Page
  Important precautions
Using This Manual  Contents of this manual
 Who should use this manual
 Please Read Prior to Installation for Safety
 Maintenance and Inspection
Installation
Wiring
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
 Technical Support and Service
About this Manual… User Information
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  Ensure that the servo motor shaft rotates freely
Unpacking Check
 Ensure that the product is what you have ordered
 Check for damage
 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
 Installation Notes
Storage Conditions
 Installation Conditions
Operating Temperature
 Drive Mounting
Installation Procedure and Minimum Clearances
Installation Procedure
Motor Mounting
  Side by Side Installation
 Minimum Clearances
 Connections and Wiring
Connections Connecting to Peripheral Devices
 CN2
Servo Drive Connectors and Terminals
CN1
CN3
 Wiring Notes
 Wiring Methods
Single-Phase Power Supply Connection
 Housing Jowle C4201H00-2*2PA
Motor Power Cable Connector Specifications
Housing Jowle C4201H00-2*3PA
 Case Ground BRAKE1 BRAKE2
 GND Braid
Encoder Connector Specifications
Motor Model Name Encoder Connector Terminal Identification
Sheld
 Cable Specifications for Servo Drive and Servo Motor
 Basic Wiring
Basic Wiring Schematic of 400W and below models
 Basic Wiring Schematic of 750W models
 Basic Wiring Schematic of 1kW and above models
 Input / Output Interface Connector -CN1
1 CN1 Terminal Identification
 Vref
Signals Explanation of Connector CN1
General Signals Pin No Details Wiring Diagram Refer to
Tref
 Zspd ALL
Srdy ALL
SON ALL
Tspd ALL
 Warn ALL
 Source of Speed Command
Source of Torque 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
 CN3 Terminal Signal Identification
Selection Do not connect this terminal
  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
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 Display and Operation
ASD-PU-01A Description of Digital Keypad ASD-PU-01A
 Name Function
 Monitor Mode
 Press Mode key to return to previous display
YES
 YES
 Fast Edit Mode Fast Editing, Static & Dynamic Auto-tuning
 Fast Editing
 Fault Message Display
Status Display Save Setting Display
Abort Setting Display
Polarity Setting 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
 Do Force Output Diagnosis Operation
0 6 F O T
 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
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 Trial Run and Tuning Procedure
Inspection without Load
 Trial Run and Tuning ProcedureASDA-B Series
 Applying Power to the Drive
Over voltage
 Reverse limit switch error
Encoder error
Emergency stop activated
 Overcurrent
Forward limit switch error
Undervoltage
 Magnetic field error
Input power phase loss
 ASD-PU-01A Tuning Flowchart
JOG Trial Run without Load
 ASD-PU-01B Tuning Flowchart
 Speed Trial Run without Load
Step
 P1-11 is set to
 Tuning Procedure
 ASD-PU-01A
 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
 Gain Adjustment in Manual Mode
KVP
 Trial Run and Tuning ProcedureASDA-B Series
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 Control Modes of Operation
Control Modes of Operation
 External Pulse Input Type Communication Addr H
Command Source of Position Control Mode
PTT
ASD-PU-01A ASD-PU-01B
 Structure of Position Control Mode
Inhibit
 Inhp OFF
Pulse Inhibit Input Function Inhp
Electronic Gear Ratio
GR4
 GR2
Electronic Gear Ratio Denominator Communication Addr DH
 Pflt
Position Loop Gain Adjustment
Low-pass Filter
PF LT
 PPR
KPP
PFG
 KPF
PFF
 Command Source of Speed Control Mode
REF-GND
 Structure of Speed Control Mode
Basic Structure
 Tacc
Smoothing Strategy of Speed Control Mode
Curve Filter
Acceleration Time Communication Addr H
 TSL
Tdec
Deceleration Time Communication Addr H
Accel /Decel S-curve Communication Addr H
 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
 SPD0 OFF
Timing Chart of Speed Control Mode
Speed Loop Gain Adjustment
SPD1 OFF SON
  Auto Mode
 Manual Mode
PI Structure P2-32
 Tuning Mode Selection Communication Addr H
AUT2
 Manual Mode
 Proportional Speed Loop Gain Communication Addr H
GDR
KVP
KVI
 Frequency Domain
SFG
Speed Feed Forward Gain Communication Addr H
KVI
 Time Domain
KVI
 Auto Mode Continuous adjustment
SFG
 Notch Filter Resonance Suppression Communication Addr H
