This user manual provides the related information of. ECMA series servo motors. This manual includes: ▫. Installation and inspection of servo drive and servo ...
This manual addresses personnel with the following qualifications: n Servo system designers n Installation or wiring personnel n Trial and tuning personnel n Maintenance...
AELTJI
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Industrial Automation Headquarters
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*We reserve the right to change the information in this catalogue without prior notice.
DELTA_IA-ASDA_B2_UM_EN_201201012
Delta Standard AC Servo Drive for General Purpose Applications ASDA-B2 Series User Manual
Delta Standard AC Servo Drive for General Purpose Applications ASDA-B2 Series User Manual
www.delta.eom.tw/ia
Preface
Thank you for purchasing ASDA-B2. This user manual provides the related information of ECMA series servo motors. This manual includes:
Installation and inspection of servo drive and servo motor The configuration of servo drive Procedures of trial run Control functions and adjustment methods of servo drives Parameter Communication protocol Inspection and maintenance Troubleshooting Application examples
This manual addresses personnel with the following qualifications: Servo system designers Installation or wiring personnel Trial and tuning personnel Maintenance and inspection personnel
Before using the product, please read through this manual carefully in order to ensure the correct use of the product. In addition, please place this manual safely for quick reference whenever is needed. Please follow the rules below if you have not finished reading this manual yet.
No water, corrosive gas and inflammable gas are allowed in installation environment.
Three-phase power is prohibited to connect to U, V and W connector when wiring. It is possible to damage the servo drive.
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.).
Do not disconnect the servo drive, motor or change the wiring when connecting to the power.
Be ensured that the emergency stop can be activated any time before connecting to the power and operation.
i
Preface
ASDA-B2
Do not touch the heat sink to avoid scald before connecting to the power and operation.
If you have any enquiry, please contact the distributors or Delta customer service center.
Safety Precautions
ASDA-B2 series is the high resolution and open type servo drive. It should be installed in a shielded control box during operation. This servo drive uses precise feedback control and the digital signal processor with high-speed calculation function to control the current output which generated by IGBT so as to operate three-phase permanent magnet synchronous motors (PMSM) and to achieve precise positioning.
ASDA-B2 is applicable on industrial application and is suggested to be installed in the panel-board of the user manual. (Servo drives, wire rod and motors all should be installed in the environment which complies with the minimum requirement of UL Level 1 or NEMA 250 Type 1.)
Pay special attention to the following safety precautions anytime during inspection, installation, wiring, operation and examination.
The symbol of danger, warning and stop represent:
It indicates the potential hazards. It is possible to cause severe injury or fatal harm if not follow the instructions.
It indicates the potential hazards. It is possible to cause minor injury or lead to serious damage of the product or even malfunction if not follow the instructions.
It indicates the absolute prohibited activity. It is possible to damage the product or cannot be used due to malfunction if not follow the instructions.
Inspection Please follow the instruction when using servo drive and servo motor, or it is possible to cause fire or malfunction.
Installation It is prohibited to expose the product with the environment which containing water, corrosive gas, inflammable gas, etc. Or it is possible to cause electric shock or fire.
ii
ASDA-B2
Preface
Wiring
Please connect the ground terminal to class-3 ground system (under 100 ); poor grounding may result in electric shock or fire.
Do not connect the three-phase source to the motor output terminal U, V and W. Or it is possible to cause personnel injury or fire.
Please tighten the screws of the power and motor output terminal. Or it is possible to cause fire.
Operation
Before the operation, please change the parameter setting value according to the needs. If it is not adjusted to the correct setting value, it is possible to lead to malfunction of the machine or the operation might out of control.
Before the machine starts to operate, please be ensured the emergency stop can be activated anytime.
During the operation, it is prohibited to touch any rotating motor parts. Or it is possible to cause personnel injury.
In order to prevent any accident, please separate the couplings and belts of the machine and isolate them. Then conduct the initial trial run.
If users fail to operate the machine properly after the servo motor connects to the equipment, it would cause the damage of the equipment and lead to the personnel injury.
In order to prevent the danger, it is strongly recommended to check if the motor can operate normally without load first. Then, operate the motor with load.
Do not touch the heat sink of the servo drive. Or it is possible to cause scald due to the high temperature.
Maintenance and Inspection
It is prohibited to touch the internal parts of the servo drive and servo motor. Or it is possible to cause electric shock.
It is prohibited to disassemble the panel of the servo drive when turning on the power. Or it is possible to cause electric shock.
Do not touch the ground terminal within 10 minutes after turning off the power. Or the residual voltage may cause electric shock.
Do not disassemble the motor. Or it is possible to cause electric shock or personnel injury.
Do not change the wiring when the power is on. Or it is possible to cause electric shock or personnel injury.
Only the qualified electrical and electronics professionals can install, wire and maintain the servo drive and servo motor.
iii
Preface
ASDA-B2
Main Circuit Wiring
Do not put the power cable and the encoder cable in the same channel and bond them together. Please separate the power cable and the encoder cable for at least 30 centimeters (= 11.8 inches) when wiring.
Please use stranded wires and multi-core shielded-pair wires for the encoder cables and encoder feedback cables. The maximum length of command input cable is 3 meters (= 9.84 feet) and the maximum length of feedback cable is 20 meters (= 65.62 feet).
The high voltage might remain in the servo motor even when the power is off. Do not touch the power terminal temporally (at least 10 minutes). Please conduct the inspection not until the indicator light, CHARGE is off.
Do not turn the power on and off too often. If continuous power on and off is needed, please be ensured the interval is one minute at most.
Terminal Wiring of the Main Circuit
When wiring, please disassemble the terminal socket from the servo drive. One terminal of the terminal socket for one electric wire only. When inserting the electric wires, do not connect the conductor to the
adjacent wire. Before connecting to the power, please inspect and be ensured the wiring is
correct.
Note: If there is any difference of each version, please refer to DELTA's website (http://www.delta.com.tw/industrialautomation/) for the latest information.
iv
Table of Contents
Chapter 1 Installation and Model Explanation ...................................................... 1-1 1.1 Inspection ........................................................................................................ 1-1 1.2 Product Model ................................................................................................. 1-2 1.2.1 Nameplate Information ........................................................................... 1-2 1.2.2 Model Explanation .................................................................................. 1-3 1.3 Servo Drive and Corresponding Servo Motor.................................................. 1-5 1.4 Servo Drive Features ...................................................................................... 1-7 1.5 Control Modes of Servo Drive ......................................................................... 1-8
Chapter 2 Installation .............................................................................................. 2-1 2.1 Notes ............................................................................................................... 2-1 2.2 Ambient Conditions of Storage........................................................................ 2-1 2.3 Ambient Conditions of Installation ................................................................... 2-2 2.4 Installation Direction and Space ...................................................................... 2-3 2.4.1 Troubleshooting for the Motor Operation and Status.............................. 2-5 2.4.2 Servo Motor Mounting Directions and Precautions ................................ 2-5 2.4.3 Precautions for Using Oil Seal Servo Motors ......................................... 2-6 2.4.4 Precautions for Using Couplings ............................................................ 2-7 2.4.5 Oil and Water Prevention Measures for the Servo Motor ....................... 2-8 2.4.6 Measures to Suppress Temperature Increase of the Servo Motor ......... 2-8 2.5 Specification of Circuit Breaker and Fuse ....................................................... 2-9
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ASDA-B2
2.6 EMI Filter Selection ......................................................................................... 2-10 2.7 Selection of Regenerative Resistor ................................................................. 2-12 Chapter 3 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.................................................. 3-2 3.1.3 Wiring Method ........................................................................................ 3-4 3.1.4 Specification of Motor Power Cable ....................................................... 3-6 3.1.5 Specification of Encoder Connector ....................................................... 3-8 3.1.6 Selection of Wiring Rod .......................................................................... 3-12 3.2 Basic Wiring .................................................................................................... 3-14 3.2.1 200 W (included) and Models below ...................................................... 3-14 3.2.2 400 W ~ 750 W Models .......................................................................... 3-15 3.2.3 1 kW ~ 3 kW Models .............................................................................. 3-16 3.3 I / O Signal (CN1) Connection ......................................................................... 3-17 3.3.1 I/O Signal (CN1) Connector Terminal Layout ......................................... 3-17 3.3.2 Signals Explanation of Connector CN1 .................................................. 3-19 3.3.3 Wiring Diagrams (CN1) .......................................................................... 3-27 3.3.4 DI and DO Signal Specified by Users..................................................... 3-34 3.4 CN2 Connector .............................................................................................. 3-35 3.5 Wiring of CN3 Connector ................................................................................ 3-37 3.6 Analog Monitor Output Connector - CN5......................................................... 3-38
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ASDA-B2
Table of Contents
3.7 Standard Connection Example........................................................................ 3-39 3.7.1 Position (PT) Control Mode .................................................................... 3-39 3.7.2 Speed Control Mode .............................................................................. 3-40 3.7.3 Torque Control Mode ............................................................................. 3-41
Chapter 4 Panel Display and Operation................................................................. 4-1 4.1 Panel Description ............................................................................................ 4-1 4.2 Parameter Setting Procedure .......................................................................... 4-2 4.3 Status Display ................................................................................................. 4-3 4.3.1 Save Setting Display .............................................................................. 4-3 4.3.2 Decimal Point ......................................................................................... 4-3 4.3.3 Alarm Message ...................................................................................... 4-3 4.3.4 Positive and Negative Sign Setting ........................................................ 4-4 4.3.5 Monitor Display....................................................................................... 4-4 4.4 General Function............................................................................................. 4-7 4.4.1 Operation of Fault Code Display ............................................................ 4-7 4.4.2 JOG Mode .............................................................................................. 4-8 4.4.3 Force DO Output .................................................................................... 4-9 4.4.4 Digital Input Diagnosis Operation ........................................................... 4-10 4.4.5 Digital Output Diagnosis Operation ........................................................ 4-10
Chapter 5 Trial Operation and Tuning ................................................................... 5-1 5.1 Inspection without Load................................................................................... 5-1 5.2 Applying Power to the Servo Drive.................................................................. 5-3 5.3 JOG Trial Run without Load ............................................................................ 5-7
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ASDA-B2
5.4 Trial Run without Load (Speed Mode)............................................................. 5-8 5.5 Tuning Procedure............................................................................................ 5-10
5.5.1 Flowchart of Tuning Procedure .............................................................. 5-11 5.5.2 Inertia Estimation Flowchart (with Mechanism) ...................................... 5-12 5.5.3 Flowchart of Auto Tuning........................................................................ 5-13 5.5.4 Flowchart of Semi-Auto Tuning .............................................................. 5-14 5.5.5 Limit of Inertia Ratio ............................................................................... 5-15 5.5.6 Mechanical Resonance Suppression Method ........................................ 5-17 5.5.7 Tuning Modes and Parameters .............................................................. 5-18 5.5.8 Tuning in Manual Mode .......................................................................... 5-19 Chapter 6 Control Modes of Operation.................................................................. 6-1 6.1 Selection of Operation Mode ........................................................................... 6-1 6.2 Position Mode.................................................................................................. 6-3 6.2.1 Position Command in PT Mode.............................................................. 6-3 6.2.2 Control Structure of Position Mode......................................................... 6-6 6.2.3 Electronic Gear Ratio ............................................................................. 6-8 6.2.4 Low-pass Filter ....................................................................................... 6-10 6.2.5 Gain Adjustment of Position Loop .......................................................... 6-11 6.3 Speed Mode .................................................................................................... 6-14 6.3.1 Selection of Speed Mode ....................................................................... 6-14 6.3.2 Control Structure of Speed Mode ........................................................... 6-15 6.3.3 Smoothing Speed Command ................................................................. 6-16 6.3.4 The Scaling of Analog Command ........................................................... 6-20
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ASDA-B2
Table of Contents
6.3.5 Timing Diagram in Speed Mode ............................................................. 6-21 6.3.6 Gain Adjustment of Speed Loop............................................................. 6-21 6.3.7 Resonance Suppression ........................................................................ 6-28 6.4 Torque Mode ................................................................................................... 6-36 6.4.1 Selection of Torque Command............................................................... 6-36 6.4.2 Control Structure of Torque Mode .......................................................... 6-37 6.4.3 Smooth Torque Mode............................................................................. 6-38 6.4.4 The Scaling of Analog Command ........................................................... 6-38 6.4.5 Timing Diagram of Torque Mode............................................................ 6-40 6.5 Dual Modes ..................................................................................................... 6-41 6.5.1 Speed / Position Dual Mode ................................................................... 6-41 6.5.2 Speed / Torque Dual Mode .................................................................... 6-42 6.5.3 Torque / Position Dual Mode .................................................................. 6-42 6.6 Others ............................................................................................................. 6-43 6.6.1 The Use of Speed Limit .......................................................................... 6-43 6.6.2 The Use of Torque Limit ......................................................................... 6-43 6.6.3 Analog Monitor ....................................................................................... 6-44 6.6.4 The Use of Brake ................................................................................... 6-49 Chapter 7 Parameters.............................................................................................. 7-1 7.1 Parameter Definition........................................................................................ 7-1 7.2 Lists of Parameters ......................................................................................... 7-2 7.3 Parameter Description..................................................................................... 7-12
P0-xx Monitor Parameters............................................................................... 7-12
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Table of Contents
ASDA-B2
P1-xx Basic Parameters .................................................................................. 7-21 P2-xx Extension Parameters ........................................................................... 7-51 P3-xx Communication Parameters .................................................................. 7-80 P4-xx Diagnosis Parameters ........................................................................... 7-85 Table 7.1 Function Description of Digital Input (DI) ......................................... 7-96 Table 7.2 Function Description of Digital Input Output (DO)............................ 7-102 Table 7.3 Monitoring Variables Descriptions ................................................... 7-105 Chapter 8 Communications .................................................................................... 8-1 8.1 RS-485 / RS-232 Communication Hardware Interface .................................... 8-1 8.2 RS-485 / RS-232Communication Parameter Settings..................................... 8-3 8.3 MODBUS Communication Protocol................................................................. 8-6 8.4 Write-in and Read-out Communication Parameters ........................................ 8-18 Chapter 9 Troubleshooting ..................................................................................... 9-1 9.1 Alarm of Servo Drive ....................................................................................... 9-1 9.2 Causes and Corrective Actions ....................................................................... 9-4 9.3 Corrective Actions after the Alarm Occurs ...................................................... 9-15 Chapter 10 Specifications ....................................................................................... 10-1 10.1 Specifications of Servo Drives (ASDA-B2 Series) ......................................... 10-1 10.2 Specifications of Servo Motors (ECMA Series) ............................................. 10-4 10.3 Torque Features (T-N Curves) ...................................................................... 10-12 10.4 Overload Features......................................................................................... 10-14 10.5 Dimensions of Servo Drives .......................................................................... 10-16 10.6 Dimensions of Servo Motors.......................................................................... 10-20
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ASDA-B2
Table of Contents
Appendix A Accessories ........................................................................................ A-1 Appendix B Maintenance and Inspection.............................................................. B-1
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Table of Contents
ASDA-B2
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
Welcome to contact us or visit our web site (http://www.deltaww.com) if you need any technical support, service and information, or, if you have any question in using the product. We are looking forward to serve you needs and willing to offer our best support and service to you. Reach us by the following ways.
xii
Chapter 1 Installation and Model Explanation
1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the following items carefully.
Item
Please check if the product is what you have purchased
Content
Check the part number of the motor and the servo drive on the nameplate. Refer to the section 1.2 for the model explanation.
Check if the motor shaft can rotate smoothly
Rotate the motor shaft by hand. If it can be rotated smoothly, it means the motor shaft is normal. However, it cannot be rotated by hand if the motor has an electromagnetic brake.
Check if there is any damage shown on its appearance
Visually check if there is any damage or scrape of the appearance.
Check if there is any loose screw
If the screws are un-tightened or fall off.
If any of the above situations happens, please contact the distributors to solve the problems.
A complete and workable servo set should include:
(1) A Servo drive and a servo motor (2) A UVW motor power cable, red (U), white (V) and black (W) wires can connect to
the socket attached by the servo drive. And a green ground wire which should be locked to the ground terminal of the servo drive. (selective purchase)
(3) An encoder cable which connects to the socket of the encoder. One side of it connects to CN2 servo drive and another side is the plug. (selective purchase)
(4) 44-PIN connector which is used in CN1 (CviLux analog product) (selective purchase)
(5) 9-PIN connector which is used in CN2 (CviLux analog product) (selective purchase)
(6) 6-PIN connector which is used in CN3 (CviLux analog product) (selective purchase)
1-1
Chapter 1 Installation and Model Explanation
1.2 Product Model
1.2.1 Nameplate Information
ASDA-B2 Series Servo Drive
Nameplate Information
ASDA-B2
Model Name Capacity Specification Applicable Power Supply
Rated Current Output
MODEL : ASD-B2-1521-F POWER : 1.5kW INPUT : 200~230V 3PH 50/60Hz 5.9A
200~230V 1PH 50/60Hz 10.3A OUTPUT : 110V 0~250Hz 8.3A
LISTED 19XK
IND. CONT. EQ.
Barcode Firmware Version
B21521FW14170001
01.74 DELTA ELECTRONICS, INC.
MADE IN TAIWAN
Serial Number
B21521F W 14 17 0001
Serial Number (Production sequence of a week, starting from 0001) Week of Production (from 1 to 52)
Year of Production (3: year 2013 or 14: year 2014)
Production Factory (T: Taoyuan; W: Wujiang)
Model Name
ECMA Series Servo Motor Nameplate Information
Model Name Input Power Rated speed and Rated Output
Barcode
AC SERVO MOTOR
MODEL : ECMA-E11320RS INPUT : kW 2.0 VAC 110 A 11.0 OUTPUT : r/min 2000 N.m 9.55 Ins.A
E11320RST13370017
Delta Electronics, Inc.
MADE IN TAIWAN
Serial Number
E11320RS T 13 37 0017
Serial Number (Production sequence of a week, starting from 0001) Week of Production (from 1 to 52)
Year of Production (13: year 2013) Production Factory (T: Taoyuan; W: Wujiang) Model Name
1-2
ASDA-B2
Chapter 1 Installation and Model Explanation
1.2.2 Model Explanation
ASDA-B2 Series Servo Drive
A S D - B 2 - 0 4 2 1 -
Model Type
Input Voltage and Phase 21: 220V 1 phase 23: 220V 3 phase
Rated Power Input 01: 100W 20: 2kW 02: 200W 30: 3kW 04: 400W 07: 750W 10: 1kW
15: 1.5kW
Product Series B2
Product Name AC SERVO Drive
Model Type
Type B
Full-Closed Control
×
EtherCAT ×
CANopen ×
DMCNET ×
E-CAM ×
Extension Port for Digital Input
×
1-3
Chapter 1 Installation and Model Explanation
ASDA-B2
ECMA Series Servo Motor
ECMA-C10602ES
Standard Shaft Diameter: S Specific Shaft Diameter: 3=42mm, 7=14mm
Type of Shaft Diameter and Oil Seal
Round Shaft (w ith fixed screw holes)
w /o Brake w /o Oil Seal
A
w ith Brake w /o Oil Seal
B
w /o Brake w ith Oil Seal
C
With Brake With Oil Seal
D
Keyw ay
E
F
G
H
Keyw ay
(w ith fixed
P
Q
R
S
screw holes)
Rated Power Output 01:100W 05:500W 10:1.0kW 02:200W 06:600W 15:1.5kW 03:300W 07:700W 20:2.0kW 04:400W 09:900W 30:3.0kW
Motor Frame Size 04:40mm 09:86mm 18:180mm 06:60mm 10:100mm 08:80mm 13:130mm
Name of the Series Rated Voltage and Rated Speed C = 220V/3,000 rpm; E = 220V/2,000 rpm; F = 220V/1,500 rpm; G = 220V/1,000 rpm; Encoder Type 1: Incremental, 20-bit 2: Incremental, 17-bit 3: 2500ppr M: Magnetic encoder, 13-bit
Servo Type A: AC Servo
Product Name
ECM: Electronic Commutation Motor
1-4
Low Inertia ECMA-C 3000 r/min
ASDA-B2
Chapter 1 Installation and Model Explanation
1.3 Servo Drive and Corresponding Servo Motor
Motor series
Motor
Servo Drive
Pow er
Output (W)
Model Num ber
Rate d Current (Arm s)
M ax. Ins tantaneous
cur r e nt (A)
Model Num ber
Continuous Output Current (Arm s)
M ax.
Ins tantaneou s output cur r e nt (A)
100 ECMA-C0401S 0.90 2.70 ASD-B2-0121- 0.90
2.70
200 ECMA-C0602S 1.55 4.65 ASD-B2-0221- 1.55
4.65
400 ECMA-C0604S 2.60
400 ECMA-C08047 2.60
Single- 750 ECMA-C0807S 5.10
/Threephase
750
ECMA-C0907S
3.66
1000 ECMA-C0910S 4.25
1000 ECMA-C1010S 7.30
7.80 7.80 15.30 11.00 12.37 21.90
ASD-B2-0421- 2.60 ASD-B2-0721- 5.10 ASD-B2-1021- 7.30
7.80 15.30 21.90
2000 ECMA-C1020S 12.05 36.15 ASD-B2-2023- 13.40 40.20
3000 ECMA-C13304 17.2 47.5 ASD-B2-3023- 19.40 58.20
500 ECMA-E1305S 2.90 8.70 ASD-B2-0421- 2.60
7.80
1000 ECMA-E1310S 5.60 16.80 ASD-B2-1021- 7.30 21.90
Single- 1500 ECMA-E1315S 8.30 /Three- 2000 ECMA-E1320S 11.01 phase 2000 ECMA-E1820S 11.22
24.90 33.03 33.66
ASD-B2-1521- 8.30 ASD-B2-2023- 13.40
24.90 40.20
3000 ECMA-E1830S 16.10 3500 ECMA-E1835S 19.20
48.30 ASD-B2-3023- 19.40
57.60
58.20
850 ECMA-F1308S 7.10
Single- 1300 ECMA-F1313S 12.60
/Threephase
1800
ECMA-F1318S
13.00
3000 ECMA-F1830S 19.40
19.40 38.60 36.00 58.20
ASD-B2-1021- 7.30 ASD-B2-2023- 13.40 ASD-B2-3023- 19.40
21.90 40.20 58.20
400 ECMA-C0604H 2.60 7.80 ASD-B2-0421- 2.60
7.80
750 ECMA-C0807H 5.10 Single/Three- 300 ECMA-G1303S 2.50
phase 600 ECMA-G1306S 4.80
15.30 7.50 14.40
ASD-B2-0721- 5.10 ASD-B2-0421- 2.60 ASD-B2-0721- 5.10
15.30 7.80 15.30
900 ECMA-G1309S 7.50 22.50 ASD-B2-1021- 7.30 21.90
Medium Inertia ECMA-E 2000 r/min
Medium-high inertia
ECMA-F 1500 r/min
High Inertia ECMA-C/G 3000
r/min
1-5
Chapter 1 Installation and Model Explanation
ASDA-B2
Note: 1. 2.
3. 4.
The boxes () at the ends of the servo drive model names are the mode code of ASDA-B2. Please refer to the ordering information of the actual purchased product.
The boxes () in the model names are for encoder resolution types. = 1: Incremental type, 20-bit; = 2: Incremental type, 17-bit; = 3: 2500 ppr; = A: Absolute type). The listed motor model name is for information searching, please contact to your local distributors for actual purchased product.
The boxes () in the model names represents brake or keyway / oil seal.
The above table shows the specification of servo drive which has triple rated current. If you need 6 times rated current for your servo drive, please contact with local distributors. For detailed specification of the servo motor and servo drive, please refer to Chapter 10.
1-6
ASDA-B2
1.4 Servo Drive Features
Chapter 1 Installation and Model Explanation
1-7
Chapter 1 Installation and Model Explanation
ASDA-B2
1.5 Control Modes of Servo Drive
Various operation modes are provided. Please refer to the following table:
Mode
Code
Description
Position Mode (Terminal Input)
Speed Mode
Single Mode
Speed Mode (No analog input)
Torque Mode
Torque Mode (No analog input)
Dual Mode
Servo drive receives the position command and
P
commands the servo motor to the target position. The position command is sent from CN1 and its
signal type is pulse.
Servo drive receives the speed command and commands the servo motor to the target speed. S Speed command is from the internal register (there are 3 in total) or external analog voltage (-10V ~ +10V). The command can be selected by DI.
Servo drive receives the speed command and commands the servo motor to the target speed.
Sz Speed command is from internal register only (there are 3 in total) and the command can be selected by DI. The external analog voltage command is not available in Sz mode.
Servo drive receives the torque command and commands the servo motor to the target torque. T Torque command is from the internal register (there are 3 in total) or external analog voltage (-10V ~ +10V). The command can be selected by DI.
Servo drive receives the torque command and commands the servo motor to the target torque.
Tz Torque command is from internal register only (there are 3 in total) and the command can be selected by DI. The external analog voltage command is not available in Tz mode.
Either S or P control mode can be selected via the S-P Digital Input (DI) (Please refer to Chapter 7, table 7-
1, Function Description of Digital Input (0x18)).
Either T or P control mode can be selected via the T-P Digital Input (DI) (Please refer to Chapter 7, table 7-
1, Function Description of Digital Input (0x20)).
Either S or T control mode can be selected via the S-T Digital Input (DI) (Please refer to Chapter 7, table 7-
1, Function Description of Digital Input (0x19)).
Users can use P1-01 to select the control mode. When the setting of new control mode is complete, please re-power on the servo drive to take the new mode into effect.
1-8
Chapter 2 Installation
2.1 Notes
Please pay close attention to the followings: Do not strain the cables between the servo drive and servo motor. Make sure to each screw is tightened when fixing the servo drive. The motor shaft and the ball screw should be parallel. If the connection between the servo drive and the servo motor is over 20 meters,
please thicken the connecting wire, UVW as well as the encoder cable. Tighten the fixed four screws of the motor.
2.2 Ambient Conditions of Storage
Before the installation, this product has to be kept in shipping carton. In order to retain the warranty coverage and for the maintenance, please follow the instructions below when storage, if the product is not in use temporally: Store the product in a dry and dust-free location. Store the product within an ambient temperature range of -20 to +65 (-4°F to
149°F). Store the product within a relative humidity range of 0% to 90% and a non-condensing
environment. Avoid storing the product in the environment of corrosive gas and liquid. It is better to store the product in shipping carton and put it on the shelf or working
platform.
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Chapter 2 Installation
2.3 Ambient Conditions of Installation
ASDA-B2
Operating Temperature ASDA-B2 Series Servo Drive: ECMA Series Servo Motor :
0°C to 55°C (32°F to 131°F) 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 temperature of servo drive is greater than 45°C, please place the product in a wellventilated environment so as to ensure its reliability performance. If the product is installed in an electric box, make sure the size of the electric box and its ventilation condition will not overheat and endanger the internal electronic device. Also, pay attention to the vibration of the machine. Check if the vibration will influence the electronic device of the electric box. Failure to observe the following precautions may void the warranty. The ambient conditions should also include:
Location has no over-heat device, no water drop, vapor, dust and oily dust, no corrosive and inflammable gas and liquid, no airborne dust and metal particles, with solid foundation and no vibration and no interference of electromagnetic noise.
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.
Make sure the storage environment of servo drive and servo motor complies with the specification which mentioned in Chapter 10.
2-2
ASDA-B2
2.4 Installation Direction and Space
Chapter 2 Installation
Notes: Incorrect installation may result in a drive malfunction or premature failure of the drive
and or motor. The ASDA-B2 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. Do not parallel connect the servo drive, or it might burn out the soft-start resistance or the commutator and danger will occur.
Drive Mounting The ASDA-B2 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 10 - Specifications.
2-3
Chapter 2 Installation
ASDA-B2
Scheme of Installation
In order to have smaller wind resistance of the fan and increase the ventilation, please follow the suggested clearance value when installing one or more than one servo drives. (Refer to the following diagrams)
Note: The above diagrams are not in equal proportion. Please refer to the annotation.
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ASDA-B2
Chapter 2 Installation
2.4.1 Troubleshooting for the Motor Operation and Status
Servo motor makes abnormal noise:
Possible causes
Checking methods
Handling measures
There is a source of vibration in the connecting component.
Check if there is foreign object, damage, or deformation in the movable parts of the connecting component.
Replace the connecting component (such as the coupling) or contact the manufacturer.
The encoder is subjected to excessive vibration / shocks.
1. Whether the servo motor has been subjected to excessive force or vibration, resulting in damage to the encoder.
2. Remove and shake the encoder for abnormal noise (disc damage).
3. Visually inspect the encoder's rear cover for dust (encoder damage).
Replace the servo motor.
Servo motor overheating: Possible causes
Checking methods
Mounting surface of the servo motor has poor thermal conductivity.
Measure the temperatures of the servo motor frame and the mounting surface (metal). The temperature difference should not exceed 20°C.
Handling measures
Check if the installation surface is flat; if there are other objects (such as paint, gasket) between the mounting surface and motor surface, resulting in poor heat dissipation. Remove the object or use other methods to help dissipate heat (such as forced air cooling for the servo motor).
2.4.2 Servo Motor Mounting Directions and Precautions
The servo motor can be installed horizontally or vertically.
Installation direction Horizontal
Precautions
If you are using a servo motor with oil seal, please refer to the precaution measures in Section 2.4.5 for preventing oil / water from entering the servo motor.
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Chapter 2 Installation
ASDA-B2
Installation direction Vertical - Shaft end up
Oil trap
Vertical - Shaft end down
Precautions Do not use servo motors with oil seals in the vertical
direction. When wiring, you need to install an oil trap to prevent
vapor from entering the motor. When installing the servo motor in a machine (such as
in a gearbox), it must comply with the precaution measures in Section 2.4.5 to prevent oil and gas from entering the servo motor.
If you are using a servo motor with oil seal, please refer to the precaution measures in Section 2.4.5 for preventing oil / water from entering the servo motor.
Note: if you install gears on the servo motor, please follow the manufacturer's instructions for installation.
2.4.3 Precautions for Using Oil Seal Servo Motors
This section defines the operating conditions for using the oil seal servo motor: 1. In the operating environment, the oil level must be lower than the oil seal lip.
2. The oil seal cannot be submerged in the liquid; it can only withstand splashes of oil.
3. Oil is not allowed to soak in the oil seal lip.
4. The oil seal cannot be lower than the oil level, otherwise the oil will enter the servo motor and cause damage.
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ASDA-B2
Chapter 2 Installation
2.4.4 Precautions for Using Couplings
Caution:
It is suggested to use a flexible coupling specifically designed for servo motors, especially double spring couplings, which provide some buffer tolerance during eccentric motion and deflection. Please select appropriate coupling size for the operating conditions. Improper usage or connection may result in damage.
1. The anti-rust coating or oil on the motor shaft end must be wiped off.
2. If using a servo motor with a keyway, attach the supplied key or use a key that matches the dimensions of the drawing to the motor shaft.
Note: when installing the key on the motor, do not apply excessive force to the keyway or motor shaft.
3. Use dial gauge or other methods to ensure that the centering accuracy is within the specification. If you cannot use the dial gauge or other methods, you can slide the coupling along both axes and adjust it until it does not get stuck.
This distance is measured at four different positions on the circumference for the centering accuracy. The difference between the maximum and minimum measurement values must be 0.03 mm or less; and even within this range, you can make adjustments to increase the centering accuracy as much as possible. Note: when measuring, rotate the coupling and the motor shaft together.
4. Servo motor shaft installation safety precautions
(1) When connecting the shaft, make sure that the required centering accuracy is reached. If the shaft is not correctly centered, vibration may damage the bearings and encoder.
(2) When installing the coupling, do not apply excessive force to the shaft. Also, do not apply excessive force to the area around the encoder, as the impact may damage the encoder.
(3) If the coupling makes any abnormal noise, please re-align the shaft until the noise disappears.
(4) Make sure that the axial load and radial load are within the specifications. Please refer to the specifications for the maximum axial load (N) and maximum radial load (N) for each servo motor.
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Chapter 2 Installation
ASDA-B2
2.4.5 Oil and Water Prevention Measures for the Servo Motor
Please follow the following precautions and do not allow water, oil, or other foreign objects to enter the servo motor:
1. Do not submerge the cable in oil or water.
2. If oil or water is unavoidable, please use oil-resistant cables. Delta does not provide oil-resistant cables.
3. If the servo motor must be mounted with the shaft end up, do not use it in a machine, gearbox, or other environment where the servo motor may have contact with oil or water.
4. Do not use the servo motor in an environment with cutting fluid. Depending on the type of cutting fluid, the sealing material, the coated colloids, cables, or other components may be affected or even deteriorate.
5. Do not let the servo motor be in continuous exposure to oil mist, water vapor, oil, water, or grease.
If you cannot avoid using the servo motor under the above conditions, please take prevention measures to avoid dirt and water for the machine.
2.4.6 Measures to Suppress Temperature Increase of the Servo Motor
1. When installing the servo motor, please pay attention to the cooling conditions (such as size of the heat sink) provided in the specifications of each servo motor type.
2. The servo motor generates heat during operation, and the heat generated by the servo motor is dissipated to the heat sink through the motor mounting surface. Therefore, if the surface area of the heat sink is too small, the temperature of the servo motor may increase abnormally.
3. If it is difficult to apply large heat sinks in the operating environment or if the ambient air temperature exceeds the given specifications, please take the following measures: (1) Reduce servo motor full load rating: for more details, please refer to the specifications of each servo motor type. When selecting servo motors, consider motors with the power capacity 1 to 2 levels higher.
2-8
ASDA-B2
Chapter 2 Installation
(2) Reduce the acceleration and deceleration of the work cycle to lower the motor load.
(3) Apply external forced air cooling to the servo motor using cooling fans or other means.
Note: do not place a gasket or other insulating materials between the servo motor and heat sink, as this may result in motor temperature increase, noise resistance being affected, and motor malfunction.
2.5 Specification of Circuit Breaker and Fuse
Caution: Please use the fuse and circuit breaker that is recognized by UL/CSA.
Servo Drive Model Operation Mode ASD-B2-0121-B ASD-B2-0221-B ASD-B2-0421-B ASD-B2-0721-B ASD-B2-1021-B ASD-B2-1521-B ASD-B2-2023-B ASD-B2-3023-B
Circuit Breaker General 5A 5A 10A 10A 15A 20A 30A 30A
Fuse (Class T) General 5A 6A 10A 20A 25A 40A 50A 70A
Note: If the servo drive equips with earth leakage circuit breaker for avoiding electric leakage, please choose the current sensitivity which is over 200mA and can continue up to 0.1 seconds.
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Chapter 2 Installation
2.6 EMI Filter Selection
ASDA-B2
Recommended EMI Filter
Item
Power
Servo Drive Model
FootPrint
1PH
3PH
1
100W
ASD-B2-0121-B RF007S21AA RF022M43AA
N
2
200W
ASD-B2-0221-B RF007S21AA RF022M43AA
N
3
400W
ASD-B2-0421-B RF007S21AA RF022M43AA
N
4
750W
ASD-B2-0721-B RF007S21AA RF022M43AA
N
5
1000W
ASD-B2-1021-B RF015B21AA RF075M43BA
N
6
1500W
ASD-B2-1521-B RF015B21AA RF075M43BA
N
7
2000W
ASD-B2-2023-B
-
RF037B43BA
N
8
3000W
ASD-B2-3023-B
-
RF037B43BA
N
EMI Filter Installation All electronic equipment (including servo drive) generates high or low frequency noise during operation and interfere the peripheral equipments via conduction or radiation. With EMI Filter and the correct installation, much interference can be eliminated. It is suggested to use Delta's EMI Filter to suppress the interference better.
When installing servo drive and EMI Filter, please follow the instructions of the user manual and make sure it meets the following specification. 1. EN61000-6-4 (2001)
2. EN61800-3 (2004) PDS of category C2
3. EN55011+A2 (2007) Class A Group 1
General Precaution In order to ensure the best performance of EMI Filter, apart from the instructions of servo drive installation and wiring, please follow the precautions mention below: 1. The servo drive and EMI Filter should be installed on the same metal plate.
2. When installing servo drive and EMI Filter, the servo drive should be installed above the EMI Filter.
3. The wiring should be as short as possible.
4. The metal plate should be well grounded.
5. The metal cover of the servo drive and EMI Filter or grounding should be firmly fixed on the metal plate. Also, the contact area should be as large as possible.
6. The suggested installation specification is a servo drive with an EMI filter.
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ASDA-B2
Chapter 2 Installation
Motor Cable Selection and Installation Precautions The selection of motor cables and installation affect the performance of EMI Filter. Please follow the precautions mention below. 1. Use the cable that has braid shielding (The effect of double shielding is better)
2. The shield on both sides of the motor cable should be grounded in the shortest distance and the largest contact area.
3. The protective paint of the U-shape saddle and metal plate should be removed in order to ensure the good contact. Please see disgram 1.
4. It should have correct connection between the braid shielding of the motor cable and the metal plate. The braid shielding on both sides of the motor cable should be fixed by the U-shape saddle and metal plate. Please see diagram 2 for the correct connection.
Figure 1
Saddle on both ends
Saddle on one end Figure 2
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Chapter 2 Installation
ASDA-B2
2.7 Selection of Regenerative Resistor
When the direction of pull-out torque is different from the rotation, it means the electricity is sent back to the servo drive from the load-end. It becomes the capacitance of DC Bus and increases the voltage. When the voltage increases to a specific value, the come-back eletricity can only be consumed by regenerative resistor. There is a built-in regenerative resistor in the servo drive. Users can also use the external regenerative resistor if needed.
Specification of built-in regenerative resistor provided by ASDA-B2
Specification of built-in regenerative
Servo Drive (kW)
resistor
Resistance
Capacity
*1The capacity of built- Min. Allowable
in regenerative
Resistance
resistor (Watt)
(Ohm)
(P1-52) (Ohm) (P1-53) (Watt)
0.1
-
-
-
60
0.2
-
-
-
60
0.4
100
60
30
60
0.75
100
60
30
60
1.0
40
60
30
30
1.5
40
60
30
30
2.0
20
100
50
15
3.0
20
100
50
15
*1 Regenerative Power Calculation: The amount of regenerative power (average value) that can be processed is rated at 50% of the capacity of the servo drive's built-in regenerative resistor. The regenerative power calculation method of external regenerative resistor is the same.
When the regenerative resistor exceeds the capacity of built-in regenerative resistor, the external regenerative resistor should be applied. Please pay special attention to the followings when using the regenerative resistor.
1. Please correctly set up the resistance (P1-52) and capacity (P1-53) of regenerative resistor. Or it might influence the performance of this function.
2. If users desire to use the external regenerative resistor, please make sure the applied value is the same as the built-in regenerative resistor. If users desire to connect it in parallel to increase the power of regenerative resistor, please make sure the capacitance meets the requirements.
3. In natural environment, if the capacity of regenerative resistor (the average value) is within the rated capacity, the temperature of the capacitance will increase to 120 or even higher (under the condition of regenerative energy keeps existing). For safety concerns, please apply the method of forced cooling in order to reduce the temperature of regenerative resistor. Or, it is suggested to use the regenerative
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ASDA-B2
Chapter 2 Installation
resistor which is equipped with thermal switches. Please contact the distributors for load characteristics of the regenerative resistor.
When using the external regenerative resistor, the resistor should connect to P, C terminal and the contact of P, D terminal should be opened. It is recommended to choose the above mentioned capacitance. For easy calculation of regenerative resistor capacity, except the energy consumed by IGBT, two ways are provided to select the capacity of external regenerative resistor according to the selected linear motor or rotary motor.
(1) Regenerative Power Selection
(a) When the external load on torque does not exist
If the motor operates back and forth, the energy generated by the brake will go into the capacitance of DC bus. When the voltage of the capacitance exceeds a specific value, the redundant energy will be consumed by regenerative resistor. Two ways of selecting regenerative resistor are provided here. The table below provides the energy calculation method. Users can refer to it and calculate the selected regenerative resistor.
Servo Drive (kW)
Servo Motor
Regenerative
Rotor Inertia J (× 10-4kg.m2)
power from empty load 3000r/min to
stop
Eo (joule)
0.1 ECMA-C0401 0.037
0.18
0.2 ECMA-C0602 0.177
0.87
ECMA-C0604 0.277
1.37
0.4
ECMA-C0804
0.68
3.36
Low Inertia
0.75 ECMA-C0807
1.13
5.59
1.0 ECMA-C1010
2.65
13.1
1.0 ECMC-C0910
2.62
12.96
2.0 ECMC-C1020
4.45
22.0
3.0 ECMA-C1330
12.7
62.80
0.4 ECMA-E1305
8.17
40.40
Medium Inertia
1.0 ECMA-E1310
8.41
41.59
1.5 ECMA-E1315 11.18
55.28
ECMA-E1320 2.0 ECMA-E1820
14.59 34.68
72.15 171.50
Max. regenerative
power of capacitance
Ec(joule) 3 4 8 8 14 18 18 21 28 8 18 18
21
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Chapter 2 Installation
ASDA-B2
Servo Drive (kW)
Servo Motor
Regenerative
Rotor Inertia power from empty
J (× 10-4kg.m2)
load 3000r/min to stop
Eo (joule)
ECMA-E1830
54.95
217.73
Inertia
Medium-high Medium
3.0 ECMA-F1830
54.95
217.73
ECMA-E1835
54.95
217.73
1.0 ECMA-F1308
13.6
67.25
Inertia
2.0 ECMA-F1313
20.0
98.90
2.0 ECMA-F1318
24.9
123.13
3.0 ECMA-F1830
54.95
217.73
0.4 ECMA-G1303
8.17
40.40
Hig h Inertia
0.75 ECMA-G1306
8.41
41.59
1.0 ECMA-G1309 11.18
55.29
Max. regenerative
power of capacitance
Ec(joule) 28
28
28
18
21
21
28
8
14
18
Eo = J x wr2/182 (joule), Wr : r/min
Assume that the load inertia is N times to the motor inertia and the motor decelerates from 3000r/min to 0, its regenerative energy is (N+1) x Eo. The consumed regenerative resistor is (N+1) × Eo - Ec joule. If the cycle of back and forth operation is T sec, then the power of regenerative resistor it needs is 2× ((N+1) x Eo - Ec) / T.
Followings are the calculation procedure:
Step 1 2 3
Procedure
Set the capacity of regenerative resistor to the maximum
Set T cycle of back and forth operation
Set the rotational speed wr
Calculation and Setting Method Set P1-53 to the maximum value
Enter by the user Enter by the user or read via P0-02
4 Set the load/motor inertia ratio N Enter by the user or read via P0-02
5
Calculate the maximum regenerative energy Eo
Eo= J * wr2/182
6
Set the absorbable regenerative energy Ec
Refer to the above table
7
Calculate the needful capacitance of regenerative resistor
2 x ((N+1) xEo Ec) / T
Take 400W as the example, the cycle of back and forth operation is T = 0.4sec, the maximum speed is 3000r/min and the load inertia is 7 times to the motor inertia. Then, the needful power of regenerative resistor is 2 × ((7+1) ×1.68 8) / 0.4 = 27.2 W. If it is smaller than the built-in capacity of regenerative resistor, the built-in 60W regenerative
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ASDA-B2
Chapter 2 Installation
resistor will do. Generally speaking, when the need of the external load inertia is not much, the built-in regenerative is enough. The diagram below describes the actual operation. The smaller power of the regenerative resistor it is, the more energy it accumulates and the higher temperature it will be. When the temperature is higher than a specific value, ALE05 occurs.
(b) If the external load torque exists, the motor is in reverse rotation.
Usually, the motor is in forward rotation, which means the torque output direction of the motor is the same as the rotation direction. However, in some applications, the direction of torque output is different from the rotation. In this situation, the motor is in reverse rotation. The external energy goes into the servo drive through the motor. The diagram below is one example. When the external force direction is the same as the moving direction, the servo system has to use the force of the opposite direction to keep the speed and stability. Huge amount of energy will return to the servo drive at the moment. When DC-BUS is full and unable to store the regenerative energy, the energy will be leaded to regenerative resistor and consumed.
Motor Rotation Speed
External Load Torque Motor Output Torque
Reverse Rotation
Forward Rotation
Reverse Rotation
Forward Rotation
Negative torque: TL × Wr TL: external load torque
For safety reasons, please calculate it by considering the safest situation.
For example, when the external load torque is the +70% rated torque and the rotation reaches 3000 r/min, then take 400 W (the rated torque is 1.27 Nt-m) as the example, the user has to connect the regenerative resistor of 40, which is 2 × (0.7× 1.27) × (3000 × 2 × 60) = 560W.
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Chapter 2 Installation
ASDA-B2
(2) Simple Selection
Choose the appropriate regenerative resistor according to the allowable frequency and empty load frequency in actual operation. The so-called empty allowable frequency is the frequency of continuous operation when the servo motor runs from 0 r/min to the rated speed and then decelerates from the rated speed to 0 r/min within the shortest time. The following table lists the allowable frequency when the servo drive runs without load (times/min).
Allowable Frequencies for Servo Motor Running Without Load (times/min) When Using Built-in Regenerative Resistor
Motor Capacity 600W 750W 900W 1.0kW 1.5kW 2.0kW 2.0kW 3.0kW
ECMA Series
06
07
09
10
15
20
20
30
ECMAC
-
312
-
137
-
83
-
(F100)
ECMAE
-
-
24
10
-
42
32
11
(F130) (F180)
ECMAG
42
-
31
-
-
-
-
-
When the servo motor runs with load, the allowable frequency will be different according to different load inertia or speed. The following is the calculation method.
m represents load / motor inertia ratio.
2
Allowable fr equency =
Allowable frequency when servo motor run without load
Rated s peed
m+ 1
x Operating speed
times mi n.
The comparison table of external regenerative resistor is provided below. Please choose the appropriate regenerative resistor according to the allowable frequency.
The table below describes the suggested allowable frequency (times/min) of regenerative resistor when the servo drive runs without load.
Allowable Frequencies for Servo Motor Running Without Load (times/min) When Using External Regenerative Resistor
Motor Capacity 100W
Regenerative Resistor 01
200W 02
ECMAC
400W (F60)
400W (F80)
750W
04
04
07
1.0kW 10
200W 80
32793 6855 4380 1784 1074
458
400W 40
-
-
-
-
-
916
1kW 30
-
-
-
-
-
-
2.0kW
20 273 545 1363
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ASDA-B2
Chapter 2 Installation
Allowable Frequencies for Servo Motor Running Without Load (times/min)
When Using External Regenerative Resistor
Motor Capacity
ECMAE
0.5kW
1kW
1.5kW
2.0kW
2.0kW
Regenerative Resistor 05
1.0
15
20
20
3.0kW 30
200W 80
149
144
109
83
35
22
400W 40
-
289
217
166
70
44
1kW 30
-
-
-
416
175
110
Allowable Frequencies for Servo Motor Running Without Load (times/min) When Using External Regenerative Resistor
Motor Capacity Regenerative Resistor
0.3kW 03
ECMAG 0.6kW 06
0.9kW 09
200W 80
149
144
109
400W 40
-
-
217
If the regenerative resistor wattage is not enough, you can connect the same regenerative resistors in parallel to increase the power, but the resistance cannot be lower than the minimum allowable resistance specified in the manual after parallel connection.
Dimensions of Regenerative Resistor
Delta Part Number: BR400W040 (400 W 40 )
L1
L2
H
D
265
250
30
5.3
W
MAX. WEIGHT(g)
60
930
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Chapter 2 Installation
Delta Part Number: BR1K0W020 (1 kW 20 )
L1
L2
H
D
400
385
50
5.3
ASDA-B2
W
MAX. WEIGHT(g)
100
2800
Note: Regarding the selection of regenerative resistor, please refer to the table of regenerative resistor specifications described in Appendix A.
2-18
Chapter 3 Wiring
This chapter provides information on wiring ASDA-B2 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
3-1
Chapter 3 Wiring
ASDA-B2
Note:
Installation notes:
1. Check if the power and wiring among R, S, T and L1c, L2c are correct.
2. Please check if the output terminal U, V, W of the servo motor is correctly wired. The incorrect wiring may disable the operation of the motor or cause malfunction.
3. When applying to the external regenerative resistor, the contact between P and D should be opened and the external regenerative resistor should connect to terminal P and C. When applying to the internal regenerative resistor, the contact between P and D should be closed and the contact between P and C should be opened.
