Delta ASDA-B2-F Series User manual

Delta Economic AC Servo
Drive with DMCNET
Communication
ASDA-B2-F
Series User Manual
Delta Economic AC Servo Drive with DMCNET Communication ASDA-B2-F Series User Manual
Asia
Delta Electronics (Jiangsu) Ltd.
Zhangjiagang Haina Automation Equipment Co., Ltd.
Sales office
No. 11, Yuefeng Road, Economic Development Zone,
Zhangjiagang, Jiangsu, China (Mainland)
TEL:[phone] 008615262314665
EMAIL:[email protected]
*We reserve the right to change the information in this manual without prior notice.

September,2015
Preface
Thank you for purchasing ASDA-B2-F. This user manual provides related information ofASDA-B2-F series
servo drive and ECMAseries servo motors.
This manual includes:
Installation and inspection of the servo drive and servo motor
Configuration of the servo drive
Procedures of trial run
Control functions and adjustment methods of the servo drive
Parameter settings
Communication protocol
Maintenance and inspection
Troubleshooting
Features B2-F is a cost-effective servo drive for application which requires multi-axis motion control and can
be operated via DMCNET high-speed network. Besides high response, B2-F also supports
absolute functions and multi-axis operation.
How to use this manual
Users can refer to this user manual during installation, setting, operation and maintenance. Before
tuning and setting, please read through Chapter 1 to 5. This user manual provides specific table of
contents and index for searching. If the requiring information is not available in the table of
contents, please refer to the index.
Technical Supports
If you have any question, please contact local distributors or Delta’s service center.

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September, 2015
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September, 2015 I
Table of Contents
Before Operation
Inspection and Model Explanation
1.1 Inspection··································································································1-2
1.2 Product Model····························································································1-3
1.2.1 Nameplate Information··········································································1-3
1.2.2 Model Explanation··············································································· 1-4
1.3 Servo Drive and Corresponding Servo Motor ····················································1-6
1.4 Each Part of the Servo Drive ·········································································1-7
Installation
2.1 Notes ·······································································································2-2
2.2 Ambient Conditions of Storage·······································································2-2
2.3 Ambient Conditions of Installation···································································2-2
2.4 Installation Direction and Space ·····································································2-3
2.5 Specification of Circuit Breaker and Fuse ·························································2-5
2.6 EMI Filter Selection ·····················································································2-5
2.7 Selection of Regenerative Resistor ·································································2-7
Wiring
3.1 Connections······························································································ 3-2
3.1.1 Connecting to Peripheral Devices ··························································· 3-2
3.1.2 Connectors and Terminals of Servo Drive··················································3-3
3.1.3 Wiring Method·····················································································3-4
3.1.4 Specification of Motor Power Cable··························································3-5
3.1.5 Specification of Encoder Cable Connector·················································3-7
3.1.6 Selection of Wiring Rod ·········································································3-10
3.2 Basic Wiring·······························································································3-11
3.2.1 200 W or models below (without built-in regenerative resistor nor fan) ·············3-11
3.2.2 400 W ~ 750 W models (with built-in regenerative resistor but no fan)··············3-12
3.2.3 1 kW ~ 1.5 kW models (with built-in regenerative resistor and fan)··················3-13
3.2.4 2 kW ~ 3 kW models (with built-in regenerative resistor and fan)·····················3-14
3.3 I / O Signal (CN1) Connection·········································································3-15

