Delta ASDA-A3 Series User manual

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Delta ASDA-A3 Series
Servo Drive User Manual
Delta ASDA-A3 Series Servo Drive User Manual
*We reserve the right to change the information in this manual without prior notice. DELTA_IA-ASD_ASDA-A3_UM_EN_20230323
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Taiwan: Delta Electronics, Inc.
Taoyuan Technology Center
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Taoyuan City 330477, Taiwan
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i
Preface
Thank you for purchasing this product. This manual provides information about the ASDA-A3 series servo
drives (A3) and the applicable servo motors.
This manual includes:
◼Installation and inspection of servo drive and servo motor
◼Servo structure and wiring diagram
◼Instructions for test 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 also utilize 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:
Use this manual as a reference when installing, setting up, using, and maintaining the servo drive.
Before initiating the tuning or setup process, read 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
Safety Precautions
The 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
Please follow the instructions when using the A3 servo drive and servo motor, or it may cause
fire or malfunction.
Installation
Do not expose the product to an environment containing vapor, corrosive gas, inflammable gas,
or other foreign matter to reduce the risk of electric shock or fire.
Wiring
◼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.
◼Tighten the screws of the power and motor output terminals, or it may cause fire.
◼When wiring, refer to the description of wire selection in Chapter 3 to prevent any danger.

iii
Operation
◼Before operating the machine, change the servo 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.
◼Ensure you can activate the emergency stop before operating the machine.
◼When applying power, 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, remove all units during the first test run, so that the motor is operating
without any load.
◼If you fail to operate the servo motor properly after it is connected to the equipment, it may
damage the equipment and lead to personnel injury.
◼In order to prevent danger, it is strongly recommended that you check if the servo 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.
Maintenance and inspection
◼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
Main circuit wiring
◼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 the signal input cable is 3 meters (9.84 feet) and
the maximum length of the 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 continuous power on and off is needed, wait one
minute between intervals.
Terminal wiring of the main circuit
◼When wiring, 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 applying power, please inspect and ensure that the wiring is correct.
Leakage current
◼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, inspect and ensure that the wiring is correct.
Disposal instructions
◼When disposing of the product, make sure it is disposed of as general industrial waste in
accordance with the local laws and regulations.

v
Inspection and maintenance
Operating conditions:
◼Average annual ambient temperature: 30°C (86°F)
◼Average load rate: 80% or less
◼Average operating time: 20 hours per day
Inspection
frequency
Inspection item
Daily inspection
Check if the ambient temperature and humidity are normal.
Check if the input voltage is normal.
Check if there is abnormal vibration and noise.
Check if there is any abnormal smell.
Check if the servo drive has any visible damage.
Check if the ventilation holes are kept clear of dust and other foreign objects. *1
Check if the wirings are damaged or disconnected.
Check if any cable is loose or damaged.
Annual inspection
Check if any screw is loose or damaged.
Check if the servo drive, motor, and control cabinet are properly grounded.
Check if the color and temperature of the power input, power output, and regenerative
terminals are normal. *2
Note:
1. Install dust filters on the control cabinet openings, where there are fans or ventilation holes, and clean the filters
regularly. Install door seals on cabinet doors and rubber grommets on cable openings for better seal.
2. Check if the servo drive is properly wired. If the color of any terminal turns black or is abnormal, it is suggested that
you replace the terminal.
Replacing the parts
Operating conditions:
◼Average annual ambient temperature: 30°C (86°F)
◼Average load rate: 80% or less
◼Average operating time: 20 hours per day
Product
Part name
Suggested replacement cycle
Note
Servo drive
Electrolytic capacitor
Approx. 5 years
The replacement frequency
varies depending on the ambient
conditions and usage. Replace
immediately when any error
occurs.
Cooling fan
2 to 3 years
(10,000 to 30,000 hours)
Relay
Approx. 100,000 times
Soft start resistor
Approx. 20,000 times
Battery box
Battery
Refer to Section 10.1.1
◼When the part reaches the suggested replacement cycle, consult the distributor or Delta for
replacement suggestions.
◼Do not attempt to disassemble or repair the product yourself.
Note: the content of this manual may be revised without prior notice. Refer to the latest information from Delta's website.