4. When an alarm occurs or the system is in emergency stop status, use ALARM or WARN to output and disconnect the power of magnetic contactor in order to disconnect the power of servo drive.
3.1.2 Servo Drive Connectors and Terminals
Terminal Signal
L1c, L2c R, S, T
U, V, W, FG ( )
P , D, C,
Name Control circuit terminal Main circuit terminal
Servo motor output
Regenerative resistor terminal or braking unit
Description
Used to connect single-phase AC control circuit power. (Control circuit uses the same voltage as the main circuit.)
Used to connect three-phase AC main circuit power depending on connecting servo drive model.
Used to connect servo motor
Terminal Wire Symbol Color
Description
U
Red
V
White
Connecting to three-phase motor main circuit cable.
W
Black
FG( )
Connecting to ground terminal Green
( ) of the servo drive.
Internal resistor
Ensure the circuit is closed between P and D, and the circuit is open between P and C.
External resistor
Connect regenerative resistor to P and C, and ensure an open circuit between P and D.
External braking unit
Connect braking unit to P and , and ensure an open circuit between P and D, and P and C.
(N terminal is built in L1c, L2c, , and R, S, T.)
P : Connecting to (+) terminal of V_BUS voltage.
: Connecting to (-) terminal of V_BUS voltage.
3-2
ASDA-B2
Chapter 3 Wiring
Terminal Signal
two places
Name Ground terminal
CN1 CN2 CN3 CN4
I/O connector
Encoder connector
Communication connector
Reserved connector
CN5
Analog voltage output terminal
Description
Used to connect grounding wire of power supply and servo motor.
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. Used to connect RS485 or RS-232. Please refer to section 3.5 for details.
Reserved
Used to monitor the operation status. The drive provides two channels, MON1 and MON2 to output the analog voltage data. Output voltage is reference to the power ground (GND).
Pay special attention to the followings when wiring: 1. When the power is cutoff, do not touch R, S, T and U, V, W since the
capacitance inside the servo drive still contains huge amount of electric charge. Wait until the charging light is off.
2. Separate R, S, T and U, V, W from the other wires. The interval should be at least 30 cm (11.8 inches).
3. If the wire of encoder CN2 connecter is not long enough, please use shielded twisted-pair cable which cannot exceed 20 meters (65.62 inches). If it exceeds 20 meters, please choose the bigger wire diameter of signal cable to ensure it will not cause signal fading.
4. When selecting the wire rod, please refer to Section 3.1.6.
3-3
Chapter 3 Wiring
ASDA-B2
3.1.3 Wiring Method
The wiring method is divided into single-phase and three-phase. Single-phase is for 1.5 kW and the model below 1.5 kW. In the diagram below, Power On is contact a, Power Off and ALRM_RY are contact b. MC is the coil of magnetic contactor and self-remaining power and is the contact of main power circuit.
Wiring Method of Single-phase Power Supply (suitable for 1.5 kW and models below 1.5 kW)
3-4
ASDA-B2
Wiring Method of Three-phase Power Supply (suitable for all series)
Chapter 3 Wiring
3-5
Chapter 3 Wiring
3.1.4 Specification of Motor Power Cable
ASDA-B2
Motor Model
ECMA-C0401S (100W) ECMA-C0602S (200W) ECMA-C0604S (400W) ECMA-C0604H (400W) ECMA-CM0604PS (400W) ECMA-C08047 (400W) ECMA-C0807S (750W) ECMA-C 0807H (750W) ECMA-CM0807PS (750W) ECMA-C0907S (750W) ECMA-C0910S (1000W)
ECMA-C0602S (200W) ECMA-C0604S (400W) ECMA-CM0604PS (400W) ECMA-C08047 (400W) ECMA-C0807S (750W) ECMA-C0907S (750W) ECMA-C0910S (1000W)
ECMA-G1303S (300W) ECMA-E1305S (500W) ECMA-G1306S (600W) ECMA-F1308S (850W) ECMA-G1309S (900W) ECMA-C1010S (1000W) ECMA-E1310S (1000W) ECMA-F1313S (1300W) ECMA-E1315S (1500W) ECMA-F1318S (1800W) ECMA-C1020S (2000W) ECMA-E1320S (2000W) ECMA-C13304 (3000W)
U, V, W / Connector of Brake HOUSING: JOWLE (C4201H00-2*2PA) HOUSING: JOWLE (C4201H00-2*3PA)
3106A-20-18S
Terminal Identification
A
B
C
3-6
ASDA-B2
Motor Model
U, V, W / Connector of Brake
Chapter 3 Wiring
Terminal Identification
ECMA-E1820S (2000W)
ECMA-E1830S (3000W)
ECMA-F1830S (3000W)
D
ECMA-E1835S (3500W)
3106A-24-11S
Terminal Identification
A B C D
U (Red)
1 1 F D
V (White)
2 2 I E
W (Black)
3 4 B F
CASE GROUND (Yellow green)
4 5 E G
BRAKE1 (Brown)
3 G A
BRAKE2 (Blue)
6 H B
When selecting the wire rod, please choose 600V PVC cable and the length should not longer than 30m. If the length exceeds 30m, please take the received voltage into consideration when selecting the wire size. Please refer to Section 3.1.6 for wire rod selection.
Note:
1. The coil of brake has no polarity. The names of terminal identification are BRAKE1 and BRAKE2.
2. The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.
3. () in servo motor model represents brake or keyway / oil seal. 4. () in servo motor model represents encoder type.
= 1: incremental, 20-bit; = 2: incremental, 17-bit; = M: magnetic.
3-7
Chapter 3 Wiring
3.1.5 Specification of Encoder Cable Connector
Encoder Connection (Diagram 1)
Servo Drive
*2
CN2 Connector
Quick Connector
*1
Connector of Encoder Cable
(Drive Side)
Connector of Encoder Cable
(Motor Side)
ASDA-B2
Note:
Servo Motor
This diagram shows the connection between the servo drive and the motor encoder. It is not drawn by the practical scale and specification will be different according to the selected servo drive and motor model. 1. Please refer to the Section of Specification and Definition of Encoder
Connector. 2. Please refer to section 3.4 CN2 Connector.
Motor Model
ECMA-C0401S (100W) ECMA-C0602S (200W) ECMA-C0604S (400W) ECMA-C0604H (400W) ECMA-CM0604PS (400W) ECMA-C08047 (400W) ECMA-C0807S (750W) ECMA-C 0807H (750W) ECMA-CM0807PS (750W) ECMA-C0907S (750W) ECMA-C0910S (1000W)
Connector of Encoder Cable
96 3 85 2 74 1
View from this side
View from this side
369 258 147
HOUSING AMP (1-172161-9)
3-8
ASDA-B2
Terminal Identification of Encoder Connector
Connector of Encoder Cable
Housing : AMP(1-172161-9)
Connector of Motor Encoder
Chapter 3 Wiring
Servo Drive CN2
View from this side
1
2
3
Blue
T+ Reserved Reserved
4
5
6
Blue/Black
T- Reserved Reserved
7
8
Red/Red & Black/Black
white
& white
DC+5V GND
9
Shield
View from this side
Motor Encoder
(Encoder type is 17bit , 20bit):
3
2
-
Reserved
6
5
-
Reserved
9
Shield
8
Blue
GND
1
White
T+
4
White/Red
T7
Brown
DC+5V
The wire color of the servo drive is for reference only. Please refer to the real object.
1
1
2
2
Motor Encoder
3
3
4
4
Servo Drive CN2
If not using housing and directly wire the cores, please follow the corresponding core number for wiring. For example, core number 1 from the servo drive CN2 should connect to core number 1 from the motor encoder; core number 2 from the servo drive CN2 should connect to core number 2 from the motor encoder and so on. Please number the cores from the servo drive in order and then connect it to the encoder.
3-9
Chapter 3 Wiring
Encoder Connection (Diagram 2)
Servo Drive
1 CN2 Connector
ASDA-B2
Military Connector
Connector of Encoder Cable
Note:
Servo Motor
This diagram shows the connection between the servo drive and the motor encoder. It is not drawn by the practical scale and specification will be different according to the selected servo drive and motor model. Please refer to section 3.4 CN2 Connector.
3-10
ASDA-B2
Chapter 3 Wiring
Motor Model
ECMA-G1303S (300W) ECMA-E1305S (500W) ECMA-G1306S (600W) ECMA-GM1306PS (600W) ECMA-F1308S (850W) ECMA-G1309S (900W) ECMA-GM1309PS (900W) ECMA-C1010S (1000W) ECMA-E1310S (1000W) ECMA-F1313S (1300W) ECMA-E1315S (1500W) ECMA-F1318S (1800W) ECMA-C1020S (2000W) ECMA-E 1320S (2000W) ECMA-E1820S (2000W) ECMA-C13304 (3000W) ECMA-E1830S (3000W) ECMA-F1830S (3000W) ECMA-E1835S (3500W)
Connector of Encoder Cable
Viethwisfrsoimde
B AM
C PNT L
D R
SK
E
J
FGH
3106A-20-29S Military Connector
Pin Terminal No. Identification
Color
A
T+
Blue
B
T -
Blue& Black
Red/ S DC+5V Red &
White
Black/
R
GND Black &
White
L
BRAID SHIELD
Please select shielded multi-core and the shielded cable should connect to the SHIELD end. Please refer to the description of Section 3.1.6.
Note:
1. () in servo motor model represents brake or keyway / oil seal. 2. () in servo motor model represents encoder type.
= 1: incremental, 20-bit; = 2: incremental, 17-bit; = M: magnetic.
3-11
Chapter 3 Wiring
ASDA-B2
3.1.6 Selection of Wiring Rod
The recommended wire rods are shown as the following table:
Servo Drive and corresponding Servo Motor
ASD-B2-0121- ECMA-C0401S ASD-B2-0221- ECMA-C0602S
ECMA-C0604S ECMA-C0604H ECMA-CM0604PS ASD-B2-0421- ECMA-C08047 ECMA-E1305S ECMA-G1303S ECMA-C0807S ECMA-C0807H ECMA-CM0807PS ASD-B2-0721- ECMA-C0907S ECMA-G1306S ECMA-GM1306PS ECMA-C0910S ECMA-C1010S ECMA-E1310S ASD-B2-1021- ECMA-F1308S ECMA-G1309S ECMA-GM1309PS ASD-B2-1521- ECMA-E1315S ECMA-C1020S ECMA-E1320S ASD-B2-2023- ECMA-E1820S ECMA-F1313S ECMA-F1318S ECMA-C13304 ECMA-E1830S ASD-B2-3023- ECMA-E1835S ECMA-F1830S
Power Wiring Wire Diameter mm² (AWG)
L1c, L2c
R, S, T
U, V, W
P ,C
1.3
2.1
(AWG16) (AWG14)
0.82 (AWG18)
2.1 (AWG14)
1.3
2.1
(AWG16) (AWG14)
1.3 (AWG16)
2.1 (AWG14)
1.3
2.1
(AWG16) (AWG14)
2.1 (AWG14)
2.1 (AWG14)
1.3
2.1
(AWG16) (AWG14)
3.3 (AWG12)
2.1 (AWG14)
3-12
ASDA-B2
Chapter 3 Wiring
Servo Drive Model
ASD-B2-0121- ASD-B2-0221- ASD-B2-0421- ASD-B2-0721- ASD-B2-1021- ASD-B2-1521- ASD-B2-2023- ASD-B2-3023-
Encoder Wiring - Wire Diameter mm2 (AWG)
Size
Number
Specification Standard Length
0.13 (AWG26) 10 core (4 pair)
UL2464
3m (9.84ft.)
Note:
1. Please use shielded twisted-pair cable for encoder wiring so as to reduce the interference of the noise.
2. The shield should connect to the phase of SHIELD.
3. Please follow the Selection of Wire Rod when wiring in order to avoid the danger it may occur.
4. () at the end of the servo drive model represents the model code of ASDA-B2. Please refer to the model information of the product you purchased.
5. () in servo motor model represents brake or keyway / oil seal. 6. () in servo motor model represents encoder type. = 1: incremental,
20-bit; = 2: incremental, 17-bit; = M: magnetic.
3-13
Chapter 3 Wiring
ASDA-B2
3.2 Basic Wiring
3.2.1 200 W (included) and Models Below (without built-in regenerative resistor and cooling fan)
Power 1-phase /3-phase
200~230V
Connect to external regenerative resistor
P
DC
Servo Drive
IPM Module
R
S
U
Servo Motor
T
V
M
W
Phase Loss Detection Rectifier Circuit
Regeneration Circuit
L1C L2C
CN1
External speed A/D
External torque
Position pulse Digital input
A,B,Z output Digital output
Serial Communication RS-232/RS-485
Battery
CN3 CN4
Control Power
±15V +5V +3.3V +24V
Protection Circuit
GATE DRIVE
Data Processing Unit
Display
MODE CHARGE
D/A
SHIFT SET
Encoder
CN2
CN5
Analog output monitor
3-14
ASDA-B2
Chapter 3 Wiring
3.2.2 400 W ~ 750 W Models (with built-in regenerative resistor, but without cooling fan)
Power 1-phase / 3-phase
200~230V
Connect to external regenerative resistor
P
DC
Servo Drive
IPM Module
R
S
U
Servo Motor
T
V
M
W
Phase Loss Detection Rectifier Circuit
Regeneration Circuit
L1C L2C
External speed
A/D
External torque
CN1
Position pulse Digital input
A,B,Z output Digital output
Serial communication RS-232/RS-485
Battery
CN3 CN4
Control Power
±15V +5V +3.3V +24V
Protection Circuit
GATE DRIVE
Data Processing Unit
Display
MODE CHARGE
D/A
SHIFT SET
Encoder
CN2
CN5
Analog output monitor
3-15
Chapter 3 Wiring
3.2.3 1 kW ~ 3 kW Models (with built-in regenerative resistor and cooling fan)
ASDA-B2
Power 1kW~1.5kW: 1-phase / 3-phase 200~230V
2kW~3kW: 3-phase 200~230V
R S T
Connect to external regenerative resistor
P
DC
Servo Drive IPM Module
Models above 1 kW
+12V
U
Servo Motor
V
M
W
Phase Loss Detection Rectifier Circuit Regenerative Circuit
L1C L2C
CN1
External speed A/D
External torque
Position pulse Digital input
A,B,Z output Digital output
Serial communication RS-232/RS-485
Battery
CN3 CN4
Control Power
±15V +5V +3.3V +24V
Protection Circuit
GATE DRIVE
Data Processing Unit
Display
MODE CHARGE
D/A
SHIFT SET
Encoder
CN2
CN5
Analog output monitor
3-16
ASDA-B2
Chapter 3 Wiring
3.3 I / O Signal (CN1) Connection
3.3.1 I/O Signal (CN1) Connector Terminal Layout
In order to have a more flexible communication with the master, 6 programmable Digital Outputs (DO) and 9 programmable Digital Inputs (DI) are provided. The setting of 9 digital inputs and 6 digital outputs of each axis provided by ASDA-B2, which are parameter P210~P2-17, P2-36 and parameter P2-18~P2-22, P2-37 respectively. In addition, the differential output encoder signal, A+, A-, B+, B-, Z+ and Z-, input of analog torque command, analog speed/position command and pulse position command are also provided. The followings are the pin diagrams.
Side View
Rear View
3-17
Chapter 3 Wiring
ASDA-B2
16 DO6+ Digital output
1
DO4+ Digital output
+24V power
31 DI7-
Digital input
17 VDD output (for
2
DO3- Digital output
external I/O)
32 DI6-
Digital input
Analog torque 18 T_REF
Input
3
DO3+ Digital output
33 DI5-
Digital input
Analog input 19 GND
signal ground
4
DO2- Digital output
34 DI3-
Digital input
Analog speed
20 V_REF
input (+)
Pulse applied
5
DO2+ Digital output
35 PULL HI
Encoder
power
21 OA
A pulse output
High-speed
6
DO1- Digital output
36 /HPULSE
Encoder
position pulse (-)
22 /OA
/A pulse output
7
DO1+ Digital output
37 /SIGN Position sign (-)
8
DI4-
Digital input
23 /OB 24 /OZ
Encoder /B pulse output
38 Encoder /Z pulse output
High-speed HPULSE
position pulse (+)
9
DI1-
Digital input
39 SIGN Position sign (+)
10 DI2-
Digital input
25 OB
Encoder B pulse output
40
High-speed /HSIGN
position sign (-)
26 DO4- Digital output
Power 11 COM+
input (12~24V)
41 /PULSE Pulse input (-)
27 DO5- Digital output
12 DI9-
Digital input
High-speed 42 HSIGN
position sign (+)
28 DO5+ Digital output
Encoder Z pulse
13 OZ
Line-driver output
Analog input 29 GND
signal ground
VDD(24V) power 14 COM-
ground 30 DI8-
Digital input
43 PULSE Pulse input (+)
Encoder Z pulse 44 OCZ Line-driver
output
15 DO6- Digital output
3-18
ASDA-B2
Chapter 3 Wiring
3.3.2 Signals Explanation of Connector CN1
The following details the signals listed in previous section: General Signals
Signal
Pin No
Function
V_REF Analog Command (input)
T_REF
(1) The speed command of the motor is -
10 V ~ +10 V which means the speed
command is -3000 ~ +3000 r/min
(default). It can change the
20
corresponding range via parameters.
(2) The position command of the motor is
-10 V ~ +10 V which means the
position command is -3 cycles ~ +3
cycles (default).
The torque command of the motor is -10 18 V ~ +10 V which means the rated torque
command of -100 % ~ +100 %.
Position Pulse (Input)
PULSE /PULSE
SIGN /SIGN PULL HI
Position pulse can be inputted by Line
Driver (single phase max. frequency
500KHz) or open-collector (single phase 43 max. frequency 200 KHz). Three kinds of 41 command type can be selected via P1-00,
39 CW pulse + CCW pulse, pulse + direction, 37 A pulse + B pulse. 35 When position pulse uses open-collector,
the terminal should be connected to an
external applied power in order to pull
high.
High position pulse command only
High- HPULSE 38 accepts differential input (+5V, Line-
speed /HPULSE 36 Drive). The max. input frequency is 4MHz.
Position
Three kinds of command type can be
Pulse HSIGN
42 selected via P1-00, CW pulse + CCW
Input /HSIGN 40 pulse, pulse + direction, A pulse + B
pulse.
OA
21
/OA
22
OB
Position Pulse
/OB
(Output) OZ
/OZ
25 Encoder signal output A, B, Z (Line Drive 23 output)
13 24
OCZ
44
Encoder signal output Z (Open-collector output).
Wiring Diagram (Refer to
3.3.3) C1
C1
C3/C4
C4-2
C13/C14 -
3-19
Chapter 3 Wiring
ASDA-B2
Signal VDD
Power
COM+ COM-
GND
Pin No
Function
VDD is the +24 V power provided by the
17
drive and is for Digital Input (DI) and Digital Output (DO) signal. The maximum
current is 500 mA.
COM+ is the common input of Digital Input (DI) and Digital Output (DO) voltage. When using VDD, VDD should be 11 connected to COM+. If not using, it needs 14 to apply the external power (+12 V ~ + 24 V). Its positive end should connect to COM+ and the negative end should connect to COM-.
19 VCC voltage is based on GND.
Wiring Diagram (Refer to
3.3.3)
-
There are numerous operation mode of this servo drive (please refer to Chapter 6.1). Each operation mode needs different I/O signal. In order to use the terminal in a more efficient way, the selection of I/O signal has to be programmable. That is to say, users can choose the desired DI/DO signal to meet the demand. Basically, the default setting of DI/DO signal has already have the appropriate function which can satisfy the demand of normal application.
3-20
ASDA-B2
Chapter 3 Wiring
Users have to select the operation mode based on the needs first (please refer to Chapter 6.1 for the introduction of each mode) and refer to the following DI/DO table to know the corresponding default setting of DI/DO signal and Pin No of the selected mode in order to conduct the wiring.
The table below lists the default setting of DI/DO signal function and pin No:
The explanation of DO signal default setting is as the followings.
DO Signal SRDY SON ZSPD TSPD TPOS TQL ALRM BRKR OLW WARN
S_CMP
Operation Pin No.
Mode
+ -
Details
Wiring Method (Refer to 3.3.3)
When the servo drive applies to the
ALL
7
6
power and no alarm (ALRM) occurs in control circuit and motor power circuit,
this DO is ON.
When the DI.SON is ON and the motor
N/A
- - servo circuit can operate smoothly, this
DO is ON.
When the motor speed is slower than
ALL
5 4 the setting value of parameter P1-38,
this DO is ON.
When the motor actual speed (r/min) is ALL - - faster than the setting value of
parameter P1-39, this DO is ON.
PT, PT-S, PT-T
When the deviation between the motor
1
26
command and actual position (PULSE) is smaller than the setting value of
parameter P1-54, this DO is ON.
ALL (except for T and Tz)
- When torque is limiting, this DO is ON. C5 / C6 / C7 / C8
When the alarm occurs (except
ALL
28
27
forward/reverse limit, emergency stop, communication error, under voltage),
this DO is ON.
ALL
- - Control contact of brake.
ALL
-
-
When the overload level is reached, this DO is ON.
A warning occurs.
When it is in the status of forward /
ALL
- - reverse limit, emergency stop,
communication error, under voltage,
this DO is ON.
S, Sz
When the deviation between the speed command and the feedback speed of - - the motor is smaller than the setting value of parameter P1-47, this DO is ON.
3-21
Chapter 3 Wiring
Note:
ASDA-B2
1. For example, if the user selects S mode, pin 3 and 2 are TSPD. 2. The unlisted Pin No means the signal is not the preset one. If users
want to use it, parameters need to be changed and set as the desired ones. Please refer to Section 3.3.4 for further details.
The explanation of DI signal default setting is as the followings
DI Operatio Pin Signal n Mode No.
Function
Wiring Method (Refer to 3.3.3)
SON
When DI is ON, the servo circuit will be ALL 9 activated and the motor coil will generate
current.
ARST ALL GAINUP ALL
When the alarm (ALRM) occurs, this signal
33 is used to reset the servo drive and output
the signal, Ready (SRDY) again. - It is for switching the controller gain.
C9 / C10 / C11 / C12
CCLR
PT 10 It is for clearing the deviation counter.
ZCLAMP ALL
When this DI is ON and the motor speed is
-
slower than the setting of P1-38, the motor position will be locked when the signal is
triggered.
CMDINV T, S
-
When this DI is ON, the motor will operate in the opposite direction.
TRQLM
S, Sz
10
ON means the torque limit command is effective.
SPDLM
T, Tz
10
ON means the speed limit command is effective.
STP
-
- Motor stops.
SPD0
34 Select the source of speed command:
S, Sz,
PT-S,
SPD1
S-T
8
SPD1 SPD0 Command source
OFF
S mode: analog OFF input
Sz mode: 0
OFF ON
P1-09
C9 / C10 / C11 / C12
ON OFF
P1-10
ON ON
P1-11
TCM0
PT, T, Tz, PT-T
34
Select the source of torque command:
3-22
ASDA-B2
Chapter 3 Wiring
DI Operatio Pin Signal n Mode No.
Function
Wiring Method (Refer to 3.3.3)
TCM1 TCM0 Command source
TCM1
S-T
8
OFF
T mode: analog OFF input
Tz mode: 0
OFF ON
P1-12
ON OFF
P1-13
ON ON
P1-14
S-P
PT-S 31 Mode switching. OFF: Speed; ON: Position
S-T
S-T 31 Mode switching. OFF: Speed; ON: Torque
T-P
PT-T 31 Mode switching. OFF: Torque; ON: Position
EMGS
ALL
30
It is contact B and has to be ON frequently; otherwise the alarm (ALRM) will occur.
NL (CWL)
PT, S, T, Sz, Tz
32
Reverse inhibit limit (contact B) and has to be ON frequently; or the alarm (ALRM) will occur.
PL (CCWL)
PT, S, T, Sz, Tz
31
Forward inhibit limit (contact B) and has to be ON frequently; or the alarm (ALRM) will occur.
TLLM
N/A
- Reverse operation torque limit
TRLM
N/A
- Forward operation torque limit
JOGU
ALL
-
When this DI is ON, the motor JOG operates in forward direction.
JOGD
ALL
-
When this DI is ON, the motor JOG operates in reverse direction.
GNUM0
PT, PTS
Electronic gear ratio (numerator) selection 0 - (Please refer to P2-60~P2-62 for gear ratio
selection (numerator).)
GNUM1
PT, PTS
Electronic gear ratio (numerator) selection 1 - (Please refer to P2-60~P2-62 for gear ratio
selection (numerator).)
INHP
PT, PTS
In position mode, when this DI is ON, the - external pulse input command is not
working.
C9 / C10 / C11 / C12
The default setting of DI and DO in each operation mode is shown as the followings. Please note that the following table neither detail the information as the previous one nor show the Pin number of each signal. However, each operation mode is separated in different columns in order to avoid the confusion.
3-23
Chapter 3 Wiring
ASDA-B2
Table 3.1 Default Value of DI Function
Symbol
DI Code
Function
PT S T Sz Tz PT-S PT-T S-T
SON 0x01 Servo On
DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
ARST 0x02 Alarm Reset
DI5 DI5 DI5 DI5 DI5
GAINUP 0x03 Gain switching
CCLR 0x04 Pulse clear
DI2
DI2 DI2
ZCLAMP 0x05 Zero speed CLAMP
The input command CMDINV 0x06 will be in reverse
direction
Reserved 0x07 Reserved
Reserved 0x08 Reserved
TRQLM 0x09 Torque limit
DI2
DI2
SPDLM 0x10 Speed limit
DI2
DI2
STP 0x46 Motor stop
SPD0
0x14
Speed command selection 0
DI3
DI3
DI3
DI3
SPD1
0x15
Speed command selection 1
DI4
DI4
DI4
DI4
TCM0
0x16
Torque command selection 0
DI3
DI3
DI3
DI3 DI5
TCM1
0x17
Torque command selection 1
DI4
DI4
DI4
DI4 DI6
Mode switch between
S-P 0x18 speed and position
DI7
command
Mode switch between
S-T 0x19 speed and torque
DI7
command
Mode switch between
T-P 0x20 torque and position
DI7
command
Reserved 0x2C Reserved
Reserved 0x2D Reserved
EMGS 0x21 Emergency stop
DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
NL(CWL) 0x22 Reverse inhibit limit DI6 DI6 DI6 DI6 DI6
PL(CCWL) 0x23 Forward inhibit limit DI7 DI7 DI7 DI7 DI7
Reserved 0x24 Reserved
3-24
ASDA-B2
Chapter 3 Wiring
Symbol
DI Code
Function
PT S
TLLM
0x25
Reverse operation torque limit
TRLM
0x26
Forward operation torque limit
Reserved 0x27 Reserved
Reserved 0x36 Reserved
JOGU 0x37 Forward JOG input
JOGD 0x38 Reverse JOG input
GNUM0
Electronic gear ratio 0x43 (Numerator) selection
0
GNUM1
Electronic gear ratio 0x44 (Numerator) selection
1
INHP 0x45 Pulse inhibit input
T Sz Tz PT-S PT-T S-T
Note:
For corresponding pin of DI1 ~ DI8, please refer to section 3.3.1.
3-25
Chapter 3 Wiring
ASDA-B2
Table 3.2 Default Value of DO Function
Signal
DO Code
Function
SRDY 0x01 Servo ready
SON
0x02 Servo On
ZSPD
0x03
Zero-speed reached
TSPD
0x04
Reach the target speed
TPOS
0x05
Reach the target position
TQL
0x06 Torque limit
ALRM 0x07 Servo alarm
BRKR 0x08 Brake
OLW
0x10
Early warning for overload
WARN 0x11 Servo warning
SNL(SCWL)
0x13
Reverse software limit
SPL(SCCWL)
0x14
Forward software limit
SP_OK
0x19
Target speed reached
PT S T Sz Tz PT-S PT-T S-T DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
DO3 DO3 DO3 DO3 DO3 DO3 DO3
DO4
DO4 DO4
DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO4 DO4 DO4 DO4
Note:
For corresponding pin DO1 ~ DO6, please refer to section 3.3.1.
3-26
ASDA-B2
Chapter 3 Wiring
3.3.3 Wiring Diagrams (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
+_ 10V
10k
Servo Drive
20 V-REF (18 T-REF )
Approx. 10k
19 GND
10k
SG
C2: Analog monitor output (MON1, MON2)
Servo Drive CN5
24k
Output +_ 8V Max. 1mA
MON1 1
8k
(MON2 3)
GND 2
8V full scale
SG
3-27
Chapter 3 Wiring
ASDA-B2
Pulse command can be input by the way of open-collector or Line driver. The maximum input pulse of Line driver is 500 kpps and 200 kpps for open-collector.
C3-1: The source of pulse input is open-collector NPN equipment which applies the internal power of the servo drive.
Controller
Servo Drive
VDD 17
DC24V
PULL_HI 35 2K
Approx. 2K
75
Max. input pulse frequency is 200Kpps
/SIGN 37
75
2K /PULSE 41
14 COM-
2K 75
Max. input pulse frequency is 200Kpps
75
SG
C3-2: The source of pulse input is open-collector PNP equipment which applies the internal power of the servo drive.
Controller
SG
VDD 17 PULSE 43
Servo Drive
DC24V
75
Max. input pulse frequency is 200Kpps
2K SIGN 39 PULL_HI 35
14
COM-
2K
75
Approx. 2K
75
Max. input pulse frequency is 200Kpps
75
Approx. 2K
3-28
ASDA-B2
Chapter 3 Wiring
C3-3: The source of pulse input is open-collector NPN equipment which applies the external power of the servo drive.
Controller
Servo Drive
PULL_HI 35
+ DC24V
-
2K
Approx. 2K
75
Max. input pulse frequency is 200Kpps
/SIGN 37
2K /PULSE 41
75
Approx. 2K
75
Max. input pulse frequency is 200Kpps
75
SG
C3-4: The source of pulse input is open-collector PNP equipment which applies the external power of the servo drive.
Controller
Servo Drive
+ - DC24V
PULSE 43
75
Max. input pulse frequency is 200Kpps
2K
75
SIGN 39
Approx.
SG
PULL_HI 35
2K 75
Max. input pulse frequency is 200Kpps
2K
75
Approx. 2K
Caution: Do not apply to dual power or it may damage the servo drive.
3-29
Chapter 3 Wiring
C4-1: Pulse input (Line driver) can only apply to 5V power. Never apply to 24V power.
Controller
Servo Drive
ASDA-B2
SIGN 39 /SIGN 37
PULSE 43 /PULSE 41
The max. input pulse frequency is
500Kpps 51
51
The max. input pulse frequency is
500Kpps 51
51
SG
C4-2: High-speed pulse input (Line driver) can only apply to 5V power. Never apply to 24V power.
Controller
Servo Drive
HSIGN 42 /HSIGN 40
2K 100
2K
HPULSE 38 /HPULSE 36
2K 100 2K
SG GND
19
GND
3-30
ASDA-B2
Chapter 3 Wiring
The high-speed pulse input interface of the servo drive is not the isolated interface. In order to reduce the interference of the noise, it is suggested that the terminal ground of the controller and the servo drive should be connected to each other.
When the drive connects to inductive load, the diode has to be installed. (The permissible current is under 40 mA; the surge current is under 100 mA; the maximum voltage is 30V.)
C5: Wiring of DO signal. The servo drive applies to the internal power and the resistor is general load.
C6: Wiring of DO signal. The servo drive applies to the internal power and the resistor is inductive load.
Servo Drive
Servo Drive
DC24V
DOX(DOX+,DOX-) X=1,2,3,4,5,6
DO1(7,6) DO2(5,4) DO3(3,2) DO4(1,26) DO5(28,27) DO6(16,15)
VDD 17
DOX+ DOX-
COM14
DC24V
DOX(DOX+,DOX-) X=1,2,3,4,5,6
VDD 17
Ensure the polarity (+, -) of Diode is correct or it may
damage the drive.
R
DO1(7,6)
DO2(5,4)
DO3(3,2)
DO4(1,26)
DO5(28,27)
DO6(16,15)
DOX+ DOX-
COM14
C7: Wiring of DO signal. The servo drive applies to the external power and the resistor is general load.
C8: Wiring of DO signal. The servo drive applies to the external power and the resistor is inductive load.
Servo Drive
DOX(DOX+,DOX-) X=1,2,3,4,5,6 DO1(7,6) DO2(5,4) DO3(3,2) DO4(1,26) DO5(28,27) DO6(16,15)
DC24V 50mA
Do not connect VDDand COM+
DOX+ DOX-
R DC24V
Servo Drive
DOX(DOX+,DOX-) X=1,2,3,4,5,6
DO1(7,6) DO2(5,4) DO3(3,2) DO4(1,26) DO5(28,27) DO6(16,15)
Do not connect VDDand COM+
Ensure the polarity (+, -) of Diode is correct or it may
damage the drive.
DOX+ DOX-
DC24V
3-31
Chapter 3 Wiring
The DI wiring inputs signal via the relay or open-collector transistor. Conditions of DI On / Off: ON: 15V - 24V; the input current is higher than 3 mA. OFF: below 5V; the input current must not be higher than 0.5 mA.
ASDA-B2
NPN transistor, common emitter (E) mode (SINK mode)
C9: Wiring of DI signal. The servo drive applies to C10: Wiring of DI signal. The servo drive
the internal power.
applies to the external power.
Servo Drive
Servo Drive
C B
E
DC24V
VDD COM+
Approx. 4.7K
Approx. 4.7K
DC24V
COM+
Approx. 4.7K
SON COM-
SON
PNP transistor, common emitter (E) mode (SOURCE mode)
C11: Wiring of DI signal. The servo drive applies C12: Wiring of DI signal. The servo drive applies
to the internal power.
to the external power.
Servo Drive
Servo Drive
VDD
DC24V
SON
SON
DC24V
E R B
C
Approx. 4.7K
COM+ COM-
Approx. 4.7K
COM+
Approx. 4.7K
Caution: Do not apply to dual power or it may damage the servo drive.
3-32
ASDA-B2
Chapter 3 Wiring
C13: Encoder signal output (Line driver)
Servo Drive
AM26CS31 Type OA 21
Max. output current is 20mA
Controller
/OA 22 OB 25
125
/OB 23 OZ 13
125
/OZ 24
125 SG
C14: Encoder signal output (Opto-isolator)
Servo Drive
AM26CS31 Type OA 21 /OA 22 OB 25 /OB 23 OZ 13 /OZ 24
Max. output current is 20mA
Controller
200
200
High speed photocoupler
200
High speed photocoupler
High speed photocoupler
SG
C15: Encoder OCZ output (Open-collector Z-pulse output)
24V
Servo Drive
Max. Spec: 30V 100mA
OCZ 44 GND 29
3-33
Chapter 3 Wiring
ASDA-B2
3.3.4 DI and DO Signal Specified by Users
If the default setting of DI/DO signal cannot satisfy the need, self-set the DI/DO signal will do and easy. The signal function of DI1 ~ 9 and DO1 ~ 6 is determined by parameter P2-10 ~ P2-17, P2-36 and parameter P2-18 ~ P2-22, P2-37 respectively. Please refer to Chapter 7.2, which shown as the following table. Enter DI or DO code in the corresponding parameter to setup DI/DO.
Signal Name DI1DI2DI3DI4-
DI DI5DI6DI7DI8DI9
Pin No. CN1-9 CN1-10 CN1-34 CN1-8 CN1-33 CN1-32 CN1-31 CN1-30 CN1-12
Parameter P2-10 P2-11 P2-12 P2-13 P2-14 P2-15 P2-16 P2-17 P2-36
Signal Name DO1+ DO1DO2+ DO2DO3+ DO3-
DO DO4+ DO4DO5+ DO5DO6+ DO6-
Pin No. CN1-7 CN1-6 CN1-5 CN1-4 CN1-3 CN1-2 CN1-1 CN1-26 CN1-28 CN1-27 CN1-16 CN1-15
Parameter P2-18 P2-19 P2-20 P2-21 P2-22 P2-37
3-34
ASDA-B2
3.4 CN2 Connector
Chapter 3 Wiring
There are two types of CN2 encoder cable which shown as below:
CN2 on drive side
CN2 Connector
Connect to the servo drive
Encoder Connector
Connect to the motor
Quick Connector
Definition of two sides: (1) Encoder Connector
Military Connector
(2) Motor Connector
View from this side
6789
12345
Rear view
Quick Connector
123 456 789
View from this side
View from this side
HOUSINGAMP (1-172161-9)
3 21 654 987
Military Connector
B AM
C PNT L
D R
SK
E
J
FGH
3106A-20-29S
3-35
Chapter 3 Wiring
ASDA-B2
The definition of each signal is as follows:
PIN No.
Drive Connector
Terminal Symbol
Description
Encoder Connector
Military
Quick
Connector Connector
Color
4
T+
Serial communication signal input / output (+)
A
1
Blue
5
T-
Serial communication signal input / output (-)
B
8
+5V
+5V power supply
S
7, 6
GND
Ground
R
Shell
Shielding
Shielding
L
4
Blue & Black
7
Red / Red & White
Black /
8
Black &
White
9
-
The shielding procedures of CN2 encoder connector are as followings:
(1) Solder the centre cores on the metal part of the connector adequately for good ground contact with the plate and shielding.
(2) Trim the ends of the cores and install the cores with shielding into the plastic case of the connector as shown in the figure.
(3) Tighten the screws to complete the shielding.
3-36
ASDA-B2
Chapter 3 Wiring
3.5 Wiring of CN3 Connector
Layout of CN3 Connector The servo drive connects to the personal computer via communication connector. The user can operate the servo drive via MODBUS, PLC or HMI. There are two common communication interfaces, RS-232 and RS-485. Among them, RS-232 is more common. Its communication distance is about 15 meter. If the user selects RS-485, its transmission distance is longer and supports more than one servo drives for connection.
CN3 Port (Female)
*1
*1
Reserved
*2
Side View
Please read carefully the following note. Improper wiring may Rear View cause damage or injury!
PIN No. 1 2 3 4
5 6
Signal Name
Grounding
RS-232 data transmission
-
RS-232 data receiving
RS-485 data transmission RS-485 data transmission
Terminal Symbol
Function and Description
GND RS-232_TX
RS-232_RX
RS-485(+) RS-485(-)
Grounding The drive transmits the data
The connector connects to RS-232 of PC Reserved The drive receives the data
The connector connects to RS-232 of PC The drive transmits the date to differential terminal (+)
The drive transmits the date to differential terminal (-)
Note:
1. Please refer to section 8.1 for RS-485 wiring. 2. Two kinds of communication wire of IEEE1394 are commercially available. One of the internal
ground terminals (Pin 1) will short circuit with the shielding and will damage the drive. Do not connect GND to the shielding.
3-37
Chapter 3 Wiring
ASDA-B2
3.6 Analog Monitor Output Connector - CN5
Analog Monitor Output Connector CN5 is used to monitor the motor operation status. Motor characteristics such as speed and current can be represented by analog voltages. The drive provides two channels which can be configured with the parameter P0-03 to output the desired characteristics. Output voltage is reference to the power ground (GND).
CN5 Terminal Layout and Identification
3
2
1
CN5
Signal Cable for CN5 Connector
1 2 3
20±5
PIN No. Signal Symbol
Function and Description
1
MON1 Monitor analog data 1
Color Red
Wiring Diagram
(Refer to 3.3.3)
2
GND
Ground
White
C2
3
MON2 Monitor analog data 2 Black
3-38
ASDA-B2
Chapter 3 Wiring
3.7 Standard Connection Example
3.7.1 Position (PT) Control Mode
MCCB
MC
AC 200/230 V
R
Three-phase
S
50/60Hz
T
Servo Drive ASDA-B2 series
Pulse input (Line Driver)1
±10V
10K
High-speed pulse input 2 (Line Receiver)
SON CCLR TCM0 TCM1 ARST CWL CCWL EMGS
0
SRDY 1.5K
24V
ZSPD 1.5K 1.5K
TPOS 1.5K
ALRM 1.5K
0
1.5K
A phase differential signal
Encoder pulse input
B phase differential signal
Z phase differential signal
L1c L2c
/SIGN SIGN /PULSE PULSE T-REF GND /HSIGN HSIGN
/HPULSE HPULSE
VDD COM+ COMDI1 DI2 DI3 DI4 DI5 DI6
DI7 DI8 DI9 DO1+ DO1DO2+ DO2DO3+ DO3DO4+ DO4DO5+ DO5DO6+ DO6OA /OA OB /OB OZ /OZ
CN1 37 39 41 43 18 19 40 42 36 38 17 11 14 9 10 34 8 33 32 31 30 12 7 6 5 4 3 2 1 26 28 27 16 15 21 22 25 23 13 24
10K 10K
DC 24V
5 K 5 K 5 K 5 K 5 K 5 K 5 K 5 K 5 K
3
Z phase signal (open-collector)
OCZ GND
44 19
Max. output current 3A Voltage 50V
P D C U V W
4
Red White Black Green
Regenerative resistor
Power supply
24V
EMGS BRKR 5
Brake
CN2
4
T+
5
T-
Reserved
-
Blue
Blue& Black
-
Reserved
-
-
8
+5V
Red/Red& White
SG
6,7
GND
Black/Black &White
CN3
6 RS485-
5 RS485+
4 RS232_RX
3
-
2 RS232_TX
1 GND
Encoder
Twisted-pair of twisted-shield
cable
CN5 1 MON1 2 GND 3 MON2
SG
10K 10K
Twisted-pair of twisted-shield
cable
Please note: *1. Please refer to C3 ~ C4 wiring diagrams
in section 3.3.3. *2. Please refer to C3 ~ C4 wiring diagrams
in section 3.3.3. *3. Please refer to C9 ~ C12 wiring
diagrams (SINK / SOURCE mode) in section 3.3.3. *4. Model that under 200W has no built-in regenerative resistor. *5. The brake coil has no polarity.
3-39
Chapter 3 Wiring
3.7.2 Speed Control Mode
MCCB
MC
AC 200/230 V
R
Three-phase
S
50/60Hz
T
Servo Drive ASDA-B2 series
±10V
10K
±10V
10K
L1c
L2c
CN1
10K
V/S_IRGENF 20 10K
SGINGDN 19 10K
T_REF GND
18 10K 19
SON TRQLM
SPD0 SPD1 ARST CWL CCWL EMGS
0
SRDY 1.5K
24V
ZSPD 1.5K TSPD 1.5K
BRKR 1.5K
ALRM 1.5K
0
1.5K
A phase differential signal
Encoder pulse output
B phase differential signal
Z phase differential signal
Z phase signal (open-collector)
DC 24V
VDD 17
COM+ 11
COM- 14
* 1
DI1
9
5 K
DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9
10
5 K
34
5 K
8
5 K
33
5 K
5 K
32
5 K
31 5 K
30
5 K
12
DO1+ 7
DO1-
6
DO2+ 5
DO2-
4
DO3+ 3
DO3-
2
DO4+ 1
DO4- 26
DO5+ 28
DO5- 27
DO6+ 16
DO6- 15
OA
21
/OA
22
OB
25
/OB
23
OZ
13
/OZ
24
OCZ GND
44 19
Max. output current 3A Voltage 50V
ASDA-B2
P D C U V W
2
Red White Black Green
Regenerative resistor
Power supply
24V EMGS BRK3R
Brake
CN2
4
T+
5
T-
Reserved
-
Blue
Blue& Black
-
Reserved
-
-
8 6,7
+5V
Red/Red& White
SG
GND
Black/Black &White
CN3
6 RS485-
5 RS485+
4 RS232_RX
3
-
2 RS232_TX
1 GND
Encoder
Twisted-pair or twisted-shield
cable
CN5 1 MON1 2 GND 3 MON2
SG
10K Twisted-pair or
10K
twisted-shield cable
Please note: *1. Please refer to C9 ~ C12 wiring
diagrams (SINK / SOURCE mode) in section 3.3.3. *2. The servo drive provides built-in regenerative resistor. *3. The brake coil has no polarity.
3-40
ASDA-B2
3.7.3 Torque Control Mode
MCCB
MC
AC 200/230 V
R
Three-phase
S
50/60Hz
T
Servo Drive ASDA-B2 series
±10V
10K
±10V
10K
L1c
L2c
CN1
10K
V/S_IRGENF 20 10K
SGINGDN 19 10K
T_REF GND
18 19 10K
SON SPDLM
TCM0 TCM1 ARST CWL CCWL EMGS
0
SRDY 1.5K
24V
ZSPD 1.5K TSPD 1.5K
BRKR 1.5K
ALRM 1.5K
0
1.5K
A phase differential signal
Encoder pulse output
B phase differential signal
Z phase differential signal
Z phase signal (open-collector)
DC 24V
VDD 17
COM+ 11
COM- 14
* 1
DI1
9
5 K
DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9
10
5 K
34
5 K
8
5 K
33
5 K
5 K
32
5 K
31 5 K
30
5 K
12
DO1+ 7
DO1-
6
DO2+ 5
DO2-
4
DO3+ 3
DO3-
2
DO4+ 1
DO4- 26
DO5+ 28
DO5- 27
DO6+ 16
DO6- 15
OA
21
/OA
22
OB
25
/OB
23
OZ
13
/OZ
24
OCZ GND
44 19
Max. output current 3A Voltage 50V
Chapter 3 Wiring
P D C U V W
2
Red White Black Green
Regenerative resistor
Power supply
24V EMGS BRK3R
Brake
CN2
4
T+
5
T-
Reserved
-
Blue
Blue& Black
-
Reserved
8 6,7 CN3
+5V GND
-
Red/Red& White
Black/Black &White
6 RS485-
5 RS485+
4 RS232_RX
3
-
2 RS232_TX
1 GND
Blue&Black
SG
Encoder
Twisted pair or twisted-shield
cable
CN5 1 MON1 2 GND 3 MON2
SG
10K 10K
Twisted pair or twisted-shield
cable
Please note: *1. Please refer to C9 ~ C12 wiring
diagrams (SINK / SOURCE mode) in section 3.3.3. *2. The servo drive provides built-in regenerative resistor. *3. The brake coil has no polarity.
3-41
Chapter 3 Wiring
(This page is intentionally left blank.)
ASDA-B2
3-42
Chapter 4 Panel Display and Operation
This chapter details the panel status and operation of ADSA-B2 series servo drive.
4.1 Panel Description
Name Display Charge LED MODE Key
SHIFT Key
UP and DOWN Key
SET Key
Function
Five-/Seven-segment display is for displaying the monitoring values, parameter values and setting values.
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 among Monitor mode, Parameter mode and Alarm 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. In monitor mode, pressing SET key can switch decimal or hexadecimal display. In parameter mode, pressing SET key can enter into parameter setting mode.
4-1
Chapter 4 Panel Display and Operation
4.2 Parameter Setting Procedure
ASDA-B2
(1) When the servo drive connects to the power, the display will show the monitor variable for about one second, and then enter into the Monitor Mode.
(2) Press the MODE Key can switch mode from Parameter Mode Monitor Mode Alarm Mode. If no alarm occurs, then the Alarm Mode will be skipped.
(3) When new alarm occurs, it will switch to Alarm Display Mode in any conditions. Pressing the MODE Key can switch to the other modes. If there is no Key to be selected for 20 seconds, it will return to the Alarm Mode automatically.
(4) In Monitor Mode, press UP or DOWN Key can switch the monitor variable. The monitor variable will be displayed for a second.
(5) In Parameter Mode, pressing the SHIFT Key can switch the group code. The UP/DOWN Key can change parameter code of two bytes.
(6) In Parameter Mode, press the SET Key, the system will immediately enter into Editing Setting Mode. The display will show the corresponded setting value of the parameter. The UP/DOWN Key can be used to change the parameter value or press the MODE Key to skip Editing Setting Mode and return to Parameter Mode.
(7) In Editing Setting Mode, pressing the SHIFT Key can move the blinking bit to the left. And use the UP/DOWN Key to adjust the higher setting byte value.
(8) After adjusting the setting value, press the SET Key. It can save the parameter or execute the command.
(9) After finish parameter setting, the display will show the end code SAVEDand return to the Parameter Mode automatically.
4-2
ASDA-B2
Chapter 4 Panel Display and Operation
4.3 Status Display
4.3.1 Save Setting Display
When finishing editing parameter, press the SET Key to save the setting. The panel will display the setting status according to the setting for a second.
