Delta ASDA-B2 Series User Manual

Chapter 8 Communications ASDA-B2
8-8 Revision May, 2018
 Communication Data Structure:
The data frame of two different communication modes is defined as follows:
ASCII Mode:
Start Start character’: ’ (3AH)
Slave address Communication address: 1-byte consists of 2 ASCII codes
Function Function code: 1-byte consists of 2 ASCII codes
DATA(n-1)
Data content: n word = n x 2-byte consists of n x 4 ASCII codes, n10
…….
DATA(0)
LRC Error checking: 1-byte consists of 2 ASCII codes
End 1 End code 1: (0DH)(CR)
End 0 End code 0: (0AH)(LF)
The start character of communication in ASCII mode is colon ‘：’ (ASCII is 3AH), ADR is
the ASCII code of two characters. The end code is CR (Carriage Return) and LF (Line
Feed). And the communication address, function code, data content, error checking LRC
(Longitudinal Redundancy Check), etc. are between the start character and end code.
RTU Mode:
Start A silent interval of more than 10 ms
Slave address Communication address: 1-byte
Function Function code: 1-byte
DATA(n-1)
Data content: n word = n x 2-byte, n  10
…….
DATA(0)
CRC Error checking: 1-byte
End 1 A silent interval of more than 10ms
The start of communication in RTU (Remote Terminal Unit) mode is a silent interval. The
end of it is another silent interval. The communication address, function code, data content,
error checking CRC (Cyclical Redundancy Check), etc. are between the start and the end.

Delta ASDA-B2 Series Specifications

General

Control Mode	Position, Speed, Torque
Storage Temperature	-20°C to 65°C
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Output Power	0.1 kW to 3.0 kW
Communication Interface	RS-485, CANopen
Encoder Feedback	Incremental
Protection	Overvoltage, Overcurrent, Overload, Overheat
Operating Temperature	0°C to 55°C
Humidity	20% to 90% RH (non-condensing)
Vibration Resistance	5.9 m/s² (0.6G) at 10-55Hz

Summary

Chapter 1 Installation and Model Explanation

1.2 Product Model

1.3 Servo Drive and Corresponding Servo Motor

Compares specifications of servo drives and their corresponding servo motors.

1.4 Servo Drive Features

1.5 Control Modes of Servo Drive

Details the various operation modes available for the servo drive.

Chapter 2 Installation

2.3 Ambient Conditions of Installation

Defines the operating temperature and environmental conditions for installation.

2.4 Installation Direction and Space

2.7 Selection of Regenerative Resistor

Chapter 3 Wiring

3.1 Connections

3.2 Basic Wiring

Illustrates fundamental wiring diagrams for different models.

3.3 I / O Signal (CN1) Connection

Details the I/O signal connector (CN1) terminal layout and functions.

3.7 Standard Connection Example

Shows typical wiring diagrams for Position, Speed, and Torque control modes.

Chapter 4 Panel Display and Operation

4.1 Panel Description

4.2 Parameter Setting Procedure

Outlines the steps for setting parameters via the drive's panel.

4.4 General Function

Chapter 5 Trial Operation and Tuning

5.1 Inspection without Load

Procedure for inspecting the servo motor and drive without load.

5.2 Applying Power to the Servo Drive

Steps for correctly applying power to the servo drive.

5.3 JOG Trial Run without Load

5.4 Trial Run without Load (Speed Mode)

5.5 Tuning Procedure

Guides on estimating inertia ratio and performing auto/semi-auto tuning.

Chapter 6 Control Modes of Operation

6.1 Selection of Operation Mode

6.2 Position Mode

Details on using the servo drive in position control mode.

6.3 Speed Mode

Explains the operation and configuration for speed control mode.

6.4 Torque Mode

Covers the functionalities and settings for torque control mode.

6.5 Dual Modes

Chapter 7 Parameters

7.2 Lists of Parameters

7.3 Parameter Description

Chapter 8 Communications

8.1 RS-485 / RS-232 Communication Hardware Interface

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

8.2 RS-485 / RS-232 Communication Parameter Settings

Details essential parameters for RS-485/RS-232 communication setup.

8.3 MODBUS Communication Protocol

8.4 Write-in and Read-out Communication Parameters

Chapter 9 Troubleshooting

9.1 Alarm of Servo Drive

Lists all servo drive alarms with descriptions and corresponding DO/Status.

9.2 Causes and Corrective Actions

Provides detailed causes and corrective actions for specific alarms.

9.3 Corrective Actions after the Alarm Occurs

Lists actions to clear alarms after they have occurred.

Chapter 10 Specifications

10.1 Specifications of Servo Drives (ASDA-B2 Series)

Technical specifications for the ASDA-B2 series servo drives.

10.2 Specifications of Servo Motors (ECMA Series)

10.3 Torque Features (T-N Curves)

10.5 Dimensions of Servo Drives

10.6 Dimensions of Servo Motors