Specifications | Delta Electronics ASDA-B Series specs

Chapter 11 Specifications

11.1

Specifications of Servo Drive (ASDA-B Series)

Model: ASDA-B Series

100W

200W

400W

750W

1kW

1.5kW

2kW

01

02

04

07

10

15

20

Supply

Voltage / Frequency

Three-phase or Single-phase 220VAC

Three-phase

220VAC

Power

Permissible Voltage Range

170 ~ 252VAC

Permissible Frequency

50/60Hz ±5%

Range

Cooling System

Natural Air Circulation

Fan Cooling

Encoder Resolution /

2500ppr/10000ppr

Feedback Resolution

Control of Main Circuit

SVPWM Control

Tuning Modes

Auto / Manual

Regenerative Resistor

None

Built-in

Max. Input Pulse Frequency

Max. 500KPPS (Line driver) /

Max. 200KPPS (Open collector)

Mode

Pulse Type

Pulse + Direction, A phase + B phase, CCW pulse + CW pulse

Control

Command Source

External pulse train

Smoothing Strategy

Low-pass smoothing filter

Position

Electronic Gear

Electronic gear N/M multiple

Set by parameters

Torque Limit Operation

N: 1~32767, M: 1:32767(1/50<N/M<200)

Feed Forward

Set by parameters

Compensation

Voltage

0 ~ ±10 VDC

Range

Analog Input

Input

10KΩ

Command

Resistance

Time

2.2 μs

Mode

Constant

Speed Control Range (Note 1)

1:5000

Control

Command Source

External analog signal / Internal parameters

Smoothing Strategy

Low-pass and S-curve filter

Speed

Torque Limit Operation

Set by parameters

Responsiveness

Maximum 250Hz

Characteristic

0.01% or less at load fluctuation 0 to 100% (at rated rotation speed)

Speed Fluctuation Rate (Note

0.01% or less at power fluctuation ±10% (at rated rotation speed)

2)

0.01% or less at ambient temperature fluctuation 0 to 50oC (at rated

rotation speed)

Revision January 2009

11-1

Image 268

Delta Electronics manual Specifications of Servo Drive ASDA-B Series

ASDA-B Series specifications

Delta Electronics, a global leader in power and thermal management solutions, has made significant strides in the automation and control sectors with its ASDA-B Series of servo drives. This series is engineered for precision motion control applications and is ideal for various industries, including manufacturing, robotics, and packaging.

One of the standout features of the ASDA-B Series is its advanced control algorithms. The series utilizes a high-performance digital signal processor (DSP) that enables precise control of servo motors, resulting in exceptional responsiveness and stability even at high speeds. This technology is particularly beneficial in applications requiring quick acceleration and deceleration, ensuring optimal performance in dynamic environments.

The ASDA-B Series offers a wide range of power ratings, making it versatile enough to cater to different motor sizes and application requirements. It supports various feedback devices, including encoders and resolver systems, enhancing its adaptability and accuracy in diverse operational contexts. The series also features a user-friendly interface, allowing for easy programming and setup, thus minimizing downtime and maximizing productivity.

One of the notable characteristics of the ASDA-B Series is its compact design. The small form factor not only saves valuable space in control cabinets but also simplifies installation and maintenance processes. Additionally, the series is built to withstand tough industrial environments, featuring robust construction that enhances durability and reliability.

Another key technology integrated into the ASDA-B Series is its advanced communication capabilities. The drives support multiple industrial communication protocols, including Ethernet/IP, CANopen, and Modbus, allowing for seamless integration into existing network systems. This connectivity is crucial for applications that require real-time data exchange and remote monitoring.

To ensure energy efficiency, Delta Electronics has incorporated innovative energy-saving technologies in the ASDA-B Series. These technologies optimize power consumption during operation, resulting in lower energy costs and reduced carbon footprint. Moreover, the thermal management features ensure that the drives operate within safe temperature ranges, enhancing their longevity and performance reliability.

In conclusion, Delta Electronics' ASDA-B Series servo drives represent a powerful solution for modern automation needs. With their advanced control algorithms, compact design, versatile communication options, and energy-saving technologies, these drives cater to a wide array of industrial applications, reinforcing Delta's commitment to innovation and efficiency in the automation landscape.