Display Symbol
Description
The setting value is saved correctly. (Saved)
Read-only parameter. Write-protected. (Read-Only)
Enter the wrong password or no password has been entered. (Locked) Incorrect setting value or enter the reserved setting value. (Out of Range)
No entering is allowed when it is Servo ON. (Servo On)
Parameter will be effective after the servo drive is re-powered on. (Power On)
4.3.2 Decimal Point
Display Symbol
Description
High byte / low byte indication: When the data is displayed in decimal 32 bits, it is for indicating the current high or low byte.
Negative sign: When the data is displayed in decimal format, the two decimal points in the left represents the negative sign, no matter it is showed in 16 or 32 bits. When it is showed in hexadecimal format, it only shows positive sign.
4.3.3 Alarm Message
Display Symbol
Description
When there is an error of the drive, it will show `AL' as the alarm sign and `nnn' as the alarm code. For further explanation, please refer to Chapter 7, P0-01, parameter description, or Chapter 9, Troubleshooting.
4-3
Chapter 4 Panel Display and Operation
4.3.4 Positive and Negative Sign Setting
ASDA-B2
Display Symbol
Description
When entering into the Editing Setting Mode, pressing UP / DOWN Key can increase or decrease the displayed content. The SHIFT Key can change the desired adjusted carry value. (The carry value is blinking at the moment.)
Pressing the SHIFT Key for two seconds can switch the positive (+) and negative (-) sign. If the parameter is over the range after switching the positive or negative sign, then it cannot be switched.
4.3.5 Monitor Display
When the drive is applied to the power, the display will show the monitor displayed symbol for a second, and then enter into the Monitor Mode. In Monitor Mode, the UP / DOWN Key can change the desired monitor variable. Or, the user can directly change parameter P002 to set the monitor code. When the power is applied, it will display ASDB2 first. When the value of P0-02 is 4, it will display the pulse number of pulse command.
P0-02 Monitor Displayed
Setting
Symbol
Description
0
Motor feedback pulse number (after the scaling of electronic gear ratio) (User unit)
Input pulse number of pulse command
1
(after the scaling of electronic gear ratio)
(User unit)
The difference of error pulse number
2
between control command pulse and
feedback pulse number (User unit)
3
Motor feedback pulse number (encoder unit, 1600000 pulse/rev)
Input pulse number of pulse command
4
(before the scaling of electronic gear ratio)
(encoder unit)
5
Error pulse number (after the scaling of electronic gear ratio) (encoder unit)
Unit [user unit] [user unit] [user unit]
[pulse] [pulse] [pulse]
6
Input frequency of pulse command
[Kpps]
7
Motor speed
[r/min]
8
Speed input command
[Volt]
9
Speed input command
[r/min]
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ASDA-B2
Chapter 4 Panel Display and Operation
P0-02 Monitor Displayed
Setting
Symbol
Description
10
Torque input command
11
Torque input command
12
Average load
13
Peak load
14
Main circuit voltage
Load / Motor Inertia Ratio
15
(Please note that if the display is 130,
it indicates that the actual inertia is 13.0)
16
IGBT temperature
Resonance frequency (Low byte is the
17
first resonance and high byte is the
second one)
The absolute pulse number of encoder
18
Z phase equals to the homing value, 0. It will be +5000 or -5000 pulse when
rotating in forward or reverse direction.
Unit [Volt] [%] [%] [%] [Volt] [0.1times] [oC] [Hz]
-
The following table lists the display examples of monitor value:
Example of the Displayed Value
(Dec.) (Hex.)
16-bit
Status Description
If the value is 1234, it displays 01234 (shows in decimal format).
If the value is 0x1234, it displays 1234 (shows in hexadecimal format; the first digit does not show any).
(Dec. High) (Dec. Low) (Hex. High) (Hex. Low)
32-bit
If the value is 1234567890, the display of the high byte is 1234.5 and displays 67890 as the low byte (shows in decimal format).
If the value is 0x12345678, the display of the high byte is h1234 and displays L5678 as the low byte (shows in hexadecimal format).
Negative display. If the value is -12345, it displays 1.2.345 (only shows in decimal format; there is no positive or negative sign for hexadecimal format display).
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Chapter 4 Panel Display and Operation
ASDA-B2
Note:
1. Dec means it is displayed in decimal format. Hex means it is displayed in hexadecimal format.
2. The above display methods can be applied in Monitor Mode and Editing Setting Mode.
3. When all monitor variables is 32 bits, high / low bit and the display (Dec/Hex) can be switched. According to the definition in Chapter 7, each parameter only supports one displaying method and cannot be switched.
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ASDA-B2
Chapter 4 Panel Display and Operation
4.4 General Function
4.4.1 Operation of Fault Cord Display
When it is in Parameter Mode, select P4-00~P4-04 and press the SET Key, the corresponding fault record will be shown.
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Chapter 4 Panel Display and Operation
ASDA-B2
4.4.2 JOG Mode
When it is in Parameter Mode, select P4-05 and follow the setting method below for JOG operation.
(1) Press the SET Key to display the speed value of JOG. The default value is 20 r/min.
(2) Press UP or DOWN Key to adjust the desired speed value of JOG. It is adjusted to 100 r/min in the example.
(3) Press the SET Key to display JOG and enter JOG mode.
(4) When it is in JOG Mode, press UP or DOWN Key to enable the servo motor in forward or reverse direction. The servo motor stops running as soon as the user stops pressing the key. JOG operation is working only when it is Servo ON.
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ASDA-B2
Chapter 4 Panel Display and Operation
4.4.3 Force DO Output
Enter into the Output Diagnosis Mode by the following settings. Set P2-08 to 406 and enable the function of force DO output. Then, set the force DO output by binary method via P4-06. When the setting value is 2, DO2 will be forced to enable. When the setting value is 5, DO1 and DO3 will be forced to enable. No data is retained in this mode. It returns to the normal DO mode when re-power on the drive or set P2-08 to 400.
Note:
P4-06 is displayed in hexadecimal format. Therefore, it will not show the fifth 0.
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Chapter 4 Panel Display and Operation
ASDA-B2
4.4.4 Digital Input Diagnosis Operation
Enter into the Digital Input Diagnosis Mode by the following setting methods. When the external output signal DI1 ~ DI9 is ON, the corresponding signal will be shown on the panel. It is displayed by bit. When it shows bit, it means it is ON.
For example, if it shows 1E1, E is in hexadecimal format, it will be 1100 when it transfers to binary format. Then, DI6 ~ DI8 is ON.
(Hexadecimal Display)
4.4.5 Digital Output Diagnosis Operation
Enter into the Digital Output Diagnosis Mode by the following setting methods. The output signal DO1 ~ DO6 is ON and the corresponding signal will be shown on the panel. It is displayed by bit. When it shows bit, it means it is ON. For example, if it shows 3F, F is in hexadecimal format, it will be 1111 when it transfers to binary format. Then, DO1 ~ DO4 is ON.
(Hexadecimal Display)
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Chapter 5 Trial Operation and Tuning
This chapter is divided into two parts to describe the trial operation. The first one is the inspection without load and another one is the inspection with load. For safety reasons, please conduct the first inspection.
5.1 Inspection without Load
Please remove the load of the servo motor, including coupling on the shaft and accessories so as to avoid any damage on servo drive or mechanism. This is aiming to avoid the falling off of the disassembled parts of the motor shaft and indirectly causing the personnel injury or equipment damage during operation. Running the motor without load, if the servo motor can run during normal operation, then it can connect to load for operation.
Caution: Please operate the servo motor without load first. If the servo motor runs normally, connect the load afterwards in order to avoid any danger.
Please check the following items before operation.
Inspection before
operation
(has not applied to the power yet)
Check if there is any obvious damage shown on its appearance. The splicing parts of the wiring terminal should be isolated. Make sure the wiring is correct so as to avoid the damage or any abnormity. Check if the electric conductivity objects including sheet metal (such as screws) or inflammable objects are not inside the servo drive. Check if the control switch is in OFF status. Do not place the servo drive or external regenerative resistor on inflammable objects. To avoid the electromagnetic brake losing efficacy, please check if stop function and circuit break function can work normally. If the peripheral devices are interfered by the electronic instruments, please reduce electromagnetic interference with devices. Please make sure the external voltage level of the servo drive is correct.
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Chapter 5 Trial Operation and Tuning
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Inspection before running the servo
drive (has already applied
to the power)
The encoder cable should avoid excessive stress. When the motor is running, make sure the cable is not frayed or over extended. Please contact with Delta if there is any vibration of the servo motor or unusual noise during the operation. Make sure the setting of the parameters is correct. Different machinery has different characteristic, please adjust the parameter according to the characteristic of each machinery. Please reset the parameter when the servo drive is in SERVO OFF status, or it may cause malfunction. When the relay is operating, make sure it can work properly. Check if the power indicator and LED display works normally. PWM is used to control 7.5 kW. Thus, when the temperature is
lower than 40, the fan does not work.
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5.2 Applying Power to the Servo Drive
Chapter 5 Trial Operation and Tuning
Please follow the instructions below. A. Make sure the wiring between the motor and servo drive is correct.
(1) U, V, W and FG have to connect to cable red, white, black and green respectively. If the wiring is incorrect, the motor cannot work normally. The ground wire FG of the motor must be connected to the ground terminal of the servo drive. Please refer to Chapter 3.1 for wiring.
(2) The encoder cable of the motor has correctly connected to CN2: If users only desire to execute JOG function, it is unnecessary to connect CN1 and CN3 (Please refer to Chapter 5.3). Refer to Chapter 3.1 and 3.4 for the wiring of CN2.
Caution: Do not connect the power terminal (R, S, T) to the output terminal (U, V, W) of the servo drive. Or it might damage the servo drive.
B. Power circuit of the servo drive Apply power to the servo drive. Please refer to Chapter 3.1.3 for power wiring.
C. Power On Power of the servo drive: including control circuit (L1c, L2c) and main circuit (R, S, T) power. When the power is on, the display of the servo drive will be:
The digital input (DI6 ~ DI8) of the default value is the signal of reverse limit error (NL), forward limit error (PL) and emergency stop (EMGS), if not using the default setting of DI6 ~ DI8, adjusting the setting of P2-15 ~ P2-17 is a must. Parameters could be set to 0 (disable this DI function) or modified to another function.
From the last setting, the servo drive status displays parameter P0-02 setting as the motor speed (06), then the screen display will be:
If the screen displays no text, please check if the voltage of the control circuit terminal (L1c and L2c) is over low. (1) When the screen displays:
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Chapter 5 Trial Operation and Tuning
ASDA-B2
Warning of overvoltage:
It means the voltage input by the main circuit is higher than the rated voltage or power input error (incorrect power system).
Corrective actions: Use the voltmeter to measure if the input voltage from the main circuit is within
the range of rated voltage value. Use the voltmeter to measure if the power system complies with the
specification.
(2) When the screen displays:
Warning of encoder error: Check if the motor encoder is securely connected or the wiring is correct. Corrective actions: Check if the wiring is the same as the instruction of the user manual. Check the encoder connector. Check if the wiring is loose. Encoder is damaged.
(3) When the screen displays:
Warning of emergency stop: Please check if any of the digital input DI1 ~ DI9 is set to emergency stop (EMGS). Corrective actions: If not desire to set emergency stop (EMGS) as one of the digital input,
make sure no digital input is set to emergency stop (EMGS) among DI1 ~ DI9. (That is to say none of the parameters, P2-10 ~ P2-17 and P2-36 is set to 21.) If the function of emergency stop (EMGS) is needed and this DI is set as normally close (function code: 0x0021), please make sure this DI is always normally close. If not, please set this DI as normally open (function code: 0x0121).
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ASDA-B2
(4) When the screen displays:
Chapter 5 Trial Operation and Tuning
Warning of negative limit error: Please check if any of the digital input DI1 ~ DI9 is set to negative limit (NL) and that DI is ON.
Corrective actions:
If not desire to set negative limit (NL) as one of the digital input, make sure no digital input is set to negative limit (NL) among DI1 ~ DI9. (That is to say none of the parameters, P2-10 ~ P2-17 and P2-36 is set to 22.)
If the function of negative limit (NL) is needed and this DI is set as normally close (function code: 0x0022), please make sure this DI is always normally close. If not, please set this DI as normally open (function code: 0x0122).
(5) When the screen displays:
Warning of positive limit error: Please check if any of the digital input DI1~DI9 is set positive limit (PL) and that DI is ON. Corrective actions: If not desire to set positive limit (PL) as one of the digital input, make sure no
digital input is set to positive limit (PL) among DI1 ~ DI9. (That is to say none of the parameters, P2-10 ~ P2-17 and P2-36 is set to 23.) If the function of positive limit (PL) is needed and this DI is set as normally close (function code: 0x0023), please make sure this DI is always normally close. If not, please set this DI as normally open (function code: 0x0123).
(6) When the screen displays:
Warning of over current: Corrective actions: Check the connection between the motor and servo drive. Check if the conducting wire is short circuited. Exclude short circuit and avoid metal conductors being exposed.
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Chapter 5 Trial Operation and Tuning
(7) When the screen displays:
ASDA-B2
Warning of under voltage: Corrective actions: Check if the wiring of main circuit input voltage is correct. Use voltmeter to measure if the main circuit voltage is normal. Use voltmeter to measure if the power system complies with the specification.
Note: During the process of power on or servo on, if an alarm occurs or shows any abnormal display, please contact the distributors.
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5.3 JOG Trial Run without Load
Chapter 5 Trial Operation and Tuning
It is very convenient to test the motor and servo drive with the method of JOG trial run without load since the extra wiring is unnecessary. For safety reasons, it is recommended to set JOG at low speed. Please see the following descriptions.
STEP 1: Use software setting to Servo ON. Set parameter P2-30 to 1. This setting is to force the servo ON through software.
STEP 2: Set P4-05 as JOG speed (Unit: [r/min]). After setting the desired JOG speed, press the SET Key, the servo drive will enter JOG mode.
STEP 3: Press the MODE Key to exist JOG mode.
SET
Display the JOG speed. The default value is 20. Press UP/DOWN Key to adjust JOG speed.
Adjust to 100
SET
Display JOG and enter JOG mode.
JOG Mode
Motor runs in
Motor runs in
forward direction reverse direction
MODE
Exit
The definition of forward and reverse direction has nothing to do with the actual operation direction of the motor. Operation direction of the motor can be changed via P1-01.
Motor runs in forward direction
Speed 0
Motor runs in reverse direction
Motor stops
Press
Release Press
If the motor does not run, please check if the wiring between UVW and encoder cable is correct. If the motor run abnormally, please check if the UVW phase sequence is correct.
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Chapter 5 Trial Operation and Tuning
5.4 Trial Run without Load (Speed Mode)
ASDA-B2
Before the trial run without load, firmly secure the motor base so as to avoid the danger cause by the reaction of motor operation.
STEP 1:
Set the control mode of the servo drive to speed mode. Set P1-01 to 2. Then, re-power on the servo drive.
STEP 2:
In speed control mode, the digital input settings of trial run are as follows:
Digital Input
DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9
Parameter Setting Value P2-10 = 101 P2-11 = 109 P2-12 = 114 P2-13 = 115 P2-14 = 102
P2-15 = 0 P2-16 = 0 P2-17 = 0 P2-36 = 0
Symbol
Function Description
CN1 PIN No.
SON TRQLM SPD0 SPD1 ARST Disabled Disabled Disabled Disabled
Servo On Torque limit Speed command selection Speed command selection Alarm reset Invalid DI function Invalid DI function Invalid DI function Invalid DI function
DI1- = 9 DI2- = 10 DI3- = 34 DI4- = 8 DI5- = 33
-
The above table disables the function of negative limit (DI6), positive limit (DI7) and emergency stop (DI8). Thus, the value of parameter P2-15 ~ P2-17 and P2-36 is set to 0 (Disabled). The digital input of Delta's servo drive can be programmed by users. When programming digital input, please refer to the description of DI code.
The default setting includes the function of negative limit, positive limit and emergency stop, therefore, after the setting is completed, if there is any alarm occurs, please re-power on the servo drive or switch ON DI5 to clear the alarm. Please refer to Chapter 5.2.
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Chapter 5 Trial Operation and Tuning
The speed command selection is determined by SPD0 and SPD1. See the table below.
Speed
DI signal of CN1
Command No. SPD1 SPD0
S1
0
0
Command Source
External analog command
S2
0
1
S3
1
0 Register parameter
S4
1
1
Content
Voltage between V-REF and GND
P1-09 P1-10 P1-11
Range
-10V ~ +10V -50000 ~ 50000 -50000 ~ 50000 -50000 ~ 50000
0: means DI is OFF; 1: means DI is ON Register parameter The parameter setting range is from -50000 to 50000. Setting speed = Setting value x unit (0.1 r/min). For example: P1-09 = +30000; Setting speed = +30000 x 0.1 r/min = +3000 r/min
Command setting of speed register
P1-09 is set to 30000 P1-10 is set to 1000 P1-11 is set to -30000
Input command + -
Rotation direction CW CCW
STEP 3: (1) Users switch ON DI1 and Servo ON.
(2) Both DI3 (SPD0) and DI4 (SPD1), the speed command, are OFF, which means it currently executes S1 command. The motor rotates according to analog voltage command.
(3) When DI3 (SPD0) is ON, it means it currently executes S2 command (3000 r/min). The speed is 3000 r/min at the moment.
(4) When DI4 (SPD1) is ON, it means it currently executes S3 command (100 r/min). The speed is 100 r/min.
(5) When both DI3 (SPD0) and DI4 (SPD1) are ON, it means S4 command (-3000 r/min) is executed at the moment. The speed is -3000 r/min.
(6) Step (3), (4), and (5) can be repeatedly executed.
(7) If users desire to stop the motor, switch OFF DI1 (Servo OFF).
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Chapter 5 Trial Operation and Tuning
5.5 Tuning Procedure
ASDA-B2
Estimate the ratio of Load Inertia to Servo Motor Inertia: JOG Mode
Tuning Procedure 1. After completing wiring, when applying to the power, the servo
drive will display: 2. Press the MODE Key to select the mode of parameter function.
Display
3. Press the SHIFT Key twice to select the mode of parameter group.
4. Press the UP Key to select parameter P2-17.
5. Press the SET Key to display parameter value, which is shown as the content on the right.
6. Press the SHIFT Key twice, then press the UP Key and then press the SET Key.
7. Press the UP Key to select parameter P2-30.
8. Press the SET Key to display the parameter value.
9. Press the UP Key and select the parameter value 1.
10. Then, the servo drive is ON and will show:
11. Press the MODE Key and then press the DOWN Key for three times to select the value of inertia ratio.
12. The panel displays the current value of inertia ratio (default value).
13. Press the MODE Key to select the mode of parameter function.
14. Press the SHIFT Key twice to select the mode of parameter group.
15. Press the UP Key twice to select parameter P4-05.
16. Press the SET Key to show the content, which is 20 r/min at JOG speed. Press the UP or DOWN Key to increase or decrease the JOG speed. Press the SHIFT Key to move to the next digit of the left.
17. Set the desired JOG speed and press the SET Key which is shown as the figure on the right.
18. Press the UP Key to rotate the motor in forward direction while press the DOWN Key the motor will rotate in reverse direction.
19. Execute JOG operation at low speed first. With the constant speed, if the motor operates smoothly in forward and reverse direction, users can execute JOG operation at higher speed.
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Chapter 5 Trial Operation and Tuning
Tuning Procedure
Display
20. In P4-05, the servo drive cannot display inertia ratio. Please press the MODE Key twice to view the value of inertia ratio. If users desire to execute JOG operation again, press the MODE Key, and then press the SET Key twice. Observe the panel display to see if the load inertia ratio remains at the same value after acceleration and deceleration.
5.5.1 Flowchart of Tuning Procedure
Trial run without load is OK.
No
New model?
Yes
Exit the control of master. Use the servo drive to perform trial run and estimate the inertia ratio
Manual mode
Semi-auto mode
Auto mode
If the estimation of inertia ratio is incorrect, it cannot obtain the best performance of tuning.
Connect to the master. Pay attention to the wiring of CN1. Perform trial run
by P4-07 and P4-09.
Use the selected gain tuning mode to enhance the performance.
OK
Resonance can be suppressed by P2-23 and P2-24.
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Chapter 5 Trial Operation and Tuning
5.5.2 Inertia Estimation Flowchart (with Mechanism)
Turn Off the power of servo drive.
Connect the motor to the mechanism.
Turn On the power of servo drive.
Set P0-02 to 15. The panel will display inertia ratio.
Set P2-32 to 0 in manual mode.
Set P2-30 to 1.
Decrease the value of P2-00. Set the value of P2-06 and P2-00 to
the same.
Yes
No
Mechanical system vibrates?
Enter P4-05, JOG mode.
Set JOG speed at 20r/min.
Press the Up (forward) or Down (reverse) key to perform JOG.
If it operates
No
smoothly at
constant speed?
Yes
Increase JOG speed which is >200r/min.
Check the mechanism.
Alternately accelerate and decelerate the mechanical
system.
View the panel display to see if the inertia ratio remains the same after alternately accelerate and decelerate. Then, select the tuning method
according to the inertia ratio. Note: Users cannot view inertia ratio in JOG mode. Please press the MODE Key twice. If users desire to perform JOG operation, press the
MODE Key, and then press the SET Key twice.
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Chapter 5 Trial Operation and Tuning
5.5.3 Flowchart of Auto Tuning
Set P2-32 to 1 (auto mode, continuous tuning)
Continue to estimate the system inertia. Automatically save the value in P1-37 every 30 minutes and refer the stiffness and bandwidth setting of P2-31.
P2-31 Stiffness setting in auto tuning mode (The default value is 80)
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response
Stiffness setting in auto tuning mode: the bigger the value is, the stronger the stiffness will be.
Adjust the value of P2-31: Increase the value of P2-31 to increase stiffness or decrease to reduce the noise. Continue to tune until the performance is satisfied. Then, tuning is completed.
Servo off. Set P2-32 to 1. Then, Servo on.
Set P0-02 to 15. The panel will display inertia ratio.
Alternately accelerate and decelerate.
1. Decrease the value of P2-31 to reduce the noise. 2. If not decrease the value of P2-31, then adjust the value of P2-23 and P2-24 to suppress the resonance.
Yes
Any resonance?
No
Satisfactory Yes Tuning
performance?
completed.
No
High response No
is required?
Yes
Increase the value of P2-31 to increase the response and
stiffness.
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Chapter 5 Trial Operation and Tuning
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5.5.4 Flowchart of Semi-Auto Tuning
Set P2-32 to 2 (semi-auto mode, non-continuous tuning) After tuning for a while and wait until the system inertia is stable, it stops estimating. The estimated inertia ratio will be saved to P1-37. When switching mode from manual or auto to semi auto, the system starts tuning again. During the process of estimation, the system will refer the stiffness and bandwidth setting of P2-31.
P2-31 Response setting in auto mode (The default value is 80) In auto and semi-auto mode, the bandwidth setting of speed circuit is: 1 ~ 50 Hz: low-stiffness, low-response 51 ~ 250 Hz: medium-stiffness, medium-response 251 ~ 850 Hz: high-stiffness, high-response Response setting in semi-auto tuning mode: the bigger the value is, the better the response will be. Adjust the value of P2-31: Increase the value of P2-31 to increase the response or decrease to reduce the noise. Continue to tune until the performance is satisfied. Then, tuning is completed.
Servo off. Set P2-32 to 1. Then, Servo on again.
Set P0-02 to 15. The panel displays inertia ratio.
The servo drive issues the command of alternately
acceleration/deceleration.
1. Decrease the value of P2-31 to reduce the noise. 2. If not desire to decrease the value of P231, the value of P2-23 and P2-24 can be used to suppress the resonance as well.
Yes
Any resonance?
No
Note:
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The value of inertia ratio is
No
stable. Check if P2-33 bit0 is
1*.
Yes
Satisfactory performance?
Yes
Tuning completed.
No Increase the value of P2-31
to increase response and
stiffness.
1. When bit0 of P2-33 is set to 1, it means the inertia estimation in semi-auto mode is completed. The result can be accessed by P1-37.
2. If the value of P2-33 bit 0 is cleared to 0, the system will start to estimate again.
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Chapter 5 Trial Operation and Tuning
5.5.5 Limit of Inertia Ratio
Acceleration / Deceleration time of reaching 2000 r/min should be less than 1 second. The speed in forward and reverse direction should be higher than 200 r/min. The load inertia should be under 100 times of motor inertia. The change of external force of inertia ratio cannot be too severe.
In auto mode, the inertia value will be saved to P1-37 every 30 minutes; while in semi-auto mode, the inertia value will be saved to P1-37 only until the system inertia is stable and stops the estimation of load inertia.
Servo off. Set P2-32 to 2. Then, Servo on again.
Set P0-02 to 15. The panel displays inertia ratio*.
The servo drive issues the command of alternately acceleration/deceleration.
1. Decrease the value of P2-31 to reduce the noise. 2. If not desire to decrease the value of P231, value of P2-23 and P2-24 can be used to suppress the resonance as well.
Yes
Any resonance?
No
The inertia ratio shown on
No
the panel is stable.
Yes
Satisfactory No Increase the value of P2-31
performance
to increase response and
?
stiffness.
Yes
If the value of inertia ratio remains almost the same, then
servo off and set P2-32 to 0.
Yes
Tuning completed.
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Chapter 5 Trial Operation and Tuning
ASDA-B2
Motor alternately rotates in forward and reverse
direction.
Suppress resonance by P2-44 and P2-46.
NO
High-frequency resonance?
Motor alternately rotates in forward and reverse
direction.
YES
High-frequency resonance?
NO
YES
Note 2
NO
Set P2-47 to 1.
P2-47 is set to 0.
NO
Remains the value of
P2-43 and P2-45.
Set P2-44 to 32; Set P2-46 to 32.
Note 1.
YES
Repeatedly set
NO
P2-47 to 1 for
over 3 times.
No resonance?
YES
It is suggested to reduce the speed bandwidth.
YES Set P2-47 to 0.
Tuning completed
Note:
1. Parameter P2-44 and P2-46 are the setting value of resonance suppression. If the value has been set to the maximum (32dB), and still cannot suppress the resonance, please reduce the speed bandwidth. After setting P2-47, users can check the value of P2-44 and P2-46. If the value of P2-44 is not 0, it means the resonance frequency exists in the system. Then, users can access P2-43 to see the resonance frequency (Hz). When there is another resonance frequency, the information will be shown in P2-43 and P2-44 as well as P2-45 and p2-46.
2. If resonance still exists, repeatedly set P2-47 to 1 for 3 times and manually adjust the setting of resonance.
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Chapter 5 Trial Operation and Tuning
5.5.6 Mechanical Resonance Suppression Method
Three groups of Notch filter are provided to suppress mechanical resonance. Two of them can be set to the auto resonance suppression and manual adjustment.
The procedure of manually suppress the resonance is as the followings:
Use the analytic tool provided by PC Software to display the point of resonance.
The servo drive issues the command of alternately accelerate / decelerate.
Increase the value of P2-24.
YES High-frequency resonance?
Save the value of resonance frequency to P2-23 and set
P2-24 to 4.
NO NO No resonance?
YES
Tuning completed
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Chapter 5 Trial Operation and Tuning
5.5.7 Tuning Modes and Parameters
ASDA-B2
Tuning Mode
P2-32
Auto-Set Parameter
User-defined Parameter
Inertia Adjustment
0 Manual Mode (Default
setting)
P1-37 (Inertia ratio of the motor)
P2-00 (Position control gain)
P2-04 (Speed control gain)
N/A P2-06 (Speed integral compensation)
The value remains
P2-25 (Low-pass filter of resonance suppression)
P2-26 (Anti-interference gain)
Auto Mode (Continuous estimation)
P1-37
P2-00
1
P2-04 P2-06 P2-25
P2-31 Frequency response of speed loop setting in auto mode (response level)
Continuous tuning (update the inertia every
30 minutes)
P2-26
P2-49
Semi-Auto Mode (Noncontinuous estimation)
P1-37
P2-00
Non-continuous
P2-04 P2-31 Frequency response of
tuning (stop
2 P2-06
speed loop setting in semi-auto mode
updating the inertia after
P2-25
(response level)
operating for a
P2-26
while)
P2-49
When switching mode from auto mode 1 to manual mode 0, the value of P2-00, P2-04, P2-06, P2-25, P2-26, and P2-49 will be modified to the one in auto mode.
When switching mode from semi-auto mode 2 to manual mode 0, the value of P2-00, P2-04, P2-06, P2-25, P2-26, and P2-49 will be modified to the one in semi-auto mode.
5-18
ASDA-B2
Chapter 5 Trial Operation and Tuning
5.5.8 Tuning in Manual Mode
The selection of position / speed response frequency should be determined by the machinary stiffness and application. General speaking, the high-frequency machinary or the one requries precise processing needs the higher response frequency. However, it might easily cause the resonance. And the stronger stiffness machinary is needed to avoid the resonance. When using the unknown resonse frequency machinary, users could gradually increase the gain setting value to increase the resonse frequency. Then, decrease the gain setting value until the resonance exists. The followings are the related descriptions of gain adjustment.:
Position control gain (KPP, parameter P2-00)
This parameter determines the response of position loop. The bigger KPP value will cause the higher response frequency of position loop. And it will cause better following error, smaller position error, and shorter settling time. However, if the value is set too big, the machinery will vibrate or overshoot when positioning. The calculation of position loop frequency response is as the following:
Speed control gain (KVP, parameter P2-04)
This parameter determines the response of speed loop. The bigger KVP value will cause the higher response frequency of speed loop and better following error. However, if the value is set too big, it would easily cause machinery resonance. The response frequency of speed loop must be 4~6 times higher than the response frequency of position loop. Otherwise, the machinery might vibrate or overshoot when positioning. The calculation of speed loop frequency response is as the following:
JM: Motor Inertia
JL: Load Inertia
P1-37: 0.1 times
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real
speed loop frequency response will be:
=
K VP 2
H
z
Speed integral compensation (KVI, parameter P2-06)
The higher the KVI value is, the better capability of eliminating the deviation will be. However, if the value is set too big, it might easily cause the vibration of machinery. It is suggested to set the value as the following:
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Chapter 5 Trial Operation and Tuning
ASDA-B2
Low-pass filter of resonance suppression (NLP, parameter P2-25)
The high value of inertia ratio will reduce the frequency response of speed loop. Therefore, the KVP value must be increased to maintain the response frequency. During the process of increasing KVP value, it might cause machinary resonance. Please use this parameter to elimiate the noise of resonance. The bigger the value is, the better the capability of improving high-frequency noise will be. However, if the value is set too big, it would cause the unstability of speed loop and overshoot. It is suggested to set the value as the following:
Anti-interference gain (DST, parameter P2-26)
This parameter is used to strengthen the ability of resisting external force and gradually eliminate overshoot during acceleration / deceleration. Its default value is 0. It is suggested not to adjust the value in manual mode, unless it is for fine-tuning.
Position feed forward gain (PFG, parameter P2-02)
It can reduce the position error and shorten the settling time. However, if the value is set too big, it might cause overshoot. If the setting of e-gear ratio is bigger than 10, it might cause the noise as well.
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Chapter 6 Control Modes of Operation
6.1 Selection of Operation Mode
Three basic operation modes are provided in this servo drive, position, speed and torque. Users can use single mode (only in one-mode control) and dual mode to control. The following table lists all operation mode and description.
Mode Name Position mode (Terminal input)
Speed Mode
Speed mode Single (No analog input) Mode
Torque mode
Torque mode (No analog input)
Short Name
PT S
Sz
T
Tz
Setting Code
Description
The servo drive receives position command
00
and commands the motor to the target position. The position command is input via
terminal block and receives pulse signal.
The servo drive receives speed command
and commands the motor to the target
02
speed. The speed command can be issued by register (3 sets of registers in total) or the
external analog voltage (-10V ~ +10V). DI
signal is used to select the command source.
The servo drive receives speed command and commands the motor to the target speed. The speed command is issued by 04 register (3 sets of registers in total) and cannot be issued by the external terminal block. DI signal is used to select the command source.
The servo drive receives torque command
and commands the motor to the target
03
torque. The torque command can be issued by register (3 sets of registers in total) or the
external analog voltage (-10V ~ +10V). DI
signal is used to select the command source.
The servo drive receives torque command and commands the motor to the target torque. The torque command can be issued 05 by register (3 sets of registers in total) and cannot be issued by the external terminal block. DI signal is used to select the command source.
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Chapter 6 Control Modes of Operation
ASDA-B2
Mode Name Dual Mode
Short Name Setting Code
Description
PT-S PT-T S-T Reserved Reserved
06
Switch the mode of PT and S via DI signal.
07
Switch the mode of PT and T via DI signal.
0A
Switch the mode of S and T via DI signal.
0B
Reserved
0C
Reserved
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.
The following sections describe the operation of each control mode, including control structure, command source and loop gain adjustment, etc.
6-2
ASDA-B2
6.2 Position Mode
Chapter 6 Control Modes of Operation
Position mode is used in precise positioning applications, such as industrial machinery. The directional command pulse input can control the rotation angle of the motor with external pulses. The servo motor accepts pulse inputs up to 4 Mpps. In the position closed-loop system, speed mode is mainly used with the gain type position controller and forward compensation added externally. At the same time, like the Speed mode, two operating modes (manual and automatic) are provided for selection. This chapter introduces the processing of the gain type position controller, forward compensation, and position command.
6.2.1 Position Command in PT Mode
PT, position command is the pulse input from terminal block. There are three types of pulse and each type has positive / negative logic which can be set in parameter P1-00. See as the followings.
P1-00 PTT External Pulse Input Type
Operation Interface:
Panel/Software
Default: 0x2
Control Mode:
PT
Unit: -
Range: 0 ~ 1142
Data Size: 16-bit
Display Format:
Hexadecimal
Settings:
Communication
Address: 0100H 0101H
Related Section: Section 6.2.1
6-3
Chapter 6 Control Modes of Operation
ASDA-B2
Pulse Type 0: AB phase pulse (4x) 1: Clockwise (CW) and Counterclockwise (CCW) pulse 2: Pulse + symbol Other settings: reserved
Filter Width If the received frequency is much higher than the setting, it will be regarded as the noise and filtered out.
Setting Value
0 1 2 3 4
Minimum Pulse Width (Low-speed Filter Frequency *note 1) 600 ns (0.83 Mpps) 2.4 us (208 Kpps) 4.8 us (104 Kpps) 9.6 us (52 Kpps) No Filter Function
Setting Value
0 1 2 3 4
Minimum Pulse Width (High-speed Filter Frequency *note 1) 150 ns (3.33 Mpps) 600 ns (0.83 Mpps) 1.2 us (416 Kpps) 2.4 us (208 Kpps) No Filter Function
<150ns 150ns
Pulse Input
150ns<150ns
Pulse Input
filtered signal
filtered signal
When this pulse frequency is less than 150 ns, this signal will be regarded as a low-level pulse and two input pulses will be regarded as one input pulse.
When this pulse frequency is less than 150 ns, this signal will be regarded as a high-level pulse and two input pulses will be regarded as one input pulse.
>150 ns >150 ns
When the pulse frequencies of high-level duty and low-level duty both are greater than 150 ns, the signal will not be filtered (that is, the pulse command will pass through).
If the user uses 2 ~ 4 MHz input pulse, it is suggested to set the filter value to 4.
Note: When the signal is the high-speed pulse specification of 4 Mpps and the settings value of the filter is 4, then the pulse will not be filtered.
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ASDA-B2
Chapter 6 Control Modes of Operation
Logic Type
High-speed and Low-speed Pulse Input
Logic Pulse Type
Forward Rotation
Reverse Rotation
Pulse Phase Lead
Pulse Phase Lag
(43)
(43)
Pulse
TH
Pulse
TH
AB Phase
(41)
(41)
Positive Logic
Pulse
(39) Sign (37)
T1 T1 T1 T1 T1
(39) Sign (37)
T1 T1 T1 T1 T1 T1
0
(43)
Pulse
TH
Clockwise
(41)
and Counter- (39) clockwise Pulse Sign
(37)
T2 T2 T2 T2 T2 T2
T3
T2 T2 T2 T2 T2 T2
TH
Logic Pulse Type
High-speed Pulse Input
Forward Rotation
Reverse Rotation
Sign = high
Sign = low
Positive Logic
0
Pulse +
(43) Pulse
Symbol
(41)
(43)
TH
Pulse
(41)
TH
(39)
T4 T5 T6 T5 T6 T5 T4
(39)
T4 T5 T6 T5 T6 T5 T4
Sign
Sign
(37)
(37)
Logic Pulse Type
Low-speed Pulse Input
Forward Rotation
Reverse Rotation
Sign = low
Sign = high
Positive Logic
(43)
(43)
0
Pulse + Symbol
Pulse (41)
TH
Pulse
(41)
TH
(39) Sign (37)
T4 T5 T6 T5 T6 T5 T4
(39) Sign (37)
T4 T5 T6 T5 T6 T5 T4
Digital circuits use 0 and 1 to represent the high and low voltage levels. In positive logic, 1 represents high voltage and 0 represents low voltage; in negative logic, 1 represents low voltage and 0 represents high voltage.
For example:
Positive Logic
Negative Logic
6-5
Chapter 6 Control Modes of Operation
ASDA-B2
Max.
Min. time width
Pulse specification
input
frequency T1
T2
T3
T4
T5
T6
Highspeed pulse
Differential Signal
4 Mpps
62.5ns 125ns 250ns 200ns 125ns 125ns
Lowspeed pulse
Differential Signal
500 Kpps
0.5s
1s
2s
Open collector
200 Kpps 1.25s 2.5s
5s
2s 1s 1s 5s 2.5s 2.5s
Pulse specification
High-speed pulse
Low-speed pulse
Differential Signal
Differential Signal
Open collector
Max. input frequency
4 Mpps
500 Kpps 200 Kpps
Voltage specification
5V
Forward specification
< 25 mA
2.8V ~ 3.7V 24V (Max.)
< 25 mA < 25 mA
The Source of External Pulse: 0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN) 1: High-speed differential (CN1 Pin: HPULSE, HSIGN)
Position pulse can be input from these terminals, /PULSE (43), PULSE (41), HPULSE (38), /HPULSE (36), /SIGN (39), SIGN (37) and HSIGN (42), /HSIGN (40). It can be an open-collector circuit or line driver. Please refer to Chapter 3.10.1 for wiring method.
6.2.2 Control Structure of Position Mode
The basic control structure is as the following diagram:
Position Command
Position Command Processing
Position Control
Speed Loop
Current Loop
Motor
6-6
ASDA-B2
Chapter 6 Control Modes of Operation
For a better control, the pulse signal should be processed and modified through position command unit. Structure is shown as the diagram below.
Position Command Processing Unit
GNUM0, GNUM1
Pulse Signal
High speed Low speed
Pulse Type Selection
P1-00
INHIBIT
Counter
1st Numerator (P1-44) 2nd Numerator (P2-60) 3rd Numerator (P2-61) 4th Numerator (P2-62)
Denominator (P1-45)
Command Selection
P1-01
Moving Filter P1-68
Low-pass Filter P1-08
PT mode which is shown in the figure can be selected via P1-01. It can set E-gear ratio for the proper position resolution. Moreover, either S-curve filter or low-pass filter can be used to smooth the command. See the description in later parts.
Pulse Command Inhibit Input Function (INHP) Use DI to select INHP (Refer to P2-10~17, P2-36 and table 7.1 INHP (45)) before using this function. If not, this function will be unable to use. When DI (INHP) is ON, the pulse command will be cleared in position control mode and the motor will stop running.
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Chapter 6 Control Modes of Operation
6.2.3 Electronic Gear Ratio
ASDA-B2
Related parameters:
P1-44
GR1 Electronic Gear Ratio (Numerator) (N1)
Address: 0158H 0159H
Operation Interface:
Panel/Software
Default: 16
Communication
Related Section: Section 6.2.3
Control Mode:
PT
Unit: pulse Range: 1 ~ (226-1)
Data Size: 32-bit
Display Format:
Decimal
Settings: Please refer to P2-60 ~ P2-62 for the setting of multiple gear ratio (numerator).
Note: PT mode, the setting value can be changed when Servo ON.
P1-45
Address: 015AH GR2 Electronic Gear Ratio (Denominator) (M)
015BH
Operation Interface:
Panel/Software
Default: 10
Communication
Related Section: Section 6.2.3
Control Mode:
PT
Unit: pulse
Range: 1 ~ (231-1)
Data Size: 32-bit
Display Format:
Decimal
Settings: If the setting is wrong, the servo motor will easily have sudden unintended acceleration.
Please follow the rules for setting:
The setting of pulse input:
Pulse input
f1
Position
N command
N
f2 = f1 x
M
f2
M
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ASDA-B2
Chapter 6 Control Modes of Operation
Range of command pulse input: 1 / 50Nx / M25600 (x = 1, 2, 3, 4)
Electronic gear provides simple ratio change of travel distance. The high electronic gear ratio would cause the position command to be the stepped command. S-curve or lowpass filter can be used to improve the situation. When electronic gear ratio is set to 1, the motor will turn one cycle for every 10000PUU. When electronic gear ratio is changed to 0.5, then every two pulses from the command will be refer to one PUU of motor encoder.
For example, after setting the electronic gear ratio properly, the moving distance of the object is 1m/pulse, which is easier to use.
Gear Ratio
Electronic gear is unapplied.
Electronic gear is applied.
1 1
10000 3000
Moving distance of each pulse command
3 1000 3000 m 4 2500 10000
1m
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Chapter 6 Control Modes of Operation
6.2.4 Low-pass Filter
ASDA-B2
Related parameters:
P1-08
PFLT
Smooth Constant of Position Command (Low-pass Filter)
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
PT
Unit: 10 ms
Range: 0 ~ 1000
Data Size: 16-bit
Display Format:
Decimal
Example: 11 = 110 msec
Settings: 0: Disabled
Position
Tar get pos ition
Address: 0110H 0111H
Related Section: Section 6.2.4
PF LT
Time (ms)
6-10
ASDA-B2
6.2.5 Gain Adjustment of Position Loop
Chapter 6 Control Modes of Operation
Before setting the position control unit, users have to manually (P2-32) complete the setting of speed control unit since the speed loop is included in position loop. Then, set the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of position loop. Users also can use the auto mode to set the gain of speed and position control unit automatically. (1) Proportional gain: Increase the gain so as to enhance the response bandwidth of
position loop. (2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that fp fv .
4 fv: response bandwidth of speed loop (Hz).
KPP = 2 × × fp. fp: response bandwidth of position loop (Hz). For example, the desired position bandwidth is 20 Hz KPP = 2 × × 20= 125.
Related parameters:
P2-00
KPP Position Loop Gain
Address: 0200H 0201H
Operation Interface:
Panel/Software
Default: 35
Communication
Related Section: Section 6.2.5
Control Mode:
PT
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display Format:
Decimal
Settings: When the value of position loop gain is increased, the position response can be enhanced and the position error can be reduced. If the value is set too big, it may easily cause vibration and noise.
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Chapter 6 Control Modes of Operation
ASDA-B2
P2-02
PFG Position Feed Forward Gain
Address: 0204H 0205H
Operation Interface:
Panel/Software
Default: 50
Communication
Related Section: Section 6.2.5
Control Mode:
PT
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format:
Decimal
Settings: If the position command is changed smoothly, increasing the gain value can reduce the position error. If the position command is not changed smoothly, decreasing the gain value can tackle the problem of mechanical vibration.
Position Control
Position Command
Differentiator
Position Feed Forward Gain
P2-02
Smooth Constant of Position Feed Forward
Gain P2-03
+ -
Position Loop Gain P2-00
++
Switching Rate of Position Loop Gain P2-01
Gain Switching P2-27
+
Max. Speed Limit P1-55
Speed Command
Position Counter
Encoder
When the value of proportional gain, KPP is set too big, the response bandwidth of position loop will be increased and diminish the phase margin. And the motor rotor rotates vibrantly in forward and reverse direction at the moment. Thus, KPP has to be decreased until the rotor stops vibrating. When the external torque interrupts, the over-low KPP cannot meet the demand of position deviation. In this situation, parameter P2-02 can effectively reduce the position error.
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ASDA-B2
Chapter 6 Control Modes of Operation
6-13
Chapter 6 Control Modes of Operation
6.3 Speed Mode
ASDA-B2
Speed control mode (S or Sz) is applicable in precision speed control, such as CNC machine tools. This servo drive includes two types of command input, analog and register. Analog command input can use external voltage to control the motor speed. There are two methods in register input. One is used before operation. Users set different value of speed command in three registers, and then use SP0, SP1 of CN1 DI signal for switching. Another method is to change the value of register by communication. In order to deal with the problem of non-continuous speed command when switching register, a complete S-curve program is provided. In close-loop system, this servo drive adopts gain adjustment and integrated PI controller and two modes (manual and auto) for selection.
Users can set all parameters and all auto or auxiliary function will be disabled in manual mode. While in auto mode, it provides the function of load inertia estimation and parameter adjustment. In auto mode, parameters which set by users will be regarded as the default value.
6.3.1 Selection of Speed Mode
There are two types of speed command source, analog voltage and internal parameters. The selection is determined by CN1 DI signal. See as the followings.
Speed CN1 DI Signal Command SPD1 SPD0
Command Source
External
S analog
S1
0
0 Mode
signal
Sz N/A
S2
0
1
S3
1
0 Register parameter
S4
1
1
Content
Range
Voltage between V-REF-GND
+/-10V
Speed command is 0
P1-09
P1-10
P1-11
0
-50000 ~ 50000
-50000 ~ 50000
-50000 ~ 50000
Status of SPD0 ~ SPD1: 0 means DI OFF, 1 means DI ON. When both SPD0 and SPD1 are 0, if it is in Sz mode, the command will be 0.
Thus, if there is no need to use analog voltage as the speed command, Sz mode can be applied to tackle the problem of zero-drift. If it is in S mode, the command will be the voltage deviation between V-REF and GND. The range of
6-14
ASDA-B2
Chapter 6 Control Modes of Operation
input voltage is between -10V and +10V and its corresponding speed is adjustable (P1-40). When one of SPD0 and SPD1 is not 0, the speed command is from the internal parameter. The command is activated after changing the status of SPD0 ~ SPD1. There is no need to use CTRG for triggering. The setting range of internal parameters is between -50000 and 50000. Setting value = setting range x unit (0.1 r/min).
For example: P1-09 = +30000, setting value = +30000 x 0.1 r/min = +3000 r/min
The speed command not only can be issued in speed mode (S or Sz), but also in torque mode (T or Tz) as the speed limit.
6.3.2 Control Structure of Speed Mode
The basic control structure is shown as the following diagram:
Speed Command
Speed Command Processing
Speed Estimator
Speed control
Resonance Suppression
Torque Limit
Current Loop
Motor
The speed command unit is to select speed command source according to Section 6.3.1, including the scaling (P1-40) setting and S-curve setting. The speed control unit manages the gain parameters of the servo drive and calculates the current command for servo motor in time. The resonance suppression unit is to suppress the resonance of mechanism. Detailed descriptions are shown as the following:
6-15
Chapter 6 Control Modes of Operation
ASDA-B2
Here firstly introduces the function of speed command unit. Its structure is as the following diagram.
SPD0, SPD1 signal of CN1
Internal
parameter P1-09 ~P1-11
Proportion
Analog Command
A/D
Gain
Filter
Command Selection
P1-01
S-curve Filter P1-34, P1-35, P1-36
P1-40
P1-59
Low-pass Filter P1-06
Analog signal
The upper path is the command from register while the lower one is external analog command. The command is selected according to the status of SPD0, SPD1 and P1-01 (S or Sz). Usually, S-curve and low-pass filter are applied for having a smooth resonance of command.
6.3.3 Smoothing Speed Command
S-curve Filter During the process of acceleration or deceleration, S-curve filter applies the program of three-stage acceleration curve for smoothing the motion command, which generates the continuous acceleration. It is for avoiding the jerk (the differentiation of acceleration) came from the sudden command change and indirectly causes the resonance and noise. Users can use acceleration constant of S-curve (TACC) to adjust the slope changed by acceleration, deceleration constant of S-curve (TDEC) to adjust the slope changed by deceleration and acceleration / deceleration constant of S-curve (TSL) to improve the status of motor activation and stop. The calculation of the time to complete the command is provided.
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ASDA-B2
Chapter 6 Control Modes of Operation
Related parameters:
P1-34
TACC Acceleration Constant of S-Curve
Operation Interface:
Panel/Software
Default: 200
Control Mode:
S
Unit: ms
Communication
Address: 0144H 0145H
Related Section: Section 6.3.3
Range: 1 ~ 20000
Data Size: 16-bit
Display Format:
Decimal
Settings: The time that speed command accelerates from 0 to 3000 r/min.
