Delta ASDA-A3 Series User manual

www.deltaww.com
Delta ASDA-A3 Series
Servo Drive User Manual
Delta ASDA-A3 Series Servo Drive User Manual
2017-04-26
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Delta Electronics, Inc.
Taoyuan Technology Center
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TEL: [phone] / FAX: [phone]
Asia
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*We reserve the right to change the information in this manual without prior notice.

Revision December, 2017 i
Preface
Thank you for purchasing this product. This manual provides information about the ASDA-A3 series servo
drive (A3) and the ECM-A3 series servo motor.
This manual includes:
Installation and inspection of servo drive and servo motor
Servo structure and wiring diagram
Instructions for trial operation
Instructions for servo tuning
Description of parameters
Description of communication protocol
Troubleshooting
Inspection and maintenance
ASDA-A3 product features:
Delta has developed a new control algorithm that enables you to easily overcome the problems of
a lack of stiffness or flexibility in the machine structure. The new automatic tuning function is more
user-friendly and allows you to complete tuning easily. In addition, you can use the gain adjustment
function to improve the performance of the drive. Its compact design can reduce the space
required inside the cabinet. The smaller design of the new generation of the ECM-A3 series servo
motor can also meet the need to reduce equipment structures’ size and weight.
How to use this manual:
You can use this manual as a reference when installing, setting up, using, and maintaining the
servo drive. Before initiating the tuning or setup process, please read through Chapters 1 to 5.
You can also use the Table of Contents and the Index to quickly locate the information you need.
DELTA technical services:
Please consult your DELTA equipment distributor or DELTA Customer Service Center if you
encounter any problems.

ii Revision December, 2017
Safety Precautions
ASDA-A3 is a high resolution, open type servo drive. It should be installed in a shielded control box during
operation. This product uses precise feedback control and a digital signal processor (DSP) with high-speed
calculation functions to control the current output generated by IGBT to operate three-phase permanent
magnet synchronous motors (PMSM) and to achieve precise positioning.
The ASDA-A3 series are used in industrial applications and should be installed in the control box.
Servo drives, wires, and motors should all be installed in an environment which complies with the minimum
requirement of UL50 Type 1.
Pay special attention to the following safety precautions at all times during inspection, installation, wiring,
operation, maintenance, and examination of the servo drive.
The symbols of “DANGER”, “WARNING”, and “STOP” indicate:
Danger. May cause severe or fatal injuries to personnel if the instructions are not followed.
Warning. May cause moderate injury to personnel, or lead to severe damage or
even malfunction of the product if the instructions are not followed.
Absolutely prohibited activities. May cause serious damage or even malfunction of the
product if the instructions are not followed.
Inspection
Installation
Wiring
Please follow the instructions when using the A3 servo drive and servo motor, or it may cause
fire or malfunction.
Do not expose the product to an environment containing water, corrosive gas, inflammable
gas...etc., or it may result in electric shock or fire.
Connect the ground terminals to class-3 ground system. Ground resistance should not
exceed 100 Ω. Improper grounding may result in electric shock or fire.
Do not connect the three-phase source to the motor output terminals U, V, and W,
or it may cause personnel injury or fire.
Please tighten the screws of the power and motor output terminals, or it may cause fire.
Please refer to description of wire selection in Chapter 3 to prevent any danger.

Revision December, 2017 iii
Operation
Maintenance and Inspection
Before operating, please change the parameter setting according to the application.
If the parameters are not adjusted to the correct values, it may lead to malfunction of
the machine or the operation might be out of control.
Before the machine starts to operate, please ensure that the emergency stop can be
activated at any time.
When applying power, please make sure the motor is not rotating because of inertia of
the machine or other causes.
During the operation, do not touch any rotating motor parts, or it may cause personnel injury.
To avoid accidents, please remove all units during the first test run, so that the motor is
operating without any load.
If you fail to operate the machine properly after connecting the servo motor to the
equipment, it may damage the equipment and lead to personnel injury.
In order to reduce the danger, it is strongly recommended that you check if the motor can
operate normally without load first. Then try operating the motor with load.
Do not touch the heat sink of the servo drive during operation, or it may cause burns.
Do not touch the internal parts of the servo drive and servo motor, or it may cause
electric shock.
Do not disassemble the servo drive panel when the power is on, or it may cause
electric shock.
Do not touch the ground terminal within 10 minutes after turning off the power,
or the residual voltage may cause electric shock.
Do not disassemble the motor, or it may cause electric shock or personnel injury.
Do not change the wiring when the power is on, or it may cause electric shock or
personnel injury.
Only qualified electricians can install, wire, and maintain the servo drive and servo motor.

