OperationTOPDuring motor operation,do not touch any rotating motor parts,or it may cause personal injury.To avoid accidents.remove all units during the first test run.so that the motor is operating without anyload.If you fail to operate the servo motor properly after it is connected to the machine,it may damage themachine and lead to personal injury.◆In order to prevent danger,it is strongly remended that you make sure the servo motor canoperate normally without load first.Then,try operating the motor with load.Do not touch the heat sink of the servo drive during operation,or it may cause burns◆Before operating the machine,change the servo parameter setting according to the application.If theparameters are not adjusted to the correct values,it may lead to malfunction of the machine or theoperation might be out of control.■Ensure you can activate the emergency stop before operating the machine.When applying power,make sure the motor is not rotating because of inertia of the machine or othercauses.Maintenance and inspectionDo not touch the internal parts of the servo drive and servo motor,or it may cause electric shock■Do not disassemble the servo drive panel when the power is on,or it may cause electric shock.◆Do not touch the wiring terminals until the "CHARGE"indicator is off,since the residual voltage maycause electric shock.Do not disassemble the servo motor,or it may cause electric shock or personal injury.Do not change the wiring when the power is on,or it may cause electric shock or personal injury.Only qualified electricians can install.wire.repair.and maintain the servo drive and servo motor.Main circuit wiringDo not repeatedly turn the power on and off.If continuous power on and off is needed.wait one minutebetween intervals.◆Do not put the power cable and signal cable in the same channel or bond them together.Separate thepower cable and signal cable by at least 30 centimeters (11.8 inches).◆Use stranded wires and multi-core shielded-pair wires for signal cables and encoder cables.Themaximum length of the signal cable is 3 meters(9.84 feet)and the maximum length of the encodercable is 20 meters(65.62 feet).High voltage may remain in the servo drive after the power is turned off.Do not touch the terminals orperform wiring until the CHARGE"indicator is off.When wiring.remove the pluggable terminal blocks from the servo drive.■Use only one wire per terminal socket.When inserting the wires,do not short-circuit the adjacent wires.■Before applying power,inspect and ensure that the wiring is correct.Leakage currentThe leakage current of the servo drive is greater than 3.5 mA.◆According to the IEC 61800-5-1 standard,the wires must ply with one of the followingspecifications to ensure proper grounding:1.Copper wire with a cross-sectional area of at least 10 mm22.Aluminum wire with a cross-sectional area of at least 16 mm2.◆Before applying power,inspect and ensure that the wiring is correct.Disposal instructionsWhen disposing of the product,make sure it is disposed of as general industrial waste in accordance withARNINthe local laws and regulationsInspection and maintenanceOperating conditions:Average annual ambient temperature:30C(86F)■Average load rate:80%or less■Average operating time:20 hours per dayInspectionInspection itemfrequencyCheck if the ambient temperature and humidity are normal.Check if the input voltage is normal.Check if there is abnormal vibration and noise.Daily inspectionCheck if the servo drive has any visible damage.Check if the ventilation holes are kept dear of dust and other foreign objects.1Check if the wirings are damaged or disconnected.Check if any cable is loose or damaged.Check if any screw is loose or damaged.Annual inspectionCheck if the servo drive,motor,and control cabi are properly grounded.Check if the color and temperature of the power input,power output,and regenerative terminalsare normal.2Note:1.Install dust filters on the control cabi openings (where there are fans or ventilation holes),and clean the filtersregularly.Install door seals on cabi doors and rubber grommets on cable openings for better seal.2.Check if the servo drive is properly wired.If the color of any terminal turns black or is abnormal,it is suggested thatyou replace the terminal.ivPart replacementOperating conditions:Average annual ambient temperature:30C(86F)◆Average load rate:80%or less◆Average operating time:20 hours per dayProductPart nameSuggested replacement cycleNoteApprox.5 years2 to 3 yearsCooling fanServo drive(10,000to30,000 hours)The replacement cycle variesRelayApprox.100,000 timesdepending on the ambientSoft start resistorApprox.20,000 timesconditions and us age.Replacethe part immediately when anyBattery boxBatteryRefer to Section 10.1.1error occurs.Bearing20,000 hoursServo motorOil seal5,000 hours◆When the suggested replacement cycle of a part is reached,consult the distributor or Delta forreplacement suggestions.STOP■Do not attempt to disassemble or repair the product yourself.Note:the content of this manual may be revised without prior notice.Refer to the latest information from Delta's website.