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Delta Electronics ASDA-B Series manual Structure of Position Control Mode, Inhibit

Models: ASDA-B Series

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Chapter 6 Control Modes of OperationASDA-B Series

Other setting: Reversed

Input pulse interface	Max. input pulse frequency
Line driver	500kpps

Open collector	200kpps

•Logic type

0=Positive Logic		1=Negative Logic
Pulse Type	Reverse	Forward	Reverse
Forward	Reverse	Forward	Reverse
AB phase pulse
CW + CCW pulse
Pulse + Direction

6.2.2 Structure of Position Control Mode

Basic Structure:

Position Command

Position Command

Processing

Position Control Block Diagram

Speed

Loop

Current

Loop

Output Position

In order to pursue the goal of perfection in position control, the pulse signal should be modified through position command processing and the structure is shown as the figure below:

Pulse

Signal

INHIBIT

Pulse type

selection

P1-00

Electronic gear ratio (1) P1-44, P1-45

Electronic gear ratio (2) P1-15, P1-45

Low-pass

Filter P1-08

GNUM0

Revision January, 2009

6-3

Image 118

Delta Electronics ASDA-B Series manual Structure of Position Control Mode, Inhibit

Contents

Page „ Important precautions Using This Manual „ Contents of this manual„ Who should use this manual Please Read Prior to Installation for Safety Maintenance and Inspection InstallationWiring Main Circuit WiringMain Circuit Terminal Wiring Table of Contents Display and Operation Trial Run and Tuning Procedure Control Modes of Operation Maintenance and Inspection Specifications 11-1 Technical Support and Service About this Manual… User InformationThis page intentionally left blank „ Ensure that the servo motor shaft rotates freely Unpacking Check„ Ensure that the product is what you have ordered „ Check for damageDelta AC Servo Drive and Motor ASDA-B Series Servo Drive Model Explanation Nameplate InformationEcma Series Servo Motor Model Name Explanation Unpacking Check and Model ExplanationASDA-B Series Servo Drive and Servo Motor Combinations Servo Drive Features Control Modes of Servo Drive Installation Notes Storage ConditionsInstallation Conditions Operating TemperatureDrive Mounting Installation Procedure and Minimum ClearancesInstallation Procedure Motor Mounting„ Side by Side Installation „ Minimum ClearancesConnections and Wiring Connections Connecting to Peripheral DevicesCN2 Servo Drive Connectors and TerminalsCN1 CN3Wiring Notes Wiring Methods Single-Phase Power Supply ConnectionHousing Jowle C4201H00-2*2PA Motor Power Cable Connector SpecificationsHousing Jowle C4201H00-2*3PA Case Ground BRAKE1 BRAKE2 GND Braid Encoder Connector SpecificationsMotor Model Name Encoder Connector Terminal Identification SheldCable Specifications for Servo Drive and Servo Motor Basic Wiring Basic Wiring Schematic of 400W and below modelsBasic Wiring Schematic of 750W models Basic Wiring Schematic of 1kW and above models Input / Output Interface Connector -CN1 1 CN1 Terminal IdentificationVref Signals Explanation of Connector CN1General Signals Pin No Details Wiring Diagram Refer to TrefZspd ALL Srdy ALLSON ALL Tspd ALLWarn ALL Source of Speed Command Source of Torque CommandDefault DI Signals and do Signals User-defined DI and do signals User-defined DI and do signalsConnections and WiringASDA-B Series Wiring Diagrams of I/O Signals CN1 VDD Connections and WiringASDA-B Series Connections and WiringASDA-B Series Encoder Connector CN2 GNDCN3 Terminal Signal Identification Selection Do not connect this terminal„ Connection between PC and CN3 Connection between PC/Keypad and Connector CN3„ Connection between Keypad and CN3 Standard Connection Example Position Control Mode Speed Control Mode Torque Control Mode This page intentionally left blank Display and Operation ASD-PU-01A Description of Digital Keypad ASD-PU-01AName Function Monitor Mode Press Mode key to return to previous display YESYES Fast Edit Mode Fast Editing, Static & Dynamic Auto-tuning Fast Editing Fault Message Display Status Display Save Setting DisplayAbort Setting Display Polarity Setting DisplayMonitor Setting Display Following table lists the display examples of monitor value S H Fault Code Display OperationStatus Display S H JOG Operation CCW Do Force