Page
  Important precautions
Using This Manual  Contents of this manual
 Who should use this manual
 Please Read Prior to Installation for Safety
 Main Circuit Wiring
Installation
Wiring
Maintenance and Inspection
 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
 This 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 freely
 Delta AC Servo Drive and Motor
 ASDA-B Series Servo Drive
Model Explanation Nameplate Information
Ecma 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 Notes
 Operating Temperature
Installation Conditions
 Motor Mounting
Installation Procedure and Minimum Clearances
Installation Procedure
Drive Mounting
  Minimum Clearances
 Side by Side Installation
 Connections Connecting to Peripheral Devices
Connections and Wiring
 CN3
Servo Drive Connectors and Terminals
CN1
CN2
 Wiring Notes
 Single-Phase Power Supply Connection
Wiring Methods
 Housing Jowle C4201H00-2*2PA
Motor Power Cable Connector Specifications
Housing Jowle C4201H00-2*3PA
 Case Ground BRAKE1 BRAKE2
 Sheld
Encoder Connector Specifications
Motor Model Name Encoder Connector Terminal Identification
GND Braid
 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
 Tref
Signals Explanation of Connector CN1
General Signals Pin No Details Wiring Diagram Refer to
Vref
 Tspd ALL
Srdy ALL
SON ALL
Zspd 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 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
 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
 Polarity Setting Display
Status Display Save Setting Display
Abort Setting Display
Fault Message Display
 Monitor Setting Display
 Following table lists the display examples of monitor value
 S H
Fault Code Display Operation
Status Display S H
 JOG Operation
 CCW
 0 6 F O T
Do Force Output Diagnosis Operation
 Do Diagnosis Operation
DI Diagnosis Operation
0 9 M O T
 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
 This page intentionally left blank
 Inspection without Load
Trial Run and Tuning Procedure
 Trial Run and Tuning ProcedureASDA-B Series
 Over voltage
Applying Power to the Drive
 Reverse limit switch error
Encoder error
Emergency stop activated
 Overcurrent
Forward limit switch error
Undervoltage
 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
 Tuning 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
 KVP
Gain Adjustment in Manual Mode
 Trial Run and Tuning ProcedureASDA-B Series
 This page intentionally left blank
 Control Modes of Operation
Control Modes of Operation
 ASD-PU-01A ASD-PU-01B
Command Source of Position Control Mode
PTT
External Pulse Input Type Communication Addr H
 Inhibit
Structure of Position Control Mode
 GR4
Pulse Inhibit Input Function Inhp
Electronic Gear Ratio
Inhp OFF
 Electronic Gear Ratio Denominator Communication Addr DH
GR2
 PF LT
Position Loop Gain Adjustment
Low-pass Filter
Pflt
 PPR
KPP
PFG
 PFF
KPF
 REF-GND
Command Source of Speed Control Mode
 Basic Structure
Structure of Speed Control Mode
 Acceleration Time Communication Addr H
Smoothing Strategy of Speed Control Mode
Curve Filter
Tacc
 Accel /Decel S-curve Communication Addr H
Tdec
Deceleration Time Communication Addr H
TSL
 Analog Speed Command Low-pass Filter
Analog Speed Command S-curve Filter
Sflt
 Analog Speed Input Scaling
Max. Analog Speed Command or Limit Communication Addr H
VCM
 SPD1 OFF SON
Timing Chart of Speed Control Mode
Speed Loop Gain Adjustment
SPD0 OFF
  Auto Mode
 Manual Mode
PI Structure P2-32
 AUT2
Tuning Mode Selection Communication Addr H
 Manual Mode
 KVI
GDR
KVP
Proportional Speed Loop Gain Communication Addr H
 KVI
SFG
Speed Feed Forward Gain Communication Addr H
Frequency Domain
 KVI
Time Domain
 SFG
Auto Mode Continuous adjustment
 DPH
Resonance Suppression