Contents

Page „ Important precautions Using This Manual „ Contents of this manual„ Who should use this manual Please Read Prior to Installation for Safety Installation WiringMaintenance 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 Technical Support and Service About this Manual… User Information This 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 damage Delta AC Servo Drive and Motor ASDA-B Series Servo Drive Model Explanation Nameplate InformationEcma 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 Installation Procedure and Minimum Clearances Installation ProcedureDrive Mounting Motor Mounting „ Side by Side Installation „ Minimum Clearances Connections and Wiring Connections Connecting to Peripheral Devices Servo Drive Connectors and Terminals CN1CN2 CN3 Wiring Notes Wiring Methods Single-Phase Power Supply Connection Housing Jowle C4201H00-2*2PA Motor Power Cable Connector SpecificationsHousing Jowle C4201H00-2*3PA Case Ground BRAKE1 BRAKE2 Encoder Connector Specifications Motor Model Name Encoder Connector Terminal IdentificationGND Braid 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 Signals Explanation of Connector CN1 General Signals Pin No Details Wiring Diagram Refer toVref Tref Srdy ALL SON ALLZspd 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 This page intentionally left blank 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 Status Display Save Setting Display Abort Setting DisplayFault Message Display Polarity Setting Display Monitor Setting Display Following table lists the display examples of monitor value S H Fault Code Display OperationStatus Display S H JOG Operation CCW Do Force Output Diagnosis Operation 0 6 F O T Do Diagnosis Operation DI Diagnosis Operation0 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 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 errorEmergency stop activated Overcurrent Forward limit switch errorUndervoltage 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 This page intentionally left blank Control Modes of Operation Control Modes of Operation Command Source of Position Control Mode PTTExternal Pulse Input Type Communication Addr H ASD-PU-01A ASD-PU-01B Structure of Position Control Mode Inhibit Pulse Inhibit Input Function Inhp Electronic Gear RatioInhp OFF GR4 GR2 Electronic Gear Ratio Denominator Communication Addr DH Position Loop Gain Adjustment Low-pass FilterPflt PF LT PPR KPPPFG KPF PFF Command Source of Speed Control Mode REF-GND Structure of Speed Control Mode Basic Structure Smoothing Strategy of Speed Control Mode Curve FilterTacc Acceleration Time Communication Addr H Tdec Deceleration Time Communication Addr HTSL Accel /Decel S-curve Communication Addr H Analog Speed Command Low-pass Filter Analog Speed Command S-curve FilterSflt Analog Speed Input Scaling Max. Analog Speed Command or Limit Communication Addr HVCM Timing Chart of Speed Control Mode Speed Loop Gain AdjustmentSPD0 OFF SPD1 OFF SON „ Auto Mode „ Manual ModePI Structure P2-32 Tuning Mode Selection Communication Addr H AUT2 Manual Mode GDR KVPProportional Speed Loop Gain Communication Addr H KVI SFG Speed Feed Forward Gain Communication Addr HFrequency Domain KVI Time Domain KVI Auto Mode Continuous adjustment SFG Resonance Suppression NCFNotch Filter Resonance Suppression Communication Addr H DPH Use Notch Filter to suppress resonance NLPUse 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 ModeTflt Max. Analog Torque Command or Limit Communication Addr H TCMTCM0 OFF TCM1 OFF SON Speed / Position Control Mode Selection Control Modes SelectionMode 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 MBT2Brkr OFF Control Modes of OperationASDA-B Series Definition Explanation of symbols marked after parameterAbbreviation of control modes Parameter Name Function Default Unit Parameters Summary Parameters List by GroupGroup 0 P0-xx 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 AUT1 AUT2Sdev 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 Drive Fault Code Communication Addr H Detailed Parameter ListingsGroup 0 P0-xx Monitor Parameters VER Servo ParametersASDA-B Series STS Drive Status Communication Addr HReserved Communication Addr H CM1 CM2 CM3Svsts Servo Output Status Display Communication Addr H Servo ParametersASDA-B Series Group 1 P1-xx Basic Parameters Control Mode and Output Direction Communication Addr H CTLPstl Speed and Torque Limit Communication Addr H SPD1, SPD0 TCM1, TCM0 Aout SPD2 SPD1SPD3 TQ1 TQ2 GR4 Lstp Tacc Zero Speed Range Setting Communication Addr H ZspdSspd Target Rotation Speed Communication