Frequency Domain | Delta Electronics ASDA-AB manual

Chapter 6 Control Modes of OperationASDA-AB Series

In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic.

Frequency Domain

6-22	Revision January 2009

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Delta Electronics ASDA-AB manual Frequency Domain

Contents

Page „ Who should use this manual Using This Manual „ Contents of this manual„ Important precautions Installation Please Read Prior to Installation for SafetyWarranty Maintenance and Inspection WiringMain Circuit Wiring Main Circuit Terminal Wiring PrefaceASDA-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 Service This page intentionally left blank „ Ensure that the product is what you have ordered Unpacking Check„ Ensure that the servo motor shaft rotates freely „ Check for damage Asmt 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 Motor 220V models Servo Drive Features 110V models Control Modes of Servo Drive Storage Conditions Installation Notes Operating Temperature Installation Conditions Installation Procedure Installation Procedure and Minimum ClearancesDrive Mounting Motor Mounting „ Minimum Clearances „ Side by Side Installation 220V Servo Drive Connections Connecting to Peripheral Devices Connections and WiringASDA-AB Series CN1 Servo Drive Connectors and TerminalsCN2 CN3 Wiring Notes Single-Phase Power Supply 1.5kW and below, 220V models Wiring Methods Single-Phase Power Supply 400W and below, 110V models Motor Power Cable Connector Specifications Case Ground BRAKE1 BRAKE2 Encoder Connector Specifications Power Cable Cable Specifications for Servo DriveGND Braid Sheld Encoder Cable Basic Wiring Schematic of 100W ~ 1.5kW, 220V models Basic Wiring Basic Wiring Schematic of 2kW, 220V models Basic Wiring Schematic of 100W ~ 400W, 110V models 1 CN1 Terminal Identification Input / Output Interface Connector -CN1 VCC CN1 Terminal Signal Identification General Signals Pin No Details Wiring Diagram Refer to Signals Explanation of Connector CN1 Srdy ALL Do SignalsSON Zspd ALL Tpos Tspd ALLTQL Alrm ALL DI Signals TCM1 TCM0Emgs ALL CWL Jogd JoguStepu Stepd Source 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 CN2 PIN 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 Operation Keypad Operation Display Flowchart Abort Setting Display Status Display Save Setting DisplayFault Message Display Polarity Setting Display Monitor 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 Operation Inspection without Load Trial Run and Tuning Procedure Trial Run and Tuning ProcedureASDA-AB Series Applying Power to the Drive Emergency stop activated Encoder errorOver voltage Forward limit switch error Reverse limit switch error Undervoltage Overcurrent JOG Trial Run without Load Trial Run and Tuning ProcedureASDA-AB Series Step Speed Trial Run without LoadDI1 DI8 CCW Position Trial Run without Load POS2 POS1 POS0 Ctrg CCW Tuning Procedure Display Tuning Procedure Tuning 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 Flowchart Limit of Load Inertia Estimation Speed Mode Gain Adjustment in Manual Mode Relationship between Tuning Modes and Parameters KVP Trial Run and Tuning ProcedureASDA-AB Series This page intentionally left blank Control Modes of Operation Control Modes of Operation Command Source of Position Pt Control Mode Position Control ModePTT External Pulse Input Type Communication Addr H Control Modes of Operation ASDA-AB Series Command Source of Position Pr Control Mode Structure of Position Control Mode Inhp OFF Curve Filter for Position ControlPulse Inhibit Input Function Inhp Acceleration Time Communication Addr H Tacc Deceleration Time Communication Addr H TdecTSL Accel /Decel S-curve Communication Addr H GR1 Electronic Gear RatioGR2 Electronic Gear Ratio Denominator Communication Addr DH PF LT Low-pass FilterPflt POS0 OFF POS1 POS2 Ctrg SON Timing Chart of Position Pr Control ModePosition Loop Gain Adjustment Proportional Position Loop Gain Communication Addr H KPPPFG Position Feed Forward Gain Communication Addr H Control 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 Mode Tacctdec Sflt Analog Speed Command S-curve FilterAnalog Speed Command Low-pass Filter VCM Max. Analog Speed Command / Limit Communication Addr HAnalog Speed Input Scaling Speed Loop Gain Adjustment Timing Chart of Speed Control ModeSPD0 