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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Cover
Preface
Safety Precautions
Table of Contents
Chapter 1 Unpacking Check and Model Explanation
Chapter 2 Installation and Storage
Chapter 3 Connections and Wiring
Chapter 4 Display and Operation
Chapter 5 Trial Run and Tuning Procedure
Chapter 6 Control Modes of Operation
Chapter 7 Servo Parameters
Chapter 8 MODBUS Communications
Chapter 9 Maintenance and Inspection
Chapter 10 Troubleshooting
Chapter 11 Specifications
Chapter 12 Application Examples
Appendix A Accessories
Appendix B Molded-case Circuit Breaker, Fuse Currentand EMI Filters

Revision January 2009 i

Preface

Thank you very much for purchasing DELTA’s AC servo products.

This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and

motor. Before using the product, please read this user manual to ensure correct use.

You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before

proceeding with the installation, wiring and operation. If you do not understand please contact your local

Delta sales representative. Place this user manual in a safe location for future reference.

 Using This Manual

 Contents of this manual

This manual is a user guide that provides the information on how to install, operate and maintain

ASDA-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.

Preface|ASDA-AB Series

ii Revision January 2009

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.

Preface|ASDA-AB Series

Revision January 2009 iii

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 Please perform the wiring after the terminal blocks are all removed from the drive.

¾ Insert only one wire into one terminal on the terminal block.

¾ When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires.

¾ Ensure to double check the wiring before applying power to the drive.

¾ If the wiring is in error, perform the wiring again with proper tools. Never use force to remove the terminals or wires. Otherwise,

it may result in malfunction or damage.

Preface|ASDA-AB Series

iv Revision January 2009

NOTE

1) In this manual, actual measured values are in metric units. Dimensions in (imperial

units) are for reference only. Please use metric units for precise measurements.

2) The content of this manual may be revised without prior notice. Please consult our

distributors or download the most updated version at

http://www.delta.com.tw/industrialautomation.

Revision January 2009

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

3.1 Connections................................................................................................................................. 3-1

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

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

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

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

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

3.6 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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4.3.3 Fault Message Display .....................................................................................................4-3

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

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

4.4 General Function Operation ........................................................................................................ 4-6

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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Revision January 2009

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

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

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

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

6.2.2 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

6.3 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

6.4 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 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

6.6 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

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

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

7.3 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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Revision January 2009

About this Manual…

User Information

Be sure to store this manual in a safe place.

Due to constantly growing product range, technical improvement, alteration or changed texts, figures and

diagrams, we reserve the right to make information changes within this manual without prior notice.

Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited.

Technical Support and Service

You are welcome to contact our Technical Support Team at the below numbers or visit our web site

(http://www.delta.com.tw/industrialautomation/) if you need technical support, service, information, or if you

have any questions in the use of this product. We look forward to serving your needs and are willing to offer

our best support and service to you.

ASIA

DELTA ELECTRONICS, INC.

Taoyuan Plant 1

31-1, XINGBANG ROAD,

GUISHAN INDUSTRIAL ZONE,

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

TEL: 886-3-362-6301

FAX: 886-3-362-7267

NORTH/SOUTH AMERICA

DELTA PRODUCTS CORPORATION (USA)

Raleigh Office

P.O. BOX 12173

5101 DAVIS DRIVE,

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

TEL: 1-919-767-3813

FAX: 1-919-767-3969

JAPAN

DELTA ELECTRONICS (JAPAN), INC.

Tokyo Office

DELTA SHIBADAIMON BUILDING

2-1-14 SHIBADAIMON, MINATO-KU,

TOKYO, 105-0012, JAPAN

TEL: 81-3-5733-1111

FAX: 81-3-5733-1211

EUROPE

DELTRONICS (THE NETHERLANDS) B.V.

Eindhoven Office

DE WITBOGT 15, 5652 AG EINDHOVEN,

THE NETHERLANDS

TEL: 31-40-259-2850

FAX: 31-40-259-2851

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Chapter 1 Unpacking Check and Model Explanation

1.1 Unpacking Check

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

 Ensure that the product is what you have ordered.

Verify the part number indicated on the nameplate corresponds with the part number of your order

(Please refer to Section 1.2 for details about the model explanation).

 Ensure that the servo motor shaft rotates freely.

Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a servo motor

with an electromagnetic brake can not be rotated manually.

 Check for damage.

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

 Check for loose screws.

Ensure that all necessary screws are tight and secure.

If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or

your local Delta sales representative.

A complete and workable AC servo system should include the following parts:

Part I : Delta standard supplied parts

(1) Servo drive

(2) Servo motor

(3) 5 PIN Terminal Block (for 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.

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

1-2 Revision January 2009

(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

 Nameplate Explanation

 Serial Number Explanation

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

Revision January 2009 1-3

1.2.2 Model Name Explanation

ASDA-AB Series Servo Drive

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

1-4 Revision January 2009

ECMA Series Servo Motor

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

Revision January 2009 1-5

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-C30401S (S=8mm)

200W ASD-A0211-AB

ASD-A0221-AB ECMA-C30602S (S=14mm)

400W ASD-A0411-AB

ASD-A0421-AB

ECMA-C30604S (S=14mm)

ECMA-C308047 (7=14mm)

ECMA-E31305S (S=22mm)

ECMA-G31303S (S=22mm)

750W ASD-A0721-AB ECMA-C30807S (S=19mm)

ECMA-G31306S (S=22mm)

1000W ASD-A1021-AB

ECMA-C31010S (S=22mm)

ECMA-E31310S (S=22mm)

ECMA-G31309S (S=22mm)

1500W ASD-A1521-AB ECMA-E31315S (S=22mm)

2000W ASD-A2023-AB

ECMA-C31020S (S=22mm)

ECMA-E31320S (S=22mm)

ECMA-E31820S (S=35mm)

The servo drives shown in the above table are designed for use in combination with the specific servo

motors. Check the specifications of the drives and motors you want to use.

Also, please ensure that both the servo drive and motor are correctly matched for size (power rating). If the

power of motor and drive is not within the specifications, the drive and motor may overheat and servo alarm

would be activated. For the detail specifications of servo drives and motors, please refer to Chapter 11

“Specifications”.

The drives shown in the above table are designed according to the three multiple of rated current of motors

shown in the above table. If the drives which are designed according to the six multiple of rated current of

motors are needed, please contact our distributors or your local Delta sales representative.

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1-6 Revision January 2009

1.4 Servo Drive Features

220V models

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

Revision January 2009 1-7

110V models

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

1-8 Revision January 2009

1.5 Control Modes of Servo Drive

The Delta Servo provides six single and five dual modes of operation.

Their operation and description is listed in the following table.

Mode Code Description

External Position Control Pt External Position control mode for the servo motor is

achieved via an external pulse command.

Internal Position Control 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.

Speed Control S

(External / Internal) Speed control mode for the servo motor

can be achieved via parameters set within the controller or

from an external analog -10 ~ +10 VDC command. Control

of the internal speed mode is via the Digital Inputs (DI). (A

maximum of three speeds can be stored internally).

Internal Speed Control Sz

Internal Speed control mode for the servo motor is only

achieved via parameters set within the controller. Control of

the internal speed mode is via the Digital Inputs (DI). (A

maximum of three speeds can be stored internally).

Torque Control T

(External / Internal) Torque control mode for the servo

motor can be achieved via parameters set within the

controller or from an external analog -10 ~ +10 VDC

command. Control of the internal torque mode is via the

Digital Inputs (DI). (A maximum of three torque levels can

be stored internally).

Single

Mode

Internal Torque Control

Tz Internal Torque control mode for the servo motor is only

achieved via parameters set within the controller. Control of

the internal torque mode is via the Digital Inputs (DI). (A

maximum of three torque levels can be stored internally).

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)

Dual Mode

S-T Either S or T control mode can be selected via the Digital

Inputs (DI)

The above control modes can be accessed and changed via parameter P1-01. Enter the new control mode

via P1-01 then switch the main power to the servo drive OFF then ON. The new control mode will only be

valid after the drives main power is switched OFF then ON. Please see safety precautions on page iii

(switching drive off/on multiple times).

Revision January 2009 2-1

Chapter 2 Installation and Storage

2.1 Installation Notes

Please pay close attention to the following installation notes:

 Do not bend or strain the connection cables between servo drive and motor.

 When mounting the servo drive, make sure to tighten all screws to secure the drive in place.

 If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of

the servo motor, coupling, and device are followed. Failure to do so may cause unnecessary loads or

premature failure to the servo motor.

 If the length of cable connected between servo drive and motor is more than 20m, please increase the

wire gauge of the encoder cable and motor connection cable (connected to U, V, W terminals).

 Make sure to tighten the screws for securing motor.

2.2 Storage Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty coverage,

the AC servo drive should be stored properly when it is not to be used for an extended period of time. Some

storage suggestions are:

 Store in a clean and dry location free from direct sunlight.

 Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).

 Store within a relative humidity range of 0% to 90% and non-condensing.

 Do not store in a place subjected to corrosive gases and liquids.

 Store in original packaging and placed on a solid surface.

Chapter 2 Installation and Storage|ASDA-AB Series

2-2 Revision January 2009

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 well-

ventilated location and do not obstruct the airflow for the cooling fan.

Caution

The servo drive and motor will generate heat. If they are installed in a control panel, please ensure sufficient

space around the units for heat dissipation.

Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in

the control panel. Please observe the following precautions when selecting a mounting location. Failure to

observe the following precautions may void the warranty!

 Do not mount the servo drive or motor adjacent to heat-radiating elements or in direct sunlight.

 Do not mount the servo drive or motor in a location subjected to corrosive gases, liquids, airborne dust

or metallic particles.

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

specification.

 Do not mount the servo drive or motor in a location where vibration and shock will exceed specification.

 Do not mount the servo drive or motor in a location where it will be subjected to high levels of

electromagnetic radiation.

Chapter 2 Installation and Storage|ASDA-AB Series

Revision January 2009 2-3

2.4 Installation Procedure and Minimum Clearances

Installation Procedure

Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please

follow the guidelines in this manual when installing the servo drive and motor.

The ASDA-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.

Chapter 2 Installation and Storage|ASDA-AB Series

2-4 Revision January 2009

 Minimum Clearances

 Side by Side Installation

Revision January 2009 3-1

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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3-2 Revision January 2009

Figure 3.2 110V Servo Drive

Chapter 3 Connections and Wiring|ASDA-AB Series

Revision January 2009 3-3

3.1.2 Servo Drive Connectors and Terminals

Terminal

Identification

Terminal

Description Notes

L1, L2 Control circuit

terminal

Used to connect single-phase AC control circuit power.

(Control circuit uses the same voltage as the main circuit.)

R, S, T

(for 220V models)

L1M, L2M

(for 110V models)

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.

Used to connect servo motor

Terminal Symbol Wire Color

U Red

V White

W Black

U, V, W

FG ( )

Servo motor output

FG( ) Green

Internal resistor

Ensure the circuit is closed between P

and D, and the circuit is open between

P and C.

P, D, C Regenerative

resistor terminal

External resistor

Connect regenerative resistor to P and

C, and ensure an open circuit between

P and D.

two places Ground terminal Used to connect grounding wire of power supply and servo

motor.

CN1 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.

Terminal Symbol Wire Color

A Black

/A Black/Red

B White

/B White/Red

Z Orange

/Z Orange/Red

+5V Brown & Brown/White

CN2 Encoder connector

GND Blue & Blue/White

CN3 Communication

connector

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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3-4 Revision January 2009

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 ) of the servo drive.

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

Chapter 3 Connections and Wiring|ASDA-AB Series

Revision January 2009 3-5

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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3-6 Revision January 2009

Figure 3.4 Single-Phase Power Supply (400W and below, 110V models)

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

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Revision January 2009 3-7

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 Terminal

Identification

ECMA-C30401S (100W)

ECMA-C30602S (200W)

ECMA-C30604S (400W)

ECMA-C308047 (400W)

ECMA-C30807S (750W)

HOUSING: JOWLE (C4201H00-2*2PA)

ECMA-C30401S (100W)

ECMA-C30602S (200W)

ECMA-C30604S (400W)

ECMA-C308047 (400W)

ECMA-C30807S (750W)

HOUSING: JOWLE (C4201H00-2*3PA)

ECMA-C31010S (1000W)

ECMA-E31310S (1000W)

ECMA-E31315S (1500W)

ECMA-C31020S (2000W)

3106A-20-18S

ECMA-E31820S (2000W)

3106A-24-11S

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3-8 Revision January 2009

Terminal

Identification

(Red)

(White)

(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 Terminal

Identification

ECMA-C30401S (100W)

ECMA-C30602S (200W)

ECMA-C30604S (400W)

ECMA-C308047 (400W)

ECMA-C30807S (750W)

HOUSING: AMP (1-172161-9)

ECMA-G31303S (300W)

ECMA-E31305S (500W)

ECMA-G31306S (600W)

ECMA-G31309S (900W)

ECMA-C31010S (1000W)

ECMA-E31310S (1000W)

ECMA-E31315S (1500W)

ECMA-C31020S (2000W)

3106A-20-29S

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Revision January 2009 3-9

Terminal

Identification

AMP (1-

172161-9)

(Black)

(Black

/Red)

(White)

(White

/Red)

(Orange)

(Orange

/Red)

+5V

(Brown &

Brown/White)

GND

(Blue &

Blue/White)

BRAID

SHELD

A 1 4 2 5 3 6 7 8 9

Terminal

Identification

3106A-20-

29S

(Blue)

(Blue

/Black)

(Green)

(Green

/Black)

(Yellow)

(Yellow

/Black)

+5V

(Red & Red

/White)

GND

(Black &

Black

/White)

BRAID

SHELD

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

Power Cable - Wire Gauge AWG (mm2)

Servo Drive and Servo Motor

L1, L2 R, S, T U, V, W P, C

ASD-A0111-AB

ASD-A0121-AB ECMA-C30401S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ASD-A0211-AB

ASD-A0221-AB ECMA-C30602S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C30604S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C308047 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-E31305S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ASD-A0411-AB

ASD-A0421-AB

ECMA-G31303S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C30807S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ASD-A0721-AB ECMA-G31306S 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

ECMA-C31010S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ECMA-E31310S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ASD-A1021-AB

ECMA-G31309S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ASD-A1521-AB ECMA-E31315S 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

ECMA-C31020S 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)

ECMA-E31320S 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)

ASD-A2023-AB

ECMA-E31820S 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)

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3-10 Revision January 2009

Encoder Cable

Encoder Cable - Wire Gauge AWG (mm2)

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

) of the servo drive.

Chapter 3 Connections and Wiring|ASDA-AB Series

Revision January 2009 3-11

3.2 Basic Wiring

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

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3-12 Revision January 2009

Figure 3.7 Basic Wiring Schematic of 2kW, 220V models

Chapter 3 Connections and Wiring|ASDA-AB Series

Revision January 2009 3-13

Figure 3.8 Basic Wiring Schematic of 100W ~ 400W, 110V models

Chapter 3 Connections and Wiring|ASDA-AB Series

3-14 Revision January 2009

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

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Revision January 2009 3-15

CN1 Terminal Signal Identification

1 DO4+ Digital output 26 DO4- Digital output

2 DO3- Digital output 27 DO5- Digital output

3 DO3+ Digital output 28 DO5+ Digital output

4 DO2- Digital output 29 NC No Connection

5 DO2+ Digital output 30 DI8- Digital input

6 DO1- Digital output 31 DI7- Digital input

7 DO1+ Digital output 32 DI6- Digital input

8 DI4- Digital input 33 DI5- Digital input

9 DI1- Digital input 34 DI3- Digital input

10 DI2- Digital input 35

11 COM+

PULL

Pulse applied

power 36 SIGN

12 GND

Power input

(12~24V) 37 /SIGN

Position sign

(+)

Analog input

signal ground 13 GND

Position sign (-

) 38 NC No Connection

14 NC No Connection

Analog input

signal ground 39 NC No Connection

15 MON2 40 NC No Connection

16 MON1

Analog monitor

output 2 41 /PULSE Pulse input (-)

Analog monitor

output 1 17 VDD 42 V_REF

18 T_REF

+24V power

output (for

external I/O) 43 PULSE Pulse input (+)

Analog speed

input (+)

Analog torque

Input

19 GND 44 GND

20 VCC

Analog input

signal ground 45 COM-

Analog input

signal ground

+12V power

output

(for analog

command)

21 OA

VDD(24V)

power

ground 46 NC No Connection

22 /OA

Encoder

A pulse output

47 COM-

Encoder

/A pulse output 23 /OB

VDD(24V)

power ground 48 OCZ

24 /OZ

Encoder /B

pulse output 49 COM- VDD(24V)

power ground

Encoder Z

pulse

Open-collector

output

Encoder /Z

pulse output

25 OB 50 OZ

Encoder B

pulse output

Encoder Z

pulse

Line-driver

output

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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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).

