AC Servo Drives- Delta ASDB B Series
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Transcript of AC Servo Drives- Delta ASDB B Series
SERVODRIVE MECHANISM
POSITION | VELOCITY | TORQUE
LOAD
ConveyorPumpGrinder WheelMachineFans/ Compressor
PO
WER
SO
UR
CE
CO
NTA
CTO
R SERVO
DRIVER
SERVO
MOTOR
PLC(TRANSISTOR TYPE)
CONTROL SIGNAL (IN PULSES)
FEED
BA
CK
SIG
NA
L
1/3
22
0 V
AC
SIMPLE MOTOR CONTROL CIRCUIT
3 PHASE
MOTOR
ConveyorPump
Grinder WheelMachine
Fans/ Compressor
PO
WER
SO
UR
CE
LOAD
For ON-OFF Operation
Remote ON/OFF MOTOR CONTROL CIRCUIT
3 PHASE
MOTORLOAD
ConveyorPumpGrinder WheelMachineFans/ Compressor
PO
WER
SO
UR
CE
CO
NTA
CT
OR
ON/OFF Control can be made by providing Signal to Contactor
Remote ON/OFF MOTOR CONTROL CIRCUIT
ON/OFF & DIRECTION MOTOR CONTROL
CIRCUIT
3 PHASE
MOTORLOAD
ConveyorPumpGrinder WheelMachineFans/ Compressor
PO
WER
SO
UR
CE
CO
NTA
CT
OR
ON/OFF Control can be made by providing Signal to ContactorC
ON
TAC
TO
R
ON/OFF & DIRECTION MOTOR CONTROL
CIRCUIT
ON/OFF & DIRECTION MOTOR CONTROL
CIRCUIT
ON/OFF, DIRECTION & SPEED CONTROL OF
MOTOR THROUGH VFD
3 PHASE
MOTORLOAD
ConveyorPumpGrinder WheelMachine
Fans/ Compressor
PO
WER
SO
UR
CE
VFD
SPEED CAN BE CONTROLLED BY VFD (FREQUENCY IS DIRECTLY PROPORTIONAL TO SPEED OF
MOTOR)
Control Signal:
0 ~ 10 VDC
4 ~ 20 mA
Digital Signals from PLC or Digital
Controller
ON/OFF, DIRECTION & SPEED CONTROL OF
MOTOR THROUGH VFD
1 2 3
1 2 3 4 5 6
M0
M1
M2
M3
M4
M5
1 2 3 4
AV
I
AC
I
GN
D
10V
3_pHASE
12
3
4 - 20mA
1
AF
M
220V
AX
X
B
XX
rpm = 120x f /p
inc
dec12
3
RA
RB
RC
SERVO POSITION CONTROL MODE
LOAD
ConveyorPumpGrinder WheelMachineFans/ Compressor
PO
WER
SO
UR
CE
CO
NTA
CT
OR SERVO
DRIVER
SERVO
MOTOR
PLC(TRANSISTOR
TYPE)
CONTROL SIGNAL (IN PULSES)FEED
BA
CK
SIG
NA
L
1/3
22
0 V
AC
POSITION CONTROL MODE• FREQUENCY CONTROL (Pulses)
• ANGLE CONTROL (Pulses)
Sys
tem
Co
nfig
ura
tio
n
Application of Servo MotorsServo Indexing: 30 degree, 45 degree, 90 degree
• By PB or Sensor
• By Timer & making loop
Application of Servo MotorsLimiting the motion by Limit Switches
Understanding
Servo Wiring
Power Terminals : 220 VAC
Single Phase or Three Phase
Motor Terminals U, V, W
12
220 VAC
12
3
Servo
12
34
56
78
910
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Co
ntr
ol T
erm
ina
ls
12
En
cod
er
Servo
Driver
Program m ing Port
Source
Pulse Input
Sign
Power Terminals : 220 VAC
Single Phase or Three Phase
Motor Terminals U, V, W
Control Terminals
25 Control Pins
For
• Start/Stop Operation
• Speed Change
• Pulse/Velocity/ Torque Input
• Feedback Terminals
Power Terminals : 220 VAC
Single Phase or Three Phase
Motor Terminals U, V, W
Control Terminals
25 Control Pins
For
• Start/Stop Operation
• Speed Change
• Pulse/Velocity/ Torque Input
• Feedback Terminals
12
220 VAC
12
3
Servo
12
34
56
78
910
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Co
ntr
ol T
erm
ina
ls
12
En
cod
er
Servo
Driver
Program m ing Port
Source
Pulse Input
Sign
Servo Control
Terminals
Analog-Reference
Motor speed command: -10V to +10V, corresponds to the maximum speed
programmed P1-55 Maximum Speed Limit (Factory default 3000 RPM).