vi
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Table of Contents
Before Operation
Product Overview
1.1 Items to check after unpacking ············································································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 ········································································ 1-11
1.3.1 220V models ···························································································1-11
1.3.2 400V models ···························································································1-14
1.4 Description of the drive interface········································································1-15
1.4.1 220V models: A3-L···················································································1-15
1.4.2 220V models: A3-M··················································································1-16
1.4.3 220V models: A3-F···················································································1-17
1.4.4 220V models: A3-E···················································································1-18
1.4.5 400V models: A3-L···················································································1-19
1.4.6 400V models: A3-M··················································································1-20
1.4.7 400V models: A3-F···················································································1-21
1.4.8 400V models: A3-E···················································································1-22
Installation
2.1 Ambient storage conditions ················································································2-2
2.2 Ambient installation conditions ············································································2-2
2.3 Mounting direction and space ·············································································2-5
2.4 Safety precautions for using motors ·····································································2-8
2.4.1 Troubleshooting for the motor operation and status ·········································2-10
2.4.2 Mounting directions and precautions for the servo motor··································· 2-11
2.4.3 Precautions for using servo motor with oil seal················································2-12
2.4.4 Precautions for installing servo motor accessories···········································2-13
2.4.5 Oil and water prevention measures for the servo motor ····································2-15
2.4.6 Measures to suppress temperature increase of the servo motor ·························2-16
2.5 Specifications for the circuit breaker, magnetic contactor and fuse ····························2-17
2.6 Ferrite ring ····································································································2-19
2.7 Installation requirements for EMC ······································································2-21
2
1

2.7.1 EMI filters ·······························································································2-23
2.8 Selecting the regenerative resistor ·····································································2-25
2.9 The use of braking··························································································2-33
2.10 The use of cable···························································································2-35
Wiring
3.1 220V series servo system connection ···································································3-5
3.1.1 Connecting to peripheral devices (connecting to Delta communication type
servo motor) ·····························································································3-5
3.1.2 Connectors and terminals ············································································3-7
3.1.3 Wiring for power supply ···············································································3-9
3.1.4 UVW power connector specifications ····························································3-12
3.1.4.1 F40 - F80 motors – Power connectors ····················································3-13
3.1.4.2 F100 - F130 motors – Power connectors ·················································3-15
3.1.4.3 F180 4.5 kW (or below) motors – Power connectors ··································3-18
3.1.4.4 F180 5.5 kW (or above) & F220 motors – Power connectors ·······················3-21
3.1.5 Encoder connector specifications·································································3-23
3.1.5.1 F40 - F80 motors – Encoder connectors··················································3-23
3.1.5.2 F100 - F180 ECMC motors – Encoder connectors·····································3-29
3.1.5.3 F100 - F220 ECM-B3 motors – Encoder connectors ··································3-32
3.1.6 Wire selection··························································································3-38
3.1.6.1 Wire diameters and terminals / ferrules ···················································3-38
3.1.6.2 Crimping the wire ferrules ····································································3-39
3.1.6.3 Screw terminal block dimensions / screw and tightening torque
specifications ····················································································3-41
3.1.6.4 Encoder cable specifications ································································3-42
3.1.6.5 Power cable specifications ···································································3-43
Motor frame: F40 - F80 ·······································································3-43
Motor frame: F100 - F130 ····································································3-44
Motor frame and power: F180 4.5 kW (or below) ······································3-45
Motor frame and power: F180 5.5 kW (or above) & F220····························3-46
3.1.6.6 Flexible cable specifications ·································································3-47
3.1.7 Waterproof connector wiring instructions ·······················································3-48
3.1.7.1 F40 - F80 models – Wiring the waterproof connector ·································3-48
3.1.7.2 F100 - F180 models – Wiring the waterproof connector ······························3-49
3.1.7.3 Waterproof connector specifications ·······················································3-50
3.2 400V series servo system connection ·································································3-51
3.2.1 Connecting to peripheral devices (connecting to Delta communication type
servo motor) ···························································································3-51
3.2.2 Connectors and terminals ··········································································3-53
3