NCF
Notch Filter Resonance Suppression Communication Addr H
 Use Notch Filter to suppress resonance
NLP
Use Low-pass Filter to suppress resonance
 Command Source of Torque Control Mode
 Structure of Torque Control Mode
 Analog Torque Input Scaling
Smoothing Strategy of Torque Control Mode
Tflt
 TCM1 OFF SON
Max. Analog Torque Command or Limit Communication Addr H
TCM
TCM0 OFF
 OFF Not Care
Speed / Position Control Mode Selection
Control Modes Selection
Mode
 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
 SON OFF
OFF MBT1 MBT2
Brkr OFF
 Control Modes of OperationASDA-B Series
 Definition
Explanation of symbols marked after parameter
Abbreviation of control modes
 Control
Parameter Name Function Default Unit
Parameters Summary Parameters List by Group
Group 0 P0-xx
 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
 Pdev
AUT1
AUT2
Sdev
 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
 VER
Drive Fault Code Communication Addr H
Detailed Parameter Listings
Group 0 P0-xx Monitor Parameters
 Servo ParametersASDA-B Series
 CM1
STS
Drive Status Communication Addr H
Reserved Communication Addr H
 Servo Output Status Display Communication Addr H
CM2
CM3
Svsts
 Servo ParametersASDA-B Series
 Group 1 P1-xx Basic Parameters
 Speed and Torque Limit Communication Addr H
Control Mode and Output Direction Communication Addr H
CTL
Pstl
 TCM1, TCM0
SPD1, SPD0
 Aout
 SPD2
SPD1
SPD3
 TQ2
TQ1
 GR4
 Lstp
 Tacc
 Target Rotation Speed Communication Addr H
Zero Speed Range Setting Communication Addr H
Zspd
Sspd
 MBT1
On Delay Time of Electromagnetic Brake Communication Addr AH
 MBT2
 GR1
 RES2
RES1
Regenerative Resistor Capacity Communication Addr H
 Maximum Speed Limit Communication Addr H
PER
Positioning Completed Width Communication Addr H
Mspd
 KPP
 SPR
Speed Loop Gain Switching Rate Communication Addr H
 Pctlc
 Digital Input Terminal 1 DI1 Communication Addr AH
DRT
Bounce Filter Communication Addr H
DI1
 DI4
DI3
DI5
 Digital Output Terminal 1 DO1 Communication Addr H
DI6
Digital Input Terminal 6 DI6 Communication Addr EH
DO1
 Digital Output Terminal 3 DO3 Communication Addr H
DO3
 External Anti-Interference Gain Communication Addr AH
DST
 GUT
Gain Switching Control Selection Communication Addr BH
Gain Switching Time Constant Communication Addr CH
GCC
 AUT1
Gain Switching Condition Communication Addr DH
GPE
INH
 AUT2 Tuning Mode Selection
 Pdev
Excessive Error Warning Condition Communication Addr H
Sdev
Overspeed Warning Condition Communication Addr H
 Output Overload Warning Level Communication Addr H
OVL
Overload Protection Level Communication Addr H
OVW
 Special Function Communication Addr H
Gbit
 Astr
Atur
Afrq
Atme
 Cclr
Pulse Deviation Clear Mode Communication Addr H
 Sjit
 BRT
Communication Address Setting Communication Addr H
Group 3 P3-xxCommunication Parameters
ADR
 Communication Time Out Detection Communication Addr H
Transmission Fault Treatment Communication Addr H
FLT
CWD
 Digital Input Communication Function Communication Addr H
SDI
CDT
 ASH5
ASH2
ASH3
ASH4
 Force Output Control Communication Addr H
JOG
JOG Operation Communication Addr H
FOT
 Input Status or Force Input Control Communication Addr H
Itst
MOT
 CEN
Adjustment Function Communication Addr AH
 SOF2
SOF1
TOF1
 COF2
COF1
 Igbt NTC Calibration Communication Addr H
COF3
COF4
Tigb
 Analog Torque Input Offset Communication Addr H
SAO
Analog Speed Input Offset Communication Addr H
TAO
 CN1
 Keypad Firmware Version Communication Addr H
Keypad Communication and Reset Setting Communication Addr H
Group 8 P8-xx Keypad Parameters
Kver
 Kbrt
Kadr
Transmission Speed Keypad Communication Addr H
 Ktst
Kptl
Kcmm
Communication Selection Keypad Communication Addr H
 Kclr
Kblt
