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ASDA-B2 User-Manual(curve).cdr

1. Servo Drive ASD B2 0221 B AE ECMA C20602 1S Servo Motor Without Brake With Brake 3M 5M 3M 5M cups Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASDBCAPWO203 ASDBCAPWO205 ASDBCAPWO0303 ASDBCAPWO0305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAENOO03 ASDBCAENOO05 ASDBCAENOO03 ASDBCAENOOO5 Power Connector ASDBCAPWOOO00 Power Connector ASDBCAPWO 00 n Encoder Connector ASDBCAENOOO00 400W Servo Drive and 400W Low Inertia Servo Motor Servo Drive ASD B2 0421 B ECMA C20604 _ S Low inertia M ECMA CMO604PS ECMA C20804 7 Without Brake With Brake 3M 5M 3M 5M c Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASDBCAPW0203 ASDBCAPWO205 ASDBCAPWO0303 ASDBCAPWO0305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAENOOO3 ASDBCAENOO05 ASDBCAENOO03 ASDBCAENOOO05 Power Connector ASDBCAPWOOO00 Power Connector ASDBCAPWO 00 LUE Encoder Connector ASDBCAENOOO00 400W Servo Drive and 500W Medium Inertia Servo Motor Servo Motor Medium inertia ECMA E21305 S Without Brake Without Brake Revision April 201 1 3M 5M 3M 5M E Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASD CAPW1203 ASD CAPW1205 ASD CAPW1303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAEN1005 ASDBCAENIOO3 ASDBCAEN1005 E
2. STX 0 ADR e 0 CMD es 0 2 Starting data address 0 a 0 0 Number of data 0 zii ls ES LRC Check 3 End 1 ODH CR End 0 OAH LF 01H 03H 02H 01H 00H 01H 08H the 2 s complement negation of 08H is F8H Hence we can know that LRC CHK is F 8 8 12 Revision April 2011 ASIDA B2 Chapter 8 MODBUS Communications 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 O shift the CRC register one bit to the right If the LSB of CRC register is 1 shift the CRC register one bit to the right then Exclusive OR the CRC register with the polynomial value AOO1H Step 4 Repeat step 3 until eight shifts have been performed When this is done a complete 8 bit byte will have been processed then perform step 5 Step 5 Repeat step 2 to step 4 for the next 8 bit byte of the command message Continue doing this until all bytes have been processed The final contents of the CRC register are the CRC value NOTE 1 When transmitting the CRC value in the message the upper and lower bytes of the CRC value must be swa
3. STX nas 0 ADR zi ls Q CMD 6 0 Starting data 2 address Q 0 0 0 Content of data a 4 Q LRC Check 3 End 1 ODH CR End O OAH LF Revision April 2011 STX ps 0 ADR a Q CMD 6 0 Starting data 2 address Q 0 0 0 Content of data 7 4 Q LRC Check 3 End 1 ODH CR End O OAH LF Chapter 8 MODBUS Communications RTU Mode Command message ADR 01H Response message ADR ASDA B2 01H CMD 06H CMD 06H Starting data address 02H Upper bytes OOH Lower bytes Starting data address 02H Upper bytes OOH Lower bytes Content of data 00H Upper bytes 64H Lower bytes Content of data 00H Upper bytes 64H Lower bytes CRC Check Low 89H Lower bytes CRC Check Low 89H Lower bytes CRC Check High 99H Upper bytes CRC Check High 99H Upper bytes LRC ASCII Mode LRC Longitudinal Redundancy Check is calculated by summing up module 256 the values of the bytes from ADR to last data character then calculating the hexadecimal representation of the 2 s complement negation of the sum For example reading 1 word from address 0201H of the ASDA B2 series AC servo drive with address O1H
4. TASA D A i fe 04 1 i p 4 F LAR a WY 5 ta Jj NA No RING TERMINAL Delta Part Number BRIKOWO20 1kW 200 oO u 042 H D W MAX WEIGHT 400 385 2800 242 LC rc 2 LO l O n J e TERMINAL 2tX125X96 5 P d ln a Re P d Revision April 2011 Chapter 2 Installation and Storage ASDA B2 HO ME 1 Regarding the selection of regenerative resistor please refer to the table of regenerative resistor specifications described in Appendix A 2 16 Revision April 2011 Chapter 3 Connections and Wiring This chapter provides information on wiring ASDA B2 series products the descriptions of I O signals and gives typical examples of wiring diagrams 3 Connections 3 1 1 Connecting to Peripheral Devices Installing a MFB can prevent excessive current may arise due to short circuit ar flow when power on and power off sa as to avoid the damage on the serva drive p Delta Motion Controller UE I i 100W 1 5kW i meg E Single phase Three phase 200V 230V1 nn 1 2kW 3kW Three phase 200V 230V g HE y L oom No Fuse Breaker NFB I sk i m a i L f I i I a DVP ES2 DYP PM DVP SY HMI Host External Controller Connected to
5. Rated output power kW O 1 0 2 0 4 0 4 0 75 0 75 1 0 1 0 2 0 Rated torque N m 0 32 0 64 1 27 1 27 2 39 2 38 3 18 3 18 6 37 Maximum torque N m 0 96 1 92 3 82 3 82 7 16 7 14 8 78 9 54 19 11 Rated speed r min 3000 Maximum speed r min 5000 3000 5000 Rated current A 0 90 1 55 2 60 2 60 5 10 3 66 4 25 7 30 12 05 Maximum current A 2 70 4 65 7 80 7 74 153 11 12 37 21 9 136 15 LN 277 22 4 57 6 22 1 484 29 6 38 6 381 90 6 without brake Rotor moment of inertia x 10 kg m without 0 037 0 177 0 277 0 68 1 13 1 93 2 62 2 65 4 45 brake MechanicalimeconsidH o gt 080 0 53 0 73 0 62 1 72 1 20 0 74 0 61 ms without brake ELI 0 36 0 41 0 49 0 49 0 47 0 65 0 75 0 43 0 53 N m A Voltage constant KE 136 16 0 174 185 172 275 242 168 192 mV r min ELM KZ 930 2 79 1 55 0 93 0 42 1 34 10 897 0 20 0 13 Ohm Armature inductance mH 24 0 12 07 6 71 7 39 3 53 7 55 5 7 1 81 1 50 Electrical n ELLE 2 58 4 30 4 30 796 8 36 566 635 9 30 11 4 Insulation class Class A UL Class B CE Insulation resistance gt 100MQ DC 500V Insulation strength 1500V AC 60 seconds EM os 112 16 21 30 29 38 43 62 brake Weight kg with brake 0 8 1 5 2 0 2 9 3 8 3 69 5 5 4 7 7 2 Max radial shaft load N 78 4 196 196 245 245 245 245 490 490 Max thrust shaft load N 39 2 68 68 98 98 98 98 98 98 IAS 256 21
6. ASCII Mode Command message Response message STX Ten SIX eg 0 QO ADR ADR 7 a e 0 9 CMD ee CMD gt 3 Q Number of data Q Starting data ex Count by byte q address o 9 Q Contents of 0 starting data m 0 address 0200H B 0 i Ed Number of data 0 E 27 Contents of P fe second data yr LRC Check address 0201H g 9 End 1 ODH CR E LRC Check End O OAH LF 8 End 1 ODH CR End 0 OAH LF 8 10 Revision April 2011 ASDA B2 RTU Mode Command message ADR O1H CMD 03H Chapter 8 MODBUS Communications Response message Starting data 02H Upper bytes address OOH Lower bytes Number of data OOH ADR O1H CMD 03H N f umber of data 04H Count by byte Count by word 02H CRC Check Low C5H Lower bytes Contents of 00H Upper bytes starting data address 0200H B1H Lower bytes CRC Check High Command code 06H B3H Upper bytes write 1 word Contents of 1FH Upper bytes second data address 0201 H 40H Lower bytes CRC Check Low A3H Lower bytes CRC Check High D4H Upper bytes For example writing 100 0064H to starting data address 0200H of ASDA B2 series with address 01H ASCII Mode Command message Response message
7. mE d filtered signal La filtered signal d When this pulse frequency is less than When this pulse frequency is less than 150 ns this signal will be regarded as a 150 ns this signal will be regarded as a low level pulse and two input pulses will high level pulse and two input pulses will be regarded as one input pulse be regarded as one input pulse 2150 ns 2150 ns AS When the pulse frequencies of high level duty and low level duty both are greater than 150 ns the signal will not be filtered that is the pulse command will pass through If an input pulse of 2 4MHz is used it is recommended to change the setting value B Input pulse filter and set this setting value to 4 Please note that this function is available for DSP version V1 036 sub05 CPLD version V10 and later models only Note If the signal is a 4Mpps high input pulse setting the value B to 4 is able to ensure that the signal will not be filtered and will be certainly delivered Revision April 2011 7 21 Chapter 7 Servo Parameters AA5027 B2 C Input polarity Pulse Logic Forward Reverse ype Pul T H AB phase P7 TL LIII o x xx pulse m nlu nla n Sign i Sign 4 lt T3 A m TH TH Positive W Pulse TE CCW T2 gt lt T2 gt T2 gt I2 gt I2 T2 gt ulse P Sign H rH Pulse Pulse i i i Pulse f f D
8. Time ms PFLT Revision April 2011 6 7 Chapter 6 Control Modes of Operation ASDA B2 6 2 5 Position Loop Gain Adjustment Before performing position control setting position control block diagram the users should complete the speed control setting by using Manual mode parameter P 32 since the position loop contains speed loop Then adjust the Proportional Position Loop Gain KPP parameter P2 00 and Position Feed Forward Gain PFG parameter P2 02 Or use Auto mode to adjust the gain of speed and position control block diagram automatically 1 Proportional Position Loop Gain To increase this gain can enhance the position loop responsiveness 2 Position Feed Forward Gain To increase this gain can reduce the position track error during operation The position loop responsiveness cannot exceed the speed loop responsiveness and it is recommended that the speed loop responsiveness should be at least four times faster than the position loop responsiveness This also means that the setting value of Proportional Speed Loop Gain KVP should be at least four times faster than Proportional Position Loop Gain KPP The equation is shown as follows fv f ES E fv Speed Loop Responsiveness Hz fp Position Loop Responsiveness Hz KPP 2 x x x fp For example the desired position loop responsiveness is equal to 20 Hz Then KPP 2 x x x 202 125 rad s Relevant parameters P2 00 KP Proportional Posi
9. 2 12 Revision April 2011 ASDA B2 Chapter 2 Installation and Storage Simple Calculation Method The users can select the adequate regenerative resistors according to the allowable frequency required by actual operation and the allowable frequency when the servo motor runs without load The allowable frequency when the servo motor run without load is the maximum frequency that can be operated during continuous operation when servo motor accelerate from Or min to rated speed and decelerate from rated speed down to Or min The allowable frequencies when the servo motor run without load are summarized in the following table When Using Built in Regenerative Resistor Allowable Frequencies for Servo Motor Running Without Load times min motor frame size unit is in millimeters or Capacity 600W 750W 900W 1 0kW 1 5kW 2 0kW 2 0kW 3 0kW ECMA Series 06 07 09 10 15 20 20 30 83 ECMA 12 137 CMAunC 3 3 F100 24 10 ECMAccoE 42 32 11 E F130 F180 ECMAunG 42 3 When the servo motor runs with load the allowable frequency will change according to the changes of the load inertia and rotation speed Use the following equation to calculate the allowable frequency 2 Allowable frequency when servo motor run withoutload Rated speed times Allowable frequency E m 1 Operating speed min m load motor inertia ratio Revision April 2011 2 13 Chapter 2 In
10. 10 At this time the servo drive is ON and the right side display will appear next 11 Press DOWN key three times to select the ratio of Load Inertia to Servo Motor Inertia J load motor 12 Display the current ratio of Load Inertia to Servo Motor Inertia J load motor 5 0 is default setting 13 Press MODE key to select parameter mode 14 Press SHIFT key twice to select parameter group 15 Press UP key to select user parameter P4 05 16 Press SET key and JOG speed 20r min will be displayed Press UP and DOWN key to increase and decrease JOG speed To press SHIFT key one time can add one digit number 17 Select desired JOG speed press SET key and it will show the right side display 18 Pressing UP key is forward rotation and pressing DOWN key is reverse rotation 19 Execute JOG operation in low speed first After the machine is running smoothly then execute JOG operation in high speed Revision April 2011 5 11 Chapter 5 Trial Run and Tuning Procedure ASDA B2 Tuning Procedure Display 20 The ratio of Load Inertia to Servo Motor Inertia J_load J motor cannot be shown in the display of JOG parameter P4 05 operation Please press MODE key twice continuously and the users can see the ratio of Load Inertia to Servo Motor Inertia J load J_motor Then execute JOG operation again press MODE key once and press SET key twice to view the display on the keypad
11. 24V power output for external 1 0 Analog torque Input Analog input signal ground Analog speed input Encoder A pulse output Encoder A pulse output Encoder B pulse output Encoder Z pulse output Encoder B pulse output Digital output Digital output Digital output Analog input signal ground Digital input 31 33 34 36 37 38 39 40 41 42 43 44 DIZ DI6 DI5 DI3 PULL HI HPULSE SIGN HPULSE SIGN HSIGN PULSE HSIGN PULSE OCZ Digital input Digital input Digital input Digital input Pulse applied power High speed position pulse Position sign High speed position pulse Position sign High speed position sign Pulse input High speed position sign Pulse input Encoder Z pulse Line driver output Chapter 3 Connections and Wiring ASDA B2 3 3 2 Signals Explanation of Connector CN 1 Table 3 A General Signals Wiring Diagram Pin N Detail Signa in No etails Refer to 3 3 3 1 Motor speed command 10V to 10V corresponds to 3000 3000 r min speed command Factory default setting V_REF 20 C Analog 2 Motor speed command 10V to 10V Signal corresponds to 3 3 rotations position Input command Factory default setting Motor torque command 10V to 10V T_REF 18 corresponds to 100 to 100 rated torque C command The
12. Range 0 1023 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the integral time of position loop When the value of position integral compensation is increased it can decrease the position control deviation However if the setting value is over high it may generate position overshoot or noise Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Revision April 2011 7 61 Chapter 7 Servo Parameters AA5027 B2 Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use P2 60 cra Flectronic Gear Ratio 2nd Numerator Address 0278H 0279H Default 16 Related Section N A Applicable Control Mode PT Unit pulse Range 1 2 1 Data Size 32 bit Display Format Decimal P2 57 P2 58 P2 59 Settings The electronic gear numerator value can be set via GNUMO GNUMI refer to Table 8 A When the GNUMO GNUM are not defined the default of gear numerator value is set by P1 44 When the users wish to set the gear numerator value by using GNUMO GNUMI please set P2 60 P2 62 after the servo motor has been stopped to prevent the mechanical system vibration GNUMO GNUM1 1st Numerator N1 P1 44 Pulse 2nd Numerator N2 P2 60 Pulse N2 Moving Filter Smooth Filter 3rd Numerator N3 P2 61 P1 68 P1 08 4th Numerator N4 P2 62 Denominator P1 45 P2 61 mape Gear Ratio 3rd Numerator Address 027AH 027BH Defau
13. 4 4 2 JOG Operation After entering parameter mode P4 05 the users can follow the following steps to perform JOG operation Please also refer to Figure 4 4 Step1 Step2 Step3 Step4 otep5 Press the SET key to display the JOG speed The default value is 20 r min Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed This also can be undertaken by using the SHIFT key to move the cursor to the desired unit column the effected number will blink then changed using the UP and DOWN arrow keys The example display in Figure 4 4 is adjusted as 100 r min Press the SET key when the desired JOG speed is set The Servo Drive will display JOG Press the UP or DOWN arrow keys to jog the motor either CCW or CW The motor will only rotate while the arrow key is activated To change JOG speed again press the MODE key The servo Drive will display P4 05 Press the SET key and the JOG speed will displayed again Refer back to 2 and 3 to change speed HOME 1 JOG operation is effective only when Servo On when the servo drive is enabled Figure 4 4 4 8 P CCW N CW Revision April 2011 A521 B2 Chapter 4 Display and Operation 4 4 3 Force Output Control Operation For testing the digital outputs can be forced to be activated ON or inactivated OFF by using parameter P2 08 and P4 06 First set P2 08 to 406 to enable the force output control function and then using P4 06
14. A MELTA DELTA ELECTRONICS INC www delta com tw industrialautomation MELTA DELTA ELECTRONICS INC VLISN Y ABU Headquarters Delta Electronics Inc Taoyuan1 E 31 1 Xingbang Road Guishan Industrial Zone ASIA 34 2 S e r e S Taoyuan County 33370 Taiwan R O C TEL 886 3 362 6301 FAX 886 3 362 7267 User Manual Standard AC Servo Drive for General Purpose Applications Asia Delta Electronics Jiang Su Ltd Wujiang Plant3 1688 Jiangxing East Road Wujiang Economic Development Zone Wujiang City Jiang Su Province People s Republic of China Post code 215200 TEL 86 512 6340 3008 FAX 86 512 6340 7290 Delta Greentech China Co Ltd 238 Min Xia Road Cao Lu Industry Zone Pudong Shanghai People s Republic of China Post code 201209 TEL 021 58635678 FAX 021 58630003 Delta Electronics Japan Inc Tokyo Office Delta Shibadaimon Building 2 1 14 Shibadaimon Minato Ku Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 234 9 Duck Soo Building 7F Nonhyun Dong Kangnam Gu Seoul Korea 135 010 TEL 82 2 515 5305 FAX 82 2 515 5302 Delta Electronics Int l Singapore Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6747 5155 FAX 65 6744 9228 pa s BBBBB 7 tx m mene Delta Electronics India Pvt Ltd Plot No 43 Sector 35 HSIIDC Gurgaon122001 Haryana India TEL 91
15. For example when P2 18 is set to 101 it indicates that the function of DOI is SRDY Servo ready setting value is 0x01 and it requires a normally open contact to be connected to it Please re start the servo drive after parameters have been changed P2 19 DO2 Digital Output Terminal 2 DO2 Address 0226H 0227H Default 103 Related Section Table 7 B Applicable Control Mode ALL Unit N A Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 18 for explanation P2 20 DO3 Digital Output Terminal 3 DO3 Address 0228H 0229H Default 109 Related Section Table 7 B Applicable Control Mode ALL Unit N A Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 18 for explanation Revision April 2011 7 49 Chapter 7 Servo Parameters AA507 B2 P2 21 Do4 Digital Output Terminal 4 DO4 Address 022AH 022BH Default 105 Related Section Table 7 B Applicable Control Mode ALL Unit N A Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 18 for explanation P2 22 Dos Digital Output Terminal 5 DOS Address 022CH 022DH Default 7 Related Section Table 7 B Applicable Control Mode ALL Unit N A Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 18 for explanation P2 23 NCF1 Notch Filter 1 Resonance Suppression Address 022EH 022FH Default
16. sPD0 soa pa HEEE spot es Lom Ja LEER ARST Loto os ps LESER cw Fuso ae ERES COWL patos RESTE emos Habo o PRL o Less z E K pp02 s hh e cr i Ps 24V prsg OEA AS tiy Mr J DO4 1 A fa HHE ALRM CAZ uy pos 27 o fis pos 18 Mg Spos Jis A phase pulse e Hi 7 Encoder Pulse R hase ulse OB d Suto phase pulse Nop z GND fis Max output current 3A voltage 50V Z phase open collector Chapter 3 Connections and Wiring P G e Regenerative Resistor O Z S PHe lt coo N re E ilya D zx 2 e Ml Red White SG Black white Twisted pair or twisted shield Reserve cable Reserve 5V S485 85 232 RX E Uo 232 TX eo zZz o a O E Uy z E E Y ma Twisted pair or twisted shield 9 4 cable O z cn z O z N Please note Revision April 2011 Please refer to C9 C12 wiring diagrams SINK SOURCE mode in section 3 3 3 on page 3 27 2 400W and below drives do not provide built in regenerative resistor 3 The brake coil has no polarity 3 37 Chapter 3 Connections and Wiring ASDA B2 3 6 3 Torque Control Mode Servo Drive MCCB Mc AC 220 230V 0 OR ers Three ph OS os ree phase O Regenerative 50 60Hz tb E T DO Resistor Le c z OLIC y OL2C V W CN1 HOV 10k V REF_ 20 CN2 Enc der TN CTI m d Tt Twisted pair or HOV 10K0 5 5 f
17. 0003H Default N A Related Section Chapter 1 1 Applicable Control Mode ALL Unit N A Range 001 380 Data Size 16 bit Display Format BCD Settings This parameter shows the current servo drive fault if the servo drive is currently faulted The fault code is hexadecimal data but displayed in BCD format Binary coded decimal Servo Drive Fault Codes 001 Overcurrent 002 Overvoltage 003 Undervoltage This fault code shows when main circuit voltage is below its minimum specified value while Servo On and it will not show while Servo Off This fault code can t be cleared automatically after the voltage has returned within its specification Please refer to parameter P2 66 004 Motor error The drive and motor are not correctly matched for size power rating 005 Regeneration error 006 Overload 007 Overspeed 008 Abnormal pulse control command 009 Excessive deviation 010 Reserved 011 Encoder error The wiring of the encoder is in error and this causes the communication error between the servo drive and the encoder 012 Adjustment error 013 Emergency stop activated Revision April 2011 7 11 Chapter 7 Servo Parameters ASDA B2 014 Reverse limit switch error 015 Forward limit switch error 016 IGBT temperature error 017 Memory error 018 Encoder output error 019 Serial communication error 020 Serial communication time out 021 Reserved 022 Input power phase loss 023 P
18. 16 bit Display Format Decimal Settings This parameter is used to determine the acceleration time to accelerate from O to its rated motor speed The functions of parameters P1 34 P1 35 and P1 36 are each individual Please note 1 When the source of speed command is analog command the maximum setting value of P1 36 is set to O the acceleration and deceleration function will be disabled 7 30 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters P1 36 TSL Accel Decel S curve Address 0148H 0149H Default O Related Section Unit ms Section 6 3 3 Applicable Control Mode S Range 0 10000 0 Disabled Data Size 16 bit Display Format Decimal Settings This parameter is used to make the motor run more smoothly when startup and windup Using this parameter can improve the motor running stability Speed EN Hs Time m b ER ms I y i dl E TSL 2 TACC TSL 2 TSL 2 TDEC TSL 2 TACC P1 34 Acceleration time TDEC P1 35 Deceleration time TSL P1 36 Accel Decel S curve Total acceleration time TACC TSL Total deceleration time TDEC TSL The functions of parameters P1 34 P1 35 and P1 36 are each individual When P1 36 is set to O Disabled the settings of P1 34 P1 35 are still effective It indicates that the parameters P1 34 and P1 35 will not become disabled even when P1 36 is disabled Please note 1 When the source of speed command is analog command the maximum setti
19. 4 6 For example Suppose that the servo drive LED display is 1E1 E is hexadecimal which is equal to 1110 in binary system and it means that the digital inputs DI6 DIS are ON Figure 4 6 I 8 000 1 Binary system DI DI DI DI DI DI DI DI a 87 65 ca 2 4 DGI Inputs Hexadecimal Display 4 10 Revision April 2011 A521 B2 Chapter 4 Display and Operation 4 4 5 DO Diagnosis Operation Following the setting method in Figure 4 7 can perform DO diagnosis operation parameter P4 09 Output Status Display According to the ON and OFF status of the digital outputs DO1 to DO6 the corresponding status will display on the servo drive LED display When the Bit is set to 1 it means that the corresponding digital output signal is ON Please also refer to Figure 4 7 For example Suppose that the servo drive LED display is 3P F is hexadecimal which is equal to 1111 in binary system and it means that the digital outputs DOI DO4 are ON Figure 4 7 jt Display Hexadecimal 0011 111 1 4 Binary System DODO DODODODO tei 6 5 4321 Digital Outputs Hexadecimal Display Revision April 2011 4 11 Chapter 4 Display and Operation This page intentionally left blank ASDA B2 Revision April 2011 Chapter 5 Trial Run and Tuning Procedure This chapter which is divided into two parts describes trial run for servo drive and motor One part is to introduce
20. 6 6 2 Torque Limit The command source of torque limit command is the same as torque command It can be the external analog voltage but also can be internal parameters P1 12 to P1 14 For more information of torque command source please refer to chapter 6 4 1 The torque limit only can be used in position mode PT mode and speed mode S mode to limit the output torque of servo motor When the position command is the external pulse and speed command is the external analog voltage there should be surplus DI signal that can be treated as TCMO 1 used to select torque limit command internal parameter If there is not enough DI signal the external voltage input can be used as torque limit command When the Disable Enable Torque Limit Function Settings in parameter P1 02 is set to 1 the torque limit function is activated The timing chart of torque limit is shown as the figure below Disable Enable Torque Limit Function Disable Enable Torque Limit Function Seg Parameter tava RELI Settings in parameter P1 02 is set to 0 TCMO 1 INVALID X TCMO 1 VALID Command Source Selection of Torque Limit 6 36 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation 6 6 3 Analog Monitor User can use analog monitor to observe the required analog voltage signals ASDA B2 series provide two analog channels they are PIN No 1 and 3 of CN5 connector The parameters relative to analog monitor are shown below Relevant parame
21. 750W ASD B2 0721 B 1500W ASD B2 1521 B ECMA E21 3150S S 22mm ECMA C2 102005 S 22mm 2000W ASD B2 2023 B ECMA E2 132005 S 22mm ECMA E2 182005 S 35mm ECMA E2 183005 S 35mm ECMA F21830LIS S 35mm 3000W ASD B2 3023 B The servo drives shown in the above table are designed for use in combination with the specific servo motors Check the specifications of the drives and motors you want to use Also please ensure that both the servo drive and motor are correctly matched for size power rating If the power of motor and drive is not within the specifications the drive and motor may overheat and servo alarm would be activated For the detail specifications of servo drives and motors please refer to Chapter 11 Specifications The drives shown in the above table are designed according to the three multiple of rated current of motors shown in the above table If the drives which are designed according to the six multiple of rated current of motors are needed please contact our distributors or your local Delta sales representative Revision April 2011 1 5 Chapter 1 Unpacking Check and Model Explanation ASDA B2 1 4 Servo Drive Features Charge LED LED Display A lit LED indicates that either power is The 5 digit 7 segment LED displays connected to the servo drive ORa p the servo status or fault codes residual charge is present in the drive s internal power components
22. After restarting the settings of parameter P4 10 can become modified 6 P4 11 P4 21 These parameters are for offset adjustment Do not change the factory default setting if not necessary If the user desires to change the settings of these parameters the user has to set the value of the parameter P2 08 to 22 hexadecimal 16H first and then restart After restarting the settings of parameters P4 11 to P4 21 can become modified 8 16 Revision April 2011 ASIDA B2 Chapter 8 MODBUS Communications Communication read out parameters for ASDA B2 series are including Group 0 PO 00 PO 46 Group 1 P1 00 P1 76 Group 2 P2 00 P2 67 Group 3 P3 00 P3 11 Group 4 P4 00 P4 24 Revision April 2011 8 17 Chapter 8 MODBUS Communications ASDA B2 This page intentionally left blank 8 18 Revision April 2011 Chapter 9 Troubleshooting If a fault is detected on the servo drive or motor a corresponding fault code will be shown on the drive s LED display Fault codes can also be transmitted via communication see PO 01 and P4 00 P4 04 for display on controller or HMI 9 Fault Messages Table Servo Drive Fault Messages Fault Messages Display Fault Name Fault Description Overcurrent Main circuit current is higher than 1 5 multiple of motor s instantaneous maximum current value Overvoltage Main circuit voltage has exceeded its maximum allowable value Undervoltage Main circuit voltage
23. Check if the value of J load J_motor is adjusted to a fixed value and displayed on the keypad after acceleration and deceleration repeatedly 5 5 1 Tuning Flowchart Run without load confirmed OK NO ima the diva atthe first time S CES Removed from the control of the host external value of J load J motor incorrectly the optimum gain can not be adjusted Connect to the host external controller Please pay close attention on the wiring of CN1 connector The user can power on the drive and use parameter P4 07 and P4 09 to test and check the status of input and output signal 1 Must understand the customer specifications and what the customer really needs 2 Can use P2 23 and P2 24 to suppress the resonance of mechanical system Use the selected tuning mode to adjust the gain and improve the drive performance 5 12 Revision April 2011 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 5 2 Load Inertia Estimation Flowchart Make sure the power of Servo drive is OFF Connect Motor to the Mechanical system When PO0 02 is set to 15 the display will show the ratio of Load inertia to Motor inertia J_load J_motor If P2 321s setto 0 itis Manual mode Set P2 30 to 1 force the drive to be Servo On YES Decrease the setting value of P2 00 Set the value of P2 06 and P2 00 to the same value If there is resonance noise Enter P4 05 JOG o
24. DOME 1 11 17 Single control mode 18 20 Dual control mode 2 When P2 10 to P2 17 and P2 36 is set to O it indicates input function is disabled 88 Revision April 201 1 ASIDA B2 Chapter 7 Servo Parameters Table 7 B Output Function Definition Setting value 0x01 Trigger Control DO Name DO Function Description Method Mode Servo ready SRDY is activated when the servo drive is T eve ready to run All fault and alarm conditions if present Triggered have been cleared Setting value 0x02 i Trigger Control DO Name DO Function Description Method Mode SON is activated when control power is applied the servo drive The drive may or may not be ready to run as a fault alarm condition may exist Level SON Servo ON SON is ON with control power applied to the _ All Triggered servo drive there may be a fault condition or not The servo is not ready to run Servo ready SRDY is ON where the servo is ready to run NO fault alarm exists Setting value 0x03 mo Trigger Control DO Name DO Function Description Method Mode ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1 38 Level ZSPD For Example at factory default ZSPD will be activated All Triggered when the drive detects the motor rotating at speed at or below 10 r min ZSPD will remain activated until the motor speed increases above 10 r min Setting
25. 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 B2 servo drives should be mounted perpendicular to the wall or in the control panel In order to ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the servo drive Do not install the drive in a horizontal position or malfunction and damage will occur LI ps Ca g PA EA Correct Incorrect Drive Mounting The ASDA B2 servo drives must be back mounted vertically on a dry and solid surface such as a NEMA enclosure A minimum spacing of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional space may be necessary for wiring and cable connections Also as the drive conducts heat away via the mounting the mounting plane or surface should not conduct heat into the drive from external sources Motor Mounting The ECMA servo motors should be mounted firmly to a dry and solid mounting surface to ensure maximum heat transfer for maximum power output and to provide a good ground For the dimensions and weights specifications of servo drive or motor please refer to Chapter 11 Specifications Minimum Clearances Install a fan to increase ventilation to avoid ambient temperatures that exceed the specific
26. Range 0 65535 Data Size 16 bit Display Format Decimal Default N A Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range N A Data Size 32 bit Display Format Decimal Settings This parameter is used to provide the value of one of the status monitoring functions found in PO 02 The value of PO 09 is determined by PO 17 desired drive status through communication setting or the keypad The drive status can be read from the communication address of this parameter via communication port For example Set PO 17 to 3 then all consequent reads of PO 09 will return the motor feedback pulse number in pulse When reading the drive status through Modbus communication the system should read two 16 bit data stored in the addresses of 001 2H and 0013H to form a 32 bit data 0013H 001 2H high word low word When reading the drive ststus through the keypad if PO 02 is set to 23 VAR 1 will quickly show for about two seconds and then the value of PO 09 will display on the display 7 14 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Default N A Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range N A Data Size 32 bit Display Format Decimal Settings This parameter is used to provide the value of one of the status monitoring functions found in PO 02 The value of PO 10 is determined by PO 18 desired drive status through communication setting
27. Reserves 00 9 apa yo Single Mode PT Position control mode The command is from external pulse or analog voltage external analog voltage will be available soon Execution of the command selection is via DI signal PTAS Revision April 2011 7 23 Chapter 7 Servo Parameters A521 B2 S Speed control mode The command is from external signal or internal signal Execution of the command selection is via DI signals SPDO and SPDI T Torque control mode The command is from external signal or internal signal Execution of the command selection is via DI signals TCMO and TCM1 Sz Zero speed internal speed command Tz Zero torque internal torque commandMultiple Mode Control of the mode selection is via DI signals For example either PT or S control mode can be selected via DI signals S P see Table 7 A B Torque output direction settings Direction Forward A 0 E P CCW N CW gt gt R e Woa rs evers A A N CW P CCW JESUM PSTL Speed and Torque Limit Address 0104H 0105H Default 00 Related Section Applicable Control Mode ALL Section 6 6 Table 7 A Unit N A Range 00 11 Data Size 16 bit Display Format Hexadecimal Settings B not used A Disable or Enable speed limit function 0 Disable speed limit function 1 Enable speed limit function It is available in torque mode 0 Vreft f gt o Speed Limit O Command A P
28. Serial number Week of production Year of production 9 year 2009 Production factory T Taoyuan W Wujiang Model name ASMT Series Servo Motor B Nameplate Explanation ea Ma newts AC SERVO MOTOR _ Model Name 3 MODEL ECMA C20602ES Input Power J9 INPUTKWO 1 V200 A1 C Rated speed and Rated Output OUTPUT rimin 3000 N m 0 64 Ins B Barcode gt 1 A AA C20602ES0T9300031 Serial Number DELTAELECTRONICS INC MADE IN XXXXAX B Serial Number Explanation C20602ES 0 T 9 30 0031 Lita number Week of production Year of production Production factory T Taoyuan W Wujiang Version number 0 Delta standard model Model name 1 2 Revision April 2011 ASDA B2 Chapter 1 Unpacking Check and Model Explanation 1 2 2 Model Name Explanation ASDA B2 Series Servo Drive ASD B2 0421 B bg Machine Code Input Voltage and Phase 21 220V 1 Phase 23 220V 3 Phase Rated Output Power 01 100W 10 1kW 02 200W 15 1 5kW 04 400W 20 2kW 07 750W 30 3kW Product Series B2 B2 Series Product Name ASD AC Servo Drive Revision April 2011 1 3 Chapter 1 Unpacking Check and Model Explanation ECMA Series Servo Motor ECMA C20602ES Round Shaft A E x Rated Output Power 01 100W 05 500W 02 200W 06 600W 03 300W 07 750W 04 400W 09 900W Motor Frame Size 04 40mm 08 80mm 06 60mm 09 86mm Series C 220V 3000rpm E 220V 2000rpm
29. Speed Integral Control y d Compensation Selection i i Gain Inertia JM 1 Switching i AM Control i Torque Selection Torque Command a P2 27 Current Constant L y l Command Reciprocal re IKT de i Low pass Filter P2 49 Speed Estimator There are two turning modes of gain adjustment Manual and Auto modes The gain of ASDA B2 series servo drives can be adjusted by using any one of three tuning modes Revision April 2011 6 17 Chapter 6 Control Modes of Operation ASDA B2 Manual Mode User defined loop gain adjustment When using this mode all auto and auxiliary function will be disabled Auto Mode Continuous adjustment of loop gains according to measured inertia with ten levels of system bandwidth The parameter set by user is default value The mode of gain adjustment can be selected by parameter P2 32 eva Y AUT2 Tuning Mode Selection Address 0240H 0241H Default O Related Section Applicable Control Mode ALL Section 5 6 Section 6 3 6 Unit N A Range 0 2 Data Size 16 bit Display Format HEX Settings 0 Manual mode 1 AutoMode PI Continuous adjustment 2 Semi Auto Mode Non continuous adjustment Explanation of manual mode 1 When P2 32 is set to mode 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 07 P2 25 and P2 26 can be user defined When switching mode 1 or 2 to 0 the setting value of P2 00 P2 02 P2 04 P2 06 P
30. Tuning Modes Auto Manual Dynamic Brake Built in Line driver Max 500Kpps low speed Max 4Mpps high speed Max Pulse F e auis Eau eds tey Open collector Max 200Kpps E Pulse Type Pulse Direction A phase B phase CCW pulse CW pulse Command Source External pulse train Internal parameters E Smoothing Strategy Low pass filter U Electronic gear N M multiple 6 Electronic Gear N 1 2 1 M 1 27 1 3 1 50 lt N M lt 25600 E Torque Limit Operation Set by parameters TO Set by parameters Compensation sd Voltage Range 0 10 Voc Analog Input Input Command Resistance hone Time a Constant eds O Of Speed Control Range 1 5000 o Command Source External analog signal Internal parameters S Smoothing Strategy Low pass and S curve filter E Torque Limit Operation Set by parameters or via Analog input x a ens Maximum 550Hz Characteristic 0 01 or less at load fluctuation 0 to 100 speed Fluctuation Rate 0 01 or less at power fluctuation 10 at rated speed 0 01 or less at ambient temperature fluctuation O C to 50 C Revision April 2011 10 1 Chapter 10 Specifications ASDA B2 010 43010 0 CAICARA NR Voltage Range 0 10 Vo Analog Input Input Command Resistance 10KO Time Constant 2 2 us Command Source External analog signal Internal parameters Smoothing Strategy Low pass filter Torque Control Mode Speed Limit Operation Parameter Setting or via Analog inpu
31. X Read only register A Parameter cannot be set when Servo On when the servo drive is enabled e Parameter is effective only after the servo drive is restarted after switching power off and on B Parameter setting values are not retained when power is off Revision April 2011 5 Chapter 7 Servo Parameters AAS0271 B2 Speed Control Control Mode Related Parameter Name Function Default Unit PT S T Section pulse P1 010 Control Mode and Output ain 6 1 Direction N M TER malo olo es naa me 00 0 E ae mm olojo P1 09 0 1 P1 11 pola TQ1 3 1st 3rd Torque Limit 100 ooo 6 6 2 P1 404 veu Mex UOT DE oC O DINAN rated r min lolo 6 3 4 P1 414 cw Men Analog Torque Command 100 lo o o or Limit P1 76 AMspp Max Rotation Speed of Encoder 5500 r min alale Output Explanation of symbols marked after parameter UJ O o O oO O x s M 2 gt Oo UJ X Read only register A Parameter cannot be set when Servo On when the servo drive is enabled e Parameter is effective only after the servo drive is restarted after switching power off and on B Parameter setting values are not retained when power is off 7 6 Revision April 2011 ASPA B2 Chapter 7 Servo Parameters Torque Control Control Mode Related pr S T Section Parameter Name Function Default Unit P1 010 c ES Mode and Output Direction R P1 O2 A PSTL Speed an
32. make sure that the resistance value of the regenerative resistor should comply with the specifications listed in the above table 3 In general when the amount of regenerative power average value that can be processed is used at or below the rated load ratio the resistance temperature will Revision April 2011 2 9 Chapter 2 Installation and Storage ASDA B2 increase to 120 C or higher on condition that when the regeneration continuously occurred For safety reasons forced air cooling is good way that can be used to reduce the temperature of the regenerative resistors We also recommend the users to use the regenerative resistors with thermal switches As for the load characteristics of the regenerative resistors please check with the manufacturer External Regenerative Resistor When using external regenerative resistor connect it to P and C and make sure the circuit between P and D is open We recommend the users should use the external regenerative resistor that the resistance value following the above table Built in Regenerative Resistor Specifications We ignore the dissipative power of IGBT Insulated Gate Bipolar Transistor in order to let the users easily calculate the capacity of regenerative resistor In the following sections we will describe Regenerative Power Calculation Method and Simple Calculation Method for calculating the regenerative power capacity of external regenerative resistors Regenerative Power
33. 03 FLT Transmission Fault Treatment 0 N A O O O 8 2 Communication Time Out P3 04 CWD 0 sec O O O 8 2 Detection P3 05 CMM Communication Selection 0 N A O O O 8 2 Digital Input Communication P3 06 W SDI 0 N A O O O 8 2 Function Communication Response Delay P3 07 CDT 0 Ims O O O 8 2 Time P3 08 MNS Monitor Mode 0000 N A O O O 8 2 Explanation of symbols marked after parameter X Read only register A Parameter cannot be set when Servo On when the servo drive is enabled e Parameter is effective only after the servo drive is restarted after switching power off and on B Parameter setting values are not retained when power is off Revision April 2011 7 9 ASDA B2 Chapter 7 Servo Parameters Explanation of symbols marked after parameter C A Read only register Parameter cannot be set when Servo On when the servo drive is enabled Control Mode Parameter Name Function Default Unit ies PT S T ection P4 00 X ASH Fault Record N 0 N A O O 4 4 1 P4 0lx ASH2 Fault Record N 1 0 NA O O O 44 1 P4 02x ASH3 Fault Record N 2 0 N A O O o 441 P4 03X ASH4 Fault Record N 3 0 NA O O o 441 P4 04X ASH5 Fault Record N 4 0 NA O O o 441 P4 05 JOG JOG Operation 20 r min O O O 4 4 2 P4 06 A E FOT Force Output Contact Control 0 N A O O 4 4 4 P4 07 ITST Input Status 0 N A O O O p
34. 10 core 4 pair UL2464 3m 9 84ft O ITA 1 Please use shielded twisted pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interference 2 The shield of shielded twisted pair cables should be connected to the SHIELD end terminal marked of the servo drive 3 In order to prevent fire hazard and accidents please form the wiring by following the cable specifications outlined above 4 The boxes O at the ends of the servo drive model names represent the model type of ASDA B2 series For the actual model name please refer to the ordering information of the actual purchased product 5 The boxes O in the servo motor model names are for optional configurations keyway brake and oil sea Revision April 201 1 Chapter 3 Connections and Wiring ASDA B2 3 2 Basic Wiring Figure 3 4 Basic Wiring Schematic of 400W and below models without built in regenerative resistor and cooling fan Power 1 phase 3 phase 200 230V o Connect lo external piov resistor m gt D POs DO Servo Drive IPM Module Rectifier Circuit 5V 3 3V 24V D To DSP Position Eu gt EJ M A D Control E EJ ELM urrent Signal External Speed gt HE AE A EH E External Torque Position Pulse Digital Input CN2 A B Z Output Digital Output A Digital Keypad DSP 9 CPLD SE mel HOBBE RS 232 RS 485 4 1
35. 124 416 9040 FAX 91 124 403 6045 jenueW 19SN SANOS zg Z asi Americas Delta Products Corporation USA Raleigh Office P O Box 12173 5101 Davis Drive Research Triangle Park NC 27709 U S A TEL 1 919 767 3813 FAX 1 919 767 3969 Delta Greentech Brasil S A Sao Paulo Office Rua Itapeva N 26 3 andar Bela vista ZIP 01332 000 S o Paulo SP Brasil TEL 55 11 3568 3875 FAX 55 11 3568 3865 Europe Deltronics The Netherlands B V Eindhoven Office De Witbogt 15 5652 AG Eindhoven The Netherlands TEL 31 40 2592850 FAX 31 40 2592851 www delta com tw industrialautomation We reserve the right to change the information in this catalogue without prior notice ASDA B2 M EN 20110418 Preface Thank you very much for purchasing DELTA s AC servo products This manual will be helpful in the installation wiring inspection and operation of Delta AC servo drive and motor Before using the product please read this user manual to ensure correct use You should thoroughly understand all safety precautions DANGERS WARNINGS and STOPS before proceeding with the installation wiring and operation If you do not understand please contact your local Delta sales representative Place this user manual in a safe location for future reference Using This Manual B Contents of this manual This manual is a user guide that provides the information on how to install operate and maintain AS
36. 2 If this fault occurs during normal operation it indicates that the error occurs when writing data into EE PROM Turn ARST DI signal ON to clear the fault or restart the servo drive Revision April 201 1 ASDA B2 Potential Cause Checking Method Chapter 9 Troubleshooting Corrective Actions The setting value of hidden parameter is in error Press SHIFT key on the drive keypad and examine if E100X is displayed on LED display If this fault occurs when resetting the parameter settings it indicates that the servo drive type is not set correctly Correctly set the servo drive type again Data in EE PROM is damaged Press SHIFT key on the drive keypad and examine if E0001 is displayed on LED display ALDIS Encoder output error Potential Cause Checking Method If this fault occurs when power is applied to the drive it indicates that the data in EE RPM is damaged or there is no data in EE PROM Please contact your distributor for assistance or contact with Delta Corrective Actions Encoder itself or the wiring of encoder is in error Check if the recent fault records P4 00 P4 05 display on the drive keypad in accordance with the fault codes AL011 ALO24 ALO25 and ALO26 Perform the corrective actions as described in ALO11 ALO24 ALO25 and ALO26 The output frequency for pulse output may exceed the limit of its allowable setting value Potenti
37. 33H 34H 35H 36H 37H Character 8 9 A B C D E P ASCII code 38H 39H 41H 42H 43H 44H 45H 46H RTU Mode Each 8 bit data is the combination of two 4 bit hexadecimal characters For example a 1 byte data 64 Hex B Data Format 10 bit character frame For 7 bit character 7N2 A AAA A AAA A mI ul Sati i mi oo ti 2 i 3 _ 7 data bits gt 4 10 bits character frame y 7El posu MEM NE NE 0 E MN Even bt oq 7j 7oj ij gt P parity bit A 7 data bits N 4 10 bits character frame gt 701 sss 2 i cg xd Y d wO OO r 2 9 4 5 Sty 7 data bits a 10 bits character frame y 8 8 Revision April 2011 A521 B2 Chapter 8 MODBUS Communications 11 bit character frame For 8 bit character 8N2 DUUM S NE 6 7 Stop Stop dE i i 2 bit bit 8 data bits SSS 11 bits character frame y SEI ES uM uM MEM DM BED NE 2 83 4 5 g 7 Even Stop parity bit 8 data bits 11 bits character frame BOLT Odd NX D Q 3 TH eo D 84 8 data bits 11 bits character frame p B Communication Protocol ASCII Mode STX Sta
38. 4 d Delta Part Number ASD CAPW1303 1305 1 j T 1 mie I HIE I T EHI TURPITER PDT ATH TTE STAT Wee c 20 18S Title Part No Straight mm inch ASD CAPW1203 3106A 20 18S 3000 50 118 2 2 ASD CAPW1205 3106A 20 18S 5000 50 197 2 KST RVBL5 4 Title Part No Straight mm inch ASD CAPW1 303 3106A 20 18S 3000 50 118 2 2 ASD CAPW1 305 3106A 20 18S 5000 50 197 2 Delta Part Number ASD CAPW2203 2205 KST SVB3 4 il K Doak fa S K we KST RVBL5 4 l L 19 3106A 24 11S Title Part No Straight mm inch ASD CAPW2203 3106A 24 11S 3000 50 118 2 2 ASD CAPW2205 3106A 24 11S 5000 50 197 2 Revision April 2011 A 3 Appendix A Accessories ASDA B2 Delta Part Number ASD CAPW2303 2305 fat L my z Eph E F Sw KST RVBL5 4 3106A 24 115 Title Part No Straight mm inch ASD CAPW2 303 3106A 24 11S 3000 50 118 x2 2 ASD CAPW2305 3106A 24 11S 5000 50 197 2 B Encoder Connectors Delta Part Number ASDBCAENOOOO D SUB Connector 9P Title Part No Manufacturer Housing AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP CLAMP DELTA 3470323 7XX DELTA Delta Part Number ASDBCAEN1000 3106A 20 29S D SUB Connector 9P A 4 Revision April 2011 ASDA B2 Encoder Cables Delta Part Number ASDBCAENO003_ 00
