1

SLT series horizontal servo turret

Introduction
（Electronic section）

China ▪Changzhou
 Contents 2

Ø 1. General description
Ø 2. Installation
Ø 3. Electrical description and electrical connections
Ø 4. Definition of control signal point
Ø 5. Abnormal alarm removal
Ø 6. Parameter specification
 3
Ø Thanks very much for your generous support to Yaxing ▪

Xinshu’s products.

Ø The main properties of the turret: driving by servo motor,

gear reduction structure inside, accuracy and reliability of the

movement; rotate in both directions and choose the nearest tool

with fast and steady speed; 3-plate frontal teeth rings are used;

change tools without uplifting, in good protection; hydraulic

clamping system can generate a large locking force, stable and

reliable, suitable for heavy cutting; compact structure, adopts

the international standard installation dimension.

Ø This instruction is to specify the turret’s installation,

commissioning, usage maintenance and other considerations.

Make sure you read this instruction before usage and operate

performance, as to benefit your production.

Ø We are not responsible for the damage of the machine or part,

and personal injury which are caused by operating without

following this instruction.

 4
1. General description

Product model
ASDA-A2 series servo drives

产品型号 product model

功率规格 Power specifications
输入电源规格 The input power supply specifications
输出电源规格 The output power supply specifications
条码及生产管制序号 The barcode and production control number
韧体版本 Firmware version

制造序号 Manufacturing serial number

生产周次 Weekof production
生产年份（8:2008 年） Year of production (8: 2008)
制造工厂（T：桃园厂； W：吴江厂）Manufacturing factory(T: Taoyuan factory, W: Wujiang
factory)
生产机种 production models
 5

Part name of servo drive

ASDA-A2 series servo drive
请参考上视图 Please refer to the top view 6

电源指示灯：若指示灯亮，表示此时 P_BUS 尚有高电压 Power light: Light on when the P_BUS

has high voltage

全闭环：连接光学尺 The closed loop: Connect the optical ruler

CANopen: 通讯控制口 CANopen: Communication control interface

外部 DI 接点：可扩展六点 DI The external DI interface: Extensible six DI

显示部：由 5 位数七段 LED 显示伺服状态或异警 Displaying part: Display the servo state or
abnormal alarm by 5 digit 7 segment LED

操作部：操作状态有功能、参数、监控的设定 Operation part：The operation state include the

set of functions, parameters and monitoring
MODE:模式的状态输入设定 MODE：The input set of mode state
SHIFT: 左移键 SHIFT：The left key
UP: 显示部分的内容加一 UP: The content in the displaying part plus one
DOWN: 显示部分的内容减一 DOWN: The content in the displaying part minus one
SET: 确认设定键 SET: The set confirmation key

控制连接器：与可程序控制器（PLC）或是控制 I/O 连接 Control connector: And the program

controller(PLC)or control the I/O connection

编码器连接器：连接伺服电机检测器（Encoder）的连接器 Encoder connector: The connector

connecting the servo detector(Encoder)

RS-485&RS-232 连接器：连接上层控制器 RS-485&RS-232 connector：Connect the upper

controller

USB 连接器：连接个人电脑 USB connector: Connect the PC

请参考下视图：Please refer to the bottom view

ASDA-A2_220V series servo drive ( top view ) 7

散热座：固定伺服器及散热之用 Heat sink: Fix the server and dissipate the heat

内外部回生电阻：
1）使用外部回生电阻时，P+、C 端电阻，P+、D 端开路
2）使用内部回生电阻时，P+、C 端开路，P+、D 端需短路
3）使用外部回生制动单元时，P+、-端接制动单元 P+、D 与 P+、C 开路
Internal and external retrogradation resistance:
1) When using external retrogradation resistance, P+、C is resistance，P+、D is open
2) When using internal tetrogradation resistance,P+、C is open，P+、Dis short out
3) when using the external anabiosis braking unit, P+、- connect the braking unit, P+、D and P+、
C are open