3.2.3 Wiring for power supply ·············································································3-55
3.2.4 UVW power connector specifications ····························································3-56
3.2.4.1 F40 - F80 motors – Power connectors ····················································3-56
3.2.4.2 F100 - F130 motors – Power connectors ·················································3-56
3.2.4.3 F180 4.5 kW (or below) motors – Power connectors ··································3-56
3.2.4.4 F180 5.5 kW (or above) & F220 motors – Power connectors ·······················3-56
3.2.5 Encoder connector specifications·································································3-57
3.2.5.1 F40 - F80 motors – Encoder connectors··················································3-57
3.2.5.2 F100 - F220 ECM-B3 motors – Encoder connectors ··································3-58
3.2.6 Wire selection··························································································3-59
3.2.6.1 Wire diameters and terminals / ferrules ···················································3-59
3.2.6.2 Screw terminal block dimensions / screw and tightening torque
specifications ····················································································3-60
3.2.6.3 Cable specifications············································································3-61
3.2.6.4 Waterproof connector specifications ·······················································3-61
3.3 220V and 400V series – Servo system wiring diagram ···········································3-62
3.3.1 220V series models ··················································································3-62
400 W (and below) models ·········································································3-62
750 W - 3 kW models ················································································3-63
4.5 kW - 15 kW models ··············································································3-64
3.3.2 400V series models ··················································································3-65
400 W - 1.5 kW models ··············································································3-65
2 kW - 15 kW models·················································································3-66
3.4 220V and 400V series – Wiring for CN1 I/O connector············································3-67
3.4.1 A3-L and A3-M models – Wiring for CN1 I/O connector·····································3-67
3.4.1.1 A3-L and A3-M models – CN1 I/O connector ············································3-67
3.4.1.2 A3-L and A3-M models – Quick connector ···············································3-74
3.4.1.3 A3-L and A3-M models – CN1 wiring diagrams ·········································3-79
3.4.2 A3-E and A3-F models – Wiring for CN1 I/O connector ·····································3-86
3.4.2.1 A3-E and A3-F models – CN1 I/O connector ············································3-86
3.4.2.2 A3-E and A3-F models – Quick connector ···············································3-92
3.4.2.3 A3-E and A3-F models – CN1 wiring diagrams ·········································3-96
3.5 220V and 400V models – Wiring for the CN2 encoder connector ······························3-99
3.6 220V and 400V models – Wiring for the CN3 connector
(RS-485 / high-speed communication) ······························································ 3-103
3.7 220V and 400V models – Wiring for CN4 connector (Mini USB) ····························· 3-105
3.8 220V and 400V models – Wiring for CN5 connector (applicable to full-closed loop) ···· 3-106
3.9 220V and 400V models – Wiring for CN6 connector············································· 3-109
3.9.1 Wiring for the DMCNET communication connector ········································ 3-109
3.9.2 Wiring for the EtherCAT communication connector ·········································3-111

