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ASD-M-0721-F
Delta ASD-M-0721-F User Manual
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Revision December
, 2014
6
-
1
5
6.2.7
Timing Diagram in Position Mode (PR)
In PR mode, the position command is select
ed by either DI signal (POS0~POS5 and
CTRG) of CN1 or communication. Please refer
to Section 6.2.2 for the information about
DI signal and its selected register
.
Followings are the timing diagrams.
139
141
Table of Contents
Default Chapter
6
Table of Contents
6
Chapter 1 Inspection and Model Explanation
14
Inspection
14
Product Model
15
Nameplate Information
15
Model Explanation
16
Servo Drive and Corresponding Servo Motor
18
Features of Servo Drive
19
Chapter 2 Installation
22
Notes
22
Ambient Conditions of Storage
22
Ambient Conditions of Installation
23
Installation Direction and Space
24
Specification of Circuit Breaker and Fuse
26
EMI Filters Selection
26
Selection of Regenerative Resistor
29
Chapter 3 Wiring
38
Connection between Peripheral Devices and Main Power Circuit
38
Wiring Diagram of Peripheral Devices
38
Connectors and Terminals of the Servo Drive
40
Wiring Method
42
Specification of Motor U, V, W Power Cable
44
Specification of Connector of Encoder Cable
46
Selection of Wire Rod
49
Schematic Diagram of Servo System
51
I/O Signal (CN1) Connection
52
I/O Signal (CN1) Connector Terminal Layout
52
Explanation of I/O (CN1) Connector Signal
54
Wiring Diagram (CN1)
68
CN2 Connector
78
Wiring of CN3 Connector
81
Layout of CN3 Connector
81
Connection between CN3 Connector and Personal Computer
82
CN4 Serial Connector (USB)
83
CN5 Connector (Full-Closed Loop)
84
CN6 Connector (Canopen)
85
Standard Wiring Method
87
Position (PT) Mode Standard Wiring
87
Position (PR) Mode Standard Wiring
88
Speed Mode Standard Wiring
89
Torque Mode Standard Wiring
90
Canopen Mode Standard Wiring
91
Chapter 4 Panel Display and Operation
92
Panel Description
92
Parameter Setting Procedure
93
Axis Switching Procedure
93
Parameter Setting Procedure of each Axis
94
Status Display
95
Setting Saved Display
95
Decimal Point
95
Alarm Message
95
Positive and Negative Sign Setting
95
Monitor Display
96
General Function
99
Operation of Fault Record Display
99
JOG Mode
100
Digital Input Diagnosis Operation
102
Digital Output Diagnosis Operation
103
Chapter 5 Trial Operation and Tuning
104
Inspection Without Load
104
Apply Power to the Servo Drive
105
JOG Trial Run Without Load
109
Trial Run Without Load (Speed Mode)
110
Trial Run Without Load (Position Mode)
112
Tuning Procedure
114
Flowchart of Tuning Procedure
115
Inertia Estimation Flowchart (with Mechanism)
116
Flowchart of Auto Tuning
117
Flowchart of Semi-Auto Tuning
118
Limit of Load Inertia Estimation
120
Mechanical Resonance Suppression Method
122
Tuning Mode and Parameters
123
Tuning in Manual Mode
124
Chapter 6 Control Mode of Operation
126
Selection of Operation Mode
126
Position Mode
128
Position Command of PT Mode
128
Position Command of PR Mode
131
Control Structure of Position Mode
132
S-Curve Filter (Position)
133
Electronic Gear Ratio
137
Low-Pass Filter
139
Timing Diagram in Position Mode (PR)
140
Gain Adjustment of Position Loop
141
Low-Frequency Vibration Suppression in Position Mode
143
Speed Mode
149
Selection of Speed Command
149
Control Structure of Speed Mode
150
Smooth Speed Command
151
The Scaling of Analog Command
155
The Timing Diagram in Speed Mode
156
Gain Adjustment of Speed Loop
157
Resonance Suppression
164
Torque Mode
172
Selection of Torque Command
172
Control Structure of Torque Mode
173
Smooth Torque Command
174
The Scaling of Analog Command
175
The Timing Diagram in Torque Mode
176
Dual Mode
177
Speed／Position Dual Mode
178
Speed／Torque Dual Mode
178
Torque／Position Dual Mode
179
Others
180
The Use of Speed Limit
180
The Use of Torque Limit
180
Analog Monitor
181
The Use of Mechanical Brake
186
Chapter 7 Motion Control
188
Motion Control Functions of ASDA-M
188
Information of the Servo Drive
188
Description of Monitor Variables
190
Description of Data Array
196
Description of Motion Axes
200
Description of PR Mode
201
The Position Unit of PR Mode
201
Description of Register in PR Mode
201
Description of Homing in PR Mode
203
Parameter Settings in PR Mode
205
Programming the Path in PR Mode
216
The Description of E-Cam Function
217
Function Description of CAPTURE (Data Capture)
226
Function Description of COMPARE (Data Compare)
229
Chapter 8 Parameters
232
Parameter Definition
232
Parameters
233
Parameter Description
243
P0-XX Monitor Parameters
243
P1-XX Basic Parameters
269
P2-XX Extension Parameters
310
P3-XX Communication Parameters
349
P4-XX Diagnosis Parameters
358
P5-XX Motion Setting Parameters
373
P6-XX PR Parameters
429
P7-XX PR Parameters
479
Table 8.1 Function Description of Digital Input (DI)
529
Table 8.2 Function Description of Digital Output (DO)
536
Chapter 9 Communication
542
RS-232 Communication Hardware Interface
542
RS-232 Communication Parameters Setting
545
MODBUS Communication Protocol
549
Write-In and Read-Out in Communication Parameters
560
Chapter 10 Troubleshooting
562
Alarm of Servo Drive
562
Alarm of Canopen Communication
565
Alarm of Motion Control
568
Causes and Corrective Actions
573
Corrective Actions after the Alarm Occurs
597
Chapter 11 Specifications
602
Specifications of Servo Drive (ASDA-M Series)
602
Specifications of Servo Motor (ECMA Series)
605
Torque Features (T-N Curve)
613
Overload Features
614
Dimensions of the Servo Drive
616
Dimensions of the Servo Motor
618
4
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Delta ASD-M-0721-F Specifications
General
Brand
Delta
Model
ASD-M-0721-F
Category
Servo Drives
Language
English
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