Delta Electronics ASDA-A Series User manual

ASDA-A User Manual Preface & Safety Precautions
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
i
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 WARNINGS and
CAUTIONS 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 information on how to install, operate and maintain
ASDA-A series AC servo drives and ASMT series AC servo motors. The contents of this manual
are including the following topics:
z Installation of AC servo drives and motors
z Configuration and wiring
z Trial run steps
z Control functions and adjusting methods of AC servo drives
z Parameter settings
z Communication protocol
z Inspection and maintenance
z Troubleshooting
z Application examples
Who should use this manual
This user manual is intended for the following users:
z Those who are responsible for designing.
z Those who are responsible for installing or wiring.
z Those who are responsible for operating or programming.
z 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:
z Do not use the product in a potentially explosive environment.
z Install the product in a clean and dry location free from corrosive and inflammable gases or
liquids.
z 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.
z Ensure that the drive and motor are correctly connected to a ground. The grounding method

Preface & Safety Precautions ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
ii
must comply with the electrical standard of the country.
z Do not disconnect the AC servo drive and motor while the power is ON.
z Do not attach, modify and remove wiring when power is applied to the AC servo drive and
motor.
z Before starting the operation with a mechanical system connected, make sure the
emergency stop equipment can be energized and work at any time.
z Do not touch the drive heat sink or the servo motor during operation. Otherwise, it may
result in serious personnel injury.
SAFETY PRECAUTIONS
!
ASDA-A series drives are open type, variable frequency and insulated gate bipolar transistor AC monitor
controller incorporating microprocessor technology. They are operated from a single or three-phase source
of supply, and intended to control three-phase permanent magnet synchronous motors (PMSM) by means of
a variable frequency, variable voltage output, used in industrial applications and for installation in an end-use
enclosure. Drives, cables and motors are for use in a suitable enclosure with a minimum of a UL Type 1
rating.
Carefully notice and observe the following safety precautions when receiving, inspecting, installing,
operating, maintaining and troubleshooting. The following words, WARNING and CAUTION are used to
mark safety precautions when using the Delta’s servo products. Failure to observe these precautions may
void the warranty!
The words, WARNING and CAUTION, have the following meaning:
WARNING
Indicates a potentially hazardous situation and if not avoided,ʳmay result in serious
injury or death.
CAUTION
Indicates a potentially hazardous situation and if not avoided, may result in minor to
moderate injury or serious damage to the product.
Unpacking Check
WARNING
zPlease ensure that both the servo drive and motor are correctly matched for size
(power rating). Failure to observe this WARNING may cause fire, seriously damage
the drive / motor or cause personal injury.
Installation
CAUTION
z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
WARNING
zConnect the ground terminals to a class-3 ground (Ground resistance should not
exceed 100 :). Improper grounding may result in electric shock or fire.

ASDA-A User Manual Preface & Safety Precautions
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
iii
CAUTION
zDo not connect any power suppies to the U, V, W terminals. Failure to observe this
precaution may result in serious injury, damage to the drive or fire.
z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.
Operation
WARNING
zConduct trial run on the servo motor with motor shaft disconnected from its
mechanical system to avoid any accidents.
zDo not approach or touch any rotating parts (e.g. shaft) while the motor is running.
Failure to observe this precaution may result in serious injury to personnel.
z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.
zEnsure that the emergency stop equipment or device is connected and working
correctly before operating the motor that is connected to a mechanical system.
z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
WARNING
zDo not touch any internal or exposed parts of the servo drive as electric shock may
result.
zDo not remove the operation panel while the drive is connected to an electrical
power source otherwise electrical shock may result.
z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 drive and motor with hazardous voltages even after power
has been removed.
zDo not disassemble the servo drive or motor as electric shock may result.
zDo not connect or disconnect wires or connectors while power is applied to the drive
and motor.
zOnly qualified personnel who have electrical knowledge should conduct
maintenance and inspection.
Main Circuit Wiring
CAUTION
z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
and the maximum length of encoder (PG) feedback cables is 20m.

