPW1203

2

ASD-CAPW1205

L
mm

inch

3106A-20-18S

3000 ± 100

118 ± 4

3106A-20-18S

5000 ±100

197 ± 4

Delta Part Number: ASD-CAPW1303, ASD-CAPW1305

(80 mm)
(3.15 inch)
(100 mm)
(3.94 inch)

L

A-4

Title

Part No.

Straight

1

ASD-CAPW1303

2

ASD-CAPW1305

L
mm

inch

3106A-20-18S

3000 ± 100

118 ± 4

3106A-20-18S

5000 ±100

197 ± 4

Revision January 2009

Appendix A Accessories|ASDA-AB Series


Power Cables, cont.
Delta Part Number: ASD-CAPW2203, ASD-CAPW2205
(80mm)
(3.15 inch)

(100 mm)
(3.94 inch)

L

Title

Part No.

Straight

1

ASD-CAPW2203

2

ASD-CAPW2205

L
mm

inch

3106A-24-11S

3000 ± 100

118 ± 4

3106A-24-11S

5000 ±100

197 ± 4

Delta Part Number: ASD-CAPW2303, ASD-CAPW2305

(80mm)
(3.15 inch)

(100 mm)
(3.94 inch)

L

Title

Part No.

Straight

1

ASD-CAPW2303

2

ASD-CAPW2305

Revision January 2009

L
mm

inch

3106A-24-11S

3000 ± 100

118 ± 4

3106A-24-11S

5000 ±100

197 ± 4

A-5

Appendix A Accessories|ASDA-AB Series


Encoder Connectors
Delta Part Number: ASD-ABEN0000

Title

Part No.

Manufacturer

Housing

AMP (1-172161-9)

AMP

Terminal

AMP (170359-3)

AMP

CLAMP

DELTA (34703237XX)

DELTA

PLUG

3M 10120-3000PE

3M

SHELL

3M 10320-52A0-008

3M

Title

Part No.

Manufacturer

MOTOR SIDE

3106A-20-29S

----

PLUG

3M 10120-3000PE

3M

SHELL

3M 10320-52A0-008

3M

MOTOR SIDE

DRIVE SIDE

Delta Part Number: ASD-CAEN1000

DRIVE SIDE

A-6

Revision January 2009

Appendix A Accessories|ASDA-AB Series


Encoder Cables
Delta Part Number: ASD-ABEN0003, ASD-ABEN0005

Title
MOTOR SIDE

DRIVE SIDE

Part No.

Manufacturer

Housing

AMP (1-172161-9)

AMP

Terminal

AMP (170359-3)

AMP

CLAMP

DELTA (34703237XX)

DELTA

PLUG

3M 10120-3000PE

3M

SHELL

3M 10320-52A0-008

3M

Title

Part No.

1
2

L
mm

inch

ASD-ABEN0003

3000 ± 100

118 ±4

ASD-ABEN0005

5000 ± 100

197 ± 4

Delta Part Number: ASD-CAEN1003, ASD-CAEN1005

Title

Part No.

Manufacturer

MOTOR SIDE

3106A-20-29S

----

PLUG

3M 10120-3000PE

3M

SHELL

3M 10320-52A0-008

3M

DRIVE SIDE

Title

Part No.

Straight

1

ASD-CAEN1003

2

ASD-CAEN1005

Revision January 2009

L
mm

inch

3106A-20-29S

3000 ± 100

118 ± 4

3106A-20-29S

5000 ± 100

197 ± 4

A-7

Appendix A Accessories|ASDA-AB Series


I/O Signal Connector (CN1)
Delta Part Number: ASD-CNSC0050



Vendor Name

Vendor P/N

3M TAIWAN LTD

10150-3000PE

3M TAIWAN LTD

10350-52A0-008

Communication Cable between Drive and Computer (for PC)
Delta Part Number: ASD-CARS0003

L



Item

Part No.

