Gain and Switch | Delta Electronics ASDA-AB manual

Chapter 7 Servo ParametersASDA-AB Series

Gain and Switch

Control

Related

Parameter

Name

Function

Default

Unit

Mode

Section of

User

Pt

Pr

S

T

Manual

P2-00

KPP

Proportional Position Loop Gain

35

rad/s

{

{

6.2.8

P2-01

PPR

Position Loop Gain Switching Rate

100

%

{

{

---

P2-02

PFG

Position Feed Forward Gain

5000

0.0001

{

{

6.2.8

P2-03

PFF

Smooth Constant of Position Feed

5

ms

{

{

---

Forward Gain

P2-04

KVP

Proportional Speed Loop Gain

500

rad/s

{

{

{

{

6.3.6

P2-05

SPR

Speed Loop Gain Switching Rate

100

%

{

{

{

{

---

P2-06

KVI

Speed Integral Compensation

100

N/A

{

{

{

{

6.3.6

P2-07

SFG

Speed Feed Forward Gain

0

0.0001

{

{

{

6.3.6

P2-26

DST

External Anti-Interference Gain

0

0.001

{

{

{

{

---

P2-27

GCC

Gain Switching Control Selection

0

N/A

{

{

{

{

---

P2-28

GUT

Gain Switching Time Constant

10

10ms

{

{

{

{

---

pulse

P2-29

GPE

Gain Switching Condition

10000

Kpps

{

{

{

{

---

r/min

P2-31■

AUT1

Auto Mode Responsiveness Level

44

N/A

{

{

{

{

6.3.6

P2-32▲

AUT2

Tuning Mode Selection

0

N/A

{

{

{

{

6.3.6

Explanation of symbols (marked after parameter)

(★)	Read-only register.
(▲)	Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)	Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)	Parameter setting values are not retained when power is off.