Torque Reference
Motor torque command: -10V to +10V, corresponds. to -100% to +100%
rated torque command.
Pulse & Sign
These pins are used to get Pulse input from the External controller
Example: PLC.
Encoder Pins
The motor encoder signals are available through
these terminals- A, B, Z output signals. The output
maximum voltage is 5V and the maximum
permissible current is 200mA.
VDD
VDD is the +24V source voltage provided by the drive. Maximum
permissible current is 500mA.
COM+ & COM-
COM+ is the common voltage rail of the Digital Input and Digital Output signals.
Connect VDD to COM+ for source mode. For external applied power sink mode
(+12V to +24V), the positive terminal should be connected to COM+ and the
negative to COM-.
GND
Analog input signal ground.
DO Signal- Digital Output- To get feedback from the Servo on various signals like SERVO ON,
SERVO READY, ZERO SPEED etc.
DI Signal- Digital Input- To give commands from External source for operation control like
SERVO ON, Clockwise limit, Counter Clockwise Limit, Alarm Reset,
Emergency Stop etc.
Control Terminals
25 Control Pins
For
• Start/Stop Operation
• Speed Change
• Pulse/Velocity/ Torque Input
• Feedback Terminals
Encoder Feedback Cable
To read the feedback from the
encoder attached to the motor
Power Terminals : 220 VAC
Single Phase or Three Phase
Motor Terminals U, V, W
Encoder Feedback Cable
To read the feedback from the
encoder attached to the motor
Servo Programming Cable
To read/write the parameter/
operations in the servo.
PC Servo
2 ------------------------------ 2
3 ------------------------------ 3
5 ------------------------------ 5
Control Terminals
25 Control Pins
For
• Start/Stop Operation
• Speed Change
• Pulse/Velocity/ Torque Input
• Feedback Terminals
Power Terminals : 220 VAC
Single Phase or Three Phase
Motor Terminals U, V, W
Understanding Servo Model Number
Servo – PC Communication
Connect the Wire
Servo – PC Communication
Open ASDB
& Select
COM Port
Servo – PC Communication
Click
Auto-Detect
AUTO- TUNING OF SERVO
DI Signal- Servo ON- It switch Servo to Servo Ready
Response
Assign the Function
Wiring Diagram
Servo Velocity
Control Mode
Servo- Velocity Control Mode
Velocity Control Mode
12
34
56
78
12
3
0 ~ 10VDC
8
9
Servo
V-ref
G/C
10 VDC
0 VDC = Stop
5 VDC = 1500 rpm
10 VDC= 3000 rpm
Forward
Control Signal: 0 ~ 10VDC
In this mode, the speed of the motor is controlled by control signal as Specified pin of
Servo Driver. The speed of the motor is directly proportional to control signal
Circuit for Forward Direction
Parameter: Control Mode- Velocity/Speed
Pr 1.01 = 2
Servo- Velocity Control Mode
Control Signal: 0 ~ 10VDC
In this mode, the speed of the motor is controlled by control signal as Specified pin of
Servo Driver. The speed of the motor is directly proportional to control signal
Circuit for Reverse DirectionVelocity Control Mode
12
34
56
78
12
3
0 ~ 10VDC
8
9
Servo
Drive
V-ref
G/C
10 VDC
0 VDC = Stop
5 VDC = 1500 rpm
10 VDC= 3000 rpm
Reverse
Parameter: Control Mode- Velocity/Speed
Pr 1.01 = 2
Servo- Velocity Control ModeCircuit for Forward/Reverse
Switching DirectionVelocity Control Mode
