08/12/03

1. ................................................................................................................................................ 0

1.1 ....................................................................................................................................... 0
1.2 ................................................................................................................... 0
1.3 ....................................................................................................................... 0
1.4 ............................................................................................................................... 1
1.5 ....................................................................................................................................... 1

2. ........................................................................................................................................ 3

2.1 ....................................................................................................................... 5
2.1.1 ...................................................................................................... 5
2.1.2 .......................................................................................................... 5
2.1.3 .......................................................................................................................... 6
2.1.4 .................................................................................................................. 6
2.1.5 (Reset) ............................................................................................................... 7
2.1.6 .................................................................................................................. 7
2.1.7 .................................................................................................................. 8
2.1.8 36~39 .......................................................................................... 8
2.1.9 36~39 .......................................................................................... 9
2.1.10 ................................................................................................ 10
2.1.11 Fn7Fn8Fn9 ........................................................................... 10
2.2 ......................................................................................................... 12
2.3 ............................................................................................................................. 19
2.4 ..................................................................................................................... 21

3. RS232 .................................................................................................................................. 22

3.1 ............................................................................................................................. 22
3.2 ............................................................................................................................. 22
3.2.1 PC
Driver..................................................................................................................... 23
3.2.2 PCDriver..................................................................................................................... 24

4. .............................................................................................................................................. 25

4.1 CN1 ................................................................................................................ 25

4.2 ......................................................................................................................... 28
4.3 CN1 CN2 .............................................................................................................. 29
4.4 RS232 ........................................................................................................................ 30
4.5 ............................................................................................................................. 31
 4.5.1 ........................................................................................................................ 31
4.5.2 ........................................................................................................................ 32
4.5.3 ........................................................................................................................ 33
4.6 ................................................................................................................. 34

5. .................................................................................................................................. 35

6. .................................................................................................................................. 39

7. ...................................................................................................................................... 40

7.1 ............................................................................................................. 40
7.2 ............................................................................................................. 41

1
1.
AC Servo MSD MSD

2 (Fn)--
jogreset(Pn)(Dn) 3 RS232
4 5 6
7

1.1

1
2

1.2
1
2

1.3
MSD
( 5 )
1.4
1.

10
2.

3.
4. FG FG

1.5
1.
1


55

2


55

1

DELTA 06DPCW5

2.
1

2
M5

2
2.

1 MODE
2

3


4 DATA

[MODE]

Servo offServo on dn000

3
2.1

MODE Fn000

2.1.1



1.

2. DATA

3.

4. DATA

2.1.2
1. Fn001

5
 2. DATA

3. MODE

4. DATA

2.1.3

1. Fn002

2. DATA

3.

4. DATA

2.1.4
1. Fn003

2. DATA

6
 2000() 1 26 1~12 1234
56789AbC

4. DATA

2.1.5 (Reset)

1. RESET Fn004

2. DATA

3. MODE Reset

2.1.6
PIN
1 9 Servo on
2 10 Alarm reset
3 2 P/PI
4 3 CCW
5 4 CW
6 5
7 1 Error Counter
9 8
10 6 1
11 7 2
12 0
13 12

1. Fn005

7
 2. DATA 1 ( DG 0V)
0 ( 24V)

3.

4. DATA

2.1.7
PIN
18 3 Ready
19 0 Alarm
20 1 Zero speed
21 2 In Position
22 4 Alarm code bit0
23 5 Alarm code bit1
24 6 Alarm code bit2
25 7 Alarm code bit3

