Delta ASD-A2R-1B43 Series User Manual

Chapter 7 Motion Control ASDA-A2R Series
7-14 Revision December, 2014
General PR Mode PR Mode in A2R
automatically.
Software limit
protection
No Yes
7.6 The Position Unit of PR Mode
The position data of PR mode is represented by PUU (Pulse of User Unit). It is also the
proportion between the controller position unit and the internal position unit of the servo
drive, which is the so-called electronic gear ratio of the servo drive.
1
） The position unit of the servo drive (pulse):
Delta
’s 20bit rotary motor: Encoder unit: 1280000 (pulse/rev), which will not
change.
Motor from other brands: Unit is single-phase pulse.
2
） User unit (PUU): The unit of the controller.
Delta
’s 20bit rotary motor: P pulse per revolution (PUU/rev), the gear ratio should
set as:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = 1280000 / P
Rotary motor from other brands: P pulse per revolution (PUU/rev), the gear ratio
should set as:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = X / P
X = encoder resolution (pulse/rev)
Linear motor: if 1PUU = P
m , the gear ratio should set as:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = P*X
X = encoder resolution (
pulse/m ), which is the width of single-phase pulse.
7.7 Description of Register in PR Mode
1） Position register of PR mode: All is represented in PUU (Pulse of User Unit).
2
） Command register (monitor variable 064): Command termination register Cmd_E. It
represents the absolute terminal coordinate of position command.
3
） Command output register (monitor variable001): Cmd_O; it represents the absolute
coordinate from the current output command.
4
） Feedback register (monitor variable 000): Fb_PUU; it shows the absolute feedback
position of the motor.
5
） Deviation register (monitor variable 002): Err_PUU; it is the deviation between the
register from command output and feedback register.
6
） In PR mode, either in operation or stop status, it satisfies the condition of Err_PUU =
Cmd_O - Fb_PUU.

Delta ASD-A2R-1B43 Series Specifications

General

Brand	Delta
Model	ASD-A2R-1B43 Series
Category	Servo Drives
Language	English

Summary

Preface

Safety Precautions

Details critical safety measures and warnings to be observed before and during operation, installation, and wiring.

Chapter 1 Inspection and Model Explanation

Chapter 2 Installation

2.3 Ambient Conditions of Installation

Specifies the environmental requirements for installing the servo drive and motor, including temperature, humidity, and contamination levels.

2.4 Installation Direction and Space

2.7 Selection of Regenerative Resistor

Chapter 3 Wiring

3.1 Wiring of Delta’s Servo System

Details the wiring methods for Delta's servo systems, including diagrams and notes for peripheral device connections.

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

Provides a wiring diagram for connecting peripheral devices to the servo motor using communication interfaces.

3.1.2 Connectors and Terminals of the Servo Drive

Lists and describes all terminal signals and connectors on the servo drive for various functions like power input and communication.

3.1.3 Wiring Method

Illustrates the wiring methods for single-phase and three-phase power supplies, explaining the function of contacts and coils.

3.2 Schematic Diagram of Servo System

Presents schematic diagrams of the servo system, illustrating connections for different models and regenerative resistor configurations.

3.3 I/O Signal (CN1) Connection

Details the I/O signals for CN1, including digital inputs, outputs, encoder signals, and analog command inputs.

3.4 CN2 Connector

Describes the terminal blocks and pin numbers for the CN2 connector, covering both encoder and motor connections.

3.5 Wiring of CN3 Connector

Explains the wiring of the CN3 connector for PC communication via RS-232 and RS-485, including pin definitions.

3.6 CN4 Serial Connector (USB)

3.7 CN5 Connector (Full-closed Loop)

Explains the CN5 connector for full-closed loop control, connecting to linear scales or encoders for precise position feedback.

3.8 CN6 Connector (CANopen)

Describes the CN6 connector for CANopen communication, supporting position, torque, and speed modes.

3.10 Standard Wiring Method

Provides standard wiring diagrams for various control modes like Position (PT), Position (PR), Speed, and Torque.

Chapter 4 Panel Display and Operation

4.1 Panel Description

4.2 Parameter Setting Procedure

Details the step-by-step procedure for switching between modes and operating within Monitor, Parameter, and Alarm modes.

4.3 Status Display

Chapter 5 Trial Operation and Tuning

5.1 Inspection without Load

Covers the initial inspection steps before powering the servo drive, ensuring no damage or loose parts.

5.2 Apply Power to the Servo Drive

Provides instructions on how to correctly apply power to the servo drive, including wiring checks and power-on display information.

5.3 JOG Trial Run without Load

Details the procedure for performing a JOG trial run without load, recommended for safety and initial testing.

5.4 Trial Run without Load (Speed Mode)

5.5 Trial Run without Load (Position Mode)

5.6 Tuning Procedure

Provides comprehensive procedures for tuning the servo motor, including inertia estimation and auto/semi-auto tuning.

Chapter 6 Control Mode of Operation

6.1 Selection of Operation Mode

Lists and describes the available single, dual, and multi-mode operations for position, speed, and torque control.

6.2 Position Mode

6.3 Speed Mode

6.4 Torque (force) Mode

6.5 Dual Mode

Chapter 7 Motion Control

7.1 Motion Control Functions of ASDA-A2R

7.4 Description of PR Mode

7.8 Homing Description of PR Mode

7.10 Parameter Settings in PR Mode

7.11 The Description of E-Cam Function

Chapter 8 Parameters

8.1 Parameter Definition

8.2 List of Parameters

Provides a comprehensive list of all parameters, including their abbreviation, function, default value, and related sections.

8.3 Parameter Description

Offers detailed descriptions for each parameter group, explaining their function, interface, default settings, and related sections.

Chapter 9 Communication

9.1 RS-485 / RS-232 Communication Hardware Interface

9.2 RS-485 / RS-232 Communication Parameters Setting

9.3 MODBUS Communication Protocol

9.4 Write-in and Read-out Communication Parameters

Chapter 10 Troubleshooting

10.1 Alarm of Servo Drive

Lists servo drive alarms, their descriptions, corresponding DO signals, and the servo status for each alarm.

10.2 Alarm of CANopen Communication

10.3 Alarm of Motion Control

10.4 Causes and Corrective Actions

Explains the common causes and corrective actions for various servo drive alarms like over current, over voltage, and motor errors.

10.5 Corrective Actions after the Alarm Occurs

Provides specific corrective actions for various alarms, including reset procedures and re-powering instructions.

Chapter 11 Specifications

11.1 Specifications of Servo Drive

11.2 Specifications of Servo Motor (ECMA Series)

11.3 Specifications of Servo Motor (ECML series)

11.6 Overload Features

Chapter 12 Setting of Motor Parameters

12.1 Tuning Procedure of Motor Parameters

Guides users through the process of tuning motor parameters using PC software or the panel, emphasizing safety precautions.

12.2 Panel Setup Procedure (without PC Software)