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ASD-A2023MA
Delta Electronics ASD-A2023MA User Manual
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2
Table of Contents
Default Chapter
6
Table of Contents
6
Chapter 1 Unpacking Check and Model Explanation
14
Unpacking Check
14
Model Explanation
15
Nameplate Information
15
Model Name Explanation
17
Servo Drive and Servo Motor Combinations
20
Servo Drive Features
22
Control Modes of Servo Drive
26
Chapter 2 Installation and Storage
28
Installation Notes
28
Storage Conditions
28
Installation Conditions
29
Installation Procedure and Minimum Clearances
30
Chapter 3 Connections and Wiring
34
Connections
34
Connecting to Peripheral Devices
34
Servo Drive Connectors and Terminals
37
Wiring Methods
39
Motor Power Cable Connector Specifications
41
Encoder Connector Specifications
43
Cable Specifications for Servo Drive
44
Basic Wiring
46
Input / Output Interface Connector -CN1
50
CN1 Terminal Identification
50
Signals Explanation of Connector CN1
52
User-Defined DI and DO Signals
62
Wiring Diagrams of I/O Signals (CN1)
63
Encoder Connector CN2
68
Serial Communication Connector CN3
70
CN3 Terminal Layout and Identification
70
Connection between Pc/Keypad and Connector CN3
71
Standard Connection Example
72
Position (Pt) Control Mode
72
Position (Pr) Control Mode
73
Speed Control Mode
74
Torque Control Mode
75
Chapter 4 Display and Operation
76
Description of the Digital Keypad
76
Display Flowchart
78
Status Display
79
Save Setting Display
79
Abort Setting Display
79
Fault Message Display
79
Polarity Setting Display
79
Monitor Setting Display
80
General Function Operation
82
Fault Code Display Operation
82
JOG Operation
82
Position Learning Operation
83
DI Diagnosis Operation
86
DO Diagnosis Operation
86
Chapter 5 Trial Run and Tuning Procedure
88
Inspection Without Load
88
Applying Power to the Drive
90
JOG Trial Run Without Load
94
Speed Trial Run Without Load
96
Position Trial Run Without Load
98
Tuning Procedure
101
Tuning Flowchart
102
Load Inertia Estimation Flowchart
103
Easy Mode Tuning Flowchart
104
Automode (PI) Tuning Flowchart
107
Automode (PDFF) Tuning Flowchart
109
Limit of Load Inertia Estimation
111
Relationship between Tuning Modes and Parameters
111
Gain Adjustment in Manual Mode
112
Chapter 6 Control Modes of Operation
114
Control Modes of Operation
114
Position Control Mode
115
Command Source of Position (Pt) Control Mode
115
Command Source of Position (Pr) Control Mode
117
Structure of Position Control Mode
118
P-Curve Filter for Position Control
119
Electronic Gear Ratio
122
Low-Pass Filter
123
Timing Chart of Position (Pr) Control Mode
124
Position Loop Gain Adjustment
124
Speed Control Mode
127
Command Source of Speed Control Mode
127
Structure of Speed Control Mode
128
Smoothing Strategy of Speed Control Mode
129
Analog Speed Input Scaling
132
Timing Chart of Speed Control Mode
133
Speed Loop Gain Adjustment
133
Resonance Suppression
141
Torque Control Mode
144
Command Source of Torque Control Mode
144
Structure of Torque Control Mode
145
Smoothing Strategy of Torque Control Mode
145
Analog Torque Input Scaling
146
Control Modes Selection
148
Speed / Position Control Mode Selection
148
Speed / Torque Control Mode Selection
149
Torque / Position Control Mode Selection
149
Others
151
Speed Limit
151
Torque Limit
151
Regenerative Resistor
152
Analog Monitor
157
Electromagnetic Brake
160
Chapter 7 Parameters
164
Definition
164
Parameter Summary
165
Parameters List by Group
165
Parameters List by Function
172
Detailed Parameter Listings
183
Chapter 11 Specifications
292
Specifications of Servo Drive (ASDA-A Series)
292
Specifications of Servo Drive (ASDA-A+ Series)
295
Low Inertia Servo Motor Specifications
297
Medium Inertia Servo Motor Specifications
299
Medium and Medium / High Inertia Servo Motor Specifications (ECMA Series)
301
Servo Motor Speed-Torque Curves (T-N Curves)
302
Overload Characteristics
304
Dimensions of Servo Drive
306
Dimensions of Low Inertia Servo Motor
312
Dimensions of Medium Inertia Servo Motor
314
Dimensions of Medium / High Inertia Servo Motor (ECMA Series)
315
Chapter 12 Application Examples
318
Position Control (Including Homing Function)
318
Roller Feeding
320
Connecting to Delta DVP-EH Series PLC
321
Connecting to Delta TP04 Series
326
Position Control Mode (Pr Mode)
328
Feed Step Control
331
Internal Auto Running Mode
342
Homing Function
347
External Controller Connection Examples
354
Appendix A Accessories
361
Appendix B Molded-Case Circuit Breaker, Fuse Current and EMI Filters
376
4
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Delta Electronics ASD-A2023MA Specifications
General
Brand
Delta Electronics
Model
ASD-A2023MA
Category
DC Drives
Language
English
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