Delta ASDA-A2 Series User manual

Revision February, 2017 i

Preface

Thank you for purchasing ASDA-A2. This user manual provides the related information of ASDA-

A2R series servo drive and ECMA series servo motors. This manual includes:

Installation and inspection of servo drive and servo motor

The configuration of servo drive

Procedures of trial run

Control function and adjustment methods of servo drive

Parameters

Communication protocol

Maintenance and inspections

Troubleshooting

This manual addresses personnel with the following qualifications:

Servo system designers

Installation or wiring personnel

Trial and tuning personnel

Maintenance and inspection personnel

Before using the product, please read through this manual carefully in order to ensure the correct

use of the product. In addition, please place this manual safely for quick reference whenever is

needed. Please follow the rules below if you have not finished reading this manual yet.

No water, corrosive gas and inflammable gas are allowed in installation environment.

Three-phase power is prohibited to connect to U, V and W connector when wiring. It is

possible to damage the servo drive.

Ground is a must.

Do not disconnect the servo drive, motor or change the wiring when connecting to the

power.

Be ensured that the emergency stop can be activated anytime before connecting to the

power and operation.

Do not touch the heat sink to avoid scald before connecting to the power and operation.

If you have any enquiry, please contact the distributors or DEALTA customer service center.

Preface ASDA-A2

ii Revision February, 2017

Safety Precautions

ASDA-A2 series is the high resolution and open type servo drive. It should be installed in a

shielded control box during operation. This servo drive uses precise feedback control and the

digital signal processor with high-speed calculation function to control the current output which

generated by IGBT so as to operate three-phase permanent magnet synchronous motors (PMSM)

and to achieve precise positioning.

ASDA-A2 is applicable on industrial application and is suggested to be installed in the panel-board

of the user manual. (Servo drives, wire rod and motors all should be installed in the environment

which complies with the minimum requirement of UL Level 1.)

Pay special attention to the following safety precautions anytime during inspection, installation,

wiring, operation and examination.

The symbol of danger, warning and stop represent:

It indicates the potential hazards. It is possible to cause severe injury or fatal harm if not

follow the instructions.

It indicates the potential hazards. It is possible to cause minor injury or lead to serious

damage of the product or even malfunction if not follow the instructions.

It indicates the absolute prohibited activity. It is possible to damage the product or

cannot be used due to malfunction if not follow the instructions.

Inspection

Please follow the instruction when using servo drive and servo motor, or it is possible

to cause fire or malfunction.

Installation

It is prohibited to expose the product with the environment which containing water,

corrosive gas, inflammable gas, etc. Or it is possible to cause electric shock or fire.

Wiring

Please connect the ground terminal to class-3 ground system (under 100 Ω); poor

grounding may result in electric shock or fire.

Do not connect the three-phase source to the motor output terminal U, V and W. Or it

is possible to cause personnel injury or fire.

Please tighten the screws of the power and motor output terminal. Or it is possible to

cause fire.

Please connect wiring according to the wire rod in order to prevent any danger.

ASDA-A2 Preface

Revision February, 2017 iii

Operation

Before the operation, please change the parameter setting value according to the

needs. If it is not adjusted to the correct setting value, it is possible to lead to

malfunction of the machine or the operation might out of control.

Before the machine starts to operate, please be ensured the emergency stop can be

activated anytime.

When power on, please make sure the motor shaft stands still and will not operate

because of mechanical inertia or other causes.

During the operation, it is prohibited to touch any rotating motor parts. Or it is

possible to cause personnel injury.

In order to prevent any accident, please separate the couplings and belts of the

machine and isolate them. Then conduct the initial trial run.

If users fail to operate the machine properly after the servo motor connects to the

equipment, it would cause the damage of the equipment and lead to the personnel

injury.

In order to prevent the danger, it is strongly recommended to check if the motor can

operate normally without load first. Then, operate the motor with load.

Do not touch the heat sink of the servo drive. Or it is possible to cause scald due to

the high temperature.

Maintenance and Inspection

It is prohibited to touch the internal parts of the servo drive and servo motor. Or it is

possible to cause electric shock.

It is prohibited to disassemble the panel of the servo drive when turning on the

power. Or it is possible to cause electric shock.

Do not touch the ground terminal within 10 minutes after turning off the power. Or the

residual voltage may cause electric shock.

Do not disassemble the motor. Or it is possible to cause electric shock or personnel

injury.

Do not change the wiring when the power is on. Or it is possible to cause electric

shock or personnel injury.

Only the qualified electrical and electronics professionals can install, wire and

maintain the servo drive and servo motor.

Preface ASDA-A2

iv Revision February, 2017

Main Circuit Wiring

Do not put the power cable and the encoder cable in the same channel and bond

them together. Please separate the power cable and the encoder cable for at least

30 centimeters (= 11.8 inches) when wiring.

