Delta Electronics ASDA-A2 Series User manual

ASDA-A2_M_EN_20110128
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Preface
Thank you very much for purchasing DELTA’s AC servo products.
This manual will be helpful in the installation, wiring, inspection, and operation of Delta AC
servo drive and motor. Before using the product, please read this user manual to ensure
correct use.
You should thoroughly understand all safety precautions (DANGERS, WARNINGS and STOPS)
before proceeding with the installation, wiring and operation. If you do not understand please
contact your local Delta sales representative. Place this user manual in a safe location for
future reference.
Using This Manual
Contents of this manual
This manual is a user guide that provides the information on how to install, operate
and maintain ASDA-A2 series AC servo drives and ECMA series AC servo motors. The
contents of this manual are including the following topics:
Installation of AC servo drives and motors
Configuration and wiring
Trial run steps
Control functions and adjusting methods of AC servo drives
Parameter settings
Communication protocol
Inspection and maintenance
Troubleshooting
Application examples
Who should use this manual
This user manual is intended for the following users:
Those who are responsible for designing.
Those who are responsible for installing or wiring.
Those who are responsible for operating or programming.
Those who are responsible for maintaining or troubleshooting.
Important precautions
Before using the product, please read this user manual thoroughly to ensure correct
use and store this manual in a safe and handy place for quick reference whenever
necessary. Besides, please observe the following precautions:
Do not use the product in a potentially explosive environment.
Install the product in a clean and dry location free from corrosive and
inflammable gases or liquids.
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Preface
Do not connect a commercial power supply to the U, V, W terminals of motor.
Failure to observe this precaution will damage either the Servo motor or drive.
Ensure that the motor and drive are correctly connected to a ground. The
grounding method must comply with the electrical standard of the country
(Please refer to NFPA 70: National Electrical Code, 2005 Ed.).
Do not disconnect the AC servo drive and motor while the power is ON.
Do not attach, modify and remove wiring when power is applied to the AC
servo drive and motor.
Before starting the operation with a mechanical system connected, make sure
the emergency stop equipment can be energized and work at any time.
Do not touch the drive heat sink or the servo motor during operation.
Otherwise, it may result in serious personnel injury.
PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.
Carefully note and observe the following safety precautions when receiving, inspecting,
installing, operating, maintaining and troubleshooting. The following words, DANGER,
WARNING and STOP are used to mark safety precautions when using the Delta’s servo product.
Failure to observe these precautions may void the warranty!
ASDA-A2 series drives are high-resolution, open type servo drives and must be installed in an
NEMA enclosure such as a protection control panel during operation to comply with the
requirements of the international safety standards. They are provided with precise feedback
control and high-speed calculation function incorporating DSP (Digital Signal Processor)
technology, and intended to drive three-phase permanent magnet synchronous motors (PMSM)
to achieve precise positioning by means of accurate current output generated by IGBT
(Insulated Gate Bipolar Transistor).
ASDA-A2 series drives can be used in industrial applications and for installation in an end-use
enclosure that do not exceed the specifications defined in the ASDA-A2 series user manual
(Drives, cables and motors are for use in a suitable enclosure with a minimum of a UL50 type
1 or NEMA 250 Type 1 rating).
The words, DANGER, WARNING and STOP, have the following meaning:
Indicates a potentially hazardous situation and if not avoided, may result in
serious injury or death.
Indicates a potentially hazardous situation and if not avoided, may result in
minor to moderate injury or serious damage to the product.
Indicates an improper action that it is not recommended to do and if doing it
may cause damage, malfunction and inability.
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Preface
Unpacking Check
Please ensure that both the servo drive and motor are correctly matched for size (power
rating). Failure to observe this precaution may cause fire, seriously damage the drive /
motor or cause personal injury.
Installation
Do not install the product in a location that is outside the stated specification for the
drive and motor. Failure to observe this caution may result in electric shock, fire, or
personal injury.
Wiring
Connect the ground terminals to a class-3 ground (Ground resistance should not exceed
100 Ω). Improper grounding may result in electric shock or fire.
Do not connect any power supplies to the U, V, W terminals. Failure to observe this
precaution may result in serious injury, damage to the drive or fire.
Ensure that all screws, connectors and wire terminations are secure on the power supply,
servo drive and motor. Failure to observe this caution may result in damage, fire or
personal injury.
