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Delta Electronics none manual Frequency Domain

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Chapter 6 Control Modes of OperationASDA-AB Series

In theory, stepping response can be used to explain proportional gain (KVP), integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area respectively to explain the logic.

Frequency Domain

6-22	Revision March 2008, Doc. Name: 2007PDD23000011

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Delta Electronics none manual Frequency Domain

Contents

Page „ Who should use this manual Using This Manual „ Contents of this manual„ Important precautions Installation Please Read Prior to Installation for SafetyWarranty Maintenance and Inspection WiringMain Circuit Wiring Main Circuit Terminal WiringPrefaceASDA-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 ServiceThis page intentionally left blank „ Ensure that the product is what you have ordered Unpacking Check„ Ensure that the servo motor shaft rotates freely „ Check for damageAsmt Series Servo Motor Model Explanation Nameplate InformationASDA-AB Series Servo Drive Model Name Explanation Ecma Series Servo Motor Servo Drive and Servo Motor Combinations Power Servo Drive Servo Motor220V models Servo Drive Features110V models Control Modes of Servo Drive Molded-case Circuit Breaker and Fuse Current This page intentionally left blank Storage Conditions Installation NotesOperating Temperature Installation ConditionsInstallation Procedure Installation Procedure and Minimum ClearancesDrive Mounting Motor Mounting„ Minimum Clearances „ Side by Side Installation 220V Servo Drive Connections Connecting to Peripheral DevicesConnections and WiringASDA-AB Series CN1 Servo Drive Connectors and TerminalsCN2 CN3Wiring Notes Single-Phase Power Supply 1.5kW and below, 220V models Wiring MethodsSingle-Phase Power Supply 400W and below, 110V models Motor Power Cable Connector Specifications Case Ground BRAKE1 BRAKE2 Encoder Connector SpecificationsPower Cable Cable Specifications for Servo DriveGND Braid SheldEncoder Cable Basic Wiring Schematic of 100W ~ 1.5kW, 220V models Basic WiringBasic Wiring Schematic of 2kW, 220V models Basic Wiring Schematic of 100W ~ 400W, 110V models 1 CN1 Terminal Identification Input / Output Interface Connector -CN1VCC CN1 Terminal Signal IdentificationGeneral Signals Pin No Details Wiring Diagram Refer to Signals Explanation of Connector CN1Srdy ALL Do SignalsSON Zspd ALLTpos Tspd ALLTQL Alrm ALLDI Signals TCM1 TCM0Emgs ALL CWLJogd JoguStepu StepdSource of Torque Command Source of Position CommandSource of Speed Command Default DI signals and Control modes Reference Home Sensor Reverse operation Default do signals and Control modes User-defined DI and do signals User-defined DI and do signalsWiring Diagrams of I/O Signals CN1 Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series Connections and WiringASDA-AB Series CN2 Terminal Signal Identification Encoder Connector CN2PIN 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 OperationKeypad Operation Display FlowchartAbort Setting Display Status Display Save Setting DisplayFault Message Display Polarity Setting DisplayMonitor 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 OperationInspection without Load Trial Run and Tuning ProcedureTrial Run and Tuning ProcedureASDA-AB Series Applying Power to the Drive Emergency stop activated Encoder errorOver voltage Forward limit switch error Reverse limit switch errorUndervoltage OvercurrentJOG Trial Run without Load CC WCWTrial Run and Tuning ProcedureASDA-AB Series Step Speed Trial Run without LoadDI1 DI8CCW Position Trial