Delta Economic AC Servo Drive With DMCNET Communication ASDA-B2-F Series User Manual

Delta Economic AC Servo
Drive with DMCNET
Series User Manual

Communication
ASDA-B2-F
Delta Economic AC Servo Drive with DMCNET Communication ASDA-B2-F Series User Manual

Preface
Thank you for purchasing ASDA-B2-F. This user manual provides related information of ASDA-B2-F series
servo drive and ECMA series servo motors.
This manual includes:
 Installation and inspection of the servo drive and servo motor

 Configuration of the servo drive
 Procedures of trial run
 Control functions and adjustment methods of the servo drive
 Parameter settings
 Communication protocol
 Maintenance and inspection
 Troubleshooting
Features
B2-F is a cost-effective servo drive for application which requires multi-axis motion control and can
be operated via DMCNET high-speed network. Besides high response, B2-F also supports
absolute functions and multi-axis operation.
How to use this manual

Users can refer to this user manual during installation, setting, operation and maintenance. Before
tuning and setting, please read through Chapter 1 to 5. This user manual provides specific table of
contents and index for searching. If the requiring information is not available in the table of
contents, please refer to the index.
Technical Supports
If you have any question, please contact local distributors or Delta’s service center.
September, 2015

(This page is intentionally left blank.)
September, 2015
Table of Contents
Before Operation
Inspection and Model Explanation
1.1 Inspection·································································································· 1-2

1.2 Product Model ···························································································· 1-3
1.2.1 Nameplate Information ·········································································· 1-3
1.2.2 Model Explanation ··············································································· 1-4
1.3 Servo Drive and Corresponding Servo Motor ···················································· 1-6
1.4 Each Part of the Servo Drive ········································································· 1-7
Installation
2.1 Notes ······································································································· 2-2
2.2 Ambient Conditions of Storage ······································································· 2-2
2.3 Ambient Conditions of Installation ··································································· 2-2
2.4 Installation Direction and Space ····································································· 2-3
2.5 Specification of Circuit Breaker and Fuse ························································· 2-5
2.6 EMI Filter Selection ····················································································· 2-5
2.7 Selection of Regenerative Resistor ································································· 2-7
Wiring
3.1 Connections ······························································································ 3-2

3.1.1 Connecting to Peripheral Devices ··························································· 3-2
3.1.2 Connectors and Terminals of Servo Drive ·················································· 3-3
3.1.3 Wiring Method ····················································································· 3-4
3.1.4 Specification of Motor Power Cable ·························································· 3-5
3.1.5 Specification of Encoder Cable Connector ················································· 3-7
3.1.6 Selection of Wiring Rod ········································································· 3-10
3.2 Basic Wiring ······························································································· 3-11
3.2.1 200 W or models below (without built-in regenerative resistor nor fan) ············· 3-11
3.2.2 400 W ~ 750 W models (with built-in regenerative resistor but no fan)·············· 3-12
3.2.3 1 kW ~ 1.5 kW models (with built-in regenerative resistor and fan) ·················· 3-13
3.2.4 2 kW ~ 3 kW models (with built-in regenerative resistor and fan)····················· 3-14
3.3 I / O Signal (CN1) Connection········································································· 3-15
September, 2015 I
3.3.1 I / O Signal (CN1) Connector Terminal Layout············································· 3-15
3.3.2 Signals Explanation of Connector CN1······················································ 3-16
3.3.3 Wiring Diagrams (CN1) ·········································································· 3-18
3.3.4 DI and DO Signal Specified by Users························································ 3-20
3.4 CN2 Connector ························································································· 3-21
3.5 Wiring of CN3 Connector ············································································· 3-23
3.6 CN6 Connector (DMCNET) ········································································ 3-24
3.7 Standard Connection Example······································································ 3-26
Panel Display and Operation
4.1 Panel Description ························································································ 4-2

4.2 Parameter Setting Procedure ········································································· 4-3
4.3 Status Display ···························································································· 4-6
4.3.1 Save Setting Display ············································································· 4-6
4.3.2 Decimal Point ······················································································ 4-6
4.3.3 Alarm Message···················································································· 4-6
4.3.4 Positive and Negative Sign Setting··························································· 4-7
4.3.5 Monitor Display ···················································································· 4-7
4.4 General Function ························································································ 4-10
4.4.1 Operation of Fault Record Display ··························································· 4-10
4.4.2 JOG Mode ·························································································· 4-11
4.4.3 Force DO Output·················································································· 4-12
4.4.4 Digital Input Diagnosis Operation ····························································· 4-13
4.4.5 Digital Output Diagnosis Operation ·························································· 4-14
Tuning
Trial Operation and Tuning
5.1 Inspection without Load ················································································ 5-2

5.2 Apply Power to the Servo Drive ······································································ 5-3
5.3 JOG Trial Run without Load··········································································· 5-7
5.4 Trial Run without Load (Speed Mode) ······························································ 5-8
5.5 Tuning Procedure························································································ 5-10
5.5.1 Flowchart of Tuning Procedure ································································ 5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism) ··········································· 5-12
5.5.3 Flowchart of Auto Tuning ······································································· 5-13
5.5.4 Flowchart of Semi-Auto Tuning································································ 5-14
5.5.5 Limit of Inertia Ratio ·············································································· 5-15
5.5.6 Mechanical Resonance Suppression Method ············································· 5-17
II September, 2015
5.5.7 Tuning Mode and Parameters ································································· 5-18
5.5.8 Tuning in Manual Mode ········································································· 5-19
Control Mode of Operation
6.1 Selection of Operation Mode ········································································ 6-2

6.2 Position Mode ··························································································· 6-3
6.2.1 Control Structure of Position Mode ·························································· 6-3
6.2.2 S-curve Filter (Position) ········································································ 6-4
6.2.3 Electronic Gear Ratio ··········································································· 6-5
6.2.4 Low-pass Filter ··················································································· 6-6
6.2.5 Gain Adjustment of Position Loop ··························································· 6-6
6.2.6 Low-frequency Vibration Suppression in Position Mode ······························· 6-7
6.3 Speed Mode ····························································································· 6-10
6.3.1 Selection of Speed Command ································································ 6-10
6.3.2 Control Structure of Speed Mode ···························································· 6-11
6.3.3 Smooth Speed Command ····································································· 6-12
6.3.4 Timing Diagram of Speed Mode ····························································· 6-13
6.3.5 Gain Adjustment of Speed Loop ····························································· 6-14
6.3.6 Resonance Suppression ······································································· 6-18
6.4 Torque Mode ····························································································· 6-23
6.4.1 Selection of Torque Command ······························································· 6-23
6.4.2 Control Structure of Torque Mode ··························································· 6-24
6.4.3 Smooth Torque Command····································································· 6-25
6.4.4 Timing Diagram of Torque Mode ····························································· 6-25
6.5 The Use of Brake ······················································································· 6-26
Parameter Setting
Parameters
7.1 Parameter Definition ··················································································· 7-2

7.2 List of Parameters ······················································································ 7-3
7.3 Parameter Description················································································· 7-10
P0-xx Monitor Parameters ······································································ 7-10
P1-xx Basic Parameters ········································································· 7-22
P2-xx Extension Parameters ··································································· 7-37
P3-xx Communication Parameters ··························································· 7-50
P4-xx Diagnosis Parameters ··································································· 7-55
P5-xx Motion Setting Parameters ····························································· 7-59
September, 2015 III

Table 7.1 Function Description of Digital Input (DI)········································· 7-63
Table 7.2 Function Description of Digital Output (DO) ····································· 7-65
Communications
8.1 RS-232 Communication Hardware Interface ···················································· 8-2

8.2 RS-232 Communication Parameters Setting ···················································· 8-3
8.3 MODBUS Communication Protocol ································································ 8-4
8.4 Setting and Accessing Communication Parameters ··········································· 8-15
Troubleshooting
Troubleshooting
9.1 Alarm of Servo Drive ··················································································· 9-2

9.2 Alarm of DMCNET Communication ································································ 9-3
9.3 Alarm of Motion Control ··············································································· 9-4
9.4 Causes and Corrective Actions ····································································· 9-5
Absolute System
10.1 Absolute Type of Battery Box and Wiring Rods ················································· 10-3
10.1.1 Specifications ··················································································· 10-3
10.1.2 Battery Box Dimensions ..................................................................................... 10-5
10.1.3 Connection Cable for Absolute Encoder ............................................................ 10-6
10.1.4 Battery Box Cable ............................................................................................... 10-8
10.2 Installation ································································································ 10-9
10.2.1 Install Battery Box in Servo System ................................................................... 10-9
10.2.2 How to Install the Battery.................................................................................... 10-13
10.2.3 How to Replace a Battery ................................................................................... 10-14
10.3 Parameters Related to Absolute Servo System················································· 10-16
10.4 Servo Drive Alarm List for Absolute Function and Monitoring Variables ·················· 10-17
10.5 System Initialization and Operation Procedures ················································ 10-18
10.5.1 System Initialization ............................................................................................ 10-18
10.5.2 Pulse Number ..................................................................................................... 10-19
10.5.3 PUU Number ...................................................................................................... 10-20
10.5.4 To Initialize the Absolute Coordinate via Parameters ......................................... 10-21
10.5.5 Use Communication to Access Absolute Position .............................................. 10-21
IV September, 2015
Appendix
Specifications
Specifications of ASDA-B2-F Servo Drive ··································································· A-2

Specifications of Servo Motors (ECMA Series) ···························································· A-4
Torque Features (T-N Curves) ·················································································· A-13
Overload Features ································································································· A-15
Dimensions of Servo Drive ······················································································ A-17
Dimensions of Servo Motor ······················································································ A-21
Accessories
Power Connector ··································································································· B-2

Power Cable ······································································································· B-3
Encoder Connector ································································································ B-5
Encoder Cable ······································································································ B-5
Encoder Cable (Absolute Type) ················································································ B-6
Battery Box Cable AW ··························································································· B-7
Battery Box Cable IW ···························································································· B-7
Battery Box (Absolute Type) ··················································································· B-8
I/O Connector Terminal ··························································································· B-9
CN1 Convenient Connector ····················································································· B-9
PC Connection Cable ····························································································· B-10
Terminal Block Module ···························································································· B-10
Optional Accessories ······························································································ B-11
Maintenance and Inspection
Basic Inspection ···································································································· C-2

Maintenance ········································································································· C-3
The Lifetime of Machinery Parts ················································································ C-3
September, 2015 V
VI September, 2015
Inspection and Model
Explanation
Before using ASDA-B2-F, please pay attention to the description about the inspection,
nameplate, and model type. Suitable motor model for your servo drive can be found in
the table of Chapter 1.3.
111111111111111111111111111111111111111 11111
1.1 Inspection ........................................................................................................ 1-2

1.2 Product Model ··············································································· 1-3
1.2.1 Nameplate Information ································································ 1-3
1.2.2 Model Explanation ······································································ 1-4
1.3 Servo Drive and Corresponding Servo Motor········································ 1-6
1.4 Each Part of the Servo Drive····························································· 1-7
September, 2015 1-1

Inspection and Model Explanation ASDA-B2-F
1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the following
items carefully.
1 Item Description
Please check if the product Check the part number of the motor and the servo drive on the nameplate.
is what you have Refer to the next page for the model explanation.
purchased.
Rotate the motor shaft by hand. If it can be rotated smoothly, it means the
Check if the motor shaft motor shaft is normal. However, it cannot be rotated by hand if the motor
can rotate smoothly. has an electromagnetic brake.
Check if there is any

damage shown on its Visually check if there is any damage or scrape of the appearance.
appearance.
Check if there is any loose Make sure no screw is un-tightened or fall off.
screw.
If any of the above situations happens, please contact the distributors to solve the problems.
A complete and workable servo set should include:
(1) One servo drive and one servo motor.
(2) One UVW motor power cable, the U, V and W wires can connect to the socket attached by
the servo drive and another side is the plug which could connect to the socket of the motor.
And a green ground wire which should be connected to the ground terminal of the servo
drive. (selective purchase)
(3) An encoder cable which connects to the socket of the encoder. One side of it connects to
CN2 servo drive and another side is the plug. (selective purchase)
(4) 15-PIN connector which is used in CN1 (selective purchase)
(5) 9-PIN connector which is used in CN2. (selective purchase)
(6) 6-PIN connector which is used in CN3. (selective purchase)
(7) RJ-45 connector which is used in CN6.
1-2 September, 2015

ASDA-B2-F Inspection and Model Explanation
1.2 Product Model

1.2.1 Nameplate Information
ASDA-B2-F Series Servo Drive
 Nameplate Information
0
1
Model Name MODEL : ASD-B2-1521-F
Capacity Specification POWER : 1.5kW LISTED
Applicable Power Supply INPUT : 200~230V 3PH 50/60Hz 5.9A 19XK
IND. CONT. EQ.
200~230V 1PH 50/60Hz 10.3A
Rated Current Output OUTPUT : 110V 0~250Hz 8.3A
Barcode B21521FW14170001
Firmware Version 01.74
DELTA ELECTRONICS, INC. MADE IN TAIWAN
 Serial Number
B21521F W 14 17 0001  Model Name
      Production Factory (T: Taoyuan; W: Wujiang)
 Year of Production (3: year 2013 or 14: year 2014)
 Week of Production (from 1to 52)
 Serial Number
(Production sequence of a week, starting from 0001)
ECMA Series Servo Motor 0
 Nameplate Information
AC SERVO MOTOR
Model Name MODEL: ECMA-C10602ES
Input Power INPUT: VAC 110 A 1.55 Ins. A

Rated Speed and Rated Output OUTPUT: r/min 3000 N.m 0.64 kW 0.2
Barcode C10602EST14330001
Delta Electronics, Inc. MADE IN XXXXXX
 Serial Number
C10602ES T 14 33 0001  Model Name
      Production Factory (T: Taoyuan; W: Wujiang)
 Year of Production (14: year 2014)
 Week of Production (from 1 to 52)
 Serial Number
(Production sequence of a week, starting from 0001)
September, 2015 1-3

1.2.2 Model Explanation
ASDA-B2-F Series Servo Drive 0
1 A S D - B 2 - 0 4 2 1 -F
    
Product Name
AC Servo Drive
Series
B2
 Rate Output Power
Code Spec. Code Spec.
01 100 W 10 1 kW
02 200 W 15 1.5 kW
04 400 W 20 2 kW
07 750 W 30 3 kW
 Input Voltage and Phase

Code Voltage / Phase
21 220V 1 phase
23 220V 3 phase
 Model Type
Full-Closed Extension Port for
Type EtherCAT CANopen DMCNET E-CAM
Control Digital Input
F × × × ○ × ×
1-4 September, 2015

ECMA Series Servo Motor 0
E C M A - C 1 0 6 0 2 E S

 Product Name
 
ECM: Electronic Commutation Motor

   
1
 Motor Type A: AC Servo Motor
 Name of the Series

Rated Voltage and Rated Speed Encoder Type
Code Spec. Code Spec.
C 220 V / 3,000 rpm 1 Incremental type, 20-bit
E 220 V / 2,000 rpm 2 Incremental type, 17-bit
F 220 V / 1,500 rpm 3 2500 ppr
G 220 V / 1,000 rpm M Magnet type, 13-bit
Motor Frame Size

code Spec. code Spec.
04 40 mm 10 100 mm
06 60 mm 13 130 mm
08 80 mm 18 180 mm
09 86 mm - -
Rated Power Output

code Spec. code Spec. code Spec.
01 100 W 05 500 W 10 1.0 kW
02 200 W 06 600 W 15 1.5 kW
03 300 W 07 700 W 20 2.0 kW
04 400 W 09 900 W 30 3.0 kW
Type of Shaft Diameter and Oil Seal

w/o Brake, with Brake, w/o w/o Brake, with With Brake,
w/o Oil Seal Oil Seal Oil Seal with Oil Seal
Round Shaft
- - C D
(with fixed screw holes)
Keyway E F - -
Keyway
P Q R S
(with fixed screw holes)
 Shaft Diameter
Standard S
3 42 mm
Specific
7 14 mm
September, 2015 1-5

1.3 Servo Drive and Corresponding Servo Motor
Motor Servo Drive
1 Motor
series
Power
Output
(W)
Model Number
Rated
Current
(Arms)
Max.
Instantaneous
current
(A)
Model Number
Continuous
Output
Current
(Arms)
Max.
Instant-
aneous
output
current
(A)
50 ECMA-C1040F□S 0.69 2.05

ASD-B2-0121-F 0.90 2.70
100 ECMA-C 0401□S 0.90 2.70
200 ECMA-C 0602□S 1.55 4.65 ASD-B2-0221-F 1.55 4.65
ECMA-C 3000 r/min
400 ECMA-C 0604□S 2.60 7.80

ASD-B2-0421-F 2.60 7.80
Low Inertia
400 ECMA-C 0804□7 2.60 7.80

Single-
/Three- 750 ECMA-C 0807□S 5.10 15.30
phase ASD-B2-0721-F 5.10 15.30
750 ECMA-C 0907□S 3.66 11.00
1000 ECMA-C 0910□S 4.25 12.37
ASD-B2-1021-F 7.30 21.90
1000 ECMA-C 1010□S 7.30 21.90
2000 ECMA-C 1020□S 12.05 36.15 ASD-B2-2023-F 13.40 40.20
3000 ECMA-C 1330□4 17.2 47.5 ASD-B2-3023-F 19.40 58.20
500 ECMA-E 1305□S 2.90 8.70 ASD-B2-0421-F 2.60 7.80

ECMA-E 2000 r/min
Medium Inertia
1000 ECMA-E 1310□S 5.60 16.80 ASD-B2-1021-F 7.30 21.90

Single- 1500 ECMA-E 1315□S 8.30 24.90 ASD-B2-1521-F 8.30 24.90
/Three-
phase 2000 ECMA-E 1320□S 11.01 33.03
ASD-B2-2023-F 13.40 40.20
2000 ECMA-E 1820□S 11.22 33.66
3000 ECMA-E 1830□S 16.10 48.30 ASD-B2-3023-F 19.40 58.20
Medium-high
850 ECMA-F 1308□S 7.10 19.40 ASD-B2-1021-F 7.30 21.90

1500 r/min
ECMA-F
Single-
inertia
/Three- 1300 ECMA-F 1313□S 12.60 38.60 ASD-B2-2023-F 13.40 40.20

phase
3000 ECMA-F 1830□S 19.40 58.20 ASD-B2-3023-F 19.40 58.20
400 ECMA-C 0604□H 2.60 7.80 ASD-B2-0421-F 2.60 7.80

ECMA-C/G 3000
High Inertia
750 ECMA-C 0807□H 5.10 15.30 ASD-B2-0721-F 5.10 15.30

Single-
r/min
/Three- 300 ECMA-G 1303□S 2.50 7.50 ASD-B2-0421-F 2.60 7.80

phase
600 ECMA-G 1306□S 4.80 14.40 ASD-B2-0721-F 5.10 15.30
900 ECMA-G 1309□S 7.50 22.50 ASD-B2-1021-F 7.30 21.90
Note:
1. () at the ends of the servo drive model names are for optional configurations.
For the actual model name, please refer to the ordering information of the actual purchased product.
2. ( ) in the model names are for encoder resolution types. = 1: Incremental type, 20-bit;
= 2: Incremental type, 17-bit; = 3: 2500 ppr; = M: Magnet type. The listed motor model name is
for information searching, please contact to your local distributors for actual purchased product.
3. () in the model names represents brake or keyway oil seal.
The above table shows the specification of servo drive which has triple rated current. For detailed
specification of the servo motor and servo drive, please refer to Appendix A.
1-6 September, 2015

1.4 Each Part of the Servo Drive
 Heat sink:
Used to secure servo drive and for heat dissipation.
 Control Circuit Terminal (L1c、L2c):
Used to connect 200 ~ 230 VAc, 50 / 60 Hz 1-phase / 3-phase VAC supply.
 Main Circuit Terminal (R, S, T):
Used to connect 200 ~ 230 V, 50 / 60 Hz commercial power supply.
 Servo Motor Output (U, V, W):
Used to connect servo motor. Never connect the output terminal to main circuit power.
The AC servo drive may be destroyed beyond repair if incorrect cables are connected to the
output terminals.
 Regenerative Resistor:
(1) When using an external regenerative resistor, connect P⊕ and C to the regenerative
resistor and ensure that the circuit between P⊕ and C is open.
(2) When using the internal regenerative resistor, ensure that the circuit between P⊕ and D
is closed and the circuit between P⊕ and C is open
 CN6: DMCNET Connector: Communication port for DMCNET communication.
 CN1: I/O Interface: Used to connect external controller (PLC) or control I/O signal.
 CN2: Encoder Interface: Used to connect encoder of servo motor.
 CN3: Serial Communication Interface: It is controlled by MODBUS and supports RS-232.
It can be connected to controllers.
 Ground Terminal: Used to connect grounding wire of power supply and servo motor.
Please connect it properly to avoid electric shock.
September, 2015 1-7

1-8 September, 2015

Installation
This chapter allows you to properly install the device. Please follow the instruction
mentioned in this chapter during installation. Information about specification of circuit
breaker, fuse, EMI filter selection, and selection of regenerative resistor are also
included.
11111111111111111111111111111111111111111111 1111111
2.1 Notes ······························································································ 2-2
2.2 Ambient Conditions of Storage ····························································· 2-2
2.3 Ambient Conditions of Installation ························································· 2-2
2.4 Installation Direction and Space ···························································· 2-3
2.5 Specification of Circuit Breaker and Fuse ················································ 2-5
2.6 EMI Filter Selection ············································································ 2-5
2.7 Selection of Regenerative Resistor ························································ 2-7
September, 2015 2-1

Installation ASDA-B2-F
2.1 Notes
Please pay special attention to the following:
2 

Do not strain the cable connection between the servo drive and the servo motor.
Make sure each screw is tightened when fixing the servo drive.
The motor shaft and the ball screw should be parallel.
 If the connection between the servo drive and the servo motor is over 20 meters, please
thicken the connecting wire, UVW as well as the encoder cable.
 Tighten the four screws that fix the motor.
2.2 Ambient Conditions of Storage

Before the installation, this product has to be kept in the shipping carton. In order to retain the
warranty coverage and for the maintenance, please follow the instructions below when storage, if
the product is not in use temporally:
 Store the product in a dry and dust-free location.
 Store the product within an ambient temperature range of -20°C to +65°C.
 Store the product within a relative humidity range of 0% to 90% and a non-condensing
environment.
 Avoid storing the product in the environment of corrosive gas and liquid.
 It is better to store the product in the shipping carton and put it on the shelf or working
platform.
2.3 Ambient Conditions of Installation

The most appropriate temperature of this servo drive is between 0°C and 55°C. If it is over
45°C, please place the product in a well-ventilated environment so as to ensure its performance.
If the product is installed in an electric box, make sure the size of the electric box and its
ventilation condition will not overheat and endanger the internal electronic device. Also, pay
attention to the vibration of the machine. Check if the vibration will influence the electronic device
of the electric box. Besides, the ambient conditions should be:
 No over-heat device.
 No water drop, vapor, dust or oily dust.
 No corrosive and inflammable gas or liquid.
 No airborne dust or metal particles.
 With solid foundation and no vibration.
 No interference of electromagnetic noise.
2-2 September, 2015

ASDA-B2-F Installation
The ambient temperature of the motor is between 0°C and 40°C and the ambient conditions should be:
 No over-heat device.
 No water drop, vapor, dust or oily dust.

No corrosive and inflammable gas or liquid.
No airborne dust or metal particles.

2
2.4 Installation Direction and Space
Notes:
 Incorrect installation may result in a drive malfunction or premature failure of the drive and
or motor.
 In order to ensure the drive can be well-cooled and the environment is well circulated,
sufficient space between adjacent object and the baffle is needed.
 Ensure all ventilation holes are not obstructed. Do not install the drive in a horizontal
direction or malfunction and damage will occur.
C
N
6
C
N
C
N
C
N
3
C
N
2
1
C
6
N
1
C
N
2
C
N
3
Correct Incorrect
Installing servo drives:

ASDA-B2-F series servo drive should be mounted perpendicular to a dry and solid surface that
conforms to NEMA standards. To ensure a well-ventilated environment, sufficient space between
adjacent object and the baffle is required. 50 mm (approx. 2 inch.) of clearance is suggested. If
wiring is needed, please leave the space for it. Please note that the rack or the surface shall
conduct heat well, so as to avoid the overheating of servo drive.
September, 2015 2-3

Installing motors:
ECMA series motors shall be mounted to the mounting surface which is dry and stable. Please
make sure the environment is well-ventilated and the motor is properly grounded.
2 For the dimensions and specifications of the servo drive and servo motor, please refer to
Appendix A -Specifications.
Mounting distances and ventilation:
100 mm 100 mm
(4.0 inches) FAN FAN (4.0 inches)
50 mm
(2.0 inches) min. min. min.
Air Flow Air Flow

C
N
6
20 mm 20 mm
C
(0.8 inches) N (0.8 inches)
min. 1 min.
C C C C C
N N N N N
2 6 6 6 6
C
N
3 C C C C
N 10 mm N 10 mm N 10 mm N
40 mm
40 mm 1 1 1 1
(0.4 (0.4 (0.4 (1.6 inches)
(1.6 inches)
50 mm inches) inches) inches) min.
min. C
N
C
N
C
N
C
N
(2.0 inches) min. 2 min. 2 min. 2 min. 2
C C C C
N N N N
3 3 3 3
100 mm 100 mm
(4.0 inches) (4.0 inches)
min. min.
To lower the air resistance and ensure the drive is well ventilated, please follow the instructions
during installation and leaving sufficient space as suggested.
Note:
The above diagrams are not in equal proportion. Please refer to the annotation
2-4 September, 2015

2.5 Specification of Circuit Breaker and Fuse

Caution: Please use the fuse and circuit breaker that is recognized by UL/CSA.
2
Servo Drive Model Circuit Breaker Fuse (Class T)
Operation Mode General General
ASD-B2-0121-F 5A 5A
ASD-B2-0221-F 5A 6A
ASD-B2-0421-F 10A 10A
ASD-B2-0721-F 10A 20A
ASD-B2-1021-F 15A 25A
ASD-B2-1521-F 20A 40A
ASD-B2-2023-F 30A 50A
ASD-B2-3023-F 30A 70A
Note：
If the servo drive equips with earth leakage circuit breaker for avoiding electric leakage, please choose the
current sensitivity which is over 200 mA and can continue up to 0.1 seconds.
2.6 EMI Filter Selection

Recommended EMI Filter
Item Power Servo Drive Model Foot Print
1PH 3PH
1 100 W ASD-B2-0121-F RF007S21AA RF022M43AA N
5 1000 W ASD-B2-1021-F RF015B21AA RF075M43BA N
6 1500 W ASD-B2-1521-F RF015B21AA RF075M43BA N
7 2000 W ASD-B2-2023-F - RF037B43BA N
8 3000 W ASD-B2-3023-F - RF037B43BA N
EMI Filter Installation

All electronic equipment (including servo drive) generates high or low frequency noise during
operation and interfere the peripheral equipment via conduction or radiation. With EMI Filter and
the correct installation, much interference can be eliminated. It is suggested to use Delta’s EMI
Filter to suppress the interference better.
When installing servo drive and EMI Filter, please follow the instructions of the user manual and
make sure it meets the following specifications.
1. EN61000-6-4 (2001)
2. EN61800-3 (2004) PDS of category C2
3. EN55011+A2 (2007) Class A Group 1
September, 2015 2-5

General Precaution
In order to ensure the best performance of EMI Filter, apart from the instructions of servo drive
installation and wiring, please follow the precautions mentioned below:
2 1. The servo drive and EMI Filter should be installed on the same metal plate.
2. When installing servo drive and EMI Filter, the servo drive should be installed above the EMI
Filter.
3. The wiring should be as short as possible.
4. The metal plate should be well grounded.
5. The servo drive and the metal cover of EMI Filter or grounding should be firmly fixed on the
metal plate. Also, the contact area should be as large as possible.
Motor Cable Selection and Installation Precautions

The selection of motor cables and installation affect the performance of EMI Filter. Please follow
the precautions mentioned below.
1. Use the cable that has braided shielding (The effect of double shielding is better)
2. The shield on both sides of the motor cable should be grounded in the shortest distance and
the largest contact area.
3. The protective paint of the U-shape saddle and metal plate should be removed in order to
ensure the good contact. Please see Fig. 1.
4. It should have correct connection between the braided shielding of the motor cable and the
metal plate. The braided shielding on both sides of the motor cable should be fixed by the
U-shape saddle and metal plate. Please see Fig. 2 for the correct connection.
Fig.1 Fig. 2
2-6 September, 2015

2.7 Selection of Regenerative Resistor

When the direction of pull-out torque is different from the rotation, it means the electricity is sent
back to the servo drive from the load-end. It becomes the capacitance of DC Bus and increases
the voltage. When the voltage increases to a specific value, the come-back eletricity can only be
consumed by regenerative resistor. There is a built-in regenerative resistor in the servo drive.
Users can also use the external regenerative resistor if needed.
2
Specification of built-in regenerative resistor provided by ASDA-B2-F Series
Specification of built-in regenerative
*1The capacity of Minimum
Servo Drive resistor
built-in regenerative allowable
(KW) Resistance Capacity
resistor (Watt) resistance (Ohm)
(P1-52) (Ohm) (P1-53) (Watt)
0.1 -- -- -- 60
0.2 -- -- -- 60
0.4 100 60 30 60
0.75 100 60 30 60
1.0 40 60 30 30
1.5 40 60 30 30
2.0 20 100 50 15
3.0 20 100 50 15
*1The capacity of built-in regenerative resistor (average value) is 50% of the rated capacity of the built-in
regenerative resistor. The capacity of the external regenerative resistor is the same as the built-in one.
When the regenerative resistor exceeds the capacity of built-in regenerative resistor, the external
regenerative resistor should be applied. Please pay special attention to the following when using
the regenerative resistor.
1. Please correctly set up the resistance (P1-52) and capacity (P1-53) of regenerative resistor.
Or it might influence the performance of this function.
2. If users desire to use the external regenerative resistor, please make sure the applied value
should not be smaller than the value of built-in regenerative resistor. In general application,
more than one resistor will be serial connected. If the value (from serial connected resistors)
exceeds the setting range, users can reduce the value by parallel connecting the resistor. If
users desire to connect it in parallel to increase the power of regenerative resistor, please
make sure the capacitance meets the requirements.
3. In natural environment, if the capacity of regenerative resistor (the average value) is within
the rated capacity, the temperature of the capacitance will increase to 120℃ or even higher
(under the condition of regenerative energy keeps existing). For safety concerns, please
apply the method of forced cooling in order to reduce the temperature of regenerative resistor.
Or, it is suggested to use the regenerative resistor which is equipped with thermal switches.
Please contact the distributors for load characteristics of the regenerative resistor.
When using the external regenerative resistor, the resistor should connect to P, C terminal and
the contact of P, D terminal should be opened. It is recommended to choose the above
mentioned capacitance. For easy calculation of regenerative resistor capacity, except the energy
consumed by IGBT, two ways are provided to select the capacity of external regenerative
resistor according to the selected linear motor or rotary motor.
September, 2015 2-7

(1) Regenerative Power Selection

(a) When the external load on torque does not exist
If the motor operates back and forth, the energy generated by the brake will go into the
capacitance of DC bus. When the voltage of the capacitance exceeds a specific value, the
2 redundant energy will be consumed by regenerative resistor. Two ways of selecting

regenerative resistor are provided here. The table below provides the energy calculation
method. Users can refer to it and calculate the selected regenerative resistor.
Regenerative power The maximum

Servo Drive Rotor Inertia from empty load regenerative power
Motor 2
(kW) J (× 10-4kg.m ) 3000r/min to stop Eo of capacitance
(joule) Ec (joule)
ECMA-Cᇞ040F□□ 0.021 0.10 4.21

0.1
ECMA-Cᇞ0401□□ 0.037 0.18 4.21
0.2 ECMA-Cᇞ0602□□ 0.177 0.87 5.62
ECMA-Cᇞ0604□□ 0.277 1.37 8.42
0.4
ECMA-Cᇞ0804□□ 0.68 3.36 8.42
Low Inertia ECMA-Cᇞ0807□□ 1.13 5.59 17.47
0.75
ECMA-Cᇞ0907□□ 1.93 9.54 17.47
ECMA-Cᇞ0910□□ 2.62 12.96 21.22
1.0
ECMA-Cᇞ1010□□ 2.65 13.1 21.22
2.0 ECMA-Cᇞ1020□□ 4.45 22.0 25.58
3.0 ECMA-Cᇞ1330□□ 12.7 62.80 25.58
0.4 ECMA-Eᇞ1305□□ 8.17 40.40 8.42
1.0 ECMA-Eᇞ1310□□ 8.41 41.59 21.22
Medium 1.5 ECMA-Eᇞ1315□□ 11.18 55.29 25.58
Inertia ECMA-Eᇞ1320□□ 14.59 72.15 25.58
2.0
ECMA-Eᇞ1820□□ 34.68 171.49 25.58
3.0 ECMA-Eᇞ1830□□ 54.95 217.73 31.20
1.0 ECMA-Fᇞ1308□□ 13.6 67.25 21.22
Medium -
2.0 ECMA-Fᇞ1313□□ 20.0 98.90 25.58
High Inertia
3.0 ECMA-Fᇞ1830□□ 54.95 217.73 28
0.4 ECMA-Gᇞ1303□□ 8.17 17.96 8.42
High Inertia 0.75 ECMA-Gᇞ1306□□ 8.41 18.48 17.47
1.0 ECMA-Gᇞ1309□□ 11.18 24.57 21.22
Eo = J * Wr2/182 (joule), Wr: r/min

Assume that the load inertia is N times to the motor inertia and the motor decelerates from 3000
r/min to 0, its regenerative energy is (N+1) x Eo. The consumed regenerative resistor is (N+1) ×
Eo - Ec joule. If the cycle of back and forth operation is T sec, then the power of regenerative
resistor it needs is 2× ((N+1) x Eo - Ec) / T.
Steps Item Calculation and Setting Method

1 Set the capacity of regenerative resistor to the maximum Set P1-53 to the maximum value
2 Set T cycle of back and forth operation Enter by the user
3 Set the rotational speed wr Enter by the user or read via P0-02
4 Set the load/motor inertia ratio N Enter by the user or read via P0-02
5 Calculate the maximum regenerative energy Eo Eo= J *wr2/182
6 Set the absorbable regenerative energy Ec Refer to the above table
7 Calculate the needful capacitance of regenerative resistor 2 ×（(N+1) × Eo－Ec）/ T
2-8 September, 2015

Take the motor (400 W with frame size 60) as the example, the cycle of back and forth operation
is T = 0.4 sec, the maximum speed is 3000 r/min and the load inertia is 7 times to the motor
inertia. Then, the needful power of regenerative resistor is 2 × ((7+1) ×1.37 – 8) / 0.4 = 14.8 W. If
it is smaller than the built-in capacity of regenerative resistor, the built-in 60W regenerative
resistor will do. Generally speaking, when the need of the external load inertia is not much, the
built-in regenerative is enough. The diagram below describes the actual operation. The smaller
2
power of the regenerative resistor it is, the more energy it accumulates and the higher
temperature it will be. When the temperature is higher than a specific value, AL005 occurs.
(b) If the external load torque exists, the motor is in reverse rotation.
Usually, the motor is in forward rotation, which means the torque output direction of the
motor is the same as the rotation direction. However, in some applications, the direction of
torque output is different from the rotation. In this situation, the motor is in reverse rotation.
The external energy goes into the servo drive through the motor. The diagram below is one
example. When the external force direction is the same as the moving direction, the servo
system has to use the force of the opposite direction to keep the speed and stability. Huge
amount of energy will return to the servo drive at the moment. When DC-BUS is full and
unable to store the regenerative energy, the energy will be leaded to regenerative resistor
and consumed.
Motor Speed
External Load Torque
Motor Output Torque
Negative
Positive Positive
Torque Negative Torque
Torque Torque
Negative torque: TL × Wr TL: external load torque

For safety reasons, please calculate it by considering the safest situation.
For example, when the external load torque is +70% rated torque and the rotation reaches
3000 r/min, then take 400W (the rated torque is 1.27 Nt-m) as the example, users have to
connect the regenerative resistor which is 2 ×(0.7×1.27) ×(3000 ×2 ×π／60) = 560 W, 60
.
September, 2015 2-9

(2) Simple Selection
Choose the appropriate regenerative resistor according to the allowable frequency and empty
load frequency in actual operation. The so-called empty allowable frequency is the frequency of
continuous operation when the servo motor runs from 0 r/min to the rated speed and then
2 decelerates from the rated speed to 0r/min within the shortest time. The following table lists the
allowable frequency when the servo drive runs without load (times/min).
Allowable frequency when the servo drive runs without load (times/min)
and uses a built-in regenerative resistor
Motor Capacity 600 W 750 W 900 W 1.0 kW 1.5 kW 2.0 kW 2.0 kW 3.0 kW
Servo Motor 06 07 09 10 15 20 20 30
ECMA□□C - 312 - 137 - 83 (F100) -

24 10
ECMA□□E - - - 42 32 11
(F130) (F180)
ECMA□□G 42 - 31 - - - - -
When the servo motor runs with load, the allowable frequency will be different according to
different load inertia or speed. The following is the calculation method.
“m” represents load / motor inertia ratio.

2
Allowable frequency when serv o motor run without load Rated s peed times
Allowable fr equency = x
m+1 Operating speed mi n.
The comparison table of external regenerative resistor is provided below. Please choose the
appropriate regenerative resistor according to the allowable frequency.
The table below describes the suggested allowable frequency (times/min) of regenerative
resistor when the servo drive runs without load.
Allowable frequency of regenerative resistor when the servo drive runs without load (times/min)
Motor Capacity ECMA□□C
400 W 400 W
Suggested 100 W 200 W 750 W 1.0 kW 2.0 kW
(F60) (F80)
Regenerative
Resistor 01 02 04 04 07 10 20
200 W 80 Ω 32793 6855 4380 1784 1074 458 273
400 W 40 Ω - - - - - 916 545
1 kW 30 Ω - - - - - - 1363
Motor Capacity ECMA□□E
Suggested 0.5 kW 1 kW 1.5 kW 2.0 kW 2.0 kW 3.0 kW

Regenerative
Resistor 05 1.0 15 20 20 30
200 W 80 Ω 149 144 109 83 35 22
400 W 40 Ω - 289 217 166 70 44
1k W 30 Ω - - - 416 175 110
2-10 September, 2015

Motor Capacity ECMA□□G
Suggested 0.3 kW 0.6 kW 0.9 kW

Regenerative
Resistor
200 W 80 Ω
03
149
06
144
09
109
2
400 W 40 Ω - - 217
If watt is not enough when using regenerative resistor, connecting the same regenerative resistor
in parallel can increase the power.
Dimensions of Regenerative Resistor

Delta Part Number: BR400W040 (400 W 40 Ω)
L1 L2 H D W MAX. WEIGHT (g)
265 250 30 5.3 60 930
Delta Part Number: BR1K0W020 (1 kW 20 Ω)

L1 L2 H D W MAX. WEIGHT(g)
400 385 50 5.3 100 2800
Note:
Please refer to Appendix B for selection of regenerative resistor.
September, 2015 2-11


Wiring
This chapter explains the wiring methods of the power circuit and connector definitions.
The standard wiring diagrams for each control mode are also provided.
3.1 Connections ····················································································· 3-2

3.1.1 Connecting to Peripheral Devices ··················································· 3-2
3.1.2 Connectors and Terminals of Servo Drive ········································· 3-3
3.1.3 Wiring Method ············································································ 3-4
3.1.4 Specification of Motor Power Cable ················································· 3-5
3.1.5 Specification of Encoder Cable Connector ········································ 3-7
3.1.6 Selection of Wiring Rod ······························································ 3-10
3.2 Basic Wiring ··················································································· 3-11
3.2.1 200 W or models below (withtout built-in regenerative resistor nor fan) ·· 3-11
3.2.2 400 W ~ 750 W models (with built-in regenerative resistor but no fan) ··· 3-12
3.2.3 1 kW ~ 1.5 kW models (with built-in regenerative resistor and fan) ······· 3-13
3.2.4 2 kW ~ 3 kW models (with built-in regenerative resistor and fan) ·········· 3-14
3.3 I / O Signal (CN1) Connection ···························································· 3-15
3.3.1 I / O Signal (CN1) Connector Terminal Layout ·································· 3-15
3.3.2 Signals Explanation of Connector CN1 ··········································· 3-16
3.3.3 Wiring Diagrams (CN1) ······························································· 3-18
3.3.4 DI and DO Signal Specified by Users ············································· 3-20
3.4 CN2 Connector ··············································································· 3-21
3.5 Wiring of CN3 Connector ·································································· 3-23
3.6 CN6 Connector (DMCNET)································································ 3-24
3.7 Standard Connection Example ··························································· 3-26
September, 2015 3-1

Wiring ASDA-B2-F
3.1 Connections
3.1.1 Connecting to Peripheral Devices
3
Power
100 W ~ 1.5 kW Single-/Three-phase 200 ~ 230 V
2 kW ~ 3 kW Three-phase 200 ~ 230 V
No Fuse Breaker (NFB)

It could prevent the instantaneous
excessive current caused by short-circuit
or from damaging the servo drive when
power is on / off.
Magnetic Contactor (MC)

When an alarm occurs, it outputs
ALRM signal and disconnect the
Host Controller
power of the servo drive.
It can connect to Delta’s PLC controller

or other brands of NC controllers.
EMI Filter
L1c
C
L2c N CN6 Connector
6 (DMCNET)
R
S
T
CN1 I/O Connector
C
U N
1
V
Regenerative
Resistor (Option) W
P+ P+ C
CN2 Connector
D N
2
C C
Θ C
N
3
CN3 Connector
1. For MODBUS communication and

supports RS-232
To prevent the energy from flowing 2. Use ASDA-Soft to conduct tuning, parameters
back caused by motor brake and setting and control.
Motor power
result in error, please connect the P +
output U, V, W
and C end of the servo drive to
external regenerative resistor, and
the contact of P + and D end should
be opened. If using the internal
regenerative resistor, please make Servo Motor
sure the contact of P+ and D end
should be short-circuited and the
contact of P + and C end should be
opened.
Installation notes:
1. Check if the power and wiring among R, S, T and L1c, L2c are correct.
2. Please check if the output terminal U, V, W of the servo motor is correctly wired. Incorrect
wiring may disable the operation of the motor or cause malfunction, triggering AL031
(Incorrect wiring of the motor power line U, V, W, GND).
3. When applying to the external regenerative resistor, the contact between P and D
should be opened and the external regenerative resistor should connect to terminal P
and C. When applying to the internal regenerative resistor, the contact between P and D
should be short-circuited and the contact between P and C should be opened.
4. When an alarm occurs or the system is in emergency stop status, use ALARM or WARN to
output and disconnect the power of magnetic contactor in order to disconnect the power of
servo drive.
3-2 September, 2015

ASDA-B2-F Wiring
3.1.2 Connectors and Terminals of Servo Drive

Terminal
Name Description
Signal
3
Power input of the Connect to single-phase AC power (Select the appropriate
L1c, L2c
control circuit voltage specification according to the product.)
Power input of the main Connect to three-phase AC power (Select the appropriate
R, S, T
circuit voltage specification according to the product.)
Connect to the servo motor
Terminal Wire
Description
Symbol Color
U Red
U, V, W Three-phase main power cable of
Motor cable V White
FG the motor.
W Black
FG Green Connect to ground terminal ( )

of the servo drive.
The contact between P and D
end should be short-circuited;
Use internal resistor
contact between P and C end
should be opened.
Connect P , C ends to the resistor
Use external resistor and the contact between P and
Regenerative resistor D end should be opened.
P , D, C, terminal, braking unit, or
P and P of the brake unit
P and . should connect to the resistor. The
contact between P and D and
Use external braking P and C should be opened. P
unit connects to the positive end of
V_BUS voltage; connects to
the negative end of V_BUS
voltage.
Ground terminal Connect to the ground wire of the power and servo motor.
CN1 I/O connector (Option) Connect to the host controller. Please refer to section 3.3.
Connector for encoder
CN2 Connect to the encoder of the motor. Please refer to section 3.4.
(Option)
Connector for
CN3 Connect to RS-232. Please refer to section 3.5.
communication (Option)
CN6 DMCNET Connector RJ45 connector. Please refer to section 3.6.
Pay special attention to the followings when wiring:

1. When the power is cut off, do not touch R, S, T and U, V, W since the capacitance inside
the servo drive still contains huge amount of electric charge. Wait until the charging light is
off.
2. Separate R, S, T and U, V, W from the other wires. The interval should be at least 30 cm
(11.8 inches).
3. If the wire of CN2 is not long enough, please use shielded twisted-pair cable which cannot
exceed 20 meters (65.62 inches). If it exceeds 20 meters, please choose the bigger wire
diameter of signal cable to ensure it will not cause signal fading.
4. When selecting the wire rod, please refer to Section 3.1.6.
September, 2015 3-3

Wiring ASDA-B2-F
3.1.3 Wiring Method

There are two types of wiring method, single-phase and three-phase. In the diagram below,
Power On is contact a, Power Off and ALRM_RY are contact b. MC is the coil of magnetic
3 contactor and self-remaining power and is the contact of main power circuit.
 Wiring Method of Single-phase Supply (suitable for 1.5 kW and models below 1.5 kW)
RS
MCCB
Power Power
Noise Filter on off MC ALRM_RY
MC
SUP
U
Motor
V
W
MC
R Servo Drive
S
T
L1C
L2C
 Wiring Method of Three-phase Power Supply (suitable for all series)
RST
MCCB
Power Power
Noise Filter on off MC ALRM_RY
MC
SUP
U
Motor
V
W
MC
R Servo Drive
S
T
L1C
L2C
3-4 September, 2015

ASDA-B2-F Wiring
3.1.4 Specification of Motor Power Cable
Terminal
Motor Model U, V, W / Connector of Brake
Definition
ECMA-C1040FS (50 W)
ECMA-Cᇞ0401S (100 W)
ECMA-Cᇞ0602S (200 W)
3
ECMA-Cᇞ0604S (400 W)
ECMA-Cᇞ0604H (400 W)
A
ECMA-Cᇞ08047 (400 W)
ECMA-Cᇞ0807S (750 W)
ECMA-Cᇞ0807H (750 W)
ECMA-Cᇞ0907S (750 W)
ECMA-Cᇞ0910S (1000 W)
ECMA-Cᇞ0401S (100 W)
ECMA-Cᇞ0602S (200 W)
ECMA-Cᇞ0604S (400 W)
ECMA-Cᇞ0604H (400 W)
ECMA-Cᇞ08047 (400 W) B
ECMA-Cᇞ0807S (750 W)
ECMA-Cᇞ0807H (750 W)
ECMA-Cᇞ0907S (750 W)
ECMA-Cᇞ0910S (1000 W)
*：with brake
ECMA-Gᇞ1303S (300 W)
ECMA-Eᇞ1305S (500 W)
ECMA-Gᇞ1306S (600 W)
ECMA-Fᇞ1308S (850 W)
ECMA-Gᇞ1309S (900 W)
ECMA-Cᇞ1010S (1000 W)
ECMA-Eᇞ1310S (1000 W) C
ECMA-Fᇞ1313S (1300 W)
ECMA-Eᇞ1315S (1500 W)
ECMA-Fᇞ1318S (1800 W)
ECMA-Cᇞ1020S (2000 W)
ECMA-Eᇞ1320S (2000 W)
ECMA-Cᇞ13304 (3000 W)
ECMA-Eᇞ1820S (2000 W)
ECMA-Eᇞ1830S (3000 W) D
ECMA-Fᇞ1830S (000 W)
September, 2015 3-5

Wiring ASDA-B2-F
CASE
U V W BRAKE1 BRAKE2
Wiring Name GROUND
(Red) (White) (Black) (Yellow) (Blue)
(Green)
Terminal
1 2 3 4 - -
Definition A
3 Terminal
Definition B
Terminal
Definition C
1
F
2
I
4
B
5
E
3
G H
6
Terminal
D E F G A B
Definition D
When selecting the wire rod, please choose 600 V PVC cable and the length should be no longer
than 30 m. If the length exceeds 30 m, please take the received voltage into consideration when
selecting the wire size. Please refer to Section 3.1.6 for wire rod selection.
Note:
1. No polarity for brake coil, the wiring name is BRAKE1 & BRAKE2.
2. Power for brake is 24 VDC. Never share it with the power of control signal VDD.
3. Box, () in servo motor model represents brake or keyway / oil seal.
4. Triangle, (△) in servo motor model represents encoder type. Please see Chapter 1 for detail.
3-6 September, 2015

ASDA-B2-F Wiring
3.1.5 Specification of Encoder Cable Connector

Encoder Connection (Diagram 1):
Servo Drive
3
C Quick Connector
N *2 *1
6
Connector of Connector of
CN2 Connector
Encoder Cable Encoder Cable
C
(Drive Side) (Motor Side)
N
1
C
N
2
C
N
3
Servo Motor
Note:
This diagram shows the connection between the servo drive and the motor encoder, which is not
drawn by the practical scale. The specification will change subject to the selected servo drive and
motor model.
1. Please refer to the Section of Specification and Definition of Encoder Connector.
2. Please refer to Section 3.4 CN2 Connector.
Motor Model Connector of Encoder Cable
ECMA-C△0401S (100 W)
ECMA-C△0602S (200 W)
ECMA-C△0604S (400 W) 9 6 3 3 6 9
ECMA-C△0604H (400 W) 8 5 2 2 5 8
View from View from
ECMA-C△08047 (400 W) 7 4 1 this side this side 1 4 7
ECMA-C△0807S (750 W)
ECMA-C△0807H (750 W)
ECMA-C△0907S (750 W)
ECMA-C△0910S (1000 W)
September, 2015 3-7

Wiring ASDA-B2-F
Specification and Definition of Encoder Connector:
Encoder Cable Motor Encoder
3 Servo Drive
CN2 View from
this side
View from
this side
Motor
Encoder
(Encoder types are 17-bit and 20-bit):
3 2 1
1 2 3 White
Blue -
Reserved T+
T+ Reserved Reserved
6 5 4
4 5 6 White/Red
Blue/Black -
Reserved T-
T- Reserved Reserved
9 8 7
7 8 9
Red/Red & Black/Black Blue Brown
Shield
white & white Shield GND DC+5V
DC+5V GND
(Encoder type is 2500 ppr, 33 bits):

The wire color of the servo drive is for
reference only. Please refer to the 3 2 1
real object. White
Reserved Reserved T+
6 5 4
White/Red
Reserved Reserved T-
9 8 7
Blue Brown
Shield
GND DC+5V
1 1
2 2
Servo Drive 3 3 Motor

CN2 4 4 Encoder
‧ ‧
‧ ‧
‧ ‧
If not using housing and directly wire the cores, please follow the corresponding core number for wiring. For
example, core number 1 from the servo drive CN2 should connect to core number 1 from the motor encoder;
core number 2 from the servo drive CN2 should connect to core number 2 from the motor encoder and so on.
Please number the cores from the servo drive in order and then connect it to the encoder.
3-8 September, 2015

ASDA-B2-F Wiring
Encoder Connection (Diagram 2):
Servo Drive
C
3
N
6
＊1
CN2 Connector
C
N
1
C
N
2
C
N
3
Military Connector of
Connector Encoder Cable
Servo Motor
Note:
This diagram shows the connection between the servo drive and the motor encoder, which is not drawn by
the practical scale. The specification will change subject to the selected servo drive and motor model.
1. Please refer to Section 3.4, CN2 Connector.
Motor Model Connector of Encoder Cable
ECMA-G△1303S (300 W)
ECMA-E△1305S (500 W)
Pin Terminal
ECMA-G△1306S (600 W) Color
No. Identification
ECMA-F△1308S (850 W)
A T+ Blue
ECMA-G△1309S (900 W)
ECMA-C△1010S (1000 W) Blue&
B T-
Black
ECMA-E△1310S (1000 W)
B A M Red/Red&
ECMA-F△1313S (1300 W) C
P
N L S DC+5V
D
T
K White
ECMA-E△1315S (1500 W) R S
E J Black/
ECMA-F△1318S (1800 W) F G H
R GND Black&
ECMA-C△1020S (2000 W) White
ECMA-E△1320S (2000 W) BRAID
Military Connector
ECMA-C△13304 (3000 W) L –
SHIELD
ECMA-E△1820S (2000 W)
Please select shielded multi-core and the shielded cable should connect to the SHIELD end.
Please refer to the description of Section 3.1.6.
Note:
2. Triangle, (△) in servo motor model represents encoder type. Please refer to Chapter 1 for detail.
September, 2015 3-9

Wiring ASDA-B2-F
3.1.6 Selection of Wiring Rod
The recommended wire rods are shown as the following table.

2
3
Servo Drive and corresponding Power Wiring - Wire Diameter mm (AWG)
Servo Motor L1c, L2c R, S, T U, V, W P ,C
ECMA-C1040FS
ASD-B2-0121-F
ECMA-C△0401S
ASD-B2-0221-F ECMA-C△0602S
ECMA-C△0604S
ECMA-C△0604H
ASD-B2-0421-F ECMA-C△08047
ECMA-E△1305S 1.3 (AWG16) 2.1(AWG14) 0.82(AWG18) 2.1(AWG14)
ECMA-G△1303S
ECMA-F11305S
ECMA-C△0807S
ASD-B2-0721-F ECMA-C△0807H
ECMA-C△0907S
ECMA-G△1306S
ECMA-C△0910S
ECMA-C△1010S
ASD-B2-1021-F ECMA-E△1310S
1.3(AWG16) 2.1(AWG14) 1.3(AWG16) 2.1(AWG14)
ECMA-F△1308S
ECMA-G△1309S
ECMA-C△1020S
1.3(AWG16) 2.1(AWG14) 2.1 (AWG14) 2.1(AWG14)
ECMA-E△1320S
ECMA-F11313S
ECMA-F11318S
ECMA-C△13304 1.3(AWG16) 2.1(AWG14) 3.3 (AWG12) 2.1(AWG14)
ECMA-E△1830S
ASD-B2-3023-F
ECMA-E△1835S
ECMA-F△1830S
2
Encoder Wiring - Wire Diameter mm (AWG)
Servo Drive Model
Size Number Specification Standard Length
ASD-B2-0121-F
ASD-B2-0221-F
ASD-B2-0421-F
ASD-B2-0721-F
0.13 (AWG26) 10 core (4 pairs) UL2464 3 m (9.84 ft.)
ASD-B2-1021-F
ASD-B2-1521-F
ASD-B2-2023-F
ASD-B2-3023-F
Note:
1. Please use shielded twisted-pair cable for encoder wiring so as to reduce the interference of the noise.
2. The shield should connect to the phase of SHIELD.
3. Please follow the Selection of Wire Rod when wiring in order to avoid the danger it may occur.
4. Box, () at the end of the servo drive model represents the model code of ASDA B2-F. Please refer to
the model information of the product you purchased.
6. Triangle, (△) in servo motor model represents encoder type. Please refer to Chapter 1 for detail.

ASDA-B2-F Wiring
3.2 Basic Wiring

3.2.1 200 W or models below (without regenerative resistor nor fan)
Connect to external
3
Power regenerative resistor
1-phase/3-phase
200 ~ 230 V, 200 W and below
P D C Servo Drive
IPM Module
Pha se Loss
Detection
Rectifier
Circuit
S Servo
U
Regeneration
Motor
T
Circuit
V M
Encoder
L1C ±15V
Control Power
+5V
L2C +3.3V
+24V Protection GATE
Circuit DRIVE
Data Processing Unit

Digital Intput
CN2
CN1
A & B Output
Digital Output
Display
Serial
Communication CN3
RS-232
MODE SHIFT
Battery CN4
CHARGE SET
CN6 DMCNET

Wiring ASDA-B2-F
3.2.2 400 W ~ 750 W models (with built-in regenerative resistor but no

fan)
Connect to external
3
1-phase/3-phase
200 ~ 230 V, 400 W ~ 750 W
P D C Servo Drive
IPM Module
R Pha se Loss
Detection
Rectifier
Circuit
S Servo
U
Regeneration
Motor
T
Circuit
V M
Encoder
L1C ±15 V
Control Power
+5 V
L2C +3.3 V
+24 V Protection GATE
Circuit DRIVE

Digital Intput
CN2
CN1
A & B Output
Digital Output
Display
Serial
Communication CN3
RS-232
MODE SHIFT
Battery CN4
CHARGE SET
CN6 DMCNET

ASDA-B2-F Wiring
3.2.3 1 kW ~ 1.5 kW models (with built-in regenerative resistor and fan)

Connect to external
1-phase/3-phase
3
200 ~ 230 V, 1 kW ~ 1.5 kW
P D C Servo Drive Models of 1 kW or above
IPM Module
R +12 V
Phase Loss
Detection
Rectifier
Circuit
S Servo
U
Regeneration
Motor
T
Circuit
V M
Encoder
L1C ±15 V
Control Power
+5 V
L2C +3.3 V
Circuit DRIVE

Digital Input
CN2
CN1
A & B Output
Digital Output
Display
Serial
Communication
CN3
RS-232
MODE SHIFT
Battery CN4
CHARGE SET
CN6 DMCNET

Wiring ASDA-B2-F
3.2.4 2 kW ~ 3 kW models (with built-in regenerative resistor and fan)

Connect to external
3-phase
200 ~ 230 V, 2 kW ~ 3 kW
3 R
P D C Servo Drive
IPM Module
Models of 1 kW or above
+12V
Phase Loss
Detection
Rectifier
Circuit
S U
Servo
Regeneration
Motor
T
Circuit
V M
Encoder
L1C
Control Power
±15 V
+5 V
L2C +3.3 V
Circuit DRIVE

Digital Input
CN2
CN1
A, B Output
Digital Output
Display
Serial
Communication CN3
RS-232
MODE SHIFT
Battery CN4
CHARGE SET
CN6 DMCNET

ASDA-B2-F Wiring
3.3 I / O Signal (CN1) Connection

3.3.1 I / O Signal (CN1) Connector Terminal Layout
In order to have a more flexible communication with the master (the host controller), 2
programmable Digital Outputs (DO) and 5 programmable digital inputs (DI) are provided. The
setting of 5 digital inputs and 2 digital outputs of each axis are parameter P2-10 ~ P2-14 and
parameter P2-18 ~ P2-19 respectively. In addition, the differential output encoder signal, A+, A-,
3
B+, and B- are also provided. The followings are the pin diagrams.
CN1 Connector (female) Connector (male)
Front View Rear View
5 DI5- DI4- DI3- DI2- DI1- 1

10 /OB OB /OA OA GND 6
15 DO2- DO2+ DO1- DO1+ COM+ 11
Pin Pin Pin

Name Function Name Function Name Function
No No No
Control Panel Power ground
1 DI1- Digital input 6 GND 11 COM+
Power 0 V (12 ~ 24 V)
Encoder A
2 DI2- Digital input 7 OA 12 DO1+ Digital output
pulse output
Encoder /A
3 DI3- Digital input 8 /OA 13 DO1- Digital output
pulse output
Encoder B
4 DI4- Digital input 9 OB 14 DO2+ Digital output
pulse output
Encoder /B
5 DI5- Digital input 10 /OB 15 DO2- Digital output
pulse output

Wiring ASDA-B2-F
3.3.2 Signals Explanation of Connector CN1

The following details the signals listed in previous section:
General Signals
3 Signal
OA
Pin No
7
Function
Wiring Method
(Refer to 3.3.3)
Position Pulse /OA 8 Encoder signal output A and B (Line Drive

C5/C6
(Output) OB 9 output)
/OB 10
Wiring Method
Signal Pin No Function
(Refer to 3.3.3)
The positive end of the external power

(+12 V ~ +24 V) must be connected to
COM+ 11
COM+. COM+ is the common input of digital
Power input. -
GND 6 Power of Control Panel 0 V
There are various operation modes available in this servo drive (please refer to Chapter 6.1) and
each mode requires different I/O signal configuration. Thus, programmable I/O signals are
provided. That is, users are able to choose DI and DO signals to meet different application
requirements. Basically, default setting of DI/DO signal has already have the appropriate function
which can satisfy the demand of general application.
Refer to the following DI/DO table to know the corresponding default setting of DI/DO signal and
Pin No of the selected mode in order to conduct the wiring.
The explanation of DO signal default setting is as follows.

Pin No
Do Signal Operation Wiring Method
Function
Name Mode (Refer to 3.3.3)
＋－
When the servo drive applies to the power and no
SRDY ALL - - alarm (ALRM) occurs in control circuit and motor
power circuit, this DO is ON. C1,C2
When the motor speed is slower than the setting
ZSPD ALL - -
value of parameter P1-38, this DO is ON.
Note:
1. For example, if Sz mode is selected, pin 3 and 2 are defined as DO.TSPD.
2. The unlisted Pin No means the signal is not the preset one. If users want to use it, parameters need to
be changed and set as the desired ones. Please refer to Section 3.3.4 for further detail.

ASDA-B2-F Wiring
The explanation of DI signal default setting is as the following.

DI Signal Operation Wiring Method
Pin No Function
Name Mode (Refer to 3.3.3)
ARST
EMGS
ALL
ALL
-
5
When the alarm (ALRM) occurs, this signal is used to
reset the servo drive and enable DI.SRDY again.
It is contact B and always has to be ON; otherwise the

alarm (ALRM) will occur.
3
C3,C4
NL Reverse inhibit limit (contact B) and always has to be
ALL 3
(CWL) ON; or the alarm (ALRM) will occur.
PL Forward inhibit limit (contact B) and always has to be

ALL 4
(CCWL) ON; or the alarm (ALRM) will occur.
The default setting of DI and DO in each operation mode is shown as the followings. The table
below is presented in a different way and the corresponding operation mode is put in the table in
order to avoid confusion.
Table 3.1 Default Value of DI Input Function

Symbol DI code Input Function DMC Sz Tz
ARST 0x02 Alarm reset DI5 DI5 DI5
EMGS 0x21 Emergency stop DI5 DI5 DI5
NL(CWL) 0x22 Reverse inhibit limit DI3 DI3 DI3
PL(CCWL) 0x23 Forward inhibit limit DI4 DI4 DI4
Note:
Please refer to Section 3.3.1 for corresponding pin from DI 1 ~ 5.
Table 3.2 Default Value of DO Input Function

Symbol DO code Input Function DMC Sz Tz
SRDY 0x01 Servo ready DO1 DO1 DO1
ZSPD 0x03 Zero-speed reached DO2 DO2 DO2
Note:
Please refer to Section 3.3.1 for corresponding pin from DO1 ~ 2.

Wiring ASDA-B2-F
3.3.3 Wiring Diagrams (CN1)
When the drive connects to inductive load, the diode has to be installed. (The permissible current
3
is under 40 mA. The surge current is under 100 mA.)
C1: Wiring of DO signal. The servo drive applies to C2: Wiring of DO signal. The servo drive applies to
the external power and the resistor is general load. the external power and the resistor is inductive
load.
Servo Drive Servo Drive
DOX: (DOX+,DOX-) Ensure the polarity (+, -)

DOX: (DOX+, DOX-) of diode is correct or it
X = 1,2 X = 1,2 may damage the drive.
DO1: (12,13)
DO2: (14,15)
R 24 VDC
24 VDC DO1: (12,13)
DOX+
DO2: (14,15)
DOX+
24 VDC
DOX- DOX-
50 mA
Input signal via relay or open-collector transistor

NPN transistor, common emitter (E) mode (SINK mode)
C3：The wiring of DI. The servo drive applies to the external power.
Servo Drive
COM+
Approx. 4.7 KΩ
24 VDC
SON

ASDA-B2-F Wiring
PNP transistor, common emitter (E) mode (SOURCE mode)
C4: The wiring of DI. The servo drive applies to the external power.
Servo Drive
SON
3
24 VDC
COM+
Approx. 4.7 KΩ
Caution: Do not apply to dual power or it may damage the servo drive.
C5: Encoder signal output (Line driver) C6: Encoder signal output (Opto-isolator)
Servo Drive Max. output current is 20 mA Controller Servo Drive Max. Output current is 20 mA Controller
AM26CS31Type AM26CS31Type
OA 7 OA 7
200 Ω
/OA 8 /OA 8
High speed
125 Ω photocoupler
OB 9 OB 9
200 Ω
/OB 10
/OB 10
High speed
125 Ω photocoupler
SG
SG

Wiring ASDA-B2-F
3.3.4 DI and DO Signal Specified by Users
If the default setting of DI/DO does not fulfill the requirement for the application, users can
3
manually define the DI/DO signal. The signal function of DI 1 ~ 5, and DO1 ~ 2 is determined by
parameter P2-10 ~ P2-14 and parameter P2-18 ~ P2-19 respectively. Please refer to the
following table. Enter DI or DO code in the corresponding parameter to set up DI/DO.
Corresponding Corresponding
Signal Name Pin No Signal Name Pin No
Parameter Parameter
DI1- CN1-1 P2-10 DO1+ CN1-12
P2-18
DI2- CN1-2 P2-11 DO1- CN1-13
Standard DI3- CN1-3 P2-12 Standard DO2+ CN1-14
DI DO P2-19
DI4- CN1-4 P2-13 DO2- CN1-15
DI5- CN1-5 P2-14 - - -

ASDA-B2-F Wiring
3.4 CN2 Connector

CN2 encoder connector can be connected in two ways:
CN2 on drive side CN2 Connector

Connect to the servo drive
Encoder Connector
Connect to the motor

3
快速接頭
軍規接頭
The terminal block of the connector and pin number are as follows:
(A) CN2 Connector
6 7 8 9
View from 1 2 3 4 5
this side
Rear view of the terminal block
(B) Encoder Connector
1 2 3 3 2 1
Quick Connector 4 5 6 6 5 4
7 8 9 View from View from 9 8 7
this side this side
Military Connector
B A M
C N L
P T
D K
R S
E J
F G H

Wiring ASDA-B2-F
The definition of each signal is as follows:
Drive Connector Encoder Connector

Terminal Military Quick
Pin No Function and Description Color
Symbol Connector Connector
3 4
5
T+
T-
Serial communication signal
input / output (+)
Serial communication signal input
/ output (-)
A
B
1
4
Blue
Blue & Black

Red / Red &
8 +5V +5 V power supply S 7
White
Black / Black
6, 7 GND Power ground R 8
& White
Shell Shielding Shielding L 9 -
The shielding procedures of CN2 encoder connector are as followings:
(1) Weld the metal core wires with shielding outside with
the metal part of the connector in order to have it fully
shielded.
(2) Install the connector with shielding into the plastic

case as shown in the figure.
(3) Tighten the screws to complete a shielded CN2

connector.

ASDA-B2-F Wiring
3.5 Wiring of CN3 Connector

Layout of CN3 Connector
The servo drive can be connected to the personal computer via communication connector. Users
can operate the servo drive via MODBUS, PLC or HMI. The common communication interface,
RS-232, is provided and its communication distance is about 15 meters.
3
CN3 Connector (female)
Please carefully read through the

description below to avoid damage or
danger caused by incorrect wiring!
Side View Rear View
Pin No Signal Name Terminal Symbol Function and Description

1 Grounding GND + 5 V connects to the signal terminal
RS-232 data The drive transmits the data
2 RS-232_TX
transmission The connector connects to RS-232 of PC
3 - - Reserved
The drive receives the data
4 RS-232 data receiving RS-232_RX
The connector connects to RS-232 of PC
5 - - Reserved
6 - - Reserved
Note:
Two kinds of communication wire of IEEE1394 are commercially available. One of the internal ground
terminals (Pin 1) will short circuit with the shielding and will damage the drive. Do not connect GND to the
shielding.

Wiring ASDA-B2-F
3.6 CN6 Connector (DMCNET)

CN6 uses the standard RJ45 connector, shielded communication cable, and connects to a host
3
controller or motion card. DMCNET system is used to implement position, torque and speed
mode. It also can read or monitor the drive status.
The station number of DMCNET is the same as RS-232. All are set via parameter P3-00 and the
transmission rate is up to 20 Mbps. For connecting more than one drives, it provides two sets of
communication connectors, one is for receiving and another is for transmission. The last servo
drive connects to a 120-Ω termination resistor.
CN6 Connector (female)
Pin No Signal Name Function and Description
1, 9 DMCNET_1A DMCNET Channel 1 bus line (+)
2, 10 DMCNET_1B DMCNET Channel 1 bus line (-)
3, 11 DMCNET_2A DMCNET Channel 2 bus line (+)
4, 12 - Reserved
5, 13 - Reserved
6, 14 DMCNET_2B DMCNET Channel 2 bus line (-)
7, 15 - Reserved
8, 16 Reserved Reserved

ASDA-B2-F Wiring
Host Controller or
Motion Card
… Connect to the
terminal resistor
3
Max. axes: 12
Max. cable length: 30 m
Note:
1. The terminating resistor is suggested to use 120 Ω (Ohm) 0.25 W or above.
2. The wiring method of concatenate more than one drives is based on two terminals of DMCNET. One is
for receiving and another one is for transmission. And the last servo drive connects to the termination
resistor. The wiring diagram of the termination resistor is shown as the followings:

Wiring ASDA-B2-F
3.7 Standard Connection Example

Communication Mode
3
Servo Drive
MCCB ASDA-B2-F series
MC
AC 200/230 V R ＊2
P⊕
Three-phase＊4 S Regenerative
50/60 Hz D Resistor
T
C
red
U
L1c White Power Supply
V
L2c black
W
Green
24V EMGS BRKR Brake
＊3
Encoder
CN2
CN1 4 T+ blue
Blue/
24V COM+ 11 5 T- black
Twisted- pair
24V_GND ＊1 8 Red/ SG
+5V Red&White or twisted-
Reserved DI1 1 4.7KΩ
Black/ shield cable
DI2 6,7 GND Black&
ORGP 2 4.7KΩ
White
NL DI3 3 4.7KΩ
4.7KΩ
CN6 DMCNET
PL DI4 4
4.7KΩ 1 DMCNET_1A
EMGS DI5 5
4.7KΩ 2 DMCNET_1B
DO1+ 3 DMCNET_2A
12
SRDY
1.5 KΩ
DO1- 13 4 -
Data Input
24V 5 -
DO2+ 14
ZSPD
1.5 KΩ
DO2- 15 6 DMCNET_2B
7 -
OA 7 8 -
A phase
Encoder differential signal /OA 8
pulse 9
output B Phase OB 9 DMCNET_1A
differential signal /OB 10 10 DMCNET_1B
11 DMCNET_2A
CN3 12 - Data Output
- 6 13 -
- 5 14 DMCNET_2B
RS232_RX 4 15 -
- 3 16 -
RS232_TX 2
GND 1
Note:
*1 Please refer to Chapter 3.3.3 for
C3 ~ C6 wiring diagrams (SINK/
SOURCE mode).
*2 Models below 200 W have no
built-in braking resistor.
*3 The coil of brake has no polarity.
*4 Single-phase connections are for
servo drives 1.5 kW and below only.

ASDA-B2-F Panel Display and Operation
Panel Display and

Operation 4
This chapter explains the panel display of ASDA-B2-F and its operation. Users may
check the operation status and see whether any alarm occurs via the panel.
4.1 Panel Description ·············································································· 4-2

4.2 Parameter Setting Procedure ································································ 4-3
4.3 Status Display ··················································································· 4-6
4.3.1 Save Setting Display ···································································· 4-6
4.3.2 Decimal Point ············································································· 4-6
4.3.3 Alarm Message ··········································································· 4-6
4.3.4 Positive and Negative Sign Setting ·················································· 4-7
4.3.5 Monitor Display ··········································································· 4-7
4.4 General Function ············································································· 4-10
4.4.1 Operation of Fault Record Display ················································· 4-10
4.4.2 JOG Mode ··············································································· 4-11
4.4.3 Force DO Output ······································································· 4-12
4.4.4 Digital Input Diagnosis Operation ·················································· 4-13
4.4.5 Digital Output Diagnosis Operation ················································ 4-14
September, 2015 4-1

Panel Display and Operation ASDA-B2-F
4.1 Panel Description
4 Display
MODE Key SHIFT Key

MODE ▲ SHIFT
UP Key
Charge LED SET Key
CHARGE ▼ SET
DOWN Key
Name Function
Five-/Seven-segment display is for displaying the monitoring values,

Display
parameter values and setting values.
The group code can be changed in Parameter Mode. When in Editing Mode,
SHIFT Key moving the flashing bit to the left can adjust the higher setting bit. The display
of high/low digit can be switched in Monitor Mode.
Pressing the SET key can display and save the setting value. In monitor
SET Key mode, pressing the SET key can switch decimal or hexadecimal display. In
parameter mode, pressing the SET key can enter parameter setting mode.
Pressing the DOWN key can scroll through and change monitoring codes,
DOWN Key
parameter groups and various parameter settings.
Pressing the UP key can scroll through and change monitoring codes,
UP key
parameter groups and various parameter settings.
Charge LED The Charge LED lights to indicate the power is applied to the circuit.
Pressing the MODE key can enter or exit different parameter groups, and
MODE Key
switch between Monitor mode and Parameter mode.
4-2 September, 2015

4.2 Parameter Setting Procedure

Switching the mode:
Power On
Monitoring
4
Mode
MODE
Parameter
Please refer to Chapter 7 for parameters
Mode
1. If no alarm occurs, the Alarm Mode will be skipped.

MODE
2. When new alarm occurs, it will switch to Alarm Mode in any
condition.
Alarm Mode 3. When switching to the other mode, if no key is being selected
within 20 seconds, it will return to Alarm Mode automatically.
(Please refer to Chapter 9 for detailed alarm description.)
MODE
Operating in each mode:

Monitoring mode
Monitoring
Mode
1. Pressing Keys can select monitoring

variables. (Please refer to section 4.3.5 for
further detail.)
2. Users can directly enter the code of

monitoring variables via P0-02. (please
refer to Chapter 7 for detailed description.)
‧‧‧‧
SHIFT Switch High- / Low-digit
SET Switch Hex. / Dec. format
September, 2015 4-3

Parameter Mode
Parameter Mode
4 Monitoring
Parameter P0
‧‧‧
SHIFT
Basic
Parameter P1
‧‧‧
SHIFT
Extension
Parameter P2
‧‧‧
SHIFT
Communication
Parameter P3
‧‧‧
SHIFT
Diagnosis
Parameter P4
‧‧‧
SHIFT
Motion Control
Parameter P5
‧‧‧
MODE
Monitoring Mode
4-4 September, 2015

Edit Setting Mode
Parameter Mode
MODE
Editing Setting
Mode
SET
4
SET
‧‧‧
Display parameter setting value
Save the parameter setting value.
Then, return to Parameter Mode.
SHIFT
SET
‧‧‧

SHIFT
SET
‧‧‧

‧‧‧
MODE
Monitoring /
Alarm Mode If no alarm occurs, the Alarm Mode will be skipped.
September, 2015 4-5

4.3 Status Display

4.3.1 Save Setting Display
4 When finishing editing parameter, press the SET Key to save the setting. The panel will display
the setting status according to the setting for a second.
Displayed Symbol Description
The setting value is saved correctly. (Saved)
Read-only parameter. Write-protected. (Read-Only)
Enter the wrong password or no password has been entered. (Locked)
Incorrect setting value or enter the reserved setting value. (Out of Range)
No entering is allowed when it is Servo ON. (Servo On)
Parameter will be effective after the servo drive is re-powered on. (Power On)
4.3.2 Decimal Point
High byte / low byte indication: When the data is displayed in decimal 32 bits, it is
for indicating the current high or low byte.
Negative Sign
Low Byte
High Byte
No Function
Negative sign: When the data is displayed in decimal format, the two decimal
points in the left represents the negative sign, no matter it is showed in 16 or 32
bits. When it is showed in hexadecimal format, it only shows positive sign.
4.3.3 Alarm Message

When alarm occurs, the servo drive will show ‘AL’ as the alarm sign and ‘nnn’ as
the alarm code. For further explanation, please refer to Chapter 7, P0-01,
parameter description, or Chapter 9, Troubleshooting.
4-6 September, 2015

4.3.4 Positive and Negative Sign Setting

When entering the Editing Setting Mode, pressing the UP / DOWN Key can
change the displayed value. The SHIFT Key can change the carry value users
wish to alter. (The carry value is flashing at the moment.)
Pressing the SHIFT Key for two seconds can switch the positive (+) and negative
(-) sign. If the parameter value is over the range after switching the positive or
4
negative sign, then it cannot be switched.
4.3.5 Monitor Display
When the drive is applied to the power, the display will show the monitor displayed symbol for a
second, and then enter Monitoring Mode. In Monitoring Mode, the UP / DOWN Key can change
the monitoring variable. Or, the user can directly change parameter setting of P0-02 to set the
monitoring code. When applying to the power, the system will pre-set the monitoring code
according to the setting value of P0-02. For example, the setting value of P0-02 is 4. Every time
when applying to the power, it will display C-PLS monitor sign first, and then shows the input
pulse number of pulse command.
P0-02
Monitor Displayed
Setting Description Unit
Symbol
Value
Motor feedback pulse number (after the scaling of

0 [user unit]
electronic gear ratio) (User unit)
Input pulse number of pulse command (after the scaling

1 [user unit]
of electronic gear ratio) (User unit)
The difference of error pulse number between control

2 [user unit]
command pulse and feedback pulse number (User unit)
Motor feedback pulse number (encoder unit) (1.28

3 [pulse]
million Pulse/rev)
Input pulse number of pulse command (before the

4 [pulse]
scaling of electronic gear ratio) (encoder unit)
Error pulse number (after the scaling of electronic gear

5 [pulse]
ratio) (encoder unit)
6 Input frequency of pulse command [Kpps]
7 Motor speed [r/min]
8 Speed input command [Volt]
9 Speed input command [r/min]
10 Torque input command [Volt]
11 Torque input command [%]
12 Average torque [%]
September, 2015 4-7

P0-02
Monitor Displayed
Setting Description Unit
Symbol
Value
13 Peak torque [%]
4 14 Main circuit voltage
Load / Motor inertia ratio (Note: If it shows 13.0, it

[Volt]
15 [1 times]
means the actual inertia is 13)
16 IGBT temperature [°C]
Resonance frequency (Low byte is the first resonance

17 [Hz]
and high byte is the second one).
The absolute pulse number of encoder Z phase equals

0 +5000, 0 +5000, 0
18 the homing value, 0. It will be +5000 or -5000 pulse -
when rotating in forward or reverse direction.
Z Z Z
Mapping parameter #1: shows the content of parameter
19 -
P0-25 (specify the mapping target by P0-35)

20 -

21 -
Monitor variable #4: shows the content of parameter

22 -
P0-28 (specify the monitor variable code by P0-38)

23 -

24 -

25 -
26 -
4-8 September, 2015

Example of the
Status Description
displayed value
If the value is 1234, it displays 01234 (shows in decimal
format).
(Dec) 16 bits
(Hex)
(Dec high)
If the value is 0x1234, it displays 1234 (shows in
hexadecimal format; the first digit does not show any).
If the value is 1234567890, the display of the high byte is

4
1234.5 and displays 67890 as the low byte (shows in
decimal format).
(Dec low)
32 bits
If the value is 0x12345678, the display of the high byte is

(Hex high) h1234 and displays L5678 as the low byte (shows in
hexadecimal format).
(Hex low)
Negative display. If the value is -12345, it displays 1.2.345 (only shows
in decimal format; there is no positive or negative sign for hexadecimal
format display).
Note:
1. Dec means it is displayed in decimal format. Hex means it is displayed in hexadecimal format.
2. The above display methods can be applied in Monitoring Mode and Editing Setting Mode.
3. When all monitoring variables is 32 bits, high / low bit and the display (Dec/Hex) can be switched.
According to the definition in Chapter 7, each parameter only supports one displaying method and
cannot be switched.
September, 2015 4-9

4.4 General Function

4.4.1 Operation of Fault Record Display
4 When it is in Parameter Mode, select P4-00 ~ P4-04 and press the SET Key, the corresponding
fault record will be shown.
SET
The 1st recent error
SET
The 2nd recent error
SET
The 3rd recent error
SET
The 4th recent error
SET
The 5th recent error

4.4.2 JOG Mode

When it is in Parameter Mode, select P4-05 and follow the setting method below for JOG
operation.
1.
2.
Press the SET Key to display the speed of JOG. The default value is 20 r/min.
Press the UP or DOWN Key to adjust the desired speed of JOG. It is adjusted to 100 r/min
in the example.
4
3. Press the SET Key to display JOG and enter JOG mode.
4. When it is in JOG Mode, press the UP or DOWN Key to enable the servo motor in forward
or reverse direction. The servo motor stops running as soon as the user stops pressing the
key. JOG operation is working only when it is Servo ON.
SET
Display JOG speed.

Its default value is 20 r/min.
Press Up / Down Key to adjust JOG speed.

…
Adjust to 100 r/min.
SET
Display JOG and enter JOG Mode.
JOG Mode
P(CCW) N(CW)
MODE
Exit

4.4.3 Force DO On
Enter the Diagnosis Mode by the following settings. Set P2-08 to 406 and enable the function of
force DO on. Then, set the forced DO by binary method via P4-06. When the setting value is 2, it
4 will force to enable DO2. When the setting value is 5, it will force to enable DO1 and DO3. No
data is retained in this mode. It returns to the normal DO mode when re-power on the drive or set
P2-08 to 400.
SET
SET
Force to enable
DO mode
SET
Force to enable DO1
Force to enable DO2
Force to enable DO1 and DO2
Note:
P4-06 is displayed in hexadecimal format. Therefore, it will not show the fifth 0.

4.4.4 Digital Input Diagnosis Operation
Enter the Diagnosis Mode – DI by the following setting methods. When the external output signal
DI1 ~ DI5 is ON, the corresponding signal will be shown on the panel. It is displayed by bit. When
it shows bit, it means the DI is ON.
4
For example, if it shows 001E, E is in hexadecimal format, it will be 1110 when it transfers to
binary format. Then, DI2 ~ DI4 is ON.
SET
The panel displays in

hexadecimal format.
00 0000 0001 1110 Binary code
DI DI DI DI DI DI DI DI DI DI DI DI DI DI Corresponding
14 13 12 1110 9 8 7 6 5 4 3 2 1 DI Status
(Display in hexadecimal format)

4.4.5 Digital Output Diagnosis Operation
Enter the Diagnosis Mode – DO by the following setting methods. The output signal DO1 ~ DO2
is ON and the corresponding signal will be shown on the panel. It is displayed by bit. When it
4 shows 1, it means the DO is ON.
For example, if it shows 03, 3 is in hexadecimal format, it will be 0011 when it transfers to binary
format. Then, DO1~DO2 is ON.
SET
The panel displays in

hexadecimal format.
0000 0011 Binary Code
DODO Corresponding
2 1 DO Status
(Display in hexadecimal format)

Trial Operation and Tuning
This chapter illustrates how to do trial operation and the basic procedure of tuning. For
your safety, please conduct the first inspection (without load) and then carry out further
trial with load.
5.1 Inspection without Load ······································································ 5-2

5.2 Apply Power to the Servo Drive ···························································· 5-3
5.3 JOG Trial Run without Load ································································· 5-7
5.4 Trial Run without Load (Speed Mode) ···················································· 5-8
5.5 Tuning Procedure ············································································ 5-10
5.5.1 Flowchart of Tuning Procedure ······················································5-11
5.5.2 Inertia Estimation Flowchart (with Mechanism) ································· 5-12
5.5.3 Flowchart of Auto Tuning ····························································· 5-13
5.5.4 Flowchart of Semi-Auto Tuning ····················································· 5-14
5.5.5 Limit of Inertia Ratio ··································································· 5-15
5.5.6 Mechanical Resonance Suppression Method ·································· 5-17
5.5.7 Tuning Mode and Parameters ······················································ 5-18
5.5.8 Tuning in Manual Mode······························································· 5-19
September, 2015 5-1

Trial Operation and Tuning ASDA-B2-F
5.1 Inspection without Load

Please remove the load from the servo motor, including coupling on the shaft and accessories so
5
as to avoid any damage to servo drive or mechanism. This is for avoiding the falling off of the
disassembled parts of the motor shaft and indirectly causing the personnel injury or equipment
damage during operation. Running the motor without load, if the servo motor can run during
normal operation, then it can operate with load.
Caution: To avoid danger, please operate the servo motor without load first and ensure it
runs normally. Then, operate the motor with load.
Please carefully check the following items before operation to avoid any damage to the motor.
Inspection before operation (not applied to the power )
 Check if there is any obvious damage shown on its appearance.

