Delta E3 Series 220V AC Servo Motor Kit Instruction Manual

1. Introduction

This manual provides comprehensive instructions for the installation, operation, and maintenance of the YUN DUAN Delta E3 Series 220V AC Servo Motor Kit. The E3 Series is an upgraded version of the B2 series, offering enhanced functionality and improved encoder accuracy for precise control in various industrial applications. Please read this manual thoroughly before using the product to ensure safe and efficient operation.

2. Package Contents

The standard Delta E3 Series Servo Motor Kit includes the following components:

• 1x Servo Motor (22-bit Incremental optical encoder, single-turn absolute)
• 1x Servo Motor Driver
• 1x 3M Power Cable
• 1x 3M Encoder Cable

Note: Cable length can be customized. Please contact your supplier if you require different lengths (e.g., 5m, 10m, 20m).

3. Product Features

The Delta E3 Series Servo System offers significant advancements over previous generations, focusing on performance, precision, and ease of use.

3.1. Excellent Features

• Built-in Motion Control (E3-E support only):
  • 99-segment PR for flexible motion command planning.
  • Condition judgment function.
  • Graphical interface operation for easy setup.
  • Revert to origin mode, position, and speed planning.
  • Supports path overlap, disconnection, jump, and parameter setting.
• High-speed Grab Function: Two Touch Probe functions are supported in EtherCAT communication mode.
• System Analysis Tools:
  • Mechanism Stiffness Diagnosis: Diagnoses mechanism elasticity and damping coefficient, providing machine structure characteristics data to ensure consistency of production machines.
  • Frequency Domain Response Analysis: Checks system stability and compares phase before and after gain adjustment to ensure system safety margin.
• High Resolution Encoder:
  • High resolution for more accurate control positioning.
  • Incremental encoder records absolute position of a single turn, eliminating the need to return to origin after re-powering.
  • Absolute encoder retains turn count and position even after power-off.
  • 22-bit optical encoder: Thinner, more power-efficient, with exclusive compensation for improved accuracy.
  • 17-bit magnetic encoder: Magnetic induction technology, 30G earthquake resistance and oil resistance.

3.2. Performance Optimization

• Response Bandwidth: Increased from 0.5 kHz (B2 series) to 2.5 kHz (E3 series).
• Fast Setting Time: Reduced by 13%, improving production efficiency and control resolution.
• High Speed and High Torque: Maximum speed increased to 6000 rpm, and torque overload ratio increased to 3.5 times, significantly improving productivity.
• Space Saving: E3 drive size is up to 20% smaller compared to B2, and E3M motor volume is reduced by up to 25%.
• Vibration Suppression Function: Features 5 sets of high-frequency resonance suppression, with a filter frequency range extended to 5000 Hz, and automatic scanning and resonance suppression.
• Strong Self-Debugging Ability: Built-in professional algorithms allow for easy setup and debugging via software, improving equipment assembly and test efficiency. Suitable for applications with flexible structures and large inertia changes.

4. Specifications

4.1. General Product Properties

• Brand Name: YUN DUAN
• Model Number: E3 Series 220V AC Servo Motor Kit
• Certification: CE
• Origin: Mainland China
• Rated Voltage: AC 220V
• E3 Encoder Type: 22-bit incremental optical encoder
• IP Rating: IP20
• Cable length: 3M (Customizable 5m/10m/20m)

4.2. Model Naming Convention

The model name for the servo drive follows a specific structure:

• ASD: Product Name (AC Servo Drive)
• E3: Product Series (E3 series)
• 01/02/04/07/10/15/20/30: Rated Power Output (100W, 200W, 400W, 750W, 1KW, 1.5KW, 2KW, 3KW respectively)
• 21/23: Input Voltage and Phase (21: 220V single-/three-phase; 23: 220V three-phase)
• L/E: Model Code (L: PT Mode Pulse Input, RS-485, PR Mode, Analog Voltage Control; E: EtherCAT, PR Mode, Analog Voltage Control)

4.3. E3 Series Motor Specifications

4.4. E3 Series Drive Specifications

4.5. Detailed Servo Drive Specifications

4.6. Dimensions

5. Setup and Installation

Proper installation is crucial for the safe and optimal performance of your Delta E3 Series Servo Motor Kit. Ensure all power is disconnected before beginning installation.

5.1. Safety Precautions

• Always disconnect all power before wiring or maintenance to prevent electric shock.
• Do not touch the heat sink during operation or immediately after power-off, as it may be hot.
• Ensure proper grounding techniques are followed.
• Refer to the full user manual for detailed safety guidelines and wiring diagrams specific to your model.