控制回路电源：L1c、L2c 供给单/三相 200~230Vac，50/60Hz 电源

Control circuit power supply: L1c, L2c supply single/three phase 200 ~ 230 vac, 50/60 hz power
supply
主回路电源：R、S、T 连结在商用电源 AC200~230V，50/60Hz 电源
Main circuit power supply: R, S, T link in commercial AC200~230V, 50/60 hz power supply
22ASDA-A2_220V series servo drive(Bottom view) 8

The output of the servo

motor:
It should be connected to the
motor power supply
connector which is marked
as U, V, W. It cannot be
connected to the main circuit
power supply. The servo
drive may be destroyed if
the connection is wrong, The connector as preparation.

Earthing protection terminal:

It should be connected to the
earth wire of the electric
source and the motor.
The instruction about the display of the panel and the operating 9
the display of the panel and the function keys

Monitor

MODE button SHIFT button

UP button SET button

Power
Indicator
DOWN button
Name Function
Monitor Five groups of seven-segment display monitor is used to display the monitoring
value, the parameter value and setpoint.
Power Shows that the main power circuit capacity is charging.
Indicator
MODE Switch the mode within the monitor mode, parameter mode and the alarm mode.
button Press the mode button to change to the parameter mode when the system is in edit
mode.
SHIFT This button can change the group code when the system is in parameter mode. It
button can correct the larger character value which has been set when the system is in edit
mode. It can switch the display between high and low digit when the system is in
monitor mode.
UP Button This button can change the monitor codes, parameter codes or setpoint.
DOWN This button can change the monitor codes, parameter codes or setpoint.
Button
SET Button Users can look over and save the setpoint with this button. Displayed state can be
switched between decimalist and hex when the system is in monitor mode. Press
the SET button, then the system is switched to the edit mode when the system is in
parameter mode.
The operation for setting 10

异警模式 异警显示 监视模式 监视状态 切换高地位 切换 10/16 进制

the alarm The display the monitor Monitoring switch the switch the
mode when being mode status display display between
abnormal between high decimalist and
and low digit hex
参数模式 监视参数 基本参数 扩展参数 通讯参数 Motion 设定
the Monitoring Basic Extended Communicating The motion
parameter parameters parameters Parameters parameters setting
mode
Pr 路径定义 显示参数设 回到参数模 储存设定参 编辑设定模式
定值 式 数
The Display the Back to the Save the Edit the setting
definition of setpoint of parameter parameters mode
Pr path parameters mode which is set
1．The display will show the monitored variable symbol for about 1 second, then the system will
enter into the monitor mode after the drive is powered on.
2. The system can be switched within the parameter mode, monitoring parameters and the alarm
mode. The alarm mode can be ignored if there is no alarm.
3. The system be switched to the alarm mode whatever it is in when a new alarm occurs. Press the
MODE button to switch to other modes. The system will be switched back to the alarm mode
automatically if there are not any buttons pressed for 20 seconds.
4. In the monitor mode, the monitor symbol can be switched by pressing UP or DOWN button. It
will be displayed for about one second.
5. In the Parameter mode, the group codes can be changed by pressing SHIFT button. The last two
parameter codes can be changed by pressing UP or DOWN button.
6. In parameter mode, the system will enter into the edit mode immediately after the SET button is
pressed. The display will show the setpoint of the parameter at the same time. Then the parameters
can be changed by pressing UP or DOWN button. The system can return to the parameter setting
mode from the edit mode by pressing the MODE button.
7. In the edit settings mode, the flashing character can be moved to the left by pressing the SHIFT
button. Then the larger setpoint can be corrected quickly by pressing UP or DOWN button.
8. Press the SET button after correcting the setpoint. Then the system will save the parameters or 11
execute the order.
9. The display will show the code "SAVED" and return to the parameter mode automatically after
the completion of parameter settings.
 12

2. installation

2.1 notice

Users should pay attention to the following:

1) The wire which connects the drive with the motor cannot be stretched tight.
2) Users should make sure that every fixed place has been locked while fixing the drive.
3) The shaft of the motor must share the same axis with the shaft of the equipment.
4) Please use thicker connecting wire which is marked as U, V, W and make sure to use thicker
wire which is connected to the coder if the wire which connects the drive with the motor is more
than 20 meters long.
5) The four screws which fix the motor must be locked.

