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