Delta ASD-B2-1021-B Manuals

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Delta ASD-B2-1021-B User Manual (314 pages)

ASDA-B2 series Standard Type AC Servo Drive for Network Communication Application

Brand: Delta | Category: Controller | Size: 8.27 MB

Revision June
2
- Table of Contents
  6
- Technical Support and Service
  12
- Unpacking Check
  14
User Information
12
Chapter 1 Unpacking Check and Model Explanation

14
- Model Explanation
  15
  - Nameplate Information
    15
    
    Nameplate Explanation
    15
    
    Serial Number Explanation
    15
  - Model Name Explanation
    16
  - ECMA Series Servo Motor
    17
- Servo Drive and Servo Motor Combinations
  18
- Servo Drive Features
  19
- Control Modes of Servo Drive
  20
- Installation and Storage
  22
- Installation Notes
  22
- Storage Conditions
  22
Chapter 2 Installation and Storage

22
- Installation Conditions
  23
  - Operating Temperature
    23
  - Drive Mounting
    24
  - Motor Mounting
    24
- Installation Procedure and Minimum Clearances
  24
- Side by Side Installation
  25
- Molded-Case Circuit Breaker and Fuse Current Recommended Value
  26
- EMI Filter Selection
  27
  - General Precaution
    27
  - Choose Suitable Motor Cable and Precautions
    28
  - Dimensions
    29
- Regenerative Resistor
  30
Chapter 3 Connections and Wiring

38
Chapter 4 Display and Operation

76
- Display Flowchart
  77
- Keypad Operation
  77
- Status Display
  78
  - Save Setting Display
    78
  - Fault Message Display
    78
  - Polarity Setting Display
    78
  - Monitor Setting Display
    79
- General Function Operation
  82
  - Fault Code Display Operation
    82
  - JOG Operation
    83
  - Force Output Control Operation
    84
  - DI Diagnosis Operation
    85
  - DO Diagnosis Operation
    86
- Inspection Without Load
  88
Chapter 5 Trial Run and Tuning Procedure

88
- Applying Power to the Drive
  90
  - Main Circuit Wiring
    90
  - Turn the Power on
    90
  - Over Voltage
    91
  - Encoder Error
    91
  - Reverse Limit Switch Error
    92
  - Forward Limit Switch Error
    92
  - Overcurrent
    93
  - Undervoltage
    93
- JOG Trial Run Without Load
  94
- Speed Trial Run Without Load
  96
- Tuning Procedure
  98
- Control Modes of Operation
  110
Chapter 6 Control Modes of Operation

110
- Position Control Mode
  111
  - Command Source of Position (PT) Control Mode
    111
  - Structure of Position Control Mode
    113
    
    Electronic Gear Ratio
    114
    
    Pulse Inhibit Input Function (INHP)
    114
    
    Electronic Gear Ratio (1St Numerator) (N1)
    114
    
    Electronic Gear Ratio (Denominator)
    114
  - Electronic Gear Ratio
    115
  - Low-Pass Filter
    116
  - Smooth Constant of Position Command
    116
  - Position Loop Gain Adjustment
    116
    
    Proportional Position Loop Gain
    117
    
    Position Feed Forward Gain
    117
  - Command Source of Speed Control Mode
    119
    
    Manual Mode
    119
    
    Auto Mode
    119
  - Structure of Speed Control Mode
    120
  - Smoothing Strategy of Speed Control Mode
    121
    
    S-Curve Filter
    121
    
    Acceleration Time
    122
    
    Deceleration Time
    123
    
    Accel /Decel S-Curve
    123
    
    Analog Speed Command S-Curve Filter
    124
    
    Analog Speed Command Low-Pass Filter
    124
  - Analog Speed Input Scaling
    125
  - Max. Analog Speed Command / Limit
    126
  - Timing Chart of Speed Control Mode
    126
  - Speed Loop Gain Adjustment
    127
    