Output Diagnosis Operation 0 6 F O TDo Diagnosis Operation DI Diagnosis Operation0 9 M O T Parameters Read and Write Display and OperationASDA-B Series ASD-PU-01B Description of Digital Keypad ASD-PU-01B Name FunctionDisplay and OperationASDA-B Series Display and OperationASDA-B Series Display and OperationASDA-B Series Display and OperationASDA-B Series Display and OperationASDA-B Series Display and OperationASDA-B Series Fast Edit Mode Fast Editing Function Dynamic Auto-tuning Mode Dynamic Auto-tuning Function Static Auto-tuning Mode Static Auto-tuning Function Status Display Save Setting Display Monitor Setting Display Display and OperationASDA-B Series Fault Code Display Operation Display and OperationASDA-B Series Do Force Output Diagnosis Operation DI Diagnosis Operation Do Diagnosis Operation Parameters Read and Write Display and OperationASDA-B Series This page intentionally left blank Trial Run and Tuning Procedure Inspection without LoadTrial Run and Tuning ProcedureASDA-B Series Applying Power to the Drive Over voltageReverse limit switch error Encoder errorEmergency stop activated Overcurrent Forward limit switch errorUndervoltage Magnetic field error Input power phase lossASD-PU-01A Tuning Flowchart JOG Trial Run without LoadASD-PU-01B Tuning Flowchart Speed Trial Run without Load StepP1-11 is set to Tuning Procedure „ ASD-PU-01ATuning Procedure Display Message Tuning Procedure„ ASD-PU-01B Tuning Flowchart Load Inertia Estimation Flowchart AutoMode PI Tuning Flowchart Trial Run and Tuning ProcedureASDA-B Series Trial Run and Tuning ProcedureASDA-B Series Limit of Load Inertia Estimation Relationship between Tuning Modes and Parameters Gain Adjustment in Manual Mode KVPTrial Run and Tuning ProcedureASDA-B Series This page intentionally left blank Control Modes of Operation Control Modes of OperationExternal Pulse Input Type Communication Addr H Command Source of Position Control ModePTT ASD-PU-01A ASD-PU-01BStructure of Position Control Mode InhibitInhp OFF Pulse Inhibit Input Function InhpElectronic Gear Ratio GR4GR2 Electronic Gear Ratio Denominator Communication Addr DHPflt Position Loop Gain AdjustmentLow-pass Filter PF LTPPR KPPPFG KPF PFFCommand Source of Speed Control Mode REF-GNDStructure of Speed Control Mode Basic StructureTacc Smoothing Strategy of Speed Control ModeCurve Filter Acceleration Time Communication Addr HTSL TdecDeceleration Time Communication Addr H Accel /Decel S-curve Communication Addr HAnalog Speed Command Low-pass Filter Analog Speed Command S-curve FilterSflt Analog Speed Input Scaling Max. Analog Speed Command or Limit Communication Addr HVCM SPD0 OFF Timing Chart of Speed Control ModeSpeed Loop Gain Adjustment SPD1 OFF SON„ Auto Mode „ Manual ModePI Structure P2-32 Tuning Mode Selection Communication Addr H AUT2Manual Mode Proportional Speed Loop Gain Communication Addr H GDRKVP KVIFrequency Domain SFGSpeed Feed Forward Gain Communication Addr H KVITime Domain KVIAuto Mode Continuous adjustment SFGNotch Filter Resonance Suppression Communication Addr H Resonance SuppressionNCF DPHUse Notch Filter to suppress resonance NLPUse Low-pass Filter to suppress resonance Torque Control Mode Command Source of Torque Control ModeStructure of Torque Control Mode Analog Torque Input Scaling Smoothing Strategy of Torque Control ModeTflt TCM0 OFF Max. Analog Torque Command or Limit Communication Addr HTCM TCM1 OFF SONMode Speed / Position Control Mode SelectionControl Modes Selection OFF Not CareSpeed / Torque Control Mode Selection Torque / Position Control Mode SelectionOthers Speed Limit Torque LimitRegenerative Resistor „ Built-in Regenerative Resistor„ Regenerative Power Calculation Method Without Load „ External Regenerative ResistorWith Load „ Simple Calculation Method Electromagnetic Brake SON OFF OFF MBT1 MBT2Brkr OFF Control Modes of OperationASDA-B Series Definition Explanation of symbols marked after parameterAbbreviation of control modes Group 0 P0-xx Parameter Name Function Default UnitParameters Summary Parameters List by Group ControlControl Parameter Name Function Default Unit Mode Group 1 P1-xxParameter Name Function Default Unit Mode Control Parameter Name Function Default Unit Group 2 P2-xxSdev AUT1AUT2 PdevGroup 3 P3-xx Group 4 P4-xx Group 8 P8-xx