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Delta Electronics ASDA-B Series manual Sfg, Auto Mode Continuous adjustment

Models: ASDA-B Series

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Chapter 6 Control Modes of OperationASDA-B Series

Speed

SFG

When the value of SFG is nearly to 1and

the forward compensation is more complete, then the value of dynamic tracking error will become very small. However, when the value of SFG is too great, it may cause vibration.

Time

Auto Mode (Continuous adjustment))

When Tuning Mode Settings of P2-32 is set to 1, the ratio of Load Inertia to servo motor inertia can be continuously adjusted. This Auto Mode provides continuous adjustment of loop gains according to measured inertia automatically. It is suitable when the load inertia is fixed or the load inertia change is small and is not suitable for wide range of load inertia change. The period of adjustment time is different depending on the acceleration and deceleration of servo motor. To change the stiffness and responsiveness, please use parameter P2-31.

Motor Speed

W

Inertia Measurement

J

Auto Mode (The ratio of Load Inertia to servo motor inertia is fixed)

When Tuning Mode Settings of P2-32 is changed from 1 to 2, the measured load inertia value will be saved and memorized in P1-37 automatically. Otherwise, the users should set the ratio of load inertia to servo motor inertia via parameter P1-37 in advance. To change the stiffness and responsiveness, please use parameter P2-31.

