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User Guide for Tool Turrets Application

1. August 2014 S GE 355110 Title Part No Manufacturer MOTOR SIDE 3106A 20 29S DRIVE PLUG 3M 10120 3000PE 3M SIDE SHELL 3M 10320 52A0 008 3M L Title Model Name mm inch 1 ASD A2EB1003 3000 100 118 4 2 ASD A2EB1005 5000 100 197 4 6 9 Chapter 6 Accessories B Signal Converter Box Delta Part Number ASD IF EN0OA20 Users Guide for Too Turrets Application 5 CN28 Avera r D ERROR v WAI RUN 0x X1 A B Pulse Ox X2 A Sin B Cos XB XS RS 483 w o CLK x4 X4 RS 485 with CLIK Ee X5 ABZ Pulse Out KE 6 Reserve Xr XT Reserve Drive Mode Ken Switch Mod aos Wo ns Res Res ad G gt V J T A ON ON Y B SCSI 26 pin Connector D
2. August 2014 Users Guide for Too Turrets Application Chatper 6 Accessories B Terminal Block Module Delta Part Number ASD BM 50A 664 mm B RS 232 Communication Cable Delta Part Number ASD CARS0003 Title Part No mm inch 1 ASD CARS0003 3000 100 118 4 B Software Communication Cable Delta Part Number DOP CAUSBAB A RERA RETE Dod HAH DACH stel nord DACH GH MAMM ALUMINUM TINNED COPPER BRAID PVC JACKET Title Part No mm inch 1 DOP CAUSBAB 1400 30 55 1 2 August 2014 Chapter 6 Accessories Users Guide for Too Turrets Application CANopen Communication Cable Delta Part Number TAP CBO03 ae en t 10 1 1 L Title Part No mm inch 1 TAP CBO3 500 10 19 0 4 2 TAP CB04 1000 10 39 0 4 B CANopen Distribution Box Delta Part Number TAP CNO3 66 50 2 62 B RS 485 Connector Delta Part Number ASD CNIEOBO6 15 8 ke 95 0 SOHN i p EE I ADSL e SE ASSA CN
3. User Guide for Tool Turrets Application TP T y RH SE P m E LR 18 i LW 3L AG p 8 sl E gt E Qs y f KEY DETAILS LL 4 07 Model CA080407 CA08070S CA08070H C A0907uS CA09100S EG 80 80 80 86 86 LZ 6 6 6 6 6 6 6 6 6 6 LA 90 90 90 100 100 S 14 011 19 5 ois 19 013 Ib 0414 160 011 LB TOL cau 10155035 TOC ean 80 0 030 80 030 LL Ee E 112 3 138 3 151 1 130 2 153 2 LL 152 17 1 161 184 E 52 8 8 89 61 3 84 3 LS 27 32 32 30 30 LR 30 35 35 35 35 LE 3 3 3 3 3 LG 8 8 8 8 8 LW 20 25 25 20 20 RH 11 15 5 15 5 13 13 WK 5 6 6 5 5 W 5 6 6 5 5 T 5 6 6 5 5 TP MA M6 M6 M5 M5 Depth 15 Depth 20 Depth 20 Depth 15 Depth 15 H Vel 1 Dimensions are in millimeters 2 Dimensions and weights might be revised without prior notice 3 Box n represents the shaft end brake or the number of oil seal 4 The boxes A in the model names are for encoder resolution types A21 August 2014 Incremental encoder 20 bit 22 Incremental encoder 17 bit SHAFT END DETAILS 9 25 User Guide for Tool Turrets Application Motor frame size 100 130 Units Model mm Chapter 5 Specifications SHAFT END DETAILS CA10100nS CA10200S CA133004 EA1305
4. Title Part No Manufacturer Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASDBCAPWO100 Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4201TOP 2 JOWLE Delta Part Number ASD CAPW1000 3106A 20 18S 3106A 24 11S August 2014 6 1 Users Guide for Too Turrets Application Chapter 6 Accessories B Power Cable Delta Part Number ASD ABPWO0003 ASD ABPW0005 5 PA Lg L mo Title Part No Manufacturer Housing C4201H00 2 2PA JOWLE Terminal C4201TOP 2 JOWLE i L Title Part No mm inch 1 ASD ABPWOO003 3000 100 118 4 2 ASD ABPWOO05 5000 100 197 4 Delta Part Number ASD ABPW0103 ASD ABPW0105 NN n L Title Part No Manufacturer Housing C4201H00 2 3PA JOWLE Terminal C4201TOP 2 JOWLE i L Title Part No mm inch 1 ASD ABPWO103 3000 100 118 4 ASD ABPW0105 5000 100 197 4 August 2014 6 2 Users Guide for Too Turrets Application Delta Part Number ASD
5. Rated power kW 0 4 0 4 0 75 1 0 Rated torque N m 1 27 1 27 2 39 3 18 Max torque N m 3 82 3 82 7 16 9 54 Rated speed r min 3000 Max speed r min 5000 Rated current A 2 88 2 75 5 40 7 6 Max dir as current 8 20 8 10 147 24 1 pes giro second 58 23 23 72 5055 38 16 Rotor inertia coter 0 277 0 68 1 13 2 65 Mechanical constant ms 0 59 0 77 0 66 0 79 duo i sec 0 44 046 044 0 42 p a E 174 185 172 168 Motor resistance Ohm 1255 0 93 0 42 0 2 Motor inductance mH 6 71 7 39 3 93 1 81 Motor constant ms 4 33 7 96 8 36 9 05 Insulation class Class A UL Class B CE Insulation resistance gt 100 MQ DC 500 V Insulation strength 1 8k Vac 1 sec Weight without brake kg 1 6 2 1 3 0 4 3 Radial max loading N 196 245 245 490 Axial max loading N 68 98 98 98 Vibration grade um 15 Operating temperature C 0 C 40 C Storage temperature C 10 C 80 C Operating humidity 20 90 RH non condensing Storage humidity 20 90 RH non condensing Vibration capacity 2 5G August 2014 5 15 User Guide for Tool Turrets Application IP Rating C808 Chapter 5 Specifications IP65 use the waterproof connector and shaft seal installation or oil seal model Medium High Inertia Series 9 16 Approvals Rated power kW 1 5 2 0 2 0 3 0 Rated torque N m 7 16 9
6. Title Part No Housing AMP 1 172161 9 MOTOR SIDE Terminal AMP 170359 3 CLAMP DELTA 34703237XX PLUG D SUB 15P PLUG P N 3074045987 ASIS SHELL 3050594043 L Part No ew rer MEC SM3026P 3000 100 118 4 Delta Part Number MEC SM3026J O as L Delta Part Number MEC SM3026R O re L gt Title Part No MEC SM3026J JN1DS10SL1 MOTOR SIDE MEC SM3026R JN1FS10SL1 PLUG D SUB 15P PLUG P N 3074045987 ES SHELL 3050594043 L Part No SE E MEC SM3026J 3000 100 118 4 6 8 August 2014 Users Guide for Too Turrets Application B Encoder Cable Absolute Type Delta Part Number ASD A2EB0003 ASD A2EB0005 Chatper 6 Accessories Y ed D 355 10 p L Title Part No Manufacturer Housing AMP 1 172161 9 AMP MOTOR SIDE Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA PLUG 3M 10120 3000PE 3M DRIVE SIDE SHELL 3M 10320 52A0 008 3M i L Title Model Name z mm Inch 1 ASD A2EB0003 3000 100 118 4 2 ASD A2EB0005 5000 100 197 4 Delta Part Number ASD A2EB1003 ASD A2EB1005
7. at 20 C W 4 3 6 2 7 8 kg Weight with brake kg 4 7 7 2 9 2 Radial max loading N 490 490 490 Axial max loading N 98 98 98 Max power per second kW s with brake 90 4 82 0 65 1 Rotor inertia x 104kg m 3 33 4 95 14 0 with brake Mechanical constant ms with brake 0 93 0 66 1 22 Brake holding torque Brake power consumption 19 4 19 4 19 0 9 User Guide for Tool Turrets Application Brake release time Ims Max 10 10 10 Brake pull in time Ims Max 70 70 70 Vibration grade um 15 Operating temperature oe Ane C 0 C 40 C Storage temperature 10 C 80 C 6 Operating humidity 20 90 RH non condensing Storage humidity 20 90 RH non condensing Vibration capacity 2 5G IP65 use the waterproof Note The rated torque is the continuous permissible torque between 0 40 C operating temperature which is 1 2 9 8 suitable for the following heat sink dimension 04 06 08 250mm x 250mm x 6mm 10 300mm x 300mm x 12mm 13 400mm x 400mm x 20mm 18 550mm x 550mm x 30mm ECMA ECMA ECMA ECMA IP Rating connector and shaft seal installation or oil seal model Approves c UL US LISTED Material Aluminum F40 F60 F80 F100 F130 F180 Chapter 5 Specifications The built in brake of the servo motor is for remaining the item in stop status Do not use it to dece
8. Torque N m 9 54 300 Acceleration deceleration 3 18 100 1 91 Continuous 60 SES Speed 3000 soog min ECMA C 11010 ES Torque N m 7 16 300 Acceleration f deceleration 2 39 100 1 6 Continuous 67 Se Speed 2000 3000 r min ECMA E11305 S Torque ON mi 28 66 300 Acceleration f deceleration 955 100 6 4 Continuous 67 iic Speed r min 2000 3000 ECMA E11320 S Chapter 5 Specifications Torque N m 1 92 300 Acceleration deceleration area 0 64 H Ea al Continuous 60 oe Speed 3000 sooo min ECMA C10602 S Torque N m 7 14 298 6 00 Acceleration 251 deceleration area 2 38 100 Continuous Speed 2000 3000 SEH ECMA C10907 S Torque N m 19 11 30096 Acceleration deceleration area 6 37 10096 3 82 Continuous 60 ale Speed 3000 sooo mm ECMA C11020 S Torque N m 14 32 300 Acceleration deceleration 4 77 100 42 Continuous 6796 arga Speed A 2000 3000 mm ECMA E11310 S Torque N m 28 66 300 Acceleration deceleration 9 55 100 64 Continuous 67 SES Speed r min 2000 3000 ECMA E11820 S August 2014 Chapter 5 Specifications Torque N m 42 97 30096 Acceleration deceleration area Continuous area 2000 3000 ECMA E11830 JS 14 32 100 9 59 67 Speed r min Torque N m 13
9. Checking Method Corrective Actions When switching the motor Check if the parameter is if the setting value incorrect Press the SHIFT Key to display EXGAB X 1 2 3 G Parameter group code AB Hex Code of parameter E320A represents P2 10 E3610 represents P6 16 and E3D10 represents PM 16 The parameter setting range of linear motor is different from rotary motor Please setup the correct parameter according to the motor type User Guide for Tool Turrets Application INMI Motor magnetic fields is abnormal The alarm can be cleared after re power on EEE eee eee Causes Checking Method When enabling the Y item of The servo drive monitors PM 09 servo will detect the motor s magnetic field motor s current magnetic field and compare it with the position of Hall sensor s When the deviation between both is too excessive this alarm will occur through the encoder thus 1 check if the feedback of encoder interferes the pulse loss because of the noise assume that the feedback type of the encoder is square wave digital signal check if the motor is over speed and exceeds the limit that hardware could take The limit is 20Mhz the resolution of quadruple frequency check If Hall sensor is normal Chapter 4 Troubleshooting Corrective Actions 1 Exclude the noise problem if the type is square wave digital signal users could filter out the noise through the
10. User Guide for Tool Turrets Application Torque N m 8 92 280 Acceleration deceleration 5 1 area 160 3 18 100 50 Speed 1500 2300 3000 r min ECMA F11305 _ S Torque N m 28 7 250 Acceleration deceleration 11 48 arga 100 5 74 Continuous 1500 2200 3000 r min ECMA F11318 JS Torque N m 87 53 300 Acceleration deceleration area 35 01 1 OG pou Continuous 50 es Speed 1500 3000 rimin ECMA F11855 S Torque N m 224 240 Acceleration deceleration 95 4 area e Continuous 75 area Speed 1500 2000 mim ECMA F1221F S Torque N m 21 48 250 Acceleration deceleration 8 59 area 100 i 4 29 Continuous 50 area Speed 1000 2000 r min ECMA G11309 S 5 19 User Guide for Tool Turrets Application Torque N m 3 82 300 Acceleration deceleration area 1 27 100 7 0 763 Continuous 60 age Speed 3000 5000 mim ECMA C80604RS ECMA C80804R7 Torque N m 21 5 30096 Acceleration deceleration 7 16 10096 4 8 Continuous 6796 ane Speed 2000 3000 rimin ECMA E81315RS 5 20 Torque N m 7 16 300 Acceleration deceleration area 2 39 100 1 43 Continuous 60 area Speed 3000 sooo min ECMA C80807RS Torque N m 28 66 300 Acceleration deceleration 9 55 100 6 4 Continuous 67 ariga Spe
11. ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 750 W servo drive and 750 W low inertia motor Servo Drive ASD A2R 0721 L Low inertia Motor ECMA CA0807LIS ECMA CA0807LIH ECMA CA0907LIS Motor Power Cable without brake ASD ABPWOOO0X Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPWO10X Power Connector with brake ASDBCAPWO100 Incremental Type Encoder Connector ASD ABENOO0X Absolute Type Encoder Connector ASD A2bEBOO0X Encoder Connector ASD ABENOOO0 X23 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 Chapter 6 Accessories Users Guide for Too Turrets Application 750 W servo drive and 600 W high inertia motor Servo Drive ASD A2R 0721 L1 High inertia Motor ECMA GA 130605 Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW 1000 Incremental Type Encoder Connector ASD CAEN 100X Absolute Type Encoder Connector ASD A2bEB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable le
12. ASD CAPW200X Motor Power Cable with brake ASD CAPW210X Power Connector ASD CAPW2000 Incremental Type Encoder Connector ASD CAEN 100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 3 kW servo drive and 3 kW medium high inertia motor Servo Drive ASD A2R 3023 L Medium high inertia Motor ECMA FA1830LIS Motor Power Cable without brake ASD CAPW200X Motor Power Cable with brake ASD CAPW210X Power Connector ASD CAPW2000 Incremental Type Encoder Connector ASD CAEN 100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 6 25 Users Guide for Too Turrets Application Chapter 6 Accessories Other Accessories suitable for the whole series of ASDA A2R Name Product Number 50Pin I O Connector CN1 ASD CNSCO0050 Terminal Block Module ASD BM 50A RS 232 Communication Cable ASD CARS0003 Software Communication Cable DOP CAUSBAB CANopen Communication Cable TAP CBOS3 TAP CB04 CANopen Distribution Box TAP CNO3 RS 485 Connector ASD CNIEOBO6 Regenerative Resistor 400W 400 BR400W040 Regenerative Resistor 1kW 200 BR1KOW020 Regenerative Resistor 1 5kW 50 B
13. B VPHASE WHE D GND jGRN YEL Encoder wiring View from this side ENCODER CONNECTOR TABLE CODE DESCRIPTION COLOR 5 B WHTRED Le 2 ORORED ee 8 GND BLUE 9 SHIELD SHIELD a S o DH o T boo a dsl a Ma Es O D SUB 15P DETAIL CABLECODE DESCRIPTION COLOR D SUB 15P CODE T 3 ro 3 Z ORG 3 D 5 WHT RED A AAA 6 Z ORG RED o EE VR August 2014 2 5 User Guide for Tool Turrets Application Chapter 2 Installation and Wiring 2 2 2 Military Connector The wiring definitions of encoder communication cable are the same from encoder side regardless the power rating of motor for military connector However the wiring definitions of power cable are different 1 The wiring definition of motor connector Wiring definition of encoder Wiring definition of power cable INTASTOMLZR JAE CONNECTOR CODE NOTE la die A eo DEST Y E s 2 A A e ol SEN DS TEO ESA 2 B ECH O A OA q OD SHIELD MS3102A 24 11P CONNECTOR CODE NOTE BRAKE BRAKE Lg EZ GE d ER EE AL m H wp 522 MS3102A 20 18P CONNECTOR CODE eS a E LB IW PHASE a Epp e rame AA CE GE n WEE A Eh DEN FA CU PHASE CA E 2 Wiring definition of encoder connector Th EE S hd amp MW JAE JN1DS10SL1 DETAIL CABLE CODE DESCRIPTION COLOR A A 4 cw IE s B nen WHT RED WHT BLK RED BLU 2 6 A
14. 2 kW servo drive and 2 kW medium inertia motor Servo Drive ASD A2R 2023 L Medium inertia Motor ECMA EA 182005 Motor Power Cable without brake ASD CAPW200X Motor Power Cable with brake ASD CAPW210X Power Connector ASD CAPW2000 Incremental Type Encoder Connector ASD CAEN 100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 6 23 Chapter 6 Accessories Users Guide for Too Turrets Application 2 kW servo drive and 1 3 kW medium high inertia motor Servo Drive ASD A2R 2023 L Medium high inertia Motor ECMA F11313LIS Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 2 kW servo drive and 1 8 kW medium high inertia motor Servo Drive ASD A2R 2023 L Medium high inertia Motor ECMA F11318LIS Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW 1000 Incremental Type Encoder Connector ASD CAEN 1
15. A NELTA Smarter Greener Together I ndustrial Automation Headquarters Delta Electronics Inc Taoyuan Technology Center No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 Taiwan TEL 886 3 362 6301 FAX 886 3 371 6301 Asia Delta Electronics Jiangsu Ltd Wujiang Plant 3 1688 Jiangxing East Road Wujiang Economic Development Zone Wujiang City Jiang Su Province P R C 215200 TEL 86 512 6340 3008 FAX 86 769 6340 7290 Delta Greentech China Co Ltd 238 Min Xia Road Pudong District ShangHai P R C 201209 TEL 86 21 58635678 FAX 86 21 58630003 Delta Electronics Japan Inc Tokyo Office 2 1 14 Minato ku Shibadaimon Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 User Guide for Tool Turrets Application Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6747 5155 FAX 65 6744 9228 Delta Electronics India Pvt Ltd Plot No 43 Sector 35 HSIIDC Gurgaon PIN 122001 Haryana India TEL 91 124 4874900 FAX 91 124 4874945 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 3800 FAX 1 919 767 8080 Delta Greentech Brasil S A Sao Paulo Office Rua
16. O 1 O IndexPosition3 4 o o 1 1 IndexPosition4 0 1 0 0 IdePoston5 0 1 IndexPosition6 e e e so Index Position8 E A vc 3 Index Position 128 E mm m MEN 128 August 2014 3 17 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control 3 2 5 Newly Added Alarm List and Clear Apart from the alarm loaded in ASDA A2 and A2R the newly added alarms are shown below AL 3C3 Emergency Stop AL 3C4 P1 01 setting error The control mode has to be 0x11 AL 3C5 Communication of extension module breakdown or communication error AL 3C6 Status of extension module is in error AL 057 Feedback pulse is lost AL 041 Encoder signal error When alarm occurs it can be cleared when Servo off gt Servo On the servo drive switch off then switch on the servo drive can cleared the alarm as well Alarm Y Lo Servo On DI AS HEE Figure 3 11 Method to clear the alarm If desire to manually clear the alarm simultaneously press the Up and Down buttons for 2 seconds C Simultaneously A press them for 2 a seconds Y Figure 3 12 Press buttons to clear the alarm 3 18 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application 3 2 6 Setting Examples a Application 1 A system with ratio of 54 gear box has 12 tool positions in total and applying motor
17. LISTED Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the following heat sink dimension ECMA 04 06 08 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 Aluminum F40 F60 F80 F100 F130 F180 2 The built in brake of the servo motor is for remaining the item in stop status Do not use it to decelerate or as the dynamic brake 5 6 August 2014 Chapter 5 Specifications Low Inertia Series August 2014 User Guide for Tool Turrets Application Rated power kW 1 0 2 0 3 0 Rated torque N m 3 18 6 37 9 55 Max torque N m 9 54 19 1 28 65 Rated speed r min 3000 3000 Max speed r min 4500 Rated current A 7 30 12 05 17 2 Max instantaneous 219 36 15 47 5 current A l l i Max power per second KW s 38 1 90 6 71 8 Rotor inertia ig 10 kg m 2 65 4 45 12 7 Mechanical constant 0 74 0 61 111 ms Torque constant KT N m A 0 44 0 53 0 557 Voltage constant KE mV t min 16 8 19 2 20 98 Armature resistance 0 20 0 13 0 0976 Ohm i i i Armature inductance 1 81 1 50 121 mH i Electric constant ms 9 30 11 4 12 4 Insulation class Class A UL Class B CE Insulation resistance gt 100MO DC 500V Insulation strength 1 8k Vac 1 sec Weight without brake