5.2. Wiring

The servo motor and driver require careful wiring for power, encoder feedback, and control signals. The provided 3M power and encoder cables are designed for this purpose. For detailed wiring diagrams and terminal assignments, please consult the comprehensive user manual that accompanies your product. Incorrect wiring can lead to malfunction or damage.

5.3. Initial Configuration

After physical installation and wiring, the servo drive needs to be configured. The E3 Series features strong self-debugging capabilities and a graphical interface for easy setup. For models supporting EtherCAT (E3-E), built-in motion control functions can be configured. Refer to the specific sections in the full user manual for parameter settings, PR segment planning, and other initial setup procedures.

6. Operating Instructions

The Delta E3 Series Servo Motor Kit supports various operating modes depending on the drive model (L or E).

6.1. Operating Modes

• ASD-E3-xxxx-L Models: Support PT Mode Pulse Input, RS-485 communication, PR Mode, and Analog Voltage Control.
• ASD-E3-xxxx-E Models: Support EtherCAT communication, PR Mode, and Analog Voltage Control. These models also feature built-in motion control.

6.2. Motion Control (E3-E Models)

For E3-E models, the built-in motion control allows for advanced programming:

• PR Segment Planning: Utilize the 99-segment PR function to define complex motion sequences.
• Condition Judgment: Implement conditional logic within your motion commands.
• Origin Mode: Configure and execute return-to-origin procedures.
• Position and Speed Planning: Precisely control the motor's position and speed profiles.
• Path Management: Manage path overlap, disconnection, and jump functions for dynamic applications.

6.3. High-Speed Grab Function

In EtherCAT communication mode, the two Touch Probe functions can be used for high-speed grab applications, allowing for precise capture of events or positions.

7. Maintenance

Regular maintenance ensures the longevity and reliable performance of your servo motor kit.

• Cleaning: Keep the motor and drive free from dust and debris. Use a soft, dry cloth for cleaning. Avoid using solvents or abrasive materials.
• Connection Checks: Periodically inspect all cable connections (power, encoder, control) to ensure they are secure and free from damage. Loose connections can lead to intermittent operation or system errors.
• Environmental Conditions: Ensure the operating environment remains within the specified temperature and humidity ranges to prevent overheating or condensation.
• Heat Sink: Ensure adequate airflow around the drive's heat sink to dissipate heat effectively. Blocked vents can lead to overheating.

8. Troubleshooting

The Delta E3 Series includes system analysis tools to assist with troubleshooting and diagnosis.

8.1. Using System Analysis Tools

• Mechanism Stiffness Diagnosis: If you suspect issues with mechanical elasticity or damping, use this tool to diagnose and collect data on machine structure characteristics.
• Frequency Domain Response Analysis: Use this tool to check the system's stability and compare phase responses to ensure adequate safety margins after gain adjustments.

8.2. Common Issues

• Motor Not Responding: Check power connections, control signal integrity, and ensure the drive is enabled. Verify parameter settings.
• Unexpected Movements: Review motion control programming (PR segments), encoder feedback, and gain settings. Use system analysis tools for diagnosis.
• Overheating: Ensure proper ventilation and ambient temperature. Check for obstructions around the heat sink.

For detailed error codes and advanced troubleshooting, refer to the dedicated troubleshooting section in the full user manual.

9. User Tips

• Cable Management: Properly route and secure all cables to prevent interference, wear, and accidental disconnection.
• Software Updates: Periodically check the manufacturer's website for firmware updates for the servo drive to ensure you have the latest features and bug fixes.
• Backup Settings: Before making significant changes to drive parameters, always back up your current configuration.
• Consult Full Manual: This document provides a summary. For in-depth technical details, advanced configurations, and comprehensive safety information, always refer to the complete user manual provided with your product.

10. Warranty and Support

For warranty information, please refer to the documentation provided at the time of purchase or contact your vendor. For technical support, installation assistance, or troubleshooting beyond the scope of this manual, please use the following contact information:

10.1. Contact Details

• Pre-Sales Service:
  • Email: 3790846249@qq.com
  • WhatsApp/phone: +86 16763080180
  • For factory view, sample testing, inquiry, and consulting.
• After-Sales Service:
  • Training on how to install and use the machine.
  • Engineers available for service machine overseas.

10.2. Certifications

The product holds various certifications, including CE, ensuring compliance with international quality and safety standards. These certificates are a testament to the product's quality and reliability.