To communicate any serial modbus device (RS485) with the TP70P PLC, it is necessary to configure the communication in the same range and use blocks for writing and reading, you can use two modes to configure the serial communication port.
Watch the step-by-step video:
Below is a step by step:
Moving values to specific serial port configuration memories, such as COM2 in modbus 485 network, with baud rate (9600), data bits (7), parity (even), stop bit (1), ASCII and PLC ID parameters like 1.
The MOV value in the first line of 16#0086 for word D1120, is using the bit sequence shown in the image below, to configure the COM2 port in RS485 modbus as: 7, E, 1, 9600:
You can use the block to set the serial port configuration:
Select the door in the library as shown in the image below:
Drag to the line and configure the block according to the modbus network configuration, 9600/7/E/1 ASCII ID1:
In the block help, you can check the configuration parameters:
Once configured, the protocol must use a write block (MODWR) and a read block (MODRD) to send and read data on the modbus network, however each block must be triggered individually:
Example using writing block (MODWR) to send command in word (2000h) of MS300 inverter start/stop/direction of rotation:
The block used for reading on the modbus network in this example was MODRD, as shown in the example below of reading the MS300 inverter with the reading in word (2100h):
When reading using the MODRD block, the values are stored in the word (D1050~D1055 or D1070~D1085):
After reading or writing, it is necessary to trigger the M1122 memory to trigger the serial port:
For help follow the link to download the FAQ example.
The presence of small voltage noises (mV) is common at the servo drive analog input. In the image below it can be seen that, even without electrical connection to the analog input, there is a small voltage signal (mV) in the speed and torque command.
To eliminate this noise, follow the steps below:
Speed Command (Speed Command Input):
1. Remove all electrical connections from the analog input and leave the servo disabled (Servo Off).
2. Set parameter P2-08 = 20 to enable writing in parameter P4-10.
3. Set parameter P4-10 = 1 (Perform analog speed input drift adjustment).
Torque Command (Change Command Input):
1. Remove all electrical connections from the analog input and leave the servo disabled (Servo Off).
2. Set parameter P2-08 = 20 to enable writing in parameter P4-10.
3. Set parameter P4-10 = 2 (Perform analog torque input drift adjustment).
After adjustments, the noise will be eliminated.
When do you need to use a regenerative resistor in Delta's servo drive?
When a fault, ALE05 (Regeneration Error) is detected in the servo unit, it indicates that the regenerative energy has returned from the load to the servo drive and exceeds the processing capacity. This energy will be transmitted to the DC bus capacitance and will result in the voltage increase. When the voltage rises too high, the servo system needs to dissipate the extra energy using a regenerative resistor. The ASDA-A2 series servo drive provides a built-in regenerative resistor as standard factory. Users can also connect an external regenerative resistor if more regenerative capacity is needed. The following table shows the servo drive's built-in regenerative resistor specifications and the amount of regenerative power (average value) it can process.
ASDA-A2 220V series
ASDA-A2 400V Series
Please pay close attention to the following notes when using a regenerative resistor.
Make sure the resistance (P1-52) and power (P1-53) values are correctly set.
When installing an external regenerative resistor, make sure its resistance value is the same as the resistance of the built-in regenerative resistor. If combining several small capacity regenerative resistors in parallel to increase the capacity of the regenerative resistor, make sure the regenerative resistor resistance value complies with the specifications listed in the table above.
In general, when the amount of regenerative energy (average value) that can be processed is below the rated load ratio, the resistance temperature will increase to 120°C or more (when regeneration takes place continuously). For safety reasons, forced ventilation is a good way to reduce the temperature of regenerative resistors. We also recommend using regenerative resistors with thermal switches. For the load characteristics of regenerative resistors, consult the manufacturer.
When using an external regenerative resistor, connect it to P and C and make sure the circuit between P and D is open. We recommend using external regenerative resistors with resistance values that follow the table above (Built-in Regenerative Resistor Specifications).
Reference: User Manual – ASDA-A2, page 50 (2.8 Selection of Regenerative Resistor).
What is low frequency vibration and how can I suppress it?
If the rigidity of the mechanical system is not sufficient after completion of the positioning command, continuous vibration of the mechanical system can still occur even when the motor is almost stopped. We call this type of vibration “low frequency vibration”. At this time, you can use the low frequency vibration suppression function to minimize vibration at the machine edges. The frequency range is 1.0 to 100.0Hz. Note that low frequency vibration suppression is only available on the ASDA-A2, ASDA-A3 and ASDA-B3 series.
There are two modes, automatic and manual, that you can select:
Auto mode: If it is difficult for you to know the point where low frequency vibration occurs, we recommend that you select auto mode to find low frequency mechanical vibration automatically. When P1-29 is set to 1, the system disables the filter function and finds the low frequency of vibration automatically. After the detected frequency becomes fixed and stable, the system sets P1-29 to 0 and saves the first automatically measured low frequency value in P1-25 and sets P1-26 to 1. Then the system saves the second value. low frequency vibration automatically measured in P1-27 and sets P1-28 to 1. If any low frequency vibration occurs after P1-29 is automatically set to 0, check whether the function of P1-26 or P1-28 is enabled or not . When P1-26 or P1-28 is set to 0, it indicates that there is no vibration frequency detected. Please decrease the value set in P1-30 (Low Frequency Vibration Detection Level) and set P1-29 to 1 to find the low frequency vibration again.