39. 45 and memorize the notch filter attenuation rate into P2 44 and P2 46 When P2 47 is set to 1 the resonance suppression will be enabled automatically After the mechanical system becomes stable approximate 20 minutes the setting value of P2 47 will return to O Disable auto resonance suppression function When P2 47 is set to 2 the system will find the resonance point continuously even after the mechanical system becomes stable When P2 47 is set to 1 or 2 if the resonance conditions can not be eliminated we recommend the users to check the settings of P2 44 and P2 46 If either of the setting value of P2 44 and P2 46 is set to 32 please decrease the speed frequency response and estimate the resonance point again If the resonance conditions can not be eliminated when the setting values of P2 44 and P2 46 are both less than 32 please set P2 47 to O first and increase the setting value of P2 44 and P2 46 manually If the resonance exists still after increasing the setting value of P2 44 and P2 46 please decrease the value of speed frequency response again and then use the resonance suppression function again When increasing the setting value of P2 44 and P2 46 manually ensure to pay close attention on the setting value of P2 44 and P2 46 If the value of P2 44 and P2 46 is greater than O it indicates that the corresponding resonance frequency of P2 43 and P2 45 is found through auto resonance suppression function If the value of
40. 500W ECMA G21306LIS 600W ECMA GM1306PS 600W ECMA G21309LIS 900W ECMA GM1309PS 900W ECMA C2091 00S 1000W ECMA C210100S 1000W ECMA E21310LIS 1000W ECMA E21 3150S 1500W ECMA C21020LS 2000W ECMA E2 132005 2000W ECMA E2 1 8200S 2000W ECMA E21830LIS 3000W ECMA F21830LIS 3000W Terminal Identification Ts ig Reserved Military Connector 3106A 20 295 Reserved Reserved Reserved DC 5V GND BRAID SHELD 4 A Blue Blue Black 7 Red amp Red White 8 Black amp Black White Revision April 2011 R 3 9 Chapter 3 Connections and Wiring 3 1 6 Cable Specifications for Servo Drive ASDA B2 The boxes L1 in the model names are for optional configurations Please refer to section 1 2 for model explanation Power Cable Servo Drive and Servo Motor Power Cable Wire Gauge AWG mm Lic L2c R S T U V W P C 1 3 2 0 82 2 1 3 25 0 82 2j 1 3 2 0 82 2 ECMA C20604L5 AwC16 AWGIA AWGI8 AWG14 1 3 2j 0 82 2 ECMA CMO604PS AWCI6 AWGIA AWGI8 AWG14 1 3 2 0 82 2 ASD B2 0421 ECMA C2080407 awcigy AWG14 acia dica 1 3 2 0 82 2 1 ECMA E213050S lt AWG16 AWG14 AWG18 AWG14 1 3 2 0 82 2 ECMA G21303L5 AWG16 AWGIA AWGI8 AWG14 1 3 2 0 82 2 ECMA C20807L55 AwC16 AWGIA A
41. 6 Control Modes of Operation ASDA B2 Low pass filter Please use parameter P2 25 The figure below shows the resonant open loop gain Gain Frequency When the low pass filter parameter P2 25 is adjusted from O to high value the value of Low pass frequency BW will become smaller see the figure below The resonant condition is improved and the frequency response and phase margin will also decrease Gain OdB BW Frequency Notch Filter Usually if the users know the resonance frequency we recommend the users can eliminate the resonance conditions directly by using notch filter parameter P2 23 P2 24 However the range of frequency setting is from 50 to 1000Hz only and the range of resonant attenuation is 0 32 dB only Therefore if the resonant frequency is out of this range we recommend the users to use low pass filter parameter P2 25 to improve resonant condition Please refer to the following figures and explanation to know how to use notch filter and low pass filter to improve resonant condition 6 28 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation Use Notch Filter to suppress resonance Gain R Resonance 4 Point conditions Point i l uu Notch Filter ean KM X issuppressed Odb Low pass Frequency Low pass ttenuation N Frequency Rate P2 24 4 Resonance Frequency Resonance Frequency Resonance Frequency Frequency Frequency Frequency P2 23 Use
42. ADON Selling DIS PV O 4 3 43 ihault Message DISDIdV ains dicas 4 3 4 3 4 Polarity Setung DISDIGV aia aladas 4 3 vi Revision April 2011 ASIDA B2 Table of Contents 4 3 5 Monitor Setting DISDIGV sonos inse ded escort eate Mates cea adv debo esca ctu c 4 4 4 4 General Function Operation soi sida vu eu e Du gu eoru devo v o derer oi a oir ee a pueda yee 4 7 4 4 1 Fault Code Display Operation esessseenn mmm 4 7 AA 2 JOGO PELO QE DE S E 4 8 4 4 3 Force Output Control Operation cccococononocccnoneconannononananannononorarncnnnananannons 4 9 4 4 4 DI Diagnosis Operation iiid Desv ene v ene da 4 10 4 4 5 DO Diagnosis ODeratloLl a2 eoo re ue Mvix Ee A 4 11 Chapter 5 Trial Run and Tuning Procedure ococcccccccononecononenenonenonoranonononaranararananonos 5 1 5 1 dM aspecHon wItlioUt Eoad visi 5 5 2 Applying POWER TONE DEV usssscaavexsie sepe tau cus ose eva p vs pXer DIM rti Vasa sse peFi eve petoQUs 5 3 5 3 JOG Tab RUD WIEROUt LO sirieni ste isis 5 7 5 4 Speed Trial Run without Load esses mmm emen 5 9 3 9 TUNNO PROC OGUT D Ss 5 11 5 5 TUNNI FOWCHA TA tas 5 12 5 5 2 Load Inertia Estimation Flowchart o cococociccoconinnononcnnonononcnnanancarannroncnnananos 5 13 25 5 9 Auto Mode Tuning FIOWEDAELuatsss nsidtin dana uie datu rgo ede LI eo err be edes 5 14 5 5 4 Semi Auto Mode Tuning Flowchart ccocococococononononononococonononanonarananananananns 5 15 5 5 5 Limit of Load Inertia
43. ASDA B2 Chapter 10 Specifications Medium and Medium High Inertia Series ECMA E2 F2 Series aa ko bo A oe ad ai il ds id lr ce ko a cle eee eer ede ee er ee ede eer ee eb ew eee ter be eee ee cb ee ee ee dee ee ee ede ee eee Operating Load i d i i mE ll lu Time ENE AENA LI adam mmm on m o ua me ruler mm un 2 Po CN un E e CN a a 3 XT lA a Lid IN a bid IBI I Ae i rn A e n CETELE T ms ms m mum E ES GNE NS GNU GNE ES GERD GN GE UN JS a muU M Mi ar a cR I I i ds a a a a a ds lcd i LUI EPUM m die im numa am nnana ims mu mes ar LT ll rem i A A ee AO A Bde ettet ee m T UU to 4 amp u t a 1432717 L4 Wi amp ee ae T 7343 1 E WP PR M R A ERE uc P J A AAA m mb mum mic ds ma Pe e ee e e e mv dis mo sn ee oam m mot mA omo a b A om mM lla ee om ee eS e e TE i i mo mom AA cg pl it J i se Im E ES GE GR mw c a eo o e the ee ew ee mo mi m HERMES UH GE E ee Lbi Euae La ee te l i prem a Se i gt gt gt 3 TTE Se eS SS ee An A es cm a 300 280 High Inertia Series ECMA G2 GM Series aa as aia a da ds a al e ls cpu qme Operating Time Load a is is a i i ee be AEREA
44. Calculation Method 1 Without Load When there is no external load torque if the servo motor repeats operation the returned regenerative power generated when braking will transmitted into the capacitance of DC bus After the capacitance voltage exceeds some high value regenerative resistor can dissipate the remained regenerative power Use the table and procedure described below to calculate the regenerative power Regenerative power Max regenerative Servo Drive NYT Rotor Inertia from empty load power of kW J x 10 kg m 3000r min to stop capacitance Eo joule Ec joule 1 ECMA C20401L TL 0 037 0 18 3 2 ECMA C20602L 1L 0 177 0 87 4 ECMA C20604L1L 0 277 1 37 8 ECMA C20804L1L 0 68 3 36 Be Low Inertia mee ECMA E2 132000 14 59 72 15 ECMA E2182000 34 68 171 50 2 10 Revision April 2011 ASDA B2 Chapter 2 Installation and Storage Regenerative power Max regenerative Servo Drive SUM Gay Rotor Inertia from empty load power of kW J x 10 kg m 3000r min to stop capacitance Eo joule Ec joule ECMA G2130300 40 40 8 eria 0 75 ECMA G2130600 8 41 e ECMA G2 130600 8 41 41 59 14 ECMA G2130900 11 18 55 29 18 Eo J x wr 182 joule Wr r min If the load inertia is N x motor inertia the regenerative power will be N 1 x EO when servo motor brakes from 3000r min to 0 Then the regenerative resistor can dissipate N 1 x EO Ec joule If the time of repeat operation cycle i
45. D Is open 2 When using theinternal regenerative resistor ensure that the circuit between P and D is closed and the circuit bebween P and C is open Serial Communication Interface For RS 485 232 serial communication Used to connect personal computer or other controllers Ground Terminal Heatsink Used to secure servo drive and for heat dissipation 1 6 Revision April 2011 ASDA B2 Chapter 1 Unpacking Check and Model Explanation 1 5 Control Modes of Servo Drive The Delta Servo provides six single and five dual modes of operation Their operation and description is listed in the following table Mode Code Description External Position control mode for the servo motor External Position Control P l l is achieved via an external pulse command External Internal Speed control mode for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC command Control of the internal speed mode is via the Digital Inputs DI A maximum of three speeds can be stored internally Speed Control S Internal Speed control mode for the servo motor is only achieved via parameters set within the Internal Speed Control Sz controller Control of the internal speed mode is via Single the Digital Inputs DI A maximum of three speeds Mode can be stored internally External Internal Torque control mode for the servo motor can be achieved via parameters
46. Display Format DEC Settings This parameter is used to set first resonance frequency of mechanical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 24 is set to O this parameter is disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters Notch Filter A tion Rate 1 otch Filter Attenua D ate Address 0230H 0231H Resonance Suppression Default O Related Section Applicable Control Mode ALL Section 6 3 7 Unit dB Range 0 32 Data Size 16 bit Display Format DEC Settings 0 Disabled This parameter is used to set magnitude of the resonance suppression that is set by parameter P2 23 If P2 24 is set to O the parameters P2 23 and P2 24 are both disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters Revision April 2011 6 23 Chapter 6 Control Modes of Operation ASDA B2 JA E NCF2 Notch Filter 2 Resonance Suppression Address 0256H 0257H Default 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz Range 50 2000 Data Size 16 bit Display Format DEC Settings 0 Disabled This parameter is used to set second resonance frequency of mechanical system It can be used to suppress the re
47. EN NCF2 Notch Filter 2 Resonance Suppression Address 0256H 0257H Default 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz 42 Range 50 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set second resonance frequency of mechanical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 43 is set to O this parameter is disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters Revision April 2011 7 57 Chapter 7 Servo Parameters ASIA B2 N h Fil A i R 2 P2 44 DP a a tite Address 0258H 0259H Resonance Suppression Default O Related Section Applicable Control Mode ALL Section 6 3 7 Unit dB Range 0 32 Data Size 16 bit Display Format Decimal Settings This parameter is used to set magnitude of the resonance suppression that is set by parameter P2 43 If P2 44 is set to O the parameters P2 43 and P2 44 are both disabled TAE EE NCF3 Notch Filter 3 Resonance Suppression Address 025AH 025BH Default 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz Range 50 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set third resonance frequency of mechanical system It can be used to suppres
48. Estimation ooccccocconconccnocconnononnnnnnncnnnnnnnnonnnnnnnncnnnnnos 5 17 5 5 6 Mechanical Resonance Suppression Method eene 5 19 5 5 7 Relationship between Tuning Modes and Parameters 5 20 5 5 8 Gain Adjustment in Manual Mode ocococccccccccccccnononenenononononananananananananannnnns 5 2 Chapter 6 Control Modes of Operation sessssssssesen emen nnne 6 1 6 1 Control Modes OF ODSratlODkusici Desde eus eeu we eod ta baute bed ncde ect viai ele eire 6 1 Revision April 2011 vil Table of Contents ASDA B2 0 2 POSICION CONTO MOE stat 6 2 6 2 1 Command Source of Position PT Control Mode eese 6 2 6 2 2 Structure of Position Control Mode c ccccceccecceceeceeceeeeceeceeseeeeeeeseesesaees 6 4 6 2 3 J Bectronic Gear RatlO accessit en Na rris xii aiite EEA eie cbes e LEE 6 6 OZA LOW pass d TT M 6 7 6 2 5 Position Loop Gain Adjustment ssssssssesesesenenenene nemen nennen nn nns 6 8 6 3 Speed Control Mode aimi veil veia ihe ken Ur ou Fan Cai Io amv Du rie as ced acetate 6 10 6 3 1 Command Source of Speed Control Mode eere 6 10 6 3 2 Structure of Speed Control Mode esee emen 6 11 6 3 3 Smoothing Strategy of Speed Control Mode eee 6 12 6 3 4 Analog Speed Input SCalltlg iiie erat devota S ds 6 16 6 3 5 Ti
49. LC 130 130 100 130 LZ 9 9 9 9 LA 145 145 115 145 5 22001 3 22001 3 22001 3 22001 3 LB 11 OC Goss 11 O oos 950 035 11 00 035 LL without brake 147 5 167 5 199 187 5 LL with brake 183 5 202 226 216 LS 47 47 37 47 LR 55 55 45 55 LE 6 6 5 6 LG 11 5 11 5 12 11 5 LW 36 36 32 36 RH 18 18 18 18 WK 8 8 8 8 W 8 8 8 8 T 7 7 7 7 TP M6 M6 M6 M6 Depth 20 Depth 20 Depth 20 Depth 20 53 1 Dimensions are in millimeters 2 Dimensions and weights of the servo motor may be revised without prior notice 3 The boxes L1 in the model names are for optional configurations Please refer to section 1 2 for model explanation Revision April 2011 10 17 Chapter 10 Specifications Motor Frame Size 180mm Models ASDA B2 KEY DETAILS TP SHAFT END DETAILS Model E218200S E21830 1S F21830 5S LC 180 180 180 LZ 13 5 13 5 13 5 LA 200 200 200 S 350 016 350 016 350 016 LB 114 30 035 114 39 035 114 30 035 LL without brake 169 202 1 202 1 LL with brake 203 1 235 3 235 3 LS 73 73 73 LR 79 79 79 LE 4 4 4 LG 20 20 20 LW 63 63 63 RH 30 30 30 WK 10 10 10 W 10 10 10 T 8 8 8 TP M12 M12 M12 Depth 25 Depth 25 Depth 25 5143 1 Dimensions are in millimeters 2 Dimensions and weights of the servo motor may be revised without prior notice 3 The boxes L1 in the model names are for optional configurations Please refer to section 1 2 f
50. Low stiffness and low frequency response 51 250Hz Medium stiffness and medium frequency response 25 550Hz High stiffness and high frequency response Adjust P2 31 Increase the setting value of P2 31 to enhance the stiffness or reduce the noise Continuously perform the adjustment until the satisfactory performance is achieved Servo off set P2 32 to 1 and then Servo on next When PO 02 is set to 15 the display will show the ratio of Load inertia to Motor inertia J load J motor Receive acceleration and deceleration command from the host external controller and perform acceleration and i deceleration operation alternately to reduce noise resonance noise E If the users do not want to decrease NO the setting value of P2 31 the users can use P2 23 and P2 24 to suppress the resonance of mechanical system See section 5 6 6 If satisfied performance Is achieved Increase setting value of P2 31 to enhance the stiffness and 5 14 Revision April 2011 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 5 4 Semi Auto Mode Tuning Flowchart Set P2 32 to 2 2 Semi Auto Mode Non continuous adjustment The servo drive will continuously perform the adjustment for a period of time After the system inertia becomes stable it will stop estimating the system inertia save the measured load inertia value automatically and memorized in P1 37 When switching from other modes such as Manual Mo
51. Output Pulse Number Address 015CH 015DH Default 2500 Related Section N A Applicable Control Mode ALL Unit pulse Range 20 40000 Data Size 32 bit Display Format Decimal Settings This parameter is used to set the pulse numbers of encoder outputs per motor revolution Please note When the following conditions occur the output frequency for pulse output may exceed the specification and cause that the servo drive fault ALO1 8 Encoder Output Error is activated Condition 1 Encoder error Condition 2 Motor speed is above the value set by parameter P1 76 Revision April 2011 7 35 Chapter 7 Servo Parameters ASDA B2 Pl 47 SPOK Speed Reached Output Range Address 015EH 015FH Default 10 Related Section N A Applicable Control Mode S Sz Unit r min Range 0 300 Data Size 32 bit Display Format Decimal Settings This parameter is used to set the speed reached output range The DO signal SP_OK will be activated when the speed error is equal and below the setting value of P1 47 1 Speed Command Pl 2 Feedback Speed H gt O 3 Get Absolute Value 4 Judge if the speed error is equal and below the setting value of P1 47 5 DO Signal 6 DO Signal SP OKis ON SP OKis OFF 1 Speed Command It is the speed command input by the users no Accel Decel not the frond end command of speed control loop The source of this command includes analog voltage and register
52. P2 44 and P2 46 is equal to O it indicates that the value of P2 43 and P2 45 will be the default value 1000 and this is not the frequency found by auto resonance suppression function At this time if the users increase the value of notch filter attenuation rate which does not exist the performance of the current mechanical system may deteriorate Settings of P2 47 auto resonance suppression function auto resonance suppression function ACI or E auto resonance suppression function auto resonance suppression function mE Do not clear the setting value of P2 43 P2 46 and 2 enable auto resonance suppression function continuously O 0 dai auto resonance suppression function auto resonance suppression function Do not clear the setting value of P2 43 P2 46 and 2 enable auto resonance suppression function continuously 2 2 6 26 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation Flowchart of auto resonance suppression operation Drive the machine by servo system If resonance NO occurs Set P2 47 1 lf resonance occurs Set P2 47 1 for three times P2 44 32 Decrease frequency YES Of response P2 46 32 Set P2 47 0 If P2 44 gt 0 the value of P2 44 should 1 If P2 46 gt 0 the value of P2 46 should 1 Check if vibration condition has improved If resonance occurs SetP2 47 0 Completed Revision April 2011 6 27 Chapter
53. T P p Air TCMO 1 VALID gt lt TCMO0 1 NOT CARE d TCMO 1 VALID Torque control mode Position control mode Torque control mode Figure 3 Torque Position Control Mode Selection Revision April 2011 6 35 Chapter 6 Control Modes of Operation ASDA B2 6 6 Others 6 6 1 Speed Limit The max servo motor speed can be limited by using parameter P1 55 no matter in position speed or torque control mode The command source of speed limit command is the same as speed command It can be the external analog voltage but also can be internal parameters P1 09 to P1 11 For more information of speed command source please refer to chapter 6 3 1 The speed limit only can be used in torque mode T mode to limit the servo motor speed When the torque command is the external analog voltage there should be surplus DI signal that can be treated as SPDO 1 and be used to select speed limit command internal parameter If there is not enough DI signal the external voltage input can be used as speed limit command When the Disable Enable Speed Limit Function Settings in parameter P1 02 is set to 1 the speed limit function is activated The timing chart of speed limit is shown as the figure below Disable Enable Speed Limit Function Disable Enable Speed Limit Function settings in parameter P1 02 is setto 1 Settings in parameter P1 02 is set to 0 SPDO 1 INVALID X lt SPDO 1 VALID Command Source Selection of Speed Limit
54. TEKA AAA EA A c LI i i 1 1 I i H 4 i 1 4 i wert cer tle eee ee ede eee ee ede reer er eer b ew eee re G ew ee ee mb ee ee ee dee ee ee er de ee eee eee e e Li Ls Fu es om ENTE A m os 0 e e os e See Dmm o A A mom o m m e a e i e e age o aedem Rum mad LI pe e RIA Rp E a GN RN a ee M Qe m XN Er molam uim a Mar gem E rm cran a a m mx Rc x mama cu am ws cm n RR TETEE T Lp a a A ee A A i ee A ee E ee A AL L i AUS RU 4 9 E cox E UE a Wi UU E Tox E E SEE 1 AR LS E O ind a a a e e LI idi ar eS vie ee iit Se lr ni A dis no cm a Poe cm t oro oom MR Gee ee SS Dome m oA oe ho A omo mM la m ER om onam oum E pon pa c n E EA a dictar cores enit ema Ema 2 ll a ah m ms mm mn m m croacia pue ba q uds nado q sp Ls dme o yq TO A A AAA L a 280 300 260 Revision April 201 1 10 10 ASDA B2 Chapter 10 Specifications 10 5 Dimensions of Servo Drives Order P N ASD B2 0121 ASD B2 0221 ASD B2 0421 100W 400W 7T0 2 76 155 916 139 152 5 98 N Screw M4 X 0 7 N Mounting Screw Torque 14 kaf om WEIGHT E 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds Ibs 3 In this manual actual measured values are in metric units Dimensions in imperial units are for reference only Please use metric for precise measurements Revision Apri
55. Table 7 1 When the drive is in position mode if INHP is activated the external pulse input command is not valid and the motor will stop Revision April 2011 6 5 Chapter 6 Control Modes of Operation ASDA B2 6 2 3 Electronic Gear Ratio Relevant parameters CEPR GR Electronic Gear Ratio 1st Numerator N1 Address 0158H 0159H 6 6 Revision April 2011 Default 16 Related Section Applicable Control Mode PT Section 6 2 5 Unit Pulse Range 1 2 1 Data Size 32 bit Display Format DEC Settings Multiple step electronic gear numerator setting Please refer to P2 60 P2 62 Please note 1 In PT mode the setting value of P1 44 can t be changed when the servo drive is enabled Servo On GR2 Electronic Gear Ratio Denominator Address 015AH 015BH Default 10 Related Section Applicable Control Mode PT Section 6 3 6 Unit Pulse Range 1 2 1 Data Size 32 bit Display Format DEC Settings As the wrong setting can cause motor to run chaotically out of control and it may lead to personnel injury therefore ensure to observe the following rule when setting P1 44 P1 45 The electronic gear ratio setting Position f1 Pulse input f2 Position command Pulse input N command TA M N Numerator 1 2 3 4 the setting value of P1 44 f2 f xy or P2 60 P2 63 The electronic gear ratio setting rand amp RESP BE WPAN Sul BOB 45 Please note In PT mode the setting value of P1 45 ca
56. YES SetP2 47101 w NO Ifthereisno a 4 Fu Fix the setting w IfP2 462327 overthreetimes resonance gt value of P2 43 EA A XA EA and P2 45 IL is recommended to decrease Set P2 47 to speed laop frequency response Tuning is completed DOME 1 Parameters P2 44 and P2 46 are used to set notch filter attenuation rate If the resonance can not be suppressed when the setting values of P2 44 and P2 46 are set to 32bB the maximum value please decrease the speed loop frequency response After setting P2 47 the users can check the setting values of P2 44 and P2 46 If the setting value of P2 44 is not O it indicates that one resonance frequency exists in the system and then the users can read P2 43 i e the frequency unit is Hz of the resonance point When there is any resonance point in the system its information will be shown in P2 45 and P2 46 as P2 43 and P2 44 2 If the resonance conditions are not improved when P2 47 is set to 1 for over three times please adjust notch filters resonance suppression parameters manually to or eliminate the resonance 5 18 Revision April 2011 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 5 6 Mechanical Resonance Suppression Method In order to suppress the high frequency resonance of the mechanical system ASDA B2 series servo drive provides three notch filters resonance suppression parameters for resonance suppression Two notch filters c
57. all screws connectors and wire terminations are secure on the power supply servo drive and motor Failure to observe this caution may result in damage fire or personal injury Operation Before starting the operation with a mechanical system connected change the drive parameters to match the user defined parameters of the mechanical system Starting the operation without matching the correct parameters may result in servo drive or motor damage or damage to the mechanical system Ensure that the emergency stop equipment or device is connected and working correctly before operating the motor that is connected to a mechanical system WARNING Do not approach or touch any rotating parts e g shaft while the motor is running P Failure to observe this precaution may cause serious personal injury gt In order to prevent accidents the initial trial run for servo motor should be conducted under no load conditions separate the motor from its couplings and belts gt For the initial trial run do not operate the servo motor while it is connected to its mechanical system Connecting the motor to its mechanical system may cause damage or result in personal injury during the trail run Connect the servo motor once it has successfully completed a trail run gt Caution Please perform trial run without load first and then perform trial run with load connected After the servo motor is running normally and regularly without loa
58. and it indicates that AC servo drive is ready Please check the followings before trial run Inspection before operation Control power is not applied B Inspect the servo drive and servo motor to insure they were not damaged B To avoid an electric shock be sure to connect the ground terminal of servo drive to the ground terminal of control panel B Before making any connection wait 10 minutes for capacitors to discharge after the power is disconnected alternatively use an appropriate discharge device to discharge B Ensure that all wiring terminals are correctly insulated B Ensure that all wiring is correct or damage and or malfunction may result B Visually check to ensure that there are not any unused screws metal strips or any conductive or inflammable materials inside the drive Revision April 2011 5 Chapter 5 Trial Run and Tuning Procedure ASDA B2 Never put inflammable objects on servo drive or close to the external regenerative resistor Make sure control switch is OFF If the electromagnetic brake is being used ensure that it is correctly wired If required use an appropriate electrical filter to eliminate noise to the servo drive Ensure that the external applied voltage to the drive is correct and matched to the controller Inspection during operation Control power is applied 5 2 Ensure that the cables are not damaged stressed excessively or loaded heavily When the motor is running pay clos
59. bit Display Format Decimal Settings This parameter is used to determine the drive status found in PO 02 LE CM3A Status Monitor Selection 3 Address 0026H 0027H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the drive status found in PO 02 teat CM4A Status Monitor Selection 4 Address 0028H 0029H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the drive status found in PO 02 JAR CM5A Status Monitor Selection 5 Address 002AH 002BH Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the drive status found in PO 02 Revision April 2011 7 17 Chapter 7 Servo Parameters A5021 B2 ESAME Reserved Do Not Use EAE Reserved Do Not Use EPA Reserved Do Not Use TP PCMN En eM o be soliwate Address 0058H 0059H Default OxO Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range determined by the communication address of the designated parameter Data Size 32 bit Display Format Decimal Settings The function of this parameter is the same as PO 09 Plea
60. cause unforeseen failures B 2 Revision April 2011 ASDA B2 Appendix B Maintenance and Inspection Life of Replacement Components BE Smooth capacitor The characteristics of smooth capacitor would be deteriorated by ripple current affection The life of smooth capacitor varies according to ambient temperature and operating conditions The common guaranteed life of smooth capacitor is ten years when it is properly used in normal air conditioned environment B Relay The contacts will wear and result in malfunction due to switching current The life of relay varies according to power supply capacity Therefore the common guaranteed life of relay is cumulative 100 000 times of power on and power off B Cooling fan The cooling fan life is limited and should be changed periodically The cooling fan will reach the end of its life in 2 3 years when it is in continuous operation However it also must be replaced if the cooling fan is vibrating or there are unusual noises Revision April 2011 B 3 Appendix B Maintenance and Inspection ASDA B2 This page intentionally left blank B 4 Revision April 2011
61. charge LED is lit Please refer to the Safety Precautions on page ii The cables connected to R S T and U V W terminals should be placed in separate conduits from the encoder or other signal cables Separate them by at least 30cm 11 8 inches If the encoder cable is too short please use a twisted shield signal wire with grounding conductor The wire length should be 20m 65 62ft or less For lengths greater than 20m 65 62ft the wire gauge should be doubled in order to lessen any signal attenuation Regarding the specifications of 20m 65 62ft encoder cable please choose wire gauge AWG26 UL2464 metal braided shield twisted pair cable As for motor cable selection please use the 600V PTFE wire and the wire length should be less than 98 4ft 30m If the wiring distance is longer than 30m 98 4ft please choose the adequate wire size according to the voltage The shield of shielded twisted pair cables should be connected to the SHIELD end terminal marked of the servo drive For the connectors and cables specifications please refer to section 3 1 6 for details Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring 3 1 3 Wiring Methods For servo drives from 100W to 1 5kW the input power can be either single or three phase However single phase connections are for servo drives 1 5kW and below only In the wiring diagram figures 3 2 amp 3 3 Power ON contact a normally open Power O
62. communication error will occur Revision April 2011 8 5 Chapter 8 MODBUS Communications AA5027 B2 030AH Communication selection 030BH Default O Communication RS 232 communication selects MODBUS or communicates with ASDA Mode Soft Settings 0 RS 232 1 RS 485 E EJ E EJ E EJ 8 6 Multiple communication modes RS232 and RS 485 cannot be used within one communication ring Digital Input Control Range 0x0000 0x01FF Default O BitO Bit 7 corresponds with DII DI8 The least significant bit 030CH BitO shows DII status and the most significant bit Bit7 shows 030DH DI8 status Digital Input Bit8 Bit1 4 corresponds with EDI9 EDI14 Communication BitO Bit8 corresponds with DII DIQ Function Bit settings 0 Digital input is controlled by external command 1 Digital input is controlled by parameter P4 07 For the settings of DIT DI8 please refer to P2 10 P2 17 For the settings of EDI9 please refer to P2 36 The setting of this parameter determines how the Digital Inputs DI accept commands and signals Input commands or signals through the DI can be either from an external source through the CNI interface connector or via communication upon software If this parameter is set to 0 all commands are external and via CN1 if this parameter is set to FFFF hexadecimal all the DI signals are via communication upon software For example if P3 06 is set to 55 binary d
63. conduits from the cables connected to R S T and U V W terminals to prevent the interference 3 Please use shielded cables for Encoder wiring 4 f the error does not clear after all the above actions are done please contact your distributor for assistance or contact with Delta 9 9 Chapter 9 Troubleshooting AA527 B2 GIEH Motor protection error Potential Cause Checking Method Corrective Actions 1 Set P1 57 to O The setting value of 2 Correctly set P1 57 and P1 parameter P1 57 is 1 Check if P1 57 is enabled 58 Please note that the reached after a period 2 Check if the setting values of P1 57 over low setting may results of time set by and P1 58 are both too small r faa aa parameter P1 58 Igh setting may ret tne motor protection function not operate GEA U V W GND wiring error Potential Cause Checking Method Corrective Actions The wiring connections of U V W for servo motor output and Check if wiring connections of U V W GND for grounding NOt correct Follow the wiring steps in the are in error user manual to reconnect the f wiring and ground the servo dne noun Check if the ground connection is drive and motor properly connection is loose or loose and ensure the ground is not conducting conducting properly properly BDBEEI DSP firmware upgrade Potential Cause Checking Method Corrective Actions EE PROM is not reset after the
64. control parameters before operation and then using SPDO and SPD1 of CN1 DI signal perform switching The other usage is using serial communication to change the setting value of parameter Beside in order to make the speed command switch more smoothly ASDA B2 series servo drive also provides complete S curve profile for soeed control mode For the closed loop speed control ASDA B2 series servo drive provides gain adjustment function and an integrated Pl or PDFF controller Besides two modes of tuning technology Manual Auto are also provided for the users to select parameter P2 32 There are two turning modes for gain adjustment Manual and Auto modes B Manual Mode User defined loop gain adjustment When using this mode all auto and auxiliary function will be disabled B Auto Mode Continuous adjustment of loop gains according to measured inertia with ten levels of system bandwidth The parameter set by user is default value 6 3 1 Command Source of Speed Control Mode Speed command Sources 1 External analog signal External analog voltage input 10V to 10V 2 Internal parameter P1 09 to P1 11 CN1 DI Speed Signal Command Source Content Range Command SPD1 SPDO External S analog Voltage between V 10 V Sz N A Speed command is O 0 50000 S2 0 1 P1 09 50000 50000 3 1 0 Internal parameter P1 10 50000 50000 S4 1 1 P1 11 50000 6 10 Revision April 201
65. drive can accept two different types of pulse inputs Line Driver The max input PULSE 4 frequency is 500kHz and Open Collector Position PULSE 43 The max input frequency is 200kHz Pulse SIGN 37 Three different pulse commands can be C3 C4 but selected via parameter P1 00 Quadrature p SIGN 39 CW CCW pulse amp Pulse Direction PULL HI 35 Should an Open Collector type of pulse be used this terminal must be connected to an external power supply to be lulled high The drive can accept two different types of High HPULSE 38 high speed pulse inputs 5V input and Line speed HPULSE 36 driver input The max input frequency is Position 4MHz Three different pulse commands can C4 2 Pulse HSIGN 42 be selected via parameter P1 00 They are A Input HSIGN 40 phase B phase Quadrature CW pulse CCW pulse and Pulse Direction OA 21 OA 22 OB 25 Encoder signal output A B Z Line driver Position output The motor encoder signals are C13 C14 Pulse OB 23 available through these terminals Output 02 13 OZ 24 OCZ 44 Encoder signal output Z Open collector C15 output VDD is the 24V source voltage provided by VDD 17 the drive Maximum permissible current 500mA COM is the common voltage rail of the Power Digital Input and Digital Output signals COM 1 Connect VDD to COM for source mode COM 14 For external applied power sink mode 12V to 24V the positive terminal should be connected t
66. e disable monitor function 1 Reserve 2 High speed monitor mode The sampling time is 2000 times per second and 4 channels can be monitored 3 High speed monitor mode The sampling time is 4000 times per second and 2 channels can be monitored This parameter is used to monitor the data of the servo drive via RS 485 232 device The monitor data can be displayed on PC upon the data scope function provided by ASDA B2 Soft software Revision April 2011 8 7 Chapter 8 MODBUS Communications AA527 B2 8 3 MODBUS Communication Protocol When using RS 232 485 serial communication interface each ASDA B2 series AC servo drive has a pre assigned communication address specified by parameter P3 00 The computer then controls each AC servo drive according to its communication address ASDA B2 series AC servo drive can be set up to communicate on a MODBUS networks using on of the following modes ASCII American Standard Code for Information Interchange or RTU Remote Terminal Unit Users can select the desired mode along with the serial port communication protocol in parameter P3 02 B Code Description ASCII Mode Each 8 bit data is the combination of two ASCII characters For example a 1 byte data 64 Hex shown as 64 in ASCII consists of 6 36Hex and 4 34Hex The following table shows the available hexadecimal characters and their corresponding ASCII codes Character 0 b 2 3 4 5 6 7 ASCII code 30H 31H 32H
67. frequency is less than 150 ns this signal will be regarded as a 150 ns this signal will be regarded as a low level pulse and two input pulses will high level pulse and two input pulses will be regarded as one input pulse be regarded as one input pulse 2150 ns 2150 ns LI When the pulse frequencies of high level duty and low level duty both are greater than 150 ns the signal will not be filtered that is the pulse command will pass through If an input pulse of 2 4MHz is used it is recommended to change the setting value B Input pulse filter and set this setting value to 4 Please note that this function is available for DSP version V1 036 sub05 CPLD version V10 and later models only Note If the signal is a 4Mpps high input pulse setting the value B to 4 is able to ensure that the signal will not be filtered and will be certainly delivered Revision April 2011 6 3 Chapter 6 Control Modes of Operation ASDA B2 C Input polarity Logic Pulse Type Forward Reverse v AB phase d Lx Puise L 4 j u pulse sim ae TH T2 T2 T2 iTH Logic pulse 2 72 7 i e c Pulse Pulse p ee Sp A BU Pulse els alza LTH T4 IT5 TGIT5 TGiT5 TA T4 ITSITG TS T6 TA Ta Direction PO a E as i S ae NX a ign ign Pulse A EUIS RI AB phase 1 ES lm A Fem d RE P 9 2 de q o Negative CW CCW Logic pulse fool TT a
68. internal speed command 22 O SP2 2nd Speed Command or Limit Address 0114H 0115H Default 2000 Related Section Applicable Control Mode S T Section 6 3 1 Unit 0 1 r min Range 50000 50000 Data Size 32 bit Display Format Decimal Settings 2nd Speed Command In Speed mode this parameter is used to set speed 2 of internal speed command 2nd Speed Limit In Torque mode this parameter is used to set speed limit 2 of internal speed command LH SP3 Bra Speed Command or Limit Address 0116H 0117H Default 3000 Related Section Applicable Control Mode S T Section 6 3 1 Unit 0 1 r min Range 50000 50000 Data Size 32 bit Display Format Decimal Settings 3rd Speed Command In Speed mode this parameter is used to set speed 3 of internal speed command 3rd Speed Limit In Torque mode this parameter is used to set speed limit 3 of internal speed command Revision April 2011 7 27 Chapter 7 Servo Parameters ASIA B2 P1 12 TQ is Torque Command or Limit Address 0118H 0119H Default 100 Related Section Applicable Control Mode T P amp S Section 6 4 1 Unit 96 Range 300 300 Data Size 16 bit Display Format Decimal Settings Ist Torque Command In Torque mode this parameter is used to set torque 1 of internal torque command Ist Torque Limit In Position and Speed mode this parameter is used to set torque limit 1 of internal torque command P1 13 TQ2 nd Torque Comman
69. is high byte or low byte Negative value display When the data is displayed in decimal format the most left two digits represent negative sign no matter it is a 16 bit or 32 bit data If the data is displayed in hexadecimal format it is a positive value always and no negative sign is displayed ag ubiH aj g MaT Y Y m o rm Ti g d 2 un a iB gt 4 3 3 Fault Message Display Display Message Description When the AC servo drive has a fault LCD display will display ALnnn AL indicates the alarm and nnn Abana indicates the drive fault code For the list of drive fault code please refer to parameter PO 01 or refer to Chapter 11 Troubleshooting 4 3 4 Polarity Setting Display Display Message Description Positive value display When entering into parameter setting mode pressing UP or DOWN arrow key can increase or decrease the display value SHIFT key is used to change the selected digit The selected digit will blink Revision April 2011 4 3 Chapter 4 Display and Operation Display Message Description ASDA B2 4 3 5 Monitor Setting Display Negative value display Continuously press SHIFT key for two seconds and then the positive or negative sign can be switched When the setting value exceeds its 24680 setting range the positive and negative sign can not be switched The negative value display is for a decima
70. l l l I l l l l l l l l I l l l l l l I l l l 4 I l l l L Phase Time Domain Speed 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 itis not helpful to steady error But it is helpful to dynamic tracking error Time Speed When the value of KVI is greater the value of low frequency gain is also greater and the value of steady error is nearly zero 0 However the value of phase margin will reduce quite substantially It is helpful to steady error But it is not helpful to dynamic tracking error Time Revision April 2011 6 21 Chapter 6 Control Modes of Operation ASDA B2 Speed When the value of KVF is nearly to 1 KVF and the forward compensation is more complete then the value of dynamic tracking error will become very small However when the value of KVF is too great it may cause vibration Time In general the equipment such as spectrum analyzer is needed and used to analyze when using frequency domain method and the users also should have this kind of analysis technology However when using time domain method the users only need to prepare an oscilloscope Therefore the general users usually use time domain method with the analog DI DO terminal provided by the servo drive to adjust what is called as Pl Propor
71. 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 Be sure to disconnect AC power and ensure that the internal capacitors have fully discharged before performing the maintenance and inspection WARNING Basic Inspection After power is in connected to the AC servo drive the charge LED will be lit which indicates that the AC servo drive is ready Item Content e Periodically inspect the screws of the servo drive motor shaft terminal block and the connection to mechanical system Tighten screws as necessary as they may loosen due to vibration and varying temperatures e Ensure that oil water metallic particles or any foreign objects do not fall inside the servo drive motor control panel or ventilation slots and holes As these will cause damage e Ensure the correct installation and the control panel It should be free from airborne dust harmful gases or liquids e Ensure that all wiring instructions and recommendations are followed otherwise damage to the drive and or motor may result General Inspection e inspect the servo drive and servo motor to insure they were not damaged e To avoid an electric shock be sure to connect the ground terminal of se
72. or the keypad The drive status can be read from the communication address of this parameter via communication port When reading the drive status through the keypad if PO 02 is set to 24 VAR 2 will quickly show for about two seconds and then the value of PO 10 will display on the display Default N A Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range N A Data Size 32 bit Display Format Decimal Settings This parameter is used to provide the value of one of the status monitoring functions found in PO 02 The value of PO 11 is determined by PO 19 desired drive status through communication setting or the keypad The drive status can be read from the communication address of this parameter via communication port When reading the drive status through the keypad if PO 02 is set to 25 VAR 3 will quickly show for about two seconds and then the value of PO 11 will display on the display Default N A Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range N A Data Size 32 bit Display Format Decimal Settings This parameter is used to provide the value of one of the status monitoring functions found in PO 02 The value of PO 12 is determined by PO 20 desired drive Revision April 2011 7 15 Chapter 7 Servo Parameters AA5027 B2 PO 14 PO 15 PO 16 7 16 status through communication setting or the keypad The drive status can be read from the co
73. out There are following five groups for parameters Group 0 Monitor parameter example PO xx Group 1 Basic parameter example P1 xx Group 2 Extension parameter example P2 xx Group 3 Communication parameter example P3 xx Group 4 Diagnosis parameter example P4 xx For a complete listing and description of all parameters refer to Chapter 7 Communication write in parameters for ASDA B2 series are including Group 0 All parameters except PO 00 PO 01 PO 08 PO 13 and PO 46 Group 1 P1 00 P1 76 Group 2 P2 00 P2 67 Group 3 P3 00 P3 11 Group 4 All parameters except P4 00 P4 04 and P4 08 P4 09 HOE 1 P3 01 After the new transmission speed is set the next data will be written in new transmission speed 2 P3 02 After the new communication protocol is set the next data will be written in new communication protocol 3 P4 05 JOG control of servo motor For the description refer to Chapter 7 4 P4 06 Force output contact control This parameter is for the users to test if DO Digit output is normal User can set 1 2 4 8 16 32 to test DO1 DO2 DO3 DO4 DO5 DO6 respectively After the test has been completed please set this parameter to O to inform the drive that the test has been completed 5 P4 10 Adjustment function selection If the user desires to change the settings of this parameter the user has to set the value of the parameter P2 08 to 20 hexadecimal 14H first and then restart
74. set within the controller or from an external analog 10 10 VDC command Control of the internal torque mode is via the Digital Inputs DI A maximum of three torque levels can be stored internally Torque Control T Internal Torque control mode for the servo motor is only achieved via parameters set within the Internal Torque Control Tz controller Control of the internal torque mode is via the Digital Inputs DI A maximum of three torque levels can be stored internally Either S or P control mode can be selected via the ds Digital Inputs DI Dual Mode TP Fither T or P control mode can be selected via the Digital Inputs DI S T Either S or T control mode can be selected via the Digital Inputs DI The above control modes can be accessed and changed via parameter P1 01 Enter the new control mode via P1 01 then switch the main power to the servo drive OFF then ON The new control mode will only be valid after the drives main power is switched OFF then ON Please see safety precautions on page iii switching drive off on multiple times Revision April 2011 1 7 Chapter 1 Unpacking Check and Model Explanation ASDA B2 This page intentionally left blank 1 8 Revision April 2011 Chapter 2 Installation and Storage 2 1 Installation Notes Please pay close attention to the following installation notes B Do not bend or strain the connection cables between servo drive and motor B When