 The splicing parts of the wiring terminal should be isolated.
 Make sure the wiring is correct so as to avoid the damage or any abnormity.
 Make sure electric conductivity objects including sheetmetal (such as screws) or inflammable objects
are not in the servo drive.
 Make sure the control switch is OFF.
 Do not place the servo drive or external regenerative resistor on inflammable objects.
 To avoid the electromagnetic brake losing efficacy, please check if stop function and circuit break
function can work normally.
 If the peripheral devices are interfered by the electronic instruments, please reduce electromagnetic
interference with devices.
 Please make sure the external voltage level of the servo drive is correct.
Inspection when running the servo drive (already applied to the power)
 The encoder cable should avoid excessive stress. When the motor is running, make sure the cable is
not frayed or over extended.
 Please contact with Delta if there is any vibration of the servo motor or unusual noise during the
operation.
 Make sure the setting of the parameters is correct. Different machinery has different characteristic,
please adjust the parameter according to the characteristic of each machinery.
 Please reset the parameter when the servo drive is in Servo Off status, or it may cause malfunction.
 When the relay is operating, make sure it can work properly.
 Check if the power indicator and LED display works normally.
5-2 September, 2015

ASDA-B2-F Trial Operation and Tuning
5.2 Apply Power to the Servo Drive

Please follow the instructions below.
A. Make sure the wiring between the motor and servo drive is correct:
 U, V, W and FG have to connect to cable red, white, black and green respectively. If the
wiring is incorrect, the motor cannot work normally. The ground wire FG of the motor must
be connected to the ground terminal of the servo drive. Please refer to Chapter 3.1 for
5
wiring.
 The encoder cable of the motor has correctly connected to CN2: If users only desire to
carry out JOG function, connecting CN1 and CN3 is not needed (Please refer to Chapter
5.3). Refer to Chapter 3.1 and 3.4 for the wiring of CN2.
Caution: Do not connect the power (R, S, T) to the output terminal (U, V, W) of the servo
drive. Or it might damage the servo drive.
B. Power circuit of the servo drive:

Apply power to the servo drive. Please refer to Chapter 3.1.3 for power wiring.
C. Power on:
Power of the servo drive: including control circuit (L1c, L2c) and main circuit (R, S, T) power.
When the power is on, the display of the servo drive will be:
The default of digital input (DI3 ~ DI5) are the signal of reverse inhibit limit (NL), forward inhibit
limit (PL), and emergency stop (EMGS), if DI3 ~ DI5 is not used, adjusting the setting of P2-12 ~
P2-14 is a must, which can be set to 0 (disable this DI function) or modified to another function.
From the last setting, if the servo drive status displays parameter P0-02 setting as the motor
speed (07), then the screen display will be:
When the panel displays no text, please check if the power of control circuit is undervoltage.
September, 2015 5-3

(1) When the screen displays
5
Warning of overvoltage:
It means the voltage input by the main circuit is higher than the rated range or a power input error
has occurred (incorrect power system).
Corrective action:
 Use the voltmeter to measure if the input voltage from the main circuit is within the range of
rated voltage.
 Use the voltmeter to measure if the power system complies with the specifications.
(2) When the screen displays
Warning of encoder error:

Check if the motor encoder is securely connected and the wiring is correct.
Corrective action:
 Make sure the wiring is the same as the instruction of the user manual.
 Check the encoder connector.
 Check if the wiring is loose.
 Check if the encoder is damaged. If yes, please change a new one.
5-4 September, 2015

(3) When screen displays
Warning of emergency stop:

5
Please check if any of the digital input DI1 ~ DI5 is set to emergency stop (EMGS).
Corrective action:
 If not desire to set emergency stop (EMGS) as one of the digital input, make sure no digital
input is set to emergency stop (EMGS) among DI1 ~ DI5. (That is to say none of the
parameters, P2-10 ~ P2-14 is set to 21.)
 If the function of emergency stop (EMGS) is needed and this DI is set as normally close
(function code: 0x0021), please make sure this DI is always normally close. If not, please
set this DI as normally open (function code: 0x0121).
Warning of negative limit error:

Please check if any of the digital input DI1 ~ DI5 is set to negative limit (NL) and that DI is ON.
Corrective action:
 If not desire to set negative limit (NL) as one of the digital input, make sure no digital input is
set to negative limit (NL) among DI1 ~ DI5. (That is to say none of the parameters, P2-10 ~
P2-14 is set to 22.)
 If the function of negative limit (NL) is needed and this DI is set as normally close (function
code: 0x0022), please make sure this DI is always normally close. If not, please set this DI
as normally open (function code: 0x0122).
Warning of positive limit error：

Please check if any of the digital input DI1 ~ DI5 is set to positive limit (PL) and that DI is ON.
Corrective action:
 If not desire to set positive limit (PL) as one of the digital input, make sure no digital input is
set to positive limit (PL) among DI1 ~ DI5 (That is to say none of the parameters, P2-10 ~
P2-14 is set to 23.)
September, 2015 5-5

 If the function of positive limit (PL) is needed and this DI is set as normally close (function
code: 0x0023), please make sure this DI is always normally close. If not, please set this DI
as normally open (function code: 0x0123).
5 (6) When screen displays
Warning of overcurrent:
Corrective action:
 Check the connection between the motor and servo drive.
 Check if the conducting wire is short circuited.
Exclude short circuit and avoid metal conductors being exposed.
Warning of undervoltage:
Corrective action:
 Check if the wiring of main circuit input voltage is correct.
 Use voltmeter to measure if the main circuit voltage is normal.
 Use voltmeter to measure if the power system complies with the specification.
Note:
During power on or servo on (without issuing any command), if an alarm occurs or any abnormal display is
shown, please contact the distributors.
5-6 September, 2015

5.3 JOG Trial Run without Load

It is very convenient to test the motor and servo drive with the method of JOG trial run without
load since the extra wiring is unnecessary. For safety reasons, it is recommended to set JOG at
low speed. Please see the following descriptions.
Step 1: Use software setting to Servo On the drive. Set parameter P2-30 to 1. This setting is to
force servo on the drive through software.
5
Step 2: Set P4-05 to JOG speed (Unit: r/min). After setting the desired JOG speed, press the
SET key, the servo drive will enter JOG mode.
Step 3: Press the MODE key to exist JOG mode.
Motor runs in
forward direction
Speed 0 Motor stops

Motor runs in
reverse direction
Press Release Press
If the motor does not run, please check if the wiring between UVW and encoder cable is correct.
If the motor runs abnormally, please check if the UVW phase sequence is correct.
September, 2015 5-7

5.4 Trial Run without Load (Speed Mode)

Before starting trial run without load, firmly secure the motor base so as to avoid the danger
caused by the reacting force generated during speed change.
5 Step 1: Set the control mode of the servo drive to speed mode. Set P1-01 to 2 as speed mode.
Then, re-power on the servo drive.
Step 2: In speed mode, the digital input settings of trial run are as follows:
Parameter Setting
Digital Input Symbol Function Description CN1 Pin No
Value
DI1 P2-10 = 101 SON Servo ON DI1- = 1
DI2 P2-11 = 104 CCLR Pulse Clear DI2- = 2
DI3 P2-12 = 114 SPD0 Speed Selection DI3- = 3
DI4 P2-13 = 115 SPD1 Speed Selection DI4- = 4
DI5 P2-14 = 0 Disabled DI disabled DI5- = 5
The above table shows the settings that disable the function of negative limit (DI3), positive limit
(DI4) and emergency stop (DI5). Thus, parameter P2-14 is set to 0 (Disabled); DI3 and DI4 are
set to Speed Selection (SPD0) and Speed Selection (SPD1) respectively. The digital input of
Delta’s servo drive can be programmed by users. When programming digital input, please refer
to the description of DI code.
The default setting includes the function of negative limit, positive limit and emergency stop;
therefore, if any alarm occurs after setting completed, please re-power on the servo drive or set
DI.ARST to On to clear the alarm. Please refer to Chapter 5.2.
5-8 September, 2015

The speed command selection is determined by SPD0 and SPD1. See the table below.
Speed DI signal of CN1

Command Source Content Range
Command No.
5
SPD1 SPD0
Speed command
S1 0 0 N/A 0
is zero
S2 0 1 P1-09 -60000 ~ 60000
Register
S3 1 0 P1-10 -60000 ~ 60000
parameter
S4 1 1 P1-11 -60000 ~ 60000
0 means DI is Off; 1 means DI is On
Register parameter
The parameter setting range is from -60000 to 60000. Setting speed = Setting range x unit (0.1
r/min).
For example: P1-09 = +30000; Setting speed = +30000 x 0.1 r/min = +3000 r/min
Command setting of speed register
Set parameter P1-09 to 30000 Input command Rotation direction

Set parameter P1-10 to 1000 + CCW
Set parameter P1-11 to -30000. - CW
Step 3:
(1) Switch ON DI 1 and Servo On.
(2) Both DI 3 (SPD0) and DI 4 (SPD1), the speed command, are OFF, which means it
currently executes S1 command. The motor rotates according to analog voltage
command.
(3) When DI3 (SPD0) is ON, it means it currently executes S2 command (3000 r/min). The
rotation speed is 3000 r/min for rotary motor.
(4) When DI4 (SPD1) is ON, it means it currently executes S3 command (100 r/min). The
rotation speed is 100 r/min.
(5) When both DI3(SPD1) are ON, it means S4 command (-3000 r/min) is executed at the
moment. The rotation speed is -3000 r/min.
(6) Step (3), (4) and (5) can be repeatedly executed.
(7) If users desire to stop the motor, switch off DI1 (Servo Off).
September, 2015 5-9

5.5 Tuning Procedure

Estimate the inertia ratio: JOG Mode
1. After completing wiring, when applying to the power, the servo drive will
5 display:
2. Press the MODE key to select the mode of parameter function.

AL013
P0-00
3. Press the SHIFT key to select the mode of parameter group. P2-00
4. Press the UP key to select parameter P2-17. P2-14
5. Press the SET key to display parameter value, which is shown as the content
on the right.
21
6. Press the SHIFT key twice, then press the UP key and then press the SET
key.
121
8. Press the SET key to display the parameter value. 0
9. Press the UP key and select the parameter value 1. 1
10. Then, the servo drive is ON and will show: 00000
11. Press the DOWN key to select the estimated inertia ratio. J-L
12. The panel displays the current value of inertia ratio (default value). 1.0
13. Press the MODE key to select the mode of parameter function. P2-30
14. Press the SHIFT key to select the mode of parameter group. P4-00
16. Press the SET key to show the content, which is 20 r/min at JOG speed. 20
Press the UP and DOWN key to raise or reduce the JOG speed. Press the
SHIFT key to move to the next digit of the left.
200
17. Set the desired JOG speed and press the SET key. Then, the figure
displays as shown on the right.
-JOg-
18. Press the UP key to rotate the motor in forward direction or press the DOWN key the motor will rotate in
reverse direction.
19. Carry out JOG operation at low speed first. With the constant speed, if the motor operates smoothly in
forward and reverse direction, users can carry out JOG operation at higher speed.
20. In P4-05, the servo drive cannot display inertia ratio. Please press the MODE key twice to view the
value of inertia ratio. If users desire to start JOG operation again, press the MODE key, and then press
the SET key twice. Observe the panel display to see if the load inertia ratio remains at the same value
after acceleration and deceleration.

5.5.1 Flowchart of Tuning Procedure

Trial run without load
is OK.
No
New model?
Yes
5
Exit the control of the host controller.
Use the servo drive to perform trial If the estimation of inertia ratio is
run and estimate the inertia ratio* incorrect, it cannot obtain the best
performance of tuning.
Manual mode Semi-auto mode Auto mode
Connect to the host controller. Pay

attention to the wiring of CN1. Perform
trial run by P4-07 and P4-09.
Resonance can be suppressed
by P2-23 and P2-24.
Use the selected gain tuning mode

to enhance the performance.
OK
Note: The value of inertia ratio is used for rotary motors.
Figure 5-1 Tuning procedure

5.5.2 Inertia Estimation Flowchart (with Mechanism)
Turn Off the power of servo drive.
5 Connect the motor to the

mechanism.
Turn On the power of servo drive.
Set P0-02 to 15. The panel will

display inertia ratio.
Set P2-32 to 0 in manual mode.
Set P2-30 to 1.
No
Decrease the value of P2-00. Set Yes Mechanical
the value of P2-06 and P2-00 to
system vibrates?
the same.
Enter P4-05, JOG mode.
Set JOG speed at 20 r/min.
Press the Up (forward) or Down

(reverse) key to perform JOG.
If it operates No Check the

smoothly at constant
mechanism.
speed?
Yes
Increase JOG speed which is >

200 r/min.
Alternately accelerate and

decelerate the mechanical
system.
View the panel display to see if the inertia ratio remains the same after
alternately acceleration and deceleration. Then, select the tuning
method according to the inertia ratio*.
Note: Users cannot view inertia ratio in JOG mode. Please press the
MODE Key twice. If users desire to perform JOG operation, press the
MODE Key, and then press the SET Key twice.
Figure 5-2 Inertia estimation

5.5.3 Flowchart of Auto Tuning

Please refer to the figure below to start the auto tuning procedure.
5
Servo off. Set P2-32 to 1. Then, Servo on.
Set P0-02 to 15. The panel

will display the inertia ratio*.
Alternately accelerate and

decelerate.
1. Decrease the value of P2-31 to

reduce the noise. Yes
2. If not decrease the value of P2-31,
Any resonance?
then adjust the value of P2-23 and
P2-24 to suppress the resonance.
(Please refer to Chapter 5.6.6)
No
Yes
Satisfactory Tuning
performance? completed.
No
Increase the value of P2-31 to increase the

response and stiffness.
Figure 5-3 Tuning procedure in auto mode
Set P2-32 to 1 (auto mode, continuous tuning):

The servo will continue to estimate the system inertia. Then, it will automatically store the
value in P1-37 every 30 minutes and refer the stiffness and bandwidth setting of P2-31.
Adjust the value of P2-31, Stiffness setting in auto tuning mode (The default value is 40):
Increase the value of P2-31 to increase stiffness or decrease to reduce noise. Please note
that the higher the value is, the higher the stiffness will be. Continue to tune the system until
the performance is satisfied. Then, tuning is completed.
In auto and semi-auto mode, the bandwidth setting of speed circuit is as follows.
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response

5.5.4 Flowchart of Semi-Auto Tuning

Please refer to the figure below to start the semi-auto tuning procedure.
5 Servo off and set P2-32 to 2. Then, servo on

again.

displays the inertia ratio*.
The servo drive issues the

command and make motor
alternately accelerate /
decelerate.
1. Lower the value of P2-31 to reduce the noise.

2. If not desire to lower the value of P2-31, value Yes Any
of P2-23 and P2-24 can be used to suppress resonance?
the resonance as well.
(Please refer to Chapter 5.6.6) No
The inertia ratio shown on the

panel is stable. Check if bit 0 of
No
P2-33 is 1*
Yes
Satisfactory No Increase the value of P2-31

to increase response and
performance?
stiffness.
Yes
Complete
Figure 5-4 Procedure of tuning in semi-auto mode
Set P2-32 to 2. (semi-auto mode, non-continuous tuning)

After tuning for a while and wait until the system inertia is stable, it stops estimating. The
estimated inertia ratio will be saved to P1-37. When switching mode from manual or auto to
semi auto, the system starts tuning again. During the process of estimation, the system will
refer to the stiffness and bandwidth setting of P2-31.
Adjust the value of P2-31, Response setting in auto mode (The default value is 40)
Increase the value of P2-31 to increase the response or decrease to reduce the noise.
Continue to tune the system until the performance is satisfied. Response setting in
semi-auto tuning mode: the higher the value is, the better the response will be. Then, tuning
is completed.
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1 ~ 50 Hz: low-stiffness, low-response
51 ~ 250 Hz: medium-stiffness, medium-response
251 ~ 850 Hz: high-stiffness, high-response
Note:
1. If P2-33 bit 0 is set to 1, it means the inertia estimation in semi-auto mode is completed. The result can be
accessed by P1-37.
2. If the value of P2-33 bit 0 is cleared to 0, the system will start to estimate again.

5.5.5 Limit of Inertia Ratio

Please see the limit of inertia ratio below during the estimation.
 Acceleration / Deceleration time of reaching 2000 r/min should be less than 1 second.



The speed in forward and reverse direction should be higher than 200 r/min.
The load inertia should be under 100 times of motor inertia.
The change of external force of inertia ratio cannot be too severe.
5
In auto mode, the inertia value will be saved to P1-37 every 30 minutes; while in semi-auto mode,
the inertia value will be saved to P1-37 only until the system inertia is stable and stops the
estimation of load inertia.
Servo off and set P2-32 to 2. Then, Servo on

again.

displays The inertia ratio*.
The servo drive issues the

command and to make motor
alternately accelerate /
decelerate.
1. Lower the value of P2-31 to reduce the noise.

2. If not desire to lower the value of P2-31, value Yes Any
of P2-23 and P2-24 can be used to suppress the resonance?
resonance as well.
(Please refer to Chapter 5.6.6) No
The inertia ratio shown on No

the panel is stable.
Yes
Increase the value of P2-31
Satisfactory No to increase response and
performance?
stiffness.
Yes
If the value of inertia ratio

remains almost the same, then
servo off and set P2-32 to 0.
Yes
Complete
Figure 5-5 Estimation of load inertia

Motor alternately accelerates

and decelerates
5 High-frequency
resonance?
Yes
No
Complete
Set P2-47 to 1
No
Resonance No Repeatedly set P2-47

elimminated? to 1 for over 3 times
Note 1
Yes
Yes
Set P2-47 to 0
No P2-47 is set to 0
P2-44 = 32 (max);
Remain the value of P2-43
Complete P2-46 = 32 (max)
and P2-45
Note 2
Yes
Suppress resonance by P2-
It is suggested to reduce the 44 and P2-46.
speed bandwidth.
Motor alternately accelerates

and decelerates
Yes High-frequency
resonance?
No
Figure 5-6 Procedure of auto suppressing the resonance
Note:
1. Resonance suppression is determined by parameter P2-44 and P2-46. If the value has been set to the
maximum (32 dB), and still cannot suppress the resonance, please reduce the speed bandwidth. After
setting P2-47, users can check the value of P2-44 and P2-46. If the value of P2-44 is not 0, it means the
resonance frequency exists in the system. Then, users can access P2-43 to see the resonance
frequency (Hz). When there is another resonance frequency, the information will be shown in P2-45 and
P2-46.
2. If resonance still exists, repeatedly set P2-47 to 1 for more than 3 times and manually adjust the setting of
resonance.

5.5.6 Mechanical Resonance Suppression Method
Three groups of Notch filter are provided to suppress mechanical resonance. Both two of them
can be set to the auto resonance suppression and manual adjustment.
Use the analytic tool provided by PC

software to display the point of
5
resonance.
The servo issues the command to

make motor accelerate / decelerate
alternatively
No
High-frequency
Complete
resonance?
Yes
Save the value of resonance frequency to P2-23

and set P2-24 to 4.
Resonance No Increase the value of

eliminated? P2-24
Yes
Tuning completed
Figure 5-7 Procedure of manual suppressing the resonance

5.5.7 Tuning Mode and Parameters

Auto-set
Tuning mode P2-32 User-defined parameters Inertia adjustment
parameters
5
P1-37(Inertia ratio of the motor)
P2-00 (Position control gain)
P2-04 (Speed control gain)
Manual mode 0 (default) N/A P2-06(Speed integral The value remains
compensation)
P2-25(Low-pass filter of
resonance suppression)
P2-26 (Anti-interference gain)
P1-37
P2-00
Auto mode P2-04 P2-31 Frequency response of Continuous tuning
(continuous 1 P2-06 speed loop setting in auto mode (update the inertia
estimation) P2-25 (response level) every 30 minutes)
P2-26
P2-49
P1-37
P2-00 Non-continuous
P2-04 tuning (stop
Semi-auto mode P2-31 Frequency response of
updating the
(non-continuous 2 P2-06 speed loop setting in semi-auto
inertia after
estimation) P2-25 mode (response level)
operating for a
P2-26 while)
P2-49
When switching mode from auto mode 1 to manual mode 0, the value of P2-00, P2-04, P2-06,
P2-25, P2-26 and P2-49 will be modified to the one in auto mode.
When switching mode from semi-auto mode 2 to manual mode 0, the value of P2-00, P2-04,
P2-06, P2-25, P2-26 and P2-49 will be modified to the one in semi-auto mode.

5.5.8 Tuning in Manual Mode
The selection of position / speed response frequency should be determined by the machinary
stiffness and application. Generally, the high-frequency machinary or the one requries precise
processing needs the higher response frequency. However, it might cause the resonance. Thus,
use machinery with higher stiffness is needed so as to avoid resonance. When the permitted
resonace frequnecy is unknown, users could gradually increase the gain setting value to
5
increase the resonse frequency. Then, decrease the gain setting value until the resonance exists.
The following are the descriptions about gain adjustment.
 Position Loop gain (KPP, parameter P2-00)
This parameter determines the response of position loop. Higher KPP value will make
higher response frequency of position loop. And it will have better following, smaller position
error, and shorter settling time. However, if the value is set too high, the machinery will
vibrate or overshoot when positioning might occur. The calculation of position loop
frequency response is as follows:
Position Loop Frequency Response Hz
 Speed Loop gain (KVP, parameter P2-04)
This parameter determines the response of speed loop. Higher KVP value will make higher
response frequency of speed loop and better following. However, if the value is set too high,
it would cause machinery resonance. The response frequency of speed loop must be 4 ~ 6
times higher than the response frequency of position loop. Otherwise, the machinery might
vibrate or overshoot when positioning might occur. The calculation of speed loop frequency
response is as follows.
/
Speed Loop Frequency Response fv Hz; JM: Motor Inertia;
/
JL: Load Inertia; P1-37: 0.1 times
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real speed loop
frequency response will be: fv Hz

 Speed integral compensation (KVI, parameter P2-06)
The higher the KVI value is, the better capability of eliminating the deviation will be.
However, if the value is set too high, it might easily cause vibration of machinery. It is
5 suggested to set the value as follows.

KVI P2 06 1.5 Speed Loop Frequency Response
 Low-pass filter of resonance suppression (NLP, parameter P2-25)
High value of intertia ratio will reduce the frquency response of speed loop. Therefore, the
KVP value must be increased to maintain the response frequency. During the process of
increasing KVP value, it might cause machinary resonance. Please use this parameter to
elimiate the noise of resonance. The higher the value is, the better the capability of reducing
high-frequency noise will be. However, if the value is set too big, it would cause the
unstability of speed loop and overshoot. It is suggested to set the value as the following:
NLP P2 25

 Anti-interference gain (DST, parameter P2-26)
This parameter is used to strengthen the ability of resisting external force and gradually
eliminate overshoot during acceleration / deceleration. Its default value is 0. It is suggested
not to adjust the value in manual mode, unless it is for fine-tuning.
 Position feed forward gain (PFG, parameter P2-02)
It can reduce the position error and shorten the settling time. However, if the value is set too
high, it might cause overshoot. If the setting value of e-gear ratio is higher than 10, it might
cause the noise as well.

Control Mode of Operation
This chapter describes operation structure of each control mode, including information
about gain adjustment and filters. The operation of ASDA-B2-F is based on
communication. Its position mode is controlled via DMCNET network and the speed
mode and torque mode only accept commands from internal registers.
123
6.1 Selection of Operation Mode ································································ 6-2
6.2 Position Mode ··················································································· 6-3
6.2.1 Control Structure of Position Mode ·················································· 6-3
6.2.2 S-curve Filter (Position) ································································ 6-4
6.2.3 Electronic Gear Ratio ··································································· 6-5
6.2.4 Low-pass Filter ··········································································· 6-6
6.2.5 Gain Adjustment of Position Loop···················································· 6-6
6.2.6 Low-frequency Vibration Suppression in Position Mode ······················· 6-7
6.3 Speed Mode ··················································································· 6-10
6.3.1 Selection of Speed Command ······················································ 6-10
6.3.2 Control Structure of Speed Mode ·················································· 6-11
6.3.3 Smooth Speed Command ··························································· 6-12
6.3.4 Timing Diagram of Speed Mode ···················································· 6-13
6.3.5 Gain Adjustment of Speed Loop···················································· 6-14
6.3.6 Resonance Suppression ····························································· 6-18
6.4 Torque Mode ·················································································· 6-23
6.4.1 Selection of Torque Command······················································ 6-23
6.4.2 Control Structure of Torque Mode·················································· 6-24
6.4.3 Smooth Torque Command ··························································· 6-25
6.4.4 Timing Diagram of Torque Mode ··················································· 6-25
6.5 The Use of Brake ············································································ 6-26
September, 2015 6-1

Control Mode of Operation ASDA-B2-F
6.1 Selection of Operation Mode

Three basic operation modes are provided in B2-F series servo drive, position, speed and torque.
The following table lists all the operation modes and the related descriptions.
6 Mode Name
Position
Mode
Short
Name
DMC
Setting
Code
b
Description
The servo drive receives position command from the

controller and commands the motor to run to the target
position.
The servo drive receives speed command and commands the

Speed Mode
motor to run at target speed.
Single (No analog Sz 04
Speed command can only be issued by register (3 sets of
Mode input)
register in total) and uses DI signal to select the register.
The servo drive receives torque command and commands the

Torque Mode
motor to target torque.
(No analog Tz 05
Torque command can only be issued by register (3 sets of
input)
register in total) and uses DI signal to select the register.
Steps of changing mode:

1. Set DI.SON to OFF to switch the servo drive to Servo Off status.
2. Set the above setting code in the control mode setting of P1-01. Please refer to Chapter 7 for
further description.
3. After the setting is completed, turn off the power and restart the drive again.
The following sections describe the operation of each mode, including mode structure, command
source, selection and process of command and gain adjustment.
6-2 September, 2015

ASDA-B2-F Control Mode of Operation
6.2 Position Mode

Position mode can be used in the application which requires precise positioning function, such
as machinery industry. ASDA-B2-F only provides position mode which can be controlled via
communication network DMCNET.
6.2.1 Control Structure of Position Mode 6

Position Command
Position
Command
Processing Unit
Position Control
Speed Loop Current Loop Motor
Unit
Figure 6-1 Basic Control Structure of Position Mode
For better control, the position command should be processed and modified through position
command processing unit. The structure is shown as the figure below.
GNUM0, GNUM1
1st Numerator(P1-44)
2nd Numerator(P2-60) Notch Notch
S-curve Command Moving Low-pass
3rd Numerator(P2-61) Filter Filter Filter
Counter Filter Selection Filter
Computer P1-25 P1-27
th
4 Numerator(P2-62) P1-36 P1-01 P1-01 P1-08
∣ ∣
P1-26 P1-28
Denominator(P1-45)
Figure 6-2 Position Command Processing Unit
E-Gear ratio can be set for proper positioning resolution. Moreover, either S-curve filter or
low-pass filter can be used to smooth the command. See the description in later parts.
September, 2015 6-3

6.2.2 S-curve Filter (Position)

S-curve filter smoothes the motion command. With S-curve filter, the speed and the process of
acceleration become more continuous and the jerk will be smaller. It not only improves the
performance when motor accelerates/decelerates, but also smoothes the mechanical operation.
6 If the load inertia increases, the operation of the motor will be influenced by friction and inertia
when it starts or stops the rotation. The situation can be improved by increasing the value of
acceleration/deceleration constant of S-curve (TSL), acceleration constant of S-curve (TACC)
and deceleration constant of S-curve (TDEC).
Position
Time (ms)
Speed
Rated
Speed
Time (ms)
Torque
Time (ms)
TACC
TSL/2 TSL/2
TSL/2 TDEC TSL/2
The relation among S-curve, position and speed
(acceleration of position command)
Position
Time (ms)
Speed Time (ms)
Rated
Speed
Torque
Time (ms)
TACC TSL/2 TDEC TSL/2

TSL/2 TSL/2
The relation among S-curve, position and speed
(deceleration of position command)
6-4 September, 2015

Relevant Parameters (Please refer to Chapter 7 for detailed description):
Parameter Abbr. Function
P1-34 TACC Acceleration Constant of S-Curve
P1-35
P1-36
TDEC
TSL
Deceleration Constant of S-Curve
Acceleration/Deceleration Constant of S-Curve

6
6.2.3 Electronic Gear Ratio
P1-44 GR1 Gear Ratio (Numerator) (N1)
P1-45 GR2 Gear Ratio (Denominator) (M)
Electronic Gear Ratio has to match 5000
Electronic gear provides simple ratio change of travel distance. The high electronic gear ratio
would cause the position command to be stepped command. S-curve or low-pass filter can be
used to improve the situation. When electronic gear ratio is set to 1, the motor will run one turn
every 10000 PPR. When electronic gear ratio is changed to 0.5, then every two pulses from the
command will be referred to one PUU of the motor encoder.
For example, after setting the electronic gear ratio properly, the moving distance of the object is 1
μm/pulse, which is easier to use.
WL: Working Load
WT: Work Piece
Ball Screw
Pitch: 3 mm
Motor (Encoder resolution: A/B, Z)
Encoder PPR: 2500 pulse
- Gear Ratio Moving Distance of Each Pulse Command
Electronic gear 1 3  1000 3000

    m
is not applied. 1 4  2500 10000
Electronic gear 
10000
 1m
is applied. 3000
September, 2015 6-5

6.2.4 Low-pass Filter

6 P1-08
P1-45
PRLT
GR2
Smooth Constant of Position Command (Low-pass Filter)
Gear Ratio (Denominator) (M)
Target Position
6.2.5 Gain Adjustment of Position Loop

Before setting the position control unit, users have to manually complete the setting of tuning
mode selection (P2-32) since the speed loop is included in position loop. Then, set the position
loop gain (P2-00) and position feed forward gain (P2-02). Users also can use the auto mode to
automatically set the gain of speed and position control unit.
1. Proportional gain: Increase the gain so as to enhance the response bandwidth of position
loop.
2. Feed forward gain: Minimize the deviation of phase delay.
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested that:
fv
fp  . fv: response bandwidth of speed loop (Hz).
4
KPP = 2 ×  × fp. fp: response bandwidth of position loop (Hz).
For example: the desired position bandwidth is 20 Hz  KPP = 2 ×  × 20= 125.
P2-00 KPP Position Loop Gain
P2-02 PFG Position Feed Forward Gain
6-6 September, 2015

Position Control Unit
Smooth Constant of
Position Feed
Position Feed
6
Differentiator Forward Gain
Forward Gain
P2-02
P2-03
Position Loop
+ + Max. Speed
Gain
+ Limit
P2-00
- Switching Rate P1-55
of Position Loop Gain Switching
Gain and Switching
P2-01 Selection Speed
+ P2-27 Command
Position
Encoder
Counter
Figure 6-3 Position Control Unit
When the value of KPP is set to be too large, the bandwidth of position loop will be increased and
diminish the phase margin. And the motor rotor rotates vibrantly in forward and reverse direction
at the moment. Thus, KPP has to be decreased until the rotor stops vibrating. When the external
torque interrupts, the over-low KPP cannot meet the demand of reducing position error. In this
situation, parameter P2-02 may help which can effectively reduce the position error.
6.2.6 Low-frequency Vibration Suppression in Position Mode

If the system stiffness is not enough, the mechanical transmission will continue vibrating even
when the motor stops and the positioning command is completed. The function of low-frequency
vibration suppression can eliminate the vibration of mechanical transmission. The range of
low-frequency vibration suppression is from 1.0Hz to 100.0HZ. Manual setting and auto setting
are provided for this function.
Auto setting:
If the frequency is hard to find, user can enable the function of auto low-frequency vibration
suppression. This function automatically searches the frequency of low-frequency vibration. If
P1-29 is set to 1, the system will disable the function of low-frequency vibration suppression
automatically and starts to search for the vibration frequency. When the detected frequency
remains at the same level, P1-29 will be set to 0 automatically and set the first frequency to
P1-25 and set P1-26 to 1. The second frequency will be set to P1-27 and then set P1-28 to 1. If
P1-29 is automatically set back to 0 and low-frequency vibration still exists, please check if the
function of P1-26 or P1-28 is enabled. If the value of P1-26 and P1-28 are 0, it means no
September, 2015 6-7

frequency has been detected. Please decrease the value of P1-30 and set P1-29 to 1 so as to
search for the vibration frequency again. Please note that when the detection level is set to be
too small, the noise may be regarded as the frequency of low-frequency vibration.
Repeat position
6
control function
Check if
vibration occurs
when
positioning
Yes
Set P1-29 to 1 Decrease the value of Increase the value of

P1-30 Note1 P1-30 Note2
No Yes
No Yes No
Check if vibration Check if P1-29 is Check if P1-26 and
becomes less set to 0 P1-28 are set to 0
and stable
Yes
Set P1-29 to 0
Operation is
completed
Figure 6-4 Procedure of Auto Low-frequency Vibration Suppression
Note:
1. When the value of P1-26 and P1-28 are both 0, it means it is unable to search for the frequency. It is
probably because the detection level is set to be too high and is unable to detect the frequency of
low-frequency vibration.
2. When the value of P1-26 or P1-28 is not 0 and the vibration still cannot be diminished, it is probably
because the detection level is set to be too low, the system regards the noise or other non-primary
frequency as the frequency of low-frequency vibration.
3. When the process of auto vibration suppression is completed and the vibration still cannot be diminished,
P1-25 or P1-27 can be manually set to suppress the vibration if the frequency of the low-frequency
vibration is identified.
6-8 September, 2015

Relevant Parameters of Auto Vibration Suppression (Please refer to Chapter 7 for detailed
description):
P1-29
P1-30
AVSM
VCL
Auto Low-frequency Vibration Suppression Setting
Low-frequency Vibration Detection 6

P1-30 is to set the range to detect the magnitude of low-frequency vibration. When the frequency
is not being detected, it is probably because the value of P1-30 is set to be too large which
exceeds the range of vibration. It is suggested to decrease the value of P1-30. Please note that if
the value is too small, the system might regard the noise as the vibration frequency. If the scope
is available, it can be used to observe the range of position error (pulse) between upper and
lower magnitude in order to set up the appropriate value of P1-30.
Manual Setting:
There are two sets of low-frequency vibration suppression. One is parameter P1-25 and P1-26
and the other one is parameter P1-27 and P1-28. These two sets of low-frequency vibration
suppression can be used to eliminate low-frequency vibration with two different frequencies.
Parameter P1-25 and P1-27 are used to set the frequency of low-frequency vibration. The
function is working only when the parameter setting value of low-frequency vibration suppression
is close to the real vibration frequency. Parameter P1-26 and P1-28 are used to set the response
after being processed by the filter. The bigger the setting value of P1-26 and P1-28 is, the better
the response will be. However, if the value is set to be too large, the motor might not operate
smoothly. The default value of parameter P1-26 and P1-28 are 0, which means the function is
disabled.
P1-25 VSF1 Low-frequency Vibration Suppression (1)
P1-26 VSG1 Low-frequency Vibration Suppression Gain (1)
September, 2015 6-9

6.3 Speed Mode

Speed control mode is applicable in situation which requires precise speed control, such as CNC
machine tools. The command input of ASDA-B2-F is register. Two ways are provided to use
register input. One is to set different values of speed command to the three registers before
6 operation, and use DI.SP0 and SP1 in CN1 for switching. The other one is to change the value of
register by communication. In order to deal with the problem of non-continuous speed command
when switching between registers, a complete S-curve is provided. In closed-loop system, this
servo drive adopts gain adjustment and integrated PI controller. Two operation modes (manual
and auto) are also available.
Users can set all the parameters in manual mode and all the auto or auxiliary functions will be
disabled. In auto mode, it provides functions of load inertia estimation and parameter adjustment.
In auto mode, parameters set by users will be regarded as default values.
6.3.1 Selection of Speed Command

The source of speed command is from internal parameters. The selection is determined by DI
signal of CN1. See as the followings:
Speed CN1 DI Signal
Command SPD1 SPD0
S1 0 0 Mode Sz N/A Speed command is 0 0
S2 0 1 P1-09 -60000 ~ 60000
S3 1 0 Parameter of internal register P1-10 -60000 ~ 60000
S4 1 1 P1-11 -60000 ~ 60000
 Status of SPD0 ~ SPD1: 0 means DI is OFF, 1 means DI is ON.

 When SPD0 = SPD1 = 0, speed command is 0.
 When one of SPD0 and SPD1 is not 0, the speed command source is the internal
parameter. The command is activated right after changing the status of SPD0 ~ SPD1.
There is no need to use CTRG as trigger.
 The setting range of the internal parameters is between -60000 to 60000. Setting value =
Setting range x Unit (0.1r/min).
For example: P1-09 = +30000. Setting value = +30000 x 0.1r/min = +3000r/min
The speed command not only can be issued in speed mode, but also in torque mode as the
speed limit.

6.3.2 Control Structure of Speed Mode
Speed Command
Speed
Command
Processing Unit
6
Speed
Estimator
Resonance Current
Speed Control Unit Torque Limit Motor
Suppression Unit Loop
Figure 6-5 Basic Control Structure of Speed Mode
The speed command processing unit is to select speed command source according to Section
6.3.1, including the S-curve setting for smoothing speed command. The speed control unit
manages the gain parameters of the servo drive and calculates the current command for servo
motor in time. The resonance suppression unit is to suppress the resonance of the mechanism.
Here firstly introduce the function of speed command processing unit. Its structure is as the
following figure:
SPD0 and SPD1 Signal of

CN1
Register Command
S-curve Filter Low-pass Filter
P1-09 Selection
P1-36 P1-06
~ P1-11 P1-01
Figure 6-6 Structure of Speed Command
Usually, S-curve and low-pass filters are applied for having a smooth response of command.

6.3.3 Smooth Speed Command

S-curve Filter
During the process of acceleration or deceleration, S-curve filter applies the program of
three-stage acceleration curve for smoothing the motion command, which generates continuous
6 acceleration. It is for avoiding the jerk (the differentiation of acceleration) of sudden command
change which further causes mechanical vibration and noise. Users can use acceleration
constant of S-curve (TACC) to adjust the slope change during acceleration, deceleration
constant of S-curve (TDEC) to adjust the slope change during deceleration and
acceleration/deceleration constant of S-curve (TSL) to improve the status of motor when it
starts/stops operating. The calculation of the time to complete the command is provided. T (ms)
stands for operation time; S (r/min) means the absolute speed command which is the absolute
value of the difference between initial speed and final speed.
Speed
Rated Acceleration Deceleration
speed
Time
0
(ms)
Torque
Time
0
(ms)
TSL/2 TACC TSL/2
TSL/2 TDEC TSL/2
The relation between S-curve and speed
P1-35 TDEC Deceleration Constant of S-Curve
P1-36 TSL Acceleration/Deceleration Constant of S-Curve

Command End Low-pass Filter

It is usually used to eliminate the unwanted high-frequency response or noise. It also can smooth
the command.
Parameter
P1-06
Abbr.
SFLT
Function
Acceleration/Deceleration Smooth Constant of Speed

Command (Low-pass Filter)
6
Target Speed
6.3.4 Timing Diagram of Speed Mode
Figure 6-7 Timing Diagram of Speed Mode

Note:
1. OFF means the contact is opened. ON means the contact is closed.
2. Speed command S1 = 0.
3. When Servo On, please select the command by switching the status of SPD0 ~ SPD1.

6.3.5 Gain Adjustment of Speed Loop

Here introduces the function of speed control unit. The following shows its structure:
Speed Control Unit
6 Differentiator
Speed Feed
Forward Gain
P2-07 System Inertia J
(1+P1-37)*JM
Speed Loop + +
+ +
Gain +
P2-04
- + +
Integrator Gain Switching
Switching Rate and Switching Inertia Ratio and
of Speed Loop Selection Load Weight Ratio
Gain P2-27
Speed Integral to Servo Motor
P2-05
Compensation P1-37
P2-06
Motor Inertia
Gain Switching and JM
Switching Selection
P2-27
Torque Constant Torque
Current Command
Reciprocal
Command
1/KT
Speed Detection
Speed
Filter Encoder
Estimator
P2-49
Figure 6-8 Structure of Speed Loop Gain Adjustment
Many kinds of gain in speed control unit are adjustable. Two adjustment ways (manual and auto)
are provided for selection.
Manual: All parameters are set by users and all auto or auxiliary functions will be disabled in this
mode.
Auto: General load inertia estimation is provided. It can adjust the parameter automatically. Its
framework is divided into PI auto gain adjustment and PDFF auto gain adjustment.
Parameter P2-32 can be used to select the gain tuning method. (Please refer to Chapter 7 for
detailed description):
P2-32 AUT2 Tuning Mode Selection
Manual Mode
When P2-32 is set to 0, users can define speed loop gain (P2-04), speed integral compensation
(P2-06) and speed feed forward gain (P2-07). Function of each parameter is as the followings:
Speed loop gain: Increasing speed loop gain can enhance the response bandwidth of speed
loop.
Speed integral compensation: Increasing the speed integral compensation can increase the
low-frequency stiffness of speed loop and reduce the steady-state error as well as the phase
margin. However, the over high integral gain will cause the instability of the system.
Speed feed forward gain: It can decrease the deviation of phase delay.

P2-04 KVP Speed Loop Gain
P2-06
P2-07
KVI
KVF
Speed Integral Compensation
Speed Feed Forward Gain 6

Theoretically, stepping response can be used to explain speed loop gain (KVP), speed integral
compensation (KVI) and speed feed forward gain (KVF). Descriptions of their basic principles are
provided from the aspects of frequency domain and time domain.
Frequency Domain

Time Domain
The bigger KVP value causes higher
bandwidth and shortens the rising time.
However, if the value is set to be too big, the
phase margin will be too small. To
steady-state following error, the result is not
as good as KVI. But it helps to reduce the
dynamic following error.
The bigger KVI value causes greater
low-frequency gain and shortens the time the
steady-state following error returns to zero.
However, the phase margin will dramatically
decrease as well. To steady-state following error,
it is very helpful but shows no benefit to dynamic
following error.

If the KVF value closes to 1, the feed forward
6
compensation will be more complete and the
dynamic following error will become smaller.
However, if the KVF value is set to be too big,
it would cause vibration.
Generally, instrument is needed when applying frequency domain for measurement. Users are
required to adopt the measurement techniques; while time domain only needs a scope and goes
with the analog input/output terminal provided by the servo drive. Thus, time domain is frequently
used to adjust PI controller. The abilities of PI controller to deal with the resistance of torque load
and the following command are the same.
That is to say, the following command and resistance of torque load have the same response
performance in frequency domain and time domain. Users can reduce the bandwidth by setting
the low-pass filter in command end.
Auto Mode
Auto mode adopts adaptive principle. The servo drive automatically adjusts the parameters
according to the external load. Since the adaptive principle takes longer time, it will be unsuitable
if the load changes too fast. It would be better to wait until the load inertia is steady or changes
slowly. Depending on the speed of signal input, the adaptive time will be different from one
another.
馬達Speed
Motor 轉速
慣量Measurement
Inertia 估測

6.3.6 Resonance Suppression

When resonance occurs, it is probably because the stiffness of the control system is too strong
or the response bandwidth is too fast. Eliminating these two factors might improve the situation.
In addition, low-pass filter (P2-25) and notch filter (P2-23 and P2-24) are provided to suppress
6 the resonance without changing the control parameters.
P2-23 NCF1 Resonance Suppression (Notch Filter) (1)
P2-24 DPH1 Resonance Suppression (Notch Filter) Attenuation Rate (1)
P2-25 NLP Low-pass Filter of Resonance Suppression
Differentiator Speed Feed

Forward Gain Low-pass Speed Control Unit
P2-07 Filter
P2-25
PI Controller
P2-04, P2-
06
Current
Sensor
Notch Filter 1
P2-23, P2-24 Notch Filter 2 Notch Filter 3 Current
P2-43, P2-44 P2-45, P2-46 Controller
PWM
Auto Resonance Suppression
Mode Setting and Resonance Torque
Suppression Detection Level Load Motor
P2-47, P2-48
Speed Encoder
Estimator
Figure 6-9 Resonance Suppression
There are two sets of notch filter for auto resonance suppression, one is P2-43 (resonance
frequency) and P2-44 (attenuation rate) and the other one is P2-45 (resonance frequency) and
P2-46 (attenuation rate). When the resonance occurs, set P2-47 to 1 or 2 (enable the function of
auto resonance suppression), the servo drive will search for the point of resonance frequency
and suppress the resonance automatically. This function will write the frequency point into P2-43
and P2-45 and the attenuation rate into P2-44 and P2-46. When P2-47 is set to 1, the system will
set P2-47 to 0 (disable the function of auto suppression) automatically after resonance
suppression is completed and the system is stable for 20 minutes. When P2-47 is set to 2, the
system will keep searching for the resonance point.
When P2-47 is set to 1 or 2, but the resonance still exists, please check the value of parameter
P2-44 and P2-46. If the one of the value is 32, it is suggested to reduce the speed bandwidth first
and then start to estimate it again. If the both value are smaller than 32 and the resonance still
exists, please set P2-47 to 0 first and then manually increase the value of P2-44 and P2-46. If
the resonance situation has not been improved, it is suggested to reduce the bandwidth and then
use the function of auto resonance suppression.
When manually increase the value of P2-44 and P2-46, please check if the value of both are

bigger than 0. If it is, it means the frequency points in P2-43 and P2-45 are the ones found by
auto resonance suppression. If the value is 0, it means the value of 1000 in P2-43 and P2-45 are
default values which are not the ones found by auto resonance suppression. Deepen the
attenuation rate of the non-existed frequency point might worsen the situation.
Settings of P2-47
Current Value
0
0
Desired Value
1
2
Function
Clear the setting value of P2-43 ~ P2-46 and enable the
function of auto resonance suppression.
6
Save the setting value of P2-43 ~ P2-46 and disable the
1 0
1 1
Do not clear the setting value of P2-43 ~ P2-46 and enable the
1 2
function of auto resonance suppression continuously.
Save the setting value of P2-43 ~ P2-46 and disable the
2 0
2 1
Do not clear the setting value of P2-43 ~ P2-46 and enable the
2 2
function of auto resonance suppression continuously.

Drive the machine by servo

system
Check if resonance No
6 occurs
Yes
Set P2-47 = 1
Check if resonance No
occurs
Yes
No Set P2-47 = 1
for three times
Yes
Decrease frequency Yes P2-44 = 32

bandwidth or P2-46 = 32
No
Set P2-47 = 0
If P2-44 >0, the value of P2-44 should +1

If P2-46 >0, the value of P2-46 should +1
No Check if resonance
has been improved
Yes
Yes
Check if resonance
occurs
No
Set P2-47 = 0
Complete
Figure 6-10 Procedure of Auto Resonance Suppression

Here illustrates the effect via low-pass filter (parameter P2-25). The following figure is the system
open-loop gain with resonance.
Gain
6
Frequency
When the value of low-pass filter (parameter P2-25) is increased from 0, BW becomes smaller
(See the following figure). Although it improves the situation of resonance frequency, the
response bandwidth and phase margin are reduced as well.
Gain
0dB Frequency
BW
If users know the resonance frequency, notch filter (P2-23 and P2-24) can directly eliminate the
resonance. The frequency setting range of the notch filter is merely from 50 to 1000 Hz. The
suppression strength is from 0 to 32 dB. If the resonance frequency is not within the range, it is
suggested to use low-pass filter (P2-25) to decrease the resonance intensity.
Here firstly illustrates the influence brought by notch filter (P2-23 and P2-24) and low-pass filter
(P2-25). The following figures are the system of open-loop gain with resonance.
Resonance suppression with notch filter:
Gain Gain Gain

Resonance condition is
Resonance Point
Notch Filter suppressed
0 db
+ =
Attenuation Rate
B.W P2-24 B.W
Frequency Frequency Frequency
Resonance Resonance Resonance
Frequency Frequency P2-23 Frequency

Resonance suppression with low-pass filter:
Gain Gain Gain
Resonance Point Resonance condition is

Attenuation Rate - Low-pass filter suppressed
6
3dB
0 db
+ Cut-off frequency of
low-pass filter
=
=1000/P2-25Hz
B.W B.W
Frequency Frequency Frequency
Resonance Resonance
Frequency Frequency
When the value of low-pass filter (P2-25) is increased from 0, B.W. becomes smaller. Although it
improves the situation of resonance, the response bandwidth and phase margin are reduced as
well. Also, the system becomes unstable. If users know the resonance frequency, notch filter
(P2-23 and P2-24) can directly eliminate the resonance. In this case, notch filter will be more
helpful than low-pass filter. However, if the resonance frequency drifts because of time or other
factors, notch filter will not be preferable.

6.4 Torque Mode

Torque control mode is appropriate in torque control application, such as printing machine and
winding machine. The command source is from register input which uses internal parameters
(P1-12 ~ P1-14) as torque commands.
6.4.1 Selection of Torque Command

Torque commands come from the internal parameters of registers. Use DI signal of CN1 to select
the command source.
6
Torque DI Signal of CN1
Command TCM1 TCM0
Torque command is
T1 0 0 Mode Tz None 0
0
T2 0 1 P1-12 -300% ~ 300%
Parameter of internal
T3 1 0 P1-13 -300% ~ 300%
register
T4 1 1 P1-14 -300% ~ 300%
 The status of TCM0 ~ TCM1: 0 means DI is OFF; 1 means DI is ON.