Manual mode: There are two groups of low frequency vibration suppression parameters. The first group is P1-25 and P1-26 and the second group is P1-27 and P1-28. Using these parameters you can suppress vibration from two different low frequencies and improve system performance. P1-25 and P1-26 set the vibration frequency, and P1-26 and P1-28 set the frequency response after using the filter (after the signals are filtered). When the values set in P1-26 and P1-28 are higher, the frequency response is faster. However, if the values are too high, they can affect engine operation and the engine may not run properly. The default settings for P1-26 and P1-28 are 0, indicating that low frequency vibration suppression is disabled.
Which models of Delta servo drives support absolute encoder servomotors?
When an AC servo drive is switched to “Servant On”, it generates high or low frequency noise during operation and can interfere with peripheral equipment (Ex.: PLC, HMI, etc.) through conduction or radiation, which often results in communication errors or abnormal operations. The following methods can resolve this issue:
Power separated from the servo drive and controller since the (EMI) generated by the servo generally influences controllers such as Human Machine Interfaces (HMI) and Programmable Logic Controllers (PLC) through the power circuit, it is therefore recommended to separate the power from the servo drive and controllers to reduce the effect (EMI).
Cable shielding to minimize electromagnetic interference. It is recommended to use shielded twisted pair cable for communications. This will help reduce noise (EMI) in controllers by radiation or conduction.
Wind the ferrite onto the AC servo drive RST and UVW power connector terminals. When AC servo system is switched to "Servo On", interference (EMI), like common high-frequency signals, appear. The use of ferrite magnet rings effectively reduces high frequency signal interference in power cables, signal cables and connectors so that normal signals can be transmitted.
Devices properly connected to ground (eg, AC servo drive boards) often experience electrical leaks that interfere with peripheral equipment through metallic objects such as wires and screws. The best way to avoid this problem is to use one ground cable for each AC servo drive and one for each controller to connect to the ground terminal. The reason is that if AC servo motors and controllers are connected by a single ground cable to the ground terminal, electrical leakage will immediately affect other peripheral equipment through the cable and create greater interference; second, the area of the last contact on the ground wire is too small to effectively prevent electrical leaks from interfering with other devices.
How many speed mode registers are there on the Delta servo drive and how do I configure them?
There are two sources of speed commands: one is the external analog voltage input, and the other is the internal parameters. Delta Servo Drive registers allow users to configure 3 different types of speed commands, which are the internal parameters of P1-09, P1-10 and P1-11 (Unit: 0.1rpm). It can be switched by signals SPD0 and SPD1 on connector CN1, explained in the following table:
SPD0 and SPD1 status: “0” is open circuit, “1” is closed circuit. When SPD0=SPD1=0, and if the control mode is “Sz”, then the command is 0. So, if users do not need to use analog voltage as speed commands, they can choose “Sz” mode for avoid a noise-caused change in analog voltage.
If the mode is “S”, then the command is via analog reference (REF). The analog input voltage and the voltage difference between GND has the range -10V to +10V. The speed corresponding to the voltage is adjustable in P1 – P40.
Reference: User Manual – ASDA-A2, pages 196 and 220.
How do I set a servo drive digital output (DO) to drive a servo motor with brake?
Open ISPSoft (step 1) -> “Communication Settings” Select communication with PLC (step 2) -> PLC “Format PLC Memory” press Ok (step 3) -> PLC will return to factory setting, remove feed and return www to feed the PLC. The password and program would all be erased..
Communication and Communication Selection:
PLC format to factory standards
How do I reconnect to the DVP series programmable logic controller if I forget communication settings?
The DVP series programmable logic controller communication format can be changed through special registers. In certain applications, the user can forget the communication format, change it and download the program to the PLC, resulting in a disconnection between a computer and the DVP series. When this happens, the user can restore the connection by performing the following steps:
Cut power to the DVP series programmable logic controller change the RUN / STOP switch to STOP as shown in the image below.
Restart the DVP programmable logic controller. At this time, the DVP series communication format will change to the default value: 9600, 7, Even, Stop bit = 1, station number = 1. The user can then change the communication format through WPLSoft software.
Is there any version of Delta WPLSoft or ISPSoft PLC programming software that is compatible with Linux operating system?
Currently, WPLSoft and ISPSoft can only be operated on Windows operating system, and neither software is compatible with Linux operating system. The only way to use WPLSoft, ISPSoft or any other Delta Industrial Automation software on any operating system other than Windows (eg Mac, Linux) is to use virtual machines to run the Windows operating system in parallel with the machine's operating system physics. Also, we suggest that you install ISPSoft instead of WPLSoft as ISPSoft is the new programming software with more functions
How do I use parameter grouping by Applications using the selection menu on inverters?
Delta inverters continue to operate with single-phase power for light applications. For heavy-duty applications, the three-phase drive would alarm and stop the drive according to the method defined in parameter Pr.06-53 Input phase loss treatment.