iv Revision December, 2017
Main Circuit Wiring
Terminal Wiring of the Main Circuit
Leakage Current
Note: the content of this manual may be revised without prior notice, please download the latest version from
Delta's website (http://www.deltaww.com).
Do not put the power cable and signal cable in the same channel or bond them together.
Separate the power cable and signal cable by at least 30 centimeters (11.8 inches).
Please use stranded wires and multi-core shielded-pair wires for signal cables and encoder
feedback cables. The maximum length of signal input cable is 3 meters (9.84 feet) and the
maximum length of feedback cable is 20 meters (65.62 feet).
The high voltage may remain in the servo drive immediately after the power is turned off.
Please wait for 10 minutes before touching the terminals.
Do not repeatedly turn the power on and off. If it is necessary to turn the power on and off,
make sure that you wait one minute at least before turning the power on or off again.
When wiring the servo drive, please remove the terminal blocks from the servo drive.
Insert only one electric wire per terminal socket.
When inserting the electric wires, do not short circuit the adjacent conductors.
Before connecting to the power source, please inspect and ensure that the wiring
is correct.
The leakage current of the servo drive is greater than 3.5 mA.
According to the IEC 61800-5-1 standards, the wires must comply with one of the
following specifications to ensure proper grounding:
1. Copper wire cross-sectional area is at least 10 mm2.
2. Aluminum wire cross-sectional area is at least 16 mm2.
Failure to comply with the specifications may result in personnel injury.
Before applying power, please inspect and ensure that the wiring is correct.

Revision December, 2017
Table of Contents
Before Operation
Product Overview
1.1 Components of the servo set ··············································································1-2
1.2 Model overview································································································1-3
1.2.1 Nameplate information ················································································1-3
1.2.2 Model explanation ······················································································1-5
1.3 ASDA-A3 servo drive and motor··········································································1-8
1.4 Description of the drive interface··········································································1-9
Installation
2.1 Ambient storage conditions ················································································2-2
2.2 Ambient installation conditions ············································································2-3
2.3 Mounting direction and space ·············································································2-4
2.4 Safety precautions for using motors ·····································································2-6
2.5 Specifications for the circuit breaker and fuse·························································2-8
2.6 Ferrite ring······································································································2-8
2.7 Installation requirements for EMC ······································································ 2-10
2.7.1 EMI filters ······························································································· 2-11
2.8 Selecting the regenerative resistor ····································································· 2-13
2.9 The use of braking·························································································· 2-18
Wiring
3.1 System connection ···························································································3-3
3.1.1 Connecting to peripheral devices (connecting to Delta communication type of servo
motor ······································································································3-3
3.1.2 Connectors and terminal blocks·····································································3-5
3.1.3 Wiring for power supply ···············································································3-7
3.1.4 UVW connectors for the ASDA-A3 servo drive ················································ 3-10
3.1.5 Specification for the encoder connector························································· 3-12
3.1.6 Wire selection·························································································· 3-17
3.2 Wiring diagram for the servo system··································································· 3-20
3.3 Wiring for CN1 (I/O signal) ··············································································· 3-22

