Delta Electronics ASDA A2-E User Manual

ASDA A2-E

EtherCAT
Interface Servo Drive
User Manual

www.deltaww.com

ASDA A2-E

EtherCAT Interface Servo Drive User Manual

V3.0
DELTA_ASDA-A2-E_UM_EN_20150430

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: [phone] / FAX: [phone]

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province, P.R.C. 215200
TEL: [phone] / FAX: [phone]

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,
ShangHai, P.R.C. 201209
TEL: [phone] / FAX: [phone]

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: [phone] / FAX: [phone]

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: [phone] / FAX: [phone]

Delta Electronics Int’l (S) Pte Ltd.

4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: [phone] / FAX: [phone]

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : [phone] / FAX : [phone]

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: [phone] / FAX: [phone]

Delta Greentech (Brasil) S.A.

Sao Paulo Ofce
Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil
TEL: [phone] / FAX: [phone]

Europe

Deltronics (The Netherlands) B.V.

Eindhoven Ofce

De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: [phone] / FAX: [phone]

*We reserve the right to change the information in this manual without prior notice.

Via Polesine, 1/4

10020 Cambiano ( TO ) Italy
[phone]

www.e-comtech.it

[e-mail]

Revision April, 2015 i

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

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2.3.1 Two Synchronization Modes of Delta Servo ........................................... 2-11

2.3.2 Select the Synchronization Mode ........................................................... 2-12

2.3.3 Synchronous Clock Time Setting ........................................................... 2-12

2.4 PDO Mapping .............................................................................................. 2-14

2.4.1 Default PDO Mappings ........................................................................... 2-14

2.4.2 Re-define a PDO Mapping ..................................................................... 2-15

2.4.3 Using TwinCAT ...................................................................................... 2-16

Chapter 3 EtherCAT Communication States ........................................................... 3-1

3.1 State Transition Operation ........................................................................... 3-2

Chapter 4 EtherCAT Troubleshooting ..................................................................... 4-1

Chapter 5 CANopen Operation Mode ....................................................................... 5-1

5.1 Profile Position Mode ................................................................................... 5-1

5.1.1 Description ............................................................................................. 5-1

5.1.2 Operation Procedures ............................................................................ 5-1

5.1.3 Advanced Setting Procedures ................................................................ 5-2

5.1.4 Associated Object List ............................................................................ 5-3

5.2 Interpolation Position Mode ......................................................................... 5-4

5.2.1 Description ............................................................................................. 5-4

5.2.2 Operation Procedures ............................................................................ 5-5

5.2.3 Associated Object List ............................................................................ 5-5

5.3 Cyclic Synchronous Position Mode .............................................................. 5-6

5.3.1 Description ............................................................................................. 5-6

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5.3.2 The Function of CSP Mode .................................................................... 5-6

5.3.3 Operation Procedures ............................................................................ 5-6

5.3.4 Associated Object List ............................................................................ 5-7

5.4 Homing Mode .............................................................................................. 5-8

5.4.1 Description ............................................................................................. 5-8

5.4.2 Operation Procedures ............................................................................ 5-8

5.4.3 Associated Object List ............................................................................ 5-9

5.5 Profile Velocity Mode ................................................................................... 5-10

5.5.1 Description ............................................................................................. 5-10

5.5.2 Operation Procedures ............................................................................ 5-10

5.5.3 Advanced Setting Procedures ................................................................ 5-11

5.5.4 Associated Object List ............................................................................ 5-11

5.6 Cyclic Synchronous Velocity Mode .............................................................. 5-12

5.6.1 Description ............................................................................................. 5-12

5.6.2 The Function of CSV Mode .................................................................... 5-12

5.6.3 Operation Procedures ............................................................................ 5-12

5.6.4 Associated Object List ............................................................................ 5-13

5.7 Profile Torque Mode .................................................................................... 5-14

5.7.1 Description ............................................................................................. 5-14

5.7.2 Operation Procedures ............................................................................ 5-14

5.7.3 Advanced Setting Procedures ................................................................ 5-14

5.7.4 Associated Object List ............................................................................ 5-15

5.8 Cyclic Synchronous Torque Mode ............................................................... 5-16

5.8.1 Description ............................................................................................. 5-16

5.8.2 The Function of CST Mode .................................................................... 5-16

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5.8.3 Operation Procedures ............................................................................ 5-16