3.10 220V models – STO (Safe Torque Off) function ················································· 3-114
3.10.1 CN10 STO connector ············································································ 3-114
3.10.2 Introduction to STO ··············································································· 3-115
3.10.3 Precautions for using STO function ·························································· 3-115
3.10.4 Specifications of STO ············································································ 3-116
3.10.5 How does the STO function work? ··························································· 3-116
3.10.5.1 Activation status ············································································· 3-117
3.10.5.2 Deactivation status ········································································· 3-119
3.10.6 Wiring for STO ····················································································· 3-120
3.10.6.1 Not using the STO function ······························································· 3-120
3.10.6.2 Using the STO function for a single drive ············································· 3-121
3.10.6.3 Using the STO function for multiple drives············································ 3-122
3.11 400V models – STO (Safe Torque Off) function ················································· 3-123
3.11.1 Introduction to STO ··············································································· 3-123
3.11.2 Precautions for using STO function··························································· 3-123
3.11.3 Potential risks of STO ············································································ 3-124
3.11.4 Safety parameters ················································································ 3-125
3.11.5 How does the STO function work?···························································· 3-126
3.11.5.1 Response time ··············································································· 3-126
3.11.5.2 Alarm triggering·············································································· 3-127
3.11.5.3 STO deactivation settings ·································································3-129
3.11.6 Wiring for STO ····················································································· 3-134
3.11.6.1 CN10 STO connector ······································································ 3-134
3.11.6.2 Input / output signal specification························································ 3-135
3.11.6.3 Not using the STO function ······························································· 3-136
3.11.6.4 Using the STO function for a single drive ············································· 3-136
3.11.6.5 Using the STO function for multiple drives ············································ 3-137
3.11.7 Validation test ······················································································ 3-138
3.12 220V series – Standard wiring example ··························································· 3-139
3.12.1 Position (PT) control mode – differential line driver signal input······················· 3-139
3.12.2 Position (PT) control mode – open-collector signal input ······························· 3-140
3.12.3 Position (PR) control mode – internal position commands ····························· 3-141
3.12.4 Speed (S) control mode ········································································· 3-143
3.12.5 Torque (T) control mode········································································· 3-145
3.12.6 Communication mode (CANopen) ···························································· 3-147
3.12.7 Communication mode (DMCNET) ···························································· 3-148
3.12.8 Communication mode (EtherCAT) ···························································· 3-149
3.13 400V series – Standard wiring example ··························································· 3-150
3.13.1 Position (PT) control mode – differential line driver signal input······················· 3-150
3.13.2 Position (PT) control mode – open-collector signal input ······························· 3-151

3.13.3 Position (PR) control mode – internal position commands ····························· 3-152
3.13.4 Speed (S) control mode ········································································· 3-154
3.13.5 Torque (T) control mode········································································· 3-156
3.13.6 Communication mode (CANopen) ···························································· 3-158
3.13.7 Communication mode (DMCNET) ···························································· 3-159
3.13.8 Communication mode (EtherCAT) ···························································· 3-160
Test 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 Data save status ························································································4-6
4.3.2 Decimal points···························································································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
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···········································································4-20
4.5.4 Trial run without load (Speed mode) ·····························································4-22
4.5.5 Trial run without load (Position mode) ···························································4-24
Tuning
Tuning
5.1 Tuning procedure ·····························································································5-4
5.2 Inertia estimation······························································································5-5
5.2.1 Precautions for inertia estimation ···································································5-5
5.2.2 Inertia estimation with ASDA-Soft ··································································5-6
5.3 One Touch Tuning ····························································································5-9
5.3.1 Precautions for one touch tuning ·································································5-10
5.3.2 One touch tuning with ASDA-Soft ································································5-10
5.4 Auto tuning ···································································································5-13
4
5

5.4.1 Precautions for auto tuning·········································································5-14
5.4.2 Flowchart of auto tuning ············································································5-15
5.4.3 Auto tuning through the drive panel ······························································5-16
5.4.4 Auto tuning with ASDA-Soft ········································································5-17
5.4.5 Parameters related to auto tuning ································································5-24
5.4.5.1 Automatic gain adjustment level 1 (P2.105) - stiffness adjustment·················5-24
5.4.5.2 Automatic gain adjustment level 2 (P2.106) - response adjustment ···············5-25
5.4.6 Alarms related to auto tuning ······································································5-26
5.5 Gain adjustment modes ···················································································5-27
5.5.1 Differences between gain adjustment modes··················································5-27
5.5.2 Flowchart of gain adjustment mode ······························································5-29
5.5.3 Gain adjustment mode 1············································································5-30
5.5.4 Gain adjustment mode 2············································································5-30
5.5.5 Gain adjustment mode 3············································································5-31
5.5.6 Gain adjustment mode 4············································································5-32
5.5.7 Gain adjustment mode 5············································································5-33
5.5.8 Gain adjustment mode 6············································································5-33
5.5.9 Parameters related to gain adjustment modes ················································5-34
5.5.9.1 Bandwidth response level (P2.031) - stiffness adjustment ···························5-34
5.5.9.2 Command response gain (P2.089) - response adjustment ··························5-35
5.5.9.3 Bandwidth for speed loop response (P2.126) - bandwidth adjustment············5-35
5.6 Manual tuning of gain parameters ······································································5-36
5.6.1 Flowchart of manual tuning in Speed mode····················································5-38
5.6.2 Flowchart of manual tuning in Position mode··················································5-39
5.6.3 Manual tuning with ASDA-Soft ····································································5-40
5.7 Mechanical resonance suppression and noise elimination·······································5-41
5.7.1 Notch filter ······························································································5-42
5.7.1.1 Function restriction ·············································································5-42
5.7.1.2 Function description············································································5-42
5.7.1.3 Parameter descriptions········································································5-43
5.7.1.4 Application example············································································5-45
5.7.2 Resonance suppression low-pass filter ·························································5-49
5.7.2.1 Function restriction ·············································································5-49
5.7.2.2 Function description············································································5-49
5.7.2.3 Application example············································································5-49
5.7.3 Speed detection filter ················································································5-50
5.7.3.1 Function restriction ·············································································5-50
5.7.3.2 Function description············································································5-50
5.7.3.3 Application example············································································5-51
5.7.4 Low-frequency vibration suppression filter ·····················································5-52