Memory Block Clear Communication Addr BH
 Status of Memory Block ROMx Communication Addr DH
Krno
Memory Block Position Number ROMx Communication Addr CH
KBL0
 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
  Data Format
 Code Description Ascii Mode
RTU Mode
Modbus Communication Protocol
 DATA0 LRC
 Communication Protocol Ascii Mode
STX
CMD
 ADR Communication Address
CMD Command Codes and Data Data Characters
Ascii Mode Command message Response message
STX Communication Start
 Ascii Mode Command message
RTU Mode Command message Response message
ADR CMD
 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
  Relay
Maintenance
Life of Replacement Components
 Smooth capacitor
  Cooling fan
 This page intentionally left blank
 Fault Messages Table
 ALE 20/ALE
Fault Messages
Display Fault Name Fault Description
Keypad Fault Messages Display Fault Name Fault Description
 Potential Cause and Corrective Actions
Servo Drive Fault Messages ALE 1 / ALE Overcurrent
ALE 2 / ALE Overvoltage
 Pulse shift
Regeneration error
ALE 3 / ALE
ALE 4 / ALE
 ALE 7 / ALE
ALE 6 / ALE Overload
Overspeed
 ALE 9 / ALE
Abnormal pulse control command
ALE 10 / ALE Serial communication error
ALE 8 / ALE
 ALE 15 / ALE Forward Ccwl limit switch error
ALE 11 / ALE Encoder error Position detector fault
ALE 12 / ALE Adjustment error
ALE 14 / ALE Reverse CWL limit switch error
 ALE 20 / ALE Input power phase loss
ALE 16 / ALE Igbt temperature error
ALE 17 / ALE Memory error
ALE 19 / ALE Motor type error
 ALE 33 RAM hardware error
Keypad Fault Messages ALE 30 LCM hardware error
ALE 31 LED hardware error
ALE 32 KEY hardware error
 ALE 41 Communication receive time out
ALE 35 Comm hardware error
ALE 40 Initial setup error
ALE 42 Communication receive error
 ALE 46 Communication parameter content error
ALE 43 Error communication response address
ALE 44 Error communication response command
ALE 45 Communication parameter address 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
  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
S
 Motor Frame Size 80mm Models
Dimensions of Servo Motor
 Motor Frame Size 100mm Models
 11-21
 11.7 EMI Filters Selection
 Y1 Sign
Connecting to DVP-EH PLC and DOP-A HMI
Application Example Dual Mode S-P Mode Purpose
Explanation Programmable Logic Controller hereinafter PLC
 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
 Application Example Homing Operation Purpose
Connecting to DVP-EH PLC and Delta TP04 Series
Delta TP04 Series
 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
 This page intentionally left blank 12-20
 Jowle
 Power Connectors Delta Part Number ASDBCAPW0000
Delta Part Number ASDBCAPW0100
 Delta Part Number ASDBCAPW0303/0305
 Power Cables Delta Part Number ASDBCAPW0203/0205
 Delta Part Number ASD-CAPW2203/2205
 Power Cables, Delta Part Number ASD-CAPW1203/1205
Delta Part Number ASD-CAPW2303/2305
  Encoder Connectors Delta Part Number ASDBCAEN0000
 Jaws
 Encoder Cables, Delta Part Number ASDBCAEN1003/1005
ASDBCAEN1003
ASDBCAEN1005
 Appendix a AccessoriesASDA-B Series
 Delta Part Number ASD-PU-01B including communication cable
 ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305
ASDBCAPW0203 ASDBCAPW0205
ASDBCAEN0003 ASDBCAEN0005
200W Servo Drive and 200W Low Inertia Servo Motor
 400W Servo Drive and 300W High Inertia Servo Motor
400W Servo Drive and 500W Medium Inertia Servo Motor
ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305
ASDBCAEN1003 ASDBCAEN1005
 1kW Servo Drive and 1kW Low Inertia Servo Motor
750W Servo Drive and 600W High Inertia Servo Motor
1kW 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 Motor
2kW Servo Drive and 2kW Low Inertia Servo Motor
 2kW Servo Drive and 2kW Medium Inertia Servo Motor