Resonance Suppression
NCF
DPH
 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
 TCM0 OFF
Max. Analog Torque Command or Limit Communication Addr H
TCM
TCM1 OFF SON
 Mode
Speed / Position Control Mode Selection
Control Modes Selection
OFF Not Care
 Speed / Torque Control Mode Selection
Torque / Position Control Mode Selection
 Others Speed Limit
Torque Limit
 Regenerative Resistor
 Built-in Regenerative Resistor
  Regenerative Power Calculation Method Without Load
 External Regenerative Resistor
 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
 Group 0 P0-xx
Parameter Name Function Default Unit
Parameters Summary Parameters List by Group
Control
 Control Parameter Name Function Default Unit Mode
Group 1 P1-xx
 Parameter Name Function Default Unit Mode
 Control Parameter Name Function Default Unit
Group 2 P2-xx
 Sdev
AUT1
AUT2
Pdev
 Group 3 P3-xx
 Group 4 P4-xx
 Group 8 P8-xx
 Parameters List by Function
Monitor and General Use
 Gain and Switch
 External pulse control command P mode
Position Control
 Speed Control
 Digital I/O
 Communication
 Input Status or Force Input Control P4-09
 Others
 Keypad Communication and Reset Setting P8-05
 Group 0 P0-xx Monitor Parameters
Drive Fault Code Communication Addr H
Detailed Parameter Listings
VER
 Servo ParametersASDA-B Series
 Reserved Communication Addr H
STS
Drive Status Communication Addr H
CM1
 Svsts
CM2
CM3
Servo Output Status Display Communication Addr H
 Servo ParametersASDA-B Series
 Group 1 P1-xx Basic Parameters
 Pstl
Control Mode and Output Direction Communication Addr H
CTL
Speed and Torque Limit Communication Addr H
 SPD1, SPD0
TCM1, TCM0
 Aout
 SPD2
SPD1
SPD3
 TQ1
TQ2
 GR4
 Lstp
 Tacc
 Sspd
Zero Speed Range Setting Communication Addr H
Zspd
Target Rotation Speed Communication Addr H
 On Delay Time of Electromagnetic Brake Communication Addr AH
MBT1
 MBT2
 GR1
 RES2
RES1
Regenerative Resistor Capacity Communication Addr H
 Mspd
PER
Positioning Completed Width Communication Addr H
Maximum Speed Limit Communication Addr H
 KPP
 Speed Loop Gain Switching Rate Communication Addr H
SPR
 Pctlc
 DI1
DRT
Bounce Filter Communication Addr H
Digital Input Terminal 1 DI1 Communication Addr AH
 DI4
DI3
DI5
 DO1
DI6
Digital Input Terminal 6 DI6 Communication Addr EH
Digital Output Terminal 1 DO1 Communication Addr H
 DO3
Digital Output Terminal 3 DO3 Communication Addr H
 DST
External Anti-Interference Gain Communication Addr AH
 GCC
Gain Switching Control Selection Communication Addr BH
Gain Switching Time Constant Communication Addr CH
GUT
 INH
Gain Switching Condition Communication Addr DH
GPE
AUT1
 AUT2 Tuning Mode Selection
 Overspeed Warning Condition Communication Addr H
Excessive Error Warning Condition Communication Addr H
Sdev
Pdev
 OVW
OVL
Overload Protection Level Communication Addr H
Output Overload Warning Level Communication Addr H
 Gbit
Special Function Communication Addr H
 Atme
Atur
Afrq
Astr
 Pulse Deviation Clear Mode Communication Addr H
Cclr
 Sjit
 ADR
Communication Address Setting Communication Addr H
Group 3 P3-xxCommunication Parameters
BRT
 CWD
Transmission Fault Treatment Communication Addr H
FLT
Communication Time Out Detection Communication Addr H
 Digital Input Communication Function Communication Addr H
SDI
CDT
 ASH4
ASH2
ASH3
ASH5
 FOT
JOG
JOG Operation Communication Addr H
Force Output Control Communication Addr H
 Input Status or Force Input Control Communication Addr H
Itst
MOT
 Adjustment Function Communication Addr AH
CEN
 SOF2
SOF1
TOF1
 COF1
COF2
 Tigb
COF3
COF4
Igbt NTC Calibration Communication Addr H
 TAO
SAO
Analog Speed Input Offset Communication Addr H
Analog Torque Input Offset Communication Addr H
 CN1
 Kver
Keypad Communication and Reset Setting Communication Addr H
Group 8 P8-xx Keypad Parameters
Keypad Firmware Version Communication Addr H
 Kbrt
Kadr
Transmission Speed Keypad Communication Addr H
 Communication Selection Keypad Communication Addr H
Kptl
Kcmm
Ktst
 Kclr
Kblt
Memory Block Clear Communication Addr BH
 KBL0
Krno
Memory Block Position Number ROMx Communication Addr CH
Status of Memory Block ROMx Communication Addr DH
 KBL1
Firmware Version of Memory Block ROMx Communication Addr EH
 Setting value of P2-10 ~ P2-15
Input Function Definition
 Inhp is activated, the external pulse input command is not
 Setting value of P2-10 ~ P2-15 14 ~