Note that when feeding an inverter with three-phase power, if it is fed in single phase, it loses power, so the output current will not be the inverter rated.
When turning off the inverter power, why do I have to wait until the signal light is completely off before handling the inverter?
Power inside the inverter can remain inside the capacitors for a period of time after the frequency inverter is turned off.
For a 220 VAC motor drive model, the remaining DC voltage can reach up to 310 V. It is recommended that you wait until the inverter power signal light turns off or when the DC voltage drops below 25 V DC first start any maintenance on the inverter. This ensures personnel safety and prevents short circuits or sparks.
How to use the DC Brake (DC Brake) function of the C2000 and MS300?
The DC brake function serves to induce a direct voltage in the inverter in order to lock the poles of the induction motor and thus brake the motor movement.
The brake function is generally used for deceleration, but it can also be used for acceleration in lifting applications.
To execute the braking function, you need 3 pieces of information:
1 - Percentage of current to be injected
2 – Injection time
3 – Injection start frequency
See the following parameter settings for DC braking.
This parameter defines the level of the DC braking current output (in percent) to the motor during starting and stopping. When you define the percentage of DC braking current, the rated current is considered 100%. Start with a low DC braking current level and slowly increase it until the proper braking torque is achieved. However, to avoid burning the motor, the DC braking current must NOT exceed the rated current. Therefore, DO NOT use the DC brake to replace a mechanical brake, otherwise injury or accident may result.
During acceleration, if the inertia or if the load weight is large, the engine may not have power at the start of the acceleration due to external forces or the inertia of the engine itself. This parameter defines the time that the current will be injected at the motor start (acceleration). This parameter emits DC current, generating torque for force or acceleration to obtain a stable start before motor operation. This parameter determines the duration of the DC braking current output to the motor. Setting this parameter to 0.0 disables DC brake on startup. If you use the inverter with the motor running, it may cause damage to the motor or trip the inverter protection due to excess current.
The motor can keep turning after the deceleration ramp ends, even if the drive has stopped the movement, the motor can keep turning due to external forces or the inertia of the motor itself. This parameter defines the time the current will be injected. This parameter emits DC current, generating torque to force the motor to stop on deceleration.
This parameter defines the time the current will be injected, generating torque to force the drive to stop after the drive stops output to ensure the motor stops. Setting this parameter to 0.0 disables DC brake at stop. If you use the inverter with the motor running, it may cause damage to the motor or trip the inverter protection due to excess current.
This parameter determines the start of the frequency that will be injected into the inverter. When this setting is less than Pr.01-09 (Start frequency), the DC brake start frequency starts at the minimum frequency.
The DC brake sequence diagram is as follows.
Use the DC brake before starting the motor when the load is moving at stop or when there are lifting, fans and pumps. Motor is in free run status and in an unknown direction of rotation before drive starts. Perform DC brake before starting the motor.
Use DC brake at stop when you need to quickly brake the motor or control positioning or when the deceleration force is not enough to stop the motor inertia, such as with cranes or cutting machines.
In addition to monitoring the normal status of a servo system, what other information does ASDA-Soft's scope (Scope) provide?
In addition to having access to information such as position, speed, current, load and others, the Scope function also provides the following content:
Variables (Monitoring Variables): Available to enter the monitoring variables code. The unit is in decimal values from 0 to 127. For more details, refer to the manual ” Monitoring Variable Table “.
Parameters (Servo Parameters): Available for input parameters that are set to be read. There are two types of parameters: 16Bit and 32Bit. For 32Bit read parameters, select “32Bit”. As the default setting of channel data is 16Bit, ASDA-Soft automatically closes the other channel to support the selected channel if the user chooses 32Bit to extend the amount of one channel.
The following example shows how to configure the system: Channels 1 and 3 are defined as one group, and Channels 2 and 4 are defined as the other group. The example shows that when Channel 1 is set to 32Bit, Channel 3 is automatically closed to support the 32bits of Channel 1.
【CAN】 CANopen (CANopen object dictionary): Available to input the data of the CANopen object which is set to be read. Users can input the data's appointed site (Index) and the named flag site (Sub-Index). The following example shows when the Index is set to 6040h (Controlword) and the Sub-Index is 0.
CANopen (CANopen Variable List): Available for entering data from the CANopen object that is defined to be read. Users can enter the indicated data (Index) and (Sub-Index). The following example shows when Index is set to 6040h (Control Word) and Sub Index is 0.
(ADR is for a specific purpose and for internal use only)
Which parameter settings are important when using ASDA servo units (A2E, A3E and B3E) with EtherCAT motion communication?
The brake signal controls the activation of a Relay that triggers the sending of 24Vdc to release the brake. See the operation below to set the functions and DO wiring.
Digital Output Setting (DO): Set the value for DO as 0x08 (BRKR). The configuration of parameters P1-42 and P1-43 is intended to control the release and activation time of the output (DO) according to the photo below.
Refer to the wiring diagram below to use a DO output to actuate the electromagnetic brake.
Notes: (1) Brake coil has no polarity. (2) Do not use the driver's internal source (VDD) for brake release.