Delta ASD-A2R-0221 Series User manual

A High Performance with
Diverse Communication
Interfaces Servo Drive
ASDA-A2R Series User
Manual
www.deltaww.com
A High Performance with Diverse Communication Interfaces Servo Drive ASDA-A2R Series User Manual
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: [phone] / FAX: [phone]
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
TEL: [phone] / FAX: [phone]
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C. 201209
TEL: [phone] / FAX: [phone]
Delta Electronics (Japan), Inc.
Tokyo Ofce
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: [phone] / FAX: [phone]
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: [phone] / FAX: [phone]
Delta Electronics Int’l (S) Pte Ltd.
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: [phone] / FAX: [phone]
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : [phone] / FAX : [phone]
Americas
Delta Products Corporation (USA)
Raleigh Ofce
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: [phone] / FAX: [phone]
Delta Greentech (Brasil) S.A.
Sao Paulo Ofce
Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: [phone] / FAX: [phone]
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Ofce
De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: [phone] / FAX: [phone]
*We reserve the right to change the information in this manual without prior notice.
DELTA_IA-ASDA-A2R_UM_EN_20141219 (V2.0)

Revision December, 2014 i
Preface
Thank you for purchasing ASDA-A2R. This user manual provides the related information of
ASDA-A2R series servo drive and ECMA, ECML series servo motors. This manual
includes:
Installation and inspection of servo drive and servo motor
The configuration of servo drive
Procedures of trial run
Control function and adjustment methods of servo drive
Parameters
Communication protocol
Maintenance and inspections
Troubleshooting
This manual addresses personnel with the following qualifications:
Servo system designers
Installation or wiring personnel
Trial and tuning personnel
Maintenance and inspection personnel
Before using the product, please read through this manual carefully in order to ensure the
correct use of the product. In addition, please place this manual safely for quick reference
whenever is needed. Please follow the rules below if you have not finished reading this
manual yet.
No water, corrosive gas and inflammable gas are allowed in installation
environment.
Three-phase power is prohibited to connect to U, V and W connector when wiring.
It is possible to damage the servo drive.
Ground is a must.
Do not disconnect the servo drive, motor or change the wiring when connecting to
the power.
Be ensured that the emergency stop can be activated anytime before connecting to
the power and operation.
Do not touch the heat sink to avoid scald before connecting to the power and
operation.
If you have any enquiry, please contact the distributors or DEALTAcustomer service center.

PrefaceASDA-A2R Series
ii Revision December, 2014
Safety Precautions
ASDA-A2R series is the high resolution and open type servo drive. It should be installed in
a shielded control box during operation. This servo drive uses precise feedback control and
the digital signal processor with high-speed calculation function to control the current output
which generated by IGBT so as to operate three-phase permanent magnet synchronous
motors (PMSM) and to achieve precise positioning.
ASDA-A2R is applicable on industrial application and is suggested to be installed in the
panel-board of the user manual. (Servo drives, wire rod and motors all should be installed
in the environment which complies with the minimum requirement of UL Level 1.)
Pay special attention to the following safety precautions anytime during inspection,
installation, wiring, operation and examination.
The symbol of danger, warning and stop represent:
It indicates the potential hazards. It is possible to cause severe injury or fatal
harm if not follow the instructions.
It indicates the potential hazards. It is possible to cause minor injury or lead to
serious damage of the product or even malfunction if not follow the instructions.
It indicates the absolute prohibited activity. It is possible to damage the product or
cannot be used due to malfunction if not follow the instructions.
Inspection
Please follow the instruction when using servo drive and servo motor, or it is
possible to cause fire or malfunction.
Installation
It is prohibited to expose the product with the environment which containing
water, corrosive gas, inflammable gas, etc. Or it is possible to cause electric
shock or fire.
Wiring
Please connect the ground terminal to class-3 ground system (under 100 Ω),
poor grounding may result in electric shock or fire.
Do not connect the three-phase source to the motor output terminal U, V and
W. Or it is possible to cause personnel injury or fire.
Please tighten the screws of the power and motor output terminal. Or it is
possible to cause fire.
Please connect wiring according to the wire rod in order to prevent any
danger.