OFF SPD1 OFF SON AUT2 Tuning Mode Selection Communication Addr HManual Mode KVF KVPKVI Frequency Domain Time Domain Resonance Suppression Auto Mode Continuous adjustmentNCF Notch Filter Resonance Suppression Communication Addr H PWM 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 Mode Tflt 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 Pt-S Mode / Pr-S Mode Speed / Position Control Mode SelectionControl Modes Selection Ctrg POS0-2 not Care POS0-2 Valid Torque / Position Control Mode Selection Speed / Torque Control Mode SelectionPt-T Mode / Pr-T Mode Mode Control Modes of OperationASDA-AB Series Torque Limit Others Speed Limit „ Built-in Regenerative Resistor Regenerative Resistor „ External Regenerative Resistor „ Regenerative Power Calculation Method Without Load With Load „ Simple Calculation Method Analog Monitor Output Communication Addr H Analog MonitorMON Aout Pulse Output Polarity Setting Communication Addr HAnalog Monitor Output Proportion 1 CH1 Communication Addr H Analog Monitor Output Proportion 2 CH2 Communication Addr H DOF2 Brkr OFF Electromagnetic BrakeSON OFF Control Modes of OperationASDA-AB Series Ready Servo on Ready Servo This page intentionally left blank Abbreviation of control modes Explanation of symbols marked after parameterDefinition Parameters Summary Parameters List by Group DefaultGroup 0 P0-xx Parameter Name Function Group 1 P1-xx Control Parameter Name Function Default Unit Mode Control Parameter Name Function Default Unit Mode Group 2 P2-xx AUT2 AUT1INF Sdev Group 3 P3-xx Group 4 P4-xx Monitor and General Use Parameters List by Function Smooth 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 CM1 CM3 CM2CM4 CM5 MAP1 MAP0MAP2 MAP3 MAP5 MAP4MAP6 MAP7 Servo Output Status Display Communication Addr H Svsts Group 1 P1-xx Basic Parameters CTL Control Mode and Output Direction Communication Addr H Pstl Tref Torque Limit P1-121 Command P1-132 P1-143 TCM0 TCM1 MON2 MON1 SP2 TfltSP1 TQ1 SP3 PO1H TQ2TQ3 PO2H PO1LPO2L PO3H PO4H PO3LPO4L PO5H PO6H PO5LPO6L PO7H PO8H PO7LPO8L MSE Poss Position Control Mode Pr Communication Addr HLstp Tacc GDR Sspd Zspd MBT1 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 FH HSPD2 HSPD1HOF1 HOF2 RES2 RES1PER Mspd OVW Cokt PPR Position Loop Gain Switching Rate Communication Addr HKPP SPR Speed Loop Gain Switching Rate Communication Addr HPFF SFG KVI Bounce Filter Communication Addr H PctlDRT DI2 DI1Digital Input Terminal 2 DI2 Communication Addr BH DI3 DI5 DI4DI6 DI7 DO2 DO1Digital Output Terminal 2 DO2 Communication Addr H DO3 Digital Output Terminal 4 DO4 Communication Addr H DO4DO5 Digital Output Terminal 5 DO5 Communication Addr H GCC NLPDST INH GUTGPE AUT1 Auto Mode Responsiveness Level Communication Addr FH AUT2 Pdev INFSdev POV2 POV1POV3 POV4 POV6 POV5POV7 POV8 FSN DOMDOD Blas Position Deviation Clear Delay Time Communication Addr FHPED Sjit Dclr ATM0 SronATM1 ATM2 ATM5 ATM4ATM6 ATM7 GR6 GR5 Tsca Tlmod Torque Limit Mixed Mode Communication Addr H Bit1 DI TCM0/TCM1 torque command trigger mode Bit0 DI SPD0/SPD1 speed command trigger modeGbit Bit2 Fast DI contact type Bit5 Reserved. Must be set to Bit6 Abnormal pulse command detectionBit7 ~ Bit9 Reserved. Must be set to Bit10 DI Zclamp function selection Transmission Speed Communication Addr H ADRBRT PTL Transmission Fault Treatment Communication Addr HCommunication Protocol Communication Addr H FLT Communication Time Out Detection Communication Addr H CWDCMM Communication Selection Communication Addr H CDT SDIDigital Input Communication Function Communication Addr H ASH2 ASH1ASH3 ASH4 JOG Operation Communication Addr H JOG Itst FOTInput Status or Force Input Control Communication Addr H Pkey Output Status Display Communication Addr H MOTCEN SOF1 TOF1 SOF2TOF2 COF1 COF3 COF2COF4 Tigb Analog Torque Input Offset Communication Addr H SAOTAO Reserved Communication Addr H Input Function Definition SPD0 SPD1 POS2 OFFSPD1 OFF TCM0 TCM1 MD1 MD0 STF STB STF Brkr Home Output Function Definition Cmdok Communication Hardware Interface RS-232 „ Configuration „ Cable Connection Modbus CommunicationsASDA-AB Series RS-485, RS-422 „ Configuration Modbus 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 RTU Mode „ Code Description Ascii ModeModbus Communication Protocol „ Data Format STX „ Communication Protocol Ascii ModeCMD DATA0 LRC Ascii Mode