ac servo drives- delta asdb b series

SERVODRIVE MECHANISM

POSITION | VELOCITY | TORQUE

LOAD

ConveyorPumpGrinder WheelMachineFans/ Compressor

PO

WER

SO

UR

CE

CO

NTA

CTO

R SERVO

DRIVER

SERVO

MOTOR

PLC(TRANSISTOR TYPE)

CONTROL SIGNAL (IN PULSES)

FEED

BA

CK

SIG

NA

L

1/3

22

0 V

AC

SIMPLE MOTOR CONTROL CIRCUIT

3 PHASE

MOTOR

ConveyorPump

Grinder WheelMachine

Fans/ Compressor

PO

WER

SO

UR

CE

LOAD

For ON-OFF Operation

Remote ON/OFF MOTOR CONTROL CIRCUIT

3 PHASE

MOTORLOAD


PO

WER

SO

UR

CE

CO

NTA

CT

OR

ON/OFF Control can be made by providing Signal to Contactor

Remote ON/OFF MOTOR CONTROL CIRCUIT

ON/OFF & DIRECTION MOTOR CONTROL

CIRCUIT

3 PHASE

MOTORLOAD


PO

WER

SO

UR

CE

CO

NTA

CT

OR

ON/OFF Control can be made by providing Signal to ContactorC

ON

TAC

TO

R

ON/OFF & DIRECTION MOTOR CONTROL

CIRCUIT

ON/OFF, DIRECTION & SPEED CONTROL OF

MOTOR THROUGH VFD

3 PHASE

MOTORLOAD

ConveyorPumpGrinder WheelMachine

Fans/ Compressor

PO

WER

SO

UR

CE

VFD

SPEED CAN BE CONTROLLED BY VFD (FREQUENCY IS DIRECTLY PROPORTIONAL TO SPEED OF

MOTOR)

Control Signal:

0 ~ 10 VDC

4 ~ 20 mA

Digital Signals from PLC or Digital

Controller

ON/OFF, DIRECTION & SPEED CONTROL OF

MOTOR THROUGH VFD

1 2 3

1 2 3 4 5 6

M0

M1

M2

M3

M4

M5

1 2 3 4

AV

I

AC

I

GN

D

10V

3_pHASE

12

3

4 - 20mA

1

AF

M

220V

AX

X

B

XX

rpm = 120x f /p

inc

dec12

3

RA

RB

RC

SERVO POSITION CONTROL MODE

LOAD


PO

WER

SO

UR

CE

CO

NTA

CT

OR SERVO

DRIVER

SERVO

MOTOR

PLC(TRANSISTOR

TYPE)

CONTROL SIGNAL (IN PULSES)FEED

BA

CK

SIG

NA

L

1/3

22

0 V

AC

POSITION CONTROL MODE• FREQUENCY CONTROL (Pulses)

• ANGLE CONTROL (Pulses)

Sys

tem

Co

nfig

ura

tio

n

Application of Servo MotorsServo Indexing: 30 degree, 45 degree, 90 degree

• By PB or Sensor

• By Timer & making loop

Application of Servo MotorsLimiting the motion by Limit Switches

Understanding

Servo Wiring

Power Terminals : 220 VAC

Single Phase or Three Phase

Motor Terminals U, V, W

12

220 VAC

12

3

Servo

12

34

56

78

910

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

Co

ntr

ol T

erm

ina

ls

12

En

cod

er

Servo

Driver

Program m ing Port

Source

Pulse Input

Sign




Control Terminals

25 Control Pins

For

• Start/Stop Operation

• Speed Change

• Pulse/Velocity/ Torque Input

• Feedback Terminals




Control Terminals

25 Control Pins

For


• Speed Change



12

220 VAC

12

3

Servo

12

34

56

78

910

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

Co

ntr

ol T

erm

ina

ls

12

En

cod

er

Servo

Driver

Program m ing Port

Source

Pulse Input

Sign

Servo Control

Terminals

Analog-Reference

Motor speed command: -10V to +10V, corresponds to the maximum speed

programmed P1-55 Maximum Speed Limit (Factory default 3000 RPM).

Torque Reference

Motor torque command: -10V to +10V, corresponds. to -100% to +100%

rated torque command.

Pulse & Sign

These pins are used to get Pulse input from the External controller

Example: PLC.

Encoder Pins

The motor encoder signals are available through

these terminals- A, B, Z output signals. The output

maximum voltage is 5V and the maximum

permissible current is 200mA.

VDD

VDD is the +24V source voltage provided by the drive. Maximum

permissible current is 500mA.

COM+ & COM-

COM+ is the common voltage rail of the Digital Input and Digital Output signals.

Connect VDD to COM+ for source mode. For external applied power sink mode

(+12V to +24V), the positive terminal should be connected to COM+ and the

negative to COM-.

GND

Analog input signal ground.

DO Signal- Digital Output- To get feedback from the Servo on various signals like SERVO ON,

SERVO READY, ZERO SPEED etc.