Analog

Signal

Input T_REF 18

Motor torque command: -10V to +10V, corresponds

to -100% to +100% rated torque command. C1

Analog

Monitor

Output

MON1

MON2

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.

PULSE

/PULSE

SIGN

/SIGN

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

Position

Pulse

Input

PULL HI 35 Should an Open Collector type of pulse be used this

terminal must be lulled high to pin 17. C3

/OA

/OB

Position

Pulse

Output

/OZ

The motor encoder signals are available through

these terminals. The encoder output pulse count can

be set via parameter P1-46.

C11/C12

VDD 17

VDD is the +24V source voltage provided by the

drive. Maximum permissible current 500mA.

Power COM+

COM-

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-.

VCC 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.

Power

GND 12,13,

19,44 The polarity of VCC is with respect to Ground (GND).

Chapter 3 Connections and Wiring|ASDA-AB Series

Revision January 2009 3-17

Signal Pin No Details Wiring Diagram

(Refer to 3-3-3)

Other NC

14,29,

38,39,

40,46,

See previous note for NC terminals CN1 connector

on page 3-11. -

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

Pin No.

(Default)

Signal

Code

Assigned

Control

Mode + -

Details (*1) Wiring Diagram

(Refer to 3-3-3)

SRDY 01 ALL 7 6

SRDY is activated when the servo drive is

ready to run. All fault and alarm conditions, if

present, have been cleared.

SON 02 Not

assigned - -

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 ALL 5 4

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 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.

C5/C6/C7/C8

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Pin No.

(Default)

Signal

Code

Assigned

Control

Mode + -

Details (*1) Wiring Diagram

(Refer to 3-3-3)

TSPD 04 ALL 3 2

TSPD is activated once the drive has

detected the motor has reached the Target

Rotation Speed setting as defined in

parameter P1-39. TSPD will remain activated

until the motor speed drops below the Target

Rotation Speed.

TPOS 05

Pt, Pr, Pt-

Pt-T, Pr-S,

Pr-T

1 26

1. 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.

2. 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 Not

assigned - -

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 27

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.)

BRKR 08 ALL 1 26 BRKR is activated actuation of motor brake.

HOME 09 Pt, Pr 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 10 ALL - -

OLW is activated when the servo drive has

detected that the motor has reached the

output overload level set by the parameter

P1-56.

WARN 11 ALL - -

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.

CMDOK 12 ALL - -

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.

C5/C6/C7/C8

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.

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Revision January 2009 3-19

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

Signal

Code

Assigned

Control

Mode

Pin No.

(Default) Details (*2) Wiring Diagram

(Refer to 3-3-3)

SON 01 ALL 9

Servo On. Switch servo to "Servo Ready".

Check parameter P2-51.

ARST 02 ALL 33

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.

GAINUP 03 ALL - Gain switching

CCLR 04 Pt 10

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.

HOLD 07 Not

assigned Internal position control command pause

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 - -

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.

SPD0 14 34

SPD1 15

S, Sz, Pt-S,

Pr-S, S-T 8

Select the source of speed command:

See table 3.E.

C9/C10

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Signal

Code

Assigned

Control

Mode

Pin No.

(Default) Details (*2) Wiring Diagram

(Refer to 3-3-3)

TCM0 16 34

TCM1 17

Pt, T, Tz,

Pt-T, Pr-T,

S-T 8

Select the source of torque command:

See table 3.F.

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

C9/C10

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Revision January 2009 3-21

Signal

Code

Assigned

Control

Mode

Pin No.

(Default) Details (*2) Wiring Diagram

(Refer to 3-3-3)

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.

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 P2-

59.

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.

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.

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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

S mode: analog input

Sz mode: 0

OFF ON P1-09

ON OFF P1-10

ON ON P1-11

Table 3.F Source of Torque Command

TCM1 TCM0 Parameter

OFF OFF

T mode: analog input

Tz mode: 0

OFF ON P1-12

ON OFF P1-13

ON ON P1-14

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.

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Revision January 2009 3-23

Table 3.G Default DI signals and Control modes

Signal DI

Code Function Pt Pr ST Sz Tz Pt-S Pt-T Pr-S Pr-T S-T

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) DI2 DI2 DI2

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)

DI2 DI2 DI2

TRQLM 09 Torque limit enabled DI2 DI2

SPDLM 10 Speed limit enabled DI2 DI2

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)

DI7 DI7

S-T 19

Speed / Torque mode

switching (OFF: Speed,

ON: Torque)

DI7

T-P 20

Torque / Position mode

switching (OFF: Torque,

ON: Position)

DI7 DI7

EMGS 21

Emergency stop (contact

b) DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8

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

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Signal DI

Code Function Pt Pr ST Sz Tz Pt-S Pt-T Pr-S Pr-T S-T

ORGP 24

Reference “Home”

sensor

TLLM 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

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Revision January 2009 3-25

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 Function Pt Pr ST Sz Tz Pt-S Pt-T Pr-S Pr-T S-T

SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1

SON 02 Servo On

ZSPD 03 Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2

TSPD 04 Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3

TPOS 05 Positioning completed DO4 DO4 DO4 DO4 DO4 DO4 DO4

TQL 06 Reached torques limits

ALRM 07

Servo alarm output

(Servo fault) DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5

BRKR 08 Electromagnetic brake DO4 DO4 DO4 DO4

HOME 09 Home completed DO3DO3

OLW 10 Output overload warning

WARN 11 Servo warning output

NOTE

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

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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 user-

defined 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 Pin No. Parameter Signal Name Pin No. Parameter

DI1- 9 P2-10 DO1+ 7

DI2- 10 P2-11 DO1- 6 P2-18

DI3- 34 P2-12 DO2+ 5

DI4- 8 P2-13 DO2- 4 P2-19

DI5- 33 P2-14 DO3+ 3

DI6- 32 P2-15 DO3- 2 P2-20

DI7- 31 P2-16 DO4+ 1

DI8- 30 P2-17 DO4- 26 P2-21

DO5+ 28

DO5- 27

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 C2: Analog monitor output (MON1, MON2)

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Revision January 2009 3-27

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.

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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

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Revision January 2009 3-29

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.

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C13: Encoder output signal (Line driver) C14: Encoder output signal (Photocoupler)

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Revision January 2009 3-31

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

PIN No. Signal Name Terminal

Identification

Military

Connector

Quick

Connector 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 Shielding Shielding

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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 Description

1 Grounding GND -

2 RS-232 data transmission RS-232-TX For data transmission of the servo drive.

Connected to the RS-232 interface of PC.

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)

NOTE

1) For the connection of RS-485, please refer to page 8.2 and 8.3.

2) 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.

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3.5.2 Connection between PC and Connector CN3

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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.

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Revision January 2009 3-35

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.

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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.

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Revision January 2009 3-37

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.

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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.

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Revision January 2009 3-39

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.

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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.

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Revision January 2009 3-41

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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Revision January 2009 4-1

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 Keypad Operation

1. 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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Revision January 2009 4-3

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 Display Message Description Unit

Motor feedback pulse number (absolute

value) pulse

Motor feedback rotation number

(absolute value) rev

Pulse counts of pulse command pulse

Rotation number of pulse command rev

Position error counts pulse

Input frequency of pulse command r/min

Motor speed r/min

Speed input command Volt

Speed input command r/min

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P0-02

Setting Display Message Description Unit

Torque input command Volt

Torque input command %

Average load %

Peak load %

Main circuit voltage Volt

Ratio of load inertia to motor inertia time

Motor feedback pulse number (relative

value) / Position latch pulse number pulse

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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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

Revision January 2009 5-1

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

Inspection before

operation

(Control power is not

applied)

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.

z Ensure that all wiring is correct or damage and or malfunction may result.

z Visually check to ensure that there are not any unused screws, metal strips, or any

conductive or inflammable materials inside the drive.

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:

DI signal of CN1

Speed

Command No. SPD1 SPD0

Command Source Content Range

S1 0 0

External analog

command

Voltage between V-REF

and GND +/-10V

S2 0 1 P1-09 0 ~ 5000r/min

S3 1 0 P1-10 0 ~ 5000r/min

S4 1 1

Internal parameter

P1-11 0 ~ 5000r/min

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 CTRG Parameters Moving Speed

P1-15 Rotation No. (+/- 30000)

Internal

Position 1 0 0 0 P1-16 P2-36 (V1) Pulse No. (+/- max cnt)

P1-17 Rotation No. (+/- 30000)

Internal

Position 2 0 0 1 P1-18 P2-37 (V2) Pulse No. (+/- max cnt)

P1-19 Rotation No. (+/- 30000)

Internal

Position 3 0 1 0 P1-20 P2-38 (V3) Pulse No. (+/- max cnt)

P1-21 Rotation No. (+/- 30000)

Internal

Position 4 0 1 1 P1-22 P2-39 (V4) Pulse No. (+/- max cnt)

P1-23 Rotation No. (+/- 30000)

Internal

Position 5 1 0 0 P1-24 P2-40 (V5) Pulse No. (+/- max cnt)

P1-25 Rotation No. (+/- 30000)

Internal

Position 6 1 0 1 P1-26 P2-41 (V6) Pulse No. (+/- max cnt)

P1-27 Rotation No. (+/- 30000)

Internal

Position 7 1 1 0 P1-28 P2-42 (V7) Pulse No. (+/- max cnt)

P1-29 Rotation No. (+/- 30000)

Internal

Position 8 1 1 1 P1-30 P2-43 (V8) 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. + P1-

16 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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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)

not used

A: No function

B: Responsiveness level of auto-tuning mode

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

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)

not used

A: No function

B: Responsiveness level of auto-tuning mode

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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5.6.5 Manual Mode Tuning Flowchart

Position Mode

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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:

(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 P2-32 AutoSet

Parameter User-defined Parameter Gain Value

Manual Mode 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)

Fixed

AutoMode (PI)

[Continuous] 2

P2-00

P2-04

P2-06

P2-31 Value B (Level of Responsiveness)

P2-25 (Low-pass Filter Time Constant of

Resonance Suppression)

Continuous

Adjusting

AutoMode (PI)

[Fixed Inertia] (The

inertia ratio is

determined by P1-

37)

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)

Fixed

AutoMode (PDFF)

[Continuous] 4

P2-00

P2-04

P2-06

P2-25

P2-26

P2-31 Value B (Level of Responsiveness) Continuous

Adjusting

AutoMode (PDFF)

[Fixed Inertia] (The

inertia ratio is

determined by P1-

37)

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)

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

 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)= KV

(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:

1000

NLP (Parameter P2-25) 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 Code 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.

Speed Control 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).

Internal Speed Control 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).

Torque Control 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).

Single

Mode

Internal 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)

Dual Mode

S-T Either S or T control mode can be selected via the Digital

Inputs (DI)

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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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:

not used

• Value A: Pulse type

A=0: AB phase pulse (4x)

A=1: CW + CCW pulse

A=2: Pulse + Direction

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• 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 1=Negative Logic

Pulse Type Forward 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 CTRG Parameters Description

P1-15 Rotation number (+/- 30000)

P1 0 0 0 P1-16 Pulses (+/- max cnt)

P1-17 Rotation number (+/- 30000)

P2 0 0 1 P1-18 Pulses (+/- max cnt)

P1-19 Rotation number (+/- 30000)

P3 0 1 0 P1-20 Pulses (+/- max cnt)

P1-21 Rotation number (+/- 30000)

P4 0 1 1 P1-22 Pulses (+/- max cnt)

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Position

Command POS2 POS1 POS0 CTRG Parameters Description

P1-23 Rotation number (+/- 30000)

P5 1 0 0 P1-24 Pulses (+/- max cnt)

P1-25 Rotation number (+/- 30000)

P6 1 0 1 P1-26 Pulses (+/- max cnt)

P1-27 Rotation number (+/- 30000)

P7 1 1 0 P1-28 Pulses (+/- max cnt)

P1-29 Rotation number (+/- 30000)

P8 1 1 1 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:

20 turns

10 turns

20 turns

10 turns

Absolute Type Incremental Type

6.2.3 Structure of Position Control Mode

Basic Structure:

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Revision January 2009 6-5

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.

Pulse

command

INHP ON OFF ON

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 P-

curve 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 P-

curve filter.

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Time (ms)

TSL/2 TACC TSL/2

Position

Speed

Rated speed

To r q u e

Time (ms)

P-curve characteristics and Time relationship (Acceleration)

TSL/2 TDEC TSL/2

P-curve characteristics and Time relationship (Deceleration)

Time (ms)

Position

Speed

Rated speed

Torqu e

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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Revision January 2009 6-7

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

TACC TDEC

1/2TSL

1/2TSL 1/2TSL

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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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):

f1 f2 = f1 x N

Pulse input Position

command

The electronic gear ratio setting range must be within: 1/50<N/M<200.

The electronic gear function provides easy travel distance ratio change. However, the over high

electronic gear ratio will command the motor to move not smoothly. At this time, the users can use low-

pass filter parameter to improve this kind of situation. For example, assume that the electronic gear ratio

is equal to 1 and the encoder pulse per revolution is 10000ppr, if the electronic gear ratio is changed to

0.5, then the motor will rotate one pulse when the command from external controller is two pulses.

For example, after the proper electronic gear ratio is set, the reference travel distance is 1 μm/pulse, the

machinery will become easier to be used.

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

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Revision January 2009 6-9

Electronic Gear Ratio Corresponding travel distance per pulse

When the electronic

gear ratio is not used

=3x1000

4x2500 =3000

10000 m

When the electronic

gear ratio is not used

=10000

3000

=1 m

6.2.6 Low-pass Filter

Relevant parameters:

P1 - 08 PFLT Smooth Constant of Position Command (Low-

pass Filter) Communication Addr.: 0108H

Default: 0 Related Section:

Applicable Control Mode: P Section 6.2.6

Unit: 10ms

Range: 0 ~ 1000 (0: Disabled)

PFL

Target position

Position

Time (ms)

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6.2.7 Timing Chart of Position (Pr) Control Mode

In Pr mode, position command source is DI signal from CN1, i.e. selected by POS0~POS2 and CTRG.

Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is

shown the timing chart of Pr mode:

POS0

POS1

CTRG

SON

External I/O signal

OFF

OFF ON

OFF

>2ms, can be set b

P2-09

POS2 ON

OFF

Internal position

command

1ms

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

, 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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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

CN1 DI signal

Speed

Command SPD1 SPD0

Command Source Content Range

S External

analog signal

Voltage between V-

REF-GND +/-10 V

S1 0 0 Mode

Sz N/A Speed command is

0 0

S2 0 1 P1-09 0~5000r/min

S3 1 0 P1-10 0~5000r/min

S4 1 1

Internal parameter

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

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-14 Revision January 2009

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:

A/D

P1-09

~P1-11

P1-40

S-curve filter

P1-34,

P1-35,

P1-36

P1-01 P1-06

Analog command

filter

P1-34,

P1-35,

P1-36

SPD0,SPD1 signal of CN1

Analog signal

Command

selection

Low-pass

filter

(Command source:

Internal parameter)

(Command source:

External analog signal)

Internal

parameter

Proportion

Gain

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-15

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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6-16 Revision January 2009

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

TACC TDEC

1/2TSL

1/2TSL 1/2TSL

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-17

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)

3000

-3000

132465798Time (sec)

Motor Torque

Analog speed command

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 SFLT Accel / Decel Smooth Constant of Analog Speed

Command (Low-pass Filter) Communication Addr.: 0106H

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.

SFLT

Ta r ge t S p e e d

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-18 Revision January 2009

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.

510

-5-10

3000rpm

5000rpm

-3000rpm

-5000rpm

Analog Input Voltage (V)

The speed control ramp is

determined by parameter P1-40

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

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-19

6.3.5 Timing Chart of Speed Control Mode

S4 (P1-11)

S3 (P1-10)

S2 (P1-09)

SPD0

SPD1

SON

OFF

OFF ON

OFF

Internal speed

command

External analog

voltage or zero (0)

External I/O signal

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-20 Revision January 2009

 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:

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-21

 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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-22 Revision January 2009

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

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-23

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

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-24 Revision January 2009

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

Inertia Measurement

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-25

P2 - 24 DPH Notch Filter Attenuation Rate

(Resonance Suppression) 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 NLP Low-pass Filter Time Constant

(Resonance Suppression) 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

P2-07

P2-25

PI Controller

(Proportional and

Integral Controller)

P2-04,2-06

PWM

P2-23,P2-24

differentiator

Encoder

Feed forward

Gain

Speed estimator

Speed Control Block Diagram

Low-pass

Filter Notch Filter

To r qu e

Load

Current Sensor

Current Controller

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-26 Revision January 2009

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.

0dB BW

Gain

Frequency

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

0db

Notch Filter

Attenuation

Rate P2-24

Resonance

Frequency .