Run without Load POS2 POS1 POS0 Ctrg CCW Tuning Procedure Display Tuning ProcedureTuning 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 FlowchartLimit of Load Inertia Estimation Speed ModeGain Adjustment in Manual Mode Relationship between Tuning Modes and ParametersKVP Trial Run and Tuning ProcedureASDA-AB Series This page intentionally left blank Control Modes of Operation Control Modes of OperationCommand Source of Position Pt Control Mode Position Control ModePTT External Pulse Input Type Communication Addr HControl Modes of Operation ASDA-AB Series Command Source of Position Pr Control ModeStructure of Position Control Mode Inhp OFF Curve Filter for Position ControlPulse Inhibit Input Function Inhp Acceleration Time Communication Addr H TaccDeceleration Time Communication Addr H TdecTSL Accel /Decel S-curve Communication Addr HGR1 Electronic Gear RatioGR2 Electronic Gear Ratio Denominator Communication Addr DHPF LT Low-pass FilterPflt POS0 OFF POS1 POS2 Ctrg SON Timing Chart of Position Pr Control ModePosition Loop Gain Adjustment Proportional Position Loop Gain Communication Addr H KPPPFG Position Feed Forward Gain Communication Addr HControl Modes of OperationASDA-AB Series REF-GND Speed Control ModeCommand Source of Speed Control Mode Structure of Speed Control Mode Curve Filter Smoothing Strategy of Speed Control ModeTacctdec Sflt Analog Speed Command S-curve FilterAnalog Speed Command Low-pass Filter VCM Max. Analog Speed Command / Limit Communication Addr HAnalog Speed Input Scaling Speed Loop Gain Adjustment Timing Chart of Speed Control ModeSPD0 OFF SPD1 OFF SONAUT2 Tuning Mode Selection Communication Addr HManual Mode KVF KVPKVI Frequency Domain Time Domain Resonance Suppression Auto Mode Continuous adjustmentNCF Notch Filter Resonance Suppression Communication Addr HPWM DPHNLP Use Notch Filter to suppress resonance Low-pass filterNotch Filter Use Low-pass Filter to suppress resonance Command Source of Torque Control Mode Torque Control ModeTflt Structure of Torque Control ModeSmoothing Strategy of Torque Control Mode TCM Max. Analog Torque Command / Limit Communication Addr HAnalog Torque Input Scaling TCM1 OFF SON Timing Chart of Torque Control ModeTCM0 OFF Pt-S Mode / Pr-S Mode Speed / Position Control Mode SelectionControl Modes Selection Ctrg POS0-2 not Care POS0-2 ValidTorque / Position Control Mode Selection Speed / Torque Control Mode SelectionPt-T Mode / Pr-T Mode ModeControl Modes of OperationASDA-AB Series Torque Limit Others Speed Limit„ Built-in Regenerative Resistor Regenerative Resistor„ External Regenerative Resistor „ Regenerative Power Calculation Method Without LoadWith Load „ Simple Calculation Method Analog Monitor Output Communication Addr H Analog MonitorMON Aout Pulse Output Polarity Setting Communication Addr HAnalog Monitor Output Proportion 1 CH1 Communication Addr H Analog Monitor Output Proportion 2 CH2 Communication Addr HDOF2 Brkr OFF Electromagnetic BrakeSON OFF Control Modes of OperationASDA-AB Series Ready Servo on Ready ServoThis page intentionally left blank Abbreviation of control modes Explanation of symbols marked after parameterDefinition Parameters Summary Parameters List by Group DefaultGroup 0 P0-xx Parameter Name FunctionGroup 1 P1-xx Control Parameter Name Function Default Unit ModeControl Parameter Name Function Default Unit ModeGroup 2 P2-xx AUT2 AUT1INF SdevGroup 3 P3-xx Group 4 P4-xx Monitor and General Use Parameters List by FunctionSmooth Filter and Resonance Suppression Gain and Switch PO1H External pulse control command Pt modeInternal pulse control command Pr mode Combination Output Signal Delay 4ms 12.6 Time P2-46 Speed Control Torque