PrefaceASDA-A2R Series
Revision December, 2014 iii
Operation
Before the operation, please change the parameter setting value according to
the needs. If it is not adjusted to the correct setting value, it is possible to lead
to malfunction of the machine or the operation might out of control.
Before the machine starts to operate, please be ensured the emergency stop
can be activated anytime.
When power on, please make sure the motor shaft stands still and will not
operate because of mechanical inertia or other causes.
During the operation, it is prohibited to touch any rotating motor parts. Or it is
possible to cause personnel injury.
In order to prevent any accident, please separate the couplings and belts of
the machine and isolate them. Then conduct the initial trial run.
If users fail to operate the machine properly after the servo motor connects to
the equipments, it would cause the damage of the equipments and lead to the
personnel injury.
In order to prevent the danger, it is strongly recommended to check if the
motor can operate normally without load first. Then, operate the motor with
load.
Do not touch the heat sink of the servo drive. Or it is possible to cause scald
due to the high temperature.
Maintenance and Inspection
It is prohibited to touch the internal parts of the servo drive and servo motor.
Or it is possible to cause electric shock.
It is prohibited to disassemble the panel of the servo drive when turning on the
power. Or it is possible to 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 is possible to cause electric shock or
personnel injury.
Do not change the wiring when the power is on. Or it is possible to cause
electric shock or personnel injury.
Only the qualified electrical and electronics professionals can install, wire and
maintain the servo drive and servo motor.
Main Circuit Wiring
Do not put the power cable and the encoder cable in the same channel and
bond them together. Please separate the power cable and the encoder cable
for at least 30 centimeters (= 11.8 inches) when wiring.
Please use stranded wires and multi-core shielded-pair wires for the encoder
cables and encoder PG feedback cables. The maximum length of command
input cable is 3 meters (= 9.84 feet) and the maximum length of PG feedback
cable is 20 meters (= 65.62 feet).
The high voltage might remain in the servo motor even when the power is off.
Do not touch the power terminal temporally (at least 10 minutes). Please
conduct the inspection not until the indicator light, CHARGE is off.

PrefaceASDA-A2R Series
iv Revision December, 2014
Do not turn the power on and off too often. If continuous power on and off is
needed, please be ensured the interval is one minute at most.
Terminal Wiring of the Main Circuit
When wiring, please disassemble the terminal socket from the servo drive.
One terminal of the terminal socket for one electric wire only.
When inserting the electric wires, do not connect the conductor to the adjacent
wire.
Before connecting to the power, please inspect and be ensured the wiring is
correct.
NOTE
If there is any difference of each version, please refer to DELTA’s
website (http://www.delta.com.tw/industrialautomation/) for the latest
information.

PrefaceASDA-A2R Series
Revision December, 2014 v
Safety precautions when connecting to linear motor
Do not touch servo motor when the power is on. Or it is possible to
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 change the wiring when the power is on. Or it is possible to
cause electric shock or personnel injury.
Do not touch the motor during operation. Or it is possible to cause
scald due to the high temperature.
Do not touch the machine that just turned off, the residual
temperature might cause scald.
Strong magnets! It can be harmful to pacemaker wearers and
other with medical implants.
Caution, strong magnet field.
Mechanical hazard! To avoid jammed during maintenance.
Improper installation is prohibited, such as to knock, to cut off, to
stamp on or to tighten incorrect mechanism.
NOTE
If there is any difference of each version, please refer to DELTA’s
website (http://www.delta.com.tw/industrialautomation/) for the latest
information.

Revision December, 2014
Table of Contents
Chapter 1 Inspection and Model Explanation
1.1 Inspection...................................................................................................... 1-1
1.2 Product Model .............................................................................................. 1-3
1.2.1 Nameplate Information......................................................................... 1-3
1.2.2 Model Explanation................................................................................ 1-5
1.3 Servo Drive and Corresponding Servo Motor................................................ 1-9
1.4 Each Part of the Servo Drive......................................................................... 1-10
1.5 ECML Series Servo Motor............................................................................. 1-13
Chapter 2 Installation
2.1 Notes............................................................................................................. 2-1
2.2 Ambient Conditions of Storage...................................................................... 2-1
2.3 Ambient Conditions of Installation ................................................................. 2-2
2.4 Installation Direction and Space.................................................................... 2-3
2.5 Specification of Circuit Breaker and Fuse...................................................... 2-4
2.6 EMI Filters Selection...................................................................................... 2-5
2.7 Selection of Regenerative Resistor ............................................................... 2-7
Chapter 3 Wiring
3.1 Wiring of Delta’s Servo System .................................................................. 3-1
3.1.1 Wiring Diagram of Peripheral Devices (connect to Delta’s Servo Motor
Communication Type)............................................................................ 3-1