II September, 2015
3.3.1 I / O Signal (CN1) Connector Terminal Layout·············································3-15
3.3.2 Signals Explanation of Connector CN1······················································3-16
3.3.3 Wiring Diagrams (CN1)··········································································3-18
3.3.4 DI and DO Signal Specified by Users························································3-20
3.4 CN2 Connector ·························································································3-21
3.5 Wiring of CN3 Connector·············································································3-23
3.6 CN6 Connector (DMCNET) ········································································3-24
3.7 Standard Connection Example······································································3-26
PanelDisplayandOperation
4.1 Panel Description························································································4-2
4.2 Parameter Setting Procedure·········································································4-3
4.3 Status Display····························································································4-6
4.3.1 Save Setting Display·············································································4-6
4.3.2 Decimal Point······················································································4-6
4.3.3 AlarmMessage····················································································4-6
4.3.4 Positive and Negative Sign Setting···························································4-7
4.3.5 Monitor Display····················································································4-7
4.4 General Function ························································································4-10
4.4.1 Operation of Fault Record Display ···························································4-10
4.4.2 JOG Mode··························································································4-11
4.4.3 ForceDOOutput··················································································4-12
4.4.4 Digital Input Diagnosis Operation·····························································4-13
4.4.5 Digital Output Diagnosis Operation ··························································4-14
Tuning
TrialOperationandTuning
5.1 Inspection without Load················································································5-2
5.2 Apply Power to the Servo Drive······································································5-3
5.3 JOG Trial Run without Load···········································································5-7
5.4 Trial Run without Load (Speed Mode)······························································5-8
5.5 Tuning Procedure························································································5-10
5.5.1 Flowchart of Tuning Procedure································································5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism) ···········································5-12
5.5.3 Flowchart of Auto Tuning ·······································································5-13
5.5.4 Flowchart of Semi-Auto Tuning································································5-14
5.5.5 Limit of Inertia Ratio··············································································5-15
5.5.6 Mechanical Resonance Suppression Method·············································5-17

September, 2015 III
5.5.7 Tuning Mode and Parameters·································································5-18
5.5.8 Tuning in Manual Mode ·········································································5-19
ControlModeofOperation
6.1 Selection of Operation Mode ········································································6-2
6.2 Position Mode ···························································································6-3
6.2.1 Control Structure of Position Mode·························································· 6-3
6.2.2 S-curve Filter (Position)········································································ 6-4
6.2.3 Electronic Gear Ratio··········································································· 6-5
6.2.4 Low-pass Filter··················································································· 6-6
6.2.5 Gain Adjustment of Position Loop ··························································· 6-6
6.2.6 Low-frequency Vibration Suppression in Position Mode······························· 6-7
6.3 Speed Mode ·····························································································6-10
6.3.1 Selection of Speed Command································································ 6-10
6.3.2 Control Structure of Speed Mode···························································· 6-11
6.3.3 Smooth Speed Command····································································· 6-12
6.3.4 Timing Diagram of Speed Mode ····························································· 6-13
6.3.5 Gain Adjustment of Speed Loop ····························································· 6-14
6.3.6 Resonance Suppression······································································· 6-18
6.4 Torque Mode·····························································································6-23
6.4.1 Selection of Torque Command ······························································· 6-23
6.4.2 Control Structure of Torque Mode ··························································· 6-24
6.4.3 Smooth Torque Command····································································· 6-25
6.4.4 Timing Diagram of Torque Mode····························································· 6-25
6.5 The Use of Brake·······················································································6-26
Parameters
7.1 Parameter Definition··················································································· 7-2
7.2 List of Parameters······················································································ 7-3
7.3 ParameterDescription················································································· 7-10
P0-xx Monitor Parameters······································································ 7-10
P1-xx Basic Parameters········································································· 7-22
P2-xx Extension Parameters··································································· 7-37
P3-xx Communication Parameters ··························································· 7-50
P4-xx Diagnosis Parameters··································································· 7-55
P5-xx Motion Setting Parameters····························································· 7-59
Parameter Setting

IV September, 2015
Table 7.1 Function Description of Digital Input (DI)········································· 7-63
Table 7.2 Function Description of Digital Output (DO)····································· 7-65
Communications
8.1 RS-232 Communication Hardware Interface ···················································· 8-2
8.2 RS-232 Communication Parameters Setting ···················································· 8-3
8.3 MODBUS Communication Protocol································································ 8-4
8.4 Setting and Accessing Communication Parameters··········································· 8-15
Troubleshooting
9.1 Alarm of Servo Drive··················································································· 9-2
9.2 Alarm of DMCNET Communication································································ 9-3
9.3 Alarm of Motion Control··············································································· 9-4
9.4 Causes and Corrective Actions ····································································· 9-5
AbsoluteSystem
10.1 Absolute Type of Battery Box and Wiring Rods················································· 10-3
10.1.1 Specifications ··················································································· 10-3
10.1.2 Battery Box Dimensions ..................................................................................... 10-5
10.1.3 Connection Cable forAbsolute Encoder ............................................................ 10-6
10.1.4 Battery Box Cable............................................................................................... 10-8
10.2 Installation································································································ 10-9
10.2.1 Install Battery Box in Servo System ................................................................... 10-9
10.2.2 How to Install the Battery.................................................................................... 10-13
10.2.3 How to Replace a Battery................................................................................... 10-14
10.3 Parameters Related to Absolute Servo System················································· 10-16
10.4 Servo Drive Alarm List for Absolute Function and Monitoring Variables ·················· 10-17
10.5 System Initialization and Operation Procedures················································ 10-18
10.5.1 System Initialization............................................................................................ 10-18
10.5.2 Pulse Number..................................................................................................... 10-19
10.5.3 PUU Number ...................................................................................................... 10-20
10.5.4 To Initialize the Absolute Coordinate via Parameters......................................... 10-21
10.5.5 Use Communication to Access Absolute Position.............................................. 10-21
Troubleshooting

