Page
  Who should use this manual
Using This Manual  Contents of this manual
 Important precautions
 Please Read Prior to Installation for Safety
 Wiring
Installation
Maintenance and Inspection
Main Circuit Wiring
 Main 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 Service
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  Ensure that the product is what you have ordered
Unpacking Check
 Ensure that the servo motor shaft rotates freely
 Check for damage
 Delta AC Servo Drive and Motor
 Ecma Series Servo Motor
Model Explanation Nameplate Information
ASDA-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 Notes
 Operating Temperature
Installation Conditions
 Installation Procedure
Installation Procedure and Minimum Clearances
Drive Mounting
Motor Mounting
  Minimum Clearances
 Side by Side Installation
 Connections Connecting to Peripheral Devices
Connections and Wiring
 CN1
Servo Drive Connectors and Terminals
CN2
CN3
 Wiring Notes
 Single-Phase Power Supply Connection
Wiring Methods
 Housing Jowle C4201H00-2*3PA
Motor Power Cable Connector Specifications
Housing Jowle C4201H00-2*2PA
 Case Ground BRAKE1 BRAKE2
 Motor Model Name Encoder Connector Terminal Identification
Encoder Connector Specifications
GND Braid
Sheld
 Cable Specifications for Servo Drive and Servo Motor
 Basic Wiring Schematic of 400W and below models
Basic Wiring
 Basic Wiring Schematic of 750W models
 Basic Wiring Schematic of 1kW and above models
 1 CN1 Terminal Identification
Input / Output Interface Connector -CN1
 General Signals Pin No Details Wiring Diagram Refer to
Signals Explanation of Connector CN1
Vref
Tref
 SON ALL
Srdy ALL
Zspd ALL
Tspd ALL
 Warn ALL
 Source of Torque Command
Source of Speed Command
 Default DI Signals and do Signals
 User-defined DI and do signals
User-defined DI and do signals
 Connections 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
 Selection 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
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 ASD-PU-01A Description of Digital Keypad ASD-PU-01A
Display and Operation
 Name Function
 Monitor Mode
 YES
Press Mode key to return to previous display
 YES
 Fast Edit Mode Fast Editing, Static & Dynamic Auto-tuning
 Fast Editing
 Abort Setting Display
Status Display Save Setting Display
Fault Message Display
Polarity Setting Display
 Monitor Setting Display
 Following table lists the display examples of monitor value
 Status Display S H
Fault Code Display Operation
S H
 JOG Operation
 CCW
 0 6 F O T
Do Force Output Diagnosis Operation
 0 9 M O T
DI Diagnosis Operation
Do Diagnosis Operation
 Parameters Read and Write
 Display and OperationASDA-B Series
 ASD-PU-01B Description of Digital Keypad ASD-PU-01B
 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
 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
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 Inspection without Load
Trial Run and Tuning Procedure
 Trial Run and Tuning ProcedureASDA-B Series
 Over voltage
Applying Power to the Drive
 Emergency stop activated
Encoder error
Reverse limit switch error
 Undervoltage
Forward limit switch error
Overcurrent
 Input power phase loss
Magnetic field error
 JOG Trial Run without Load
ASD-PU-01A Tuning Flowchart
 ASD-PU-01B Tuning Flowchart
 Step
Speed Trial Run without Load
 P1-11 is set to
  ASD-PU-01A
Tuning Procedure
  ASD-PU-01B
Tuning Procedure
Tuning 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 Mode