1

ASD-CARS0003

L
mm

inch

3000±10

118±0.4

Terminal Block Module
Delta Part Number: ASD-BM-50A

A-8

Revision January 2009

Appendix A Accessories|ASDA-AB Series

 Servo Drive, Servo Motor and Accessories Combinations
100W Servo Drive and 100W Low Inertia Servo Motor
Servo Drive

ASD-A0121-AB

Low inertia
Servo Motor

ECMA-C30401S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-ABPW0003

Motor Power Cable
ASD-ABPW0005

-

-

Encoder Cable
ASD-ABEN0003

Encoder Cable
ASD-ABEN0005

-

-

Power Connector ASDBCAPW0000

Connector

Encoder Connector ASD-ABEN0000

200W Servo Drive and 200W Low Inertia Servo Motor
Servo Drive

ASD-A0221-AB

Low inertia
Servo Motor

ECMA-C30602S
Without Brake
3M

Cable

Connector

With Brake
5M

3M

5M

Motor Power Cable
ASD-ABPW0003

Motor Power Cable
ASD-ABPW0005

Motor Power Cable
ASD-ABPW0103

Motor Power Cable
ASD-ABPW0105

Encoder Cable
ASD-ABEN0003

Encoder Cable
ASD-ABEN0005

Encoder Cable
ASD-ABEN0003

Encoder Cable
ASD-ABEN0005

Power Connector ASDBCAPW0000

Power Connector ASDBCAPW0100

Encoder Connector ASD-ABEN0000

400W Servo Drive and 400W Low Inertia Servo Motor
Servo Drive

ASD-A0421-AB

Low inertia
Servo Motor

ECMA-C30604S
ECMA-C308047
Without Brake
3M

Cable

Connector

Revision January 2009

With Brake
5M

3M

5M

Motor Power Cable
ASD-ABPW0003

Motor Power Cable
ASD-ABPW0005

Motor Power Cable
ASD-ABPW0103

Motor Power Cable
ASD-ABPW0105

Encoder Cable
ASD-ABEN0003

Encoder Cable
ASD-ABEN0005

Encoder Cable
ASD-ABEN0003

Encoder Cable
ASD-ABEN0005

Power Connector ASDBCAPW0000

Power Connector ASDBCAPW0100

Encoder Connector ASD-ABEN0000

A-9

Appendix A Accessories|ASDA-AB Series
400W Servo Drive and 500W Medium Inertia Servo Motor
Servo Drive

ASD-A0421-AB

Medium inertia
Servo Motor

ECMA-E31305S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1003

Motor Power Cable
ASD-CAPW1005

Motor Power Cable
ASD-CAPW1103

Motor Power Cable
ASD-CAPW1105

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000

Connector

Encoder Connector ASD-CAEN1000

400W Servo Drive and 300W High Inertia Servo Motor
Servo Drive

ASD-A0421-AB

High inertia
Servo Motor

ECMA-G31303S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1003

Motor Power Cable
ASD-CAPW1005

Motor Power Cable
ASD-CAPW1103

Motor Power Cable
ASD-CAPW1105

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000

Connector

Encoder Connector ASD-CAEN1000

750W Servo Drive and 750W Low Inertia Servo Motor
Servo Drive

ASD-A0721-AB

Low inertia
Servo Motor

ECMA-C30807S
Without Brake
3M

Cable

Connector

A-10

With Brake
5M

3M

5M

Motor Power Cable
ASD-ABPW0003

Motor Power Cable
ASD-ABPW0005

Motor Power Cable
ASD-ABPW0103

Motor Power Cable
ASD-ABPW0105

Encoder Cable
ASD-ABEN0003

Encoder Cable
ASD-ABEN0005

Encoder Cable
ASD-ABEN0003

Encoder Cable
ASD-ABEN0005

Power Connector ASDBCAPW0000

Power Connector ASDBCAPW0100

Encoder Connector ASD-ABEN0000

Revision January 2009

Appendix A Accessories|ASDA-AB Series
750W Servo Drive and 600W High Inertia Servo Motor
Servo Drive