 When TCM0 = TCM1 = 0, the command is 0.
 When one of TCM0 and TCM1 is not 0, the torque command source is from the internal
parameter. The command is activated right after changing the status of TCM0 ~ TCM1.
There is no need to use CTRG as trigger.
The torque command not only can be issued in torque mode, but also in speed mode as the
torque limit.

6.4.2 Control Structure of Torque Mode
Output Torque
Torque
Torque Resonance + Current Control
Command Suppression Motor
Command Unit
6
Processing Unit
Unit -
Current
Sensor
Figure 6-11 Basic Control Structure of Torque Mode
The torque command processing unit is to select torque command source according to Section
6.4.1, including the S-curve setting for torque command. The current control unit manages the
gain parameters of the servo drive and calculates the current for servo motor in time. Since the
current control unit is very complicated, and is not relevant to the application. There is no need to
adjust the parameters, so only command end setting is provided.
The torque command processing unit is as the following figure.
TCM0 and TCM1 signal of CN1
Register Command
P1-12 Low-pass Filter
Selection
~P1-14 P1-07
P1-01
Figure 6-12 Structure of Torque Command
The command from internal register is selected according to the status of TCM0, TCM1 and
P1-01. Low-pass filter is adopted for smoothing the performance to the command signal.

6.4.3 Smooth Torque Command

P1-07 TFLT Smooth Constant of Torque Command (Low-pass Filter)

6
Target目標速度
Speed
TFLT
6.4.4 Timing Diagram of Torque Mode
Figure 6-13 Timing Diagram of Torque Mode
Note:
1. OFF means the contact is opened; ON means the contact is closed.
2. Torque command T1 = 0.
3. When Servo On, please select the command by changing the status of TCM0~TCM1.

6.5 The Use of Brake

When operating brake via servo drive, if DO.BRKR is set to OFF, it means the brake is not
working and the motor is locked. If DO.BRKR is set to ON, it means the brake is working and the
motor can operate freely. The operation of brake has two kinds. Users can set delay time by
6 MBT1 (P1-42) and MBT2 (P1-43). It is usually applied in Z axis in order to reduce the heat when
servo motor puts up resistance which shorten its lifetime. In order to avoid the error of the brake,
it must be operated when the servo drive is off. If users operate brake, the brake needs to be
used during the decelerating process to make the braking force of the brake and the motor
remain in the same direction. By doing so, the drive decelerates normally due to the braking
force from the brake. If the brake is used when the drive is accelerating or at constant speed, the
drive needs to generate greater current to resist the braking force which may cause the alarm of
overload protection.
ON
SON
OFF OFF
(DI Input)
ON
BRKR OFF OFF
(DO Output)
MBT1(P1-42) MBT2(P1-43)
ZSPD(P1-38)
Motor Speed
Figure 6-14 Timing Diagram of Brake
The output timing of DO.BRKR:

1. When Servo Off, motor goes through the time set by P1-43 and its speed is faster than the
setting in P1-38, DO.BRKR is OFF (the brake is locked.).
2. When Servo Off, motor has not reached the time set by P1-43 but its speed is slower than
the setting in P1-38, DO.BRKR is OFF (the brake is locked.).

Servo Drive
Do not connect VDD-COM+
DOX: (DOX+,DOX-) Ensure the polarity of the
X=1,2,3,4,5 diode is correct, or it When emergency stop signal is
might damage the drive activated, this circuit breaker will Motor
6
be enabled
DO1: (7,6) Brake 1 (Blue)
DO2: (5,4)
DO3: (3,2)
DO4: (1,26) Brake
DO5: (28,27)
DOX+
For brake
Relay DC 24 V DC 24 V Encoder
DOX-
Brake 2 (Brown)
Figure 6-15 Wiring of brake
Note:
1. Please refer to Chapter 3 for wiring.
2. The brake signal controls the solenoid valve, provides power to the brake and enables the brake.
3. Please note that there is no polarity in coil brake.
4. Do not use the same mains to provide brake power and the control power (VDD).
L1c, L2c
Control Power
1 sec
5V
Control Power
More than 0 msec
R, S, T
Main Power
800 ms
BUS Voltage
READY
2 sec
SERVO
READY
Servo On
(DI input)
1 msec (min) + Delay Time
of Digital Filter (P2-09)
Servo On
(DO output)
Position/Speed/
Torque Input available
Command Input
Figure 6-16 Timing Diagram of Control Power and Main Power


Parameters
This chapter provides descriptions of parameter setting and definition of digital input
(DI) and digital output (DO). Users can set functions via different parameters.
7.1 Parameter Definition ·········································································· 7-2

7.2 List of Parameters ············································································· 7-3
7.3 Parameter Description ······································································ 7-10
P0-xx Monitor Parameters ·································································· 7-10
P1-xx Basic Parameters ····································································· 7-22
P2-xx Extension Parameters ······························································· 7-37
P3-xx Communication Parameters ························································ 7-50
P4-xx Diagnosis Parameters ······························································· 7-55
P5-xx Motion Setting Parameters ························································· 7-59
Table 7.1 Function Description of Digital Input (DI) ··································· 7-63
Table 7.2 Function Description of Digital Output (DO)································ 7-65
September, 2015 7-1

Parameters ASDA-B2-F
7.1 Parameter Definition

Parameters are divided into five groups which are shown as follows. The first character after the
start code P is the group character and the following two characters are parameter character.
7
As for the communication address, it is the combination of group character along with two digit
numbers in hexadecimal format. The definition of parameter groups is as the followings:
Group 0: Monitor parameters (example: P0-xx)

Group 1: Basic parameters (example: P1-xx)
Group 2: Extension parameters (example: P2-xx)
Group 3: Communication parameters (example: P3-xx)
Group 4: Diagnosis parameters (example: P4-xx)
Group 5: Motion control parameters (example: P5-xx)
Control Mode Description
Sz: Speed control mode

Tz: Torque control mode
DMC: DMCNET control mode
Special Symbol Description
(★) Read-only register, can only read the status. For example: P0-00, P0-10 and P4-00,
etc.
(▲) Setting is invalid when Servo On, e.g. P1-00, P1-46 and P2-33, etc.
(●) Not effective until re-power on or off the servo drive, e.g. P1-01 and P3-00.
(■) Parameters of no data retained setting, e.g. P2-31 and P3-06.
7-2 September, 2015

ASDA-B2-F Parameters
7.2 List of Parameters

Monitor and General Output Parameter
Control Mode Related
Parameter
P0-00★
Abbr.
VER Firmware Version

Function Default
Factory
Setting
Unit
-
DMC Sz
O O
Tz Section
O -
9.1
7
Alarm Code Display of Drive
P0-01■ ALE - - O O O 9.2
(Seven-segment Display)
9.3
P0-02 STS Drive Status 00 - O O O -
P0-08★ TSON Servo On Time 0 Hour -
P0-09★ CM1 Status Monitor Register 1 - - O O O 4.3.5
Status Monitor Register 1
P0-17 CM1A 0 - -
Selection
P0-18 CM2A 0 - -
Selection
P0-19 CM3A 0 - -
Selection
P0-20 CM4A 0 - -
Selection
P0-21 CM5A 0 - -
Selection
No need
P0-25 MAP1 Mapping Parameter # 1 to - O O O 4.3.5
initialize
No need
initialize
No need
initialize
No need
initialize
No need
initialize
No need
initialize
No need
initialize
No need
initialize
Target Setting of Mapping Parameter
P0-35 MAP1A 0 - O O O 4.3.5
P0-25
P0-36 MAP2A 0 - O O O 4.3.5
P0-26
P0-37 MAP3A 0 - O O O 4.3.5
P0-27
P0-38 MAP4A 0 - O O O 4.3.5
P0-28
September, 2015 7-3

Monitor and General Output Parameter

Parameter Abbr. Function Default Unit
DMC Sz Tz Section
7
P0-39 MAP5A 0 - O O O 4.3.5
P0-29
P0-40 MAP6A 0 - O O O 4.3.5
P0-30
P0-41 MAP7A 0 - O O O 4.3.5
P0-31
P0-42 MAP8A 0 - O O O 4.3.5
P0-32
P0-46★ SVSTS Servo Digital Output Status Display 0 - O O O -
(★) Read-only register, can only read the status. For example: P0-00, P0-10 and P4-00, etc.
Filter and Resonance Suppression Parameter

DMC Sz Tz Section
Acceleration / Deceleration Smooth
P1-06 SFLT Constant of Speed Command 0 ms O 6.3.3
(Low-pass Filter)
Smooth Constant of Torque Command
P1-07 TFLT 0 ms O 6.4.3
(Low-pass Filter)
Smooth Constant of Position Command

P1-08 PFLT 0 10 ms O 6.2.4
(Low-pass Filter)
Low-frequency Vibration Suppression
P1-25 VSF1 1000 0.1 Hz O 6.2.6
(1)
P1-26 VSG1 0 - O 6.2.6
Gain (1)
P1-27 VSF2 1000 0.1 Hz O 6.2.6
(2)

P1-28 VSG2 0 - O 6.2.6
Gain (2)
Auto Low-frequency Vibration

P1-29 AVSM 0 - O 6.2.6
Suppression Setting
P1-30 VCL Low-frequency Vibration Detection 500 pulse O 6.2.6
P1-34 TACC Acceleration Constant of S-Curve 200 ms O O 6.3.3
P1-35 TDEC Deceleration Constant of S-Curve 200 ms O O 6.3.3
Acceleration / Deceleration Constant of

P1-36 TSL 0 ms O O 6.3.3
S-Curve
P1-62 FRCL Friction Compensation 0 % O O O -
P1-63 FRCT Friction Compensation 1 ms O O O -
P1-68 PFLT2 Position Command Moving Filter 4 ms O -
Resonance Suppression (Notch Filter)

P2-23 NCF1 1000 Hz O O O 6.3.6
(1)
7-4 September, 2015

Filter and Resonance Suppression Parameter

DMC Sz Tz Section
7
P2-24 DPH1 0 -dB O O O 6.3.6
Attenuation Rate (1)

P2-43 NCF2 1000 Hz O O O 6.3.6
(2)

P2-44 DPH2 0 -dB O O O 6.3.6

P2-45 NCF3 1000 Hz O O O 6.3.6
(3)

P2-46 DPH3 0 -dB O O O 6.3.6
Auto Resonance Suppression Mode

P2-47 ANCF 1 - O O O -
Setting
Resonance Suppression Detection

P2-48 ANCL 100 - O O O -
Level
0.2/0.5 2/5
(Panel / (Panel /
Low-pass Filter of Resonance Software) Software)
P2-25 NLP O O O 6.3.6
Suppression 1 ms 0.1 ms
(Commu- (Commu-ni
nication) cation)
P2-33▲ AUT3 Semi-auto Inertia Adjustment 0 - O O O -
P2-49 SJIT Speed Detection Filter 0B - O O O -
Gain and Switch Parameter

DMC Sz Tz Section
1.0 1 times
(Panel / (Panel /
Inertia Ratio and Load Weight Ratio to Software) Software)
P1-37 GDR O O O -
Servo Motor 10 0.1 times
(Commu-n (Commu-ni
ication) cation)
P2-00 KPP Position Loop Gain 35 rad/s O 6.2.5
P2-01 PPR Switching Rate of Position Loop Gain 100 % O 6.2.5
P2-02 PFG Position Feed Forward Gain 50 % O 6.2.5
Smooth Constant of Position Feed

P2-03 PFF 5 ms O -
Forward Gain
P2-04 KVP Speed Loop Gain 500 rad/s O O O 6.3.5
P2-05 SPR Switching Rate of Speed Loop Gain 100 % O O O -
P2-06 KVI Speed Integral Compensation 100 rad/s O O O 6.3.5
P2-07 KVF Speed Feed Forward Gain 0 % O O O 6.3.5
P2-26 DST Anti-interference Gain 0 rad/s O O O -
September, 2015 7-5

Gain and Switch Parameter

DMC Sz Tz Section
7
P2-27 GCC Gain Switching and Switching Selection 0 - O O O -
P2-28 GUT Gain Switching Time Constant 10 10 ms O O O -

pulse
P2-29 GPE Gain Switching 1280000 Kpps O O O -
r/min
5.6
Speed Loop Frequency Response
P2-31■ AUT1 40 Hz O O O
Setting in Auto and Semi-auto Mode 6.3.5
5.6
P2-32▲ AUT2 Tuning Mode Selection 0 - O O O
6.3.5
P2-53 KPI Position Integral Compensation 0 rad/s O O O -
Position Control Parameter

DMC Sz Tz Section
pulse 6.1
Input Setting of Control Mode and
P1-01● CTL 0B r/min O O O Table
Control Command N-M 7.1
P1-02▲ PSTL Speed and Torque Limit Setting 0 - O O O -
P1-03 AOUT Polarity Setting of Encoder Pulse Output 0 - O O O -
P1-12 TQ1 Internal Torque Limit 1 100 % O O 6.4.1

P1-13 ~ TQ2 ~
Internal Torque Limit 2 ~ 3 100 % O 6.4.1
P1-14 3
P1-44▲ GR1 Gear Ratio (Numerator) (N1) 128 pulse O 6.2.3
P1-45▲ GR2 Gear Ratio (Denominator) (M) 10 pulse O 6.2.3
P1-46▲ GR3 Pulse Number of Encoder Output 2500 pulse O O O -
P1-55 MSPD Maximum Speed Limit rated r/min O O O -
P5-03 PDEC Deceleration Time of Auto Protection E0EFEEFF - O O O -
P5-20 ~ AC0 ~ Acceleration / Deceleration

200 ~ 30 ms O -
P5-35 AC15 Time
31
P5-08 SWLP Forward Software Limit +2 PUU O -
P5-09 SWLN Reverse Software Limit -231 PUU O -
7-6 September, 2015

Speed Control Parameter

Section
DMC Sz Tz
P1-01● CTL
Control Command
0B
pulse
r/min
N-M
O O O
6.1
Table
7.1
Table
7
P1-02▲ PSTL Speed and Torque Limit Setting 0 - O O O
7.1
Polarity Setting of Encoder Pulse

P1-03 AOUT 0 - O O O -
Output

P1-09 ~ 1000 ~
SP1~3 Internal Speed Command 1 ~ 3 0.1 r/min O 6.3.1
P1-11 3000
P1-12 TQ1 Internal Torque Limit 1 100 % O O -
P1-13 ~
TQ2 ~ 3 Internal Torque Limit 2 ~ 3 100 % O
P1-14
Maximum Rotation Setting of Encoder
P1-76 AMSPD 5500 r/min O O O -
Output (OA, OB)
Torque Control Parameter
Control Mode
Related
Section
DMC Sz Tz
pulse 6.1
P1-01● CTL 0B r/min O O O Table
Control Command N-M 7.1
Table
P1-02▲ PSTL Speed and Torque Limit Setting 0 - O O O
7.1
Polarity Setting of Encoder Pulse
P1-03 AOUT 0 - O O O -
Output

P1-09~ 100 ~
SP1~3 Internal Speed Limit 1~3 r/min O O -
P1-11 300
P1-12~
TQ1~3 Internal Torque Command 1~3 100 % O 6.4.1
P1-14
September, 2015 7-7

Planning of Digital Input / Output Pin and Output Setting Parameter
Control Mode
Related
Section
DMC Sz Tz
7 P0-53 ZDRT
General Range Compare Digital Output
- Filtering Time
0 ms O O O -

P0-54 ZON1L 0 - O O O -
- Lower Limit of 1st Monitoring Variable

P0-55 ZON1H st 0 - O O O -
- Upper Limit of 1 Monitoring Variable
P2-09 DRT DI Debouncing Time 2 ms O O O -

Table
P2-10 DI1 DI1 Functional Planning 101 - O O O
7.1
Table
7.1
Table
7.1
Table
7.1
Table
7.1
Table
P2-18 DO1 DO1 Functional Planning 101 - O O O
7.2
Table
P2-19 DO2 DO2 Functional Planning 103 - O O O
7.2
10.0 1 r/min
(Panel / (Panel /
Software) Software) Table
P1-38 ZSPD Zero Speed Range Setting O O O
100 0.1 r/min 7.2
(Commu- (Commu-ni
nication) cation)
Table
P1-39 SSPD Target Speed Detection Level 3000 r/min O O O
7.2
P1-42 MBT1 Enable Delay Time of Brake 0 ms O O O 6.5
P1-43 MBT2 Disable Delay Time of Brake 0 ms O O O 6.5
P1-47 SCPD Speed Reached (DO.SP_OK) Range 10 r/min O -

Table
P1-54 PER Position Completed Range 12800 pulse O
7.2
P1-56 OVW Output Overload Warning Level 120 % O O O -
Communication Parameter
Control Mode
Related
Section
DMC Sz Tz
P3-00● ADR Address Setting 01 - O O O -
P3-01 BRT Transmission Speed 3203 bps O O O -
P3-02 PTL Communication Protocol 6 - O O O -
P3-03 FLT Communication Error Disposal 0 - O O O -
P3-04 CWD Communication Timeout 0 sec O O O -
7-8 September, 2015

P3-05 CMM Communication Mechanism 0 - O O O -

P3-06■ SDI Control Switch of Digital Input (DI) 0 - O O O -
P3-07 CDT Communication Response Delay Time 0 0.5 ms O O O -
P3-08 MNS Monitor Mode 0 - O O O -
P3-09
P3-10
P3-11
SYC DMCNET Synchronize Setting
CANEN DMCNET Protocol Setting
CANOP DMCNET Selection
3511
1
0
-
-
-
O
O
O
-
-
-
7
P3-12 QSTPO DMCNET Support Setting 0 - O -
Diagnosis Parameter
Control Mode
Related
Section
DMC Sz Tz
P4-00★ ASH1 Fault Record (N) 0 - O O O 4.4.1
P4-01★ ASH2 Fault Record (N-1) 0 - O O O 4.4.1
P4-05 JOG Servo Motor Jog Control 20 r/min O O O 4.4.2

Digital Output Register
P4-06▲■ FOT 0 - O O O 4.4.3
(Readable and Writable)
4.4.4
P4-07 ITST Multi-function of Digital Input 0 - O O O
8.2
Input Status of the Drive Keypad
P4-08★ PKEY - - O O O -
(Read-only)
P4-09★ MOT Digital Output Status (Read-only) - - O O O 4.4.5
P4-10▲ CEN Adjustment Selection 0 - O O O -

Current Detector (V1 Phase) Offset Factory
P4-15 COF1 Setting
- O O O -
Adjustment
Current Detector (V2 Phase) Offset Factory
P4-16 COF2 Setting
- O O O -
Adjustment
Current Detector (W1 Phase) Offset Factory
P4-17 COF3 Setting
- O O O -
Adjustment
Current Detector (W2 Phase) Offset Factory
P4-18 COF4 Setting
- O O O -
Adjustment
IGBT NTC Adjustment Detection Level Factory
P4-19 TIGB Setting
- O O O -
(cannot reset)
September, 2015 7-9

7.3 Parameter Description

P0-xx Monitor Parameters
7
Address: 0000H
P0-00★ VER Firmware Version
0001H
Operational Related
Panel / Software Communication -
Interface: Section:
Control
Default: Factory Setting ALL
Mode:
Unit: - Range: -
Format: DEC Data Size:16-bit
Settings:
This parameter shows the firmware version of the servo drive.
Alarm Code Display of Drive (Seven-segment Address: 0002H

P0-01■ ALE
Display) 0003H
Operational Related
Panel / Software Communication
Interface: Section: 9.1, 9.2, 9.3
Control
Default: - ALL
Mode:
0x0000 ~ 0xFFFF: Set P0-01 to 0
Unit: - Range: to clear the alarm (Same as
DI.ARST).
Format: HEX Data Size: 16-bit
Settings:
Alarm of Servo Drive
Code Description Code Description

001 Over current 016 IGBT overheat
002 Over voltage 017 Abnormal EEPROM
Under voltage (In default setting, the alarm
occurs only when the voltage is not enough
in Servo On status. In Servo On status,
003 after the servo drive has been connected 018 Abnormal signal output
to R,S,T power, the alarm will not be
cleared automatically, please refer to
P2-66)
Motor combination error (The drive
004 019 Serial communication error
corresponds to the wrong motor)
005 Regeneration error 020 Serial communication timeout
006 Overload 021 Reserved
007 Over speed 022 Main circuit power lack phase
008 Abnormal pulse command 023 Early warning for overload
Encoder initial magnetic field error
009 Excessive deviation 024 (The magnetic field of the encoder U, V,
W signal is in error)
The internal of the encoder is in error
010 Reserved 025 (The internal memory and the internal
counter are in error)
Encoder error (The servo drive cannot
011 communicate with the encoder due to 026 Unreliable internal data of the encoder
disconnection or wrong wiring)
012 Adjustment error 027 Encoder reset error
The encoder is over voltage or the
013 Emergency stop 028
internal of the encoder is in error
014 Reverse limit error 029 Gray code error
015 Forward limit error 030 Motor crash error

Alarm of Servo Drive

Incorrect wiring of the motor power cable
7
031 U, V, W (Incorrect wiring of motor power 061 Encoder under voltage
cable U, V, W, GND)
Internal communication of the encoder is
034 062 The multiturn of absolute encoder overflows
in error
044 Warning of servo drive function overload 069 Wrong motor type
060 The absolute position is lost 099 DSP firmware upgrade
Alarm of DMCNET Communication

Code Description
185 Abnormal DMCNET Bus hardware
Alarm of Motion Control

An error occurs when loading DMCNET
201 301 DMCNET fails to synchronize
data
The synchronized signal of DMCNET is sent
283 Forward software limit 302
too fast
The synchronized signal of DMCNET is sent
285 Reverse software limit 303
too slow
289 Feedback Position counter overflows 304 DMCNET IP command fails
Address: 0004H
P0-02 STS Drive Status
0005H
Operational Related
Interface: Section:
Control
Default: 00 ALL
Mode:
Unit: - Range: 00 ~ 127
Format: DEC Data Size: 16-bit
Settings:
Motor feedback pulse number (after the 17 The frequency of resonance suppression
01 scaling of electronic gear ratio) (PUU) The distance from the current position to
[User unit] Z. The range of the value is between
Deviation between control command -5000 and +5000;
02 pulse and feedback pulse number
(PUU) [User unit]
The number of motor feedback pulse 8
03 (Encoder unit) (1,280,000 pulse/rev)
[pulse]
Distance to command terminal
04 (Encoder unit) [Pulse] The interval of the two Z-phase pulse
Error pulse number (after the scaling of command is 10000 pulse.
05 electronic gear ratio) (Encoder unit) 19 Mapping parameter#1: P0 - 25
[Pulse] 20 Mapping parameter#2: P0 - 26
The frequency of pulse command input 21 Mapping parameter#3: P0 - 27
06 [Kpps]
22 Mapping parameter#4: P0 - 28
07 Motor speed [r/min]
23 Monitoring variable#1: P0 - 09
08 Speed command input [Volt]
09 Speed command input [r/min]
10 Torque command input [Volt]
26 Monitoring variable#4: P0 -12
11 Torque command input [%]
It displays the battery voltage [0.1 Volt].
12 Average torque [%]
38 For example, if it displays 36, it means
13 Peak torque [%] the battery voltage is 3.6 V.
14 Main circuit voltage (BUS voltage) [Volt]
15 Load / motor inertia ratio [0.1 times]
16 IGBT temperature

P0-03~P0-07 Reserved
Address: 0010H
P0-08★ TSON Power On Time
7
0011H
Operational Related
Interface: Section:
Control
Default: 0 -
Mode:
Unit: Hour Range: 0 ~ 65535
Settings:
It shows the total start up time of the servo drive.
Address: 0012H
P0-09★ CM1 Status Monitor Register 1
0013H
Operational Related
Panel / Software Communication 4.3.5
Interface: Section:
Control
Default: - ALL
Mode:
Unit: - Range: -
Settings:
The setting value which is set by P0-17 should be monitored via P0-09. (Please refer to P0-02).
Users need to access the address via communication port to read the status.
For example:
If P0-17 is set to 3, when accessing P0-09, it obtains the total feedback pulse number of motor
encoder. For MODBUS communication, two 16-bit data, 0012H and 0013H will be read as one
32-bit data; (0013H:0012H) = (Hi-word:Low-word) Set P0-02 to 23. The panel displays “VAR-1”
first, and then shows the content of P0-09.
Address: 0014H
0015H
Operational Related
Interface: Section:
Control
Default: - ALL
Mode:
Unit: - Range:-
Format: DEC Data Size:
32-bit
Settings:
The setting value which is set by P0-18 should be monitored via P0-10. (Please refer to P0-02)
Users need to access the address via communication port to read the status. Set P0-02 to 24. The
panel displays “VAR-2” first, and then shows the content of P0-10.
Address: 0016H
0017H
Operational Related
Interface: Section:
Control
Default: - ALL
Mode:
Unit: - Range:-
32-bit
Settings:
panel displays ‟VAR-3” first, and then shows the content of P0-11.
Address: 0018H
0019H
Operational Related
Interface: Section:
Control
Default: - ALL
Mode:
Unit: - Range: -
Settings:

panel displays “VAR-4” first, and then shows the content of P0-12.
Address: 001AH
7
001BH
Operational Related
Interface: Section:
Control
Default: - ALL
Mode:
Unit: - Range:-
32-bit
Settings:
Users need to access the address via communication port to read the status.
Address: 0022H
P0-17 CM1A Status Monitor Register 1 Selection
0023H
Operational Related
Interface: Section:
Control
Default: 0 -
Mode:
Unit: - Range:0 ~ 127
16-bit
Settings:
Please refer to the description of P0-02 for setting value.
For example:
If P0-17 is set to 07, then reading P0-09 means reading “Motor Speed (r / min)”.
Address: 0024H
0025H
Operational Related
Interface: Section:
Control
Default: 0 -
Mode:
Unit: - Range: 0 ~ 127
Settings:
Please refer to the description of P0-02 for the setting value.
Address: 0026H
0027H
Operational Related
Interface: Section:
Control
Default: 0 -
Mode:
Settings:
Address: 0028H
0029H
Operational Related
Interface: Section:
Control
Default: 0 -
Mode:
Settings:

Address: 002AH
002BH
Operational Related
Interface: Section:
Control
Default: 0 -
7
Mode:
Settings:
Address: 0032H
P0-25 MAP1 Mapping Parameter# 1
0033H
Operational Related
Interface: Section:
Control
Default: No need to initialize ALL
Mode:
Determined by the corresponding
Unit: - Range:
parameter of P0-35
Settings:
Users can continuously read and write parameters that are not in the same group. The content of
the parameter that is specified by P0-35 will be shown in P0-25. Please refer to the description of
P0-35 for parameter setting.
Address: 0034H
0035H
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range:
parameter of P0-36
Settings:
The using method is the same as P0-25. The mapping target is set by parameter P0-36.
Address: 0036H
0037H
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range:
parameter of P0-37
Settings:
Address: 0038H
0039H
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range:
parameter of P0-38
Settings:

Address: 003AH
003BH
Operational Related
Interface: Section:
Control
7
Mode:
Unit: - Range:
parameter of P0-39
Settings:
Address: 003CH
003DH
Operational Panel / Software Communication Related
4.3.5
Interface: Section:
Control
Mode:
Unit: - Range:
parameter of P0-40
Settings:
Address: 003EH
003FH
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range:
parameter of P0-41
Settings:
Address: 0040H
0041H
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range:
parameter of P0-42
Settings:
Address: 0046H
P0-35 MAP1A Target Setting of Mapping Parameter P0-25
0047H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Determined by the communication
Unit: - Range:
address of the parameter group
Settings:
Select the data block to access the parameter corresponded by register 1. The mapping content is
32 bits wide and can map to two 16-bit parameters or one 32-bit parameter.

P0-35:
7 Mapping parameter: P0-35; Mapping content: P0-25

When PH≠PL, it means the content of P0-25 includes two 16-bit parameters.
VH=*(PH), VL=*(PL)
Mapping parameter: P0-35; Mapping content: P0-25

When PH=PL=P, it means the content of P0-25 includes one 32-bit parameter.
V32=*(P) If P=060Ah (P6-10), then V32 is P6-10.
The setting format of PH, PL is:
A: parameter indexing (hexadecimal)

B: parameter group (hexadecimal)
For example:
If the mapping target is P2-06, set P0-35 to 0206.
If the mapping target is P5-42, set P0-35 to 052A.
For example:
If users desire to read / write P1-44 (32-bit) through P0-25, set P0-35 to 0x012C012C via panel or
communication. Then, when reading / writing P0-25, it also reads / writes P1-44.
Moreover, users can also access the value of P2-02 and P2-04 through P0-25.
P2-02 Position feed forward gain (16-bit)
P2-04 Speed control gain (16-bit)
Users only need to set P0-35 to 0x02040202. Then, when reading / writing P0-25, it also reads /
writes the value of P2-02 and P2-04.
Address: 0048H
0049H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
Settings:
Address: 004AH
004BH
Operational Related 4.3.5
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
Settings:

P0-38
Operational
Interface:
MAP4A Target Setting of Mapping Parameter P0-28
Panel / Software
Default: 0
Communication
Related
Section:
Control
4.3.5
ALL
Address: 004CH
004DH
7
Mode:
Unit: - Range:
Settings:
Address: 004EH
004FH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
Settings:
Address: 0050H
0051H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
Settings:
Address: 0052H
0053H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
Settings:

7 P0-42
Operational
Interface:
MAP8A Target Setting of Mapping Parameter P0-32
Default: 0
Related 4.3.5
Section:
Control
ALL
Address: 0054H
0055H
Mode:
Unit: - Range:
Settings:
P0-43 Reserved
Address: 0058H
P0-44★ PCMN Status Monitor Register (for PC software)
0059H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
Settings:
Same as parameter P0-09.
Status Monitor Register Selection Address: 005AH

P0-45■ PCMNA
(for PC software) 005BH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Settings:
Same as parameter P0-17.
Address: 005CH
P0-46★ SVSTS Servo Digital Output Status Display
005DH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0x00 ~ 0xFF
Settings:
Bit Function Bit Function
0 SRDY (Servo is ready) 4 TPOS (Target position completed)
1 SON (Servo On) 5 TQL (Torque limiting)
2 ZSPD (Zero speed detection) 6 ALRM (Servo alarm)
3 TSPD (Target speed reached) 7 BRKR (Brake control output)

Bit Function Bit Function

8 HOME (Homing finished) 12 Reserved
9 OLW (Early warning for overload) 13 Reserved
WARN (When servo warning, CW, CCW, EMGS, under
10 14 Reserved
voltage or communication error occurs, DO is ON)
7
11 Reserved 15 Reserved
Address: 0062H
P0-49■ UAP Renew Encoder Absolute Position
0063H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0x00 ~ 0x02
Settings:
Parameter renew setting:

1: Renew the encoder data to parameters P0-50 ~ P0-52 only.
2: Renew parameters P0-50 ~ P0-52 and clear the position error as well. When this setting is
activated, the current position of the motor will be reset as the target position of position command.
Address: 0064H
P0-50★ APSTS Absolute Coordinate System Status
0065H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0x00 ~ 0x1F
Settings:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Bit 0: 1 means absolute position is lost; 0 means normal.
Bit 1: 1 means low battery; 0 means normal.
Bit 2: 1 means multiturn overflows; 0 means normal.
Bit 3: 1 means PUU overflows; 0 means normal.
Bit 4: 1 means the absolute coordinate system has not been set yet; 0 means normal.
Bit 5~ B it 15: Reserved (0).
Address: 0066H
P0-51★ APR Encoder Absolute Position (Multiturn)
0067H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: rev Range: -32768 ~ +32767
Settings:
When Bit 1 of P2-70 is set to read the encoder pulse number, this parameter represents the turns
of encoder absolute position. When Bit 1 of P2-70 is set to read the PUU number, this parameter
will be disabled and the value of this parameter is 0.

Encoder Absolute Position (Pulse number within Address: 0068H

P0-52★ APP
single turn or PUU) 0069H
Operational Related -
Interface: Section:
Control
Default: 0 ALL
7
Mode:
Unit: Pulse or PUU Range: 0 ~ 1280000-1 (pulse number)
-2147483648 ~ 2147483647 (PUU)
Settings:
When Bit 1 of P2-70 is set to read the pulse number, this parameter represents the pulse number
of encoder absolute position. When Bit 1 of P2-70 is set to read the PUU number, this parameter
represents the PUU number of motor absolute position.
General Range Compare Digital Output - Filtering Address: 006AH

P0-53 ZDRT
Time 006BH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: ms Range: 0x0000 ~ 0x000F
Settings:
st
X: Filtering time for the 1 monitoring variable
UYZ: Reserved
When the value of the monitoring variable is within the setting
value of P0-54 and P0-55, the value will not be outputted until
the filtering time set by P0-53 is reached.
For example: when P0-09 is used.
General Range Compare Digital Output - Lower Address: 006CH

P0-54 ZON1L
Limit of 1st Monitoring Variable 006DH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: -2147483648 ~ +2147483647
Settings:
If the value of parameter P0-09 changes within the range set by P0-54 and P0-55, its value will be
outputted after the filtering time determined by parameter P0-53.X.

General Range Compare Digital Output - Upper Address: 006EH

P0-55 ZON1H
Limit of 1st Monitoring Variable 006FH
Operational Related
Interface: Section:
Control
Default: 0 ALL
7
Mode:
Unit: - Range: -2147483648 ~ +2147483647
Settings:
If the value of parameter P0-09 changes within the range set by P0-54 and P0-55, its value will be
outputted after the filtering time determined by parameter P0-53.X.

P1-xx Basic Parameters
P1-00▲ Reserved
7 P1-01●
Operational
Interface:
CTL
Input Setting of Control Mode and Control
Command
Related
Address: 0102H
Section: 6.1, Table 7.1

0103H
Control
Default: 0B ALL
Mode:
Unit: P (pulse); S (r/min); T (N-M) Range: 00 ~ 110F
Settings:
Control mode setting
Direction control of torque output
DIO setting value
Not in use
 Control Mode Setting

Mode Sz Tz
04 ▲
05 ▲
0B DMCNET Mode
Sz: Speed Control Mode (Zero Speed / Internal Speed Command. It can be slected via DI.SPD0
and DI.SPD1)
Tz: Torque Control Mode (Zero Speed / Internal Speed Command. It can be selected via DI.TCM0
and DI.TCM1)
 Torque Output Direction Setting

- 0 1
Forward
Reverse
 DIO Setting
0: When switching mode, DIO (P2-10 ~ P2-22) remains its original setting and will not be changed.
1: When switching mode, DIO (P2-10 ~ P2-22) can be reset to the default value of each
operational mode automatically.

Address: 0104H
P1-02▲ PSTL Speed and Torque Limit Setting
0105H
Operational Related
Panel / Software Communication Table 7.1
7
Interface: Section:
Control
Default: 0 ALL
Mode:
Settings:
Disable / Enable speed limit function

Disable / Enable torque limit function
Not in use
 Disable / Enable speed limit function  Disable / Enable torque limit function
0: Disable speed limit function 0: Disable torque limit function
1: Enable speed limit function (It is effective in 1: Enable torque limit function
Tz mode only) (It is effective in DMCNET / Sz mode)
Other: Reserved Other: Reserved
Block diagram of speed limit setting: Block diagram of torque limit setting:
(0) (0)
Vref Tref
Speed Limit Torque Limit
P1-09(1) Command P1-12(1) Command
P1-10(2) P1-13(2)
P1-11(3) P1-14(3)
SPD0 TCM0
SPD1 TCM1
Address: 0106H
P1-03 AOUT Polarity Setting of Encoder Pulse Output
0107H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Settings:
 Polarity of encoder pulse output

0: Forward output
保留
Reserved 1: Reverse output
檢出器輸出脈波輸出極性
Polarity of encoder pulse
未使用
output

Acceleration / Deceleration Smooth Constant of Address: 010CH

P1-06 SFLT
Speed Command (Low-pass Filter) 010DH
Operational Related
Interface: Section:
Control
Default: 0 Sz
7
Mode:
Unit: ms Range: 0 ~ 1000
Settings:
0: Disabled
Smooth Constant of Torque Command (Low-pass Address: 010EH

P1-07 TFLT
Filter) 010FH
Operational Related
Interface: Section:
Control
Default: 0 Tz
Mode:
Settings:
0: Disabled
Smooth Constant of Position Command Address: 0110H

P1-08 PFLT
(Low-pass Filter) 0111H
Operational Related
Interface: Section:
Control
Default: 0 DMCNET
Mode:
Unit: 10 ms Range: 0 ~ 1000
Example: 11 = 110 ms
Settings:
0: Disabled
Internal Speed Command 1 / Internal Speed Limit Address: 0112H

P1-09 SP1
1 0113H
Operational Related
Interface: Section:
Control Sz (Internal Speed Command) / Tz
Default: 1000
Mode: (Internal Speed Limit)
Unit: 0.1 r/min Range: -60000 ~ +60000
Internal Speed Command: 120 = 12 r/min
Example: Internal Speed Limit: Positive value and negative value are the same. Please refer to the
following description.
Settings:
Internal Speed Command 1: The setting of the 1st internal speed command
st
Internal Speed Limit 1: The setting of the 1 internal speed limit
Example of inputting internal speed limit:
Speed Limit Setting Allowable Speed Forward Speed Reverse Speed

Value of P1-09 Range Limit Limit
1000
-100 ~ 100 r/min 100 r/min -100 r/min
-1000

P1-10 SP2
2 0115H
Operational Related
Interface: Section:
Default: 2000
Unit: 0.1 r/min Range: -60000 ~ +60000

Settings:
Internal Speed Command 2: The setting of the 2nd internal speed command
nd
Value of P1-10
1000
-1000
Range
-100 ~ 100 r/min

Limit
100 r/min
Limit
-100 r/min 7
P1-11 SP3
3 0117H
Operational Related
Interface: Section:
Default: 3000
Unit: 0.1 r/min Range: -60000 ~ +60000
Settings:
Internal Speed Command 3: The setting of the 3rd internal speed command
rd
1000
-1000 100 ~ 100 r/min 100 r/min -100 r/min
Internal Torque Command 1 / Internal Torque Address: 0118H

P1-12 TQ1
Limit 1 0119H
Operational Related
Interface: Section:
Tz (Internal Torque Command) /
Control
Default: 100 DMCNET, Sz (Internal Torque
Mode:
Limit)
Unit: % Range: -300 ~ +300
Internal Torque Command: 30 = 30 %
Example: Internal Torque Limit: Positive value and negative value are the same. Please refer to the
Settings:
st
Internal Torque Command 1: The setting of the 1 internal torque command
st
Internal Torque Limit 1: The setting of the 1 internal torque limit
Example of inputting internal torque limit:
Torque Limit Setting Allowable Torque Forward Torque Reverse Torque
30
-30 ~ 30 % 30 % -30 %
-30
Internal Torque Command 2 / Internal Torque Address: 011AH

P1-13 TQ2
Limit 2 011BH
Operational Related
Interface: Section:
Control Tz (Internal Torque Command) / Sz
Default: 100
Mode: (Internal Torque Limit)
Unit: % Range: -300 ~ +300
Settings:
nd
Internal Torque Command 2: The setting of the 2 internal torque command
nd


Torque Limit Setting Allowable Torque Forward Torque Reverse Torque
30
-30 ~ 30 % 30 % -30 %
-30
7 P1-14
Operational
Interface:
TQ3
Internal Torque Command 3 / Internal Torque
Limit 3
Related
Section:
6.4.1
Address: 011CH
011DH
Control Tz (Internal Torque Command) / Sz

Default: 100
Mode: (Internal Torque Limit)
Unit: % Range: -300 ~ +300
Settings:
Internal Torque Command 3: The setting of the 3rd internal torque command
rd
Torque Limit Setting Allowbale Torque Forward Torque Reverse Torque
30
-30 ~ 30 % 30 % -30 %
-30
Address: 0132H
0133H
Operational Related
Interface: Section:
Control
Default: 1000 DMCNET
Mode:
Unit: 0.1 Hz Range: 10 ~ 1000
Example: 150 = 15 Hz
Settings:
The setting value of the first low-frequency vibration suppression. If P1-26 is set to 0, then it will
disable the first low-frequency filter.
Address: 0134H
0135H
Operational Related
Interface: Section:
Control
Default: 0 DMCNET
Mode:
0 ~ 9 (0: Disable the first
Unit: - Range:
low-frequencyfilter)
Settings:
The first low-frequency vibration suppression gain. If the value is set to be too big, the motor will
not be able to smoothly operate. It is suggested to set the value to 1.

Address: 0136H
0137H
Operational Related
Interface: Section:
Control
7
Mode:
Unit: 0.1 Hz Range:10 ~ 1000
16-bit
Example: 150 = 15 Hz
Settings:
The setting value of the second low-frequency vibration suppression. If P1-28 is set to 0, then it will
disable the second low-frequency filter.
Address: 0138H
0139H
Operational Related
Interface: Section:
Control
Default: 0 DMCNET
Mode:
0 ~ 9 (0: Disable the second
Unit: - Range:
low-frequency filter)
Settings:
The second low-frequency vibration suppression gain. Higher setting value means better position
response. If the value is set to be too big, the motor will not be able to smoothly operate. It is
suggested to set the value to 1.
Auto Low-frequency Vibration Suppression Address: 013AH

P1-29 AVSM
Setting 013BH
Operational Related
Interface: Section:
Control
Default: 0 DMCNET
Mode:
Settings:
0: The auto-detection function is disabled.
1: Set back to 0 after vibration suppression.
Description of auto modes setting:
When the parameter is set to 1, it is in auto suppression. When the vibration frequency is not being
detected or the value of searched frequency is stable, the parameter will be set to 0 and the
frequency of low-frequency vibration suppression is saved to P1-25 automatically.
Address: 013CH
P1-30 VCL Low-frequency Vibration Detection
013DH
Operational Related
Interface: Section:
Control
Default: 500 DMCNET
Mode:
Unit: Pulse Range: 1 ~ 8000
Settings:
When auto suppression is enabled (P1-29 = 1), this parameter is used as the detection level. The
lower the value is, the more sensitive the detection will be. However, it is easier to misjudge noise
or regard other low-frequency vibration as the suppression frequency. If the value is bigger, it will
make more precise judgment. However, if the vibration of the mechanism is smaller, it might not
detect the frequency of low-frequency vibration.
P1-31 Reserved

Address: 0140H
P1-32 LSTP Motor Stop Mode
0141H
Operational Related
Interface: Section:
Control
Default: 0 ALL
7
Mode:
Settings:
Not in use
Selection of executing dynamic brake
Not in use
 Selection of executing dynamic brake: stop mode when servo off or alarm (including EMGS)
occurs.
0: Use dynamic brake
1: Motor free run
2: Use dynamic brake first, then execute free run until it stops (The motor speed is slower than
P1-38).
When PL(CCWL) or NL(CWL) occurs, please refer to the event time setting value of P5-03 for
determining the deceleration time. If the setting is 1 ms, the motor stops instantaneously.
P1-33 Reserved
Address: 0144H
0145H
Operational Related
Interface: Section:
Control
Default: 200 Sz
Mode:
Settings:
Acceleration constant:
P1-34, P1-35 and P1-36, the acceleration time of speed command from zero to the rated speed, all
can be set individually. Even when P1-36 is set to 0, the curve is still planned by P1-34 and P1-35.
Address: 0146H
P1-35 TDEC Deceleration Constant of S-Curve
0147H
Operational Related
Interface: Section:
Control
Default: 200 Sz
Mode:
Settings:
Deceleration constant:
P1-34, P1-35 and P1-36, the deceleration time of speed command from the rated speed to zero,
all can be set individually. Even when P1-36 is set to 0, the curve is still planned by P1-34 and
P1-35.

Address: 0148H
P1-36 TSL Acceleration / Deceleration Constant of S-Curve
0149H
Operational Related
Interface: Section:
Control
Default: 0 Sz, DMCNET
7
Mode:
Unit: ms Range: 0 ~ 65500 (0: Disable this function)
Settings:
Acceleration / Deceleration Constant of S-Curve:
P1-34: Set the acceleration time of acceleration / deceleration of trapezoid curve.

