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
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
Delta Electronics (Korea), Inc.
Seoul Office
1511, 219, Gasan Digital 1-Ro., Geumcheon-gu, Seoul, 08501 South Korea
TEL: 82-2-515-5305 / FAX: 82-2-515-5302
Delta Energy Systems (Singapore) Pte Ltd.
4 Kaki Bukit Avenue 1, #05-04, 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
Delta Electronics (Thailand) PCL.
909 Soi 9, Moo 4, Bangpoo Industrial Estate (E.P.Z), Pattana 1 Rd., T.Phraksa, A.Muang,
Samutprakarn 10280, Thailand
TEL: 66-2709-2800 / FAX : 662-709-2827
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Unit 20-21/45 Normanby Rd., Notting Hill Vic 3168, Australia TEL: 61-3-9543-3720
Americas
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Raleigh Office
P.O. Box 12173, 5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3813 / FAX: 1-919-767-3969
Delta Electronics Brazil
São Paulo Sales Office
Rua Itapeva, 26 – 3°, andar Edificio Itapeva,
One – Bela Vista 01332-000 – São Paulo – SP – Brazil TEL: 55-12-3932-2300 / FAX: 55-12-3932-237
Delta Electronics International Mexico S.A. de C.V.
Mexico Office
Gustavo Baz No. 309 Edificio E PB 103 Colonia La Loma, CP 54060 Tlalnepantla, Estado de México
TEL: 52-55-3603-9200
EMEA
Headquarters: Delta Electronics (Netherlands) B.V.
Sales: Sales.IA.EMEA@deltaww.com Marketing: Marketing.IA.EMEA@deltaww.com
Technical Support: iatechnicalsupport@deltaww.com Customer Support: Customer-Support@deltaww.com Service: Service.IA.emea@deltaww.com
TEL: +31(0)40 800 3900
BENELUX: Delta Electronics (Netherlands) B.V. De Witbogt 20, 5652 AG Eindhoven, The Netherlands Mail: Sales.IA.Benelux@deltaww.com
TEL: +31(0)40 800 3900
DACH: Delta Electronics (Netherlands) B.V.
Coesterweg 45, D-59494 Soest, Germany Mail: Sales.IA.DACH@deltaww.com TEL: +49(0)2921 987 0
France: Delta Electronics (France) S.A. ZI du bois Challand 2, 15 rue des Pyrénées, Lisses, 91090 Evry Cedex, France
Mail: Sales.IA.FR@deltaww.com TEL: +33(0)1 69 77 82 60
Iberia: Delta Electronics Solutions (Spain) S.L.U
Ctra. De Villaverde a Vallecas, 265 1º Dcha Ed. Hormigueras – P.I. de Vallecas 28031 Madrid TEL: +34(0)91 223 74 20
Carrer Llacuna 166, 08018 Barcelona, Spain Mail: Sales.IA.Iberia@deltaww.com
Italy: Delta Electronics (Italy) S.r.l. Via Meda 2–22060 Novedrate(CO) Piazza Grazioli 18 00186 Roma Italy Mail: Sales.IA.Italy@deltaww.com
TEL: +39 039 8900365
Russia: Delta Energy System LLC Vereyskaya Plaza II, office 112 Vereyskaya str. 17 121357 Moscow Russia
Mail: Sales.IA.RU@deltaww.com TEL: +7 495 644 3240
Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey)
Şerifali Mah. Hendem Cad. Kule Sok. No:16-A 34775 Ümraniye – İstanbul
Mail: Sales.IA.Turkey@deltaww.com TEL: + 90 216 499 9910
GCC: Delta Energy Systems AG (Dubai BR)
P.O. Box 185668, Gate 7, 3rd Floor, Hamarain Centre Dubai, United Arab Emirates
Mail: Sales.IA.MEA@deltaww.com TEL: +971(0)4 2690148
Egypt + North Africa: Delta Electronics
Unit 318, 3rd Floor, Trivium Business Complex, North 90 street, New Cairo, Cairo, Egypt
Mail: Sales.IA.MEA@deltaww.com
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DELTA ASDA-A2-E Series AC Servo Drive [pdf] Installation Guide ASDA-A2-E Series AC Servo Drive, ASDA-A2-E Series, AC Servo Drive, Servo Drive, Drive |