Delta ASD-B2-1521-F User manual

Revision May, 2018 i
Preface
Thank you for purchasing ASDA-B2. This user manual provides the related information of
ECMA 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 functions and adjustment methods of servo drives
 Parameter
 Communication protocol
 Inspection and maintenance
 Troubleshooting
 Application examples
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.
 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 servo drive, motor or change the wiring when
connecting to the power.
 Be ensured that the emergency stop can be activated any time before
connecting to the power and operation.

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ii Revision May, 2018
 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 Delta customer service center.
Safety Precautions
ASDA-B2 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-B2 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 or NEMA
250 Type 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.

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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.
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.
 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 equipment, it would cause the damage of the equipment 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.

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iv Revision May, 2018
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 feedback cables. The maximum length of
command input cable is 3 meters (= 9.84 feet) and the maximum length of
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.
 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.
If there is any difference of each version, please refer to DELTA’s
website (http://www.delta.com.tw/industrialautomation/) for the latest
information.
NOTE

Revision May, 2018 v
Table of Contents
Chapter 1 Installation and Model Explanation ...................................................... 1-1
1.1 Inspection........................................................................................................ 1-1
1.2 Product Model................................................................................................. 1-2
1.2.1 Nameplate Information........................................................................... 1-2
1.2.2 Model Explanation.................................................................................. 1-3
1.3 Servo Drive and Corresponding Servo Motor.................................................. 1-5
1.4 Servo Drive Features ...................................................................................... 1-7
1.5 Control Modes of Servo Drive ......................................................................... 1-8
Chapter 2 Installation.............................................................................................. 2-1
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
2.4.1 Troubleshooting for the Motor Operation and Status.............................. 2-5
2.4.2 Servo Motor Mounting Directions and Precautions ................................ 2-5
2.4.3 Precautions for Using Oil Seal Servo Motors ......................................... 2-6
2.4.4 Precautions for Using Couplings............................................................ 2-7
2.4.5 Oil and Water Prevention Measures for the Servo Motor....................... 2-8
2.4.6 Measures to Suppress Temperature Increase of the Servo Motor......... 2-8
2.5 Specification of Circuit Breaker and Fuse ....................................................... 2-9

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2.6 EMI Filter Selection......................................................................................... 2-10
2.7 Selection of Regenerative Resistor................................................................. 2-12
Chapter 3 Wiring...................................................................................................... 3-1
3.1 Connections .................................................................................................... 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 Method........................................................................................ 3-4
3.1.4 Specification of Motor Power Cable ....................................................... 3-6
3.1.5 Specification of Encoder Connector....................................................... 3-8
3.1.6 Selection of Wiring Rod.......................................................................... 3-12
3.2 Basic Wiring .................................................................................................... 3-14
3.2.1 200 W (included) and Models below ...................................................... 3-14
3.2.2 400 W ~ 750 W Models.......................................................................... 3-15
3.2.3 1 kW ~ 3 kW Models .............................................................................. 3-16
3.3 I / O Signal (CN1) Connection......................................................................... 3-17
3.3.1 I/O Signal (CN1) Connector Terminal Layout......................................... 3-17
3.3.2 Signals Explanation of Connector CN1 .................................................. 3-19
3.3.3 Wiring Diagrams (CN1) .......................................................................... 3-27
3.3.4 DI and DO Signal Specified by Users..................................................... 3-34
3.4 CN2 Connector .............................................................................................. 3-35
3.5 Wiring of CN3 Connector ................................................................................ 3-37
3.6 Analog Monitor Output Connector - CN5......................................................... 3-38