2.2 The environment for storage

The product must be placed in the packing chest before it is installed. If the product is not used
immediately, users should pay attention to the following notices in order to make the product in
accordance with the warranty of the company and maintenance in the future.
1) The product should be placed in a clean and dry place.
2) The temperature of the storage place must be within the range of -20 to +65.
3) The relative humidity of storage place must be within the range of 0% to 90% and there should
not be condensations.
4) User should avoid storing the product in an environment containing corrosive gas or liquid.
5) It is better to do the appropriate packaging for the product and store it in the shelf or on the
table.

2.3 The environment for installation

The appropriate temperature for the using of the drive is within the range of 0 to 55. Please put the
product in a well ventilated place if the ambient temperature is above 45. Long operation is
recommended below 45 ℃ ambient temperature to ensure product reliability. The size of the
power distribution box should be big enough and the ventilation conditions should be good
enough so that there is no danger about overheating to all the electronic devices inside the box if
the drive is installed in the power distribution box. It should also be considered that whether the
vibrations of the machine will affect the electronic device in the distribution box. In addition, the
conditions of the using are also included:
High fever means no place; no water droplets, steam, dust or oily dirt place.
 13

2.4 Direction and space for installation

Notice:
The direction for installation must be in accordance with regulations, otherwise it will cause of
breakdown.
The outer border of the AC servo drive must maintain enough space with adjacent items and baffle
(wall) when users install it so that the cooling cycle works well, otherwise it will cause of
breakdown.
The suction hole and the vent hole of the AC servo drive should not be sealed up and it should be
no dumping placed when users install it, otherwise it will cause of breakdown.

Right way Wrong way

Diagram about Installation:
Please observe the recommended distance for installation which is the distance between one AC
servo drive and other AC servo drives so that there is relatively low drag to the cooling fan in
order to discharge the heat effectively (The diagram is shown below).
 14

The distance of the picture and the text annotation are non-proportional size, please use the text
annotation as the standard.
 15

3. the instruction and the connection of the

electrical system

3.1The connection of the peripheral devices and the main

power supply circuit

The wiring diagram about the peripheral device

控制器 PLC DC24 电 ASDA_A2 刀 刀盘松开继电 SLT 刀 电机动力 编码器

源 架驱动器 器 架
Controller Source Turret drive Relay for Turret Power of Encoder
PLC DC24 ASDA_A2 releasing the SLT motor
tool disk
刀 盘原 点 检 刀 盘 松 刀盘锁紧检 16
测 开检测 测
Origin Releasing Locking
detection of detection detection of
tool disk of tool tool disk
disk
Installation Notes: 17
1) Make sure the R, S, T and L1c, L2c power and wiring is correct.
2) Confirm servo motor output U, V, W terminal wiring phase sequence is correct, then the wrong
motor may not turn or milling.
3) When using an external regenerative resistor, the need to P, ends open, D external regenerative
resistor should be connected to P, C terminal, if using internal regenerative resistor, you need to P,
D terminal is shorted and P, C terminal open.
4) When the first alarm or emergency stop, use ALARM or WARN output electromagnetic
contactor (MC) and cut off the power servo drives.