18. mm li e LO gt V kl 1 A _ _ gt _ EESTI EE 000000000000000 000000000000000 CN QV 00000000000 Se QU e ASD MDEPIOO2 ou m CN DIO2 4 E Ib 158 Unit mm August 2014 6 11 Chapter 6 Accessories Users Guide for Too Turrets Application B DI O Quick Connector Delta Part Number ASD IF DS440T e CH ES IS ON B DI O Connector Delta Part Number ASDBCNDS0044 D SUB 44 PIN PLUG B O Terminal Connector Delta Part Number ASD CNSC0050 Vendor Name Vendor P N 3M TAIWAN LTD 10150 3000PE 3M TAIWAN LTD 10350 52A0 008
19. 0 7 5 78 13 5 185 185 68 70 7 5 Weight with brake kg 82 84 89 92 175 225 225 82 84 89 Radial max loading N 490 490 490 490 1176 1470 490 490 490 490 Axial max loading N 98 98 98 98 490 490 98 98 98 98 Max power per second KW s c 24 9 43 1 59 7 24 1 35 9 48 9 9 2 35 9 62 1 with brake Rotor inertia x 10 kg g 94 944 11 90 15 88 37 86 57 06 57 06 8 94 9 14 119 with brake OA 2 07 1 64 1 19 1 05 1 77 1 10 1 12 20 1 51 1 13 with brake a 10 0 10 0 10 0 10 0 25 0 25 0 10 0 10 0 10 0 10 0 idc Ho GE 19 0 19 0 19 0 19 0 204 20 4 19 0 19 0 19 0 19 0 Brake release time ms Max 10 10 10 10 10 10 10 10 10 10 Brake pull in time ms Max 70 70 70 70 70 70 70 70 70 70 Vibration grade um 15 Operating temperature C 0 C 40 C August 2014 5 9 User Guide for Tool Turrets Application Chapter 5 Specifications Storage temperature C 10 C 80 C Operating humidity 20 90 RH non condensing Storage humidity 20 90 RH non condensing Vibration capacity 2 5G IP65 use the waterproof connector and shaft seal installation or oil IP Rating seal model pala d r US LISTED Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the following heat sink dimension ECMA 04 06 08 250mm x 250mm x 6mm ECMA 10 300mm x 300mm x 12mm ECMA 13 400mm x 400mm x
20. 6 BS E n August 2014 Users Guide for Too Turrets Application B CN1 Quick Connector Delta Part Number ASD IF SC5020 en 28 i T TT A a All CL y 14 5 August 2014 Chatper 6 Accessories Chapter 6 Accessories Users Guide for Too Turrets Application B Optional Accessories for Rotary Motor 100 W servo drive and 50 W low inertia motor Servo Drive ASD A2R 0121 L Low inertia Motor ECMA C1040FLIS Motor Power Cable without brake ASD ABPWOOOX Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPWO 10X Power Connector with brake ASDBCAPWO 100 Incremental Type Encoder Connector ASD ABENOO0X Absolute Type Encoder Connector ASD A2EB000X Encoder Connector ASD ABENOOO0 X23 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 100 W servo drive and 100 W low inertia motor Servo Drive ASD A2R 0121 L Low inertia Motor ECMA CA0401LIS Motor Power Cable without brake ASD ABPWOOOX Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPWO 10X Power Connector with
21. 73728 Thus the setting should be P1 44 1 P1 45 1 P5 96 8 number of tool station P2 52 73728 total pulse number Re power on the servo drive after the setting of P2 52 and P5 96 is complete Example 2 E gear ratio of motor with magnetic encoder and indexing setting If gear box ratio is 3 B 17 A which has 7 tool stations in total Motor runs 17 cycles and tool turrets run 3 cycles P1 44 1 P1 45 B 3 Motor needs 4096 3 12288 pulses per cycle The pulse number of tool turrets runs a cycle 11288 A B 4096 3 17 3 4096 17 69632 Thus the setting should be P1 44 z 1 P1 45 3 P5 96 7 number of tool station P2 52 69632 total pulse number Re power on the servo drive after the setting of P2 52 and P5 96 is complete Example 3 E gear ratio of motor with optical encoder and indexing setting If gear box ratio is 3 B 17 A which has 7 tool stations in total Motor runs 17 cycles and tool turrets run 3 cycles P1 44 128 P1 45 B 3 Motor needs 10000 3 30000 pulses per cycle The pulse number of tool turrets runs a cycle 30000 A B 10000 3 17 3 10000 17 170000 Thus the setting should be P1 44 z 128 P1 45 z 3 P5 96 7 number of tool station P2 52 170000 total pulse number Re power on the servo drive after the setting of P2 52 and P5 96 is complete 4 Setting of Absolute Type Encoder Only the motor with optical encoder supports absolute function
22. ASDA soft which is more convenient If desire to adjust the value via drive panel set P2 08 to 40 first Then switch to PM parameter group by the SHIFT Key Since it is 7 segment display it will show PTI on panel c P1 74 0x6000 This can setup filter frequency of CN5 and avoid pulse counting error caused by noise interference d P2 35 12288 This parameter called Condition of Excessive Position Control Deviation Warning When the command and feedback error exceeds the setting value AL 009 will occur Resolution of magnetic encoder and optical encoder is different users have to 3 12 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application change the setting The current value is 3 cycles 12288 4096 3 Users can adjust the value according to the actual requirement e P2 81 0 x1 Enable the function of pulse loss detection The servo drive will take Z pulse as reference to count the pulse number When the deviation of counting pulse and encoder pulse exceeds the setting value of P2 82 for three times and the situation has not been improved AL 057 will occur f P2 82 10 As mentioned above this parameter is to set the boundary to trigger the pulse loss alarm The default value is 10 and the minimum value should be 3 at least g Tool position record function set by P5 93 is for motor with magnetic encoder only Please refer to item 5 above for detailed information 11 Re
23. CAPW1003 ASD CAPW1005 a ul Chatper 6 Accessories 50mm 1 97 inch Se PA Delta Part Number ASD CAPW1103 ASD CAPW1105 E 80 mm 3 15 inch Title Part No Straight mm inch 1 ASD CAPW1003 3106A 20 18S 3000 100 118 4 2 ASD CAPW1005 3106A 20 18S 5000 100 197 4 August 2014 E 1 97 inch i L ae 80 mm 3 15 inch Title Part No Straight z l mm inch ASD CAPW1103 3106A 20 18S 3000 100 118 4 2 ASD CAPW1105 3106A 20 18S 5000 100 197 4 6 3 Chapter 6 Accessories Delta Part Number ASD A2PW1003 ASD A2PW1005 Users Guide for Too Turrets Application _ 50mm T 1 97 inch FE mx E je i Ky L 80 mm 3 15 inch Title Part No Straight mm inch 1 ASD A2PW1003 3106A 20 18S 3000 100 118 4 2 ASD A2PW1005 3106A 20 18S 5000 100 197 4 Delta Part Number ASD A2PW1103 ASD A2PW1105 FR S 1 97 inch dg L 80 mm 3 15 inch Title Part No Straight mm inch 1 ASD A2PW1103 3106A 20 18S 3000 100 118 4 2 ASD A2PW1105 3106A 20 18S 5000 100 197 4 Delta Part Number ASD CAPW2003 ASD CAPW2005 80mm 3 15inch O L 100mm 3 94inch Title Part No Straight L mm
24. M P2 24 21 5HM INotch filter 1 dB 0 32 w P2 43 EISE 2 Hz 50 2000 1000 T EA ME P2 44 HiEHMINotch filters 2 de ow32 I e P2 45 HAM EFE 3 Hz 50 2000 301 rt e P246 85M Notch fibers 3 opman oo r Figure 3 24 Compute and Download the Gain 3 30 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application 2 Tune the system via panel Estimate the load inertia of mechanism first Then to run the motor at forward or reverse direction by the controller Use Up and Down button to adjust the panel to j J L and to display the inertia ratio on panel lt 10 gt O Use the controller to operate the motor at forward and reverse direction The speed Must exceed 200 rpm If the operation has no problem increase the operation speed at both O direction to monitor the value of J L Access the stable value of J L then write it into P1 37 Figure 3 25 Use panel to read inertia ratio Estimate the bandwidth system response speed and see if the mechanism performance is satisfactory The initial bandwidth can be smaller When value of P1 37 x P2 31 bandwidth exceeds 240 the system might be unstable This is for reference only though For some equipment which has better stiffness users can setup higher bandwidth For some mechanicals with poor characteristics it will still have problem even if the value is less than 240
25. Setup filter frequency to reduce the interference of the noise P2 35 2000 The position error exceeds the range set by AL 009 The resolution of magnetic encoder is 4096 pulses Set the protection range to half cycle here The unit is pulse Users can change it according to the demand P2 81 0x1 P2 82 10 Enable pulse loss detection Once the pulse loss number exceeds 10 from Z to Z and the situation has not been improved after running 3 cycles AL 057 occurs 11 DI O program P2 10 gt P2 17 0x100 P2 18 gt P2 22 0x100 P2 36 gt P2 41 0x100 to disable DI O function of this system Please refer to section 3 2 4 for other settings 3 20 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application b Application 2 A system with ratio of 54 gear box has 12 tool stations in total and applying motor with magnetic encoder See the example below A B 54 1 Mechanism Incremental system A2R Magnetic encoder Figure 3 14 Example 2 Use A2R and download the installation program first then to setup parameters 1 P1 01 2 Ox11 Set to specific mode 2 P1 12 30 When it reaches the station torque limits Please adjust the value according to the real situation 3 Set P1 44 1 P1 45 1 P2 52 54 4096 221184 and P5 96 12 When motor turns 54 cycles per revolution the tool turrets turns one cycle which has 12 tool stations in total Re power on the servo
26. acc time a m Corresponds to Corresponds to Corresponds to Corresponds to REPR P5 40 P5 55 P5 60 P5 75 P5 20 P5 35 P5 20 P5 35 16 sets in total 16 sets in total 16 sets in total 16 sets in total d P7 26 Second index speed setting in A B C DWZ Y X format Use DI SPS to select the speed during operation Refer to the description of P6 00 for its setting method Hem AB D A ee E ee STI ERE ee Rage 0x0 OxF 0x0 OxF Ox0 OxF Ox0 OxF 0x0 OxF mm Select delay time Select speed Select dec time Select acc time B Corresponds to Corresponds to Corresponds to Corresponds to dl don P5 40 P5 55 P5 60 P5 75 P5 20 P5 35 P5 20 P5 35 16 sets in total 16 sets in total 16 sets in total 16 sets in total 3 10 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application 7 Position Range Confirm P7 27 When the system resumes after servo off or emergency stop if the motor is still at the positioning point or within the range of P7 27 DO will display the tool position The setting range of absolute system of optical encoder and position record function of magnetic encoder is based on this This function is enabled when coordinate setting is complete 2 after homing is complete Tool stops Tool stops P 2 P7 27 P 2 P7 27 PUU PUU PUU PUU Figure 3 8 Tool position range confirm For A2R magnetic motor system when the power is
27. brake ASDBCAPWO100 Incremental Type Encoder Connector ASD ABENOO0X Absolute Type Encoder Connector ASD A2EB000X Encoder Connector ASD ABENOOO0 X23 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 6 16 August 2014 Users Guide for Too Turrets Application Chatper 6 Accessories 200 W servo drive and 200 W low inertia motor Servo Drive ASD A2R 0221 L Low inertia Motor ECMA CAO0602LIS Motor Power Cable without brake ASD ABPWOOOX Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPWO 10X Power Connector with brake ASDBCAPWO 100 Incremental Type Encoder Connector ASD ABENOO0X Absolute Type Encoder Connector ASD A2EB000X Encoder Connector ASD ABENOOO00 X23 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 400 W servo drive and 400 W low inertia motor Servo Drive ASD A2R 0421 L Low inertia Motor ECMA CAO0604LIS ECMA CAO0604LIH ECMA CA0804017 Motor Power Cable without brake ASD ABPWOOOX Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPW010X Power Connector with brake ASDBCAPW0100 Incremental Type Encoder Connector ASD ABENOOOX Absolute Type Encoder Connector ASD A2EB000X Encoder Connector ASD ABENOO00 X 3 Indicates that the cable length
28. command is the rated speed the velocity correction ratio is rotational speed with no load rotational speed with full load rated speed 3 TN system The neutral point of the power system connects to the ground directly The exposed metal components connect to the ground via the protective earth conductor 5 4 August 2014 Chapter 5 Specifications User Guide for Tool Turrets Application 5 3 Specifications of Servo Motor Permanent Magnetic Synchronous Rotary Motor Low Inertia Series August 2014 C104 C 04 CA06 SANS Rated power kW 0 05 0 1 0 2 0 4 0 4 0 75 0 75 1 0 Rated torque N m 0 159 0 32 064 1 27 127 239 2 39 3 18 Max torque N m 0 477 0 960 1 92 382 3 82 7 16 7 14 8 78 Rated speed r min 3000 3000 Max speed r min 5000 3000 Rated current A 0 66 0 90 1 55 260 2 60 5 10 3 66 4 25 kis m E gt 270 4 65 7 80 780 153 11 1237 MESS P KW Second 1527 277 224 57 6 240 50 4 29 6 38 6 Rotor inertia x 10 kg m 0 0206 0 037 0 177 0 277 0 68 1 13 1 93 2 62 Mechanical constant ms 1 14 0 75 0 80 0 53 0 74 0 63 1 72 1 20 Torque constant KT N m A 0 24 0 36 0 41 0 49 0 49 0 47 0 65 0 75 ELM OX 10 13 6 16 0 17 4 185 17 2 242 27 5 mV r min Armature resistance Ohm 12 7 9 30 2 79 1 5 0 93 0 42 1 34 0 897 Arma
29. drive when the setting of P2 52 and P5 96 is complete 4 P2 69 0 Not to use absolute type optical type 5 Select the homing function and setup the speed a P5 04 0x0002 look for origin point and return to Z pulse b P5 05 5000 500 rpm P5 06 500 50 rpm P6 00 0x00101100 and Delay Time P5 41 100 ms The 2 deceleration time P5 20 200 ms the 1 deceleration time P5 21 300 ms the acceleration time 2 P5 21 300 ms If desire to change the setting time users can directly change the setting of P6 00 or the target parameter such as P5 21 In this example change the value of P5 21 will change the 17 deceleration time and acceleration time c P6 01 0 When it reaches original point users can setup the coordinate offset value No offset is set for this case d P5 93 0x00000100 Not to use extension module Use combination DI to do homing Enable tool station record function and continuous manual operation Also make sure value of P6 02 P6 99 is all cleared to O e P5 94 1 After homing it stops at the first tool station 6 Moving method and speed test a P5 95 2 Setup the shortest distant way to look for tool station b Manual operation speed P7 22 0x0024000A delay time is determined by P5 42 opeed is set by P5 64 and Acceleration deceleration is set by P5 20 c 1 auto speed P7 24 0x002A110A delay time is determined by P5 42 Speed is set by P5 70 and Acceleration deceleration i
30. forward and reverse direction within the setting range and estimate the inertia ratio at the same time Pay attention to the mechanism click again to stop the operation if any problem occurs e When the value of inertia ratio is stable or the variation is small click to stop the operation Then increase the speed again Click to download and click to start the operation again Repeat these steps until the inertia ratio has no big change even when it is in high speed If the variation value is smaller than 1 it means the inertia estimation is complete Click 9 to load the inertia into the system Then click b again to disable Gain Control Panel and proceed to the next step 3 28 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application A Delta ASDA Soft ASDA A2R Servo Rotary Motor mm ur TS FANE FE e e IR Rep S A OM hira OED ona RI SESCH ESERE ASDA A2R Servo Rotary Motor SS See em pe e SE Sen Hise He 01 001 HS FASS P0 06 08 a GENENE Teen Sa No Alarm P3 03 P3 04 P3 06 P4 07 e HERA sgr GEBEN dB Rs 33 33 40 00 PAI e SEER Aa ms 33 33 E 40 00 TED Dm ELPRE Jine 3565 3000 rpm ms 200 prp in P1 37 AA EE P2 00 tia meni e ENEE EE 3000 omg ao ms 200 EE P2 06 Eo P2 25 SHEER fir rpm 6 3000 200 p2 26 ESTERE NE
31. heat sink dimension ECMA 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 Aluminum F60 F80 F100 F130 F180 August 2014 5 17 User Guide for Tool Turrets Application 5 5 Torque Features T N Curve Torque N m 0 477 300 Acceleration deceleration 0 159 100 0 095 Continuous 60 ac Speed 3000 5000 min ECMA C1040F S Torque N m 3 82 30095 Acceleration deceleration area 1 27 100 i area 60 Speed 3000 5000 r min ECMA C10604 S ECMA C10604 H ECMA C10804 7 Torque N m 8 78 276 Acceleration deceleration area 3 18 100 Continuous Speed 2000 3000 O ECMA C 10910 S Torque N m 28 65 300 Acceleration deceleration area 9 55 100 6 40 Continuous 67 re Speed 3000 4500 amun ECMA C11330 4 Torque N m 215 30096 Acceleration deceleration 7 16 100 i 48 Continuous 67 area Speed 2000 3000 r min ECMA E11315 S 5 18 Torque N m 0 96 300 Acceleration deceleration area 0 32 100 0 19 Continuous 60 area Speed 3000 sooo Amin ECMA C10401 S Torque N m 7 16 300 Acceleration deceleration area 2 39 100 i 1 43 Continuous 60 gres Speed 3000 sooo min ECMA C10807 S ECMA C10807 _ H
32. homing 6 Moving method and moving speed The moving method and moving speed is set here Users can use digital input SPS to switch the speed a P5 95 The direction for searching the target station P5 95 0 search at forward direction P5 95 1 search at reverse direction P5 95 2 search at shortest distance August 2014 3 9 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control Target station Search at forward direction Shortest distance Search at reverse direction Current station Figure 3 7 Target station searching method b P7 22 The speed setting of manual operation This setting is to select the operation speed in A BCDWZ Y X format Refer to the description of P6 00 for its setting method lem AB C D Ed 5 P0 E N CA ERE kand HN Rage 0x0 OxF 0x0 OxF Ox0 OxF Ox0 OxF 0x0 OxF mmm Select delay time Select speed Select dec time Select acc time B o Corresponds to Corresponds to Corresponds to Corresponds to SSERZEN P5 40 P5 55 P5 60 P5 75 P5 20 P5 35 P5 20 P5 35 16 sets in total 16 sets in total 16 sets in total 16 sets in total C P7 24 First index speed setting in A B C DWZ Y X format Refer to the description of P6 00 for its setting method lem AB D a a a COC om PRS ft Rage 0x0 OxF 0x0 OxF 0x0 OxF 0x0 OxF mm Select delay time Select speed Select dec time Select
