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ASDA-AB
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Chapter 5 Trial Run and Tuning Procedure
|
ASDA-AB Series
5-8
Revision January 2009
Contents
Main
Preface
Contents of this manual
Who should use this manual
Important precautions
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Table of Contents
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Chapter 1 Unpacking Check and Model Explanation
1.1 Unpacking Check
Ensure that the product is what you have ordered.
Ensure that the servo motor shaft rotates freely.
Check for damage.
1.2 Model Explanation 1.2.1 Nameplate Information
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1.3 Servo Drive and Servo Motor Combinations
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1.5 Control Modes of Servo Drive
Chapter 2 Installation and Storage
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2.4 Installation Procedure and Minimum Clearances
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Chapter 3 Connections and Wiring
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3.1.2 Servo Drive Connectors and Terminals
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3.1.3 Wiring Methods
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3.1.4 Motor Power Cable Connector Specifications
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3.1.6 Cable Specifications for Servo Drive
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3.2 Basic Wiring
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Chapter 3 Connections and Wiring|ASDA-AB Series
CN1 Terminal Signal Identification
NOTE
3.3.2 Signals Explanation of Connector CN1
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C5/C6/C7/C8
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3.3.3 User-defined DI and DO signals
3.3.4 Wiring Diagrams of I/O Signals (CN1)
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3.4 Encoder Connector CN2
3.5 Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification
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3.6.2 Position (Pt) Control Mode (110V models)
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3.6.6 Speed Control Mode (110V models)
3.6.7 Torque Control Mode (220V models)
3.6.8 Torque Control Mode (110V models)
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Chapter 4 Display and Operation
4.1 Description of the Digital Keypad
4.2 Display Flowchart
4.3 Status Display 4.3.1 Save Setting Display
4.3.2 Abort Setting Display
4.3.3 Fault Message Display
4.3.4 Polarity Setting Display
4.3.5 Monitor Setting Display
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4.4.2 JOG Operation
4.4.3 Position Learning Operation
4.4.4 DO Force Output Diagnosis Operation
4.4.5 DI Diagnosis Operation
4.4.6 DO Diagnosis Operation
Chapter 5 Trial Run and Tuning Procedure
5.1 Inspection without Load
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5.2 Applying Power to the Drive
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5.3 JOG Trial Run without Load
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5.4 Speed Trial Run without Load
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5.5 Position Trial Run without Load
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5.6 Tuning Procedure
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5.6.3 AutoMode (PI) Tuning Flowchart
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5.6.4 AutoMode (PDFF) Tuning Flowchart
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5.6.7 Relationship between Tuning Modes and Parameters
5.6.8 Gain Adjustment in Manual Mode
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Chapter 6 Control Modes of Operation
6.1 Control Modes of Operation
6.2 Position Control Mode
6.2.1 Command Source of Position (Pt) Control Mode
6.2.2 Command Source of Position (Pr) Control Mode
6.2.3 Structure of Position Control Mode
Pulse command
INHP ON OFF ON
6.2.4 P-curve Filter for Position Control
TSL/2 TACC T SL/2 TSL/2 TACC TSL/2
TSL/2 TDEC TSL/2 TSL/2 TDEC TSL/2
TACC TDEC
1/2TSL 1/2TSL
6.2.5 Electronic Gear Ratio
f1 f2 = f1 xN
N
Pulse input Position command
6.2.6 Low-pass Filter
6.2.7 Timing Chart of Position (Pr) Control Mode
6.2.8 Position Loop Gain Adjustment
fp< fv
4
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6.3 Speed Control Mode
6.3.1 Command Source of Speed Control Mode
6.3.2 Structure of Speed Control Mode
6.3.3 Smoothing Strategy of Speed Control Mode
TACC TDEC
1/2TSL 1/2TSL
SFLT
6.3.4 Analog Speed Input Scaling
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W J
6.3.7 Resonance Suppression
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0dB BW
Gain
Frequency
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6.4 Torque Control Mode
6.4.1 Command Source of Torque Control Mode
6.4.2 Structure of Torque Control Mode
6.4.3 Smoothing Strategy of Torque Control Mode
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6.4.5 Timing Chart of Torque Control Mode
6.5 Control Modes Selection
6.5.1 Speed / Position Control Mode Selection
6.5.2 Speed / Torque Control Mode Selection
