Preface Thank you very much for purchasing DELTA’s AC servo products. This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC servo drive and motor. Before using the product, please read this user manual to ensure correct use. You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS) before proceeding with the installation, wiring and operation. If you do not understand please contact your local Delta sales representative.
Preface|ASDA-B Series z Do not connect a commercial power supply to the U, V, W terminals of motor. Failure to observe this precaution will damage either the Servo motor or drive. z Ensure that the motor and drive are correctly connected to a ground. The grounding method must comply with the electrical standard of the country (Please refer to NFPA 70: National Electrical Code, 2005 Ed.). z Do not disconnect the AC servo drive and motor while the power is ON.
Preface|ASDA-B Series Unpacking Check ¾ Please ensure that both the servo drive and motor are correctly matched for size (power rating). Failure to observe this precaution may cause fire, seriously damage the drive / motor or cause personal injury. Installation ¾ Do not install the product in a location that is outside the stated specification for the drive and motor. Failure to observe this caution may result in electric shock, fire, or personal injury.
Preface|ASDA-B Series ¾ It is not recommended to frequently power the drive on and off. Do not turn the drive off and on more than once per minute as high charging currents within the internal capacitors may cause damage. Main Circuit Terminal Wiring ¾ ¾ ¾ ¾ Insert only one wire into one terminal on the terminal block. When inserting wires, please ensure that the conductors are not shorted to adjacent terminals or wires. Please use Y-type terminals to tighten the ends of wires.
Table of Contents Chapter 1 Unpacking Check and Model Explanation............................................................. 1-1 1.1 Unpacking Check ........................................................................................................................ 1-1 1.2 Model Explanation ....................................................................................................................... 1-3 1.2.1 Nameplate Information .......................................................
Table of Contents|ASDA-B Series 3.2 Basic Wiring................................................................................................................................. 3-9 3.3 Input / Output Interface Connector -CN1..................................................................................... 3-12 3.3.1 CN1 Terminal Identification .............................................................................................. 3-12 3.3.2 Signals Explanation of Connector CN1 .............
Table of Contents|ASDA-B Series 4.2 ASD-PU-01B ............................................................................................................................... 4-18 4.2.1 Description of Digital Keypad ASD-PU-01B ..................................................................... 4-18 4.2.2 Display Flowchart ............................................................................................................. 4-19 4.2.3 Status Display.............................................
Table of Contents|ASDA-B Series Chapter 6 Control Modes of Operation .................................................................................. 6-1 6.1 Control Modes of Operation ........................................................................................................ 6-1 6.2 Position Control Mode ................................................................................................................. 6-2 6.3 6.4 6.5 6.2.1 Command Source of Position Control Mode ...
Table of Contents|ASDA-B Series 6.6 6.5.2 Speed / Torque Control Mode Selection .......................................................................... 6-30 6.5.3 Torque / Position Control Mode Selection........................................................................ 6-30 Others.......................................................................................................................................... 6-31 6.6.1 Speed Limit......................................................
Table of Contents|ASDA-B Series Chapter 11 Specifications ........................................................................................................ 11-1 11.1 Specifications of Servo Drive (ASDA-B Series) .......................................................................... 11-1 11.2 Specifications of Servo Motor (ECMA Series) ............................................................................ 11-4 11.3 Dimensions of Servo Drive...................................................
Table of Contents|ASDA-B Series About this Manual… User Information Be sure to store this manual in a safe place. Due to constantly growing product range, technical improvement and alteration or changed texts, figures and diagrams, we reserve the right of this manual contained information change without prior notice. Coping or reproducing any part of this manual, without written consent of Delta Electronics Inc. is prohibited.
Table of Contents|ASDA-B Series This page intentionally left blank Revision January, 2009
Chapter 1 Unpacking Check and Model Explanation 1.1 Unpacking Check After receiving the AC servo drive, please check for the following: Ensure that the product is what you have ordered. Verify the part number indicated on the nameplate corresponds with the part number of your order (Please refer to Section 1.2 for details about the model explanation). Ensure that the servo motor shaft rotates freely. Rotate the motor shaft by hand; a smooth rotation will indicate a good motor.
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series Delta AC Servo Drive and Motor 1-2 Revision January 2009
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series 1.2 Model Explanation 1.2.
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series 1.2.
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series ECMA Series Servo Motor Revision January 2009 1-5
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series 1.3 Servo Drive and Servo Motor Combinations The table below shows the possible combination of Delta ASDA-B series servo drives and ECMA series servo motors. The boxes ( ) in the model names are for optional configurations. (Please refer to Section 1.
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series 1.4 Servo Drive Features NOTE 1) Only 750W and above servo drives are provided with built-in regenerative resistors. The servo drives below 400W are not. 2) CMD LED: A lit CMD LED indicates that the servo drive is ON (Servo On) or the motor speed is equal to or higher than the setting value of P1-38 (>=P1-38 (ZSPD)).
Chapter 1 Unpacking Check and Model Explanation|ASDA-B Series 1.5 Control Modes of Servo Drive The Delta Servo can be programmed to provide five single and three dual modes of operation. Their operation and description is listed in the following table. Mode External Position Control Speed Control Single Mode Internal Speed Control Torque Control Internal Torque Control Dual Mode Code Description P Position control for the servo motor is achieved via an external pulse command.
Chapter 2 Installation and Storage 2.1 Installation Notes Pay close attention on the following installation notes: Do not bend or strain the connection cables between servo drive and motor. When mounting servo drive, make sure to tighten 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.
Chapter 2 Installation and Storage|ASDA-B Series 2.3 Installation Conditions Operating Temperature ASDA-B Series Servo Drive : 0°C to 45°C (32°F to 113°F) ECMA Series Servo Motor : 0°C to 40°C (32°F to 104°F) The ambient temperature of servo drive for long-term reliability should be under 45°C (113°F). If the ambient temperature of servo drive is greater than 45°C (113°F), please install the drive in a wellventilated location and do not obstruct the airflow for the cooling fan.
Chapter 2 Installation and Storage|ASDA-B Series 2.4 Installation Procedure and Minimum Clearances Installation Procedure Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual when installing the servo drive and motor. The ASDA-B servo drive should be mounted perpendicular to the wall or in the control panel.
Chapter 2 Installation and Storage|ASDA-B Series Minimum Clearances 2.0in (50mm) min. 0.8in (20mm) min. 0.8in (20mm ) min. 2.0in (50mm) min. Side by Side Installation 4.0in (100mm ) min. 1.6in (40mm ) min. 4.0in (100mm ) min. 2-4 FAN 0.4in (10mm ) min. Air flow FAN 0.4in (10mm ) min. 0.4in (10mm ) min. Air flow 4.0in (100mm) min. 1.6in (40mm ) min. 4.0in (100mm) min.
Chapter 3 Connections and Wiring This chapter provides information on wiring ASDA-B 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 In Figure 3.1, it briefly explains how to connect each peripheral device. Figure 3.
Chapter 3 Connections and Wiring|ASDA-B Series 3.1.2 Servo Drive Connectors and Terminals Terminal Identification R, S, T Terminal Description Notes Main circuit terminal The Main Circuit Terminal is used to supply the servo with line power. If a single-phase supply, is used connect the R and S terminals to power. If 3-phase, connect all three R, S, & T terminals.
Chapter 3 Connections and Wiring|ASDA-B Series Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor. 1. Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, U, V, & W) is correct. 2. Please use shielded twisted-pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interference. 3.
Chapter 3 Connections and Wiring|ASDA-B Series 3.1.3 Wiring Methods For servo drives 1.5kW and below the input power can be either single or three-phase. For drives 2kW and above only three-phase connections are available. In the wiring diagram figures 3.2 & 3.3: Power ON : contact “a” (normally open) Power OFF or Alarm Processing : contact “b” (normally closed) 1MC/x : coil of electromagnetic contactor 1MC/a : self-holding power 1MC : contact of main circuit power Figure 3.
Chapter 3 Connections and Wiring|ASDA-B Series Figure 3.3 Three-Phase Power Supply Connection 3.1.4 Motor Power Cable Connector Specifications The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.
Chapter 3 Connections and Wiring|ASDA-B Series Motor Model Name ECMA-G31303 ECMA-E31305 ECMA-G31306 ECMA-G31309 ECMA-C31010 ECMA-E31310 ECMA-E31315 ECMA-C31020 ECMA-E31320 Terminal Identification U, V, W / Electromagnetic Brake Connector S (300W) S (500W) S (600W) S (900W) S (1000W) S (1000W) S (1500W) S (2000W) S (2000W) C 3106A-20-18S D ECMA-E31820 S (2000W) 3106A-24-11S Terminal Identification U (Red) V (White) W (Black) CASE GROUND (Green) BRAKE1 BRAKE2 A 1 2 3 4 - - B 1 2 4
Chapter 3 Connections and Wiring|ASDA-B Series 3.1.5 Encoder Connector Specifications The boxes ( ) in the model names are for optional configurations. (Please refer to section 1.2 for model explanation.
Chapter 3 Connections and Wiring|ASDA-B Series 3.1.6 Cable Specifications for Servo Drive and Servo Motor Servo Drive and Servo Motor Power Cable - Wire Gauge mm2 (AWG) R,S,T U,V,W P,C ASD-B0121-A ECMA-C30401 S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ASD-B0221-A ECMA-C30602 S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ECMA-C30604 S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ECMA-C30804 7 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ECMA-E31305 S 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14) ECMA-G31303 S 2.
Chapter 3 Connections and Wiring|ASDA-B Series 3.2 Basic Wiring Figure 3.
Chapter 3 Connections and Wiring|ASDA-B Series Figure 3.
Chapter 3 Connections and Wiring|ASDA-B Series Figure 3.
Chapter 3 Connections and Wiring|ASDA-B Series 3.3 Input / Output Interface Connector -CN1 The CN1 Interface Connector provides access to three signal groups: i General interface for the analog speed and torque control, encoder reference signal from the motor, open collector and line driver inputs, and reference voltages.
Chapter 3 Connections and Wiring|ASDA-B Series NOTE 1) GND (Pin 8) and COM- (Pin 13) of CN1 connector are independent respectively and do not have connection with the ground terminal outside the servo drive. 3.3.2 Signals Explanation of Connector CN1 The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface. Table 3.A details the general signals. Table 3.B details the Digital Output (DO) signals and Table 3.C details the Digital Input (DI) signals.
Chapter 3 Connections and Wiring|ASDA-B Series All of the DI's and DO's and their corresponding pin numbers are factory set and nonchangeable, however, all of the assigned signals and control modes are user changeable. For Example, the factory default setting of DO1 (pin 16) is SRDY (servo ready) signal, but it can be assigned to SON (Servo On) signal and vise versa. The following Tables 3.B and 3.
Chapter 3 Connections and Wiring|ASDA-B Series DO Signal Pin No. Assigned Control Mode + WARN ALL - Details (*1) Wiring Diagram (Refer to 3.3.3) Servo warning output. WARN is activated when the drive has detected Reverse limit error, Forward limit error, Emergency stop, Serial communication error, and Undervoltage these fault conditions. Footnote *1: The "state" of the output function may be turned ON or OFF as it will be dependant on the settings of P2-10~P2-15. Table 3.
Chapter 3 Connections and Wiring|ASDA-B Series DI Signal TCM0 Assigned Pin No. Control Mode Wiring Diagram (Refer to 3.3.3) Details (*2) ALL - Select the source of torque command: See Table 3.E.
Chapter 3 Connections and Wiring|ASDA-B Series Table 3.
Chapter 3 Connections and Wiring|ASDA-B Series 3.3.3 User-defined DI and DO signals If the default DI and DO signals could not be able to fulfill the users’ requirements, there are still userdefined DI and DO signals. The setting method is easy and they are all defined via parameters. The user-defined DI and DO signals are defined via parameters P2-10 to P2-15 and P2-18 to P2-20. Please refer to the following Table 3.G for the settings. Table 3.G User-defined DI and DO signals Default Pin No.
Chapter 3 Connections and Wiring|ASDA-B Series Setting of parameter P2-10 to P2-15: DI Code Signal Description 19 S-T Speed / Torque mode switching (OFF: Speed, ON: Torque) 20 T-P Torque / Position mode switching (OFF: Torque, ON: Position) 21 EMGS 22 CWL Reverse inhibit limit (contact b) 23 CCWL Forward inhibit limit (contact b) 25 TLLM Torque limit - Reverse operation 26 TRLM Torque limit - Forward operation Emergency stop (contact b) DO signal: For example: If the users want to se
Chapter 3 Connections and Wiring|ASDA-B Series 3.3.4 Wiring Diagrams of I/O Signals (CN1) The valid voltage range of analog input command in speed and torque mode is -10V ~+10V. The command value can be set via relevant parameters. C1: Speed / Torque analog signal input There are two kinds of pulse inputs, Line driver input and Open-collector input. Max. input pulse frequency of Line driver input is 500kpps and max. input pulse frequency of Open-collector input is 200kpps.
Chapter 3 Connections and Wiring|ASDA-B Series C2-1: Pulse input (Open collector – internal power) Servo Drive 7 VDD Approx. 1K Please ensure to connect the resistor or the photocoupler may be damaged due to excessive current. DC24V Max. input pulse frequency is 200kpps 19 /SIGN 50 20 SIGN 50 Approx. 1K 21 /PULSE 50 22 PULSE 50 13 COM- C2-2: Pulse input (Open collector – external power) Servo Drive 7 VDD Approx.