33. next tool station after homing 3 24 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application 3 3 2 Auto Position Function The following example sets up the shortest path for positioning Servo On on DI selects tool be Non 1 2 2 4 8 gt MDO Off MD1 Motor Speed Torque Limit P1 12 l DO Output x positioning l Figure 3 17 Timing diagram of auto operation with one speed setting Use SPS to change the speed Servo On on DI Select the tool position MD 0 Off MD 1 SPS Change do on the speed Motor Speed Torque Limit P1 12 DO Output Positioning 8 Figure 3 18 Timing diagram of auto operation with speed switching August 2014 3 25 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control 3 3 3 Manual Index Function Example below sets up for searching the shortest path auto trigger and timing diagram Servo On on MPD1 on MDO MD1 Motor Speed Torque Limit P1 12 Ly Ld Delay Mi Delay _ DO Output eee positioning K2 TD 3 aa K2 Figure 3 19 Timing diagram for manual index control 3 3 4 DI O Status Monitor and Force Output During the trial operation Delta s PC scope can access the digital input output status of extension module This is very useful for logic debugging and u
34. of CN5 is Check if the connection of Make sure the connection is breakdown pin1 5 and pin 9 on CN5 correct and then re servo on connector is breakdown August 2014 4 15 User Guide for Tool Turrets Application Chapter 4 Troubleshooting Warning of Servo Drive Function Set Bit 4 of P2 66 to 1 and re power AL044 Overload on Causes Warning of servo drive e Bit 4 of P2 66 to 1 could function overload close the display of this alarm DE Auto Detection of Motor Parameters The alarm can be cleared after is Complete re power on Checking Method Corrective Actions When executing the function It informs users the detection Please cycle power the servo of PM 01 Automatic is completed and should drive Identification of Motor re power on the servo drive Parameter the alarm occurs when the auto detection is Auto Detection of Motor Parameters wn DI ARST on to clear the alarm is in Error Et Checking Method Corrective Actions When executing the function 1 Check if motor pole pitch 1 Enter the value which is the of PM 01 if the friction is too encoder resolution and same as the actual one and big motor is stuck or entering encoder type are entered activate the detection wrong resolution and pitch correctly again pole this alarm will occur Check if motor is stuck 2 The rotary motor will rotate during detection at forward and reverse Check if the motor friction direction for one magnetic is too big cycle dur
35. off if the motor is moved exceeding the range it will not display the correct tool position after the power resumes The system has to perform homing to recover coordinate system If the motor is moved over one cycle and stops within the range set by P7 27 no alarm will occur However the position is incorrect Please take it into consideration when applying A2R motor system with magnetic encoder When the system is power off it is better to have the mechanism to avoid this situation The setting of P7 27 should be reasonable too Positioning point Move after power off Move after power off Move after power off before power off Then resume the power Then resume the power Then resume the power Alarm occurs It No alarm is shown Original System works cannot display the but the coordinate position properly No need correct tool and position is incorrect to do homing need to do homing Needs to do homing Figure 3 9 Allowable range for magnetic encoder August 2014 3 11 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control 8 Related parameters of backlash compensation P7 01 When the value is set to 0 compensation function is disabled When the value of P7 01 gt 0 it compensates when moving at forward direction when the value of P7 01 lt QO it compensates when moving at reverse direction The direction of backlash compensation has to be opposite to homing direction See the example be
36. proper setting of filter function The setting of converter box gt PM 03 The setting of CN5 gt P1 74 Limit the max speed of motor Setup P1 55 IMITA Feedback Pulse is Lost The alarm can be cleared after re power on AA A A Checking Method Corrective Actions When P2 81 1 it will check 1 Check if the feedback of if pulse is lost If the pulse loss amount exceeds the value of P2 82 this alarm will occur 4 18 encoder interferes the pulse loss because of the noise Assume that the feedback type of the encoder is square wave digital signal check if the motor is over speed and exceeds the limit that hardware could take The limit is 20Mhz the resolution of quadruple frequency 1 Exclude the noise problem if the type is square wave digital signal users could filter out the noise through the proper setting of filter function The setting of converter box gt PM 03 The setting of CN5 gt P1 74 Limit the max speed of motor Setup P1 55 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application Excessive Deviation of Initial YR Magnetic Pole Detection Position Turn DI ARST on to clear the alarm when Power On AAA A LL Checking Method Corrective Actions During initial magnetic pole 11 Check if the command is 1 Do not issue the command detection it will check if the issued when power just on right after the power is on position error exceeds
37. stations The extension module has two types single and dual port Each port provides 16 DI and 12 DO Expansion DI O Module A2 R 16 DIs and 12 DOs x 2 DI Source amp Sink DO Source amp Sink 0 4KW 3KW August 2014 Chapter 1 Hardware and Software Structure User Guide for Tool Turrets Application Two standard control solutions are provided now Please see the descriptions below Without extension module Ww extension module ASDA A2 A2 Motor with optical encoder Kc A2 absolute increment m A2R Motor with optical encoder m A2R A with optical encoder absolute increment absolute increment Motor with Motor with magnetic encoder encoder Motor with Motor with magnetic encoder encoder incremental Motor with magnet encoder Note 1 2 incremental type Note 1 Motor with magnetic encoder A2 L 8 DI 5 DO A2 U 14 DI 5DO Extension module single port 16 DI 12 DO duel port 32 DI 24 DO Up to 27 stations 256 or more Note 1 Motor with magnetic encoder of Delta is incremental type it can be called semi absolute type However with the algorithm provided by Delta when the machine stops if the motor position remains the machine can keep running without homing after restart the system Note 2 The resolution of motor with magnetic encoder is 12 bit 4096 pulse rev which is quite enough for the application of tool turrets Its features also include oil resistant shock resistant and oil and vapor
38. use While using 24V power from extension module please consider the maximum allowable current WARNING CN DIO 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 DI15 DI14 DI13 DI12 DI11 DI10 DI9 DI8 DI7 DI6 DI5 DIA DI3 DI2 DI1 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 COM Reserved DO5 DO5 DO4 DO4 DO3 DO3 DO2 DO2 DO1 DO1 OV 24V DI16 44 43 42 41 40 39 38 37 36 35 34 33 32 31 CN DIO 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Das Dig4 Di33 Di32 Digi Digo Diza Di28 Di27 Di26 Di25 Di24 DI23 Diz2 DS 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 44 43 42 41 40 39 38 37 36 35 34 33 32 31 2 2 August 2014 Chapter 2 Installation and Wiring User Guide for Tool Turrets Application CN DIO1 CN DIO2 6 D Digitallmput 6 DI26 Digitalinput26 8 D Doug 8 DI28 Digitallput28 9 Dig Digtalnpnt9 9 DI29 Digitalimput29 e Digital Output 21 Digital Output 2 Positive DO 224 Digital Output 22 Positive egative Digital Output 3 Positive DO 23 Digital Output 23 Positive egative Digital Output 4 Positive DO 24 Digital Output 24 Positive See Digital Output 24 Digital Output 5 Positive DO 25 Digital Output 25 Positive Digital Output 5 Negative DO 25 Output e egative COM 4 Common Input can be COM 4 Common Input can be positive or negative
39. with magnetic encoder and DI O extension slot See the example below AB 54 1 Mechanism Incremental System A2R Magnetic encoder Figure 3 13 Example 1 This system uses A2R Download the installation program first then to setup parameters 1 P1 01 0x11 Set to specific mode 2 P1 12 30 When it reaches the position torque limits Please adjust the value according to the real situation 3 Set P1 44 1 P1 45 1 P2 52 54 4096 221184 and P5 96 12 When motor turns 54 cycles per revolution the tool turrets turns one cycle which has 12 tool stations in total Re power on the servo drive when the setting of P2 52 and P5 96 is complete 4 P2 69 0 Not to use absolute type optical type 5 Select the homing function and setup the speed a P5 04 0x0002 look for original point and return to Z pulse b P5 05 5000 500 rpm P5 06 500 50 rpm P6 00 0x00101100 and Delay Time P5 41 100 ms The 2 deceleration time P5 20 200 ms the 1 deceleration time P5 21 300 ms and the acceleration time P5 21 300 ms If desire to change the setting time users can directly change the setting of P6 00 or the target parameter such as P5 21 In this example change the value of P5 21will change the 1 deceleration time and acceleration time c P6 01 0 When it reaches the original point users can setup the coordinate offset value No offset is set for this case d P5 93 0x00000100 N
40. 0 20 2f 217 27 LR 25 25 30 30 30 LE 2 5 2 5 3 3 3 LG 5 5 7 5 7 5 7 5 LW 16 16 20 20 20 RH 6 2 6 2 11 11 11 WK 3 3 5 5 5 W 3 3 5 5 5 T 3 3 5 5 5 DE i M3 M4 M4 M4 Depth 8 Depth 15 Depth 15 Depth 15 H Vel 1 Dimensions are in millimeters 2 Dimensions and weights might be revised without prior notice 3 Box n represents the shaft end brake or the number of oil seal 4 The boxes A in the model names are for encoder resolution types A 1 5 24 y Incremental encoder 20 bit A 2 Incremental encoder 17 bit August 2014 Chapter 5 Specificati ons Motor frame size 86 or below Units mm ove 7 300 50 a
41. 00X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 3 kW servo drive and 3 kW low inertia motor Servo Drive ASD A2R 3023 L Low inertia Motor ECMA C A 133004 Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 Users Guide for Too Turrets Application 3 kW servo drive and 3 kW medium inertia motor Servo Drive ASD A2R 3023 L Chatper 6 Accessories Medium inertia Motor ECMA EA1830LIS Motor Power Cable without brake ASD CAPW200X Motor Power Cable with brake ASD CAPW210X Power Connector ASD CAPW2000 Incremental Type Encoder Connector ASD CAEN 100X Absolute Type Encoder Connector ASD A2bEB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 3 kW servo drive and 3 5 kW medium inertia motor Servo Drive ASD A2R 3023 L Medium inertia Motor ECMA EA 183505 Motor Power Cable without brake
42. 00X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 6 21 Chapter 6 Accessories Users Guide for Too Turrets Application 1 kW servo drive and 850 W medium high inertia motor Servo Drive ASD A2R 1021 0 Medium high inertia Motor ECMA F 1130805 Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 1 kW servo drive and 900 W high inertia motor Servo Drive ASD A2R 1021 L High inertia Motor ECMA G A 130905 Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 1 5 kW servo drive 1 5 kW medium inertia motor Servo Drive ASD A2R 1521 L Medium inertia Motor ECMA EA 131505 Motor Power Cabl
43. 0S EA13100S EA131508 EA 132008 LC 100 100 130 130 130 130 130 LZ 9 9 9 9 9 9 9 LA 115 115 145 145 145 145 145 S 22 0019 22000 B sel 220 22000 2209 220013 LB 950 095 950 035 11 DI oss 1 100 038 1 10 035 1 100 038 1 100 035 LL without 153 3 199 187 5 147 5 147 5 167 5 187 5 brake Ge 192 5 226 216 0 183 5 183 5 202 216 with brake LS 37 37 47 47 47 47 47 LR 45 45 55 55 55 55 55 LE 5 5 6 6 6 6 6 LG 12 12 11 5 11 5 11 5 11 5 11 5 LW 32 32 36 36 36 36 36 RH 18 18 20 18 18 18 18 WK 8 8 8 8 8 8 8 W 8 8 8 8 8 8 8 T 7 7 7 7 7 7 7 Tt M6 M6 M6 M6 M6 M6 M6 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 58 9 26 Dimensions are in millimeters Dimensions and weights might be revised without prior notice Box n represents the shaft end brake or the number of oil seal The boxes A in the model names are for encoder resolution types A21 Incremental encoder 20 bit 22 Incremental encoder 17 bit August 2014 Chapter 5 Specifications Motor frame size 100 130 Units mm User Guide for Tool Turrets Application SHAFT END DETAILS Model F113050S FA13080S F113130S F113180S GA13030S GA13060S GA13090S LC 130 130 130 130 130 130 130 LZ 9 9 9 9 9 9 9 LA 145 145 145 145 145 145 145 S o Boo Eed Sne See SE ogs GT LB 11 05 095 11 O 5 oss 11 Dm 11 Dana 11 06 085 11 00 085 11 Jude LL without 139 5 1
44. 1 2 1 0 0 O 1 1 1 Index position 19 IDX5 1 210010 Index position 20 IDX5 gt 1 Index position 21 IDX5 1 210100 10011 Index position 22 IDX5 1 1010 1 1 1 1 1 1 Index position 23 IDX5 1 10110 Index position 24 IDX5 1 2 1 0 1 1 1 Index position 25 IDX5 1 11000 1 Index position 26 IDX5 1 2 1 1 0 0 1 Index position 27 IDX5 1 1 1010 co 1 1 1 1 1 sch 6 CR EE EN CO N August 2014 3 15 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control 3 2 4 DI O Setting of Extension Module When applying extension module there is no need to plan DI O function it cannot be changed either It supports up to 128 tools in total It is suggested to disable DI O function on servo drive P2 10 gt P2 17 0x100 P2 18 gt P2 22 0x100 and P2 36 gt P2 41 0x100 are the function for CN DIO1 it only supports single port so far a DI Setting EDI 1 IDXO Index Selection 0 EDI 7 IDX6 Index Selection 6 EDI 8 EDI 9 ORGP Original point EDI 10 IHOM Homing Trigger use combination command or individual command EDI 11 Mode Switching 0 EDI 12 Mode Switching 1 EDI 13 MDPO Continuous Manual Operation EDI_14 MDP 1 Single step Manual Operation 0 1 Speed P7 24 ERIS 1 2 Speed P7 26 EMGS Set to normal Emergency Stop use combo command or EDI 16 MO close as default value individual command b Mode Des
45. 20 3000PE 3M iiis SHELL 3M 10320 52A0 008 3M L Title Part No mm inch 1 ASD ABENOOO03 3000 100 118 4 2 ASD ABENOO05 5000 100 197 4 Delta Part Number ASD CAEN1003 ASD CAEN1005 August 2014 Es L Title Part No Manufacturer MOTOR SIDE 3106A 20 29S DRIVE PLUG 3M 10120 3000PE 3M SIDE SHELL 3M 10320 52A0 008 3M Title Part No Straight mm inch 1 ASD CAEN1003 3106A 20 29S 3000 100 118 4 2 ASD CAEN1005 3106A 20 29S 5000 100 197 4 Chapter 6 Accessories Users Guide for Too Turrets Application B Encoder Cable Magnetic Encoder Delta Part Number MEC SM3026P
46. 20mm ECMA 18 550mm x 550mm x 30mm Material Aluminum F40 F60 F80 F100 F130 F180 2 The built in brake of the servo motor is for remaining the item in stop status Do not use it to decelerate or as the dynamic brake 5 10 August 2014 Chapter 5 Specifications Medium High High Inertia Series August 2014 User Guide for Tool Turrets Application ANE F113 08 13 18 Rated power kW 0 5 0 85 159 1 8 3 0 Rated torque N m 1 3 18 5 41 8 94 11 48 19 10 Max torque N m 8 92 13 8 23 3 28 7 57 29 Rated speed r min 1500 Max speed r min 3000 Rated current A 3 9 7 1 12 6 13 19 4 Max instantaneous current A 12 1 19 4 38 6 36 58 2 Max power per second kW s 9 8 21 52 34 78 52 93 66 4 Rotor inertia i i 54 95 m 10 kg m 10 3 13 6 20 24 9 E os 243 1 62 1 7 1 28 ms Torque constant KT N m A 0 82 0 76 0 66 0 88 0 98 Voltage constant KE mV r min 29 5 29 2 24 2 32 2 35 0 Motor resistance Ohm 0 624 0 38 0 124 0 185 0 077 Motor inductance mH 7 4 77 1 7 2 6 1 27 Motor constant ms 11 22 12 55 13 71 14 05 16 5 Insulation class Class A UL Class B CE Insulation resistance gt 100MO DC 500V Insulation strength 1 8k Vac 1 sec II 63 86 94 105 185 kg Weight with brake kg 10 0 22 5 Radial max loading N 490 490 490 490 1470 Axial max loading N 98 98 98 98 490
47. 4 semi absolute type of magnetic encoder so far This function can only be set with absolute type of motor with optical encoder P2 69 Absolute function switch P2 69 1 means to use absolute encoder otherwise to set P2 69 to O to disable the function 3 4 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application 5 Select the Homing Method Same as ASDA A2 this system provides various homing methods The related parameters setting are shown as below a P5 04 Homing mode b Speed of searching original point P5 05 1 speed P5 06 2 speed P6 00 acceleration deceleration c P6 01 Reference point and the offset value of coordinate system d P5 93 Triggering method of searching original point which can be combination DI or IHOM single DI e P5 94 The station number after homing is complete 5 a P5 04 Md method in W Z Y X format Reserved Limit setting Z pulse setting Homing method Return toZ X 0 Homing in forward direction and regard PL as the Go forward to homing origin Z pulse X21 Homing in reverse direction and regard NL as the Do not look for homing origin When encounter Z pulse X 2 Homing in forward direction limit ORG OFF ON as the homing origin Z 0 shows error Z 1 rotates X 3 Homing in reverse direction backwards ORG OFF ON as the homing origin X 4 Look for Z pulse in forward direction and regard it as the homing
48. 5 AL 026 The output pulse exceeds the Check if the following Correctly set parameter hardware allowable range conditions occurs P1 76 and P1 46 P1 76 Motor Speed or P1 76 Motor Speed or Motor Speed Se PI 4654 gt 19 8 109 M9 P998 pi 465 4 19 8510 Yu Serial Communication Error Turn DI ARST on to clear the alarm E Checking Method Corrective Actions Improper setting of the Check the setting value of Correctly set the parameter communication parameter communication parameter value Incorrect communication Check the communication Correctly set the address address communication address value 7 0 Serial Communication Time Out Turn DI ARST on to clear the alarm Checking Method Corrective Actions Improper setting of the Check the parameter setting Correctly set the value of time out parameter P3 07 Check if the communication Correct wiring cable is loose or broken the communication command for a long time The drive hasn t received YiMReserved 1 Turn DI ARST on to clear the alarm August 2014 4 11 User Guide for Tool Turrets Application Chapter 4 Troubleshooting NM The Main Circuit Power is Abnormal Turn DI ARST on to clear the alarm AAA Checking Method Corrective Actions The main circuit power is Check if RST power cable is Make sure it applies to the loose or does not connect tolpower If issue persists the power This alarm occurs please send the drive back to when no power con
