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Delta Electronics ASDA-B Series manual Gain and Switch

Models: ASDA-B Series

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Chapter 7 Servo ParametersASDA-B Series

Gain and Switch

				Control
Parameter Name	Function	Default	Unit	Mode

P

S

T

	P2-00	KPP	Proportional Position Loop Gain	50	rad/s	{

	P2-01	PPR	Position Loop Gain Switching Rate	100	%	{

	P2-02	PFG	Position Feed Forward Gain	0	%	{

	P2-03	PFF	Smooth Constant of Position Feed	5	ms	{
	P2-03	PFF	Forward Gain	5	ms	{
			Forward Gain
	P2-04	KVP	Proportional Speed Loop Gain	300	rad/s	{	{

	P2-05	SPR	Speed Loop Gain Switching Rate	100	%	{	{

	P2-06	KVI	Speed Integral Compensation	50	rad/s	{	{

	P2-07	SFG	Speed Feed Forward Gain	0	%		{

	P2-26	DST	External Anti-Interference Gain	0	N/A	{	{	{

	P2-27	GCC	Gain Switching Control Selection	0	N/A	{	{

	P2-28	GUT	Gain Switching Time Constant	10	10ms	{	{

					pulse
	P2-29	GPE	Gain Switching Condition	10000	Kpps	{	{
					rpm

	P2-31■	AUT1	Auto Stiffness and Responsiveness	6	N/A	{	{	{
	P2-31■	AUT1	Level	6	N/A	{	{	{
			Level
	P2-32▲	AUT2	Tuning Mode Selection	0	N/A	{	{	{

Explanation of symbols (marked after parameter)

(★)	Read-only register.
(▲)	Parameter cannot be set when Servo On (when the servo drive is enabled).
(●)	Parameter is effective only after the servo drive is restarted (after switching power off and on).
(■)	Parameter setting values are not retained when power is off.