5.7.4.1 Function restriction ·············································································5-52
5.7.4.2 Function description············································································5-52
5.7.4.3 Application example············································································5-54
5.7.5 Model-controlled vibration suppression filter ···················································5-55
5.7.5.1 Restrictions of the two degree of freedom control function ···························5-55
5.7.5.2 Function description of two degree of freedom control function·····················5-56
5.7.5.3 Application example of two degree of freedom control function·····················5-57
5.7.5.4 Restrictions of vibration elimination ························································5-58
5.7.5.5 Function description of vibration elimination ·············································5-58
5.7.5.6 Application example of vibration elimination ·············································5-59
5.7.6 Position command filter ·············································································5-60
5.7.6.1 Function restriction ·············································································5-60
5.7.6.2 Function description············································································5-60
5.7.6.3 Application example············································································5-61
5.7.7 Speed command filter ···············································································5-62
5.7.7.1 Function restriction ·············································································5-62
5.7.7.2 Function description············································································5-62
5.7.7.3 Application example············································································5-62
5.7.8 Torque command filter···············································································5-63
5.7.8.1 Function restriction ·············································································5-63
5.7.8.2 Function description············································································5-63
5.7.8.3 Application example············································································5-63
5.8 Application function adjustment ·········································································5-64
5.8.1 Adjusting position error in constant speed zone ··············································5-64
5.8.1.1 Function restriction ·············································································5-64
5.8.1.2 Function description············································································5-64
5.8.1.3 Application example············································································5-65
5.8.2 Position overshoot adjustment ····································································5-66
5.8.2.1 Function restriction ·············································································5-66
5.8.2.2 Function description············································································5-66
5.8.2.3 Application example············································································5-66
5.8.3 Multi-axis contour control ···········································································5-67
5.8.3.1 Function restriction ·············································································5-67
5.8.3.2 Function description············································································5-67
5.8.3.3 Application example············································································5-69
5.8.4 Gain switching ·························································································5-71
5.8.4.1 Function restriction ·············································································5-71
5.8.4.2 Function description············································································5-71
5.8.4.3 Application example············································································5-71

