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ASDA-B Series
3.6.3 Torque Control Mode
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321 pages, 7.61 Mb
Chapter 3 Connections and Wiring
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ASDA-B Series
Revision January 2009
3-29
3.6.3 Torque Control Mode
Contents
Main
Preface
Contents of this manual
Who should use this manual
Important precautions
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Table of Contents
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Chapter 1 Unpacking Check and Model Explanation
1.1 Unpacking Check
Ensure that the product is what you have ordered.
Ensure that the servo motor shaft rotates freely.
Check for damage.
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1.3 Servo Drive and Servo Motor Combinations
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1.5 Control Modes of Servo Drive
Chapter 2 Installation and Storage
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2.4 Installation Procedure and Minimum Clearances
Chapter 2 Installation and Storage|ASDA-B Series
2-4 Revision January 2009
Minimum Clearances
FAN FAN
Side by Side Installation
Chapter 3 Connections and Wiring
3.1.2 Servo Drive Connectors and Terminals
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3.1.3 Wiring Methods
3.1.4 Motor Power Cable Connector Specifications
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3.1.5 Encoder Connector Specifications
3.1.6 Cable Specifications for Servo Drive and Servo Motor
NOTE
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3.3 Input / Output Interface Connector -CN1
3.3.1 CN1 Terminal Identification
NOTE
3.3.2 Signals Explanation of Connector CN1
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3.3.3 User-defined DI and DO signals
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3.3.4 Wiring Diagrams of I/O Signals (CN1)
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3.4 Encoder Connector CN2
3.5 Serial Communication Connector CN3 3.5.1 CN3 Terminal Layout and Identification
3.5.2 Connection between PC/Keypad and Connector CN3
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3.6.3 Torque Control Mode
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Chapter 4 Display and Operation
4.1 ASD-PU-01A 4.1.1 Description of Digital Keypad ASD-PU-01A
MODE
SHIFT
FastEdit
SET
JOG
4.1.2 Display Flowchart Monitor Mode, Parameter Mode and Parameter Setting Mode
Parameter Mode
Monitor Mode
Parameter Setting Mode
SAVE Mode (Save parameter settings from the Drive to the Keypad)
WRITE Mode (Parameter settings written out from Keypad to the Drive)
Fast Edit Mode (Fast Editing, Static & Dynamic Auto-tuning)
Chapter 4 Display and Operation|ASDA-B Series
Figure 4.5
Fast Editing
Dynamic Auto-tuning
Static Auto-tuning
4.1.3 Status Display Save Setting Display
Abort Setting Display
Fault Message Display
Polarity Setting Display
Monitor Setting Display
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4.1.4 Fault Code Display Operation
4.1.5 JOG Operation
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4.1.6 DO Force Output Diagnosis Operation
4.1.7 DI Diagnosis Operation
4.1.8 DO Diagnosis Operation
4.1.9 Parameters Read and Write
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4.2 ASD-PU-01B 4.2.1 Description of Digital Keypad ASD-PU-01B
4.2.2 Display Flowchart Monitor Mode, Parameter Mode and Parameter Setting Mode
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SAVE Mode ( Save parameter settings from the Drive to the Keypad)
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WRITE Mode ( Parameter settings written out from Keypad to the Drive)
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Fast Edit Mode ( Fast Editing Function)
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Static Auto-tuning Mode ( Static Auto-tuning Function)
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4.2.4 Fault Code Display Operation
4.2.5 JOG Operation
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4.2.6 DO Force Output Diagnosis Operation
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4.2.8 DO Diagnosis Operation
4.2.9 Parameters Read and Write
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Chapter 5 Trial Run and Tuning Procedure
5.1 Inspection without Load
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5.2 Applying Power to the Drive
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5.3 JOG Trial Run without Load
5.3.1 ASD-PU-01A Tuning Flowchart
5.3.2 ASD-PU-01B Tuning Flowchart
5.4 Speed Trial Run without Load
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5.5 Tuning Procedure ASD-PU-01A
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5.5.5 Limit of Load Inertia Estimation
5.5.6 Relationship between Tuning Modes and Parameters
5.5.7 Gain Adjustment in Manual Mode
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Chapter 6 Control Modes of Operation
6.1 Control Modes of Operation
6.2 Position Control Mode