 Trial Run and Tuning ProcedureASDA-B Series
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 Control Modes of Operation
Control Modes of Operation
 PTT
Command Source of Position Control Mode
External Pulse Input Type Communication Addr H
ASD-PU-01A ASD-PU-01B
 Inhibit
Structure of Position Control Mode
 Electronic Gear Ratio
Pulse Inhibit Input Function Inhp
Inhp OFF
GR4
 Electronic Gear Ratio Denominator Communication Addr DH
GR2
 Low-pass Filter
Position Loop Gain Adjustment
Pflt
PF LT
 PFG
KPP
PPR
 PFF
KPF
 REF-GND
Command Source of Speed Control Mode
 Basic Structure
Structure of Speed Control Mode
 Curve Filter
Smoothing Strategy of Speed Control Mode
Tacc
Acceleration Time Communication Addr H
 Deceleration Time Communication Addr H
Tdec
TSL
Accel /Decel S-curve Communication Addr H
 Sflt
Analog Speed Command S-curve Filter
Analog Speed Command Low-pass Filter
 VCM
Max. Analog Speed Command or Limit Communication Addr H
Analog Speed Input Scaling
 Speed Loop Gain Adjustment
Timing Chart of Speed Control Mode
SPD0 OFF
SPD1 OFF SON
 PI Structure P2-32
 Manual Mode
 Auto Mode
 AUT2
Tuning Mode Selection Communication Addr H
 Manual Mode
 KVP
GDR
Proportional Speed Loop Gain Communication Addr H
KVI
 Speed Feed Forward Gain Communication Addr H
SFG
Frequency Domain
KVI
 KVI
Time Domain
 SFG
Auto Mode Continuous adjustment
 NCF
Resonance Suppression
Notch Filter Resonance Suppression Communication Addr H
DPH
 Use Low-pass Filter to suppress resonance
NLP
Use Notch Filter to suppress resonance
 Command Source of Torque Control Mode
 Structure of Torque Control Mode
 Tflt
Smoothing Strategy of Torque Control Mode
Analog Torque Input Scaling
 TCM
Max. Analog Torque Command or Limit Communication Addr H
TCM0 OFF
TCM1 OFF SON
 Control Modes Selection
Speed / Position Control Mode Selection
Mode
OFF Not Care
 Torque / Position Control Mode Selection
Speed / Torque Control Mode Selection
 Torque Limit
Others Speed Limit
  Built-in Regenerative Resistor
Regenerative Resistor
  External Regenerative Resistor
 Regenerative Power Calculation Method Without Load
 With Load
  Simple Calculation Method
 Electromagnetic Brake
 Brkr OFF
OFF MBT1 MBT2
SON OFF
 Control Modes of OperationASDA-B Series
 Abbreviation of control modes
Explanation of symbols marked after parameter
Definition
 Parameters Summary Parameters List by Group
Parameter Name Function Default Unit
Group 0 P0-xx
Control
 Group 1 P1-xx
Control Parameter Name Function Default Unit Mode
 Parameter Name Function Default Unit Mode
 Group 2 P2-xx
Control Parameter Name Function Default Unit
 AUT2
AUT1
Sdev
Pdev
 Group 3 P3-xx
 Group 4 P4-xx
 Group 8 P8-xx
 Monitor and General Use
Parameters List by Function
 Gain and Switch
 Position Control
External pulse control command P mode
 Speed 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 H
Group 0 P0-xx Monitor Parameters
VER
 Servo ParametersASDA-B Series
 Drive Status Communication Addr H
STS
Reserved Communication Addr H
CM1
 CM3
CM2
Svsts
Servo Output Status Display Communication Addr H
 Servo ParametersASDA-B Series
 Group 1 P1-xx Basic Parameters
 CTL
Control Mode and Output Direction Communication Addr H
Pstl
Speed and Torque Limit Communication Addr H
 TCM1, TCM0
SPD1, SPD0
 Aout
 SPD3
SPD1
SPD2
 TQ2
TQ1
 GR4
 Lstp
 Tacc
 Zspd
Zero Speed Range Setting Communication Addr H
Sspd
Target Rotation Speed Communication Addr H