1. Fn006

2. DATA 1 ( DG 0V)
0

3.
20 1
4. DATA

2.1.8 36~39
1. Fn007

8
 2. DATA 2V

3. MODE dn3 dn4

Fn10
Fn8

4. DATA

36~39 donE 36~39

2.1.9 36~39
1. Fn008

2. DATA -2V

3. MODE dn3 dn4

Fn10
Fn7

4. DATA

9
 36~39 donE 36~39

2.1.10
1.2 Pn0~Pn35
1. Fn009

2. DATA

3. MODE

Fn10
4. DATA

2.1.11 Fn8
Fn7 Fn9
1. Fn7Fn8Fn9 Fn010

2. DATA

3. MODE Fn9

Fn9

10

MODE Fn9
4. DATA

Fn7Fn8Fn9 Fn7 Fn8 Fn9

Fn9 Fn9 36~39

11
2.2

1. MODE Pn000

2. DATA 2

H 16
3. DATA

4. DATA

5. DATA

12

PC

0 (ENCODER) 1~16 116 1 A 12
16
2000pprPN0=2
1000ppr
CN1

1 Kps 5~500 40 A 13
25
25 Kps

2 Kis 1 msec 100 A 14
1000

3 10~ rpm 3000 S 15
SIN pin 10V 30000
2000 SIN pin
10V 2000rpm
4 Speed reference offset, 1 offset 1000 0.01V 0 S 16
0.01V 1 0V
0.01V
5 300 0 % 300 SP 17
300
6 300 0 % 300 SP 18
300
7 n=3 0 rpm 20 S 19
3rpm pin20 DG 255
11-412-2
8 n=900 0 rpm S 20
900rpm pin21 DG

9 gain 30 rpm 0~200 % 0A 21

Pn2 Pn9=50
Pn2 1.5
2/3
10- Hxxxn, n 0~5 1 A 22-1
1 Pin 12 Pin 12
open short
0 speed speed
1 position position

13
 PC

2 torque torque
3 speed position
4 position torque
5 torque speed
10- Hxxnx, n=0 sign/pulse , n=1 0~7 1 P 22-2
2 cw/ccw , n=2/3 AB phase
pulse input n=4, sign/pulse
, n=5 cw/ccw , n=6
/7AB phase pulse input
10- Hxnxx, 0~3 0 A 22-3
3 n=0 encoder

n=1 encoder

n=2 encoder

n=3 encoder

10- Hnxxx, n=0 offset0,1 0 A 22-4
4 n=1 offset 0
11- Hxxxn,n=0,servo off 0,1 0 A 23-1
1 n=1, servo off

11- Hxxnxn=0 0,1 1 A 23-2
2 n=1
11- Hxnxx,n=0 0~3 3 A 23-3
3 ,n=1 ,n=2
,n=3
12-3
11- Hnxxx,n=0 zsp/bi 0~1 0 A 23-4
4 ,n=1 zsp/bi brake

12- Hxxxn,n=0: 0~3 1 S 24-1
1 n=1:
28n=3
28
27
12- Hxxnx,n=0, 0,1 0 S 24-2
2 n=1
0

14
 PC

12- Hxnxx,n=0 0,1 0 A 24-3
3 servo onn=1
servo off 11-3
12- Hnxxx,n=0 n=1 0,1 1 S 24-4
4 1,2,3
29~31

13- Hxxxn, n=0: 0~7 0 P 25-1
1 500kpps
max 1s n=7,
7 200kpps max
2.5s
13- Hxxnx,n=0: n=1,power 0,1 0 A 25-2
2 on servo on, delay
Pn32 Pn32=-2000
power on 2 servo on
(2B05 )
13- Hxnxx, CN1 pin 9 0~3 0 A 25-3
3 CN1 pin 13
A normally openB
normally close
n
0 A (NO) A (NO)
1 B (NC) A (NO)
2 A (NO) B (NC)
3 B (NC) B (NC)
13- Hnxxx,n=0pin18 ready 0,1 0 A 25-4
4 n=1 CN1 pin18
Pn33
14 0~100 ms 0 A 26
00
15 300% 30~30 % 300 T 27
10V 300%100% 00
10V 100%
16 (offset)offset -1000 0.01V 0 T 28
1V 2.5V ~+100
1.5V 0
17 1 pin10 0~ rpm 0 T 29
shortpin11 open

15

PC

18 2 pin10 0~ Rpm 0 T 30
open pin11 short

19 3 pin10 0~ rpm 0 T 31
pin11 short

20 pulse 0 pulse 4 P 32
in position(pin 32767
21) DG
21 1 1 P 33
1/127<(21)/(22)<127 32767
CN1(pin 10) open Pn21
CN1(pin 10)
DG Pn44