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3.7 Standard Connection Example........................................................................ 3-39
3.7.1 Position (PT) Control Mode.................................................................... 3-39
3.7.2 Speed Control Mode .............................................................................. 3-40
3.7.3 Torque Control Mode ............................................................................. 3-41
Chapter 4 Panel Display and Operation................................................................. 4-1
4.1 Panel Description............................................................................................ 4-1
4.2 Parameter Setting Procedure.......................................................................... 4-2
4.3 Status Display ................................................................................................. 4-3
4.3.1 Save Setting Display .............................................................................. 4-3
4.3.2 Decimal Point......................................................................................... 4-3
4.3.3 Alarm Message ...................................................................................... 4-3
4.3.4 Positive and Negative Sign Setting ........................................................ 4-4
4.3.5 Monitor Display....................................................................................... 4-4
4.4 General Function............................................................................................. 4-7
4.4.1 Operation of Fault Code Display ............................................................ 4-7
4.4.2 JOG Mode.............................................................................................. 4-8
4.4.3 Force DO Output.................................................................................... 4-9
4.4.4 Digital Input Diagnosis Operation........................................................... 4-10
4.4.5 Digital Output Diagnosis Operation ........................................................ 4-10
Chapter 5 Trial Operation and Tuning ................................................................... 5-1
5.1 Inspection without Load................................................................................... 5-1
5.2 Applying Power to the Servo Drive.................................................................. 5-3
5.3 JOG Trial Run without Load............................................................................ 5-7

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5.4 Trial Run without Load (Speed Mode)............................................................. 5-8
5.5 Tuning Procedure............................................................................................ 5-10
5.5.1 Flowchart of Tuning Procedure .............................................................. 5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism)...................................... 5-12
5.5.3 Flowchart of Auto Tuning........................................................................ 5-13
5.5.4 Flowchart of Semi-Auto Tuning.............................................................. 5-14
5.5.5 Limit of Inertia Ratio ............................................................................... 5-15
5.5.6 Mechanical Resonance Suppression Method ........................................ 5-17
5.5.7 Tuning Modes and Parameters.............................................................. 5-18
5.5.8 Tuning in Manual Mode.......................................................................... 5-19
Chapter 6 Control Modes of Operation.................................................................. 6-1
6.1 Selection of Operation Mode........................................................................... 6-1
6.2 Position Mode ................................................................................................. 6-3
6.2.1 Position Command in PT Mode.............................................................. 6-3
6.2.2 Control Structure of Position Mode......................................................... 6-6
6.2.3 Electronic Gear Ratio ............................................................................. 6-8
6.2.4 Low-pass Filter....................................................................................... 6-10
6.2.5 Gain Adjustment of Position Loop.......................................................... 6-11
6.3 Speed Mode.................................................................................................... 6-14
6.3.1 Selection of Speed Mode ....................................................................... 6-14
6.3.2 Control Structure of Speed Mode........................................................... 6-15
6.3.3 Smoothing Speed Command ................................................................. 6-16
6.3.4 The Scaling of Analog Command........................................................... 6-20

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6.3.5 Timing Diagram in Speed Mode............................................................. 6-21
6.3.6 Gain Adjustment of Speed Loop............................................................. 6-21
6.3.7 Resonance Suppression ........................................................................ 6-28
6.4 Torque Mode................................................................................................... 6-36
6.4.1 Selection of Torque Command............................................................... 6-36
6.4.2 Control Structure of Torque Mode.......................................................... 6-37
6.4.3 Smooth Torque Mode............................................................................. 6-38
6.4.4 The Scaling of Analog Command........................................................... 6-38
6.4.5 Timing Diagram of Torque Mode............................................................ 6-40
6.5 Dual Modes..................................................................................................... 6-41
6.5.1 Speed / Position Dual Mode................................................................... 6-41
6.5.2 Speed / Torque Dual Mode .................................................................... 6-42
6.5.3 Torque / Position Dual Mode.................................................................. 6-42
6.6 Others ............................................................................................................. 6-43
6.6.1 The Use of Speed Limit.......................................................................... 6-43
6.6.2 The Use of Torque Limit......................................................................... 6-43
6.6.3 Analog Monitor....................................................................................... 6-44
6.6.4 The Use of Brake ................................................................................... 6-49
Chapter 7 Parameters.............................................................................................. 7-1
7.1 Parameter Definition........................................................................................ 7-1
7.2 Lists of Parameters ......................................................................................... 7-2
7.3 Parameter Description..................................................................................... 7-12
P0-xx Monitor Parameters............................................................................... 7-12