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Delta Electronics ASDA-AB manual Structure of Position Control Mode

Models: ASDA-AB

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Chapter 6 Control Modes of OperationASDA-AB Series

	Position	POS2	POS1	POS0	CTRG		Parameters	Description
	Command	POS2	POS1	POS0	CTRG		Parameters	Description
	Command
	P5	1	0	0			P1-23	Rotation number (+/- 30000)
							P1-23	Rotation number (+/- 30000)

							P1-24	Pulses (+/- max cnt)



	P6	1	0	1			P1-25	Rotation number (+/- 30000)
							P1-25	Rotation number (+/- 30000)

							P1-26	Pulses (+/- max cnt)



	P7	1	1	0			P1-27	Rotation number (+/- 30000)
							P1-27	Rotation number (+/- 30000)

							P1-28	Pulses (+/- max cnt)



	P8	1	1	1			P1-29	Rotation number (+/- 30000)
							P1-29	Rotation number (+/- 30000)

							P1-30	Pulses (+/- max cnt)

State of POS0~2: 0 indicates the contact is OFF (Normally Open)

CTRG

1 indicates the contact is ON (Normally Closed)

: the instant time when the contact changes from 0 (open) to 1 (closed).

The application of absolute and incremental position control is various and multiple. This kind of position control is equal to a simple sequence control. User can easily complete the cycle running by using the above table. For example, the position command, P1 is 10 running and P2 is 20 running. Give the position command P1 first and then give the position command P2. The difference between absolute and incremental position control is shown as the figure below:

Absolute Type

10 turns

Incremental Type

20 turns

20 turns

10 turns

6.2.3 Structure of Position Control Mode

Basic Structure:

6-4	Revision January 2009

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Delta Electronics ASDA-AB manual Structure of Position Control Mode