ASD-A0721-AB

High inertia
Servo Motor

ECMA-G31306S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1003

Motor Power Cable
ASD-CAPW1005

Motor Power Cable
ASD-CAPW1103

Motor Power Cable
ASD-CAPW1105

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000

Connector

Encoder Connector ASD-CAEN1000

1kW Servo Drive and 1kW Low Inertia Servo Motor
Servo Drive

ASD-A1021-AB

Low inertia
Servo Motor

ECMA-C31010S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1003

Motor Power Cable
ASD-CAPW1005

Motor Power Cable
ASD-CAPW1103

Motor Power Cable
ASD-CAPW1105

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000

Connector

Encoder Connector ASD-CAEN1000

1kW Servo Drive and 1kW Medium Inertia Servo Motor
Servo Drive

ASD-A1021-AB

Medium inertia
Servo Motor

ECMA-E31310S
Without Brake
3M

Cable

Connector

Revision January 2009

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1003

Motor Power Cable
ASD-CAPW1005

Motor Power Cable
ASD-CAPW1103

Motor Power Cable
ASD-CAPW1105

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000
Encoder Connector ASD-CAEN1000

A-11

Appendix A Accessories|ASDA-AB Series
1kW Servo Drive and 900W High Inertia Servo Motor
Servo Drive

ASD-A1021-AB

High inertia
Servo Motor

ECMA-G31309S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1003

Motor Power Cable
ASD-CAPW1005

Motor Power Cable
ASD-CAPW1103

Motor Power Cable
ASD-CAPW1105

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000

Connector

Encoder Connector ASD-CAEN1000

1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor
Servo Drive

ASD-A1521-AB

Medium inertia
Servo Motor

ECMA-E31315S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1003

Motor Power Cable
ASD-CAPW1005

Motor Power Cable
ASD-CAPW1103

Motor Power Cable
ASD-CAPW1105

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000

Connector

Encoder Connector ASD-CAEN1000

2kW Servo Drive and 2kW Low Inertia Servo Motor
Servo Drive

ASD-A2023-AB

Low inertia
Servo Motor

ECMA-C31020S
Without Brake
3M

Cable

Connector

A-12

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1203

Motor Power Cable
ASD-CAPW1205

Motor Power Cable
ASD-CAPW1303

Motor Power Cable
ASD-CAPW1305

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000
Encoder Connector ASD-CAEN1000

Revision January 2009

Appendix A Accessories|ASDA-AB Series
2kW Servo Drive and 2kW Medium Inertia Servo Motor
Servo Drive

ASD-A2023-AB

Medium inertia
Servo Motor

ECMA-E31320S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW1203

Motor Power Cable
ASD-CAPW1205

Motor Power Cable
ASD-CAPW1303

Motor Power Cable
ASD-CAPW1305

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW1000

Connector

Encoder Connector ASD-CAEN1000

Servo Drive

ASD-A2023-AB

Medium inertia
Servo Motor

ECMA-E31820S
Without Brake
3M

Cable

With Brake
5M

3M

5M

Motor Power Cable
ASD-CAPW2203

Motor Power Cable
ASD-CAPW2205

Motor Power Cable
ASD-CAPW2303

Motor Power Cable
ASD-CAPW2305

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Encoder Cable
ASD-CAEN1003

Encoder Cable
ASD-CAEN1005

Power Connector ASD-CAPW2000

Connector

Encoder Connector ASD-CAEN1000

Other Accessories
Other Accessories (for ASDA-AB series all models)
Description

Delta Part Number

50Pin I/O signal connector (CN1)

ASD-CNSC0050

Communication cable, for PC, connecting a ASDA-AB
servo drive to a PC

ASD-CARS0003

Terminal Block Module

Revision January 2009

ASD-BM-50A

A-13

Appendix A Accessories|ASDA-AB Series
This page intentionally left blank.

