Delta ASD-A2R-0221 Series Bedienungsanleitung

A High Performance with

Diverse Communication

Interfaces Servo Drive

ASDA-A2R Series User

Manual

www.deltaww.com

A High Performance with Diverse Communication

Interfaces Servo Drive

ASDA-A2R Series User Manual

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center

No.18, Xinglong Rd., Taoyuan City,

Taoyuan County 33068, Taiwan

TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3

1688 Jiangxing East Road,

Wujiang Economic Development Zone

Wujiang City, Jiang Su Province, P.R.C. 215200

TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,

ShangHai, P.R.C. 201209

TEL: 86-21-58635678 / FAX: 86-21-58630003

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon,

Tokyo 105-0012, Japan

TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong,

Geumcheon-gu, Seoul, Korea, 153-704

TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd.

4 Kaki Bukit Ave 1, #05-05, Singapore 417939

TEL: 65-6747-5155 / FAX: 65-6744-9228

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC

Gurgaon, PIN 122001, Haryana, India

TEL : 91-124-4874900 / FAX : 91-124-4874945

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive,

Research Triangle Park, NC 27709, U.S.A.

TEL: 1-919-767-3800 / FAX: 1-919-767-8080

Delta Greentech (Brasil) S.A.

Sao Paulo Ofce

Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil

TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865

Europe

Deltronics (The Netherlands) B.V.

Eindhoven Ofce

De Witbogt 15, 5652 AG Eindhoven, The Netherlands

TEL: 31-40-2592850 / FAX: 31-40-2592851

*We reserve the right to change the information in this manual without prior notice.

DELTA_IA-ASDA-A2R_UM_EN_20141219 (V2.0)

Revision December, 2014 i

Preface

Thank you for purchasing ASDA-A2R. This user manual provides the related information of

ASDA-A2R series servo drive and ECMA, ECML 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 DEALTAcustomer service center.

PrefaceASDA-A2R Series

ii Revision December, 2014

Safety Precautions

ASDA-A2R 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-A2R 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.

PrefaceASDA-A2R Series

Revision December, 2014 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 equipments, it would cause the damage of the equipments 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.

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 PG feedback cables. The maximum length of command

input cable is 3 meters (= 9.84 feet) and the maximum length of PG 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.

PrefaceASDA-A2R Series

iv Revision December, 2014

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.

PrefaceASDA-A2R Series

Revision December, 2014 v

Safety precautions when connecting to linear motor

Do not touch servo motor when the power is on. 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 change the wiring when the power is on. Or it is possible to

cause electric shock or personnel injury.

Do not touch the motor during operation. Or it is possible to cause

scald due to the high temperature.

Do not touch the machine that just turned off, the residual

temperature might cause scald.

Strong magnets! It can be harmful to pacemaker wearers and

other with medical implants.

Caution, strong magnet field.

Mechanical hazard! To avoid jammed during maintenance.

Improper installation is prohibited, such as to knock, to cut off, to

stamp on or to tighten incorrect mechanism.

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 December, 2014

Table of Contents

Chapter 1 Inspection and Model Explanation

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

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

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

1.2.2 Model Explanation................................................................................ 1-5

1.3 Servo Drive and Corresponding Servo Motor................................................ 1-9

1.4 Each Part of the Servo Drive......................................................................... 1-10

1.5 ECML Series Servo Motor............................................................................. 1-13

Chapter 2 Installation

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

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

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

2.4 Installation Direction and Space.................................................................... 2-3

2.5 Specification of Circuit Breaker and Fuse...................................................... 2-4

2.6 EMI Filters Selection...................................................................................... 2-5

2.7 Selection of Regenerative Resistor ............................................................... 2-7

Chapter 3 Wiring

3.1 Wiring of Delta’s Servo System .................................................................. 3-1

3.1.1 Wiring Diagram of Peripheral Devices (connect to Delta’s Servo Motor

Communication Type)............................................................................ 3-1

Table of ContentsASDA-A2R Series

Revision December, 2014

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

3.1.3 Wiring Method....................................................................................... 3-5

3.1.4 Specification of ECMA Motor U, V, W Power Cable.............................. 3-7

Specification of ECML Motor U, V, W Power Cable.............................. 3-9

3.1.5 Specification of Connector of Encoder Cable........................................ 3-10

Specification and Definition of Motor Signal Cable ................................ 3-13

3.1.6 Selection of Wire Rod............................................................................ 3-14

3.2 Schematic Diagram of Servo System............................................................ 3-16

3.3 I/O Signal (CN1) Connection......................................................................... 3-18

3.3.1 I/O Signal (CN1) Connector Terminal Layout....................................... 3-18

3.3.2 Explanation of I/O (CN1) Connector Signal.......................................... 3-20

3.3.3 Wiring Diagram (CN1) .......................................................................... 3-31

3.3.4 The DI and DO Signal Specified by the User........................................ 3-39

3.3.5 Application: Wiring of CN1 Quick Connector........................................ 3-40

3.4 CN2 Connector.............................................................................................. 3-43

3.5 Wiring of CN3 Connector............................................................................... 3-46

3.5.1 Layout of CN3 Connector..................................................................... 3-46

3.5.2 Connection between CN3 Connector and Personal Computer............. 3-47

3.6 CN4 Serial Connector (USB)......................................................................... 3-48

3.7 CN5 Connector (Full-closed Loop)................................................................ 3-49

3.8 CN6 Connector (CANopen)........................................................................... 3-50

3.9 Extension Digital Input Connector of CN7..................................................... 3-52

3.10 Standard Wiring Method................................................................................ 3-53

Table of ContentsASDA-A2R Series

Revision December, 2014

3.10.1 Position (PT) Mode Standard Wiring ................................................. 3-53

3.10.2 Position (PR) Mode Standard Wiring.................................................. 3-54

3.10.3 Speed Mode Standard Wiring............................................................. 3-55

3.10.4 Torque Mode Standard Wiring............................................................ 3-56

3.10.5 CANopen Mode Standard Wiring........................................................ 3-57

3.11 Wiring System of other Brand of Motor.......................................................... 3-58

3.11.1 Wiring Diagram of Peripheral Devices................................................ 3-58

3.11.2 Specification of Definition of ECML Motor Cable................................ 3-62

3.11.3 Signal Converter Box.......................................................................... 3-64

Chapter 4 Panel Display and Operation

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

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

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

4.3.1 Setting Saved 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

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

Table of ContentsASDA-A2R Series

Revision December, 2014

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

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

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

5.4 Trial Run without Load (Speed Mode)........................................................... 5-6

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

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

5.6.1 Flowchart of Tuning Procedure............................................................. 5-13

5.6.2 Inertia Estimation Flowchart (with Mechanism) .................................... 5-14

5.6.3 Flowchart of Auto Tuning...................................................................... 5-15

5.6.4 Flowchart of Semi-auto Tuning............................................................. 5-16

5.6.5 Limit of Inertia Ratio for Rotary Motor / Total Weight of Linear Motor and

Load (kg) ............................................................................................. 5-17

5.6.6 Mechanical Resonance Suppression Method....................................... 5-20

5.6.7 Tuning Mode and Parameters.............................................................. 5-21

5.6.8 Tuning in Manual Mode........................................................................ 5-22

Chapter 6 Control Mode and Operation

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

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

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

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