75. settings of P1 34 P1 35 are still effective It indicates that the parameters P1 34 and P1 35 will not become disabled even when P1 36 is disabled Please note 1 When the source of speed command is analog command the maximum setting value of P1 36 is set to O the acceleration and deceleration function will be disabled 6 14 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation Analog Speed Command S curve Filter ASDA B2 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 A gt Time sec 3000 The analog speed command S curve filter is for the smoothing of analog input signal and its function is the same as the S curve filter The speed and acceleration curve of analog speed command S curve filter are both continuous The above figure shows the curve of analog speed command S curve filter and the users can see the ramp of speed command is different during acceleration and deceleration Also the users can see the difference of input command tracking and can adjust time setting by using parameter P1 34 P1 35 P1 36 to improve the actual motor performance according to actual condition Analog Speed Command Low pass Filter Analog Speed Command Low pass Filter is used to eliminate high frequency response and electrical interference from
76. the cursor to the desired unit column the effected number will flash then changed using the UP and DOWN arrow keys 3 Press the SET when the desired JOG speed is displayed The Servo Drive will display JOG 4 Press the UP or DOWN arrow keys to jog the motor either P CCW or N CW direction The motor will only rotation while the arrow key is activated 5 To change JOG speed again press the MODE key The servo Drive will display P4 05 Press the SET key and the JOG speed will displayed again Refer back to 2 and 3 to change speed 6 In JOG operation mode if any fault occurs the motor will stop running The maximum JOG speed is the rated speed of the servo motor 2 DI Signal Control Set the value of DI signal as JOGU and JOGD refer to Table 8 A Users can perform JOG run forward and run reverse control 3 Communication Control To perform a JOG Operation via communication command use communication addresses 040AH and O40BH 1 Enter 1 5000 for the desired JOG speed 2 Enter 4998 to JOG in the P CCW direction 4 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters 3 Enter 4999 to JOG in the N CW direction 4 Enter O to stop the JOG operation Please note that when using communication control please set P2 30 to 5 to avoid that there are excessive writes to the system flash memory Force Output Contact Control Address 040CH 040DH Default O Related Section Applicable Control Mo
77. the input voltage is changed to 5V then the speed command is changed to 1500 r min Speed Command Limit Input Voltage Value x Setting value of P1 40 10 TCM Max Analog Torque Command or Limit Address 0152H 0153H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit 96 Range 0 1000 Data Size 16 bit Display Format Decimal Settings In Torque mode this parameter is used to set the maximum analog torque command based on the maximum input voltage 10V In PT and Speed mode this parameter is used to set the maximum analog torque limit based on the maximum input voltage 10V For example in torque mode if P1 41 is set to 100 and the input voltage is 10V it indicates that the torque command is 100 rated torque If P1 41 is set to 100 but the input voltage is changed to 5V then the torque command is changed to 50 rated torque Torque Command Limit Input Voltage Value x Setting value of P1 41 10 MBTI On Delay Time of Electromagnetic Brake Address 0154H 0155H Default O Related Section Applicable Control Mode ALL Section 6 5 5 Unit ms Range 0 1000 Data Size 16 bit Display Format Decimal d Settings Used to set the period of time between when the servo drive is On Servo On and when electromagnetic brake output signal BRKR is activated Revision April 2011 7 33 Chapter 7 Servo Parameters ASIA B2 eee MBT2 OFF Delay Time of Electromagnetic Brak
78. the trial run without load and the other part is to introduce trial run with load Ensure to complete the trial run without load first before performing the trial run with load 5 1 Inspection without Load In order to prevent accidents and avoid damaging the servo drive and mechanical system the trial run should be performed under no load condition no load connected including disconnecting all couplings and belts Do not run servo motor while it is connected to load or mechanical system because the unassembled parts on motor shaft may easily disassemble during running and it may damage mechanical system or even result in personnel injury After removing the load or mechanical system from the servo motor if the servo motor can runs normally following up the normal operation procedure when trial run without load is completed then the users can connect to the load and mechanical system to run the servo motor under no load conditions separate the motor from its couplings and belts gt Caution Please perform trial run without load first and then perform trial run with load connected After the servo motor is running normally and regularly without load then run servo motor with load connected Ensure to perform trial run in this order to prevent unnecessary danger gt In order to prevent accidents the initial trial run for servo motor should be conducted After power in connected to AC servo drive the charge LED will light
79. there are unusual noises while the motor is running please contact the dealer or manufacturer for assistance e Ensure that all user defined parameters are set correctly Since the Inspection during characteristics of various machinery are different in order to avoid operation accident or cause damage do not adjust the parameter abnormally and Control power is ensure the parameter setting is not an excessive value applied e Ensure to reset some parameters when the servo drive is off Please refer to Chapter 7 Otherwise it may result in malfunction e If there is no contact sound or there be any unusual noises when the relay of the servo drive is operating please contact your distributor for assistance or contact with Delta e Check for abnormal conditions of the power indicators and LED display Maintenance If there is any abnormal condition of the power indicators and LED display please contact your distributor for assistance or contact with Delta Use and store the product in a proper and normal environment Periodically clean the surface and panel of servo drive and motor Do not disassemble or damage any mechanical part when performing maintenance El x B Make sure the conductors or insulators are corroded and or damaged B E Clean off any dust and dirt with a vacuum cleaner Place special emphasis on cleaning the ventilation ports and PCBs Always keep these areas clean as accumulation of dust and dirt can
80. value 0x04 l ERIN Trigger Control DO Name DO Function Description Method Mode TSPD is activated once the drive has detected the motor xcu has reached the Target Rotation Speed setting as defined Level Am in parameter P1 39 TSPD will remain activated until the Triggered motor speed drops below the Target Rotation Speed Revision April 2011 89 Chapter 7 Servo Parameters Setting value 0x05 DO Name DO Function Description 1 When the drive is in PT mode TPOS will be activated when the position error is equal and below the setting value of P1 54 Setting value 0x06 TQL is activated when the drive has detected that the TOL motor has reached the torques limits set by either the parameters P1 12 P1 14 of via an external analog voltage Setting value 0x07 DO Function Description DO Function Description ALRM is activated when the drive has detected a fault condition However when Reverse limit error Forward ALRM limit error Emergency stop Serial communication error and Undervoltage these fault occur WARN is activated first Setting value 0x08 Electromagnetic brake control BRKR is activated Actuation of motor brake Please refer to parameters P1 42 P1 43 son OFF BRKR BRKR OFF MBT1 P1 42 MBT2 P1 43 Motor 48FD Speed Vj DO Function Description 7 90 ASDA B2 Control Mode Trigger Method Level Triggered Trigger Method C
81. value is over high it may generate vibration or noise P2 01 PPR Position Loop Gain Switching Rate Address 0202H 0203H Default 100 Related Section Applicable Control Mode PT Section 6 2 8 Unit 96 Range 10 500 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the position gain switching rate when the gain switching condition is satisfied Please refer to P2 27 for gain switching control selection settings and refer to P2 29 for gain switching condition settings P2 02 PFG Position Feed Forward Gain Address 0204H 0205H Default 50 Related Section Applicable Control Mode PT Section 6 2 8 Unit 96 Range 0 100 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the feed forward gain when executing position control command When using position smooth command increase gain can improve position track deviation When not using position smooth command decrease gain can improve the resonance condition of mechanical system Revision April 2011 7 43 Chapter 7 Servo Parameters ASDA B2 EM PFF Smooth Constant of Position Feed Address 0206H 0207H Forward Gain Default 5 Related Section N A Applicable Control Mode PT Unit ms Range 2 100 Data Size 16 bit Display Format Decimal Settings When using position smooth command increase gain can improve position track deviation When not using position smooth command
82. when P1 02 is enabled Setting value 0x26 ER Torque limit Forward operation Torque limit function is valid only when P1 02 is enabled DI Function Description Setting value 0x37 JOGU Forward JOG input When JOGU is activated the motor will JOG in forward direction see P4 05 DI Function Description Setting value 0x38 JOGD Reverse JOG input When JOGD is activated the motor will JOG in reverse direction see P4 05 Setting value 0x43 0x44 Electronic gear ratio Numerator selection O 1 P2 60 P2 62 GNUMO GNUMI Revision April 2011 DI Function Description DI Function Description GNUMO GNUM 1 1st Numerator N1 P1 44 2nd Numerator N2 P2 60 smooth Filler P1 08 ard Numerator N3 P2 61 4th Numerator N4 P2 62 Denominator P 1 45 Moving Filter P1 68 Feed Back Pulse see Chapter 7 Servo Parameters Control Mode Trigger Method Level Triggered Trigger Method Control Mode Control Mode Control Mode Control Mode 7 87 Level Triggered Trigger Method Level Triggered Trigger Method Level Triggered Trigger Method Level Triggered Chapter 7 Servo Parameters A521 B2 Setting value 0x45 Trigger Control DI Function Description Method Mode Pulse inhibit input When the drive is in position mode if Level INHP is activated the external pulse input command is Triggered not valid
83. 0 F130 F180 For the specifications of the motors with rotary magnetic encoders please refer to the specifications of the corresponding standard models O ME 1 Please refer to Section 1 2 for details about the model explanation Revision April 2011 10 5 Chapter 10 Specifications Medium High Inertia Servo Motors Model ECMA Series ASDA B2 Rated output power kW 0 5 1 0 1 5 2 0 2 0 3 0 3 0 0 3 0 6 0 9 Rated torque N m 2 39 4 77 7 16 9 55 9 55 14 32 19 10 2 86 5 73 8 59 Maximum torque N m 7 16 14 32 21 48 28 65 28 65 42 97 57 29 8 59 17 19 21 48 Rated speed r min 2000 1500 1000 Maximum speed r min 3000 2000 Rated current A 2 9 5 6 8 3 11 01 11 22 16 1 19 4 2 5 4 8 7 5 Maximum current A 8 7 16 8 24 81 33 0 33 66 48 3 58 2 7 44 14 49 22 5 Power rating KW S 26 27 1 45 9 62 5 26 3 37 3 66 4 10 0 39 0 66 0 without brake EM Us amp 4 111 18 14 59 34 68 54 95 54 95 8 17 8 41 11 18 x 10 kg m MEE 1 91 1 1 1 11 0 96 1 62 1 06 1 28 1 84 1 40 1 07 Torque constanti 0 83 0 85 0 87 0 87 0 85 0 89 0 98 1 15 1 19 1 15 N m A Voltage constant KE 3606 319 31 8 318 31 4 320 350 42 5 43 8 41 6 mV r min diari eA 0 57 0 47 0 26 0 174 0 119 0 052 0 077 1 06 0 82 0 43 D UT 7 39 5 99 4 01 2 76 2 84 1 38 1 27 14 29 11 12 6 97 Ele
84. 011 AA527 B2 Chapter 7 Servo Parameters Settings This parameter is used to check if MODE UP DOWN SHIFT and SET keys on the drive keypad being pressed or not It is used to examine if these five keys work normally via communication during production IN Eos Default N A Related Section Applicable Control Mode ALL Section 4 4 5 Unit N A Range 0 Ox1F Data Size 16 bit Display Format Hexadecimal Settings There is no difference when reading DO output signal via the drive keypad or the communication For the status of DO output signal please refer to P2 18 P2 22 P4 D CEN Adjustment Function Address 0414H 0415H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 6 Data Size 16 bit Display Format Decimal Settings Reserved Execute analog speed input drift adjustment Execute analog torque input drift adjustment Execute current detector W phase drift adjustment Execute drift adjustment of the above 1 4 Execute IGBT NTC calibration Please note O 1 2 3 Execute current detector V phase drift adjustment 4 5 6 1 This adjustment function is enabled after parameter P2 08 is set to 20 2 When executing any adjustment the external wiring connected to analog speed or torque must be removed and the servo system should be off Servo off Revision April 2011 1 Chapter 7 Servo Parameters ASDA B2 DH SOFI Analog Speed Input Drift Adjustment
85. 05 Appendix A Accessories WR 3 EN rrr NR i 8 L D SUB Connector 9P Title Part No Manufacturer Housing AMP 1 172161 9 AMP Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA L Title Part No mm inch ASDBCAENOO03 3000 50 11822 2 ASDBCAENOOO5 5000 50 197 2 Delta Part Number ASDBCAEN1003 1005 3106A 20 295 D SUB Connector 9P Revision April 201 1 Title Part No Straight L mm inch ASDBCAEN1003 3106A 20 29S 3000 50 118 2 2 ASDBCAEN1005 3106A 20 29S 5000 50 197 2 A 5 Appendix A Accessories ASDA B2 B O Signal Connector CN1 Delta Part Number ASDBCNDSO044 D SUB 44 PIN PLUG Communication Cable between Drive and Computer for PC Delta Part Number ASD CARS0003 Title Part No L mm inch ASD CARS0003 3000 100 118 4 B Servo Drive Servo Motor and Accessories Combinations 100W Servo Drive and 100W Low Inertia Servo Motor Servo Drive ASD B2 0121 B Low inertia ECMA C20401 S Servo Motor Without Brake With Brake 3M 5M 3M 5M ZA Motor Power Cable Motor Power Cable able ASDBCAPWO203 ASDBCAPWO205 Encoder Cable Encoder Cable ASDBCAENOO03 ASDBCAENOOO05 Power Connector ASDBCAPWOOO00 Connector Encoder Connector ASDBCAENOOOO A 6 Revision April 201 1 ASDA B2 Appendix A Accessories 200W Servo Drive and 200W Low Inertia Servo Motor
86. 1 ASDA B2 Chapter 6 Control Modes of Operation B State of SPDO 1 0 indicates OFF Normally Open 1 indicates ON Normally Closed B When SPDO and SPDI are both O OFF if the control mode of operation is Sz then the speed command is O Therefore if the users do not use analog voltage as speed command the users can choose Sz mode and avoid the zero point drift problem of analog voltage signal If the speed control mode is S mode then the command is the analog voltage between V REF and GND The setting range of the input voltage is from 10V to 10V and the corresponding motor speed is adjustable Please see parameter P1 40 m When at least one of SPDO and SPDI is not O OFF the speed command is internal parameter P1 09 to P1 11 The command is valid enabled after either SPDO or SPD1 is changed B The range of internal parameters is within 50000 50000 r min Setting value Range x Unit 0 1 r min For example if P1 09 is set to 30000 the setting value 30000 x 0 1 r min 3000 r min The speed command that is described in this section not only can be taken as speed command in speed control mode S or Sz mode but also can be the speed limit input command in torque control mode T or Tz mode 6 3 2 Structure of Speed Control Mode Basic Structure Speed command Speed Command Processing i PA Speed Estimator Speed Control Resonant Suppression Torque Limiter Current Loop Block D
87. 1 Address 0416H 0417H Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings The adjustment functions from P4 11 through P4 19 are enabled after parameter P2 08 is set to 22 Although these parameters allow the users to execute manual adjustment we still do not recommend the users to change the default setting value of these parameters P4 11 P4 19 manually Please note that when P2 08 is set to 10 the users cannot reset this parameter P4 12 SOF2 Analog Speed Input Drift Adjustment 2 Address 0418H 0419H Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter SEE TOF Analog Torque Drift Adjustment 1 Address 041 AH 041BH Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter 7 78 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters DEM TOF2 Analog Torque Drift Adjustment 2 Address 041AH 041BH Default Factory setting Related Section N A Applicable Control
88. 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz Range 50 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set first resonance frequency of mechanical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 24 is set to O this parameter is disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters Notch Fil A i R P2 24 See ibi Address 0230H 0231H Resonance Suppression Default O Related Section Applicable Control Mode ALL Section 6 3 7 Unit dB Range 0 32 Data Size 16 bit Display Format Decimal 7 50 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Settings This parameter is used to set magnitude of the resonance suppression that is set by parameter P2 23 If P2 24 is set to O the parameters P2 23 and P2 24 are both disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters Filter Ti P2 25 M ce hee ee A constant Address 0232H 0233H Resonance Suppression Default 2 1 kW and below models or Related Section 5 other models Section 6 3 7 Applicable Control Mode ALL Unit 0 1 ms Range O 1000 Data Size 16 bit Disp
89. 2 07 P2 25 and P2 26 will change to the value that measured in 1 auto tuning mode or 2 semi auto tuning mode Explanation of auto tuning mode The servo drive will continuously estimate the system inertia save the measured load inertia value automatically and memorized in P1 37 every 30 minutes by referring to the frequency response settings of P2 31 1 When switching mode 1 or 2 to 0 the servo drive will continuously estimate the system inertia save the measured load inertia value automatically and memorized in P1 37 Then set the corresponding parameters according to this measured load inertia value 2 When switching mode 0 or 1 to 2 enter the appropriate load inertia value in P1 37 3 When switching mode 1 to 0 the setting value of P2 00 P2 04 and P2 06 will change to the value that measured in 1 auto tuning mode Explanation of semi auto tuning mode 1 After the system inertia becomes stable The display of P2 33 will show 1 it will stop estimating the system inertia save the measured load inertia value automatically and memorized in P1 37 However when P2 32 is set to modez1 or 2 the servo drive will continuously perform the adjustment for a period of time 2 When the value of the system inertia becomes over high the display of P2 33 will show O and the servo drive will start to adjust the load inertia value continuously Revision April 201 1 ASDA B2 Chapter 6 Control Modes of Operation Manual
90. 2 TX 5 RS 485 3 Reserved WARNING 1 GND Side View Rear View CN3 Terminal Signal Identification Terminal PIN No Signal Name ener Description 1 Grounding GND Ground 5 RS 232 data RS 232 TX For data transmission of the servo drive transmission 7 Connected to the RS 232 interface of PC 3 Reserved For data receiving of the servo drive 4 RS 232 data receiving RS 232_RX Connected to the RS 232 interface of PC 5 RS 485 data RS 485 4 For data transmission of the servo drive transmission differential line driver end 6 RS 485 data RS 485 For data transmission of the servo drive transmission differential line driver end DOE 1 For the connection of RS 485 please refer to page 8 3 2 There are two kinds of IEEE1394 communication cables available on the market If the user uses one kind of cable which its GND terminal Pin 1 and its shielding is short circuited the communication may be damaged Never connect the case of the terminal to the ground of this kind of communication cable Revision April 2011 3 35 Chapter 3 Connections and Wiring 3 6 Standard Connection Example 3 6 1 Position Control Mode NGOs Servo Drive AC 220 230V Rn Three phase d 50 60Hz t b Lic OL2Cc CN1 z siGN 37 Pulse Input iMd ces 39 Line Driver 1 Putse a1 PULSE 43 zx HOV 10ko T REF 18 Ti zb r HsiGN jso High speed X isien u
91. 242H 0243H Selection Default O Related Section N A Applicable Control Mode ALL Unit N A Range O 1 Data Size 16 bit Display Format Decimal Settings not used When the setting value of A is set to O or display is O it indicates that the load inertia estimation of semi auto tuning mode has been executed but not been completed yet When the setting value of A is set to 1 it indicates that the load inertia estimation of semi auto tuning mode has been completed The measured load inertia is memorized in P1 37 If P2 33 is reset to O the servo drive will perform continuous adjustment for estimating the load inertia P1 37 again B Reserved Revision April 2011 55 Chapter 7 Servo Parameters ASDA B2 FASE SDEV Overspeed Warning Condition Address 0244H 0245H Default 5000 Related Section N A Applicable Control Mode S Unit r min Range 1 6000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the over speed threshold that is used to determine the over speed fault condition When the difference in speed between the desired speed and actual motor speed is over than the setting value of parameter P2 34 the servo fault Overspeed ALOO 7 will be activated FAS PDEV Excessive Error Warning Condition Address 0246H 0247H Default 480000 Related Section N A Applicable Control Mode PT Unit pulse Range 1 16000000 Data Size 32 bit Display Format
92. 3 CMDINV ESSE oe this signal is On the motor is in reverse rotation TRQLM S Sz 10 ON indicates the torque limit command is valid SPDLM tte 10 D indicates the speed limit command is valid SPDO S Sz 34 Select the source of speed command SPD PT S S T 8 See table 3 D PT TZ TEMO PTT Te 34 sa the source of torque command See table 3 E Speed Position mode switching S P PT S 31 cers on m Speed ON Position S T ST 31 Speed Torque mode switching OFF Speed ON Torque T P PT T 31 Torque Position one switching OFF Torque ON Position cs AL 30 Pets wala A C11 C12 PT S T Reverse inhibit limit It should be contact NL CWL as 32 b and normally ON or a fault ALRM will Sz Iz display PT S T Forward inhibit limit It should be contact PL CCWL ak 31 b and normally ON or a fault ALRM will Sz Iz display Reverse operation torque limit Torque limit function is valid only when P1 02 is enabled TLLM NO assigned Forward operation torque limit Torque limit function is valid only when P1 02 is enabled Forward JOG input When JOGU is JOGU ALL activated the motor will JOG in forward direction Not TRLM assigned Reverse JOG input When JOGD is activated the motor will JOG in reverse direction Electronic gear ratio Numerator selection O See P2 60 P2 62 Electronic gear ratio Numerator selection 1 See P2 60 P2 62 3 22 Revision April 2011 JOGD ALL GNUMO PT PT
93. 3 53 8 22 1 48 4 29 3 37 9 30 4 82 0 with brake Rotor moment of inertia be artes caida realice 0 04 0 192 0 30 0 73 1 18 1 95 2 67 3 33 4 95 Mechanical time constant 4 31 085 0 57 0 78 0 65 1 74 1 22 0 93 0 66 ms with brake eee 03 13 13 25 25 25 25 80 8 0 Nt m min ID 65 65 32 32 82 82 18 5 185 at 20 C W 10 4 Revision April 2011 ASDA B2 Chapter 10 Specifications C206 Model ECMA Series C204 01 P e LITE 5 10 10 10 10 10 10 10 10 ms Max SIE EDIT Ss 25 70 70 70 70 70 70 70 70 ms Max Vibration grade um 15 Operating temperature 0 40 C Storage temperature 10 80 C Operating humidity 20 to 90 RH non condensing Storage humidity 20 to 90 RH non condensing Vibration capacity 2 5G TION IP65 when waterproof connectors are used or when an oil seal is used to rating be fitted to the rotating shaft an oil seal model is used Approvals CE Aus Footnote ale Rate torque values are continuous permissible values at 0 40 C ambient temperature when attaching with the sizes of heatsinks listed below ECMA __04 06 08 250mm x 250mm x 6mm ECMA 10 300mm x 300mm x 12mm ECMA 13 400mm x 400mm x 20mm ECMA 18 550mm x 550mm x 30mm Material type Aluminum F40 F60 F80 F10
94. 4 Revision April 2011 7 85 Chapter 7 Servo Parameters Setting value 0x18 DI Function Description Speed Position mode switching OFF Speed mode ON Position mode Setting value 0x19 DI Name DI Function Description Speed Torque mode switching S T OFF Speed mode ON Torque mode Setting value 0x20 DI Function Description DI Name Torque Position mode switching T P OFF Torque mode ON Position mode Setting value 0x21 ES Emergency stop It should be contact b and normally ON or a fault ALO1 3 will display Setting value 0x22 Reverse inhibit limit It should be contact b and NL CWL ET normally ON or a fault ALO1 4 will display Setting value 0x23 Forward inhibit limit It should be contact b and PL CCWL m normally ON or a fault ALO1 5 will display DI Function Description DI Function Description DI Function Description 7 86 ASDA B2 Control Mode Trigger Method Level Triggered Trigger Control Method Mode Level ST Triggered Trigger Control Method Mode Level P T Triggered Trigger Control Method Mode Level All Triggered Trigger Control Method Mode Level All Triggered Trigger Control Method Mode Level All Triggered Revision April 2011 ASDA B2 Setting value 0x25 DI Function Description Torque limit Reverse operation Torque limit function is valid only
95. 4 4 4 Applicable Control Mode ALL Section 8 2 Unit N A Range O 01FF Data Size 16 bit Display Format Hexadecimal Settings The control of digital inputs can be determined by the external terminals DII DI9 or by the internal software digital inputs SDI1 SDI9 corresponds to BitO Bit8 of P1 47 via communication upon software Please refer to P3 06 and section 8 2 for the setting method External Dis Read or Write Final Dl Status Internal Dis Read P4 07 Display the final status of DI input signal Write P4 07 Write the status of software digital inputs SDI1 SDI9 No matter the servo drive is controller through digital keypad or communication control the function of this parameter is the same For example External Control Display the final status of DI input signal When the read value of P4 07 is 0x0011 it indicates that DI and DI5 are ON Communication Control Internal Dis Read the status of input signal upon software For example When the write value of P4 07 is 0x0011 it indicates that software digital inputs SDI1 and SDI5 are ON BitO Bit8 corresponds with DII DIY For the settings of DII DI9 please refer to P2 10 P2 17 and P2 36 SEIS y PKEY Digital Keypad Input of Servo Drive Address 0410H 0411H Default N A Related Section N A Applicable Control Mode ALL Unit N A Range Read only Data Size 16 bit Display Format Hexadecimal 7 76 Revision April 2
96. 6 C5 C6 C7 C8 SDO A ALL Output the status of bit10 of P4 06 SDO_B ALL Output the status of bit11 of P4 06 SDO_C ALL Output the status of bit12 of P4 06 SDO_D ALL Output the status of bit13 of P4 06 SDO_E ALL Output the status of bitl 4 of P4 06 SDO F ALL Output the status of bit15 of P4 06 L Wes 1 PINS 3 amp 2 can TSPD when control mode S is selected 2 The DO signals that do not have pin numbers in Tables 3 B are not default DO signals If the users want to use these non default DO signals the users need to change the settings of parameters P2 18 P2 22 The state of the output function may be turned ON or OFF as it will be dependant on the settings of parameters P2 18 P2 22 Please refer to section 3 3 3 for details Table 3 C DI Signals Assigned pin No Wiring Diagram aes Default cas Refer to 3 3 3 Servo On Switch servo to Servo Ready A number of Faults Alarms can be cleared by activating ARST When CCLR is activated the setting is C9 C10 CCLR parameter P2 50 Pulse Clear Mode is C11 C12 executed When this signal is On and the motor Speed value is lower than the setting value of P1 38 it is used to lock the motor in the instant position while ZCLAMP is On ZCLAMP Revision April 2011 3 21 Chapter 3 Connections and Wiring ASDA B2 Assigned p T DI Pin No W D Control Details Iring Diagram Signal Mode Default Refer to 3 3
97. 7 A in Chapter 7 If any alarm code displays after the setting is completed the users can restart the drive or set DI5 to be activated to clear the fault Please refer to section 5 2 Revision April 2011 5 9 Chapter 5 Trial Run and Tuning Procedure ASDA B2 The speed command is selected by SPDO SPD1 Please refer to the following table DI si of CN cias No SI one Command Source Content Range SPD SPDO s 0 0 External analog Voltage between V REF 10V 10V command and GND S2 0 1 P1 09 50000 50000 3 1 0 Internal parameter P1 10 50000 50000 S4 1 P1 11 50000 50000 0 indicates OFF Normally Open 1 indicates ON Normally Closed The range of internal parameter is from 50000 to 50000 Setting value of speed command Setting range x unit 0 1 r min For example If P1 09 is set to 230000 the setting value of speed command 430000 x 0 1 r min 3000 r min The settings of speed command P1 09 is set to 30000 Input value EO EMIT command P1 10 is set to 1000 4 CW P1 11 is set to 30000 CCW STEP 3 l The users can use DII to enable the servo drive Servo ON 2 If DI3 SPDO and DIA SPD1 are OFF both it indicates S1 command is selected At this time the motor is operating according to external analog command 3 If only DI3 is ON SPDO it indicates S2 command P1 09 is set to 3000 is selected and the motor speed is 3000r min at this
98. 9 a Trigger Control DI Name DI Function Description Method Mode Torque limit enabled When the drive is in speed and position mode and TRQLM is activated it indicates the Level TRQLM IN PT S torque limit command is valid The torque limit Triggered command source is internal parameter or analog voltage 7 84 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Setting value 0x10 Trigger Control DI Function Description Method Mode Speed limit enabled When the drive is in torque mode and SPDLM s activated it indicates the speed limit Level command is valid The speed limit command source is Triggered internal parameter or analog voltage Setting value 0x14 0x15 l MN Trigger Control DI Function Description Method Mode Speed command selection 0 1 Command S1 S4 Command la poa El Command C No Source SEES SPD1 SPDO External Voltage analog between command V REF and TS Speed Triggered None command is O P1 09 60000 Internal P1 10 parameter 60000 PI 11 r min Setting value Ox16 Ox17 DI um Trigger Control DI Function Description Name Method Mode Torque command selection 0 1 Command TI T4 DI signal of mulo CN gd dde Content Range TCMI TCMO Voltage Analog between ICMO command V REF and my Level GND T TCM Torque Triggered Tz None command is O P1 12 Internal P1 13 300 parameter 300 76 P1 1
99. ASD B2 0421 B OSTDTIWAS N 4 750W ASD B2 0721 B 20TDTIWAD N 5 1000W ASD B2 1021 B 20TDTIWAD N 6 1500W ASD B2 1521 B 20TDTIWAD N 7 2000W ASD B2 2023 B 20TDTIWAD N 8 3000W ASD B2 3023 B 20TDTIWAD N Installation All electrical equipment including AC servo drives will generate high frequency low frequency noise and will interfere with peripheral equipment by radiation or conduction when in operation By using an EMI filter with correct installation much of the interference can be eliminated It is recommended to use Delta s EMI filter to have the best interference elimination performance We assure that it can comply with following rules when AC servo drive and EMI filter are installed and wired according to user manual B EN61000 6 4 2001 B EN61800 3 2004 PDS of category C2 B EN55011 A2 2007 Class A Group 1 General Precaution To ensure the best interference elimination performance when using Delta s EMI filter please follow the guidelines in this user manual to perform wiring and or installation In addition please also observe the following precautions B EMI filter and AC servo drive should be installed on the same metal plate B Please install AC servo drive on same footprint with EMI filter or install EMI filter as close as possible to the AC servo drive B All wiring should be as short as possible B Metal plate should be grounded B The cover of EMI filter and AC servo drive or grounding should be fixed on the me
100. April 2011 ASDA B2 Chapter 3 Connections and Wiring DI Signal Function PT S T Sz Tz PT S PT T ST Code TRLM 26 Forward operation torque limit Reserved 27 Reserved Reserved 36 Reserved JOGU 37 Forward JOG input JOGD 38 Reverse JOG input Electronic gear ratio GNUMO 43 Numerator selection 0 Electronic gear ratio GNUMI 44 Numerator selection INHP 45 Pulse inhibit input O TM 1 For Pin numbers of DI1 DI8 signals please refer to section 3 3 1 Table 3 G Default DO signals and Control modes Signal Mir Function PT S T Sz Tz PT S PT T ST Code SRDY 01 Servo ready DOI DOI DOI DOI DO DOI DOI DOI SON 02 Servo On ZSPD 03 Zero speed DO2 DO2 DO2 DO2 DO DO2 DO2 DO2 TSPD 04 Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 ros 105 OB DO4 DO4 DO4 completed Reached torques TOL 06 limits ALRM 07 3S voalarm output pos pos pos pos pos DOS DOS DOS Servo fault Electromagnetic BRKR 08 DO4 DO4 DO4 DO4 brake OLW 10 Output overload warning WARN 11 Servo warning output Reverse software SNL SCWL 13 limit Forward software SPL SCCWL 14 limit Revision April 2011 3 25 Chapter 3 Connections and Wiring ASDA B2 Signal ed Function PT prem SP OK 19 CONES UTD so a apes Du CHER 7 n
101. CN3 communication Analog BATTERY CN4 D A CN5 Monitor Output 3 12 Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring Figure 3 5 Basic Wiring Schematic of 750W model with built in regenerative resistor but without cooling fan Power 1 phase 3 phase 200 230V Connect lo external oin resistor POL a DC Servo Drive i 3 Servo o A Motor o E E Dr U Ji I DE A C E po ars 43 3y Protection GATE lag Circuit DRIVER Encoder e i To DSP ER E EQ M EE EI Control c PEC a i urrent Signal A gt SH External Torque e Position Pulse SER Digital Input A B Z Output Digital Output 4 RS 232 RS 485 communication gt Analog BATTERY CN4 D A CN5 Monitor Output Revision April 2011 3 13 Chapter 3 Connections and Wiring ASDA B2 Figure 3 6 Basic Wiring Schematic of 1kW 1 5kW models with built in regenerative resistor and cooling fan Power TkKW 1 5kW 1 phase 3 phase 200 230V gm Connect to external resistor rama Cooling Fan 1kW and Poy lp Le Servo Drive above models only IPM Module Rectifier Circuit Regeneration Circuit gt 5V ils 3 3V Protection GATE Encoder 424V Circuit DRIVER dt rec DSP I red Speed Current ER AID Dn rrent Signal i H ee External Speed External Torque Position Pul
102. Check the power cable and when the three phase power is Control power supply connections of R S T Check whether connected correctly please is in error the power cable is loose or the contact your distributor for possible loss of phase on input power assistance or contact with Delta ENHE Pre overload warning Potential Cause Checking Method Corrective Actions 1 Check the load condition of the Please refer to the servo motor and drive correction actions of The drive is going to l ALEO6 2 Check the setting value of P1 56 l overload l Increase the setting value Check whether the setting value of of P1 56 or set P1 56 to P1 56 is to small 100 and above ALOHI Encoder initial magnetic field error Potential Cause Checking Method Corrective Actions 1 Check if the servo motor is properly grounded 2 Check if the encoder signal cables If the error does not clear after The magnetic field of are placed in separate conduits from each checking is done please the encoder U V W the cables connected to R S Tand contact your distributor for signal is in error U V W terminals to prevent the assistance or contact with interference Delta 3 Check if the shielded cables are used when performing encoder wiring 9 8 Revision April 2011 ASDA B2 Potential Cause AL Ges Encoder internal error Checking Method Chapter 9 Troubleshooting Corrective Actions The internal
103. D may damage the drive DOX DOX DOX 1f DOX DOX DOX X21 2 3 4 5 6 Revision April 201 1 3 29 Chapter 3 Connections and Wiring C7 Cll Wiring of DO signal for the use of external power supply general load Servo Drive DOX DOX DOX Do not connect X 1 2 3 4 5 6 VDD COM DO DO2 DO3 DO4 16 99 q 2 26 DOS DOG DC24V 50mA 2 ASDA B2 C8 Wiring of DO signal for the use of external power supply inductive load Servo Drive DOX DOX DOX Do not connect X 1 2 3 4 5 6 VDD COM DO DO2 DO3 DOA DOS DOG Ensure the polarity of the Diode is correct or it may damage the drive Use a relay or open collector transistor to input signal NPN transistor with multiple emitter fingers SINK Mode Wiring of DI signal for the use of internal power supply Servo Drive DC24V IVDD a is Wiring of DI signal for the use of internal power supply Servo Drive C10 Wiring of DI signal for the use of external power supply Servo Drive C12 Wiring of DI signal for the use of external power supply Servo Drive gt Caution Do not use dual power supply Failure to observe this caution may result in damage to the servo drive and servo motor WARNING 3 30 Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring C13 Encoder output signal Line driver C14 Encoder output signal Photocoupler Max output l Max
104. DA B2 series AC servo drives and ECMA series AC servo motors The contents of this manual include the following topics Installation of AC servo drives and motors Configuration and wiring Trial run steps Control functions and adjusting methods of AC servo drives Parameter settings Communication protocol Inspection and maintenance Troubleshooting Application examples B Who should use this manual This manual is intended for the following users Those who are responsible for designing Those who are responsible for installing or wiring Those who are responsible for operating or programming Those who are responsible for maintaining or troubleshooting B Important precautions Before using the product please read this user manual thoroughly to ensure correct use Store this manual in a safe and handy place for quick reference whenever necessary Always observe the following precautions Revision April 2011 Do not use the product in a potentially explosive environment Install the product in a clean and dry location free from corrosive and inflammable gases or liquids Preface ASDA B2 e Do not connect commercial power to the U V W terminals Failure to observe this precaution will cause severe damage to the Servo drive e 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 Cod
105. DO NOT TOUCH ANY ELECTRICAL Operation Panel 3 4 ser Used function keys to perform status CONEA RS Ec Hes i display monitor and diagnostic function Anuncia v E Lr and parameter setting IS LIT m Function Keys Please refer to the Safety Precautions MODE Press this key to select change on page i EN mode SHIFT Shift Key has several functions moving the cursor and indexing through the parameter groups Press this key to shift cursor to the left UP Press this key to increase values on the display DOWN Press this key to decrease values on the display SET Press this key to store data Control Circuit Terminal L1c L2c Used to connect 200 230Vac 50 60Hz single phase VAC supply Main Circuit Terminal R S T Used to connect 200 230V 50 60Hz commercial power supply servo Motor Output U V W Used to connect servo motor Never connect the output terminal to main circuit power The AC servo drive may be destroyed beyond repair if incorrect cables are connected to the output terminals I O Interface Used to connect Host Controller PLC or control 1 O signal Serial Communication Interface For RS 485 232 422 serial communication Used to connect personal computer Internal External Regenerative or other controllers Resistor Terminal 1 When using an external regenerative resistor connect P and C to the regenerative resistor and ensure that the circuit between P and
106. Decimal Settings This parameter is used to set the position deviation excessive error threshold that is used to determine the escessive deviation fault condition When the difference in pulse number between the desired position and actual motor position is over than the setting value of parameter P2 35 the servo fault Excessive Deviation ALOO9 will be activated P2 36 Di9 Externa Digital Input Terminal 9 DI9 Address 0248H 0249H Default O Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 01 5Fh Data Size 16 bit Display Format Hexadecimal Settings The parameters from P2 36 to P2 41 are used to determine the functions and Statuses of external DI9 DIT 4 TN a ci not used 7 56 Revision April 2011 ASDA B2 Chapter 7 Servo Parameters A DI Digital Input Function Settings For the setting value of P2 36 P2 41 please refer to Table 7 A B External DI Digital Input Enabled Status Settings 0 Normally closed contact b 1 Normally open contact a Dos Digital Output Terminal 6 DOO Address 024AH 024BH Default 7 Related Section Table 7 B Applicable Control Mode ALL Unit N A Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 18 for explanation Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use 38 39 40 41 Reserved Do Not Use Reserved Do Not Use WAP
107. Delta OVP series controllers or other brands of external PLCS Electromagnetic Contactor WN I a fault occurs using ALRM digital output can control electromagnetic contactor and cut off the power of the servo drive Terminal Block Module ASD BM 304 Transrmmt the signals of CM1 interface to the external controllers through this terminal block module ASO BM 504 EMI Filter Using an EMI filter with correct installation can eliminate much interference It i amp recommended to usa Delta EMI filter ta have the best interference elimination performance CN1 VO Connector Far VO Connection Connected ta Hast Contrallar CN Connector For Encoder cannection Regenerative Resistor CN3 Connector The returned regenerative power generated when braking may resull in damage To avoid thal we recommend the users should use the regenerative resistor When using an external resistor connect it to P and C and ensure a open circuil belween P and D When using an internal resistor ensure the circuit is closed between F and D and the circuit is open between P and C 1 For RS ABSIRS A22 RS 232 Modbus communication connectior 2 For communication control upon Servo Software ASDA Soft Servo Motor Revision April 2011 3 1 Chapter 3 Connections and Wiring ASDA B2 3 1 2 Servo Drive Connectors and Terminals Terminal Identification Terminal Description Notes Contr
108. ES Diagnosis Parameters Communication Parameters Extension Parameters Basic Parameters Monitor Parameters UN to switch hight low byte LAN ta switch hexadecimal decimal formal m am lo display sett neva SN gt NN i EIL i a pi a to save setling value i 1 When the power is applied to the AC servo drive the LCD display will show the monitor function codes for approximately one second then enter into the monitor mode 2 In monitor mode pressing MODE key can enter into parameter mode In parameter mode pressing MODE key can return to monitor mode 3 No matter working in which mode when an alarm occurs the system will enter into fault mode immediately In fault mode pressing MODE key can switch to other modes In other modes if no key is pressed for over 20 seconds the system will return to fault mode automatically 4 n monitor mode pressing UP or DOWN arrow key can switch monitor parameter code At this time monitor display symbol will display for approximately one second 5 In monitor mode pressing MODE key can enter into parameter mode pressing the SHIFT key can switch parameter group and pressing UP or DOWN arrow key can change parameter group code 6 In parameter mode the system will enter into the setting mode immediately after the Set key is pressed The LCD display will display the corresponding setting value of this p
109. F 220V 1500rpm G 220V 1000rpm Encoder Type Driving Type A AC Servo Motor Product Type 10 15 20 30 10 13 Rated Voltage Rated Speed A25271 B2 Standard Shaft Dimensions S Specified Shaft Dimensions 7 14mm Shaft Type No brake With brake No brake With brake and Oil seal No oil seal No oil seal With oil seal With oil seal PEA Alte Kewy E F screw hole 1kW 1 5kW 2kW 3kW 100mm 18 180mm 130mm 2 17 bit Rotary Optical Encoder M 13 bit Rotary Magnetic Encoder ECM Electrical Commutation Motor Revision April 201 1 ASDA B2 Chapter 1 Unpacking Check and Model Explanation 1 3 Servo Drive and Servo Motor Combinations The table below shows the possible combination of Delta ASDA B2 series servo drives and ECMA series servo motors The boxes O in the model names are for optional configurations Please refer to Section 1 2 for model explanation Servo Drive Servo Motor 100W ASD B2 0121 B ECMA C20401LIS S 8mm 200W ASD B2 0221 B ECMA C20602LIS S 14mm ECMA C20604LIS S 14mm ECMA CMO604ALIS S 1 4mm 400W ASD B2 0421 B ECMA C20804L17 7 14mm ECMA E21305LIS S 22mm ECMA G21303LIS S 22mm ECMA C2080701S S 19mm ECMA C2090701S S 16mm ECMA G21306LIS S 22mm ECMA GM1 3060S S 22mm ECMA C21010LIS S 22mm ECMA C20910LJS S 16mm 1000W ASD B2 1021 B ECMA E21310LIS S 22mm ECMA G21309LIS S 22mm ECMA GM1 30905 S 22mm
110. FF contact b normally closed MC coil of electromagnetic contactor self holding power contact of main circuit power Figure 3 2 Single Phase Power Supply 1 5kW and below Power Power Noise Filter On Off MC ALRM RY _ _ oe Servo Drive y O O QIO UU UU O_O Del c MC SUP T CN1 DO5 28 0000 DC24V ALRM RY DO5 27 Revision April 2011 3 5 Chapter 3 Connections and Wiring ASDA B2 Figure 3 3 Three Phase Power Supply all models RST b i ccs Power Power Noise Filter On Off MC ALRM RY a o Lo o ECT a Servo Drive CN1 DO5 28 0000 DC24 ALRM RY 3 6 Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring 3 1 4 Motor Power Cable Connector Specifications The boxes L1 in the model names are for optional configurations Please refer to section 1 2 for model explanation Terminal Motor Model Name U V W Electromagnetic Brake Connector TEN Identification ECMA C20401LIS 100W ECMA C20602LIS 200W ECMA C20604LIS 400W ECMA CMO604PS 400W ECMA C20804L17 400W ECMA C20807LIS 750W ECMA C20602L5S 200W rM ECMA C20604L1S 400W ECMA CM0604PS 400W ECMA C2080407 400W ECMA C208070S 750W E FCMA C20907LS 750W DIO PO Co ECMA G213030S 300W ECMA E213050S 500
111. Low pass Filter to suppress resonance Resonance Resonance conditions Low pass Filter j l Gain Point Gan T m p Gain Y issuppressed Odb Rate 3db Cut off Frequency Low pass of Low pass Filter i Low pass Frequency 10000 P2 25 Hz M Frequency Resonance Frequency Frequency Frequency Resonance Frequency Frequency When the low pass filter parameter P2 25 is adjusted from O to high value the value of Low pass frequency will become smaller see the figure on page 6 26 The resonant condition is improved but the frequency response and phase margin will also decrease and the system may become unstable Therefore if the users know the resonance frequency the users can eliminate the resonance conditions directly by using notch filter parameter P2 23 P2 24 Usually if the resonant frequency can be recognized we recommend the users can directly use notch filter parameter P2 23 P2 24 to eliminate the resonance However if the resonant frequency will drift or drift out of the notch filter range we recommend the users not to use notch filter and use low pass filter to improve resonant conditions Revision April 2011 6 29 Chapter 6 Control Modes of Operation ASDA B2 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 B2 series servo drive Supports two kinds of