Drive connector and terminal

Terminal Name Explanation
symbol
L1c、L2c Control circuit power Connected to single-phase AC power supply
supply input terminal
R、S、T Main circuit power Connected to three-phase AC power supply
input
Connected tomotor
Terminal Color Explanation
symbol
U、V、W、FG Motor connecting line U Red
Three-phasemains power
V White
line of motor
W Black
FG Green Connected to grounding of
the drive
P ,C, D Regenerative resistor Using the internal resistanceP, D terminal is short
circuit, P, C terminal opencircuit
terminal
Double Ground terminal Connected to ground wire of power supply and motor

CN1 I/O connector Connected to host controller

Connected to motor encoder
Terminal Color Pin No
symbol
T+ Blue 5
CN2 T- Blue-black 4
Encoder connector
Retention - -
Retention - -
+5V Red/Red-white 14 16
GND Black/Black-wh 13 15
ite
CN3 Communication Connected toRS-485orRS-232
connector
CN4 USB connector Connected to personal computer
Precautions when wiring
1)Before the lights go out, do not touch the R, T and U, V, S, W power line conduits. Because the
internal drive large capacitance contains a lot of charge
2) R, T and U, W conduits from power lines and other signal lines do not close, S, V, as at
intervals of 30 cm (11.8 inches) or more.
3) If the encoder position feedback signal connector CN2 or CN5 cable is too short, please use a 18
twisted shielded signal lines to ground. Do not over 20 meters (65.62 feet), if you want more than
20 meters, use diameter doubled
Signal lines to ensure that the signal does not attenuate much. About 20 noodle long encoder
wiring specifications, use wire size AWG26, and in accordance with UL 2464 standard metal
braided shielded twisted pair cable (Metal braided shield twisted-pair cable).
4) When using CANopen, please use twisted-pair cables SHIELDING to ensure communication
quality.
 19

3.2 Three-phase power supply wiring method (all series

are applicable)
 20

3.3 interface wiring diagram (CN1)

C5：DOWiring, internal power supply, general load

C6：DOWiring, internal power supply, Inductive load

 21
C7：DOWiring, external power supply, general load

C8：DOWiring, external power supply, Inductive load

The input signal through relay or open collector transistor 22
NPN Crystal，Common emitter（E）Pattern（SINK Pattern）
C9：DI Wiring，Internal power source C10：DI Wiring，Internal power source

PNP Crystal，Common emitter（E）Pattern（SOURCE Pattern）

C11：DI Wiring，Internal power source C12：DI Wiring，Internal power source

Strongly recommended：Don't dual power input in case of burning。

3.4 CN2 The encoder signal wiring 23

The terminals appearance of Connector and pin number as shown below

(一)、Encoder connector end：

CN2 Connector (female) Side view

Rear view
CN2 The terminal on the back of Connector

(二)、Outlet end of motor：

Fast joint
HOUSING：AMP (1-172161-9) Military Joint
 24

3.5 220V Standard wiring method

Position（PT）Mode Standard Wiring

3.6 The connecting head specification of leading-wiring 25

frommotor U、V、W

Motor type U、V、W/Electromagnetic brake connector Terminal

Definition
 26

3.7 The connecting head specification of Encoder

Motor type Encoder connector Terminal

Definition

Connection T+ T- Reser Reserv Reserv Reserv DC+5V GND BRAID

name ved ed ed ed SHELD
Terminal 1 4 - - - - 7 8 9
definition A (BL (BLUE (RED/
UE) BLAC RED
K) WHITE
)
Terminal A B - - - - S R L
definition B

Please use multi core line with a shielding cable for selecting the wire, and keep the shield cable to
be connected with the SHIELD end.
3.8 Cable selection 27

The suggested cable that used for each drive terminal and signal cable is introduced in the
following table

表格中中文：驱动器与对应电机型号（The drive and its corresponding motor type）

电源配线-线径 （Power cable- cable dimension）
表格中中文：驱动器型号（The drive type） 编码器配线-线径 （Encoder cable-dimension） 28
芯线尺寸（Cored wire dimension）芯线条数（Cored wire number）线种规范
（Cored wire standard） 标准线长（Standard length）
1） Please use Shielded twisted-pair cable（双绞屏蔽线）as encoder cable to reduce the noise
interference
2） Shielding mesh must be connected with SHIELD terminal
3） Please follow the cable selection to avoid the happening of dangerous event
4） The mode number of drive is ASDA-A2，and please refer to the information the actual
purchased product when operating
5）Servo motor is a kind of braking or keyway/ oil sealing(刹车或键槽／油封) type