P1-34, P1-35, and P1-36, the acceleration time of speed command from zero to the rated speed, all can be set individually.
Note: When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function.
P1-35
TDEC Deceleration Constant of S-Curve
Address: 0146H 0147H
Operation Interface:
Panel/Software
Default: 200
Communication
Related Section: Section 6.3.3
Control Mode:
S
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Display Format:
Decimal
Settings: The time that speed command decelerates from 3000 r/min to 0.
P1-34, P1-35, and P1-36, the deceleration time of speed command from the rated speed to zero, all can be set individually.
Note: When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function.
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Chapter 6 Control Modes of Operation
ASDA-B2
P1-36
TSL
Acceleration / Deceleration Constant of S-curve
Address: 0148H 0149H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: Section 6.3.3
Control Mode:
S
Unit: ms
Range: 0 ~ 10000 (0: Disabled)
Data Size: 16-bit
Display Format:
Decimal
Settings: Acceleration / Deceleration Constant of S-Curve:
Note:
P1-34: Set the acceleration time of acceleration / deceleration of trapezoid-curve
P1-35: Set the deceleration time of acceleration / deceleration of trapezoid-curve
P1-36: Set the smoothing time of S-curve acceleration and deceleration
P1-34, P1-35, and P1-36 can be set individually.
When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function.
Analog Speed Command Filter
Analog speed command filter is provided especially for ASDA-B2 series users.
It mainly helps with buffer when the analog input signal changes too fast.
Speed (rpm) 3000
Analog speed command
Motor Torque
0 -3000
1
2
3
4
5
6
7
8
9
Time (sec)
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ASDA-B2
Chapter 6 Control Modes of Operation
Analog speed command filter smooth the analog input command. Its time program is the same as S-curve filter in normal speed. Also, the speed curve and the acceleration curve are both continuous. The above is the diagram of analog speed command filter. The slope of speed command in acceleration and deceleration is different. Users could adjust the time setting (P1-34, P1-35, and P1-36) according to the actual situation to improve the performance.
Command End Low-pass Filter It is usually used to eliminate the unwanted high-frequency response or noise. It also can smooth the command.
Related parameters:
P1-06
SFLT
Analog Speed Command (Low-pass Filter)
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
S
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format:
Decimal
Settings: 0: Disabled
Target Speed
Address: 010CH 010DH
Related Section: Section 6.3.3
SFLT
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Chapter 6 Control Modes of Operation
6.3.4 The Scaling of Analog Command
ASDA-B2
The motor speed command is controlled by the analog voltage deviation between V_REF and VGND. Use parameter P1-40 to adjust the speed-control slope and its range.
5000rpm 3000rpm
The speed control ramp is determined by parameter P1-40
-10 -5
5 10 Analog Input Voltage (V)
-3000rpm
-5000rpm
Related parameters:
P1-40
Address: 0150H VCM Max. Speed of Analog Speed Command
0151H
Operation Interface:
Panel/Software
Default: rated speed
Communication
Related Section: Section 6.3.4
Control Mode:
S,
T
Unit: r/min
Range: 0 ~ 50000
Data Size: 32-bit
Display Format:
Decimal
Settings: Maximum Speed of Analog Speed Command:
In speed mode, the analog speed command inputs the swing speed setting of the max. voltage (10V).
For example, if the setting is 3000, when the external voltage input is 10V, it means the speed control command is 3000 r/min. If the external voltage input is 5V, then the speed control command is 1500 r/min.
6-20
ASDA-B2
6.3.5 Timing Diagram in Speed Mode
Chapter 6 Control Modes of Operation
Internal speed command
S4 (P1-11) S3 (P1-10) S2 (P1-09)
External analog
voltage or zero (0)
S1
External I/O signal
SPD0 SPD1 SON
OFF OFF ON
ON
OFF
ON
ON
N O T E (1) OFF means the contact point is open while ON means the contact point is close.
(2) When it is in Sz mode, the speed command S1 = 0; When it is in S mode, the speed command S1 is the external analog voltage input.
(3) When the servo drive is On, please select the command according to SPD0 ~ SPD1 status.
6.3.6 Gain Adjustment of Speed Loop
Here introduces the function of speed control unit. The following shows its structure.
Speed Control
Differentiator
+ -
Integrator
+ +
Speed Integral Compensation
P2-06
Speed Feed Forward Gain
P2-07
Speed Loop Gain P2-04
Switching Rate P2-05
+ +
Gain Switching P2-27
System Inertia J (1+P1-37)*JM
+
+
Inertia Ratio P1-37
Gain Switching P2-27
Current Command
Torque Constant Reciprocal 1/KT
Motor Inertia JM
Torque Command
Low-pass Filter P2-49
Speed Estimator
Encoder
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Chapter 6 Control Modes of Operation
ASDA-B2
Many kinds of gain in speed control unit are adjustable. Two ways, manual and auto, are provided for selection. Manual: All parameters are set by users and the auto or auxiliary function will be disabled
in this mode. Auto: General load inertia estimation is provided. It adjusts the parameter automatically.
Its framework is divided into PI auto gain adjustment and PDFF auto gain adjustment. Parameter P2-32 can be used to adjust the gain.
P2-32
AUT2 Tuning Mode Selection
Address: 0240H 0241H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: Section 5.6, Section 6.3.6
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Display Format:
Hexadecimal
Settings: 0: Manual Mode
1: Auto Mode (continuous adjustment)
2: Semi-auto Mode (non- continuous adjustment) Relevant description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such as P2-00, P2-02, P2-04, P2-06, P2-07, P2-25, and P2-26, all can be set by the user.
When switching mode from auto or semi-auto to manual, parameters about gain will be updated automatically.
Relevant description of auto mode setting:
Continue to estimate the system inertia, save the inertia ratio to P1-37 every 30 minutes automatically and refer to the stiffness and bandwidth setting of P2-31.
1. Set the system to manual mode 0 from auto 1 or semi-auto 2, the system will save the estimated inertia value to P1-37 automatically and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from manual mode 0, please set P1-37 to the appropriate value.
3. Set the system to manual mode 0 from auto mode 1, P2-00, P2-04, and P2-06 will be modified to the corresponding
6-22
ASDA-B2
Chapter 6 Control Modes of Operation
parameters of auto mode. 4. Set the system to manual mode 0 from semi-auto mode 2,
P2-00, P2-04, P2-06, P2-25, and P2-26 will be modified to the corresponding parameters of semi-auto mode.
Relevant description of semi-auto mode setting: 1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be saved to P1-37 automatically. When switching mode to semi-auto mode (from manual or auto mode), the system starts to estimate again. 2. When the system inertia is over the range, the value of P2-33 will be 0 and the system starts to estimate and adjust again.
Manual Mode When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral Compensation (P2-06) and Speed Feed Forward Gain (P2-07). Influence of each parameter is as the followings. Proportional gain: To increase proportional gain can enhance the response frequency of
speed loop. Integral gain: To increase the integral gain could increase the low-frequency stiffness of
speed loop, reduce the steady-state error and sacrifice the phase margin. The over high integral gain will cause the instability of the system. Feed forward gain: Diminish the deviation of phase delay.
Related parameters:
P2-04
KVP Speed Loop Gain
Address: 0208H 0209H
Operation Interface:
Panel/Software
Default: 500
Communication
Related Section: Section 6.3.6
Control Mode:
ALL
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Display Format:
Decimal
Settings: Increase the value of speed loop gain can enhance the speed response. However, if the value is set too big, it would easily cause resonance and noise.
6-23
Chapter 6 Control Modes of Operation
ASDA-B2
P2-06
KVI Speed Integral Compensation
Address: 020CH 020DH
Operation Interface:
Keypad/Software
Default: 100
Communication
Related Section: Section 6.3.6
Control Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Display Format:
Decimal
Settings: Increasing the value of speed integral compensation can enhance speed response and diminish the deviation of speed control. However, if the value is set too big, it would easily cause resonance and noise.
P2-07
KVF Speed Feed Forward Gain
Address: 020EH 020FH
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: Section 6.3.6
Control Mode:
ALL
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Display Format:
Decimal
Settings: When the speed control command runs smoothly, increasing the gain value can reduce the speed command error. If the command does not run smoothly, decreasing the gain value can reduce the mechanical vibration during operation.
6-24
ASDA-B2
Chapter 6 Control Modes of Operation
Theoretically, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed forward gain (KVF). Here, the frequency domain and time domain are used to illustrate the basic principle.
Frequency Domain
6-25
Chapter 6 Control Modes of Operation
Time Domain
ASDA-B2
The bigger KVP value cause higher bandwidth and shorten the rising time. However, if the value is set too big, the phase margin will be too small. To steady-state error, the result is not as good as KVI. But it helps to reduce the dynamic following error.
The bigger KVI value cause greater lowfrequency gain and shorten the time the steady-state error returns to zero. However, the phase margin will dramatically decrease as well. To steady-state error, it is very helpful but shows no benefit to dynamic following error.
If the KVF value closes to 1, the feed forward compensation will be more complete and the dynamic following error will become smaller. However, if the KVF value is set too big, it would cause vibration.
6-26
ASDA-B2
Chapter 6 Control Modes of Operation
Generally, instrument is needed when applying frequency domain for measurement. Users are required to adopt the measurement techniques; while time domain only needs a scope and goes with the analog input / output terminal provided by the servo drive. Thus, time domain is frequently used to adjust PI controller. The abilities of PI controller to deal with the resistance of torque load and the following command are the same. That is to say, the following command and resistance of torque load have the same performance in frequency domain and time domain. Users can reduce the bandwidth by setting the low-pass filter in command end.
Auto Mode Auto mode adopts adaptive principle. The servo drive automatically adjusts the parameters according to the external load. Since the adaptive principle takes longer time, it will be unsuitable if the load changes too fast. It would be better to wait until the load inertia is steady or changes slowly. Depending on the speed of signal input, the adaptive time will be different from one another.
Motor Speed
W
Inertia Measurement
J
6-27
Chapter 6 Control Modes of Operation
6.3.7 Resonance Suppression
ASDA-B2
When resonance occurs, it is probably because the stiffness of the control system is too strong or the response is too fast. Eliminating these two factors might improve the situation. In addition, low-pass filter (parameter P2-25) and notch filter (parameter P2-23 and P2-24) are provided to suppress the resonance if not changing the control parameters.
Related parameters:
P2-23
Address: 022EH NCF1 Resonance Suppression (Notch Filter) 1
022FH
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: Section 6.2.5
Control Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Display Format:
Decimal
Settings: The first setting value of resonance frequency. If P2-24 is set to 0, this function is disabled. P2-43 and P2-44 are the second Notch filter.
P2-24
DPH1
Resonance Suppression (Notch Filter) Attenuation Rate (1)
Address: 0230H 0231H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: Section 6.3.7
Control Mode:
ALL
Unit: dB
Range: 0 ~ 32 (0: Disabled)
Data Size: 16-bit
Display Format:
Decimal
Settings: The first resonance suppression (notch filter) attenuation rate. When this parameter is set to 0, the function of Notch filter is disabled.
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ASDA-B2
Chapter 6 Control Modes of Operation
P2-43
Address: 0256H NCF2 Resonance Suppression (Notch Filter) 2
0257H
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: Section 6.3.7
Control Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Display Format:
Decimal
Settings: The second setting value of resonance frequency. If P2-44 is set to 0, this function is disabled. P2-23 and P2-24 are the first Notch filter.
P2-44
DPH2
Resonance Suppression (Notch Filter) Attenuation Rate (2)
Address: 0258H 0259H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: Section 6.3.7
Control Mode:
ALL
Unit: dB (0: Disable the function of notch filter)
Range: 0 ~ 32
Data Size: 16-bit
Display Format:
Decimal
Settings: The second resonance suppression (notch filter) attenuation rate. When this parameter is set to 0, the function of Notch filter is disabled.
6-29
Chapter 6 Control Modes of Operation
ASDA-B2
P2-45
Address: 025AH NCF3 Resonance Suppression (Notch Filter) 3
025BH
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: Section 6.3.7
Control Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Display Format:
Decimal
Settings: The third group of mechanism resonance frequency setting value. If P2-46 is set to 0, this function will be disabled. P2-23 and P2-24 are the first group of resonance suppression (Notch filter).
P2-46
DPH3
Resonance Suppression (Notch Filter) Attenuation Rate (3)
Address: 025CH 025DH
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: Section 6.3.7
Control Mode:
ALL
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Display Format:
Decimal
Settings: The third group of resonance suppression (Notch filter) attenuation rate. Set the value to 0 to disable the function of Notch filter.
6-30
ASDA-B2
Chapter 6 Control Modes of Operation
P2-25
NLP
Low-pass Filter of Resonance Suppression
Address: 0232H 0233H
Operation Interface:
Keypad/Software
Communication
Default: 0.2 (1kW and below 2 (1kW and below
models) or 0.5
models) or 5 (other
(other models)
models)
Related Section: Section 6.3.7
Control Mode:
ALL
Unit: 1ms
0.1ms
Range: 0.0 ~ 100.0
0 ~ 1000
Data Size: 16-bit
Display Format:
One-digit
Decimal
Input Value Example:
1.5
=
1.5
ms
15 = 1.5 ms
Settings: Set the low-pass filter of resonance suppression. When the value is set to 0, the function of low-pass filter is disabled.
Differentiator
Feed Forward Gain P2-07
PI Controller P2-04, P2-06
Low-pass Filter P2-25
Speed Control
Notch Filter 1 P2-23, P2-24
Notch Filter 2 P2-43, P2-44
Notch Filter 3 P2-45, P2-46
Auto Resonance Suppression Mode Setting and Resonance Suppression Detection Level
P2-47, P2-48
Speed Estimator
Current Sensor
Current Controller
PWM
Torque Load
Motor
Encoder
There are two sets of auto resonance suppression, one is P2-43 and P2-44 and another one is P2-45 and P2-46. When the resonance occurs, set P2-47 to 1 or 2 (enable the function of resonance suppression), the servo drive searches the point of resonance frequency and suppresses the resonance automatically. Write the point of frequency into P2-43 and P2-45 and write the attenuation rate into P2-44 and P2-46. When P2-47 is set to 1, the system will set P2-47 to 0 (disable the function of auto suppression) automatically after completing resonance suppression and the system is stable for 20 minutes. When P2-47 is set to 2, the system will keep searching the point of resonance.
6-31
Chapter 6 Control Modes of Operation
ASDA-B2
When P2-47 is set to 1 or 2, but resonance still exists, please confirm the value of parameter P2-44 and P2-46. If one of them is 32, it is suggested to reduce the speed bandwidth first and then start to estimate again. If the value of both is smaller than 32 and resonance still exists, please set P2-47 to 0 first and then manually increase the value of P2-44 and P2-46. It is suggested to reduce the bandwidth if the resonance has not been improved. Then use the function of auto resonance suppression.
When manually increase the value of P2-44 and P2-46, please check if the value of both is bigger than 0. If yes, it means the frequency point of P2-43 and P2-45 is the one searched by auto resonance suppression. If the value of both is 0, it means the default, 1000 of P2-43 and P2-45 is not the one searched by auto resonance suppression. Deepen the resonance suppression attenuation rate might worsen the situation.
Current Value 0 0 1 1
1
2 2
2
Settings of P2-47
Desired Value
Function
1
Clear the setting value of P2-43 ~ P2-46 and enable auto resonance suppression function.
2
Clear the setting value of P2-43 ~ P2-46 and enable auto resonance suppression function.
0
Save the setting value of P2-43 ~ P2-46 and disable auto resonance suppression function.
1
Clear the setting value of P2-43 ~ P2-46 and enable auto resonance suppression function.
Do not clear the setting value of P2-43 ~ P2-46
2
and enable auto resonance suppression function
continuously.
0
Save the setting value of P2-43 ~ P2-46 and disable auto resonance suppression function.
1
Clear the setting value of P2-43 ~ P2-46 and enable auto resonance suppression function.
Do not clear the setting value of P2-43 ~ P2-46
2
and enable auto resonance suppression function
continuously.
6-32
ASDA-B2
Flowchart of auto resonance suppression:
Drive the machine by servo system
Check if vibration occurs
Yes
Set P2-47 = 1
Chapter 6 Control Modes of Operation No
Check if vibration
No
occurs
Yes
Decrease frequency response
No
Set P2-47 = 1 for
three time
Yes
Yes
P2-44 = 32
or P2-46 = 32
No
Set P2-47 = 0
If P2-44 >0, value of P2-44 should + 1 If P2-46 >0, value of P2-46 should + 1
No
Check if vibration
condition has improved
Yes
Check if vibration
Yes
occurs
No
Set P2-47 = 0
Complete
6-33
Chapter 6 Control Modes of Operation
ASDA-B2
Here illustrates the effect via low-pass filter (parameter P2-25). The following diagram is the system open-loop gain with resonance.
Gain
Frequency
When the value of P2-25 is increased from 0, BW becomes smaller (See as the following diagram). Although it solves the problem of resonance frequency, the response bandwidth and phase margin is reduced.
Gain
0dB
BW
Frequency
If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can directly eliminate the resonance. The frequency setting range of notch filter is merely from 50 to 1000 Hz. The suppression strength is from 0 to 32 dB. If the resonance frequency is not within the range, it is suggested to use low-pass filter (parameter P2-25).
Here firstly illustrates the influence brought by notch filter (P2-23 and P2-24) and low-pass filter (P2-25). The following diagrams are the system of open-loop gain with resonance.
Resonance suppression with notch filter
Gain
Resonance Point
Low-pass Frequency
Resonance Frequency .
Frequency
Gain 0db
Attenuation Rate P2-24
Notch Filter
Gain
Resonance Frequency
P2-23
Frequency
Resonance conditions is suppressed
Low-pass Frequency
Resonance Frequency .
Frequency
6-34
ASDA-B2
Chapter 6 Control Modes of Operation
Resonance suppression with low-pass filter
Gain
Resonance Point
Low-pass Frequency
Gain 0db
Attenuation Rate -3db
.
Low-pass Filter
Cut-off Frequency of Low-pass Filter = 10000 / P-2-25 Hz
Gain
Resonance Frequency
Frequency
Frequency
Resonance conditions is suppressed
Low-pass Frequency
Resonance Frequency .
Frequency
When the value of P2-25 is increased from 0, BW becomes smaller. Although it solves the problem of resonance frequency, the response bandwidth and phase margin is reduced. Also, the system becomes unstable.
If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can directly eliminate the resonance. In this case, notch filter will be more helpful than low-pass filter. However, if the resonance frequency drifts because of time or other factors, notch filter will not do.
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Chapter 6 Control Modes of Operation
6.4 Torque Mode
ASDA-B2
Torque control mode (T or Tz) is appropriate in torque control application, such as printing machine, winding machine, etc. There are two kinds of command source, analog input and register. Analog command input uses external voltage to control the torque of the motor while register uses the internal parameters (P1-12 ~ P1-14) as the torque command.
6.4.1 Selection of Torque Command
Torque command source are external analog voltage and parameters. It uses CN1 DI signal for selection. See as below.
DI signal of
Torque
CN1
Command
TCM1 TCM0
Command Source
Content
Range
T1
0
0
Mode
T
External analog Voltage between
signal
T-REF-GND
+/-10V
Tz
None
Torque command is 0 0
T2
0
1
P1-12
+/-300%
T3
1
0
Parameters
P1-13
+/-300%
T4
1
1
P1-14
+/-300%
The status of TCM0 ~ TCM1: 0 means DI OFF and 1 means DI ON.
When TCM0 = TCM1 = 0, if it is in Tz mode, then the command is 0. Thus, if there is no need to use analog voltage as torque command, Tz mode is applicable and can avoid the problem of zero drift. If it is in T mode, the command will be the voltage deviation between T-REF and GND. Its input voltage range is -10V ~ +10V, which mean the corresponding torque is adjustable (P1-41).
When neither TCM0 nor TCM1 is 0, parameters become the source of torque command. The command will be executed after TCM0 ~ TCM1 are changed. There is no need to use CTRG for triggering.
The torque command can be used in torque mode (T or Tz) and speed mode (S or Sz). When it is in speed mode, it can be regarded as the command input of torque limit.
6-36
ASDA-B2
6.4.2 Control Structure of Torque Mode
Chapter 6 Control Modes of Operation
The basic control structure is as the following diagram:
Torque Command
Torque Command Processing
Resonance
+
Suppression
-
Output Torque
Current Control
Motor
Current Sensor
The toque command unit is to select torque command source according to Section 6.4.1, including the scaling (P1-41) setting and S-curve setting. The current control unit manages the gain parameters of the servo drive and calculates the current for servo motor in time. Since the current control unit is very complicated, and is not relevant to the application. There is no need to adjust parameters. Only command end setting is provided.
The structure of torque command unit is as the following diagram.
Internal Parameter
P1-12 ~P1-14
Proportion
A/D
Gain
P1-41
Analog Signal
TCM0, TCM1 signal of CN1
Command Selection
P1-01
Low-pass Filter P1-07
The upper path is the command from register while the lower one is external analog command. The command is selected according to the status of TCM0, TCM1 and P1-01 (T or Tz). The torque represented by analog voltage command can be adjusted via the scaling and can obtain a smoother response via low-pass filter.
6-37
Chapter 6 Control Modes of Operation
6.4.3 Smooth Torque Mode
ASDA-B2
Related parameters:
P1-07
TFLT
Analog Torque Command (Low-pass Filter)
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
T
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format:
Decimal
Settings: 0: Disabled
Target Speed
Address: 010EH 010FH
Related Section: Section 6.4.3
TFLT
6.4.4 The Scaling of Analog Command
The motor torque command is controlled by the analog voltage deviation between T_REF and GND and goes with parameter P1-41 to adjust the torque slope and its range.
300% 100%
The torque control ramp is determined by parameter P1-41
Torque command
-10 -5
5 10 Analog Input Voltage (V)
6-38
-100% -300%
ASDA-B2
Chapter 6 Control Modes of Operation
Relevant parameters:
P1-41
Address: 0152H TCM Max. Output of Analog Torque Command
0153H
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: Section 6.4.4
Control Mode:
ALL
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display Format:
Decimal
Settings: Maximum Output of Analog Torque Command:
In torque mode, the analog torque command inputs the torque setting of the max. voltage (10V). When the default setting is 100, if the external voltage inputs 10V, it means the torque control command is 100% rated torque. If the external voltage inputs 5V, then the torque control command is 50% rated torque.
Torque control command = input voltage value x setting value / 10 (%)
In speed, PT and PR mode, the analog torque limit inputs the torque limit setting of the max. voltage (10V).
Torque limit command = input voltage value x setting value / 10 (%)
6-39
Chapter 6 Control Modes of Operation
6.4.5 Timing Diagram of Torque Mode
ASDA-B2
Internal speed command
External analog voltage or zero (0)
T4 (P1-14) T3 (P1-13) T2 (P1-12)
T1
External I/O signal
TCM0 TCM1 SON
OFF OFF ON
ON
OFF
ON
ON
Note:
(1) OFF means the contact point is open while ON means the contact point is close.
(2) When it is in Tz mode, the torque command T1 = 0; When it is in T mode, the torque command T1 is the external analog voltage input.
(3) When the servo drive is Servo On, please select the command according to TCM0 ~ TCM1 status.
6-40
ASDA-B2
6.5 Dual Modes
Chapter 6 Control Modes of Operation
Apart from single mode, dual mode is also provided for operation. According to Section 6.1, dual modes are as followings: (1) Speed / Position dual mode (PT-S) (2) Speed / Torque dual mode (S-T) (3) Torque / Position dual mode (PT-T)
Mode Name
Short Setting Name Code
Description
PT-S 06 PT and S can be switched via DI signal, S_P.
Dual Mode PT-T 07 PT and T can be switched via DI signal, T_P.
S-T 0A S and T can be switched via DI signal, S_T.
Sz and Tz dual mode is not provided here. For avoiding occupying too many digital inputs in dual mode, speed and torque mode can use external analog voltage as the command source so as to reduce digital input (SPD0, SPD1 or TCM0, TCM1). Please refer to Chapter 3.3.2, table 3.1, Default Value of DI Input Function and table 3.2, Default Value of DO Output Function for the default DI / DO of each mode.
The relationship between DI/DO signals and PIN define are set after the mode is selected. If users desire to change the setting, please refer to Chapter 3.3.4.
6.5.1 Speed / Position Dual Mode
The command source of PT-S mode is from external pulse. Speed command can be issued by the external analog voltage or internal parameters (P1-09 to P1-11). The switch of speed and position mode is controlled by the S-P signal. The timing diagram is shown as below:
6-41
Chapter 6 Control Modes of Operation
6.5.2 Speed / Torque Dual Mode
ASDA-B2
S-T is the only mode. The speed command comes from the external analog voltage and internal parameters (P1-09 ~ P1-11), which is selected via SPD0 ~ SPD1. Similarly, the source of torque command could be external analog voltage and internal parameters (P1-12 ~ P1-14) and is selected via TCM0 ~ TCM1. The switch of speed / torque mode is controlled by S-T signal. The timing diagram is shown as below.
In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and SPD 1. The motor operates according to the speed command. When S-T is ON, it goes back to the torque mode again. Please refer to the introduction of single mode for DI signal and the selected command of each mode.
6.5.3 Torque / Position Dual Mode
The command source of PT-T mode is from external pulse. Torque command can be issued by the external analog voltage or internal parameters (P1-12 to P1-14). The switch of torque and position mode is controlled by T-P signal. The timing diagram is shown as below:
\ 6-42
ASDA-B2
6.6 Others
6.6.1 The Use of Speed Limit
Chapter 6 Control Modes of Operation
The maximum speed in each mode is limited by internal parameters (P1-55), not matter it is in position, speed or torque mode.
The issuing method of speed limit command and speed command is the same. The command source could be external analog voltage or internal parameter (P1-09 ~ P1-11). Please refer to Section 6.3.1 for descriptions.
Speed limit can be used in torque mode (T) only. It is used for limiting the motor speed. When the command in torque mode is issued by external analog voltage, DI signal is enough and can be regarded as SPD0 ~ SPD1 which is used to determine the speed limit command (internal parameters). If the DI signal is not enough, speed limit command can be issued by analog voltage. When the function of disable/enable limit function in P1-02 is set to 1, the speed limit function is enabled. See the timing diagram as below.
Disable / Enable Speed Limit Function Settings in parameter P1-02 is set to 0
Disable / Enable Speed Limit Function Settings in parameter P1-02 is set to 1
SPD0~1 INVALID SPD0~1 VALID
Command Source Selection of Speed Limit
6.6.2 The Use of Torque Limit
The issuing method of torque limit command and torque command is the same. The command source could be external analog voltage or internal parameter (P1-12 ~ P1-14). Please refer to Chapter 6.4.1 for descriptions.
Torque limit can be used in position mode (PT) or speed mode (S). It is used for limiting the motor torque output. When the command in position mode is issued by external analog voltage, DI signal is enough and can be regarded as TCM0 ~ TCM1, which is used to determine torque limit command (internal parameters). If the DI signal is not enough, torque limit command can be issued by analog voltage. When the function of disable / enable torque limit function in P1-02 is set to 1, the torque limit function is enabled. See the timing diagram as below.
Disable / Enable Torque Limit Function Disable / Enable Torque Limit Function Settings in parameter P1-02 is set to 1 Settings in parameter P1-02 is set to 0
TCM0~1 INVALID
TCM0~1 VALID
Command Source Selection of Torque Limit
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Chapter 6 Control Modes of Operation
6.6.3 Analog Monitor
ASDA-B2
Users could observe the needed voltage signal via analog monitor. Two analog channels are provided by the servo drive and locate in terminal 1 and 3 of CN5. The related parameter settings are as the followings.
P0-03
MON Analog Monitor Output
Operation Interface:
Panel/Software
Default: 00
Control Mode:
ALL
Unit: -
Range: 00 ~ 77
Data Size: 16-bit
Display Format:
Hexadecimal
Settings:
Communication
Address: 0006H 0007H
Related Section: Section 6.6.3
MON2 MON1
Not used
MON1, MON2 Setting Value
0 1 2
3
4 5 6
Description
Motor speed (+/-8 Volts / Max. speed) Motor torque (+/-8 Volts / Max. torque) Pulse command frequency (+8 Volts / 4.5 Mpps) Speed command (+/-8 Volts / Max. speed command) Torque command (+/-8 Volts / Max. torque command) VBUS voltage (+/-8 Volts / 450V) Reserved
6-44
ASDA-B2
Chapter 6 Control Modes of Operation
Note: Please refer to parameter P1-04, P1-05 for proportional setting of analog output voltage.
For example: P0-03 = 01 (MON1 is the analog output of motor speed; MON2 is the analog output of motor torque (force))
MON1 output voltage =
8
×
Motor speed (Max. speed ×P11-0004)
(unitVolts)
MON2 output voltage =
8
×
(Max.
Motor torque torque (force) ×P11-0005)
(unit:
Volts)
P1-03
Address: 0106H AOUT Polarity Setting of Encoder Pulse Output
0107H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: Section 3.3.3
Control Mode:
ALL
Unit: -
Range: 0 ~ 13
Data Size: 16-bit
Display Format:
Hexadecimal
Settings
Polarity of monitor analog output
Polarity of encoder pulse output
Not in use
Polarity of monitor analog output 0: MON1 (+), MON2 (+) 1: MON1 (+), MON2 (-) 2: MON1 (-), MON2 (+) 3: MON1 (-), MON2 (-)
Polarity of encoder pulse output 0: Forward output 1: Reverse output
6-45
Chapter 6 Control Modes of Operation
ASDA-B2
P1-04
MON1
Analog Monitor Output Proportion 1 (MON1)
Address: 0108H 0109H
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: Section 6.4.4
Control Mode:
ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format:
Decimal
Settings: Please refer to parameter P0-03 for the setting of analog output selection.
Example: P0-03 = 01 (MON1 is motor speed analog output, MON2 is motor torque analog output)
MON1 output voltage= 8 ×
Motor speed
(Max. motor speed ×
P1-04
(unit: Volts)
)
100
MON2 output voltage= 8 ×
Motor toque
(Max. motor torque ×
P1-05
(unit: Volts)
)
100
P1-05
MON2
MON2 Analog Monitor Output Proportion 2
Address: 010AH 010BH
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: Section 6.4.4
Control Mode:
ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format:
Decimal
Settings: Please refer to parameter P0-03 for the setting of analog output selection.
Example: P0-03 = 01 (MON1 is motor speed analog output,
6-46
ASDA-B2
Chapter 6 Control Modes of Operation
MON2 is motor torque analog output)
MON1 output voltage= 8 ×
Motor speed
(Max. motor speed ×
P1-04
(unit: Volts)
)
100
MON2 output voltage= 8 ×
Motor toque
(Max. motor torque ×
P1-05 )
100
(unit: Volts)
P4-20
DOF1
Offset Adjustment Value of Analog Monitor Output (MON1)
Operation Interface:
Panel
/
Software
Communication
Default: Factory setting
Control Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display Decimal
Format:
Settings: Offset adjustment value (cannot reset)
Address: 0428H 0429H
Related Section: Section 6.4.4
P4-21
DOF2
Offset Adjustment Value of Analog Monitor Output (MON2)
Operation Interface:
Panel
/
Software
Communication
Default: 0
Control Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display Decimal
Format:
Settings: Offset adjustment value (cannot reset)
Address: 042AH 042BH
Related Section: Section 6.4.4
6-47
Chapter 6 Control Modes of Operation
ASDA-B2
For example, if users desire to observe the voltage signal in channel 1 and set this channel for observing the pulse command frequency, when the pulse command frequency 325 Kpps corresponds to 8V output voltage, users need to adjust the monitor output proportion of P1-04 to 50 (= 325 Kpps / Max. input frequency). Other related settings include P0-03 (X = 3) and P1-03 (The polarity setting range of monitor analog output is between 0 and 3, and it can set positive/negative polarity output). Generally speaking, the output voltage of Ch1 is V1; the pulse command frequency is (Max. input frequency × V1/8) × P1-04 / 100.
Because of the offset value, the zero voltage level of analog monitor output does not match to the zero point of the setting. This can be improved via the setting of offset adjustment value of analog monitor output, DOF1 (P4-20) and DOF2 (P4-21). The voltage level of analog monitor output is ±8V, if the output voltage exceeds the range, it will be limited within ±8V. The provided resolution is about 10 bits, which equals to 13 mV/LSB.
8V
DOF
-8V
6-48
ASDA-B2
Chapter 6 Control Modes of Operation
6.6.4 The Use of Brake
The gravity in the Z-axis direction will cause the mechnism to slide, thus the magnetic brake is often applied in the Z-axis direction to avoid the mechanism from falling down. Using the magnetic brake reduces the servo motor's continuous resistance. If the servo motor continues to output resistance, it generates a huge amount of heat which will shorten the lifespan of the servo motor. The magnetic brake must be operated after the servo motor is turned off in order to prevent mis-operation. The servo drive operates the magnetic brake by controlling the DO. If DO.BRKR is set to Off, the magnetic brake is not working and the motor is locked; if DO.BRKR is set to On, the magnetic brake is working and the motor can operate. You can set the relevant delay with register MBT1 (P1-42) and MBT2 (P1-43).
Timing diagram of the magnetic brake control:
SON (DI input)
BRKR (DO output)
OF F OF F
ON ON MBT1 (P1-42)
OF F OF F
MBT2 (P1-43)
ZSPD (P1-38) Motor speed
ZSPD (P1-38) Motor speed
The output timing of BRKR: 1. When Servo OFF, go through the time set by P1-43 and the motor speed is faster
than the setting in P1-38, DO.BRKR is OFF (the brake is locked). 2. When Servo Off, has not reached the time set by P1-43 but the motor speed is
slower than the setting in P1-38, DO.BRKR is OFF (the brake is locked.).
6-49
Chapter 6 Control Modes of Operation
ASDA-B2
The wiring diagram of using mechanical brake:
Servo Drive
DOX(DOX+,DOX-) X=1,2,3,4,5
DO1(7,6) DO2(5,4) DO3(3,2) DO4(1,26) DO5(28,27)
DOX+
DOX-
Do not connect VDD-COM+
Ensure the polarity of Diode is correct, or it might damage the drive
When emergency stop signal is activated, this circuit breaker will be enabled.
Brake 1(blue)
Motor
Brake
Relay
DC24V
for brake DC24V
Encoder
Brake 2(brown)
Note:
(1) Please refer to Chapter 3, Wiring.
(2) The brake signal controls the solenoid valve, provides power to the brake and enables the brake.
(3) Please note that there is no polarity in coil brake.
(4) Do not use brake power and control power (VDD) at the same time.
Timing diagram of control power and main power:
L1, L2 Control Circuit Power
5V 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)+ Response Filter Time of Digital Input (P2-09) Input available
6-50
Chapter 7 Parameters
7.1 Parameter Definition
Parameters are divided into five groups which are shown as follows. The first character after the start code P is the group character and the second character is the parameter character. As for the communication address, it is the combination of group number along with two digit number in hexadecimal. The definition of parameter groups is as the followings:
Group 0: Monitor parameters
(example: P0-xx)
Group 1: Basic parameters
(example: P1-xx)
Group 2: Extension parameters
(example: P2-xx)
Group 3: Communication parameters (example: P3-xx)
Group 4: Diagnosis parameters
(example: P4-xx)
Abbreviation of control modes: PT: Position control mode (command from external 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. () Setting is invalid when Servo On, such as P1-00, P1-46, and P2-33. () Not effective until re-power on or off the servo drive, such as P1-01 and P3-00. () Volatile parameters, such as P2-31 and P3-06.
7-1
Chapter 7 Parameters
ASDA-B2
7.2 Lists of Parameters
Monitor and General Output Parameter
Parameter Abbr.
Funciton
P0-00 P0-01 P0-02
VER Firmware Version
ALE
Alarm Code Display of Drive (Seven-segment Display)
STS Drive Status
Default
Unit
Control Mode Related PT S T Section
Factory Setting
N/A
O OO
-
11.1
N/A N/A O O O 11.2
11.3
00 N/A O O O 7.2
P0-03 MON Analog Output Monitor
01 N/A O O O
-
P0-08 TSON Servo On Time
0 Hour
-
P0-09 CM1 Status Monitor Register 1
N/A N/A O O O 4.3.5
P0-10 CM2 Status Monitor Register 2
N/A N/A O O O 4.3.5
P0-11 CM3 Status Monitor Register 3
N/A N/A O O O 4.3.5
P0-12 CM4 Status Monitor Register 4
N/A N/A O O O 4.3.5
P0-13 CM5 Status Monitor Register 5
N/A N/A O O O 4.3.5
P0-17
CM1A
Status Monitor Register 1 Selection
0
N/A
-
P0-18
CM2A
Status Monitor Register 2 Selection
0
N/A
-
P0-19
CM3A
Status Monitor Register 3 Selection
0
N/A
-
P0-20
CM4A
Status Monitor Register 4 Selection
0
N/A
-
P0-21
CM5A
Status Monitor Register 5 Selection
0
N/A
-
P0-46
SVSTS
Servo Digital Output Status Display
0
N/A O O O
-
P1-04
MON1
MON1 Analog Monitor Output Proportion
100
% (full scale)
O
O O
6.4.4
P1-05
MON2
MON2 Analog Monitor Output Proportion
100
% (full scale)
O
O O
6.4.4
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-2
ASDA-B2
Chapter 7 Parameters
Filter and Resonance Suppression
Parameter Abbr.
Function
P1-06 P1-07
P1-08
P1-34 P1-35 P1-36 P1-59
SFLT
Analog Speed Command (Low-pass Filter)
TFLT
Analog Torque Command (Low-pass Filter)
Smooth Constant of Position
PFLT Command
(Low-pass Filter)
TACC
Acceleration S-Curve
Constant of
TDEC
Deceleration S-Curve
Constant of
TSL
Acceleration / Deceleration Constant of S-Curve
MFLT Analog Speed Command
Default
Unit
Control Mode Related PT S T Section
0
ms
O
6.3.3
0
ms
O 6.4.3
0 10ms O
6.2.4
200 ms
O
6.3.3
200 ms
O
6.3.3
0
ms
O
6.3.3
0 0.1ms
O
-
P1-62 FRCL Friction Compensation
0
% O OO -
P1-63 FRCT Friction Compensation
0
ms O O O
-
P1-68 P2-23 P2-24 P2-43 P2-44 P2-45 P2-46 P2-47 P2-48 P2-25
PFLT2
Position Filter
Command
Moving
4
ms O
NCF1
Resonance suppression (Notch filter) (1)
1000 Hz O
DPH1
Resonance Suppression (Notch filter) Attenuation Rate (1)
0
dB O
NCF2
Resonance suppression (Notch filter) (2)
1000 Hz O
DPH2
Resonance Suppression (Notch filter) Attenuation Rate (2)
0
dB O
NCF3
Resonance suppression (Notch filter) (3)
1000 Hz O
DPH3
Resonance Suppression (Notch filter) Attenuation Rate (3)
0
dB O
ANCF
Auto Resonance Suppression Mode Setting
1
N/A O
ANCL
Resonance Suppression Detection Level
100 N/A O
NLP
Low-pass Filter of Resonance Suppression
2 or 5 0.1ms O
O O O O O O O O O O O O O O O O O O
6.3.7 6.3.7 6.3.7 6.3.7 6.3.7 6.3.7
6.3.7
P2-49 SJIT Speed Detection Filter
0 sec O O O -
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-3
Chapter 7 Parameters
ASDA-B2
Gain and Switch Parameter
Parameter Abbr.
Function
Default
Unit
Control Mode Related PT S T Section
P2-00 P2-01 P2-02 P2-03 P2-04 P2-05 P2-06
KPP Position Loop Gain
35
PPR
Switching Rate of Position Loop Gain
100
PFG Position Feed Forward Gain 50
PFF
Smooth Constant of Position Feed Forward Gain
5
KVP Speed Loop Gain
500
SPR
Switching Rate of Speed Loop Gain
100
KVI Speed Integral Compensation 100
rad/s O
6.2.5
% O
6.2.5
% O
6.2.5
ms O
-
rad/s O O O 6.3.6
% O OO -
rad/s O O O 6.3.6
P2-07 KVF Speed Feed Forward Gain
0
% O O O 6.3.6
P2-26 DST Anti-interference Gain
0 0.001 O O O -
P2-27
GCC
Gain Switching and Switching Selection
0
N/A O O O -
P2-28
GUT
Gain Switching Time Constant
10 10ms O O O -
P2-29 GPE Gain Switching
pulse 1280000 Kpps O O O -
r/min
P2-31
Speed Loop Frequency AUT1 Response Setting in Auto and 80
Semi-auto Mode
5.6 Hz O O O
6.3.6
P2-32 AUT2 Tuning Mode Selection
5.6
0
N/A O O O
6.3.6
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-4
ASDA-B2
Chapter 7 Parameters
Position Control Parameter
Parameter Abbr.
Function
P1-01
CTL
Input Setting of Control Mode and Control Command
P1-02
PSTL
Speed and Torque Limit Setting
P1-12 ~ P1-14
TQ1 ~ 3 Internal Torque Limit 1 ~ 3
P1-46
GR3
Pulse Number of Encoder Output
P1-55 MSPD Maximum Speed Setting
Default
0 0 100 2500 rated
Unit
Control Mode Related PT S T Section
pulse r/min O O O 6.1 N-M
N/A O O O 6.6
% O O O 6.4.1
pulse O O O r/min O O O -
P2-50 CCLR Pulse Clear Mode
0
N/A O
-
External Pulse Control Command (PT mode)
P1-00 PTT External Pulse Input Type
0x2 N/A O
6.2.1
P1-44 GR1 Gear Ratio (Numerator) (N1) 1 pulse O
6.2.3
P1-45 GR2 Gear Ratio (Denominator) (M) 1 pulse O
6.2.3
P2-60 GR4 Gear Ratio (Numerator) (N2) 1 pulse O
-
P2-61 GR5 Gear Ratio (Numerator) (N3) 1 pulse O
-
P2-62 GR6 Gear Ratio (Numerator) (N4) 1 pulse O
-
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-5
Chapter 7 Parameters
ASDA-B2
Speed Control Parameter
Parameter Abbr.
Function
Default
Unit
Control Mode Related PT S T Section
P1-01
CTL
Input Setting of Control Mode and Control Command
pulse 0 r/min O O O 6.1
N-M
P1-02
PSTL
Speed and Torque Limit Setting
0
N/A O O O 6.6
P1-46
GR3
Output Pulse Counts Per One Motor Revolution
1 pulse O O O
-
P1-55 MSPD Maximum Speed Limit
rated r/min O O O -
P1-09 ~ P1-11
SP1
~
3
Internal 3
Speed
Command
1
~
1000 ~ 3000
0.1 r/min
O O 6.3.1
P1-12 ~ P1-14
TQ1 ~ 3 Internal Torque Limit 1 ~ 3
100 % O O O 6.6.2
P1-40
VCM
Maximum Speed of Analog Speed Command
rated r/min
O O 6.3.4
P1-41
TCM
Maximum Output of Analog Torque Speed
100 % O O O -
P1-76
AMSPD
Maximum Rotation Setting Encoder Setting (OA, OB)
of
5500 r/min O O O
-
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-6
ASDA-B2
Chapter 7 Parameters
Torque Control Parameter
Parameter Abbr.
Function
Default
Unit
Control Mode Related PT S T Section
P1-01
CTL
Input Setting of Control Mode and Control Command
pulse 0 r/min O O O 6.1
N-M
P1-02
PSTL
Speed and Torque Limit Setting
0 N/A O O O 6.6
P1-46
GR3
Output Pulse Counts Per One Motor Revolution
1 pulse O O O
-
P1-55 MSPD Maximum Speed Limit
rated r/min O O O -
P1-09 ~ P1-11
SP1~3 Internal Speed Limit 1 ~ 3
1000 ~ 3000
r/min
O O 6.6.1
P1-12 ~ P1-14
TQ1~3
Internal Torque 1 ~ 3
Command
100 % O O O 6.4.1
P1-40
VCM
Maximum Speed of Analog Speed Command
rated r/min
OO -
P1-41
TCM
Maximum Output of Analog Torque Limit
100 % O O O 6.4.4
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-7
Chapter 7 Parameters
ASDA-B2
Planning of Digital Input / Output and Output Setting Parameter
Parameter Abbr.
Function
Default
Unit
Control Mode Related PT S T Section
P2-09 DRT DI Debouncing Time
2 2ms O O O -
P2-10 P2-11 P2-12 P2-13 P2-14 P2-15 P2-16 P2-17 P2-36 P2-18 P2-19 P2-20 P2-21 P2-22 P2-37 P1-38 P1-39
DI1 DI1 Functional Planning DI2 DI2 Functional Planning DI3 DI3 Functional Planning DI4 DI4 Functional Planning DI5 DI5 Functional Planning DI6 DI6 Functional Planning DI7 DI7 Functional Planning DI8 DI8 Functional Planning DI9 DI9 Functional Planning DO1 DO1 Functional Planning DO2 DO2 Functional Planning DO3 DO3 Functional Planning DO4 DO4 Functional Planning DO5 DO5 Functional Planning DO6 DO6 Functional Planning ZSPD Zero Speed Range Setting SSPD Target Motor Detection Level
101 104 116 117 102 22 23 21
0 101 103 109 105
7 7 100 3000
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
N/A O
0.1 r/min
O
r/min O
O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O
Table 7.1
Table 7.1
Table 7.1
Table 7.1
Table 7.1
Table 7.1
Table 7.1
Table 7.1
Table 7.1
Table 7.2
Table 7.2
Table 7.2
Table 7.2
Table 7.2
Table 7.2
Table
7.2
Table
7.2
P1-42 MBT1 Enable Delay Time of Brake
0
ms O O O 6.5.5
P1-43 MBT2 Disable Delay Time of Brake
0
ms O O O 6.5.5
P1-47 SCPD Speed Reached (DOSP_OK) 10 r/min
O
Table
Range
7.2
7-8
ASDA-B2
Chapter 7 Parameters
Planning of Digital Input / Output and Output Setting Parameter
Parameter Abbr.
Function
Default
Unit
Control Mode
Related Section
P1-54 PER Position Completed Range
12800 pulse O
Table 7.2
P1-56
OVW
Output Overload Warning Level
Table 120 % O O O
7.2
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-9
Chapter 7 Parameters
ASDA-B2
Communication Parameter
Parameter Abbr.
Function
Default
Unit
Control Mode Related PT S T Section
P3-00 ADR Address Setting
0x7F N/A O O O 8.2
P3-01 BRT Transmission Speed
0x0203 bps O O O 8.2
P3-02 PTL Communication Protocol
6 N/A O O O 8.2
P3-03 FLT Communication Error Disposal 0 N/A O O O 8.2
P3-04 CWD Communication Time Out
0 sec O O O 8.2
P3-05 CMM Communication Mechanism
0 N/A O O O 8.2
P3-06
SDI
Control Switch of Digital Input (DI)
0
N/A O O O 8.2
P3-07
CDT
Communication Response Delay Time
0 1ms O O O 8.2
P3-08 MNS Monitor Mode
0000 N/A O O O 8.2
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-10
ASDA-B2
Chapter 7 Parameters
Diagnosis Parameter
Parameter Abbr.