Revision January, 2009

7-11

Image 164

Delta Electronics ASDA-B Series manual Gain and Switch

Contents

Page „ Who should use this manual Using This Manual „ Contents of this manual„ Important precautions Please Read Prior to Installation for Safety Installation WiringMaintenance 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 Technical Support and Service About this Manual… User InformationThis 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 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 Installation Notes Storage ConditionsInstallation Conditions Operating TemperatureInstallation Procedure and Minimum Clearances Installation ProcedureDrive Mounting Motor Mounting„ Side by Side Installation „ Minimum ClearancesConnections and Wiring Connections Connecting to Peripheral DevicesServo Drive Connectors and Terminals CN1CN2 CN3Wiring Notes Wiring Methods Single-Phase Power Supply ConnectionHousing Jowle C4201H00-2*3PA Motor Power Cable Connector SpecificationsHousing Jowle C4201H00-2*2PA Case Ground BRAKE1 BRAKE2 Encoder Connector Specifications Motor Model Name Encoder Connector Terminal IdentificationGND Braid 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 IdentificationSignals Explanation of Connector CN1 General Signals Pin No Details Wiring Diagram Refer toVref TrefSrdy ALL SON ALLZspd 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 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 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 Status Display Save Setting Display Abort 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 Do Force Output Diagnosis Operation 0 6 F O T0 9 M O T DI Diagnosis OperationDo Diagnosis Operation 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 voltageEmergency stop activated Encoder errorReverse limit switch error Undervoltage Forward limit switch errorOvercurrent 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-01A„ 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 Gain Adjustment in Manual Mode KVPTrial Run and Tuning ProcedureASDA-B Series This page intentionally left blank Control Modes of Operation Control Modes of OperationCommand Source of Position Control Mode PTTExternal Pulse Input Type Communication Addr H ASD-PU-01A ASD-PU-01BStructure of Position Control Mode InhibitPulse Inhibit Input Function Inhp Electronic Gear RatioInhp OFF GR4GR2 Electronic Gear Ratio Denominator Communication Addr DHPosition Loop Gain Adjustment Low-pass FilterPflt PF LTPFG KPPPPR KPF PFFCommand Source of Speed Control Mode REF-GNDStructure of Speed Control Mode Basic StructureSmoothing Strategy of Speed Control Mode Curve FilterTacc Acceleration Time Communication Addr HTdec Deceleration Time Communication Addr HTSL 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 Timing Chart of Speed Control Mode Speed Loop Gain AdjustmentSPD0 OFF SPD1 OFF SONPI Structure P2-32 „ Manual Mode„ Auto Mode Tuning Mode Selection Communication Addr H AUT2Manual Mode GDR KVPProportional Speed Loop Gain Communication Addr H KVISFG Speed Feed Forward Gain Communication Addr HFrequency Domain KVITime Domain KVIAuto Mode Continuous adjustment SFGResonance Suppression NCFNotch Filter Resonance Suppression Communication Addr H DPHUse Low-pass Filter to suppress resonance NLPUse Notch Filter to suppress resonance Torque Control Mode Command Source of Torque Control ModeStructure of Torque Control Mode Tflt Smoothing Strategy of Torque Control ModeAnalog Torque Input Scaling Max. Analog Torque Command or Limit Communication Addr H TCMTCM0 OFF TCM1 OFF SONSpeed / Position Control Mode Selection Control Modes SelectionMode 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 Brkr OFF OFF MBT1 MBT2SON OFF Control Modes of OperationASDA-B Series Abbreviation of control modes Explanation of symbols marked after parameterDefinition Parameter Name Function Default Unit Parameters Summary Parameters List by GroupGroup 0 P0-xx 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-xxAUT1 AUT2Sdev 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 Drive Fault Code Communication Addr H Detailed Parameter ListingsGroup 0 P0-xx Monitor Parameters VERServo ParametersASDA-B Series STS Drive Status Communication Addr HReserved Communication Addr H CM1CM2 CM3Svsts Servo Output Status Display Communication Addr HServo ParametersASDA-B Series Group 1 P1-xx Basic Parameters PTTControl Mode and Output Direction Communication Addr H CTLPstl Speed and Torque Limit Communication Addr HSPD1, SPD0 TCM1, TCM0Aout SPD3 SPD1SPD2 TQ1 TQ2GR4 Lstp Tacc Zero Speed Range Setting Communication Addr H ZspdSspd Target Rotation Speed Communication Addr HOn Delay Time of Electromagnetic Brake Communication Addr AH MBT1MBT2 SON OFFGR1 Regenerative Resistor Capacity Communication Addr H RES1RES2 PER Positioning Completed Width Communication Addr HMspd Maximum Speed Limit Communication Addr HKPP Speed Loop Gain Switching