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ASDA A2-E
Delta ASDA A2-E User Manual
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ASD
A A2-E
Chapter 1 Coe Drive Overview
1-2
Revision April, 2015
1.2
The Interface of Delt
a EtherCA
T Servo Drive
Figure 1 The Interface of Delta Ether
CAT Servo Drive
EtherCAT® is registered trademark and
patented technology, licensed by Beckhoff
Automation GmbH, Germany.
Run indicator (RUN)
Link/Activity of EtherCAT
output port indicator (L/A)
Error indicator (ERR)
EtherCAT output
port (CN6)
EtherCAT input port
(CN6)
Link/Activity of EtherCAT
input port indicator (L/A)
8
10
Table of Contents
default chapter
2
Table of Contents
2
Chapter 1 Coe Drive Overview
8
Communication Specification
8
The Interface of Delta Ethercat Servo Drive
9
LED Indicators
10
The Topology
13
Wiring
14
Explanation of I/O (CN1) Connector Signal
15
CN2 Connector
16
CN5 Connector (Full-Closed Loop)
17
CN6 Ethercat Terminal
18
CN7 Extension DI
19
Cn-Sto
20
STO with Safety Relay
21
STO Disable
21
Dimension
22
Series
22
Series
24
Chapter 2 System Setup
26
Parameter Settings of Ethercat Mode
26
Twincat Setup
28
Synchronization Modes Setting
36
Two Synchronization Modes of Delta Servo
36
Select the Synchronization Mode
37
Synchronous Clock Time Setting
37
PDO Mapping
39
Default PDO Mappings
39
Re-Define a PDO Mapping
40
Using Twincat
41
Chapter 3 Ethercat Communication States
45
State Transition Operation
45
Chapter 4 Ethercat Troubleshooting
46
Chapter 5 Canopen Operation Mode
50
Profile Position Mode
50
Description
50
Operation Procedures
50
Advanced Setting Procedures
51
Associated Object List
52
Interpolation Position Mode
53
Description
53
Operation Procedures
54
Associated Object List
54
Cyclic Synchronous Position Mode
55
Description
55
The Function of CSP Mode
55
Operation Procedures
55
Associated Object List
56
Homing Mode
57
Description
57
Operation Procedures
57
Associated Object List
58
Profile Velocity Mode
59
Description
59
Operation Procedures
59
Advanced Setting Procedures
60
Associated Object List
60
Cyclic Synchronous Velocity Mode
61
Description
61
The Function of CSV Mode
61
Operation Procedures
61
Associated Object List
62
Profile Torque Mode
63
Description
63
Operation Procedures
63
Advanced Setting Procedures
63
Associated Object List
64
Cyclic Synchronous Torque Mode
65
Description
65
The Function of CST Mode
65
Operation Procedures
65
Associated Object List
66
Limit Position Handling Procedure
67
Description
67
Operation Procedures
67
Touch Probe Function
68
Description
68
Touch Probe Status
69
Associated Object List
70
Chapter 6 Object Dictionary Entries
72
Specifications for Objects
72
Object Type
72
Data Type
72
Overview of Object Group 1000
73
Overview of Object Group 6000
74
Details of Objects
77
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Delta ASDA A2-E Specifications
General
Brand
Delta
Model
ASDA A2-E
Category
Servo Drives
Language
English
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