Page
Using This Manual „ Contents of this manual
„ Important precautions
„ Who should use this manual
Please Read Prior to Installation for Safety
Warranty
Installation
Wiring
Maintenance and Inspection
Main Circuit Wiring
Main Circuit Terminal 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
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
Model Explanation Nameplate Information
ASDA-AB Series Servo Drive
Asmt Series Servo Motor
Model Name Explanation
Ecma Series Servo Motor
Power Servo Drive Servo Motor
Servo Drive and Servo Motor Combinations
Servo Drive Features
220V models
110V models
Control Modes of Servo Drive
Molded-case Circuit Breaker and Fuse Current
This page intentionally left blank
Installation Notes
Storage Conditions
Installation Conditions
Operating Temperature
Installation Procedure and Minimum Clearances
Installation Procedure
Drive Mounting
Motor Mounting
„ Minimum Clearances „ Side by Side Installation
Connections Connecting to Peripheral Devices
220V Servo Drive
Connections and WiringASDA-AB Series
Servo Drive Connectors and Terminals
CN1
CN2
CN3
Wiring Notes
Wiring Methods
Single-Phase Power Supply 1.5kW and below, 220V models
Single-Phase Power Supply 400W and below, 110V models
Motor Power Cable Connector Specifications
Encoder Connector Specifications
Case Ground BRAKE1 BRAKE2
Cable Specifications for Servo Drive
Power Cable
GND Braid
Sheld
Encoder Cable
Basic Wiring
Basic Wiring Schematic of 100W ~ 1.5kW, 220V models
Basic Wiring Schematic of 2kW, 220V models
Basic Wiring Schematic of 100W ~ 400W, 110V models
Input / Output Interface Connector -CN1
1 CN1 Terminal Identification
CN1 Terminal Signal Identification
VCC
Signals Explanation of Connector CN1
General Signals Pin No Details Wiring Diagram Refer to
Do Signals
Srdy ALL
SON
Zspd ALL
Tspd ALL
Tpos
TQL
Alrm ALL
DI Signals
TCM0
TCM1
Emgs ALL
CWL
Jogu
Jogd
Stepu
Stepd
Source of Position Command
Source of Speed Command
Source of Torque Command
Default DI signals and Control modes
Reference Home Sensor Reverse operation
Default do signals and Control modes
User-defined DI and do signals
Wiring Diagrams of I/O Signals CN1
User-defined DI and do signals
Connections and WiringASDA-AB Series
Connections and WiringASDA-AB Series
Connections and WiringASDA-AB Series
Encoder Connector CN2
CN2 Terminal Signal Identification
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
Display and Operation
Description of the Digital Keypad
Display Flowchart
Keypad Operation
Status Display Save Setting Display
Abort Setting Display
Fault Message Display
Polarity Setting 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
DI Diagnosis Operation
Do Diagnosis Operation
Trial Run and Tuning Procedure
Inspection without Load
Trial Run and Tuning ProcedureASDA-AB Series
Applying Power to the Drive
Encoder error
Over voltage
Emergency stop activated
Reverse limit switch error
Forward limit switch error
Overcurrent
Undervoltage
CC WCW
JOG Trial Run without Load
Trial Run and Tuning ProcedureASDA-AB Series
Speed Trial Run without Load
Step
DI1
DI8
CCW
Position Trial Run without Load
POS2 POS1 POS0 Ctrg
CCW
Tuning Procedure
Tuning Procedure Display
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
Manual Mode Tuning Flowchart
Position Mode
Speed Mode
Limit of Load Inertia Estimation
Relationship between Tuning Modes and Parameters
Gain Adjustment in Manual Mode
KVP
Trial Run and Tuning ProcedureASDA-AB Series
This page intentionally left blank
Control Modes of Operation
Control Modes of Operation
Position Control Mode
Command Source of Position Pt Control Mode
PTT
External Pulse Input Type Communication Addr H
Command Source of Position Pr Control Mode
Control Modes of Operation ASDA-AB Series
Structure of Position Control Mode
Curve Filter for Position Control
Pulse Inhibit Input Function Inhp
Inhp OFF
