Control Modes of OperationASDA-AB Series | Delta Electronics none

Chapter 6 Control Modes of OperationASDA-AB Series

When the value of Proportional Position Loop Gain, KPP is too great, the position loop responsiveness will be increased and it will result in small phase margin. If this happens, the rotor of motor will oscillate. At this time, the users have to decrease the value of KPP until the rotor of motor stop oscillating. When there is an external torque command interrupted, over low KPP value will let the motor cannot overcome the external strength and fail to meet the requirement of reasonable position track error demand. Adjust feed forward gain, PFG (P2-02) to efficiently reduce the dynamic position track error.

6-12	Revision March 2008, Doc. Name: 2007PDD23000011

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Delta Electronics none manual Control Modes of OperationASDA-AB Series

Contents

Page „ Important precautions Using This Manual „ Contents of this manual„ Who should use this manual Warranty Please Read Prior to Installation for SafetyInstallation Main Circuit Terminal Wiring WiringMaintenance and Inspection Main Circuit Wiring PrefaceASDA-AB Series Table of Contents Display and Operation Relationship between Tuning Modes and Parameters Control Modes of Operation Chapter Chapter Troubleshooting 10-1 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 ASDA-AB Series Servo Drive Model Explanation Nameplate InformationAsmt Series Servo Motor Model Name Explanation Ecma Series Servo Motor Servo Drive and Servo Motor Combinations Power Servo Drive Servo Motor 220V models Servo Drive Features 110V models Control Modes of Servo Drive Molded-case Circuit Breaker and Fuse Current This page intentionally left blank Storage Conditions Installation Notes Operating Temperature Installation Conditions Motor Mounting Installation Procedure and Minimum ClearancesInstallation Procedure Drive Mounting „ Minimum Clearances „ Side by Side Installation 220V Servo Drive Connections Connecting to Peripheral Devices Connections and WiringASDA-AB Series CN3 Servo Drive Connectors and TerminalsCN1 CN2 Wiring Notes Single-Phase Power Supply 1.5kW and below, 220V models Wiring Methods Single-Phase Power Supply 400W and below, 110V models Motor Power Cable Connector Specifications Case Ground BRAKE1 BRAKE2 Encoder Connector Specifications Sheld Cable Specifications for Servo DrivePower Cable GND Braid Encoder Cable Basic Wiring Schematic of 100W ~ 1.5kW, 220V models Basic Wiring Basic Wiring Schematic of 2kW, 220V models Basic Wiring Schematic of 100W ~ 400W, 110V models 1 CN1 Terminal Identification Input / Output Interface Connector -CN1 VCC CN1 Terminal Signal Identification General Signals Pin No Details Wiring Diagram Refer to Signals Explanation of Connector CN1 Zspd ALL Do SignalsSrdy ALL SON Alrm ALL Tspd ALLTpos TQL DI Signals CWL TCM0TCM1 Emgs ALL Stepd JoguJogd Stepu Source of Speed Command Source of Position CommandSource of Torque Command Default DI signals and Control modes Reference Home Sensor Reverse operation Default do signals and Control modes Wiring Diagrams of I/O Signals CN1 User-defined DI and do signalsUser-defined DI and do signals Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series CN2 Terminal Signal Identification Encoder Connector CN2 PIN No Signal Name Terminal Identification Grounding Connection between PC and Connector CN3 Connections and WiringASDA-AB Series Position Pt Control Mode 110V models Position Pr Control Mode 220V models Position Pr Control Mode 110V models Speed Control Mode 220V models Speed Control Mode 110V models Torque Control Mode 220V models Torque Control Mode 110V models Description of the Digital Keypad Display and Operation Keypad Operation Display Flowchart Polarity Setting Display Status Display Save Setting DisplayAbort Setting Display Fault Message Display Monitor Setting Display Display and OperationASDA-AB Series General Function Operation Fault Code Display Operation JOG Operation Position Learning Operation Do Force Output Diagnosis Operation Do Diagnosis Operation DI Diagnosis Operation Inspection without Load Trial Run and Tuning Procedure Trial Run