DI Signal- Digital Input- To give commands from External source for operation control like

SERVO ON, Clockwise limit, Counter Clockwise Limit, Alarm Reset,

Emergency Stop etc.

Control Terminals

25 Control Pins

For


• Speed Change



Encoder Feedback Cable

To read the feedback from the

encoder attached to the motor




Encoder Feedback Cable

To read the feedback from the

encoder attached to the motor

Servo Programming Cable

To read/write the parameter/

operations in the servo.

PC Servo

2 ------------------------------ 2

3 ------------------------------ 3

5 ------------------------------ 5

Control Terminals

25 Control Pins

For


• Speed Change






Understanding Servo Model Number

Servo – PC Communication

Connect the Wire


Open ASDB

& Select

COM Port


Click

Auto-Detect

AUTO- TUNING OF SERVO

DI Signal- Servo ON- It switch Servo to Servo Ready

Response

Assign the Function

Wiring Diagram

Servo Velocity

Control Mode

Servo- Velocity Control Mode

Velocity Control Mode

12

34

56

78

12

3

0 ~ 10VDC

8

9

Servo

V-ref

G/C

10 VDC

0 VDC = Stop

5 VDC = 1500 rpm

10 VDC= 3000 rpm

Forward

Control Signal: 0 ~ 10VDC

In this mode, the speed of the motor is controlled by control signal as Specified pin of

Servo Driver. The speed of the motor is directly proportional to control signal

Circuit for Forward Direction

Parameter: Control Mode- Velocity/Speed

Pr 1.01 = 2

Servo- Velocity Control Mode

Control Signal: 0 ~ 10VDC

In this mode, the speed of the motor is controlled by control signal as Specified pin of

Servo Driver. The speed of the motor is directly proportional to control signal

Circuit for Reverse DirectionVelocity Control Mode

12

34

56

78

12

3

0 ~ 10VDC

8

9

Servo

Drive

V-ref

G/C

10 VDC

0 VDC = Stop

5 VDC = 1500 rpm

10 VDC= 3000 rpm

Reverse

Parameter: Control Mode- Velocity/Speed

Pr 1.01 = 2

Servo- Velocity Control ModeCircuit for Forward/Reverse

Switching DirectionVelocity Control Mode

12

34

56

78

12

3

0 ~ 10VDC

8

9

Servo

V-ref

G/C

10 VDC

0 VDC = Stop

5 VDC = 1500 rpm

10 VDC= 3000 rpm

R1

R1

R2

R2

A

B

R1

R2

R1

R2

R2

R1

Here, Relay R1 & R2 are interlocked such

that,

When R1 is ON, Motor will run in forward

direction & when R2 is ON, motor will run in

reverse direction

Analog Speed ScalingThe analog voltage between V_REF & GND determines the motor speed

command. Using this parameter 1-40 (Max. Analog Speed Command) can

adjust the speed control ramp & its range

Servo- Internal Velocity Control Mode, Sz

Control Mode- Internal Speed

Pr 1.01 = 4

Assign the function to DI Pins

Response

Assign the Speed12

34

56

78

Servo

Drive

DI2

DI3

18

5

13

Acceleration Time: Pr. 1-34

Range: 0 ~ 20000 | Unit ms

It’s the time taken by drive to reach rated speed from 0 rotation

speed.

Note: If 1-36 is set to 0, Acc/Dec time is disabled

Deceleration Time: Pr. 1-35

Range: 0 ~ 20000 | Unit ms

It’s the time taken by drive to reach from its rated rotational speed to 0

speed.

Servo Position

Control Mode

Servo- Position Control Mode

12

220 VAC

12

3

Servo

12

34

56

78

910

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

Con

tro

l T

erm

inals

12

Enc

od

er

Serv o

Driv er

PC

Programming Port1-1OC1

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

COM

Servo_ON

Source

Pulse Input

Sign

1 Kilo Ohm

Y1

Y2

Control Mode-

Position

Pr 1-01 = 0

Gear Ratio

Setting

Pr 1-45 = 720


Y1 = Output from where we will get the pulses

Input to start the Command

Pulse Command

K12 = RPM (12 = 0.1 rpm)

K720 = No of Pulse (720 = 36 degree)