Contents

Page „ Who should use this manual Using This Manual „ Contents of this manual„ Important precautions Installation Please Read Prior to Installation for SafetyWarranty Main Circuit Terminal Wiring WiringMaintenance and Inspection Main Circuit WiringPrefaceASDA-AB Series Table of Contents Display and Operation Relationship between Tuning Modes and Parameters Control Modes of Operation Chapter Chapter Troubleshooting 10-1 About this Manual… User Information Technical Support and ServiceThis page intentionally left blank „ Check for damage Unpacking Check„ Ensure that the product is what you have ordered „ Ensure that the servo motor shaft rotates freelyAsmt Series Servo Motor Model Explanation Nameplate InformationASDA-AB Series Servo Drive Model Name Explanation Ecma Series Servo Motor Servo Drive and Servo Motor Combinations Power Servo Drive Servo Motor220V models Servo Drive Features110V models Control Modes of Servo Drive Storage Conditions Installation NotesOperating Temperature Installation ConditionsMotor Mounting Installation Procedure and Minimum ClearancesInstallation Procedure Drive Mounting„ Minimum Clearances „ Side by Side Installation 220V Servo Drive Connections Connecting to Peripheral DevicesConnections and WiringASDA-AB Series CN3 Servo Drive Connectors and TerminalsCN1 CN2Wiring Notes Single-Phase Power Supply 1.5kW and below, 220V models Wiring MethodsSingle-Phase Power Supply 400W and below, 110V models Motor Power Cable Connector Specifications Case Ground BRAKE1 BRAKE2 Encoder Connector SpecificationsSheld Cable Specifications for Servo DrivePower Cable GND BraidEncoder Cable Basic Wiring Schematic of 100W ~ 1.5kW, 220V models Basic WiringBasic Wiring Schematic of 2kW, 220V models Basic Wiring Schematic of 100W ~ 400W, 110V models 1 CN1 Terminal Identification Input / Output Interface Connector -CN1VCC CN1 Terminal Signal IdentificationGeneral Signals Pin No Details Wiring Diagram Refer to Signals Explanation of Connector CN1Zspd ALL Do SignalsSrdy ALL SONAlrm ALL Tspd ALLTpos TQLDI Signals CWL TCM0TCM1 Emgs ALLStepd JoguJogd StepuSource of Torque Command Source of Position CommandSource of Speed Command Default DI signals and Control modes Reference Home Sensor Reverse operation Default do signals and Control modes User-defined DI and do signals User-defined DI and do signalsWiring Diagrams of I/O Signals CN1 Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series CN2 Terminal Signal Identification Encoder Connector CN2PIN No Signal Name Terminal Identification Grounding Connection between PC and Connector CN3 Connections and WiringASDA-AB Series Position Pt Control Mode 110V models Position Pr Control Mode 220V models Position Pr Control Mode 110V models Speed Control Mode 220V models Speed Control Mode 110V models Torque Control Mode 220V models Torque Control Mode 110V models This page intentionally left blank Description of the Digital Keypad Display and OperationKeypad Operation Display FlowchartPolarity Setting Display Status Display Save Setting DisplayAbort Setting Display Fault Message DisplayMonitor Setting Display Display and OperationASDA-AB Series General Function Operation Fault Code Display Operation JOG Operation Position Learning Operation Do Force Output Diagnosis Operation Do Diagnosis Operation DI Diagnosis OperationInspection without Load Trial Run and Tuning ProcedureTrial Run and Tuning ProcedureASDA-AB Series Applying Power to the Drive Emergency stop activated Encoder errorOver voltage Forward limit switch error Reverse limit switch errorUndervoltage OvercurrentJOG Trial Run without Load Trial Run and Tuning ProcedureASDA-AB Series DI8 Speed Trial Run without LoadStep DI1CCW Position Trial Run without Load POS2 POS1 POS0 Ctrg CCW Tuning Procedure Display Tuning ProcedureTuning Flowchart Load Inertia Estimation Flowchart AutoMode PI Tuning Flowchart Trial Run and Tuning ProcedureASDA-AB Series Trial Run and Tuning ProcedureASDA-AB Series Trial Run and Tuning ProcedureASDA-AB Series Position Mode Manual Mode Tuning FlowchartLimit of Load Inertia Estimation Speed ModeGain