Revision December, 2017
3.3.1 CN1 I/O connector (for A3-L and A3-M series) ················································ 3-22
3.3.2 Signal explanation for connector CN1 (for A3-L and A3-M series) ······················· 3-24
3.3.3 CN1 I/O connector (for A3-F series) ····························································· 3-27
3.3.4 Signal explanation for connector CN1 (for A3-F series) ····································· 3-28
3.3.5 Wiring diagrams (CN1) ·············································································· 3-30
3.3.6 Application: using the CN1 quick connector for wiring······································· 3-37
3.4 Wiring for the CN2 encoder connector ································································ 3-41
3.5 Wiring for the CN3 connector (RS-485 / high speed communication) ························· 3-44
3.6 CN4 serial connector (Mini USB) ······································································· 3-46
3.7 CN5 connector (for machine position feedback, applicable to full-closed loop) ············· 3-47
3.8 CN6 connector ······························································································ 3-48
3.8.1 DMCNET communication connector for wiring ················································ 3-48
3.9 CN10 STO connector (Safe torque off )······························································· 3-50
3.10 STO function (Safe torque off) ········································································· 3-51
3.10.1 Introduction to STO················································································· 3-51
3.10.2 The potential danger of STO ····································································· 3-51
3.10.3 Wiring for STO ······················································································· 3-52
3.10.4 How does the STO function work? ····························································· 3-53
3.10.5 Related parameter of the STO function························································ 3-54
3.11 Standard wiring example ················································································ 3-56
3.11.1 Position (PT) control mode········································································ 3-56
3.11.2 Position (PR) control mode ······································································· 3-57
3.11.3 Speed control mode ················································································ 3-58
3.11.4 Torque control mode················································································ 3-59
3.11.5 Communication mode (CANopen) ······························································ 3-60
3.11.6 Communication mode (DMCNET) ······························································ 3-61
Trial Operation and Panel Display
4.1 Panel description ·····························································································4-2
4.2 Parameter setting procedure···············································································4-3
4.3 Status display··································································································4-6
4.3.1 Save the setting display···············································································4-6
4.3.2 Display the decimal point ·············································································4-6
4.3.3 Alarm messages ························································································4-7
4.3.4 Positive and negative sign setting ··································································4-7
4.3.5 Monitoring display ······················································································4-7
4.4 General functions ··························································································· 4-11
4.4.1 Operation of fault record display ·································································· 4-11
4.4.2 Force DO on ··························································································· 4-12
4.4.3 Digital input diagnosis operation ·································································· 4-13

Revision December, 2017
4.4.4 Digital output diagnosis operation ································································ 4-13
4.5 Testing ········································································································· 4-14
4.5.1 Testing without load ·················································································· 4-14
4.5.2 Apply power to A3 servo drive····································································· 4-15
4.5.3 JOG trial run without load··········································································· 4-19
4.5.4 Trial run without load (Speed mode) ····························································· 4-21
4.5.5 Trial run without load (Position mode) ··························································· 4-23
Tuning
Tuning
5.1 Tuning procedure and the applied mode································································5-2
5.1.1 Flow chart for the tuning procedure ································································5-2
5.1.2 Tuning modes ···························································································5-3
5.2 Quick mode ····································································································5-4
5.3 Auto tuning ·····································································································5-4
5.3.1 Flow chart for auto tuning·············································································5-5
5.3.2 Auto tuning through the drive panel ································································5-6
5.3.3 Auto tuning with ASDA-Soft (software) ····························································5-7
5.3.4 Alarms related to auto tuning ······································································ 5-14
5.4 Tuning mode ································································································· 5-15
5.4.1 Flow chart of Tuning mode ········································································· 5-15
5.4.2 Tuning mode 1 ························································································ 5-16
5.4.3 Tuning mode 2 ························································································ 5-16
5.4.4 Tuning mode 3 ························································································ 5-17
5.4.5 Setting the frequency response bandwidth (stiffness) ······································· 5-18
5.4.6 Gain response ························································································· 5-19
5.5 Tuning in Manual mode ··················································································· 5-20
5.6 Mechanical resonance suppression···································································· 5-22
Operation Mode
6.1 Selecting the operation mode··············································································6-4
6.2 Position mode ·································································································6-5
6.2.1 Position command in PT mode······································································6-5
6.2.2 Position command in PR mode ·····································································6-6
Operation and Motion control