Resonance

Point

Gain

Frequency

Gain

Frequency

Gain

Frequency

Low-pass

Frequency

Low-pass

Frequency

Resonance

Frequency

P2-23

Resonance

conditions

is suppressed

Resonance

Frequency

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-27

Use Low-pass Filter to suppress resonance

Low-pass Filter

Cut-off Frequency

of Low-pass Filter

= 10000 / P2-25 Hz

0db

Resonance

conditions

is suppressed

Gain

Frequency

Gain

Frequency

Gain

Frequency

Low-pass

Frequency

Low-pass

Frequency

Resonance

Frequency

Attenuation

Rate -3db

Resonance

Point

Resonance

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-28 Revision January 2009

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 Command Source Content Range

T External analog signal Voltage between

T-REF-GND +/- 10 V

T1 0 0 Mode

Tz None Torque command is 0 0

T2 0 1 P1-12 +/- 300 %

T3 1 0 P1-13 +/- 300 %

T4 1 1

Internal parameter

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).

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-29

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:

A/D

P1-12

~1-14

P1-41 P1-01 P1-07

TCM0,TCM1 signal of CN1

Command

selection

Low-pass

filter

(Command source:

Internal parameter)

(Command source:

External analog signal)

Analog signal

Internal

parameter

Proportion

Gain

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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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.

TFLT

Ta rge t S p ee d

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.

510

-5-10

100%

300%

-100%

-300%

Analog Input Voltage (V)

The torque control ramp is

determined by parameter P1-41

To rq u e comm a nd

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

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-31

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)

T3 (P1-13)

T2 (P1-12)

TCM0

TCM1

SON

OFF

OFF ON

OFF

Internal speed

command

External analog

voltage or zero (0)

External I/O signal

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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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 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)

Dual Mode

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:

S-P

POS0-2 NOT CARE POS0-2 NOT CARE

POS0-2 VALID

SPD0-1 VALID SPD0~1 NOT CARE SPD0-1 VALID

Speed control mode Position control mode Speed control mode

ure 1. : Speed / Position Control Mode Selectio

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-33

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 NOT CARE

SPD0-1 VALID

TCM0-1 VALID NOT CARE TCM0-1 VALID

Torque control mode Speed control mode Torque control mode

ure 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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-34 Revision January 2009

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-35

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 1

SPD0~1 INVALID SPD0~1 VALID

Disable / Enable Speed Limit Function

Settings in parameter P1-02 is set to 0

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:

TCM0~1 INVALID TCM0~1 VALID

Disable / Enable Torque Limit Functio

Settings in parameter P1-02 is set to 1

Disable / Enable Torque Limit Function

Settings in parameter P1-02 is set to 0

Command Source Selection of Torque Limit

Chapter 6 Control Modes of Operation|ASDA-AB Series

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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

(kW)

Resistance (Ohm)

(parameter P1-52)

Capacity (Watt)

(parameter P1-53)

Regenerative Power

processed by built-in

regenerative resistor (Watt) *1

Min. Allowable

Resistance (Ohm)

0.1 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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-37

 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 Procedure Equation and Setting Method

1 Set the capacity of regenerative

resistor to the maximum 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

can be absorbed Refer to the table above

7 Calculate the required

regenerative power capacity 2 x (N+1) x Eo－Ec）/ T

Chapter 6 Control Modes of Operation|ASDA-AB Series

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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

Reverse

Rotation

Forward

Rotation

Forward

Rotation

External load torque in reverse direction: TL x Wr TL : External load torque

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

the load.

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-39

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)

100W 200W 300W 400W

(60mm)

400W

(80mm) 500W 600W 750W

ECMA Series

01 02 03 04 04 05 06 07

Allowable Frequency

(times/min) - - - 1275 519 43 41 319

900W 1.0kW

(100mm)

1.0kW

(130mm) 1.5kW 2.0kW

(100mm)

2.0kW

(130mm)

2.0kW

(180mm)

ECMA Series

09 10 10 15 20 20 20

Allowable Frequency

(times/min) 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 f r equency = Allowable frequency when servo motor run without load

m + 1 xRated s peed

Operating speed

times

min.

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)

100W 200W 300W 400W

(60mm)

400W

(80mm)

ECMA Series

Regenerative

Resistors 01 02 03 04 04

BR400W040 - - - 8608 3279

BR1K0W020 - - - 21517 8765

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

Chapter 6 Control Modes of Operation|ASDA-AB Series

6-40 Revision January 2009

Allowable frequency when the servo motor run without load (times/min)

500W 600W 750W 900W 1.0kW

(100 mm)

ECMA Series

Regenerative

Resistors 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)

ECMA Series

Regenerative

Resistors 10 15 20 20 20

BR400W040 283 213 562 163 68

BR1K0W020 708 533 1363 408 171

( ) : 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:

not used

: CH1

B: CH2

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

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-41

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:

not used

Monitor analog output polarity

• A=0: MON1(+), MON2(+)

• A=1: MON1(+), MON2(-)

• A=2: MON1(-), MON2(+)

• A=3: MON1(-), MON2(-)

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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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 P1-

04 (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.

DOF

-8V

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-43

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 (Z-

axis) 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:

OFF

SON

(DI Input)

BRKR

(DO Output)

Motor Speed

MBT1(P1-42) MBT2(P1-43)

ZSPD(P1-38)

OFF

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

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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.

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.

Chapter 6 Control Modes of Operation|ASDA-AB Series

Revision January 2009 6-45

The timing charts of control circuit power and main circuit power:

L1, L2

Control Circuit

Power

Control Circuit

Power

R, S, T

Main Circuit

Power

BUS Voltage

READY

SERVO

READY

SERVO ON

(DI Input)

SERVO ON

(DO Output)

Position \ Speed \

Torque Command

Input

1 sec

> 0msec

800ms

2 sec

1 msec

(

min

)

+ P2-09

)

Response Filter Time of Digital Input (

Input available

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Revision January 2009 7-1

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.

Chapter 7 Servo Parameters|ASDA-AB Series

7-2 Revision January 2009

7.2 Parameters Summary

7.2.1 Parameters List by Group

Group 0: P0-xx

Monitor Parameters

Control Mode

Parameter Name Function Default Unit Pt Pr S T

P0-00★ VER Firmware Version Factory

setting N/A { { { {

P0-01★ 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 { { { {

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.

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-3

Group 1: P1-xx

Basic Parameters

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

P1-00▲ PTT External Pulse Input Type 2 N/A {

P1-01● CTL Control Mode and Output Direction 0

pulse

r/min

N.M

{ {{{

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

{

1st ~ 3rd Speed Command

P1-09

~ P1-11 SP1 ~ 3 1st ~ 3rd Speed Limit 100 ~ 300 r/min { {

1st ~ 3rd Torque Command

P1-12

~ P1-14 TQ1 ~ 3 1st ~ 3rd Torque Limit 100 %

{ { {

PO1H ~

PO8H

1st ~ 8th Position command for

Rotation 0 N/A

{

P1-15 ~

P1-30 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

{ {{{

Chapter 7 Servo Parameters|ASDA-AB Series

7-4 Revision January 2009

Basic Parameters

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

P1-43 MBT2

OFF Delay Time of Electromagnetic

Brake 0 ms

{ {{{

P1-44▲ 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 pulse { {{{

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 rated speed r/min { {{{

P1-56 OVW Output Overload Warning Level 120 % { {{{

P1-57 Reserved

P1-58 Reserved

P1-59 Reserved

P1-60 Reserved

P1-61 Reserved

P1-62 COKT

Delay Time of Internal Position

Command Completed Output Signal 0 ms

{

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.

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-5

Group 2: P2-xx

Extension Parameters

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

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 0.0001 { {

P2-03 PFF

Smooth Constant of Position Feed

Forward Gain 5 ms

{ {

P2-04 KVP Proportional Speed Loop Gain 500 rad/s { {{{

P2-05 SPR Speed Loop Gain Switching Rate 100 % { {{{

P2-06 KVI Speed Integral Compensation 100 N/A { {{{

P2-07 SFG Speed Feed Forward Gain 0 0.0001 { {{{

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 0.001 { {{{

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 10000

pulse

Kpps

r/min

{ {{{

P2-30■ INH Auxiliary Function 0 N/A

{ {{{

Chapter 7 Servo Parameters|ASDA-AB Series

7-6 Revision January 2009

Extension Parameters

Control

Mode

Parameter Name Function Default Unit

Pt Pr S 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

{ { {

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-7

Group 3: P3-xx

Communication Parameters

Control

Mode

Parameter Name Function Default Unit

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.

Chapter 7 Servo Parameters|ASDA-AB Series

7-8 Revision January 2009

Group 4: P4-xx

Diagnosis Parameters

Control

Mode

Parameter Name Function Default Unit

Pt Pr S 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 {

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-9

7.2.2 Parameters List by Function

Monitor and General Use

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

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.

Chapter 7 Servo Parameters|ASDA-AB Series

7-10 Revision January 2009

Smooth Filter and Resonance Suppression

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

Section of

User

Manual

P1-06 SFLT

Accel / Decel Smooth Constant of

Analog Speed Command (Low-

pass Filter)

0 ms

{ 6.3.3

P1-07 TFLT

Smooth Constant of Analog Torque

Command (Low-pass Filter) 0 ms

{ 6.4.3

P1-08 PFLT

Smooth Constant of Position

Command (Low-pass Filter) 0 ms { 6.2.6

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 { { { { ---

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.

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-11

Gain and Switch

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

Section of

User

Manual

P2-00 KPP Proportional Position Loop Gain 35 rad/s { { 6.2.8

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 N/A { { { { ---

P2-28 GUT Gain Switching Time Constant 10 10ms { { { { ---

P2-29 GPE Gain Switching Condition 10000

pulse

Kpps

r/min

{ { { { ---

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

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.

Chapter 7 Servo Parameters|ASDA-AB Series

7-12 Revision January 2009

Position Control

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

Section of

User

Manual

P1-01● CTL Control Mode and Output Direction 0

pulse

r/min

N.M

{ { { { 6.1

P1-02▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6

P1-46▲ GR3 Encoder Output Pulse Number 1 pulse { { { { ---

P1-55 MSPD Maximum Speed Limit rated

speed r/min { { { { ---

1st ~ 3rd Torque Command

P1-12

~ P1-14

TQ1 ~

3 1st ~ 3rd Torque Limit 100 %

{ { { { 6.4.1

P2-50 DCLR Pulse Deviation Clear Mode 0 N/A { { ---

External pulse control command (Pt mode)

P1-00▲ PTT External Pulse Input Type 2 N/A { 6.2.1

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 { { ---

Internal pulse control command (Pr mode)

PO1H

PO8H

1st ~ 8th Position command for

Rotation

P1-15

~ P1-30 PO1L ~

PO8L

1st ~ 8th Position command for

Pulse

0 N/A

{ 6.2.2

P2-36

~ P2-43

POV1

~ POV8

Moving Speed Setting of 1st ~ 8th

Position 1000 r/min

{ 6.2.2

P1-33● POSS Position Control Mode (Pr) 0 N/A

{ 6.2.2

P1-47 HMOV Homing Mode 00 N/A { { { { 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 rev { { { { ---

P1-51 HOF2 Homing Offset Pulse Number 0 pulse { { { { ---

P1-62 COKT

Delay Time of Internal Position

Command Completed Output

Signal

0 ms

{ ---

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-13

Position Control

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

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.

Chapter 7 Servo Parameters|ASDA-AB Series

7-14 Revision January 2009

Speed Control

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

Section of

User

Manual

P1-01● CTL Control Mode and Output Direction 0

pulse

r/min

N.M

{ { { { 6.1

P1-02▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6

P1-46▲ GR3 Encoder Output Pulse Number 1 pulse { { { { ---

P1-55 MSPD Maximum Speed Limit rated

speed r/min { { { { ---

1st ~ 3rd Speed Command

P1-09

~ P1-11

SP1 ~

3 1st ~ 3rd Speed Limit

100 ~

300 r/min

{ { 6.3.1

1st ~ 3rd Torque Command

P1-12

~ P1-14

TQ1 ~

3 1st ~ 3rd Torque Limit 100 %

{ { { { 6.6.2

P1-40▲ VCM Max. Analog Speed Command or

Limit

rated

speed r/min

{ { 6.3.4

P1-41▲ TCM Max. Analog Torque Command or

Limit 100 % { { { { ---

P2-63 TSCA Proportion Value Setting 0 times { { { ---

P2-64 TLMOD Torque Limit Mixed Mode 0 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.

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-15

Torque Control

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

Section of

User

Manual

P1-01● CTL Control Mode and Output Direction 0

pulse

r/min

N.M

{ { { { 6.1

P1-02▲ PSTL Speed and Torque Limit 0 N/A { { { { 6.6

P1-46▲ GR3 Encoder Output Pulse Number 1 pulse { { { { ---

P1-55 MSPD Maximum Speed Limit rated

speed r/min { { { { ---

1st ~ 3rd Speed Command

P1-09

~ P1-11

SP1 ~

3 1st ~ 3rd Speed Limit

100 ~

300 r/min

{ { 6.6.1

1st ~ 3rd Torque Command

P1-12

~ P1-14

TQ1 ~

3 1st ~ 3rd Torque Limit 100 %

{ { { { 6.4.1

P1-40▲ VCM Max. Analog Speed Command or

Limit

rated

speed r/min

{ { ---

P1-41▲ TCM Max. Analog Torque Command or

Limit 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.

Chapter 7 Servo Parameters|ASDA-AB Series

7-16 Revision January 2009

Digital I/O and relative input output setting

Digital I/O

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

Section of

User

Manual

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 { { { {

Table 7.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 { { { {

Table 7.B

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 pulse { { ---

P1-56 OVW Output Overload Warning Level 120 % { { { { ---

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.

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-17

Communication

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

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.

Chapter 7 Servo Parameters|ASDA-AB Series

7-18 Revision January 2009

Diagnosis

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

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 Input Status or Force Input

Control 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 { ---

Chapter 7 Servo Parameters|ASDA-AB Series

Revision January 2009 7-19

Others

Control

Mode

Parameter Name Function Default Unit

Pt Pr S T

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 ---

P2-08■ PCTL Special Factory Setting 0 N/A { { { { ---

P2-30■ INH Auxiliary Function 0 N/A { { { { ---

P2-34 SDEV Overspeed Warning Condition 5000 r/min { ---

P2-35 PDEV Excessive Error Warning Condition 30000 pulse { { ---

P2-51 SRON Servo ON 0 N/A { { { { 12.6

P2-63 TSCA Proportion Value Setting 0 times { { { ---

P2-65 GBIT Special Function 0 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.

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7.3 Detailed Parameter Listings

Group 0: P0-xx Monitor Parameters

P0 - 00★ VER Firmware Version Communication Addr.: 0000H

Default: Factory setting 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

02: Overvoltage

03: Undervoltage

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

21: DSP to MCU command write-in error

22: Input power phase loss

23: Pre-overload warning

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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]

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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:

not used

: CH1

B: CH2

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 P0-

02). 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.

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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 P0-

02). 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 P0-

02). 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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P0 - 09 MAP0 Block Data Read / Write Register 0 Communication Addr.: 0009H

Default: 407H 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 Communication Addr.: 000AH

Default: 10FH 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 Communication Addr.: 000BH

Default: 110H 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 Communication Addr.: 000CH

Default: 224H 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 Communication Addr.: 000DH

Default: 111H 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 Communication Addr.: 000EH

Default: 112H 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 Communication Addr.: 000FH

Default: 225H 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 Communication Addr.: 0010H

Default: 109H 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 - 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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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:

not used

• Value A: Pulse type

A=0: AB phase pulse (4x)

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 1=Negative Logic

Pulse Type Forward 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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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:

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 Pr S T Sz Tz

00 ▲

01 ▲

02 ▲

03 ▲

04 ▲

05 ▲

06 ▲ ▲

07 ▲ ▲

08 ▲ ▲

09 ▲ ▲

10 ▲ ▲

• Torque Output Direction Settings:

0 1

Forward

Reverse

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:

not used

• A=0: Disable speed limit function

A=1: Enable speed limit function (It is available in torque mode)

Other: Reserved

P1-09(1)

P1-10(2)

P1-11(3)

Vref

SPD0

SPD1

(0)

Speed Limit

Command

• B=0: Disable torque limit function

B=1: Enable torque limit function (It is available in position and speed mode)

Other: Reserved

P1-12(1)

P1-13(2)

P1-14(3)

Tref

TCM0

TCM1

(0)

Torque Limit

Command

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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:

not used

A: Monitor analog output polarity

A=0: MON1(+), MON2(+)

A=1: MON1(+), MON2(-)

A=2: MON1(-), MON2(+)

A=3: MON1(-), MON2(-)

B: Position pulse output polarity

B=0: Forward output

B=1: Reverse output

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

Command (Low-pass Filter) Communication Addr.: 0106H

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 (Low-

pass 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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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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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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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 Communication Addr.: 011FH

Default: 0 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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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.

not used

• A=0: Stop instantly

• A=1: Decelerate to stop

• B=0: Use dynamic brake when Servo Off (when the

servo drive is Off).