3.9 Parameter of the proximity switch

Operating voltage：10-24V DC（allowed pulsating voltage≤20%）

Load current：200mA
No-load current：≤10mA
Drop voltage：≤2.0V
Temperature range：-25℃ to +65℃
Function：Turret end-tooth indexing table off/locking check；Origin check.
Structural logic：PNP NC(normally open，positive logic）

Wiring table of proximity switch

Function Off Locking Origin 0v +24v
check check check
Terminal 1 2 3 4 5 6
seat subscript
 29

4. The point definition of control signal

4.1 Introduction to DI signaling function

Signal name Function

DI1(IDX0) Index selection by inputting point 0
DI2(IDX1) Index selection by inputting point1
DI3(IDX2) Index selection by inputting point2
DI4(IDX3) Index selection by inputting point3
DI5(ORGP) Origin sensor input
DI6(MDP0) Manual continuing operation
DI7(MD0) Mode switching by inputting 0
DI8(MD1) Mode switching by inputting1
Definition of data input (DI)
DI1 DI2 DI3 DI4 Tool-position
number
0 0 0 0 1
1 0 0 0 2
0 1 0 0 3
1 1 0 0 4
0 0 1 0 5
1 0 1 0 6
0 1 1 0 7
1 1 1 0 8
0 0 0 1 9
1 0 0 1 10
0 1 0 1 11
1 1 0 1 12
0 0 1 1 13
1 0 1 1 14
0 1 1 1 15
1 1 1 1 16
Function defining of mode switching
MDPn State MD0 MD1 Option
description
0 1 0 0 Torque reduction
0 2 0 1 Indexing position
trigger
0 3 1 0 Origin trigger
0 4 1 1 Emergency
 shutdown 30
1 0 1 Reverse manual
operation
1 1 0 Positive manual
operation

4.2 Introduction to DO signaling function

 31

1 ALRM: The output signal represent that the servo system is warning
2SRDY: The output signal represent that there is no exception occurs when control and general
power current is sent into the drive
3 The output signal represent that it is returning to the origin
4 The output signal represent that it has finished the origin return
5 The output signal represent the operating changing of the indexing location
6 The number of indexing location is 1
7 The number of indexing location is 2
 32

4.3 Notes aboutediting PLC and wiring

1) This product is motored with Dlta ADSA-A2 series servo motor. DI in use is 0V drive set while
DO is output of switching signal.
2) If the encoder of servo motor is incremental type. Zero-point response action is needed when
turn on the main power or the servo occurs abnormal alarm.
3) If the encoder of servo motor is absolute encoder. The tool holder needs to back to zero point in
order to confirm absolute coordinate when it is used the first time. There is no need of zero
returning operation until replace the motor battery.
4) Can’t disarmed the alarm until turn on the servo motor power again when the motor occurs
abnormal alarm.
5) Must install no-fuse switch, in order to avoid overloading instantaneous current or
instantaneous voltage because of external power short or other reason that damage the motor.
6) 24V external power is suggested. Wiring to COM+ COM- common port of the motor CN1
7)Tool selection control: when reaching the target position, the output of DO is corresponding tool
position reached the target position.
8) Zero-point regression: when reaching the target position, the output of DO is NO.1 tool position
reached the target position.
9)To avoid the possibility of DI7 DI8 offline or short causing the collision while machining. Edit
DI6 to needing operating zero-point or turn tool choosing control SERVO ON. After the operating
switch DI6 to SERVO OFF.
10)Oil pressure pushing the internal mechanism of the tool holder. Delay 50ms to operate tool
selection control or zero-point regressafter Loosen/Lock detect the proximity switch action.
 33
5. Abnormality remove