6.2.1 Command Source of Position Control Mode
6.2.2 Structure of Position Control Mode
6.2.3 Pulse Inhibit Input Function (INHP)
Pulse command
INHP ON OFF ON
6.2.4 Electronic Gear Ratio
f1 f2 = f1 xN
N
Pulse input Position command
6.2.5 Low-pass Filter
6.2.6 Position Loop Gain Adjustment
fp< fv
4
KPP (1) (3)
KPF
6.3 Speed Control Mode
6.3.1 Command Source of Speed Control Mode
6.3.2 Structure of Speed Control Mode
6.3.3 Smoothing Strategy of Speed Control Mode
0
TSL/2 TACC TSL/2
TSL/2 TDEC TSL/2
0
Time (ms)
Speed
SFLT
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6.3.5 Timing Chart of Speed Control Mode
6.3.6 Speed Loop Gain Adjustment
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Chapter 6 Control Modes of Operation|ASDA-B Series
Time Domain
SFG
W J
6.3.7 Resonance Suppression
P2-24 P2-23
Gain (db) Frequency (Hz)
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6.4 Torque Control Mode
6.4.1 Command Source of Torque Control Mode
6.4.2 Structure of Torque Control Mode
+ -
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6.4.5 Timing Chart of Speed Control Mode
6.5 Control Modes Selection
6.5.1 Speed / Position Control Mode Selection
6.5.2 Speed / Torque Control Mode Selection
6.5.3 Torque / Position Control Mode Selection
6.6 Others 6.6.1 Speed Limit
6.6.2 Torque Limit
6.6.3 Regenerative Resistor
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6.6.4 Electromagnetic Brake
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Chapter 7 Servo Parameters
7.1 Definition
7.2 Parameters Summary 7.2.1 Parameters List by Group
Monitor Parameters
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Basic Parameters
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Extension Parameters
Communication Parameters
Diagnosis Parameters
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Speed Control
Torque Control
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Diagnosis Parameters
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Keypad Parameters
7.3 Detailed Parameter Listings
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Time (ms)
Speed
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f1 f2 = f1 xN
N
Pulse input Position command
=
2500ppr 2500 x setting value of P1-46
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P2-24 P2-23
Gain (db) Frequency (Hz)
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CN1
CN1
CN1
CN1
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Motor Speed
O
ON
N
MBT1(P1-42)
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Chapter 8 MODBUS Communications
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8.2 Communication Parameter Settings
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8.3 MODBUS Communication Protocol
Code Description:
Data Format:
Communication Protocol:
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NOTE
Communication Related Error Code
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Chapter 9 Maintenance and Inspection
9.1 Basic Inspection
9.3 Life of Replacement Components
Relay
Cooling fan
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Chapter 10 Troubleshooting
10.1 Fault Messages Table
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10.2 Potential Cause and Corrective Actions
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10.3 Clearing Servo Drive Faults
Chapter 11 Specifications
11.1 Specifications of Servo Drive (ASDA-B Series)
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11.2 Specifications of Servo Motor (ECMA Series)
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11.5 Overload Characteristics Overload Protection Function
Chart of load and operating time (ECMAC30401
Chart of load and operating time (ECMAC30602
Chart of load and operating time (ECMAC30604
Chart of load and operating time (ECMAC30804
Chart of load and operating time (ECMAC30807
Chart of load and operating time (ECMAC31010
Chart of load and operating time (ECMAC31020
Chart of load and operating time (ECMAC31303
Chart of load and operating time (ECMAC31305
Chart of load and operating time (ECMAC31306
Chart of load and operating time (ECMAC31309
Chart of load and operating time (ECMAC31310
Chart of load and operating time (ECMAC31315
Chart of load and operating time (ECMAC31320
Chart of load and operating time (ECMAC31820S)
11.6 Dimensions of Servo Motor
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11.7 EMI Filters Selection
Chapter 12 Application Examples
12.1 Connecting to DVP-EH PLC and DOP-A HMI
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Chapter 12 Application Examples|ASDA-B Series
12-6 Revision January 2009
Connections between DVP-EH series PLC and ASDA-B series Servo Drive
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12.2 Connecting to DVP-EH PLC and Delta TP04 Series
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Appendix A Accessories
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Servo Drive, Servo Motor and Accessories Combinations