Revision January 2009

7-11

Image 160

Delta Electronics ASDA-AB manual Gain and Switch

Contents

Page „ Important precautions Using This Manual „ Contents of this manual„ Who should use this manual Warranty Please Read Prior to Installation for SafetyInstallation Wiring Maintenance and InspectionMain 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 Technical Support and Service About this Manual… User Information This page intentionally left blank Unpacking Check „ Ensure that the product is what you have ordered„ Ensure that the servo motor shaft rotates freely „ Check for damage ASDA-AB Series Servo Drive Model Explanation Nameplate InformationAsmt Series Servo Motor Model Name Explanation Ecma Series Servo Motor Power Servo Drive Servo Motor Servo Drive and Servo Motor Combinations Servo Drive Features 220V models 110V models Control Modes of Servo Drive Installation Notes Storage Conditions Installation Conditions Operating Temperature Installation Procedure and Minimum Clearances Installation ProcedureDrive Mounting Motor Mounting „ Minimum Clearances „ Side by Side Installation Connections Connecting to Peripheral Devices 220V Servo Drive Connections and WiringASDA-AB Series Servo Drive Connectors and Terminals CN1CN2 CN3 Wiring Notes Wiring Methods Single-Phase Power Supply 1.5kW and below, 220V models Single-Phase Power Supply 400W and below, 110V models Motor Power Cable Connector Specifications Encoder Connector Specifications Case Ground BRAKE1 BRAKE2 Cable Specifications for Servo Drive Power CableGND Braid Sheld Encoder Cable Basic Wiring Basic Wiring Schematic of 100W ~ 1.5kW, 220V models Basic Wiring Schematic of 2kW, 220V models Basic Wiring Schematic of 100W ~ 400W, 110V models Input / Output Interface Connector -CN1 1 CN1 Terminal Identification CN1 Terminal Signal Identification VCC Signals Explanation of Connector CN1 General Signals Pin No Details Wiring Diagram Refer to Do Signals Srdy ALLSON Zspd ALL Tspd ALL TposTQL Alrm ALL DI Signals TCM0 TCM1Emgs ALL CWL Jogu JogdStepu Stepd Source of Speed Command Source of Position CommandSource of Torque Command Default DI signals and Control modes Reference Home Sensor Reverse operation Default do signals and Control modes Wiring Diagrams of I/O Signals CN1 User-defined DI and do signalsUser-defined DI and do signals Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series Encoder Connector CN2 CN2 Terminal Signal Identification 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 Display and Operation Description of the Digital Keypad Display Flowchart Keypad Operation Status Display Save Setting Display Abort 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 DI Diagnosis Operation Do Diagnosis Operation Trial Run and Tuning Procedure Inspection without Load Trial Run and Tuning ProcedureASDA-AB Series Applying Power to the Drive Over voltage Encoder errorEmergency stop activated Reverse limit switch error Forward limit switch error Overcurrent Undervoltage JOG Trial Run without Load Trial Run and Tuning ProcedureASDA-AB Series Speed Trial Run without Load StepDI1 DI8 CCW Position Trial Run without Load POS2 POS1 POS0 Ctrg CCW Tuning Procedure Tuning Procedure Display 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 Manual Mode Tuning Flowchart Position Mode Speed Mode Limit of Load Inertia Estimation Relationship between Tuning Modes and Parameters Gain Adjustment in Manual Mode KVP Trial Run and Tuning ProcedureASDA-AB Series This page intentionally left blank Control Modes of Operation Control Modes of Operation Position Control Mode Command Source of Position Pt Control ModePTT External Pulse Input Type Communication Addr H Command Source of Position Pr Control Mode Control Modes of Operation ASDA-AB Series Structure of Position Control Mode Pulse Inhibit Input Function Inhp Curve Filter for Position ControlInhp OFF Tacc Acceleration Time Communication Addr H