    Tuning Mode Selection
    127
    
    Explanation of Manual Mode
    128
    
    Explanation of Auto-Tuning Mode
    128
    
    Explanation of Semi-Auto Tuning Mode
    128
    
    Proportional Speed Loop Gain
    129
    
    Speed Integral Compensation
    129
    
    Speed Feed Forward Gain
    129
    
    Frequency Domain
    130
    
    Time Domain
    131
    
    Speed
    131
    
    Auto Mode (Continuous Adjustment))
    132
  - Resonance Suppression
    133
    
    Notch Filter 1 (Resonance Suppression)
    133
    
    Notch Filter Attenuation Rate 1
    133
    
    Notch Filter 2 (Resonance Suppression)
    134
    
    Notch Filter Attenuation Rate 2
    134
    
    Notch Filter 3 (Resonance Suppression)
    134
    
    Notch Filter Attenuation Rate 3
    135
    
    Low-Pass Filter Time Constant
    135
    
    Settings of P2-47
    137
    
    Flowchart of Auto Resonance Suppression Operation
    137
    
    Use Notch Filter to Suppress Resonance
    139
    
    Use Low-Pass Filter to Suppress Resonance
    139
  - Command Source of Torque Control Mode
    140
  - Torque Command Sources
    140
  - Structure of Torque Control Mode
    141
  - Smoothing Strategy of Torque Control Mode
    142
  - Analog Torque Input Scaling
    142
  - Max. Analog Torque Command / Limit
    143
  - Timing Chart of Torque Control Mode
    143
- Control Mode Selection
  144
- Others
  146
  - Speed Limit
    146
  - Torque Limit
    146
  - Analog Monitor
    147
    
    Pulse Output Polarity Setting
    148
    
    Analog Monitor Output Proportion 1(CH1)
    148
    
    Analog Monitor Output Proportion 2(CH2)
    148
    
    Analog Monitor Output Drift Adjustment
    149
  - Electromagnetic Brake
    150
    
    BRKR Output Timing Explanation
    151
    
    Electromagnetic Brake Wiring Diagram
    151
    
    Servo Parameters
    154
- Definition
  154
  - Abbreviation of Control Modes
    154
  - Explanation of Symbols (Marked after Parameter)
    154
Chapter 7 Parameters

154
- Monitor and General Use
  155
- Parameters Summary
  155
- Digital I/O and Relative Input Output Setting
  161
- Communication
  162
- Diagnosis
  163
- Detailed Parameter Listings
  164
  - Drive Fault Code
    164
  - Firmware Version
    164
  - Drive Status (Front Panel Display)
    165
  - Servo Startup Time
    167
  - Status Monitor 1
    167
  - Status Monitor 2
    168
  - Status Monitor 3
    168
  - Status Monitor 4
    169
  - Status Monitor Selection 2
    170
  - Status Monitor Selection 3
    170
  - Status Monitor Register
    171
  - Status Monitor Register Selection
    171
  - Servo Output Status Display
    172
  - External Pulse Input Type
    173
  - P1-XX Basic Parameters
    173
  - Input Polarity
    174
  - Source of Pulse Command
    174
  - Control Mode and Output Direction
    175
  - Control Mode Settings
    175
  - Single Mode
    175
  - Speed and Torque Limit
    176
  - Sz: Zero Speed / Internal Speed Command
    176
  - Tz: Zero Torque / Internal Torque Command
    176
  - 1St Speed Command or Limit
    179
  - 2Nd Speed Command or Limit
    179
  - 3Rd Speed Command or Limit
    179
  - 1St Torque Command or Limit
    180
  - 2Nd Torque Command or Limit
    180
  - 3Rd Torque Command or Limit
    181
  - Motor Stop Mode Selection
    181
  - Electronic Gear Ratio (Denominator) (M)
    187
  - Encoder Output Pulse Number
    188
  - Speed Reached Output Range
    189
  - Positioning Completed Width
    190
  - Regenerative Resistor Capacity
    190
  - Regenerative Resistor Value
    190
  - Maximum Speed Limit
    191
  - Output Overload Warning Time
    191
  - Analog Speed Linear Filter (Moving Filter)
    192
  - Motor Protection Percentage
    192
  - Motor Protection Time
    192
  - Friction Compensation Percentage
    193
  - Friction Compensation Smooth Constant
    194
  - Position Command Moving Filter
    194
  - Max. Rotation Speed of Encoder Output
    195
  - P2-XX Extension Parameters
    196
  - Position Loop Gain Switching Rate
    196
  - Speed Loop Gain Switching Rate
    197
  - Digital Input Terminal 5 (DI5)
    201
  - Digital Input Terminal 6 (DI6)
    201
  - Digital Input Terminal 7 (DI7)
    201
  - Digital Output Terminal 1 (DO1)
    202
  - Digital Output Terminal 2 (DO2)
    202
  - Digital Output Terminal 3 (DO3)
    202
  - Digital Output Terminal 4 (DO4)
    203
  - Digital Output Terminal 5 (DO5)
    203
  - External Anti-Interference Gain
    204
  - Gain Switching Control Selection
    205
  - Auxiliary Function
    206
  - Gain Switching Condition
    206
  - Gain Switching Time Constant
    206
  - Overspeed Warning Condition
    209
  - Excessive Error Warning Condition
    210
  - External Digital Input Terminal 9 (DI9)
    210
  - Digital Output Terminal 6 (DO6)
    211
  - Speed Detection Filter and Jitter Suppression
    214
  - Position Integral Compensation
    215
  - Pulse Deviation Clear Mode
    215
  - Electronic Gear Ratio (2Nd Numerator)
    216
  - Electronic Gear Ratio (3Rd Numerator)
    216
  - Electronic Gear Ratio (4Th Numerator) (N4)
    217
  - Special Function 1
    217
  - Bit10: DI ZCLAMP Function Selection
    218
  - Bit11: NL(CWL)/PL(CCWL) Pulse Input Inhibit Function
    219
  - Special Function 2
    220
  - Stable Inertia Estimating Time
    221
  - Communication Address Setting
    222
  - P3-XX Communication Parameters
    222
  - Transmission Speed
    222
  - Communication Protocol
    223
  - Transmission Fault Treatment
    223
  - Communication Selection
    224
  - Communication Time out Detection
    224
  - Communication Response Delay Time
    225
  - Digital Input Communication Function
    225
  - Monitor Mode
    225
  - Fault Record (N)
    227
  - Fault Record (N-1)
    227
  - P4-XX Diagnosis Parameters
    227
  - Fault Record (N-4)
    228
  - Force Output Contact Control
    229
  - Input Status
    230
  - Adjustment Function
    231
  - Digital Keypad Input of Servo Drive
    231
  - Output Status
    231
  - Analog Speed Input Drift Adjustment 1
    232
  - Analog Speed Input Drift Adjustment 2
    232
  - Analog Torque Drift Adjustment 1
    232
  - Analog Torque Drift Adjustment 2
    233
  - Current Detector Drift Adjustment
    234
  - IGBT NTC Calibration
    234
  - Analog Speed Input Offset
    235
  - Analog Torque Input Offset
    235
  - Undervoltage Error Level
    236
  - Input Function Definition
    237
  - Cable Connection
    250
  - Communication Hardware Interface
    250
  - Configuration
    250
Chapter 8 MODBUS Communications