Tacc
Acceleration Time Communication Addr H
Tdec
Deceleration Time Communication Addr H
TSL
Accel /Decel S-curve Communication Addr H
Electronic Gear Ratio
GR1
GR2
Electronic Gear Ratio Denominator Communication Addr DH
Low-pass Filter
Pflt
PF LT
Timing Chart of Position Pr Control Mode
Position Loop Gain Adjustment
POS0 OFF POS1 POS2 Ctrg SON
KPP
Proportional Position Loop Gain Communication Addr H
PFG
Position Feed Forward Gain Communication Addr H
Control Modes of OperationASDA-AB Series
Speed Control Mode
Command Source of Speed Control Mode
REF-GND
Structure of Speed Control Mode
Smoothing Strategy of Speed Control Mode
Curve Filter
Tacctdec
Analog Speed Command S-curve Filter
Analog Speed Command Low-pass Filter
Sflt
Max. Analog Speed Command / Limit Communication Addr H
Analog Speed Input Scaling
VCM
Timing Chart of Speed Control Mode
Speed Loop Gain Adjustment
SPD0 OFF
SPD1 OFF SON
Tuning Mode Selection Communication Addr H
Manual Mode
AUT2
KVP
KVI
KVF
Frequency Domain
Time Domain
Auto Mode Continuous adjustment
Resonance Suppression
NCF
Notch Filter Resonance Suppression Communication Addr H
DPH
NLP
PWM
Low-pass filter
Notch Filter
Use Notch Filter to suppress resonance
Use Low-pass Filter to suppress resonance
Torque Control Mode
Command Source of Torque Control Mode
Structure of Torque Control Mode
Smoothing Strategy of Torque Control Mode
Tflt
Max. Analog Torque Command / Limit Communication Addr H
Analog Torque Input Scaling
TCM
Timing Chart of Torque Control Mode
TCM0 OFF
TCM1 OFF SON
Speed / Position Control Mode Selection
Pt-S Mode / Pr-S Mode
Control Modes Selection
Ctrg POS0-2 not Care POS0-2 Valid
Speed / Torque Control Mode Selection
Torque / Position Control Mode Selection
Pt-T Mode / Pr-T Mode
Mode
Control Modes of OperationASDA-AB Series
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
Analog Monitor
MON
Analog Monitor Output Communication Addr H
Pulse Output Polarity Setting Communication Addr H
Aout
Analog Monitor Output Proportion 1 CH1 Communication Addr H
Analog Monitor Output Proportion 2 CH2 Communication Addr H
DOF2
Electromagnetic Brake
SON OFF
Brkr OFF
Control Modes of OperationASDA-AB Series
Ready Servo
Ready Servo on
This page intentionally left blank
Explanation of symbols marked after parameter
Definition
Abbreviation of control modes
Default
Parameters Summary Parameters List by Group
Group 0 P0-xx
Parameter Name Function
Control Parameter Name Function Default Unit Mode
Group 1 P1-xx
Parameter Name Function Default Unit Mode
Control
Group 2 P2-xx
AUT1
AUT2
INF
Sdev
Group 3 P3-xx
Group 4 P4-xx
Parameters List by Function
Monitor and General Use
Smooth Filter and Resonance Suppression
Gain and Switch
External pulse control command Pt mode
Internal pulse control command Pr mode
PO1H
Combination Output Signal Delay 4ms 12.6 Time P2-46
Speed Control
Torque Control
Digital I/O
Communication
Control
Others
Detailed Parameter Listings
VER
ALE
STS
CM1
Status Monitor Communication Addr H
CM2
CM3
CM4
CM5
MAP0
MAP1
MAP2
MAP3
MAP4
MAP5
MAP6
MAP7
Svsts
Servo Output Status Display Communication Addr H
Group 1 P1-xx Basic Parameters
Control Mode and Output Direction Communication Addr H
CTL
Tref Torque Limit P1-121 Command P1-132 P1-143 TCM0 TCM1
Pstl
MON1
MON2
Tflt
SP1
SP2
SP3
TQ1
TQ2
TQ3
PO1H
PO1L
PO2H
PO2L
PO3H
PO3L
PO4H
PO4L
PO5H
PO5L
PO6H
PO6L
PO7H
PO7L
PO8H
PO8L
MSE
Position Control Mode Pr Communication Addr H
Lstp
Poss
Tacc
GDR
Zspd
Sspd
Max. Analog Speed Command or Limit Communication Addr H
Max. Analog Torque Command or Limit Communication Addr H
MBT1
MBT2
GR2
GR3
Homing Mode Communication Addr FH
Hmov
HSPD1
HSPD2
HOF1
HOF2
RES1
RES2
PER
Mspd
OVW
Cokt
Position Loop Gain Switching Rate Communication Addr H
KPP
PPR
Speed Loop Gain Switching Rate Communication Addr H
PFF
SPR
KVI
SFG
Pctl
DRT
Bounce Filter Communication Addr H
DI1