Operation Mode
6.1 Selecting the operation mode··············································································6-3
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
6.2.3 Control structure of Position mode ·································································6-7
6.2.4 S-curve filter (Position) ················································································6-8
6.2.5 Electronic gear ratio (E-Gear ratio)·······························································6-10
6.2.6 Low-pass filter ·························································································6-11
6.2.7 Timing diagram of PR mode ·······································································6-11
6.2.8 Gain adjustment of the position loop·····························································6-12
6.2.9 Low-frequency vibration suppression in Position mode ·····································6-14
6.3 Speed mode ·································································································6-17
6.3.1 Selecting the Speed command source ··························································6-17
6.3.2 Control structure of Speed mode ·································································6-18
6.3.3 Smooth Speed command···········································································6-19
6.3.4 Scaling of the analog command···································································6-21
6.3.5 Timing diagram of Speed mode···································································6-22
6.3.6 Gain adjustment of the speed loop ·······························································6-23
6.3.7 Resonance suppression unit·······································································6-25
6.4 Torque mode ·································································································6-28
6.4.1 Selecting the Torque command source ·························································6-28
6.4.2 Control structure of Torque mode·································································6-29
6.4.3 Smooth Torque command ··········································································6-29
6.4.4 Scaling of the analog command···································································6-30
6.4.5 Timing diagram of Torque mode ··································································6-31
6.5 Dual mode / Multi-mode···················································································6-32
6.5.1 Speed / Position dual mode ········································································6-33
6.5.2 Speed / Torque dual mode ·········································································6-34
6.5.3 Torque / Position dual mode ·······································································6-35
6.6 Others ·········································································································6-36
6.6.1 Applying the speed limit·············································································6-36
6.6.2 Applying the torque limit ············································································6-36
6.6.3 Analog monitoring ····················································································6-37
6.7 Full-closed loop control system ·········································································6-38
6.7.1 Hardware configuration ·············································································6-39
6.7.2 Control structure ······················································································6-41
Operation and Motion Control
6

6.7.3 Steps for setting the full-closed loop function ··················································6-43
6.7.4 Parameters for full-closed loop function·························································6-44
6.7.4.1 Auxiliary encoder direction setting··························································6-44
6.7.4.2 Auxiliary encoder resolution setting ························································6-47
6.7.4.3 E-Gear settings ·················································································6-50
6.7.4.4 Setting the protection range for the feedback position error between
the main encoder and auxiliary encoder ··················································6-50
6.7.4.5 Setting the low-pass filter time constant for full- / semi-closed loop control ······6-51
6.7.4.6 Setting the error clearing function when switching between full- and
semi-closed loops ··············································································6-52
6.7.4.7 Auto clearing of the feedback position error between the main
encoder and auxiliary encoder ······························································6-55
6.7.4.8 Set DI [0x0B] to switch between full- and semi-closed loop modes················6-56
6.7.4.9 Z phase source of homing····································································6-57
6.7.4.10 Encoder output settings ·····································································6-58
6.7.4.11 Full-closed loop feedback source for the controller ···································6-60
6.7.5 Troubleshooting full-closed loop alarms·························································6-61
Motion Control
7.1 PR mode description·························································································7-3
7.1.1 Shared PR parameters················································································7-5
7.1.2 Monitoring variables of PR mode ···································································7-7
7.1.3 Motion Control commands ·········································································7-10
7.1.3.1 Homing methods················································································7-10
7.1.3.2 Speed command················································································7-23
7.1.3.3 Position command··············································································7-25
7.1.3.4 Jump command ·················································································7-28
7.1.3.5 Write command ·················································································7-30
7.1.3.6 Rotary Axis Position command (Index)····················································7-32
7.1.3.7 Arithmetic operation (Statement) ···························································7-36
7.1.4 Overview of the PR procedure ····································································7-39
7.1.5 Trigger methods for the PR command···························································7-46
7.1.6 PR procedure execution flow ······································································7-50
7.2 Application of motion control ·············································································7-64
7.2.1 Data array ······························································································7-64
7.2.2 High-speed position capture function (Capture)···············································7-68
7.2.3 High-speed position compare function (Compare) ···········································7-72
7.3 E-Cam ·········································································································7-76
7.3.1 Source signal for the master axis ·································································7-77
7