Adjustment in Manual Mode Relationship between Tuning Modes and ParametersKVP Trial Run and Tuning ProcedureASDA-AB Series This page intentionally left blank Control Modes of Operation Control Modes of OperationExternal Pulse Input Type Communication Addr H Position Control ModeCommand Source of Position Pt Control Mode PTTControl Modes of Operation ASDA-AB Series Command Source of Position Pr Control ModeStructure of Position Control Mode Inhp OFF Curve Filter for Position ControlPulse Inhibit Input Function Inhp Acceleration Time Communication Addr H TaccAccel /Decel S-curve Communication Addr H TdecDeceleration Time Communication Addr H TSLElectronic Gear Ratio Denominator Communication Addr DH Electronic Gear RatioGR1 GR2PF LT Low-pass FilterPflt POS0 OFF POS1 POS2 Ctrg SON Timing Chart of Position Pr Control ModePosition Loop Gain Adjustment Position Feed Forward Gain Communication Addr H KPPProportional Position Loop Gain Communication Addr H PFGControl Modes of OperationASDA-AB Series REF-GND Speed Control ModeCommand Source of Speed Control Mode Structure of Speed Control Mode Curve Filter Smoothing Strategy of Speed Control ModeTacctdec Sflt Analog Speed Command S-curve FilterAnalog Speed Command Low-pass Filter VCM Max. Analog Speed Command / Limit Communication Addr HAnalog Speed Input Scaling SPD1 OFF SON Timing Chart of Speed Control ModeSpeed Loop Gain Adjustment SPD0 OFFAUT2 Tuning Mode Selection Communication Addr HManual Mode KVF KVPKVI Frequency Domain Time Domain Notch Filter Resonance Suppression Communication Addr H Auto Mode Continuous adjustmentResonance Suppression NCFPWM DPHNLP Use Notch Filter to suppress resonance Low-pass filterNotch Filter Use Low-pass Filter to suppress resonance Command Source of Torque Control Mode Torque Control ModeTflt Structure of Torque Control ModeSmoothing Strategy of Torque Control Mode TCM Max. Analog Torque Command / Limit Communication Addr HAnalog Torque Input Scaling TCM1 OFF SON Timing Chart of Torque Control ModeTCM0 OFF Ctrg POS0-2 not Care POS0-2 Valid Speed / Position Control Mode SelectionPt-S Mode / Pr-S Mode Control Modes SelectionMode Speed / Torque Control Mode SelectionTorque / Position Control Mode Selection Pt-T Mode / Pr-T ModeControl Modes of OperationASDA-AB Series Torque Limit Others Speed Limit„ Built-in Regenerative Resistor Regenerative Resistor„ External Regenerative Resistor „ Regenerative Power Calculation Method Without LoadWith Load „ Simple Calculation Method Analog Monitor Output Communication Addr H Analog MonitorMON Analog Monitor Output Proportion 2 CH2 Communication Addr H Pulse Output Polarity Setting Communication Addr HAout Analog Monitor Output Proportion 1 CH1 Communication Addr HDOF2 Brkr OFF Electromagnetic BrakeSON OFF Control Modes of OperationASDA-AB Series Ready Servo on Ready ServoThis page intentionally left blank Abbreviation of control modes Explanation of symbols marked after parameterDefinition Parameter Name Function DefaultParameters Summary Parameters List by Group Group 0 P0-xxGroup 1 P1-xx Control Parameter Name Function Default Unit ModeControl Parameter Name Function Default Unit ModeGroup 2 P2-xx Sdev AUT1AUT2 INFGroup 3 P3-xx Group 4 P4-xx Monitor and General Use Parameters List by FunctionSmooth Filter and Resonance Suppression Gain and Switch PO1H External pulse control command Pt modeInternal pulse control command Pr mode Combination Output Signal Delay 4ms 12.6 Time P2-46 Speed Control Torque Control Digital I/O Communication Control Others ALE Detailed Parameter ListingsVER STS Status Monitor Communication Addr H CM1CM5 CM2CM3 CM4MAP3 MAP0MAP1 MAP2MAP7 MAP4MAP5 MAP6Servo Output Status Display Communication Addr H SvstsGroup 1 P1-xx Basic Parameters CTL Control Mode and Output Direction Communication Addr HPstl Tref Torque Limit P1-121 Command P1-132 P1-143 TCM0 TCM1MON2 MON1SP2 TfltSP1 TQ1 SP3PO1H TQ2TQ3 PO3H PO1LPO2H PO2LPO5H PO3LPO4H PO4LPO7H PO5LPO6H PO6LMSE PO7LPO8H PO8LPoss Position Control Mode Pr Communication Addr HLstp Tacc GDR Sspd ZspdMBT1 Max. Analog Speed Command or Limit Communication Addr HMax. Analog