Chapter 3 Connections and Wiring|ASDA-B Series C3: Pulse input (Line Driver) Because this photocoupler is a unidirectional optocoupler, please pay close attention on the current direction of input pulse command. Be sure to connect a diode when the drive is applied to inductive load. (Continuous maximum current: 40mA, Instantaneous peak current: max.
Chapter 3 Connections and Wiring|ASDA-B Series C6: Wiring of DO signal, for the use of external power supply, general load C7: Wiring of DO signal, for the use of external power supply, inductive load Use a relay or open-collector transistor to input signal.
Chapter 3 Connections and Wiring|ASDA-B Series 3.4 Encoder Connector CN2 Integrated within the servo motor is an incremental encoder with 2,500PPR and commutation signal. When power is first applied to the servo drive, control algorithms detect the motor's rotor position through imbedded sensors in the motor within 500msec approximately. Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder signal wires.
Chapter 3 Connections and Wiring|ASDA-B Series 3.5 Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification The servo drive can be connected to a PC or controller via a serial communication connector. The users can operate the servo drive through PC software supplied by Delta (contact to the dealer/distributor). The communication connector/port of Delta servo drive can provide two common serial communication interfaces: RS-232, and RS-485 connection.
Chapter 3 Connections and Wiring|ASDA-B Series 2) When using RS-232 communication, the user can use the communication cable provided by Delta PLC directly. (The PLC communication cable is compatible with all Delta Servo systems for the users’ convenience) 3.5.
Chapter 3 Connections and Wiring|ASDA-B Series 3.6 Standard Connection Example 3.6.
Chapter 3 Connections and Wiring|ASDA-B Series 3.6.
Chapter 3 Connections and Wiring|ASDA-B Series 3.6.
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Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers. There are several modes of operation: Monitor, Parameter, Parameter Setting, Save, Write and Fast Edit Mode. In Monitor mode, users can display the monitor status. In Parameter mode, users can display and view the parameter name, unit and setting value, and also can navigate in parameter groups. In Parameter Setting mode, users can edit and change the parameter setting value.
Chapter 4 Display and Operation|ASDA-B Series Name LCD Display Status Display (LED Indication) Function 2 line × 16 character LCD display shows the monitor codes, parameter settings and operation values of the AC servo drive. SON LED (Servo On Indicator). A lit LED illuminates to indicate that the servo drive is enabled. ALRM LED (Alarm Output Indicator). A lit ALRM LED illuminates to indicates that a alarm output is activated. JOG LED (JOG Operation Indicator).
Chapter 4 Display and Operation|ASDA-B Series 4.1.2 Display Flowchart Monitor Mode, Parameter Mode and Parameter Setting Mode 1. When the power is applied to the AC servo drive, the digital keypad will execute communication initial setup for approximately two seconds (9600bps & 7,N,2 Modbus ASCII) first, and then enter into the monitor mode. 2. In monitor mode, pressing UP or DOWN arrow key can switch monitor parameter code. 3.
Chapter 4 Display and Operation|ASDA-B Series SAVE Mode (Save parameter settings from the Drive to the Keypad) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing SAVE key can switch to SAVE mode. 3. In SAVE mode, pressing SAVE key can execute the function the users select and save the new parameter settings. 4. In SAVE mode, pressing UP and DOWN key can save the desired memory block that the users want to save. 5.
Chapter 4 Display and Operation|ASDA-B Series WRITE Mode (Parameter settings written out from Keypad to the Drive) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing WRITE key can switch to WRITE mode. 3. In WRITE mode, pressing WRITE key can execute the function the users select and save the new parameter settings. 4.
Chapter 4 Display and Operation|ASDA-B Series Fast Edit Mode (Fast Editing, Static & Dynamic Auto-tuning) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing Fast Edit key can switch to Fast Edit mode. 3. In Fast Edit mode, pressing Fast Edit key can execute the function the users select and save the new parameter settings. 4. In Fast Edit mode, pressing UP and DOWN key can scroll through the functions freely. 5.
Chapter 4 Display and Operation|ASDA-B Series Figure 4.5 Fast Editing STS00:Fb PULSE 0 pulse MODE FEDIT:PR EDIT PR ENABLE FEDIT:PR EDIT Fast Edit FEDIT:PR EDIT PR DISABLE Dynamic Auto-tuning FEDIT:AUTO D MODE FEDIT:AUTO D -R 3 HZ MODE FEDIT:AUTO S Fast Edit FEDIT:AUTO S -BW 100 HZ FEDIT:AUTO S -BW 101 HZ FEDIT:AUTO D -F 1.1 HZ FEDIT:AUTO S -JR 1.1 HZ Fast Edit FEDIT:AUTO S -RH 1.000 HZ FEDIT:AUTO S -RH 1.
Chapter 4 Display and Operation|ASDA-B Series 4.1.3 Status Display Save Setting Display After the SET key is pressed, LCD display will show the following display messages for approx. one second according to different status. Display Message P1 - 0 0 : PTT The setting value is saved correctly. END SET P0 - 0 0 : VER R E AD This parameter is read only. Write-protected. (cannot be changed) ONLY P4 - 1 1 : SOF 1 NO Invalid password or no password was input.
Chapter 4 Display and Operation|ASDA-B Series Monitor Setting Display In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or change parameter P0-02 directly to specify the monitor status. When the power is applied, the monitor status depends on the setting value of P0-02. For example, if the setting value of P0-02 is 2 when the power is applied, the C.P monitor symbol will first display and then show the “Pulse counts of pulse command [pulse]” monitor status.
Chapter 4 Display and Operation|ASDA-B Series P0-02 Setting 12 13 14 15 Display Message S TS1 2 : PE AK 0 Description LOAD % STS13 : V bus vo l t 0 STS14 : JL t i me 0 S T S 1 5 : I GB T T emp de gC 0 Peak load Unit % Main circuit voltage volt Ratio of load inertia to Motor inertia time IGBT Temperature of power supply module degC(°C) The following table lists the display examples of monitor value: Display Message STS06 : SPEED r pm 30 00 STS06 : SPEED - 30 00 S T S 0 7 : C MD 5 .
Chapter 4 Display and Operation|ASDA-B Series 4.1.4 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding fault code history for the parameter or press UP arrow key to display the fault code of ASH1 to ASH5 in order. ASH1 indicates the most recent occurred fault code, ASH2 is the previous occurred fault code before ASH1 and so on. Figure 4.
Chapter 4 Display and Operation|ASDA-B Series 4.1.5 JOG Operation After entering parameter mode P4-05, the users can follow the following steps to perform JOG operation or press JOG key on the digital keypad to enter into parameter setting mode of P4-05 directly. Step 1. Press the SET key to display the JOG rpm speed. (The default value is 20 rpm). Step 2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed.
Chapter 4 Display and Operation|ASDA-B Series Figure 4.
Chapter 4 Display and Operation|ASDA-B Series 4.1.6 DO Force Output Diagnosis Operation For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using parameter P4-06. Follow the setting method in Figure 4.10 to enter into DO force output diagnosis operation (OP x) mode (“x” indicates the parameter range from 0 to 7).
Chapter 4 Display and Operation|ASDA-B Series 4.1.7 DI Diagnosis Operation Following the setting method in Figure 4.11 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI6, the corresponding status will display on the servo drive LCD display. When the segment lit and display on the screen, it means that the corresponding digital input signal is ON. Figure 4.
Chapter 4 Display and Operation|ASDA-B Series 4.1.9 Parameters Read and Write Digital keypad provides the servo parameters read and write function not only for the servo drive but also for PC side. The function of parameter read and write must be set via the PC software (Please see Figure 4.6 & Figure 4.7). The users can use this software to read, write and manage all parameters. When using this software to read and write parameters, the communication method of keypad parameter P8-01 must be set to 0.
Chapter 4 Display and Operation|ASDA-B Series Figure 4.
Chapter 4 Display and Operation|ASDA-B Series 4.2 ASD-PU-01B 4.2.1 Description of Digital Keypad ASD-PU-01B The digital keypad includes the ASD-PU-01B display panel and function keys. The Figure 4.8 shows all of the features of the ASD-PU-01B digital keypad and an overview of their functions. Figure 4.8 Name Function LED Display 5-digit LED display shows the monitor codes, parameter settings and operation values of the AC servo drive. Status Display (LED Indication) SON LED (Servo On Indicator).
Chapter 4 Display and Operation|ASDA-B Series Name Function 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. In SAVE ( ) mode and WRITE ( ) mode, pressing UP and DOWN arrow key can scroll through and change the memory blocks. In SAVE mode, pressing UP and DOWN arrow key can select and change the memory file name also. SET Key.
Chapter 4 Display and Operation|ASDA-B Series Figure 4.
Chapter 4 Display and Operation|ASDA-B Series SAVE Mode ( Save parameter settings from the Drive to the Keypad) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key first. Then, pressing UP key four times or DOWN key three times can switch to SAVE mode. 3. In SAVE mode, pressing UP and DOWN key can save the desired memory block that the users want to save. 4.
Chapter 4 Display and Operation|ASDA-B Series Figure 4.
Chapter 4 Display and Operation|ASDA-B Series WRITE Mode ( Parameter settings written out from Keypad to the Drive) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key first. Then, pressing UP key five times or DOWN key two times can switch to WRITE mode. 3. In WRITE mode, pressing UP and DOWN key can write out the desired memory block that the users want to write out. 4.
Chapter 4 Display and Operation|ASDA-B Series Figure 4.
Chapter 4 Display and Operation|ASDA-B Series Fast Edit Mode ( Fast Editing Function) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key once can switch to Fast Edit mode. 3. In Fast Edit mode, pressing FUNC key can enable and disable Fast Editing function. When display on the LED display, it indicates Fast Editing function is enabled.
Chapter 4 Display and Operation|ASDA-B Series Dynamic Auto-tuning Mode ( Dynamic Auto-tuning Function) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key first. Then, pressing UP key two times or DOWN key five times can switch to Dynamic Auto-tuning mode. 3.
Chapter 4 Display and Operation|ASDA-B Series Static Auto-tuning Mode ( Static Auto-tuning Function) 1. When the power is applied to the AC servo drive, the digital keypad will enter into the monitor mode first. 2. In monitor mode, pressing FUNC key first. Then, pressing UP key two times or DOWN key five times can switch to Static Auto-tuning mode. 3. In Static Auto-tuning mode, the users can input the value of responsiveness (frequency width), motor load inertia and stiffness directly. 4.
Chapter 4 Display and Operation|ASDA-B Series 4.2.3 Status Display Save Setting Display After the SET key is pressed, LED display will show the following display messages for approx. one second according to different status. Display Message Description The setting value is saved correctly. This parameter is read only. Write-protected. (cannot be changed) Invalid password or no password was input. The setting value is error or input reserve setting value.
Chapter 4 Display and Operation|ASDA-B Series Monitor Setting Display In monitor mode, in order to change the monitor status, the users can press UP or DOWN arrow key or change parameter P0-02 directly to specify the monitor status. When the power is applied, the monitor status depends on the setting value of P0-02. For example, if the setting value of P0-02 is 2 when the power is applied, the monitor function will be “Pulse counts of pulse command”, the C.
Chapter 4 Display and Operation|ASDA-B Series P0-02 Setting Display Message Description Unit 14 Ratio of load inertia to Motor inertia time 15 IGBT Temperature of power supply module degC(°C) The following table lists the display examples of monitor value: Display Message Description Positive value display. Display value: +3000. Negative value display. Display value: -3000。 Decimal point display. Display value: 5.00.
Chapter 4 Display and Operation|ASDA-B Series 4.2.4 Fault Code Display Operation After entering the parameter mode P4-00 to P4-04 (Fault Record), press SET key to display the corresponding fault code history for the parameter or press UP arrow key to display the fault code of H1 to H5 in order. H1 indicates the most recent occurred fault code, H2 is the previous occurred fault code before H1 and so on. Figure 4.15 4.2.
Chapter 4 Display and Operation|ASDA-B Series NOTE 1) JOG operation is effective only when Servo On (when the servo drive is enabled). 2) Before using JOG function, please ensure to confirm that P2-10 (DI1) is set to 101 (Servo On). Otherwise, the JOG operation cannot be enabled even if the FUNC key has been pressed. 3) The users can set the acceleration and deceleration time in advance (the settings of parameter P134, P1-35 and P1-36). Figure 4.
Chapter 4 Display and Operation|ASDA-B Series 4.2.6 DO Force Output Diagnosis Operation For testing, the digital outputs can be forced to be activated (ON) or inactivated (OFF) by using parameter P4-06. Follow the setting method in Figure 4.17 to enter into DO force output diagnosis operation (OP x) mode (“x” indicates the parameter range from 0 to 7).
Chapter 4 Display and Operation|ASDA-B Series 4.2.7 DI Diagnosis Operation Following the setting method in Figure 4.18 can perform DI diagnosis operation (parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI6, the corresponding status will display on the servo drive LED display. When the segment lit and display on the screen, it means that the corresponding digital input signal is ON. Figure 4.
Chapter 4 Display and Operation|ASDA-B Series 4.2.8 DO Diagnosis Operation Following the setting method in Figure 4.19 can perform DO diagnosis operation (parameter P4-09). According to the ON and OFF status of the digital outputs DO1 to DO3, the corresponding status will display on the servo drive LED display. When the segment lit and display on the screen, it means that the corresponding digital input signal is ON. Figure 4.
Chapter 4 Display and Operation|ASDA-B Series 4.2.9 Parameters Read and Write Digital keypad provides the servo parameters read and write function not only for the servo drive but also for PC side. The function of parameter read and write must be set via the PC software (Please see Figure 4.20 & Figure 4.21). The users can use this software to read, write and manage all parameters. When using this software to read and write parameters, the communication method of keypad parameter P8-01 must be set to 0.