September, 2015 V
Specifications
Specifications of ASDA-B2-F Servo Drive ··································································· A-2
Specifications of Servo Motors (ECMA Series) ···························································· A-4
Torque Features (T-N Curves) ·················································································· A-13
Overload Features································································································· A-15
Dimensions of Servo Drive ······················································································ A-17
Dimensions of Servo Motor······················································································ A-21
Accessories
Power Connector··································································································· B-2
Power Cable ······································································································· B-3
Encoder Connector································································································ B-5
Encoder Cable······································································································ B-5
Encoder Cable (Absolute Type) ················································································ B-6
Battery Box Cable AW ··························································································· B-7
Battery Box Cable IW ···························································································· B-7
Battery Box (Absolute Type) ··················································································· B-8
I/O Connector Terminal ··························································································· B-9
CN1 Convenient Connector ····················································································· B-9
PC Connection Cable····························································································· B-10
Terminal Block Module···························································································· B-10
Optional Accessories······························································································ B-11
MaintenanceandInspection
Basic Inspection···································································································· C-2
Maintenance········································································································· C-3
The Lifetime of Machinery Parts················································································ C-3
Appendix

VI September, 2015
(This page is intentionally left blank.)

September, 2015 1-1
Inspection and Model
Explanation
Before using ASDA-B2-F, please pay attention to the description about the inspection,
nameplate, and model type. Suitable motor model for your servo drive can be found in
the table of Chapter 1.3.
111111111111111111111111111111111111111 11111
1.1 Inspection........................................................................................................1-2
1.2 Product Model···············································································1-3
1.2.1 Nameplate Information································································1-3
1.2.2 Model Explanation······································································1-4
1.3 Servo Drive and Corresponding Servo Motor········································1-6
1.4 Each Part of the Servo Drive·····························································1-7

Inspection and Model Explanation ASDA-B2-F
1-2 September, 2015
1 1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the following
items carefully.
Item Description
Please check if the product
is what you have
purchased.
Check the part number of the motor and the servo drive on the nameplate.
Refer to the next page for the model explanation.
Check if the motor shaft
can rotate smoothly.
Rotate the motor shaft by hand. If it can be rotated smoothly, it means the
motor shaft is normal. However, it cannot be rotated by hand if the motor
has an electromagnetic brake.
Check if there is any
damage shown on its
appearance. Visually check if there is any damage or scrape of the appearance.
Check if there is any loose
screw. Make sure no screw is un-tightened or fall off.
If any of the above situations happens, please contact the distributors to solve the problems.
A complete and workable servo set should include:
(1) One servo drive and one servo motor.
(2) One UVW motor power cable, the U, V and W wires can connect to the socket attached by
the servo drive and another side is the plug which could connect to the socket of the motor.
And a green ground wire which should be connected to the ground terminal of the servo
drive. (selective purchase)
(3) An encoder cable which connects to the socket of the encoder. One side of it connects to
CN2 servo drive and another side is the plug. (selective purchase)
(4) 15-PIN connector which is used in CN1 (selective purchase)
(5) 9-PIN connector which is used in CN2. (selective purchase)
(6) 6-PIN connector which is used in CN3. (selective purchase)
(7) RJ-45 connector which is used in CN6.