(This page is intentionally left blank.)iTable of ContentsBefore OperationProduct Overview1.1 tems to check after unpacking................1-21.2M0del0 verview…1-31.2.1 Nameplate information....................1-31.2.2 Model explanation....…1-51.3 ASDA-A3 servo drive and motor...........…1-111.3.1220Vm0dels……1-111.3.2400Wm0dels…1.4 Description of the drive interface.....…1-151.4.1220m0dels:A3-L……1-151.4.2220Vm0dels:A3-M……1-161.4.3 220V models:A3-F.....…1-171.4.4 220V models:A3-E.....…1-181.4.5 400Vmodels:A3-L..........1.4.6 400V models:A3-M.........…1-201.4.7 400V models:A3-F.............…1-211.4.8400Vm0dels:A3-E…1-222Installation2.1 Ambient storage conditions.....................2-22.2 Ambient installation conditions.......................................2-32.3 Mounting direction and space..........................................2-2.4 Safety precautions for using motors....................2-82.4.1 Troubleshooting for the motor operation and status....2-102.4.2 Mounting directions and precautions for the servo motor...2-112.4.3 Precautions for using servo motor with oil seal........2-122.4.4 Precautions for installing servo motor accessories.....2-132.4.5 Oil and water prevention measures for the servo motor.....2-152.4.6 Measures to suppress temperature increase of the servo motor.........2-162.5 Specifications for the circuit breaker,magic contactor and fuse.......2-172.6 Ferrite ring…2-192.7 Installation requirements for EMC………2-212.7.1 EMi fifters...................................................................................2-232.8 Selecting the regenerative resistor.......................2-22.9 The use of electromagic brake………………2-312.10 The use of cable..............................................2-33Wiring3.1 220V models servo system connection.................3-43.1.1 Connecting to peripheral devices(connecting to Delta munication type3.1.2 Connectors and terminals..................3-63.1.3 Wiring for power supply......3-83.1.4 Power connector specifications.........3-113.1.4.1 F40-F80 motors -Power connectors.........3-123.1.4.2 F100-F130 motors -Power connectors............3-143.1.4.3 F180 4.5 kW(or below)motors-Power connectors...........3-153.1.4.4 F180 5.5 kW (or above)&F220 motors Power connectors................3-163.1.4.5 F100-F180 motors-Brake connectors......3-173.1.5 Encoder connector specifications..............3-183.1.5.1 F40-F80 motors -Encoder connectors....Standard connector.................................3-18CHOGORI connectors……319Bulkhead connector..........................3-203.1.5.2 F100-F180 ECMC motors-Encoder connectors.....3-213.1.5.3 F100-F220 ECM-B3 motors-Encoder connectors..3-223.1.6.1 Wire specifications and terminals /ferrules...3-233.1.6.2 Crimping the wire ferrules......................3-253.1.6.3Screw terminal block dimensions screw and tightening torque specifications.3-273.1.6.4 Encoder cable specifications........3.1.6.5 Power cable specifications………329F180 4.5 kw(or below)motors.................3-32F1805.5 kW(or above)&F220 motors........3-333.1.6.6 Flexible cable specifications...................3-343.1.7 Waterproof connector wiring instructions....3-353.1.7.1 F40-F80 models -power encoder brake connector........3-35Bulkhead connector...3.1.7.2 F100-F180 models (4.5 kW or below)-power connector...........3-383.1.7.3 F100-F180 motors -Brake /Encoder connectors.........3-393.1.7.4 Vaterproof connector specifications……………………3-403.2 400V models servo system connection.....................3-423.2.1 Connecting to peripheral devices(connecting to Delta munication type3.2.2 Connectors and terminals.....................3.2.3 Wiring for power supply....3-463.2.4 Power connector specifications.......3-473.2.5 Encoder connector specifications..................3-473.2.6.1 Wire specifications and terminals/ferrules..........3-483.2.6.2 Screw terminal block dimensions screw and tightening torque specifications.3-493.2.6.3 Cable specifications.............................3-503.2.6.4 Waterproof connector specifications.........