Manuali utente per Delta Electronics ASDA-B Series

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

    16
    • 1.2.1 Nameplate Information

      16
    • 1.2.2 Model Name Explanation

      17
  • 1.3 Servo Drive and Servo Motor Combinations

    19
  • 1.4 Servo Drive Features

    20
  • 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

      27
    • 3.1.3 Wiring Methods

      29
    • 3.1.4 Motor Power Cable Connector Specifications

      30
    • 3.1.5 Encoder Connector Specifications

      32
    • 3.1.6 Cable Specifications for Servo Drive and Servo Motor

      33
  • 3.2 Basic Wiring

    34
  • 3.3 Input / Output Interface Connector -CN1

    37
    • 3.3.1 CN1 Terminal Identification

      37
    • 3.3.2 Signals Explanation of Connector CN1

      38
    • 3.3.3 User-defined DI and DO signals

      43
    • 3.3.4 Wiring Diagrams of I/O Signals (CN1)

      45
  • 3.4 Encoder Connector CN2

    49
  • 3.5 Serial Communication Connector CN3

    50
    • 3.5.1 CN3 Terminal Layout and Identification

      50
    • 3.5.2 Connection between PC/Keypad and Connector CN3

      51
  • 3.6 Standard Connection Example

    52
    • 3.6.1 Position Control Mode

      52
    • 3.6.2 Speed Control Mode

      53
    • 3.6.3 Torque Control Mode

      54
• Chapter 4 Display and Operation

  56
  • 4.1 ASD-PU-01A

    56
    • 4.1.1 Description of Digital Keypad ASD-PU-01A

      56
    • 4.1.2 Display Flowchart

      58
    • 4.1.3 Status Display

      63
    • 4.1.4 Fault Code Display Operation

      66
    • 4.1.5 JOG Operation

      67
    • 4.1.6 DO Force Output Diagnosis Operation

      69
    • 4.1.7 DI Diagnosis Operation

      70
    • 4.1.8 DO Diagnosis Operation

      70
    • 4.1.9 Parameters Read and Write

      71
  • 4.2 ASD-PU-01B

    73
    • 4.2.1 Description of Digital Keypad ASD-PU-01B

      73
    • 4.2.2 Display Flowchart

      74
    • 4.2.3 Status Display

      83
    • 4.2.4 Fault Code Display Operation

      86
    • 4.2.5 JOG Operation

      86
    • 4.2.6 DO Force Output Diagnosis Operation

      88
    • 4.2.7 DI Diagnosis Operation

      89
    • 4.2.8 DO Diagnosis Operation

      90
    • 4.2.9 Parameters Read and Write

      91
• Chapter 5 Trial Run and Tuning Procedure

  94
  • 5.1 Inspection without Load

    94
  • 5.2 Applying Power to the Drive

    96
  • 5.3 JOG Trial Run without Load

    100
    • 5.3.1 ASD-PU-01A Tuning Flowchart

      100
    • 5.3.2 ASD-PU-01B Tuning Flowchart

      101
  • 5.4 Speed Trial Run without Load

    102
  • 5.5 Tuning Procedure

    104
    • 5.5.1 Tuning Flowchart

      106
    • 5.5.2 Load Inertia Estimation Flowchart

      107
    • 5.5.3 AutoMode (PI) Tuning Flowchart

      108
    • 5.5.4 AutoMode (PDFF) Tuning Flowchart

      110
    • 5.5.5 Limit of Load Inertia Estimation

      111
    • 5.5.6 Relationship between Tuning Modes and Parameters

      112
    • 5.5.7 Gain Adjustment in Manual Mode

      113
• Chapter 6 Control Modes of Operation

  116
  • 6.1 Control Modes of Operation

    116
  • 6.2 Position Control Mode

    117
    • 6.2.1 Command Source of Position Control Mode

      117
    • 6.2.2 Structure of Position Control Mode

      118
    • 6.2.3 Pulse Inhibit Input Function (INHP)

      119
    • 6.2.4 Electronic Gear Ratio

      119
    • 6.2.5 Low-pass Filter

      121
    • 6.2.6 Position Loop Gain Adjustment

      121
  • 6.3 Speed Control Mode

    124
    • 6.3.1 Command Source of Speed Control Mode

      124
    • 6.3.2 Structure of Speed Control Mode

      125
    • 6.3.3 Smoothing Strategy of Speed Control Mode

      126
    • 6.3.4 Analog Speed Input Scaling

      129
    • 6.3.5 Timing Chart of Speed Control Mode

      130
    • 6.3.6 Speed Loop Gain Adjustment

      130
    • 6.3.7 Resonance Suppression

      138
  • 6.4 Torque Control Mode

    140
    • 6.4.1 Command Source of Torque Control Mode

      140
    • 6.4.2 Structure of Torque Control Mode

      141
    • 6.4.3 Smoothing Strategy of Torque Control Mode

      142
    • 6.4.4 Analog Torque Input Scaling

      142
    • 6.4.5 Timing Chart of Speed Control Mode

      143
  • 6.5 Control Modes Selection

    144
    • 6.5.1 Speed / Position Control Mode Selection

      144
    • 6.5.2 Speed / Torque Control Mode Selection

      145
    • 6.5.3 Torque / Position Control Mode Selection

      145
  • 6.6 Others

    146
    • 6.6.1 Speed Limit

      146
    • 6.6.2 Torque Limit

      146
    • 6.6.3 Regenerative Resistor

      147
    • 6.6.4 Electromagnetic Brake

      151
• Chapter 7 Servo Parameters

  154
  • 7.1 Definition

    154
  • 7.2 Parameters Summary

    155
    • 7.2.1 Parameters List by Group

      155
    • 7.2.2 Parameters List by Function

      163
  • 7.3 Detailed Parameter Listings

    172
    • Group 0: P0-xx Monitor Parameters

      172
    • Group 1: P1-xx Basic Parameters

      177
    • Group 2: P2-xx Extension Parameters

      192
    • Group 3: P3-xx Communication Parameters

      209
    • Group 4: P4-xx Diagnosis Parameters

      212
    • Group 8: P8-xx Keypad Parameters

      221
  • Table 7.A Input Function Definition

    227
  • Table 7.B Output Function Definition

    233
• Chapter 8 MODBUS Communications

  236
  • 8.1 Communication Hardware Interface

    236
  • 8.2 Communication Parameter Settings

    239
  • 8.3 MODBUS Communication Protocol

    243
• Chapter 9 Maintenance and Inspection

  252
  • 9.1 Basic Inspection

    252
  • 9.2 Maintenance

    253
  • 9.3 Life of Replacement Components

    253
• Chapter 10 Troubleshooting

  256
  • 10.1 Fault Messages Table

    256
  • 10.2 Potential Cause and Corrective Actions

    258
  • 10.3 Clearing Servo Drive Faults

    267
• Chapter 11 Specifications

  268
  • 11.1 Specifications of Servo Drive (ASDA-B Series)

    268
  • 11.2 Specifications of Servo Motor (ECMA Series)

    271
  • 11.3 Dimensions of Servo Drive

    274
  • 11.4 Servo Motor Speed-Torque Curves (T-N Curve)

    277
  • 11.5 Overload Characteristics

    278
  • 11.6 Dimensions of Servo Motor

    286
  • 11.7 EMI Filters Selection

    289
• Chapter 12 Application Examples

  290
  • 12.1 Connecting to DVP-EH PLC and DOP-A HMI

    290
  • 12.2 Connecting to DVP-EH PLC and Delta TP04 Series

    301
  • 12.3 External Controller Connection Examples

    304
• Appendix A Accessories

  310