12
34
56
78
12
3
0 ~ 10VDC
8
9
Servo
V-ref
G/C
10 VDC
0 VDC = Stop
5 VDC = 1500 rpm
10 VDC= 3000 rpm
R1
R1
R2
R2
A
B
R1
R2
R1
R2
R2
R1
Here, Relay R1 & R2 are interlocked such
that,
When R1 is ON, Motor will run in forward
direction & when R2 is ON, motor will run in
reverse direction
Analog Speed ScalingThe analog voltage between V_REF & GND determines the motor speed
command. Using this parameter 1-40 (Max. Analog Speed Command) can
adjust the speed control ramp & its range
Servo- Internal Velocity Control Mode, Sz
Control Mode- Internal Speed
Pr 1.01 = 4
Assign the function to DI Pins
Response
Assign the Speed12
34
56
78
Servo
Drive
DI2
DI3
18
5
13
Acceleration Time: Pr. 1-34
Range: 0 ~ 20000 | Unit ms
It’s the time taken by drive to reach rated speed from 0 rotation
speed.
Note: If 1-36 is set to 0, Acc/Dec time is disabled
Deceleration Time: Pr. 1-35
Range: 0 ~ 20000 | Unit ms
It’s the time taken by drive to reach from its rated rotational speed to 0
speed.
Servo Position
Control Mode
Servo- Position Control Mode
12
220 VAC
12
3
Servo
12
34
56
78
910
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Con
tro
l T
erm
inals
12
Enc
od
er
Serv o
Driv er
PC
Programming Port1-1OC1
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
COM
Servo_ON
Source
Pulse Input
Sign
1 Kilo Ohm
Y1
Y2
Control Mode-
Position
Pr 1-01 = 0
Gear Ratio
Setting
Pr 1-45 = 720
Servo- Position Control Mode
Y1 = Output from where we will get the pulses
Input to start the Command
Pulse Command
K12 = RPM (12 = 0.1 rpm)
K720 = No of Pulse (720 = 36 degree)
Servo- Position Control Mode
Direction Change Command
Input to start the Command
Reverse Command
Wiring
Servo- Position Control Mode
Feedback bit
Will be ON
every time
when servo
completes its
pulses Delay for Next Loop
Used to provide the delay in
running the Loop again
Servo- Position Control Mode
Pulses for Indexing: 900 pulses
Time Delay: K20 for 2 seconds
Pulses for Indexing: 900 pulses
Here we would be using Sensor/Switch Signal for Next Index | X0 ~ X7 |
Pulses for Indexing: ____________
Here we would be using Sensor/Switch Signal for Next Index | X0 ~ X7 |
Pulses for 20 rev: 144000 pulses & 200 rpm 24000 pulses
Pulses for 10 revolutions 72000 pulses & 100 rpm 12000 pulses
Servo Dual
Control Mode
Servo- Dual Control ModePosition & Speed Mode
12
220 VAC
12
3
Servo
12
34
56
78
910
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Con
tro
l T
erm
inals
12
Enc
od
er
Serv o
Driv er
PC
Programming Port1-1OC1
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
COM
Servo_ON
Sink/Source
Pulse Input
Sign
12
3
G/C
V-ref
Dual_Mode
DI2
Y1
Y2
2500 ppr
POT
Control Mode- Dual
Position & Speed
Pr 1.01 = 6
Servo- Dual Control Mode
Position & Speed Mode
Toggle Mode Output
Mode Changing
Assign the function to DI PinsResponse
Servo Torque
Control Mode
Servo Torque Control Mode
Torque Control Mode
12
34
56
78
12
3
0 ~ 10VDC
8
6
Servo
V-ref
G/C
10 VDC
0 VDC = Minimum Torque
5 VDC = 50% of Rated Torque
10 VDC= 100% of Rated Torque
Forward
In this mode, the Torque of the motor is controlled by control signal as
Specified pin of Servo Driver.
