Delta ASDA-A3 Series Manuale utente

www.deltaww.com

Delta ASDA-A3 Series

Servo Drive User Manual

Delta ASDA-A3 Series Servo Drive User Manual

2017-04-26

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

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ShangHai, P.R.C. 201209

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

Delta Electronics (Japan), Inc.

Tokyo Ofce

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Tokyo 105-0012, Japan

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

Delta Electronics (Korea), Inc.

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Geumcheon-gu, Seoul, Korea, 153-704

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

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Americas

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

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01332-000-São Paulo-SP-Brazil

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Europe

Delta Electronics (Netherlands) B.V.

Eindhoven Ofce

De Witbogt 20, 5652 AG Eindhoven, The Netherlands

TEL : +31 (0)40-8003800 / FAX : +31 (0)40-8003898

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

Revision December, 2017 i

Preface

Thank you for purchasing this product. This manual provides information about the ASDA-A3 series servo

drive (A3) and the ECM-A3 series servo motor.

This manual includes:

Installation and inspection of servo drive and servo motor

Servo structure and wiring diagram

Instructions for trial operation

Instructions for servo tuning

Description of parameters

Description of communication protocol

Troubleshooting

Inspection and maintenance

ASDA-A3 product features:

Delta has developed a new control algorithm that enables you to easily overcome the problems of

a lack of stiffness or flexibility in the machine structure. The new automatic tuning function is more

user-friendly and allows you to complete tuning easily. In addition, you can use the gain adjustment

function to improve the performance of the drive. Its compact design can reduce the space

required inside the cabinet. The smaller design of the new generation of the ECM-A3 series servo

motor can also meet the need to reduce equipment structures’ size and weight.

How to use this manual:

You can use this manual as a reference when installing, setting up, using, and maintaining the

servo drive. Before initiating the tuning or setup process, please read through Chapters 1 to 5.

You can also use the Table of Contents and the Index to quickly locate the information you need.

DELTA technical services:

Please consult your DELTA equipment distributor or DELTA Customer Service Center if you

encounter any problems.

ii Revision December, 2017

Safety Precautions

ASDA-A3 is a high resolution, open type servo drive. It should be installed in a shielded control box during

operation. This product uses precise feedback control and a digital signal processor (DSP) with high-speed

calculation functions to control the current output generated by IGBT to operate three-phase permanent

magnet synchronous motors (PMSM) and to achieve precise positioning.

The ASDA-A3 series are used in industrial applications and should be installed in the control box.

Servo drives, wires, and motors should all be installed in an environment which complies with the minimum

requirement of UL50 Type 1.

Pay special attention to the following safety precautions at all times during inspection, installation, wiring,

operation, maintenance, and examination of the servo drive.

The symbols of “DANGER”, “WARNING”, and “STOP” indicate:

Danger. May cause severe or fatal injuries to personnel if the instructions are not followed.

Warning. May cause moderate injury to personnel, or lead to severe damage or

even malfunction of the product if the instructions are not followed.

Absolutely prohibited activities. May cause serious damage or even malfunction of the

product if the instructions are not followed.

Inspection

Installation

Wiring

Please follow the instructions when using the A3 servo drive and servo motor, or it may cause

fire or malfunction.

Do not expose the product to an environment containing water, corrosive gas, inflammable

gas...etc., or it may result in electric shock or fire.

Connect the ground terminals to class-3 ground system. Ground resistance should not

exceed 100 Ω. Improper grounding may result in electric shock or fire.

Do not connect the three-phase source to the motor output terminals U, V, and W,

or it may cause personnel injury or fire.

Please tighten the screws of the power and motor output terminals, or it may cause fire.

Please refer to description of wire selection in Chapter 3 to prevent any danger.

Revision December, 2017 iii

Operation

Maintenance and Inspection

Before operating, please change the parameter setting according to the application.

If the parameters are not adjusted to the correct values, it may lead to malfunction of

the machine or the operation might be out of control.

Before the machine starts to operate, please ensure that the emergency stop can be

activated at any time.

When applying power, please make sure the motor is not rotating because of inertia of

the machine or other causes.

During the operation, do not touch any rotating motor parts, or it may cause personnel injury.

