Delta ASDA-B2-F Series User Manual

Contents

September, 2015 1IndexDMCNET Communication ProtocolCN6 Connector (DMCNET) 3-24~3-25Connecting to peripheral devices: CN6 connector (DMCNET) 3-2Connectors and terminals of servo drive - CN6 DMCNETconnector 3-3DI signal: ORGP (Control method of DMCNET) 7-64DO signal: TPOS (Control method of DMCNET) 7-65DO signal: HOME (Control method of DMCNET) 7-66DO signal: OVF (Control method of DMCNET) 7-66DO signal: Cmd_OK (Control method of DMCNET) 7-67DO signal: MC_OK (Control method of DMCNET) 7-67Each Part of the Servo Drive – DMCNET connector (CN6) 1-7Parameter definition – DMC refers to DMCNET mode. 7-2Related AlarmsAbnormal DMCNET Bus hardware (AL185) 9-3, 9-13An error occurs when loading DMCNET data (AL201) 9-4, 9-13DMCNET SDO overflow (AL111) 9-3, 9-13DMCNET fails to synchronize (AL301) 9-4, 9-15DMCNET IP command fails (AL304) 9-4, 9-15The synchronized signal of DMCNET is sent too fast (AL302)9-4, 9-15The synchronized signal of DMCNET is sent too slow (AL303)9-4, 9-15Related ParametersAlarm code display of drive (Seven-segment Display) (P0-01)7-3, 7-10DMCNET protocol setting (P3-10) 7-9, 7-53DMCNET synchronize setting (P3-09) 7-9, 7-52DMCNET selection (P3-11) 7-9, 7-53DMCNET support setting (P3-12) 7-9, 7-53~7-54Resonance suppression with low-pass filter 6-22Related ParametersLow-pass filter of resonance suppression (P2-25) 5-20, 7-5,7-41Specifications of ASDA-B2-F servo drive: command source(DMCNET Mode) A-2E-gear RatioControl structure of position mode 6-3Electronic gear ratio 6-5Position feed forward gain 5-20Pulse number 10-19Related AlarmsExcessive deviation of position command (AL009) 9-2, 9-6PR command overflows (AL235) 9-4, 9-14Related ParametersGear ratio (Numerator) (N1) (P1-44) 7-6, 7-31Gear ratio (Denominator) (M) (P1-45) 7-6, 7-31PUUDO signal: OVF (0x12) 7-66PUU number 10-20Use communication to access absolute position 10-21System Initialization 10-18Related ParametersRead data format selection (P2-70) 7-49Forward software limit (P5-08) 7-6, 7-59Reverse software limit (P5-09) 7-6, 7-59Absolute coordinate system status (P0-50) 7-19Encoder absolute position (Multiturn) (P0-51) 7-19Encoder absolute position (Pulse number within single turn orPUU) (P0-52) 7-20Specifications of ASDA-B2-F servo drive A-2HomingForward and Reverse limitsDO signal: WARN (0x11) 7-66Related ParametersAlarm code display of drive (Seven-segment display) (P0-01)7-3, 7-10~7-11Servo digital output status display (P0-46) 7-4, 7-18Related AlarmsForward limit error (AL015) 9-2, 9-7Forward software limit (AL283) 9-4, 9-14Reverse limit error (AL014) 9-2, 9-7Reverse software limit (AL285) 9-4, 9-14DI signal: HOME (0x09) 7-66DI signal: ORGP (0x24) 7-64How to replace a battery 10-14Use communication to access absolute position 10-21Related AlarmsThe absolute position is lost (AL060) 9-3, 9-12, 10-17The multi-turn count of absolute encoder overflows (AL062) 9-3,9-12, 10-17JOGJOG mode 4-11JOG trial run without load 5-7Related ParametersServo motor jog control (P4-05) 7-9, 7-56Tuning procedure: Estimate the inertia ratio (JOG Mode) 5-10Mapping ParameterMonitor display 4-7~4-9Related ParametersDrive status (P0-02) 7-3, 7-11Mapping parameter#1 (P0-25) 7-3, 7-14Mapping parameter#2 (P0-26) 7-3, 7-14Mapping parameter#3 (P0-27) 7-3, 7-14Mapping parameter#4 (P0-28) 7-3, 7-14Mapping parameter#5 (P0-29) 7-3, 7-15Mapping parameter#6 (P0-30) 7-3, 7-15Mapping parameter#7 (P0-31) 7-3, 7-15Mapping parameter#8 (P0-32) 7-3, 7-15Target setting of mapping parameter P0-25 (P0-35) 7-3, 7-15Target setting of mapping parameter P0-26 (P0-36) 7-3, 7-16Target setting of mapping parameter P0-27 (P0-37) 7-3, 7-16Target setting of mapping parameter P0-28 (P0-38) 7-3, 7-17Target setting of mapping parameter P0-29 (P0-39) 7-4, 7-17Target setting of mapping parameter P0-30 (P0-40) 7-4, 7-17Target setting of mapping parameter P0-31 (P0-41) 7-4, 7-17Target setting of mapping parameter P0-32 (P0-42) 7-4, 7-18Monitoring VariablesMonitor display 4-7~4-9Monitoring variable: 038 (26h) (voltage level of battery) 10-17Parameter setting procedure 4-3~4-5Related ParametersDrive status (P0-02) 7-3, 7-11Status monitor register 1 (P0-09) 7-3, 7-12Status monitor register 2 (P0-10) 7-3, 7-12Status monitor register 3 (P0-11) 7-3, 7-12Status monitor register 4 (P0-12) 7-3, 7-12Status monitor register 5 (P0-13) 7-3, 7-13Status Monitor Register 1 Selection (P0-17) 7-3, 7-13Status Monitor Register 2 Selection (P0-18) 7-3, 7-13Status Monitor Register 3 Selection (P0-19) 7-3, 7-13Status Monitor Register 4 Selection (P0-20) 7-3, 7-13Status Monitor Register 5 Selection (P0-21) 7-3, 7-14Servo drive alarm list for absolute function and monitoringvariables 10-17Position ModeControl structure of position mode 6-3DI signal: GAINUP (0x03) 7-42, 7-63DO signal: TPOS (0x05) 7-18, 7-32~7-34, 7-65DO signal: OVF (0x12) 7-66DO signal: Cmd_OK (0x15) 7-32~7-33, 7-67Gain adjustment of position loop 6-6Low-frequency vibration suppression in position mode 6-7Position command processing unit 6-3Position control gain 5-19Position control parameter (List) 7-6Parameter definition – Tz refers to position control mode 7-2

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