Tdec Deceleration Time Communication Addr HTSL Accel /Decel S-curve Communication Addr H Electronic Gear Ratio GR1GR2 Electronic Gear Ratio Denominator Communication Addr DH Pflt Low-pass FilterPF LT Position Loop Gain Adjustment Timing Chart of Position Pr Control ModePOS0 OFF POS1 POS2 Ctrg SON KPP Proportional Position Loop Gain Communication Addr HPFG Position Feed Forward Gain Communication Addr H Control Modes of OperationASDA-AB Series Command Source of Speed Control Mode Speed Control ModeREF-GND Structure of Speed Control Mode Smoothing Strategy of Speed Control Mode Curve Filter Tacctdec Analog Speed Command Low-pass Filter Analog Speed Command S-curve FilterSflt Analog Speed Input Scaling Max. Analog Speed Command / Limit Communication Addr HVCM Timing Chart of Speed Control Mode Speed Loop Gain AdjustmentSPD0 OFF SPD1 OFF SON Manual Mode Tuning Mode Selection Communication Addr HAUT2 KVI KVPKVF Frequency Domain Time Domain Auto Mode Continuous adjustment Resonance SuppressionNCF Notch Filter Resonance Suppression Communication Addr H NLP DPHPWM Notch Filter Low-pass filterUse Notch Filter to suppress resonance Use Low-pass Filter to suppress resonance Torque Control Mode Command Source of Torque Control Mode Smoothing Strategy of Torque Control Mode Structure of Torque Control ModeTflt Analog Torque Input Scaling Max. Analog Torque Command / Limit Communication Addr HTCM TCM0 OFF Timing Chart of Torque Control ModeTCM1 OFF SON Speed / Position Control Mode Selection Pt-S Mode / Pr-S ModeControl Modes Selection Ctrg POS0-2 not Care POS0-2 Valid Speed / Torque Control Mode Selection Torque / Position Control Mode SelectionPt-T Mode / Pr-T Mode Mode Control Modes of OperationASDA-AB Series Others Speed Limit Torque Limit Regenerative Resistor „ Built-in Regenerative Resistor „ Regenerative Power Calculation Method Without Load „ External Regenerative Resistor With Load „ Simple Calculation Method MON Analog MonitorAnalog Monitor Output Communication Addr H Pulse Output Polarity Setting Communication Addr H AoutAnalog Monitor Output Proportion 1 CH1 Communication Addr H Analog Monitor Output Proportion 2 CH2 Communication Addr H DOF2 SON OFF Electromagnetic BrakeBrkr OFF Control Modes of OperationASDA-AB Series Ready Servo Ready Servo on This page intentionally left blank Definition Explanation of symbols marked after parameterAbbreviation of control modes Default Parameters Summary Parameters List by GroupGroup 0 P0-xx Parameter Name Function Control Parameter Name Function Default Unit Mode Group 1 P1-xx Parameter Name Function Default Unit Mode Control Group 2 P2-xx AUT1 AUT2INF Sdev Group 3 P3-xx Group 4 P4-xx Parameters List by Function Monitor and General Use Smooth Filter and Resonance Suppression Gain and Switch Internal pulse control command Pr mode External pulse control command Pt modePO1H Combination Output Signal Delay 4ms 12.6 Time P2-46 Speed Control Torque Control Digital I/O Communication Control Others VER Detailed Parameter ListingsALE STS CM1 Status Monitor Communication Addr H CM2 CM3CM4 CM5 MAP0 MAP1MAP2 MAP3 MAP4 MAP5MAP6 MAP7 Svsts Servo Output Status Display Communication Addr H Group 1 P1-xx Basic Parameters Control Mode and Output Direction Communication Addr H CTL Tref Torque Limit P1-121 Command P1-132 P1-143 TCM0 TCM1 Pstl MON1 MON2 SP1 TfltSP2 SP3 TQ1 TQ3 TQ2PO1H PO1L PO2HPO2L PO3H PO3L PO4HPO4L PO5H PO5L PO6HPO6L PO7H PO7L PO8HPO8L MSE Lstp Position Control Mode Pr Communication Addr HPoss Tacc GDR Zspd Sspd Max. Analog Torque Command or Limit Communication Addr H Max. Analog Speed Command or Limit Communication Addr HMBT1 MBT2 GR2 GR3 Homing Mode Communication Addr FH Hmov HSPD1 HSPD2HOF1 HOF2 RES1 RES2PER Mspd OVW Cokt KPP Position Loop Gain Switching Rate Communication Addr HPPR PFF Speed Loop Gain Switching Rate Communication Addr HSPR KVI SFG DRT PctlBounce Filter Communication Addr H DI1 DI2Digital Input