Preface & Safety Precautions ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
iv
CAUTION
zInstall the encoder cables in a separate conduit from the motor power cables to
avoid signal noise. Separate the conduits by 30cm.
z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.
z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
CAUTION
zRemove the terminal block from the servo drive before wiring.
zInsert only one wire into one terminal on the terminal block.
zWhen inserting wires ensure that the conductors are not shorted to adjacent
terminals or wires.
Trial Run without Load
CAUTION
zIn order to prevent accidents, the trial run for servo motor should be conducted
under no load condition (run the servo motor alone without connecting couplings
and belts).
zFor the initial trial run, do not operate the servo motor while it is connected to the
mechanical system. Connecting the motor to its mechanical system may cause
damage during the trail run. Connect the servo motor once it has successfully
completed a trail run.
Trial Run with Load
CAUTION
zAfter the trial run without load is completed, conduct a second trial run with load.

ASDA-A User Manual Table of Contents
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
v
Delta AC Servo Drive and Servo Motor
ȪASDA-A SeriesȫUser Manual
TABLE OF CONTENTS
Preface and Safety Precautions.............................................. i
Table of Contents ............................................................... v
Chapter 1 Unpacking Check and Model Explanation .................1-1
1-1 Unpacking Check................................................................................. 1-1
1-2 Model Explanation ............................................................................... 1-2
1-2-1 Nameplate.................................................................................... 1-2
1-2-2 Model Name ................................................................................. 1-3
1-3 Servo Drive and Servo Motor Combinations ........................................... 1-5
1-4 Servo Drive Features ........................................................................... 1-7
1-5 Control Modes of Servo Drive ............................................................... 1-8
1-6 Molded-case Circuit Breaker, Fuse and Leakage Current......................... 1-9
Chapter 2 Installation and Storage ......................................2-1
2-1 Installation Notes ................................................................................ 2-1
2-2 Storage Conditions .............................................................................. 2-1
2-3 Installation Conditions ......................................................................... 2-1
2-4 Installation Procedure and Minimum Clearances ..................................... 2-2
Chapter 3 Configuration and Wiring........................................... 3-1
3-1 Configuration ...................................................................................... 3-1
3-1-1 Connecting to Peripheral Devices .................................................... 3-1
3-1-2 Servo Drive Connectors and Terminals............................................. 3-2
3-1-3 Wiring Methods.............................................................................. 3-3
3-1-4 Motor Power Cable Connector Specifications .................................... 3-4
3-1-5 Encoder Connector Specifications ................................................... 3-6
3-1-6 Cable Specifications for Servo Drive................................................ 3-7

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3-2 Basic Wiring........................................................................................ 3-9
3-3 Input / Output Interface Connector -CN1 ................................................ 3-11
3-3-1 CN1 Terminal Identification ............................................................. 3-11
3-3-2 Signals Explanation of Connector CN1 ............................................. 3-13
3-3-3 User-defined DI and DO signals....................................................... 3-22
3-3-4 Wiring Diagrams of I/O Signals (CN1) .............................................. 3-25
3-4 Encoder Connector CN2 ....................................................................... 3-28
3-5 Serial Communication Connector CN3.................................................... 3-29
3-5-1 CN3 Terminal Layout and Identification ............................................ 3-29
3-5-2 Connection between PC and Connector CN3 ..................................... 3-30
3-6 Standard Connection Example............................................................... 3-31
3-6-1 Position (Pt) Control Mode .............................................................. 3-31
3-6-2 Position (Pr) Control Mode .............................................................. 3-32
3-6-3 Speed Control Mode ....................................................................... 3-33
3-6-4 Torque Control Mode ...................................................................... 3-34
Chapter 4 Display and Operation .............................................. 4-1
4-1 Digital Keypad ..................................................................................... 4-1
4-2 Display Flowchart ................................................................................ 4-2
4-3 Status Display ..................................................................................... 4-3
4-3-1 Save Setting Display ...................................................................... 4-3
4-3-2 Abort Setting Display ...................................................................... 4-3
4-3-3 Fault Message Display.................................................................... 4-3
4-3-4 Positive/Negative Symbol Setting Display ......................................... 4-3
4-3-5 Monitor Setting Display................................................................... 4-4
4-4 General Function Operation .................................................................. 4-6
4-4-1 Error Status Display Operation ........................................................ 4-6
4-4-2 JOG Operation ............................................................................... 4-6
4-4-3 Position Learning Operation ............................................................ 4-7
4-4-4 DO signal Force Output Diagnosis Operation .................................... 4-8
4-4-5 DI signal Display Diagnosis Operation.............................................. 4-9
4-4-6 DO signal Display Diagnosis Operation ............................................ 4-10