A-14

Revision January 2009

Appendix B Molded-case Circuit Breaker, Fuse Current
and EMI Filters



Molded-case Circuit Breaker and Fuse Current Recommended Value
¾ Caution: Please use molded-case circuit breaker and fuse which are recognized by and comply with the UL or
CSA standards.



Servo Drive Model

Recommended Breaker

Recommended Fuse (Class T)

Operation Mode

General

General

ASD-A0111-AB

10A

10A

ASD-A0211-AB

10A

6A

ASD-A0411-AB

10A

10A

ASD-A0121-AB

5A

5A

ASD-A0221-AB

5A

6A

ASD-A0421-AB

10A

10A

ASD-A0721-AB

10A

20A

ASD-A1021-AB

15A

25A

ASD-A1521-AB

20A

40A

ASD-A2023-AB

30A

50A

AC Servo Drive - EMI Filter Cross Reference
Item

Power

Servo Drive Model

Recommended EMI Filter

FootPrint

1

100W

ASD-A0111-AB

08TDT1W4S

N

2

100W

ASD-A0121-AB

08TDT1W4S

N

3

200W

ASD-A0211-AB

08TDT1W4S

N

4

200W

ASD-A0221-AB

08TDT1W4S

N

5

400W

ASD-A0411-AB

08TDT1W4S

N

6

400W

ASD-A0421-AB

08TDT1W4S

N

7

750W

ASD-A0721-AB

20TDT1W4D

N

8

1000W

ASD-A1021-AB

20TDT1W4D

N

9

1500W

ASD-A1521-AB

20TDT1W4D

N

10

2000W

ASD-A2023-AB

20TDT1W4D

N

Revision January 2009

B-1

Appendix A Accessories|ASDA-AB Series
Installation
All electrical equipment, including AC servo drives, will generate high-frequency/low-frequency noise and will
interfere with peripheral equipment by radiation or conduction when in operation. By using an EMI filter with
correct installation, much of the interference can be eliminated. It is recommended to use Delta’s EMI filter to
have the best interference elimination performance.
We assure that it can comply with following rules when AC servo drive and EMI filter are installed and wired
according to user manual:

 EN61000-6-4 (2001)
 EN61800-3 (2004) PDS of category C2
 EN55011+A2 (2007) Class A Group 1

General Precaution
To ensure the best interference elimination performance when using Delta’s EMI filter, please follow the
guidelines in this user manual to perform wiring and/or installation. In addition, please also observe the
following precautions:

 EMI filter and AC servo drive should be installed on the same metal plate.
 Please install AC servo drive on same footprint with EMI filter or install EMI filter as close as possible to
the AC servo drive.

 All wiring should be as short as possible.
 Metal plate should be grounded.
 The cover of EMI filter and AC servo drive or grounding should be fixed on the metal plate and the
contact area should be as large as possible.

Choose Suitable Motor Cable and Precautions
Improper installation and choice of motor cable will affect the performance of EMI filter. Be sure to observe
the following precautions when selecting motor cable.

 Use the cable with shielding (double shielding is the best).
 The shielding on both ends of the motor cable should be grounded with the minimum length and
maximum contact area.

 Remove any paint on metal saddle for good ground contact with the plate and shielding (Please refer to
Figure 1 on page B-3).

 The connection between the metal saddle and the shielding on both ends of the motor cable should be
correct and well installed. Please refer to Figure 2 on page B-3 for correct wiring method.

B-2

Revision January 2009

Appendix A Accessories|ASDA-AB Series

Figure 1

Saddle on both ends

Saddle on one end

Figure 2

Revision January 2009

B-3

Appendix A Accessories|ASDA-AB Series
Dimensions
Delta Part Number: 08TDT1W4S

Delta Part Number: 20TDT1W4D

B-4

Revision January 2009

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ASDA-AB_manual_en

ASDA-AB to the manual 2dcadafa-8928-48f8-b87b-a31d29e4cf91

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