delta ac servo manual

Page 154: Chapter 7 Servo Parameters Chapter 7 Servo ParametersThere are following five groups for drive parameters. Group 0: Monitor parameter (example:.Group 0: P0-xx Monitor ParametersWARN is activated when the drive has detected Reverse. Group 1: P1-xx Basic Parameters. P1 - 01? CTL Control Mode and Output Direction Communication Addr.: 0101HGroup 2: P2-xx Extension ParametersGroup 3: P3-xx Communication ParametersGroup 4: P4-xx Diagnosis ParametersGroup 8: P8-xx Keypad ParametersP8 - 14? KBL1 Firmware Version of Memory Block (ROMx) Communication Addr.: 080EH. Table 7.A Input Function DefinitionTable 7.B Output Function DefinitionPage 236: Chapter 8 MODBUS Communications Chapter 8 MODBUS CommunicationsThe ASDA-B series servo drive has two modes of communication: RS-232,.The following describes the communication addresses for the communication parameters.If they are programmed via the keypad a hexadecimal number is.STX (Communication Start). ASCII Mode: ’:’ character. RTU Mode: A silent interval of more than. RTU Mode. Command message: Response message:Command message: Response message:CRC (Cyclical Redundancy Check) is calculated by the following steps:If one communication error occurs during communication, the AC servo. The following is an example of CRC generation using C language.Page 252: Chapter 9 Maintenance and Inspection Chapter 9 Maintenance and Inspection. Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is.If a fault is detected on the servo drive or motor, a corresponding alarm will be.Servo Drive Fault MessagesThe main circuit voltage.Keypad Fault Messages. ALE 30: LCM hardware errorALE 35: COMM hardware errorALE 43: Error communication response addressALE Turn ARST (DI signal) ON. Page 268: Chapter 11 Specifications Chapter 11 SpecificationsLow Inertia Servo MotorMotor Frame Size: 80mm Models. Motor Frame Size: 100mm ModelsMotor Frame Size: 100mm ModelsApplication Example: Dual Mode (S-P Mode).

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Please review the stack trace for more information about the error and where it originated in the code.Source Error: Information regarding the origin and location of the exception can be identified using the exception stack trace below. Thank you very much for purchasing DELTA’s AC servo products. This manual will be helpful in the installation. Unpacking CheckDo not turn the drive. Page 6: Table of Contents Table of Contents. Chapter 1 Unpacking Check and Model Explanation. 1-1Chapter 6 Control Modes of Operation. 6-1Chapter 11 Specifications. 11-1User Information. Be sure to store this manual in a safe place.After receiving the AC servo drive, please check for.Revision January 2009 1-5The table below shows the.Page 22: Chapter 2 Installation and Storage Chapter 2 Installation and StoragePay close attention on the following installation notes:Operating TemperatureInstallation Procedure. Incorrect installation may result in.Revision January 2009. The CN1 Interface Connector provides access to.Integrated within the servo motor is an incremental encoder with.Revision January 2009 3-27Revision January 2009 3-29This chapter describes the basic operation of the digital keypad and the features it.Revision January 2009 4-17Pressing the UP and DOWN arrow.Revision January 2009 4-37This chapter describes trial run and tuning procedure for servo drive and.Users please observe the following.It is very convenient to.Before speed trial run, fix. The settings of speed command. P1-09 is set to 3000 Input value.Table 5.A P2-31 Value in AutoMode(PI) and the setting of Speed Loop.Table 5.B P2-31 Value in AutoMode(PDFF) and the setting of Speed Loop.The Delta ASDA-B series Servo can be programmed. The following sections describe the operation of each control mode, including control structure,.In PDFF control AutoMode, the value of this parameter will.The speed control mode (S or Sz) is.The torque control mode (T or Tz) is.Except signal control mode operation, ASDA-B series AC.