112. Mode When Tuning Mode Settings of P2 32 is set to 0 the users can define the proportional speed loop gain P2 04 speed integral gain P2 06 feed forward gain P2 07 and ratio of load inertia to servo motor Inertia 1 37 Please refer to the following description B Proportional gain Adjust this gain can increase the position loop responsiveness B Integral gain Adjust this gain can enhance the low frequency stiffness of speed loop and eliminate the steady error Also reduce the value of phase margin Over high integral gain will result in the unstable servo system B Feed forward gain Adjust this gain can decrease the phase delay error Relevant parameters P2 04 KvP Proportional Speed Loop Gain Address 0208H 0209H Default 500 Related Section Applicable Control Mode ALL Section 6 3 6 Unit rad s Range 0 8191 Data Size 16 bit Display Format DEC Settings This parameter is used to set the speed loop gain When the value of proportional speed loop gain is increased it can expedite speed loop response However if the setting value is over high it may generate vibration or noise Speed Integral Compensation Address 020CH 020DH Default 100 Related Section Applicable Control Mode ALL Section 6 3 6 Unit rad s Range 0 1023 Data Size 16 bit Display Format DEC Settings This parameter is used to set the integral time of speed loop When the value of speed integral compensation is increase
113. Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter ZERLE Cor tedio is A Address 041EH 041FH Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter ETA cor pra Dis eu DEO ete USCIS qu Address 0420H 0421H Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter Revision April 2011 7 79 Chapter 7 Servo Parameters ASDA B2 ZE COr3 uu Diss BUTTE sen aeu our Address 0422H 0423H Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter ZEE cora oily SO O S OSTSEE Address 0424H 0425H Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 0 32767 Data Size 16 bi
114. P4 08X PKEY Ag Keypad Input of Servo N A N A O O O P4 09 X MOT Output Status N A N A 0 O O 4 4 6 P4 104 CEN Adjustment Function 0 N A O O Analog Speed Input Drift Factory a d Adjustment 1 Setting MATO i Analog Speed Input Drift Factory PUE SERE Adjustment 2 Setting MA 18 S PA 14 TOF2 Analog Torque Drift Adjustment Factory N A O O O 2 Setting Current Detector Drift Factory X oe Adjustment V1 phase Setting e es eee AS Current Detector Drift Factory PD ES Adjustment V2 phase Setting ERE MS Current Detector Drift Factory P ES Adjustment W1 phase Setting BES 2 9 2 Current Detector Drift Factory AG ES Adjustment W2 phase Setting NOE ES 2 P4 19 TIGB IGBT NTC Calibration NAN 00 etting Analog Monitor Output Drift P4 20 DOFI Adjustment CH1 0 mV O O O 6 4 4 i Analog Monitor Output Drift P4 21 DOF2 Adjustment CH2 0 mV O O O 6 4 4 P4 22 SAO Analog Speed Input Offset 0 mV O P4 23 TAO Analog Torque Input Offset 0 mV O e Parameter is effective only after the servo drive is restarted after switching power off and On B Parameter setting values are not retained when power is off 7 10 Revision April 2011 ASIDA B2 Chapter 7 Servo Parameters 7 3 Detailed Parameter Listings Group 0 PO xx Monitor Parameters Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range N A Data Size 16 bit Display Format Decimal PO Ol ALE Drive Fault Code Address 0002H
115. Power Connector ASD CAPW1000 Encoder Connector ASDBCAEN1 000 A 7 Appendix A Accessories 400W Servo Drive and 300W High Inertia Servo Motor ASD B2 0421 B ASVA B2 Servo Drive aig Moe ECMA G21303 1S Servo Motor Without Brake With Brake 3M 5M 3M 5M cups Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASD CAPW1203 ASD CAPW1205 ASD CAPW1303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAENIOO3 ASDBCAENIOO5 ASDBCAENIOO3 ASDBCAEN1005 eU Power Connector ASD CAPW1 000 Encoder Connector ASDBCAEN1000 750W Servo Drive and 750W Low Inertia Servo Motor Servo Drive ASD B2 0721 B Low inertia ECMA C20807L S Servo Motor ECMA C20907 JS Without Brake With Brake 3M 5M 3M 5M E Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASDBCAPW0203 ASDBCAPWO205 ASDBCAPWO0303 ASDBCAPWO0305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAENOO03 ASDBCAENOO05 ASDBCAENOO03 ASDBCAENOOO05 Power Connector ASDBCAPWOOO00 Power Connector ASDBCAPWO 00 EOM EUR Encoder Connector ASDBCAENOOO00 750W Servo Drive and 600W High Inertia Servo Motor ASD B2 0721 B A 8 Encoder Connector ASDBCAEN1000 Servo Drive High inertia ECMA G21306 S Servo Motor ECMA GM1306PS Without Brake With Brake 3M 5M 3M 5M cue Motor Power Cable Motor Power Cable Motor Power Cable Motor Po
116. RS232 485 communication time out time out ALO Reserve Reserve Input power phase ALO db i P One phase of the input power is loss To warn that the servo motor and drive is going to overload This alarm will display before ALMO6 When the servo motor reach the setting value of P1 56 the AL8e3 Pre overload warning l motor will send a warning to the drive After the drive has detected the warning the DO signal OLW will be activated and this fault message will display CN Encoder initial The magnetic field of the encoder U V W signal is in magnetic field error error ALOES Encoder internal The internal memory of the encoder is in error An error internal counter error is detected 8 826 Encoder data error An encoder data error is detected for three times 8 833 Motor protection In order to protect the motor this alarm will be error activated when the setting value of P1 57 is reached after a period of time set by P1 58 CEN U V W GND wiring The wiring connections of U V W for servo motor error output and GND for grounding are in error ALO99 DSP firmware EE PROM s not reset after the firmware version is upgrade upgraded This fault can be cleared after setting P2 08 to 30 first and then setting P2 08 to 28 next and restarting the servo drive O ME 1 If there is any unknown fault code that is not listed on the above table please inform the distributor or contact wit
117. S GNUMI1 PT PT S ASDA B2 Chapter 3 Connections and Wiring Assigned p T DI Pin No Wiring Diagram Control Details g g Signal Mode Default Refer to 3 3 3 Pulses inhibit input When the drive is in INHP position mode if INHP is activated the C9 C10 external pulse input command is not C11 C12 valid O T3 1 The DI signals that do not have pin numbers in Tables 3 C are not default DI signals If the users want to use these non default DI signals the users need to change the settings of parameters P2 10 P2 17 The state of the output function may be turned ON or OFF as it will be dependant on the settings of parameters P2 10 P2 17 Please refer to section 3 3 3 for details Table 3 D Source of Speed Command SPDI SPDO Parameter S mode analog input OFF OFF Sz mode 0 OFF ON P1 09 ON OFF P1 10 ON ON P1 11 Table 3 E Source of Torque Command TCMI TCMO Parameter T mode analog input OFF OFF Tz mode O OFF ON P1 12 ON OFF P1 13 ON ON P1 14 The default Dl and DO signals in different control mode are listed in the following table 3 F and table 3 G Although the content of the table 3 F and table 3 G do not provide more information than the table 3 B and table 3 C above as each control mode is separated and listed in different row it is easy for user to view and can avoid confusion However the Pin number of each signal can not be displayed in t
118. SCII mode lt 8 0 1 gt Modbus RTU mode lt 8 N 2 gt Modbus RTU mode lt 8 E 1 gt Modbus RTU mode 8 0 1 CON DOU bh UU NN O This parameter is used to set the communication protocol The alphanumeric characters represent the following 7 or 8 is the number of data bits N E or O refer to the parity bit Non Even or Odd the 1 or 2 is the numbers of stop bits 0306H Default O 0307H Range 0 1 Transmission Settings Fault Treatment 9 Display fault and continue operating 1 Display fault and stop operating This parameter is used to determine the operating sequence once a communication fault has been detected If 1 is selected the drive will stop operating upon detection the communication fault The mode of stopping is set by parameter P1 32 0308H Watch Dog Timer It is not recommended to change the factory 0309H default setting if not necessary Communication Default 0 Time Out Range 0 20 sec Detection The factory default setting is set to O and it indicates this function is disabled When this parameter is set to any value over O it indicates that the timer is enabled The value set in this parameter is the communication time and the communication time out detection should be completed within the time Otherwise a communication error will occur E For example if the value set in this parameter is 5 it indicates that the communication time out detection will be activated once in five seconds or a
119. TS A SPDO i 7 24 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters B Disable or Enable torque limit function 0 Disable torque limit function 1 Enable torque limit function It is available in position and speed mode Tret MN BOUE Torque Limit Command TCMO ai TCM This parameter is used to determine that the speed and torque limit functions are enabled or disabled If P1 02 is set to 11 it indicates that the speed and torque limit functions are enabled always The users can also use DI signals SPDLM and TRQLM to enable the speed and torque limit functions Please note that DI signals SPDO SPD1 TCMO and TCM are used to select the command source of the speed and torque limit JERE AOUT Pulse Output Polarity Setting Address 0106H 0107H Default O Related Section Applicable Control Mode ALL Section 3 3 3 Unit N A Range 0 13 Data Size 16 bit Display Format Hexadecimal Settings n B not used A Analog monitor outputs polarity 0 MONI MON2 1 MON1 MON2 MON1 MON2 MON1 MON2 Position pulse outputs polarity O UJ UJ N Forward output 1 Reverse output Revision April 2011 7 25 Chapter 7 Servo Parameters AS521 B2 Lm moni Analog Monitor Output Proportion 1 Address 0108H 0109H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit full scale Range 0 100 Data Size 16 bit Display Format Decim
120. Terminal Block for P amp D C C 6 One operating lever for wire to terminal block insertion 7 One jumper bar installed at pins P amp and D of the 3 PIN Terminal Block for P amp D C 8 Instruction Sheets Part Il Optional parts Refer to Appendix A 1 One power cable which is used to connect servo motor to U V W terminals of servo drive This power cable includes a green grounding cable Please connect the green grounding cable to the ground terminal of the servo drive Revision April 2011 1 1 Chapter 1 Unpacking Check and Model Explanation ASDA B2 2 One encoder cable which is used to connect the encoder of servo motor to the CN2 terminal of servo drive 3 CN1 Connector 4 PIN Connector 3M type analog product 4 CN2 Connector 9 PIN Connector 3M type analog product 5 CN3 Connector 6 PIN Connector IEEE1 394 analog product 1 2 Model Explanation 1 2 1 Nameplate Information ASDA B2 Series Servo Drive B Nameplate Explanation A neta AC SERVO DRIVE Model Name MODEL ASD B2 0421 B Capacity Specification POWER 400W E INPUT 200 230V 3PH 50 60Hz 1 854 Applicable Power Supply 200 230V 1PH 50 60Hz 3 224 Rated Output Current gt OUTPUT 110V 0 250Hz 2 64 Barcode and Serial Number gt 101000 00000000100000006 6000010 Firmware Version gy 0 870421519310002 DELTA ELECTRONICS INC MADE IN XXXXXX B Serial Number Explanation B20421B T 9 31 0002
121. U TOKYO 105 0012 JAPAN TEL 81 3 5733 1111 FAX 81 3 5733 1211 EUROPE DELTRONICS THE NETHERLANDS B V Eindhoven Office DE WITBOGT 15 5652 AG EINDHOVEN THE NETHERLANDS TEL 31 40 259 2850 FAX 31 40 259 285 xi Table of Contents xii This page intentionally left blank ASDA B2 Revision April 2011 Chapter 1 Unpacking Check and Model Explanation 1 1 Unpacking Check After receiving the AC servo drive please check for the following B 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 B Ensure that the servo motor shaft rotates freely Rotate the motor shaft by hand a smooth rotation will indicate a good motor However a servo motor with an electromagnetic brake can not be rotated manually B Check for damage Inspect the unit to insure it was not damaged during shipment B Check for loose screws Ensure that all necessary screws are tight and secure If any items are damaged or incorrect please inform the distributor whom you purchased the product from or your local Delta sales representative A complete and workable AC servo system should include the following parts Part Delta standard supplied parts 1 Servo drive 2 Servo motor 3 5 PIN Terminal Block for L1c L2c R S T 4 3 PIN Terminal Block for U V W 5 4 PIN
122. W ECMA G213060S 600W ECMA GM1 306PS 600W BEEN ECMA G213090S 900W I AS ECMA GM1 309PS 900W Uf g SN ECMA C2091005 1000W Hf 2 22 ECMA C2101 00S 1000W LUC A eJ ECMA E21 3100S 1000W NS 5 ES ECMA E2131505 1500W WS ECMA C21020LS 2000W ECMA E213200S 2000W ECMA E2 182005 2000W ECMA E21830LIS 3000W ECMA F21830LIS 3000W 3106A 24 115 Revision April 2011 3 7 Chapter 3 Connections and Wiring ASDA B2 Terminal U V W CASE GROUND BRAKE BRAKE2 Identification Red White Black Green Blue Brown A 2 3 4 B 2 4 5 3 6 C F B E G D D E F G A 5 Tene 1 The coil of brake has no polarity The names of terminal identification are BRAKE1 Blue and BRAKE2 Brown 2 The power supply for brake is DC24V Never use it for VDD the 24V source voltage 3 8 Revision April 2011 ASDA B2 3 1 5 Encoder Connector Specifications Chapter 3 Connections and Wiring The boxes L1 in the model names are for optional configurations Please refer to section 1 2 for model explanation Motor Model Name Encoder Connector Terminal Identification ECMA C20401LIS 100W ECMA C20602LIS 200W ECMA C20604LIS 400W ECMA CMO604PS 400W ECMA C20804L17 400W 19 6113 Dael iau ECMA C20807LIS 750W ECMA C20907LIS 750W HOUSING AMP 1 172161 9 ECMA G21303LIS 300W ECMA E21305L1S
123. W Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD B2 2023 B Medium inertia ECMA E21320 S Servo Motor Without Brake With Brake 3M 5M 3M 5M Cabl Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable able ASD CAPW1 203 ASD CAPW1 205 ASD CAPW1 303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAENIOO5 ASDBCAEN1003 ASDBCAEN1005 Power Connector ASD CAPW1 000 Connector A 10 Encoder Connector ASDBCAEN1 000 Revision April 2011 ASDA B2 Appendix A Accessories 2kW Servo Drive and 2kW Medium Inertia Servo Motor Servo Drive ASD B2 2023 B Medium inertia ECMA E21820 S Servo Motor Without Brake With Brake 3M 5M 3M 5M RET Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable able ASD CAPW2203 ASD CAPW2205 ASD CAPW2 303 ASD CAPW2305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAEN1005 ASDBCAEN1003 ASDBCAEN1005 Power Connector ASD CAPW2000 Connector Encoder Connector ASDBCAEN1000 3kW Servo Drive and 3kW Medium Inertia Servo Motor Servo Drive ASD B2 3023 B Medium inertia ECMA E21830 IS Servo Motor Without Brake With Brake 3M 5M 3M 5M CUN Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable able ASD CAPW2203 ASD CAPW2205 ASD CAPW2 303 ASD CAPW2305 Encoder Cable Encoder Cable Encod
124. WGI8 CAWGIA 1 3 23 0 82 2 ECMA C20907L5 AWG16 AWGIA AWGI8 AWG14 ASD B2 0721 0 er 1 3 2 0 82 21 AWGI6 AWG14 AWGI8 AWGIA 1 3 2 0 82 2 ECMA GMI306P5 v AWGI6 AWG14 AWGI8 AWG14 ECMA C210100S E E E gt i AWGI6 AWG14 AWGI6 AWG14 CIDE 1 3 2 1 3 2 AWGI6 AWG14 AWGI6 AWG14 1 3 2 1 3 2 ESOS 1 3 E 1 3 2 AWGI6 AWGIA4 AWGI6 AWG14 ECMA GM1309PS E ES s Eo AWGI6 AWGI4 AWGI6 AWG14 1 3 23 1 3 2 T 1 3 2 1 E 2 AWGI6 AWG14 AWG14 CAWGIA 1 3 23 2 2 1 3 23 3 3 2 1 ECMA E21820L5 lt AWG16 AWG14 AWG12 AWG14 1 3 2 3 3 2 ECMA E21830L5 AWGI6 AWGI14 AWGI2 AWG14 ASD B2 3023 0 ECUIPATRSOEE 1 3 E 3 3 23 AWGI6 AWGIA4 AWGI2 AWG14 Revision April 201 1 ASDA B2 Encoder Cable Encoder Cable Wire Gauge AWG mm Chapter 3 Connections and Wiring ems Wire Size Core Number UL Rating apie il ASD B2 0121 0 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B2 0221 L 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B2 0421 0 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B2 0721 L 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B2 1021 O 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B2 1521 0 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B2 2023 L 0 13 AWG26 10 core 4 pair UL2464 3m 9 84ft ASD B2 3023 L1 0 13 AWG26
125. aintenance and Inspection cocccococccnonononanannononanannnncnnnonanarnnanancnnnons B X Revision April 201 1 ASDA B2 Table of Contents About this Manual User Information Be sure to store this manual in a safe place Due to constantly growing product range technical improvement alteration or changed texts figures and diagrams we reserve the right to make information changes within this manual without prior notice Coping or reproducing any part of this manual without written consent of Delta Electronics Inc is prohibited Technical Support and Service You are welcome to contact our Technical Support Team at the below numbers or visit our web site http www delta com tw industrialautomation if you need technical support service information or if you have any questions in the use of this product We look forward to serving your needs and are willing to offer our best support and service to you ASIA DELTA ELECTRONICS INC Taoyuan Plant 1 31 1 XINGBANG ROAD GUISHAN INDUSTRIAL ZONE TAOYUAN COUNTY 33370 TAIWAN R O C TEL 886 3 362 6301 FAX 886 3 362 7207 NORTH SOUTH AMERICA DELTA PRODUCTS CORPORATION USA Raleigh Office P O BOX 12173 5101 DAVIS DRIVE RESEARCH TRIANGLE PARK NC 27709 U S A TEL 1 919 767 3813 FAX 1 919 767 3969 Revision April 201 1 JAPAN DELTA ELECTRONICS JAPAN INC Tokyo Office DELTA SHIBADAIMON BUILDING 2 1 14 SHIBADAIMON MINATO K
126. al nos MON2 rie Monitor Output Proportion 2 Address 010AH 010BH Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit 96 full scale Range 0 100 Data Size 16 bit Display Format Decimal Accel Decel Smooth Constant of Analog Lm zu Speed Command Low pass Filter excuse DUIS ULOL Default O Related Section Applicable Control Mode S Section 6 3 3 Unit ms Range 0 1000 0 Disabled Data Size 16 bit Display Format Decimal pPi o7 lar ee Cou Cro eLo Address 010EH 010FH Command Low pass Filter Default O Related Section Applicable Control Mode T Section 6 4 3 Unit ms Range 0 1000 0 Disabled Data Size 16 bit Display Format Decimal TENTE PFLT Smooth Constant of Position Command Address 0110H 0111H Low pass Filter Default O Related Section Applicable Control Mode PT Section 6 2 6 Unit 10ms Range 0 1000 0 Disabled Data Size 16 bit Display Format Decimal 7 26 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Lm spr Ist Speed Command or Limit Address 0112H 0113H Default 1000 Related Section Applicable Control Mode S T Section 6 3 1 Unit 0 1 r min Range 50000 50000 Data Size 32 bit Display Format Decimal Settings Ist Speed Command In Speed mode this parameter is used to set speed 1 of internal speed command Ist Speed Limit In Torque mode this parameter is used to set speed limit 1 of
127. al Cause Check if the following conditions occur Condition 1 Motor speed is above the value set by P1 76 Condition 2 Motor Speed 60 P1 46x4 19 8x109 ALC Ig Serial communication error Checking Method Correctly set P1 76 and P1 46 1 Ensure that the motor speed is below the value set by P1 76 2 Motor Speed 60 P1 46x4 19 8x10 Corrective Actions Communication parameter setting is defective Check the communication parameter setting Correctly set parameter setting Communication address is incorrect Check the communication address Correctly set communication address Communication value Is incorrect Revision April 201 1 Check the communication value Correctly set communication value 9 7 Chapter 9 Troubleshooting AA527 B2 ALDO Serial communication time out Potential Cause Checking Method Corrective Actions Setting value in time out parameter is not correct Check communication time out parameter setting Correctly set P3 07 Tighten the communication Not receiving cable make sure the communication Check whether communication cable is n communication cable is not command fora long loose or broken i damaged and ensure all wiring time is correct AL LOC if Reserve ALoeCE Input power phase loss Potential Cause Checking Method Corrective Actions If the fault does not clear even
128. an analog speed command and it is also with smoothing function Relevant parameters SELT Accel Decel Smooth Constant of Analog Address 010CH 010DH Speed Command Low pass Filter Default O Related Section Applicable Control Mode S Section 6 3 3 Unit ms Range 0 1000 0 Disabled Data Size 16 bit Display Format DEC 5 Ten 1 If the setting value of parameter P1 06 is set to O it indicates the function of this parameter is disabled and the command is just By Pass Revision April 2011 6 15 Chapter 6 Control Modes of Operation ASDA B2 Target Speed SFLT 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 pees E The speed control ramp is determined by parameter P1 40 3000rpm o l I I l l I l l l l l I I I I A e I I I I I I 5 10 Analog Input Voltage V an 3000rpm 5000rpm Relevant parameters DEN VCM Max Analog Speed Command Limit Address 0150H 0151H Default rated speed Related Section Applicable Control Mode S T Section 6 3 4 Unit r min Range 0 10000 Data Size 16 bit Display Format DEC 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 paramet
129. an be set to suppress the resonance automatically If the users do not want to suppress the resonance automatically these two notch filter can also be set to or eliminate the resonance manually Please refer to the following flowchart for manual adjustment Use resonance analysis tool provided by ASDA Soft software to display the resonance point Receive acceleration and deceleration command from 1 the host external controller and perform acceleration and deceleration operation alternately Mthere is any high YES S frequency resonance IA noise Set the value of P2 23 as the value of resonance frequency which is detected by ASDA Soft software Then set P2 24 to 4 A g Sisk itera nde yin EL e resonance rate P2 24 Tuning is completed Revision April 201 1 5 19 Chapter 5 Trial Run and Tuning Procedure 5 5 7 Relationship between Tuning Modes and Parameters ASDA B2 Tuning Mode P2 32 E User defined Parameter Gain Value arameter P1 37 Ratio of Load Inertia to Servo Motor Inertia J load J_motor P2 00 Proportional Position Loop Gain Manual Mode pisei None P2 04 Proportional Speed Loop Gain Fixed J P2 06 Speed Integral Compensation P2 25 Low pass Filter Time Constant of Resonance Suppression P2 26 External Anti Interference Gain P1 37 P2 00 Aut Meda P2 02 Continuous P2 04 P2 31 Auto Stiffness and Frequency A
130. arameter setting P2 34 Revision April 201 1 ASDA B2 ALOCO Abnormal pulse control command Checking Method Potential Cause Chapter 9 Troubleshooting Corrective Actions Pulse command frequency is higher than rated input frequency GHH Excessive deviation Checking Method Use pulse frequency detector to measure input frequency Potential Cause Correctly set the input pulse frequency Corrective Actions Check the maximum deviation parameter setting and observe the position error value when the motor is running Maximum deviation parameter setting is too small Increases the parameter setting value of P2 35 Gain value is too small Check for proper gain value Correctly adjust gain value Torque limit is too Check torque limit value low Correctly adjust torque limit value There is an overload Check for overload condition Avg ig Reserve Ao Encoder error Position detector fault Checking Method Potential Cause Reduce external applied load or re estimate the motor capacity Corrective Actions 1 Check if all wiring is correct Check if the users conduct the wiring by the wiring information in the user manual The wiring of encoder IS in error N Ensure all wiring is correct Encoder is loose Examine the encoder connector Install the motor again The wiring of encoder Check i
131. arameter simultaneously Then users can use UP or DOWN arrow key to change parameter value or press MODE key to exit and return back to the parameter mode 7 n parameter setting mode the users can move the cursor to left by pressing the SHIFT key and change the parameter settings blinking digits by pressing the UP or DOWN arrow key 8 After the setting value change is completed press SET key to save parameter settings or execute command 9 When the parameter setting is completed LCD display will show the end code SAVED and automatically return back to parameter mode 4 2 Revision April 2011 A521 B2 Chapter 4 Display and Operation 4 3 Status Display 4 3 1 Save Setting Display After the SET key is pressed LCD display will show the following display messages for approx one second according to different status Display Message Description The setting value is saved correctly Saved This parameter is read only Write protected Read Only Invalid password or no password was input Locked The setting value is error or invalid Out of Range The servo system is running and it is unable to accept this setting value to be changed Servo On This parameter is valid after restarting the drive Power On 4 3 2 Decimal Point Display Display Message Description High Low byte display When the data is a decimal 32 bit data these two digits are used to show if the display
132. at do not exceed the specifications defined in the ASDA B2 series user manual Drives cables and motors are for use in a suitable enclosure with a minimum of a UL50 type l or NEMA 250 Type 1 rating The words DANGER WARNING and STOP have the following meaning serious injury or death Indicates a potentially hazardous situation and if not avoided may result in E minor to moderate injury or serious damage to the product E li Revision April 2011 Indicates a potentially hazardous situation and if not avoided may result in Indicates an improper action that it is not recommended Doing so may cause damage or malfunction ASPA B2 Preface Unpacking Check gt Please ensure that both the servo drive and motor are correctly matched for size power rating Failure to observe this precaution may cause fire seriously damage to the drive motor or cause personal injury Installation gt 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 Wiring gt Connect the ground terminals to a class 3 ground Ground resistance should not exceed 100 0 Improper grounding may result in electric shock or fire Do not connect any power supplies to the U V W terminals Failure to observe this precaution may result in serious injury damage to the drive or fire Ensure that
133. ation P2 15 Die Digital Input Terminal 6 DI6 Address 021EH 021FH Default 22 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 01 5Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 16 D7 Digita Input Terminal 7 DI7 Address 0220H 0221H Default 23 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 O15Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 17 Di8 Digital Input Terminal 8 DI8 Address 0222H 0223H Default 21 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 O15Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation 7 48 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters P2 18 DO Digital Output Terminal 1 DO1 Address 0224H 0225H Default 101 Related Section Table 7 B Applicable Control Mode ALL Unit N A Range 0 013Fh Data Size 16 bit Display Format Hexadecimal Settings The parameters from P2 18 to P2 22 and P2 37 are used to determine the functions and statuses of DOI DOS A 1 O EQ ack B not used A DO Function Settings For the setting value of P2 18 P2 22 and P2 37 please refer to Table 7 B B DO Enabled Status Settings 0 Normally closed contact b 1 Normally open contact a
134. ation When installing two or more drives adjacent to each other please follow the clearances as shown in the following diagram Revision April 2011 2 3 Chapter 2 Installation and Storage A521 B2 B Minimum Clearances 50mm 2 0in min 50mm 2 0in min B Side by Side Installation 100mm 4 0in Air Flow Air Flow 2 4 Revision April 2011 A521 B2 Chapter 2 Installation and Storage 2 5 Circuit Interrupter and Fuse Current Recommended Value Caution Please use circuit interrupter and fuse which are recognized by and comply with the UL or CSA standards WARNING Servo Drive Model Recommended Breaker Recommended Fuse Class T Operation Mode General General ASD B2 0121 B 5A 5A ASD B2 0221 B 5A 6A ASD B2 0421 B 10A 10A ASD B2 0721 B 10A 20A ASD B2 1021 B 15A 25A ASD B2 1521 B 20A 40A ASD B2 2023 B 30A 50A ASD B2 3023 B 30A 70A HO MAE 1 When using a GFCI Ground Fault Circuit Interrupter select a current sensor with sensitivity of equal to or more than 200mA and not less than 0 1 second detection time to avoid nuisance tripping Revision April 2011 2 5 Chapter 2 Installation and Storage ASDA B2 2 6 EMI Filter Selection AC Servo Drive EMI Filter Cross Reference Item Power Servo Drive Model Recommended EMI Filter FootPrint 1 100W ASD B2 0121 B OSTDTIWAS N 2 200W ASD B2 0221 B OSTDTIWAS N 3 400W
135. ault O Related Section N A Applicable Control Mode ALL Unit sec Range O IF Data Size 16 bit Display Format Decimal Settings Setting Value of P2 49 Cutoff Frequency of Speed Loop Feedback Hz 00 2500 01 2250 02 2100 03 2000 04 1800 05 1600 06 1500 07 1400 08 1300 09 1200 OA 1100 OB 1000 OC 950 OD 900 OE 850 OF 800 10 750 11 700 12 650 13 600 14 55 15 500 16 450 17 400 18 350 19 300 1A 250 1B 200 1C 175 7 60 Revision April 2011 AA5021 B2 Chapter 7 Servo Parameters Setting Value of P2 49 Cutoff Frequency of Speed Loop Feedback Hz 1D 150 IE 125 1F 100 FAO DCLR Pulse Deviation Clear Mode Address 0264H 0265H Default O Related Section N A Applicable Control Mode PT Unit N A Range 0 2 Data Size 16 bit Display Format Hexadecimal Settings For digital input function DI function please refer to Table 7 A This pulse deviation clear function is enabled when a digital input is set to pulse clear function CCLR mode DI Digital Input setting value is 0x04 When this input is triggered the position accumulated pulse number will be clear to O available in PT mode only 0 CCLR is triggered by rising edge 1 CCLR is triggered bu level Reserved Do Not Use P2 51 P2 52 Reserved Do Not Use KPI Position Integral Compensation Address 026AH 026BH Default O Related Section Applicable Control Mode ALL Section 6 3 6 Unit rad s
136. ay Format Hexadecimal Settings This parameter is used to monitor the data of the servo drive via communication The monitor data can be displayed on PC upon the data scope function provided by ASDA Soft software wore TN Function Mentor mode EEE E A A H Monitor mode the value must be within the range from O through 3 0 Disabled i e disable monitor function 1 Reserved 2 High speed monitor mode The sampling time is 2000 times per second and 4 channels can be monitored 3 High speed monitor mode The sampling time is 4000 times per second and 2 channels can be monitored Revision April 2011 2 71 Chapter 7 Servo Parameters ASDA B2 0D Reserved Do Not Use 0 Reserved Do Not Use MN Reserved Do Not Use 7 72 Revision April 2011 ASDA B2 Chapter 7 Servo Parameters Group 4 P4 xx Diagnosis Parameters GE d ASHI Fault Record N Address 0400H 0401H Default O Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Settings This parameter is used to set the most recent fault record Display of Low Word LXXXX It indicates the fault code i e alarm code Display of High Word hYYYY Reserved NEU ASH2 Fault Record N 1 Address 0402H 0403H Default O Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Se
137. bient temperature of servo drive should be under 45 C 113 F for long term reliability If the ambient temperature of servo drive is greater than 45 C 113 F please install the drive in a well ventilated location and do not obstruct the airflow for the cooling fan Caution The servo drive and motor will generate heat If they are installed in a control panel please ensure sufficient space around the units for heat dissipation Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel Please observe the following precautions when selecting a mounting location Failure to observe the following precautions may void the warranty B Do not mount the servo drive or motor adjacent to heat radiating elements or in direct sunlight B Do not mount the servo drive or motor in a location subjected to corrosive gases liquids airborne dust or metallic particles B Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification B Do not mount the servo drive or motor in a location where vibration and shock will exceed specification B Do not mount the servo drive or motor in a location where it will be subjected to high levels of electromagnetic radiation 2 2 Revision April 2011 A521 B2 Chapter 2 Installation and Storage 2 4 Installation Procedure and Minimum Clearances Installation Procedure
138. bit Display Format DEC Settings This parameter is used to set magnitude of the resonance suppression that is set by parameter P2 45 If P2 46 is set to O the parameters P2 45 and P2 46 are both disabled Resonance Suppression Default 2 1kW and below models or Related Section 5 above 1 kW models Section 6 3 7 Applicable Control Mode ALL Unit O 1 ms Range 0 1000 Data Size 16 bit Display Format DEC Settings This parameter is used to set low pass filter time constant of resonance suppression If P2 25 is set to O this parameter is disabled Speed Control Block Diagram Current Sensor Current Controller Notch Filter 2 Notoh Filter 3 PWM P2 43 P2 44 P2 45 P2 46 Low pass Notch Filter 1 Filter d dm A P2 25 P2 23 P2 24 A b Torque v Load Auto Resonance Suppression Mode Selection amp Auto Resonance Suppression Detection Level P2 47 P2 48 Speed estimator There are two groups of notch filters provided by ASDA A2 series The first group of notch filter is P2 43 and P2 44 and the second group of notch filter is P2 45 and P2 46 When there is resonance please set P2 47 to 1 or 2 Auto mode and then the servo drive will find resonance frequency and suppress the resonance automatically After suppressing the Revision April 2011 6 25 Chapter 6 Control Modes of Operation ASDA B2 resonance point the system will memorize the notch filter frequency into P2 43 and P
139. command sources in torque control mode One is external analog Signal and the other is internal parameter The external analog signal is from external voltage input and it can control the torque of servo motor The internal parameters are from P1 12 to P1 14 which are used to be the torque command in torque control mode 6 4 1 Command Source of Torque Control Mode Torque command Sources 1 External analog signal External analog voltage input 10V to 10V 2 Internal parameter P1 12 to P1 14 The command source selection is determined by the DI signal of CN1 connector T DI signal of 2o CN Command Source Content Range Command TCM1 TCMO External analog Voltage between Ti 0 O Mode signal T REF GND and Tz None Torque command is O 0 T2 0 P1 12 300 13 1 0 Internal parameter P1 13 300 T4 1 1 P1 14 300 B State of TCMO T1 0 indicates OFF Normally Open 1 indicates ON Normally Closed B When TCMO and TCMI are both O OFF if the control mode of operation is Tz then the command is O Therefore if the users do not use analog voltage as torque command the users can choose Tz mode to operation torque control to avoid the zero point drift problem of analog voltage If the control mode of operation is T then the command is the analog voltage between T REF and GND The setting range of the input voltage is from 10V to 10V and the corresponding torque is adjustabl
140. condition However when Reverse limit error Forward limit error Emergency stop Serial communication error and Undervoltage these fault occur WARN is activated first BRKR ALL BRKR is the control terminal of motor brake OLW ALL OLW is activated when the servo drive has detected that the motor has reached the output overload level WARN ALL Servo warning output WARN is activated when the drive has detected Reverse limit error Forward limit error Emergency stop Serial communication error and Undervoltage these fault conditions S_CMP S Sz SP CMP will be activated when the speed error is equal and below the setting value of P1 47 SDO_0 ALL Output the status of bit00 of P4 06 SDO_1 ALL Output the status of bitO1 of P4 06 3 20 SDO_2 ALL Output the status of bitO2 of P4 06 C5 C6 C7 C8 Revision April 201 1 ASDA B2 Chapter 3 Connections and Wiring Pin No signal Control Mode Default Details Gelert ipa 2 SDO 3 ALL Output the status of bit03 of P4 06 SDO 4 ALL Output the status of bit04 of P4 06 SDO 5 ALL Output the status of bit05 of P4 06 SDO 6 ALL Output the status of bit06 of P4 06 SDO 7 ALL Output the status of bitO7 of P4 06 SDO_8 ALL Output the status of bit08 of P4 06 SDO 9 ALL Output the status of bit09 of P4 0
141. ction 5 6 Section 6 3 6 Unit Hz Range 1 1000 Data Size 16 bit Display Format Hexadecimal Settings This parameter allows the users to set the speed frequency response level of auto tuning and semi auto tuning mode The speed frequency response settings are as follows 1 50Hz Low stiffness and low frequency response 51 250Hz Medium stiffness and medium frequency response 25 550Hz High stiffness and high frequency response Please note 1 The servo drive will set the position frequency response according to the setting value of P2 31 2 This parameter is activated by P2 32 Please refer to Section 5 6 for the tuning procedure and the related settings WAP Y AUT2 Tuning Mode Selection Address 0240H 0241H Default O Related Section Applicable Control Mode ALL Section 5 6 Section 6 3 6 Unit N A Range 0 2 Data Size 16 bit Display Format Hexadecimal Settings 0 Manual mode 1 Auto Mode Continuous adjustment 2 Semi Auto Mode Non continuous adjustment Explanation of manual mode 1 When P2 32 is set to mode 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 07 P2 25 and P2 26 can be user defined When switching mode 1 or 2 to 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 07 P2 25 and P2 26 will change to the value that measured in 1 auto tuning mode or 2 semi auto tuning mode Explanation of auto tuning mode The servo drive will continuously estimate the sy
142. ction Description SDO_A Output the status of bit10 of P4 06 Setting value 0x3B DO Name DO Function Description SDO_B Output the status of bit11 of P4 06 Setting value 0x3C DO Name DO Function Description SDO C Output the status of bit12 of P4 06 Setting value Ox3D DO Name DO Function Description SDO D Output the status of bit13 of P4 06 Setting value Ox3E DO Name DO Function Description SDO_E Output the status of bitl 4 of P4 06 7 94 ASDA B2 Trigger Control Method Mode Level Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered Revision April 2011 AA50271 B2 Chapter 7 Servo Parameters Setting value Ox3F Trigger Control DO Name DO Function Description Method Mode Level Output the status of bit15 of P4 06 Triggered DOME 1 When P2 18 to P2 22 and P2 37 is set to O it indicates output function is disabled Revision April 2011 95 Chapter 7 Servo Parameters ASDA B2 This page intentionally left blank 7 96 Revision April 2011 Chapter 8 MODBUS Communications 8 1 Communication Hardware Interface The ASDA B2 series servo drive has three modes of communication RS 232 and RS 485 All aspects of contr
143. ctivated without giving any command please inform the distributor or contact with Delta for assistance 5 6 Revision April 2011 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 3 JOG Trial Run without Load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring The external wiring is not necessary and the users only need to connect the digital keypad to the servo drive For safety it is recommended to set JOG speed at low speed Please refer to the following steps to perform JOG trial run without load STEP 1 Turn the drive ON through software Ensure that the setting value of parameter P2 30 should be set to 1 Servo On STEP 2 Set parameter P4 05 as JOG speed unit r min After the desired JOG speed is set and then press SET key the drive will enter into JOG operation mode automatically STEP 3 The users can press UP and DOWN key to change JOG speed and press SHIFT key to adjust the digit number of the displayed value STEP 4 Pressing SET key can determine the speed of JOG operation STEP 5 Pressing UP key and the servo motor will run in CCW direction After releasing UP key the motor will stop running STEP 6 Pressing DOWN key and the servo motor will run in CW direction After releasing DOWN key the motor will stop running N CW and P CCW Definition CCW Counterclockwise when facing the servo motor shaft CCW is reverse running CW Cloc
144. ctrical is constant 12 96 12 88 15 31 15 86 23 87 26 39 16 51 113 55 13 55 16 06 Insulation class Class A UL Class B CE Insulation resistance gt 100MQ DC 500V Insulation strength AC 1500V 60 sec Weight kg without 3 70 75 7 8 13 5 18 5 18 5 68 70 7 5 brake Weight kg with brake 8 2 8 4 89 9 2 17 5 22 5 225 82 84 89 Max radial shaft load N 490 490 490 490 1176 1470 1470 490 490 490 Max thrust shaft load N 98 98 98 98 490 490 490 98 98 98 Power rating KWAS 64 24 9 43 1 59 7 24 1 35 9 63 9 9 2 35 9 62 1 with brake Rotor moment of inertia be Otani tla rS 8 94 9 14 11 90 15 88 37 86 57 06 57 06 8 94 9 14 11 9 Mechanical time constant 557 164 1 19 1 05 177 1 10 133 2 0 151 1 13 ms with brake Brake holding torque i56 100 100 10 0 250 25 0 250 10 0 10 0 10 0 Nt m min Brake power consumption 190 19 0 19 0 19 0 20 4 20 4 20 4 190 190 19 0 at 20 C W 10 6 Revision April 2011 ASIDA B2 Chapter 10 Specifications Model ECMA Series 10 15 ale reke Uris 10 10 10 10 10 10 10 10 10 10 ms Max Brak pto fm 70 70 70 70 70 70 70 70 70 70 ms Max Vibration grade um 15 Operating temperature 0 40 C Storage temperature 10 80 C Operating humidity 20 to 90 RH non condensing Storage humidity 20 to 90 RH non condensing Vibration capaci
145. d 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 Revision April 2011 6 19 Chapter 6 Control Modes of Operation ASDA B2 P2 07 KvF Speed Feed Forward Gain Address 020EH 020FH Default O Related Section Applicable Control Mode ALL Section 6 3 6 Unit 96 Range 0 100 Data Size 16 bit Display Format DEC Settings This parameter is used to set the feed forward gain when executing speed control command When using speed smooth command increase gain can improve speed track deviation When not using speed smooth command decrease gain can improve the resonance condition of mechanical system In theory stepping response can be used to explain proportional gain KVP integral gain KVI and feed forward gain KVF Now we use frequency area and time area respectively to explain the logic Frequency Domain STEP 1 Set the value of KVI 0 the value of KVF 0 and adjust the value of KVP Gain Frequency KVP Frequency BRaSO STEP2 Fix the value of KVP and adjust the value of KVI Gain Frequency KVI Frequency Phase 6 20 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation 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 l
146. d then run servo motor with load connected Ensure to perform trial run in this order to prevent unnecessary danger gt Do not touch either the drive heat sink or the motor during operation as they may become hot and personal injury may result Maintenance and Inspection gt Do not touch any internal or exposed parts of servo drive and servo motor as electrical shock may result Do not remove the operation panel while the drive is connected to an electrical power source otherwise electrical shock may result Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or performing any wiring and or inspection as an electrical charge may still remain in the servo drive and servo motor with hazardous voltages even after power has been removed Do not disassemble the servo drive or motor as electric shock may result Do not connect or disconnect wires or connectors while power is applied to the drive and motor Only qualified personnel who have electrical knowledge should conduct maintenance and inspection Revision April 2011 Hl Preface ASDA B2 Main Circuit Wiring gt WARNING gt Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise Separate the conduits by 30cm 1 1 8inches or more Use multi stranded twisted pair wires or multi core shielded pair wires for signal encoder PG feedback cables The ma
147. d Torque Limit Em m 3000 N M s we umm o oo P1 09 SP1 3 1st 3rd Speed Limit P1 11 P1 12 TQI 3 1st 3rd Torque Command P1 14 O EGAN ut ol oo Limit PI 414 TIO Analog Torque Command 100 00 0 6 4 4 or Limit Explanation of symbols marked after parameter X Read only register A Parameter cannot be set when Servo On when the servo drive is enabled e Parameter is effective only after the servo drive is restarted after switching power off and on B Parameter setting values are not retained when power is off Revision April 2011 Chapter 7 Servo Parameters AA50271 B2 Digital I O and Relative Input Output Setting Explanation of symbols marked after parameter C A e M Read only register Parameter cannot be set when Servo On when the servo drive is enabled Parameter Name Function Default Unit eui Carus a PT S T P2 09 DRT Bounce Filter 2 ms 0 O O P2 10 DI1 Digital Input Terminal 1 DIT 101 N A O O O Table 7 A P2 11 DI2 Digital Input Terminal 2 DI2 104 N A O O O Table 7 A P2 12 DI3 Digital Input Terminal 3 DI3 116 N A O O O Table 7 A P2 13 DI4 Digital Input Terminal 4 DI4 117 N A O O O Table 7 A P2 14 DI5 Digital Input Terminal 5 DI5 102 N A O O O Table 7 A P2 15 DI6 Digital Input Terminal 6 DI6 22 N A O O O Table 7 A P2 16 DI7 Digita
148. d or Limit Address 011AH O11BH Default 100 Related Section Applicable Control Mode T P amp S Section 6 4 1 Unit 96 Range 300 300 Data Size 16 bit Display Format Decimal Settings 2nd Torque Command In Torque mode this parameter is used to set torque 2 of internal torque command 2nd Torque Limit In Position and Speed mode this parameter is used to set torque limit 2 of internal torque command P1 14 TQ3 3rd Torque Command or Limit Address 011CH 011DH Default 100 Related Section Applicable Control Mode T P amp S Section6 4 1 Unit Range 300 300 Data Size 16 bit Display Format Decimal Settings 3rd Speed Command In Torque mode this parameter is used to set torque 3 of internal torque command 7 28 Revision April 2011 ASDA B2 15 16 17 18 19 20 21 22 23 31 Pl 32 Chapter 7 Servo Parameters 3rd Speed Limit In Position and Speed mode this parameter is used to set torque limit 3 of internal torque command Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use LSTP Motor Stop Mode Selection Address 0140H 0141H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 20 Data Size 16 bit Display Format Hexad
149. d shown on the LED display ALOO6 Then Servo Fault signal will be ON DO signal ALRM will be activated Setting value 0x1 1 Trigger Control DO Name DO Function Description Method Mode Servo warning activated WARN is activated when the drive has detected Reverse limit error Forward limit error Level Emergency stop Serial communication error and Triggered Undervoltage these fault conditions Revision April 2011 7 91 Chapter 7 Servo Parameters Setting value 0x13 DO Name DO Function Description SNL SCWL Reverse software limit SNL is activated when the servo drive has detected that reverse software limit is reached Setting value 0x14 DO Name DO Function Description SPL Forward software limit SPL is activated when the servo SCCWL drive has detected that forward software limit is reached Setting value 0x19 DO Name SP OK Speed reached output SP_OK will be activated when the y speed error is equal and below the setting value of P1 47 DO Function Description Setting value 0x30 DO Name SDO_0 Output the status of bit00 of P4 06 Setting value 0x31 DO Function Description DO Name SDO 1 Output the status of bitO1 of P4 06 Setting value 0x32 DO Function Description DO Name SDO_2 Output the status of bit02 of P4 06 7 92 DO Function Description ASDA B2 Control Mode Trigger Method Level Triggered Trigger Method Control Mo