P1-35: Set the deceleration time of acceleration / deceleration of trapezoid curve.
P1-36: Set the smoothing time of S-curve acceleration / deceleration.
P1-34, P1-35 and P1-36 can be set individually. Even when P1-36 is set to 0, the curve is still
planned by P1-34 and P1-35.
Compensation function of following error is provided.
P1-36 = 0 P1-36 = 1 P-36 > 1
Smoothing function of
Disable Disable Enable
S-curve
Compensation
Determined by
function of following Disable Enable
P2-68.X
error
Inertia Ratio and Load Weight Ratio to Servo Address: 014AH

P1-37 GDR
Motor 014BH
Operational Related
Interface: Section
Control
Default: 1.0 10 ALL
Mode:
Unit: 1 times 0.1 times Data Size: 16-bit
Range: 0.0 ~ 200.0 0 ~ 2000 - -
Format: One decimal DEC - -
Example: 1.5 = 1.5 times 15 = 1.5 times - -
Settings:
Inertia ratio to servo motor (rotary motor):
(J_load / J_motor)
Among them:
J_motor: Rotor inertia of the servo motor
J_load: Total equivalent inertia of external mechanical load
Load weight inertia to servo motor (linear motor) (will be available soon):
(M_load / M_motor)
Among them:
M_motor: The weight of servo motor
M_load: Total equivalent weight of external mechanical load

Address: 014CH
P1-38 ZSPD Zero Speed Range Setting
014DH
Operational Related
Interface: Section:
Control
Default: 10.0 100 ALL
7
Mode:
Unit: 1 r/min 0.1 r/min Data Size: 16-bit
Range: 0.0 ~ 200.0 0 ~ 2000 - -
Example: 1.5 = 1.5 r/min 15 = 1.5 r/min - -
Settings:
Setting the output range of zero-speed signal (ZSPD). When the forward / reverse speed of the
motor is slower than the setting value, the digital output will be enabled.
Address: 014EH
P1-39 SSPD Target Speed Detection Level
014FH
Operational Related
Interface: Section:
Control
Default: 3000 ALL
Mode:
Unit: r/min Range:
0 ~ 5000
16-bit
Settings:
When the target speed is reached, DO.TSPD is enabled. When the forward / reverse speed of the
motor is higher than the setting value, the digital output will be enabled.
P1-40 ~ P1-41 Reserved
Address: 0154H
P1-42 MBT1 Enable Delay Time of Brake
0155H
Operational Related
Panel / Software Communication 6.5
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: ms Range:
0 ~ 1000
16-bit
Settings:
Set the delay time between servo on and DO.BRKR (signal of brake) on.
Address: 0156H
P1-43 MBT2 Disable Delay Time of Brake
0157H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: ms Range:
-1000 ~ 1000
16-bit
Settings:
Set the delay time between servo off and DO.BRKR (signal of brake) off.
Note:
1. If the delay time speciefied by P1-43 is not over yet and the motor speed is slower than the value of P1-38,
the signal of brake (BRKR) is off.
2. If the delay time of P1-43 is up and the motor speed is higher than the value of P1-38, the signal of brake
(BRKR) is off.
3. If P1-43 is set to a negative value and the servo is off due to alarm (except AL022) or emergency stop, its
setting will be equivalent to 0.

Address: 0158H
P1-44▲ GR1 Gear Ratio (Numerator) (N1)
0159H
Operational Related
Interface: Section:
Control
Default: 128 DMCNET
7
Mode:
Unit: Pulse Range: 1 ~ (229-1)
Settings:
Please refer to P2-60 ~ P2-62 for the setting of multiple gear ratio (numerator).
Note:
In DMCNET mode, the setting value can only be modified when Servo Off.
Address: 015AH
P1-45 GR2 Gear Ratio (Denominator) (M)
015BH
Operational Related
Interface: Section:
Control
Default: 10 DMCNET
Mode:
Unit: Pulse Range: 1 ~ (231-1)
Settings:
If the setting is wrong, the servo motor will easily have sudden unintended acceleration. Please
follow the rules for setting:
The setting of pulse input:
Range of command pulse input: 1/50 < Nx / M < 25600
Note:
The setting value cannot be changed when Servo On.
Address: 015CH
P1-46▲ GR3 Pulse Number of Encoder Output
015DH
Operational Related
Interface: Section:
Control
Default: 2500 ALL
Mode:
Unit: Pulse Range:
20 ~ 320000
32-bit
Settings:
The number of single-phase pulse output per revolution. The max. output pulse frequency of the
hardware is 19.8 MHz.
Note:
The following circumstances might exceed the max. allowable output pulse frequency and AL018 may occur.
1. Abnormal encoder
2. The motor speed is faster than the setting speed of P1-76
3. Motor Speed
 P1  46  4  19.8  10
6
60
Address: 015EH
P1-47 SPOK Speed Reached (DO.SP_OK) Range
015FH
Operational Related
Interface: Section:
Control
Default: 10 Sz
Mode:
Unit: r/min Range: 0 ~ 300
Settings:

When the deviation between speed command and motor feedback speed is smaller than the value
of this parameter, then the digital output DO.SP_OK (DO code is 0x19) is ON.
Block diagram:
1. Speed Command
7 2. Feedback Speed
-
+
3. Obtain Absolute Value
Yes 4. Check if the absolute value No

of speed deviation is lower
than the value of P1-47
5. DO.SP_OK is ON 6. DO.SP_OK is OFF
1. Speed command: It is the command issued by the user (without acceleration / deceleration), not
the one of front end speed loop. Source: register
2. Feedback speed: The actual speed of the motor which has been processed by the filter.
3. Obtain the absolute value.
4. Check if the value is smaller than the value of P1-47. DO.SP_OK will be ON when the absolute
value of speed error is smaller than P1-47, or it will be OFF. If P1-47 is 0, DO.SP_OK is always
OFF.
Operation Selection of Motion Reached Address: 0160H

P1-48 MCOK (DO.MC_OK) 0161H
Operational Related
Interface: Section:
Control
Default: 0 DMCNET
Mode:
Unit: - Range:
0x0000 ~ 0x0011
Format: HEX Data Size:
16-bit
Settings:
Control selection of digital output DO.MC_OK (DO code is 0x17).
The format of this parameter: 00YX
X= 0: It will not remain the digital output status
1: It will remain the digital output status
Y= 0: AL380 (position deviation) is not working
1: AL380 (position deviation) is working
Block diagram:
1. PR command
is triggered
2. DO.CMD_OK
DLY
3. Output Command
4. DO.TPOS
5. DO.MC_OK P1-48.X=0 MC_OK will not retain

after it is activated
6. DO.MC_OK
P1-48.X=1 MC_OK will retain after P1-48.Y=1
it is activated
7
7. Retain after the first time it
is ON
8. AL380 is activated
Description:
1. Command triggered: It means the new PR command is effective. Position command 3 starts to
output and clear signal 2, 4, 5 and 6 at the same time. Source of command triggered: DI.CTRG,
DI.EV1 / EV2 and software trigger P5-07, etc.
2. DO.CMD_OK: It means the position command 3 is completely outputted and can set the delay
time (DLY).
3. Command output: Output the profile of position command according to the setting acceleration /
deceleration.

4. DO.TPOS: It means the position error of the servo drive is within the value of P1-54.
5. DO.MC_OK: It means the position command is completely outputted and the servo finishes
positioning. MC_OK is ON if CMD_OK and TPOS are both ON.
6. DO.MC_OK (remains the digital output status): It is the same as 5. However, once this DO is ON
(7), its status will remain regardless signal 4 is OFF or not.
7. Outputting signal 5 or 6 (Only one can be selected) is determined by parameter P1-48.X.
8. Position deviation: When 7 happens, if 4 (or 5) is OFF, it means the position is deviated and
AL380 can be triggered. Set this alarm via parameter P1-48.Y.
Address: 0162H
7
P1-49 SPOKWT Accumulative Time of Speed Reached
0163H
Operational Related
Interface: Section:
Control
Default: 0 Sz
Mode:
Settings:
In speed mode, when the deviation value between speed command and motor feedback speed is
smaller than the range set by P1-47 and reaches the time set by P1-49, DO.SP_OK (DO code is
0x19) will be ON. If the deviation value exceeds the range set by P1-47, it has to recount the time.
Address: 0168H
P1-52 RES1 Regenerative Resistor Value
0169H
Operational Related
Interface: Section:
Determined by the model. Please Control
Default: ALL
refer to the following table. Mode:
Unit: Ohm Range: 5 ~ 750
Settings:
Model Default (Ω)
100 ~ 200 W 100
400 W 100
750 kW 100
1 kW 40
1.5 kW 40
2 kW 20
3 kW 20
Please refer to the description of P1-53 for the setting value when connecting regenerative resistor
with different method.
Address: 016AH
P1-53 RES2 Regenerative Resistor Capacity
016BH
Operational Related
Interface: Section:
Determined by the model. Please Control
Default: ALL
refer to the following table. Mode:
Unit: Watt Range: 0 ~ 6000
Settings:
Default
Model
(Ω)
100 ~ 200 W 0
400 W 60
750 kW 60
1 kW 60

1.5 kW 60
2 kW 100
3 kW 100
7
Following describes the setting value of P1-52 and P1-53 when connecting regenerative resistor
with different method:
External regenerative resistor
P Setting:
P1-52 = 10 (Ω)
1 kW, 10 Ω P1-53 = 1000 (W)

(serial connection)
P
1 kW, 10 Ω Setting:
P1-52 = 20 (Ω)
P1-53 = 2000 (W)
1 kW, 10 Ω
C
(parallel connection )
P Setting:
P1-52 = 5 (Ω)
1 kW, 10 Ω 1 kW, 10 Ω
P1-53 = 2000 (W)
Address: 016CH
P1-54 PER Position Completed Range
016DH
Operational Related
Interface: Section:
Control
Mode:
Unit: Pulse Range:
0 ~ 1280000
Format: DEC 32-bitData Size:
Settings:
In DMCNET mode, if the deviation pulse number is smaller than the setting range (the setting
value of parameter P1-54), DO.TPOS is ON.
Address: 016EH
P1-55 MSPD Maximum Speed Limit
016FH
Operational Related
Interface: Section:
Same as the rated speed of each Control
Default: ALL
model. Mode:
Unit: r/min Range: 10 ~ max.speed
Settings:
The default of the max. speed of servo motor is set to the rated speed.

Address: 0170H
P1-56 OVW Output Overload Warning Level
0171H
Operational Related
Interface: Section:
Control
Default: 120 ALL
7
Mode:
Unit: % Range: 0 ~ 120
Settings:
The range of the setting value is 0 ~ 100. If the torque outputted by the servo motor is continuously
higher than the setting proportion (P1-56), the early warning for overload (DO is set to 10, OLW)
will occur. If the setting value is over 100, it will disable this function.
Address: 0172H
P1-57 CRSHA Motor Crash Protection (torque percentage)
0173H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: % Range:
0 ~ 300
16-bit
Settings:
Set up protection level. (For the percentage of rated torque, setting the value to 0 means to disable
the function; setting the value to 1 or above means to enable the function)
Address: 0174H
P1-58 CRSHT Motor Crash Protection (protection time)
0175H
Operational Related
Interface: Section:
Control
Default: 1 ALL
Mode:
Unit: ms Range:
1 ~ 1000
16-bit
Settings:
Set up the protection time: When the protection level is reached, AL030 occurs after exceeding the
protection time.
Note:
This function is only suitable for non-contactable application, such as electric discharge machines. (Please set
up P1-37 correctly).
Address: 017CH
P1-62 FRCL Friction Compensation
017DH
Operational Related
Interface: Section:
Control
Default: 0 DMCNET, Sz
Mode:
Unit: % Range:
0 ~ 100
16-bit
Settings:
The level of friction compensation. (For the percentage of rated torque, setting the value to 0
means to disable the function; setting the value to 1 or above means to enable the function)
Address: 017EH
P1-63 FRCT Friction Compensation
017FH
Operational Related
Interface: Section:
Control
Default: 1 DMCNET, Sz
Mode:

Settings:
Set up the smooth constant of friction compensation.
7 P1-68
Operational
PFLT2 Position Command Moving Filter

Related
-
Address: 0188H
0189H
Interface: Section:
Control
Default: 4 DMCNET
Mode:
Format: DEC Data Size: 16bit
Settings:
0: Disabled
Moving filter can activate smooth function in the beginning and the end of step command, but it will
delay the command.
Maximum Rotation Setting of Encoder Output Address: 0198H

P1-76 AMSPD
(OA, OB) 0199H
Operational Related
Panel / Software Communication P1-46
Interface: Section:
Control
Default: 5500 ALL
Mode:
Settings:
According to the real application, this parameter is set for the maximum speed and the servo drive
will generate smooth function automatically for encoder output signals. When the value is set to 0,
the function is disabled.

P2-xx Extension Parameters

Address: 0200H
P2-00 KPP Position Loop Gain
0201H
Operational Related
Interface:
Panel / Software
Default: 35
Unit: rad/s
Format: DEC
Communication
Section:
Control
Mode:
Range:
Data Size:
6.2.5
DMCNET
0 ~ 2047
16-bit
7
Settings:
Increasing the value of position loop gain can enhance the position response and diminish the
deviation of position control. However, if the value is set to be too big, it may easily cause vibration
and noise.
Address: 0202H
P2-01 PPR Switching Rate of Position Loop Gain
0203H
Operational Related
Interface: Section:
Control
Default: 100 DMCNET
Mode:
Unit: % Range: 10 ~ 500
Settings:
Switch the changing rate of position loop gain according to the gain-switching condition.
Address: 0204H
P2-02 PFG Position Feed Forward Gain
0205H
Operational Related
Interface: Section:
Control
Default: 50 DMCNET
Mode:
Unit: % Range:
0 ~ 100
16-bit
Settings:
If the position command is changed smoothly, increasing the gain value can reduce the position
error. If the position command is not changed smoothly, decreasing the gain value can tackle the
problem of mechanical vibration.
Address: 0206H
P2-03 PFF Smooth Constant of Position Feed Forward Gain
0207H
Operational Related
Interface: Section:
Control
Default: 5 DMCNET
Mode:
Unit: ms Range:2 ~ 100
16-bit
Settings:
If the position command is changed smoothly, decreasing the value can reduce the position
following error. If the position command is not changed smoothly, increasing the value can tackle the
problem of mechanical vibration.
Address: 0208H
P2-04 KVP Speed Loop Gain
0209H
Operational Related
Interface: Section:
Control
Default: 500 ALL
Mode:
Unit: rad/s Range:
0 ~ 8191
16-bit
Settings:
Increasing the value of speed loop gain can enhance the speed response. However, if the value is
set to be too big, it would easily cause vibration and noise.

Address: 020AH
P2-05 SPR Switching Rate of Speed Loop Gain
020BH
Operational Related
Interface: Section:
Control
Default: 100 ALL
7
Mode:
Unit: % Range:10 ~ 500
16-bit
Settings:
Switch the changing rate of speed loop gain according to the gain switching condition.
Address: 020CH
P2-06 KVI Speed Integral Compensation
020DH
Operational Related
Interface: Section:
Control
Default: 100 ALL
Mode:
Unit: rad/s Range: 0 ~ 1023
Settings:
Increasing the value of speed integral compensation can enhance speed response and diminish the
deviation of speed control. However, if the value is set to be too big, it would easily cause vibration
and noise.
Address: 020EH
P2-07 KVF Speed Feed Forward Gain
020FH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: % Range:0 ~ 100
16-bit
Settings:
If the speed command is changed smoothly, increasing the gain value can reduce the speed
following error. If the speed command is not changed smoothly, decreasing the gain value can
tackle the problem of mechanical vibration.
Address: 0210H
P2-08■ PCTL Special Parameter Write-in
0211H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0 ~ 65535
Settings:
Special parameter write-in:
Parameter Code Function
Reset the parameter (Conenct to the power again after
10
reset)
20 P4-10 is writable
22 P4-11 ~ P4-21 are writable
406 Enable forced DO mode
When forced DO mode is enabled, it can switch back to
400
the normal DO mode immediately
Address: 0212H
P2-09 DRT DI Debouncing Time
0213H
Operational Related
Interface: Section
Control
Default: 2 ALL
Mode:

Settings:
When the environmental noise is big, increasing the setting value can enhance the control stability.
However, if the value is set to be too big, the response time will be influenced.
Address: 0214H
7
P2-10 DI1 DI1 Functional Planning
0215H
Operational Related
Interface: Section:
Control
Default: 101 ALL
Mode
0 ~ 0x015F (The last two codes are
Unit: - Range:
DI code)
Settings:
Input function selection

Input contact
Not in use
 Input function selection: Please refer to Table 7.1

 Input contact: a or b contact
0: Set the input contact as normally closed (b contact)
1: Set the input contact as normally opened (a contact)
(P2-10 ~ P2-17) The setting value of function programmed
When parameters are modified, please re-start the servo drive to ensure it can work normally.
Note: Parameter P3-06 is used to set how digital inputs (DI) accept commands, through external terminal or
communication determined by P4-07.
Address: 0216H
0217H
Operaional Related
Interface: Section:
Control
Default: 104 ALL
Mode:
Unit: - Range:
DI code)
Settings:
Please refer to the description of P2-10.
Address: 0218H
0219H
Operational Related
Interface: Section:
Control
Default: 022 ALL
Mode:
Unit: - Range:
DI code)
Settings:

Address: 021AH
021BH
Operational Related
Interface: Section:
Control
Default: 023 ALL
7
Mode:
0~ 0x15F (The last two codes are
Unit: - Range:
DI code)
Settings:
Address: 021CH
021DH
Operational Related
Interface: Section:
Control
Default: 021 ALL
Mode:
Unit: - Range:
DI code)
Settings:
Address: 0224H
P2-18 DO1 DO1 Functional Planning
0225H
Operational Related
Interface: Section:
Control
Default: 101 ALL
Mode:
Unit: - Range:
DO code)
Format: HEX Data 16-bit
Settings:
Output function selection

Output contact
Not in use
 Output function selection: Please refer to Table 7.2
 Output contact: a or b contact
0: Set the output contact as normally closed (b contact)
1: Set the output contact as normally opened (a contact)
(P2-18 ~ P2-22) The setting value of function programmed
When parameters are modified, please re-start the servo drive to ensure it can work normally.
Address: 0226H
P2-19 DO2 DO2 Functional Planning
0227H
Operational Related
Interface: Section:
Control
Default: 103 ALL
Mode:
Unit: - Range:
DO code)
Settings:
Please refer to the description of P2-18

Address: 022EH
Operational
Interface:
Panel / Software
Default: 1000
Communication
Related
Section:
Control
Mode:
6.3.6
ALL
022FH
7
Unit: Hz Range:
50 ~ 1000
16-bit
Settings:
The first setting value of resonance frequency. If P2-24 is set to 0, this function is disabled.
P2-43 and P2-44 are for the second notch filter.
Resonance Suppression (Notch Filter) Address: 0230H

P2-24 DPH1
Attenuation Rate (1) 0231H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
0 ~ 32 (0: Disable the function of
Unit: -dB Range:
notch filter)
Settings:
The first resonance suppression (notch filter) attenuation rate. When this parameter is set to 0, the
function of notch filter is disabled.
Note:
If the value of attenuation rate is set to 5, then, it would be -5dB.
Address: 0232H
P2-25 NLP Low-pass Filter of Resonance Suppression
0233H
Operational Related
Interface: Section:
0.2 (under 1 kW) Control
Default: or 0.5 (other 2 (under 1kW) or ALL
5 (othe model) Mode:
model)
Unit: 1 ms 0.1 ms Data Size: 16-bit
Range: 0.0 ~ 100.0 0 ~ 1000 - -
Example: 1.5 = 1.5 ms 15 = 1.5 ms - -
Settings:
Set the low-pass filter of resonance suppression. When the value is set to 0, the function of
low-pass filter is disabled.
Address: 0234H
P2-26 DST Anti-interference Gain
0235H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: rad/s Range:
0 ~ 1023 (0: Disable this function)
16-bit
Settings:
Increasing the value of this parameter can increase the damping of speed loop. It is suggested to
set the value of P2-26 equal to the one of P2-06. If users desire to adjust P2-26, please follow the
rules below.
1. In speed mode, increasing the value of this parameter can reduce speed overshoot.
2. In position mode, decreasing the value of this parameter can reduce position overshoot.

Address: 0236H
P2-27 GCC Gain Switching and Switching Selection
0237H
Operational Related
Interface: Section:
Control
Default: 0 ALL
7
Mode:
Unit: - Range: 0x0000 ~ 0x0018
Settings:
Gain switching conditon

Gain switching method
Not in use
 Gain switching condition:

0: Disable gain switching function.
1: The signal of gain switching (GAINUP) is ON.
2: In position control mode, the position error is bigger than the setting value of P2-29.
3: The frequency of position command is bigger than the setting value of P2-29.
4: The speed of servo motor is faster than the setting value of P2-29.
5: The signal of gain switching (GAINUP) is OFF.
6: In position control mode, the position error is smaller than the setting value of P2-29.
7: The frequency of position command is smaller than the setting value of P2-29.
8: The speed of servo motor is slower than the setting value of P2-29.
 Gain switching method:

0: Gain switching
1: Integrator switching P -> PI
Setting Control Mode Control Mode
-
Value DMCNET Sz
P2-00 x 100%
P2-04 x 100% Before switching
P2-04 x 100%
0
P2-00 x P2-01
P2-04 x P2-05 After switching
P2-04 x P2-05
P2-06 x 0%; P2-26 x 0% Before switching
1
P2-06 x 100%; P2-26 x 100% After switching
Address: 0238H
P2-28 GUT Gain Switching Time Constant
0239H
Operational Related
Interface: Section:
Control
Default: 10 ALL
Mode:
Example: 15 = 150 ms
Settings:
It is for switching the smooth gain. (0: Disable this function)
Address: 023AH
P2-29 GPE Gain Switching
023BH
Operational Related
Interface: Section:
Control
Default: 1280000 ALL
Mode:
Unit: Pulse, Kpps, r/min Range:
0 ~ 3840000
32-bit
Settings:
The setting of gain switching (pulse, Kpps, r/min) is determined by the selection of gain switching
(P2-27).

Address: 023CH
P2-30■ INH Auxiliary Function
023DH
Operational Related
Interface: Section:
Default: 0
Unit: -
Format: DEC
Settings:
Control
Mode:
Range:
Data Size:
ALL
-8 ~ +8
16-bit
7
0 Disable all the functions described below.
1 Use the software to force servo on.
2~4 (Reserved)
This setting allows the written parameters not to retain after power-off. If there is no
need to save the data continuously written via panel or communication, this function
5 can avoid the parameters from continuously writing into EEPROM and shorten the
lifetime of EEPROM. Setting this parameter is a must when communication control is
used.
In simulation mode (command simulation), the external servo on signal cannot work
and DSP error (variable 0x6F) is regarded as 0. P0-01 only shows the external error
(positive / negative limit, emergency stop, etc.)
6
In this status, DO.SRDY is ON. Command is accepted in each mode and can be
observed via scope software. However, the motor will not operate. The aim is to
examine the command accuracy.
7 High-speed oscilloscope. Time-Out function is disabled. (It is for PC software)
Back up all the parameters (current value) and save it to EEPROM. The value still
8 exists when re-power on. The panel displays “to.rom” during execution.(It can be
executed when Servo On)
-1,-5,-6,-7 Individually disable the function of 1, 5, 6 and 7.
-2 ~ -4, -8 (Reserved)
Note:
Please set the value to 0 in normal operation. The value returns to 0 automatically after re-power on.
Speed Loop Frequency Response Setting in Auto Address: 023EH

P2-31 AUT1
and Semi-auto Mode 023FH
Operational Related
Interface: Section: 5.6, 6.3.5
Control
Default: 40 ALL
Mode:
Unit: Hz Range: 1 ~ 1000
Settings:
1 ~ 50 Hz: Low stiffness, low response
51 ~ 250 Hz: Medium stiffness, medium response
251 ~ 850 Hz: High stiffness, high response
851 ~ 1000 Hz: Extremely high stiffness, extremely high response
Note:
1. According to the speed loop setting of P2-31, the servo drive sets the position loop response automatically.
2. The function is enabled via parameter P2-32. Please refer to Chapter 5.6 for corresponding bandwidth size of
the setting value.
Address: 0240H
P2-32▲ AUT2 Tuning Mode Selection
0241H
Operational Related
Panel / Software Communication 5.6, 6.3.5
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0~2

Settings:
0: Manual Mode
1: Auto Mode (continuous adjustment)
2: Semi-auto Mode (non-continuous adjustment)
7
Description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such as P2-00, P2-02, P2-04, P2-06,
P2-07, P2-25 and P2-26, all can be set by the user. When switching mode from auto or semi-auto
mode to manual mode, gain-related parameters will be updated automatically.
Description of auto mode setting:

Continue to estimate the system inertia. Automatically save the load inertia ratio to P1-37 every 30
minutes and refer to the stiffness and bandwidth setting of P2-31.
1. Set the system to manual mode 0 from auto mode 1 or semi-auto mode 2. The system will save
the estimated load inertia value to P1-37 automatically and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from manual mode 0. Please set appropriate
load inertia value in P1-37.
3. Set the system to manual mode 0 from auto mode 1. P2-00, P2-04 and P2-06 will be modified to
the corresponding parameters in auto mode.
4. Set the system to manual mode 0 from semi-auto mode 2. P2-00, P2-04, P2-06, P2-25 and P2-26
will be modified to the corresponding parameters in auto mode.
Description of semi-auto mode setting:

1. When the system inertia is stable, the value of P2-33 will be 1 and the system stops estimating.
The load inertia ratio will be saved to P1-37 automatically. When switching from other modes to
semi-auto mode (from manual mode or auto mode), the system starts to estimate again.
2. When the system inertia is over the range, the value of P2-33 will be 0 and the system starts to
estimate and adjust again.
Address: 0242H
P2-33▲ AUT3 Semi-auto Inertia Adjustment
0243H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0~1
Settings:
Semi-auto setting
Reserved
Not in use
Semi-auto Setting:
1: It means the inertia estimation in semi-auto mode is completed. The inertia value can be
accessed via P1-37.
0: When the display is 0, it means the inertia adjustment is not completed yet and is still adjusting.
When the setting is 0, it means the inertia adjustment is not completed yet and is still adjusting.
Address: 0244H
P2-34 SDEV Condition of Over Speed Warning
0245H
Operational Related
Interface: Section:
Control
Default: 5000 Sz
Mode:
Settings:
It is the setting for over speed warning in servo drive error display (P0-01).

Condition of Excessive Position Control Address: 0246H

P2-35 PDEV
Deviation Warning 0247H
Operational Related
Interface: Section:
Control
7
Mode:
Unit: Pulse Range: 1 ~ 128000000
Settings:
It is the setting of excessive position control deviation warning in servo drive error display (P0-01).
Address: 0256H
0257H
Operational Related
Interface: Section:
Control
Default: 1000 ALL
Mode:
Unit: Hz Range:
50 ~ 2000
16-bit
Settings:
The second setting value of resonance frequency. If P2-44 is set to 0, this function is disabled.
P2-23 and P2-24 are the first group of notch filter.
Resonance Suppression (Notch Filter) Address: 0258H

P2-44 DPH2
Attenuation Rate (2) 0259H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
0 ~ 32 (0: Disable the function of
Unit: -dB Range:
notch filter)
Settings:
The second resonance suppression (notch filter) attenuation rate. When this parameter is set to 0,
the function of notch filter is disabled.
Note:
If the value of attenuation rate is set to 5, then, it would be -5 dB.
Address: 025AH
025BH
Operational Related
Interface: Section:
Control
Default: 1000 ALL
Mode:
Unit: Hz Range:
50 ~ 2000
16-bit
Settings:
The third setting value of resonance frequency. If P2-46 is set to 0, this function is disabled. P2-23
and P2-24 are the first group of notch filter.
Resonance Suppression (Notch Filter) Address: 025CH

P2-46 DPH3
Attenuation Rate (3) 025DH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: -dB Range: 0 ~ 32
Settings:
The third resonance suppression (notch filter) attenuation rate. When this parameter is set to 0, the
function of notch filter is disabled. If the value of attenuation rate is set to 5, then, it would be -5 dB.

Address: 025EH
P2-47 ANCF Auto Resonance Suppression Mode Setting
025FH
Operational Related
Interface: Section:
Control
Default: 1 ALL
7
Mode:
Unit: - Range: 0~2
Settings:
0: The auto-detection function is disabled.
1: Set back to 0 after resonance suppression.
2: Continuous resonance suppression.
Description of Auto Mode Setting:

When it is set to 1: Auto resonance suppression. The value returns to 0 automatically and the point
of resonance suppression will be saved automatically when the estimation is stable. If it is unstable,
re-power on or set back to 1 for re-estimation.
When it is set to 2: Continuous auto resonance suppression. When the estimation is stable, the
point of resonance suppression will be saved automatically. If it is unstable, re-power on for
re-estimation.
When switching to mode 0 from mode 2 or 1, the setting of P2-43, P2-44, P2-45 and P2-46 will be
saved automatically.
Address: 0260H
P2-48 ANCL Resonance Suppression Detection Level
0261H
Operational Related
Interface: Section:
Control
Default: 100 ALL
Mode:
Unit: - Range: 1 ~ 300 %
Settings:
(The smaller the setting value is, the more sensitive toward the resonance will be.)
P2-48↑, resonance sensitiveness↓
P2-48↓, resonance sensitiveness↑
Address: 0262H
P2-49 SJIT Speed Detection Filter
0263H
Operational Related
Interface: Section:
Control
Default: 0B ALL
Mode:
Unit: - Range: 0x00 ~ 0x1F
Settings:
The filter of speed estimation
Setting Speed Estimation Setting Speed Estimation
Value Bandwidth (Hz) Value Bandwidth (Hz)
00 2500 10 750
01 2250 11 700
02 2100 12 650
03 2000 13 600
04 1800 14 550
05 1600 15 500
06 1500 16 450
07 1400 17 400
08 1300 18 350
09 1200 19 300
0A 1100 1A 250
0B 1000 1B 200

0C 950 1C 175
0D 900 1D 150
0E 850 1E 125
0F 800 1F 100
P2-50~P2-52 Reserved 7
Address: 026AH
P2-53 KPI Position Integral Compensation
026BH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: rad/s Range:
0 ~ 1023
16-bit
Settings:
When the value of position integral compensation is increased, the position steady-state error is
reduced. However, if the setting value is too big, it may easily cause position overshoot and noise.
Address: 0282H
P2-65 GBIT Special-bit Register
0283H
Operational Related
Interface: Section:
Control
Default: 0 DMCNET / Sz
Mode:
Unit: - Range: 0 ~ 0xFFFF
Format: - Data Size: -
Settings:

 Bit 2 ~ 5, Bit 7 and Bit 14: Reserved (Please set to 0)
 Bit 0 ~ Bit 1: Reserved
 Bit 6: In DMCNET mode, the switch of pulse error protection function (pulse frequency is too
high)
Bit 6 = 0: Enable the function of pulse error protection
Bit 6 = 1: Disable the function of pulse error protection
 Bit 8: Reserved
 Bit 9: U, V, W wiring cut-off detection
Bit 9 = 1: Enable U, V, W wiring cut-off detection
 Bit 10: Reserved
 Bit 12: Phase loss detection
Bit12 = 0: Enable phase loss (AL022) detection
Bit12 = 1: Disable phase loss (AL022) detection
 Bit13: Encoder output error detection function
Bit13 = 0: Enable encoder output error (AL018) detection function
Bit13 = 1: Disable encoder output error (AL018) detection function
 Bit15: Friction compensation mode selection
Bit15 = 0: If the speed is slower than the value of P1-38, the compensation value remains.
Bit15 = 1: If the speed is slower than the value of P1-38, the compensation value becomes 0.

Address: 0284H
P2-66 GBIT2 Special-bit Register 2
0285H
Operational Related
Interface: Section:
Control
Default: 10 DMCNET / Sz
7
Mode:
Unit: - Range: 0 ~ 0x083F
Settings:
Special-bit Register 2

 Bit 2: Cancel latch function of low-voltage error
0: Latch function of low-voltage error: the error will not be cleared automatically
1: Cancel latch function of low-voltage error: the error will be cleared automatically.
 Bit 3: Reserved
 Bit 4: Cancel the detection of AL044
0: AL044 will occur
1: AL044 will be ignored
 Bit 9: When AL003 occurs, switch on DO.ALM or DO.WARN.
0: When AL003 occurs, switch on DO.WARN.
1: When AL003 occurs, switch on DO.ALM.
Address: 0286H
P2-67 JSL The Stable Level of Inertia Estimation
0287H
Operational Related
Interface: Section:
Control
Default: 1.5 15 ALL
Mode:
Unit: 1 times 0.1 times Data Size: 16-bit
Range: 0 ~ 200.0 0 ~ 2000 - -
Example: 1.5 = 1.5 times 15 = 1.5 times - -
Settings:
In semi-auto mode, if the value of inertia estimation is smaller than the value of P2-67 and the status
remains for a while, the system will regard the inertia estimation as completed.
P2-68 Reserved
Address: 028AH
P2-69● ABS Absolute Encoder Setting
028BH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
0~1
16-bit
Settings:
0: Incremental mode. Servo motor with absolute encoder can be operated as the one with
incremental encoder.
1: Absolute mode. (This setting is only available for servo motors with absolute encoder. When a
motor with incremental encoder is connected, AL069 will occur.)
Note:
This parameter is effective only after the servo drive is re-powered on.

Address: 028CH
P2-70 MRS Read Data Format Selection
028DH
Operational Related
Interface: Section:
Control
Default: 0 ALL
7
Mode:
Unit: - Range: 0x00~0x07
Settings:

Bit 0: Data unit setting of digital input / output (DI / DO); 1: pulse, 0: PUU.
Bit 1: Communication data unit setting; 1: pulse, 0: PUU.
Bit 2: Overflow warning; 1: No overflow warning; 0: Overflow warning, AL289 (PUU) and AL062
(pulse).
Bit 3 ~ Bit 15: Reserved. Must be set to 0.
Address: 028EH
P2-71■ CAP Absolute Position Homing
028FH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0~1
Settings:
When P2-71 is set to 1, the current position will be set as home position. This function can be
enabled only when parameter P2-08 is set to 271.

P3-xx Communication Parameters

Address: 0300H
P3-00● ADR Address Setting
0301H
Operational Related
7
Interface: Section:
Control
Default: 01 ALL
Mode:
Unit: - Range:
0x01 ~ 0x7F
16-bit
Settings:
The communication address setting is divided into Y and X (hexadecimal):
- 0 0 Y X
Range －－ 0~7 0~F
When using RS-232 to communicate, one servo drive can only set one address. Duplicate address
setting will cause abnormal communication.
This address represents the absolute address of the servo drive in the communication network
which is applicable to RS-232 and DMCNET bus.
When the communication address setting of MODBUS is set to 0xFF, the servo drive will
automatically reply and receive data regardless of the address. However, P3-00 cannot be set to
0xFF.
Address: 0302H
P3-01 BRT Transmission Speed
0303H
Operational Related
Interface: Section:
Control
Default: 3203 ALL
Mode:
Unit: Bps Range:
0x000 ~ 0x3405
16-bit
Settings:
The setting of transmission speed is divided into Z, Y and X (hexadecimal):
- 0 Z Y X
Communication Port － DMCNET － RS-232
Range 0 0~4 0 0~5
 Definition of setting value X

0: 4800 1: 9600 2: 19200
3: 38400 4: 57600 5: 115200
 Definition of setting value Z

0: 125 Kbit/s 1: 250 Kbit/s 2: 500 Kbit/s
3: 750 Kbit/s 4: 1.0 Mbit/s -
Note:
If this parameter is set via DMCNET, only Z can be set and the others remain.
Address: 0304H
P3-02 PTL Communication Protocol
0305H
Operational Related
Interface: Section:
Control
Default: 6 ALL
Mode:
Unit: Bps Range: 0~8
Settings:
The definition of the setting value is as the followings:
0: 7, N, 2(MODBUS, ASCII) 1: 7, E, 1(MODBUS, ASCII) 2: 7, O, 1(MODBUS, ASCII)

3: 8, N, 2(MODBUS, ASCII) 4: 8, E, 1(MODBUS, ASCII) 5: 8, O, 1(MODBUS, ASCII)

6: 8, N, 2(MODBUS, RTU) 7: 8, E, 1(MODBUS, RTU) 8: 8, O, 1(MODBUS, RUT)
Address: 0306H
P3-03 FLT Communication Error Disposal
0307H
Operational
Interface:
Default: 0
Unit: -
Related
Section:
Control
Mode:
Range:
0~1
-
ALL 7
16-bit
Settings:
The definition of the setting value is as the followings:
0: Warning displays and motor keeps running
1: Warning displays and motor decelerates to stop (The deceleration time can be set via P5-03.B)
Address: 0308H
P3-04 CWD Communication Timeout
0309H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: sec Range: 0 ~ 20
Settings:
If the setting value is not 0, the communication timeout function is enabled immediately. If it is set to
0, this function will be disabled.
Address: 030AH
P3-05 CMM Communication Mechanism
030BH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
0x00 ~ 0x01
16-bit
Settings:
Communication interface selection (one or more than one communication)
Communication Interface: 0: RS-232
Address: 030CH
P3-06■ SDI Control Switch of Digital Input (DI)
030DH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:0x0000 ~ 0x3FFF
16-bit
Settings:
Control switch of DI source. Each bit of this parameter decides one input source of DI signal:
Bit0 ~ Bit4 correspond to DI1 ~ DI5.
The setting of bit is as the followings:
0: The input status is controlled by the external hardware terminal.
1: The input status is controlled by P4-07.
For functional planning of digital input, please refer to:

DI1 ~ DI5: P2-10 ~ P2-14

Address: 030EH
P3-07 CDT Communication Response Delay Time
030FH
Operational Related
Interface: Section:
Control
Default: 0 ALL
7
Mode:
Unit: 0.5 ms Range:
0 ~ 1000
16-bit
Settings:
Delay the time of communication response from servo drive to controller.
Address: 0310H
P3-08■ MNS Monitor Mode
0311H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
Shown as below
16-bit
Settings:
The setting of monitor mode is divided into L and H (hexadecimal):
Item －－ L H
Low-speed
Function －－ Monitor Mode
monitoring time
Range 0 0 0~F 0~3
The status of this axis or multi-axis can be monitored by USB. The definition of the setting value is
as follows:
 The definition of setting value H
0: Disable the monitor function
1: Low-speed monitoring. The sampling time is set by L and can monitor 4 channels.
2: High-speed monitoring. The sampling frequency is 2K and can monitor 4 channels.
3: High-speed monitoring. The sampling frequency is 4K and can only monitor 2 channels.
 L: Sampling time of low-speed monitoring. (Unit: ms)

It means the axial status will be sent via USB every L ms. So the controller can monitor the axial
status. Each monitoring message includes data of 4 channels (16 bit x 4). If L is set to 0, this
function is disabled. L is enabled when H is set to 1.
Address: 0312H
P3-09 SYC DMCNET Synchronize Setting
0313H
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range:
Shown as below
16-bit
Settings:
The synchronization setting of DMCNET is divided into E, T, D and M (hexadecimal):
Item E T D M
Range of
Target Adjusting
Function Synchronous Deadband
Value Amount
Error
Range 1~9 0~9 0~F 1~F
The DMCNET slave synchronizes with the master via SYNC. See as the followings:
M: If the slave needs to synchronize with the master, correctting the clock is a must. This parameter
sets the maximum correction value per time. (Unit: usec)
D: Set the size of deadband (Unite: usec). If the deviation between the SYNC reaching time and the
target value does not exceed the deadband, correction is not needed.
T: SYNC arrival time. The standard value is 500 usec but it might be different from the target value.
Thus, the buffer is necessary.
Target value＝400 + 10 x T

For instance, if T = 5, the target value will be 450.

E: If the deviation between SYNC reaching time and the target value is smaller than the range, it
means the synchronization is successful. (Unit: 10 usec)
Address: 0314H
7
P3-10 CANEN DMCNET Protocol Setting
0315H
Operational Related
Interface: Section:
Control
Default: 1 DMCNET
Mode:
Unit: - Range:
Shown as below
16-bit
Settings:
DMCNET synchronization setting is divided into X, Y and Z (hexadecimal):
Item Z Y X
Function Undefined To servo off if DMCNET bus error occurs. -
Range 0~F 0~1 1
Definition is as the followings:

X: Normally set to 1.
Y: 0: The motor keeps running when communication error occurs;1: Servo off when communication
error occurs
Z: Undefined
Address: 0316H
P3-11 CANOP DMCNET Selection
0317H
Operational Related
Interface: Section:
Control
Default: 0 DMCNET
Mode:
Unit: - Range:
Shown as below
16-bit
Settings:
DMCNET synchronization setting is divided into X, Y, Z and U. (hexadecimal):
Item U Z Y X
Whether the parameter is saved
Function Undefined Undefined Undefined
into EEPROM.
Range 0~1 0~F 0~F 0~1
Definition is as the followings:

X: 1: When writing parameters by PDO, parameters will be saved to EEPROM.
0: When writing parameters by PDO, parameters will not be saved to EEPROM.
Y, Z, U: Undefined
Note:
If X is set to 1 and parameters are written by PDO continuously, it will shorten the lifetime of EEPROM.
Address: 0318H
P3-12 QSTPO DMCNET Support Setting
0319H
Operational Related
Interface: Section:
Control
Default: 0 DMCNET
Mode:
Unit: - Range: 0x0000 ~ 0x0111
Settings:
Item U Z
Function None DMCNET parameter value will be loaded in.
Range None 0~1
The following table shows P parameters and its corresponding DMCNET parameters. The setting of
Z (hexadecimal) can determine if it should be modified.
This function is applicable in DMCNET mode: 0xB mode selection (P1-01 = b)

Z: P parameters will be overwritten by DMCNET parameters.

Z = 0: When re-servo on the servo drive or reset the communiation, P parameters that mentioned
in the following table will load in the value of DMCNET parameters.
Z = 1: When re-servo on the servo drive or reset the communiation, P parameters that mentioned
in the following table will remain its original setting. The value of DMCNET parameters will
7
not be loaded in.
DMCNET Parameter:
DMCNET Parameter P Parameter
Parameter Default Parameter Default

P1-32.Y = 0,
Dynamic break enable
P1-32 DMCNET 0 P1-32
P1-32.Y = 1,
Dynamic break disable
P2-35 DMCNET 3840000 P2-35 3840000
100
P1-47 DMCNET P1-47 10 (rpm)
(0.1 rpm)
P1-49 DMCNET 0 P1-49 0
P1-38 DMCNET 100 P1-38 100
P1-44 DMCNET
1:1 P1-44/P1-45 128:10
P1-45 DMCNET

P4-xx Diagnosis Parameters

Address: 0400H
P4-00★ ASH1 Fault Record (N)
0401H
Operational Related
Interface:
Default: 0
Unit: -
Format: HEX
Section:
Control
Mode:
Range:
Data Size:
4.4.1
ALL
-
32-bit
7
Settings:
The last abnormal status record
Low word: LXXXX: Display ALM number.
High word: hYYYY: Display the error code which corresponds to DMCNET.
Address: 0402H
P4-01★ ASH2 Fault Record (N-1)
0403H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: -
Settings:
The last second abnormal status record
Address: 0404H
0405H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: -
Settings:
The last third abnormal status record
Address: 0406H
0407H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: -
Settings:
The last fourth abnormal status record
High word: hYYYY: Display the error code corresponds to DMCNET.
Address: 0408H
0409H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: -
Settings:
The last fifth abnormal status record

Address: 040AH
P4-05 JOG Servo Motor Jog Control
040BH
Operational Related
Interface: Section:
Control
Default: 20 ALL
7
Mode:
Unit: r/min Range:
0 ~ 5000
16-bit
Settings:
Two control methods are as follows:
1. Operation Test
After the JOG speed is set by P4-05 via the panel, the panel will display the symbol of JOG.
Pressing the UP key can control JOG operation in positive direction; pressing the DOWN key can
control JOG operation in negative direction. Stop pressing to stop the JOG operation. If there is any
error in this setting, then the motor cannot operate. The maximum JOG speed is the maximum
speed of the servo motor.
2. Communication Control
1 ~ 5000: JOG speed 4998: JOG operation in CCW direction
4999: JOG operation in CW direction 0: Stop operation
Note:
When writing via communication, if the frequency is high, please set P2-30 to 5.
Address: 040CH
P4-06▲■ FOT Digital Output Register (Readable and Writable)
040DH
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0 ~ 0xFF
Settings:
bit 00: correspond to DO code=0x30 bit 08: correspond to DO code=0x38
bit 01: correspond to DO code=0x31 bit 09: correspond to DO code=0x39
bit 02: correspond to DO code=0x32 bit 10: correspond to DO code=0x3A
bit 03: correspond to DO code=0x33 bit 11: correspond to DO code=0x3B
bit 04: correspond to DO code=0x34 bit 12: correspond to DO code=0x3C
bit 05: correspond to DO code=0x35 bit 13: correspond to DO code=0x3D
bit 06: correspond to DO code=0x36 bit 14: correspond to DO code=0x3E
bit 07: correspond to DO code=0x37 bit 15: correspond to DO code=0x3F
If P2-18 is set to 0x0130, then DO#1 represents the bit 0 status of P4-06. DO code (0x30~0x3F) can
be set via communication DO, and then write into P4-06.
Address: 040EH
P4-07■ ITST Multi-function of Digital Input
040FH
Operational Related
Panel / Software Communication 4.4.4, 8.2
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range:
0 ~ 3FFF
16-bit
Settings:
The DI input signal can come from external terminal (DI1 ~ DI5) or software SDI1 ~ 5 (Bit 0 ~ 4 of
P4-07) and is determined by P3-06. If the corresponding bit of P3-06 is 1, it means the source is
software SDI (P4-07); if the corresponding bit is 0, then the source is hardware DI. See the following
graph:
P3-06
External DI: DI1 ~ DI5
DI after combination
Software DI,
SDI1~SDI5
(P4-07 bit)

Read parameters: shows the DI status after combination

Write parameters: writes the software SDI status (The function of this parameter is the same
whether it is written via panel or communication.)
Example: The value of reading P4-07 is 0x0011, which means DI1 and DI5 are ON; the value of
writing P4-07 is 0x0011, which means software SDI1 and SDI5 are ON
7
Please refer to P2-10 ~ P2-14 for function program of digital input pin DI (DI1~DI5).
Address: 0410H
P4-08★ PKEY Input Status of the Drive Keypad (Read-only)
0411H
Operational Related
Interface: Section:
Control
Default: - ALL
Mode:
Unit: - Range:
(Read-only)
16-bit
Settings:
The aim is to check if the five keys MODE, UP, DOWN, SHIFT and SET can work normally.
Address: 0412H
P4-09★ PKEY Digital Output Status (Read-only)
0413H
Operational Related
Interface: Section:
Control
Default: - ALL
Mode:
Unit: - Range:
0 ~ 0x1F
16-bit
Settings:
There is no difference between reading via panel or communication.
Address: 0414H
P4-10■ CEN Adjustment Selection
0415H
Operational Related
Interface: Section:
Control
Default: 0 ALL
Mode:
Unit: - Range: 0~6
Settings:
4: Execute the adjustment of current detector (W
0: Reserved
phase) hardware offset
5: Execute the adjustment of 1 ~ 4 hardware
1: Reserved
offset
2: Reserved 6: Execute the adjustment of IGBT ADC
3: Execute the adjustment of current detector (V
-
phase) hardware offset
Note:
The adjustment function needs to be enabled by the setting of parameter P2-08. When adjusting, the external
wiring which connects to torque needs to be removed completely and must be in Servo Off status.
Address: 041EH
P4-15 COF1 Current Detector (V1 Phase) Offset Adjustment
041FH
Operational Related
Interface: Section:
Control
Default: Factory default ALL
Mode:
Unit: - Range:
0 ~ 32767
16-bit
Settings:
Manually adjust the hardware offset. The adjustment function needs to be enabled by the setting of
parameter P2-08. It is not suggested to adjust the auxiliary adjustment. This parameter cannot be
reset.