Supporting Links: 1) Delta ASDA-A2 Catalog. 2) Delta ASDA-A2 Manual. If you do not understand please \n \n contact your local Delta sales representative. Connecting the motor to its mechanical system may cause damage or \nresult in personal injury during the trail run. After the servo motor is running normally and regularly without load, then \nrun servo motor with load connected. Dimensions in \n \n (imperial units) are for reference only. Please use metric for precise \nmeasurements. \n \n 2) The content of this manual may be revised without prior notice. This power cable includes a green grounding cable. The models above 15kW are in the process of \ndevelopment. \n \n \n \n 1-4 Revision January 2011 \n\n \n Chapter 1 Unpacking Check and Model Explanation \n \n \n \n Revision January 2011 1-5 \n \n ECMA Series Servo Motor \n \n \n \n \n \n NOTE \n15kW models will be available soon. If the drives which are designed according to the \n \n six multiple of rated current of motors are needed, please contact our distributors or your \n \n local Delta sales representative. \n \n \n \n The servo drives shown in the above two tables are designed for use in combination with the \n \n specific servo motors. Check the specifications of the drives and motors you want to use. \n \n Also, please ensure that both the servo drive and motor are correctly matched for size (power \n \n rating). If the power of motor and drive is not within the specifications, the drive and motor \n \n may overheat and servo alarm would be activated. In order to retain the \n \n warranty coverage, the AC servo drive should be stored properly when it is not to be used for \n \n an extended period of time. If they are installed in a control panel, please \n \n ensure sufficient space around the units for heat dissipation. \n \n Pay particular attention to vibration of the units and check if the vibration has impacted the \n \n electric devices in the control panel.

PLC ProgramRevision January 2009 12-3ASDA-B series Servo DriveConnections between DVP-EH series PLC and ASDA-B series Servo DriveRevision January 2009 12-7Revision January 2009 12-9Operation. Ensure all wiring is connected correctly.Application Example: Homing Operation. Purpose. Revision January 2009 12-13. ASDA-B series Servo Drive. Parameter Settings:Revision January 2009 12-17Revision January 2009 12-19. To catch this trend, Delta developed the new ASDA-A2 series, offering excellent motion control function so that the external controller could be almost eliminated. ASDA-A2 series features a built-in electronic cam (E-CAM) function which is the best solution for flying shear, rotary cutoff and synchronized motion applications. The whole new position control Pr mode is a unique and most significant function that provides a variety of control modes and definitely enhances system performance. The advanced CANopen interface for high-speed communication enables the drive to integrate with other parts of the automation more efficiently and effectively. The full closed-loop control, auto notch filter, vibration suppression and gantry control functions help to perform complex motions that require high precision and smooth operation. The 20-bit superior resolution encoder which is essential for accurate positioning applications is equipped as standard. In addition, the outstanding Capture and Compare functions for high-speed pulses offer the best support for stepless positioning. Other additional functionality, such as up to 1kHz frequency response, innovative editing software and the high-speed PC monitoring function (like oscilloscope), etc.Stable rotation at low speed has also been achieved. Settling time below 1ms. Safe Torque Off (STO) safety function according to the standards of ENDouble column type machining center. TFT LCD cuttingHigh-speed packaging machine. CNCL abel inserting machine. F ood packaging machine p P rinting.

) and Do not turn the drive off Dimensions in Please use metric for precise However, a Please connect the green Extension Port for The models above 15kW are in the process of The models above 15kW are in the process of For the actual model If the drives which are designed according to the For the actual model If the drives which are designed according to the Check the specifications of the drives and motors you want to use. For the detail specifications of servo drives Failure to do so may In order to retain the Some storage suggestions are: If they are installed in a control panel, please Please observe the following precautions when selecting Failure to observe the following precautions may void the warranty! Do not install the drive in a Additional space may be necessary for wiring Also, as the drive conducts heat away via the mounting, the mounting. It offers many motion control functionalities for a wide range of industry and machine applications, as well as provided in the A series. Major applications include a vast range of machine tools and processing machines for various industries. It offers many motion control functionalities for a wide range of industry and machine applications, as well as provided in the A series. Our Service covers a wide range of inverters and both DC drives from most manufacturers. If a part is needed and unavailable, our engineers may be able to source a component. All of our engineers are highly experienced in all types of inverter repairing. We use most high tech test equipment to diagnose the problem in our inverter repair process. We assure bench testing process before every delivery. This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and motor. Before using the product, please read this user manual to ensure correct use. You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before proceeding with the installation, wiring and operation.

