Delta ASDA-A Series 50 FAQ

Q1. How to change the control mode of Delta servo drive?

Answers: The user can use parameter P1-01 to change the control mode (see the following
table). After the setting is completed, cut the power off and restart the servo drive again. The new
control mode will be valid after drive off / on action.
• BA=10: Control mode setting • Control Mode Settings:

BA Pt Pr S T Sz Tz
00 ▲
A 01 ▲
B 02 ▲
C 03 ▲
D 04 ▲
not used 05 ▲
06 ▲ ▲
07 ▲ ▲
08 ▲ ▲
09 ▲ ▲
10 ▲ ▲
Pt: Position control mode (command from external signal)
Pr: Position control mode (command from internal signal)
S: Speed control mode (external signal / internal signal)
T: Torque control mode (external signal / internal signal)
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command

Q2. In Position Control mode, how many types of external pulse inputs?
Answer: There are three types of external pulse inputs, including PULSE+SIGN, CW+CCW, and
AB phase pulse?
1) Pulse + Direction: operation speed is determined by the frequency of the first pulse
command. Second pulse input will decide Forward or Reverse command, high voltage for
forward and low voltage for reverse.
0=Positive Logic 1=Negative Logic
Pulse Type
Forward Reverse Forward Reverse

Pulse +
Direction

2) CW+CCW: operation speed is determined by the frequency of the pulse command.

Forward command is decided by the first command input and reverse command is by
second command input.

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0=Positive Logic 1=Negative Logic

Pulse Type
Forward Reverse Forward Reverse

CW + CCW
pulse

3) AB phase pulse (encoder): operation speed is determined by the frequency of pulse

command x1, x2, or x4. When first pulse command leads before the second one, the
command will be forward. When second pulse command leads before the first one, the
command will be reverse.
0=Positive Logic 1=Negative Logic
Pulse Type
Forward Reverse Forward Reverse

AB phase
pulse

Q3. What is the meaning of “Ratio of Load Inertia to Servo Motor Inertia”?
Answer: Ratio of load inertia to servo motor inertia: (J_load /J_motor)
J_load: Load inertia J_motor: Motor rotor inertia
When selecting the servo drives and motors that the user want to use, the user not only should
consider the motor torque and rated speed, but also need to know the ratio of load inertia to
servo motor inertia. Then, the user can select the proper motor that is correctly matched for the
servo drive according to the actual requirements of the connected machine (load condition)
operation and the quality and quantity requirements for materials processing and manufacturing.
When perform tuning and trial run, setting (J_load /J_motor) correctly is the most important /
essential for optimizing the performance of the mechanical system and servo system and make
them work efficiently.

Q4. What is stiffness?

Answer: Stiffness is a measure of how well a servo motor can hold a position when some outside
force is trying to move it. We can say it is a strength that is against the low frequency external
force.

Q5. Why the ratio of load Inertia to servo motor inertia that is adjusted by the customer
will be not the same as the actual ratio value?
Answer: Maybe the following conditions are not met. When estimating the ratio of load Inertia to
servo motor inertia, please satisfy the following conditions in order to ensure the correct ratio of
load Inertia to servo motor inertia.
1) The accel. and decel. time for reaching 2000rpm should be 1sec. and below.
2) The rotation speed should be kept as 200rpm and above.
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3) The load inertia cannot exceed 100-multiple of motor inertia.

4) The outside force cannot too much and the change of the ratio of load inertia to servo
motor inertia cannot be excessive.
5) In AutoMode (when setting parameter P2-32 to 3 or 5), the system will stop to measure
the load inertia value.

Q6. What is regenerative resistor? How to connect a regenerative resistor? What kind of
situation that needs to use the regenerative resistor?
Answer:
When the output torque of servo motor in reverse direction of motor rotation speed, it indicates
that there is a regenerative power returned from the load to the servo drive. This power will be
transmitted into the capacitance of DC Bus and result in rising voltage. When the voltage has
risen to some high voltage, the servo system needs to dissipate the extra energy by using a
regenerative resistor. ASDA-A series servo drive provides a built-in regenerative resistor and the
users also can connect to external regenerative resistor if more regenerative capacity is needed.
When using an external regenerative resistor, connect it to P and C, and make sure the circuit
between P and D is open. When using a built-in regenerative resistor, connect it to P and D, and
ensure an open circuit between P and C.
When the regenerative power exceeds the processing capacity of the servo drive, the fault,
ALE05 may occur. At this time, please install an external regenerative resistor.