Parameters List by Function Monitor and General UseGain and Switch External pulse control command P mode Position ControlSpeed Control Digital I/O Communication Input Status or Force Input Control P4-09 Others Keypad Communication and Reset Setting P8-05 Group 0 P0-xx Monitor Parameters Drive Fault Code Communication Addr HDetailed Parameter Listings VERServo ParametersASDA-B Series Reserved Communication Addr H STSDrive Status Communication Addr H CM1Svsts CM2CM3 Servo Output Status Display Communication Addr HServo ParametersASDA-B Series Group 1 P1-xx Basic Parameters PTTPstl Control Mode and Output Direction Communication Addr HCTL Speed and Torque Limit Communication Addr HSPD1, SPD0 TCM1, TCM0Aout SPD2 SPD1SPD3 TQ1 TQ2GR4 Lstp Tacc Sspd Zero Speed Range Setting Communication Addr HZspd Target Rotation Speed Communication Addr HOn Delay Time of Electromagnetic Brake Communication Addr AH MBT1MBT2 SON OFFGR1 RES2 RES1Regenerative Resistor Capacity Communication Addr H Mspd PERPositioning Completed Width Communication Addr H Maximum Speed Limit Communication Addr HKPP Speed Loop Gain Switching Rate Communication Addr H SPRSFG PctlcDI1 DRTBounce Filter Communication Addr H Digital Input Terminal 1 DI1 Communication Addr AHDI4 DI3DI5 DO1 DI6Digital Input Terminal 6 DI6 Communication Addr EH Digital Output Terminal 1 DO1 Communication Addr HDO3 Digital Output Terminal 3 DO3 Communication Addr HDST External Anti-Interference Gain Communication Addr AHGCC Gain Switching Control Selection Communication Addr BHGain Switching Time Constant Communication Addr CH GUTINH Gain Switching Condition Communication Addr DHGPE AUT1AUT2 Tuning Mode Selection Overspeed Warning Condition Communication Addr H Excessive Error Warning Condition Communication Addr HSdev PdevOVW OVLOverload Protection Level Communication Addr H Output Overload Warning Level Communication Addr HGbit Special Function Communication Addr HAtme AturAfrq AstrPulse Deviation Clear Mode Communication Addr H CclrSjit ADR Communication Address Setting Communication Addr HGroup 3 P3-xxCommunication Parameters BRTCWD Transmission Fault Treatment Communication Addr HFLT Communication Time Out Detection Communication Addr HDigital Input Communication Function Communication Addr H SDICDT ASH4 ASH2ASH3 ASH5FOT JOGJOG Operation Communication Addr H Force Output Control Communication Addr HInput Status or Force Input Control Communication Addr H ItstMOT Adjustment Function Communication Addr AH CENSOF2 SOF1TOF1 COF1 COF2Tigb COF3COF4 Igbt NTC Calibration Communication Addr HTAO SAOAnalog Speed Input Offset Communication Addr H Analog Torque Input Offset Communication Addr HCN1 Kver Keypad Communication and Reset Setting Communication Addr HGroup 8 P8-xx Keypad Parameters Keypad Firmware Version Communication Addr HKbrt KadrTransmission Speed Keypad Communication Addr H Communication Selection Keypad Communication Addr H KptlKcmm KtstKclr KbltMemory Block Clear Communication Addr BH KBL0 KrnoMemory Block Position Number ROMx Communication Addr CH Status of Memory Block ROMx Communication Addr DHKBL1 Firmware Version of Memory Block ROMx Communication Addr EHSetting value of P2-10 ~ P2-15 Input Function DefinitionInhp is activated, the external pulse input command is not Setting value of P2-10 ~ P2-15 14 ~ SPD0 SPD1Setting value of P2-10 ~ P2-15 16 ~ TCM0 TCM1Emgs Tllm Setting value of P2-18 ~ P2-20 Output Function DefinitionOFF Warn RS-232 „ Configuration „ Cable Connection Communication Hardware InterfaceRS-485, RS-422 „ Configuration „ Cable Connection Modbus CommunicationsASDA-B SeriesModbus CommunicationsASDA-B Series Communication Parameter Settings Modbus CommunicationsASDA-B Series DI6 DI5 DI4 DI3 DI2 DI1 0307H Communication Response Delay Time Modbus Communication Protocol „ Code Description Ascii ModeRTU Mode „ Data FormatCMD „ Communication Protocol Ascii ModeSTX DATA0 LRCSTX Communication Start CMD Command Codes and Data Data CharactersAscii Mode Command message Response message ADR Communication AddressAscii Mode Command message RTU Mode Command message Response messageADR CMD LRC Ascii Mode CRC RTU Mode End1, End0 Communication End Ascii Mode„ Communication Related Error Code Error Code RTU ModeModbus CommunicationsASDA-B Series Modbus CommunicationsASDA-B