CN1(pin 10)
22 1 1 P 34
2000ppr 32767
(21)/(22) =1 8000pulses

23 10~50 1/sec 30 P 35
0
24 0~100 msec 10 P 36
00
25 1~500 kpulse 50 P 37
26 (feed forward gain) 0~100 % 0 P 38
27 : 10~ msec 100 S 39
12-1 10000

28 : 10~ msec 10 S 40
10000
12-1

29 1 rpm 300 S 41

30 2 rpm 0 S 42

31 3 rpm 0 S 43

16
 PC

32 Brake brake 2000 msec 0 A 44
servo on servo off
servo on
; brake
servo on servo off
servo off

33 (3b05 )Pn13-4 0~100 % 100 A 45
1 CN1 pin18
DG
34 -100~1 0.02V 0 A 46
00
35 -100~1 0.02V 0 A 47
00
36
37
38
39
40 duty cycle 4 0~250 0.1% 4 A 52
363V
10 0.04

15A 20010W
20A 5050W
30A 10825W
50A 5070W
75A 25100W

=
* W/134



50A 33 25
75A
100W

30A

17
 PC

41 0~10 100s 4 PS 53
42 0~300 % 200 A 54
200
200%
43 0~300 100 55
44
45
46
47
48
49
50
69
70
71
72
73
74
75
76
77
78
79
80
:
1. reset
2.
3.
4. : A P S
T
5. Pn0~Pn32 Fn 9 Pn 33~ Pn 43 PC

18
2.3
PC

0 PST (rpm) 120 120rpm 128
0.1
1 PST (torque) 120 129
120% 0.1

2 PST 26 130
3 PST 131
4 P 132
-9999~9999 .9999
-.9999
5 SP PIC 133
6 SP NIC 134
7 T PIC3000 3000 RPM 135
8 PST 100 136

(Pn40)

9 PST 100 137
10 PST 138
(torque)
11 PST 150 15A200 20A300 139
30A
12 PST 4 140
1 RPM12000 3000 RPM
13 ST 975 10V97.5 1V 141
14 S (4 )975 2.5V 142
15 PST 143
16 PST 0 servo on1 servo off 144
17 PST 0 1 2 145

18 ST 1000 10V100 1V 146
19 PST 147
2500
20 P ( 16 ) 32
21 P ( 16 ) 32
22

19
 PC

23 T PIC1000 10V
30 P 16 148
32 PC 149
(-500000~500000)
P 16 149
32 PC 148
(-500000~500000)
31 P ( 16 ) 32 ( PC 150
151 )
P ( 16 ) 32 ( PC 151
150 )
32 P ( 16 ) 32 ( PC 152
153 )
P ( 16 ) 32 ( PC 153
152 )
X PST (rpm)4 1RPM 480 154
120rpm
X PST (torque) 120 155
120%

X ( 16 ) 32 ( PC 156
157 ) 0
X ( 16 ) 32 ( PC 157
156 )
X PC

1. MODE dn000
2.
3. DATA 2

dn30~dn32 32 SHIFT SHIFT

SHIFT

4. DATA

20
2.4
5

1 ( 250V 180V)
2 Over voltage( 395V)

(Pn40) dn8dn9

3 (Over load) 20
8 Dn19
4 (IPM) (
)
5 (Encoder error)

6 CPU error
7 1/127 127
8 checksum error
9
10 (4 ) UVW

11 (
Pn25)
12 ()
13 ( 600kpps)
14 24V
driver servo off
24V
15 SERVO OFF SERVO
OFF
16 ()
17 CPU error
18
1. 360V 255V
2.