Please observe the following precautions when selecting \n \n a mounting location. Please follow the guidelines in this manual when installing the servo drive and motor. \n \n The ASDA-A2 servo drive should be mounted perpendicular to the wall or in the control panel. \n \n In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not \n \n obstructed and sufficient free space is given to the servo drive. Do not install the drive in a \n \n horizontal position or malfunction and damage will occur. \n \n \n \n \n \n \n Drive Mounting \n \n The ASDA-A2 Servo drives must be back mounted vertically on a dry and solid surface such as \n \n a NEMA enclosure. A minimum spacing of two inches must be maintained above and below \n \n the drive for ventilation and heat dissipation. Additional space may be necessary for wiring \n \n and cable connections.ASDA-A2 User Manual(delta)curve.cdrBefore using the product, please read this user manual to ensure If you do not understand please Place this user manual in a safe location for This manual is a user guide that provides the information on how to install, operate This user manual is intended for the following users: Before using the product, please read this user manual thoroughly to ensure correct The following words, DANGER, They are provided with precise feedback Failure to observe this Failure to observe this caution may result in damage, fire or Starting the Failure to observe this precaution may cause serious personal injury. Connect the servo motor once it has Ensure to perform trial run in this order to prevent The maximum length of command input cable is 3m (9.84ft.

Description of the Digital Keypad The digital keypad includes the display panel and function keys. The Figure 4.1 shows all of the features of the digital keypad and an overview of their functions. Figure 4.1 Name The LCD Display (5-digit, 7-step display panel) shows the monitor codes, parameter. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. Display Message 4.3.2 Abort Setting Display Display Message 4.3.3 Fault Message Display Display Message 4.3.4 Polarity Setting Display Display Message. In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or change parameter P0-02 directly to specify the monitor status. According to the ON and OFF status of the digital inputs DI1 to DI8, the corresponding status will display on the servo drive LED display. One part is to introduce the trial run without load, and the other part is to introduce trial run with load. Ensure to complete the trial run without load first before performing the trial run with load. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended. Check for abnormal vibrations and sounds during operation. Corrective Actions: Use voltmeter to check whether the input voltage falls within the rated input voltage. Use voltmeter to check whether the input voltage is within the specified limit. The external wiring is not necessary and the users only need to connect the digital keypad to the servo drive. STEP 1: Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After selecting the operation mode as speed (S) control mode, please restart the drive as P1-01 is effective only after the servo drive is restarted (after switching power off and on). If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. STEP 1: Set the value of parameter P1-01 to 01 and it is position (Pr) control mode.

After selecting the operation mode as position (Pr) control mode, please restart the drive and the setting would be valid. Please refer to the following table: Position POS2 POS1 Command Internal Position 1 Internal Position 2 Internal Position 3 Internal Position 4 Internal Position 5 Internal Position 6. Then, execute JOG operation again, press MODE key once and press SET key twice to view the display on the keypad. Increase the value “B” to speed the responsiveness or reduce the noise. Increase the value “B” to speed the responsiveness or reduce the noise. P2-31 value “B” Speed Loop Responsiveness 5-20 P2-31 value “B” 20HZ 30 HZ 40 HZ 50 HZ 60 HZ 70 Hz 80Hz 100Hz. The load inertia must be 100 multiple or less of motor inertia. The change of external force and the inertia ratio can not be too much. It could be used to increase stiffness, expedite position loop response and reduce position error. When the setting value of KPP is higher, the response to the position command is quicker, the position error is less and the settling time is also shorter. The default setting is 0 (Disabled). It is not recommended to use it in manual mode only when performing a few tuning on the value gotten through P2-32 AutoMode (PDFF) (setting value is 5, mode 5) automatically (The setting value of P2-26 will change to the value that measured in mode 5 (AutoMode (PDFF)) when switching mode 5 ((AutoMode (PDFF)) to mode 0. Their operation and description is listed in the following table. Mode External Position Control Internal Position Control Speed Control Single Mode Internal Speed Control. Position Control Mode The position control mode (Pt or Pr mode) is usually used for the applications requiring precision positioning, such as industry positioning machine, indexing table etc. It can be an open-collector circuit or line driver circuit. The application of absolute and incremental position control is various and multiple.