7.3.2 Clutch engagement and disengagement ·······················································7-81
7.3.3 E-Cam gears and curve scaling···································································7-89
7.3.4 E-Cam curve···························································································7-92
7.3.5 E-Cam curve and PR command overlapping ················································ 7-100
7.3.6 Troubleshooting for E-Cam······································································· 7-102
7.3.7 Rotary Shear························································································· 7-104
7.3.8 Flying Shear ························································································· 7-131
7.3.9 Macro ·································································································· 7-144
7.3.10 Auxiliary function ·················································································· 7-154
7.3.11 Horizontal packing machine applications···················································· 7-157
Parameters
8.1 Parameter definitions ························································································8-2
8.2 List of parameters ····························································································8-3
8.3 Parameter descriptions····················································································8-25
P0.xxx Monitoring parameters·········································································8-25
P1.xxx Basic parameters ···············································································8-42
P2.xxx Extension parameters ·········································································8-93
P3.xxx Communication parameters································································ 8-140
P4.xxx Diagnosis parameters ······································································· 8-150
P5.xxx Motion control parameters·································································· 8-160
P6.xxx PR parameters ················································································ 8-203
P7.xxx PR parameters ················································································ 8-227
PM.xxx Motor parameters ············································································ 8-247
Table 8.1 Digital input (DI) descriptions ··························································· 8-266
Table 8.2 Digital output (DO) descriptions ························································ 8-274
Table 8.3 Monitoring variables descriptions ······················································ 8-281
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
9.5 RS-485 communication specification ··································································9-16
Parameter Setting
9
8

Absolute System
10.1 Battery box and absolute encoder cable ····························································10-3
10.1.1 Battery specifications ··············································································10-3
10.1.2 Battery box dimensions············································································10-5
10.1.3 Connection cable for the absolute encoder···················································10-6
10.1.4 Battery box cable·················································································· 10-11
10.2 Installation ································································································ 10-12
10.2.1 Installing the battery box in the servo system ·············································· 10-12
10.2.2 Installing and replacing batteries ······························································ 10-15
10.3 System initialization and operating procedures·················································· 10-18
10.3.1 System initialization ·············································································· 10-18
10.3.2 Pulse number ······················································································ 10-19
10.3.3 PUU number ······················································································· 10-20
10.3.4 Establishing the absolute origin position ···················································· 10-21
10.3.4.1 Establishing the absolute origin position with DI/DO ······························· 10-21
10.3.4.2 Establishing the absolute origin position with parameters ························ 10-22
10.3.4.3 Establishing the absolute origin position with the PR homing function ········ 10-22
10.3.5 Reading the absolute position ·································································10-22
10.3.5.1 Reading the absolute position with DI/DO ············································ 10-22
10.3.5.2 Reading the absolute position with communication ································ 10-25
10.4 Parameters, DI/DO, and alarms related to absolute function ································ 10-27
Linear Motor and Third-Party Motor
11.1 Linear motor overview····················································································11-3
11.2 Installation and configuration ··········································································· 11-4
11.2.1 Precautions for installing linear motors ························································ 11-4
11.2.2 Configurations for linear motors and rotary motors ········································· 11-7
11.2.2.1 Peripheral configuration for pulse type motors········································· 11-8
11.2.2.2 Peripheral configuration for pulse type and sine wave type motors ·············· 11-9
11.2.2.3 Peripheral configuration for Delta motors and third-party communication
type motors ··················································································· 11-10
11.2.3 Communication type motors ···································································11-11
11.2.3.1 Third-party communication type motors ················································11-11
11.2.3.2 Supported communication format for the motors···································· 11-12
11.2.3.3 Pin assignment of communication type motors ······································ 11-12
11.3 Complete the settings for linear motors and third-party motors with ASDA-Soft········· 11-13
11.3.1 Motor parameter identification ·································································11-14
11.3.1.1 Motor parameter identification for linear motors ····································· 11-15
11.3.1.2 Motor parameter identification for rotary motors····································· 11-22
11
10