Chapter 4 Display and Operation|ASDA-B Series Figure 4.
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Chapter 5 Trial Run and Tuning Procedure This chapter describes trial run and tuning procedure for servo drive and motor. Trial run, which is divided into two parts, 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. Tuning procedure includes the tuning process, flowchart, and the relevant parameters of AutoMode (PI & PDFF) mode and Manual mode 5.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series Item Content z z Inspection during operation (Control power is applied)） z z z z 5-2 Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended. Check for abnormal vibrations and sounds during operation.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.2 Applying Power to the Drive Users please observe the following steps when applying power supply to the servo drive. 1. Please check and confirm the wiring connection between the drive and motor is correct. 1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and Green cables separately (U: Red, V: White, W: Black, FG: Green). If not connect to the specified cable and terminal, then the drive cannot control motor.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 2) When display shows: Encoder error: Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose or incorrect. Corrective Actions: Check if the user performs wiring recommended in the user manual. Examine the encoder connector and cable. Inspect whether wire is loose or not. Check if the encoder is damaged.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5) When display shows: Forward limit switch error: Please check if any of digital inputs DI1~DI6 signal is set to “Forward inhibit limit (CCWL)” and check if the signal is ON or not. Corrective Actions: If it is no need to use “Forward inhibit limit (CCWL)” as input signal, the users only need to confirm that if all of the digital inputs DI1~DI8 are not set to “Forward inhibit limit (CCWL)”.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series Magnetic field error: Corrective Actions: Check if the encoder is abnormal. Verify the encoder connector. 9) When display shows: Input power phase loss: Corrective Actions: Verify the main circuit power R, S, T. Check for possible poor connection on the power cable. Check if one phase of the input power is lost.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.3 JOG Trial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring. The external wiring is not necessary and the users only need to connect the digital keypad (ASD-PU01A or ASD-PU-01B) to the servo drive. For safety, it is recommended to set JOG speed at low speed. Please refer to the following steps to perform JOG trial run without load. 5.3.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.3.2 ASD-PU-01B Tuning Flowchart STEP 1: Turn the drive ON through software. Ensure that there is no fault message display on the LED display and the servo drive is normal. STEP 2: Press FUNC key on the keypad first. Then, press UP key three times or DOWN key four times can enter into JOG operation mode automatically. (At this time, the servo drive is enabled (Servo On).) STEP 3: Pressing FUNC key can enter into change JOG speed mode.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.4 Speed Trial Run without Load Before speed trial run, fix and secure the motor as possible to avoid the danger from the reacting force when motor speed changes. STEP 1: Set the value of parameter P1-01 to 4 and it is speed (Sz) control mode. Please ensure to set P1-01 when the servo drive is Off (Servo Off).
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series The settings of speed command: P1-09 is set to 3000 Input value command Rotation direction P1-10 is set to 100 + CCW P1-11 is set to -3000 - CW STEP 3: 1. The users can use DI1 to enable the servo drive (Servo ON). 2. If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At this time, the motor speed command is 0(zero). 3.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.5 Tuning Procedure ASD-PU-01A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode Tuning Procedure 1. After wiring is completed, when power in connected to the AC servo drive, the right side display will show on the LCD display. 2. Press MODE key to enter into parameter mode. 3. Press SHIFT key twice to select parameter group. 4. Press UP key to view each parameter and select parameter P2-13. 5.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series Tuning Procedure 13. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation. 14. Execute JOG operation in low speed first. After the machine is running smoothly, then execute JOG operation in high speed. 15. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 operation.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series Tuning Procedure 13. Pressing UP key is forward rotation and pressing DOWN key is reverse rotation. 14. Execute JOG operation in low speed first. After the machine is running smoothly, then execute JOG operation in high speed. 15. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display of JOG parameter P4-05 operation.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.5.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.5.3 AutoMode (PI) Tuning Flowchart P2-31 Auto Stiffness and Responsiveness Level (Default setting: 6) Function: This parameter allows user to set the stiffness and responsiveness level automatically. Users can control the stiffness and responsiveness according to application condition. When the setting value is higher, the stiffness and responsiveness is higher.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series Table 5.A P2-31 Value in AutoMode(PI) and the setting of Speed Loop Responsiveness and P2-25.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.5.4 AutoMode (PDFF) Tuning Flowchart P2-31 Auto Stiffness and Responsiveness Level (Default setting: 6) Function: This parameter allows user to set the stiffness and responsiveness level automatically. Users can control the stiffness and responsiveness according to application condition. When the setting value is higher, the stiffness and responsiveness is higher.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series Table 5.B P2-31 Value in AutoMode(PDFF) and the setting of Speed Loop Responsiveness. Setting Value of P2-31 Speed Loop Responsiveness Setting Value of P2-31 Speed Loop Responsiveness 0 10 Hz 8 65 Hz 1 15 Hz 9 80 Hz 2 20 Hz A 100 Hz 3 25 Hz B 120 Hz 4 30 Hz C 145 Hz 5 35 Hz D 170 Hz 6 45 Hz E 260 Hz 7 55 Hz F 300 Hz 5.5.5 Limit of Load Inertia Estimation 1. The accel. / decel.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.5.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series 5.5.7 Gain Adjustment in Manual Mode The position and speed responsiveness selection is depending on and determined by the the control stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process system. However, the higher responsiveness may easily result in the resonance of machinery system.
Chapter 5 Trial Run and Tuning Procedure|ASDA-B Series NLP, Parameter P2-25 Low-pass Filter Time Constant (Resonance Suppression) When the value of (J_load / J_motor) is high, the responsiveness of speed loop may decrease. At this time, the users can increase the setting value of KVP (P2-04) to keep the responsiveness of speed loop. However, when increasing the setting value of KVP (P2-04), it may easily result in the vibration of machinery system.
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Chapter 6 Control Modes of Operation 6.1 Control Modes of Operation The Delta ASDA-B series Servo can be programmed to provide five single and three dual modes of operation. Their operation and description is listed in the following Table 6.A. Mode External Position Control Code P Description 00 Position control for the servo motor is achieved via an external pulse command.
Chapter 6 Control Modes of Operation|ASDA-B Series The following sections describe the operation of each control mode, including control structure, command source and loop gain adjustment, etc. 6.2 Position Control Mode The position control mode (P mode) is usually used for the applications requiring precision positioning, such as industry positioning machine, indexing table etc. Delta ASDA-B series servo drive supports one kind of command source in position control mode.
Chapter 6 Control Modes of Operation|ASDA-B Series Other setting: Reversed Input pulse interface Max. input pulse frequency Line driver 500kpps Open collector 200kpps • Logic type Pulse Type 0=Positive Logic Forward Reverse 1=Negative Logic Forward Reverse AB phase pulse CW + CCW pulse Pulse + Direction 6.2.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.2.3 Pulse Inhibit Input Function (INHP) INHP is activated via digital inputs (Please refer to parameter P2-10 ~ P2-15 and DI INHP(07) in Table 7.A).When the drive is in position mode, if INHP is activated, the external pulse input command is not valid and the motor will stop. INHP ON ON OFF Pulse command 6.2.4 Electronic Gear Ratio Relevant parameters: P1 - 15▲ GR4 Electronic Gear Ratio (2nd Numerator) (N2) Communication Addr.
Chapter 6 Control Modes of Operation|ASDA-B Series DI Name DI Status Selected Electronic Gear Not select (Note 1) P1-44, P1-45 0 P1-44, P1-45 1 P1-44, P1-45 GNUM0 NOTE 1) DI signal can be selected by parameter P2-10 to P2-15 and Table 7.A. If uses only need to use one group of electronic gear, it allows users not to select GNUM0. P1 - 45▲ GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH Default: 1 Related Section: Applicable Control Mode: P Section 6.2.
Chapter 6 Control Modes of Operation|ASDA-B Series Electronic Gear Ratio When the electronic gear ratio is not used = When the electronic gear ratio is not used = 1 1 Corresponding travel distance per pulse = 1000 0 300 0 3x 100 0 300 0 = 4x 250 0 100 00 m =1 m Table 6.B 6.2.5 Low-pass Filter Relevant parameters: P1 - 08 PFLT Smooth Constant of Position Command (Lowpass Filter) Communication Addr.: 0108H Default: 0 Related Section: Applicable Control Mode: P Section 6.2.
Chapter 6 Control Modes of Operation|ASDA-B Series The equation is shown as follows: fp < fv 4 , fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz) KPP = 2 × π × fp. For example, the desired position loop responsiveness is equal to 20 Hz. Then, KPP = 2 × π × 20= 125 rad/s. Relevant parameters: P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 50 Related Section: Applicable Control Mode: P Section 6.2.
Chapter 6 Control Modes of Operation|ASDA-B Series of mechanical system. In PDFF control AutoMode, the value of this parameter will be changed in accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6). P2 - 03 PFF Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H Default: 5 Related Section: Applicable Control Mode: P Section 6.2.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.3 Speed Control Mode The speed control mode (S or Sz) is usually used on the applications of precision speed control, such as CNC machine, etc. ASDA-B 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.
Chapter 6 Control Modes of Operation|ASDA-B Series NOTE 1) In speed control mode, if the users want to adjust analog speed input offset value, please refer to parameter 4-22 for the operation. 6.3.
Chapter 6 Control Modes of Operation|ASDA-B Series The command source is selected according to the state of SPD0, SPD1 and parameter P1-01 (S or Sz). Whenever the command signal needs to be more smoothly, we recommend the users to use S-curve and low-pass filter. 6.3.3 Smoothing Strategy of Speed Control Mode S-curve Filter The S-curve filter is a speed smoothing command which provides 3 steps accel / decel S-curve to smooth the speed command change of the motor during acceleration and deceleration.
Chapter 6 Control Modes of Operation|ASDA-B Series Settings: It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34, P1-35 is disabled) P1 - 35 TDEC Deceleration Time Communication Addr.: 0123H Default: 200 Related Section: Applicable Control Mode: S P1-34, P1-36, Section 6.3.
Chapter 6 Control Modes of Operation|ASDA-B Series Analog Speed Command S-curve Filter ASDA-B series servo drives also provide Analog Speed Command S-curve Filter for the smoothing in response to a sudden analog input signal. Speed (rpm) Analog speed command Motor Torque 3000 0 1 2 3 4 5 6 7 8 9 Time (sec) -3000 The analog speed command S-curve filter is for the smoothing of analog input signal and its function is the same as the S-curve filter.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.3.4 Analog Speed Input Scaling The analog voltage between V_REF and GND determines the motor speed command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust the speed control ramp and its range. 5000rpm The speed control ramp is determined by parameter P1-40 3000rpm -10 -5 5 10 Analog Input Voltage (V) -3000rpm -5000rpm Relevant parameters: P1 - 40▲ VCM Max. Analog Speed Command or Limit Communication Addr.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.3.5 Timing Chart of Speed Control Mode S4 (P1-11) Internal speed command S3 (P1-10) S2 (P1-09) External analog voltage or zero (0) External I/O signal S1 SPD0 OFF SPD1 OFF ON OFF ON ON ON SON NOTE 1) OFF indicates normally open and ON indicates normally closed. 2) When speed control mode is Sz, the speed command S1=0; when speed control mode is S, the speed command S1 is external analog voltage input (Please refer to P1-01).
Chapter 6 Control Modes of Operation|ASDA-B Series There are two turning modes of gain adjustment: Manual and Auto modes. The gain of ASDA-B series servo drives can be adjusted by using any one of two tuning modes. Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and auxiliary function will be disabled. Auto Mode: Continuous adjustment of loop gains according to measured inertia automatically.
Chapter 6 Control Modes of Operation|ASDA-B Series PDFF Structure (P2-32) Stiffness Speed Loop Proportional Setting Responsive- Position Loop Gain ness (Hz) P2-31 P2-00 Position Feed Forward Gain (%) P2-02 Low-pass Filter Time Speed External Proportional Constant Integral AntiSpeed Loop Compensation (Resonance Interference Gain P2-04 Suppression) Gain P2-26 P2-06 P2-25 0 10 15 50 62 10 166 10 1 5 23 50 94 15 111 15 2 20 31 50 125 20 83 20 3 25 39 50 157 25 66 25 4 30 47
Chapter 6 Control Modes of Operation|ASDA-B Series • Tuning Mode Settings: 0: Manual mode 1: AutoMode (Continuous adjustment) The ratio of Load Inertia to servo motor inertia can be continuously adjusted. The level of stiffness and responsiveness are adjusted by parameter P2-31. 2: AutoMode (The ratio of Load Inertia to servo motor inertia is fixed) The ratio of Load Inertia to servo motor inertia is set by parameter P1-37. The level of stiffness and responsiveness are adjusted by parameter P2-31.
Chapter 6 Control Modes of Operation|ASDA-B Series Relevant parameters: P1 - 37 GDR Ratio of Load Inertia to Servo Motor Inertia Communication Addr.: 0125H Default: 10 Related Section: Applicable Control Mode: P/S/T P2-31, P2-32, Section 6.3.6 Unit: 0.1times Range: 0 ~ 2000 Settings: Ratio of load inertia to servo motor inertia: (J_load /J_motor) P2 - 04 KVP Proportional Speed Loop Gain Communication Addr.: 0204H Default: 300 Related Section: Applicable Control Mode: P/S Section 6.3.
Chapter 6 Control Modes of Operation|ASDA-B Series AutoMode, the value of this parameter will be changed in accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6). Time constant of speed integral compensation: (1000/KVI) ms P2 - 07 SFG Speed Feed Forward Gain Communication Addr.: 0207H Default: 0 Related Section: Applicable Control Mode: S Section 6.3.