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 AC servo drive and motor while the power is ON. Do not attach, modify or remove wiring while power is applied to the AC servo drive. Improper grounding may result in electric shock or fire. Do not connect any power supplies to the U, V, W terminals. Failure to observe this precaution may result in serious injury, damage to the drive or fire. Dimensions in (imperial NOTE units) are for reference only. Please use metric units for precise measurements. 2) The content of this manual may be revised without prior notice. Please consult our distributors or download the most updated version at Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc.Revision January 2009. Verify the part number indicated on the nameplate corresponds with the part number of your order (Please refer to Section 1.2 for details about the model explanation). CN1 Connector: 50 PIN Connector (3M type analog product) CN2 Connector: 20 PIN Connector (3M type analog product) CN3 Connector: 6 PIN Connector (IEEE1394 analog product) Model Explanation 1.2.1 Nameplate Information. The boxes ( ) in the model names are for optional configurations. (Please refer to Section 1.2 for model explanation) Power 100W. Their operation and description is listed in the following table. Mode External Position Control Internal Position Control Speed Control Single Mode. When mounting the servo drive, make sure to tighten all screws to secure the drive in place. If the servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of the servo motor, coupling, and device are followed. Please follow the guidelines in this manual when installing the servo drive and motor. The ASDA-AB servo drive should be mounted perpendicular to the wall or in the control panel.

Please note that the main circuit terminals of 110V models are L1M and L2M, and there is no terminal T in 110V models. For servo drives 2kW and above only three-phase connections are available. But, 220V single-phase models are available in 1.5kW and below only and 110V single-phase models are available in 400W and below only. The names of terminal identification are BRAKE1 (Blue) and BRAKE2 (Brown). 2) The power supply for brake is DC24V.Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding signal name and wiring schematic. The setting method is easy and they are all defined via parameters. The user-defined DI and DO signals are defined via parameters P2-10 to P2-17 and P2-18 to P2-22. C3-1: Pulse input, for the use of internal power supply (Open-collector input) Caution: Do not use dual power supply. NPN transistor with multiple emitter fingers (SINK Mode) C9: Wiring of DI signal, for the use of internal power supply PNP transistor with multiple emitter fingers (SOURCE Mode) C11: Wiring of DI signal, for the use of internal power supply Caution: Do not use dual power supply. When power is first applied to the servo drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor within 500msec approximately. Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires. Users can operate the servo drive through PC software supplied by Delta (contact to the dealer).Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 wiring diagram on page 3-26. Please refer to C4 wiring diagram on page 3-26. If it is open-collector input, please refer to C3 wiring diagram on page 3-26.Please refer to parameter P1-46 in Chapter 7. 3-36 Revision January 2009. Please refer to parameter P1-46 in Chapter 7. 3-38 Revision January 2009. Please refer to parameter P1-46 in Chapter 7. 3-40 Revision January 2009.

Electronic gear ratio can be set in both two modes to set proper position revolution. Please refer to 6-2-2 to see the relationship between DI signals and parameters. The following figure is shown the timing chart of Pr mode: Internal position command. If this happens, the rotor of motor will oscillate. At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating. ASDA-AB series servo drive supports two kinds of command sources in speed control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the speed of servo motor. When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal parameter (P1-09 to P1-11). Using S-curve filter can let the servo motor run more smoothly in response to a sudden speed command change. Speed (rpm) 3000 -3000 The analog speed command S-curve filter is for the smoothing of analog input signal and its function is the same as the S-curve filter. Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range. 5000rpm 3000rpm Relevant parameters:. When using this mode, all auto and auxiliary function will be disabled. Auto Mode: Continuous adjustment of loop gains according to measured inertia, with ten levels of system bandwidth. The parameter set by user is default value.Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will result in the unstable servo system. Now we use frequency area and time area respectively to explain the logic. Frequency Domain 6-22 Revision January 2009. However, when using time domain method, the users only need to prepare an oscilloscope.

As for the performance of torque shaft load, input command tracking and torque shaft load have the same responsiveness when using frequency domain method and time domain method. The figure below shows the resonant open-loop gain. Gain When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value of Low-pass frequency (BW) will become smaller (see the figure below). The resonant condition is improved and the frequency response and phase margin will also decrease. The resonant condition is improved but the frequency response and phase margin will also decrease and the system may become unstable. Delta ASDA-AB series servo drive supports two kinds of command sources in torque control mode. The current control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously. If P1-41 is set to 100, but the input voltage is changed to 5V, then the torque command is changed to 50% rated torque.The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11). This power will be transmitted into the capacitance of DC Bus and result in rising voltage. We recommend the users should use the external regenerative resistor that the resistance value following the above table (Built-in Regenerative Resistor Specifications). We ignore the dissipative power of IGBT (Insulated Gate Bipolar Transistor) in order to let the users easily calculate the capacity of regenerative resistor. Simple Calculation Method The users can select the adequate regenerative resistors according to the allowable frequency required by actual operation and the allowable frequency when the servo motor runs without load. If the digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and motor can run freely. There are two parameters that affect the electromagnetic brake.

