Delta ASD-A2 — 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