5.1MalfunctionStatement

: Overcurrent Need DI: ARST Clear

: Overvoltage Need DI: ARST Clear

: Low Voltage Voltage response auto clear

: Motor magnetic field abnormal Re Power on clear

: Regeneration error Need DI: ARST Clear

: Overload Need DI: ARST Clear

: Speed error oversize Need DI: ARST Clear

: Abnormal impulse control order Need DI: ARST Clear

: Position control error oversize Need DI: ARST Clear

: Chip timeout Can not clear

: Encoder error Re Power on clear

Remove CN1 wiring and operating auto

: Correction error correct clear

: Emergency stop Relieve DI EMGS auto clear

Need DI: ARST Clear or Servo Off clear

: Reverse limitation error or after remoted auto clear
Need DI: ARST Clear or Servo Off clear
: Forward limitation error or after remoted auto clear

: IGBT temperature error Need DI: ARST Clear

If occurred when power on it has to be

: Storage error reset parameter. If occurred when
operating, use DI ARST clear

: Detector output error Need DI: ARST Clear

 Need DI: ARST Clear 34
: Series communication error

: Series communication timeout Need DI: ARST Clear

: Main circuit power missing phase Need DI: ARST Clear

: Pre-overload warning Need DI: ARST Clear

: Encoder initial magnetic field error Re Power on clear

: Encoder internal error Re Power on clear

: Encoder error Re Power on clear

: Motor collision error Need DI: ARST Clear

5.2Tool holdermalfunction cause and disposal

malfunction cause Maintenance measures Measures

Implementers
The center height is A collision Turn the tool disk to a Master Factory
not correct, and the occurs when the position , align and regulate service personnel
tool disk is relative rotating turret is the cutter and tool disk Turret factory service
to the cutter-fixed locked. personnel
disk dislocation.
Tool disk does not Gear damage Replace damaged parts Turret factory service
rotate personnel
Motor or driver Check whether the line is Master Factory
damage, signal disconnected service personnel
output abnormal Check whether the signal is Turret factory service
normal personnel
Rotating turret can Shaft is relative Align the shaft and the cutter Turret factory service
not be locked to the fixed disk personnel
cutter-fixed disk
dislocation.
Lock proximity Check proximity switch, Turret factory service
switch no signal adjust or replace personnel
 The tool disk rotate Servo setting Debugging servo driver Turret factory service 35
in one direction only error personnel

Tool disk parked in Servo setting Debugging servo drive Turret factory service
the incorrect error personnel
location or located at
severe attack
position
Lubricating oil Seal damage Replace damaged parts Turret factory service
leakage personnel
Cutting fluid can not Cutting fluid Replace damaged parts Turret factory service
be discharged valve damage personnel
Cutting fluid Use air pressure gun to blow Turret factory service
valves, catheter through the cutting fluid personnel
blockage valves, catheters
Cutting fluid appear Cutting fluid Replace damaged parts Turret factory service
in the gap between valve damage personnel
tool disk and
rotating turret
 36

6. Parameter Description

6.1 Related parameters of servo tool holder

parameter Factory value Regulation description

Tool change Nearest tool The value has been set up, if the driver setting
selection value is not reset without adjustment.
Number of pockets 8/12 The value has been set up, if the driver setting
value is not reset without adjustment.
Tool-changing 3000rpm Drive internal address P5-75
Speed
Acceleration and 200ms The value has been set up, if the driver setting
deceleration time value is not reset without adjustment.
Reduction ratio 36:1/35:1/60:1 The value has been set up, if the driver setting
value is not reset without adjustment.
Zero offset Depending on the Drive internal address P6-01, the parameter has
different tool holder been set up, if the tool holder suffered a severe
attacklead to inaccurate zero point in the use,
you must adjust the parameter
Backlash value Depending on the Drive internal address P7-01, the parameter has
different tool holder been set up, the value is for the compensation of
gear clearance, if the gear gap becomes larger in
the use, you must adjust the parameter