Delta ASDA A2-E - default chapter; Table of Contents

Revision April, 2015 i
Table of Contents
Chapter 1 CoE Drive Overview ................................................................................. 1-1
1.1 Communication Specification ...................................................................... 1-1
1.2 The Interface of Delta EtherCAT Servo Drive .............................................. 1-2
1.3 LED Indicators ............................................................................................. 1-3
1.4 The Topology ............................................................................................... 1-6
1.5 Wiring .......................................................................................................... 1-7
1.5.1 Explanation of I/O (CN1) Connector Signal ............................................ 1-8
1.5.2 CN2 Connector ....................................................................................... 1-9
1.5.3 CN5 Connector (Full-closed Loop) ......................................................... 1-10
1.5.4 CN6 EtherCAT Terminal ........................................................................ 1-11
1.5.5 CN7 Extension DI ................................................................................... 1-12
1.5.6 CN-STO.................................................................................................. 1-13
1.5.7 STO with Safety Relay ........................................................................... 1-14
1.5.8 STO Disable ........................................................................................... 1-14
1.6 Dimension .................................................................................................... 1-15
1.6.1 220V Series ............................................................................................ 1-15
1.6.2 400V Series ............................................................................................ 1-17
Chapter 2 System Setup ........................................................................................... 2-1
2.1 Parameter Settings of EtherCAT Mode ....................................................... 2-1
2.2 TwinCAT Setup ............................................................................................ 2-3
2.3 Synchronization Modes Setting ................................................................... 2-11