Control Digital I/O Communication Control Others ALE Detailed Parameter ListingsVER STS Status Monitor Communication Addr H CM1CM3 CM2CM4 CM5MAP1 MAP0MAP2 MAP3MAP5 MAP4MAP6 MAP7Servo Output Status Display Communication Addr H SvstsGroup 1 P1-xx Basic Parameters CTL Control Mode and Output Direction Communication Addr HPstl Tref Torque Limit P1-121 Command P1-132 P1-143 TCM0 TCM1MON2 MON1SP2 TfltSP1 TQ1 SP3PO1H TQ2TQ3 PO2H PO1LPO2L PO3HPO4H PO3LPO4L PO5HPO6H PO5LPO6L PO7HPO8H PO7LPO8L MSEPoss Position Control Mode Pr Communication Addr HLstp Tacc GDR Sspd ZspdMBT1 Max. Analog Speed Command or Limit Communication Addr HMax. Analog Torque Command or Limit Communication Addr H MBT2 GR2 GR3 Hmov Homing Mode Communication Addr FHHSPD2 HSPD1HOF1 HOF2RES2 RES1PER MspdOVW Cokt PPR Position Loop Gain Switching Rate Communication Addr HKPP SPR Speed Loop Gain Switching Rate Communication Addr HPFF SFG KVIBounce Filter Communication Addr H PctlDRT DI2 DI1Digital Input Terminal 2 DI2 Communication Addr BH DI3DI5 DI4DI6 DI7DO2 DO1Digital Output Terminal 2 DO2 Communication Addr H DO3Digital Output Terminal 4 DO4 Communication Addr H DO4DO5 Digital Output Terminal 5 DO5 Communication Addr HGCC NLPDST INH GUTGPE AUT1 Auto Mode Responsiveness Level Communication Addr FHAUT2 Pdev INFSdev POV2 POV1POV3 POV4POV6 POV5POV7 POV8FSN DOMDOD Blas Position Deviation Clear Delay Time Communication Addr FHPED Sjit DI=T RI G DI=CCLR DclrATM0 SronATM1 ATM2ATM5 ATM4ATM6 ATM7GR6 GR5Tsca Tlmod Torque Limit Mixed Mode Communication Addr HBit1 DI TCM0/TCM1 torque command trigger mode Bit0 DI SPD0/SPD1 speed command trigger modeGbit Bit2 Fast DI contact typeBit5 Reserved. Must be set to Bit6 Abnormal pulse command detectionBit7 ~ Bit9 Reserved. Must be set to Bit10 DI Zclamp function selectionTransmission Speed Communication Addr H ADRBRT PTL Transmission Fault Treatment Communication Addr HCommunication Protocol Communication Addr H FLTCommunication Time Out Detection Communication Addr H CWDCMM Communication Selection Communication Addr HCDT SDIDigital Input Communication Function Communication Addr H ASH2 ASH1ASH3 ASH4JOG Operation Communication Addr H JOGItst FOTInput Status or Force Input Control Communication Addr H PkeyOutput Status Display Communication Addr H MOTCEN SOF1TOF1 SOF2TOF2 COF1COF3 COF2COF4 TigbAnalog Torque Input Offset Communication Addr H SAOTAO Reserved Communication Addr H Input Function Definition SPD0 SPD1 POS2 OFFSPD1 OFF TCM0 TCM1MD1 MD0 STF STB STFBrkr Home Output Function DefinitionCmdok Communication Hardware Interface RS-232 „ Configuration „ Cable ConnectionModbus CommunicationsASDA-AB Series RS-485, RS-422 „ ConfigurationModbus 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 RTU Mode „ Code Description Ascii ModeModbus Communication Protocol „ Data FormatSTX „ Communication Protocol Ascii ModeCMD DATA0 LRCAscii Mode Command message Response message CMD Command Codes and Data Data CharactersSTX Communication Start ADR Communication AddressADR CMD RTU Mode Command message Response messageAscii Mode Command message LRC Ascii Mode End1, End0 Communication End Ascii Mode CRC RTU ModeModbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Write-in and Read-out Modbus CommunicationsASDA-AB Series Basic Inspection Maintenance and InspectionLife of Replacement Components Maintenance„ Smooth capacitor „ Relay„ Cooling fan This page intentionally left blank Fault Messages Table TroubleshootingDisplay Fault Name Fault Description Fault MessagesPotential Cause and Corrective Actions Servo Drive Fault Messages OvercurrentOvervoltage Pulse shiftAbnormal pulse control command Regeneration errorOverload OverspeedAdjustment