6-22	Revision January, 2009

Image 137

Delta Electronics ASDA-B Series manual Sfg, Auto Mode Continuous adjustment

Contents

Page „ Who should use this manual Using This Manual „ Contents of this manual„ Important precautions Please Read Prior to Installation for Safety Wiring InstallationMaintenance and Inspection 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 About this Manual… User Information Technical Support and ServiceThis page intentionally left blank „ Ensure that the product is what you have ordered Unpacking Check„ Ensure that the servo motor shaft rotates freely „ Check for damageDelta AC Servo Drive and Motor Ecma Series Servo Motor Model Explanation Nameplate InformationASDA-B Series Servo Drive 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 ConditionsInstallation Procedure Installation Procedure and Minimum ClearancesDrive Mounting Motor Mounting„ Minimum Clearances „ Side by Side InstallationConnections Connecting to Peripheral Devices Connections and WiringCN1 Servo Drive Connectors and TerminalsCN2 CN3Wiring Notes Single-Phase Power Supply Connection Wiring MethodsHousing Jowle C4201H00-2*3PA Motor Power Cable Connector SpecificationsHousing Jowle C4201H00-2*2PA Case Ground BRAKE1 BRAKE2 Motor Model Name Encoder Connector Terminal Identification Encoder Connector SpecificationsGND Braid SheldCable 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 -CN1General Signals Pin No Details Wiring Diagram Refer to Signals Explanation of Connector CN1Vref TrefSON ALL Srdy ALLZspd ALL Tspd 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 Identification„ Connection between Keypad and CN3 Connection between PC/Keypad and Connector CN3„ Connection between PC 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 Abort Setting Display Status Display Save Setting DisplayFault Message Display Polarity Setting DisplayMonitor Setting Display Following table lists the display examples of monitor value Status Display S H Fault Code Display OperationS H JOG Operation CCW 0 6 F O T Do Force Output Diagnosis Operation0 9 M O T DI Diagnosis OperationDo Diagnosis Operation 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 DriveEmergency stop activated Encoder errorReverse limit switch error Undervoltage Forward limit switch errorOvercurrent 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 Procedure„ ASD-PU-01B Tuning ProcedureTuning Procedure Display Message 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 OperationPTT Command Source of Position Control ModeExternal Pulse Input Type Communication Addr H ASD-PU-01A ASD-PU-01BInhibit Structure of Position Control ModeElectronic Gear Ratio Pulse Inhibit Input Function InhpInhp OFF GR4Electronic Gear Ratio Denominator Communication Addr DH GR2Low-pass Filter Position Loop Gain AdjustmentPflt PF LTPFG KPPPPR PFF KPFREF-GND Command Source of Speed Control ModeBasic Structure Structure of Speed Control ModeCurve Filter Smoothing Strategy of Speed Control ModeTacc Acceleration Time Communication Addr HDeceleration Time Communication Addr H TdecTSL Accel /Decel S-curve Communication Addr HSflt Analog Speed Command S-curve FilterAnalog Speed Command Low-pass Filter VCM Max. Analog Speed Command or Limit Communication Addr HAnalog Speed Input Scaling Speed Loop Gain Adjustment Timing Chart of Speed Control ModeSPD0 OFF SPD1 OFF SONPI Structure P2-32 „ Manual Mode„ Auto Mode AUT2 Tuning Mode Selection Communication Addr HManual Mode KVP GDRProportional Speed Loop Gain Communication Addr H KVISpeed Feed Forward Gain Communication Addr H SFGFrequency Domain KVIKVI Time DomainSFG Auto Mode Continuous adjustmentNCF Resonance SuppressionNotch Filter Resonance Suppression Communication Addr H DPHUse Low-pass Filter to suppress resonance NLPUse Notch Filter to suppress resonance Command Source of Torque Control Mode Torque Control ModeStructure of Torque Control Mode Tflt Smoothing Strategy of Torque Control ModeAnalog Torque Input Scaling TCM Max. Analog Torque Command or Limit Communication Addr HTCM0 OFF TCM1 OFF SONControl Modes Selection Speed / Position Control Mode SelectionMode OFF Not CareTorque / 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 Brkr OFF OFF MBT1 MBT2SON OFF Control Modes of OperationASDA-B Series Abbreviation of control modes Explanation of symbols marked after parameterDefinition Parameters Summary Parameters List by Group Parameter Name Function Default UnitGroup 0 P0-xx ControlGroup 1 P1-xx Control Parameter Name Function Default Unit ModeParameter Name Function Default Unit Mode Group 2 P2-xx Control Parameter Name Function Default UnitAUT2 AUT1Sdev PdevGroup 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 Detailed Parameter Listings Drive Fault Code Communication Addr HGroup 0 P0-xx Monitor Parameters VERServo ParametersASDA-B Series Drive Status Communication Addr H STSReserved Communication Addr H CM1CM3 CM2Svsts Servo Output Status Display Communication Addr HServo ParametersASDA-B Series PTT Group 1 P1-xx Basic ParametersCTL Control Mode and Output Direction Communication Addr HPstl Speed and Torque Limit Communication Addr HTCM1, TCM0 SPD1, SPD0Aout SPD3 SPD1SPD2 TQ2 TQ1GR4 Lstp Tacc Zspd Zero Speed Range Setting Communication Addr HSspd Target Rotation Speed Communication Addr HMBT1 On Delay Time of Electromagnetic Brake Communication Addr AHSON OFF MBT2GR1 Regenerative Resistor Capacity Communication Addr H RES1RES2 Positioning Completed Width Communication Addr