Delta Industrial Automation

Tips & Tricks



Hannover Messe 2016 highlights

Hannover Messe 2016 is just finish, one year more.
For those who came, welcome, and for those who couldn’t pass by, this is what we showed.

MS300 means Standard Compact Drive & MH300 means High Performance Compact drive
Small and compact format to replace our beloved VFD-E, and yes, both have PLC integrated, but no size limits anymore! 2K steps and 5K steps respectively.
Let’s see If we’re on time to give it a ride within this year!

PPC series
Industrial PC’s! So far 2 models of 15″ and 19″ inch, both with sexy silver IP65 frame, and of course compatible with Windows XP, Windows 7 and Linux.

A2 400V
Size Matters! finally the new A2 400V series, specifically for European market. At this moment only M version available, and don’t try to weight the motor alone!

First complete Delta solution.
If you have to pump, let us know, we can provide not only the hardware, but also the software. Just plug and play.

DX-Series & DIACloud
Delta Remote control solution.
No more ask IT guys to open the port for my machine, this is the tool you need to directly connect the machine to the cloud, and show to the boss how can he connect form his mobile phone. piece of cake.

And last but not least

Brand new PLC Series in the middle between DVP and AH500.
Is the kind of PLC that you’ll expected, with the flexibility and programming langages of AH500, but with a cost more closer to DVP.
Nevertheless we’ll need still more time until this is real, don’t expect it until 2017.

Hope to see you next year!

How to connect ASDA-A2 to a PROFINET network

Problem: our ASDA-A2 servo drive is a very good high-end servo drive, except for the fact that it does not support PROFINET until now, and for one of our potential costumers we needed such functionality.

This document explains the solution that we did for such problems.

System structure: the system is basically to control a load with our ASDA-A2-M servo drive, which has CANOpen communication. The controller is a PROFINET Master (e.g. Siemens S7 PLC).

Here we used a gateway, to bridge the connection between PROFINET and CANOpen, the gateway used was IXXAT CME/  PN from HMS.

ASDA-A2 configuration: the servo drive’s parameters were adjusted to the connected motor, and to be controlled by a CANOpen Master, below are the main parameters for such a configuration:

Parameter Value Discerption
P1-01 0x000B Control Mode and Output Direction (CANopen Mode)
P1-44 1000 Electronic Gear Ratio (1st Numerator) (N1)
P1-45 1 Electronic Gear Ratio (Denominator) (M)
P3-00 0x0004 Communication Address Setting
P3-01 0x0403 Transmission Speed (1.0M bits / second)


The ASDA-A2-M CANOpen interface supports up to 4 PDOs duplex (transmit and receive), each PDO has a length of 8 bytes.

For an explanation for the commands needed to control the drive from CANOpen, please refer to the document CANopen for ASDA-A2_M_EN_20120921

IXXAT CME/PN gateway: this gateway can be parametrized using its own software (CANopen Configuration Studio for IXXAT CME-PN 2.1). In the software the ESD file for the ASDA-A2 can be loaded, and the values that need to be transferred are selected. The variables selected for this application are as follows:

Index Sub-Index Size (Bits) Parameter name
6040 00 16 Controlword
6081 00 32 Profile velocity
607A 00 32 Target Position
60FF 00 32 Target Velocity
6083 00 32 Profile acceleration
6084 00 32 Profile deceleration
6060 00 8 Modes of operation
6098 00 8 Homing method
607C 00 32 Home offset
6041 00 16 Statusword
6077 00 16 Torque actual value
6078 00 16 Current actual value
6064 00 32 Position actual value
606C 00 32 Velocity actual value
603F 00 16 Error code


After the configuration has been made, a compilation is done in the software, and then the GSDML file is exported to be used in the PROFINET master as a device .

full screen is recommended


And the last step is to download the configuration to the IXXAT gateway using the USB cable (mini USB port).

PROFINET Master: here in this case a Siemens PLC is used (CPU1516-3 PN), first step in the hardware configuration the GSDML file is loaded, and then the device is inserted in the HW configuration. After inserting the device, it will automatically assign inputs and outputs areas for the mentioned variables, where they can be used later in the PLC program to control the servo drive.

we hope this will be of help to your application.

Successful Application: 11 Axis Cutting / profiling machine

Another successful application from our Netherlands distributor Innomotion.

This time is a Woodcutting / Profiling machine with 11 axis control!


As you can see on the picture our partners use 7 VFD-E drives for transportation and high speed spindle, and 4 servodrives ASDA-A2 400W for the cutting/profiling.
Everything controlled by central CPU with Master CANopen module (DVPCOPM-SL).


Via the PC Cad drawings are imported to the Machine and machine settings are executed. The PLC is controlling all the I/O and servo’s for the motion.
In this machine the wooden boards for the stairs are cut to length , width and angle on front and end of the board. The PC software is written in Labview.


I hope you like it!
And with some luck, you can use it as inspiration for your next project!

Technical Announcement – PNP connection to Delta Servodrive

This is dedicated for European customers.
Mainly PNP is used exclusively in Europe, some machines in Middle East, but America and Asia and completely NPN.
That’s why in the first place our servo drive inputs are only compatible for NPN PLC output (like our Delta PLC’s).

But what happen If my customer is really used to work with his European brand PLC, but he wants to test our servo drives?
In this case we suggest the following PNP connection for ASDA-A2.