DI2
Digital Input Terminal 2 DI2 Communication Addr BH
DI3
DI4
DI5
DI6
DI7
DO1
DO2
Digital Output Terminal 2 DO2 Communication Addr H
DO3
DO4
Digital Output Terminal 4 DO4 Communication Addr H
DO5
Digital Output Terminal 5 DO5 Communication Addr H
NLP
DST
GCC
GUT
GPE
INH
Auto Mode Responsiveness Level Communication Addr FH
AUT1
AUT2
INF
Sdev
Pdev
POV1
POV2
POV3
POV4
POV5
POV6
POV7
POV8
DOM
DOD
FSN
Position Deviation Clear Delay Time Communication Addr FH
PED
Blas
Sjit
Dclr
DI=T RI G DI=CCLR
Sron
ATM0
ATM1
ATM2
ATM4
ATM5
ATM6
ATM7
GR5
GR6
Tsca
Torque Limit Mixed Mode Communication Addr H
Tlmod
Bit0 DI SPD0/SPD1 speed command trigger mode
Bit1 DI TCM0/TCM1 torque command trigger mode
Gbit
Bit2 Fast DI contact type
Bit6 Abnormal pulse command detection
Bit5 Reserved. Must be set to
Bit7 ~ Bit9 Reserved. Must be set to
Bit10 DI Zclamp function selection
ADR
BRT
Transmission Speed Communication Addr H
Transmission Fault Treatment Communication Addr H
PTL
Communication Protocol Communication Addr H
FLT
CWD
Communication Time Out Detection Communication Addr H
CMM
Communication Selection Communication Addr H
SDI
Digital Input Communication Function Communication Addr H
CDT
ASH1
ASH2
ASH3
ASH4
JOG
JOG Operation Communication Addr H
FOT
Itst
Input Status or Force Input Control Communication Addr H
Pkey
MOT
Output Status Display Communication Addr H
CEN
SOF1
SOF2
TOF1
TOF2
COF1
COF2
COF3
COF4
Tigb
SAO
TAO
Analog Torque Input Offset Communication Addr H
Reserved Communication Addr H
Input Function Definition
POS2 OFF
SPD0 SPD1
SPD1 OFF
TCM0 TCM1
MD1 MD0
STF
STF STB
Output Function Definition
Brkr Home
Cmdok
RS-232 „ Configuration „ Cable Connection
Communication Hardware Interface
RS-485, RS-422 „ Configuration
Modbus CommunicationsASDA-AB Series
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
„ Code Description Ascii Mode
RTU Mode
Modbus Communication Protocol
„ Data Format
„ Communication Protocol Ascii Mode
STX
CMD
DATA0 LRC
CMD Command Codes and Data Data Characters
Ascii Mode Command message Response message
STX Communication Start
ADR Communication Address
RTU Mode Command message Response message
Ascii Mode Command message
ADR CMD
LRC Ascii Mode
CRC RTU Mode
End1, End0 Communication End Ascii Mode
Modbus CommunicationsASDA-AB Series
Modbus CommunicationsASDA-AB Series
Communication Parameter Write-in and Read-out
Modbus CommunicationsASDA-AB Series
Maintenance and Inspection
Basic Inspection
Maintenance
Life of Replacement Components
„ Smooth capacitor
„ Relay
„ Cooling fan
This page intentionally left blank
Troubleshooting
Fault Messages Table
Fault Messages
Display Fault Name Fault Description
Servo Drive Fault Messages Overcurrent
Potential Cause and Corrective Actions
Overvoltage
Pulse shift
Regeneration error
Abnormal pulse control command
Overload
Overspeed
Encoder error Position detector fault
Adjustment error
Reverse CWL limit switch error
Forward Ccwl limit switch error
Igbt temperature error
Memory error
DSP communication error
Serial communication error
Command write-in error
Input power phase loss
Internal command execution time out
Pre-overload warning
Clearing Faults
Display Fault Name Clearing Method
10-9
This page intentionally left blank 10-10
Specifications
11.1 Specifications of Servo Drive ASDA-AB Series
SpecificationsASDA-AB Series
11-3
Specifications of Servo Motor Ecma Series
Low Inertia Servo Motor
Medium / High Inertia Servo Motor
1kW 5kW 2kW
Servo Motor Speed-Torque Curves
Overload Characteristics
„ Chart of load and operating time ECMA-C30401
„ Overload Protection Function
„ Occasion of Overload
„ Chart of load and operating time ECMA-C30602
„ Chart of load and operating time ECMA-C30604
„ Chart of load and operating time ECMA-C30804
„ Chart of load and operating time ECMA-C30807
„ Chart of load and operating time ECMA-C31010
