Instrukcia na servoprivody ASD A2 s EtherCAT (EN)

ASDA A2 - E EtherCAT Interface Servo Drive User Manual Industrial Automation Headquarters Delta Electronics, Inc. Taoyuan Technology Center No.18, Xinglong Rd., Taoyuan City, Taoyuan County 33068, Taiwan TEL: 886-3-362-6301 / FAX: 886-3-371-6301 Asia Delta Electronics (Jiangsu) Ltd. Wujiang Plant 3 1688 Jiangxing East Road, Wujiang Economic Development Zone Wujiang City, Jiang Su Province, P.R.C. 215200 TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290 Delta Greentech (China) Co., Ltd. 238 Min-Xia Road, Pudong District, ShangHai, P.R.C. 201209 TEL: 86-21-58635678 / FAX: 86-21-58630003 Delta Electronics (Japan), Inc. Tokyo Office 2-1-14 Minato-ku Shibadaimon, Tokyo 105-0012, Japan TEL:

81-3-5733-1111 / FAX: 81-3-5733-1211 Delta Electronics (Korea), Inc. 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 TEL: 82-2-515-5303 / FAX: 82-2-515-5302 ASDA A 2 - E EtherCAT Interface Servo Drive User Manual Delta Electronics Int’l (S) Pte Ltd. 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt. Ltd. Plot No 43 Sector 35, HSIIDC Gurgaon, PIN 122001, Haryana, India TEL : 91-124-4874900 / FAX : 91-124-4874945 Americas Delta Products Corporation (USA) Raleigh Office P.O. Box 12173,5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3800 / FAX:

1-919-767-8080 Delta Greentech (Brasil) S.A. Sao Paulo Office Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista 01332-000-Sгo Paulo-SP-Brazil TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865 Europe Deltronics (The Netherlands) B.V. Eindhoven Office De Witbogt 15, 5652 AG Eindhoven, The Netherlands TEL: 31-40-2592850 / FAX: 31-40-2592851 *We reserve the right to change the information in this manual without prior notice. V3.0 DELTA_ASDA-A2-E_UM_EN_20150430 www.deltaww.com

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Table of Contents

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 Revision April, 2015 i

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Table of Contents

ASDA A2-E Table of Contents 2.3.1 Two Synchronization Modes of Delta Servo ........................................... 2-11 2.3.2 Select the Synchronization Mode ........................................................... 2-12 2.3.3 Synchronous Clock Time Setting ........................................................... 2-12 2.4 PDO Mapping .............................................................................................. 2-14 2.4.1 Default PDO Mappings ........................................................................... 2-14 2.4.2 Re-define a PDO Mapping .....................................................................

2-15 2.4.3 Using TwinCAT ...................................................................................... 2-16 Chapter 3 EtherCAT Communication States ........................................................... 3-1 3.1 State Transition Operation ........................................................................... 3-2 Chapter 4 EtherCAT Troubleshooting ..................................................................... 4-1 Chapter 5 CANopen Operation Mode ....................................................................... 5-1 5.1 Profile Position Mode ...................................................................................

5-1 5.1.1 Description ............................................................................................. 5-1 5.1.2 Operation Procedures ............................................................................ 5-1 5.1.3 Advanced Setting Procedures ................................................................ 5-2 5.1.4 Associated Object List ............................................................................ 5-3 5.2 Interpolation Position Mode ......................................................................... 5-4 5.2.1 Description .............................................................................................

5-4 5.2.2 Operation Procedures ............................................................................ 5-5 5.2.3 Associated Object List ............................................................................ 5-5 5.3 Cyclic Synchronous Position Mode .............................................................. 5-6 5.3.1 Description ............................................................................................. 5-6 ii Revision April, 2015

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Table of Contents

Table of Contents ASDA A2-E 5.3.2 The Function of CSP Mode .................................................................... 5-6 5.3.3 Operation Procedures ............................................................................ 5-6 5.3.4 Associated Object List ............................................................................ 5-7 5.4 Homing Mode .............................................................................................. 5-8 5.4.1 Description ............................................................................................. 5-8 5.4.2 Operation Procedures ............................................................................

5-8 5.4.3 Associated Object List ............................................................................ 5-9 5.5 Profile Velocity Mode ................................................................................... 5-10 5.5.1 Description ............................................................................................. 5-10 5.5.2 Operation Procedures ............................................................................ 5-10 5.5.3 Advanced Setting Procedures ................................................................ 5-11 5.5.4 Associated Object List ............................................................................

5-11 5.6 Cyclic Synchronous Velocity Mode .............................................................. 5-12 5.6.1 Description ............................................................................................. 5-12 5.6.2 The Function of CSV Mode .................................................................... 5-12 5.6.3 Operation Procedures ............................................................................ 5-12 5.6.4 Associated Object List ............................................................................ 5-13 5.7 Profile Torque Mode ....................................................................................

5-14 5.7.1 Description ............................................................................................. 5-14 5.7.2 Operation Procedures ............................................................................ 5-14 5.7.3 Advanced Setting Procedures ................................................................ 5-14 5.7.4 Associated Object List ............................................................................ 5-15 5.8 Cyclic Synchronous Torque Mode ............................................................... 5-16 5.8.1 Description .............................................................................................

5-16 5.8.2 The Function of CST Mode .................................................................... 5-16 Revision April, 2015 iii

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