Chapter 6 Control Modes of Operation|ASDA-B Series STEP 3：Select the value of KVI, if the value of Gain phase margin is too small, re-adjust the value of KVP again to obtain the value, 45deg of phase margin. Frequency Frequency Phase Time Domain Speed KVP When the value of KVP is greater , the value of the responsiveness is also greater and the raising time is shorter. However, when the value of phase margin is over low, it is not helpful to steady error. But it is helpful to dynamic tracking error.
Chapter 6 Control Modes of Operation|ASDA-B Series Speed When the value of SFG is nearly to 1and the forward compensation is more complete, then the value of dynamic tracking error will SFG become very small. However, when the value of SFG is too great, it may cause vibration. Time Auto Mode (Continuous adjustment)) When Tuning Mode Settings of P2-32 is set to 1, the ratio of Load Inertia to servo motor inertia can be continuously adjusted.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.3.7 Resonance Suppression The resonance of mechanical system may occur due to excessive system stiffness or frequency response. However, this kind of resonance condition can be improved, suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and notch filter (parameter P2-23, P2-24) without changing control parameter.
Chapter 6 Control Modes of Operation|ASDA-B Series P2 - 25 NLP Low-pass Filter Time Constant (Resonance Suppression) Communication Addr.: 0219H Default: 20 Related Section: Applicable Control Mode: P/S/T Section 6.3.7, P2-32 Unit: 0.1ms Range: 0 ~ 10000 Settings: This parameter is used to set low-pass filter time constant of resonance suppression.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.4 Torque Control Mode The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machine, twister, etc. Delta ASDA-B series servo drive supports two kinds of command sources in torque control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the torque of servo motor.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.4.2 Structure of Torque Control Mode Basic Structure: Torque command Torque Command Processing Resonant Suppression Block Diagram Output Torque + - Current Control Block Diagram Current Sensor In the above figure, the toque command processing is used to select the command source of torque control according to chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of torque control mode.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.4.3 Smoothing Strategy of Torque Control Mode Relevant parameters: P1 - 07 Smooth Constant of Analog Torque Command (Low-pass Filter) TFLT Communication Addr.: 0107H Default: 0 Related Section: Applicable Control Mode: T Section 6.4.3 Unit: ms Range: 0 ~ 1000 (0: Disabled) NOTE 1) If the setting value of parameter P1-07 is set to 0, it indicates the function of this parameter is disabled and the command is just By-Pass. Target Speed TFLT 6.4.
Chapter 6 Control Modes of Operation|ASDA-B Series Relevant parameters: P1 - 41▲ TCM Max. Analog Torque Command or Limit Communication Addr.: 0129H Default: 100 Related Section: Applicable Control Mode: T / S, P Section 6.4.4, P1-55 Unit: % Range: 0 ~ 300 Settings: In Torque mode, this parameter is used to set the output torque at maximum input voltage (10V) of analog torque command.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.5 Control Modes Selection Except signal control mode operation, ASDA-B series AC drive also provide S-P, S-T, T-P these three multiple modes for the users to select.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.5.2 Speed / Torque Control Mode Selection S-T Mode: The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and SPD0~1 is used to select speed command. The same as speed command, the torque command can be the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select torque command. The speed and torque mode switching is controlled by the S-T signal.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.6 Others 6.6.1 Speed Limit The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or torque control mode. The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11). For more information of speed command source, please refer to chapter 6.3.1.
Chapter 6 Control Modes of Operation|ASDA-B Series 6.6.3 Regenerative Resistor Built-in Regenerative Resistor When the output torque of servo motor in reverse direction of motor rotation speed, it indicates that there is a regenerative power returned from the load to the servo drive. This power will be transmitted into the capacitance of DC Bus and result in rising voltage.
Chapter 6 Control Modes of Operation|ASDA-B Series recommend the users to use the regenerative resistors with thermal switches. As for the load characteristics of the regenerative resistors, please check with the manufacturer. External Regenerative Resistor When using external regenerative resistor, connect it to P and C, and make sure the circuit between P and D is open. We recommend the users should use the external regenerative resistor that the resistance value following the above table 6.H.
Chapter 6 Control Modes of Operation|ASDA-B Series If the load inertia is N × motor inertia, the regenerative power will be (N+1) × E0 when servo motor brakes from 3000rpm to 0. Then, the regenerative resistor can dissipate: (N+1) × E0 - Ec (joule). If the time of repeat operation cycle is T sec, then the regenerative power = 2 × ((N+1) × E0 - Ec) / T.
Chapter 6 Control Modes of Operation|ASDA-B Series Motor Rotation Speed External Load Torque Motor Output Torque Reverse Rotation Reverse Rotation Forward Rotation External load torque in reverse direction: TL* Wr Forward Rotation TL : External load torque For the safety, we strongly recommend the users should select the proper resistance value according to the load.
Chapter 6 Control Modes of Operation|ASDA-B Series When the servo motor runs with load, the allowable frequencies will change according to the changes of the load inertia and rotation speed. Use the following equation to calculate the allowable frequency. Allowable fr equency = Allowable frequency when serv o motor run without load m+1 2 Rated s peed Operating speed x times mi n.
Chapter 6 Control Modes of Operation|ASDA-B Series If the users desire to control electromagnetic brake via external controller, not by the servo drive, the users must execute the function of electromagnetic brake during the period of time when servo motor is braking. The braking strength of motor and electromagnetic brake must be in the same direction when servo motor is braking. Then, the servo drive will operate normally.
Chapter 6 Control Modes of Operation|ASDA-B Series Electromagnetic Brake Wiring Diagram NOTE 6-38 1) Please refer to Chapter 3 Connections and Wiring for more wiring information. 2) Please note that the coil of brake has no polarity. 3) The power supply for brake is DC24V. Never use it for VDD, the +24V source voltage.
Chapter 7 Servo Parameters 7.
Chapter 7 Servo Parameters|ASDA-B Series 7.2 Parameters Summary 7.2.
Chapter 7 Servo Parameters|ASDA-B Series Group 1: P1-xx Basic Parameters Parameter Name Function Default Control Mode Unit P S T P1-00▲ PTT External Pulse Input Type 2 N/A { P1-01● CTL Control Mode and Output Direction 0 pulse Rpm N.
Chapter 7 Servo Parameters|ASDA-B Series Basic Parameters Parameter Name Function Default Control Mode Unit P S T P1-44▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) 1 pulse { P1-45▲ GR2 Electronic Gear Ratio (Denominator) 1 pulse { P1-46▲ GR3 Encoder Output Pulse Number 2500 pulse { { { P1-47 ~ P1-51 Reserved P1-52 RES1 Regenerative Resistor Value 40 Ohm { { { P1-53 RES2 Regenerative Resistor Capacity 60 Watt { { { P1-54 PER Positioning Completed Width 10
Chapter 7 Servo Parameters|ASDA-B Series Group 2: P2-xx Extension Parameters Parameter Name Function Default Control Mode Unit P S T P2-00 KPP Proportional Position Loop Gain 50 rad/s { P2-01 PPR Position Loop Gain Switching Rate 100 % { P2-02 PFG Position Feed Forward Gain 0 % { P2-03 PFF Smooth Constant of Position Feed Forward Gain 5 ms { P2-04 KVP Proportional Speed Loop Gain 300 rad/s { { P2-05 SPR Speed Loop Gain Switching Rate 100 % { { P2-06 KVI Speed
Chapter 7 Servo Parameters|ASDA-B Series Extension Parameters Parameter Name Function Default Control Mode Unit P S T P2-31■ AUT1 Auto Stiffness and Responsiveness Level 6 N/A { { { P2-32▲ AUT2 Tuning Mode Selection 0 N/A { { { P2-33 Reserved P2-34 SDEV Overspeed Warning Condition 5000 rpm P2-35 PDEV Excessive Error Warning Condition 3000 10pls { P2-36 OVL Overload Protection Level 100 % { { { P2-37 OVW Output Overload Warning Level 50% N/A { { { P2-38
Chapter 7 Servo Parameters|ASDA-B Series Group 3: P3-xx Communication Parameters Parameter Name Function Default Control Mode Unit P S T P3-00 ADR Communication Address Setting 1 N/A { { { P3-01 BRT Transmission Speed 3 bps { { { P3-02 PTL Communication Protocol 0 N/A { { { P3-03 FLT Transmission Fault Treatment 0 N/A { { { P3-04 CWD Communication Time Out Detection 0 sec { { { P3-05 Reserved P3-06■ SDI Digital Input Communication Function 0 N/A { {
Chapter 7 Servo Parameters|ASDA-B Series Group 4: P4-xx Diagnosis Parameters Parameter Name Function Default Control Mode Unit P S T P4-00★ ASH1 Fault Record (N) 0 N/A { { { P4-01★ ASH2 Fault Record (N-1) 0 N/A { { { P4-02★ ASH3 Fault Record (N-2) 0 N/A { { { P4-03★ ASH4 Fault Record (N-3) 0 N/A { { { P4-04★ ASH5 Fault Record (N-4) 0 N/A { { { P4-05 JOG JOG Operation 20 rpm { { { P4-06▲■ FOT Force Output Control 0 N/A { { { P4-07■ ITST Input
Chapter 7 Servo Parameters|ASDA-B Series Group 8: P8-xx Keypad Parameters Parameter Name Function Default Control Mode Unit P S T Factory setting N/A { { { 1 N/A { { { 255 N/A { { { Transmission Speed (Keypad) 1 bps { { { KPTL Communication Protocol (Keypad) 0 N/A { { { P8-08 KCMM Communication Selection (Keypad) 0 N/A { { { P8-09 KTST Keypad Hardware Testing 0 N/A { { { P8-10 KBLT LCD Backlight Display 0 N/A { { { P8-11 KCLR Memory Block Clear
Chapter 7 Servo Parameters|ASDA-B Series 7.2.
Chapter 7 Servo Parameters|ASDA-B Series Gain and Switch Parameter Name Function Default Control Mode Unit P S T P2-00 KPP Proportional Position Loop Gain 50 rad/s { P2-01 PPR Position Loop Gain Switching Rate 100 % { P2-02 PFG Position Feed Forward Gain 0 % { P2-03 PFF Smooth Constant of Position Feed Forward Gain 5 ms { P2-04 KVP Proportional Speed Loop Gain 300 rad/s { { P2-05 SPR Speed Loop Gain Switching Rate 100 % { { P2-06 KVI Speed Integral Compensati
Chapter 7 Servo Parameters|ASDA-B Series Position Control Parameter Name Function Default Control Mode Unit P S T Control Mode and Output Direction 0 pulse rpm N.
Chapter 7 Servo Parameters|ASDA-B Series Speed Control Parameter Name Function Default Control Mode Unit P S T P1-01● CTL Control Mode and Output Direction 0 pulse rpm N.
Chapter 7 Servo Parameters|ASDA-B Series Digital I/O and relative input output setting Digital I/O Parameter Name Function P2-09 DRT Bounce Filter P2-10 DI1 P2-11 Default Control Mode Unit P S T 2 2ms { { { Digital Input Terminal 1 (DI1) 101 N/A { { { DI2 Digital Input Terminal 2 (DI2) 102 N/A { { { P2-12 DI3 Digital Input Terminal 3 (DI3) 104 N/A { { { P2-13 DI4 Digital Input Terminal 4 (DI4) 22 N/A { { { P2-14 DI5 Digital Input Terminal 5 (DI5) 23 N/A
Chapter 7 Servo Parameters|ASDA-B Series Communication Parameter Name Function Default Control Mode Unit P S T P3-00 ADR Communication Address Setting 1 N/A { { { P3-01 BRT Transmission Speed 3 bps { { { P3-02 PTL Communication Protocol 0 N/A { { { P3-03 FLT Transmission Fault Treatment 0 N/A { { { P3-04 CWD Communication Time Out Detection 0 sec { { { P3-06■ SDI Digital Input Communication Function 0 N/A { { { P3-07 CDT Communication Response Delay
Chapter 7 Servo Parameters|ASDA-B Series Diagnosis Parameters Parameter Name Function Default Control Mode Unit P S T P4-00★ ASH1 Fault Record (N) 0 N/A { { { P4-01★ ASH2 Fault Record (N-1) 0 N/A { { { P4-02★ ASH3 Fault Record (N-2) 0 N/A { { { P4-03★ ASH4 Fault Record (N-3) 0 N/A { { { P4-04★ ASH5 Fault Record (N-4) 0 N/A { { { P4-05 JOG JOG Operation 20 rpm { { { P4-06▲■ FOT Force Output Control 0 N/A { { { P4-07■ ITST Input Status or Forc
Chapter 7 Servo Parameters|ASDA-B Series Others Parameter Name Function Default Control Mode Unit P S T P1-32 LSTP Motor Stop Mode Selection 0 N/A { { { P1-37 GDR Ratio of Load Inertia to Servo Motor Inertia 10 0.