150. de Control Mode Control Mode Control Mode Control Mode Revision April 2011 Level Triggered Trigger Method Level Triggered Trigger Method Level Triggered Trigger Method Level Triggered Trigger Method Level Triggered ASDA B2 Setting value 0x33 DO Name DO Function Description Output the status of bit03 of P4 06 Setting value 0x34 DO Name DO Function Description SDO 4 Output the status of bit04 of P4 06 Setting value 0x35 DO Name DO Function Description SDO_5 Output the status of bitO5 of P4 06 Setting value 0x36 DO Name DO Function Description SDO_6 Output the status of bit06 of P4 06 Setting value 0x37 DO Name DO Function Description SDO_7 Output the status of bit07 of P4 06 Setting value 0x38 DO Name DO Function Description SDO 8 Output the status of bit08 of P4 06 Revision April 2011 Chapter 7 Servo Parameters Trigger Control Method Mode Level Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered Trigger Control Method Mode Level l All Triggered 7 93 Chapter 7 Servo Parameters Setting value 0x39 DO Name DO Function Description Output the status of bit09 of P4 06 Setting value Ox3A DO Name DO Fun
151. de ALL Section 4 4 3 Unit N A Range O OxFF Data Size 16 bit Display Format Hexadecimal Settings The function of Digital Outout DO is determined by the DO setting value The user can set DO setting value 0x30 Ox3F via communication and then write the values into P4 06 to complete the settings Bit00 corresponds with DO setting value 0x30 BitOl corresponds with DO setting value 0x31 Bit02 corresponds with DO setting value 0x32 Bit03 corresponds with DO setting value 0x33 Bit04 corresponds with DO setting value 0x34 Bit05 corresponds with DO setting value 0x35 Bit06 corresponds with DO setting value 0x36 BitO7 corresponds with DO setting value 0x37 Bit08 corresponds with DO setting value 0x38 Bit09 corresponds with DO setting value 0x39 Bit1 O corresponds with DO setting value Ox3A Bit 1 corresponds with DO setting value Ox3B Bit1 2 corresponds with DO setting value Ox3C Bit1 3 corresponds with DO setting value Ox3D Bit 4 corresponds with DO setting value Ox3E Bit1 5 corresponds with DO setting value Ox3F For example When P2 18 is set to 0x0130 it indicates that the state of DOI is the BitOO state of P4 06 This parameter can also be used to force the state of DO signal Please refer to P2 18 P2 22 to assign the functions of digital outouts DO signals and section 4 4 3 for the Force Outputs Operation Revision April 2011 7 75 Chapter 7 Servo Parameters ASDA B2 O E E Default 0 Related Section Section
152. de or Auto Mode to Semi Auto Mode the servo drive will perform continuous adjustment for estimating the load inertia P1 37 again The servo drive will refer to the frequency response settings of P2 31 when estimating the system inertia P2 31 Auto Mode Stiffness Setting Default setting 80 In Auto mode and Semi Auto mode the speed loop frequency response settings are as follows 1 50Hz Low stiffness and low frequency response 51 250Hz Medium stiffness and medium frequency response 25 550Hz High stiffness and high frequency response Adjust P2 31 Increase the setting value of P2 31 to enhance the frequency response or reduce the noise Continuously perform the adjustment until the satisfactory performance is achieved Servo off set P2 32 t02 and then Servo on next When P0 02 is set to 15 the display will show the ratio of Load inertia to Motor inertia J load J motor Receive acceleration and deceleration command from the host external controller and perform acceleration and deceleration operation alternately 1 Decrease the setting value of P2 31 yes Y if there is any to reduce noise resonance noise 2 If the users do not want to decrease the setting value of P2 31 the users NO can use P2 23 and P2 24 to suppress the resonance of mechanical system See section 5 6 6 The load inertia ratio displayed on the LED display X becomes stable i Check if bit o
153. decrease gain can improve the resonance condition of mechanical system P2 04 kvp Proportional Speed Loop Gain Address 0208H 0209H Default 500 Related Section Applicable Control Mode ALL Section 6 3 6 Unit rad s Range 0 8191 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the speed loop gain When the value of proportional speed loop gain is increased it can expedite speed loop response However if the setting value is over high it may generate vibration or noise P2 05 SPR Speed Loop Gain Switching Rate Address 020AH 020BH Default 100 Related Section N A Applicable Control Mode ALL Unit Range 10 500 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the speed gain switching rate when the gain switching condition is satisfied Please refer to P2 27 for gain switching control selection settings and refer to P2 29 for gain switching condition settings 7 44 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters P2 06 Kvi Speed Integral Compensation Address 020CH 020DH Default 100 Related Section Applicable Control Mode ALL Section 6 3 6 Unit rad s Range 0 1023 Data Size 16 bit Display Format Decimal 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 contr
154. der Counter I i I i Position Command 34 I I I i I I When the value of Proportional Position Loop Gain KPP is too great the position loop responsiveness will be increased and it will result in small phase margin If this happens the rotor of motor will oscillate At this time the users have to decrease the value of KPP until the rotor of motor stop oscillating When there is an external torque command interrupted over low KPP value will let the motor cannot overcome the external strength and fail to meet the requirement of reasonable position track error demand Adjust feed forward gain PFG P2 02 to efficiently reduce the dynamic position track error Position Position Position ee eee GUESS Actual position curve will change from 1 o 3 following the increasing KPP value Time Time Revision April 2011 6 9 Chapter 6 Control Modes of Operation ASDA B2 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 B2 series servo drive supports two kinds of command sources in speed control mode One is external analog signal and the other is internal parameter The external analog signal is from external voltage input and it can control the speed of servo motor There are two usage of internal parameter one is set different soeed command in three speed
155. djusting Continuous l 2 response Level every 30 Adjustment P2 06 p c P2 25 minutes P2 26 P2 49 P1 37 P2 DE Non Semi Auto Mode iab ODIUM P2 04 P2 31 Auto Stiffness and Frequency Adjusting Non continuous 2 response Level stop after a Adjustment P2 06 p p P2 25 period of P2 26 HIS P2 49 When switching mode 1 to 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 25 P2 26 and P2 49 will change to the value that measured in 1 auto tuning mode When switching mode 2 to 0 the setting value of P2 00 P2 02 P2 04 P2 06 P2 25 P2 26 and P2 49 will change to the value that measured in Z2 semi auto tuning mode 5 20 Revision April 201 1 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 5 8 Gain Adjustment in Manual Mode The position and speed responsiveness selection is depending on and determined by the the control stiffness of machinery and conditions of applications Generally high reponsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process system However the higher responsiveness may easily result in the resonance of machinery system Therefore for the applications of high responsiveness the machinery system with control stiffness is needed to avoid the resonance Especially when adjusting the responsiveness of unfamiliar machinery system the users can gradually increase the gain setting value to improve responsive
156. e Address 0156H 0157H Default O Related Section Applicable Control Mode ALL Section 6 5 5 Unit ms Range 1000 1000 Data Size 16 bit Display Format Decimal Settings Used to set the period of time between when the servo drive is Off Servo Off and when electromagnetic brake output signal BRKR is inactivated ON SON OFF OFF BRKR OFF MBT1 P1 42 MBT2 P1 43 Motor gt SPD Speed SGEN Please note 1 When servo is commanded off and the off delay time set by P1 43 has not elapsed if the motor speed is lower than the setting value of P1 38 the electromagnetic brake will be engaged regardless of the off delay time set by P1 43 2 When servo is commanded off and the off delay time set by P1 43 has elapsed if the motor speed is higher than the setting value of P1 38 electromagnetic brake will be engaged regardless of the current motor speed 3 When the servo drive is disabled Servo Off due to a fault except AL022 or by EMGS Emergency stop being activated if the off delay time set by P1 43 is a negative value it will not affect the operation of the motor A negative value of the off delay time is equivalent to one with a zero value Pl 44A CRI Electronic Gear Ratio 1st Numerator N1 Address 0158H 0159H Default 16 Related Section Applicable Control Mode PT Section 6 2 5 Unit pulse Range 1 2 9 1 Data Size 32 bit Display Format Decimal Settings This paramet
157. e 2005 Ed 9 Do not disconnect the AC servo drive and motor while the power is ON Do not attach modify or remove wiring while power is applied to the AC servo drive 9 Before starting the operation with a mechanical system connected make sure the emergency stop equipment can be energized and work at any time e Do not touch the drive heat sink or the servo motor during operation this may cause serious personnel injury PLEASE READ PRIOR TO INSTALLATION FOR SAFETY Carefully note and observe the following safety precautions when receiving inspecting installing operating maintaining and troubleshooting The following words DANGER WARNING and STOP are used to mark safety precautions when using the Delta s servo product Failure to observe these precautions may void the warranty ASDA B2 series drives are open type servo drives and must be installed in an NEMA enclosure such as a protection control panel during operation to comply with the requirements of the international safety standards They are provided with precise feedback control and high speed calculation function incorporating DSP Digital Signal Processor technology and intended to drive three phase permanent magnet synchronous motors PMSM to achieve precise positioning by means of accurate current output generated by IGBT Insulated Gate Bipolar Transistor ASDA B2 series drives can be used in industrial applications and for installation in an end use enclosure th
158. e command is for speed control only using Moving Filter P1 59 can achieve better smooth performance Before Analog Speed Linear Filter function is used Holding Time ii After Analog Speed Linear Filter function is used JM 0 Reserved Do Not Use JM AN Reserved Do Not Use ANA FRCL Friction Compensation Percentage Address 01 7CH 01 7DH Default O Related Section N A Applicable Control Mode PT S Unit Range 0 100 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the torque percentage for friction compensation If P1 62 is set to O the function of P1 62 is disabled The function of P1 62 is enabled when the setting value of P1 62 is set to 1 or more 4ES FEES FRCT Friction Compensation Smooth Constant Address 017EH 017FH Default O Related Section N A Applicable Control Mode ALL Unit ms Range 0 1000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the smooth constant of friction compensation 7 40 Revision April 2011 AA5021 B2 Chapter 7 Servo Parameters Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use P1 66 Pl 67 JANET PFLT2 Position Command Moving Filter Address 0188H 0189H Default 4 Related Section N A Applicable Control Mode PT Unit ms Range 0 100 Data Size 16 bit Display Format Decimal Reserved Do Not Use Re
159. e see parameter P1 41 B When at least one of TCMO and TCM is not O OFF the torque command is internal parameter The command is valid enabled after either TCMO or TCM is changed The torque command that is described in this section not only can be taken as torque command in torque control mode T or Tz mode but also can be the torque limit input command in position mode P mode and speed control mode S or Sz mode 6 30 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation 6 4 2 Structure of Torque Control Mode Basic Structure Output Torque i R Current Control Torque Torque Command Resonant Suppression 5 command Processing Block Diagram HI Block Diagram 3 Current Sensor The toque command processing is used to select the command source of torque control according to chapter 6 4 1 including max analog torque command parameter P1 41 and smoothing strategy of torque control mode The current control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously As the current control block diagram is too complicated setting the parameters of current control block diagram is not allowed The function and structure of torque command processing is shown as the figure below TCMO TCM 1 signal of CN1 Internal parameter P1 12 1 14 Proportion Command Gain P1 41 Low pass s
160. e 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 If the servo motor is vibrating or there are unusual noises while the motor is running please contact the dealer or manufacturer for assistance Ensure that all user defined parameters are set correctly Since the characteristics of various machinery equipment are different in order to avoid accident or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value Ensure to reset some parameters when the servo drive is off Please refer to Chapter 7 Otherwise it may result in malfunction If there is no contact sound or there be any unusual noises when the relay of the servo drive is operating please contact your distributor for assistance or contact with Delta Check for abnormal conditions of the power indicators and LED display If there is any abnormal condition of the power indicators and LED display please contact your distributor for assistance or contact with Delta Revision April 201 1 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 2 Applying Power to the Drive The users please observe the following steps when applying power supply to the servo drive 1 Please check and confirm the wiring connection between the drive and motor is correct 1 Terminal U V W and FG frame ground must connec
161. e enabled automatically After the mechanical system becomes stable the setting value of P2 47 will return to 0 When the mechanical system is stable the resonance suppression point will be memorized When the mechanical system is not stable if the servo drive is restarted or P2 47 is set to 1 the servo drive will estimate the resonance Suppression point again When P2 47 is set to 2 the servo drive will perform the resonance suppression continuously When the mechanical system becomes stable the resonance suppression point will be memorized When the mechanical system is not stable if the servo drive is restarted the servo drive will estimate the resonance Suppression point again When switching the mode 1 or 2 to 0 the setting values of P2 43 P2 44 P2 45 and P2 46 will be saved automatically EET ANCL ae Resonance Suppression Detection Address 0260H 0261H Default 100 Related Section N A Applicable Control Mode ALL Unit N A Range 1 300 Data Size 16 bit Display Format Decimal Settings When the setting value is smaller the system will become more sensitive to detect and find the resonance Revision April 2011 7 59 Chapter 7 Servo Parameters ASDA B2 When the value of The setting value of P2 48 the sensitivity of detecting resonance The setting value of P2 48 the sensitivity of detecting resonance DEEE si inus Detection Filter and Jitter Address 0262H 0263H uppression Def
162. e fault This fault message can be removed automatically after input power phase lost problem is solved Pre overload warning Turn ARST DI signal ON to clear the fault or restart the servo drive Encoder initial magnetic field error This fault message can be removed by restarting the servo drive Encoder internal error This fault message can be removed by restarting the servo drive Encoder data error This fault message can be removed by restarting the servo drive Motor protection error Turn ARST DI signal ON to clear the fault U V W GND wiring error This fault message can be removed by restarting the servo drive DSP firmware upgrade This fault message can be removed after setting P2 08 to 30 first and then 28 next and restarting the servo drive Revision April 2011 Chapter 10 Specifications 10 1 Specifications of Servo Drives ASDA B2 Series et 00 400 0 oJel ASDA Three phase Three phase 170 255VAC 50 60Hz 15 Um dapes dep Snele base 2000 PORVAE E 15 170 255VAC 22 po USE s 50 60Hz 5 2 a ds MM O9 1 55 2 6 5 1 7 3 83 13 4 19 4 p Arms Arms Arms Arms Arms Arms Arms Arms Cooling System Natural Air Circulation Fan Cooling Encoder Resolution l 17 bit 160000 p rev Feedback Resolution Prey Control of Main Circuit SVPWM Control
163. e there are only a few interferences Please note RFI EME noise should be kept to a minimum communication cable should kept apart from high voltage wires If a transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 15m 50ft which will ensure the correct and desired baud rate 2 The number shown in the pervious figure indicates the terminal number of each connector 3 The power supply should provide a 12V and higher DC voltage 4 Please use a REPEATER if more than 32 synchronous axes are required 5 For the terminal identification of CN3 please refer to Section 3 5 Revision April 2011 8 3 Chapter 8 MODBUS Communications ASIDA B2 8 2 Communication Parameter Settings The following describes the communication addresses for the communication parameters For communication parameters please refer to the Chapter 7 Range Ox01 Ox7F Default Ox7F Settings Hexadecimal 0300H 0301H Communication Address Setting When using RS 232 485 and CANbus communication this parameter is used set the communication address in hexadecimal format If the AC servo drive is controlled by RS 232 485 communication each drive or device must be uniquely identified One servo drive only can set one address If the address is duplicate there will be a communication fault This address is an absolute address which represents the servo drive on a RS 232 485 or CANbus network When the addr
164. e when power is off Without using electromagnetic brake may reduce the life of servo motor To avoid malfunction the electromagnetic brake should be activated after servo system is off Servo Off If the users desire to control electromagnetic brake via external controller not by the servo drive the users must execute the function of electromagnetic brake during the period of time when servo motor is braking The braking strength of motor and electromagnetic brake must be in the same direction when servo motor is braking Then the servo drive will operate normally However the servo drive may generate larger current during acceleration or at constant speed and it may the cause of overload servo fault 6 40 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation Timing chart for using servo motor with electromagnetic brake ON SON ON BRKR OFF OFF DO Output E MBT1 P1 42 MBT2 P1 43 f ZSPD P1 38 Motor Speed BRKR output timing explanation 1 When SERVO OFF when DI SON is not activated the BRKR output goes Off electromagnetic brake is locked after the delay time set by P1 43 is reached and the motor speed is still higher than the setting value of P1 38 2 When SERVO OFF when DI SON is not activated the BRKR output goes Off electromagnetic brake is locked if the delay time set by P1 43 is not reached and the motor speed is still lower than the setting value of P1 38 Electromagnetic Brake Wi
165. ecimal Settings nN wus d not used A Fault Stop Mode 0 Stop instantly 1 Decelerate to stop When a fault occurs except for CWL CCWL EMGS and serial communication error it is used to set servo motor stop mode B Dynamic Brake Option 0 Use dynamic brake 1 Allow servo motor to coast to stop Revision April 2011 7 29 Chapter 7 Servo Parameters ASIDA B2 2 Use dynamic brake first after the motor speed is below than P1 38 allow servo motor to coast to stop When Servo Off or a fault servo alarm occurs it is used to set servo motor stop mode When the fault NL CWL or PL CCWL occurs please refer to the settings of parameter P1 06 P1 35 P1 36 to determine the deceleration time If the deceleration time is set to 1 ms the motor will stop instantly JNE Reserved Do Not Use Default 200 Related Section Applicable Control Mode S Section 6 3 3 Unit ms Range 1 20000 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the acceleration time to accelerate from O to its rated motor speed The functions of parameters P1 34 P1 35 and P1 36 are each individual Please note 1 When the source of speed command is analog command the maximum setting value of P1 36 is set to O the acceleration and deceleration function will be disabled Default 200 Related Section Applicable Control Mode S Section 6 3 3 Unit ms Range 1 20000 Data Size
166. ed Forward Gain EN EM 6 2 8 Smooth Constant of Position P2 04 KVP Proportional Speed Loop Gain rad s FIXE 6 3 6 P2 05 SPR Speed Loop Gain Switching Rate ojo P2 06 KVI Speed Integral Compensation 100 rad s O O O 6 3 6 P2 07 Speed Feed Forward Gain EN 6 3 6 o P2 28 GUT Gain Switching Time Constant P2 29 GPE Gain Switching Condition o Speed Frequency Response P2 31 AUTI Level in Auto and Semi Auto Mode 5 6 Tuning Mode Selection 6 3 6 P2 32A AUT2 Explanation of symbols marked after parameter X Read only register A Parameter cannot be set when Servo On when the servo drive is enabled e Parameter is effective only after the servo drive is restarted after switching power off and on B Parameter setting values are not retained when power is off 7 4 Revision April 2011 ASDA B2 Chapter 7 Servo Parameters Position Control Control Mode Related PT S T Section pulse r min 6 1 N M 26 Parameter Name Function Default Unit Control Mode and Output One CTL Direction P1 O2 A PSTL Speed and Torque Limit Ba Z H o o E as wise ooo 10 CUR fie Deaton Ce o wa o External Pulse Control Command PT mode valo _ ean T DONNE T DONNE TORS P1 00 A Electronic Gear Ratio 3rd i de Numerator N3 pulse i Electronic Gear Ratio 4th AA Numerator N4 Explanation of symbols marked after parameter pulse
167. ed command is analog command the maximum setting value of P1 36 is set to O the acceleration and deceleration function will be disabled Default 200 Related Section Applicable Control Mode S Section 6 3 3 Unit ms Range 1 20000 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the acceleration time to accelerate from O to its rated motor speed The functions of parameters P1 34 P1 35 and P1 36 are each individual Revision April 2011 6 13 Chapter 6 Control Modes of Operation ASDA B2 Please note 1 When the source of speed command is analog command the maximum setting value of P1 36 is set to O the acceleration and deceleration function will be disabled P1 36 TSL Accel Decel S curve Address 0148H 0149H Default O Related Section Unit ms Section 6 3 3 Applicable Control Mode S Range 0 10000 0 Disabled Data Size 16 bit Display Format Decimal Settings This parameter is used to make the motor run more smoothly when startup and windup Using this parameter can improve the motor running stability Speed Time Se i ms TSL 2 TACC TSL 2 TSL 2 TDEC TSLI2 TACC P1 34 Acceleration time TDEC P1 35 Deceleration time TSL P1 36 Accel Decel S curve Total acceleration time TACC TSL Total deceleration time TDEC TSL The functions of parameters P1 34 P1 35 and P1 36 are each individual When P1 36 is set to O Disabled the
168. eed 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 SPDO 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 TCMO 1 is used to select torque command The speed and torque mode switching is controlled by the S T signal The timing chart of speed torque control mode selection is shown as the figure below ST NOT CARE A SPD0 1 VALID gt lt NOTCARE TCMO 1 VALID gt lt NOTCARE gt X Torque control mode Speed control mode TCMO 1 VALID Torque control mode Figure 2 Speed Torque Control Mode Selection In torque mode when S T is ON torque command is selected by TCMO 1 When switching to the speed mode when S T is OFF the speed command is selected by SPDO 1 and then the motor will immediately rotate following the command After S T is ON again it will immediately return to torque mode 6 5 3 Torque Position Control Mode Selection PT T Mode The command source of PT T mode is from external input pulse The torque command can be the external input pulse or internal parameters P1 12 to P1 14 The torque and position mode switching is controlled by T P signal The timing chart of speed position control mode selection is shown as the figure below CTRG adi il g UE
169. eed 2 000 3000 r min ECMA E213100S Torque Nem 42 97 300 Speed 2 000 ooo min ECMA E218300 a Torque N m 3 000 rimin ECMA C208070 S 5 000 Torque IN m Speed ECMA C2091005 dior Speed 2 000 trimin ECMA E213050 S Torque N m 21 5 300 3 000 7 16 100 4B 67 yii Speed ooo r min 2 000 ECMA E2131505 bn Speed 3 000 r min 1 500 ECMA F21830 0S Torque Torque 8 78 276 585 184 3 18 100 ASDA B2 Speed 3000 sooo mini ECMA C206040 S ECMA C20804 E 7 ECMA CMO604PS Speed 2 000 3 000 min ECMA C20907 5 S Speed 400g fmin 2 000 ECMA E213200 S Revision April 2011 A521 B2 Chapter 10 Specifications 10 4 Overload Characteristics B Overload Protection Function Overload protection is a built in protective function to prevent a motor from overheating B Occasion of Overload 1 Motor was operated for several seconds under a torque exceeding 100 torque 2 Motor had driven high inertia machine and had accelerated and decelerated at high frequency 3 Motor UVW cable or encoder cable was not connected correctly 4 Servo gain was not set properly and caused motor hunting 5 Motor holding brake was not released B Chart of load and operating time Low Inertia Series ECMA C2 Series Lem osea 26 300 100 120 140 160 180 200 220 240 260 280 300 Revision April 2011 10 9
170. election filter P1 01 P1 07 Analog signal The command source is selected according to the state of TCMO TCMI and parameter P1 01 T or Tz Whenever the command signal needs to be more smoothly we recommend the users to use proportional gain scalar and low pass filter to adjust torque Revision April 201 1 6 31 Chapter 6 Control Modes of Operation ASDA B2 6 4 3 Smoothing Strategy of Torque Control Mode Relevant parameters JENTA liar eee C ontani ou Ana OO LIA E Address 010EH 010FH Command Low pass Filter 6 32 Default O Related Section Applicable Control Mode T Section 6 4 3 Unit ms Range 0 1000 0 Disabled Data Size 16 bit Display Format DEC DOME 1 Ifthe setting value of parameter P1 07 is set to O it indicates the function of this parameter is disabled and the command is just By Pass Target Speed 6 4 4 Analog Torque Input Scaling The analog voltage between T REF and GND controls the motor torque command Using with parameter P1 41 can adjust the torque control ramp and its range 30095 pa 7 The torque control ramp is determined by parameter P1 41 100 FN Torque command 5 10 Analog Input Voltage V E EE 100 dai 300 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation Relevant parameters DET TCM Max Analog Torque Command Limit Address 0152H 0153H Default 100 Related Section Applicable Co
171. er Cable Encoder Cable ASDBCAEN1003 ASDBCAENIOO5 ASDBCAEN1003 ASDBCAEN1005 Power Connector ASD CAPW2000 Connector Encoder Connector ASDBCAEN1000 3kW Servo Drive and 3kW Medium Inertia Servo Motor Servo Drive ASD B2 3023 B Medium inertia ECMA F21830 S Servo Motor Without Brake With Brake 3M 5M 3M 5M Cab Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable able ASD CAPW2203 ASD CAPW2205 ASD CAPW2303 ASD CAPW2305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAEN1005 ASDBCAEN1003 ASDBCAEN1005 Power Connector ASD CAPW2000 Connector Encoder Connector ASDBCAEN1000 A 11 Revision April 2011 Appendix A Accessories ASDA B2 Other Accessories for ASDA B2 series all models Description Delta Part Number Communication Cable between Drive and ASD CARS0003 Computer for PC Regenerative Resistor 400W 1000 BR400W040 Regenerative Resistor 3kW 100 BRIKOWO20 53 1 The boxes L1 at the ends of the servo drive model names are for optional configurations Full closed loop CANopen and extension DI port For the actual model name please refer to the ordering information of the actual purchased product 2 The boxes L1 in the servo motor model names are for optional configurations keyway brake and oil seal A 12 Revision April 2011 Appendix B Maintenance and Inspection Delta AC servo drives are based on solid state electronics technology Preventive
172. er is used to set the numerator of the electronic gear ratio The denominator of the electronic gear ratio is set by P1 45 P2 60 P2 62 are used to set the additional numberators Please note 1 In PT mode the setting value of P1 44 can be changed only when the servo drive is enabled Servo On 7 34 Revision April 2011 A521 B2 Chapter 7 Servo Parameters CEN GR2 Electronic Gear Ratio Denominator M Address 015AH 015BH Default 10 Related Section Applicable Control Mode PT Section 6 3 6 Unit pulse Range 1 2 1 Data Size 32 bit Display Format Decimal Settings This parameter is used to set the denominator of the electronic gear ratio The numerator of the electronic gear ratio is set by P1 44 P2 60 P2 62 are used to set the additional numberators As the wrong setting may cause motor to run chaotically out of control and it may lead to personnel injury therefore ensure to observe the following rule when setting P1 44 P1 45 The electronic gear ratio setting Please also see P1 44 P2 60 P2 62 Pulse Position f1 Pulse input f2 Position command ulse input N ut d aurai N Numerator the setting value of P1 44 or TA P2 60 P2 62 M Denominator the setting value of P1 45 The electronic gear ratio setting range must be within 1 50 lt N M lt 25600 Please note 1 In PT r mode the setting value of P1 45 can not be changed when the servo drive is enabled Servo On GR3 Encoder
173. er is used to set the speed at the maximum input voltage 10V of the analog speed limit For example in speed mode if P1 40 is set to 3000 and the input voltage is 10V it indicates that the speed command is 3000r min If P1 40 is set to 3000 but the input voltage is changed to 5V then the speed command is changed to 1500r min Speed command limit Input voltage x setting 10 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation 6 3 5 Timing Chart of Speed Control Mode S4 P1 11 Internal speed S3 P1 10 command y S2 P1 09 External analog voltage or zero 0 S1 SPDO OFF ON OFF ON External 1 O signal SPD1 OFF ON Eee SON ON DOE 1 OFF indicates normally open and ON indicates normally closed 2 When speed control mode is Sz the speed command S1 0 when speed control mode is S the speed command S1 is external analog voltage input Please refer to P1 01 3 After Servo ON the users can select command according to the state of SPDO 1 6 3 6 Speed Loop Gain Adjustment The function and structure of speed control mode is shown as the figure below Speed Control Block Diagram Feed Forward Gain P2 07 O Pro portional Gain P2 04 System inertia J 1 P1 37 JM e ee EEF FS SSE EE EE eee ee Differentiator EE A E i T i I Switching Gain J_load J_ motor i i
174. er to add an offset value to analog speed input P4 23 TAO Analog Torque Input Offset Address 042EH 042FH Default O Related Section N A Applicable Control Mode T Unit mV Range 5000 5000 Data Size 16 bit Display Format Decimal Settings In speed mode the users can use this parameter to add an offset value to analog speed input Revision April 2011 7 81 Chapter 7 Servo Parameters ASDA B2 P4 24 tvt Undervoltage Error Level Address 0430H 0431H Default 160 Related Section N A Applicable Control Mode ALL Unit V rms Range 140 190 Data Size 16 bit Display Format Decimal Settings When DC Bus voltage is lower than the value of P4 24 x2 the fault Undervoltage will occur 82 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Table 7 A Input Function Definition Setting value 0x01 Trigger Control DI Function Description Method Mode Servo On When this DI is activated it indicates the servo Level drive is enabled Triggered Setting value 0x02 e Trigger Control DI Name DI Function Description Method Mode A number of Faults Alarms can be cleared by activating ARST Please see table 10 3 for applicable faults that can RET be cleared with the ARST command However please Rising edge Af investigate Fault or Alarm if it does not clear or the fault Triggered description warrants closer inspection of the drive system Setting value 0x03 pm Trigger Co
175. ess of host external controller is set to OxFF it is with auto respond function Then the servo drive will receive from and respond to host external controller both no matter the address is matching or not However the parameter P3 00 cannot be set to OxFF RS 485 207 8 T 01 02 03 HMI PLC or Controller 0302H Default 0x0033 0303H Settings Hexadecimal Transmission E IEEE EN Rage 0 o 0 5 0 5 Settings Baud rate 4800 data transmission speed bits second Baud rate 9600 data transmission speed bits second Baud rate 19200 data transmission speed bits second Baud rate 38400 data transmission speed bits second Baud rate 57600 data transmission speed bits second Baud rate 115200 data transmission speed bits second ui WU N O 8 4 Revision April 2011 ASPA B2 Chapter 8 MODBUS Communications This parameter is used to set the desired transmission speed between the computer and AC servo drive Users can set this parameter and control transmission speed to reach the maximum baud rate of 115200 bps 0304H Default 0x0066 0305H Settings Hexadecimal Communication Protocol COM Port Range Settings Modbus ASCII mode lt 7 N 2 gt Modbus ASCII mode lt 7 E 1 gt Modbus ASCII mode lt 7 0 1 gt Modbus ASCII mode lt 8 N 2 gt Modbus ASCII mode lt 8 E 1 gt Modbus A
176. f P2 33 is 1 Y yl y YES Increase selting value of P2 31 to enhance the stiffness and frequency response UA If satisfied performance N NO is achieved Tuning is completed Revision April 2011 5 15 Chapter 5 Trial Run and Tuning Procedure ASDA B2 HO ME 1 2 When bitO of P2 33 is set to 1 it indicates that the system inertia estimation of semi auto mode has been completed and the measured load inertia value is saved and memorized in P1 37 automatically If reset bitO of P2 33 to O it will start estimating the system inertia again Revision April 201 1 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 5 5 Limit of Load Inertia Estimation The accel decel time for reaching 2000r min must be below 1 second The rotation speed must be above 200r min The load inertia must be 100 multiple or less of motor inertia The change of external force and the inertia ratio can not be too much In Auto Mode P2 32 is set to 1 the measured load inertia value will be saved automatically and memorized in P1 37 every 30 minutes In Semi Auto Mode it will stop estimating the load inertia after a period of continuous adjustment time when the system inertia becomes stable The measured load inertia value will be saved automatically and memorized in P1 37 when load inertia estimation is stopped Servo off set P2 32 to 2 and then Servo on next When P0 02 is set to 15 the display will show the ra
177. f all connections are tight is defective Conduct the wiring again Encoder is damage Check the encoder for the damage ALO ie Adjustment error Potential Cause Checking Method Repair or replace the motor Corrective Actions Remove CN wiring Execute the drift adjustment again Set P2 08 to 20 first and then set P4 10 to 5 The setting value of drift adjustment has 2 exceeded its maximum allowable value Revision April 201 1 If the error does not clear after executing the drift adjustment again please contact your distributor for assistance or contact with Delta 9 5 Chapter 9 Troubleshooting Potential Cause ALG IF Emergency stop activated Checking Method ASDA B2 Corrective Actions Emergency stop switch is activated Check if emergency stop switch is On or Off A Reverse CWL limit switch error Potential Cause Checking Method Activate emergency stop switch Corrective Actions Reverse limit switch is activated Check if reverse limit switch is On or Off Activate reverse limit switch Servo system is not stable Potential Cause Check the value of control parameter setting and load inertia Acc isk Forward CCWL limit switch error Checking Method Modify parameter setting and re estimate motor capacity Corrective Actions Forward limit switch is activa
178. f time which is determined by P2 67 the system will consider that the system inertia has become stable and finish the operation of system inertia estimation Revision April 2011 7 67 Chapter 7 Servo Parameters ASDA B2 Group 3 P3 xx Communication Parameters P3 00 ADR Communication Address Setting Address 0300H 0301H Default Ox7F Related Section Section 8 2 Applicable Control Mode ALL Unit N A Range 0x01 Ox7F Data Size 16 bit Display Format Hexadecimal Settings This parameter is used to set the communication slave address in hexadecimal format This address is an absolute address which represents the servo drive on a RS 232 485 or CANbus network o Y TX Y Rangel gt 0 7 o X Axis number the value must be within the range from O through F Y Group number the value must be within the range from O to through 7 If the AC servo drive is controlled by RS 232 485 communication each drive or device must be uniquely identified One servo drive only can set one address If the address is duplicated there will be a communication fault Please note 1 This parameter does not provide broadcast function and does not respond insecurity 2 When the address of host external controller is set to OxFF it is with auto respond function Then the servo drive will receive from and respond to host external controller both no matter the address is matching or not However the parame
179. fault 1 Related Section N A Applicable Control Mode ALL Unit ms Range 0 1000 Data Size 16 bit Display Format Decimal Settings This parameter is used to protect the motor in case the motor touchs the mechanical equipment The fault ALO30 will be activated when the setting value of P1 57 is reached after a period of time set by P1 58 Please note that this function is applicable for non contact applications such as electric discharge machines only P1 37 must be set correctly MFLT Analog Speed Linear Filter Moving Filter Address 0176H 0177H Default O Related Section N A Applicable Control Mode S Unit O 1 ms Range 0 40 0 Disabled Data Size 16 bit Display Format Decimal Settings This parameter is used to eliminate the noise generated during the operation when the host external controller sends the step analog voltage speed command The parameter P1 06 is Low pass Filter and parameter P1 59 is Moving Filter The differences are that Low pass Filter is usually used to smooth the end of the command but Moving Filter can be used to smooth the start and the end of step analog voltage speed command Using Moving Filter can facilitate the smooth Revision April 2011 7 39 Chapter 7 Servo Parameters ASDA B2 operation of the motor very effectively Therefore it is recommended to use P1 06 Low pass Filter when the speed command from the external controller is applied for position control loop If th
180. firmware version is upgraded Set P2 08 to 30 first and then 28 next and restart the servo drive Check if EE PROM is reset after the firmware version is upgraded 9 10 Revision April 2011 ASDA B2 Display 9 3 Clearing Faults Fault Name Chapter 9 Troubleshooting Clearing Method Overcurrent Turn ARST DI signal ON to clear the fault or restart the servo drive m 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 Motor error This fault message can be removed by restarting the servo drive Regeneration error Turn ARST DI signal ON to clear the fault or restart the servo drive Overload Turn ARST DI signal ON to clear the fault or restart the servo drive Overspeed Turn ARST DI signal ON to clear the fault or restart the servo drive Abnormal pulse control command Turn ARST DI signal ON to clear the fault or restart the servo drive Excessive deviation Turn ARST DI signal ON to clear the fault or restart the servo drive aa JO a3 me gt ic n nm n e ca c3 ES O n Watch dog execution time out This fault message cannot be cleared Encoder error This fault message can be removed by restarting the servo drive MLC bi Adjustment error Th
181. g crc 1 y return reg crc y PC communication program example include lt stdio h gt include lt dos h gt include lt conio h gt include lt process h gt define PORT 0x03F8 the address of COM define THR 0x0000 define RDR 0x0000 define BRDL 0x0000 define IER 0x0001 define BRDH 0x0001 define LCR 0x0003 define MCR 0x0004 define LSR 0x0005 define MSR 0x0006 8 14 Revision April 2011 ASIDA B2 Chapter 8 MODBUS Communications unsigned char rdat 60 read 2 data from address 0200H of ASD with address 1 unsigned char tdat 60 0 1 27053 0 72700770 70 10 0 2 F 8 1 An void main int l outportb PORT MCR 0x08 interrupt enable outportb PORT IER 0x01 interrupt as datain outportb PORT LCR inportb PORT LCR 0x80 the BRDL BRDH can be access as LCR b7 1 outportb PORT BRDL 1 2 outportb PORT BRDH 0x00 outportb PORT LCR 0x06 set prorocol lt 7 E 1 gt 1AH lt 7 0 1 gt OAH lt 8 N 2 gt 07H 8 E 1 1 BH 8 0 1 OBH J for 0 I 216 I while inportb PORT LSR 0x20 wait until THR empty outportb PORT THR tdat I send data to THR y 0 while kbhit 1 if inportb PORT LSR amp Ox01 bO 1 read data ready rdat l inportb PORT RDR read data from RDR Revision April 2011 8 15 Chapter 8 MODBUS Communications ASIDA B2 8 4 Communication Parameter Write in and Read
182. h Delta for assistance 9 2 Revision April 2011 ASDA B2 9 2 Potential Cause and Corrective Actions Servo Drive Fault Messages Potential Cause ALoo i Overcurrent Checking Method Chapter 9 Troubleshooting Corrective Actions Short circuit at drive output U V W 1 Check the wiring connections between drive and motor 2 Check if the wire is short circuited Repair the short circuited and avoid metal conductor being exposed Motor wiring error Check if the wiring steps are all correct when connecting motor to drive Follow the wiring steps in the user manual to reconnect wiring IGBT error Heat sink overheated Please contact your distributor for assistance or contact with Delta Control parameter setting error Check if the setting value exceeds the factory default setting Set the setting back to factory default setting and then reset and adjust the parameter setting again Control command setting error Check if the control input command is unstable too much fluctuation BEDBREJ Overvoltage Potential Cause Checking Method 1 Ensure that input command frequency is stable too much fluctuation 2 Activate filter function Corrective Actions The main circuit voltage has exceeded its maximum allowable value Use voltmeter to check whether the input voltage falls within the rated input voltage Use correct power supply or
183. he table 3 F and table 3 G Revision April 2011 3 23 Chapter 3 Connections and Wiring ASDA B2 Table 3 F Default DI signals and Control modes DI Signal Function PT S T Sz Tz PT S PT T ST Code SON 01 Servo On DII DI ODI DI DI DI DII DII ARST 02 Reset DIS DIS DI5 DI5 DI5 Gain switching in GAINUP 03 speed and position mode CCLR 04 Pulse clear DI2 DI2 DI2 ZCLAMP 05 Low speed CLAMP Command input CMDINV 06 reverse control Reserved 07 Reserved Reserved 08 Reserved TROLM 09 Torque limit enabled DI2 DI2 SPDLM 10 Speed limit enabled DI2 DI2 STOP 46 Motor stop Speed command SPDO 14 DI3 DI3 DI3 DI3 selection O SPD1 15 Speed command DIA DIA DIA DIA selection 1 Tcmo 16 Torque command DI3 DI3 DI3 DI3 DI5 selection O TCMI 17 Torque command DI4 DI4 DI4 DIA DI6 selection 1 Position Speed S P 18 mode switching OFF DI7 Speed ON Position Speed Torque mode S T 19 switching OFF DI7 Speed ON Torque Torque Position T P 20 mode switching OFF DI7 Torque ON Position Reserved 2C Reserved Reserved 2D Reserved EMGS 21 Emergency stop DIS DIS DIS DI8 DI8 DI8 DI8 DIS NL CWL 22 Reverse inhibit limit DI6 DI6 DI6 DIG DI6 PL CCWL 23 Forward inhibit limit DI7 DIZ DIZ DIZ DIZ Reserved 24 Reserved Reverse operation TLLM 25 Nu torque limit 3 24 Revision
184. his DI signal is disabled For more information of parameters P2 15 to P2 17 please refer to Chapter 7 Parameters If the parameter PO 02 is set as motor speed 06 the normal display should be shown as the following figure NI Wow If there is no text or character displayed on the LED display please check if the voltage of the control circuit terminal L1c and L2c is over low Revision April 201 1 5 3 Chapter 5 Trial Run and Tuning Procedure ASDA B2 1 When display shows mnm Over voltage The main circuit voltage has exceeded its maximum allowable value or input power is error Incorrect power input Corrective Actions B Use voltmeter to check whether the input voltage falls within the rated input voltage m Use voltmeter to check whether the input voltage is within the specified limit 2 When display shows mm Encoder error Check if the wiring is correct Check if the encoder wiring CN2 of servo motor is loose or incorrect Corrective Actions B Check if the users perform wiring recommended in the user manual m Examine the encoder connector and cable B Inspect whether wire is loose or not i Check if the encoder is damaged 3 When display shows Emergency stop activated Please check if any of digital inputs DI1 DI9 signal is set to Emergency Stop EMGS Corrective Actions B If it does not need to use Emergency Stop EMGS as input signal the u
185. i ti T4 T5 T6 T5 T6 T5 d i T4 i T5 T6 T5 T6 i T5 T4 Irection j Sign Pulse AB phase 3 rede r EE pulse CW Negative CCW Logic pulse Pulse j ie gt e et bi DA AA 9 ie t Don A SA E 4 T4 75 TE TS T6 iT5i T4 i i M ee ee eee OM Sign Min time width input pulse frequency gus driver Low speed driver Max input pulse Voltage Forward Pulse specification UN NE NEN ETTE High speed pulse 4Mpps 25mA Low speed pulse Open collector 200Kpps 24V Max 7 22 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters D Source of pulse command Setting value Input pulse interface Remark CNI Terminal Identification 0 Open collector for low speed pulse PULSE SIGN CNI Terminal Identification 1 Line driver for high speed pulse PULSE_D SIGN_D P1 01 CTL Control Mode and Output Direction Address 0102H 0103H Default O Related Section Applicable Control Mode ALL Section 6 1 Table 7 A Unit pulse P mode r min S mode N m T mode Range 00 110F Data Size 16 bit Display Format Hexadecimal Settings not used A Control mode settings Single Mode o Jaj I Or Reserved 0 2 Jaf 008 laf a ap 1005 l Multiple Mode Multiple Mode 100 Jajaj 07 fa a 08 Reserved 00
186. iagram Block Diagram ae In the figure above the speed command processing is used to select the command source of speed control according to chapter 6 3 1 including proportional gain P1 40 and S curve filter smoothing strategy of speed control The speed control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously The resonance suppression block diagram is used to suppress the resonance of mechanical system Revision April 2011 6 11 Chapter 6 Control Modes of Operation ASDA B2 The function and structure of speed command processing is shown as the figure below SPDO SPD1 signal of CN1 internal parameter P1 09 S curve Command Filter Low pass e selection P1 34 filter P1 01 P1 35 P1 06 amp Bee ei P1 36 The command source is selected according to the state of SPDO 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 Using S curve filter can let the servo motor run more smoothly in response to a sudden speed command change Since the speed and acceleration c