49. 52 5 187 5 202 147 5 147 5 163 5 brake ge 168 181 183 5 183 5 198 with brake LS 47 47 47 47 47 47 47 LR 55 55 55 55 55 55 55 LE 6 6 6 6 6 6 6 LG 11 5 11 5 11 5 11 5 11 5 11 5 Tho LW 36 36 36 36 36 36 36 RH 18 18 18 18 18 18 18 WK 8 8 8 8 8 8 8 W 8 8 8 8 8 8 8 T 7 y 7 7 7 7 7 TP M6 M6 M6 M6 M6 M6 M6 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 58 August 2014 Dimensions are in millimeters Dimensions and weights might be revised without prior notice Box n represents the shaft end brake or the number of oil seal The boxes A in the model names are for encoder resolution types A21 Incremental encoder 20 bit A 2 Incremental encoder 17 bit 5 27 User Guide for Tool Turrets Application Motor frame size 180 or above Units mm 4 LZ PCD LA Chapter 5 Specifications Model E X18200S E X18300S E X18350S F A18300S LC 180 180 180 180 LZ 13 5 13 5 13 5 13 5 LA 200 200 200 200 S 350 016 aod SMS 25 cae LB 114 37 035 114 307 035 114 37 035 114 37 925 LL without brake 169 202 1 202 1 202 1 LL with brake 203 1 235 3 235 3 235 3 LS 73 73 73 73 LR 79 79 79 79 LE 4 4 4 4 LG 20 20 20 20 LW 63 63 63 63 RH 30 30 30 30 WK 10 10 10 10 W 10 10 10 10 T 8 8 8 8 M12 M12 M12 M12 TP Depth 25 Depth 25 Depth 25 Depth 25 5 28 Dimensions are in millimeters Dimensions and weights might b
50. 55 9 55 14 32 Max torque N m 2148 2865 28 65 42 97 Rated speed r min 2000 Max speed r min 3000 Rated current A 8 61 11 39 11 61 16 66 Max Va n current 24 9 33 1 33 7 48 3 Max power per second kW s 45 89 62 5 26 3 37 3 dia ds 11 18 14 59 34 68 54 95 x 10 kg m Mechanical constant ms 1 16 0 96 1 62 1 06 Torque constant KT N m A 0 83 0 84 0 82 0 86 Voltage constant KE mV r min 31 8 31 8 31 4 32 0 Motor resistance Ohm 0 26 0 174 0 119 0 052 Motor inductance mH 4 01 2 6 2 84 1 38 Motor constant ms 15 31 15 86 23 87 26 39 Insulation class Class A UL Class B CE Insulation resistance gt 100 MO DC 500 V Insulation strength 1 8k Vac 1 sec Weight kg 7 5 7 8 13 5 18 5 Radial max loading N 490 490 1176 1470 Axial max loading N 98 98 490 490 Vibration grade um 15 0 C 40 C Operating temperature C August 2014 Chapter 5 Specifications User Guide for Tool Turrets Application Storage temperature C 10 C 80 C Operating humidity 20 90 RH non condensing Storage humidity 20 90 RH non condensing Vibration capacity 2 5G IP65 use the waterproof connector IP Rating and shaft seal installation or oil seal model Approvals Note 1 The rated torque is the continuous permissible torque between 0 gt 40 C operating temperature which is suitable for the following
51. 7 08 scope position 0x20002708 i 2 Es DO is controlled Em P7 10 scope position 0x2000270A by P7 10 20 controller Figure 3 21 DI O status control method on extension module If desire to view the data in different format on scope e g hexadecimal decimal or binary please double click on data field to view the value See figure 3 22 v ADR Ader vliv 328 Double click Data Relative Display in decimal Wess gt Double click jor acc ASS Double click E on data field on data field SG 332s32033 382088H y 23 3223 3808883 Y Display in Ke Display in hexadecimal binary Figure 3 22 Switch the display format of scope signal August 2014 3 27 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control 3 3 5 Servo Tuning For those who already familiar with Delta servo system they can directly tune the servo For those who do not know please follow the instructions below Motor with magnetic encoder causes louder noise because its resolution is lower However the noise does not influence the performance During tuning it is better to adjust the value of motor inertia ratio P1 37 lower It is easy to cause vibration if the value is set too big Two tuning methods are provided below by ASDA soft and panel Usually it is suggested to use DELTA servo system to conduct tuning 1 Follow the steps below if you tune the system by ASDA Soft a After enabli
52. 80 255 Acceleration deceleration area Continuous area 7 130 5 41 100 2 70 50 Speed 1500 2300 3000 omn ECMA F11308 S Torque N m 57 29 30096 Acceleration deceleration area 18 10 10096 9 55 Continuous 50 S Speed 1500 3000 Un ECMA F11830 S Torque N m 119 36 25096 Acceleration deceleration 47 74 alee 100 GE Continuous 50 dies Speed G 1500 3000 GA ECMA F11875 S Torque N m 8 59 30096 Acceleration deceleration area 2 86 10096 i 1 43 Continuous 50 ated Speed rfmin 1000 2000 ECMA G11303 S August 2014 Torque N m 50 13 300 Acceleration deceleration area 16 71 100 11 20 Continuous 67 S Speed 2000 3000 mim ECMA E11835 S Torque N m 23 3 28096 Acceleration deceleration area 8 34 10096 7 4 17 Continuous 50 arsa Speed 1500 3000 rimin ECMA F11313 S Torque N m 71 62 300 Acceleration deceleration area 28 65 100 14 33 Continuous 50 arga Speed 1500 3000 r min ECMA F11845 S Torque N m 175 250 Acceleration deceleration 70 area En S Continuous 75 area Speed 1500 2000 min ECMA F1221B 13 Torque N m 17 19 300 Acceleration deceleration area 5 73 100 2 87 Continuous 50 alee Speed 1000 2000 r min ECMA G11306 _ S
53. Application Delta Part Number MEC TJ1D10S i B i e MOTOR SIDE DRIVE SIDE Delta Part Number MEC TJ1F10S Ps TO LA MOTOR SIDE DRIVE SIDE Title Part No MEC TJ1D10S JN1DS10SL1 MOTOR SDE TMEGSTJHETOS JN1FS10SL1 PLUG D SUB 15P PLUG P N 3074045987 DRIVE SIDE SHELL 3050594043 6 6 August 2014 Users Guide for Too Turrets Application B Encoder Cable Incremental Type Q Delta Part Number ASD ABEN0003 ASD ABENOO05 Chatper 6 Accessories 5 o mm O f bu pS m ER Title Part No Manufacturer Housing AMP 1 172161 9 AMP MOTOR SIDE Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA PLUG 3M 101
54. August 2014 3 29 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control h Few more things need to be bore in mind C When all tests is complete if the value of P2 47 is still 1 please manually disable this function lif the motor does not run smoothly when just starting or stop apart from adjusting the bandwidth P1 68 Position command moving filter and P1 08 Low pass filter can be used to smooth the command Please note that the unit of P1 68 is ms and unit of P1 08 is 10 ms The filter can smooth the command but it might cause the delay of operation lf the value of P1 37 inertia ratio is set too high e g exceeds 20 it is suggested to reduce the value of P1 37 to obtain a better flexibility of tuning BARAZ ASDA A R Servo Rotary Motor FEE fm Se te C RHR ae EE ES 3 RE EEXEIES d 3 Rotary E Bd RV PER at FA Ff Eee APR A PP1 01 001 LE TIME Eme PO 06 08 tae 20 Hz Ett 2 m P1 15 18 P1 34 36 P2 10 17 P2 36 37 P3 03 P3 04 P3 06 P4 07 za EHB SARA BEA KSE EE Erni ere WEE lad a ATH LE EE n HERE P1 37 Bik EXEIBERLE 2 0 v P2 00 FEER EE PIRE 31 r7 IRREAL BARA Sale P2 02 fr er 150 v an Ge Fe el Fe TERE KEE EE 1125 v E ES wie P2 06 ET 20 v X EE p2 25 38H ECRIRE 83 v P2 26 FELT ER dE i 120 y DEE E EE OF 8 00 251 sE Hz max 1023 20 z P2 47 1 HAS SS RE EP STE P P2 23 HERMANA 1 Hz 50 1000
55. IDX2 Index selection 2 normal open d DI 4 P2 13 2 Ox11A gt IDX3 Index selection 3 normal open e DI 5 P2 14 0x124 gt ORGP Reference Home sensor normal open f DI 6 P2 15 0x150 gt MDO Mode switching 0 normal open g DI 7 P2 16 0x151 MD1 Mode switching 0 normal open h DI 8 P2 17 0x154 gt SPS Switch between two speed normal open If the system is A2R U it can switch the physical extension DI if the system is A2R L although it has no physical extension DI to switch the status it can apply its parameters A2R U It can switch DI after servo on Manual function is added a EDI 9 P2 36 0x101 gt SON Servo On normal open b EDI 10 P2 37 0x152 gt MDPO Continuous manual operation normal open c EDI 11 P2 38 0x153 gt MDP1 Single step manual operation normal open A2R L No physical Dl Set servo on as normal close contact Activate immediately after power on a EDI 9 P2 36 0x001 gt SON Servo On normal close 12 DO program a DO 1 P2 18 0x120 gt IDO1 Combo DO1 normal open b DO 2 P2 19 0x121 IDO2 Combo DOZ2 normal open c DO 3 P2 20 0x122 IDO3 Combo DOS normal open d DO 4 P2 21 0x123 IDO4 Combo DO4 normal open e DO 5 P222 0x124 IDO5 Combo DOS normal open 3 22 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application 3 3 Control Time Sequence 3 3 1 Homing The following exampl
56. Itapeva 26 3 andar Edificio Itapeva One Bela Vista 01332 000 S o Paulo SP Brazil TEL 55 11 3568 3855 FAX 55 11 3568 3865 uonebijddw sS 1911n JOOL 103 3PIND Jaen Europe Deltronics The Netherlands B V Eindhoven Office De Witbogt 15 5652 AG Eindhoven The Netherlands TEL 31 MAN idu FAX 31 40 2592851 DELTA IA ASD Tool Turrets AN EN 20140818 We reserve the right to change the information in this manual without prior notice A NELTA Smarter Greener Together Preface About this manual This manual mainly introduces the control solution of tool turrets with Delta servo system and the available hardware platform such as servo drives motor with magnetic encoder or motor with optical encoder absolute motor or incremental motor as well as DI O expansion module For firmware function it focuses on parameters setting applications and tuning based on different framework Safety Precautions Important Messages For safety reasons please carefully read through the descriptions below including error and warning messages before installing and operating the system Attention Pay special attention to the following safety precautions anytime during inspection installation wiring operation and examination The symbol of danger warning and stop represent If not follow the instructions It indicates the potential hazards It is possible to cause minor injury or lead to It indicates
57. M3026R Encoder Connector X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 MEC T1J1D105 MEC TJ1F10S Chapter 6 Accessories Users Guide for Too Turrets Application 1 5 kW servo drive and 1 5 kW medium high inertia motor Servo Drive ASD A2R 1521 T Medium high inertia Motor ECMA E81315RS Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector MEC SM3026J MEC SM3026R Encoder Connector MEC TJ1D10S MEC TJ1F10S X 3 Indicates that the cable length is 3m X 5 indicates that the cable length is 5m 2 kW servo drive and 2 kW medium high inertia motor Servo Drive ASD A2R 2023 T Medium high inertia Motor ECMA E81320RS Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector MEC SM3026J MEC SM3026R Encoder Connector MEC TJ1D10S MEC TJ1F10S X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 2 kW servo drive and 2 kW medium high inertia motor Servo Drive ASD A2R 2023 T Medium high inertia Motor ECMA E81820RS Motor Power Cable without brake ASD CAPW200X Motor Power Cable with brake ASD CA
58. MA C1040FOS S 8 mm 200W ASD A2R 0221 T ECMA CA 0602L S S 14 mm ECMA C A 060408 S 14 mm ECMA C A 0604 TH 400W ASD A2R 0421 T ECMA C 10804177 7 14 mm ECMA E 1130505 S 22 mm ECMA G A 130308 S 22 mm ECMA F11305LIS S 22mm ECMA C A0807LIS S 19 mm 750W ASD A2R 0721 T ECMA C A0807UH ECMA C80807RS ECMA C A0907LIS S 16mm ECMA G A 130608 S 22mm ECMA C A0910LIS S 16 mm ECMA CA 101005 S 22 mm 1000W ASD A2R 1021 T ECMA EA1 131008 S 22 mm ECMA C81010RS ECMA FA 130805 S 22 mm ECMA G A 1309018 S 22 mm 1500W ASD A2R 1521 T ECMA E1 131505 S 22 mm ECMA C 102008S S 22 mm ECMA E X13200S S 22 mm 2000W ASD A2R 2023 T ECMA E 182008S S 35 mm ECMA F113130S S 22 mm ECMA F11318LS S 22 mm ECMA CA 1330114 4 24 mm ECMA E 11183005 S 35 mm ECMA E 11183505 S 35 mm ECMA F 1183008 S 35 mm H Nejd 1 Box A in servo motor model represents encoder type A 1 incremental 20 bit A 2 incremental 17 bit 2 Box LJ in servo motor model represents brake or keyway oil seal ECMA C80604RS ECMA C80804R7 M Ss c ECMA E81315RS ECMA E81320RS ECMA E81820RS 3000W ASD A2R 3023 T ECMA E81830RS August 2014 5 1 User Guide for Tool Turrets Application Chapter 5 Specifications 5 2 Specifications of Servo Drive 100W 200W 400W 750W 1kW 1 5kW 2kW 3kW ASDA A2R Series 01 02 04 07 10 15 20 30 Phase
59. Max power per second kW s with brake 8 8 19 78 3266 50 3 63 9 Rotor inertia x 10 kg m 115 148 213 262 57 06 with brake User Guide for Tool Turrets Application Chapter 5 Specifications Note The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the following heat sink dimension 1 2 o 4 ECMA ECMA ECMA ECMA ECMA _ Mechanical constant ms with brake 3 12 2 65 1 73 1 79 1 33 Brake holding torque Nt m min 10 10 0 10 0 10 0 25 0 Brake power consumption i9 190 190 190 204 at 20 C W Brake release time Ims Max 10 10 10 10 10 Brake pull in time Ims Max 70 70 70 70 70 Vibration grade um 15 Operating temperature C 0 C 40 C E Storage temperature oC 10 C 80 C E Operating humidity 20 90 RH non condensing Storage humidity 20 90 RH non condensing Vibration capacity 2 56 IP65 use the waterproof connector and shaft seal installation or oil seal model 3 EEN O US LISTED IP Rating 04 06 08 250mm x 250mm x 6mm 10 300mm x 300mm x 12mm 13 400mm x 400mm x 20mm 18 550mm x 550mm x 30mm 22 650mm x 650mm x 35mm Material Aluminum F40 F60 F80 F100 F130 F180 F220 The built in brake of the servo motor is for remaining the item in stop status Do not use it to dece
60. Model C80604RS C80804R7 C80807RS LA 60 80 80 Le 5 5 6 6 6 6 LB 70 90 90 S 145 011 14 01 190 013 D 50 025 70 0 030 70 0 030 LL 120 2 101 5 127 5 LS 2f 217 31 LR 30 30 35 LD 3 3 3 LM 7 5 8 8 LW 20 20 25 RH 11 11 15 5 WK 5 5 6 W 5 5 6 T 5 5 6 Tp MA MA M6 Depth 15 Depth 15 Depth 20 X D RH KEY DETAIL 9 29 User Guide for Tool Turrets Application Motor frame size 100 130 Units mm A Chapter 5 Specifications 0 W 0 036 CO SHAFT END DETAIL 8 T TP H Y TN CO Ea RH T CONNECTOR TD Model E81010RS E81315RS E81320RS E81820RS E81830RS LA 100 130 130 180 180 LC 9 9 9 13 5 13 5 LB 115 145 145 200 200 220019 220 019 220 019 350 016 350 016 950 035 11 Ce 11 OC 035 11 4 3 5 ose 11 4 3 5 ose LL 134 143 163 148 181 LS 37 47 47 73 73 LR 45 55 55 79 79 LD 5 6 6 4 4 LG 12 11 5 11 5 20 20 LW 32 36 36 63 63 RH 18 18 18 30 30 WK 8 8 8 10 10 W 8 8 8 10 10 T 7 7 7 8 8 Tp M6 M6 M6 M12 M12 Depth 20 Depth 20 Depth 20 Depth 25 Depth 25 LOME 5 30 Dimensions are in millimeters Dimensions and weights might be revised without prior notice August 2014 Chapter6 Accessories B Power Connector Delta Part Number ASDBCAPW0000
61. O 1 h A user unit arie MIC RES 500 ms O ARIAL EE Figure 3 23 Inertia estimation f To continue the above operation please see figure 3 24 The inertia ratio will appear in the field of inertia ratio and saved in P1 37 In field of D users can enter system bandwidth Please start from the small value It is suggested to start with 20 Hz Then click to compute And select P2 47 1 Auto Resonance ouppression Non continuous adjustment when downloading it for the first time at selection 9 Check to download and click amp to download the parameter into the servo drive g When all steps that mentioned above are complete users can start to operate the motor It is suggested to use the controller to operate the motor If not enable 5 Gain Control Panel again Use and O to do JOG operation If users do not satisfy the performance adjust the bandwidth D to compute the gain again Not to take the setting of O resonance suppression into consideration when downloading the bandwidth for the 2 time uncheck the box to cancel this function Do not select P2 47 1 to re estimate resonance frequency until the resonance sound is heard during bandwidth adjustment Please note that this sound is different from the magnetic sound because of high bandwidth Please do not adjust the bandwidth up to the mechanical limit It might cause noise and vibration after a long time operation
62. O Setting of Extension Module 3 16 3 2 5 Newly Added Alarm List and Clear 3 18 9 2 6 SENG EXampl S sss best arica e 3 19 CSC SE ele RRE e EE 3 23 ESCH OM O EE 3 23 9 9 2 AUTO POSIMIOM HEET ee 3 25 9 9 9 MEET EE EIERE 3 26 3 3 4 DI O Status Monitor and Force Output 3 26 86 8 Sl S 27 E Urne EE 3 28 Chapter 4 Troubleshooting ccc cc cece ccc ecseceseeeeeseseseseeeseeeseeeseensnens 4 1 4 1 Alarm List Of the Servo Diy 6 omnia 4 1 A2 E e ISOS li doo 4 5 Chapter 5 EEN 5 1 5 1 Servo Drive and Servo MOIOF EE 5 1 52 Specifications ol Servo DAVE ant 5 2 5 3 Specifications of Servo Motor PM Motor 5 5 5 4 Specifications of Servo Motor Motor with Magnetic Encoder 5 15 5 5 Torque Features CESN CUEVO tii 5 18 5 6 Dimensions of the Servo De 5 21 37 DIMENSIONS OF FIV e e EE 5 24 5 8 Dimensions of Motor with Magnetic Encoder cooccccoccccccccccncocnconnnoncnnncncncnnnnnos 5 29 Chapter 6 Accessorles sss 6 1 Chapter 1 Hardware and Softwre Structure The control solution of tool turrets can satisfy the demand of different target position and mechanism which is a rather flexible system Under the structure of specific control program and expandable DI O it can meet various demands in turret industry This chapter introduces various combinations of hardware and software to meet all requirements 1 1 Avallable Hardware Platform Servo systems that can be applied to tool magazine and turre
63. PW210X Power Connector ASD CAPW2000 Incremental Type Encoder Connector MEC SM3026J MEC SM3026R Encoder Connector MEC TJ1D10S MEC TJ1F10S X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 6 28 August 2014 Users Guide for Too Turrets Application Chatper 6 Accessories 3 kW servo drive and 3 kW medium high inertia motor Servo Drive ASD A2R 3023 T Medium high inertia Motor ECMA E81830RS Motor Power Cable without brake ASD CAPW200X Motor Power Cable with brake ASD CAPW210X Power Connector ASD CAPW2000 Incremental Type Encoder Connector MEC SM3026J MEC SM3026R Encoder Connector MEC TJ1D10S MEC TJ1F10S X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 6 29 Chapter 6 Accessories Users Guide for Too Turrets Application This page is intentionally left blank 6 30 August 2014