Chapter 7 Servo Parameters|ASDA-B Series Keypad Parameters Parameter Name Function Default Control Mode Unit P S T Factory setting N/A { { { 1 N/A { { { 255 N/A { { { Transmission Speed (Keypad) 1 bps { { { KPTL Communication Protocol (Keypad) 0 N/A { { { P8-08 KCMM Communication Selection (Keypad) 0 N/A { { { P8-09 KTST Keypad Hardware Testing 0 N/A { { { P8-10 KBLT LCD Backlight Display 0 N/A { { { P8-11 KCLR Memory Block Clear 0 N/A { {
Chapter 7 Servo Parameters|ASDA-B Series 7.3 Detailed Parameter Listings Group 0: P0-xx Monitor Parameters P0 - 00★ VER Firmware Version Default: Factory setting Communication Addr.: 0000H Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A P0 - 01★ ALE Drive Fault Code Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series NOTE 1) When this fault occurs, users can use ARST signal to clear the fault message. 2) This fault can be cleared automatically when users eliminate the error source. Using ARST signal can not clear this fault message. 3) This fault can not be cleared even if users eliminate the error source. Users must restart the servo drive (after switching power off and on) and then the fault can be cleared.
Chapter 7 Servo Parameters|ASDA-B Series P0 - 02 STS Drive Status Communication Addr.: 0002H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 4.3.
Chapter 7 Servo Parameters|ASDA-B Series P0 - 05 CM2 Status Monitor 2 Communication Addr.: 0005H Default: 0 Related Section: Applicable Control Mode: P/S/T P0-02 Unit: N/A Range: 0 ~ 15 Settings: See P0-04 for explanation. P0 - 06 CM3 Status Monitor 3 Communication Addr.: 0006H Default: 0 Related Section: Applicable Control Mode: P/S/T P0-02 Unit: N/A Range: 0 ~ 15 Settings: See P0-04 for explanation. P0 - 07 Reserved Communication Addr.: 0007H P0 - 08 Reserved Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series Bit9: WARN (Servo warning output. WARN is activated when the drive has detected Reverse limit error, Forward limit error, Emergency stop, Serial communication error, and Undervoltage these fault conditions.
Chapter 7 Servo Parameters|ASDA-B Series Group 1: P1-xx Basic Parameters P1 - 00▲ PTT External Pulse Input Type Communication Addr.: 0100H Default: 2 Related Section: Applicable Control Mode: P Section 3.3.3, Section 3.6.1, Unit: N/A Section 6.2.1 Range: 0 ~ 142 Settings: ASD-PU-01A ASD-PU-01B P1 - 00 : PTT 2 Pulse type Reserved Logic type Not used • Pulse type 0: AB phase pulse (4x) 1: CW + CCW pulse 2: Pulse + Direction Other setting: Reversed Input pulse interface Max.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 01● CTL Control Mode and Output Direction Communication Addr.: 0101H Default: 0 Related Section: Applicable Control Mode: P/S/T P mode: See Section 6.2.1 Unit: pulse (P mode), rpm (S mode), N.M (T mode) S, Sz mode: See Section 6.3.1 Range: 0 ~ 110 T, Tz mode: See Section 6.4.
Chapter 7 Servo Parameters|ASDA-B Series Settings: ASD-PU-01A ASD-PU-01B • Disable / Enable Speed Limit Function Settings 0: Disable Speed Limit Function 1: Enable Speed Limit Function (It is valid only in Torque mode) The source of speed limit is determined by the speed command (SPD1, SPD0) of DI signal.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H Default: 0 Related Section: Applicable Control Mode: P/S/T P1-46 Unit: N/A Range: 0 ~ 1 Settings: • Pulse Output Polarity Settings (A/B phase deviation from 90 degrees (Quadrature)) 0: Forward output 1: Reverser output P1 - 04 Reserved Communication Addr.: 0104H P1 - 05 Reserved Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 09 SPD1 1st Speed Command or Limit Communication Addr.: 0109H Default: 100 Related Section: Applicable Control Mode: S/T S mode: Section 6.3.5 Unit: rpm T mode: P1-02 Range: -5000 ~ +5000 Settings: 1st Speed Command In Speed mode, this parameter is used to set speed 1 of internal speed command. 1st Speed Limit In Torque mode, this parameter is used to set speed limit 1 of internal speed command.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 12 TQ1 1st Torque Command or Limit Communication Addr.: 010CH Default: 100 Related Section: Applicable Control Mode: T / P, S T mode: Section 6.4.5 Unit: % P, S mode: P1-02 Range: -300 ~ +300 Settings: 1st Torque Command In Torque mode, this parameter is used to set torque 1 of internal torque command. 1st Torque Limit In Position and Speed mode, this parameter is used to set torque limit 1 of internal torque command.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 15▲ GR4 Electronic Gear Ratio (2nd Numerator) (N2) Communication Addr.: 010FH Default: 1 Related Section: Applicable Control Mode: P Section 6.2.4, P1-44, P1-45 Unit: pulse DI GNUM0(11) in Table 7.A Range: 1 ~ 32767 Settings: The electronic gear numerator value can be set via external DI signal (refer to Table 7.A).
Chapter 7 Servo Parameters|ASDA-B Series P1 - 26 Reserved Communication Addr.: 011AH P1 - 27 Reserved Communication Addr.: 011BH P1 - 28 Reserved Communication Addr.: 011CH P1 - 29 Reserved Communication Addr.: 011DH P1 - 30 Reserved Communication Addr.: 011EH P1 - 31 Reserved Communication Addr.: 011FH P1 - 32 LSTP Motor Stop Mode Selection Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 33 Reserved P1 - 34 TACC Communication Addr.: 0121H Acceleration Time Communication Addr.: 0122H Default: 200 Related Section: Applicable Control Mode: S P1-35, P1-36, Section 6.3.3 Unit: ms Range: 1 ~ 20000 Settings: It is used to determine the acceleration time to accelerate from 0 to its rated rotation speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 37 GDR Ratio of Load Inertia to Servo Motor Inertia Communication Addr.: 0125H Default: 10 Related Section: Applicable Control Mode: P/S/T P2-31, P2-32, Section 6.3.6 Unit: 0.1times Range: 0 ~ 2000 Settings: Ratio of load inertia to servo motor inertia: (J_load /J_motor) P1 - 38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H Default: 10 Related Section: Applicable Control Mode: P/S/T DO ZSPD(03) in Table 7.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 40▲ VCM Max. Analog Speed Command or Limit Communication Addr.: 0128H Default: rated speed Related Section: Applicable Control Mode: S/T Section 6.3.4, P1-55 Unit: rpm Range: 0 ~ 5000 Settings: In Speed mode, this parameter is used to set the speed at the maximum input voltage (10V) of the analog speed command. In Torque mode, this parameter is used to set the speed at the maximum input voltage (10V) of the analog speed limit.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 43 MBT2 OFF Delay Time of Electromagnetic Brake Communication Addr.: 012BH Default: 100 Related Section: Applicable Control Mode: P/S/T DO BRKR(08) in Table 7.B Unit: ms P1-42, Section 6.6.4 Range: -1000 ~ 1000 Settings: Used to set the period of time between when the servo drive is Off (Servo Off) and when electromagnetic brake output signal (BRKR) is unactivated.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 44▲ GR1 Electronic Gear Ratio (1st Numerator) (N1) Communication Addr.: 012CH Default: 1 Related Section: Applicable Control Mode: P Section 6.2.4, P1-15, P1-45 Unit: pulse DI GNUM0(11) in Table 7.A Range: 1 ~ 32767 Settings: The electronic gear numerator value can be set via external DI signal (refer to Table 7.A).
Chapter 7 Servo Parameters|ASDA-B Series P1 - 46▲ GR3 Encoder Output Pulse Number Communication Addr.: 012EH Default: 2500 Related Section: Applicable Control Mode: P/S/T P1-03 Unit: pulse Range: 1 ~ 2500 (0 = By pass) Settings: This parameter is used to set the pulse number of encoder outputs. Encoder output pulse number (A/B phase deviation from 90 degrees (Quadrature)) = 2500ppr x setting value of P1-46 2500 P1 - 47 Reserved Communication Addr.: 012FH P1 - 48 Reserved Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series P1 - 54 PER Positioning Completed Width Communication Addr.: 0136H Default: 100 Related Section: Applicable Control Mode: P DO TPOS(05) in Table 7.B Unit: pulse Range: 0 ~ 10000 Settings: This parameter is used to set the width of pulse output range in which TPOS (positioning completed signal) will activate. TPOS will be activated when the position error is below the setting value of P1-54. P1 - 55 MSPD Maximum Speed Limit Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series Group 2: P2-xx Extension Parameters P2 - 00 KPP Proportional Position Loop Gain Communication Addr.: 0200H Default: 50 Related Section: Applicable Control Mode: P Section 6.2.6, P2-27 Unit: rad/s Range: 0 ~ 1023 Settings: This parameter is used to set the position loop gain. It can increase stiffness, expedite position loop response and reduce position error. However, if the setting value is over high, it may generate vibration or noise.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 03 PFF Smooth Constant of Position Feed Forward Gain Communication Addr.: 0203H Default: 5 Related Section: Applicable Control Mode: P Section 6.2.6, P2-02 Unit: ms Range: 2 ~ 100 Settings: When using position smooth command, increase gain can improve position track deviation. When not using position smooth command, decrease gain can improve the resonance condition of mechanical system. P2 - 04 KVP Proportional Speed Loop Gain Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series Settings: This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation. However, if the setting value is over high, it may generate vibration or noise. In AutoMode, the value of this parameter will be changed in accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6).
Chapter 7 Servo Parameters|ASDA-B Series P2 - 09 DRT Bounce Filter Communication Addr.: 0209H Default: 2 Related Section: Applicable Control Mode: P/S/T Section 6.3.6 Unit: 2ms Range: 0 ~ 20 Settings: For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=10ms. When there are too much vibration or noises around environment, increasing this setting value (bounce filter time) can improve reliability. However, if the time is too long, it may affect the response time.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 11 DI2 Digital Input Terminal 2 (DI2) Communication Addr.: 020BH Default: 102 Related Section: Applicable Control Mode: P/S/T Section 3.3.4, Table 7.A Unit: N/A Range: 0 ~ 126 Settings: See P2-10 for explanation. P2 - 12 DI3 Digital Input Terminal 3 (DI3) Communication Addr.: 020CH Default: 104 Related Section: Applicable Control Mode: P/S/T Section 3.3.4, Table 7.A Unit: N/A Range: 0 ~ 126 Settings: See P2-10 for explanation.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 15 DI6 Digital Input Terminal 6 (DI6) Communication Addr.: 020EH Default: 21 Related Section: Applicable Control Mode: P/S/T Section 3.3.4, Table 7.A Unit: N/A Range: 0 ~ 126 Settings: See P2-10 for explanation. P2 - 16 Reserved Communication Addr.: 0210H P2 - 17 Reserved Communication Addr.: 0211H P2 - 18 DO1 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H Default: 101 Related Section: Applicable Control Mode: P/S/T Section 3.3.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 19 DO2 Digital Output Terminal 2 (DO2) Communication Addr.: 0213H Default: 103 Related Section: Applicable Control Mode: P/S/T Section 3.3.4, Table 7.B Unit: N/A Range: 0 ~ 110 Settings: See P2-18 for explanation. P2 - 20 DO3 Digital Output Terminal 3 (DO3) Communication Addr.: 0214H Default: 7 Related Section: Applicable Control Mode: P/S/T Section 3.3.4, Table 7.B Unit: N/A Range: 0 ~ 110 Settings: See P2-18 for explanation.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 24 DPH Notch Filter Attenuation Rate (Resonance Suppression) Communication Addr.: 0218H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 6.3.7, P2-23 Unit: dB Unit: Hz Range: 0 ~ 32 Settings: 0: Disabled P2 - 25 NLP Low-pass Filter Time Constant (Resonance Suppression) Communication Addr.: 0219H Default: 20 Related Section: Applicable Control Mode: P/S/T Section 6.3.7, P2-32 Unit: 0.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 27 GCC Gain Switching Control Selection Communication Addr.: 021BH Default: 0 Related Section: Applicable Control Mode: P/S P2-01, P2-05, P2-28, P2-29 Unit: N/A Range: 0 ~ 14 Settings: ASD-PU-01A ASD-PU-01B • Gain Switching Condition Settings: 0: Disabled 1: Gain switching DI signal (GAINUP) is On. (see Table 7.A) 2: In position mode, position deviation is higher than the setting value of P2-29.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 29 GPE Gain Switching Condition Communication Addr.: 021DH Default: 10000 Related Section: Applicable Control Mode: P/S P2-27, P2-28 Unit: pulse, Kpps, rpm Range: 0 ~ 30000 Settings: 0: Disabled This parameter is used to set the value of gain switching condition (pulse error, Kpps, rpm) selected in P2-27. The setting value will be different depending on the different gain switching condition.
Chapter 7 Servo Parameters|ASDA-B Series When the setting value is higher, the stiffness and responsiveness is higher. Setting Value of P2-31 Speed Loop Responsiveness (Hz) Stiffness and Responsiveness 0 10 Low Stiffness 1 15 Low Responsiveness 2 20 3 25 4 30 5 35 6 45 7 55 Medium Stiffness 8 65 Medium Responsiveness 9 80 A 100 B 120 C 145 D 170 E 205 High Stiffness F 250 High Responsiveness NOTE 1) This parameter is activated by P2-32.