• B=1:

llow 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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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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P1 - 38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H

Default: 10 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 Communication Addr.: 0127H

Default: 3000 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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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):

f1 f2 = f1 x N

Pulse input Position

command

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: 1/50<N/M<200.

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P1 - 46▲ GR3 Encoder Output Pulse Number Communication Addr.: 012EH

Default: 1 Related Section: N/A

Applicable Control Mode: ALL

Unit: Pulse

Range: 10020 ~ 12500

Settings:

This parameter is used to set the pulse number of encoder outputs which directly represents the

encoder output pulse number per motor revolution.

A: Range of the pulse numbers of encoder outputs

• Range of the setting value: 20 ~ 2500 (with B=1)

B: Must be set to 1

• When B=1, the setting value A directly represents the pulse numbers of encoder outputs per

motor revolution. At this time, the range of the setting value A is 20 ~ 2500.

The Default: indicates that the pulses will be output from the encoder directly. If

the users want to set the pulse numbers of encoder outputs, ensure to set the setting value B to

“1”. If the setting value B is not set to “1”, LCD display will show , which indicates

that the setting value is error or invalid.

For example:

If P1-46 is set to 11250, it indicates that the encoder output pulse number is 1250 pulses per

motor revolution.

If P1-46 is set to 10500, it indicates that the encoder output pulse number is 500 pulses per

motor revolution.

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P1 - 47 HMOV Homing Mode Communication Addr.: 012FH

Default: 00 Related Section:

Applicable Control Mode: ALL Section 12.8

Unit: N/A

Range: 00 ~ 1225

Settings:

not used

• A=0: Forward homing (CCWL as “Home”)

• A=1: Reverse homing (CWL as “Home”)

• A=2: Forward homing (ORGP as “Home”)

• A=3: Reverse homing (ORGP as “Home”)

• A=4: Forward to find Z-phase pulse and regard Z-

phase pulse as “Home”

• A=5: Reverse to find Z-phase pulse and regard Z-

phase pulse as “Home”

• B=0: Return to find Z-phase pulse during homing

• B=1: Do not return and go forward to find Z-phase pulse during homing

• B=2: Positioning at home sensor position or Z-phase pulse during homing (it only can be

used when A=2, 3, 4 or 5)

• C=0: Disable homing function.

• C=1: Enable homing function automatically after power supplies to the servo drive.

• C=2: Enable homing function by SHOM.

• D=0: After detecting “Home”, the motor will decelerate and return to “Home”.

• D=1: After detecting “Home”, the motor will decelerate and stop in the forward direction.

• Other: Reserved

Example:

Power supplies to the servo drive, after servo on, immediately perform the homing function and

use CCWL as “Home”.

1: Refer to P1-01 for forward and reverse direction

2: CWL and CCWL (refer to Table 7.A) should be assigned into internal input contact (refer to

P2-10 ~ P2-17) and connected to external limit switch corresponding to internal contact.

3: Set the value of P1-47 to 100.

4: Restart power on again, after servo on, the drive will immediately perform homing function

automatically according to the assigned direction.

NOTE

1) When using CWL and CCWL as “Home”, these two inputs will return to limit stop protect

function after homing function is completed. It is recommended to set CWL and CCWL at the

terminal of equipment to avoid these two inputs may be triggered during normal operation.

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P1 - 48 HSPD1 1st Speed Setting of High Speed Homing Communication Addr.: 0130H

Default: 1000 Related Section:

Applicable Control Mode: ALL Section 12.8

Unit: r/min

Range: 1 ~ 2000

Settings:

Z pulse HSP2

HSP1

P1 - 49 HSPD2 2nd Speed Setting of Low Speed Homing Communication Addr.: 0131H

Default: 50 Related Section:

Applicable Control Mode: ALL Section 12.8

Unit: r/min

Range: 1 ~ 500

Settings:

Please refer to P1-48.

P1 - 50 HOF1 Homing Offset Rotation Number Communication Addr.: 0132H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 12.8

Unit: rev

Range: -30000 ~ +30000

Settings:

Please refer to P1-51.

P1 - 51 HOF2 Homing Offset Pulse Number Communication Addr.: 0133H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 12.8

Unit: pulse

Range: +/-max. cnt/rev

Settings:

When the value of HOF1, HOF2 (P1-50, P1-51) is set to 0, “Home” will be determined as Z-

phase pulse or ORGP according to the setting of P1-47. If the value of HOF1, HOF2 (P1-50, P1-

51) is not 0, “Home” will be determined as Z-phase pulse or ORGP plus one offset pulse as new

“Home” (HOF1 x 10000 + HOF2).

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P1 - 52 RES1 Regenerative Resistor Value Communication Addr.: 0134H

Default: 40 (1kW and below), 20 (above 1kW) Related Section:

Applicable Control Mode: ALL Section 6.6.3

Unit: Ohm

Range: 10 ~ 750

P1 - 53 RES2 Regenerative Resistor Capacity Communication Addr.: 0135H

Default: 60 (1.5kW and below), 120 (above 1.5kW) Related Section:

Applicable Control Mode: ALL Section 6.6.3

Unit: Watt

Range: 30 ~ 1000

P1 - 54 PER Positioning Completed Width Communication Addr.: 0136H

Default: 100 Related Section: N/A

Applicable Control Mode: Pt , Pr

Unit: Pulse

Range: 0 ~ 10000

Settings:

This parameter is used to set the width of pulse output range in which TPOS (positioning

completed signal) will activate. For Example, at factory default TPOS (positioning completed

signal) 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.

P1 - 55 MSPD Maximum Speed Limit Communication Addr.: 0137H

Default: rated speed Related Section: N/A

Applicable Control Mode: ALL

Unit: r/min

Range: 0 ~ Max. speed

Settings:

This parameter is used to set maximum motor speed. The default setting is rated speed.

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P1 - 56 OVW Output Overload Warning Level Communication Addr.: 0138H

Default: 120 Related Section: N/A

Applicable Control Mode: ALL

Unit: %

Range: 0 ~ 120

Settings:

This parameter is used to set output overload level. When the motor has reached the output

overload level set by parameter 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.

tOL = Permissible Time for Overload x the setting value of parameter 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 occur.

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 OVW 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).

P1 - 57 Reserved Communication Addr.: 0139H

P1 - 58 Reserved Communication Addr.: 013AH

P1 - 59 Reserved Communication Addr.: 013BH

P1 - 60 Reserved Communication Addr.: 013CH

P1 - 61 Reserved Communication Addr.: 013DH

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P1 - 62 COKT Delay Time of Internal Position Command

Completed Output Signal Communication Addr.: 013EH

Default: 0 Related Section:

Applicable Control Mode: Pr DO CMDOK(12) in Table 7.B

Unit: ms

Range: 0 ~ 200

Settings:

This parameter is used to delay the output time of digital output, CMDOK (Internal position

command completed output) when the servo drive has detected the internal position command

has been completed.

If this parameter is set to 0, when DO ZSPD=1, the internal position command which is triggered

by DI CTRG will be accepted. If this parameter is not set to 0, when DO CMDOK=1, the internal

position command which is triggered by DI CTRG will be accepted.

Please see DO CMDOK(12) in Table 7.B for explanation.

P1 - 63 Reserved Communication Addr.: 013FH

P1 - 64 Reserved Communication Addr.: 0140H

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Group 2: P2-xx Extension Parameters

P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H

Default: 35 Related Section:

Applicable Control Mode: Pt, Pr 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 - 01 PPR Position Loop Gain Switching Rate Communication Addr.: 0201H

Default: 100 Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: %

Range: 10 ~ 500

Settings:

This parameter is used to set the position gain switching rate when the gain switching condition

is satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29

for gain switching condition settings.

P2 - 02 PFG Position Feed Forward Gain Communication Addr.: 0202H

Default: 5000 Related Section:

Applicable Control Mode: Pt, Pr Section 6.2.8

Unit: 0.0001

Range: 10 ~ 20000

Settings:

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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P2 - 03 PFF Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H

Default: 5 Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: ms

Range: 2 ~ 100

Settings:

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.

P2 - 04 KVP Proportional Speed Loop Gain Communication Addr.: 0204H

Default: 500 Related Section:

Applicable Control Mode: ALL 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 - 05 SPR Speed Loop Gain Switching Rate Communication Addr.: 0205H

Default: 100 Related Section: N/A

Applicable Control Mode: ALL

Unit: %

Range: 10 ~ 500

Settings:

This parameter is used to set the speed gain switching rate when the gain switching condition is

satisfied. Please refer to P2-27 for gain switching control selection settings and refer to P2-29 for

gain switching condition settings.

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P2 - 06 KVI Speed Integral Compensation Communication Addr.: 0206H

Default: 100 Related Section:

Applicable Control Mode: ALL 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 SFG Speed Feed Forward Gain Communication Addr.: 0207H

Default: 0 Related Section:

Applicable Control Mode: ALL 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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P2 - 08■ PCTL Special Factory Setting Communication Addr.: 0208H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 65536

This parameter can be used to reset all parameters to their original factory settings and enable

some parameters functions.

Settings:

Reset parameters settings:

10: Users can reset all parameter values to factory defaults. All parameter values will be reset

after re-power the servo drive.

Enable parameters functions:

20: If P2-08 is set to 20, then the parameter P4-10 is enabled.

22: If P2-08 is set to 22, then the parameters P4-11~P4-19 are enabled.

Users may lock the parameters and protect parameters against change by unauthorized

personnel.

 Parameter Lock (Password Input):

Enter 5-digit password (your password should be at least five characters long). Confirm

your password again and then, the password input is completed. (The highest digit of

your password number should be at least set to 1).

 Set parameters:

Enter correct password, and then you can unlock the parameters and change them.

 Password Decode:

First, enter correct password, and set P2-08 to 0(zero) twice continuously.

P2 - 09 DRT Bounce Filter Communication Addr.: 0209H

Default: 2 Related Section:

Applicable Control Mode: ALL Section 6.3.6

Unit: 2ms

Range: 0 ~ 20

Settings:

For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=10ms.

When there are too much vibration or noises around environment, increasing this setting value

(bounce filter time) can improve reliability. However, if the time is too long, it may affect the

response time.

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P2 - 10 DI1 Digital Input Terminal 1 (DI1) Communication Addr.: 020AH

Default: 101 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings:

This parameter is used to determine the function and status of DI1.

not used

• A: DI Function Settings: For the setting value of P2- 10 ~ P2-17, please refer to Table 7.A.

• B: DI Enabled Status Settings:

0: Normally closed (contact b)

1: Normally open (contact a)

Please re-start the servo drive after parameters have been changed.

P2 - 11 DI2 Digital Input Terminal 2 (DI2) Communication Addr.: 020BH

Default: 104 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings: See P2-10 for explanation.

P2 - 12 DI3 Digital Input Terminal 3 (DI3) Communication Addr.: 020CH

Default: 116 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings: See P2-10 for explanation.

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P2 - 13 DI4 Digital Input Terminal 4 (DI4) Communication Addr.: 020DH

Default: 117 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings: See P2-10 for explanation.

P2 - 14 DI5 Digital Input Terminal 5 (DI5) Communication Addr.: 020EH

Default: 102 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings: See P2-10 for explanation.

P2 - 15 DI6 Digital Input Terminal 6 (DI6) Communication Addr.: 020FH

Default: 22 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings: See P2-10 for explanation.

P2 - 16 DI7 Digital Input Terminal 7 (DI7) Communication Addr.: 0210H

Default: 23 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings: See P2-10 for explanation.

P2 - 17 DI8 Digital Input Terminal 8 (DI8) Communication Addr.: 0211H

Default: 21 Related Section:

Applicable Control Mode: ALL Table 7.A

Unit: N/A

Range: 0 ~ 147

Settings: See P2-10 for explanation.

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P2 - 18 DO1 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H

Default: 101 Related Section:

Applicable Control Mode: ALL Table 7.B

Unit: N/A

Range: 0 ~ 112

Settings:

This parameter is used to determine the function and status of DO1.

not used

• A: DO Function Settings: For the setting value of P2- 18 ~ P2-22, please refer to Table 7.A.

• B: DO Enabled Status Settings:

0: Normally closed (contact b)

1: Normally open (contact a)

Please re-start the servo drive after parameters have been changed.

P2 - 19 DO2 Digital Output Terminal 2 (DO2) Communication Addr.: 0213H

Default: 103 Related Section:

Applicable Control Mode: ALL Table 7.B

Unit: N/A

Range: 0 ~ 112

Settings: See P2-18 for explanation.

P2 - 20 DO3 Digital Output Terminal 3 (DO3) Communication Addr.: 0214H

Default: 109 Related Section:

Applicable Control Mode: ALL Table 7.B

Unit: N/A

Range: 0 ~ 112

Settings: See P2-18 for explanation.

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P2 - 21 DO4 Digital Output Terminal 4 (DO4) Communication Addr.: 0215H

Default: 105 Related Section:

Applicable Control Mode: ALL Table 7.B

Unit: N/A

Range: 0 ~ 112

Settings: See P2-18 for explanation.

P2 - 22 DO5 Digital Output Terminal 5 (DO5) Communication Addr.: 0216H

Default: 7 Related Section:

Applicable Control Mode: ALL Table 7.B

Unit: N/A

Range: 0 ~ 112

Settings: See P2-18 for explanation.

P2 - 23 NCF Notch Filter (Resonance Suppression) Communication Addr.: 0217H

Default: 1000 Related Section:

Applicable Control Mode: ALL 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.

P2 - 24 DPH Notch Filter Attenuation Rate

(Resonance Suppression) Communication Addr.: 0218H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 6.3.7

Unit: dB

Range: 0 ~ 32

Settings: 0: Disabled

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P2 - 25 NLP Low-pass Filter Time Constant

(Resonance Suppression) Communication Addr.: 0219H

Default: 2 (1kW and below models) or Related Section:

5 (above 1kW models) Section 6.3.7

Applicable Control Mode: ALL

Unit: ms

Range: 0 ~ 1000

Settings: 0: Disabled

This parameter is used to set low-pass filter time constant of resonance suppression.

P2 - 26 DST External Anti-Interference Gain Communication Addr.: 021AH

Default: 0 Related Section: N/A

Applicable Control Mode: ALL

Unit: 0.001

Range: 0 ~ 30000

Settings: 0: Disabled

In AutoMode (PDFF) mode (parameter P2-32 is set to 4 or 5), the value of this parameter is

determined by the system automatically.

P2 - 27 GCC Gain Switching Control Selection Communication Addr.: 021BH

Default: 0 Related Section: N/A

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 4

Settings:

Gain Switching Condition Settings:

0: Disabled

1: Gain switching DI signal (GAINUP) is On. (see Table 7.A)

2: In position mode, position deviation is higher than the setting value of P2-29.

3: Position command frequency is higher than the setting value of P2-29.

4: Servo motor speed is higher than the setting value of P2-29.

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P2 - 28 GUT Gain Switching Time Constant Communication Addr.: 021CH

Default: 10 Related Section: N/A

Applicable Control Mode: ALL

Unit: 10ms

Range: 0 ~ 1000

Settings: 0: Disabled

This parameter is used to set the time constant when switching the smooth gain.

P2 - 29 GPE Gain Switching Condition Communication Addr.: 021DH

Default: 10000 Related Section: N/A

Applicable Control Mode: ALL

Unit: pulse, Kpps, r/min

Range: 0 ~ 30000

Settings: 0: Disabled

This parameter is used to set the value of gain switching condition (pulse error, Kpps, r/min)

selected in P2-27. The setting value will be different depending on the different gain switching

condition.

P2 - 30■ INH Auxiliary Function Communication Addr.: 021EH

Default: 0 Related Section: N/A

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 5

Settings:

0: Normal operation of Digital Inputs SON, CW, and CCW.

1: Force the servo drive to be Servo On (ignore CW and CCW signal)

2: Ignore CW digital input signal

3: Ignore CCW digital input signal

4: Internal position learning function

5: After setting P2-30 to 5, the setting values of all parameters will lost (not remain in memory) at

power-down. When the parameters data are no more needed, using this mode can allows users

not to save parameters data into memory without damaging the EEPROM. Ensure to set P2-30

to 5 when the communication control function is used.

NOTE

1) Please set P2-30 to 0 during normal operation. The setting value of P2-30 will return to 0

automatically after re-power the servo drive.

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P2 - 31 AUT1 Auto Mode Responsiveness Level Communication Addr.: 021FH

Default: 44 Related Section:

Applicable Control Mode: ALL Section 5.6, Section 6.3.6

Unit: N/A

Range: 0 ~ FF

Settings:

This parameter allows the users to set the responsiveness level setting of auto-tuning mode.

Users can control the responsiveness according to application condition. When the setting value

is higher, the responsiveness is higher.

not used

A: No function

B: Responsiveness level of auto-tuning mode

0 ~ FF: 0 indicates the lowest setting and F indicates the highest setting (total 16 settings

available).

NOTE

1) This parameter is activated by P2-32.