Terminal 2 DI2 Communication Addr BH DI3 DI4 DI5DI6 DI7 DO1 DO2Digital Output Terminal 2 DO2 Communication Addr H DO3 DO4 Digital Output Terminal 4 DO4 Communication Addr HDO5 Digital Output Terminal 5 DO5 Communication Addr H DST NLPGCC GPE GUTINH Auto Mode Responsiveness Level Communication Addr FH AUT1 AUT2 Sdev INFPdev POV1 POV2POV3 POV4 POV5 POV6POV7 POV8 DOD DOMFSN PED Position Deviation Clear Delay Time Communication Addr FHBlas Sjit Dclr Sron ATM0ATM1 ATM2 ATM4 ATM5ATM6 ATM7 GR5 GR6 Tsca Torque Limit Mixed Mode Communication Addr H Tlmod Bit0 DI SPD0/SPD1 speed command trigger mode Bit1 DI TCM0/TCM1 torque command trigger modeGbit Bit2 Fast DI contact type Bit6 Abnormal pulse command detection Bit5 Reserved. Must be set toBit7 ~ Bit9 Reserved. Must be set to Bit10 DI Zclamp function selection BRT ADRTransmission Speed Communication Addr H Transmission Fault Treatment Communication Addr H PTLCommunication Protocol Communication Addr H FLT CWD Communication Time Out Detection Communication Addr HCMM Communication Selection Communication Addr H Digital Input Communication Function Communication Addr H SDICDT ASH1 ASH2ASH3 ASH4 JOG JOG Operation Communication Addr H FOT ItstInput Status or Force Input Control Communication Addr H Pkey MOT Output Status Display Communication Addr HCEN SOF1 SOF2 TOF1TOF2 COF1 COF2 COF3COF4 Tigb TAO SAOAnalog Torque Input Offset Communication Addr H Reserved Communication Addr H Input Function Definition POS2 OFF SPD0 SPD1SPD1 OFF TCM0 TCM1 MD1 MD0 STF STF STB Output Function Definition Brkr Home Cmdok RS-232 „ Configuration „ Cable Connection Communication Hardware Interface RS-485, RS-422 „ Configuration Modbus CommunicationsASDA-AB Series 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 „ Code Description Ascii Mode RTU ModeModbus Communication Protocol „ Data Format „ Communication Protocol Ascii Mode STXCMD DATA0 LRC CMD Command Codes and Data Data Characters Ascii Mode Command message Response messageSTX Communication Start ADR Communication Address Ascii Mode Command message RTU Mode Command message Response messageADR CMD LRC Ascii Mode CRC RTU Mode End1, End0 Communication End Ascii Mode Modbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Write-in and Read-out Modbus CommunicationsASDA-AB Series Maintenance and Inspection Basic Inspection Maintenance Life of Replacement Components„ Smooth capacitor „ Relay „ Cooling fan This page intentionally left blank Troubleshooting Fault Messages Table Fault Messages Display Fault Name Fault Description Servo Drive Fault Messages Overcurrent Potential Cause and Corrective ActionsOvervoltage Pulse shift Regeneration error Abnormal pulse control commandOverload Overspeed Encoder error Position detector fault Adjustment errorReverse CWL limit switch error Forward Ccwl limit switch error Igbt temperature error Memory errorDSP communication error Serial communication error Command write-in error Input power phase lossInternal command execution time out Pre-overload warning Clearing Faults Display Fault Name Clearing Method 10-9 This page intentionally left blank 10-10 Specifications 11.1 Specifications of Servo Drive ASDA-AB Series SpecificationsASDA-AB Series 11-3 Specifications of Servo Motor Ecma Series Low Inertia Servo Motor Medium / High Inertia Servo Motor 1kW 5kW 2kW Servo Motor Speed-Torque Curves Overload Characteristics „ Chart of load and operating time ECMA-C30401„ Overload Protection Function „ Occasion of Overload „ Chart of load and operating time ECMA-C30602 „ Chart of load and operating time ECMA-C30604 „ Chart of load and operating time ECMA-C30804 „ Chart of load and operating time ECMA-C30807 „ Chart of load and operating time ECMA-C31010 „ Chart of load and operating time ECMA-C31020 „ Chart of load and operating time ECMA-G31303 „ Chart of load and operating time ECMA-E31305 „ Chart of load and operating time ECMA-G31306 „ Chart of load