DELTA ASDA-A2-E Series AC Servo Drive Installation Guide

: June 12, 2024
: Delta

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

Characteristic

| Maximum 1 kHz|
Mode|
(CSV)| Speed Accuracy

(at rated rotation speed)*2

__(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.

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

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

Speed

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

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

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

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center

No.18, Xinglong Rd., Taoyuan District, Taoyuan City 33068, Taiwan

TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Shanghai) Co., Ltd. No.182 Minyu Rd., Pudong Shanghai, P.R.C. Post code : 201209

TEL: 86-21-6872-3988 / FAX: 86-21-6872-3996

Customer Service: 400-820-9595

Delta Electronics (Japan), Inc.

Tokyo Office
Industrial Automation Sales Department 2-1-14 Shibadaimon, Minato-ku
Tokyo, Japan 105-0012
TEL: 81-3-5733-1155 / FAX: 81-3-5733-1255

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Seoul Office
1511, 219, Gasan Digital 1-Ro., Geumcheon-gu, Seoul, 08501 South Korea
TEL: 82-2-515-5305 / FAX: 82-2-515-5302

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EMEA

Headquarters: Delta Electronics (Netherlands) B.V.

Sales: Sales.IA.EMEA@deltaww.com Marketing: Marketing.IA.EMEA@deltaww.com

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TEL: +31(0)40 800 3900

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TEL: +39 039 8900365

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