2) Please refer to Section 5.6 for the tuning procedure and the related settings.

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P2 - 32▲ AUT2 Tuning Mode Selection Communication Addr.: 0220H

Default: 0 Related Section:

Applicable Control Mode: ALL 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

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P2 - 33▲ INF Easy Setting of Input Filter Communication Addr.: 0221H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 6.3.6

Unit: N/A

Range: 00 ~ 19

Settings:

not used

• A: Speed selection

Low speed

High speed

A=0

A=9

• B=1: Enable this function

P2 - 34 SDEV Overspeed Warning Condition Communication Addr.: 0222H

Default: 5000 Related Section: N/A

Applicable Control Mode: S

Unit: r/min

Range: 1 ~ 5000

Settings:

This parameter is used to set the over speed condition of the drive fault code. (See P0-01)

P2 - 35 PDEV Excessive Error Warning Condition Communication Addr.: 0223H

Default: 30000 Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: pulse

Range: 1 ~ 30000

Settings:

This parameter is used to set the excessive error condition of the drive fault code (See P0-01) .

As for the proportion value setting of position excessive error warning condition, please refer to

P2-63.

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P2 - 36 POV1 Moving Speed Setting of 1st Position Communication Addr.: 0224H

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

When setting value of P2-36 to P2-43 is higher than 3000 r/min, please set the setting value of

P1-55 to its max. value.

P2 - 37 POV2 Moving Speed Setting of 2nd Position Communication Addr.: 0225H

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

Please refer to P2-36.

P2 - 38 POV3 Moving Speed Setting of 3rd Position Communication Addr.: 0226H

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

Please refer to P2-36.

P2 - 39 POV4 Moving Speed Setting of 4th Position Communication Addr.: 0227H

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

Please refer to P2-36.

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P2 - 40 POV5 Moving Speed Setting of 5th Position Communication Addr.: 0228H

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

Please refer to P2-36.

P2 - 41 POV6 Moving Speed Setting of 6th Position Communication Addr.: 0229H

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

Please refer to P2-36.

P2 - 42 POV7 Moving Speed Setting of 7th Position Communication Addr.: 022AH

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

Please refer to P2-36.

P2 - 43 POV8 Moving Speed Setting of 8th Position Communication Addr.: 022BH

Default: 1000 Related Section:

Applicable Control Mode: Pr Section 6.2.2

Unit: r/min

Range: 1 ~ 5000

Settings:

Please refer to P2-36.

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P2 - 44 DOM Digital Output Mode Setting Communication Addr.: 022CH

Default: 0 Related Section:

Applicable Control Mode: Pr Section 12.6

Unit: N/A

Range: 0 ~ 1

Settings:

This parameter determines that the digital output equals the setting value of P2-18 ~ P2-22 or

INDEX positions when using feed step control function and in internal auto running mode (See

Chapter 12 for explanation).

0: General output mode, digital output function is defined by the setting value of P2-18 ~ P2-22.

1: Combination output mode

When the users want to use feed step control function, this output mode must be selected.

Otherwise, the feed step control function can not be used normally. (Refer to Section 12.6)

When the users want to use internal auto running mode function, this output mode must be

selected. Otherwise, the output signal can not be converted to combination output signal

normally. (Refer to Section 12.7)

P2 - 45 DOD Combination Output Signal Delay Time Communication Addr.: 022DH

Default: 1 Related Section:

Applicable Control Mode: Pr Section 12.6

Unit: 4ms

Range: 0 ~ 250

Settings:

This parameter can be used only when P2-44 is set to 1. The users can use this parameter to

set the ON time delay when positioning is completed.

P2 - 46 FSN Feed Step Number Communication Addr.: 022EH

Default: 6 Related Section:

Applicable Control Mode: Pr Section 12.6

Unit: sec

Range: 2 ~ 32

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P2 - 47 PED Position Deviation Clear Delay Time Communication Addr.: 022FH

Default: 0 Related Section:

Applicable Control Mode: Pr Section 12.6

Unit: 20ms

Range: 0 ~ 250

Settings:

This function is disabled when its setting value is set to 0.

P2 - 48 BLAS Backlash Compensation of Feed Step Control Communication Addr.: 0230H

Default: 0 Related Section:

Applicable Control Mode: Pr Section 12.6

Unit: pulse

Range: 0 ~ 10312

Settings:

• A: Pulse Number Settings

0 ~ 312, the pulse number of backlash compensation

Actual pulse number of backlash compensation of motor output shaft is equal to the number

of value A x electronic gear ratio

• B: Polarity Settings

B=0: Forward compensation

B=1: Reverse compensation

NOTE

1) After modifying the setting value, execute the home sensor function. After executing the

home sensor function, perform the control function.

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P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL

Unit: sec

Range: 0 ~ 119

Settings:

not used

• A: Speed Detection Filter Constant

Setting Value A Speed Detection Frequency of Low-pass Filter (Hz) Filter Time (ms)

0 500 2.0

1 450 2.2

2 400 2.5

3 350 2.8

4 300 3.3

5 250 4.0

6 200 5.0

7 150 6.6

8 100 10.0

9 80 12.5

• B: Enable/Disable Jitter Suppression Function

B=0: Disable Jitter Suppression function

B=1: Enable Jitter Suppression function

When this function is enabled, it can suppress the jitter created when the motor stops at a

position.

• C: Enable Speed Estimation Smooth Function

C=0: Disable Speed Estimation Smooth function

C=1: Enable Speed Estimation Smooth function

When this function is enabled, it can enhance the motor performance and reduce any

intermittent or mechanical noise when the motor is running.

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P2 - 50 DCLR Pulse Deviation Clear Mode Communication Addr.: 0232H

Default: 0 Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: N/A

Range: 0 ~ 3

Settings:

For digital input function (DI function), please refer to Table 7.A.

This pulse deviation clear function is enabled when a digital input is set to pulse clear function

(CCLR mode, DI function is set to 4).

0: Clear position pulse deviation number (available in Pt and Pr mode only)

When this input is triggered, the position accumulated pulse number will be clear to 0.

1: Clear motor feedback pulse and rotation number (available in Pt and Pr mode only)

When this input is triggered, the count pulse and rotation number will be clear to 0. This zero

point will be regarded as the “Home” of the motor.

2: Clear remaining position pulses and interrupt the motor operation (available Pr mode only).

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.

3: Reserved.

Time

Speed

Position

DI=TRIG

DI=CCL

Cle ar

remaining

puls es

Next moving

command

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P2 - 51 SRON Servo ON Communication Addr.: 0233H

Default: 0 Related Section: N/A

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 1

Settings:

0: Servo ON (SON) is activated via Digital Input signal

1: Servo ON (SON) is activated when control power is applied the servo drive (not via Digital

Input signal)

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)

P2 - 52 ATM0 Timer 0 of Auto Mode Communication Addr.: 0234H

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

P2 - 53 ATM1 Timer 1 of Auto Mode Communication Addr.: 0235H

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

P2 - 54 ATM2 Timer 2 of Auto Mode Communication Addr.: 0236H

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

P2 - 55 ATM3 Timer 3 of Auto Mode Communication Addr.: 0237H

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

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P2 - 56 ATM4 Timer 4 of Auto Mode Communication Addr.: 0238H

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

P2 - 57 ATM5 Timer 5 of Auto Mode Communication Addr.: 0239H

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

P2 - 58 ATM6 Timer 6 of Auto Mode Communication Addr.: 023AH

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

P2 - 59 ATM7 Timer 7 of Auto Mode Communication Addr.: 023BH

Default: 0 Related Section: N/A

Applicable Control Mode: Pr

Unit: sec

Range: 0 ~ 120.00

P2 - 60 GR4 Electronic Gear Ratio (2nd Numerator) (N2) Communication Addr.: 023CH

Default: 1 Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: pulse

Range: 1 ~ 32767

Settings:

The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to Table 7.A).

When the GNUM0, GNUM1 are not defined, the default of gear numerator value is set by P1-44.

When the users wish to set the gear numerator value by using GNUM0, GNUM1, please set P2-

60 ~ P2-62 after the servo motor has been stopped.

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P2 - 61 GR5 Electronic Gear Ratio (3rd Numerator) (N3) Communication Addr.: 023DH

Default: 1 Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: pulse

Range: 1 ~ 32767

Settings:

Please refer to P2-60.

P2 - 62 GR6 Electronic Gear Ratio (4th Numerator) (N4) Communication Addr.: 023EH

Default: 1 Related Section: N/A

Applicable Control Mode: Pt, Pr

Unit: pulse

Range: 1 ~ 32767

Settings:

Please refer to P2-60.

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P2 - 63 TSCA Proportion Value Setting Communication Addr.: 023FH

Default: 0 Related Section: N/A

Applicable Control Mode: Pt, S

Unit: times

Range: 0 ~ 11

Settings:

not used

Value A: decimal place setting of internal speed command.

0: When value A is set to 0, the unit of P1-09~P1-11 is 1 r/min (No decimal place setting)

1: When value A is set to 1, the unit of P1-09~P1-11 is 0.1 r/min (One decimal place setting)

If P1-09 is set to 1234, and value A is set to 0, and then the internal speed is 1234 r/min.

If P1-09 is set to 1234, and value A is set to 1, and then the internal speed is 123.4 r/min.

This value A setting is available for internal speed command only, not available for speed limit

command.

Value B: Proportion value setting of position excessive error warning condition (P2-35)

0: When value B is set to 0, the unit of P2-35 is 1 pulse

1: When value B is set to 1, the unit of P2-35 is 100 pulses

If P2-35 is set to 1000, and value B is set to 0, the position excessive error warning pulse is

1000 pulses.

If P2-35 is set to 1000, and value B is set to 1, the position excessive error warning pulse is

100,000 pulses.

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P2 - 64 TLMOD Torque Limit Mixed Mode Communication Addr.: 0240H

Default: 0 Related Section: N/A

Applicable Control Mode: Pt, Pr, S

Unit: N/A

Range: 0 ~ 3

Settings:

PL: Positive Limit

NL: Negative Limit

Tref: Torque Analog Input Voltage

Tpl: Actual PL value in “Torque Limit Mixed Mode”

Tnl: Actual NL value in “Torque Limit Mixed Mode”

0: Disabled

1: Torque limit mixed mode (No polarity)

If |Tref|<PL, Tpl = |Tref|

If |Tref|>PL, Tpl = PL

If |Tref|<NL, Tnl = |Tref|

If |Tref|>NL, Tnl = NL

2: Torque limit mixed mode (Positive)

If 0<Tref<PL, Tpl = Tref

If Tref>PL, Tpl = PL

If Tref<0, Tpl,Tnl = 0

3: Torque limit mixed mode (Negative)

If Tref>0, Tpl,Tnl = 0

If -NL<Tref<0, Tnl = -Tref

If Tref<-NL, Tnl = NL

This parameter can allow the users to set two different kinds of torque limit command sources

when limiting torque. We call it is “Torque Limit Mixed Mode”.

The torque limit function is activated by parameter P1-02 or via digital input TRQLM, TLLM or

TRLM.

If the users use TRQLM or P1-02 to activate torque limit function, the torque limit command

source can be analog input or internal parameters (P1-12 to P1-14) depending on which way

you use to activate torque limit function. At this time, the limit of PL and NL in the figure below

are specified as the torque limit that determined by the torque limit command source.

If the users use TLLM or TRLM to activate torque limit function, the torque limit command source

can be parameter P1-12 (NL) or P1-13 (PL).

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P2 - 65 GBIT Special Function Communication Addr.: 0241H

Default: 0 Related Section: N/A

Applicable Control Mode: Pr, Pt, S

Unit: N/A

Range: 0 ~ 3

Settings:

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Bit1 Bit0

Bit0: DI SPD0/SPD1 speed command trigger mode

0: by level

1: by rising edge

Bit1: DI TCM0/TCM1 torque command trigger mode

0: by level

1: by rising edge

When the servo drive is rising-edge triggered, the internal commands work as follows:

A: Execute internal command 1

B: Execute internal command 2

C: Execute internal command 3

D: Execute internal command 3

Bit4 Bit3 Bit2

Fast DI (digital input) function. When this function is activated, the function of P2-17(DI8) will

become invalid and change to Fast DI (digital input) function. When Bit3~Bit5 are all set to 0, this

fast DI (digital input) function is disabled.

Bit2: Fast DI contact type

0: normal open or rising edge trigger

1: normal close or falling edge trigger

Bit3 ~ Bit4: Fast DI function definition

Bit4 Bit3 Function

0 0 Disable fast DI function

0 1 Fast position latch for DI8 :

When fast position latch function is enabled, the users can get latch

position from LED panel by setting P0-02=15 (latch pulses) or setting

P0-02=16 (latch turns). The users also can get the position through

the communication by setting P0-04 ~P0-08.

1 0 Fast DI INHIBIT for DI8

Response time of the normal DI is 0.4 ~0.6ms

Response time of this fast DI is 0.0 ~0.1ms

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Bit5: Reserved. Must be set to 0.

Bit6

Bit6: Abnormal pulse command detection

0: enable abnormal pulse command detection

1: disable abnormal pulse command detection,

If the detection function is disabled, the ALE08 will not come out when the pulse frequency is

higher than 570Kpps.

Bit7 ~ Bit9: Reserved. Must be set to 0.

Bit10

Bit10: DI ZCLAMP function selection

0: Locked at the position when ZCLAMP conditions are satisfied.

1: Speed command is forced to 0 r/min when ZCLAMP conditions are satisfied.

How to select these two functions?

If the users want to use the edge of a D1 signal to stop the motor at the desired position and do

not care the speed deceleration curve, then set Bit10 of P2-65 to 0.

If the users want to eliminate the analog voltage offset to stop the motor at low voltage and they

want to keep the acceleration and deceleration speed curve, then set Bit10 of P2-65 to 1.

When the following conditions are all met, ZCLAMP function will be activated.

Condition1: Speed mode

Condition2: DI ZCLAMP is activated.

Condition3: External analog speed command or internal registers speed command is less than

parameter P1-38.

Bit11 ~ Bit15: Reserved. Must be set to 0.

P2 - 66 Reserved Communication Addr.: 0242H

P2 - 67 Reserved Communication Addr.: 0243H

P2 - 68 Reserved Communication Addr.: 0244H

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Group 3: P3-xx Communication Parameters

P3 - 00 ADR Communication Address Setting Communication Addr.: 0300H

Default: 1 Related Section:

Applicable Control Mode: ALL Section 8.2

Unit: N/A

Range: 1~254

Settings:

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.

One servo drive only can set one address. If the address is duplicate, there will be a

communication fault.

NOTE

1) When the address of host (external) controller is set to 0, it is with broadcast function. Then,

the servo drive will receive from host (external) controller only and will not respond to host

(external) controller no matter the address is matching or not.

2) When the address of host (external) controller is set to 255, it is with auto-respond function.

Then, the servo drive will receive from and respond to host (external) controller both no

matter the address is matching or not.

P3 - 01 BRT Transmission Speed Communication Addr.: 0301H

Default: 1 Related Section:

Applicable Control Mode: ALL Section 8.2

Unit: bps

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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P3 - 02 PTL Communication Protocol Communication Addr.: 0302H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 8.2

Unit: N/A

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.

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 Communication Addr.: 0307H

Default: 0 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:

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 Communication Addr.: 0408H

Default: N/A 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 Communication Addr.: 040AH

Default: 0 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 Communication Addr.: 040BH

Default: Factory setting 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 Communication Addr.: 040CH

Default: Factory setting 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 Communication Addr.: 040DH

Default: Factory setting 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 Communication Addr.: 040EH

Default: Factory setting 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) Communication Addr.: 040FH

Default: Factory setting 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) Communication Addr.: 0410H

Default: Factory setting 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) Communication Addr.: 0411H

Default: Factory setting 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) Communication Addr.: 0412H

Default: Factory setting 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 Communication Addr.: 0413H

Default: Factory setting Related Section: N/A

Applicable Control Mode: ALL

Unit: N/A

Range: 1~7

Settings:

This parameter cannot be reset.

When executing this auto adjustment, ensure to cool the servo drive to 25oC.

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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 Communication Addr.: 0416H

Default: 0 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 Communication Addr.: 0417H

Default: 0 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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Table 7.A Input Function Definition

Sign Setting

Value Digital Input Function Description

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

CCLR 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).

ZCLAMP 05

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.

Time

Setting value of

P1-38 (Zero speed)

OFF

ZCLAMP

input signal

Motor Speed

Speed

Command

Setting value of

P1-38 (Zero speed)

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

POS0 11

POS1 12

POS2 13

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.