Chapter 7 Servo Parameters|ASDA-B Series 2: AutoMode (The ratio of Load Inertia to servo motor inertia is fixed) The ratio of Load Inertia to servo motor inertia is set by parameter P1-37. The level of stiffness and responsiveness are adjusted by parameter P2-31. • Control Loop Structure Settings: 0: PDFF Control. PDFF : Pseudo-Derivative Feedback and Feedforward 1: PI Control. PI : Proportional - Integral control Explanation of Auto-tuning: 1.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 36 OVL Overload Protection Level Communication Addr.: 0224H Default: 100 Related Section: Applicable Control Mode: P/S/T Fault Code 06 in P0-01, P2-37 Unit: % Range: 70 ~ 100 Settings: 100: The overload time will not be extended. 70: The overload time will be extended. The extended overload time is equal to the original overload time multiply by P2-37/70.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 38 GBIT Special Function Communication Addr.: 0226H Default: 0 Related Section: Applicable Control Mode: P/S/T P1-34, P1-35, P1-36 Unit: N/A Range: 0H ~ FFFFH Settings: 0 0 0 0 0 Bit10 0 0 0 0 0 0 0 0 0 0 Bit0 ~ Bit9 and Bit11 ~ Bit15: Reserved. Must be set to 0. Bit10: DI ZCLAMP function selection (The users should set Bit10 to 400H directly.) When the following conditions are all met, ZCLAMP function will be activated.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 44 ATUR Motor Rotation Number Communication Addr.: 022CH Default: 2 Related Section: Applicable Control Mode: P/S/T P2-45, P2-46, P2-47 Unit: turn Range: 1 ~ 3 Settings: This parameter is used to set the motor rotation number when auto-tuning parameters. P2 - 45 AFRQ Motor Rotation Frequency Communication Addr.: 022DH Default: 10 Related Section: Applicable Control Mode: P/S/T P2-44, P2-46, P2-47 Unit: 0.
Chapter 7 Servo Parameters|ASDA-B Series ASD-PU-01A ASD-PU-01B • Motor Startup Operation Settings: 0: No operation. The motor does not run. 1: Motor startup operation. The motor starts to run. • Responsiveness Selection Settings: 0: Auto-select the appropriate responsiveness according to the measured load inertia value 1: Select the responsiveness set by parameter P2-31 P2 - 48 CCLR Pulse Deviation Clear Mode Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series P2 - 49 SJIT Speed Detection Filter and Jitter Suppression Communication Addr.: 0231H Default: 10 Related Section: Applicable Control Mode: P/S Section 6.3.6 Unit: N/A Range: 0 ~ 119 Settings: ASD-PU-01A ASD-PU-01B • Speed Detection Filter Constant Settings: Setting Value Speed Detection Frequency of Low-pass Filter (Hz) Filter Time (ms) 0 500 2.0 1 450 2.2 2 400 2.5 3 350 2.8 4 300 3.3 5 250 4.0 6 200 5.0 7 150 6.6 8 100 10.
Chapter 7 Servo Parameters|ASDA-B Series Group 3: P3-xx Communication Parameters P3 - 00 ADR Communication Address Setting Communication Addr.: 0300H Default: 1 Related Section: Applicable Control Mode: P/S/T Section 3.5.1, Section 8.2 Unit: N/A Range: 1 ~ 254 Settings: If the AC servo drive is controlled by RS-232/485 communication, each drive (or device) must be uniquely identified and addressed between 1 and 254. Access to program this number is via parameter P3-00.
Chapter 7 Servo Parameters|ASDA-B Series P3 - 02 PTL Communication Protocol Communication Addr.: 0302H Default: 0 Related Section: Applicable Control Mode: P/S/T Section 8.
Chapter 7 Servo Parameters|ASDA-B Series Settings: 0: Disabled This parameter is used to set the maximum permissible time before detecting a fault due to communication time out. When this parameter is set to a value over than 0, it indicates this function is enabled. However, if not communicating with the servo in this period of time, the servo drive will assume the communication has failed and show the communication error fault message. P3 - 05 Reserved P3 - 06■ SDI Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series Group 4: P4-xx Diagnosis Parameters P4 - 00★ ASH1 Fault Record (N) Default: 0 Communication Addr.: 0400H Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A Settings: The latest fault record. P4 - 01★ ASH2 Fault Record (N-1) Default: 0 Communication Addr.: 0401H Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A P4 - 02★ ASH3 Fault Record (N-2) Default: 0 Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series P4 - 05 JOG JOG Operation Communication Addr.: 0405H Default: 20 Related Section: Applicable Control Mode: P/S/T Section 4.4.3 Unit: rpm Range: 0 ~ 5000 Settings: JOG operation command: To perform a JOG Operation via communication command, use communication address 0405H Enter 0 ~ 4997 for the desired JOG rpm. The setting value will be written into P4-05.
Chapter 7 Servo Parameters|ASDA-B Series P4 - 07■ ITST Input Status or Force Input Control Communication Addr.: 0407H Default: 0 Related Section: Applicable Control Mode: P/S/T P3-06, Section 4.4.5, Unit: N/A Section 8.2 Range: 0 ~ 63 Settings: Please see P3-06 and Section 8.2 for setting method. External Control: Display the status of DI input signal Communication Control: Read the status of input signal (upon software) For the status of DI input signal, please refer to P2-10 ~ P2-15.
Chapter 7 Servo Parameters|ASDA-B Series The status of DO signal, please refer to P2-18 ~ P2-20. For example: If P4-09 is set to 3, it indicates that the Digital Outputs 1, 2 are "ON" and Digital Output 3 is "OFF". NOTE 1) Please pay close attention on the property of Digital Outputs. When the Digital Output is a contact “a”, if the output signal is ON, it indicates that this is a conductive circuit.
Chapter 7 Servo Parameters|ASDA-B Series P4 - 11 SOF1 Analog Speed Input Drift Adjustment 1 Communication Addr.: 040BH Default: Factory setting Related Section: Applicable Control Mode: P/S/T P4-10 Unit: N/A Range: 0 ~ 32767 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter.
Chapter 7 Servo Parameters|ASDA-B Series function, although this parameter allows the users can execute manual adjustment, we still do not recommend users to change the default setting manually. Auto Adjustment Operation: Set parameter P2-08 to 20 first and then set parameter P4-10 to 2.
Chapter 7 Servo Parameters|ASDA-B Series NOTE 1) When P2-08 is set to 10, users cannot reset this parameter. P4 - 17 COF3 Current Detector Drift Adjustment (W1 phase) Communication Addr.: 0411H Default: Factory setting Related Section: Applicable Control Mode: P/S/T P4-10 Unit: N/A Range: 0 ~ 32767 Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter.
Chapter 7 Servo Parameters|ASDA-B Series Settings: Manual Adjustment Operation: Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary adjusting function, although this parameter allows the users can execute manual adjustment, we still do not recommend users to change the default setting manually. Auto Adjustment Operation: Set parameter P2-08 to 20 first and then set parameter P4-10 to 6. o When executing this auto adjustment, ensure to cool the servo drive to 25 C.
Chapter 7 Servo Parameters|ASDA-B Series Users can use this parameter to adjust analog torque input offset value manually. NOTE 1) Before using this function, please short the internal circuit first or connecting to a 0V output of the external controller in advance (Please refer to the figure below). Internal Connection V-REF GND External Connection V-REF 9 8 CN1 CN1 0 volt.
Chapter 7 Servo Parameters|ASDA-B Series Group 8: P8-xx Keypad Parameters NOTE All the keypad parameters cannot be download to PC or the servo drive via communication. Users only can edit and change the keypad parameters through the keypad. P8 - 00★ KVER Keypad Firmware Version Default: Factory setting Communication Addr.: 0800H Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A P8 - 01 KFUN Keypad Communication and Reset Setting Default: 1 Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series 1: If 1 is set, it indicates the keypad is the master side during communication. 1 must be set when communicating with servo drive, or there will be a communication fault. • Keypad Parameter Reset Function Settings: 0: Disable keypad parameter reset function. 1: Enable keypad parameter reset function. All keypad parameter settings will be reset to default setting if this function is selected.
Chapter 7 Servo Parameters|ASDA-B Series 4: Baud rate 57600 (data transmission speed: bits / second) 5: Baud rate 115200 (data transmission speed: bits / second) P8 - 07 KPTL Communication Protocol (Keypad) Default: 0 Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series 2: LED testing. 3: Dynamical memory testing (RAM). The testing time is approx. 18 seconds. 4: Data memory testing (EEPROM). The testing time is approx. 140 seconds. This parameter is used to test the hardware of the keypad. Since the life of the data memory is limited and using this parameter will consumed the life of data memory, it is not recommended to use this parameter and change the factory default setting if not necessary.
Chapter 7 Servo Parameters|ASDA-B Series • Reserve / Clear Memory Block Function Settings 0: Reserve memory block 1: Clear memory block When the clear memory block function is selected, the memory block will be cleared. This parameter setting will return to its default setting after clear function is executed successfully. P8 - 12 KRNO Memory Block Position Number (ROMx) Default: 0 Communication Addr.
Chapter 7 Servo Parameters|ASDA-B Series P8 - 14★ KBL1 Firmware Version of Memory Block (ROMx) Default: 0 Communication Addr.: 080EH Related Section: N/A Applicable Control Mode: P/S/T Unit: N/A Range: N/A This parameter displays the firmware version of parameter memory number (ROMx) by referring the setting of parameter P8-12.
Chapter 7 Servo Parameters|ASDA-B Series Table 7.A Input Function Definition Setting value of P2-10 ~ P2-15: 01 DI Name SON DI Function Description Servo On. When this DI is activated, it indicates the servo drive is enabled. Trigger Method Control Mode Level Triggered P, S, T Setting value of P2-10 ~ P2-15: 02 DI Name DI Function Description Trigger Method Control Mode ARST Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST.
Chapter 7 Servo Parameters|ASDA-B Series Setting value of P2-10 ~ P2-15: 05 DI Name DI Function Description Trigger Method Control Mode Level Triggered S Trigger Method Control Mode Level Triggered S, T Trigger Method Control Mode Level Triggered P Trigger Method Control Mode Trigger Method Control Mode Level Triggered P, S Zero speed CLAMP. When ZCLAMP is activated (ON) and the motor speed value is below the setting value of P1-38, it is used to lock the motor in the instant position.
Chapter 7 Servo Parameters|ASDA-B Series Setting value of P2-10 ~ P2-15: 10 DI Name DI Function Description Trigger Method Control Mode SPDLM Speed limit enabled. When the drive is in torque mode and SPDLM is activated, it indicates the speed limit command is valid. The speed limit command source is internal parameter or analog voltage.
Chapter 7 Servo Parameters|ASDA-B Series DI Name DI Function Description Trigger Method Control Mode Level Triggered S Trigger Method Control Mode Level Triggered T Speed command number: S3 CN1 DI signal SPD1 SPD0 1 SPD0 SPD1 0 Command Source Content Range Internal parameter P1-10 +/5000 rpm Speed command number: S4 CN1 DI signal SPD1 SPD0 1 1 Command Source Content Range Internal parameter P1-11 +/5000 rpm Setting value of P2-10 ~ P2-15: 16 ~ 17 DI Name DI Function Description T
Chapter 7 Servo Parameters|ASDA-B Series Setting value of P2-10 ~ P2-15: 18 DI Name S-P DI Function Description Speed / Position mode switching.
Chapter 7 Servo Parameters|ASDA-B Series Setting value of P2-10 ~ P2-15: 24 DI Name DI Function Description Trigger Method Control Mode Trigger Method Control Mode Level Triggered P, S Trigger Method Control Mode Level Triggered P, S Reserved Setting value of P2-10 ~ P2-15: 25 DI Name TLLM DI Function Description Torque limit - Reverse operation (Torque limit function is valid only when P1-02 is enabled) Setting value of P2-10 ~ P2-15: 26 DI Name TRLM DI Function Description Torque limit - F
Chapter 7 Servo Parameters|ASDA-B Series Table 7.B Output Function Definition Setting value of P2-18 ~ P2-20: 01 DO Name DO Function Description Control Mode SRDY Servo ready. SRDY is activated when the servo drive is ready to run. All fault and alarm conditions, if present, have been cleared. P, S, T Setting value of P2-18 ~ P2-20: 02 DO Name DO Function Description Control Mode SON Servo On. SON is activated when control power is applied to the servo drive.
Chapter 7 Servo Parameters|ASDA-B Series Setting value of P2-18 ~ P2-20: 06 DO Name DO Function Description Control Mode TQL At Torques limit. TQL is activated when the drive has detected that the motor has reached the torques limits set by either the parameters P1-12 ~ P1-14. P, S Setting value of P2-18 ~ P2-20: 07 DO Name ALRM DO Function Description Control Mode Servo alarm (Servo fault) activated. ALRM is activated when the drive has detected a fault condition.
Chapter 7 Servo Parameters|ASDA-B Series DO Name DO Function Description Control Mode OLW Result: When the drive output is at 200% rated output and the drive is continuously overloaded for 4.8 seconds, and the overload warning signal will be ON (DO code is 10, i.e. DO signal OLW will be activated). If the drive is continuously overloaded for 8 seconds, the overload alarm will be detected and shown on the LED display (ALE06).
Chapter 8 MODBUS Communications 8.1 Communication Hardware Interface The ASDA-B series servo drive has two modes of communication: RS-232, and RS-485. 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 SEL232/485 (pin6) of CN3 connector (Refer to Section 3.5.1).
Chapter 8 MODBUS Communications|ASDA-B Series NOTE 1) For RS-232 connection, the recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or greater is required, the maximum length of the communication cable is 3m (9.84ft.) which will ensure the correct and desired baud rate.
Chapter 8 MODBUS Communications|ASDA-B Series NOTE 1) For RS-485 and RS-422 connections, the recommended maximum cable length is 100m (300ft.). Please note, RFI / EME noise should be kept to a minimum, communication cable should kept apart from high voltage wires. If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 15m (50ft.) which will ensure the correct and desired baud rate.
Chapter 8 MODBUS Communications|ASDA-B Series 8.2 Communication Parameter Settings The following describes the communication addresses for the communication parameters. For communication parameters, please refer to the Chapter 7. 0300H Address Setting Default: 1 Range: 1 ~ 254 If the AC servo drive is controlled by RS-485 communication, each drive (or device) must be uniquely identified and addressed between 1 and 254. Access to program this number is via parameter P3-00.
