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Delta ECMA-C 0807 Series User Manual

Delta ECMA-C 0807 Series
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Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-13
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): Encoder unit: 1280000 (pulse/rev), which will
not change.
2. User unit (PUU): The unit of the controller.
P pulse per revolution (PUU/rev), the gear ratio should set as:
GEAR_NUM (P1-44) / GEAR_DEN (P1-45) = 1280000 / P
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 (monitoring variable 064): Command termination register Cmd_E. It
represents the absolute terminal coordinate of position command.
3. Command output register (monitoring variable001): Cmd_O; it represents the absolute
coordinate from the current output command.
4. Feedback register (monitoring variable 000): Fb_PUU; it shows the absolute feedback
position of the motor.
5. Deviation register (monitoring 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.
Influence brought by position command:
Type of
Command
When issuing the command
=>
=>When command is
executing=>
=> Command is
completed
Absolute
Positioning
Command
Cmd_E = command data
(absolute)
Cmd_O does not change.
DO.CMD_OK is OFF
Cmd_E does not
change.
Cmd_O continuously
output
...
Cmd_E does not change.
Cmd_O = Cmd_E
DO.CMD_OK is ON
Incremental
Positioning
Command
Cmd_E+= command data
(incremental)
Cmd_O does not change.
DO.CMD_OK is OFF
Cmd_E does not
change.
Cmd_O continuously
output
...
Cmd_E does not change.
Cmd_O = Cmd_E
DO.CMD_OK is ON
Issue the
command of
DISTP to
stop the
command
Cmd_E does not change.
Cmd_O continuously output
DO.CMD_OK is
unchangeable
Cmd_E does not
change.
Cmd_O stops
according to the
deceleration curve
Cmd_E does not change.
Cmd_O = position after
stop
DO.CMD_OK is ON

Table of Contents

Questions and Answers:

Delta ECMA-C 0807 Series Specifications

General IconGeneral
BrandDelta
ModelECMA-C 0807 Series
CategoryServo Drives
LanguageEnglish

Summary

Safety Precautions

Inspection

Instructions for inspecting the servo drive and motor to ensure proper condition before use.

Installation

Guidelines for installing the servo drive in a suitable environment, avoiding hazardous conditions.

Wiring

Precautions for correct wiring, including grounding and terminal connections.

Operation

Safety precautions for operating the servo drive, including parameter settings and emergency stop.

Maintenance and Inspection

Safety guidelines for touching internal parts, disassembling, and wiring when power is on.

Chapter 3 Wiring

3.1 Connections - 220V series

Information on connecting peripheral devices to the 220V series servo drive, including typical wiring diagrams.

3.2 Connections - 400V series

Information on connecting peripheral devices to the 400V series servo drive, including typical wiring diagrams.

3.4 I/O Signal (CN1) Connection

Details the I/O signal (CN1) connection, including terminal layout, function descriptions, and wiring methods.

3.12 Standard Connection Example – 220V series

Provides standard connection examples for the 220V series servo drive in various control modes.

3.13 Standard Connection Example – 400V series

Provides standard connection examples for the 400V series servo drive in various control modes.

Chapter 4 Panel Display and Operation

4.2 Parameter Setting Procedure

Step-by-step guide on how to switch between modes and set parameters via the control panel.

Chapter 5 Trial Operation and Tuning

5.1 Inspection without Load

Guidance on performing initial inspection of the servo motor and drive without load for safety and functionality.

5.2 Applying Power to the Servo Drive

Instructions on correctly wiring the motor to the servo drive and applying power, including voltage specifications.

5.3 JOG Trial Run without Load

Procedure for testing the motor and servo drive using JOG operation at low speed for safety and proper function.

5.6 Tuning Procedure

Guidance on estimating inertia ratio, auto tuning, semi-auto tuning, and limit of inertia ratio.

Chapter 6 Control Mode of Operation

6.2 Position Mode

Details on position command input types (PT, PR) including pulse types, logic, filter width, and relevant parameters.

6.3 Speed Mode

Information on speed control modes (S, Sz), command input methods, and control structure, including gain adjustment.

6.4 Torque Mode

Explanation of torque control modes (T, Tz), command sources (analog, register), and control structure.

Chapter 7 Motion Control

7.10 Parameter Settings

Details on parameter settings for Target Speed, Accel/Decel Time, Pause Time, PR parameters, and PR definition.

Chapter 8 Parameters

8.2 List of Parameters

Comprehensive list of Monitor and General Output Parameters, including abbreviation, function, default value, and related sections.

8.3 Parameter Description

Detailed description of various parameters, including Monitor Parameters (P0-xx), Filter and Resonance Suppression Parameters (P1-xx), and Gain and Switch Parameters (P2-xx).

Chapter 9 Communications

9.1 RS-485 & RS-232 Communication Hardware Interface

Details the hardware interface for RS-485 and RS-232 serial communication, including configuration and wiring.

9.2 RS-485 / RS-232 Communication Parameters Setting

Essential parameters for servo drive communication: Address Setting, Transmission Speed, Communication Protocol, and Mechanism.

Chapter 10 Troubleshooting

10.1 Alarm of Servo Drive

Lists common servo drive alarms, their descriptions, corresponding DO signals, and servo status.

10.2 Alarm of CANopen Communication

Details CANopen communication alarms, including causes, corrective actions, corresponding DO, and servo status.

10.3 Alarm of Motion Control

Lists alarms related to motion control, such as loading errors, parameter range issues, and command execution problems.

10.4 Causes and Corrective Actions

Troubleshooting guide for common servo drive alarms like Over current, Over voltage, Under voltage, etc.

10.5 Corrective Actions after the Alarm Occurs

Provides corrective actions for various alarms, including using DI.ARST, Servo Off, or re-powering the drive.

Chapter 11 Specifications

11.1 Specifications of Servo Drives

Detailed specifications for ASDA-A2 series servo drives, including 220V and 400V series.

11.2 Specifications of Servo Motors (ECMA Series)

Provides detailed specifications for ECMA series servo motors, covering 220V and 400V series, and medium/high inertia.

Chapter 12 Absolute System

12.3 System Initialization Procedure and Operation

Explains the system initialization process, including coordinate reading and parameter settings for absolute systems.

12.7 Alarms for Absolute System

Lists common alarms for absolute systems, such as encoder errors, communication issues, and position deviations.

Appendix B Maintenance and Inspection

Inspection before operation

Checklist for pre-operation inspection, focusing on wiring, electrical conductivity objects, and control switch status.

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