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Delta Electronics ASDA-B Series manual Sfg, Speed Feed Forward Gain Communication Addr H, Kvi

Models: ASDA-B Series

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Chapter 6 Control Modes of OperationASDA-B Series

AutoMode, the value of this parameter will be changed in accordance with the setting value of parameter P2-31 automatically (Please refer Table 6.D & 6.E in Chapter 6).

Time constant of speed integral compensation: (1000/KVI) ms

P2 - 07

SFG	Speed Feed Forward Gain	Communication Addr.: 0207H

Default: 0		Related Section:
Applicable Control Mode: S		Section 6.3.6
Unit: %
Range: 0 ~ 100

Settings:

This parameter is used to set the feed forward gain when executing speed control command. When using speed smooth command, increase gain can improve speed track deviation.

When not using speed smooth command, decrease gain can improve the resonance condition of mechanical system.

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

Frequency Domain

STEP 1: Set the value of KVI=0, the value of KVF=0 and adjust the value of KVP.

Gain

KVP

Frequency

Frequency

KVP

Phase

STEP 2：Fix the value of KVP and adjust the value of KVI.

Gain

KVI

Frequency

Frequency

KVI

Phase

6-20	Revision January, 2009

Image 135

Delta Electronics ASDA-B Series manual Sfg, Speed Feed Forward Gain Communication Addr H, Frequency Domain, Kvi

