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Delta Electronics none manual AutoMode PI Tuning Flowchart

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Chapter 5 Trial Run and Tuning ProcedureASDA-AB Series

5.6.3 AutoMode (PI) Tuning Flowchart

Set P2-32 to 2 (2: AutoMode (PI) [Continuous adjustment] )

P2-31 Auto Mode Responsiveness Level (Default setting: B=4)

A

B

not used

A:No function

B:Responsiveness level of auto-tuning mode

In AutoMode (PI), the value “B” indicates the responsiveness setting. When the setting value is higher, the responsiveness is faster.

Adjust P2-31: Increase the setting value of P2-31. Increase the value “B” to speed the responsiveness or reduce the noise.

Adjust P2-25: According to the setting value of P2-31 speed and adjust the responsiveness.

Continuously adjust until the satisfactory performance is achieved, and then set P2-32 to 3 (3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be adjusted] ) to finish the tuning procedure.

Revision March 2008, Doc. Name: 2007PDD23000011

5-17

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Delta Electronics none manual AutoMode PI Tuning Flowchart

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 Wiring WiringMaintenance and Inspection 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 Technical Support and Service About this Manual… User InformationThis page intentionally left blank „ Ensure that the servo motor shaft rotates freely Unpacking Check„ Ensure that the product is what you have ordered „ Check for damageASDA-AB Series Servo Drive Model Explanation Nameplate InformationAsmt Series Servo Motor Model Name Explanation Ecma Series Servo Motor Power Servo Drive Servo Motor Servo Drive and Servo Motor CombinationsServo Drive Features 220V models110V models Control Modes of Servo Drive Molded-case Circuit Breaker and Fuse Current This page intentionally left blank Installation Notes Storage ConditionsInstallation Conditions Operating TemperatureDrive Mounting Installation Procedure and Minimum ClearancesInstallation Procedure Motor Mounting„ Minimum Clearances „ Side by Side Installation Connections Connecting to Peripheral Devices 220V Servo DriveConnections and WiringASDA-AB Series CN2 Servo Drive Connectors and TerminalsCN1 CN3Wiring Notes Wiring Methods Single-Phase Power Supply 1.5kW and below, 220V modelsSingle-Phase Power Supply 400W and below, 110V models Motor Power Cable Connector Specifications Encoder Connector Specifications Case Ground BRAKE1 BRAKE2GND Braid Cable Specifications for Servo DrivePower Cable SheldEncoder Cable Basic Wiring Basic Wiring Schematic of 100W ~ 1.5kW, 220V modelsBasic Wiring Schematic of 2kW, 220V models Basic Wiring Schematic of 100W ~ 400W, 110V models Input / Output Interface Connector -CN1 1 CN1 Terminal IdentificationCN1 Terminal Signal Identification VCCSignals Explanation of Connector CN1 General Signals Pin No Details Wiring Diagram Refer toSON Do SignalsSrdy ALL Zspd ALLTQL Tspd ALLTpos Alrm ALLDI Signals Emgs ALL TCM0TCM1 CWLStepu JoguJogd StepdSource 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 Encoder Connector CN2 CN2 Terminal Signal IdentificationPIN 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 KeypadDisplay Flowchart Keypad OperationFault Message Display Status Display Save Setting DisplayAbort Setting 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 DI Diagnosis Operation Do Diagnosis OperationTrial Run and Tuning Procedure Inspection without LoadTrial Run and Tuning ProcedureASDA-AB Series Applying Power to the Drive Over voltage Encoder errorEmergency stop activated Reverse limit switch error Forward limit switch errorOvercurrent UndervoltageCC WCW JOG Trial Run without LoadTrial Run and Tuning ProcedureASDA-AB Series DI1 Speed Trial Run without LoadStep DI8CCW Position Trial Run without Load POS2 POS1 POS0 Ctrg CCW Tuning Procedure Tuning Procedure DisplayTuning 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 ModeSpeed Mode Limit of Load Inertia EstimationRelationship between Tuning Modes and Parameters Gain Adjustment in Manual ModeKVP Trial Run and Tuning ProcedureASDA-AB Series This page intentionally left blank Control Modes of Operation Control Modes of OperationPTT Position Control ModeCommand Source of Position Pt Control Mode External Pulse Input Type Communication Addr HCommand Source of Position Pr Control Mode Control Modes of Operation ASDA-AB SeriesStructure of Position Control Mode Pulse Inhibit Input Function Inhp Curve Filter for Position ControlInhp OFF Tacc Acceleration Time Communication Addr