and Tuning ProcedureASDA-AB Series Applying Power to the Drive Over voltage Encoder errorEmergency stop activated Forward limit switch error Reverse limit switch error Undervoltage Overcurrent JOG Trial Run without Load CC WCW Trial Run and Tuning ProcedureASDA-AB Series DI8 Speed Trial Run without LoadStep DI1 CCW Position Trial Run without Load POS2 POS1 POS0 Ctrg CCW Tuning Procedure Display Tuning Procedure Tuning Flowchart Load Inertia Estimation Flowchart AutoMode PI Tuning Flowchart Trial Run and Tuning ProcedureASDA-AB Series Trial Run and Tuning ProcedureASDA-AB Series Trial Run and Tuning ProcedureASDA-AB Series Position Mode Manual Mode Tuning Flowchart Limit of Load Inertia Estimation Speed Mode Gain Adjustment in Manual Mode Relationship between Tuning Modes and Parameters KVP Trial Run and Tuning ProcedureASDA-AB Series This page intentionally left blank Control Modes of Operation Control Modes of Operation External Pulse Input Type Communication Addr H Position Control ModeCommand Source of Position Pt Control Mode PTT Control Modes of Operation ASDA-AB Series Command Source of Position Pr Control Mode Structure of Position Control Mode Pulse Inhibit Input Function Inhp Curve Filter for Position ControlInhp OFF Acceleration Time Communication Addr H Tacc Accel /Decel S-curve Communication Addr H TdecDeceleration Time Communication Addr H TSL Electronic Gear Ratio Denominator Communication Addr DH Electronic Gear RatioGR1 GR2 Pflt Low-pass FilterPF LT Position Loop Gain Adjustment Timing Chart of Position Pr Control ModePOS0 OFF POS1 POS2 Ctrg SON Position Feed Forward Gain Communication Addr H KPPProportional Position Loop Gain Communication Addr H PFG Control Modes of OperationASDA-AB Series Command Source of Speed Control Mode Speed Control ModeREF-GND Structure of Speed Control Mode Curve Filter Smoothing Strategy of Speed Control Mode Tacctdec Analog Speed Command Low-pass Filter Analog Speed Command S-curve FilterSflt Analog Speed Input Scaling Max. Analog Speed Command / Limit Communication Addr HVCM SPD1 OFF SON Timing Chart of Speed Control ModeSpeed Loop Gain Adjustment SPD0 OFF Manual Mode Tuning Mode Selection Communication Addr HAUT2 KVI KVPKVF Frequency Domain Time Domain Notch Filter Resonance Suppression Communication Addr H Auto Mode Continuous adjustmentResonance Suppression NCF NLP DPHPWM Notch Filter Low-pass filterUse Notch Filter to suppress resonance Use Low-pass Filter to suppress resonance Command Source of Torque Control Mode Torque Control Mode Smoothing Strategy of Torque Control Mode Structure of Torque Control ModeTflt Analog Torque Input Scaling Max. Analog Torque Command / Limit Communication Addr HTCM TCM0 OFF Timing Chart of Torque Control ModeTCM1 OFF SON Ctrg POS0-2 not Care POS0-2 Valid Speed / Position Control Mode SelectionPt-S Mode / Pr-S Mode Control Modes Selection Mode Speed / Torque Control Mode SelectionTorque / Position Control Mode Selection Pt-T Mode / Pr-T Mode Control Modes of OperationASDA-AB Series 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 MON Analog MonitorAnalog Monitor Output Communication Addr H Analog Monitor Output Proportion 2 CH2 Communication Addr H Pulse Output Polarity Setting Communication Addr HAout Analog Monitor Output Proportion 1 CH1 Communication Addr H DOF2 SON OFF Electromagnetic BrakeBrkr OFF Control Modes of OperationASDA-AB Series Ready Servo on Ready Servo This page intentionally left blank Definition Explanation of symbols marked after parameterAbbreviation of control modes Parameter Name Function DefaultParameters Summary Parameters List by Group Group 0 P0-xx Group 1 P1-xx Control Parameter Name Function Default Unit Mode Control Parameter Name Function Default Unit Mode Group 2 P2-xx Sdev AUT1AUT2 INF Group 3 P3-xx Group 4 P4-xx Monitor and General Use Parameters List by Function Smooth Filter and Resonance Suppression Gain and Switch Internal pulse control command Pr mode External pulse control command Pt modePO1H Combination Output Signal Delay 4ms 12.6 Time P2-46 Speed Control Torque Control Digital I/O Communication Control Others VER Detailed Parameter ListingsALE STS Status Monitor Communication Addr H CM1 