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Revision December, 2014
3.1.2 Connectors and Terminals of the Servo Drive....................................... 3-3
3.1.3 Wiring Method....................................................................................... 3-5
3.1.4 Specification of ECMA Motor U, V, W Power Cable.............................. 3-7
Specification of ECML Motor U, V, W Power Cable.............................. 3-9
3.1.5 Specification of Connector of Encoder Cable........................................ 3-10
Specification and Definition of Motor Signal Cable ................................ 3-13
3.1.6 Selection of Wire Rod............................................................................ 3-14
3.2 Schematic Diagram of Servo System............................................................ 3-16
3.3 I/O Signal (CN1) Connection......................................................................... 3-18
3.3.1 I/O Signal (CN1) Connector Terminal Layout....................................... 3-18
3.3.2 Explanation of I/O (CN1) Connector Signal.......................................... 3-20
3.3.3 Wiring Diagram (CN1) .......................................................................... 3-31
3.3.4 The DI and DO Signal Specified by the User........................................ 3-39
3.3.5 Application: Wiring of CN1 Quick Connector........................................ 3-40
3.4 CN2 Connector.............................................................................................. 3-43
3.5 Wiring of CN3 Connector............................................................................... 3-46
3.5.1 Layout of CN3 Connector..................................................................... 3-46
3.5.2 Connection between CN3 Connector and Personal Computer............. 3-47
3.6 CN4 Serial Connector (USB)......................................................................... 3-48
3.7 CN5 Connector (Full-closed Loop)................................................................ 3-49
3.8 CN6 Connector (CANopen)........................................................................... 3-50
3.9 Extension Digital Input Connector of CN7..................................................... 3-52
3.10 Standard Wiring Method................................................................................ 3-53

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Revision December, 2014
3.10.1 Position (PT) Mode Standard Wiring ................................................. 3-53
3.10.2 Position (PR) Mode Standard Wiring.................................................. 3-54
3.10.3 Speed Mode Standard Wiring............................................................. 3-55
3.10.4 Torque Mode Standard Wiring............................................................ 3-56
3.10.5 CANopen Mode Standard Wiring........................................................ 3-57
3.11 Wiring System of other Brand of Motor.......................................................... 3-58
3.11.1 Wiring Diagram of Peripheral Devices................................................ 3-58
3.11.2 Specification of Definition of ECML Motor Cable................................ 3-62
3.11.3 Signal Converter Box.......................................................................... 3-64
Chapter 4 Panel Display and Operation
4.1 Panel Description .......................................................................................... 4-1
4.2 Parameter Setting Procedure........................................................................ 4-2
4.3 Status Display................................................................................................ 4-5
4.3.1 Setting Saved Display .......................................................................... 4-5
4.3.2 Decimal Point ....................................................................................... 4-5
4.3.3 Alarm Message..................................................................................... 4-5
4.3.4 Positive and Negative Sign Setting....................................................... 4-5
4.3.5 Monitor Display..................................................................................... 4-6
4.4 General Function........................................................................................... 4-9
4.4.1 Operation of Fault Record Display........................................................ 4-9
4.4.2 JOG Mode............................................................................................ 4-10
4.4.3 Force DO Output .................................................................................. 4-11

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Revision December, 2014
4.4.4 Digital Input Diagnosis Operation ......................................................... 4-12
4.4.5 Digital Output Diagnosis Operation ...................................................... 4-12
Chapter 5 Trial Operation and Tuning
5.1 Inspection without Load................................................................................. 5-1
5.2 Apply Power to the Servo Drive..................................................................... 5-2
5.3 JOG Trial Run without Load .......................................................................... 5-5
5.4 Trial Run without Load (Speed Mode)........................................................... 5-6
5.5 Trial Run without Load (Position Mode)......................................................... 5-9
5.6 Tuning Procedure.......................................................................................... 5-11
5.6.1 Flowchart of Tuning Procedure............................................................. 5-13
5.6.2 Inertia Estimation Flowchart (with Mechanism) .................................... 5-14
5.6.3 Flowchart of Auto Tuning...................................................................... 5-15
5.6.4 Flowchart of Semi-auto Tuning............................................................. 5-16
5.6.5 Limit of Inertia Ratio for Rotary Motor / Total Weight of Linear Motor and
Load (kg) ............................................................................................. 5-17
5.6.6 Mechanical Resonance Suppression Method....................................... 5-20
5.6.7 Tuning Mode and Parameters.............................................................. 5-21
5.6.8 Tuning in Manual Mode........................................................................ 5-22
Chapter 6 Control Mode and Operation
6.1 Selection of Operation Mode......................................................................... 6-1
6.2 Position Mode................................................................................................ 6-3
6.2.1 Position Command in PT Mode............................................................ 6-3