Q7. How to choose adequate external regenerative resistor? If there is a simple method
for the user to select the regenerative resistor conveniently?
Answer: The users can select the adequate regenerative resistors according to the allowable
frequency required by actual operation and the allowable frequency when the servo motor runs
without load. The allowable frequency when the servo motor run without load is the maximum
frequency that can be operated during continuous operation when servo motor accelerate from
0rpm to rated speed and decelerate from rated speed down to 0rpm. The allowable frequencies
when the servo motor run without load are summarized in the following table.
Allowable frequency when the servo motor run without load (times/min)
Servo Motor
100W 200W 400W 750W 1.0kW 1.5kW 2.0kW 3.0kW
Models
01 02 04 07 10 15 20 30
ASMT L Series 12133 2022 1071 337 140 - 155 63
ASMT M Series - - - - 136 93 104 38
When the servo motor runs with load, the allowable frequency will change according to the
changes of the load inertia and rotation speed. Use the following equation to calculate the
allowable frequency.
2
Allowable frequency when serv o motor run without load Rated s peed times
Allowable fr equency = x
m+1 Operating speed mi n.

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m = load/motor inertia ratio

The users can select the adequate regenerative resistors according to the allowable frequency
by referring to the table below:
Allowable ASMT L Series ASMT M Series
Frequency 100W 200W 400W 750W 1.0kW 2.0kW 3.0kW 1.0kW 1.5kW 2.0kW 3.0kW
(times/min) 01 02 04 07 10 20 30 10 15 20 30
BR400W040 - - 7137 2247 933 - - 913 621 - -
BR1K0W020 - - - - 2333 1291 523 2282 1552 863 315

Q8. How many groups of Delta servo drive parameters? What are Delta servo drive
parameter groups?
Answer: There are five groups for drive parameters. They are:
Group 0: Monitor parameter (example: P0-xx)
Group 1: Basic parameter (example: P1-xx)
Group 2: Extension parameter (example: P2-xx)
Group 3: Communication parameter (example: P3-xx)
Group 4: Diagnosis parameter (example: P4-xx)

Q9. What is the meaning of the symbol marked after parameter code? What should the
user pay attention to it?
Answer: The explanation of symbols marked after parameter codes are shown as the following.
Please pay close attention to it before setting these parameters.
(★) Read-only register, such as P0-00, P0-01, P4-00.
(▲) Parameter cannot be set when Servo On (when the servo drive is enabled).
(●) Parameter is effective only after the servo drive is restarted (after switching power off and
on), such as P1-01.
(■) Parameter setting values are not retained when power is off.

Q10. How to monitor the status of the servo drive from the digital keypad?
Answer: The user can use parameter P0-02 directly to specify the monitor status and change it
via UP and DOWN key on the keypad. When the power is applied, the monitor status depends
on the setting value of P0-02. For example, if the setting value of P0-02 is 2 when the power is
applied, the monitor function will be Pulse counts of pulse command, the C.P monitor codes will
first display and then the pulse number will display after.
P0-02 Setting Display Message Description Unit
Motor feedback pulse number
0 pulse
(Absolute value)
Motor feedback rotation number
1 rev
(Absolute value)
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P0-02 Setting Display Message Description Unit

2 Pulse counts of pulse command pulse

3 Rotation number of pulse command rev

4 Position error counts pulse

5 Input frequency of pulse command kHz

6 Motor rotation speed rpm

7 Speed input command volt

8 Speed input command rpm

9 Torque input command volt

10 Torque input command N-m

11 Average load %

12 Peak load %

13 Main circuit voltage volt

14 Ratio of load inertia to Motor inertia time

P0-02 Setting Display Message Description Unit

Motor feedback pulse number
15 (Relative value) / Position latch pulse
pulse number
Motor feedback rotation number
16 (Relative value) / Position latch rev
rotation number

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Q11. How to set normally closed b contact and normally open a contact of digital inputs
(parameter P2-10~17) and digital outputs (P2-18~22)?
Answer:
• B, A: DI/DO Function Settings: For the setting value of
P2-10 ~ P2-17, and P2-18 ~ P2-22.

A • C: DI/DO Enabled Status Settings:

B 0: Normally closed (contact b)
C
1: Normally open (contact a)
not used

For example,
If set P2-10 to 101, it indicates that DI enabled status setting is normally open (contact a) Æ
When this contact (DI1) is activated, it means the servo drive is enabled (Servo On).
If set P2-10 to 1 Æ When this contact (DI1) is not activated, it means the servo drive is enabled
(Servo On).

