Manuali utente per Delta Electronics ASDA-AB

Sommario

• Cover

  1
• Preface

  2
• Safety Precautions

  3
• Table of Contents

  6
• Chapter 1 Unpacking Check and Model Explanation

  14
  • 1.1 Unpacking Check

    14
  • 1.2 Model Explanation

    15
    • 1.2.1 Nameplate Information

      15
    • 1.2.2 Model Name Explanation

      16
  • 1.3 Servo Drive and Servo Motor Combinations

    18
  • 1.4 Servo Drive Features

    19
  • 1.5 Control Modes of Servo Drive

    21
• Chapter 2 Installation and Storage

  22
  • 2.1 Installation Notes

    22
  • 2.2 Storage Conditions

    22
  • 2.3 Installation Conditions

    23
  • 2.4 Installation Procedure and Minimum Clearances

    24
• Chapter 3 Connections and Wiring

  26
  • 3.1 Connections

    26
    • 3.1.1 Connecting to Peripheral Devices

      26
    • 3.1.2 Servo Drive Connectors and Terminals

      28
    • 3.1.3 Wiring Methods

      30
    • 3.1.4 Motor Power Cable Connector Specifications

      32
    • 3.1.5 Encoder Connector Specifications

      33
    • 3.1.6 Cable Specifications for Servo Drive

      34
  • 3.2 Basic Wiring

    36
  • 3.3 Input / Output Interface Connector -CN1

    39
    • 3.3.1 CN1 Terminal Identification

      39
    • 3.3.2 Signals Explanation of Connector CN1

      41
    • 3.3.3 User-defined DI and DO signals

      51
    • 3.3.4 Wiring Diagrams of I/O Signals (CN1)

      51
  • 3.4 Encoder Connector CN2

    56
  • 3.5 Serial Communication Connector CN3

    57
    • 3.5.1 CN3 Terminal Layout and Identification

      57
    • 3.5.2 Connection between PC and Connector CN3

      58
  • 3.6 Standard Connection Example

    59
    • 3.6.1 Position (Pt) Control Mode (220V models)

      59
    • 3.6.2 Position (Pt) Control Mode (110V models)

      60
    • 3.6.3 Position (Pr) Control Mode (220V models)

      61
    • 3.6.4 Position (Pr) Control Mode (110V models)

      62
    • 3.6.5 Speed Control Mode (220V models)

      63
    • 3.6.6 Speed Control Mode (110V models)

      64
    • 3.6.7 Torque Control Mode (220V models)

      65
    • 3.6.8 Torque Control Mode (110V models)

