Руководство по эксплуатации Delta ASDA-A3 — сервоприводы и двигатели (EN)

2 Table of Contents Cutting-edge Specification 3 3.1 kHz bandwidth 24-bit absolute type encoder High speed motor with 6,000 r/min and 350 % peak torque Motor with high or low inertia rotor Low cogging torque motors Supports a variety of servo motors Full-closed loop control System Tuning and Safety Functions 5 System diagnosis function Low frequency vibration suppression function Auto-tuning function Advanced notch filters Safe Torque Off (STO) function Motion Inside 7 Advanced motion commands Built-in camming functions Capture and compare functions Energy-Saving and Compact Size Design 8 DC-bus sharing feature Thinner size servo drive Smaller size servo motor User-Friendly Software 9 Tree-view index window Graphical interface for parameter settings Auto-tuning wizard for gains Advanced gain tuning interface System analysis in Bode Plot Oscilloscope function Graphical programming interface of PR mode Product Information 11 Part Names and Functions Optional Accessories ASDA-Soft Configuration Software Servo Motor Features Ordering Information 18 Product Line Up Servo Drive Model Name Explanation Servo Drive Specifications Servo Drive Dimensions ECM-A3 Servo Motors Model Name Explanation ECM-A3 Servo Motors Specifications ECM-A3 Servo Motors Dimensions ECMC Servo Motors Model Name Explanation ECMC Servo Motors Specifications ECMC Servo Motors Dimensions Servo Drive Accessories Combinations Optional Cables and Connectors Wiring 43

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Cutting-edge Specifications 3.1 kHz Bandwidth Higher responsiveness and shorter settling time could increase productivity Speed closed-loop control 5 3.1 kHz Gain (dB) 0 1 kHz -5 -3 A2 3.1 kHz A3 10 0 -10 10 1 10 2 10 3 Frequency (Hz) 24-bit Absolute Type Encoder The positioning precision is enhanced by the 16,777,216 pulses/turn encoder 16 , 777 , 216 pulses for one single turn The speed variance in low speed is reduced 46 , 603 pulses for one degree Absolute type encoder keeps motor's position when power is off High speed motor with 6,000 r/min and 350 % peak torque A3 motor can accelerate and decelerate faster with its design This specification is available for motor frame size 40 mm, 60 mm and 80mm speed(r/min) 4 Torque(x 100%) A3 A2 7000 6000 A2-400W A3 6000 r/min A3-400W 3.5 3 5000 4000 2.5 3000 1.5 2 Intermittent Duty Zone 2000 1000 0.5 1 Continuous Duty Zone 0 0 0.05 0.1 0.15 Time(sec) 0 0 2000 4000 6000 speed(r/min) 3

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Motor with high or low inertia rotor For application requiring stable rotating speed and better disturbance resistant capability, a high inertia motor is more suitable, such as machine tools For application like reciprocating motion and fast positioning request, a low inertia motor can be used, such as electronic manufacturing machines Low inertia motor High inertia motor Low Cogging Torque Motor Cogging torque of the ECM-A3 motor is only 1.5% of the rated torque, which brings smoother operating speed and increases the stability when machining at low speed Cogging Torque (under 1.5%) A3 A2 Supports a Variety of Servo Motors Full-Closed Loop Control Backward compatibility design for motor to meet future replacement To ensure the positioning accuracy at the end and eliminate the effect of transmission backlash, full-closed loop control function is an effective solution ASDA-A3 drive can support both A2 (ECMA) and A3 (ECM-A3) series motors Motor Encoder Signals A2 Servo Motors Linear Scale A3 Servo Motors 4

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System Tuning and Safety Functions System Diagnosis Function The rigidity of a machine is known through a mathematical model The consistency of the machine's batch installation can be checked By comparing the data from different time span, the wear condition of a machine can be acquired Low Frequency Vibration Suppression Function Vibration elimination algorithm is different from command filter and used as a creative algorithm on ASDA-A3 The vibration can be eliminated without slowing down its response In addition to vibration elimination algorithm, the two command filters for low frequency vibration are included 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 Time (sec) 5 ithout Vib ration Suppression D e lta Vibration Suppression Stable U n stable o-Tunin g Function Motor Load (inertia ratio=68 ) Posi Befo tion C re Aut omma o-Tun nd ing After Auto- Tunin g

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