In order to prevent fire hazard and accidents, please form the wiring by the cable
specifications outlined in this user manual.
Operation
Before starting the operation with a mechanical system connected, change the drive
parameters to match the user-defined parameters of the mechanical system. Starting the
operation without matching the correct parameters may result in servo drive or motor
damage, or damage to the mechanical system.
Ensure that the emergency stop equipment or device is connected and working correctly
before operating the motor that is connected to a mechanical system.
Do not approach or touch any rotating parts (e.g. shaft) while the motor is running.
Failure to observe this precaution may cause serious personal injury.
In order to prevent accidents, the initial trial run for servo motor should be conducted
under no load conditions (separate the motor from its couplings and belts).
For the initial trial run, do not operate the servo motor while it is connected to its
mechanical system. Connecting the motor to its mechanical system may cause damage or
result in personal injury during the trail run. Connect the servo motor once it has
successfully completed a trail run.
Caution: Please perform trial run without load first and then perform trial run with load
connected. After the servo motor is running normally and regularly without load, then
run servo motor with load connected. Ensure to perform trial run in this order to prevent
unnecessary danger.
Do not touch either the drive heat sink or the motor during operation as they may
become hot and personal injury may result.
Maintenance and Inspection
Do not touch any internal or exposed parts of servo drive and servo motor as electrical
shock may result.
Do not remove the operation panel while the drive is connected to an electrical power
source otherwise electrical shock may result.
Wait at least 10 minutes after power has been removed before touching any drive or
motor terminals or performing any wiring and/or inspection as an electrical charge may
still remain in the servo drive and servo motor with hazardous voltages even after power
has been removed.
Do not disassemble the servo drive or motor as electric shock may result.
Do not connect or disconnect wires or connectors while power is applied to the drive and
motor.
Only qualified personnel who have electrical knowledge should conduct maintenance and
inspection.
Ensure that the “Charge” indicator ceases when performing any maintenance, inspection
or repairing.
Revision January 2011 iii
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Preface
Main Circuit Wiring
Install the encoder cables in a separate conduit from the motor power cables to avoid
signal noise. Separate the conduits by 30cm (11.8inches) above.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder
(PG) feedback cables. The maximum length of command input cable is 3m (9.84ft.) and
the maximum length of encoder (PG) feedback cables is 20m (65.62ft.).
As a charge may still remain in the drive with hazardous voltages even after power has
been removed, be sure to wait at least 10 minutes after power has been removed before
performing any wiring and/or inspection.
It is not recommended to frequently power the drive on and off. Do not turn the drive off
and on more than once per minute as high charging currents within the internal
capacitors may cause damage.
Main Circuit Terminal Wiring
Please perform the wiring after the terminal blocks are all removed from the drive.
Insert only one wire into one terminal on the terminal block.
When inserting wires, please ensure that the conductors are not shorted to adjacent
terminals or wires.
Ensure to double check the wiring before applying power to the drive.
NOTE
1) In this manual, actual measured values are in metric units. Dimensions in
(imperial units) are for reference only. Please use metric for precise
measurements.
2) The content of this manual may be revised without prior notice. Please
consult our distributors or download the most updated version at
http://www.delta.com.tw/industrialautomation.
.
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Chapter 1 Unpacking Check and Model Explanation
1.1 Unpacking Check
After receiving the AC servo drive, please check for the following:
Ensure that the product is what you have ordered.
Verify the part number indicated on the nameplate corresponds with the part number of
your order (Please refer to Section 1.2 for details about the model explanation).
Ensure that the servo motor shaft rotates freely.
Rotate the motor shaft by hand; a smooth rotation will indicate a good motor. However, a
servo motor with an electromagnetic brake can not be rotated manually.
Check for damage.
Inspect the unit to insure it was not damaged during shipment.
Check for loose screws.
Ensure that all necessary screws are tight and secure.
If any items are damaged or incorrect, please inform the distributor whom you purchased the
product from or your local Delta sales representative.