HTSL TdecDeceleration Time Communication Addr H Accel /Decel S-curve Communication Addr HGR2 Electronic Gear RatioGR1 Electronic Gear Ratio Denominator Communication Addr DHPflt Low-pass FilterPF LT Position Loop Gain Adjustment Timing Chart of Position Pr Control ModePOS0 OFF POS1 POS2 Ctrg SON PFG KPPProportional Position Loop Gain Communication Addr H Position Feed Forward Gain Communication Addr HControl Modes of OperationASDA-AB Series Command Source of Speed Control Mode Speed Control ModeREF-GND Structure of Speed Control Mode Smoothing Strategy of Speed Control Mode Curve FilterTacctdec Analog Speed Command Low-pass Filter Analog Speed Command S-curve FilterSflt Analog Speed Input Scaling Max. Analog Speed Command / Limit Communication Addr HVCM SPD0 OFF Timing Chart of Speed Control ModeSpeed Loop Gain Adjustment SPD1 OFF SONManual Mode Tuning Mode Selection Communication Addr HAUT2 KVI KVPKVF Frequency Domain Time Domain NCF Auto Mode Continuous adjustmentResonance Suppression Notch Filter Resonance Suppression Communication Addr HNLP DPHPWM Notch Filter Low-pass filterUse Notch Filter to suppress resonance Use Low-pass Filter to suppress resonance Torque Control Mode Command Source of Torque Control ModeSmoothing 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 Control Modes Selection Speed / Position Control Mode SelectionPt-S Mode / Pr-S Mode Ctrg POS0-2 not Care POS0-2 ValidPt-T Mode / Pr-T Mode Speed / Torque Control Mode SelectionTorque / Position Control Mode Selection ModeControl Modes of OperationASDA-AB Series Others Speed Limit Torque LimitRegenerative Resistor „ Built-in Regenerative Resistor„ Regenerative Power Calculation Method Without Load „ External Regenerative ResistorWith Load „ Simple Calculation Method MON Analog MonitorAnalog Monitor Output Communication Addr H Analog Monitor Output Proportion 1 CH1 Communication Addr H Pulse Output Polarity Setting Communication Addr HAout Analog Monitor Output Proportion 2 CH2 Communication Addr HDOF2 SON OFF Electromagnetic BrakeBrkr OFF Control Modes of OperationASDA-AB Series Ready Servo Ready Servo onThis page intentionally left blank Definition Explanation of symbols marked after parameterAbbreviation of control modes Group 0 P0-xx DefaultParameters Summary Parameters List by Group Parameter Name FunctionControl Parameter Name Function Default Unit Mode Group 1 P1-xxParameter Name Function Default Unit Mode ControlGroup 2 P2-xx INF AUT1AUT2 SdevGroup 3 P3-xx Group 4 P4-xx Parameters List by Function Monitor and General UseSmooth 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 CM1 Status Monitor Communication Addr HCM4 CM2CM3 CM5MAP2 MAP0MAP1 MAP3MAP6 MAP4MAP5 MAP7Svsts Servo Output Status Display Communication Addr HGroup 1 P1-xx Basic Parameters Control Mode and Output Direction Communication Addr H CTLTref Torque Limit P1-121 Command P1-132 P1-143 TCM0 TCM1 PstlMON1 MON2SP1 TfltSP2 SP3 TQ1TQ3 TQ2PO1H PO2L PO1LPO2H PO3HPO4L PO3LPO4H PO5HPO6L PO5LPO6H PO7HPO8L PO7LPO8H MSELstp Position Control Mode Pr Communication Addr HPoss Tacc GDR Zspd SspdMax. Analog Torque Command or Limit Communication Addr H Max. Analog Speed Command or Limit Communication Addr HMBT1 MBT2 GR2 GR3 Homing Mode Communication Addr FH HmovHOF1 HSPD1HSPD2 HOF2PER RES1RES2 MspdOVW Cokt KPP Position Loop Gain Switching Rate Communication Addr HPPR PFF Speed Loop Gain Switching Rate Communication Addr HSPR KVI SFGDRT PctlBounce Filter Communication Addr H Digital Input Terminal 2 DI2 Communication Addr BH DI1DI2 DI3DI6 DI4DI5 DI7Digital Output Terminal 2 DO2 Communication Addr H DO1DO2 DO3DO5 DO4Digital Output Terminal 4 DO4 Communication Addr H Digital Output Terminal 5 DO5 Communication Addr HDST NLPGCC GPE GUTINH Auto Mode Responsiveness Level Communication Addr FH AUT1AUT2 Sdev INFPdev POV3 POV1POV2 POV4POV7 POV5POV6 POV8DOD DOMFSN PED Position Deviation Clear Delay Time Communication Addr FHBlas Sjit Dclr DI=T RI G DI=CCLRATM1 SronATM0 ATM2ATM6 ATM4ATM5 ATM7GR5 GR6Tsca Torque Limit Mixed Mode Communication Addr H TlmodGbit Bit0 DI SPD0/SPD1 speed command trigger modeBit1 DI TCM0/TCM1 torque command trigger mode Bit2 Fast DI contact typeBit7 ~ Bit9 Reserved. Must be set to Bit6 Abnormal pulse command detectionBit5 Reserved. Must be set to Bit10 DI Zclamp function selectionBRT ADRTransmission Speed Communication Addr H Communication Protocol Communication Addr H Transmission Fault Treatment Communication Addr HPTL FLTCMM CWDCommunication Time Out Detection Communication Addr H Communication Selection Communication Addr HDigital Input Communication Function