and operating time ECMA-G31309 „ Chart of load and operating time ECMA-E31310 „ Chart of load and operating time ECMA-E31315 „ Chart of load and operating time ECMA-E31320 „ Chart of load and operating time ECMA-E31820 Dimensions of Servo Drive Weight 11-17 SpecificationsASDA-AB Series Order P/N ASD-A2023-AB 2kW Dimensions of Servo Motor Motor Frame Size 80mm and below Models Motor Frame Size 100mm and above Models SpecificationsASDA-AB Series Parameters Setting Position Control including homing function DO1 SR DY DO4 OME DO2 DI1 SON Roller Feeding Connecting to Delta DVP-EH Series PLC ZE RO TOPZRN CL EAR JOG- F WD P OS ERO OG+ REV POS Revpos JOG+ RST SETRST SET JOG+ Drva Drvi JOGFWD P OS RET Dmov RE VposEND Connecting to Delta TP04 Series 12-10 Position Control Mode Pr Mode „ Relevant Parameters Description Hold Timing Chart DI=TRIG DI=H OLD Command Abort Timing Chart DI=T RI G DI=CCLR Feed Step Control „ Digital I/O Signal Setting „ Relevant Parameters Description, „ Mode Functions MDP0, MDP1 „ Definitions of INDEX0~4 ON=1, OFF=0 INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 Index Number „ Definitions of do Signals ON=1, OFF=0 „ Timing charts of DI/DO Signals Operation Homing Mode Feed Step Control Mode Index 6 0A Manually Single Step Control Mode OFF Do Value Index INDEX4 Manually Continuous Step Control Mode „ Communication Control Example Explanation H0FFHoming Home Sensor on Internal Auto Running Mode INDEX5 INDEX6INDEX7 INDEX8 Alarm „ Definitions of do Signals ON1, OFF0DO5 DO4 DO3 DO2 DO1 Auto Running Mode Manual Control Mode Manual Control Mode Power on Supply OFF Do Value CI IDX1 CI IDX2 INDEX4Motor Speed Servo on Autor OFF Stepb OFF Homing Function Homing Enable Setting Homing Moving Method „ Homing Timing Charts Timing Charts of Enable Homing Mode Homing Stop Setting„ Recommended Homing Modes Homing Timing Charts Power Servo Ready Home TriggerHoming Completed A = 0/1 or B/A = 0/3 A = 2/2 A = 2/5 „ Connecting to Delta DVP-EH PLC External Controller Connection Examples „ Connecting to Delta DVP-01PU „ Connecting to Mitsubishi FX1PG „ Connecting to Mitsubishi FX2N1PG „ Connecting to Mitsubishi AD75 This page intentionally left blank 12-42 Jowle „ Power Connectors Delta Part Number ASDBCAPW0000Delta Part Number ASDBCAPW0100 „ Power Cables Delta Part Number ASD-ABPW0003, ASD-ABPW0005 Delta Part Number ASD-ABPW0103, ASD-ABPW0105 „ Power Cables, Delta Part Number ASD-CAPW1003, ASD-CAPW1005 Delta Part Number ASD-CAPW1103, ASD-CAPW1105 „ Power Cables, Delta Part Number ASD-CAPW1203, ASD-CAPW1205 Delta Part Number ASD-CAPW1303, ASD-CAPW1305 „ Power Cables, Delta Part Number ASD-CAPW2203, ASD-CAPW2205 Delta Part Number ASD-CAPW2303, ASD-CAPW2305 „ Encoder Connectors Delta Part Number ASD-ABEN0000 Delta Part Number ASD-CAEN1000 ASD-CAEN1005 Delta Part Number ASD-CAEN1003, ASD-CAEN1005 „ I/O Signal Connector CN1 Delta Part Number ASD-CNSC0050 „ Terminal Block Module Delta Part Number ASD-BM-50A ASD-ABPW0003 ASD-ABPW0005 ASD-ABEN0003 ASD-ABEN0005200W Servo Drive and 200W Low Inertia Servo Motor ASD-ABPW0003 ASD-ABPW0005 ASD-ABPW0103 ASD-ABPW0105 400W Servo Drive and 500W Medium Inertia Servo Motor ASD-CAPW1003 ASD-CAPW1005 ASD-CAPW1103 ASD-CAPW1105ASD-CAEN1003 ASD-CAEN1005 400W Servo Drive and 300W High Inertia Servo Motor 1kW Servo Drive and 1kW Low Inertia Servo Motor 750W Servo Drive and 600W High Inertia Servo Motor1kW Servo Drive and 1kW Medium Inertia Servo Motor 1kW Servo Drive and 900W High Inertia Servo Motor 5kW Servo Drive and 1.5kW Medium Inertia Servo Motor2kW Servo Drive and 2kW Low Inertia Servo Motor ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 Other Accessories 2kW Servo Drive and 2kW Medium Inertia Servo Motor This page intentionally left blank 08TDT1W4S „ AC Servo Drive EMI Filter Cross Reference20TDT1W4D General Precaution Choose Suitable Motor Cable and Precautions Saddle on both ends Saddle on one end Dimensions