Q12. How many available selections for digital inputs (parameter P2-10~17)?
Answer: Please refer to the following table.
Setting of parameter P2-10 to P2-17
DI Code Signal Description
01 SON Servo On
02 ARST Reset
03 GAINUP Gain switching in speed and position mode
04 CCLR Pulse clear (see P2-50)
05 ZCLAMP Low speed CLAMP
06 CMDINV Command input reverse control
07 HOLD Internal position control command pause
08 CTRG Command triggered (available in Pr mode only)
09 TRQLM Torque limit enabled
10 SPDLM Speed limit enabled
11 POS0 Position command selection (1~8)
12 POS1 Position command selection (1~8)
13 POS2 Position command selection (1~8)
14 SPD0 Speed command selection (1~4)
15 SPD1 Speed command selection (1~4)
16 TCM0 Torque command selection (1~4)
17 TCM1 Torque command selection (1~4)
Position / Speed mode switching
18 S-P
(OFF: Speed, ON: Position)
Speed / Torque mode switching
19 S-T
(OFF: Speed, ON: Torque)
20 T-P Torque / Position mode switching
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Setting of parameter P2-10 to P2-17

DI Code Signal Description
(OFF: Torque, ON: Position)
21 EMGS Emergency stop (contact b)
22 CWL Reverse inhibit limit (contact b)
23 CCWL Forward inhibit limit (contact b)
24 ORGP Reference “Home” sensor
Reverse operation torque limit (Torque limit function is valid
25 TLLM
only when P1-02 is enabled)
Forward operation torque limit (Torque limit function is valid
26 TRLM
only when P1-02 is enabled)
27 SHOM Move to “Home”
28 INDEX0 Feed step selection input 0(bit 0)
29 INDEX1 Feed step selection input 1(bit 1)
30 INDEX2 Feed step selection input 2(bit 2)
31 INDEX3 Feed step selection input 3(bit 3)
32 INDEX4 Feed step selection input 4(bit 4)
33 MD0 Feed step mode input 0
34 MD1 Feed step mode input 1
35 MDP0 Manually continuous operation
36 MDP1 Manually single step operation
37 JOGU Forward JOG input
38 JOGD Reverse JOG input
39 STEPU Step up input (available in Pr mode only)
40 STEPD Step down input (available in Pr mode only)
Step back input. (available in internal auto running mode
41 STEPB
only)
42 AUTOR Auto run input
Electronic gear ratio (Numerator) selection 0 [see
43 GNUM0
P2-60~P2-62]
Electronic gear ratio (Numerator) selection 1 [see
44 GNUM1
P2-60~P2-62]
45 INHP Pulse inhibit input

Q13. How to use digital keypad of the servo drive to control the servo motor and perform
JOG operation?
Answer: After entering parameter mode P4-05, the user can follow the following steps to perform
JOG operation. (Please also refer to figure below).
Step1. Press the SET key to display the JOG rpm speed. (The default value is 20 rpm).
Step2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG speed.
(This also can be undertaken by using the SHIFT key to move the cursor to the
desired unit column (the effected number will blink) then changed using the UP and
DOWN arrow keys. The example display in the figure below is adjusted as 100rpm.)
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Step3. Press the SET key when the desired JOG speed is set. The servo drive will display
"JOG".
Step4. Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The motor will
only rotate while the arrow key is activated.
Step5. To change JOG speed again, press the MODE key. The servo drive will display "P4 -
05". Press the SET key and the JOG rpm speed will displayed again. Refer back to #2
and #3 to change speed. JOG operation is effective only when Servo On (when the
servo drive is enabled).

SET

or

or

SET

CCW CW

Q14. Besides using the digital keypad, is there other method provided by Delta servo
drive for performing JOG operation?
Answer: The user can use DI signal control or communication control to perform JOG operation.
1. DI Signal Control
The user can perform JOG run forward and run reverse control by setting the value of DI
signal as JOGU (DI code is 37) and JOGD (DI code is 38).
2. Communication Control
To perform a JOG Operation via communication command, the user can use communication
address 0405H
(1) Enter 0 ~ 3000 for the desired JOG rpm
(2) Enter 4998 to JOG in the CCW direction
(3) Enter 4999 to JOG in the CW direction
(4) Enter 5000 to stop the JOG operation

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Q15. How to confirm if the signal of digital input of Delta servo drive is controlled by the
external controller? How to confirm the status of digital input is controlled again?
Answer: Following the setting method in the figure below can perform DI diagnosis operation
(parameter P4-07). According to the ON and OFF status of the digital inputs DI1 to DI8, the
corresponding status will display on the servo drive LED display. When the segment lit and
display on the screen, it means that the corresponding digital input signal is ON.

SET

DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1

Light: OFF OFF ON ON ON ON ON ON ON ON

Q16. Delta ASDA-A series servo drive provides simulated digital inputs during
communication control. How to use them?
Answer: Because they are simulated digital inputs, and there is no actual hardware input, the
user can not define and change it freely. The simulated digital inputs are from DI9 to DI16 and
correspond to CTRG/POS0/POS1/POS2/ARST/SHOM/JOGU/JOGD respectively.