6.5.3 Torque / Position Control Mode Selection
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6.6 Others 6.6.1 Speed Limit
6.6.2 Torque Limit
6.6.3 Regenerative Resistor
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6.6.4 Analog Monitor
: CH1 B: CH2
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8V DOF -8V
6.6.5 Electromagnetic Brake
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Chapter 6 Control Modes of Operation|ASDA-AB Series
The timing charts of control circuit power and main circuit power:
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Chapter 7 Servo Parameters
7.1 Definition
7.2 Parameters Summary 7.2.1 Parameters List by Group
Monitor Parameters
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Basic Parameters
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Extension Parameters
Communication Parameters
Diagnosis Parameters
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Position Control
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Digital I/O and relative input output setting Digital I/O
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Diagnosis
Control
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7.3 Detailed Parameter Listings
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not used
A
: CH1 B: CH2
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not used
A B C
P1-12(1) P1-13(2) P1-14(3)
Tref TCM0 TCM1
(0) Torq ue Li mi t Command
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f1 f2 = f1 xN
N
Pulse input Position command
A B
D
Z pulse HSP2
HSP1
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not used
A B
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not used
A B
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not used
A
B
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not used
A
B
A=0 A=9
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A B
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Chapter 8 MODBUS Communications
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8.2 Communication Parameter Settings
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8.3 MODBUS Communication Protocol
Code Description:
Data Format:
Odd parity
Start bit 0123456 Stop bit 7-data bits 10-bits character frame
Communication Protocol:
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8.4 Communication Parameter Write-in and Read-out
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Chapter 9 Maintenance and Inspection
9.1 Basic Inspection
9.3 Life of Replacement Components
Relay
Cooling fan
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Chapter 10 Troubleshooting
10.1 Fault Messages Table
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10.2 Potential Cause and Corrective Actions
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10.3 Clearing Faults
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Chapter 11 Specifications
11.1 Specifications of Servo Drive (ASDA-AB Series)
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11.2 Specifications of Servo Motor (ECMA Series)
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11.4 Overload Characteristics Overload Protection Function
Chart of load and operating time (ECMA-C30401)
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)
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NOTE
11.6 Dimensions of Servo Motor
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Chapter 12 Application Examples
12.1 Position Control (including homing function)
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12.2 Roller Feeding
12.3 Connecting to Delta DVP-EH Series PLC
Chapter 12 Application Examples |ASDA-AB Series
Chapter 12 Application Examples|ASDA-AB Series
12-6 Revision January 2009
Chapter 12 Application Examples |ASDA-AB Series
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12.5 Position Control Mode (Pr Mode) Relevant Parameters Description
Chapter 12 Application Examples|ASDA-AB Series
12-12 Revision January 2009
Trigger Timing Charts
(1) Timing Chart of Internal Position Register Selection
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12.6 Feed Step Control
Relevant Parameters Description
Relevant Parameters Description, cont.
Digital I/O Signal Setting
Mode Functions
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Definitions of DO Signals (ON=1, OFF=0)
Timing charts of DI/DO Signals Operation
T min.
AB
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Communication Control Example Explanation
12.7 Internal Auto Running Mode Relevant Parameters Description
Digital I/O Signal Setting
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12.8 Homing Function Relevant Parameters Description
No use
A
Relevant Parameters Description, cont.
Explanation of Homing Mode
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Recommended Homing Modes
Homing Timing Charts
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Appendix A Accessories
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Servo Drive, Servo Motor and Accessories Combinations
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Appendix B Molded-case Circuit Breaker, Fuse Current and EMI Filters