187. ic units Dimensions in imperial units are for reference only Please use metric for precise measurements 10 14 Revision April 2011 10 Specifications ASDA B2 Chapter 10 6 Dimensions of Servo Motors Motor Frame Size 86mm and below Models M ik p i evocmus r E E 4 6 ml WL Model C20401r3S C206020S C20604r5S C208040S C208070S C209070S C2091005S LC 40 60 60 80 80 86 86 LZ 4 5 5 5 5 5 6 6 6 6 6 6 6 6 LA 46 70 70 90 90 100 100 S 8009 l4CQoi l4C o1 1400 19 8913 16 091 16C 001 LB 300 021 500 025 500 025 700 030 700 030 800 030 800 030 EIE 100 6 1055 130 7 1123 1383 1302 1532 LL with brake 136 6 141 6 166 8 152 8 178 161 3 184 3 E HRONE el 20 27 37 7 32 30 30 seal LS with oil seal 20 24 24 24 5 29 5 30 30 LR 25 30 30 30 35 35 35 LE 2 5 3 3 3 3 3 3 LG 5 7 5 7 5 8 8 8 8 LW 16 20 20 20 25 20 20 RH 6 2 11 11 11 15 5 13 13 WK 3 5 5 5 6 5 5 W 3 5 5 5 6 5 5 T 3 5 5 5 6 5 5 A M3 M4 M4 M4 M6 M5 M5 Depth8 Depth 15 Depth 15 Depth 15 Depth 20 Depth 15 Depth 15 513 1 2 3 4 Revision April 2011 Dimensions are in millimeters Dimensions and weights of the servo motor may be revised without prior notice The boxes L1 in the model names are for optional configurations Please refer to section 1 2 for model explanation Except ECMA CMO604PS LL 116 2mm for the specificatio
188. igh it may easily lead to the instability of speed loop and overshoot of machinery system The recommended setting value is as follows 10000 NLP Parameter P2 25 ss Speed Loop Frequency Response Hz B DST Parameter P2 26 External Anti Interference Gain This parameter is used to enhance the anti interference capability and reduce the occurrence of overshoot The default setting is O Disabled It is not recommended to use it in manual mode only when performing a few tuning on the value gotten through P2 32 AutoMode PDFF setting value is 5 mode 5 automatically The setting value of P2 26 will change to the value that measured in mode 5 AutoMode PDFF when switching mode 5 AutoMode PDFF to mode O Manual mode B PFG Parameter P2 02 Position Feed Forward Gain This parameter is used to reduce position error and shorten the positioning settling time However if the setting value is over high it may easily lead to the overshoot of machinery system If the value of electronic gear ratio 1 44 1 45 is over than 10 the machinery system may also easily generate vibration or noise 5 22 Revision April 2011 Chapter 6 Control Modes of Operation 6 1 Control Modes of Operation The Delta ASDA B2 series can be programmed to provide six single and five dual modes of operation Their operation and description is listed in the following table Mode Code Description External Position control mode for the
189. ing figure shows the actual operation of regenerative resistor Revision April 2011 2 11 Chapter 2 Installation and Storage ASDA B2 2 With Load When there is an external load torque servo motor is in reverse rotation when external load greater than motor torque Servo motor is usually in forward rotation and the motor torque output direction is the same as the rotation direction However there is still some special condition If the motor output torque is in the reverse direction of rotation the servo motor is also in the reverse direction of rotation The external power is input into the servo drive through servo motor The figure below is an example The users can see the motor is in forward rotation at constant speed when a sudden external load torque change and great power is transmitted to regenerative resistor rapidly Motor Rotation Speed Motor Output Torque Reverse Forward Reverse Forward Rotation Rotation Rotation Rotation External load torque in reverse direction TL x Wr TL External load torque For the safety we strongly recommend the users should select the proper resistance value according to the load For example When external load torque is a 70 rated torque and rotation speed reaches 3000r min if using 400W servo drive rated torque 1 27Nt m then the users need to connect a external regenerative resistor which power is 2 x 0 7 x 1 27 x 3000 x 2 x Tr 60 560W 40Q
190. ion April 201 1 ASDA B2 Chapter 7 Servo Parameters Pei Analog Speed ra W Motor Speed Before Command s mm ZCLAMP is activated we NN Motor Speed After P1 38 EN ZCLAMP is e H a y rere N l Motor Speed Before ZCLAMP is activated A A bes shee Motor Speed After P1 38 omman ZCLAMP is activated 1 When the command source is an internal speed command the users can use ZCLAMP DI signal to stop the motor at the desire position and keep the acceleration and deceleration speed curve of the analog speed command When ZCLAMP conditions are satisfied the speed command is forced to O r min directly Motor Speed Before ZCLAMP is activated a P1 38 Motor Speed After ZCLAMP is activated Internal Speed Dn Command Bit 1 NL CWL PL CCWL pulse input inhibit function 0 Disable NL CWL PL CCWL pulse input inhibit function In PT mode no matter NL or PL exists or not external position pulse command will be input into the servo drive 1 Enable NL CWL PL CCWL pulse input inhibit function In PT mode if NL exists the external NL pulse input into the servo drive will be inhibited and PL pulse input will be accepted On the one hand in PT mode if PL exists the external PL pulse input into the servo drive will be inhibited and PL pulse input will be accepted Please note If NL and PL both exist NL and PL pulse input into the serv
191. is below its minimum specified value Motor error The motor does not match the drive They are not correctly matched for size power rating Regeneration error Regeneration control operation is in error Overload Servo motor and drive is overload Overspeed Motor s control speed exceeds the limit of normal speed Abnormal pulse control command Input frequency of pulse command exceeds the limit of its allowable setting value Excessive deviation Position control deviation value exceeds the limit of its allowable setting value Reserve Reserve Encoder error Pulse signal is in error Adjustment error Adjusted value exceeds the limit of its allowable setting value when perform electrical adjustment Emergency stop activated Emergency stop switch is activated Reverse limit switch error Reverse limit switch is activated Revision April 201 1 Forward limit switch error Forward limit switch is activated 9 Chapter 9 Troubleshooting AA5027 B2 Fault Messages Display Fault Name Fault Description IGBT temperature ALDIS The temperature of IGBT is over high ALG 11 Memory error EE PROM write in and read out is in error The encoder output exceeds the rated output ALO 18 Encoder output error frequency Serial communication error RS232 485 communication is in error Serial communication 0 RUDE
192. is fault message can be removed after the wiring of CN1 connector I O signal connector is removed and auto adjustment function is executed Emergency stop activated This fault message can be removed automatically by turning off EMGS DI signal D r Reverse limit switch error Turn ARST DI signal ON to clear the fault This fault message can be removed when the servo drive is Off Servo Off 0 Forward limit switch error Turn ARST DI signal ON to clear the fault This fault message can be removed when the servo drive is Off Servo Off IGBT temperature error Turn ARST DI signal ON to clear the fault or restart the servo drive Memory error Turn ARST DI signal ON to clear the fault or restart the servo drive a3 r E P0 zd Revision April 201 1 Encoder output error Turn ARST DI signal ON to clear the fault Chapter 9 Troubleshooting ASDA B2 Display Fault Name Clearing Method Turn ARST DI signal ON to clear the fault orc no Serial communication This fault message can also be removed error automatically after the communication is normal Serial communication time out Turn ARST DI signal ON to clear the fault or restart the servo drive Command write in error Turn ARST DI signal ON to clear the fault or restart the servo drive Input power phase loss Turn ARST DI signal ON to clear th
193. isplay is 01010101 it indicates that Digital Inputs 1 3 5 amp 7 are controlled by external commands and Digital Inputs 2 4 6 amp 8 are controlled by communication upon software Please see Chapter 4 4 5 DI Signal Display Diagnosis Operation for display layout of the Digital Signal selection The Digital Input Control parameter P3 06 also works in conjunction with the Digital Input Status parameter P4 07 which has several functions The contents of P4 07 is read only via the drive keypad and will display the state on or off of the eight Digital Inputs which have been set in accordance to P3 06 For Example if P3 06 has been set to FFFF All digital inputs are via communication upon software and the P4 07 display is 11 binary display is 00010001 it indicates that the state of Digital Inputs 1 amp 5 are on and the state of Digital Inputs 2 3 4 6 7 amp 8 are off Revision April 201 1 ASDA B2 Chapter 8 MODBUS Communications 030EH Default O 030FH Range 0 1000 Communication Response Delay Time LL This parameter is used to delay the communication time that servo drive responds to host controller external controller LL When this parameter is set to O it indicates that the communication time that servo drive responds to host controller external controller will no be delayed Default 0000 pee c H Monitor Function mode 0311H Setting Monitor Mode n 0 Disabled i
194. isters speed command is less than parameter P1 38 0 When the command source is an analog speed command the users can use ZCLAMP DI signal to stop the motor at the desire position and do not care the acceleration and deceleration speed curve of the analog speed command The motor will be locked at the position when ZCLAMP conditions are satisfied Analog Speed Motor Speed Before eec Command ZCLAMP is activated x Mer AM Motor Speed After l ci ZCLAMP is activated P1 38 E Pi E M a WD HAS Tee la pa m aR 0 When the command source is an internal speed command the users can use ZCLAMP DI signal to stop the motor at the desire position and keep the the acceleration and deceleration speed curve of the internal speed command The motor will be locked at the position when ZCLAMP conditions are satisfied Motor Speed Before P1 38 ZCLAMP is activated x P n Internal Speed w Command Motor Speed After p SS ZCLAMP is activated b i Fr 1 When the command source is an analog speed command the users can use ZCLAMP DI signal to stop the motor at the desire position and do not care the acceleration and deceleration speed curve of the internal speed command When ZCLAMP conditions are satisfied the speed command is decreased to O r min When ZCLAMP conditions are not satisfied the speed command will follow the analog speed command through Accel Decel S curve Revis
195. itor Output Proportion 1 CH1 Address 0108H 0109H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit full scale Range 0 100 Data Size 16 bit Display Format DEC CES MON2 Analog Monitor Output Proportion 2 CH2 Address 0108H 0109H Default 100 Related Section Applicable Control Mode ALL Section 6 4 4 Unit full scale Range 0 100 Data Size 16 bit Display Format DEC 6 38 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation TEENI pori ae Monitor Output Drift Adjustment Address 0428H 0429H Default Factory setting Related Section Applicable Control Mode ALL Section 6 4 4 Unit mV Range 800 800 Data Size 16 bit Display Format DEC This parameter cannot be reset ESE Dor Papi Monitor Output Drift Adjustment Address 042AH 042BH Default O Related Section Applicable Control Mode ALL Section 6 4 4 Unit mV Range 800 800 Data Size 16 bit Display Format DEC This parameter cannot be reset For example when the users want to observe the analog voltage signal of channel 1 if the monitor output setting range is 8V per 325Kpps then it is needed to change the setting value of parameter P1 04 Analog Monitor Output Proportion 1 to 50 325Kpps Max input frequency Other related parameters setting include parameter PO 03 A 3 and P1 03 A 0 3 output polarity setting In general when output voltage value of Chl is V1 the pul
196. kwise when facing the servo motor shaft CW is forward running STEP 7 When pressing MODE key it can exit JOG operation mode Revision April 2011 5 Chapter 5 Trial Run and Tuning Procedure ASDA B2 In the example below the JOG speed is adjusted from 20r min Default setting to 100r min Pressing cavi key and the servo motor will run in P CCW direction After releasing UP key the motor will stop running P CCW N CW Exit Pressing LAC key and the servo motor will run in N CW direction After releasing DOWN key the motor will stop running P CCW and N CW Definition P CCW Counterclockwise when facing the servo motor shaft P is running in counterclockwise direction N CW Clockwise when facing the servo motor shaft N is running in clockwise direction m cone OS If the servo motor does not rotate please check if the wiring of U V W terminals and encoder is correct or not If the servo motor does not rotate properly please check if the phase of U V W cables is connected correctly 5 8 Revision April 2011 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 4 Speed Trial Run without Load Before speed trial run fix and secure the motor as possible to avoid the danger from the reacting force when motor speed changes STEP 1 Set the value of parameter P1 01 to 02 and it is speed S control mode After selecting the operation mode as speed S control mode please restart the dri
197. l negative value only There is no negative value display for a hexadecimal negative value When the AC servo drive is applied to power the LCD display will show the monitor function codes for approximately one second and then enter into the monitor mode In monitor mode in order to change the monitor status the users can press UP or DOWN arrow key or change parameter PO 02 directly to specify the monitor status When the power is applied the LCD display will show ASDA B2 first and then display the monitor status depending on the setting value of PO 02 For example if the setting value of PO 02 is 4 when the power is applied the monitor function will be input pulse number of pulse command After ASDA B2 shows on the LCD display the C PLS monitor codes will display next and then the pulse number will display after 4 4 idi Display Message Description Unit Setting md 3 7 Motor feedback pulse number after 0 P user unit electronic gear ratio is set Input pulse number of pulse C PUU command after electronic gear user unit ratio is set Position error counts between 2 EcPUU control command pulse and user unit feedback pulse 3 Motor feedback pulse number pulse encoder unit 1600000 pulse rev p Input pulse number of pulse 4 command before electronic gear pulse ratio is set encoder unit Position error counts after 5 electronic gear ratio is set encoder p
198. l 201 1 Table of Contents Chapter 1 Unpacking Check and Model Explanation eese 1 1 Id Unpacking Checo ice o e eov Ee Eee ia be Re Ue E er a a 1 1 I2 Model EXPlanatO Ntra 1 2 1 25 Nameplate IntormatliON ais cad 1 2 1522 Model Name EXDIamatlOR a aida 1 3 1 3 Servo Drive and Servo Motor Combinations esses 1 5 14 Seno Diye Features a 1 6 1 5 Control Modes of Servo Drive cccccceccecseceeceeceececeeceeceeeecueseeseeeeseesaeeesaesensenaes 1 7 Chapter Z Installation arid Storage aan 2 2 1 MAS CAM ATION NOS do Reus tatu teduvv Ee o an oie 2 2 2 Storage CONGIVIONS a daa 2 ns MsStallatiON Conditions EUR 2 2 2 4 Installation Procedure and Minimum Clearances eese 2 3 2 5 Circuit Interrupter and Fuse Current Recommended Value 2 5 opidi redet R 2 6 2 7 Regenerative ResISEOF nac A a sud one ea 2 9 Chapter 3 Connections and Wiring onini RR WE Re ra E a EE e ERU Rc VUL DE VEU A SA 3 1 Sl SCOMMEGCH ONS S LT TI DL TUE 3 1 3 1 1 Connecting to Peripheral DeviceS ocococococcccccccononenenenononononorononononanananananos 3 1 3 1 2 Servo Drive Connectors and TerminalS ccccccceesceeeeceeeeeeeeeeeeeeeeeeeeneneeenes 3 2 3cl 3 Wiring IM CUNO GS us sus estos dudax ne uxc deiu dedo ueste A 3 5 Revision April 201 1 V Table of Contents ASDA B2 3 1 4 Motor Power Cable Connector S
199. l 2011 10 11 Chapter 10 Specifications ASDA B2 Order P N ASD B2 0721 750W 79 5 3 12 70 2 76 163 4 6 43 055 0 19 A 152 5 98 162 6 37 Xx Screw M4 x 0 7 Mounting Screw Torque 14 kgf cm Mens 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds Ibs 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 10 12 Revision April 2011 A521 B2 Chapter 10 Specifications Order P N ASD B2 1021 ASD B2 1521 1kW 1 5kW B85 1 3 35 Q amp 0 23 70 2 76 152 5 98 182 8 37 Screw M x 0 7 Mounting Screw Torque 14 kgf cm 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds Ibs 3 In this manual actual measured values are in metric units Dimensions in imperial units are for reference only Please use metric for precise measurements Revision April 201 1 10 13 Chapter 10 Specifications ASDA B2 Order P N ASD B2 2023 ASD B2 3023 2kW 3kW 113 7 4 47 Q6 0 23 70 2 76 198 2 7 8 2136 38 5 5 0 Mj f Ground Terminal s Screw M4 x 0 7 NN Mounting Screw Torque 14 kgf om WEIGHT ANOTE 1 Dimensions are in millimeters inches 2 Weights are in kilograms kg and pounds Ibs 3 In this manual actual measured values are in metr
200. l Input Terminal 7 DI7 23 N A O O O Table 7 A P2 17 DI8 Digital Input Terminal 8 DI8 21 N A O O O Table 7 A P2 36 DIO c Digital Input Terminal 9 0 N A O O O Table 7 A P2 18 DOI Digital Output Terminal 1 DO1 101 N A O O O Table 7 B P2 19 DO2 Digital Output Terminal 2 DO2 103 N A O O O Table 7 B P2 20 DO3 Digital Output Terminal 3 DO3 109 N A O O O Table 7 B P2 21 DO4 Digital Output Terminal 4 DO4 105 N A O O O Table 7 B P2 22 DO5 Digital Output Terminal 5 DO5 7 N A O O O Table 7 B P2 37 DO6 Digital Output Terminal 5 DO5 7 N A O O O Table 7 B P1 38 ZSPD Zero Speed Range Setting 100 on O O O Table 7 B P1 39 SSPD Target Motor Speed 3000 r min O O O Table 7 B P1 42 MBTI e Aue NN 0 m Oololo 655 P1 43 MBT2 cilio ig a rs 0 ms 0 O O 65 5 P1 47 SCPD Speed Reached Output Range 10 r min O Table 7 B P1 54 PER Positioning Completed Width 12800 pulse O Table 7 B P1 56 OVW Output Overload Warning Time 120 O O O Table 7 B Parameter is effective only after the servo drive is restarted after switching power off and On Parameter setting values are not retained when power is off 7 8 Revision April 2011 ASPA B2 Chapter 7 Servo Parameters Communication Control Mode Parameter Name Function Default Unit a PT S T ection p3 00e ADR Communication Address Setting Ox7F N A O O O 8 2 P3 01 BRT Transmission Speed 0x0203 bps O O O 8 2 P3 02 PTL Communication Protocol 6 N A O O O 8 2 P3
201. lay Format Decimal Settings This parameter is used to set low pass filter time constant of resonance suppression If P2 25 is set to O this parameter is disabled P2 26 DST External Anti Interference Gain Address 0234H 0235H Default O Related Section N A Applicable Control Mode ALL Unit 0 001 Range 0 1023 Data Size 16 bit Display Format Decimal Settings If P2 26 is set to O this parameter is disabled P2 27 GCC Gain Switching Control Selection Address 0236H 0237H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 4 Data Size 16 bit Display Format Hexadecimal Settings Gain Switching Condition Settings Revision April 2011 7 51 Chapter 7 Servo Parameters ASDA B2 M B not used A Gain Switching Condition Settings Disabled Gain switching DI Digital Input signal GAINUP is On see Table 8 A In position mode position deviation is higher than the setting value of P2 29 Position command frequency is higher than the setting value of P2 29 0 2 3 4 Servo motor speed is higher than the setting value of P2 29 5 Gain switching DI Digital Input signal GAINUP is Off see Table 8 A 6 In position mode position deviation is lower than the setting value of P2 29 7 Position command frequency is lower than the setting value of P2 29 8 Servo motor speed is lower than the setting value of P2 29 B Gain Switching Control Set
202. lost not remain in the EEPROM at power down When the parameters data are no more needed using this mode can allows users not to save parameters data into the EEPROM without damaging the EEPROM P2 30 should be set to 5 when using communication control function 6 After setting P2 30 to 6 the servo drive will enter into Simulation mode At this time DO signal SRDY Servo ready will be activated The servo drive can accept commands in each mode and monitor the commands via Data Scope function provided by ASDA Soft software program But the servo motor will not run when the servo drvie in Simulation mode This setting is only used to check and ensure the command is correct It indicates the external Servo On signal is disabled in this mode and therefore the motor fault messages such as overcurrent overload or overspeed etc will not display The paraemeter PO 01 displays external fault messages such as reverse inhibit limit forward inhibit limit or emergency stop etc only Please note l Please set P2 30 to O during normal operation 2 When the communication control function is used ensure that P2 30 is set to 5 3 The setting value of P2 30 will return to O automatically after re power the servo drive Revision April 2011 7 53 Chapter 7 Servo Parameters ASDA B2 SET AUT Speed Frequency Response Level in Auto Address 023EH 023FH and Semi Auto Mode Default 80 Related Section Applicable Control Mode ALL Se
203. lowing table shows the specifications of the servo drive s built in regenerative resistor and the amount of regenerative power average value that it can process Built in Regenerative Resistor Specifications Regenerative Power Min Allowable Servo Drive Resistance Ohm Capacity Watt processed by built in Re esistance kW parameter P1 52 parameter P1 53 regenerative resistor 1 Ohm Watt 0 1 60 0 2 60 0 4 60 0 75 100 60 30 60 1 0 40 60 30 30 1 5 40 60 30 30 2 0 40 60 30 15 3 0 40 60 30 15 Regenerative Power Calculation The amount of regenerative power average value that can be processed is rated at 50 of the capacity of the servo drive s built in regenerative resistor The regenerative power calculation method of external regenerative resistor is the same When the regenerative power exceeds the processing capacity of the servo drive install an external regenerative resistor Please pay close attention on the following notes when using a regenerative resistor 1 Make sure that the settings of resistance parameter P1 52 and capacity parameter P1 53 is set correctly 2 When the users want to install an external regenerative resistor ensure that its resistance value is the same as the resistance of built in regenerative resistor If combining multiple small capacity regenerative resistors in parallel to increase the regenerative resistor capacity
204. lt 16 Related Section N A Applicable Control Mode PT Unit pulse Range 1 2 1 Data Size 32 bit Display Format Decimal Feed Back Pulse Settings Refer to P2 60 for explanation 7 62 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters P2 62 GR6 Electronic Gear Ratio 4th Numerator N4 Address 027CH 027DH Default 16 Related Section N A Applicable Control Mode PT Unit pulse Range 1 2 1 Data Size 32 bit Display Format Decimal Settings Refer to P2 60 for explanation SENA EN Reserved Do Not Use SEN UE Reserved Do Not Use SETS GBIT Special Function 1 Address 0282H 0283H Default O Related Section N A Applicable Control Mode PT S Unit N A Range O OxFFFF Data Size N A Display Format N A Settings Bit2 Bit5 Reserved Must be set to 0 Bit6 Abnormal pulse command detection 0 enable abnormal pulse command detection 1 disable abnormal pulse command detection Bit8 U V W wiring error detection 1 enable U V W wiring error detection Bit9 U V W wiring cut off detection 1 enable U V W wiring cut off detection Revision April 2011 7 63 Chapter 7 Servo Parameters A521 B2 7 64 Bit10 DI ZCLAMP function selection When the following conditions are all met ZCLAMP function will be activated Condition1 Speed mode Condition2 DI ZCLAMP is activated Condition3 External analog speed command or internal reg
205. memory of the encoder is in error An encoder counter error occurs Potential Cause 1 Check if the servo motor is properly grounded 2 Check if the encoder signal cables are placed in separate conduits from the cables connected to R S T and U V W terminals to prevent the interference 3 Check if the shielded cables are used when performing encoder wiring ALOS Encoder data error Checking Method Please connect the grounding green color of U V W terminal to the heatsink of the servo drive 2 Ensure that the encoder signal cables are placed in separate conduits from the cables connected to R S T and U V W terminals to prevent the interference 3 Please use shielded cables for Encoder wiring 4 f the error does not clear after all the above actions are done please contact your distributor for assistance or contact with Delta Corrective Actions An encoder data error occurs for three times Revision April 201 1 1 Check if the servo motor is properly grounded 2 Check if the encoder signal cables are placed in separate conduits from the cables connected to R S T and U V W terminals to prevent the interference 3 Check if the shielded cables are used when performing encoder wiring Please connect the grounding green color of U V W terminal to the heatsink of the servo drive 2 Ensure that the encoder signal cables are placed in separate
206. ming Chart of Speed Control Mode ococcccoconoccononenconononencanononcnnononennonones 6 17 60 3 6 Speed Loop Gain Ad Justment sscieskvaxe va dave Unidas excu ue Pekbas v eve TR V LAE edd 6 17 6 3 7 Resonance Suppression sssssseeseseeeenen nennen nemen mese sess sese nnns 6 23 6 24 Torque Control Modesto docu NE M UE PE 6 30 6 4 1 Command Source of Torque Control Mode eem 6 30 6 4 2 Structure of Torque Control Mode eeeeseseen Hem 6 31 6 4 3 Smoothing Strategy of Torque Control Mode coccccccononononononcncncnininnonononones 6 32 6 4 4 Analog Torque Input ScalinQ ococcccconononenenenenococononononononornnnonnnnnnnenenenons 6 32 6 4 5 Timing Chart of Torque Control Mode cococcocococconocononconononencononenennanonennono 6 33 6 5 Control Mode SA 6 34 6 5 1 Speed Position Control Mode SelectiON ococcccocococococccnonanacannononananannononos 6 34 6 5 2 Speed Torque Control Mode SelectiON cococcccococococonccnonococanacnonoananannononos 6 35 viii Revision April 2011 ASIDA B2 Table of Contents 6 5 3 Torque Position Control Mode Selection cccceceeececeeeeeeteeeeeaeeeeeeneeeas 6 35 00 OMET S oae bios 6 36 Goal Vo CO Esti E pordeitaia 6 36 OOZ TOGUE LIM A ENE 6 36 620 5 ANaAIOG MONI A A o A o II D ILI A LE 6 37 6 6 4 Electromagnetic Brake ococccocococononononononocococococananananaronornnnrnrnenenenenenennnnns 6 40 Cliapter 7 Paramet
207. mmunication address of this parameter via communication port When reading the drive status through the keypad if PO 02 is set to 26 VAR 4 will quickly show for about two seconds and then the value of PO 12 will display on the display Default N A Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range N A Data Size 32 bit Display Format Decimal Settings This parameter is used to provide the value of one of the status monitoring functions found in PO 02 The value of PO 12 is determined by PO 20 desired drive status through communication setting or the keypad The drive status can be read from the communication address of this parameter via communication port Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use JENNA CMIA Status Monitor Selection 1 Address 0022H 0023H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the drive status found in PO 02 The selected drive status will be displayed by PO 09 For example Set PO 17 to 7 then all consequent reads of PO 09 will return the motor rotation speed in r min Revision April 201 1 AA527 B2 Chapter 7 Servo Parameters JEFE CM2A Status Monitor Selection 2 Address 0024H 0025H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 18 Data Size 16
208. mode can be selected via the Digital Inputs DI The steps of changing mode 1 Switching the servo drive to Servo Off status Turning SON signal of Digit input to be off can complete this action 2 Using parameter P1 01 Refer to chapter 7 3 After the setting is completed cut the power off and restart the drive again The following sections describe the operation of each control mode including control structure command source and loop gain adjustment etc Revision April 2011 6 1 Chapter 6 Control Modes of Operation ASDA B2 6 2 Position Control Mode The position control mode is usually used for the applications requiring precision positioning such as industry positioning machine indexing table etc The external pulse train with direction which can control the rotation angle of servo motor The max input frequency for the external pulse command is 4Mpps For the closed loop positioning speed control loop is the principal part and the auxiliary parameters are position loop gain and feed forward compensation The users can also select two kinds of tuning mode Manual Auto modes to perform gain adjustment This Section 6 2 mainly describes the applicability of loop gain adjustment and feed forward compensation of Delta servo system 6 2 1 Command Source of Position PT Control Mode The command source of P mode is external pulse train input form terminals There are three types of pulse input and each pul
209. mounting the servo drive make sure to tighten all screws to secure the drive in place B fthe servo motor shaft is coupled directly to a rotating device ensure that the alignment specifications of the servo motor coupling and device are followed Failure to do so may cause unnecessary loads or premature failure to the servo motor B If the length of cable connected between servo drive and motor is more than 20m please increase the wire gauge of the encoder cable and motor connection cable connected to U V W terminals B Make sure to tighten the screws for securing motor 2 2 Storage Conditions The product should be kept in the shipping carton before installation In order to retain the warranty coverage the AC servo drive should be stored properly when it is not to be used for an extended period of time Some storage suggestions are B Store in a clean and dry location free from direct sunlight Store within an ambient temperature range of 20 C to 65 C AF to 149 F Store within a relative humidity range of 096 to 9096 and non condensing Do not store in a place subjected to corrosive gases and liquids Store in original packaging and placed on a solid surface Revision April 2011 2 1 Chapter 2 Installation and Storage ASDA B2 2 3 Installation Conditions Operating Temperature ASDA B2 Series Servo Drive Q C to 55 C 32 F to 131 F ECMA Series Servo Motor O C to 40 C 32 F to 104 F The am
210. n 0 RS 232 via Modbus communication 1 RS 232 upon ASDA Soft software P3 oom SD Digita Input Communication Function Address 030CH 030DH Default O Related Section Section 8 2 Applicable Control Mode ALL Unit N A Range 0x0000 OxIFFF Data Size 16 bit Display Format Hexadecimal The setting of this parameter determines how the Digital Inputs DI accept commands and signals BitO Bit 8 corresponds with DI1 DI9 The least significant bit BitO shows DI 7 70 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters status and the most significant bit Bit7 shows DI8 status Bit settings O Digital input is controlled by external command via CN1 1 Digital input is controlled by parameter P4 07 For the settings of DII DI9 please refer to P2 10 P2 17 and P2 36 This parameter P3 06 also works in conjunction with the parameter P4 07 which has several functions Please see section 8 2 for details P3 07 CDT Communication Response Delay Time Address 030EH 030FH Default O Related Section Section 8 2 Applicable Control Mode ALL Unit lms Range 0 1000 Data Size 16 bit Display Format Decimal Settings This parameter is used to delay the communication time that servo drive responds to host controller external controller Default 0000 Related Section Section 8 2 Applicable Control Mode ALL Unit N A Range refer to the description of Settings Data Size 16 bit Displ
211. n t be changed when the servo drive is enabled Servo On The electronic gear function provides easy travel distance ratio change However the over high electronic gear ratio will command the motor to move not smoothly At this time the users can use low pass filter parameter to improve this kind of situation For example assume that the electronic gear ratio is equal to 1 and the encoder pulse per revolution is ASDA B2 Chapter 6 Control Modes of Operation 10000ppr if the electronic gear ratio is changed to 0 5 then the motor will rotate one pulse when the command from external controller is two pulses For example after the proper electronic gear ratio is set the reference travel distance is 1 um pulse the machinery will become easier to be used WL WL Working Load WT Working Table wm 4 Te Ball Screw Hater Encoder Signal Output A B Z Pitch 3mm Encoder PPR 2500 pulse electronic CEA RAIG Corresponding travel distance per pulse When the electronic t oo On gear ratio is not Ei 4x2500 10000 EM used When the electronic _10000 1 um gear ratio is used 3000 6 2 4 Low pass Filter Relevant parameters TENTE priT Smooth Constant of Position Command Address 0110H 0111H Low pass Filter Default O Related Section Applicable Control Mode PT Section 6 2 6 Unit 10ms Range O 1000 0 Disabled Data Size 16 bit Display Format DEC Position Target position
212. ness untill the resonance occurs and then decrease the gain setting value The relevant parameters and gain adjusting methods are described as follows B KPP Parameter P2 00 Proportional Position Loop Gain This parameter is used to determine the responsiveness of position loop position loop gain It could be used to increase stiffness expedite position loop response and reduce position error When the setting value of KPP is higher the response to the position command is quicker the position error is less and the settling time is also shorter However if the setting value is over high the machinery system may generate vibration or noise or even overshoot during positioning The position loop responsiveness is calculated as follows Position Loop Frequency Response Hz MD B KVP Parameter P2 04 Proportional Speed Loop Gain This parameter is used to determine the frequency response of speed loop speed loop gain It could be used to expedite speed loop response When the setting value of KVP is higher the response to the speed command is quicker However if the setting value is over high it may result in the resonance of machinery system The frequency response of speed loop must be higher than the 4 6 times of the frequency response of position loop If frequency response of position loop is higher than the frequency response of speed loop the machinery system may generate vibration or noise or even overshoot during positioni
213. ng The speed loop frequency response is calculated as follows JM Motor Inertia 1 P1 37 10 Hz JL Load Inertia UIAGM P1 37 0 1 times Speed Loop Frequency Response v E xl When the value of P1 37 no matter it is the measured load inertia value or the set load inertia value is equal to the actual load inertia value the actual speed loop frequency response will be o KVP On Hz Revision April 2011 5 21 Chapter 5 Trial Run and Tuning Procedure ASDA B2 B KVI Parameter P2 06 Speed Integral Compensation If the setting value of KVI is higher the capability of decreasing the speed control deviation is better However if the setting value is over high it may easily result in the vibration of machinery system The recommended setting value is as follows KVI Parameter P2 06 lt 1 5x Speed Loop Frequency Response B NLP Parameter P2 25 Low pass Filter Time Constant of Resonance Suppression When the value of J load J motor is high the responsiveness of speed loop may decrease At this time the users can increase the setting value of KVP P2 04 to keep the responsiveness of speed loop However when increasing the setting value of KVP P2 04 it may easily result in the vibration of machinery system Please use this parameter to suppress or eliminate the noise of resonance If the setting value of NLP is higher the capability of improving the noise of resonance is better However if the setting value is over h
214. ng value of P1 36 is set to O the acceleration and deceleration function will be disabled PI 37 cor Ratio of Load Inertia to Servo Motor Address 014AH 014BH Inertia Default 10 Related Section N A Applicable Control Mode ALL Unit 0 1 times Range 0 2000 Data Size 16 bit Display Format Decimal Settings Ratio of load inertia to servo motor inertia for Rotation Motor J_load J_motor J_load Total equivalent moment of inertia of external mechanical load J_motor Moment of inertia of servo motor Revision April 2011 7 31 Chapter 7 Servo Parameters AA5271 B2 Ratio of load weight to servo motor weight for Linear Motor M load M motor not available now but will be available soon M load Total equivalent weight of external mechanical load M motor Weight of servo motor P1 38 ZSPD Zero Speed Range Setting Address 014CH 014DH Default 100 Related Section Table 7 B Applicable Control Mode ALL Unit 0 1 r min Range 0 2000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set output range of zero speed signal ZSPD and determine when zero speed signal ZSPD becomes activated ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1 38 For Example at default ZSPD will be activated when the drive detects the motor rotating at speed at or below 100 r min ZSPD will remain ac
215. ns If it is no need to use Forward inhibit limit PL as input signal the users only need to confirm that if all of the digital inputs DI1 DI9 are not set to Forward inhibit limit PL The setting value of parameter P2 10 to P2 17 and P2 36 is not set to 23 Revision April 2011 5 5 Chapter 5 Trial Run and Tuning Procedure ASDA B2 B If it is necessary to use Forward inhibit limit PL as input signal the users only need to confirm that which of digital inputs DI1 DI9 is set to Forward inhibit limit PL and check if the digital input signal is ON It should be activated When Digital Input 1 DI1 is set to Servo On SON if DII is set to ON it indicates that Servo On SON function is enabled and the following fault message shows on the display 6 When display shows Overcurrent Corrective Actions B Check the wiring connections between the servo drive and motor B Check if the circuit of the wiring is closed B Remove the short circuited condition and avoid metal conductor being exposed 7 When display shows Undervoltage Corrective Actions m Check whether the wiring of main circuit input voltage is normal m Use voltmeter to check whether input voltage of main circuit is normal m Use voltmeter to check whether the input voltage is within the specified specification HOE 1 If there are any unknown fault codes and abnormal display when applying power to the drive or servo on is a
216. ns of the motors with rotary magnetic encoders please refer to the specifications of the corresponding standard models 10 15 Chapter 10 Specifications Motor Frame Size 100mm 130mm Models ASDA B2 Model G21303 S E213050S G21306 S G21309 1S C21010S LC 130 130 130 130 100 LZ 9 9 9 9 9 LA 145 145 145 145 115 5 22001 3 22001 3 22001 3 22001 3 22001 3 LB 1106035 110 G035 1106035 110C0035 950 035 LL without brake 147 5 147 5 147 5 163 5 153 3 LL with brake 183 5 183 5 183 5 198 192 5 LS 47 47 47 47 37 LR 55 55 55 55 45 LE 6 6 6 6 5 LG 11 5 11 5 11 5 11 5 12 LW 36 36 36 36 32 RH 18 18 18 18 18 WK 8 8 8 8 8 W 8 8 8 8 8 T 7 7 7 7 7 TP M6 M6 M6 M6 M6 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 543 SHAFT END DETAILS 1 Dimensions are in millimeters 2 Dimensions and weights of the servo motor may be revised without prior notice 3 The boxes L1 in the model names are for optional configurations Please refer to section 1 2 for model explanation 4 For the specifications of the motors with rotary magnetic encoders please refer to the specifications of the corresponding standard models 10 16 Revision April 2011 ASDA B2 Motor Frame Size 100mm 130mm Models E2131005 10 Specifications REY DETAILS IP a SHAFT END DETAILS E2131505S C21020 1S E21320 5S
217. ntrol DI Name DI Function Description Method Mode Gain switching in speed and position mode When m eve GAINUP GAINUP is activated P2 27 is set to 1 the gain is PTS sail wm Triggered switched to the gain multiplied by gain switching rate Setting value 0x04 l n Trigger Contro DI Name DI Function Description Method Mode When CCLR is activated the setting parameter P2 50 Rising edge Pulse Clear Mode is executed Triggered CCLR PT 0 After CCLR is activated ON the position accumulated Level pulse number will be cleared continuously Triggered Revision April 2011 7 83 Chapter 7 Servo Parameters A521 B2 Setting value 0x05 Trigger Contro Method Mode When this signal is On and the motor speed value is lower than the setting value of P1 38 it is used to lock the motor in the instant position while ZCLAMP is On Speed Command Setting value of P 1 38 Zero speed Level ZCLAMP Triggered ZCLAMP input signal Motor Speed Setting value of P1 38 Zero speed Setting value 0x06 DI Function Description AE Trigger Control DI Name DI Function Description Method Mode Command input reverse control When the drive is in the Level eve CMDINV Position Speed and Torque mode and CMDINV is S T Triggered activated the motor is in reverse rotation Setting value 0x07 MN Trigger Control DI Name DI Function Description Method Mode Reserved Setting value 0x0
218. ntrol Mode ALL Section 6 4 4 Unit 96 Range 0 1000 Data Size 16 bit Display Format DEC Settings In Torque mode this parameter is used to set the output torque at maximum input voltage 10V of analog torque command In Position and Speed mode this parameter is used to set output torque at maximum input voltage 10V of analog torque limit For example in torque mode if P1 41 is set to 100 and the input voltage is 10V it indicates that the torque command is 100 rated torque If P1 41 is set to 100 but the input voltage is changed to 5V then the torque command is changed to 50 rated torque Torque command limit Input voltage x setting 10 6 4 5 Timing Chart of Torque Control Mode T4 P1 14 Internal speed T3 P1 13 command T2 P1 12 External analog voltage or zero 0 E TCMO OFF ON OFF ON External I O signal TCM1 i OFF ON SON ON O ME 1 OFF indicates normally open and ON indicates normally closed 2 When torque control mode is Tz the torque command T1 0 when torque control mode is T the speed command T1 is external analog voltage input Please refer to P1 01 3 After Servo ON the users can select command according to the state of TCMO 1 Revision April 2011 6 33 Chapter 6 Control Modes of Operation ASDA B2 6 5 Control Modes Selection Except signal control mode operation ASDA B2 series AC drive also provide PT S S T PT T these three multiple modes for the users to
219. o COM and the negative to COM 3 18 Revision April 201 1 ASDA B2 Chapter 3 Connections and Wiring Wiring Diagram ianal Pin N Detail Signa in No etails Refer to 3 3 3 The polarity of VDD is with respect to Power GND 19 Ground GND Signals Explanation of Connector CN5 Wiring Diagram ignal Pin N Detail Signa in No etails Refer to 3 3 3 Monitor operation status Motor characteristics such as speed and current can be represented by analog voltages The drive provides two channels MONI and MON2 Analog MONI l which can be configured with the parameter Monitor GND 2 PO 03 to output the desired characteristics C2 Output MON2 3 Please refer to the parameter PO 03 for monitoring commands and P1 04 P1 05 for scaling factors Output voltage is reference to the power ground The Digital Input DI and Digital Output DO have factory default settings which correspond to the various servo drive control modes See section 1 5 However both the DI s and DO s can be programmed independently to meet the requirements of the users Detailed in Tables 3 B and 3 C are the DO and DI functions with their corresponding signal name and wiring schematic The factory default settings of the DI and DO signals are detailed in Table 3 F and 3 G All of the DI s and DO s and their corresponding pin numbers are factory set and non changeable however all of the assigned
220. o drive will be both inhibited Revision April 2011 7 65 Chapter 7 Servo Parameters AA527 B2 EH Bit12 Input power phase loss detection function 0 Enable Input power phase loss ALO22 detection function 1 Disable Input power phase loss ALO22 detection function csi Bit13 Encoder output error detection function O Enable encoder output error ALO1 8 detection function 1 Disable encoder output error ALO1 8 detection function siis Bm4 Bit1 4 Bit15 Reserved Must be set to O WAS GBIT2 Special Function 2 Address 0284H 0285H Default O Related Section N A Applicable Control Mode PT S Unit N A Range 0 OxOOOF Data Size 16 bit Display Format Hexadecimal Settings ic aie s cs erz Bit o sr BRO BitO Bitl Reserved Must be set to O cA Bit2 Undervoltage Servo Drive Fault clear mode selection 0 The fault Undervoltage will not be cleared automatically 1 The fault Undervoltage will be cleared automatically sic ene ens ena ond Bit3 Bit7 Reserved Must be set to 0 P2 67 JS Stable Inertia Estimating Time Address 0286H 0287H Default 1 5 Related Section N A Applicable Control Mode ALL Unit 0 1times Range 0 200 0 Data Size 16 bit Display Format Decimal 7 66 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Settings In semi auto tuning mode after the servo drive continuously perform the adjustment for a period o
221. ol operation and monitoring as well as programming of the controller can be achieved via communication The two communication modes can be used at a time Please refer to the following sections for connections and limitations RS 232 B Configuration AC Servo Drive Connected to CN3 HMI PLC or Controller Nr B Cable Connection D 9 plug servo CN3 forPC Connector Revision April 2011 8 Chapter 8 MODBUS Communications AAS0271 B2 HO ME 1 Recommended maximum cable length is 15m 50ft Please note RFI EME noise should be kept to a minimum communication cable should kept apart from high voltage wires Ifa transmission speed of 38400 bps or greater is required the maximum length of the communication cable is 3m 9 84ft which will ensure the correct and desired baud rate 2 The number shown in the pervious figure indicates the terminal number of each connector RS 485 B Configuration AC Servo Drive HMI PLC or Controller Connec ted to CN3 8 2 Revision April 2011 A521 B2 Chapter 8 MODBUS Communications B Cable Connection HMI PLC or Controller RS 232 RS 485 Converter Servo1 CN3 Connector RS 485 A f o Mee e i e y m IR n RT RR ot 485 5 485 Power Supply If required Servo127 CN3 Connector 485 as x T DOME 1 The maximum cable length is 100m 39 37inches when the servo drive is installed in a location wher
222. ol circuit Used to connect single phase AC control circuit Lic L2c termina power Control circuit uses the same voltage as the main circuit Main circui Used to connect single phase or three phase AC ain circuit ab M l R S T main circuit power depending on connecting servo da terminal i drive model Used to connect servo motor Terminal l AER smo Wire Color Description U Red Connecting to U V W Servo motor V White e tput FG ARE W Black circuit cable Connecting to ground terminal Green FG of the servo drive TN Ensure the circuit is closed Elio between P and D and the circuit is open between PO and C Connect regenerative resistor to External estor P and C and ensure an open circuit between P and D Regenerative Connect braking unit to PO and PO D C O resistor terminal and ensure an open circuit or braking unit between PO and D and PO and C E N terminal is built in L1c L2c xterna and R S T braking unit P Connecting to terminal of V BUS voltage Connecting to terminal of V BUS voltage Used to connect grounding wire of power supply two places Ground terminal ane Seno Grek Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring O Ten Terminal Terminal CAP MT Notes Identification Description Used to connect external controllers Please