ASDA-B2-F Inspection and Model Explanation
September, 2015 1-3
1
1.2 Product Model
1.2.1 Nameplate Information
ASDA-B2-F Series Servo Drive 0
Nameplate Information
Model Name
Capacity Specification
Applicable Power Supply
Barcode
Firmware Version
Rated Current Output
DELTA ELECTRONICS, INC.
LISTED
IND. CONT. EQ.
19XK
MODEL : ASD-B2-1521-F
POWER : 1.5kW
INPUT : 200~230V 3PH 50/60Hz 5.9A
200~230V 1PH 50/60Hz 10.3A
OUTPUT : 110V 0~250Hz 8.3A
B21521FW14170001
01.74
MADE IN TAIWAN
Serial Number
B21521F W 14 17 0001

ECMA Series Servo Motor 0
Nameplate Information
Model Name
Input Power
Barcode
Rated Speed and Rated Output
INPUT: VAC 110 A 1.55 Ins. A
C10602EST14330001
OUTPUT: r/min 3000 N.m 0.64 kW 0.2
AC SERVO MOTOR
MODEL: ECMA-C10602ES
Delta Electronics, Inc. MADE IN XXXXXX
Serial Number
C10602ES T 14 33 0001

Model Name
Production Factory (T: Taoyuan; W: Wujiang)
Year of Production (3: year 2013 or 14: year 2014)
Week of Production (from 1to 52)
Serial Number
(Production sequence of a week, starting from 0001)
Model Name
Production Factory (T: Taoyuan; W: Wujiang)
Year of Production (14: year 2014)
Week of Production (from 1 to 52)
Serial Number
(Production sequence of a week, starting from 0001)

Inspection and Model Explanation ASDA-B2-F
1-4 September, 2015
1
1.2.2 Model Explanation
ASDA-B2-F Series Servo Drive 0
ASD-B2-0421-F

Product Name
AC Servo Drive
Series
B2
Rate Output Power
Input Voltage and Phase
Model Type
Code Spec. Code Spec.
01 100 W 10 1 kW
02 200 W 15 1.5 kW
04 400 W 20 2 kW
07 750 W 30 3 kW
Code Voltage / Phase
21 220V 1 phase
23 220V 3 phase
Type Full-Closed
Control EtherCAT CANopen DMCNET E-CAM Extension Port for Digital Input
F × × × ○× ×

ASDA-B2-F Inspection and Model Explanation
September, 2015 1-5
1
ECMA Series Servo Motor 0
ECMA-C10602ES

Product Name ECM: Electronic Commutation Motor
Motor Type A: AC Servo Motor
Name of the Series
Motor Frame Size
Rated Power Output
Type of Shaft Diameter and Oil Seal
Shaft Diameter
Standard S
Specific 3 42 mm
7 14 mm
Rated Voltage and Rated Speed
Code Spec.
C 220 V / 3,000 rpm
E 220 V / 2,000 rpm
F 220 V / 1,500 rpm
G 220 V / 1,000 rpm
Encoder Type
Code Spec.
1 Incremental type, 20-bit
2 Incremental type, 17-bit
3 2500 ppr
M Magnet type, 13-bit
code Spec. code Spec.
04 40 mm 10 100 mm
06 60 mm 13 130 mm
08 80 mm 18 180 mm
09 86 mm - -
code Spec. code Spec. code Spec.
01 100 W 05 500 W 10 1.0 kW
02 200 W 06 600 W 15 1.5 kW
03 300 W 07 700 W 20 2.0 kW
04 400 W 09 900 W 30 3.0 kW
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 E F - -
Keyway
(with fixed screw holes) P Q R S