Q17. How to change control mode in dual mode?

Answer: First, switch the control mode to dual mode, i.e. set parameter P1-01 to 6 ~ 10. Then,
change the digital input to the corresponding settings, i.e. set parameter P2-10 ~ P2-17 to 18 ~
20. Finally, activate the corresponding digital input and the control mode will be changed.

Q18. When connecting a DVP series PLC to a ASDA-A series servo drive and using PLC
Link for data exchange, what is the continuous blocks provided by ASDA-A series
servo drive? How to set the continuous blocks provided by ASDA-A series servo
drive?
Answer: The continuous blocks provided by ASDA-A series servo drive is from parameters P0-09
to P0-16 (Block Data Read / Write Register 0 to 7). The users can use these parameters and
PLC Link to perform data exchange. First, just set the register address in HEX that users want to
read and write by using the keypad. Then, enter the desired register address (0100H~0417H)
into P0-09 to P0-16 (0009H~ 0010H). Finally, the users can read and write up to 8 continuous
specified block data from the communication address 0009H to 0010H through the
communication port.
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Q19. In Speed mode, how to offset the voltage drift and let the motor run by using analog
voltage?
Answer: Please connect the analog voltage output of the servo drive to a 0V output of the
external controller in advance. Then the users can use parameter P4-22 (Analog Speed Input
Offset) to adjust analog speed input offset value manually. If the problem still exists, please use
DI function. To set DI speed command function (SPD0, SPD1) as internal parameter (set to 0rpm)
or use DI ZCLAMP function with parameter P1-38.

Q20. In Speed mode, how to use analog voltage input to adjust the ratio of the voltage to
speed?
Answer: The user can use parameter P1-40 (Max. analog speed command / limit). In Speed
mode, this parameter is used to set the speed at the maximum input voltage (10V) of the analog
speed command. For example, in Speed mode, if the user set P1-40 to 3000 and the input
voltage is 10V at this time, it indicates that the speed command is 3000rpm. If P1-40 is set to
3000, but the input voltage is changed to 5V, then the speed command is changed to 1500rpm.
The equation is shown as below:
Speed command = Input Voltage x setting value of P1-40 / 10

Q21. In Speed mode, how to enable the torque limit function?

Answer: There are two methods for enabling the torque limit function. One is using parameter
P1-02.
B=0: Disable torque limit function
B=1: Enable torque limit function (It is available in position
A and speed mode)
B The other is using digital input. The user can use digital input
not used TRQLM (DI code is 09).
When it is activated to be ON in position and speed mode, it indicates that the motor torque limit
function is enabled.

Q22. Follow the question above, when the torque limit function is enabled, what is the
torque limit command?
Answer: The torque limit command is either internal parameter or analog voltage command. The
source of the torque limit is determined by the torque command TCM0 and TCM1 of DI signal.

(0)
Tref
Torque Limit
P1-12(1) Command
P1-13(2)
P1-14(3)
TCM0
TCM1

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DI signal of
Command
CN1 Command Source Content Range
No.
TCM1 TCM0
Analog Voltage between
T +/-10 V
T1 OFF OFF Mode command V-REF and GND
Tz None Torque command is 0 0
T2 OFF ON P1-12 0 ~ 300 %
T3 ON OFF Internal parameter P1-13 0 ~ 300 %
T4 ON ON P1-14 0 ~ 300 %

Q23. In Torque mode, how to offset the voltage drift and let the motor run by using analog
voltage?
Answer: Please connect the analog voltage output of the servo drive to a 0V output of the
external controller in advance. Then the users can use parameter P4-23 (Analog Torque Input
Offset) to adjust analog torque input offset value manually. If the problem still exists, please use
DI function. To set DI torque command function (TCM0, TCM1) as internal parameter (set to
0rpm).

Q24. In Torque mode, how to enable the speed limit function?

Answer: There are two methods for enabling the speed limit function. One is using parameter
P1-02.

A=0: Disable speed limit function

A A=1: Enable speed limit function (It is available in torque mode)
B
not used
The other is using digital input. The user can use digital input SPDLM (DI code is 10). When it is
activated to be ON in torque mode, it indicates that the motor speed limit function is enabled.
DI signal of
Command
CN1 Command Source Content Range
No.
SPD1 SPD0
External analog Voltage between
S +/-10 V
S1 OFF OFF Mode command V-REF and GND
Sz None Speed command is 0 0
S2 OFF ON P1-09 0~5000 rpm
S3 ON OFF Internal parameter P1-10 0~5000 rpm
S4 ON ON P1-11 0~5000 rpm

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Q25. Follow the question above, when the speed limit function is enabled, what is the
speed limit command
Answer: The speed limit command is either internal parameter or analog voltage command. The
source of the speed limit is determined by the speed command SPD0 and SPD1 of DI signal.
(0)
Vref
Speed Limit
P1-09(1) Command
P1-10(2)
P1-11(3)
SPD0
SPD1

Q26. In Torque and Speed mode, how to perform the wiring and connect analog voltage
command to the servo drive?