CM5 CM2CM3 CM4 MAP3 MAP0MAP1 MAP2 MAP7 MAP4MAP5 MAP6 Servo Output Status Display Communication Addr H Svsts Group 1 P1-xx Basic Parameters CTL Control Mode and Output Direction Communication Addr H Pstl Tref Torque Limit P1-121 Command P1-132 P1-143 TCM0 TCM1 MON2 MON1 SP1 TfltSP2 TQ1 SP3 TQ3 TQ2PO1H PO3H PO1LPO2H PO2L PO5H PO3LPO4H PO4L PO7H PO5LPO6H PO6L MSE PO7LPO8H PO8L Lstp Position Control Mode Pr Communication Addr HPoss Tacc GDR Sspd Zspd Max. Analog Torque Command or Limit Communication Addr H Max. Analog Speed Command or Limit Communication Addr HMBT1 MBT2 GR2 GR3 Hmov Homing Mode Communication Addr FH HOF2 HSPD1HSPD2 HOF1 Mspd RES1RES2 PER OVW Cokt KPP Position Loop Gain Switching Rate Communication Addr HPPR PFF Speed Loop Gain Switching Rate Communication Addr HSPR SFG KVI DRT PctlBounce Filter Communication Addr H DI3 DI1DI2 Digital Input Terminal 2 DI2 Communication Addr BH DI7 DI4DI5 DI6 DO3 DO1DO2 Digital Output Terminal 2 DO2 Communication Addr H Digital Output Terminal 5 DO5 Communication Addr H DO4Digital Output Terminal 4 DO4 Communication Addr H DO5 DST NLPGCC GPE GUTINH AUT1 Auto Mode Responsiveness Level Communication Addr FH AUT2 Sdev INFPdev POV4 POV1POV2 POV3 POV8 POV5POV6 POV7 DOD DOMFSN PED Position Deviation Clear Delay Time Communication Addr FHBlas Sjit DI=T RI G DI=CCLR Dclr ATM2 SronATM0 ATM1 ATM7 ATM4ATM5 ATM6 GR6 GR5 Tsca Tlmod Torque Limit Mixed Mode Communication Addr H Bit2 Fast DI contact type Bit0 DI SPD0/SPD1 speed command trigger modeBit1 DI TCM0/TCM1 torque command trigger mode Gbit Bit10 DI Zclamp function selection Bit6 Abnormal pulse command detectionBit5 Reserved. Must be set to Bit7 ~ Bit9 Reserved. Must be set to BRT ADRTransmission Speed Communication Addr H FLT Transmission Fault Treatment Communication Addr HPTL Communication Protocol Communication Addr H Communication Selection Communication Addr H CWDCommunication Time Out Detection Communication Addr H CMM Digital Input Communication Function Communication Addr H SDICDT ASH4 ASH1ASH2 ASH3 JOG Operation Communication Addr H JOG Pkey FOTItst Input Status or Force Input Control Communication Addr H SOF1 MOTOutput Status Display Communication Addr H CEN COF1 SOF2TOF1 TOF2 Tigb COF2COF3 COF4 TAO SAOAnalog Torque Input Offset Communication Addr H Reserved Communication Addr H Input Function Definition TCM0 TCM1 POS2 OFFSPD0 SPD1 SPD1 OFF MD1 MD0 STF STB STF Brkr Home Output Function Definition Cmdok Communication Hardware Interface RS-232 „ Configuration „ Cable Connection Modbus CommunicationsASDA-AB Series RS-485, RS-422 „ Configuration Modbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Settings Modbus CommunicationsASDA-AB Series DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 Modbus CommunicationsASDA-AB Series „ Data Format „ Code Description Ascii ModeRTU Mode Modbus Communication Protocol DATA0 LRC „ Communication Protocol Ascii ModeSTX CMD ADR Communication Address CMD Command Codes and Data Data CharactersAscii Mode Command message Response message STX Communication Start Ascii Mode Command message RTU Mode Command message Response messageADR CMD LRC Ascii Mode End1, End0 Communication End Ascii Mode CRC RTU Mode Modbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Write-in and Read-out Modbus CommunicationsASDA-AB Series Basic Inspection Maintenance and Inspection „ Relay MaintenanceLife of Replacement Components „ Smooth capacitor „ Cooling fan This page intentionally left blank Fault Messages Table Troubleshooting Display Fault Name Fault Description Fault Messages Pulse shift Servo Drive Fault Messages OvercurrentPotential Cause and Corrective Actions Overvoltage Overspeed Regeneration errorAbnormal pulse control command Overload Forward Ccwl limit switch error Encoder error Position detector faultAdjustment error Reverse CWL limit switch error Serial communication error Igbt temperature errorMemory error DSP communication error Pre-overload warning Command write-in errorInput power phase loss Internal command execution time out Display Fault Name Clearing Method Clearing Faults 10-9 This page intentionally left blank 10-10 11.1 Specifications of Servo Drive ASDA-AB Series Specifications