A complete and workable AC servo system should include the following parts:
Part I : Delta standard supplied parts
220V series
(1) Servo drive
(2) Servo motor
(3) 6 PIN Terminal Block (for L1c, L2c, , R, S, T) (available for 200W ~ 1.5kW models)
(4) 3 PIN Terminal Block (for R, S, T) (available for 2kW ~ 3kW models)
(5) 3 PIN Terminal Block (for L1c, L2c, ) (available for 2kW ~ 3kW models)
(6) 6 PIN Terminal Block (for L1c, L2c, , R, S, T) (available for 4.5kW ~ 7.5kW models)
(7) 3 PIN Quick Connector (for U, V, W)
(8) 3 PIN Quick Connector (for P , D, C)
(9) One operating lever (for wire to terminal block insertion)
(10) One jumper bar (installed at pins P and D of the 3 PIN Terminal Block for P , D, C)
(11) Instruction Sheets (Multilingual version)
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Chapter 1 Unpacking Check and Model Explanation
400V series
(1) Servo drive
(2) Servo motor
(3) 3 PIN Terminal Block (for R, S, T) (available for 750W ~ 1.5kW models)
(4) 3 PIN Terminal Block (for DC24V, DC0V, ) (available for 750W ~ 1.5kW models)
(5) Terminal Block (for DC24V, DC0V, R, S, T) (available for 2kW ~ 7.5kW models)
(6) 3 PIN Quick Connector (for U, V, W)
(7) 3 PIN Quick Connector (for P , D, C)
(8) One operating lever (for wire to terminal block insertion)
(9) One jumper bar (installed at pins P and D of the 3 PIN Terminal Block for P , D, C)
(10) Instruction Sheets (Multilingual version)
Part II : Optional parts (Refer to Appendix A)
(1) One power cable, which is used to connect servo motor to U, V, W terminals of servo
drive. This power cable includes a green grounding cable. Please connect the green
grounding cable to the ground terminal of the servo drive.
(2) One encoder cable, which is used to connect the encoder of servo motor to the CN2
terminal of servo drive.
(3) CN1 Connector: 50 PIN Connector (3M type analog product)
(4) CN2 Connector: 20 PIN Connector (3M type analog product)
(5) CN3 Connector: 6 PIN Connector (IEEE1394 analog product) for general communication
(RS-485)
(6) CN4 Connector: 4 PIN Connector (USB Type B product)
(7) CN6 Connector: RJ45 Connector for high-speed communication (CANopen)
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Chapter 1 Unpacking Check and Model Explanation
Revision January 2011 1-3
1.2 Model Explanation
1.2.1 Nameplate Information
ASDA-A2 Series Servo Drive
Nameplate Explanation
Serial Number Explanation
ECMA Series Servo Motor
Nameplate Explanation
Serial Number Explanation
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Chapter 1 Unpacking Check and Model Explanation
1.2.2 Model Name Explanation
ASDA-A2 Series Servo Drive
Model Type
Type Full-Close Control CANopen DMCNET Extension Port for
Digital Input
M Yes Yes No No
U Yes No No Yes
F Yes No Yes No
L Yes No No No
NOTE
15kW models will be available soon. The models above 15kW are in the process of
development.
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Chapter 1 Unpacking Check and Model Explanation
Revision January 2011 1-5
ECMA Series Servo Motor
NOTE
15kW models will be available soon. The models above 15kW are in the process of
development.
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Chapter 1 Unpacking Check and Model Explanation
1.3 Servo Drive and Servo Motor Combinations
The table below shows the possible combination of Delta ASDA-A2 series servo drives and
ECMA series servo motors. (Please refer to Section 1.2 for model explanation)
1.3.1 220V Series
Power Servo Drive Servo Motor
100W ASD-A2-0121-ECMA-C10401S (S=8mm)
200W ASD-A2-0221-ECMA-C10602S (S=14mm)
400W ASD-A2-0421-
ECMA-C10604S (S=14mm)
ECMA-C108047 (7=14mm)
ECMA-E11305S (S=22mm)
ECMA-G11303S (S=22mm)
750W ASD-A2-0721-ECMA-C10807S (S=19mm)
ECMA-G11306S (S=22mm)
1000W ASD-A2-1021-
ECMA-C11010S (S=22mm)
ECMA-E11310S (S=22mm)
ECMA-G11309S (S=22mm)
1500W ASD-A2-1521-ECMA-E11315S (S=22mm)
2000W ASD-A2-2023-
ECMA-C11020S (S=22mm)
ECMA-E11320S (S=22mm)
ECMA-E11820S (S=35mm)
3000W ASD-A2-3023-ECMA-E11830S (S=35mm)
ECMA-F11830S (S=35mm)
4500W ASD-A2-4523-ECMA-F11845S (S=35mm)
5500W ASD-A2-5523-ECMA-F118553 (3=42mm)
7500W ASD-A2-7523-ECMA-F118753 (3=42mm)
NOTE
1) The boxes () at the ends of the servo drive model names are for optional configurations (Full-
close control, CANopen, DMCNET and extension port for digital input). For the actual model
name, please refer to the ordering information of the actual purchased product.
