DELTA ASDA-A2-E Series AC Servo Drive Installation Guide
- June 12, 2024
- Delta
Table of Contents
DELTA ASDA-A2-E Series AC Servo Drive Installation Guide
Introduction
Delta’s ASDA-A2-E, an advanced AC Servo Drive with an EtherCAT communication interface, complies with IEC61158 and IEC61800-7 and follows in the footsteps of the successful ASDA-A2 series. This advanced A2-E supports all the modes of the CoE device profile based on CiA402 and all command types of EtherCAT; features built-in Safe Torque Off (STO) function which prevents torque energy from continuing to act upon a motor and avoid accidents. In addition, A2-E offers extension digital input port for a wide range of machinery automation fields. This series cover power range from 400W to 7.5kW for 400V and 100W to 3kW for 220V.ASDA-A2-E Series is your ideal servo drive to achieve high speed multi-axis synchronization applications.
Features
- Pass EtherCAT conformance test by EtherCAT Technology Group (ETG)
- Integrated Safe Torque Off (STO)* safety function according to the following standards:
- IEC EN 61508 (SIL 2)
- IEC62016(SIL 2)
- ISO 13849-1 (Cat.3 PL=d)
- Supports absolute type and incremental type servo motors
- Supports touch probe function
- Enabled with dedicated Digital Input (DI) on CN7 or the external encoder
*Note: STO function is not available for 200V 4.5kW ~ 7.5kW models
Applications
Specifications of ASDA-A2-E_220 V Series
ASDA-A2-E Series| 100 W 200 W 400 W 750 W
1 kW 1.5 kW| 2 kW 3 kW 4.5 kW 5.5 kW
7.5 kW|
---|---|---|---
01 02 04 07 10
15| 20 30 45 55 75|
Power| Phase / Voltage| Three-phase / Single-phase 220 VAC| Three-phase 220
VAC|
Supply Permissible Voltage Range| Three-phase / Single-phase 200 ~ 230
VAC, -15%~10%| Three-phase / 200 ~ 230 VAC, -15% ~ 10%|
Input Current (3 PH) Unit: Arms| 0.8 1.11 1.86
3.66 4.68 6.33| 8.76 9.83 17.5
19.4 26.3|
Input Current (1 PH) Unit: Arms| 1 1.92 3.22 6.78
8.88 10.96| – – – –
–|
Continuous Output Current Unit: Arms| 0.9 1.55 2.6
5.1 7.3 8.86| 13.4 19.4 32.5
40 47.5|
Cooling Method| Natural Air Circulation| Fan Cooling|
Encoder Resolution (Servo Drive Resolution)| Incremental type: 20-bit；Absolute
type: 17-bit|
Control of Main Circuit| SVPWM (Space Vector Pulse Width Modulation) Control|
Tuning Modes| Auto / Manual|
| Dynamic Brake
Command Source
| no Built-in|
External|
Position| DS402 object|
Smoothing Strategy| Low-pass and P-curve filter|
Control|
Electronic Gear| Electronic gear N/M multiple N: 1 ~ 32767, M: 1 : 32767 (1/50
< N/M < 25600)|
Mode| Torque Limit Operation| DS402 object|
(CSP)| Feed Forward Compensation| Internal parameters|
| Speed Control Range*1| 1:5000| 1:3000|
| Command Source External Analog Signal| DS402 object|
Speed| Smoothing Strategy| Low-pass and S-curve filter|
Control| Torque Limit Operation| Set by parameters|
Frequency Response
Characteristic
| Maximum 1 kHz|
Mode|
(CSV)| Speed Accuracy
(at rated rotation speed)*2
| 0.01 % or less at 0 to 100 % load fluctuation|
0.01 % or less at 0℃ to 50℃ ambient temperature fluctuation|
| Feed Forward Compensation| 0.01 % or less at ±10 % power fluctuation|
Torque| Command Source| DS402 object|
Control| Smoothing Strategy| Low-pass filter|
Mode
__(CST)
| Speed Limit Operation| DS402 object|
| ****
Inputs
| Servo on, Reset, Gain switching, Zero speed CLAMP, Command input reverse control, Command triggered, Speed/Torque limit enabled, Position command selection, Motor stop, Speed position selection, Position / Speed mode switching, Speed / Torque mode switching, Torque / Position mode switching, Emergency stop, Forward / Reverse inhibit limit, Reference “Home” sensor, Forward / Reverse operation torque limit, Move to “Home”, Electronic Cam (E-Cam), Forward / Reverse JOG input, Event trigger PR command, Electronic gear ratio (Numerator) selection
- Please note that the above digital signals and inputs are available only for Non-DMCNET mode. In DMCNET mode, it is recommended to write digital inputs into the servo drives through DMCNET communication, and the digital inputs should be used for Emergency Stop, Forward / Reverse Inhibit limit and Reference “Home” sensor only.