Revision December, 2017
6.2.3 Control structure of Position mode ·································································6-6
6.2.4 S-curve filter (Position) ················································································6-8
6.2.5 Electronic gear ratio (E-Gear ratio)·································································6-9
6.2.6 Low-pass filter ························································································· 6-10
6.2.7 Timing diagram of PR mode ······································································· 6-10
6.2.8 Gain adjustment for the position loop···························································· 6-11
6.2.9 Low-frequency vibration suppression in Position mode····································· 6-13
6.3 Speed mode ································································································· 6-15
6.3.1 Selecting the Speed command source ·························································· 6-15
6.3.2 Control structure of Speed mode ································································· 6-16
6.3.3 Smooth Speed command··········································································· 6-17
6.3.4 Scaling of the analog command··································································· 6-19
6.3.5 Timing diagram for Speed mode·································································· 6-20
6.3.6 Gain adjustment of the speed loop ······························································· 6-21
6.3.7 Resonance Suppression unit ······································································ 6-23
6.4 Torque mode ······························································································· 6-26
6.4.1 Selecting the Torque command source·························································· 6-26
6.4.2 Control structure of Torque mode································································· 6-27
6.4.3 Smooth Torque command ·········································································· 6-28
6.4.4 Scaling of the analog command··································································· 6-28
6.4.5 Timing diagram in Torque mode··································································· 6-29
6.5 Dual mode···································································································· 6-30
6.5.1 Speed / Position dual mode········································································ 6-31
6.5.2 Speed / Torque dual mode ········································································· 6-32
6.5.3 Torque / Position dual mode ······································································· 6-33
6.6 Others ········································································································· 6-34
6.6.1 Applying the speed limit············································································· 6-34
6.6.2 Applying the torque limit ············································································ 6-35
6.6.3 Analog monitoring ···················································································· 6-35
Description of Motion Control
7.1 PR mode description····················································································· 7-2
7.1.1 Shared PR parameters············································································ 7-4
7.1.2 Monitoring variables of PR mode ······························································· 7-6
7.1.3 Motion Control commands ······································································· 7-8
7.1.4 Overview of the PR procedure ·································································· 7-35
7.1.5 Trigger methods for the PR command························································· 7-42
7.1.6 PR procedure execution flow ···································································· 7-46
7.2 Application of motion control ··········································································· 7-59

Revision December, 2017
7.2.1 Data array ···························································································· 7-59
7.2.2 High-speed position capturing function (Capture) ·········································· 7-62
7.2.3 High-speed position comparing function (Compare) ········································7-66
Parameter
8.1 Parameter definitions ························································································8-2
8.2 List of parameters ····························································································8-3
8.3 Parameter descriptions···················································································· 8-13
P0.xxx Monitoring parameters ············································································ 8-13
P1.xxx Basic parameters··················································································· 8-28
P2.xxx Extension parameters ············································································· 8-61
P3.xxx Communication parameters ····································································· 8-96
P4.xxx Diagnosis parameters ··········································································· 8-102
P5.xxx Motion control parameters ····································································· 8-109
P6.xxx PR parameters ···················································································· 8-150
P7.xxx PR parameters ···················································································· 8-174
Table 8.1 Digital input (DI) descriptions······························································· 8-194
Table 8.2 Digital output (DO) descriptions ··························································· 8-201
Table 8.3 Monitoring variables descriptions ························································· 8-206
MODBUS Communication
9.1 RS-485 communication interface (hardware)···························································9-2
9.2 RS-485 communication parameter settings·····························································9-3
9.3 MODBUS communication protocol········································································9-4
9.4 Setting and accessing communication parameters ················································· 9-15
Absolute System
10.1 Battery box (absolute type) and wiring······························································· 10-3
10.1.1 Specifications ························································································ 10-3
10.1.2 Battery box dimensions············································································ 10-4
10.1.3 Connection cable for the absolute encoder··················································· 10-5
10.1.4 Battery box cable···················································································· 10-7
10.2 Installation ·································································································· 10-8
10.2.1 Installing the battery box in the servo system ················································ 10-8
10.2.2 Installing and replacing a battery······························································ 10-10
Parameter Setting