11.3.2 Linear motor direction setting ·································································· 11-29
11.4 Linear encoder ························································································· 11-30
11.5 Hall sensor ······························································································ 11-31
11.5.1 Installing the Hall sensor ········································································ 11-32
11.5.2 Checking the Hall sensor phase sequence ················································· 11-33
11.6 Position signal converter box ······································································· 11-34
11.6.1 Specifications of position signal converter box············································· 11-34
11.6.2 Interface of position signal converter box ··················································· 11-35
11.6.3 Pin assignment of position signal converter box··········································· 11-36
11.7 Linear motor parameter setting ······································································ 11-37
11.7.1 Total weight (mover + load) ····································································· 11-37
11.7.2 E-Gear ratio························································································· 11-37
11.7.3 Limit setting ························································································· 11-37
11.7.4 Current setting for initial magnetic field detection ········································· 11-38
11.7.5 Overload gain ······················································································ 11-39
CANopen Mode
12.1 Basic configuration ·······················································································12-2
12.1.1 Supported functions ················································································12-2
12.1.2 Hardware configuration············································································12-3
12.1.3 Parameter settings in CANopen mode ························································12-4
12.2 Communication specification···········································································12-5
12.2.1 Servo communication architecture······························································12-5
12.2.2 Communication objects············································································12-6
12.2.2.1 Process data object (PDO) ·································································12-7
12.2.2.2 Service data object (SDO) ··································································12-8
12.2.2.3 SDO abort codes············································································ 12-11
12.2.2.4 Synchronization object (SYNC) ························································· 12-12
12.2.2.5 Emergency object (EMCY) ······························································· 12-13
12.2.2.6 NMT services ················································································ 12-14
12.3 CANopen operation modes··········································································· 12-17
12.3.1 Profile Position mode ············································································ 12-17
12.3.2 Interpolated Position mode ···································································· 12-22
12.3.3 Homing mode ······················································································ 12-25
12.3.4 Profile Velocity mode············································································· 12-27
12.3.5 Profile Torque mode ·············································································· 12-29
12.4 Object dictionary ························································································ 12-31
12.4.1 Specifications for objects········································································ 12-31
12.4.2 List of objects ······················································································ 12-32
12.4.3 Details of objects ·················································································· 12-34
12

12.4.3.1 OD 1XXXh communication object group ·············································· 12-34
12.4.3.2 OD 2XXXh servo parameter group ····················································· 12-53
12.4.3.3 OD 6XXXh communication object group ·············································· 12-54
12.5 Diagnostics and troubleshooting ···································································· 12-96
EtherCAT Mode
13.1 Basic configuration ·······················································································13-3
13.1.1 Hardware configuration············································································13-3
13.1.2 ESI file import ························································································13-7
13.1.3 Parameter settings of EtherCAT mode ························································13-8
13.2 Communication function··············································································· 13-12
13.2.1 Specifications ······················································································ 13-12
13.2.2 Synchronization mode ··········································································· 13-14
13.2.2.1 Synchronization modes of the servo drive ············································ 13-14
13.2.2.2 Select Synchronization mode ···························································· 13-15
13.2.2.3 Distributed clocks setting·································································· 13-15
13.2.3 EtherCAT state machine ········································································ 13-16
13.2.4 PDO mapping configuration ···································································· 13-18
13.2.4.1 Default PDO mapping configuration···················································· 13-18
13.2.4.2 Set PDO mapping··········································································· 13-20
13.2.4.3 PDO mapping object ······································································· 13-21
13.2.4.4 SDO abort codes············································································ 13-22
13.3 EtherCAT operation modes··········································································· 13-23
13.3.1 Profile Position mode ············································································ 13-23
13.3.2 Profile Velocity mode············································································· 13-28
13.3.3 Profile Torque mode ·············································································· 13-30
13.3.4 Homing mode ······················································································ 13-32
13.3.5 Cyclic Synchronous Position mode ··························································· 13-34
13.3.6 Cyclic Synchronous Velocity mode ··························································· 13-36
13.3.7 Cyclic Synchronous Torque mode ···························································· 13-38
13.3.8 Touch Probe function and Touch Probe status············································· 13-40
13.4 Object dictionary ························································································ 13-45
13.4.1 Specifications for objects········································································ 13-45
13.4.2 List of objects ······················································································ 13-46
13.4.3 Details of objects ·················································································· 13-48
13.4.3.1 OD 1XXXh communication object group ·············································· 13-48
13.4.3.2 OD 2XXXh servo parameter group ····················································· 13-54
13.4.3.3 OD 6XXXh communication object group ·············································· 13-55
13.5 Diagnostics and troubleshooting ···································································· 13-96
13.5.1 EtherCAT Diagnosis·············································································· 13-96
13