Command message Response message CMD Command Codes and Data Data CharactersSTX Communication Start ADR Communication Address ADR CMD RTU Mode Command message Response messageAscii Mode Command message LRC Ascii Mode End1, End0 Communication End Ascii Mode CRC RTU Mode Modbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Write-in and Read-out Modbus CommunicationsASDA-AB Series Basic Inspection Maintenance and Inspection Life of Replacement Components Maintenance„ Smooth capacitor „ Relay „ Cooling fan This page intentionally left blank Fault Messages Table Troubleshooting Display Fault Name Fault Description Fault Messages Potential Cause and Corrective Actions Servo Drive Fault Messages OvercurrentOvervoltage Pulse shift Abnormal pulse control command Regeneration errorOverload Overspeed Adjustment error Encoder error Position detector faultReverse CWL limit switch error Forward Ccwl limit switch error Memory error Igbt temperature errorDSP communication error Serial communication error Input power phase loss Command write-in errorInternal command execution time out Pre-overload warning Display Fault Name Clearing Method Clearing Faults 10-9 This page intentionally left blank 10-10 11.1 Specifications of Servo Drive ASDA-AB Series Specifications SpecificationsASDA-AB Series 11-3 Low Inertia Servo Motor Specifications of Servo Motor Ecma Series Medium / High Inertia Servo Motor 1kW 5kW 2kW Servo Motor Speed-Torque Curves „ Chart of load and operating time ECMA-C30401 Overload Characteristics„ Overload Protection Function „ Occasion of Overload „ 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-E31320 Weight Dimensions of Servo Drive 11-17 SpecificationsASDA-AB Series Order P/N ASD-A2023-AB 2kW Motor Frame Size 80mm and below Models Dimensions of Servo Motor Motor Frame Size 100mm and above Models SpecificationsASDA-AB Series Position Control including homing function Parameters Setting DO1 SR DY DO4 OME DO2 DI1 SON Roller Feeding Connecting to Delta DVP-EH Series PLC TOP ZE ROZRN CL EAR JOG- F WD P OS ERO OG+ REV POS JOG+ RST SET RevposRST SET JOG+ FWD P OS Drvi JOGDrva END RE VposRET Dmov Connecting to Delta TP04 Series 12-10 „ Relevant Parameters Description Position Control Mode Pr Mode DI=TRIG DI=H OLD Hold Timing Chart DI=T RI G DI=CCLR Command Abort Timing Chart Feed Step Control „ Relevant Parameters Description, „ Digital I/O Signal Setting MDP0, MDP1 „ Mode Functions INDEX4 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 Mode Manually Single Step Control Mode OFF Do Value Index INDEX4 Manually Continuous Step Control Mode H0FF „ Communication Control Example ExplanationHoming Home Sensor on Internal Auto Running Mode INDEX6 INDEX5INDEX7 INDEX8 DO5 DO4 DO3 DO2 DO1 „ Definitions of do Signals ON1, OFF0Alarm Manual Control Mode Auto Running Mode Do Value CI IDX1 CI IDX2 INDEX4 Manual Control Mode Power on Supply OFFMotor Speed Servo on Autor OFF Stepb OFF Homing 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-ABPW0005 Delta Part Number ASD-CAPW1103, ASD-CAPW1105 „ Power Cables, Delta Part Number ASD-CAPW1003, ASD-CAPW1005 Delta Part Number ASD-CAPW1303, ASD-CAPW1305 „ Power Cables, Delta Part Number ASD-CAPW1203, ASD-CAPW1205 Delta Part Number ASD-CAPW2303, ASD-CAPW2305 „ Power Cables, Delta Part Number ASD-CAPW2203, ASD-CAPW2205 Delta Part Number ASD-CAEN1000 „ Encoder Connectors Delta Part Number ASD-ABEN0000 Delta 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-CNSC0050 ASD-ABEN0003 ASD-ABEN0005 ASD-ABPW0003 ASD-ABPW0005200W Servo Drive and 200W Low Inertia Servo Motor ASD-ABPW0003 ASD-ABPW0005 ASD-ABPW0103 ASD-ABPW0105 ASD-CAPW1003 ASD-CAPW1005 ASD-CAPW1103 ASD-CAPW1105 400W Servo Drive and 500W Medium Inertia Servo MotorASD-CAEN1003 ASD-CAEN1005 400W Servo Drive and 300W High Inertia Servo Motor 1kW 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 5kW Servo Drive and 1.5kW Medium Inertia Servo Motor 1kW Servo Drive and 900W High Inertia Servo Motor2kW Servo Drive and 2kW Low Inertia Servo Motor ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 2kW Servo Drive and 2kW Medium Inertia Servo Motor Other Accessories This page intentionally left blank 20TDT1W4D „ AC Servo Drive EMI Filter Cross Reference08TDT1W4S Choose Suitable Motor Cable and Precautions General Precaution Saddle on both ends Saddle on one end Dimensions