|
Digital| |
Inputs/| |
Outputs
Outputs
Protective Functions Communication Interface
Installation Site
| Encoder signal output (A, B, Z Line Driver and Z Open Collector )|
Servo ready, Servo on, At Zero speed, At Speed reached, At Positioning
completed, At Torques limit, Servo alarm (Servo fault) activated,
Electromagnetic brake control, Homing completed, Output overload warning,
Servo warning activated, Position command overflow, Forward / Reverse software
limit, Internal position command completed, Capture operation completed
output., Motion control completed output., Master position of E-Cam
(Electronic Cam)|
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error,
Overload, Overspeed, Abnormal pulse control command, Excessive deviation,
Encoder error, Adjustment error, Emergency stop activated, Reverse/ Forward
limit switch error, Position excessive deviation, Serial communication error,
Input power phase loss, Serial communication time out, short circuit
protection of U, V, W, and CN1, CN2, CN3 terminals|
USB / EtherCAT|
Indoor location (free from direct sunlight), no corrosive liquid and gas (far
away from oil mist, flammable gas, dust)|
Environment
| Altitude| Altitude 2000 m or lower above sea level|
Atmospheric Pressure| 86kPa ~ 106kPa|
Operating Temperature| 0℃ ~ 55℃ (If operating temperature is above 45℃ ,
forced cooling will be required)|
Storage Temperature| -20℃ ~ 65℃|
Humidity| 0 ~ 90% RH (non-condensing)|
Vibration| 9.80665 m/s2 (1 G) less than 20 Hz, 5.88 m/s2 (0.6 G) 20 ~ 50 Hz|
IP Rating| IP20|
Power System| TN System*3|
Approvals| IEC/EN 61800-5-1, UL 508C, C-tick|
Footnote:
1 Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause).
2 When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotation speed
*3 TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that point by a protective earth conductor.
Specifications of ASDA-A2-E_400 V Series
ASDA-A2-E Series| 400 W| 750 W 1 kW| 1.5 kW| 2 kW| 3 kW| 4.5 kW| 5.5
kW 7.5 kW|
---|---|---|---|---|---|---|---|---
04| 07| | 10| 15| 20| 30| 45| 55 75|
Power| Input Voltage| 24 VDC, ±10%|
Input Current| | | 0.43 A| | | | 1.18 A| | 1.66 A|
Supply|
Input Power| | | 10.32 W| | | | 28.2 W| | 39.85 W|
Main Circuit| Permissible Voltage Range
Input Current Unit: Arms
| Three-phase, 380~480 VAC, ±10%|
1.45| 2.22| | 3.02| 4.24| 5.65| 8.01| 11.9| 14.1 17.27|
Continuous Output Current
Unit: Arms
Cooling Method
| 2.0| 3.07| | 3.52| 5.02| 6.66| 11.9| 20| 22.37 28.4|
Power|
| Fan Cooling|
Encoder Resolution (Servo Drive Resolution)| Incremental type: 20-bit
；Absolute type: 17-bit|
Control of Main Circuit| SVPWM (Space Vector Pulse Width Modulation) Control|
Tuning Modes| Auto / Manual|
| Dynamic Brake
Command Source
| | | Built-in| | | | | no| |
Position| DS402 object|
Control| Smoothing Strategy| Low-pass and P-curve filter|
Electronic Gear| Electronic gear N/M multiple N: 1 ~ 32767, M: 1 : 32767 (1/50
< N/M < 25600)|
Mode|
Torque Limit Operation| DS402 object|
(CSP)| Feed Forward Compensation| Internal parameters|
| Speed Control Range*1| | | | | 1:5000| | | | 1:3000|
Speed
| Command Source| DS402 object|
Smoothing Strategy| Low-pass and S-curve filter|
Control
Mode
| Torque Limit Operation| Set by parameters|
Frequency Response
Characteristic
| Maximum 1 kHz|
(CSV)| Speed Accuracy
(at rated rotation speed)*2
| 0.01 % or less at 0 to 100 % load fluctuation|
0.01 % or less at 0℃ to 50℃ ambient temperature fluctuation|
| Feed Forward Compensation| 0.01 % or less at ±10 % power fluctuation|
Torque
| Command Source| DS402 object|
Control| Smoothing Strategy| Low-pass filter|
Mode|
(CST)| Speed Limit Operation| Via analog input|
Digital
| ****
Inputs
| Servo on, Reset, Gain switching, Zero speed CLAMP, Command input reverse
control, Command triggered, Speed/ Torque limit enabled, Position command