Communication Addr H SDICDT ASH3 ASH1ASH2 ASH4JOG JOG Operation Communication Addr HInput Status or Force Input Control Communication Addr H FOTItst PkeyCEN MOTOutput Status Display Communication Addr H SOF1TOF2 SOF2TOF1 COF1COF4 COF2COF3 TigbTAO SAOAnalog Torque Input Offset Communication Addr H Reserved Communication Addr H Input Function Definition SPD1 OFF POS2 OFFSPD0 SPD1 TCM0 TCM1MD1 MD0 STF STF STBOutput Function Definition Brkr HomeCmdok RS-232 „ Configuration „ Cable Connection Communication Hardware InterfaceRS-485, RS-422 „ Configuration Modbus CommunicationsASDA-AB SeriesModbus 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 Modbus Communication Protocol „ Code Description Ascii ModeRTU Mode „ Data FormatCMD „ Communication Protocol Ascii ModeSTX DATA0 LRCSTX Communication Start CMD Command Codes and Data Data CharactersAscii Mode Command message Response message ADR Communication AddressAscii Mode Command message RTU Mode Command message Response messageADR CMD LRC Ascii Mode CRC RTU Mode End1, End0 Communication End Ascii ModeModbus CommunicationsASDA-AB Series Modbus CommunicationsASDA-AB Series Communication Parameter Write-in and Read-out Modbus CommunicationsASDA-AB Series Maintenance and Inspection Basic Inspection„ Smooth capacitor MaintenanceLife of Replacement Components „ Relay„ Cooling fan This page intentionally left blank Troubleshooting Fault Messages TableFault Messages Display Fault Name Fault DescriptionOvervoltage Servo Drive Fault Messages OvercurrentPotential Cause and Corrective Actions Pulse shiftOverload Regeneration errorAbnormal pulse control command OverspeedReverse CWL limit switch error Encoder error Position detector faultAdjustment error Forward Ccwl limit switch errorDSP communication error Igbt temperature errorMemory error Serial communication errorInternal command execution time out Command write-in errorInput power phase loss Pre-overload warningClearing Faults Display Fault Name Clearing Method10-9 This page intentionally left blank 10-10 Specifications 11.1 Specifications of Servo Drive ASDA-AB SeriesSpecificationsASDA-AB Series 11-3 Specifications of Servo Motor Ecma Series Low Inertia Servo MotorMedium / High Inertia Servo Motor 1kW 5kW 2kW Servo Motor Speed-Torque Curves „ Overload Protection Function Overload Characteristics„ Chart of load and operating time ECMA-C30401 „ 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-E31820Dimensions of Servo Drive Weight11-17 SpecificationsASDA-AB Series Order P/N ASD-A2023-AB 2kW Dimensions of Servo Motor Motor Frame Size 80mm and below ModelsMotor 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 functionDO1 SR DY DO4 OME DO2 DI1 SON Roller Feeding DO1 SR DY DI1 SON TRGConnecting to Delta DVP-EH Series PLC ZRN CL EAR ZE ROTOP JOG- F WD P OS ERO OG+ REV POSRST SET RevposJOG+ RST SET JOG+Drva Drvi JOGFWD P OS RET Dmov RE VposEND Connecting to Delta TP04 Series 12-10 Position Control Mode Pr Mode „ Relevant Parameters DescriptionHold Timing Chart DI=TRIG DI=H OLDCommand Abort Timing Chart DI=T RI G DI=CCLRFeed 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 0AManually Single Step Control Mode OFF Do Value Index INDEX4 Manually Continuous Step Control Mode Homing „ Communication Control Example ExplanationH0FF Home Sensor onInternal Auto Running Mode INDEX7 INDEX5INDEX6 INDEX8Alarm „ Definitions of do Signals ON1, OFF0DO5 DO4 DO3 DO2 DO1 Auto Running Mode Manual Control ModeMotor Speed Servo on Manual Control Mode Power on Supply OFFDo Value CI IDX1 CI IDX2 INDEX4 Autor OFF Stepb OFFHoming Function Homing Enable Setting Homing Moving Method„ 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 „ 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 Jowle „ Power Connectors Delta Part Number ASDBCAPW0000Delta 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-CAEN1000ASD-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-50A200W Servo Drive and 200W Low Inertia Servo Motor ASD-ABPW0003 ASD-ABPW0005ASD-ABEN0003 ASD-ABEN0005 ASD-ABPW0003 ASD-ABPW0005 ASD-ABPW0103 ASD-ABPW0105ASD-CAEN1003 ASD-CAEN1005 400W Servo Drive and 500W Medium Inertia Servo MotorASD-CAPW1003 ASD-CAPW1005 ASD-CAPW1103 ASD-CAPW1105 400W Servo Drive and 300W High Inertia Servo Motor1kW 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 2kW Servo Drive and 2kW Low Inertia Servo Motor 1kW Servo Drive and 900W High Inertia Servo Motor5kW Servo Drive and 1.5kW Medium Inertia Servo Motor ASD-CAPW1203 ASD-CAPW1205 ASD-CAPW1303 ASD-CAPW1305Other Accessories 2kW Servo Drive and 2kW Medium Inertia Servo MotorThis page intentionally left blank