Addr H On Delay Time of Electromagnetic Brake Communication Addr AH MBT1 MBT2 GR1 RES2 RES1Regenerative Resistor Capacity Communication Addr H PER Positioning Completed Width Communication Addr HMspd Maximum Speed Limit Communication Addr H KPP Speed Loop Gain Switching Rate Communication Addr H SPR Pctlc DRT Bounce Filter Communication Addr HDI1 Digital Input Terminal 1 DI1 Communication Addr AH DI4 DI3DI5 DI6 Digital Input Terminal 6 DI6 Communication Addr EHDO1 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 Gain Switching Control Selection Communication Addr BH Gain Switching Time Constant Communication Addr CHGCC GUT Gain Switching Condition Communication Addr DH GPEINH AUT1 AUT2 Tuning Mode Selection Excessive Error Warning Condition Communication Addr H SdevOverspeed Warning Condition Communication Addr H Pdev OVL Overload Protection Level Communication Addr HOVW Output Overload Warning Level Communication Addr H Gbit Special Function Communication Addr H Atur AfrqAtme Astr Pulse Deviation Clear Mode Communication Addr H Cclr Sjit Communication Address Setting Communication Addr H Group 3 P3-xxCommunication ParametersADR BRT Transmission Fault Treatment Communication Addr H FLTCWD Communication Time Out Detection Communication Addr H Digital Input Communication Function Communication Addr H SDICDT ASH2 ASH3ASH4 ASH5 JOG JOG Operation Communication Addr HFOT Force Output Control Communication Addr H Input Status or Force Input Control Communication Addr H ItstMOT Adjustment Function Communication Addr AH CEN SOF2 SOF1TOF1 COF1 COF2 COF3 COF4Tigb Igbt NTC Calibration Communication Addr H SAO Analog Speed Input Offset Communication Addr HTAO Analog Torque Input Offset Communication Addr H CN1 Keypad Communication and Reset Setting Communication Addr H Group 8 P8-xx Keypad ParametersKver Keypad Firmware Version Communication Addr H Kbrt KadrTransmission Speed Keypad Communication Addr H Kptl KcmmCommunication Selection Keypad Communication Addr H Ktst Kclr KbltMemory Block Clear Communication Addr BH Krno Memory Block Position Number ROMx Communication Addr CHKBL0 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 „ Code Description Ascii Mode RTU ModeModbus Communication Protocol „ Data Format „ Communication Protocol Ascii Mode STXCMD DATA0 LRC CMD Command Codes and Data Data Characters Ascii Mode Command message Response messageSTX Communication Start ADR Communication Address Ascii Mode Command message RTU Mode Command message Response messageADR 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 Maintenance 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/ALE Potential Cause and Corrective Actions Servo Drive Fault Messages ALE 1 / ALE OvercurrentALE 2 / ALE Overvoltage Regeneration error ALE 3 / ALEALE 4 / ALE Pulse shift ALE 7 / ALE ALE 6 / ALE OverloadOverspeed Abnormal pulse control command ALE 10 / ALE Serial communication errorALE 8 / ALE ALE 9 / ALE ALE 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 error ALE 16 / ALE Igbt temperature error ALE 17 / ALE Memory errorALE 19 / ALE Motor type error ALE 20 / ALE Input power phase loss Keypad Fault Messages ALE 30 LCM hardware error ALE 31 LED hardware errorALE 32 KEY hardware error ALE 33 RAM hardware error ALE 35 Comm hardware error ALE 40 Initial setup errorALE 42 Communication receive error ALE 41 Communication receive time out ALE 43 Error communication response address ALE 44 Error communication response commandALE 45 Communication parameter address error 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 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…S Dimensions of Servo Motor Motor Frame Size 80mm Models Motor 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 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 SeriesDelta 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 This page intentionally left blank 12-20 Jowle „ Power Connectors Delta Part Number ASDBCAPW0000Delta 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-CAPW1203/1205Delta Part Number ASD-CAPW2303/2305 „ Encoder Connectors Delta Part Number ASDBCAEN0000 „ Encoder Cables, Delta Part Number ASDBCAEN1003/1005 ASDBCAEN1003ASDBCAEN1005 Jaws Appendix 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 ASDBCAPW0305 400W 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 Motor 1kW Servo Drive and 1kW Low Inertia Servo Motor 750W Servo Drive and 600W High Inertia Servo Motor1kW 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 Motor2kW Servo Drive and 2kW Low Inertia Servo Motor 2kW Servo Drive and 2kW Medium Inertia Servo Motor