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Revision December, 2014
6.2.2 Position Command in PR Mode............................................................ 6-3
6.2.3 Control Structure of Position Mode....................................................... 6-4
6.2.4 S-Curve Filter (Position) ....................................................................... 6-6
6.2.5 Electronic Gear Ratio ........................................................................... 6-8
6.2.6 Low-pass Filter ..................................................................................... 6-9
6.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-10
6.2.8 Gain Adjustment of Position Loop ........................................................ 6-11
6.2.9 Low-frequency Vibration Suppression in Position Mode....................... 6-12
6.3 Speed Mode.................................................................................................. 6-15
6.3.1 Selection of Speed Command.............................................................. 6-15
6.3.2 Control Structure of Speed Mode......................................................... 6-16
6.3.3 Smooth Speed Command .................................................................... 6-18
6.3.4 The Scaling of Analog Command......................................................... 6-20
6.3.5 The Timing Diagram in Speed Mode.................................................... 6-20
6.3.6 Gain Adjustment of Speed Loop........................................................... 6-21
6.3.7 Resonance Suppression....................................................................... 6-26
6.4 Torque (force) Mode...................................................................................... 6-31
6.4.1 Selection of Torque (force) Command.................................................. 6-31
6.4.2 Control Structure of Torque (force) Mode............................................. 6-32
6.4.3 Smooth Torque (force) Command........................................................ 6-33
6.4.4 The Scaling of Analog Command......................................................... 6-33
6.4.5 The Timing Diagram in Torque (force) Mode........................................ 6-34
6.5 Dual Mode.....................................................................................................6-35

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Revision December, 2014
6.5.1 Speed / Position Dual Mode................................................................. 6-36
6.5.2 Speed / Torque (force) Dual Mode ....................................................... 6-36
6.5.3 Torque (force) / Position Dual Mode..................................................... 6-37
6.6 Others............................................................................................................ 6-38
6.6.1 The Use of Speed Limit........................................................................ 6-38
6.6.2 The Use of Torque (force) Limit............................................................ 6-38
6.6.3 Analog Monitor ..................................................................................... 6-39
6.6.4 The Use of Brake.................................................................................. 6-40
Chapter 7 Motion Control
7.1 Motion Control Functions of ASDA-A2R........................................................ 7-1
7.2 Information of the Servo Drive....................................................................... 7-1
7.2.1 Description of Monitor Variables........................................................... 7-3
7.2.2 Description of Data Array...................................................................... 7-9
7.3 Description of Motion Axes............................................................................ 7-12
7.4 Description of PR Mode................................................................................. 7-13
7.5 The Difference between General PR Mode and the One in ASDA-A2R........ 7-13
7.6 The Position Unit of PR Mode ....................................................................... 7-14
7.7 Description of Register in PR Mode............................................................... 7-14
7.8 Homing Description of PR Mode ................................................................... 7-16
7.9 DI/DO Provided by PR Mode and Diagrams ................................................. 7-16
7.10 Parameter Settings in PR Mode.................................................................... 7-18
7.10.1 The Relation between the Previous Path the and Next Path.............. 7-24

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Revision December, 2014
7.10.2 Programming the Path in PR Mode .................................................... 7-24
7.11 The Description of E-Cam Function............................................................... 7-26
7.11.1 Function Description of CAPTURE (Data Capture) ............................ 7-34
7.11.2 Function Description of COMPARE (Data Compare) ........................... 7-36
Chapter 8 Parameters
8.1 Parameter Definition...................................................................................... 8-1
8.2 List of Parameters ......................................................................................... 8-2
8.3 Parameter Description................................................................................... 8-16
P0-xx Monitor Parameters.............................................................................. 8-16
P1-xx Basic Parameters................................................................................. 8-37
P2-xx Extension Parameters.......................................................................... 8-81
P3-xx Communication Parameters................................................................. 8-119
P4-xx Diagnosis Parameters.......................................................................... 8-127
P5-xx Motion Setting Parameters................................................................... 8-138
P6-xx PR Parameters..................................................................................... 8-207
P7-xx PR Parameters..................................................................................... 8-246
PM-xx Motor Parameters ............................................................................... 8-257
Table 8.1 Function Description of Digital Input (DI)......................................... 8-279
Table 8.2 Function Description of Digital Output (DO) .................................... 8-286
Chapter 9 Communication
9.1 RS-485／RS-232 Communication Hardware Interface ................................. 9-1