ASDA-A User Manual Table of Contents
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
vii
Chapter 5 Trial Run and Tuning Procedure ................................ 5-1
5-1 Inspection without Load ....................................................................... 5-1
5-2 Applying Power to the Drive.................................................................. 5-3
5-3 JOG Trial Run without Load .................................................................. 5-7
5-4 Speed Trial Run without Load ............................................................... 5-8
5-5 Position Trial Run without Load ............................................................ 5-10
5-6 Tuning Procedure ................................................................................ 5-13
5-6-1 Tuning Flowchart ........................................................................... 5-14
5-6-2 Load Inertia Estimation Flowchart ................................................... 5-15
5-6-3 Easy Mode Tuning Flowchart........................................................... 5-16
5-6-4 AutoMode (PI) Tuning Flowchart...................................................... 5-18
5-6-5 AutoMode (PDFF) Tuning Flowchart ................................................. 5-20
5-6-6 Manual Mode Tuning Flowchart ....................................................... 5-22
5-6-7 Limit of Load Inertia Estimation....................................................... 5-23
5-6-8 Relationship between Tuning Modes and Parameters ........................ 5-24
5-6-9 Gain Adjustment in Manual Mode..................................................... 5-25
Chapter 6: Control Modes of Operation ........................................ 6-1
6-1 Control Modes of Operation.................................................................. 6-1
6-2 Position Control Mode.......................................................................... 6-3
6-2-1 Command Source of Position (Pt) Control Mode................................ 6-4
6-2-2 Command Source of Position (Pr) Control Mode................................ 6-5
6-2-3 Structure of Position Control Mode .................................................. 6-6
6-2-4 P-curve Filter for Position Control ................................................... 6-7
6-2-5 Electronic Gear Ratio ..................................................................... 6-9
6-2-6 Low-pass Filter.............................................................................. 6-10
6-2-7 Timing Chart of Position (Pr) Control Mode ...................................... 6-10
6-2-8 Position Loop Gain Adjustment........................................................ 6-11
6-3 Speed Control Mode ............................................................................ 6-13
6-3-1 Command Source of Speed Control Mode ......................................... 6-14
6-3-2 Structure of Speed Control Mode ..................................................... 6-15
6-3-3 Smoothing Strategy of Speed Control Mode ...................................... 6-16
6-3-4 Analog Input Proportional Gain (Scalar) ........................................... 6-19