SpecificationsASDA-AB Series 11-3 Low Inertia Servo Motor Specifications of Servo Motor Ecma Series Medium / High Inertia Servo Motor 1kW 5kW 2kW Servo Motor Speed-Torque Curves „ Occasion of Overload Overload Characteristics„ Chart of load and operating time ECMA-C30401 „ Overload Protection Function „ Chart of load and operating time ECMA-C30604 „ Chart of load and operating time ECMA-C30602 „ Chart of load and operating time ECMA-C30807 „ Chart of load and operating time ECMA-C30804 „ Chart of load and operating time ECMA-C31020 „ Chart of load and operating time ECMA-C31010 „ Chart of load and operating time ECMA-E31305 „ Chart of load and operating time ECMA-G31303 „ Chart of load and operating time ECMA-G31309 „ Chart of load and operating time ECMA-G31306 „ Chart of load and operating time ECMA-E31315 „ Chart of load and operating time ECMA-E31310 „ Chart of load and operating time ECMA-E31820 „ Chart of load and operating time ECMA-E31320 Weight Dimensions of Servo Drive 11-17 SpecificationsASDA-AB Series Order P/N ASD-A2023-AB 2kW Motor Frame Size 80mm and below Models Dimensions of Servo Motor Motor Frame Size 100mm and above Models SpecificationsASDA-AB Series EMI Filters Selection This page intentionally left blank 11-24 Position Control including homing function Parameters Setting DO1 SR DY DO4 OME DO2 DI1 SON DO1 SR DY DI1 SON TRG Roller Feeding Connecting to Delta DVP-EH Series PLC JOG- F WD P OS ERO OG+ REV POS ZE ROTOP ZRN CL EAR JOG+ RevposJOG+ RST SET RST SET Drva Drvi JOGFWD P OS RET Dmov RE VposEND Connecting to Delta TP04 Series 12-10 „ Relevant Parameters Description Position Control Mode Pr Mode DI=TRIG DI=H OLD Hold Timing Chart DI=T RI G DI=CCLR Command Abort Timing Chart Feed Step Control „ Relevant Parameters Description, „ Digital I/O Signal Setting MDP0, MDP1 „ Mode Functions INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 Index Number „ Definitions of INDEX0~4 ON=1, OFF=0 „ Definitions of do Signals ON=1, OFF=0 „ Timing charts of DI/DO Signals Operation Homing Mode Index 6 0A Feed Step Control Mode Manually Single Step Control Mode OFF Do Value Index INDEX4 Manually Continuous Step Control Mode Home Sensor on „ Communication Control Example ExplanationH0FF Homing Internal Auto Running Mode INDEX8 INDEX5INDEX6 INDEX7 Alarm „ Definitions of do Signals ON1, OFF0DO5 DO4 DO3 DO2 DO1 Manual Control Mode Auto Running Mode Autor OFF Stepb OFF Manual Control Mode Power on Supply OFFDo Value CI IDX1 CI IDX2 INDEX4 Motor Speed Servo on Homing Function Homing Moving Method Homing Enable Setting „ Homing Timing Charts Timing Charts of Enable Homing Mode Homing Stop Setting„ Recommended Homing Modes Homing Timing Charts Power Servo Ready Home TriggerHoming Completed A = 0/1 or B/A = 0/3 A = 2/2 A = 2/5 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 12-42 Jowle „ Power Connectors Delta Part Number ASDBCAPW0000Delta Part Number ASDBCAPW0100 Delta Part Number ASD-ABPW0103, ASD-ABPW0105 „ Power Cables Delta Part Number ASD-ABPW0003, ASD-ABPW0005 Delta Part Number ASD-CAPW1103, ASD-CAPW1105 „ Power Cables, Delta Part Number ASD-CAPW1003, ASD-CAPW1005 Delta Part Number ASD-CAPW1303, ASD-CAPW1305 „ Power Cables, Delta Part Number ASD-CAPW1203, ASD-CAPW1205 Delta Part Number ASD-CAPW2303, ASD-CAPW2305 „ Power Cables, Delta Part Number ASD-CAPW2203, ASD-CAPW2205 Delta Part Number ASD-CAEN1000 „ Encoder Connectors Delta Part Number ASD-ABEN0000 Delta Part Number ASD-CAEN1003, ASD-CAEN1005 ASD-CAEN1005 „ Terminal Block Module Delta Part Number ASD-BM-50A „ I/O Signal Connector CN1 Delta Part Number ASD-CNSC0050 ASD-ABPW0003 ASD-ABPW0005 ASD-ABPW0103 ASD-ABPW0105 ASD-ABPW0003 ASD-ABPW0005ASD-ABEN0003 ASD-ABEN0005 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 MotorASD-CAPW1003 ASD-CAPW1005 ASD-CAPW1103 ASD-CAPW1105 ASD-CAEN1003 ASD-CAEN1005 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 ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305 1kW Servo Drive and 900W High Inertia Servo Motor5kW Servo Drive and 1.5kW Medium Inertia Servo Motor 2kW Servo Drive and 2kW Low Inertia Servo Motor 2kW Servo Drive and 2kW Medium Inertia Servo Motor Other Accessories This page intentionally left blank