5.8.4 Associated Object List ............................................................................ 5-17

5.9 Limit Position Handling Procedure ............................................................... 5-18

5.9.1 Description ............................................................................................. 5-18

5.9.2 Operation Procedures ............................................................................ 5-18

5.10 Touch Probe Function ................................................................................. 5-19

5.10.1 Description ............................................................................................. 5-19

5.10.2 Touch Probe Function ............................................................................ 5-19

5.10.3 Touch Probe Status ................................................................................ 5-20

5.10.4 Associated Object List ............................................................................ 5-21

Chapter 6 Object Dictionary Entries ........................................................................ 6-1

6.1 Specifications for Objects ............................................................................ 6-1

6.1.1 Object Type ............................................................................................ 6-1

6.1.2 Data Type ............................................................................................... 6-1

6.2 Overview of Object Group 1000h ................................................................. 6-2

6.3 Overview of Object Group 6000

h

................................................................. 6-3

6.4 Details of Objects ......................................................................................... 6-6

Chapter 7 Safety Function (Safe Torque Off, STO) ................................................. 7-1

7.1 Description of Terminal Block ...................................................................... 7-1

7.1.1 Functional Safety Standard and Certificates ........................................... 7-3

7.2 STO Safety Function ................................................................................... 7-3

7.3 Related Parameter Descriptions of STO Function ....................................... 7-5

7.4 Related Alarm Descriptions of STO Function .............................................. 7-6

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Chapter 8 Alarm List .................................................................................................. 8-1

8.1 EtherCAT Communication Fault Messages ................................................. 8-1

8.2 Error Code Table ......................................................................................... 8-4

8.3 SDO Error Message Abort Codes ................................................................ 8-7

Chapter 9 Reference .................................................................................................. 9-1

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Chapter 1 CoE Drive Overview

1.1 Communication Specification

EtherCAT

Communication

Physical layer

100BASE-TX

Communication

connector

RJ45 × 2 (Connector CN6A=IN, CN6B=OUT)

Network topology

Line connection

Baud rate

2 x 100 Mbps (full duplex)

Frame data length

Maximum 1484 bytes

SyncManager

SM0: Mailbox output
SM1: Mailbox input
SM2: Process data output
SM3: Process data input

FMMU

(Fieldbus Memory

Management Units)

FMMU0: Process data output area
FMMU1: Process data input area
FMMU2: Mailbox status area

Device profile

CoE: CANopen over EtherCAT

Synchronization

mode

DC synchronization ( SYNC0 )
Non- synchronized ( Free Run )

Communication

object

SDO: Service Data Object
PDO: Process Data Object
EMCY: Emergency Data Object

LED indicator

(On RJ45

Connector)

EtherCAT ERR (ER) × 1
EtherCAT Link/Activity (L/A) × 2
EtherCAT RUN (RN) × 1

Application layer

specifications

IEC61800-7 CiA402 Drive Profile

The supported CiA402 operation

modes

Profile Position Mode (PP)
Profile Velocity Mode (PV)
Profile Torque Mode (PT)
Homing Mode (HM)
Interpolated Position Mode(IP)
Cycle Synchronized Position Mode (CSP)
Cycle Synchronized Velocity Mode (CSV)
Cycle Synchronized Torque Mode (CST)

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1.2 The Interface of Delta EtherCAT Servo Drive

Figure 1 The Interface of Delta EtherCAT Servo Drive

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.

Run indicator (RUN)

Link/Activity of EtherCAT
output port indicator (L/A)

Error indicator (ERR)

EtherCAT output
port (CN6)

EtherCAT input port
(CN6)

Link/Activity of EtherCAT
input port indicator (L/A)

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1.3 LED Indicators

Indicator

state

Indicator pattern

ON

ON

OFF

Blinking

ON

OFF

200ms

200ms

Single

Flash

ON

OFF

200ms

1000ms

OFF

ON

OFF

Figure 2. RJ45 LED indicator pattern

ERROR (ERR) LED

The ERR LED indicator shows the error status of EtherCAT communication.

