Delta ASDA-A2 User Manual

ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-215
The following macros are available from version V1.042 sub09 (included):
Command code
0008h
E-Cam curve scaling (P5-19) is effective immediately
Macro parameters N/A
This macro can be triggered when E-cam is engaged. P5-19 is effective
immediately.
Usually, E-Cam scaling is only changed by P5-19 when it entering the engaged
condition (see transition 3). It cannot be changed in engaged condition. E-Cam
scaling only can be changed after one E-Cam cycle so as to make sure the E-Cam
can return to the original position without accumulative error.
Engaged: 1
Stop: 0
Lead: 2
1
2
5
4
3
P5-19 is loading into
E-Cam scaling.
In application, two ways can change the setting of E-Cam curve scaling.
1. P5-88.X2 = 1: When E-Cam is engaged, setup this bit at the same time.
Function of P5-19 will be enabled immediately.
2. Use macro#8: Every time when this macro command is triggered, function of
P5-19 will be enabled. However, if the value of P5-19 is changed and this
macro is not triggered, function of P5-19 will not be enabled. This macro
command has to be triggered again.
Failure code N/A
The following macros are available from version V1.035 sub00 (included):
Command code
000Ch
Change position X, where E-Cam is engaged: E-Cam
disengages after rotating one cycle at forward direction.
General
parameters
N/A
Macro parameters P5-93 = New engaged position X. Unit: pulse number of
master axis.
Monitoring variable 062(3Eh): It displays the current engaged
position (X) of master axis.
This macro command can change the engaged position even when E-Cam is
Failure code F077h The address specified by P5-81is too long and the space of
data array is not enough.
Failure code F078h Data calculation error. Please decrease the setting value of
(P1-44, P1-45) and keep the proportion will do.
Failure code F079h Acceleration degree is too small, and then please decreases
the value of waiting area (W), synchronous area (Y) or curve
level (S).
Failure code
F07Ah
Waiting area is too small, then please increase the value of
acceleration area (W) or decrease the value of synchronous
area (Y)

Delta ASDA-A2 Specifications

General

Control Mode	Position, Speed, Torque
Model	ASDA-A2 Series
Operating Voltage	200 ~ 230VAC / 380 ~ 480VAC
Power Supply	200-230VAC ±10%, single-phase
Communication Interface	RS-485, CANopen
Feedback	Incremental encoder, Absolute encoder
Protection	Overcurrent, Overvoltage, Undervoltage, Overheating, Short Circuit
Operating Temperature	0°C
Storage Temperature	-20°C
Humidity	20% to 90% RH (non-condensing)
Position Control Mode Features	Electronic Cam
Weight	Varies depending on the model. Please refer to the specific model's datasheet.

Summary

Preface

Safety Precautions

Highlights potential hazards and prohibited activities during operation, installation, and wiring.

Chapter 3 Wiring

3.1 Connections - 220V Series

3.1.3 Wiring Method

3.2 Connections - 400V Series

3.2.3 Wiring Method

3.4 I/O Signal (CN1) Connection

Details the terminal layout and signal descriptions for the CN1 connector.

Chapter 4 Panel Display and Operation

4.2 Parameter Setting Procedure

Outlines the steps for switching modes and operating within Monitor, Parameter, and Alarm modes.

4.3 Status Display

4.4 General Function

Covers operations like fault record display, JOG mode, forced DO output, and digital input/output diagnosis.

Chapter 5 Trial Operation and Tuning

5.1 Inspection without Load

Provides checks before operation and after applying power, focusing on safety and wiring.

5.2 Applying Power to the Servo Drive

Instructions on correctly wiring the motor and applying power, including checks for 220V and 400V drives.

5.3 JOG Trial Run without Load

5.6 Tuning Procedure

Guides on estimating inertia ratio using JOG mode and tuning procedures like auto and semi-auto tuning.

Chapter 6 Control Mode of Operation

6.1 Selection of Operation Mode

Lists and describes single and dual control modes: Position, Speed, Torque, and CANopen.

6.2 Position Mode

Details the settings and related information for Position Mode, including PT and PR commands.

6.3 Speed Mode

Explains speed control modes (S, Sz) with analog and register inputs, including S-curve and gain adjustments.

6.4 Torque Mode

Details torque control modes (T, Tz) with analog input and register command sources.

Chapter 7 Motion Control

7.1 Motion Control Functions

7.3 Description of Motion Axes

7.4 Description of PR Mode

7.8 Homing Description of PR Mode

7.9 DI / DO Provided by PR Mode and Diagrams

Lists DI signals (CTRG, SHOM, STP, etc.) and DO signals (CMD_OK, MC_OK, TPOS, etc.) used in PR mode.

7.10 Parameter Settings

Details parameters for target speed, acceleration/deceleration time, pause time, and PR mode settings.

7.11 The Description of E-Cam Function

Explains E-Cam as a virtual cam, comparing it with machine cams and detailing features.

7.11.1 Function Description of CAPTURE (Data Capture)

7.11.2 Function Description of COMPARE (Data Compare)

Chapter 8 Parameters

8.2 List of Parameters

Provides a comprehensive list of parameters, their functions, default values, and related sections.

8.3 Parameter Description

Detailed descriptions of P0-xx Monitor Parameters, including firmware version and alarm codes.

Chapter 9 Communications

9.1 RS-485 & RS-232 Communication Hardware Interface

Explains the hardware interface for RS-485 and RS-232 communication.

9.2 RS-485 / RS-232 Communication Parameters Setting

Details essential parameters like Address Setting, Transmission Speed, Protocol, and Mechanism.

9.3 MODBUS Communication Protocol

Describes MODBUS communication modes (ASCII, RTU) and character structure.

9.4 Write-in and Read-out Communication Parameters

Covers parameters that can be written or read via communication and provides notes on their usage.

Chapter 10 Troubleshooting

10.1 Alarm of Servo Drive

Lists common servo drive alarms, their descriptions, corresponding DO, and servo status.

10.2 Alarm of CANopen Communication

Details CANopen communication alarms, including SDO Rx Buffer overflow, PDO Rx Buffer overflow, and Index errors.

10.3 Alarm of Motion Control

Lists alarms related to motion control, such as CANopen data loading errors and PR parameter range issues.

10.4 Causes and Corrective Actions

Provides a table of common causes, checking methods, and corrective actions for various servo drive alarms.

10.5 Corrective Actions after the Alarm Occurs

Offers corrective actions for specific alarms like Over current, Over voltage, and Encoder errors.

Chapter 11 Specifications

11.1 Specifications of Servo Drives

11.2 Specifications of Servo Motors (ECMA Series)

11.3 Torque Features (T-N Curves)

11.5 Dimensions of Servo Drive

11.6 Dimensions of Servo Motor (ECMA Series)

Chapter 12 Absolute System

12.1 Backup Battery Boxes

12.3 System Initialization Procedure and Operation

Details system initialization steps, including homing and parameter settings.

12.4 Related Parameters for Absolute System

12.7 Alarms for Absolute System

Lists absolute system alarms, their descriptions, and corrective actions.

Appendix B Maintenance and Inspection

Basic Inspection

Inspection Before Operation

Pre-operation checks before power application and before running the servo drive.

Maintenance