Revision December, 2017
10.3 System initialization and operating procedures·················································· 10-13
10.3.1 System initialization ·············································································· 10-13
10.3.2 Pulse number ······················································································ 10-14
10.3.3 PUU number ······················································································· 10-15
10.3.4 Initializing the absolute coordinates with DI/DO ··········································· 10-16
10.3.5 Initializing the absolute coordinates with parameters ···································· 10-16
10.3.6 Reading the absolute position with DI/DO ·················································· 10-17
10.3.7 Reading the absolute position with communication ······································ 10-20
10.4 List of absolute parameters, DI/DO, and alarms ················································ 10-21
Troubleshooting
11.1 Alarm list····································································································· 11-3
General type····································································································· 11-3
STO type ········································································································· 11-5
Communication type··························································································· 11-5
Motion control type····························································································· 11-6
11.2 Causes and corrective actions········································································· 11-7
General type····································································································· 11-7
STO type ········································································································11-32
Communication type··························································································11-33
Motion control type····························································································11 -39
Specifications
A.1 ASDA-A3 series servo drive··············································································· A-2
A.1.1 Specification of the ASDA-A3 servo drive ······················································· A-2
A.1.2 Dimensions of the servo drive······································································ A-5
A.2 ECM-A3 series servo motor ··············································································· A-7
A.2.1 ECM-A3L low inertia series servo motor························································· A-9
A.2.2 ECM-A3H high inertia series servo motor ······················································ A-11
A.2.3 Torque features (T-N curves) ······································································A-13
A.2.4 Overload features ····················································································A-15
A.2.5 Dimensions of ECM-A3L/A3H series servo motor············································A-17
A.3 ECMC series servo motor·················································································A-18
Appendix
Troubleshooting

Revision December, 2017
A.3.1 ECMC series servo motor with frame size 100 –180 ·······································A-20
A.3.2 Torque features (T-N curves) ······································································A-22
A.3.3 Overload features ····················································································A-24
A.3.4 Dimensions of ECMC series servo motor ······················································A-26
Accessories
B.1 Power connector ····························································································· B-2
B.2 Power cable ··································································································· B-3
B.3 Encoder cable (incremental type) ········································································ B-7
B.4 Encoder cable (absolute type) ············································································ B-8
B.5 Battery box cable AW ······················································································· B-9
B.6 Battery box (absolute type) ················································································ B-9
B.7 I/O signal connector ························································································B-10
B.8 Terminal block module ····················································································· B-11
B.9 CANopen communication cable ········································································· B-11
B.10 CANopen distribution box ···············································································B-12
B.11 Ferrite ring ···································································································B-12
B.12 A3 / A2 conversion cable ················································································B-13
B.13 A3 CN3 RS-485 / CANOpen connector······························································B-14
B.14 A3 CN3 RS-485 / CANOpen terminal resistor······················································B-14
B.15 CN4 Mini USB module ···················································································B-15
B.16 Optional accessories······················································································B-16

Revision December, 2017
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Revision December, 20171-1
Product Overview
Before using the ASDA-A3 series servo drive, please pay attention to the description of
the inspection, nameplate, and model type. You can find a suitable motor model for
your A3 servo drive in the table in Section 1.3.
1.1 Components of the servo set································································ 1-2
1.2 Model overview ················································································· 1-3
1.2.1 Nameplate information·································································· 1-3
1.2.2 Model explanation ······································································· 1-5
1.3 ASDA-A3 servo drive and motor ··························································· 1-9
1.4 Description of the drive interface························································· 1-10

Product Overview ASDA-A3
1-2 Revision December, 2017
1
1.1 Components of the servo set
A complete servo set includes:
(1) A servo drive and a servo motor.
(2) A UVW motor power cable: one end of the U, V, and W wires connects to the servo drive and
the other end to the motor (Optional purchase).
(3) A green ground wire: it connects to the ground terminal of servo drive (Optional purchase).
(4) An encoder cable: one end of it connects the encoder and other end to the CN2 on the servo
drive (Optional purchase).
(5) Communication type converter box (Optional purchase).
(6) A 26-pin connector for the communication type converter box (Optional purchase).
(7) A 50-pin connector for CN1 (Optional purchase).
(8) A 6-pin connector for CN2 (Optional purchase).
(9) An RJ45 connector for CN3, which you use for general (RS-485) and high-speed (CANopen)
communication (Optional purchase).
(10) A 4-pin connector for CN4 (Mini-USB connector) (Optional purchase).
(11) Power supply for the servo drive:
Model Control circuit Main circuit
100 W - 400 W L1c, L2C, P1, P2, quick connector R, S, T quick connector
(12) A 3-pin quick connector (U, V, W).
(13) A 3-pin quick connector (P3, D, C).
(14) A plastic lever.
(15) Two metal pieces for short circuiting the terminal block.
(16) An installation instruction sheet.