250
- Communication Parameter Settings
  253
- MODBUS Communication Protocol
  257
  - Code Description
    257
  - ASCII Mode
    257
  - Data Format
    257
  - 11-Bit Character Frame (for 8-Bit Character)
    258
  - Command Message
    259
  - Response Message
    259
- Communication Parameter Write-In and Read-Out
  265
- Basic Inspection
  268
Chapter 9 Maintenance and Inspection

268
- Maintenance
  269
- Life of Replacement Components
  270
  - Smooth Capacitor
    270
  - Relay
    270
  - Cooling Fan
    270
  - Fault Messages Table
    272
  - Servo Drive Fault Messages
    272
Chapter 10 Troubleshooting

272
- Potential Cause and Corrective Actions
  274
- Clearing Faults
  282
Chapter 11 Specifications

284
- Specifications of Servo Drive (ASDA-B2 Series)
  284
- Specifications of Servo Motor (ECMA Series)
  287
- Servo Motor Speed-Torque Curves
  291
- Overload Characteristics
  292
  - Overload Protection Function
    292
  - Occasion of Overload
    292
  - Chart of Load and Operating Time
    292
  - Medium and Medium-High Inertia Series
    293
  - High Inertia Series (ECMA G2/GM Series)
    293
- Dimensions of Servo Drive
  294
- Dimensions of Servo Motor
  298
  - Accessories
    302
  - Power Connectors
    302
  - Power Cables
    303
Appendix A Accessories

303

Delta ASD-B2-1021-B User Manual (345 pages)

Standard AC Servo Drive for General Purpose Applications

Brand: Delta | Category: Servo Drives | Size: 11.73 MB

Table of Contents
6
Inspection
14
Nameplate Information
15
Product Model
15
Model Explanation
16
Servo Drive and Corresponding Servo Motor
18
Servo Drive Features
20
Control Modes of Servo Drive
21
Chapter 2 Installation