…3503.3 Servo system wiring diagram.............3-513.3.1220Vm0dels…3-514.5kW-15 kW models……3533.3.2400Vm0dels…3-54400W-1.5 kW models……3-542kW-15kWm0dels…3-553.4 Wiring for CN11/0 connector.............3-563.4.1 A3-L and A3-M models-Wiring for CN1 1/0 connector........3-563.4.1.1 A3-L and A3-M models-CN1 VO connector.......3-563.4.1.2 A3-L and A3-M models-Quick connector.......3-633.4.1.3 A3-L and A3-M models-CN1 wiring diagrams............3-683.4.2 A3-E and A3-F models-Wiring for CN1 1/O connector......3-753.4.2.1 A3-E and A3-F models-CN1 1/O connector..........…3753.4.2.2A3-E and A3-F models-Quick c0 nnector…………3-813.4.2.3 A3-E and A3-F models-CN1 wiring diagrams............3-853.5 Wiring for the CN2 encoder connector....3-883.5.1 F40-F80 motors -Encoder cables............3-893.5.2 F100-F180 motors -Encoder cables........3-903.5.3 Installing shielded wires for CN2 connector..3-913.6 Wiring for the CN3 connector(RS-485 high-speed munication)...........3-923.7 Wiring for CN4 connector(Mini USB).........3.8 Wiring for CN5 connector (applicable to full-closed loop)...3-93.9 Wiring for CN6 connector.......…3-973.9.1 Wiring for the DMCNET munication connector..........3-973.9.2 Wiring for the EtherCAT munication connector......3-993.10CN10STO(Safe Torque Off)function…………………3-1023.10.1 Introduction to STO...........................................3-1023.10.2 Precautions for using STO function.............3-1023.10.3 Potential risks of STO.......…3-1033.10.4 Safety parameters........3-1043.10.5 How does the STO function work?.........3-1053.10.5.1 Response time.........................................3-1053.10.52 Alarm triggering..3-1063.10.6 Wiring for STO…3-1133.10.6.1 CN10 STO connector........3-1133.10.6.2 Input output signal specification....3-1143.10.6.3 Not using the STO function.........…3-1153.10.6.4 Using the STO function for a single drive...............3-1153.10.6.5 Using the STO function for multiple drives..........3-1163.11 220V models-Standard wiring example..................3-1183.11.1 Position (PT)control mode-differential line driver signal input..........3-1183.11.2 Position (PT)control mode-open-collector signal input.........3-1193.11.3 Position(PR)control mode-internal position mands.....3-1203.11.4 Speed (S)control mode...........3-1223.11.5 Torque (T)control mode..............3-1243.11.6 Communication mode(CANopen）…3-1263.11.7 Communication m0de(DMCNET）…………3-1273.11.8 Communication mode(EtherCAT).....3-1283.12400 V models-Standard wiring example………3-1293.12.1 Position (PT)control mode-differential line driver signal input....3-1293.12.2 Position (PT)control mode-open-collector signal input.........…3-1303.12.3 Position (PR)control mode internal position mands...........................3-1313.12.4 Speed (S)control mode................................3-1333.12.5 Torque (D control mode......3-1353.12.6 Communication mode (CANopen).....................3-1373.12.7 Communication mode (DMCNET)..............3-1383.12.8 Communication mode (EtherCAT)..............3-1394Test Operation and Panel Display4.1 Panel description...................4.2 Parameter setting procedure.4-34.3 Status display……4-64.3.1Dat归save status…4-64.3.2 Decimal points.....................................464.3.3A归m messages…474.3.4 Positive and negative sign setting...............4-74.3.5 Monitoring display....................................................4-74.4 General functions..........4114.4.1 Operation of fault record display............…4114.4.3 Digital input diagnosis operation......................................................4-134.4.4 Digital0 utput diagn0sis0 peration………4-134.5 Testing…4144.5.1 Testing without load...........…4144.5.2 Apply power to A3 servo drive.......…4154.5.3 JOG trial run without load.............4-204.5.4 Trial run without load (Speed mode)..........…4224.5.5 Trial run without load (Position mode).......4-24TuningTuning5.1 Tuning procedure................................545.2 Inertia (Weight)estimation.....................................................5-5.2.1 Precautions for inertia(weight)estimation………5-552.1.1R0t归y motor…5-55.2.1.2 Linear motor..............................................................5-65.2.2 Inertia(Weight)estimation with ASDA-Soft..…5-75.2.2.1R0 tary motor……5-95.2.2.2 Linear motor……5-105.3 One Touch Tuning.............5-115.3.1 Precautions for one touch tuning...........5-125.3.1.1 Rotary motor……5-12…5-125.3.2 One touch tuning with ASDA-Soft........…5-135.4 Auto tuning……5-16