Rate Communication Addr H SPRSFG PctlcDRT Bounce Filter Communication Addr HDI1 Digital Input Terminal 1 DI1 Communication Addr AHDI5 DI3DI4 DI6 Digital Input Terminal 6 DI6 Communication Addr EHDO1 Digital Output Terminal 1 DO1 Communication Addr HDO3 Digital Output Terminal 3 DO3 Communication Addr HDST External Anti-Interference Gain Communication Addr AHGain Switching Control Selection Communication Addr BH Gain Switching Time Constant Communication Addr CHGCC GUTGain Switching Condition Communication Addr DH GPEINH AUT1AUT2 Tuning Mode Selection Excessive Error Warning Condition Communication Addr H SdevOverspeed Warning Condition Communication Addr H PdevOVL Overload Protection Level Communication Addr HOVW Output Overload Warning Level Communication Addr HGbit Special Function Communication Addr HAtur AfrqAtme AstrPulse Deviation Clear Mode Communication Addr H CclrSjit Communication Address Setting Communication Addr H Group 3 P3-xxCommunication ParametersADR BRTTransmission Fault Treatment Communication Addr H FLTCWD Communication Time Out Detection Communication Addr HCDT SDIDigital Input Communication Function Communication Addr H ASH2 ASH3ASH4 ASH5JOG JOG Operation Communication Addr HFOT Force Output Control Communication Addr HMOT ItstInput Status or Force Input Control Communication Addr H Adjustment Function Communication Addr AH CENTOF1 SOF1SOF2 COF1 COF2COF3 COF4Tigb Igbt NTC Calibration Communication Addr HSAO Analog Speed Input Offset Communication Addr HTAO Analog Torque Input Offset Communication Addr HCN1 Keypad Communication and Reset Setting Communication Addr H Group 8 P8-xx Keypad ParametersKver Keypad Firmware Version Communication Addr HTransmission Speed Keypad Communication Addr H KadrKbrt Kptl KcmmCommunication Selection Keypad Communication Addr H KtstMemory Block Clear Communication Addr BH KbltKclr Krno Memory Block Position Number ROMx Communication Addr CHKBL0 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 „ Code Description Ascii Mode RTU ModeModbus Communication Protocol „ Data Format„ Communication Protocol Ascii Mode STXCMD DATA0 LRCCMD Command Codes and Data Data Characters Ascii Mode Command message Response messageSTX Communication Start ADR Communication AddressADR CMD RTU Mode Command message Response messageAscii Mode Command message 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 InspectionMaintenance Life of Replacement Components„ Smooth capacitor „ Relay„ Cooling fan This page intentionally left blank Fault Messages Table Fault Messages Display Fault Name Fault DescriptionKeypad 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 Regeneration error ALE 3 / ALEALE 4 / ALE Pulse shiftOverspeed ALE 6 / ALE OverloadALE 7 / ALE Abnormal pulse control command ALE 10 / ALE Serial communication errorALE 8 / ALE ALE 9 / ALEALE 11 / ALE Encoder error Position detector fault ALE 12 / ALE Adjustment errorALE 14 / ALE Reverse CWL limit switch error ALE 15 / ALE Forward Ccwl limit switch errorALE 16 / ALE Igbt temperature error ALE 17 / ALE Memory errorALE 19 / ALE Motor type error ALE 20 / ALE Input power phase lossKeypad Fault Messages ALE 30 LCM hardware error ALE 31 LED hardware errorALE 32 KEY hardware error ALE 33 RAM hardware errorALE 35 Comm hardware error ALE 40 Initial setup errorALE 42 Communication receive error ALE 41 Communication receive time outALE 43 Error communication response address ALE 44 Error communication response commandALE 45 Communication parameter address error 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 Characteristics „ Chart of load and operating time ECMAC30401…S„ Overload Protection Function „ 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 Connecting to DVP-EH PLC and DOP-A HMI Application Example Dual Mode S-P Mode PurposeExplanation Programmable Logic Controller hereinafter PLC 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 Delta TP04 Series Connecting to DVP-EH PLC and Delta TP04 SeriesApplication Example Homing Operation Purpose 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 Delta Part Number ASDBCAPW0100 „ Power Connectors Delta Part Number ASDBCAPW0000Jowle „ Power Cables Delta Part Number ASDBCAPW0203/0205 Delta Part Number ASDBCAPW0303/0305Delta Part Number ASD-CAPW2303/2305 „ Power Cables, Delta Part Number ASD-CAPW1203/1205Delta Part Number ASD-CAPW2203/2205 „ Encoder Connectors Delta Part Number ASDBCAEN0000 „ Encoder Cables, Delta Part Number ASDBCAEN1003/1005 ASDBCAEN1003ASDBCAEN1005 JawsAppendix a AccessoriesASDA-B Series Delta Part Number ASD-PU-01B including communication cable ASDBCAPW0203 ASDBCAPW0205 ASDBCAEN0003 ASDBCAEN0005200W Servo Drive and 200W Low Inertia Servo Motor ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305400W Servo Drive and 500W Medium Inertia Servo Motor ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305ASDBCAEN1003 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