Series Maintenance and Inspection Basic Inspection„ Smooth capacitor MaintenanceLife of Replacement Components „ Relay„ Cooling fan This page intentionally left blank Fault Messages Table Keypad Fault Messages Display Fault Name Fault Description Fault MessagesDisplay Fault Name Fault Description ALE 20/ALEPotential Cause and Corrective Actions Servo Drive Fault Messages ALE 1 / ALE OvercurrentALE 2 / ALE Overvoltage ALE 4 / ALE Regeneration errorALE 3 / ALE Pulse shiftALE 7 / ALE ALE 6 / ALE OverloadOverspeed ALE 8 / ALE Abnormal pulse control commandALE 10 / ALE Serial communication error ALE 9 / ALEALE 14 / ALE Reverse CWL limit switch error ALE 11 / ALE Encoder error Position detector faultALE 12 / ALE Adjustment error ALE 15 / ALE Forward Ccwl limit switch errorALE 19 / ALE Motor type error ALE 16 / ALE Igbt temperature errorALE 17 / ALE Memory error ALE 20 / ALE Input power phase lossALE 32 KEY hardware error Keypad Fault Messages ALE 30 LCM hardware errorALE 31 LED hardware error ALE 33 RAM hardware errorALE 42 Communication receive error ALE 35 Comm hardware errorALE 40 Initial setup error ALE 41 Communication receive time outALE 45 Communication parameter address error ALE 43 Error communication response addressALE 44 Error communication response command ALE 46 Communication parameter content errorClearing Servo Drive Faults Display Fault Name Clearing MethodSpecifications Specifications of Servo Drive ASDA-B SeriesSpecificationsASDA-B Series 11-3 Specifications of Servo Motor Ecma Series Low Inertia Servo MotorMedium / High Inertia Servo Motor Revision January Dimensions of Servo Drive WeightOrder P/N ASD-B0721-A 750W Order P/N ASD-B1021-A, ASD-B1521-A, ASD-B2023-A 1kW to 2kW Servo Motor Speed-Torque Curves T-N Curve „ Overload Protection Function Overload Characteristics„ Chart of load and operating time ECMAC30401…S „ Occasion of Overload„ Chart of load and operating time ECMAC30602…S „ Chart of load and operating time ECMAC30604…S„ Chart of load and operating time ECMAC30804…7 „ Chart of load and operating time ECMAC30807…S„ Chart of load and operating time ECMAC31010…S „ Chart of load and operating time ECMAC31020…S„ Chart of load and operating time ECMAC31303…S „ Chart of load and operating time ECMAC31305…S„ Chart of load and operating time ECMAC31306…S „ Chart of load and operating time ECMAC31309…S„ Chart of load and operating time ECMAC31310…S „ Chart of load and operating time ECMAC31315…S„ Chart of load and operating time ECMAC31320…S „ Chart of load and operating time ECMAC31820…SDimensions of Servo Motor Motor Frame Size 80mm ModelsMotor Frame Size 100mm Models 11-21 11.7 EMI Filters Selection Explanation Programmable Logic Controller hereinafter PLC Connecting to DVP-EH PLC and DOP-A HMIApplication Example Dual Mode S-P Mode Purpose Y1 SignPLC Program Application Examples ASDA-B Series 12-4 12-5 DVP-EH DVP-EH ASDA-B CN1HMI DOP-A HMI Program Screen Homing OperationPosition Control 12-9 JOG Operation Speed Control Operation Application Example Homing Operation Purpose Connecting to DVP-EH PLC and Delta TP04 SeriesDelta TP04 Series 12-13 ASDA-B series Servo Drive Parameter Settings Communication Settings„ 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 12-20 Jowle „ Power Connectors Delta Part Number ASDBCAPW0000Delta Part Number ASDBCAPW0100 „ Power Cables Delta Part Number ASDBCAPW0203/0205 Delta Part Number ASDBCAPW0303/0305Delta Part Number ASD-CAPW2203/2205 „ Power Cables, Delta Part Number ASD-CAPW1203/1205Delta Part Number ASD-CAPW2303/2305 „ Encoder Connectors Delta Part Number ASDBCAEN0000 ASDBCAEN1005 „ Encoder Cables, Delta Part Number ASDBCAEN1003/1005ASDBCAEN1003 JawsAppendix a AccessoriesASDA-B Series Delta Part Number ASD-PU-01B including communication cable 200W Servo Drive and 200W Low Inertia Servo Motor ASDBCAPW0203 ASDBCAPW0205ASDBCAEN0003 ASDBCAEN0005 ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305ASDBCAEN1003 ASDBCAEN1005 400W Servo Drive and 500W Medium Inertia Servo MotorASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 400W Servo Drive and 300W High Inertia Servo Motor1kW 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 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 2kW Servo Drive and 2kW Medium Inertia Servo Motor