Indicator state Slave State
Off No error
Blinking State change error

Single Flash

Synchronization error
SyncManager error

On PDI Watchdog timeout

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State change error: The state machine does not allow the system to change its state

because the wrong parameter settings. Please refer to Figure 29 for

its switching conditions.
Synchronization error: The synchronization of Master Clock and Slave Clock is failed.
SyncManager error: The data of process data is lost when receiving.
PDI Watchdog

timeout:

The hardware failure on slave. Please contact Delta distributors for

assistance.

RUN LED

The RUN LED indicator shows the status of EtherCAT state machine

Indicator state Slave State
Off INIT
Blinking PRE-OPERATIONAL
Single Flash SAFE-OPERATIONAL
On OPERATIONAL

INIT: After power on, the EtherCAT slave will get into INIT state if there

is no error. At INIT state, no communication servo is provided.

Accessing slave’s register from the host is available at this state.
PRE-OPERATIONAL: The SDO can be used to communicate with its host controller.
SAVE-

OPERATIONAL:

Both SDO and TxPDO, which can send cyclic data from the slave

to the host, are workable.
OPERATIONAL: SDO, TxPDO and RxPDO are working.

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Link Activity (L/A) LED

The L/A LED indicator shows the physical link status and the link activity.

Indicator state Slave State
Off No link
Blinking Link and activity
On Link without activity

No link: The link has not established yet.
Link and activity: The data is exchanging with its partners.
Link without activity: The link is established but no data is exchanging now.

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1.4 The Topology

The topology is defined by the host controller. Please refer to the host controller ’s
application manual. There are only one input port and one output port on Delta servo drive
for EtherCAT communication ports.

Figure 3 EtherCAT connection topology example

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1.5 Wiring

I/O Signal (CN1) Connection and Connector Terminal Layout

In order to have a more flexible communication with the master, 4 programmable
Digital Output (DO) and 7 programmable Digital Input (DI) are provided, which are
parameter P2-18~P2-21 and P2-10~P2-16 respectively. In addition, the differential
output encoder signal A+, A-, B+, B-, Z+ and Z- is also provided. The followings are
the pin diagrams.

CN1 Connector (female)

CN1 Connector (male)

rear view

1 DO1+

Digital
output

14 COM-

VDD power

ground

2 DO1-

Digital
output

15 NC N/A

3 DO2+

Digital
output

16 GND

Analog

input signal

ground

4 DO2-

Digital
output

17 OA

Encoder/

A pulse

output

5 VDD

+24V Power

output

18 /OA

Encoder/

A pulse

output

6 COM+

Power input

(12~24V）

19 OB

Encoder/

B pulse

output

7 DI1- Digital input

20 /OB

Encoder/

B pulse

output

8 DI2- Digital input

21 OZ

Encoder/

Z pulse

output

9 DI3- Digital input

22 /OZ

Encoder/

Z pulse

output

10 DI4- Digital input

23 DO4+

Digital
output

11 DI5- Digital input

24 DO4-

Digital
output

12 DI6- Digital input

25 DO3+

Digital
output

13 DI7- Digital input

26 DO3-

Digital
output

NOTE

NC means NO CONNECTION. This terminal is for internal use only. Do not connect it, or it may damage the
servo drive.

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1.5.1 Explanation of I/O (CN1) Connector Signal

The following details the signals listed in previous section.

General Signals

Signal Name Pin No Function

Wiring

Method

(Refer to

3.4.3)

Position

pulse

(output)

OA

/OA

17
18

Encoder signal output A, B, Z (Line Driver output)

C13/C14

OB

/OB

19
20

OZ

/OZ

21
22

Power

VDD 5

VDD is the +24V power provided by the drive and
is for Digital Input (DI) and Digital Output (DO)
signal. The maximum current is 500mA.

-

COM+ 6

COM+ is the common input of Digital Input (DI)
and Digital Output (DO) voltage. When using
VDD, VDD should be connected to COM+. If not
using, it needs to apply the external power (+12V
~+24V). Its positive end should connect to COM+
and the negative end should connect to COM-.

COM- 14

GND 16

VCC voltage is based on GND.

