Delta Electronics AC Servo Drive ASDA-AB Manual de usuario Pagina 220
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ASDA-A User Manual Chapter 8 MODBUS Communications
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
8-7
8-3 MODBUS Communication Protocol
When using RS-232/485/422 serial communication interface, each ASDA-A series AC servo drive has a
pre-assigned communication address specified by parameter “P3-00”. The computer then controls each
AC servo drive according to its communication address. ASDA-A series AC servo drive can be set up to
communicate on a MODBUS networks using on of the following modes: ASCII (American Standard Code
for Information Interchange) or RTU (Remote Terminal Unit). Users can select the desired mode along with
the serial port communication protocol in parameter “P3-02”.
Code Description:
ASCII Mode:
Each 8-bit data is the combination of two ASCII characters. For example, a 1-byte data: 64 Hex, shown as
‘64’ in ASCII, consists of ‘6’ (36Hex) and ‘4’ (34Hex).
The following table shows the available hexadecimal characters and their corresponding ASCII codes.
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:
Each 8-bit data is the combination of two 4-bit hexadecimal characters. For example, a 1-byte data: 64 Hex.
Data Format:
10-bit character frame (For 7-bit character)
7N2
Start
bit
01
2
3456
Stop
bit
7-data bits
10-bits character frame
Stop
bit
7E1
Even
parity
Start
bit
01
2
3456
Stop
bit
7-data bits
10-bits character frame
7O1
Odd
parity
Start
bit
01
2
3456
Stop
bit
7-data bits
10-bits character frame
- Using This Manual 4
- Contents of this manual 4
- Who should use this manual 4
- Important precautions 4
- SAFETY PRECAUTIONS 5
- Operation 6
- Maintenance and Inspection 6
- Main Circuit Wiring 6
- Trial Run without Load 7
- Trial Run with Load 7
- User Manual 8
- 4th Edition 2005/11/30, HE03 10
- About this Manual… 13
- 1-1 Unpacking Check 14
- 1-2 Model Explanation 15
- 1-2-2 Model Name 16
- ASMT Series Servo Motor 17
- 1-4 Servo Drive Features 20
- 2-1 Installation Notes 24
- 2-2 Storage Conditions 24
- 2-3 Installation Conditions 24
- Installation Procedure 25
- Drive Mounting 26
- Motor Mounting 26
- Minimum Clearances 26
- Side by Side Installation 27
- 3-1 Configuration 28
- 3-1-3 Wiring Methods 30
- 4th Edition 2005/11/30, HE03 32
- Power Cable 34
- Encoder Cable 34
- (AWG26) 34
- ) of the servo drive 35
- 3-2 Basic Wiring 36
- Servo Drive 37
- Figure 3.6 38
- (for analog command) 39
- Table 3.B General Signals 40
- Table 3.G 46
- 3-4 Encoder Connector CN2 55
- Enco der Wiring 58
- Encoder Wiring 59
- 3-6-3 Speed Control Mode 60
- 3-6-4 Torque Control Mode 61
- 4-1 Digital Keypad 62
- 4-2 Display Flowchart 63
- 4-3 Status Display 64
- 4-4-2 JOG Operation 67
- Figure 4.4 68
- Figure 4.5 69
- ONONONONONONON 70
- Figure 4.8 71
- 5-1 Inspection without Load 72
- Over voltage: 75
- Encoder error: 75
- Emergency stop activated: 75
- Reverse limit switch error: 76
- Forward limit switch error: 76
- Overcurrent: 77
- Undervoltage: 77
- Press Release 78
- 5-6 Tuning Procedure 84
- 5-6-1 Tuning Flowchart 85
- (1+ (J_load / J_motor)) 96
- NLP (Parameter P2-25) 97
- 6-2 Position Control Mode 100
- P1 - 00ϧ 101
- 20 turns 102
- 10 turns 102
- Position Command Processing 103
- TACC TSL/2 104
- P1 - 36 TSL 105
- P1 - 34 TACC 105
- P1 - 35 TDEC 105
- 6-2-5 Electronic Gear Ratio 106
- 6-2-6 Low-pass Filter 107
- P2 - 00 KPP 108
- P2 - 02 PFG 108
- Position 109
- 6-3 Speed Control Mode 110
- S-curve Filter 113
- Analog Input Filter 114
- P1 - 06 SFLT 114
- Ta r g e t Sp ee d 115
- P1 - 40ϧ 116
- Note: 117
- P2 - 32ϧ 118
- Manual Mode 119