Please use stranded wires and multi-core shielded-pair wires for the encoder cables

and encoder feedback cables. The maximum length of command input cable is 3

meters (= 9.84 feet) and the maximum length of feedback cable is 20 meters (=

65.62 feet).

The high voltage might remain in the servo motor even when the power is off. Do not

touch the power terminal temporally (at least 10 minutes). Please conduct the

inspection not until the indicator light, CHARGE is off.

Do not turn the power on and off too often. If continuous power on and off is needed,

please be ensured the interval is one minute at most.

Terminal Wiring of the Main Circuit

When wiring, please disassemble the terminal socket from the servo drive.

One terminal of the terminal socket for one electric wire only.

When inserting the electric wires, do not connect the conductor to the adjacent wire.

Before connecting to the power, please inspect and be ensured the wiring is correct.

NOTE

If there is any difference of each version, please refer to DELTA’s website

(http://www.delta.com.tw/industrialautomation/) for the latest information.

Revision February, 2017 v

Table of Contents

Chapter 1 Inspection and Model Explanation .................................................................... 1-1

1.1 Inspection ................................................................................................................ 1-1

1.2 Product Model ......................................................................................................... 1-3

1.2.1 Nameplate Information ...................................................................................... 1-3

1.2.2 Model Explanation............................................................................................. 1-4

1.3 Servo Drive and Corresponding Servo Motor ......................................................... 1-6

1.3.1 220 V Series...................................................................................................... 1-6

1.3.2 400 V Series...................................................................................................... 1-8

1.4 Each Part of the Servo Drive................................................................................... 1-9

1.4.1 220 V Series...................................................................................................... 1-9

1.4.2 400 V Series...................................................................................................... 1-12

Chapter 2 Installation ........................................................................................................... 2-1

2.1 Notes ....................................................................................................................... 2-1

2.2 Ambient Conditions of Storage................................................................................ 2-1

2.3 Ambient Conditions of Installation ........................................................................... 2-1

2.4 Installation Direction and Space.............................................................................. 2-2

2.5 Specification of Circuit Breaker and Fuse ............................................................... 2-5

2.6 EMI Filter Selection ................................................................................................. 2-6

2.7 Selection of Regenerative Resistor ......................................................................... 2-9

Chapter 3 Wiring ................................................................................................................... 3-1

3.1 Connections – 220V series ..................................................................................... 3-1

3.1.1 Connecting to Peripheral Devices ..................................................................... 3-1

ASDA-A2 Table of Contents

vi Revision February, 2017

3.1.2 Connectors and Terminals of Servo Drive......................................................... 3-2

3.1.3 Wiring Method ................................................................................................... 3-4

3.1.4 Specification of Motor Power Cable .................................................................. 3-6

3.1.5 Specification of Encoder Cable Connector........................................................ 3-8

3.1.6 Selection of Wiring Rod..................................................................................... 3-12

3.2 Connections – 400V series ..................................................................................... 3-14

3.2.1 Connecting to Peripheral Devices ..................................................................... 3-14

3.2.2 Connectors and Terminals of the Servo Drive................................................... 3-16

3.2.3 Wiring Method ................................................................................................... 3-18

3.2.4 Specification of Motor Power Cable .................................................................. 3-19

3.2.5 Specification of Encoder Connector .................................................................. 3-21

3.2.6 Selection of Wiring Rod..................................................................................... 3-23

3.3 Basic Wiring ............................................................................................................ 3-25

3.3.1 220V series ....................................................................................................... 3-25

3.3.2 400V series ....................................................................................................... 3-28

3.4 I/O Signal (CN1) Connection................................................................................... 3-30

3.4.1 I/O Signal (CN1) Connector Terminal Layout.................................................... 3-30

3.4.2 Signals Explanation of Connector CN1 ............................................................. 3-32

3.4.3 Wiring Diagrams (CN1) ..................................................................................... 3-42

3.4.4 DI and DO Signal Specified by Users................................................................ 3-50

3.4.5 Application: Using CN1 Quick Connector for Wiring ......................................... 3-50

3.5 CN2 Connector........................................................................................................ 3-54

3.6 Wiring of CN3 Connector ........................................................................................ 3-57

3.6.1 Layout of CN3 Connector.................................................................................. 3-57

3.6.2 Connection between PC and Connector CN3................................................... 3-58

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Revision February, 2017 vii

3.7 CN4 Serial Connector (USB)................................................................................... 3-59

3.8 CN5 Connector (Full-closed loop) ........................................................................... 3-60

3.9 CN6 Connector (CANopen)..................................................................................... 3-61

3.10 Extension Digital Input Connector of CN7............................................................... 3-63

3.11 CN8 Connector of Battery Box ................................................................................ 3-64

3.12 Standard Connection Example – 220V series......................................................... 3-65

3.12.1 Position (PT) Control Mode ............................................................................... 3-65

3.12.2 Position (PR) Control Mode............................................................................... 3-66

3.12.3 Speed Control Mode ......................................................................................... 3-67

3.12.4 Torque Control Mode ........................................................................................ 3-68

3.12.5 Communication Mode ....................................................................................... 3-69

3.13 Standard Connection Example – 400V series......................................................... 3-70

3.13.1 Position (PT) Control Mode ............................................................................... 3-70

3.13.2 Position (PR) Control Mode............................................................................... 3-71

3.13.3 Speed Control Mode ......................................................................................... 3-72

3.13.4 Torque Control Mode ........................................................................................ 3-73

3.13.5 Communication Mode ....................................................................................... 3-74

Chapter 4 Panel Display and Operation.............................................................................. 4-1