21
3. RS232

3.1
RS232
Baud rate:9600bps
Parity:No
Data bit:8
Stop bit:1

3.2
Driver EEPROM 128 WORD
Address
0~9 (NO.0~NO.9)
10 (0~9)
11 Check Sum(NO.0~NO.51 XOR )
12~63 (NO.0~NO.51)
64~79 USER
80~93
94 Addr11
95~127 (NO.32~NO.0)
128~147 (NO.0~NO.19)
148~157 PC W N
(R)N ML
;(150151)
158~191
192(C0H) 0/1/ Addr12~63 Addr11
Addr11 Check Sum (
) EEPROM
Addr11
193(C1H) 0~10
194(C2H) 12~63 (
)
195(C3H) Fn3
0~9A~Z 0~35 2000~2035
196(C4H) RESET

22
 197(C5H) ( 1.1.6)
198(C6H) ( 1.1.7)
199(C7H) 0

3.2.1 PC


Driver
Driver WORD
R5XxSs
Xx ( WORD )
Ss =R+5+X+x

30H

Check Sum=52H+35H+33H+30H=EAH
R 5 3 0
30H R(52H)5(35H)3(33H)0(30H)E(45H)A(41H)

Driver (1) R5(2) 6

Driver R
%XxYySs
Ss=%+X+x+Y+y

30H 0008H
Check Sum=25H+30H+30H+30H+38H=EDH
% 0 0 0 8
%(25H)0(30H)0(30H)0(30H)8(38H)E(45H)D(44H)
Check sum Driver !(21H)

Driver WORD
L5NnSs
Nn ( WORD )
Ss =L+5+N+n
Driver (1) L5(2) 6
Driver L
%XxYyAaBbSs
Ss=%+X+x+Y+y+A+a+B+b
XxYy Nn+1

23
 AaBb Nn

3.2.2 PC
Driver
Driver WORD
W5XxYyZzSs
Xx ( WORD )
Ss =W+5+X+x+Y+y+Z+z

30H 8

Check Sum=57H+35H+33H+30H+30H+30H+30H+38H=1B7H
W 5 3 0 0 0 0 8
30H W(57H)5(35H)3(33H)0(30H)0(30H)0(30H)
0(30H)8(38H)B(42H)7(37H)
Check Sum

Driver (1) W5(2) 8

Driver W
%(25H)
Check sum Driver !(21H)

Driver WORD
M5NnXxYyAaBbSs
Xx ( WORD )
Ss =M+5+N+n+X+x+Y+y+A+a+B+b
XxYy Nn+1
AaBb Nn
Driver (1) M5(2) 14
Driver M
%(25H)
Check sum Driver !(21H)

24
4.

4.1 CN1
*P S T A
* 4.3

Pin

no mode
SON DG DG (
1 SON A
11-1 0 1 )
ALRS DG alarm
2 ALRS A

3 P/PI PCNT PS DG

CCW (over travel) FSTP DG (NC
4 CCW FSTP
) DG CCW
A
CW (over travel) RSTP DG (NC
5 CW RSTP
) DG CW
6 TLMT PS DG (PIC.NIC)
CLR P
7 23rpm
LOK S

8
A DG Servo Off,
9 EMC A 11-1 .Pn13-3 B
(2b13)
Pn21
EGR P
DG Pn44
10 SPD1 SPD2 () ()
1 SPD1 0 0 SIN(pin26) PIC(pin27)
1 0 1 1
ST
0 1 2 2
11 2 SPD2 1 1 3 3
12-4 1 SPD1SPD2
12 MDC A 10-1
P INH-DG
13 INH INH-DG (Pn29~31)
S
300rpm INH-DG -300rpm
14 P PP P :
15 P /PN 10-2 0
16 D DP 10-2 1 CW/CCW

25
Pin

no mode
17 D /DN 10-2 2 2
24V PP(pin14) PPR(pin41)DP(pin16)
DPR(pin42)
pn13-1
REDY A REDY-DG
18 13-4 1 , 33 ,
TO A
(TO-DG )3b05
ALM-DG ALM-DG
19 ALM A

11-4 0 , 7
ZS A
(ZS-DG )
20 11-4 1 , Servo On (ZS-DG )
BI A .Servo Off (ZS-DG ).
, 32 .