Q27. In Torque mode, how to use analog voltage input to adjust the ratio of the voltage to
torque?
Answer: The user can use parameter P1-41 (Max. analog torque command / limit). In Torque
mode, this parameter is used to set the torque at the maximum input voltage (10V) of the analog
torque command. For example, in Torque mode, if the user set P1-41 to 100 and the input
voltage is 10V at this time, it indicates that the torque command is 100% rated torque. If P1-41 is
set to 100, but the input voltage is changed to 5V, then the torque command is changed to 50%
rated torque.
The equation is shown as below:
Torque command = Input Voltage x setting value of P1-41 / 10 (%)

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Q28. What is the difference between a AC servo motor and a stepping motor (also is
termed step motor)?
Answer: Although the control method of these two kinds of motor is similar, the function and
applicable applications are quite different.
Below are the differences:
1. Control precision (Accuracy) is not the same
o
Generally, the step angle of two-phase HB stepping motor is 1.8 . The control precision of AC
servo motor is determined by the built-in rotary encoder. For example, integrated within the
Delta digital servo motor is an incremental encoder with 2,500PPR. The 2500PPR encoder is
automatically multiplied to 10000PPR by X4 logic for increased control accuracy. Therefore,
o o
when using a Delta digital servo motor, the accuracy per pulse is 360 / 10000 = 0.036 .
2. Low frequency characteristic is not the same
When the stepping motor is at low speed, low frequency vibration may occur easily. The
vibration frequency is in connection with load condition and the performance of the servo
drive. Generally, the vibration frequency is the half of jumping frequency when the motor run
with no load. The low frequency vibration condition is a negative characteristic of the stepping
motor and also affects the normal operation of the mechanical system. Therefore, when using
the stepping motor at low speed, people usually install a damping device for vibration
suppression or use a servo drive with subdivision control function.
The operation of AC servo motor is smooth. The vibration condition seldom occurs even it is
at low speed. Most of AC servo drive has resonance suppression function and this function
can solve the problem that the stiffness of the mechanical system is not enough. Besides, the
system built-in Fast Fourier Transform (FFT) feature can help to analyze vibration and detect
the resonance point.
3. Torque characteristic is not the same
The output torque value of the stepping motor will become low when the motor speed value
becomes high. Also, the output torque will suddenly become low especially at higher speed.
Due to this characteristic, the maximum motor speed of the stepping motor is generally kept
within 300 ~ 600 rpm. However, the output torque of AC servo drive is a constant torque value.
When the motor is at rated speed (generally at 1500rpm or 3000rpm), the output torque value
is a rated torque value. If the motor speed is higher than rated speed, the motor will change to
constant horsepower output.
4. Overload characteristic is not the same
The stepping motor does not have overload characteristic, but the AC servo motor has. For
example, such as Delta AC servo motor, it has Overspeed and Overload capability. The
maximum torque of Delta servo motor is the triple of the rated torque. Therefore, it can
overcome the inertia torque from inertia load. As the stepping motor does not have this kind
of overload characteristic, in order to overcome the inertia, the users usually have to select a
large torque motor. But, the truth is the large torque function will not be used for the normal
operation. Buying a large torque motor is just a waste of money and space.
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5. Function is not the same

The control structure of the stepping motor is open-loop control. When starting frequency is
over high or the load is too big, the motor will run abnormally or even stop operation. Also,
when the motor stop operation, overshoot easily occurs due to over high motor speed.
Therefore, in order to assure the control precision, acceleration and deceleration problem
should be solved first when using the stepping motor.
The control structure of AC servo motor is closed-loop control. The servo drive can sample
the motor encoder feedback signal directly. For the closed-loop positioning, speed control
loop is the principal part and the auxiliary parameters are position loop gain and feed forward
compensation. Therefore, the control capability is more reliable and the motor abnormal or
stop operation seldom occurs.
6. Speed responsiveness is not the same
The acceleration time from stop to normal working speed (several hundreds of rotations one
minute) for a stepping motor needs approximately 200 ~ 400ms. The acceleration
performance of AC servo drive is better than a stepping motor. For example, such as Delta
ASMT series 400W AC servo motor, its acceleration time from stop to rated speed 3000rpm
only needs several milliseconds. It is suitable for the application that requires start and stop
motion with high speed.
From the above description, we can know that AC servo motor is more competitive and superior
to the stepping motor. However, due to different requirements, the stepping motor is still used for
some application areas. Therefore, selecting a correct electric motor for a control system, control
requirement, application area and cost are all the essential factors needed to be counted in.