 MBT1
On Delay Time of Electromagnetic Brake Communication Addr AH
 MBT2
 GR1
 Regenerative Resistor Capacity Communication Addr H
RES1
RES2
 Positioning Completed Width Communication Addr H
PER
Mspd
Maximum Speed Limit Communication Addr H
 KPP
 SPR
Speed Loop Gain Switching Rate Communication Addr H
 Pctlc
 Bounce Filter Communication Addr H
DRT
DI1
Digital Input Terminal 1 DI1 Communication Addr AH
 DI5
DI3
DI4
 Digital Input Terminal 6 DI6 Communication Addr EH
DI6
DO1
Digital Output Terminal 1 DO1 Communication Addr H
 Digital Output Terminal 3 DO3 Communication Addr H
DO3
 External Anti-Interference Gain Communication Addr AH
DST
 Gain Switching Time Constant Communication Addr CH
Gain Switching Control Selection Communication Addr BH
GCC
GUT
 GPE
Gain Switching Condition Communication Addr DH
INH
AUT1
 AUT2 Tuning Mode Selection
 Sdev
Excessive Error Warning Condition Communication Addr H
Overspeed Warning Condition Communication Addr H
Pdev
 Overload Protection Level Communication Addr H
OVL
OVW
Output Overload Warning Level Communication Addr H
 Special Function Communication Addr H
Gbit
 Afrq
Atur
Atme
Astr
 Cclr
Pulse Deviation Clear Mode Communication Addr H
 Sjit
 Group 3 P3-xxCommunication Parameters
Communication Address Setting Communication Addr H
ADR
BRT
 FLT
Transmission Fault Treatment Communication Addr H
CWD
Communication Time Out Detection Communication Addr H
 CDT
SDI
Digital Input Communication Function Communication Addr H
 ASH3
ASH2
ASH4
ASH5
 JOG Operation Communication Addr H
JOG
FOT
Force Output Control Communication Addr H
 MOT
Itst
Input Status or Force Input Control Communication Addr H
 CEN
Adjustment Function Communication Addr AH
 TOF1
SOF1
SOF2
 COF2
COF1
 COF4
COF3
Tigb
Igbt NTC Calibration Communication Addr H
 Analog Speed Input Offset Communication Addr H
SAO
TAO
Analog Torque Input Offset Communication Addr H
 CN1
 Group 8 P8-xx Keypad Parameters
Keypad Communication and Reset Setting Communication Addr H
Kver
Keypad Firmware Version Communication Addr H
 Transmission Speed Keypad Communication Addr H
Kadr
Kbrt
 Kcmm
Kptl
Communication Selection Keypad Communication Addr H
Ktst
 Memory Block Clear Communication Addr BH
Kblt
Kclr
 Memory Block Position Number ROMx Communication Addr CH
Krno
KBL0
Status of Memory Block ROMx Communication Addr DH
 Firmware Version of Memory Block ROMx Communication Addr EH
KBL1
 Input Function Definition
Setting value of P2-10 ~ P2-15
 Inhp 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 ~ P2-20
 OFF
 Warn
 Communication Hardware Interface
RS-232  Configuration  Cable Connection
 Modbus CommunicationsASDA-B Series
RS-485, RS-422  Configuration  Cable Connection
 Modbus 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 Mode
Modbus Communication Protocol
 Data Format
 STX
 Communication Protocol Ascii Mode
CMD
DATA0 LRC
 Ascii Mode Command message Response message
CMD Command Codes and Data Data Characters
STX Communication Start
ADR Communication Address
 ADR CMD
RTU Mode Command message Response message
Ascii Mode Command message
 LRC Ascii Mode
 End1, End0 Communication End Ascii Mode
CRC RTU Mode
 Error Code RTU Mode
 Communication Related Error Code
 Modbus CommunicationsASDA-B Series
 Modbus CommunicationsASDA-B Series
 Basic Inspection
Maintenance and Inspection
 Life of Replacement Components
Maintenance
 Smooth capacitor
 Relay
  Cooling fan