64. R1K5W005 August 2014 6 26 Users Guide for Too Turrets Application Chatper 6 Accessories B Optional Accessories for Motor with Magnetic Encoder 400 W servo drive and 400 W low inertia motor Servo Drive ASD A2R 0421 T Low inertia Motor ECMA C80604RS ECMA C80804R7 Motor Power Cable without brake ASD ABPWOOOX Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPWO 10X Power Connector with brake ASDBCAPWO 100 Encoder Cable MEC SM3026P Encoder Connector X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m ASD ABENOOO0 750 W servo drive and 750 W low inertia motor Servo Drive ASD A2R 0721 T Low inertia Motor ECMA C80807RS Motor Power Cable without brake ASD ABPWOOO0X Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPWO10X Power Connector with brake ASDBCAPWO100 Encoder Cable MEC SM3026P Encoder Connector X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m ASD ABENOOO0 1 kW servo drive and 1 kW low inertia motor Servo Drive ASD A2R 1021 T Low inertia Motor ECMA C81010RS Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector MEC SM3026J MEC S
65. The principle of tuning is that as long as the bandwidth can meet the system requirements the tuning process is done Reserve some spare bandwidth in order to handle the mechanical situation changes in the future August 2014 3 31 User Guide for Tool Turrets Application P2 47 1 to enable the function of resonance suppression 1 Increase the value of P2 31 2 If the vibration is too excessive at beginning or at the end increase the acc dec time or increase the value of P1 68 Moving filter or P1 08 Low pass filter 1 P2 32 22 change the mode 2 P2 31 30 setup the bandwidth 3 Operate by the controller Aechanical vibration and high frequene noise appear at the same time Satisfactory performance Chapter 3 Algorithm for Tool Position Control 1 Reduce the value of P2 31 2 If P2 47 0 set P2 47 to 1 again to re estimate the resonance point Stop tuning P2 32 0 fixed bandwidth P2 47 0 fixed resonance frequency Figure 3 26 Use panel to tune the system 3 32 August 2014 Chapter 4 Troubleshooting 4 1 Alarm List of the Servo Drive Alarm List of the Servo Drive SE Corresponding Servo Display Alarm Name Alarm Description DO Status Over current The current of the main circuit is 1 5 Sawo ALOO1 times more than the instantaneous ALM Off current of the
66. Voltage Single phase Three phase 220 VAC Three on 220 Single phase Three phase 200 230 VAC 15 free phase 200 Power Permissible voltage 10 230 VAC 15 S 10 Continuous output 0 9 1 55 2 6 5 1 TS 8 3 13 4 19 4 current Arms Arms Arms Arms Arms Arms Arms Arms Cooling method Natural cooling Fan cooling Encoder resolution Feedback resolution for Delta s 20BIT 20 bit 1280000 p rev rotary motor Main circuit control SVPWM control Control mode Manual Auto Dynamic brake N A Built in Max input pulse Transmitted by differential 500K 4Mpps transmitted by open collector frequency 200Kpps i Pulse type Pulse symbol A phase B phase CCW pulse CW pulse 2 Command source External pulse Register O Smoothing strategy Low pass and P curve filter O O E gear ratio N M time limitation 1 50 N M 25600 5 E gear ratio N 1 32767 M 1 32767 d Torque limit Parameter settings Feed forward i Parameter settings compensation piaci 0 10 Voc range Analog Input sonene resistance SS Input Time 2 2 US constant 2 Speed control range 1 5000 E Command source External analog command Register c Smoothing strategy Low pass and S curve filter 9 Torque limit Via parameter setting or analog input o HI Bandwidth Max 1kHz The load fluctuation 0 100 is 0 0196 Speed accuracy The p
67. apply force carefully and equally or the driver s installation slot will be damaged if installing with improper power 2 Tighten the screws to complete the installation When installing extension module please make sure to insert the tenon aiming at extension slot Apply an appropriate force only otherwise it might damage the extension slot and cause poor communication between WARNING a extension module and the servo drive August 2014 2 1 User Guide for Tool Turrets Application Chapter 2 Installation and Wiring 2 1 2 Port Definition of Extension Module The module number of extension module is ASD MDEPIOO 1 single port and ASD MDEPIO02 dual port The difference between both is the digital input output number The wiring method of these two is the same 44 Pin D sub digital input can receive the input signal from Source and Sink but only for one format either Source signal or Sink signal which is determined by the signal received via COM Both pins of digital output DO can be allocated as Source or Sink signal individually The 24V power on extension slot comes from the servo drive and parallel connects to the 24V power of CN1 The total power supply is 500 mA DI 16 pins with common COM and supports Source and Sink signal DO Its pin can be defined as Source or Sink individually 24V power Parallel connect to CN1 The total power supply is 500 mA Reserved Do not
68. cription or ov Tmem sl ON meme 3 al om Homing ger 4 ON ON Emergencystop A ee JL OFF ON Backward manual operation on oF Forward manual operation 7 alo jm ao 3 16 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application c Switching Function in Manual Mode Status MPDO MPD1 Description When manual operation stops the Single step manual mode It operates one step and triggers The stop point is the tool rising edge when MDO and MD1 are position triggered once When manual operation begins it will Continuous manual mode run with single step or at continuous The stop point is the tool speed depends on P5 93 U When position manual operation stops it stops at the nearest station When manual operation begins motor runs Otherwise motor stops The operation is determined by the signal JOG any point could be the stop point d DO Setting Function Combo DO 1 Combo DO 2 Combo DO 3 Combo DO 4 Combo DO 5 EDO 6 IDOE Combo DO 6 EDO 7 IDO7 Combo DO 7 EDO 8 IDO8 ALRM Alarm Normal closed contact EDO 9 IDO9 SRDY Servo ready EDO 10 IDO10 Homing command or switching index position command is executing EDO 11 IDO11 Homing complete EDO 12 IDO12 Tool is in station e Combination DO Description tem IDO7 IDOS IDO2 IDO1 Function ee LORI E ee i T 1 13 1 313113 DAN 3 0
69. cuit to avoid the encoder cable separates interference from the power supply or 3 Check if the shielding the high current circuit cables are used in the wiring of the encoder Please use shielding mesh If issue persists please send the drive back to the distributors or contact with Delta August 2014 4 13 User Guide for Tool Turrets Application Chapter 4 Troubleshooting Yr Encoder Reset Error The alarm can be cleared after re power on M M Checking Method Corrective Actions Reset the encoder If the contact of the signal 1 Make sure the signal cable is poor cable is normal If the encoder power is Please use shielded net stable for encoder signal cable lf the operating If issue persists please temperature is higher than send the drive back to the 95 C distributors or contact with Delta INE Motor Crash Error Turn DI ARST on to clear the alarm Checking Method Corrective Actions Motor Crash Error 1 Check if P1 57 is enabled 1 If itis enabled by mistake 2 Check if P1 57 is set too small please set P1 57 to zero and the time of P1 58 Is set too 2 According to the actual short torque setting if the value is set too small the alarm will be triggered by mistake However if the value is set too big it will lose the function of protection Incorrect Wiring of the Motor Power The alarm can be c
70. curs when accesses EEPROM andit shows EXGAB applying to the power It X 1 2 3 means one of the parameters G group code of the parameter is over the reasonable range AB hexadecimal of the Please re power on after parameter modifying the parameter If it shows E320A it means itis setting parameter P2 10 If it shows E3610 it means it is parameter P6 16 Please check the The fault occurs in normal parameter operation It means it is in error when writing the parameter The alarm can be cleared by DI ARST Abnormal hidden Press the SHIFT Key on the panel The fault occurs in parameter parameter and it shows E100X reset The setting of the drive is wrong Please set the correct type of the drive Data in ROM is Press the SHIFT Key on the panel The fault occurs when it is damaged and it shows E0001 servo on Usually it is because the data in EEPROM is damaged or there is no data in EEPROM Please send the drive back to the distributors or contact with Delta 4 10 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application INM Abnormal Signal Output Turn DI ARST on to clear the alarm AAA ANN AN M M M Checking Method Corrective Actions The encoder is in error and Check the fault records Conduct the corrective cause the abnormal signal P4 00 P4 05 See if the actions of AL 011 AL 024 output alarm exists with the encoder AL 025 AL 026 error AL 011 AL 024 AL 02
71. e without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m August 2014 Users Guide for Too Turrets Application 2 kW servo drive 2 kW low inertia motor Servo Drive ASD A2R 2023 L Chatper 6 Accessories Low inertia Motor ECMA CA1020LIS Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 2 kW servo drive and 2 kW medium inertia motor Servo Drive ASD A2R 2023 0 Medium inertia Motor ECMA EA1320LIS Motor Power Cable without brake ASD A2PW100X Motor Power Cable with brake ASD A2PW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m
72. e limit Software positive limit Internal position command completed Capture procedure completed Servo procedure completed Master position area of E CAM Over current Overvoltage Under voltage Overheat Regeneration error Overload Excessive speed deviation Excessive position deviation Encoder error Adjustment error Emergency stop Negative positive limit error Excessive deviation of full closed loop control Serial communication error Rst leak phase Serial communication timeout Short circuit protection of terminal U V W and CN1 CN2 CN3 Communication interface RS 232 RS 485 CANopen USB Indoors avoid the direct sunlight no corrosive fog avoid fume flammable gas and dust Protective function Installation site Altitude Elevation under 1000M Atmospheric N pressure 86 kPa 106 kPa Operating n S SS Ke temperature 0 C gt 55 C If the temperature is over 45 C forced air circulation is needed Storage o o temperature do Humidity Under 0 90 RH non condensing Vibrating Under 20Hz 9 80665m s 1G 20 50Hz 5 88m s 0 6G IP rating IP20 Power system TN system IEC EN 61800 5 1 UL 508C C tick Approvals C ON US LISTED d August 2014 5 3 nvironment User Guide for Tool Turrets Application Chapter 5 Specifications Note 1 When it is in rated load the speed ratio is the minimum speed smooth operation rated speed 2 When the
73. e revised without prior notice Box n represents the shaft end brake or the number of oil seal The boxes A in the model names are for encoder resolution types A 1 Incremental encoder 20 bit A 2 Incremental encoder 17 bit August 2014 SHAFT END DETAILS Chapter 5 Specifications 5 8 Dimensions of Motor with Magnetic Encoder Motor frame size 86 or below Units mm O NE A August 2014 0 0 03 User Guide for Tool Turrets Application CO SHAFT END DETAIL 7 gt gt Dimensions are in millimeters Dimensions and weights might be revised without prior notice i e 2 2 n Se 7 E i HA y CO LS c c3 LW 0 o9 ZA gl 43 an eg i Y v Q 9r M LD SE LC LL e
74. e uses combination DI command to do homing MDO MD1 Its homing method is to look for ORGP point at forward direction and then return to Z pulse Not to setup the offset value of P6 01 Therefore do not need to move to the next tool station when it reaches origin point Servo On MD1 off MDO ORGP Z Pulse Motor Speed Torque Limit P1 12 C PO A E DO Output ooo A Homirignow A Homing complete Figure 3 15 Timing diagram for homing process August 2014 3 23 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control Example below uses IHOM to do homing Users only need to set one of the DI to 0x55 and enable this function at P5 93 P5 93 0x10 When DI is triggered MDO and MD1 cannot be on at the same time lf they do the system will be in emergency stop The way to homing is to look for ORGP point at forward direction and then return to Z Not to setup the offset value of P6 01 When it reaches the origin point it goes to the 2 tool station by the 2 homing in shortest distance When positioning point is reached DO will show Tool is in station Servo On MDO MD1 MDO 8 MD 1 dix C P amp 9422 A After homing it automatically goes to the 2 tool station IHOM ORGP Z Pulse Motor Speed Torque Limit P1 12 aoo DO Output q X Homing now X 2 Figure 3 16 Timing diagram of moving to
75. ed r min 2000 3000 ECMA E81320RS ECMA E81820RS Chapter 5 Specifications Torque N m 9 54 300 Acceleration deceleration area 3 18 100 1 91 Continuous 6096 area Speed 3000 5000 min ECMA C81010RS Torque N m 42 97 300 Acceleration deceleration area 14 32 100 9 59 Continuous 67 sit Speed 2000 3000 r min ECMA E81830RS August 2014 Chapter 5 Specifications User Guide for Tool Turrets Application 5 6 Dimensions of the Servo Drive ASD A2R 0121 ASD A2R 0221 ASD A2R 0421 100 W 400 W UN dd II I C AJ 5 5 0 22 Ground Terminal Tightening torque 14 kgf cm Weight 1 5 3 3 Dimensions are in millimeters inches Weights are in kilograms gt Mena 7 pounds 2 Dimensions and weights might be revised without prior notice August 2014 9 21 User Guide for Tool Turrets Application Chapter 5 Specifications ASD A2R 0721 ASD A2R 1021 ASD A2R 1521 750 W 1 5 kW 180 7 09 HINN Ground Terminal Tightening torque 14 kgf cm Weight 2 0 4 4 H Zeng 1 Dimensions are in millimeters inches Weights are in kilograms pounds 2 Dimensions and weights might be revised without prior notice 5 22 August 2014 Chapter 5 Speci
76. elta Part Number ASD CNSC0026 Title Part No Vender Part No Manufacturer Housing 305059030L 10326 52A0 008 3M Terminal 307740120L 10126 3000PE 3M B SCSI 20 pin Connector Delta Part Number ASD CNSC0020 Title Part No Vender Part No Manufacturer Housing 305059010L 10320 52A0 008 3M Terminal 307740110L 10120 3000PE 3M 6 10 August 2014 Users Guide for Too Turrets Application Chatper 6 Accessories B Cable of Signal Converter Box Delta Part Number ASD CASC2003 ASD CASC2005 CONNECTOR 1 CONNECTOR 2 5 3 5 7 28AWG O o f 8o E Ri Gent 9 O Title Part No mm AWG Type CUT inch ASD CASC2003 5 3 5 7 28AWG UL2464 3000 100 118 4 2 ASD CASC2005 5 3 5 7 28AWG UL2464 5000 100 197 4 B ASD MDEPIOO1 ASD MDEPIOO2 DI DO Extension Module Delta Part Number ASD MDEPIOO 1 Unit
77. ers will be modified as well Users have to setup parameters again 3 2 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application 3 2 Description of Parameter and Interface Setting Delta s control solution of tool turrets follows the control theorem of AB series servo drive Apart from the original control function various functions are added such as homing methods and backlash compensation All related parameter setting and setting methods will be elaborated in this chapter 3 2 1 How to Read the System Firmware Version In this system users can access the firmware version of lower layer and control function of the upper layer P0 00 Main firmware version P5 00 Low word is for firmware sub version High word is the version of motion function which only can be accessed when it is in P1 01 0x11 mode P3 16 Set P3 16 to 0x00000004 Then read P3 16 again Press SHIFT to read firmware version of extension module via high word 3 2 2 Related Parameters of Tool Turrets Set up parameters below to build the turret control function For motor performance please refer to other chapter or other related Delta documents 1 Mode Selection P1 01 Mode selection The mode must to be set as 0x11 Otherwise the control function of tool magazine and turrets will not be enabled 2 Torque Limit when Reached Target Position P1 12 When it reaches the target position this parameter can be
78. fications User Guide for Tool Turrets Application ASD A2R 2023 ASD A2R 3023 2 kW 3 kW e N We ch ef is We 203 7 99 215 5 8 48 i gt di MURE E AA A Ny Ground Terminal Aaf ere 4 5 0 57 Tightening torque 14 kgf cm Weight 2 89 6 36 H Zeng 1 Dimensions are in millimeters inches Weights are in kilograms pounds 2 Dimensions and weights might be revised without prior notice August 2014 5 23 User Guide for Tool Turrets Application Chapter 5 Specifications 5 7 Dimensions of Permanent Magnetic Synchronous Rotary Motor Motor frame size 86 or below Units mm NEN 1900 50 LG 300250 err SCH LE Z TP 1 n des De n al Gi RY d SS a LZ RH LI KEY DETAILS SHAFT END DETAILS SES Model C1040FoS CA04010S C A0602uS CA06040S CA06040H LC 40 40 60 60 60 LZ 45 45 5 5 5 5 5 5 LA 46 46 70 70 70 S am EN id oon 14 70 011 dian LB 30 8 21 30 21 5 o 025 s 025 BO o 025 LL 79 1 100 105 130 7 145 8 without brake 2 SES Sen AS 2 LL i 136 141 166 176 37 tel oret 36 6 6 66 8 6 3 LS 2
79. generative resister is set to jregenerative resistor to zero resistor is not in use when it is not applying Wrong parameter setting Check the setting value of Correctly setup parameters parameter P1 52 and P1 53 P1 52 and P1 53 value 4 6 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application ETT O verload Turn DI ARST on to clear the alarm E Checking Method Corrective Actions Over the rated loading of the Set parameter PO 02 to 11 Increase the motor capacity drive and continuously and see if the average torque or reduce the load excessive using ve is over 100 all the time The setting of the control 1 Check if there is any 1 Adjust the gain value of the m parameter i ae syste pare eter IS mechanical vibration control circuit Inappropriate 2 Check if the acceleration 12 Slow down the deceleration constant is set acceleration deceleration too fast setting time Wrong wiring of the motor Check the wiring of U V W Correct wiring A oc The encoder of the motor is Send the drive back to the distributors or contact with Delta eR NE Over speed Turn DILARST on to clear the alarm Checking Method Corrective Actions Unreasonable command Use the scope to check if the Less steep command used or signal of analog voltage is filter applying to smooth abnormal command Inappropriate parameter Check if the setting of parameter Correctly set parameter P2 34 is too s