223. ol deviation However if the setting value is over high it may generate vibration or noise P2 07 KvF Speed Feed Forward Gain Address 020EH 020FH Default O Related Section Applicable Control Mode ALL Section 6 3 6 Unit 96 Range 0 100 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the feed forward gain when executing speed control command When using speed smooth command increase gain can improve speed track deviation When not using speed smooth command decrease gain can improve the resonance condition of mechanical system SAM PCTL Special Factory Setting Address 0210H 0211H Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0 65535 Data Size 16 bit Display Format Decimal Settings This parameter can be used to reset all parameters to their original factory settings and enable some parameters functions Reset parameters settings 10 Users can reset all parameter values to factory defaults All parameter values will be reset after re power the servo drive Before perform this settings ensure that the status of the servo drive is Servo Off Revision April 2011 7 45 Chapter 7 Servo Parameters ASDA B2 Enable parameters functions 20 If P2 08 is set to 20 then the parameter P4 10 is enabled 22 If P2 08 is set to 22 then the parameters P4 11 P4 19 are enabled 406 If P2 08 is set to 406 then the Digital Ou
224. onstant ee mn germen o mol Parameter Name Function Default Unit o 4 3 pozos ies eater Resonance 1000 Hz 6 3 7 Suppression P2 24 DPHI Notch Filter Attenuation Rate 1 6 3 7 Resonance Suppression pas WEED a 1000 Hz 6 3 7 Suppression P2 44 DPH2 Notch Filter Attenuation Rate 2 6 3 7 Resonance Suppression pas Weps AS 1000 Hz 6 3 7 Suppression P2 46 DPH3 Notch Filter Attenuation Rate 3 6 3 7 Resonance Suppression f Auto Resonance Suppression P2 48 ANCL Auto Resonance Suppression 100 N A f Detection Level P2 25 NLP Low pass Filter Time Constant gt or5 lO1ms 6 3 7 Resonance Suppression P2 49 SJIT T Detection Filter and Jitter 0 see 00 0 uppression Explanation of symbols marked after parameter X Read only register A Parameter cannot be set when Servo On when the servo drive is enabled e Parameter is effective only after the servo drive is restarted after switching power off and on B Parameter setting values are not retained when power is off Revision April 2011 7 3 Chapter 7 Servo Parameters AAS5021 B2 Gain and Switch Control Mode Related n o External Anti Interference Gain 0 0 001 Gain Switching Control N A Selection P2 26 P2 27 G KVF DST CC GUT Parameter Name Function Default Unit AT PT S T ection P2 00 KPP Proportional Position Loop Gain EMEN 6 2 8 Rate P2 02 PFG Position Fe
225. ontrol Mode All Level Triggered Trigger Control Method Mode Level All Triggered Trigger Control Method Mode Level All Triggered Revision April 2011 ASDA B2 Chapter 7 Servo Parameters Setting value 0x10 Trigger Control DO Name DO Function Description Method Mode Output overload warning OLW is activated when the servo drive has detected that the motor has reached the output overload time set by parameter P1 56 tOL Permissible Time for Overload x setting value of P1 56 When overload accumulated time continuously overload time exceeds the value of tOL the overload warning signal will output i e DO signal OLW will be ON However if the accumulated overload time continuous overload time exceeds the permissible time for overload the overload alarm ALOO6 will occur For example If the setting value of parameter P1 56 Output Overload ileal OLW Warning Time is 60 when the permissible time for All Triggered overload exceeds 8 seconds at 200 rated output the overload fault ALOO6 will be detected and shown on the LED display At this time TOL 8 x 60 4 8 seconds Result When the drive output is at 20096 rated output and the drive is continuously overloaded for 4 8 seconds the overload warning signal will be ON DO code is Ox10 i e DO signal OLW will be activated If the drive is continuously overloaded for 8 seconds the overload alarm will be detected an
226. ontrol encoder reference signal from the motor pulse direction inputs and reference voltages ii 8 programmable Digital Inputs DI can be set via parameters P2 10 P2 17 iii 5 programmable Digital Outputs DO can be set via parameters P2 18 P2 22 A detailed explanation of each group is available in Section 3 3 2 Tables 3 A 3 B amp 3 C 3 3 1 CNI Terminal Identification Figure 3 8 The Layout of CN1 Drive Connector 16 44 31 ocz Putse Hsien Purse Hsien sicn Beucse sin weucse punt Hi Dora Cos Coe 07 1 Side View Rear View 30 15 y Ol a e O a e Q T o O Cx O E O o ta 4 a i es z O Pr e O Oo 3 16 Revision April 201 1 ASDA B2 DO4 2 DO3 3 DO3 4 DO2 5 DO2 6 DOI 7 DO1 8 DI4 9 DI1 10 DI2 11 COM 12 DI9 13 OZ 14 COM 15 DO6 Revision April 201 1 CNI Terminal Signal Identification Digital output Digital output Digital output Digital output Digital output Digital output Digital output Digital input Digital input Digital input Power input 12 24V Digital input Encoder Z pulse Line driver output VDD 24V power ground Digital output 16 20 2 22 23 24 25 26 27 28 29 30 DO6 VDD T_REF GND V_REF OA OA OB OZ OB DO4 DO5 DO5 GND DI8 Chapter 3 Connections and Wiring Digital output
227. or fault Check the wiring connection of regenerative resistor Check if regenerative switch transistor is short circuited Reconnect regenerative resistor Please contact your distributor for assistance or contact with Delta Parameter setting is in error Confirm the parameter setting and specifications of regenerative resistor CAS Overload Potential Cause Checking Method Correctly reset parameter again Corrective Actions The drive has exceeded its rated load during continuous operation Check if the drive is overloaded Increase motor capacity or reduce load Control system parameter setting is incorrect Check if there is mechanical vibration Adjust gain value of control circuit Accel Decel time setting is too fast Decrease Accel Decel time setting The wiring of drive and encoder is in error Check the wiring of U V W and encoder EDI Overspeed Potential Cause Checking Method Ensure all wiring is correct Corrective Actions Speed input command is not stable too much fluctuation Use signal detector to detect if input signal is abnormal Ensure that input command frequency is stable not fluctuate too much and activate filter function P1 06 P1 07 and P1 08 Over speed parameter setting is defective 9 4 Check if over speed parameter setting value is too low Correctly set over speed p
228. or model explanation 10 18 Revision April 201 1 HB Power Connectors Appendix A Accessories Delta Part Number ASDBCAPWOOO0 Title Part No Manufacturer Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASDBCAPWO 00 Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASD CAPW1000 3106A 20 18S 3106A 24 11S Revision April 2011 A Appendix A Accessories Power Cables Delta Part Number ASDBCAPW0203 0205 DA T 5 EE s KST SVBL1 3 7 3 A5271 B2 M2 TO KST RVBL1 4 L Title Part No Manufacturer Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE L Title Part No mm inch 1 ASDBCAPWO203 3000 50 118 2 2 ASDBCAPW0205 5000 50 197 2 Delta Part Number ASDBCAPWO303 0305 KST SVBL1 3 7 w KST RVBL1 4 m L l i Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4201TOP 2 JOWLE l L Title Part No mm inch ASDBCAPW0303 3000 50 118 2 2 ASDBCAPW0305 5000 50 197 2 A 2 Revision April 2011 ASDA B2 B Power Cables cont Delta Part Number ASD CAPW1 203 1205 3106A 20 18S Appendix A Accessories KST SVB3 4 KS T RVBL5
229. output Servo Drive current is 20mA Controller Servo Drive current is 20mA Controller AM26CS31 Type QA oy TE AM26CS31 Type OA o4 High speed photocoupler High speed photocoupler High speed photocoupler C15 Encoder OCZ output Open collector Z pulse output Servo Drive Revision April 2011 3 31 Chapter 3 Connections and Wiring Table 3 H User defined DI and DO signals 3 3 4 User defined DI and DO signals ASDA B2 If the default DI and DO signals could not be able to fulfill users requirements there are still user defined DI and DO signals The setting method is easy and they are all defined via parameters The user defined DI and DO signals are defined via parameters P2 10 to P2 17 P2 36 and P2 18 to P2 22 and P 37 Please refer to the following Table 3 H for the settings 3 32 Signal Name Pin No Parameter Signal Name Pin No Parameter DI1 CN1 9 P2 10 DO1 CN1 7 DI2 CNI 10 P2 11 DOI CN1 6 DI3 CN1 34 P2 12 DO2 CN1 5 us DI4 CN1 8 P2 13 DO2 CNI 4 DI DI5 CN1 33 P2 14 DO3 CN1 3 52 58 DI6 CN1 32 P2 15 36 DO3 CN1 2 DI7 CN1 31 P2 16 DO4 CNI 1 DI8 CN1 30 P2 17 DO4 CN1 26 DI9 CNI 12 P2 36 DO5 CN1 28 P2 22 DO5 CN1 27 DO6 CN1 16 P2 37 DO6 CN1 15 Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring 3 4 Encoder Connector CN2 Figure 3 9 The layout of CN2 Drive Connector Side Vie
230. p Time 0 Hour PO 09 X CM1 Status Monitor 1 N A N A O O O 4 3 5 PO 10 CM2 Status Monitor 2 N A N A O O O 4 3 5 PO 1 1 CM3 Status Monitor 3 N A NA O O O 4 3 5 PO 12 CM4 Status Monitor 4 N A N A O O O 4 3 5 PO 13X CM5 Status Monitor 5 N A N A O O O 4 3 5 PO 17 CMIA Status Monitor Selection 1 0 N A PO 18 CM2A Status Monitor Selection 2 0 N A PO 19 CM3A Status Monitor Selection 3 0 N A PO 20 CM4A Status Monitor Selection 4 0 N A PO 2 1 CM5A Status Monitor Selection 5 0 N A PO 46k SVSTS Servo Output Status Display 0 N A O O O P1 04 MONI Sois uiii e 100 I O O O 644 P1 05 MON2 aspis a B iia 100 ae O 0O O 644 e Parameter is effective only after the servo drive is restarted after switching power off and On B Parameter setting values are not retained when power is off 7 2 Revision April 2011 ASDA B2 Chapter 7 Servo Parameters Smooth Filter and Resonance Suppression Control Mode Related Section Accel Decel Smooth Constant P1 06 SFLT of Analog Speed Command 6 3 3 Low pass Filter Smooth Constant of Analog P1 07 TFLT Torque Command Low pass ms Filter P1 08 pr T Smooth Constant of Position Om 6 2 6 Command pass Filter ZEN 3 m 0 S33 LINES O 20 ms fo eas P1 36 TSL Accel DecelS curve Decel S curve Accel Decel S curve 0 ms Jo 6 3 3 P1 59 MELT EX Speed Linear Filter 0 1ms Moving Filter DES OOO Percentage P1 63 rFRcT Friction Compensation Smooth 10 m 0 00 C
231. pecifications eee 3 7 3 1 5 Encoder Connector Specifications u eie reed EE EY e a ed cea e Quse ga c ie rw di dos 3 9 3 1 6 Cable Specifications for Servo Drive eese menn 3 10 SUAM BASE WIN ip 3 12 3 3 Input Output Interface Connector CN lococococononcononononononenencnininnnnononenencninananas 3 16 3 3 1 CNI Terminal Identification occoccocccconconccconconcononccncononnnncnnonnnnnnncnnnanonnnns 3 16 3 3 2 Signals Explanation of Connector CN insae 3 18 3 3 3 Wserdetined DI and DO signals cad dantcuceusiarctevaeccdavadeeien 3 27 3 3 4 Wiring Diagrams of I O Signals CNI ococcccocccconcnnoncnnoncnnononnononnonnnnononnonenos 3 32 2 4 Encoder Connector CIV oaddecesssuicevemvse ta mod cte futi do ue tute ces sy as cesssaewe teneas Dota sau edd 3 33 3 5 Serial Communication Connector CN3 esssesssseseeeeeenee eene nennen 3 35 3 6 Standard Connection Example unir aie er ea en rd ice 3 36 3 5 1 Position P D Control MOCO ce amete sd UD LE LEES 3 36 3 06 27 Speed Control MOS nis ees dui uhi a niue das 3 37 3203 Torque ControlMo derrita 3 38 Chapter 4 Display and Operatl On isis ais 4 1 4 1 Description of Digital KeyDallusesiesifes exter dc veritusd evt Feud in 4 4 2 DIS DAV FIOW GIANG eode iE rh pEM Eee hadas ed et det O ian Reino 4 2 A Status DIS PV llena 4 3 Adel Save Sert ng DIS Pda 4 3 43 2
232. peration mode Set JOG speed as 20r min Press Up CCW or Down CW key to perform JOG operation Check if constant operation is smooth Check Mechanical System YES Set higher JOG speed 200r min Make the mechanical system accelerate and decelerate alternately View the display check if the ratio of load inertia to motor inertia J load J motor become a fixed value after the motor accelerates and decelerates alternately many times and then decide the gain adjustment method Note If the user can not view the ratio of load inertia to motor inertia J load J motor under JOG operation P4 05 press MODE key twice and then the ratio of load inertia to motor inertia J load J motor will show on the display If the user desire to perform JOG operation again please press MODE key gt SET key SET key Revision April 201 1 5 13 Chapter 5 Trial Run and Tuning Procedure ASDA B2 Decrease the setting value of P2 31 YES Ifthereisany 5 5 3 Auto Mode Tuning Flowchart Set P2 32 to 1 1 Auto Mode Continuous adjustment The servo drive will continuously estimate the system inertia save the measured load inertia value automatically and memorized in P1 37 every 30 minutes by referring to the frequency response settings of P2 31 P2 31 Auto Mode Stiffness Setting Default setting 80 In Auto mode and Semi Auto mode the speed loop frequency response settings are as follows 1 50Hz
233. pn D E 20043 10 0 f i9 o O E k fa un C 40 0 2 0 B 172 0 1 0 M5XxD0 8 4X amp 8 0 4X 0 010 5 G 172 0 1 0 UNIT mm Delta Part Number 20TDT1W4D M5X0 8 4X iem o EE ANA UNIT mm 2 8 Revision April 2011 ASPA B2 Chapter 2 Installation and Storage 2 7 Regenerative Resistor Built in Regenerative Resistor When the output torque of servo motor in reverse direction of motor rotation speed it indicates that there is a regenerative power returned from the load to the servo drive This power will be transmitted into the capacitance of DC Bus and result in rising voltage When the voltage has risen to some high voltage the servo system need to dissipate the extra energy by using a regenerative resistor ASDA B2 series servo drive provides a built in regenerative resistor and the users also can connect to external regenerative resistor if more regenerative capacity is needed The fol
234. pped i e the lower order byte will be transmitted first 2 For example reading 2 words from address 0101H of the AC servo drive with address 01H The final content of the CRC register from ADR to last data character is 3794H then the command message is shown as follows What should be noticed is that 94H have to be transmitted before 37H Command Message ADR 01H CMD 03H Starting data address 01H Upper byte 01H Lower bytes Number of data OOH Upper bytes Count by word 02H Lower bytes CRC Check Low 94H Lower bytes CRC Check High 37H Upper bytes Endl EndO Communication End ASCII Mode In ASCII mode ODH stands for character Ar carriage return and OAH stands for character An new line they indicate communication end Revision April 2011 8 13 Chapter 8 MODBUS Communications ASIDA B2 RTU Mode In RTU mode a silent interval of more than 10ms indicates communication end The following is an example of CRC generation using C language The function takes two arguments unsigned char data unsigned char length The function returns the CRC value as a type of unsigned integer unsigned int crc chk unsigned char data unsigned char length 1 int J unsigned int reg_crc OxFFFF while length reg_crcA data for j 0 j 8 j if reg crc amp 0x01 LSB bit 0 1 reg crc reg crc gt gt 1 AOxA001 else reg crc re
235. r Biue Biack twisted shield GND 19 Reserve Nn cable a Reserve lf s cH e sv Sc VDD 17 Bz j GNO Black white com i GNA E ee tee e Rmus N ES 5 Rsanse SPDLM ID2 RT La RS232 RX Tomo eso be E aaa TEMA Lots pi dink 514 2 Rszsr3x ARST ps as iam i14 1 GND cwi asto a ESS CCWL ae pm a i MUERE EMGS H iim 3 J CNS Be et oles tp iz HERK sH aii O38 rwisted pair or ES 7 3 twisted shield SRDY 1 5k0 ti 3 MON2 v cable EN DOS Ke 0 1 5kQ A phase pulse e Hi 7 ha 1 w ray 7 16 o o o o o o 4 y 3 tt job 25 Encoder Pulse B phase pulse gt Output phase pes 5 hog la H Z phase pulse E Z phase locz__ 44 7 opencollector jGno 19 Max currant SA voltage 50V Please note 1 Please refer to C9 C12 wiring diagrams SINK SOURCE mode in section 3 3 3 on page 3 27 2 400W and below drives do not provide built in regenerative resistor 3 The brake coil has no polarity 3 38 Revision April 2011 Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers 4 1 Description of the Digital Keypad The digital keypad includes the display panel and function keys The Figure 4 1 shows all of the features of the digital keypad and an overview of their functions Figure 4 1 Charge LED LCD Display MODE Key SHIFT Key MELTA SET Key UP DOWN Ke
236. r relative to encoder use Z phase as home The value of Z phase home point is 0 and it can be the value from 5000 to 5000 pulses 0 5000 5000 0 5000 5000 Z Z PO 03 MON Analog Monitor Output Address 0006H 0007H Default 01 Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range 00 77 Data Size 16 bit Display Format Hexadecimal Settings This parameter determines the functions of the analog monitor outputs LI 1 E X CH1 Y CH2 not used XY X CH1 Y CH2 Motor speed 8V maximum motor speed Motor torque 8V maximum torque Pulse command frequency 8Volts 4 5Mpps Speed command 8Volts maximum speed command 0 2 3 4 Torque command 8Volts maximum torque command 5 V BUS voltage 8Volts 450V 6 Reserved 7 Reserved Please note For the setting of analog output voltage proportion refer to the P1 04 and P1 05 Example PO 03 01 CH1 is speed analog output Motor speed Max motor speed x V1 8 x P1 04 100 when the output voltage value of CHI is V1 Revision April 2011 7 13 Chapter 7 Servo Parameters ASPA B2 PO 04M Reserved Do Not Use PO OSM Reserved Do Not Use Po els f Reserved DM UU UE Not Use Po Wy4 i Reserved Reserved Do Not Use 000 Not Use 4 ENU S d TSON Servo Startup Time Address 0010H 0011H Default O Related Section N A Applicable Control Mode ALL Unit Hour
237. ransmission Fault Treatment Address 0306H 0307H Default O Related Section Section 8 2 Applicable Control Mode ALL Unit N A Range O 1 Data Size 16 bit Display Format Hexadecimal Settings 0 Display fault and continue operating 1 Display fault and decelerate to stop operating Revision April 2011 7 69 Chapter 7 Servo Parameters ASDA B2 This parameter is used to determine the operating sequence once a communication fault has been detected If 1 is selected the drive will stop operating upon detection the communication fault The mode of stopping is set by parameter P1 32 P3 04 CWD Communication Time Out Detection Address 0308H 0309H Default O Related Section Section 8 2 Applicable Control Mode ALL Unit sec Range 0 20 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the maximum permissible time before detecting a fault due to communication time out When P3 04 is set to a value over than 0 it indicates this parameter 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 When P3 04 is set to O this parameter is disabled Default 1 Related Section Section 8 2 Applicable Control Mode ALL Unit N A Range 0x00 0x01 Data Size 16 bit Display Format Hexadecimal Settings Communication interface selectio
238. re overload warning 024 Encoder initial magnetic field error 025 Encoder internal error 026 Encoder data error 027 Encoder internal reset error 030 Motor protection error 031 U V W wiring error 099 DSP firmware upgrade STS Drive Status Front Panel Display Address 0004H 0005H 7 12 Default 00 Related Section Applicable Control Mode ALL Section 4 3 5 Section 7 2 Unit N A Range 0 18 Data Size 16 bit Display Format Decimal Settings This parameter shows the servo drive status 00 Motor feedback pulse number after electronic gear ratio is set user unit 01 Input pulse number of pulse command after electronic gear ratio is set user unit 02 Position error counts between control command pulse and feedback pulse user unit 03 Motor feedback pulse number encoder unit 1280000 pulse rev pulse 04 Input pulse number of pulse command before electronic gear ratio is set pulse 05 Position error counts pulse 06 Input frequency of pulse command Kpps 07 Motor rotation speed r min 08 Speed input command Volt 09 Speed input command r min 10 Torque input command Volt Revision April 201 1 ASDA B2 Chapter 7 Servo Parameters 11 Torque input command 12 Average load 96 13 Peak load 96 1 4 Main circuit voltage Volt 15 Ratio of load inertia to Motor inertia O 1times 16 IGBT temperature 17 Resonance frequency Hz 18 Absolute pulse numbe
239. refer to CNI I O connector section 3 3 for details Used to connect encoder of servo motor Please refer to section 3 4 for details Terminal Wire Color PIN No Symbol T Blue 4 Encoder T Blue Black 5 CN2 connector Reserved 3 Reserved 2 Reserved Reserved 9 5V Red amp Bed White 8 GND Black Black White 6 7 Communication Used to connect PC or keypad Please refer to CN3 connector section 3 5 for details CN4 Reserved Reserved connector Analog voltage Used to monitor the operation status The drive CN5 output terminal provides two channels MON1 and MON to output the analog voltage data Output voltage is reference to the power ground GND 1 U V W CNI CN2 CN3 terminals provide short circuit protection Revision April 201 1 3 3 Chapter 3 Connections and Wiring ASDA B2 3 4 Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor l Ensure to check if the power supply and wiring of the power terminals R S T Lic L2c U V W is correct Please use shielded twisted pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interference As a residual hazardous voltage may remain inside the drive please do not immediately touch any of the power terminals R S T L1c L2c U V amp W and or the cables connected to them after the power has been turned off and the
240. ring Diagram Servo Drive When emergency stop signal servo Motor DOX DOX DOX Is activated this circuit breaker X 1 2 3 4 5 will be enabled DO1 7 6 Do not connect DO2 5 4 VDD COM DO3 3 2 DO4 1 26 rap P Wale DO5 28 27 dm 516 Brake 1 Blue Relay woo DOX DC24V for Brake appe ee l DC24V Ensure the polarity of Diode is correct or it Brake 2 Brown may damage the drive O ME 1 Please refer to Chapter 3 Connections and Wiring for more wiring information 2 The BRKR signal is used to control the brake operation The VDD DC24V power supply of the servo drive can be used to power the relay coil Relay When BRKR signal is ON the motor brake will be activated 3 Please note that the coil of brake has no polarity 4 The power supply for brake is DC24V Never use it for VDD the 24V source voltage Revision April 2011 6 41 Chapter 6 Control Modes of Operation ASVA B2 The timing charts of control circuit power and main circuit power 6 42 L1 L2 Control Circuit Power 5V Control Circuit Power R S T Main Circuit Power BUS Voltage READY SERVO READY SERVO ON DI Input SERVO ON DO Output Position Speed Torque Command Input N o D O E 1 msec min Response Filter Time of Digital Input P2 09 Input available Revision April 2011 Chapter 7 Servo Parameters 7 1 Definition There are following five group
241. ros 7 1 RB PISIS NEIN TETTE 7 1 7 2 Parameter UM Vs asia 7 2 7 3 Detailed Parameter EISEUTQS iiuessedssesveveseeseveve ara 7 11 Chapter 8 MODBUS Communications esses nemen nemen nennen 8 1 8 1 Communication Hardware Interface ccccccccecceceeceeceeseeeeceeceeeeeeceesuseeseesenseees 8 8 2 Communication Parameter Settings cccccccecececeececeececeaeececeaeeseaeesaneaeeceaeeseneas 8 4 8 3 MODBUS Communication Protocol seesssssessseeee senem nennen nene nns 8 8 8 4 Communication Parameter Write in and Read out c 0coccccococnccnconononcanononincanononiananos 8 16 Chapter 9 Ireubleshoolllig meri iii 9 9T Fault Messages Table sinccr a aaaea 9 9 2 Potential Cause and Corrective Actions esses nenne nennen nnn 9 3 93 Clearing Falces 9 11 Chapter 1 0 Specii Cations satan 10 1 10 1 Specifications of Servo Drives ASDA B2 Series eee mmm 10 1 10 2 Specifications of Servo Motors ECMA Series seseseennm mme 10 3 10 5 Servo Motor Speed Torque CUIVES 5 sone obe ER do EE E bes deco a e ba d Y ees bor Bas 10 8 Revision April 2011 Ix Table of Contents ASDA B2 LOIRE Overload CliaractehlsLICS unidas nde uei oie niue cdam duxi tetro tton das ids 10 9 10 5 Dimensions of Servo DAVES x ec e t e e a De era dar ao ee eee eee aad 10 11 10 6 Dimensions of Servo MOLOLS soa eiu andina araabia 10 15 Appendix A JACCeSSOLIGS ii nia A A 1 Appendix B M
242. rosive liquid and Installation Site T gas far away from oil mist flammable gas dust Altitude Altitude 1000m or lower above sea level Atmospheric pressure 86kPa to 106kPa Operating Temperature O Cto 55 C GZ F to 131 F If operating temperature is above specified range forced cooling will be required T Storage Temperature 20C 55 S Humidity O to 90 non condensing gt Vibration 9 80665m s 1G less than 20Hz 5 88m s 0 6G 20 to 50Hz E IP Rating IP20 Power System TN System IEC EN 61800 5 1 UL 508C Standards Requirement C us 10 2 Revision April 2011 ASIDA B2 Chapter 10 Specifications Footnote ale 2 Rated rotation speed When full load speed ratio is defined as the minimum speed the motor will not pause When command is rated rotation speed the speed fluctuation rate is defined as Empty load rotation speed Full load rotation speed Rated rotation speed 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 Please refer to Chart of load and operating time in section 10 4 Overload Characteristics Revision April 2011 10 3 Chapter 10 Specifications 10 2 Specifications of Servo Motors ECMA Series Low Inertia Servo Motors Model ECMA Series ASDA B2
243. rt character 3AH ADR Communication address 1 byte consists of 2 ASCII codes CMD Command code 1 byte consists of 2 ASCII codes DATA n 1 Contents of data n word n x 2 byte consists of n x 4 ASCII codes MUT nz12 DATA 0 LRC Command code 1 byte consists of 2 ASCII codes End 1 End code 1 ODH CR End O End code 0 OAH LF RTU Mode STX A silent interval of more than 10ms ADR Communication address 1 byte CMD Command code 1 byte DATA n 1 AUT Contents of data n word 2 n x 2 byte nx12 DATA 0 CRC Command code 1 byte End 1 A silent interval of more than 10ms Revision April 201 1 8 9 Chapter 8 MODBUS Communications ASDA B2 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 gt 1 31H gt 0 230H RTU Mode ADR 10H CMD Command Codes and DATA Data Characters The format of data characters depends on the command code The available command codes and examples for AC servo drive are described as follows Command code 03H read N words The maximum value of N is 10 For example reading continuous 2 words from starting address 0200H of AC servo drive with address 01H
244. rvo drive to the ground terminal of control panel e Before making any connection wait 10 minutes for capacitors to discharge after the power is disconnected alternatively use an appropriate discharge device to discharge Inspection before e Ensure that all wiring terminals are correctly insulated operation Gig Ensure that all wiring is correct or damage and or malfunction may Control power is result not applied e Visually check to ensure that there are not any unused screws metal strips or any conductive or inflammable materials inside the drive Never put inflammable objects on servo drive or close to the external regenerative resistor e Make sure control switch is OFF e If the electromagnetic brake is being used ensure that it is correctly wired Revision April 2011 B Appendix B Maintenance and Inspection ASDA B2 Item Content Inspection before If required use an appropriate electrical filter to eliminate noise to the operation servo drive Control power is Ensure that the external applied voltage to the drive is correct and not applied matched to the controller e 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 e Check for abnormal vibrations and sounds during operation If the servo motor is vibrating or
245. s 2 Feedback Speed It is the actual motor speed which is filtered 3 Get Absolute Value 4 Judge if the speed error is equal and below the setting value of P1 47 When P1 47 is set to O this digital output will be always off 5 ON or OFF When the speed error is equal and below the setting value of P1 47 SP OK will be ON otherwise SP OK will be OFF Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use 7 36 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters P1 52 RES Regenerative Resistor Value Address 0168H 0169H Default Related Section Applicable Control Mode ALL Section 6 6 3 Unit Ohm Range 10 750 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the resistance of the applicable regenerative resistor Moe Deut For 750W models 1000 For 1 kW to 3kW models 4ES EE RES2 Regenerative Resistor Capacity Address 016AH 016BH Default Related Section Section 6 6 3 Applicable Control Mode ALL Unit Watt Range 30 3000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the capacity of the applicable regenerative resistor Mod Default For 750W models For 1kW to 3kW models LE PER Positioning Completed Width Address 016CH 016DH Default 1600 Related Section Table 7 B Applicable Control Mode PT Unit pulse Range 0 1280000 Data Size 32 bi
246. s T sec then the regenerative power 22x N 1 x EO EO T The calculating procedure is as follows Step Procedure Equation and Setting Method Set the capacity of regenerative resistor to the Change the value of P1 53 to maximum maximum 2 Set the operation cycle T Input by the users 3 Set motor speed wr le by the users or read via PO 02 Drive State isplay 4 sacload motordmertiadatio Input by the users or read via PO 02 Drive State Display Calculate the max 2 regenerative power Eo Eon a Oe Set the regenerative power Ec 6 orc bac beorbed Refer to the table above 7 Calculate the required No SEC HZ T regenerative power capacity For example If we use 400W servo drive the time of repeat operation cycle is T 2 0 4 sec max motor speed is 3000r min the load inertia 7 x motor inertia then the necessary the power of regenerative resistor 2 x 7 1 x 1 68 8 0 4 27 2W If the calculation result is smaller than regenerative power we recommend the users to use the built in 60W regenerative resistor Usually the built in regenerative resistor provided by ASDA B2 series can meet the requirement of general application when the external load inertia is not excessive The users can see when the capacity of regenerative resistor is too small the accumulated power will be larger and the temperature will also increase The fault ALEO5 may occur if the temperature is over high The follow
247. s for drive parameters Group 0 Monitor parameters example PO xx Group 1 Basic parameters example P1 xx Group 2 Extension parameters example P2 xx Group 3 Communication parameters example P3 xx Group 4 Diagnosis parameters example P4 xx Abbreviation of control modes PT Position control mode command from external signal SE Speed control mode T Torque control mode Explanation of symbols marked after parameter CX Read only register such as PO 00 PO 01 P4 00 A Parameter cannot be set when Servo On when the servo drive is enabled such as P1 00 P1 46 and P2 33 e Parameter is effective only after the servo drive is restarted after switching power off and on such as P1 01 and P3 00 Bi Parameter setting values are not retained when power is off such as P2 31 and P3 06 Revision April 2011 7 1 ASDA B2 Chapter 7 Servo Parameters 7 2 Parameters Summary Monitor and General Use Explanation of symbols marked after parameter C A Read only register Parameter cannot be set when Servo On when the servo drive is enabled Parameter Name Function Default Unit nic eun ibis PT S T PO 00 X VER Firmware Version dead N A O O O 11 1 PO 01m ALE Drive Fault Code N A N A O O O 11 2 11 3 P0 02 STS sti de onan 00 N A 7 2 PO 03 MON Analog Monitor Output 01 N A O O 4 3 5 PO 08X TSON Servo Startu
248. s the resonance of mechanical system and reduce the vibration of mechanical system If P2 45 is set to O this parameter is disabled N h Fil A i Rat p2 46 MEE A saccis Address 025CH 025DH Resonance Suppression Default O Related Section Applicable Control Mode ALL Section 6 3 7 Unit dB Range 0 32 Data Size 16 bit Display Format Decimal Settings This parameter is used to set magnitude of the resonance suppression that is set by parameter P2 45 If P2 46 is set to 0 the parameters P2 45 and P2 46 are both disabled 7 58 Revision April 2011 ASDA B2 Chapter 7 Servo Parameters VA ancr Auto Resonance Suppression Mode Address 025EH 025FH Selection Default 1 Related Section N A Applicable Control Mode ALL Unit N A Range 0 2 Data Size 16 bit Display Format Decimal Settings 0 Disable Auto Resonance Suppression Mode The setting value of P2 23 P2 24 and P2 43 P2 46 will be fixed and will not be changed 1 Auto Resonance Suppression Mode 1 Non continuous adjustment After the resonance is suppressed the setting value of P2 23 P2 24 P2 43 P2 44 P2 45 and P2 46 will be fixed and will not be changed 2 Auto Resonance Suppression Mode 2 Continuous adjustment The servo drive will perform the resonance suppression continuously will not stop The setting value of P2 23 P2 24 P2 43 P2 44 P2 45 and P2 46 will not be fixed When P2 47 is set to 1 the resonance suppression will b
249. se O z l Digital Input gt E CN2 A B Z Output e peter 88888 RS 232 RS 485 CN3 pa 4 communication v Analag BATTERY D A gt Monitor Output 3 14 Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring Figure 3 7 Basic Wiring Schematic of 2KW 3kW models with built in regenerative resistor and cooling fan Power 2kW 3kW 3 phase 200 230V Connect lo external regenerative resistor NC Cooling Fan 1kW and pal dolc servo Drive above models only 0 Phase Loss Detection Regeneration Circuit Rectifier Circuit SO Lic E Pi 15V s on ATP ES Protection GATE o 24 Circuit DRIVER PUES C qe md um mo cad m Um me i HS us UA cams GU UN Gases GN a Tes am o ums b es aw AAA TT ee e l j f To DSP Position Speed Current PWM IAEA EAS t Current Signal External Speed HH External Torque Position Pulse 3 E ES AU Ur ar num our XL d o e jul Digital Input Eine CN2 A B Z Output Digital Output RS 232 RS 485 communication CN3 3 l nalog BATTERY CNA D A gt Monitor Output Revision April 2011 3 15 Chapter 3 Connections and Wiring ASDA B2 3 3 Input Output Interface Connector CNI The CNI Interface Connector provides access to three signal groups i General interface for the analog speed and torque c
250. se command frequency is equal to Max input frequency x V1 8 x P1 04 100 Because there is an offset value of analog monitor output voltage the zero voltage level of analog monitor output does not match to the zero point of setting value We recommend the users can use Analog Monitor Output Drift Adjustment DOF1 parameter P4 20 and DOF2 parameter P4 21 to improve this condition The maximum output voltage range of analog monitor output is 8V If the output voltage exceed its limit it is still limited within the range of 8V The revolution provided by ASDA B2 series is 10bit approximated to 1 3mv LSB Revision April 201 1 6 39 Chapter 6 Control Modes of Operation ASDA B2 6 6 4 Electromagnetic Brake When the servo drive is operating if the digital output BRKR is set to Off it indicates the electromagnetic brake is disabled and motor is stop running and locked If the digital output BRKR is set to ON it indicates electromagnetic brake is enabled and motor can run freely There are two parameters that affect the electromagnetic brake One is parameter P1 42 MBT1 and the other is parameter P1 43 MBT2 The users can use these two parameters to set the On and Off delay time of electromagnetic brake The electromagnetic brake is usually used in perpendicular axis Z axis direction to reduce the large energy generated from servo motor Using electromagnetic brake can avoid the load may slip since there is no motor holding torqu
251. se refer to PO 09 Please note that this pamameter can be set through communication setting only gt Status Monitor Register Selection PC l iiia PEMNA Software Setting Address 005AH 005BH Default 0x0 Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range 0 127 Data Size 16 bit Display Format Decimal Settings The function of this parameter is the same as PO 17 Please refer to PO 1 7 Please note that this pamameter can be set through communication setting only JT d SVSTS Servo Output Status Display Address 005CH 005DH Default O Related Section N A Applicable Control Mode ALL Unit N A Range 0x00 OxFF Data Size 16 bit Display Format Hexadecimal Settings This parameter is used to display the digital output signal of the servo drive The servo output status display will show in hexadecimal format BitO SRDY Servo ready Bitl SON Servo On Bit2 ZSPD At Zero speed 7 18 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Bit3 TSPD At Speed reached Bit4 TPOS At Positioning completed Bit5 TQL At Torque limit Bit6 ALRM Servo alarm activated Bit7 BRKR Electromagnetic brake control Bit9 OLW Output overload warning Bit1 0 WARN Servo warning activated WARN is activated when the drive has detected reverse limit error forward limit error emergency stop serial communication error and undervoltage these fault conditions Bit 1 Re
252. se signal should be modified through position command processing and the structure is shown as the figure below i GNUMO GNUM A A ist Numerator N1 P1 44 FEAILI or High speed Command i Selection P1 01 La d oid 3rd Numerator N3 P2 61 Pulse Signal EC A p al i A I o th Numerator N4 P2 62 com i INHIBIT Ss i EX 3 2nd Numerator N2 P2 60 P2 60 General Sheen Counter Denominator P 1 45 Filter P1 68 Electronic Gear Ratio ss eS So cem f Low pass Filter P1 08 LL ID I I Il l Il LL lI I D o X A a o Ll Il l l l l ll Using parameter P1 01 can select P mode Electronic gear ratio can be set in P modes to set proper position revolution ASDA B2 series servo drive also provides low pass filter which are used whenever the motor and load need to be operated more smoothly As for the information of electronic gear ratio and low pass filter please refer to the following sections 6 2 3 and 6 2 4 Pulse Inhibit Input Function INHP INHP is activated via digital inputs Please refer to parameter P2 10 P2 17 P2 36 and DI INHP 07 in
253. se type is with logic type positive negative They all can be set in parameter P1 00 Please refer to the following relevant parameters DEV PTT External Pulse Input Type Address 0100H 0101H Default 0x2 Related Section Applicable Control Mode PT Section 6 2 1 Unit N A Range 0 1132 Data Size 16 bit Display Format Hexadecimal Settings not used A Input pulse type 0 AB phase pulse 4x Quadrature Input 1 Clockwise CW Counterclockwise CCW pulse 2 Pulse Direction 3 Other settings 6 2 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation B Input pulse filter This setting is used to suppress or reduce the chatter caused by the noise etc However if the instant input pulse filter frequency is over high the frequency that exceeds the setting value will be regarded as noise and filtered Setting Low speed Filter Frequency Setting High speed Filter Frequency Value Min Filter Frequency 5 7 Value Min Filter Frequency ss ote 0 0 83Mpps 600ns 0 3 33Mpps 150ns 1 208Kpps 2 4us 1 0 83Mpps 600ns 2 104Kpps 4 8us 2 416Kpps 1 2us 3 52Kpps 9 6us 3 208Kpps 2 4us 4 No Filter Function 4 No Filter Function Pleae note l P pm 150n 1 vis gt gt Pulse Input LIL Pulse Input T oA d d filtered signal __ filtered signal m When this pulse frequency is less than When this pulse
254. select 1 Speed Position mode selection PT S 2 Speed Torque mode selection S T 3 Torque Position mode selection PT T Mode Name Code Description Either PT or S control mode can be selected via the Digital PT S 06 Inputs DI Dual Mode PT T 07 Either PT or T control mode can be selected via the Digital Inputs DI Either S or T control mode can be selected via the Digital S T OA Inputs DI Sz and Tz mode selection is not provided In order to avoid using too much DI inputs we recommend that the users can use external analog signal as input command in speed and torque mode to reduce the use of DI inputs SPDO 1 or TCMO 1 Please refer to table 3 B and table 3 C in section 3 3 2 to see the default pin number of DI DO signal 6 5 1 Speed Position Control Mode Selection PT S Mode The command source of PT S mode is from external input pulse The speed command can be the external analog voltage or internal parameters P1 09 to P1 11 The speed and position mode switching is controlled by the S P signal The timing chart of speed position control mode selection is shown as the figure below CTRG De MY D LISSE TOL AD HIVE Penn LIN SPDO 1VALID gt lt SPDO 1NOTCARE X SPDO 1 VALID Speed control mode Position control mode Speed control mode Figure 1 Speed Position Control Mode Selection 6 34 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation 6 5 2 Sp
255. sers only need to confirm that if all of the digital inputs DI1 DI8 are not set to Emergency 5 4 Revision April 2011 ASDA B2 Chapter 5 Trial Run and Tuning Procedure Stop EMGS The setting value of parameter P2 10 to P2 17 and P2 36 is not set to 21 If it is necessary to use Emergency Stop EMGS as input signal the users only need to confirm that which of digital inputs DI1 DI9 is set to Emergency Stop EMGS and check if the digital input signal is ON It should be activated 4 When display shows mm Reverse limit switch error Please check if any of digital inputs DI1 DI9 signal is set to Reverse inhibit limit NL and check if the signal is ON or not Corrective Actions If it does not need to use Reverse inhibit limit NL as input signal the users only need to confirm that if all of the digital inputs DI1 DI9 are not set to Reverse inhibit limit NL The setting value of parameter P2 10 to P2 17 and P2 36 is not set to 22 If it is necessary to use Reverse inhibit limit NL as input signal the users only need to confirm that which of digital inputs DI1 DIO9 is set to Reverse inhibit limit NL and check if the digital input signal is ON It should be activated 5 When display shows Forward limit switch error Please check if any of digital inputs DI1 DI9 signal is set to Forward inhibit limit PL and check if the signal is ON or not Corrective Actio
256. served Bitl 2 Reserved Bit 3 Reserved Bit 4 Reserved Bit 5 Reserved The servo output status display can be monitored through communication also Revision April 2011 7 19 Chapter 7 Servo Parameters ASIA B2 Group 1 Pl xx Basic Parameters 1 004 PIT External Pulse Input Type Address 0100H 0101H Default 0x2 Related Section Applicable Control Mode PT Section 6 2 1 Unit N A Range 0 1132 Data Size 16 bit Display Format Hexadecimal Settings P M13 not used A Input pulse type 0 AB phase pulse 4x Quadrature Input 1 Clockwise CW Counterclockwise CCW pulse 2 Pulse Direction 3 Other settings B Input pulse filter This setting is used to suppress or reduce the chatter caused by the noise etc However if the instant input pulse filter frequency is over high the frequency that exceeds the setting value will be regarded as noise and filtered Setting Low speed Filter Frequency Setting High speed Filter Frequency Value Min Filter Frequency Value Min Filter Frequency ote D 0 0 83Mpps 600ns 0 3 33Mpps 150ns 1 208Kpps 2 4us 1 0 83Mpps 600ns 2 104Kpps 4 8us 416Kpps 1 2us 3 52Kpps 9 6us 208Kpps 2 4us 4 No Filter Function No Filter Function KR W NY 7 20 Revision April 2011 ASDA B2 Chapter 7 Servo Parameters Pleae note l lt 150ns 450n OS Y A Pulse Input JLI Pulse Input B a A NEL
257. served Do Not Use 69 70 71 Reserved Do Not Use Reserved Do Not Use we Reserved Do Not Use Reserved Do Not Use Reserved Do Not Use 44 4 AMSPD Max Rotation Speed of Encoder Output Address 0198H 0199H Default 5500 Related Section P1 46 Applicable Control Mode ALL Unit r min Range 0 6000 0 Disabled Data Size 16 bit Display Format Decimal 72 74 75 Settings This parameter is used to optimize the encoder outputs OA OB When the users set the actual reached maximum motor speed the servo drive will equalize the encoder outputs automatically When P1 76 is set to O it indicates that equalizing function is not available Revision April 2011 7 4 Chapter 7 Servo Parameters ASDA B2 ANA PFLT3 Moving Filter of Position Command Address 019AH 019BH Default 4 Related Section Applicable Control Mode PT Unit ms Range 0 100 Data Size 16 bit Display Format Decimal 7 42 Revision April 2011 ASIDA B2 Chapter 7 Servo Parameters Group 2 P2 xx Extension Parameters P2 00 KPP Proportional Position Loop Gain Address 0200H 0201H Default 35 Related Section Applicable Control Mode PT Section 6 2 8 Unit rad s Range 0 2047 Data Size 16 bit Display Format Decimal 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
258. servo motor External Position Control P l is achieved via an external pulse command External Internal Speed control mode for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC command Control of the internal speed mode is via the Digital Inputs DI A maximum of three speeds can be stored internally Speed Control S Internal Speed control mode for the servo motor is only achieved via parameters set within the Internal Speed Control Sz controller Control of the internal speed mode is via Single the Digital Inputs DI A maximum of three speeds Mode can be stored internally External Internal Torque control mode for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 VDC command Control of the internal torque mode is via the Digital Inputs DI A maximum of three torque levels can be stored internally Torque Control T Internal Torque control mode for the servo motor is only achieved via parameters set within the Internal Torque Control Tz controller Control of the internal torque mode is via the Digital Inputs DI A maximum of three torque levels can be stored internally Either S or P control mode can be selected via the dd Digital Inputs DI Dual Mode T P Either T or P control mode can be selected via the Digital Inputs DI S T Either S or T control
259. signals and control modes are user changeable For Example the factory default setting of DO5 pins 28 27 can be assigned to DOI pins 7 6 and vise versa The following Tables 3 B and 3 C detail the functions applicable operational modes signal name and relevant wiring schematic of the default DI and DO signals Revision April 201 1 3 19 Chapter 3 Connections and Wiring Table 3 B DO Signals DO Signal Assigned Control Mode Pin No Default Details ASDA B2 Wiring Diagram Refer to 3 3 3 SRDY ALL SRDY is activated when the servo drive is ready to run All fault and alarm conditions if present have been cleared SON Not assigned Servo ready SRDY is ON where the servo is ready to run NO fault alarm exists ZSPD ALL ZSPD is activated when the drive senses the motor is equal to or below the Zero Speed Range setting as defined in parameter P1 38 TSPD ALL except PT TSPD is activated once the drive has detected the motor has reached the Target Rotation Speed setting as defined in parameter P1 39 TPOS PT PT S PT T 1 When the drive is in PT mode TPOS will be activated when the position error is equal and below the setting value of P1 54 TQL Not assigned TQL is activated when the drive has detected that the motor has reached the torques limits ALRM ALL 28 27 ALRM is activated when the drive has detected a fault