Direction Change Command

Input to start the Command

Reverse Command

Wiring


Feedback bit

Will be ON

every time

when servo

completes its

pulses Delay for Next Loop

Used to provide the delay in

running the Loop again


Pulses for Indexing: 900 pulses

Time Delay: K20 for 2 seconds

Pulses for Indexing: 900 pulses

Here we would be using Sensor/Switch Signal for Next Index | X0 ~ X7 |

Pulses for Indexing: ____________

Here we would be using Sensor/Switch Signal for Next Index | X0 ~ X7 |

Pulses for 20 rev: 144000 pulses & 200 rpm 24000 pulses

Pulses for 10 revolutions 72000 pulses & 100 rpm 12000 pulses

Servo Dual

Control Mode

Servo- Dual Control ModePosition & Speed Mode

12

220 VAC

12

3

Servo

12

34

56

78

910

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

Con

tro

l T

erm

inals

12

Enc

od

er

Serv o

Driv er

PC

Programming Port1-1OC1

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

COM

Servo_ON

Sink/Source

Pulse Input

Sign

12

3

G/C

V-ref

Dual_Mode

DI2

Y1

Y2

2500 ppr

POT

Control Mode- Dual

Position & Speed

Pr 1.01 = 6

Servo- Dual Control Mode

Position & Speed Mode

Toggle Mode Output

Mode Changing

Assign the function to DI PinsResponse

Servo Torque

Control Mode

Servo Torque Control Mode

Torque Control Mode

12

34

56

78

12

3

0 ~ 10VDC

8

6

Servo

V-ref

G/C

10 VDC

0 VDC = Minimum Torque

5 VDC = 50% of Rated Torque

10 VDC= 100% of Rated Torque

Forward

In this mode, the Torque of the motor is controlled by control signal as

Specified pin of Servo Driver.

The torque of the motor is directly proportional to control signal -10V ~ +10V

Forward Direction Torque Control

Parameter: Control Mode- Torque

Pr 1.01 =_3

Servo Torque Control ModeIn this mode, the Torque of the motor is controlled by control signal as

Specified pin of Servo Driver.

The torque of the motor is directly proportional to control signal -10V ~ +10V

Reverse Direction Torque Control

Parameter: Control Mode- Torque

Pr 1.01 =_3

Torque Control Mode

12

34

56

78

12

3

0 ~ 10VDC

8

6

Servo

Drive

V-ref

G/C

10 VDC

Reverse

0 VDC = Minimum Torque

5 VDC = 50% of Rated Torque

10 VDC= 100% of Rated Torque

Servo- Internal Torque Control Mode, Tz

Control Mode- Internal Torque

Pr 1.01 - 5

Assign the function to DI Pins

Response

Assign the Torque (-300% ~ +300%) | Default 100%12

34

56

78

Servo

Drive

DI2

DI3

18

5

13

Analog Torque ScalingThe analog voltage between T_REF & GND determines the motor torque

command. Using this parameter 1-41 (Max. Analog Torque Command) can

adjust the torque control ramp & its range

Digital Output

Signals

To read feedback

DO Signal- Servo Ready- To get feedback signal when servo is ready to run, all alarms & fault signals

have been cleared

Response

Assign the Function

Wiring Diagram

DO Signal- Servo ON- SON is active when control power is applied to the Servo, there may be

fault condition or not.

Response

Assign the Function

Wiring Diagram

DO Signal- Zero Speed- Zero Speed is active when drive senses that motor is running at or below

10 RPM. Zero Speed will remain activated until the speed increases above 10

rpm

Response

Assign the Function

Wiring Diagram

Digital Input Signals

To Control the

Servo Commands

DI Signal- Servo ON- It switch Servo to Servo Ready

Response

Assign the Function

Wiring Diagram

DI Signal- CMDINV- Run Motor Reverse Forcefully

Response

Assign the Function

Wiring Diagram

If this switch is activated

Motor will RUN in

reverse direction

forcefully irrespective of

Direction command

from External source

(like PLC)

DI Signal- INHP- Pulse Inhibit Input

Response

Assign the Function

Wiring Diagram

When the Drive is in

Position Mode & if Pulse

Inhibit is activated, the

external pulse command

input is not valid

DI Signal- CWL- Reverse Inhibit Limit

Response

Assign the Function

Wiring Diagram

of the ServoThis input is used to limit the

Clockwise Position

When this contact is closed, drive will stop & ALE

14 Error will occur.

DI Signal- CCWL- Forward Inhibit Limit

Response

Assign the Function

Wiring Diagram

This input is used to limit the Counter Clockwise Position

of the Servo

When this contact is closed, drive will stop & ALE 15 Error

will occur.

DI Signal- CWL & CCWL- Reverse Inhibit Limit

Response

Assign the Function

Wiring Diagram

This input is used to limit the Counter Clockwise &

Clockwise Position of the Servo

When these contact is Open, drive will stop & ALE 14/ALE

15 Error will occur respectively

DI Signal- EMGS- Emergency Stop

Response

Assign the Function

Wiring Diagram

This input will stop the Drive Immediately &

fault ALE 13 will be displayed

DI Signal- Alarm Reset- To Clear the Fault or Alarm externally

Response

Assign the Function

Wiring Diagram

Rajvir Singh

Associate Director, NFI

-Mechatronic Engineer

Write to me at: [email protected]

THANK YOU

“….The future is here only, its just not evenly

distributed”

ac servo drives- delta asdb b series

Education

vac single phase

speed of motorcontrol

phasemotor terminals

output maximum voltage

digital input

digital output signals

rated torque command

maximum permissible