Other NC 15

NO CONNECTION. This terminal is for internal
use only. Do not connect it, or it may damage the
servo drive.

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1.5.2 CN2 Connector

CN2 Connector (female)

CN2 Connector (male)

Rear view

Quick Connector

HOUSING: AMP (1-172161-9)

Military Connector

3106A-20-29S

Drive Connector Motor Connector

Pin No

Terminal

Symbol

Function and Description

Military

connector

Quick

connector

Color

5 T+

Serial communication signal
input / output (+)

A 1 Blue

4 T-

Serial communication signal
input / output (-)

B 4

Blue &
Black

- -

Reserved - - -

- -

Reserved - - -

14,16 +5V

Power +5V S 7

Red/Red &
white

13,15 GND

Power ground R 8

Black/Black
& white

- -

shielding L 9 -

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1.5.3 CN5 Connector (Full-closed Loop)

Connect linear scale or encoder (A, B, Z format) to the servo and form a full-closed
loop. In position mode, the pulse command issued by the controller is based on the
control loop of the external linear scale. Please refer to Chapter 6.

CN5 Connector (female)

Pin No Signal Name Terminal Symbol Function and Description

1 /Z phase input Opt_/Z /Z phase
2 /B phase input Opt_/B /B phase
3 B phase input Opt_B B phase
4 A phase input Opt_A A phase
5 /A phase input Opt_/A /A phase
6 Encoder grounding GND Ground
7 Encoder grounding GND Ground
8 Encoder power +5V + 5V power
9 Z phase input Opt_Z Z phase

NOTE

1. It only supports the encoder of AB phase and 5V voltage.

2. The application of full-closed loop: it supports the encoder of highest resolution 1280000 pulse/rev (A
pulse number per motor revolution for a full-closed loop that corresponds to an optical signal with AB
(Quadrature) phase pulses (4x).).

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1.5.4 CN6 EtherCAT Terminal

CN5 Connector (female)

Pin No Signal Name Terminal Symbol Function and Description

1 TX + TX + Transmit +
2 TX - TX - Transmit ­3 RX + RX + Receive +
4 - - ­5 - - ­6 RX - RX - Receive ­7 - - ­8 - - -

NOTE

1. The maximum distance between two stations should be 50 meters.

2. Please use CAT5e STP Shielding.

IN

OUT

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1.5.5 CN7 Extension DI

CN7 Connector (male)

Pin No Signal Name Terminal Symbol Function and Description

*1

VDD

24V power

COM+

VDD (24V) power is the same as

the voltage of Pin11 in CN1

2 Extension DI9 EDI 9- Digital input pin 9­3 Extension DI10 EDI 10- Digital input pin 10­4 Extension DI11 EDI 11- Digital input pin 11­5 Extension DI12 EDI 12- Digital input pin 12­6 Extension DI13 EDI 13- Digital input pin 13­7 Extension DI14 EDI 14- Digital input pin 14-

 Caution: Do not apply to dual power or it may damage the servo drive.

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Revision April, 2015 1-13

1.5.6 CN-STO

CN-STO Connector (male)

Pin No Signal Name Terminal Symbol Function and Description

*1

VDD24V
power

COM+

VDD (24V) power is the same
as the voltage of Pin11 in CN1

2 STO_A STO_A STO input pin A+
3 /STO_A /STO_A STO input pin A­4 STO_B STO_B STO input pin B+
5 /STO_B /STO_B STO input pin B-

6 FDBK_A FDBK_A

STO alarm output pin A,
Relay Output
Max. Current : 1A

7 FDBK_B FDBK_B

STO alarm output pin B,
Relay Output

Max. Current : 1A

8 COM- COM- VDD(24V) power ground

 Caution: Do not apply to dual power or it may damage the servo drive.

