Delta ASD-A2R-0421 Series - Canopen Mode Standard Wiring

Chapter 3 Wiring ASDA-A2R Series
Revision December, 2014
3-57
3.10.5 CANopen Mode Standard Wiring
VDD
COM+
COM-
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
DO1+
DO2-
DO3-
DO4-
DO2+
DO3+
DO4+
DO5+
DO1-
DO5-
/OA
OA
OB
/OB
/OZ
OZ
45,47,49
17
11
9
10
34
8
33
32
30
7
6
5
4
3
1
2
26
28
31
21
22
24
50
27
25
23
T+
T-
-
+5V
-
GND
4
7
13,15
14,16
9
5
+5V DC
Data-
Data+
GND
4
3
1
2
CN2
CN4
CN1
CN5
CN6 CANopen
Blue
Blue /
Black
Green
Black
Red
Green /
Black
P⊕
D
C
U
V
W
4KΩ
4KΩ
4KΩ
4KΩ
4KΩ
4KΩ
4KΩ
4KΩ
R
S
T
L1c
L2c
MC
MCCB
AC 200/230 V
3-phase
50/60Hz
Servo Drive
ASDA-A2R series
Reserved
ORGP
NL
PL
EMGS
1.5KΩ
1.5KΩ
1.5KΩ
1.5KΩ
1.5KΩ
SRDY
ZSPD
TPOS
HOME
ALRM
24V
A phase
differential signal
B phase
differential signal
Z phase
differential signal
Encoder
pulse
output
DC 24V
Regenerative
resistor
Red
White
Black
Green
SG
Brake
Power
Encoder
BRKREMGS
24V
Shielded twisted-
pair cable
Reserved
Reserved
Reserved
＊1
＊5
＊2
＊4
＊3
Opt A
+5V
Opt B
Opt /B
Opt /A
Opt Z
Opt /Z
GND
GND
9
7
5
6
3
1
2
8
4
-
HALL_U
12
10
11 HALL_V
HALL_W
-
-
-
TEMP+
TEMP-
13
14
15
OCZ
GND
48
13
9
11
10
12
13
14
15
16
CAN H
CAN L
CAN GND
-
-
-
CAN GND
-
Max. output current: 50mA
Voltage: 30V
Z phase signal
(open-collector)
RS485+
RS232_RX
RS232_TX
GND
RS485-
-
5
6
4
3
1
2
CN3
1
3
2
4
5
6
7
8
CAN H
CAN L
CAN GND
-
-
-
CAN GND
-
Data input
Data output
Note:
*1: Please refer to section 3.3.3 for
the wiring of C9~C12 SINK /
SOURCE mode.
*2: No built-in regenerative resistor
for 100W, 200W (or below) servo
drives.
*3: Brake wiring has no polarity.
*4: For USB connection. It connects
to personal computer.
*5: Model that below 1.5kW can apply
single-phase power.