80. he actual deceleration time will be 2000 3000 300 ms 200 ms The default value of P5 20 P5 35 can be modified according to the demand The user must be very careful about modifying parameter value when multiple settings refer to one parameter Once the parameter is changed other parameters from the same group will be changed as well For example if value of P5 20 is changed to 250ms all setting which related to P5 20 will be changed to 250 ms Code Ip 2 3 j4 5 6 7 8 9 A JB C JD JE F j P5 20 35 Default value O S Corresponding table of delay time Unit of P5 40 gt P5 55 is ms The default value can be modified according to the demand The user must be very careful about modifying parameter vue S multiple settings refer to one parameter i 2 3 4 5 6 7 8 9 A B C D E F P5 40 55 Default value e O O Corresponding table of speed If it is written by communication its unit is 0 1 rpm if it is written via panel its unit is 1 rom The default value can be modified according to the demand The user must be very careful about modifying parameter value when multiple settings Wei to E parameter i 2 3 4 5 6 7 8 9 A B C D_ E F _ P5 60 75 eo er e2 ea er les es ur Tes Teo tra tri tr 09 ef Default value O O Co 1 r min Soest KC 3 6 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application Example of P6 00 setting The format i
81. inch ASD CAPW2003 3106A 24 11S 3000 100 118 4 6 4 ASD CAPW2005 3106A 24 11S 9000 100 197 4 August 2014 Users Guide for Too Turrets Application Chatper 6 Accessories Delta Part Number ASD CAPW2103 ASD CAPW2105 80mm 3 15inch OAinch Title Part No otraight L mm inch 1 ASD CAPW2103 3106A 24 11S 3000 100 118 4 2 ASD CAPW2105 3106A 24 11S 5000 100 197 4 B Encoder Connector Delta Part Number ASD ABENOOO00 um H a S ker Title Part No Manufacturer Housing AMP 1 172161 9 AMP MOTOR SIDE Terminal AMP 170359 3 AMP CLAMP DELTA 34703237XX DELTA PLUG 3M 10120 3000PE 3M SE SHELL 3M 10320 52A0 008 3M Delta Part Number ASD CAEN1000 Title Part No Manufacturer MOTOR SIDE 3106A 20 29S PLUG 3M 10120 3000PE 3M ae SHELL 3M 10320 52A0 008 3M August 2014 6 5 Chapter 6 Accessories Users Guide for Too Turrets
82. ing detection The Check if the feedback of linear motor will move for a linear scale is abnormal pitch forward and the connection is backward Please preserve breakdown the scale is not the moving distance before installed properly or there detection is noise interference Chang another motor with more power Correct the problem of linear scale pnb initial Magnetic Pole Detection Error Turn DI ARST on to clear the alarm A LM Checking Method Corrective Actions When motor does not 1 Check if the feedback is Correct the problem of the connect to Hall sensor it will normal encoder search the initial magnetic 2 Check if the motor friction pole when power on If the is too big initial magnetic pole is not found this alarm will occur 4 16 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application 11 Motor Parameter is not Confirmed CS PM 02 to 1 and re power on The alarm will be cleared automatically If PM 02 0 this alarm occurs when motor servo On AL054 Parameters lype exceeds the range of PM 00 this alarm will occur August 2014 Exceeding the Range of Motor Checking Method Corrective Actions Make sure the motor parameter group is entered correctly Set PM 02 to 1 and re power on After the detection procedure is complete this parameter will be setup automatically Correctly setup the parameter and re power on The alarm will be cleared automatically
83. ing of the user manual The encoder is loose Check the drive connector of Install the encoder again CN2 and encoder Bad connection of the Check if the connection Conduct the wiring again encoder between CN of the drive and the encoder of the servo motor is loose The encoder is damaged Check if the motor is Change the motor damaged 4 8 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application Adjustment Error The alarm can be cleared when removing CN1 wiring and execute auto adjustment E Checking Method Corrective Actions The analog input contact is Measure if the voltage of the Correctly ground the analog incorrectly set back to zero analog input contact is the input contact same as the ground voltage The detection device is Reset the power supply If the error still occurs after damaged reset send the drive back to the distributors or contact with Delta D Yu EA Emergency Stop The alarm can be cleared automatically after turning DI EMGS off Checking Method Corrective Actions Press the emergency stop Check if the emergency stop Activate emergency stop button button is enabled Reverse Limit Error Turn DI ARST on or Servo Off to clear the alarm The alarm also can be cleared when the motor operates backwards EIC AS Causes Checking Method Corrective Actions Reverse limit switch is Check if the limit switch is Enable the reverse limit enabled switch The servo system
84. is 3m X 5 indicates that the cable length is 5m August 2014 Chapter 6 Accessories Users Guide for Too Turrets Application 400 W servo drive and 500 W medium inertia motor Servo Drive ASD A2R 0421 L Medium inertia Motor ECMA EA 130505 Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 400 W servo drive and 300 W high inertia motor Servo Drive ASD A2R 0421 L High inertia Motor ECMA G A 130305 Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW 1 000 Incremental Type Encoder Connector ASD CAEN 100X Absolute Type Encoder Connector ASD A2bEB100X Encoder Connector ASD CAEN1000 X 3 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 6 18 August 2014 Users Guide for Too Turrets Application 750 W servo drive and 500 W high inertia motor Servo Drive ASD A2R 0721 L Chatper 6 Accessories High inertia Motor ECMA F11305LIS Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake
85. is unstable Check the control parameter Modify the parameter setting and inertia ratio or evaluate the motor capacity MES Forward Limit Error Turn DI ARST on or Servo Off to clear the alarm The alarm also can be cleared when the motor operates backwards E C A X Causes Checking Method Corrective Actions Forward limit switch is Check if the limit switch is Enable the forward limit enabled switch The servo system is Check the control parameter and Modify the parameter setting unstable inertia ratio or evaluate the motor capacity August 2014 4 9 User Guide for Tool Turrets Application Chapter 4 Troubleshooting LR IGBT Overheat Turn DI ARST on to clear the alarm mE C U I Iy Checking Method Corrective Actions Over the rated loading of Check if it is overloading or the Increase the motor capacity the drive and motor current is too high or reduce the load continuously excessive using The drive output is Check the drive output wiring Correct wiring short circuit NE wae Abnormal EEPROM If the alarm occurs then parameter reset is a must And re servo on again If it happens during the operation please turn DI ARST on to clear the alarm ii M Checking Method Corrective Actions It is in error when DSP Press the SHIFT Key on the panel The fault oc
86. le Use I O on CN1 X 1 Use I O extension module If communication between extension module and servo drive error occurs ALE 3C5 occurs August 2014 3 7 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control Y Use combination DI or use a single DI IHOM to trigger homing Y 0 Use combination DI to trigger homing MDO and MD1 Y 1 Use IHOM to trigger homing DI code 0x55 if it is in extension module no need to use DI code Z Use tool position record function for the motor with magnetic encoder Set P6 02 P6 99 to 0 before enabling this function Do not modify or manually enter any value of P6 02 P6 99 after the setting is complete This function is for magnetic encoder and A2R only Z 0 Disable the tool position record function Z 1 Enable the tool position record function Tool position record function can realize the function of absolute type in incremental system Before the power is cut off the servo drive will record the current tool position As long as the mechanical position is not moved over the range set by P7 27 after power off it does not need to do homing when power is on again The machine can go for the next tool position If the mechanical position was moved over the range of P7 27 it needs to do homing and rebuild the coordinate system U Setting of manual continuous operation which means MDPO 1 in manual operation mode When this function is enab
87. leared after Line U V W GND re power on D o DE i E L sEblL sd Checking Method Corrective Actions correctly wire U V W and make sure it is grounded 4 14 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application Connection of 26 pin on Converter The alarm can be cleared after AL033 Box is Breakdown re power on E Checking Method Corrective Actions Connection of 26 pin on Check the status of converter Re connect the breakdown converter box is breakdown box part and then cycle power the drive 1 Switch mode Rotary switch at X1 AB pulse Check if the connection of pin 1 6 on 26 pin is breakdown Rotary switch at X2 SIN COS Check if the connection of pin 8 13 on 26 pin is breakdown 2 Drive mode The 1 bit of PM 03 0 Check if the connection of pin 1 6 on 26 pin is breakdown The 1 bit of PM 03 1 Check if the connection of pin 8 13 on 26 pin is breakdown Excessive Deviation of Full closed AL040 Loop Position Control Turn DI ARST on to clear the alarm ee Checking Method Corrective Actions Excessive deviation of fulli Check if P1 73 is settoo 1 Increase the value of closed loop position control TT P1 73 Check if the connector is 2 Check if the connection is loose or there Is any welleonn cicd connection problem of other mechanism Communication of CN5 is p A O Checking Method Corrective Actions Communication
88. led it operates at continuous speed If not it stops at every station U 0 Manual continuous operation Stops at every station and operates to the next station again MPD1 on MD1 off MDO 1 rt j Motor Speed TN TN LEN TL Delay big die DO Output GE CDK ADO CD EE Figure 3 5 Time sequence when stopping at every station 3 8 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application U 1 Operate non stop in manual operation mode When the signal stops the tool stops at the nearest station MPD1 on MD1 off MDO Motor Speed DO Output Figure 3 6 Time sequence when stopping at the nearest station A DI control selection A 0 The external DI is inputted by physical DI on extension module DI status can be monitored via P7 08 A 1 The external DI is set by P7 08 EDI15 has no B contact function This is for easily controlling DI signal and to perform system testing B DO control selection B 0 The external DO is controlled by logic Its status can be monitored via P7 10 B 1 The external DO is set by P7 10 This is for easily controlling DI signal and to perform system testing 5 6 P5 94 After homing is triggered it automatically goes to the tool station set by P5 94 If the value is set to O it does not move When the original point is found it will move to the specified tool station at 2 speed of
89. lerate or as the dynamic brake August 2014 Chapter 5 Specifications Medium High Inertia Series User Guide for Tool Turrets Application Rated power kW 05 10 15 20 20 30 35 03 06 og Rated torque N m 1 239 4 77 716 9 55 9 55 14 32 16 71 2 86 5 73 8 59 Max torque N m 7 16 14 3 21 48 28 65 28 65 42 97 50 13 8 59 17 19 21 48 Rated speed r min 2000 1000 Max speed r min 3000 2000 Rated current A 29 56 83 11 01 11 22 16 1 19 2 2 5 4 8 7 5 MEDS m 8 7 16 8 24 9 33 03 33 66 483 576 7 5 144 225 Max power per second kW s 7 0 27 1 45 9 62 5 26 3 37 3 50 8 10 0 39 0 66 0 Rotor inertia x 10 kg m 8 17 8 41 11 18 14 59 34 68 54 95 54 95 8 17 8 41 11 18 Mechanical constant ms 1 91 1 51 1 10 0 96 1 62 1 06 1 08 1 84 1 40 1 06 Torque constant KT N m A 0 83 0 85 0 87 0 87 0 85 0 89 0 87 1 15 1 19 1 15 ddr Sone ke 30 9 31 9 31 8 318 314 320 32 425 438 41 6 Armature resistance Ohm 0 57 0 47 0 26 0 174 0 119 0 052 0 052 1 06 0 82 0 43 Armature inductance mH 7 39 5 99 4 01 2 76 2 84 1 38 1 38 14 29 11 12 6 97 Electric constant ms 12 96 12 88 15 31 15 86 23 87 26 39 26 39 13 55 13 50 16 06 Insulation class Class A UL class B CE Insulation resistance gt 100MQ DC 500V Insulation strength 1 8k Vac 1 sec Weight without brake kg 6 8 7
90. lerate or as the dynamic brake The application of UL safety compliance for ECMA F11305 ECMA F11308 ECMA F11313 ECMA F11318 is under processing If desire to reach the max torque limit of motor 250 it is suggest to use the servo drive with higher watt 9 12 August 2014 Chapter 5 Specifications User Guide for Tool Turrets Application High Inertia Series Rated power kW 0 4 0 75 Rated torque N m 1 1 27 2 39 Max torque N m 3 82 7 16 Rated speed r min 3000 3000 Max speed r min 2000 5000 Rated current A 2 6 5 1 Max instantaneous current 7 8 15 3 A Max power per second 21 7 19 63 kW s Rotor inertia 0 743 2 91 x 10 kg m Mechanical constant ms 1 42 1 6 Torque constant KT 0 49 0 47 N m A Voltage constant KE 17 4 17 2 mV r min Motor resistance Ohm 1 55 0 42 Motor inductance mH 6 71 3 53 Motor constant ms 4 3 8 36 Insulation class Class A UL Class B CE Insulation resistance 100 MO DC 500 V Insulation strength 1 8k Vac 1 sec Weight without brake kg 1 8 3 4 Weight with brake kg 2 2 3 9 Radial max loading N 196 245 Axial max loading N 68 98 Max power per second 21 48 19 3 KW s with brake Rotor inertia 0 751 2 96 x 10 kg m with brake Mechanical constant ms 1 43 1 62 with brake Brake holding torque Nt m 1 3 1 3 min 9 13 Use
91. low Final position Original Setting point 1 point H Backlash value A Setting oming direction point 1 Forward direction Backlash value A Figure 3 10 Backlash compensation 9 De bounce time of combination signals P7 07 Due to the combination use of signals when switching the signal this parameter can be used to setup de bounce time for avoiding the error caused by switching bouncing such as MDO 0 MD1 1 20ms gt stable MDO 1 MD1 0 gt 20ms gt stable or MDO 1 MD1 1 gt 20ms gt stable The unit is 1ms When the value is set to 20 it means the de bounce time is 20 ms The setting takes effect after re power on 10 Parameters of A2R Following describes A2R parameters when applying extension module or motor with magnetic encoder a P2 84 0x111 The resolution of optical encoder 4096 pulse rev is better than magnetic encoder If the motor resolution is lower noise easily occurs when the gain increases Set P2 84 to 0x111 can reduce the noise b PM 03 0x1002 PM parameters are for A2R only and are for adjusting motor specifications and characteristics parameters When connecting to motor with magnetic encoder PM 03 H3 03 should be set to 0x1002 Of these 0x1000 means the encoder feedback signal goes to the servo drive from CN5 while 0x0002 represents ECMA C8 series motor with magnetic encoder Thus 0x1000 OR 0x0002 0x1002 The value can be set via
92. mall the condition of P2 34 the condition of over speed warning over speed warning NU Abnormal Pulse Command Turn DI ARST on to clear the alarm Ln Checking Method Corrective Actions The pulse command Use the scope to check if the input Correctly set the input pulse frequency is higher than frequency is over the rated input frequency August 2014 4 7 User Guide for Tool Turrets Application Chapter 4 Troubleshooting DER Xcessive Deviation of Position c DL ARST on to clear the alarm Command A A MCN CANET Checking Method Corrective Actions Parameter P2 35 is set Check the setting value of Increase the setting value of too small parameter P2 35 The warning P2 35 The warning condition condition of excessive position of excessive position deviation deviation The setting of the gain Check if the setting value is Correctly adjust the gain value is too small appropriate value The torque limit is too Check the torque limit value Correctly adjust the torque low limit value Excessive external load Check the external load Reduce the external load or evaluate the motor capacity again Improper setting of Make sure if the proportion of Correctly setup E gear ratio E gear ratio P1 44 and P1 45 is appropriate AL010 EEN Encoder Error The alarm can be cleared after re power on O Checking Method Corrective Actions Wrong wiring of the encoder Check if the wiring follows the Correct wiring suggested wir
93. motor Over voltage The voltage of the main circuit is higher Servo REONE than the standard voltage AEN Off Under voltage The voltage of the main circuit is lower Servo E than the standard voltage KE Off Motor The drive corresponds to the wrong Cano ALOO4 Combination motor ALM Off Error ALOO5 Regeneration Regeneration control is in error ALM Servo Error Off Anne Overload The motor and the drive is overload ALM ALO07 Over speed The control speed of the motor ALM Servo exceeds the normal speed Off Abnormal Pulse The input frequency of the pulse Sane ALOO8 Command command is over the allowable value ALM Off of the hardware interface Excessive The deviation of position command ALOO9 Deviation of exceeds the allowable setting value ALM Servo Position Off Command ALo11 Encoder Error The encoder produces abnormal pulse ALM p Adjustment When performing electrical adjustment Sane ALO12 Error the adjusted value exceeds the ALM Off allowable value ALO13 Emergency Press the emergency stop button WARN Servo Stop Off ALO14 Reverse Limit Activate the reverse limit switch WARN Servo Error On ALO15 Forward Limit Activate the forward limit switch WARN Servo Error On Servo ALO16 IGBT Overheat The temperature of IGBT is over high ALM Off Abnormal It is in error when DSP accesses Servo L017 EEPROM EEPROM RM Off ALO18 Abnormal signal The encoder output exceeds the rated ALM Servo August 2014 4 1 User Guide for Tool Tu