      66
• Chapter 4 Display and Operation

  68
  • 4.1 Description of the Digital Keypad

    68
  • 4.2 Display Flowchart

    69
  • 4.3 Status Display

    70
    • 4.3.1 Save Setting Display

      70
    • 4.3.2 Abort Setting Display

      70
    • 4.3.3 Fault Message Display

      70
    • 4.3.4 Polarity Setting Display

      70
    • 4.3.5 Monitor Setting Display

      71
  • 4.4 General Function Operation

    73
    • 4.4.1 Fault Code Display Operation

      73
    • 4.4.2 JOG Operation

      74
    • 4.4.3 Position Learning Operation

      75
    • 4.4.4 DO Force Output Diagnosis Operation

      76
    • 4.4.5 DI Diagnosis Operation

      77
    • 4.4.6 DO Diagnosis Operation

      77
• Chapter 5 Trial Run and Tuning Procedure

  78
  • 5.1 Inspection without Load

    78
  • 5.2 Applying Power to the Drive

    80
  • 5.3 JOG Trial Run without Load

    84
  • 5.4 Speed Trial Run without Load

    86
  • 5.5 Position Trial Run without Load

    88
  • 5.6 Tuning Procedure

    91
    • 5.6.1 Tuning Flowchart

      92
    • 5.6.2 Load Inertia Estimation Flowchart

      93
    • 5.6.3 AutoMode (PI) Tuning Flowchart

      94
    • 5.6.4 AutoMode (PDFF) Tuning Flowchart

      96
    • 5.6.5 Manual Mode Tuning Flowchart

      98
    • 5.6.6 Limit of Load Inertia Estimation

      99
    • 5.6.7 Relationship between Tuning Modes and Parameters

      100
    • 5.6.8 Gain Adjustment in Manual Mode

      100
• Chapter 6 Control Modes of Operation

  104
  • 6.1 Control Modes of Operation

    104
  • 6.2 Position Control Mode

    105
    • 6.2.1 Command Source of Position (Pt) Control Mode

      105
    • 6.2.2 Command Source of Position (Pr) Control Mode

      106
    • 6.2.3 Structure of Position Control Mode

      107
    • 6.2.4 P-curve Filter for Position Control

      108
    • 6.2.5 Electronic Gear Ratio

      111
    • 6.2.6 Low-pass Filter

      112
    • 6.2.7 Timing Chart of Position (Pr) Control Mode

      113
    • 6.2.8 Position Loop Gain Adjustment

      113
  • 6.3 Speed Control Mode

    116
    • 6.3.1 Command Source of Speed Control Mode

      116
    • 6.3.2 Structure of Speed Control Mode

      117
    • 6.3.3 Smoothing Strategy of Speed Control Mode

      118
    • 6.3.4 Analog Speed Input Scaling

      121
    • 6.3.5 Timing Chart of Speed Control Mode

      122
    • 6.3.6 Speed Loop Gain Adjustment

      122
    • 6.3.7 Resonance Suppression

      127
  • 6.4 Torque Control Mode

    131
    • 6.4.1 Command Source of Torque Control Mode

      131
    • 6.4.2 Structure of Torque Control Mode

      132
    • 6.4.3 Smoothing Strategy of Torque Control Mode

      132
    • 6.4.4 Analog Torque Input Scaling

      133
    • 6.4.5 Timing Chart of Torque Control Mode

      134
  • 6.5 Control Modes Selection

    135
    • 6.5.1 Speed / Position Control Mode Selection

      135
    • 6.5.2 Speed / Torque Control Mode Selection

      136
    • 6.5.3 Torque / Position Control Mode Selection

      136
  • 6.6 Others

    138
    • 6.6.1 Speed Limit

      138
    • 6.6.2 Torque Limit

      138
    • 6.6.3 Regenerative Resistor

      139
    • 6.6.4 Analog Monitor

      143
    • 6.6.5 Electromagnetic Brake

      146
• Chapter 7 Servo Parameters

  150
  • 7.1 Definition

    150
  • 7.2 Parameters Summary

    151
    • 7.2.1 Parameters List by Group

      151
    • 7.2.2 Parameters List by Function

      158
  • 7.3 Detailed Parameter Listings

    169
    • Group 0: P0-xx Monitor Parameters

      169
    • Group 1: P1-xx Basic Parameters

      176
    • Group 2: P2-xx Extension Parameters

      200
    • Group 3: P3-xx Communication Parameters

      226
    • Group 4: P4-xx Diagnosis Parameters

      230
  • Table 7.A Input Function Definition

    238
  • Table 7.B Output Function Definition

    242
• Chapter 8 MODBUS Communications

  244
  • 8.1 Communication Hardware Interface

    244
  • 8.2 Communication Parameter Settings

    248
  • 8.3 MODBUS Communication Protocol

    252
  • 8.4 Communication Parameter Write-in and Read-out

    260
• Chapter 9 Maintenance and Inspection

  262
  • 9.1 Basic Inspection

    262
  • 9.2 Maintenance

    263
  • 9.3 Life of Replacement Components

    263
• Chapter 10 Troubleshooting

  266
  • 10.1 Fault Messages Table

    266
  • 10.2 Potential Cause and Corrective Actions

    268
  • 10.3 Clearing Faults

    273
• Chapter 11 Specifications

  276
  • 11.1 Specifications of Servo Drive (ASDA-AB Series)

    276
  • 11.2 Specifications of Servo Motor (ECMA Series)

    279
  • 11.3 Servo Motor Speed-Torque Curves

    282
  • 11.4 Overload Characteristics

    283
  • 11.5 Dimensions of Servo Drive

    291
  • 11.6 Dimensions of Servo Motor

    295
• Chapter 12 Application Examples

  298
  • 12.1 Position Control (including homing function)

    298
  • 12.2 Roller Feeding

    300
  • 12.3 Connecting to Delta DVP-EH Series PLC

    301
  • 12.4 Connecting to Delta TP04 Series

    306
  • 12.5 Position Control Mode (Pr Mode)

    308
  • 12.6 Feed Step Control

    311
  • 12.7 Internal Auto Running Mode

    322
  • 12.8 Homing Function

    327
  • 12.9 External Controller Connection Examples

    334
• Appendix A Accessories

  340
• Appendix B Molded-case Circuit Breaker, Fuse Currentand EMI Filters

  354