Delta ASDA A2-E User Manual

Revision April, 2015 1-1
Chapter 1 CoE Drive Overview
1.1 Communication Specification
EtherCAT
Communication
Physical layer
100BASE-TX
Communication
connector
RJ45 × 2 (Connector CN6A=IN, CN6B=OUT)
Network topology
Line connection
Baud rate
2 x 100 Mbps (full duplex)
Frame data length
Maximum 1484 bytes
SyncManager
SM0: Mailbox output
SM1: Mailbox input
SM2: Process data output
SM3: Process data input
FMMU
(Fieldbus Memory
Management Units)
FMMU0: Process data output area
FMMU1: Process data input area
FMMU2: Mailbox status area
Device profile
CoE: CANopen over EtherCAT
Synchronization
mode
DC synchronization ( SYNC0 )
Non- synchronized ( Free Run )
Communication
object
SDO: Service Data Object
PDO: Process Data Object
EMCY: Emergency Data Object
LED indicator
(On RJ45
Connector)
EtherCAT ERR (ER) × 1
EtherCAT Link/Activity (L/A) × 2
EtherCAT RUN (RN) × 1
Application layer
specifications
IEC61800-7 CiA402 Drive Profile
The supported CiA402 operation
modes
Profile Position Mode (PP)
Profile Velocity Mode (PV)
Profile Torque Mode (PT)
Homing Mode (HM)
Interpolated Position Mode(IP)
Cycle Synchronized Position Mode (CSP)
Cycle Synchronized Velocity Mode (CSV)
Cycle Synchronized Torque Mode (CST)

Delta ASDA A2-E Specifications

General

Brand	Delta
Model	ASDA A2-E
Category	Servo Drives
Language	English