Delta ASDA-A2 User Manual

ASDA-A2 Chapter 7 Motion Control
7-14 Revision February, 2017
Type of
Command
When issuing the command
＝＞
＝＞When command is
executing＝＞
＝＞ Command is
completed
anytime
Homing
Command
Cmd_E does not change.
Cmd_O does not change.
DO.CMD_OK is OFF
DO.HOME is OFF
Cmd_E continuously
output
Cmd_O continuously
output
...
...
Cmd_E = the absolute
position of Z
Cmd_O = position after
stop
DO.CMD_OK is ON
DO.HOME is ON
Speed
Command
Cmd_E continuously output.
Cmd_O continuously output. When the speed command is completed, it means
the speed reaches the setting value and does not stop.
DO.CMD_OK is OFF
Enter PR (Servo Off->On or switch the mode
and enter into PR mode)
Cmd_O = Cmd_E = current feedback position
Note: The incremental positioning command is accumulated by command termination Cmd_E. It is
neither related to the current position of the motor nor the command time.

Delta ASDA-A2 Specifications

General

Control Mode	Position, Speed, Torque
Model	ASDA-A2 Series
Operating Voltage	200 ~ 230VAC / 380 ~ 480VAC
Power Supply	200-230VAC ±10%, single-phase
Communication Interface	RS-485, CANopen
Feedback	Incremental encoder, Absolute encoder
Protection	Overcurrent, Overvoltage, Undervoltage, Overheating, Short Circuit
Operating Temperature	0°C
Storage Temperature	-20°C
Humidity	20% to 90% RH (non-condensing)
Position Control Mode Features	Electronic Cam
Weight	Varies depending on the model. Please refer to the specific model's datasheet.