Function
P4-00 P4-01 P4-02 P4-03 P4-04
ASH1 Fault Record (N) ASH2 Fault Record (N-1) ASH3 Fault Record (N-2) ASH4 Fault Record (N-3) ASH5 Fault Record (N-4)
Default
Unit
Control Mode Related PT S T Section
0 N/A O O O 4.4.1
0 N/A O O O 4.4.1
0 N/A O O O 4.4.1
0 N/A O O O 4.4.1
0 N/A O O O 4.4.1
P4-05 JOG Servo Motor Jog Control
20 r/min O O O 4.4.2
P4-06 FOT Digital Output Register
0 N/A O O O 4.4.4
P4-07 ITST Multi-function of Digital Input
0
N/A
O
O O
4.4.5 8.2
P4-08 PKEY Input Status of the Drive Panel N/A N/A O O O -
P4-09 MOT Digital Output Status
N/A N/A O O O 4.4.6
P4-10 CEN Adjustment Selection
0 N/A O O O -
P4-11
SOF1
Analog Speed Input Offset Adjustment 1
Factory Setting
N/A
O
O O
-
P4-12
SOF2
Analog Speed Input Offset Adjustment 2
Factory Setting
N/A
O
O O
-
P4-14
TOF2
Analog Torque Input Offset Adjustment 1
Factory Setting
N/A
O
O O
-
P4-15
COF1
Analog Torque Input Offset Adjustment 2
Factory Setting
N/A
O
O O
-
P4-16
COF2
Current Detector (V1 Phase) Offset Adjustment
Factory Setting
N/A
O
O O
-
P4-17
COF3
Current Detector (V2 Phase) Offset Adjustment
Factory Setting
N/A
O
O O
-
P4-18
COF4
Current Detector (W1 Phase) Offset Adjustment
Factory Setting
N/A
O
O O
-
P4-19
TIGB
IGBT NTC Adjustment Detection Level
Factory Setting
N/A
O
O O
-
P4-20
DOF1
Offset Adjustment Value of Analog Monitor Output (MON1)
0
mV O O O 6.4.4
P4-21
DOF2
Offset Adjustment Value of Analog Monitor Output (MON2)
0
mV O O O 6.4.4
P4-22 SAO Analog Speed Input Offset
0 mV
O
-
P4-23 TAO Analog Torque Input Offset
0 mV
O -
() Read-only register, e.g. parameter P0-00, P0-10 and P4-00, etc. () Setting is invalid when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc. () Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and
P3-00. () Volatile parameters, e.g. parameter P2-30 and P3-06.
7-11
Chapter 7 Parameters
ASDA-B2
7.3 Parameter Description
P0-xx Monitor Parameters
P0-00
VER Firmware Version
Address: 0000H 0001H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: Factory setting
Control Mode:
ALL
Unit: -
Range: -
Data Size: 16-bit
Format: Decimal
Settings: This parameter only shows the firmware version of the servo drive.
P0-01
ALE
Alarm Code Display of Drive (Seven-segment Display)
Address: 0002H 0003H
Operation Interface:
Panel/Software
Default: -
Communication
Related Section: 11.1, 11.2, 11.3
Control Mode:
ALL
Unit: -
Range: 0 ~ 0
It only can be set to 0 to clear the alarm (Same as DI.ARST).
Data Size: 16-bit
Format: BCD
Settings: Hexadecimal format: displays the alarm code
0x0000: alarm clear (same as DI:ARST).
0x0000 ~ 0xFFFF: displays the alarm code (not writable).
For the list of alarms, please refer to Section 9.1 Alarm of Servo Drive.
Alarm of Servo Drive
001: Over current
002: Over voltage
003: Under voltage (In default setting, the alarm occurs only when the voltage is not enough in Servo ON status; In Servo ON status, when it applies to power R, S, T, the alarm still will not be cleared. Please refer to P2-66.)
004: Motor combination error (The drive corresponds to the wrong motor)
005: Regeneration error
7-12
ASDA-B2
Chapter 7 Parameters
P0-02
006: Overload 007: Over speed 008: Abnormal pulse command 009: Excessive deviation of position command 010: Reserved 011: Encoder error (The servo drive cannot connect to the
encoder because of disconnection or abnormal wiring) 012: Adjustment error 013: Emergency stop 014: Reverse limit error 015: Forward limit error 016: IGBT overheat 017: Abnormal EEPROM 018: Abnormal signal output 019: Serial communication error 020: Serial communication time out 021: Reserved 022: Main circuit power lack phase 023: Early warning for overload 024: Encoder initial magnetic field error 025: The internal of the encoder is in error 026: Unreliable internal data of the encoder 027: The internal of the encoder is in error 030: Motor crash error 031: Incorrect wiring of the motor power line, U, V, W, GND 099: DSP firmware upgrade
STS Drive Status
Operation Interface:
Panel/Software
Default: 00
Control Mode:
ALL
Unit: -
Range: -112, 0 ~ 111
Data Size: 16-bit
Format: Decimal
Communication
Address: 0004H 0005H
Related Section: Table 7.2
Settings: Input the monitoring variable to P0-02 in order to view changes
to the variable on the panel. For the list of monitoring variables,
please refer to Table 7.3 Monitoring Variables Descriptions.
7-13
Chapter 7 Parameters
P0-03
MON Analog Monitor Output
Operation Interface:
Panel/Software
Default: 00
Control Mode:
ALL
Unit: -
Range: 00 ~ 77
Data Size: 16-bit
Format: Hexadecimal
Settings:
Communication
ASDA-B2
Address: 0006H 0007H
Related Section: 6.6.3
MON2 MON1
Not used
MON1,
MON2 Setting
Description
Value
0 Motor speed (+/-8 Volts/Max. speed)
1 Motor torque (+/-8 Volts/Max. torque)
2 Pulse command frequency (+8 Volts4.5Mpps)
3
Speed command (+/-8 Volts/ Max. speed command)
4
Torque command (+/-8 Volts/Max. torque command)
5 VBUS voltage (+/-8 Volts450V)
6 Reserved 7 Reserved
Please refer to parameter P1-04, P1-05 for proportional setting of analog output voltage.
For example: P0-03 = 01 (MON1 is the analog output of motor
speed; MON2 is the analog output of motor torque)
Note:
MON1 output voltage = 8
×
Motor speed (Max. speed ×P11-0004)
(unitVolts)
MON2 output voltage = 8
×
Motor torque (Max. torque ×P11-0005)
(unit: Volts)
P0-04 Reserved
Address: 0008H 0009H
7-14
ASDA-B2
Chapter 7 Parameters
P0-05 Reserved P0-06 Reserved
Address: 000AH 000BH
Address: 000CH 000DH
P0-07 Reserved
P0-08 TSON Servo Startup Time
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
-
Unit: Hour
Range: High Word: 0 ~ 65535
Low Word: 0 ~ 65535
Data Size: 16-bit
Format: Decimal
Settings: High Word: Servo enable time
Low Word: Servo power on time
Address: 000EH 000FH
Address: 0010H 0011H
Related Section: N/A
P0-09
CM1 Status Monitor Register 1
Address: 0012H 0013H
Operation Interface:
Panel/Software
Default: -
Communication
Related Section: 4.3.5
Control Mode:
ALL
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
Settings: The setting value which is set by P0-17 should be monitored via P0-09.
For example, if P0-17 is set to 3, when accessing P0-09, it obtains the total feedback pulse number of motor encoder. For MODBUS communication, two 16bit data, 0012H and 0013H will be read as a 32bit data; (0013H : 0012H) = (Hi-wordLow-word). Set P0-02 to 23, the panel displays "VAR-1" first, and then shows the content of P0-09.
7-15
Chapter 7 Parameters
ASDA-B2
P0-10
CM2 Status Monitor Register 2
Address: 0014H 0015H
Operation Interface:
Panel/Software
Default: -
Communication
Related Section: 4.3.5
Control Mode:
ALL
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
Settings: The setting value which is set by P0-18 should be monitored via P0-10. Set P0-02 to 24, the panel displays "VAR-2" first, and then shows the content of P0-10.
P0-11
CM3 Status Monitor Register 3
Address: 0016H 0017H
Operation Interface:
Panel/Software
Default: -
Communication
Related Section: 4.3.5
Control Mode:
ALL
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
Settings: The setting value which is set by P0-19 should be monitored via P0-11. Set P0-02 to 25, the panel displays "VAR-3" first, and then shows the content of P0-11.
P0-12
CM4 Status Monitor Register 4
Address: 0018H 0019H
Operation Interface:
Panel/Software
Default: -
Communication
Related Section: 4.3.5
Control Mode:
ALL
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
Settings: The setting value which is set by P0-20 should be monitored via P0-12. Set P0-02 to 26, the panel displays "VAR-4" first, and then shows the content of P0-12.
7-16
ASDA-B2
Chapter 7 Parameters
P0-13
CM5 Status Monitor Register 5
Address: 001AH 001BH
Operation Interface:
Panel/Software
Default: -
Communication
Related Section: 4.3.5
Control Mode:
ALL
Unit: -
Range: -
Data Size: 32-bit
Format: Decimal
Settings: The setting value which is set by P0-21 should be monitored via P0-13.
P0-14 Reserved
Address: 001CH 001DH
P0-15 Reserved
Address: 001EH 001FH
P0-16 Reserved
Address: 0020H 0021H
P0-17
CM1A Status Monitor Register 1 Selection
Address: 0022H 0023H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
-
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Settings: Please refer to P0-02 for its setting value.
For example:
If P0-17 is set to 07, then reading P0-09 means reading "Motor speed (r/min)".
7-17
Chapter 7 Parameters
ASDA-B2
P0-18 P0-19 P0-20
CM2A Status Monitor Register 2 Selection
Address: 0024H 0025H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
-
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Settings: Please refer to P0-02 for its setting value.
CM3A Status Monitor Register 3 Selection
Address: 0026H 0027H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
-
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Settings: Please refer to P0-02 for its setting value.
CM4A Status Monitor Register 4 Selection
Address: 0028H 0029H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
-
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Settings: Please refer to P0-02 for its setting value.
7-18
ASDA-B2
Chapter 7 Parameters
P0-21
CM5A Status Monitor Register 5 Selection
Address: 002AH 002BH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
-
Unit: -
Range: 0 ~ 18
Data Size: 16-bit
Format: Decimal
Settings: Please refer to P0-02 for its setting value.
P0-22 Reserved P0-23 Reserved P0-24 Reserved
Address: 002CH 002DH
Address: 002EH 002FH
Address: 0030H 0031H
P0-44
PCMN
Status Monitor Register (for PC Software)
Address: 0058H 0059H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0x0
Control Mode:
ALL
Unit: -
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Format: Decimal
Settings: Same as parameter P0-09
7-19
Chapter 7 Parameters
ASDA-B2
P0-45
PCMNA
Status Monitor Software)
Register
Selection
(for
PC
Address: 005AH 005BH
Operation Interface:
Panel/Software
Default: 0x0
Control Mode:
ALL
Unit: -
Range: 0~127
Data Size: 16-bit
Format: Decimal
Communication
Related Section: 4.3.5
Settings: Same as parameter P0-17
P0-46
SVSTS Servo Output Status Display
Address: 005CH 005DH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
ALL
Unit: -
Range: 0x00 ~ 0xFF
Data Size: 16-bit
Format: Hexadecimal
Settings: Bit0: SRDY (Servo is ready)
Bit1: SON (Servo On)
Bit2: ZSPD (Zero speed detection)
Bit3: TSPD (Target speed reached)
Bit4: TPOS (Target position reached)
Bit5: TQL (Torque limiting)
Bit6: ALRM (Servo alarm)
Bit7: BRKR (Brake control output)
Bit9: OLW (Early warning for overload)
Bit10: WARN (When Servo warning, CW, CCW, EMGS, under voltage, Communication error, etc, occurs, DO is ON)
Bit11 ~ Bit15: Reserved
7-20
ASDA-B2
P1-xx Basic Parameters
P1-00 PTT External Pulse Input Type
Operation Interface:
Panel/Software
Default: 0x2
Control Mode:
PT
Unit: Range: 0 ~ 1142
Data Size: 16-bit Format: Hexadecimal
Settings:
Communication
Chapter 7 Parameters
Address: 0100H 0101H
Related Section: 6.2.1
Pulse type 0: AB phase pulse (4x) 1: Clockwise (CW) + Counterclockwise (CCW) pulse 2: Pulse + Symbol Other settings: reserved
Filter width If the filter pulse frequency is too high instantaneously, the pulse frequency exceeding the frequency setting will be filtered out as noise.
Minimum Pulse Width
Setting
Setting
(Low-speed Filter Frequency
Value
*note 1)
Value
Minimum Pulse Width (High-speed Filter Frequency *note 1)
0
600 ns (0.83 Mpps)
0
150 ns (3.33 Mpps)
1
2.4 us (208 Kpps)
1
600 ns (0.83 Mpps)
2
4.8 us (104 Kpps)
2
1.2 us (416 Kpps)
3
9.6 us (52 Kpps)
3
2.4 us (208 Kpps)
4
No Filter Function
4
No Filter Function
7-21
Chapter 7 Parameters
Note:
<150ns 150ns
Pulse Input
ASDA-B2
150ns<150ns
Pulse Input
filtered signal
filtered signal
When this pulse frequency is less than 150 ns, this signal will be regarded as a low-level pulse and two input pulses will be regarded as one input pulse.
When this pulse frequency is less than 150 ns, this signal will be regarded as a high-level pulse and two input pulses will be regarded as one input pulse.
>150 ns >150 ns
When the pulse frequencies of high-level duty and low-level duty both are greater than 150 ns, the signal will not be filtered (that is, the pulse command will pass through).
If the user uses 2 ~ 4 MHz input pulse, it is suggested to set the filter value to 4. Please note that the applicable version is: DSP version 1.005 sub10 and version above. Note: When the signal is the high-speed pulse specification of 4 Mpps and the settings
value of the filter is 4, then pulse will not be filtered.
7-22
ASDA-B2
Chapter 7 Parameters
Logic Type
Logic Pulse Type
High-speed and Low-speed Pulse Input
Forward Rotation
Reverse Rotation
Pulse Phase Lead
Pulse Phase Lag
(43)
Pulse
TH
(43)
(41)
Pulse
TH
AB Phase
(41)
Pulse
(39) Sign
T1 T1 T1 T1 T1
(39)
Positive Logic
(37)
Sign
T1 T1 T1 T1 T1 T1
(37)
0
(43)
Clockwise Pulse
TH
and
(41)
Counter-
(39)
T2 T2 T2 T2 T2 T2
T3
T2 T2 T2 T2 T2 T2
clockwise Sign
TH
Pulse
(37)
Positive Logic
Logic Pulse Type
(43)
Pulse
0
Pulse +
(41)
Symbol
(39)
Sign
(37)
High-speed Pulse Input
Forward Rotation
Reverse Rotation
Sign = high
Sign = low
TH T4 T5 T6 T5 T6 T5 T4
(43) Pulse
(41)
(39) Sign (37)
TH T4 T5 T6 T5 T6 T5 T4
Positive Logic
Logic Pulse Type
(43)
Pulse
0
Pulse +
(41)
Symbol
(39)
Sign
(37)
Low-speed Pulse Input
Forward Rotation
Reverse Rotation
Sign = low
Sign = high
TH T4 T5 T6 T5 T6 T5 T4
(43) Pulse
(41)
(39) Sign (37)
TH T4 T5 T6 T5 T6 T5 T4
Digital circuits use 0 and 1 to represent the high and low voltage levels. In positive logic, 1 represents high voltage and 0 represents low voltage; in negative logic, 1 represents low voltage and 0 represents high voltage.
For example: Positive Logic
Negative Logic
7-23
Chapter 7 Parameters
ASDA-B2
Pulse specification
High-speed pulse
Low-speed pulse
Differential Signal
Differential Signal Open collector
Max. input
Min. time width
frequency T1
T2
T3
T4
T5
T6
4 Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns
500 Kpps 0.5s 1s 2s 2s 1s 1s
200 Kpps 1.25s 2.5s 5s 5s 2.5s 2.5s
Pulse specification High-speed pulse Differential Signal
Max. input frequency
4 Mpps
Voltage specification
5V
Differential Signal Low-speed pulse
Open collector
500 Kpps 200 Kpps
2.8V ~ 3.7V 24V (Max.)
Source of external
0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN) 1: High-speed differential (CN1 Pin: HPULSE, HSIGN)
Forward Current < 25 mA
< 25 mA
< 25 mA
P1-01
CTL Control Mode and Output Direction
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
ALL
Unit: P (pulse); S (r/min, m/s); T (N-M)
Range: 00 ~ 110
Data Size: 16-bit
Format: Hexadecimal
Settings:
Address: 0102H 0103H
Related Section: 6.1, Table 7.1
Control mode setting Torque output direction setting Not in use
Control mode setting
Mode
00 01 02 03 04 05
PT S
T Sz Tz
Single Mode
Reserved
7-24
ASDA-B2
Chapter 7 Parameters
Dual Mode
06
07
08
Reserved
09
Reserved
0A
Single mode:
PT: Position Control Mode (The command source is external pulse and analog voltage which can be selected via DI. PTAS.)
S: Speed Control Mode (The command source is the external analog voltage and register. It can be selected via DI. SPD0, SPD1.)
T: Torque Control Mode (The command source is the external analog voltage and register. It can be selected via DI. TCM0, TCM1.)
Sz: Zero Speed / Internal Speed Command
Tz: Zero Torque / Internal Torque Command
Dual Mode: It can switch mode via the external Digital Input (DI). For example, if it is set to the dual mode of PT/S (Control mode setting: 06), the mode can be switched via DI. S-P (Please refer to table 7.1).
Torque Output Direction Settings
0
1
Forward
Reverse
7-25
Chapter 7 Parameters
P1-02
PSTL Speed and Torque Limit Setting
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: -
Range: 00 ~ 11
Data Size: 16-bit
Display Format:
Hexadecimal
Settings:
Communication
ASDA-B2
Address: 0104H 0105H
Related Section: 6.6
Disable / enable speed limit function Disable / enable torque limit function Not in use
Disable or Enable speed limit function
0: Disable speed limit function
1: Enable speed limit function (It is available in T mode only)
Others: Reserved
Block diagram of speed limit setting:
(0) Vref
SPD0 SPD1
P1-09(1) P1-10(2) P1-11(3)
Speed Limit Command
When desire to use speed limit function, users could use parameter setting
or DI triggering. That is to say, set P1-02 to 0x0001 or trigger DI will do.
Also, users could enable or disable the limit function via DI.SPDLM, which
is a more flexible way but would need to take one DI setting. Speed limit
can be enabled by P1-02 or DI.
DI.SPD0 and DI.SPD1 are for selecting the limiting source.
Disable or Enable torque limit function 0: Disable torque limit function 1: Enable torque limit function (It is available in position and speed mode) Other: Reserved
7-26
ASDA-B2
Chapter 7 Parameters
P1-03
Tref
(0)
TCM0 TCM1
P1-12(1) P1-13(2) P1-14(3)
Torque Limit Command
Users could use torque limit function via parameter setting or DI
triggering. That is to say, set P1-02 to 0x0010 or trigger DI will do. Also,
users could enable or disable the limit function via DI.TRQLM, which is a
more flexible way but would need to take one DI setting. Torque limit can be
enabled by P1-02 or DI. DI.TCM0 and DI.TCM1 are for selecting the
limiting source.
AOUT Polarity Setting of Encoder Pulse Output
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: -
Range: 0 ~ 13
Data Size: 16-bit
Format: Hexadecimal
Settings:
Communication
Address: 0106H 0107H
Related Section: 3.3.3
Polarity of monitor analog output
Polarity of encoder pulse output
Not in use
Polarity of monitor analog output Position pulse outputs polarity
0: MON1(+), MON2(+)
0: Forward output
1: MON1(+), MON2(-)
1: Reverse output
2: MON1(-), MON2(+)
3: MON1(-), MON2(-)
7-27
Chapter 7 Parameters
ASDA-B2
P1-04
MON1
MON1 Analog Monitor Output Proportion
Address: 0108H 0109H
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: 6.4.4
Control Mode:
ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: Please refer to the P1-03, for the setting of analog output selection.
Example: P0-03 = 01 (MON1 is motor speed analog output, MON2 is motor torque analog output)
Motor speed
MON1 output voltage= 8 ×
(unit: Volts)
(Max. motor speed ×
P1-04 100
)
Motor toque
MON2 output voltage= 8 ×
(unit: Volts)
(Max. motor torque ×
P1-05 100
)
P1-05
MON2
MON2 Analog Monitor Output Proportion
Address: 010AH 010BH
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: 6.4.4
Control Mode:
ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: Please refer to the P1-03, for the setting of analog output selection.
Example: P0-03 = 01 (MON1 is motor speed analog output, MON2 is motor torque analog output)
MON1 output voltage= 8 × MON2 output voltage= 8 ×
Motor speed
(Max. motor speed ×
P1-04 100
)
(unit: Volts)
Motor torque
(Max. motor torque ×
P1-05 100
)
(unit: Volts)
7-28
ASDA-B2
Chapter 7 Parameters
P1-06
SFLT
Analog
Speed
Command
(Low-pass
Filter)
Address:
010CH 010DH
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: 6.3.3
Control Mode:
S
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Format: Decimal
Settings: 0: Disabled
P1-07
TFLT
Analog Torque Command (Low-pass Filter)
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
T
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format:
Decimal
Settings: 0: Disabled
Address: 010EH 010FH
Related Section: 6.4.3
P1-08
PFLT
Smooth Constant of Position Command (Low-pass Filter)
Operation Interface:
Panel/Software
Default: 0
Control Mode:
PT
Unit: 10ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Communication
Settings: 0: Disabled
Address: 0110H 0111H
Related Section: 6.2.6
7-29
Chapter 7 Parameters
ASDA-B2
P1-09
Internal Speed Command 1 / Internal SP1
Speed Limit 1
Address: 0112H 0113H
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: 6.3.1
Control Mode:
S,
T
Unit: 0.1r/min
Range: -50000 ~ +50000
Data Size: 32-bit
Format: Decimal
Example 120 = 12 r/min
Settings: Internal Speed Command 1: The setting of the first internal speed command.
Internal Speed Limit 1: The setting of the first internal speed limit.
P1-10
Internal Speed Command 2 / Internal SP2
Speed Limit 2
Address: 0114H 0115H
Operation Interface:
Panel/Software
Default: 2000
Communication
Related Section: 6.3.1
Control Mode:
S,
T
Unit: 0.1r/min
Range: -50000 ~ +50000
Data Size: 32-bit
Format: Decimal
Example 120 = 12 r/min
Settings: Internal Speed Command 2The setting of the second internal
speed command.
Internal Speed Limit 2: The setting of the second internal speed limit.
7-30
ASDA-B2
Chapter 7 Parameters
P1-11
Internal Speed Command 3 / Internal SP3
Speed Limit 3
Address: 0116H 0117H
Operation Interface:
Panel/Software
Default: 3000
Communication
Related Section: 6.3.1
Control Mode:
S,
T
Unit: 0.1r/min
Range: -50000 ~ +50000
Data Size: 32-bit
Format: Decimal
Example 120 = 12 r/min
Settings: Internal Speed Command 3: The setting of the third internal speed
command.
Internal Speed Limit 3: The setting of the third internal speed limit.
P1-12
Internal Torque Command 1 / Internal TQ1
Torque Limit 1
Address: 0118H 0119H
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: 6.4.1
Control Mode:
T,
P&S
Unit: %
Range: -300 ~ +300
Data Size: 16-bit
Format: Decimal
Settings: Internal Torque Command 1: The setting of the first internal torque
command.
Internal Torque Limit 1: The setting of the first internal torque limit.
7-31
Chapter 7 Parameters
ASDA-B2
P1-13
Internal Torque Command 2 / Internal TQ2
Torque Limit 2
Address: 011AH 011BH
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: 6.4.1
Control Mode:
T,
P&S
Unit: %
Range: -300 ~ +300
Data Size: 16-bit
Display Format:
Decimal
Settings: Internal Torque Command 2: The setting of the second internal
torque command.
Internal Torque Limit 2: The setting of the second internal torque limit.
P1-14
Internal Torque Command 3 / Internal TQ3
Torque Limit 3
Address: 011CH 011DH
Operation Interface:
Panel/Software
Communication
Related Section: 6.4.1
Default: 100
Control Mode:
T,
P
&
S
Unit: %
Range: -300 ~ +300
Data Size: 16-bit
Format: Decimal
Settings: Internal Torque Command 3: The setting of the third internal
torque command.
Internal Torque Limit 3: The setting of the third internal torque limit.
P1-15 Reserved P1-16 Reserved P1-17 Reserved P1-18 Reserved P1-19 Reserved
Address: 011EH 011FH
Address: 0120H 0121H
Address: 0122H 0123H
Address: 0124H 0125H
Address: 0126H 0127H
7-32
ASDA-B2
Chapter 7 Parameters
P1-20 Reserved
Address: 0128H 0129H
P1-21 Reserved
Address: 012AH 012BH
P1-22 Reserved
Address: 012CH 012DH
P1-23 Reserved
Address: 012EH 012FH
P1-25
VSF1
Low-frequency Vibration Suppression (1)
Address: 0132H 0133H
Operation Interface:
Panel/Software
Communication
Related Section: Section 6.2.9
Default: 1000
Control Mode:
PT
Unit: 0.1Hz
Range: 10 ~ 1000
Data Size: 16bit
Format: DEC
Example 150 = 15 Hz
Settings: The setting value of the first low-frequency vibration suppression. If P1-26 is set to 0, then it will disable the first low-frequency filter.
P1-26
VSG1
Low-frequency Vibration Suppression Gain (1)
Address: 0134H 0135H
Operation Interface:
Panel/Software
Communication
Related Section: Section 6.2.9
Default: 0
Control Mode:
PT
Unit: -
Range: 0~9 (0: Disable the first low-frequency filter)
Data Size: 16bit
Format: DEC
Settings: The first low-frequency vibration suppression gain. The bigger value it is, the better the position response will be. However, if the value is set too big, the motor will not be able to smoothly operate. It is suggested to set the value to 1.
7-33
Chapter 7 Parameters
ASDA-B2
P1-27
VSF2
Low-frequency Vibration Suppression (2)
Address: 0136H 0137H
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: Section 6.2.9
Control Mode:
PT
Unit: 0.1Hz
Range: 10 ~ 1000
Data Size: 16bit
Format: DEC
Example 150 = 15 Hz
Settings: The setting value of the second low-frequency vibration suppression. If P1-28 is set to 0, then it will disable the second low-frequency filter.
P1-28
VSG2
Low-frequency Vibration Suppression Gain (2)
Address: 0138H 0139H
Operation Interface:
Panel/Software
Communication
Related Section: Section 6.2.9
Default: 0
Control Mode:
PT
Unit: -
Range: 0~9 (0: Disable the second low-frequency filter)
Data Size: 16bit
Format: DEC
Settings: The second low-frequency vibration suppression gain. The bigger value it is, the better the position response will be. However, if the value is set too big, the motor will not be able to smoothly operate. It is suggested to set the value to 1.
P1-31 Reserved
Address: 013EH 013FH
7-34
ASDA-B2
P1-32
LSTP Motor Stop Mode
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: -
Range: 0 ~ 20
Data Size: 16-bit
Format: Hexadecimal
Settings:
Communication
Chapter 7 Parameters
Address: 0140H 0141H
Related Section: N/A
Motor stop mode
Selection of executing dynamic brake
Not in use Motor stop mode: When an alarm occurs, such as CWL,
CCWL, EMGS and serial communication error, it is be in motor stop mode.
0: Stop instantly
1: Decelerate to stop Selection of executing dynamic brake: Stop mode when servo
off or an alarm occurs.
0: Execute dynamic brake
1: Motor free run
2: Execute dynamic brake first, then execute free run until it stops (The motor speed is slower than P1-38).
When PL and NL occurs, please refer to event time settings value of P1-06, P1-35, P1-36 to determine the deceleration time. If the setting is 1ms, the motor will stop instantly.
P1-33 Reserved
Address: 0142H 0143H
7-35
Chapter 7 Parameters
ASDA-B2
P1-34
TACC Acceleration Constant of S-Curve
Address: 0144H 0145H
Operation Interface:
Panel/Software
Default: 200
Communication
Related Section: 6.3.3
Control Mode:
S
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Format: Decimal
Settings: The time that speed command accelerates from 0 to 3000 r/min. P1-34, P1-35, and P1-36, the acceleration time of speed command from zero to the rated speed, all can be set individually.
.Note: When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function.
P1-35
TDEC Deceleration Constant of S-Curve
Address: 0146H 0147H
Operation Interface:
Panel/Software
Default: 200
Communication
Related Section: 6.3.3
Control Mode:
S
Unit: ms
Range: 1 ~ 20000
Data Size: 16-bit
Format: Decimal
Settings: The time that speed command decelerates from 3000 r/min to 0. P1-34, P1-35, and P1-36, the deceleration time of speed command from the rated speed to zero, all can be set individually.
Note: When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function.
7-36
ASDA-B2
Chapter 7 Parameters
P1-36
Acceleration / Deceleration Constant of TSL
S-curve
Address: 0148H 0149H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: 6.3.3
Control Mode:
S
Unit: ms
Range: 0 ~ 10000 (0: Disabled)
Data Size: 16-bit
Format: Decimal
Settings: Acceleration / Deceleration Constant of S-Curve
P1-34: Set the acceleration time of acceleration / deceleration of trapezoid-curve
P1-35: Set the deceleration time of acceleration / deceleration of trapezoid-curve
P1-36: Set the smoothing time of S-curve acceleration and deceleration
P1-34, P1-35, and P1-36 can be set individually.
Note: When the source of speed command is analog, and P1-36 is set to 0, it will disable S-curve function.
7-37
Chapter 7 Parameters
ASDA-B2
P1-37
GDR
Inertia Ratio and Load Weight Ratio to Servo Motor
Address: 014AH 014BH
Operation Interface:
Panel/Software
Default: 1.0
Control Mode:
ALL
Unit: 1 times
Range: 0.0 ~ 200.0
Data Size: 16-bit
Format: One-digit
Example: 1.5 = 1.5 times
Communication 10
Related Section: N/A
0.1 times 0 ~ 2000
Decimal 15 = 1.5 times
Settings: Inertia ratio to servo motor (rotary motor)
(J_load / J_motor)
Among them: J_motor: Rotor inertia of the servo motor
J_load: Total equivalent of inertia of external mechanical load.
P1-38
ZSPD Zero Speed Range Setting
Address: 014CH 014DH
Operation Interface:
Panel/Software
Default: 10.0
Communication 100
Related Section: Table 7.2
Control Mode:
ALL
Unit: 1 r/min
0.1 r/min
Range: 0.0 ~ 200.0
0 ~ 2000
Data Size: 16-bit
Format: One-digit
Decimal
Example: 1.5 = 1.5 r/min
15 = 1.5 r/min
Settings: Setting the output range of zero-speed signal (ZSPD). When the forward / reverse speed of the motor is slower than the setting value, the digital output will be enabled.
7-38
ASDA-B2
Chapter 7 Parameters
P1-39
SSPD Target Motor Detection Level
Address: 014EH 014FH
Operation Interface:
Panel/Software
Default: 3000
Communication
Related Section: Table 7.2
Control Mode:
ALL
Unit: r/min
Range: 0 ~ 5000
Data Size: 16-bit
Format: Decimal
Settings: When the target speed is reached, DO (TSPD) is enabled. It means when the motor speed in forward / reverse direction is higher than the setting value, the target speed is reached and enables DO.
P1-40
VCM
Max. Output of Analog Speed Command
Address: 0150H 0151H
Operation Interface:
Panel/Software
Default: rated speed
Communication
Related Section: 6.3.4
Control Mode:
S,
T
Unit: r/min
Range: 0 ~ 50000
Data Size: 32-bit
Format: Decimal
Settings: Maximum Speed of Analog Speed Command:
In speed mode, the analog speed command inputs the swing speed setting of the max. voltage (10V).
For example, if the setting is 3000, when the external voltage input is 10V, it means the speed control command is 3000 r/min. If the external voltage input is 5V, then the speed control command is 1500 r/min.
Speed control command = input voltage value x setting value / 10
In position or torque mode, analog speed limit inputs the swing speed limit setting of the max. voltage (10V).
Speed limit command = input voltage value x setting value / 10
7-39
Chapter 7 Parameters
ASDA-B2
P1-41
TCM
Max. Output of Analog Torque Command
Address: 0152H 0153H
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: 6.4.4
Control Mode:
ALL
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Maximum Output of Analog Torque Speed:
In torque mode, the analog torque command inputs the torque setting of the max. voltage (10V). When the default setting is 100, if the external voltage inputs 10V, it means the torque control command is 100% rated torque. If the external voltage inputs 5V, then the torque control command is 50% rated torque.
Torque control command = input voltage value x setting value / 10 (%)
In speed, PT and PR mode, the analog torque limit inputs the torque limit setting of the max. voltage (10V).
Torque limit command = input voltage value x setting value / 10 (%)
P1-42
MBT1 Enable Delay Time of Brake
Address: 0154H 0155H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: 6.5.5
Control Mode:
ALL
Unit: ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Set the delay time from servo ON to activate the signal of mechanical brake (BRKR).
7-40
ASDA-B2
Chapter 7 Parameters
P1-43
MBT2 Disable Delay Time of Brake
Address: 0156H 0157H
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: 6.5.5
Control Mode:
ALL
Unit: ms
Range: -1000 ~ +1000
Data Size: 16-bit
Format: Decimal
Settings: Set the delay time from servo OFF to switch off the signal of brake (BRKR).
Note: (1) If the delay time of P1-43 has not finished yet and the motor speed is slower than P1-38, the signal of brake (BRKR) will be disabled.
(2) If the delay time of P1-43 is up and the motor speed is higher than P1-38, the signal of brake (BRKR) will be disabled.
(3) When Servo OFF due to Alarm (except AL022) or emergency, the setting of P1-43 is equivalent to 0 if P1-43 is set to a negative value.
P1-44
GR1 Gear Ratio (Numerator) (N1)
Address: 0158H 0159H
Operation Interface:
Panel/Software
Default: 16
Communication
Related Section: Section 6.2.3
Control Mode:
PT
Unit: pulse Range: 1 ~ (226-1)
Data Size: 32-bit
Format: Decimal
Settings: Please refer to P2-60 ~ P2-62 for the setting of multiple gear ratio (numerator).
Note: In PT mode, the setting value can be changed when Servo ON.
7-41
Chapter 7 Parameters
ASDA-B2
P1-45
GR2 Gear Ratio (Denominator) (M)
Address: 015AH 015BH
Operation Interface:
Panel/Software
Default: 10
Communication
Related Section: Section 6.2.3
Control Mode:
PT
Unit: pulse Range: 1 ~ (231-1)
Data Size: 32-bit
Format: Decimal
Settings: If the setting is wrong, the servo motor will easily have sudden unintended acceleration.
Please follow the rules for setting:
The setting of pulse input:
Pulse input
f1
Position
N command
N
f2 = f1 x
M
f2
M
Range of command pulse input: 1 / 50Nx / M25600 (x = 1, 2, 3, 4)
Note: The setting value cannot be changed when Servo ON in PT mode.
P1-46
GR3 Pulse Number of Encoder Output
Address: 015CH 015DH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 2500
Control Mode:
ALL
Unit: pulse
Range: 4 ~ 40000
Data Size: 32-bit
Format: Decimal
Settings: This parameter is used to set the number of single-phase pulse output per revolution.
7-42
ASDA-B2
Chapter 7 Parameters
Example: P2-66 can be used to determine the value of P1-46 as the number of single-phase pulse output or the number of pulses after 4 times. For detailed settings, please refer to P2-66.
The pulse number setting of P1-46 and the current motor rotation speed will determine the output width of Z pulse. When the speed is faster, the pulse width is relatively smaller. In order to avoid the width being too small, when the host controller cannot receive the pulse, the servo drive has a minimum output pulse width of 250 s. When the width is smaller than this value, 250 s will still be output. In the following example, the speed is 3000 r/min and the pulse number setting of P1-46 is 2500 pulse.
3000 × 1 = 50
60
This value is less than 250 s, so the bandwidth of the servo drive OCZ signal will be latched at 250 s. If this value is higher than 250 s, the higher value will precede.
Note: The following circumstances might exceed the max. allowable input pulse frequency and occurs AL018: 1. Encoder error 2. Motor speed is above the value set by parameter P1-76
P1-47
SPOK Speed Reached (DO:SP_OK) Range
Address: 015EH 015FH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 10
10
Control Mode:
S,
Sz
Unit: r/min
S / Sz 0.1 r/min
Range: 0 ~ 300
0 ~ 300
Data Size: 16-bit
16-bit
Format: Decimal
DEC
Settings: When the deviation between speed command and motor feedback speed is smaller than this parameter, then the digital output DO.SP_OK (DO code is 0x19) is ON.
7-43
Chapter 7 Parameters
ASDA-B2
1. Speed Command: It is the command issued by the user (without acceleration / deceleration), not the one of front end speed circuit.
Source: Analog voltage and register 2. Feedback Speed: The actual speed of the motor and have gone
through the filter. 3. Obtain the absolute value 4. DO.SP_OK will be ON when the absolute value of speed error is
smaller than P1-47, or it will be OFF. If P1-47 is 0, DO.SP_OK is always OFF.
P1-48 Reserved
P1-49 Reserved
P1-50 Reserved
P1-51 Reserved
P1-52
RES1 Regenerative Resistor Value
Operation Interface:
Panel/Software
Communication
Default: See the table below
Control Mode:
ALL
Unit: Ohm
Range: 10 ~ 750
Data Size: 16-bit
Format: Decimal
Settings:
Model
Default
750 W models
100
1 kW to 3 kW models
40
Address: 0160H 0161H
Address: 0162H 0163H
Address: 0164H 0165H
Address: 0166H 0167H
Address: 0168H 0169H
Related Section: 6.6.3
7-44
ASDA-B2
P1-53
RES2 Regenerative Resistor Capacity
Operation Interface:
Panel/Software
Communication
Default: See the table below
Control Mode:
ALL
Unit: Watt
Range: 30 ~ 3000
Data Size:
16-bit
Format: Decimal
Settings:
Model
Default
750 W models
60 W
1 kW to 3 kW models
60 W
Chapter 7 Parameters
Address: 016AH 016BH
Related Section: 6.6.3
P1-54 P1-55
PER Position Completed Range
Address: 016CH 016DH
Operation Interface:
Panel/Software
Default: 1600
Communication
Related Section: Table 7.2
Control Mode:
PT
Unit: pulse
Range: 0 ~ 1280000
Data Size: 32-bit
Format: Decimal
Settings: In position mode (PT), if the deviation pulse number is smaller than the setting range (the setting value of parameter P1-54), DO.TPOS is ON.
MSPD Maximum Speed Limit
Address: 016EH 016FH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: rated speed
Control Mode:
ALL
Unit: r/min
Range: 0 ~ Max. speed
Data Size: 16-bit
Format: Decimal
Settings: The default of the max. speed of servo motor is set to the rated speed.
7-45
Chapter 7 Parameters
ASDA-B2
P1-56
OVW Output Overload Warning Level
Address: 0170H 0171H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 120
Control Mode:
ALL
Unit: %
Range: 0 ~ 120
Data Size: 16-bit
Format: Decimal
Settings: The setting value is 0 ~ 100, if the servo motor continuously outputs the load and is higher than the setting proportion (P1-56), the early warning for overload (DO is set to 10, OLW) will occur.
If the setting value is over 100, it will disable this function.
P1-57 P1-58
CRSHA
Motor Crash Percentage)
Protection
(Torque
Address: 0172H 0173H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
ALL
Unit: %
Range: 0 ~ 300
Data Size: 16-bit
Format: Decimal
Settings: Setup protection level (for the percentage of rated torque, set the value to 0 means to disable the function, set the value to 1 or number above means to enable the function).
CRSHT Motor Crash Protection Time
Address: 0174H 0175H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 1
Control Mode:
ALL
Unit: ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Setup the protection time:
When it reaches the level, AL.030 occurs after exceeding the protection time.
7-46
ASDA-B2
Chapter 7 Parameters
Note: This function is only suitable for non-contactable application, such as electric discharge machines. (Please setup P1-37 correctly).
P1-59
MFLT Analog Speed Command
Address: 0176H 0177H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0.0
0
Control Mode:
S
Unit: 1 ms
0.1 ms
Range: 0.0 ~ 4.0 (0: Disabled)
0 ~ 40 (0: Disabled)
Data Size: 16-bit
Format: One-digit
Decimal
Example: 1.5 = 1.5 ms
15 = 1.5 ms
Settings: (Moving filter)
0: Disabled
P1-06 is low-pass filter and P1-59 is moving filter. The difference step command; while the low-pass filter brings better smooth effect to command end.
Therefore, it is suggested that if the speed loop receives the command from the controller for forming the position control loop, then low-pass filter can be used. If it is only for the speed control, then it should use Moving Filter for better smoothing.
Original step analog speed command
P1-60 Reserved P1-61 Reserved
Command that has gone through moving filter
Address: 0178H 0179H
Address: 017AH 017BH
7-47
Chapter 7 Parameters
ASDA-B2
P1-62
FRCL Friction Compensation
Address: 017CH 017DH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
PT,
S
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: The level of friction compensation (the percentage of rated torque. Set the value to 0 means to disable the function; set the value to 1 or number above means to enable it.)
P1-63
FRCT Friction Compensation
Address: 017EH 017FH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
PT,
S
Unit: ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Setup smoothing constant of friction compensation.
P1-64 Reserved
Address: 0180H 0181H
P1-65 Reserved P1-66 Reserved P1-67 Reserved
Address: 0182H 0183H
Address: 0184H 0185H
Address: 0186H 0187H
7-48
ASDA-B2
Chapter 7 Parameters
P1-68
PFLT2 Position Command Moving Filter 1
Address: 0188H 0189H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 4
Control Mode:
PT
Unit: ms
Range: 0 ~ 100 (0: Disabled)
Data Size: 16-bit
Format: Decimal
Settings: 0: Disabled
Moving Filter can activate smooth function in the beginning and the end of step command, but it will delay the command.
P1-69 Reserved P1-70 Reserved P1-71 Reserved P1-72 Reserved P1-73 Reserved P1-74 Reserved P1-75 Reserved
Address: 018AH 018BH
Address: 018CH 018DH
Address: 018EH 018FH
Address: 0190H 0191H
Address: 0192H 0193H
Address: 0194H 0195H
Address: 0196H 0197H
7-49
Chapter 7 Parameters
ASDA-B2
P1-76
AMSPD
Max. Rotation (OA, OB)
of
Encoder
Output
Setting
Address: 0198H 0199H
Operation Interface:
Panel/Software
Communication
Related Section: P1-46
Default: 5500
Control Mode:
ALL
Unit: r/min
Range: 0 ~ 6000
Data Size: 16-bit
Format: Decimal
Settings: According to the real application, this parameter is set for the
maximum speed and the servo drive will generate smooth
function automatically for encoder output signals.
When the value is set to 0, the function is disabled.
P1-77
PFLT3 Position Command Moving Filter 2
Address: 019AH 019BH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 4
Control Mode:
PT
Unit: ms
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: 0: Disabled
Moving Filter can activate smooth function in the beginning and the end of step command, but it will delay the command.
7-50
ASDA-B2
Chapter 7 Parameters
P2-xx Extension Parameters
P2-00
KPP Position Loop Gain
Address: 0200H 0201H
Operation Interface:
Panel/Software
Default: 35
Communication
Related Section: 6.2.5
Control Mode:
PT
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Format: Decimal
Settings: When the value of position loop gain is increased, the position response can be enhanced and the position error can be reduced. If the value is set too big, it may easily cause vibration and noise.
P2-01
PPR Switching Rate of Position Loop Gain
Address: 0202H 0203H
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: 6.2.5
Control Mode:
PT
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Format: Decimal
Settings: Switch the changing rate of position loop gain according to the gain-switching condition.
P2-02
PFG Position Feed Forward Gain
Address: 0204H 0205H
Operation Interface:
Panel/Software
Default: 50
Communication
Related Section: 6.2.5
Control Mode:
PT
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: If the position command is changed smoothly, increasing the gain value can reduce the position error.If the position command is not changed smoothly, decreasing the gain value can tackle the problem of mechanical vibration.
7-51
Chapter 7 Parameters
ASDA-B2
P2-03 P2-04 P2-05
PFF
Smooth Constant of Position Feed Forward Gain
Address: 0206H 0207H
Operation Interface:
Panel/Software
Default: 5
Control Mode:
PT
Unit: ms
Range: 2 ~ 100
Data Size: 16-bit
Format: Decimal
Communication
Related Section: N/A
Settings: If the position command is changed smoothly, decreasing the value can reduce the position error. If the position command is not changed smoothly, increasing the value can tackle the problem of mechanical vibration.
KVP Speed Loop Gain
Address: 0208H 0209H
Operation Interface:
Panel/Software
Default: 500
Communication
Related Section: 6.3.6
Control Mode:
ALL
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16-bit
Format: Decimal
Settings: Increase the value of speed loop gain can enhance the speed response. However, if the value is set too big, it would easily cause resonance and noise.
SPR Speed Loop Gain Switching Rate
Address: 020AH 020BH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 100
Control Mode:
ALL
Unit: %
Range: 10 ~ 500
Data Size: 16-bit
Format: Decimal
Settings: Switch the changing rate of speed loop gain according to the gain switching condition.
7-52
ASDA-B2
Chapter 7 Parameters
P2-06
KVI Speed Integral Compensation
Address: 020CH 020DH
Operation Interface:
Panel/Software
Default: 100
Communication
Related Section: 6.3.6
Control Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Format: Decimal
Settings: Increasing the value of speed integral compensation can enhance speed response and diminish the deviation of speed control. However, if the value is set too big, it would easily cause resonance and noise.
P2-07
KVF Speed Feed Forward Gain
Address: 020EH 020FH
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: 6.3.6
Control Mode:
ALL
Unit: %
Range: 0 ~ 100
Data Size: 16-bit
Format: Decimal
Settings: When the speed control command runs smoothly, increasing the gain value can reduce the speed command error. If the command does not run smoothly, decreasing the gain value can reduce the mechanical vibration during operation.
P2-08
PCTL Special Parameter Write-in
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 65535
Data Size: 16-bit
Format: Decimal
Communication
Address: 0210H 0211H
Related Section: N/A
7-53
Chapter 7 Parameters
ASDA-B2
P2-09
Settings: Special parameter write-in:
Parameter code 10
20
Function
Reset the parameter (Apply to the power again after reset) P4-10 is writable
22
P4-11~P4-21are writable
406
Enable forced DO mode
400
When forced DO mode is enabled, it can switch back to the normal DO mode.
Password protective setting: 1. Enter 5-digit number, press the same password again (The top
digit should be 1 at least.). 2. Re-power on the servo drive, the protective funciton will be
activated immediately. Parameter setting after setting up the password: When entering the correct password, the parameter can be set. Clear the password: After entering the correct password, please enter "0" twice continuously.
DRT DI Debouncing Time
Address: 0212H 0213H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 2
Control Mode:
ALL
Unit: 2ms Range: 0 ~ 20
Data Size: 16-bit
Format: Decimal
Example: 4 = 8 ms
Settings: When the environmental noise is big, increasing the setting value can enhance the control stability. However, if the value is set too big, the response time will be influenced.
7-54
ASDA-B2
P2-10
DI1 DI1 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 101
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings:
Chapter 7 Parameters
Address: 0214H 0215H
Related Section: Table 7.1
P2-11
Input function selection
Input contact
Not in use Input funciton selection: Please refer to table 7.1 Input contact: a or b contact
0: Set the input contact as normally closed (b contact)
1: Set the input contact as normally opened (a contact) (P2-10 ~ P2-17 and P2-36) The setting value of function programmed When parameters are modified, please re-start the servo drive to ensure it can work normally.
Note: Parameter P3-06 is used to set how digital inputs (DI) accepts commands, through external terminal or the communication which determined by P4-07.
DI2 DI2 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 104
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F (The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-10
Address: 0216H 0217H
Related Section: Table 7.1
7-55
Chapter 7 Parameters
ASDA-B2
P2-12 P2-13 P2-14
DI3 DI3 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 116
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-10
Address: 0218H 0219H
Related Section: Table 7.1
DI4 DI4 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 117
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-10
Address: 021AH 021BH
Related Section: Table 7.1
DI5 DI5 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 102
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-10
Address: 021CH 021DH
Related Section: Table 7.1
7-56
ASDA-B2
P2-15
DI6 DI6 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 22
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Refer to P2-10 for explanation.
Chapter 7 Parameters
Address: 021EH 021FH
Related Section: Table 7.1
P2-16 P2-17
DI7 DI7 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 23
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-10
Address: 0220H 0221H
Related Section: Table 7.1
DI8 DI8 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 21
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F (The last two codes are DI code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-10
Address: 0222H 0223H
Related Section: Table 7.1
7-57
Chapter 7 Parameters
P2-18
DO1 DO1 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 101
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x013F
(The last two codes are DO code)
Data Size: 16-bit
Format: Hexadecimal
Settings:
ASDA-B2
Address: 0224H 0225H
Related Section: Table 7.2
Output function selection Output contact Not in use
Output funciton selection: Please refer to table 7.2. Output contact: a or b contact
0: Set Set the output contact as normally closed (b contact) 1: Set the output contact as normally opened (a contact) (P2-18 ~ P2-22 and P2-37) The setting value of function programmed When parameters are modified, please re-start the servo drive to ensure it can work normally.