The BRKR signal is used to control the brake operation. The VDD DC24V power supply of the servo drive can be used to power the relay coil (Relay). The servo output status display will show in hexadecimal format. For the decimal place setting of internal speed command, please refer to P2-63. When a fault occurs (except for CWL, CCWL, EMGS and serial communication error), it is used to set servo motor stop mode. Using this parameter can improve the motor running stability. ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1-38. It is recommended to set electronic gear ratio when the servo drive is Off. As the wrong setting may cause motor to run chaotically (out of control) and it may lead to personnel injury, therefore, ensure to observe the following rule when setting P1-44, P1-45. When the motor has reached the output overload level set by parameter P1-56, the motor will send a warning to the drive. After the drive has detected the warning, the DO signal OLW will be activated. It can increase stiffness, expedite position loop response and reduce position error. When not using position smooth command, decrease gain can improve the resonance condition of mechanical system. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation. P2 - 26 External Anti-Interference Gain Default: 0. P2 - 29 Gain Switching Condition Default: 10000. Users can control the responsiveness according to application condition. When the setting value is higher, the responsiveness is higher. P2 - 62 Electronic Gear Ratio (4th Numerator) (N4) Default: 1 Applicable Control Mode: Pt, Pr Unit: pulse. Must be set to 0.

Bit6 Bit6: Abnormal pulse command detection 0: enable abnormal pulse command detection 1: disable abnormal pulse command detection, If the detection function is disabled, the ALE08 will not come out when the pulse frequency is higher than 570Kpps. Access to program this number is via parameter P3-00. When this parameter is set to a value over than 0, it indicates this function is enabled. When the value of P4-06 is a non-zero value, it indicates this function is enabled. This parameter is used to check if there is any damage DO terminal. This parameter is not effective when the servo drive is enabled (Servo ON). Check parameter P2-51. ARST Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST. Gain switching in speed and position mode. When GAINUP is activated (P2-27 is set GAINUP to 1), the gain is switched to the gain multiplied by fluctuation Pulse clear (see P2-50). It should be contact “b” and normally ON or a fault (ALE13) will EMGS display. When STEPD is activated, STEPD the motor will run to previous position. Step back input. When STEPB is activated, STEPB the motor will return to first position. Auto run input. When AUTOR is activated, the motor will run automatically according to internal position command. SRDY is activated when the servo drive is ready to run. All fault and SRDY alarm conditions, if present, have been cleared. Servo On. SON is activated when control power is applied the servo drive.OLW is activated when the servo drive has detected that the motor has reached the output overload level set by parameter P1-56.All aspects of control, operation and monitoring as well as programming of the controller can be achieved via communication. However, only one communication mode can be used at a time. Users can select the desired communication mode via parameter P3-05. If a transmission speed of 38400 bps or greater is required, the maximum length of the communication cable is 3m (9.84ft.

) which will ensure the correct and desired baud rate. For communication parameters, please refer to the Chapter 7. Communication Addresses 0301, 0302, and 0305 have to be set identically for all the drives and devices to communicate correctly. 0300H Default: 1 Communication. Input commands or signals through the DI can be either from an external source, through the CN 1 interface connector, or via communication, (RS-232, RS-485, RS-422). Therefore in the previous example the decimal number being read would be 113.The computer then controls each AC servo drive according to its communication address. ASDA-AB series AC servo drive can be set up to communicate on a MODBUS networks using on of the following modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal Unit). Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register. Preventive maintenance is required to operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform a periodic maintenance and inspection of the AC servo drive by a qualified technician. Before any maintenance and inspection, always turn off the AC input power to the unit. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended. Check for abnormal vibrations and sounds during operation. However, it also must be replaced if the cooling fan is vibrating or there are unusual noises. Revision January 2009. Memory error DSP communication error Serial communication error Serial communication time out Command write-in error Control command write-in error. Input power phase loss Pre-overload warning Internal command execution time out. Check if the wiring steps are all correct when Motor wiring error connecting motor to drive.