Contents

Page Using This Manual „ Contents of this manual „ Important precautions„ Who should use this manual Please Read Prior to Installation for Safety Main Circuit Wiring InstallationWiring Maintenance and InspectionMain Circuit Terminal Wiring Table of Contents Display and Operation Trial Run and Tuning Procedure Control Modes of Operation Maintenance and Inspection Specifications 11-1 About this Manual… User Information Technical Support and ServiceThis page intentionally left blank „ Check for damage Unpacking Check„ Ensure that the product is what you have ordered „ Ensure that the servo motor shaft rotates freelyDelta AC Servo Drive and Motor Model Explanation Nameplate Information ASDA-B Series Servo DriveEcma 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 Storage Conditions Installation NotesOperating Temperature Installation ConditionsMotor Mounting Installation Procedure and Minimum ClearancesInstallation Procedure Drive Mounting„ Minimum Clearances „ Side by Side InstallationConnections Connecting to Peripheral Devices Connections and WiringCN3 Servo Drive Connectors and TerminalsCN1 CN2Wiring Notes Single-Phase Power Supply Connection Wiring MethodsMotor Power Cable Connector Specifications Housing Jowle C4201H00-2*2PAHousing Jowle C4201H00-2*3PA Case Ground BRAKE1 BRAKE2 Sheld Encoder Connector SpecificationsMotor Model Name Encoder Connector Terminal Identification GND BraidCable Specifications for Servo Drive and Servo Motor Basic Wiring Schematic of 400W and below models Basic WiringBasic Wiring Schematic of 750W models Basic Wiring Schematic of 1kW and above models 1 CN1 Terminal Identification Input / Output Interface Connector -CN1Tref Signals Explanation of Connector CN1General Signals Pin No Details Wiring Diagram Refer to VrefTspd ALL Srdy ALLSON ALL Zspd ALLWarn ALL Source of Torque Command Source of Speed 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 GND Encoder Connector CN2Selection Do not connect this terminal CN3 Terminal Signal IdentificationConnection between PC/Keypad and Connector CN3 „ Connection between PC and CN3„ Connection between Keypad and CN3 Standard Connection Example Position Control Mode Speed Control Mode Torque Control Mode This page intentionally left blank ASD-PU-01A Description of Digital Keypad ASD-PU-01A Display and OperationName Function Monitor Mode YES Press Mode key to return to previous displayYES Fast Edit Mode Fast Editing, Static & Dynamic Auto-tuning Fast Editing Polarity Setting Display Status Display Save Setting DisplayAbort Setting Display Fault Message DisplayMonitor Setting Display Following table lists the display examples of monitor value Fault Code Display Operation S HStatus Display S H JOG Operation CCW 0 6 F O T Do Force Output Diagnosis OperationDI Diagnosis Operation Do Diagnosis Operation0 9 M O T Parameters Read and Write Display and OperationASDA-B Series Name Function ASD-PU-01B Description of Digital Keypad ASD-PU-01BDisplay 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 Inspection without Load Trial Run and Tuning ProcedureTrial Run and Tuning ProcedureASDA-B Series Over voltage Applying Power to the DriveEncoder error Reverse limit switch errorEmergency stop activated Forward limit switch error OvercurrentUndervoltage Input power phase loss Magnetic field errorJOG Trial Run without Load ASD-PU-01A Tuning FlowchartASD-PU-01B Tuning Flowchart Step Speed Trial Run without LoadP1-11 is set to „ ASD-PU-01A Tuning ProcedureTuning Procedure Tuning Procedure Display Message„ 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 KVP Gain Adjustment in Manual ModeTrial Run and Tuning ProcedureASDA-B Series This page intentionally left blank Control Modes of Operation Control Modes of OperationASD-PU-01A ASD-PU-01B Command Source of Position Control ModePTT External Pulse Input Type Communication Addr HInhibit Structure of Position Control ModeGR4 Pulse Inhibit Input Function InhpElectronic Gear Ratio Inhp OFFElectronic Gear Ratio Denominator Communication Addr DH GR2PF LT Position Loop Gain AdjustmentLow-pass Filter PfltKPP PPRPFG PFF KPFREF-GND Command Source of Speed Control ModeBasic Structure Structure of Speed Control ModeAcceleration Time Communication Addr H Smoothing Strategy of Speed Control ModeCurve Filter TaccAccel /Decel S-curve Communication Addr H TdecDeceleration Time Communication Addr H TSLAnalog Speed Command S-curve Filter Analog Speed Command Low-pass FilterSflt Max. Analog Speed Command or Limit Communication Addr H Analog Speed Input ScalingVCM SPD1 OFF SON Timing Chart of Speed Control ModeSpeed Loop Gain Adjustment SPD0 OFF„ Manual Mode „ Auto ModePI Structure P2-32 AUT2 Tuning Mode Selection Communication Addr HManual Mode KVI GDRKVP Proportional Speed Loop Gain Communication Addr HKVI SFGSpeed Feed Forward Gain Communication Addr H Frequency DomainKVI Time DomainSFG Auto Mode Continuous