P2-19
DO2 DO2 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 103
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x013F
(The last two codes are DO code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-18
Address: 0226H 0227H
Related Section: Table 7.2
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Chapter 7 Parameters
P2-20 P2-21 P2-22
DO3 DO3 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 109
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x013F
(The last two codes are DO code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-18
Address: 0228H 0229H
Related Section: Table 7.2
DO4 DO4 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 105
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x013F
(The last two codes are DO code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-18
Address: 022AH 022BH
Related Section: Table 7.2
DO5 DO5 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 7
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x013F
(The last two codes are DO code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-18
Address: 022CH 022DH
Related Section: Table 7.2
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P2-23
NCF1
Resonance Suppression (Notch Filter) (1)
Address: 022EH 022FH
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: 6.2.5
Control Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Format: Decimal
Settings: The first setting value of resonance frequency. If P2-24 is set to 0, this function is disabled. P2-43 and P2-44 are the second Notch filter.
P2-24
DPH1
Resonance Suppression (Notch filter) Attenuation Rate (1)
Address: 0230H 0231H
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
ALL
Unit: dB
Range: 0 ~ 32 (0: Disabled)
Data Size: 16-bit
Format: Decimal
Related Section: 6.3.7
Settings: The first resonance suppression (notch filter) attenuation rate. When this parameter is set to 0, the function of Notch filter is disabled.
P2-25
NLP
Low-pass Filter of Resonance Suppression
Address: 0232H 0233H
Operation Interface:
Panel/Software
Communication
Default: 0.2 (1kW and below 2 (1kW and below
models) or 0.5 (other models) or 5 (other
models)
models)
Control Mode:
ALL
Unit: 1ms
0.1ms
Range: 0.0 ~ 100.0
0 ~ 1000
Data Size: 16-bit
Format: One-digit
Decimal
Example: 1.5 = 1.5 msec
15 = 1.5 msec
Related Section: 6.3.7
Settings: Set the low-pass filter of resonance suppression. When the value is set to 0, the function of low-pass filter is disabled.
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Chapter 7 Parameters
P2-26
DST Anti-Interference Gain
Address: 0234H 0235H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023 (0: Disabled)
Data Size: 16-bit
Format: Decimal
Settings: Increasing the value of this parameter can increase the damping of speed loop. It is suggested to set P2-26 equals to the value of P2-06. If users desire to adjust P2-26, please follow the rules below.
1. In speed mode, increase the value of this parameter can reduce speed overshoot.
2. In position mode, decrease the value of this parameter can reduce position overshoot.
P2-27
GCC Gain Switching and Switching Selection
Address: 0236H 0237H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 4
Data Size: 16-bit
Format: Hexadecimal
Settings: Gain Switching Condition Settings:
0: Disable gain switching function. 1: The signal of gain switching (GAINUP) is ON.
2: In position control mode, the position error is bigger than the value of P2-29.
3: The frequency of position command is bigger than the
value of P2-29.
4: When the speed of servo motor is faster than the value of P2-29.
5: The signal of gain switching (GAINUP) is OFF. 6: In position control mode, the position error is smaller than
the value of P2-29. 7: When the frequency of position command is smaller than
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ASDA-B2
the value of P2-29. 8: When the speed of servo motor is slower than the value of
P2-29. Gain Switching Control Settings
0: Gain switching 1: Integrator switching, P PI
Setting Control mode P Control mode P S
Value
Status
P2-00 x 100% P2-04 x 100%
P2-04 x 100%
Before switching
0
P2-00 x P2-01 P2-04 x P2-05
After switching
P2-04 x P2-05
P2-06 x 0%
P2-26 x 0%
Before switching
1
P2-06 x 100% P2-26 x 100%
After switching
P2-28 P2-29
GUT Gain Switching Time Constant
Address: 0238H 0239H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 10
Control Mode:
ALL
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Format: Decimal
Example: 15 = 150 msec
Settings: It is for switching the smooth gain. (0: disable this function)
GPE Gain Switching
Address: 023AH 023BH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 160000
Control Mode:
ALL
Unit: pulse, Kpps, r/min
Range: 0 ~ 3840000
Data Size: 32-bit
Format: Decimal
Settings: The setting of gain switching (Pulse error, Kpps, r/min) is determined by the selection of gain switching (P2-27).
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Chapter 7 Parameters
P2-30
INH Auxiliary Function
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
ALL
Unit: N/A
Range: -8 ~ +8
Data Size: 16-bit
Format: Decimal
Settings: 0: Disable all functions described below
Address: 023CH 023DH
Related Section: N/A
1: Force to Servo On the software
2 ~ 4: (reserved) 5: This setting allows the written parameters not retain after
power off. When the data is no need to save, it can avoid the parameters continuously writing into EEPROM and shortening the lifetime of EEPROM.
Setting this parameter is a must when using communication control.
Note: Please set the value to 0 in normal operation. The value returns to 0 automatically after re-power on.
P2-31
AUT1
Speed Loop Frequency Response Setting Address: 023EH
in Auto and Semi-auto Mode
023FH
Operation Interface:
Panel/Software
Communication
Default: 80
Control Mode:
ALL
Unit: Hz
Range: 1 ~ 1000
Data Size: 16-bit
Format: Hexadecimal
Settings: 1 ~ 50 Hz: Low stiffness, low response
Related Section: 5.6, 6.3.6
51 ~ 250 Hz: Medium stiffness, medium response
251 ~ 850 Hz: High stiffness, high response
Note: (1) According to the speed loop setting of P2-31, the servo drive sets the position loop response automatically.
(2) The function is enabled via parameter P2-32. Please refer to Chapter 5.6 for corresponding bandwidth size of the setting value.
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P2-32
AUT2 Tuning Mode Selection
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Format: Hexadecimal
Communication
Address: 0240H 0241H
Related Section: 5.6, 6.3.6
Settings: 0: Manual mode 1: Auto Mode (Continuous adjustment)
2: Semi-Auto Mode (Non-continuous adjustment) Relevant description of manual mode setting : When P2-32 is set to 0, parameters related to gain control, such as P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26, all can be set by the user.
When switching mode from auto or semi-auto to manual, parameters about gain will be updated automatically.
Relevant description of auto mode setting:
Continue to estimate the system inertia, save the inertia ratio to P1-37 every 30 minutes automatically and refer to the stiffness and bandwidth setting of P2-31.
1. Set the system to manual mode 0 from auto 1 or semi-auto 2, the system will save the estimated inertia value to P1-37 automatically and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from manual mode 0, please set P1-37 to the appropriate value.
3. Set the system to manual mode 0 from auto mode 1, P2-00, P2-04 and P2-06 will be modified to the corresponding parameters of auto mode.
4. Set the system to manual mode 0 from semi-auto mode 2, P2-00, P2-04, P2-06, P2-25 and P2-26 will be modified to the corresponding parameters of semi-auto mode.
Relevant description of semi-auto mode setting: 1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be saved to P1-37 automatically. When switching mode to semi-auto mode (from manual or auto mode), the system starts to estimate again. 2. When the system inertia is over the range, the value of P2-33 will be 0 and the system starts to estimate and adjust again.
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ASDA-B2
P2-33
AUT3 Semi-Auto Inertia Adjustment
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 1
Data Size: 16-bit
Format: Decimal
Settings:
Communication
Chapter 7 Parameters
Address: 0242H 0243H
Related Section: N/A
P2-34
Semi-auto setting Reserved Not in use
Semi-auto Setting: 1: It means the inertia estimation in semi-auto mode is completed. The inertia value can be accessed via P1-37. 0: 1. When the display is 0, it means the inertia adjustment is not completed and is adjusting.
2. When the setting is 0, it means the inertia adjustment is not completed and is adjusting.
SDEV The Condition of Overspeed Warning
Address: 0244H 0245H
Operation Interface:
Panel/Software
Communication
Related Section: 6.2.5
Default: 5000
Control Mode:
S
Unit: r/min
Range: 1 ~ 6000
Data Size: 16-bit
Format: Decimal
Settings: The setting of over speed warning in servo drive error display (P0-01)
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Chapter 7 Parameters
ASDA-B2
P2-35 P2-36
PDEV
Condition of Excessive Position Control Deviation Warning
Address: 0246H 0247H
Operation Interface:
Panel/Software
Default: 480000
Control Mode:
PT
Unit: pulse
Range: 1 ~ 16000000
Data Size: 32-bit
Format: Decimal
Communication
Related Section: N/A
Settings: The setting of excessive position control deviation warning in servo drive error display (P0-01).
DI9 Extended EDI9 Functional Planning
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x015F
(The last two codes are EDI code)
Data Size: 16-bit
Format: Hexadecimal
Settings:
Address: 0248H 0249H
Related Section: Table 7.1
Input function selection Input contact Not in use
Input function selection: Please refer to table 7.1 Input contact: a or b contact
0: Set the input contact as normally closed (b contact) 1: Set the input contact as normally opened (a contact)
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Chapter 7 Parameters
P2-37
DO6 DO6 Funcitonal Planning
Operation Interface:
Panel/Software
Communication
Default: 7
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x013F
(The last two codes are DO code)
Data Size: 16-bit
Format: Hexadecimal
Settings: Please refer to the description of P2-18
Address: 024AH 024BH
Related Section: Table 7.2
P2-38 Reserved
Address: 024CH 024DH
P2-39 Reserved
Address: 024EH 024FH
P2-40 Reserved
Address: 0250H 0251H
P2-41 Reserved
Address: 0252H 0253H
P2-42 Reserved
Address: 0254H 0255H
P2-43
NCF2
Resonance Suppression (Notch Filter) (2)
Address: 0256H 0257H
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: 6.3.7
Control Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Format: Decimal
Settings: The second setting value of resonance frequency. If P2-44 is set to 0, this function is disabled. P2-23 and P2-24 are the first Notch filter.
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P2-44 P2-45 P2-46
DPH2
Resonance Suppression (Notch Filter) Attenuation Rate (2)
Address: 0258H 0259H
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Format: Decimal
Communication
Related Section: 6.3.7
Settings: The second resonance suppression (notch filter) attenuation rate. When this parameter is set to 0, the function of Notch filter is disabled.
NCF3
Resonance Suppression (Notch Filter) (3)
Address: 025AH 025BH
Operation Interface:
Panel/Software
Default: 1000
Communication
Related Section: 6.3.7
Control Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16-bit
Format: Decimal
Settings: The third group of mechanism resonance frequency setting value. If P2-46 is set to 0, this function will be disabled. P2-23 and P2-24 are the first group of resonance suppression (Notch filter).
DPH3
Resonance Suppression (Notch Filter) Attenuation Rate (3)
Address: 025CH 025DH
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: dB
Range: 0 ~ 32
Data Size: 16-bit
Display Format:
Decimal
Communication
Related Section: 6.3.7
Settings: The third group of resonance suppression (Notch filter) attenuation rate. Set the value to 0 to disable the function of Notch filter.
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P2-47
ANCF
Auto Resonance Suppression Mode Setting
Address: 025EH 025FH
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 1
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Format: Decimal
Settings: 0: The value of P2-43, P2-44 and P2-45, P2-46 will retain.
1: The value of P2-43, P2-44 and P2-45, P2-46 will retain after resonance suppression.
2: Continuous resonance suppression
Description of Auto Mode Setting: When it is set to 1: Auto resonance, the value returns to 0 automatically and saves the point of resonance suppression when it is stable. If it is unstable, re-power on or set back to 1 for re-estimation again. When it is set to 2: Continuous suppression automatically. When it is stable, the point of resonance suppression will be saved. If it is unstable, re-power on for re-estimation.
When switching to mode 0 from mode 2 or 1, the setting of P2-43, P2-44, P2-45, and P2-46 will be saved automatically.
P2-48
ANCL
Resonance Suppression Detection Level
Address: 0260H 0261H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 100
Control Mode:
ALL
Unit: N/A
Range: 1 ~ 300%
Data Size: 16-bit
Format: Decimal
Settings: (The smaller the setting value is, the more sensitive the resonance will be.)
The setting value of P2-48 , resonance sensitivieness .
The setting value of P2-48 , resonance sensitivieness .
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P2-49
SJIT Speed Detection Filter
Operation Interface:
Panel/Software
Default: 0
Control Mode:
ALL
Unit: sec
Range: 0 ~ 1F
Data Size: 16-bit
Format: Decimal
Settings:
Communication
Address: 0262H 0263H
Related Section: 6.2.5
Setting Value Speed Estimation Bandwidth (Hz)
00
2500
01
2250
02
2100
03
2000
04
1800
05
1600
06
1500
07
1400
08
1300
09
1200
0A
1100
0B
1000
0C
950
0D
900
0E
850
0F
800
10
750
11
700
12
650
13
600
14
550
15
500
16
450
17
400
18
350
19
300
1A
250
1B
200
1C
175
1D
150
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ASDA-B2
Chapter 7 Parameters
Setting Value 1E 1F
Speed Estimation Bandwidth (Hz) 125 100
P2-50
CCLR Pulse Clear Mode
Operation Interface:
Panel/Software
Default: 00
Control Mode:
PT
Unit: N/A
Range: 0 ~ 11
Data Size: 16-bit
Format: Hexadecimal
Settings:
Communication
Address: 0264H 0265H
Related Section: N/A
Triggering Method
Function Selection
Not used
For digital input setting, please refer to Table 7.1. When set digital input (DI) as CCLR, the function of pulse clear is effective. Triggering Method Settings:
0: CCLR is triggered by rising-edge 1: CCLR is triggered by level Function Selection Settings: 0: When this DI is on, the accumulative position error will be
cleared to 0. 1: When this DI is on, the feedback PUU will be cleared to 0.
P2-51 Reserved P2-52 Reserved
Address: 0266H 0267H
Address: 0268H 0269H
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Chapter 7 Parameters
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P2-53
KPI Position Integral Compensation
Address: 026AH 026BH
Operation Interface:
Panel/Software
Default: 0
Communication
Related Section: 6.3.6
Control Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16-bit
Format: Decimal
Settings: When increasing the value of position control integral, reducing the position steady-state error, it may easily cause position overshoot and noise if the value is set too big.
P2-54 Reserved
Address: 026CH 026DH
P2-55 Reserved
Address: 026EH 026FH
P2-56 Reserved
Address: 0270H 0271H
P2-57 Reserved
Address: 0272H 0273H
P2-58 Reserved
Address: 0274H 0275H
P2-59 Reserved
Address: 0276H 0277H
P2-60
GR4 Gear Ratio (Numerator) (N2)
Address: 0278H 0279H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 16
Control Mode:
PT
Unit: pulse Range: 1 ~ (226-1)
Data Size: 32-bit
Display Format:
Decimal
Settings: The numerator of electronic gear ratio can be selected via DI.GNUM0 and DI.GNUM1 (Please refer to table 7.1). If DI.GNUM0 and DI.GNUM1 are not set, P1-44 will automatically be the numerator of electronic gear ratio. Please switch GNUM0 and GNUM1 in stop status to avoid the mechanical vibration.
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Chapter 7 Parameters
P2-61
GR5 Gear Ratio (Numerator) (N3)
Operation Interface:
Panel/Software
Communication
Default: 16
Control Mode:
PT
Unit: pulse Range: 1 ~ (226-1)
Data Size: 32-bit
Format: Decimal
Settings: Please refer to the description of P2-60.
Address: 027AH 027BH
Related Section: N/A
P2-62
GR6 Gear Ratio (Numerator) (N4)
Operation Interface:
Panel/Software
Communication
Default: 16
Control Mode:
PT
Unit: pulse Range: 1 ~ (226-1)
Data Size: 32-bit
Format: Decimal
Settings: Please refer to the description of P2-60.
Address: 027CH 027DH
Related Section: N/A
P2-63 Reserved P2-64 Reserved
Address: 027EH 027FH
Address: 0280H 0281H
P2-65
GBIT Special-bit Register
Operation Interface:
Panel/Software
Communication
Default: 0
Control Mode:
PT,
S
Unit: N/A
Range: 0 ~ 0xFFFF
Data Size: N/A
Format: N/A
Settings:
Bit7 Bit6 Bit5 Bit4 Bit3
Address: 0282H 0283H
Related Section: N/A
Bit2 Bit1 Bit0
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8
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Chapter 7 Parameters
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Bit2 ~ Bit5, Bit7 and Bit14 ~ Bit15: Reserved, please set to 0.
Bit0 ~ Bit1: Reserved
Bit6: In PT mode, the switch of pulse error protection function (pulse frequency is over high) Bit6 Bit6 = 0: Normally use the function of pulse error protection Bit6 = 1: Disable the function of pulse error protection
Bit8: U, V, W wiring error protection Bit8 Bit8 = 1: Enable U, V, W wiring error protection
Bit9: U, V, W wiring cut-off detection Bit9 Bit9 = 1: Enable U, W, W wiring cut-off detection
Bit 10: DI.ZCLAMP function selection Bit10
When the following conditions are all established, the function of ZCLAMP is enabled. Condition 1: speed mode Condition 2: DI. ZCLAMP is On. Condition 3: Motor speed is slower than the value of P1-38. Bit10 = 0: The command source is analog, ZCLAMP
function will use the analog speed command without acceleration / deceleration processing to judge if this function should be enabled. The motor will be locked at the position where ZCALMP conditions are established.
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Chapter 7 Parameters
Bit10 = 0: The command source is register. ZCLAMP function will use the register speed command with acceleration / deceleration processing to judge if this function is enabled. The motor will be locked at the position where ZCALMP conditions are established.
Bit10 = 1: The command source is analog speed command. ZCLAMP function will use the analog speed command without acceleration / deceleration processing to judge if this function is enabled. When ZCALMP conditions are established, the motor speed decelerates to 0 through S-curve. If not, the motor follow the analog speed command through S-curve.
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Chapter 7 Parameters
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Bit10 = 1: The command source is register. ZCLAMP function will use the register with acceleration / deceleration processing to judge if this function is enabled. When ZCLAMP conditions are established, the motor speed will be set to 0.
Bit11: Pulse inhibit funciton
Bit11
Bit11 = 0: Disable NL / PL pulse input inhibit function. In PT mode, the external position pulse command will be input into the servo drive in any condition.
Bit11 = 1: Enable NL / PL pulse input inhibit function. In PT mode, if NL exists, the external NL pulse will be inhibited to input to the servo. PL pulse input will be accepted. In PT mode, if PL exists, the external PL pulse will be inhibited to input to the servo. NL pulse will be accepted.
Please note: In PT mode, if NL and PL both exist, both of them will be inhibited to input to the servo. Bit12: Lack phase detection
Bit12
Bit12 = 0: Enable lack phase (AL022) detection Bit12 = 1: Disable lack phase (AL022) detection Bit13: Encoder output error detection function
Bit13
Bit13 = 0: Enable encoder output error (AL018) detection function
Bit13 = 1: Disable encoder output error (AL018) detection function
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Chapter 7 Parameters
P2-66
GBIT2 Special-bit Register 2
Operation Interface:
Panel/Software
Default: 0
Control Mode:
PT,
S
Unit: N/A
Range: 0 ~ 0xFFFF
Data Size: 16-bit
Format: Hexadecimal
Communication
Address: 0284H 0285H
Related Section: N/A
Settings: Special-bit Register 2:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
- - - - - - - -
Bit0: Speed limit accel / decel function
The torque command source is determined by TCM0 and TCM1. When the digital input, TQP or TQN is used, the torque command is activated by TQP or TQN. When TQP is ON, the torque will be output directly as the same as the command souce. For example, when TQP is ON, if the torque command source is analog voltage 5V and P1-41 is set to 100, it means that the torque command is 50% rated torque until the speed is limited. However, with the same circumstances, whenTQN is ON, the torque command is -50% rated torque until the speed is limited.
Speed limit function can be enabled always by P1-02. When P1-02 is set to 0x10, the speed limit function can be enabled all the time and the users do not need to use DI.SPDLM to switch the function.
The speed limit command is determined by SPD0 and SPD1. The acceleration and deceleration time is determined by P1-34, P1-35 and P1-36.
TQP (DI Code:
0x48) ON ON
OFF
OFF
TQN (DI Code:
0x49) ON OFF
ON
OFF
Torque Output
Zero torque output Output the torque of the command source directly (do not reverse the command, and output the torque directly) Reverse the torque of the command source (reverse the command first, and then output the torque) Zero torque output
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Chapter 7 Parameters
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ASDA-B2
The timing charts of speed limit profile (with accel / decel function) and torque command (TQP/TQN):
Motormax Speed
Speed Limit Profile Current Speed 0 RPM
Torque 0 torque Command
P1-12
V1r0ef× P1-40 P1-14
P1-13
P1-09 0 torque
Tref
Current Speed P1-09
Tref
P1-13
V1r0ef× P1-40 P1-14 P1-12
0 torque
TQP (DI: 0x48)
TQN (DI: 0x49)
TCM0
TCM1 SPDLM SPD0
Bit1: Reserved
Bit2: Cancel latch function of low-voltage error 0: Latch function of low-voltage error: the error will not be cleared automatically. 1: Cancel latch function of low-voltage error: the error will be cleared automatically.
Bit7: Cancel the display of motor temperature warning 0: Display motor temperature wanring 1: Cancel the display of motor temperature warning
Bit3 ~ Bit6: Reserved Bit9:
0: When AL.003 occurs, switch on DO.WARN. (DO function 0x11)
1: When AL.003 occurs, switch on (DO function 0x07) Bit15: Selection of dncoder pulse output
0: 0x0000. The setting value of P1-46 represents the single-phase pulse number when motor runs a cycle.
If P1-46 is set to 2,500 pulse, then the host controller will receive 10, 000 pulse (the quadruple of the single-phase pulse number) when motor runs a cycle.
Para. setting: P1-46=4, 2-66=0x0000
Motor runs a cycle
OA OB
ASDA-B2
Chapter 7 Parameters
1: 0x8000. The setting value of P1-46 is the pulse number of quadrupler frequency per cycle. If the pulse number that host controller needs to receive is 187 pulse per cycle, then set P1-46 to 187 pulse, the host controller will receive 187 pulse per cycle.
Para. setting: P1-46=4,P2-66=0x8000
Motor runs a cycle
OA OB
P2-67
JSL Stable Inertia Estimating Time
Address: 0286H 0287H
Operation Interface:
Panel/Software
Communication
Related Section: N/A
Default: 1.5
15
Control Mode:
ALL
Unit: 1 times
0.1 times
Range: 0 ~ 20.0
0 ~ 200
Data Size: 16-bit
Format: One-digit
Decimal
Example: 1.5 = 1.5 times
15 = 1.5 times
Settings: In semi-auto mode, if the value of inertia estimation is smaller than P2-67 and the status remains for a while, the system will regard the inertia estimation as completed.
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P3-xx Communication Parameters
P3-00
ADR Address Setting
Address: 0300H 0301H
Operation Interface:
Panel
/
Software
Default: 0x7F
Communication
Related Section: 8.2
Control Mode:
ALL
Unit: N/A
Range: 0x01 ~ 0x7F
Data Size: 16-bit
Format: Hexadecimal
Settings: The communication address setting is divided into Y, X (hexadecimal):
Display
0
0
Y
X
Range
-
-
0~7 0~F
When using RS-232 / RS-485 to communicate, one servo drive can only set one address. The duplicate address setting will cause abnormal communication.
This address represents the absolute address of the servo drive in communication network. It is also applicable to RS-232 / 485 and CAN bus.
When the communication address setting of MODBUS is set to 0xFF, the servo drive will automatically reply and receive data regardless of the address. However, P3-00 cannot be set to 0xFF.
P3-01
BRT Transmission Speed
Address: 0302H 0303H
Operation Interface:
Panel
/
Software
Default: 0x0033
Communication
Related Section: 8.2
Control Mode:
ALL
Unit: bps
Range: 0x0000 ~ 0x0055
Data Size: 16-bit
Format: Hexadecimal
Settings: The setting of transmission speed is divided into Z, Y, X (hexadecimal):
0
Z
Y
X
COM Port
-
Range
0
-
RS-485 RS-232
0
0 ~ 5
0 ~ 5
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ASDA-B2
Chapter 7 Parameters
P3-02
Settings: 0: 4800 1: 9600 2: 19200 3: 38400 4: 57600 5: 115200
PTL Communication Protocol
Address: 0304H 0305H
Operation Interface:
Panel
/
Software
Default: 0x0066
Communication
Related Section: 8.2
Control Mode:
ALL
Unit: N/A
Range: 0x0000 ~ 0x0088
Data Size: 16-bit
Format: Hexadecimal
Settings: The definition of the setting value is as the followings:
0
Z
Y
X
COM Port
-
-
Range
0
0
0: 7, N, 2 (MODBUS, ASCII)
1: 7, E, 1 (MODBUS, ASCII)
2: 7, O,1 (MODBUS, ASCII)
3: 8, N, 2 (MODBUS, ASCII)
4: 8, E, 1 (MODBUS, ASCII) 5: 8, O, 1 (MODBUS, ASCII)
6: 8, N, 2 (MODBUS, RTU)
7: 8, E, 1 (MODBUS, RTU)
8: 8, O, 1 (MODBUS, RTU)
RS-485 RS-232
0 ~ 8
0 ~ 8
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Chapter 7 Parameters
ASDA-B2
P3-03 P3-04 P3-05
FLT Communication Error Disposal
Address: 0306H 0307H
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 8.2
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 1
Data Size: 16-bit
Format: Hexadecimal
Settings: The definition of the setting value is as the following:
0: Warning and keeps running
1: Warning and stops deceleration (The deceleration time is set to parameter P1-32)
CWD Communication Time Out
Address: 0308H 0309H
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 8.2
Control Mode:
ALL
Unit: sec
Range: 0 ~ 20
Data Size: 16-bit
Format: Decimal
Settings: If the setting value is not 0, enable communication timeout immediately. If it is set to 0, disable the function.
CMM Communication Mechanism
Address: 030AH 030BH
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 8.2
Control Mode:
ALL
Unit: N/A
Range: 0x00 ~ 0x01
Data Size: 16-bit
Format: Hexadecimal
Settings: RS-232 via MOBUS communication or communicate with ASDA-Soft
RS-232 Communication format
0: RS-232/RS485 via Modbus communication
1: RS-232 upon ASDA-Soft software
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Chapter 7 Parameters
P3-06 P3-07
SDI Control Switch of Digital Input (DI)
Address: 030CH 030DH
Operation Interface:
Panel
/
Software
Communication
Related Section: 8.2
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0x0000 ~ 0x1FFF
Data Size: 16-bit
Format: Hexadecimal
Settings: The source of DI controls the switch.
Each bit of this parameter decides one input source of DI signal:
Bit0 ~ Bit8 correspond to DI1 ~ DI9. The setting of bit is as the followings:
0: The input status is controlled by the external hardware.
1: The input status is controlled by P4-07. For the functional planning of digital input, please refer to: DI1 ~ DI9: P2-10 ~ P2-17 and P2-36
CDT Communication Response Delay Time
Address: 030EH 030FH
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 8.2
Control Mode:
ALL
Unit: 1 ms
Range: 0 ~ 1000
Data Size: 16-bit
Format: Decimal
Settings: Delay the time of communication response from servo drive to controller
P3-08
MNS Monitor Mode
Operation Interface:
Panel
/
Software
Communication
Default: 0000
Control Mode:
ALL
Unit: N/A
Range: refer to the description of Settings
Data Size: 16-bit
Format: Hexadecimal
Address: 0310H 0311H
Related Section: 8.2
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Chapter 7 Parameters
ASDA-B2
Settings: The setting of monitor mode is divided as H. (hexadecimal):
Word
-
-
Low
High
Function
-
-
Monitor mode
Range
0
0
0
0 ~ 3
The status of this axis or multi-axis can be monitored by communication. The definition of setting value is as follows:
The definition of H setting value:
3: High-speed monitor. The sampling frequency is 16K and can only monitor 2CH
2: High-speed monitor. The sampling frequency is 8K and can monitor 4CH.
1: Reserved 0: Disable the monitor function
P3-09 Reserved P3-10 Reserved P3-11 Reserved
Address: 0312H 0313H
Address: 0314H 0315H
Address: 0316H 0317H
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Chapter 7 Parameters
P4-xx Diagnosis Parameters
P4-00
ASH1 Fault Record (N)
Operation Interface:
Panel
/
Software
Communication
Default: 0
Control Mode:
ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
Settings: The last abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: Reserved
Address: 0400H 0401H
Related Section: 4.4.1
P4-01
ASH2 Fault Record (N-1)
Address: 0402H 0403H
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 4.4.1
Control Mode:
ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
Settings: The last second abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: display the error code corresponds to CANopen
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Chapter 7 Parameters
ASDA-B2
P4-02
ASH3 Fault Record (N-2)
Address: 0404H 0405H
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 4.4.1
Control Mode:
ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
Settings: The last second abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: display the error code corresponds to CANopen
P4-03
ASH4 Fault Record (N-3)
Address: 0406H 0407H
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 4.4.1
Control Mode:
ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
Settings: The last second abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: display the error code corresponds to CANopen
P4-04 ASH5 Fault Record (N-4)
Operation Interface:
Panel
/
Software
Default: 0
Control Mode:
ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Format: Hexadecimal
Communication
Address: 0408H 0409H
Related Section: 4.4.1
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Chapter 7 Parameters
P4-05
Settings: The last second abnormal status record Low word: LXXXX: display ALM number High word: hYYYY: display the error code corresponds to CANopen
JOG JOG Operation
Operation Interface:
Panel
/
Software
Default: 20
Control Mode:
ALL
Unit: r/min
Range: 0 ~ 5000
Data Size: 16-bit
Format: Decimal
Communication
Address: 040AH 040BH
Related Section: 4.4.2
Settings: Three control methods are as follows:
1. Operation Test
After the JOG speed is set by P4-05 via panel, the panel will display the symbol of JOG. Pressing the UP Key can control JOG operation in positive direction, pressing the DOWN Key can control negative direction. Stop pressing to stop the JOG operation. If there is any error in this setting, then the motor cannot operate. The maximum JOG speed is the maximum speed of the servo motor.
2. DI control
If the DI is set to JOGU and JOGD (refer to table 7.1), then the JOG operation in positive or negative direction can be controlled via this DI.
3. Communication Control 1 ~ 5000: JOG speed
4998: JOG operation in positive direction
4999: JOG operation in negative direction
0: Stop operation
Note: When writing via communication, if the frequency is high, please set P2-30 to 5.
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Chapter 7 Parameters
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P4-06
Digital Output Register (Readable and FOT
Writable)
Address: 040CH 040DH
Operation Interface:
Panel
/
Software
Default: 0
Communication
Related Section: 4.4.3
Control Mode:
ALL
Unit: -
Range: 0 ~ 0x3F
Data Size: 16-bit
Format: Hexadecimal
Settings: Contact control of the force output
0: Non-force output (When the communication sets to 0, it can cancel the force output function.)
P4-07
ITST Input Status
Address: 040EH 040FH
Operation Software (cannot
Interface: read and write
Communication
throught the panel)
Related Section: 4.4.4, 8.2
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 01FF
Data Size: 16-bit
Format: Hexadecimal
Settings: The DI input signal can come from external terminal (DI1 ~ DI9) or software SDI1 ~ 9 (Bit 0 ~ 8 of corresponding parameter P4-07) and is determined by P3-06. The corresponding bit of P3-06 is 1, which means the source is software SDI (P4-07). If the corresponding bit is 0, then the source is hardware DI. See the following graph:
External DI1~9
P3-06
Internal SDI1~9
(P4-07)
DI after combination
Read parameters: shows the DI status after combination Write parameters: writes the software SDI status For example: The value of reading P4-07 is 0x0011, which means DI1 and DI5 is ON after combination.
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Chapter 7 Parameters
The value of writing P4-07 is 0x0011, which means software SDI1 and SDI5 is ON.
Please refer to P2-10 ~ P2-17 and P2-36 for the function program of digital input pin DI (DI1 ~ DI9).
P4-08
Input Status of the Drive Keypad PKEY
(Read-only)
Address: 0410H 0411H
Operation Interface:
Panel
/
Software
Communication
Related Section: N/A
Default: N/A
Control Mode:
ALL
Unit: N/A
Range: Read only
Data Size: 16-bit
Format: Hexadecimal
Settings: The aim is to check if the five Keys, MODE, UP, DOWN, SHIFT, and SET can work normally. This parameter is also used to check if the Keys are all functional when producing servo drives.
P4-09
MOT Output Status (Read-only)
Address: 0412H 0413H
Operation Interface:
Panel
/
Software
Default: N/A
Communication
Related Section: 4.4.5
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 0x3F
Data Size: 16-bit
Format: Hexadecimal
Settings: There is no difference when reading DO output signal via panel or the communication.
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Chapter 7 Parameters
ASDA-B2
P4-10
CEN Adjustment Function
Address: 0414H 0415H
Operation Interface:
Panel
/
Software
Communication
Related Section: N/A
Default: 0
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 6
Data Size: 16-bit
Format: Decimal
Settings: 0: Reserved
1: Execute the adjustment of analog speed input offset
2: Execute the adjustment of analog torque input offset
3: Execute the adjustment of current detector (V phase) hardware offset
4: Execute the adjustment of current detector (W phase) hardware offset
5: Execute the adjustment of 1 ~ 4 hardward offset
6: Execute the adjustment of IGBT ADC
Note: The adjustment function needs to be enabled by the setting of parameter P2-08. When adjusting, the external wiring which connects to analog speed or torque needs to be removed completely and must be in Servo Off status.
P4-11
SOF1 Analog Speed Input Offset Adjustment 1
Address: 0416H 0417H
Operation Interface:
Panel
/
Software
Communication
Related Section: N/A
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Settings: Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset.
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Chapter 7 Parameters
P4-12
SOF2 Analog Speed Input Offset Adjustment 2
Address: 0418H 0419H
Operation Interface:
Panel
/
Software
Communication
Related Section: N/A
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Settings: Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset.
P4-14
TOF2 Analog Torque Drift Adjustment 2
Address: 041CH 041DH
Operation Interface:
Panel
/
Software
Communication
Related Section: N/A
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Settings: Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset.
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Chapter 7 Parameters
ASDA-B2
P4-15
COF1
Current Detector (V1 phase) Offset Adjustment
Address: 041EH 041FH
Operation Interface:
Panel
/
Software
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Communication
Related Section: N/A
Settings: Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset.
P4-16
COF2
Current Detector (V2 phase) Offset Adjustment
Address: 0420H 0421H
Operation Interface:
Panel
/
Software
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Communication
Related Section: N/A
Settings: Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset.
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Chapter 7 Parameters
P4-17
COF3
Current Detector (W1 phase) Offset Adjustment
Address: 0422H 0423H
Operation Interface:
Panel
/
Software
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Communication
Related Section: N/A
Settings: Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset.
P4-18
COF4
Current Detector (W2 phase) Offset Adjustment
Address: 0424H 0425H
Operation Interface:
Panel
/
Software
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Format: Decimal
Communication
Related Section: N/A
Settings: Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be reset.
P4-19
IGBT NTC Adjustment Detection Level TIGB
(cannot reset)
Address: 0426H 0427H
Operation Interface:
Panel
/
Software
Communication
Related Section: N/A
Default: Factory setting
Control Mode:
ALL
Unit: N/A
Range: 1 ~ 3
Data Size: 16-bit
Format: Decimal
Settings: Please cool down the drive to 25 Celsius degree when adjusting.
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Chapter 7 Parameters
ASDA-B2
P4-20 P4-21 P4-22
DOF1
Offset Adjustment of Analog Monitor Output (MON1)
Operation Interface:
Panel
/
Software
Default: Factory setting
Control Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Format: Decimal
Communication
Settings: Offset adjustment value (cannot reset)
DOF2
Offset Adjustment of Analog Monitor Output (MON2)
Operation Interface:
Panel
/
Software
Communication
Default: 0
Control Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Format: Decimal
Settings: Offset adjustment value (cannot reset)
SAO Analog Speed Input Offset
Operation Interface:
Panel
/
Software
Communication
Default: 0
Control Mode:
S
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Format: Decimal
Settings: Users manually adjust the offset
Address: 0428H 0429H
Related Section: 6.4.4
Address: 042AH 042BH
Related Section: 6.4.4
Address: 042CH 042DH
Related Section: N/A
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ASDA-B2
P4-23
TAO Analog Torque Input Offset
Operation Interface:
Panel
/
Software
Communication
Default: 0
Control Mode:
T
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Format: Decimal
Settings: Users manually adjust the offset
Chapter 7 Parameters
Address: 042EH 042FH
Related Section: N/A
P4-24
LVL Level of Undervoltage Error
Address: 0430H 0431H
Operation Interface:
Panel
/
Software
Communication
Related Section: N/A
Default: 160
Control Mode:
ALL
Unit: V (rms)
Range: 140 ~ 190
Data Size: 16-bit
Format: Decimal
Settings: When the voltage of DC BUS is lower than P4-24* 2 , the under voltage alarm occurs.
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Chapter 7 Parameters
ASDA-B2
Table 7.1 Function Description of Digital Input (DI)
Setting value: 0x01
DI Name
Function Description of Digital Input (DI)
SON When this DI is On, servo is activated (Servo On)
Trigger Control Method Mode
Level Triggered
All
Setting value: 0x02
DI Name
Function Description of Digital Input (DI)
Trigger Control Method Mode
ARST
After the alarm has been cleared, when the DI is ON Rising-edge the drive will show that the alarm has been cleared. Triggered
All
Setting value: 0x03
DI Name
Function Description of Digital Input (DI)
In speed and position mode, when the DI is ON GAINUP (P2-27 should be set to 1), the gain switched to the
one multiplies the switching rate.
Trigger Control Method Mode
Level Triggered
PT, S
Setting value: 0x04
DI Name
Function Description of Digital Input (DI)
CCLR
Clear the pulse counter and the setting of parameter P2-50.
Trigger Contro
Method l Mode
Rising-edge
Triggered, Level
PT
Triggered
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Chapter 7 Parameters
Setting value: 0x05
DI Name
Function Description of Digital Input (DI)
Trigger Method
When the speed is slower than the setting of zero speed (P1-38), if the DI is ON, the motor stops running.
Speed Command
Setting value of P1-38 (Zero speed)
ZCLAMP
ZCLAMP input signal
OFF
Level Triggered
ON
Contro l Mode
S
Motor Speed
Setting value of P1-38 (Zero speed)
Time
Setting value: 0x06
DI Name
Function Description of Digital Input (DI)
CMDINV
In PT and speed mode, when the DI is ON, the input command will be in reverse direction.
Trigger Control Method Mode
Level Triggered
S, T
Setting value: 0x07
DI Name
Function Description of Digital Input (DI)
Reserved
Trigger Control Method Mode
Setting value: 0x09
DI Name
Function Description of Digital Input (DI)
TRQLM
In speed and position mode, when the DI is ON, the motor torque will be limited, and the limited torque command will be internal register or analog voltage command.
Trigger Control Method Mode
Level Triggered
PT, S
Setting value: 0x10
DI Name
Function Description of Digital Input (DI)
In torque mode, when the DI is ON, the motor speed SPDLM will be limited, the limited speed command will be
internal register or analog voltage command.
Trigger Control Method Mode
Level Triggered
T
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Chapter 7 Parameters
ASDA-B2
Setting value: 0x14, 0x15
DI Name
Function Description of Digital Input (DI)
Trigger Method
Contr ol
Mode
SPD0 SPD1
Internal speed command selection (1 ~ 4)
Command No.
DI signal of CN1 SPD1 SPD0
Command Source
Content
Range
S1
OFF OFF
S
External analog command
Voltage between V-REF and
GND
+/-10V
Mode
Speed
Sz None command 0
is 0
S2 OFF ON
S3
ON OFF
Register
parameter
S4
ON ON
P1-09 P1-10
P1-11
-60000 ~ +60000
r/min
Level Triggered
S, Sz
Setting value: 0x16, 0x17
DI Name
Function Description of Digital Input (DI)
Trigger Control Method Mode
TCM0 TCM1
Internal torque command selection (1 ~ 4)
Command No.
DI signal of CN1 TCM1 TCM0
Command Source
Content
Voltage
T
Analog command
between V-REF
Mode
T1
OFF OFF
and GND
Torque
Tz None command
is 0
T2
OFF ON
P1-12
T3
ON OFF Register parameter P1-13
T4
ON ON
P1-14
Range
+/-10V
0 -300 ~ +300%
Level Triggered
T, Tz
Setting value: 0x18
DI Name
Function Description of Digital Input (DI)
Trigger Control Method Mode
S-P
In position and speed mode, if the DI is OFF, it is in speed mode. And it is in position mode when the DI is ON.
Level Triggered
Dual mode
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Chapter 7 Parameters
Setting value: 0x19
DI Name
Function Description of Digital Input (DI)
In speed and torque mode, if the DI is OFF, it is in S-T speed mode. And it is in torque mode when the DI is
ON.
Trigger Control Method Mode
Level Dual Triggered mode
Setting value: 0x20
DI Name
Function Description of Digital Input (DI)
In position and torque mode, if the DI is OFF, it is in T-P torque mode; if the DI is ON, then it is in position
mode.
Trigger Control Method Mode
Level Dual Triggered mode
Setting value: 0x21
DI Name
Function Description of Digital Input (DI)
EMGS When this DI is ON, the motor stops urgently.
Trigger Control Method Mode
Level Triggered
All
Setting value: 0x22
DI Name
Function Description of Digital Input (DI)
NL(CWL) Reverse inhibit limit (contact b)
Trigger Control Method Mode
Level Triggered
All
Setting value: 0x23
DI Name
Function Description of Digital Input (DI)
PL(CCWL) Forward inhibit limit (contact b)
Trigger Control Method Mode
Level Triggered
All
Setting value: 0x25
DI Name
Function Description of Digital Input (DI)
TLLM Torque limit - Reverse operation
Trigger Control Method Mode
Level Triggered
PT, S
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Chapter 7 Parameters
Setting value: 0x26
DI Name
Function Description of Digital Input (DI)
TRLM Torque limit - Forward operation
Setting value: 0x37
DI Name
Function Description of Digital Input (DI)
JOGU
When this DI is ON, the motor will JOG in forward direction.
Setting value: 0x38
DI Name
Function Description of Digital Input (DI)
JOGD
When this DI is on, the motor will JOG in reverse direction.
Setting value: 0x43, 0x44
DI Name
Function Description of Digital Input (DI)
Gear Ratio Selection 0 (Numerator) Gear Ratio Selection 1 (Numerator)
GNUM0 GNUM1
ASDA-B2
Trigger Control Method Mode
Level Triggered
PT, S
Trigger Control Method Mode
Level Triggered
All
Trigger Control Method Mode
Level Triggered
All
Trigger Control Method Mode
Level Triggered
PT
Setting value: 0x45
DI Name
Function Description of Digital Input (DI)
INHP
In position mode, when this DI is ON, the external pulse input command is not working.
Trigger Control Method Mode
Level Triggered
PT
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Chapter 7 Parameters
Setting value: 0x48
DI Name
Function Description of Digital Input (DI)
Trigger Control Method Mode
TQP
Torque command source. Please refer to the settings Level
of P2-66 Bit0.
Triggered
T
Setting value: 0x49
DI Name
Function Description of Digital Input (DI)
Trigger Control Method Mode
TQN
Torque command source. Please refer to the settings Level
of P2-66 Bit0.
Triggered
T
Note: (1) 11 ~ 17: Single control mode, 18 ~ 20: Dual control mode (2) When P2-10 to P2-17 and P2-36 is set to 0, DI has no function.
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Table 7.2 Function Description of Digital Output (DO)
Setting value: 0x01
DO Name
Function Description of Digital Output (DO)
Trigger Control Method Mode
SRDY
When the controlled and main circuit power is applied Level
to the drive, this DO is ON if no alarm occurs.
Triggered
All
Setting value: 0x02
DO Name
Function Description of Digital Output (DO)
SON
When the servo is ON, this DO is ON if no alarm occurs.
Trigger Control Method Mode
Level Triggered
All
Setting value: 0x03
DO Name
Function Description of Digital Output (DO)
ZSPD
When the motor speed is slower than the setting speed of zero speed (P1-38), this DO is ON.
Trigger Control Method Mode
Level Triggered
All
Setting value: 0x04
DO Name
Function Description of Digital Output (DO)
Trigger Control Method Mode
TSPD
When the motor speed is faster than the target speed Level
(P1-39), this DO is ON.
Triggered
All
Setting value: 0x05
DO Name
Function Description of Digital Output (DO)
TPOS
In position mode, when the deviation pulse number is smaller than the position range (the setting value of P1-54), this DO is ON.
Trigger Control Method Mode
Level Triggered
PT
Setting value: 0x06
DO Name
Function Description of Digital Output (DO)
TQL When it is in torque limit, this DO is ON.
Trigger Control
Method Mode
Level Triggered
All, except T, Tz
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Setting value: 0x07
DO Name
Function Description of Digital Output (DO)
When the alarm occurs, this DO is ON. ALRM (Except forward / reverse limit, communication error,
undervoltage)
Trigger Control Method Mode
Level Triggered
All
Setting value: 0x08
DO Name
Function Description of Digital Output (DO)
When the signal of brake control is output, adjust the setting of parameter P1-42 and P1-43.
Trigger Control Method Mode
BRKR
Level Triggered
All
Setting value: 0x10
DO Name
Function Description of Digital Output (DO)
Trigger Control Method Mode
When reaching the overload setting, this DO is ON.
tOL= Overload allowable time of the servo x Setting
value of P1-56, when the overload accumulative
time exceeds tOL, it will output pre-overload warning
(OLW). However, if the overload accumulative time
exceeds the overload allowable time of the servo, it
will output pre-overload error (ALRM).
For example:
OLW
The setting value of pre-overload warning is 60% (P1-56=60). When the output average load of the servo drive is
Level Triggered
All
200%, if the output time exceeds 8 seconds, the servo
drive will show the overload alarm (AL.006).
tOL= The output average load of the servo exceeds
200% for 8 seconds x parameter setting value =
8sec x 60% = 4.8sec
Result: When the output average load of the servo
drive exceeds 200% for 4.8 seconds, this DO is ON. If it
exceeds for 8 seconds, then, DO.ALRM is ON.
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Setting value: 0x11
DO Name
Function Description of Digital Output (DO)
Trigger Control Method Mode
WARN
Warning output (Forward / reverse limit, communication Level
error, undervoltage)
Triggered
All
Setting value: 0x19
DO Name
Function Description of Digital Output (DO)
SP_OK
Speed completed output: In speed mode, when the deviation between the speed feedback and the command is smaller than the setting value of P1-47, then this DO is ON.
Trigger Control Method Mode
Level Triggered
S, Sz
Note: When P2-18 to P2-22 and P2-37 are set to 0, DI has no function.
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Table 7.3 Monitoring Variables Descriptions
Description of monitoring variables:
Item Monitoring
code Format
Category
Monitoring method
Panel display
Mapping
Description
Each monitoring variable has a code, and you can use P0-02 to set the code and monitor the variable.
Each monitoring variable is stored in the 32-bit format (long integer) of the servo drive.
Basic variables / expansion variables: 1. Basic variables: variables (P0-02 = 0 ~ 26) within the cycle; in
monitoring mode, you can display the variables by using the UP / DOWN keys on the panel. 2. Expansion variables: variables other than basic variables. (P0-02 = -112, 27 ~ 111)
Panel display / mapping: 1. Panel display: monitor with the panel 2. Mapping: monitor variables or parameters by mapping parameters
1. Use the MODE key to switch to the monitor mode and press the UP / DOWN keys to select the variable to monitor.
2. Input the variable code to monitor into P0-02 and start monitoring. Press the SHIFT key on the panel to switch between high and low digit display; Press the SET key on the panel to switch between decimal and hexadecimal display.
1. Parameters that support monitoring variable mapping: for P0-09 ~ P0-13, please refer to Section 7.3 Parameter Description.
2. You can read monitoring variables through communication using mapping parameters.
3. The value of the mapping parameter (P0-09 ~ P0-13) is the content of the basic variables (17h, 18h, 19h, 1Ah). To monitor P0-09, set P0-17 to the value to read (please refer to P0-02). You can read the data specified by P0-17 through communication or the monitor panel (set P0-02 to 23). When the panel displays "VAR-1", it indicates the content value of P0-09.
The property code of each monitoring variable is described in the following table:
Property B
D1 D2
Dec
Hex
Description BASE: basic variables, you can select the variables with the UP / DOWN keys on the pan Decimal place displayed on panel. D1 indicates 1 decimal place, D2 indicates 2 decimal places. Only decimal display is available on the panel, and you cannot switch to hexadecimal display by pressing the SET key. Only hexadecimal display is available on the panel, and you cannot switch to decimal display by pressing the SET key.