Address: 0420H
P4-16 COF2 Current Detector (V2 Phase) Offset Adjustment
0421H
Operational Related
Interface: Section:
Control
7
Mode:
Unit: - Range: 0 ~ 32767
Settings:
reset.
Address: 0422H
P4-17 COF3 Current Detector (W1 Phase) Offset Adjustment
0423H
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range: 0 ~ 32767
Settings:
reset.
Address: 0424H
P4-18 COF4 Current Detector (W2 Phase) Offset Adjustment
0425H
Operational Related
Interface: Section:
Control
Mode:
Unit: - Range: 0 ~ 32767
Settings:
reset.
IGBT NTC Adjustment Detection Level (cannot Address: 0426H

P4-19 TIGB
reset) 0427H
Operational Related
Interface: Section:
Control
Mode:
Settings:
Please cool down the drive to 25°C when adjusting.
Address: 0430H
P4-24 LVL Level of Under Voltage Error
0431H
Operational Related
Interface: Section:
Control
Default: 160 ALL
Mode:
Unit: V (rms) Range: 140 ~ 190
Settings:
When the voltage of DC BUS is lower than P4-24* 2 , the under voltage error occurs.

P5-xx Motion Setting Parameters
P5-03
Operational
Interface:
PDEC Deceleration Time of Auto Protection

Related
Section:
-
Address: 0506H
0507H 7
Control
Default: E0EFEEFF ALL
Mode:
Unit: - Range: 0x00000000 ~ 0xF0FFFFFF
Settings:
The parameter setting is divided into D, C, B, A, W, Z, Y and X (hexadecimal), including:
1. Deceleration time when auto-protection function is activated: OVF, CTO (communication
timeout AL020), SPL, SNL, PL and NL.
2. Deceleration time of stop command: STP
Item D C B A W Z Y X
Function STP Reserved CTO OVF SNL SPL N PL
Range ０ ~F －０ ~F ０ ~F ０ ~F ０ ~F ０ ~F ０ ~F
O ~ F is used for indexing the deceleration time of P5－20 ～ P5－35. For example: If X is set to A,
then the deceleration time of PL is determined by P5-30.
Address: 0510H
P5-08 SWLP Forward Software Limit
0511H
Operational Related
Interface: Section:
Control
Mode:
Unit: PUU Range: -2147483648 ~ +2147483647
Settings:
In DMCNET mode, if the motor rotates in forward direction and its command position exceeds the
setting value of P5-08, it will trigger AL283.
Address: 0512H
P5-09 SWLN Reverse Software Limit
0513H
Operational Related
Interface: Section:
Control
Default: -2147483648 DMCNET
Mode:
Unit: PUU Range: -2147483648 ~ +2147483647
Settings:
In DMCNET mode, if the motor rotates in reverse direction and its command position exceeds the
setting value of P5-09, it will trigger AL285.

Address: 0528H
P5-20 AC0 Acceleration / Deceleration Time (Number #0)
0529H
Operational Related
Interface: Section:
Control
Default: 200 DMCNET
7
Mode:
Settings:
The setting time of acceleration / deceleration in DMCNET mode, which is the time required to
accelerate from 0 to 3000 r/min.
Address: 052AH
052BH
Operational Related
Interface: Section:
Control
Default: 300 DMCNET
Mode:
Settings:
Please refer to P5-20 for the setting of acceleration / deceleration time in DMCNET mode.
Address: 052CH
052DH
Operational Related
Interface: Section:
Control
Default: 500 DMCNET
Mode:
Settings:
Address: 052EH
052FH
Operational Related
Interface: Section:
Control
Default: 600 DMCNET
Mode:
Settings:
Address: 0530H
0531H
Operational Related
Interface: Section:
Control
Default: 800 DMCNET
Mode:
Settings:
Address: 0532H
0533H
Operational Related
Interface: Section:
Control
Default: 900 DMCNET
Mode:
Settings:

Address: 0534H
0535H
Operational Related
7
Interface: Section:
Control
Mode:
Settings:
Address: 0536H
0537H
Operational Related
Interface: Section:
Control
Mode:
Settings:
Address: 0538H
0539H
Operational Related
Interface: Section:
Control
Mode:
Settings:
Address: 053AH
053BH
Operational Related
Interface: Section:
Control
Mode:
Settings:
Address: 053CH
053DH
Operational Related
Interface: Section:
Control
Mode:
Settings:

Address: 053EH
053FH
Operational Related
Interface: Section:
Control
7
Mode:
Unit: ms Range:
1 ~ 65500
Format DEC Data Size:
16-bit
Settings:
Address: 0540H
0541H
Operational Related
Interface: Section:
Control
Mode:
Unit: ms Range:
1 ~ 65500
16-bit
Settings:
Address: 0542H
0543H
Operational Related
Interface: Section:
Control
Mode:
Unit: ms Range:
1 ~ 65500
16-bit
Settings:
Address: 0544H
0545H
Operational Related
Interface: Section:
Control
Default: 50 DMCNET
Mode:
Unit: ms Range:
1 ~ 1500
16-bit
Settings:
The default value of this parameter is smaller (short deceleration time) and it is used for deceleration
time setting of auto protection.
Address: 0546H
0547H
Operational Related
Interface: Section:
Control
Default: 30 DMCNET
Mode:
Unit: ms Range:
1 ~ 1200
16-bit
Settings:
The default value of this parameter is smaller (short deceleration time) and it is used for deceleration
time setting of auto protection.
Note:
The default value of this parameter is smaller, which can be used in high-speed deceleration.

Table 7.1 Function Description of Digital Input (DI)

Setting Value: 0x02
Trigger Control
DI Name Function Description of Digital Input (DI)
Method Mode
ARST
After the cause of alarm has been removed, when this DI is ON, it
means the alarm shown on the servo drive has been cleared.
Setting Value: 0x03

Rising
edge
triggered
ALL
7
Trigger Control
Method Mode
In speed and position modes, when this DI is ON (P2-27 should be set Level DMCNET,
GAINUP
to 1), the gain switches to the one multiplies the switching rate. triggered Sz
Setting Value: 0x14, 0x15

Trigger Control
Method Mode
Internal Speed Command Selection (1~4)
DI Signal of
Speed CN1 Command
Command Content Range
Source
Number SPD1 SPD0
SPD0 Speed Level

S1 0 0 Mode Sz N/A 0 Sz
SPD1 command is 0 triggered
+/- 5000
S2 0 1 P1-09
r/min
Internal Register +/- 5000
S3 1 0 P1-10
Parameter r/min
+/- 5000
S4 1 1 P1-11
r/min
Setting Value: 0x16, 0x17

Trigger Control
Method Mode
Internal Torque Command Selection (1~4)
Torque DI Signal of
CN1 Command
Command Content Range
TCM0 Source
Number TCM1 TCM0 Level
Tz
TCM1 Torque triggered
T1 0 0 Mode Tz N/A 0
command is 0
T2 0 1 P1-12 +/- 300 %
Internal Register
T3 1 0 P1-13 +/- 300 %
Parameter
T4 1 1 P1-14 +/- 300 %
Setting Value: 0x21

Trigger Control
Method Mode
Level
EMGS When this DI is ON, the motor stops urgently. ALL
triggered
Setting Value: 0x22

Trigger Control
Method Mode
NL Level
Reverse inhibit limit (contact b) ALL
(CWL) triggered

Setting Value: 0x23

Trigger Control
Method Mode
PL Level
Forward inhibit limit (contact b) ALL
(CCWL) triggered
7 Setting Value: 0x24

In DMCNET mode, if this DI is ON during the process of homing, the

Trigger
Method
Rising /
Control
Mode
Falling
ORGP servo will regard the current position as the homing origin (Please DMCNET
edge
refer to the setting of parameter P5-04)
triggered

Table 7.2 Function Description of Digital Output (DO)

Setting Value: 0x01
Trigger Control
DO Name Function Description of Digital Output (DO)
Method Mode
SRDY
When the control and main circuit power is applied to the drive, this DO
is ON if no alarm occurs.
Setting Value: 0x02

Level
triggered
ALL
7
Trigger Control
Method Mode
When the servo is ON, this DO is ON if no alarm occurs.
Time difference between DO.SRDY and
DO.SON when servo on right after
connecting to the power. ON
DO. OFF Level
SON SRDY ALL
triggered
ON
DO. OFF
SON
Approx. 300 ns
Setting Value: 0x03

Trigger Control
Method Mode
When the motor speed is slower than the setting value of zero speed Level
ZSPD ALL
(P1-38), this DO is ON. triggered
Setting Value: 0x04

Trigger Control
Method Mode
When the motor speed is faster than the target speed (P1-39), this DO Level
TSPD ALL
is ON. triggered
Setting Value: 0x05

Trigger Control
Method Mode
When the deviation of pulse number is smaller than the position range Level
TPOS DMCNET
(P1-54), this DO is ON. triggered
Setting Value: 0x06

Trigger Control
Method Mode
Level DMCNET,
TQL When it is in torque limit, this DO is ON.
triggered Sz
Setting Value: 0x07

Trigger Control
Method Mode
When an alarm occurs, this DO is ON. (Except forward / reverse limit, Level
ALRM ALL
communication error, under voltage and abnormal fan) triggered
Setting Value: 0x08

Trigger Control
Method Mode
Digital output for the brake control signal which can be adjusted via Level
BRKR ALL
parameters P1-42 and P1-43. triggered

ON
SON OFF OFF
ON
BRKR
OFF OFF
MBT1(P1-42) MBT2(P1-43)
7 Setting Value: 0x09

Motor
Speed
ZSPD
(P1-38)
Trigger Control
Method Mode
When homing is completed, it means the position coordinate system
and position counter are available and this DO will be ON.
When connected to the power, this DO is OFF. After homing is
Level
HOME completed, this DO is ON. During the operation, this DO is ON until the DMCNET
triggered
counter overflows (including command or feedback) and then the DO
becomes OFF. When homing command is triggered, this DO becomes
OFF. After homing, this DO becomes ON.
Setting Value: 0x10

Trigger Control
Method Mode
When the overload setting is reached, this DO is ON.
tOL= Overload allowable time of the servo x Setting value of P1-56.
When the overload accumulative time exceeds tOL, it will output
pre-overload warning (OLW). However, if the overload
accumulative time exceeds the overload allowable time of the
servo, it will output pre-overload error (ALRM).
For example:
The setting value of pre-overload warning is 60%. (P1-56 = 60)
When the output average load of the servo drive is 200%, if the output Level
OLW ALL
time exceeds 8 seconds, the servo drive will show the overload alarm triggered
(AL006).
tOL= The output average load of the servo is 200% for 8 seconds x
parameter setting value = 8 sec x 60% = 4.8 sec
Result: When the output average load of the servo drive is 200% for
4.8 seconds, this DO is ON. (DO code is set to 10) If the time exceeds
8 seconds, then, AL006 occurs and DO.ALRM is ON.
Setting Value: 0x11

Trigger Control
Method Mode
Warning output (forward / reverse limit, communication error, under Level
WARN ALL
voltage and abnormal fan) triggered
Setting Value: 0x12

Trigger Control
Method Mode
Position command overflows (PUU value exceeds the range between Level
OVF DMCNET
-2147483648 and 2147483647) triggered
Setting Value: 0x13

Trigger Control
Method Mode
SNL Level
Software limit (Reverse limit) ALL
(SCWL) triggered
Setting Value: 0x14

Trigger Control
Method Mode
SPL Level
Software limit (Forward limit) ALL
(SCCWL) triggered

Setting Value: 0x15

Trigger Control
Method Mode
When position command is completed and enter into DMCNET mode,
this DO is ON. When position command is executing, this DO is OFF.
Level
7
Cmd_OK After the command completes, this DO is ON. When the DO is ON, it DMCNET
triggered
means the command is completed, but the motor positioning may not be
finished yet. Please refer to DO.TPOS.
Setting Value: 0x17

Trigger Control
Method Mode
When DO.Cmd_OK and TPOS are both ON, this DO is ON. Please Level
MC_OK DMCNET
refer to P1-48. triggered
Setting Value: 0x19

Trigger Control
Method Mode
In speed mode, when the deviation between the speed feedback and
Level
SP_OK the command is smaller than the setting value of P1-47, then this DO is Sz
triggered
ON.
Setting Value: 0x2C

DO Name Function Description of Digital Output (DO) Trigger Method
When the value of the item which is monitored by P0-09 ranges
Zon1 ALL
between the setting value of P0-54 and P0-55, then this DO is ON.
Note:
When P2-18～P2-22 is set to 0, DO function is invalid.


Communications
This chapter provides operation description of MODBUS which is used for setting and
accessing general parameters via communication; for motion control network, please
refer to the description of DMCNET. Information about character structures of ASCII
and RTU mode are also provided in this chapter.
12
8.1 RS-232 Communication Hardware Interface ············································ 8-2
8.2 RS-232 Communication Parameters Setting ············································ 8-3
8.3 MODBUS Communication Protocol ······················································· 8-4
8.4 Setting and Accessing Communication Parameters································· 8-15
September, 2015 8-1

Communications ASDA-B2-F
8.1 RS-232 Communication Hardware Interface

ASDA-B2-F supports serial communication of RS-232 to access and modify parameters in servo
system via communication. Followings are the wiring description.
CN3 D-Sub
1394 Connector 9 Pin Connector
4 (Rx) 3 (Tx)
2 (Tx) 2 (Rx)
1 (GND) 5 (GND)
Figure 8-1 Wiring of RS-232
Note:
1. Use a 15-meter communication cable in environment for less interference. If the transmission speed
is over 38400 bps, the length of communication cable should be within 3 meters so as to ensure
transmission accuracy.
2. Numbers shown in the above figure represent pin number of each connector.
8-2 September, 2015

ASDA-B2-F Communications
8.2 RS-232 Communication Parameters Setting

The following three parameters, P3-00 (Address Setting), P3-01 (Transmission Speed) and
P3-02 (Communication Protocol), are essential and must be set for the communication of the
servo drive. The rest parameters such as P3-03 (Communication Error Disposal), P3-04
(Communication Timeout Setting), P3-06 (Control Switch of Digital Input), P3-07
(Communication Response Delay Time) and P3-08 (Monitor Mode) are optional.
Related parameters: Please refer to Chapter 7 for detailed description.

8
P3-00 ADR Address Setting
P3-01 BRT Transmission Speed
P3-02 PTL Communication Protocol
September, 2015 8-3

8.3 MODBUS Communication Protocol

There are two modes of MODBUS network communication: ASCII (American Standard Code for
Information Interchange) and RTU (Remote Terminal Unit). Users could set the desired
communication mode via P3-02. Apart from these two communication modes, this servo drive
8 also supports functions of accessing more than one data (03H), writing one character (06H) and
writing multiple characters (10H). Please refer to the following descriptions.
Code Description
ASCII Mode:
In ASCII mode, data are transmitted in ASCII (American Standard Code for Information
Interchange) format. When transmitting data 64H between two stations (Master and Slave), the
master will send 36H to represent ‟6” and 34H to represent “4”.
ASCII code for digits 0 to 9 and characters A to F are as follows:
Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII Code 30H 31H 32H 33H 34H 35H 36H 37H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII Code 38H 39H 41H 42H 43H 44H 45H 46H
RTU Mode:
Every 8-bit data is constituted by two 4-bit characters (hexadecimal). If data 64H is transmitted
between two stations, it will be transmitted directly, which is more efficient than ASCII mode.
Character Structure
Characters will be encoded into the following framing and transmitted in serial. The checking
method of different bit is as the following.
10-bit character frame (for 7-bit character)
L H H
7N2 Start Stop Stop
0 1 2 3 4 5 6
bit bit bit
7-data bits
10-bit character frame
L H
7E1 Start Even Stop
0 1 2 3 4 5 6
bit Parity bit
7-data bits
L H
7O1 Start Odd Stop
0 1 2 3 4 5 6
bit Parity bit
7-data bits
8-4 September, 2015

11-bit character frame (for 8-bit character)
L H
8N2 Start
0 1 2 3 4 5 6 7 Stop Stop
bit bit bit
8-data bits
11-bit character frame 8
L H
8E1 Start
0 1 2 3 4 5 6 7 Even Stop
bit parity bit
8-data bits
L H
8O1 Start
0 1 2 3 4 5 6 7 Odd Stop
bit parity bit
8-data bits
Communication Data Structure

Definitions of data frame for ASCII and RTU mode are as below:
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 check: 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 code: 3AH). Slave
address is constituted by two characters in ASCII code. The end code is CR (Carriage Return)
and LF (Line Feed). The communication address, function code, data content and error checking
LRC (Longitudinal Redundancy Check), etc. are between the start character and end code.
September, 2015 8-5

RTU Mode:
Start A silent interval of more than 10 ms
Slave Address Communication address: 1 byte
8
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 10 ms
The start and the end of the communication in RTU (Remote Terminal Unit) mode are silent
intervals. The communication address, function code, data content and error checking CRC
(Cyclical Redundancy Check), etc. are between the start and the end.
Example 1: function code 03H, accessing multiple words:

The master issues command to the 1st slave and reads continuous 2 words starting from the start
data address 0200H. In response message from the slave, the content of start data address
0200H is 00B1H, and the content of the 2nd data address is 1F40H. The maximum allowable data
in one single access is 10. The calculation of LRC and CRC will be described in the following
section.
ASCII Mode:
Command Message (Master): Response Message (Slave):
Start ‘:’ Start ‘:’
‘0’ ‘0’
Slave Address Slave Address
‘1’ ‘1’
‘0’ ‘0’
Function Function
‘3’ ‘3’
‘0’ Data Number ‘0’
‘2’ (in byte) ‘4'
Start Data Address
‘0’ ‘0’
‘0’ Content of Start Data ‘0’
‘0’ Address 0200H ‘B’
Data Number ‘0’ ‘1’

(in word) ‘0’ ‘1’
‘2’ Content of Second Data ‘F’
‘F’ Address 0201H ‘4’
LRC Check
‘8’ ‘0’
End 1 (0DH)(CR) ‘E’
LRC Check
End 0 (0AH)(LF) ‘8’
End 1 (0DH)(CR)
End 0 (0AH)(LF)
8-6 September, 2015

RTU Mode:
Slave Address 01H Slave Address 01H
Function 03H Function 03H
Start Data Address
Data Number
02H (High)
00H (Low)
00H
Data Number
(in byte)
Content of Start Data

04H
00H (High)
8
(in word) 02H Address 0200H B1H (Low)
CRC Check Low C5H (Low) Content of Second Data 1FH (High)
CRC Check High B3H (High) Address 0201H 40H (Low)
CRC Check Low A3H (Low)
CRC Check High D4H (High)
Note:
Before and after transmission in RTU mode, 10 ms of silent interval is needed.
Example 2: function code 06H, writing single word:

The master issues command to the 1st slave and writes data 0064H to address 0200H. The slave
sends response message to the master after writing is completed. The calculation of LRC and
CRC will be described in the following section.
ASCII Mode:
‘0’ ‘0’
‘1’ ‘1’
‘0’ ‘0’
Function Function
‘6’ ‘6’
‘0’ ‘0’
‘2’ ‘2'
Start Data Address Start Data Address
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
Data Content Data Content
‘6’ ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC Check LRC Check
‘3’ ‘3’
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)
September, 2015 8-7

RTU Mode:
Address 01H Address 01H
8
Slave Function 06H Slave Function 06H
02H (High) 02H (High)
00H (Low) 00H (Low)
Data Content Data Content
64H (Low) 64H (Low)
CRC Check Low 89H (Low) CRC Check Low 89H (Low)
CRC Check High 99H (High) CRC Check High 99H (High)
Note:
Example 3: function code10H, writing multiple words:

The master issues command to the 1st slave and writes 0BB8H and 0000H to the start data
address 0112H. That is to say, 0BB8H is written into 0112H and 0000H is written into 0113H. The
maximum allowable data in one single access is 10. The slave sends the response message to
the master after the writing is completed. The calculation of LRC and CRC will be described in
the following section.
8-8 September, 2015

ASCII Mode:
8
‘0’ ‘0’
‘1’ ‘1’
‘1’ ‘1’
Function Function
‘0’ ‘0’
‘0’ ‘0’
‘1’ ‘1'
‘1’ ‘1’
‘2’ ‘2’
‘0’ ‘0’
Data Number ‘0’ ‘0’
Data Number
(in word) ‘0’ ‘0’
‘2’ ‘2’
Data Number ‘0’ ‘D’
LRC Check
(in byte) ‘4’ ‘A’
‘0’ End 1 (0DH)(CR)
‘B’ End 0 (0AH)(LF)
Content of the 1st Data
‘B’
‘8’
‘0’
‘0’
Content of the 2nd Data
‘0’
‘0’
‘1’
LRC Check
‘3’
End 1 (0DH)(CR)
End 0 (0AH)(LF)
September, 2015 8-9

RTU Mode:
Slave Address 01H Slave Address 01H
8
Function 10H Function 10H
12H (Low) 12H (Low)
Data Number 00H (High) Data Number 00H (High)
(in word) 02H (Low) (in word) 02H (Low)
Data Number CRC Check Low E0H (Low)
04H
(in byte) CRC Check High 31H (High)
st 0BH (High)
Content of the 1 Data
B8H (Low)
00H (High)
Content of the 2nd Data
00H (Low)
CRC Check Low FCH (Low)
CRC Check High EBH (High)
Note:

LRC and CRC Transmission Error Check

The error check of ASCII mode is LRC (Longitudinal Redundancy Check) and CRC (Cyclical
Redundancy Check) is for RTU mode.
LRC (ASCII Mode):

Start
Slave Address
‘:’
‘7’
8
‘F’
‘0’
Function
‘3’
‘0’
‘5’
Start Data Address
‘C’
‘4’
‘0’
‘0’
Data Number
‘0’
‘1’
‘B’
LRC Check
‘4’
End 1 (0DH)(CR)
End 0 (0AH)(LF)
The calculation of LRC is to add up all the byte, round down the carry and take 2’s complement.
For example: 7FH + 03H + 05H + C4H + 00H + 01H = 14CH, round down carry 1 and take 4CH.
2’s complement of 4CH is B4H.

CRC (RTU Mode):

The calculation description of CRC value is as the followings:
1. Load a 16-bit register of FFFFH, which is called ‟CRC” register.
8 2. (The low byte of CRC register) XOR (The first byte of command), and save the result to CRC
register.
3. Check the least significant bit (LSB) of CRC register. If the bit is 0, right move one bit; If the
bit is 1, then right move one bit and (CRC register) XOR (A001H).
4. Return to step 3 until step 3 has been executed for 8 times. Go to step 5.
5. Repeat the procedure from step 2 to step 4 until all byte is processed.
The content of CRC register is the CRC value.
After calculating the CRC value, fill in the low word of CRC value in command message, and
then the high word. For example, if the result of CRC calculation is 3794H, 94H should be filled in
low word and 37H in high word which is shown as below:
ARD 01H
CMD 03H
01H (High)
Start Data Address
01H (Low)
Data Number 00H (High)
(in word)
02H (Low)
CRC Check Low 94H (Low)
CRC Check High 37H (High)

Example of CRC Program:

Calculate CRC value in C language. This function needs two parameters:
unsigned char* data;
unsigned char length
8
The function returns the CRC value as a type of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}
Example of PC communication program:

#include<stdio.h>
#include<dos.h>
#include<conio.h>
#include<process.h>
#define PORT 0x03F8 /* the address of COM 1 */
#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of ASD with address 1 */
unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’};
void main() {
int I;
outportb(PORT+MCR,0x08); /* interrupt enable */
outportb(PORT+IER,0x01); /* interrupt as data in */
outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06); /* set prorocol
<7,E,1> = 1AH, <7,O,1> = 0AH
<8,N,2> = 07H <8,E,1> = 1BH
<8,O,1> = 0BH */
for( I = 0; I<=16; I++ ) {

while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]); /* send data to THR */
}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}

}
}

8.4 Setting and Accessing Communication Parameters

For parameter details, please refer to Chapter 7. Descriptions of parameters which can be
written or read via communication are as follows.
Parameters are divided into 6 groups:




Group 0: Monitor Parameters
Group 1: Basic Parameters
Group 2: Extension Parameters
8
 Group 3: Communication Parameters
 Group 4: Diagnosis Parameters
 Group 5: Motion Setting
Setting parameters via communication:

Parameters which can be written via communication include:
Group 0, except (P0-00), (P0-08~P0-13), (P0-44, P0-46) and (P5-50~P0-52)
Group 1 (P1-00~P1-76)
Group 2 (P2-00~P2-71)
Group 3 (P3-00~P3-12)
Group 4, except (P4-01~P4-04) and (P4-08~P4-09)
Group 5, except (P5-00)
Please note that:

(P3-01) While changing to a new communication speed, the next data will be written in the new
transmission speed after the new value is set.
(P3-02) While changing to a new communication protocol, the next data will be written with the
new communication protocol after the new value is set.
(P4-05) JOG control parameters. For writing method, please refer to chapter regarding
parameters and its function.
(P4-06) Forced DO control (Digital Output Register (Readable and Writable)). This parameter is
for DO (Digit Output) testing. Users can write in 1, 2, 4, 8, and 16 to test DO1, DO2, DO3,
DO4 and DO5 respectively. Please write 0 after the test so as to inform the servo drive
that the test has been completed.
(P4-10) Adjustment selection. Set P2-08 to 20 (= 14H, in hexadecimal format) first to enable the
function, and then write the value of P4-10.
(P4-11~P4-21) This parameter is for offset adjustment. Do not change the setting unless it is
necessary. If it is necessary, please write 22 (= 16H, in hexadecimal format) in
parameter P2-08 first to enable the function so as to write the value of P4-11 ~ P4-21.
Accessing parameters via communication:

Parameters which can be read via communication include:
Group 0 (P0-00~P0-55) Group 4 (P4-00~P4-24)
Group 1 (P1-00~P1-76) Group 5 (P5-00~P5-35)
Group 2 (P2-00~P2-71)
Group 3 (P3-00~P3-12)


Troubleshooting
This chapter provides alarm descriptions and corrective actions which users can refer
to for troubleshooting.
12
9.1 Alarm of Servo Drive ·········································································· 9-2
9.2 Alarm of DMCNET Communication ······················································· 9-3
9.3 Alarm of Motion Control ······································································ 9-4
9.4 Causes and Corrective Actions ····························································· 9-5
September, 2015 9-1

Troubleshooting ASDA-B2-F
9.1 Alarm of Servo Drive

Corresponding Servo
Display Alarm Name Alarm Description
DO Status
9 AL001
AL002
Over current
Over voltage
The current of the main circuit is 1.5 times
higher than the instantaneous current of
the motor.
The voltage of the main circuit is higher
than the standard voltage.
ALM
ALM
OFF
OFF
The voltage of the main circuit is lower
AL003 Under voltage WARN OFF
than the standard voltage.
AL004 Motor combination error The drive corresponds to the wrong motor. ALM OFF
AL005 Regeneration error Regeneration error. ALM OFF
AL006 Overload The motor and the drive is overload. ALM OFF
Motor speed exceeds the normal speed
AL007 Over speed ALM OFF
range.
Excessive deviation of The deviation of position command
AL009 ALM OFF
position command exceeds the allowable setting value.
AL011 Encoder error The encoder produces abnormal pulse. ALM OFF
While executing electrical adjustment, the
AL012 Adjustment error adjusted value exceeds the allowable ALM OFF
value.
AL013 Emergency Stop The emergency stop button is pressed. WARN OFF
AL014 Reverse limit error Activate the reverse limit switch. WARN OFF
Activate the forward limit switch.
AL015 Forward limit error WARN ON
AL016 IGBT overheat The temperature of IGBT is too high. ALM OFF
It is in error when DSP accesses
AL017 Abnormal EEPROM ALM OFF
EEPROM.
The encoder output exceeds the rated
AL018 Abnormal signal output ALM OFF
output frequency.
Serial communication RS-232 communication is in error.
AL019 ALM OFF
error
Serial communication RS-232 communication timeout.
AL020 WARN ON
timeout
Main circuit power lack The RST power cable of main circuit
AL022 phase power is loose or no power has been WARN OFF
applied.
Early warning for Early warning for overload.
AL023 WARN ON
overload
Encoder initial magnetic The magnetic field of the encoder U, V, W
AL024 ALM OFF
field error signal is in error.
The internal of the The internal memory of the encoder and
AL025 ALM OFF
encoder is in error the internal counter are in error.
Unreliable internal data The error of the internal data has been
AL026 ALM OFF
of the encoder detected for three times continuously.
The internal of the motorThe internal reset of the encoder is in
AL027 ALM OFF
is in error error.
Charging circuit of the servo drive is not
Encoder voltage error or
removed and the battery voltage is higher
AL028 the internal of the ALM OFF
than the specification (>3.8 V) or the
encoder is in error
encoder signal is in error.
AL029 Gray code error Absolute position is in error. ALM OFF
When the motor crashes the equipment, it
AL030 Motor crash error reaches the torque of P1-57 and exceeds ALM OFF
the time set by P1-58.
Incorrect wiring of motor Incorrect wiring of motor power cable (U,
AL031 ALM OFF
power cable V, W, GND).
1. Internal communication error in
Internal communication
AL034 absolute encoder. ALM OFF
of the encoder is in error
2. Internal error of other types of encoder.
Encoder temperature Encoder temperature exceeds the
AL035 ALM OFF
exceeds the protective protective range.
9-2 September, 2015

ASDA-B2-F Troubleshooting
Corresponding Servo
DO Status
range
Warning of servo drive Warning of servo drive function overload.
AL044 WARN OFF
AL060
AL061
function overload
The absolute position is
lost
Encoder under voltage

Due to battery under voltage or failure of
power supply, the absolute encoder loses
the internal record.
The battery voltage of absolute encoder is
WARN
WARN
OFF
ON
9
lower than the specification.
The multi-turn count of The multi-turn count of absolute encoder
AL062 absolute encoder exceeds the maximum range: -32768 ~ WARN ON
overflows +32767.
Encoder temperature exceeds the
Encoder temperature
AL067 warning level. (But it is still within the WARN N/A
warning
protective range.)
Incremental motor is not allowed to
AL069 Wrong motor type ALM OFF
activate absolute functions.
Encoder does not Servo drive has not completely writing
complete the command barcode into encoder or the encoder does
AL070 WARN OFF
which is issued by the not complete the command issued by the
servo drive servo drive.
EEPROM has not been reset after
upgrading the firmware. The fault can be
AL099 DSP firmware upgrade cleared when firstly set P2-08 to 30. Then ALM OFF
set P2-08 to 28. And re-power on the
drive.
9.2 Alarm of DMCNET Communication
Corresponding Servo
DO Status
Rx Buffer overflows. (receive more than

AL111 DMCNET SDO overflow ALM ON
two DMCNET SDOs in 1 millisecond)
Abnormal DMCNET Bus The communication of DMCNET Bus is
AL185 ALM ON
hardware breakdown.
September, 2015 9-3

9.3 Alarm of Motion Control
Corrective Corresponding Servo

Actions DO Status
9 AL201
An error occurs when
loading DMCNET data
An error occurs when
loading data from
EEPROM.
Re-power on WARN ON
Feedback position Controller

counter overflows and issues alarm
AL235 PR command overflows WARN ON
executes the absolute reset
positioning command. command.
The execution of
PR positioning is over Same as
AL245 positioning command WARN ON
time above
exceeds the time limit.
The fault will
be cleared
The value of position automatically
AL283 Forward software limit command is bigger than when the WARN ON
forward software limit. motor
operates
backwards.
The fault will
be cleared
The value of position automatically
AL285 Reverse software limit command is smaller than when the WARN ON
reverse software limit. motor
operates
backwards.
Controller
Feedback position Feedback position issues alarm
AL289 WARN ON
counter overflows counter overflows. reset
command.
DMCNET mode fails to
DMCNET fails to Same as
AL301 synchronize with the WARN ON
synchronize above
controller.
The synchronized signal The synchronized signal
Same as
AL302 of DMCNET is sent too of DMCNET is sent too WARN ON
above
fast fast.
The synchronized signal The synchronized signal
Same as
AL303 of DMCNET is sent too of DMCNET has not WARN ON
above
slow been received in time.
DMCNET IP command Command cannot be Same as
AL304 WARN ON
fails sent in DMCNET mode. above
No
AL555 System failure DSP processing error. N/A N/A
switching
Note:
If an alarm occurs and is different from the alarm showed in Alarm of Servo Drive, Alarm of DMCNET
Communication and Alarm of Motion Control, please contact local distributors or technical personnel.
9-4 September, 2015

9.4 Causes and Corrective Actions

AL001 Over current Cleared by DI.ARST
Causes
The drive output is
short-circuited.
Checking Method
Check if the wiring between the motor
and the drive is correct and see if the
wire is short-circuited.
Corrective Actions
Eliminate short-circuit and avoid
metal conductor being exposed. 9
The motor wiring is in error. Check if the wiring steps are correct Rewiring by following the wiring
when connecting the motor to the drive. description from the user manual.
IGBT is abnormal. The temperature of the heat sink is Send the drive back to the
abnormal. distributors or contact Delta.
The setting of control Check if the setting value exceeds the Setting back to the default setting
parameter is in error. default setting. and then gradually adjust the
value.
The setting of control Check if the command is doing Modify the switching rate of
command is in error. reasonable variation. issuing command or enable filter.
AL002 Over voltage Cleared by DI.ARST
Causes Checking Method Corrective Actions

The input voltage of the main Use voltmeter to see if the input voltage Connect to the correct power
circuit is higher than the of the main circuit is within the rated supply or serial voltage regulator.
rated allowable voltage. allowable voltage value. (please refer to
Appendix A)
Wrong power input Use voltmeter to see if the power Connect to the correct power
(incorrect power system) system matches with the specification. supply or serial voltage
transformer.
The hardware of the servo Use voltmeter to see if the input voltage Send the drive back to the
drive is damaged. of the main circuit is within the rated distributors or contact with Delta.
allowable voltage value but the error still
occurs.
AL003 Under voltage Cleared when voltage returns to normal value

The input voltage of the main Check if the input voltage wiring of the Re-confirm the voltage wiring.
circuit is lower than the rated main circuit is normal.
allowable voltage.
No power supply for the Use the voltmeter to see if the voltage of Check the power switch.
main circuit the main circuit is normal.
Wrong power input Use the voltmeter to see if the power Connect to the correct power
(incorrect power system matches the specification. supply or serial voltage
system) transformer.
AL004 Motor combination error Cleared after re-power on

The encoder is damaged. The encoder is abnormal. Change the motor.
The encoder is loose. Check the encoder connector. Install the motor again.
Motor combination error Connect to the right motor. Change the motor.
September, 2015 9-5

AL005 Regeneration error Cleared by DI.ARST

The value of regenerative Check the connection of regenerative Calculate the value for
resistor is too low or the resistor. regenerative resistor again and
9 external regenerative resistor

is unconnected.
Parameter P1-53 is not set to Check if parameter P1-53 of

reset the value of P1-52 and
P1-53 again. If the alarm has not
been cleared, please send the
drive back to Delta.
Set parameter P1-53 of
zero when the regenerative regenerative resistor is set to zero. regenerative resistor to zero when
resistor is not in use. it is not applying.
Parameter P1-52 and P1-53 Check the setting value of parameter Correctly reset the value of P1-52
are not correctly set. P1-52 and P1-53. and P1-53 again.
AL006 Overload Cleared by DI.ARST

Over the rated load of the Set parameter P0-02 to 11 and see if the Increase the motor capacity or
drive and continuously average torque [%] is over 100% all the reduce the load.
excessive using. time.
The setting of the control 1. Check if there is any mechanical 1. Adjust the gain value of the
system parameter is vibration. control circuit.
inappropriate. 2. Check if the acceleration/deceleration 2. Slow down the
constant is set too fast. acceleration/deceleration setting
time.
Wrong wiring of the motor Check the wiring of U, V, W and the Correct wiring
and the encoder. encoder.
The encoder of the motor is Send the drive back to the distributors or contact Delta.
defective.
AL007 Over speed Cleared by DI.ARST

Inappropriate setting of Check if the setting value of P2-34 is Correctly set the setting value of
parameter P2-34 too small. (Condition for over speed P2-34. (Condition for over speed
warning) warning)
AL009 Excessive deviation of position command Cleared by DI.ARST

Parameter P2-35 is set too Check the setting value of parameter Increase the setting value of
small. P2-35. (Warning condition of excessive P2-35. (Warning condition of
position deviation) excessive position deviation)
The setting of the gain value Check if the setting value is appropriate. Correctly adjust the gain value.
is too small.
The torque limit is too low. Check the torque limit value. Correctly adjust the torque limit
value.
Excessive external load. Check the external load. Reduce the external load or
evaluate the motor capacity again.
Improper setting of E-Gear Make sure the proportion of P1-44 and Correctly set up E-Gear ratio.
ratio. P1-45 is appropriate.
9-6 September, 2015

AL011 Encoder error Cleared after re-power on

Wrong wiring of the encoder Check if the wiring follows the Correct wiring
The encoder is loose.
Bad connection of the

encoder
suggested wiring in the user manual.
Check the CN2 connector of the drive
and the encoder connector.
Check if the connection between CN2
connector of the drive and the encoder
Install the encoder again.
Reconnect the wiring.

9
of the servo motor is loose.
The encoder is damaged. Check if the motor is damaged. Change the motor.
AL012 Adjustment error N/A

Abnormal current adjustment Reset power supply. If the error still occurs after reset,
send the drive back to the
distributors or contact with Delta.
AL013 Emergency stop Automatically cleared after DI.EMGS is OFF

The emergency stop button Check if the emergency stop button is Release emergency stop button.
is pressed. enabled.
Cleared by DI.ARST, Servo Off or after motor

AL014 Reverse limit error
operates backwards

Reverse limit switch is Check if the reverse limit switch is Release the reverse limit
activated. activated. switch.(e.g. motor operates
backwards)
Cleared by DI.ARST, Servo Off or after motor

AL015 Forward limit error
operates backwards

Forward limit switch is Check if the forward limit switch is Release the forward limit
activated. activated. switch.(e.g. motor operates
backwards)
AL016 IGBT overheat Cleared by DI.ARST

Over the rated loading of the Check if the drive is overloading or the Increase the motor capacity or
drive and continuously motor current is too high. reduce the load.
excessive using
The drive output is Check the drive output wiring. Correct wiring.
short-circuited.
September, 2015 9-7

If the alarm occurs as soon as servo on,

please reset the parameters and re-power
AL017 Abnormal EEPROM
on. If the alarm occurs during the operation,
clear the alarm by DI.ARST
9 Causes Checking Method Corrective Actions

Press the SHIFT key on the panel and it If the fault occurs when the servo
shows EXGAB. drive connects to power, it means
one of the parameters exceed the
X = 1, 2, 3 reasonable range. Re-power on
G = group code of the parameter after adjusting.
Error occurs when writing
parameters into EEPROM. AB = parameter number (hexadecimal
format) The fault occurs in normal
If it shows E320A, it means it is operation which means an error
parameter P2-10; if it shows E3610, it occurs while writing the parameter.
means it is parameter P6-16, please The alarm can be cleared by
check the displayed parameter. DI.ARST.
The fault occurs in parameter
Press the SHIFT key on the panel and it reset. The setting of the drive is
Abnormal hidden parameter
shows E100X. wrong. Please set the correct type
of the drive.
The fault occurs when it is
servo-on. Usually it is because the
Press the SHIFT key on the panel and it data in ROM is damaged or there
Data in ROM is damaged.
shows E0001. is no data in ROM. Please send
the drive back to the distributors or
contact with Delta.
AL018 Abnormal signal output Cleared by DI.ARST

The encoder is in error and Check the fault records (P4-00~P4-05). Conduct the corrective actions of
cause abnormal signal See if the alarm exists with encoder AL011, AL024, AL025 or AL026.
output. error (AL011, AL024, AL025, AL026).
The output pulse exceeds Check if the following conditions Correctly set parameter P1-76 and
the hardware allowable happen: P1-46:
range. P1-76 < Motor Speed or P1-76 > Motor Speed and
Motor Speed Motor Speed

 P1  46  4  19.8  10 6  P1  46  4  19.8  10 6
60 60
AL019 Serial communication error Cleared by DI.ARST

Improper setting of Check the setting value of Correctly set the parameter value.
communication parameter communication parameter.
Incorrect communication Check the communication address. Correctly set the communication
address address.
Incorrect communication Check the accessing value. Correctly set the value.
value
AL020 Serial communication timeout Cleared by DI.ARST

Improper setting of the Check the parameter setting. Correctly set the value.
timeout parameter
The drive has not received Check if the communication cable is Correct wiring
the communication command loose or broken.
for a long time.
9-8 September, 2015

AL022 Main circuit power lack phase Cleared by DI.ARST

The main circuit power is Check if RST power cable is loose or no Correctly connect to the power. If
abnormal. power is applied. This alarm occurs
when drive of 1.5 kW (or below) is not
connected to three-phase power
supply; for drive of 2 kW (or above), the
alarm occurs when one single phase is
the alarm still exists, please send
the drive back to the distributors or
contact with Delta. 9
not connected to the power supply.
AL023 Early warning for overload Cleared by DI.ARST

Early warning for overload 1. Check if the drive is used in 1. Please refer to the corrective
overload condition. actions of AL006.
2. Check if the value of parameter 2. Please increase the setting
P1-56 is set to be too small. value of P1-56. Or set the
value to over 100 to
deactivate the function of
early warning for overload.
AL024 Encoder initial magnetic field error Cleared after re-power on

Encoder initial magnetic field 1. Check if the servo motor is properly If issue persists, please send the
error grounded. drive back to the distributors or
(The magnetic field of the 2. Check if the encoder cable is contact with Delta.
encoder U, V, W signal is in separated from the power supply or
error.) high-current cable to avoid
interference.
3. Check if the shielding cables are
used in the wiring of the encoder.
AL025 The internal of the encoder is in error Cleared after re-power on

The internal of the encoder is 1. Check if the servo motor is properly 1. Please connect the UVW
in error. grounded. connector (color green) to the
(The internal memory and 2. Check if the encoder cable is heat sink of the servo drive.
the internal counter are in separated from the power supply or 2. Please check if the encoder
error) high-current cable to avoid cable is separated from power
interference. supply or the high-current
3. Check if the shielding cables are cable.
used in the wiring of the encoder. 3. Please use cables with
shielding mesh.
4. If issue persists, please send
the drive back to the
distributors or contact with
Delta.
When power on, the motor When power on, please make sure the When power on, please make
operates because of motor shaft stands still and will not sure the motor shaft stands still
mechanical inertia or other operate. and will not operate.
causes.
September, 2015 9-9

AL026 Unreliable internal data of the encoder Cleared after re-power on

The encoder is in error. 1. Check if the servo motor is properly 1. Please connect the UVW
9 (Errors occur in the internal

data for three times
continuously)
grounded.
2. Check if the encoder cable is
separated from the power supply or
high-current cable to avoid
interference.
connector (color green) to the
heat sink of the servo drive.
2. Please check if the encoder
cable is separated from the
power supply or the
3. Check if the shielding cables are high-current cable.
used in the wiring of the encoder. 3. Please use cables with
shielding mesh.
the drive back to the distributors
or contact with Delta.
AL027 The internal of the motor is in error Cleared after re-power on

The internal reset of the 1. Check if the encoder communication 1. Check if the encoder
encoder is in error. cable is properly connected. communication cable is
2. Check if the power supply is stable. normal.
3. Check if the operation temperature 2. Please use encoder
exceeds 95°C. communication cable with
shielding mesh.
the drive back to the
distributors or contact with
Delta.
Encoder voltage error or the internal of

AL028 Cleared after re-power on
the encoder is in error

Battery voltage is too high. 1. Check if there is charging circuit in Please do the check according to
the servo drive. the procedure of over voltage.
2. Check if the battery is correctly When corrective actions are done,
installed. (Voltage > 3.8 V) AL028 will be cleared
automatically.
The internal of the encoder 1. Check if it is absolute encoder. 1. If the situation is not improving,
is in error. 2. Check if the servo motor is properly please send the drive back to
grounded. the distributors or contact with
3. Check if the encoder cable is Delta.
separated from the power supply or 2. Please connect the UVW
high-current cable to avoid connector (color green) to the
interference. heat sink of the servo drive.
4. Check if the shielding cables are 3. Please check if the encoder
used in the wiring of the encoder. cable is separated from power
supply or high-current cable.
4. Please use shielding mesh. If
the situation is not improving,
please send the drive back to
the distributors or contact with
Delta.
AL029 Gray code error Cleared after re-power on

Absolute position is in error. Re-power on to operate the motor and If the alarm occurs again, please
check if the alarm occurs again. change the encoder.