2) The boxes () in the servo motor model names are for optional configurations (keyway, brake
and oil seal).
The drives shown in the above table are designed according to the three multiple of rated
current of motors shown in the above table. If the drives which are designed according to the
six multiple of rated current of motors are needed, please contact our distributors or your
local Delta sales representative.
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Chapter 1 Unpacking Check and Model Explanation
Revision January 2011 1-7
1.3.2 400V Series
Power Servo Drive Servo Motor
750W ASD-A2-0743-ECMA-J10807S (S=19mm)
1000W ASD-A2-1043-ECMA-K11310S (S=22mm)
1500W ASD-A2-1543-ECMA-K11315S (S=22mm)
2000W ASD-A2-2043-ECMA-K11320S (S=22mm)
3000W ASD-A2-3043-ECMA-L11830S (S=35mm)
4500W ASD-A2-4543-ECMA-L11845S (S=35mm)
5500W ASD-A2-5543-ECMA-L118553 (3=42mm)
*7500W ASD-A2-7543-ECMA-L118753 (3=42mm)
*7.5kW models will be available soon.
NOTE
1) The boxes () at the ends of the servo drive model names are for optional configurations (Full-
close control, CANopen, DMCNET and extension port for digital input). For the actual model
name, please refer to the ordering information of the actual purchased product.
2) The boxes () in the servo motor model names are for optional configurations (keyway, brake
and oil seal).
The drives shown in the above table are designed according to the three multiple of rated
current of motors shown in the above table. If the drives which are designed according to the
six multiple of rated current of motors are needed, please contact our distributors or your
local Delta sales representative.
The servo drives shown in the above two tables are designed for use in combination with the
specific servo motors. Check the specifications of the drives and motors you want to use.
Also, please ensure that both the servo drive and motor are correctly matched for size (power
rating). If the power of motor and drive is not within the specifications, the drive and motor
may overheat and servo alarm would be activated. For the detail specifications of servo drives
and motors, please refer to Chapter 12 “Specifications”.
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Chapter 1 Unpacking Check and Model Explanation
1.4 Servo Drive Features
1.4.1 220V Series
220V Series - Front View
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Chapter 1 Unpacking Check and Model Explanation
Revision January 2011 1-9
220V Series - Top View
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Chapter 1 Unpacking Check and Model Explanation
220V Series - Bottom View
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Chapter 1 Unpacking Check and Model Explanation
Revision January 2011 1-11
1.4.2 400V Series
400V Series - Front View
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Chapter 1 Unpacking Check and Model Explanation
400V Series - Top View
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Chapter 1 Unpacking Check and Model Explanation
Revision January 2011 1-13
400V Series - Bottom View
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Chapter 1 Unpacking Check and Model Explanation
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Chapter 2 Installation and Storage
2.1 Installation Notes
Please pay close attention on the following installation notes:
Do not bend or strain the connection cables between servo drive and motor.
When mounting the servo drive, make sure to tighten all screws to secure the drive in
place.
If the servo motor shaft is coupled directly to a rotating device ensure that the alignment
specifications of the servo motor, coupling, and device are followed. Failure to do so may
cause unnecessary loads or premature failure to the servo motor.
If the length of cable connected between servo drive and motor is more than 20m, please
increase the wire gauge of the encoder cable and motor connection cable (connected to U,
V, W terminals).
Make sure to tighten the screws for securing motor.
2.2 Storage Conditions
The product should be kept in the shipping carton before installation. In order to retain the
warranty coverage, the AC servo drive should be stored properly when it is not to be used for
an extended period of time. Some storage suggestions are:
Store in a clean and dry location free from direct sunlight.
Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
Store within a relative humidity range of 0% to 90% and non-condensing.
Do not store in a place subjected to corrosive gases and liquids.
Correctly packaged and placed on a solid surface.
Revision January 2011 2-1
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