- P2 - 04 KVP 119
- P2 - 06 KVI 119
- P2 - 07 KVF 119
- Frequency Domain 120
- Time Domain 121
- Easy Mode 122
- P2 - 31 AUT1 122
- Motor Speed 123
- Inertia Measurement 123
- 6-3-7 Resonance Suppression 124
- Low-pass filter 125
- Notch Filter 125
- 6-4 Torque Control Mode 126
- Basic Structure: 127
- Ta r ge t S p ee d 128
- P1 - 41ϧ 129
- 6-5 Control Modes Selection 131
- Pt-S Mode / Pr-S Mode: 132
- S-T Mode: 133
- Pt-T Mode / Pr-T Mode: 134
- 6-6 Others 135
- Y=1 in P1-02 136
- TCM0~1 INVALID 136
- TCM0~1 VALID 136
- Y=0 in P1-02 136
- 6-6-3 Regenerative Resistor 137
- Simple Calculation Method 140
- 6-6-4 Analog Monitor 141
- 6-6-5 Electromagnetic Brake 143
- Chapter 7 Parameters 146
- 7-2 Parameters Summary 147
- Group 1: P1-xx 148
- Basic Parameters 148
- 0 pulse O 149
- Group 2: P2-xx 150
- Extension Parameters 150
- Group 3: P3-xx 152
- Communication Parameters 152
- Group 4: P4-xx 153
- Diagnosis Parameters 153
- Monitor and General Use 154
- Gain and Switch 156
- 0 pulse O 157
- Position Control 158
- Speed Control 159
- Torque Control 160
- Digital I/O 161
- Communication 162
- Diagnosis 163
- P0 - 03 MON 166
- 10 msec 172
- P1 - 10 SP2 173
- P1 - 11 SP3 173
- P1 - 12 TQ1 173
- P1 - 13 TQ2 174
- P1 - 14 TQ3 174
- P1 - 15 PO1H 174
- P1 - 30 PO8L 177
- P1 - 31 Reversed 177
- P1 - 32 LSTP 177
- P1 - 33ϥ 177
- P1 - 37 TDEC 178
- P1 - 38 ZSPD 179
- P1 - 39 SSPD 179
- P1 - 42 MBT1 180
- P1 - 43 MBT2 180
- Rotation revolution 181
- Setting value 181
- P1 - 47 182
- 201kW and above 183
- 1kW and below 60 183
- 1201kW and above 183
- 1kW and below 40 183
- P1 - 54 PER 184
- P1 - 55 MSPD 184
- P1 - 56 OLW 184
- P2 - 05 SPR 186
- P2 - 08Ϯ 186
- P2 - 09 DRT 187
- P2 - 10 DI1 187
- P2 - 11 DI2 187
- P2 - 25 NLP 190
- P2 - 26 DST 190
- P2 - 27 GCC 190
- P2 - 28 GUT 190
- P2 - 29 GPE 190
- P2 - 30Ϯ 191
- Low speed 192
- High speed 192
- P2 - 49 SJIT 195
- P2 - 50 CCLR 195
- P2 - 57 ATM5 197
- P2 – 58 ATM6 197
- P2 - 59 ATM7 197
- P2 - 60 GR4 197
- P2 - 61 GR5 197
- P2 - 62 GR6 198
- P2 - 63 TSCA 198
- P2 - 64 198
- P3 - 00 ADR 200
- P3 - 01 BRT 200
- Unit: bps 200
- P3 - 02 PTL 200
- P3 - 03 FLT 201
- P3 - 04 CWD 201
- P3 - 05 CMM 201
- P3 - 06Ϯ 201
- P3 - 07 CDT 202
- P4 - 06ϧ 204
- P4 - 07 ITST 204
- P4 - 08 PKEY 204
- P4 - 09 MOT 204
- Communication Addr.: 0416H 207
- P4 - 23 TAO 207
- Communication Addr.: 0417H 207
- Configuration 214
- Cable Connection 214
- RS-485, RS-422 215
- Code Description: 220
- ASCII Mode: 220
- RTU Mode: 220
- Data Format: 220
- Communication Protocol: 221
- STX (Communication Start) 221
- CRC (RTU Mode): 224
- 9-1 Basic Inspection 230
- 9-2 Maintenance 231
- Chapter 10 Troubleshooting 232
- : Input power phase loss 238
- 10-3 Clearing Faults 239
- Chapter 11 Specifications 242
- Load (% rated torque) 249
- Operating Time (seconds) 249
- ˣ˘ʳ˧˘˥ˠ˜ˡ˜˔˟ 251
- WEIGHT (KG) 252
- 11-9 EMI Filters Selection 257
- Parameters Setting 260
- Operation 260
- Trigger Timing Charts 269
- 12-6 Feed Step Control 271
- Digital I/O Signal Setting 272
- Mode Functions 273
- (1) Homing Mode 276
- (2) Feed Step Control Mode 277
- (2) Auto Running Mode 285
- (3) Manual Control Mode 1 285
- (4) Manual Control Mode 2 286
- 12-8 Homing Function 287
- (2) B: Homing Moving Method 288
- Recommended Homing Modes 289
- Homing Timing Charts 289
- (2) Homing Timing Charts 290
- 291
- 5. B/A = 2/2 292
- 6. B/A = 2/3 292
- 7. B/A = 2/4 292
- DVP-EH MPU 294
- Appendix A: Accessories 300
- Power Cables 301
- Power Cables, cont 302
- Encoder Connectors 303
- Encoder Connectors, cont 304
- Encoder Cables 304
- Terminal Block 305
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