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Revision December, 2014
9.2 RS-485／RS-232 Communication Parameters Setting................................. 9-3
9.3 MODBUS Communication Protocol............................................................... 9-4
9.4 Write-in and Read-out Communication Parameters...................................... 9-15
Chapter 10 Toubleshooting
10.1 Alarm of Servo Drive ..................................................................................... 10-1
10.2 Alarm of CANopen Communication............................................................... 10-4
10.3 Alarm of Motion Control................................................................................. 10-6
10.4 Causes and Corrective Actions ..................................................................... 10-10
10.5 Corrective Actions after the Alarm Occurs..................................................... 10-32
Chapter 11 Specifications
11.1 Specifications of Servo Drive......................................................................... 11-1
11.2 Specifications of Servo Motor (ECMA Series)............................................... 11-4
11.3 Specifications of Servo Motor (ECML Series) ............................................... 11-12
11.4 Torque Features (T-N curve)......................................................................... 11-14
11.5 Force and Speed Features (F-S curve)......................................................... 11-16
11.6 Overload Features......................................................................................... 11-18
11.7 Dimensions of the Servo Drive...................................................................... 11-20
11.8 Dimensions of ECMA Series Servo Motor..................................................... 11-23
11.9 Dimensions of ECML Series Servo Motor..................................................... 11-28
Chapter 12 Setting of Motor Parameters
12.1 Tuning Procedure of Motor Parameters ........................................................ 12-1

Table of ContentsASDA-A2R Series
Revision December, 2014
12.2 Panel Setup Procedure (without PC Software).............................................. 12-24
Appendix A Accessories
Appendix B Maintenance and Inspection

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Revision December, 2014
(This page is intentionally left blank.)

Revision December, 2014 1-1
Chapter 1 Inspection and Model
Explanation
1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the
following items carefully.
Please check if the product is what you have purchased: check the part number of
the motor and the servo drive on the nameplate. Refer to the next page for the model
explanation.
Check if the motor shaft can rotate smoothly: Rotate the motor shaft by hand. If it can
be rotated smoothly, it means the motor shaft is normal. However, it cannot be
rotated by hand if the motor has an electromagnetic brake.
Check if there is any damage shown on its appearance: visually check if there is any
damage or scrape of the appearance.
Check if there is any loose screw: If the screws are un-tightened or fall off.
If any of the above situations happens, please contact the distributors to solve the
problems.
A complete and workable servo set should include:
(1) AServo drive and a servo motor
(2) AUVW motor power cable, the U, V and W wires can connect to the socket
attached by the servo drive and another side is the plug which could connect to the
socket of the motor.And a green ground wire which should be locked to the ground
terminal of the servo drive. (selective purchase)
(3) An encoder cable which connects to the socket of the encoder. One side of it
connects to CN2 servo drive and another side is the plug. (selective purchase)
(4) Converter box. (selective purchase)
(5) 26-PIN connecter for CN26 of converter box (selective purchase)
(6) 50-PIN connector which is used in CN1 (3M analog product) (selective purchase)
(7) 20-PIN connector which is used in CN2 (3M analog product) (selective purchase)
(8) 6-PIN connector which is used in CN3 (IEEE 1394 analog product) and is for
general communication (RS485) (selective purchase)
(9) 4-PIN connector which used in CN4 (USB Type B product) (selective purchase)
(10) RJ45 connector which used in CN6 and is for high-speed communication
(selective purchase)
(11) 7-PIN connector which used in CN7, for extension DI. (-U model) (selective
purchase)
(12) Servo drive power input:
Control circuit power Main circuit power
100 W ~ 3 kW L1c, L2C, fast connector R, S, T fast connector

Chapter 1 Inspection and Model Explanation ASDA-A2R Series
1-2 Revision December, 2014
(13) 3-PIN fast connector (U, V, W)
(14) 3-PIN fast connector (P , D, C)
(15) A plastic lever
(16) A metal short-circuit chip
(17) An installation manual

Chapter 1 Inspection and Model Explanation ASDA-A2R Series
Revision December, 2014 1-3
1.2 Product Model
1.2.1 Nameplate Information
ASDA-A2R Series Servo Drive
Nameplate Information
Serial Number
ECMA Series Servo Motor
Nameplate Information
Serial Number
Serial Number
Production Week
Production Year (8: Year of 2008)
Production Factory (T: Taoyuan; W: Wujiang)
Model Name
Model Name
Power Input Specification
Power Output Specification
Barcode
Serial Number
Serial Number
Production Week
Production Year (8: Year of 2008)
Production Factory (T: Taoyuan; W: Wujiang)
Delta Standard
Model Name

Chapter 1 Inspection and Model Explanation ASDA-A2R Series
1-4 Revision December, 2014
ECML Series Servo Motor
Coil Assembly_Nameplate Information
Coil assembly_Serial Number
Magnetic way_ Nameplate Information
Magnetic way_ Serial Number