Industrial Automation
FAQ – AC Servo Systems
Delta Electronics (Netherlands) B.V.
De Witbogt 20, 5652AG, Eindhoven, the Netherlands
Technical Support contact:
[email protected]www.delta-emea.com
Table of Contents
ASDA series AC Servo Drives ························································································3
ECMA Series AC Servo Motors ····················································································8
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ASDA series AC Servo Drives
Q What does the alarm AL017 mean and how can it be prevented?
A The alarm AL017 happens when the EEPROM cannot be written, this happens when
the maximum number of write operations is exceeded.
Most customers use the communication control mode with our drive for positioning
and speed control. In that case the parameters are written in the EEPROM at each
communication write operation. But after several years of operation, the drive almost
certainly reaches the EEPROM write life time and will show AL017 if the user doesnt
set P2-30=5.
After power off/on, this parameter, however, is set back to P2-30=0. Therefore it is
recommended, if communication is used to control the drive, to always set P2-30=5
after power on.
Q How can AL011 error be reset?
A The AL011 error means that the encoder signal is not correct. It occurs e.g. when the
motor is disconnected. It can only be reset by power off and on.
Please refer to the user manual for more info about how to reset faults.
Q Why is the ratio of load inertia and motor inertia as adjusted by the user not
equal to the measured value?
A Ensure that the following conditions are met when estimating the ratio of load and
motor inertia:
The acc and dec times to reach 2000rpm must be ≤1s.
The speed must be ≥200rpm.
The load inertia cannot be more than 100x motor inertia.
External forces should be kept to a minimum and the load inertia shouldn’t
change too much during measurement.
In Auto Mode (P2-32=3 or 5) the servo drive will stop measuring the load inertia
value.
Q What is the meaning of the symbols with which the parameters are marked in
the manual?
A () Read only
() Parameter cannot be set when Servo On
() Parameter change only effective when ASDA-A is powered off and on again
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() Parameter value not saved at power off.
Q How to use the keypad to perform JOG function?
A Step 1: Enter P4-05
Step 2: Press [SET] key. Jog speed is displayed. Default value 20rpm.
Step 3: Press [∧] UP or [∨] DOWN key to change the JOG speed. Example value
100rpm,
Step 4: Press [SET] key. Display shows “JOG”.
Step 5: Press [∧] UP or [∨] DOWN key to jog the motor CCW or CW. The motor only
rotates as long as one of these keys is pressed
Q When to use regenerative resistor (brake resistor) and how to connect it?
A When the shaft torque is in the opposite direction of the shaft speed, regenerative
power is fed back to the drive, resulting in a fast increase of the DC-bus voltage, which
can become too high and cause damage to the drive. The regenerative energy can
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be dissipated in the brake resistor.
The servo drive with lower power ratings (refer to the user manual) has a built-in brake
resistor and if the capacity is too small, an external brake resistor can be connected.
Built-in brake resistor: Connect output [P] to [D] and leave [P]-[C] open.
External brake resistor: Connect between [P]-[C] and leave [P]-[D] open.
More info can be found in the user manual about brake resistors with calculation
examples and set P1-52/P1-53 accordingly when using an external brake resistor.
When the fault message “AL005” appears, the regenerative power is too high and an
external brake resistor should be considered.
Q How to enable the torque limit function in Speed Mode?
A There are two methods for enabling the torque limit function.
One is using parameter P1-02:
B=0: Disable torque limit function
B=1: Enable torque limit function
(It is available in position and speed mode)
The other one is using a digital input:
The user can use digital input TRQLM (DI code is 09). When it is activated to be ON
in Position and Speed Mode, the motor torque limit function is enabled.
Q When the torque limit function is enabled, what is the torque limit command?
A The torque limit command is either internal parameter
or analog voltage command. The source of the torque
limit is determined by the torque command TCM0 and
TCM1 of DI signal.
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Q How to set the encoder output pulse number on OA, /OA, OB, /OB and OZ, /OZ?
A The encoder output pulse number can be set in parameter P1-46.
Set a divider
E=0
DCBA=divider (range 1~125)
The divider divides the motor encoder pulse number of 2500ppr.
Example: If you want 500ppr on the output, the divider must be 2500/500=5.
Please set P1-46=00005
If you want 1250ppr on the output, the divider must be 2500/1250=2.
Please set P1-46=00002
Note: The divider can only be an integer so the output pulse number cannot be set to all values.
Set a pulse number
E=1
DCBA=pulse number (range 20~2500)
Example: If you want 1024ppr on the output, set P1-46=11024
If you want 512ppr on the output, set P1-46=10512
Q How to set the responsiveness (=bandwidth) of the Speed and Position loops?
KPP
A P2-00 KPP The Position Loop Responsiveness in Hz is
2π
KVP
P2-04 KVP The Speed Loop Responsiveness in Hz is
2π (1 + J L / J M )
To get stable operation, estimate JL/JM and set in P1-37 or measure in Auto Mode PI
(P2-32=2) or Auto Mode PDFF (P2-32=4) and read value in P1-37 and subsequently
calculate KPP and KVP so that Speed Loop responsiveness is 4~6 times Position
Loop responsiveness.
For more info, please refer also to the manual.
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Q For connecting two servo drives to an HMI with RS485 protocol, do I need to
use two RS-422/RS-485 converters?
A No converters are needed. Connect the HMI to both servo drives as indicated below:
Both Modbus ports of the servo drives can be connected in parallel. Please assign a
different slave address to each servo drive (P3-00) and set the correct communication
(P3-05=2).
Q Which item should I order if I need the battery for the servo motor with an
absolute encoder?
A The PN of the battery is ASD-CLBT0100 and the specification is listed in Chapter
12.1.1 in the ASDA-A2 series user manual. However, it is not possible to connect it to
the encoder cable directly. Therefore, we suggest to order the battery box below with
either 1pc battery or 2pcs batteries included, so it is more convenient for the
connection.
Battery box with 1pc battery: ASD-MDBT0100
Battery box with 2pcs batteries: ASD-MDBT0200
ASD-MDBT0100
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ASD-MDBT0200
ECMA Series AC Servo Motors
Q Where can I find CAD drawings of the ECMA motor series?
A On our ftp-site you can find for ECMA series servo motor a folder with 2D CAD
drawings, both in .dwg and .pdf format. For easy downloading there’s also one .zip
file per ECMA series (separate for 220V and 400V, with brake and without brake).
Q ECMA servo motors are marked with “110V” on the label. Are they suitable for
230V operation?
A Acc. to UL requirements, the values on the label should either be all rated values
(rated voltage, rated speed, rated current, etc) or maximum values (max voltage, max
speed, max current, etc). Delta has chosen to put the rated values on the label. The
rated voltage of the ECMA motors is 110V at rated speed 3000rpm. The maximum
voltage is 220V at max speed 5000rpm. But you don’t need to worry; the motor is
perfectly matched to the servo drive.