SPD0 SPD1
 Setting value of P2-10 ~ P2-15 16 ~
TCM0 TCM1
 Emgs
 Tllm
 Setting value of P2-18 ~ P2-20
Output Function Definition
 OFF
 Warn
 RS-232  Configuration  Cable Connection
Communication Hardware Interface
 RS-485, RS-422  Configuration  Cable Connection
Modbus CommunicationsASDA-B Series
 Modbus CommunicationsASDA-B Series
 Communication Parameter Settings
 Modbus CommunicationsASDA-B Series
 DI6 DI5 DI4 DI3 DI2 DI1
 0307H Communication Response Delay Time
 Modbus Communication Protocol
 Code Description Ascii Mode
RTU Mode
 Data Format
 CMD
 Communication Protocol Ascii Mode
STX
DATA0 LRC
 STX Communication Start
CMD Command Codes and Data Data Characters
Ascii Mode Command message Response message
ADR Communication Address
 Ascii Mode Command message
RTU Mode Command message Response message
ADR CMD
 LRC Ascii Mode
 CRC RTU Mode
End1, End0 Communication End Ascii Mode
  Communication Related Error Code
Error Code RTU Mode
 Modbus CommunicationsASDA-B Series
 Modbus CommunicationsASDA-B Series
 Maintenance and Inspection
Basic Inspection
  Smooth capacitor
Maintenance
Life of Replacement Components
 Relay
  Cooling fan
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 Fault Messages Table
 Keypad Fault Messages Display Fault Name Fault Description
Fault Messages
Display Fault Name Fault Description
ALE 20/ALE
 Potential Cause and Corrective Actions
Servo Drive Fault Messages ALE 1 / ALE Overcurrent
ALE 2 / ALE Overvoltage
 ALE 4 / ALE
Regeneration error
ALE 3 / ALE
Pulse shift
 ALE 7 / ALE
ALE 6 / ALE Overload
Overspeed
 ALE 8 / ALE
Abnormal pulse control command
ALE 10 / ALE Serial communication error
ALE 9 / ALE
 ALE 14 / ALE Reverse CWL limit switch error
ALE 11 / ALE Encoder error Position detector fault
ALE 12 / ALE Adjustment error
ALE 15 / ALE Forward Ccwl limit switch error
 ALE 19 / ALE Motor type error
ALE 16 / ALE Igbt temperature error
ALE 17 / ALE Memory error
ALE 20 / ALE Input power phase loss
 ALE 32 KEY hardware error
Keypad Fault Messages ALE 30 LCM hardware error
ALE 31 LED hardware error
ALE 33 RAM hardware error
 ALE 42 Communication receive error
ALE 35 Comm hardware error
ALE 40 Initial setup error
ALE 41 Communication receive time out
 ALE 45 Communication parameter address error
ALE 43 Error communication response address
ALE 44 Error communication response command
ALE 46 Communication parameter content error
 Clearing Servo Drive Faults
Display Fault Name Clearing Method
 Specifications
Specifications of Servo Drive ASDA-B Series
 SpecificationsASDA-B Series
 11-3
 Specifications of Servo Motor Ecma Series
Low Inertia Servo Motor
 Medium / High Inertia Servo Motor
 Revision January
 Dimensions of Servo Drive
Weight
 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
  Overload Protection Function
Overload Characteristics
 Chart of load and operating time ECMAC30401
S
 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
S
 Dimensions of Servo Motor
Motor Frame Size 80mm Models
 Motor Frame Size 100mm Models
 11-21
 11.7 EMI Filters Selection
 Explanation Programmable Logic Controller hereinafter PLC
Connecting to DVP-EH PLC and DOP-A HMI
Application Example Dual Mode S-P Mode Purpose
Y1 Sign
 PLC Program
 Application Examples ASDA-B Series
 12-4
 12-5
 DVP-EH
DVP-EH ASDA-B CN1
 HMI DOP-A HMI
Program Screen Homing Operation
 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
 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
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 Jowle
 Power Connectors Delta Part Number ASDBCAPW0000
Delta Part Number ASDBCAPW0100
  Power Cables Delta Part Number ASDBCAPW0203/0205
Delta Part Number ASDBCAPW0303/0305
 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
 ASDBCAEN1005
 Encoder Cables, Delta Part Number ASDBCAEN1003/1005
ASDBCAEN1003
Jaws
 Appendix a AccessoriesASDA-B Series
 Delta Part Number ASD-PU-01B including communication cable
 200W Servo Drive and 200W Low Inertia Servo Motor
ASDBCAPW0203 ASDBCAPW0205
ASDBCAEN0003 ASDBCAEN0005
ASDBCAPW0203 ASDBCAPW0205 ASDBCAPW0303 ASDBCAPW0305
 ASDBCAEN1003 ASDBCAEN1005
400W Servo Drive and 500W Medium Inertia Servo Motor
ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305
400W Servo Drive and 300W High Inertia Servo Motor
 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