260. sonance of mechanical system and reduce the vibration of mechanical system If P2 43 is set to O this parameter is disabled The parameters P2 23 and P2 24 are the first group of notch filter parameters and the parameters P2 43 and P2 44 are the second group of notch filter parameters Notch Fil A i R 2 DPHE S ead Address 0258H 0259H Resonance Suppression Default O Related Section Applicable Control Mode ALL Section 6 3 7 Unit dB Range 0 32 Data Size 16 bit Display Format DEC Settings 0 Disabled This parameter is used to set magnitude of the resonance suppression that is set by parameter P2 43 If P2 44 is set to O the parameters P2 43 and P2 44 are both disabled NCF3 Notch Filter 3 Resonance Suppression Address 025AH 025BH Default 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz Range 50 2000 Data Size 16 bit Display Format DEC Settings This parameter is used to set third resonance frequency of mechanical system It can be used to suppress the resonance of mechanical system and reduce the vibration of mechanical system If P2 45 is set to O this parameter is disabled 6 24 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation Notch Fil A i R ZEE opa Motch Filter Attenuation Rate 3 Address 025CH 025DH Resonance Suppression Default O Related Section Applicable Control Mode ALL Section 6 3 7 Unit dB Range 0 32 Data Size 16
261. stabilizing power Input power error Incorrect power input Use voltmeter to check whether the input voltage is within the specified limit ALDO Undervoltage Potential Cause Checking Method Use correct power supply or stabilizing power Corrective Actions The main circuit voltage is below its minimum specified value Check whether the wiring of main circuit input voltage is normal Reconfirm voltage wiring No input voltage at main circuit Use voltmeter to check whether input voltage at main circuit is normal Reconfirm power switch Input power error Incorrect power input Revision April 2011 Use voltmeter to check whether the input voltage is within the specified limit Use correct power supply or serial stabilizing power 9 3 Chapter 9 Troubleshooting Potential Cause GHH Motor error Checking Method ASDA B2 Corrective Actions Encoder is damage Check Encoder for the damage Repair or replace the motor Encoder is loose Examine the Encoder connector Install the motor again The type of the servo motor Is incorrect Check if the servo drive and servo motor are not correctly matched for size power rating ALOOS Regeneration error Potential Cause Checking Method Replace the motor Corrective Actions Regenerative resistor is not connected Regenerative switch transist
262. stallation and Storage ASDA B2 The users can select the adequate regenerative resistors according to the allowable frequency by referring to the table below Allowable Frequencies for Servo Motor Running Without Load times min When Using External Regenerative Resistor Motor Capacity ECMALILIC ESSI 400W 400W A sem uu 100W 200W F60 F80 50W 1 0kW 2 0kW Sy Regenerative Resistor 01 02 04 04 07 10 20 BR400W040 400W 400 8608 3506 2110 925 562 BRIKOWO20 1kW 200 8765 5274 2312 1406 Motor Capacity ECMALILIE 0 5kW 1kW 1 5kW 2 0kW 2 0kW 3 0kW Delta External ic Regenerative Resistor 05 1 0 I5 20 20 30 163 68 BR400W040 400W 400 291 283 213 F130 F180 BRIKOWO20 1kW 200 729 708 533 408 171 BR3KOWO10 1kW 100 331 Motor Capacity ECMALILIG 0 3kW 0 6kW 0 9kW Delta External Regenerative Resistor 03 06 09 BR400W040 400W 400 292 283 213 BRIKOWO20 1kW 200 729 708 533 motor frame size unit is in millimeters When the regenerative resistor capacity is not enough the users can connect to multiple the same capacity regenerative resistors in parallel to increase it Revision April 2011 ASPA B2 Chapter 2 Installation and Storage Dimensions Delta Part Number BR400W040 400W 400 O4 02 H D W MAX WEIGHT 365 250 30 53 60 93 O
263. stem inertia save the measured load inertia value automatically and memorized in P1 37 every 30 minutes by referring to the frequency response settings of P2 31 54 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters 1 When switching mode 1 or 2 to 0 the servo drive will continuously estimate the system inertia save the measured load inertia value automatically and memorized in P1 37 Then set the corresponding parameters according to this measured load inertia value 2 When switching mode 0 or 1 to 2 enter the appropriate load inertia value in P1 37 3 When switching modez1 to 0 the setting value of P2 00 P2 04 and P2 06 will change to the value that measured in 1 auto tuning mode Explanation of semi auto tuning mode 1 When switching mode 2 to 0 the setting value of P2 00 P2 04 P2 06 P2 25 and P2 26 will change to the value that measured in 1 auto tuning mode 2 After the system inertia becomes stable The displau of P2 33 will show 1 it will stop estimating the system inertia save the measured load inertia value automatically and memorized in P1 37 However when P2 32 is set to mode 1 or 2 the servo drive will continuously perform the adjustment for a period of time 3 When the value of the system inertia becomes over high the display of P2 33 will show O and the servo drive will start to adjust the load inertia value continuously PEEVE AUT3 Semi Auto Mode Inertia Adjustment Address 0
264. t Analog Monitor Output Monitor signal can set by parameters Output voltage range 8V Inputs Digital Inputs Outputs Servo On Reset Gain switching Pulse clear Zero speed CLAMP Command input reverse control Speed Torque limit enabled Speed command selection Position Speed mode switching Speed Torque mode switching Torque Position mode switching Emergency stop Forward Reverse inhibit limit Forward Reverse operation torque limit Forward Reverse JOG input Electronic gear ratio Numerator selection and Pulse inhibit input Outputs Encoder signal output A B Z Line Driver Z Open collector Servo ready Servo On At Zero speed At Speed reached At Positioning completed At Torques limit Servo alarm Servo fault activated Electromagnetic brake control Output overload warning Servo warning activated Protective Functions Overcurrent Overvoltage Undervoltage Motor overheated Overload Overspeed Excessive deviation Regeneration error Abnormal pulse control command Encoder error Adjustment error Emergency stop activated Reverse Forward limit switch error IGBT temperature error Serial communication error Input power phase loss Serial communication time out terminals with short circuit protection U V W CN1 CN2 CN3 terminals Communication Interface RS 232 RS 485 Indoor location free from direct sunlight no cor
265. t Display Format Decimal Settings Refer to P4 11 for explanation Please note that when P2 08 is set to 10 the users cannot reset this parameter DEM TIGB IGBT NTC Calibration Address 0426H 0427H Default Factory setting Related Section N A Applicable Control Mode ALL Unit N A Range 1 3 Data Size 16 bit Display Format Decimal Settings Refer to P4 11 for explanation When executing this auto adjustment please ensure to cool the servo drive to 25 C 7 80 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters TEBII pori Ru Monitor Output Drift Adjustment Address 0428H 0429H Default Factory setting Related Section Applicable Control Mode ALL Section 6 4 4 Unit mV Range 800 800 Data Size 16 bit Display Format Decimal Settings Please note that when P2 08 is set to 10 the users cannot reset this parameter ET por irit Monitor Output Drift Adjustment Address 042AH 042BH Default O Related Section Applicable Control Mode ALL Section 6 4 4 Unit mV Range 800 800 Data Size 16 bit Display Format Decimal Settings Please note that when P2 08 is set to 10 the users cannot reset this parameter P4 22 SAO Analog Speed Input Offset Address 042CH 042DH Default O Related Section N A Applicable Control Mode S Unit mV Range 5000 5000 Data Size 16 bit Display Format Decimal Settings In speed mode the users can use this paramet
266. t Display Format Decimal Settings In PT mode when the error pulse numbers is less than the setting value of parameter P1 54 TPOS At positioning completed signal will be activated Revision April 2011 7 37 Chapter 7 Servo Parameters ASDA B2 LE MSPD Maximum Speed Limit Address 016EH 016FH Default rated speed Related Section N A Applicable Control Mode ALL Unit r min Range 0 Max speed Data Size 16 bit Display Format Decimal Settings This parameter is used to set maximum motor speed The default setting is rated speed P1 56 ovw Output Overload Warning Time Address 0170H 0171H Default 120 Related Section N A Applicable Control Mode ALL Unit 96 Range 0 120 Data Size 16 bit Display Format Decimal Settings This parameter is used to set output overload time If the setting value of parameter P1 56 is set to 0 100 the function of parameter P1 56 is enabled When the motor has reached the output overload time set by parameter P1 56 the motor will send a warning to the drive After the drive has detected the warning the DO signal OLW will be activated If the setting value of parameter P1 56 exceeds 100 the function of parameter P1 56 is disabled toL Permissible Time for Overload x the setting value of parameter P1 56 When overload accumulated time continuously overload time exceeds the value of toL the overload warning signal will output i e DO signal OLW will be ON Ho
267. t Brake With Brake 3M 5M 3M 5M cue Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASD CAPW1203 ASD CAPW1205 ASD CAPW1303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAENIOO5 ASDBCAENIOO3 ASDBCAEN1005 HUM Power Connector ASD CAPW1000 Encoder Connector ASDBCAEN1 000 A 9 Revision April 201 1 Appendix A Accessories ASDA B2 1 5kW Servo Drive and 1 5kW Medium Inertia Servo Motor Servo Drive ASD B2 1521 B Medium inertia ECMA E21315 S Servo Motor Without Brake With Brake 3M 5M 3M 5M RET Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable able ASD CAPW1 203 ASD CAPW1 205 ASD CAPW1 303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAEN1005 ASDBCAEN1003 ASDBCAEN1005 Power Connector ASD CAPW 1000 Connector Encoder Connector ASDBCAEN1 000 2kW Servo Drive and 2kW Low Inertia Servo Motor Servo Drive ASD B2 2023 B Low Inertia ECMA C21020 S Servo Motor Without Brake With Brake 3M 5M 3M 5M CUN Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable able ASD CAPW1 203 ASD CAPW1 205 ASD CAPW1 303 ASD CAPW 305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAEN1005 ASDBCAEN1003 ASDBCAEN1005 Power Connector ASD CAPW1000 Connector Encoder Connector ASDBCAEN1000 2k
268. t to Red White Black and Green cables separately U Red V White W Black FG Green If not connect to the specified cable and terminal then the drive cannot control motor The motor grounding lead FG must connect to grounding terminal For more information of cables please refer to section 3 1 2 Ensure to connect encoder cable to CN2 connector correctly If the users only desire to execute JOG operation it is not necessary to make any connection to CN1 and CN3 connector For more information of the connection of CN2 connector please refer to Section 3 1 and 3 4 gt Do not connect the AC input power R S T to the U V W output terminals This will damage the AC servo drive 2 Main circuit wiring Connect power to the AC servo For three phase input power connection and single phase input power connection please refer to Section 3 1 3 3 Turn the Power On The Power includes control circuit power L1c L2c and main circuit power R S T When the power is on the normal display should be shown as the following figure As the default settings of digital input signal DI6 DI7 and DI8 are Reverse Inhibit Limit NL Forward Inhibit Limit PL and Emergency Stop EMGS respectively if the users do not want to use the default settings of DI6 DI8 the users can change their settings by using parameters P2 15 to P2 17 freely When the setting value of parameters P2 15 to P2 17 is 0 it indicates the function of t
269. tal plate and the contact area should be as large as possible 2 6 Revision April 2011 ASDA B2 Chapter 2 Installation and Storage Choose Suitable Motor Cable and Precautions Improper installation and choice of motor cable will affect the performance of EMI filter Be Sure to observe the following precautions when selecting motor cable B Use the cable with shielding double shielding is the best B The shielding on both ends of the motor cable should be grounded with the minimum length and maximum contact area B Remove any paint on metal saddle for good ground contact with the plate and shielding Please refer to Figure 1 below B The connection between the metal saddle and the shielding on both ends of the motor cable should be correct and well installed Please refer to Figure 2 on next page for correct wiring method Remove any paint on metal saddle for good ground contact with the plate and shielding the plate with grounding Figure 1 OO gt lt OX CX SOR RRR ROS RIRS RS S lt A Saddle on one end Figure 2 Revision April 2011 2 7 Chapter 2 Installation and Storage ASDA B2 Dimensions Delta Part Number OSTDTIWAS 194 042 0 M5X0 8 4X e m O 1015 AWG1 5 015 AWG15 BLUE 5 R 1015 AWGIB8 BLACK EN TEO 1015 AWGIB BROWN dn 1015 _AWG18 GY pt Li panni a bend peni iei E 1 t 2D D 93 011 0
270. te is 67890 Data Hexadecimal display When the actual value is 0x12345678 the display of high byte is h1234 and the display of low byte is L5678 Revision April 201 1 Negative value display When the actual value is 12345 the display is 1 2 345 The negative value display is displayed to indicate a decimal negative value There is no negative value display for a hexadecimal negative value 4 5 Chapter 4 Display and Operation ASIA B2 HOME 1 Dec represents Decimal display and Hex represents Hexadecimal display 2 The above display methods are both available in monitor mode and parameter setting mode 3 All monitor variables are 32 bit data The users can switch to high byte or low byte and display format Dec or Hex freely Regarding the parameters listed in Chapter 8 for each parameter only one kind of display format is available and cannot be changed 4 6 Revision April 2011 A521 B2 Chapter 4 Display and Operation 4 4 General Function Operation 4 4 1 Fault Code Display Operation After entering the parameter mode P4 00 to P4 04 Fault Record press SET key to display the corresponding fault code history for the parameter Figure 4 3 the most recent fault record the second most recent fault record the third most recent fault record the fourth most recent fault record the fifth most recent fault record Revision April 2011 4 7 Chapter 4 Display and Operation ASIDA B2
271. ted Check if forward limit switch is On or Off Activate forward limit switch Servo system is not Stable Check the value of control parameter setting and load inertia ALGSE IGBT temperature error Potential Cause Checking Method Modify parameter setting and re estimate motor capacity Corrective Actions The drive has exceeded its rated load during continuous operation Check if there is overload or the motor current is too high Increase motor capacity or reduce load Short circuit at drive output Check the drive input wiring CHE Memory error Potential Cause Checking Method Ensure all wiring is correct Corrective Actions Parameter data error when writing into EE PROM 9 6 Examine the parameter settings Please do the following steps l Press SHIFT key on the drive keypad and examine the parameter shown on LED display 2 If E320A is displayed in hexadecimal format it indicates it is parameter P2 10 Please examine the parameter settings of P2 10 3 If E3610 is displayed in hexadecimal format it indicates it is parameter P6 16 Please examine the parameter settings of P6 16 1 If this fault occurs when power is applied to the drive it indicates that the setting value of one parameter has exceeded the specified range Correct the setting value of the parameter to clear the fault and restart the servo drive
272. ter P3 00 cannot be set to OxFF P3 01 BRT Transmission Speed Address 0302H 0303H Default 0x0203 Related Section Section 8 2 Applicable Control Mode ALL Unit bps Range 0x0000 0x0055 Data Size 16 bit Display Format Hexadecimal Settings This parameter is used to set the baud rate and data transmission speed of the communications Low 0 7 Z OY 7X CAI Rame 0 o ors ors 7 68 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Baud rate setting Baud rate 4800 Baud rate 9600 Baud rate 19200 Baud rate 38400 Baud rate 57600 Baud rate 115200 Default 0x0066 Related Section Section 8 2 Applicable Control Mode ALL Unit N A Range 0x0000 0x0088 Data Size 16 bit Display Format Hexadecimal um BR WN Oo x Settings This parameter is used to set the communication protocol The alohanumeric characters represent the following 7 or 8 is the number of data bits N E or O refers to the parity bit Non Even or Odd the 1 or 2 is the numbers of stop bits Display CO ee Compor RS485 RS 232 Rage o o 0 8 0 8 0 Modbus ASCII mode 7 N 2 1 Modbus ASCII mode lt 7 E 1 gt 2 Modbus ASCII mode 7 0 1 3 Modbus ASCII mode 8 N 2 4 Modbus ASCII mode lt 8 E 1 gt 5 Modbus ASCII mode 8 0 1 6 Modbus RTU mode 8 N 2 7 Modbus RTU mode lt 8 E 1 gt 8 Modbus RTU mode 8 0 1 P3 03 FLT T
273. ters PO 03 MON Analog Monitor Output Address 0006H 0007H Default 01 Related Section Applicable Control Mode ALL Section 4 3 5 Unit N A Range 00 77 Data Size 16 bit Display Format Hexadecimal Settings This parameter determines the functions of the analog monitor outputs LI 1 a X CH1 Y CH2 not used XY X CH1 Y CH2 Motor speed 8V maximum motor speed Motor torque 8V maximum torque Pulse command frequency 8Volts 4 5Mpps Speed command 8Volts maximum speed command 0 2 3 4 Torque command 8Volts maximum torque command 5 V BUS voltage 8Volts 450V 6 Reserved 7 Reserved Please note For the setting of analog output voltage proportion refer to the P1 04 and P1 05 Example P0 03 O1 CH1 is speed analog output Motor speed Max motor speed x V1 8 x P1 04 100 when the output voltage value of CHI is V1 Revision April 201 1 6 37 Chapter 6 Control Modes of Operation ASDA B2 JNE AOUT Pulse Output Polarity Setting Address 0106H 0107H Default O Related Section Applicable Control Mode ALL Section 3 3 3 Unit N A Range 0 13 Data Size 16 bit Display Format Hexadecimal Settings o A B not used A Analog monitor outputs polarity B Position pulse outputs polarity 0 MONI MON2 0 Forward output 1 MONI MON2 1 Reverse output 2 MONI MON2 3 MONI 2 MON2 Lu MON Analog Mon
274. time 4 If only DI4 is ON SPD1 it indicates S3 command P1 10 is set to 100 is selected and the motor speed is 100r min at this time 5 If DI3 SPDO and DI4 SPD1 are ON both it indicates S4 command P1 11 is set to 3000 is selected and the motor speed is 3000r min at this time 6 Repeat the action of 3 4 5 freely 7 When the users want to stop the speed trial run use DII to disable the servo drive Servo OFF 5 10 Revision April 2011 ASDA B2 Chapter 5 Trial Run and Tuning Procedure 5 5 Tuning Procedure Estimate the ratio of Load Inertia to Servo Motor Inertia J_load J_motor JOG Mode Tuning Procedure Display l After wiring is completed when power in connected to the AC servo drive the right side display will show on the LCD display 2 Press MODE key to enter into parameter mode 3 Press SHIFT key twice to select parameter group 4 Press UP key to view each parameter and select parameter P2 17 5 Press SET key to display the parameter value as shown on the right side 6 Press SHIFT key twice to change the parameter values Use UP key to cycle through the available settings and then press SET key to determine the parameter settings 7 Press UP key to view each parameter and select parameter P2 30 8 Press SET key to display the parameter value as shown on the right side 9 Select parameter value 1 Use UP key to cycle through the available settings
275. tings 0 Gain multiple switching 1 P gt Pl switching Setting P mode S mode Status E bie P2 04 x 100 Before switching ipe i e P2 04 x P2 05 After switching a E Before switching P2 06 x 100 P2 26 x 100 After switching GUT Gain Switching Time Constant Address 0238H 0239H Default 10 Related Section N A Applicable Control Mode ALL Unit 10ms Range 0 1000 Data Size 16 bit Display Format Decimal Settings This parameter is used to set the time constant when switching the smooth gain 7 52 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters P2 29 GPE Gain Switching Condition Address 023AH 023BH Default 160000 Related Section N A Applicable Control Mode ALL Unit pulse Kpps r min Range 0 3840000 Data Size 32 bit Display Format Decimal Settings This parameter is used to set the value of gain switching condition pulse error Kpps r min selected in P2 27 The setting value will be different depending on the different gain switching condition P2 30 INH Auxiliary Function Address 023CH 023DH Default O Related Section N A Applicable Control Mode ALL Unit N A Range 8 8 Data Size 16 bit Display Format Decimal Settings 0 Disabled all functions described below 1 Force the servo drive to be Servo On upon software 2 4 Reserved 5 After setting P2 30 to 5 the setting values of all parameters will
276. tio of Load inertia to Motor inertia J load J motor Receive acceleration and deceleration command from Ihe host external controller and perform acceleration and deceleration operation alternately 1 Decrease the setting value of P2 31 YES lfthereisany gt to reduce noise resonance noise 2 2 Ifthe users do not want to decrease NO the setting value of P2 31 the users can use P2 23 and P2 24 to suppress the resonance of mechanical system i a NO displayed on the LED displa See section 5 6 6 N p de Ee Fra pay Theload inertia ratio x y YES Increase setting value of P2 31 to enhance the stiffness and frequency response and adjust the setting value of P2 25 A I satisfied performance NO is achieved Ifthe change of J load J motor are not so substantial cut off and re apply the power to the servo drive Servo Off and then set P2 32 to 0 Tuning is completed Revision April 2011 5 17 Chapter 5 Trial Run and Tuning Procedure ASDA B2 NO fthereis any high v Motor is running gt frequency resonance gt noise A Motor is running noise YES Withereis any high iS YES amp frequency resonance M SetP2 47to1 Continuously increase notch filter attenuation rate P2 44 and P2 46 iaa 81 NO P2 47 2 0 NO itp2 44232 2 9
277. tion Loop Gain Address 0200H 0201H 6 8 Default 35 Related Section Applicable Control Mode PT Section 6 2 8 Unit rad s Range 0 2047 Data Size 16 bit Display Format DEC 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 Revision April 201 1 ASDA B2 Chapter 6 Control Modes of Operation PEG Position Feed Forward Gain Address 0204H 0205H Default 50 Related Section Applicable Control Mode PT Section 6 2 8 Unit Range 0 100 Data Size 16 bit Display Format DEC This parameter is used to set the feed forward gain when executing position control command When using position smooth command increase gain can improve position track deviation When not using position smooth command decrease gain can improve the resonance condition of mechanical system However if the setting value is over high it may generate vibration or noise Position Control Block Diagram c o oo o SS o TS o i TS Ao 0 A i 0 o o Position Feed Differentiator Forward Gain P2 02 Proportional Position Loop Gain P2 00 Smooth Constant of Position Feed Forward Gain P2 03 Maximum Speed O Limit P1 55 Position Loop Gain Switching T Switching RateP2 01 Control Selection Speed Command P2 27 AM E Position enco
278. tional and Integral type controller As for the performance of torque shaft load input command tracking and torque shaft load have the same responsiveness when using frequency domain method and time domain method The users can reduce the responsiveness of input command tracking by using input command low pass filter Auto Mode Continuous adjustment This Auto Mode provides continuous adjustment of loop gains according to measured inertia automatically It is suitable when the load inertia is fixed or the load inertia change is small and is not suitable for wide range of load inertia change The period of adjustment time is different depending on the acceleration and deceleration of servo motor To change the stiffness and responsiveness please use parameter P2 31 Motor Speed W Inertia Measurement 6 22 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation 6 3 7 Resonance Suppression The resonance of mechanical system may occur due to excessive system stiffness or frequency response However this kind of resonance condition can be improved suppressed even can be eliminated by using low pass filter parameter P2 25 and notch filter parameter P2 23 P2 24 without changing control parameter Relevant parameters VANS NCF Notch Filter 1 Resonance Suppression Address 022EH 022FH Default 1000 Related Section Applicable Control Mode ALL Section 6 3 7 Unit Hz Range 50 2000 Data Size 16 bit
279. tivated until the motor speed increases above 100 r min P1 39 SSPD Target Motor Speed Address 014EH 014FH Default 3000 Related Section Table 7 B Applicable Control Mode ALL Unit r min Range 0 5000 Data Size 16 bit Display Format Decimal Settings When target motor speed reaches its preset value digital output TSPD is enabled When the forward and reverse speed of servo motor is equal and higher than the setting value the motor will reach the target motor speed and then TSPD signal will output TSPD is activated once the drive has detected the motor has reached the Target Motor Speed setting as defined in parameter P1 39 TSPD will remain activated until the motor speed drops below the Target Motor Speed Pl 40A vcm max Analog Speed Command or Limit Address 0150H 0151H Default rated speed Related Section Applicable Control Mode S T Section 6 3 4 Unit r min Range 0 10000 7 32 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters Data Size 16 bit Display Format Decimal Settings In Speed mode this parameter is used to set the maximum analog speed command based on the maximum input voltage 10V In Torque mode this parameter is used to set the maximum analog speed limit based on the maximum input voltage 10V For example in speed mode if P1 40 is set to 3000 and the input voltage is 10V it indicates that the speed command is 3000 r min If P1 40 is set to 3000 but
280. to force the digital outputs to be activated Follow the setting method in Figure 4 5 to enter into Force Output Control operation mode When P4 06 is set to 2 the digital output DO2 is activated When P4 06 is set to 7 the digital outputs DO1 DO2 and DO3 are both activated The parameter setting value of P4 06 is not retained when power is off After re power the servo drive all digital outputs will return to the normal status If P2 08 is set to 400 it also can switch the Force Output Control operation mode to normal Digital Output DO Control operation mode The DO function and status is determined by P2 18 to P2 22 This function is enabled only when Servo Off the servo drive is disabled Figure 4 5 Force DO1 to be ON Force DO2 to be ON Force DO3 to be ON Force DO4 to be ON Force DO5 to be ON Force DO6 to be ON DO1 Force DO2 to be ON DO3 O ME 1 As the display of P4 06 is hexadecimal O zero of the fifth digit will not show on the LED display Revision April 2011 4 9 Chapter 4 Display and Operation ASIDA B2 4 4 4 DI Diagnosis Operation Following the setting method in Figure 4 6 can perform DI diagnosis operation parameter P4 07 Input Status According to the ON and OFF status of the digital inputs DII to DIY the corresponding status will display on the servo drive LED display When the Bit is set to 1 it means that the corresponding digital input signal is ON Please also refer to Figure
281. tput DO signal can be forced to be activated and the drive will enter into Force Output Control operation mode 400 If P2 08 is set to 400 it can switch the Force Output Control operation mode to normal Digital Output DO Control operation mode Default 2 Related Section N A Applicable Control Mode ALL Unit 2ms Range 0 20 Data Size 16 bit Display Format Decimal 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 P2 10 Jon Digital Input Terminal 1 DI1 Address 0214H 0215H Default 101 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 O15Fh Data Size 16 bit Display Format Hexadecimal Settings The parameters from P2 10 to P2 17 and P2 36 are used to determine the functions and statuses of DII DI8 Fg La pp not used A DI Digital Input Function Settings For the setting value of P2 10 P2 17 and P2 36 please refer to Table 7 A B DI Digital Input Enabled Status Settings 0 Normally closed contact b 1 Normally open contact a 7 46 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters For example when P2 10 is set to 101 it indicates that the function of DII is SON Servo On setting
282. ttings This parameter is used to set the second most recent fault record P4 02 ASH3 Fault Record N 2 Address 0404H 0405H Default O Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Settings This parameter is used to set the third most recent fault record AMARE ASH4 Fault Record N 3 Address 0406H 0407H Default O Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Settings This parameter is used to set the fourth most recent fault record Revision April 2011 7 73 Chapter 7 Servo Parameters ASIA B2 REYES Asus Fault Record N 4 Address 0408H 0409H Default O Related Section Applicable Control Mode ALL Section 4 4 1 Unit N A Range N A Data Size 32 bit Display Format Hexadecimal Settings This parameter is used to set the fifth most recent fault record DT joc JOG Operation Address 040AH 040BH Default 20 Related Section Section 4 4 2 Applicable Control Mode ALL Unit r min Range 0 5000 Data Size 16 bit Display Format Decimal Settings JOG operation command 1 Operation Test 1 Press the SET key to display the JOG speed The default value is 20 r min 2 Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed This also can be undertaken by using the SHIFT key to move
283. ty 2 5G a IP65 when waterproof connectors are used or when an oil seal is used to ratin j be fitted to the rotating shaft an oil seal model is used Approvals CE Mos Footnote Rate torque values are continuous permissible values at 0 40 C ambient temperature when attaching with the sizes of heatsinks listed below ECMA 04 06 08 250mm x 250mm x 6mm ECMA 10 300mm x 300mm x 12mm ECMA __13 400mm x 400mm x 20mm ECMA 18 550mm x 550mm x 30mm Material type Aluminum F40 F60 F80 F100 F130 F180 2 For the specifications of the motors with rotary magnetic encoders please refer to the specifications of the corresponding standard models O Ten 1 Please refer to Section 1 2 for details about the model explanation Revision April 2011 10 7 Chapter 10 Specifications 10 3 Servo Motor Speed Torque Curves Torque N m 300 100 0 19 60 Speed 5 000 timin inr os Y Nem 300 Speed r min Eco 5 Speed 1 000 rimin ECMA G213030 S Torque 2 000 Speed 1 000 2 000 min ECMA G213090 S ECMA GM1309PS Torque N m 3 000 r min 2 000 ECMA E21820 05 10 8 Torque 100 80 Speed 3 000 5000 min ECMA C206020 S Torque N m 19 17 300 pi 00 50 Speed 3 000 5000 rmin ECMA C210200 S Torque N m Speed ECMA G21306 os ECMA GM1306PS Torque N m 14 32 300 477 100 32 66 Sp
284. ulse unit 6 Input frequency of pulse command Kpps 7 Motor rotation speed r min 8 Speed input command Volt 9 Speed input command r min Revision April 2011 ASDA B2 Chapter 4 Display and Operation The following table lists the display examples of monitor value Display Message Description PO 02 Display Message Description Unit Setting Bey 3 10 Torque input command Volt 11 Torque input command 26 12 Average load 26 13 Peak load 96 14 Main circuit voltage Volt Ratio of load inertia to Motor inertia 15 Please note that if the display is 0 times 130 it indicates that the actual inertia is 13 0 16 IGBT temperature C Resonance frequency The low byte 17 r ntr is the first resonance point and the Hz high byte is the second resonance point FEDES Absolute pulse number relative to AERE CRIT encoder use Z phase as home The 18 gt lt _ value of Z phase home point is O and it can be the value from 5000 Z 7 7 to 5000 pulses MEEL Decimal display When the actual value is FER Hion svie ERE Low Byte 16 bit 1234 the display is 01234 MEEL Data Hexadecimal display When the actual value is Hex 0x1234 the display is 1234 EEELIS Decimal display When the actual value is Dec High Byt Dee egye 1234567890 the display of high byte is EREM Low Byte 32 bit 1234 5 and the display of low by
285. ulse frequency is 200kpps Caution Do not use dual power supply Failure to observe this caution may result in damage to the servo drive and servo motor WARNING C4 1 Pulse input Line driver It requires 5V power supply only Never apply a 24V power supply Controller i i i k i k r di y J 1 gt an l p i LI i SIGN 39 ISIGNI 37 PULSE 43 JPULSET 41 r i d XY ps AY 3 28 510 510 Servo Drive Max input pulse frequency is 500kpps Max input pulse frequency is 500kpps Revision April 201 1 ASDA B2 Chapter 3 Connections and Wiring C4 2 High speed pulse input Line driver It requires 5V power supply only Never apply a 24V power supply Controller Servo Drive 42 HSIGN 2 amp Ko 740 IHSIGN 38HPULSE 2Ko y pl 19 GND Caution The high speed pulse input interface is not an isolated input interface To prevent noise and interference ensure that the ground terminal of the controller and WARNING the servo drive should be connected to each other Be sure to connect a diode when the drive is applied to inductive load Permissible current 40mA Instantaneous peak current max 100mA C5 Wiring of DO signal for the use of C6 Wiring of DO signal for the use of internal power supply general load internal power supply inductive load Servo Drive Servo Drive Ensure the polarity DC24V of Diode is correct or il VD
286. urve are both continuous in order to avoid the mechanical resonance and noise may occur due to a sudden speed command differentiation of acceleration using S curve filter not only can improve the performance when servo motor accelerate or decelerate but also can make the motor run more smoothly S curve filter parameters include P1 34 Acceleration Time TACC P1 35 Deceleration Time TDEC and Accel Decel S curve TSL and the users can use these three parameters to improve the motor performance during acceleration deceleration and operation ASDA B2 series servo drives also support the time calculation of completing speed command T ms is the operation running time S r min is absolute speed command i e the absolute value the result after starting speed subtracts the final speed Revision April 201 1 ASDA B2 Chapter 6 Control Modes of Operation Speed Acceleration Deceleration Rated Speed Time ms Time ms Sa TSL 2 TACC TSL 2 TSL 2 TDEC TSL 2 S curve characteristics and Time relationship Relevant parameters Default 200 Related Section Applicable Control Mode S Section 6 3 3 Unit ms Range 1 20000 Data Size 16 bit Display Format Decimal Settings This parameter is used to determine the acceleration time to accelerate from O to its rated motor speed The functions of parameters P1 34 P1 35 and P1 36 are each individual Please note 1 When the source of spe
287. uus DT TId ge ulse ile ce in sii a aa El Direction m 15 16 T5 T6 151 Ta Sign 14 jT5j T6 T5 T6jT5 T4 Sign LT cf d E Max Min time width Pulse specification Moe Hanes TI T2 T3 T4 T5 T6 frequency pulse receiver Low speed driver pulse Open 200Kpps 1 25ys 2 5us 5s Sus 2 5us 2 5ys n Max input pulse Voltage Forward Pulse specification up EH frequency specification specification High speed pulse ale 4Mpps 5V lt 25mA receiver Line dri 500Kpps 2 8V 3 7V lt 25MA river Low speed pulse Open E 200Kpps 24V Max 2bmA collector D Source of pulse command Setting value Input pulse interface Remark 0 Open collector for CN1 Terminal Identification low speed pulse PULSE SIGN Line driver for CNI Terminal Identification high speed pulse PULSE D SIGN D 6 4 Revision April 2011 ASDA B2 Chapter 6 Control Modes of Operation Position pulse can be input from these terminals PULSE 41 PULSE 43 HPULSE 38 HPULSE 36 SIGN 37 SIGN 39 and HSIGN 42 HSIGN 40 It can be an open collector circuit or line driver circuit For the detail wiring please refer to 3 6 1 6 2 2 Structure of Position Control Mode Basic Structure Position Command Position Command Processing Output Position Position Control _ Speed Current Block Diagram Loop Loop In order to pursue the goal of perfection in position control the pul
288. value is 0x01 and it requires a normally open contact to be connected to it Please re start the servo drive after parameters have been changed Please note The parameter P3 06 is used to set how the Digital Inputs DI accept commands and signals through the external terminals or via the communication which is determined by parameter P4 07 P2 11 DIZ Digital Input Terminal 2 DI2 Address 0216H 0217H Default 104 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 O15Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 12 Di3 Digital Input Terminal 3 DI3 Address 0218H 0219H Default 116 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 01 5Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation P2 13 Di4 Digital Input Terminal 4 DI4 Address 021 AH 021BH Default 117 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 01 5Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explanation Revision April 2011 4 7 Chapter 7 Servo Parameters ASDA B2 P2 14 Dis Digital Input Terminal 5 DI5 Address 021CH 021DH Default 102 Related Section Table 7 A Applicable Control Mode ALL Unit N A Range 0 01 5Fh Data Size 16 bit Display Format Hexadecimal Settings Refer to P2 10 for explan
289. ve as P1 01 is effective only after the servo drive is restarted after switching power off and on STEP 2 In speed control mode the necessary Digital Inputs are listed as follows Digital Input ioo n Sign Function Description CNI PIN No DI1 P2 10 101 SON Servo On DI 1 9 DI2 P2 11 109 TROLM Torque limit enabled DI2 10 DI3 P2 12 114 SPDO Speed command selection DI3 34 DI4 P2 13 115 SPD1 Speed command selection DI4 8 DI5 P2 14 102 ARST Reset DI5 33 DI6 P2 15 0 Disabled This DI function is disabled DI7 P2 16 0 Disabled This DI function is disabled DI8 P2 17 0 Disabled This DI function is disabled DIO P2 36 0 Disabled This DI function is disabled By default DI6 is the function of reverse inhibit limit DI7 is the function of forward inhibit limit and DI6 is the function of emergency stop DI8 if the users do not set the setting value of parameters P2 15 to P2 17 and P2 36 to O Disabled the faults ALE13 14 and 15 will occur For the information of fault messages please refer to Chapter 10 Therefore if the users do not need to use these three digit inputs please set the setting value of parameters P2 15 to P2 17 and P2 36 to O Disabled in advance All the digital inputs of Delta ASDA B2 series are user defined and the users can set the DI signals freely Ensure to refer to the definitions of DI signals before defining them For the description of DI signals please refer to Table
290. vos os Suma gas UNDE Ur E TEIL ms a T DSL as ene soos D gatus ot e D a Doa oa Qupap ganso oo au papageto TURPIS E oo a0 une gatus ot wor s panama wor ar pea OME 1 For Pin numbers of DO1 DO6 signals please refer to section 3 3 1 3 26 Revision April 201 1 ASDA B2 Chapter 3 Connections and Wiring 3 3 3 Wiring Diagrams of I O Signals CN1 The valid voltage range of analog input command in speed and torque mode is 10V 10V The command value can be set via relevant parameters C1 Speed Torque analog signal input C2 Analog monitor output MON1 MON2 Servo Drive Servo Drive Output 8V 1mA max 10KQ 20V REF 0K92 18 T_REF Approx 10KO 19 GND SG There are two kinds of pulse inputs Line driver input and Open collector input Max input pulse frequency of Line driver input is 500kpps and max input pulse frequency of Open collector input is 200kpps C3 1 Pulse input for the use of internal power supply Open collector input Controller Servo Drive DC24V 17 Max input pulse frequency APEN is 200kpps IKO L PULSE 1 41 310 Max input pulse frequency is 200kpps 14 COM Revision April 2011 3 27 Chapter 3 Connections and Wiring ASDA B2 C3 2 Pulse input for the use of external power supply Open collector input Controller PULL HI PULSE Approx Servo Drive Max input pulse frequency 1k O0 is 200kpps p
291. w Rear View Figure 3 10 The layout of CN2 Motor Connector 9 6 13 EH Quick Connector HOUSING AMP 1 172161 9 Military Connector 3106A 20 295 Revision April 2011 3 33 Chapter 3 Connections and Wiring ASDA B2 CN2 Terminal Signal Identification Drive Connector Motor Connector Terminal ae Military Quick Identification Description Connector Connector Color Serial communication signal input output A Blue T Serial communication Signal input output Reserved Reserved Red amp Red White Black amp 7 6 GND Ground R 8 Black White L 9 Shielding 5 T B 4 Blue Black 8 5V 5V power supply S 7 3 34 Revision April 2011 ASDA B2 Chapter 3 Connections and Wiring 3 5 Serial Communication Connector CN3 CN3 Terminal Layout and Identification The servo drive can be connected to a PC or controller via a serial communication connector Users can operate the servo drive through PC software supplied by Delta contact to the dealer The communication connector port of Delta servo drive can provide three common serial communication interfaces RS 232 and RS 485 connection RS 232 is mostly be used but is somewhat limited The maximum cable length for an RS 232 connection is 15 meters 50 feet Using RS 485 interface can allow longer distance for transmission and support multiple drives to be connected simultaneously 6 RS 485 ES ayrs 232 RX 2 RS 23
292. wer Cable ASD CAPW1203 ASD CAPW1205 ASD CAPW1303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAENIOO5 ASDBCAENIOO3 ASDBCAEN1005 EE Power Connector ASD CAPW1000 Revision April 201 1 ASDA B2 I kW Servo Drive and 1kW Low Inertia Servo Motor ASD B2 1021 B Appendix A Accessories Servo Drive Low inertia ECMA C21010 JS Servo Motor ECMA C20910 _ S Without Brake With Brake 3M 5M 3M 5M cups Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASD CAPW1203 ASD CAPW1205 ASD CAPW1303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAEN1005 ASDBCAENI0OO3 ASDBCAEN1005 eU Power Connector ASDBCAPW1000 Encoder Connector ASDBCAEN1 000 I1 kW Servo Drive and 1kW Medium Inertia Servo Motor Servo Drive ASD B2 1021 B Medium inertia ECMA E21310 lS Servo Motor Without Brake With Brake 3M 5M 3M 5M E Motor Power Cable Motor Power Cable Motor Power Cable Motor Power Cable ASD CAPW1203 ASD CAPW1205 ASD CAPW1303 ASD CAPW1305 Encoder Cable Encoder Cable Encoder Cable Encoder Cable ASDBCAEN1003 ASDBCAENIOO5 ASDBCAENIOO3 ASDBCAEN1005 SURE Power Connector ASD CAPW1000 Encoder Connector ASDBCAEN1 000 I kW Servo Drive and 900W High Inertia Servo Motor Servo Drive ASD B2 1021 B High inertia ECMA G21 309 5 Servo Motor ECMA GM1309PS Withou
293. wever if the accumulated overload time continuous overload time exceeds the permissible time for overload the overload alarm ALOO6 will occur For example If the setting value of parameter P1 56 Output Overload Warning Time is 6096 when the permissible time for overload exceeds 8 seconds at 200 rated output the overload fault ALOO6 will be detected and shown on the LED display At this time top 8 x 60 4 8 seconds Result When the drive output is at 20096 rated output and the drive is continuously overloaded for 4 8 seconds the overload warning signal will be ON 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 ALOO6 Then Servo Fault signal will be ON DO signal ALRM will be activated 7 38 Revision April 2011 AA527 B2 Chapter 7 Servo Parameters JE CRSHA Motor Protection Percentage Address 0172H 0173H Default O Related Section N A Applicable Control Mode ALL Unit 26 Range 0 300 Data Size 16 bit Display Format Decimal Settings This parameter is used to protect the motor in case the motor touchs the mechanical equipment If P1 57 is set to O the function of P1 57 is disabled The function of P1 57 is enabled when the setting value of P1 57 is set to 1 or more The fault ALO30 will be activated when the setting value of P1 57 is reached after a period of time set by P1 58 De
294. ximum length of command input cable is 3m 9 84ft and the maximum length of encoder PG feedback cables is 20m 65 62ft As a charge may still remain in the drive with hazardous voltages even after power has been removed be sure to wait at least 10 minutes after power has been removed before performing any wiring and or inspection 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 WARNING gt Please perform the wiring after the terminal blocks are all removed from the drive Insert only one wire into one terminal on the terminal block When inserting wires please ensure that the conductors are not shorted to adjacent terminals or wires Ensure to double check the wiring before applying power to the drive If the wiring is in error perform the wiring again with proper tools Never use force to remove the terminals or wires Otherwise it may result in malfunction or damage 53 1 In this manual actual measured values are in metric units Dimensions in imperial units are for reference only Please use metric units for precise measurements 2 The content of this manual may be revised without prior notice Please consult our distributors or download the most updated version at http www delta com tw industrialautomation Revision Apri
295. y Name Function LCD Displa The LCD Display 5 digit 7 step display panel shows the monitor codes dia parameter settings and operation values of the AC servo drive Charge LED The Charge LED lights to indicate the power is applied to the circuit MODE Ke MODE Key Pressing MODE key can enter or exit different parameter y groups and switch between Monitor mode and Parameter mode SHIFT Key Pressing SHIFT key can scrolls through parameter groups After SHIFT Key a parameter is selected and its value displayed pressing SHIFT key can move the cursor to the left and then change parameter settings blinking digits by using arrow keys UP and DOWN arrow Key Pressing the UP and DOWN arrow key can scroll UP and DOWN through and change monitor codes parameter groups and various ney parameter settings SET Key Pressing the SET key can display and save the parameter groups the various parameter settings In monitor mode pressing SET key can SET Key switch decimal or hexadecimal display In parameter mode pressing SET key can enter into parameter setting mode During diagnosis operation pressing SET key can execute the function in the last step The parameter settings changes are not effective until the SET key is pressed Revision April 2011 4 Chapter 4 Display and Operation ASIDA B2 4 2 Display Flowchart Figure 4 2 Keypad Operation Monitor Mode Parameter Mode Ine E Fault Mode
296. z ulse Input Line Receiver pg E DET E com i Dn com a a CCLR es TOMO 5 bia ha PRESK temi Lo Lom a EE ARST Lata Ims s LEEK CWL Has pie aa E FEK CCWL DI7 li limyt o I d DO4 o ALRM joos 28 iy pos de ot pos pe g Hooe lis OA Encoder Pulse B phase pulse joa as lt Output n P 1 23 Z phase pulse ID gt oz Z phase locz jn T A open collector GND fis Max output current 3A voltage 50W 3 36 ASDA B2 Regenerative Resistor Power A Supply Black B Green d y o S 3Brake ARA naim Twisted pair or lIwisled shield cable 4 RS232 RX 2 R5232 TX 1 GND CM uH 1 MON1 E Twisted pair or twisted shield 3 Monz j O cable Please note Please refer to C3 C4 wiring diagrams in section 3 3 3 on page 3 24 and 3 25 2 Please refer to C3 C4 wiring diagrams in section 3 3 3 on page 3 24 and 3 25 3 Please refer to C9 C12 wiring diagrams SINK SOURCE mode in section 3 3 3 on page 3 27 4 400W and below drives do not provide built in regenerative resistor 5 The brake coil has no polarity Revision April 201 1 ASDA B2 3 6 2 Speed Control Mode B ME Servo Drive AC220 230V _ 5 bn Three phase 5 OS 50 60Hz 5er T DO OLIC OL2c CN1 V REF HOV tok J REF 120 HOV 10kQ f GND i9 DC24V VDD feom n F cow i H son Leto o HEBER TROLM tu ro Lema BK

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