adjustmentDPH Resonance SuppressionNCF Notch Filter Resonance Suppression Communication Addr HNLP Use Notch Filter to suppress resonanceUse Low-pass Filter to suppress resonance Command Source of Torque Control Mode Torque Control ModeStructure of Torque Control Mode Smoothing Strategy of Torque Control Mode Analog Torque Input ScalingTflt TCM1 OFF SON Max. Analog Torque Command or Limit Communication Addr HTCM TCM0 OFFOFF Not Care Speed / Position Control Mode SelectionControl Modes Selection ModeTorque / Position Control Mode Selection Speed / Torque Control Mode SelectionTorque Limit Others Speed Limit„ Built-in Regenerative Resistor Regenerative Resistor„ External Regenerative Resistor „ Regenerative Power Calculation Method Without LoadWith Load „ Simple Calculation Method Electromagnetic Brake OFF MBT1 MBT2 SON OFFBrkr OFF Control Modes of OperationASDA-B Series Explanation of symbols marked after parameter DefinitionAbbreviation of control modes Control Parameter Name Function Default UnitParameters Summary Parameters List by Group Group 0 P0-xxGroup 1 P1-xx Control Parameter Name Function Default Unit ModeParameter Name Function Default Unit Mode Group 2 P2-xx Control Parameter Name Function Default UnitPdev AUT1AUT2 SdevGroup 3 P3-xx Group 4 P4-xx Group 8 P8-xx Monitor and General Use Parameters List by FunctionGain and Switch Position Control External pulse control command P modeSpeed Control Digital I/O Communication Input Status or Force Input Control P4-09 Others Keypad Communication and Reset Setting P8-05 VER Drive Fault Code Communication Addr HDetailed Parameter Listings Group 0 P0-xx Monitor ParametersServo ParametersASDA-B Series CM1 STSDrive Status Communication Addr H Reserved Communication Addr HServo Output Status Display Communication Addr H CM2CM3 SvstsServo ParametersASDA-B Series PTT Group 1 P1-xx Basic ParametersSpeed and Torque Limit Communication Addr H Control Mode and Output Direction Communication Addr HCTL PstlTCM1, TCM0 SPD1, SPD0Aout SPD1 SPD2SPD3 TQ2 TQ1GR4 Lstp Tacc Target Rotation Speed Communication Addr H Zero Speed Range Setting Communication Addr HZspd SspdMBT1 On Delay Time of Electromagnetic Brake Communication Addr AHSON OFF MBT2GR1 RES1 RES2Regenerative Resistor Capacity Communication Addr H Maximum Speed Limit Communication Addr H PERPositioning Completed Width Communication Addr H MspdKPP SPR Speed Loop Gain Switching Rate Communication Addr HPctlc SFGDigital Input Terminal 1 DI1 Communication Addr AH DRTBounce Filter Communication Addr H DI1DI3 DI4DI5 Digital Output Terminal 1 DO1 Communication Addr H DI6Digital Input Terminal 6 DI6 Communication Addr EH DO1Digital Output Terminal 3 DO3 Communication Addr H DO3External Anti-Interference Gain Communication Addr AH DSTGUT Gain Switching Control Selection Communication Addr BHGain Switching Time Constant Communication Addr CH GCCAUT1 Gain Switching Condition Communication Addr DHGPE INHAUT2 Tuning Mode Selection Pdev Excessive Error Warning Condition Communication Addr HSdev Overspeed Warning Condition Communication Addr HOutput Overload Warning Level Communication Addr H OVLOverload Protection Level Communication Addr H OVWSpecial Function Communication Addr H GbitAstr AturAfrq AtmeCclr Pulse Deviation Clear Mode Communication Addr HSjit BRT Communication Address Setting Communication Addr HGroup 3 P3-xxCommunication Parameters ADRCommunication Time Out Detection Communication Addr H Transmission Fault Treatment Communication Addr HFLT CWDSDI Digital Input Communication Function Communication Addr HCDT ASH5 ASH2ASH3 ASH4Force Output Control Communication Addr H JOGJOG Operation Communication Addr H FOTItst Input Status or Force Input Control Communication Addr HMOT CEN Adjustment Function Communication Addr AHSOF1 SOF2TOF1 COF2 COF1Igbt NTC Calibration Communication Addr H COF3COF4 TigbAnalog Torque Input Offset Communication Addr H SAOAnalog Speed Input Offset Communication Addr H TAOCN1 Keypad Firmware Version Communication Addr H Keypad Communication and Reset Setting Communication Addr HGroup 8 P8-xx Keypad Parameters KverKadr KbrtTransmission Speed Keypad Communication Addr H Ktst KptlKcmm Communication Selection Keypad Communication Addr HKblt KclrMemory Block Clear Communication Addr BH Status of Memory Block ROMx Communication Addr DH KrnoMemory Block Position Number ROMx Communication Addr CH KBL0Firmware Version of Memory Block ROMx Communication Addr EH KBL1Input Function Definition Setting value of P2-10 ~ P2-15Inhp is activated, the external pulse input command is not SPD0 SPD1 Setting value of P2-10 ~ P2-15 14 ~TCM0 TCM1 Setting value of P2-10 ~ P2-15 16 ~Emgs Tllm Output Function Definition Setting value of P2-18 ~ P2-20OFF Warn Communication Hardware Interface RS-232 „ Configuration „ Cable ConnectionModbus CommunicationsASDA-B Series RS-485, RS-422 „ Configuration „ Cable ConnectionModbus CommunicationsASDA-B