Command No. POS2 POS1 POS0 CTRG Parameter

P1-15

P1 OFF OFF OFF P1-16

P1-17

P2 OFF OFF ON

P1-18

P1-19

P3 OFF ON OFF

P1-20

P1-21

P4 OFF ON ON

P1-22

P1-23

P5 ON OFF OFF

P1-24

P1-25

P6 ON OFF ON

P1-26

P1-27

P7 ON ON OFF

P1-28

P1-29

P8 ON ON ON P1-30

SPD0 14

SPD1 15

Speed command selection 0 ~ 1

DI signal of CN1

Command

No. SPD1 SPD0 Command Source Content Range

External

analog

command

Voltage between

V-REF and GND +/-10 V

S1 OFF OFF

Mode

Sz None Speed command

is 0 0

S2 OFF ON P1-09 0~5000 r/min

S3 ON OFF P1-10 0~5000 r/min

S4 ON ON

Internal parameter

P1-11 0~5000 r/min

TCM0 16

TCM1 17

Torque command selection 0 ~ 1

DI signal of CN1

Command

No. TCM1 TCM0 Command Source Content Range

T Analog

command

Voltage between

V-REF and GND +/-10 V

T1 OFF OFF

Mode

Tz None Torque command

is 0 0

T2 OFF ON P1-12 0 ~ 300 %

T3 ON OFF P1-13 0 ~ 300 %

T4 ON ON

Internal parameter

P1-14 0 ~ 300 %

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Sign Setting

Value Digital Input Function Description

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)

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]

MD0 33 Feed step mode input 0 (bit 0)

MD1 34 Feed step mode input 1 (bit 1)

MDP0 35 Manually continuous operation

MDP1 36 Manually single step operation

Mode function:

MDPn Status MD1 MD0 Explanation

1 OFF OFF

Torque

decrease

2 OFF ON

Feed step

position mode

3 ON OFF Homing mode

OFF

4 ON ON

Emergency

stop

X X Don’t care

OFF ON

CW manual

operation

ON OFF

CCW manual

operation

X X 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]

STEPU 39

Step up input. When STEPU is activated,

the motor will run to next position.

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 Digital Input Function Description

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.

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]

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]

Pulse

Denominator (P1-45)

Smooth Filter

(P1-08)

1st Numerator (N1) (P1-44)

2nd Numerator (N2) (P2-60)

3rd Numerator (N3) (P2-61)

4th Numerator (N4) (P2-62)

Pulse

Error

Feed Back Pulse

GNUM0, GNUM1

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.

STB 47

Enable motor reverse operation. In speed mode, it is used to enable the motor reverse

operation.

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 Digital Output Function Description

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.

SON 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.

ALRM 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.)

BRKR 08

Electromagnetic brake control. BRKR is activated (Actuation of motor brake). (Please

refer to parameters P1-42 ~ P1-43)

HOME 09

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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Sign Setting

Value Digital Output Function Description

OLW 10

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.

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.

Revision January 2009 8-1

Chapter 8 MODBUS Communications

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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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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Revision January 2009 8-3

 Cable Connection

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8-4 Revision January 2009

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.

Chapter 8 MODBUS Communications|ASDA-AB Series

Revision January 2009 8-5

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

Communication Time

Out Detection

Watch Dog Timer (It is not recommended to change the factory default setting if

not necessary)

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

Communication)

or = 216 Dec (Communication or UI only)

 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 ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’

ASCII code 30H 31H 32H 33H 34H 35H 36H 37H

Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’

ASCII code 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 0123456 Stop

bit

7-data bits

10-bits character frame

Stop

bit

7E1

Even

parity

Start

bit 0123456 Stop

bit

7-data bits

10-bits character frame

7O1

Odd

parity

Start

bit 0123456 Stop

bit

7-data bits

10-bits character frame

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11-bit character frame (For 8-bit character)

8N2

Start

bit 0123456 Stop

bit

8-data bits

11-bits character frame

Stop

bit

8E1

Start

bit 0123456 Stop

bit

8-data bits

11-bits character frame

7Even

parity

8O1

Start

bit 0123456 Stop

bit

8-data bits

11-bits character frame

7Odd

parity

 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)

…….

DATA(0)

Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, n≤12

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)

…….

DATA(0)

Contents of data: n word = n x 2-byte, n≤12

CRC Command code: 1-byte

End 1 A silent interval of more than 10ms

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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: Response message:

STX ‘:’ STX ‘:’

‘0’ ‘0’

ADR ‘1’

‘0’ ‘0’

CMD ‘3’

‘0’ ‘0’

‘2’

Number of data

(Count by byte) ‘4'

‘0’ ‘0’

Starting data

address

‘0’ ‘0’

‘0’ ‘B’

‘0’

Contents of starting

data address

0200H

‘1’

‘0’ ‘1’

Number of data

‘2’ ‘F’

‘F’ ‘4’

LRC Check ‘8’

Contents of second

data address

0201H

‘0’

End 1 (0DH)(CR) ‘E’

End 0 (0AH)(LF) LRC Check ‘8’

End 1 (0DH)(CR)

End 0 (0AH)(LF)

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RTU Mode:

Command message: Response message:

ADR 01H ADR 01H

CMD 03H CMD 03H

02H (Upper bytes)

Starting data

address 00H (Lower bytes)

Number of data

(Count by byte) 04H

00H 00H (Upper bytes)

Number of data

(Count by word) 02H

Contents of starting

data address

0200H B1H (Lower bytes)

CRC Check Low C5H (Lower bytes) 1FH (Upper bytes)

CRC Check High B3H (Upper bytes)

Contents of second

data address

0201H 40H (Lower bytes)

CRC Check Low A3H (Lower bytes)

CRC Check High D4H (Upper 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: Response message:

STX ‘:’ STX ‘:’

‘0’ ‘0’

ADR ‘1’

‘0’ ‘0’

CMD ‘6’

‘0’ ‘0’

‘2’ ‘2'

‘0’ ‘0’

Starting data

address

‘0’

Starting data

address

‘0’

‘0’ ‘0’

‘6’ ‘6’

Content of data

‘4’

Content of data

‘4’

‘9’ ‘9’

LRC Check ‘3’

End 1 (0DH)(CR) End 1 (0DH)(CR)

End 0 (0AH)(LF) End 0 (0AH)(LF)

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RTU Mode:

Command message: Response message:

ADR 01H ADR 01H

CMD 06H CMD 06H

02H (Upper bytes) 02H (Upper bytes)

Starting data

address 00H (Lower bytes)

Starting data

address 00H (Lower bytes)

00H (Upper bytes) 00H (Upper bytes)

Content of data 64H (Lower bytes) Content of data 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 ‘:’

‘0’

ADR ‘1’

‘0’

CMD ‘3’

‘0’

‘2’

‘0’

Starting data address

‘1’

‘0’

Number of data

‘1’

‘F’

LRC Check ‘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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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

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

01H (Upper byte) Starting data address

01H (Lower bytes)

00H (Upper bytes) Number of data

(Count by word) 02H (Lower bytes)

CRC Check Low 94H (Lower bytes)

CRC Check High 37H (Upper 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.

Chapter 8 MODBUS Communications|ASDA-AB Series

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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<stdio.h>

#include<dos.h>

#include<conio.h>

#include<process.h>

#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); /* interrupt enable */

outportb(PORT+IER,0x01); /* 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 */

}

Chapter 8 MODBUS Communications|ASDA-AB Series

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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)

Revision January 2009 9-1

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.

Inspection before

operation

(Control power is not

applied)

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.

z Ensure that all wiring is correct or damage and or malfunction may result.

z Visually check to ensure that there are not any unused screws, metal strips, or

any conductive or inflammable materials inside the drive.

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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9-2 Revision January 2009

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.

Chapter 9 Maintenance and Inspection|ASDA-AB Series

Revision January 2009 9-3

 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.

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Revision January 2009 10-1

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.

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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

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.

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.

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.

Chapter 10 Troubleshooting|ASDA-AB Series

Revision January 2009 10-3

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

and motor.

2. Check if the wire is short-circuited.

Repair the short-circuited and avoid

metal conductor being exposed.

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 Checking Method Corrective Actions

The main circuit voltage

has exceeded its

maximum allowable

value.

Use voltmeter to check whether the input

voltage falls within the rated input voltage. (For

voltage specification, please refer to section

11.1 in Chapter11.)

Use correct power supply or

stabilizing power.

Input power error

(Incorrect power input)

Use voltmeter to check whether the input

voltage is within the specified limit.

Use correct power supply or

stabilizing power.

: Undervoltage

Potential Cause Checking Method Corrective Actions

The main circuit voltage

is below its minimum

specified value.

Check whether the wiring of main circuit input

voltage is normal. Reconfirm voltage wiring.

No input voltage at

main circuit.

Use voltmeter to check whether input voltage at

main circuit is normal. Reconfirm power switch.

Input power error

(Incorrect power input)

Use voltmeter to check whether the 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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: Regeneration error

Potential Cause Checking Method Corrective Actions

Regenerative resistor is

not connected.

Check the wiring connection of regenerative

resistor. Reconnect regenerative resistor.

Regenerative switch

transistor fault

Check if regenerative switch transistor is short-

circuited.

Please contact your distributor for

assistance or contact with Delta.

Parameter setting is in

error

Confirm the parameter setting and

specifications of regenerative resistor. Correctly reset parameter again.

: Overload

Potential Cause Checking Method Corrective Actions

The drive has exceeded

its rated load during

continuous operation.

Check if the drive is overloaded. Increase motor capacity or reduce

load.

Check if there is mechanical vibration Adjust gain value of control circuit.Control system

parameter setting is

incorrect. Accel/Decel time setting is too fast. Decrease Accel/Decel time setting.

The wiring of drive and

encoder is in error. Check the wiring of U, V, W and encoder. Ensure all wiring is correct.

: Overspeed

Potential Cause Checking Method Corrective Actions

Speed input command

is not stable (too much

fluctuation).

Use signal detector to detect if input signal is

abnormal.

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

setting is defective.

Check if over-speed parameter setting value is

too low.

Correctly set over-speed parameter

setting (P2-34).

: Abnormal pulse control command

Potential Cause Checking Method Corrective Actions

Pulse command

frequency is higher

than rated input

frequency.

Use pulse frequency detector to measure input

frequency.

Correctly set the input pulse

frequency.

: Excessive deviation

Potential Cause Checking Method Corrective Actions

Maximum deviation

parameter setting is too

small.

Check the maximum deviation parameter

setting and observe the position error value

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 re-

estimate the motor capacity.

Chapter 10 Troubleshooting|ASDA-AB Series

Revision January 2009 10-5

: Watch dog execution time out

Potential Cause Checking Method Corrective Actions

Watch dog execution

error. Check and reset the power supply.

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

The wiring of encoder is

in error.

1. Check if all wiring is correct.

2. Check if the users conduct the wiring by

the wiring information in the user manual.

Ensure all wiring is correct.

Encoder is loose Examine the encoder connector. Install the motor again.

The wiring of encoder is

defective. Check if all connections are tight. Conduct the wiring again.

Encoder is damage Check the encoder for the damage. Repair or replace the motor.

: Adjustment error

Potential Cause Checking Method Corrective Actions

The setting value of

drift adjustment has

exceeded its maximum

allowable value.

1. Remove CN1 wiring.

2. Execute the drift adjustment again. (Set

P2-08 to 20 first, and then set P4-10 to 5.)

If the error does not clear after

executing the drift adjustment

again, please contact your

distributor for assistance or contact

with Delta.

: Emergency stop activated

Potential Cause Checking Method Corrective Actions

Emergency stop switch

is activated. Check if emergency stop switch is On or Off. 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 re-

estimate 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 re-

estimate motor capacity.

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10-6 Revision January 2009

: IGBT temperature error

Potential Cause Checking Method Corrective Actions

The drive has

exceeded its rated load

during continuous

operation.

Check if there is overload or the motor current

is too high.

Increase motor capacity or reduce

load.

Short-circuit at drive

output. Check the drive input wiring. Ensure all wiring is correct.

: Memory error

Potential Cause Checking Method Corrective Actions

Data error in Memory

read-out / write-in. Reset parameter or power supply.

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 Corrective Actions

Control power is in

error.

Check and reset control power 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

incorrect. Check the communication value. 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.

Chapter 10 Troubleshooting|ASDA-AB Series

Revision January 2009 10-7

: Command write-in error

Potential Cause Checking Method Corrective Actions

Control power is in

error. Check and reset control power

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 Corrective Actions

Control power supply is

in error.

Check the power cable and connections of R,

S, T. Check whether the power cable is loose

or the possible loss of phase on input power.

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 Checking Method Corrective Actions

The drive is going to

overload.

1. Check the load condition of the servo motor

and drive.

2. Check the setting value of P1-56. Check

whether the setting value of P1-56 is to

small.

1. Please refer to the correction

actions of ALE06.

2. Increase the setting value of

P1-56 or set P1-56 to 100 and

above.

: Internal command execution time out

Potential Cause Checking Method Corrective Actions

An error occurs when

internal command is

executing.

Check and reset control power

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 Corrective Actions

Maybe the hardware is

damaged. Check and reset control power

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 Corrective Actions

Maybe the hardware is

damaged. Check and reset control power

If the error does not clear after

resetting the power supply, please

contact your distributor for

assistance or contact with Delta.

Chapter 10 Troubleshooting|ASDA-AB Series

10-8 Revision January 2009

10.3 Clearing Faults

Display 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.

Chapter 10 Troubleshooting|ASDA-AB Series

Revision January 2009 10-9

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

time out

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.

DSP communication error Turn ARST (DI signal) ON to clear the fault or

restart the servo drive.

Chapter 10 Troubleshooting|ASDA-AB Series

10-10 Revision January 2009

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Revision January 2009 11-1

Chapter 11 Specifications

11.1 Specifications of Servo Drive (ASDA-AB Series)

100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW

Model: ASD-A

01 02 04 01 02 04 07 10 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

Power supply

Permissible Frequency

Range 50 / 60Hz ±5%

Cooling System 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(1/50<N/M<200)

Torque Limit Operation Set by parameters

Position Control Mode

Feed Forward

Compensation Set by parameters

Voltage

Range 0 ~ ±10 VDC

Input

Resistance 10KΩ

Analog

Input

Command

Time

Constant 2.2 μs

Speed Control Range*1 1:5000

Command Source External analog signal / Internal parameters

Smoothing Strategy Low-pass and S-curve filter

Torque Limit Operation Set by parameters or via Analog input

Responsiveness

Characteristic Maximum 450Hz

0.01% or less at load fluctuation 0 to 100% (at rated speed)

0.01% or less at power fluctuation ±10% (at rated speed)

Speed Control Mode

Speed Fluctuation

Rate*2 0.01% or less at ambient temperature fluctuation 0 oC to 50 oC (at rated

speed)

Chapter 11 Specifications|ASDA-AB Series

11-2 Revision January 2009

100W 200W 400W 100W 200W 400W 750W 1kW 1.5kW 2kW

Model: ASD-A

01 02 04 01 02 04 07 10 15 20

Voltage

Range 0 ~ ±10 VDC

Input

Resistance 10KΩ

Analog

Input

Command

Time

Constant 2.2 μs

Command Source External analog signal / Internal parameters

Smoothing Strategy Low-pass filter

Torque Control Mode

Speed Limit Operation Parameter Setting or via Analog input

Analog Monitor Output Monitor signal can set by parameters (Output voltage range: ±8V)

Input

Servo On, Reset, Gain switching, Pulse clear, Zero speed CLAMP,

Speed/Torque limit enabled, Emergency stop, Forward / Reverse inhibit limit,

Position / Speed mode switching, Speed / Torque mode switching, Torque /

Position mode switching, Feed step selection input, Feed step mode input,

Auto run input, Electronic gear ratio (Numerator) selection

Encoder signal output (A, B, Z Line Driver / Z Open collector)

Digital

Input/Output

Output

Servo ready, Servo On, At Zero speed, At Speed reached, At Positioning

completed, At Torques limit, Servo alarm (Servo fault) activated,

Electromagnetic brake control, Homing completed, Output overload warning

Servo warning activated, Internal position command completed

Protective Functions

Overcurrent, Overvoltage, Undervoltage, Regeneration error, Overload,

Overspeed, Abnormal pulse control command, Excessive deviation, Watch

dog execution time out, Encoder error, Adjustment error, Emergency stop

activated, Reverse/ Forward limit switch error, IGBT temperature error,

Memory error, DSP communication error, Serial communication error, Input

power phase loss, Serial communication time out, Command write-in error,

terminals with short circuit protection (U, V ,W , CN1, CN2, CN3 terminals)

Communication Interface RS-232 / RS-485 / RS-422

Installation Site Indoor location (free from direct sunlight), no corrosive liquid and gas (far

away from oil mist, flammable gas, dust)

Altitude Altitude 1000m or lower above sea level

Atmospheric pressure 86kPa to 106kPa

Operating Temperature 0o

C to 55 oC (32°F to 131°F) (If operating temperature is above specified

range, forced cooling will be required)

Storage Temperature -20 oC to 65 oC (-4°F to 149°F)

Humidity 0 to 90% (non-condensing)

Vibration 9.80665m/s2 (1G) less than 20Hz, 5.88m/ s2 (0.6G) 20 to 50Hz

IP Rating IP20

Power System TN System*3

Environment

Standards/Requirement

IEC/EN 61800-5-1, UL 508C, C-tick, TUV

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-3

Footnote:

*1 Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will

not pause).