AL030 Motor crash error Cleared by DI.ARST

Motor crash error 1. Check if P1-57 is enabled. 1. If the function is enabled by
2. Check if P1-57 is set to be too small
and the time set by P1-58 is too
short.
mistake, please set P1-57 to 0.
2. Please set the value of P1-57
according to the actual torque. If
the value is set to be too small,
the alarm will be triggered by
9
mistake. However, if the value is
set to be too big, it will lose the
protection function.
AL031 Incorrect wiring of motor power cable Cleared after re-power on

Incorrect wiring of motor Check if motor power cable (U, V, W, Correctly wire the power cable (U,
power cable (U, V, W, GND) GND) is incorrectly connected. V, W, GND) according to the user
manual and make sure it is
grounded.
Internal communication of the encoder is

in error

Internal communication of the 1. Internal communication error of the Correctly rewire the battery and
encoder is in error. absolute encoder. re-power on.
2. Internal error of other types of
encoder.
Motor temperature needs to be lower than

Encoder temperature exceeds the
AL035 100°C; then, the alarm can be cleared after
protective range
re-power on.

Encoder temperature is too Set P0-02 to 120 (temperature display) 1. Improve heat dissipation or
high (Above 100°C). and check if the displayed value is the reduce operation load. The
same with the motor temperature. temperature should be under
100°C.
2. If the displayed temperature of
the encoder is higher than the
motor’s (over 30°C), please
send the motor back to
distributors.
Se P2-66 Bit4 to 1 and re-power on to clear

AL044 Warning of servo drive function overload
this alarm

Warning of servo drive N/A Set P2-66 Bit4 to 1 to clear the
function overload alarm.

AL060 The absolute position is lost Cleared after re-power on

Battery is under voltage. Check if the voltage of the battery is After replacing the battery, conduct
9 lower than 2.8 V.
The battery is replaced when Do not replace or remove the battery

the control power is OFF. when the control power is OFF.
homing again. Please refer to the
description of absolute coordinate
initialization in Chapter 10.
Conduct homing again. Please
refer to the description of absolute
coordinate initialization in Chapter
10.
After activating the absolute 1. Install the battery. Conduct homing again. Please
function, the absolute 2. Check the wiring between battery refer to the description of absolute
coordinate initialization has box and the battery power cable of coordinate initialization in Chapter
not been completed. the servo drive. 10.
3. Check the wiring of the encoder.
Bad connection of the battery 1. Check the wiring of the encoder. Connect or repair the wiring of the
power circuit. 2. Check the wiring between battery battery so as to supply power to
box and the servo drive. the encoder. Conduct homing
again. Please refer to the
description of absolute coordinate
initialization in Chapter 10.
AL061 will be automatically cleared after new

AL061 Encoder under voltage
battery is installed

Battery voltage is too low. 1. Check from the panel if the battery Replace the battery when the
voltage is lower than 3.1 V. control power is ON. This alarm
(tentative specification) will be automatically cleared after
2. Check if the battery voltage is lower new battery is installed.
than 3.1 V. (tentative specification )
The multi-turn count of absolute encoder

overflows

The multi-turn count of Check if the operation turn is within the Conduct homing again. Please
absolute encoder exceeds range from -32768 to +32767. refer to the description of absolute
the maximum range: -32768 coordinate initialization in Chapter
~ +32767. 10.
AL067 Encoder temperature warning Cleared by DI.ARST

Encoder temperature warning Set P0-02 to 120 (temperature display) 1. Improve heat dissipation or
(85 ~ 100°C) and check if the displayed value is the reduce operation load. The
same with the motor temperature. temperature should be under
100°C.
2. If the displayed temperature of
the encoder is higher than the
motor’s (over 30°C), please
send the motor back to
distributors.

Set P2-69=0 and re-power on to clear the

AL069 Wrong motor type
alarm

Incremental motor is not
allowed to activate the
absolute function.
1. Check if the motor is with incremental If users desire to use absolute
or absolute encoder.
2. Check the setting value of P2-69.
function, please choose absolute
motor. If not, please set parameter
P2-69 to 0.
9
Encoder does not complete the command
issued by servo drive

Servo drive has not Check if the wiring is correct or there is Correctly conduct wiring.
completely written barcode any loose connection.
into encoder or the encoder
does not complete the
command issued by servo
drive.
Set P2-08=30 then 28 and this alarm can be

AL099 DSP firmware upgrade
cleared after re-power on

DSP firmware upgrade Check if the firmware is upgraded. Set P2-08 to 30, then 28 and this
alarm can be cleared after
re-power on.
Check if the controller receives (sends) one

AL111 DMCNET SDO receives overflow
DMCNET SDO in 1 ms

Rx Buffer overflow (More Check if the controller receives (sends) Check if the controller receives
than two SDOs are received more than one DMCNET SDO in 1 ms. (sends) one DMCNET SDO in 1
in 1 ms) ms.
AL185 Abnormal DMCNET Bus hardware Cleared after re-power on

Abnormal DMCNET Bus 1. Check if the communication cable of Re-power on
hardware DMCNET Bus is normal.
2. Check if the communication quality is
normal. (It is suggested to use
common grounding and shielding
cables.)
An error occurs when loading DMCNET

data

An error occurs when 1. If the alarm is cleared when re-power Re-power on
loading DMCNET data. on, it means the error occurs
instantaneously when accessing in
the previous time.
2. If the error still exists after re-power
on, it means the data in EEPROM is
damaged. Enter the correct value
again: if users desire to enter default
value, they can set P2-08 to 30, then
28.

AL235 PR command overflows Conduct homing to clear this alarm

PR command overflows Incremental Type: Conduct homing
9
Continuous operation in one direction in
PR mode causes position feedback
register (FB_PUU) overflows. Thus, the
coordinate system cannot reflect the
correct position. If issuing the absolute
positioning command at this moment,
the error will occur.
Absolute Type:
If issuing the absolute positioning
command in the following situations, this
error will occur:
1. Feedback position register
(FB_PUU) overflows.
2. When P1-01.Z is modified, homing
has not been completed yet.
3. When electronic gear ratio (P1-44,
P1-45) is modified, homing has not
been completed yet.
4. Function of returning to the original
point is triggered and homing has
not completed yet.
5. AL060 and AL062 occur.
AL245 PR positioning is over time N/A

PR positioning is over time. N/A If this alarm occurs, please directly
send the servo drive back to Delta
without making any modification.
AL283 Forward software limit Issue alarm reset to clear this alarm

Forward software limit Forward software limit is determined by Issue alarm reset
position command, not the actual
feedback position. That is because the
command always arrives first and then
the feedback. When the protection
function is activated, the actual position
might not exceed the limit yet.
Therefore, setting an appropriate
decelerating time could satisfy the
demand. Please refer to the description
of P5-03.
AL285 Reverse software limit Issue alarm reset to clear this alarm

Reverse software limit Reverse software limit is determined by Issue alarm reset
position command, not the actual
feedback position. That is because the
command always arrives first and then
the feedback. When the protection
function is activated, the actual position
might not exceed the limit yet.
Therefore, setting an appropriate
decelerating time could satisfy the
demand. Please refer to the description
of P5-03.

AL289 Feedback position counter overflows N/A

Feedback position counter N/A If this alarm occurs, please
overflows.
AL301 DMCNET fails to synchronize

directly send the servo drive back
to Delta without making any
modification.
Issue alarm reset to clear this alarm

9
DMCNET fails to 1. Check if the communication quality of Issue alarm reset
synchronize. the cable is normal.
2. Check if the controller sends SYNC
signal successfully.
3. Check if the setting of P3-09 is
reasonable. (It is better to use the
default value)
The synchronized signal of DMCNET is

AL302 Issue alarm reset to clear this alarm
sent too fast

The synchronized signal of 1. Check if the setting of P3-09 is Issue alarm reset.
DMCNET is sent too fast. reasonable. (It is better to use the
default value)
2. Check if the order of the controller is
correct.
The synchronized signal of DMCNET is

AL303 Issue alarm reset to clear this alarm
sent too slow

The synchronized signal of 1. Check if the communication quality of Issue alarm reset.
DMCNET is sent too slow. the cable is normal.
2. Check if the setting of P3-09 is
reasonable. (It is better to use the
default value)
3. Check if the order of the controller is
correct.
AL304 DMCNET IP command fails Issue alarm reset to clear this alarm

DMCNET IP command fails. If the calculating time of IP mode is too Issue alarm reset.
long, please disable USB monitoring
function.
AL555 System failure N/A

DSP processing error N/A If this alarm occurs, please
directly send the servo drive back
to Delta without making any
modification.


Absolute System
This chapter introduces the application of absolute servo system, including the wiring
and installation of absolute type encoder, setting steps and operation procedures when
initializing absolute position for the first time. In addition, alarm information related to
absolute system can also be found in this chapter.
10.1 Absolute Type of Battery Box and Wiring Rods ····································· 10-3
10.1.1 Specifications·········································································· 10-3
10.1.2 Battery Box Dimensions ···························································· 10-5
10.1.3 Connection Cable for Absolute Encoder ········································ 10-6
10.1.4 Battery Box Cable ···································································· 10-8
10.2 Installation ···················································································· 10-9
10.2.1 Install Battery Box in Servo System ············································· 10-9
10.2.2 How to Install the Battery ·························································· 10-13
10.2.3 How to Replace a Battery ························································· 10-14
10.3 Parameters Related to Absolute Servo System···································· 10-16
10.4 Servo Drive Alarm List for Absolute Function and Monitoring Variables ····· 10-17
10.5 System Initialization and Operation Procedures ··································· 10-18
10.5.1 System Initialization································································· 10-18
10.5.2 Pulse Number ········································································ 10-19
10.5.3 PUU Number ········································································· 10-20
10.5.4 To Initialize the Absolute Coordinate via Parameters ······················· 10-21
10.5.5 Use Communication to Access Absolute Position ··························· 10-21

Absolute System ASDA-B2-F
Note
A complete absolute servo system should include ASDA-B2-F servo drive, absolute motor and a
backup battery box. With the battery that supplies power to the system, the encoder is able to
10 work even when power is off. Moreover, absolute type of encoder can continuously record the
motor’s actual position anytime even when the motor shaft is rotated after power off. The
absolute servo system must work with absolute motor. If it is arranged with an incremental type
motor and the related parameters of absolute system are enabled, AL069 will occur.
When using an absolute motor, as soon as it applies to the power, the motor speed
should not exceed 250 rpm. When operating in battery mode, make sure the maximum
speed does not exceed 200 rpm.
Check if your motor is an absolute type of motor. See the model name below:
ECMA - □ A □ □ □ □ □ □
A: absolute motor
Please correctly install the battery to the encoder. One servo drive uses one single battery box;
while two servo drives can share one dual battery box. Please use Delta’s encoder cable for
connecting to Delta’s battery box. See the following descriptions for the specifications of battery
box and its accessories.

ASDA-B2-F Absolute System
10.1 Absolute Type of Battery Box and Wiring Rods

10.1.1 Specifications
Precautions
Please carefully read through the following safety precautions. Use batteries in accordance with
the specification so as to avoid damages or dangers.
10
 The installation location shall have no water drop, corrosive gas and inflammable
gas.
 Correctly place the battery into battery box so as to avoid short circuiting.
 Do not short circuit the positive electrode and negative electrode of the battery;
or install the battery in reverse direction.
 It is suggested to use new batteries only. This is for avoiding losing electric
energy or shortening the lifetime of new batteries.
 Please follow the instructions when conduct wiring for battery box, or danger
may occur.
 Do not place the battery in a high-temperature environment (over 100℃) or it

might result in fire or explosion.
 It is non-rechargeable batteries. Do not charge the batteries or it might result in
explosion.
 Do not directly weld on the surface of the battery.
Battery Specifications
Items Li/SOCl2 Cylindrical Battery
Type ER14505
Delta Model Number ASD-CLBT0100
International Standard Size AA
Standard Voltage 3.6 V
Standard Capacity 2700 mAh
Maximum Continuous Discharge Current 100 mA
Maximum Pulse Current 200 mA
Dimensions (D x H) 14.5 x 50.5 mm
Weight Approx. 19 g
Operating Temperature -40～+85 ℃

Battery Life
10
Figure 10.1.1 Curve of Discharge Current

(The above figure comes from EVE Energy Co. ER14505 Discharge Characteristics)
1. The above figure illustrates the discharge current curve generated by constant current test.
According to the testing result shown on the graph above, when the power consumption of an
absolute encoder is 65 uA or lower, if the voltage of the battery keeps 3 V or higher, the
expected battery life is about 21900 hr, approximately 2.5 years (Note). Therefore, the lowest
voltage level of battery for an absolute encoder is set to 3.1 V.
2. The battery life expectancy is about 5 years and is able to provide 3.6 V or higher voltage
under normal temperature and humidity conditions.
Note: The battery life was measured when one single battery box is connecting to one servo drive and one
servo motor.

10.1.2 Battery Box Dimensions

Single battery box
Delta Part Number: ASD-MDBT0100
10
Weight
44 g
Unit: mm
Dual battery box

72.5
Weight
80 g
Unit: mm

10.1.3 Connection Cable for Absolute Encoder

A. Quick Connector
Delta Part Number: ASD-A2EB0003, ASD-A2EB0005
10
L
Title Model Name
mm inch
1 ASD-A2EB0003 3000  100 118  4
2 ASD-A2EB0005 5000  100 197  4
Connection method:
Note Please follow the instructions below when conduct wiring. Wrong wiring might
result in explosion.
Battery Quick Connector *1

Box
CN2 Connector Connector of Connector of
encoder cable motor encoder
Servo Drive
Motor
encoder cable motor encoder
View from
View from
this side
this side
1 2 3 3 2 1
Blue Green Black White
T+ BAT+ Reserved Reserved BAT+ T+
4 5 6 6 5 4
Blue/black Green/
black Red/black White/red
T-
BAT- Reserved Reserved BAT- T-
7 8 9 9 8 7
Red/Red Black/black
& white & white Shield Shield Blue Brown
DC+5V GND GND DC+5V
The wire color of the servo drive

connector is for reference only, it
should based on the real object.

B. Military Connector
Delta Part Number: ASD-A2EB1003, ASD-A2EB1005
10
L
Title Model Name
mm inch
1 ASD-B2EB1003 3000  100 118  4
2 ASD-B2EB1005 5000  100 197  4
Connection method:
Note Please follow the instructions below when conduct wiring. Wrong wiring might
result in explosion.
Battery box
Military *1
CN2 Connector connector
Servo Drive
Motor
Pin
Terminal color
No.
A T+ blue
A
B M
C N L B T- black
P T
D K C
R S BAT+ green
E J green/
F G H D BAT- black
red/red
S DC+5V & white
black/black
R GND & white
3106A-20-29S BRAID
Military Connector L SHIELD
-

10.1.4 Battery Box Cable

Battery Box Cable AW
Delta Part Number: 3864573700
10
Battery Box Cable IW


10.2 Installation
10.2.1 Install Battery Box in Servo System
Single Battery Box (Standard Wiring)
Servo Drive
10
*3
CN2 Connector
Absolute type
*1
encoder cable
ASD-B2EB0003,
ASD-B2EB0005,
ASD-B2EB1003,
ASD-B2EB1005
Single battery box for

absolute type encoder
*2
Motor
Note:
This is the wiring diagram of connecting to a single battery box, which is not drawn to scale. For
different models of AC servo drive and motors, the connection cables may differ.
Please refer to section 10.1.3 for the wiring of *1 and *2.
*3 Definition of CN2 connector:
Please follow the instructions below when conduct wiring. Wrong wiring might result in explosion.
CN2 Connector Motor Connector

Pin No Function and Description
4 T+ Serial communication signal input / output (+) A 1
5 T- Serial communication signal input / output (-) B 4
3 BAT+ Battery 3.6 V C 2
2 BAT- Battery ground D 5
8 +5V Power +5 V S 7
6,7 GND Power ground R 8
Shell Shield Shield L 9

Single Battery Box (Connect to CN4)
Servo Drive
10
CN2 Connector
Incremental type
encoder cable
ASDBCAEN0003,
ASDBCAEN0005,
ASDBCAEN1003,
Single battery ASDBCAEN1005
box for
absolute type
CN4 *3
encoder *1
*2

Motor
Note:
This is the wiring diagram of connecting to a single battery box, which is not drawn to scale. For
different models of AC servo drive and motors, the connection cables may differ.
*1 Make sure the battery box is firmly fixed.
*2 Connect to the power based on single battery box. See descriptions below:
Pin No Terminal Symbol Connector Cable

1 BAT+ Red
2 BAT- Black
1 2

Pin No Terminal Symbol
1 BAT
2 BAT-

Dual Battery Box (Connect to CN2)
Servo Drive # 1 Servo Drive #2
10
Two connection ports are
on the front and rear side
of the battery box for
CN2 Connector connecting to two servo CN2 Connector
drives
Absolute type *1
Absolute type *1
encoder cable
encoder cable
ASD-B2EB0003,
ASD-B2EB0003,
Battery Box Battery Box ASD-B2EB0005,
ASD-B2EB0005,
Cable AW Absolute type Cable AW ASD-B2EB1003,
ASD-B2EB1003,
of battery box ASD-B2EB1005
ASD-B2EB1005
*2 *2
Motor # 1 Motor #2
Note:
This is the wiring diagram of connecting to a dual battery box, which is not drawn to scale. For different
models of AC servo drive and motors, the connection cables may differ.
CN2 Connector Motor Connector
Pin No Function and Description
4 T+ Serial communication signal input/output (+) A 1
5 T- Serial communication signal input/output (-) B 4
3 BAT+ Battery 3.6 V C 2
2 BAT- Battery ground D 5
8 +5V Power +5 V S 7
6, 7 GND Power ground R 8
Shell Shield Shield L 9

Dual Battery Box (Connect to CN4)
Servo Drive # 1 Servo Drive #2
10 Two connection ports

are on the front and
CN2 Connector rear side of the battery CN2 Connector
box for connecting to
two servo drives
Incremental type *1 Incremental type *1

encoder cable encoder cable
ASDBCAEN0003,
ASDBCAEN0003, CN4 *3
ASDBCAEN0005, CN4 *3 ASDBCAEN0005,
ASDBCAEN1003, ASDBCAEN1003,
ASDBCAEN1005 ASDBCAEN1005
Battery box Battery box

*2 *2
cable IW Absolute type cable IW
of battery box
Motor #1 Motor # 2
Note:
This is the wiring diagram of connecting to a dual battery box, which is not drawn to scale. For different
models of AC servo drive and motors, the connection cables may differ.
Pin No Terminal Symbol

1 BAT+
2 BAT-

10.2.2 How to Install the Battery

Single Battery Box
10
Put the metal clip on
Loosen the hooks on both sides to connection cable. Please
open the lid of battery box. note that the metal clip
should be put close to the
heat shrink.
heatshrink
metal clip
① Plug the connection cable

② Tighten the screw
① 1 2
Place the cable into the box

Install a new battery and and cover the lid back.
connect it to the cable
Dual Battery Box

Tighten the screws to
Pull the retaining rings from
secure the battery box.
the bottom of the battery box.
See the figure below.

10.2.3 How to Replace a Battery

When AL061 occurs, it means the voltage is too low (See the detailed descriptions in Chapter 9).
Users can use P0-02 to check the battery power. When it displays 31, it means the voltage is
10 under 3.1 V. For avoiding data loss, please replace a new battery.
When the voltage is under 2.7 V, motor’s position record might be lost. Please conduct homing
after replacing a new battery. Please refer to Chapter 9 for further information.
Note For avoiding data loss, it is recommended to replace the new battery when the servo drive
still has power supply.
Single Battery Box
Loosen the hooks on both sides to Fully open the top cover.
open the lid of battery box.
Disconnect the connector and remove the Place the cable into the box
old battery. Then, replace with the new one and cover the lid back.
and connect the connection cable again.
Please replace the

battery when the power
is still supplied to the
drive. Do not remove the
power cable, otherwise
it might cause data loss.

Dual Battery Box

Lift the top cover will pull
out the batteries.
Please replace the
battery when the Slightly press the hooks
10
power is still supplied
to the drive. Do not
on both sides to open
remove the power the top cover.
cable so as to avoid
data lose.
Disconnect the connector and remove

the old batteries. Then, replace with the
new ones and connect the connector
again. Please complete it within 10 Cover the top
minutes so as to avoid data lose. cover back.
Place the cables

toward the inner
side of the box
so that batteries
can be both
placed inside the
box.

10.3 Parameters Related to Absolute Servo System

Parameter
Abbr. Function
Number
10
P0-02 STS Drive Status
P0-49 UAP Renew Encoder Absolute Position
P0-50 APSTS Absolute Coordinate System Status
P0-51 APR Encoder Absolute Position (Multiturn)
Encoder Absolute Position (Pulse number within Single Turn

P0-52 APP
or PUU)
P2-69 ABS Absolute Encoder Setting
P2-70 MRS Read Data Format Selection
P2-71 CAP Absolute Position Homing

10.4 Servo Drive Alarm List for Absolute Function and

Monitoring Variables
AL028
Encoder voltage error or
the internal of the
encoder is in error
Charging circuit of the servo drive is not removed and the
battery voltage is higher than the specification (>3.8 V) or
the encoder signal is in error.
10
AL029 Gray code error Absolute position is in error.
Internal communication of 1. Internal communication error of the absolute encoder.

AL034
the encoder is in error 2. Internal error of other type of encoder.
The absolute position is Due to battery undervoltage or the failure of power supply,
AL060
lost the encoder lost the internal record.
The voltage of the absolute encoder is lower than the

AL061 Encoder under voltage
specification.
The multi-turn of absolute The multi-turn of absolute encoder exceeds the maximum
AL062
encoder overflows range: -32768 ~ +32767
Incremental motor is not allowed to activate the absolute

AL069 Wrong motor type
function.
Feedback position
AL289 Feedback position counter overflows.
counter overflows
Related Monitoring Variables

Code Name of Variables Description
038 (26h) Voltage level of battery The voltage level of battery for an absolute encoder.

10.5 System Initialization and Operation Procedures

10.5.1 System Initialization
After the servo system resumes operation, the host controller can acquire motor’s current
10 absolute position via communication, such as RS-232. Delta’s absolute system provides two
kinds of position value for the host controller, pulse and PUU.
AL060 will occur when the absolute system is enabled for the first time. This is because the
coordinate system has not been created. The alarm will be cleared until the setting of coordinate
system is complete. Not enough battery power or the failure of power supply will lead to
coordinate system loss and the occurrence of AL060. When the motor’s rotating number
exceeds the range from -32768 to 32767, AL062 will occur. In terms of PUU, the position value
should be between -2147483648 and 2147483647, or AL289 will occur.
Apart from the alarms that mentioned above, P2-70 can be used to setup Delta’s absolute servo
system. AL062 and AL289 can be set not to show when the absolute coordinate system
overflows (the cycle number exceeds the range between -32768 and 32767 or PUU exceeds the
range from -2147483648 to 2147483647). This is for the system that uses incremental command
to operate in single direction.
Parameters setting:
1. Initialize the absolute coordinates. When the setting of coordinate is complete, AL060 will be
cleared automatically. Operation mode: Please refer to section 10.5.4 for initializing the
absolute coordinates via parameters.
2. When the system is re-power on, users can access absolute position for the host controller
via communication (Please refer to section 10.5.5). Through the setting of P2-70, the host
controller can select the accessing value, value of PUU (please refer to section 10.5.3) or the
pulse value of 1280000 within one cycle (please refer to 10.5.2).

10.5.2 Pulse Number

When the motor is running in clockwise direction, the cycle number is defined as a negative
value; when it is in counter clockwise operation, it is defined as a positive value. Range of the
maximum counting number is from -32768 to +32767. AL062 will occur when the cycle number
exceeds the range (overflows). For conquering the problem, users have to re-initialize the
coordinates to clear AL062. If P2-70 has been set not to show any alarm when overflows, then
10
the system will ignore the problem when the cycle number exceeds the range. If the system is
operating in counter clockwise direction, when the cycle number reaches 32767 and moves to
the target position, the value will turn to -32768. If it keeps rotating, the sequence of the cycle
number will be -32768, -32767, -32766 and so on and vice versa when rotating in clockwise
direction.
In addition, there are 1280000 pulses (0 ~ 1279999) in one rotation. Please pay attention to its
direction. The cycle number and pulse number can be read via communication.
Pulse number = m (cycle) × 1280000 + pulse number (0 ~ 1279999)
Following shows the conversion between pulse number and PUU:
୔ଵିସହ
When the rotation direction is CCW defined by P1-01, then PUU number = pulse number ×
୔ଵିସସ
+ P6-01
When the rotation direction is CW defined by P1-01, then PUU number = (-1) × pulse number ×
୔ଵିସହ
+ P6-01
୔ଵିସସ
Pulse
number
within one
turn
P0-52
Cycle number m = -2 m = -1 m=0 m=1
P0-51
(1280000-1)
Pulse
0
0 ~ 1279999 0 ~ 1279999 0 ~ 1279999 0 ~ 1279999 0 ~ 1279999 0 ~ 1279999
Original
point
CW CCW
Figure 10.5.2.1 Absolute position of pulse counting

10.5.3 PUU Number

A 32 bits number with sign is used to denote PUU number in an absolute system. The PUU
number is increasing when the motor runs in forward direction and decreasing for a reverse
10 direction. The motor’s rotating direction is defined by the setting of P1-01.Z. In a word, the
feedback value of the encoder can be used to distinguish the rotating direction. The increasing
feedback value means the motor rotating in forward direction while the decreasing feedback
number represents reverse direction.
If the motor keeps rotating in one direction, AL062 will occur once its rotating number exceeds
the range between -32768 and +32767. And AL289 occurs when motor’s PUU number exceeds
the range from -2147483648 to 2147438647. Once AL063 or AL289 occurs, users will have to
initialize the coordinates to clear the alarm. Parameter P2-70 can be used to determine the
overflowing range so as to avoid the occurrence of AL063 and AL289. When the motor rotates in
forward direction and exceeds the range of PUU, once the rotating number reaches 2147483647,
the value will turn to -2147483648. If it keeps rotating, the sequence of the cycle number will be
-2147483647, -2147483646 so on and vice versa when rotating in clockwise direction.
See the following examples for counting overflows.
Example 1:
When P1-44 = 128 and P1-45 = 10, then the motor needs 100000 PUU to run a cycle.
2147483647 ÷ 100000 ≒ 21474.8. Once the motor runs over 21474.8 (< 32767) cycles in
forward direction, AL289 will occur.
Example 2:
When P1-44 = 128 and P1-45 = 1, then the motor needs 10000 PUU to run a cycle. 2147483647
÷ 10000 ≒ 214748.3. Once the motor runs over 32767(<214748.3) cycles in forward direction,
AL062 will occur.
PUU
The range of data
...... 2147483647 -2147483648 ~ 2147483647 -2147483648 ......
2147483647
0 ...... ......
-2147483648
CCW CW
Original
point
Warning when
overflows AL289 AL289
Figure 12-2 PUU counting in absolute coordinate system
Note:
After initializing the absolute coordinates, changing the setting of parameter P1-01.Z or E-gear ratio
(P1-44, P1-45) will cause functional failure of the absolute coordinates and users have to initialize
the coordinates again.

10.5.4 To Initialize the Absolute Coordinate via Parameters

Users can set P2-71 to 1 to initialize the coordinates via panel or communication. As long as
P2-71 is set to 1, the absolute system will be reset. Since the write-in function of P2-71 is
protected by P2-08, users have to set P2-08 to 271 first. Please note that this method can be
applied to others modes except DMCNET. For DMCNET mode, please do homing to reset the
coordinate.
10
10.5.5 Use Communication to Access Absolute Position
Through the setting of P0-49 via communication, the servo drive can update the encoder status
and the motor’s absolute position to P0-50, P0-51 and P0-52. Through bit 1 setting of P2-70,
users can determine the accessing data type, pulse or PUU.
As the motor stands still, it still slightly moves forward and backward. When P0-49 is set to 1, it
will read the exact position where the motor stops without changing anything. On the other hand,
when P0-49 is set to 2, the motor’s current position will be updated to the servo drive (which
means to clear the position error). For example, if the motor’s current position is at 20000, but it
stays around 19999 and 20001. If issuing the command to read the motor’s position when motor
stops at 20001, then the motor’s position will be updated to 20001.
After all position is updated to P0-50 ~ P0-52, P0-49 will be reset to 0 automatically. Then, the
controller can access the value of P0-50 ~ P0-52. P0-50 shows the status of absolute type of
encoder. When it shows absolute position lost or overflows, the accessed absolute position is
invalid. Users have to do homing and initialize the coordinate.
Start
Set
P0-49 = 1 or
P0-49 = 2
No
P0-49 = 0
Yes
Read
P0-50 ~ P0-52
complete

10

Specifications Appendix
Specifications of ASDA-B2-F Servo Drive······················································· A-2
Specifications of Servo Motors (ECMA Series) ················································ A-4
Torque Features (T-N Curves) ··································································· A-13
Overload Features ·················································································· A-15
Dimensions of Servo Drive ······································································· A-17
Dimensions of Servo Motor ······································································· A-21
September, 2015 A1
Appendix A Specifications ASDA-B2-F
Specifications of ASDA-B2-F Servo Drive

100 200 400 750 1k 1.5 k 2k 3k
Watt/Kilowatt
A
01 02 04 07 10 15 20 30
Three-phase
Three-phase: 170 ~ 255 VAC, 50/60 Hz ±5%
Phase/Voltage 170 ~ 255 VAC,
Single-phase: 200 ~ 255 VAC, 50/60 Hz ±5%
50/60Hz ±5%
Input Current (3PH)
Power
0.7 1.11 1.86 3.66 4.68 5.9 8.76 9.83

Unit: Arms
Input Current (1PH)
0.9 1.92 3.22 6.78 8.88 10.3 - -
Unit: Arms
Continuous Output Current
0.9 1.55 2.6 5.1 7.3 8.3 13.4 19.4
Unit: Arms
Cooling Method Natural cooling Fan cooling
Encoder Resolution
20-bit (1280000 p/rev)
(Servo Drive Resolution)
Main Circuit Control SVPWM control
Control Mode Manual / Auto
Regenerative Resistor None Built-in
Command Source DMCNET mode

Position Control Mode
Smoothing Strategy Low-pass filter

E-Gear ratio N / M multiple (1/50 < N/M < 25600)
E-Gear Ratio
N: 1 ~ (226-1) / M: 1 ~ (231-1)
Torque Limit Parameter settings
Feed Forward Compensation Parameter settings

*1
Speed Control Range 1:5000
Command Source Internal register

Speed Control Mode
Smoothing Strategy Low-pass and S-curve filter
Torque Limit Parameter settings
Bandwidth Max. 550 Hz

Load fluctuation 0 ~ 100%, Max. 0.01%
*2
Speed Accuracy Power fluctuation ±10%, Max. 0.01%
o
Ambient temperature fluctuation 0 ~ 50 C, Max 0.01%
Torque Control Mode
Command Source Internal register
Smoothing Strategy Low-pass filter
Speed Limit Parameter settings
A-2 September, 2015

ASDA-B2-F Appendix A Specifications
100 200 400 750 1k 1.5 k 2k 3k

Watt/Kilowatt
01 02 04 07 10 15 20 30
Alarm reset, Gain switching, Speed command selection, Emergency
Digital Input/Output
Input
stop, Forward/Reverse inhibit limit and Forward/Reverse operation
torque limit.
*DIs mentioned above are only available for Non-DMCNET mode. In DMCNET
mode, it is suggested to use communication for DI input and DI functions of
emergency stop, forward/reverse inhibit limit and homing.
A
A, B Line Driver output
Output Servo ready, Servo on, Zero speed reached, Target speed reached,
Target position completed, Torque limiting, Servo alarm, Brake control,
Early warning for overload, Servo warning
3
Over current, Over voltage, Under voltage, Overheat, Overload* ,
Excessive speed deviation, Excessive position deviation, Encoder
Protective Function
error, Regeneration error, Communication error, Register error,
Short-circuit protection of terminal U, V, W and CN1, CN2, CN3
Communication Interface RS-232
Indoors (avoid direct sunlight), no corrosive fog (avoid fume,
Installation Site
flammable gas and dust)
Altitude 1000 m or lower (above sea level)
Atmospheric Pressure 86 kPa ~ 106 kPa

o o o
Ambient Temperature 0 C ~ 55 C (If ambient temperature is above 45 C, forced cooling will
be required)
o o
Environment
Storage Temperature -20 C ~ 65 C

Humidity 0 ~ 90% RH below (non-condensing)
2
9.80665 m/s (1 G), less than 20 Hz
Vibration 2
5.88 m/s (0.6 G), 20 to 50 Hz
IP Rating IP20
Power System TN system*4

IEC/EN 61800-5-1, UL508C
Approvals
Note:
*1 With rated load, the speed ratio is: the minimum speed (smooth operation) / rated speed.
*2 When the command is the rated speed, the velocity correction ratio is: (rotation speed without load –
rotation speed with full load) / rated speed.
*3 Please refer to page A-16 for overload features.
*4 TN system: The neutral point of the power system connects to the ground directly. The exposed metal
components connect to the ground via protective earth conductor.
*5 2 kW, 3 kW models are scheduled to be released.
September, 2015 A-3

Specifications of Servo Motors (ECMA Series)

Low Inertia Series
A Model ECMA
Rated Power (kW)

C104
0F
0.05
C△04
01
0.1
02
0.2
C△06
04□ S
0.4
04
0.4
C△08
02
0.75
04
0.75
C△09
04
1.0
Rated Torque (N-m)*1 0.159 0.32 0.64 1.27 1.27 2.39 2.39 3.18
Max. Torque (N-m) 0.477 0.96 1.92 3.82 3.82 7.16 7.14 8.78
Rated Speed (r/min) 3000 3000
Max. Speed (r/min) 5000 3000
Rated Current (A) 0.69 0.90 1.55 2.60 2.60 5.10 3.66 4.25
Max. Instantaneous Current (A) 2.05 2.70 4.65 7.80 7.80 15.3 11 12.37
Max. Power Rating (kW/s) 12.27 27.7 22.4 57.6 24.0 50.4 29.6 38.6
2
Rotor Inertia (× 10-4kg.m ) 0.0206 0.037 0.177 0.277 0.68 1.13 1.93 2.62
Mechanical Constant (ms) 1.2 0.75 0.80 0.53 0.74 0.63 1.72 1.20
Torque Constant-KT (N-m/A) 0.23 0.36 0.41 0.49 0.49 0.47 0.65 0.75
Voltage Constant-KE
9.8 13.6 16.0 17.4 18.5 17.2 24.2 27.5
(mV/(r/min))
Armature Resistance (Ohm) 12.7 9.30 2.79 1.55 0.93 0.42 1.34 0.897
Armature Inductance (mH) 26 24.0 12.07 6.71 7.39 3.53 7.55 5.7
Electric Constant (ms) 2.05 2.58 4.30 4.30 7.96 8.36 5.66 6.35
Insulation Class Class A (UL), Class B (CE)
Insulation Resistance >100 M, DC 500 V
Insulation Strength 1.8k Vac,1 sec
Weight (without brake) (kg) 0.42 0.5 1.2 1.6 2.1 3.0 2.9 3.8
Weight (with brake) (kg) -- 0.8 1.5 2.0 2.9 3.8 3.69 5.5
Max. Radial Load (N) 78.4 78.4 196 196 245 245 245 245
Max. Axial Load (N) 39.2 39.2 68 68 98 98 98 98

Max. Power Rating (kW/s)
-- 25.6 21.3 53.8 22.1 48.4 29.3 37.9
(with brake)
2
Rotor Inertia (× 10-4kg.m )
-- 0.04 0.19 0.30 0.73 1.18 1.95 2.67
(with brake)
Mechanical constant (ms) -- 0.81 0.85 0.57 0.78 0.65 1.74 1.22
(with brake)
Brake Holding Torque -- 0.3 1.3 1.3 2.5 2.5 2.5 2.5
[Nt-m (min)] *2
Brake Power Consumption -- 7.3 6.5 6.5 8.2 8.2 8.2 8.2
(at 20˚C) [W]
Brake Release Time -- 5 10 10 10 10 10 10
[ms (Max)]
Brake Pull-in Time -- 25 70 70 70 70 70 70
[ms (Max)]
A-4 September, 2015

Vibration Grade (μm) 15
Operating Temperature (˚C) 0˚C ~ 40˚C
Storage Temperature (˚C) -10˚C ~ 80˚C
Operating Humidity
Storage Humidity
20 ~ 90%RH (non-condensing)
A
Vibration Capacity 2.5 G
IP65 (when waterproof connectors are used, or when an oil seal is used
IP Rating
to be fitted to the rotating shaft (an oil seal model is used))
Approvals
C△10 C△13
ECMA Series
10 20 30
Rated Power (kW) 1.0 2.0 3.0
Rated Torque (N-m)*1 3.18 6.37 9.55
Max. Torque (N-m) 9.54 19.1 28.65
Rated Current (A) 7.30 12.05 17.2
Max. Instantaneous Current (A) 21.9 36.15 47.5
Max. Power Rating (kW/s) 38.1 90.6 71.8

2
Rotor Inertia (× 10-4kg.m ) 2.65 4.45 12.7
Mechanical Constant (ms) 0.74 0.61 1.11
Torque constant-KT (N-m/A) 0.44 0.53 0.557
Voltage Constant-KE (mV / (r/min)) 16.8 19.2 20.98
Armature Resistance (Ohm) 0.20 0.13 0.0976
Armature Inductance (mH) 1.81 1.50 1.21
Electric Constant (ms) 9.30 11.4 12.4
Weight (kg) (without brake) 4.3 6.2 7.8
Weight (kg) (with brake) 4.7 7.2 9.2
Max. Radial Load (N) 490 490 490
Max. Axial Load (N) 98 98 98
Max. Power Rating (kW/s)(with brake) 30.4 82.0 65.1
September, 2015 A-5

C△10 C△13
ECMA Series
10 20 30
2
Rotor Inertia (×10-4kg.m ) (with brake) 3.33 4.95 14.0
A Mechanical Constant (ms) (with brake)
Brake Holding Torque [Nt-m (min)] *2

0.93
8.0
0.66
8.0
1.22
10.0
Brake Power Consumption (at 20˚C) [W] 18.7 18.7 19.0
Brake Release Time [ms (Max)] 10 10 10
Brake Pull-in Time [ms (Max)] 70 70 70
Operating Humidity 20 ~ 90%RH (non-condensing)
Storage Humidity 20 ~ 90%RH (non-condensing)
Vibration Capacity 2.5 G

IP65 (when waterproof connectors are used, or when an oil
IP Rating seal is used to be fitted to the rotating shaft (an oil seal
model is used))
Approvals
Note:
*1 The rated torque is the continuous permissible torque between 0~40˚C operating temperature when
attaching with the following heat sink dimension:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
Material: Aluminum – F40, F60, F80, F100, F130, F180
*2 The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate
or as the dynamic brake.
*3 For servo motor with magnetic encoder, please refer to the standard specifications of servo motors.
*4 The box (△) in the column stands for encoder type, please refer to Chapter 1 for detailed description.
A-6 September, 2015

Medium/High Inertia Series

E△13 E△18 F△13 F△18
ECMA Series
05 10 15 20 20 30 08 13 30
Rated Power (kW)
Rated Torque (N-m) *1
Max. Torque (N-m)

0.5
2.39
7.16
1.0
4.77
14.32
1.5
7.16
21.48
9.55
2.0
28.65
2.0
9.55
28.65
3.0
14.32
42.97
0.85
5.41
13.8
1.3
8.34
23.3
3.0
19.10
57.29
A
Rated Current (A) 2.9 5.6 8.3 11.01 11.22 16.1 7.1 12.6 19.4
Max. Instantaneous Current
8.7 16.8 24.90 33.03 33.66 48.3 19.4 38.6 58.2
(A)
Max. Power Rating (kW/s) 7.0 27.1 45.9 62.5 26.3 37.3 21.52 34.78 66.4
2
Rotor Inertia (× 10-4kg.m ) 8.17 8.41 11.18 14.59 34.68 54.95 13.6 20 54.95
Mechanical Constant (ms) 1.91 1.51 1.11 0.96 1.62 1.06 2.43 1.62 1.28
Torque Constant-KT (N-m/A) 0.83 0.85 0.87 0.87 0.85 0.89 0.76 0.66 0.98
Voltage Constant-KE
30.9 31.9 31.8 31.8 31.4 32.0 29.2 24.2 35.0
(mV/(r/min))
Armature Resistance (Ohm) 0.57 0.47 0.26 0.174 0.119 0.052 0.38 0.124 0.077
Armature Inductance (mH) 7.39 5.99 4.01 2.76 2.84 1.38 4.77 1.7 1.27
Electric Constant (ms) 12.96 12.88 15.31 15.86 23.87 26.39 12.55 13.71 16.51
Insulation Strength AC 1500 V, 60 sec
Weight (kg) (without brake) 6.8 7.0 7.5 7.8 13.5 18.5 8.6 9.4 18.5
Weight (kg) (with brake) 8.2 8.4 8.9 9.2 17.5 22.5 10.0 10.8 22.5
Max. Radial Load (N) 490 490 490 490 1176 1470 490 490 1470
Max. Axial Load (N) 98 98 98 98 490 490 98 98 490

Max. Power Rating (kW/s)
6.4 24.9 43.1 59.7 24.1 35.9 19.78 32.66 63.9
(with brake)
2
Rotor Inertia (× 10-4kg.m )
8.94 9.14 11.90 15.88 37.86 57.06 14.8 21.3 57.06
(with brake)
Mechanical Constant (ms)
2.07 1.64 1.19 1.05 1.77 1.10 2.65 1.73 1.33
(with brake)
Brake Holding Torque
10.0 10.0 10.0 10.0 25.0 25.0 10.0 10.0 25.0
[Nt-m (min)] *2
September, 2015 A-7

E△13 E△18 F△13 F△18

ECMA Series
05 10 15 20 20 30 08 13 30
A Brake Power Consumption

(at 20˚C) [W]
Brake Release Time
[ms (Max)]
19.0
10
19.0
10
19.0
10
19.0
10
20.4
10
20.4
10
19.0
10
19.0
10
20.4
10
Brake Pull-in Time