Inspection and Model Explanation ASDA-B2-F
1-6 September, 2015
1 1.3 Servo Drive and Corresponding Servo Motor
Note:
1. () at the ends of the servo drive model names are for optional configurations.
For the actual model name, please refer to the ordering information of the actual purchased product.
2. (󰅿) in the model names are for encoder resolution types. 󰅿= 1: Incremental type, 20-bit;
󰅿= 2: Incremental type, 17-bit; 󰅿= 3: 2500 ppr; 󰅿= M: Magnet type. The listed motor model name is
for information searching, please contact to your local distributors for actual purchased product.
3. () in the model names represents brake or keyway oil seal.
The above table shows the specification of servo drive which has triple rated current. For detailed
specification of the servo motor and servo drive, please refer to Appendix A.
Motor Servo Drive
Motor
series Power Output (W) Model Number Rated
Current
(Arms)
Max.
Instantaneous
current
(A)
Model Number
Continuous
Output
Current
(Arms)
Max.
Instant-
aneous
output
current
(A)
Low Inertia
ECMA-C 3000 r/min
Single-
/Three-
phase
50 ECMA-C1040F□S 0.69 2.05 ASD-B2-0121-F 0.90 2.70
100 ECMA-C󰅿0401□S0.90 2.70
200 ECMA-C󰅿0602□S1.55 4.65 ASD-B2-0221-F 1.55 4.65
400 ECMA-C󰅿0604□S2.60 7.80
ASD-B2-0421-F 2.60 7.80
400 ECMA-C󰅿0804□7 2.60 7.80
750 ECMA-C󰅿0807□S5.10 15.30
ASD-B2-0721-F 5.10 15.30
750 ECMA-C󰅿0907□S3.66 11.00
1000 ECMA-C󰅿0910□S4.25 12.37
ASD-B2-1021-F 7.30 21.90
1000 ECMA-C󰅿1010□S7.30 21.90
2000 ECMA-C󰅿1020□S12.05 36.15 ASD-B2-2023-F 13.40 40.20
3000 ECMA-C󰅿1330□4 17.2 47.5 ASD-B2-3023-F 19.40 58.20
Medium Inertia
ECMA-E 2000 r/min
Single-
/Three-
phase
500 ECMA-E󰅿1305□S 2.90 8.70
ASD-B2-0421-F 2.60 7.80
1000 ECMA-E󰅿1310□S 5.60 16.80 ASD-B2-1021-F 7.30 21.90
1500 ECMA-E󰅿1315□S 8.30 24.90 ASD-B2-1521-F 8.30 24.90
2000 ECMA-E󰅿1320□S 11.01 33.03 ASD-B2-2023-F 13.40 40.20
2000 ECMA-E󰅿1820□S 11.22 33.66
3000 ECMA-E󰅿1830□S 16.10 48.30 ASD-B2-3023-F 19.40 58.20
M
e
di
um-
hi
g
h
inertia
ECMA-F
1500 r/min
Single-
/Three-
phase
850 ECMA-F󰅿1308□S 7.10 19.40
ASD-B2-1021-F 7.30 21.90
1300 ECMA-F󰅿1313□S 12.60 38.60 ASD-B2-2023-F 13.40 40.20
3000 ECMA-F󰅿1830□S 19.40 58.20 ASD-B2-3023-F 19.40 58.20
High Inertia
ECMA-C/G 3000
r/min
Single-
/Three-
phase
400 ECMA-C󰅿0604□H2.60 7.80
ASD-B2-0421-F 2.60 7.80
750 ECMA-C󰅿0807□H5.10 15.30 ASD-B2-0721-F 5.10 15.30
300 ECMA-G󰅿1303□S2.50 7.50 ASD-B2-0421-F 2.60 7.80
600 ECMA-G󰅿1306□S4.80 14.40 ASD-B2-0721-F 5.10 15.30
900 ECMA-G󰅿1309□S7.50 22.50 ASD-B2-1021-F 7.30 21.90

ASDA-B2-F Inspection and Model Explanation
September, 2015 1-7
1
1.4 Each Part of the Servo Drive
Heat sink:
Used to secure servo drive and for heat dissipation.
Control Circuit Terminal (L1c、L2c):
Used to connect 200 ~ 230 VAc, 50 / 60 Hz 1-phase / 3-phase VAC supply.
Main Circuit Terminal (R, S, T):
Used to connect 200 ~ 230 V, 50 / 60 Hz commercial power supply.
Servo Motor Output (U, V, W):
Used to connect servo motor. Never connect the output terminal to main circuit power.
The AC servo drive may be destroyed beyond repair if incorrect cables are connected to the
output terminals.
Regenerative Resistor:
(1) When using an external regenerative resistor, connect P⊕and C to the regenerative
resistor and ensure that the circuit between P⊕and C is open.
(2) When using the internal regenerative resistor, ensure that the circuit between P⊕and D
is closed and the circuit between P⊕and C is open
CN6: DMCNET Connector: Communication port for DMCNET communication.
CN1: I/O Interface: Used to connect external controller (PLC) or control I/O signal.
CN2: Encoder Interface: Used to connect encoder of servo motor.
CN3: Serial Communication Interface: It is controlled by MODBUS and supports RS-232.
It can be connected to controllers.
Ground Terminal: Used to connect grounding wire of power supply and servo motor.
Please connect it properly to avoid electric shock.