Q29. Where to download and get the manuals and related documents (electronic files) of
the Delta ASDA series servo drive?
Answer: The user can download the product manual and related documents (electronic files) for
free at the website http://www.delta.com.tw/industrialautomation/.

Q30. In Position mode, what kind of single-axis position control function provided by
Delta ASDA-A series servo drive?
Answer: Delta ASDA-A series servo drive provide Point to point single axis control (8 internal
memorized position settings), homing (zero point return), feed step control and internal auto
running mode… etc. functions.

Q31. How to search home (zero point) in position mode when using Delta ASDA-A series
servo drive?
Answer: The user can use parameter P1-47 to perform homing function. Please also refer to
section 12.8 of the user manual of ASDA-A series servo drive. The user can know more
explanation of homing mode and learn how to enable homing mode, set home sensor and home

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direction, determine home moving method and complete home stop settings.

Q32. What is moving speed of searching home in position mode when using Delta
ASDA-A series servo drive?
Answer: The user can know the moving speed via parameter P1-48 and P1-49. The parameter
P1-48 is 1st speed setting of high speed homing and P1-49 is 2nd speed setting of low speed
homing.
HSP1

Z pulse HSP2

Q33. How to set homing offset after performing homing function in position mode when
using Delta ASDA-A series servo drive?
Answer: The user can use parameter P1-50 (Homing Offset Rotation Number) and P1-51
(Homing Offset Pulse Number). When the value of HOF1, HOF2 (P1-50, P1-51) is set to 0,
“Home” will be determined as Z-phase pulse or ORGP according to the setting of P1-47. If the
value of HOF1, HOF2 (P1-50, P1-51) is not 0, “Home” will be determined as Z-phase pulse or
ORGP plus one offset pulse as new “Home” (HOF1 x 10000 + HOF2).

Q34. In Speed (S) mode, when using internal parameter as speed command, how to
control the acceleration and deceleration of the servo motor during operation?
Answer: If the control of the servo motor is achieved via internal parameters, the command curve
should be defined by the users. Therefore, when the command source is internal parameter,
ensure that the setting value of P1-36 is not set to 0 or the servo motor will not accelerate or
decelerate during operation. Please refer to the figure below.

TSL: P1-36, Accel /Decel S-curve TACC: P1-34, Acceleration time

TDEC: P1-35, Deceleration time Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL

Q35. How to perform the wiring when connecting Delta AC servo drive to Delta DVP-EH
Series PLC?
Answer:

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Please refer to the wiring diagram below.

AC Servo Drive
DVP-EH MPU
ASDA Series

Servo Motor
Three-phase
R U

220VAC

power
L DI 1 : SON
S V
220VAC
Single-phase T DI 5 : ARST W
N power DI 6 : CWL
+24V DI 7 : CCWL CN1
S/S DI 8 : EMGS 7 DO1+ SRDY
24G DO_COM CN1 24V 6 DO1-
X0 Start VDD 17 5 DO2+ ZSPD
X1 Zero Point Reset COM+ 11 4 DO2-
X2 JOG(+) DI 1 9 3 DO3+ HOME
X3 JOG(-) DI 5 33 2 DO3-
X4 Stop DI 6 32 1 DO4+ TPOS
X5 Error Reset DI 7 31 26 DO4-
X6 FWD Limit DI 8 30 28 DO5+ ALARM
X7 REV Limit COM- 45 27 DO5- DO_COM
Z-phase signal
(zero point signal) CN1
X10 SRDY
Line Driver OZ 50 CN2 Encoder
X11 ZSPD
Signal /OZ 24
X12 TPOS
Open OCZ 48 Max. allowable Error
X13 ALARM Collector
current 200mA
voltage 40V Counter
GND 13
X14 Pulse Clear Signal

Y4 DI 2 10
Electronic
C2 COM- 45
Gear
DC24V

VDD 17
PU-HI 35
Pulse Output

Y0 PLS 41
C0 COM- 47
Y1 SIGN 37

C1
FWD / REV Direction
Max. input pulse
Frequency is
200kpps
DVP32EH00T

Q36. What should we pay close attention to it when the communication control function
is used?
Answer: If the users want to use communication control function to control servo drive for a long
time, ensure to set P2-30 (Auxiliary Function) to 5. After setting P2-30 to 5, the setting values of
all parameters will be lost (not remain in memory) at power-down. When the parameters data are
no more needed, using this mode can allows the users not to save parameters data into memory
without damaging the EEPROM. As the setting value of P2-30 will return to 0 automatically after
re-power the servo drive, when the users want to use communication control function, please
remember to set P2-30 to 5 first after the servo drive is restarted.