4.1 Panel Description .................................................................................................... 4-1

4.2 Parameter Setting Procedure.................................................................................. 4-2

4.3 Status Display ......................................................................................................... 4-5

4.3.1 Save Setting Display ......................................................................................... 4-5

4.3.2 Decimal Point .................................................................................................... 4-5

4.3.3 Alarm Message ................................................................................................. 4-5

4.3.4 Positive and Negative Sign Setting .................................................................. 4-5

ASDA-A2 Table of Contents

viii Revision February, 2017

4.3.5 Monitor Display.................................................................................................. 4-6

4.4 General Function..................................................................................................... 4-9

4.4.1 Operation of Fault Record Display .................................................................... 4-9

4.4.2 JOG Mode ......................................................................................................... 4-10

4.4.3 Force DO Output ............................................................................................... 4-11

4.4.4 Digital Input Diagnosis Operation...................................................................... 4-12

4.4.5 Digital Output Diagnosis Operation ................................................................... 4-12

Chapter 5 Trial Operation and Tuning ................................................................................ 5-1

5.1 Inspection without Load........................................................................................... 5-1

5.2 Applying Power to the Servo Drive.......................................................................... 5-2

5.3 JOG Trial Run without Load .................................................................................... 5-6

5.4 Trial Run without Load (Speed Mode)..................................................................... 5-7

5.5 Trial Run without Load (Position Mode) .................................................................. 5-9

5.6 Tuning Procedure.................................................................................................... 5-11

5.6.1 Flowchart of Tuning Procedure ......................................................................... 5-12

5.6.2 Inertia Estimation Flowchart (with Mechanism)................................................. 5-13

5.6.3 Flowchart of Auto Tuning .................................................................................. 5-14

5.6.4 Flowchart of Semi-Auto Tuning ......................................................................... 5-15

5.6.5 Limit of Inertia Ratio .......................................................................................... 5-16

5.6.6 Mechanical Resonance Suppression Method ................................................... 5-18

5.6.7 Tuning Mode and Parameters........................................................................... 5-19

5.6.8 Tuning in Manual Mode..................................................................................... 5-20

Chapter 6 Control Mode of Operation................................................................................. 6-1

6.1 Selection of Operation Mode................................................................................... 6-1

6.2 Position Mode.......................................................................................................... 6-3

Table of Contents ASDA-A2

Revision February, 2017 ix

6.2.1 Position Command in PT Mode......................................................................... 6-3

6.2.2 Position Command in PR Mode ........................................................................ 6-7

6.2.3 Control Structure of Position Mode.................................................................... 6-8

6.2.4 S-curve Filter (Position)..................................................................................... 6-9

6.2.5 Electronic Gear Ratio ........................................................................................ 6-12

6.2.6 Low-pass Filter .................................................................................................. 6-15

6.2.7 Timing Diagram in Position Mode (PR) ............................................................. 6-16

6.2.8 Gain Adjustment of Position Loop ..................................................................... 6-17

6.2.9 Low-frequency Vibration Suppression in Position Mode ................................... 6-19

6.3 Speed Mode ............................................................................................................ 6-24

6.3.1 Selection of Speed Mode .................................................................................. 6-24

6.3.2 Control Structure of Speed Mode...................................................................... 6-25

6.3.3 Smooth Speed Command ................................................................................. 6-26

6.3.4 The Scaling of Analog Command...................................................................... 6-30

6.3.5 Timing Diagram in Speed Mode........................................................................ 6-31

6.3.6 Gain Adjustment of Speed Loop ....................................................................... 6-31

6.3.7 Resonance Suppression ................................................................................... 6-38

6.4 Torque Mode ........................................................................................................... 6-45

6.4.1 Selection of Torque Command.......................................................................... 6-45

6.4.2 Control Structure of Torque Mode..................................................................... 6-46

6.4.3 Smooth Torque Command ................................................................................ 6-47

6.4.4 The Scaling of Analog Command...................................................................... 6-47

6.4.5 Timing Diagram in Torque Mode....................................................................... 6-48

6.5 Dual Mode ............................................................................................................... 6-49

6.5.1 Speed / Position Dual Mode.............................................................................. 6-50

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