Download ASDA A2-E EtherCAT Interface Servo Drive User Manual

Table of Contents
Chapter 1 ASD-A2-E 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............................................................................................ 2-4
2.3
Synchronization Modes Setting ................................................................... 2-12
Revision November 2013
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