error Encoder error Position detector faultReverse CWL limit switch error Forward Ccwl limit switch errorMemory error Igbt temperature errorDSP communication error Serial communication errorInput power phase loss Command write-in errorInternal command execution time out Pre-overload warningDisplay Fault Name Clearing Method Clearing Faults10-9 This page intentionally left blank 10-10 11.1 Specifications of Servo Drive ASDA-AB Series SpecificationsSpecificationsASDA-AB Series 11-3 Low Inertia Servo Motor Specifications of Servo Motor Ecma SeriesMedium / High Inertia Servo Motor 1kW 5kW 2kW Servo Motor Speed-Torque Curves „ Chart of load and operating time ECMA-C30401 Overload Characteristics„ Overload Protection Function „ Occasion of Overload„ 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-E31320Weight Dimensions of Servo Drive11-17 SpecificationsASDA-AB Series Order P/N ASD-A2023-AB 2kW Motor Frame Size 80mm and below Models Dimensions of Servo MotorMotor 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 SettingDO1 SR DY DO4 OME DO2 DI1 SON DO1 SR DY DI1 SON TRG Roller FeedingConnecting to Delta DVP-EH Series PLC TOP ZE ROZRN CL EAR JOG- F WD P OS ERO OG+ REV POSJOG+ RST SET RevposRST SET JOG+FWD P OS Drvi JOGDrva END RE VposRET Dmov Connecting to Delta TP04 Series 12-10 „ Relevant Parameters Description Position Control Mode Pr ModeDI=TRIG DI=H OLD Hold Timing ChartDI=T RI G DI=CCLR Command Abort Timing ChartFeed Step Control „ Relevant Parameters Description, „ Digital I/O Signal SettingMDP0, MDP1 „ Mode FunctionsINDEX4 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 ModeManually Single Step Control Mode OFF Do Value Index INDEX4 Manually Continuous Step Control Mode H0FF „ Communication Control Example ExplanationHoming Home Sensor onInternal Auto Running Mode INDEX6 INDEX5INDEX7 INDEX8DO5 DO4 DO3 DO2 DO1 „ Definitions of do Signals ON1, OFF0Alarm Manual Control Mode Auto Running ModeDo Value CI IDX1 CI IDX2 INDEX4 Manual Control Mode Power on Supply OFFMotor Speed Servo on Autor OFF Stepb OFFHoming Function Homing Moving Method Homing Enable Setting„ Recommended Homing Modes Homing Stop Setting„ Homing Timing Charts Timing Charts of Enable Homing Mode Homing Completed Power Servo Ready Home TriggerHoming Timing Charts 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 Delta Part Number ASDBCAPW0100 „ Power Connectors Delta Part Number ASDBCAPW0000Jowle Delta Part Number ASD-ABPW0103, ASD-ABPW0105 „ Power Cables Delta Part Number ASD-ABPW0003, ASD-ABPW0005Delta Part Number ASD-CAPW1103, ASD-CAPW1105 „ Power Cables, Delta Part Number ASD-CAPW1003, ASD-CAPW1005Delta Part Number ASD-CAPW1303, ASD-CAPW1305 „ Power Cables, Delta Part Number ASD-CAPW1203, ASD-CAPW1205Delta Part Number ASD-CAPW2303, ASD-CAPW2305 „ Power Cables, Delta Part Number ASD-CAPW2203, ASD-CAPW2205Delta Part Number ASD-CAEN1000 „ Encoder Connectors Delta Part Number ASD-ABEN0000Delta 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-CNSC0050ASD-ABEN0003 ASD-ABEN0005 ASD-ABPW0003 ASD-ABPW0005200W Servo Drive and 200W Low Inertia Servo Motor ASD-ABPW0003 ASD-ABPW0005 ASD-ABPW0103 ASD-ABPW0105ASD-CAPW1003 ASD-CAPW1005 ASD-CAPW1103 ASD-CAPW1105 400W Servo Drive and 500W Medium Inertia Servo MotorASD-CAEN1003 ASD-CAEN1005 400W Servo Drive and 300W High Inertia Servo Motor1kW Servo Drive and 1kW Medium Inertia Servo Motor 750W Servo Drive and 600W High Inertia Servo Motor1kW Servo Drive and 1kW Low 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 ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW13052kW Servo Drive and 2kW Medium Inertia Servo Motor Other AccessoriesThis page intentionally left blank