10-1 1 ,. pulse
INP P
20 (INP-DG )
21
10-1 0 ,. 8
INS S
,(INP-DG )
22 alarm bit 0
23 alarm bit 1
PS
24 alarm bit 2
25 alarm bit 3
, 3
3 8 3000 P26
8V 3000rpm
10-3 0 , CW
26 SIN ST
10-3 1 , CCW
CCW
CW 10V 3
PIC
PIC T 3000 10V
3000rpm
27
CCW PS
+10V CCW 3
CW NIC PS
28
-10V CW 3
+10V/4500rpm
30 TG PS
CCW offset 34
3.5
31 CUR PS +10V offset 35

29
AG PS
32
33 +15 +15V DC 10mA MAX ,
( 470).
S 10k -11V~+11V 20k
34 -15 20k

35 A PA PS A B :

26
Pin

no mode
36 /PA 0
37 B PB 10-3 1 CCW A B
38 /PB 90
39 Z PZ
40 /PZ
41 P PPR P 24V PP(pin14)
42 D DPR P 24V DP(pin16)
43 Zo PS Z
44 EG PS
45 24V 24V A 24V
46
47
(24V) DG PS
48
49
50 FG PS

27
 4.2
* 4.3

Pin

no
1,2 + +5V 5V 20
2 30
3,4 - 0V

5 A A A
6 /A /A /A
7 B B B
8 /B /B /B
9 Z Z Z
10 /Z /Z /Z
11 U U U
12 /U /U /U
13 V V V
14 /V /V /V
15 W W W
16 /W /W /W
17~19
20 FG

28
4.3 CN1 CN2
45(+24V) 18(REDY/TO)

1(SON)
19(ALM)
2(ALRS)
20(ZS/BI)

3(PCNT)
21(INP/INS)

4(FSTP)
22(ALM0)
5(RSTP)
23(ALM1)
6(TLMT)
24(ALM2)

7(CLR/LOK)
25(ALM3)

9(EMC)
43(ZO)

10(SPD1) 46(DG)
DIGITAL I/O
47(DG)
CIRCUIT 48(DG)
11(SPD2) 49(DG)
39(PZ)
12(MDC)
40(/PZ)

13(INH) 35(PA)
3K PULSE 36(/PA)
41(PPR) 300 INPUT
14(PP) 37(PB)
38(/PB)
15(/PN)
3K
42(DPR) 300 44(EG)
16(DP) ENCODER

17(/DN) CIRCUIT

- 30(TG)
-
+
26(SIN) +
ANALOG
- 31(CUR)
- CIRCUIT +
27(PIC) +
470
- +15V 33(+15)
28(NIC) + 470
-15V 34(-15)
29(AG)
32(AG) 50(FG)
29
4.4 RS232
9 pin D

1
2 TXD
3 RXD
4 6
5 0V
6 4
7 8
8 7
9

PC 9pin D PC COM port

PC DRIVER
2 2
3 3
4 6
5 5
6 4
7 8
8 7

: PC RS232 2 DRIVER RS232 2

PC 4 6 DRIVER 4

30
 4.5

4.5.1

P
PC
R
S U
T V
SD15,20 220V W
SD30220V FG
CN2

CN1 RS232 RS232C

+24V 24V 45
SERVO ON SON 1
ALARM RESET ALRS 2 PC
P/PI PCNT 3 CN1
CCW 30 TG MONITOR
FSTP 4 32 AG
CW RSTP 5 MONITOR
TLMT 6 31 CUR
CLR 7 A
EMG 9 35 PA
36 PA A
MDC 12 37 PB B ENCODER
INH 13 B
46 38 PB
0V DG 39 PZ Z
47 40 PZ Z
CCW 44 EG
PIC 27
AG 29
CW NIC 28 50 FG
45 24V +24V
18 REDY SERVO READY
PP 14 19 ALM ALARM
PN 15 20 ZS/BI
DP 16 21 INP
DN 17 22 A0
FG 50 23 A1
24 A2
+15V +15V 33 25 A3
-15V 43 Z0
-15V 34 48 DG 0V