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Monitoring variables are described in the following table by the code sequence:
Code 000 (00h)
001 (01h)
002 (02h) 003 (03h) 004 (04h) 005 (05h) 006 (06h)
007 (07h)
008 (08h) 009 (09h) 010 (0Ah) 011 (0Bh)
012 (0Ch) 013 (0Dh)
Variable name / property
Feedback position (PUU) B
Position command (PUU) B
Position deviation (PUU) B
Feedback position (pulse) B
Position command (pulse) B
Position deviation (pulse) B
Pulse command frequency B
Speed feedback B D1 Dec
Speed command (analog)
B D2 Dec Speed command
(integrated) B Torque command
(analog) B D2 Dec Torque command (integrated) B
Average load rate B
Peak load rate B
Description
Current feedback position of the motor encoder. Unit: Pulse of User Unit (PUU). Current coordinate of the Position command. Unit: Pulse of User Unit (PUU). PT mode: number of pulse commands received by the servo drive. PR mode: absolute coordinates of the Position command. Deviation between the Position command and the feedback position. Unit: Pulse of User Unit (PUU). Current feedback position of the motor encoder. Unit: Encoder unit (pulse). Current coordinate of the Position command. Unit: Encoder unit (pulse). This is the command after passing E-Gear. Deviation between the Position command and the feedback position. Unit: Encoder unit (pulse). Frequency of the pulse command received by the servo drive. Unit: Kpps. Applicable to PT / PR mode. Current motor speed. Unit: 0.1 rpm. The low-pass filter has been applied to this value to make it more stable.
Speed command from the analog channel. Unit: 0.01 Volt.
Integrated Speed command. Unit: 1 rpm. Source includes analog, register, or position loop.
Torque command from the analog channel. Unit: 0.01 Volt.
Integrated Torque command. Unit: percentage (%). Source includes analog, register, or speed loop. Average load rate from the servo drive. Unit: percentage (%). Maximum load rate from the servo drive. Unit: percentage (%).
014 (0Eh) DC Bus voltage B Rectified capacitor voltage. Unit: Volt.
015 (0Fh) 016 (10h)
Load inertia ratio B D1 Dec
IGBT temperature B
Ratio of the load inertia to the motor inertia. Unit: 0.1 times.
Temperature of IGBT. Unit: °C.
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Code
017 (11h)
018 (12h) 019 (13h) 020 (14h) 021 (15h) 022 (16h) 023 (17h) 024 (18h) 025 (19h) 026 (1Ah) 039 (27h)
040 (28h) 041 (29h) 049 (31h) 050 (32h) 051 (33h)
Variable name / property
Resonance frequency B Dec
Z phase offset B Dec
Mapping parameter content #1 B
Mapping parameter content #2 B
Mapping parameter content #3 B
Mapping parameter content #4 B
Mapping monitoring variable #1 B
Mapping monitoring variable #2 B
Mapping monitoring variable #3 B
Mapping monitoring variable #4 B
DI status (Integrated) Hex
DO status (Hardware)
Hex
Status of the drive
Pulse command CNT
Speed command (integrated) D1 Dec
Speed feedback (immediate) D1 Dec
Description
Resonance frequency of the system consists of two groups of frequencies: F1 and F2 When monitoring from the panel, press the SHF key to switch between F1 and F2: F2 displays zero decimal places, F1 displays 1 decimal place. When reading by communication (mapping parameter): Low word returns frequency F2. High word returns frequency F1. Offset value between motor position and Z phase, range: -5000 to +5000. Where it overlaps with Z phase, the value is 0; the greater the value, the greater the offset.
Returns the value of P0-25 which is mapped by P0-35.
Returns the value of P0-26 which is mapped by P0-36.
Returns the value of P0-27 which is mapped by P0-37.
Returns the value of P0-28 which is mapped by P0-38.
Returns the value of P0-09 which is mapped by P0-17.
Returns the value of P0-20 which is mapped by P0-18.
Returns the value of P0-11 which is mapped by P0-19.
Returns the value of P0-12 which is mapped by P0-20.
Integrated DI status of the servo drive. Each bit corresponds to one DI channel. Source includes Hardware channel / P4-07, which is determined by P3-06.
Actual status from the DO hardware. Each bit corresponds to one DO channel.
Returns P0-46. Please refer to the description of this parameter.
Pulse counts from the pulse command (CN1).
Integrated Speed command. Unit: 0.1 rpm. Source includes analog, register, or position loop.
Current motor speed. Unit: 0.1 rpm.
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Code 053 (35h) 054 (36h) 055 (37h) 056 (38h)
096 (60h)
111 (6Fh) -112
Variable name / property
Torque command (integrated) D1 Dec
Torque feedback D1 Dec
Current feedback D2 Dec
DC Bus voltage D1 Dec
Servo drive firmware version
Dec
Error code of the servo drive
Encoder communication
error rate
Description
Integrated Torque command. Unit: 0.1%. Source includes analog, register, or speed loop.
Current actual motor torque. Unit: 0.1%.
Current actual motor current. Unit: 0.01 ampere (Amp).
Rectified capacitor voltage. Unit: 0.1 Volt.
Includes 2 versions: DSP and CPLD When monitoring from the panel, press the SHF key to switch between DSP and CPLD: DSP displays zero decimal places, CPLD displays 1 decimal place. When reading by communication (mapping parameter): Low word returns the DSP version number. High word returns the CPLD version number. Error code from the servo drive: control loop of the servo only, not including the motion controller. When this value continues to increase, it indicates that there is communication interference. In an interference-free environment, this value should not increase. (Communication monitoring is not supported; only monitoring with the panel is supported.)
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8.1 RS-485 / RS-232 Communication Hardware Interface
This servo drive supports the serial communication of RS-485 and RS-232. Communication function enables the servo drive to access and change parameters inside the system. However, RS-485 and RS-232 cannot be used at the same time. Parameter P3-05 can use RS-485 and RS-232 as the communication protocol. Followings are the wiring description. RS-232
Configuration
CN3 1394 Connector
D-Sub 9 Pin Connector
4 (Rx) 2 (Tx) 1 (GND)
3 (Tx) 2 (Rx) 5 (GND)
Note:
(1) 15-meter communication cable is suitable for less interference environment. If the transmission speed is over 38400bps, the length of communication cable should be shorter than 3 meters so as to ensure the accuracy of transmission.
(2) Numbers shown in the above diagram represent the pin number of each connector.
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Chapter 8 Communications
RS-485
Configuration
ASDA-B2
CN3 1394 Connector
D-Sub 9 Pin Connector
5 Servo 1 6
5 Servo 2 6
485(+) 485(-)
485 (+) 485 (-)
Note:
(1) 100 meters of communication cable is suitable for less interference environment. If the transmission speed is over 38400bps, the length of communication cable should not longer than 15 meters so as to ensure the accuracy of transmission.
(2) Numbers shown in the above diagram represent the pin number of each connector.
(3) Please use the power supply unit whose direct current is over 12 volt.
(4) Using RS-485 can connect up to 32 servo drives at the same time. REPEATER can be used to connect more servo drives. 254 is the maximum.
(5) Please refer to Chapter 3.5 for CN3 Pin Definition.
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8.2 RS-485 / RS-232 Communication Parameter Settings
The following four parameters, P3-00 (Address Setting), P3-01 (Transmission Speed), P3-02 (Communication Protocol) and P3-05 (Communication Mechanism), are essential and must be set for the communication of the servo drive. The rest, such as P3-03 (Communication Error Disposal), P3-04 (Communication Timeout), P3-06 (Control Switch of Digital Input), P3-07 (Communication Response Delay Time) and P3-08 (Monitor Mode) is optional. Please refer to Chapter 7 of this user manual.
The following table shows the contents of parameter P3-00. The corresponding communication address is 0300H ~ 0301H as shown in the right column.
P3-00
ADR Address Setting
Address: 0300H 0301H
Operation Interface:
Panel
/
Software
Default: 0x7F
Communication
Related Section: Section 8.2
Control Mode:
ALL
Unit: N/A
Range: 0x01 ~ 0x7F
Data Size: 16-bit
Format: Hexadecimal
Settings: The communication address setting is divided into Y, X (hexadecimal):
Display
0
0
Y
X
Range
-
-
0~7 0~F
When using RS-232 / RS-485 to communicate, one servo drive can only set one address. The duplicate address setting will cause abnormal communication.
This address represents the absolute address of the servo drive in communication network. It is also applicable to RS-232 / 485 and CAN bus.
When the communication address setting of MODBUS is set to 0xFF, the servo drive will automatically reply and receive data regardless of the address. However, P3-00 cannot be set to 0xFF.
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P3-01
BRT Transmission Speed
Address: 0302H 0303H
Operation Interface:
Panel
/
Software
Default: 0x0033
Communication
Related Section: Section 8.2
Control Mode:
ALL
Unit: bps
Range: 0x0000 ~ 0x0055
Data Size: 16-bit
Format: Hexadecimal
Settings: The setting of transmission speed is divided into Z, Y, X (hexadecimal):
0
Z
Y
X
COM Port -
Range
0
Settings: 0: 4800 1: 9600 2: 19200 3: 38400 4: 57600 5: 115200
-
RS-485 RS-232
0
0 ~ 5
0 ~ 5
P3-02
PTL Communication Protocol
Operation Interface:
Panel
/
Software
Default: 0x0066
Control Mode:
ALL
Unit: N/A
Range: 0x0000 ~ 0x0088
Data Size: 16-bit
Format: Hexadecimal
Communication
Address: 0304H 0305H
Related Section: Section 8.2
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Settings: The setting of transmission speed is divided into Z, Y, X (hexadecimal):
0
Z
Y
X
COM Port -
Range
0
-
RS-485 RS-232
0
0 ~ 8
0 ~ 8
The settings are defined as follows:
0: 7, N, 2 (MODBUS, ASCII) 1: 7, E, 1 (MODBUS, ASCII) 2: 7, O,1 (MODBUS, ASCII) 3: 8, N, 2 (MODBUS, ASCII) 4: 8, E, 1 (MODBUS, ASCII) 5: 8, O, 1 (MODBUS, ASCII) 6: 8, N, 2 (MODBUS, RTU) 7: 8, E, 1 (MODBUS, RTU) 8: 8, O, 1 (MODBUS, RTU)
P3-05
CMM Communication Mechanism
Address: 030AH 030BH
Operation Interface:
Panel
/
Software
Default: 1
Communication
Related Section: Section 8.2
Control Mode:
ALL
Unit: N/A
Range: 0x00 ~ 0x01
Data Size: 16-bit
Format: Hexadecimal
Settings: RS-232 Communication interface selection 0: RS-232 via Modbus communication 1: RS-232 upon ASDA-Soft software
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8.3 MODBUS Communication Protocol
ASDA-B2
There are two modes of MODBUS networks communication, ASCII (American Standard Code for information interchange) mode and RTU (Remote Terminal Unit) mode. Users could set the needed communication protocol via parameter P3-02. Apart from these two communication modes, this servo drive also supports function of 03H to access more than one data, 06H to write one character and 10H to write multiple characters. Please refer to the following descriptions.
Code Description:
ASCII Mode:
The so-called ASCII mode is using American Standard Code for Information Interchange (ASCII) to transmit the data. Between two stations (Master and Slave) to transmit data 64H, the master will send `6' which represented by 36H of ASCII code and `4' represented by 34H of ASCII code.
The following table shows the available hexadecimal characters and their corresponding ASCII code of digit 0 to 9 and characters A to F is as follows:
Character ASCII code Character ASCII code
`0' `1' `2' `3' `4' `5' `6' `7' 30H 31H 32H 33H 34H 35H 36H 37H `8' `9' `A' `B' `C' `D' `E' `F' 38H 39H 41H 42H 43H 44H 45H 46H
RTU Mode:
Every 8-bit of data is constituted by two 4-bits hexadecimal characters. If data 64H is transmitted between two stations, it will be transmitted directly, which is more efficient than ASCII mode.
Character Structure
Characters will be encoded into the following framing and transmitted in serial. The checking method of different bit is as the following.
10-bit character frame (For 7-bits character)
7N2
Start
bit
0
1
2
3
4
5
7-data bits 10-bits character frame
6
Stop bit
Stop bit
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7E1
Start
bit
0
7O1
Start
bit
0
1
2
3
4
5
7-data bits 10-bits character frame
1
2
3
4
5
7-data bits 10-bits character frame
Chapter 8 Communications
6
Even Stop parity bit
6
Odd Stop parity bit
11-bit character frame (For 8-bits character)
8N2
Start
bit
0
1
2
3
4
5
6
7
Stop Stop
bit
bit
8-data bits 11-bits character frame
8E1
Start
bit
0
1
2
3
4
5
6
7
Even Stop parity bit
8-data bits 11-bits character frame
8O1
Start
bit
0
1
2
3
4
5
6
7
Odd Stop parity bit
8-data bits 11-bits character frame
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Communication Data Structure:
ASDA-B2
The data frame of two different communication modes is defined as follows:
ASCII Mode:
Start
Start character': ' (3AH)
Slave address Communication address: 1-byte consists of 2 ASCII codes
Function Function code: 1-byte consists of 2 ASCII codes
DATA(n-1)
.......
Data content: n word = n x 2-byte consists of n x 4 ASCII codes, n10
DATA(0)
LRC
Error checking: 1-byte consists of 2 ASCII codes
End 1
End code 1: (0DH)(CR)
End 0
End code 0: (0AH)(LF)
The start character of communication in ASCII mode is colon `' (ASCII is 3AH), ADR is the ASCII code of two characters. The end code is CR (Carriage Return) and LF (Line Feed). And the communication address, function code, data content, error checking LRC (Longitudinal Redundancy Check), etc. are between the start character and end code.
RTU Mode:
Start Slave address
Function DATA(n-1)
....... DATA(0)
CRC End 1
A silent interval of more than 10 ms Communication address: 1-byte Function code: 1-byte
Data content: n word = n x 2-byte, n 10
Error checking: 1-byte A silent interval of more than 10ms
The start of communication in RTU (Remote Terminal Unit) mode is a silent interval. The end of it is another silent interval. The communication address, function code, data content, error checking CRC (Cyclical Redundancy Check), etc. are between the start and the end.
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Example 1: function code 03H, access multiple words: The Master issues the command to the 1st Slave and reads the continuous 2 words starting from the start address 0200H. In response message from the Slave, the content of starting address 0200H is 00B1H and the content of the 2nd data address 0201H is 1F40H. The maximum allowable data in one single access is 10. The calculation of LRC and CRC will be described in next chapter.
ASCII Mode:
Command message (Master):
Start Slave address
Function
Starting data address
Number of data
LRC Check End 1 End 0
`:' `0' `1' `0' `3' `0' `2' `0' `0' `0' `0' `0' `2' `F' `8' (0DH)(CR) (0AH)(LF)
Response message (Slave):
Start Slave address
Function Number of data
(In Byte)
Contents of starting data address 0200H
Contents of second data address 0201H
LRC Check
End 1 End 0
`:' `0' `1' `0' `3' `0' `4' `0' `0' `B' `1' `1' `F' `4' `0' `E' `8'
(0DH)(CR) (0AH)(LF)
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RTU Mode:
Command message (Master):
Response message (Slave):
Slave address Function
Starting data address
Number of data (In Word)
CRC Check Low CRC Check High
01H 03H 02H (High) 00H (Low) 00H 02H C5H (Low)
B3H (High)
Slave address
01H
Function
03H
Number of data (In Byte)
04H
Contents of starting data address 0200H
Contents of second data address 0201H
00H (High) B1H (Low) 1FH (High) 40H (Low)
CRC Check Low A3H (Lower bytes)
CRC Check High
D4H (Upper bytes)
Note: Before and after the transmission in RTU mode, 10 ms of silent interval is needed.
Example 2: function code 06H, write single word:
The Master issues command to the 1st Slave and writes data 0064H to address 0200H. The Slave sends the response message to the Master after the writing is completed. The calculation of LRC and CRC will be described in next chapter.
ASCII Mode:
Command message (Master):
Start Slave address
Function
Starting data address
Content of data
LRC Check End 1 End 0
`:' `0' `1' `0' `6' `0' `2' `0' `0' `0' `0' `6' `4' `9' `3' (0DH)(CR) (0AH)(LF)
Response message (Slave):
Start Slave address
Function
Starting data address
Content of data
LRC Check End 1 End 0
`:' `0' `1' `0' `6' `0' `2' `0' `0' `0' `0' `6' `4' `9' `3' (0DH)(CR) (0AH)(LF)
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RTU Mode:
Command message (Master):
Response message (Slave):
Slave Address Function
Starting data address
Content of data
CRC Check Low CRC Check High
01H 06H 02H (High) 00H (Low) 00H (High) 64H (Low) 89H (Low)
99H (High)
Slave Address Function
Starting data address
Content of data
CRC Check Low CRC Check High
01H 06H 02H (High) 00H (Low) 00H (High) 64H (Low) 89H (Low)
99H (High)
Note: Before and after the transmission in RTU mode, 10 ms of silent interval is needed.
Example 3: function code 10H, write multiple words:
The Master issues command to the 1st Slave and writes 0BB8H and 0000H to the starting address 0112H. That is to say, 0112H is written into 0BB8H and 0113H is written into 0000H. The maximum allowable data in one single access is 10. The Slave sends the response message to the Master after the writing is completed. The calculation of LRC and CRC will be described in next chapter.
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ASCII Mode:
Command message (Master):
Start Slave Address
Function
Starting data address
Number of data (In Word)
Number of data (In Byte)
Content of 1st data
Content of 2nd data
LRC Check End 1 End 0
`:' `0' `1' `1' `0' `0' `1' `1' `2' `0' `0' `0' `2' `0' `4' `0' `B' `B' `8' `0' `0' `0' `0' `1' `3' (0DH)(CR) (0AH)(LF)
ASDA-B2
Response message (Slave):
Start Slave Address
Function
Starting data address
Content of data
LRC Check End 1 End 0
`:' `0' `1' `1' `0' `0' `1' `1' `2' `0' `0' `0' `2' `D' `A' (0DH)(CR) (0AH)(LF)
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RTU Mode:
Command message (Master):
Response message (Slave):
Slave Address Function
Starting data address
Number of data (In Word)
Number of data (In Byte)
Content of 1st data
Content of 2nd data
CRC Check Low CRC Check High
01H 10H 01H (High) 12H (Low) 00H (High) 02H (Low)
04H
0BH (High) B8H (Low) 00H (High) 00H (Low) FCH (Low) EBH (High)
Slave Address Function
Starting data address
Content of data (In Word)
CRC Check Low CRC Check High
01H 10H 01H (High) 12H (Low) 00H (High) 02H (Low) E0H (Low)
31H (High)
Note: Before and after the transmission in RTU mode, 10ms of silent interval is needed.
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LRC and CRC transmission Error Checking:
The error checking in ASCII communication mode is LRC (Longitudinal Redundancy Check); CRC (Cyclical Redundancy Check) is for RTU communication mode. The algorithm of both is as the following.
LRC (ASCII mode):
STX ADR CMD
Starting data address
Number of data
LRC Check End 1 End 0
`:' `7' `F' `0' `3' `0' `5' `C' `4' `0' `0' `0' `1' `B' `4' (0DH)(CR) (0AH)(LF)
The LRC algorithm is: add all byte, round down the carry and take 2's complement. For example, 7FH + 03H + 05H + C4H + 00H + 01H = 14CH, round down carry 1 and take 4CH.
2's complement of 4CH is B4H.
CRC (RTU Mode):
The description of CRC is as the followings:
Step 1: Load a 16-bits register of FFFFH, which is called "CRC" register.
Step 2: (The low byte of CRC register) XOR (The first byte of command), and save the result in CRC register.
Step 3: Right move one bit. Check the least significant bit (LSB) of CRC register. If the bit is 1, then (CRC register) XOR (A001H).
Step 4: Return to Step 3 until Step 3 has been executed for 8 times. Go to Step 5.
Step 5: Repeat the procedure from Step 2 to Step 4 until all byte is processing. Get the result of CRC value.
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Description: After calculating CRC value, fill in the low word of CRC first in command message, and then fill in the high word of CRC. For example, if the result of CRC algorithm is 3794H, fill in 94H in low word and then 37H in high word.
Command Message
ADR
01H
CMD
03H
Starting data address
01H (High) 01H (Low)
Number of data (In Word)
00H (High) 02H (Low)
CRC Check Low
94H (Low)
CRC Check High
37H (High)
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Example of CRC program: Produce CRC in C language. This function needs two parameters: 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'};
8-16
ASDA-B2
ASDA-B2
Chapter 8 Communications
void main() {
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,
<8,N,2> = 07H
<8,O,1> = 0BH
*/
<7,O,1> = 0AH <8,E,1> = 1BH
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 */
}
}
}
8-17
Chapter 8 Communications
ASDA-B2
8.4 Write-in and Read-out Communication Parameters
Please refer to Chapter 7, Parameters for all parameter details. And the descriptions of parameters which can be wrote or read through communication are as follows.
Parameters are divided into 5 groups, Group 0: Monitor Parameters, Group 1: Basic Parameters, Group 2: Extension Parameters, Group 3: Communication Parameters and Group 4: Diagnosis Parameters.
Write parameters via communication: Parameters which can be written through communication include: Group 0, except (P0-00 ~ P0-01), (P0-08 ~ P0-13) and (P0-46) Group 1 (P1-00 ~ P1-76)
Group 2 (P2-00 ~ P2-67)
Group 3 (P3-00 ~ P3-11)
Group 4, except (P4-00 ~ P4-04) and (P4-08 ~ P4-09)
Please note that: (P3-01) When change to a new communication speed, the next data will be written in a
new transmission speed after setting the new value. (P3-02) When change to the new communication protocol, the next data will be written
with the new communication protocol after setting the new value. (P4-05) JOG controls parameters of the servo. Please refer to Chapter 8, Parameters for
the description. (P4-06) Force to control output contact. This parameter is for DO (Digital Output) testing.
Users can write 1, 2, 4, 8 and 16 to test DO1, DO2, DO3, DO4 and DO5 respectively. Please write 0 after the test so as to inform the servo drive that the test has been completed. (P4-10) Adjustment function selection. Write 20 (= 14H in hexadecimal format) in parameter P2-08 first to enable the adjustment so as to change the value of P4-10.
(P4-11 ~ P4-21) This parameter is Offset Adjustment. Do not change the setting unless it is necessary. If it is necessary, please write 22 (= 16H, in hexadecimal format) in parameter P2-08 first to enable the function so as to change the value of (P4-11 ~ P4-21)
Read parameters through communication:
Parameters can be read through communication include:
Group 0 (P0-00 ~ P0-46) Group 1 (P1-00 ~ P1-76) Group 2 (P2-00 ~ P2-67)
Group 3 (P3-00 ~ P3-11) Group 4 (P4-00 ~ P4-23)
8-18
Chapter 9 Troubleshooting
9.1 Alarm of Servo Drive
Display Alarm Name
Alarm Description
Corresponding Servo
DO
Status
AL001 Over current
The current of the main circuit is 1.5 times more than the instantaneous current of the motor.
ALM
Servo Off
AL002 Over voltage
The voltage of the main circuit is higher than the standard voltage.
ALM
Servo Off
AL003 Under voltage
The voltage of the main circuit is lower than the standard voltage.
WARN
Servo Off
AL004
Motor Error
Combination
The drive corresponds motor.
to
the
wrong
ALM
Servo Off
AL005 Regeneration Error Regeneration control is in error.
ALM
Servo Off
AL006 Overload
The motor and the drive is overload.
ALM
Servo Off
AL007 Over speed
The control speed of the motor exceeds the normal speed.
ALM
Servo Off
AL008
Abnormal Pulse Command
The input frequency of the pulse command is over the allowable value of the hardware interface.
ALM
Servo Off
AL009
Excessive Deviation of Position Command
The deviation of position command exceeds the allowable setting value.
ALM
Servo Off
AL011 Encoder Error
The encoder produces abnormal pulse.
ALM
Servo Off
When executing electrical
AL012 Adjustment Error adjustment, the adjusted value
exceeds the allowable value.
ALM
Servo Off
AL013 Emergency Stop Press the emergency stop button.
WARN
Servo Off
AL014 Reverse Limit Error Activate the reverse limit switch.
WARN
Servo On
AL015 Forward Limit Error Activate the forward limit switch.
WARN
Servo On
9-1
Chapter 9 Troubleshooting
ASDA-B2
Display Alarm Name
Alarm Description
Corresponding Servo
DO
Status
AL016 IGBT Overheat The temperature of IGBT is over high ALM
Servo Off
AL017
Abnormal EEPROM
It is in error when DSP accesses EEPROM.
ALM
Servo Off
AL018
Abnormal signal output
The encoder output exceeds the rated output frequency.
ALM
Servo Off
Serial
AL019 Communication
Error
RS-232 / 485 communication is in error
ALM
Servo Off
Serial
AL020 Communication
Time Out
RS-232 / 485 communication time out
WARN
Servo On
AL022
Main Circuit Power Lack Phase
Only one single phase is the main circuit power.
inputted
in
WARN
Servo Off
AL023
Early Warning for Overload
Early Warning for Overload
WARN
Servo On
AL024
Encoder initial magnetic field error
The magnetic field of the encoder U, V, W signal is in error.
ALM
Servo Off
AL025
The Internal of the Encoder is in Error
The internal memory of the encoder and the internal counter are in error.
ALM
Servo Off
AL026
Unreliable internal data of the encoder
The error of the internal been detected for three continuously.
data has times
ALM
Servo Off
AL027
The Internal of the Encoder is in Error
The internal reset of the encoder is in error
ALM
Servo Off
AL028
The Internal of the Encoder is in Error
The encoder, U, V, W signals are in error
ALM
Servo Off
AL029
The Internal of the Encoder is in Error
Internal address of the encoder is in error
ALM
Servo Off
The motor crashes the equipment,
AL030 Motor Crash Error reaches the torque of P1-57 and
exceeds the time set by P1-58.
ALM
Servo Off
Incorrect wiring of Incorrect wiring of the motor power
AL031 the motor power line U, V, W, GND or the connection
line U, V, W, GND between both is breakdown.
Encoder
AL035
temperature exceeds the
protective range
Encoder temperature exceeds the protective range
ALM ALM
Servo Off
Servo Off
9-2
ASDA-B2
Chapter 9 Troubleshooting
Display Alarm Name
Alarm Description
Corresponding Servo
DO
Status
AL048
Excessive encoder output error
The encoder output errors or the output pulse exceeds hardware tolerance.
ALM
Servo Off
Encoder
AL067 temperature
warning
Encoder temperature exceeds the warning level. (But it is still within the protective range.)
ALM
Servo Off
When the output current from servo
drive exceeds the setting level,
AL083
Servo drive outputs ALE083 will be triggered to protect excessive current IGBT. This could avoid IGBT to be
burned out because of the excessive
current.
ALM
Servo Off
AL085 Regeneration error Regeneration control is in error.
ALM
Servo Off
AL099
DSP Firmware Upgrade
EEPROM has not been reset after upgrading the firmware. The fault can be cleared when firstly set P2-08 to 30. Then set P2-08 to 28. And re-power on the drive.
WARN
Servo On
AL555 System Failure DSP processing error
N/A
Do not Switch
AL880 System Failure DSP processing error
N/A
Do not Switch
9-3
Chapter 9 Troubleshooting
ASDA-B2
9.2 Causes and Corrective Actions
Alarm Display
AL001: Over current
Causes
Checking Method
Corrective Actions
The drive output is short-circuit
Check if the wiring between the motor and the drive is correct and see if the wire is short-circuited.
Eliminate short-circuit and avoid metal conductor being exposed.
The motor wiring is in error.
Check if the wiring steps are correct when connecting the motor to the drive.
Rewiring by following the wiring description from the user manual.
IGBT is abnormal
The temperature of the heat sink is abnormal
Send the drive back to the distributors or contact Delta
The control parameter setting in error.
is
Check if the setting default setting
value
exceeds
the
Setting back to the default setting and then gradually adjust the value.
Unreasonable command
Check if the command doing reasonable acceleration time.
Less steep command used or filter applying to smooth command.
AL002: Over voltage
Causes
Checking Method
The input voltage the main circuit is higher than the rated allowable voltage.
of
Use the voltmeter to see if the input voltage of the main circuit is within the rated allowable voltage value. (please refer to Chapter 10.1)
Wrong power input
(incorrect power
Use the voltmeter to see if the power system matches the specification.
system)
The hardware of the servo drive is damaged.
Use the voltmeter to see if the input voltage of the main circuit is within the rated allowable voltage value but still shows the error.
Corrective Actions
Apply to the correct power supply or serial voltage regulator.
Apply to the correct power supply or serial adaptor.
Send the drive back to the distributors or contact Delta.
9-4
ASDA-B2
Chapter 9 Troubleshooting
AL003: Under voltage
Causes
Checking Method
Corrective Actions
The input voltage of the main circuit is Check if the input voltage wiring of the lower than the rated main circuit is normal. allowable voltage.
Re-confirm the voltage wiring.
No power supply Use the voltmeter to see if the voltage for the main circuit. of the main circuit is normal.
Check the power switch
Wrong power input
(incorrect power
Use the voltmeter to see if the power system matches the specification.
system)
Apply to the correct power supply or serial adaptor.
AL004: Motor combination error
Causes
Checking Method
The encoder is damaged.
The encoder is abnormal.
The encoder is loose.
Check the encoder connector.
Motor Combination Error
Connect to the right motor.
Corrective Actions Change the motor Install the motor again. Change the motor
AL005: Regeneration error
Causes
Checking Method
Choose wrong regenerative resistor or does not Check the connection of regenerative connect to external resistor. regenerative resistor
Parameter P1-53 is
not set to zero
when the
Check if parameter P1-53 of
regenerative
regenerative resister is set to zero.
resistor is not in
use.
Wrong parameter Check the setting value of parameter
setting
P1-52 and P1-53.
Corrective Actions Calculate the value of the regenerative resistor again and correctly set the value of P1-52 and P1-53. If issue persists, please send the drive back to the distributors or contact Delta.
Set parameter P1-53 of regenerative resistor to zero when it is not applying.
Correctly reset the value of P1-52 and P1-53.
9-5
Chapter 9 Troubleshooting
ASDA-B2
AL006: Overload
Causes
Checking Method
Corrective Actions
Over the rated loading of the drive and continuously excessive using
Set parameter P0-02 to 11 and see if the average torque [%] is over 100% all the time.
Increase the motor or reduce the load.
capacity
The setting of the control system parameter is inappropriate.
1. Check if there is any mechanical vibration.
2. Check if the acceleration / deceleration constant are set too fast.
1. Adjust the gain value of the control circuit.
2. Slow down the acceleration / deceleration setting time.
Wrong wiring of motor and the encoder.
the
Check the encoder.
wiring of
U, V,
W
and the
Correct wiring
The encoder of the motor is defective.
Send the drive back to the distributors or contact Delta.
AL007: Overspeed
Causes Unreasonable command Inappropriate parameter setting
Torque limit
Checking Method
Corrective Actions
Use the scope to check if the signal of analog voltage is abnormal.
Less steep command used or filter applying to smooth command.
Check if the setting of parameter P2-34 Correctly set parameter
is too small (the condition of over-speed P2-34 (the condition of
warning).
over-speed warning).
1. Check if DI:TRQLM (torque limit) is enabled.
2. Check if the torque limit default of P1-02 is enabled.
3. Check if there is any torque limit setting for P1-12 ~ P1-14.
1. Disable torque limit DI.
2. Disable the default setting.
3. P1-12 ~ P1-14 = 100%
AL008: Abnormal pulse command
Causes
Checking Method
The pulse
command
Use the scope to check if the input
frequency is higher frequency is over the rated input
than the rated input frequency.
frequency.
Corrective Actions
Correctly set the input pulse frequency.
9-6
ASDA-B2
Chapter 9 Troubleshooting
AL009: Excessive deviation of Position Command
Causes
Checking Method
Parameter P2-35 is set too small
Check the setting value of parameter P2-35 (The warning condition of excessive position deviation).
The setting of the gain value is too small.
The torque limit is too low.
Check if the setting value is appropriate.
Check the torque limit value.
Excessive external load
Check the external load.
Corrective Actions
Increase the setting value of P2-35 (The warning condition of excessive position deviation).
Correctly adjust the gain value.
Correctly adjust the torque limit value. Reduce the external load or evaluate the motor capacity again.
AL011: Encoder error
Causes
Checking Method
Corrective Actions
Wrong wiring of the encoder
Check if the wiring follows the suggested wiring of the user manual.
Correct wiring
The encoder is loose
Check the drive connector of CN2 and encoder
Install the encoder again
Bad connection encoder
of
the
Check if the connection between CN2 of the drive and the encoder the servo motor is loose
of
Reconnect the wiring
The encoder is damaged
Check if the motor is damaged
Change the motor
AL012: Adjustment error
Causes
The analog input contact is incorrectly set back to zero
The detection device is damaged
Checking Method Measure if the voltage of the analog input contact is the same as the ground voltage
Reset the power supply
Corrective Actions
Correctly ground the analog input contact
If issue persists, send the drive back to the distributors or contact Delta.
AL013: Emergency stop
Causes
Checking Method
Corrective Actions
Press the emergency Check if the emergency stop button
stop button
is enabled.
Activate emergency stop
9-7
Chapter 9 Troubleshooting
ASDA-B2
AL014: Reverse limit error
Causes
Checking Method
Corrective Actions
Reverse limit activated.
switch
is
Check
if
the
limit
switch
is
enabled.
Enable
the reverse
limit
switch.
The servo system is Check the control parameter and Re-adjust the parameter or
unstable.
inertia ratio.
evaluate the motor capacity.
AL015: Forward limit error
Causes
Checking Method
Corrective Actions
Forward limit activated.
switch is
Check
if
the
limit
switch
is
enabled.
Enable
the forward limit
switch.
The servo system is Check the control parameter and Re-adjust the parameter or
unstable.
inertia ratio.
evaluate the motor capacity.
AL016: IGBT Overheat
Causes
Over the rated loading of the drive and continuously excessive using
The drive output is short-circuit
Checking Method
Check if it is overloading or the motor current is too high.
Check the drive output wiring.
Corrective Actions
Increase the motor capacity or reduce the load.
Correct wiring
AL017: Abnormal EEPROM
Causes
It is in error when DSP accesses EEPROM.
Abnormal hidden parameter
Data in ROM is damaged.
Checking Method
Corrective Actions
Press the SHIFT Key on the panel The fault occurs when applying
and it shows EXGAB.
to the power. It means one of
X = 1, 2, 3 G = group code of the parameter
the parameters is over the reasonable range. Please repower on after adjusting.
AB = hexadecimal of the parameter The fault occurs in normal
If it shows E320A, it means it is operation. It means it is in error
parameter P2-10; If it shows
when writing the parameter.
E3610, it means it is parameter P6- The alarm can be cleared by
16. Please check the parameter. DI.ARST.
The fault occurs in parameter
Press the SHIFT Key on the panel reset. The setting of the drive is
and it shows E100X.
wrong. Please set the correct
type of the drive.
The fault occurs when it is
servo-on. Usually it is because
Press the SHIFT Key on the panel and it shows E0001.
the data in ROM is damaged or there is no data in ROM. Please send the drive back to
the distributors or contact
Delta.
9-8
ASDA-B2
Chapter 9 Troubleshooting
AL018: Abnormal signal output
Causes
Checking Method
The encoder is in error and cause the abnormal signal output
Check the fault records (P4-00 ~ P4-05). See if the alarm exists with the encoder error (AL011, AL024, AL025, AL026).
Check if the following conditions
The output pulse
produce:
exceeds the hardware P1-76 < Motor Speed or
allowable range.
Motor Speed P1 46 4 19.8 10 6 60
Corrective Actions
Conduct the corrective actions of AL.011, AL.024, AL.025, AL.026.
Correctly set parameter P1-76 and P1-46: P1-76 > Motor Speed or
Motor Speed P1 46 4 19.8 106 60
AL019: Serial communication error
Causes
Checking Method
Improper setting of the communication parameter
Check the setting value of communication parameter.
Incorrect communication address
Check the communication address.
Incorrect communication value
Check the accessing value.
Corrective Actions Correctly set the parameter value.
Correctly set the communication address.
Correctly set the value.
AL020: Serial communication time out
Causes
Improper setting of the time-out parameter
The drive hasn't received the communication command for a long time.
Checking Method Check the parameter setting.
Corrective Actions Correctly set the value.
Check if the communication cable is loose or broken.
Correct wiring.
AL022: Main circuit power lack phase
Causes
The main circuit power is abnormal
Checking Method
Corrective Actions
Check if RST power cable is loose or does not connect to the power. This alarm occurs when no power connects to single phase servo drive.
Make sure it applies to the power. If issue persists, please send the drive back the distributors or contact Delta.
to
9-9
Chapter 9 Troubleshooting
ASDA-B2
AL023: Early warning for overload
Causes
Checking Method
Early warning for overload
1. Check if it is used in overload condition.
2. Check if the value of parameter P1-56 is set to small.
Corrective Actions
1. Please refer to the corrective actions of AL006.
2. Please increase the setting value of parameter P1-56. Or set the value over 100 and deactivate the overload warning function.
AL024: Encoder initial magnetic field error
Causes
Checking Method
Corrective Actions
1. Check if the servo motor is
The initial magnetic
properly grounded.
field of the encoder is in error
(Signal, U, V, W of the encoder magnetic
2.
Check if the encoder cable separates from the power supply or the high-current circuit to avoid the interference.
If issue persists, please send the drive back to the distributors or contact Delta.
field is in error.)
3. Check if the shielding cables are
used in the wiring of the encoder.
AL025: The internal of the encoder is in error
Causes
Checking Method
Corrective Actions
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
1. Check if the servo is properly
drive.
The internal of the encoder is in error.
(The internal memory and the internal counter are in error)
2. 3.
grounded.
Check if the encoder cable separates from the power supply or the high-current circuit to avoid the interference.
Check if the shielding cables are
2. 3.
Please check if the encoder cable separates from the power supply or the high-current circuit.
Please use shielding mesh.
used in the wiring of the encoder. 4. If issue persists, please
send the drive back to the
distributors or contact
Delta.
9-10
ASDA-B2
Chapter 9 Troubleshooting
AL026: Unreliable internal data of the encoder
Causes
Checking Method
Corrective Actions
1. Please connect the UVW
1. Check if the servo is properly grounded.
connector (color green) to the heat sink of the servo drive.
The encoder is in error.
(Errors occur in the internal data for three
2.
Check if the encoder cable separates from the power
2.
supply or the high-current circuit
to avoid the interference.
Please check if the encoder cable separates from the power supply or the highcurrent circuit.
times continuously)
3. Check if the shielding cables are used in the wiring of the encoder.
3. Please use shielding mesh. 4. If issue persists, please
send the drive back to the
distributors or contact Delta.
AL027: The internal of the encoder is in error
Causes
The internal reset of the encoder is in error.
Checking Method
Corrective Actions
1. Please connect the UVW
1. Check if the servo is properly grounded.
connector (color green) to the heat sink of the servo drive.
2.
Check if the encoder cable separates from the power
2.
supply or the high-current circuit
to avoid the interference.
Please check if the encoder cable separates from the power supply or the highcurrent circuit.
3. Check if the shielding cables are used in the wiring of the encoder.
3. Please use shielding mesh. 4. If issue persists, please
send the drive back to the
distributors or contact Delta.
AL028: The internal of the encoder is in error
Causes
Checking Method
Corrective Actions
1. Please connect the UVW
1. Check if the servo is properly grounded.
connector (color green) to the heat sink of the servo drive.
The encoder U, V, W signals are in error.
2.
Check if the encoder cable separates from the power
2.
supply or the high-current circuit
to avoid the interference.
Please check if the encoder cable separates from the power supply or the highcurrent circuit.
3. Check if the shielding cables are used in the wiring of the encoder.
3. Please use shielding mesh. 4. If issue persists, please
send the drive back to the
distributors or contact Delta.
9-11
Chapter 9 Troubleshooting
ASDA-B2
AL029: The internal of the encoder is in error
Causes
Checking Method
Corrective Actions
The internal address of the encoder is in error.
1. Please connect the UVW
connector (color green) to
the heat sink of the servo
1. Check if the servo is properly
drive.
grounded.
2. Please check if the
2. Check if the encoder cable
encoder cable separates
separates from the power supply from the power supply or
or the high-current circuit to avoid the high-current circuit.
the interference.
3. Please use shielding
3. Check if the shielding cables are mesh.
used in the wiring of the encoder. 4. If issue persists, please
send the drive back to the
distributors or contact
Delta.
AL030: Motor crash error
Causes
Checking Method
Motor Crash Error
1. Check if P1-57 is enabled.
2. Check if P1-57 is set too small and the time of P1-58 is set too short.
Corrective Actions
1. If it is enabled by mistake, please set P1-57 to zero.
2. According to the actual torque setting, if the value is set too small, the alarm will be triggered by mistake. However, if the value is set too big, it will lose the function of protection.
AL031: Incorrect wiring of the motor power line U, V, W
Causes
Checking Method
The wiring of U, V, W
of the motor is
Check if U, V, W of the motor is
incorrect connected incorrect connected or the
or the connection is connection is breakdown.
breakdown.
Corrective Actions
Follow the user manual to correctly wire U, V, and W and make sure it is grounded.
AL035: Encoder temperature exceeds the protective range
Causes
Checking Method
Encoder temperature is over 120°C.
Check if the environment temperature is excessive or the motor temperature is over 105°C.
Corrective Actions
Try to reduce operating temperature.
9-12
ASDA-B2
Chapter 9 Troubleshooting
AL048: Excessive encoder output error
Causes
Checking Method
Corrective Actions
Encoder error causes abnormal encoder output.
Exam error recording (P4-00 ~ P4-05) to check if encoder error also occurs. (AL011, AL024, AL025, AL026)
Please refer to the corrective actions of AL011, AL024, AL025, and AL026.
The output pulse exceeds hardware tolerance.
Check if following conditions occur: P1-76 < Motor speed or
Motor speed P1 46 4 19.8106 60
Correctly set P1-76 and P1-46:
P1-76 > Motor speed and
Motor speed P1 46 4 19.8106 60
AL067: Encoder temperature warning
Causes
Checking Method
Corrective Actions
Encoder temperature is over 100°C.
Check if the operating temperature is excessive or the motor temperature is over 85°C.
Try to reduce temperature.
operating
AL083: Servo Drive Outputs Excessive Current
Causes UVW cable is shortcircuited
Wrong motor wiring
Analog signal (GND) from servo drive is interfered
Checking Method
Corrective Actions
Check the configuration of motor power cable and connector cable. See if the metal wire is exposed or AWG is worn and causes short circuit of UVW cable.
Replace by new UVW cable and avoid the metal conductor being exposed so as to eliminate short-circuit.
1. If applying non-standard power
cable recommended by Delta,
please check if the wiring
sequence of UVW cable is
Please refer to the
correct.
description of wiring in
2. Check if there is any problem of Chapter 3 and conduct the
lack phase when connecting wiring again.
UVW from servo to motor
(unconnected or wrong
connection)
Please refer to Chapter 3 and
Check if the GND of analog signal misconnected to other signal.
is
conduct the wiring again. GND of analog signal cannot be grounded with other
signals.
9-13
Chapter 9 Troubleshooting
ASDA-B2
AL085: Regeneration error
Causes
Checking Method
Choose wrong
regenerative resistor or does not connect to external regenerative
Check the connection regenerative resistor.
of
resistor
Parameter P1-53 is not set to zero when the Check if parameter P1-53 of regenerative resistor is regenerative resister is set to zero. not in use.
Wrong parameter setting
Check the setting value of parameter P1-52 and P1-53.
Corrective Actions
Calculate the value of the regenerative resistor again and correctly set the value of P1-52 and P1-53. If issue persists, please send the drive back to the distributors or contact Delta.
Set parameter P1-53 of regenerative resistor to zero when it is not applying.
Correctly reset the value of P1-52 and P1-53.
AL099: DSP firmware upgrade
Causes
Checking Method
Upgrade DSP firmware Check if the firmware is upgraded.
Corrective Actions
Firstly set P2-08 to 30. Then set P2-08 to 28, the alarm will be cleared when re-power on.
AL555: System failure
Causes
Checking Method
DSP processing error N/A
Corrective Actions
If AL555 occurs, do not do any anything and send the drive back to the distributors or contact Delta.
AL880: System failure
Causes
Checking Method
DSP processing error N/A
Corrective Actions
If AL880 occurs, do not do any anything and send the drive back to the distributors or contact Delta.
9-14
ASDA-B2
9.3 Corrective Actions after the Alarm Occurs
Chapter 9 Troubleshooting
AL001 Over current
Turn DI.ARST on to clear the alarm
AL002 Over voltage
Turn DI.ARST on to clear the alarm
AL003 Under voltage
Cycle power on the servo drive to clear the alarm.
For the alarm to clear automatically after the voltage returns to normal, please set with P2-66 Bit2.
AL004
The magnetic field of the motor is abnormal
The alarm can be cleared after repower on.
AL005 Regeneration error
Turn DI.ARST on to clear the alarm
AL006 Overload
Turn DI.ARST on to clear the alarm
AL007 Excessive speed deviation
Turn DI.ARST on to clear the alarm
AL008 Abnormal pulse command
Turn DI.ARST on to clear the alarm
AL009
Excessive deviation of position control
Turn DI.ARST on to clear the alarm
AL011 Encoder error
The alarm can be cleared after re-power on.
AL012 Adjustment error
The alarm can be cleared when removing CN1 wiring and execute auto adjustment.
AL013 Emergency stop
The alarm can be cleared automatically after turning DI.EMGS off.
AL014 Reverse limit error
Turn DI.ARST on or Servo Off to clear the alarm. The alarm also can be cleared when the motor operates backwards.
AL015 Forward limit error
Turn DI.ARST on or Servo Off to clear the alarm. The alarm also can be cleared when the motor operates backwards.
AL016
The temperature of IGBT is abnormal error
Turn DI.ARST on to clear the alarm
AL017 Abnormal EEPROM
If the alarm occurs, then parameter reset is a must. And re-servo on again. If it happens during the operation, please turn DI.ARST on to clear the alarm.
AL018 Abnormal signal
Turn DI.ARST on to clear the alarm
9-15
Chapter 9 Troubleshooting
ASDA-B2
AL019 Serial communication error
Turn DI.ARST on to clear the alarm
AL020 Serial communication time out
Turn DI.ARST on to clear the alarm
AL022 Main circuit power leak phase
Turn DI.ARST on to clear the alarm
AL023 Early warning for overload
Turn DI.ARST on to clear the alarm
AL024 Encoder initial magnetic field error
The alarm can be cleared after re-power on.
AL025 AL026 AL027
The internal of the encoder is in error The encoder is in error The internal of the encoder is in error
The alarm can be cleared after re-power on.
The alarm can be cleared after re-power on.
The alarm can be cleared after re-power on.
AL028 AL029
The internal of the encoder is in error The internal of the encoder is in error
The alarm can be cleared after re-power on.
The alarm can be cleared after re-power on.
AL030 Motor crash error
Turn DI.ARST on to clear the alarm
AL031
Incorrect wiring of the motor power line U, V, W, GND
The alarm can be cleared after re-power on.
AL035
Encoder temperature exceeds the protective range
AL048 Excessive encoder output error
The alarm can be cleared after re-power on.
Turn DI.ARST on to clear the alarm
AL067 Encoder temperature warning
The alarm will be cleared when the temperature back to normal.
AL083 Servo drive outputs excessive current Turn DI.ARST on to clear the alarm
AL085 Regeneration error
Turn DI.ARST on to clear the alarm
AL099 DSP firmware upgrade AL555 DSP processing error
Firstly set P2-08 to 30. Then set it to 28. And the alarm will be cleared after re-power on.