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 Fault Messages Table
 Display Fault Name Fault Description
Fault Messages
Keypad Fault Messages Display Fault Name Fault Description
ALE 20/ALE
 ALE 2 / ALE Overvoltage
Servo Drive Fault Messages ALE 1 / ALE Overcurrent
Potential Cause and Corrective Actions
 ALE 3 / ALE
Regeneration error
ALE 4 / ALE
Pulse shift
 Overspeed
ALE 6 / ALE Overload
ALE 7 / ALE
 ALE 10 / ALE Serial communication error
Abnormal pulse control command
ALE 8 / ALE
ALE 9 / ALE
 ALE 12 / ALE Adjustment error
ALE 11 / ALE Encoder error Position detector fault
ALE 14 / ALE Reverse CWL limit switch error
ALE 15 / ALE Forward Ccwl limit switch error
 ALE 17 / ALE Memory error
ALE 16 / ALE Igbt temperature error
ALE 19 / ALE Motor type error
ALE 20 / ALE Input power phase loss
 ALE 31 LED hardware error
Keypad Fault Messages ALE 30 LCM hardware error
ALE 32 KEY hardware error
ALE 33 RAM hardware error
 ALE 40 Initial setup error
ALE 35 Comm hardware error
ALE 42 Communication receive error
ALE 41 Communication receive time out
 ALE 44 Error communication response command
ALE 43 Error communication response address
ALE 45 Communication parameter address error
ALE 46 Communication parameter content error
 Display Fault Name Clearing Method
Clearing Servo Drive Faults
 Specifications of Servo Drive ASDA-B Series
Specifications
 SpecificationsASDA-B Series
 11-3
 Low Inertia Servo Motor
Specifications of Servo Motor Ecma Series
 Medium / High Inertia Servo Motor
 Revision January
 Weight
Dimensions of Servo Drive
 Order 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
S
 Motor Frame Size 80mm Models
Dimensions of Servo Motor
 Motor 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 HMI
Explanation Programmable Logic Controller hereinafter PLC
Y1 Sign
 PLC Program
 Application Examples ASDA-B Series
 12-4
 12-5
 DVP-EH ASDA-B CN1
DVP-EH
 Program Screen Homing Operation
HMI DOP-A HMI
 Position Control
 12-9
 JOG Operation
 Speed Control Operation
 Delta TP04 Series
Connecting to DVP-EH PLC and Delta TP04 Series
Application Example Homing Operation Purpose
 12-13
 Communication Settings
ASDA-B series Servo Drive Parameter Settings
 External 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
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 Delta Part Number ASDBCAPW0100
 Power Connectors Delta Part Number ASDBCAPW0000
Jowle
 Delta Part Number ASDBCAPW0303/0305
 Power Cables Delta Part Number ASDBCAPW0203/0205
 Delta Part Number ASD-CAPW2303/2305
 Power Cables, Delta Part Number ASD-CAPW1203/1205
Delta Part Number ASD-CAPW2203/2205
  Encoder Connectors Delta Part Number ASDBCAEN0000
 ASDBCAEN1003
 Encoder Cables, Delta Part Number ASDBCAEN1003/1005
ASDBCAEN1005
Jaws
 Appendix a AccessoriesASDA-B Series
 Delta Part Number ASD-PU-01B including communication cable
 ASDBCAEN0003 ASDBCAEN0005
ASDBCAPW0203 ASDBCAPW0205
200W Servo Drive and 200W Low Inertia Servo Motor
ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305
 ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305
400W Servo Drive and 500W Medium Inertia Servo Motor
ASDBCAEN1003 ASDBCAEN1005
400W Servo Drive and 300W High Inertia Servo Motor
 1kW Servo Drive and 1kW Medium Inertia Servo Motor
750W Servo Drive and 600W High Inertia Servo Motor
1kW 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 Motor
5kW Servo Drive and 1.5kW Medium Inertia Servo Motor
 2kW Servo Drive and 2kW Medium Inertia Servo Motor