„ Chart of load and operating time ECMA-C31020
„ Chart of load and operating time ECMA-G31303
„ Chart of load and operating time ECMA-E31305
„ Chart of load and operating time ECMA-G31306
„ Chart of load and operating time ECMA-G31309
„ Chart of load and operating time ECMA-E31310
„ Chart of load and operating time ECMA-E31315
„ Chart of load and operating time ECMA-E31320
„ Chart of load and operating time ECMA-E31820
Dimensions of Servo Drive
Weight
11-17
SpecificationsASDA-AB Series
Order P/N ASD-A2023-AB 2kW
Dimensions of Servo Motor
Motor Frame Size 80mm and below Models
Motor Frame Size 100mm and above Models
SpecificationsASDA-AB Series
EMI Filters Selection
This page intentionally left blank 11-24
Parameters Setting
Position Control including homing function
DO1 SR DY DO4 OME DO2 DI1 SON
Roller Feeding
DO1 SR DY DI1 SON TRG
Connecting to Delta DVP-EH Series PLC
ZE RO
TOP
ZRN CL EAR
JOG- F WD P OS ERO OG+ REV POS
Revpos
JOG+ RST SET
RST SET
JOG+
Drvi JOG
Drva
FWD P OS
RE Vpos
RET Dmov
END
Connecting to Delta TP04 Series
12-10
Position Control Mode Pr Mode
„ Relevant Parameters Description
Hold Timing Chart
DI=TRIG DI=H OLD
Command Abort Timing Chart
DI=T RI G DI=CCLR
Feed Step Control
„ Digital I/O Signal Setting
„ Relevant Parameters Description,
„ Mode Functions
MDP0, MDP1
„ Definitions of INDEX0~4 ON=1, OFF=0
INDEX4 INDEX3 INDEX2 INDEX1 INDEX0 Index Number
„ Definitions of do Signals ON=1, OFF=0
„ Timing charts of DI/DO Signals Operation Homing Mode
Feed Step Control Mode
Index 6 0A
Manually Single Step Control Mode
OFF Do Value Index INDEX4
Manually Continuous Step Control Mode
„ Communication Control Example Explanation
H0FF
Homing
Home Sensor on
Internal Auto Running Mode
INDEX5
INDEX6
INDEX7
INDEX8
„ Definitions of do Signals ON1, OFF0
Alarm
DO5 DO4 DO3 DO2 DO1
Auto Running Mode
Manual Control Mode
Manual Control Mode Power on Supply OFF
Do Value CI IDX1 CI IDX2 INDEX4
Motor Speed Servo on
Autor OFF Stepb OFF
Homing Function
Homing Enable Setting
Homing Moving Method
Homing Stop Setting
„ Homing Timing Charts Timing Charts of Enable Homing Mode
„ Recommended Homing Modes
Power Servo Ready Home Trigger
Homing Timing Charts
Homing Completed
A = 0/1 or B/A = 0/3
A = 2/2
A = 2/5
„ 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 12-42
„ Power Connectors Delta Part Number ASDBCAPW0000
Jowle
Delta Part Number ASDBCAPW0100
„ Power Cables Delta Part Number ASD-ABPW0003, ASD-ABPW0005
Delta Part Number ASD-ABPW0103, ASD-ABPW0105
„ Power Cables, Delta Part Number ASD-CAPW1003, ASD-CAPW1005
Delta Part Number ASD-CAPW1103, ASD-CAPW1105
„ Power Cables, Delta Part Number ASD-CAPW1203, ASD-CAPW1205
Delta Part Number ASD-CAPW1303, ASD-CAPW1305
„ Power Cables, Delta Part Number ASD-CAPW2203, ASD-CAPW2205
Delta Part Number ASD-CAPW2303, ASD-CAPW2305
„ Encoder Connectors Delta Part Number ASD-ABEN0000
Delta Part Number ASD-CAEN1000
ASD-CAEN1005
Delta Part Number ASD-CAEN1003, ASD-CAEN1005
„ I/O Signal Connector CN1 Delta Part Number ASD-CNSC0050
„ Terminal Block Module Delta Part Number ASD-BM-50A
ASD-ABPW0003 ASD-ABPW0005
ASD-ABEN0003 ASD-ABEN0005
200W Servo Drive and 200W Low Inertia Servo Motor
ASD-ABPW0003 ASD-ABPW0005 ASD-ABPW0103 ASD-ABPW0105
400W Servo Drive and 500W Medium Inertia Servo Motor
ASD-CAPW1003 ASD-CAPW1005 ASD-CAPW1103 ASD-CAPW1105
ASD-CAEN1003 ASD-CAEN1005
400W Servo Drive and 300W High Inertia Servo Motor
750W Servo Drive and 600W High Inertia Servo Motor
1kW Servo Drive and 1kW Low Inertia Servo Motor
1kW Servo Drive and 1kW Medium Inertia Servo Motor
1kW Servo Drive and 900W High Inertia Servo Motor
5kW Servo Drive and 1.5kW Medium Inertia Servo Motor
2kW Servo Drive and 2kW Low Inertia Servo Motor
ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305
Other Accessories
2kW Servo Drive and 2kW Medium Inertia Servo Motor
This page intentionally left blank