N/A
AL880 DSP processing error
N/A
9-16
Chapter 10 Specifications
10.1 Specifications of Servo Drives (ASDA-B2 Series)
Power
ASDA-B2 Series
Phase / Voltage
Input Current (3PH)
Unit: Arms
Input Current (1PH)
Unit: Arms
Continuous Output Current
Unit: Arms
Cooling Method Encoder Resolution / Feedback Resolution Main Circuit Control
100W 200W 400W 750W 1kW 1.5kW 2kW 3kW
01
02
04
07
10
15
Three-phase: 170 ~ 255 VAC, 50 / 60 Hz ±5% Single-phase: 200 ~ 255 VAC, 50 / 60Hz ±5%
20
30
Three-phase 170 ~ 255 VAC 50 / 60 Hz ±5%
0.7 1.11 1.86 3.66 4.68 5.9 8.76 9.83
0.9 1.92 3.22 6.78 8.88 10.3
-
-
0.9 1.55 2.6 5.1 7.3 8.3 13.4 19.4
Natural cooling
Fan cooling
17-bit (160000 p/rev)
SVPWM Control
Control Mode
Manual / Auto
Regenerative Resistor Max. Input Pulse Frequency
Pulse Type
None
Built-in
Line driver: 500 K (low-speed) / 4 Mpps (high-speed) Open collector: 200 Kpps
Pulse + Symbol, A phase + B phase, CCW pulse + CW pulse
Command Source
External pulse
Smoothing Strategy E-gear Ratio
Low-pass filter E-gear ratio: N/M time(s). The limit is: (1/50 < N/M < 25600)
N1 ~ (226-1) / M1 ~(231-1
Torque Limit
Parameter settings
Feed Forward Compensation
Parameter settings
Analog Command
Input
Voltage Range Input
Resistance
Time Constant
0 ~ ±10 VDC 10 K 2.2 us
Speed Control Range*1
1:5000
Command Source
External analog command / Register
Smoothing Strategy
Low-pass and S-curve filter
Position Control Mode
Speed Control Mode
10-1
Chapter 10 Specifications
ASDA-B2
Torque Control Mode Speed Control Mode
ASDA-B2 Series
100W 200W 400W 750W 1kW 1.5kW 2kW 3kW
01
02
04
07
10
15
20
30
Torque Limit
Via parameter setting of analog input
Bandwidth
Maximum 550 Hz
0.01% or less at 0 to 100% load fluctuation
Speed Accuracy*2
0.01% or less at ±10% power fluctuation
0.01% or less at 0 ~ 50 ambient temperature fluctuation
Analog Command
Input
Voltage Range
Input Resistance Time Constant
0 ~ ±10 VDC 10K 2.2 us
Command Source
External analog command / Register
Smoothing Strategy
Low-pass filter
Speed Limit Analog Monitor Output
Digital Input / Output
Input Output
Protective Funciton
Communication Interface Installation Site Altitude
Via parameter setting or analog input
Monitor signal can be set by parameters (Output voltage range: ±8V)
Servo on, Fault reset, Gain switch, Pulse clear, Zero clamp, Command input reverse control, Torque limit, Speed limit, Speed command selection, Speed / position mode switching, Speed / torque mode switching, Torque / position mode switching, Emergency stop, Positive/negative limit, Forward/reverse operation torque limit, Forward / reverse JOG input, E-gear N selection, Pulse input prohibition
A, B, Z Line Driver output
Servo on, Servo ready, Zero speed, Target speed reached, Target position reached, Torque limiting, Servo alarm, Brake control, Early warning for overload, Servo warning Over current, Overvoltage, Under voltage, Overheat, Overload, Excessive speed deviation, Excessive position deviation, Encoder error, Regenerative error, Communication error, Register error, Short-circuit protection of terminal U, V, W and CN1, CN2, CN3
RS-232 / RS-485
Indoors (avoid the direct sunlight), no corrosive fog (avoid fume, flammable gas and dust)
Altitude 1000 m or lower above sea level
Atmospheric pressure Operating Temperature Storage Temperature
Humidity
86 kPa ~ 106 kPa 0oC ~ 55oC
(If operating temperature is above 45oC, forced cooling will be required)
-20oC ~ 65oC
Less than 0 ~ 90% RH (non-condensing)
Environment
10-2
ASDA-B2
Chapter 10 Specifications
Environment
ASDA-B2 Series
Vibration IP Rating Power System
Approvals
100W 01
200W 400W 750W 1kW 1.5kW 2kW
02
04
07
10
15
20
9.80665 m/s2 (1 G) less than 20 Hz, 5.88 m/ s2 (0.6 G) 20 to 50 Hz
IP20
TN system*4 IEC/EN 61800-5-1, UL508C
3kW 30
Note: *1. When it is in rated load, the speed ratio is: the minimum speed (smooth operation) / rated
speed. *2. When the command is the rated speed, the velocity correction ratio is: (rotational speed with
no load rotational speed with full load) / rated speed. *3. TN system: The neutral point of the power system connects to the ground directly.
The exposed metal components connect to the ground via the protective earth conductor. *4. Please refer to section 10.4 for overload features.
10-3
Chapter 10 Specifications
ASDA-B2
10.2 Specifications of Servo Motors (ECMA Series)
Low Inertia Servo Motors
ECMA
C04 C06
C08
01 02 04 S 04 07
C09 07 10
C10 C13 10 20 30
Rated power (kW)
0.1 0.2 0.4 0.4 0.75 0.75 1.0 1.0 2.0 3.0
Rated torque (N-m) *1 0.32 0.64 1.27 1.27 2.39 2.38 3.18 3.18 6.37 9.55
Max. torque (N-m) 0.96 1.92 3.82 3.82 7.16 7.14 8.78 9.54 19.11 28.65
Rated speed (r/min)
3000
Max. speed (r/min)
5000
3000
5000
4500
Rated current (A)
0.90 1.55 2.60 2.60 5.10 3.66 4.25 7.30 12.05 17.2
Max. instantaneous current (A)
2.70 4.65 7.80 7.74 15.3 11 12.37 21.9 36.15 47.5
Max. power pwer second (kW/s)
27.7
22.4
57.6
24.0
50.4
29.6
38.6
38.1
90.6
71.8
Rotor inertia (× 10-4kg.m2)
0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65 4.45 12.7
Mechanical constant (ms) 0.75 0.80 0.53 0.74 0.63 1.72 1.20 0.74 0.61 1.11
Torque constant-KT (N-m/A)
Voltage constant-KE (mV/(r/min))
Armature resistance (Ohm)
Armature inductance (mH)
0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.44 0.53 0.557 13.6 16.0 17.4 18.5 17.2 24.2 27.5 16.8 19.2 20.98 9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20 0.13 0.0976 24.0 12.07 6.71 7.39 3.53 7.55 5.7 1.81 1.50 1.21
Electric constant (ms) 2.58 4.30 4.30 7.96 8.36 5.66 6.35 9.30 11.4 12.4
Insulation class
Class A (UL), Class B (CE)
Insulation resistance
>100 M, DC 500V
Insulation strength
1.8k Vac, 1 sec
Weight - without brake (kg)
0.5
1.2 1.6
2.1
3.0
2.9
3.8
4.3
6.2
7.8
Weight - with brake (kg) 0.8 1.5 2.0 2.9 3.8 3.69 5.5 4.7 7.2 9.2
Radial max. loading (N) 78.4 196 196 245 245 245 245 490 490 490
Axial max. loading (N) 39.2 68 68 98 98 98 98 98 98 98
Max. power per second (kW/s) (with brake)
25.6 21.3 53.8
22.1
48.4
29.3
37.9
30.4
82.0
65.1
Rotor inertia (× 10-4kg.m2) (with brake)
0.04
0.19 0.30
0.73
1.18
1.95
2.67
3.33
4.95
14.0
Mechanical constant (ms) (with brake)
0.81
0.85
0.57
0.78
0.65
1.74
1.22
0.93
0.66
1.22
Brake holding torque [Nt-m (min)] *2
0.3 1.3 1.3 2.5 2.5 2.5 2.5 8.0 8.0 10.0
10-4
ASDA-B2
Chapter 10 Specifications
ECMA
C04 C06
C08
01 02 04 S 04 07
C09 07 10
C10 C13 10 20 30
Brake power consumption
(at 20oC) [W]
7.2 6.5 6.5 8.2 8.2 8.2 8.2 19.4 19.4 19.0
Brake release time [ms (Max)]
5 10 10 10 10 10 10 10 10 10
Brake pull-in time [ms (Max)]
25 70 70 70 70 70 70 70 70 70
Vibration grade (um)
15
Operating temperature
0 ~ 40oC
Storage temperature
-10 ~ 80oC
Operating humidity
20% to 90% RH (non-condensing)
Storage humidity
20% to 90% RH (non-condensing)
Vibration capacity IP rating
2.5 G
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to the rotating shaft (an oil seal model is used))
Approvals
Note: *1. The rated torque is the continuous permissible torque between 0 ~ 40°C operating temperature
which is suitable for the following heat sink dimension. ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm ECMA-__10: 300 mm x 300 mm x 12 mm ECMA-__13: 400 mm x 400 mm x 20 mm ECMA-__18: 550 mm x 550 mm x 30 mm Material: Aluminum F40, F60, F80, F100, F130, F180 *2. The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or as the dynamic brake.
10-5
Chapter 10 Specifications
ASDA-B2
Medium / High Inertia Servo Motors
ECMA
E13
E18
G13
05 10 15 20 20 30 35 03 06 09
Rated power (kW)
0.5 1.0 1.5 2.0 2.0 3.0 3.8 0.3 0.6 0.9
Rated torque (N-m) *1 2.39 4.77 7.16 9.55 9.55 14.32 16.71 2.86 5.73 8.59
Max. torque (N-m) 7.16 14.32 21.48 28.65 28.65 42.97 50.13 8.59 17.19 21.48
Rated speed (r/min)
2000
1000
Max. speed (r/min)
3000
2000
Rated current (A)
2.9 5.6 8.3 11.01 11.22 16.1 19.2 2.5 4.8 7.5
Max. instantaneous current (A)
8.7 16.8 24.81 33.0 33.66 48.3 57.6 7.44 14.49 22.5
Max. power per second (kW/s)
7.0
27.1 45.9 62.5 26.3 37.3 50.8 10.0 39.0 66.0
Rotor inertia (× 10-4kg.m2) Mechanical constant
(ms) Torque constant-KT
(N-m/A) Voltage constant-KE
(mV/(r/min)) Armature resistance
(Ohm) Armature inductance
(mH)
8.17 8.41 11.18 14.59 34.68 54.95 54.95 8.17 8.41 11.18 1.91 1.51 1.10 0.96 1.62 1.06 1.08 1.84 1.40 1.06 0.83 0.85 0.87 0.87 0.85 0.89 0.87 1.15 1.19 1.15 30.9 31.9 31.8 31.8 31.4 32.0 32 42.5 43.8 41.6 0.57 0.47 0.26 0.174 0.119 0.052 0.052 1.06 0.82 0.43 7.39 5.99 4.01 2.76 2.84 1.38 1.38 14.29 11.12 6.97
Electric constant (ms) 12.96 12.88 15.31 15.86 23.87 26.39 26.39 13.55 13.50 16.06
Insulation class
Class A (UL), Class B (CE)
Insulation resistance
>100 M, DC 500V
Insulation strength
1.8k Vac,1 sec
Weight - without brake(kg)
6.8 7.0 7.5 7.8 13.5 18.5 18.5 6.8 7.0 7.5
Weight - with brake (kg) 8.2 8.4 8.9 9.2 17.5 22.5 22.5 8.2 8.4 8.9
Radial max. loading (N) 490 490 490 490 1176 1470 490 490 490 490
Axial max. loading (N) 98 98 98 98 490 490 98 98 98 98
Max. power per second (kW/s) (with brake)
6.4
24.9 43.1 59.7 24.1 35.9 48.9
9.2
35.9 62.1
Rotor inertia (× 10-4kg.m2) (with brake)
8.94
9.14 11.90 15.88 37.86 57.06 57.06 8.94
9.14
11.9
Mechanical constant (ms) (with brake)
2.07 1.64 1.19 1.05 1.77 1.10 1.12 2.0 1.51 1.13
Brake holding torque [Nt-m (min)] *2
10.0 10.0 10.0 10.0 25.0 25.0 10.0 10.0 10.0 10.0
Brake power
consumption (at 20oC) [W]
19.0 19.0 19.0 19.0 20.4 20.4 19.0 19.0 19.0 19.0
10-6
ASDA-B2
Chapter 10 Specifications
ECMA
E13
E18
G13
05 10 15 20 20 30 35 03 06 09
Brake release time [ms (Max)]
Brake pull-in time [ms (Max)]
10 10 10 10 10 10 10 10 10 10 70 70 70 70 70 70 70 70 70 70
Vibration grade (um)
15
Operating temperature
0 ~ 40oC
Storage temperature
-10 ~ 80oC
Operating humidity
20% to 90% RH (non-condensing)
Storage humidity
20% to 90% RH (non-condensing)
Vibration capacity IP rating
2.5 G
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to the rotating shaft (an oil seal model is used))
Approvals
Note: *1. The rated torque is the continuous permissible torque between 0 ~ 40°C operating temperature
which is suitable for the following heat sink dimension. ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm ECMA-__10: 300 mm x 300 mm x 12 mm ECMA-__13: 400 mm x 400 mm x 20 mm ECMA-__18: 550 mm x 550 mm x 30 mm Material: Aluminum F40, F60, F80, F100, F130, F180 *2. The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or as the dynamic brake.
10-7
Chapter 10 Specifications
Medium-high / High Inertia Servo Motors
ECMA Series
Rated power (kW) Rated torque (N-m) *1
Max. torque (N-m)
Rated speed (r/min)
Max. speed (r/min)
Rated current (A)
Max. instantaneous current (A)
Max. power per second (kW/s) Rotor inertia (× 10-4kg.m2)
Mechanical constant (ms)
Torque constant-KT (N-m/A) Voltage constant-KE (mV/(r/min))
Armature resistance (Ohm)
Armature inductance (mH)
Electric constant (ms)
Insulation class
Insulation resistance
Insulation strength
Weight - without brake (kg)
Weight - with brake (kg)
Radial max. loading (N)
Axial max. loading (N) Max. power per second (kW/s)
(with brake) Rotor inertia (× 10-4kg.m2) (with brake) Mechanical constant (ms) (with brake) Brake holding torque [Nt-m (min)] *2 Brake power consumption (at 20oC) [W]
08 0.85 5.41 13.8
7.1 19.4 21.52 13.6 2.43 0.76 29.2 0.38 4.77 12.55
8.6 10.0 490 98 19.78 14.8 2.65 10.0 19.0
F13 30 1.3 8.34 23.3 1500 3000 12.6 38.6
34.78 20 1.62 0.66
18 1.8 11.48 28.7
13 36 52.93 24.9 1.7 0.88
24.2
32.2
0.124
0.185
1.7
2.6
13.71
14.05
Class A (UL), Class B (CE)
>100 M, DC 500V
1.8k Vac,1 sec
9.4
10.5
--
--
490
490
98
98
32.66
50.3
21.3
26.2
1.73
1.79
10.0
10.0
19.0
19.0
ASDA-B2
F18 30 3.0
19.10 57.29
19.4 58.2 66.4 54.95 1.28 0.98 35.0 0.077 1.27 16.5
18.5 22.5 1470 490 63.9 57.06 1.33 25.0 20.4
10-8
ASDA-B2
Chapter 10 Specifications
ECMA
F13
08
13
F18
18
08
Brake release time [ms (Max)]
10
Brake pull-in time [ms (Max)]
70
10
10
10
70
70
70
Vibration grade (um) Operating temperature Storage temperature
15 0 ~ 40oC -10 ~ 80oC
Operating humidity
20% to 90% RH (non-condensing)
Storage humidity
20% to 90% RH (non-condensing)
Vibration capacity IP rating
2.5 G
IP65 (when waterproof connectors are used, or when an oil seal is used to be fitted to the rotating shaft (an oil seal model is used))
Approvals*3
Note: *1. The rated torque is the continuous permissible torque between 0 ~ 40°C operating
temperature which is suitable for the following heat sink dimension. ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm ECMA-__10: 300 mm x 300 mm x 12 mm ECMA-__13: 400 mm x 400 mm x 20 mm ECMA-__18: 550 mm x 550 mm x 30 mm Material: Aluminum F40, F60, F80, F100, F130, F180 *2. The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or as the dynamic brake. *3. The application of UL safety compliance for ECMA-F11308, ECMA-F11313, ECMA-F11318 is under processing. *4. If desire to reach the max. torque limit of motor 250%, it is suggested to use the servo drive with higher watt.
10-9
Chapter 10 Specifications
High Inertia Series
ECMA
Rated power (kW) Rated torque (N-m)*1
Max. torque (N-m) Rated speed (r/min) Max. speed (r/min)
Rated current (A) Max. instantaneous current (A) Max. power per second (kW/s)
Rotor inertia (× 10-4kg.m2) Mechanical constant (ms) Torque constant KT(N-m/A) Voltage constant KE (mV/(r/min)) Armature resistance (Ohm) Armature inductance (mH)
Electric constant (ms) Insulation class
Insulation resistance
Insulation strength Weight without brake (kg)
Weight with brake (kg) Radial max. loading (N) Axial max. loading (N) Max. power per second (kW/s)
(with brake) Rotor inertia (× 10-4kg.m2) (with brake) Mechanical constant (ms) (with brake)
Brake holding torque [Nt-m (min)] *2 Brake power consumption (at 20°C) [W]
Brake release time [ms (Max)] Brake pull-in time [ms (Max)]
Vibration grade (m) Operating temperature (°C)
10-10
ASDA-B2
C06
C08
04H
07H
0.4
0.75
1.27
2.39
3.82
7.16
3000
3000
5000
5000
2.6
5.1
7.8
15.3
21.7
19.63
0.743
2.91
1.42
1.6
0.49
0.47
17.4
17.2
1.55
0.42
6.71
3.53
4.3
8.36
Class A (UL), Class B (CE)
100 M, DC 500V
1.8 2.2 196 68 21.48 0.751 1.43 1.3 6.5 10 70
1.8k Vac,1 sec 3.4 3.9 245 98 19.3 2.96 1.62 1.3 6.5 10 70
15 0°C ~ 40°C
ASDA-B2
Chapter 10 Specifications
ECMA
Storage temperature (°C) Operating humidity Storage humidity Vibration capacity IP Rating Approvals
C06
C08
04H
07H
-10°C ~ 80°C
20 ~ 90%RH (non-condensing)
20 ~ 90%RH (non-condensing)
2.5G
IP65 (use the waterproof connector and shaft seal installation (or oil seal)
Note: *1. The rated torque is the continuous permissible torque between 0 ~ 40°C operating temperature
which is suitable for the following heat sink dimension. ECMA-__04 / 06 / 08: 250 mm x 250 mm x 6 mm ECMA-__10: 300 mm x 300 mm x 12 mm ECMA-__13: 400 mm x 400 mm x 20 mm ECMA-__18: 550 mm x 550 mm x 30 mm Material: Aluminum F40, F60, F80, F100, F130, F180 *2. The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or as the dynamic brake. *3. If desire to reach the max. torque limit of motor 250%, it is suggested to use the servo drive with higher watt.
10-11
Chapter 10 Specifications
ASDA-B2
10.3 Torque Features (T-N Curves)
Torque (N-m)
0.96 (300%)
0.32 (100%)
0.19 (60%)
Acceleration/ Deceleration area
Continuous area
3000
Speed (r/min) 5000
ECMA-C10401S
Torque(N-m)
1.92 (300%)
0.64 (100%)
0.38 (60%)
Acceleration/ Deceleration
area
Continuous area
3000
5000
ECMA-C10602S
Speed(r/min)
Torque (N-m) 3.82 (300%)
1.27 (100%) 0.763 (60%)
Acceleration / Deceleration
area
Continuous area
3000
5000
Speed (r/min)
ECMA-C10604S, ECMA-C10604H ECMA-C108047
Torque (N-m) 7.16 (300%)
2.39 (100%)
1.43 (60%)
Acceleration / Deceleration
area
Continuous area
3000
Speed 5000 (r/min)
ECMA-C10807S, ECMA-C10807H
Torque (N-m)
Torque (N-m)
7.14 (298%)
2.38 (100%)
Acceleration /Deceleration
area
Continuous area
2000
6.00 (251%)
8.78 (276%)
3.18 (100%)
3000
Speed (r/min)
ECMA-C10907S
Acceleration /Deceleration
area
Continuous area
2000 3000
ECMA-C10910S
Speed (r/min)
Torque (N-m)
Torque (N-m)
Torque (N-m)
9.54 (300%)
3.18 (100%)
1.91 (60%)
Acceleration /Deceleration
area
Continuous area
3000
19.11 (300%)
5000
Speed (r/min)
6.37 (100%)
3.82 (60%)
Acceleration /Deceleration
area
Continuous area
3000
28.65 (300%)
5000
Speed (r/min)
9.55 (100%)
6.40 (67%)
Acceleration/ Deceleration
area
Continuous area
3000
4500
ECMA-C11010S
ECMA-C11020S
ECMA-C113304
Speed (r/min)
Torque (N-m)
7.16 (300%)
2.39 (100%)
1.6 (67%)
Acceleration /Deceleration
area
Continuous area
2000 3000
ECMA-E11305S
Torque (N-m)
14.32 (300%)
Speed (r/min)
4.77 (100%)
3.2 (67%)
Acceleration /Deceleration
area
Continuous area
2000 3000
ECMA-E11310S
Torque (N-m)
21.5 (300%)
Speed (r/min)
7.16 (100%)
4.8 (67%)
Acceleration /Deceleration
area
Continuous area
2000 3000
ECMA-E11315S
Speed (r/min)
Torque (N-m)
28.66 (300%)
9.55 (100%)
6.4 (67%)
Acceleration /Deceleration
area
Continuous area
2000 3000
ECMA-E11320S
Torque (N-m)
28.66 (300%)
Speed (r/min)
9.55 (100%)
6.4 (67%)
Acceleration /Deceleration
area
Continuous area
2000 3000
ECMA-E11820S
Torque (N-m)
42.97 (300%)
Speed (r/min)
14.32 (100%)
9.59 (67%)
Acceleration /Deceleration
area
Continuous area
2000 3000
ECMA-E11830S
Speed (r/min)
10-12
ASDA-B2
Chapter 10 Specifications
Torque (N-m)
50.13 (300%)
16.71 (100%) 11.20 (67%)
Acceleration/ Deceleration
area
Continuous area
2000 3000
ECMA-E11835S
Torque (N-m)
13.80 (255%)
Speed (r/min)
7(130%) 5.41(100%)
2.70 (50%)
Acceleration / Deceleration
area
Continuous area
1500 2300 3000
ECMA-F11308S
Torque (N-m)
23.3 (280%)
Speed (r/min)
8.34 (100%)
4.17 (50%)
Acceleration / Deceleration
area
Continuous area
1500
3000
ECMA-F11313S
Speed (r/min)
Torque (N-m)
28.7 (250%)
11.48 (100%)
5.74 (50%)
Acceleration / Deceleration
area
Continuous area
1500 2200 3000
ECMA-F11318S
Torque (N-m)
57.29 (300%)
Speed (r/min)
19.10 (100%)
9.55 (50%)
Acceleration /Deceleration
area
Continuous area
1500
3000
ECMA-F11830S
Torque (N-m)
8.59 (300%)
Speed (r/min)
2.86 (100%)
1.43 (50%)
Acceleration /Deceleration
area
Continuous area
1000
2000
ECMA-G11303S
Speed (r/min)
Torque (N-m)
17.19 (300%)
5.73 (100%)
2.87 (50%)
Acceleration /Deceleration
area
Continuous area
1000
2000
ECMA-G11306S
Torque (N-m)
21.48 (250%)
Speed (r/min)
8.59 (100%)
4.29 (50%)
Acceleration /Deceleration
area
Continuous area
1000
2000
ECMA-G11309S
Speed (r/min)
10-13
Chapter 10 Specifications
ASDA-B2
10.4 Overload Features
Definition of overload protection The overload protection is to prevent the motor in overheat status.
Cause of overload (1) When the motor operates over the rated torque, the operation time is too long. (2) The inertia ratio is set too big and frequently accelerate / decelerate. (3) Connection error between the power cable and encoder wiring. (4) Servo gain setting error and cause resonance of the motor. (5) The motor with brake operates without releasing the brake.
The graph of load and operating time
Low Inertia Series (ECMA C, CM Series)
10-14
ASDA-B2
Medium and Medium-High Inertia Series (ECMA E, F Series)
Chapter 10 Specifications
High Inertia Series (ECMA G, GM Series)
10-15
Chapter 10 Specifications
ASDA-B2
10.5 Dimensions of Servo Drives
ASD-B2-0121; ASD-B2-0221; ASD-B2-0421; ASD-B2L-0421 (100 W ~ 400 W)
60(2.37)
Ø 5(0.19)
70(2.76)
155.9(6.13)
152(5.98) 162(6.37)
GROUNDING
49(1.92)
SCREW: M4×0.7 MOUNTING SCREW TORQUE:14(kgf-cm)
WEIGHT 1.07 (2.36)
Note: (1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)).
(2) Dimensions and weights of the servo drive may be revised without prior notice.
10-16
ASDA-B2
ASD-B2-0721; ASD-B2L-0721 (750 W)
79.5(3.12)
Ø 5(0.19)
70(2.76)
Chapter 10 Specifications
163.4(6.43)
152(5.98) 162(6.37)
GROUNDING 49(1.92)
SCREW: M4×0.7 MOUNTING SCREW TORQUE:14(kgf-cm)
WEIGHT 1.54 (3.40) Note: (1) Dimensions are in millimeters (inches); Weights are in kilograms (kg)
and (pounds (lbs)). (2) Dimensions and weights of the servo drive may be revised without
prior notice.
10-17
Chapter 10 Specifications
ASD-B2-1021; ASD-B2L-1021; ASD-B2-1521 (1 kW ~ 1.5 kW)
85.1(3.35)
Ø 6(0.23)
70(2.76)
ASDA-B2
189.4(7.45)
152(5.98) 162(6.37)
5(0.19) GROUNDING
74(2.91)
SCREW: M4×0.7 MOUNTING SCREW TORQUE:14(kgf-cm)
WEIGHT
1.72 (3.79)
Note: (1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)).
(2) Dimensions and weights of the servo drive may be revised without prior notice.
10-18
ASDA-B2
ASD-B2-2023; ASD-B2-3023 (2 kW ~ 3 kW)
113.7(4.47)
Ø 6(0.23)
70(2.76)
Chapter 10 Specifications
198.2(7.8)
213(8.38) 225(8.85)
5.5(0.21) GROUNDING
102(4.01)
SCREW: M4×0.7 MOUNTING SCREW TORQUE:14(kgf-cm)
WEIGHT
2.67 (5.88)
Note: (1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs)).
(2) Dimensions and weights of the servo drive may be revised without prior notice.
10-19
Chapter 10 Specifications
10.6 Dimensions of Servo Motors
Motor Frame Size: 86 mm and below Models (Units: mm)
ASDA-B2
300±50
Ø Sh6 Ø LBh7
LC
300±50
LG
LR
LE
TP LS LW
KEY DETAILS
RH SHAFT END DETAILS
LL
Model LC LZ LA S LB
LL (without brake) LL (with brake) LS LR LE LG LW RH WK W T
TP
C0401S C0602S C0604S C0604H
40
60
60
60
4.5
5.5
5.5
5.5
46 8(00.009 ) 30(00.021) 100.6
70 14(00.011) 50(00.025)
105.5
70 14(00.011) 50(00.025)
130.7
70 14(00.011) 50(00.025)
145.8
136.6
141.6
166.8
176.37
20
27
27
27
25
30
30
30
2.5
3
3
3
5
7.5
7.5
7.5
16
20
20
20
6.2
11
11
11
3
5
5
5
3
5
5
5
3
M3 Depth 8
5
M4 Depth 15
5
M4 Depth 15
5
M4 Depth 15
Note: (1) Dimensions are in millimeters.
(2) Dimensions and weights of the servo motor may be revised without prior notice.
(3) The boxes () in the model names represent shaft end / brake or the number of oil seal.
(4) Please refer to Chapter 1 for the boxes ( ) in the model names (which represents encoder type).
10-20
ASDA-B2
Motor Frame Size: 86 mm and below Models (Units: mm)
Chapter 10 Specifications
300±50
Ø Sh6 Ø LBh7
LC
300±50
LG
LR
LE
TP LS LW
KEY DETAILS
RH SHAFT END DETAILS
LL
Model
C08047 C0804S C0807H C0907S C0910S
LC
80
80
80
86
86
LZ
6.6
6.6
6.6
6.6
6.6
LA S LB LL (without brake)
90 14(00.011) 70(00.030 )
112.3
90 19(00.013) 70(00.030 )
138.3
90 19(00.013) 70(00.030 )
151.1
100 16(00.011) 80(00.030)
130.2
100 16(00.011) 80(00.030)
153.2
LL (with brake)
152.8
178
189
161.3
184.3
LS
27
32
32
30
30
LR
30
35
35
35
35
LE
3
3
3
3
3
LG
8
8
8
8
8
LW
20
25
25
20
20
RH
11
15.5
15.5
13
13
WK
5
6
6
5
5
W
5
6
6
5
5
T
5
6
6
5
5
TP
M4
M6
M6
M5
M5
Depth 15 Depth 20 Depth 20 Depth 15 Depth 15
Note: (1) (2)
(3)
(4)
Dimensions are in millimeters.
Dimensions and weights of the servo motor may be revised without prior notice. The boxes () in the model names represent shaft end / brake or the number of oil seal.
Please refer to Chapter 1 for the boxes ( ) in the model names (which represents encoder type).
10-21
Chapter 10 Specifications
Motor Frame Size: 100 mm ~ 130 mm Models (Units: mm)
ASDA-B2
Model
C1010 S C1020 S C1330 4
LC
100
100
130
LZ
9
9
9
LA S LB LL (without brake)
115 22(00.013) 95(00.035)
153.3
115 22(00.013) 95(00.035)
199
145
24(0 ) 0.013
110(
0 )
0.035
187.5
LL (with brake)
192.5
226
216.0
LS
37
37
47
LR
45
45
55
LE
5
5
6
LG
12
12
11.5
LW
32
32
36
RH
18
18
20
WK
8
8
8
W
8
8
8
T
7
7
7
TP
M6 Depth 20
M6 Depth 20
M6 Depth 20
E1305 S 130 9 145
22(00.013) 110(00.035)
E1310 S E1315 S
130
130
9
9
145 22(00.013)
110(00.035)
145
22(00.013) 110(00.035)
147.5
147.5
167.5
183.5
47 55 6 11.5 36 18 8 8 7
M6 Depth 20
183.5
47 55 6 11.5 36 18 8 8 7
M6 Depth 20
202
47 55 6 11.5 36 18 8 8 7
M6 Depth 20
E1320 S
130 9
145
22(00.013) 110(00.035)
187.5
216
47 55 6 11.5 36 18 8 8 7
M6 Depth 20
Note: (1) Dimensions are in millimeters.
(2) Dimensions and weights of the servo motor may be revised without prior notice.
(3) The boxes () in the model names represent shaft end / brake or the number of oil seal.
(4) Please refer to Chapter 1 for the boxes ( ) in the model names (which represents encoder type).
10-22
ASDA-B2
Motor Frame Size: 100 mm ~ 130 mm Models (Units: mm)
Chapter 10 Specifications
Model LC LZ LA S
LB LL (without brake) LL (with brake) LS LR LE LG LW RH WK W T
TP
F1308 S 130 9 145
22(00.013) 110(00.035)
152.5
181
47 55 6 11.5 36 18 8 8 7 M6 Depth 20
F1313 S 130 9 145
22(00.013) 110(00.035)
187.5
--
47 55 6 11.5 36 18 8 8 7 M6 Depth 20
F1318 S 130 9 145
22(00.013) 110(00.035)
202
G1303 S 130 9 145
22(00.013) 110(00.035)
147.5
G1306 S
130 9
145 22(00.013) 110(00.035)
G1309 S
130 9
145 22(00.013) 110(00.035)
147.5
163.5
--
47 55 6 11.5 36 18 8 8 7 M6 Depth 20
183.5
47 55 6 11.5 36 18 8 8 7 M6 Depth 20
183.5
47 55 6 11.5 36 18 8 8 7 M6 Depth 20
198
47 55 6 11.5 36 18 8 8 7 M6 Depth 20
Note: (1) Dimensions are in millimeters.
(2) Dimensions and weights of the servo motor may be revised without prior notice.
(3) The boxes () in the model names represent shaft end / brake or the number of oil seal.
(4) Please refer to Chapter 1 for the boxes ( ) in the model names (which represents encoder type).
10-23
Chapter 10 Specifications
Motor Frame Size: 180 mm Models (Units: mm)
ASDA-B2
Model LC LZ LA S LB
LL (without brake) LL (with brake) LS LR LE LG LW RH WK W T
TP
E1820S
180 13.5 200 35(00.016 )
114.3(00.035)
169 203.1
73 79 4 20 63 30 10 10 8 M12 Depth 25
E1830S
180 13.5 200 35(00.016 )
114.3(00.035)
202.1 235.3
73 79 4 20 63 30 10 10 8 M12 Depth 25
E1835 S
180 13.5 200 35(00.016)
114.3(00.035)
202.1 235.3
73 79 4 20 63 30 10 10 8 M12 Depth 25
F1830S
180 13.5 200 35(00.016 )
114.3(00.035)
202.1 235.3
73 79 4 20 63 30 10 10 8 M12 Depth 25
Note: (1) Dimensions are in millimeters.
(2) Dimensions and weights of the servo motor may be revised without prior notice.
(3) The boxes () in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.)
(4) Please refer to Chapter 1 for the boxes () in the model names (which represents encoder type).
10-24
Appendix A Accessories
Power Connectors Delta Part Number: ASDBCAPW0000 (for 220V servo drives) Delta Part Number:ASDBCAPW0100 (for 220V servo drives with brake contact) Delta Part Number: ASD-CAPW1000 Delta Part Number: ASD-CAPW2000
A-1
AppendixA Accessories
Power Cables Delta Part Number: ASDBCAPW0203 / 0205
ASDA-B2
Title
Part No.
L
mm
inch
1
ASDBCAPW0203
3000 50
118 2
2
ASDBCAPW0205
5000 50
197 2
Delta Part Number: ASDBCAPW0303 / 0305
Title
Part No.
L
mm
inch
1
ASDBCAPW0303
3000 50
118 2
2
ASDBCAPW0305
5000 50
197 2
A-2
ASDA-B2
Delta Part Number: ASDBCAPW1203 / 1205
Appendix AAccessories
YF3.5-3SG
3106A-20-18S
Title
Part No.
1 ASDBCAPW1203 2 ASDBCAPW1205
L
Straight 3106A-20-18S 3106A-20-18S
L mm 3000 50 5000 50
inch 118 2 197 2
Delta Part Number: ASDBCAPW1303 / 1305
YF3.5-3SG
3106A-20-18S
Title
Part No.
1 ASDBCAPW1303 2 ASDBCAPW1305
L
Straight 3106A-20-18S 3106A-20-18S
L
mm
inch
3000 50 118 2
5000 50 197 2
Delta Part Number: ASD-CAPW2203 / 2205
Title
Part No.
1 ASD-CAPW2203 2 ASD-CAPW2205
Straight
3106A-24-11S 3106A-24-11S
L mm 3000 50 5000 50
inch 118 2 197 2
A-3
AppendixA Accessories
Delta Part Number: ASD-CAPW2303 / 2305
ASDA-B2
Title
Part No.
1 ASD-CAPW2303 2 ASD-CAPW2305
Straight
3106A-24-11S 3106A-24-11S
L
mm
inch
3000 50 118 2
5000 50 197 2
Encoder Connectors Delta Part Number: ASDBCAEN0000
Delta Part Number: ASDBCAEN1000
A-4
ASDA-B2
Encoder Cables Delta Part Number: ASDBCAEN0003 / 0005
Appendix AAccessories
Title
Part No.
1
ASDBCAEN0003
2
ASDBCAEN0005
Delta Part Number: ASDBCAEN1003 / 1005
L mm 3000 50 5000 50
inch 118 2 197 2
Title
Part No.
1 ASDBCAEN1003 2 ASDBCAEN1005
Straight
3106A-20-29S 3106A-20-29S
L
mm
inch
3000 50 118 2
5000 50 197 2
A-5
AppendixA Accessories
I/O Signal Connector (CN1) Delta Part Number: ASDBCNDS0044
ASDA-B2
Delta Part Number: ASD-CNDS0015
D-SUB 15 PIN PLUG Communication Cable between Servo Drive and Computer Delta Part Number: ASD-CNUS0A08
L
80.1
22.5 1.8 21.2
Unit: mm
Title Cable Connector
Part No.: ASD-CNUS0A08
L
RJ connector USB connector
3000 100 mm 118 4 inch RJ-45
A-type (USB V2.0)
A-6
ASDA-B2
Voltage Output Cable (Analog Signal) Delta Part Number: -Delta Serial Number: 3864471800
20±5
RS-485 Connector Delta Part Number: ASD-CNIE0B06
Appendix AAccessories
1 2 3
Terminal Block Module Delta Part Number: ASD-MDDS4444
87.23±0.5
145.50±1.0
51.0 REF
A-7
AppendixA Accessories
ASDA-B2
Servo Drive, Servo Motor and Accessories Combinations
100W Servo Drive and 100W Low Inertia Servo Motor
Servo Drive Low inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-0121-B ECMA-C0401S
ASDBCAPW020X
Power Connector (Without Brake)
ASDBCAPW0000
Motor Power Cable (With Brake)
ASDBCAPW030X
Power Connector (With Brake)
ASDBCAPW0100
Encoder Cable
ASDBCAEN000X
Encoder Connector
ASDBCAEN0000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
200W Servo Drive and 200W Low Inertia Servo Motor
Servo Drive Low inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-0122-B ECMA-C0602S
ASDBCAPW020X
Power Connector (Without Brake)
ASDBCAPW0000
Motor Power Cable (With Brake)
ASDBCAPW030X
Power Connector (With Brake)
ASDBCAPW0100
Encoder Cable
ASDBCAEN000X
Encoder Connector
ASDBCAEN0000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
400W Servo Drive and 400W Low Inertia Servo Motor
Servo Drive Low inertia Servo Motor Motor Power Cable (Without Brake)
ASD-B2-0421-B ECMA-C0604S ECMA-C08047 ECMA-CM0604PS
ASDBCAPW020X
Power Connector (Without Brake)
ASDBCAPW0000
Motor Power Cable (With Brake)
ASDBCAPW030X
Power Connector (With Brake)
ASDBCAPW0100
Encoder Cable
ASDBCAEN000X
Encoder Connector
ASDBCAEN0000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-8
ASDA-B2
Appendix AAccessories
400W Servo Drive and 400W High Inertia Servo Motor
Servo Drive Low inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-0421-B ECMA-C0604H
ASDBCAPW020X
Power Connector (Without Brake)
ASDBCAPW0000
Power Cable (With Brake)
ASDBCAPW030X
Power Connector (With Brake)
ASDBCAPW0100
Encoder Cable
ASDBCAEN000X
Encoder Connector
ASDBCAEN0000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
400W Servo Drive and 500W Medium Inertia Servo Motor
Servo Drive Medium inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-0421-B ECMA-E1305S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Increment Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
400W Servo Drive and 300W High Inertia Servo Motor
Servo Drive High inertia Servo Motor Motor Power Cable (Without Brake)
ASD-B2-0421-B ECMA-G1303S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-9
AppendixA Accessories
ASDA-B2
750W Servo Drive and 600W High Inertia Servo Motor
Servo Drive High inertia Servo Motor Motor Power Cable (Without Brake)
ASD-B2-0721-B ECMA-G1306S ECMA-GM1306PS
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
750W Servo Drive and 750W Low Inertia Servo Motor
Servo Drive Low inertia Servo Motor Motor Power Cable (Without Brake)
ASD-B2-0721-B ECMA-C0807S ECMA-C0907S ECMA-CM0807PS
ASDBCAPW020X
Power Connector (Without Brake)
ASDBCAPW0000
Motor Power Cable (With Brake)
ASDBCAPW030X
Power Connector (With Brake)
ASDBCAPW0100
Encoder Cable
ASDBCAEN000X
Encoder Connector
ASDBCAEN0000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
750W Servo Drive and 750W High Inertia Servo Motor
Servo Drive Low inertia Servo Motor
ASD-B2-0721-B ECMA-C0807H
Motor Power Cable (Without Brake)
ASDBCAPW020X
Power Connector (Without Brake)
ASDBCAPW0000
Motor Power Cable (With Brake)
ASDBCAPW030X
Power Connector (With Brake)
ASDBCAPW0100
Power Connector
ASDBCAEN000X
Encoder Cable
ASDBCAEN0000
Encoder Connector
ASDBCAPW020X
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-10
ASDA-B2
Appendix AAccessories
1kW Servo Drive and 850W Low Inertia Servo Motor
Servo Drive Low inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-1021-B ECMA-F1308S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
1kW Servo Drive and 1kW Low Inertia Servo Motor Servo Drive
Low inertia Servo Motor Motor Power Cable (Without Brake)
Motor Power Cable (With Brake) Power Connector Encoder Cable Encoder Connector
ASD-B2-1021-B ECMA-C1010S ASDBCAPW120X ASDBCAPW130X ASD-CAPW1000 ASDBCAEN100X ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
1kW Servo Drive and 1kW Low Inertia Servo Motor Servo Drive
Low inertia Servo Motor Motor Power Cable (Without Brake)
Power Connector (Without Brake)
ASD-B2-1021-B ECMA-C0910S
ASDBCAPW020X ASDBCAPW0000
Motor Power Cable (With Brake)
ASDBCAPW030X
Power Connector (With Brake)
ASDBCAPW0100
Increment Encoder Cable
ASDBCAEN000X
Encoder Connector
ASDBCAEN0000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-11
AppendixA Accessories
ASDA-B2
1kW Servo Drive and 1kW Medium Inertia Servo Motor
Servo Drive Medium inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-1021-B ECMA-C1310S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
1kW Servo Drive and 900W High Inertia Servo Motor
Servo Drive High Inertia Servo Motor Motor Power Cable (Without Brake)
ASD-B2-1021-B ECMA-G1309S ECMA-GM1309PS
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
1.5kW Servo Drive and 1.5kW Medium Inertia Servo Motor
Servo Drive Medium Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-1521-B ECMA-E1315S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-12
ASDA-B2
Appendix AAccessories
2kW Servo Drive and 2kW Low Inertia Servo Motor Servo Drive
Low Inertia Servo Motor Motor Power Cable (Without Brake)
Motor Power Cable (With Brake) Power Connector Encoder Cable Encoder Connector
ASD-B2-2023-B ECMA-C1020S ASDBCAPW120X ASDBCAPW130X ASD-CAPW1000 ASDBCAEN100X ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
2kW Servo Drive and 2kW Medium Inertia Servo Motor
Servo Drive Medium Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-2023-B ECMA-E1320S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
2kW Servo Drive and 2kW Medium Inertia Servo Motor
Servo Drive Medium Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-2023-B ECMA-E1820S
ASD-CAPW220X
Motor Power Cable (With Brake)
ASD-CAPW230X
Power Connector
ASD-CAPW2000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-13
AppendixA Accessories
ASDA-B2
2kW Servo Drive and 1.3kW Medium High Inertia Servo Motor
Servo Drive Medium High Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-2023-B ECMA-F11313S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
2kW Servo Drive and 1.8kW Medium High Inertia Servo Motor
Servo Drive Medium High Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-2023-B ECMA-F11318S
ASDBCAPW120X
Motor Power Cable (With Brake)
ASDBCAPW130X
Power Connector
ASD-CAPW1000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
3kW Servo Drive and 3kW Low Inertia Servo Motor Servo Drive
Low Inertia Servo Motor Motor Power Cable (Without Brake)
Motor Power Cable (With Brake) Power Connector Encoder Cable Encoder Connector
ASD-B2-3023-B ECMA-C13304 ASDBCAPW120X ASDBCAPW130X ASD-CAPW1000 ASDBCAEN100X ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-14
ASDA-B2
Appendix AAccessories
3kW Servo Drive and 3kW Medium Inertia Servo Motor
Servo Drive Medium Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-3023-B ECMA-E1830S
ASD-CAPW220X
Motor Power Cable (With Brake)
ASD-CAPW230X
Power Connector
ASD-CAPW2000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
3kW Servo Drive and 3.5kW Medium Inertia Servo Motor
Servo Drive Medium Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-3023-B ECMA-E1835S
ASD-CAPW220X
Motor Power Cable (With Brake)
ASD-CAPW230X
Power Connector
ASD-CAPW2000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
3kW Servo Drive and 3kW Medium / High Inertia Servo Motor
Servo Drive Medium High Inertia Servo Motor
Motor Power Cable (Without Brake)
ASD-B2-3023-B ECMA-F1830S
ASD-CAPW220X
Motor Power Cable (With Brake)
ASD-CAPW230X
Power Connector
ASD-CAPW2000
Encoder Cable
ASDBCAEN100X
Encoder Connector
ASDBCAEN1000
(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)
A-15
AppendixA Accessories
ASDA-B2
Other Accessories (for ASDA-B2 series all models)
Description
Communication Cable between Servo Drive and Computer
Delta Part Number ASD-CARS0003
Regenerative Resistor 400W 40
BR400W040
Regenerative Resistor 1kW 20
BR1K0W020
Note:
(1) () at the ends of the servo drive model names are for optional configurations. For the actual model name, please refer to the ordering information of the actual purchased product.
(2) The boxes () in the model names are for encoder resolution types. Please refer to Chapter 1 for further information.
(3) () in the servo motor model names represents brake or keyway / oil seal.
A-16
Appendix B Maintenance and Inspection
Basic Inspection
Item
General inspection
Inspection before operation (has not applied to the power yet)
Content
Periodically check if the screws of the servo drive, the connection between the motor shaft and the mechanical system as well as the connection of terminal block and mechanical system are securely tightened.
The gap of the control chamber and the installation of the cooling fan should free from oil, water or metallic particles. Also, the servo drive shall free from the cutting power of the power drill.
If the control chamber is installed in the site which contains harmful gas or full of dust, please be ensured the servo drive is free from the harmful gas and dust.
When making encoder cable or wire rods, please be ensured the wiring is correct. Otherwise, the motor may have sudden unintended acceleration or be burned.
To avoid the electric shock, the ground terminal of the servo drive should firmly connect to the ground terminal of the control chamber. If the wiring is needed, wait at least 10 minutes after disconnecting the drive from the main supply power, or discharge electricity by discharge device.
The splicing parts of the wiring terminal should be isolated.
Make sure the wiring is correct so as to avoid the damage or any abnormity.
Check if the electric conductivity objects including sheetmetal (such as screws) or inflammable objects are not inside the servo drive.
Check if the control switch is in OFF status.
Do not place the servo drive of external regenerative resistor on inflammable objects.
To avoid the electromagnetic brake losing efficacy, please check if stop function and circuit break function can work normally.
B-1
Appendix B Maintenance and Inspection
ASDA-B2
Item Inspection before operation (has not applied to the power yet)
Inspection before running the servo drive (has already applied to the power)
Content
If the peripheral devices are interfered by the electronic instruments, please reduce electromagnetic interference with devices.
Please make sure the external voltage level of the servo drive is correct.
The encoder cable should avoid excessive stress. When the motor is running, please be ensured the cable is not frayed or over extended.
Please contact with Delta if there is any vibration of the servo motor or unusual noise during the operation.
Make sure the setting of the parameters is correct. Different machinery has different characteristic, please adjust the parameter according to the characteristic of each machinery.
Please reset the parameter when the servo drive is in the status of SERVO OFF, or it may cause malfunction.
When the relay is operating, make sure it can work properly.
Check if the power indicator and LED display works normally.
Maintenance
Please use and store the product in a proper site.
Periodically clean the surface of the servo drive and servo motor so as to avoid the dust and dirt.
Do not disassemble any mechanical part when in maintenance.
Periodically clean the ventilation ports of the servo drive and do not use the product in a high-temperature site for a long time so as to avoid the malfunction.
Lifespan of Machinery Parts
Smoothing Capacitor The smoothing capacitor deteriorates if affected by the ripple current, and its lifespan is determined by the surrounding temperature and operating conditions. If it is used in an air-conditioned site, its lifespan can be up to 10 years.
Relay The contacts will wear due to switching the power on and off, which will lead to poor contact. The lifespan of the relay varies according to the power supply capacity. Thus, the accumulative times of switching the power supply on and off is about 100,000 times.
Cooling Fan In continuous operation, the lifespan of the cooling fan is 2 to 3 years. However, if there is any unusual noise or vibration during inspection, please replace the fan.
B-2
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