31
 4.5.2

P
PC
220V R
S U
T V
SD15,20 220V W
SD30220V FG
CN2

RS232 RS232C
CN1
+24V 24V 45
SERVO ON SON 1 PC
ALARM RESET ALRS 2 CN1
P/PI 30 TG MONITOR
PCNT 3 32 AG
CCW FSTP 4 MONITOR
CW RSTP 5 31 CUR
TLMT 6 A
SERVO LOCK LOK 7 35 PA
36 PA A
EMG 9 37 PB B ENCODER
1 SPD1 10 B
2 SPD2 11 38 PB
39 PZ Z
MDC 12 40 PZ Z
0V DG 46 44 EG
47
SIN 26 50 FG
45 24V +24V
AG 29 18 REDY SERVO READY
CCW PIC 27 19 ALM ALARM
AG 32 20 ZS/BI /
CW NIC 28 21 INS
AG 32 22 A0
FG 50 23 A1
24 A2
+15V +15V 33 25 A3
-15V 43 Z0
-15V 34 48 DG 0V

32
 4.5.3

P
PC
220V
220V R
S U
T V
SD15,20 220V W
SD30220V FG
CN2

RS232 RS232C

CN1 PC
30 TG MONITOR
32 AG
31 CUR MONITOR
CN1
+24V 24V 45 A
SERVO ON SON 1 35 PA
ALARM RESET 36 PA A
ALRS 2 37 PB B ENCODER
CCW FSTP 4 B
CW RSTP 5 38 PB
39 PZ Z
EMG 9 40 PZ Z
1 SPD1 10
2 SPD2 11 44 EG
0V DG 46 50 FG
47 45 24V +24V
18 REDY SERVO READY
SIN 26 19 ALM ALARM
AG 29 20 ZS/BI /
PIC 27 21 INS
AG 32 22 A0
FG 50 23 A1
24 A2
+15V +15V 33 25 A3
-15V 43 Z0
-15V 34 48 DG 0V

33
 4.6

MSD20
MSD15 MSD30
MSD50
MSD75

NFB
R
S TB
T CN2
SD15,20 220V
SD30 220V P
PC R
U ENCODER
TB V
W
FG MOTOR
FG

MSD15/20DELTA 06DPCW5
MSD30DELTA 08TDS4W4
MSD50DELTA 16TDS4W4
MSD75DELTA 24TDS4W4

34
5.

MSD15

35
MSD20

36
MSD30

37
MSD50MSD75

38
 6.

MSD15 MSD20 MSD30- MSD50 MSD75
200W ~ 600W 750W ~ 1kW 1.5kW ~ 2.2kW 3kW ~ 4kW 4kW ~ 5.6kW
AC180V~240V 50 / 60 Hz AC180V~240V 50 / 60 Hz

: 050C : -2080C

/ 85% RH

0.5G
/ /
/ Pulse+PulseA/B Pulse

500kpps

1/127A/B127 (A&B:110000)

010000ms

032767 Pulses
010V ( CCW +V )
3

10ms10000ms /

0255rpm

/
0300%
010V ()
010000ms
010V ()
0

10
( Power Disable Holding)
()
ABC Phase line driver
1/NN=116
5-digits LED display4
ON

Ready
(RS232)

39
7.

7.1
1. 4.4.1
2. DN015( DN
15) V2 driver DN011
3. PN010 1
4. PN010
0
1 ENCODER AB phase
2
5. PN021=PN022=encoder =2000/
500 encoder *4
2000*4=8000 500=16=1
6. (PN023)
10
7. (PN024)
8.
9. Dn004 Dn020
Pn010 Fn005

10. Pn13 0
500kpps7 200kpps

40
7.2
1. 4.4.2
2. DN15( DN
15) V2 driver DN11
3. PN010 0
4. Pn000 CN2
CN1
CN2
2000 (2000ppr) Pn000 2 CN1
1000ppr Pn001 4 CN1 500ppr
5. Pn001 Pn001 Pn002


6. Pn002
Pn002
Pn002
7. Pn003 (SIN, pin26)10V
Pn003 3000
3000 5000
Pn003=5000
8. Pn12-1 Pn12-4
Pn12-1 0
9. Dn013Dn014
Pn010 Fn005

Pn036~Pn039 Pn036Pn038
-1000~+1000Pn037Pn039 16000~18000

41