Furthermore, in the attached file you will find all the other suggested connections for the other servo drive series.
Techincal Announcement Servodrive PNP connection

Motion Control: Pick & Place (2 axis interpolation)

One of the most typical applications once you have some interpolation device in your hands is Pick & Place.
The objectie of the application is move some object from one point to another one, and you can´t find one single company that didn´t need in some way one variable of this application.

Of course application have multiple variables, and the most easy one is with linear movements.
Simple movements Pick & Place

But later engineers think how to save time with that process to make their machines faster.
And the easy way is to interpolate both axis following a semicircle as below.
Two axis interpolation

Because of the popularity of Pick & Place, in Delta we have several devices able to work like that. Further more our ASDA-A2 servodrive is able to do it by his own, with no extra PLC or motion controller.

But today I would like to share how to do that application with one of our standard CPU´s and ASDA-B servodrive controlled trough Step & Direction.
So in this case you can use the same program to control Servo systems, Steppers or even inverters.
The CPU´s able to interpolate two axis nowadays in Delta are: DVP-SA2, DVP-SX2 and DVP-SV.

Regarding the application, you can found how to connect the hardware in the following old post
Motion Control: HMI – PLC – B series Servo (1 axis movements)

And Regarding the Software, the keypoint is the DCIMA instruction.
check the following program
Pick & Place Example

And If you are still not fully convinced to use our PLC´s for Pick & Place.
Here is some video example of our system working!
Is not exactly a pick & place application, but uses the same instruction.

And don´t hesitate to Let us know about your experiences with Pick & Place

Announcement: New connector ASD-IF-SC5020 for A2 servodrives series

Tired of soldering connectors?

How irritating it is to sold the DI/DO on A2 servodrive, just for testing, isn´t it?
So, take a look to that connector!

What do you think?

Check the details on the following new product announcement.
And ask for it to your local distributor!

ASDA-A2 and ASDA-B2 motor tuning procedure

As many of you should know, to tune a servo motor is not a piece of cake.
To have a good tune, you have to take care of the load, the inertia, the gearbox, etc..

To help you in this task, Delta provide different kind of tools.

1. ASDA-Sizing
This software is really useful to calculate the interta and the Torque needed of your system.
With this tool you can calculate the power of the motor needed and avoid bad experiences in customer’s hose

You can dowload it for free (as usual) on Delta’s web page.
But If you already installed ASDA Soft, check your computer, because probably it would be there.
ASDA-MSizing v1.04

2. Autotuning
Depending of the drive the ASDA-Soft have different autotuning tools.
On the video, we adjust (without load) some ASDA-B servodrive

On the other side, for the ASDA-A2 servodrives, our Service team, did the following PDF to help you in that task.
Simple TUning ASDA-A2&B2

Good tuning for everybody!

EDS Builder

Everytime you need to insert your devices inside some Devicenet or CanOpen network, the master would need some driver.
Those drivers are called EDS files.
That EDS file is different for every drive, and it may be configured depending of the data that we want to send to the master.

Delta have many Inverter and Servodrives models able to communicate trough CANOpen or Devicenet, because of that I would like to introduce you to a software tool to create that specific EDS files for each drive and application.

EDSBuilder V1.01, just released a month ago, we’ll be able to create the EDS file compatible with any brand CANOpen or Devicenet network.
Of course, Delta already have CANOpen master to controll them, but this is another history.

Software EDS Builder V1.01

To use this software, we will need the device to communicate, and some IFD6500 (USB-RS485 converter) to communicate with the device.

And once you have it, just follow the instruction of the following tutorial  “How to create EDS via EDSBuilder”

name: den-eindhoven
Password: BuPd2175


PLC Link (PLC to VFD)

PLC-Link is not only a tool to exchange data between PLC’s.
With PLC-link you can also share memory space with a servo, inverter, temperature controller, etc…
In this case I would show you the procedure to do it with VFD-E series drive.

The advantage of this method agains the “sending frames one” is that you don’t need to program and trigger one frame for every value read or write to the slave.
With this method, you only have to configurate the communication, and you will have any Slave value in your master buffers.
follow the next steps:

1. Hardware
use exactly the same advices as the PLC-VFD communication post.

2. Decide the protocol to be used.
And write it on a post it in front of you. In this case we use protocol Modbus ASCII, 9600 baud,7,Even,1

3. Inverter configuration (almost same as PLC-VFD communcation post)
The important think on this step is get ready the inverter to receive orders from RS485 interface, so depending the inverter the values are going to be different. In this example I use VFD-E.
Check the parameters If you are going to use another inverter.

2.00 = 3
Source of First Master Frequency Command
3: RS-485 (RJ-45) communication

2.01 = 3
Source of First Operation Command
3: RS-485 (RJ-45) communication. Keypad STOP/RESET enabled.

9.00 = 2
Communication Address
in my example 2

9.01 = 1
Transmission Speed
3: Baud rate 9600bps

9.04 = 1
Communication Protocol
0: 7,E,1 (Modbus, ASCII)

4. PLC Software
In this case I recommend to have the manual opened, because basically is a matter to configure the PLC-Link special registers properly.

D1399:ID address of the first slave
D1434:Number of consecutive registers to be Read (by the master)
D1355:First register direction of the slave to be Read (H2102 = Frequency command)
D1450: Number of consecutive registers to be Write (by the master)
D1415: First register direction of the slave to be Write (H2001 = Frequency command)
D1480:Readed values Master Buffer (Slave 1)
D1496:Writed values Master Buffer (Slave 1)

To find what register I need to edit in each case, look in the manual for any of those registers, and look for the proper one.

And Check the following program and test it.

I’m pretty sure that system will save you a lot of time and efforts.

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