To avoid accidents, please remove all units during the first test run, so that the motor is

operating without any load.

If you fail to operate the machine properly after connecting the servo motor to the

equipment, it may damage the equipment and lead to personnel injury.

In order to reduce the danger, it is strongly recommended that you check if the motor can

operate normally without load first. Then try operating the motor with load.

Do not touch the heat sink of the servo drive during operation, or it may cause burns.

Do not touch the internal parts of the servo drive and servo motor, or it may cause

electric shock.

Do not disassemble the servo drive panel when the power is on, or it may 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 may cause electric shock or personnel injury.

Do not change the wiring when the power is on, or it may cause electric shock or

personnel injury.

Only qualified electricians can install, wire, and maintain the servo drive and servo motor.

iv Revision December, 2017

Main Circuit Wiring

Terminal Wiring of the Main Circuit

Leakage Current

Note: the content of this manual may be revised without prior notice, please download the latest version from

Delta's website (http://www.deltaww.com).

Do not put the power cable and signal cable in the same channel or bond them together.

Separate the power cable and signal cable by at least 30 centimeters (11.8 inches).

Please use stranded wires and multi-core shielded-pair wires for signal cables and encoder

feedback cables. The maximum length of signal input cable is 3 meters (9.84 feet) and the

maximum length of feedback cable is 20 meters (65.62 feet).

The high voltage may remain in the servo drive immediately after the power is turned off.

Please wait for 10 minutes before touching the terminals.

Do not repeatedly turn the power on and off. If it is necessary to turn the power on and off,

make sure that you wait one minute at least before turning the power on or off again.

When wiring the servo drive, please remove the terminal blocks from the servo drive.

Insert only one electric wire per terminal socket.

When inserting the electric wires, do not short circuit the adjacent conductors.

Before connecting to the power source, please inspect and ensure that the wiring

is correct.

The leakage current of the servo drive is greater than 3.5 mA.

According to the IEC 61800-5-1 standards, the wires must comply with one of the

following specifications to ensure proper grounding:

1. Copper wire cross-sectional area is at least 10 mm2.

2. Aluminum wire cross-sectional area is at least 16 mm2.

Failure to comply with the specifications may result in personnel injury.

Before applying power, please inspect and ensure that the wiring is correct.

Revision December, 2017

Table of Contents

Before Operation

Product Overview

1.1 Components of the servo set ··············································································1-2

1.2 Model overview································································································1-3

1.2.1 Nameplate information ················································································1-3

1.2.2 Model explanation ······················································································1-5

1.3 ASDA-A3 servo drive and motor··········································································1-8

1.4 Description of the drive interface··········································································1-9

Installation

2.1 Ambient storage conditions ················································································2-2

2.2 Ambient installation conditions ············································································2-3

2.3 Mounting direction and space ·············································································2-4

2.4 Safety precautions for using motors ·····································································2-6

2.5 Specifications for the circuit breaker and fuse·························································2-8

2.6 Ferrite ring······································································································2-8

2.7 Installation requirements for EMC ······································································ 2-10

2.7.1 EMI filters ······························································································· 2-11

2.8 Selecting the regenerative resistor ····································································· 2-13

2.9 The use of braking·························································································· 2-18

Wiring

3.1 System connection ···························································································3-3

3.1.1 Connecting to peripheral devices (connecting to Delta communication type of servo

motor ······································································································3-3

