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Delta ECMA-E 1315 Series User Manual

Delta ECMA-E 1315 Series
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ASDA-A2 Chapter 7 Motion Control
7-22 Revision February, 2017
SOURCE: Settings of data source
SOURCE
Bit
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
SOUR = 00 means
constant
Para_Data
SOUR = 01 means
parameter Px-xx
Rsvd (0x0000 0) P_Grp P_Idx
SOUR = 10 means
data array
Rsvd (0x0000 0) Array_Addr
SOUR = 11 means
monitoring variable
Rsvd (0x0000 00) Sys_Var
P_Grp, P_Idx: specified parameter group and number
Array_Addr: specified the position of data array
Para_Data: the written constant
Sys_Var: monitor parameter code. Refer to P0-02 for its setting.
When Rsvd is not 0, it will display AL.213. When P_Grp exceeds the range, it will display AL.207.
When displaying AL.209, it means P_Idx exceeds the range.
When Array_Addr exceeds the range, it will display AL.213. And AL.231 is for Sys_Var exceeding
the range.
Note: 1. Even when the written parameter is retained, the new value will not be written into
EEPROM. Too frequent written will not shorten the lifetime of EEPROM.
Note: The aim of writing parameters via PR procedure is for turning ON/OFF or
adjusting some functions. (E.g. according to different positioning command to
adjust P2-00, Position Loop Gain.) This procedure will continuously repeat during
the operation. If the data is all written into EEPROM, it will shorten the lifetime of
EEPROM. In addition, if P2-30 is set to 5, the modified parameters (either from
panel or communication) will not be saved and is inconvenient to use. Thus, this
new function is added.
3. If writing parameters fails, alarm AL.213~219 will occur (Refer to Chapter 11 of the manual)
and the next PR which is enabled by AUTO function will not be executed.
10) Special Function: TYPE = 0xA, Indexing command.
Bit
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
DW0 - OPT2 DLY SPD DEC ACC OPT 0xA
DW1 DATA (32-bit): Indexing Coordinate Command, Unit: PUU

Table of Contents

Questions and Answers:

Delta ECMA-E 1315 Series Specifications

General IconGeneral
BrandDelta
ModelECMA-E 1315 Series
CategoryServo Drives
LanguageEnglish

Summary

Chapter 1 Inspection and Model Explanation

1.1 Inspection

Instructions for inspecting the servo drive and motor to prevent damage during purchasing and delivery.

1.2 Product Model

Details on identifying and understanding the model names of ASDA-A2 series servo drives and ECMA series servo motors.

Chapter 2 Installation

Chapter 3 Wiring

Chapter 4 Panel Display and Operation

Chapter 5 Trial Operation and Tuning

5.1 Inspection without Load

Details the procedures for inspecting the servo motor and drive before operation, without applying power.

5.2 Applying Power to the Servo Drive

Provides instructions on correctly wiring and applying power to the servo drive, including voltage and wiring checks.

5.3 JOG Trial Run without Load

Explains how to perform a JOG trial run without load for testing motor and drive functionality.

5.6 Tuning Procedure

Covers the process of tuning the servo drive, including inertia estimation and various tuning methods.

Chapter 6 Control Mode of Operation

6.1 Selection of Operation Mode

Describes the available operation modes: Position, Speed, Torque, Dual, and Multi-modes.

Chapter 7 Motion Control

7.10 Parameter Settings

Details various parameters related to motion control, including target speed, acceleration/deceleration, and PR definitions.

Chapter 8 Parameters

8.1 Parameter Definition

Defines parameters, their grouping, communication addresses, and control modes.

8.2 List of Parameters

Provides a comprehensive list of parameters, including abbreviations, functions, defaults, and related sections.

8.3 Parameter Description

Details the function, default values, units, and related sections for various parameters.

Chapter 9 Communications

9.1 RS-485 & RS-232 Communication Hardware Interface

Explains the hardware interface for RS-485 and RS-232 communication, including configuration and wiring.

9.2 RS-485 / RS-232 Communication Parameters Setting

Details the essential parameters for servo drive communication, such as address, transmission speed, and protocol.

Chapter 10 Troubleshooting

10.1 Alarm of Servo Drive

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

10.2 Alarm of CANopen Communication

Details CANopen communication alarms, their descriptions, corrective actions, and corresponding DO/Servo status.

10.3 Alarm of Motion Control

Lists alarms related to motion control, including causes, checking methods, and corrective actions.

10.4 Causes and Corrective Actions

Provides a table of common causes and corrective actions for servo drive alarms like Over current, Over voltage, etc.

10.5 Corrective Actions after the Alarm Occurs

Lists corrective actions for various alarms, suggesting steps like turning DI.ARST on or re-powering the servo drive.

Chapter 11 Specifications

11.1 Specifications of Servo Drives

Presents detailed specifications for ASDA-A2 series servo drives, including 220V and 400V series.

Chapter 12 Absolute System

12.1 Backup Battery Boxes

Covers safety precautions, specifications, dimensions, and connection cables for backup battery boxes.

12.3 System Initialization Procedure and Operation

Explains the system initialization process, including procedures for absolute system setup via digital I/O or parameters.

12.7 Alarms for Absolute System

Lists common alarms for absolute systems, including causes and corrective actions for encoder voltage, gray code, etc.

Appendix B Maintenance and Inspection

Inspection before operation

Checks to perform before applying power, including wiring, electrical conductivity, and control switch status.

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