*2 When command is rated rotation speed, the speed fluctuation rate is defined as:

(Empty load rotation speed – Full load rotation speed) / Rated rotation speed

*3 TN system: A power distribution system having one point directly earthed, the exposed conductive

parts of the installation being connected to that points by protective earth conductor.

*4 Please refer to “Chart of load and operating time” in section 11.7 “Overload Characteristics”.

Chapter 11 Specifications|ASDA-AB Series

11-4 Revision January 2009

11.2 Specifications of Servo Motor (ECMA Series)

Low Inertia Servo Motor

C304 C306 C308 C310

100W 200W 400W 400W 750W 1kW 2kW

Model: ECMA Series

01 02 04 04 07 10 20

Rated output power (kW) 0.1 0.2 0.4 0.4 0.75 1.0 2.0

Rated torque (N.m) 0.32 0.64 1.27 1.27 2.39 3.18 6.37

Maximum torque (N.m) 0.96 1.92 3.82 3.82 7.16 9.54 19.11

Rated speed (r/min) 3000

Maximum speed (r/min) 5000

Rated current (A) 0.9 1.55 2.6 2.6 5.1 7.3 12.05

Maximum current (A) 2.7 4.65 7.8 7.8 15.3 21.9 36.15

Power rating (kW/s)

(without brake) 27.7 22.4 57.6 24.0 50.4 38.1 90.6

Rotor moment of inertia

(Kg.m2) (without brake) 0.037E-4 0.177E-4 0.277E-4 0.68E-4 1.13E-4 2.65E-4 4.45E-4

Mechanical time constant

(ms) (without brake) 0.75 0.80 0.53 0.74 0.63 0.74 0.61

Torque constant-KT (N.m/A) 0.36 0.41 0.49 0.49 0.47 0.43 0.53

Voltage constant-KE

(mV/(r/min)) 13.6 16 17.4 18.5 17.2 16.8 19.2

Armature resistance (Ohm) 9.3 2.79 1.55 0.93 0.42 0.20 0.13

Armature inductance (mH) 24 12.07 6.71 7.39 3.53 1.81 1.50

Electrical time constant (ms) 2.58 4.3 4.3 7.96 8.37 9.3 11.4

Insulation class Class A (UL), Class B (CE)

Insulation resistance >100MΩ, 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

Brake power consumption

(at 20oC) [W] - 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

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-5

C304 C306 C308 C310

100W 200W 400W 400W 750W 1kW 2kW

Model: ECMA Series

01 02 04 04 07 10 20

Vibration grade (um) 15

Operating temperature 0 oC to 40o

C (32 oF to 104o

Storage temperature -10 oC to 80 o

C (-14 oF to 176o

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.

Approvals

Medium / High Inertia Servo Motor

E313 E318 G313

500W 1kW 1.5kW 2kW 2kW 300W 600W 900W

Model: ECMA Series

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

(Kg.m2) (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

Insulation class Class A (UL), Class B (CE)

Insulation resistance >100MΩ, DC 500V

Insulation strength 1500V AC, 60 seconds

Weight (kg) (without brake) 6.8 7 7.5 7.8 13.5 6.8 7 7.5

Chapter 11 Specifications|ASDA-AB Series

11-6 Revision January 2009

E313 E318 G313

500W 1kW 1.5kW 2kW 2kW 300W 600W 900W

Model: ECMA Series

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

Brake power consumption

(at 20oC) [W] 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

Vibration grade (um) 15

Operating temperature 0 oC to 40o

C (32 oF to 104o

Storage temperature -10 oC to 80o

C (-14 oF to 176o

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.

Approvals

NOTE

1) Please refer to Section 1.2 for details about the model explanation.

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-7

11.3 Servo Motor Speed-Torque Curves

Chapter 11 Specifications|ASDA-AB Series

11-8 Revision January 2009

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)

0.1

100

1000

0 50 100 150 200 250 300

Load (%) rated torque

Operating Time (seconds)

Load Operating

Time

120% 139.335s

140% 27.585s

160% 14.235s

180% 8.9625s

200% 6s

220% 4.4925s

240% 3.2925s

260% 2.58s

280% 2.07s

300% 1.6125s

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-9

 Chart of load and operating time (ECMA-C30602)

0.1

100

1000

10000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 213.6s

140% 42.3s

160% 21.8s

180% 13.7s

200% 9.2s

220% 6.9s

240% 5.0s

260% 3.9s

280% 3.2s

300% 2.5s

 Chart of load and operating time (ECMA-C30604)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 65.0s

140% 12.9s

160% 6.6s

180% 4.2s

200% 2.8s

220% 2.1s

240% 1.5s

260% 1.2s

280% 1.0s

300% 0.8s

Chapter 11 Specifications|ASDA-AB Series

11-10 Revision January 2009

 Chart of load and operating time (ECMA-C30804)

0.1

100

1000

10000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 254.5s

140% 50.4s

160% 26.0s

180% 16.4s

200% 11.0s

220% 8.2s

240% 6.0s

260% 4.7s

280% 3.8s

300% 2.9s

 Chart of load and operating time (ECMA-C30807)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 185.8s

140% 36.8s

160% 19.0s

180% 12.0s

200% 8.0s

220% 6.0s

240% 4.4s

260% 3.4s

280% 2.8s

300% 2.2s

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-11

 Chart of load and operating time (ECMA-C31010)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 185.8s

140% 36.8s

160% 19.0s

180% 12.0s

200% 8.0s

220% 6.0s

240% 4.4s

260% 3.4s

280% 2.8s

300% 2.2s

 Chart of load and operating time (ECMA-C31020)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 185.8s

140% 36.8s

160% 19.0s

180% 12.0s

200% 8.0s

220% 6.0s

240% 4.4s

260% 3.4s

280% 2.8s

300% 2.2s

Chapter 11 Specifications|ASDA-AB Series

11-12 Revision January 2009

 Chart of load and operating time (ECMA-G31303)

0.1

100

1000

10000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 613.1s

140% 121.4s

160% 62.6s

180% 39.4s

200% 26.4s

220% 19.8s

240% 14.5s

260% 11.4s

280% 9.1s

300% 7.1s

 Chart of load and operating time (ECMA-E31305)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 185.8s

140% 36.8s

160% 19.0s

180% 12.0s

200% 8.0s

220% 6.0s

240% 4.4s

260% 3.4s

280% 2.8s

300% 2.2s

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-13

 Chart of load and operating time (ECMA-G31306)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 167.2s

140% 33.1s

160% 17.1s

180% 10.8s

200% 7.2s

220% 5.4s

240% 4.0s

260% 3.1s

280% 2.5s

300% 1.9s

 Chart of load and operating time (ECMA-G31309)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 185.8s

140% 36.8s

160% 19.0s

180% 12.0s

200% 8.0s

220% 6.0s

240% 4.4s

260% 3.4s

280% 2.8s

300% 2.2s

Chapter 11 Specifications|ASDA-AB Series

11-14 Revision January 2009

 Chart of load and operating time (ECMA-E31310)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 130.0s

140% 25.7s

160% 13.3s

180% 8.4s

200% 5.6s

220% 4.2s

240% 3.1s

260% 2.4s

280% 1.9s

300% 1.5s

 Chart of load and operating time (ECMA-E31315)

0.1

100

1000

0 50 100 150 200 250 300

Load (% rated torque)

Operating Time (seconds)

Load Operating

Time

120% 167.2s

140% 33.1s

160% 17.1s

180% 10.8s

200% 7.2s

220% 5.4s

240% 4.0s

260% 3.1s

280% 2.5s

300% 1.9s

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-15

 Chart of load and operating time (ECMA-E31320)

0.1

100

1000

0 50 100 150 200 250 300

Load (%) rated torque

Operating Time (seconds)

Load Operating

Time

120% 185.78s

140% 36.78s

160% 18.98s

180% 11.95s

200% 8s

220% 5.99s

240% 4.39s

260% 3.44s

280% 2.76s

300% 2.15s

 Chart of load and operating time (ECMA-E31820)

0.1

100

1000

10000

0 50 100 150 200 250 300

Load (%) rated torque

Operating Time (seconds)

Load Operating

Time

120% 278.67s

140% 55.17s

160% 28.47s

180% 17.925s

200% 12s

220% 8.985s

240% 6.585s

260% 5.16s

280% 4.14s

300% 3.225s

Chapter 11 Specifications|ASDA-AB Series

11-16 Revision January 2009

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.

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-17

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.

Chapter 11 Specifications|ASDA-AB Series

11-18 Revision January 2009

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.

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-19

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.

Chapter 11 Specifications|ASDA-AB Series

11-20 Revision January 2009

11.6 Dimensions of Servo Motor

Motor Frame Size: 80mm and below Models

Model C30401S C30602S C30604S C308047 C30807S

LC 40 60 60 80 80

LZ 4.5 5.5 5.5 6.6 6.6

LA 46 70 70 90 90

S 8 14 14 14 19

LB 30 50 50 70 70

LL (without brake) 100.6 105.5 130.7 112.3 138.3

LL (with brake) - 141.6 166.8 152.8 178

LR 25 30 30 30 35

LE 2.5 3 3 3 3

LG 5 7.5 7.5 8 8

LW 16 20 20 20 25

LS (without oil seal) 20 27 27 27 32

LS (with oil seal) 20 24 24 24.5 29.5

RH 6.2 11 11 11 15.5

WK 3 5 5 5 6

W 3 5 5 5 6

T 3 5 5 5 6

TP M3, Depth 8 M4, Depth 15 M4, Depth 15 M4, Depth 15 M6, Depth 20

NOTE

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)

Chapter 11 Specifications|ASDA-AB Series

Revision January 2009 11-21

Motor Frame Size: 100mm and above Models

Model G31303S E31305S G31306S G31309S C31010S

LC 130 130 130 130 100

LZ 9 9 9 9 9

LA 145 145 145 145 115

S 22 22 22 22 22

LB 110 110 110 110 95

LL (without brake) 147.5 147.5 147.5 163.5 153.5

LL (with brake) 183.5 183.5 183.5 198 192.5

LR 55 55 55 55 45

LE 6 6 6 6 5

LG 11.5 11.5 11.5 11.5 12

LW 36 36 36 36 32

LS 47 47 47 47 37

RH 18 18 18 18 18

WK 8 8 8 8 8

W 8 8 8 8 8

T 7 7 7 7 7

TP M6, Depth 20 M6, Depth 20 M6, Depth 20 M6, Depth 20 M6, Depth 20

NOTE

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)

Chapter 11 Specifications|ASDA-AB Series

11-22 Revision January 2009

Motor Frame Size: 100mm and above Models

Model E31310S E31315S C31020S G31320S E31820S

LC 130 130 100 130 180

LZ 9 9 9 9 13.5

LA 145 145 115 145 200

S 22 22 22 22 35

LB 110 110 95 110 114.3

LL (without brake) 147.5 167.5 199 187.5 169

LL (with brake) 183.5 202 226 216 203.1

LR 55 55 45 55 79

LE 6 6 5 6 4

LG 11.5 11.5 12 11.5 20

LW 36 36 32 36 63

LS 47 47 37 47 73

RH 18 18 18 18 30

WK 8 8 8 8 10

W 8 8 8 8 10

T 7 7 7 7 8

TP M6, Depth 20 M6, Depth 20 M6, Depth 20 M6, Depth 20 M12, Depth 25

NOTE

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 12-1

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)

Chapter 12 Application Examples|ASDA-AB Series

12-2 Revision January 2009

 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.

DO1 SR DY

HOME

C TRG (r i sing edg e)

SON

POS=0

P1 P2

DO2

DO4

DI1

DI2

DI3 POS=1

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-3

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.

DO1 SR DY

CTRG

SON

1/4rev 2/4re

DO3

DI1

DI2

Chapter 12 Application Examples|ASDA-AB Series

12-4 Revision January 2009

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.

 Repeat this position control operation.

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-5

X1 M5

RST M10

RST M12

RST M13

SET S0

ZE RO

STOP

( M1334 )

Stop ch0

pulse output

M1000

Normally on contact (a contact)

( M1346 )

ZRN CL EAR

output signal

enable

ZERO

( M5 )

S10

JOG+

S11

JO G-

S12

S13

REV POS

M1334

Stop cho

pulse output

D P OS

M1002

O n o nly for

1 sc an

a fter RUN

M aximum output frequency

DMOV D1341

K 10000

Accel eration/decelerat ion on tim e

DMOV D1341

K 10000

X4 M5

RST M12

RST M13

SET S12

M10

D POS

Chapter 12 Application Examples|ASDA-AB Series

12-6 Revision January 2009

X5 M5

RST M1 2

RST M1 3

SET S13

REV POS

M10

RST M1 2

RST M1 3

SET S10

JOG+

RST M1 2

RST M1 3

SET S11

JOG-

K50000 X10

SET M1 0

RST S0

ZERO

M50

SDZRN K5000 Y0

M1336

M1000

M50

PLSY Y0 instru ction exec ution completed flag

Ch 0 pulse se nd flag

Normally on contact (a contact)

( M50 )

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-7

S1 0

K9 99999 Y0

RST M1029

JOG+

M51

SDDRVI K30000 Y1

M1000

M1029

PLSY Y0 instruction execution completed flag

Normally on contact (a contact)

( M 51 )

JOG-

RST S10

JOG+

M1336 M51

Ch0 pulse send flag

PLS Y Y0 inst ruction ex ecution

completed flag

S11

K-9 99999 Y0

RST M1029

JOG-

M52

SDDRVI K30000 Y1

M1000

M1029

PLSY Y0 instruction execution completed flag

Normally on contact (a contact)

( M 52 )

JOG-

RST S11

JOG-

M1336 M52

Ch0 pulse send flag

PLSY Y0 ins truction e xecution

completed flag

S1 2

K0 Y0

M53

SDDRVA K200000 Y1

M53

M1000

Normally on contact (a contact)

( M100 )

D POS

RST S12

M1336 M100

Ch0 pulse send flag

SET M12

M1029

( M 53 )

FWD P OS

PLSY Y0 instruction execution completed flag

Chapter 12 Application Examples|ASDA-AB Series

12-8 Revision January 2009

S1 3

K100000 Y0

M54

S D DRVA K1 0000 Y1

M54

M1000

Normally on contact (a contact)

( M101 )

RE V POS

RST S13

M1336 M101

Ch0 pulse send flag

SET M13

M1029

( M 54 )

PLSY Y0 instruction execution completed flag

REV POS

RET

DMOV D200

M1001

D1336

Normally on contact (a contact)

END

Present value

of ch0 pulse (low

Watch dog timer

(WDT) value

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-9

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.

Chapter 12 Application Examples|ASDA-AB Series

12-10 Revision January 2009

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-11

12.5 Position Control Mode (Pr Mode)

 Relevant Parameters Description

Parameter Communication

Address Parameter Description

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

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)

Chapter 12 Application Examples|ASDA-AB Series

12-12 Revision January 2009

 Trigger Timing Charts

(1) Timing Chart of Internal Position Register Selection

POS0

PO S1

CTRG

SO N

Ex ter nal I/O signal

OFF

OFF ON

OFF

>2ms, can be set by P2-0 9

PO S2 ON

OFF

Internal position

c omman d

1ms

POS0

PO S1

CTRG

SO N

Ex ter nal I/O signal

OFF

OFF ON

OFF

>2ms, can be set by P2-0 9

PO S2 ON

OFF

Internal position

c omman d

1ms

(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.

Time

Spee d

Position

DI=TRIG

DI=HOLD

Remaining

pulses

Move across

remaining

pulses

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-13

(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.

Time

Speed

Position

DI=TRIG

DI=CCL

Cle ar

remaining

puls es

Next moving

command

Chapter 12 Application Examples|ASDA-AB Series

12-14 Revision January 2009

12.6 Feed Step Control

 Relevant Parameters Description

Parameter Communication

Address Parameter Description

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

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-15

Parameter Communication

Address Parameter Description

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

 Relevant Parameters Description, cont.

Parameter Communication

Address Parameter Description

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

 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

Chapter 12 Application Examples|ASDA-AB Series

12-16 Revision January 2009

DO Signal Parameter Setting Explanation

DO1 P2-18 = 101

DO2 P2-19 = 103

DO3 P2-20 = 109

DO4 P2-21 = 105

DO5 P2-22 = 107

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 Status MD1 MD0 Explanation

1 OFF OFF Torque decrease

2 OFF ON Feed step position mode

3 ON OFF Homing mode

OFF

4 ON ON Emergency stop

- - - Don’t care

- OFF ON CW manual operation

- ON OFF CCW manual operation

- - - 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.