22
Chapter 3 Wiring

40
- Connections
  40
- Connecting to Peripheral Devices
  40
- Servo Drive Connectors and Terminals
  41
- Wiring Method
  43
- Specification of Motor Power Cable
  45
- Specification of Encoder Connector
  47
- Selection of Wiring Rod
  51
- Basic Wiring
  53
- Included) and Models below
  53
- 750 W Models
  54
- Kw ~ 3 Kw Models
  55
- I / O Signal (CN1) Connection
  56
- I/O Signal (CN1) Connector Terminal Layout
  56
- Signals Explanation of Connector CN1
  58
- Wiring Diagrams (CN1)
  66
- DI and DO Signal Specified by Users
  73
- CN2 Connector
  74
- Wiring of CN3 Connector
  76
- Analog Monitor Output Connector - CN5
  77
- Standard Connection Example
  78
- Position (PT) Control Mode
  78
- Speed Control Mode
  79
- Torque Control Mode
  80
Chapter 4 Panel Display and Operation

82
- Panel Description
  82
- Parameter Setting Procedure
  83
- Status Display
  84
- Save Setting Display
  84
- Decimal Point
  84
- Alarm Message
  84
- Positive and Negative Sign Setting
  85
- Monitor Display
  85
- General Function
  88
- Operation of Fault Code Display
  88
- JOG Mode
  89
- Force DO Output
  90
- Digital Input Diagnosis Operation
  91
- Digital Output Diagnosis Operation
  91
Chapter 5 Trial Operation and Tuning

92
- Inspection Without Load
  92
- Applying Power to the Servo Drive
  94
- JOG Trial Run Without Load
  98
- Trial Run Without Load (Speed Mode)
  99
- Tuning Procedure
  101
- Flowchart of Tuning Procedure
  102
- Inertia Estimation Flowchart (with Mechanism)
  103
- Flowchart of Auto Tuning
  104
- Flowchart of Semi-Auto Tuning
  105
- Limit of Inertia Ratio
  106
- Mechanical Resonance Suppression Method
  108
- Tuning Modes and Parameters
  109
- Tuning in Manual Mode
  110
Chapter 6 Control Modes of Operation

112
- Selection of Operation Mode
  112
- Position Mode
  114
- Position Command in PT Mode
  114
- Control Structure of Position Mode
  117
- Electronic Gear Ratio
  119
- Low-Pass Filter
  121
- Gain Adjustment of Position Loop
  122
- Speed Mode
  125
- Selection of Speed Mode
  125
- Control Structure of Speed Mode
  126
- Smoothing Speed Command
  127
- The Scaling of Analog Command
  131
- Timing Diagram in Speed Mode
  132
- Gain Adjustment of Speed Loop
  132
- Resonance Suppression
  139
- Torque Mode
  147
- Selection of Torque Command
  147
- Control Structure of Torque Mode
  148
- Smooth Torque Mode
  149
- The Scaling of Analog Command
  149
- Timing Diagram of Torque Mode
  151
- Dual Modes
  152
- Speed / Position Dual Mode
  152
- Speed / Torque Dual Mode
  153
- Torque / Position Dual Mode
  153
- Others
  154
- The Use of Speed Limit
  154
- The Use of Torque Limit
  154
- Analog Monitor
  155
- The Use of Brake
  160
Chapter 7 Parameters

162
- Parameter Definition
  162
- Lists of Parameters
  163
- Parameter Description
  173
- P0-XX Monitor Parameters
  173
- P1-XX Basic Parameters
  182
- P2-XX Extension Parameters
  212
- P3-XX Communication Parameters
  241
- P4-XX Diagnosis Parameters
  246
Chapter 8 Communications

270
Chapter 9 Troubleshooting

288
- Alarm of Servo Drive
  288
- Causes and Corrective Actions
  291
- Corrective Actions after the Alarm Occurs
  302
Chapter 10 Specifications

307
- Torque Features (T-N Curves)
  315
- Overload Features
  317
- Dimensions of Servo Drives
  319
- Dimensions of Servo Motors
  323

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Delta ASD-B2-1021-B Manuals

Delta ASD-B2-1021-B User Manual (314 pages)

Table of Contents

Chapter 1 Unpacking Check and Model Explanation

Chapter 2 Installation and Storage

Chapter 3 Connections and Wiring

Chapter 4 Display and Operation

Chapter 5 Trial Run and Tuning Procedure

Chapter 6 Control Modes of Operation

Chapter 7 Parameters

Chapter 8 MODBUS Communications

Chapter 9 Maintenance and Inspection

Chapter 10 Troubleshooting

Chapter 11 Specifications

Appendix A Accessories

Delta ASD-B2-1021-B User Manual (345 pages)

Table of Contents

Chapter 2 Installation

Chapter 3 Wiring

Chapter 4 Panel Display and Operation

Chapter 5 Trial Operation and Tuning

Chapter 6 Control Modes of Operation

Chapter 7 Parameters

Chapter 8 Communications

Chapter 9 Troubleshooting

Chapter 10 Specifications

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