70 70 70 70 70 70 70 70 70
[ms (Max)]
Operating Temperature (˚C) 0 ~ 40
Storage Temperature (˚C) -10 ~ 80
Storage Humidity 20 ~ 90%RH (non-condensing)
Vibration Capacity 2.5G

IP65 (when waterproof connectors are used, or when an oil seal is used to be
IP Rating
fitted to the rotating shaft (an oil seal model is used))
Approvals
Note:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
Material: Aluminum – F40, F60, F80, F100, F130, F180
A-8 September, 2015

Medium/High Inertia Series

G△13
ECMA Series
03 06 09
Rated Power (kW)
Rated Torque (N-m)*1
Max. Torque (N-m)

0.3
2.86
8.59
0.6
5.73
17.19
0.9
8.59
21.48
A
Rated Speed (r/min) 1000
Max. Speed (r/min) 2000
Rated Current (A) 2.5 4.8 7.5
Max. Instantaneous Current (A) 7.50 14.4 22.5
Max. Power Rating (kW/s) 10.0 39.0 66.0

2
Rotor Inertia (× 10-4kg.m ) 8.17 8.41 11.18
Mechanical Constant (ms) 1.84 1.40 1.07
Torque Constant-KT (N-m/A) 1.15 1.19 1.15
Voltage Constant-KE (mV / (r/min)) 42.5 43.8 41.6
Armature Resistance (Ohm) 1.06 0.82 0.43
Armature Inductance (mH) 14.29 11.12 6.97
Electric Constant (ms) 13.55 13.55 16.06
Insulation Strength AC 1500 V, 60 sec
Weight (kg) (without brake) 6.8 7.0 7.5
Weight (kg) (with brake) 8.2 8.4 8.9
Max. Radial Load (N) 490 490 490
Max. Axial Load (N) 98 98 98
Max. Power Rating (kW/s)(with brake) 9.2 35.9 62.1

2
Rotor Inertia (× 10-4kg.m ) (with brake) 8.94 9.14 11.9
Mechanical Constant (ms) (with brake) 2.0 1.51 1.13
Brake Holding Torque [Nt-m (min)] *2 10.0 10.0 10.0
Brake Power Consumption (at 20˚C)[W] 19.0 19.0 19.0
Brake Release Tim [ms (Max)] 10 10 10
Brake Pull-in Time [ms (Max)] 70 70 70
September, 2015 A-9

G△13
ECMA Series
03 06 09
A Storage Humidity
Vibration Capacity
2.5 G
IP65 (when waterproof connectors are used, or when an
IP Rating oil seal is used to be fitted to the rotating shaft (an oil
seal model is used))
Approvals
Note:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
Material type: Aluminum – F40, F60, F80, F100, F130, F180
A-10 September, 2015

High Inertia Series

C△06 C△08
ECMA Series
04□H 07□H
Rated Power (kW)
Rated Torque (N-m) *1

0.4
1.27
0.75
2.39
A
Max. Torque (N-m) 3.82 7.16
Rated Current (A) 2.6 5.1
Max. Instantaneous Current (A) 7.8 15.3
Max. Power Rating (kW/s) 21.7 19.63

2
Rotor Inertia (× 10-4kg.m ) 0.743 2.91
Mechanical Constant (ms) 1.42 1.6
Torque Constant-KT (N-m/A) 0.49 0.47
Voltage Constant-KE (mV / (r/min)) 17.4 17.2
Armature Resistance (Ohm) 1.55 0.42
Armature Inductance (mH) 6.71 3.53
Electric Constant (ms) 4.3 8.36
Weight (kg) (without brake) 1.8 3.4
Weight (kg) (with brake) 2.2 3.9
Max. Radial Load (N) 196 245
Max. Axial Load (N) 68 98
Max. Power Rating (kW/s) (with brake) 21.48 19.3

2
Rotor Inertia (× 10-4kg.m ) (with brake) 0.751 2.96
Mechanical Constant (ms) (with brake) 1.43 1.62
Brake Holding Torque [Nt-m (min)] *2 1.3 2.5
Brake Power Consumption (at 20˚C) [W] 6.5 8.2
Brake Release Time [ms (Max)] 10 10
Brake Pull-in Time [ms (Max)] 70 70
September, 2015 A-11

C△06 C△08
ECMA Series
04□H 07□H
A Storage Humidity
Vibration Capacity
2.5 G
IP65 (when waterproof connectors are used, or when an oil seal
IP Rating is used to be fitted to the rotating shaft (an oil seal model is
used))
Approvals
Note:
ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm
ECMA-_ _ 10: 300 mm x 300 mm x 12 mm
ECMA-_ _ 13: 400 mm x 400 mm x 20 mm
ECMA-_ _ 18: 550 mm x 550 mm x 30 mm
Material type: Aluminum – F40, F60, F80, F100, F130, F180

Torque Features (T-N Curves)
Torque(N-m) Torque(N-m)
A
0.477 0.96
(300%) (300%)
Intermittent Intermittent
Duty Zone Duty Zone
0.159 0.32
(100%) (100%)
0.095 Continuous 0.19 Continuous
(60%) Duty Zone (60%) Duty Zone
Speed Speed
(r/min) (r/min)
3000 5000 3000 5000
ECMA-C1040F□S ECMA-C∆0401□S
Torque(N-m)
Torque(N-m)
3.82
1.92 (300%)
(300%)
Intermittent
Intermittent Duty Zone
Duty Zone
1.27
0.64 (100%)
(100%) 0.763 Continuous
0.38 Continuous Duty Zone
(60%) Speed
(60%) Duty Zone
Speed (r/min)
(r/min) 3000 5000
3000 5000
ECMA-C∆0604□S, ECMA-C∆0604□H
ECMA-C∆0602□S
ECMA-C∆0804□7
7.16 7.14
(300%) (298%) 6.00
Intermittent (251%)
Intermittent
Duty Zone Duty Zone
2.39 2.38
(100%) (100%)
Continuous Continuous
1.43
Duty Zone Duty Zone
(60%) Speed Speed
(r/min) (r/min)
3000 5000 2000 3000
ECMA-C∆0807□S, ECMA-C∆0807□H ECMA-C∆0907□S
8.78 9.54
(276%) (300%)
Duty Zone Duty Zone
3.18 3.18
(100%) (100%)
Continuous 1.91 Continuous
Duty Zone (60%) Duty Zone
Speed Speed
(r/min) (r/min)
2000 3000 3000 5000
ECMA-C∆0910□S ECMA-C∆1010□S
19.11 28.65
(300%) (300%)
Duty Zone Duty Zone
6.37 9.55
(100%) (100%)
Speed Speed
(r/min) (r/min)
3000 5000 3000 4500
ECMA-C∆1020□S ECMA-C∆1330□4

7.16 14.32
(300%) (300%)
A
Duty Zone Duty Zone
2.39 4.77
(100%) (100%)
Speed Speed
(r/min) (r/min)
2000 3000 2000 3000
ECMA-E∆1305□S ECMA-E∆1310□S
21.5 28.66
(300%) (300%)
Duty Zone Duty Zone
7.16 9.55
(100%) (100%)
4.8 Continuous Continuous
6.4
(67%) Duty Zone Duty Zone
Speed (67%) Speed
(r/min) (r/min)
2000 3000 2000 3000
28.66 42.97
(300%) (300%)
Duty Zone Duty Zone
9.55 14.32
(100%) (100%)
Speed Speed
(r/min) (r/min)
2000 3000 2000 3000
Torque(N-m)
Torque(N-m)
23.3
13.80 (280%)
(255%)
Intermittent
Intermittent Duty Zone
Duty Zone
7(130%) 8.34
5.41(100%) (100%)
Continuous Continuous
2.70 4.17
Duty Zone Duty Zone
(50%) Speed (50%) Speed
(r/min) (r/min)
1500 2300 3000 1500 3000
ECMA-F∆1308□S ECMA-F∆1313□S
57.29 8.59
(300%) (300%)
Duty Zone Duty Zone
19.10 2.86
(100%) (100%)
Speed Speed
(r/min) (r/min)
1500 3000 1000 2000
ECMA-F∆1830□S ECMA-G∆1303□S

17.19
(300%) 21.48
(250%)
Intermittent
A
Duty Zone Intermittent
Duty Zone
5.73 8.59
(100%) (100%)
Continuous 4.29 Continuous
2.87
Duty Zone (50%) Duty Zone
(50%) Speed Speed
(r/min) (r/min)
1000 2000 1000 2000
ECMA-G∆1306□S ECMA-G∆1309□S
Overload Features
Definition of Overload Protection
The overload protection is to prevent the motor from overheating.
Causes of Overload
1) The motor operates over the rated torque and the operation time is too long.
2) The inertia ratio is set to be too big and frequently accelerate/decelerate.
3) Connection error between power cable and encoder wiring.
4) Servo gain setting is in error which causes resonance of the motor.
5) The motor with brake operates without releasing the brake.
Graph of Load and Operating Time

Low Inertia Series (ECMA C, CM Series)

Medium and Medium-High Inertia Series (ECMA E, F Series)
High Inertia Series (ECMA G, GM Series)

Dimensions of Servo Drive

ASD-B2-0121-F; ASD-B2-0221-F; ASD-B2-0421-F (100 W ~ 400 W)
Weight 1.07 (2.36)
Note:
1. Dimensions are in millimeters (inches); Weights are in in kilograms (kg) and (pounds (lbs)).
2. Dimensions and weights of the servo drive may be changed without prior notice.

ASD-B2-0721-F (750 W)
)
70(2.76) 163.4(6.43)
19
79.5(3.12)
0.
5(
Ø
A C
N
6
152(5.98)
162(6.37)
C
N
1
C
N
2
C
N
3
GROUND
49(1.92)
SCREW: M4×0.7
MOUNTING SCREW TORQUE:14(kgf-cm)
Weight 1.54 (3.40)
Note:

ASD-B2-1021-F; ASD-B2-1521-F (1 kW ~ 1.5 kW)
)
23
0.
6(
Ø
A
152(5.98)
162(6.37)
Weight 1.72 (3.79)
Note:

ASD-B2-2023-F; ASD-B2-3023-F (2 kW ~ 3 kW)
Weight 2.67 (5.88)
Note:

Dimensions of Servo Motor

Motor Frame Size: 86 mm and below
Model C1040F□S Cᇞ0401□S Cᇞ0602□S Cᇞ0604□S Cᇞ0604□H
LC 40 40 60 60 60
LZ 4.5 4.5 5.5 5.5 5.5
LA 46 46 70 70 70
S 8( 00.009 ) 8( 00.009 ) 14( 00.011) 14( 00.011
) 14( 00.011)
LB 30( 00.021) 30( 00.021) 50( 00.025 ) 50( 00.025) 50( 00.025 )
LL
(without 79.1 100.6 105.5 130.7 145.8
brake)
LL
-- 136.6 141.6 166.8 176.37
(with brake)
LS 20 20 27 27 27
LR 25 25 30 30 30
LE 2.5 2.5 3 3 3
LG 5 5 7.5 7.5 7.5
LW 16 16 20 20 20
RH 6.2 6.2 11 11 11
WK 3 3 5 5 5
W 3 3 5 5 5
T 3 3 5 5 5
M3 M3 M4 M4 M4
TP
Depth 8 Depth 8 Depth 15 Depth 15 Depth 15
Note:
1. Dimensions are in millimeters.
2. Dimensions and weights of the servo motor may be changed without prior notice.
3. The boxes (□) in Model stand for shaft end / brake or the number of oil seal.
4. The boxes (ᇞ) in Model stand for encoder type. Please refer to Chapter 1 for detailed description.
5. For motors with magnetic encoder, please refer to standard dimensions of servo motor. (Except for
ECMA-CM0604PS LL: 116.2 mm)

Motor Frame Size: 86 mm and models below
Model Cᇞ0804□7 Cᇞ0807□S Cᇞ0807□H Cᇞ0907□S Cᇞ0910□S
LC 80 80 80 86 86
LZ 6.6 6.6 6.6 6.6 6.6
LA 90 90 90 100 100
S 14(00.011 ) 19( 00.013 ) 19( 00.013 ) 16( 00.011) 16( 00.011)
LB 70( 00.030 ) 70( 00.030 ) 70( 00.030 ) 80( 00.030 ) 80( 00.030)
LL
(without 112.3 138.3 151.1 130.2 153.2
brake)
LL
152.8 178 189 161.3 184.3
(with brake)
LS 27 32 32 30 30
LR 30 35 35 35 35
LE 3 3 3 3 3
LG 8 8 8 8 8
LW 20 25 25 20 20
RH 11 15.5 15.5 13 13
WK 5 6 6 5 5
W 5 6 6 5 5
T 5 6 6 5 5
M4 M6 M6 M5 M5
TP
Depth 15 Depth 20 Depth 20 Depth 15 Depth 15
Note:
3. The boxes (□) in model stand for shaft end / brake or the number of oil seal.
4. The boxes (ᇞ) in model stand for encoder type. Please refer to Chapter 1 for detailed description.
5. For motors with magnetic encoder, please refer to standard dimensions of servo motor. (Except for
ECMA-CM0604PS LL: 116.2 mm)

Motor Frame Size: 100 ~ 130 mm
Model C△1010□S C△1020□S C△1330□4 E△1305□S E△1310□S E△1315□S
LC 100 100 130 130 130 130

LZ 9 9 9 9 9 9
LA 115 115 145 145 145 145
22(00.013) 22(00.013) 22(00.013) 22(00.013) 22(00.013)
0
S 24(0.013)
95(00.035) 95(00.035) 110(00.035 ) 110(00.035) 110(00.035)
0
LB 110(0.035)
LL
(without 153.3 199 187.5 147.5 147.5 167.5
brake)
LL (with
192.5 226 216.0 183.5 183.5 202
brake)
LS 37 37 47 47 47 47
LR 45 45 55 55 55 55
LE 5 5 6 6 6 6
LG 12 12 11.5 11.5 11.5 11.5
LW 32 32 36 36 36 36
RH 18 18 20 18 18 18
WK 8 8 8 8 8 8
W 8 8 8 8 8 8
T 7 7 7 7 7 7
M6 M6 M6 M6 M6 M6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20
Note:
5. For motors with magnetic encoder, please refer to standard dimensions of servo motor.

Motor Frame Size: 100 ~ 130 mm
Model E△1320□S F△1308□S F△1313□S G△1303□S G△1306□S G△1309□S
LC 130 130 130 130 130 130

LZ 9 9 9 9 9 9
LA 145 145 145 145 145 145
S 22(00.013) 22(00.013) 22(00.013 ) 22(00.013) 22(00.013 ) 22(00.013 )
LB 110(00.035) 110(00.035 ) 110(00.035) 110(00.035) 110(00.035) 110(00.035)
LL
(without 187.5 152.5 187.5 147.5 147.5 163.5
brake)
LL
(with 216 181 216 183.5 183.5 198
brake)
LS 47 47 47 47 47 47
LR 55 55 55 55 55 55
LE 6 6 6 6 6 6
LG 11.5 11.5 11.5 11.5 11.5 11.5
LW 36 36 36 36 36 36
RH 18 18 18 18 18 18
WK 8 8 8 8 8 8
W 8 8 8 8 8 8
T 7 7 7 7 7 7
M6 M6 M6 M6 M6 M6
TP
Depth 20 Depth 20 Depth 20 Depth 20 Depth 20 Depth 20
Note:

Motor Frame Size: 180 mm
Model E△1820□ S E△1830□ S F△1830□ S

LC 180 180 180
LZ 13.5 13.5 13.5
LA 200 200 200
S 35( 00.016) 35( 00.016) 35( 00.016)
LB 114.3( 00.035) 114.3( 00.035) 114.3( 00.035)
LL (without brake) 169 202.1 202.1
LL (with brake) 203.1 235.3 235.3
LS 73 73 73
LR 79 79 79
LE 4 4 4
LG 20 20 20
LW 63 63 63
RH 30 30 30
WK 10 10 10
W 10 10 10
T 8 8 8
M12 M12 M12
TP
Depth 25 Depth 25 Depth 25
Note:


Accessories Appendix
Power Connector ······················································································ B-2

Power Cable ···························································································· B-3
Encoder Connector ··················································································· B-5
Encoder Cable ························································································· B-5
Encoder Cable (Absolute Type) ··································································· B-6
Battery Box Cable AW ··············································································· B-7
Battery Box Cable IW ················································································ B-7
Battery Box (Absolute Type) ········································································ B-8
I / O Connector Terminal ············································································ B-9
CN1 Convenient Connector ········································································ B-9
PC Connection Cable ·············································································· B-10
Terminal Block Module ············································································· B-10
Optional Accessories ··············································································· B-11
September, 2015 B-1

Appendix B Accessories ASDA-B2-F
Power Connector
Delta Part Number: ASDBCAPW0000
B
Delta Part Number: ASDBCAPW0100
Delta Part Number: ASD-CAPW1000
Delta Part Number: ASD-CAPW2000
B-2 September, 2015

ASDA-B2-F Appendix B Accessories
Power Cable
Delta Part Number: ASDBCAPW0203 / 0205
B
L
Title Part No.
mm inch
1 ASDBCAPW0203 3000  50 118  2
2 ASDBCAPW0205 5000  50 197  2
L
Title Part No.
mm inch
1 ASDBCAPW0303 3000  50 118  2
2 ASDBCAPW0305 5000  50 197  2
L
Title Part No. Straight
mm inch
1 ASDBCAPW1203 3106A-20-18S 3000  50 118  2
2 ASDBCAPW1205 3106A-20-18S 5000  50 197  2
September, 2015 B-3

B
L
mm inch
1 ASDBCAPW1303 3106A-20-18S 3000  50 118  2
2 ASDBCAPW1305 3106A-20-18S 5000  50 197  2
Delta Part Number: ASD-CAPW2203 / 2205
L
mm inch
1 ASD-CAPW2203 3106A-24-11S 3000  50 118  2
2 ASD-CAPW2205 3106A-24-11S 5000  50 197  2
Delta Part Number: ASD-CAPW2303 / 2305
L
mm inch
1 ASD-CAPW2303 3106A-24-11S 3000  50 118  2
2 ASD-CAPW2305 3106A-24-11S 5000  50 197  2
B-4 September, 2015

Encoder Connector
Delta Part Number: ASDBCAEN0000
B
Delta Part Number: ASDBCAEN1000
Encoder Cable
Delta part number: ASDBCAEN0003 / 0005
L
Title Part No.
mm inch
1 ASDBCAEN0003 3000  50 118  2
2 ASDBCAEN0005 5000  50 197  2
Delta Part Number: ASDBCAEN1003 / 1005
L
mm inch
1 ASDBCAEN1003 3106A-20-29S 3000  50 118  2
2 ASDBCAEN1005 3106A-20-29S 5000  50 197  2
September, 2015 B-5

Encoder Cable (Absolute Type)

Delta Part Number: ASD-B2EB0003, ASD-B2EB0005
B
L
Title Model Name
mm inch
1 ASD-B2EB0003 3000  100 118  4
2 ASD-B2EB0005 5000  100 197  4
Delta Part Number: ASD-B2EB1003, ASD-B2EB1005
L
Title Model Name
mm inch
1 ASD-B2EB1003 3000  100 118  4
2 ASD-B2EB1005 5000  100 197  4
B-6 September, 2015

Battery Box Cable AW


Delta part number: 3864811900
September, 2015 B-7

Battery Box (Absolute Type)

Single Battery Box
Unit: mm
Dual Battery Box

Unit: mm
B-8 September, 2015

I / O Connector Terminal
Delta Part Number: ASDBCNDS0044
B
D-SUB 44 PIN PLUG
Delta Part Number: ASD-CNDS0015
D-SUB 15 PIN PLUG
CN1 Convenient Connector

Delta Part Number: ASD-IF-DS1516
September, 2015 B-9

PC Connection Cable
Delta Part Number: ASD-CNUS0A08
Title Part No.: ASD-CNUS0A08

3000  100 mm
cable L
118  4 inch
RJ connector RJ-45
connector
USB connector A-type (USB V2.0)
Terminal Block Module

Delta Part Number: ASD-MDDS4444
B-10 September, 2015

Optional Accessories
100 W Servo Drive with 50 W Low-inertia Motor
Servo Drive ASD-B2-0121-F
Low-inertia Motor
Motor Power Cable
(without brake)
Power Connector
ECMA-C1040FS
ASDBCAPW020X
ASDBCAPW0000
B
(without brake)
Motor Power Cable
ASDBCAPW030X
(with brake)
Power Connector
ASDBCAPW0100
(with brake)
Incremental Encoder Cable ASDBCAEN000X
Absolute Encoder Cable ASD-B2EB000X
Encoder Connector ASDBCAEN0000

(X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)

Low-inertia Motor ECMA-C△0401S
Motor Power Cable
ASDBCAPW020X
(without brake)
Power Connector
ASDBCAPW0000
(without brake)
Motor Power Cable
ASDBCAPW030X
(with brake)
Power Connector
ASDBCAPW0100
(with brake)


Motor Power Cable
ASDBCAPW020X
(without brake)
Power Connector
ASDBCAPW0000
(without brake)
Motor Power Cable
ASDBCAPW030X
(with brake)
Power Connector
ASDBCAPW0100
(with brake)

September, 2015 B-11


ECMA-C△0604S
Low-inertia Motor
ECMA-C△08047
B Motor Power Cable

(without brake)
Power Connector
(without brake)
Motor Power Cable
ASDBCAPW020X
ASDBCAPW0000
ASDBCAPW030X
(with brake)
Power Connector
ASDBCAPW0100
(with brake)

400 W Servo Drive with 400 W High-inertia Motor

High-inertia Motor ECMA-C△0604H
Motor Power Cable
ASDBCAPW020X
(without brake)
Power Connector
ASDBCAPW0000
(without brake)
Motor Power Cable
ASDBCAPW030X
(with brake)
Power Connector
ASDBCAPW0100
(with brake)

400 W Servo Drive with 500 W Medium-inertia Motor

Medium-inertia Motor ECMA-E△1305S
Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)
Power Connector ASD-CAPW1000



High-inertia Motor ECMA-G△1303S
Motor Power Cable
B
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)


Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)


ECMA-C△0807S
Low-inertia Motor
ECMA-C△0907S
Motor Power Cable
ASDBCAPW020X
(without brake)
Power Connector
ASDBCAPW0000
(without brake)
Motor Power Cable
ASDBCAPW030X
(with brake)
Power Connector
ASDBCAPW0100
(with brake)



High-inertia Motor ECMA-C△0807H
Motor Power Cable
B (without brake)
Power Connector
(without brake)
Motor Power Cable
(with brake)
ASDBCAPW020X
ASDBCAPW0000
ASDBCAPW030X
Power Connector
ASDBCAPW0100
(with brake)

1 kW Servo Drive with 850 W Low-inertia Motor

Low-inertia Motor ECMA-F△1308S
Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)

1 kW Servo Drive with 1 kW Low-inertia Motor

Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)



Motor Power Cable
(without brake)
Power Connector
(without brake)
Motor Power Cable
(with brake)
ASDBCAPW020X
ASDBCAPW0000
ASDBCAPW030X
B
Power Connector
ASDBCAPW0100
(with brake)

1 kW Servo Drive with 1 kW Medium-inertia Motor

Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)

1 kW Servo Drive with 900 W High-inertia Motor

Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)


1.5 kW Servo Drive with 1.5 kW Medium-inertia Motor

B
Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)


Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)

((X = 3 indicates that the cable length is 3 m; X = 5 indicates that the cable length is 5 m)

Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)



Motor Power Cable
(without brake)
Motor Power Cable
(with brake)
Power Connector
ASD-CAPW220X
ASD-CAPW230X
ASD-CAPW2000
B

2 kW Servo Drive with 1.3 kW Medium-high-inertia Motor

Medium-high-inertia Motor ECMA-F△1313S
Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)


Low-inertia Motor ECMA-Cᇞ13304
Motor Power Cable
ASDBCAPW120X
(without brake)
Motor Power Cable
ASDBCAPW130X
(with brake)



B
Motor Power Cable
ASD-CAPW220X
(without brake)
Motor Power Cable
ASD-CAPW230X
(with brake)
Cable for Incremental
ASDBCAEN100X
Encoder
Cable for Absolute Encoder ASD-B2EB100X

3 kW Servo Drive with 3 kW Medium-high-inertia Motor

Medium-high-inertia Motor ECMA-F△1830S
Motor Power Cable
ASD-CAPW220X
(without brake)
Motor Power Cable
ASD-CAPW230X
(with brake)

Other Accessories (Applicable to ASDA-B2-F series)

Description Delta Part Number
PC Connection Cable ASD-CARS0003
Regenerative Resistor 400 W 100 Ω BR400W040
Regenerative Resistor 1 kW 1000 Ω BR1K0W020
Note:
1. The box () at the end of servo drive model names stands for the product code of ASDA-B2-F series.
Please refer to the actual situation of purchasing.
2. The box (△) in servo motor name stands for encoder type. Please refer to Chapter 1 for detailed
description.
3. The box () in servo motor name stands for brake or keyway / oil seal type.

Maintenance and
Inspection Appendix
Basic Inspection ······················································································ C-2

Maintenance ··························································································· C-3
The Lifetime of Machinery Parts ·································································· C-3
September, 2015 C-1

Appendix C Basic Inspection and Maintenance ASDA-B2-F
Basic Inspection
Item Content
C Periodically check if the screws of the servo drive, the connection between the motor
shaft and the mechanical system as well as the connection of terminal block and
mechanical system are securely tightened.
The gap of the control chamber and the installation of the cooling fan should be free
from oil, water or metallic particles. Also, the servo drive shall be free from the cutting
General inspection power of the power drill.
If the control chamber is installed in the site which contains harmful gas or full of
dust, please ensure the servo drive is free from the harmful gas and dust.
When making detector (encoder) cable or wire rods, please ensure the wiring is
correct. Otherwise, the motor may have sudden unintended acceleration or be
burned down.
To avoid electric shock, the ground terminal of the servo drive should be firmly
connected to the ground terminal of the control chamber. If the wiring is needed, wait
at least 10 minutes after the drive is disconnected from the mains, or discharge the
electricity by discharge device.
The splicing parts of the wiring terminal should be isolated.
Make sure the wiring is correct so as to avoid damage or any irregularity.
Inspection before Check if the electrically conductive objects such as screws, sheet metal or
operation inflammable objects are not inside the servo drive.
(Not connected to Check if the control switch is in OFF status.
power yet) Do not place the servo drive or external regenerative resistor onto inflammable
objects.
To avoid the electromagnetic brake losing efficacy, please check if the stop function
and circuit break function can work normally.
If the peripheral devices are interfered by the electronic instruments, please reduce
electromagnetic interference with devices.
Please make sure the external voltage level of the servo drive is correct.
The detector (encoder) cable should avoid excessive stress. When the motor is
running, please ensure the cable is not frayed by the machine or over extended.
Please contact Delta if there is any vibration of the servo motor or unusual noise
during operation.
Inspection before
running the servo Make sure the setting of the parameters is correct. Different machinery has different
drive characteristic, please adjust the parameter according to the characteristic of each
(Already machinery.
connected to Please reset the parameter when the servo drive is in the status of SERVO OFF, or it
power) may cause malfunction.
Please contact Delta if there is no contact sound or other irregular sound occurs
when the relay is operating.
Check if the power indicator and LED display works normally.
C-2 September, 2015

ASDA-B2-F Appendix C Basic Inspection and Maintenance
Maintenance
 Please use and store the product in a proper site.
 Periodically clean the surface of the servo drive and servo motor so as to avoid dust and


dirt.
Do not disassemble any mechanical part during maintenance.
Periodically clean the ventilation ports of the servo drive and do not use the product in a
high-temperature site for a long time so as to avoid malfunction.
C
The Lifetime of Machinery Parts
 DC Bus Capacitor
DC bus capacitor will be deteriorated by the affection of ripple current. Its lifetime is
determined by the surrounding temperature and operating conditions. If it is operating in an
air-conditioned site, its lifetime can be up to 10 years.
 Relay
The contact will be worn due to power-on or power-off which leads to poor contact. The
lifetime of relay is influenced by the power supply capacity; thus, the accumulative time of
turning on or off the power is about 100,000 times.
 Cooling Fan
In continuous operation, the lifetime of the cooling fan is 2 to 3 years and it has to be
replaced then. However, if there is any unusual noise or vibration during inspection,
replacing a new one is a must.
September, 2015 C-3

Appendix C Basic Inspection and Maintenance ASDA-B2-F
C-4 September, 2015

Revision History
The version number locates on the cover of the user manual. Please refer to the following
description of its naming convention.
DELTA_IA-ASD_ASDA-B2-F_UM_EN_20150925
(1) (2) (3) (4) (5) (6)
(1) Company Name
(2) Category
(3) Series
(4) Type
Abbr. Type
AN Application Note
C Catalogue
UM User Manual / User Guide
MM Maintenance Manual
OM Operation Manual
PM Programming Manual
I Instruction Sheet / Installation Guide / Instruction Manual
Q Quick Start
(5) Language
Abbr. Language
EN English
TC Traditional Chinese
SC Simplified Chinese
JP Japanese
KOR Korea
TUR Turkish
(6) Date of Release (yyyymmdd)
September, 2015 1
Revision History ASDA-B2-F
Revised
Date of Release Version Revision
Chapter / Section
V1.0
September, 2015 - -
(First version)
- - - -
- - - -
- - - -
2 September, 2015
Index
DMCNET Communication Protocol Forward limit error (AL015) 9-2, 9-7
Forward software limit (AL283) 9-4, 9-14
CN6 Connector (DMCNET) 3-24~3-25 Reverse limit error (AL014) 9-2, 9-7
Connecting to peripheral devices: CN6 connector (DMCNET) 3-2 Reverse software limit (AL285) 9-4, 9-14
Connectors and terminals of servo drive - CN6 DMCNET DI signal: HOME (0x09) 7-66
connector 3-3 DI signal: ORGP (0x24) 7-64
DI signal: ORGP (Control method of DMCNET) 7-64 How to replace a battery 10-14
DO signal: TPOS (Control method of DMCNET) 7-65 Use communication to access absolute position 10-21
DO signal: HOME (Control method of DMCNET) 7-66 Related Alarms
DO signal: OVF (Control method of DMCNET) 7-66 The absolute position is lost (AL060) 9-3, 9-12, 10-17
DO signal: Cmd_OK (Control method of DMCNET) 7-67 The multi-turn count of absolute encoder overflows (AL062) 9-3,
DO signal: MC_OK (Control method of DMCNET) 7-67 9-12, 10-17
Each Part of the Servo Drive – DMCNET connector (CN6) 1-7
Parameter definition – DMC refers to DMCNET mode. 7-2 JOG
Related Alarms JOG mode 4-11
Abnormal DMCNET Bus hardware (AL185) 9-3, 9-13 JOG trial run without load 5-7
An error occurs when loading DMCNET data (AL201) 9-4, 9-13 Related Parameters
DMCNET SDO overflow (AL111) 9-3, 9-13 Servo motor jog control (P4-05) 7-9, 7-56
DMCNET fails to synchronize (AL301) 9-4, 9-15 Tuning procedure: Estimate the inertia ratio (JOG Mode) 5-10
DMCNET IP command fails (AL304) 9-4, 9-15
The synchronized signal of DMCNET is sent too fast (AL302) Mapping Parameter
9-4, 9-15 Monitor display 4-7~4-9
The synchronized signal of DMCNET is sent too slow (AL303) Related Parameters
9-4, 9-15 Drive status (P0-02) 7-3, 7-11
Related Parameters Mapping parameter#1 (P0-25) 7-3, 7-14
Alarm code display of drive (Seven-segment Display) (P0-01) Mapping parameter#2 (P0-26) 7-3, 7-14
7-3, 7-10 Mapping parameter#3 (P0-27) 7-3, 7-14
DMCNET protocol setting (P3-10) 7-9, 7-53 Mapping parameter#4 (P0-28) 7-3, 7-14
DMCNET synchronize setting (P3-09) 7-9, 7-52 Mapping parameter#5 (P0-29) 7-3, 7-15
DMCNET selection (P3-11) 7-9, 7-53 Mapping parameter#6 (P0-30) 7-3, 7-15
DMCNET support setting (P3-12) 7-9, 7-53~7-54 Mapping parameter#7 (P0-31) 7-3, 7-15
Resonance suppression with low-pass filter 6-22 Mapping parameter#8 (P0-32) 7-3, 7-15
Related Parameters Target setting of mapping parameter P0-25 (P0-35) 7-3, 7-15
Low-pass filter of resonance suppression (P2-25) 5-20, 7-5, Target setting of mapping parameter P0-26 (P0-36) 7-3, 7-16
7-41 Target setting of mapping parameter P0-27 (P0-37) 7-3, 7-16
Specifications of ASDA-B2-F servo drive: command source Target setting of mapping parameter P0-28 (P0-38) 7-3, 7-17
(DMCNET Mode) A-2 Target setting of mapping parameter P0-29 (P0-39) 7-4, 7-17
E-gear Ratio Target setting of mapping parameter P0-30 (P0-40) 7-4, 7-17
Target setting of mapping parameter P0-31 (P0-41) 7-4, 7-17
Control structure of position mode 6-3 Target setting of mapping parameter P0-32 (P0-42) 7-4, 7-18
Electronic gear ratio 6-5
Position feed forward gain 5-20 Monitoring Variables
Pulse number 10-19 Monitor display 4-7~4-9
Related Alarms Monitoring variable: 038 (26h) (voltage level of battery) 10-17
Excessive deviation of position command (AL009) 9-2, 9-6 Parameter setting procedure 4-3~4-5
PR command overflows (AL235) 9-4, 9-14 Related Parameters
Related Parameters Drive status (P0-02) 7-3, 7-11
Gear ratio (Numerator) (N1) (P1-44) 7-6, 7-31 Status monitor register 1 (P0-09) 7-3, 7-12
Gear ratio (Denominator) (M) (P1-45) 7-6, 7-31 Status monitor register 2 (P0-10) 7-3, 7-12
PUU Status monitor register 3 (P0-11) 7-3, 7-12
DO signal: OVF (0x12) 7-66 Status monitor register 4 (P0-12) 7-3, 7-12
PUU number 10-20 Status monitor register 5 (P0-13) 7-3, 7-13
Use communication to access absolute position 10-21 Status Monitor Register 1 Selection (P0-17) 7-3, 7-13
System Initialization 10-18 Status Monitor Register 2 Selection (P0-18) 7-3, 7-13
Related Parameters Status Monitor Register 3 Selection (P0-19) 7-3, 7-13
Read data format selection (P2-70) 7-49 Status Monitor Register 4 Selection (P0-20) 7-3, 7-13
Forward software limit (P5-08) 7-6, 7-59 Status Monitor Register 5 Selection (P0-21) 7-3, 7-14
Reverse software limit (P5-09) 7-6, 7-59 Servo drive alarm list for absolute function and monitoring
Absolute coordinate system status (P0-50) 7-19 variables 10-17
Encoder absolute position (Multiturn) (P0-51) 7-19
Encoder absolute position (Pulse number within single turn or Position Mode
PUU) (P0-52) 7-20 Control structure of position mode 6-3
Specifications of ASDA-B2-F servo drive A-2 DI signal: GAINUP (0x03) 7-42, 7-63
Homing DO signal: TPOS (0x05) 7-18, 7-32~7-34, 7-65
DO signal: OVF (0x12) 7-66
Forward and Reverse limits DO signal: Cmd_OK (0x15) 7-32~7-33, 7-67
DO signal: WARN (0x11) 7-66 Gain adjustment of position loop 6-6
Related Parameters Low-frequency vibration suppression in position mode 6-7
Alarm code display of drive (Seven-segment display) (P0-01) Position command processing unit 6-3
7-3, 7-10~7-11 Position control gain 5-19
Servo digital output status display (P0-46) 7-4, 7-18 Position control parameter (List) 7-6
Related Alarms Parameter definition – Tz refers to position control mode 7-2
September, 2015 1
Position mode 6-3~6-5 Parameter definition – Sz refers to speed control mode 7-2
S-curve filter (Position) 6-4 , 6-12 Position feed forward gain (P2-07) 7-5, 7-28, 6-15~6-17
Selection of operation mode: position mode 6-2 Related Alarms
Specifications of ASDA-B2-F servo drive: position control mode Over speed (AL007) 9-2, 9-6
A-2 Related Parameters
Related Alarms Acceleration constant of S-Curve (P1-34) 7-4, 7-28
Excessive deviation of position command (AL009) 9-2, 9-6 Acceleration / Deceleration constant of S-Curve (P1-36) 7-4,
PR command overflows (AL235) 9-4, 9-14 7-29
PR positioning is over time (AL245) 9-4, 9-14 Acceleration / Deceleration smooth constant of speed
Related Parameters command (Low-pass Filter) (P1-06) 7-4, 7-24
Anti-interference gain (P2-26) 5-20, 7-5, 7-41 Deceleration constant of S-Curve (P1-35) 7-4, 7-28
Condition of excessive position control deviation warning Internal speed command 1~3 (P1-09~P1-11) 7-7, 7-24~7-25
(P2-35) 7-45 Maximum speed limit (P1-55) 7-6, 7-7, 7-34
Position command moving filter (P1-68) 7-4, 7-36 Speed and torque limit setting (P1-02) 7-6, 7-7, 7-23
Position completed range (P1-54) 7-8, 7-34 Speed loop gain (P2-04) 5-19, 7-5, 7-37
Position loop gain (P2-00) 5-19, 7-5, 7-37 Speed integral compensation (P2-06) 5-20, 7-5, 7-38
Position feed forward gain (P2-02) 7-5, 7-37 Speed feed forward gain (P2-07) 7-5, 7-38
Smooth constant of position command (Low-pass Filter) (P1-08) Selection of speed command 6-10
7-4, 7-24 Selection of operation mode: speed mode (No analog input) 6-2
Smooth speed command 6-12
Regenerative Resistor Specifications of ASDA-B2-F servo drive: speed control mode
1 ~1.5 kW models (with built-in regenerative resistor and fan) A-2
3-13 Speed mode 6-10~6-17
200 W or models below (without built-in regenerative resistor nor Speed loop gain (P2-04) 7-5, 7-37, 5-19
fan) 3-11 Speed control parameter (List) 7-7
2 ~3 kW models (with built-in regenerative resistor and fan) 3-14 Timing diagram of speed mode 6-13
Connecting to peripheral devices: regenerative resistor (optional) Trial run without load (Speed Mode) - speed command selection
3-2 5-9
400 ~750 W models (with built-in regenerative resistor but no fan) Trial run without load (Speed Mode) 5-8
3-12 Wiring diagrams (CN1) 3-18
Connectors and terminals of servo drive 3-3
Each Part of the Servo Drive – regenerative resistor 1-7 Torque Mode
Selection of regenerative resistor 2-7~2-11 Control structure of torque mode 6-24
Specifications of ASDA-B2-F servo drive: regenerative resistor DI signal: TCM0/TCM1 (0 x16, 0x17) 7-63
A-2
DO signal: TQL (0x07) 7-65
Regenerative resistor (Applicable to ASDA-B2-F series) B-18
Parameter definition – Tz refers to torque control mode 7-2
Related Parameters
Specifications of ASDA-B2-F servo drive: torque control mode
Regenerative resistor value (P1-52) 7-33
A-2
Regenerative resistor capacity (P1-53) 7-33~7-34
Related Parameters
Related Alarms
Internal torque limit 1~3 (P1-12~P1-14) 7-6, 7-7, 7-25~7-26
Regeneration error (AL005) 9-2, 9-6
Speed and torque limit setting (P1-02) 7-6, 7-7, 7-23
Resonance Suppression Smooth constant of torque command (Low-pass Filter) (P1-07)
Filter and resonance suppression parameter (List) 7-4~7-5 7-4, 7-24
Low-pass filter Selection of torque command 6-23
Command end low-pass filter 6-13 Selection of operation mode: torque mode (No analog input) 6-2
Control structure of torque mode 6-24 Smooth torque command 6-25
Gain adjustment of speed loop 6-14 Timing diagram of torque mode 6-25
Low-pass filter 6-6 Torque mode 6-23~6-25
Notch filter Torque control parameter (List) 7-7
Control structure of position mode 6-3 Wiring diagrams (CN1) 3-18
Control structure of speed mode 6-11 Tuning
Low-pass filter of resonance suppression 5-20
Auto Gain Adjustment
Mechanical resonance suppression method 5-17
Related Parameters
Procedure of auto suppressing the resonance 5-16
Anti-interference gain (P2-26) 5-20, 7-5, 7-41
Procedure of auto resonance suppression 6-19
Gain adjustment of speed loop 6-14
Related Parameters
Limit of inertia ratio 5-15~5-16
Auto resonance suppression mode setting (P2-47) 7-5, 7-46
Speed mode 6-10
Low-pass filter of resonance suppression (P2-25) 5-20, 7-5,
Tuning mode and parameters 5-18
7-41
Bandwidth
Resonance suppression (Notch Filter) (1) (P2-23) 7-4, 7-41
Gain adjustment of position loop 6-6~6-7
Resonance suppression (Notch Filter) attenuation rate (1)
Manual mode 6-14
(P2-24) 7-5, 7-41
Resonance Suppression 6-18
Specifications of ASDA-B2-F servo drive A-2
Related Parameters
(P2-44) 7-5, 7-45
Speed detection filter (P2-49) 7-5, 7-46
Speed loop frequency response setting in auto and
semi-auto mode (P2-31) 7-6, 7-43
(P2-46) 7-5, 7-45
Tuning mode selection (P2-32) 7-6, 7-43~7-44
Resonance suppression detection level (P2-48) 7-5, 7-46
Flowchart of auto tuning 5-13
Resonance suppression 6-11, 6-18~6-22
Flowchart of semi-auto tuning 5-14
Resonance suppression with notch filter 6-21
Flowchart of tuning procedure 5-11
Tuning mode and parameters 5-18
Trial operation and tuning 5-1
Speed Mode Tuning procedure 5-10
Control structure of speed mode 6-11 Time domain 6-16~6-17
DI signal: SPD0/SPD1 (0x14, 0x15) 7-63
DO signal: SP_OK (0x19) 7-67
Gain adjustment of speed loop 6-14
2 September, 2015

Delta Economic AC Servo Drive With DMCNET Communication ASDA-B2-F Series User Manual

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Delta Economic AC Servo

Drive with DMCNET

Series User Manual

 Installation and inspection of the servo drive and servo motor

How to use this manual

(This page is intentionally left blank.)

Inspection and Model Explanation

1.1 Inspection·································································································· 1-2

3.1 Connections ······························································································ 3-2

Panel Display and Operation

4.1 Panel Description ························································································ 4-2

5.1 Inspection without Load ················································································ 5-2

Control Mode of Operation

6.1 Selection of Operation Mode ········································································ 6-2

7.1 Parameter Definition ··················································································· 7-2

September, 2015 III

8.1 RS-232 Communication Hardware Interface ···················································· 8-2

9.1 Alarm of Servo Drive ··················································································· 9-2

Specifications of ASDA-B2-F Servo Drive ··································································· A-2

Power Connector ··································································································· B-2

Maintenance and Inspection

Basic Inspection ···································································································· C-2

1.1 Inspection ........................................................................................................ 1-2

September, 2015 1-1

Check if there is any

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1.2 Product Model

ASDA-B2-F Series Servo Drive

ECMA Series Servo Motor 0

Input Power INPUT: VAC 110 A 1.55 Ins. A

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1.2.2 Model Explanation

ASDA-B2-F Series Servo Drive 0

 Input Voltage and Phase

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ECMA Series Servo Motor 0

ECM: Electronic Commutation Motor

 Name of the Series

Motor Frame Size

Rated Power Output

Type of Shaft Diameter and Oil Seal

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1.3 Servo Drive and Corresponding Servo Motor

Motor Servo Drive

50 ECMA-C1040F□S 0.69 2.05

400 ECMA-C 0604□S 2.60 7.80

400 ECMA-C 0804□7 2.60 7.80

500 ECMA-E 1305□S 2.90 8.70 ASD-B2-0421-F 2.60 7.80

1000 ECMA-E 1310□S 5.60 16.80 ASD-B2-1021-F 7.30 21.90

850 ECMA-F 1308□S 7.10 19.40 ASD-B2-1021-F 7.30 21.90

/Three- 1300 ECMA-F 1313□S 12.60 38.60 ASD-B2-2023-F 13.40 40.20

400 ECMA-C 0604□H 2.60 7.80 ASD-B2-0421-F 2.60 7.80

750 ECMA-C 0807□H 5.10 15.30 ASD-B2-0721-F 5.10 15.30

/Three- 300 ECMA-G 1303□S 2.50 7.50 ASD-B2-0421-F 2.60 7.80

900 ECMA-G 1309□S 7.50 22.50 ASD-B2-1021-F 7.30 21.90

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1.4 Each Part of the Servo Drive

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