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Q37. In Pr mode, if it is possible for the user to take the position which is detected by JOG
operation as HOME (zero point)? If it is possible, how to do it?
Answer: The answer is YES. It is possible when using Delta ASDA-A series servo drive. First, the
user needs to set parameter P2-50 (Pulse Deviation Clear Mode) to 1 to clear motor feedback
pulse / rotation number (available in Pt and Pr mode only). Then use JOG function to move to the
desired HOME position and set the servo drive to CCLR mode, i.e. set the digital input to CCLR
and activate it to be ON. After the above setting is completed, the count pulse number will be
clear to 0. This point is regarded as the “Home” (zero point) of the motor.

Q38. How many groups of electronic gear ratio selection are there provided by Delta
ASDA-A series servo drive?
Answer: There are four groups of electronic gear ratio (N1 ~ 4) selection provided by Delta
ASDA-A series servo drive
GNUM0, GNUM1

1st Numerator (N1) (P1-44)

Pulse
Pulse 2nd Numerator (N2) (P2-60) Error
Smooth Filter
3rd Numerator (N3) (P2-61) (P1-08)

4th Numerator (N4) (P2-62)

Denominator (P1-45) Feed Back Pulse

Q39. What are the two kinds of pulse inputs provided by Delta servo drive? How to
connect it?
Answer: There are two kinds of pulse inputs, Line driver input and Open-collector input. Max.
input pulse frequency of Line driver input is 500kpps and max. input pulse frequency of
Open-collector input is 200kpps.
Pulse input, for the use of internal power Pulse input, for the use of external power
supply (Open-collector input) supply (Open-collector input)

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¾ Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo
drive and servo motor.

Pulse input (Line driver)

Because this
photocoupler is a
unidirectional optocoupler,
please pay close attention
on the current direction of
input pulse command.

Q40. When selecting servo drive, how much power it needs to use a three-phase power
input Delta ASDA-A series drive?
Answer: 1.5kW and above servo drives provide single-phase and three-phase input and 2kW
and above servo drives provide three-phase input only.

Q41. How to control the servo drive run in reverse direction without changing control
pulse command in position control mode and the command is from external signal?
Answer: The user can use parameter P1-01 to complete this setting.
Torque Output Direction Settings:

Direction C=0 C=1

A
Forward
B
C
D
not used
Reverse
C: Torque output direction control

Since this parameter is effective only after the servo drive is restarted, please remember to
switch the power of the servo drive off and on again after changing the setting.

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Q42. How to perform the wiring of Z-phase signal when using external controller control
ASDA-A series servo drive?
Answer: There are two types of output signals of Z-phase signal. One is line driver output and the
other is open collector output.

Q43. How to use communication to control the digital inputs?

Answer: When the user want to control the digital inputs via communication, please set
parameter P3-06 first as the setting of this parameter determines how the Digital Inputs (DI)
accept commands and signals. If the Digital Input Contact Control parameter for the DI 1 ~ DI 8 is
set to "0", command is external, and via CN1; if it is set to "1" the DI signal is via communication
(RS-232, RS-485, RS-422). Bit0 ~ Bit 7 corresponds with DI1 ~ DI8. The least significant bit (Bit0)
shows DI1 status and the most significant bit (Bit7) shows DI8 status.
Input commands or signals through the DI can be either from an external source, through the CN
1 interface connector, or via communication, (RS-232, RS-485, RS-422). If the Digital Input
Contact Control parameter for the DI 1 ~ 8 is set to "0", command is external, and via CN1; if it is
set to "1" (decimal number) the DI signal is via communication. Each of the eight Digital Inputs
are accessed individually and can be set independently of each other. They can be programmed
either via the drive's keypad or via communication and computer UI. If they are programmed via
the keypad a hexadecimal number is entered; if programmed via communication or UI a decimal
or hexadecimal number can be used. In both methods of programming, a single number is used
for all eight Digital Inputs. The following example shows how each DI is addressed and
converted to a single decimal or hexadecimal number.
The eight Digital Inputs are noted from the right, DI 1 to left, DI 8 with their desired input
command or signal method, 0 or 1. Once all eight Digital Inputs have been noted this binary
number is converted to a decimal or hexadecimal number and entered into P3-06.
Bit 8 7 6 5 4 3 2 1

Decimal value 128 64 32 16 8 4 2 1

Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1

State 1 1 0 1 1 0 0 0 = D8 Hex
(Keypad, Communication or UI)

(External CN1 or = 216 Dec (Communication or UI only)

Communication)

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The Digital Input Control Contact parameter, P3-06 also works in conjunction with the Multi
Function Digital Input parameter P4-07 which has several functions. Please refer to the
description of parameter P4-07. Also, please see section 8.2 of the user manual of Delta ASDA-A
series servo drive for more details.