Chapter 8 MODBUS Communications|ASDA-B Series 0302H Communication Protocol Default: 0 Settings: 0: Modbus ASCII mode, <7,N,2> 1: Modbus ASCII mode, <7,E,1 > 2: Modbus ASCII mode, <7,O,1> 3: Modbus ASCII mode, <8,N,2 > 4: Modbus ASCII mode, <8,E,1> 5: Modbus ASCII mode, <8,O,1> 6: Modbus RTU mode, <8,N,2> 7: Modbus RTU mode, <8,E,1> 8: Modbus RTU mode, <8,O,1> This parameter is used to set the communication protocol.
Chapter 8 MODBUS Communications|ASDA-B Series communication and computer UI. If they are programmed via the keypad a hexadecimal number is entered; if programmed via communication or UI a decimal or hexadecimal number can be used. In both methods of programming, a single number is used for all six Digital Inputs. The following example shows how each DI is addressed and converted to a single decimal or hexadecimal number.
Chapter 8 MODBUS Communications|ASDA-B Series 0307H Communication Response Delay Time Default: 0 Range: 0~255 This parameter is used to delay the communication time that servo drive respond to host controller (external controller) When the communication address is set to 255, the communication response delay time will be 0 (zero) no matter what the setting value of P3-07 is.
Chapter 8 MODBUS Communications|ASDA-B Series 8.3 MODBUS Communication Protocol When using RS-232/485 serial communication interface, each ASDA-B series AC servo drive has a preassigned communication address specified by parameter “P3-00”. The computer then controls each AC servo drive according to its communication address.
Chapter 8 MODBUS Communications|ASDA-B Series 11-bit character frame (For 8-bit character) 8N2 Start bit 0 1 2 3 4 5 6 7 Stop bit Stop bit 6 7 Even parity Stop bit 6 7 Odd parity Stop bit 8-data bits 11-bits character frame 8E1 Start bit 0 1 2 3 4 5 8-data bits 11-bits character frame 8O1 Start bit 0 1 2 3 4 5 8-data bits 11-bits character frame Communication Protocol: ASCII Mode: STX Start character’: ’ (3AH) ADR Communication address: 1-byte consists of 2 ASCII co
Chapter 8 MODBUS Communications|ASDA-B Series STX (Communication Start) ASCII Mode: ’:’ character RTU Mode: A silent interval of more than 10ms ADR (Communication Address) The valid communication addresses are in the range of 1 to 254. For example, communication to AC servo drive with address 16 decimal: ASCII Mode: ADR=’1’,’0’ => ‘1’=31H，’0’=30H RTU Mode: ADR = 10H CMD (Command Codes) and DATA (Data Characters) The format of data characters depends on the command code.
Chapter 8 MODBUS Communications|ASDA-B Series RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 03H CMD 03H Starting data address 02H (Upper bytes) Number of data (Count by byte) 04H Number of data (Count by word) 00H 02H CRC Check Low C5H (Lower bytes) CRC Check High B3H (Upper bytes) 00H (Lower bytes) Contents of starting data address 0200H 00H (Upper bytes) B1H (Lower bytes) Contents of second data address 0201H 1FH (Upper bytes) CRC Check Low A3H (Lower bytes) C
Chapter 8 MODBUS Communications|ASDA-B Series RTU Mode: Command message: Response message: ADR 01H ADR 01H CMD 06H CMD 06H Starting data address 02H (Upper bytes) Starting data address 02H (Upper bytes) Content of data 00H (Lower bytes) 00H (Upper bytes) 64H (Lower bytes) Content of data 00H (Lower bytes) 00H (Upper bytes) 64H (Lower bytes) CRC Check Low 89H (Lower bytes) CRC Check Low 89H (Lower bytes) CRC Check High 99H (Upper bytes) CRC Check High 99H (Upper bytes) LRC (ASCII Mo
Chapter 8 MODBUS Communications|ASDA-B Series CRC (RTU Mode): CRC (Cyclical Redundancy Check) is calculated by the following steps: Step 1: Load a 16-bit register (called CRC register) with FFFFH. Step 2: Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register. Step 3: Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC register one bit to the right.
Chapter 8 MODBUS Communications|ASDA-B Series Communication Related Error Code If one communication error occurs during communication, the AC servo drive will respond the corresponding error value and command code plus 80H back to the external controller.
Chapter 8 MODBUS Communications|ASDA-B Series The following is an example of CRC generation using C language. The function takes two arguments: unsigned char* data; unsigned char length The function returns the CRC value as a type of unsigned integer.
Chapter 8 MODBUS Communications|ASDA-B Series int I; outportb(PORT+MCR,0x08); outportb(PORT+IER,0x01); /* interrupt enable */ /* interrupt as data in */ outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) ); /* the BRDL/BRDH can be access as LCR.
Chapter 9 Maintenance and Inspection Delta AC servo drives are based on solid state electronics technology. Preventive maintenance is required to operate this AC servo drives in its optimal condition, and to ensure a long life. It is recommended to perform a periodic maintenance and inspection of the AC servo drive by a qualified technician. Before any maintenance and inspection, always turn off the AC input power to the unit.
Chapter 9 Maintenance and Inspection|ASDA-B Series Item Content Inspection during operation (Control power is applied)） z Ensure that the cables are not damaged, stressed excessively or loaded heavily. When the motor is running, pay close attention on the connection of the cables and notice that if they are damaged, frayed or over extended. z Check for abnormal vibrations and sounds during operation.
Chapter 9 Maintenance and Inspection|ASDA-B Series Cooling fan The cooling fan life is limited and should be changed periodically. The cooling fan will reach the end of its life in 2~3 years when it is in continuous operation. However, it also must be replaced if the cooling fan is vibrating or there are unusual noises.
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Chapter 10 Troubleshooting If a fault is detected on the servo drive or motor, a corresponding alarm will be activated and the fault message will be displayed on the LCD display of the digital keypad and the fault code will be shown on the 1-digit 7-segment LED display of the servo drive. 10.1 Fault Messages Table Servo Drive Fault Messages Fault Messages Display Fault Name Fault Description ALE Overcurrent Main circuit current is higher than 1.
Chapter 10 Troubleshooting|ASDA-B Series Fault Messages Display ALE 20/ALE Fault Name Fault Description Input power phase loss One phase of the input power is loss. Keypad Fault Messages Fault Messages Display Fault Name Fault Description ALE 30 LCM hardware error The character display on LCM is in error. ALE 31 LED hardware error When parameter P8-09 is enabled, LED indicator is abnormal. ALE 32 KEY hardware error When parameter P8-09 is enabled, the function key is disabled.
Chapter 10 Troubleshooting|ASDA-B Series 10.2 Potential Cause and Corrective Actions Servo Drive Fault Messages ALE 1 / ALE : Overcurrent When SERVO OFF, but the power is on: Potential Cause Short-circuit at drive output (U, V, W). Checking Method 1. Check the wiring connections between drive and motor. 2. Check if the wire is short-circuited. Repair the short-circuited and avoid metal conductor being exposed.
Chapter 10 Troubleshooting|ASDA-B Series ALE 3 / ALE : Undervoltage Potential Cause Checking Method The main circuit voltage Check whether the wiring of main circuit input is below its minimum voltage is correct. specified value. No input voltage at main circuit. Corrective Actions Reconfirm voltage wiring. Correct input wiring is needed. Use voltmeter to check whether input voltage at Reconfirm power supply, including main circuit is normal. switches. Power input error.
Chapter 10 Troubleshooting|ASDA-B Series ALE 6 / ALE : Overload When the motor is started within 30 minutes: Potential Cause Checking Method The drive has exceeded its rated load during Check if the drive is overloaded. continuous operation. Control system parameter setting is incorrect. Corrective Actions Increase motor capacity or reduce load. Check if there is mechanical vibration Adjust gain value of control circuit. Accel/Decel time setting is too fast. Decrease Accel/Decel time setting.
Chapter 10 Troubleshooting|ASDA-B Series ALE 8 / ALE : Abnormal pulse control command Potential Cause Pulse command frequency is higher than rated input frequency. ALE 9 / ALE Checking Method Corrective Actions Use pulse frequency detector to measure input Correctly set the input pulse frequency. frequency.
Chapter 10 Troubleshooting|ASDA-B Series ALE 11 / ALE : Encoder error (Position detector fault) Potential Cause Checking Method Corrective Actions 1. Check if all wiring is correct. The wiring of encoder is 2. Check if the users conduct the wiring by in error. the wiring information in the user manual. Ensure all wiring is correct. Encoder is loose Install the motor again. Examine the encoder connector. The wiring of encoder is Check if all connections are tight. defective.
Chapter 10 Troubleshooting|ASDA-B Series ALE 16 / ALE : IGBT temperature error Potential Cause Checking Method Corrective Actions The drive has exceeded its rated load Check if there is overload or the motor current during continuous is too high. operation. Increase motor capacity or reduce load. Short-circuit at drive output. Ensure all wiring is correct. ALE 17 / ALE Check the drive input wiring.
Chapter 10 Troubleshooting|ASDA-B Series Keypad Fault Messages ALE 30 : LCM hardware error Potential Cause Checking Method Corrective Actions No display Check if the 4th Pin of LCM is normal. Please contact your distributor for assistance or contact with Delta. Error characters display. Check if the related Pins is short-circuited and check if IC operation is normal. Please contact your distributor for assistance or contact with Delta.
Chapter 10 Troubleshooting|ASDA-B Series ALE 35 : COMM hardware error Potential Cause Checking Method Corrective Actions Hardware error Check if the serial communication signal is normal. 1. Activate P8-09 to perform the testing. 2. Please contact your distributor for assistance or contact with Delta. Communication parameter setting is defective. Check the communication parameter setting. Correctly set parameter setting.
Chapter 10 Troubleshooting|ASDA-B Series ALE 43 : Error communication response address Potential Cause Receive the error communication response address Checking Method Check if the sending and receiving communication address are the same. Corrective Actions Check if the communication setting is correct by using P8-05. Verify the sending and receiving data format. ALE 44 : Error communication response command Potential Cause Respond the error communication command.
Chapter 10 Troubleshooting|ASDA-B Series 10.3 Clearing Servo Drive Faults Display Fault Name Clearing Method ALE Overcurrent Turn ARST (DI signal) ON to clear the fault or restart the servo drive. ALE Overvoltage Turn ARST (DI signal) ON to clear the fault or restart the servo drive. Undervoltage This fault message can be removed automatically after the voltage has returned within its specification. ALE Z Pulse shift Restart the servo drive.
Chapter 11 Specifications 11.1 Specifications of Servo Drive (ASDA-B Series) Power Supply Model: ASDA-B Series Voltage / Frequency 400W 750W 1kW 1.
Chapter 11 Specifications|ASDA-B Series Digital Input/Output Torque Control Mode Model: ASDA-B Series Analog Input Command 100W 200W 400W 750W 1kW 1.5kW 2kW 01 02 04 07 10 15 20 Voltage Range 0 ~ ±10 VDC Input Resistance 10KΩ Time Constant 2.
Chapter 11 Specifications|ASDA-B Series NOTE 1) Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause). 2) When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotation speed 3) TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.
Chapter 11 Specifications|ASDA-B Series 11.2 Specifications of Servo Motor (ECMA Series) Low Inertia Servo Motor C304 Model: ECMA Series C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW 01 02 04 04 07 10 20 Rated output power (kW) 0.1 0.2 0.4 0.4 0.75 1.0 2.0 Rated torque (N-m) 0.32 0.64 1.27 1.27 2.39 3.18 6.37 Maximum torque (N-m) 0.96 1.92 3.82 3.82 7.16 9.54 19.11 Rated speed (rpm) 3000 Maximum speed (rpm) 5000 Rated current (A) 0.9 1.55 2.6 2.6 5.1 7.
Chapter 11 Specifications|ASDA-B Series C304 Model: ECMA Series C306 C308 C310 100W 200W 400W 400W 750W 1kW 2kW 01 02 04 04 07 10 20 15 Vibration grade (um) o o o o Operating temperature 0 C to 40 C (32 F to 104 F) Storage temperature -10 C to 80 C (-14 F to 176 F) Operating humidity 20% to 90% RH (non-condensing) Storage humidity 20% to 90% RH (non-condensing) Vibration capacity 2.
Chapter 11 Specifications|ASDA-B Series E313 Model: ECMA Series E318 G313 500W 1kW 1.5kW 2kW 2kW 300W 600W 900W 05 10 15 20 20 03 06 09 Weight (kg) (with brake) 8.2 8.4 8.9 9.2 17.5 8.2 8.4 8.9 Max. radial shaft load (N) 490 490 490 490 1176 490 490 490 Max. thrust shaft load (N) 98 98 98 98 490 98 98 98 Power rating (kW/s) (with brake) 6.4 24.9 43.1 59.7 24.1 9.2 35.9 62.1 Rotor moment of inertia (Kg.m2) (with brake) 8.94E-4 9.14E-4 11.90E-4 15.
Chapter 11 Specifications|ASDA-B Series 11.3 Dimensions of Servo Drive Order P/N: ASD-B0121-A, ASD-B0221-A, ASD-B0421-A (100W to 400W) WEIGHT 1.2 (2.64) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)) 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements.
Chapter 11 Specifications|ASDA-B Series Order P/N: ASD-B0721-A (750W) WEIGHT NOTE 1.5 (3.3) 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)) 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements.