3.1.2 Connectors and terminal blocks·····································································3-5

3.1.3 Wiring for power supply ···············································································3-7

3.1.4 UVW connectors for the ASDA-A3 servo drive ················································ 3-10

3.1.5 Specification for the encoder connector························································· 3-12

3.1.6 Wire selection·························································································· 3-17

3.2 Wiring diagram for the servo system··································································· 3-20

3.3 Wiring for CN1 (I/O signal) ··············································································· 3-22

Revision December, 2017

3.3.1 CN1 I/O connector (for A3-L and A3-M series) ················································ 3-22

3.3.2 Signal explanation for connector CN1 (for A3-L and A3-M series) ······················· 3-24

3.3.3 CN1 I/O connector (for A3-F series) ····························································· 3-27

3.3.4 Signal explanation for connector CN1 (for A3-F series) ····································· 3-28

3.3.5 Wiring diagrams (CN1) ·············································································· 3-30

3.3.6 Application: using the CN1 quick connector for wiring······································· 3-37

3.4 Wiring for the CN2 encoder connector ································································ 3-41

3.5 Wiring for the CN3 connector (RS-485 / high speed communication) ························· 3-44

3.6 CN4 serial connector (Mini USB) ······································································· 3-46

3.7 CN5 connector (for machine position feedback, applicable to full-closed loop) ············· 3-47

3.8 CN6 connector ······························································································ 3-48

3.8.1 DMCNET communication connector for wiring ················································ 3-48

3.9 CN10 STO connector (Safe torque off )······························································· 3-50

3.10 STO function (Safe torque off) ········································································· 3-51

3.10.1 Introduction to STO················································································· 3-51

3.10.2 The potential danger of STO ····································································· 3-51

3.10.3 Wiring for STO ······················································································· 3-52

3.10.4 How does the STO function work? ····························································· 3-53

3.10.5 Related parameter of the STO function························································ 3-54

3.11 Standard wiring example ················································································ 3-56

3.11.1 Position (PT) control mode········································································ 3-56

3.11.2 Position (PR) control mode ······································································· 3-57

3.11.3 Speed control mode ················································································ 3-58

3.11.4 Torque control mode················································································ 3-59

3.11.5 Communication mode (CANopen) ······························································ 3-60

3.11.6 Communication mode (DMCNET) ······························································ 3-61

Trial Operation and Panel Display

4.1 Panel description ·····························································································4-2

4.2 Parameter setting procedure···············································································4-3

4.3 Status display··································································································4-6

4.3.1 Save the setting display···············································································4-6

4.3.2 Display the decimal point ·············································································4-6

4.3.3 Alarm messages ························································································4-7

4.3.4 Positive and negative sign setting ··································································4-7

4.3.5 Monitoring display ······················································································4-7

4.4 General functions ··························································································· 4-11

4.4.1 Operation of fault record display ·································································· 4-11

4.4.2 Force DO on ··························································································· 4-12

4.4.3 Digital input diagnosis operation ·································································· 4-13

Revision December, 2017

4.4.4 Digital output diagnosis operation ································································ 4-13

4.5 Testing ········································································································· 4-14