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1.5.7 STO with Safety Relay

ESTOP

1

2

3

4

5

6
7

8

STO_A

/ STO_A

STO_B

/ STO_B

FDBK_A

FDBK_B

COM+

COM-

STO

24V DC

Safe ty Re la y

1.5.8 STO Disable

1

2

3

4

5

6
7

8

STO

STO_A

/ STO_ A

STO_B

/ STO_ B

FDBK_A

FDBK_B

COM+

COM-

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1.6 Dimension

1.6.1 220V Series

100W/200W/400W

Weight

1.5（3.3）

750W/1kW/1.5kW

Weight

2.0（4.4）

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2kW/3kW

PE

TERMINIAL

70

Ø5.5

203

82

5.4203.0

215.5

14.5 62

< 0.7

Weight

2.89（6.36）

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1.6.2 400V Series

400W/750W/1kW/1.5kW

Ø5.5

180

65

70

5.4163

12.5

47

173

Weight

2.0（4.4）

2kW/3kW/4.5kW/5.5kW

123.5
107

Ø

6

70.2

205.5

2

3

0

8

245

107

7

Weight

4.6（10.1）

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7.5kW

PE TERMINAL

119.5

Ø

6

2

3

2

107

2

4

7

2

5

4

.

2

2

4

5

136

8 70.2 205.5

5

2

6

0

Weight

4.6（10.1）

NOTE

1. Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs).

2. Dimensions and weights of the servo drive may be revised without prior notice.

Revision April, 2015 2-1

Chapter 2 System Setup

2.1 Parameter Settings of EtherCAT Mode

1. Set parameter P1-01 to 0x0Ch for EtherCAT communication and CANopen as the
application layer.

2. Restart the system of servo drive.

P1-01● CTL Control Mode and Output Direction

Address：0102H
0103H

Interface：

Panel / Software Communication

Reference：

-

Default：

0

Control Mode：

ALL

Unit：

Pulse (P mode); r/min (S mode);
N-m (T mode)

Range：

00 ~ 0x110F

Format：

Hex

Data Size：

16-bit

Settings：

Control mode settings

PT PR S T Sz Tz PT PR S T Sz Tz

Single Mode Dual Mode
00 ▲ 06 ▲ ▲
01 ▲ 07 ▲ ▲
02 ▲ 08 ▲ ▲
03 ▲ 09 ▲ ▲
04 ▲ 0A ▲ ▲
05 ▲ 0B N/A

Multiple Mode 0C CANopen Mode
0E ▲ ▲ ▲ 0D ▲ ▲
0F ▲ ▲ ▲

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PR: Position control mode. The command is from the internal signal. Execution of 64 positions
is via DI.POS0 ~ POS5. A variety of homing control is also provided.

S: Speed control mode. The command is from the external signal or internal signal. Execution
of the command selection is via DI.SPD0 and DI.SPD1.

T: Torque control mode. The command is from the external signal or internal signal. Execution
of the command selection is via DI.TCM0 and DI.TCM1.

Sz: Zero speed / internal speed command

Tz: Zero torque / internal torque command
Dual Mode: The control mode selection is via DI signals. For example, either PT or S control

mode can be selected via DI signal, S-P (see Table A).
Multiple Mode: The control mode selection is via DI signals. For example, PT, PR or S control

mode can be selected via DI signals, S-P and PT-PR (see Table A).
Torque output direction settings

Direction 0 1

Forward

Reverse

Discrete I/O Setting

1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) will be set to the
default value according to the mode you selected.
0: When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22)

will remain the same and will not be changed.

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2.2 TwinCAT Setup

A lot of software can be applied to configure EtherCAT system. The following procedures
are the example of TwinCAT of Beckhoff. Please install the software properly before you
start to configure the system.

1. Copy Delta XML description to the folder the TwinCAT installed (usually
C:\TwinCAT\Io\EtherCAT).

2. Restart the TwinCAT.

3. The configuration procedure can be started by applying TwinCAT manager which
shown as below.

Figure 4

4. Install the Network Interface Card (NIC) for EtherCAT communication.
 Select Options → Show Real Time Ethernet Compatible Devices.

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Figure 5

 Select the correct Adapter from the devices (NICs) installed in the computer

for EtherCAT communication and click “Install”.

Figure 6

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5. Open a new project from the drop down menu File → new.

6. Right click I/O Devices and select Scan Devices or Press <F5> to scan the devices.
Click OK in the pop-up dialog window to confirm the information.

Figure 7

Figure 8

7. Find Device [n] (EtherCAT), select this device and click OK.

Figure 9

8. Click Yes to scan for boxes.

Figure 10