94. nderstand the application When value of P5 93 BA is set to 0 P7 08 can access DI status and P7 10 can access DO status Enter these two data into the scope of ASDA Soft the signal variation can be seen clearly and easy for debugging P5 93 DCBAUZYX i B 0 DO is monitored by P7 10 A 0 DI is monitored by P7 08 P Is sent by 5 the controller a DI ADR Addr v Babe dv ADR Addr v Tv 32bit J GHB ADR Addr T7 eng ADR Addr JE controller mons ao Mam Pe P7 08 Di E S 00 E IE MESE MOE NN LIB M8 0 XM vum 0 P7 10 DO Do o P7 08 scope position 0x20002708 DO is calculated S controller P7 10 scope position 0x20002 0A by the program e Figure 3 20 Monitor the DI O status on extension module 3 26 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application P5 93 BA can be used to setup the controller s signal This is quite convenient to output signals to extension DI O module to test the status See figure 3 21 Parameter P5 93 DCBAUZYX B 1 DO i trolled by P7 10 A 1 DI i trolled by P7 08 E OR o IS coniroiie A IS controiie A FT ES by P7 08 9 jv TADR Addr y 1v Babi Jv IADR Addn jv 32bit J CH ADR Addr T7 GHA ADR Adar JE DI P7 08 3 joxz0002708 fox2000270 A omozmA T ENEEENC CO NEN c c0 NN Cu HN X EI controller ug NN O q RH 0 DO P7 10 20 a P
95. nects to the distributors or contact with 3 phase for under 1 5 kWhiDelta included servo drive No power connects to single phase for 2 kW included or above servo drive this alarm occurs AN mys Early Warning for Overload Turn DI ARST on to clear the alarm Checking Method Corrective Actions Early warning for Check if it is used in overload 1 Please refer to the overload condition corrective actions of Check if the value of parameter AL 006 P1 56 is set to small Please increase the setting value of parameter P1 56 Or set the value over 100 and deactivate the overload warning function IN E Encoder Initial Magnetic Field Error The alarm can be cleared after re power on Checking Method Corrective Actions The initial magnetic field 1 Check if the servo is properly lf issue persists please send the drive back to the is of the encoder in error grounded cri Signal U V W of the Check if the encoder cable Delta encoder magnetic field separates from the power Is in error supply or the high current circuit to avoid the interference Check if the shielding cables are used in the wiring of the encoder If it connects to Hall sensor please check the wiring of Hall Sensor 4 12 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application AL025 The Internal of the Encoder is in The alarm can be cleared after Error re power on Checking Method Corrective Acti
96. ng ASDA Soft click Auto Gain Tuning shown in figure 3 23 Then enable Gain Control Panel marked in The screen will show Users can start to operate the motor and estimate motor inertia ratio b Click to enable Servo The user will hear the magnetic noise from servo motor at the moment Enter the appropriate motor speed in speed field It is suggested to enter lower speed first to ensure the mechanical operation is safe and has no interference Then gradually increase the speed After filling in speed and acceleration deceleration time click e to download and load the setting into the servo drive c When using and to control the motor operation please pay attention to the mechanical situation and see if there is any noise or interference Personnel who are in charge of operation shall follow the safety instructions If there is no problem when operating at low speed users can increase the speed Click to download and use D and O to operate at forward or reverse direction To acquire a correct inertia ratio the motor speed has to be set at 200 rpm at least d If the speed setting is higher than or equals to 200 rpm click D to move the motor to one position and click 6 to set this position as position 1 Then click 9 to operate the motor at reverse direction Click to move to the other position When positioning both at forward and reverse direction is complete click the motor will operate at
97. ngth is 5m 1 kW servo drive and 1 kW low inertia motor Servo Drive ASD A2R 1021 0 Low inertia Motor ECMA CA1010LIS Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN100X Absolute Type Encoder Connector ASD A2EB100X Encoder Connector ASD CAEN1000 X 3 Indicates that the cable length is 3m X 5 indicates that the cable length is 5m 6 20 August 2014 Users Guide for Too Turrets Application Chatper 6 Accessories 1 kW servo drive and 1 kW low inertia motor Servo Drive ASD A2R 1021 0 Low inertia Motor ECMA CA09100S5 Motor Power Cable without brake ASD ABPWOOOX Power Connector without brake ASDBCAPWO000 Motor Power Cable with brake ASD ABPWO 10X Power Connector with brake ASDBCAPWO 100 Incremental Type Encoder Connector ASD ABENOOOX ASD A2EB000X ASD ABENOOO00 Absolute Type Encoder Connector Encoder Connector X23 indicates that the cable length is 3m X 5 indicates that the cable length is 5m 1 kW servo drive 1 kW medium inertia motor Servo Drive ASD A2R 1021 LI Medium inertia Motor ECMA E A1310LI1S Motor Power Cable without brake ASD CAPW100X Motor Power Cable with brake ASD CAPW110X Power Connector ASD CAPW1000 Incremental Type Encoder Connector ASD CAEN1
98. o jas 3 14 August 2014 Chapter 3 Algorithm for Tool Position Control User Guide for Tool Turrets Application c DO Setting Users have to plan DO function between P2 18 and P2 22 For example DO1 P2 18 0x20 is set as normal close contact lts function is combo DO1 Set P2 18 0x120 as normal open contact and the function is the same Combo DO 1 Combo DO 2 d Combo DO function DI for tool position starts from 0 and the display of DO starts from tool station 1 For example there are 8 tool stations in total While Dl shows 0 to 7 DO shows 1 to 8 for tool stations Index poison number IDX5 IDX4 IDX3 IDX2 IDX1 ALRM Alarm SRDY Servo ready Homing command is executing Homing completes 1 1 1 1 Mm ATA 1 Index position A IDX5 1 2 0 0 O 1 1 Index position 5 IDX5 1 200100 Index position 6 IDX5 1 0010 1 Index position 7 IDX5 1 00110 Index position 8 IDX5 1 0011 1 Index position 9 IDX5 1 01000 39 07 0 1 171 347 FTIIT 9 9 00 1 ESTAR 0 a E 9 9 A ESE ERA 01 1 9 9 MI 1 0 indexposiion10 IDX5 1 01001 9 0 A L3 fo REISE L 0 0 MAA A ES A HEM DR 9 5 ERASE A 1 0 SES me 9 9 EN as a TB A ke 1 ke 1 1 AR 1 onm dll Lm 1 ek 1 1 1 1 Index position 16 IDX5 1 2 0 1 1 1 1 Index position 17 IDX5 1 10000 Index position 18 IDX5
99. occur Motor magnetic When enabling the Y item of PM 09 fields is servo will detect the motor s current abnormal magnetic field and compare it with the Servo SF position of Hall sensor s When the Geh Off deviation between both is too excessive this alarm will occur Feedback pulse When P2 81 1 it will check if the is lost pulse is lost If the loss amount is more Servo EES than the value of P2 82 this alarm will ALM Off Occur Excessive During initial magnetic pole detection it deviation of will check if the position error exceeds ALOS8 initial magnetic the range If yes this alarm will occur ALM Servo pole detection Off position when power on AL3C3 Emergency stop Emergency stop ALM uu Incorrect setting Incorrect setting of P1 01 The control Servo SES of P1 01 mode must be set as Ox1 1 ARM Off Extension Extension module disconnected or o AL3C5 module communication error ALM SE Off disconnected or August 2014 4 3 User Guide for Tool Turrets Application Chapter 4 Troubleshooting Alarm List of the Servo Drive Display Alarm Name Alarm Description ee Ge communication error Extension Extension module status abnormal AL3C6 module status ALM rs abnormal 4 4 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application 4 2 Alarm Disposal Over current Turn DI ARST on to clear the alarm ee FEE Checking Method The drive output is Check if the wiring bet
100. ons The internal of the 1 Check if the servo is properly Please connect the UVW encoder is in error grounded connector color green to The internal memory 2 Check if the encoder cable the heat sink of the servo and the internal counter separates from the power drive are in error supply or the high current Please check if the circuit to avoid the interference encoder cable separates 3 Check if the shielding cables from the power supply or are used in the wiring of the the high current circuit encoder Please use shielding mesh If issue persists please send the drive back to the distributors or contact with Delta When applying to the Make sure the shaft of the motor is Make sure the shaft of the power the motor still when applying to the power motor is still when applying to operates because of the power mechanism inertia or other reason Unreliable Internal Data of the The alarm can be cleared after ALO26 Encoder re power on D Checking Method Corrective Actions The encoder is in error 1 Check if the servo is 1 Please connect the UVW Errors occur in the internal properly grounded connector color green to data for three times 2 Check if the encoder cable the heat sink of the servo continuously separates from the power drive supply or the high current 2 Please check if the cir
101. origin X 5 Look for Z pulse in reverse direction and regard it as the homing origin Return toZ X 6 Homing in forward direction Go forward to ORG ON OFF as the homing origin X 7 Homing in reverse direction ORG ON OFF as the homing origin P5 05 First homing speed If it is written by communication the unit is 0 1 rpm If it is written via panel the unit is 1 rom August 2014 3 5 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control P5 06 Second homing speed If it is written by communication the unit is 0 1 rpm If it is written via panel the unit is 1 rpm 5 b P6 00 Acceleration deceleration time setting of homing Format isA B C DWZ Y X The 2 The 1 deceleration deceleration time time 0x0 gt 0xF 0x0 0xF 0x0 gt 0xF 0x0 0xF Select delay time Select dec time Select dec time Select acc time Corresponds to Corresponds to Corresponds to Corresponds to P5 40 P5 55 16 P5 20 P5 35 16 P5 20 P5 35 16 P5 20 P5 35 16 sets in total sets in total sets in total sets in total Acceleration time Function Delay Corresponding table of Acceleration Deceleration time Unit of P5 20 P5 35 is ms This setting value is the time for motor to accelerate from 0 rpm to 3000 rpm Acceleration time setting for other speed can be set as ratio of acceleration time to 3000 rpm If the acceleration time is set to 300ms and the target speed is 2000 rpm t
102. ot to use extension module Use combination DI to do homing Enable tool position record function and continuous manual operation Also make sure value of P6 02 gt P6 99 is all cleared to 0 e P5 94 1 After homing it stops at the first tool station 6 Moving method and speed test a P5 95 2 Setup the shortest distant way to look for tool station b Manual operation speed P7 22 0x0024000A delay time is determined by P5 42 speed is set by P5 64 acceleration deceleration is set by P5 20 c 1 auto speed P7 24 0x002A110A delay time is determined by P5 42 speed is set by P5 70 and acceleration deceleration is set by P5 21 d 2 auto speed P7 26 0x0025110A delay time is determined by P5 42 speed is set by P5 65 and acceleration deceleration is set by P5 21 7 P7 27 200 If motor is still within the range 200 pulses when power on or Servo On after Servo Off it will display the correct tool station August 2014 3 19 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control a b C d e 8 P7 01 0 Not to use backlash compensation function 9 P7 07 20 Setup combination signal delay time 20ms to avoid noise 10 Setting of magnetic encoder and A2R parameters P2 84 0x111 This setting can reduce the noise caused by low resolution of magnetic encoder H3 03 PM 03 0x1002 Use the motor with magnetic encoder The signal is from CNB P1 74 0x6000
103. ower fluctuation 10 is 0 01 The ambient temperature fluctuation 0 50 C is 0 01 5 2 August 2014 Chapter 5 Specifications User Guide for Tool Turrets Application 200W 400W 750W 1kW 1 5kW 2kW 3kW ASDA A2R Series 02 04 07 10 15 20 30 RUE 0 10 Voc range Analog command Input 10KO resistance me constant 2 2 US Command source Smoothing strategy Torque Control Mode Speed limit The monitor signal which can be set via parameters Output voltage range 8 V Servo on Fault reset Gain switch Pulse clear Zero clamp Command input reverse control Internal position command trigger Torque force limit Speed limit Internal position command selection Motor stop Speed command selection Speed position mode switching Speed torque force mode switching Torque force position mode switching Pt Pr command switching Emergency stop Positive negative limit Original point Forward reverse operation torque limit Homing activated E CAM engage Forward reverse JOG input Event trigger E gear N selection Pulse input prohibition A B Z Line Driver output Analog monitor output Input Digital Input Output Servo on Servo ready Zero speed Target soeed reached Target position reached torque force limiting Servo alarm Brake control Homing Output completed Early warning for overload Servo warning Position command overflows Software negativ
104. positive or negative Digital Output 6 Positive DO 26 Digital Output 26 Positive m i Digital Output 26 Digital Output 7 Positive DO 27 Digital Output 27 Positive SH Digital Output 27 Digital Output 8 Positive DO 28 Digital Output 28 Positive SC e i Digital Output 28 Digital Output 9 Positive DO 29 Digital Output 29 Positive August 2014 2 3 User Guide for Tool Turrets Application Chapter 2 Installation and Wiring SCH b Digital Output 29 Digital Output 10 Positive Digital Output 30 Positive Digital Output 10 i Digital Output 30 Digital Output 11 Positive Digital Output 31 Positive DO 11 Digital Output 11 DO 31 Digital Output 31 Negative Negative DO 12 Digital Output 12 Positive DO 32 Digital Output 32 Positive 44 DO 12 Digital Output 12 DO 32 Digital Output 32 Negative Negative 2 1 3 Extension Module Wiring Wiring of Digital Input DI DI A COM o0V Sink Source Wiring of Digital Output DO 2 4 August 2014 Chapter 2 Installation and Wiring User Guide for Tool Turrets Application 2 2 Wiring of Motor with Magnetic Encoder 2 2 1 Quick Connector ECMA C8 and ECMA E8 series motor with magnetic encoder and servo drive mainly uses pulse to communicate These series of motor can only communicate via CN5 of A2R for now The wiring definitions are as the followings 1 Pin definition of motor connector Power wiring View from this side A UPHASE RED
105. proof 1 2 Servo System Control Structure The control structure of tool turrets consists of two layers The upper one is application layer use Motion PRO to download while the lower one is the firmware layer upgraded by burning new firmware The best feature of this structure is that users can select the application and control function of upper layer for proper installation See the descriptions below USB Cable USB CNA Functional connector progam ee i program 1 e download program 1 600 ee ee eee oa oe ee eeeeeee e August 2014 1 3 User Guide for Tool Turrets Application Chapter 1 Hardware and Software Structure The available versions are Motor with magnetic encoder A2R servo drive only V5125 or the later version Motor with optical encoder A2 or A2R servo drive V5103 or the later version 1 4 August 2014 Chapter 2 Installation and Wiring This chapter only describes the installation and wiring method of servo drive motor with magnetic encoder and extension module Please refer to other user manuals for the installation and wiring of motor with optical encoder 2 1 Installation and Wiring of Extension Module 2 1 1 Extension Module Installation Please follow the steps below for installing extension module 1 Insert the tenon of the module into the mounting hole and extension slot of the servo drive Then exert an appropriate force to combine the module and the drive Please
106. r Guide for Tool Turrets Application Chapter 5 Specifications Brake power consumption 6 5 6 5 at 20 C W Brake release time 10 10 ms Max Brake pull in time 70 70 ms Max Vibration grade um 15 Operating temperature C 0 C 40 C Storage temperature C 10 C 80 C Operating humidity 20 90 RH non condensing Storage humidity 20 90 RH non condensing Vibration capacity 2 5G IP Ratin IP65 use the waterproof connector and 9 shaft seal installation or oil seal model AED d r US LISTED Note 1 The rated torque is the continuous permissible torque between 0 40 C operating temperature which is suitable for the following heat sink dimension ECMA 04 06 08 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 ECMA 22 650mm x 650mm x 35mm Material Aluminum F40 F60 F80 F100 F130 F180 F220 2 The built in brake of the servo motor is for remaining the item in stop status Do not use it to decelerate or as the dynamic brake 3 If desire to reach the max torque limit of motor 250 it is suggest to use the servo drive with higher watt 5 14 August 2014 Chapter 5 Specifications User Guide for Tool Turrets Application 5 4 Specifications of Servo Motor Motor with Magnetic Encoder Low Inertia Series
107. rrets Application Alarm List of the Servo Drive Chapter 4 Troubleshooting Display Alarm Name Alarm Description ee Ge output output frequency Off Serial RS 232 485 communication is in error Servo ALO19 Communication ALM Off Error Serial RS 232 485 communication time out Servo ALO20 Communication WARN On Time Out Main Circuit Only one single phase is inputted in the Servo ALO22 Power Lack main circuit power WARN Off Phase ALooa Early Warning Early Warning for Overload WARN Servo for Overload On Encoder initial The magnetic field of the encoder U V Servo AL024 magnetic field W signal is in error ALM Off error The Internal of The internal memory of the encoder Servo ALO25 the Encoder is and the internal counter are in error ALM Off in Error Unreliable An encoder data error is detected for Servo ALO26 Internal Data of three times ALM Off the Encoder ALO27 Encoder Reset The internal reset of the encoder is in ALM Servo or error Off Motor Crash The motor crashes the equipment Servo AL030 Error reaches the torque of P1 57 and ALM Off exceeds the time set by P1 58 Incorrect wiring The wiring connections of U V W for aLog1 Ofthe motor servo motor output and GND for ALM Servo power line U V grounding are in error Off W GND Connection of Connection of 26 pin on converter 26 pin on bo der is breakd nae p X encoder is breakdown ALM Servo converter box Off Is breakdown Exce