Q44. How is the analog output interface of Delta ASDA-A series servo drive?
Answer:
Analog monitor output (MON1, MON2)

Q45. How many types of analog monitor outputs are there provided by Delta ASDA-A
series servo drive?
Answer:
Please refer to parameter P0-03. Delta ASDA-A series provide five analog monitor outputs.
AB: (A: CH1; B: CH2)

A: CH1
B: CH2
not used
0: Motor speed (+/-8 V/maximum rotation speed)
1: Motor torque (+/-8 V/maximum torque)
2: Pulse command frequency (+8 Volts /650Kpps)
3: Speed command (+/-8 Volts /maximum speed command)
4: Torque command (+/-8 Volts /maximum torque command)
5: V_BUS voltage (+/-8 Volts /450V)

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Q46. How many digital output selection are there provided by parameter P2-18 ~ P2-22?
What are they?
Answer:
Please refer to the table below.
Setting of parameter P2-18 to P2-22
DO Code Signal Description
01 SRDY Servo ready
02 SON Servo On
03 ZSPD Zero speed
04 TSPD Speed reached
05 TPOS Positioning completed
06 TQL Reached torques limits
07 ALRM Servo alarm output (Servo fault)
08 BRKR Electromagnetic brake
09 HOME Home completed
10 OLW Output overload warning
11 WARN Servo warning output

Q47. How to perform the wiring of DI signal for the use of internal and external power
supply?
Answer:
Wiring of DI signal, for the use of internal Wiring of DI signal, for the use of external
power supply power supply
Servo Drive

DC24V
VDD 17
R: Approx.
11 4.7K

COM+

Approx. 5mA
for a transistor SON 9

45
TR
COM-
Vces < 1.0V
=
Iceo <
= 100uA

¾ Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo
drive and servo motor.

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Delta ASDA-A Series 50 FAQ

Q48. How to perform the wiring of DO signal for the use of internal and external power
supply?
Answer:
Wiring of DO signal, for the use of internal Wiring of DO signal, for the use of external
power supply, general load power supply, general load
Servo Drive Servo Drive
DOX: (DOX+, DOX-)
DC24V X=1,2,3,4,5 Do not connect
VDD VDD-COM+
17 DO1: ( 7, 6)
DO2: ( 5, 4)
DOX: (DOX+, DOX-)
DO3: ( 3, 2)
X=1,2,3,4,5
DO4: ( 1, 26)
DO1: ( 7, 6) DO5: (28, 27)
R
DO2: ( 5, 4) DC24V R
DO3: ( 3, 2) DC24V
50mA
DO4: ( 1, 26)
DO5: (28, 27)
DOX-
DOX-

COM-
45

¾ Caution: Do not use dual power supply. Failure to observe this caution may result in damage to the servo
drive and servo motor.

Q49. How to make the connection when using CN3 for communication control?
Answer: Delta ASDA-A series servo drive has three modes of communication: RS-232, RS-485,
and RS-422. All aspects of control, operation and monitoring as well as programming of the
controller can be achieved via communication. However, only one communication mode can be
used at a time. The user can select the desired communication mode via parameter P3-05.
Please refer to the following figure for the layout of CN3 drive connector.

CN3

(6)RS-422 TX- (5)RS-422 TX+

(4)RS-422 RX- (3)RS-422 RX+

/RS-232 RX

(2)RS-232 TX (1)GND

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The figures below show the cable connections of three modes of communication.
z RS-232

z RS-485

z RS-422

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Delta ASDA-A Series 50 FAQ

Q50. How to return to HOME (zero point) without using home sensor?
Answer: In Position mode, enable torque limit function first and set the value B of parameter
P2-63 (Proportion value setting) to be 1. Please refer to the following description.

A
B
not used

Value B: Proportion value setting of position excessive error warning condition (P2-35)
0: When value B is set to 0, the unit of P2-35 is 1 pulse
1: When value B is set to 1, the unit of P2-35 is 100 pulses
For example,
If P2-35 is set to 1000, and value B is set to 0, the position excessive error warning pulse is 1000
pulses.
If P2-35 is set to 1000, and value B is set to 1, the position excessive error warning pulse is
100,000 pulses.

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