The torque of the motor is directly proportional to control signal -10V ~ +10V
Forward Direction Torque Control
Parameter: Control Mode- Torque
Pr 1.01 =_3
Servo Torque Control ModeIn this mode, the Torque of the motor is controlled by control signal as
Specified pin of Servo Driver.
The torque of the motor is directly proportional to control signal -10V ~ +10V
Reverse Direction Torque Control
Parameter: Control Mode- Torque
Pr 1.01 =_3
Torque Control Mode
12
34
56
78
12
3
0 ~ 10VDC
8
6
Servo
Drive
V-ref
G/C
10 VDC
Reverse
0 VDC = Minimum Torque
5 VDC = 50% of Rated Torque
10 VDC= 100% of Rated Torque
Servo- Internal Torque Control Mode, Tz
Control Mode- Internal Torque
Pr 1.01 - 5
Assign the function to DI Pins
Response
Assign the Torque (-300% ~ +300%) | Default 100%12
34
56
78
Servo
Drive
DI2
DI3
18
5
13
Analog Torque ScalingThe analog voltage between T_REF & GND determines the motor torque
command. Using this parameter 1-41 (Max. Analog Torque Command) can
adjust the torque control ramp & its range
Digital Output
Signals
To read feedback
DO Signal- Servo Ready- To get feedback signal when servo is ready to run, all alarms & fault signals
have been cleared
Response
Assign the Function
Wiring Diagram
DO Signal- Servo ON- SON is active when control power is applied to the Servo, there may be
fault condition or not.
Response
Assign the Function
Wiring Diagram
DO Signal- Zero Speed- Zero Speed is active when drive senses that motor is running at or below
10 RPM. Zero Speed will remain activated until the speed increases above 10
rpm
Response
Assign the Function
Wiring Diagram
Digital Input Signals
To Control the
Servo Commands
DI Signal- Servo ON- It switch Servo to Servo Ready
Response
Assign the Function
Wiring Diagram
DI Signal- CMDINV- Run Motor Reverse Forcefully
Response
Assign the Function
Wiring Diagram
If this switch is activated
Motor will RUN in
reverse direction
forcefully irrespective of
Direction command
from External source
(like PLC)
DI Signal- INHP- Pulse Inhibit Input
Response
Assign the Function
Wiring Diagram
When the Drive is in
Position Mode & if Pulse
Inhibit is activated, the
external pulse command
input is not valid
DI Signal- CWL- Reverse Inhibit Limit
Response
Assign the Function
Wiring Diagram
of the ServoThis input is used to limit the
Clockwise Position
When this contact is closed, drive will stop & ALE
14 Error will occur.
DI Signal- CCWL- Forward Inhibit Limit
Response
Assign the Function
Wiring Diagram
This input is used to limit the Counter Clockwise Position
of the Servo
When this contact is closed, drive will stop & ALE 15 Error
will occur.
DI Signal- CWL & CCWL- Reverse Inhibit Limit
Response
Assign the Function
Wiring Diagram
This input is used to limit the Counter Clockwise &
Clockwise Position of the Servo
When these contact is Open, drive will stop & ALE 14/ALE
15 Error will occur respectively
DI Signal- EMGS- Emergency Stop
Response
Assign the Function
Wiring Diagram
This input will stop the Drive Immediately &
fault ALE 13 will be displayed
DI Signal- Alarm Reset- To Clear the Fault or Alarm externally
Response
Assign the Function
Wiring Diagram
Rajvir Singh
Associate Director, NFI
-Mechatronic Engineer
Write to me at: [email protected]
THANK YOU
“….The future is here only, its just not evenly
distributed”