Table of Contents ASD-A User Manual
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viii
6-3-5 Timing Chart of Speed Control Mode ................................................ 6-20
6-3-6 Speed Loop Gain Adjustment........................................................... 6-21
6-3-7 Resonance Suppression.................................................................. 6-27
6-4 Torque Control Mode ............................................................................ 6-29
6-4-1 Command Source of Torque Control Mode ........................................ 6-29
6-4-2 Structure of Torque Control Mode..................................................... 6-30
6-4-3 Smoothing Strategy of Torque Control Mode...................................... 6-31
6-4-4 Analog Input Proportional Gain (Scalar)............................................ 6-32
6-4-5 Timing Chart of Torque Control Mode ............................................... 6-33
6-5 Control Modes Selection....................................................................... 6-34
6-5-1 Speed / Position Control Mode Selection .......................................... 6-35
6-5-2 Speed / Torque Control Mode Selection ............................................ 6-36
6-5-3 Torque / Position Control Mode Selection ......................................... 6-37
6-6 Others ................................................................................................ 6-38
6-6-1 Speed Limit ................................................................................... 6-38
6-6-2 Torque Limit................................................................................... 6-39
6-6-3 Regenerative Resistor .................................................................... 6-40
6-6-4 Analog Monitor............................................................................... 6-44
6-6-5 Electromagnetic Brake .................................................................... 6-46
Chapter 7: Parameters................................................................ 7-1
7-1 Definition ............................................................................................ 7-1
7-2 Parameter Summary............................................................................. 7-2
7-2-1 Parameters List by Group ............................................................... 7-2
7-2-2 Parameters List by Function ............................................................ 7-9
7-3 Detailed Parameter Listings .................................................................. 7-20
Chapter 8: MODBUS Communications.......................................... 8-1
8-1 Communication Hardware Interface ....................................................... 8-1
8-2 Communication Parameter Settings ....................................................... 8-4
8-3 MODBUS Communication Protocol......................................................... 8-7
8-4 Communication Parameter Write-in and Read-out.................................... 8-14

ASDA-A User Manual Table of Contents
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
ix
Chapter 9: Maintenance and Inspection........................................ 9-1
9-1 Basic Inspection.................................................................................. 9-1
9-2 Maintenance ....................................................................................... 9-2
9-3 Life of Replacement Components .......................................................... 9-2
Chapter 10: Troubleshooting ....................................................... 10-1
10-1 Fault Messages Table ........................................................................ 10-1
10-2 Potential Cause and Corrective Actions ............................................... 10-2
10-3 Clearing Faults.................................................................................. 10-8
Chapter 11: Specifications .......................................................... 11-1
11-1 Servo Drive Specifications (ASDA-A Series) ......................................... 11-1
11-2 Low Inertia Servo Motor Specifications (ASMTL Series).................... 11-4
11-3 Medium Inertia Servo Motor Specifications (ASMTM Series).............. 11-5
11-4 Servo Motor Speed-Torque Curves....................................................... 11-6
11-5 Overload Characteristics .................................................................... 11-8
11-6 Dimensions of Servo Drive.................................................................. 11-10
11-7 Dimensions of Low Inertia Servo Motor ................................................ 11-13
11-8 Dimensions of Medium Inertia Servo Motor ........................................... 11-15
11-9 EMI Filters Selection .......................................................................... 11-16
Chapter 12: Application Examples................................................ 12-1
12-1 Position Control (including homing function)......................................... 12-1
12-2 Roller Feeding................................................................................... 12-3
12-3 Connecting to Delta DVP-EH Series PLC ............................................... 12-4
12-4 Connecting to Delta TP04 Series........................................................... 12-9
12-5 Position Control Mode (Pr Mode)........................................................... 12-11
12-6 Feed Step Control ............................................................................... 12-14
12-7 Internal Auto Running Mode.................................................................. 12-25
12-8 Homing Function ................................................................................. 12-30
12-9 External Controller Connection Examples............................................... 12-37
Appendix A: Accessories............................................................. A-1