Chapter 11 Specifications|ASDA-B Series Order P/N: ASD-B1021-A, ASD-B1521-A, ASD-B2023-A (1kW to 2kW) WEIGHT 2.0 (4.4) NOTE 1) Dimensions are in millimeters (inches). 2) Weights are in kilograms (kg) and (pounds (lbs)) 3) In this manual, actual measured values are in metric units. Dimensions in (imperial units) are for reference only. Please use metric for precise measurements.
Chapter 11 Specifications|ASDA-B Series 11.
Chapter 11 Specifications|ASDA-B Series 11.5 Overload Characteristics Overload Protection Function Overload protection is a built-in protective function to prevent a motor from overheating. Occasion of Overload 1. Motor was operated for several seconds under a torque exceeding 100% torque. 2. Motor had driven high inertia machine and had accelerated and decelerated at high frequency. 3. Motor UVW cable or encoder cable was not connected correctly. 4.
Chapter 11 Specifications|ASDA-B Series Chart of load and operating time (ECMAC30602 S) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 213.6s 42.3s 21.8s 13.7s 9.2s 6.9s 5.0s 3.9s 3.2s 2.5s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMAC30604 S) 1000 Operating Time (seconds) 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 65.0s 12.9s 6.
Chapter 11 Specifications|ASDA-B Series Chart of load and operating time (ECMAC30804 7) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 254.5s 50.4s 26.0s 16.4s 11.0s 8.2s 6.0s 4.7s 3.8s 2.9s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMAC30807 S) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.
Chapter 11 Specifications|ASDA-B Series Chart of load and operating time (ECMAC31010 S) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.8s 19.0s 12.0s 8.0s 6.0s 4.4s 3.4s 2.8s 2.2s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMAC31020 S) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.8s 19.0s 12.
Chapter 11 Specifications|ASDA-B Series Chart of load and operating time (ECMAC31303 S) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 613.1s 121.4s 62.6s 39.4s 26.4s 19.8s 14.5s 11.4s 9.1s 7.1s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMAC31305 S) 1000 Operating Time (seconds) 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.
Chapter 11 Specifications|ASDA-B Series Chart of load and operating time (ECMAC31306 S) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 167.2s 33.1s 17.1s 10.8s 7.2s 5.4s 4.0s 3.1s 2.5s 1.9s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMAC31309 S) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.8s 36.8s 19.0s 12.
Chapter 11 Specifications|ASDA-B Series Chart of load and operating time (ECMAC31310 S) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 130.0s 25.7s 13.3s 8.4s 5.6s 4.2s 3.1s 2.4s 1.9s 1.5s 0.1 0 50 100 150 200 250 300 Load (% rated torque) Chart of load and operating time (ECMAC31315 S) Operating Time (seconds) 1000 Load 100 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 167.2s 33.1s 17.1s 10.
Chapter 11 Specifications|ASDA-B Series Chart of load and operating time (ECMAC31320 S) Operating Time (seconds) 1000 100 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 10 1 Operating Time 185.78s 36.78s 18.98s 11.95s 8s 5.99s 4.39s 3.44s 2.76s 2.15s 0.1 0 50 100 150 200 250 300 Load (%) rated torque Chart of load and operating time (ECMAC31820 S) 10000 Operating Time (seconds) 1000 Load 120% 140% 160% 180% 200% 220% 240% 260% 280% 300% 100 10 1 Operating Time 278.
Chapter 11 Specifications|ASDA-B Series 11.6 Dimensions of Servo Motor Motor Frame Size: 80mm Models Model C30401 S C30602 S C30604 S C30804 7 C30807 S LC 40 60 60 80 80 LZ 4.5 5.5 5.5 6.6 6.6 LA 46 70 70 90 90 S 8 14 14 14 19 LB 30 50 50 70 70 LL (without brake) 100.6 105.5 130.7 112.3 138.3 LL (with brake) - 141.6 166.8 152.8 178 LR 25 30 30 30 35 LE 2.5 3 3 3 3 LG 5 7.5 7.5 8 8 LW 16 20 20 20 25 RH 6.2 11 11 11 15.
Chapter 11 Specifications|ASDA-B Series Motor Frame Size: 100mm Models Model G31303 S E31305 S G31306 S G31309 S C31010 S LC 130 130 130 130 100 LZ 9 9 9 9 9 LA 145 145 145 145 115 S 22 22 22 22 22 LB 110 110 110 110 95 LL (without brake) 147.5 147.5 147.5 163.5 153.5 LL (with brake) 183.5 183.5 183.5 198 192.5 LR 55 55 55 55 45 LE 6 6 6 6 5 LG 11.5 11.5 11.5 11.
Chapter 11 Specifications|ASDA-B Series Motor Frame Size: 100mm Models Model E31310 S E31315 S C31020 S G31320 S E31820 S LC 130 130 100 130 180 LZ 9 9 9 9 13.5 LA 145 145 115 145 200 S 22 22 22 22 35 LB 110 110 95 110 114.3 LL (without brake) 147.5 167.5 199 187.5 169 LL (with brake) 183.5 202 226 216 203.1 LR 55 55 45 55 79 LE 6 6 5 6 4 LG 11.5 11.5 12 11.
Chapter 11 Specifications|ASDA-B Series 11.
Chapter 12 Application Examples 12.1 Connecting to DVP-EH PLC and DOP-A HMI Application Example: Dual Mode (S-P Mode) Purpose Use Delta DVP-EH series PLC to output pulse command (Homing operation, JOG operation, forward and reverse operation, and speed control mode switching) and enable ASDA-B servo drive. Also, use Delta DOP-A series HMI to control ASDA-B servo drive and let the servo drive follow the commands from PLC to complete the positioning.
Chapter 12 Application Examples|ASDA-B Series PLC Program 12-2 Revision January 2009
Chapter 12 Application Examples |ASDA-B Series Revision January 2009 12-3
Chapter 12 Application Examples|ASDA-B Series 12-4 Revision January 2009
Chapter 12 Application Examples |ASDA-B Series ASDA-B series Servo Drive 1. When using open-collector input, the max. allowable input pulse frequency is 200Kpps. 2. Parameter Settings: 3.
Chapter 12 Application Examples|ASDA-B Series Connections between DVP-EH series PLC and ASDA-B series Servo Drive DVP-EH Y0 Y1 Y2 C0 ASDA-B CN1 1 2 C1 3 C2 4 Y3 14 Y3 5 Y4 C3 6 Y5 Y6 C4 7 8 C5 9 Y7 C6 C7 10 11 12 13 Y2 15 16 17 Y4 Y5 18 19 1k 20 21 22 Y1 Y0 23 24 25 1k Connections: DVP-EH Y0 Y1 Y2 Y3 Y4 Y5 12-6 ASDA-B CN1 22 20 5 3 15 17 Revision January 2009
Chapter 12 Application Examples |ASDA-B Series HMI DOP-A HMI Program Screen (Homing Operation) Revision January 2009 12-7
Chapter 12 Application Examples|ASDA-B Series (Position Control 1) 12-8 Revision January 2009
Chapter 12 Application Examples |ASDA-B Series (Position Control 2) Revision January 2009 12-9
Chapter 12 Application Examples|ASDA-B Series (JOG Operation) 12-10 Revision January 2009
Chapter 12 Application Examples |ASDA-B Series (Speed Control) Operation Ensure all wiring is connected correctly. Restart the servo drive (Apply the power to servo drive again). At this time, the SON LED (Servo On Indicator) will be lit to indicate that the servo drive is enabled, and normal display will show on the LCD display.
Chapter 12 Application Examples|ASDA-B Series 12.2 Connecting to DVP-EH PLC and Delta TP04 Series Application Example: Homing Operation Purpose Use Delta TP04 series operation panel interface as host (external) controller to control ASDA-B servo drive and let the servo drive follow the commands from PLC to complete the positioning.
Chapter 12 Application Examples |ASDA-B Series Revision January 2009 12-13
Chapter 12 Application Examples|ASDA-B Series ASDA-B series Servo Drive Parameter Settings: P1-00 =0 (Position mode) P2-10 =101 (SON Servo ON, the default is DI1) P2-12 =104 (CCLR) P2-32 =1 (PDFF, the ratio of load inertia to servo motor inertia can be continuously adjusted.) Communication Settings: Use RS-485 communication Operation Ensure all wiring is connected correctly. Restart the servo drive (Apply the power to servo drive again).
Chapter 12 Application Examples |ASDA-B Series 12.
Chapter 12 Application Examples|ASDA-B Series Connecting to Delta DVP-01PU 12-16 Revision January 2009
Chapter 12 Application Examples |ASDA-B Series Connecting to Mitsubishi FX1PG Revision January 2009 12-17
Chapter 12 Application Examples|ASDA-B Series Connecting to Mitsubishi FX2N1PG 12-18 Revision January 2009
Chapter 12 Application Examples |ASDA-B Series Connecting to Mitsubishi AD75 Revision January 2009 12-19
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Appendix A Accessories Power Connectors Delta Part Number: ASDBCAPW0000 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Delta Part Number: ASDBCAPW0100 Title Part No.
Appendix A Accessories|ASDA-B Series Power Cables Delta Part Number: ASDBCAPW0203/0205 Title Part No. Manufacturer Housing C4201H00-2*2PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No. 1 2 L mm inch ASDBCAPW0203 3000 ± 50 118 ± 2 ASDBCAPW0205 5000 ± 50 197 ± 2 Delta Part Number: ASDBCAPW0303/0305 A-2 Title Part No. Manufacturer Housing C4201H00-2*3PA JOWLE Terminal C4201TOP-2 JOWLE Title Part No.
Appendix A Accessories|ASDA-B Series Power Cables, cont. Delta Part Number: ASD-CAPW1203/1205 Title Part No. Straight 1 ASD-CAPW1203 2 ASD-CAPW1205 L mm inch 3106A-20-18S 3000 ± 50 118 ± 2 3106A-20-18S 5000 ± 50 197 ± 2 Delta Part Number: ASD-CAPW2203/2205 Title Part No. Straight 1 ASD-CAPW2203 2 ASD-CAPW2205 L mm inch 3106A-24-18S 3000 ± 50 118 ± 2 3106A-24-18S 5000 ± 50 197 ± 2 Delta Part Number: ASD-CAPW2303/2305 (80mm) (3.15 inch) (100 mm) (3.
Appendix A Accessories|ASDA-B Series Encoder Connectors Delta Part Number: ASDBCAEN0000 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP CLAMP DELTA (34703237XX) DELTA Delta Part Number: ASDBCAEN1000 Encoder Cables Delta Part Number: ASDBCAEN0003/0005 A-4 Title Part No. Manufacturer Housing AMP (1-172161-9) AMP Terminal AMP (170359-3) AMP CLAMP DELTA (34703237XX) DELTA Title Part No.
Appendix A Accessories|ASDA-B Series Encoder Cables, cont. Delta Part Number: ASDBCAEN1003/1005 Title Part No. Straight 1 ASDBCAEN1003 2 ASDBCAEN1005 L mm inch 3106A-20-29S 3000 ± 50 118 ± 2 3106A-20-29S 5000 ± 50 197 ± 2 I/O Signal Connector Delta Part Number: ASDBCNDS0025 Communication Cables Delta Part Number: ASDBCADK0001 (for Keypad, connecting a ASDA-B servo drive to a Keypad) Revision January 2009 Title Part No.
Appendix A Accessories|ASDA-B Series Communication Cables, cont. Delta Part Number: DVPACAB2A30 (for PC, connecting a ASDA-B servo drive to a PC) Delta Part Number: ASDBCACK0001 (for Keypad, connecting a PC to a Keypad) Title Part No.
Appendix A Accessories|ASDA-B Series Delta Part Number: ASD-PU-01B (including communication cable) Revision January 2009 Title Part No.
Appendix A Accessories|ASDA-B Series Servo Drive, Servo Motor and Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive ASD-A0121-AB Low inertia Servo Motor ECMA-C30401S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASDBCAPW0203 Motor Power Cable ASDBCAPW0205 - - Encoder Cable ASDBCAEN0003 Encoder Cable ASDBCAEN0005 - - Power Connector ASDBCAPW0000 Connector Encoder Connector ASDCAEN0000 200W Servo Drive and 200W Low Inertia Servo Motor
Appendix A Accessories|ASDA-B Series 400W Servo Drive and 500W Medium Inertia Servo Motor Medium inertia Servo Motor ECMA-E31305S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor Power Cable ASD-CAPW1305 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASDBCAEN1000 400W Servo Drive an
Appendix A Accessories|ASDA-B Series 750W Servo Drive and 600W High Inertia Servo Motor Servo Drive ASD-B0721-A High inertia Servo Motor ECMA-G31306S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor Power Cable ASD-CAPW1305 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASDBCAEN100
Appendix A Accessories|ASDA-B Series 1kW Servo Drive and 900W High Inertia Servo Motor Servo Drive ASD-B1021-A High inertia Servo Motor ECMA-G31309S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor Power Cable ASD-CAPW1305 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASDBCAEN1000
Appendix A Accessories|ASDA-B Series 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD-B2023-A Medium inertia Servo Motor ECMA-E31320S Without Brake 3M Cable With Brake 5M 3M 5M Motor Power Cable ASD-CAPW1203 Motor Power Cable ASD-CAPW1205 Motor Power Cable ASD-CAPW1303 Motor Power Cable ASD-CAPW1305 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Encoder Cable ASDBCAEN1003 Encoder Cable ASDBCAEN1005 Power Connector ASD-CAPW1000 Connector Encoder Connector ASDBCAEN1