ASDA-A3 Product Overview
Revision December, 20171-3
1
1.2 Model overview
1.2.1 Nameplate information
ASDA-A3 series servo drive
Nameplate information
Serial number
A30421L T 15 07 0006
(1) (2) (3) (4) (5)
(1) Model name
(2) Manufacturing plant (T: Taoyuan; W: Wujiang)
(3) Year of production (15: year 2015)
(4) Week of production (From 1 to 52)
(5) Serial number (Production sequence in a
week, starting from 0001)

Product Overview ASDA-A3
1-4 Revision December, 2017
1
ECM-A3 series servo motor
Nameplate information
Serial number
ABCYA3AA T 16 07 0001
(1) (2) (3) (4) (5)
(1) Model name
(2) Manufacturing plant (T: Taoyuan; W: Wujiang)
(3) Year of production (16: year 2016)
(4) Week of production (From 1 to 52)
(5) Serial number (Production sequence in a
week, starting from 0001)
ECMC series servo motor
Nameplate information
Serial number
CW1010RS T 16 07 0001
(1) (2) (3) (4) (5)
(1) Model name
(2) Manufacturing plant (T: Taoyuan; W: Wujiang)
(3) Year of production (16: year 2016)
(4) Week of production (From 1 to 52)
(5) Serial number (Production sequence in a
week, starting from 0001)

ASDA-A3 Product Overview
Revision December, 20171-5
1
1.2.2 Model explanation
ASDA-A3 servo drive
ASD –A3 –04 21 –L
(1) (2) (3) (4) (5)
(1) Product name
AC Servo Drive
(2) Series
A3
(3) Rated output power:
(4) Input voltage and phase
21: 220V, single / three-phase
23: 220V, three-phase
(5) Model type:
Type Pulse
input RS-485 CANopen
Full-
closed
loop
control
Analog
voltage
control
DMCNET E-CAM STO
L ○○× ○○× × ×
M* ○○○○○× ○○
F* × × × ○× ○○×
Note: models with an * means that this type of motor is coming soon.
Code Spec.Code Spec.Code Spec.
01 100 W 07 750 W 20 2.0 kW
02 200 W 10 1.0 kW 30 3.0 kW
04 400 W 15 1.5 kW - -

Product Overview ASDA-A3
1-6 Revision December, 2017
1
ECM-A3 series servo motor
(1) (2) (3) (4) (5) (6) (7) (8) (10) (11)(9)
ECM -A 3 H C Y06 04 RS 1
-
(1) Product name
ECM: Electronic Communication Motor
(2) Servo type
A: High precision servo motor
(3) Series
3: A3 series
(4) Inertia
H: High inertia
L: Low inertia
(5) Rated voltage and speed
C: 200V and 3,000 rpm
(6) Encoder type
Y: 24-bit absolute type encoder (resolution of single turn: 24-bit; resolution of multiple turns:
16-bit)
(7) Motor frame size
04: 40 mm
06: 60 mm
08: 80 mm
(8) Rated power output
Code Spec. Code Spec.
0F 50 W 04 400 W
01 100 W 07 750 W
02 200 W

ASDA-A3 Product Overview
Revision December, 20171-7
1
(9) Type of shaft and oil seal
Note: models with an * means that this type of motor is coming soon.
(10) Shaft diameter
S: Standard
7: 14 mm (specific)
(11) Special code
1: Standard products
w/o brake
w/o oil seal
with brake
w/o oil seal
w/o brake
with oil seal
with brake
with oil seal
Round shaft
(with fixed screw holes) - - C* D*
Keyway
(with fixed screw holes) P* Q* R S