Table of Contents ASD-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
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About this Manual…
User Information
Be sure to store this manual in a safe place.
Due to constantly growing product range, technical improvement and alteration or changed
texts, figures and diagrams, we reserve the right of this manual contained information
change without prior notice.
Coping or reproducing any part of this manual, without written consent of Delta Electronics
Inc. is prohibited.
Technical Support and Service
Welcome to contact us or visit our web site (http://www.delta.com.tw/industrialautomation/)
if you need any technical support, service and information, or, if you have any question in
using the product. We are looking forward to serve you needs and willing to offer our best
support and service to you. Reach us by the following ways.
ASIA
DELTA ELECTRONICS, INC.
TAOYUAN Plant/
31-1, SHIEN PAN ROAD, KUEI SAN
INDUSTRIAL ZONE TAOYUAN 333,
TAIWAN
TEL: [phone]
FAX: [phone]
NORTH/SOUTH AMERICA
DELTA PRODUCTS CORPORATION
Sales Office/
P.O. BOX 12173
5101 DAVIS DRIVE
RESEARCH TRIANGLE PARK,
NC 27709, U.S.A.
TEL: [phone]
FAX: [phone]
JAPAN
DELTA ELECTRONICS (JAPAN) INC.
Sales Office/
DELTA SHIBADAIMON BLDG.
2-1-14 SHIBADAIMON, MINATO-KU,
TOKYO, 105-0012, JAPAN
TEL: [phone]
FAX: [phone]
EUROPE
DELTRONICS (NETHERLANDS) B.V.
Sales Office/
DE WITBOGT 15
5652 AG EINDHOVEN
THE NETHERLANDS
TEL: [phone]
FAX: [phone]

ASDA-A User Manual Chapter 1 Unpacking Check and Model Explanation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
1-1
Chapter 1 Unpacking Check and Model Explanation
1-1 Unpacking Check
After receiving the product, 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 be including the following parts:
Part I : Delta standard supplied parts
(1) Servo drive
(2) Servo motor
(3) 5 PIN Terminal Block (for L1, L2, R, S, T)
(4) 3 PIN Terminal Block (for U, V, W)
(5) 3 PIN Terminal Block (for P, D, C)
(6) One operating lever (for wire to terminal block insertion)
Part II : Optional parts, not Delta standard supplied part (Refer to Appendix A)
(1) One power cable, which is used to connect servo motor and U, V, W terminals of servo drive. This
power cable is with one 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 and 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)

Chapter 1 Unpacking Check and Model Explanation ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
1-2
(5) CN3 Connector: 6 PIN Connector (IEEE1394 analog product)
1-2 Model Explanation
1-2-1 Nameplate
ASDA-A Series Servo Drive
Nameplate Explanation
Serial Number Explanation

ASDA-A User Manual Chapter 1 Unpacking Check and Model Explanation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
1-3
ASMT Series Servo Motor
Nameplate Explanation
Serial Number Explanation
1-2-2 Model Name
ASDA-A Series Servo Drive

Chapter 1 Unpacking Check and Model Explanation ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
1-4
ASMT Series Servo Motor

ASDA-A User Manual Chapter 1 Unpacking Check and Model Explanation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
1-5
1-3 Servo Drive and Servo Motor Combinations
The tables below show the possible combination of Delta ASDA-A series servo drives and ASMT series
servo motors. The boxes () at the end of the model names are for version or optional configurations.
(Please refer to Section 1-2 for model explanation)
Servo drive Servo motor
100W ASD-A0121LASMT01L250
200W ASD-A0221LASMT02L250
400W ASD-A0421LASMT04L250
750W ASD-A0721LASMT07L250
1000W ASD-A1021LASMT10L250
2000W ASD-A2023LASMT20L250
Low
inertia
3000W ASD-A3023LASMT30L250
Servo drive Servo motor
1000W ASD-A1021MASMT10M250
1500W ASD-A1521MASMT15M250
2000W ASD-A2023MASMT20M250
Medium
inertia
3000W ASD-A3023MASMT30M250
The drives shown in the above table 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).

Chapter 1 Unpacking Check and Model Explanation ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
1-6
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 11 “Specifications”.
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.

ASDA-A User Manual Chapter 1 Unpacking Check and Model Explanation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
1-7
1-4 Servo Drive Features