Inspection and Model Explanation ASDA-B2-F
1-8 September, 2015
1
(This page is intentionally left blank.)

September,2015 2-1
Installation
This chapter allows you to properly install the device. Please follow the instruction
mentioned in this chapter during installation. Information about specification of circuit
breaker, fuse, EMI filter selection, and selection of regenerative resistor are also
included.
11111111111111111111111111111111111111111111 1111111
2.1 Notes······························································································2-2
2.2 Ambient Conditions of Storage ·····························································2-2
2.3 Ambient Conditions of Installation ·························································2-2
2.4 Installation Direction and Space····························································2-3
2.5 Specification of Circuit Breaker and Fuse················································2-5
2.6 EMI Filter Selection············································································2-5
2.7 Selection of Regenerative Resistor························································2-7

Installation ASDA-B2-F
2-2 September, 2015
2
2.1 Notes
Please pay special attention to the following:
Do not strain the cable connection between the servo drive and the servo motor.
Make sure each screw is tightened when fixing the servo drive.
The motor shaft and the ball screw should be parallel.
If the connection between the servo drive and the servo motor is over 20 meters, please
thicken the connecting wire, UVW as well as the encoder cable.
Tighten the four screws that fix the motor.
2.2 Ambient Conditions of Storage
Before the installation, this product has to be kept in the shipping carton. In order to retain the
warranty coverage and for the maintenance, please follow the instructions below when storage, if
the product is not in use temporally:
Store the product in a dry and dust-free location.
Store the product within an ambient temperature range of -20°C to +65°C.
Store the product within a relative humidity range of 0% to 90% and a non-condensing
environment.
Avoid storing the product in the environment of corrosive gas and liquid.
It is better to store the product in the shipping carton and put it on the shelf or working
platform.
2.3 Ambient Conditions of Installation
The most appropriate temperature of this servo drive is between 0°C and 55°C. If it is over
45°C, please place the product in a well-ventilated environment so as to ensure its performance.
If the product is installed in an electric box, make sure the size of the electric box and its
ventilation condition will not overheat and endanger the internal electronic device. Also, pay
attention to the vibration of the machine. Check if the vibration will influence the electronic device
of the electric box. Besides, the ambient conditions should be:
No over-heat device.
No water drop, vapor, dust or oily dust.
No corrosive and inflammable gas or liquid.
No airborne dust or metal particles.
With solid foundation and no vibration.
No interference of electromagnetic noise.

ASDA-B2-F Installation
September, 2015 2-3
2
The ambient temperature of the motor is between 0°C and 40°C and the ambient conditions should be:
No over-heat device.
No water drop, vapor, dust or oily dust.
No corrosive and inflammable gas or liquid.
No airborne dust or metal particles.
2.4 Installation Direction and Space
Notes:
Incorrect installation may result in a drive malfunction or premature failure of the drive and
or motor.
In order to ensure the drive can be well-cooled and the environment is well circulated,
sufficient space between adjacent object and the baffle is needed.
Ensure all ventilation holes are not obstructed. Do not install the drive in a horizontal
direction or malfunction and damage will occur.
Correct Incorrect
C
N
1
C
N
2
C
N
3
C
N
6
C N 1
C N 2
C N 3
C N 6
Installing servo drives:
ASDA-B2-F series servo drive should be mounted perpendicular to a dry and solid surface that
conforms to NEMAstandards. To ensure a well-ventilated environment, sufficient space between
adjacent object and the baffle is required. 50 mm (approx. 2 inch.) of clearance is suggested. If
wiring is needed, please leave the space for it. Please note that the rack or the surface shall
conduct heat well, so as to avoid the overheating of servo drive.