Torque Command or Limit Communication Addr H MBT2 GR2 GR3 Hmov Homing Mode Communication Addr FHHOF2 HSPD1HSPD2 HOF1Mspd RES1RES2 PEROVW Cokt PPR Position Loop Gain Switching Rate Communication Addr HKPP SPR Speed Loop Gain Switching Rate Communication Addr HPFF SFG KVIBounce Filter Communication Addr H PctlDRT DI3 DI1DI2 Digital Input Terminal 2 DI2 Communication Addr BHDI7 DI4DI5 DI6DO3 DO1DO2 Digital Output Terminal 2 DO2 Communication Addr HDigital Output Terminal 5 DO5 Communication Addr H DO4Digital Output Terminal 4 DO4 Communication Addr H DO5GCC NLPDST INH GUTGPE AUT1 Auto Mode Responsiveness Level Communication Addr FHAUT2 Pdev INFSdev POV4 POV1POV2 POV3POV8 POV5POV6 POV7FSN DOMDOD Blas Position Deviation Clear Delay Time Communication Addr FHPED Sjit Dclr ATM2 SronATM0 ATM1ATM7 ATM4ATM5 ATM6GR6 GR5Tsca Tlmod Torque Limit Mixed Mode Communication Addr HBit2 Fast DI contact type Bit0 DI SPD0/SPD1 speed command trigger modeBit1 DI TCM0/TCM1 torque command trigger mode GbitBit10 DI Zclamp function selection Bit6 Abnormal pulse command detectionBit5 Reserved. Must be set to Bit7 ~ Bit9 Reserved. Must be set toTransmission Speed Communication Addr H ADRBRT FLT Transmission Fault Treatment Communication Addr HPTL Communication Protocol Communication Addr HCommunication Selection Communication Addr H CWDCommunication Time Out Detection Communication Addr H CMMCDT SDIDigital Input Communication Function Communication Addr H ASH4 ASH1ASH2 ASH3JOG Operation Communication Addr H JOGPkey FOTItst Input Status or Force Input Control Communication Addr HSOF1 MOTOutput Status Display Communication Addr H CENCOF1 SOF2TOF1 TOF2Tigb COF2COF3 COF4Analog Torque Input Offset Communication Addr H SAOTAO Reserved Communication Addr H Input Function Definition TCM0 TCM1 POS2 OFFSPD0 SPD1 SPD1 OFFMD1 MD0 STF STB STFBrkr Home Output Function DefinitionCmdok Communication Hardware Interface RS-232 „ Configuration „ Cable ConnectionModbus CommunicationsASDA-AB Series RS-485, RS-422 „ ConfigurationModbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Settings Modbus CommunicationsASDA-AB Series DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 Modbus CommunicationsASDA-AB Series „ Data Format „ Code Description Ascii ModeRTU Mode Modbus Communication ProtocolDATA0 LRC „ Communication Protocol Ascii ModeSTX CMDADR Communication Address CMD Command Codes and Data Data CharactersAscii Mode Command message Response message STX Communication StartADR CMD RTU Mode Command message Response messageAscii Mode Command message LRC Ascii Mode End1, End0 Communication End Ascii Mode CRC RTU ModeModbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Write-in and Read-out Modbus CommunicationsASDA-AB Series Basic Inspection Maintenance and Inspection„ Relay MaintenanceLife of Replacement Components „ Smooth capacitor„ Cooling fan This page intentionally left blank Fault Messages Table TroubleshootingDisplay Fault Name Fault Description Fault MessagesPulse shift Servo Drive Fault Messages OvercurrentPotential Cause and Corrective Actions OvervoltageOverspeed Regeneration errorAbnormal pulse control command OverloadForward Ccwl limit switch error Encoder error Position detector faultAdjustment error Reverse CWL limit switch errorSerial communication error Igbt temperature errorMemory error DSP communication errorPre-overload warning Command write-in errorInput power phase loss Internal command execution time outDisplay Fault Name Clearing Method Clearing Faults10-9 This page intentionally left blank 10-10 11.1 Specifications of Servo Drive ASDA-AB Series SpecificationsSpecificationsASDA-AB Series 11-3 Low Inertia Servo Motor Specifications of Servo Motor Ecma SeriesMedium / High Inertia Servo Motor 1kW 5kW 2kW Servo Motor Speed-Torque Curves „ Occasion of Overload Overload Characteristics„ Chart of load and operating time ECMA-C30401 „ Overload Protection Function„ Chart of load and operating time ECMA-C30604 „ Chart of load and operating time ECMA-C30602„ Chart of load and operating time ECMA-C30807 „ Chart of load and operating time ECMA-C30804„ Chart