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-17

 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

Chapter 12 Application Examples|ASDA-AB Series

12-18 Revision January 2009

 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

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-19

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

OFF

DO VALUE

Motor

Speed

ORGP

OFF

Z PULSE

Output Signal

Servo ON

OFF

Tor que

Limit

MD1

MD0

P1-12 setting P1-12 setting

SERVO READY (01) HOME (02) INDEX1 (5)

Chapter 12 Application Examples|ASDA-AB Series

12-20 Revision January 2009

(2) Feed Step Control Mode

Power

Supply

OFF

DO VALUE

Motor Speed

CCLR

IDX Value 10

OFF

To r qu e

Limit

MD1

MD0

CI CIINDEX 2 (06) CI

INDEX 6 (0A)

Servo ON

P2-45

Step No. 2 Step No. 6 Step No.

P2-47

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.

T min.

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-21

(3) Manually Single Step Control Mode 1

Power

Supply

OFF

DO VALUE

INDEX4

Motor Speed

STEPU

IDX Value

OFF

Tor que

Limit

MD1

MD0

Servo ON

P2-45

INDEX 2

auto

running

manually feed

forward

CI CI

INDEX 2 CI

INDEX 3

manually feed

forward

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.

Chapter 12 Application Examples|ASDA-AB Series

12-22 Revision January 2009

(4) Manually Single Step Control Mode 2

Power

Supply

OFF

DO VALUE

INDEX4

Motor Speed

IDX Value

OFF

To r qu e

Limit

Servo ON

INDEX 2

CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 3

OFF

MD1

MD0

OFF

MDP0

auto

running

manually feed

forward

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.

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-23

(5) Manually Continuous Step Control Mode

Power

Supply

OFF

DO VALUE

INDEX4

Motor Speed

IDX Value

OFF

Torque

Limit

Servo ON

INDEX 2

CI INDEX 2 CI INDEX 3 CI INDEX 4 CI INDEX 5

MD0

OFF

MD1

OFF

MDP1

auto

running

manually feed

forward

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.

Chapter 12 Application Examples|ASDA-AB Series

12-24 Revision January 2009

 Communication Control Example Explanation

Communication Address Communication Content Explanation

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) Torque decrease

H407 H0A5 Index 5

H407 H025 (H020) Torque decrease

H407 H0An Index n

H407 H02n (H020) Torque decrease

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-25

12.7 Internal Auto Running Mode

 Relevant Parameters Description

Parameter Communication

Address Parameter Description

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

Chapter 12 Application Examples|ASDA-AB Series

12-26 Revision January 2009

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

DO Signal Parameter Setting Explanation

DO1 P2-18 = 101

DO2 P2-19 = 103

DO3 P2-20 = 109

DO4 P2-21 = 105

DO5 P2-22 = 107

Please refer to “Definition of DO Signals” in the

following section.

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-27

 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

Supply

OFF

DO VALUE

Motor Speed

ORGP

Z PULSE

Output Signal

Servo ON

SERVO READY (01) HOMING (02) HOME (3)

OFF

Chapter 12 Application Examples|ASDA-AB Series

12-28 Revision January 2009

(2) Auto Running Mode

Power

Supply

OFF

DO VALUE

INDEX4

Motor Speed

Servo ON

CI T1HOME (3) T1 CI T2 CI T8 CI

AUTOR OFF

V1 V2

IDX1 IDX2 IDX8

(3) Manual Control Mode 1

Power

Supply

OFF

DO VALUE

INDEX4

Motor Speed

Servo ON

HOME (3) CI CI CI

V1 V2

IDX1 IDX2 IDX3 IDX2

OFF

STEPU

STEPD

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-29

(4) Manual Control Mode 2

Power

Supply

OFF

DO VALUE

INDEX4

Motor Speed

Servo ON

CI CI CI

AUTOR

V1 V2

IDX1 IDX2 IDX1

OFF

STEPB

OFF

Chapter 12 Application Examples|ASDA-AB Series

12-30 Revision January 2009

12.8 Homing Function

 Relevant Parameters Description

Parameter Communication

Address Parameter Description

P1-47 012FH Homing Mode

No use

: Home Sensor Type and Homing Direction

B: Homing Moving Method

C: Homing SettingEnable

D: Homing Stop Setting

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 Parameter Description

P1-34 0122H Acceleration Time

P1-35 0123H Deceleration Time

P1-36 0124H Accel /Decel S-curve

 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 Z-

phase pulse during homing and regard Z-phase pulse as a precise mechanical “Home”.

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-31

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 Z-

phase 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.

Chapter 12 Application Examples|ASDA-AB Series

12-32 Revision January 2009

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:

B 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

(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

refer to homing timing chart

time

SERVO

READY

SERVO

HOMING

COMPLETED

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-33

2. Enable homing function by input contact (SHOM) (C=2)

POWER

refer to homing timing chart

time

SERVO

READY

SERVO

HOME

TRIGGER

HOMING

COMPLETED

Homing Timing Charts

1. B/A = 0/0 or B/A = 0/2

Position

Z pulse

CCWL / ORGP

SPEED

Chapter 12 Application Examples|ASDA-AB Series

12-34 Revision January 2009

2. B/A = 0/1 or B/A = 0/3

Position

Z pulse

CWL / ORGP

SPEED

3. B/A = 1/2

Position

Z pulse

ORGP

SPEED

4. B/A = 1/3

Position

Z pulse

ORG

SPEED

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-35

5. B/A = 2/2

Position

ORG

SPEED

6. B/A = 2/3

Position

ORG

SPEED

7. B/A = 2/4

Position

SPEED

Z pulse

Chapter 12 Application Examples|ASDA-AB Series

12-36 Revision January 2009

8. B/A = 2/5

Position

SPEED

Z pulse

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-37

12.9 External Controller Connection Examples

 Connecting to Delta DVP-EH PLC

Chapter 12 Application Examples|ASDA-AB Series

12-38 Revision January 2009

 Connecting to Delta DVP-01PU

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-39

 Connecting to Mitsubishi FX1PG

Chapter 12 Application Examples|ASDA-AB Series

12-40 Revision January 2009

 Connecting to Mitsubishi FX2N1PG

Chapter 12 Application Examples |ASDA-AB Series

Revision January 2009 12-41

 Connecting to Mitsubishi AD75

Chapter 12 Application Examples|ASDA-AB Series

12-42 Revision January 2009

This page intentionally left blank.

Revision January 2009 A-1

Appendix A Accessories

 Power Connectors

Delta Part Number: ASDBCAPW0000

Title Part No. Manufacturer

Housing C4201H00-2*2PA JOWLE

Terminal C4201TOP-2 JOWLE

Delta Part Number: ASDBCAPW0100

Title Part No. Manufacturer

Housing C4201H00-2*3PA JOWLE

Terminal C4201TOP-2 JOWLE

Delta Part Number: ASD-CAPW1000

Delta Part Number: ASD-CAPW2000

Appendix A Accessories|ASDA-AB Series

A-2 Revision January 2009

 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.

mm inch

1 ASD-ABPW0003

3000 ± 100 118 ± 4

2 ASD-ABPW0005

5000 ± 100 197 ± 4

Delta Part Number: ASD-ABPW0103, ASD-ABPW0105

Title Part No. Manufacturer

Housing C4201H00-2*3PA JOWLE

Terminal C4201TOP-2 JOWLE

Title Part No.

mm inch

1 ASD-ABPW0103

3000 ± 100 118 ± 4

2 ASD-ABPW0105

5000 ± 100 197 ± 4

Appendix A Accessories|ASDA-AB Series

Revision January 2009 A-3

 Power Cables, cont.

Delta Part Number: ASD-CAPW1003, ASD-CAPW1005

Title Part No. Straight

mm inch

1 ASD-CAPW1003 3106A-20-18S 3000 ± 100 118 ± 4

2 ASD-CAPW1005 3106A-20-18S 5000 ±100 197 ± 4

Delta Part Number: ASD-CAPW1103, ASD-CAPW1105

L(80 mm)

(50mm)

(3.15 inch)

(1.97 inch)

Title Part No. Straight

mm inch

1 ASD-CAPW1103 3106A-20-18S 3000 ± 100 118 ± 4

2 ASD-CAPW1105 3106A-20-18S 5000 ±100 197 ± 4

L(80 mm)

(3.15 inch)

(50mm)

(1.97 inch)

Appendix A Accessories|ASDA-AB Series

A-4 Revision January 2009

 Power Cables, cont.

Delta Part Number: ASD-CAPW1203, ASD-CAPW1205

(100 mm)

(3.94 inch)

(3.15 inch)

(80mm)

Title Part No. Straight

mm inch

1 ASD-CAPW1203 3106A-20-18S 3000 ± 100 118 ± 4

2 ASD-CAPW1205 3106A-20-18S 5000 ±100 197 ± 4

Delta Part Number: ASD-CAPW1303, ASD-CAPW1305

(80 mm)

(100 mm)

(3.94 inch)

(3.15 inch)

Title Part No. Straight

mm inch

1 ASD-CAPW1303 3106A-20-18S 3000 ± 100 118 ± 4

2 ASD-CAPW1305 3106A-20-18S 5000 ±100 197 ± 4

Appendix A Accessories|ASDA-AB Series

Revision January 2009 A-5

 Power Cables, cont.

Delta Part Number: ASD-CAPW2203, ASD-CAPW2205

(80mm)

(3.15 inch)

L(100 mm)

(3.94 inch)

Title Part No. Straight

mm inch

1 ASD-CAPW2203 3106A-24-11S 3000 ± 100 118 ± 4

2 ASD-CAPW2205 3106A-24-11S 5000 ±100 197 ± 4

Delta Part Number: ASD-CAPW2303, ASD-CAPW2305

L(100 mm)

(3.15 inch)

(3.94 inch)

(80mm)

Title Part No. Straight

mm inch

1 ASD-CAPW2303 3106A-24-11S 3000 ± 100 118 ± 4

2 ASD-CAPW2305 3106A-24-11S 5000 ±100 197 ± 4

Appendix A Accessories|ASDA-AB Series

A-6 Revision January 2009

 Encoder Connectors

Delta Part Number: ASD-ABEN0000

Title Part No. Manufacturer

Housing AMP (1-172161-9) AMP

Terminal AMP (170359-3) AMP

MOTOR SIDE

CLAMP DELTA (34703237XX) DELTA

PLUG 3M 10120-3000PE 3M

DRIVE SIDE

SHELL 3M 10320-52A0-008 3M

Delta Part Number: ASD-CAEN1000

Title Part No. Manufacturer

MOTOR SIDE 3106A-20-29S ----

PLUG 3M 10120-3000PE 3M

DRIVE SIDE

SHELL 3M 10320-52A0-008 3M

Appendix A Accessories|ASDA-AB Series

Revision January 2009 A-7

 Encoder Cables

Delta Part Number: ASD-ABEN0003, ASD-ABEN0005

Title Part No. Manufacturer

Housing AMP (1-172161-9) AMP

Terminal AMP (170359-3) AMP

MOTOR SIDE

CLAMP DELTA (34703237XX) DELTA

PLUG 3M 10120-3000PE 3M

DRIVE SIDE

SHELL 3M 10320-52A0-008 3M

Title Part No.

mm inch

1 ASD-ABEN0003

3000 ± 100 118 ±4

2 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

DRIVE SIDE

SHELL 3M 10320-52A0-008 3M

Title Part No. Straight

mm inch

1 ASD-CAEN1003 3106A-20-29S 3000 ± 100 118 ± 4

2 ASD-CAEN1005 3106A-20-29S 5000 ± 100 197 ± 4

Appendix A Accessories|ASDA-AB Series

A-8 Revision January 2009

 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

Part No.Item

1ASD-CARS0003 3000±10

mm inch

118±0.4

 Terminal Block Module

Delta Part Number: ASD-BM-50A

Appendix A Accessories|ASDA-AB Series

Revision January 2009 A-9

 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-C30401S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-ABPW0003

Motor Power Cable

ASD-ABPW0005

- -

Cable

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-C30602S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-ABPW0003

Motor Power Cable

ASD-ABPW0005

Motor Power Cable

ASD-ABPW0103

Motor Power Cable

ASD-ABPW0105

Cable

Encoder Cable

ASD-ABEN0003

Encoder Cable

ASD-ABEN0005

Encoder Cable

ASD-ABEN0003

Encoder Cable

ASD-ABEN0005

Power Connector ASDBCAPW0000 Power Connector ASDBCAPW0100

Connector

Encoder Connector ASD-ABEN0000

400W Servo Drive and 400W Low Inertia Servo Motor

Servo Drive ASD-A0421-AB

Low inertia

Servo Motor

ECMA-C30604S

ECMA-C308047

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-ABPW0003

Motor Power Cable

ASD-ABPW0005

Motor Power Cable

ASD-ABPW0103

Motor Power Cable

ASD-ABPW0105

Cable

Encoder Cable

ASD-ABEN0003

Encoder Cable

ASD-ABEN0005

Encoder Cable

ASD-ABEN0003

Encoder Cable

ASD-ABEN0005

Power Connector ASDBCAPW0000 Power Connector ASDBCAPW0100

Connector Encoder Connector ASD-ABEN0000

Appendix A Accessories|ASDA-AB Series

A-10 Revision January 2009

400W Servo Drive and 500W Medium Inertia Servo Motor

Servo Drive ASD-A0421-AB

Medium inertia

Servo Motor ECMA-E31305S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1003

Motor Power Cable

ASD-CAPW1005

Motor Power Cable

ASD-CAPW1103

Motor Power Cable

ASD-CAPW1105

Cable

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-G31303S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1003

Motor Power Cable

ASD-CAPW1005

Motor Power Cable

ASD-CAPW1103

Motor Power Cable

ASD-CAPW1105

Cable

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-C30807S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-ABPW0003

Motor Power Cable

ASD-ABPW0005

Motor Power Cable

ASD-ABPW0103

Motor Power Cable

ASD-ABPW0105

Cable

Encoder Cable

ASD-ABEN0003

Encoder Cable

ASD-ABEN0005

Encoder Cable

ASD-ABEN0003

Encoder Cable

ASD-ABEN0005

Power Connector ASDBCAPW0000 Power Connector ASDBCAPW0100

Connector Encoder Connector ASD-ABEN0000

Appendix A Accessories|ASDA-AB Series

Revision January 2009 A-11

750W Servo Drive and 600W High Inertia Servo Motor

Servo Drive ASD-A0721-AB

High inertia

Servo Motor ECMA-G31306S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1003

Motor Power Cable

ASD-CAPW1005

Motor Power Cable

ASD-CAPW1103

Motor Power Cable

ASD-CAPW1105

Cable

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-C31010S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1003

Motor Power Cable

ASD-CAPW1005

Motor Power Cable

ASD-CAPW1103

Motor Power Cable

ASD-CAPW1105

Cable

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-E31310S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1003

Motor Power Cable

ASD-CAPW1005

Motor Power Cable

ASD-CAPW1103

Motor Power Cable

ASD-CAPW1105

Cable

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

Appendix A Accessories|ASDA-AB Series

A-12 Revision January 2009

1kW Servo Drive and 900W High Inertia Servo Motor

Servo Drive ASD-A1021-AB

High inertia

Servo Motor ECMA-G31309S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1003

Motor Power Cable

ASD-CAPW1005

Motor Power Cable

ASD-CAPW1103

Motor Power Cable

ASD-CAPW1105

Cable

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-E31315S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1003

Motor Power Cable

ASD-CAPW1005

Motor Power Cable

ASD-CAPW1103

Motor Power Cable

ASD-CAPW1105

Cable

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-C31020S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1203

Motor Power Cable

ASD-CAPW1205

Motor Power Cable

ASD-CAPW1303

Motor Power Cable

ASD-CAPW1305

Cable

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

Appendix A Accessories|ASDA-AB Series

Revision January 2009 A-13

2kW Servo Drive and 2kW Medium Inertia Servo Motor

Servo Drive ASD-A2023-AB

Medium inertia

Servo Motor ECMA-E31320S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW1203

Motor Power Cable

ASD-CAPW1205

Motor Power Cable

ASD-CAPW1303

Motor Power Cable

ASD-CAPW1305

Cable

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-E31820S

Without Brake With Brake

3M 5M 3M 5M

Motor Power Cable

ASD-CAPW2203

Motor Power Cable

ASD-CAPW2205

Motor Power Cable

ASD-CAPW2303

Motor Power Cable

ASD-CAPW2305

Cable

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 ASD-BM-50A

Appendix A Accessories|ASDA-AB Series

A-14 Revision January 2009

This page intentionally left blank.

Revision January 2009 B-1

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

Appendix A Accessories|ASDA-AB Series

B-2 Revision January 2009

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.

Appendix A Accessories|ASDA-AB Series

Revision January 2009 B-3

Figure 1

Saddle on both ends

Saddle on one end

Figure 2

Appendix A Accessories|ASDA-AB Series

B-4 Revision January 2009

Dimensions

Delta Part Number: 08TDT1W4S

Delta Part Number: 20TDT1W4D

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

ASDA-AB_manual_en

ASDA-AB to the manual 2dcadafa-8928-48f8-b87b-a31d29e4cf91

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