Series Communication Parameter Settings Modbus CommunicationsASDA-B Series DI6 DI5 DI4 DI3 DI2 DI1 0307H Communication Response Delay Time „ Data Format „ Code Description Ascii ModeRTU Mode Modbus Communication ProtocolDATA0 LRC „ Communication Protocol Ascii ModeSTX CMDADR Communication Address CMD Command Codes and Data Data CharactersAscii Mode Command message Response message STX Communication StartRTU Mode Command message Response message Ascii Mode Command messageADR CMD LRC Ascii Mode End1, End0 Communication End Ascii Mode CRC RTU ModeError Code RTU Mode „ Communication Related Error CodeModbus CommunicationsASDA-B Series Modbus CommunicationsASDA-B Series Basic Inspection Maintenance and Inspection„ Relay MaintenanceLife of Replacement Components „ Smooth capacitor„ Cooling fan This page intentionally left blank Fault Messages Table ALE 20/ALE Fault MessagesDisplay Fault Name Fault Description Keypad Fault Messages Display Fault Name Fault DescriptionServo Drive Fault Messages ALE 1 / ALE Overcurrent Potential Cause and Corrective ActionsALE 2 / ALE Overvoltage Pulse shift Regeneration errorALE 3 / ALE ALE 4 / ALEALE 6 / ALE Overload ALE 7 / ALEOverspeed ALE 9 / ALE Abnormal pulse control commandALE 10 / ALE Serial communication error ALE 8 / ALEALE 15 / ALE Forward Ccwl limit switch error ALE 11 / ALE Encoder error Position detector faultALE 12 / ALE Adjustment error ALE 14 / ALE Reverse CWL limit switch errorALE 20 / ALE Input power phase loss ALE 16 / ALE Igbt temperature errorALE 17 / ALE Memory error ALE 19 / ALE Motor type errorALE 33 RAM hardware error Keypad Fault Messages ALE 30 LCM hardware errorALE 31 LED hardware error ALE 32 KEY hardware errorALE 41 Communication receive time out ALE 35 Comm hardware errorALE 40 Initial setup error ALE 42 Communication receive errorALE 46 Communication parameter content error ALE 43 Error communication response addressALE 44 Error communication response command ALE 45 Communication parameter address errorDisplay Fault Name Clearing Method Clearing Servo Drive FaultsSpecifications of Servo Drive ASDA-B Series SpecificationsSpecificationsASDA-B Series 11-3 Low Inertia Servo Motor Specifications of Servo Motor Ecma SeriesMedium / High Inertia Servo Motor Revision January Weight Dimensions of Servo DriveOrder 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 „ Occasion of Overload Overload Characteristics„ Chart of load and operating time ECMAC30401…S „ Overload Protection Function„ Chart of load and operating time ECMAC30604…S „ Chart of load and operating time ECMAC30602…S„ Chart of load and operating time ECMAC30807…S „ Chart of load and operating time ECMAC30804…7„ Chart of load and operating time ECMAC31020…S „ Chart of load and operating time ECMAC31010…S„ Chart of load and operating time ECMAC31305…S „ Chart of load and operating time ECMAC31303…S„ Chart of load and operating time ECMAC31309…S „ Chart of load and operating time ECMAC31306…S„ Chart of load and operating time ECMAC31315…S „ Chart of load and operating time ECMAC31310…S„ Chart of load and operating time ECMAC31820…S „ Chart of load and operating time ECMAC31320…SMotor Frame Size 80mm Models Dimensions of Servo MotorMotor Frame Size 100mm Models 11-21 11.7 EMI Filters Selection Y1 Sign Connecting to DVP-EH PLC and DOP-A HMIApplication Example Dual Mode S-P Mode Purpose Explanation Programmable Logic Controller hereinafter PLCPLC Program Application Examples ASDA-B Series 12-4 12-5 DVP-EH ASDA-B CN1 DVP-EHProgram Screen Homing Operation HMI DOP-A HMIPosition Control 12-9 JOG Operation Speed Control Operation Connecting to DVP-EH PLC and Delta TP04 Series Application Example Homing Operation PurposeDelta TP04 Series 12-13 Communication Settings ASDA-B series Servo Drive Parameter SettingsExternal 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 12-20 „ Power Connectors Delta Part Number ASDBCAPW0000 JowleDelta Part Number ASDBCAPW0100 Delta Part Number ASDBCAPW0303/0305 „ Power Cables Delta Part Number ASDBCAPW0203/0205„ Power Cables, Delta Part Number ASD-CAPW1203/1205 Delta Part Number ASD-CAPW2203/2205Delta Part Number ASD-CAPW2303/2305 „ Encoder Connectors Delta Part Number ASDBCAEN0000 Jaws „ Encoder Cables, Delta Part Number ASDBCAEN1003/1005ASDBCAEN1003 ASDBCAEN1005Appendix a AccessoriesASDA-B Series Delta Part Number ASD-PU-01B including communication cable ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305 ASDBCAPW0203 ASDBCAPW0205ASDBCAEN0003 ASDBCAEN0005 200W Servo Drive and 200W Low Inertia Servo Motor400W Servo Drive and 300W High Inertia Servo Motor 400W Servo Drive and 500W Medium Inertia Servo MotorASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 ASDBCAEN1003 ASDBCAEN1005750W Servo Drive and 600W High Inertia Servo Motor 1kW Servo Drive and 1kW Low 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 2kW Servo Drive and 2kW Medium Inertia Servo Motor