of load and operating time ECMA-C31020 „ Chart of load and operating time ECMA-C31010„ Chart of load and operating time ECMA-E31305 „ Chart of load and operating time ECMA-G31303„ Chart of load and operating time ECMA-G31309 „ Chart of load and operating time ECMA-G31306„ Chart of load and operating time ECMA-E31315 „ Chart of load and operating time ECMA-E31310„ Chart of load and operating time ECMA-E31820 „ Chart of load and operating time ECMA-E31320Weight Dimensions of Servo Drive11-17 SpecificationsASDA-AB Series Order P/N ASD-A2023-AB 2kW Motor Frame Size 80mm and below Models Dimensions of Servo MotorMotor Frame Size 100mm and above Models SpecificationsASDA-AB Series Position Control including homing function Parameters SettingDO1 SR DY DO4 OME DO2 DI1 SON Roller Feeding Connecting to Delta DVP-EH Series PLC JOG- F WD P OS ERO OG+ REV POS ZE ROTOP ZRN CL EARJOG+ RevposJOG+ RST SET RST SETFWD P OS Drvi JOGDrva END RE VposRET Dmov Connecting to Delta TP04 Series 12-10 „ Relevant Parameters Description Position Control Mode Pr ModeDI=TRIG DI=H OLD Hold Timing ChartDI=T RI G DI=CCLR Command Abort Timing ChartFeed Step Control „ Relevant Parameters Description, „ Digital I/O Signal SettingMDP0, MDP1 „ Mode FunctionsINDEX4 INDEX3 INDEX2 INDEX1 INDEX0 Index Number „ Definitions of INDEX0~4 ON=1, OFF=0„ Definitions of do Signals ON=1, OFF=0 „ Timing charts of DI/DO Signals Operation Homing Mode Index 6 0A Feed Step Control ModeManually Single Step Control Mode OFF Do Value Index INDEX4 Manually Continuous Step Control Mode Home Sensor on „ Communication Control Example ExplanationH0FF HomingInternal Auto Running Mode INDEX8 INDEX5INDEX6 INDEX7DO5 DO4 DO3 DO2 DO1 „ Definitions of do Signals ON1, OFF0Alarm Manual Control Mode Auto Running ModeAutor OFF Stepb OFF Manual Control Mode Power on Supply OFFDo Value CI IDX1 CI IDX2 INDEX4 Motor Speed Servo onHoming Function Homing Moving Method Homing Enable Setting„ Recommended Homing Modes Homing Stop Setting„ Homing Timing Charts Timing Charts of Enable Homing Mode Homing Completed Power Servo Ready Home TriggerHoming Timing Charts A = 0/1 or B/A = 0/3 A = 2/2 A = 2/5 External Controller Connection Examples „ Connecting to Delta DVP-EH PLC„ Connecting to Delta DVP-01PU „ Connecting to Mitsubishi FX1PG „ Connecting to Mitsubishi FX2N1PG „ Connecting to Mitsubishi AD75 This page intentionally left blank 12-42 Delta Part Number ASDBCAPW0100 „ Power Connectors Delta Part Number ASDBCAPW0000Jowle Delta Part Number ASD-ABPW0103, ASD-ABPW0105 „ Power Cables Delta Part Number ASD-ABPW0003, ASD-ABPW0005Delta Part Number ASD-CAPW1103, ASD-CAPW1105 „ Power Cables, Delta Part Number ASD-CAPW1003, ASD-CAPW1005Delta Part Number ASD-CAPW1303, ASD-CAPW1305 „ Power Cables, Delta Part Number ASD-CAPW1203, ASD-CAPW1205Delta Part Number ASD-CAPW2303, ASD-CAPW2305 „ Power Cables, Delta Part Number ASD-CAPW2203, ASD-CAPW2205Delta Part Number ASD-CAEN1000 „ Encoder Connectors Delta Part Number ASD-ABEN0000Delta Part Number ASD-CAEN1003, ASD-CAEN1005 ASD-CAEN1005„ Terminal Block Module Delta Part Number ASD-BM-50A „ I/O Signal Connector CN1 Delta Part Number ASD-CNSC0050ASD-ABPW0003 ASD-ABPW0005 ASD-ABPW0103 ASD-ABPW0105 ASD-ABPW0003 ASD-ABPW0005ASD-ABEN0003 ASD-ABEN0005 200W Servo Drive and 200W Low Inertia Servo Motor400W Servo Drive and 300W High Inertia Servo Motor 400W Servo Drive and 500W Medium Inertia Servo MotorASD-CAPW1003 ASD-CAPW1005 ASD-CAPW1103 ASD-CAPW1105 ASD-CAEN1003 ASD-CAEN10051kW Servo Drive and 1kW Medium Inertia Servo Motor 750W Servo Drive and 600W High Inertia Servo Motor1kW Servo Drive and 1kW Low Inertia Servo Motor ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 1kW Servo Drive and 900W High Inertia Servo Motor5kW Servo Drive and 1.5kW Medium Inertia Servo Motor 2kW Servo Drive and 2kW Low Inertia Servo Motor2kW Servo Drive and 2kW Medium Inertia Servo Motor Other AccessoriesThis page intentionally left blank 20TDT1W4D „ AC Servo Drive EMI Filter Cross Reference08TDT1W4S Choose Suitable Motor Cable and Precautions General PrecautionSaddle on both ends Saddle on one end Dimensions