108. s P6 00 ABCDWZYX If the setting value of P6 00 is 0x0020DA00 then the acceleration time Z is determined by P5 30 It is because the setting value is 0x00000 00 The first deceleration time W is determined by P5 33 because the setting value is OxooooDono The second deceleration time D is determined by P5 20 because the setting value is 0x00000000 Delay time C is determined by P5 42 because the setting value is 0x00200000 Directly change the setting value of P6 00 and select the speed to adjust the acceleration deceleration and delay time Or modify the content of P5 30 to directly change the content of the target value 5 C P6 01 Origin definition home reference point defined in coordinate system or origin offset value P6 01 0 Origin reference point origin point point P6 01 A The origin coordinate is 0 Its Reference point coordinate is 0 SA S origin Ki origin i sensor y sensor Figure 3 4 Homing offset setting 5 d P5 93 Motion selection 32 Bitin D C B AU Z Y X format PR8 D C B A U z Y X _ Manual Tool Whether to DO control DI control continuous position Use IHOME use Function selection selection operation record to homing extension setting function IO Description X Use I O extension module If this setting is changed please power cycle the servo drive to take the change effect This function can only be used with A2R X 0 Do not use I O extension modu
109. s set by P5 21 d 2 auto speed P7 26 0x0025110A delay time is determined by P5 42 Speed is set by P5 65 and Acceleration deceleration is set by P5 21 7 P7 27 200 If motor is still within the range 200 pulses when power on or Servo On after Servo Off it will display the correct tool station August 2014 3 21 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control 8 P7 01 0 Not to use backlash compensation function 9 P7 07 20 Setup combination signal delay time 20ms to avoid noise 10 Setting of magnetic encoder and A2R parameters a P2 84 0x111 This setting can reduce the noise caused by low resolution of magnetic encoder b H3 03 PM 03 0x1002 Use the motor with magnetic encoder The signal is from CN5 C P1 74 0x6000 Setup filter frequency to reduce the interference of the noise d P2 35 2000 The position error exceeds the range set by AL 009 The resolution of magnetic encoder is 4096 pulses Set the protection range to half cycle here The unit is pulse Users can change it according to the demand e P2 81 0x1 P2 82 10 Enable pulse loss detection Once the pulse loss number exceeds 10 from Z to Z and the situation has not been improved after running 3 cycles AL 057 occurs 11 DI program a DI 1 P2 10 0x111 IDXO Index selection 0 normal open b DI 2 P2 11 2 0x112 gt IDX1 Index selection 1 normal open c DI 3 P2 12 0x113 gt
110. served parameters Do not modify the parameters content and value that show below a P7 03 Do not modify its content and setting value b P6 02 gt P6 99 For enabling the record function of motor with magnetic encoder Do not modify its content and setting value 12 Error status display P 7 04 Error status of absolute coordinate system 2 DENEN NEN O Absolute encoder Homing is not E gear ratio is User change the Bit 0 Users change the definition of motor torque output direction However homing is not done yet Bit 1 Change E gear ratio but does not reset the system Bit 3 Homing is not complete Bit 4 Error occurs in absolute type of encoder optical type August 2014 3 13 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control 3 2 3 DI O Setting on CN1 a DI setting Users have to plan DI function between P2 10 and P2 17 And set EDI9 gt EDI14 P2 36 gt P2 41 as Servo On contact of normal close So that the regular DI can be used for other functions such as DI1 P2 10 0x11 is set as normal close contact Its function is index selection 0 Set P2 10 to Ox111 as normally open contact and the function is the same IDXO Index Selection 0 IDX1 Index Selection 1 oT speed pun S 0x55 IHOM Homing SS use combination command or individual command b Mode Description o ee on OFF ON Backward Manual Operation JL ON OFF Forward Manual Operation alo
111. ssive Excessive Deviation of Full ALo4o Deviation of Full Closed loop Position Control ALM Servo Closed loop Off Position Control Communication Communication of CN5 encoder is s AL041 of CN5 is breakdown ALM Se breakdown AL044 Warning of Warning of servo drive function WARN Servo 4 2 August 2014 Chapter 4 Troubleshooting User Guide for Tool Turrets Application Alarm List of the Servo Drive E a Corresponding Servo Display Alarm Name Alarm Description DO Status servo drive overload On function overload Auto detection When executing PM 01 function of of motor auto detection this alarm will occur Servo Get parameters is when the detection is completed Se Off completed Auto detection During auto detection when friction is ALO51 of motor too big motor Is stuck or entering ALM Servo parameters is in wrong resolution and pole pitch this Off error alarm will occur Initial magnetic When PM 03 Y 0 it will detect the pole detection initial magnetic pole automatically Servo dee error When it cannot find the initial magnetic n Off pole this alarm will occur Motor If PM 02 0 this alarm will occur when Gees ALO53 parameter is not motor servo On ALM Off confirmed Exceeding the Parameter range of linear motor is range of motor different from rotary motor In PM 00 if Servo ALO54 ee ALM parameter it exceeds the range when switching Off the motor type this alarm will
112. th within the rated allowable voltage Delta value but still shows the error August 2014 4 5 User Guide for Tool Turrets Application Chapter 4 Troubleshooting INM Under voltage The alarm can be cleared after the voltage returns to normal Checking Method Corrective Actions The input voltage of the Check if the input voltage wiring of Re confirm the voltage wiring main circuit is lower than the main circuit is normal the rated allowable voltage No power supply for the Use the voltmeter to see if the Check the power switch main circuit voltage of the main circuit is normal Wrong power input Use the voltmeter to see if the Apply to the correct power Incorrect power power system matches the supply or serial adaptor system specification n YOU Motor Combination Error The alarm can be cleared after re power on Checking Method Corrective Actions The encoder is damaged The encoder is abnormal Change the motor The encoder is loose Check the encoder Install the motor again connector The type of the servo motor is Connect to the right motor Change the motor incorrect NET Regeneration Error Turn DI ARST on to clear the alarm Checking Method Corrective Actions Select incorrect regenerative Check the connection of Re calculate the value of the resistor regenerative resistor regenerative resistor Parameter P1 53 is not set to Check if parameter P1 53 of Set parameter P1 53 of zero when the regenerative re
113. the 2 Check if the moving is too Users can issue the range If yes this alarm will excessive during initial pole command until TPOS is occur detection On Reduce the value of PM 11 Reduce the detect current of initial pole uNikles Emergency Stop Disable the emergency DI to clean up the alarm Checking Method Corrective Actions Emergency stop Check emergency stop DI Disable emergency stop DI Niko WE P1 01 Setting Error Turn DI ARST on to clear the alarm Causes Checking Method Corrective Actions Incorrect setting of P1 01 Check P1 01 setting the Correct P1 01 setting the control mode must be 0x11 control mode must be 0x11 Nike Extension module disconnected Turn DI ARST on to clear the alarm eee Checking Method Corrective Actions Extension module Check the communication Troubleshoot the disconnected status of expansion module communication issue board NJ Extension module malfunction Turn DI ARST on to clear the alarm AAA Eels Checking Method Corrective Actions Extension module Check the status of extension Extension module malfunction module board malfunction please contact with Delta August 2014 4 19 User Guide for Tool Turrets Application Chapter 4 Troubleshooting This page is intentionally left blank 4 20 August 2014 Chapter 5 Specifications 5 1 Servo Drive and Servo Motor Servo Motor Servo Drive Permanent Magnetic Motor with Magnetic Synchronous Rotary Motor Encoder EC
114. the potential hazards It is possible to cause severe injury or fatal harm N serious damage ti the product or even malfunction if not follow the instructions WARNING It indicates the absolute prohibited activity It is possible to damage the product or cannot be used due to malfunction if not follow the instructions f N Table of Contents Chapter 1 Hardware and Software Structure cece eee 1 1 144 Available Hardware Plato Mena did 1 1 1 2 Servo System Control Structure cernentibus 1 3 Chapter 2 Installation and VWung ccc cece ceteeeseeneeeseenes 2 1 2 1 Installation and Wiring of Extension Module 2 1 2 1 1 Extension Module Installation sissu eop n a a 2 1 2 1 2 Port Definition of Extension Module eene 2 2 2 1 9 EXTENSION Module VVINING cissesmebadosa rd arte iio 2 4 2 2 Wiring of Motor with Magnetic Encoder 2 5 ZEA QUICK CONNECCION EI TEUER 2 5 2 2 2 Milla COMO iio 2 6 2 2 Miring obl OCIO DIVE silo isaac 2 7 Chapter 3 Algorithm for Tool Position Contro 3 1 BT Funcion Download ande ct lili 3 1 3 2 Description of Parameter and Interface Setting ccccccceseeeeeeeeeeeeeeeeseeeeesseeeees 3 9 3 2 1 How to Read the System Firmware Version occccccccccconnccoccnnccncnccnnnnonanonos 3 3 3 2 2 Related Parameters of Tool Turrets cocoonniconononononenononenonononononononononnanoss 3 3 329 DIO Setting ON ON asari dc da 3 14 3 2 4 DI
115. ts application ASDA A2 L U M ASDA A2R L U M ASDA A2R T Motor Incremental type of 17 bit motor with optical encoder incremental type of 20 bit motor with optical encoder absolute type of 17 bit motor with optical encoder and incremental type of 12 bit motor with magnetic encoder with semi absolute encoder function Extension Single port extension card 16 Dl and 12 DO in total dual port extension DI O card card 32D and 24DO in total Limitations 1 If DI DO extension module is needed please select A2R as the servo drive 2 If users use 12 bit motor with magnetic encoder please select A2R as the servo drive Example for installation dd d Incremental system A2 or A2R Absolute system A2 or A2R motor with optical encoder motor with optical system August 2014 1 1 User Guide for Tool Turrets Application Chapter 1 Hardware and Software Structure Incremental system A2R Incremental system A2R Absolute system A2R Motor with magnetic encoder Motor with magnetic encoder Motor with optical encoder ASDA series platform supports 8DI 5DO ASDA A2 L M ASDA A2R or 14DI 5DO ASDA A2 U With the basic algorithm it combines signals to control up to 27 stations ASDA A2 L ASDA A2 U ASDA A2R 14 or 8 Dis and 5 DOs DI Source amp Sink DO Source amp Sink With extension module ASDA A2H can increase the number of DI O which meets the requirement of more number of
116. ture inductance mH 26 240 12 07 6 71 7 39 3 53 755 5 7 Electric constant ms 2 05 2 58 4 30 4 30 7 96 8 36 5 66 6 35 Insulation class Class A UL Class B CE Insulation resistance gt 100M O DC 500V Insulation strength 1 8k Vac 1 sec Weight without brake kg 0 42 0 5 1 2 1 6 2 1 3 0 2 9 3 8 Weight with brake kg 0 8 1 5 2 0 2 9 3 8 3 69 9 9 Radial max loading N 8 4 78 4 196 196 245 245 245 245 Axial max loading N 39 2 392 68 68 98 98 98 98 Max power per second kW s with brake i 256 21 3 53 8 22 1 48 4 29 3 37 9 Rotor inertia x 10 kg m ona 0 19 0 30 0 73 118 195 2 67 with brake i l i i l l I N 031 0 85 0 57 0 78 0 65 1 74 122 with brake i l i i i i Brake holding torque SS Nt m min 0 3 1 3 1 3 2 5 2 5 2 5 2 5 Brake power consumption x at 20 C W 7 3 6 5 6 5 8 2 8 2 8 2 8 2 Brake release time sE 5 10 10 10 10 10 10 ms Max 9 9 User Guide for Tool Turrets Application Chapter 5 Specifications C104 CA04 CA 06 CA08 CA09 ECMA OF 01 02 gans 04 07 07 10 irr 25 70 70 70 70 70 70 Vibration grade um 15 Operating temperature C 0 C 40 C Storage temperature C 10 C 80 C Operating humidity 20 90 RH non condensing Storage humidity 20 90 RH non condensing Vibration capacity 2 5G IP Rating IP65 use the waterproof ea shaft seal installation or Approvals d
117. ugust 2014 Chapter 2 Installation and Wiring User Guide for Tool Turrets Application 2 2 3 Wiring of Servo Drive Wiring of CND on A2R unn P OSO a E Encoder wiring N e S View from this side e E s C O m CN5 connector female 1 Zphaseimput Opt ZZ phaseinput 5 JAphaeinpu X Opt A Aphaseimput Signal Name Terminal Symbol Function and Description 9 Zphaseimput OpZ X Zphaseimput Hall sensor V phase input HALL V Hall sensor V phase input Hall sensor W phase input HALL W Hall sensor W phase input 0 2 7 1 1 13 Temperature detection of linear TEMP Temperature detection of linear motor motor Temperature detection of linear Temperature detection of linear 14 TEMP motor motor This series of motor with magnetic encoder does not need to install Hall sensor and the device of linear motor temperature detection Please refer to the related user manuals for further information about optical encoder or CN2 wiring August 2014 2 1 User Guide for Tool Turrets Application 2 8 This page is intentionally left blank Chapter 2 Installation and Wiring August 2014 Chapter 3 Algorithm for Tool Position Control This chapter describes the operation of tool position control program and parameters setting including installation and time sequence control 3 1 Function Do
118. used to do torque limit and limit the motor The value is defined to 10096 as rated torque Its setting range is between 0 and 300 3 E gear Ratio and Turret Setting The planning of tool station is closely related to electric gear and gear box The setting method of motor with magnetic encoder and optical encoder is different Resolution of magnetic encoder is 4097 per revolution which is not high Thus when setting up e gear ratio the principle is to magnify the encoder pulse per revolution to make the turret to turn one cycle However for optical encoder it is suggested to use the most convenient way to set up electric gear Please see examples described below P1 44 E gear ratio Numerator N P1 45 E gear ratio Denominator M P2 52 Indexing coordinates scale Unit PUU P5 96 Indexing number setting 2 the number of stations P2 52 Interval of each tool l P5 96 August 2014 3 3 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control Figure 3 3 is applied to the following three examples Mechanism Figure 3 3 Gear box demonstration Example 1 E gear ratio of motor with magnetic encoder and indexing setting If gear box ratio is 1 B 18 A which has 8 tool stations in total Motor runs 18 cycles and tool turrets run 1 cycle P1 44 1 P1 45 B 1 Motor needs 4096 pulses per cycle The pulse number of tool turrets runs a cycle 4096 A 4096 18
119. ween the Eliminate short circuit and short circuit motor and the drive is correct and javoid metal conductor being see if the wire is short circuited exposed Motor wiring error Check if the wiring steps are Rewiring by following the correct when connecting the motor wiring description from the to the drive user manual IGBT is abnormal The temperature of the heat sink Send the drive back to the is abnormal distributors or contact with Delta Control parameter Check if the setting value exceeds Setting back to the default setting error the default setting setting and then gradually adjust the value Unreasonable command Check if the command doing Less steep command used or reasonable acceleration time filter applying to smooth command NM Over voltage Turn DI ARST on to clear the alarm Checking Method Corrective Actions The input voltage of the Use the voltmeter to see if the Apply to the correct power main circuit is higher input voltage of the main circuit is supply or serial voltage than the rated allowable within the rated allowable voltage regulator voltage please refer to Chapter Wrong power input Use the voltmeter to see if the Apply to the correct power power system matches the supply or serial adaptor specification incorrect power system The hardware of the Use the voltmeter to see if the Send the drive back to the servo drive is damaged input voltage of the main circuit is distributors or contact wi
120. wnload and Setup Before downloading the application layer please make sure the firmware version in lower layer is correct Contact your distributors or Delta service center if you have any question about firmware version Use MotionPRO to download the motion control function of the upper layer The updating methods are shown as below 1 Make sure ASDA Soft is disabled first Otherwise it will be failed to download the firmware 2 Use USB cable the same as ASDA soft to connect computer to servo drive Enable MotionPRO then click setting to setup communication interface See figure 3 1 ilk Motig ction Downloader EE EF Za lay Computer Com Port Language Port NO Commi English Drive Setting CHAPA Station NO 0x7F v lt Use HEX format 0xXX Protocol 6 X Cancel OK Figure 3 1 Communication setup window August 2014 3 1 User Guide for Tool Turrets Application Chapter 3 Algorithm for Tool Position Control i EI tr Far i k FLAN AB Backlash V5096 EARE dmp 2013 8 8 F 03 36 B5 AB Backlash V5103 zx BS dmo 2013 9 2 FS 04 13 AB ME V5105 SS dmp 2013 10 4 FF 04 52 jAB ME V5120 x ig EB dmp 2013 12 13 FF 01 AB ME V5125 zr HEBES dmp 2013 12 20 F 04 Select file Figure 3 2 Select and download the function 4 When downloading is complete the original function inside the servo drive will be changed to the one that just downloaded Some paramet

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