4.5.1 Testing without load ·················································································· 4-14

4.5.2 Apply power to A3 servo drive····································································· 4-15

4.5.3 JOG trial run without load··········································································· 4-19

4.5.4 Trial run without load (Speed mode) ····························································· 4-21

4.5.5 Trial run without load (Position mode) ··························································· 4-23

Tuning

5.1 Tuning procedure and the applied mode································································5-2

5.1.1 Flow chart for the tuning procedure ································································5-2

5.1.2 Tuning modes ···························································································5-3

5.2 Quick mode ····································································································5-4

5.3 Auto tuning ·····································································································5-4

5.3.1 Flow chart for auto tuning·············································································5-5

5.3.2 Auto tuning through the drive panel ································································5-6

5.3.3 Auto tuning with ASDA-Soft (software) ····························································5-7

5.3.4 Alarms related to auto tuning ······································································ 5-14

5.4 Tuning mode ································································································· 5-15

5.4.1 Flow chart of Tuning mode ········································································· 5-15

5.4.2 Tuning mode 1 ························································································ 5-16

5.4.3 Tuning mode 2 ························································································ 5-16

5.4.4 Tuning mode 3 ························································································ 5-17

5.4.5 Setting the frequency response bandwidth (stiffness) ······································· 5-18

5.4.6 Gain response ························································································· 5-19

5.5 Tuning in Manual mode ··················································································· 5-20

5.6 Mechanical resonance suppression···································································· 5-22

Operation Mode

6.1 Selecting the operation mode··············································································6-4

6.2 Position mode ·································································································6-5

6.2.1 Position command in PT mode······································································6-5

6.2.2 Position command in PR mode ·····································································6-6

Operation and Motion control

Revision December, 2017

6.2.3 Control structure of Position mode ·································································6-6

6.2.4 S-curve filter (Position) ················································································6-8

6.2.5 Electronic gear ratio (E-Gear ratio)·································································6-9

6.2.6 Low-pass filter ························································································· 6-10

6.2.7 Timing diagram of PR mode ······································································· 6-10

6.2.8 Gain adjustment for the position loop···························································· 6-11

6.2.9 Low-frequency vibration suppression in Position mode····································· 6-13

6.3 Speed mode ································································································· 6-15

6.3.1 Selecting the Speed command source ·························································· 6-15

6.3.2 Control structure of Speed mode ································································· 6-16

6.3.3 Smooth Speed command··········································································· 6-17

6.3.4 Scaling of the analog command··································································· 6-19

6.3.5 Timing diagram for Speed mode·································································· 6-20

6.3.6 Gain adjustment of the speed loop ······························································· 6-21

6.3.7 Resonance Suppression unit ······································································ 6-23

6.4 Torque mode ······························································································· 6-26

6.4.1 Selecting the Torque command source·························································· 6-26

6.4.2 Control structure of Torque mode································································· 6-27

6.4.3 Smooth Torque command ·········································································· 6-28

6.4.4 Scaling of the analog command··································································· 6-28

6.4.5 Timing diagram in Torque mode··································································· 6-29

6.5 Dual mode···································································································· 6-30

6.5.1 Speed / Position dual mode········································································ 6-31

6.5.2 Speed / Torque dual mode ········································································· 6-32

6.5.3 Torque / Position dual mode ······································································· 6-33

6.6 Others ········································································································· 6-34

6.6.1 Applying the speed limit············································································· 6-34

6.6.2 Applying the torque limit ············································································ 6-35

6.6.3 Analog monitoring ···················································································· 6-35

Description of Motion Control

7.1 PR mode description····················································································· 7-2

7.1.1 Shared PR parameters············································································ 7-4

7.1.2 Monitoring variables of PR mode ······························································· 7-6

7.1.3 Motion Control commands ······································································· 7-8

7.1.4 Overview of the PR procedure ·································································· 7-35

7.1.5 Trigger methods for the PR command························································· 7-42

7.1.6 PR procedure execution flow ···································································· 7-46

7.2 Application of motion control ··········································································· 7-59

Revision December, 2017

7.2.1 Data array ···························································································· 7-59

7.2.2 High-speed position capturing function (Capture) ·········································· 7-62

7.2.3 High-speed position comparing function (Compare) ········································7-66

Parameter

8.1 Parameter definitions ························································································8-2

8.2 List of parameters ····························································································8-3

8.3 Parameter descriptions···················································································· 8-13

P0.xxx Monitoring parameters ············································································ 8-13

P1.xxx Basic parameters··················································································· 8-28

P2.xxx Extension parameters ············································································· 8-61

P3.xxx Communication parameters ····································································· 8-96

P4.xxx Diagnosis parameters ··········································································· 8-102

P5.xxx Motion control parameters ····································································· 8-109

P6.xxx PR parameters ···················································································· 8-150

P7.xxx PR parameters ···················································································· 8-174

Table 8.1 Digital input (DI) descriptions······························································· 8-194

Table 8.2 Digital output (DO) descriptions ··························································· 8-201

Table 8.3 Monitoring variables descriptions ························································· 8-206

MODBUS Communication

9.1 RS-485 communication interface (hardware)···························································9-2

9.2 RS-485 communication parameter settings·····························································9-3

9.3 MODBUS communication protocol········································································9-4

9.4 Setting and accessing communication parameters ················································· 9-15

Absolute System

10.1 Battery box (absolute type) and wiring······························································· 10-3

10.1.1 Specifications ························································································ 10-3

10.1.2 Battery box dimensions············································································ 10-4

10.1.3 Connection cable for the absolute encoder··················································· 10-5

10.1.4 Battery box cable···················································································· 10-7

10.2 Installation ·································································································· 10-8

10.2.1 Installing the battery box in the servo system ················································ 10-8

10.2.2 Installing and replacing a battery······························································ 10-10

Parameter Setting

Altri manuali per ASDA-A3 Series

Questo manuale è adatto per i seguenti modelli

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