H PERMspd Maximum Speed Limit Communication Addr HKPP SPR Speed Loop Gain Switching Rate Communication Addr HPctlc SFGBounce Filter Communication Addr H DRTDI1 Digital Input Terminal 1 DI1 Communication Addr AHDI5 DI3DI4 Digital Input Terminal 6 DI6 Communication Addr EH DI6DO1 Digital Output Terminal 1 DO1 Communication Addr HDigital Output Terminal 3 DO3 Communication Addr H DO3External Anti-Interference Gain Communication Addr AH DSTGain Switching Time Constant Communication Addr CH Gain Switching Control Selection Communication Addr BHGCC GUTGPE Gain Switching Condition Communication Addr DHINH AUT1AUT2 Tuning Mode Selection Sdev Excessive Error Warning Condition Communication Addr HOverspeed Warning Condition Communication Addr H PdevOverload Protection Level Communication Addr H OVLOVW Output Overload Warning Level Communication Addr HSpecial Function Communication Addr H GbitAfrq AturAtme AstrCclr Pulse Deviation Clear Mode Communication Addr HSjit Group 3 P3-xxCommunication Parameters Communication Address Setting Communication Addr HADR BRTFLT Transmission Fault Treatment Communication Addr HCWD Communication Time Out Detection Communication Addr HCDT SDIDigital Input Communication Function Communication Addr H ASH3 ASH2ASH4 ASH5JOG Operation Communication Addr H JOGFOT Force Output Control Communication Addr HMOT ItstInput Status or Force Input Control Communication Addr H CEN Adjustment Function Communication Addr AHTOF1 SOF1SOF2 COF2 COF1COF4 COF3Tigb Igbt NTC Calibration Communication Addr HAnalog Speed Input Offset Communication Addr H SAOTAO Analog Torque Input Offset Communication Addr HCN1 Group 8 P8-xx Keypad Parameters Keypad Communication and Reset Setting Communication Addr HKver Keypad Firmware Version Communication Addr HTransmission Speed Keypad Communication Addr H KadrKbrt Kcmm KptlCommunication Selection Keypad Communication Addr H KtstMemory Block Clear Communication Addr BH KbltKclr Memory Block Position Number ROMx Communication Addr CH KrnoKBL0 Status of Memory Block ROMx Communication Addr DHFirmware 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 RTU Mode „ Code Description Ascii ModeModbus Communication Protocol „ Data FormatSTX „ Communication Protocol Ascii ModeCMD DATA0 LRCAscii Mode Command message Response message CMD Command Codes and Data Data CharactersSTX Communication Start ADR Communication AddressADR CMD RTU Mode Command message Response messageAscii Mode Command message 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 InspectionLife of Replacement Components Maintenance„ Smooth capacitor „ Relay„ Cooling fan This page intentionally left blank Fault Messages Table Display Fault Name Fault Description Fault MessagesKeypad Fault Messages Display Fault Name Fault Description ALE 20/ALEALE 2 / ALE Overvoltage Servo Drive Fault Messages ALE 1 / ALE OvercurrentPotential Cause and Corrective Actions ALE 3 / ALE Regeneration errorALE 4 / ALE Pulse shiftOverspeed ALE 6 / ALE OverloadALE 7 / ALE ALE 10 / ALE Serial communication error Abnormal pulse control commandALE 8 / ALE ALE 9 / ALEALE 12 / ALE Adjustment error ALE 11 / ALE Encoder error Position detector faultALE 14 / ALE Reverse CWL limit switch error ALE 15 / ALE Forward Ccwl limit switch errorALE 17 / ALE Memory error ALE 16 / ALE Igbt temperature errorALE 19 / ALE Motor type error ALE 20 / ALE Input power phase lossALE 31 LED hardware error Keypad Fault Messages ALE 30 LCM hardware errorALE 32 KEY hardware error ALE 33 RAM hardware errorALE 40 Initial setup error ALE 35 Comm hardware errorALE 42 Communication receive error ALE 41 Communication receive time outALE 44 Error communication response command ALE 43 Error communication response addressALE 45 Communication parameter address error ALE 46 Communication parameter content 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 „ Chart of load and operating time ECMAC30401…S Overload Characteristics„ Overload Protection Function „ Occasion of Overload„ 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 Application Example Dual Mode S-P Mode Purpose Connecting to DVP-EH PLC and DOP-A HMIExplanation Programmable Logic Controller hereinafter PLC Y1 SignPLC 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 Delta TP04 Series Connecting to DVP-EH PLC and Delta TP04 SeriesApplication Example Homing Operation Purpose 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 Delta Part Number ASDBCAPW0100 „ Power Connectors Delta Part Number ASDBCAPW0000Jowle Delta Part Number ASDBCAPW0303/0305 „ Power Cables Delta Part Number ASDBCAPW0203/0205Delta Part Number ASD-CAPW2303/2305 „ Power Cables, Delta Part Number ASD-CAPW1203/1205Delta Part Number ASD-CAPW2203/2205 „ Encoder Connectors Delta Part Number ASDBCAEN0000 ASDBCAEN1003 „ Encoder Cables, Delta Part Number ASDBCAEN1003/1005ASDBCAEN1005 JawsAppendix a AccessoriesASDA-B Series Delta Part Number ASD-PU-01B including communication cable ASDBCAEN0003 ASDBCAEN0005 ASDBCAPW0203 ASDBCAPW0205200W Servo Drive and 200W Low Inertia Servo Motor ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 400W Servo Drive and 500W Medium Inertia Servo MotorASDBCAEN1003 ASDBCAEN1005 400W Servo Drive and 300W High Inertia Servo Motor1kW 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 2kW Servo Drive and 2kW Low Inertia Servo Motor 1kW Servo Drive and 900W High Inertia Servo Motor5kW Servo Drive and 1.5kW Medium Inertia Servo Motor 2kW Servo Drive and 2kW Medium Inertia Servo Motor