Position Control Mode Pr Mode | Delta Electronics ASDA-AB specs

Chapter 12 Application Examples ASDA-AB Series

12.5 Position Control Mode (Pr Mode)

Relevant Parameters Description

	Parameter	Communication	Parameter Description
	Parameter	Address	Parameter Description
		Address
	P1-01	0101H	Control Mode and Output Direction
			001: Forward torque in Pr mode
			101: Reverse torque in Pr mode

	P1-33	0121H	Position Control Mode (Pr)
			0: Absolute position command
			1: Incremental position command

	P1-34	0122H	Acceleration Time
			1st to 3rd step Acceleration time (When parameter P1-36 is set to 0,
			accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
	P1-35	0123H	Deceleration Time
			1st to 3rd step Deceleration time (When parameter P1-36 is set to 0,
			accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
	P1-36	0124H	Accel /Decel S-curve
			When parameter P1-36 is set to 0, accel / decel function is disabled,
			i.e. P1-34, P1-35 is disabled.

	P1-44	012CH	Electronic Gear Ratio (1st Numerator) (N1)
			If the electronic gear deceleration ratio is 1/75, set numerator to 75

	P1-45	012DH	Electronic Gear Ratio (Denominator)

	P1-47	012FH	Homing Mode
			202: When (MD1, MD0)=(OFF, ON), Forward Homing
			203: When (MD1, MD0)=(OFF, ON), Reverse Homing

	P1-50	0132H	Homing Offset Rotation Number

	P1-51	0133H	Homing Offset Pulse Number
			Total homing offset pulse number =P1-50 x 10000 + P1-51

The following table indicates the position command registers and the corresponding moving speed registers.

Positioning Point	Position Command Register	Moving Speed Register
P1	( P1-15, P1-16 )	P2-36 (V1)

P2	( P1-17, P1-18 )	P2-37 (V2)

P3	( P1-19, P1-20 )	P2-38 (V3)

P4	( P1-21, P1-22 )	P2-39 (V4)

P5	( P1-23, P1-24 )	P2-40 (V5)

P6	( P1-25, P1-26 )	P2-41 (V6)

P7	( P1-27, P1-28 )	P2-42 (V7)

P8	( P1-29, P1-30 )	P2-43 (V8)

Revision January 2009

12-11

Image 308

Delta Electronics ASDA-AB manual Position Control Mode Pr Mode, „ Relevant Parameters Description

Contents

Page „ Who should use this manual Using This Manual „ Contents of this manual„ Important precautions Installation Please Read Prior to Installation for SafetyWarranty 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 Asmt Series Servo Motor Model Explanation Nameplate InformationASDA-AB Series Servo Drive 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 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 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 Emergency stop activated Encoder errorOver voltage 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 Inhp OFF Curve Filter for Position ControlPulse Inhibit Input Function Inhp 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 PF LT Low-pass FilterPflt POS0 OFF POS1 POS2 Ctrg SON Timing Chart of Position Pr Control ModePosition Loop Gain Adjustment KPP Proportional Position Loop Gain Communication Addr HPFG 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 Smoothing Strategy of Speed Control Mode Curve Filter 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 Timing Chart of Speed Control Mode Speed Loop Gain AdjustmentSPD0 OFF SPD1 OFF SON AUT2 Tuning Mode Selection Communication Addr HManual Mode KVF KVPKVI Frequency Domain Time Domain Auto Mode Continuous adjustment Resonance SuppressionNCF 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 Torque Control Mode Command Source of 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 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 Analog Monitor Output Communication Addr H Analog MonitorMON 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 Brkr OFF Electromagnetic BrakeSON OFF Control Modes of OperationASDA-AB Series Ready Servo Ready Servo on This page intentionally left blank Abbreviation of control modes Explanation of symbols marked after parameterDefinition 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 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 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 SP2 TfltSP1 SP3 TQ1 PO1H TQ2TQ3 PO1L PO2HPO2L PO3H PO3L PO4HPO4L PO5H PO5L PO6HPO6L PO7H PO7L PO8HPO8L MSE Poss Position Control Mode Pr Communication Addr HLstp Tacc GDR Zspd Sspd MBT1 Max. Analog Speed Command or Limit Communication Addr HMax. Analog Torque Command or Limit Communication Addr H MBT2 GR2 GR3 Homing Mode Communication Addr FH Hmov HSPD1 HSPD2HOF1 HOF2 RES1 RES2PER Mspd OVW Cokt PPR Position Loop Gain Switching Rate Communication Addr HKPP SPR Speed Loop Gain Switching Rate Communication Addr HPFF KVI SFG Bounce Filter Communication Addr H PctlDRT 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 GCC NLPDST INH GUTGPE Auto Mode Responsiveness Level Communication Addr FH AUT1 AUT2 Pdev INFSdev POV1 POV2POV3 POV4 POV5 POV6POV7 POV8 FSN DOMDOD Blas Position Deviation Clear Delay Time Communication Addr FHPED 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 Transmission Speed Communication Addr H ADRBRT 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 CDT SDIDigital Input Communication Function Communication Addr H 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 Analog Torque Input Offset Communication Addr H SAOTAO 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 ADR CMD RTU Mode Command message Response messageAscii Mode Command message 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+ FWD P OS Drvi JOGDrva END RE VposRET Dmov 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 DO5 DO4 DO3 DO2 DO1 „ Definitions of do Signals ON1, OFF0Alarm 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 „ 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 „ 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 Delta Part Number ASDBCAPW0100 „ Power Connectors Delta Part Number ASDBCAPW0000Jowle „ 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 Medium Inertia Servo Motor 750W Servo Drive and 600W High Inertia Servo Motor1kW Servo Drive and 1kW Low 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 20TDT1W4D „ AC Servo Drive EMI Filter Cross Reference08TDT1W4S General Precaution Choose Suitable Motor Cable and Precautions Saddle on both ends Saddle on one end Dimensions