selection, Motor stop, Speed position selection, Position / Speed mode
switching, Speed / Torque mode switching, Torque / Position mode switching,
Emergency stop, Forward / Reverse inhibit limit, Reference “Home” sensor,
Forward / Reverse operation torque limit, Move to “Home”, Electronic Cam
(E-Cam), Forward / Reverse JOG input, Event trigger PR command, Electronic
gear ratio (Numerator) selection|
Inputs/
Outputs
| ****
Outputs
Protective Functions
| Encoder signal output (A, B, Z Line Driver and Z Open Collector )|
Servo ready, Servo on, At Zero speed, At Speed reached, At Positioning
completed, At Torques limit, Servo alarm (Servo fault) activated,
Electromagnetic brake control, Homing completed, Output overload warning,
Servo warning activated, Position command overflow, Forward / Reverse software
limit, Internal position command completed, Capture operation completed
output., Motion control completed output., Master position of E-Cam
(Electronic Cam)|
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error,
Overload, Overspeed, Abnormal pulse control command, Excessive deviation,
Encoder error, Adjustment error, Emergency stop activated, Reverse/ Forward
limit switch error, Position excessive deviation, Serial communication error,
Input power phase loss, Serial communication time out, short circuit
protection of U, V, W, and CN1, CN2, CN3 terminals|
Communication Interface
Installation Site
| USB / EtherCAT|
Indoor location (free from direct sunlight), no corrosive liquid and gas (far
away from oil mist, flammable gas, dust)|
Environment
| Altitude| ltitude 2000 m or lower above sea level|
Atmospheric Pressure| 86 kPa ~ 106 kPa|
Operating Temperature| 0℃ ~ 55℃ (If operating temperature is above 45℃ ,
forced cooling will be required)|
Storage Temperature| -20℃ ~ 65℃|
Humidity| 0 ~ 90% RH (non-condensing)|
Vibration| 9.80665 m/s2 (1 G) less than 20 Hz, 5.88 m/s2 (0.6 G) 20 to 50 Hz|
IP Rating| IP 20|
Power System| TN System*3|
Approvals
| IEC/EN 61800-5-1, UL 508C, C-tick|
Footnote:
1 Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause).
2 When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed – Full load rotation speed) / Rated rotation speed
*3 TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that point by a protective earth conductor.
EtherCAT Communication Mode
Communication Specifications
| Physical Layer | IEEE802.3u (100 BASE-TX) |
|---|---|
| Data Link Layer | APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, FRMW, |
APRW, FPRW, BRW, LRW
Device Profile (CiA402)| Homing Mode, Profile Position Mode, Profile
Velocity Mode, Profile Torque Mode, Interpolated Position Mode, Cyclic Syn.
Position Mode, Cyclic Syn. Velocity Mode, Cyclic Syn. Torque Mode, Touch Probe
Function, Torque Limit Function
Process Data Size| Tx: 8 Object (32 byte, Max.);
Rx: 8 Object (32 byte, Max.) Dynamic Mapping supported.
Bus Clock| DC cycle with min. 250 us*
LED Indicator
| EtherCAT Link/Activity Indicator (L/A) x 2 EtherCAT RUN Indicator (RUN) x 1
EtherCAT ERROR Indicator (ERR) x 1
- Selection of Built-in Regenerative Resistors
220 V Series
Servo Drive (kW)| 100 W| 200 W| 400 W| 750 W| 1.0 kW| 1.5 kW| 2.0 kW|
3.0 kW
Specification of Built-in| | | 40 W| 60 W| 60 W| 60 W| 100 W| 100 W|
Regenerative Resistor| NA| NA| 40 ohm| 40 ohm| 40 ohm| 40 ohm| 20 ohm|
20 ohm|
400 V Series
Servo Drive (kW)| 400 W| 750 W| 1.0 kW| 1.5 kW| 2.0 kW| 3.0 kW| 4.5 kW|
5.5 kW| 7.5 kW
Specification of Built-in| 40 W| 40 W| 40 W| 40 W| | | | |
Regenerative Resistor| 80 ohm| 80 ohm| 80 ohm| 80 ohm| NA| NA| NA| NA|
NA
Part Names and Functions Ordering Information
Dimensions
Footnote:
- Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs)
- Dimensions and weights of the servo drive may be revised without prior
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